diff --git a/README.md b/README.md
index ab3e8bb..ce259bb 100644
--- a/README.md
+++ b/README.md
@@ -30,11 +30,29 @@ tabs.html 标签外壳 = 工具入口（GET / 会 302 到这里）
pages/ 主功能页，各自引用 ../css 与 ../js
lab/ 自包含实验页，零外部依赖，删文件即可移除
css/ js/ 共享样式与 ES module
-scripts/ 构建辅助脚本
+scripts/ 正式自测/测量脚本（清单见下；一次性探针不入库）
+docs/compose/spec/ compose 功能规格
+docs/reports/ 历史调研报告（原根目录 ECAT_*/REPORT_*）
esp32_server.py 本地页面服务 + 桌面窗口外壳
esp32_app.vbs esp32_web.vbs serve.bat 三个启动入口
```
+## scripts/ 正式清单（仅保留这些）
+
+| 脚本 | 用途 |
+|------|------|
+| `build_mem.bat` | Git Bash 下构建 ESP32_COMM |
+| `test_motor_transport.mjs` | 双链路传输契约 |
+| `test_motor_refresh.mjs` | 刷新速度每链路一份（纯逻辑） |
+| `test_ecat_autostart.mjs` | 自动接入链条（stub） |
+| `test_app_lease.py` / `test_app_lease_e2e.mjs` | 关窗停总线 |
+| `test_esf_pack.py` | PDO 快发 ESF1 打包 |
+| `check_esf_latency.py` / `check_latency_breakdown.py` / `check_e2e_click_motion.py` | 快发与点击延迟测量 |
+| `browser_check_{refresh,tick,floor,period}.mjs` | 浏览器侧 DOM/节拍实测 |
+| `probe_ecat_slot_atomicity.py` / `probe_ecat_vs_wifi.py` | 可复用采样器（gitignore 白名单） |
+
+现场 `_tmp_*` / `skip_*` / `anal_*` 等一次性脚本**不入库**；历史报告在 `docs/reports/`。
+
## 页面
`tabs.html` 是单窗口多标签外壳，用**多 iframe 常驻保活**承载下列功能页：每个标签一个懒创建 iframe，切换只改可见性、不销毁文档（否则页内 WebSocket/轮询会随导航全灭）。激活标签记忆在
@@ -51,7 +69,12 @@ esp32_app.vbs esp32_web.vbs serve.bat 三个启动入口
## 目录约定
- `css/` —— `base`（变量/基础）、`layout`、`components`、`can`、`motor`、`responsive`。
-- `js/common/` —— 跨页公用：`base-url`（设备 IP）、`connection`、`polling`、`log`、`toast`、`utils`、`heap-low-history`。
+ **所有权**：`.btn` 共享 chrome 在 `layout.css`；`components.css` 管跨页 `.toast`
+ （居中单条）；`motor.css` 的 `.btn` / `.toast-container` 是电机页主题覆盖与
+ 堆叠 Toast，**不要**再往 layout/components 抄一份电机专用规则。
+- `js/common/` —— 跨页公用：`base-url`（设备 IP）、`connection`、`polling`、`log`、
+ `toast`（居中）、`toast-stack`（容器堆叠，电机页）、`ecat-bus`（ECAT 接入策略单点）、
+ `device-link`、`utils`、`heap-low-history`。
- `js/ota/`、`js/ble/`、`js/can/`、`js/motor/` —— 按功能域拆分的 ES module，跨域引用只走 `js/common/`。
- 子系统配色：ESP32 = 青绿 · GD32 = 琥珀 · BLE = 蓝 · CAN = 绿 · 内存/调试 = 紫。
diff --git a/css/components.css b/css/components.css
index 7aed718..5f86a1b 100644
--- a/css/components.css
+++ b/css/components.css
@@ -613,7 +613,9 @@
}
/* ================= Toast ================= */
+/* 跨页居中 Toast（#toast / #toastIco / #toastMsg）。电机页堆叠 Toast 见 motor.css .toast-container */
.toast {
+
position: fixed; top: 45%; left: 50%;
transform: translateX(-50%) translateY(30px);
z-index: 9999;
diff --git a/css/layout.css b/css/layout.css
index 70fffa2..23ae82d 100644
--- a/css/layout.css
+++ b/css/layout.css
@@ -196,7 +196,9 @@ select option { background: var(--bg-panel); color: var(--text); }
.input-group .input { flex: 1; }
/* ================= 按钮 ================= */
+/* 共享 .btn chrome（OTA/CAN 等页）。电机页主题按钮在 motor.css，勿互相复制。 */
.btn {
+
display: inline-flex; align-items: center; justify-content: center; gap: 7px;
padding: 9px 17px; border: none; border-radius: var(--radius-sm);
font-family: var(--font-display);
diff --git a/css/motor.css b/css/motor.css
index fd0febb..3751a71 100644
--- a/css/motor.css
+++ b/css/motor.css
@@ -109,7 +109,9 @@ label { display: block; }
border-color: var(--border-strong);
}
.toolbar-right a.btn:hover { color: var(--primary); border-color: color-mix(in srgb, var(--seed-primary) 40%, transparent); }
+/* 电机页主题 .btn —— 与 layout.css 共享 chrome 刻意分离（页面级覆盖），勿抄进 components */
.btn {
+
display: inline-flex; align-items: center; gap: 6px;
padding: 6px 14px; border-radius: var(--radius-sm);
font-size: 0.85rem; font-weight: 550; letter-spacing: 0.02em;
@@ -654,7 +656,9 @@ label { display: block; }
.sb-last-send { margin-left: auto; overflow: hidden; text-overflow: ellipsis; white-space: nowrap; max-width: 40%; color: var(--fg-dim); }
/* ═══════════════════════ TOAST & MODAL ═══════════════════════ */
+/* 电机页堆叠 Toast 容器 —— 与 components.css 居中 Toast 是两套 UI，勿合并。 */
.toast-container {
+
position: fixed; bottom: 60px; left: 50%; transform: translateX(-50%);
display: flex; flex-direction: column; gap: var(--sp-2); z-index: 1000;
pointer-events: none;
diff --git a/ECAT_BEAT_TAIL_REPORT.html b/docs/reports/ECAT_BEAT_TAIL_REPORT.html
similarity index 100%
rename from ECAT_BEAT_TAIL_REPORT.html
rename to docs/reports/ECAT_BEAT_TAIL_REPORT.html
diff --git a/ECAT_RATE_TRADEOFF.html b/docs/reports/ECAT_RATE_TRADEOFF.html
similarity index 100%
rename from ECAT_RATE_TRADEOFF.html
rename to docs/reports/ECAT_RATE_TRADEOFF.html
diff --git a/ECAT_RATE_TRADEOFF.md b/docs/reports/ECAT_RATE_TRADEOFF.md
similarity index 100%
rename from ECAT_RATE_TRADEOFF.md
rename to docs/reports/ECAT_RATE_TRADEOFF.md
diff --git a/GD32_OTA_FLOW_COMPARE.html b/docs/reports/GD32_OTA_FLOW_COMPARE.html
similarity index 100%
rename from GD32_OTA_FLOW_COMPARE.html
rename to docs/reports/GD32_OTA_FLOW_COMPARE.html
diff --git a/REPORT_ecat_skip_opt_20260917.md b/docs/reports/REPORT_ecat_skip_opt_20260917.md
similarity index 100%
rename from REPORT_ecat_skip_opt_20260917.md
rename to docs/reports/REPORT_ecat_skip_opt_20260917.md
diff --git a/lab/ecat_integral_report.html b/docs/reports/ecat_integral_report.html
similarity index 100%
rename from lab/ecat_integral_report.html
rename to docs/reports/ecat_integral_report.html
diff --git a/lab/_last_gd32_sha.txt b/lab/_last_gd32_sha.txt
deleted file mode 100644
index 4b342f8..0000000
--- a/lab/_last_gd32_sha.txt
+++ /dev/null
@@ -1 +0,0 @@
-c6827f84e9b8fa07288d0fc2081d0efc48a6ef2c5b8124b85a406f3a7a02042a
\ No newline at end of file
diff --git a/lab/ecat_calib.json b/lab/ecat_calib.json
deleted file mode 100644
index 8135ea0..0000000
--- a/lab/ecat_calib.json
+++ /dev/null
@@ -1,139 +0,0 @@
-{
- "url": "http://127.0.0.1:8090",
- "started_at": "2026-09-08 02:45:39",
- "seconds": 20.0,
- "sample_hz": 10.0,
- "logical_cpus": 28,
- "native_pid": 29284,
- "native_pid_error": null,
- "firmware": {
- "ledger": "201832b5a8e258d6eec8d7f6620bab2c77d519e7321b25b80f7690ab2e3364ce",
- "ledger_path": "G:\\Robot_v2\\DCU\\tools\\ESP32\\lab\\_last_gd32_sha.txt",
- "match": null,
- "candidates": [
- {
- "path": "G:\\Robot_v2\\DCU\\DCU_APP\\out\\GD32E508_DCU_APP\\GD32E508VE\\Release\\GD32E508_DCU_APP.hex",
- "sha256": "63d6ab9be96512cc",
- "mtime": 1788805893
- },
- {
- "path": "G:\\Robot_v2\\DCU\\DCU_APP\\out\\GD32E508_DCU_APP\\GD32E508VE\\Debug\\GD32E508_DCU_APP.hex",
- "sha256": "e6a6e75fc5f746fc",
- "mtime": 1788605679
- }
- ],
- "method": "hex_to_flat + sha256"
- },
- "cadence": {
- "n": 512,
- "period_ms": 1,
- "count_hist": {
- "1": 2,
- "2": 509,
- "3": 1
- },
- "count_max": 3,
- "lost_hist": {
- "0": 512
- },
- "lost_max": 0,
- "pending_hist": {
- "0": 512
- },
- "pending_max": 0,
- "backlog_hist": {
- "0": 512
- },
- "backlog_max": 0,
- "wkc_hist": {
- "3": 512
- },
- "wkc_max": 3,
- "span_ms": 511.0,
- "lambda_per_s": 3998.0,
- "gseq_per_s": 3998.0
- },
- "loop_start": {
- "how": "已在跑",
- "ok": true
- },
- "period_ms_set": 1.0,
- "pcore_mask": 16,
- "psutil": true,
- "dur_s": 20.08,
- "iters": 200,
- "errors": 0,
- "drop_untrusted_samples": 0,
- "period_ms_effective": 1.0,
- "wkc": [
- 3,
- 3
- ],
- "wr_end": 0,
- "native_pid_end": 29284,
- "pid_stable": true,
- "layout_seen": {
- "win": 200
- },
- "rx_batch_count_hist_http": {
- "2": 200
- },
- "window_coverage": {
- "per_id": {
- "131329": {
- "n_obs": 584,
- "span": 79949,
- "coverage_pct": 0.73
- },
- "196865": {
- "n_obs": 416,
- "span": 79945,
- "coverage_pct": 0.52
- }
- },
- "ids": 2,
- "note": "覆盖率仅说明观测密度，不可当丢帧率引用"
- },
- "can_lambda_per_s": 3992.8,
- "drop_per_s": 3992.8,
- "drop_pct_of_lambda": 100.0,
- "achieved_hz_p50": 998.2,
- "achieve_pct": 99.8,
- "skip_delta": 40,
- "skip_per_s": 1.99,
- "skip_total_cum": 449,
- "rx_torn_delta": 0,
- "rx_torn_capped": false,
- "pdo_reentry_delta": 0,
- "pdo_reentry_capped": false,
- "cyc_us_total": {
- "p50": 125.0,
- "p90": 137.1,
- "max": 2119.2
- },
- "cyc_us_late_lost_sample": {
- "p50": 125.6,
- "p90": 138.4,
- "max": 1363.0
- },
- "gd32_load_pct_p50": 44.3,
- "host_cpu_1core_p50": 100.8,
- "host_cpu_total_p50": 3.6,
- "per_cycle_cap_observed": 3,
- "capacity_model": {
- "lambda_per_s": 3992.8,
- "per_cycle_cap": 3,
- "drain_per_s_at_current_T": 3000.0,
- "knee_ms_if_linear": 0.751,
- "note": "cap 取自 cadence 环实测 count 峰值；拐点以扫描实测为准，此值仅供事后对照"
- },
- "power": {
- "drop_rx_queue": true,
- "skip_total": true,
- "achieve_deficit": false,
- "rx_torn": false,
- "pdo_reentry": false,
- "cadence_lost_or_pending": false,
- "cyc_us_late_lost": false
