cbb
383535bd1d
变更点： 1. esp32_server.py - /api/motor/ui-state、/api/lab/ui-state：配置原子落盘 data/*.json（WebView2 清存储仍在） - _GuiApi.ecat_api/bridge_info：桌面壳经 GUI 进程裸 socket 直连 ecat_native，不经浏览器 HTTP 2. js/common/desktop-bridge.js（新） - 探测 pywebview.api（含 iframe top/parent），transport-ecat 优先走原生桥 3. connection.js + responsive.css + components.css - setQuietMode：离线且无传输时 html[data-dcu-calm=1] 掐常驻动画 - 进度条斜纹仅 .live 挂载，空闲不再按刷新率空转重绘 4. device-link.js - 先查 native/health，已健康跳过 motor/start，避免 loop_stop 重进 OP 假超时 - 周期强制 0.25ms + DC SYNC0 对齐；轮询自愈被配错的 DC/周期 5. motor/main.js + transport-ecat.js - 配置双写 localStorage + 磁盘 ui-state；pagehide/sendBeacon 刷盘；导入导出 - 探测代际 probeGen；ECAT 失败阈值 12；跟踪 bootActive/slaveAl/slaveOp 6. lab/spi_test.html、ota/boot_ecat.js、can_monitor 等跟随桥/静默态 7. .gitignore - 排除 scripts/_* 与 anal/collect/measure/trace 等调试脚本、lab 产物、data/ 运行态
414 lines
14 KiB
JavaScript
414 lines
14 KiB
JavaScript
/**
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* device-link.js — 全链路连接中心（ConnectionHub）
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*
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* 统一管理页面上的 WiFi / EtherCAT / BLE 三条链路：
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* - 健康轮询：外壳 Owner 常驻拉 ESP32 /system/status 与 EtherCAT status+load
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* - 端点配置：设备 IP（dcu_esp_ip）、网卡子串（dcu_ecat_adapter）只在此读写
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* - 通道适配：wifiBaseUrl / ecatPost 供各页复用，禁止再散落 localStorage
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*
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* 角色：
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* - Owner：tabs.html 加载前设 window.__dcuDeviceLinkOwner = true
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* - Client：任意页 import { deviceLink }
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* 独立直开页无 Owner 时，client 仍可读 IP / 发 ecatPost，只是无跨页快照。
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*
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* 命令仍由业务页自己发；连接灯只认本层健康态（布尔优先，文案保留调用方语义）。
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*/
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"use strict";
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import {
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getDeviceIp, saveDeviceIp, getBaseUrl as baseUrlFromIp
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} from "./base-url.js";
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var CH_NAME = "dcu-device-link";
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var ESP32_FAIL_ONLINE = 3; /* 连续失败 ≥3 判离线 */
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var ESP32_POLL_MS = 1000;
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var ECAT_POLL_MS = 2000;
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var ECAT_BUS_RETRY_MS = 10000; /* 开总线失败后的重试间隔 */
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var ecatDcGuardBusy = false; /* DC/周期自愈 in-flight */
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var LS_ECAT_PERIOD = "dcu_ecat_period_ms";
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var LS_ECAT_SPIN = "dcu_ecat_spin";
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var LS_ECAT_ADAPTER = "dcu_ecat_adapter";
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var DEFAULT_ECAT_ADAPTER = "I210";
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function nowMs() { return Date.now(); }
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function readIp() {
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return getDeviceIp();
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}
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function writeIp(ip) {
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saveDeviceIp(ip);
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}
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function readAdapter() {
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try {
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var s = localStorage.getItem(LS_ECAT_ADAPTER);
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if (s && s.trim()) return s.trim();
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} catch (_) {}
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return DEFAULT_ECAT_ADAPTER;
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}
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function writeAdapter(substr) {
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if (!substr || !String(substr).trim()) return;
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try { localStorage.setItem(LS_ECAT_ADAPTER, String(substr).trim()); } catch (_) {}
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}
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/**
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* 统一 /ecat/api/* 代理请求（同源，esp32_server 转发到 ecat_native）。
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* @param {string} path 相对路径，如 "status" / "app/load" / "open"
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* @param {object} body JSON body，缺省 {}
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* @param {number} timeoutMs 默认 5000
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* @returns {Promise<object>} 解析后的 JSON
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*/
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async function ecatPost(path, body, timeoutMs) {
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var p = String(path || "").replace(/^\/+/, "");
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var resp = await fetch("/ecat/api/" + p, {
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method: "POST",
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headers: { "Content-Type": "application/json" },
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body: JSON.stringify(body || {}),
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cache: "no-store",
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signal: AbortSignal.timeout(timeoutMs || 5000)
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});
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var text = await resp.text();
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var json = {};
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try { json = text ? JSON.parse(text) : {}; } catch (_) {
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throw new Error("响应非合法 JSON");
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}
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if (!resp.ok) {
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var err = new Error("HTTP " + resp.status);
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err.status = resp.status;
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err.json = json;
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throw err;
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}
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return json;
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}
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function emptySnapshot() {
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return {
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ts: 0,
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ip: readIp(),
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links: {
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esp32: { online: false, ageMs: -1, failStreak: 0 },
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ecat: { online: false, busOpen: false, op: false, loop: false,
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loadValid: false, loadPerm: 0, ageMs: -1 },
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ble: { online: false, deviceName: "", owner: null }
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},
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esp32Status: null
