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。
This commit is contained in:
@@ -302,6 +302,29 @@ esp32_app.vbs esp32_web.vbs serve.bat 三个启动入口
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最坏约 24s，所以前端超时给 30s、代理也给 30s）。
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4. **循环没跑** → 同一个 `/api/motor/start` 起后台 PDO 循环。
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断线后每 2s 自动重来一遍，中途拔网线再插会自己恢复。
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- **关掉 app 必停从站**（上面"自动接入"的反向操作，`esp32_server.py` 的
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`_app_lease_*` 一节）：每个 app 页面与页面服务器保持一条 WebSocket
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（`js/common/app-lease.js` → `GET /ws/app-lease`），**最后一条**租约连接断开
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（所有 app 窗口关闭）后，服务端调后端 `/api/op/stop` 停 PDO 循环并把从站退回
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INIT。为什么必须有它：循环在喂从站 1000ms 过程数据看门狗，没人停它就永远
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卡在 OP、自旋节拍白占一个核；而 native 的 `--parent-pid` 看门狗只覆盖
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"本服务拉起的实例"，浏览器模式关窗后服务还活着、复用现成实例时 parent
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又是别人，两种常见离开方式都够不着。要点：
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- 断开感知靠 TCP FIN / Close 帧回显，**不是心跳计时器** —— 后台标签页的
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定时器节流不会把"挂着后台的 app"误判成已关闭（服务端必须回 Close 回显，
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否则浏览器拆不掉 TCP，Edge 实测踩过）；
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- 断连后隔 3s GRACE 才停：F5 刷新只断几百毫秒，不该被当成关窗；
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- 外壳内切标签不停（`tabs.html` 自己持有租约），与 `transport-ecat.teardown`
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"切到 WiFi 看看不该打断 EtherCAT" 的既有设计一致；
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- 只停"本服务经代理确认跑过"的循环（`g_ecat_motor_live` 代理记账），
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直接从 ecat 控制台（:8090）起的循环不动；
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- 服务进程自己的退出路径（`/api/shutdown`、Ctrl+C）同步补停一次 ——
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租约定时器随进程死亡，等不到 GRACE 到点。
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代价：每次重开 app 都要重走 PREOP→SAFEOP→OP，有概率撞 SSC 邮箱楔死
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（见下一段）—— 这是"关闭必须停"这个要求本身的代价，不是机制缺陷。
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自测：`python scripts/test_app_lease.py`（服务端逻辑，裸 TCP 全路径）+
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`node scripts/test_app_lease_e2e.mjs`（真 Edge headless + 真服务器，
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假后端钉在 8091，绝不碰真总线）。
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- 接入失败时**必须能看到原因**：横幅与 `#devStatus` 显示归类后的可执行提示
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（`summarizeLinkError`），完整诊断放在两者的 `title` 里。
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典型：SSC 邮箱楔死会把 64 条重复 `MailboxError` + SM 现场（2000+ 字符）压成
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+209
@@ -8,6 +8,8 @@
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GET / → 302 到 /tabs.html (标签外壳, 工具主页)
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GET /<file> → 本目录静态文件(tabs.html / pages/ / lab/ / css/ / js/)
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GET /ws/app-lease → app 窗口租约 WebSocket: 所有 app 窗口断开后自动
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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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@@ -32,8 +34,10 @@ pywebview 窗口没有浏览器刷新按钮/地址栏, 因此本服务器给 HTM
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_reload.html: 右下角 ⟳ 悬浮按钮 + F5/Ctrl+R 键盘拦截(WebView2 默认不响应)。
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"""
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import argparse
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import base64
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import collections
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import ctypes
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import hashlib
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import json
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import os
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import re
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@@ -347,6 +351,127 @@ def _ecat_proxy(path, body, timeout=6.0):
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return 503, body
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# ── app 窗口租约: "关掉 app 就必须停掉从站" 的兜底 ────────────────────────
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# PDO 循环起来后是在 ecat_native 里一直跑的: 从站侧 1000ms 过程数据看门狗
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# 要求持续喂, 而 native 的自清理只覆盖"我拉起的进程死掉"这一种情况。用户
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# 最常遇到的离开方式恰恰不走那条路:
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# - 浏览器模式(esp32_web.vbs / serve.bat): 关掉浏览器窗口后本服务还在,
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# 循环就一直空转 —— 从站卡在 OP, 自旋节拍占满一个 P 核, 直到下次手工清场;
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# - 窗口模式复用现成 native(如之前用 ecat_web.vbs 起过): 关窗只结束本服务的
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# 子进程, native 的 parent 是别人, 不会替它清场。
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#
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# 解法: 每个 app 页面与本页服务器保持一条 WebSocket 连接
