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module for NodeJS","maintainers":[{"email":"gfang@controls.com","name":"gfang"},{"email":"cwalden@controls.com","name":"cwalden-cs"},{"email":"skudrna@controls.com","name":"sean.kudrna.cs"},{"email":"incuiti@icloud.com","name":"incuiti"},{"email":"dyaeger@controls.com","name":"dayaeger"}],"readme":"# NodeJS PCAN-USB Module\n\nThis module provides a NodeJS interface to the [PEAK-System](https://www.peak-system.com/) [PCAN-USB](https://www.peak-system.com/PCAN-USB.199.0.html?&L=1) adapter, and possibly others that are supported by the [PCAN-Basic library](https://www.peak-system.com/PCAN-Basic.239.0.html?&L=1).\n\nThis module is meant to be compatible with a wrapper like @clssc/cs-canbus-universal, providing application support for PCAN-USB adapters.\n\nThis module uses native code through N-API and currently supports Windows and macOS.\n\n## Getting Started\n\nThe following assumes that [NodeJS](https://nodejs.org) is already installed. This module was developed using Node v14.18.3 for Windows 10 x86_64 and macOS 12.3.1. This module is known to work with Node v12.18.x and macOS 10.15.x.\n\nTo install this module, run:\n```\nnpm install @csllc/cs-pcan-usb\n```\n\nThe following is a sample script that opens the CAN port, writes a single message to the bus, and listens for and prints received messages from the bus.\n\n```js\nconst Can = require('cs-pcan-usb');\n\nlet can = new Can({\n  canRate: 250000,\n});\n\ncan.list()\n  .then((ports) => {\n    console.log(ports);\n    return can.open(ports[0].path)\n      .catch((err) => {\n\tconsole.error(err);\n\tprocess.exit(1);\n      });\n  })\n  .then(() => {\n    can.write({ id: 0x10EF8001,\n                ext: true,\n                buf: Buffer.from([0x45, 0x00, 0x00, 0x04, 0x00, 0x00]) });\n  })\n  .catch((err) => {\n    console.error(err);\n    can.close();\n    process.exit(1);\n  });\n\n\ncan.on('data', function(msg) {\n  console.log(JSON.stringify(msg, (key, value) => {\n    if ((typeof value === 'number') && (key == \"id\")) {\n      return value.toString(16).toUpperCase().padStart(8, '0');\n    } else if (typeof value === 'number') {\n      return value.toString(16).toUpperCase().padStart(2, '0');\n    } else {\n      return value;\n    }\n  }));\n});\n\n```\n\n## Examples\n\nBoth JavaScript and Win32 examples are available in the `example` folder.\n\n## Configuration\n\nThe constructor accepts an object that specifies the desired configuration. The CAN adapter is set up before the `open` method resolves, so once it is complete, the CAN interface is ready for use.\n\nThe default options are shown in the following example. Any of them may be omitted from the constructor's option object to use their default value.\n\n```js\nlet can = new Can({\n\n  // bit rate on the CAN bus\n  canRate: 250000,\n\n  // filters for incoming packets\n  filters: [\n  ],\n\n  // useful for testing, each sent packet is also received\n  loopback: false,\n  });\n```\n\n### Streaming\n\n`cs-pcan-usb` extends the NodeJS stream interface, so it can be piped into other stream instances.\n\n### Filtering\n\n> :warning: Due to limitations of MacCAN and PCBUSB, CAN message filtering is not supported on macOS.\n\nBy default, all CAN message are captured, but this can be limited by applying a message filter. The following are examples of filter definitions that are passed to the `open` method.\n\n```js\n{\n  ext: true, // Applies to extended (29-bit IDs)\n  id: '10EF0000 10EFFFFF', // Allow IDs 0x10EF0000 through 0x10EFFFFF\n}\n\n{\n  ext: true, // Applies to extended (29-bit IDs)\n  fromID: 0x10EF0000, // Allow IDs 0x10EF0000 through 0x10EF7777\n  toID: 0x10EF7777,\n}\n\n{\n  ext: false, // Applies to standard (11-bit IDs)\n  code: 0x081, // Acceptance code\n  mask: 0x0F8, // Acceptance mask\n}\n\n```\n\nThe PCAN-USB adapter supports one message filter at a time. If multiple filters are applied, the resulting filter spans the range of the highest to lowest IDs of all filters.\n\nThree filter formats are supported by the package:\n\n - `code` and `mask` format, directly specifying the acceptance filter with a code and mask\n\n        `code: 0x10EF0000, mask: 0xFFFF0000`\n\n - `fromID` and `toID` format, specifying a range of IDs to be accepted by the filter:\n\n        `fromID: 0x10EF0000, toID: 0x10EFFFFF`\n\n - `id` format, specifying a string with a range of IDs to be accepted by the filter:\n\n        `id: '10EF0000 10EFFFFF'`\n\nWhen using the `start`/`stop` or `id` formats, it is not guaranteed that all messages outside of the specified range will be filtered out. This is due to a hardware limitation reported in the PCAN-Basic documentation.