feat(motor): 序列每步新增绿色「单发」按钮，支持仅发送该步动作一次
This commit is contained in:
@@ -723,6 +723,10 @@ body:has(.net-banner.show) .main-grid { padding-top: calc(var(--sp-3) + 29px); }
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border-color: color-mix(in srgb, var(--seed-primary) 55%, transparent);
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background: color-mix(in srgb, var(--seed-primary) 5%, var(--bg-root));
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}
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.seq-step.sending {
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border-color: color-mix(in srgb, var(--ok) 55%, transparent);
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background: color-mix(in srgb, var(--ok) 5%, var(--bg-root));
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}
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.seq-locked .seq-step { opacity: .55; pointer-events: none; }
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.seq-step-head { display: flex; align-items: center; gap: var(--sp-2); flex-wrap: wrap; margin-bottom: var(--sp-2); }
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.seq-idx { font-family: var(--font-mono); font-size: 0.78rem; font-weight: 600; color: var(--primary); min-width: 4.2em; }
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@@ -754,6 +758,8 @@ body:has(.net-banner.show) .main-grid { padding-top: calc(var(--sp-3) + 29px); }
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}
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.seq-ops button svg { flex-shrink: 0; }
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.seq-ops button:hover:not(:disabled) { background: var(--primary-dim); color: var(--primary); }
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.seq-ops button.seq-send-one { color: var(--ok); }
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.seq-ops button.seq-send-one:hover:not(:disabled) { background: var(--ok-dim); color: var(--ok); }
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.seq-ops button.seq-del:hover:not(:disabled) { background: var(--danger-dim); color: var(--danger); }
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.seq-ops button:disabled { opacity: .25; cursor: default; }
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.seq-step-fields { display: grid; grid-template-columns: repeat(auto-fit, minmax(110px, 1fr)); gap: var(--sp-2); }
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+56
-1
@@ -1997,6 +1997,7 @@ const seq = {
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round: 1, /* 当前轮（1 起） */
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stepIdx: 0, /* 当前步索引 */
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statusText: "未运行",
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singleIdx: null, /* 正在单发的步骤索引，null = 无单发在途 */
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};
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const seqListEl = $("#seqList");
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const seqStartBtn = $("#seqStartBtn");
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@@ -2069,6 +2070,9 @@ function renderSeqList() {
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<input class="seq-num seq-hold" data-f="holdMs" type="number" value="${s.holdMs}" min="0" max="600000" step="100" aria-label="步骤 ${i + 1} 保持时间 ms" />
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<span class="seq-hold-unit">ms</span>
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<div class="seq-ops">
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<button data-op="sendOne" title="单发本步（仅发送这一步的全部电机动作，不推进序列）" class="seq-send-one">
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<svg width="13" height="13" viewBox="0 0 14 14" fill="none" aria-hidden="true"><path d="M4.5 2.8 11 7l-6.5 4.2z" fill="currentColor"/></svg>
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</button>
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<button data-op="addAction" title="本步添加电机动作（复制最后一个动作）">
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<svg width="13" height="13" viewBox="0 0 14 14" fill="none" aria-hidden="true"><path d="M7 2.5v9M2.5 7h9" stroke="currentColor" stroke-width="1.5" stroke-linecap="round"/></svg>
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</button>
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@@ -2118,8 +2122,10 @@ function renderSeqList() {
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function updateSeqUi() {
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const running = seq.running;
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const sendingIdx = seq.singleIdx;
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seqStartBtn.textContent = running ? "■ 停止序列" : "▶ 开始序列";
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seqStartBtn.classList.toggle("btn-primary", running);
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seqStartBtn.disabled = !running && sendingIdx != null;
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const st = $("#seqStatus");
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if (st) {
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if (running) {
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@@ -2127,6 +2133,9 @@ function updateSeqUi() {
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const cnt = cs ? cs.actions.length : 0;
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st.textContent = `运行中 · 步骤 ${seq.stepIdx + 1}/${seq.steps.length} (${cnt} 电机) · 第 ${seq.round} 轮`;
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st.classList.add("on");
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} else if (sendingIdx != null) {
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st.textContent = `单发步骤 ${sendingIdx + 1}…`;
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st.classList.add("on");
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} else {
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st.textContent = seq.statusText || `未运行 · ${seq.steps.length} 步`;
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st.classList.remove("on");
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@@ -2134,7 +2143,9 @@ function updateSeqUi() {
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}
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seqListEl.classList.toggle("seq-locked", running);
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seqListEl.querySelectorAll(".seq-step").forEach((row) => {
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row.classList.toggle("current", running && parseInt(row.dataset.idx, 10) === seq.stepIdx);
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const idx = parseInt(row.dataset.idx, 10);
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row.classList.toggle("current", running && idx === seq.stepIdx);
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row.classList.toggle("sending", !running && sendingIdx === idx);