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# (js/common/app-lease.js → GET /ws/app-lease), 连接在 = "还有 app 窗口开着":
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# - 不用心跳计时器: 断开靠 TCP FIN 感知, 浏览器后台标签页的定时器节流
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# 弄不死一条已建立的连接, 也就不会在后台开着 app 时误停从站;
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# - 外壳内切标签不断连(外壳 tabs.html 自己也持有连接),
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# 与 transport-ecat.teardown "切到 WiFi 看看不该打断 EtherCAT" 的既有设计一致;
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# - 最后一条断开后**隔 GRACE 再停**: F5 刷新的断连→重连只有几百毫秒,
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# 不留这个窗口会把"刷新页面"误判成"关闭 app"(每次误停都要重进 OP,
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# 还平白多撞一次 SSC 邮箱楔死的风险);
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# - 只停"我们确认跑过"的循环: g_ecat_motor_live 仅在本服务代理过成功的
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# /motor/start 时置位, 有人直接从 ecat 控制台(:8090)开的循环不受影响。
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#
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# 停法用 /api/op/stop(内部先 loop_stop 再把从站写回 INIT): 确定性地"从站已停",
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# 不留"等 1s 看门狗把自己踢出 OP"的中间态; 下次 motor/start 本来就要现读
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# AL 状态重走 PREOP→SAFEOP→OP, 提前回 INIT 不增加额外代价。
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APP_LEASE_PATH = "/ws/app-lease"
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APP_LEASE_GRACE_S = 3.0 # 断连→重连的吸收窗口(页面刷新 / 新窗口接手)
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_WS_MAGIC = "258EAFA5-E914-47DA-95CA-C5AB0DC85B11" # RFC 6455 握手固定常量
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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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def _ws_accept_key(key):
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"""Sec-WebSocket-Accept = base64(SHA1(key + magic)), RFC 6455。"""
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return base64.b64encode(
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hashlib.sha1((key + _WS_MAGIC).encode("ascii")).digest()).decode("ascii")
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def _app_lease_release():
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global g_app_leases
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with g_app_lock:
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g_app_leases = max(0, g_app_leases - 1)
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empty = g_app_leases == 0
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if empty:
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_schedule_loop_release()
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def _schedule_loop_release(attempt=0):
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"""GRACE 秒后若仍无一条租约连接且循环在跑, 停掉它。
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多个断连各自起一个定时器没关系 —— _check 里现读现判, 条件不满足就静默退出。
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"""
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def _check():
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with g_app_lock:
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if g_app_leases > 0:
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return # 有窗口重连上了(F5/新窗口), 本次释放作废
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_ecat_stop_motor_loop(attempt)
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t = threading.Timer(APP_LEASE_GRACE_S if attempt == 0 else 3.0, _check)
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t.daemon = True
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t.start()
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def _ecat_stop_motor_loop(attempt, why="app 全部窗口已关闭"):
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"""经代理让后端停循环 + 从站退回 INIT。幂等, 失败最多再试 2 轮。"""
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global g_ecat_motor_live
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with g_app_lock:
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if not g_ecat_motor_live:
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return
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port = _ecat_find_port()
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if port is None:
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with g_app_lock:
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g_ecat_motor_live = False # 后端本来就不在了, 没东西可停
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return
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ok = False
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try:
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status, data = _ecat_post(port, "/api/op/stop", b"{}", 5.0)
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ok = status == 200 and _json_ok(data)
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except Exception:
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pass
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if ok:
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with g_app_lock:
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g_ecat_motor_live = False
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print(f"[lease] {why} → EtherCAT PDO 循环已停, 从站退回 INIT", flush=True)
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return
