cbb
261caf50b7
R4 外提 scope/ota/seq/conn-poll；R5 waitVersion/queryNodeIdParam 下沉 transport；R6 ecat-bus 单点 bootstrap；R7 toast-stack + utils 去重。 main.js 4647→~1894 行。?v= 已 bump 20260924a。
321 lines
14 KiB
JavaScript
321 lines
14 KiB
JavaScript
/**
|
||
* scope.js — 电机控制台示波器（波形缓冲 + canvas 绘制）
|
||
* 从 main.js 外提的示波器 IIFE，逻辑行为不变。
|
||
* createScopeSys(ctx) 注入 state / motorKey / clampNum / $ 依赖。
|
||
*/
|
||
"use strict";
|
||
|
||
/**
|
||
* @param {{ state: object, motorKey: (m:any)=>string, clampNum:(v:number,lo:number,hi:number)=>number, $:(s:string)=>Element|null }} ctx
|
||
* @returns {{ reset: () => void }}
|
||
*/
|
||
export function createScopeSys(ctx) {
|
||
const { state, motorKey, clampNum, $ } = ctx;
|
||
|
||
const BUF = 300;
|
||
const dprOf = () => window.devicePixelRatio || 1;
|
||
const hist = {
|
||
u: new Float32Array(BUF), v: new Float32Array(BUF), w: new Float32Array(BUF),
|
||
angle: new Float32Array(BUF), velocity: new Float32Array(BUF), current: new Float32Array(BUF),
|
||
mcuTemp: new Float32Array(BUF), motTemp: new Float32Array(BUF),
|
||
};
|
||
let head = 0;
|
||
/* 样本有效性：1 = 来自在线电机；0 = 离线补零（绘制为虚线段） */
|
||
const valid = new Uint8Array(BUF);
|
||
|
||
function colors() {
|
||
const cs = getComputedStyle(document.documentElement);
|
||
return {
|
||
u: cs.getPropertyValue("--seed-primary").trim() || "#22d3ee",
|
||
v: "#34d399",
|
||
w: cs.getPropertyValue("--seed-accent").trim() || "#f59e0b",
|
||
};
|
||
}
|
||
let C = colors();
|
||
setInterval(() => { C = colors(); }, 2000);
|
||
|
||
/* 尺寸缓存：fit 每帧调一次 getBoundingClientRect = 每秒 160 次强制同步布局。
|
||
* 改成 ResizeObserver 只在真变化时量一次；borderBoxSize 与原来的
|
||
* getBoundingClientRect 同口径（迷你波形的 canvas 有 1px 边框，
|
||
* 用 contentRect 会让几何悄悄缩 2px）。 */
|
||
const sizes = new WeakMap();
|
||
let sizeObs = null;
|
||
function cssSize(canvas) {
|
||
let s = sizes.get(canvas);
|
||
if (s) return s;
|
||
const r = canvas.getBoundingClientRect();
|
||
s = { w: r.width, h: r.height };
|
||
sizes.set(canvas, s);
|
||
if (!sizeObs) {
|
||
sizeObs = new ResizeObserver((entries) => {
|
||
for (const e of entries) {
|
||
const t = sizes.get(e.target);
|
||
if (!t) continue;
|
||
const b = e.borderBoxSize && e.borderBoxSize[0];
|
||
t.w = b ? b.inlineSize : e.contentRect.width;
|
||
t.h = b ? b.blockSize : e.contentRect.height;
|
||
}
|
||
});
|
||
}
|
||
sizeObs.observe(canvas);
|
||
return s;
|
||
}
|
||
/** 对齐 backing store 与 CSS 尺寸；返回 CSS 尺寸，宽度为 0（未显示）时返回 null。 */
|
||
function fit(canvas, ctx) {
|
||
const dpr = dprOf();
|
||
