refactor(motor): P1 拆分 main.js + 收敛连接/总线状态机

R4 外提 scope/ota/seq/conn-poll；R5 waitVersion/queryNodeIdParam 下沉
transport；R6 ecat-bus 单点 bootstrap；R7 toast-stack + utils 去重。
main.js 4647→~1894 行。?v= 已 bump 20260924a。

js/motor/transport-wifi.js

@@ -22,9 +22,29 @@
  */
 "use strict";
 
+function bytesToHexStr(bytes) {
+  let s = "";
+  for (let i = 0; i < bytes.length; i++) {
+    s += bytes[i].toString(16).padStart(2, "0").toUpperCase();
+  }
+  return s;
+}
+function hexToBytes(hex) {
+  const clean = String(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 u16LeAt(bytes, i) { return bytes[i] | (bytes[i + 1] << 8); }
+function canId(node, suffix) { return ((node & 0xF) << 16) | (suffix & 0xFFFF); }
+const ID_GET_NODE_ID = (n) => canId(n, 0x0401);
+const ID_SET_NODE_ID = (n) => canId(n, 0x0400);
+
 /** @description 创建 WiFi/HTTP 传输实例。 */
 export function createWifiTransport(ctx) {
   const { getBaseUrl, recordSlow, isTransient } = ctx;
+  const sendFrame = ctx.sendFrame;
+  const getCh = typeof ctx.getCh === "function" ? ctx.getCh : () => 0;
 
   /** 统一 GET JSON。失败抛 Error，附 status / transient（与原 fetchDeviceJson 一致）。 */
   async function getJson(path, timeoutMs) {
@@ -229,6 +249,99 @@ export function createWifiTransport(ctx) {
       return data.nodes.find((n) => n.node === node) || null;
     },
 
+    /**
+     * R5：版本等待下沉传输层。
+     * WiFi 走 GD32 缓存 /motor/version，按 seq 增长或 at>=sentAt 判新应答。
+     * 超时返回 null（与旧 waitMotorVersionOnTick 语义一致）。
+     */
+    async waitVersion(node, opts) {
+      const prevSeq = opts && opts.prevSeq;
+      const sentAt = (opts && opts.sentAt) || 0;
+      const timeoutMs = (opts && opts.timeoutMs) || 5000;
+      const deadline = Date.now() + timeoutMs;
+      const sampleOnce = async () => {
+        try {
+          const v = await getJson("/motor/version", 2000);
+          if (!v || !v.have_data || !Array.isArray(v.nodes)) return null;
+          const hit = v.nodes.find((n) => n.node === node) || null;
+          if (hit && hit.version &&
+              (prevSeq == null || hit.seq > prevSeq || (hit.at && hit.at >= sentAt))) {
+            return hit;
+          }
+        } catch (_) { /* 瞬时 busy 忽略 */ }
+        return null;
+      };
+      let v = await sampleOnce();
+      if (v) return v;
+      while (Date.now() < deadline) {
+        await new Promise((r) => setTimeout(r, 50));
+        v = await sampleOnce();
+        if (v) return v;
+      }
+      return null;
+    },
+
+    /**
+     * R5：节点参数 GET（0x000N0401 扩展格式）。
+     * 发送走注入的 sendOneFrameWhenFree（保持 main 流控）；回执走 GD32 per-ID 快照。
+     */
+    async queryNodeIdParam(node, selector) {
+      if (typeof sendFrame !== "function") return { ok: false, desc: "sendFrame 未注入" };
+      const bytes = new Uint8Array([selector & 0xFF, (selector >> 8) & 0xFF]);
+      const id = ID_GET_NODE_ID(node);
+      const res = await sendFrame(id, 2, bytesToHexStr(bytes));
+      if (!res.ok) {
+        return { ok: false, desc: res.desc || "发送失败", networkError: res.networkError, busy: res.busy };
+      }
+      let rb = null;
+      const r = res.results && res.results[0];
+      if (r && r.recv && r.recv_len >= 2) {
+        const b = hexToBytes(r.recv);
+        if (b.length === 2 || b.length === 4) rb = b;
+      }
+      if (!rb) {
+        await new Promise((r2) => setTimeout(r2, 80));
+        try {
+          const fb = await getJson("/can/feedback", 2500);
+          const ch = (fb && fb.channels) ? fb.channels[getCh()] : null;
+          if (ch && ch.valid && Array.isArray(ch.entries)) {
+            const hit = ch.entries.find((e) => e && Number(e.id) === id);
+            if (hit) rb = hexToBytes(hit.data);
+          }
+        } catch (_) {}
+      }
+      return parseParamReply(rb, selector);
+    },
+
+    /** R5：节点参数 SET（0x000N0400 扩展格式 DLC4）。 */
+    async setNodeIdParam(node, selector, value) {
+      if (typeof sendFrame !== "function") return { ok: false, desc: "sendFrame 未注入" };
+      const bytes = new Uint8Array([
+        selector & 0xFF, (selector >> 8) & 0xFF,
+        value & 0xFF, (value >> 8) & 0xFF,
+      ]);
+      const id = ID_SET_NODE_ID(node);
+      const res = await sendFrame(id, 4, bytesToHexStr(bytes));
+      if (!res.ok) {
+        return { ok: false, desc: res.desc || "发送失败", networkError: res.networkError, busy: res.busy };
+      }
+      let rb = null;
+      const r = res.results && res.results[0];
+      if (r && r.recv && r.recv_len >= 5) rb = hexToBytes(r.recv);
+      if (!rb) {
+        await new Promise((r2) => setTimeout(r2, 80));
+        try {
+          const fb = await getJson("/can/feedback", 2500);
+          const ch = (fb && fb.channels) ? fb.channels[getCh()] : null;
+          if (ch && ch.valid && Array.isArray(ch.entries)) {
+            const hit = ch.entries.find((e) => e && Number(e.id) === id);
+            if (hit) rb = hexToBytes(hit.data);
+          }
+        } catch (_) {}
+      }
+      return parseSetReply(rb, selector);
+    },
+
     /** 把前端刷新周期同步给 GD32（0xC5 主动推送周期），失败静默。 */
     async setPeriod(ms) {
       const v = Math.max(20, Math.min(65535, Math.round(ms)));
@@ -246,3 +359,28 @@ export function createWifiTransport(ctx) {
     async teardown() { /* no-op */ },
   };
 }
+
+function parseParamReply(rb, selector) {
+  if (!rb) return { ok: false, desc: "未收到应答（电机离线或未响应）" };
+  if (rb.length >= 4) {
+    const sel = u16LeAt(rb, 0), val = u16LeAt(rb, 2);
+    if (sel !== selector) {
+      return { ok: false, desc: `应答选择器不符（0x${sel.toString(16).padStart(4, "0")}）` };
+    }
+    return { ok: true, val };
+  }
+  if (rb.length === 2) return { ok: true, oldFw: true, val: u16LeAt(rb, 0) };
+  return { ok: false, desc: "应答格式异常" };
+}
+
+function parseSetReply(rb, selector) {
+  if (!rb) return { ok: false, desc: "未收到应答（电机离线或未响应）" };
+  if (rb.length >= 5) {
+    const st = rb[0], sel = u16LeAt(rb, 1);
+    if (sel !== selector) {
+      return { ok: false, desc: `应答选择器不符（0x${sel.toString(16).padStart(4, "0")}）` };
+    }
+    return st === 1 ? { ok: true } : { ok: false, desc: "电机 NACK（Flash 写入失败或参数非法）" };
+  }
+  return { ok: false, desc: "应答格式异常（电机固件不支持刷新率参数？需 v0.4.1+）" };
+}