- }
-}
\ No newline at end of file
diff --git a/lab/ecat_rate_sweep.png b/lab/ecat_rate_sweep.png
deleted file mode 100644
index 6cb4d32..0000000
Binary files a/lab/ecat_rate_sweep.png and /dev/null differ
diff --git a/lab/ecat_rate_sweep_nocan.png b/lab/ecat_rate_sweep_nocan.png
deleted file mode 100644
index 88fec1f..0000000
Binary files a/lab/ecat_rate_sweep_nocan.png and /dev/null differ
diff --git a/lab/ecat_rate_sweep_nocan_vs.png b/lab/ecat_rate_sweep_nocan_vs.png
deleted file mode 100644
index d27ebf7..0000000
Binary files a/lab/ecat_rate_sweep_nocan_vs.png and /dev/null differ
diff --git a/pages/can.html b/pages/can.html
index 9adf7a7..ef6dbc5 100644
--- a/pages/can.html
+++ b/pages/can.html
@@ -3,12 +3,12 @@
-ESP32 CAN 通信控制台
-
+ESP32 CAN 通信控制?/title>
+<!-- ?favicon：阻止浏览器自动请求 /favicon.ico（本地静态服务无此文件会 404?-->
<link rel="icon" href="data:,">
<link rel="stylesheet" href="../css/base.css?v=857f83a5">
-<link rel="stylesheet" href="../css/layout.css?v=acd17001">
-<link rel="stylesheet" href="../css/components.css?v=quiet20260919a">
+<link rel="stylesheet" href="../css/layout.css?v=20260924a">
+<link rel="stylesheet" href="../css/components.css?v=20260924a">
<link rel="stylesheet" href="../css/can.css?v=c06f5688">
<link rel="stylesheet" href="../css/responsive.css?v=quiet20260919a">
</head>
@@ -25,25 +25,25 @@
</svg>
</span>
<div class="brand-text">
- <strong>ESP32 CAN 通信控制台</strong>
+ <strong>ESP32 CAN 通信控制?/strong>
<span class="brand-sub">DCU · Robot_v2 · CAN FD</span>
</div>
</div>
<div class="header-status">
- <span class="pill offline" id="canConnPill"><span class="indicator"></span><span id="canConnTxt">未连接</span></span>
+ <span class="pill offline" id="canConnPill"><span class="indicator"></span><span id="canConnTxt">未连?/span></span>
<span class="pill" id="canIpPill">IP --</span>
<span class="pill" id="canRssiPill">RSSI --</span>
<span class="pill" id="canUptimePill">运行 --</span>
<span class="pill" id="canVersionPill">v--</span>
<span class="pill" id="canChannelPill">CH0</span>
- <span class="pill" id="dbcSummaryPill">未导入 DBC</span>
+ <span class="pill" id="dbcSummaryPill">未导?DBC</span>
<span class="pill" id="messageSummaryPill">0 报文</span>
<span class="pill" id="fbModePill">模式: --</span>
<span class="pill" id="fbPollStatus">轮询: --</span>
</div>
<div class="header-sub can-header-actions">
- <a class="pill can-link-pill" href="index.html">返回 OTA 控制台</a>
- <a class="pill can-link-pill" href="can_monitor.html" title="独立全屏监控页">监控全屏</a>
+ <a class="pill can-link-pill" href="index.html">返回 OTA 控制?/a>
+ <a class="pill can-link-pill" href="can_monitor.html" title="独立全屏监控?>监控全屏</a>
</div>
</header>
@@ -56,7 +56,7 @@
<div class="card-head can-msg-list-head">
<span class="ico">📚</span>
<span>报文列表</span>
- <!-- 已导入：合计 + 文件 chip（可逐个移除） -->
+ <!-- 已导入：合计 + 文件 chip（可逐个移除?-->
<div class="dbc-summary-strip dbc-summary-inline" id="dbcFileInfo" hidden>
<span class="dbc-summary-meta">
<span><b id="dbcFileCount">0</b>文件</span>
@@ -72,7 +72,7 @@
<button class="btn btn-primary btn-sm" id="importDbcBtn" type="button">导入 DBC</button>
</div>
</div>
- <!-- 通道 / 搜索 / 勾选 / 节点 / 批量 同一工具栏 -->
+ <!-- 通道 / 搜索 / 勾?/ 节点 / 批量 同一工具?-->
<div class="can-msg-toolbar" id="canMsgToolbar">
<label class="can-msg-channel" for="defaultChannel">
<span class="can-msg-channel-label">通道</span>
@@ -84,43 +84,43 @@
</label>
<div class="can-msg-search-wrap">
<input class="input can-msg-search" type="text" id="dbcSearch"
- placeholder="搜索报文名 / ID / 节点 / 信号" autocomplete="off">
+ placeholder="搜索报文?/ ID / 节点 / 信号" autocomplete="off">
</div>
<div class="can-batch-actions">
- <span class="pill" id="selectedCountPill">已勾选 0</span>
+ <span class="pill" id="selectedCountPill">已勾?0</span>
<div class="can-node-filter" id="nodeFilterWrap">
<button class="btn btn-outline btn-sm can-node-filter-btn" id="nodeFilterBtn" type="button" aria-haspopup="true" aria-expanded="false">
<span class="can-node-filter-label" id="nodeFilterLabel">发送节点：全部</span>
- <span class="can-node-filter-caret">▾</span>
+ <span class="can-node-filter-caret">?/span>
</button>
<div class="can-node-filter-panel" id="nodeFilterPanel" hidden>
<div class="can-node-filter-head">
- <input class="input can-node-filter-search" id="nodeFilterSearch" type="text" placeholder="筛选节点名…">
+ <input class="input can-node-filter-search" id="nodeFilterSearch" type="text" placeholder="筛选节点名?>
<div class="can-node-filter-actions">
- <button class="btn btn-ghost btn-sm" id="nodeFilterAllBtn" type="button">全选</button>
+ <button class="btn btn-ghost btn-sm" id="nodeFilterAllBtn" type="button">全?/button>
<button class="btn btn-ghost btn-sm" id="nodeFilterNoneBtn" type="button">清空</button>
</div>
</div>
<div class="can-node-filter-list" id="nodeFilterList">
- <div class="status-empty">先导入 DBC。</div>
+ <div class="status-empty">先导?DBC?/div>
</div>
</div>
</div>
- <label class="checkbox-inline can-batch-all-label" title="全选/取消当前过滤的所有报文">
+ <label class="checkbox-inline can-batch-all-label" title="全?取消当前过滤的所有报?>
<input type="checkbox" id="selectAllBox">
- <span>全选当前过滤</span>
+ <span>全选当前过?/span>
</label>
<button class="btn btn-outline btn-sm" id="expandAllBtn" type="button">展开全部</button>
<button class="btn btn-outline btn-sm" id="collapseAllBtn" type="button">收起全部</button>
- <button class="btn btn-primary btn-sm" id="sendCheckedBtn" type="button">批量发送勾选</button>
+ <button class="btn btn-primary btn-sm" id="sendCheckedBtn" type="button">批量发送勾?/button>
</div>
</div>
<div class="card-body can-table-card-body">
<div class="message-list" id="messageList">
<div class="dbc-empty-drop" id="dbcEmptyDrop">
<div class="upload-ico">📥</div>
- <h4>导入 DBC 开始编辑报文</h4>
- <p>点击此处或拖拽 <code>.dbc</code> 文件到列表区域</p>
+ <h4>导入 DBC 开始编辑报?/h4>
+ <p>点击此处或拖?<code>.dbc</code> 文件到列表区?/p>
</div>
</div>
<div class="helper-note" id="dbcHint" hidden></div>
@@ -128,10 +128,10 @@
</section>
<section class="card can-history-card">
- <div class="card-head"><span class="ico">🕘</span> 最近发送</div>
+ <div class="card-head"><span class="ico">🕘</span> 最近发?/div>
<div class="card-body">
<div class="history-list history-list-compact" id="historyList">
- <div class="status-empty">尚未发送任何 CAN 帧。</div>
+ <div class="status-empty">尚未发送任?CAN 帧?/div>
</div>
</div>
</section>
@@ -139,12 +139,12 @@
<aside class="can-sidepanel">
<section class="card can-preview-card">
- <div class="card-head"><span class="ico">🛰️</span> 帧预览</div>
+ <div class="card-head"><span class="ico">🛰?/span> 帧预?/div>
<div class="card-body">
<div class="can-frame-panel can-frame-panel-compact">
<div class="can-frame-hex" id="generatedHex">--</div>
<div class="can-byte-strip" id="generatedBytes"></div>
- <div class="helper-note" id="encodeHint">选择报文后，信号值会实时编码为 CAN 数据。</div>
+ <div class="helper-note" id="encodeHint">选择报文后，信号值会实时编码?CAN 数据?/div>
<div class="btn-row can-frame-actions">
<button class="btn btn-outline btn-sm" id="loadPreviewToRawBtn" type="button">载入到原始发送区</button>
<button class="btn btn-primary btn-sm" id="sendSelectedBtn" type="button">发送当前预览帧</button>
@@ -158,7 +158,7 @@
</section>
<section class="card can-raw-card">
- <div class="card-head"><span class="ico">✍️</span> 原始帧发送</div>
+ <div class="card-head"><span class="ico">✍️</span> 原始帧发?/div>
<div class="card-body">
<div class="row-2 can-raw-grid">
<div class="form-row" style="margin:0;">
@@ -183,7 +183,7 @@
<input class="input" type="text" id="manualData" value="0102030405060708" placeholder="01020304...">
</div>
<div class="helper-note" id="manualHint">
- 原始帧模式适合绕过 DBC 直接发 HEX，或发送当前预览帧后二次微调。
+ 原始帧模式适合绕过 DBC 直接?HEX，或发送当前预览帧后二次微调?
</div>
<div class="btn-row">
<button class="btn btn-primary" id="sendManualBtn" type="button">发送原始帧</button>
@@ -214,22 +214,22 @@
<div class="input-group" style="margin-bottom:12px;flex-wrap:wrap;">
<button class="btn btn-primary btn-sm" id="btnModeAllPass" type="button">全收模式</button>
<button class="btn btn-outline btn-sm" id="btnModeFilter" type="button">过滤模式</button>
- <button class="btn btn-outline btn-sm" id="btnModeBridge" type="button" title="CAN0 收到的每一帧按原帧格式自动转发到 CAN1 与 CAN2">CAN0→1/2 桥接</button>
+ <button class="btn btn-outline btn-sm" id="btnModeBridge" type="button" title="CAN0 收到的每一帧按原帧格式自动转发?CAN1 ?CAN2">CAN0?/2 桥接</button>
</div>
<div class="helper-note" id="monHelper" style="margin-bottom:14px;">
- 地址与顶栏一致；1Hz <code>/can/feedback</code>。悬停抽屉保持展开。
+ 地址与顶栏一致；1Hz <code>/can/feedback</code>。悬停抽屉保持展开?