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};
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}
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/* ───────────────────────── Owner ───────────────────────── */
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function createOwner() {
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var ch = null;
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try { ch = new BroadcastChannel(CH_NAME); } catch (_) { ch = null; }
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var snap = emptySnapshot();
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var esp32Fails = 0;
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var lastEsp32OkAt = 0;
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var esp32Timer = null;
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var ecatTimer = null;
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var stopped = false;
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/* 外壳启动即强制拉起总线（open + motor/start），不必等电机页切 EtherCAT。
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* 成功后不再重复 motor/start；掉线后按 ECAT_BUS_RETRY_MS 退避重试。 */
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var ecatBusReady = false;
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var ecatBusBusy = false;
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var ecatBusNextTryAt = 0;
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function publish() {
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snap.ts = nowMs();
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snap.ip = readIp();
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if (ch) {
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try { ch.postMessage({ type: "snapshot", snap: snap }); } catch (_) {}
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}
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}
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function setEsp32(status, ok) {
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if (ok) {
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esp32Fails = 0;
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lastEsp32OkAt = nowMs();
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snap.links.esp32.online = true;
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snap.links.esp32.ageMs = 0;
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snap.esp32Status = status || null;
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} else {
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esp32Fails++;
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snap.links.esp32.failStreak = esp32Fails;
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snap.links.esp32.ageMs = lastEsp32OkAt ? (nowMs() - lastEsp32OkAt) : -1;
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if (esp32Fails >= ESP32_FAIL_ONLINE) snap.links.esp32.online = false;
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}
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snap.links.esp32.failStreak = esp32Fails;
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publish();
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}
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function pollEsp32() {
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if (stopped) return;
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var ac = null;
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try { ac = new AbortController(); } catch (_) {}
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var tmo = null;
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fetch(baseUrlFromIp() + "/system/status" + (window._memLayout ? "" : "?layout=1"), {
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signal: ac ? ac.signal : undefined,
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cache: "no-store"
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}).then(function (r) {
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if (!r.ok) throw new Error("HTTP " + r.status);
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return r.json();
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}).then(function (j) {
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if (ac) { clearTimeout(tmo); }
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setEsp32(j, true);
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}).catch(function () {
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if (ac) { clearTimeout(tmo); }
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setEsp32(null, false);
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}).then(function () {
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esp32Timer = setTimeout(pollEsp32, ESP32_POLL_MS);
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});
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if (ac) {
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tmo = setTimeout(function () { try { ac.abort(); } catch (_) {} }, 4000);
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}
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}
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/**
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* 开总线：health →（未就绪则）status →（未开则）open 网卡 → motor/start 进 OP + 起 PDO 循环。
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* 与 motor/transport-ecat ensureOpen/ensureStarted 同源，由外壳 Owner 在
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* 控制台启动时强制执行，用户不必先去电机页把链路切到 EtherCAT。
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*
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* 已健康（bus_open + loop）时**直接复用**，不打 motor/start：
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* 那条路由会先 loop_stop 再重进 OP，和电机页探测撞车时会假超时
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* （横幅 signal timed out）并平白增加 SSC 楔死风险。
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*/
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function bootstrapEcatBus() {
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if (stopped || ecatBusBusy) return;
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var now = nowMs();
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if (ecatBusReady) return;
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if (now < ecatBusNextTryAt) return;
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ecatBusBusy = true;
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ecatBusNextTryAt = now + ECAT_BUS_RETRY_MS;
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var adapter = readAdapter();
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var body = {};
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try {
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var v = parseFloat(localStorage.getItem(LS_ECAT_PERIOD));
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/* 无显式值 / 值过慢 → 固定 0.25ms。1ms+DC 会让发送出口回到 ~1s。 */
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if (v > 0 && v <= 0.5) body.period_ms = v;
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else body.period_ms = 0.25;
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var sp = localStorage.getItem(LS_ECAT_SPIN);
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if (sp === "0") body.spin = false;
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else if (sp === "1") body.spin = true;
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} catch (_) { body.period_ms = 0.25; }
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/* EtherCAT 控制必须 DC SYNC0≈PDO 周期，且周期应保持 250µs 档 */
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{
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var per = Number(body.period_ms) || 0.25;
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if (per > 0.5) per = 0.25;
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body.period_ms = per;
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var us = Math.round(per * 1000);
