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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。
88 lines
5.1 KiB
JavaScript
88 lines
5.1 KiB
JavaScript
/**
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* 浏览器实测：内核级 PDO 周期热调（250µs=4kHz）+ 持久化 + µs 显示。
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* 单测(test_motor_transport.mjs 的 i4 段)只验传输层契约；这里验真页面真后端：
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* - setPdoPeriod 走 /motor/period，绝不碰 motor/start
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* （后者会停 PDO 循环，停手 >1s 从站掉 OP —— 把板子弄楔死的那条路）
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* - 状态栏亚毫秒显示 µs，自旋/E 核标注正确
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* - 页面重载后 ensureStarted 自动带回持久化周期（内核级档位跨服务重启存活）
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* - 换回 4ms 后自旋标注消失（自动退回内核睡眠，不白烧核）
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*/
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const CDP = "http://127.0.0.1:9333";
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const list = await (await fetch(CDP + "/json/list")).json();
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const page = list.find((t) => t.type === "page");
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const sock = new WebSocket(page.webSocketDebuggerUrl);
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let id = 0; const pending = new Map();
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await new Promise((r, j) => { sock.onopen = r; sock.onerror = j; });
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sock.onmessage = (e) => { const m = JSON.parse(e.data); if (m.id && pending.has(m.id)) { pending.get(m.id)(m); pending.delete(m.id); } };
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const send = (method, params = {}) => { const myId = ++id; return new Promise((res) => { pending.set(myId, res); sock.send(JSON.stringify({ id: myId, method, params })); }); };
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async function ev(expr) {
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const r = await send("Runtime.evaluate", { expression: expr, awaitPromise: true, returnByValue: true });
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return r.result && r.result.result && r.result.result.value;
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}
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const sleep = (ms) => new Promise((r) => setTimeout(r, ms));
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let pass = 0, fail = 0; const out = [];
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const check = (n, c, d) => { if (c) { pass++; out.push(" \u2713 " + n); } else { fail++; out.push(" \u2717 " + n + (d ? " \u2014 " + d : "")); } };
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await send("Runtime.enable"); await send("Page.enable");
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const PORT = Number(process.argv[2] || 8080);
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const PAGE = `http://127.0.0.1:${PORT}/pages/motor.html`;
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/* 干净起点：ECAT 链路，清掉周期/节拍残留偏好（后端保持当前值不动） */
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await send("Page.navigate", { url: PAGE }); await sleep(2000);
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await ev(`localStorage.setItem("dcu_motor_transport","ecat");
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localStorage.removeItem("dcu_motor_ui_v2");
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localStorage.removeItem("dcu_ecat_period_ms");
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localStorage.removeItem("dcu_ecat_spin"); "ok"`);
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await send("Page.navigate", { url: PAGE }); await sleep(4000);
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/* 请求计数探针：区分 /motor/period 与 /motor/start */
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await ev(`(() => {
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window.__per = 0; window.__start = 0;
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if (!window.__origFetch) window.__origFetch = window.fetch;
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window.fetch = function (u) { const s = String(u);
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if (s.includes("motor/period")) window.__per++;
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if (s.includes("motor/start")) window.__start++;
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return window.__origFetch.apply(this, arguments); };
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return "ok"; })()`);
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const pre = JSON.parse(await ev(`JSON.stringify({tp: motorDbg.state.tpId, conn: motorDbg.state.connected})`));
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check("已在 ecat 链路且已连接", pre.tp === "ecat" && pre.conn === true, JSON.stringify(pre));
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out.push("\n[A] setPdoPeriod(0.25)：走 /motor/period，不碰 motor/start");
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const startBefore = await ev(`window.__start`);
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const got = await ev(`motorDbg.state.tp.setPdoPeriod(0.25)`);
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await sleep(1200);
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check("返回新周期 0.25", got === 0.25, String(got));
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const cnt = JSON.parse(await ev(`JSON.stringify({per: window.__per, start: window.__start})`));
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check("命中 /motor/period 一次", cnt.per === 1, JSON.stringify(cnt));
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check("没碰 /motor/start（停循环=看门狗掉OP的楔死路径）",
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cnt.start === startBefore, JSON.stringify({ cnt, startBefore }));
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let st = JSON.parse(await ev(`JSON.stringify({txt: document.querySelector("#devStatus").textContent, dbg: motorDbg.state.tp.debug()})`));
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out.push(" 状态栏: " + st.txt);
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check("状态栏显示 PDO 250µs（亚毫秒用 µs 不用 0.25ms）", /PDO 250µs/.test(st.txt), st.txt);
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check("亚毫秒周期自动自旋并标注（⚡自旋节拍）", /自旋节拍/.test(st.txt), st.txt);
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check("debug().periodMs === 0.25", st.dbg.periodMs === 0.25, JSON.stringify(st.dbg));
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check("周期持久化到 localStorage",
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(await ev(`localStorage.getItem("dcu_ecat_period_ms")`)) === "0.25");
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out.push("\n[B] 页面重载：ensureStarted 自动带回 0.25ms（跨重启档位不丢）");
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await send("Page.navigate", { url: PAGE }); await sleep(4000);
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st = JSON.parse(await ev(`JSON.stringify({txt: document.querySelector("#devStatus").textContent, per: motorDbg.state.tp.debug().periodMs})`));
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check("重载后仍是 PDO 250µs", /PDO 250µs/.test(st.txt) && st.per === 0.25, JSON.stringify(st));
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out.push("\n[C] 换回 4ms：µs 与自旋标注都消失（自动退回内核睡眠）");
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await ev(`motorDbg.state.tp.setPdoPeriod(4)`);
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await sleep(1200);
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st = JSON.parse(await ev(`JSON.stringify({txt: document.querySelector("#devStatus").textContent})`));
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out.push(" 状态栏: " + st.txt);
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check("显示 PDO 4ms", /PDO 4ms/.test(st.txt), st.txt);
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check("4ms 自动退回内核睡眠，无自旋标注", !/自旋/.test(st.txt), st.txt);
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check("localStorage 更新为 4", (await ev(`localStorage.getItem("dcu_ecat_period_ms")`)) === "4");
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console.log(out.join("\n"));
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console.log("\n" + "=".repeat(56));
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console.log(`通过 ${pass} 项，失败 ${fail} 项`);
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sock.close();
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process.exit(fail === 0 ? 0 : 1);
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