752 lines
29 KiB
JavaScript
752 lines
29 KiB
JavaScript
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/**
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* conn-poll.js — 电机页连接稳健性：硬失败计数 / 断线探测 / 三链轮询调度
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* 从 main.js 外提（探测 / 失败计数 / pollLoop Worker 节拍），逻辑行为不变。
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* createConnPoll(ctx) 注入 state/toast/deviceLink/onMotorState 等。
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* late.stopSeq / late.stopRepeat / late.sendMotorPeriod 由 main 装配后回填。
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*/
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"use strict";
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export function createConnPoll(ctx) {
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const {
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state, $, toast, deviceLink, flashBusyNow, isUnthrottled,
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getSharedDeviceIp, setSharedDeviceIp,
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onMotorState, onFeedback, updateTickStuckUi,
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setQuietMode, late,
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} = ctx;
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const FAIL_THRESHOLD = 5;
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const FAIL_THRESHOLD_ECAT = 12;
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function failThresholdFor(tpId) {
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return tpId === "ecat" ? FAIL_THRESHOLD_ECAT : FAIL_THRESHOLD;
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}
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const CONN_TOAST_GAP_MS = 6000;
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const RECOVER_TOAST_MIN_OFFLINE_MS = 8000;
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const TICK_INTERVAL_MS = 250;
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const TICK_STUCK_WARN = 2;
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const PROBE_INTERVAL_MS = 2000;
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let tickNextAt = 0;
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let tickWorker = null;
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let tickUseFallback = false;
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const TICK_WORKER_URL = new URL("./tick.worker.js?v=20260802g", import.meta.url);
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const stopRepeat = (...a) => late.stopRepeat(...a);
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const stopSeq = (...a) => late.stopSeq(...a);
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const sendMotorPeriod = (...a) => late.sendMotorPeriod(...a);
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function connToast(msg, type) {
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const now = Date.now();
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if (now - state.lastConnToastAt < CONN_TOAST_GAP_MS) return;
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state.lastConnToastAt = now;
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toast(msg, type);
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}
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/** 500/503 busy、超时：设备忙，不是链路掉线 */
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function isTransientError(e) {
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if (!e) return false;
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if (e.transient === true) return true;
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const st = Number(e.status);
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if (st === 500 || st === 503 || st === 429) return true;
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const name = e.name || "";
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if (name === "TimeoutError" || name === "AbortError") return true;
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const msg = String(e.message || e);
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if (/timed?\s*out|aborted|AbortError|signal is aborted/i.test(msg)) return true;
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if (/^HTTP\s+(500|503|429)\b/.test(msg)) return true;
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/* 网络毛刺：高刷 HTTP 下偶发 Failed to fetch / 连接被重置很常见，
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* 算硬失败会在几拍内把整页打成「设备未连接」。真拔线会持续超时/拒连，
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* 由 failCount 在更高阈值上兜住（见 noteHardFailure 的网络类加权）。 */
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if (/failed to fetch|networkerror|load failed|err_connection|econnreset|econnrefused|socket hang up|net::/i.test(msg)) {
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e.transient = true;
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return true;
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}
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return false;
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}