const s = cssSize(canvas);
|
||
if (s.w === 0) return null;
|
||
const cw = Math.round(s.w * dpr), ch = Math.round(s.h * dpr);
|
||
if (canvas.width !== cw || canvas.height !== ch) {
|
||
canvas.width = cw;
|
||
canvas.height = ch;
|
||
}
|
||
ctx.setTransform(dpr, 0, 0, dpr, 0, 0);
|
||
return s;
|
||
}
|
||
function grid(ctx, w, h) {
|
||
ctx.strokeStyle = "rgba(255,255,255,0.05)";
|
||
ctx.lineWidth = 1;
|
||
for (let i = 1; i < 4; i++) { const y = h / 4 * i; ctx.beginPath(); ctx.moveTo(0, y); ctx.lineTo(w, y); ctx.stroke(); }
|
||
for (let i = 1; i < 6; i++) { const x = w / 6 * i; ctx.beginPath(); ctx.moveTo(x, 0); ctx.lineTo(x, h); ctx.stroke(); }
|
||
ctx.strokeStyle = "rgba(255,255,255,0.13)";
|
||
ctx.beginPath(); ctx.moveTo(0, h / 2); ctx.lineTo(w, h / 2); ctx.stroke();
|
||
}
|
||
/* 分段描线：valid 样本连成实线（发光 + 可选基线填充）；无数据样本（离线
|
||
* 补零段）画虚线、无发光无填充 —— 数据停更一眼可辨。相邻样本任一无效，
|
||
* 该连线即按虚线处理；边界点同时属于两段，段间不脱节。 */
|
||
/* 每帧 new 300 个点对象是 160Hz 下最大的分配源（一次全量重绘 ≈2400 个对象，
|
||
* 也正是工作集一路涨到几 GB 的原因）。改成把 y 写进复用的 scratch 数组，
|
||
* x 因为等间距直接算出来，不再存。 */
|
||
const scratchY = new Float32Array(BUF);
|
||
const okAt = (i) => valid[(head + i) % BUF] === 1;
|
||
function drawTrace(ctx, buf, color, yOf, base, w, lw, fill) {
|
||
const xOf = (i) => i / (BUF - 1) * w;
|
||
for (let i = 0; i < BUF; i++) scratchY[i] = yOf(buf[(head + i) % BUF]);
|
||
const linePath = (a, b) => {
|
||
ctx.beginPath();
|
||
ctx.moveTo(xOf(a), scratchY[a]);
|
||
for (let i = a + 1; i <= b; i++) ctx.lineTo(xOf(i), scratchY[i]);
|
||
};
|
||
ctx.lineJoin = "round"; ctx.strokeStyle = color;
|
||
let start = 0;
|
||
while (start < BUF - 1) {
|
||
const solid = okAt(start) && okAt(start + 1);
|
||
let end = start + 1;
|
||
while (end + 1 < BUF && (okAt(end) && okAt(end + 1)) === solid) end++;
|
||
if (solid && fill) {
|
||
linePath(start, end);
|
||
ctx.lineTo(xOf(end), base); ctx.lineTo(xOf(start), base); ctx.closePath();
|
||
ctx.fillStyle = color + "16";
|
||
ctx.fill();
|
||
}
|
||
linePath(start, end);
|
||
ctx.setLineDash(solid ? [] : [5, 4]);
|
||
/* 发光：同一条路径先描一道宽而淡的底。原来的 shadowBlur 是逐像素模糊，
|
||
* 视觉上两者等价，成本差一个量级。 */
|
||
if (solid) {
|
||
ctx.globalAlpha = 0.16; ctx.lineWidth = lw * 3.2; ctx.stroke();
|
||
ctx.globalAlpha = 1;
|
||
}
|
||
ctx.lineWidth = lw; ctx.stroke();
|
||
start = end;
|
||
}
|
||
}
|
||
function trace(ctx, buf, color, range, w, h, lw, fill) {
|
||
const mid = h / 2, gain = (h / 2 - 4) / range;
|
||
drawTrace(ctx, buf, color, (v) => mid - Math.max(-range, Math.min(range, v)) * gain, mid, w, lw, fill);
