feat(server): app 窗口租约, 全部窗口关闭自动停 EtherCAT 循环
PDO 循环起来后 native 侧一直跑, 其 --parent-pid 自清理只覆盖"本服务拉起 的实例死掉"; 浏览器模式关窗后本服务还在、窗口模式复用现成 ecat_native (parent 是别人)这两种常见离开方式都够不着 —— 从站卡在 OP、自旋节拍白占 一个核。现由每个 app 页面与页面服务器的 WebSocket 租约兜底: - esp32_server.py: 新增 GET /ws/app-lease(手写 RFC6455 握手 + 帧泵)。 连接计数归零后隔 3s GRACE 调后端 /api/op/stop 停循环退回 INIT; 断开 感知靠 TCP FIN / Close 帧回显而非心跳(后台标签页节流不误停); 代理 透传时 _note_ecat_loop 记账"循环是否本服务跑起来的", 只停自己确认过 的; /api/shutdown 与 serve_forever 退出路径同步补停(定时器随进程死亡)。 - js/common/app-lease.js: 租约客户端, 3~30s 退避重连, file:// 静默跳过。 - 接入 tabs.html(外壳持有, 内部切标签不断连)与 pages/motor.html(单独 打开时页面自持)。 - 测试: scripts/test_app_lease.py(裸 TCP 全路径, 假 _ecat_post) + scripts/test_app_lease_e2e.mjs(真 Edge headless + 假后端 8091, 不碰 真总线)。README 补设计动机与要点。
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#!/usr/bin/env python3
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"""test_app_lease.py — 验证 "app 全部窗口关闭 → 自动停 EtherCAT 循环" 链路。
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不打真实 EtherCAT 硬件: 导入 esp32_server 后把 _ecat_post/_ecat_find_port
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换成假实现, 其余(WS 握手、租约计数、GRACE 吸收、代理记账)全部走真实代码。
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用法: python scripts/test_app_lease.py
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"""
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import base64
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import hashlib
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import os
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import socket
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import sys
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import threading
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import time
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import urllib.request
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sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
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import esp32_server as srv # noqa: E402
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WS_MAGIC = "258EAFA5-E914-47DA-95CA-C5AB0DC85B11"
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calls = [] # 假 _ecat_post 记录到的请求路径
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calls_lock = threading.Lock()
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def fake_post(port, path, body, timeout):
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with calls_lock:
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calls.append(path)
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# 带空格的 "ok": true —— 故意与真 native 的紧凑格式不同,
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# 锁死"代理记账不能靠子串匹配"这条回归(e2e 里就是这么炸过一次)。
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return 200, b'{"ok": true, "log": ["fake"]}'
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def ws_connect(port):
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"""打开一条真实 TCP 上的 WebSocket, 校验 101 握手, 返回 socket。"""
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s = socket.create_connection(("127.0.0.1", port))
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key = base64.b64encode(os.urandom(16)).decode()
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s.sendall(("GET /ws/app-lease HTTP/1.1\r\n"
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f"Host: 127.0.0.1:{port}\r\n"
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"Upgrade: websocket\r\nConnection: Upgrade\r\n"
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f"Sec-WebSocket-Key: {key}\r\n"
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"Sec-WebSocket-Version: 13\r\n\r\n").encode("ascii"))
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head = b""
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while b"\r\n\r\n" not in head:
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chunk = s.recv(4096)
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if not chunk:
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raise AssertionError("握手被直接关闭")
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head += chunk
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text = head.decode("ascii", "replace")
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assert "101" in text.splitlines()[0], f"握手没回 101: {text[:120]}"
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expect = base64.b64encode(
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hashlib.sha1((key + WS_MAGIC).encode()).digest()).decode()
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assert expect in text, "Sec-WebSocket-Accept 不对"
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return s
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def ws_graceful_close(s):
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"""浏览器关 WS 的真实行为: 先发掩码 Close 帧, 等服务端回显后才拆 TCP。
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服务端若不回 Close(RFC 6455 要求), 这条链路的 FIN 永远到不了 → 租约不释放。"""
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s.sendall(b"\x88\x80" + b"\x00\x00\x00\x00") # FIN+Close, masked, len 0
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s.settimeout(3.0)
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echo = s.recv(2)
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assert echo == b"\x88\x00", f"Close 回显不对: {echo!r}"
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s.close()
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def post_json(port, path):
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req = urllib.request.Request(
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f"http://127.0.0.1:{port}{path}", data=b"{}",
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headers={"Content-Type": "application/json"}, method="POST")
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with urllib.request.urlopen(req, timeout=10) as r:
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return r.status, r.read()
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def flag():
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with srv.g_app_lock:
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return srv.g_ecat_motor_live
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def wait_flag(want, timeout=8.0):
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deadline = time.time() + timeout
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while time.time() < deadline:
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if flag() == want:
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return True
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time.sleep(0.05)
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return False
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def main():
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# 加速测试: GRACE 从 3s 缩到 0.3s(重试轮次间隔同用该值, 一并缩短无妨)
