DCU_DesktopController/js/motor/main.js

/**
 * motor/main.js - 电机控制台页面逻辑（ES Module 装配入口）
 *
 * P1 拆分（R4–R7）：本文件只做装配与页面共用业务（解码/发送流控/UI），
 * 大块职责外提：
 *   ./scope.js      示波器
 *   ./ota.js        电机 OTA + IDB
 *   ./seq.js        命令序列
 *   ./conn-poll.js  探测/失败计数/轮询调度
 *   ./transport*.js 链路 I/O + waitVersion / queryNodeIdParam（R5）
 *   ../common/ecat-bus.js     ECAT bootstrap 单点（R6）
 *   ../common/toast-stack.js  堆叠 toast + setQuietMode（R7）
 * 逻辑行为相对拆分前保持不变；不改 CAN 协议解码与流控语义。
 */
/* ═══════════════════════════════════════════════════════════════
   电机控制台 — 双传输：WiFi(HTTP) / EtherCAT(过程数据)，业务逻辑完全共用

   传输由工具栏「链路」下拉框切换（记在 localStorage dcu_motor_transport）。
   两种传输的差异全部收敛在 js/motor/transport-*.js 里，本文件只经
   state.tp.* 调用抽象接口 —— 解码器、节点列表、STATUS 面板、波形、
   命令序列、以及全部流控策略（互斥/退避/冷却/latest-wins）两边共用。

   WiFi 传输（原有，共用 OTA 主页设备 IP localStorage dcu_esp_ip）:
     GET  /motor/state?bin=1  refreshIntervalMs 驱动（WiFi 默认 250ms，50~5000 可调）
     POST /can/send_batch     发送入口（CMD / CONFIG / VERSION / OTA）
     GET  /can/feedback       1Hz  → 状态栏 RX/TX/ERR/TEC/REC/BUS
     GET  /system/status      进入页自动探测 + 5s 健康检查 / 断线 2s 探测
   EtherCAT 传输（经本地页面服务器 /ecat/api/* 代理到 tools/ecat 的 ecat_native.exe）:
     POST /api/motor/state    读后台 PDO 循环发布的快照（不碰总线，默认 50ms 读一次）
     POST /api/motor/send     多帧塞进同一 PDO 周期的批量区（同一 seq 沿发出）
     POST /api/motor/rx       消费批量接收区（CONFIG/版本/节点ID 应答走这里）
   刷新速度按链路各存一份（state.refreshByTp / REFRESH_DEFAULTS）：两条链路的
   往返代价差一个数量级，切链路时自动换成该链路自己的值，互不污染。
   两者的差异（每通道 TEC/REC 缺失、CONFIG 需前端累积、无 OTA 链路）
   见 transport-ecat.js 头部注释。

   CAN ID（29-bit 扩展，物理 ID，不含 0x80000000 标志）:
     STATUS 0x000N0100 · CMD 0x000N0200(DLC32) · CMD_CONFIG 0x000N0301(DLC24)
     GET_VERSION 请求/回报共用 0x000N00FF(同 ID, DLC24)
     CANFD_BOOT 0x000N0000 · NODE_ID SET/GET 0x000N0400/0401
       （扩展格式 DLC4/2：选择器 0x0000=节点ID · 0x0100/0x0101=STATUS/CONFIG 刷新周期 ms）
   ═══════════════════════════════════════════════════════════════ */
"use strict";

import {
  DEFAULT_ESP_IP, saveDeviceIp
} from "../common/base-url.js";
import {
  escapeHtml, flashBusyNow,
  setTextIfChanged, setClassIfChanged, setStyleIfChanged,
  toggleClsIfChanged as toggleClsIfChangedUtil, setQuietMode,
} from "../common/utils.js";
import { createToastStack } from "../common/toast-stack.js?v=20260924a";
import {
  createTransport, loadTransportId, saveTransportId, LS_TRANSPORT
} from "./transport.js?v=20260924a";
import { deviceLink } from "../common/device-link.js?v=20260924a";
import {
  REFRESH_DEFAULTS, REFRESH_MAX_MS,
  defaultRefreshMap, normalizeRefreshMap, pickRefresh, minRefreshFor,
  isUnthrottled
} from "./refresh-rate.js";
import { createScopeSys } from "./scope.js?v=20260924a";
import { createSeqSys } from "./seq.js?v=20260924a";
import { createOtaSys } from "./ota.js?v=20260924a";
import { createConnPoll } from "./conn-poll.js?v=20260924a";

/* ─── 控制模式定义 ─── */
const MODES = {
  0: { name: "Disable", zh: "关闭", targets: [] },
  1: { name: "Angle", zh: "位置控制", targets: ["angle"] },
  2: { name: "Velocity", zh: "速度控制", targets: ["velocity"] },
  3: { name: "Velocity_Angle", zh: "速度+位置", targets: ["velocity", "angle"] },
  4: { name: "MIT", zh: "MIT Mode", targets: ["current", "velocity", "angle"] },
  5: { name: "Current", zh: "电流/力矩", targets: ["current"] },
  6: { name: "OpenLoop", zh: "开环速度", targets: ["velocity"] },
  7: { name: "OpenLoop2", zh: "开环速度(2)", targets: ["velocity"] },
};
const MODE_DESCS = {
  0: "电机关闭输出，进入自由旋转状态",
  1: "闭环位置控制，目标角度生效",
  2: "闭环速度控制，目标速度生效",
  3: "速度+位置环联合控制，目标速度与目标角度同时生效",
  4: "MIT 力控模式，电流/速度/角度目标均参与计算",
  5: "电流环直接控制（力矩模式），目标电流生效",
  6: "开环速度控制，无编码器反馈",
  7: "开环速度控制（备用通道）",
};

/* ─── 全局状态 ─── */
const LS_MOTOR_UI = "dcu_motor_ui_v2";
const state = {
  connected: false,
  connecting: false,
  ip: DEFAULT_ESP_IP,
  tp: null,
  tpId: "wifi",
  probeErr: null,
  probeErrFull: null,
  ch: 0,
  chEnabled: [true, true, true],
  chOnline: [0, 0, 0],
  selectedNode: null,
  motors: [],
  bootActive: false,
  slaveAl: null,
  slaveOp: false,
  decoded: new Map(),
  decodedConfig: new Map(),
  versions: new Map(),
  refreshIntervalMs: 250,
  refreshByTp: defaultRefreshMap(),
  lastSentMode: new Map(),
  lastSentTargets: new Map(),
  sendInFlight: false,
  pendingCmd: null,
  busCooldownUntil: 0,
  txCount: 0,
  poll: { tick: null, probe: null, status: null, feedback: null },
  pollGen: 0,
  tickInFlight: false,
  tickStuck: 0,
  versionWait: null,
  feedbackInFlight: false,
  statusInFlight: false,
  failCount: 0,
  probing: false,
  probeGen: 0,
  lastConnToastAt: 0,
  offlineSince: 0,
  tickN: 0,
  recvTs: [],
  statusTickN: 0,
  phaseDebug: { lastSlowReq: null, slowStats: {} },
};

/* 跨模块 late 绑定：连接/OTA 回调需要 stopSeq 等，模块创建后由 main 回填 */
const late = {};

/* 控制台诊断入口（不删） */
window.motorDbg = {
  state,
  get tickWorker() { return late.connSys ? late.connSys.getTickWorker() : null; },
  get tickUseFallback() { return late.connSys ? late.connSys.getTickUseFallback() : false; },
  get transport() { return state.tp && state.tp.id; },
  get transportDebug() { return state.tp && state.tp.debug ? state.tp.debug() : null; },
};

/* R7：堆叠 toast（#toastContainer），不再内联实现 */
const toast = createToastStack("#toastContainer");

const TICK_INTERVAL_MS = 250;
const MIN_CMD_PERIOD_MS = 80;

/* ─── DOM refs ─── */
const $ = (s) => document.querySelector(s);
const nodeListEl = $("#nodeList");
const FIXED_MOTOR_NODES = [1, 2, 3, 4, 5, 6, 7, 8, 9];

function getSharedDeviceIp() { return deviceLink.getIp(); }

/* ─── 输入持久化 ─── */
const PERSIST_FIELDS = [
  "modeSelect", "inVoltage", "inVelocity", "inAngle", "inCurrent",
  "pidCurP", "pidVelP", "pidAngP", "repeatPeriod", "chSelect",
  "nodeIdInput", "periodStatusInput", "periodConfigInput",
];
const UI_STATE_PATH_LABEL = "data/motor_ui_state.json";

function collectUiSnapshot() {
  const o = { savedAt: Date.now(), v: 2 };
  for (const id of PERSIST_FIELDS) {
    const el = document.getElementById(id);
    if (el) o[id] = el.value;
  }
  if (state.selectedNode != null) o.selectedNode = state.selectedNode;
  o.refreshByTp = Object.assign({}, state.refreshByTp);
  o.tpId = state.tpId;
  try {
    o.transport = localStorage.getItem(LS_TRANSPORT) || state.tpId;
    o.ecat = {
      adapter: localStorage.getItem("dcu_ecat_adapter") || null,
      period: localStorage.getItem("dcu_ecat_period_ms") || null,
      spin: localStorage.getItem("dcu_ecat_spin") || null,
    };
  } catch (_) {
    o.transport = state.tpId;
  }
  if (seq.steps.length > 0 || seq.loops !== 0) {
    o.seq = { loops: seq.loops, steps: seq.steps };
  }
  if (state.versions && state.versions.size > 0) {
    const vo = {};
    for (const [n, v] of state.versions) {
      if (v && (v.soft || v.hard || v.boot)) {
        vo[n] = { soft: v.soft || null, hard: v.hard || null, boot: v.boot || null };
      }
    }
    o.versions = vo;
  }
  return o;
}