|
||
}
|
||
function traceUni(ctx, buf, color, min, max, w, h, lw, fill) {
|
||
const span = max - min;
|
||
drawTrace(ctx, buf, color, (v) => h - 4 - Math.max(0, Math.min(1, (v - min) / span)) * (h - 8), h, w, lw, fill);
|
||
}
|
||
|
||
/* 大三相示波器 */
|
||
const big = $("#scopeCanvas");
|
||
const bigCtx = big.getContext("2d");
|
||
function drawBig() {
|
||
const s = fit(big, bigCtx);
|
||
if (!s) return;
|
||
const w = s.w, h = s.h;
|
||
bigCtx.clearRect(0, 0, w, h);
|
||
grid(bigCtx, w, h);
|
||
trace(bigCtx, hist.u, C.u, 5000, w, h, 1.6, false);
|
||
trace(bigCtx, hist.v, C.v, 5000, w, h, 1.6, false);
|
||
trace(bigCtx, hist.w, C.w, 5000, w, h, 1.6, false);
|
||
}
|
||
|
||
/* 迷你示波器（每卡片独立）
|
||
* angle 用 auto: true 自适应 Y 轴（角度可能 >360 多圈累计或为负，
|
||
* 固定 0~360 会让波形贴顶/贴底或越界不可见）。
|
||
* 其余卡片量纲固定（velocity/current 对称范围，temp 单极性），保留 uni/range。 */
|
||
const MINIS = {
|
||
angle: { el: $("#miniAngle"), buf: hist.angle, auto: true, unit: "\u00B0", color: () => C.u },
|
||
velocity: { el: $("#miniVelocity"), buf: hist.velocity, auto: true, unit: "deg/s", color: () => C.v },
|
||
current: { el: $("#miniCurrent"), buf: hist.current, auto: true, unit: "mA", color: () => C.w },
|
||
mcuTemp: { el: $("#miniMcuTemp"), buf: hist.mcuTemp, uni: { min: 20, max: 100 }, ticks: [100, 60, 20], unit: "\u00B0C", color: () => C.v },
|
||
motTemp: { el: $("#miniMotTemp"), buf: hist.motTemp, uni: { min: 20, max: 100 }, ticks: [100, 60, 20], unit: "\u00B0C", color: () => C.w },
|
||
};
|
||
/* ctx 与宿主卡片引用都在初始化时取一次：卡片 DOM 是静态的，
|
||
* 原来每帧每个 mini 都要 querySelector 一遍（6 个查询 × 30 次/s）。 */
|
||
const MINI_LIST = Object.entries(MINIS).map(([sig, m]) => {
|
||
m.ctx = m.el.getContext("2d");
|
||
m.card = document.querySelector(`[data-signal="${sig}"]`);
|
||
return m;
|
||
});
|
||
|
||
const MONO = '"Cascadia Code","Fira Code",Consolas,monospace';
|
||
const fmtTick = (v) => (Math.abs(v) >= 1000 ? (v / 1000).toFixed(v % 1000 === 0 ? 0 : 1) + "k" : String(v));
|
||
|
||
/* 自适应 Y 轴：扫 buf 取实际数据范围，加 10% padding，生成 3 个 nice ticks。
|
||
* 用于 angle/velocity/current（各自范围不确定，固定轴会让波形拟合成直线或越界）。
|
||
* 空缓冲/全零时用小范围居中显示，避免空白卡片无刻度。 */
|
||
function autoScale(buf) {
|
||
let lo = Infinity, hi = -Infinity, hasNonZero = false;
|
||
for (let i = 0; i < buf.length; i++) {
|
||
const v = buf[i];
|
||
if (!Number.isFinite(v)) continue;
|
||
if (v < lo) lo = v;
|
||
if (v > hi) hi = v;
|
||
if (v !== 0) hasNonZero = true;
|
||
}
|
||
/* 无有效数据或全零：小范围居中，等有数据后自然扩展 */
|
||
if (!hasNonZero || !Number.isFinite(lo) || !Number.isFinite(hi)) {
