cbb/DCU_DesktopController
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

docs(review): 专家评审 2026-10-19

Browse Source
This commit is contained in:
cbb
2026-10-20 21:27:39 +08:00
parent eac3717f9a
commit 297c020a20
11 changed files with 290 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/compose/spec/revisions/device-link_REV_2026-10-19.html
+25
View File
File diff suppressed because one or more lines are too long
docs/compose/spec/revisions/ecat-rx-stuck_REV_2026-10-19.html
+25
View File
@@ -0,0 +1,25 @@
<!DOCTYPE html>
<html lang="zh-CN"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1"><title>ecat-rx-stuck.md 修订附录 2026-10-19</title><style>
body{font-family:-apple-system,"Segoe UI","PingFang SC","Microsoft YaHei",sans-serif;margin:0;background:#f5f6f8;color:#1d2330;line-height:1.6}
.wrap{max-width:1180px;margin:0 auto;padding:28px 24px 60px}
h1{font-size:26px;margin:0 0 6px}h2{font-size:20px;margin:36px 0 12px;padding-bottom:6px;border-bottom:2px solid #d9dee8}
h3{font-size:16px;margin:22px 0 8px}
.meta{color:#5b6476;font-size:13px}
.card{background:#fff;border:1px solid #e1e5ec;border-radius:10px;padding:16px 18px;margin:12px 0}
table{border-collapse:collapse;width:100%;background:#fff;font-size:13px;margin:8px 0}
th,td{border:1px solid #e1e5ec;padding:6px 8px;vertical-align:top;text-align:left}
th{background:#eef1f6;font-weight:600}
code{font-family:Consolas,Menlo,monospace;font-size:12px;background:#f0f2f6;padding:1px 4px;border-radius:3px;word-break:break-all}
.sev{display:inline-block;padding:1px 8px;border-radius:10px;font-size:12px;font-weight:600;color:#fff;white-space:nowrap}
.s0{background:#b3261e}.s1{background:#e8710a}.s2{background:#3367d6}.s3{background:#5f6b7a}
.kpis{display:flex;gap:12px;flex-wrap:wrap}.kpi{flex:1;min-width:130px;background:#fff;border:1px solid #e1e5ec;border-radius:10px;padding:12px 14px}
.kpi b{display:block;font-size:26px}
.issue{background:#fff;border:1px solid #e1e5ec;border-left:5px solid #ccc;border-radius:8px;padding:12px 16px;margin:10px 0}
.issue.s0b{border-left-color:#b3261e}.issue.s1b{border-left-color:#e8710a}.issue.s2b{border-left-color:#3367d6}.issue.s3b{border-left-color:#5f6b7a}
.issue h4{margin:0 0 6px;font-size:15px}.issue dl{margin:0;display:grid;grid-template-columns:72px 1fr;gap:3px 10px;font-size:13px}
.issue dt{color:#5b6476}.issue dd{margin:0}
.st{white-space:nowrap;font-weight:600}.st-ok{color:#1e7e34}.st-part{color:#b26a00}.st-open{color:#b3261e}.st-na{color:#5f6b7a}.st-old{color:#6b4fbb}
pre.arch{background:#1f2430;color:#e6e9ef;padding:14px;border-radius:8px;overflow:auto;font-size:12.5px;line-height:1.45}
a{color:#2457c5}
.note{font-size:12.5px;color:#5b6476}