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if attempt < 2:
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_schedule_loop_release(attempt + 1) # 后端可能正忙(持有 bus 锁), 稍后再试
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else:
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with g_app_lock:
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g_ecat_motor_live = False
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print("[lease] 警告: app 已关闭但 EtherCAT 循环停止失败"
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"(服务无响应?), 请手工关闭 EtherCAT 服务", flush=True)
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def _json_ok(data):
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"""后端信封 ok:true 的判定。不能用子串匹配: json.dumps 会写成 "ok": true
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(带空格), 真 native 是 C 打印的紧凑格式 —— 两种都得认, 低频路由正经解析一次。"""
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try:
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return json.loads(data.decode("utf-8", "replace")).get("ok") is True
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except Exception:
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return False
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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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判定只针对低频路由(motor/state 那种高频轮询不在表内, 不进这里分支)。
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"""
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global g_ecat_motor_live
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tail = path[len(ECAT_PROXY_PREFIX):]
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if tail == "motor/start":
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target, flag = True, True
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elif tail in ("motor/stop", "op/stop", "op/start", "open", "close", "shutdown"):
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target, flag = True, False
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else:
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return
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if status == 200 and _json_ok(body): # 后端 200 + ok:true 才算数
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with g_app_lock:
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g_ecat_motor_live = flag
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class Handler(SimpleHTTPRequestHandler):
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server_version = "Esp32Tools/1.0"
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@@ -363,6 +488,9 @@ class Handler(SimpleHTTPRequestHandler):
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def do_GET(self):
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path = self.path.split("?")[0].lower()
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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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# 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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@@ -418,10 +546,78 @@ class Handler(SimpleHTTPRequestHandler):
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"/flash", "/eeprom/write",
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"/eeprom/read", "/eeprom/verify")) else 6.0
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status, body = _ecat_proxy(path, raw, timeout)
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_note_ecat_loop(path, status, body)
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self._post_json(body, status)
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return
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self.send_error(404)
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def _handle_ws_app_lease(self):
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"""app 窗口租约 WebSocket(契约见 APP_LEASE_PATH 一节)。
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只做握手然后盯断开: 浏览器发来什么都不需要回应(连 WS 帧都不用解析,
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读到的字节直接丢弃), 本线程唯一的产出是"断开时调一次 release"。
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ThreadingHTTPServer 每连接一线程, 这里每个 app 窗口占一条阻塞在
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recv 上的线程, 数量就是窗口数, 可以忽略。
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"""
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key = self.headers.get("Sec-WebSocket-Key") or ""
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if "websocket" not in (self.headers.get("Upgrade") or "").lower() or not key:
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self.send_error(400, "此端点仅支持 WebSocket 握手")
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return
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self.wfile.write(
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("HTTP/1.1 101 Switching Protocols\r\n"
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"Upgrade: websocket\r\n"
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"Connection: Upgrade\r\n"
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f"Sec-WebSocket-Accept: {_ws_accept_key(key)}\r\n"
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"\r\n").encode("ascii"))
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self.wfile.flush()
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global g_app_leases