</div>
- <div class="status-section-title">三路 CAN 通道（1Hz）</div>
+ <div class="status-section-title">三路 CAN 通道?Hz?/div>
<div class="feedback-grid feedback-grid-drawer">
<div class="feedback-channel collapsed" id="fbCh0">
<div class="feedback-ch-head" role="button" tabindex="0" title="点击展开/折叠详情">
<span class="ch-dot ch0"></span> CAN0
- <span class="feedback-expand-caret">▾</span>
+ <span class="feedback-expand-caret">?/span>
</div>
<div class="feedback-primary">
- <div class="feedback-row"><span class="fb-label">状态</span><span class="fb-val" id="fb0State">--</span></div>
- <div class="feedback-row"><span class="fb-label">接收数</span><span class="fb-val" id="fb0Rx">--</span></div>
+ <div class="feedback-row"><span class="fb-label">状?/span><span class="fb-val" id="fb0State">--</span></div>
+ <div class="feedback-row"><span class="fb-label">接收?/span><span class="fb-val" id="fb0Rx">--</span></div>
<div class="feedback-row"><span class="fb-label">发送数</span><span class="fb-val" id="fb0Tx">--</span></div>
<div class="feedback-row"><span class="fb-label">丢帧</span><span class="fb-val" id="fb0Drop">--</span></div>
<div class="feedback-row"><span class="fb-label">错误</span><span class="fb-val" id="fb0Err">--</span></div>
@@ -237,7 +237,7 @@
<div class="feedback-detail">
<div class="feedback-row"><span class="fb-label">TEC</span><span class="fb-val" id="fb0Tec">--</span></div>
<div class="feedback-row"><span class="fb-label">REC</span><span class="fb-val" id="fb0Rec">--</span></div>
- <div class="feedback-row"><span class="fb-label">总线状态</span><span class="fb-val" id="fb0Bus">--</span></div>
+ <div class="feedback-row"><span class="fb-label">总线状?/span><span class="fb-val" id="fb0Bus">--</span></div>
<div class="feedback-row"><span class="fb-label">最新ID</span><span class="fb-val mono" id="fb0LastId">--</span></div>
<div class="feedback-row"><span class="fb-label">DLC</span><span class="fb-val" id="fb0Dlc">--</span></div>
<div class="feedback-row"><span class="fb-label">FD/BRS/ESI</span><span class="fb-val" id="fb0Flags">--</span></div>
@@ -250,11 +250,11 @@
<div class="feedback-channel collapsed" id="fbCh1">
<div class="feedback-ch-head" role="button" tabindex="0" title="点击展开/折叠详情">
<span class="ch-dot ch1"></span> CAN1
- <span class="feedback-expand-caret">▾</span>
+ <span class="feedback-expand-caret">?/span>
</div>
<div class="feedback-primary">
- <div class="feedback-row"><span class="fb-label">状态</span><span class="fb-val" id="fb1State">--</span></div>
- <div class="feedback-row"><span class="fb-label">接收数</span><span class="fb-val" id="fb1Rx">--</span></div>
+ <div class="feedback-row"><span class="fb-label">状?/span><span class="fb-val" id="fb1State">--</span></div>
+ <div class="feedback-row"><span class="fb-label">接收?/span><span class="fb-val" id="fb1Rx">--</span></div>
<div class="feedback-row"><span class="fb-label">发送数</span><span class="fb-val" id="fb1Tx">--</span></div>
<div class="feedback-row"><span class="fb-label">丢帧</span><span class="fb-val" id="fb1Drop">--</span></div>
<div class="feedback-row"><span class="fb-label">错误</span><span class="fb-val" id="fb1Err">--</span></div>
@@ -262,7 +262,7 @@
<div class="feedback-detail">
<div class="feedback-row"><span class="fb-label">TEC</span><span class="fb-val" id="fb1Tec">--</span></div>
<div class="feedback-row"><span class="fb-label">REC</span><span class="fb-val" id="fb1Rec">--</span></div>
- <div class="feedback-row"><span class="fb-label">总线状态</span><span class="fb-val" id="fb1Bus">--</span></div>
+ <div class="feedback-row"><span class="fb-label">总线状?/span><span class="fb-val" id="fb1Bus">--</span></div>
<div class="feedback-row"><span class="fb-label">最新ID</span><span class="fb-val mono" id="fb1LastId">--</span></div>
<div class="feedback-row"><span class="fb-label">DLC</span><span class="fb-val" id="fb1Dlc">--</span></div>
<div class="feedback-row"><span class="fb-label">FD/BRS/ESI</span><span class="fb-val" id="fb1Flags">--</span></div>
@@ -275,11 +275,11 @@
<div class="feedback-channel collapsed" id="fbCh2">
<div class="feedback-ch-head" role="button" tabindex="0" title="点击展开/折叠详情">
<span class="ch-dot ch2"></span> CAN2
- <span class="feedback-expand-caret">▾</span>
+ <span class="feedback-expand-caret">?/span>
</div>
<div class="feedback-primary">
- <div class="feedback-row"><span class="fb-label">状态</span><span class="fb-val" id="fb2State">--</span></div>
- <div class="feedback-row"><span class="fb-label">接收数</span><span class="fb-val" id="fb2Rx">--</span></div>
+ <div class="feedback-row"><span class="fb-label">状?/span><span class="fb-val" id="fb2State">--</span></div>
+ <div class="feedback-row"><span class="fb-label">接收?/span><span class="fb-val" id="fb2Rx">--</span></div>
<div class="feedback-row"><span class="fb-label">发送数</span><span class="fb-val" id="fb2Tx">--</span></div>
<div class="feedback-row"><span class="fb-label">丢帧</span><span class="fb-val" id="fb2Drop">--</span></div>
<div class="feedback-row"><span class="fb-label">错误</span><span class="fb-val" id="fb2Err">--</span></div>
@@ -287,7 +287,7 @@
<div class="feedback-detail">
<div class="feedback-row"><span class="fb-label">TEC</span><span class="fb-val" id="fb2Tec">--</span></div>
<div class="feedback-row"><span class="fb-label">REC</span><span class="fb-val" id="fb2Rec">--</span></div>
- <div class="feedback-row"><span class="fb-label">总线状态</span><span class="fb-val" id="fb2Bus">--</span></div>
+ <div class="feedback-row"><span class="fb-label">总线状?/span><span class="fb-val" id="fb2Bus">--</span></div>
<div class="feedback-row"><span class="fb-label">最新ID</span><span class="fb-val mono" id="fb2LastId">--</span></div>
<div class="feedback-row"><span class="fb-label">DLC</span><span class="fb-val" id="fb2Dlc">--</span></div>
<div class="feedback-row"><span class="fb-label">FD/BRS/ESI</span><span class="fb-val" id="fb2Flags">--</span></div>
@@ -299,7 +299,7 @@
</div>
<div class="status-section-title" style="margin-top:16px;display:flex;align-items:center;gap:10px;flex-wrap:wrap;">
- <span>每 ID 快照表</span>
+ <span>?ID 快照?/span>
<select class="input" id="idsnapChannel" style="width:100px;text-transform:none;">
<option value="0">CAN0</option>
<option value="1">CAN1</option>
@@ -325,7 +325,7 @@
</aside>
<div class="toast" id="toast">
- <span class="toast-ico" id="toastIco">✓</span>
+ <span class="toast-ico" id="toastIco">?/span>
<span id="toastMsg">操作成功</span>
</div>
diff --git a/pages/index.html b/pages/index.html
index 469907b..17eec9b 100644
--- a/pages/index.html
+++ b/pages/index.html
@@ -1,27 +1,27 @@
<!--
index.html - ESP32 OTA 中继控制台主页面（DCU Mission Control · 美化版）
- 支持 WiFi OTA（ESP32 本机 + GD32 中继）和 BLE OTA 双通道固件升级。
+ 支持 WiFi OTA（ESP32 本机 + GD32 中继）和 BLE OTA 双通道固件升级?
配套脚本：app.js (WiFi OTA), ble_ota.js (BLE OTA)
- 子系统配色：ESP32=青绿 · GD32=琥珀 · BLE=蓝 · CAN=绿 · 内存/调试=紫
+ 子系统配色：ESP32=青绿 · GD32=琥珀 · BLE=?· CAN=?· 内存/调试=?
-->
<!DOCTYPE html>
<html lang="zh-CN">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0">
-<title>ESP32 OTA 中继控制台
-
+ESP32 OTA 中继控制?/title>
+<!-- ?favicon：阻止浏览器自动请求 /favicon.ico（本地静态服务无此文件会 404?-->
<link rel="icon" href="data:,">
<link rel="stylesheet" href="../css/base.css?v=857f83a5">
-<link rel="stylesheet" href="../css/layout.css?v=jumpconsole20260916b">
-<link rel="stylesheet" href="../css/components.css?v=quiet20260919a">
+<link rel="stylesheet" href="../css/layout.css?v=20260924a">
+<link rel="stylesheet" href="../css/components.css?v=20260924a">
<link rel="stylesheet" href="../css/can.css?v=c06f5688">
<link rel="stylesheet" href="../css/responsive.css?v=quiet20260919a">
</head>
<body>
<div class="container">
- <!-- ====== HEADER: 命令栏 ====== -->
+ <!-- ====== HEADER: 命令?====== -->
<header class="header-bar">
<div class="header-brand">
<span class="brand-logo" aria-hidden="true">
@@ -32,19 +32,19 @@
</svg>
</span>
<div class="brand-text">
- <strong>ESP32 OTA 中继控制台</strong>
+ <strong>ESP32 OTA 中继控制?/strong>
<span class="brand-sub">DCU · Robot_v2 · Relay</span>
</div>
</div>
<div class="header-status">
- <span class="pill offline" id="pillConn"><span class="indicator"></span><span id="pillConnTxt">未连接</span></span>
+ <span class="pill offline" id="pillConn"><span class="indicator"></span><span id="pillConnTxt">未连?/span></span>
<span class="pill" id="pillVer">v--</span>
<span class="pill" id="pillIP">--</span>
<span class="pill" id="pillRSSI">--</span>
<span class="pill" id="pillUptime">运行 --</span>
</div>
<div class="header-sub">
- <span class="pill">设备名: <b class="pill-val" id="deviceName">-</b></span>
+ <span class="pill">设备? <b class="pill-val" id="deviceName">-</b></span>
<span class="pill">设备ID: <b class="pill-val" id="deviceId">-</b></span>
</div>
</header>
@@ -69,7 +69,7 @@
<span class="target-tab-txt">BLE 蓝牙</span>
</button>
<button id="modeEcatBtn" class="btn target-tab-btn btn-outline" data-action="set-console-mode" data-arg="ecat" type="button">
- <span class="target-tab-ico" aria-hidden="true">⚡</span>
+ <span class="target-tab-ico" aria-hidden="true">?/span>
<span class="target-tab-txt">EtherCAT</span>
</button>
</div>
@@ -82,7 +82,7 @@
</div>
</div>
</div>
- <!-- BLE 模式：launch 风格连接按钮（checkbox 驱动：勾选=已连接） -->
+ <!-- BLE 模式：launch 风格连接按钮（checkbox 驱动：勾?已连接） -->
<div id="bleModeCards" style="display:none;">
<div class="ble-launch-wrap">
<label class="ble-launch-btn" for="bleConnectToggle" data-ble-state="idle">
@@ -120,22 +120,22 @@
</svg>
</div>
<div class="launch">
- <div style="--i:1">蓝</div>
- <div style="--i:2">牙</div>
- <div style="--i:3">连</div>
- <div style="--i:4">接</div>
+ <div style="--i:1">?/div>
+ <div style="--i:2">?/div>
+ <div style="--i:3">?/div>
+ <div style="--i:4">?/div>
</div>
<div class="start">
<div class="text1">等待连接</div>
<div class="text2">
- <span style="--n:0">已</span>
- <span style="--n:1">连</span>
