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feat(canopen web): VID-only filter + module-presence check (can_bridge / ds402) #769

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Merged
finger563 merged 3 commits into from
Sep 5, 2026
Merged

feat(canopen web): VID-only filter + module-presence check (can_bridge / ds402) #769

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65ed84c
feat(canopen web): VID-only filter + dispatcher module-presence check
finger563 Sep 4, 2026
bcc2e0f
fix(canopen web): address review — race-safe discovery probe + accura…
finger563 Sep 5, 2026
ff43dac
fix(canopen web): empty-filter fallback + non-fatal warn tier
finger563 Sep 5, 2026
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83 changes: 77 additions & 6 deletions components/canopen/web/can_bridge_console.html
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Original file line number Diff line number Diff line change
Expand Up @@ -221,6 +221,7 @@
.log .tx { color: var(--tx-color); }
.log .rx { color: var(--rx-color); }
.log .err { color: var(--err-color); }
.log .warn { color: #d08770; }
.log .sys { color: var(--sys-color); }
footer { color: var(--text-muted); font-size: 12px; margin-top: 10px; }
#unsupported {
Expand Down Expand Up @@ -250,7 +251,7 @@ <h2>Device</h2>
<button id="disconnectBtn" class="danger" disabled>Disconnect</button>
<label><input type="checkbox" id="anyDevice"> show all USB devices (no VID/PID filter)</label>
</div>
<p id="devInfo" class="muted" style="margin: 8px 0 0;">Not connected. WebUSB default filter: VID 0x1209 / PID 0x0d32 (espp default); the vendor (0xFF) interface is discovered from the descriptors at runtime.</p>
<p id="devInfo" class="muted" style="margin: 8px 0 0;">Not connected. WebUSB default filter: any espp device (VID 0x1209); the vendor (0xFF) interface is discovered from the descriptors at runtime.</p>
</div>

<!-- ========================= Bus configuration ======================= -->
Expand Down Expand Up @@ -380,6 +381,11 @@ <h2>Log</h2>
const MAX_PAYLOAD = 4096; // resync cap; interleaved protocols may use up to this
const MAX_FRAME = HEADER_SIZE + CORRELATION_SIZE + MAX_PAYLOAD + CRC_SIZE;
const MODULE_CAN = 5; // the CAN bridge is module 5
// Reserved dispatcher discovery module: a device running an espp::Dispatcher
// answers a ListModules query on 0xFF with the modules it serves, so we can
// confirm the CAN bridge module is present before driving it.
const MODULE_DISCOVERY = 0xFF, T_LIST_MODULES = 0x00;
const DISCOVERY_TIMEOUT_MS = 800; // module-presence probe (0xFF ListModules) timeout
const FLAGS_VERSION = 1; // protocol version lives in flags bits 4-7
const FLAGS_REQUEST = (FLAGS_VERSION << 4) | 0; // host->device request: 0x10 (reply bit 0)
const FLAGS_REPLY_BIT = 0x01; // bit0 set on device->host replies/events
Expand Down Expand Up @@ -612,15 +618,31 @@ <h2>Log</h2>
// ===================================================================
let transport = null; // active transport or null
let connectTime = 0; // performance.now() at connect, for relative timestamps
// A pending checkModulePresent() parks its resolver here; onIncoming calls it
// when the 0xFF ListModules reply arrives.
let discoveryResolve = null;

// WebUSB requires a `filters` member (there is no acceptAllDevices). The
// "show all" path uses one empty filter `{}` (matches everything); a few
// WebUSB implementations reject an empty filter object, so fall back to a
// VID-only filter in that case.
async function requestUsbDevice(anyDevice) {
const showAll = { filters: [{}] };
const vidOnly = { filters: [{ vendorId: DEFAULT_VID }] };
try {
return await navigator.usb.requestDevice(anyDevice ? showAll : vidOnly);
} catch (e) {
if (anyDevice && e && e.name === "TypeError")
return await navigator.usb.requestDevice(vidOnly);
throw e;
}
}

