refactor: 入口提到根目录, 代码收进 src/

上一版把入口塞进 launch/、代码摊在根目录, 正好反了: 双击入口该第一眼看到, 实现细节该收起来。现在: 根目录 5 个 .bat/.vbs 入口 + README + requirements src/ ecat_server / ecat_tool / ecat_flash_eeprom / test_motor_backend src/web 前端资源 src/diag 独立诊断脚本启动器改为 cd 进 %~dp0src 再跑(vbs 用 CurrentDirectory = base & "\src"), 工作目录落在 src 才能让 tool→flash_eeprom、test→server 的 import 解析到。 ecat_server.py 的 BASE_DIR 取自 __file__, 与 src/web 仍是同层父子关系, _STATIC_MAP 和窗口模式的子进程 spawn 都无需改动。 .gitignore 补 sii.json / *.sii / eeprom_*.bin —— eeprom read --out 的导出产物, 属运行结果不该入库。验证: 7 个 py 全编译通过; test_motor_backend 8 项全通过; ecat.bat 与 run_scan.bat 实跑列出适配器; 服务起后 4 条静态路由 200 且 MIME 正确; Edge headless 渲染主页与 motor 页, CSS 294 规则、9 节点样式生效, 零加载失败零 JS 异常; bat 的 %~dp0 与 vbs 的 GetParentFolderName 实测均落在项目根, src/ 下五个目标文件全部命中。
2026-09-03 22:27:23 +08:00
parent beb33ffe50
commit 979da72181
19 changed files with 61 additions and 54 deletions
@@ -0,0 +1,120 @@
+#!/usr/bin/env python
+"""EtherCAT master bring-up test for the DCU LAN9252 slave (pysoem >= 1.1 API).
+
+Usage:
+  ecat_scan.py                list all Npcap adapters and exit
+  ecat_scan.py <name-substr>  open the first adapter whose description matches
+                              the substring (e.g. "I226"), scan the bus and
+                              print slave identity + SII EEPROM dump
+  ecat_scan.py <substr> --op  additionally request OP and run PDO cycles for 2s
+"""
+import sys
+import time
+
+try:
+    import pysoem
+except ImportError:
+    print("pysoem 无法加载：请先安装 Npcap（本目录下的 npcap-1.88.exe，"
+          "安装时保持勾选 'Install WinPcap API-compatible Mode'）")
+    sys.exit(1)
+
+
+AL_STATE = {1: "INIT", 2: "PREOP", 4: "SAFEOP", 8: "OP"}
+
+
+def al_state_name(code):
+    return AL_STATE.get(code, f"0x{code:02x}")
+
+
+def list_adapters():
+    for i, a in enumerate(pysoem.find_adapters()):
+        desc = a.desc.decode() if isinstance(a.desc, bytes) else a.desc
+        print(f"[{i}] {desc}\n    {a.name}")
+
+
+def find_adapter(substr):
+    for a in pysoem.find_adapters():
+        desc = a.desc.decode() if isinstance(a.desc, bytes) else a.desc
+        if substr.lower() in desc.lower():
+            return a
+    return None
+
+
+def dump_eeprom(slave, count=0x10):
+    print("  SII EEPROM dump (每行 8 个 word 地址，原始 32bit 返回):")
+    for base in range(0, count, 8):
+        words = []
+        for w in range(base, base + 8):
+            try:
+                v = bytes(slave.eeprom_read(w))
+                words.append(v.hex().upper())
+            except Exception:
+                words.append("ERRRRRRRR")
+        print(f"    0x{base:02X}: {' '.join(words)}")
+
+
+def main():
+    if len(sys.argv) < 2 or sys.argv[1] in ("-l", "--list"):
+        list_adapters()
+        return
+
+    substr = sys.argv[1]
+    want_op = "--op" in sys.argv[2:]
+
+    adapter = find_adapter(substr)
+    if adapter is None:
+        print(f"没有找到描述包含 {substr!r} 的适配器，当前列表：")
+        list_adapters()
+        sys.exit(1)
+
+    desc = adapter.desc.decode() if isinstance(adapter.desc, bytes) else adapter.desc
+    master = pysoem.Master()
+    master.open(adapter.name)
+
+    try:
+        n = master.config_init()
+    except Exception as e:
+        print(f"总线上没有发现从站（{type(e).__name__}: {e}）："
+              "请检查 DCU 板子是否上电、网线是否接到 I226-V 网口")
+        sys.exit(2)
+
+    if not n:
+        print("总线上没有发现从站：请检查 DCU 板子是否上电、网线是否接到 I226-V 网口")
+        sys.exit(2)
+
+    print(f"\n适配器: {desc}")
+    print(f"发现 {n} 个从站:")
+    for i, s in enumerate(master.slaves):
+        print(f"  [{i}] name={s.name!r}")
+        print(f"      VendorID=0x{s.man:08X}  ProductCode=0x{s.id:08X}  Revision={s.rev}")
+        print(f"      AL state={al_state_name(s.state)}  AL status code=0x{s.al_status:04X}"
+              f"  DC={s.dc_sync}")
+
+    dump_eeprom(master.slaves[0])
+
+    if not want_op:
+        return
+
+    master.config_map()
+    if master.state_check(pysoem.SAFEOP_STATE, 2000) != pysoem.SAFEOP_STATE:
+        print(f"进入 SAFEOP 失败, 当前 AL 状态: {al_state_name(master.state)}")
+        sys.exit(3)
+
+    t_end = time.time() + 2.0
+    frames = 0
+    while time.time() < t_end:
+        master.send_processdata()
+        master.receive_processdata(2000)
+        frames += 1
+        time.sleep(0.001)
+
+    master.state = pysoem.OP_STATE
+    master.write_state()
+    if master.state_check(pysoem.OP_STATE, 2000) == pysoem.OP_STATE:
+        print(f"已进入 OP, PDO 循环 {frames} 帧正常")
+    else:
+        print(f"进入 OP 失败, 当前 AL 状态: {al_state_name(master.state)}")
+
+
+if __name__ == "__main__":
+    main()