cbb
c189a8563e
tools/ecat 后端已从 Python(ecat_server.py, 已删除)切到原生守护进程 build_native/ecat_native.exe。本仓(ESP32 电机控制台)的 EtherCAT 传输经 /ecat/api/* 代理打它, 这次把代理实现与全部相关措辞对齐到 native。 代理与自启(esp32_server.py): - ECAT_ENTRY/ECAT_PYW(src/ecat_server.py + venv/pythonw) → ECAT_NATIVE_EXE (build_native/ecat_native.exe); autostart 直接 Popen 单文件 exe, 不再经 venv/pythonw; 清场/--parent-pid/端口漂移三条契约 native 原样镜像, 注释同步 - 文件头与代理段里 ecat_server.py 措辞订正为 native 传输层注释(js/motor/*): - main/transport/transport-ecat/refresh-rate 里"后端是 ecat_server.py / 用 venv 拉起"等 Python 时代说法统一改为 ecat_native.exe - MOT_SLOTS_PER_PDO/MOTOR_SLOT_COUNT 引用改指 ecat_native.c(同名存在); MOTOR_SCAN_CYCLES native 无此常量, 改按真实来源写 ⌈27/7⌉=4 - main.js 环境错误分类正则 /venv|pysoem|Npcap/ → /Npcap|build_native| 守护进程|全被占/: 前两者 native 永不吐给前端(死分支), 后者对齐 autostart 真实文案, 让"exe 没编译"这类错误不被 140 字截断 README/motor.html 同步; 新增 scripts/browser_check_period.mjs(内核级 PDO 周期热调的浏览器实测, 与既有 browser_check_*.mjs 同族)。 验证: py_compile esp32_server.py 通过; 6 个改动 JS + 新脚本 node --check (ESM)全过; 正则对三类 native 错误命中、对废弃 venv/pysoem 不命中; js/ 与 scripts/ 重扫 ecat_server|venv|pysoem 已空。
3639 lines
171 KiB
JavaScript
3639 lines
171 KiB
JavaScript
/**
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* motor/main.js - 电机控制台页面逻辑（ES Module 入口）
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* 由 motor.html 内联 <script>（原 L1014-L3660）机械外提，逻辑未改。
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* 原脚本已是 "use strict"，转 module 行为中性；唯一对外暴露 window.phaseDebug。
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*/
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/* ═══════════════════════════════════════════════════════════════
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电机控制台 — 双传输：WiFi(HTTP) / EtherCAT(过程数据)，业务逻辑完全共用
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传输由工具栏「链路」下拉框切换（记在 localStorage dcu_motor_transport）。
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两种传输的差异全部收敛在 js/motor/transport-*.js 里，本文件只经
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state.tp.* 调用抽象接口 —— 解码器、节点列表、STATUS 面板、波形、
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命令序列、以及全部流控策略（互斥/退避/冷却/latest-wins）两边共用。
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WiFi 传输（原有，共用 OTA 主页设备 IP localStorage dcu_esp_ip）:
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GET /motor/state?bin=1 refreshIntervalMs 驱动（WiFi 默认 250ms，50~5000 可调）
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POST /can/send_batch 发送入口（CMD / CONFIG / VERSION / OTA）
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GET /can/feedback 1Hz → 状态栏 RX/TX/ERR/TEC/REC/BUS
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GET /system/status 进入页自动探测 + 5s 健康检查 / 断线 2s 探测
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EtherCAT 传输（经本地页面服务器 /ecat/api/* 代理到 tools/ecat 的 ecat_native.exe）:
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POST /api/motor/state 读后台 PDO 循环发布的快照（不碰总线，默认 50ms 读一次）
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POST /api/motor/send 多帧塞进同一 PDO 周期的批量区（同一 seq 沿发出）
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POST /api/motor/rx 消费批量接收区（CONFIG/版本/节点ID 应答走这里）
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刷新速度按链路各存一份（state.refreshByTp / REFRESH_DEFAULTS）：两条链路的
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往返代价差一个数量级，切链路时自动换成该链路自己的值，互不污染。
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两者的差异（每通道 TEC/REC 缺失、CONFIG 需前端累积、无 OTA 链路）
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见 transport-ecat.js 头部注释。
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CAN ID（29-bit 扩展，物理 ID，不含 0x80000000 标志）:
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STATUS 0x000N0100 · CMD 0x000N0200(DLC32) · CMD_CONFIG 0x000N0301(DLC24)
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GET_VERSION 请求/回报共用 0x000N00FF(同 ID, DLC24)
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CANFD_BOOT 0x000N0000 · NODE_ID SET/GET 0x000N0400/0401
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═══════════════════════════════════════════════════════════════ */
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"use strict";
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/* IP 存取公共实现（localStorage dcu_esp_ip，与 OTA/CAN 页共用） */
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import {
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DEFAULT_ESP_IP, getDeviceIp, saveDeviceIp
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} from "../common/base-url.js";
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import { escapeHtml } from "../common/utils.js";
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/* 传输层：WiFi(HTTP) / EtherCAT(过程数据) 二选一，业务逻辑完全共用 */
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import {
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createTransport, loadTransportId, saveTransportId
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} from "./transport.js";
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/* 刷新速度「每链路一份」的纯逻辑（默认值/钳制/旧数据迁移），
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* 抽出去是为了能脱离 DOM 自测，见 refresh-rate.js 头注释。 */
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import {
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REFRESH_DEFAULTS, REFRESH_MAX_MS,
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defaultRefreshMap, normalizeRefreshMap, pickRefresh, minRefreshFor,
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isUnthrottled
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} from "./refresh-rate.js";
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/* ─── 控制模式定义 ─── */
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const MODES = {
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0: { name: "Disable", zh: "关闭", targets: [] },
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1: { name: "Angle", zh: "位置控制", targets: ["angle"] },
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2: { name: "Velocity", zh: "速度控制", targets: ["velocity"] },
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3: { name: "Velocity_Angle", zh: "速度+位置", targets: ["velocity", "angle"] },
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4: { name: "MIT", zh: "MIT Mode", targets: ["current", "velocity", "angle"] },
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5: { name: "Current", zh: "电流/力矩", targets: ["current"] },
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6: { name: "OpenLoop", zh: "开环速度", targets: ["velocity"] },
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7: { name: "OpenLoop2", zh: "开环速度(2)", targets: ["velocity"] },
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};
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const MODE_DESCS = {
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0: "电机关闭输出，进入自由旋转状态",
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1: "闭环位置控制，目标角度生效",
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2: "闭环速度控制，目标速度生效",
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3: "速度+位置环联合控制，目标速度与目标角度同时生效",
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4: "MIT 力控模式，电流/速度/角度目标均参与计算",
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5: "电流环直接控制（力矩模式），目标电流生效",
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6: "开环速度控制，无编码器反馈",
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7: "开环速度控制（备用通道）",
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};
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/* ─── 全局状态 ─── */
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/* LS_ESP_IP / DEFAULT_ESP_IP 由 common/base-url.js 导入（与 OTA / CAN 页共用） */
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/* 本页输入持久化 key：v2 扩展了 nodeIdInput + 按节点版本缓存 + OTA 固件元数据。
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* 保存内容：modeSelect / inVoltage / inVelocity / inAngle / pidCurP / pidVelP /
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* pidAngP / repeatPeriod / chSelect / selectedNode / nodeIdInput /
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* versions（按 node 缓存 {soft,hard,boot}）/ otaFwMeta（固件名+大小）。
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* 不保存：实时状态（motor 数组、解码、波形缓冲、连接态）、固件 bytes（用 IndexedDB handle 恢复）。 */
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const LS_MOTOR_UI = "dcu_motor_ui_v2";
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const state = {
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connected: false, // 连续成功探测后视为在线
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connecting: false,
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ip: DEFAULT_ESP_IP,
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/* 当前传输实例（wifi / ecat）。所有链路调用都经它走，
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* 见文件头注释与 js/motor/transport.js 的接口定义。 */
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tp: null,
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tpId: "wifi",
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/* 最近一次探测失败原因（EtherCAT 自动接入四级里任一级的报错）。
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* null = 没失败过。显示到横幅 + #devStatus，别让页面只写"探测中…"。 */
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probeErr: null,
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probeErrFull: null, // 未压缩的完整诊断（放 title，供复制排查）
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ch: 0,
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chEnabled: [true, true, true], // 各通道启用状态（由 onFeedback 更新）
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chOnline: [0, 0, 0], // 各通道在线电机数（由 onMotorState 按 m.ch 统计，驱动下拉框信号标记）
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selectedNode: null, // 当前选中节点号
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motors: [], // 最近一次 /motor/state 的 motors 数组
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decoded: new Map(), // node -> 解码后的 STATUS 对象
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versions: new Map(), // node -> {soft,hard,boot} 查询到的版本号（持久化）
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/* 用户可调的电机状态轮询间隔（ms）。由工具栏 #refreshRate 输入框驱动。
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* 注意：仅影响 motor 链路；feedback(CAN 1Hz)/status(1Hz lite+5s full) 保持独立。
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* 这是**当前链路**的生效值，等于 refreshByTp[tpId]；全页仍只读这一个字段。 */
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refreshIntervalMs: 250,
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/* 每条链路各存一份刷新速度，切链路时自动换（见 refresh-rate.js）。 */
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refreshByTp: defaultRefreshMap(),
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lastSentMode: new Map(), // node -> 最近发送的 Control_Mode
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lastSentTargets: new Map(), // node -> {mode, angle, velocity, current, voltage} 最近发送的 CMD 目标值
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sendInFlight: false, // send_batch 互斥
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pendingCmd: null, // latest-wins CMD 合并槽：发送在途时新 CMD 覆盖此帧，完成后立即发出
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busCooldownUntil: 0, // 0xE2/0xE3 冷却截止时间戳
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txCount: 0,
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poll: { tick: null, probe: null, status: null, feedback: null },
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pollGen: 0, // 递增使在途 tick 失效
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tickInFlight: false,
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tickStuck: 0, // 连续未按时完成的 motor 轮询拍数（>0 = 卡顿，通道下拉框变黄）
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versionWait: null, // 挂载到主 tick 的版本等待 {node,prevSeq,deadline,resolve,reject}；命中/超时由 pollLoop 检查
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feedbackInFlight: false, // /can/feedback 独立链路占用标记
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statusInFlight: false, // /system/status 独立链路占用标记
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failCount: 0, // 连续硬失败计数，达阈值才断线
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probing: false, // 已在断线探测，避免重复 startProbe/toast
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lastConnToastAt: 0, // toast 去抖
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offlineSince: 0, // 进入离线时刻，短离线恢复不 toast
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tickN: 0, // 轮询序号（每 5 轮附带 status）
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recvTs: [], // 最近 N 次数据到达时间戳滑动窗口（用于计算实际接收 Hz）
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statusTickN: 0, // status lite/full 交替计数（4 lite + 1 full 循环）
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phaseDebug: { lastSlowReq: null, slowStats: {} }, // 慢请求诊断（>200ms）
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};
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/* 控制台诊断入口：main.js 以 ES module 加载，state 等顶层变量不会挂到 window，
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* 控制台直接敲 state 会报 "state is not defined"。这里显式暴露只读诊断快照。
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* 用法：控制台敲 motorDbg.state 。 */
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window.motorDbg = {
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state, // 完整 state 引用，方便深挖
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get tickWorker() { return tickWorker; }, // Worker 节拍源对象（null=未创建）
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get tickUseFallback() { return tickUseFallback; }, // true=已回退到 setTimeout 兜底
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get transport() { return state.tp && state.tp.id; }, // 当前链路 id（wifi/ecat）
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/* EtherCAT 传输内部：PDO 周期 / 累积的 config·版本数 / 最近一次原始快照。
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* 排"界面没数据"时先看这里的 snapshot.wkc 是否等于 expected_wkc。 */
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get transportDebug() { return state.tp && state.tp.debug ? state.tp.debug() : null; },
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};
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/**
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* 连续「硬失败」多少次才判离线。
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* HTTP 500/503 busy、超时 一律视为瞬时，不计入、不改 LED。
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*/
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const FAIL_THRESHOLD = 5;
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const CONN_TOAST_GAP_MS = 6000;
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/** 离线不足此时长就恢复：不弹「连接已恢复」（过滤毛刺） */
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const RECOVER_TOAST_MIN_OFFLINE_MS = 8000;
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/* 前端固定节拍：与 GD32 0xC5 推送周期对齐（250ms）。 */
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const TICK_INTERVAL_MS = 250;
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/* 通道下拉框变黄的卡顿阈值：连续 N 拍未按时完成才亮黄。
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* 设 2 而非 1：单拍延迟属正常网络抖动（请求略超一拍时长），
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* 不应闪黄；仅持续卡顿（>2 拍）才提示链路饱和。 */
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const TICK_STUCK_WARN = 2;
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/* 固定节拍调度基准：pollLoop 完成后按绝对时间对齐下一个 tick，
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* 使实际刷新周期 ≈ 设定值（单次请求耗时不再累加进周期）。 */
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let tickNextAt = 0;
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const PROBE_INTERVAL_MS = 2000;
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const MIN_CMD_PERIOD_MS = 80;
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/* ─── DOM refs ─── */
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const $ = (s) => document.querySelector(s);
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const nodeListEl = $("#nodeList");
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/* ─── 工具函数 ─── */
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/** 读取主页写入的共享设备 IP（localStorage dcu_esp_ip） */
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function getSharedDeviceIp() {
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return getDeviceIp();
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}
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/* ─── 输入持久化：刷新/重开页面后恢复上次输入 ───
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* 保存 strategy：用户改输入项时，把所有需保存项打包成 JSON 写 localStorage。
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* 恢复 strategy：页面加载时读出，按字段类型回填到对应 DOM + state。
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* 版本号按节点缓存（versions[node] = {soft,hard,boot}），切节点时回填。 */
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/* 注意：#refreshRate **不在**这里 —— 它按链路各存一份（refreshByTp），
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* 走通用 DOM 回填会把上一条链路的值套到当前链路上。见 applyTransportRefresh。 */
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const PERSIST_FIELDS = [
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"modeSelect", "inVoltage", "inVelocity", "inAngle",
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"pidCurP", "pidVelP", "pidAngP", "repeatPeriod", "chSelect",
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"nodeIdInput",
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];
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function saveUiState() {
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try {
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const o = {};
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for (const id of PERSIST_FIELDS) {
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const el = document.getElementById(id);
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if (el) o[id] = el.value;
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}
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if (state.selectedNode != null) o.selectedNode = state.selectedNode;
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/* 刷新速度：按链路分别保存（旧版是单个 refreshRate 字段，见 loadUiState 的迁移） */
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o.refreshByTp = Object.assign({}, state.refreshByTp);