// ---- WebUSB transport -------------------------------------------------
class UsbTransport {
constructor() { this.device = null; this.iface = null; this.epIn = null; this.epOut = null; this.inSize = 64; this.reading = false; }
async open(anyDevice) {
const options = anyDevice
? { acceptAllDevices: true }
: { filters: [{ vendorId: DEFAULT_VID, productId: DEFAULT_PID }] };
this.device = await navigator.usb.requestDevice(options);
this.device = await requestUsbDevice(anyDevice);
await this.device.open();
if (this.device.configuration === null) await this.device.selectConfiguration(1);
const config = this.device.configuration;
Expand Down Expand Up @@ -790,6 +812,9 @@ <h2>Log</h2>
if (transport === t) { logLine("err", "Read loop error: " + (e && e.message ? e.message : e)); onLinkLost(); }
});

// Best-effort: warn if this device does not advertise the CAN bridge module.
checkModulePresent().catch(() => {});

// Poll STATUS and request an immediate one.
requestStatus();
statusTimer = setInterval(requestStatus, STATUS_POLL_MS);
Expand Down Expand Up @@ -837,7 +862,7 @@ <h2>Log</h2>
els.stopBtn.disabled = !connected;
els.sendBtn.disabled = !connected;
if (!connected) {
els.devInfo.textContent = "Not connected. WebUSB default filter: VID 0x1209 / PID 0x0d32 (espp default); the vendor (0xFF) interface is discovered from the descriptors at runtime.";
els.devInfo.textContent = "Not connected. WebUSB default filter: any espp device (VID 0x1209); the vendor (0xFF) interface is discovered from the descriptors at runtime.";
setStatusLine(null);
}
}
Expand All @@ -859,6 +884,46 @@ <h2>Log</h2>
}
function requestStatus() { sendFrame(T_GET_STATUS, null); }

// ---- discovery-based module presence check --------------------------------
// Decode the ListModules TLV (see espp::Dispatcher::describe).
function parseDiscovery(payload) {
let i = 0;
const need = (n) => { if (i + n > payload.length) throw new Error("truncated discovery payload"); };
const u8 = () => { need(1); return payload[i++]; };
const str = () => { const n = u8(); need(n); const s = new TextDecoder().decode(payload.subarray(i, i + n)); i += n; return s; };
const version = u8(); u8(); // version, reserved
const device = str(), fw = str();
const count = u8();
const modules = [];
for (let m = 0; m < count; m++) modules.push({ id: u8(), name: str(), app: str(), desc: str() });
return { version, device, fw, modules };
}
// Ask the device which dispatcher modules it serves and warn (best-effort) if
// the CAN bridge module is not among them. No discovery reply (older firmware)
// -> stay quiet; normal STATUS polling still surfaces a real missing module.
async function checkModulePresent() {
if (!transport) return;
const payload = await new Promise((resolve) => {
let timer = null;
// settle guards the shared resolver: only clear it if it is still ours,
// so a prior probe's timeout can't cancel a newer probe's resolver.
const settle = (p) => { clearTimeout(timer); if (discoveryResolve === settle) discoveryResolve = null; resolve(p); };
timer = setTimeout(() => settle(null), DISCOVERY_TIMEOUT_MS);
discoveryResolve = settle;
transport.send(buildFrame(MODULE_DISCOVERY, T_LIST_MODULES)).catch(() => settle(null));
});
if (!payload) return;
let info;
try { info = parseDiscovery(payload); } catch (_) { return; }
if (info.modules.some((m) => m.id === MODULE_CAN)) {
logLine("sys", "Device advertises " + info.modules.length + " module(s); CAN bridge module present.");
return;
}
const names = info.modules.map((m) => m.name + " (#" + m.id + ")").join(", ") || "none";
logLine("warn", "This device does not advertise the CAN bridge module. Detected: " + names +
". You may have selected the wrong device, or its firmware lacks CAN bridge support.");
}

