135 lines
5.4 KiB
Python
135 lines
5.4 KiB
Python
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""GD32 断电/复位后一键恢复 EtherCAT，并**验收**恢复是否真生效。
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用法（GD32 上电稳定后）:
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python scripts/check_recover_after_reset.py
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python scripts/check_recover_after_reset.py --skip-e2e
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与旧版的差别：旧版全程只 print、没有任何失败路径（--skip-e2e 时无条件退 0），
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所以"跑过了"和"恢复了"是两件事。现在每一步都有断言，退出码 0/1/2 是真门槛：
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0=全部通过 1=有断言失败（别去点页面，先修） 2=前置不满足（native/页面没起）
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"""
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from __future__ import annotations
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import json
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import os
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import subprocess
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import sys
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import time
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import urllib.request
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ROOT = os.path.abspath(os.path.join(os.path.dirname(__file__), ".."))
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sys.path.insert(0, os.path.join(ROOT, "scripts"))
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from guard_probe import Blocked, bridge_of, open_link, guard_of # noqa: E402
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ESP = os.environ.get("DCU_ESP_IP", "192.168.31.127")
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FAILS: list[str] = []
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def ck(cond, msg):
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print((" OK " if cond else " FAIL ") + msg)
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if not cond:
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FAILS.append(msg)
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def main() -> int:
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skip_e2e = "--skip-e2e" in sys.argv
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print("=== 1) WiFi motReset（可选，拉一下 GD32 应用层） ===")
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try:
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cfg = bytearray(24)
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cfg[0] = 1 # motReset bit0
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body = json.dumps({"ch": 2, "frames": [{"id": 0x00030301, "dlc": 24,
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"data": cfg.hex()}]}).encode()
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req = urllib.request.Request("http://%s/can/send_batch" % ESP, data=body,
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headers={"Content-Type": "application/json"},
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method="POST")
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t0 = time.perf_counter()
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with urllib.request.urlopen(req, timeout=6) as r:
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j = json.loads(r.read().decode("utf-8", "replace") or "{}")
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print(" wifi motReset %.0fms %s" % ((time.perf_counter() - t0) * 1000, j.get("status")))
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except Exception as e:
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print(" wifi motReset skip: %s" % e) # 可选步骤，不作为门槛
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time.sleep(1.5)
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lk = open_link()
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print("=== 2) force_reopen + DC250 motor/start ===")
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try:
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h = lk.health()
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print(" before: dc=%s us=%s loop=%s op=%s wkc=%s"
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% (h.get("dc"), h.get("dc_cycle_us"), h.get("loop"), h.get("op"), h.get("wkc")))
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except Exception as e:
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print(" health fail: %s" % e)
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r = lk.api("/api/motor/start", {"period_ms": 0.25, "dc_cycle_us": 250,
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"dc_shift_us": 0, "force_reopen": True})
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print(" motor/start force_reopen ok=%s period=%s" % (r.get("ok"), r.get("period_ms")))
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print(" log: %s" % (r.get("log"),))
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ck(bool(r.get("ok")), "motor/start 回执 ok=true")
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# force_reopen 之后 loop 需要一点时间起来（冷启动见过 loop=0 的采样竞态），
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# 所以要"轮询到恢复"而不是只读一次；上限 15s。
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good = None
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t_end = time.time() + 15.0
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while time.time() < t_end:
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h = lk.health()
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if (h.get("dc") == 1 and h.get("dc_cycle_us") == 250 and h.get("loop") == 1
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and h.get("op") == 1 and (h.get("wkc") or 0) >= 3):
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good = h
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break
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time.sleep(0.5)
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ck(good is not None,
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"15s 内 health 达到 dc=1/250us/loop=1/op=1/wkc>=3（现在 %s）"
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% ({k: (good or h).get(k) for k in ("dc", "dc_cycle_us", "loop", "op", "wkc")}))
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g = guard_of(lk.health())
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t0 = g["alive_ticks"]
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time.sleep(1.0)
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g1 = guard_of(lk.health())
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ck(g1["alive_ticks"] - t0 >= 3,
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"守卫心跳 +%d/1s，armed=%s fires=%s（fires 若在本步之后才涨，说明是守卫救回来的）"
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% (g1["alive_ticks"] - t0, g1["armed"], g1["fires"]))
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print("=== 3) 发一帧看 GD32 出口 ===")
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pre = bridge_of(lk.state())
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br_pre = (pre.get("tx_count"), pre.get("ack"))
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r, ms = lk.send()
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print(" send %.1fms ok=%s queued=%s" % (ms, r.get("ok"), r.get("queued")))
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t_sent = time.perf_counter()
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outlet = None
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while time.perf_counter() - t_sent < 3.0:
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br = bridge_of(lk.state())
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if (br.get("tx_count"), br.get("ack")) != br_pre and br.get("tx_count") is not None:
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outlet = (time.perf_counter() - t_sent) * 1000.0
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print(" 出口 %.0fms tx/ack %s → %s"
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% (outlet, br_pre, (br.get("tx_count"), br.get("ack"))))
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break
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time.sleep(0.002)
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ck(outlet is not None,
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"3s 内 GD32 出口跟上（否则就是输出 PDO 没被消费，不是网页慢）")
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if outlet is None:
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print(" → 仍失败：先确认 GD32 已完整上电跑 APP；若 health 全绿而出口恒冻，"
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"等 8s 看 guard.fires 是否 +1（守卫会自动 close→open），"
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"或跑 tools/ecat/check_guard_regression.py 定位。")
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if not skip_e2e:
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print("\n=== 4) 网页全链路自测 ===")
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py = os.environ.get("MIMO_PYTHON") or sys.executable
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script = os.path.join(ROOT, "scripts", "check_web_send_latency.py")
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rc = subprocess.call([py, script, "--n", "6"], cwd=ROOT)
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ck(rc == 0, "check_web_send_latency.py 退出码 %d" % rc)
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print("\nVERDICT %s%s" % ("PASS" if not FAILS else "FAIL",
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"" if not FAILS else " " + "; ".join(FAILS[:3])))
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return 0 if not FAILS else 1
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if __name__ == "__main__":
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try:
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sys.exit(main())
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except Blocked as e:
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print("BLOCKED 前置不满足：%s" % e)
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print("VERDICT BLOCKED")
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sys.exit(2)
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