\n\nGiven a range of IDs to allow, it is possible to convert to an acceptance code and mask pair:\n\n```\nacceptance_code = fromID & toID\nacceptance_mask = ~(fromID ^ toID)\n```\n\n#### Mixing Filter Types\n\nInternally, the PCAN-USB adapter does not differentiate between standard and extended ID filtering. The `ext` property is only made available for compatibility with `can-usb-com` and `cs-canlib`. \n\nAs such, a filer specification like\n\n```js\n{ ext: true, id: '00000000 FFFFFFFFF' }\n```\n\nwill allow all messages with standard IDs (`000` through `7FF`) through to the receive buffer. This **is not** consistent with `can-usb-com` or `cs-canlib`, which follow [CAN-USB-COM's specification](https://gridconnect.box.com/shared/static/c7l5u2vgsid1a24y6r0a0wv5hwaunr71.pdf):\n - When [filtering is] disabled, all CAN messages are received regardless of the definitions in the list\n - When [filtering is] enabled, only messages which match filter definitions in the list will be passed through.\n\n\n### JavaScript Events\n\nThe module emits the following events:\n\n - `open` when the serial port is successfully opened\n - `error` if an error occurs\n - `data` when an incoming CAN bus frame is received\n - `write` when an outgoing CAN bus frame is sent to the device (the event is emitted before the frame is actually sent on the bus)\n - `close` when the port is closed\n\nTo listen for the events, use the typical NodeJS EventEmitter pattern:\n\n```js\n  can.on('open', function(){\n    console.log( 'CAN bus opened');\n  })\n\n  can.on('data', function(msg){\n    console.log( msg );\n  })\n\n  can.on('close', function(err){\n    if( err && err.disconnected ) {\n      console.log( 'CAN bus disconnected' );\n    }\n    else {\n      console.log( 'CAN bus closed by application' );\n    }\n  })\n\n  can.on('error', function(err){\n    console.log( 'CAN bus error: ', err );\n  })\n```\n\n### Asynchronous Message Reception and Callbacks\n\nThis module takes advantage of the asynchronous message receive notification offered by the PCAN-Basic API. It implements a 'light' callback function in the native code, which simply calls the JavaScript function provided when the event is enabled using `pcan.EventEnable()`. The JavaScript function is then expected to call `pcan.Read()` to retrieve the newly received message, which uses the API's `CAN_Read()` function behind-the-scenes.\n\nIn the future, it may make sense to move the call to `CAN_Read()` directly into the native code to improve performance.\n\n#### Win32 Events\n\nThe Windows version of this module provides a Win32 event to the PCAN-Basic API through the `CAN_SetValue(PCAN_RECEIVE_EVENT)` API call, which gets signaled upon receipt of a CAN message that is accepted by the message filter. A Win32 thread waits on the event using `WaitForMultipleObjects`, invokes a callback function when signaled, and resets itself for the next message.\n\n#### Unix Pipes\n\nUnder the MacCAN PCBUSB library, this module uses the read-end of a POSIX pipe, received through the `CAN_GetValue(PCAN_RECEIVE_EVENT)` API call. A POSIX thread waits for data to be written to the pipe using `select(2)`, invokes a callback function when signaled, and resets itself for the next message.\n\n## API\n\nThis module's API functions generally return Promises, which are resolved or rejected when a request is complete. \n\nRefer to the [documentation on Promises](https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Promise) for details on how to chain requests together, detect errors, etc. \n\nRefer to the PCAN-Basic documentation for details on the full API that this module implements.\n\n## Development\n\nBefore updating or modifying this package, please\n\n - Lint any changes using `eslint`.\n - Confirm that unit tests pass, noting the exceptions described in the next section.\n\nIn order to run unit tests (`npm test`), at least one PCAN-USB device must be connected to the computer.\n\nThe `pingpong` test is currently configured to use `cs-pcan-usb` for one adapter, and `can-usb-com` for the other. These must be connected via a properly terminated bus.\n\nDo not run any tests on a bus with active traffic, since receiving unexpected CAN packets may confuse the tests.