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with g_app_lock:
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g_app_leases += 1
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try:
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self._ws_pump(self.connection)
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except OSError:
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pass # 强杀/复位: 连接报错同样算断开
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finally:
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_app_lease_release()
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@staticmethod
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def _ws_pump(conn):
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"""读掉对端的 WS 帧直到连接结束, 唯一的产出是"断开时返回"。
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不能只 recv 丢弃: 浏览器/客户端关连接前会先发 Close 控制帧并**等回显**
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才拆 TCP(Edge 实测: 不回则导航走后半条连接挂着, FIN 永远等不到,
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租约不释放)。所以 Close(0x8) 必须回一个空 Close, Ping(0x9) 顺手回
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Pong(0xA); 文本/二进制帧没有语义, 读掉即可。
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"""
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rf = conn.makefile("rb")
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while True:
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hdr = rf.read(2)
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if len(hdr) < 2:
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return # FIN: 对端已关闭
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op = hdr[0] & 0x0F
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ln = hdr[1] & 0x7F
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if ln == 126:
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ln = int.from_bytes(rf.read(2), "big")
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elif ln == 127:
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ln = int.from_bytes(rf.read(8), "big")
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if ln > 65536:
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return # 租约通道不该有大帧, 当协议错误断开
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mask = rf.read(4) if hdr[1] & 0x80 else b""
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payload = rf.read(ln) if ln else b""
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if mask and payload:
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payload = bytes(c ^ mask[i & 3] for i, c in enumerate(payload))
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if op == 0x8: # Close → 回显空 Close, 租约到此为止
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try:
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conn.sendall(b"\x88\x00")
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except OSError:
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pass
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return
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if op == 0x9: # Ping → Pong(原样带回 payload)
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try:
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conn.sendall(bytes([0x8A, len(payload)]) + payload)
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except OSError:
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pass
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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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@@ -431,6 +627,14 @@ class Handler(SimpleHTTPRequestHandler):
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def _shutdown_self():
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# 退出前把"我们启动过的"EtherCAT 循环先停掉。租约断开后的停循环靠 3s 延迟
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# 定时器, 而定时器随本进程死亡一起消失; 窗口模式(_stop_child → 本路由)是
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# 正常关窗的主路径, 复用的 ecat_native(parent 是别的进程)不会替我们收尾。
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# attempt=2 表示尽力一次即止, 不在退出路径上重试磨蹭。
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try:
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_ecat_stop_motor_loop(2, why="本服务进程退出")
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except Exception:
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pass
|
||||
if g_httpd is not None:
|
||||
try:
|
||||
g_httpd.shutdown()
|
||||
@@ -520,6 +724,11 @@ def _run_browser(args):
|
||||
httpd.serve_forever()
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
# 同 _shutdown_self: 进程要没了, 别让租约定时器带着"停循环"的责任一起死
|
||||
try:
|
||||
_ecat_stop_motor_loop(2, why="本服务进程退出")
|
||||
except Exception:
|
||||
pass
|
||||
httpd.server_close()
|
||||
print("\n已退出")
|
||||
|
||||
|
||||
@@ -0,0 +1,43 @@
|
||||
/**
|
||||
* app-lease.js — "app 窗口还开着"的凭证。
|
||||
*
|
||||
* 与 esp32_server.py 的 /ws/app-lease 保持一条 WebSocket。服务端在
|
||||
* **所有** 租约连接断开后的宽限期结束时, 自动把 EtherCAT PDO 循环停掉、
|
||||
* 从站退回 INIT —— 这是"关掉 app 从站必须停"的兜底, 无论 ecat_native
|
||||
* 是谁拉起的(本服务复用现成实例时, 它的 --parent-pid 看门狗够不着)。
|
||||
*
|
||||
* 为什么用 WebSocket 而不是心跳轮询: 已建立的连接不受浏览器后台标签页
|
||||
* 定时器节流影响(那会把"挂在后台的 app"误判成已关闭), 断开靠 TCP FIN
|
||||
* 即时感知, 不依赖任何计时器。服务端另有 3s 断连吸收窗口, 页面刷新不会误停。
|
||||
*
|
||||
* 接入位置: tabs.html(外壳, 覆盖整个 app 窗口生命周期) 和 pages/motor.html
|
||||
* (单独打开电机页时它自己就是窗口)。同一窗口里两条连接并存没问题,
|
