#!/bin/bash
# 05_sync_demo.sh - SYNC 同步通信演示
# 目标：节点 1 作为 SYNC Producer 发送 SYNC 消息
#       节点 1 和 2 作为 SYNC Consumer 在收到 SYNC 后发送 TPDO
# SYNC = 网络同步脉冲，用于同步采样/控制（类似 PWM 同步信号）

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

cocc() {
    local socket=$1
    local node=$2
    local cmd=$3
    echo "  → [$node] $cmd"
    cocomm -s "$socket" "$node $cmd"
}

echo "================================================"
echo " CANopen SYNC 同步实验"
echo "================================================"
echo ""

echo "--- Step 1: 确认节点在 Operational 状态 ---"
cocc "$SOCKET1" 1 "start"
cocc "$SOCKET2" 2 "start"
sleep 1
echo ""

echo "--- Step 2: 配置 TPDO1 传输类型为 SYNC（类型 1） ---"
echo "    TPDO 传输类型："
echo "      0  = acyclic SYNCHRONOUS（同步后由事件触发）"
echo "      1-240 = cyclic SYNC（每 N 个 SYNC 发送一次）"
echo "      254 = 事件触发（非同步）"
echo "      255 = RTR 触发"
echo ""
echo "    设置节点 1 TPDO1 传输类型 = 1（每次 SYNC 后发送）："
cocc "$SOCKET1" 1 "write 0x1800 2 u8 1"
echo ""

echo "    设置节点 2 TPDO1 传输类型 = 1："
cocc "$SOCKET2" 2 "write 0x1800 2 u8 1"
echo ""

echo "--- Step 3: 配置 TPDO1 映射（如未配置） ---"
echo "    两个节点都映射 0x2000 sub1 到 TPDO1："
cocc "$SOCKET1" 1 "write 0x1A00 1 u32 0x20000120"
cocc "$SOCKET1" 1 "write 0x1A00 0 u8 1"
cocc "$SOCKET2" 2 "write 0x1A00 1 u32 0x20000120"
cocc "$SOCKET2" 2 "write 0x1A00 0 u8 1"
echo ""

echo "--- Step 4: 在节点 1 上写入不同的值 ---"
cocc "$SOCKET1" 1 "write 0x2000 1 u32 0x11111111"
cocc "$SOCKET2" 2 "write 0x2000 1 u32 0x22222222"
echo ""

echo "--- Step 5: 启动 candump 监控 SYNC 和后续 PDO ---"
echo "    SYNC CAN ID = 0x080"
echo "    TPDO1 CAN ID = 0x181（节点1）和 0x182（节点2）"
candump vcan0,80:FFF,181:FFF,182:FFF &
CANDUMP_PID=$!
sleep 1
echo ""

echo "--- Step 6: 设置 SYNC Producer（节点 1） ---"
echo "    通过写入 0x1006（通信循环周期）启用 SYNC"
echo "    设周期为 100000 us = 100ms（10 Hz 同步频率）"
cocc "$SOCKET1" 1 "write 0x1005 0 u32 0x00000080"
cocc "$SOCKET1" 1 "write 0x1006 0 u32 100000"
echo ""

echo "    等待 3 个 SYNC 周期（约 300ms）..."
sleep 3
echo ""

echo "--- Step 7: 修改值再观察 SYNC 触发的 PDO ---"
echo "    修改节点 1 的值："
cocc "$SOCKET1" 1 "write 0x2000 1 u32 0xAABBCCDD"
sleep 1
echo "    修改节点 2 的值："
cocc "$SOCKET2" 2 "write 0x2000 1 u32 0xDDCCBBAA"
sleep 2
echo ""

# Stop candump
kill $CANDUMP_PID 2>/dev/null
wait $CANDUMP_PID 2>/dev/null
echo ""

echo "--- Step 8: 停止 SYNC Producer ---"
cocc "$SOCKET1" 1 "write 0x1006 0 u32 0"
echo ""

echo "================================================"
echo " SYNC 实验完成"
echo " 关键认知："
echo " - SYNC 是 CANopen 的全局同步机制"
echo " - SYNC CAN ID = 0x080（默认）"
echo " - TPDO 传输类型 1-240 = 每 N 个 SYNC 发送一次"
echo " - 适用于多轴同步控制、同步采样"
echo " - CiA402 伺服驱动中，SYNC 用于同步位置/速度环"
echo "================================================"