#!/bin/bash
# 04_pdo_demo.sh - CANopen PDO 通信演示（最终版）
# 显示方式：使用 cansend 模拟 TPDO + SYNC 触发 TPDO
# 真实场景：另一个 CANopen 设备（或 Linux 程序）发送 PDO 帧

SOCKET1="/tmp/CO_command_socket_1"
SOCKET2="/tmp/CO_command_socket_2"

cocc() { cocomm -s "$1" "$2 $3" 2>/dev/null; }

echo "================================================"
echo " CANopen PDO 实验 - 最终版"
echo "================================================"
echo ""

echo "--- 0. 当前状态 ---"
echo "节点1 0x2000 = $(cocc $SOCKET1 1 'read 0x2000 0 u32')"
echo "节点2 0x2000 = $(cocc $SOCKET2 2 'read 0x2000 0 u32')"
echo ""

echo "--- 1. 实验 A: 外部 CAN 帧走 RPDO ---"
echo "    用 cansend 模拟另一个设备发 PDO (CAN ID 0x181)"
echo ""
echo "    发送前 Node 2 0x2000 = $(cocc $SOCKET2 2 'read 0x2000 0 u32')"
echo "    发送 CAN 帧: ID=0x181, data=DE AD BE EF"
cansend vcan0 181#DEADBEEF
sleep 1
echo "    发送后 Node 2 0x2000 = $(cocc $SOCKET2 2 'read 0x2000 0 u32')"
echo ""

echo "--- 2. 实验 B: SYNC 触发 TPDO ---"
echo "    TPDO 传输类型 = 1：每 1 个 SYNC 发送一次"
echo "    配置并写入 0xAABB 到 Node 1"
cocc $SOCKET1 1 "write 0x2000 0 u32 0xAABB"
echo "    节点1 0x2000 = $(cocc $SOCKET1 1 'read 0x2000 0 u32')"
echo ""
echo "    发送 SYNC (CAN ID 0x080):"
cansend vcan0 080#
sleep 1
echo "    SYNC 后 Node 2 0x2000 = $(cocc $SOCKET2 2 'read 0x2000 0 u32')"
echo ""

echo "--- 3. 实验 C: RTR 远程帧触发 TPDO ---"
echo "    TPDO 传输类型 = 255：仅 RTR 触发"
cocc $SOCKET1 1 "write 0x1800 2 u8 255"
cocc $SOCKET1 1 "write 0x2000 0 u32 0xDEAD"
sleep 1
echo "    写入 0xDEAD，发送 RTR:"
cansend vcan0 181#R
sleep 1
echo "    RTR 后 Node 2 0x2000 = $(cocc $SOCKET2 2 'read 0x2000 0 u32')"
echo ""

echo "================================================"
echo " 实验总结"
echo "================================================"
echo " PDO COB-ID 计算公式："
echo "   TPDOn COB-ID = 0x180 + (n-1)*0x100 + NodeId"
echo "   RPDOn COB-ID = 0x200 + (n-1)*0x100 + NodeId"
echo ""
echo " 例如 Node 1 的 TPDO1: 0x180 + 0 + 1 = 0x181"
echo " 例如 Node 2 的 RPDO1: 0x200 + 0 + 2 = 0x202"
echo ""
echo " 传输类型："
echo "   0    = acyclic SYNC（同步后事件触发）"
echo "   1-240 = cyclic SYNC（每 N 个 SYNC 发一次）"
echo "   254  = 事件触发（值变化即发）"
echo "   255  = RTR 触发（收到远程帧才发）"
echo ""
echo " 注意事项："
echo " - TPDO/RPDO 默认被禁用（0x1800/0x1400 COB-ID bit31=1）"
echo " - 启用 PDO 需写 COB-ID 为 0x0XXX（清除 bit31）"
echo " - 配置需在 Pre-Operational 或 Operational 状态"
echo "================================================"