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cbb
2026-09-07 12:19:26 +08:00
parent 43d42ad891
commit ef9472334a
105 changed files with 1313322 additions and 263 deletions
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scripts/test_motor_transport.mjs
+15 -14
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@@ -150,7 +150,8 @@ if (liveOk) {
typeof m.rx_count === "number" && typeof m.seq === "number" &&
typeof m.data === "string" && typeof m.config_data === "string";
check("motors[] 每项字段名/类型与 WiFi 一致", shapeOk, JSON.stringify(m).slice(0, 150));
check("data 是 64 字符 hex（32B STATUS）", m.data.length === 64, `len=${m.data.length}`);
check("data 是 96 字符 hex（48B STATUS，v0.74 含 InitStatus）", m.data.length === 96,
`len=${m.data.length}`);
results.push(` \u2139 在线电机: ` + st.motors
.map((x) => `N${x.node}@CH${x.ch}${x.online ? "" : "(离线)"}`).join(" "));
} else {
@@ -172,8 +173,8 @@ if (liveOk) {
typeof ecat.takeNodeIdReport === "function" && ecat.takeNodeIdReport(7) === null);
const dbg = ecat.debug();
check("debug() 暴露 PDO 周期与槽位统计",
dbg && typeof dbg.slots === "number" && dbg.slotsPerPdo === 7 &&
dbg.slotCount === 27 && dbg.scanCycles === 4, JSON.stringify(dbg && {
dbg && typeof dbg.slots === "number" && dbg.slotsPerPdo === 5 &&
dbg.slotCount === 27 && dbg.scanCycles === 6, JSON.stringify(dbg && {
periodMs: dbg.periodMs, slots: dbg.slots }));
}
@@ -226,15 +227,15 @@ section("[8] 快照→契约翻译（构造快照，跑生产代码）");
sent_seq: null, sent_frames: 0, queue_depth: 0,
bridge: { valid: true, ack: 0, rx_count: 1000, tx_count: 5, drop: 2, tx_result: 0 },
xrx: null, rx_batch: { count: 0, lost: 0, pending: 0, frames: [] },
head: { active: motors.length, boot_active: false, win_base: 0, win_count: 7, global_seq: 42 },
head: { active: motors.length, boot_active: false, win_base: 0, win_count: 5, global_seq: 42 },
motors,
}, extra || {});
const STATUS_HEX = "AB".repeat(32); /* 32B STATUS */
const STATUS_HEX = "AB".repeat(48); /* 48B STATUS（v0.74） */
const CONFIG_HEX = "5A".repeat(24); /* 24B CONFIG(0x0101) */
/* (a) 首次：seq 在动 → online=true，rx_count 从 1 起累 */
snap = mkSnap([{ slot: 0, node: 3, ch: 1, online: true, dlc: 32, seq: 500, data: STATUS_HEX }]);
snap = mkSnap([{ slot: 0, node: 3, ch: 1, online: true, dlc: 48, seq: 500, data: STATUS_HEX }]);
let st = await tp.fetchMotorState();
let m = st.motors[0];
check("(a) 从站 online + seq 在动 → online=true", m.online === true);
@@ -242,7 +243,7 @@ section("[8] 快照→契约翻译（构造快照，跑生产代码）");
check("(a) active_count 取自 head.active", st.active_count === 1);
/* (b) seq 递增 → rx_count 继续累加 */
snap = mkSnap([{ slot: 0, node: 3, ch: 1, online: true, dlc: 32, seq: 501, data: STATUS_HEX }]);
snap = mkSnap([{ slot: 0, node: 3, ch: 1, online: true, dlc: 48, seq: 501, data: STATUS_HEX }]);
st = await tp.fetchMotorState();
check("(b) seq 递增 → rx_count 累加到 2", st.motors[0].rx_count === 2,
`rx=${st.motors[0].rx_count}`);
@@ -250,7 +251,7 @@ section("[8] 快照→契约翻译（构造快照，跑生产代码）");
/* (c) CONFIG 从批量接收区累积 → 回填 motors[].config_data。
* 这是 WiFi 有、EtherCAT 没有的字段，回填不了就等于 CONFIG 面板永久空白。 */
rxFrames = [{ ch: 1, dlc: 24, valid: true, id: (3 << 16) | 0x0101, data: CONFIG_HEX }];
snap = mkSnap([{ slot: 0, node: 3, ch: 1, online: true, dlc: 32, seq: 502, data: STATUS_HEX }],