- <span style="--n:2">接</span>
+ <span style="--n:0">?/span>
+ <span style="--n:1">?/span>
+ <span style="--n:2">?/span>
<span style="--n:3">.</span>
<span style="--n:4">.</span>
<span style="--n:5">.</span>
</div>
- <div class="text3">连接中...</div>
+ <div class="text3">连接?..</div>
</div>
</div>
</div>
@@ -145,29 +145,29 @@
<div class="ble-launch-hint">点击按钮连接 / 断开蓝牙设备</div>
</div>
</div>
- <!-- EtherCAT 模式：APP ↔ BOOT 角色徽章 + 一键切换 -->
+ <!-- EtherCAT 模式：APP ?BOOT 角色徽章 + 一键切?-->
<div id="ecatModeCards" style="display:none;">
<div class="jump-role-panel">
<div class="jump-role-badge" id="bootEcatRoleBadge" data-role="unknown"
data-action="boot-ecat-probe" role="button" tabindex="0"
- title="点击重新探测对端角色（APP / BOOT）">
+ title="点击重新探测对端角色（APP / BOOT?>
<span class="jump-role-label">当前角色 · 点击探测</span>
- <strong id="bootEcatRoleTxt">未探测</strong>
- <span class="jump-role-sw" id="bootEcatRoleSw">—</span>
+ <strong id="bootEcatRoleTxt">未探?/strong>
+ <span class="jump-role-sw" id="bootEcatRoleSw">?/span>
</div>
<div class="jump-role-meta">
- <div><span>设备名 0x1008</span><b id="bootEcatName">—</b></div>
- <div><span>软件版本 0x100A</span><b id="bootEcatSw">—</b></div>
- <div><span>从站放行</span><b id="bootEcatArm">—</b></div>
- <div><span>主站缓存 / 已写 flash</span><b id="bootEcatRecv">—</b></div>
+ <div><span>设备?0x1008</span><b id="bootEcatName">?/b></div>
+ <div><span>软件版本 0x100A</span><b id="bootEcatSw">?/b></div>
+ <div><span>从站放行</span><b id="bootEcatArm">?/b></div>
+ <div><span>主站缓存 / 已写 flash</span><b id="bootEcatRecv">?/b></div>
</div>
</div>
<button class="btn btn-primary btn-block jump-btn-primary" id="bootEcatRebootBtn"
data-action="boot-ecat-reboot"
- title="按对端身份自动选方向：APP→0x2502 进 BOOT；BOOT→0x2503 跳回 APP">让应用回引导程序</button>
+ title="按对端身份自动选方向：APP?x2502 ?BOOT；BOOT?x2503 跳回 APP">让应用回引导程序</button>
</div>
- <!-- 连接文案只在顶栏 #pillConnTxt 显示，此处不再重复 -->
+ <!-- 连接文案只在顶栏 #pillConnTxt 显示，此处不再重?-->
</div>
</div>
@@ -177,7 +177,7 @@
<div class="card-body">
<div class="target-tab-row" id="targetTabRow">
<button id="targetGd32Tab" class="btn target-tab-btn btn-outline" data-action="select-flash-target" data-arg="gd32" type="button">
- <span class="target-tab-ico" aria-hidden="true">⚙</span>
+ <span class="target-tab-ico" aria-hidden="true">?/span>
<span class="target-tab-txt">GD32</span>
</button>
<button id="targetEsp32Tab" class="btn target-tab-btn btn-primary" data-action="select-flash-target" data-arg="esp32" type="button">
@@ -189,7 +189,7 @@
<div id="wifiEsp32UploadPane">
<div class="upload-zone upload-zone-sm" id="uploadZoneEsp32" data-action="pick-shared-firmware" data-arg="esp32">
<div class="upload-ico">📤</div>
- <h4>点击或拖拽 ESP32 固件</h4>
+ <h4>点击或拖?ESP32 固件</h4>
</div>
<input type="file" id="fileInputEsp32" accept=".bin" style="display:none;">
<div class="file-info" id="fileInfoEsp32">
@@ -211,8 +211,8 @@
<div id="wifiGd32UploadPane" style="display:none;">
<div class="upload-zone upload-zone-sm" id="uploadZoneGd32" data-action="pick-shared-firmware" data-arg="gd32">
<div class="upload-ico">📤</div>
- <h4>点击或拖拽 GD32 固件</h4>
- <p>支持 .bin 和 .hex（自动转换）</p>
+ <h4>点击或拖?GD32 固件</h4>
+ <p>支持 .bin ?.hex（自动转换）</p>
</div>
<input type="file" id="fileInputGd32" accept=".hex,.bin" style="display:none;">
<div class="file-info" id="fileInfoGd32">
@@ -235,7 +235,7 @@
<div class="upload-zone upload-zone-sm" id="uploadZone" style="margin-bottom:12px;" data-action="ble-pick-file">
<div class="upload-ico">📤</div>
<h4>点击或拖拽文件到此处</h4>
- <p>支持 .bin 和 .hex 格式</p>
+ <p>支持 .bin ?.hex 格式</p>
</div>
<input id="firmwareFile" type="file" accept=".bin,.hex,application/octet-stream" style="display:none;">
<div class="file-info" id="fileInfo">
@@ -246,20 +246,20 @@
<div class="file-info-grid">
<div class="file-meta-item"><span>类型</span><b id="fileType">-</b></div>
<div class="file-meta-item"><span>大小</span><b id="fileSize">0 B</b></div>
- <div class="file-meta-item"><span>总包数</span><b id="packetCount">0</b></div>
- <div class="file-meta-item"><span>已写包</span><b id="sentCount">0</b></div>
+ <div class="file-meta-item"><span>总包?/span><b id="packetCount">0</b></div>
+ <div class="file-meta-item"><span>已写?/span><b id="sentCount">0</b></div>
</div>
<div class="file-meta-item" style="margin-top:8px;">
<span>SHA-256</span>
<b id="fileSha256" style="font-size:10px;word-break:break-all;font-family:var(--font-mono);">-</b>
</div>
</div>
- <div class="footer-note">建议使用 Chrome / Edge。每包 Payload 与触发命令由系统按目标自动设置。</div>
+ <div class="footer-note">建议使用 Chrome / Edge。每?Payload 与触发命令由系统按目标自动设置?/div>
</div>
<div style="height:12px"></div>
<div id="wifiEsp32ActionPane">
<button class="btn btn-primary btn-block" id="uploadEsp32Btn" data-action="start-upload" data-arg="esp32" disabled>
- 上传并升级 ESP32
+ 上传并升?ESP32
</button>
</div>
<div id="wifiGd32ActionPane" style="display:none;">
@@ -268,13 +268,13 @@
</button>
</div>
<div class="row-2" id="bleActionPane" style="display:none;">
- <button id="autoFlashBtn" class="btn btn-primary" disabled>一键刷写</button>
+ <button id="autoFlashBtn" class="btn btn-primary" disabled>一键刷?/button>
<button id="abortBtn" class="btn btn-danger" disabled>中止任务</button>
</div>
- <!-- EtherCAT 直灌面板：只在「设备连接 = EtherCAT」时显示（applySharedModeUi 控制）。
- 固件复用同一个 #fileInputGd32 与同一条 processFile 转换/校验，
- 所以这里不出现第二份 HEX 解析器；"能不能灌"只由 BOOT 里的 ecatArmed()
- 裁决，前端不复制判据（见 js/ota/boot_ecat.js 头注）。 -->
+ <!-- EtherCAT 直灌面板：只在「设备连?= EtherCAT」时显示（applySharedModeUi 控制）?
+ 固件复用同一?#fileInputGd32 与同一?processFile 转换/校验?
+ 所以这里不出现第二?HEX 解析器；"能不能灌"只由 BOOT 里的 ecatArmed()
+ 裁决，前端不复制判据（见 js/ota/boot_ecat.js 头注）?-->
<div id="bootEcatPane" style="display:none;">
<button class="btn btn-block" id="bootEcatRunBtn" data-action="boot-ecat-run" disabled>EtherCAT 刷写 APP</button>
<button class="btn btn-danger btn-block" id="bootEcatAbortBtn"
@@ -284,15 +284,15 @@
</div>
</div>
- <!-- 4. Flash Progress + Stage Flow（WiFi/BLE/EtherCAT 共用同一张进度卡） -->
+ <!-- 4. Flash Progress + Stage Flow（WiFi/BLE/EtherCAT 共用同一张进度卡?-->
<div class="card card--esp32" id="progressCard">
- <div class="card-head"><span class="ico">⚡</span> 刷写进度与流程阶段</div>
+ <div class="card-head"><span class="ico">?/span> 刷写进度与流程阶?/div>
<div class="card-body">
<!-- Phase step indicators -->
<div class="progress-phase-row">
<div class="pp-step active" id="ppEsp32"><span class="pp-ico">📦</span><span class="pp-txt">ESP32 OTA</span></div>
<div class="pp-step" id="ppGd32Ota"><span class="pp-ico">📤</span><span class="pp-txt">GD32 OTA</span></div>
- <div class="pp-step" id="ppEcatOta"><span class="pp-ico">⚡</span><span class="pp-txt">EtherCAT</span></div>
+ <div class="pp-step" id="ppEcatOta"><span class="pp-ico">?/span><span class="pp-txt">EtherCAT</span></div>
</div>
<!-- Unified progress bar -->
<div class="progress-wrap show" id="progressWrap">
@@ -309,7 +309,7 @@
<div class="stage-node" id="es2"><div class="stage-dot">2</div><div class="stage-label">OTA 写入</div><div class="stage-detail" id="esd2"></div></div>
<div class="stage-node" id="es3"><div class="stage-dot">3</div><div class="stage-label">SHA-256 校验</div><div class="stage-detail" id="esd3"></div></div>
<div class="stage-node" id="es4"><div class="stage-dot">4</div><div class="stage-label">应用固件</div><div class="stage-detail" id="esd4"></div></div>
- <div class="stage-node" id="es5"><div class="stage-dot">5</div><div class="stage-label">重启中</div><div class="stage-detail" id="esd5"></div></div>
+ <div class="stage-node" id="es5"><div class="stage-dot">5</div><div class="stage-label">重启?/div><div class="stage-detail" id="esd5"></div></div>
<div class="stage-node" id="es6"><div class="stage-dot">6</div><div class="stage-label">启动完成</div><div class="stage-detail" id="esd6"></div></div>
</div>
<!-- BLE OTA stages -->
@@ -334,7 +334,7 @@
<div class="stage-flow" id="ecatStages" style="display:none;">
<div class="stage-node" id="ec1"><div class="stage-dot">1</div><div class="stage-label">读取镜像</div><div class="stage-detail" id="ecd1"></div></div>
<div class="stage-node" id="ec2"><div class="stage-dot">2</div><div class="stage-label">推到主站</div><div class="stage-detail" id="ecd2"></div></div>
- <div class="stage-node" id="ec3"><div class="stage-dot">3</div><div class="stage-label">交接进 BOOT</div><div class="stage-detail" id="ecd3"></div></div>
+ <div class="stage-node" id="ec3"><div class="stage-dot">3</div><div class="stage-label">交接?BOOT</div><div class="stage-detail" id="ecd3"></div></div>
<div class="stage-node" id="ec4"><div class="stage-dot">4</div><div class="stage-label">确认引导程序</div><div class="stage-detail" id="ecd4"></div></div>
<div class="stage-node" id="ec5"><div class="stage-dot">5</div><div class="stage-label">邮箱灌写</div><div class="stage-detail" id="ecd5"></div></div>
<div class="stage-node" id="ec6"><div class="stage-dot">6</div><div class="stage-label">从站复位</div><div class="stage-detail" id="ecd6"></div></div>
@@ -362,35 +362,35 @@
<!-- Primary status -->
<div class="card card--status">
- <div class="card-head"><span class="ico">📡</span> 设备状态</div>
+ <div class="card-head"><span class="ico">📡</span> 设备状?/div>
<div class="card-body">
<div class="badge-grid">
<div class="badge-stat">
<div class="v err" id="bConn">离线</div>
- <div class="k">连接状态</div>
+ <div class="k">连接状?/div>
</div>
<div class="badge-stat badge-stat-click" id="healthBadge"
role="button" tabindex="0" title="点击查看启动自检"
aria-expanded="false" aria-controls="healthBootPanel">
<div class="v" id="mHealth">--</div>
- <div class="k">健康状态 <span class="health-boot-hint">▾ 自检</span></div>
+ <div class="k">健康状?<span class="health-boot-hint">?自检</span></div>
</div>
<div class="badge-stat">
<div class="v err" id="connBadge">offline</div>
<div class="k">BLE 连接</div>
</div>
<div class="badge-stat">
- <div class="v" id="gattState" style="font-size:16px;">未就绪</div>
- <div class="k">GATT 状态</div>
+ <div class="v" id="gattState" style="font-size:16px;">未就?/div>