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/**
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* 统一 GET JSON（设备直连）。失败抛 Error，附带 status / transient。
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*
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* 常规数据链（状态/反馈/发送/版本）已全部走 state.tp 传输层，
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* 这里保留给 OTA 那条 WiFi 专属链路复用同一套错误语义。
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* @returns {Promise<object>}
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*/
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async function fetchDeviceJson(path, timeoutMs) {
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let resp;
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const t0 = performance.now();
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try {
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resp = await fetch(String(state.ip && state.ip.length ? ('http://' + state.ip) : 'http://') + path, {
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signal: AbortSignal.timeout(timeoutMs || 3000),
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cache: "no-store",
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});
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} catch (e) {
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const err = e instanceof Error ? e : new Error(String(e));
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err.transient = isTransientError(err);
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recordSlowReq(path, performance.now() - t0, err.message);
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throw err;
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}
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recordSlowReq(path, performance.now() - t0);
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if (!resp.ok) {
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const err = new Error("HTTP " + resp.status);
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err.status = resp.status;
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err.transient = (resp.status === 500 || resp.status === 503 || resp.status === 429);
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throw err;
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}
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return resp.json();
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}
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/* 慢请求统计：>200ms 记入 phaseDebug.slowStats[path] = {count, maxMs, lastMs, lastAt}。
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* 用于诊断"卡在哪个 endpoint"——不是看单次 lastSlowReq，而是看各 path 的卡顿分布。
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* 控制台 phaseDebug.slowStats 直接看哪个 path 累计最多。 */
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function recordSlowReq(path, durMs, errMsg) {
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if (durMs <= 200) return;
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const s = state.phaseDebug.slowStats;
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const key = path.split("?")[0]; /* /motor/state?bin=1 → /motor/state */
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if (!s[key]) s[key] = { count: 0, maxMs: 0, lastMs: 0, lastAt: 0, lastErr: null };
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s[key].count++;
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s[key].maxMs = Math.max(s[key].maxMs, Math.round(durMs));
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s[key].lastMs = Math.round(durMs);
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s[key].lastAt = Date.now();
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if (errMsg) s[key].lastErr = errMsg;
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state.phaseDebug.lastSlowReq = {
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path, dur: Math.round(durMs), at: Date.now(), err: errMsg
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};
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}
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/* 连接判定：轮询/探测硬失败达阈值才离线（瞬时错误不计）。 */
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function noteHardSuccess() { state.failCount = 0; }
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function noteHardFailure(e, source) {
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if (e && e.transient) return; /* 500/503/超时/网络毛刺等瞬时错误不计入 */
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state.failCount++;
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/* ECAT：status 1Hz 健康读失败不该和 motor 热路径同等累计 ——
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* 从站 AL 抖一下就断电机页会误停周期发送/命令序列。 */
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if (state.tpId === "ecat" && source === "status" && state.connected) {
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if (state.failCount < failThresholdFor("ecat") * 2) return;
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}
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const thr = failThresholdFor(state.tpId);
