97 lines
5.2 KiB
JavaScript
97 lines
5.2 KiB
JavaScript
/**
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* 浏览器实测（第二轮）：切链路后**实际节拍**是否真的跟着变。
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* 前一轮只验了输入框/state；这里数真实的 fetchMotorState 调用频率 ——
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* 若 applyTransportRefresh 忘了重排定时器，state 是新值但节拍还是旧的。
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*/
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const CDP_BASE = "http://127.0.0.1:9333";
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const list = await (await fetch(CDP_BASE + "/json/list")).json();
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const page = list.find((t) => t.type === "page");
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const sock = new WebSocket(page.webSocketDebuggerUrl);
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let id = 0; const pending = new Map();
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await new Promise((r, j) => { sock.onopen = r; sock.onerror = j; });
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sock.onmessage = (ev) => { const m = JSON.parse(ev.data); if (m.id && pending.has(m.id)) { pending.get(m.id)(m); pending.delete(m.id); } };
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const send = (method, params = {}) => { const myId = ++id; return new Promise((res) => { pending.set(myId, res); sock.send(JSON.stringify({ id: myId, method, params })); }); };
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async function ev(expr) {
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const r = await send("Runtime.evaluate", { expression: expr, awaitPromise: true, returnByValue: true });
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return r.result && r.result.result && r.result.result.value;
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}
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const sleep = (ms) => new Promise((r) => setTimeout(r, ms));
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let pass = 0, fail = 0; const out = [];
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const check = (n, c, d) => { if (c) { pass++; out.push(" \u2713 " + n); } else { fail++; out.push(" \u2717 " + n + (d ? " \u2014 " + d : "")); } };
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await send("Runtime.enable"); await send("Page.enable");
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/* 页面服务端口可传参：node scripts/xxx.mjs [port]（默认 2625） */
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const PORT = Number(process.argv[2] || 2625);
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const PAGE = `http://127.0.0.1:${PORT}/pages/motor.html`;
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/* 干净起点，直接进 ECAT 链路（本机有 ecat 服务，能真连上跑起轮询） */
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await send("Page.navigate", { url: PAGE }); await sleep(2000);
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await ev(`localStorage.setItem("dcu_motor_transport","ecat"); localStorage.removeItem("dcu_motor_ui_v2"); "ok"`);
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await send("Page.navigate", { url: PAGE }); await sleep(3000);
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/* 装一个计数探针：统计 /ecat/api/motor/state 的实际请求次数 */
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await ev(`(() => {
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window.__cnt = 0;
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if (!window.__origFetch) window.__origFetch = window.fetch;
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window.fetch = function (u, i) {
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if (String(u).includes("motor/state")) window.__cnt++;
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return window.__origFetch.apply(this, arguments);
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};
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return "ok";
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})()`);
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const state0 = await ev(`JSON.stringify({tp: motorDbg.state.tpId, conn: motorDbg.state.connected, eff: motorDbg.state.refreshIntervalMs})`);
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out.push("\n[前置] 当前链路状态: " + state0);
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const st0 = JSON.parse(state0);
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check("已在 ecat 链路", st0.tp === "ecat", state0);
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check("已连接（否则数不到轮询）", st0.conn === true, state0);
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check("生效间隔 50ms", st0.eff === 50, state0);
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async function measure(seconds) {
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await ev(`window.__cnt = 0; "ok"`);
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await sleep(seconds * 1000);
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return await ev(`window.__cnt`);
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}
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out.push("\n[A] ECAT 默认 50ms 的实际节拍");
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let n = await measure(3);
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let hz = n / 3;
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out.push(` 3 秒内 ${n} 次 ≈ ${hz.toFixed(1)} Hz（理论 20 Hz）`);
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check("接近 20Hz（>12Hz，留足浏览器调度余量）", hz > 12, `实测 ${hz.toFixed(1)}Hz`);
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out.push("\n[B] 改成 500ms → 节拍应明显变慢");
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await ev(`(() => { const i=document.querySelector("#refreshRate"); i.value="500"; i.dispatchEvent(new Event("change")); return "ok"; })()`);
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await sleep(800);
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n = await measure(4);
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hz = n / 4;
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out.push(` 4 秒内 ${n} 次 ≈ ${hz.toFixed(1)} Hz（理论 2 Hz）`);
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check("落到 2Hz 附近（0.8~4Hz）", hz > 0.8 && hz < 4, `实测 ${hz.toFixed(1)}Hz`);
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out.push("\n[C] 切到 WiFi 再切回 ECAT：节拍应自动回到 ecat 那一份(500ms)");
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await ev(`(() => { const s=document.querySelector("#transportSelect"); s.value="wifi"; s.dispatchEvent(new Event("change")); return "ok"; })()`);
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await sleep(1500);
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const wifiState = await ev(`JSON.stringify({input: document.querySelector("#refreshRate").value, eff: motorDbg.state.refreshIntervalMs})`);
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check("切 WiFi 后生效值变 250（不是带着 ECAT 的 500）", JSON.parse(wifiState).eff === 250, wifiState);
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await ev(`(() => { const s=document.querySelector("#transportSelect"); s.value="ecat"; s.dispatchEvent(new Event("change")); return "ok"; })()`);
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await sleep(2500);
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const backState = await ev(`JSON.stringify({input: document.querySelector("#refreshRate").value, eff: motorDbg.state.refreshIntervalMs, conn: motorDbg.state.connected})`);
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check("切回 ECAT 生效值回到 500（自己那一份）", JSON.parse(backState).eff === 500, backState);
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n = await measure(4);
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hz = n / 4;
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out.push(` 4 秒内 ${n} 次 ≈ ${hz.toFixed(1)} Hz（理论 2 Hz）`);
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check("实际节拍也回到 2Hz 附近（不是 20Hz 的旧节拍）", hz > 0.8 && hz < 4, `实测 ${hz.toFixed(1)}Hz`);
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out.push("\n[D] 改回 50ms，节拍应立刻提上去（验证重排真的生效）");
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await ev(`(() => { const i=document.querySelector("#refreshRate"); i.value="50"; i.dispatchEvent(new Event("change")); return "ok"; })()`);
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await sleep(600);
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n = await measure(3);
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hz = n / 3;
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out.push(` 3 秒内 ${n} 次 ≈ ${hz.toFixed(1)} Hz（理论 20 Hz）`);
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check("回到 20Hz 附近（>12Hz）", hz > 12, `实测 ${hz.toFixed(1)}Hz`);
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console.log(out.join("\n"));
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console.log("\n" + "=".repeat(56));
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console.log(`通过 ${pass} 项，失败 ${fail} 项`);
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sock.close();
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process.exit(fail === 0 ? 0 : 1);
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