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/* 命令序列：步骤 + 循环次数（有内容才写入，保持旧数据兼容） */
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if (seq.steps.length > 0 || seq.loops !== 0) {
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o.seq = { loops: seq.loops, steps: seq.steps };
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}
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/* 版本缓存：state.versions 是 Map<node, {soft,hard,boot}>，序列化为普通对象 */
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if (state.versions && state.versions.size > 0) {
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const vo = {};
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for (const [n, v] of state.versions) {
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if (v && (v.soft || v.hard || v.boot)) vo[n] = { soft: v.soft || null, hard: v.hard || null, boot: v.boot || null };
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}
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o.versions = vo;
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}
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localStorage.setItem(LS_MOTOR_UI, JSON.stringify(o));
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} catch (_) {}
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}
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function loadUiState() {
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try {
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const raw = localStorage.getItem(LS_MOTOR_UI);
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if (!raw) return;
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const o = JSON.parse(raw);
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if (!o || typeof o !== "object") return;
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for (const id of PERSIST_FIELDS) {
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const el = document.getElementById(id);
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if (el && o[id] != null) el.value = o[id];
|
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}
|
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if (o.selectedNode != null) state.selectedNode = o.selectedNode;
|
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/* 恢复命令序列（旧数据无 seq 字段则保持空）；
|
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* normStep 归一：新结构 {holdMs, actions[]} 直通，旧扁平步骤转单动作组 */
|
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if (o.seq && Array.isArray(o.seq.steps)) {
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seq.steps = o.seq.steps
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.filter((s) => s && typeof s === "object")
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.map(normStep);
|
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seq.loops = clampNum(parseInt(o.seq.loops, 10) || 0, 0, 9999);
|
||
}
|
||
/* 恢复版本缓存到 state.versions Map */
|
||
if (o.versions && typeof o.versions === "object") {
|
||
for (const [n, v] of Object.entries(o.versions)) {
|
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const node = parseInt(n, 10);
|
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if (Number.isFinite(node) && v) state.versions.set(node, { soft: v.soft || null, hard: v.hard || null, boot: v.boot || null });
|
||
}
|
||
}
|
||
/* 恢复刷新速度：按链路各一份，归一与旧数据迁移都在 refresh-rate.js 里。
|
||
* loadUiState 在 initPage 阶段调用（polling 未启动），写 state 即可，无需重排定时器；
|
||
* 输入框由随后的 applyTransportRefresh() 按当前链路回填 —— 这里**不要**直接写 DOM，
|
||
* 否则会把另一条链路的值显示出来。 */
|
||
state.refreshByTp = normalizeRefreshMap(o.refreshByTp, o.refreshRate);
|
||
} catch (_) {}
|
||
}
|
||
|
||
/* 在 PERSIST_FIELDS 上挂 change/input 监听，自动保存。 */
|
||
function bindAutoSave() {
|
||
for (const id of PERSIST_FIELDS) {
|
||
const el = document.getElementById(id);
|
||
if (el) {
|
||
el.addEventListener("change", saveUiState);
|
||
if (el.tagName === "INPUT") {
|
||
el.addEventListener("input", debounceSaveUi);
|
||
}
|
||
}
|
||
}
|
||
}
|
||
/* input 事件高频触发，debounce 300ms 避免每次按键都写 localStorage。 */
|
||
let _saveTimer = null;
|
||
function debounceSaveUi() {
|
||
if (_saveTimer) clearTimeout(_saveTimer);
|
||
_saveTimer = setTimeout(saveUiState, 300);
|
||
}
|
||
/** status 回报的设备 IP 写回共享存储（与 CAN/OTA 页一致） */
|
||
function setSharedDeviceIp(ip) {
|
||
if (!ip || !String(ip).trim()) return;
|
||
const v = String(ip).trim();
|
||
state.ip = v;
|
||
saveDeviceIp(v);
|
||
const label = $("#ipLabel");
|
||
if (label) label.textContent = "IP " + v;
|
||
}
|
||
function getBaseUrl() {
|
||
return "http://" + state.ip;
|
||
}
|
||
function pad2(n) { return n.toString(16).padStart(2, "0").toUpperCase(); }
|
||
function hexId(id) { return "0x" + id.toString(16).toUpperCase().padStart(8, "0"); }
|
||
function nodeHex(n) { return n.toString(16).toUpperCase(); }
|
||
function nowMs() { return Date.now(); }
|
||
function sleep(ms) { return new Promise((r) => setTimeout(r, ms)); }
|
||
function clampNum(v, lo, hi) { return Math.max(lo, Math.min(hi, v)); }
|
||
|
||
/* CAN ID 构造（物理 ID，node 位于 bits[19:16]）— 对齐 DBC Motor_CAN_FD v0.70 */
|
||
function canId(node, suffix) { return ((node & 0xF) << 16) | (suffix & 0xFFFF); }
|
||
const ID_STATUS = (n) => canId(n, 0x0100); /* 0x000N0100 */
|
||
const ID_CMD = (n) => canId(n, 0x0200); /* 0x000N0200 */
|
||
const ID_CMD_CONFIG = (n) => canId(n, 0x0301); /* 0x000N0301 */
|
||
/* 版本：主机与电机共用 0x000N00FF（同 ID 应答，DBC CANFD_GET_VERSION，发送方 Motor）。
|
||
* 电机 APP 仅在收到 base_id=0x00FF 时回报（CANFD_VERSION_ID），DBC 无 0x05FF 消息。
|
||
* GD32 为解析核心：捕获电机应答后缓存，经 0xC6 同步给 ESP32，前端读 /motor/version。 */
|
||
const ID_GET_VERSION_REQ = (n) => canId(n, 0x00FF); /* 请求（与应答同 ID） */
|
||
const ID_SET_NODE_ID = (n) => canId(n, 0x0400); /* 0x000N0400 DLC 2 */
|
||
const ID_GET_NODE_ID = (n) => canId(n, 0x0401); /* 0x000N0401 DLC 2 */
|
||
|
||
/* hex 字符串 → Uint8Array */
|
||
function hexToBytes(hex) {
|
||
const clean = (hex || "").replace(/[^0-9a-fA-F]/g, "");
|
||
const out = new Uint8Array(Math.floor(clean.length / 2));
|
||
for (let i = 0; i < out.length; i++) {
|
||
out[i] = parseInt(clean.substr(i * 2, 2), 16);
|
||
}
|
||
return out;
|
||
}
|
||
/* Uint8Array → 空格分隔 hex（用于状态栏预览） */
|
||
function bytesToHexSpaced(bytes, maxBytes) {
|
||
const n = maxBytes ? Math.min(bytes.length, maxBytes) : bytes.length;
|
||
let s = "";
|
||
for (let i = 0; i < n; i++) s += pad2(bytes[i]) + " ";
|
||
return s.trim();
|
||
}
|
||
|
||
/* ─── Toast ─── */
|
||
function toast(msg, type = "ok") {
|
||
const el = document.createElement("div");
|
||
el.className = `toast ${type}`;
|
||
const ledCls = type === "ok" ? "led-on" : type === "warn" ? "led-warn" : "led-err";
|
||
el.innerHTML = `<span class="led ${ledCls}" style="width:7px;height:7px"></span><span></span>`;
|
||
el.lastElementChild.textContent = msg;
|
||
$("#toastContainer").appendChild(el);
|
||
setTimeout(() => { el.classList.add("out"); setTimeout(() => el.remove(), 220); }, 3000);
|
||
}
|
||
|
||
/* ─── Modal ─── */
|
||
let modalResolve = null;
|
||
function showModal(title, desc) {
|
||
return new Promise((resolve) => {
|
||
modalResolve = resolve;
|
||
$("#modalTitle").textContent = title;
|
||
$("#modalDesc").textContent = desc;
|
||
$("#modalMask").classList.add("show");
|
||
});
|
||
}
|
||
$("#modalCancel").onclick = () => { $("#modalMask").classList.remove("show"); if (modalResolve) modalResolve(false); };
|
||
$("#modalConfirm").onclick = () => { $("#modalMask").classList.remove("show"); if (modalResolve) modalResolve(true); };
|
||
|
||
/* ═══════════════════════ STATUS 帧解码（对齐 DBC Motor_CAN_FD v0.70） ═══════════════════════
|
||
* BO_ STATUS DLC=32，信号起止与字节（Intel @1，除非注明 Motorola @0）：
|
||
* MCU_temp 0|16@1- ×0.01 → B0-1
|
||
* Motor_temp 16|16@1- ×0.01 → B2-3
|
||
* U/V/W_cur 32/48/64|16@1- mA → B4-5 / B6-7 / B8-9
|
||
* motStatus 80|1@1+ 0正常/1报错 → B10.0
|
||
* magStatus 81|1@1+ → B10.1
|
||
* thermal 82|1@1+ → B10.2
|
||
* EEPROMStatus 85|3@0+ Motorola → B10 bits 85,84,83 → (B10>>3)&7
|
||
* Power_Voltage 88|16@1+ ×0.001 V → B11-12 ★非对齐
|
||
* RT_Angle 104|32@1- float ° → B13-16 ★非对齐
|
||
* RT_Velocity 136|32@1- float °/s → B17-20
|
||
* RT_Current 168|32@1- float mA → B21-24
|
||
* test_float 200|32@1- float → B25-28
|
||
* test_U16 232|16@1+ → B29-30
|
||
* CPU_Usage 248|8@1+ % → B31
|
||
*
|
||
* 旧实现误把 Power 当 B12、float 当 B16/20/24/28，导致角度/速度/电流整体错位乱码。
|
||
*/
|
||
function decodeStatus(bytes) {
|
||
if (!bytes || bytes.length < 32) return null;
|
||
/* 拷到独立 ArrayBuffer，避免 SharedArrayBuffer/子视图偏移干扰 DataView */
|
||
const u8 = bytes instanceof Uint8Array ? bytes : new Uint8Array(bytes);
|
||
const copy = new Uint8Array(32);
|
||
copy.set(u8.subarray(0, 32));
|
||
const dv = new DataView(copy.buffer);
|
||
const b10 = copy[10];
|
||
|
||
const f32 = (off) => {
|
||
const v = dv.getFloat32(off, true);
|
||
return Number.isFinite(v) ? v : 0;
|
||
};
|
||
|
||
return {
|
||
mcuTemp: dv.getInt16(0, true) * 0.01,
|
||
motTemp: dv.getInt16(2, true) * 0.01,
|
||
uCurrent: dv.getInt16(4, true),
|
||
vCurrent: dv.getInt16(6, true),
|
||
wCurrent: dv.getInt16(8, true),
|
||
motStatus: (b10 & 0x01) ? 1 : 0, /* 0=正常 1=报错（DBC VAL_） */
|
||
magStatus: (b10 & 0x02) ? 1 : 0,
|
||
thermalStatus: (b10 & 0x04) ? 1 : 0,
|
||
/* Motorola 3bit start=85 → 位序 85,84,83 = B10[5:3] */
|
||
eepromStatus: (b10 >> 3) & 0x07,
|
||
powerVoltage: dv.getUint16(11, true) * 0.001, /* bit88 → B11 */
|
||
rtAngle: f32(13), /* bit104 → B13 */
|
||
rtVelocity: f32(17), /* bit136 → B17 */
|
||
rtCurrent: f32(21), /* bit168 → B21 */
|
||
testFloat: f32(25), /* bit200 → B25 */
|
||
testU16: dv.getUint16(29, true), /* bit232 → B29 */
|
||
cpuUsage: copy[31], /* bit248 → B31 */
|
||
};
|
||
}
|
||
|
||
/**
|
||
* 解码 CONFIG 帧 (0x000N0101, DLC 24, Motor→Host 目标值回报)。
|
||
* DBC 信号布局（Intel LE, 32 位目标值为 IEEE754 float32）:
|
||
* Target_Control_Mode 0|8@1+ → B0
|
||
* Limit_Voltage 8|16@1+ ×0.001 → B1-2
|
||
* Target_Current 24|32@1- (float32) → B3-6
|
||
* Target_Veloctiy 56|32@1- (float32) → B7-10
|
||
* Target_Angle 88|32@1- (float32) → B11-14
|
||
* B15-23: 未使用
|
||
*/
|
||
function decodeConfig(hexStr) {
|
||
if (!hexStr || hexStr.length < 48) return null;
|
||
const bytes = hexToBytes(hexStr);
|
||
if (!bytes || bytes.length < 24) return null;
|
||
const dv = new DataView(bytes.buffer, bytes.byteOffset, 24);
|
||
const f32 = (off) => {
|
||
const v = dv.getFloat32(off, true);
|
||
return Number.isFinite(v) ? v : 0;
|
||
};
|
||
return {
|
||
targetMode: bytes[0],
|
||
limitVoltage: dv.getUint16(1, true) * 0.001,
|
||
targetCurrent: f32(3),
|
||
targetVelocity: f32(7),
|
||
targetAngle: f32(11),
|
||
};
|
||
}
|
||
|
||
/**
|
||
* STATUS 故障位简写（节点卡片右上角，空间紧凑）。
|
||
* 来源 B10：motStatus/magStatus/thermal + EEPROMStatus(3bit)。
|
||
* 无故障返回 ""；有故障用 · 连接，如 "电机·磁编" / "过温" / "EE3"。
|
||
*/
|
||
function faultShortParts(d) {
|
||
if (!d) return [];
|
||
const parts = [];
|
||
if (d.motStatus) parts.push("电机");
|
||
if (d.magStatus) parts.push("磁编");
|
||
if (d.thermalStatus) parts.push("过温");
|
||
if (d.eepromStatus) parts.push("EE" + d.eepromStatus);
|
||
return parts;
|
||
}
|
||
function faultShortLabel(d) {
|
||
const parts = faultShortParts(d);
|
||
return parts.length ? parts.join("·") : "";
|
||
}
|
||
function faultCountOf(d) {
|
||
return faultShortParts(d).length;
|
||
}
|
||
|
||
/* ═══════════════════════ CMD 帧编码（对齐 DBC Motor_CAN_FD v0.70，DLC 32） ═══════════════════════
|
||
* Control_Mode 0|8@1+
|
||
* Limit_Voltage_cmd 8|16@1+ ×0.001 → B1-2
|
||
* Target_Current_cmd 24|32@1- float → B3-6
|
||
* Target_Veloctiy_cmd 56|32@1- float → B7-10
|
||
* Target_Angle_cmd 88|32@1- float → B11-14
|
||
* PID_current_loop_P 120|16@1- → B15-16
|
||
* PID_vel_loop_P 136|16@1- → B17-18
|
||
* PID_angle_loop_P 152|16@1- → B19-20
|
||
*/
|
||
/* ── CMD 数值输入提交制 ──
|
||
* 周期发送每 80~100ms 读一次输入框：若直接读 .value，键入 "200" 的中间态
|
||
* "2"/"20" 会被当目标值发给电机。改为：输入过程不生效，按回车或点击别处
|
||
* （blur 触发 change）才提交到 cmdCommitted，buildCmdBytes 只读已提交值。 */
|
||
const CMD_VALUE_IDS = ["inVoltage", "inCurrent", "inVelocity", "inAngle", "pidCurP", "pidVelP", "pidAngP"];
|
||
const cmdCommitted = {};
|
||
function initCmdCommit() {
|
||
for (const id of CMD_VALUE_IDS) {
|
||
const el = document.getElementById(id);
|
||
if (!el) continue;
|
||
cmdCommitted[id] = el.value; /* 初始提交：含 loadUiState 回填值（本函数在其之后调用） */
|
||
el.addEventListener("change", () => { cmdCommitted[id] = el.value; }); /* blur/回车后值变化才触发 */
|
||
el.addEventListener("keydown", (e) => { if (e.key === "Enter") el.blur(); }); /* 回车 = 失焦提交 */
|
||
}
|
||
}
|
||
/* 读已提交值（未 init 时回退读当前框值，保险） */
|
||
function cmdVal(id) {
|
||
return cmdCommitted[id] !== undefined ? cmdCommitted[id] : $("#" + id).value;
|
||
}
|
||
|
||
/* 编码一条 CMD 帧（DLC 32）。values = {mode, voltage, current, velocity, angle,
|
||
* pidCurP, pidVelP, pidAngP}，字段值接受字符串/数字（与输入框值同构）。
|
||
* 表单版与命令序列步骤共用此编码，保证两种发送路径帧格式一致。 */
|
||
function buildCmdBytes(values) {
|
||
const buf = new ArrayBuffer(32);
|
||
const dv = new DataView(buf);
|
||
const mode = parseInt(values.mode, 10) || 0;
|
||
dv.setUint8(0, mode);
|
||
dv.setUint16(1, Math.round((parseFloat(values.voltage) || 0) * 1000) & 0xFFFF, true);
|
||
dv.setFloat32(3, parseFloat(values.current) || 0, true);
|
||
dv.setFloat32(7, parseFloat(values.velocity) || 0, true);
|
||
dv.setFloat32(11, parseFloat(values.angle) || 0, true);
|
||
dv.setInt16(15, parseInt(values.pidCurP, 10) || 0, true);
|
||
dv.setInt16(17, parseInt(values.pidVelP, 10) || 0, true);
|
||
dv.setInt16(19, parseInt(values.pidAngP, 10) || 0, true);
|
||
return new Uint8Array(buf);
|
||
}
|
||
/* 表单版：读当前 CMD 输入区已提交值（cmdCommitted） */
|
||
function buildFormCmdBytes() {
|
||
return buildCmdBytes({
|
||
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 bytesToHexStr(bytes) {
|
||
let s = "";
|
||
for (let i = 0; i < bytes.length; i++) s += pad2(bytes[i]);
|
||
return s;
|
||
}
|
||
|
||
/* ═══════════════════════ 发送核心 /can/send_batch（互斥 + 流控） ═══════════════════════ */
|
||
const GD32_ERR_DESC = {
|
||
0xE0: "payload 过短", 0xE1: "通道号非法",
|
||
0xE2: "BUS_OFF（总线离线）", 0xE3: "TEC 过高",
|
||
0xE4: "邮箱满（对端不 ACK）", 0xE5: "参数无效", 0xEE: "SPI 帧解析失败",
|
||
0xFF: "无有效 SPI 响应（陈旧/空帧，非总线故障）",
|
||
};
|
||
/* -3 仅表示“GD32 未回 ACK”；是否真为总线故障看 gd32_err：0xE2/0xE3 才是总线，0xFF 是陈旧 SPI 帧 */
|
||
const CAN_SEND_ERR_DESC = { "-1": "参数错误", "-2": "SPI 通信失败", "-3": "GD32 未确认发送" };
|
||
|
||
function describeResult(result) {
|
||
if (result && result.status === "ok") {
|
||
return result.recv ? ("recv 0x" + result.recv + " (" + result.recv_len + "B)") : "ok";
|
||
}
|
||
const code = result ? result.code : -99;
|
||
let desc = CAN_SEND_ERR_DESC[String(code)] || ("code=" + code);
|
||
if (result && result.gd32_err != null && result.gd32_err !== 0) {
|
||
desc += " · " + (GD32_ERR_DESC[result.gd32_err] || ("gd32_err=0x" + result.gd32_err.toString(16).toUpperCase()));
|
||
}
|
||
return desc;
|
||
}
|
||
|
||
/**
|
||
* 发送一批帧（唯一入口）。互斥：同一时刻只允许一个请求在途。
|
||
* @returns {Promise<{ok:boolean, results?:object[], networkError?:boolean, busFault?:number, desc?:string}>}
|
||
*/
|
||
async function sendBatch(frames, opts) {
|
||
opts = opts || {};
|
||
if (state.sendInFlight) {
|
||
return { ok: false, desc: "上一次发送仍在进行（已跳过）", busy: true };
|
||
}
|
||
if (!state.connected && !opts.allowOffline) {
|
||
return { ok: false, desc: "设备未连接", networkError: true };
|
||
}
|
||
state.sendInFlight = true;
|
||
const n = frames.length;
|
||
/* 通道：默认用顶部选中通道；调用方可经 opts.ch 指定（命令序列每步独立通道） */
|
||
const txCh = (opts && Number.isInteger(opts.ch)) ? opts.ch : state.ch;
|
||
try {
|
||
/* 传输层只负责"把帧送出去 + 把响应补齐成 results[]"；
|
||
* 下面的流控（退避/冷却/latest-wins）与传输无关，两种链路共用。 */
|
||
let results = await state.tp.sendFrames(frames, { ch: txCh });
|
||
|
||
/* 流控：检查首帧 gd32_err */
|
||
const first = results[0] || {};
|
||
const gerr = first.gd32_err;
|
||
if (gerr === 0xE4 && !opts.retried) {
|
||
/* 邮箱满：随机退避 50~150ms 重试一次 */
|
||
state.sendInFlight = false;
|
||
const backoff = 50 + Math.floor(Math.random() * 101);
|
||
await sleep(backoff);
|
||
return sendBatch(frames, Object.assign({}, opts, { retried: true }));
|
||
}
|
||
if (gerr === 0xE2 || gerr === 0xE3) {
|
||
/* BUS_OFF / TEC 高：停止发送，3s 冷却 */
|
||
state.busCooldownUntil = nowMs() + 3000;
|
||
stopRepeat(true);
|
||
stopSeq("总线异常，命令序列已停止", true);
|
||
toast("总线异常 (" + GD32_ERR_DESC[gerr] + ") — 停止发送，冷却 3s", "err");
|
||
return { ok: false, results: results, busFault: gerr, desc: GD32_ERR_DESC[gerr] };
|
||
}
|
||
const allOk = results.every((r) => r.status === "ok");
|
||
return { ok: allOk, results: results, desc: describeResult(first) };
|
||
} catch (e) {
|
||
/* 发送失败：瞬时错误静默；真断线累计，达阈值才离线 */
|
||
noteHardFailure(e, "send");
|
||
return { ok: false, networkError: true, desc: e.message || "网络错误" };
|
||
} finally {
|
||
state.sendInFlight = false;
|
||
/* latest-wins 排空：发送期间新到的 CMD 已合并到 pendingCmd（仅保留最新帧），
|
||
* 此处立即发出，保证周期指令不因互斥而丢失。E4 重试路径（已提前清锁）不触发。 */
|
||
if (!opts.retried && state.pendingCmd && state.connected && nowMs() >= state.busCooldownUntil) {
|
||
const p = state.pendingCmd;
|
||
state.pendingCmd = null;
|
||
sendBatch([{ id: p.id, dlc: p.dlc, data: p.data }], { silent: true });
|
||
}
|
||
}
|
||
}
|
||
|
||
/* 单帧便捷封装 */
|
||
async function sendOneFrame(id, dlc, dataHex, opts) {
|
||
return sendBatch([{ id: id, dlc: dlc, data: dataHex }], opts);
|
||
}
|
||
|
||
/** 手动一次性发送（CONFIG / VERSION / 节点 ID 等）：先等通道空闲再发。
|
||
* 周期 CMD 及其排空链通常 <100ms 完成，短暂等待即可避免 busy 拒绝；
|
||
* 超过 1.5s 仍忙则照发（sendBatch 返回 busy 并 toast 提示）。 */
|
||
async function sendOneFrameWhenFree(id, dlc, dataHex, opts) {
|
||
const deadline = nowMs() + 1500;
|
||
while (state.sendInFlight && nowMs() < deadline) await sleep(25);
|
||
const res = await sendOneFrame(id, dlc, dataHex, opts);
|
||
if (res.busy) toast("发送通道仍忙（上一包未完成），请稍后重试", "warn");
|
||
return res;
|
||
}
|
||
|
||
/**
|
||
* 突发（近同时）发送多个电机动作：POST /can/send_burst。
|
||
* ESP32 转 0xC7 SPI 突发，GD32 背靠背装载各通道 CAN 邮箱，组内偏差 µs 级；
|
||
* 超过单次突发容量时 ESP32 内部分块背靠背连发（组间 ~1-2ms）。
|
||
* 与 sendBatch 共享 state.sendInFlight 互斥；流控策略与 sendBatch 一致。
|
||
