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。
539 lines
26 KiB
JavaScript
539 lines
26 KiB
JavaScript
/**
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* seq.js — 电机控制台命令序列（循环步骤 / 同步动作组 / sendBurst）
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* 从 main.js 外提，逻辑行为不变。
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* createSeqSys(ctx) 注入 MODES/state/sendBurst/toast 等。
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* late 绑定字段由 main.js 在装配后回填（stopSeq 等被连接断线回调使用）。
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*/
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"use strict";
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/**
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* @param {object} ctx 见 main.js 装配处
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*/
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export function createSeqSys(ctx) {
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const {
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MODES, FIXED_MOTOR_NODES, state, clampNum, escapeHtml, $,
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cmdVal, syncCmdCommittedFromDom, saveUiState, debounceSaveUi,
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toast, showModal, inBusCooldown, sendBurst, stopRepeat,
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renderNodeList, nowMs, sleep, late,
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} = ctx;
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/* ═══════════════════════ 命令序列发送（循环发送设定步骤） ═══════════════════════
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* 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/
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* 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
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* （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；
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* 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。
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* 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。
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* 兼容旧数据：无 actions 的扁平旧步骤自动归一为单动作步骤（normStep）。
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* 步骤持久化在 saveUiState/loadUiState（序列化到 o.seq）。 */
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const seq = {
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running: false,
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stopRequested: false,
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steps: [], /* [{holdMs, actions:[{ch,node,mode,voltage,current,velocity,angle,pidCurP,pidVelP,pidAngP}]}] */
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loops: 0, /* 循环次数，0 = 无限 */
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round: 1, /* 当前轮（1 起） */
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stepIdx: 0, /* 当前步索引 */
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statusText: "未运行",
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singleIdx: null, /* 正在单发的步骤索引，null = 无单发在途 */
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};
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const seqListEl = $("#seqList");
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const seqStartBtn = $("#seqStartBtn");
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const seqLoopsInput = $("#seqLoops");
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function seqModeOptions(selected) {
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return Object.entries(MODES).map(([v, m]) =>
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`<option value="${v}"${String(v) === String(selected) ? " selected" : ""}>${v} — ${m.zh}</option>`).join("");
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}
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function seqChOptions(selected) {
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return [0, 1, 2].map((c) =>
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`<option value="${c}"${parseInt(selected, 10) === c ? " selected" : ""}>CH${c}</option>`).join("");
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}
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function seqNodeOptions(selected) {
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return FIXED_MOTOR_NODES.map((n) =>
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`<option value="${n}"${parseInt(selected, 10) === n ? " selected" : ""}>N${n}</option>`).join("");
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}
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/* 步骤序号中文读法：1 → 一、11 → 十一、20 → 二十；超出 99 退回阿拉伯数字避免读错 */
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const CN_DIGITS = "零一二三四五六七八九";
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function cnNum(n) {
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if (n < 10) return CN_DIGITS[n];
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if (n < 20) return "十" + (n % 10 ? CN_DIGITS[n % 10] : "");
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return CN_DIGITS[Math.floor(n / 10)] + "十" + (n % 10 ? CN_DIGITS[n % 10] : "");
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}
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function seqStepName(i) {
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const n = i + 1;
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return n <= 99 ? "步骤" + cnNum(n) : "步骤 " + n;
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}
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/* 折叠态摘要：一个 action 压成 "CH0·N3 速度+位置 速度100°/s 角度0°" */
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const SEQ_TARGET_ZH = { voltage: "电压", current: "电流", velocity: "速度", angle: "角度" };
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const SEQ_TARGET_UNIT = { voltage: "V", current: "mA", velocity: "°/s", angle: "°" };
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const SEQ_SUMMARY_MAX = 3; /* 一行最多列 3 台电机，其余折叠成 "+N 台" */
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function seqActionBrief(a) {
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const m = MODES[parseInt(a.mode, 10)] || null;
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const vals = (m ? m.targets : []).map((t) =>
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`${SEQ_TARGET_ZH[t] || t}${a[t] != null ? a[t] : "0"}${SEQ_TARGET_UNIT[t] || ""}`).join(" ");
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return `CH${a.ch}·N${a.node} ${(m && m.zh) || "模式" + a.mode}${vals ? " " + vals : ""}`;
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}
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function seqStepSummaryHtml(s) {
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const acts = s.actions || [];
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if (!acts.length) return "无动作";
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const html = acts.slice(0, SEQ_SUMMARY_MAX).map((a) => escapeHtml(seqActionBrief(a)))
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.join('<span class="seq-sum-sep">｜</span>');