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if (us < 250) us = 250;
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body.dc_cycle_us = us;
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body.dc_shift_us = 0;
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}
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ecatPost("native/health", {}, 3000).then(function (h) {
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if (h && h.ok && h.bus_open && h.loop) {
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ecatBusReady = true;
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return null; /* 已在跑：跳过 open + motor/start */
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}
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return ecatPost("status", {}, 6000).then(function (st) {
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var open = !!(st && st.ok);
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return open ? Promise.resolve(st)
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: ecatPost("open", { substr: adapter }, 20000);
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}).then(function (r) {
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if (r && r.ok === false) {
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throw new Error((r.log && r.log.join(" / ")) || "open 失败");
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}
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return ecatPost("motor/start", body, 30000);
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});
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}).then(function (r) {
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if (r && r.ok === false) {
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throw new Error((r.log && r.log.join(" / ")) || "motor/start 失败");
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}
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if (r) ecatBusReady = true;
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}).catch(function () {
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/* 网线没插/从站未上电：退避后由 pollEcat 再触发 */
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}).then(function () {
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ecatBusBusy = false;
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});
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}
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function pollEcat() {
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if (stopped) return;
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var stP = ecatPost("status", {}, 4000).catch(function () { return null; });
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var ldP = ecatPost("app/load", {}, 4000).catch(function () { return null; });
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Promise.all([stP, ldP]).then(function (arr) {
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var st = arr[0], ld = arr[1];
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var e = snap.links.ecat;
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e.online = !!(st && st.ok && st.slave);
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e.busOpen = !!(st && st.ok);
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/* native status 不直接给 op/loop；用 load valid + slave state 粗判 */
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e.op = !!(st && st.slave && st.slave.state != null && (st.slave.state & 0x0F) === 8);
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e.loadValid = !!(ld && ld.ok && ld.valid === true
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&& Number.isFinite(ld.age_ms) && ld.age_ms >= 0 && ld.age_ms <= 3000);
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e.loop = e.loadValid || e.op;
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e.loadPerm = (ld && Number.isFinite(ld.load_perm)) ? ld.load_perm : 0;
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e.ageMs = (ld && Number.isFinite(ld.age_ms)) ? ld.age_ms : -1;
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if (e.busOpen && e.loop) ecatBusReady = true;
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else if (ecatBusReady && !e.busOpen) ecatBusReady = false; /* 总线掉了 → 允许重开 */
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publish();
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/* 自愈：DC/周期被配错时发送出口秒级 —— 2s 轮询里拉回 250µs */
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if (e.busOpen && e.loop && !ecatDcGuardBusy) {
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ecatDcGuardBusy = true;
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ecatPost("native/health", {}, 2000).then(function (h) {
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if (!h || !h.ok) return null;
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var dcs = Number(h.dc_cycle_us);
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var per = Number(h.period_ms);
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if (h.dc === 1 && dcs === 250 && (h.period_ms == null || Math.abs(per - 0.25) < 0.001)) return null;
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return ecatPost("motor/start", {
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period_ms: 0.25, dc_cycle_us: 250, dc_shift_us: 0
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}, 30000);
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}).catch(function () {}).then(function () {
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ecatDcGuardBusy = false;
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});
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}
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bootstrapEcatBus();
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}).catch(function () {
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/* 字段访问/异常不得让 ECAT 轮询永久停摆 */
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}).then(function () {
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if (!stopped) ecatTimer = setTimeout(pollEcat, ECAT_POLL_MS);
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});
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}
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function onMsg(ev) {
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var m = ev && ev.data;
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if (!m || !m.type) return;
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if (m.type === "hello") { publish(); return; }
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if (m.type === "set-ip") {
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writeIp(m.ip);
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try {
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fetch(baseUrlFromIp() + "/system/status", {
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cache: "no-store",
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signal: AbortSignal.timeout(2000)
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}).then(function (r) { return r.json(); })
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.then(function (j) { setEsp32(j, true); })
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.catch(function () { setEsp32(null, false); });
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} catch (_) {}
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return;
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}
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if (m.type === "ble-state") {
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snap.links.ble.online = !!m.online;
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snap.links.ble.deviceName = m.deviceName || "";
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snap.links.ble.owner = m.owner || (m.online ? "page" : null);
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publish();
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return;