|
||
return { min: -1, max: 1, ticks: [1, 0, -1] };
|
||
}
|
||
/* 平坦线（lo===hi）：围绕该值拓展小范围 */
|
||
if (lo === hi) {
|
||
const c = lo;
|
||
const pad = Math.abs(c) * 0.2 || 1;
|
||
return { min: c - pad, max: c + pad, ticks: [c + pad, c, c - pad] };
|
||
}
|
||
/* 留 10% padding，避免波形贴顶/贴底 */
|
||
const span = hi - lo;
|
||
const pad = span * 0.1 || 1;
|
||
let min = lo - pad, max = hi + pad;
|
||
/* nice 化：把范围对齐到 1/2/5 整数倍刻度，ticks 取三等分点 */
|
||
const niceStep = niceStepSize(max - min, 3);
|
||
min = Math.floor(min / niceStep) * niceStep;
|
||
max = Math.ceil(max / niceStep) * niceStep;
|
||
const ticks = [max, (max + min) / 2, min];
|
||
return { min, max, ticks };
|
||
}
|
||
|
||
/* 计算 nice 刻度步长：让 (max-min)/step ≈ targetTicks，并对齐到 1/2/5×10^k。 */
|
||
function niceStepSize(range, targetTicks) {
|
||
const rawStep = range / targetTicks;
|
||
const mag = Math.pow(10, Math.floor(Math.log10(rawStep)));
|
||
const norm = rawStep / mag;
|
||
let step;
|
||
if (norm < 1.5) step = 1;
|
||
else if (norm < 3) step = 2;
|
||
else if (norm < 7) step = 5;
|
||
else step = 10;
|
||
return step * mag;
|
||
}
|
||
|
||
function drawYScale(ctx, m, w, h) {
|
||
/* auto 模式：drawMini 已把 m.uni/ticks 算好填入；其余模式用静态配置 */
|
||
const yOf = m.uni
|
||
? (v) => h - 4 - Math.max(0, Math.min(1, (v - m.uni.min) / (m.uni.max - m.uni.min))) * (h - 8)
|
||
: (v) => h / 2 - Math.max(-m.range, Math.min(m.range, v)) * ((h / 2 - 4) / m.range);
|
||
ctx.save();
|
||
ctx.font = "8px " + MONO;
|
||
ctx.textBaseline = "middle";
|
||
for (const t of m.ticks) {
|
||
const y = yOf(t);
|
||
ctx.strokeStyle = "rgba(226,233,242,0.35)";
|
||
ctx.lineWidth = 1;
|
||
ctx.beginPath(); ctx.moveTo(0, y); ctx.lineTo(5, y); ctx.stroke();
|
||
ctx.fillStyle = "rgba(226,233,242,0.5)";
|
||
ctx.fillText(fmtTick(Math.round(t)), 7, y);
|
||
}
|
||
if (m.unit) {
|
||
ctx.textBaseline = "top";
|
||
ctx.fillStyle = "rgba(226,233,242,0.35)";
|
||
ctx.fillText(m.unit, w - ctx.measureText(m.unit).width - 4, 3);
|
||
}
|
||
ctx.restore();
|
||
}
|
||
|
||
function drawMini(m) {
|
||
const s = fit(m.el, m.ctx);
|
||
if (!s) return;
|
||
const w = s.w, h = s.h;
|
||
/* auto 模式：每帧根据 buf 实际数据重算 Y 轴范围 + ticks */
|
||
if (m.auto) {
|
||
const sc = autoScale(m.buf);
|
||
m.uni = { min: sc.min, max: sc.max };
|
||
m.ticks = sc.ticks;
|
||
}
|
||
m.ctx.clearRect(0, 0, w, h);
|
||
grid(m.ctx, w, h);
|
||
if (m.uni) traceUni(m.ctx, m.buf, m.color(), m.uni.min, m.uni.max, w, h, 1.8, true);
|
||
else trace(m.ctx, m.buf, m.color(), m.range, w, h, 1.8, true);
