function CanNode(hardwareId, numberOfModules)
{
this.myHardwareId = hardwareId;
this.myNumberOfModules = numberOfModules;
this.myModules = new Array();
this.myHeartbeatTime = 0;
this.myIsOnline = false;
this.stopProgramming();
}
CanNode.prototype.myIsOnline = null;
CanNode.prototype.myHardwareId = null;
CanNode.prototype.myNumberOfModules = null;
CanNode.prototype.myModules = null;
CanNode.prototype.myHeartbeatTime = null;
CanNode.prototype.myProgrammingIsBios = null;
CanNode.prototype.myProgramming = null;
CanNode.prototype.myProgrammingHex = null;
CanNode.prototype.myProgrammingHexAddress = null;
CanNode.prototype.myProgrammingOffset = null;
CanNode.prototype.myProgrammingCallback = null;
CanNode.prototype.myProgrammingWantAck = null;
CanNode.prototype.myProgrammingState = null;
CanNode.prototype.isOnline = function()
{
return this.myIsOnline;
}
CanNode.prototype.start = function()
{
var canMessage = new CanNMTMessage("nmt", "Start_App");
canMessage.setData("HardwareId", this.myHardwareId);
canMessage.send();
}
CanNode.prototype.reset = function()
{
var canMessage = new CanNMTMessage("nmt", "Reset");
canMessage.setData("HardwareId", this.myHardwareId);
canMessage.send();
}
CanNode.prototype.startApplication = function()
{
var canMessage = new CanNMTMessage("nmt", "Start_App");
canMessage.setData("HardwareId", this.myHardwareId);
canMessage.send();
}
CanNode.prototype.handleHeartbeat = function(numberOfModules)
{
if (numberOfModules)
{
this.myNumberOfModules = numberOfModules;
}
if (this.myNumberOfModules == null || this.myNumberOfModules > this.myModules.length)
{
var canMessage = new CanMessage("mnmt", "To_Owner", "", 0, "List");
canMessage.setData("HardwareId", this.myHardwareId);
canMessage.send();
}
this.onlineHandler();
}
CanNode.prototype.startProgramming = function(hexData, progressCallback, isBios)
{
if (isBios)
{
this.myProgrammingIsBios = isBios;
}
else
{
this.myProgrammingIsBios = false;
}
this.myProgramming = true;
this.myProgrammingHex = hexData;
this.myProgrammingCallback = progressCallback;
CanProgrammingNode = this;
this.reset();
}
CanNode.prototype.handleBiosStart = function(biosVersion, hasApplication)
{
//print("node was reset and bios just started, ver:" + biosVersion);
if (this.myProgramming)
{
this.myProgrammingHexAddress = this.myProgrammingHex.getAddrLower();
this.myProgrammingWantAck = ((this.myProgrammingHexAddress<<8)|(this.myProgrammingHexAddress>>8))&0xffff;
var canMessage = new CanNMTMessage("nmt", "Pgm_Start");
canMessage.setData("HardwareId", this.myHardwareId);
canMessage.setData("Address0", this.myProgrammingHexAddress&0xff);
canMessage.setData("Address1", (this.myProgrammingHexAddress>>8)&0xff);
canMessage.setData("Address3", (this.myProgrammingHexAddress>>16)&0xff);
canMessage.setData("Address4", (this.myProgrammingHexAddress>>24)&0xff);
canMessage.send();
this.myProgrammingState = "DATA";
this.myProgrammingCallback(true, "START", "Started programming of node");
}
}
CanNode.prototype.handleNack = function(data)
{
stopProgramming(true, "Failed, got NACK, sending reset");
this.reset();
if (false)
{
}
}
CanNode.prototype.handleAck = function(data)
{
//this.myProgrammingCallback(true, "DBG", "data: "+data+", myProgrammingWantAck: "+this.myProgrammingWantAck+"");
if (data == this.myProgrammingWantAck)
{
switch (this.myProgrammingState)
{
case "DATA":
var offset = this.myProgrammingHexOffset;
this.myProgrammingWantAck = ((offset<<8)|(offset>>8))&0xffff;
//var bytesLeft = this.myProgrammingHex.getAddrUpper() - (this.myProgrammingHexAddress+this.myProgrammingHexOffset);
var bytesLeft = this.myProgrammingHex.getLength() - this.myProgrammingHexOffset;
//here we must handle the possibility that data is less then 48 bits
var canMessage = new CanNMTMessage("nmt", "Pgm_Data_48");
switch (bytesLeft)
{
case 1:
canMessage = new CanNMTMessage("nmt", "Pgm_Data_8");
break;
case 2:
canMessage = new CanNMTMessage("nmt", "Pgm_Data_16");
break;
case 3:
canMessage = new CanNMTMessage("nmt", "Pgm_Data_24");
