cbb
aa1e14d4cb
从完好 main.js 机械外提示波器 IIFE 为 createScopeSys； STATUS 契约 offlineOverlay/statusLive 保持不动。 UI 验收：overlay display none、电机数据在、无控制台报错。
278 lines
10 KiB
JavaScript
278 lines
10 KiB
JavaScript
/**
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* scope.js — 电机控制台示波器（三相大图 + 迷你卡片波形）
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* 从 main.js 示波器 IIFE 机械外提；行为不变。
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* createScopeSys(ctx) 注入 state / motorKey / clampNum / $。
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* 返回 { reset }：切电机/切通道时清历史。
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*/
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"use strict";
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/** @param {{state:any, motorKey:(m:any)=>string, clampNum:(v:number,lo:number,hi:number)=>number, $:(s:string)=>Element|null}} ctx */
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export function createScopeSys(ctx) {
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const { state, motorKey, clampNum, $ } = ctx;
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const BUF = 300;
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const dprOf = () => window.devicePixelRatio || 1;
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const hist = {
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u: new Float32Array(BUF), v: new Float32Array(BUF), w: new Float32Array(BUF),
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angle: new Float32Array(BUF), velocity: new Float32Array(BUF), current: new Float32Array(BUF),
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mcuTemp: new Float32Array(BUF), motTemp: new Float32Array(BUF),
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};
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let head = 0;
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const valid = new Uint8Array(BUF);
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function colors() {
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const cs = getComputedStyle(document.documentElement);
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return {
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u: cs.getPropertyValue("--seed-primary").trim() || "#22d3ee",
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v: "#34d399",
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w: cs.getPropertyValue("--seed-accent").trim() || "#f59e0b",
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};
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}
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let C = colors();
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setInterval(() => { C = colors(); }, 2000);
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const sizes = new WeakMap();
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let sizeObs = null;
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function cssSize(canvas) {
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let s = sizes.get(canvas);
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if (s) return s;
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const r = canvas.getBoundingClientRect();
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s = { w: r.width, h: r.height };
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sizes.set(canvas, s);
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if (!sizeObs) {
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sizeObs = new ResizeObserver((entries) => {
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for (const e of entries) {
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const t = sizes.get(e.target);
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if (!t) continue;
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const b = e.borderBoxSize && e.borderBoxSize[0];
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t.w = b ? b.inlineSize : e.contentRect.width;
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t.h = b ? b.blockSize : e.contentRect.height;
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}
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});
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}
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sizeObs.observe(canvas);
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return s;
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}
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function fit(canvas, c2d) {
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const dpr = dprOf();
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const s = cssSize(canvas);
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if (s.w === 0) return null;
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const cw = Math.round(s.w * dpr), ch = Math.round(s.h * dpr);
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if (canvas.width !== cw || canvas.height !== ch) {
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canvas.width = cw;
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canvas.height = ch;
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}
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c2d.setTransform(dpr, 0, 0, dpr, 0, 0);
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return s;
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}
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function grid(c2d, w, h) {
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c2d.strokeStyle = "rgba(255,255,255,0.05)";
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c2d.lineWidth = 1;
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for (let i = 1; i < 4; i++) { const y = h / 4 * i; c2d.beginPath(); c2d.moveTo(0, y); c2d.lineTo(w, y); c2d.stroke(); }
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for (let i = 1; i < 6; i++) { const x = w / 6 * i; c2d.beginPath(); c2d.moveTo(x, 0); c2d.lineTo(x, h); c2d.stroke(); }
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c2d.strokeStyle = "rgba(255,255,255,0.13)";
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c2d.beginPath();
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c2d.moveTo(0, h / 2); c2d.lineTo(w, h / 2); c2d.stroke();
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}
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const scratchY = new Float32Array(BUF);
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const okAt = (i) => valid[(head + i) % BUF] === 1;
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function drawTrace(c2d, buf, color, yOf, base, w, lw, fill) {
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const xOf = (i) => i / (BUF - 1) * w;
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for (let i = 0; i < BUF; i++) scratchY[i] = yOf(buf[(head + i) % BUF]);
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const linePath = (a, b) => {
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c2d.beginPath();
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c2d.moveTo(xOf(a), scratchY[a]);
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for (let i = a + 1; i <= b; i++) c2d.lineTo(xOf(i), scratchY[i]);
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};
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c2d.lineJoin = "round"; c2d.strokeStyle = color;
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let start = 0;
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while (start < BUF - 1) {
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const solid = okAt(start) && okAt(start + 1);
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let end = start + 1;
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while (end + 1 < BUF && (okAt(end) && okAt(end + 1)) === solid) end++;