* @param {Array} actions [{ch,node,mode,voltage,current,velocity,angle,pid*}]
|
||
* @returns {Promise<{ok,results?,networkError?,busFault?,busy?,desc?}>}
|
||
*/
|
||
async function sendBurst(actions, opts) {
|
||
opts = opts || {};
|
||
if (state.sendInFlight) {
|
||
return { ok: false, desc: "上一次发送仍在进行（已跳过）", busy: true };
|
||
}
|
||
if (!state.connected && !opts.allowOffline) {
|
||
return { ok: false, desc: "设备未连接", networkError: true };
|
||
}
|
||
state.sendInFlight = true;
|
||
const frames = actions.map((a) => ({
|
||
ch: a.ch, node: a.node, data: bytesToHexStr(buildCmdBytes(a)),
|
||
}));
|
||
try {
|
||
/* WiFi：ESP32 转 0xC7 突发；EtherCAT：批量发送区天然同一个 seq 沿。
|
||
* 两边都保证"组内近同时"，语义一致，故上层不必区分。 */
|
||
const results = await state.tp.sendBurst(frames, { suffix: 0x0200, dlc: 32 });
|
||
|
||
/* 流控：取第一个错误帧的状态（同 sendBatch 逻辑） */
|
||
const firstErr = results.find((r) => r.status !== "ok") || {};
|
||
const gerr = firstErr.gd32_err;
|
||
if (gerr === 0xE4 && !opts.retried) {
|
||
/* 邮箱满：随机退避 50~150ms 重试一次 */
|
||
state.sendInFlight = false;
|
||
const backoff = 50 + Math.floor(Math.random() * 101);
|
||
await sleep(backoff);
|
||
return sendBurst(actions, Object.assign({}, opts, { retried: true }));
|
||
}
|
||
if (gerr === 0xE2 || gerr === 0xE3) {
|
||
/* BUS_OFF / TEC 高：停止发送，3s 冷却 */
|
||
state.busCooldownUntil = nowMs() + 3000;
|
||
stopRepeat(true);
|
||
stopSeq("总线异常，命令序列已停止", true);
|
||
toast("总线异常 (" + GD32_ERR_DESC[gerr] + ") — 停止发送，冷却 3s", "err");
|
||
return { ok: false, results: results, busFault: gerr, desc: GD32_ERR_DESC[gerr] };
|
||
}
|
||
const allOk = results.every((r) => r.status === "ok");
|
||
return { ok: allOk, results: results, desc: allOk ? "ok" : describeResult(firstErr) };
|
||
} catch (e) {
|
||
noteHardFailure(e, "send");
|
||
return { ok: false, networkError: true, desc: e.message || "网络错误" };
|
||
} finally {
|
||
state.sendInFlight = false;
|
||
/* latest-wins 排空（与 sendBatch 一致） */
|
||
if (!opts.retried && state.pendingCmd && state.connected && nowMs() >= state.busCooldownUntil) {
|
||
const p = state.pendingCmd;
|
||
state.pendingCmd = null;
|
||
sendBatch([{ id: p.id, dlc: p.dlc, data: p.data }], { silent: true });
|
||
}
|
||
}
|
||
}
|
||
|
||
/* ═══════════════════════ 连接稳健性 ═══════════════════════
|
||
* 设备端 /system/status、/motor/state、/can/feedback 共用 httpJsonWorkMutex。
|
||
* 任一并发 → 500 busy；旧逻辑还把瞬时失败变成 LED 黄灯/断线 toast → 「偶尔闪一下」。
|
||
*
|
||
* 现策略：
|
||
* 1) 全链路单飞：递归 setTimeout，同一时刻只有 1 个 HTTP
|
||
* 2) 顺序：motor → feedback →（每 5 轮）status
|
||
* 3) 500/503/超时 = 瞬时，静默跳过，不改 LED、不计数
|
||
* 4) 仅「真断线」类错误累计，达阈值才 banner/toast
|
||
* 5) 短离线（<8s）恢复不弹「连接已恢复」
|
||
*/
|
||
function connToast(msg, type) {
|
||
const now = nowMs();
|
||
if (now - state.lastConnToastAt < CONN_TOAST_GAP_MS) return;
|
||
state.lastConnToastAt = now;
|
||
toast(msg, type);
|
||
}
|
||
|
||
/** 500/503 busy、超时：设备忙，不是链路掉线 */
|
||
function isTransientError(e) {
|
||
if (!e) return false;
|
||
if (e.transient === true) return true;
|
||
const st = Number(e.status);
|
||
if (st === 500 || st === 503 || st === 429) return true;
|
||
const name = e.name || "";
|
||
if (name === "TimeoutError" || name === "AbortError") return true;
|
||
const msg = String(e.message || e);
|
||
if (/timed?\s*out|aborted|AbortError|signal is aborted/i.test(msg)) return true;
|
||
if (/^HTTP\s+(500|503|429)\b/.test(msg)) return true;
|
||
return false;
|
||
}
|
||
|
||
/**
|
||
* 统一 GET JSON（设备直连）。失败抛 Error，附带 status / transient。
|
||
*
|
||
* 常规数据链（状态/反馈/发送/版本）已全部走 state.tp 传输层，
|
||
* 这里保留给 OTA 那条 WiFi 专属链路复用同一套错误语义。
|
||
* @returns {Promise<object>}
|
||
*/
|
||
async function fetchDeviceJson(path, timeoutMs) {
|
||
let resp;
|
||
const t0 = performance.now();
|
||
try {
|
||
resp = await fetch(getBaseUrl() + path, {
|
||
signal: AbortSignal.timeout(timeoutMs || 3000),
|
||
cache: "no-store",
|
||
});
|
||
} catch (e) {
|
||
const err = e instanceof Error ? e : new Error(String(e));
|
||
err.transient = isTransientError(err);
|
||
recordSlowReq(path, performance.now() - t0, err.message);
|
||
throw err;
|
||
}
|
||
recordSlowReq(path, performance.now() - t0);
|
||
if (!resp.ok) {
|
||
const err = new Error("HTTP " + resp.status);
|
||
err.status = resp.status;
|
||
err.transient = (resp.status === 500 || resp.status === 503 || resp.status === 429);
|
||
throw err;
|
||
}
|
||
return resp.json();
|
||
}
|
||
|
||
/* 慢请求统计：>200ms 记入 phaseDebug.slowStats[path] = {count, maxMs, lastMs, lastAt}。
|
||
* 用于诊断"卡在哪个 endpoint"——不是看单次 lastSlowReq，而是看各 path 的卡顿分布。
|
||
* 控制台 phaseDebug.slowStats 直接看哪个 path 累计最多。 */
|
||
function recordSlowReq(path, durMs, errMsg) {
|
||
if (durMs <= 200) return;
|
||
const s = state.phaseDebug.slowStats;
|
||
const key = path.split("?")[0]; /* /motor/state?bin=1 → /motor/state */
|
||
if (!s[key]) s[key] = { count: 0, maxMs: 0, lastMs: 0, lastAt: 0, lastErr: null };
|
||
s[key].count++;
|
||
s[key].maxMs = Math.max(s[key].maxMs, Math.round(durMs));
|
||
s[key].lastMs = Math.round(durMs);
|
||
s[key].lastAt = Date.now();
|
||
if (errMsg) s[key].lastErr = errMsg;
|
||
state.phaseDebug.lastSlowReq = {
|
||
path, dur: Math.round(durMs), at: Date.now(), err: errMsg
|
||
};
|
||
}
|
||
|
||
/* 连接判定：轮询/探测硬失败达阈值才离线（瞬时错误不计）。 */
|
||
function noteHardSuccess() { state.failCount = 0; }
|
||
|
||
/* ═══════════════════════ 传输层装配 ═══════════════════════
|
||
* 传输实例需要 recordSlowReq / isTransientError / getBaseUrl，
|
||
* 这些都定义在本文件里，因此用注入而非反向 import —— 否则
|
||
* transport-*.js 与 main.js 会互相 import 形成循环。 */
|
||
const TRANSPORT_CTX = {
|
||
getBaseUrl: () => getBaseUrl(),
|
||
recordSlow: (path, ms, err) => recordSlowReq(path, ms, err),
|
||
isTransient: (e) => isTransientError(e),
|
||
};
|
||
|
||
/**
|
||
* 把**当前链路**的刷新速度装载为生效值：写 state.refreshIntervalMs、回填输入框、
|
||
* 更新 Hz 标签，必要时重排节拍。
|
||
*
|
||
* 为什么刷新速度不能两条链路共用一个值：见 refresh-rate.js 的头注释。
|
||
* 这里是"链路 → 刷新速度"的唯一入口，applyRefreshRate 则是反方向
|
||
* （用户改输入框 → 存回当前链路那一份），两者共同维持 refreshByTp 与
|
||
* refreshIntervalMs 一致。
|
||
*/
|
||
function applyTransportRefresh() {
|
||
const v = pickRefresh(state.refreshByTp, state.tpId);
|
||
const changed = state.refreshIntervalMs !== v;
|
||
state.refreshByTp[state.tpId] = v;
|
||
state.refreshIntervalMs = v;
|
||
/* 输入框无条件回填：初始化时 state 恰好与 HTML 默认值相同也要写，
|
||
* 否则输入框会停在 HTML 里的 250 而实际链路用的是别的值。
|
||
* min/step 也随链路走：ECAT 允许到 1ms（读本机快照，见 refresh-rate.js），
|
||
* WiFi 仍是 50ms 起。不同步 min 的话，浏览器自带的数字校验会把
|
||
* 合法的 1ms 标成 :invalid，微调箭头也会停在错误的档位上。 */
|
||
const el = $("#refreshRate");
|
||
if (el) {
|
||
const lo = minRefreshFor(state.tpId);
|
||
el.min = String(lo);
|
||
el.step = lo <= 1 ? "1" : "50"; /* 1ms 档用 1 步进，否则 50 步进太粗 */
|
||
el.value = v;
|
||
}
|
||
if (!changed) return v; /* 值没变就别白重排节拍 */
|
||
updateNodeLabels(); /* STATUS 面板右上角 Hz 跟随 */
|
||
/* 兜底模式下清掉按旧间隔排的 setTimeout，避免双链 */
|
||
if (state.poll.tick) {
|
||
clearTimeout(state.poll.tick);
|
||
state.poll.tick = null;
|
||
}
|
||
if (state.connected && !state.probing) {
|
||
tickNextAt = 0;
|
||
schedulePollLoop(state.pollGen, 0);
|
||
}
|
||
return v;
|
||
}
|
||
|
||
/** 建立（或切换到）指定传输。返回新实例。 */
|
||
function useTransport(id) {
|
||
state.tpId = id;
|
||
state.tp = createTransport(id, TRANSPORT_CTX);
|
||
return state.tp;
|
||
}
|
||
|
||
/**
|
||
* 切换传输：停链路 → 旧传输收尾 → 建新传输 → 重新探测连接。
|
||
* OTA 页签在不支持的传输下禁用（EtherCAT 没有固件上传 + relay 链路）。
|
||
* 刷新速度按链路各存一份，由 applyTransportUi → applyTransportRefresh 自动换。
|
||
*/
|
||
async function switchTransport(id) {
|
||
if (id === state.tpId) return;
|
||
const old = state.tp;
|
||
stopRepeat(true);
|
||
stopSeq("切换链路，命令序列已停止", true);
|
||
stopDataPolling();
|
||
stopProbe();
|
||
state.connected = false;
|
||
state.connecting = false;
|
||
state.failCount = 0;
|
||
if (old) { try { await old.teardown(); } catch (_) {} }
|
||
useTransport(id);
|
||
saveTransportId(id);
|
||
applyTransportUi();
|
||
/* 刷新速度换了要说一声，否则用户会以为是自己之前改的值丢了 */
|
||
toast("已切换链路: " + state.tp.label + " · 刷新 " + state.refreshIntervalMs + " ms", "ok");
|
||
connectShared();
|
||
}
|
||
|
||
/** 按当前传输能力刷新 UI：OTA 页签可用性 + 链路下拉框 + 发送提示。 */
|
||
function applyTransportUi() {
|
||
const tp = state.tp;
|
||
const sel = $("#transportSelect");
|
||
if (sel && sel.value !== state.tpId) sel.value = state.tpId;
|
||
|
||
/* 网卡匹配子串只对 EtherCAT 有意义，WiFi 下隐藏（而不是禁用）：
|
||
* 它不是"暂时不能用"，而是这条链路根本没有网卡的概念。 */
|
||
const ad = $("#ecatAdapter");
|
||
if (ad) {
|
||
const show = !!tp.getAdapter;
|
||
ad.style.display = show ? "" : "none";
|
||
if (show) ad.value = tp.getAdapter();
|
||
}
|
||
|
||
/* OTA 只有 WiFi 链路有（ESP32 固件上传 + GD32 本地 relay）。
|
||
* 不支持时禁用页签而不是隐藏：隐藏会让人以为功能没了，
|
||
* 禁用 + title 能说清"换回 WiFi 链路即可用"。 */
|
||
const otaBtn = document.querySelector('.tab-btn[data-tab="ota"]');
|
||
if (otaBtn) {
|
||
const off = !tp.supportsOta;
|
||
otaBtn.disabled = off;
|
||
otaBtn.classList.toggle("tab-disabled", off);
|
||
otaBtn.title = off
|
||
? "电机 OTA 仅 WiFi 链路支持（需 ESP32 固件上传 + GD32 relay）——切回 WiFi 链路后可用"
|
||
: "";
|
||
/* 当前正停在 OTA 页而链路不支持 → 退回配置页，避免面对一个点不动的界面 */
|
||
if (off && otaBtn.classList.contains("active")) {
|
||
const cfg = document.querySelector('.tab-btn[data-tab="config"]');
|
||
if (cfg) cfg.click();
|
||
}
|
||
}
|
||
/* 刷新速度：先装载本链路那一份（回填输入框 + 重排节拍），再更新提示文案。
|
||
* EtherCAT 的 PDO 周期由后台循环独立维持（看门狗要求），与界面刷新率无关，
|
||
* 这点必须说清楚否则会被当成"改了没生效"。 */
|
||
applyTransportRefresh();
|
||
const rr = document.getElementById("refreshRate");
|
||
if (rr) {
|
||
const other = state.tpId === "ecat" ? "wifi" : "ecat";
|
||
const otherName = other === "wifi" ? "WiFi" : "EtherCAT";
|
||
const shared = "两条链路各记一份刷新速度，切链路自动换（" + otherName +
|
||
" 当前记着 " + (state.refreshByTp[other] || REFRESH_DEFAULTS[other]) + " ms）。";
|
||
rr.parentElement.title = tp.supportsPeriodSync
|
||
? "电机状态刷新间隔（ms，" + minRefreshFor(state.tpId) + "~" + REFRESH_MAX_MS +
|
||
"）。同时驱动前端 HTTP 轮询与 GD32 0xC5 SPI 主动推送周期，端到端节拍一致。" + shared
|
||
: "界面读取快照的间隔（ms，" + minRefreshFor(state.tpId) + "~" + REFRESH_MAX_MS +
|
||
"）。EtherCAT 的 PDO 总线周期由后台循环独立维持（1000ms 过程数据看门狗要求持续交换），不受此值影响。" +
|
||
"填 1 表示不限速（实测约 125Hz，受每拍一次 HTTP 往返限制），真实频率看 STATUS 面板右上角。" + shared;
|
||
}
|
||
updateConnUi();
|
||
}
|
||
|
||
function noteHardFailure(e, source) {
|
||
if (e && e.transient) return; /* 500/503/超时等瞬时错误不计入 */
|
||
state.failCount++;
|
||
if (state.failCount >= FAIL_THRESHOLD && state.connected) {
|
||
enterDisconnected(e && e.message, source);
|
||
}
|
||
}
|
||
|
||
function enterDisconnected(msg, source) {
|
||
if (state.probing) return;
|
||
const wasConnected = state.connected;
|
||
state.connected = false;
|
||
state.connecting = false;
|
||
state.probing = true;
|
||
state.failCount = 0;
|
||
state.offlineSince = nowMs();
|
||
stopRepeat(true);
|
||
stopSeq("连接中断，命令序列已停止", true);
|
||
stopDataPolling();
|
||
updateConnUi();
|
||
$("#netBanner").classList.add("show");
|
||
$("#netBannerText").textContent =
|
||
"连接中断" + (source ? " (" + source + ")" : "") +
|
||
" — 使用主页共享 IP (" + state.ip + ") 自动重连中…";
|
||
if (wasConnected) {
|
||
connToast("网络异常：" + (msg || "请求失败") + " — 已停止周期发送，自动重连中", "err");
|
||
}
|
||
startProbe();
|
||
}
|
||
|
||
function startProbe() {
|
||
stopTimer("probe");
|
||
state.probing = true;
|
||
if (!state.offlineSince) state.offlineSince = nowMs();
|
||
scheduleProbe(0);
|
||
}
|
||
function stopProbe() {
|
||
stopTimer("probe");
|
||
state.probing = false;
|
||
}
|
||
function scheduleProbe(delayMs) {
|
||
stopTimer("probe");
|
||
state.poll.probe = setTimeout(function () {
|
||
state.poll.probe = null;
|
||
probeOnce();
|
||
}, delayMs == null ? PROBE_INTERVAL_MS : delayMs);
|
||
}
|
||
|
||
/**
|
||
* 把冗长的链路错误压成一句人能看的话。
|
||
*
|
||
* 为什么需要：EtherCAT 后端会把整串诊断塞进 log[]，SSC 邮箱楔死那条会带
|
||
* **64 个一模一样的 MailboxError** 加一段 SM 寄存器现场，原样显示等于没显示。
|
||
* 这里做两件事：把重复项折叠成"×N"，并对已知故障给出**该怎么办**
|
||
* —— 楔死是软件恢复不了的（ecat_native.c 里同样注明要断电复位 MCU）。
|
||
*/
|
||
function summarizeLinkError(msg) {
|
||
let s = String(msg || "未知错误");
|
||
/* 折叠重复的 MailboxError(…)，只留计数 */
|
||
const mb = s.match(/MailboxError\([^)]*\)/g);
|
||
if (mb && mb.length > 2) {
|
||
s = s.replace(/\[?MailboxError\([^)]*\)(,\s*MailboxError\([^)]*\))*\]?/,
|
||
`MailboxError ×${mb.length}`);
|
||
}
|
||
/* 已知故障 → 给可执行的处置建议 */
|
||
if (/邮箱地址错位楔死|ConfigMapError/.test(s)) {
|
||
return "SSC 邮箱楔死（config_map 失败）—— 需复位 DCU 板 MCU 才能恢复（软件无法自愈）";
|
||
}
|
||
if (/没有找到描述包含/.test(s)) {
|
||
return "找不到匹配的网卡 —— 请在工具栏「链路」旁的输入框改网卡匹配子串";
|
||
}
|
||
if (/没有发现从站/.test(s)) {
|
||
return "总线上没有从站 —— 检查 DCU 板供电与网线是否接在该网口";
|
||
}
|
||
/* 环境类错误原样给，它本身就是指引。token 对齐 native 代理 autostart 的实际文案：
|
||
* "找不到...守护进程" / "请先运行 build_native.bat" / "Npcap 未安装或 8090..8095 全被占"。 */
|
||
if (/Npcap|build_native|守护进程|全被占/.test(s)) return s;
|
||
/* 兜底：截断，完整内容留在 title 里 */
|
||
return s.length > 140 ? s.slice(0, 140) + "…" : s;
|
||
}
|
||
|
||
async function probeOnce() {
|
||
if (!state.probing) return;
|
||
state.ip = getSharedDeviceIp();
|
||
const label = $("#ipLabel");
|
||
if (label) label.textContent = transportTargetLabel();
|
||
try {
|
||
const data = await state.tp.probe();
|
||
const offlineMs = state.offlineSince ? (nowMs() - state.offlineSince) : 0;
|
||
stopProbe();
|
||
state.connected = true;
|
||
state.connecting = false;
|
||
state.offlineSince = 0;
|
||
state.failCount = 0;
|
||
state.probeErr = null;
|
||
state.probeErrFull = null;
|
||
$("#netBanner").classList.remove("show");
|
||
applySystemStatus(data);
|
||
updateConnUi();
|
||
/* 短离线恢复不弹 toast，避免毛刺「闪一下」 */
|
||
if (offlineMs >= RECOVER_TOAST_MIN_OFFLINE_MS) {
|
||
connToast("连接已恢复 — " + transportTargetLabel(), "ok");
|
||
}
|
||
startPolling();
|
||
} catch (e) {
|
||
/* 把失败原因显示出来。
|
||
* 原来这里完全静默：WiFi 下还算合理（设备没开机是常态，横幅已说在连哪个 IP），
|
||
* 但 EtherCAT 自动接入有四级步骤，任一级失败的原因都**可操作**
|
||
* （邮箱楔死要复位 MCU / 网卡子串不对 / 板子没供电 / exe 没编译或 Npcap 未装），
|
||
* 静默会让页面永远停在"探测中…"，用户完全无从下手 —— 实测就踩到了这点。 */
|
||
const raw = (e && e.message) ? String(e.message) : "未知错误";
|
||
state.probeErrFull = raw;
|
||
state.probeErr = summarizeLinkError(raw);
|
||
const bt = $("#netBannerText");
|
||
if (bt) {
|
||
bt.textContent = (state.tpId === "ecat" ? "EtherCAT 接入失败: " : "连接失败: ")
|
||
+ state.probeErr + "（每 2 秒自动重试）";
|
||
bt.title = raw; /* 完整诊断留在悬浮提示里 */
|
||
}
|
||
$("#netBanner").classList.add("show");
|
||
updateConnUi(); /* 同步 #devStatus，别让它一直写"探测中…" */
|
||
if (state.probing) scheduleProbe(PROBE_INTERVAL_MS);
|
||
}
|
||
}
|
||
|
||
/** 连接目标的显示文本：WiFi 是设备 IP，EtherCAT 是本地服务 + 从站。 */
|
||
function transportTargetLabel() {
|
||
return (state.tpId === "ecat") ? "EtherCAT 从站" : ("IP " + state.ip);
|
||
}
|
||
|
||
/**
|
||
* 自动连接当前链路（本页无连接按钮）。
|
||
* WiFi 用主页共享 IP，EtherCAT 打本地 EtherCAT 服务。
|
||
* 失败不阻断页面，进入探测直到链路可用。
|
||
*/
|
||
function connectShared() {
|
||
state.ip = getSharedDeviceIp();
|
||
state.connecting = true;
|
||
state.probing = false;
|
||
state.failCount = 0;
|
||
state.probeErr = null; /* 新一轮连接：清掉上次的失败原因 */
|
||
state.probeErrFull = null;
|
||
state.offlineSince = nowMs();
|
||
state.ch = parseInt($("#chSelect").value, 10) || 0;
|
||
updateConnUi();
|
||
$("#netBanner").classList.add("show");
|
||
$("#netBannerText").textContent = (state.tpId === "ecat")
|
||
? "正在自动接入 EtherCAT … 按需拉起本地服务 → 打开网卡 → 进 OP → 启动 PDO 循环"
|
||
: ("自动连接 " + state.ip + " … 本页与 OTA 主页共用 IP");
|
||
startProbe();
|
||
}
|
||
|
||
/** 传输回报的状态 → #devStatus。字段差异由各传输的 describeStatus 消化。 */
|
||
function applySystemStatus(data) {
|
||
const ip = state.tp.reportedIp(data);
|
||
if (ip) setSharedDeviceIp(ip);
|
||
const parts = state.tp.describeStatus(data) || [];
|
||
const el = $("#devStatus");
|
||
if (el) el.textContent = parts.length ? parts.join(" · ") : "在线";
|
||
}
|
||
|
||
function updateConnUi() {
|
||
const led = $("#connLed");
|
||
const ipLabel = $("#ipLabel");
|
||
if (ipLabel) ipLabel.textContent = transportTargetLabel();
|
||
/* 连接灯只反映稳定状态：在线绿 / 探测黄 / 离线红，中间失败不闪黄 */
|
||
if (state.connecting || state.probing) {
|
||
if (led) led.className = "led led-warn led-pulse";
|
||
if (!state.connected) {
|
||
const ds = $("#devStatus");
|
||
/* 有失败原因就显示原因摘要，别一直"探测中…"（那等于什么都没说）。
|
||
* 摘要截断：SSC 邮箱楔死那类错误会带 64 个 MailboxError + SM 现场，
|
||
* 全塞进工具栏会把布局挤爆，完整内容留在横幅和 title 里。 */
|
||
if (ds) {
|
||
if (state.probeErr) {
|
||
const brief = state.probeErr.length > 44
|
||
? state.probeErr.slice(0, 44) + "…" : state.probeErr;
|
||
ds.textContent = brief;
|
||
ds.title = state.probeErrFull || state.probeErr;
|
||
} else {
|
||
ds.textContent = "探测中…";
|
||
ds.title = "";
|
||
}
|
||
}
|
||
}
|
||
} else if (state.connected) {
|
||
if (led) led.className = "led led-on";
|
||
} else {
|
||
if (led) led.className = "led led-err";
|
||
const ds = $("#devStatus");
|
||
if (ds) ds.textContent = "未连接";
|
||
}
|
||
const sendHint = $("#sendHint");
|
||
if (sendHint) sendHint.textContent = state.tp.sendHint(state.ch);
|
||
const sbCh = $("#sbCh");
|
||
if (sbCh) sbCh.textContent = "CH" + state.ch;
|
||
}
|
||
|
||
/* ═══════════════════════ 轮询调度（单飞递归，永不并发） ═══════════════════════ */
|
||
function stopTimer(key) {
|
||
if (state.poll[key]) {
|
||
clearTimeout(state.poll[key]);
|
||
clearInterval(state.poll[key]);
|
||
state.poll[key] = null;
|
||
}
|
||
}
|
||
/**
|
||
* 双链路轮询：motor 和 feedback 各自独立定时器，互不阻塞。
|
||
*
|
||
* 历史问题：原来 motor → feedback 串行，任一挂起（ESP32 端 mutex 阻塞 /
|
||
* WiFi 抖动）会拖累另一个，表现为数据卡顿。
|
||
* 现在：motor 和 feedback 各走独立固定节拍定时器，
|
||
* - motor 挂起 3s 超时期间，feedback 仍正常刷
|
||
* - feedback 挂起不影响 motor
|
||
* 两者共用 ESP32 端 httpJsonWorkMutex，ESP32 串行处理即可。
|
||
*/
|
||
function stopDataPolling() {
|
||
state.pollGen += 1;
|
||
stopTimer("tick");
|
||
stopTimer("feedback");
|
||
stopTimer("status");
|
||
state.tickInFlight = false;
|
||
state.feedbackInFlight = false;
|
||
state.tickStuck = 0; /* 停止轮询 → 清除卡顿标记 */
|
||
/* 清理挂起的版本等待：主 tick 已停，resolve(null) 让调用方走超时分支，避免 Promise 悬挂 */
|
||
if (state.versionWait) {
|
||
const w = state.versionWait;
|
||
state.versionWait = null;
|
||
w.resolve(null);
|
||
}
|
||
updateTickStuckUi();
|
||
/* 停止 Worker 节拍（后台节流兜底） */
|
||
if (tickWorker) {
|
||
tickWorker.postMessage({ type: "stop" });
|
||
try { tickWorker.terminate(); } catch (e) { /* ignore */ }
|
||
tickWorker = null;
|
||
tickUseFallback = false;
|
||
}
|
||
}
|
||
|
||
/**
|
||