||||
* 服务端判据是"连接数归零"。断线自动重连; file:// 直开页面时静默跳过。
|
||||
*/
|
||||
(function () {
|
||||
"use strict";
|
||||
if (location.protocol !== "http:" && location.protocol !== "https:") return;
|
||||
var url = (location.protocol === "https:" ? "wss://" : "ws://") +
|
||||
location.host + "/ws/app-lease";
|
||||
var retryTimer = null;
|
||||
var delay = 3000;
|
||||
|
||||
function scheduleReconnect() {
|
||||
if (retryTimer) return;
|
||||
// 3~30s 递增退避: 服务没起/刚重启时不去刷屏, 起来后最多等半分钟接上。
|
||||
retryTimer = setTimeout(function () {
|
||||
retryTimer = null;
|
||||
delay = Math.min(delay * 2, 30000);
|
||||
connect();
|
||||
}, delay);
|
||||
}
|
||||
|
||||
function connect() {
|
||||
var ws;
|
||||
try { ws = new WebSocket(url); } catch (e) { scheduleReconnect(); return; }
|
||||
ws.onopen = function () { delay = 3000; };
|
||||
ws.onclose = function () { scheduleReconnect(); };
|
||||
ws.onerror = function () { try { ws.close(); } catch (e) {} };
|
||||
}
|
||||
connect();
|
||||
})();
|
||||
@@ -400,5 +400,7 @@
|
||||
</div>
|
||||
|
||||
<script type="module" src="../js/motor/main.js?v=20260905a"></script>
|
||||
<!-- 单独打开本页(不在标签外壳里)时, 由本页自己持有 app 租约 -->
|
||||
<script src="../js/common/app-lease.js"></script>
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,181 @@
|
||||
#!/usr/bin/env python3
|
||||
"""test_app_lease.py — 验证 "app 全部窗口关闭 → 自动停 EtherCAT 循环" 链路。
|
||||
|
||||
不打真实 EtherCAT 硬件: 导入 esp32_server 后把 _ecat_post/_ecat_find_port
|
||||
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。
|
||||
|
||||
用法: python scripts/test_app_lease.py
|
||||
"""
|
||||
import base64
|
||||
import hashlib
|
||||
import os
|
||||
import socket
|
||||
import sys
|
||||
import threading
|
||||
import time
|
||||
import urllib.request
|
||||
|
||||
sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
|
||||
import esp32_server as srv # noqa: E402
|
||||
|
||||
WS_MAGIC = "258EAFA5-E914-47DA-95CA-C5AB0DC85B11"
|
||||
calls = [] # 假 _ecat_post 记录到的请求路径
|
||||
calls_lock = threading.Lock()
|
||||
|
||||
|
||||
def fake_post(port, path, body, timeout):
|
||||
with calls_lock:
|
||||
calls.append(path)
|
||||
# 带空格的 "ok": true —— 故意与真 native 的紧凑格式不同,
|
||||
# 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)。
|
||||
return 200, b'{"ok": true, "log": ["fake"]}'
|
||||
|
||||
|
||||
def ws_connect(port):
|
||||
"""打开一条真实 TCP 上的 WebSocket, 校验 101 握手, 返回 socket。"""
|
||||
s = socket.create_connection(("127.0.0.1", port))
|
||||
key = base64.b64encode(os.urandom(16)).decode()
|
||||
s.sendall(("GET /ws/app-lease HTTP/1.1\r\n"
|
||||
f"Host: 127.0.0.1:{port}\r\n"
|
||||
"Upgrade: websocket\r\nConnection: Upgrade\r\n"
|
||||
f"Sec-WebSocket-Key: {key}\r\n"
|
||||
"Sec-WebSocket-Version: 13\r\n\r\n").encode("ascii"))
|
||||
head = b""
|
||||
while b"\r\n\r\n" not in head:
|
||||
chunk = s.recv(4096)
|
||||
if not chunk:
|
||||
raise AssertionError("握手被直接关闭")
|
||||
head += chunk
|
||||
text = head.decode("ascii", "replace")
|
||||
assert "101" in text.splitlines()[0], f"握手没回 101: {text[:120]}"
|
||||
expect = base64.b64encode(
|
||||
hashlib.sha1((key + WS_MAGIC).encode()).digest()).decode()
|
||||
assert expect in text, "Sec-WebSocket-Accept 不对"
|
||||
return s
|
||||
|
||||
|
||||
def ws_graceful_close(s):
|
||||
"""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。
|
||||
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。"""
|
||||
s.sendall(b"\x88\x80" + b"\x00\x00\x00\x00") # FIN+Close, masked, len 0
|
||||
s.settimeout(3.0)
|
||||
echo = s.recv(2)
|
||||
assert echo == b"\x88\x00", f"Close 回显不对: {echo!r}"
|
||||
s.close()
|
||||
|
||||
|
||||
def post_json(port, path):
|
||||
req = urllib.request.Request(
|
||||
f"http://127.0.0.1:{port}{path}", data=b"{}",
|
||||
headers={"Content-Type": "application/json"}, method="POST")
|
||||
with urllib.request.urlopen(req, timeout=10) as r:
|
||||
return r.status, r.read()
|
||||
|
||||
|
||||
def flag():
|
||||
with srv.g_app_lock:
|
||||
return srv.g_ecat_motor_live
|
||||
|
||||
|
||||
def wait_flag(want, timeout=8.0):
|
||||
deadline = time.time() + timeout
|
||||
while time.time() < deadline:
|
||||
if flag() == want:
|
||||
return True
|
||||
time.sleep(0.05)
|
||||
return False
|
||||
|
||||
|
||||
def main():
|
||||
# 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)
|
||||
srv.APP_LEASE_GRACE_S = 0.3
|
||||
srv._ecat_post = fake_post
|
||||
srv._ecat_find_port = lambda: 9999
|
||||
|
||||
# 找空闲端口起真服务
|
||||
with socket.socket() as probe:
|
||||
probe.bind(("127.0.0.1", 0))
|
||||
port = probe.getsockname()[1]
|
||||
httpd, port = srv._bind_server(port)
|
||||
assert httpd is not None, "起不了测试服务"
|
||||
threading.Thread(target=httpd.serve_forever, daemon=True).start()
|
||||
|
||||
# 1) 非 WS 的普通 GET 不受影响
|
||||
with urllib.request.urlopen(f"http://127.0.0.1:{port}/tabs.html", timeout=5) as r:
|
||||
assert r.status == 200 and b"tabbar" in r.read(), "普通静态页被 WS 路由挡住了"
|
||||
print("PASS 1: 静态页照常服务")
|
||||
|
||||
# 2) 经代理的 motor/start 置位循环标志
|
||||
post_json(port, "/ecat/api/motor/start")
|
||||
assert flag() is True, "motor/start 经代理后没把 g_ecat_motor_live 置位"
|
||||
print("PASS 2: 代理记账 motor/start → live=True")
|
||||
|
||||
# 3) 两条租约, 关一条 → 不该停
|
||||
a = ws_connect(port)
|
||||
b = ws_connect(port)
|
||||
time.sleep(0.1)
|
||||
a.close()
|
||||
time.sleep(1.0) # > GRACE
|
||||
assert "/api/op/stop" not in calls, "还剩一个窗口就停了循环!"