+ <div class="k">GATT 状?/div>
</div>
</div>
- <!-- 启动自检：点健康状态展开，默认折叠 -->
+ <!-- 启动自检：点健康状态展开，默认折?-->
<div class="health-boot-panel collapsed" id="healthBootPanel" hidden>
<div class="health-boot-head">
<span class="health-boot-title">启动自检</span>
<span class="health-boot-summary" id="mBootResult">--</span>
</div>
- <div class="health-boot-failed">失败/跳过：<b id="mBootFailed">--</b></div>
+ <div class="health-boot-failed">失败/跳过?b id="mBootFailed">--</b></div>
<div class="boot-module-list" id="bootModuleList" aria-label="启动模块列表"></div>
</div>
</div>
@@ -402,10 +402,10 @@
<div class="card-body">
<div class="metric-grid">
<div class="metric"><div class="k">ESP32 温度</div><div class="v" id="mTemp">--</div></div>
- <div class="metric"><div class="k">GD32 温度</div><div class="v" id="mGd32Temp" title="SPI 0xC4；片内温度">--</div></div>
- <div class="metric"><div class="k">GD32 负载</div><div class="v" id="mGd32Load" title="DCU_APP CPU 负载率：中断+非延迟处理(任务派发/OTA中继)占墙钟比，不含常开轮询与空转；EtherCAT 输入 PDO 段5，1s 窗口">--</div></div>
- <div class="metric"><div class="k">输入 VCC</div><div class="v" id="mVcc" title="PA6 分压反推：VCC—47k—ADC—4.7k—GND">--</div></div>
- <div class="metric"><div class="k">VDDA</div><div class="v" id="mVdda" title="片内 VREFINT 反推的 MCU 模拟供电">--</div></div>
+ <div class="metric"><div class="k">GD32 温度</div><div class="v" id="mGd32Temp" title="SPI 0xC4；片内温?>--</div></div>
+ <div class="metric"><div class="k">GD32 负载</div><div class="v" id="mGd32Load" title="DCU_APP CPU 负载率：中断+非延迟处?任务派发/OTA中继)占墙钟比，不含常开轮询与空转；EtherCAT 输入 PDO ??s 窗口">--</div></div>
+ <div class="metric"><div class="k">输入 VCC</div><div class="v" id="mVcc" title="PA6 分压反推：VCC?7k—ADC?.7k—GND">--</div></div>
+ <div class="metric"><div class="k">VDDA</div><div class="v" id="mVdda" title="片内 VREFINT 反推?MCU 模拟供电">--</div></div>
<div class="metric"><div class="k">GD32 APP</div><div class="v" id="mGd32App">--</div></div>
<div class="metric"><div class="k">GD32 BOOT</div><div class="v" id="mGd32Boot">--</div></div>
<div class="metric"><div class="k">GD32 自检</div><div class="v" id="mGd32Init" title="GD32 APP 上电初始化状态（SPI 0xA3；悬停看失败模块/复位源）">--</div></div>
@@ -415,13 +415,13 @@
<div class="card card--mem" style="display:none">
<div class="card-head">
- <span class="ico">🧾</span> 系统状态 (/system/status)
+ <span class="ico">🧾</span> 系统状?(/system/status)
<button class="btn btn-ghost btn-sm card-head-btn" data-action="refresh-system-status">刷新</button>
</div>
<div class="card-body">
<div class="status-kv-grid">
- <div class="status-kv"><span class="k">OTA 状态</span><b id="sOtaState">--</b></div>
- <div class="status-kv"><span class="k">Relay 状态</span><b id="sRelayState">--</b></div>
+ <div class="status-kv"><span class="k">OTA 状?/span><b id="sOtaState">--</b></div>
+ <div class="status-kv"><span class="k">Relay 状?/span><b id="sRelayState">--</b></div>
<div class="status-kv"><span class="k">刷新时间</span><b id="sStatusUpdated">--</b></div>
</div>
</div>
@@ -430,7 +430,7 @@
<!-- Log panel -->
<div class="card card--mem log-panel">
<div class="card-head" style="justify-content:space-between;">
- <span><span class="ico">🖥️</span> 调试日志</span>
+ <span><span class="ico">🖥?/span> 调试日志</span>
<span style="font-size:11px;font-weight:400;color:var(--text-label);text-transform:none;letter-spacing:0;font-family:var(--font-mono);">UDP :6666</span>
</div>
<div class="card-body">
@@ -444,10 +444,10 @@
<button class="btn btn-ghost btn-sm" onclick="toggleAutoScroll()" id="autoScrollBtn" title="切换自动滚动">📌 自动滚动</button>
</div>
<div class="log-scroll" id="logScroll">
- <div class="log-line"><span class="lt">[--:--:--]</span><span class="lv I">I</span><span class="lg">[系统]</span><span class="lm">等待上位机连接...</span></div>
+ <div class="log-line"><span class="lt">[--:--:--]</span><span class="lv I">I</span><span class="lg">[系统]</span><span class="lm">等待上位机连?..</span></div>
</div>
<div class="log-foot">
- <span>共 <span id="logCount">0</span> 条</span>
+ <span>?<span id="logCount">0</span> ?/span>
<button class="btn btn-ghost btn-sm" onclick="clearLogs()">清除日志</button>
</div>
</div>
@@ -457,15 +457,15 @@
</div>
</div>
-<!-- 右侧滑出：堆与任务栈（默认露出一条，悬停展开） -->
-<aside class="sys-drawer" id="sysDrawer" aria-label="堆与任务栈">
- <div class="sys-drawer-rail" title="悬停展开堆与任务栈">
+<!-- 右侧滑出：堆与任务栈（默认露出一条，悬停展开?-->
+<aside class="sys-drawer" id="sysDrawer" aria-label="堆与任务?>
+ <div class="sys-drawer-rail" title="悬停展开堆与任务?>
<span class="sys-drawer-rail-ico">🧠</span>
- <span class="sys-drawer-rail-text">堆与任务栈</span>
+ <span class="sys-drawer-rail-text">堆与任务?/span>
</div>
<div class="sys-drawer-panel card card--mem">
<div class="card-head sys-drawer-head">
- <span class="ico">🧠</span> 堆与任务栈
+ <span class="ico">🧠</span> 堆与任务?
<button class="btn btn-ghost btn-sm card-head-btn" type="button" onclick="refreshSystemStatusNow(event)">刷新</button>
</div>
<div class="card-body sys-drawer-body">
@@ -480,19 +480,19 @@
<div class="heap-detail-row">
<span>空闲: <b id="cpuIdlePct">--</b></span>
<span>窗口: <b id="cpuSampleMs">--</b></span>
- <span>任务数: <b id="cpuTaskCount">--</b></span>
+ <span>任务? <b id="cpuTaskCount">--</b></span>
</div>
</div>
- <div class="status-task-list cpu-task-list list-scroll-top3" id="cpuTaskList" title="按占用降序，默认显示前 3 项，下滑查看其余">
- <div class="status-empty">等待下一次状态刷新...</div>
+ <div class="status-task-list cpu-task-list list-scroll-top3" id="cpuTaskList" title="按占用降序，默认显示?3 项，下滑查看其余">
+ <div class="status-empty">等待下一次状态刷?..</div>
</div>
<div class="status-section-title">内存概况</div>
<div class="heap-group">
- <div class="heap-group-title">芯片 SRAM 总览 <span style="font-weight:400;color:var(--text-dim);font-size:10px;">(ESP32-C3 · 静态段可拆分)</span></div>
+ <div class="heap-group-title">芯片 SRAM 总览 <span style="font-weight:400;color:var(--text-dim);font-size:10px;">(ESP32-C3 · 静态段可拆?</span></div>
<div class="heap-bar-row">
<span class="heap-bar-text" id="memSramUsage">--</span>
- <span class="heap-bar-track mem-sram-track" id="memSramTrack" title="紫=IRAM · 橙=.data · 灰=.bss · 青=堆已用 · 暗=堆空闲">
+ <span class="heap-bar-track mem-sram-track" id="memSramTrack" title="?IRAM · ?.data · ?.bss · ?堆已?· ?堆空?>
<span class="mem-seg mem-seg-iram" id="memSegIram"></span>
<span class="mem-seg mem-seg-data" id="memSegData"></span>
<span class="mem-seg mem-seg-bss" id="memSegBss"></span>
@@ -505,17 +505,17 @@
<span class="heap-legend-item"><i class="mem-dot mem-dot-iram"></i>IRAM <b id="mIram">--</b></span>
<span class="heap-legend-item"><i class="mem-dot mem-dot-data"></i>.data <b id="mData">--</b></span>
<span class="heap-legend-item"><i class="mem-dot mem-dot-bss"></i>.bss <b id="mBss">--</b></span>
- <span class="heap-legend-item"><i class="mem-dot mem-dot-used"></i>堆已用 <b id="mHeapUsed">--</b></span>
- <span class="heap-legend-item"><i class="mem-dot mem-dot-free"></i>堆空闲 <b id="mHeapFree">--</b></span>
+ <span class="heap-legend-item"><i class="mem-dot mem-dot-used"></i>堆已?<b id="mHeapUsed">--</b></span>
+ <span class="heap-legend-item"><i class="mem-dot mem-dot-free"></i>堆空?<b id="mHeapFree">--</b></span>
</div>
<div class="heap-detail-row">
<span>SOC 窗口: <b id="mSramSoc">--</b></span>
<span>尾部保留: <b id="mReservedTail">--</b></span>
- <span>任务栈合计: <b id="mTaskStackTotal">--</b></span>
+ <span>任务栈合? <b id="mTaskStackTotal">--</b></span>
</div>
</div>
<div class="heap-group">
- <div class="heap-group-title">内部 DRAM 堆 <span style="font-weight:400;color:var(--text-dim);font-size:10px;">(malloc 数据堆)</span></div>
+ <div class="heap-group-title">内部 DRAM ?<span style="font-weight:400;color:var(--text-dim);font-size:10px;">(malloc 数据?</span></div>
<div class="heap-bar-row">
<span class="heap-bar-text" id="memInternalUsage">--</span>
<span class="heap-bar-track"><span class="heap-bar-fill" id="memInternalFill"></span></span>
@@ -523,26 +523,26 @@
</div>
<div class="heap-detail-row">
<span>空闲: <b id="mInternalHeap">--</b></span>
- <span>最低空闲: <b id="mInternalMinHeap">--</b></span>
+ <span>最低空? <b id="mInternalMinHeap">--</b></span>
<span>最大块: <b id="mInternalLargestBlock">--</b></span>
</div>
<div class="heap-detail-row">
<span>DMA 空闲: <b id="mDmaFree">--</b></span>
- <span>RTC 堆空闲: <b id="mRtcFree">--</b></span>
+ <span>RTC 堆空? <b id="mRtcFree">--</b></span>
<span>分配块数: <b id="mAllocBlocks">--</b></span>
</div>
</div>
- <div class="status-section-title">任务栈水位 <span style="font-weight:400;text-transform:none;letter-spacing:0;color:var(--text-dim);">（峰值占用 Top，下滑查看）</span></div>
- <div class="status-task-list list-scroll-top3" id="taskStackList" title="按峰值占用降序，默认显示前 3 项，下滑查看其余">
- <div class="status-empty">等待状态刷新...</div>
+ <div class="status-section-title">任务栈水?<span style="font-weight:400;text-transform:none;letter-spacing:0;color:var(--text-dim);">（峰值占?Top，下滑查看）</span></div>
+ <div class="status-task-list list-scroll-top3" id="taskStackList" title="按峰值占用降序，默认显示?3 项，下滑查看其余">
+ <div class="status-empty">等待状态刷?..</div>
</div>
<div class="status-subfold collapsed" id="statusJsonFold">
<div class="status-subfold-head" role="button" tabindex="0"
onclick="this.parentElement.classList.toggle('collapsed')"
onkeydown="if(event.key==='Enter'||event.key===' '){event.preventDefault();this.parentElement.classList.toggle('collapsed');}">
<span class="status-section-title status-subfold-title">原始 JSON</span>
- <span class="collapse-arrow">▼</span>
+ <span class="collapse-arrow">?/span>
</div>
<div class="status-subfold-body">
<pre class="status-json" id="statusJson">--</pre>
@@ -554,20 +554,20 @@
<!-- Toast -->
<div class="toast" id="toast">
- <span class="toast-ico" id="toastIco">✓</span>
+ <span class="toast-ico" id="toastIco">?/span>
<span id="toastMsg">操作成功</span>
</div>
<!-- app 窗口租约：本页会自动拉起 EtherCAT PDO 循环（GD32 负载），
- 必须持有租约，否则服务端在租约归零宽限期后会把循环又停掉。
- 与 tabs.html / motor.html 并存时连接数>1，互不影响。 -->
+ 必须持有租约，否则服务端在租约归零宽限期后会把循环又停掉?