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srv.APP_LEASE_GRACE_S = 0.3
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srv._ecat_post = fake_post
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srv._ecat_find_port = lambda: 9999
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# 找空闲端口起真服务
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with socket.socket() as probe:
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probe.bind(("127.0.0.1", 0))
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port = probe.getsockname()[1]
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httpd, port = srv._bind_server(port)
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assert httpd is not None, "起不了测试服务"
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threading.Thread(target=httpd.serve_forever, daemon=True).start()
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# 1) 非 WS 的普通 GET 不受影响
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with urllib.request.urlopen(f"http://127.0.0.1:{port}/tabs.html", timeout=5) as r:
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assert r.status == 200 and b"tabbar" in r.read(), "普通静态页被 WS 路由挡住了"
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print("PASS 1: 静态页照常服务")
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# 2) 经代理的 motor/start 置位循环标志
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post_json(port, "/ecat/api/motor/start")
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assert flag() is True, "motor/start 经代理后没把 g_ecat_motor_live 置位"
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print("PASS 2: 代理记账 motor/start → live=True")
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# 3) 两条租约, 关一条 → 不该停
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a = ws_connect(port)
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b = ws_connect(port)
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time.sleep(0.1)
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a.close()
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time.sleep(1.0) # > GRACE
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assert "/api/op/stop" not in calls, "还剩一个窗口就停了循环!"
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print("PASS 3: 仍有窗口在线时不停")
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# 4) 全关 → GRACE 后自动 op/stop (走浏览器式 Close 帧回显路径,
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# 与场景 3 的裸 FIN 路径各覆盖一种断开方式)
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ws_graceful_close(b)
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deadline = time.time() + 5
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while time.time() < deadline and "/api/op/stop" not in calls:
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time.sleep(0.05)
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assert "/api/op/stop" in calls, "全部断开后没停循环"
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assert wait_flag(False), "停完没清 live 标志"
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print("PASS 4: 最后一条租约断开 → /api/op/stop")
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# 5) 刷新吸收: 断开后在 GRACE 内重连 → 不该停
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with calls_lock:
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calls.clear()
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post_json(port, "/ecat/api/motor/start")
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c = ws_connect(port)
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c.close()
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d = ws_connect(port) # 模拟刷新重连(远快于 GRACE)
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time.sleep(1.0)
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assert "/api/op/stop" not in calls, "页面刷新被误判成关闭 app!"
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print("PASS 5: 刷新重连被 GRACE 吸收")
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# 6) 用户显式 motor/stop 后, 关窗口不该再打 op/stop
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d.close()
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time.sleep(1.0)
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with calls_lock:
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calls.clear()
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post_json(port, "/ecat/api/motor/start")
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post_json(port, "/ecat/api/motor/stop")
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assert flag() is False, "motor/stop 没清 live 标志"
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e = ws_connect(port)
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e.close()
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time.sleep(1.0)
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assert "/api/op/stop" not in calls, "循环本来就没跑还去停(多此一举)"
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print("PASS 6: 循环已停时不再重复停")
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# 7) 窗口模式竞态: 服务进程在 GRACE 定时器触发前就退出(/api/shutdown),
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# 且租约连接还挂着 —— 退出路径必须同步把循环停掉, 不能指望定时器
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# (复用的 ecat_native 的 parent 不是本服务, 没人替它清场)。
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srv.APP_LEASE_GRACE_S = 30.0 # 定时器"永不"到点, 证明停的是退出路径
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srv.g_httpd = httpd
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post_json(port, "/ecat/api/motor/start")
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assert flag() is True
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with calls_lock:
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calls.clear()
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f = ws_connect(port) # 租约仍在(未断开)
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post_json(port, "/api/shutdown")
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deadline = time.time() + 5
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while time.time() < deadline and "/api/op/stop" not in calls:
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time.sleep(0.05)
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assert "/api/op/stop" in calls, "服务进程退出前没停循环(窗口模式竞态)"
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assert wait_flag(False, timeout=2.0)
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f.close()
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print("PASS 7: 服务进程退出时同步停循环")
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httpd.shutdown()
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print("ALL PASS")
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if __name__ == "__main__":
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main()
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