* 启动数据链路：HTTP 三链（motor tick / feedback 1Hz / status 1Hz）立即开车。
|
||
*/
|
||
function startPolling() {
|
||
stopDataPolling(); /* 递增 pollGen，清残留定时器/在途链 */
|
||
state.failCount = 0;
|
||
state.tickN = 0;
|
||
state.statusTickN = 0;
|
||
state.recvTs = []; /* 清除旧的到达时间窗口，Hz 从新数据重新累积 */
|
||
tickNextAt = 0; /* 节拍基准重置：首个 tick 立即执行后按新间隔对齐 */
|
||
const gen = state.pollGen;
|
||
schedulePollLoop(gen, 0);
|
||
scheduleFeedbackPoll(gen, 0);
|
||
scheduleStatusPoll(gen, 1000);
|
||
/* 连上后把持久化的刷新速度同步给 GD32，使 0xC5 推送周期与本地轮询一致（无需用户重新拨动） */
|
||
sendMotorPeriod(state.refreshIntervalMs || 250);
|
||
}
|
||
|
||
function scheduleStatusPoll(gen, delayMs) {
|
||
if (gen !== state.pollGen) return;
|
||
stopTimer("status");
|
||
state.poll.status = setTimeout(function () {
|
||
state.poll.status = null;
|
||
if (gen !== state.pollGen || !state.connected || state.probing) return;
|
||
/* lite/full 交替：4 次 lite 后 1 次 full，循环。
|
||
* lite ~150B 不调重活；full ~3KB 含 OTA/heap/SPI，5s 一次。 */
|
||
const wantFull = (state.statusTickN % 5) === 0;
|
||
state.statusTickN = (state.statusTickN || 0) + 1;
|
||
fetchSystemStatus(gen, wantFull).finally(() => {
|
||
if (gen === state.pollGen && state.connected && !state.probing) {
|
||
scheduleStatusPoll(gen, 1000);
|
||
}
|
||
});
|
||
}, delayMs == null ? 1000 : delayMs);
|
||
}
|
||
/* feedback 独立定时器：固定 1000ms（与 GD32 0xC1 CAN 反馈 1Hz 推送对齐）。
|
||
* feedback 是 CAN 错误计数/总线状态快照，GD32 1Hz 推送，前端 1Hz 拉即可，
|
||
* 加快只会拿到陈旧数据还跟 motor 抢 ESP32 端 mutex。
|
||
* 与 motor 解耦后，motor 挂起不拖 feedback，feedback 挂起不拖 motor。 */
|
||
function scheduleFeedbackPoll(gen, delayMs) {
|
||
if (gen !== state.pollGen) return;
|
||
stopTimer("feedback");
|
||
state.poll.feedback = setTimeout(function () {
|
||
state.poll.feedback = null;
|
||
if (gen !== state.pollGen || !state.connected || state.probing) return;
|
||
if (state.feedbackInFlight) {
|
||
scheduleFeedbackPoll(gen, 1000);
|
||
return;
|
||
}
|
||
state.feedbackInFlight = true;
|
||
fetchFeedback(gen).finally(() => {
|
||
state.feedbackInFlight = false;
|
||
if (gen === state.pollGen && state.connected && !state.probing) {
|
||
scheduleFeedbackPoll(gen, 1000);
|
||
}
|
||
});
|
||
}, delayMs == null ? 1000 : delayMs);
|
||
}
|
||
/* ═══════ Web Worker 节拍（后台标签页不节流） ═══════
|
||
* 浏览器对后台（隐藏）标签页的 setTimeout/setInterval 强制 ≥1s 节流，
|
||
* 使刷新速度在切后台后降到 ~1Hz。Dedicated Worker 的定时器不受此限制，
|
||
* 故把 motor 轮询的节拍源放到 tick.worker.js：Worker 按设定间隔定期发
|
||
* 'tick' 消息，主线程收到后才真正发起一次 fetchMotorState。
|
||
* 前台行为与原来一致；后台也能守住设定的刷新速度。 */
|
||
/* 用 import.meta.url 解析: 本模块在 js/motor/ 下, 与引用它的页面在哪层目录无关
|
||
* (页面已移入 pages/, 文档相对路径会解析成 /pages/js/... 而 404)。 */
|
||
const TICK_WORKER_URL = new URL("./tick.worker.js?v=20260802g", import.meta.url);
|
||
let tickWorker = null; /* Web Worker 节拍源（null = 未创建/失败） */
|
||
let tickUseFallback = false; /* Worker 创建/加载失败 → 回退到 setTimeout 兜底 */
|
||
|
||
/**
|
||
* tick 统一入口：Worker 每 tick、或 setTimeout 兜底触达时调用。
|
||
* 负责单飞互斥 + 卡顿标记（是否跳过由 tickInFlight 决定）。
|
||
*/
|
||
function tickHandler() {
|
||
if (!state.connected || state.probing) return;
|
||
if (state.tickInFlight) {
|
||
/* 上一拍请求仍未完成（已超出一拍时长）→ 本拍跳过。
|
||
* 「不限速」档（如 ECAT 的 1ms）下这是**预期行为**：设定间隔本就小于
|
||
* 单次往返耗时，节拍源必然比请求快，每拍都会撞上。此时不计卡顿，
|
||
* 否则通道下拉框会一直亮黄并报"连续 N 拍未按时完成"，而用户要的
|
||
* 恰恰就是"能多快就多快"。见 refresh-rate.js 的 UNTHROTTLED_MAX_MS。 */
|
||
if (!isUnthrottled(state.refreshIntervalMs)) {
|
||
state.tickStuck = (state.tickStuck || 0) + 1;
|
||
updateTickStuckUi();
|
||
}
|
||
return;
|
||
}
|
||
pollLoop(state.pollGen);
|
||
}
|
||
|
||
/**
|
||
* 确保 Worker 就绪并按 interval 校时。Worker 已存在时只更新间隔。
|
||
* Worker 加载失败（如 404 或不被服务端支持）→ 回退到 setTimeout 兜底。
|
||
*/
|
||
function ensureTickWorker(interval) {
|
||
if (tickUseFallback) return;
|
||
if (tickWorker) {
|
||
tickWorker.postMessage({ type: "update", interval });
|
||
return;
|
||
}
|
||
try {
|
||
tickWorker = new Worker(TICK_WORKER_URL);
|
||
} catch (err) {
|
||
tickWorker = null;
|
||
tickUseFallback = true;
|
||
startTickFallback(state.pollGen);
|
||
return;
|
||
}
|
||
tickWorker.onmessage = (e) => { if (e.data === "tick") tickHandler(); };
|
||
tickWorker.onerror = () => {
|
||
try { tickWorker.terminate(); } catch (e) { /* ignore */ }
|
||
tickWorker = null;
|
||
tickUseFallback = true;
|
||
startTickFallback(state.pollGen);
|
||
};
|
||
tickWorker.postMessage({ type: "start", interval });
|
||
}
|
||
|
||
/* Worker 不可用时的兜底：留用原 setTimeout 固定节拍（前台正常，后台受节流）。 */
|
||
function startTickFallback(gen) {
|
||
if (gen !== state.pollGen) return;
|
||
stopTimer("tick");
|
||
tickNextAt = 0;
|
||
scheduleTickFallbackFrame(gen, 0);
|
||
}
|
||
function scheduleTickFallbackFrame(gen, delayMs) {
|
||
if (gen !== state.pollGen) return;
|
||
stopTimer("tick");
|
||
const iv = state.refreshIntervalMs || TICK_INTERVAL_MS;
|
||
let delay = delayMs != null ? delayMs : iv;
|
||
if (delayMs == null && tickNextAt > 0) {
|
||
/* 固定节拍对齐：按绝对时间调度，请求耗时不再拖慢周期 */
|
||
const remain = tickNextAt - nowMs();
|
||
if (remain <= 0) delay = (tickNextAt + iv < nowMs()) ? iv : 10;
|
||
else delay = remain;
|
||
}
|
||
state.poll.tick = setTimeout(function () {
|
||
state.poll.tick = null;
|
||
if (gen !== state.pollGen) return;
|
||
tickHandler();
|
||
tickNextAt = (tickNextAt > 0 ? tickNextAt : nowMs()) + (state.refreshIntervalMs || TICK_INTERVAL_MS);
|
||
scheduleTickFallbackFrame(gen, null);
|
||
}, delay);
|
||
}
|
||
|
||
/**
|
||
* motor 轮询主链：只跑 fetchMotorState，feedback/status 已剥离独立定时器。
|
||
* 节拍由 Web Worker（或兜底 setTimeout）驱动；pollLoop 自身不重排，
|
||
* 单飞互斥和卡顿标记在 tickHandler 侧完成。失败/断线由上层停止调度。
|
||
*/
|
||
async function pollLoop(gen) {
|
||
if (gen !== state.pollGen) return;
|
||
state.tickInFlight = true;
|
||
try {
|
||
await fetchMotorState(gen);
|
||
if (gen !== state.pollGen) return;
|
||
state.tickN += 1;
|
||
} finally {
|
||
state.tickInFlight = false;
|
||
if (state.tickStuck) { state.tickStuck = 0; updateTickStuckUi(); } /* 请求结束 → 卡顿解除 */
|
||
}
|
||
/* 版本查询搭便车主 tick 节拍：tickInFlight 已释放，checkVersionWait 异步触发，
|
||
* 不阻塞下一拍 tickHandler（/motor/version 即使慢也不会触发 tickStuck 误报）。 */
|
||
if (state.versionWait) {
|
||
checkVersionWait();
|
||
}
|
||
}
|
||
|
||
/**
|
||
* 调度 motor 节拍。delayMs === 0 表示立即触发首拍并启动 Worker；
|
||
* 之后每拍由 Worker 自然驱动，不再从这里重排。
|
||
*/
|
||
function schedulePollLoop(gen, delayMs) {
|
||
if (gen !== state.pollGen) return;
|
||
if (tickUseFallback) {
|
||
if (delayMs === 0) startTickFallback(gen);
|
||
return;
|
||
}
|
||
ensureTickWorker(state.refreshIntervalMs || TICK_INTERVAL_MS);
|
||
if (delayMs === 0) setTimeout(tickHandler, 0); /* 立即首拍，后续靠 Worker tick */
|
||
}
|
||
|
||
async function fetchSystemStatus(gen, wantFull) {
|
||
if (gen !== state.pollGen || !state.connected || state.probing) return;
|
||
try {
|
||
/* WiFi：wantFull=false 走 ?lite=1（~150B），不调 ESP32 端
|
||
* heap_caps_get_info / 任务栈遍历 / OTA snapshot，避免 httpd 单线程被
|
||
* 重 handler 阻塞几十~上百 ms；wantFull=true 5s 一次，含 OTA/heap/SPI。
|
||
* EtherCAT：读从站身份/AL 状态，无 lite/full 之分。 */
|
||
const data = await state.tp.fetchStatus(wantFull);
|
||
if (gen !== state.pollGen) return;
|
||
applySystemStatus(data);
|
||
noteHardSuccess();
|
||
} catch (e) {
|
||
if (gen !== state.pollGen) return;
|
||
noteHardFailure(e, "status");
|
||
}
|
||
}
|
||
|
||
async function fetchMotorState(gen) {
|
||
if (gen != null && gen !== state.pollGen) return false;
|
||
if (!state.connected || state.probing) return false;
|
||
try {
|
||
/* WiFi 走二进制 /motor/state?bin=1（~408B vs JSON ~1200B，省 66%）；
|
||
* EtherCAT 读后台 PDO 循环的快照。两者都归一成同一份 motors[] 契约，
|
||
* 所以 onMotorState 及其下游全部不用区分链路。 */
|
||
const data = await state.tp.fetchMotorState();
|
||
if (gen != null && gen !== state.pollGen) return false;
|
||
onMotorState(data);
|
||
noteHardSuccess();
|
||
return true;
|
||
} catch (e) {
|
||
if (gen != null && gen !== state.pollGen) return false;
|
||
noteHardFailure(e, "motor");
|
||
return false;
|
||
}
|
||
}
|
||
|
||
async function fetchFeedback(gen) {
|
||
if (gen != null && gen !== state.pollGen) return false;
|
||
if (!state.connected || state.probing) return false;
|
||
try {
|
||
/* WiFi：/can/feedback?lite=1 —— 跳过 entries 数组（~3KB → ~200B），
|
||
* 本页只用 ch/stats 字段，不需要 CAN 帧快照（那是监控页用的）。
|
||
* EtherCAT：从最近一次过程数据快照的 bridge 段取，不额外打一次后端。 */
|
||
const data = await state.tp.fetchFeedback();
|
||
if (gen != null && gen !== state.pollGen) return false;
|
||
onFeedback(data);
|
||
noteHardSuccess();
|
||
return true;
|
||
} catch (e) {
|
||
if (gen != null && gen !== state.pollGen) return false;
|
||
noteHardFailure(e, "feedback");
|
||
return false;
|
||
}
|
||
}
|
||
|
||
/* ═══════════════════════ /motor/state 处理 ═══════════════════════ */
|
||
/* 后端表已改 node×channel 双键（同节点号可同时在多通道在线），
|
||
* motors[] 可能含同 node 不同 ch 的多条记录，decoded 缓存键也必须带通道。 */
|
||
function motorKey(m) { return m.ch + ":" + m.node; }
|
||
|
||
function onMotorState(data) {
|
||
const motors = (data && data.motors) ? data.motors : [];
|
||
state.motors = motors;
|
||
|
||
/* 记录实际数据到达时间戳滑动窗口，用于 Hz 计算 */
|
||
const ts = state.recvTs;
|
||
ts.push(Date.now());
|
||
if (ts.length > RECV_HZ_WINDOW * 2) ts.splice(0, ts.length - RECV_HZ_WINDOW);
|
||
|
||
/* 解码每个 节点×通道 的 STATUS 帧 + CONFIG 帧 */
|
||
const decoded = new Map();
|
||
const decodedConfig = new Map();
|
||
for (const m of motors) {
|
||
const bytes = hexToBytes(m.data);
|
||
const d = decodeStatus(bytes);
|
||
if (d) decoded.set(motorKey(m), d);
|
||
if (m.config_data) {
|
||
const cfg = decodeConfig(m.config_data);
|
||
if (cfg) decodedConfig.set(motorKey(m), cfg);
|
||
}
|
||
}
|
||
state.decoded = decoded;
|
||
state.decodedConfig = decodedConfig;
|
||
|
||
/* 按实际通道统计在线电机数：驱动通道下拉框信号标记 + 本页通道过滤视图 */
|
||
const chOnline = [0, 0, 0];
|
||
for (const m of motors) {
|
||
if (m.online && m.node >= 1 && m.node <= 9 && m.ch >= 0 && m.ch <= 2) chOnline[m.ch]++;
|
||
}
|
||
state.chOnline = chOnline;
|
||
updateChSelectOptions();
|
||
|
||
/* 固定节点 1–9：始终可选（含离线），便于电机已进 BOOT / 无 STATUS 时仍能刷写。
|
||
* 自动选择：当前选中已是 1–9 则保持；否则优先当前通道的在线节点，其次任意在线，否则默认 1。 */
|
||
let autoSelected = false;
|
||
if (state.selectedNode == null || state.selectedNode < 1 || state.selectedNode > 9) {
|
||
const online = motors.find((m) => m.online && m.ch === state.ch && m.node >= 1 && m.node <= 9)
|
||
|| motors.find((m) => m.online && m.node >= 1 && m.node <= 9);
|
||
state.selectedNode = online ? online.node : 1;
|
||
autoSelected = true;
|
||
}
|
||
|
||
refreshChannelViews();
|
||
updateNodeLabels();
|
||
if (autoSelected) restoreVersionUi(state.selectedNode); /* 自动切节点时回填缓存版本 */
|
||
|
||
/* BOOT 徽章：总线上有电机在 Bootloader（0x103 心跳）时显示，独立于 N1-N9。
|
||
* 0x103 固定 ID 不带节点号，故不归属任何 Nx，只作总线级 BOOT 提示。
|
||
* 同时写 class + style，避免任何残留内联 display 把 .show 盖掉。 */
|
||
const bootEl = $("#bootBadge");
|
||
if (bootEl) {
|
||
const on = !!(data && data.boot_active);
|
||
bootEl.classList.toggle("show", on);
|
||
bootEl.style.display = on ? "flex" : "none";
|
||
bootEl.setAttribute("aria-hidden", on ? "false" : "true");
|
||
const sub = $("#bootBadgeSub");
|
||
if (sub) sub.textContent = on ? "0x103 心跳" : "0x103";
|
||
}
|
||
}
|
||
|
||
/* ─── 节点列表渲染 ───
|
||
* ★ 固定显示 N1–N9：即使离线/无 0xC5 推送也可见可选，方便电机在 BOOT 时刷写。
|
||
* 性能：首次全量重建 DOM；之后只增量更新文本/class。 */
|
||
const FIXED_MOTOR_NODES = [1, 2, 3, 4, 5, 6, 7, 8, 9];
|
||
const _nodeCards = new Map(); // node -> { card, led, modeEl, stTxt, angleVal, velVal, curVal, faultsEl }
|
||
|
||
/** 把后端 motors[] 叠到固定 1–9 槽位；无数据的槽位记为 offline。
|
||
* ★ node×channel 双键：同节点号可能在多个通道各有一条记录。
|
||
* 优先级：当前通道在线 > 其他通道在线（otherCh 标注，如 "0/2"）>
|
||
* 当前通道离线记录 > 空槽位。 */
|
||
function getDisplayMotors() {
|
||
const motors = state.motors || [];
|
||
return FIXED_MOTOR_NODES.map((node) => {
|
||
const entries = motors.filter((m) => m && m.node === node);
|
||
const cur = entries.find((m) => m.ch === state.ch);
|
||
if (cur && cur.online) return cur;
|
||
const others = entries.filter((m) => m.online && m.ch !== state.ch);
|
||
if (others.length) {
|
||
const chs = others.map((o) => o.ch).sort().join("/");
|
||
return { node, ch: others[0].ch, online: false, otherCh: chs, dlc: 0, rx_count: 0, seq: 0, data: "" };
|
||
}
|
||
if (cur) return cur;
|
||
return { node, ch: state.ch || 0, online: false, dlc: 0, rx_count: 0, seq: 0, data: "" };
|
||
});
|
||
}
|
||
|
||
/** 通道切换或电机数据更新后，按当前通道刷新节点列表 / STATUS 面板 / 在线汇总 */
|
||
function refreshChannelViews() {
|
||
renderNodeList();
|
||
renderStatusPanel();
|
||
const onlineCount = (state.motors || [])
|
||
.filter((m) => m.online && m.ch === state.ch && m.node >= 1 && m.node <= 9).length;
|
||
$("#nodeSummary").textContent = `${onlineCount}/9 在线 · CH${state.ch}`;
|
||
}
|
||
|
||
function renderNodeList() {
|
||
const motors = getDisplayMotors();
|
||
|
||
/* 固定 9 槽：仅首次或 DOM 被清空时全量重建 */
|
||
let needRebuild = _nodeCards.size !== FIXED_MOTOR_NODES.length;
|
||
if (!needRebuild) {
|
||
for (const n of FIXED_MOTOR_NODES) {
|
||
if (!_nodeCards.has(n)) { needRebuild = true; break; }
|
||
}
|
||
}
|
||
if (needRebuild) {
|
||
_nodeCards.clear();
|
||
nodeListEl.innerHTML = motors.map(buildNodeCardHtml).join("");
|
||
for (const m of motors) {
|
||
const card = nodeListEl.querySelector(`.node-card[data-node="${m.node}"]`);
|
||
if (!card) continue;
|
||
_nodeCards.set(m.node, {
|
||
card,
|
||
led: card.querySelector(".led"),
|
||
modeEl: card.querySelector(".nc-mode"),
|
||
stTxt: card.querySelector(".nc-status-text"),
|
||
angleVal: card.querySelector(".nc-reading:nth-child(1) .val"),
|
||
velVal: card.querySelector(".nc-reading:nth-child(2) .val"),
|
||
curVal: card.querySelector(".nc-reading:nth-child(3) .val"),
|
||
faultsEl: card.querySelector(".nc-faults"),
|
||
});
|
||
}
|
||
return;
|
||
}
|
||
|
||
/* 槽位稳定 → 增量更新文本/class */
|
||
for (const m of motors) {
|
||
const ref = _nodeCards.get(m.node);
|
||
if (!ref) continue;
|
||
/* otherCh 卡片不取解码数据：其 STATUS 属于其他通道，本通道视图不展示/不标故障 */
|
||
const d = m.otherCh != null ? null : state.decoded.get(motorKey(m));
|
||
const faultCount = faultCountOf(d);
|
||
const faultLabel = faultShortLabel(d);
|
||
const isSel = m.node === state.selectedNode;
|
||
|
||
const cls = [
|
||
"node-card",
|
||
isSel ? "active" : "",
|
||
faultCount > 0 ? "fault" : "",
|
||
!m.online ? "offline" : "",
|
||
].join(" ").trim();
|
||
if (ref.card.className !== cls) ref.card.className = cls;
|
||
ref.card.setAttribute("aria-selected", String(isSel));
|
||
if (faultLabel) ref.card.title = "故障: " + faultLabel;
|
||
else if (m.otherCh != null) ref.card.title = `节点在 CH${m.otherCh} 在线，切换顶部通道查看`;
|
||
else if (!m.online) ref.card.title = "离线也可选中刷写";
|
||
else ref.card.title = "在线";
|
||
|
||
const ledCls = m.otherCh != null ? "led-warn" : (m.online ? (faultCount > 0 ? "led-err" : "led-on") : "");
|
||
const ledFull = "led " + ledCls;
|
||
if (ref.led.className !== ledFull) ref.led.className = ledFull;
|
||
|
||
const sentMode = state.lastSentMode.get(m.node);
|
||
const mode = (sentMode != null && MODES[sentMode]) ? MODES[sentMode] : null;
|
||
/* motStatus 是报错位(1=故障)，不是运行标志；无最近 CMD 时用 待机。
|
||
* otherCh：节点在其他通道在线，标注实际通道供用户切换。 */
|
||
const modeLabel = m.otherCh != null ? ("CH" + m.otherCh) : (!m.online ? "离线" : (mode ? mode.zh : "待机"));
|
||
if (ref.modeEl.textContent !== modeLabel) ref.modeEl.textContent = modeLabel;
|
||
const modeCls = m.otherCh != null ? "nc-mode mode-other-ch"
|
||
: (!m.online ? "nc-mode mode-off" : (faultCount > 0 ? "nc-mode mode-fault" : "nc-mode"));
|
||
if (ref.modeEl.className !== modeCls) ref.modeEl.className = modeCls;
|
||
|
||
const stTxt = !m.online ? "--" : (faultLabel || "OK");
|
||
if (ref.stTxt.textContent !== stTxt) ref.stTxt.textContent = stTxt;
|
||
if (ref.stTxt) ref.stTxt.title = faultLabel ? ("故障: " + faultLabel) : (m.online ? "正常" : "");
|
||
|
||
const angle = d && m.online ? d.rtAngle.toFixed(1) + "°" : "--";
|
||
const vel = d && m.online ? d.rtVelocity.toFixed(0) : "--";
|
||
const cur = d && m.online ? d.rtCurrent.toFixed(0) : "--";
|
||
if (ref.angleVal.textContent !== angle) ref.angleVal.textContent = angle;
|
||
if (ref.velVal.textContent !== vel) ref.velVal.textContent = vel;
|
||
if (ref.curVal.textContent !== cur) ref.curVal.textContent = cur;
|
||
|
||
if (ref.faultsEl) {
|
||
const dots = ref.faultsEl.querySelectorAll(".fault-dot").length;
|
||
if (dots !== faultCount) {
|
||
ref.faultsEl.innerHTML = faultCount > 0 ? "<span class='fault-dot'></span>".repeat(faultCount) : "";
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
/* 构建单节点卡片的 HTML（仅集合变化时调用） */
|
||
function buildNodeCardHtml(m) {
|
||
/* otherCh 卡片不取解码数据（同 renderNodeList 增量路径） */
|
||
const d = m.otherCh != null ? null : state.decoded.get(motorKey(m));
|
||
const faultCount = faultCountOf(d);
|
||
const faultLabel = faultShortLabel(d);
|
||
const isSel = m.node === state.selectedNode;
|
||
const cls = [
|
||
"node-card",
|
||
isSel ? "active" : "",
|
||
faultCount > 0 ? "fault" : "",
|
||
!m.online ? "offline" : "",
|
||
].join(" ").trim();
|
||
const sentMode = state.lastSentMode.get(m.node);
|
||
const mode = (sentMode != null && MODES[sentMode]) ? MODES[sentMode] : null;
|
||
const modeLabel = m.otherCh != null ? ("CH" + m.otherCh) : (!m.online ? "离线" : (mode ? mode.zh : "待机"));
|
||
const modeCls = m.otherCh != null ? "mode-other-ch" : (!m.online ? "mode-off" : (faultCount > 0 ? "mode-fault" : ""));
|
||
const stTxt = !m.online ? "--" : (faultLabel || "OK");
|
||
const cardTitle = faultLabel ? ("故障: " + faultLabel)
|
||
: m.otherCh != null ? `节点在 CH${m.otherCh} 在线，切换顶部通道查看`
|
||
: (m.online ? "在线" : "离线也可选中刷写");
|
||
const angle = d && m.online ? d.rtAngle.toFixed(1) + "°" : "--";
|
||
const vel = d && m.online ? d.rtVelocity.toFixed(0) : "--";
|
||
const cur = d && m.online ? d.rtCurrent.toFixed(0) : "--";
|
||
return `<div class="${cls}" role="option" tabindex="0" data-node="${m.node}" aria-selected="${isSel}" title="${cardTitle}">
|
||
${faultCount > 0 ? `<div class="nc-faults">${"<span class='fault-dot'></span>".repeat(faultCount)}</div>` : ""}
|
||
<div class="nc-top">
|
||
<span class="led ${m.otherCh != null ? "led-warn" : (m.online ? (faultCount > 0 ? "led-err" : "led-on") : "")}"></span>
|
||
<span class="nc-id">N${m.node}</span>
|
||