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});
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seqLoopsInput.disabled = running;
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$("#seqAddBtn").disabled = running;
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@@ -2179,6 +2190,10 @@ seqListEl.addEventListener("click", (e) => {
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const step = seq.steps[i];
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if (!step) return;
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const op = btn.dataset.op;
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if (op === "sendOne") {
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sendSeqStepOnce(i);
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return;
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}
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if (op === "up" && i > 0) {
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const t = seq.steps[i]; seq.steps[i] = seq.steps[i - 1]; seq.steps[i - 1] = t;
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} else if (op === "down" && i < seq.steps.length - 1) {
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@@ -2231,6 +2246,46 @@ seqStartBtn.addEventListener("click", () => {
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startSeq();
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});
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/* 单发一步：只把该步的全部动作经一次 sendBurst 近同时下发，不循环、不推进步骤、不等 holdMs。
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* 与序列运行互斥（运行中按钮被 .seq-locked 屏蔽），同一时刻只允许一个单发在途。 */
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async function sendSeqStepOnce(i) {
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if (seq.running || seq.singleIdx != null) return;
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const step = seq.steps[i];
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if (!step || !step.actions.length) return;
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if (!state.connected) { toast("设备未连接", "err"); return; }
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if (inBusCooldown()) return;
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const chBad = step.actions.find((a) => !state.chEnabled[a.ch]);
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if (chBad) { toast(`步骤 ${i + 1} 的通道 CH${chBad.ch} 已禁用`, "err"); return; }
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seq.singleIdx = i;
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updateSeqUi();
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const targets = step.actions.map((a) => `CH${a.ch}·N${a.node}`).join(" ");
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const time = new Date().toLocaleTimeString("zh-CN", { hour12: false });
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$("#sbLastSend").textContent = `最近发送: 单发步${i + 1} → ${step.actions.length} 电机 [${targets}] ${time}`;
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try {
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const res = await sendBurst(step.actions);
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if (res.busy) { toast("发送通道忙，请稍后重试", "warn"); return; }
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if (!res.ok) { toast(`步骤 ${i + 1} 发送失败：${res.desc || "未知错误"}`, "err"); return; }
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for (const a of step.actions) {
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state.lastSentMode.set(a.node, parseInt(a.mode, 10) || 0);
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state.lastSentTargets.set(a.node, {
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mode: parseInt(a.mode, 10) || 0,
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angle: parseFloat(a.angle) || 0,
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velocity: parseFloat(a.velocity) || 0,
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current: parseFloat(a.current) || 0,
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voltage: parseFloat(a.voltage) || 0,
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});
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}
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state.txCount++;
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renderNodeList();
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seq.statusText = `已单发步骤 ${i + 1}`;
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toast(`步骤 ${i + 1} 已单发 · ${step.actions.length} 电机 [${targets}]`, "ok");
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} finally {
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seq.singleIdx = null;
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updateSeqUi();
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}
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}
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function startSeq() {
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if (!state.connected) { toast("设备未连接", "err"); return; }
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if (seq.steps.length === 0) { toast("请先添加至少一个步骤", "warn"); return; }
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@@ -1 +1 @@
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5246fff769cad8c1356ddbeebe2082e0e8bce592f19c38ad9629189132a1674b
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ef593add975f1942dd45793f6fc39182cd669eafe32ff19c632d285c09d6a5ca
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@@ -280,6 +280,7 @@
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命令序列：每步为一个「同步动作组」，组内每个动作 = 一台电机目标（通道/节点/模式/电压/电流/速度/角度/PID）；
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执行本步时组内全部动作经一次突发请求近同时下发（同组偏差微秒级；超过单次容量自动分组，组间约 1-2ms），
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发送成功后保持「保持 ms」再进入下一步。每步可「+」添加多个电机动作，支持多通道、多电机混合搭配，独立于左侧选中节点。
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每步的绿色「▶」按钮为单发：只把该步全部动作下发一次，不循环、不推进步骤、不等待保持时间。
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循环 0 = 无限循环，与「周期发送」互斥。「+ 添加步骤」会复制当前 CMD 表单已提交的值及当前通道/选中节点。
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</p>
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</div>
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@@ -0,0 +1,204 @@
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""复现实验：高频回发 CMD（与电机当前目标一致的 no-op）+ 全拍监控。
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用户反馈：数据错乱要"频繁发指令"才出现。本脚本把 TX 压力拉起来，同时
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段2(全拍)与段4(全拍)双路监控，命中即记录 dlc/完整48B/当时CONFIG/时刻，
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用于判定残余拼接的方向与机制。
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安全性：CMD 载荷 = 电机当前自报 CONFIG 的回声(mode/limitV/cur/vel/ang)
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+ 页面默认 PID(100/100/100)，不改变电机行为。
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用法: python scripts/repro_cmdload.py [秒数=90] [发送Hz=500]
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"""
