feat(web): 桌面原生桥 + 配置落盘 + 无设备静默态；排除调试脚本
变更点： 1. esp32_server.py - /api/motor/ui-state、/api/lab/ui-state：配置原子落盘 data/*.json（WebView2 清存储仍在） - _GuiApi.ecat_api/bridge_info：桌面壳经 GUI 进程裸 socket 直连 ecat_native，不经浏览器 HTTP 2. js/common/desktop-bridge.js（新） - 探测 pywebview.api（含 iframe top/parent），transport-ecat 优先走原生桥 3. connection.js + responsive.css + components.css - setQuietMode：离线且无传输时 html[data-dcu-calm=1] 掐常驻动画 - 进度条斜纹仅 .live 挂载，空闲不再按刷新率空转重绘 4. device-link.js - 先查 native/health，已健康跳过 motor/start，避免 loop_stop 重进 OP 假超时 - 周期强制 0.25ms + DC SYNC0 对齐；轮询自愈被配错的 DC/周期 5. motor/main.js + transport-ecat.js - 配置双写 localStorage + 磁盘 ui-state；pagehide/sendBeacon 刷盘；导入导出 - 探测代际 probeGen；ECAT 失败阈值 12；跟踪 bootActive/slaveAl/slaveOp 6. lab/spi_test.html、ota/boot_ecat.js、can_monitor 等跟随桥/静默态 7. .gitignore - 排除 scripts/_* 与 anal/collect/measure/trace 等调试脚本、lab 产物、data/ 运行态
This commit is contained in:
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@@ -12,6 +12,8 @@
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停 EtherCAT PDO 循环并从站退回 INIT(见 _app_lease 一节)
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POST /api/shutdown → 结束本服务进程(窗口模式父进程用它通知子进程退出)
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POST /ecat/api/<路径> → 反向代理到 tools/ecat 的 ecat_native.exe 的 /api/<路径>
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GET /api/motor/ui-state → 读电机页配置快照(data/motor_ui_state.json)
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POST /api/motor/ui-state → 写电机页配置快照到磁盘(关页/改动时前端自动刷)
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为什么要代理 EtherCAT: 电机页(pages/motor.html)支持 WiFi 与 EtherCAT 两种传输,
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后者的后端 tools/ecat 的 EtherCAT 服务只绑 127.0.0.1 且完全没有 CORS
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@@ -52,6 +54,16 @@ from http.server import SimpleHTTPRequestHandler, ThreadingHTTPServer
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BASE_DIR = os.path.dirname(os.path.abspath(__file__))
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# 电机页配置落盘: CMD 表单 / 命令序列 / 刷新速度 / 链路与 EtherCAT 偏好等。
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# 存 JSON 而不是只靠 localStorage —— WebView2/清缓存后 localStorage 会没,
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# 用户要的「关掉之后还在电脑上」必须是真文件。路径固定在工具目录下, 便于备份。
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UI_STATE_PATH = os.path.join(BASE_DIR, "data", "motor_ui_state.json")
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UI_STATE_REL = "data/motor_ui_state.json"
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# lab/spi_test 观测面板配置（PDO 档位/采样率/开关按钮）。与电机页分文件，
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# 避免任一页面整包覆盖时把对方字段抹掉。
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LAB_UI_STATE_PATH = os.path.join(BASE_DIR, "data", "spi_test_ui_state.json")
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LAB_UI_STATE_REL = "data/spi_test_ui_state.json"
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# 单实例互斥: 已有实例时, 新双击不创建第二个窗口(会隐形/端口漂移),
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# 而是通过 /api/focus 让旧实例的窗口到前台。
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g_mutex = None
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@@ -208,7 +220,14 @@ def _set_ecat_realtime(pid: int) -> bool:
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class _GuiApi:
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"""暴露给窗口内 JS (window.pywebview.api) 的 GUI 控制接口。"""
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"""暴露给窗口内 JS (window.pywebview.api) 的 GUI 控制接口。
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形态约定：
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- 网页/浏览器标签：无 pywebview，电机页 EtherCAT 走 HTTP /ecat/api/* 代理。
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- 桌面 APP (esp32_app.vbs --window)：JS 调本类 ecat_api，GUI 进程用与
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代理同款的裸 socket 直连 ecat_native —— 省掉「浏览器 fetch → 服务子进程
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→ 代理」两跳。iframe 页从 window.top.pywebview.api 取（同源）。
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"""
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def page_loaded(self):
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"""页面每次加载完成后由注入脚本调用: 把窗口带到前台。"""
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@@ -230,6 +249,65 @@ class _GuiApi:
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except Exception:
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pass
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def bridge_info(self):
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"""前端探测桌面桥是否可用。"""
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return {
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"ok": True,
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"mode": "desktop",
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"has_ecat_bridge": True,
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"ecat_port": g_ecat_port,
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}
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def ecat_api(self, path, body=None, timeout_ms=4000):
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"""桌面壳原生桥：JS → GUI 进程 → ecat_native，不经浏览器 HTTP。
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path: "motor/send" | "/api/motor/send" | "/ecat/api/motor/send"
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body: dict / JSON 字符串 / 省略
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返回与 native 同构的 dict。
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"""
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p = str(path or "").strip()
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p = p.split("?", 1)[0]
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while p.startswith("/"):
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p = p[1:]
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if p.startswith("ecat/api/"):
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p = p[len("ecat/"):]
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elif p.startswith("ecat/"):
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p = p[len("ecat/"):]
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if p.startswith("api/"):
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tail = p[len("api/"):]
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else:
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tail = p
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proxy_path = ECAT_PROXY_PREFIX + tail # /ecat/api/<tail>
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if body is None:
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raw = b"{}"
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elif isinstance(body, (bytes, bytearray)):
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raw = bytes(body)
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elif isinstance(body, str):
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raw = body.encode("utf-8")
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else:
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try:
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raw = json.dumps(body, ensure_ascii=False, separators=(",", ":")).encode("utf-8")
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except Exception as e:
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return {"ok": False, "log": [f"原生桥 body 序列化失败: {type(e).__name__}: {e}"]}
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timeout = max(0.2, float(timeout_ms or 4000) / 1000.0)
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try:
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status, data = _ecat_proxy(proxy_path, raw, timeout)
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except Exception as e:
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return {"ok": False, "log": [f"原生桥异常: {type(e).__name__}: {e}"]}
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try:
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obj = json.loads(data.decode("utf-8", "replace") or "{}")
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except Exception:
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obj = {"ok": False, "log": ["原生桥响应非 JSON"]}
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if not isinstance(obj, dict):
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obj = {"ok": False, "log": ["原生桥响应不是对象"]}
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obj.setdefault("ok", status == 200)
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if status >= 400 and "log" not in obj:
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obj["log"] = [f"HTTP {status}"]
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return obj
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def _focus_existing(port):
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"""让已有实例的窗口到前台。返回 True 表示确实存在旧实例。"""
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@@ -537,6 +615,7 @@ _WS_MAGIC = "258EAFA5-E914-47DA-95CA-C5AB0DC85B11" # RFC 6455 握手固定常
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g_app_leases = 0 # 当前挂着的租约连接数
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g_app_lock = threading.Lock()
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g_ecat_motor_live = False # 本服务确认过"PDO 循环在跑"(经代理观测)
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g_ui_state_lock = threading.Lock() # 配置文件读写串行(原子替换, 防半截 JSON)
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def _ws_accept_key(key):
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@@ -609,6 +688,34 @@ def _json_ok(data):
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return False
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def _read_ui_state(path=None):
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"""读配置快照 JSON。文件不存在/损坏 → None(前端回落 localStorage)。"""
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p = path or UI_STATE_PATH
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try:
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with open(p, "r", encoding="utf-8") as f:
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data = json.load(f)
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return data if isinstance(data, dict) else None
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except Exception:
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return None
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def _write_ui_state(obj, path=None, rel=None):
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"""原子写配置快照。只接受 dict。默认写 data/motor_ui_state.json。"""
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if not isinstance(obj, dict):
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raise ValueError("ui-state 必须是 JSON 对象")
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p = path or UI_STATE_PATH
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r = rel or UI_STATE_REL
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os.makedirs(os.path.dirname(p), exist_ok=True)
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tmp = p + ".tmp"
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with g_ui_state_lock:
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with open(tmp, "w", encoding="utf-8") as f:
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json.dump(obj, f, ensure_ascii=False, separators=(",", ":"))
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f.flush()
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os.fsync(f.fileno())
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os.replace(tmp, p)
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return {"ok": True, "path": r, "savedAt": obj.get("savedAt")}
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def _note_ecat_loop(path, status, body):
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"""代理透传时顺手记下"循环跑没跑", 免得租约空了去停别人的或白停一次。
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@@ -646,6 +753,12 @@ class Handler(SimpleHTTPRequestHandler):
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if path == APP_LEASE_PATH:
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self._handle_ws_app_lease()
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return
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if path == "/api/motor/ui-state":
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self._handle_ui_state_get()
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return
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if path == "/api/lab/ui-state":
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self._handle_lab_ui_state_get()
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return
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# 根路径不再有 index.html(已移入 pages/), 直接送去标签外壳
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if path in ("/", "/index.html"):
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self.send_response(302)
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@@ -681,6 +794,7 @@ class Handler(SimpleHTTPRequestHandler):
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def do_POST(self):