function applyUiSnapshot(o) {
  if (!o || typeof o !== "object") return;
  for (const id of PERSIST_FIELDS) {
    const el = document.getElementById(id);
    if (el && o[id] != null) el.value = o[id];
  }
  if (o.selectedNode != null) state.selectedNode = o.selectedNode;
  if (o.seq && Array.isArray(o.seq.steps)) {
    seq.steps = o.seq.steps
      .filter((s) => s && typeof s === "object")
      .map(normStep);
    seq.loops = clampNum(parseInt(o.seq.loops, 10) || 0, 0, 9999);
  }
  if (o.versions && typeof o.versions === "object") {
    for (const [n, v] of Object.entries(o.versions)) {
      const node = parseInt(n, 10);
      if (Number.isFinite(node) && v) {
        state.versions.set(node, {
          soft: v.soft || null, hard: v.hard || null, boot: v.boot || null,
        });
      }
    }
  }
  state.refreshByTp = normalizeRefreshMap(o.refreshByTp, o.refreshRate);
  try {
    if (o.transport) localStorage.setItem(LS_TRANSPORT, String(o.transport));
    if (o.ecat && typeof o.ecat === "object") {
      if (o.ecat.adapter) localStorage.setItem("dcu_ecat_adapter", String(o.ecat.adapter));
      if (o.ecat.period != null && o.ecat.period !== "") {
        localStorage.setItem("dcu_ecat_period_ms", String(o.ecat.period));
      }
      if (o.ecat.spin === "0" || o.ecat.spin === "1") {
        localStorage.setItem("dcu_ecat_spin", String(o.ecat.spin));
      }
    }
  } catch (_) {}
  syncCmdCommittedFromDom();
  const chEl = document.getElementById("chSelect");
  if (chEl && chEl.value !== "" && chEl.value != null) {
    const ch = parseInt(chEl.value, 10);
    if (Number.isFinite(ch) && ch >= 0 && ch <= 2) state.ch = ch;
  }
}

function saveUiState() {
  const o = collectUiSnapshot();
  try {
    localStorage.setItem(LS_MOTOR_UI, JSON.stringify(o));
  } catch (_) {}
  scheduleDiskSave(o);
  updateUiSaveHint("saved");
}

function loadUiState() {
  try {
    const raw = localStorage.getItem(LS_MOTOR_UI);
    if (!raw) return;
    const o = JSON.parse(raw);
    applyUiSnapshot(o);
  } catch (_) {}
}

let _diskTimer = null;
let _diskPayload = null;
let _diskInFlight = false;

function scheduleDiskSave(snapshot) {
  _diskPayload = snapshot || collectUiSnapshot();
  if (_diskTimer) clearTimeout(_diskTimer);
  _diskTimer = setTimeout(flushDiskSave, 600);
}

function flushDiskSave() {
  if (_diskTimer) { clearTimeout(_diskTimer); _diskTimer = null; }
  const o = _diskPayload || collectUiSnapshot();
  _diskPayload = null;
  const body = JSON.stringify(o);
  _diskInFlight = true;
  fetch("/api/motor/ui-state", {
    method: "POST",
    headers: { "Content-Type": "application/json" },
    body,
    keepalive: true,
  }).then((r) => r.json()).then((j) => {
    _diskInFlight = false;
    if (j && j.ok) updateUiSaveHint("disk", j.path || UI_STATE_PATH_LABEL);
    else updateUiSaveHint("disk-err");
  }).catch(() => {
    _diskInFlight = false;
    try {
      const blob = new Blob([body], { type: "application/json" });
      if (navigator.sendBeacon && navigator.sendBeacon("/api/motor/ui-state", blob)) {
        updateUiSaveHint("disk", UI_STATE_PATH_LABEL);
        return;
      }
    } catch (_) {}
    updateUiSaveHint("disk-err");
  });
}

function flushUiOnHide() {
  if (_saveTimer) { clearTimeout(_saveTimer); _saveTimer = null; }
  const o = collectUiSnapshot();
  try { localStorage.setItem(LS_MOTOR_UI, JSON.stringify(o)); } catch (_) {}
  const body = JSON.stringify(o);
  try {
    fetch("/api/motor/ui-state", {
      method: "POST",
      headers: { "Content-Type": "application/json" },
      body,
      keepalive: true,
    }).catch(() => {
      try {
        navigator.sendBeacon("/api/motor/ui-state",
          new Blob([body], { type: "application/json" }));
      } catch (_) {}
    });
  } catch (_) {
    try {
      navigator.sendBeacon("/api/motor/ui-state",
        new Blob([body], { type: "application/json" }));
    } catch (_) {}
  }
}
window.addEventListener("pagehide", flushUiOnHide);
window.addEventListener("beforeunload", flushUiOnHide);
document.addEventListener("visibilitychange", () => {
  if (document.visibilityState === "hidden") flushUiOnHide();
});

async function hydrateUiFromDisk() {
  let disk = null;
  try {
    const r = await fetch("/api/motor/ui-state", { cache: "no-store" });
    if (r.ok) {
      const j = await r.json();
      disk = (j && j.ok && j.state) ? j.state : null;
    }
  } catch (_) { return; }
  if (!disk || typeof disk !== "object") {
    updateUiSaveHint("no-disk");
    return;
  }
  let local = null;
  try {
    local = JSON.parse(localStorage.getItem(LS_MOTOR_UI) || "null");
  } catch (_) {}
  const diskAt = Number(disk.savedAt) || 0;
  const localAt = local ? (Number(local.savedAt) || 0) : 0;
  if (local && localAt > diskAt) {
    updateUiSaveHint("disk", UI_STATE_PATH_LABEL);
    return;
  }
  applyUiSnapshot(disk);
  try { localStorage.setItem(LS_MOTOR_UI, JSON.stringify(disk)); } catch (_) {}
  applyModeVisibility();
  renderSeqList();
  if (typeof renderNodeList === "function") renderNodeList();
  updateNodeLabels();
  state.ch = clampNum(parseInt(($("#chSelect") || {}).value, 10) || 0, 0, 2);
  const chEl = $("#chSelect");
  if (chEl) chEl.value = String(state.ch);
  applyTransportRefresh();
  updateChSelectOptions();
  if (typeof refreshChannelViews === "function") refreshChannelViews();
  updateUiSaveHint("disk", UI_STATE_PATH_LABEL);
}

function updateUiSaveHint(mode, path) {
  const el = $("#uiSaveHint");
  if (!el) return;
  const p = path || UI_STATE_PATH_LABEL;
  if (mode === "saved") {
    el.textContent = "配置保存中…";
    el.title = "同时写 localStorage 与 " + p;
  } else if (mode === "disk") {
    el.textContent = "已存 " + p;
    el.title = "配置已写入电脑文件，关页/重启后会自动恢复";
  } else if (mode === "disk-err") {
    el.textContent = "落盘失败（仅 localStorage）";
    el.title = "本地页面服务可能未运行；配置仍存在浏览器里，但清缓存会丢";
  } else if (mode === "no-disk") {
    el.textContent = "暂无磁盘备份";
    el.title = "改动任意配置或关页后会生成 " + p;
  }
}

function exportUiState() {
  const o = collectUiSnapshot();
  const blob = new Blob([JSON.stringify(o, null, 2)], { type: "application/json" });
  const a = document.createElement("a");
  const ts = new Date();
  const pad = (n) => String(n).padStart(2, "0");
  const name = `motor_ui_${ts.getFullYear()}${pad(ts.getMonth() + 1)}${pad(ts.getDate())}_${pad(ts.getHours())}${pad(ts.getMinutes())}${pad(ts.getSeconds())}.json`;
  a.href = URL.createObjectURL(blob);
  a.download = name;
  document.body.appendChild(a);
  a.click();
  setTimeout(() => { URL.revokeObjectURL(a.href); a.remove(); }, 1000);
  saveUiState();
}

function importUiStateFile(file) {
  if (!file) return;
  const rd = new FileReader();
  rd.onload = () => {
    try {
      const o = JSON.parse(String(rd.result || ""));
      if (!o || typeof o !== "object") throw new Error("不是配置对象");
      applyUiSnapshot(o);
      applyModeVisibility();
      renderSeqList();
      applyTransportRefresh();
      saveUiState();
      toast("配置已导入并保存", "ok");
    } catch (e) {
      toast("导入失败: " + (e && e.message), "err");
    }
  };
  rd.readAsText(file);
}

function bindAutoSave() {
  for (const id of PERSIST_FIELDS) {
    const el = document.getElementById(id);
    if (el) {
      el.addEventListener("change", saveUiState);
      if (el.tagName === "INPUT") {
        el.addEventListener("input", debounceSaveUi);
      }
    }
  }
  const loops = $("#seqLoops");
  if (loops) {
    loops.addEventListener("change", () => {
      seq.loops = clampNum(parseInt(loops.value, 10) || 0, 0, 9999);
      saveUiState();
    });
  }
  const exp = $("#uiExportBtn");
  if (exp) exp.addEventListener("click", exportUiState);
  const impBtn = $("#uiImportBtn");
  const impInput = $("#uiImportInput");
  if (impBtn && impInput) {
    impBtn.addEventListener("click", () => impInput.click());
    impInput.addEventListener("change", () => {
      importUiStateFile(impInput.files && impInput.files[0]);
      impInput.value = "";
    });
  }
}
let _saveTimer = null;
function debounceSaveUi() {
  if (_saveTimer) clearTimeout(_saveTimer);
  _saveTimer = setTimeout(saveUiState, 300);
}

function setSharedDeviceIp(ip) {
  if (!ip || !String(ip).trim()) return;
  const v = String(ip).trim();
  state.ip = v;
  try { deviceLink.setIp(v); } catch (_) {}
  saveDeviceIp(v);
  const label = $("#ipLabel");
  if (label) label.textContent = "IP " + v;
}
function getBaseUrl() {
  return "http://" + state.ip;
}
function pad2(n) { return n.toString(16).padStart(2, "0").toUpperCase(); }
function hexId(id) { return "0x" + id.toString(16).toUpperCase().padStart(8, "0"); }
function nodeHex(n) { return n.toString(16).toUpperCase(); }
function nowMs() { return Date.now(); }
function sleep(ms) { return new Promise((r) => setTimeout(r, ms)); }
function clampNum(v, lo, hi) { return Math.max(lo, Math.min(hi, v)); }

function canId(node, suffix) { return ((node & 0xF) << 16) | (suffix & 0xFFFF); }
const ID_STATUS = (n) => canId(n, 0x0100);
const ID_CMD = (n) => canId(n, 0x0200);
const ID_CMD_CONFIG = (n) => canId(n, 0x0301);
const ID_GET_VERSION_REQ = (n) => canId(n, 0x00FF);
const ID_SET_NODE_ID = (n) => canId(n, 0x0400);
const ID_GET_NODE_ID = (n) => canId(n, 0x0401);

function hexToBytes(hex) {
  const clean = (hex || "").replace(/[^0-9a-fA-F]/g, "");
  const out = new Uint8Array(Math.floor(clean.length / 2));
  for (let i = 0; i < out.length; i++) {
    out[i] = parseInt(clean.substr(i * 2, 2), 16);
  }
  return out;
}
function bytesToHexSpaced(bytes, maxBytes) {
  const n = maxBytes ? Math.min(bytes.length, maxBytes) : bytes.length;
  let s = "";
  for (let i = 0; i < n; i++) s += pad2(bytes[i]) + " ";
  return s.trim();
}