<span class="nc-mode ${modeCls}">${modeLabel}</span>
|
||
<span class="nc-status-text" title="${faultLabel ? ("故障: " + faultLabel) : ""}">${stTxt}</span>
|
||
</div>
|
||
<div class="nc-readings">
|
||
<div class="nc-reading"><span class="lbl">角度</span><span class="val">${angle}</span></div>
|
||
<div class="nc-reading"><span class="lbl">速度</span><span class="val">${vel}</span></div>
|
||
<div class="nc-reading"><span class="lbl">电流</span><span class="val">${cur}</span></div>
|
||
</div>
|
||
</div>`;
|
||
}
|
||
nodeListEl.addEventListener("click", (e) => {
|
||
const card = e.target.closest(".node-card");
|
||
if (!card) return;
|
||
state.selectedNode = parseInt(card.dataset.node, 10);
|
||
scopeSys.reset(); /* 换电机：清波形历史，避免两台电机数据混流 */
|
||
saveUiState(); /* 选中节点变化时持久化，刷新后仍选中此节点 */
|
||
renderNodeList();
|
||
updateNodeLabels();
|
||
renderStatusPanel();
|
||
restoreVersionUi(state.selectedNode); /* 回填该节点缓存的版本号 */
|
||
});
|
||
nodeListEl.addEventListener("keydown", (e) => {
|
||
if (e.key === "Enter") { const card = e.target.closest(".node-card"); if (card) card.click(); }
|
||
});
|
||
|
||
/* ─── 节点相关标签更新 ─── */
|
||
/* 数据到达记录：滑动窗口长度（足够在 50ms~5s 间隔下都平滑） */
|
||
const RECV_HZ_WINDOW = 10;
|
||
|
||
/* STATUS 面板右上角频率：基于实际数据到达时间计算，不用用户设定的数值做死算。
|
||
* 保持近 RECV_HZ_WINDOW 次的到达时间戳滑动窗口，平均间隔 → Hz。
|
||
* 窗口未满时回退到按 refreshIntervalMs 理论值（首次显示前不空窗）。 */
|
||
function statusHzText() {
|
||
const ts = state.recvTs;
|
||
/* 过滤掉旧窗口残留（与最近一次间隔超过 2× 设定间隔的视为旧数据丢弃）。
|
||
* 「不限速」档要按实测往返而非设定值算这个窗口：1ms × 2 × 10 = 20ms，
|
||
* 会把刚到的样本全判成"旧数据"清空，Hz 就永远退回理论值（谎报 1000Hz）。
|
||
* 这里给不限速档一个固定的 2s 窗口，足够攒满 10 个样本算出真实频率。 */
|
||
const iv = state.refreshIntervalMs || TICK_INTERVAL_MS;
|
||
const maxAge = isUnthrottled(iv) ? 2000 : iv * 2 * RECV_HZ_WINDOW;
|
||
const cutoff = Date.now() - maxAge;
|
||
while (ts.length > 0 && ts[0] < cutoff) ts.shift();
|
||
if (ts.length >= 2) {
|
||
const span = ts[ts.length - 1] - ts[0];
|
||
const avg = span / (ts.length - 1);
|
||
if (avg > 0 && avg < 60000) {
|
||
const hz = 1000 / avg;
|
||
return (hz >= 10 ? hz.toFixed(0) : hz.toFixed(1)) + " Hz";
|
||
}
|
||
}
|
||
/* 窗口数据不足时回退到理论值，不让面板空着。
|
||
* 不限速档没有有意义的理论值（1ms≠1000Hz），显示 "…" 等实测数据到齐。 */
|
||
if (isUnthrottled(iv)) return "\u2026 Hz";
|
||
const hz = 1000 / iv;
|
||
return (hz >= 10 ? hz.toFixed(0) : hz.toFixed(1)) + " Hz";
|
||
}
|
||
function updateNodeLabels() {
|
||
const n = state.selectedNode;
|
||
if (n == null) {
|
||
$("#nodeBadge").textContent = "NODE -";
|
||
$("#cmdIdLabel").textContent = "ID 0x000-0200 · DLC 32";
|
||
$("#statusIdLabel").textContent = "0x000-0100 · " + statusHzText();
|
||
document.querySelectorAll(".cfgNodeNibble").forEach((el) => (el.textContent = "-"));
|
||
return;
|
||
}
|
||
const hex = nodeHex(n);
|
||
$("#nodeBadge").textContent = `NODE ${n}`;
|
||
$("#cmdIdLabel").textContent = `ID ${hexId(ID_CMD(n))} · DLC 32`;
|
||
$("#statusIdLabel").textContent = `${hexId(ID_STATUS(n))} · ${statusHzText()}`;
|
||
document.querySelectorAll(".cfgNodeNibble").forEach((el) => (el.textContent = hex));
|
||
}
|
||
|
||
/* ═══════════════════════ STATUS 面板渲染 ═══════════════════════ */
|
||
function flashEl(el) {
|
||
if (!el) return;
|
||
el.classList.add("flash");
|
||
setTimeout(() => el.classList.remove("flash"), 350);
|
||
}
|
||
|
||
function renderStatusPanel() {
|
||
const n = state.selectedNode;
|
||
/* ★ node×channel 双键：只展示当前通道的记录；节点在其他通道在线时给出切换提示 */
|
||
const entries = n != null ? state.motors.filter((m) => m.node === n) : [];
|
||
const cur = entries.find((m) => m.ch === state.ch);
|
||
const others = entries.filter((m) => m.online && m.ch !== state.ch);
|
||
const onOtherCh = !(cur && cur.online) && others.length > 0;
|
||
const motor = onOtherCh ? null : cur;
|
||
const d = (motor && motor.online) ? state.decoded.get(motorKey(motor)) : null;
|
||
const offline = !motor || !motor.online || !d;
|
||
|
||
$("#offlineOverlay").classList.toggle("show", offline);
|
||
$("#statusLive").classList.toggle("hide", offline);
|
||
if (offline) {
|
||
if (!state.connected) {
|
||
$("#offlineTitle").textContent = "设备未连接";
|
||
$("#offlineSub").textContent = "本页共用 OTA 主页 IP，请到主页配置并测试连接";
|
||
} else if (onOtherCh) {
|
||
const chs = others.map((o) => "CH" + o.ch).sort().join(" / ");
|
||
$("#offlineTitle").textContent = `节点 ${n} 在 ${chs} 有信号`;
|
||
$("#offlineSub").textContent = `当前通道 CH${state.ch} 无此节点，请切换顶部通道查看`;
|
||
} else if (!motor || !motor.online) {
|
||
$("#offlineTitle").textContent = n != null ? `节点 ${n} 离线（仍可刷写）` : "节点离线（仍可刷写）";
|
||
$("#offlineSub").textContent = "无 STATUS 属正常（电机在 BOOT / 未上电）。左侧 N1–N9 可直接选中刷写";
|
||
} else {
|
||
$("#offlineTitle").textContent = `节点 ${n} 暂无解码数据`;
|
||
$("#offlineSub").textContent = "等待 STATUS 帧；OTA 刷写不受影响";
|
||
}
|
||
return;
|
||
}
|
||
|
||
$("#rtAngle").textContent = d.rtAngle.toFixed(2);
|
||
$("#rtVelocity").textContent = d.rtVelocity.toFixed(1);
|
||
$("#rtCurrent").textContent = d.rtCurrent.toFixed(0);
|
||
$("#mcuTemp").textContent = d.mcuTemp.toFixed(2) + " °C";
|
||
$("#motTemp").textContent = d.motTemp.toFixed(2) + " °C";
|
||
|
||
/* 目标值：优先使用电机 CONFIG 帧回报（0x000N0101, Motor→Host），
|
||
* 无 CONFIG 帧时回退到前端 lastSentTargets 记录 */
|
||
const cfg = state.decodedConfig.get(motorKey(motor));
|
||
if (cfg) {
|
||
$("#tgtAngle").textContent = cfg.targetAngle.toFixed(1);
|
||
$("#tgtVelocity").textContent = cfg.targetVelocity.toFixed(0);
|
||
$("#tgtCurrent").textContent = cfg.targetCurrent.toFixed(0);
|
||
} else {
|
||
const tgt = state.lastSentTargets.get(n);
|
||
if (tgt) {
|
||
const MODES_TARGETS = { 1: ["angle"], 2: ["velocity"], 3: ["velocity", "angle"], 4: ["current", "velocity", "angle"], 5: ["current"], 6: ["velocity"], 7: ["velocity"] };
|
||
const active = MODES_TARGETS[tgt.mode] || [];
|
||
const fmtTgt = (id, val, active) => { const el = $("#" + id); if (el) el.textContent = active ? String(val) : "--"; };
|
||
fmtTgt("tgtAngle", tgt.angle.toFixed(1), active.includes("angle"));
|
||
fmtTgt("tgtVelocity", tgt.velocity.toFixed(0), active.includes("velocity"));
|
||
fmtTgt("tgtCurrent", tgt.current.toFixed(0), active.includes("current"));
|
||
} else {
|
||
$("#tgtAngle").textContent = "--";
|
||
$("#tgtVelocity").textContent = "--";
|
||
$("#tgtCurrent").textContent = "--";
|
||
}
|
||
}
|
||
|
||
const mcuPct = clampNum(d.mcuTemp, 0, 100);
|
||
const motPct = clampNum(d.motTemp, 0, 100);
|
||
$("#mcuTempBar").style.width = mcuPct + "%";
|
||
$("#mcuTempBar").className = "temp-fill" + (d.mcuTemp > 70 ? " hot" : d.mcuTemp > 50 ? " warm" : "");
|
||
$("#motTempBar").style.width = motPct + "%";
|
||
$("#motTempBar").className = "temp-fill" + (d.motTemp > 70 ? " hot" : d.motTemp > 50 ? " warm" : "");
|
||
|
||
$("#valU").textContent = `${d.uCurrent >= 0 ? "+" : ""}${d.uCurrent}`;
|
||
$("#valV").textContent = `${d.vCurrent >= 0 ? "+" : ""}${d.vCurrent}`;
|
||
$("#valW").textContent = `${d.wCurrent >= 0 ? "+" : ""}${d.wCurrent}`;
|
||
|
||
$("#pwrVolt").textContent = d.powerVoltage.toFixed(3) + " V";
|
||
$("#testFloat").textContent = d.testFloat.toFixed(3);
|
||
$("#testU16").textContent = String(d.testU16);
|
||
$("#cpuPct").textContent = Math.round(d.cpuUsage) + "%";
|
||
$("#cpuSub").textContent = `seq ${motor.seq} · rx ${motor.rx_count}`;
|
||
const circumference = 131.9;
|
||
$("#cpuRingFg").style.strokeDashoffset = (circumference * (1 - clampNum(d.cpuUsage, 0, 100) / 100)).toFixed(1);
|
||
|
||
/* 状态标志位 */
|
||
const setFlag = (itemId, ledId, stateId, active, isFault, okText, faultText) => {
|
||
$("#" + itemId).className = "flag-item " + (active ? (isFault ? "is-fault" : "is-ok") : "");
|
||
$("#" + ledId).className = "flag-led" + (active ? (isFault ? " on-err" : " on-ok") : "");
|
||
$("#" + stateId).textContent = active ? (isFault ? faultText : okText) : "—";
|
||
};
|
||
/* motStatus：DBC 0=正常 / 1=报错（不是使能位） */
|
||
setFlag("flagItemMot", "flagMot", "flagMotState", true, d.motStatus === 1, "NORMAL", "FAULT");
|
||
setFlag("flagItemMag", "flagMag", "flagMagState", true, d.magStatus === 1, "NORMAL", "FAULT");
|
||
setFlag("flagItemThermal", "flagThermal", "flagThermalState", true, d.thermalStatus === 1, "NORMAL", "过温!");
|
||
setFlag("flagItemEeprom", "flagEeprom", "flagEepromState", true, d.eepromStatus !== 0, "NORMAL", "ERR=" + d.eepromStatus);
|
||
|
||
flashEl($("#rtAngle")); flashEl($("#rtVelocity")); flashEl($("#rtCurrent"));
|
||
}
|
||
|
||
/* ═══════════════════════ /can/feedback 处理（状态栏） ═══════════════════════ */
|
||
function busStateText(bs) {
|
||
if (bs == null) return "--";
|
||
if (bs === 0) return "ACTIVE";
|
||
const parts = [];
|
||
if (bs & 1) parts.push("INIT");
|
||
if (bs & 2) parts.push("SLEEP");
|
||
if (bs & 4) parts.push("ERR_PASSIVE");
|
||
if (bs & 8) parts.push("BUS_OFF");
|
||
return parts.length ? parts.join("|") : ("0x" + bs.toString(16));
|
||
}
|
||
|
||
/* ─── 轮询卡顿指示（fixed-tick 下某拍未按时完成 = 上一次请求仍占用链路） ───
|
||
* 通道下拉框变黄 + 悬浮提示显示连续卡顿拍数；请求结束自动清除。 */
|
||
function updateTickStuckUi() {
|
||
const sel = $("#chSelect");
|
||
if (!sel) return;
|
||
const stuck = (state.tickStuck || 0) >= TICK_STUCK_WARN;
|
||
sel.classList.toggle("stuck", stuck);
|
||
sel.title = stuck
|
||
? `电机状态轮询卡顿：连续 ${state.tickStuck} 拍未按时完成（上一次请求仍占用链路）`
|
||
: "";
|
||
updateChSelectOptions(); /* 同步选框字色：卡顿黄色优先于在线绿色 */
|
||
}
|
||
|
||
/** 根据通道启用/信号状态更新下拉框选项：
|
||
* - 禁用通道贴 "(禁用)" 标签并置灰
|
||
* - 有信号通道（存在在线电机）贴 "●N" 标记并着色 */
|
||
function updateChSelectOptions() {
|
||
const sel = $("#chSelect");
|
||
if (!sel) return;
|
||
for (let i = 0; i < sel.options.length; i++) {
|
||
const opt = sel.options[i];
|
||
const en = state.chEnabled[i];
|
||
const cnt = state.chOnline[i] || 0;
|
||
const base = "CH" + i;
|
||
opt.textContent = !en ? base + " (禁用)" : (cnt > 0 ? `${base} ●${cnt}` : base);
|
||
opt.style.color = !en ? "var(--fg-dim,#666)" : (cnt > 0 ? "var(--ok,#3ddc97)" : "");
|
||
}
|
||
/* 收起态的选框文本用的是 select 自身颜色（option 内联色仅展开时生效），
|
||
* 同步按当前选中通道的状态着色，避免选中有信号通道后绿色变回默认白。
|
||
* 卡顿优先：轮询卡顿时显示黄色，覆盖在线绿色（updateTickStuckUi 触发本函数同步） */
|
||
const curEn = state.chEnabled[state.ch];
|
||
const curCnt = state.chOnline[state.ch] || 0;
|
||
sel.style.color = (state.tickStuck || 0) >= TICK_STUCK_WARN ? "var(--warn,#f59e0b)"
|
||
: (!curEn ? "var(--fg-dim,#666)" : (curCnt > 0 ? "var(--ok,#3ddc97)" : ""));
|
||
}
|
||
|
||
function onFeedback(data) {
|
||
const channels = (data && data.channels) || [];
|
||
/* 更新各通道启用状态，禁用通道在下拉框标灰 + 阻止发送 */
|
||
for (let i = 0; i < 3; i++) {
|
||
const c = channels.find((x) => x.ch === i) || channels[i];
|
||
state.chEnabled[i] = !c || c.enabled === undefined || c.enabled === null || !!c.enabled;
|
||
}
|
||
updateChSelectOptions();
|
||
const ch = channels.find((c) => c.ch === state.ch) || channels[state.ch] || {};
|
||
const valid = ch.valid && ch.enabled !== false;
|
||
$("#sbRx").textContent = "RX " + (valid && ch.rx != null ? ch.rx.toLocaleString() : "--");
|
||
$("#sbTx").textContent = valid && ch.tx != null ? ch.tx.toLocaleString() : "--";
|
||
$("#sbErr").textContent = valid && ch.err != null ? ch.err.toLocaleString() : "--";
|
||
$("#sbTec").textContent = valid && ch.tec != null ? ch.tec : "--";
|
||
$("#sbRec").textContent = valid && ch.rec != null ? ch.rec : "--";
|
||
const bsText = valid ? busStateText(ch.bus_state) : "--";
|
||
const busEl = $("#sbBus");
|
||
busEl.textContent = bsText;
|
||
const isBusOff = valid && ch.bus_state != null && (ch.bus_state & 8);
|
||
const isPassive = valid && ch.bus_state != null && (ch.bus_state & 4);
|
||
busEl.style.color = isBusOff ? "var(--danger)" : isPassive ? "var(--warn)" : (valid ? "var(--ok)" : "var(--fg-muted)");
|
||
const sbLed = $("#sbLed");
|
||
sbLed.className = "led " + (isBusOff ? "led-err" : (valid ? "led-on" : ""));
|
||
}
|
||
|
||
/* ═══════════════════════ 控制模式联动 ═══════════════════════ */
|
||
const modeSelect = $("#modeSelect");
|
||
function applyModeVisibility() {
|
||
const mode = parseInt(modeSelect.value, 10);
|
||
const targets = MODES[mode].targets;
|
||
$("#fldCurrent").classList.toggle("target-hidden", !targets.includes("current"));
|
||
$("#fldVelocity").classList.toggle("target-hidden", !targets.includes("velocity"));
|
||
$("#fldAngle").classList.toggle("target-hidden", !targets.includes("angle"));
|
||
$("#modeDesc").textContent = MODE_DESCS[mode];
|
||
updateQuickHint();
|
||
}
|
||
modeSelect.addEventListener("change", applyModeVisibility);
|
||
|
||
/* ═══════════════════════ 发送 CMD ═══════════════════════ */
|
||
function requireNode() {
|
||
if (state.selectedNode == null) { toast("请先在左侧选择一个节点", "warn"); return false; }
|
||
return true;
|
||
}
|
||
function inBusCooldown() {
|
||
if (nowMs() < state.busCooldownUntil) {
|
||
toast("总线冷却中，请稍候…", "warn");
|
||
return true;
|
||
}
|
||
return false;
|
||
}
|
||
|
||
async function doSendCmd(silent) {
|
||
if (!state.connected) { if (!silent) toast("设备未连接", "err"); return; }
|
||
if (!state.chEnabled[state.ch]) { if (!silent) toast("CH" + state.ch + " 已禁用（GD32 固件未启用此通道）", "err"); return; }
|
||
if (!requireNode()) return;
|
||
if (inBusCooldown()) return;
|
||
const node = state.selectedNode;
|
||
const bytes = buildFormCmdBytes();
|
||
const id = ID_CMD(node);
|
||
const dataHex = bytesToHexStr(bytes);
|
||
const mode = parseInt($("#modeSelect").value, 10) || 0;
|
||
const time = new Date().toLocaleTimeString("zh-CN", { hour12: false });
|
||
|
||
if (state.sendInFlight) {
|
||
/* latest-wins 合并：上一包仍在途 → 新帧覆盖合并槽（不排队、不丢弃），
|
||
* sendBatch 的 finally 排空时立即发出最新帧，周期指令始终收敛到最新值 */
|
||
state.pendingCmd = { id: id, dlc: 32, data: dataHex };
|
||
$("#sbLastSend").textContent = `最近发送: CMD → ${hexId(id)} [32B] 已合并（上一包在途） ${time}`;
|
||
return;
|
||
}
|
||
|
||
$("#sbLastSend").textContent = `最近发送: CMD → ${hexId(id)} [32B] ${bytesToHexSpaced(bytes, 8)} … ${time}`;
|
||
const res = await sendOneFrame(id, 32, dataHex, { silent: !!silent });
|
||
if (res.ok) {
|
||
state.lastSentMode.set(node, mode);
|
||
state.lastSentTargets.set(node, {
|
||
mode: mode,
|
||
angle: parseFloat(cmdVal("inAngle")) || 0,
|
||
velocity: parseFloat(cmdVal("inVelocity")) || 0,
|
||
current: parseFloat(cmdVal("inCurrent")) || 0,
|
||
voltage: parseFloat(cmdVal("inVoltage")) || 0,
|
||
});
|
||
state.txCount++;
|
||
renderNodeList();
|
||
renderStatusPanel();
|
||
if (!silent) {
|
||
toast(`CMD → Node ${node} · ${MODES[mode].zh} 发送成功`, "ok");
|
||
} else if (state.pendingCmd) {
|
||
/* 周期模式：仅在合并发生时轻提示，让用户知道发送速率跟不上周期 */
|
||
$("#sbLastSend").textContent = `最近发送: CMD → ${hexId(id)} [32B] 周期发送中（部分帧已合并） ${time}`;
|
||
}
|
||
} else if (!res.busy && !res.networkError && !silent) {
|
||
toast(`CMD 发送失败: ${res.desc}`, "err");
|
||
}
|
||
}
|
||
$("#sendCmdBtn").addEventListener("click", () => doSendCmd(false));
|
||
|
||
/* ═══════════════════════ 快捷运行按钮 ═══════════════════════
|
||
* 一键把按钮值写入当前模式的主目标字段并立即发送 CMD：
|
||
* 含角度目标的模式（1/3/4）→ Target_Angle；速度模式（2/6/7）→ Target_Velocity；
|
||
* 电流模式（5）→ Target_Current；Disable（0）无目标，仅提示。
|
||
* 写入走 cmdCommitted 提交制（等同回车确认），周期发送随后沿用同一目标。 */
|
||
function quickFieldOfMode(mode) {
|
||
const t = MODES[mode].targets;
|
||
if (t.includes("angle")) return { id: "inAngle", name: "目标角度", unit: "deg" };
|
||
if (t.includes("velocity")) return { id: "inVelocity", name: "目标速度", unit: "deg/s" };
|
||
if (t.includes("current")) return { id: "inCurrent", name: "目标电流", unit: "mA" };
|
||
return null;
|
||
}
|
||
function updateQuickHint() {
|
||
const f = quickFieldOfMode(parseInt(modeSelect.value, 10) || 0);
|
||
$("#qrTargetHint").textContent = f ? `→ ${f.name} ${f.unit}` : "→ 当前模式无目标";
|
||
}
|
||
document.querySelectorAll("#quickRun .qr-btn").forEach((btn) => {
|
||
btn.addEventListener("click", async () => {
|
||
const f = quickFieldOfMode(parseInt(modeSelect.value, 10) || 0);
|
||
if (!f) { toast("当前为 Disable 模式，无目标值可设置", "warn"); return; }
|
||
const input = document.getElementById(f.id);
|
||
input.value = btn.dataset.val;
|
||
cmdCommitted[f.id] = btn.dataset.val;
|
||
await doSendCmd(false);
|
||
});
|
||
});
|
||
|
||
/* ═══════════════════════ 周期发送（最小 80ms） ═══════════════════════ */
|
||
let repeatTimer = null;
|
||
const repeatBtn = $("#sendRepeatBtn");
|
||
const periodInput = $("#repeatPeriod");
|
||
function getPeriod() {
|
||
return clampNum(parseInt(periodInput.value, 10) || 100, MIN_CMD_PERIOD_MS, 10000);
|
||
}
|
||
function startRepeat() {
|
||
if (!state.connected) { toast("设备未连接", "err"); return; }
|
||
if (!requireNode()) return;
|
||
stopSeq("周期发送已启动，命令序列已停止", true); /* 与命令序列互斥 */
|
||
const period = getPeriod();
|
||
periodInput.value = period;
|
||
stopTimer("repeat");
|
||
repeatTimer = setInterval(() => doSendCmd(true), period);
|
||
state.poll.repeat = repeatTimer;
|
||
repeatBtn.textContent = "停止周期"; repeatBtn.classList.add("btn-primary");
|
||
const hz = 1000 / period;
|
||
toast(`周期发送已启动 · ${period} ms（${hz >= 10 ? hz.toFixed(0) : hz.toFixed(1)} Hz）`, "ok");
|
||
}
|
||
function stopRepeat(silent) {
|
||
if (repeatTimer) { clearInterval(repeatTimer); repeatTimer = null; state.poll.repeat = null; }
|
||
state.pendingCmd = null; /* 丢弃合并槽残留帧，避免停止后仍发出 */
|
||
repeatBtn.textContent = "周期发送"; repeatBtn.classList.remove("btn-primary");
|
||
if (!silent) toast("周期发送已停止", "warn");
|
||
}
|
||
repeatBtn.addEventListener("click", () => (repeatTimer ? stopRepeat() : startRepeat()));
|
||
periodInput.addEventListener("change", () => {
|
||
const p = getPeriod(); periodInput.value = p;
|
||
if (repeatTimer) { stopRepeat(true); startRepeat(); }
|
||
});
|
||
|
||
/* ═══════════════════════ 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",
|
||
};
|
||
const seqListEl = $("#seqList");
|
||
const seqStartBtn = $("#seqStartBtn");
|
||
const seqLoopsInput = $("#seqLoops");
|
||
|
||
function seqModeOptions(selected) {
|
||
return Object.entries(MODES).map(([v, m]) =>
|
||
`<option value="${v}"${String(v) === String(selected) ? " selected" : ""}>${v} — ${m.zh}</option>`).join("");
|
||
}
|
||
function seqChOptions(selected) {
|
||
return [0, 1, 2].map((c) =>
|
||
`<option value="${c}"${parseInt(selected, 10) === c ? " selected" : ""}>CH${c}</option>`).join("");
|
||
}
|
||
