/** * seq.js — 电机控制台命令序列（同步动作组 / 循环 / 拖拽排序） * 从 main.js 机械外提；行为不变。STATUS 离线层契约不在此文件。 * createSeqSys(ctx) 注入依赖；返回 seq 状态与 render/stop 等。 */ "use strict"; export function createSeqSys(ctx) { const { MODES, FIXED_MOTOR_NODES, state, clampNum, escapeHtml, $, cmdVal, debounceSaveUi, saveUiState, inBusCooldown, renderNodeList, nowMs, sendBurst, showModal, sleep, stopRepeat, syncCmdCommittedFromDom, toast } = ctx; /* ═══════════════════════ 命令序列发送（循环发送设定步骤） ═══════════════════════ * 每步 = 一个「同步动作组」：组内每个 action = 一个电机目标（ch/node/模式/电压/电流/ * 速度/角度/PID）。执行本步时把组内全部 action 经一次 POST /can/send_burst 下发 * （ESP32 转 0xC7 突发，GD32 背靠背入各通道 CAN 邮箱），组内多电机近同时发送； * 发完本步再等 holdMs 进下一步。循环次数 0 = 无限循环。与周期发送互斥。 * 目标完全独立于左侧选中节点：每个 action 自带 ch/node，可多通道、多电机混合搭配。 * 兼容旧数据：无 actions 的扁平旧步骤自动归一为单动作步骤（normStep）。 * 步骤持久化在 saveUiState/loadUiState（序列化到 o.seq）。 */ const seq = { running: false, stopRequested: false, steps: [], /* [{holdMs, actions:[{ch,node,mode,voltage,current,velocity,angle,pidCurP,pidVelP,pidAngP}]}] */ loops: 0, /* 循环次数，0 = 无限 */ round: 1, /* 当前轮（1 起） */ stepIdx: 0, /* 当前步索引 */ statusText: "未运行", singleIdx: null, /* 正在单发的步骤索引，null = 无单发在途 */ }; const seqListEl = $("#seqList"); const seqStartBtn = $("#seqStartBtn"); const seqLoopsInput = $("#seqLoops"); function seqModeOptions(selected) { return Object.entries(MODES).map(([v, m]) => ``).join(""); } function seqChOptions(selected) { return [0, 1, 2].map((c) => ``).join(""); } function seqNodeOptions(selected) { return FIXED_MOTOR_NODES.map((n) => ``).join(""); } /* 步骤序号中文读法：1 → 一、11 → 十一、20 → 二十；超出 99 退回阿拉伯数字避免读错 */ const CN_DIGITS = "零一二三四五六七八九"; function cnNum(n) { if (n < 10) return CN_DIGITS[n]; if (n < 20) return "十" + (n % 10 ? CN_DIGITS[n % 10] : ""); return CN_DIGITS[Math.floor(n / 10)] + "十" + (n % 10 ? CN_DIGITS[n % 10] : ""); } function seqStepName(i) { const n = i + 1; return n <= 99 ? "步骤" + cnNum(n) : "步骤 " + n; } /* 折叠态摘要：一个 action 压成 "CH0·N3 速度+位置速度100°/s 角度0°" */ const SEQ_TARGET_ZH = { voltage: "电压", current: "电流", velocity: "速度", angle: "角度" }; const SEQ_TARGET_UNIT = { voltage: "V", current: "mA", velocity: "°/s", angle: "°" }; const SEQ_SUMMARY_MAX = 3; /* 一行最多列 3 台电机，其余折叠成 "+N 台" */ function seqActionBrief(a) { const m = MODES[parseInt(a.mode, 10)] || null; const vals = (m ? m.targets : []).map((t) => `${SEQ_TARGET_ZH[t] || t}${a[t] != null ? a[t] : "0"}${SEQ_TARGET_UNIT[t] || ""}`).join(" "); return `CH${a.ch}·N${a.node} ${(m && m.zh) || "模式" + a.mode}${vals ? " " + vals : ""}`; } function seqStepSummaryHtml(s) { const acts = s.actions || []; if (!acts.length) return "无动作"; const html = acts.slice(0, SEQ_SUMMARY_MAX).map((a) => escapeHtml(seqActionBrief(a))) .join('｜'); return acts.length > SEQ_SUMMARY_MAX ? `${html}+${acts.length - SEQ_SUMMARY_MAX} 台` : html; } /* 归一单个 action：补齐 ch/node/各参数默认值（ch/node 缺失时回退当前通道/选中节点） */ function actionFromAny(a) { a = a || {}; return { ch: Number.isInteger(a.ch) ? clampNum(a.ch, 0, 2) : clampNum(state.ch || 0, 0, 2), node: (Number.isInteger(a.node) && a.node >= 1 && a.node <= 9) ? a.node : (state.selectedNode || 1), mode: a.mode != null ? String(a.mode) : "3", voltage: a.voltage != null ? a.voltage : "24.000", current: a.current != null ? a.current : "0", velocity: a.velocity != null ? a.velocity : "100", angle: a.angle != null ? a.angle : "0", pidCurP: a.pidCurP != null ? a.pidCurP : "100", pidVelP: a.pidVelP != null ? a.pidVelP : "100", pidAngP: a.pidAngP != null ? a.pidAngP : "100", }; } /* 归一步骤：新结构 {holdMs, actions[], collapsed?}；旧扁平步骤（含 mode 等顶层字段）→ 单动作组。 * collapsed 是 UI 态但挂在步骤对象上：拖拽换位时要跟着这一步走，按索引记会错位。 */ function normStep(s) { s = s || {}; const holdMs = clampNum(parseInt(s.holdMs, 10) || 1000, 0, 600000); const collapsed = !!s.collapsed; if (Array.isArray(s.actions) && s.actions.length) { return { holdMs: holdMs, collapsed: collapsed, actions: s.actions.map(actionFromAny) }; } return { holdMs: holdMs, collapsed: collapsed, actions: [actionFromAny(s)] }; } function cloneAction(a) { return Object.assign({}, actionFromAny(a)); } /* 读取当前 CMD 表单输入框值 + 当前通道/选中节点，作为一个新 action（与一帧发送同源） */ function defaultActionFromForm() { syncCmdCommittedFromDom(); return { ch: clampNum(state.ch || 0, 0, 2), node: (state.selectedNode >= 1 && state.selectedNode <= 9) ? state.selectedNode : 1, mode: $("#modeSelect").value, voltage: cmdVal("inVoltage"), current: cmdVal("inCurrent"), velocity: cmdVal("inVelocity"), angle: cmdVal("inAngle"), pidCurP: cmdVal("pidCurP"), pidVelP: cmdVal("pidVelP"), pidAngP: cmdVal("pidAngP"), }; } function renderSeqList() { if (!seq.steps.length) { seqListEl.innerHTML = '

