Require frontend to continually acknowledge SPARK MAX heartbeat

Author: sdarrow3

dist/binding.d.ts

@@ -44,3 +44,4 @@ export declare const readHALStreamSession: (streamHandle: number, numMessages: n
 export declare const closeHALStreamSession: (streamHandle: number) => void;
 export declare const setThreadPriority: (descriptor: string, priority: ThreadPriority) => void;
 export declare const setSparkMaxHeartbeatData: (descriptor: string, heartbeatData: number[]) => void;
+export declare const ackSparkMaxHeartbeat: () => void;

dist/binding.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.setSparkMaxHeartbeatData = exports.setThreadPriority = exports.closeHALStreamSession = exports.readHALStreamSession = exports.openHALStreamSession = exports.writeDfuToBin = exports.stopNotifier = exports.waitForNotifierAlarm = exports.intializeNotifier = exports.sendHALMessage = exports.sendCANMessage = exports.getCANDetailStatus = exports.closeStreamSession = exports.readStreamSession = exports.openStreamSession = exports.receiveMessage = exports.unregisterDeviceFromHAL = exports.registerDeviceToHAL = exports.getDevices = exports.ThreadPriority = void 0;
+exports.ackSparkMaxHeartbeat = exports.setSparkMaxHeartbeatData = exports.setThreadPriority = exports.closeHALStreamSession = exports.readHALStreamSession = exports.openHALStreamSession = exports.writeDfuToBin = exports.stopNotifier = exports.waitForNotifierAlarm = exports.intializeNotifier = exports.sendHALMessage = exports.sendCANMessage = exports.getCANDetailStatus = exports.closeStreamSession = exports.readStreamSession = exports.openStreamSession = exports.receiveMessage = exports.unregisterDeviceFromHAL = exports.registerDeviceToHAL = exports.getDevices = exports.ThreadPriority = void 0;
 var util_1 = require("util");
 var addon = require('bindings')('addon');
 var ThreadPriority;
@@ -32,3 +32,4 @@ exports.readHALStreamSession = addon.readHALStreamSession;
 exports.closeHALStreamSession = addon.closeHALStreamSession;
 exports.setThreadPriority = addon.setThreadPriority;
 exports.setSparkMaxHeartbeatData = addon.setSparkMaxHeartbeatData;
+exports.ackSparkMaxHeartbeat = addon.ackSparkMaxHeartbeat;

lib/binding.ts

@@ -53,4 +53,5 @@ export const openHALStreamSession: (messageId: number, messageMask:number, numMe
 export const readHALStreamSession: (streamHandle:number, numMessages:number) => CanMessage[] = addon.readHALStreamSession;
 export const closeHALStreamSession: (streamHandle:number) => void = addon.closeHALStreamSession;
 export const setThreadPriority: (descriptor: string, priority: ThreadPriority) => void = addon.setThreadPriority;
-export const setSparkMaxHeartbeatData: (descriptor: string, heartbeatData: number[]) => void = addon.setSparkMaxHeartbeatData;
+export const setSparkMaxHeartbeatData: (descriptor: string, heartbeatData: number[]) => void = addon.setSparkMaxHeartbeatData;
+export const ackSparkMaxHeartbeat: () => void = addon.ackSparkMaxHeartbeat;

package.json

@@ -1,6 +1,6 @@
 {
     "name": "node-can-bridge",
-    "version": "1.0.9",
+    "version": "1.0.10",
     "author": "REV Robotics",
     "description": "Get CAN Data",
     "license": "MIT",

src/addon.cc

@@ -40,6 +40,8 @@ Napi::Object Init(Napi::Env env, Napi::Object exports) {
                 Napi::Function::New(env, setThreadPriority));
     exports.Set(Napi::String::New(env, "setSparkMaxHeartbeatData"),
                 Napi::Function::New(env, setSparkMaxHeartbeatData));
+    exports.Set(Napi::String::New(env, "ackSparkMaxHeartbeat"),
+                Napi::Function::New(env, ackSparkMaxHeartbeat));
     return exports;
 }
 

src/canWrapper.cc

@@ -16,6 +16,7 @@
 #include <set>
 #include <exception>
 #include <mutex>
+#include <ctime>
 #include "canWrapper.h"
 #include "DfuSeFile.h"
 