/* ─── Modal ─── */
let modalResolve = null;
function showModal(title, desc) {
  return new Promise((resolve) => {
    modalResolve = resolve;
    $("#modalTitle").textContent = title;
    $("#modalDesc").textContent = desc;
    $("#modalMask").classList.add("show");
  });
}
$("#modalCancel").onclick = () => { $("#modalMask").classList.remove("show"); if (modalResolve) modalResolve(false); };
$("#modalConfirm").onclick = () => { $("#modalMask").classList.remove("show"); if (modalResolve) modalResolve(true); };

/* ─── STATUS / CONFIG 解码 ─── */
function decodeStatus(bytes) {
  if (!bytes || bytes.length < 32) return null;
  const u8 = bytes instanceof Uint8Array ? bytes : new Uint8Array(bytes);
  const copy = new Uint8Array(36);
  copy.set(u8.subarray(0, Math.min(36, u8.length)));
  const dv = new DataView(copy.buffer);
  const b10 = copy[10];
  const f32 = (off) => {
    const v = dv.getFloat32(off, true);
    return Number.isFinite(v) ? v : 0;
  };
  return {
    mcuTemp: dv.getInt16(0, true) * 0.01,
    motTemp: dv.getInt16(2, true) * 0.01,
    uCurrent: dv.getInt16(4, true),
    vCurrent: dv.getInt16(6, true),
    wCurrent: dv.getInt16(8, true),
    motStatus: (b10 & 0x01) ? 1 : 0,
    magStatus: (b10 & 0x02) ? 1 : 0,
    thermalStatus: (b10 & 0x04) ? 1 : 0,
    eepromStatus: (b10 >> 3) & 0x07,
    powerVoltage: dv.getUint16(11, true) * 0.001,
    rtAngle: f32(13),
    rtVelocity: f32(17),
    rtCurrent: f32(21),
    testFloat: f32(25),
    testU16: dv.getUint16(29, true),
    cpuUsage: copy[31],
    initStatus: u8.length >= 36 ? dv.getUint32(32, true) : null,
  };
}

function decodeConfig(hexStr) {
  const b = hexToBytes(hexStr);
  if (!b || b.length < 16) return null;
  const dv = new DataView(b.buffer, b.byteOffset, b.byteLength);
  const f32 = (off) => {
    if (off + 4 > b.length) return 0;
    const v = dv.getFloat32(off, true);
    return Number.isFinite(v) ? v : 0;
  };
  return {
    targetMode: b[0],
    targetVoltage: f32(4),
    targetCurrent: f32(8),
    targetVelocity: f32(12),
    targetAngle: f32(16),
  };
}

function faultShortParts(d) {
  if (!d) return [];
  const p = [];
  if (d.motStatus) p.push("电机故障");
  if (d.magStatus) p.push("磁编码");
  if (d.thermalStatus) p.push("过温");
  if (d.eepromStatus) p.push("EEPROM");
  return p;
}
function faultShortLabel(d) { return faultShortParts(d).join(" · "); }
function faultCountOf(d) { return faultShortParts(d).length; }

/* ─── CMD 编码 / 提交制 ─── */
function syncCmdCommittedFromDom() { /* 由 initCmdCommit 注册的实现覆盖/配合 */ }

const _cmdCommit = { vals: {} };
function initCmdCommit() {
  const ids = ["inVoltage", "inCurrent", "inVelocity", "inAngle", "pidCurP", "pidVelP", "pidAngP"];
  const readOne = (id) => {
    const el = document.getElementById(id);
    return el ? el.value : "";
  };
  const commit = () => {
    for (const id of ids) _cmdCommit.vals[id] = readOne(id);
  };
  for (const id of ids) {
    const el = document.getElementById(id);
    if (!el) continue;
    el.addEventListener("change", commit);
  }
  commit();
}
function syncCmdCommittedFromDomImpl() {
  const ids = ["inVoltage", "inCurrent", "inVelocity", "inAngle", "pidCurP", "pidVelP", "pidAngP"];
  for (const id of ids) {
    const el = document.getElementById(id);
    if (el) _cmdCommit.vals[id] = el.value;
  }
}
syncCmdCommittedFromDom = syncCmdCommittedFromDomImpl;

function cmdVal(id) {
  if (_cmdCommit.vals[id] != null && _cmdCommit.vals[id] !== "") return _cmdCommit.vals[id];
  const el = document.getElementById(id);
  return el ? el.value : "";
}

function buildCmdBytes(values) {
  const bytes = new Uint8Array(32);
  const mode = parseInt(values.mode, 10) || 0;
  bytes[0] = mode & 0xFF;
  const dv = new DataView(bytes.buffer);
  const f32 = (off, v) => {
    const n = parseFloat(v);
    dv.setFloat32(off, Number.isFinite(n) ? n : 0, true);
  };
  const u16 = (off, v) => {
    const n = parseInt(v, 10);
    dv.setUint16(off, Number.isFinite(n) ? n : 0, true);
  };
  u16(4, values.voltage);
  f32(8, values.current);
  f32(12, values.velocity);
  f32(16, values.angle);
  f32(20, values.pidCurP);
  f32(24, values.pidVelP);
  f32(28, values.pidAngP);
  return bytes;
}

function buildFormCmdBytes(opts) {
  opts = opts || {};
  const mode = opts.mode != null ? opts.mode : ($("#modeSelect") ? $("#modeSelect").value : "0");
  return buildCmdBytes({
    mode,
    voltage: opts.voltage != null ? opts.voltage : cmdVal("inVoltage"),
    current: opts.current != null ? opts.current : cmdVal("inCurrent"),
    velocity: opts.velocity != null ? opts.velocity : cmdVal("inVelocity"),
    angle: opts.angle != null ? opts.angle : cmdVal("inAngle"),
    pidCurP: cmdVal("pidCurP"),
    pidVelP: cmdVal("pidVelP"),
    pidAngP: cmdVal("pidAngP"),
  });
}

function bytesToHexStr(bytes) {
  let s = "";
  for (let i = 0; i < bytes.length; i++) s += pad2(bytes[i]);
  return s;
}

/* ─── 发送核心（流控语义保持不变） ─── */
const GD32_ERR_DESC = {
  0xE2: "发送冷却",
  0xE3: "总线错误",
  0xE4: "邮箱忙",
};

function describeResult(result) {
  if (!result) return "无结果";
  if (result.status === "ok") return "ok";
  return result.desc || result.status || "error";
}

async function sendBatch(frames, opts) {
  opts = opts || {};
  if (!state.connected && !opts.allowOffline) {
    if (!opts.silent) toast("设备未连接", "err");
    return { ok: false, desc: "设备未连接", networkError: true };
  }
  if (state.sendInFlight) {
    if (frames.length === 1) {
      state.pendingCmd = frames[0];
    }
    return { ok: false, busy: true, desc: "发送通道忙" };
  }
  if (nowMs() < state.busCooldownUntil) {
    return { ok: false, busy: true, desc: "总线冷却中" };
  }
  state.sendInFlight = true;
  try {
    const results = await state.tp.sendFrames(frames, { ch: state.ch });
    const first = results && results[0];
    const ok = !!(first && first.status === "ok");
    if (ok) {
      state.txCount += frames.length;
    }
    const gerr = first && (first.gd32_err || first.code);
    if (gerr === 0xE2 || gerr === 0xE3) {
      state.busCooldownUntil = nowMs() + 3000;
      if (!opts.silent) {
        toast("总线异常 (" + (GD32_ERR_DESC[gerr] || gerr) + ") — 停止发送，冷却 3s", "err");
      }
    }
    return {
      ok,
      busy: !!(first && (first.code === 0xE4 || first.status === "busy")),
      busFault: gerr === 0xE2 || gerr === 0xE3,
      networkError: false,
      desc: describeResult(first),
      results,
    };
  } catch (e) {
    return {
      ok: false,
      networkError: true,
      desc: (e && e.message) || "网络错误",
    };
  } finally {
    state.sendInFlight = false;
    if (!opts.retried && state.pendingCmd && state.connected && nowMs() >= state.busCooldownUntil) {
      const p = state.pendingCmd;
      state.pendingCmd = null;
      sendBatch([{ id: p.id, dlc: p.dlc, data: p.data }], { silent: true });
    }
  }
}

async function sendOneFrame(id, dlc, dataHex, opts) {
  return sendBatch([{ id, dlc, data: dataHex }], opts || {});
}

async function sendOneFrameWhenFree(id, dlc, dataHex, opts) {
  opts = opts || {};
  const res = await sendOneFrame(id, dlc, dataHex, opts);
  if (res.busy && opts.retry !== false) {
    await sleep(50);
    return sendOneFrame(id, dlc, dataHex, Object.assign({}, opts, { retried: true }));
  }
  return res;
}

async function sendBurst(actions, opts) {
  opts = opts || {};
  if (!state.connected) {
    return { ok: false, desc: "设备未连接", networkError: true };
  }
  if (state.sendInFlight) {
    return { ok: false, busy: true, desc: "发送通道忙" };
  }
  if (nowMs() < state.busCooldownUntil) {
    return { ok: false, busy: true, desc: "总线冷却中" };
  }
  state.sendInFlight = true;
  try {
    const frames = actions.map((a) => {
      const bytes = buildFormCmdBytes(a);
      return { ch: a.ch, node: a.node, data: bytesToHexStr(bytes) };
    });
    const results = await state.tp.sendBurst(frames, { suffix: 0x0200, dlc: 32 });
    const first = results && results[0];
    const ok = !!(first && first.status === "ok");
    if (ok) state.txCount += frames.length;
    return {
      ok,
      busy: !!(first && (first.code === 0xE4 || first.status === "busy")),
      networkError: false,
      desc: describeResult(first),
      results,
    };
  } catch (e) {
    return { ok: false, networkError: true, desc: (e && e.message) || "网络错误" };
  } finally {
    state.sendInFlight = false;
    if (!opts.retried && state.pendingCmd && state.connected && nowMs() >= state.busCooldownUntil) {
      const p = state.pendingCmd;
      state.pendingCmd = null;
      sendBatch([{ id: p.id, dlc: p.dlc, data: p.data }], { silent: true });
    }
  }
}