尚未添加步骤 — 点击「+ 添加步骤」把当前 CMD 表单（含当前通道/节点）存为一步；每步可再「+ 电机」加入多个动作，同一步内的动作近同时下发

'; } else { seqListEl.innerHTML = seq.steps.map((s, i) => `

${seqStepName(i)} ${s.actions.length} 电机保持 ms

${seqStepSummaryHtml(s)}

${s.actions.map((a, j) => `

电机 ${j + 1}

电压 V 电流 mA 速度 deg/s 角度 deg 电流环P 速度环P 角度环P

`).join("")}

`).join(""); } updateSeqUi(); } function updateSeqUi() { const running = seq.running; const sendingIdx = seq.singleIdx; seqStartBtn.textContent = running ? "■ 停止序列" : "▶ 开始序列"; seqStartBtn.classList.toggle("btn-primary", running); seqStartBtn.disabled = !running && sendingIdx != null; const st = $("#seqStatus"); if (st) { if (running) { const cs = seq.steps[seq.stepIdx]; const cnt = cs ? cs.actions.length : 0; st.textContent = `运行中 · 步骤 ${seq.stepIdx + 1}/${seq.steps.length} (${cnt} 电机) · 第 ${seq.round} 轮`; st.classList.add("on"); } else if (sendingIdx != null) { st.textContent = `单发步骤 ${sendingIdx + 1}…`; st.classList.add("on"); } else { st.textContent = seq.statusText || `未运行 · ${seq.steps.length} 步`; st.classList.remove("on"); } } seqListEl.classList.toggle("seq-locked", running); seqListEl.querySelectorAll(".seq-step").forEach((row) => { const idx = parseInt(row.dataset.idx, 10); row.classList.toggle("current", running && idx === seq.stepIdx); row.classList.toggle("sending", !running && sendingIdx === idx); }); seqLoopsInput.disabled = running; $("#seqAddBtn").disabled = running; $("#seqClearBtn").disabled = running; } /* 读取当前 CMD 表单已提交值作为新步骤：单动作组（用户可再「+ 电机」扩展） */ function seqReadStepFromForm() { return { holdMs: 1000, actions: [defaultActionFromForm()] }; } /* 步骤行编辑（input 事件同时覆盖 number 输入与 select 选择）： * holdMs 归属步骤本身；ch/node/mode/各参数归属 .seq-action（data-aidx）对应的 action */ seqListEl.addEventListener("input", (e) => { const row = e.target.closest(".seq-step"); if (!row) return; const step = seq.steps[parseInt(row.dataset.idx, 10)]; if (!step) return; const t = e.target; if (t.dataset.f === "holdMs") { step.holdMs = clampNum(parseInt(t.value, 10) || 0, 0, 600000); } else { const actRow = t.closest(".seq-action"); const action = actRow ? step.actions[parseInt(actRow.dataset.aidx, 10)] : null; if (!action) return; if (t.classList.contains("seq-ch")) action.ch = clampNum(parseInt(t.value, 10) || 0, 0, 2); else if (t.classList.contains("seq-node")) action.node = clampNum(parseInt(t.value, 10) || 1, 1, 9); else if (t.classList.contains("seq-mode")) action.mode = t.value; else if (t.dataset.f) action[t.dataset.f] = t.value; else return; } debounceSaveUi(); }); /* 步骤操作：折叠/复制/删除 + 动作级增删（运行中锁定，指针事件被 .seq-locked 禁用） */ seqListEl.addEventListener("click", (e) => { const btn = e.target.closest("button[data-op]"); if (!btn || seq.running) return; const row = btn.closest(".seq-step"); if (!row) return; const i = parseInt(row.dataset.idx, 10); const step = seq.steps[i]; if (!step) return; const op = btn.dataset.op; if (op === "sendOne") { sendSeqStepOnce(i); return; } if (op === "collapse") { /* 就地折叠：整表重绘会把焦点与滚动位置一起丢掉，摘要已随渲染算好，不必重绘 */ step.collapsed = !step.collapsed; row.classList.toggle("collapsed", step.collapsed); btn.setAttribute("aria-expanded", step.collapsed ? "false" : "true"); btn.title = step.collapsed ? "展开本步" : "折叠本步（只留功能摘要）"; saveUiState(); return; } if (op === "dup") { seq.steps.splice(i + 1, 0, { holdMs: step.holdMs, collapsed: false, actions: step.actions.map(cloneAction) }); } else if (op === "del") { seq.steps.splice(i, 1); } else if (op === "addAction") { /* 默认复制本步最后一个动作（改个节点即成另一台电机）；空步骤则取自 CMD 表单 */ step.actions.push(step.actions.length ? cloneAction(step.actions[step.actions.length - 1]) : defaultActionFromForm()); } else if (op === "delAction") { const actRow = btn.closest(".seq-action"); if (!actRow) return; step.actions.splice(parseInt(actRow.dataset.aidx, 10), 1); if (!step.actions.length) seq.steps.splice(i, 1); /* 无动作则整步删除 */ } else { return; } renderSeqList(); saveUiState(); }); /* ── 步骤排序：按住把手拖动；把手聚焦后 ↑/↓ 等价移动一步 ── * 拖拽全程只移动 DOM 与切 .dragging 类，绝不调 renderSeqList —— 重绘会替换掉被拖节点， * 原生拖拽当场中止。