@@ -25,6 +26,8 @@ rev::usb::CandleWinUSBDriver* driver = new rev::usb::CandleWinUSBDriver();
 std::map<std::string, std::shared_ptr<rev::usb::CANDevice>> CANDeviceMap;
 std::set<std::string> devicesRegisteredToHal;
 bool halInitialized = false;
+std::vector<std::string> heartbeatsRunning;
+auto latestHeartbeatAck = std::chrono::system_clock::now();
 uint32_t m_notifier;
 
 void removeExtraDevicesFromDeviceMap(std::vector<std::string> descriptors) {
@@ -588,6 +591,25 @@ void writeDfuToBin(const Napi::CallbackInfo& info) {
     cb.Call(info.Env().Global(), {info.Env().Null(), Napi::Number::New(info.Env(), status)});
 }
 
+void heartbeatWatchdog() {
+    while(heartbeatsRunning.size() > 0) {
+        std::this_thread::sleep_for (std::chrono::seconds(1));
+        auto now = std::chrono::system_clock::now();
+        std::chrono::duration<double> elapsed_seconds = now-latestHeartbeatAck;
+        if (elapsed_seconds.count() > 1) {
+            uint8_t heartbeat[] = {0, 0, 0, 0, 0, 0, 0, 0};
+            for(int i = 0; i < heartbeatsRunning.size(); i++) {
+                _sendCANMessage(heartbeatsRunning[i], 0x2052C80, heartbeat, 8, -1);
+            }
+            heartbeatsRunning.clear();
+        }
+    }
+}
+
+void ackSparkMaxHeartbeat(const Napi::CallbackInfo& info) {
+    latestHeartbeatAck = std::chrono::system_clock::now();
+}
+
 // Params:
 //   descriptor: string
 //   heartbeatData: Number[]
@@ -608,6 +630,27 @@ void setSparkMaxHeartbeatData(const Napi::CallbackInfo& info) {
         sum+= heartbeat[i];
     }
 
-    if (sum == 0) _sendCANMessage(descriptor, 0x2052C80, heartbeat, 8, -1);
-    else _sendCANMessage(descriptor, 0x2052C80, heartbeat, 8, 1);
+    if (sum == 0) {
+        _sendCANMessage(descriptor, 0x2052C80, heartbeat, 8, -1);
+        for(int i = 0; i < heartbeatsRunning.size(); i++) {
+            if (heartbeatsRunning[i].compare(descriptor) == 0) {
+                heartbeatsRunning.erase(heartbeatsRunning.begin() + i);
+                return;
+            }
+        }
+    }
+    else {
+        _sendCANMessage(descriptor, 0x2052C80, heartbeat, 8, 1);
+        if (heartbeatsRunning.size() == 0) {
+            heartbeatsRunning.push_back(descriptor);
+            latestHeartbeatAck = std::chrono::system_clock::now();
+            std::thread hb(heartbeatWatchdog);
+            hb.detach();
+        } else {
+            for(int i = 0; i < heartbeatsRunning.size(); i++) {
+                if (heartbeatsRunning[i].compare(descriptor) == 0) return;
+            }
+            heartbeatsRunning.push_back(descriptor);
+        }
+    }
 }

src/canWrapper.h

@@ -23,4 +23,5 @@ Napi::Array readHALStreamSession(const Napi::CallbackInfo& info);
 void closeHALStreamSession(const Napi::CallbackInfo& info);
 void setThreadPriority(const Napi::CallbackInfo& info);
 void setSparkMaxHeartbeatData(const Napi::CallbackInfo& info);
+void ackSparkMaxHeartbeat(const Napi::CallbackInfo& info);
 #endif

test/test_binding.js

@@ -213,7 +213,9 @@ async function testHeartbeat() {
         if (devices.length ===  0) return;
         await addon.sendCANMessage(devices[0].descriptor, 33882241, [10, 215, 163, 60, 0, 0, 0, 0], 0);
         await addon.setSparkMaxHeartbeatData(devices[0].descriptor, Array(8).fill(0xFF));
-        await new Promise(resolve => {setTimeout(resolve, 2000)});
+        const interval = setInterval(addon.ackSparkMaxHeartbeat, 900);
+        await new Promise(resolve => {setTimeout(resolve, 6000)});
+        clearInterval(interval);
         console.log("STOPPING");
         await addon.setSparkMaxHeartbeatData(devices[0].descriptor, Array(8).fill(0x00));
         await new Promise(resolve => {setTimeout(resolve, 2000)});