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if (state.failCount >= thr && state.connected) {
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try {
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state.phaseDebug.lastHardFail = {
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source, msg: e && e.message, at: Date.now(), failCount: state.failCount, thr,
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};
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} catch (_) {}
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enterDisconnected(e && e.message, source);
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}
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}
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function enterDisconnected(msg, source) {
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if (state.probing) return;
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const wasConnected = state.connected;
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state.connected = false;
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state.connecting = false;
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state.probing = true;
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state.failCount = 0;
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state.offlineSince = Date.now();
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state.bootActive = false;
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state.slaveAl = null;
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state.slaveOp = false;
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stopRepeat(true);
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stopSeq("连接中断，命令序列已停止", true);
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stopDataPolling();
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updateConnUi();
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$("#netBanner").classList.add("show");
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$("#netBannerText").textContent =
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"连接中断" + (source ? " (" + source + ")" : "") +
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" — 使用主页共享 IP (" + state.ip + ") 自动重连中…";
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if (wasConnected) {
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connToast("网络异常：" + (msg || "请求失败") + " — 已停止周期发送，自动重连中", "err");
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}
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startProbe();
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}
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function startProbe() {
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stopTimer("probe");
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state.probing = true;
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if (!state.offlineSince) state.offlineSince = Date.now();
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scheduleProbe(0);
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}
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function stopProbe() {
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stopTimer("probe");
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state.probing = false;
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}
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function scheduleProbe(delayMs) {
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stopTimer("probe");
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state.poll.probe = setTimeout(function () {
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state.poll.probe = null;
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probeOnce();
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}, delayMs == null ? PROBE_INTERVAL_MS : delayMs);
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}
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/**
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* 把冗长的链路错误压成一句人能看的话。
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*
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* 为什么需要：EtherCAT 后端会把整串诊断塞进 log[]，SSC 邮箱楔死那条会带
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* **64 个一模一样的 MailboxError** 加一段 SM 寄存器现场，原样显示等于没显示。
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* 这里做两件事：把重复项折叠成"×N"，并对已知故障给出**该怎么办**
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* —— 楔死是软件恢复不了的（ecat_native.c 里同样注明要断电复位 MCU）。
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*/
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function summarizeLinkError(msg) {
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let s = String(msg || "未知错误");
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/* 折叠重复的 MailboxError(…)，只留计数 */
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const mb = s.match(/MailboxError\([^)]*\)/g);
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if (mb && mb.length > 2) {
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s = s.replace(/\[?MailboxError\([^)]*\)(,\s*MailboxError\([^)]*\))*\]?/,
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`MailboxError ×${mb.length}`);