</style></head><body><div class="wrap"><h1>《ecat-rx-stuck.md》修订附录 2026-10-19</h1><div class="meta"><a href="../ecat-rx-stuck.md">原报告</a> · 核对基线 commit <code>eac3717</code> · 总评审：<a href="../../../review/DCU_DesktopController_专家评审_2026-10-19.html">DCU_DesktopController_专家评审_2026-10-19.html</a></div><div class="card"><b>原报告：</b>EtherCAT 从机帧接收异常（输入全 0 / 发帧后才流动）<br><b>时间线：</b>status: in-progress，2026-09-16（e91d53e）<br><b>原结论概要：</b>根因在从站 SSC SM-Synchron 下应用未被唤醒；主站进 OP 后用 dlc=0 + seq 沿踢帧并放宽活性判据，从站救援路径先 Process 再 InputMapping（1.6.42）。T1~T3 均已勾选。<p class="note">原文件保持不变；本附录逐条记录其结论在当前代码中的状态。</p></div><h2>逐条结论跟踪</h2><table><tr><th>编号</th><th>原结论 / 建议</th><th>当前状态</th><th>证据（文件:行号）</th><th>备注</th></tr><tr><td>RX-1</td><td>主站 OP 后 seq 沿踢帧 + 活性判据加宽</td><td class="st st-na">无法在本仓库核实</td><td><code>—</code></td><td>ecat_native.c 不在本仓</td></tr><tr><td>RX-2</td><td>从站新鲜度救援先 Process 再 InputMapping</td><td class="st st-na">无法在本仓库核实</td><td><code>—</code></td><td>固件仓</td></tr><tr><td>RX-3</td><td>规格状态仍为 in-progress，但 T1~T3 已勾选</td><td class="st st-open">仍存在</td><td><code>docs/compose/spec/ecat-rx-stuck.md:3</code></td><td>建议改为 delivered 或注明剩余事项</td></tr></table><h2>结论</h2><div class="card">共 3 条：已修复 0、部分修复 0、仍存在/存疑 1、已过时 0、无法在本仓库核实 2。</div></div></body></html>
docs/compose/spec/revisions/host-code-quality_REV_2026-10-19.html
+25
View File
File diff suppressed because one or more lines are too long
docs/compose/spec/revisions/pdo-fast-send_REV_2026-10-19.html
+25
View File
@@ -0,0 +1,25 @@
<!DOCTYPE html>
<html lang="zh-CN"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1"><title>pdo-fast-send.md 修订附录 2026-10-19</title><style>
body{font-family:-apple-system,"Segoe UI","PingFang SC","Microsoft YaHei",sans-serif;margin:0;background:#f5f6f8;color:#1d2330;line-height:1.6}
.wrap{max-width:1180px;margin:0 auto;padding:28px 24px 60px}
h1{font-size:26px;margin:0 0 6px}h2{font-size:20px;margin:36px 0 12px;padding-bottom:6px;border-bottom:2px solid #d9dee8}
h3{font-size:16px;margin:22px 0 8px}
.meta{color:#5b6476;font-size:13px}
.card{background:#fff;border:1px solid #e1e5ec;border-radius:10px;padding:16px 18px;margin:12px 0}
table{border-collapse:collapse;width:100%;background:#fff;font-size:13px;margin:8px 0}
th,td{border:1px solid #e1e5ec;padding:6px 8px;vertical-align:top;text-align:left}
th{background:#eef1f6;font-weight:600}
code{font-family:Consolas,Menlo,monospace;font-size:12px;background:#f0f2f6;padding:1px 4px;border-radius:3px;word-break:break-all}
.sev{display:inline-block;padding:1px 8px;border-radius:10px;font-size:12px;font-weight:600;color:#fff;white-space:nowrap}
.s0{background:#b3261e}.s1{background:#e8710a}.s2{background:#3367d6}.s3{background:#5f6b7a}