|
||||
print("PASS 3: 仍有窗口在线时不停")
|
||||
|
||||
# 4) 全关 → GRACE 后自动 op/stop (走浏览器式 Close 帧回显路径,
|
||||
# 与场景 3 的裸 FIN 路径各覆盖一种断开方式)
|
||||
ws_graceful_close(b)
|
||||
deadline = time.time() + 5
|
||||
while time.time() < deadline and "/api/op/stop" not in calls:
|
||||
time.sleep(0.05)
|
||||
assert "/api/op/stop" in calls, "全部断开后没停循环"
|
||||
assert wait_flag(False), "停完没清 live 标志"
|
||||
print("PASS 4: 最后一条租约断开 → /api/op/stop")
|
||||
|
||||
# 5) 刷新吸收: 断开后在 GRACE 内重连 → 不该停
|
||||
with calls_lock:
|
||||
calls.clear()
|
||||
post_json(port, "/ecat/api/motor/start")
|
||||
c = ws_connect(port)
|
||||
c.close()
|
||||
d = ws_connect(port) # 模拟刷新重连(远快于 GRACE)
|
||||
time.sleep(1.0)
|
||||
assert "/api/op/stop" not in calls, "页面刷新被误判成关闭 app!"
|
||||
print("PASS 5: 刷新重连被 GRACE 吸收")
|
||||
|
||||
# 6) 用户显式 motor/stop 后, 关窗口不该再打 op/stop
|
||||
d.close()
|
||||
time.sleep(1.0)
|
||||
with calls_lock:
|
||||
calls.clear()
|
||||
post_json(port, "/ecat/api/motor/start")
|
||||
post_json(port, "/ecat/api/motor/stop")
|
||||
assert flag() is False, "motor/stop 没清 live 标志"
|
||||
e = ws_connect(port)
|
||||
e.close()
|
||||
time.sleep(1.0)
|
||||
assert "/api/op/stop" not in calls, "循环本来就没跑还去停(多此一举)"
|
||||
print("PASS 6: 循环已停时不再重复停")
|
||||
|
||||
# 7) 窗口模式竞态: 服务进程在 GRACE 定时器触发前就退出(/api/shutdown),
|
||||
# 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
|
||||
# (复用的 ecat_native 的 parent 不是本服务, 没人替它清场)。
|
||||
srv.APP_LEASE_GRACE_S = 30.0 # 定时器"永不"到点, 证明停的是退出路径
|
||||
srv.g_httpd = httpd
|
||||
post_json(port, "/ecat/api/motor/start")
|
||||
assert flag() is True
|
||||
with calls_lock:
|
||||
calls.clear()
|
||||
f = ws_connect(port) # 租约仍在(未断开)
|
||||
post_json(port, "/api/shutdown")
|
||||
deadline = time.time() + 5
|
||||
while time.time() < deadline and "/api/op/stop" not in calls:
|
||||
time.sleep(0.05)
|
||||
assert "/api/op/stop" in calls, "服务进程退出前没停循环(窗口模式竞态)"
|
||||
assert wait_flag(False, timeout=2.0)
|
||||
f.close()
|
||||
print("PASS 7: 服务进程退出时同步停循环")
|
||||
|
||||
httpd.shutdown()
|
||||
print("ALL PASS")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -0,0 +1,175 @@
|
||||
/**
|
||||
* test_app_lease_e2e.mjs — app 租约的真浏览器端到端验证。
|
||||
*
|
||||
* 与 test_app_lease.py 的分工: 那边用裸 TCP 验服务端逻辑; 这边用真 Edge
|
||||
* (headless) 验 app-lease.js 在浏览器引擎里真的能握手/断连, 以及
|
||||
* "多窗口只关一个不停、全关才停" 的真实时序。
|
||||
*
|
||||
* 不碰真硬件: 真 ecat_native 可能正占着 8090(它一收 motor/start 就会去动
|
||||
* 真总线)。所以假后端放 8091, esp32_server 以"仅改 ECAT_PORTS/autostart
|
||||
* 两个常量"的方式跑起来 —— Handler、代理、租约、GRACE 全是真实代码。
|
||||
*
|
||||
* 用法: node scripts/test_app_lease_e2e.mjs (退出码 0 = 通过)
|
||||
*/
|
||||
import { spawn, execSync } from "node:child_process";
|
||||
import net from "node:net";
|
||||
import fs from "node:fs";
|
||||
import os from "node:os";
|
||||
import path from "node:path";
|
||||
|
||||
const ROOT = path.resolve(import.meta.dirname, "..");
|
||||
const EDGE = "C:/Program Files (x86)/Microsoft/Edge/Application/msedge.exe";
|
||||
const FAKE_PORT = 8091;
|
||||
const DBG_PORT = 9334;
|
||||
const tmp = fs.mkdtempSync(path.join(os.tmpdir(), "dcu-lease-"));
|
||||
const FAKE_LOG = path.join(tmp, "fake.log");
|
||||
const sleep = (ms) => new Promise((r) => setTimeout(r, ms));