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}
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/* 已知故障 → 给可执行的处置建议 */
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if (/邮箱地址错位楔死|ConfigMapError/.test(s)) {
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return "SSC 邮箱楔死（config_map 失败）—— 需复位 DCU 板 MCU 才能恢复（软件无法自愈）";
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}
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if (/没有找到描述包含/.test(s)) {
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return "找不到匹配的网卡 —— 请在工具栏「链路」旁的输入框改网卡匹配子串";
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}
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if (/没有发现从站/.test(s)) {
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return "总线上没有从站 —— 检查 DCU 板供电与网线是否接在该网口";
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}
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/* 环境类错误原样给，它本身就是指引。token 对齐 native 代理 autostart 的实际文案：
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* "找不到...守护进程" / "请先运行 build_native.bat" / "Npcap 未安装或 8090..8095 全被占"。 */
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if (/Npcap|build_native|守护进程|全被占/.test(s)) return s;
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/* 兜底：截断，完整内容留在 title 里 */
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return s.length > 140 ? s.slice(0, 140) + "…" : s;
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}
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/** 探测成功收尾：置在线、清横幅、开轮询。代际不符时丢弃（防晚到结果覆盖）。 */
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function finishProbeOk(gen, data) {
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if (gen !== state.probeGen) return;
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const offlineMs = state.offlineSince ? (Date.now() - state.offlineSince) : 0;
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stopProbe();
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state.connected = true;
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state.connecting = false;
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state.offlineSince = 0;
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state.failCount = 0;
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state.probeErr = null;
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state.probeErrFull = null;
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$("#netBanner").classList.remove("show");
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applySystemStatus(data);
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updateConnUi();
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/* 短离线恢复不弹 toast，避免毛刺「闪一下」 */
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if (offlineMs >= RECOVER_TOAST_MIN_OFFLINE_MS) {
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connToast("连接已恢复 — " + transportTargetLabel(), "ok");
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}
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startPolling();
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}
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async function probeOnce() {
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if (!state.probing) return;
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const gen = ++state.probeGen;
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state.ip = getSharedDeviceIp();
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const label = $("#ipLabel");
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if (label) label.textContent = transportTargetLabel();
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try {
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const data = await state.tp.probe();
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if (gen !== state.probeGen || !state.probing) return; /* 已有更新的探测在跑 */
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finishProbeOk(gen, data);
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} catch (e) {
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if (gen !== state.probeGen) return; /* 晚到的失败：别把后来的成功打成横幅 */
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/* 把失败原因显示出来。
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* 原来这里完全静默：WiFi 下还算合理（设备没开机是常态，横幅已说在连哪个 IP），
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* 但 EtherCAT 自动接入有四级步骤，任一级失败的原因都**可操作**
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* （邮箱楔死要复位 MCU / 网卡子串不对 / 板子没供电 / exe 没编译或 Npcap 未装），
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* 静默会让页面永远停在"探测中…"，用户完全无从下手 —— 实测就踩到了这点。 */
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const raw = (e && e.message) ? String(e.message) : "未知错误";
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/* EtherCAT：motor/start 超时 ≠ 总线没起来。
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* 外壳 Owner / 上一轮 start 可能已把 PDO 循环跑着，probe 里那记
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* motor/start 因 loop_stop+重进 OP 拖过 30s 才报 signal timed out。
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* 此时用只读健康位复核：在跑就当连上，别把「实际已连」标成失败。 */