function seqNodeOptions(selected) {
|
||
return FIXED_MOTOR_NODES.map((n) =>
|
||
`<option value="${n}"${parseInt(selected, 10) === n ? " selected" : ""}>N${n}</option>`).join("");
|
||
}
|
||
/* 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[]}；旧扁平步骤（含 mode 等顶层字段）→ 单动作组 */
|
||
function normStep(s) {
|
||
s = s || {};
|
||
const holdMs = clampNum(parseInt(s.holdMs, 10) || 1000, 0, 600000);
|
||
if (Array.isArray(s.actions) && s.actions.length) {
|
||
return { holdMs: holdMs, actions: s.actions.map(actionFromAny) };
|
||
}
|
||
return { holdMs: holdMs, actions: [actionFromAny(s)] };
|
||
}
|
||
function cloneAction(a) { return Object.assign({}, actionFromAny(a)); }
|
||
/* 读取当前 CMD 表单已提交值 + 当前通道/选中节点，作为一个新 action（与 buildFormCmdBytes 同源） */
|
||
function defaultActionFromForm() {
|
||
return {
|
||
ch: clampNum(state.ch || 0, 0, 2),
|
||
node: (state.selectedNode >= 1 && state.selectedNode <= 9) ? state.selectedNode : 1,
|
||
mode: $("#modeSelect").value,
|
||
voltage: cmdVal("inVoltage"),
|
||
current: cmdVal("inCurrent"),
|
||
velocity: cmdVal("inVelocity"),
|
||
angle: cmdVal("inAngle"),
|
||
pidCurP: cmdVal("pidCurP"),
|
||
pidVelP: cmdVal("pidVelP"),
|
||
pidAngP: cmdVal("pidAngP"),
|
||
};
|
||
}
|
||
|
||
function renderSeqList() {
|
||
if (!seq.steps.length) {
|
||
seqListEl.innerHTML = '<div class="seq-empty">尚未添加步骤 — 点击「+ 添加步骤」把当前 CMD 表单（含当前通道/节点）存为一步；每步可再「+ 电机」加入多个动作，同一步内的动作近同时下发</div>';
|
||
} else {
|
||
seqListEl.innerHTML = seq.steps.map((s, i) => `
|
||
<div class="seq-step" data-idx="${i}">
|
||
<div class="seq-step-head">
|
||
<span class="seq-idx">步骤 ${i + 1}</span>
|
||
<span class="seq-count">${s.actions.length} 电机</span>
|
||
<span class="seq-hold-label">保持</span>
|
||
<input class="seq-num seq-hold" data-f="holdMs" type="number" value="${s.holdMs}" min="0" max="600000" step="100" aria-label="步骤 ${i + 1} 保持时间 ms" />
|
||
<span class="seq-hold-unit">ms</span>
|
||
<div class="seq-ops">
|
||
<button data-op="addAction" title="本步添加电机动作（复制最后一个动作）">
|
||
<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>
|
||
</button>
|
||
<button data-op="up" title="上移" ${i === 0 ? "disabled" : ""}>
|
||
<svg width="13" height="13" viewBox="0 0 14 14" fill="none" aria-hidden="true"><path d="M3.5 8.5 7 5l3.5 3.5" stroke="currentColor" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round"/></svg>
|
||
</button>
|
||
<button data-op="down" title="下移" ${i === seq.steps.length - 1 ? "disabled" : ""}>
|
||
<svg width="13" height="13" viewBox="0 0 14 14" fill="none" aria-hidden="true"><path d="M3.5 5.5 7 9l3.5-3.5" stroke="currentColor" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round"/></svg>
|
||
</button>
|
||
<button data-op="dup" title="复制本步（含全部动作）">
|
||
<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>
|
||
</button>
|
||
<button data-op="del" title="删除本步" class="seq-del">
|
||
<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>
|
||
</button>
|
||
</div>
|
||
</div>
|
||
<div class="seq-actions">
|
||
${s.actions.map((a, j) => `
|
||
<div class="seq-action" data-aidx="${j}">
|
||
<div class="seq-action-head">
|
||
<span class="seq-action-tag">电机 ${j + 1}</span>
|
||
<select class="seq-ch" aria-label="步骤 ${i + 1} 电机 ${j + 1} 通道" title="发送通道">${seqChOptions(a.ch)}</select>
|
||
<select class="seq-node" aria-label="步骤 ${i + 1} 电机 ${j + 1} 节点" title="目标节点">${seqNodeOptions(a.node)}</select>
|
||
<select class="seq-mode" aria-label="步骤 ${i + 1} 电机 ${j + 1} 控制模式">${seqModeOptions(a.mode)}</select>
|
||
<div class="seq-ops">
|
||
<button data-op="delAction" title="删除此电机动作" class="seq-del">
|
||
<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>
|
||
</button>
|
||
</div>
|
||
</div>
|
||
<div class="seq-step-fields">
|
||
<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="${a.voltage}" step="0.5" /></label>
|
||
<label class="field"><span class="field-label">电流 <span class="field-unit">mA</span></span><input class="seq-num" data-f="current" type="number" value="${a.current}" step="100" /></label>
|
||
<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="${a.velocity}" step="10" /></label>
|
||
<label class="field"><span class="field-label">角度 <span class="field-unit">deg</span></span><input class="seq-num" data-f="angle" type="number" value="${a.angle}" step="1" /></label>
|
||
<label class="field"><span class="field-label">电流环P</span><input class="seq-num" data-f="pidCurP" type="number" value="${a.pidCurP}" step="1" /></label>
|
||
<label class="field"><span class="field-label">速度环P</span><input class="seq-num" data-f="pidVelP" type="number" value="${a.pidVelP}" step="1" /></label>
|
||
<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>
|
||
</div>
|
||
</div>`).join("")}
|
||
</div>
|
||
</div>`).join("");
|
||
}
|
||
updateSeqUi();
|
||
}
|
||
|
||
function updateSeqUi() {
|
||
const running = seq.running;
|
||
seqStartBtn.textContent = running ? "■ 停止序列" : "▶ 开始序列";
|
||
seqStartBtn.classList.toggle("btn-primary", running);
|
||
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 {
|
||
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) => {
|
||
row.classList.toggle("current", running && parseInt(row.dataset.idx, 10) === seq.stepIdx);
|
||
});
|
||
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：上移/下移/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 === "up" && i > 0) {
|
||
const t = seq.steps[i]; seq.steps[i] = seq.steps[i - 1]; seq.steps[i - 1] = t;
|
||
} else if (op === "down" && i < seq.steps.length - 1) {
|
||
const t = seq.steps[i]; seq.steps[i] = seq.steps[i + 1]; seq.steps[i + 1] = t;
|
||
} else if (op === "dup") {
|
||
seq.steps.splice(i + 1, 0, { holdMs: step.holdMs, 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();
|
||
});
|
||
|
||
$("#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();
|
||
});
|
||
|
||
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++;
|
||
}
|
||
}
|
||
}
|
||
|
||
/* ═══════════════════════ 配置操作（CMD_CONFIG，DLC 24） ═══════════════════════ */
|
||
const CONFIG_ACTIONS = {
|
||
motReset: { title: "电机复位", bit: 0, desc: "将向节点发送 motReset 脉冲，电机立即停止并清除故障标志。运行中的电机将失去力矩输出，请确认机械安全。" },
|
||
saveConfig: { title: "保存配置", bit: 2, desc: "将当前控制模式和 PID 参数写入 EEPROM。写入期间约 50ms 不可发送新指令。" },
|
||
angleReset: { title: "角度置零", bit: 3, desc: "将当前机械位置设为电气零点。置零后目标角度将以新零点为参考，请确认电机处于期望的零位。" },
|
||
zeroCalib: { title: "零点校准", bit: 5, desc: "发送 zero_calibration 脉冲，对电机进行零点校准。请确认电机已处于期望的机械零位且无负载。" },
|
||
sleep: { title: "休眠", bit: 56, desc: "电机进入低功耗休眠模式，关闭驱动输出。需发送 CANFD_BOOT 或重新上电才能唤醒。" },
|
||
};
|
||
/* 构造 CMD_CONFIG 24 字节脉冲帧：仅置位对应 bit，其余为 0 */
|
||
function buildConfigBytes(bit) {
|
||
const bytes = new Uint8Array(24);
|
||
bytes[Math.floor(bit / 8)] = 1 << (bit % 8);
|
||
return bytes;
|
||
}
|
||
document.querySelectorAll(".config-btn").forEach((btn) => {
|
||
btn.addEventListener("click", async () => {
|
||
const action = CONFIG_ACTIONS[btn.dataset.action];
|
||
if (!action) return;
|
||
if (!state.connected) { toast("设备未连接", "err"); return; }
|
||
if (!requireNode()) return;
|
||
if (inBusCooldown()) return;
|
||
const ok = await showModal(action.title, `目标节点 ${state.selectedNode}。` + action.desc);
|
||
if (!ok) return;
|
||
const node = state.selectedNode;
|
||
const id = ID_CMD_CONFIG(node);
|
||
const bytes = buildConfigBytes(action.bit);
|
||
const res = await sendOneFrameWhenFree(id, 24, bytesToHexStr(bytes));
|
||
const time = new Date().toLocaleTimeString("zh-CN", { hour12: false });
|
||
$("#sbLastSend").textContent = `最近发送: ${action.title} → ${hexId(id)} [24B] ${bytesToHexSpaced(bytes, 8)} … ${time}`;
|
||
if (res.ok) {
|
||
state.txCount++;
|
||
toast(`${action.title} → Node ${node} 已发送 (CMD_CONFIG)`, "ok");
|
||
} else if (!res.networkError && !res.busy) {
|
||
toast(`${action.title} 发送失败: ${res.desc}`, "err");
|
||
}
|
||
});
|
||
});
|
||
|
||
/* ═══════════════════════ 版本查询 ═══════════════════════
|
||
* 协议：主机与电机共用 0x000N00FF（同 ID 应答，DLC 24）。
|
||
* GD32 为解析核心：捕获电机应答缓存后经 0xC6 同步，前端读 /motor/version。
|
||
* 载荷布局（DBC v0.71 = 电机 APP sendVersionInfoViaCan 实际发送）：
|
||
* soft@0 hard@8 boot@16，每组 major|minor|patch|build 4×u16 LE，24B 无空洞。
|
||
* 旧 v0.70 把字段误当 YYYY.MM.DD 日期解析（3 信号+2B 空洞），年份校验
|
||
* 把 major=26 判非法 → 全部标 "(?)" 且丢 build 字段，已废弃。
|
||
*/
|
||
const VERSION_FULL_BYTES = 24; /* 3 组 × 4 字段 × u16，满帧 24B */
|
||
|
||
function readVersionQuadAt(dv, n, off) {
|
||
if (off + 8 > n) return null;
|
||
const major = dv.getUint16(off, true);
|
||
const minor = dv.getUint16(off + 2, true);
|
||
const patch = dv.getUint16(off + 4, true);
|
||
const build = dv.getUint16(off + 6, true);
|
||
/* 与电机 versionToString 同格式：major.minor.patch.build，不补零 */
|
||
return `${major}.${minor}.${patch}.${build}`;
|
||
}
|
||
|
||
/**
|
||
* 解析 0x00FF 载荷。以 hex 实际字节数为准（勿被 dlc 声明截短）。
|
||
* 固定布局 soft@0 hard@8 boot@16，不再做双布局猜测。
|
||
*/
|
||
function parseVersionPayload(hex) {
|
||
const rb = hexToBytes(hex);
|
||
if (!rb || rb.length < 8) return null;
|
||
const n = Math.min(rb.length, 24);
|
||
const copy = new Uint8Array(24);
|
||
copy.set(rb.subarray(0, n));
|
||
const dv = new DataView(copy.buffer);
|
||
|
||
const soft = readVersionQuadAt(dv, n, 0);
|
||
const hard = readVersionQuadAt(dv, n, 8);
|
||
const boot = readVersionQuadAt(dv, n, 16);
|
||
return {
|
||
soft,
|
||
hard,
|
||
boot,
|
||
rawHex: bytesToHexStr(copy.subarray(0, n)),
|
||
byteLen: n,
|
||
complete: n >= VERSION_FULL_BYTES && !!(soft && hard && boot),
|
||
};
|
||
}
|
||
|
||
function setVer(id, text) {
|
||
const el = $("#" + id);
|
||
if (!el) return;
|
||
if (text) {
|
||
el.textContent = text;
|
||
el.classList.remove("ver-empty");
|
||
} else {
|
||
el.textContent = "--";
|
||
el.classList.add("ver-empty");
|
||
}
|
||
}
|
||
|
||
/** 回填节点缓存的版本号到版本卡片（切节点/刷新后调用）。
|
||
* 未缓存时显示 "--"，不覆盖正在查询中的状态。 */
|
||
function restoreVersionUi(node) {
|
||
if (node == null) {
|
||
setVer("verSoft", null);
|
||
setVer("verHard", null);
|
||
setVer("verBoot", null);
|
||
return;
|
||
}
|
||
const v = state.versions.get(node);
|
||
if (!v) {
|
||
setVer("verSoft", null);
|
||
setVer("verHard", null);
|
||
setVer("verBoot", null);
|
||
return;
|
||
}
|
||
/* 只在卡片仍为初始 "--" 或已有缓存值时回填，不覆盖"查询中…/失败/无回报"等瞬时态 */
|
||
const softEl = $("#verSoft"), hardEl = $("#verHard"), bootEl = $("#verBoot");
|
||
const isStale = (el) => !el || el.textContent === "--" || el.textContent.includes(".");
|
||
if (isStale(softEl)) setVer("verSoft", v.soft || null);
|
||
if (isStale(hardEl)) setVer("verHard", v.hard || null);
|
||
if (isStale(bootEl)) setVer("verBoot", v.boot || null);
|
||
}
|
||
|
||
/* ── 版本查询：GD32 为解析核心，电机 0x00FF 应答由 GD32 缓存后经 0xC6 推送，
|
||
* ESP32 以 /motor/version 提供缓存。前端发请求后轮询 /motor/version，
|
||
* 按 seq 增长判定是否为本次查询的新应答（不再从 /can/feedback 取原始帧）。 ── */
|
||
async function fetchMotorVersionNode(node) {
|
||
try {
|
||
/* WiFi：读 ESP32 的 /motor/version 缓存（GD32 解析后经 0xC6 同步）。
|
||
* EtherCAT：版本应答从批量接收区回来，由传输层自行累积并维护 seq，
|
||
* 所以下面"按 seq 增长判新应答"的逻辑对两种链路都成立。 */
|
||
return await state.tp.fetchVersionNode(node);
|
||
} catch (e) {
|
||
return null; /* 瞬时 busy 忽略 */
|
||
}
|
||
}
|
||
|
||
/** 版本等待：挂载到主 tick（pollLoop），每拍检查一次 seq，命中或超时才 resolve。
|
||
* 节拍跟随 state.refreshIntervalMs（与 motor 状态轮询共用同一调度），
|
||
* 不再开独立 sleep 循环，避免与主 tick 节拍错位造成的窗口延迟。
|
||
* 超时返回 null（与原轮询语义一致）。 */
|
||
function waitMotorVersionOnTick(node, prevSeq, timeoutMs) {
|
||
return new Promise((resolve) => {
|
||
state.versionWait = {
|
||
node,
|
||
prevSeq,
|
||
deadline: nowMs() + (timeoutMs || 5000),
|
||
resolve,
|
||
};
|
||
});
|
||
}
|
||
|
||
/** 主 tick 每拍调用：检查挂起的版本等待。
|
||
* seq 增长 → resolve 并清空；超时 → resolve(null) 并清空。
|
||
* 瞬时错误忽略，下一拍重试。 */
|
||
async function checkVersionWait() {
|
||
const w = state.versionWait;
|
||
if (!w) return;
|
||
if (nowMs() >= w.deadline) {
|
||
state.versionWait = null;
|
||
w.resolve(null);
|
||
return;
|
||
}
|
||
try {
|
||
const v = await fetchMotorVersionNode(w.node);
|
||
if (v && (w.prevSeq == null || v.seq > w.prevSeq)) {
|
||
state.versionWait = null;
|
||
w.resolve(v);
|
||
}
|
||
} catch (e) { /* 瞬时 busy 忽略，下拍再查 */ }
|
||
}
|
||
|
||
$("#queryVerBtn").addEventListener("click", async () => {
|
||
if (!state.connected) { toast("设备未连接", "err"); return; }
|
||
if (!requireNode()) return;
|
||
if (inBusCooldown()) return;
|
||
const node = state.selectedNode;
|
||
const reqId = ID_GET_VERSION_REQ(node); /* 0x000N00FF 请求（与应答同 ID） */
|
||
const bytes = new Uint8Array(24);
|
||
|
||
["verSoft", "verHard", "verBoot"].forEach((k) => {
|
||
const el = $("#" + k);
|
||
if (el) { el.textContent = "查询中…"; el.classList.add("ver-empty"); }
|
||
});
|
||
|
||
/* 记录查询前该节点的版本 seq，用于判定电机是否给出新应答 */
|
||
const before = await fetchMotorVersionNode(node);
|
||
const prevSeq = before ? before.seq : null;
|
||
|
||
const res = await sendOneFrameWhenFree(reqId, 24, bytesToHexStr(bytes));
|
||
const time = new Date().toLocaleTimeString("zh-CN", { hour12: false });
|
||
$("#sbLastSend").textContent =
|
||
`最近发送: GET_VERSION 请求 ${hexId(reqId)} → 等 GD32 0xC6 同步 … ${time}`;
|
||
|
||
if (!res.ok) {
|
||
if (!res.networkError && !res.busy) {
|
||
["verSoft", "verHard", "verBoot"].forEach((k) => {
|
||
const el = $("#" + k);
|
||
if (el) { el.textContent = "失败"; el.classList.add("ver-empty"); }
|
||
});
|
||
toast(`GET_VERSION 发送失败: ${res.desc}`, "err");
|
||
}
|
||
return;
|
||
}
|
||
state.txCount++;
|
||
|
||
const v = await waitMotorVersionOnTick(node, prevSeq, 5000);
|
||
if (v && v.version) {
|
||
const parsed = parseVersionPayload(v.version);
|
||
if (parsed && (parsed.soft || parsed.hard || parsed.boot)) {
|
||
setVer("verSoft", parsed.soft || "--");
|
||
setVer("verHard", parsed.hard || "--");
|
||
setVer("verBoot", parsed.boot || "--");
|
||
/* 缓存到 state.versions 并持久化，刷新/切节点后回填 */
|
||
state.versions.set(node, { soft: parsed.soft || null, hard: parsed.hard || null, boot: parsed.boot || null });
|
||
saveUiState();
|
||
const bl = parsed.byteLen || 0;
|
||
const full = parsed.complete;
|
||
toast(
|
||
full
|
||
? `版本已更新 · Node ${node} · ${bl}B · seq ${v.seq}`
|
||
: `版本部分更新 · 仅 ${bl}B（需≥${VERSION_FULL_BYTES}B 才有 hard/boot）`,
|
||
full ? "ok" : "warn"
|
||
);
|
||
return;
|
||
}
|
||
}
|
||
["verSoft", "verHard", "verBoot"].forEach((k) => {
|
||
const el = $("#" + k);
|
||
if (el) { el.textContent = "无回报"; el.classList.add("ver-empty"); }
|
||
});
|
||
toast(
|
||
`已发 ${hexId(reqId)}，5s 内未收到电机新版本的 0xC6 同步`,
|
||
"warn"
|
||
);
|
||
});
|
||
|
||
/* ═══════════════════════ 节点 ID（DBC：SET 0x000N0400 / GET 0x000N0401，DLC 2） ═══════════════════════ */
|
||
$("#setNodeIdBtn").addEventListener("click", async () => {
|
||
if (!state.connected) { toast("设备未连接", "err"); return; }
|
||
if (!requireNode()) return;
|
||
if (inBusCooldown()) return;
|
||
const newId = parseInt($("#nodeIdInput").value, 10);
|
||
if (!Number.isFinite(newId) || newId < 1 || newId > 9) { toast("Node ID 范围 1-9", "err"); return; }
|
||
const cur = state.selectedNode;
|
||
const ok = await showModal("设置节点 ID", `将节点 ${cur} 的地址修改为 ${newId}，CAN ID 前缀将变为 0x000${nodeHex(newId)}xxxx。修改立即生效并写入 EEPROM。`);
|
||
if (!ok) return;
|
||
/* CANFD_SET_NODE_ID：NodeID_Set 0|16@1+ = 新节点号 u16 LE */
|
||
const bytes = new Uint8Array(2);
|
||
bytes[0] = newId & 0xFF;
|
||
bytes[1] = (newId >> 8) & 0xFF;
|
||
const id = ID_SET_NODE_ID(cur);
|
||
const res = await sendOneFrameWhenFree(id, 2, bytesToHexStr(bytes));
|
||
const time = new Date().toLocaleTimeString("zh-CN", { hour12: false });
|
||
$("#sbLastSend").textContent = `最近发送: SET_NODE_ID → ${hexId(id)} [2B] new=${newId} … ${time}`;
|
||
if (res.ok) {
|
||
state.txCount++;
|
||
state.selectedNode = newId;
|
||
$("#nodeIdResult").textContent = `设置成功: Node ID = ${newId} · 新 CMD ID: ${hexId(ID_CMD(newId))}`;
|
||
toast(`节点 ID 已更新为 ${newId}`, "ok");
|
||
updateNodeLabels();
|
||
} else if (!res.networkError && !res.busy) {
|
||
$("#nodeIdResult").textContent = `设置失败: ${res.desc}`;
|
||
toast(`SET_NODE_ID 失败: ${res.desc}`, "err");
|
||
}
|
||
});
|
||
$("#getNodeIdBtn").addEventListener("click", async () => {
|
||
if (!state.connected) { toast("设备未连接", "err"); return; }
|
||
if (!requireNode()) return;
|
||
if (inBusCooldown()) return;
|
||
const cur = state.selectedNode;
|
||
/* CANFD_GET_NODE_ID 0x000N0401 DLC2：NodeID_Request 0|16@1+ */
|
||
const bytes = new Uint8Array(2);
|
||
bytes[0] = cur & 0xFF;
|
||
bytes[1] = 0;
|
||
const id = ID_GET_NODE_ID(cur);
|
||
const res = await sendOneFrameWhenFree(id, 2, bytesToHexStr(bytes));
|
||
const time = new Date().toLocaleTimeString("zh-CN", { hour12: false });
|
||
$("#sbLastSend").textContent = `最近发送: GET_NODE_ID → ${hexId(id)} [2B] cur=${cur} … ${time}`;
|
||
if (res.ok) {
|
||
state.txCount++;
|
||
let reported = null;
|
||
const r = res.results && res.results[0];
|
||
if (r && r.recv) {
|
||
/* WiFi：SPI 请求-应答，回执里直接带 recv */
|
||
const rb = hexToBytes(r.recv);
|
||
if (rb.length >= 2) reported = rb[0] | (rb[1] << 8);
|
||
else if (rb.length >= 1) reported = rb[0];
|
||
} else if (state.tp.takeNodeIdReport) {
|
||
/* EtherCAT：应答是异步经批量接收区回来的，等几拍再取。
|
||
* 不能像 WiFi 那样直接读回执 —— 那里没有 recv 字段，
|
||
* 早期版本会把"没收到应答"显示成"回报=当前节点号"，等于假装成功。 */
|
||
const deadline = nowMs() + 1500;
|
||
while (nowMs() < deadline) {
|
||
await sleep(120);
|
||
const hex = state.tp.takeNodeIdReport(cur);
|
||
if (hex) {
|
||
const rb = hexToBytes(hex);
|
||
if (rb.length >= 2) reported = rb[0] | (rb[1] << 8);
|
||
else if (rb.length >= 1) reported = rb[0];
|
||
break;
|
||
}
|
||
}
|
||
}
|
||
if (reported == null) {
|
||
$("#nodeIdResult").textContent = `节点 ${cur} 未回报 ID（已发出请求 ${hexId(id)}）`;
|
||
toast(`GET_NODE_ID → Node ${cur} 无应答`, "warn");
|
||
return;
|
||
}
|
||
$("#nodeIdResult").textContent =
|
||
`节点 ${cur} 回报 ID: ${reported} · ${hexId(id)}`;
|
||
toast(`GET_NODE_ID → Node ${cur} 已读取: ${reported}`, "ok");
|
||
} else if (!res.networkError && !res.busy) {
|
||
$("#nodeIdResult").textContent = `读取失败: ${res.desc}`;
|
||
toast(`GET_NODE_ID 失败: ${res.desc}`, "err");
|
||
}
|
||
});
|
||
|
||
/* ═══════════════════════ Tab 切换 ═══════════════════════ */
|
||
document.querySelectorAll(".tab-btn").forEach((btn) => {
|
||
btn.addEventListener("click", () => {
