#!/bin/bash
# 05_sync_demo.sh - CANopen SYNC 同步实验（最终版）
# 使用 SYNC 触发两个节点的 TPDO 同步传输

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

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

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

echo "--- Step 1: 配置两个节点 TPDO1 为 SYNC 触发 ---"
echo "    传输类型 = 1（每次 SYNC 后发送 PDO）"
cocc $SOCKET1 1 "write 0x1800 2 u8 1"
cocc $SOCKET2 2 "write 0x1800 2 u8 1"
echo ""

echo "--- Step 2: 确认映射已配置 ---"
echo "节点1: $(cocc $SOCKET1 1 'read 0x1A00 0 u8') 个映射对象"
echo "节点2: $(cocc $SOCKET2 2 'read 0x1A00 0 u8') 个映射对象"
echo ""

echo "--- Step 3: 写入不同的值到两个节点 ---"
cocc $SOCKET1 1 "write 0x2000 0 u32 0xAAAA"
cocc $SOCKET2 2 "write 0x2000 0 u32 0xBBBB"
sleep 1
echo ""

echo "--- Step 4: 监控 vcan0 的 PDO + SYNC ---"
echo "    SYNC  = CAN ID 0x080"
echo "    节点1 TPDO = 0x181"
echo "    节点2 TPDO = 0x182"
echo ""

echo "发送 SYNC 前..."
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 "--- 发送第一个 SYNC ---"
candump vcan0,80:FFF,181:FFF,182:FFF &
CANDUMP=$!
sleep 1

cansend vcan0 080#
sleep 2

kill $CANDUMP 2>/dev/null
wait $CANDUMP 2>/dev/null
echo ""

echo "--- Step 5: 多 SYNC 循环 ---"
echo "连续发送 3 个 SYNC (每 1 秒)，观察 TPDO 同步："
for i in 1 2 3; do
    echo "  SYNC #$i..."
    candump vcan0,181:FFF,182:FFF -n 2 &
    CANDUMP=$!
    cansend vcan0 080#
    sleep 1
    kill $CANDUMP 2>/dev/null
    wait $CANDUMP 2>/dev/null
done
echo ""

echo "--- Step 6: 修改值后通过 SYNC 同步 ---"
echo "    将节点1 的 TPDO 传输类型改为 2（每 2 个 SYNC 发一次）"
cocc $SOCKET1 1 "write 0x1800 2 u8 2"
cocc $SOCKET1 1 "write 0x2000 0 u32 0xCCCC"
echo ""

echo "    发送 2 个 SYNC:"
candump vcan0,181:FFF -n 1 &
CANDUMP=$!
cansend vcan0 080#
sleep 1
kill $CANDUMP 2>/dev/null; wait $CANDUMP 2>/dev/null
echo "第 1 个 SYNC → 节点2 = $(cocc $SOCKET2 2 'read 0x2000 0 u32') (不应变化)"

candump vcan0,181:FFF -n 1 &
CANDUMP=$!
cansend vcan0 080#
sleep 1
kill $CANDUMP 2>/dev/null; wait $CANDUMP 2>/dev/null
echo "第 2 个 SYNC → 节点2 = $(cocc $SOCKET2 2 'read 0x2000 0 u32') (应 = 0xCCCC)"
echo ""

echo "================================================"
echo " SYNC 实验总结"
echo "================================================"
echo " SYNC (CAN ID 0x080) 是 CANopen 全局同步脉冲"
echo " 每个 SYNC 触发传输类型为 1-240 的 TPDO"
echo " 传输类型值 = 每隔 N 个 SYNC 发一次"
echo " 多轴伺服系统中用于同步位置环"
echo " 相当于分布式系统中的硬件同步信号"
echo "================================================"