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if (state.tpId === "ecat" && state.tp.healthCheck &&
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/timed?\s*out|signal|超时/i.test(raw)) {
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try {
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const data = await state.tp.healthCheck();
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if (gen === state.probeGen && state.probing) {
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finishProbeOk(gen, data);
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return;
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}
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return; /* 代际已变：结果交给新一轮 */
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} catch (_) { /* 真没起来 → 走下面的失败展示 */ }
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}
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if (gen !== state.probeGen || !state.probing) return;
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state.probeErrFull = raw;
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state.probeErr = summarizeLinkError(raw);
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const bt = $("#netBannerText");
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if (bt) {
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bt.textContent = (state.tpId === "ecat" ? "EtherCAT 接入失败: " : "连接失败: ")
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+ state.probeErr + "（每 2 秒自动重试）";
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bt.title = raw; /* 完整诊断留在悬浮提示里 */
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}
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$("#netBanner").classList.add("show");
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updateConnUi(); /* 同步 #devStatus，别让它一直写"探测中…" */
|
|||
|
|
if (state.probing) scheduleProbe(PROBE_INTERVAL_MS);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/** 连接目标的显示文本：WiFi 是设备 IP，EtherCAT 是本地服务 + 从站。 */
|
|||
|
|
function transportTargetLabel() {
|
|||
|
|
return (state.tpId === "ecat") ? "EtherCAT 从站" : ("IP " + state.ip);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/** 当前通道上在线的电机数（1–9）。 */
|
|||
|
|
function onlineMotorCount() {
|
|||
|
|
return (state.motors || []).filter(function (m) {
|
|||
|
|
return m && m.online && m.node >= 1 && m.node <= 9;
|
|||
|
|
}).length;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
const AL_NAMES = { 0: "NONE", 1: "INIT", 2: "PREOP", 3: "BOOT", 4: "SAFEOP", 8: "OP" };
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 目标是否在线 —— 工具栏指示灯的唯一判据。
|
|||
|
|
*
|
|||
|
|
* 灯的语义保持不变：就是「是否在线」。
|
|||
|
|
* - WiFi：ESP32 HTTP 可达即在线（标签是设备 IP）。
|
|||
|
|
* - EtherCAT：标签是「EtherCAT 从站」，在线 = 从站 AL 处于 OP。
|
|||
|
|
* 卡在 PREOP / INIT / SAFEOP 时，即使主站服务+网卡+PDO 循环在跑、
|
|||
|
|
* 读得到 AL、界面还有残留槽位，灯也不绿。
|
|||
|
|
*/
|
|||
|
|
function isTargetOnline() {
|
|||
|
|
if (!state.connected) return false;
|
|||
|
|
if (state.tpId !== "ecat") return true;
|
|||
|
|
/* AL 已读到：只有 OP 算在线。PREOP 等一律不绿。 */
|
|||
|
|
if (state.slaveAl != null) return state.slaveAl === 8;
|
|||
|
|
/* AL 还没读到：仅当 native health 明确报 op 时才绿 */
|
|||
|
|
return state.slaveOp === true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/** 状态栏追加的在线状态提示（灯黄时把原因写出来）。 */
|
|||
|
|
function onlineStatusParts(data) {
|
|||
|
|
const parts = [];
|
|||
|
|
if (state.tpId === "ecat") {
|
|||
|
|
const al = state.slaveAl;
|
|||
|
|
if (al != null && al !== 8) {
|
|||
|
|
parts.push("从站 " + (AL_NAMES[al] || ("0x" + al.toString(16))) + " · 未在线");
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
if (state.connected && !isTargetOnline()) {
|
|||
|
|
if (!parts.length) parts.push("未在线");
|
|||
|
|
}
|
|||
|
|
return parts;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 自动连接当前链路（本页无连接按钮）。
|
|||
|
|
* WiFi 用主页共享 IP，EtherCAT 打本地 EtherCAT 服务。
|
|||
|
|
* 失败不阻断页面，进入探测直到链路可用。
|
|||
|
|
*/
|
|||
|
|
function connectShared() {
|
|||
|
|
state.ip = getSharedDeviceIp();
|
|||
|
|
state.connecting = true;
|
|||
|
|
state.probing = false;
|
|||
|
|
state.failCount = 0;
|
|||
|
|
state.probeErr = null; /* 新一轮连接：清掉上次的失败原因 */
|
|||
|
|
state.probeErrFull = null;
|
|||
|
|
state.offlineSince = Date.now();
|
|||
|
|
state.bootActive = false;
|
|||
|
|
state.slaveAl = null;
|
|||
|
|
state.slaveOp = false;
|
|||
|
|
/* 新一轮探测：递增代际，作废在途的旧 probeOnce（其晚到失败不得再写横幅） */
|
|||
|
|
state.probeGen += 1;
|
|||
|
|
state.ch = parseInt($("#chSelect").value, 10) || 0;
|
|||
|
|
updateConnUi();
|
|||
|
|
$("#netBanner").classList.add("show");
|
|||
|
|
$("#netBannerText").textContent = (state.tpId === "ecat")
|
|||
|
|
? "正在自动接入 EtherCAT … 按需拉起本地服务 → 打开网卡 → 进 OP → 启动 PDO 循环"
|
|||
|
|
: ("自动连接 " + state.ip + " … 本页与 OTA 主页共用 IP");
|
|||
|
|
startProbe();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/** 传输回报的状态 → #devStatus。字段差异由各传输的 describeStatus 消化。 */
|
|||
|
|
function applySystemStatus(data) {
|
|||
|
|
const ip = state.tp.reportedIp(data);
|
|||
|
|
if (ip) setSharedDeviceIp(ip);
|
|||
|
|
/* 在线判定用的从站状态：AL 优先，native health 的 op 作补充 */
|
|||
|
|
if (data && data.slave && data.slave.state != null) {
|
|||
|
|