els.applyBtn.addEventListener("click", () => {
const baud = parseInt(els.baud.value, 10);
const mode = parseInt(els.mode.value, 10);
Expand Down Expand Up @@ -948,6 +1013,12 @@ <h2>Log</h2>
function onIncoming(chunk) {
const frames = parser.feed(chunk);
for (const f of frames) {
// Discovery reply (reserved module 0xFF): hand the TLV to a pending module
// probe before the CAN-module matching below ignores it.
if (f.module === MODULE_DISCOVERY && f.reply && f.type === T_LIST_MODULES) {
if (discoveryResolve) { discoveryResolve(f.payload); discoveryResolve = null; }
continue;
}
// Only CAN bridge (module 5) device->host reply/event frames we know.
if (f.module !== MODULE_CAN || !f.reply || !KNOWN_RX.has(f.type)) {
// Frame belonging to another module/protocol on the shared stream: ignore.
Expand Down
80 changes: 76 additions & 4 deletions components/canopen/web/ds402_panel.html
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -219,6 +219,7 @@
.log .tx { color: var(--tx-color); }
.log .rx { color: var(--rx-color); }
.log .err { color: var(--err-color); }
.log .warn { color: #d08770; }
.log .sys { color: var(--sys-color); }
footer { color: var(--text-muted); font-size: 12px; margin-top: 10px; }
#unsupported {
Expand Down Expand Up @@ -248,7 +249,7 @@ <h2>Device</h2>
<button id="disconnectBtn" class="danger" disabled>Disconnect</button>
<label><input type="checkbox" id="anyDevice"> Any device (ignore VID/PID filter)</label>
</div>
<p id="devInfo" class="muted" style="margin: 10px 0 0;">Not connected. WebUSB default filter: VID 0x1209 / PID 0x0d32 (espp default); the vendor (0xFF) interface is discovered from the descriptors at runtime.</p>
<p id="devInfo" class="muted" style="margin: 10px 0 0;">Not connected. WebUSB default filter: any espp device (VID 0x1209); the vendor (0xFF) interface is discovered from the descriptors at runtime.</p>
</div>

<!-- ============================ CAN bus ============================== -->
Expand Down Expand Up @@ -456,6 +457,11 @@ <h2>Log
const MAX_PAYLOAD = 4096;
const MAX_FRAME = HEADER_SIZE + CORRELATION_SIZE + MAX_PAYLOAD + CRC_SIZE;
const MODULE_CAN = 5;
// Reserved dispatcher discovery module: a device running an espp::Dispatcher
// answers a ListModules query on 0xFF with the modules it serves, so we can
// confirm the CAN bridge module is present before driving it.
const MODULE_DISCOVERY = 0xFF, T_LIST_MODULES = 0x00;
const DISCOVERY_TIMEOUT_MS = 800; // module-presence probe (0xFF ListModules) timeout
const FLAGS_VERSION = 1;
const FLAGS_REQUEST = (FLAGS_VERSION << 4) | 0;
const FLAGS_REPLY_BIT = 0x01;
Expand Down Expand Up @@ -653,11 +659,25 @@ <h2>Log
// Transport: WebUSB + Web Serial (identical to can_bridge_console.html)
// ===================================================================
let transport = null;
// WebUSB requires a `filters` member (there is no acceptAllDevices). The
// "show all" path uses one empty filter `{}` (matches everything); a few
// WebUSB implementations reject an empty filter object, so fall back to a
// VID-only filter in that case.
async function requestUsbDevice(anyDevice) {
const showAll = { filters: [{}] };
const vidOnly = { filters: [{ vendorId: DEFAULT_VID }] };
try {
return await navigator.usb.requestDevice(anyDevice ? showAll : vidOnly);
} catch (e) {
if (anyDevice && e && e.name === "TypeError")
return await navigator.usb.requestDevice(vidOnly);
throw e;
}
}
class UsbTransport {
constructor() { this.device = null; this.iface = null; this.epIn = null; this.epOut = null; this.inSize = 64; this.reading = false; }
async open(anyDevice) {
const options = anyDevice ? { acceptAllDevices: true } : { filters: [{ vendorId: DEFAULT_VID, productId: DEFAULT_PID }] };
this.device = await navigator.usb.requestDevice(options);
this.device = await requestUsbDevice(anyDevice);
await this.device.open();
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if (this.device.configuration === null) await this.device.selectConfiguration(1);
const config = this.device.configuration;
Expand Down Expand Up @@ -1139,6 +1159,51 @@ <h2>Log
}
}