|
||
/* 当前链路不支持的页签（EtherCAT 下的电机 OTA）不可切入。
|
||
* <button disabled> 本身不会派发 click，这里是防止将来改成 <div> 后失效。 */
|
||
if (btn.disabled || btn.classList.contains("tab-disabled")) return;
|
||
document.querySelectorAll(".tab-btn").forEach((b) => b.classList.remove("active"));
|
||
document.querySelectorAll(".tab-page").forEach((p) => p.classList.remove("active"));
|
||
btn.classList.add("active");
|
||
$("#tab-" + btn.dataset.tab).classList.add("active");
|
||
});
|
||
});
|
||
|
||
/* ═══════════════════════ 电机 OTA（relay 模式）═══════════════════════
|
||
* 两段式（与 BLE 刷 GD32 对齐）：
|
||
* 步1 POST /motor/ota 收固件写 ESP32 flash（不碰 SPI，避免与 GD32 按铃竞态）
|
||
* 步2 POST /motor/ota/relay 触发 SPI START + feedTask 喂 GD32 → GD32 本地 AES 握手 + CAN stop-and-wait
|
||
* 前端负责：选文件 → 上传 → 进BOOT → 触发转发 → 轮询进度 → 显示结果。
|
||
* ★ 顺序（2026-07-27 调整）：先收完固件再让电机进 BOOT——上传期间电机仍在 APP
|
||
* 正常运行，上传失败/固件损坏时电机不会被白白踢进 BOOT 空等。 */
|
||
const OTA_MAX_FW = 0xC000; // 48 KB 上限
|
||
const OTA_POLL_MS = 500; // 进度轮询间隔
|
||
const OTA_TOTAL_TIMEOUT_MS = 120000; // OTA 整体超时（含进 BOOT + 上传 + 传输），超时自动取消
|
||
const ota = {
|
||
running: false,
|
||
file: null,
|
||
bytes: null,
|
||
pollTimer: null,
|
||
watchdogTimer: null, /* 整体超时看门狗 */
|
||
startTime: 0, /* OTA 开始时间戳 */
|
||
fileHandle: null, /* FileSystemFileHandle（FSAPI），用于刷新后恢复固件 */
|
||
pendingHandle: null, /* 待重新授权的 handle（权限丢失时暂存，点上传区再授权） */
|
||
};
|
||
|
||
/* ─── 固件文件持久化（仿主页面 file-handle.js 模式）───
|
||
* localStorage 存文件元数据（名/大小），IndexedDB 存 FileSystemFileHandle。
|
||
* 刷新后：权限仍 granted → 静默恢复 bytes；否则展示文件名，点"选择固件"区重新授权。
|
||
* File 对象本身不可序列化，bytes 不入 localStorage；IndexedDB 仅存 handle（可结构化克隆）。 */
|
||
const LS_OTA_FW_META = "dcu_motor_ota_fw_meta";
|
||
const IDB_OTA_NAME = "dcu_motor_ota_fw_v1";
|
||
const IDB_OTA_STORE = "file_handle";
|
||
let _otaIdbDb = null;
|
||
|
||
function otaIdbOpen() {
|
||
if (_otaIdbDb) return Promise.resolve(_otaIdbDb);
|
||
if (!window.indexedDB) return Promise.reject(new Error("no IDB"));
|
||
return new Promise((resolve, reject) => {
|
||
const req = indexedDB.open(IDB_OTA_NAME, 1);
|
||
req.onupgradeneeded = () => {
|
||
if (!req.result.objectStoreNames.contains(IDB_OTA_STORE)) req.result.createObjectStore(IDB_OTA_STORE);
|
||
};
|
||
req.onsuccess = () => { _otaIdbDb = req.result; resolve(_otaIdbDb); };
|
||
req.onerror = () => { _otaIdbDb = null; reject(req.error); };
|
||
});
|
||
}
|
||
function otaIdbPutHandle(handle) {
|
||
return otaIdbOpen().then((db) => new Promise((resolve, reject) => {
|
||
const tx = db.transaction(IDB_OTA_STORE, "readwrite");
|
||
if (handle) tx.objectStore(IDB_OTA_STORE).put(handle, "motor");
|
||
else tx.objectStore(IDB_OTA_STORE).delete("motor");
|
||
tx.oncomplete = () => resolve();
|
||
tx.onerror = () => reject(tx.error);
|
||
})).catch(() => {});
|
||
}
|
||
function otaIdbGetHandle() {
|
||
return otaIdbOpen().then((db) => new Promise((resolve, reject) => {
|
||
const tx = db.transaction(IDB_OTA_STORE, "readonly");
|
||
const r = tx.objectStore(IDB_OTA_STORE).get("motor");
|
||
r.onsuccess = () => resolve(r.result || null);
|
||
r.onerror = () => reject(r.error);
|
||
})).catch(() => null);
|
||
}
|
||
|
||
function otaSaveFwMeta(file) {
|
||
try {
|
||
if (file && file.name) {
|
||
localStorage.setItem(LS_OTA_FW_META, JSON.stringify({ name: file.name, size: file.size || 0, lastModified: file.lastModified || 0 }));
|
||
} else {
|
||
localStorage.removeItem(LS_OTA_FW_META);
|
||
}
|
||
} catch (_) {}
|
||
}
|
||
function otaLoadFwMeta() {
|
||
try {
|
||
const raw = localStorage.getItem(LS_OTA_FW_META);
|
||
return raw ? JSON.parse(raw) : null;
|
||
} catch (_) { return null; }
|
||
}
|
||
|
||
/** 查询 handle 权限（不 request，刷新无手势时 request 会失败） */
|
||
async function otaQueryPermission(handle) {
|
||
if (!handle || typeof handle.getFile !== "function") return "denied";
|
||
try {
|
||
if (typeof handle.queryPermission === "function") return await handle.queryPermission({ mode: "read" });
|
||
await handle.getFile();
|
||
return "granted";
|
||
} catch (_) { return "denied"; }
|
||
}
|
||
|
||
/** 把恢复的 File 应用到 ota 对象 + UI */
|
||
async function otaApplyRestoredFile(handle, file, opts) {
|
||
opts = opts || {};
|
||
ota.fileHandle = handle || null;
|
||
ota.file = file;
|
||
ota.bytes = new Uint8Array(await file.arrayBuffer());
|
||
$("#otaFileName").textContent = `${file.name} — ${file.size.toLocaleString()} B`;
|
||
$("#otaPktTotal").textContent = String(Math.ceil(file.size / 48));
|
||
otaSaveFwMeta(file);
|
||
if (!opts.silent) otaLog(`<span class="log-info">[固件]</span> ${escapeHtml(file.name)} · ${file.size.toLocaleString()} B · ${Math.ceil(file.size / 48)} 包`);
|
||
}
|
||
|
||
/** 无权限时展示文件名，提示点上传区重新授权 */
|
||
function otaShowPendingReauth(handle, meta) {
|
||
ota.fileHandle = handle || null;
|
||
ota.pendingHandle = handle || null;
|
||
const name = (meta && meta.name) || (handle && handle.name) || "上次固件";
|
||
$("#otaFileName").textContent = `${name} — 点击「选择固件」重新授权恢复`;
|
||
if (meta && meta.size) $("#otaPktTotal").textContent = String(Math.ceil(meta.size / 48));
|
||
otaLog(`<span class="log-info">[固件]</span> 上次固件「${escapeHtml(name)}」需点击「选择固件」重新授权（浏览器安全限制）`);
|
||
}
|
||
|
||
/** 页面加载后恢复上次固件（权限 granted → 静默恢复；否则提示重新授权） */
|
||
async function otaRestorePersistedFirmware() {
|
||
let handle;
|
||
try { handle = await otaIdbGetHandle(); } catch (_) { handle = null; }
|
||
const meta = otaLoadFwMeta();
|
||
if (!handle) {
|
||
/* 无 handle（非 FSAPI 选择的旧文件或首次）：仅展示元数据提示 */
|
||
if (meta && meta.name) {
|
||
$("#otaFileName").textContent = `${meta.name} — ${meta.size ? meta.size.toLocaleString() + " B · " : ""}请重新选择`;
|
||
otaLog(`<span class="log-info">[固件]</span> 上次固件「${escapeHtml(meta.name)}」需重新选择（无 FSAPI handle）`);
|
||
}
|
||
return;
|
||
}
|
||
const perm = await otaQueryPermission(handle);
|
||
if (perm === "granted") {
|
||
try {
|
||
const file = await handle.getFile();
|
||
await otaApplyRestoredFile(handle, file, { silent: true });
|
||
otaLog(`<span class="log-ok">[固件]</span> 已恢复刷新前的固件: ${escapeHtml(file.name)}`);
|
||
} catch (e) {
|
||
otaShowPendingReauth(handle, meta);
|
||
}
|
||
} else {
|
||
otaShowPendingReauth(handle, meta);
|
||
}
|
||
}
|
||
|
||
/** 用户手势中：对 pending handle 重新授权并恢复（点"选择固件"时先尝试此路径） */
|
||
async function otaResumeWithGesture() {
|
||
const handle = ota.pendingHandle;
|
||
if (!handle || typeof handle.getFile !== "function") return false;
|
||
try {
|
||
let perm = "granted";
|
||
if (typeof handle.queryPermission === "function") perm = await handle.queryPermission({ mode: "read" });
|
||
if (perm !== "granted" && typeof handle.requestPermission === "function") perm = await handle.requestPermission({ mode: "read" });
|
||
if (perm !== "granted") { toast("未授予读取权限，请在弹窗中允许或重新选择", "warn"); return false; }
|
||
const file = await handle.getFile();
|
||
if (file.size > OTA_MAX_FW) { toast(`固件过大 (${file.size} B)，上限 ${OTA_MAX_FW} B (48 KB)`, "err"); return false; }
|
||
await otaApplyRestoredFile(handle, file, {});
|
||
ota.pendingHandle = null;
|
||
toast(`已恢复上次固件: ${file.name}`, "ok");
|
||
return true;
|
||
} catch (e) {
|
||
otaLog(`<span class="log-err">[固件]</span> 恢复失败: ${escapeHtml(e.message || e)}`);
|
||
return false;
|
||
}
|
||
}
|
||
|
||
function otaLog(html) {
|
||
const el = $("#otaLog");
|
||
const div = document.createElement("div");
|
||
div.innerHTML = html;
|
||
el.appendChild(div);
|
||
el.scrollTop = el.scrollHeight;
|
||
}
|
||
|
||
/* OTA 日志工具栏：清空 / 复制 */
|
||
$("#otaLogClearBtn").addEventListener("click", function () {
|
||
const el = $("#otaLog");
|
||
el.innerHTML = '<div class="log-info">[已清空] 日志已清除</div>';
|
||
});
|
||
$("#otaLogCopyBtn").addEventListener("click", function () {
|
||
const el = $("#otaLog");
|
||
const text = el.innerText.trim();
|
||
if (!text) { toast("日志为空", "warn"); return; }
|
||
const btn = this;
|
||
function onDone() {
|
||
btn.classList.add("copied");
|
||
setTimeout(function () { btn.classList.remove("copied"); }, 1200);
|
||
toast("已复制日志", "ok");
|
||
}
|
||
function fallback() {
|
||
const ta = document.createElement("textarea");
|
||
ta.value = text;
|
||
ta.style.cssText = "position:fixed;left:-9999px;opacity:0";
|
||
document.body.appendChild(ta);
|
||
ta.select();
|
||
try { document.execCommand("copy"); onDone(); } catch (_) {}
|
||
document.body.removeChild(ta);
|
||
}
|
||
if (navigator.clipboard && navigator.clipboard.writeText) {
|
||
navigator.clipboard.writeText(text).then(onDone).catch(fallback);
|
||
} else {
|
||
fallback();
|
||
}
|
||
});
|
||
function setOtaStage(stageIdx) {
|
||
document.querySelectorAll(".ota-stage").forEach((el, i) => {
|
||
el.classList.toggle("done", i < stageIdx);
|
||
el.classList.toggle("current", i === stageIdx);
|
||
});
|
||
}
|
||
function resetOtaUi() {
|
||
setOtaStage(-1);
|
||
$("#otaProgressFill").style.width = "0%";
|
||
$("#otaPktNum").textContent = "0";
|
||
}
|
||
|
||
/* 状态名 → 阶段索引映射（6 阶段：上传固件 → 进入BOOT → 转发握手 → 擦除 → 传输 → 完成）
|
||
* 后端 motor_ota_state_t 不含 upload/boot 阶段（纯前端驱动），后端状态从 handshake_req 起。
|
||
* 顺序：上传固件(stage0) → 进BOOT(stage1) → 触发转发 → GD32 握手(stage2)/擦除(stage3)/传输(stage4)/完成(stage5)。 */
|
||
const OTA_STATE_STAGE = {
|
||
idle: -1, pre_cancel: 2, handshake_req: 2, handshake_nonce: 2, handshake_confirm: 2,
|
||
erase: 3, transfer: 4, finish_ota: 5, wait_app_run: 5, finished: 5, error: -1,
|
||
};
|
||
const OTA_STATE_ZH = {
|
||
idle: "空闲", pre_cancel: "准备中…", handshake_req: "握手中…", handshake_nonce: "密钥协商…",
|
||
handshake_confirm: "会话确认…", erase: "擦除 Flash…", transfer: "数据传输",
|
||
finish_ota: "等待跳转…", wait_app_run: "等新 APP 运行确认(0AAC)…", finished: "完成", error: "错误",
|
||
};
|
||
|
||
$("#otaFileBtn").addEventListener("click", async () => {
|
||
/* 优先尝试恢复待授权的 handle（FSAPI），成功则不再弹文件选择框 */
|
||
if (ota.pendingHandle && await otaResumeWithGesture()) return;
|
||
/* FSAPI：showOpenFilePicker 可拿到 handle 用于刷新后恢复 */
|
||
if (window.showOpenFilePicker) {
|
||
try {
|
||
const [handle] = await window.showOpenFilePicker({
|
||
types: [{ description: "固件 (.bin)", accept: { "application/octet-stream": [".bin"] } }],
|
||
multiple: false,
|
||
});
|
||
const file = await handle.getFile();
|
||
if (file.size > OTA_MAX_FW) {
|
||
toast(`固件过大 (${file.size} B)，上限 ${OTA_MAX_FW} B (48 KB)`, "err");
|
||
return;
|
||
}
|
||
ota.fileHandle = handle;
|
||
ota.pendingHandle = null;
|
||
ota.file = file;
|
||
ota.bytes = new Uint8Array(await file.arrayBuffer());
|
||
$("#otaFileName").textContent = `${file.name} — ${file.size.toLocaleString()} B`;
|
||
$("#otaPktTotal").textContent = String(Math.ceil(file.size / 48));
|
||
$("#otaCrc").textContent = "—";
|
||
otaSaveFwMeta(file);
|
||
otaIdbPutHandle(handle);
|
||
otaLog(`<span class="log-info">[固件]</span> ${escapeHtml(file.name)} · ${file.size.toLocaleString()} B · ${Math.ceil(file.size / 48)} 包`);
|
||
toast(`固件已加载: ${file.name}`, "ok");
|
||
return;
|
||
} catch (e) {
|
||
if (e && e.name === "AbortError") return; /* 用户取消，静默 */
|
||
/* FSAPI 失败则回退到 input[type=file] */
|
||
}
|
||
}
|
||
$("#otaFileInput").click();
|
||
});
|
||
$("#otaFileInput").addEventListener("change", async (e) => {
|
||
const file = e.target.files[0];
|
||
if (!file) return;
|
||
if (file.size > OTA_MAX_FW) {
|
||
toast(`固件过大 (${file.size} B)，上限 ${OTA_MAX_FW} B (48 KB)`, "err");
|
||
e.target.value = "";
|
||
return;
|
||
}
|
||
const buf = await file.arrayBuffer();
|
||
ota.file = file;
|
||
ota.bytes = new Uint8Array(buf);
|
||
ota.fileHandle = null; /* input 选择无 handle，刷新后只能展示文件名 */
|
||
ota.pendingHandle = null;
|
||
$("#otaFileName").textContent = `${file.name} — ${file.size.toLocaleString()} B`;
|
||
$("#otaPktTotal").textContent = String(Math.ceil(file.size / 48));
|
||
$("#otaCrc").textContent = "—";
|
||
otaSaveFwMeta(file);
|
||
/* input 选择无 FSAPI handle，清掉旧 handle 避免恢复到旧文件 */
|
||
otaIdbPutHandle(null);
|
||
otaLog(`<span class="log-info">[固件]</span> ${escapeHtml(file.name)} · ${file.size.toLocaleString()} B · ${Math.ceil(file.size / 48)} 包`);
|
||
toast(`固件已加载: ${file.name}`, "ok");
|
||
});
|
||
|
||
$("#otaStartBtn").addEventListener("click", startOta);
|
||
$("#otaCancelBtn").addEventListener("click", cancelOta);
|
||
|
||
async function startOta() {
|
||
if (ota.running) return;
|
||
if (!state.connected) { toast("设备未连接", "err"); return; }
|
||
/* 电机 OTA 依赖 ESP32 固件的 /motor/ota* 上传 + GD32 本地 relay，
|
||
* EtherCAT 链路上没有这条通路（过程数据只跑 CAN 帧）。这里必须硬拦：
|
||
* 否则会去打设备 IP 的 HTTP，在只连了网线的场合表现为莫名超时。 */
|
||
if (!state.tp.supportsOta) {
|
||
toast("当前链路（" + state.tp.label + "）不支持电机 OTA —— 请切回 WiFi 链路", "err");
|
||
return;
|
||
}
|
||
if (!ota.file) { toast("请先选择固件 (.bin)", "warn"); return; }
|
||
/* 进 BOOT 需要目标电机 node_id（构造 0x000N0000），未选节点则中止。
|
||
* node=0 会变成 0x00000000（取消帧/广播），必须拒绝。 */
|
||
const node = state.selectedNode;
|
||
if (node == null || node < 1) {
|
||
toast("请先在左侧节点列表选中目标电机（node ≥ 1）", "warn");
|
||
return;
|
||
}
|
||
const ch = state.ch || 0;
|
||
|
||
/* ★ 每次刷写都重新从磁盘读取固件，确保用最新文件内容，不依赖内存缓存。
|
||
* 之前只读一次存 ota.bytes，之后多次刷写复用缓存——若磁盘文件被重新编译
|
||
* 覆盖（改代码 rebuild），前端仍发旧数据，导致刷进电机的不是最新固件。
|
||
* 有 FSAPI handle 时从 handle 重新读（handle 总是指向同一文件路径）；
|
||
* 无 handle（input 选择）时从 ota.file 重新读 File 对象。
|
||
* 读取失败提示用户重新选择固件，绝不带着旧/坏缓存刷写。 */
|
||
try {
|
||
let file = ota.file;
|
||
if (ota.fileHandle && typeof ota.fileHandle.getFile === "function") {
|
||
file = await ota.fileHandle.getFile();
|
||
}
|
||
if (file.size > OTA_MAX_FW) {
|
||
toast(`固件过大 (${file.size} B)，上限 ${OTA_MAX_FW} B (48 KB)`, "err");
|
||
return;
|
||
}
|
||
ota.file = file;
|
||
ota.bytes = new Uint8Array(await file.arrayBuffer());
|
||
$("#otaFileName").textContent = `${file.name} — ${file.size.toLocaleString()} B`;
|
||
$("#otaPktTotal").textContent = String(Math.ceil(file.size / 48));
|
||
} catch (e) {
|
||
otaLog(`<span class="log-err">[固件]</span> 重新读取失败：${escapeHtml(e.message || e)}，请重新选择固件`);
|
||
toast("固件读取失败，请重新选择", "err");
|
||
return;
|
||
}
|
||
|
||
const ok = await showModal("开始电机 OTA",
|
||
`将先上传固件 ${ota.file.name} (${ota.file.size.toLocaleString()} B) 到设备并校验 SHA-256，` +
|
||
`再发送 CANFD_BOOT (0x000${nodeHex(node)}0000) 让节点 ${node} 进入 Bootloader，` +
|
||
`由 GD32 本地完成 AES 握手与 CAN 传输。OTA 期间请勿操作电机。`);
|
||
if (!ok) return;
|
||
|
||
stopRepeat(true);
|
||
stopSeq("OTA 开始，命令序列已停止", true);
|
||
ota.running = true;
|
||
ota.node = node; /* 记录目标节点：finished 后 verifyNewApp 查版本用 */
|
||
ota.startTime = performance.now();
|
||
$("#otaStartBtn").disabled = true;
|
||
$("#otaCancelBtn").disabled = false;
|
||
resetOtaUi();
|
||
setOtaStage(0); /* 上传固件阶段 */
|
||
|
||
/* 整体超时看门狗：上传 + 进 BOOT + 传输 + 跳转 总计不应超过 OTA_TOTAL_TIMEOUT_MS。
|
||
* 超时后自动取消，避免卡死时前端无限轮询 + ESP32 feedTask 残留。 */
|
||
if (ota.watchdogTimer) clearTimeout(ota.watchdogTimer);
|
||
ota.watchdogTimer = setTimeout(() => {
|
||
if (!ota.running) return;
|
||
otaLog(`<span class="log-err">[超时]</span> OTA 整体超时 (${OTA_TOTAL_TIMEOUT_MS / 1000}s)，自动取消…`);
|
||
cancelOta();
|
||
}, OTA_TOTAL_TIMEOUT_MS);
|
||
|
||
/* OTA 期间暂停 motor/feedback/status 三链路轮询：
|
||
* 三条链各占一个 HTTP socket + httpd 线程时间，叠加固件上传 + OTA poll（500ms）
|
||
* + cancel 需要的新连接，6 个 max_open_sockets 会紧张，
|
||
* 导致 cancel "Failed to fetch"（连接建立失败/被 lru_purge 踢掉）；
|
||
* 且电机随后将跳 BOOT，motor 状态轮询无意义。
|
||
* OTA 完成后 otaDone→startPolling 恢复。 */
|
||
stopDataPolling();
|
||
|
||
/* ── 步骤 1：前端先算本地固件 SHA-256（只算一次，重传不变）── */
|
||
const fwSha256 = await crypto.subtle.digest("SHA-256", ota.bytes);
|
||
const fwShaHex = Array.from(new Uint8Array(fwSha256))
|
||
.map(b => b.toString(16).padStart(2, "0")).join("");
|
||
otaLog(`<span class="log-info">[校验]</span> 本地固件 SHA-256: ${fwShaHex}`);
|
||
|
||
try {
|
||
/* ── 步骤 2：上传 + SHA 比对，不通过重传（最多 3 次尝试 = 首发 + 重发 2 次）──
|
||
* POST /motor/ota 只收固件写 flash（不触发 SPI），ESP32 收尾从 flash 读回算 SHA 随响应返回；
|
||
* 前端比对不一致 = flash 写坏 → 重传（每次上传都全盘擦除重写）；
|
||
* 连续 3 次不过才中断——此时电机仍在 APP 正常运行，重试/中断都不影响电机。 */
|
||
const kUploadMaxAttempts = 3;
|
||
let uploadOk = false;
|
||
for (let attempt = 1; attempt <= kUploadMaxAttempts && ota.running; attempt++) {
|
||
otaLog(`<span class="log-info">[上传]</span> 上传固件到 ESP32 (CH${ch})，第 ${attempt}/${kUploadMaxAttempts} 次…`);
|
||
let upJson = {};
|
||
try {
|
||
const upResp = await fetch(getBaseUrl() + `/motor/ota?ch=${ch}`, {
|
||
method: "POST",
|
||
headers: { "Content-Type": "application/octet-stream" },
|
||
body: ota.bytes,
|
||
signal: AbortSignal.timeout(15000),
|
||
});
|
||
upJson = await upResp.json().catch(() => ({}));
|
||
if (!upResp.ok) throw new Error(upJson.error || `HTTP ${upResp.status}`);
|
||
} catch (e) {
|
||
otaLog(`<span class="log-err">[上传]</span> 第 ${attempt} 次上传失败：${escapeHtml(e.message || e)}`);
|
||
if (attempt < kUploadMaxAttempts) await sleep(300);
|
||
continue;
|
||
}
|
||
otaLog(`<span class="log-ok">[上传]</span> 固件已存储 (${escapeHtml(String(upJson.size || ota.bytes.length))} B)`);
|
||
|
||
/* 比对：本地 SHA vs ESP32 从 flash 读回算的 SHA（upJson.sha256） */
|
||
if (!upJson.sha256 || upJson.sha256.length !== 64) {
|
||
/* 旧 ESP32 固件无 sha256 字段：无法本地比对，且旧固件 relay 还要求 body（新前端已不发），
|
||
* 需刷新 ESP32 固件；继续尝试，若 relay 被拒会报错中止。 */
|
||
otaLog(`<span class="log-err">[校验]</span> 设备未返回 flash SHA（旧 ESP32 固件，建议先刷新 ESP32），跳过比对继续`);
|
||
uploadOk = true;
|
||
break;
|
||
}
|
||
if (upJson.sha256.toLowerCase() === fwShaHex) {
|
||
otaLog(`<span class="log-ok">[校验]</span> flash SHA 比对一致，允许进 BOOT`);
|
||
uploadOk = true;
|
||
break;
|
||
}
|
||
otaLog(`<span class="log-err">[校验]</span> 第 ${attempt} 次 flash SHA 不一致（device=${escapeHtml(String(upJson.sha256.slice(0, 16)))}…）${attempt < kUploadMaxAttempts ? "，重传…" : ""}`);
|
||
if (attempt < kUploadMaxAttempts) await sleep(300);
|
||
}
|
||
if (!uploadOk) {
|
||
throw new Error(`上传/SHA 校验连续 ${kUploadMaxAttempts} 次失败，中断（电机未进 BOOT）`);
|
||
}
|
||
|
||
/* ── 步骤 3：发 0x000N0000 进 BOOT 帧（DLC=0，fire-and-forget）──
|
||
* 固件已收完且 flash SHA 比对通过，此刻才让电机离开 APP。
|
||
* APP 侧 handle_boot_message() 只看 ID 的 bits[19:16] == node_id 即跳 BOOT。
|
||
* 电机收到后立即 jumpToBOOT()（can_deinit + 复位），来不及回 CAN ACK，
|
||
* 因此「GD32 未确认发送 / 总线无应答」是预期现象，绝不能当作进 BOOT 失败——
|
||
* 之前正因把「未 ACK」当失败而中止，导致「电机其实已进 BOOT 却被判为失败」。
|
||
* 是否真进 BOOT 交给后续 GD32 relay 握手（REQ→00AC）判定，握手超时才算失败。 */
|
||
setOtaStage(1); /* 进入 BOOT 阶段 */