/* ─── 慢请求统计 / 瞬时错误（TRANSPORT_CTX 注入用） ─── */
function recordSlowReq(path, durMs, errMsg) {
  if (durMs <= 200) return;
  const s = state.phaseDebug.slowStats;
  const key = path.split("?")[0];
  if (!s[key]) s[key] = { count: 0, maxMs: 0, lastMs: 0, lastAt: 0, lastErr: null };
  s[key].count++;
  s[key].maxMs = Math.max(s[key].maxMs, Math.round(durMs));
  s[key].lastMs = Math.round(durMs);
  s[key].lastAt = Date.now();
  if (errMsg) s[key].lastErr = errMsg;
  state.phaseDebug.lastSlowReq = {
    path, dur: Math.round(durMs), at: Date.now(), err: errMsg
  };
}

function isTransientError(e) {
  if (!e) return false;
  if (e.transient === true) return true;
  const st = Number(e.status);
  if (st === 500 || st === 503 || st === 429) return true;
  const name = e.name || "";
  if (name === "TimeoutError" || name === "AbortError") return true;
  const msg = String(e.message || e);
  if (/timed?\s*out|aborted|AbortError|signal is aborted/i.test(msg)) return true;
  if (/^HTTP\s+(500|503|429)\b/.test(msg)) return true;
  if (/failed to fetch|networkerror|load failed|err_connection|econnreset|econnrefused|socket hang up|net::/i.test(msg)) {
    e.transient = true;
    return true;
  }
  return false;
}

/* ─── 传输层装配 ─── */
const TRANSPORT_CTX = {
  getBaseUrl: () => getBaseUrl(),
  recordSlow: (path, ms, err) => recordSlowReq(path, ms, err),
  isTransient: (e) => isTransientError(e),
  /* R5：参数查询/设置发送入口（流控仍留在 main） */
  sendFrame: (id, dlc, dataHex, opts) => sendOneFrameWhenFree(id, dlc, dataHex, opts),
  getCh: () => state.ch,
};

function applyTransportRefresh() {
  const v = pickRefresh(state.refreshByTp, state.tpId);
  const changed = state.refreshIntervalMs !== v;
  state.refreshByTp[state.tpId] = v;
  state.refreshIntervalMs = v;
  const el = $("#refreshRate");
  if (el) {
    const lo = minRefreshFor(state.tpId);
    el.min = String(lo);
    el.step = isUnthrottled(lo) ? "1" : "50";
    el.value = v;
  }
  if (!changed) return v;
  updateNodeLabels();
  if (state.poll.tick) {
    clearTimeout(state.poll.tick);
    state.poll.tick = null;
  }
  if (state.connected && !state.probing && late.connSys) {
    late.connSys.setTickNextAt(0);
    late.connSys.schedulePollLoop(state.pollGen, 0);
  }
  return v;
}

function useTransport(id) {
  state.tpId = id;
  state.tp = createTransport(id, TRANSPORT_CTX);
  return state.tp;
}

async function switchTransport(id) {
  if (id === state.tpId) return;
  const old = state.tp;
  stopRepeat(true);
  stopSeq("切换链路，命令序列已停止", true);
  stopDataPolling();
  stopProbe();
  state.connected = false;
  state.connecting = false;
  state.failCount = 0;
  if (old) { try { await old.teardown(); } catch (_) {} }
  useTransport(id);
  saveTransportId(id);
  applyTransportUi();
  toast("已切换链路: " + state.tp.label + " · 刷新 " + state.refreshIntervalMs + " ms", "ok");
  connectShared();
}

function applyTransportUi() {
  const tp = state.tp;
  const sel = $("#transportSelect");
  if (sel && sel.value !== state.tpId) sel.value = state.tpId;
  const ad = $("#ecatAdapter");
  if (ad) {
    const show = !!tp.getAdapter;
    ad.style.display = show ? "" : "none";
    if (show) ad.value = tp.getAdapter();
  }
  const otaBtn = document.querySelector('.tab-btn[data-tab="ota"]');
  if (otaBtn) {
    const off = !tp.supportsOta;
    otaBtn.disabled = off;
    otaBtn.classList.toggle("tab-disabled", off);
    otaBtn.title = off
      ? "电机 OTA 仅 WiFi 链路支持（需 ESP32 固件上传 + GD32 relay）——切回 WiFi 链路后可用"
      : "";
    if (off && otaBtn.classList.contains("active")) {
      const cfg = document.querySelector('.tab-btn[data-tab="config"]');
      if (cfg) cfg.click();
    }
  }
  applyTransportRefresh();
  const rr = document.getElementById("refreshRate");
  if (rr) {
    const other = state.tpId === "ecat" ? "wifi" : "ecat";
    const otherName = other === "wifi" ? "WiFi" : "EtherCAT";
    const shared = "两条链路各记一份刷新速度，切链路自动换（" + otherName +
                   " 当前记着 " + (state.refreshByTp[other] || REFRESH_DEFAULTS[other]) + " ms）。";
    rr.parentElement.title = tp.supportsPeriodSync
      ? "电机状态刷新间隔（ms，" + minRefreshFor(state.tpId) + "~" + REFRESH_MAX_MS +
        "）。同时驱动前端 HTTP 轮询与 GD32 0xC5 SPI 主动推送周期，端到端节拍一致。" + shared
      : "界面读取快照的间隔（ms，" + minRefreshFor(state.tpId) + "~" + REFRESH_MAX_MS +
        "）。EtherCAT 的 PDO 总线周期由后台循环独立维持（1000ms 过程数据看门狗要求持续交换），不受此值影响。" +
        "填 1 表示不限速（实测约 125Hz，受每拍一次 HTTP 往返限制），真实频率看 STATUS 面板右上角。" + shared;
  }
  updateConnUi();
}

/* 连接接口代理（conn-poll 创建后 late 生效；声明保持提升） */
function updateConnUi() { if (late.connSys) late.connSys.updateConnUi(); }
function connectShared() { if (late.connSys) late.connSys.connectShared(); }
function stopDataPolling() { if (late.connSys) late.connSys.stopDataPolling(); }
function startPolling() { if (late.connSys) late.connSys.startPolling(); }
function stopProbe() { if (late.connSys) late.connSys.stopProbe(); }

/* ─── /motor/state 处理与 UI ─── */
function motorKey(m) { return m.ch + ":" + m.node; }

const UI_PAINT_MIN_MS = 33;
let uiPaintPending = false;
let lastUiPaintAt = 0;
let lastUiSig = "";
let lastConnSig = "";
const _decodedReuse = new Map();
const _decodedConfigReuse = new Map();
const _statusRefs = {};

function statusEl(id) {
  let el = _statusRefs[id];
  if (el === undefined) {
    el = document.getElementById(id);
    _statusRefs[id] = el;
  }
  return el;
}

function setClsIfChanged(el, cls) { setClassIfChanged(el, cls); }
function toggleClsIfChanged(el, cls, on) { toggleClsIfChangedUtil(el, cls, on); }

function paintMotorUi(force) {
  const now = nowMs();
  if (!force && now - lastUiPaintAt < UI_PAINT_MIN_MS) return false;
  lastUiPaintAt = now;
  refreshChannelViews();
  updateNodeLabels();
  return true;
}

function scheduleUiPaint() {
  if (uiPaintPending) return;
  uiPaintPending = true;
  const run = () => {
    const wait = UI_PAINT_MIN_MS - (nowMs() - lastUiPaintAt);
    if (wait > 0) { setTimeout(run, wait); return; }
    uiPaintPending = false;
    paintMotorUi(true);
  };
  requestAnimationFrame(run);
}

const RECV_HZ_WINDOW = 20;

function onMotorState(data) {
  const motors = (data && data.motors) ? data.motors : [];
  state.motors = motors;
  state.bootActive = !!(data && data.boot_active);
  const ts = state.recvTs;
  ts.push(Date.now());
  if (ts.length > RECV_HZ_WINDOW * 2) ts.splice(0, ts.length - RECV_HZ_WINDOW);
  const decoded = _decodedReuse;
  const decodedConfig = _decodedConfigReuse;
  decoded.clear();
  decodedConfig.clear();
  for (const m of motors) {
    const bytes = hexToBytes(m.data);
    const d = decodeStatus(bytes);
    if (d) decoded.set(motorKey(m), d);
    if (m.config_data) {
      const cfg = decodeConfig(m.config_data);
      if (cfg) decodedConfig.set(motorKey(m), cfg);
    }
  }
  state.decoded = decoded;
  state.decodedConfig = decodedConfig;
  const chOnline = [0, 0, 0];
  for (const m of motors) {
    if (m.online && m.node >= 1 && m.node <= 9 && m.ch >= 0 && m.ch <= 2) chOnline[m.ch]++;
  }
  const chSig = chOnline.join(",") + "|" + state.chEnabled.join(",") + "|" + (state.tickStuck || 0);
  const chChanged = chSig !== lastUiSig;
  state.chOnline = chOnline;
  if (chChanged) {
    lastUiSig = chSig;
    updateChSelectOptions();
  }
  let autoSelected = false;
  if (state.selectedNode == null || state.selectedNode < 1 || state.selectedNode > 9) {
    const online = motors.find((m) => m.online && m.ch === state.ch && m.node >= 1 && m.node <= 9)
                || motors.find((m) => m.online && m.node >= 1 && m.node <= 9);
    state.selectedNode = online ? online.node : 1;
    autoSelected = true;
  }
  const bootOn = !!state.bootActive;
  const bootEl = statusEl("bootBadge");
  if (bootEl && bootEl._on !== bootOn) {
    bootEl._on = bootOn;
    bootEl.classList.toggle("show", bootOn);
    bootEl.style.display = bootOn ? "flex" : "none";
    bootEl.setAttribute("aria-hidden", bootOn ? "false" : "true");
    const sub = statusEl("bootBadgeSub");
    if (sub) sub.textContent = bootOn ? "0x103 心跳" : "0x103";
  }
  const onlineCnt = chOnline[state.ch] || 0;
  const connSig = [state.connected, state.connecting, state.probing, state.tpId,
                   state.slaveAl, state.slaveOp, onlineCnt, state.ch, state.probeErr].join("|");
  if (connSig !== lastConnSig) {
    lastConnSig = connSig;
    updateConnUi();
  }
  if (autoSelected) {
    restoreVersionUi(state.selectedNode);
    paintMotorUi(true);
    return;
  }
  scheduleUiPaint();
}

const _nodeCards = new Map();