state.slaveAl = Number(data.slave.state) & 0x0F;
|
|||
|
|
state.slaveOp = state.slaveAl === 8;
|
|||
|
|
} else if (data && data.__op != null) {
|
|||
|
|
state.slaveOp = !!data.__op;
|
|||
|
|
}
|
|||
|
|
const parts = (state.tp.describeStatus(data) || []).concat(onlineStatusParts(data));
|
|||
|
|
const el = $("#devStatus");
|
|||
|
|
if (el) el.textContent = parts.length ? parts.join(" · ") : "在线";
|
|||
|
|
updateConnUi();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* 无设备静默态：常驻动画在 160Hz 屏上每帧重算+重绘，实测未接设备时
|
|||
|
|
renderer+GPU 各占约一核的七成。规则见 css/responsive.css 的
|
|||
|
|
html[data-dcu-calm="1"] 段；本页不 import connection.js，故就地写同一标记。 */
|
|||
|
|
function setQuietMode(quiet) {
|
|||
|
|
const v = quiet ? "1" : "0";
|
|||
|
|
if (document.documentElement.dataset.dcuCalm !== v) {
|
|||
|
|
document.documentElement.dataset.dcuCalm = v;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
function updateConnUi() {
|
|||
|
|
const led = $("#connLed");
|
|||
|
|
const ipLabel = $("#ipLabel");
|
|||
|
|
setQuietMode(!state.connected);
|
|||
|
|
if (ipLabel) ipLabel.textContent = transportTargetLabel();
|
|||
|
|
/* 指示灯 = 是否在线（语义不变）。
|
|||
|
|
* 绿 = 在线（isTargetOnline）
|
|||
|
|
* 黄 = 主站/链路可达，但目标未在线（从站没进 OP / 收不到帧）
|
|||
|
|
* 黄闪 = 探测中
|
|||
|
|
* 红 = 未连接
|
|||
|
|
* 以前 connected 就涂绿：EtherCAT 只要服务+网卡+PDO 循环在就算在线，
|
|||
|
|
* 即使从站卡 PREOP、收不到任何 STATUS 也绿着 —— 灯起不到指示作用。 */
|
|||
|
|
if (state.connecting || state.probing) {
|
|||
|
|
if (led) {
|
|||
|
|
led.className = "led led-warn led-pulse";
|
|||
|
|
led.title = "正在探测链路…";
|
|||
|
|
}
|
|||
|
|
if (!state.connected) {
|
|||
|
|
const ds = $("#devStatus");
|
|||
|
|
/* 有失败原因就显示原因摘要，别一直"探测中…"（那等于什么都没说）。
|
|||
|
|
* 摘要截断：SSC 邮箱楔死那类错误会带 64 个 MailboxError + SM 现场，
|
|||
|
|
* 全塞进工具栏会把布局挤爆，完整内容留在横幅和 title 里。 */
|
|||
|
|
if (ds) {
|
|||
|
|
if (state.probeErr) {
|
|||
|
|
const brief = state.probeErr.length > 44
|
|||
|
|
? state.probeErr.slice(0, 44) + "…" : state.probeErr;
|
|||
|
|
ds.textContent = brief;
|
|||
|
|
ds.title = state.probeErrFull || state.probeErr;
|
|||
|
|
} else {
|
|||
|
|
ds.textContent = "探测中…";
|
|||
|
|
ds.title = "";
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
} else if (state.connected) {
|
|||
|
|
if (led) {
|
|||
|
|
if (isTargetOnline()) {
|
|||
|
|
led.className = "led led-on";
|
|||
|
|
led.title = state.tpId === "ecat"
|
|||
|
|
? "EtherCAT 从站在线（AL OP）"
|
|||
|
|
: ("设备在线 · " + (state.ip || ""));
|
|||
|
|
} else {
|
|||
|
|
led.className = "led led-warn";
|
|||
|
|
const alTxt = state.slaveAl != null
|
|||
|
|
? ("AL " + (AL_NAMES[state.slaveAl] || state.slaveAl)) : "AL 未知";
|
|||
|
|
led.title = state.tpId === "ecat"
|
|||
|
|
? ("EtherCAT 从站未在线（" + alTxt + "）— 卡在 PREOP/非 OP 时不亮绿灯；查供电/网线/从站状态")
|
|||
|
|
: "链路可达但设备未就绪";
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
} else {
|
|||
|
|
if (led) {
|
|||
|
|
led.className = "led led-err";
|
|||
|
|
led.title = "未连接";
|
|||
|
|
}
|
|||
|
|
const ds = $("#devStatus");
|
|||
|
|
if (ds) ds.textContent = "未连接";
|
|||
|
|
}
|
|||
|
|
const sendHint = $("#sendHint");
|
|||
|
|
if (sendHint) sendHint.textContent = state.tp.sendHint(state.ch);
|
|||
|
|
const sbCh = $("#sbCh");
|
|||
|
|
if (sbCh) sbCh.textContent = "CH" + state.ch;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* ═══════════════════════ 轮询调度（单飞递归，永不并发） ═══════════════════════ */
|
|||
|
|
function stopTimer(key) {
|
|||
|
|
if (state.poll[key]) {
|
|||
|
|
clearTimeout(state.poll[key]);
|
|||
|
|
clearInterval(state.poll[key]);
|
|||
|
|
state.poll[key] = null;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
/**
|
|||
|
|
* 双链路轮询：motor 和 feedback 各自独立定时器，互不阻塞。
|
|||
|
|
*
|
|||
|
|
* 历史问题：原来 motor → feedback 串行，任一挂起（ESP32 端 mutex 阻塞 /
|
|||
|
|
* WiFi 抖动）会拖累另一个，表现为数据卡顿。
|
|||
|
|
* 现在：motor 和 feedback 各走独立固定节拍定时器，
|
|||
|
|
* - motor 挂起 3s 超时期间，feedback 仍正常刷
|
|||
|
|
* - feedback 挂起不影响 motor
|
|||
|
|
* 两者共用 ESP32 端 httpJsonWorkMutex，ESP32 串行处理即可。
|
|||
|
|
*/
|
|||
|
|
function stopDataPolling() {
|
|||
|
|
state.pollGen += 1;
|
|||
|
|
stopTimer("tick");
|
|||
|
|
stopTimer("feedback");
|
|||
|
|
stopTimer("status");
|
|||
|
|
state.tickInFlight = false;
|
|||
|
|
state.feedbackInFlight = false;
|
|||
|
|
state.tickStuck = 0; /* 停止轮询 → 清除卡顿标记 */
|
|||
|
|
/* 清理挂起的版本等待：主 tick 已停，resolve(null) 让调用方走超时分支，避免 Promise 悬挂 */
|
|||
|
|
if (state.versionWait) {
|
|||
|
|
const w = state.versionWait;
|
|||
|
|
state.versionWait = null;
|
|||
|
|
w.resolve(null);
|
|||
|
|
}
|
|||
|
|
updateTickStuckUi();
|
|||
|
|
/* 停止 Worker 节拍（后台节流兜底） */
|
|||
|
|
if (tickWorker) {
|
|||
|
|
tickWorker.postMessage({ type: "stop" });
|
|||
|
|
try { tickWorker.terminate(); } catch (e) { /* ignore */ }
|
|||
|
|
tickWorker = null;
|
|||
|
|
tickUseFallback = false;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 启动数据链路：HTTP 三链（motor tick / feedback 1Hz / status 1Hz）立即开车。
|
|||
|
|
*/
|
|||
|
|
function startPolling() {
|
|||
|
|
stopDataPolling(); /* 递增 pollGen，清残留定时器/在途链 */
|
|||
|
|
state.failCount = 0;
|
|||
|
|
state.tickN = 0;
|
|||
|
|
state.statusTickN = 0;
|
|||
|
|
state.recvTs = []; /* 清除旧的到达时间窗口，Hz 从新数据重新累积 */
|
|||
|
|
tickNextAt = 0; /* 节拍基准重置：首个 tick 立即执行后按新间隔对齐 */