break;
case 4:
canMessage = new CanNMTMessage("nmt", "Pgm_Data_32");
break;
case 5:
canMessage = new CanNMTMessage("nmt", "Pgm_Data_40");
break;
}
canMessage.setData("Offset0", offset&0xff);
canMessage.setData("Offset1", (offset>>8)&0xff);
for (var i=0; i<bytesLeft && i<6; i++)
{
switch (i)
{
case 0:
canMessage.setData("Data0", this.myProgrammingHex.getByte(offset));
break;
case 1:
canMessage.setData("Data1", this.myProgrammingHex.getByte(offset));
break;
case 2:
canMessage.setData("Data2", this.myProgrammingHex.getByte(offset));
break;
case 3:
canMessage.setData("Data3", this.myProgrammingHex.getByte(offset));
break;
case 4:
canMessage.setData("Data4", this.myProgrammingHex.getByte(offset));
break;
case 5:
canMessage.setData("Data5", this.myProgrammingHex.getByte(offset));
break;
}
offset++;
}
canMessage.send();
this.myProgrammingHexOffset = offset;
if (this.myProgrammingHexOffset >= this.myProgrammingHex.getLength()) {
this.myProgrammingState = "END";
}
this.myProgrammingCallback(true, "PROGRESS", this.myProgrammingHexOffset + ":" + this.myProgrammingHex.getLength());
break;
case "END":
this.myProgrammingWantAck = ((this.myProgrammingHex.getCRC16()<<8)|(this.myProgrammingHex.getCRC16()>>8))&0xffff;
var canMessage = new CanNMTMessage("nmt", "Pgm_End");
canMessage.send();
this.myProgrammingState = "CRC";
break;
case "CRC":
//is this a bios programming?
if (false)
{
this.myProgrammingState = "COPY";
this.myProgrammingCallback(true, "PROGRESS", "Start to copy bios to new location");
var canMessage = new CanNMTMessage("nmt", "Pgm_Copy");
canMessage.setData("Source0", source);
canMessage.setData("Source1", source);
canMessage.setData("Destination0", destination);
canMessage.setData("Destination1", destination);
canMessage.setData("Length0", length);
canMessage.setData("Length1", length);
canMessage.send();
this.stopProgramming();
}
else
{
this.stopProgramming(true, "Done, sucessful");
this.reset();
}
break;
case "COPY": //this will never occur, bios does not send ack for copy command, it just moves data in flash then reset itself
break;
default:
break;
}
}
else
{
switch (this.myProgrammingState)
{
case "DATA":
//Fall through
case "END":
///TODO: We got something that was not correct... we should abort
this.stopProgramming(true, "Failed to program, ack had wrong offset, expected data: "+this.myProgrammingWantAck+" got: "+data);
this.reset();
break;
case "CRC":
this.stopProgramming(true, "Failed to program, CRC not matching, expected data: "+this.myProgrammingWantAck+" got: "+data);
this.reset();
break;
case "COPY": //this will never occur, bios does not send ack for copy command, it just moves data in flash then reset itself
break;
default:
break;
}
}
}
CanNode.prototype.stopProgramming = function(status, text)
{
if (status && text)
{
this.myProgrammingCallback(status, "STOP", text);
}
this.myProgrammingIsBios = false;
this.myProgramming = false;
this.myProgrammingHex = new Array();
this.myProgrammingHexAddress = 0;
this.myProgrammingHexOffset = 0;
this.myProgrammingCallback = function() {};
this.myProgrammingWantAck = null;
this.myProgrammingState = "";
CanProgrammingNode = null;
}
CanNode.prototype.addService = function(sequenceNumber, service)
{
this.myModules[sequenceNumber] = service;
service.setOnline();
}
CanNode.prototype.onlineHandler = function()
{
var date = new Date();
this.myHeartbeatTime = date.getTimestamp();
if (!this.myIsOnline)
{
this.myIsOnline = true;
log(uint2hex(this.myHardwareId, 32) + "> Node went online\n");
for (var n in this.myModules)
{
this.myModules[n].setOnline();
}
}
}
CanNode.prototype.checkOffline = function()
{
if (this.myIsOnline)
{
var date = new Date();
if (this.myHeartbeatTime + 10 < date.getTimestamp())
{
this.setOffline();
}
}
}
CanNode.prototype.setOffline = function()
{
if (this.myIsOnline)
{
this.myIsOnline = false;
log(uint2hex(this.myHardwareId, 32) + "> Node went offline\n");
for (var n in this.myModules)
{
this.myModules[n].setOffline();
}
}
}