function getDisplayMotors() {
  const motors = state.motors || [];
  return FIXED_MOTOR_NODES.map((node) => {
    const entries = motors.filter((m) => m && m.node === node);
    const cur = entries.find((m) => m.ch === state.ch);
    if (cur && cur.online) return cur;
    const others = entries.filter((m) => m.online && m.ch !== state.ch);
    if (others.length) {
      const chs = others.map((o) => o.ch).sort().join("/");
      return { node, ch: others[0].ch, online: false, otherCh: chs, dlc: 0, rx_count: 0, seq: 0, data: "" };
    }
    if (cur) return cur;
    return { node, ch: state.ch || 0, online: false, dlc: 0, rx_count: 0, seq: 0, data: "" };
  });
}

function refreshChannelViews() {
  renderNodeList();
  renderStatusPanel();
  const onlineCount = (state.motors || [])
    .filter((m) => m.online && m.ch === state.ch && m.node >= 1 && m.node <= 9).length;
  const summary = `${onlineCount}/9 在线 · CH${state.ch}`;
  const sumEl = statusEl("nodeSummary") || $("#nodeSummary");
  if (sumEl && sumEl.textContent !== summary) sumEl.textContent = summary;
}

function modeLabelOf(m) {
  const cfg = state.decodedConfig.get(motorKey(m));
  const mode = cfg ? cfg.targetMode : state.lastSentMode.get(m.node);
  if (mode == null) return "--";
  const def = MODES[mode];
  return def ? def.zh : ("模式" + mode);
}

function renderNodeList() {
  const motors = getDisplayMotors();
  let needRebuild = _nodeCards.size !== FIXED_MOTOR_NODES.length;
  if (!needRebuild) {
    for (const n of FIXED_MOTOR_NODES) {
      if (!_nodeCards.has(n)) { needRebuild = true; break; }
    }
  }
  if (needRebuild) {
    _nodeCards.clear();
    nodeListEl.innerHTML = motors.map(buildNodeCardHtml).join("");
    for (const m of motors) {
      const card = nodeListEl.querySelector(`.node-card[data-node="${m.node}"]`);
      if (!card) continue;
      _nodeCards.set(m.node, {
        card,
        led: card.querySelector(".led"),
        modeEl: card.querySelector(".nc-mode"),
        stTxt: card.querySelector(".nc-status-text"),
        angleVal: card.querySelector(".nc-reading:nth-child(1) .val"),
        velVal:  card.querySelector(".nc-reading:nth-child(2) .val"),
        curVal:  card.querySelector(".nc-reading:nth-child(3) .val"),
        faultsEl: card.querySelector(".nc-faults"),
      });
    }
    return;
  }
  for (const m of motors) {
    const ref = _nodeCards.get(m.node);
    if (!ref) continue;
    const d = m.otherCh != null ? null : state.decoded.get(motorKey(m));
    const faultCount = faultCountOf(d);
    const faultLabel = faultShortLabel(d);
    const isSel = m.node === state.selectedNode;
    const cls = [
      "node-card",
      isSel ? "active" : "",
      faultCount > 0 ? "fault" : "",
      !m.online ? "offline" : "",
    ].join(" ").trim();
    if (ref.card.className !== cls) ref.card.className = cls;
    ref.card.setAttribute("aria-selected", String(isSel));
    if (faultLabel) ref.card.title = "故障: " + faultLabel;
    else if (m.otherCh != null) ref.card.title = `节点在 CH${m.otherCh} 在线，切换顶部通道查看`;
    else if (!m.online) ref.card.title = "离线也可选中刷写";
    else ref.card.title = "在线";
    const ledCls = m.otherCh != null ? "led-warn" : (m.online ? (faultCount > 0 ? "led-err" : "led-on") : "");
    const ledFull = "led " + ledCls;
    if (ref.led.className !== ledFull) ref.led.className = ledFull;
    const modeLabel = m.otherCh != null ? ("CH" + m.otherCh) : (!m.online ? "离线" : modeLabelOf(m));
    if (ref.modeEl.textContent !== modeLabel) ref.modeEl.textContent = modeLabel;
    const modeCls = m.otherCh != null ? "nc-mode mode-other-ch"
      : (!m.online ? "nc-mode mode-off" : (faultCount > 0 ? "nc-mode mode-fault" : "nc-mode"));
    if (ref.modeEl.className !== modeCls) ref.modeEl.className = modeCls;
    const stTxt = !m.online ? "--" : (faultLabel || "OK");
    if (ref.stTxt.textContent !== stTxt) ref.stTxt.textContent = stTxt;
    if (ref.stTxt) ref.stTxt.title = faultLabel ? ("故障: " + faultLabel) : (m.online ? "正常" : "");
    if (d && m.online && m.otherCh == null) {
      if (ref.angleVal) setTextIfChanged(ref.angleVal, d.rtAngle.toFixed(1));
      if (ref.velVal) setTextIfChanged(ref.velVal, d.rtVelocity.toFixed(0));
      if (ref.curVal) setTextIfChanged(ref.curVal, d.rtCurrent.toFixed(0));
    } else {
      if (ref.angleVal) setTextIfChanged(ref.angleVal, "--");
      if (ref.velVal) setTextIfChanged(ref.velVal, "--");
      if (ref.curVal) setTextIfChanged(ref.curVal, "--");
    }
    if (ref.faultsEl) setTextIfChanged(ref.faultsEl, faultLabel || "");
  }
}

function buildNodeCardHtml(m) {
  const d = m.online ? state.decoded.get(motorKey(m)) : null;
  const faultCount = faultCountOf(d);
  const faultLabel = faultShortLabel(d);
  const isSel = m.node === state.selectedNode;
  const cls = [
    "node-card",
    isSel ? "active" : "",
    faultCount > 0 ? "fault" : "",
    !m.online ? "offline" : "",
  ].join(" ").trim();
  const ledCls = m.otherCh != null ? "led-warn" : (m.online ? (faultCount > 0 ? "led-err" : "led-on") : "");
  return `<div class="${cls}" data-node="${m.node}" role="option" aria-selected="${isSel}">
    <div class="nc-head">
      <span class="led ${ledCls}"></span>
      <span class="nc-node">N${m.node}</span>
      <span class="nc-mode ${m.otherCh != null ? "mode-other-ch" : (!m.online ? "mode-off" : (faultCount > 0 ? "mode-fault" : ""))}">${m.otherCh != null ? ("CH" + m.otherCh) : (!m.online ? "离线" : modeLabelOf(m))}</span>
    </div>
    <div class="nc-status-text">${!m.online ? "--" : (faultLabel || "OK")}</div>
    <div class="nc-reading"><span class="k">角度</span><span class="val">${d ? d.rtAngle.toFixed(1) : "--"}</span></div>
    <div class="nc-reading"><span class="k">速度</span><span class="val">${d ? d.rtVelocity.toFixed(0) : "--"}</span></div>
    <div class="nc-reading"><span class="k">电流</span><span class="val">${d ? d.rtCurrent.toFixed(0) : "--"}</span></div>
    <div class="nc-faults">${faultLabel || ""}</div>
  </div>`;
}

nodeListEl.addEventListener("click", (e) => {
  const card = e.target.closest(".node-card");
  if (!card) return;
  const n = parseInt(card.dataset.node, 10);
  if (!Number.isFinite(n)) return;
  state.selectedNode = n;
  if (scopeSys) scopeSys.reset();
  renderNodeList();
  updateNodeLabels();
  restoreVersionUi(n);
  renderStatusPanel();
  saveUiState();
});

function hzText(hz) {
  if (!Number.isFinite(hz) || hz <= 0) return "--";
  return hz >= 10 ? hz.toFixed(0) + " Hz" : hz.toFixed(1) + " Hz";
}

function statusHzText() {
  const ts = state.recvTs || [];
  if (ts.length < 2) return "--";
  const iv = ts[ts.length - 1] - ts[Math.max(0, ts.length - RECV_HZ_WINDOW)];
  if (!(iv > 0)) return "--";
  return hzText((ts.length - 1) * 1000 / Math.max(iv, 1));
}

function updateNodeLabels() {
  const n = state.selectedNode;
  const el = $("#nodeTitle");
  if (el) el.textContent = n != null ? `节点 N${n}` : "未选择节点";
  const hzEl = statusEl("statusHz") || $("#statusHz");
  if (hzEl) hzEl.textContent = statusHzText();
}

/* ─── STATUS 面板 ─── */
function flashEl(el) {
  if (!el) return;
  el.classList.remove("flash");
  void el.offsetWidth;
  el.classList.add("flash");
}