+ ?tabs.html / motor.html 并存时连接数>1，互不影响?-->
<script src="../js/common/app-lease.js"></script>
<script type="module" src="../js/app.js?v=20260919a"></script>
<script type="module" src="../js/ota/console-mode.js?v=20260916d"></script>
<script type="module" src="../js/ble_ota.js?v=20260901d"></script>
-<!-- 内联兜底：同步 BLE 按钮 data-ble-state 与 checkbox.checked
- 不依赖 ES 模块（子模块可能被浏览器缓存为旧版，不含 data-ble-state 逻辑）。
- connecting 态由 session.js click handler 设置，此处跳过不覆盖。 -->
+<!-- 内联兜底：同?BLE 按钮 data-ble-state ?checkbox.checked
+ 不依?ES 模块（子模块可能被浏览器缓存为旧版，不含 data-ble-state 逻辑）?
+ connecting 态由 session.js click handler 设置，此处跳过不覆盖?-->
<script type="module">
setInterval(function() {
var btn = document.querySelector('.ble-launch-btn');
diff --git a/scripts/_watch_conn.py b/scripts/_watch_conn.py
deleted file mode 100644
index 76705ed..0000000
--- a/scripts/_watch_conn.py
+++ /dev/null
@@ -1,48 +0,0 @@
-#!/usr/bin/env python3
-"""模拟页面 pollStatus：5s 超时算失败，连续失败即离线。"""
-import time
-import urllib.request
-import urllib.error
-
-URL = "http://192.168.31.127/system/status"
-TIMEOUT = 5.0
-POLL = 1.0
-WINDOW = 75
-
-
-def probe():
- t0 = time.time()
- try:
- with urllib.request.urlopen(URL, timeout=TIMEOUT) as r:
- r.read(64)
- return True, "HTTP %s" % r.status, time.time() - t0
- except urllib.error.HTTPError as e:
- return False, "HTTP %s" % e.code, time.time() - t0
- except Exception as e:
- return False, "%s: %s" % (type(e).__name__, str(e)[:80]), time.time() - t0
-
-
-def main():
- print("=== monitor start (mimic pollStatus) ===", flush=True)
- prev = None
- fails = 0
- t_end = time.time() + WINDOW
- while time.time() < t_end:
- ok, msg, dt = probe()
- now = time.strftime("%H:%M:%S")
- if ok:
- fails = 0
- state = "ONLINE"
- else:
- fails += 1
- state = "FAIL#%d" % fails + (" -> OFFLINE" if fails >= 1 else "")
- mark = " *" if state != prev else ""
- print("[%s] %s (%s, %.0fms)%s" % (now, state, msg, dt * 1000, mark), flush=True)
- if state != prev:
- prev = state
- time.sleep(POLL)
- print("=== monitor end ===", flush=True)
-
-
-if __name__ == "__main__":
- main()
diff --git a/scripts/anal_ecat_jumps.py b/scripts/anal_ecat_jumps.py
deleted file mode 100644
index 4b434db..0000000
--- a/scripts/anal_ecat_jumps.py
+++ /dev/null
@@ -1,188 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""事后分析 rec_ecat_slots.py 落盘的 ECAT 原始流：相邻数据大跳变检测。
-
-思路（按用户指定）：不看协议判据，只看数值形态。同一台电机的 STATUS 是连续量，
-相邻两帧（按 seq 排序）之间出现"跳出去又立刻跳回来"的孤立尖峰，就是这一帧的字节
-被拼坏了 —— 真突变会保持住（下一帧仍在新值附近），不会一帧就回头。
-
-指标：每个 (node,字段) 先取全体相邻差的稳健尺度 scale = median(|Δ|)，
- 大跳变 : |v[i]-v[i-1]| > K*scale
- 孤立尖峰 : 大跳变 且 |v[i+1]-v[i-1]| <= 2*K*scale ← 撕裂签名
- 跳变保持 : 大跳变 但下一帧不回头的（真实突变/新参考值），只计数不算异常
-
---selftest 会把"前 j 字节取新帧、其余取上一帧"的混合帧注入实测数据，
-逐 j 报告检出率：证明这套判据对撕裂本身有灵敏度（否则 0 报警没有意义）。
-
-用法:
- python scripts/anal_ecat_jumps.py ecat_slots_raw.csv [--k 8]
- python scripts/anal_ecat_jumps.py ecat_slots_raw.csv --selftest
-"""
-import csv
-import statistics
-import struct
-import sys
-
-# (名称, 偏移, 解码器)
-FIELDS = [
- ("mcuTemp", 0, lambda b: struct.unpack_from("<h", b, 0)[0] * 0.01),
- ("motTemp", 2, lambda b: struct.unpack_from("<h", b, 2)[0] * 0.01),
- ("uCur", 4, lambda b: struct.unpack_from("<h", b, 4)[0]),
- ("vCur", 6, lambda b: struct.unpack_from("<h", b, 6)[0]),
- ("wCur", 8, lambda b: struct.unpack_from("<h", b, 8)[0]),
- ("flags", 10, lambda b: b[10]),
- ("pwr_V", 11, lambda b: struct.unpack_from("<H", b, 11)[0] * 0.001),
- ("rtAngle", 13, lambda b: struct.unpack_from("<f", b, 13)[0]),
- ("rtVel", 17, lambda b: struct.unpack_from("<f", b, 17)[0]),
- ("rtCur", 21, lambda b: struct.unpack_from("<f", b, 21)[0]),
- ("testF", 25, lambda b: struct.unpack_from("<f", b, 25)[0]),
- ("testU16", 29, lambda b: struct.unpack_from("<H", b, 29)[0]),
- ("cpu%", 31, lambda b: b[31]),
- ("initSt", 32, lambda b: struct.unpack_from("<I", b, 32)[0]),
-]
-
-
-def load(path):
- """返回 {node: [(seq, 36B bytes), ...]} 按 seq 升序。"""
- per = {}
- with open(path, "r", encoding="ascii", errors="ignore") as f:
- for row in csv.reader(f):
- if not row or row[0] != "M":
- continue
- try:
- node, ch, seq = int(row[2]), int(row[3]), int(row[4])
- payload = bytes.fromhex(row[7])
- except (ValueError, IndexError):
- continue
- if node <= 0 or len(payload) < 36:
- continue
- per.setdefault(node, []).append((seq, payload))
- for v in per.values():
- v.sort(key=lambda x: x[0])
- return per
-
-
-def decode(payload):
- out = {}
- for name, off, fn in FIELDS:
- try:
- out[name] = float(fn(payload))
- except Exception:
- out[name] = None
- return out
-
-
-def analyze(per, k=8.0, verbose=True):
- """逐 (node,字段) 找孤立尖峰。返回总尖峰数与明细列表。"""
- spikes, holds, details = 0, 0, []
- tails = []
- for node, rows in sorted(per.items()):
- if len(rows) < 40:
- continue
- cols = [decode(p) for _, p in rows]
- for name, _off, _fn in FIELDS:
- v = [c[name] for c in cols]
- finite = [x for x in v if x is not None and x == x and abs(x) != float("inf")]
- if len(finite) < 40:
- continue
- deltas = [abs(v[i] - v[i - 1]) for i in range(1, len(v))
- if v[i] is not None and v[i - 1] is not None
- and v[i] == v[i] and v[i - 1] == v[i - 1]]
- if not deltas:
- continue
- # 尺度取 |Δ| 的 p99 分位数（不是 median）：量化字段（mcuTemp 这类）
- # 的 median(|Δ|)=0，用 median 会让阈值塌到 eps，正常的 1LSB 抖动
- # 全被判成尖峰。p99 代表"全体相邻差的尾部"，阈值 = K×p99 才是
- # "远超正常抖动尾巴"的意思。
- ordered = sorted(deltas)
- scale = max(ordered[min(len(ordered) - 1, int(len(ordered) * 0.99))], 1e-9)
- mx, mxctx = 0.0, None
- for i in range(1, len(v) - 1):
- a, b, c = v[i - 1], v[i], v[i + 1]
- if None in (a, b, c) or any(x != x for x in (a, b, c)):
- continue
- d = abs(b - a)
- if d > mx:
- mx, mxctx = d, (a, b, c)
- if d <= k * scale:
- continue
- back = abs(c - a) <= 2 * k * scale
- if back:
- spikes += 1
- if len(details) < 25:
- details.append((node, name, rows[i][0], scale, a, b, c,
- rows[i][1].hex()))
- else:
- holds += 1
- if mxctx and mx > 3 * scale and len(tails) < 60:
- tails.append((node, name, scale, mx, mxctx))
- if verbose:
- print(f"孤立尖峰(撕裂签名) = {spikes} 跳变保持(真实突变) = {holds}")
- for node, name, seq, scale, a, b, c, hexs in details[:12]:
- print(f" node{node} {name}: seq={seq} 尺度={scale:.4g} "
- f"{a:.6g} -> {b:.6g} -> {c:.6g}")
- print(f" payload={hexs}")
- if tails:
- tails.sort(key=lambda x: -(x[3] / max(x[2], 1e-12)))
- print("各字段最大相邻差（倍数 = 最大|Δ| / p99 尺度）：")
- for node, name, scale, mx, (a, b, c) in tails[:14]:
- print(f" node{node} {name:9s} p99尺度={scale:.4g} 最大|Δ|={mx:.4g} "
- f"({mx/max(scale,1e-12):.0f}×) {a:.6g} -> {b:.6g} -> {c:.6g}")
- return spikes, holds, details
-
-
-def selftest(per, k=8.0, n_inject=40):
- """注入混合帧，测各边界 j 的检出率（证明判据有灵敏度）。"""
- import random
- random.seed(7)
- base_sp, _bh, _bd = analyze(per, k=k, verbose=False)
- nodes = [n for n, r in per.items() if len(r) >= 60]
- if not nodes:
- print("自检跳过：数据太短（每节点需 >=60 帧）")
- return
- print(f"自检：基线孤立尖峰 = {base_sp}；向实测流注入『新帧前缀 j 字节 + 上一帧后缀』"
- f"混合帧，每节点各 {n_inject} 次")
- print(" j(字节) 净增尖峰/注入总数 检出率")
- for j in (1, 4, 8, 12, 13, 16, 17, 20, 21, 24, 25, 28, 31, 32, 35):
- rnd = random.Random(j)
- merged = {}
- for node in nodes:
- rows = per[node]
- idxs = rnd.sample(range(2, len(rows) - 2), min(n_inject, len(rows) - 6))
- new = list(rows)
- for i in idxs:
- cur, prev = rows[i][1], rows[i - 1][1]
- new[i] = (rows[i][0], cur[:j] + prev[j:36])
- merged[node] = new
- sp, _h, det = analyze(merged, k=k, verbose=False)
- inj_n = n_inject * len(nodes)
- net = sp - base_sp
- worst = max((abs(d[5] - d[4]) for d in det), default=0.0)
- print(f" j={j:<4d} {net:5d}/{inj_n:<5d} {100.0*net/inj_n:5.1f}% "
- f"最大偏离≈{worst:.4g}")
- print("（j 越大越靠尾部字节，混合后数值偏离越小、越难检出 —— 这是形态判据的物理上限）")
-
-
-def main():
