refactor: 按角色分 web/ diag/ launch/ 三层, 根目录只留主程序

18 个文件平铺根目录太乱, 按角色归拢:
  web/     ecat.html/css + motor.html/js —— 前端资源
  diag/    ecat_scan / ecat_sniff / ecat_esc_regs —— 独立诊断脚本, 互不依赖
  launch/  5 个 .bat/.vbs 双击入口
根目录只留 ecat_server / ecat_tool / ecat_flash_eeprom / test_motor_backend:
这几个互相 import(tool→flash_eeprom, test→server), 挪进子目录就得改 import
或加包, 收益不抵成本。

配套改动:
  _STATIC_MAP 的值加 web/ 前缀 —— URL 路径刻意保持不变(/、/ecat.css、
  /motor.html), 页面内相对引用、书签、外部链接一律不用改。
  launch/ 里 %~dp0 现在指向 launch\, 五个启动器统一改为先取上一层作 ROOT
  (bat 用 %~dp0.., vbs 用两次 GetParentFolderName), run_scan 顺带指向
  diag\ecat_scan.py。

验证: 7 个 py 全编译通过; test_motor_backend 8 项全通过; 服务实起后 6 条
静态路由全 200 且 MIME 正确(js 是 application/javascript)、404 兜底正常;
Edge headless 渲染主页与 motor 页, CSS 294 规则加载、9 个节点样式生效、
零加载失败零 JS 异常; bat/vbs 的 ROOT 解析实测指到项目根, 五个目标文件
全部命中; ecat_tool adapters 与 diag/ecat_scan.py 实跑正常。

diag/ecat_sniff.py

@@ -0,0 +1,92 @@
+#!/usr/bin/env python3
+"""抓 SOEM 自己发的 EtherCAT 帧，对照裸帧格式。
+另开 pcap 句柄抓包，同时在同进程里跑 pysoem eeprom_read，hexdump 收发帧。
+用法：ecat_sniff.py [adapter-substr]"""
+import ctypes
+import struct
+import sys
+import threading
+import time
+
+import pysoem
+
+ECAT = b"\x88\xa4"
+
+
+class PcapPktHdr(ctypes.Structure):
+    _fields_ = [("tv_sec", ctypes.c_long), ("tv_usec", ctypes.c_long),
+                ("caplen", ctypes.c_uint32), ("len", ctypes.c_uint32)]
+
+
+def main():
+    substr = sys.argv[1] if len(sys.argv) > 1 else "I226"
+    adapter = None
+    for a in pysoem.find_adapters():
+        desc = a.desc.decode() if isinstance(a.desc, bytes) else a.desc
+        if substr.lower() in desc.lower():
+            adapter = a
+            break
+    if adapter is None:
+        raise SystemExit("适配器未找到")
+    name = adapter.name.decode() if isinstance(adapter.name, bytes) else adapter.name
+
+    wpcap = ctypes.WinDLL("wpcap.dll")
+    wpcap.pcap_open_live.restype = ctypes.c_void_p
+    wpcap.pcap_open_live.argtypes = [ctypes.c_char_p] + [ctypes.c_int] * 3 + [ctypes.c_char_p]
+    wpcap.pcap_next_ex.restype = ctypes.c_int
+    wpcap.pcap_next_ex.argtypes = [ctypes.c_void_p,
+                                   ctypes.POINTER(ctypes.POINTER(PcapPktHdr)),
+                                   ctypes.POINTER(ctypes.POINTER(ctypes.c_ubyte))]
+    wpcap.pcap_close.restype = None
+    wpcap.pcap_close.argtypes = [ctypes.c_void_p]
+    errbuf = ctypes.create_string_buffer(256)
+    handle = wpcap.pcap_open_live(name.encode(), 65535, 1, 50, errbuf)
+    if not handle:
+        raise SystemExit(f"pcap_open_live 失败: {errbuf.value.decode(errors='replace')}")
+
+    def soem_work():
+        try:
+            master = pysoem.Master()
+            master.open(adapter.name)
+            master.config_init()
+            slave = master.slaves[0]
+            slave.eeprom_read(0)
+            master.close()
+        except Exception as e:
+            print(f"soem_work: {type(e).__name__}: {e}")
+
+    t = threading.Thread(target=soem_work, daemon=True)
+    t.start()
+
+    frames = []
+    deadline = time.time() + 4.0
+    ph = ctypes.POINTER(PcapPktHdr)()
+    pd = ctypes.POINTER(ctypes.c_ubyte)()
+    while time.time() < deadline and len(frames) < 8:
+        r = wpcap.pcap_next_ex(handle, ctypes.byref(ph), ctypes.byref(pd))
+        if r != 1:
+            continue
+        data = bytes(bytearray(pd[:ph.contents.caplen]))
+        if len(data) >= 14 and data[12:14] == ECAT:
+            frames.append(data)
+    wpcap.pcap_close(handle)
+
+    print(f"抓到 {len(frames)} 个 EtherCAT 帧")
+    for i, f in enumerate(frames):
+        src = ":".join(f"{b:02X}" for b in f[6:12])
+        print(f"\n[{i}] len={len(f)} src={src}")
+        for off in range(14, min(len(f), 14 + 48), 16):
+            chunk = f[off:off + 16]
+            print(f"  +{off - 14:02d}: " + " ".join(f"{b:02X}" for b in chunk))
+        # 解析前两个 datagram 头字段，确定头部布局
+        elen = struct.unpack_from("<H", f, 14)[0] & 0x7FF
+        print(f"  ecat_hdr.len={elen} type={struct.unpack_from('<H', f, 14)[0] >> 12}")
+        d = f[16:]
+        if len(d) >= 12:
+            cmd, idx, adp, ado, ln = struct.unpack_from("<BBHHH", d, 0)
+            print(f"  dgram: cmd=0x{cmd:02X} idx={idx} adp=0x{adp:04X} "
+                  f"ado=0x{ado:04X} len_field={ln} (len={ln & 0x7FF})")
+
+
+if __name__ == "__main__":
+    main()