snap = mkSnap([{ slot: 0, node: 3, ch: 1, online: true, dlc: 48, seq: 502, data: STATUS_HEX }],
{ rx_batch: { count: 1, lost: 0, pending: 0, frames: [] } });
st = await tp.fetchMotorState();
check("(c) CONFIG(0x0101) 回填到 config_data（48 hex）",
@@ -260,13 +261,13 @@ section("[8] 快照→契约翻译（构造快照，跑生产代码）");
/* (d) 版本(0x00FF)：累积且 seq 递增 —— 上层靠 seq 增长判"这是本次查询的新应答" */
const VER_HEX = "1A00" + "0200" + "0300" + "0400" + "00".repeat(16);
rxFrames = [{ ch: 1, dlc: 24, valid: true, id: (3 << 16) | 0x00FF, data: VER_HEX }];
snap = mkSnap([{ slot: 0, node: 3, ch: 1, online: true, dlc: 32, seq: 503, data: STATUS_HEX }],
snap = mkSnap([{ slot: 0, node: 3, ch: 1, online: true, dlc: 48, seq: 503, data: STATUS_HEX }],
{ rx_batch: { count: 1, lost: 0, pending: 0, frames: [] } });
await tp.fetchMotorState();
const v1 = await tp.fetchVersionNode(3);
check("(d) 版本应答被累积", v1 && v1.node === 3 && v1.version === VER_HEX);
rxFrames = [{ ch: 1, dlc: 24, valid: true, id: (3 << 16) | 0x00FF, data: VER_HEX }];
snap = mkSnap([{ slot: 0, node: 3, ch: 1, online: true, dlc: 32, seq: 504, data: STATUS_HEX }],
snap = mkSnap([{ slot: 0, node: 3, ch: 1, online: true, dlc: 48, seq: 504, data: STATUS_HEX }],
{ rx_batch: { count: 1, lost: 0, pending: 0, frames: [] } });
await tp.fetchMotorState();
const v2 = await tp.fetchVersionNode(3);
@@ -275,7 +276,7 @@ section("[8] 快照→契约翻译（构造快照，跑生产代码）");
/* (e) 节点 ID 应答：取走即清 */
rxFrames = [{ ch: 1, dlc: 2, valid: true, id: (3 << 16) | 0x0401, data: "0700" }];
snap = mkSnap([{ slot: 0, node: 3, ch: 1, online: true, dlc: 32, seq: 505, data: STATUS_HEX }],
snap = mkSnap([{ slot: 0, node: 3, ch: 1, online: true, dlc: 48, seq: 505, data: STATUS_HEX }],
{ rx_batch: { count: 1, lost: 0, pending: 0, frames: [] } });
await tp.fetchMotorState();
check("(e) 节点 ID 应答可取出", tp.takeNodeIdReport(3) === "0700");
@@ -283,7 +284,7 @@ section("[8] 快照→契约翻译（构造快照，跑生产代码）");
/* (f) STATUS 已由状态窗口聚合，批量区里的 0x0100 必须跳过（否则重复解一遍） */
rxFrames = [{ ch: 1, dlc: 32, valid: true, id: (3 << 16) | 0x0100, data: "FF".repeat(32) }];
snap = mkSnap([{ slot: 0, node: 3, ch: 1, online: true, dlc: 32, seq: 506, data: STATUS_HEX }],
snap = mkSnap([{ slot: 0, node: 3, ch: 1, online: true, dlc: 48, seq: 506, data: STATUS_HEX }],
{ rx_batch: { count: 1, lost: 0, pending: 0, frames: [] } });
st = await tp.fetchMotorState();
check("(f) 批量区的 STATUS(0x0100) 不污染 config_data",
@@ -292,7 +293,7 @@ section("[8] 快照→契约翻译（构造快照，跑生产代码）");
/* (g) xrx 长帧快照也要分派：CONFIG/版本是 DLC24，短快照会截断 */
const CFG2 = "77".repeat(24);
snap = mkSnap([{ slot: 1, node: 4, ch: 1, online: true, dlc: 32, seq: 10, data: STATUS_HEX }],
snap = mkSnap([{ slot: 1, node: 4, ch: 1, online: true, dlc: 48, seq: 10, data: STATUS_HEX }],
{ xrx: { ch: 1, dlc: 24, id: (4 << 16) | 0x0101, data: CFG2 } });
st = await tp.fetchMotorState();
check("(g) xrx 长帧快照的 CONFIG 也回填",
@@ -301,7 +302,7 @@ section("[8] 快照→契约翻译（构造快照，跑生产代码）");
/* (h) 关键：seq 停止不动超过阈值 → online 转 false。
* 后端的快照**永不删除**见过的槽（电机拔了也还在），
* 只认从站的 online 标志会让界面上永远挂着一台不存在的电机。 */
const stale = { slot: 0, node: 3, ch: 1, online: true, dlc: 32, seq: 506, data: STATUS_HEX };
const stale = { slot: 0, node: 3, ch: 1, online: true, dlc: 48, seq: 506, data: STATUS_HEX };
snap = mkSnap([stale]);
st = await tp.fetchMotorState();
check("(h) seq 未变但仍在阈值内 → 暂时仍算在线",