.kpis{display:flex;gap:12px;flex-wrap:wrap}.kpi{flex:1;min-width:130px;background:#fff;border:1px solid #e1e5ec;border-radius:10px;padding:12px 14px}
.kpi b{display:block;font-size:26px}
.issue{background:#fff;border:1px solid #e1e5ec;border-left:5px solid #ccc;border-radius:8px;padding:12px 16px;margin:10px 0}
.issue.s0b{border-left-color:#b3261e}.issue.s1b{border-left-color:#e8710a}.issue.s2b{border-left-color:#3367d6}.issue.s3b{border-left-color:#5f6b7a}
.issue h4{margin:0 0 6px;font-size:15px}.issue dl{margin:0;display:grid;grid-template-columns:72px 1fr;gap:3px 10px;font-size:13px}
.issue dt{color:#5b6476}.issue dd{margin:0}
.st{white-space:nowrap;font-weight:600}.st-ok{color:#1e7e34}.st-part{color:#b26a00}.st-open{color:#b3261e}.st-na{color:#5f6b7a}.st-old{color:#6b4fbb}
pre.arch{background:#1f2430;color:#e6e9ef;padding:14px;border-radius:8px;overflow:auto;font-size:12.5px;line-height:1.45}
a{color:#2457c5}
.note{font-size:12.5px;color:#5b6476}
</style></head><body><div class="wrap"><h1>《pdo-fast-send.md》修订附录 2026-10-19</h1><div class="meta"><a href="../pdo-fast-send.md">原报告</a> · 核对基线 commit <code>eac3717</code> · 总评审：<a href="../../../review/DCU_DesktopController_专家评审_2026-10-19.html">DCU_DesktopController_专家评审_2026-10-19.html</a></div><div class="card"><b>原报告：</b>PDO 快发（网页按钮 → 原生入队二进制直通）<br><b>时间线：</b>status: delivered，2026-09-23（2c6235d）<br><b>原结论概要：</b>桌面 APP 下 ECAT 电机发送强制走 ESF1 TCP 快发，堵死 HTTP/JSON 慢发回落；失败可重探端口后再试 TCP 一次。<p class="note">原文件保持不变；本附录逐条记录其结论在当前代码中的状态。</p></div><h2>逐条结论跟踪</h2><table><tr><th>编号</th><th>原结论 / 建议</th><th>当前状态</th><th>证据（文件:行号）</th><th>备注</th></tr><tr><td>FS-1</td><td>Python 桥 ESF1 仅走 TCP，无 HTTP 回落</td><td class="st st-ok">已修复（已交付）</td><td><code>ecat_client.py:231-287</code></td><td></td></tr><tr><td>FS-2</td><td>前端 sendViaFastOrJson 有桥时只调快发</td><td class="st st-ok">已修复（已交付）</td><td><code>js/motor/transport-ecat.js:282-300</code></td><td></td></tr><tr><td>FS-3</td><td>失败重探端口后再试 TCP 一次</td><td class="st st-open">仍存在风险</td><td><code>ecat_client.py:247-279</code></td><td>sendall 成功后 recv 失败也会重发，同一帧可能入队两次（P-2，致命）</td></tr><tr><td>FS-4</td><td>堵死慢发原则</td><td class="st st-part">部分修复</td><td><code>js/motor/transport-ecat.js:259-271</code></td><td>低频路径（motor/send、motor/start）桥失败仍回落 HTTP（M-8）</td></tr></table><h2>相关新问题（详见总评审）</h2><div class="issue s0b" id="P-2"><h4><span class="sev s0">致命</span> [P-2] ESF1 快发在 sendall 成功后出错仍整包重发</h4><dl><dt>模块</dt><dd>主机服务/安全</dd><dt>位置</dt><dd><code>ecat_client.py:247-279</code></dd><dt>现象</dt><dd>_tcp_once 持锁 sendall(body) 后读 8 字节 FSOK；recv 超时/断连抛异常时 attempt 0 会 continue，attempt 1 再发同一 body。与同文件非幂等不重发原则（_ECAT_IDEMPOTENT_TAILS）矛盾。</dd><dt>风险</dt><dd>同一帧运动指令被 native 入队两次，电机执行两次增量/相对命令。