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return acts.length > SEQ_SUMMARY_MAX
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? `${html}<span class="seq-sum-more">+${acts.length - SEQ_SUMMARY_MAX} 台</span>`
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: html;
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}
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/* 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） */
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function actionFromAny(a) {
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a = a || {};
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return {
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ch: Number.isInteger(a.ch) ? clampNum(a.ch, 0, 2) : clampNum(state.ch || 0, 0, 2),
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node: (Number.isInteger(a.node) && a.node >= 1 && a.node <= 9) ? a.node : (state.selectedNode || 1),
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mode: a.mode != null ? String(a.mode) : "3",
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voltage: a.voltage != null ? a.voltage : "24.000",
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current: a.current != null ? a.current : "0",
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velocity: a.velocity != null ? a.velocity : "100",
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angle: a.angle != null ? a.angle : "0",
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pidCurP: a.pidCurP != null ? a.pidCurP : "100",
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pidVelP: a.pidVelP != null ? a.pidVelP : "100",
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pidAngP: a.pidAngP != null ? a.pidAngP : "100",
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};
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}
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/* 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。
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* 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。 */
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function normStep(s) {
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s = s || {};
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const holdMs = clampNum(parseInt(s.holdMs, 10) || 1000, 0, 600000);
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const collapsed = !!s.collapsed;
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if (Array.isArray(s.actions) && s.actions.length) {
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return { holdMs: holdMs, collapsed: collapsed, actions: s.actions.map(actionFromAny) };
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}
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return { holdMs: holdMs, collapsed: collapsed, actions: [actionFromAny(s)] };
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}
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function cloneAction(a) { return Object.assign({}, actionFromAny(a)); }
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/* 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） */
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function defaultActionFromForm() {
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syncCmdCommittedFromDom();
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return {
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ch: clampNum(state.ch || 0, 0, 2),
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node: (state.selectedNode >= 1 && state.selectedNode <= 9) ? state.selectedNode : 1,
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mode: $("#modeSelect").value,
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voltage: cmdVal("inVoltage"),
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current: cmdVal("inCurrent"),
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velocity: cmdVal("inVelocity"),
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angle: cmdVal("inAngle"),
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pidCurP: cmdVal("pidCurP"),
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pidVelP: cmdVal("pidVelP"),
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pidAngP: cmdVal("pidAngP"),
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};
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}
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function renderSeqList() {
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if (!seq.steps.length) {
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seqListEl.innerHTML = '<div class="seq-empty">尚未添加步骤 — 点击「+ 添加步骤」把当前 CMD 表单（含当前通道/节点）存为一步；每步可再「+ 电机」加入多个动作，同一步内的动作近同时下发</div>';
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} else {
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seqListEl.innerHTML = seq.steps.map((s, i) => `
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<div class="seq-step${s.collapsed ? " collapsed" : ""}" data-idx="${i}">
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<div class="seq-step-head">
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<span class="seq-grip" tabindex="0" role="button" title="按住拖动上下排序（聚焦后方向键同样可移）" aria-label="${seqStepName(i)} 拖动排序">
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<svg width="10" height="14" viewBox="0 0 10 14" fill="currentColor" aria-hidden="true"><circle cx="3" cy="3" r="1.25"/><circle cx="7" cy="3" r="1.25"/><circle cx="3" cy="7" r="1.25"/><circle cx="7" cy="7" r="1.25"/><circle cx="3" cy="11" r="1.25"/><circle cx="7" cy="11" r="1.25"/></svg>
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</span>
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<span class="seq-idx">${seqStepName(i)}</span>
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<span class="seq-count">${s.actions.length} 电机</span>
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<span class="seq-hold-label">保持</span>
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<input class="seq-num seq-hold" data-f="holdMs" type="number" value="${s.holdMs}" min="0" max="600000" step="100" aria-label="${seqStepName(i)} 保持时间 ms" />
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<span class="seq-hold-unit">ms</span>
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<div class="seq-ops">
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<button data-op="sendOne" title="单发本步（仅发送这一步的全部电机动作，不推进序列）" class="seq-send-one">
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<svg width="13" height="13" viewBox="0 0 14 14" fill="none" aria-hidden="true"><path d="M4.5 2.8 11 7l-6.5 4.2z" fill="currentColor"/></svg>
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</button>
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<button data-op="addAction" title="本步添加电机动作（复制最后一个动作）">
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<svg width="13" height="13" viewBox="0 0 14 14" fill="none" aria-hidden="true"><path d="M7 2.5v9M2.5 7h9" stroke="currentColor" stroke-width="1.5" stroke-linecap="round"/></svg>
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</button>