|
|||
|
|
const gen = state.pollGen;
|
|||
|
|
schedulePollLoop(gen, 0);
|
|||
|
|
scheduleFeedbackPoll(gen, 0);
|
|||
|
|
scheduleStatusPoll(gen, 1000);
|
|||
|
|
/* 连上后把持久化的刷新速度同步给 GD32，使 0xC5 推送周期与本地轮询一致（无需用户重新拨动） */
|
|||
|
|
sendMotorPeriod(state.refreshIntervalMs || 250);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
function scheduleStatusPoll(gen, delayMs) {
|
|||
|
|
if (gen !== state.pollGen) return;
|
|||
|
|
stopTimer("status");
|
|||
|
|
state.poll.status = setTimeout(function () {
|
|||
|
|
state.poll.status = null;
|
|||
|
|
if (gen !== state.pollGen || !state.connected || state.probing) return;
|
|||
|
|
/* lite/full 交替：4 次 lite 后 1 次 full，循环。
|
|||
|
|
* lite ~150B 不调重活；full ~3KB 含 OTA/heap/SPI，5s 一次。 */
|
|||
|
|
const wantFull = (state.statusTickN % 5) === 0;
|
|||
|
|
state.statusTickN = (state.statusTickN || 0) + 1;
|
|||
|
|
fetchSystemStatus(gen, wantFull).finally(() => {
|
|||
|
|
if (gen === state.pollGen && state.connected && !state.probing) {
|
|||
|
|
scheduleStatusPoll(gen, 1000);
|
|||
|
|
}
|
|||
|
|
});
|
|||
|
|
}, delayMs == null ? 1000 : delayMs);
|
|||
|
|
}
|
|||
|
|
/* feedback 独立定时器：固定 1000ms（与 GD32 0xC1 CAN 反馈 1Hz 推送对齐）。
|
|||
|
|
* feedback 是 CAN 错误计数/总线状态快照，GD32 1Hz 推送，前端 1Hz 拉即可，
|
|||
|
|
* 加快只会拿到陈旧数据还跟 motor 抢 ESP32 端 mutex。
|
|||
|
|
* 与 motor 解耦后，motor 挂起不拖 feedback，feedback 挂起不拖 motor。 */
|
|||
|
|
function scheduleFeedbackPoll(gen, delayMs) {
|
|||
|
|
if (gen !== state.pollGen) return;
|
|||
|
|
stopTimer("feedback");
|
|||
|
|
state.poll.feedback = setTimeout(function () {
|
|||
|
|
state.poll.feedback = null;
|
|||
|
|
if (gen !== state.pollGen || !state.connected || state.probing) return;
|
|||
|
|
if (state.feedbackInFlight) {
|
|||
|
|
scheduleFeedbackPoll(gen, 1000);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
state.feedbackInFlight = true;
|
|||
|
|
fetchFeedback(gen).finally(() => {
|
|||
|
|
state.feedbackInFlight = false;
|
|||
|
|
if (gen === state.pollGen && state.connected && !state.probing) {
|
|||
|
|
scheduleFeedbackPoll(gen, 1000);
|
|||
|
|
}
|
|||
|
|
});
|
|||
|
|
}, delayMs == null ? 1000 : delayMs);
|
|||
|
|
}
|
|||
|
|
/* ═══════ Web Worker 节拍（后台标签页不节流） ═══════
|
|||
|
|
* 浏览器对后台（隐藏）标签页的 setTimeout/setInterval 强制 ≥1s 节流，
|
|||
|
|
* 使刷新速度在切后台后降到 ~1Hz。Dedicated Worker 的定时器不受此限制，
|
|||
|
|
* 故把 motor 轮询的节拍源放到 tick.worker.js：Worker 按设定间隔定期发
|
|||
|
|
* 'tick' 消息，主线程收到后才真正发起一次 fetchMotorState。
|
|||
|
|
* 前台行为与原来一致；后台也能守住设定的刷新速度。 */
|
|||
|
|
/* 用 import.meta.url 解析: 本模块在 js/motor/ 下, 与引用它的页面在哪层目录无关
|
|||
|
|
* (页面已移入 pages/, 文档相对路径会解析成 /pages/js/... 而 404)。 */
|
|||
|
|
const TICK_WORKER_URL = new URL("./tick.worker.js?v=20260802g", import.meta.url);
|
|||
|
|
let tickWorker = null; /* Web Worker 节拍源（null = 未创建/失败） */
|
|||
|
|
let tickUseFallback = false; /* Worker 创建/加载失败 → 回退到 setTimeout 兜底 */
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* tick 统一入口：Worker 每 tick、或 setTimeout 兜底触达时调用。
|
|||
|
|
* 负责单飞互斥 + 卡顿标记（是否跳过由 tickInFlight 决定）。
|
|||
|
|
*/
|
|||
|
|
function tickHandler() {
|
|||
|
|
if (!state.connected || state.probing) return;
|
|||
|
|
if (state.tickInFlight) {
|
|||
|
|
/* 上一拍请求仍未完成（已超出一拍时长）→ 本拍跳过。
|
|||
|
|
* 「不限速」档（如 ECAT 的 6ms 下限档）下这是**预期行为**：设定间隔贴着
|
|||
|
|
* 单次往返耗时（均值 ≈1.8ms，但尾部会越过 6ms），节拍源撞上在途请求是常态。
|
|||
|
|
* 此时不计卡顿，否则通道下拉框会一直亮黄并报"连续 N 拍未按时完成"，
|
|||
|
|
* 而用户要的就是"能多快就多快"。见 refresh-rate.js 的 UNTHROTTLED_MAX_MS。 */
|
|||
|
|
if (!isUnthrottled(state.refreshIntervalMs)) {
|
|||
|
|
state.tickStuck = (state.tickStuck || 0) + 1;
|
|||
|
|
updateTickStuckUi();
|
|||
|
|
}
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
pollLoop(state.pollGen);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 确保 Worker 就绪并按 interval 校时。Worker 已存在时只更新间隔。
|
|||
|
|
* Worker 加载失败（如 404 或不被服务端支持）→ 回退到 setTimeout 兜底。
|
|||
|
|
*/
|
|||
|
|
function ensureTickWorker(interval) {
|
|||
|
|
if (tickUseFallback) return;
|
|||
|
|
if (tickWorker) {
|
|||
|
|
tickWorker.postMessage({ type: "update", interval });
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
try {
|
|||
|
|
tickWorker = new Worker(TICK_WORKER_URL);
|
|||
|
|
} catch (err) {
|
|||
|
|
tickWorker = null;
|
|||
|
|
tickUseFallback = true;
|
|||
|
|
startTickFallback(state.pollGen);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
tickWorker.onmessage = (e) => { if (e.data === "tick") tickHandler(); };
|
|||
|
|
tickWorker.onerror = () => {
|
|||
|
|
try { tickWorker.terminate(); } catch (e) { /* ignore */ }
|
|||
|
|
tickWorker = null;
|
|||
|
|
tickUseFallback = true;
|
|||
|
|
startTickFallback(state.pollGen);
|
|||
|
|
};
|
|||
|
|
tickWorker.postMessage({ type: "start", interval });
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* Worker 不可用时的兜底：留用原 setTimeout 固定节拍（前台正常，后台受节流）。 */
|
|||
|
|
function startTickFallback(gen) {
|
|||
|
|
if (gen !== state.pollGen) return;
|
|||
|
|
stopTimer("tick");
|
|||
|
|
tickNextAt = 0;
|
|||
|
|
scheduleTickFallbackFrame(gen, 0);
|
|||
|
|
}
|
|||
|
|
function scheduleTickFallbackFrame(gen, delayMs) {
|
|||
|
|
if (gen !== state.pollGen) return;
|
|||
|
|
stopTimer("tick");
|
|||
|
|
const iv = state.refreshIntervalMs || TICK_INTERVAL_MS;