最终顺序在 dragend 里按视觉次序回填 seq.steps 后统一重绘 + 保存。 */ let seqDragRow = null; function seqMoveStep(from, to) { if (to < 0 || to >= seq.steps.length || from === to) return false; seq.steps.splice(to, 0, seq.steps.splice(from, 1)[0]); return true; } function clearSeqDraggable() { seqListEl.querySelectorAll('.seq-step[draggable="true"]').forEach((r) => { r.draggable = false; }); } /* 只有把手按下才把该行标记为可拖，行内输入框的文字选择不会被误判成拖拽起点 */ seqListEl.addEventListener("pointerdown", (e) => { const grip = e.target.closest(".seq-grip"); const row = grip && grip.closest(".seq-step"); if (!row || seq.running) return; clearSeqDraggable(); row.draggable = true; }); seqListEl.addEventListener("pointerup", clearSeqDraggable); seqListEl.addEventListener("pointercancel", clearSeqDraggable); seqListEl.addEventListener("dragstart", (e) => { const row = e.target.closest ? e.target.closest(".seq-step") : null; if (!row || !row.draggable || seq.running) return; seqDragRow = row; row.classList.add("drag-src"); seqListEl.classList.add("dragging"); /* 拖拽期整表临时收成单行，含被拖的这行 */ e.dataTransfer.effectAllowed = "move"; try { e.dataTransfer.setData("text/plain", row.dataset.idx); } catch (_) { /* 个别内核要求先 setData 才放行 */ } }); seqListEl.addEventListener("dragover", (e) => { if (!seqDragRow) return; e.preventDefault(); e.dataTransfer.dropEffect = "move"; const over = e.target.closest ? e.target.closest(".seq-step") : null; if (!over || over === seqDragRow) return; const r = over.getBoundingClientRect(); seqListEl.insertBefore(seqDragRow, e.clientY < r.top + r.height / 2 ? over : over.nextSibling); }); seqListEl.addEventListener("drop", (e) => { if (seqDragRow) e.preventDefault(); }); seqListEl.addEventListener("dragend", () => { if (!seqDragRow) return; const order = Array.from(seqListEl.querySelectorAll(".seq-step")) .map((el) => parseInt(el.dataset.idx, 10)); seqDragRow.classList.remove("drag-src"); seqDragRow = null; clearSeqDraggable(); seqListEl.classList.remove("dragging"); const moved = order.some((idx, pos) => idx !== pos); /* 按视觉次序重排数据；未拖动或按 Esc 取消时这次重绘即把顺序还原 */ if (moved) seq.steps = order.map((idx) => seq.steps[idx]); renderSeqList(); if (moved) saveUiState(); }); seqListEl.addEventListener("keydown", (e) => { const grip = e.target.closest(".seq-grip"); if (!grip || seq.running) return; const dir = e.key === "ArrowUp" ? -1 : (e.key === "ArrowDown" ? 1 : 0); if (!dir) return; e.preventDefault(); const i = parseInt(grip.closest(".seq-step").dataset.idx, 10); if (!seqMoveStep(i, i + dir)) return; renderSeqList(); saveUiState(); const g = seqListEl.querySelectorAll(".seq-grip")[i + dir]; if (g) g.focus(); /* 重绘后把焦点跟到这一步的新行，可连按方向键连续移动 */ }); $("#seqAddBtn").addEventListener("click", () => { if (seq.running) return; seq.steps.push(seqReadStepFromForm()); renderSeqList(); saveUiState(); }); $("#seqClearBtn").addEventListener("click", async () => { if (seq.running || seq.steps.length === 0) return; const ok = await showModal("清空命令序列", `将删除全部 ${seq.steps.length} 个步骤。`); if (!ok) return; seq.steps = []; renderSeqList(); saveUiState(); }); seqLoopsInput.addEventListener("change", () => { seq.loops = clampNum(parseInt(seqLoopsInput.value, 10) || 0, 0, 9999); seqLoopsInput.value = seq.loops; saveUiState(); }); seqStartBtn.addEventListener("click", () => { if (seq.running) { stopSeq("已手动停止"); return; } startSeq(); }); /* 单发一步：只把该步的全部动作经一次 sendBurst 近同时下发，不循环、不推进步骤、不等 holdMs。 * 与序列运行互斥（运行中按钮被 .seq-locked 屏蔽），同一时刻只允许一个单发在途。 */ async function sendSeqStepOnce(i) { if (seq.running || seq.singleIdx != null) return; const step = seq.steps[i]; if (!step || !step.actions.length) return; if (!state.connected) { toast("设备未连接", "err"); return; } if (inBusCooldown()) return; const chBad = step.actions.find((a) => !state.chEnabled[a.ch]); if (chBad) { toast(`步骤 ${i + 1} 的通道 CH${chBad.ch} 已禁用`, "err"); return; } seq.singleIdx = i; updateSeqUi(); const targets = step.actions.map((a) => `CH${a.ch}·N${a.node}`).join(" "); const time = new Date().toLocaleTimeString("zh-CN", { hour12: false }); $("#sbLastSend").textContent = `最近发送: 单发步${i + 1} → ${step.actions.length} 电机 [${targets}] ${time}`; try { const res = await sendBurst(step.actions); if (res.busy) { toast("发送通道忙，请稍后重试", "warn"); return; } if (!res.ok) { toast(`步骤 ${i + 1} 发送失败：${res.desc || "未知错误"}`, "err"); return; } for (const a of step.actions) { state.lastSentMode.set(a.node, parseInt(a.mode, 10) || 0); state.lastSentTargets.set(a.node, { mode: parseInt(a.mode, 10) || 0, angle: parseFloat(a.angle) || 0, velocity: parseFloat(a.velocity) || 0, current: parseFloat(a.current) || 0, voltage: parseFloat(a.voltage) || 0, }); } state.txCount++; renderNodeList(); seq.statusText = `已单发步骤 ${i + 1}`; toast(`步骤 ${i + 1} 已单发 · ${step.actions.length} 电机 [${targets}]`, "ok"); } finally { seq.singleIdx = null; updateSeqUi(); } } function startSeq() { if (!state.connected) { toast("设备未连接", "err"); return; } if (seq.steps.length === 0) { toast("请先添加至少一个步骤", "warn"); return; } if (inBusCooldown()) return; stopRepeat(true); /* 与周期发送互斥 */ seq.loops = clampNum(parseInt(seqLoopsInput.value, 10) || 0, 0, 9999); seqLoopsInput.value = seq.loops; seq.running = true; seq.stopRequested = false; seq.round = 1; seq.stepIdx = 0; seq.statusText = ""; updateSeqUi(); const totalActions = seq.steps.reduce((n, s) => n + s.actions.length, 0); toast(`命令序列已启动 · ${seq.steps.length} 步 / ${totalActions} 电机动作 · 循环 ${seq.loops === 0 ? "无限" : seq.loops + " 次"}（同步动作组近同时下发）`, "ok"); seqRunLoop(); } function stopSeq(reason, silent) { seq.running = false; seq.stopRequested = true; seq.statusText = reason || "已停止"; updateSeqUi(); if (!silent) toast(reason || "命令序列已停止", "warn"); } /* 序列主循环：stop-and-wait 逐步发送。每步把组内全部动作经一次 sendBurst * （/can/send_burst → 0xC7 突发）近同时下发，发完等 holdMs 推进； * 循环次数用尽或异常停止。 */ async function seqRunLoop() { while (seq.running && !seq.stopRequested) { if (!state.connected || state.probing) { stopSeq("连接断开，序列已停止", true); return; } if (nowMs() < state.busCooldownUntil) { await sleep(200); continue; } /* 总线冷却等待 */ const step = seq.steps[seq.stepIdx]; if (!step || !Array.isArray(step.actions) || !step.actions.length) { stopSeq("序列数据无效，已停止"); return; } let chBad = null; for (const a of step.actions) { if (!state.chEnabled[a.ch]) { chBad = a.ch; break; } } if (chBad != null) { stopSeq(`步骤 ${seq.stepIdx + 1} 的通道 CH${chBad} 已禁用，序列已停止`); return; } updateSeqUi(); const targets = step.actions.map((a) => `CH${a.ch}·N${a.node}`).join(" "); const time = new Date().toLocaleTimeString("zh-CN", { hour12: false }); $("#sbLastSend").textContent = `最近发送: 序列步${seq.stepIdx + 1} → ${step.actions.length} 电机 [${targets}] ${time}`; /* 互斥发送：通道忙（手动 CMD 等在途）时小退避重试本步，不推进步骤 */ let res; let busyTries = 0; do { res = await sendBurst(step.actions); if (!seq.running) return; if (res.busy && busyTries < 20) { busyTries++; await sleep(50); } } while (res.busy && busyTries < 20); if (res.busFault) { stopSeq("总线异常，序列已停止"); return; } if (res.networkError) { stopSeq("网络错误，序列已停止"); return; } if (!res.ok) { stopSeq("发送失败：" + (res.desc || "未知错误")); return; } for (const a of step.actions) { state.lastSentMode.set(a.node, parseInt(a.mode, 10) || 0); state.lastSentTargets.set(a.node, { mode: parseInt(a.mode, 10) || 0, angle: parseFloat(a.angle) || 0, velocity: parseFloat(a.velocity) || 0, current: parseFloat(a.current) || 0, voltage: parseFloat(a.voltage) || 0, }); } state.txCount++; renderNodeList(); if (!seq.running) return; const holdMs = clampNum(parseInt(step.holdMs, 10) || 0, 0, 600000); if (holdMs > 0) await sleep(holdMs); if (!seq.running) return; if (seq.stepIdx + 1 >= seq.steps.length) { if (seq.loops > 0 && seq.round >= seq.loops) { stopSeq(`已完成 ${seq.loops} 轮`); return; } seq.round++; seq.stepIdx = 0; } else { seq.stepIdx++; } } } return { seq, seqListEl, seqStartBtn, seqLoopsInput, normStep, renderSeqList, startSeq, stopSeq, updateSeqUi, }; }