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import json
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import math
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import socket
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import struct
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import sys
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import threading
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import time
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HOST, PORT = "127.0.0.1", 8090
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DUR_S = float(sys.argv[1]) if len(sys.argv) > 1 else 90.0
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SEND_HZ = float(sys.argv[2]) if len(sys.argv) > 2 else 500.0
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def post(path, body=b"{}"):
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req = (f"POST {path} HTTP/1.0\r\nHost: {HOST}:{PORT}\r\n"
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f"Content-Type: application/json\r\nContent-Length: {len(body)}\r\n"
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"Connection: close\r\n\r\n").encode("ascii") + body
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s = socket.create_connection((HOST, PORT))
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try:
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s.settimeout(5)
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s.sendall(req)
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buf = bytearray()
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while True:
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c = s.recv(65536)
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if not c:
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break
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buf.extend(c)
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finally:
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s.close()
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return json.loads(bytes(buf).partition(b"\r\n\r\n")[2].decode("utf-8", "replace"))
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def build_cmd(cfg, ang, vel):
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"""CMD 帧：mode3 速度+位置，limitV 回声当前 CONFIG，角度=正弦轨迹。
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vel 按节点取 200/150 —— 给 CONFIG 回显的 B7-10 速度字段打节点指纹。"""
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b = bytearray(32)
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b[0] = 3 # mode: Velocity_Angle
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b[1:3] = cfg[1:3] # limitV u16 回声
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b[3:7] = struct.pack("<f", 0.0) # target cur 0
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b[7:11] = struct.pack("<f", vel) # vel limit = 节点指纹
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b[11:15] = struct.pack("<f", ang) # target angle = sine
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for off in (15, 17, 19):
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struct.pack_into("<h", b, off, 100)
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return bytes(b).hex()
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stop = threading.Event()
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lock = threading.Lock()
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stats = {"sends": 0, "send_err": 0, "t0": time.time()}
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torn_events = [] # (t, node, dlc, data48hex, cfg_hex)
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batch_events = []
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torn_base = [0]
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def sender():
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"""每拍把两电机当前 CONFIG 回声成 CMD 发出去。"""
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cfgs = {}
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interval = 1.0 / SEND_HZ
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while not stop.is_set():
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t0 = time.time()
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try:
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rr = post("/api/motor/rxraw")
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raw = bytes.fromhex(rr.get("raw") or "")
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off = 0
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for _ in range(rr.get("count") or 0):
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if off + 8 > len(raw):
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break
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dlc = raw[off + 1]
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fid = struct.unpack_from("<I", raw, off + 4)[0]
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w = min(dlc, 32)
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cfgs[(fid >> 16) & 0xFF] = raw[off + 8: off + 8 + w]
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off += 8 + w
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except Exception:
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time.sleep(0.05)
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continue
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if len(cfgs) >= 2:
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# 判别实验：两电机反相正弦 + 不同速度限，给帧内容打节点指纹。
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# node2: ang=1000+200sin, vel=200 node3: ang=1000-200sin, vel=150
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s = math.sin(2.0 * math.pi * (time.time() - stats["t0"]) / 10.0)
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frames = []
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for n, c in sorted(cfgs.items()):
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ang = 1000.0 + (200.0 * s if n == 2 else -200.0 * s)
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vel = 200.0 if n == 2 else 150.0
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frames.append({"ch": 2, "id": hex((n << 16) | 0x0200), "dlc": 32,
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"data": build_cmd(c, ang, vel)})
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try:
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post("/api/motor/send", json.dumps({"frames": frames}).encode())
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with lock:
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stats["sends"] += 1
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except Exception:
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with lock:
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stats["send_err"] += 1
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dt = interval - (time.time() - t0)
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if dt > 0:
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time.sleep(dt)
