118 lines
3.9 KiB
JavaScript
118 lines
3.9 KiB
JavaScript
const can = require("socketcan");
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const csv = require("fast-csv");
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const fs = require("fs");
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const can_conf = require("./app/config/can.conf");
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const map_conf = require("./app/config/map.conf");
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var map_rpm = [];
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var map_throttle = [];
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var loaded_map_name = "";
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var loaded_map_data = [];
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var throttle_output = 0;
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var channel = can.createRawChannel(can_conf.network_id, true);
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for (let i = 0; i <= map_conf.steps; i++) {
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map_rpm[i] = i * (map_conf.max_rpm / map_conf.steps);
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map_throttle[i] = i * (map_conf.max_throttle / map_conf.steps);
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}
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const current_id = (0x01 << 5) | can_conf.controller.id;
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const brake_current_id = (0x02 << 5) | can_conf.controller.id;
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function parseMap(filename) {
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loaded_map_data = [];
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return new Promise((resolve, reject) => {
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csv.parseFile(`app/storage/${filename}`, { comment: "#" })
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.on('error', error => reject(error))
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.on('data', row => loaded_map_data.push(row))
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.on('end', () => { loaded_map_name = filename; resolve() });
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});
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}
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function getMapIndex(array, input) {
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if (array.length === 0) {
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return -1;
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}
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let left = 0;
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let right = array.length - 1;
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while (left <= right) {
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const mid = Math.floor((left + right) / 2);
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if (array[mid] === input) {
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return mid;
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} else if (array[mid] < input) {
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left = mid + 1;
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} else {
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right = mid - 1;
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}
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}
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if (left >= array.length) {
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return array.length - 1;
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}
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if (right < 0) {
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return 0;
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}
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return Math.abs(array[left] - input) < Math.abs(array[right] - input) ? left : right;
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}
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channel.addListener("onMessage", async function (message) {
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if (fs.existsSync(map_conf.selected_map_path)) {
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let enabled_map_name = fs.readFileSync(map_conf.selected_map_path);
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if (enabled_map_name != "") {
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if (loaded_map_name != enabled_map_name) {
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await parseMap(enabled_map_name);
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}
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if (message.id == can_conf.apps_id) {
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const apps_percentage = ((message.data[1] << 8) | message.data[0]) / 1000;
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let pos = getMapIndex(map_throttle, apps_percentage);
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throttle_output = loaded_map_data[pos][2];
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} else {
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let packet_id = message.id >> 5;
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let node_id = message.id & 0x1F;
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if ((node_id == can_conf.controller.id) && (packet_id == 0x20)) {
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let ERPM = message.data[0] << 3 * 8 | message.data[1] << 2 * 8 | message.data[2] << 8 | message.data[3];
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if (throttle_output > 0) {
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let max_current = loaded_map_data[getMapIndex(map_rpm, ERPM / can_conf.motor_poles)][0];
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let current = throttle_output * max_current * 10;
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channel.send({
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id: current_id,
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ext: false,
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data: Buffer.from([(current >> 8) & 0xFF, current & 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF])
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});
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} else if (throttle_output < 0) {
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let max_brake_current = loaded_map_data[getMapIndex(map_rpm, ERPM / can_conf.motor_poles)][1];
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let brake_current = throttle_output * max_brake_current * 10;
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channel.send({
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id: brake_current_id,
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ext: false,
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data: Buffer.from([(brake_current >> 8) & 0xFF, brake_current & 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF])
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});
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} else {
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channel.send({
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id: current_id,
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ext: false,
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data: Buffer.from([0, 0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF])
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});
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}
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}
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}
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}
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}
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});
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channel.start(); |