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}
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}
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if (ch) ch.addEventListener("message", onMsg);
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pollEsp32();
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pollEcat();
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bootstrapEcatBus();
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publish();
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return {
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stop: function () {
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stopped = true;
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if (esp32Timer) clearTimeout(esp32Timer);
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if (ecatTimer) clearTimeout(ecatTimer);
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if (ch) { try { ch.close(); } catch (_) {} }
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}
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};
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}
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/* ───────────────────────── Client ───────────────────────── */
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function createClient() {
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var ch = null;
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try { ch = new BroadcastChannel(CH_NAME); } catch (_) { ch = null; }
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var listeners = [];
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var last = null;
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function emit() {
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for (var i = 0; i < listeners.length; i++) {
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try { listeners[i](last); } catch (_) {}
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}
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}
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if (ch) {
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ch.addEventListener("message", function (ev) {
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var m = ev && ev.data;
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if (!m || m.type !== "snapshot" || !m.snap) return;
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last = m.snap;
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emit();
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});
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try { ch.postMessage({ type: "hello" }); } catch (_) {}
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}
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function applyLocalBle(online, deviceName) {
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if (last) {
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last.links.ble.online = !!online;
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last.links.ble.deviceName = deviceName || "";
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last.links.ble.owner = online ? "iframe" : null;
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last.ts = nowMs();
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emit();
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}
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}
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return {
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/* ── 快照 ── */
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getSnapshot: function () { return last; },
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subscribe: function (fn) {
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if (typeof fn !== "function") return function () {};
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listeners.push(fn);
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if (last) { try { fn(last); } catch (_) {} }
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return function () {
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var i = listeners.indexOf(fn);
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if (i >= 0) listeners.splice(i, 1);
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};
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},
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/** 指定通道当前是否在线；无快照时回退 false（调用方自行降级） */
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channelOnline: function (name) {
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if (!last || !last.links) return false;
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var L = last.links[name];
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return !!(L && L.online);
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},
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/* ── WiFi 端点 ── */
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setIp: function (ip) {
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writeIp(ip);
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if (ch) { try { ch.postMessage({ type: "set-ip", ip: readIp() }); } catch (_) {} }
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},
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getIp: function () { return readIp(); },
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wifiBaseUrl: function () { return baseUrlFromIp(); },
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/* ── EtherCAT 端点与请求 ── */
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getEcatAdapter: function () { return readAdapter(); },
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setEcatAdapter: function (substr) {
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writeAdapter(substr);
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return readAdapter();
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},
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ecatPost: ecatPost,
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/* ── BLE 状态上报 ── */
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reportBle: function (online, deviceName) {
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var payload = {
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type: "ble-state",
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online: !!online,
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deviceName: deviceName || "",
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owner: "iframe"
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};
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if (ch) { try { ch.postMessage(payload); } catch (_) {} }
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applyLocalBle(online, deviceName);
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},
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hasOwner: function () { return !!last; }
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};
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}
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/* ───────────────────────── bootstrap ───────────────────────── */
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var deviceLink;
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try {
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if (window.__dcuDeviceLinkOwner) {
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window.__dcuDeviceLinkInstance = createOwner();
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}
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} catch (_) {}
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deviceLink = createClient();
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export { deviceLink, ecatPost, readAdapter as getEcatAdapter, writeAdapter as setEcatAdapter };
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export default deviceLink;
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