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def is_cfg_head(d, cfg):
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"""段2槽头 8B 是否等于该节点当前 CONFIG 头（污染判据，比量程更准）。"""
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return cfg and len(d) >= 8 and d[:8] == cfg[:8] and d[0] == 0x03
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def monitor():
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seen_s, seen_r = set(), set()
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cfgs = {}
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while not stop.is_set():
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try:
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st = post("/api/motor/state")
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except Exception:
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time.sleep(0.01)
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continue
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cyc = st.get("cycles")
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if cyc in seen_s:
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continue
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seen_s.add(cyc)
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if len(seen_s) > 400000:
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seen_s.clear()
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for m in st.get("motors") or []:
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if not m.get("online") or len(m.get("data") or "") < 96:
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continue
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d = bytes.fromhex(m["data"])
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mcu = struct.unpack_from("<h", d, 0)[0] * 0.01
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cfg = cfgs.get(m["node"])
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if not (-40.0 <= mcu <= 125.0) or is_cfg_head(d, cfg):
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with lock:
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if len(torn_events) < 40:
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torn_events.append((round(time.time() - stats["t0"], 2),
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m["node"], m.get("dlc"), d.hex(),
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(cfg or b"").hex()))
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try:
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rr = post("/api/motor/rxraw")
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except Exception:
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continue
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rc = rr.get("cycle")
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if rc in seen_r:
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continue
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seen_r.add(rc)
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if len(seen_r) > 400000:
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seen_r.clear()
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raw = bytes.fromhex(rr.get("raw") or "")
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off = 0
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for _ in range(rr.get("count") or 0):
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if off + 8 > len(raw):
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break
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dlc = raw[off + 1]
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fid = struct.unpack_from("<I", raw, off + 4)[0]
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w = min(dlc, 32)
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d = raw[off + 8: off + 8 + w]
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node = (fid >> 16) & 0xFF
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if (fid & 0xFFFF) == 0x0101:
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cfgs[node] = d
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if any(d[15:24]):
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with lock:
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if len(batch_events) < 40:
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batch_events.append((round(time.time() - stats["t0"], 2),
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node, d.hex()))
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off += 8 + w
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def main():
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try:
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r = post("/api/app/load")
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torn_base[0] = r.get("rx_torn") or 0
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except Exception:
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pass
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ts = threading.Thread(target=sender, daemon=True)
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tm = threading.Thread(target=monitor, daemon=True)
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ts.start(); tm.start()
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time.sleep(DUR_S)
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stop.set(); ts.join(3); tm.join(3)
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try:
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r = post("/api/app/load")
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torn_now = r.get("rx_torn") or 0
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except Exception:
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torn_now = -1
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with lock:
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print(f"时长 {DUR_S:.0f}s 发送 {stats['sends']} 次(错{stats['send_err']}) "
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f"≈{stats['sends']/DUR_S:.0f} CMD拍/s")
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print(f"rx_torn: {torn_base[0]} -> {torn_now} (Δ={torn_now-torn_base[0]})")
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print(f"段2 污染事件: {len(torn_events)}（前 8）")
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for e in torn_events[:8]:
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print(f" t={e[0]}s node={e[1]} dlc={e[2]}")
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print(f" slot: {e[3]}")
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print(f" cfg : {e[4]}")
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print(f"段4 污染事件: {len(batch_events)}（前 8）")
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for e in batch_events[:8]:
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print(f" t={e[0]}s node={e[1]} data={e[2]}")
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if __name__ == "__main__":
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main()
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Reference in New Issue
Block a user