|
||
drawYScale(m.ctx, m, w, h);
|
||
}
|
||
|
||
/* 点击卡片 → 只切换自己的波形 */
|
||
document.querySelectorAll(".big-reading, .temp-block").forEach((card) => {
|
||
card.addEventListener("click", () => card.classList.toggle("open"));
|
||
});
|
||
|
||
/* 采样：用真实解码的 STATUS 数据填充历史缓冲（1Hz 数据 → 平滑插值）。
|
||
* node×channel 双键：只采当前通道的记录，避免波形混入其他通道同号电机数据。 */
|
||
function sample() {
|
||
const n = state.selectedNode;
|
||
const motor = n != null ? state.motors.find((m) => m.node === n && m.ch === state.ch) : null;
|
||
const d = motor ? state.decoded.get(motorKey(motor)) : null;
|
||
const online = d && motor && motor.online;
|
||
valid[head] = online ? 1 : 0;
|
||
if (!online) {
|
||
hist.u[head] = hist.v[head] = hist.w[head] = 0;
|
||
hist.angle[head] = hist.velocity[head] = hist.current[head] = 0;
|
||
hist.mcuTemp[head] = hist.motTemp[head] = 0;
|
||
} else {
|
||
/* 三相电流：用解码的 U/V/W 瞬时值（mA） */
|
||
const targets = { u: d.uCurrent, v: d.vCurrent, w: d.wCurrent };
|
||
for (const ch of ["u", "v", "w"]) {
|
||
const prev = hist[ch][(head + BUF - 1) % BUF];
|
||
hist[ch][head] = prev + (clampNum(targets[ch], -5000, 5000) - prev) * 0.5;
|
||
}
|
||
const pA = hist.angle[(head + BUF - 1) % BUF];
|
||
hist.angle[head] = pA + (d.rtAngle - pA) * 0.4;
|
||
const pV = hist.velocity[(head + BUF - 1) % BUF];
|
||
hist.velocity[head] = pV + (d.rtVelocity - pV) * 0.4;
|
||
const pC = hist.current[(head + BUF - 1) % BUF];
|
||
hist.current[head] = pC + (d.rtCurrent - pC) * 0.4;
|
||
const pMcu = hist.mcuTemp[(head + BUF - 1) % BUF];
|
||
hist.mcuTemp[head] = pMcu + (d.mcuTemp - pMcu) * 0.1;
|
||
const pMot = hist.motTemp[(head + BUF - 1) % BUF];
|
||
hist.motTemp[head] = pMot + (d.motTemp - pMot) * 0.1;
|
||
}
|
||
head = (head + 1) % BUF;
|
||
}
|
||
|
||
let lastSample = 0;
|
||
/* 只有写入了新样本才重绘：采样节流在 33ms（≈30Hz），而 rAF 跟着显示器跑到
|
||
* 160Hz —— 中间那 ~130 帧画的是同一份数据，像素一模一样，纯属白烧 GPU 进程。 */
|
||
let dirty = true;
|
||
function loop(ts) {
|
||
if (ts - lastSample > 33) { sample(); lastSample = ts; dirty = true; }
|
||
if (dirty) {
|
||
dirty = false;
|
||
drawBig();
|
||
for (const m of MINI_LIST) {
|
||
if (m.card && m.card.classList.contains("open")) drawMini(m);
|
||
}
|
||
}
|
||
requestAnimationFrame(loop);
|
||
}
|
||
requestAnimationFrame(loop);
|
||
/* 清空历史（切电机/切通道时调用）：缓冲清零 + 全部标记无效，波形回到
|
||
* “无数据”虚线态，避免新旧电机的数据混在同一条曲线里慢慢冲刷。 */
|
||
function reset() {
|
||
for (const key of Object.keys(hist)) hist[key].fill(0);
|
||
valid.fill(0);
|
||
}
|
||
return { reset };
|
||
|
||
return { reset };
|
||
}
|