// ===================================================================
// Discovery-based module presence check
// ===================================================================
// A pending checkModulePresent() parks its resolver here; onIncoming calls it
// when the 0xFF ListModules reply arrives.
let discoveryResolve = null;
// Decode the ListModules TLV (see espp::Dispatcher::describe).
function parseDiscovery(payload) {
let i = 0;
const need = (n) => { if (i + n > payload.length) throw new Error("truncated discovery payload"); };
const u8 = () => { need(1); return payload[i++]; };
const str = () => { const n = u8(); need(n); const s = new TextDecoder().decode(payload.subarray(i, i + n)); i += n; return s; };
const version = u8(); u8(); // version, reserved
const device = str(), fw = str();
const count = u8();
const modules = [];
for (let m = 0; m < count; m++) modules.push({ id: u8(), name: str(), app: str(), desc: str() });
return { version, device, fw, modules };
}
// Ask the device which dispatcher modules it serves and warn (best-effort) if
// the CAN bridge module is not among them. No discovery reply (older firmware)
// -> stay quiet; the normal bus-status poll still surfaces a real missing module.
async function checkModulePresent() {
if (!transport) return;
const payload = await new Promise((resolve) => {
let timer = null;
// settle guards the shared resolver: only clear it if it is still ours,
// so a prior probe's timeout can't cancel a newer probe's resolver.
const settle = (p) => { clearTimeout(timer); if (discoveryResolve === settle) discoveryResolve = null; resolve(p); };
timer = setTimeout(() => settle(null), DISCOVERY_TIMEOUT_MS);
discoveryResolve = settle;
transport.send(buildFrame(MODULE_DISCOVERY, T_LIST_MODULES)).catch(() => settle(null));
});
if (!payload) return;
let info;
try { info = parseDiscovery(payload); } catch (_) { return; }
if (info.modules.some((m) => m.id === MODULE_CAN)) {
logLine("sys", "Device advertises " + info.modules.length + " module(s); CAN bridge module present.");
return;
}
const names = info.modules.map((m) => m.name + " (#" + m.id + ")").join(", ") || "none";
logLine("warn", "This device does not advertise the CAN bridge module. Detected: " + names +
". You may have selected the wrong device, or its firmware lacks CAN bridge support.");
}

// ===================================================================
// Incoming frame handling
// ===================================================================
Expand All @@ -1147,6 +1212,12 @@ <h2>Log
try { frames = parser.feed(chunk); }
catch (e) { logLine("err", "parse error: " + (e && e.message ? e.message : e)); return; }
for (const f of frames) {
// Discovery reply (reserved module 0xFF): hand the TLV to a pending module
// probe before the CAN-module matching below ignores it.
if (f.module === MODULE_DISCOVERY && f.reply && f.type === T_LIST_MODULES) {
if (discoveryResolve) { discoveryResolve(f.payload); discoveryResolve = null; }
continue;
}
if (f.module !== MODULE_CAN) continue; // ignore interleaved other-module frames
if (f.type === T_CAN_RX) {
const cf = decodeCanFrame(f.payload);
Expand Down Expand Up @@ -1198,6 +1269,7 @@ <h2>Log
els.devInfo.textContent = name;
logLine("sys", "Connected: " + name);
t.readLoop(onIncoming).catch((e) => { if (transport === t) { logLine("err", "Read loop error: " + (e && e.message ? e.message : e)); onLinkLost(); } });
checkModulePresent().catch(() => {}); // best-effort: warn if this device lacks the CAN bridge module
requestStatus();
statusTimer = setInterval(requestStatus, STATUS_POLL_MS);
if (els.livePoll.checked) startLivePoll(); // honor a pre-ticked Live poll
Expand Down Expand Up @@ -1242,7 +1314,7 @@ <h2>Log
els.anyDevice.disabled = connected;
for (const id of CONNECTED_CONTROLS) els[id].disabled = !connected;
if (!connected) {
els.devInfo.textContent = "Not connected. WebUSB default filter: VID 0x1209 / PID 0x0d32 (espp default); the vendor (0xFF) interface is discovered from the descriptors at runtime.";
els.devInfo.textContent = "Not connected. WebUSB default filter: any espp device (VID 0x1209); the vendor (0xFF) interface is discovered from the descriptors at runtime.";
setStatusLine(null);
setDs402State(null);
els.livePoll.checked = false;
Expand Down
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