|
|||
|
|
let delay = delayMs != null ? delayMs : iv;
|
|||
|
|
if (delayMs == null && tickNextAt > 0) {
|
|||
|
|
/* 固定节拍对齐：按绝对时间调度，请求耗时不再拖慢周期 */
|
|||
|
|
const remain = tickNextAt - Date.now();
|
|||
|
|
if (remain <= 0) delay = (tickNextAt + iv < Date.now()) ? iv : 10;
|
|||
|
|
else delay = remain;
|
|||
|
|
}
|
|||
|
|
state.poll.tick = setTimeout(function () {
|
|||
|
|
state.poll.tick = null;
|
|||
|
|
if (gen !== state.pollGen) return;
|
|||
|
|
tickHandler();
|
|||
|
|
tickNextAt = (tickNextAt > 0 ? tickNextAt : Date.now()) + (state.refreshIntervalMs || TICK_INTERVAL_MS);
|
|||
|
|
scheduleTickFallbackFrame(gen, null);
|
|||
|
|
}, delay);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* motor 轮询主链：只跑 fetchMotorState，feedback/status 已剥离独立定时器。
|
|||
|
|
* 节拍由 Web Worker（或兜底 setTimeout）驱动；pollLoop 自身不重排，
|
|||
|
|
* 单飞互斥和卡顿标记在 tickHandler 侧完成。失败/断线由上层停止调度。
|
|||
|
|
*/
|
|||
|
|
async function pollLoop(gen) {
|
|||
|
|
if (gen !== state.pollGen) return;
|
|||
|
|
state.tickInFlight = true;
|
|||
|
|
try {
|
|||
|
|
await fetchMotorState(gen);
|
|||
|
|
if (gen !== state.pollGen) return;
|
|||
|
|
state.tickN += 1;
|
|||
|
|
} finally {
|
|||
|
|
state.tickInFlight = false;
|
|||
|
|
if (state.tickStuck) { state.tickStuck = 0; updateTickStuckUi(); } /* 请求结束 → 卡顿解除 */
|
|||
|
|
}
|
|||
|
|
/* R5：版本等待已下沉 transport.waitVersion（各自独立轮询/采样），
|
|||
|
|
* 主 tick 不再挂 state.versionWait 钩子。 */
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* 调度 motor 节拍。delayMs === 0 表示立即触发首拍并启动 Worker；
|
|||
|
|
* 之后每拍由 Worker 自然驱动，不再从这里重排。
|
|||
|
|
*/
|
|||
|
|
function schedulePollLoop(gen, delayMs) {
|
|||
|
|
if (gen !== state.pollGen) return;
|
|||
|
|
if (tickUseFallback) {
|
|||
|
|
if (delayMs === 0) startTickFallback(gen);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
ensureTickWorker(state.refreshIntervalMs || TICK_INTERVAL_MS);
|
|||
|
|
if (delayMs === 0) setTimeout(tickHandler, 0); /* 立即首拍，后续靠 Worker tick */
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
async function fetchSystemStatus(gen, wantFull) {
|
|||
|
|
if (gen !== state.pollGen || !state.connected || state.probing) return;
|
|||
|
|
try {
|
|||
|
|
/* WiFi：wantFull=false 走 ?lite=1（~150B），不调 ESP32 端
|
|||
|
|
* heap_caps_get_info / 任务栈遍历 / OTA snapshot，避免 httpd 单线程被
|
|||
|
|
* 重 handler 阻塞几十~上百 ms；wantFull=true 5s 一次，含 OTA/heap/SPI。
|
|||
|
|
* EtherCAT：读从站身份/AL 状态，无 lite/full 之分。 */
|
|||
|
|
const data = await state.tp.fetchStatus(wantFull);
|
|||
|
|
if (gen !== state.pollGen) return;
|
|||
|
|
applySystemStatus(data);
|
|||
|
|
noteHardSuccess();
|
|||
|
|
} catch (e) {
|
|||
|
|
if (gen !== state.pollGen) return;
|
|||
|
|
noteHardFailure(e, "status");
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
async function fetchMotorState(gen) {
|
|||
|
|
if (gen != null && gen !== state.pollGen) return false;
|
|||
|
|
if (!state.connected || state.probing) return false;
|
|||
|
|
try {
|
|||
|
|
/* WiFi 走二进制 /motor/state?bin=1（~408B vs JSON ~1200B，省 66%）；
|
|||
|
|
* EtherCAT 读后台 PDO 循环的快照。两者都归一成同一份 motors[] 契约，
|
|||
|
|
* 所以 onMotorState 及其下游全部不用区分链路。 */
|
|||
|
|
const data = await state.tp.fetchMotorState();
|
|||
|
|
if (gen != null && gen !== state.pollGen) return false;
|
|||
|
|
onMotorState(data);
|
|||
|
|
noteHardSuccess();
|
|||
|
|
return true;
|
|||
|
|
} catch (e) {
|
|||
|
|
if (gen != null && gen !== state.pollGen) return false;
|
|||
|
|
noteHardFailure(e, "motor");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
async function fetchFeedback(gen) {
|
|||
|
|
if (gen != null && gen !== state.pollGen) return false;
|
|||
|
|
if (!state.connected || state.probing) return false;
|
|||
|
|
/* 刷写/OTA 窗口内跳过：GD32 正在复位或停在 BOOT，CAN 反馈注定拿不到
|
|||
|
|
* （WiFi 链上每次 0xC1 都被 ESP32 链路层拒并打日志）。跨 iframe 标记
|
|||
|
|
* 见 common/utils.js flashBusyNow，随刷写收尾自撤，下轮自动恢复。 */
|
|||
|
|
if (flashBusyNow()) return false;
|
|||
|
|
try {
|
|||
|
|
/* WiFi：/can/feedback?lite=1 —— 跳过 entries 数组（~3KB → ~200B），
|
|||
|
|
* 本页只用 ch/stats 字段，不需要 CAN 帧快照（那是监控页用的）。
|
|||
|
|
* EtherCAT：从最近一次过程数据快照的 bridge 段取，不额外打一次后端。 */
|
|||
|
|
const data = await state.tp.fetchFeedback();
|
|||
|
|
if (gen != null && gen !== state.pollGen) return false;
|
|||
|
|
onFeedback(data);
|
|||
|
|
noteHardSuccess();
|
|||
|
|
return true;
|
|||
|
|
} catch (e) {
|
|||
|
|
if (gen != null && gen !== state.pollGen) return false;
|
|||
|
|
noteHardFailure(e, "feedback");
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return {
|
|||
|
|
failThresholdFor,
|
|||
|
|
isTransientError,
|
|||
|
|
recordSlowReq,
|
|||
|
|
connToast,
|
|||
|
|
noteHardSuccess,
|
|||
|
|
noteHardFailure,
|
|||
|
|
enterDisconnected,
|
|||
|
|
startProbe,
|
|||
|
|
stopProbe,
|
|||
|
|
probeOnce,
|
|||
|
|
connectShared,
|
|||
|
|
applySystemStatus,
|
|||
|
|
updateConnUi,
|
|||
|
|
isTargetOnline,
|
|||
|
|
transportTargetLabel,
|
|||
|
|
stopTimer,
|
|||
|
|
stopDataPolling,
|
|||
|
|
startPolling,
|
|||
|
|
schedulePollLoop,
|
|||
|
|
pollLoop,
|
|||
|
|
setTickNextAt(v) { tickNextAt = v; },
|
|||
|
|
getTickWorker: () => tickWorker,
|
|||
|
|
getTickUseFallback: () => tickUseFallback,
|
|||
|
|
};
|
|||
|
|
}
|