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<button data-op="collapse" title="${s.collapsed ? "展开本步" : "折叠本步（只留功能摘要）"}" class="seq-fold" aria-expanded="${s.collapsed ? "false" : "true"}">
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<svg width="13" height="13" viewBox="0 0 14 14" fill="none" aria-hidden="true"><path d="M4.5 3 8.5 7l-4 4" stroke="currentColor" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round"/></svg>
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</button>
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<button data-op="dup" title="复制本步（含全部动作）">
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<svg width="13" height="13" viewBox="0 0 14 14" fill="none" aria-hidden="true"><rect x="4.5" y="4.5" width="7" height="7" rx="1.5" stroke="currentColor" stroke-width="1.2"/><rect x="2.5" y="2.5" width="7" height="7" rx="1.5" stroke="currentColor" stroke-width="1.2" opacity=".4"/></svg>
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</button>
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<button data-op="del" title="删除本步" class="seq-del">
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<svg width="13" height="13" viewBox="0 0 14 14" fill="none" aria-hidden="true"><path d="M2.5 4h9M5.5 4V3a1 1 0 0 1 1-1h1a1 1 0 0 1 1 1v1M3.5 4l.55 6.9A1 1 0 0 0 5.04 12h3.92a1 1 0 0 0 .99-.9L10.5 4" stroke="currentColor" stroke-width="1.2" stroke-linecap="round" stroke-linejoin="round"/></svg>
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</button>
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</div>
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</div>
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<div class="seq-summary">${seqStepSummaryHtml(s)}</div>
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<div class="seq-actions">
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${s.actions.map((a, j) => `
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<div class="seq-action" data-aidx="${j}">
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<div class="seq-action-head">
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<span class="seq-action-tag">电机 ${j + 1}</span>
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<select class="seq-ch" aria-label="${seqStepName(i)} 电机 ${j + 1} 通道" title="发送通道">${seqChOptions(a.ch)}</select>
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<select class="seq-node" aria-label="${seqStepName(i)} 电机 ${j + 1} 节点" title="目标节点">${seqNodeOptions(a.node)}</select>
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<select class="seq-mode" aria-label="${seqStepName(i)} 电机 ${j + 1} 控制模式">${seqModeOptions(a.mode)}</select>
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<div class="seq-ops">
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<button data-op="delAction" title="删除此电机动作" class="seq-del">
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<svg width="13" height="13" viewBox="0 0 14 14" fill="none" aria-hidden="true"><path d="M2.5 4h9M5.5 4V3a1 1 0 0 1 1-1h1a1 1 0 0 1 1 1v1M3.5 4l.55 6.9A1 1 0 0 0 5.04 12h3.92a1 1 0 0 0 .99-.9L10.5 4" stroke="currentColor" stroke-width="1.2" stroke-linecap="round" stroke-linejoin="round"/></svg>
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</button>
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</div>
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</div>
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<div class="seq-step-fields">
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<label class="field"><span class="field-label">电压 <span class="field-unit">V</span></span><input class="seq-num" data-f="voltage" type="number" value="${a.voltage}" step="0.5" /></label>
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<label class="field"><span class="field-label">电流 <span class="field-unit">mA</span></span><input class="seq-num" data-f="current" type="number" value="${a.current}" step="100" /></label>
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<label class="field"><span class="field-label">速度 <span class="field-unit">deg/s</span></span><input class="seq-num" data-f="velocity" type="number" value="${a.velocity}" step="10" /></label>
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<label class="field"><span class="field-label">角度 <span class="field-unit">deg</span></span><input class="seq-num" data-f="angle" type="number" value="${a.angle}" step="1" /></label>
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<label class="field"><span class="field-label">电流环P</span><input class="seq-num" data-f="pidCurP" type="number" value="${a.pidCurP}" step="1" /></label>
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<label class="field"><span class="field-label">速度环P</span><input class="seq-num" data-f="pidVelP" type="number" value="${a.pidVelP}" step="1" /></label>
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<label class="field"><span class="field-label">角度环P</span><input class="seq-num" data-f="pidAngP" type="number" value="${a.pidAngP}" step="1" /></label>
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</div>
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</div>`).join("")}
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</div>
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</div>`).join("");
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}
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updateSeqUi();
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}
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function updateSeqUi() {
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const running = seq.running;
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const sendingIdx = seq.singleIdx;
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seqStartBtn.textContent = running ? "■ 停止序列" : "▶ 开始序列";
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seqStartBtn.classList.toggle("btn-primary", running);
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seqStartBtn.disabled = !running && sendingIdx != null;
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const st = $("#seqStatus");
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if (st) {
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if (running) {
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const cs = seq.steps[seq.stepIdx];
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const cnt = cs ? cs.actions.length : 0;
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st.textContent = `运行中 · 步骤 ${seq.stepIdx + 1}/${seq.steps.length} (${cnt} 电机) · 第 ${seq.round} 轮`;
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st.classList.add("on");
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} else if (sendingIdx != null) {
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st.textContent = `单发步骤 ${sendingIdx + 1}…`;
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st.classList.add("on");
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} else {
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st.textContent = seq.statusText || `未运行 · ${seq.steps.length} 步`;