</dd><dt>修改建议</dt><dd>仅当 connect 阶段失败时重试；sendall 之后的任何异常直接返回 ok:false（可附 maybe_sent 标记）。</dd></dl></div><div class="issue s1b" id="M-8"><h4><span class="sev s1">严重</span> [M-8] ECAT 桥失败回落 HTTP，非幂等命令可能执行两次</h4><dl><dt>模块</dt><dd>电机控制/故障保护</dd><dt>位置</dt><dd><code>js/motor/transport-ecat.js:259-271; js/common/desktop-bridge.js:59-74</code></dd><dt>现象</dt><dd>低频路径（motor/send、motor/start 等）在桌面桥失败或超时后无条件回落 HTTP 再发一次；desktopEcatPost/desktopEcatSendRaw 在 JS 侧无超时。</dd><dt>风险</dt><dd>桥已把命令送达 native 但响应超时时，HTTP 再送一次，造成重复运动指令/重复 start；与 pdo-fast-send『堵死慢发』原则冲突。</dd><dt>修改建议</dt><dd>按 ecat_client.py 的幂等白名单处理：非幂等尾部仅在确认未送达（连接失败）时回落；JS 桥调用加 Promise.race 超时。</dd></dl></div><h2>结论</h2><div class="card">共 4 条：已修复 2、部分修复 1、仍存在/存疑 1、已过时 0、无法在本仓库核实 0。</div></div></body></html>
docs/compose/spec/revisions/tab-keepalive_REV_2026-10-19.html
+25
View File
@@ -0,0 +1,25 @@
<!DOCTYPE html>
<html lang="zh-CN"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1"><title>tab-keepalive.md 修订附录 2026-10-19</title><style>
body{font-family:-apple-system,"Segoe UI","PingFang SC","Microsoft YaHei",sans-serif;margin:0;background:#f5f6f8;color:#1d2330;line-height:1.6}
.wrap{max-width:1180px;margin:0 auto;padding:28px 24px 60px}
h1{font-size:26px;margin:0 0 6px}h2{font-size:20px;margin:36px 0 12px;padding-bottom:6px;border-bottom:2px solid #d9dee8}
h3{font-size:16px;margin:22px 0 8px}
.meta{color:#5b6476;font-size:13px}
.card{background:#fff;border:1px solid #e1e5ec;border-radius:10px;padding:16px 18px;margin:12px 0}
table{border-collapse:collapse;width:100%;background:#fff;font-size:13px;margin:8px 0}
th,td{border:1px solid #e1e5ec;padding:6px 8px;vertical-align:top;text-align:left}
th{background:#eef1f6;font-weight:600}
code{font-family:Consolas,Menlo,monospace;font-size:12px;background:#f0f2f6;padding:1px 4px;border-radius:3px;word-break:break-all}
.sev{display:inline-block;padding:1px 8px;border-radius:10px;font-size:12px;font-weight:600;color:#fff;white-space:nowrap}
.s0{background:#b3261e}.s1{background:#e8710a}.s2{background:#3367d6}.s3{background:#5f6b7a}
.kpis{display:flex;gap:12px;flex-wrap:wrap}.kpi{flex:1;min-width:130px;background:#fff;border:1px solid #e1e5ec;border-radius:10px;padding:12px 14px}
.kpi b{display:block;font-size:26px}
.issue{background:#fff;border:1px solid #e1e5ec;border-left:5px solid #ccc;border-radius:8px;padding:12px 16px;margin:10px 0}
.issue.s0b{border-left-color:#b3261e}.issue.s1b{border-left-color:#e8710a}.issue.s2b{border-left-color:#3367d6}.issue.s3b{border-left-color:#5f6b7a}
.issue h4{margin:0 0 6px;font-size:15px}.issue dl{margin:0;display:grid;grid-template-columns:72px 1fr;gap:3px 10px;font-size:13px}
.issue dt{color:#5b6476}.issue dd{margin:0}