|
||
const bootId = canId(node, 0x0000); /* 0x000N0000 */
|
||
otaLog(`<span class="log-info">[进BOOT]</span> 发送 CANFD_BOOT ${hexId(bootId)} → 节点 ${node} (CH${ch})`);
|
||
try {
|
||
const r = await sendBatch([{ id: bootId, dlc: 0, data: "" }], { allowOffline: true });
|
||
if (r.ok) {
|
||
otaLog(`<span class="log-ok">[进BOOT]</span> 命令已发送并确认`);
|
||
} else {
|
||
otaLog(`<span class="log-ok">[进BOOT]</span> 命令已发出（无 CAN 应答属正常——电机跳 BOOT 来不及 ACK，交握手确认）`);
|
||
}
|
||
} catch (e) {
|
||
otaLog(`<span class="log-info">[进BOOT]</span> 发送异常：${escapeHtml(e.message || e)}（继续，由握手确认是否进 BOOT）`);
|
||
}
|
||
otaLog(`<span class="log-ok">[进BOOT]</span> 命令已发出，立即触发转发…`);
|
||
|
||
/* ── 步骤 4：POST /motor/ota/relay 触发 SPI START + 喂数据（纯启动扳机，无 body）──
|
||
* SHA 校验已在步骤 2 闭环（比对+重传），relay 不再传/比 SHA。
|
||
* 无前端 sleep：电机跳转由 GD32 kPreCancel 等 0x103 心跳窗口吸收（3s 超时报 0x02）。
|
||
* SPI 0xC0(进 BOOT) 与 0xD0(START) 经 SPI worker 串行，顺序有保证。 */
|
||
const rResp = await fetch(getBaseUrl() + `/motor/ota/relay?ch=${ch}`, {
|
||
method: "POST",
|
||
signal: AbortSignal.timeout(8000),
|
||
});
|
||
const rJson = await rResp.json().catch(() => ({}));
|
||
if (!rResp.ok) throw new Error(rJson.error || `HTTP ${rResp.status}`);
|
||
otaLog(`<span class="log-ok">[转发]</span> GD32 开始握手…`);
|
||
startOtaPoll();
|
||
} catch (e) {
|
||
otaLog(`<span class="log-err">[失败]</span> ${escapeHtml(e.message || e)}`);
|
||
toast("OTA 启动失败：" + (e.message || e), "err");
|
||
otaDone();
|
||
}
|
||
}
|
||
|
||
function startOtaPoll() {
|
||
const startTime = performance.now();
|
||
let lastState = "";
|
||
let lastLoggedPkt = -1;
|
||
ota.pollTimer = setInterval(async () => {
|
||
try {
|
||
const resp = await fetch(getBaseUrl() + "/motor/ota/status", {
|
||
signal: AbortSignal.timeout(2000), cache: "no-store",
|
||
});
|
||
const st = await resp.json();
|
||
updateOtaUi(st, startTime);
|
||
/* 状态变化写日志，避免 UI 只停在「开始握手」一行 */
|
||
if (st.state && st.state !== lastState) {
|
||
const zh = OTA_STATE_ZH[st.state] || escapeHtml(String(st.state));
|
||
/* 握手阶段(pre_cancel / handshake_req / handshake_nonce / handshake_confirm / erase)
|
||
* 不显示 x/y 进度——
|
||
* 握手未成时 packets_acked 是 ESP32 预填充字节数，不是电机真实 ACK，
|
||
* 显示 "0/912" 无意义且让用户误以为在传输。transfer 起才显示进度。 */
|
||
const showPkt = (st.state === "transfer" || st.state === "wait_app_run" ||
|
||
st.state === "finish_ota" || st.state === "finished");
|
||
otaLog(`<span class="log-info">[状态]</span> ${zh}` +
|
||
(showPkt && st.total_packets ? ` · ${Number(st.packets_acked) || 0}/${Number(st.total_packets) || 0}` : ""));
|
||
lastState = st.state;
|
||
} else if (st.state === "transfer" && st.total_packets > 0) {
|
||
const acked = Number(st.packets_acked) || 0;
|
||
/* 传输期每约 64 包补一条进度，避免只有握手日志 */
|
||
if (acked - lastLoggedPkt >= 64 || acked >= st.total_packets) {
|
||
otaLog(`<span class="log-info">[传输]</span> ${acked}/${Number(st.total_packets) || 0}`);
|
||
lastLoggedPkt = acked;
|
||
}
|
||
}
|
||
if (st.state === "finished" || st.state === "error" || st.state === "idle") {
|
||
clearInterval(ota.pollTimer);
|
||
ota.pollTimer = null;
|
||
if (st.state === "finished") {
|
||
otaLog(`<span class="log-ok">[完成]</span> 传输完成 · ${Number(st.packets_acked) || 0} 包 · 电机新 APP 已发 0AAC 运行确认，核对版本…`);
|
||
} else if (st.state === "error") {
|
||
const errHint = st.error === 0x25 ? "（刷写传完但新 APP 未发 0AAC 运行确认——APP 可能未启动）" : "";
|
||
otaLog(`<span class="log-err">[错误]</span> 代码 0x${Number(st.error || 0).toString(16).toUpperCase()}${errHint}`);
|
||
toast("电机 OTA 失败 (0x" + Number(st.error || 0).toString(16) + ")", "err");
|
||
}
|
||
/* ★ 正常完成(finished)不发 cancel：电机 APP 已跳转启动，此时发 cancel
|
||
* 会让 GD32 发 0x00000000(kOtaCancelId)，被刚启动的电机 APP 当作
|
||
* CANFD_BOOT_ID(base_id=0x0000) → enter_silent_mode 10s → APP 看似卡死。
|
||
* 只有 error/idle/异常退出才发 cancel 兜底清理设备端残留状态。 */
|
||
otaDone(st.state !== "finished");
|
||
/* ★ finished = GD32 已收到电机新 APP 上电自主发的 [0A AC] 运行确认
|
||
* （kWaitAppRun → kFinished，无确认 3s 超时报 0x25）——APP 已确认在跑。
|
||
* verifyNewApp 只做最后一步：查版本号核对并回填 UI。 */
|
||
if (st.state === "finished") verifyNewApp(ota.node);
|
||
}
|
||
} catch (e) { /* 轮询瞬时失败静默 */ }
|
||
}, OTA_POLL_MS);
|
||
}
|
||
|
||
/* ── OTA 终验：查版本号核对新 APP ──
|
||
* 运行确认已由设备端闭环：电机新 APP 上电自主发 [0A AC]，GD32 kWaitAppRun
|
||
* 收到才报 finished（无确认 3s → error 0x25）——走到这里 APP 必然在跑且 CAN 已就绪。
|
||
* 本函数只补最后一步：发 GET_VERSION(0x000N00FF) 拿新版本号展示/核对，
|
||
* 无应答仅提醒（不推翻设备端的运行确认结论）。 */
|
||
async function verifyNewApp(node) {
|
||
if (node == null || node < 1) return;
|
||
otaLog(`<span class="log-info">[验证]</span> 查询新 APP 版本号 (${hexId(ID_GET_VERSION_REQ(node))})…`);
|
||
await sleep(200); /* APP 已发过 0AAC，CAN 已就绪，留小间隔避开启动期杂帧 */
|
||
const kVerifyAttempts = 2;
|
||
for (let attempt = 1; attempt <= kVerifyAttempts; attempt++) {
|
||
try {
|
||
const before = await fetchMotorVersionNode(node);
|
||
const prevSeq = before ? before.seq : null;
|
||
const res = await sendOneFrameWhenFree(ID_GET_VERSION_REQ(node), 24, bytesToHexStr(new Uint8Array(24)));
|
||
if (res.ok) {
|
||
const v = await waitMotorVersionOnTick(node, prevSeq, 4000);
|
||
if (v && v.version) {
|
||
const parsed = parseVersionPayload(v.version);
|
||
if (parsed && parsed.soft) {
|
||
/* 同步版本卡片与缓存，用户无需再手动点查版本 */
|
||
setVer("verSoft", parsed.soft || "--");
|
||
setVer("verHard", parsed.hard || "--");
|
||
setVer("verBoot", parsed.boot || "--");
|
||
state.versions.set(node, { soft: parsed.soft || null, hard: parsed.hard || null, boot: parsed.boot || null });
|
||
saveUiState();
|
||
otaLog(`<span class="log-ok">[成功]</span> OTA 成功 · 新 APP v${parsed.soft} 运行中（0AAC 确认 + 版本应答）`);
|
||
toast(`电机 OTA 成功 · APP v${parsed.soft}`, "ok");
|
||
return;
|
||
}
|
||
}
|
||
}
|
||
} catch (e) { /* 单轮异常按未应答处理，进入重试 */ }
|
||
if (attempt < kVerifyAttempts) {
|
||
otaLog(`<span class="log-info">[验证]</span> 第 ${attempt} 次无应答，重试…`);
|
||
}
|
||
}
|
||
otaLog(`<span class="log-err">[提醒]</span> APP 已发 0AAC 确认运行，但版本查询无应答，请手动点「查版本」核对`);
|
||
toast("OTA 完成（版本查询无应答，请手动核对）", "warn");
|
||
}
|
||
|
||
function updateOtaUi(st, startTime) {
|
||
const stage = OTA_STATE_STAGE[st.state] ?? -1;
|
||
setOtaStage(stage);
|
||
const acked = Number(st.packets_acked) || 0;
|
||
const total = st.total_packets || 1;
|
||
/* 握手阶段(pre_cancel / handshake_req / handshake_nonce / handshake_confirm / erase)
|
||
* 不更新进度条和包数——
|
||
* 此时 packets_acked 是 ESP32 预填充字节数不是电机真实 ACK，
|
||
* 显示 0/912 会让人误以为在传输。transfer 起才显示进度。 */
|
||
const inTransfer = (st.state === "transfer" || st.state === "wait_app_run" ||
|
||
st.state === "finish_ota" || st.state === "finished");
|
||
if (inTransfer) {
|
||
$("#otaPktNum").textContent = String(acked);
|
||
$("#otaPktTotal").textContent = String(total);
|
||
$("#otaProgressFill").style.width = (acked / total * 100).toFixed(1) + "%";
|
||
} else {
|
||
/* 握手阶段进度条归零，避免残留上次进度 */
|
||
$("#otaPktNum").textContent = "0";
|
||
$("#otaProgressFill").style.width = "0%";
|
||
}
|
||
const elapsed = (performance.now() - startTime) / 1000;
|
||
if (elapsed > 0.5 && acked > 0 && inTransfer) {
|
||
$("#otaSpeed").textContent = (acked * 48 / elapsed / 1024).toFixed(1) + " KB/s";
|
||
}
|
||
$("#otaCrc").textContent = OTA_STATE_ZH[st.state] || st.state;
|
||
}
|
||
|
||
async function cancelOta() {
|
||
if (!ota.running) return;
|
||
otaLog(`<span class="log-err">[取消]</span> 正在取消…`);
|
||
/* 先停 OTA 进度轮询，腾出 HTTP socket 给 cancel 请求本身。
|
||
* motor/feedback/status 三链路在 startOta 时已 stopDataPolling，
|
||
* 这里只剩 OTA poll（500ms）可能正占用一个 socket。
|
||
* 先停 poll 再发 cancel，避免 cancel 被挤导致 "Failed to fetch"。 */
|
||
if (ota.pollTimer) { clearInterval(ota.pollTimer); ota.pollTimer = null; }
|
||
/* 取消请求重试 3 次：单次失败（网络抖动/ESP32 忙）时不能静默吞掉，
|
||
* 否则 ESP32 侧 feedTask 不会退出，motorOtaIsActive() 残留为 true，
|
||
* 导致后续 ESP32/GD32 OTA 全被"电机 OTA 进行中"拒绝。 */
|
||
let ok = false;
|
||
for (let i = 1; i <= 3 && !ok; i++) {
|
||
try {
|
||
const r = await fetch(getBaseUrl() + "/motor/ota/cancel", { method: "POST", signal: AbortSignal.timeout(5000) });
|
||
ok = r.ok;
|
||
} catch (e) {
|
||
otaLog(`<span class="log-err">[取消]</span> 第 ${i} 次失败：${escapeHtml(e.message || e)}`);
|
||
}
|
||
if (!ok && i < 3) await sleep(500);
|
||
}
|
||
if (!ok) otaLog(`<span class="log-err">[取消]</span> 3 次均失败，设备端 feedTask 可能残留，建议刷新页面或等待自动超时`);
|
||
/* 成功时不再经 otaDone 兜底重发 cancel：设备端已在取消流程中，
|
||
* 双发 CANCEL 会再次触发 motorOtaCancel（GD32 重复 resetToIdle），
|
||
* 徒占 SPI 且延长 cancel task 存活窗口。仅 3 次全失败时保留兜底。 */
|
||
otaDone(!ok);
|
||
}
|
||
|
||
/* otaDone(sendCancel): 清理前端 OTA 状态。
|
||
* sendCancel=true 时发 POST /motor/ota/cancel 兜底清理设备端残留状态。
|
||
* sendCancel=false（正常 finished）时不发 cancel——电机 APP 已跳转启动，
|
||
* 此时发 cancel 会让 GD32 发 0x00000000(kOtaCancelId)，被电机 APP 当作
|
||
* CANFD_BOOT_ID(base_id=0x0000) → enter_silent_mode 10s，APP 看似卡死。
|
||
* 调用方：
|
||
* - startOtaPoll 正常完成 → otaDone(false)
|
||
* - startOtaPoll error/idle → otaDone(true)
|
||
* - cancelOta（用户主动取消）→ otaDone(true)
|
||
* - startOta 启动失败 → otaDone(true) */
|
||
function otaDone(sendCancel = true) {
|
||
ota.running = false;
|
||
$("#otaStartBtn").disabled = false;
|
||
$("#otaCancelBtn").disabled = true;
|
||
if (ota.watchdogTimer) { clearTimeout(ota.watchdogTimer); ota.watchdogTimer = null; }
|
||
/* OTA 期间暂停了 motor/feedback/status 三链路轮询，完成后恢复。
|
||
* startPolling 内部先 stopDataPolling 再重建，安全可重复调用。 */
|
||
if (state.connected && !state.probing) {
|
||
startPolling();
|
||
}
|
||
/* 仅在需要时发 cancel 兜底清理设备端 motorOtaIsActive。
|
||
* 正常完成(finished)时 feedTask 已自行退出 + GD32 已进 kFinished，
|
||
* 不需要 cancel；发了反而干扰刚跳转的电机 APP（见上注释）。 */
|
||
if (sendCancel && state.connected) {
|
||
fetch(getBaseUrl() + "/motor/ota/cancel", { method: "POST", signal: AbortSignal.timeout(3000) })
|
||
.catch(() => { /* 兜底请求失败静默，不阻塞 UI 恢复 */ });
|
||
}
|
||
}
|
||
|
||
/* ═══════════════════════ 通道切换（无连接按钮） ═══════════════════════ */
|
||
$("#chSelect").addEventListener("change", () => {
|
||
state.ch = parseInt($("#chSelect").value, 10) || 0;
|
||
scopeSys.reset(); /* 换通道：清波形历史，避免不同通道电机数据混流 */
|
||
updateConnUi();
|
||
updateChSelectOptions(); /* 同步选框字色：切到有信号通道则绿色，否则默认 */
|
||
/* 按新通道重刷节点列表 / STATUS 面板 / 在线汇总（通道视图过滤立即生效） */
|
||
refreshChannelViews();
|
||
/* 通道切换不额外拉 feedback：等下一轮 pollLoop，避免与单飞链并发 */
|
||
});
|
||
|
||
/* ═══════════════════════ 刷新速度（motor 轮询间隔） ═══════════════════════ */
|
||
/* 用户改 #refreshRate 后：clamp、回填、写**当前链路那一份**并立即重排节拍。
|
||
* 仅影响 motor 链路；feedback/status 保持 1Hz 独立节拍。
|
||
* 两条链路各记一份（state.refreshByTp，见 refresh-rate.js）：这里是
|
||
* "用户输入 → 存回当前链路"，反方向的"切链路 → 装载该链路的值"在
|
||
* applyTransportRefresh。 */
|
||
const refreshRateInput = $("#refreshRate");
|
||
|
||
/* 下发 GD32 0xC5 主动推送周期：复用通用 SPI 透传口 /spi/send（不新增 HTTP 路由）。
|
||
* 命令码 0xC5 + 子操作码 0xFE，data 十六进制 = FE <ms_lo> <ms_hi>（毫秒 LE）。
|
||
* GD32 端钳制 [50,5000]ms 并回 ACK。失败静默（不影响本地轮询）。 */
|
||
async function sendMotorPeriod(ms) {
|
||
/* WiFi：经 /spi/send 下发 0xC5 子命令 0xFE，让 GD32 主动推送周期与前端一致。
|
||
* EtherCAT：PDO 周期由后台循环独立维持（1000ms 过程数据看门狗要求持续交换），
|
||
* 与界面刷新率无关，传输层实现为空操作。 */
|
||
if (!state.tp.supportsPeriodSync) return;
|
||
try {
|
||
await state.tp.setPeriod(ms);
|
||
} catch (e) { /* 周期下发失败静默：GD32 保持旧周期，本地轮询不受影响 */ }
|
||
}
|
||
function applyRefreshRate() {
|
||
const dflt = REFRESH_DEFAULTS[state.tpId] || TICK_INTERVAL_MS;
|
||
const lo = minRefreshFor(state.tpId); /* 下限按链路：ECAT 到 1ms，WiFi 仍 50ms */
|
||
const v = clampNum(parseInt(refreshRateInput.value, 10) || dflt, lo, REFRESH_MAX_MS);
|
||
refreshRateInput.value = v;
|
||
state.refreshIntervalMs = v;
|
||
state.refreshByTp[state.tpId] = v; /* 只改当前链路那一份，另一条保持原值 */
|
||
saveUiState(); /* #refreshRate 不在 PERSIST_FIELDS 里，得自己存 */
|
||
updateNodeLabels(); /* STATUS 面板右上角 Hz 跟随刷新速度 */
|
||
/* 后台节流兜底模式下清掉旧 setTimeout 节拍，避免双链 */
|
||
if (state.poll.tick) {
|
||
clearTimeout(state.poll.tick);
|
||
state.poll.tick = null;
|
||
}
|
||
if (state.connected && !state.probing) {
|
||
tickNextAt = 0; /* 节拍基准重置：立即按新间隔重新对齐 */
|
||
schedulePollLoop(state.pollGen, 0); /* Worker 模式只更新间隔；兜底模式立即重排 */
|
||
sendMotorPeriod(v); /* 同步 GD32 0xC5 推送周期（复用 /spi/send，命令码 0xC5 + 子命令 0xFE） */
|
||
}
|
||
/* 极小间隔别报"≈1000 Hz"那种做不到的数：单飞语义下真实频率由往返耗时决定
|
||
* （ECAT 每拍一次 HTTP，浏览器里实测约 125Hz）。这时只说"不限速"，
|
||
* 实际到达频率看 STATUS 面板右上角那个按数据到达时间算出来的 Hz。 */
|
||
const hz = 1000 / v;
|
||
toast(isUnthrottled(v)
|
||
? `${state.tp.label} 刷新速度 ${v} ms（不限速，实际频率见 STATUS 面板）`
|
||
: `${state.tp.label} 刷新速度 ${v} ms（≈${hz >= 10 ? hz.toFixed(0) : hz.toFixed(1)} Hz）`, "ok");
|
||
}
|
||
refreshRateInput.addEventListener("change", applyRefreshRate);
|
||
refreshRateInput.addEventListener("input", () => {
|
||
/* 输入过程中只 clamp 下限显示，松手/change 再应用节拍，避免每个键都 toast */
|
||
const raw = parseInt(refreshRateInput.value, 10);
|
||
const lo = minRefreshFor(state.tpId);
|
||
if (Number.isFinite(raw) && raw < lo) refreshRateInput.value = lo;
|
||
});
|
||
|
||
/* ═══════════════════════ 示波器系统 ═══════════════════════ */
|
||
const scopeSys = (() => {
|
||
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);
|
||
|
||
function fit(canvas) {
|
||
const dpr = dprOf();
|
||
const r = canvas.getBoundingClientRect();
|
||
if (r.width === 0) return false;
|
||
if (canvas.width !== Math.round(r.width * dpr) || canvas.height !== Math.round(r.height * dpr)) {
|
||
canvas.width = Math.round(r.width * dpr);
|
||
canvas.height = Math.round(r.height * dpr);
|
||
}
|
||
canvas.getContext("2d").setTransform(dpr, 0, 0, dpr, 0, 0);
|
||
return true;
|
||
}
|
||
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。 */
|
||
function drawTrace(ctx, buf, color, yOf, base, w, lw, fill) {
|
||
const pts = [];
|
||
for (let i = 0; i < BUF; i++) {
|
||
const idx = (head + i) % BUF;
|
||
pts.push({ x: i / (BUF - 1) * w, y: yOf(buf[idx]), ok: valid[idx] === 1 });
|
||
}
|
||
const linePath = (a, b) => {
|
||
ctx.beginPath();
|
||
ctx.moveTo(pts[a].x, pts[a].y);
|
||
for (let i = a + 1; i <= b; i++) ctx.lineTo(pts[i].x, pts[i].y);
|
||
};
|
||
ctx.lineWidth = lw; ctx.lineJoin = "round"; ctx.strokeStyle = color;
|
||
let start = 0;
|
||
while (start < BUF - 1) {
|
||
const solid = pts[start].ok && pts[start + 1].ok;
|
||
let end = start + 1;
|
||
while (end + 1 < BUF && (pts[end].ok && pts[end + 1].ok) === solid) end++;
|
||
if (solid && fill) {
|
||
linePath(start, end);
|
||
ctx.lineTo(pts[end].x, base); ctx.lineTo(pts[start].x, base); ctx.closePath();
|
||
ctx.fillStyle = color + "16";
|
||
ctx.fill();
|
||
}
|
||
linePath(start, end);
|
||
ctx.setLineDash(solid ? [] : [5, 4]);
|
||
ctx.shadowColor = color; ctx.shadowBlur = solid ? 5 : 0;
|
||
ctx.stroke();
|
||
ctx.shadowBlur = 0;
|
||
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() {
|
||
if (!fit(big)) return;
|
||
const w = big.width / dprOf(), h = big.height / dprOf();
|
||
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 },
|
||
};
|
||
for (const m of Object.values(MINIS)) m.ctx = m.el.getContext("2d");
|
||
|
||
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) {
|
||
if (!fit(m.el)) return;
|
||
const w = m.el.width / dprOf(), h = m.el.height / dprOf();
|
||
/* 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;
|
||
function loop(ts) {
|
||
/* 采样节流到 ~30Hz，避免 1Hz 数据下过度密集 */
|
||
if (ts - lastSample > 33) { sample(); lastSample = ts; }
|
||
drawBig();
|
||
for (const [sig, m] of Object.entries(MINIS)) {
|
||
const card = document.querySelector(`[data-signal="${sig}"]`);
|
||
if (card && 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 };
|
||
})();
|
||
|
||
/* ═══════════════════════ 初始化 ═══════════════════════ */
|
||
/* 传输必须最先建：updateConnUi / renderStatusPanel 等都会读 state.tp。 */
|
||
useTransport(loadTransportId());
|
||
/* 本页不提供连接配置：WiFi 链路读主页 localStorage dcu_esp_ip，进入后自动探测 */
|
||
state.ip = getSharedDeviceIp();
|
||
/* 先恢复用户上次输入（modeSelect / 目标值 / PID / 通道 / 选中节点），
|
||
* 再 applyModeVisibility 才能让保存的 mode 决定字段可见性。 */
|
||
loadUiState();
|
||
/* 装载当前链路那一份刷新速度（回填输入框 + 写 refreshIntervalMs）。
|
||
* 必须在 updateNodeLabels / renderStatusPanel 之前：它们要按刷新率算显示 Hz。 */
|
||
applyTransportRefresh();
|
||
/* 固定节点 1–9：恢复后若无有效选中，默认 N1，保证离线也能直接刷写 */
|
||
if (state.selectedNode == null || state.selectedNode < 1 || state.selectedNode > 9) {
|
||
state.selectedNode = 1;
|
||
}
|
||
applyModeVisibility();
|
||
updateNodeLabels();
|
||
updateConnUi();
|
||
renderNodeList();
|
||
renderStatusPanel();
|
||
restoreVersionUi(state.selectedNode); /* 回填上次缓存的版本号 */
|
||
renderSeqList(); /* 命令序列步骤渲染（依赖 loadUiState 恢复的数据） */
|
||
seqLoopsInput.value = seq.loops;
|
||
bindAutoSave();
|
||
initCmdCommit(); /* CMD 输入提交制：必须在 loadUiState 回填之后初始化，否则初始提交值是 HTML 默认值 */
|
||
otaRestorePersistedFirmware(); /* 异步恢复上次固件（无阻塞） */
|
||
|
||
/* 链路切换下拉框：切 WiFi/EtherCAT。放在最后绑，此时 state.tp 已就绪。 */
|
||
const transportSelect = $("#transportSelect");
|
||
if (transportSelect) {
|
||
transportSelect.value = state.tpId;
|
||
transportSelect.addEventListener("change", () => {
|
||
switchTransport(transportSelect.value);
|
||
});
|
||
}
|
||
/* EtherCAT 网卡匹配子串：改完立即重连该网口（换网卡时用）。 */
|
||
const ecatAdapterInput = $("#ecatAdapter");
|
||
if (ecatAdapterInput) {
|
||
ecatAdapterInput.addEventListener("change", async () => {
|
||
const tp = state.tp;
|
||
if (!tp.setAdapter) return;
|
||
const changed = await tp.setAdapter(ecatAdapterInput.value);
|
||
if (!changed) { ecatAdapterInput.value = tp.getAdapter(); return; }
|
||
toast("网卡已切换到 " + tp.getAdapter() + "，正在重连…", "ok");
|
||
/* 重新走一遍探测：ensureOpen 会用新子串 open，再自动进 OP + 起循环 */
|
||
stopDataPolling();
|
||
state.connected = false;
|
||
connectShared();
|
||
});
|
||
}
|
||
applyTransportUi(); /* 按当前链路能力刷新 OTA 页签可用性 + 提示文案 */
|
||
|
||
/* 暴露诊断对象到 window，供控制台排查慢请求：
|
||
* window.phaseDebug.lastSlowReq // 上次慢请求（>200ms）path+耗时
|
||
* window.phaseDebug.slowStats // 累计慢请求统计
|
||
* window.phaseDebug.reset() // 清空慢请求统计 */
|
||
window.phaseDebug = {
|
||
get lastSlowReq() { return state.phaseDebug && state.phaseDebug.lastSlowReq; },
|
||
get slowStats() { return state.phaseDebug && state.phaseDebug.slowStats; },
|
||
reset() {
|
||
if (state.phaseDebug) {
|
||
state.phaseDebug.lastSlowReq = null;
|
||
state.phaseDebug.slowStats = {};
|
||
}
|
||
console.log("[phaseDebug] 慢请求统计已清空");
|
||
},
|
||
};
|
||
|
||
/* 延迟一帧再连，避免阻塞首屏渲染 */
|
||
setTimeout(connectShared, 80);
|