fix(server): worktree 启动时 ECAT_DIR 回指主检出 tools/ecat

从 .worktrees/<slug> 跑 esp32_server 时 join(BASE_DIR,'..','ecat') 会拼成 .worktrees/ecat，找不到 ecat_native.exe。先走出 .worktrees 再取兄弟目录。
2026-09-16 12:19:55 +08:00
parent 0629bf0910
commit 4b4559e772
2 changed files with 72 additions and 1 deletions
@@ -0,0 +1,57 @@
+/**
+ * 从 git worktree 启动 esp32_server 时，ECAT_DIR 必须指回主检出的
+ * tools/ecat，而不是 .../ESP32/.worktrees/ecat。
+ * 复刻 _resolve_ecat_dir 的纯路径逻辑（无 DOM/无网络）。
+ */
+import assert from "node:assert/strict";
+import path from "node:path";
+import { fileURLToPath } from "node:url";
+
+/** 与 esp32_server._resolve_ecat_dir 同构（JS 侧只测路径形状）。 */
+function resolveEcatDir(baseDir) {
+  let d = path.resolve(baseDir);
+  const parent = path.dirname(d);
+  if (path.basename(parent) === ".worktrees") {
+    d = path.dirname(parent);
+  }
+  return path.normalize(path.join(d, "..", "ecat"));
+}
+
+let failed = 0;
+function check(name, fn) {
+  try {
+    fn();
+    console.log("  ✓", name);
+  } catch (e) {
+    failed++;
+    console.log("  ✗", name, "—", e.message);
+  }
+}
+
+console.log("[worktree ECAT_DIR]");
+
+check("主检出 BASE_DIR → 兄弟 tools/ecat", () => {
+  const base = path.resolve("G:/Robot_v2/DCU/tools/ESP32");
+  const got = resolveEcatDir(base);
+  assert.equal(got, path.resolve("G:/Robot_v2/DCU/tools/ecat"), got);
+});
+
+check("worktree BASE_DIR → 仍指主检出的 tools/ecat", () => {
+  const base = path.resolve("G:/Robot_v2/DCU/tools/ESP32/.worktrees/device-link");
+  const got = resolveEcatDir(base);
+  assert.equal(got, path.resolve("G:/Robot_v2/DCU/tools/ecat"), got);
+});
+
+check("嵌套 slug 也走 .worktrees 父级", () => {
+  const base = path.resolve("G:/x/tools/ESP32/.worktrees/foo-bar");
+  const got = resolveEcatDir(base);
+  assert.equal(got, path.resolve("G:/x/tools/ecat"), got);
+});
+
+/* BASE_DIR 恒为 esp32_server.py 所在目录；普通主检出已在第一项覆盖。 */
+
+if (failed) {
+  console.log(`失败 ${failed} 项`);
+  process.exit(1);
+}
+console.log("通过 3 项，失败 0 项");