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if (solid && fill) {
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linePath(start, end);
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c2d.lineTo(xOf(end), base); c2d.lineTo(xOf(start), base); c2d.closePath();
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c2d.fillStyle = color + "16";
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c2d.fill();
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}
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linePath(start, end);
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c2d.setLineDash(solid ? [] : [5, 4]);
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if (solid) {
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c2d.globalAlpha = 0.16; c2d.lineWidth = lw * 3.2; c2d.stroke();
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c2d.globalAlpha = 1;
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}
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c2d.lineWidth = lw; c2d.stroke();
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start = end;
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}
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}
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function trace(c2d, buf, color, range, w, h, lw, fill) {
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const mid = h / 2, gain = (h / 2 - 4) / range;
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drawTrace(c2d, buf, color, (v) => mid - Math.max(-range, Math.min(range, v)) * gain, mid, w, lw, fill);
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}
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function traceUni(c2d, buf, color, min, max, w, h, lw, fill) {
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const span = max - min;
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drawTrace(c2d, buf, color, (v) => h - 4 - Math.max(0, Math.min(1, (v - min) / span)) * (h - 8), h, w, lw, fill);
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}
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const big = $("#scopeCanvas");
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const bigCtx = big.getContext("2d");
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function drawBig() {
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const s = fit(big, bigCtx);
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if (!s) return;
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const w = s.w, h = s.h;
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bigCtx.clearRect(0, 0, w, h);
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grid(bigCtx, w, h);
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trace(bigCtx, hist.u, C.u, 5000, w, h, 1.6, false);
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trace(bigCtx, hist.v, C.v, 5000, w, h, 1.6, false);
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trace(bigCtx, hist.w, C.w, 5000, w, h, 1.6, false);
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}
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const MINIS = {
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angle: { el: $("#miniAngle"), buf: hist.angle, auto: true, unit: "°", color: () => C.u },
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velocity: { el: $("#miniVelocity"), buf: hist.velocity, auto: true, unit: "deg/s", color: () => C.v },
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current: { el: $("#miniCurrent"), buf: hist.current, auto: true, unit: "mA", color: () => C.w },
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mcuTemp: { el: $("#miniMcuTemp"), buf: hist.mcuTemp, uni: { min: 20, max: 100 }, ticks: [100, 60, 20], unit: "°C", color: () => C.v },
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motTemp: { el: $("#miniMotTemp"), buf: hist.motTemp, uni: { min: 20, max: 100 }, ticks: [100, 60, 20], unit: "°C", color: () => C.w },
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};
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const MINI_LIST = Object.entries(MINIS).map(([sig, m]) => {
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m.ctx = m.el.getContext("2d");
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m.card = document.querySelector(`[data-signal="${sig}"]`);
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return m;
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});
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const MONO = '"Cascadia Code","Fira Code",Consolas,monospace';
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const fmtTick = (v) => (Math.abs(v) >= 1000 ? (v / 1000).toFixed(v % 1000 === 0 ? 0 : 1) + "k" : String(v));
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function autoScale(buf) {
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let lo = Infinity, hi = -Infinity, hasNonZero = false;
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for (let i = 0; i < buf.length; i++) {
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const v = buf[i];
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if (!Number.isFinite(v)) continue;
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if (v < lo) lo = v;
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if (v > hi) hi = v;
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if (v !== 0) hasNonZero = true;
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}
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if (!hasNonZero || !Number.isFinite(lo) || !Number.isFinite(hi)) {
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return { min: -1, max: 1, ticks: [1, 0, -1] };
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}
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if (lo === hi) {
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const c = lo;
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const pad = Math.abs(c) * 0.2 || 1;
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return { min: c - pad, max: c + pad, ticks: [c + pad, c, c - pad] };
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}
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const span = hi - lo;
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const pad = span * 0.1 || 1;
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let min = lo - pad, max = hi + pad;
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const niceStep = niceStepSize(max - min, 3);
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min = Math.floor(min / niceStep) * niceStep;
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max = Math.ceil(max / niceStep) * niceStep;
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const ticks = [max, (max + min) / 2, min];
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return { min, max, ticks };
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}
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function niceStepSize(range, targetTicks) {
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const rawStep = range / targetTicks;
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const mag = Math.pow(10, Math.floor(Math.log10(rawStep)));
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const norm = rawStep / mag;
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let step;
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if (norm < 1.5) step = 1;
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else if (norm < 3) step = 2;
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else if (norm < 7) step = 5;
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else step = 10;
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return step * mag;
