Include notifier

Author: sdarrow3

dist/binding.d.ts

@@ -25,3 +25,4 @@ export declare const readStreamSession: (descriptor: string, sessionHandle: numb
 export declare const closeStreamSession: (descriptor: string, sessionHandle: number) => number;
 export declare const getCANDetailStatus: (descriptor: string) => CanDeviceStatus;
 export declare const sendCANMessage: (descriptor: string, messageId: number, messageData: number[], repeatPeriod: number) => number;
+export declare const waitForNotifierAlarm: (time: number) => void;

dist/binding.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.sendCANMessage = exports.getCANDetailStatus = exports.closeStreamSession = exports.readStreamSession = exports.openStreamSession = exports.receiveMessage = exports.unregisterDeviceFromHAL = exports.registerDeviceToHAL = exports.getDevices = void 0;
+exports.waitForNotifierAlarm = exports.sendCANMessage = exports.getCANDetailStatus = exports.closeStreamSession = exports.readStreamSession = exports.openStreamSession = exports.receiveMessage = exports.unregisterDeviceFromHAL = exports.registerDeviceToHAL = exports.getDevices = void 0;
 var util_1 = require("util");
 var addon = require('bindings')('addon');
 exports.getDevices = addon.getDevices;
@@ -12,3 +12,4 @@ exports.readStreamSession = addon.readStreamSession;
 exports.closeStreamSession = addon.closeStreamSession;
 exports.getCANDetailStatus = addon.getCANDetailStatus;
 exports.sendCANMessage = addon.sendCANMessage;
+exports.waitForNotifierAlarm = addon.waitForNotifierAlarm;

lib/binding.ts

@@ -33,4 +33,5 @@ export const readStreamSession: (descriptor:string, sessionHandle:number, messag
     CanMessage[] = addon.readStreamSession;
 export const closeStreamSession: (descriptor:string, sessionHandle:number) => number = addon.closeStreamSession;
 export const getCANDetailStatus: (descriptor:string) => CanDeviceStatus = addon.getCANDetailStatus;
-export const sendCANMessage: (descriptor:string, messageId: number, messageData: number[], repeatPeriod: number) => number = addon.sendCANMessage;
+export const sendCANMessage: (descriptor:string, messageId: number, messageData: number[], repeatPeriod: number) => number = addon.sendCANMessage;
+export const waitForNotifierAlarm: (time:number) => void = addon.waitForNotifierAlarm;

package.json

@@ -1,6 +1,6 @@
 {
     "name": "node-can-bridge",
-    "version": "0.0.14",
+    "version": "0.0.15",
     "author": "REV Robotics",
     "description": "Get CAN Data",
     "license": "MIT",

src/addon.cc

@@ -20,6 +20,8 @@ Napi::Object Init(Napi::Env env, Napi::Object exports) {
                 Napi::Function::New(env, getCANDetailStatus));
     exports.Set(Napi::String::New(env, "sendCANMessage"),
                 Napi::Function::New(env, sendCANMessage));
+    exports.Set(Napi::String::New(env, "waitForNotifierAlarm"),
+                Napi::Function::New(env, waitForNotifierAlarm));
     return exports;
 }
 

src/canWrapper.cc

@@ -359,4 +359,15 @@ Napi::Number sendCANMessage(const Napi::CallbackInfo& info) {
     rev::usb::CANMessage* message = new rev::usb::CANMessage(messageId, messageData, dataParam.Length());
     rev::usb::CANStatus status = deviceIterator->second->SendCANMessage(*message, repeatPeriodMs);
     return Napi::Number::New(env, (int)status);
-}
+}
+
+void waitForNotifierAlarm(const Napi::CallbackInfo& info) {
+    uint32_t time = info[0].As<Napi::Number>().Uint32Value();
+    int32_t status;
+
+    uint32_t m_notifier = HAL_InitializeNotifier(&status);
+    HAL_UpdateNotifierAlarm(m_notifier, HAL_GetFPGATime(&status) + time, &status);
+    HAL_WaitForNotifierAlarm(m_notifier, &status);
+    HAL_StopNotifier(m_notifier, &status);
+    HAL_CleanNotifier(m_notifier, &status);
+}

src/canWrapper.h

@@ -11,5 +11,5 @@ Napi::Array readStreamSession(const Napi::CallbackInfo& info);
 Napi::Number closeStreamSession(const Napi::CallbackInfo& info);
 Napi::Object getCANDetailStatus(const Napi::CallbackInfo& info);
 Napi::Number sendCANMessage(const Napi::CallbackInfo& info);
-
+void waitForNotifierAlarm(const Napi::CallbackInfo& info);
 #endif

test/test_binding.js

@@ -121,17 +121,29 @@ async function testSendCANMessage() {
     }
 }
 
+async function testWaitForNotifierAlarm() {
+    try {
+        const start = Date.now();
+        addon.waitForNotifierAlarm(10000);
+        console.log("Time passed:", Date.now() - start);
+    } catch(error) {
+        assert.fail(error);
+    }
+}
+
 process.on('uncaughtException', function (exception) {
     console.log(exception);
 });
 
+
 testGetDevices()
     .then(testReceiveMessage)
     .then(testOpenStreamSession)
     .then(testReadStreamSession)
     .then(testCloseStreamSession)
     .then(testGetCANDetailStatus)
     .then(testSendCANMessage)
+    .then(testWaitForNotifierAlarm)
     .catch((error)  => {
         console.log(error);
     });