kdrakontidis/throttle_motor_mapping
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Map socket comm

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admin
2025-06-12 11:15:28 +02:00
parent de15de87a9
commit 5fe201182a
5 changed files with 151 additions and 48 deletions
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app/routes/private_routes.js
+5 -6
View File
@@ -6,6 +6,7 @@ const express = require('express');
const app_conf = require("../config/app.conf.js");
const map_conf = require("../config/map.conf.js");
const messages = require("../config/messages.conf.js");
const socket = require("../utils/socket.util.js");
const map = require("../utils/map.util.js");
@@ -29,6 +30,7 @@ router.get("/disable", async (req, res) => {
logger.info(`${req.method}: "${req.url}" => ${req.get("User-Agent")}`);
fs.writeFileSync(path.join(path.dirname(require.main.filename), map_conf.map_storage_path, "selected"), "");
socket.broadcastMap(null);
res.status(200).send();
});
@@ -41,6 +43,7 @@ router.get("/enable", async (req, res) => {
if (requested_map && map.mapExists(requested_map)) {
fs.writeFileSync(path.join(path.dirname(require.main.filename), map_conf.map_storage_path, "selected"), requested_map);
socket.broadcastMap(requested_map);
res.status(200).send();
} else {
@@ -62,6 +65,7 @@ router.delete("/remove", async (req, res) => {
selected_map_name = fs.readFileSync(path.join(path.dirname(require.main.filename), map_conf.map_storage_path, "selected"), "utf-8");
if (selected_map_name == element) {
fs.writeFileSync(path.join(path.dirname(require.main.filename), map_conf.map_storage_path, "selected"), "");
socket.broadcastMap(null);
}
}
res.status(200).send();
@@ -195,12 +199,7 @@ router.get("/", async (req, res) => {
try {
const maps = await map.getAvailableMaps();
var selected_map_name = "";
// Check if a map has been selected to show it
if (fs.existsSync(path.join(path.dirname(require.main.filename), map_conf.map_storage_path, "selected"))) {
selected_map_name = fs.readFileSync(path.join(path.dirname(require.main.filename), map_conf.map_storage_path, "selected"), "utf-8");
}
var selected_map_name = map.getSelectedMap();
// Construct the maps table
var table_data = "";
app/utils/map.util.js
+14 -1
View File
@@ -5,6 +5,18 @@ const uuid = require("uuid");
const map_conf = require("../config/map.conf");
const logger = require("./logger.util");
// Returns map filename or ""
function getSelectedMap() {
var selected_map_name = "";
// Check if a map has been selected to show it
if (fs.existsSync(path.join(path.dirname(require.main.filename), map_conf.map_storage_path, "selected"))) {
selected_map_name = fs.readFileSync(path.join(path.dirname(require.main.filename), map_conf.map_storage_path, "selected"), "utf-8");
}
return(selected_map_name);
}
// Creates new map
async function addMap(filename, meta, throttle, motor) {
var total = "";
@@ -201,5 +213,6 @@ module.exports = {
parseMapJson,
mapExists,
updateMap,
addMap
addMap,
getSelectedMap
};
app/utils/socket.util.js
+65
View File
@@ -0,0 +1,65 @@
const net = require("net");
const fs = require("fs");
const path = require("path");
const map_conf = require("../config/map.conf");
const map = require("../utils/map.util");
const logger = require("../utils/logger.util");
const can_conf = require("../config/can.conf")
const SOCKET_PATH = path.join(path.dirname(require.main.filename), map_conf.map_storage_path, can_conf.socket_filename);
var clients = [];
if (fs.existsSync(SOCKET_PATH)) {
logger.info("Removing existing map socket...");
fs.unlinkSync(SOCKET_PATH);
}
function broadcastMap(filename) {
logger.info("Map updated. Broadcasting new filename to map socket...");
let message = JSON.stringify({ "map": filename });
for (c of clients) {
c.write(message);
}
}
function closeSocket() {
for (c of clients) {
c.end();
}
logger.info("Closing map socket.");
server.close();
}
const server = net.createServer((client) => {
// send selected map
logger.info("Client connected to map socket.");
var map_filename = map.getSelectedMap();
if (map_filename === "") {
map_filename = null;
}
client.write(JSON.stringify({"map": map_filename}));
// client array
clients.push(client);
client.on("end", () => {
logger.info("Client disconnected from map socket.");
const index = clients.indexOf(client);
if (index !== -1) {
clients.splice(index, 1);
}
});
});
server.listen(SOCKET_PATH, () => {
logger.info("Started map socket");
});
module.exports = {
broadcastMap,
closeSocket
}
can.js
+49 -25
View File
@@ -1,15 +1,18 @@
const can = require("socketcan");
const csv = require("fast-csv");
const fs = require("fs");
const net = require('net');