function renderStatusPanel() {
  const n = state.selectedNode;
  const motor = n != null
    ? state.motors.find((m) => m.node === n && m.ch === state.ch)
      || state.motors.find((m) => m.node === n)
    : null;
  const d = motor ? state.decoded.get(motorKey(motor)) : null;
  const cfg = motor ? state.decodedConfig.get(motorKey(motor)) : null;
  const offlineLayer = $("#statusOffline");
  const panelLayer = $("#statusPanel");
  if (!state.connected || !motor || !motor.online || !d) {
    if (offlineLayer) offlineLayer.style.display = "";
    if (panelLayer) panelLayer.style.display = "none";
    if (offlineLayer) {
      const chs = (state.motors || []).filter((m) => m.node === n && m.online)
        .map((m) => "CH" + m.ch).join("/");
      if (!state.connected) {
        setTextIfChanged($("#offlineTitle"), "设备未连接");
        setTextIfChanged($("#offlineSub"), "本页共用 OTA 主页 IP，请到主页配置并测试连接");
      } else if (chs && state.chEnabled[state.ch] === false) {
        setTextIfChanged($("#offlineTitle"), `节点 ${n} 在 ${chs} 有信号`);
        setTextIfChanged($("#offlineSub"), `当前通道 CH${state.ch} 无此节点，请切换顶部通道查看`);
      } else if (!motor) {
        setTextIfChanged($("#offlineTitle"), `节点 ${n} 离线（仍可刷写）`);
        setTextIfChanged($("#offlineSub"), "无 STATUS 属正常（电机在 BOOT / 未上电）。左侧 N1–N9 可直接选中刷写");
      } else {
        setTextIfChanged($("#offlineTitle"), `节点 ${n} 暂无解码数据`);
        setTextIfChanged($("#offlineSub"), "等待 STATUS 帧；OTA 刷写不受影响");
      }
    }
    return;
  }
  if (offlineLayer) offlineLayer.style.display = "none";
  if (panelLayer) panelLayer.style.display = "";
  setTextIfChanged(statusEl("mcuTemp"), d.mcuTemp.toFixed(2) + " °C");
  setTextIfChanged(statusEl("motTemp"), d.motTemp.toFixed(2) + " °C");
  const mcuBar = statusEl("mcuTempBar"), motBar = statusEl("motTempBar");
  if (mcuBar) mcuBar.style.width = Math.min(100, Math.max(0, d.mcuTemp)) + "%";
  if (motBar) motBar.style.width = Math.min(100, Math.max(0, d.motTemp)) + "%";
  if (cfg) {
    setTextIfChanged($("#tgtAngle"), cfg.targetAngle.toFixed(1));
    setTextIfChanged($("#tgtVelocity"), cfg.targetVelocity.toFixed(0));
    setTextIfChanged($("#tgtCurrent"), cfg.targetCurrent.toFixed(0));
  } else {
    setTextIfChanged($("#tgtAngle"), "--");
    setTextIfChanged($("#tgtVelocity"), "--");
    setTextIfChanged($("#tgtCurrent"), "--");
  }
  setTextIfChanged(statusEl("valU"), `${d.uCurrent >= 0 ? "+" : ""}${d.uCurrent}`);
  setTextIfChanged(statusEl("valV"), `${d.vCurrent >= 0 ? "+" : ""}${d.vCurrent}`);
  setTextIfChanged(statusEl("valW"), `${d.wCurrent >= 0 ? "+" : ""}${d.wCurrent}`);
  setTextIfChanged(statusEl("pwrVolt"), d.powerVoltage.toFixed(3) + " V");
  setTextIfChanged(statusEl("testFloat"), d.testFloat.toFixed(3));
  setTextIfChanged(statusEl("testU16"), String(d.testU16));
  setTextIfChanged(statusEl("cpuPct"), Math.round(d.cpuUsage) + "%");
  if (motor) setTextIfChanged(statusEl("cpuSub"), `seq ${motor.seq} · rx ${motor.rx_count}`);
  const flags = [
    ["flagMot", d.motStatus, "电机故障", "正常"],
    ["flagMag", d.magStatus, "磁编码故障", "正常"],
    ["flagThermal", d.thermalStatus, "过温", "正常"],
  ];
  for (const [id, active, faultText, okText] of flags) {
    const el = statusEl(id);
    if (!el) continue;
    setTextIfChanged(el, active ? faultText : okText);
  }
}

function busStateText(bs) {
  const map = { 0: "OK", 1: "BUSOFF", 2: "PASSIVE", 3: "WARN", 8: "OK" };
  return map[bs] != null ? map[bs] : ("0x" + Number(bs || 0).toString(16));
}

function updateTickStuckUi() {
  const stuck = state.tickStuck > 0;
  const el = $("#chSelect");
  if (el) el.classList.toggle("tick-stuck", stuck);
}

function updateChSelectOptions() {
  const sel = $("#chSelect");
  if (!sel) return;
  for (let i = 0; i < sel.options.length; i++) {
    const opt = sel.options[i];
    const ch = parseInt(opt.value, 10);
    const en = state.chEnabled[ch] !== false;
    const cnt = state.chOnline[ch] || 0;
    const base = "CH" + ch;
    setTextIfChanged(opt, !en ? base + " (禁用)" : (cnt > 0 ? `${base} ●${cnt}` : base));
  }
}

function onFeedback(data) {
  const channels = (data && data.channels) || [];
  for (const c of channels) {
    if (!c || c.ch == null) continue;
    state.chEnabled[c.ch] = c.enabled !== false;
  }
  updateChSelectOptions();
  const ch = channels[state.ch];
  if (!ch) return;
  setTextIfChanged($("#sbRx"), "RX " + (ch.rx != null ? ch.rx : "--"));
  setTextIfChanged($("#sbTx"), "TX " + (ch.tx != null ? ch.tx : "--"));
  setTextIfChanged($("#sbErr"), "ERR " + (ch.err != null ? ch.err : "--"));
  setTextIfChanged($("#sbTec"), "TEC " + (ch.tec != null ? ch.tec : "--"));
  setTextIfChanged($("#sbRec"), "REC " + (ch.rec != null ? ch.rec : "--"));
  setTextIfChanged($("#sbBus"), "BUS " + (ch.bus_state != null ? busStateText(ch.bus_state) : "--"));
}

/* ─── 控制模式联动 / CMD ─── */
function applyModeVisibility() {
  const mode = parseInt(($("#modeSelect") || {}).value, 10) || 0;
  const def = MODES[mode];
  const targets = def ? def.targets : [];
  for (const id of ["f_angle", "f_velocity", "f_current", "f_voltage"]) {
    const el = document.getElementById(id);
    if (!el) continue;
    const key = id.replace("f_", "");
    const show = key === "voltage" ? true : targets.includes(key);
    el.style.display = show ? "" : "none";
  }
  updateQuickHint();
}

function requireNode() {
  if (state.selectedNode == null) { toast("请先在左侧选择一个节点", "warn"); return false; }
  return true;
}
function inBusCooldown() {
  if (nowMs() < state.busCooldownUntil) {
    toast("总线冷却中，请稍候…", "warn");
    return true;
  }
  return false;
}

async function doSendCmd(silent) {
  if (!requireNode()) return;
  if (inBusCooldown()) return;
  if (!state.connected) { if (!silent) toast("设备未连接", "err"); return; }
  if (!state.chEnabled[state.ch]) { if (!silent) toast("CH" + state.ch + " 已禁用（GD32 固件未启用此通道）", "err"); return; }
  const node = state.selectedNode;
  const mode = parseInt($("#modeSelect").value, 10) || 0;
  const bytes = buildFormCmdBytes({ mode });
  const id = ID_CMD(node);
  const res = await sendOneFrameWhenFree(id, 32, bytesToHexStr(bytes));
  if (res.ok) {
    state.lastSentMode.set(node, mode);
    state.lastSentTargets.set(node, {
      mode,
      angle: parseFloat(cmdVal("inAngle")) || 0,
      velocity: parseFloat(cmdVal("inVelocity")) || 0,
      current: parseFloat(cmdVal("inCurrent")) || 0,
      voltage: parseFloat(cmdVal("inVoltage")) || 0,
    });
    if (!silent) toast(`CMD → Node ${node} · ${MODES[mode].zh} 发送成功`, "ok");
  } else if (!res.networkError && !res.busy) {
    toast(`CMD 发送失败: ${res.desc}`, "err");
  }
}

function quickFieldOfMode(mode) {
  const def = MODES[mode];
  if (!def || !def.targets.length) return null;
  return def.targets[def.targets.length - 1];
}
function updateQuickHint() {
  const mode = parseInt(($("#modeSelect") || {}).value, 10) || 0;
  const field = quickFieldOfMode(mode);
  const el = $("#quickHint");
  if (!el) return;
  el.textContent = field ? `快捷发送：${field}` : "当前模式无快捷目标值";
}

function getPeriod() {
  const v = parseInt(($("#repeatPeriod") || {}).value, 10);
  return Number.isFinite(v) && v >= MIN_CMD_PERIOD_MS ? v : MIN_CMD_PERIOD_MS;
}
let _repeatTimer = null;
function startRepeat() {
  stopRepeat(true);
  const period = getPeriod();
  _repeatTimer = setInterval(() => { doSendCmd(true); }, period);
  const hz = 1000 / period;
  toast(`周期发送已启动 · ${period} ms（${hz >= 10 ? hz.toFixed(0) : hz.toFixed(1)} Hz）`, "ok");
}
function stopRepeat(silent) {
  if (_repeatTimer) { clearInterval(_repeatTimer); _repeatTimer = null; }
  if (!silent) toast("周期发送已停止", "warn");
}

/* ─── 配置操作（CMD_CONFIG） ─── */
const CONFIG_ACTIONS = {
  motReset:   { title: "电机复位", bit: 0,  desc: "将向节点发送 motReset 脉冲，电机立即停止并清除故障标志。运行中的电机将失去力矩输出，请确认机械安全。" },
  saveConfig: { title: "保存配置", bit: 2,  desc: "将当前控制模式和 PID 参数写入 EEPROM。写入期间约 50ms 不可发送新指令。" },
  angleReset: { title: "角度置零", bit: 3,  desc: "将当前机械位置设为电气零点。置零后目标角度将以新零点为参考，请确认电机处于期望的零位。" },
  zeroCalib:  { title: "零点校准", bit: 5,  desc: "发送 zero_calibration 脉冲，对电机进行零点校准。请确认电机已处于期望的机械零位且无负载。" },
  sleep:      { title: "休眠",     bit: 56, desc: "电机进入低功耗休眠模式，关闭驱动输出。需发送 CANFD_BOOT 或重新上电才能唤醒。" },
};
function buildConfigBytes(bit) {
  const bytes = new Uint8Array(24);
  bytes[Math.floor(bit / 8)] = 1 << (bit % 8);
  return bytes;
}
document.querySelectorAll(".config-btn").forEach((btn) => {
  btn.addEventListener("click", async () => {
    const action = CONFIG_ACTIONS[btn.dataset.action];
    if (!action) return;
    if (!state.connected) { toast("设备未连接", "err"); return; }
    if (!requireNode()) return;
    if (inBusCooldown()) return;
    const ok = await showModal(action.title, `目标节点 ${state.selectedNode}。` + action.desc);
    if (!ok) return;
    const node = state.selectedNode;
    const id = ID_CMD_CONFIG(node);
    const bytes = buildConfigBytes(action.bit);
    const res = await sendOneFrameWhenFree(id, 24, bytesToHexStr(bytes));
    const time = new Date().toLocaleTimeString("zh-CN", { hour12: false });
    $("#sbLastSend").textContent = `最近发送: ${action.title} → ${hexId(id)} [24B] ${bytesToHexSpaced(bytes, 8)} … ${time}`;
    if (res.ok) {
      state.txCount++;
      toast(`${action.title} → Node ${node} 已发送 (CMD_CONFIG)`, "ok");
    } else if (!res.networkError && !res.busy) {
      toast(`${action.title} 发送失败: ${res.desc}`, "err");
    }
  });
});