- args = [a for a in sys.argv[1:] if not a.startswith("--")]
- if not args:
- print(__doc__)
- return
- path = args[0]
- k = 8.0
- if "--k" in sys.argv:
- k = float(sys.argv[sys.argv.index("--k") + 1])
- per = load(path)
- tot = sum(len(v) for v in per.values())
- print(f"读入 {path}: {tot} 帧，节点 {sorted(per)}")
- for node, rows in sorted(per.items()):
- print(f" node{node}: {len(rows)} 个不同 seq，"
- f"seq 范围 {rows[0][0]}..{rows[-1][0]}")
- if "--selftest" in sys.argv:
- selftest(per, k=k)
- return
- analyze(per, k=k)
-
-
-if __name__ == "__main__":
- main()
diff --git a/scripts/build_ecat_report_html.py b/scripts/build_ecat_report_html.py
deleted file mode 100644
index 9e20deb..0000000
--- a/scripts/build_ecat_report_html.py
+++ /dev/null
@@ -1,677 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""把扫描数据渲染成自包含 HTML 调研报告（图表为内联 SVG）。
-
-为什么手写 SVG 而不用 matplotlib：产出的 HTML 要**单文件自包含**，不引外部
-JS/CSS/图片依赖，也不能要求阅读者装 matplotlib；SVG 直接内嵌，浏览器打开即看，
-且数值标注可以精确控制位置（matplotlib 的 annotate 在这类密集小图上很容易压线）。
-
-纪律同 plot_ecat_sweep.py：
- * 图里画的**只有实测点**。模型/参考一律用虚线并写明"外推"，不与实测混同。
- * 无功效的轴（整段恒零）不画成"平坦的零线"，改成功效声明块。
- * 从站停报的档位（wkc 不达预期 / load_perm 为残值）一律排除出图，并在页面上
- 显式列出被排除的档位与原因 —— 空图比假图诚实。
-
-用法：
- python scripts/build_ecat_report_html.py
- python scripts/build_ecat_report_html.py --out ECAT_RATE_TRADEOFF.html
-"""
-import argparse
-import html
-import json
-import math
-import os
-import sys
-from collections import OrderedDict
-
-HERE = os.path.dirname(os.path.abspath(__file__))
-ROOT = os.path.dirname(HERE)
-sys.path.insert(0, HERE)
-from ecat_sweep_common import post # noqa: E402 （仅用于探测 native 是否在跑）
-
-import csv as _csv
-
-
-# ───────────────────────────────────────────────────────── 数据读取 ─────────────────────────────────────────────────────────
-def read_csv(path):
- if not os.path.isfile(path):
- return []
- rows = []
- for r in _csv.DictReader(open(path, encoding="utf-8")):
- def num(k):
- v = r.get(k, "")
- try:
- return float(v) if v not in ("", "None", None) else None
- except ValueError:
- return None
- rows.append({
- "period_ms": float(r["period_ms"]),
- "hz_set": 1000.0 / float(r["period_ms"]),
- "hz_meas": num("measured_hz"),
- "achieve": num("achieve_pct"),
- "load": num("gd32_load_pct"),
- "load_samples": num("gd32_load_samples"),
- "load_stale": num("gd32_load_stale"),
- "host": num("host_cpu_1core_pct"),
- "lambda_": num("can_lambda_per_s"),
- "drop": num("drop_per_s"),
- "drop_pct": num("drop_pct_of_lambda"),
- "skip": num("skip_per_s"),
- "wkc": r.get("wkc"), "exp_wkc": r.get("expected_wkc"),
- "wr": r.get("wr"), "hijacked": r.get("hijacked"),
- "pid_stable": r.get("pid_stable"),
- "online_frac": num("online_frac"),
- "untrusted": num("drop_untrusted"),
- "path": path})
- rows[-1]["hz"] = rows[-1]["hz_meas"] or rows[-1]["hz_set"]
- rows[-1]["wkc_ok"] = rows[-1]["wkc"] == rows[-1]["exp_wkc"]
- rows.sort(key=lambda r: r["hz"])
- return rows
-
-
-# ───────────────────────────────────────────────────────── SVG 图元 ─────────────────────────────────────────────────────────
-def _ticks(lo, hi, n=5):
- """线性刻度：给一组整齐步进的刻度值。"""
- if hi <= lo:
- return [lo]
- raw = (hi - lo) / max(1, n - 1)
- mag = 10 ** math.floor(math.log10(raw)) if raw else 1
- step = mag * next((k for k in (1, 2, 2.5, 5, 10) if raw / mag <= k), 10)
- v = math.ceil(lo / step) * step
- out = []
- while v <= hi + 1e-9:
- out.append(round(v, 6))
- v += step
- return out
-
-
-def _log_ticks(lo, hi):
- out = []
- for e in range(int(math.floor(math.log10(lo))), int(math.ceil(math.log10(hi))) + 1):
- for m in (1, 2, 5):
- v = m * (10 ** e)
- if lo - 1e-9 <= v <= hi + 1e-9:
- out.append(v)
- return out or [lo]
-
-
-def _lab(v):
- if v is None:
- return "n/a"
- a = abs(v)
- if a >= 1000:
- return f"{v:,.0f}"
- if a >= 100:
- return f"{v:.0f}"
- if a >= 10:
- return f"{v:.1f}"
- if a >= 1:
- return f"{v:.1f}" if v != int(v) else str(int(v))
- return f"{v:.2f}" if a else "0"
-
-
-class Svg:
- """极简 SVG 累加器。"""
-
- def __init__(self, w, h):
- self.w, self.h, self.b = w, h, []
- self.L, self.R = 64, w - 16
- self.T, self.B = 26, h - 42
-
- def scale(self, xlog=False, ylog=False, xr=None, yr=None):
- self.xlog, self.ylog = xlog, ylog
- self.xr, self.yr = xr, yr
-
- def X(self, v):
- if self.xlog:
- lo, hi = self.xr
- return self.L + (math.log10(max(v, 1e-9)) - math.log10(lo)) / \
- (math.log10(hi) - math.log10(lo)) * (self.R - self.L)
- lo, hi = self.xr
- return self.L + (v - lo) / (hi - lo or 1) * (self.R - self.L)
-
- def Y(self, v):
- if self.ylog:
- lo, hi = self.yr
- return self.B - (math.log10(max(v, 1e-9)) - math.log10(lo)) / \
- (math.log10(hi) - math.log10(lo)) * (self.B - self.T)
- lo, hi = self.yr
- return self.B - (v - lo) / (hi - lo or 1) * (self.B - self.T)
-
- def grid(self, xt, yt, xf=_lab, yf=_lab):
- for v in yt:
- try:
- y = self.Y(v)
- except ValueError:
- continue
- if not (self.T - 1 <= y <= self.B + 1):
- continue
- self.b.append(f'<line x1="{self.L}" y1="{y:.1f}" x2="{self.R}" y2="{y:.1f}" '
- f'stroke="#e8ebf0" stroke-width="1"/>')
- self.b.append(f'<text x="{self.L-8}" y="{y+3.5:.1f}" text-anchor="end" '
- f'font-size="10.5" fill="#6b7280">{html.escape(yf(v))}</text>')
- for v in xt:
- x = self.X(v)
- if not (self.L - 1 <= x <= self.R + 1):
- continue
- self.b.append(f'<line x1="{x:.1f}" y1="{self.T}" x2="{x:.1f}" y2="{self.B}" '
- f'stroke="#eef1f5" stroke-width="1"/>')
- self.b.append(f'<text x="{x:.1f}" y="{self.B+16}" text-anchor="middle" '
- f'font-size="10.5" fill="#6b7280">{html.escape(xf(v))}</text>')
-
- def axes(self, xl, yl):
- self.b.append(f'<line x1="{self.L}" y1="{self.B}" x2="{self.R}" y2="{self.B}" '
- f'stroke="#9aa3af" stroke-width="1.2"/>')
- self.b.append(f'<line x1="{self.L}" y1="{self.T}" x2="{self.L}" y2="{self.B}" '
- f'stroke="#9aa3af" stroke-width="1.2"/>')
- self.b.append(f'<text x="{(self.L+self.R)/2:.0f}" y="{self.h-6}" text-anchor="middle" '
- f'font-size="11.5" fill="#374151">{html.escape(xl)}</text>')
- self.b.append(f'<text transform="rotate(-90 14 {(self.T+self.B)/2:.0f})" x="14" '
- f'y="{(self.T+self.B)/2:.0f}" text-anchor="middle" font-size="11.5" '
- f'fill="#374151">{html.escape(yl)}</text>')
-
- def line(self, pts, color, dash=None, wid=2.4, marker="circle", r=4.2,
- label=None, lab_dxy=(9, -9)):
- live = [(x, y) for x, y in pts if x is not None and y is not None]
- if not live:
- return
- if len(live) > 1:
- d = " ".join(f"{'M' if i == 0 else 'L'}{self.X(x):.1f},{self.Y(y):.1f}"
- for i, (x, y) in enumerate(live))
- da = f' stroke-dasharray="{dash}"' if dash else ""
- self.b.append(f'<path d="{d}" fill="none" stroke="{color}" '
- f'stroke-width="{wid}"{da} stroke-linejoin="round"/>')
- for i, (x, y) in enumerate(live):
- cx, cy = self.X(x), self.Y(y)
- if marker == "circle":
- self.b.append(f'<circle cx="{cx:.1f}" cy="{cy:.1f}" r="{r}" fill="{color}" '
- f'stroke="#fff" stroke-width="1.4"/>')
- elif marker == "square":
- self.b.append(f'<rect x="{cx-r:.1f}" y="{cy-r:.1f}" width="{2*r:.1f}" '
- f'height="{2*r:.1f}" fill="{color}" stroke="#fff" '
- f'stroke-width="1.4"/>')
- elif marker == "tri":
- p = f"{cx:.1f},{cy-r-1:.1f} {cx-r-1:.1f},{cy+r:.1f} {cx+r+1:.1f},{cy+r:.1f}"
- self.b.append(f'<polygon points="{p}" fill="{color}" stroke="#fff" '
- f'stroke-width="1.4"/>')
- if label and i == len(live) - 1:
- dx, dy = lab_dxy
- self.b.append(f'<text x="{cx+dx:.1f}" y="{cy+dy:.1f}" font-size="10.5" '
- f'fill="{color}" font-weight="600">{html.escape(label)}</text>')
-
- def vtext(self, x, y, txt, color="#374151", anchor="middle", size=10.5, weight="400"):
- self.b.append(f'<text x="{self.X(x):.1f}" y="{self.Y(y):.1f}" text-anchor="{anchor}" '