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path = self.path.split("?")[0]
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path_l = path.lower()
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if path == "/api/focus":
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# 已有实例响应: 新实例应当退场
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body = b'{"ok":true,"focused":true}'
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@@ -692,6 +806,12 @@ class Handler(SimpleHTTPRequestHandler):
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self._post_json(body)
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threading.Thread(target=_shutdown_self, daemon=True).start()
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return
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if path_l == "/api/motor/ui-state":
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self._handle_ui_state_post()
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return
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if path_l == "/api/lab/ui-state":
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self._handle_lab_ui_state_post()
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return
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if path.startswith(ECAT_PROXY_PREFIX):
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# 电机页的 EtherCAT 传输: 同源转发到 EtherCAT 后端(见 _ecat_proxy 注释)。
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# 超时给足: /api/op/start 要走 PREOP→SAFEOP→OP, 内部还会自动重试一次,
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@@ -793,6 +913,63 @@ class Handler(SimpleHTTPRequestHandler):
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except OSError:
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pass
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def _handle_ui_state_get(self):
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"""电机页配置快照 GET。有文件 → ok+state；无 → ok+state:null。"""
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st = _read_ui_state(UI_STATE_PATH)
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body = json.dumps(
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{"ok": True, "state": st, "path": UI_STATE_REL},
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ensure_ascii=False).encode("utf-8")
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self._post_json(body)
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def _handle_lab_ui_state_get(self):
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"""lab/spi_test 配置快照 GET。"""
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st = _read_ui_state(LAB_UI_STATE_PATH)
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body = json.dumps(
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{"ok": True, "state": st, "path": LAB_UI_STATE_REL},
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ensure_ascii=False).encode("utf-8")
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self._post_json(body)
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def _read_ui_post_body(self):
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"""读 POST body 并解包 {state:{...}} 信封。失败时返回 (None, err_msg)。"""
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try:
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length = int(self.headers.get("Content-Length") or 0)
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except ValueError:
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length = 0
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if length <= 0 or length > 2 * 1024 * 1024:
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return None, "空 body 或超过 2MB"
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raw = self.rfile.read(length)
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try:
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obj = json.loads(raw.decode("utf-8", "replace"))
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except Exception as e:
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return None, f"JSON 解析失败: {type(e).__name__}"
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if isinstance(obj, dict) and "state" in obj and isinstance(obj.get("state"), dict):
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obj = obj["state"]
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return obj, None
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def _write_ui_state_route(self, path, rel):
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"""POST → 原子写配置快照。路径固定在服务端，不接受客户端指定。"""
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obj, err = self._read_ui_post_body()
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if err is not None:
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self._post_json(json.dumps(
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{"ok": False, "log": [err]}, ensure_ascii=False).encode("utf-8"), 400)
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return
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try:
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result = _write_ui_state(obj, path=path, rel=rel)
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except Exception as e:
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self._post_json(json.dumps(
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{"ok": False, "log": [f"写入失败: {type(e).__name__}: {e}"]},
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ensure_ascii=False).encode("utf-8"), 500)
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return
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self._post_json(json.dumps(result, ensure_ascii=False).encode("utf-8"))
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def _handle_ui_state_post(self):
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"""电机页配置快照 POST → data/motor_ui_state.json。"""
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self._write_ui_state_route(UI_STATE_PATH, UI_STATE_REL)
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def _handle_lab_ui_state_post(self):
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"""lab/spi_test 配置快照 POST → data/spi_test_ui_state.json。"""
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self._write_ui_state_route(LAB_UI_STATE_PATH, LAB_UI_STATE_REL)
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def _post_json(self, body, status=200):
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self.send_response(status)
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self.send_header("Content-Type", "application/json; charset=utf-8")
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