Add stopHeartbeats() function

Author: NoahAndrews

lib/binding.ts

@@ -63,6 +63,7 @@ export class CanBridge {
     setThreadPriority: (descriptor: string, priority: ThreadPriority) => void;
     setSparkMaxHeartbeatData: (descriptor: string, heartbeatData: number[]) => void;
     startRevCommonHeartbeat: (descriptor: string) => void;
+    stopHeartbeats: (descriptor: string) => void;
     ackHeartbeats: () => void;
 
     constructor() {
@@ -90,6 +91,7 @@ export class CanBridge {
             this.setSparkMaxHeartbeatData = addon.setSparkMaxHeartbeatData;
             this.startRevCommonHeartbeat = addon.startRevCommonHeartbeat;
             this.ackHeartbeats = addon.ackHeartbeats;
+            this.stopHeartbeats = addon.stopHeartbeats;
         } catch (e: any) {
             throw new CanBridgeInitializationError(e);
         }

src/addon.cc

@@ -42,6 +42,8 @@ Napi::Object Init(Napi::Env env, Napi::Object exports) {
                 Napi::Function::New(env, setSparkMaxHeartbeatData));
     exports.Set(Napi::String::New(env, "startRevCommonHeartbeat"),
                 Napi::Function::New(env, startRevCommonHeartbeat));
+    exports.Set(Napi::String::New(env, "stopHeartbeats"),
+                Napi::Function::New(env, stopHeartbeats));
     exports.Set(Napi::String::New(env, "ackHeartbeats"),
                 Napi::Function::New(env, ackHeartbeats));
     return exports;

src/canWrapper.cc

@@ -29,6 +29,8 @@
 
 #define SPARK_HEARTBEAT_LENGTH 8
 #define REV_COMMON_HEARTBEAT_LENGTH 1
+uint8_t disabledSparkHeartbeat[] = {0, 0, 0, 0, 0, 0, 0, 0};
+uint8_t disabledRevCommonHeartbeat[] = {0};
 
 rev::usb::CandleWinUSBDriver* driver = new rev::usb::CandleWinUSBDriver();
 
@@ -682,8 +684,6 @@ void heartbeatsWatchdog() {
         if (elapsed_seconds.count() >= 1 && !heartbeatTimeoutExpired) {
             // The heartbeat timeout just expired
             heartbeatTimeoutExpired = true;
-            uint8_t disabledSparkHeartbeat[] = {0, 0, 0, 0, 0, 0, 0, 0};
-            uint8_t disabledRevCommonHeartbeat[] = {0};
             for(int i = 0; i < heartbeatsRunning.size(); i++) {
                 if (sparkHeartbeatMap.contains(heartbeatsRunning[i])) {
                     // Clear the scheduled heartbeat that has outdated data so that the updated one gets sent out immediately
@@ -804,3 +804,11 @@ void setSparkMaxHeartbeatData(const Napi::CallbackInfo& info) {
         heartbeatsRunning.push_back(descriptor);
     }
 }
+
+void stopHeartbeats(const Napi::CallbackInfo& info) {
+    std::string descriptor = info[0].As<Napi::String>().Utf8Value();
+    std::scoped_lock lock{watchdogMtx};
+    // Send disabled SPARK and REV common heartbeats and un-schedule them for the future
+    _sendCANMessage(descriptor, SPARK_HEARTBEAT_ID, disabledSparkHeartbeat, SPARK_HEARTBEAT_LENGTH, 0);
+    _sendCANMessage(descriptor, REV_COMMON_HEARTBEAT_ID, disabledRevCommonHeartbeat, REV_COMMON_HEARTBEAT_LENGTH, 0);
+}

src/canWrapper.h

@@ -24,5 +24,6 @@ void closeHALStreamSession(const Napi::CallbackInfo& info);
 void setThreadPriority(const Napi::CallbackInfo& info);
 void setSparkMaxHeartbeatData(const Napi::CallbackInfo& info);
 void startRevCommonHeartbeat(const Napi::CallbackInfo& info);
+void stopHeartbeats(const Napi::CallbackInfo& info);
 void ackHeartbeats(const Napi::CallbackInfo& info);
 #endif