140 lines
4.5 KiB
JavaScript
140 lines
4.5 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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const path = require("path");
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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 enabled = false;
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var channel = can.createRawChannel(can_conf.network_id, true);
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// 404#0000245E00710186
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// 019#02
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// 050#9702
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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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const erpm_id = (0x20 << 5) | can_conf.controller.id;
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function parseMap(filename) {
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let name = "";
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let map = [];
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return new Promise((resolve, reject) => {
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csv.parseFile(path.join(__dirname, map_conf.map_storage_path, filename), { comment: "#" })
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.on('error', error => reject(error))
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.on('data', row => map.push(row))
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.on('end', () => { name = filename; resolve([name, map]) });
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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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(async () => {
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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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if (fs.existsSync(path.join(__dirname, map_conf.map_storage_path, "selected"))) {
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const enabled_map_name = fs.readFileSync(path.join(__dirname, map_conf.map_storage_path, "selected"));
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[loaded_map_name, loaded_map_data] = await parseMap(enabled_map_name);
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}
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})();
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channel.addListener("onMessage", async function (message) {
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switch (message.id) {
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case can_conf.selector.id:
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if (Buffer.compare(message.data, can_conf.selector.command) == 0) {
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enabled = true;
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} else {
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enabled = false;
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}
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break;
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case can_conf.apps_id:
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const apps_percentage = ((message.data[1] << 8) | message.data[0]) / 1000;
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throttle_output = loaded_map_data[getMapIndex(map_throttle, apps_percentage)][2];
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break;
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case erpm_id:
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if (enabled) {
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if (fs.existsSync(path.join(__dirname, map_conf.map_storage_path, "selected"))) {
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const enabled_map_name = fs.readFileSync(path.join(__dirname, map_conf.map_storage_path, "selected"));
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if (enabled_map_name != "") {
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if (loaded_map_name != enabled_map_name) {
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[loaded_map_name, loaded_map_data] = await parseMap(enabled_map_name);
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}
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const ERPM = message.data[0] << 3 * 8 | message.data[1] << 2 * 8 | message.data[2] << 8 | message.data[3];
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let max_current = loaded_map_data[getMapIndex(map_rpm, ERPM / can_conf.motor_poles)][(throttle_output > 0) ? 0 : 1];
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let current = throttle_output * max_current * 10;
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channel.send({
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id: (throttle_output > 0) ? current_id : brake_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 {
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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([0, 0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF])
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});
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}
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} else {
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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([0, 0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF])
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});
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}
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}
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break;
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default: {
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break;
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}
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}
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});
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channel.start(); |