|
||||
const procs = [];
|
||||
let failed = false;
|
||||
|
||||
function check(name, cond, detail) {
|
||||
if (cond) console.log(" ✓ " + name);
|
||||
else { failed = true; console.log(" ✗ " + name + (detail ? " — " + detail : "")); }
|
||||
}
|
||||
function fakeLog() {
|
||||
try { return fs.readFileSync(FAKE_LOG, "utf8"); } catch (_) { return ""; }
|
||||
}
|
||||
function waitPort(port, timeoutMs = 15000) {
|
||||
return new Promise((res, rej) => {
|
||||
const t0 = Date.now();
|
||||
(function poll() {
|
||||
const s = net.connect(port, "127.0.0.1");
|
||||
s.on("connect", () => { s.destroy(); res(); });
|
||||
s.on("error", () => {
|
||||
if (Date.now() - t0 > timeoutMs) rej(new Error("port " + port + " never opened"));
|
||||
else setTimeout(poll, 200);
|
||||
});
|
||||
})();
|
||||
});
|
||||
}
|
||||
function freePort() {
|
||||
return new Promise((res) => {
|
||||
const s = net.createServer();
|
||||
s.listen(0, "127.0.0.1", () => { const p = s.address().port; s.close(() => res(p)); });
|
||||
});
|
||||
}
|
||||
function killTree(pid) {
|
||||
try { execSync(`taskkill /PID ${pid} /T /F`, { stdio: "ignore" }); } catch (_) {}
|
||||
}
|
||||
|
||||
/* ── 1. 假 EtherCAT 后端(8091): 记录请求路径, 一律回 ok:true ── */
|
||||
fs.writeFileSync(path.join(tmp, "fake_ecat.py"), `
|
||||
import sys
|
||||
from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer
|
||||
log = sys.argv[2]
|
||||
class H(BaseHTTPRequestHandler):
|
||||
protocol_version = "HTTP/1.0"
|
||||
def do_POST(self):
|
||||
n = int(self.headers.get("Content-Length") or 0)
|
||||
self.rfile.read(n)
|
||||
with open(log, "a") as f:
|
||||
f.write(self.path + "\\n")
|
||||
# 紧凑格式, 与真 native(C snprintf 打印)逐字节同构
|
||||
body = b'{"ok":true,"log":["fake"]}'
|
||||
self.send_response(200)
|
||||
self.send_header("Content-Type", "application/json")
|
||||
self.send_header("Content-Length", str(len(body)))
|
||||
self.end_headers()
|
||||
self.wfile.write(body)
|
||||
def log_message(self, *a):
|
||||
pass
|
||||
ThreadingHTTPServer(("127.0.0.1", int(sys.argv[1])), H).serve_forever()
|
||||
`);
|
||||
procs.push(spawn("python", [path.join(tmp, "fake_ecat.py"), String(FAKE_PORT), FAKE_LOG], { stdio: "ignore" }));
|
||||
await waitPort(FAKE_PORT);
|
||||
|
||||
/* ── 2. 真 esp32_server, 仅把代理端口表钉到 8091、禁掉 autostart ── */
|
||||
const srvPort = await freePort();
|
||||
fs.writeFileSync(path.join(tmp, "srv.py"), `
|
||||
import sys
|
||||
sys.path.insert(0, ${JSON.stringify(ROOT)})
|
||||
import esp32_server as srv
|
||||
srv.ECAT_PORTS = (${FAKE_PORT},)
|
||||
srv._ecat_autostart = lambda: (None, [])
|
||||
httpd, p = srv._bind_server(${srvPort})
|
||||
print("PORT=%d" % p, flush=True)
|
||||
httpd.serve_forever()
|
||||
`);
|
||||
const server = spawn("python", [path.join(tmp, "srv.py")], { cwd: ROOT });
|
||||
procs.push(server);
|
||||
let serverPort = 0;
|
||||
await new Promise((res, rej) => {
|
||||
server.stdout.on("data", (d) => {
|
||||
const m = /PORT=(\d+)/.exec(String(d));
|
||||
if (m) { serverPort = Number(m[1]); res(); }
|
||||
});
|
||||
server.stderr.on("data", (d) => console.log("[srv] " + String(d).trim()));
|
||||