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}
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function drawYScale(c2d, m, w, h) {
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const yOf = m.uni
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? (v) => h - 4 - Math.max(0, Math.min(1, (v - m.uni.min) / (m.uni.max - m.uni.min))) * (h - 8)
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: (v) => h / 2 - Math.max(-m.range, Math.min(m.range, v)) * ((h / 2 - 4) / m.range);
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c2d.save();
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c2d.font = "8px " + MONO;
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c2d.textBaseline = "middle";
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for (const t of m.ticks) {
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const y = yOf(t);
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c2d.strokeStyle = "rgba(226,233,242,0.35)";
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c2d.lineWidth = 1;
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c2d.beginPath(); c2d.moveTo(0, y); c2d.lineTo(5, y); c2d.stroke();
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c2d.fillStyle = "rgba(226,233,242,0.5)";
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c2d.fillText(fmtTick(Math.round(t)), 7, y);
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}
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if (m.unit) {
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c2d.textBaseline = "top";
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c2d.fillStyle = "rgba(226,233,242,0.35)";
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c2d.fillText(m.unit, w - c2d.measureText(m.unit).width - 4, 3);
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}
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c2d.restore();
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}
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function drawMini(m) {
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const s = fit(m.el, m.ctx);
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if (!s) return;
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const w = s.w, h = s.h;
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if (m.auto) {
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const sc = autoScale(m.buf);
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m.uni = { min: sc.min, max: sc.max };
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m.ticks = sc.ticks;
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}
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m.ctx.clearRect(0, 0, w, h);
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grid(m.ctx, w, h);
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if (m.uni) traceUni(m.ctx, m.buf, m.color(), m.uni.min, m.uni.max, w, h, 1.8, true);
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else trace(m.ctx, m.buf, m.color(), m.range, w, h, 1.8, true);
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drawYScale(m.ctx, m, w, h);
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}
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document.querySelectorAll(".big-reading, .temp-block").forEach((card) => {
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card.addEventListener("click", () => card.classList.toggle("open"));
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});
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function sample() {
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const n = state.selectedNode;
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const motor = n != null ? state.motors.find((m) => m.node === n && m.ch === state.ch) : null;
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const d = motor ? state.decoded.get(motorKey(motor)) : null;
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const online = d && motor && motor.online;
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valid[head] = online ? 1 : 0;
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if (!online) {
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hist.u[head] = hist.v[head] = hist.w[head] = 0;
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hist.angle[head] = hist.velocity[head] = hist.current[head] = 0;
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hist.mcuTemp[head] = hist.motTemp[head] = 0;
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} else {
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const targets = { u: d.uCurrent, v: d.vCurrent, w: d.wCurrent };
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for (const ch of ["u", "v", "w"]) {
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const prev = hist[ch][(head + BUF - 1) % BUF];
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hist[ch][head] = prev + (clampNum(targets[ch], -5000, 5000) - prev) * 0.5;
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}
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const pA = hist.angle[(head + BUF - 1) % BUF];
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hist.angle[head] = pA + (d.rtAngle - pA) * 0.4;
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const pV = hist.velocity[(head + BUF - 1) % BUF];
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hist.velocity[head] = pV + (d.rtVelocity - pV) * 0.4;
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const pC = hist.current[(head + BUF - 1) % BUF];
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hist.current[head] = pC + (d.rtCurrent - pC) * 0.4;
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const pMcu = hist.mcuTemp[(head + BUF - 1) % BUF];
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hist.mcuTemp[head] = pMcu + (d.mcuTemp - pMcu) * 0.1;
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const pMot = hist.motTemp[(head + BUF - 1) % BUF];
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hist.motTemp[head] = pMot + (d.motTemp - pMot) * 0.1;
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}
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head = (head + 1) % BUF;
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}
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let lastSample = 0;
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let dirty = true;
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function loop(ts) {
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if (ts - lastSample > 33) { sample(); lastSample = ts; dirty = true; }
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if (dirty) {
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dirty = false;
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drawBig();
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for (const m of MINI_LIST) {
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if (m.card && m.card.classList.contains("open")) drawMini(m);
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}
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}
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requestAnimationFrame(loop);
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}
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requestAnimationFrame(loop);
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function reset() {
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for (const key of Object.keys(hist)) hist[key].fill(0);
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valid.fill(0);
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}
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return { reset };
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}
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