const can_conf = require("./app/config/can.conf");
const map_conf = require("./app/config/map.conf");
const path = require("path");
const SOCKET_PATH = path.join(__dirname, map_conf.map_storage_path, can_conf.socket_filename);
var map_rpm = [];
var map_throttle = [];
var loaded_map_name = "";
var loaded_map_name = null;
var loaded_map_data = [];
var throttle_output = 0;
@@ -31,7 +34,7 @@ function parseMap(filename) {
let map = [];
return new Promise((resolve, reject) => {
csv.parseFile(path.join(__dirname, map_conf.map_storage_path, filename), { comment: "#" })
csv.parseFile((filename), { comment: "#" })
.on('error', error => reject(error))
.on('data', row => map.push(row))
.on('end', () => { name = filename; resolve([name, map]) });
@@ -67,24 +70,58 @@ function getMapIndex(array, input) {
return Math.abs(array[left] - input) < Math.abs(array[right] - input) ? left : right;
}
function connect() {
console.log("Connecting...");
if (fs.existsSync(SOCKET_PATH)) {
const client = net.createConnection(SOCKET_PATH, () => {
console.log("Connected");
});
client.on("data", async (data) => {
let enabled_map_name = JSON.parse(data)["map"];
console.log(`Received: ${enabled_map_name}`);
if (enabled_map_name === null) {
console.log("Purging memory");
loaded_map_name = null;
loaded_map_data = [];
} else if (enabled_map_name != loaded_map_name) {
console.log("Parsing map");
[loaded_map_name, loaded_map_data] = await parseMap(path.join(__dirname, map_conf.map_storage_path, enabled_map_name));
}
});
client.on("end", () => {
console.log("Disconnected");
setTimeout(connect, can_conf.socket_connect_wait);
});
client.on("error", (err) => {
console.log(`Error: ${err.message}`);
setTimeout(connect, can_conf.socket_connect_wait);
});
} else {
setTimeout(connect, can_conf.socket_connect_wait);
}
}
(async () => {
for (let i = 0; i <= map_conf.steps; i++) {
map_rpm[i] = i * (map_conf.max_rpm / map_conf.steps);
map_throttle[i] = i * (map_conf.max_throttle / map_conf.steps);
}
if (fs.existsSync(path.join(__dirname, map_conf.map_storage_path, "selected"))) {
const enabled_map_name = fs.readFileSync(path.join(__dirname, map_conf.map_storage_path, "selected"));
[loaded_map_name, loaded_map_data] = await parseMap(enabled_map_name);
}
connect();
})();
channel.addListener("onMessage", async function (message) {
switch (message.id) {
case can_conf.selector.id:
if (Buffer.compare(message.data, can_conf.selector.command) == 0) {
console.log("Enable")
enabled = true;
} else {
console.log("Disable");
enabled = false;
}
@@ -92,19 +129,15 @@ channel.addListener("onMessage", async function (message) {
case can_conf.apps_id:
const apps_percentage = ((message.data[1] << 8) | message.data[0]) / 1000;
if (loaded_map_name !== null) {
throttle_output = loaded_map_data[getMapIndex(map_throttle, apps_percentage)][2];
} else {
throttle_output = 0;
}
break;
case erpm_id:
if (enabled) {
if (fs.existsSync(path.join(__dirname, map_conf.map_storage_path, "selected"))) {
const enabled_map_name = fs.readFileSync(path.join(__dirname, map_conf.map_storage_path, "selected"));
if (enabled_map_name != "") {
if (loaded_map_name != enabled_map_name) {
[loaded_map_name, loaded_map_data] = await parseMap(enabled_map_name);
}
if (enabled && (loaded_map_name !== null)) {
const ERPM = message.data[0] << 3 * 8 | message.data[1] << 2 * 8 | message.data[2] << 8 | message.data[3];
let max_current = loaded_map_data[getMapIndex(map_rpm, ERPM / can_conf.motor_poles)][(throttle_output > 0) ? 0 : 1];
@@ -114,22 +147,13 @@ channel.addListener("onMessage", async function (message) {
ext: false,
data: Buffer.from([(current >> 8) & 0xFF, current & 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF])
});
} else {
} else if (enabled && (loaded_map_data === null)) {
channel.send({
id: brake_current_id,
ext: false,
data: Buffer.from([0, 0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF])
});
}
} else {
channel.send({
id: brake_current_id,
ext: false,
data: Buffer.from([0, 0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF])
});
}
}
break;
default: {
break;
server.js
+2
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@@ -9,6 +9,7 @@ const public_routes = require('./app/routes/public_routes');
const private_routes = require('./app/routes/private_routes');
const logger = require("./app/utils/logger.util.js");
const map_socket = require("./app/utils/socket.util.js");
const app = express();
var shutting_down = false;
@@ -77,6 +78,7 @@ process.on("SIGINT", () => {
*/
function shutdown() {
shutting_down = true;
map_socket.closeSocket();
server.close(() => {
logger.info("Shutting down server.");