.st{white-space:nowrap;font-weight:600}.st-ok{color:#1e7e34}.st-part{color:#b26a00}.st-open{color:#b3261e}.st-na{color:#5f6b7a}.st-old{color:#6b4fbb}
pre.arch{background:#1f2430;color:#e6e9ef;padding:14px;border-radius:8px;overflow:auto;font-size:12.5px;line-height:1.45}
a{color:#2457c5}
.note{font-size:12.5px;color:#5b6476}
</style></head><body><div class="wrap"><h1>《tab-keepalive.md》修订附录 2026-10-19</h1><div class="meta"><a href="../tab-keepalive.md">原报告</a> · 核对基线 commit <code>eac3717</code> · 总评审：<a href="../../../review/DCU_DesktopController_专家评审_2026-10-19.html">DCU_DesktopController_专家评审_2026-10-19.html</a></div><div class="card"><b>原报告：</b>Tab Keep-Alive（多 iframe 常驻）<br><b>时间线：</b>status: delivered，2026-09-16（eaafee1 / be26f4d）<br><b>原结论概要：</b>tabs.html 一标签一懒创建 iframe，visibility 切换不销毁文档；注入的 F5/⟳ 只刷新激活帧；明确不做后台降频。<p class="note">原文件保持不变；本附录逐条记录其结论在当前代码中的状态。</p></div><h2>逐条结论跟踪</h2><table><tr><th>编号</th><th>原结论 / 建议</th><th>当前状态</th><th>证据（文件:行号）</th><th>备注</th></tr><tr><td>TK-1</td><td>多 iframe 宿主 + visibility 切换</td><td class="st st-ok">已修复（已交付）</td><td><code>tabs.html:70-81, 100, 113</code></td><td></td></tr><tr><td>TK-2</td><td>F5/⟳ 只 reload .page-frame.active</td><td class="st st-ok">已修复（已交付）</td><td><code>esp32_server.py:126, 150, 166</code></td><td></td></tr><tr><td>TK-3</td><td>不做后台页降频（Out of Scope）</td><td class="st st-open">仍存在风险</td><td><code>tabs.html:76-81; js/common/polling.js:350-352</code></td><td>隐藏帧持续轮询挤占设备 6 个 socket（C-13）；电机页发送节拍在后台被节流（M-10）——建议重新评估此决策</td></tr></table><h2>相关新问题（详见总评审）</h2><div class="issue s1b" id="M-10"><h4><span class="sev s1">严重</span> [M-10] 周期发送与序列计时在后台标签被节流，且无可见性处理</h4><dl><dt>模块</dt><dd>电机控制/故障保护</dd><dt>位置</dt><dd><code>js/motor/main.js:2488; js/motor/seq.js:503</code></dd><dt>现象</dt><dd>周期发送用主线程 setInterval，序列保持用 setTimeout；隐藏 iframe/最小化后被浏览器降到 ≥1 s 乃至分钟级。只有状态轮询走 Worker。无 visibilitychange 停止/告警；WiFi 链路关窗时无停机。</dd><dt>风险</dt><dd>后台时控制节拍严重失真，序列时间轴不可预测。</dd><dt>修改建议</dt><dd>发送节拍迁入 tick.worker.js；visibilitychange 时提示或按策略安全停机；pagehide 时对 WiFi 也发停机（sendBeacon）。</dd></dl></div><div class="issue s2b" id="C-13"><h4><span class="sev s2">一般</span> [C-13] 对设备的并发轮询过多</h4><dl><dt>模块</dt><dd>CAN/公共层</dd><dt>位置</dt><dd><code>js/common/device-link.js:30; js/can.js:131, 424; js/can_monitor.js:487, 490; tabs.html:76-81; js/common/polling.js:350-352</code></dd><dt>现象</dt><dd>/system/status 被 Owner(1 Hz)、OTA 页(1 Hz)、can.js(5 s)、can_monitor(5 s) 同时轮询；/can/feedback 被抽屉与独立监控页各 1 Hz；隐藏 iframe 继续轮询，无可见性暂停与离线退避。README 称设备 httpd 仅 6 个 socket 且 lru_purge。</dd><dt>风险</dt><dd>连接被挤占驱逐，业务请求失败。</dd><dt>修改建议</dt><dd>状态统一由 Owner 广播；隐藏页暂停；离线指数退避。</dd></dl></div><h2>结论</h2><div class="card">共 3 条：已修复 2、部分修复 0、仍存在/存疑 1、已过时 0、无法在本仓库核实 0。</div></div></body></html>