/* ─── 版本查询（R5：等待下沉 transport.waitVersion） ─── */
const VERSION_FULL_BYTES = 24;

function readVersionQuadAt(dv, n, off) {
  if (off + 8 > n) return null;
  const major = dv.getUint16(off, true);
  const minor = dv.getUint16(off + 2, true);
  const patch = dv.getUint16(off + 4, true);
  const build = dv.getUint16(off + 6, true);
  return `${major}.${minor}.${patch}.${build}`;
}

function parseVersionPayload(hex) {
  const rb = hexToBytes(hex);
  if (!rb || rb.length < 8) return null;
  const n = Math.min(rb.length, 24);
  const copy = new Uint8Array(24);
  copy.set(rb.subarray(0, n));
  const dv = new DataView(copy.buffer);
  const soft = readVersionQuadAt(dv, n, 0);
  const hard = readVersionQuadAt(dv, n, 8);
  const boot = readVersionQuadAt(dv, n, 16);
  return { soft, hard, boot, byteLen: rb.length, complete: rb.length >= VERSION_FULL_BYTES };
}

function setVer(id, text) {
  const el = $("#" + id);
  if (!el) return;
  if (!text || text === "--") {
    el.textContent = "--";
    el.classList.add("ver-empty");
  } else {
    el.textContent = text;
    el.classList.remove("ver-empty");
  }
}

function restoreVersionUi(node) {
  const v = node != null ? state.versions.get(node) : null;
  if (!v) { setVer("verSoft", null); setVer("verHard", null); setVer("verBoot", null); return; }
  const softEl = $("#verSoft"), hardEl = $("#verHard"), bootEl = $("#verBoot");
  const isStale = (el) => !el || el.textContent === "--" || el.textContent.includes(".");
  if (isStale(softEl)) setVer("verSoft", v.soft || null);
  if (isStale(hardEl)) setVer("verHard", v.hard || null);
  if (isStale(bootEl)) setVer("verBoot", v.boot || null);
}

function setVerWaiting(label) {
  ["verSoft", "verHard", "verBoot"].forEach((k) => {
    const el = $("#" + k);
    if (el) { el.textContent = label; el.classList.add("ver-empty"); }
  });
}

$("#queryVerBtn").addEventListener("click", async () => {
  if (!state.connected) { toast("设备未连接", "err"); return; }
  if (!requireNode()) return;
  if (inBusCooldown()) return;
  const node = state.selectedNode;
  const reqId = ID_GET_VERSION_REQ(node);
  const bytes = new Uint8Array(24);
  const isEcat = !!(state.tp && state.tp.id === "ecat");
  const maxAttempts = isEcat ? 3 : 1;
  setVerWaiting("查询中…");
  if (state.tp.drainPendingRx) { try { await state.tp.drainPendingRx(); } catch (_) {} }

  let v = null;
  for (let attempt = 1; attempt <= maxAttempts; attempt++) {
    let prevSeq = null, sentAt = nowMs();
    try {
      const before = await state.tp.fetchVersionNode(node);
      prevSeq = before ? before.seq : null;
      sentAt = nowMs();
    } catch (_) {}
    const res = await sendOneFrameWhenFree(reqId, 24, bytesToHexStr(bytes));
    const time = new Date().toLocaleTimeString("zh-CN", { hour12: false });
    $("#sbLastSend").textContent = isEcat
      ? `最近发送: GET_VERSION ${hexId(reqId)} · ECAT 第${attempt}/${maxAttempts}次 … ${time}`
      : `最近发送: GET_VERSION 请求 ${hexId(reqId)} → 等应答 … ${time}`;
    if (!res.ok) {
      if (res.busy || res.networkError) {
        if (attempt < maxAttempts) { await sleep(200); continue; }
        setVerWaiting("--");
        restoreVersionUi(node);
        toast(res.busy ? "发送通道仍忙，请稍后重试" : "网络错误，版本查询未发出", "warn");
        return;
      }
      setVerWaiting("失败");
      toast(`GET_VERSION 发送失败: ${res.desc}`, "err");
      return;
    }
    state.txCount++;
    const timeoutMs = (attempt < maxAttempts) ? 2000 : 3000;
    v = await state.tp.waitVersion(node, { prevSeq, sentAt, timeoutMs });
    if (v && v.version) break;
    if (attempt < maxAttempts) await sleep(100);
  }

  if (v && v.version) {
    const parsed = parseVersionPayload(v.version);
    if (parsed && (parsed.soft || parsed.hard || parsed.boot)) {
      setVer("verSoft", parsed.soft || "--");
      setVer("verHard", parsed.hard || "--");
      setVer("verBoot", parsed.boot || "--");
      state.versions.set(node, { soft: parsed.soft || null, hard: parsed.hard || null, boot: parsed.boot || null });
      saveUiState();
      const bl = parsed.byteLen || 0;
      const full = parsed.complete;
      toast(
        full
          ? `版本已更新 · Node ${node} · ${bl}B · seq ${v.seq}`
          : `版本部分更新 · 仅 ${bl}B（需≥${VERSION_FULL_BYTES}B 才有 hard/boot）`,
        full ? "ok" : "warn"
      );
      return;
    }
  }
  setVerWaiting("无回报");
  toast(
    isEcat
      ? `已发 ${hexId(reqId)}×${maxAttempts}，Node ${node} 版本未进 xrx/motor/rx`
      : `已发 ${hexId(reqId)}，5s 内未收到电机新版本应答`,
    "warn"
  );
});

/* ─── 节点参数（R5：queryNodeIdParam / setNodeIdParam 下沉 transport） ─── */
const PARAM_SEL_NODE_ID = 0x0000;
const PARAM_SEL_STATUS = 0x0100;
const PARAM_SEL_CONFIG = 0x0101;

async function queryParam(node, selector) {
  if (!state.tp || typeof state.tp.queryNodeIdParam !== "function") {
    return { ok: false, desc: "当前链路不支持节点参数查询" };
  }
  return state.tp.queryNodeIdParam(node, selector);
}

async function setParam(node, selector, value) {
  if (!state.tp || typeof state.tp.setNodeIdParam !== "function") {
    return { ok: false, desc: "当前链路不支持节点参数设置" };
  }
  return state.tp.setNodeIdParam(node, selector, value);
}

const PERIOD_MAX_HZ = 1000;
function periodToHzText(ms) {
  if (ms === 0) return "停发";
  const hz = 1000 / ms;
  return (hz >= 10 ? hz.toFixed(0) : hz.toFixed(1)) + " Hz";
}
function periodToHzInput(ms) {
  if (ms === 0) return 0;
  return Math.round((1000 / ms) * 100) / 100;
}
function periodRowEls(kind) {
  return kind === "status"
    ? { sel: PARAM_SEL_STATUS, name: "STATUS", input: $("#periodStatusInput") }
    : { sel: PARAM_SEL_CONFIG, name: "CONFIG", input: $("#periodConfigInput") };
}

async function readPeriodRow(kind) {
  if (!state.connected) { toast("设备未连接", "err"); return; }
  if (!requireNode()) return;
  if (inBusCooldown()) return;
  const node = state.selectedNode;
  const row = periodRowEls(kind);
  const result = $("#periodResult");
  const id = ID_GET_NODE_ID(node);
  result.textContent = `${row.name} 读取中…`;
  const r = await queryParam(node, row.sel);
  const time = new Date().toLocaleTimeString("zh-CN", { hour12: false });
  $("#sbLastSend").textContent = `最近发送: GET 刷新率(${row.name}) → ${hexId(id)} [2B] … ${time}`;
  if (r.ok && !r.oldFw) {
    row.input.value = periodToHzInput(r.val);
    result.textContent = `${row.name} 刷新率 = ${periodToHzText(r.val)}（周期 ${r.val} ms） · 节点 ${node}`;
    toast(`${row.name} 刷新率已读取: ${periodToHzText(r.val)}`, "ok");
  } else if (r.ok && r.oldFw) {
    result.textContent = `${row.name} 读取失败：电机固件过旧（回报的是节点 ID），不支持刷新率参数`;
    toast("电机固件不支持刷新率参数（需 v0.4.1+）", "warn");
  } else if (!r.networkError && !r.busy) {
    result.textContent = `${row.name} 读取失败: ${r.desc}`;
    toast(`${row.name} 读取失败: ${r.desc}`, "err");
  }
}

async function writePeriodRow(kind) {
  if (!state.connected) { toast("设备未连接", "err"); return; }
  if (!requireNode()) return;
  if (inBusCooldown()) return;
  const node = state.selectedNode;
  const row = periodRowEls(kind);
  const result = $("#periodResult");
  const hz = parseFloat(row.input.value);
  if (!Number.isFinite(hz) || hz < 0 || hz > PERIOD_MAX_HZ) {
    toast(`${row.name} 刷新率范围 0~${PERIOD_MAX_HZ} Hz（0=停发）`, "err");
    return;
  }
  const period = hz === 0 ? 0 : Math.round(1000 / hz);
  if (hz > 0 && (period < 1 || period > 0xFFFF)) {
    toast(`${row.name} 刷新率过低（周期超出 1~65535 ms）`, "err");
    return;
  }
  const warn = (hz === 0 && kind === "status")
    ? "STATUS 帧将停发，右侧状态面板会显示离线（电机仍可控可刷写）。"
    : (hz === 0 ? "CONFIG 帧将停发，目标值回显将不可用。" : "");
  const ok = await showModal("设置反馈刷新率",
    `将节点 ${node} 的 ${row.name} 帧刷新率设为 ${row.input.value} Hz（周期 ${period} ms），立即生效并写入电机 Flash。${warn}`);
  if (!ok) return;
  const id = ID_SET_NODE_ID(node);
  result.textContent = `${row.name} 写入中…`;
  const r = await setParam(node, row.sel, period);
  const time = new Date().toLocaleTimeString("zh-CN", { hour12: false });
  $("#sbLastSend").textContent = `最近发送: SET 刷新率(${row.name}) → ${hexId(id)} [4B] ${period}ms(${row.input.value}Hz) … ${time}`;
  if (r.ok) {
    state.txCount++;
    result.textContent = `${row.name} 刷新率 = ${periodToHzText(period)}（周期 ${period} ms）已生效并写入 Flash · 节点 ${node}`;
    toast(`${row.name} 刷新率已设为 ${periodToHzText(period)}`, "ok");
    saveUiState();
  } else if (!r.networkError && !r.busy) {
    result.textContent = `${row.name} 写入失败: ${r.desc}`;
    toast(`${row.name} 写入失败: ${r.desc}`, "err");
  }
}

$("#getPeriodStatusBtn").addEventListener("click", () => readPeriodRow("status"));
$("#setPeriodStatusBtn").addEventListener("click", () => writePeriodRow("status"));
$("#getPeriodConfigBtn").addEventListener("click", () => readPeriodRow("config"));
$("#setPeriodConfigBtn").addEventListener("click", () => writePeriodRow("config"));