setTimeout(() => rej(new Error("server 未报端口")), 15000);
|
||||
});
|
||||
const BASE = `http://127.0.0.1:${serverPort}`;
|
||||
|
||||
/* ── 3. 真 Edge headless + CDP ── */
|
||||
const edge = spawn(EDGE, [
|
||||
"--headless=new", `--remote-debugging-port=${DBG_PORT}`,
|
||||
`--user-data-dir=${path.join(tmp, "profile")}`,
|
||||
"--no-first-run", "--disable-gpu", "about:blank",
|
||||
], { stdio: "ignore" });
|
||||
procs.push(edge);
|
||||
await waitPort(DBG_PORT);
|
||||
|
||||
let page;
|
||||
for (let i = 0; i < 40 && !page; i++) {
|
||||
await sleep(250);
|
||||
try {
|
||||
const list = await (await fetch(`http://127.0.0.1:${DBG_PORT}/json/list`)).json();
|
||||
page = list.find((t) => t.type === "page");
|
||||
} catch (_) {}
|
||||
}
|
||||
if (!page) throw new Error("拿不到 Edge 调试页面目标");
|
||||
const cdp = new WebSocket(page.webSocketDebuggerUrl);
|
||||
await new Promise((r, j) => { cdp.onopen = r; cdp.onerror = j; });
|
||||
let mid = 0;
|
||||
const pend = new Map();
|
||||
cdp.onmessage = (e) => {
|
||||
const m = JSON.parse(e.data);
|
||||
if (m.id && pend.has(m.id)) { pend.get(m.id)(m); pend.delete(m.id); }
|
||||
};
|
||||
const send = (method, params = {}) => new Promise((res) => {
|
||||
const id = ++mid; pend.set(id, res); cdp.send(JSON.stringify({ id, method, params }));
|
||||
});
|
||||
|
||||
/* ── 4. 场景一: 单窗口, 关窗 → 自动停 ── */
|
||||
await send("Page.enable");
|
||||
await send("Page.navigate", { url: BASE + "/tabs.html" });
|
||||
await sleep(2500);
|
||||
const r1 = await fetch(BASE + "/ecat/api/motor/start", {
|
||||
method: "POST", headers: { "content-type": "application/json" }, body: "{}" });
|
||||
check("motor/start 经代理成功", r1.ok && (await r1.json()).ok === true);
|
||||
check("假后端收到 /api/motor/start", fakeLog().includes("/api/motor/start"));
|
||||
await sleep(4500); // > GRACE(3s): 窗口还开着, 绝不能停
|
||||
check("窗口在线期间没停循环", !fakeLog().includes("/api/op/stop"));
|
||||
await send("Page.navigate", { url: "about:blank" }); // 离开页面 → 租约断开
|
||||
await sleep(5000);
|
||||
check("关窗(GRACE 后)自动 /api/op/stop", fakeLog().includes("/api/op/stop"));
|
||||
|
||||
/* ── 5. 场景二: 双窗口, 关一个不停, 全关才停 ── */
|
||||
fs.writeFileSync(FAKE_LOG, "");
|
||||
const t2 = await send("Target.createTarget", { url: BASE + "/tabs.html" });
|
||||
await sleep(2500);
|
||||
await fetch(BASE + "/ecat/api/motor/start", {
|
||||
method: "POST", headers: { "content-type": "application/json" }, body: "{}" });
|
||||
await send("Page.navigate", { url: BASE + "/tabs.html" }); // 窗口1 回来续租
|
||||
await sleep(1500);
|
||||
await send("Target.closeTarget", { targetId: t2.result.targetId });
|
||||
await sleep(4500);
|
||||
check("还剩一个窗口时不停", !fakeLog().includes("/api/op/stop"));
|
||||
await send("Page.navigate", { url: "about:blank" }); // 最后一个也关掉
|
||||
await sleep(5000);
|
||||
check("全部窗口关闭后自动停", fakeLog().includes("/api/op/stop"));
|
||||
|
||||
/* ── 6. 收尾 ── */
|
||||
try { cdp.close(); } catch (_) {}
|
||||
for (const p of procs) killTree(p.pid);
|
||||
try { fs.rmSync(tmp, { recursive: true, force: true }); } catch (_) {}
|
||||
console.log(failed ? "E2E FAIL" : "E2E ALL PASS");
|
||||
process.exit(failed ? 1 : 0);
|
||||
Reference in New Issue
Block a user