- f'font-size="{size}" font-weight="{weight}" '
- f'fill="{color}">{html.escape(txt)}</text>')
-
- def legend(self, entries, x=None, y=None):
- x = self.L + 10 if x is None else x
- y = self.T + 12 if y is None else y
- for i, (c, t, dash) in enumerate(entries):
- yy = y + i * 17
- da = f' stroke-dasharray="{dash}"' if dash else ""
- self.b.append(f'<line x1="{x}" y1="{yy}" x2="{x+22}" y2="{yy}" stroke="{c}" '
- f'stroke-width="2.6"{da}/>')
- self.b.append(f'<circle cx="{x+11}" cy="{yy}" r="3.2" fill="{c}"/>')
- self.b.append(f'<text x="{x+29}" y="{yy+3.6}" font-size="11" '
- f'fill="#374151">{html.escape(t)}</text>')
-
- def hline(self, v, color="#9ca3af", dash="3,3", wid=1.2):
- y = self.Y(v)
- if not (self.T - 1 <= y <= self.B + 1):
- return
- self.b.append(f'<line x1="{self.L}" y1="{y:.1f}" x2="{self.R}" y2="{y:.1f}" '
- f'stroke="{color}" stroke-width="{wid}" stroke-dasharray="{dash}"/>')
-
- def band(self, x0, x1, color="#ef4444", alpha=0.07):
- a, b = self.X(x0), self.X(x1)
- self.b.append(f'<rect x="{min(a,b):.1f}" y="{self.T}" width="{abs(b-a):.1f}" '
- f'height="{self.B-self.T}" fill="{color}" opacity="{alpha}"/>')
-
- def note(self, txt, x=None, y=None, color="#6b7280", anchor="start", size=10.5):
- x = self.L + 6 if x is None else x
- y = self.B - 8 if y is None else y
- self.b.append(f'<text x="{x}" y="{y}" text-anchor="{anchor}" font-size="{size}" '
- f'fill="{color}">{html.escape(txt)}</text>')
-
- def finish(self, title, sub=""):
- head = ""
- if sub:
- head = f'<text x="{self.L-40}" y="15" font-size="10.5" fill="#6b7280">' \
- f'{html.escape(sub)}</text>'
- return (f'<svg viewBox="0 0 {self.w} {self.h}" width="100%" '
- f'xmlns="http://www.w3.org/2000/svg" role="img" aria-label="{html.escape(title)}">'
- f'{head}{"".join(self.b)}</svg>')
-
-
-# ───────────────────────────────────────────────────────── 具体图 ─────────────────────────────────────────────────────────
-C_RED, C_BLUE, C_GREEN, C_PINK, C_ORANGE, C_GREY, C_PURPLE = (
- "#dc2626", "#2563eb", "#16a34a", "#db2777", "#ea580c", "#6b7280", "#7c3aed")
-
-
-def chart_achieve(rows, rows_no=()):
- s = Svg(560, 320)
- allr = list(rows) + list(rows_no)
- lo = min(r["hz_set"] for r in allr) * 0.7
- hi = max(r["hz_set"] for r in allr) * 1.5
- s.scale(True, True, (lo, hi), (lo, hi))
- s.grid(_log_ticks(lo, hi), _log_ticks(lo, hi))
- s.line([(lo, lo), (hi, hi)], C_GREY, dash="5,4", label=None)
- s.line([(r["hz_set"], r["hz_meas"]) for r in rows], C_RED, marker="circle")
- s.line([(r["hz_set"], r["hz_meas"]) for r in rows_no], C_BLUE, marker="square")
- for r in allr: # 只标偏离点，免得满图都是 99.x%
- if (r["achieve"] or 100) < 99.5:
- s.vtext(r["hz_set"], r["hz_meas"] * 0.72,
- _lab(r["achieve"]) + "%", color="#1e40af", size=9.5, anchor="middle")
- s.legend([(C_GREY, "理想 1:1（设定率）", "5,4"),
- (C_RED, "实测循环率 · 带 CAN", None),
- (C_BLUE, "实测循环率 · 无 CAN", None)], x=s.L + 12, y=s.T + 46)
- s.note("标注为达成率%（<99.5% 才标）。无 CAN 设定 >8kHz 后实测全顶在 ≈8.2kHz —— 硬上限",
- y=s.B - 8)
- s.axes("设定循环率 (Hz，对数)", "实测循环率 (Hz，对数)")
- return s.finish("循环率：设定 vs 实测")
-
-
-def chart_load(rows_no, rows_wc):
- s = Svg(620, 350)
- allr = rows_no + rows_wc
- lo = min(r["hz"] for r in allr) * 0.75
- hi = max(r["hz"] for r in allr) * 1.35
- s.scale(True, False, (lo, hi), (0, 112))
- s.grid(_log_ticks(lo, hi), _ticks(0, 110, 6))
- s.hline(100, color="#6b7280", dash="2,4")
- s.b.append(f'<text x="{s.R-4}" y="{s.Y(100)-5:.1f}" text-anchor="end" font-size="10" '
- f'fill="#6b7280">100%</text>')
- pts_wc = [(r["hz"], r["load"]) for r in rows_wc if r["load"] is not None]
- pts_no = [(r["hz"], r["load"]) for r in rows_no if r["load"] is not None]
- s.line(pts_wc, C_RED, marker="circle")
- s.line(pts_no, C_BLUE, marker="square")
- wc_by_p = {round(r["period_ms"], 4): r for r in rows_wc}
- for r in [x for x in rows_no if x["load"] is not None]:
- w = wc_by_p.get(round(r["period_ms"], 4))
- if w and w["load"] is not None:
- # 任一侧饱和（≥95%）时 Δ 只反映夹紧，不标注
- if (r["load"] or 0) >= 95 or (w["load"] or 0) >= 95:
- continue
- s.vtext(r["hz"], (r["load"] + w["load"]) / 2, f"Δ{w['load']-r['load']:.1f}pp",
- color=C_PURPLE, size=10, weight="600")
- s.legend([(C_RED, "带 CAN（电机在报 STATUS/CONFIG）", None),
- (C_BLUE, "拔掉全部 CAN 设备", None)], x=s.L + 12, y=s.T + 12)
- s.note("纵轴是固件 load_perm（只计 ISR+非延迟段，排除 SSC 轮询）—— 不是整机 CPU 占用率",
- y=s.B - 8)
- s.note("无 CAN 补测：0.25/0.125ms 满速；设定再快实测全顶在 ≈8.2kHz。"
- "≥4kHz 的负载读数全是饱和值，不能定位拐点", y=s.B - 22, color="#b45309")
- s.note("带 CAN 的 0.25/0.125ms 两点同理停在 ~99.x% —— 饱和读数不等于\"已测到上限\"",
- y=s.B - 36, color="#b45309")
- s.axes("实测循环率 (Hz，对数)", "从站 load_perm (%)")
- return s.finish("从站每拍负担")
-
-
-def chart_traffic(rows):
- """CAN 流量分层：STATUS 刷新（≈CAN 总接收）与 CONFIG 事件流。
-
- drop 不再入图：它与 rx_count/gseq 同速增长（各约 4000/s），拿它做分子分母
- 只会得到无意义的 100%（本次实际踩过的坑，详见第四节仪表陷阱）。
- """
- s = Svg(620, 350)
- ok = [r for r in rows if (r["lambda_"] or 0) > 0]
- if not ok:
- s.note("无可用的 CAN 流量档位（本轮 CAN 已拔除）", y=(s.T + s.B) / 2, anchor="middle")
- return s.finish("CAN 流量分层", "（无数据）")
- lo = min(r["hz"] for r in ok) * 0.75
- hi = max(r["hz"] for r in ok) * 1.35
- s.scale(True, True, (lo, hi), (10, 20000))
- s.grid(_log_ticks(lo, hi), _log_ticks(10, 20000))
- s.line([(r["hz"], r["lambda_"]) for r in ok], C_GREEN, marker="circle")
- s.band(2500, 9000)
- s.vtext(1400, 4000 * 1.35, "带 CAN 轮：STATUS 全流量", color="#166534", size=10)
- s.vtext(4200, 150, "塌陷", color="#b91c1c", size=11, weight="700")
- s.legend([(C_GREEN, "CAN 总接收 rx_count ≡ STATUS 刷新 gseq（实测同为 ~4000/s）", None)],
- x=s.L + 12, y=s.T + 12)
- s.note("CONFIG 事件流独立实测仅约 92 帧/s（去重后），不随周期放大", y=s.B - 8)
- s.note(">2kHz 处 STATUS 与 CONFIG 一同塌到 ~150/s", y=s.B - 22, color="#b45309")
- s.axes("实测循环率 (Hz，对数)", "帧/s（对数）")
- return s.finish("CAN 流量分层")
-
-
-def chart_skip(rows_no, rows_wc):
- """skip 有真 0 档 → 对数轴画不了。做法：>0 的点画在对数区，真 0/近 0 档
- 落到轴下方的"≈0"标记轨道，两种点含义不同、不混在同一条线上。"""
- s = Svg(560, 320)
- pos = [r for r in rows_no + rows_wc if (r["skip"] or 0) > 0.05]
- zero = [r for r in rows_no + rows_wc if (r["skip"] or 0) <= 0.05]
- if not pos:
- s.note("本轮无 skip>0 的档位", y=(s.T + s.B) / 2, anchor="middle")
- return s.finish("主站错拍率", "（无数据）")
- lo = min(r["hz"] for r in pos) * 0.75
- hi = max(r["hz"] for r in pos) * 1.35
- vlo, vhi = max(min(r["skip"] for r in pos), 0.05), max(r["skip"] for r in pos) * 3
- s.T -= 6
- s.scale(True, True, (lo, hi), (vlo, vhi))
- s.grid(_log_ticks(lo, hi), _log_ticks(vlo, vhi))
- s.line([(r["hz"], r["skip"]) for r in rows_wc if (r["skip"] or 0) > 0.05],
- C_RED, marker="circle")
- s.line([(r["hz"], r["skip"]) for r in rows_no if (r["skip"] or 0) > 0.05],
- C_BLUE, marker="square")
- for r in zero: # ≈0 轨道：贴在轴下方，明确不属于对数刻度
- y = s.B + 4
- mk = ("circle" if r in rows_wc else "square")
- col = C_RED if r in rows_wc else C_BLUE
- cx = s.X(r["hz"])
- s.b.append(f'<path d="M{cx-4:.1f},{y+8:.1f} L{cx:.1f},{y:.1f} '
- f'L{cx+4:.1f},{y+8:.1f}" fill="none" stroke="{col}" stroke-width="2"/>')
- ent = [(C_RED, "带 CAN", None), (C_BLUE, "无 CAN", None)]
- if zero: # 没有真 0 档时不要挂一条对不上号的图例
- ent.append(("#9ca3af", "▽ = skip ≤0.05 次/s（真 0 档，不在对数刻度上）", None))
- s.legend(ent, x=s.L + 12, y=s.T + 12)
- s.note("skip=错过的网格拍。0.0625ms 设定档 15720 次/s：实测率被钉在 8.2kHz，"
- "错拍数随设定率线性涨", y=s.B - 10)
- s.axes("实测循环率 (Hz，对数)", "主站错拍 skip_total (次/s，对数)")
- return s.finish("主站错拍率")
-
-
-# ───────────────────────────────────────────────────────── 页面组装 ─────────────────────────────────────────────────────────
-PAGE = """<!DOCTYPE html>
-<html lang="zh-CN"><head><meta charset="utf-8">
-<meta name="viewport" content="width=device-width,initial-scale=1">
-<title>EtherCAT 周期速度 × 故障率 × CPU 占用 调研
-
-{body}
-