\n\n### Build Environment Setup\n\n#### Windows 10 x86 64-bit\n    \n 1. Install NodeJS. Version 12.18.4 is known to work as of the time of writing. Ensure that `node` and `npm` are found when invoked through the Command Prompt. If not, add the appropriate paths to the user's `PATH` environment variable.\n 1. Install the `windows-build-tools` Node package by running the following in an **administrative** Command Prompt or PowerShell window:\n    - `npm install -g windows-build-tools`\n 1. Exit the administrative console after this completes and use a console with normal privileges for the rest of the setup\n 1. Clone the `cs-pcan-usb` repository:\n    `git clone https://github.com/csllc/cs-pcan-usb`\n 1. Install dependencies:\n    - `cd cs-pcan-usb\\`\n    - `npm install`\n 1. Build:\n    - `node-gyp clean`\n    - `node-pre-gyp configure`\n    - `node-pre-gyp build`\n 1. Test:\n    - `npm test`\n 1. Clean build directory: (optional; perform as necessary)\n    - `node-gyp clean`\n    \n#### macOS x86 64-bit\n\n 1. Install NodeJS. Version 12.18.4 is known to work as of the time of writing. Ensure that `node` and `npm` are found when invoked through a Terminal session. If not, add the appropriate paths to the user's `PATH` environment variable.\n 1. Install Xcode and the Command Line Tools using the App Store. Version 12.0.1 is known to work as of the time of writing.\n 1. Clone the `cs-pcan-usb` repository:\n    `git clone https://github.com/csllc/cs-pcan-usb`\n 1. Install dependencies:\n    - `cd cs-pcan-usb\\`\n    - `npm install`\n 1. Build:\n    - `node-gyp clean`\n    - `node-pre-gyp configure`\n    - `node-pre-gyp build`\n 1. Test:\n    - `npm test`\n 1. Clean build directory: (optional; perform as necessary)\n    - `node-gyp clean`\n\n\n#### Build Notes\n\nDepending on shell or executable path configuration, it may be necessary to use `npx` to execute `node-pre-gyp`.\n\nIf the test stage fails, useful error messages may be hidden by `mocha`. When tracking down a the cause of an error, running the example code directly, for example `node example/js/test.js`, may be helpful.\n\nIt may also be helpful to recompile the module with `CANLIB_DEBUG` and `CANLIB_EVENT_DEBUG` defined to enable debugging messages.\n\n## Distribution\n\nAs part of the installation process, the platform-specific binary portion of the native addon is retrieved from a separate GitHub repository at [@csllc/cs-pcan-usb-binding](https://github.com/csllc/cs-pcan-usb-binding). This allows the `cs-pcan-usb` module to be installed on machines that do not have a full development environment set up to build it from source.\n\nThis package is configured such that `npm install` will attempt to download the pre-built binary first, and fall back onto building from source if that fails.\n\n### Building and Packaging for Distribution\n\nAfter incrementing the package version number in this repository, the following commands can be used to generate a corresponding binary package for release.\n\n - `node-pre-gyp configure`\n - `node-pre-gyp build`\n - `node-pre-gyp package`\n \nDepending on shell or executable path configuration, it may be necessary to use `npx` to execute the above commands.\n\nAfterwards, create a new release in [@csllc/cs-pcan-usb-binding](https://github.com/csllc/cs-pcan-usb-binding) using the same new version number and attach the `.tar.gz` file found in `build/stage/{version}/`.\n\n## Functionality Limitations\n\n### Questionable Functionality\n\nThe following have been observed as potential sources of unexpected behavior in the future.\n\n - No error is thrown when the PCAN-USB dongle is unplugged while the module is running.\n - The PCAN-Basic API does not provide the means to enable a CAN adapter's loopback (\"self-receive\" or \"echo\") feature. This is instead simulated in `cs-pcan-usb` by pushing data passed to the write method back into the receive data stream. \n - As a result of the above, the expected outcome of the test units (`npm test`) is that all pass except those in `filter.test.js` that test `should.not.emit('data')`. This does not indicate that the filter functionality does not work.\n - The macOS build of this addon does not support filtering at all, and any attempts to use `pcan.FilterMessages`, `pcan.AcceptanceFilter11Bit`, and `pcan.AcceptanceFilter29Bit` will fail silently.\n - The PCAN-USB adapter does not differentiate between extended and standard filters; see the notes under Filtering, above.\n\n### Untested Functionality\n\nThe following have not been tested due to hardware availability.\n\t\n - All FD functions (`CAN_InitializeFD`, `CAN_ReadFD`, `CAN_WriteFD`)\n","readmeFilename":"README.md"}