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st.classList.remove("on");
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}
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}
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seqListEl.classList.toggle("seq-locked", running);
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seqListEl.querySelectorAll(".seq-step").forEach((row) => {
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const idx = parseInt(row.dataset.idx, 10);
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row.classList.toggle("current", running && idx === seq.stepIdx);
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row.classList.toggle("sending", !running && sendingIdx === idx);
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});
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seqLoopsInput.disabled = running;
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$("#seqAddBtn").disabled = running;
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$("#seqClearBtn").disabled = running;
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}
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/* 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） */
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function seqReadStepFromForm() {
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return { holdMs: 1000, actions: [defaultActionFromForm()] };
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}
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/* 步骤行编辑（input 事件同时覆盖 number 输入与 select 选择）：
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* holdMs 归属步骤本身；ch/node/mode/各参数归属 .seq-action（data-aidx）对应的 action */
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seqListEl.addEventListener("input", (e) => {
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const row = e.target.closest(".seq-step");
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if (!row) return;
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const step = seq.steps[parseInt(row.dataset.idx, 10)];
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if (!step) return;
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const t = e.target;
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if (t.dataset.f === "holdMs") {
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step.holdMs = clampNum(parseInt(t.value, 10) || 0, 0, 600000);
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} else {
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const actRow = t.closest(".seq-action");
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const action = actRow ? step.actions[parseInt(actRow.dataset.aidx, 10)] : null;
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if (!action) return;
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if (t.classList.contains("seq-ch")) action.ch = clampNum(parseInt(t.value, 10) || 0, 0, 2);
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else if (t.classList.contains("seq-node")) action.node = clampNum(parseInt(t.value, 10) || 1, 1, 9);
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else if (t.classList.contains("seq-mode")) action.mode = t.value;
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else if (t.dataset.f) action[t.dataset.f] = t.value;
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else return;
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}
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debounceSaveUi();
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});
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/* 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） */
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seqListEl.addEventListener("click", (e) => {
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const btn = e.target.closest("button[data-op]");
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if (!btn || seq.running) return;
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const row = btn.closest(".seq-step");
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if (!row) return;
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const i = parseInt(row.dataset.idx, 10);
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const step = seq.steps[i];
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if (!step) return;
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const op = btn.dataset.op;
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if (op === "sendOne") {
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sendSeqStepOnce(i);
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return;
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}
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if (op === "collapse") {
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/* 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 */
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step.collapsed = !step.collapsed;
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row.classList.toggle("collapsed", step.collapsed);
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btn.setAttribute("aria-expanded", step.collapsed ? "false" : "true");
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btn.title = step.collapsed ? "展开本步" : "折叠本步（只留功能摘要）";
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saveUiState();
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return;
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}
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if (op === "dup") {
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seq.steps.splice(i + 1, 0, { holdMs: step.holdMs, collapsed: false, actions: step.actions.map(cloneAction) });
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} else if (op === "del") {
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seq.steps.splice(i, 1);
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} else if (op === "addAction") {
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/* 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 */
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step.actions.push(step.actions.length
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? cloneAction(step.actions[step.actions.length - 1])
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: defaultActionFromForm());
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} else if (op === "delAction") {
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const actRow = btn.closest(".seq-action");
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if (!actRow) return;
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step.actions.splice(parseInt(actRow.dataset.aidx, 10), 1);
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if (!step.actions.length) seq.steps.splice(i, 1); /* 无动作则整步删除 */
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} 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,
|
||
renderSeqList,
|
||
updateSeqUi,
|
||
startSeq,
|
||
stopSeq,
|
||
sendSeqStepOnce,
|
||
normStep,
|
||
actionFromAny,
|
||
};
|
||
}
|