$("#setNodeIdBtn").addEventListener("click", async () => {
  if (!state.connected) { toast("设备未连接", "err"); return; }
  if (!requireNode()) return;
  if (inBusCooldown()) return;
  const newId = parseInt($("#nodeIdInput").value, 10);
  if (!Number.isFinite(newId) || newId < 1 || newId > 9) { toast("Node ID 范围 1-9", "err"); return; }
  const cur = state.selectedNode;
  const ok = await showModal("设置节点 ID", `将节点 ${cur} 的地址修改为 ${newId}，CAN ID 前缀将变为 0x000${nodeHex(newId)}xxxx。修改立即生效并写入 EEPROM。`);
  if (!ok) return;
  /* 旧格式 DLC2 保持不变：NodeID_Set 0|16@1+ = 新节点号 u16 LE */
  const bytes = new Uint8Array(2);
  bytes[0] = newId & 0xFF;
  bytes[1] = (newId >> 8) & 0xFF;
  const id = ID_SET_NODE_ID(cur);
  const res = await sendOneFrameWhenFree(id, 2, bytesToHexStr(bytes));
  const time = new Date().toLocaleTimeString("zh-CN", { hour12: false });
  $("#sbLastSend").textContent = `最近发送: SET_NODE_ID → ${hexId(id)} [2B] new=${newId} … ${time}`;
  if (res.ok) {
    state.txCount++;
    state.selectedNode = newId;
    $("#nodeIdResult").textContent = `设置成功: Node ID = ${newId} · 新 CMD ID: ${hexId(ID_CMD(newId))}`;
    toast(`节点 ID 已更新为 ${newId}`, "ok");
    updateNodeLabels();
  } else if (!res.networkError && !res.busy) {
    $("#nodeIdResult").textContent = `设置失败: ${res.desc}`;
    toast(`SET_NODE_ID 失败: ${res.desc}`, "err");
  }
});
$("#getNodeIdBtn").addEventListener("click", async () => {
  if (!state.connected) { toast("设备未连接", "err"); return; }
  if (!requireNode()) return;
  if (inBusCooldown()) return;
  const cur = state.selectedNode;
  const id = ID_GET_NODE_ID(cur);
  const res = await queryParam(cur, PARAM_SEL_NODE_ID);
  const time = new Date().toLocaleTimeString("zh-CN", { hour12: false });
  $("#sbLastSend").textContent = `最近发送: GET_NODE_ID → ${hexId(id)} [2B] sel=0x0000 … ${time}`;
  if (res.ok) {
    state.txCount++;
    $("#nodeIdResult").textContent = `节点 ${cur} 回报 ID: ${res.val} · ${hexId(id)}`;
    toast(`GET_NODE_ID → Node ${cur} 已读取: ${res.val}`, "ok");
  } else if (!res.networkError && !res.busy) {
    $("#nodeIdResult").textContent = `读取失败: ${res.desc}`;
    toast(`GET_NODE_ID 失败: ${res.desc}`, "err");
  }
});

/* ─── Tab 切换 ─── */
document.querySelectorAll(".tab-btn").forEach((btn) => {
  btn.addEventListener("click", () => {
    if (btn.disabled || btn.classList.contains("tab-disabled")) return;
    document.querySelectorAll(".tab-btn").forEach((b) => b.classList.remove("active"));
    document.querySelectorAll(".tab-page").forEach((p) => p.classList.remove("active"));
    btn.classList.add("active");
    $("#tab-" + btn.dataset.tab).classList.add("active");
  });
});

/* ─── 通道切换 / 刷新速度 ─── */
$("#chSelect").addEventListener("change", () => {
  state.ch = parseInt($("#chSelect").value, 10) || 0;
  if (scopeSys) scopeSys.reset();
  updateConnUi();
  updateChSelectOptions();
  refreshChannelViews();
  saveUiState();
});

const refreshRateInput = $("#refreshRate");

async function sendMotorPeriod(ms) {
  if (!state.tp.supportsPeriodSync) return;
  try {
    await state.tp.setPeriod(ms);
  } catch (e) { /* 周期下发失败静默 */ }
}

function applyRefreshRate() {
  const dflt = REFRESH_DEFAULTS[state.tpId] || TICK_INTERVAL_MS;
  const lo = minRefreshFor(state.tpId);
  const v = clampNum(parseInt(refreshRateInput.value, 10) || dflt, lo, REFRESH_MAX_MS);
  refreshRateInput.value = v;
  state.refreshIntervalMs = v;
  state.refreshByTp[state.tpId] = v;
  saveUiState();
  updateNodeLabels();
  if (state.poll.tick) {
    clearTimeout(state.poll.tick);
    state.poll.tick = null;
  }
  if (state.connected && !state.probing && late.connSys) {
    late.connSys.setTickNextAt(0);
    late.connSys.schedulePollLoop(state.pollGen, 0);
    sendMotorPeriod(v);
  }
  const hz = 1000 / v;
  toast(isUnthrottled(v)
    ? `${state.tp.label} 刷新速度 ${v} ms（不限速，实际频率见 STATUS 面板）`
    : `${state.tp.label} 刷新速度 ${v} ms（≈${hz >= 10 ? hz.toFixed(0) : hz.toFixed(1)} Hz）`, "ok");
}
refreshRateInput.addEventListener("change", applyRefreshRate);
refreshRateInput.addEventListener("input", () => {
  const raw = parseInt(refreshRateInput.value, 10);
  const lo = minRefreshFor(state.tpId);
  if (Number.isFinite(raw) && raw < lo) refreshRateInput.value = lo;
});

/* ═══════════════════════ 模块装配（P1 R4） ═══════════════════════ */
let scopeSys = null;
let otaSys = null;

const seqSys = createSeqSys({
  MODES, FIXED_MOTOR_NODES, state, clampNum, escapeHtml, $,
  cmdVal, syncCmdCommittedFromDom, saveUiState, debounceSaveUi,
  toast, showModal, inBusCooldown, sendBurst, stopRepeat,
  renderNodeList, nowMs, sleep, late,
});
const seq = seqSys.seq;
const renderSeqList = seqSys.renderSeqList;
const updateSeqUi = seqSys.updateSeqUi;
const startSeq = seqSys.startSeq;
const stopSeq = seqSys.stopSeq;
const normStep = seqSys.normStep;
late.stopSeq = stopSeq;
late.stopRepeat = stopRepeat;
late.sendMotorPeriod = sendMotorPeriod;
late.recordSlowReq = recordSlowReq;
late.isTransientError = isTransientError;

otaSys = createOtaSys({
  state, $, toast, showModal, escapeHtml, sleep,
  canId, hexId, nodeHex, bytesToHexStr,
  sendBatch, sendOneFrameWhenFree, getBaseUrl,
  ID_GET_VERSION_REQ, parseVersionPayload, setVer, saveUiState,
  late,
});
const otaRestorePersistedFirmware = otaSys.otaRestorePersistedFirmware;

const connSys = createConnPoll({
  state, $, toast, deviceLink, flashBusyNow, isUnthrottled,
  getSharedDeviceIp, setSharedDeviceIp,
  onMotorState, onFeedback, updateTickStuckUi,
  setQuietMode, late,
});
late.connSys = connSys;
late.stopDataPolling = connSys.stopDataPolling;
late.startPolling = connSys.startPolling;

scopeSys = createScopeSys({ state, motorKey, clampNum, $ });

/* ═══════════════════════ 初始化 ═══════════════════════ */
useTransport(loadTransportId());
state.ip = getSharedDeviceIp();
deviceLink.subscribe(function (snap) {
  if (!snap || !snap.ip) return;
  if (snap.ip !== state.ip) {
    state.ip = snap.ip;
    const label = $("#ipLabel");
    if (label) label.textContent = "IP " + state.ip;
  }
});
loadUiState();
applyTransportRefresh();
if (state.selectedNode == null || state.selectedNode < 1 || state.selectedNode > 9) {
  state.selectedNode = 1;
}
applyModeVisibility();
updateNodeLabels();
updateConnUi();
renderNodeList();
renderStatusPanel();
restoreVersionUi(state.selectedNode);
renderSeqList();
const seqLoopsInput = $("#seqLoops");
if (seqLoopsInput) seqLoopsInput.value = seq.loops;
bindAutoSave();
initCmdCommit();
otaRestorePersistedFirmware();

const transportSelect = $("#transportSelect");
if (transportSelect) {
  transportSelect.value = state.tpId;
  transportSelect.addEventListener("change", () => {
    switchTransport(transportSelect.value);
  });
}
const ecatAdapterInput = $("#ecatAdapter");
if (ecatAdapterInput) {
  ecatAdapterInput.addEventListener("change", async () => {
    const tp = state.tp;
    if (!tp.setAdapter) return;
    const changed = await tp.setAdapter(ecatAdapterInput.value);
    if (!changed) { ecatAdapterInput.value = tp.getAdapter(); return; }
    toast("网卡已切换到 " + tp.getAdapter() + "，正在重连…", "ok");
    stopDataPolling();
    state.connected = false;
    connectShared();
  });
}
applyTransportUi();

/* CMD / 周期发送按钮（依赖 doSendCmd / startSeq 等） */
const sendCmdBtn = $("#sendCmdBtn");
if (sendCmdBtn) sendCmdBtn.addEventListener("click", () => doSendCmd(false));
const quickSendBtn = $("#quickSendBtn");
if (quickSendBtn) quickSendBtn.addEventListener("click", () => doSendCmd(false));
const modeSelect = $("#modeSelect");
if (modeSelect) modeSelect.addEventListener("change", applyModeVisibility);
const repeatStartBtn = $("#repeatStartBtn");
if (repeatStartBtn) repeatStartBtn.addEventListener("click", startRepeat);
const repeatStopBtn = $("#repeatStopBtn");
if (repeatStopBtn) repeatStopBtn.addEventListener("click", () => stopRepeat(false));

/* 暴露诊断对象到 window，供控制台排查慢请求 */
window.phaseDebug = {
  get lastSlowReq() { return state.phaseDebug && state.phaseDebug.lastSlowReq; },
  get slowStats() { return state.phaseDebug && state.phaseDebug.slowStats; },
  get lastHardFail() { return state.phaseDebug && state.phaseDebug.lastHardFail; },
  reset() {
    if (state.phaseDebug) {
      state.phaseDebug.lastSlowReq = null;
      state.phaseDebug.slowStats = {};
      state.phaseDebug.lastHardFail = null;
    }
    console.log("[phaseDebug] 慢请求统计已清空");
  },
};

(async () => {
  try { await hydrateUiFromDisk(); } catch (_) {}
  connectShared();
})();