feat(motor-ota): 改进电机OTA中继的握手确认和重试机制
- 添加握手确认逻辑，避免在握手阶段就标记TRANSFER状态 - 实现GD32 auto-retry检测机制，当连续WAIT超限时查询真实状态 - 修复预填充缓冲区数据重复问题，移除旧的offset重置逻辑 - 优化SPI响应等待机制，允许在WAIT后重发DATA以恢复丢失的ACK - 添加连续SPI失败和WAIT计数监控，超过阈值时主动查询GD32状态 perf(can): 提升CAN批量发送性能和可靠性 - 将CAN帧间延迟从5ms减少到1ms以提升传输速度 - 将单批最大帧数从32增加到64，并将批次间隔从200ms减少到100ms - 添加手动超时控制器防止fetch请求永久挂起 - 实现批量发送完成后的兜底渲染机制确保结果正确显示 refactor(spi): 优化SPI通信的事件驱动机制 - 实现基于信号量的事件驱动等待机制，替换原有的轮询方式 - 将SPI时钟频率从4MHz提升至8MHz以提高传输速度 - 优化OTA发送后的静默期处理，不同类型的命令采用不同的延迟策略 - 添加临时SPI测速端点用于性能测试 chore(version): 更新固件版本至0.3.74 - 版本号从0.3.72提升到0.3.74 - 更新前端资源版本号以确保缓存刷新
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/**
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* @file spi_speed_test.cpp
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* @brief 【临时功能 SPI-SPEEDTEST】SPI 链路测速端点 GET /spi/speedtest
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*
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* 用 0xA1 APP PING（无副作用、GD32 在 onCsRelease ISR 内 µs 级应答）作探针，
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* 经 SpiMaster::transact() 走与业务完全相同的 worker 串行路径，
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* 测量事件驱动握手（ready 下降沿唤醒）下的真实 RTT 与等效吞吐。
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*
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* 用法:
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* GET /spi/speedtest # 默认 200 帧 × 236B payload
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* GET /spi/speedtest?frames=500&payload=0 # 500 帧空载（纯 RTT）
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* 返回中文纯文本: 帧数/成功/失败、总耗时、往返延迟 平均/最快/最慢、等效吞吐
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*
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* ── 删除本临时功能的步骤（共 3 处挂接点，全部以 [SPI-SPEEDTEST] 标记）──
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* 1. 删除本文件与 monitor/spi_speed_test.h
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* 2. main/CMakeLists.txt 删除 "monitor/spi_speed_test.cpp" 一行
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* 3. server/wifi_ota.cpp 删除 include 与 kHttpRoutes 中各一行
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* （spi_master.cpp 中 0xA1 零盲等白名单为正式优化，保留不删）
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*/
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#include "spi_speed_test.h"
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#include <string.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include "esp_timer.h"
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#include "spi_master.h"
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#include "http_handlers.h" /* http_set_cors_headers */
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#include "monitor/debug_log.h"
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namespace {
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constexpr uint8_t kProbeType = 0xA1U; /* APP PING：无副作用探针 */
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constexpr uint32_t kFramesDefault = 200U;
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constexpr uint32_t kFramesMax = 2000U; /* ~3s 上限，避免占死 HTTP/worker */
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constexpr size_t kPayloadDefault = 236U; /* 满帧：等效 0xD1 电机 OTA 数据节奏 */
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constexpr size_t kPayloadMax = 236U; /* APP kTxBufSize=256 - V2_OVERHEAD */
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constexpr uint32_t kFrameTimeoutMs = 500U;
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/** @brief 从 query 里取无符号整型参数，缺失/非法时返回默认值。 */
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uint32_t queryU32(httpd_req_t *req, const char *key, uint32_t defval)
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{
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char qbuf[64];
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char vbuf[16];
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if (httpd_req_get_url_query_str(req, qbuf, sizeof(qbuf)) != ESP_OK) {
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return defval;
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}
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if (httpd_query_key_value(qbuf, key, vbuf, sizeof(vbuf)) != ESP_OK) {
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return defval;
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}
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char *end = nullptr;
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const unsigned long v = strtoul(vbuf, &end, 10);
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return (end && *end == '\0') ? (uint32_t)v : defval;
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}
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} // namespace
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esp_err_t spi_speedtest_handler(httpd_req_t *req)
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{
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uint32_t frames = queryU32(req, "frames", kFramesDefault);
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if (frames < 1U) { frames = 1U; }
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if (frames > kFramesMax) { frames = kFramesMax; }
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size_t payload_len = (size_t)queryU32(req, "payload", (uint32_t)kPayloadDefault);
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if (payload_len > kPayloadMax) { payload_len = kPayloadMax; }
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/* 探针 payload：递增填充（CRC32 覆盖，顺带校验数据路径完整性） */
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uint8_t probe[kPayloadMax];
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for (size_t i = 0; i < payload_len; ++i) {
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probe[i] = (uint8_t)i;
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}
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uint32_t n_ok = 0U;
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uint32_t n_fail = 0U;
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uint64_t rtt_sum_us = 0U;
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uint64_t rtt_min_us = UINT64_MAX;
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uint64_t rtt_max_us = 0U;
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/* RTT 分布直方图：<2 / 2-3 / 3-4 / 4-5 / >=5 ms，用于判断抖动形态
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* （双峰=离散 +1ms 碰撞；均匀=tick 相位量化） */
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uint32_t histo[5] = {0U, 0U, 0U, 0U, 0U};
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DEBUG_INFO("SPI", "[SPEEDTEST] start frames=%u payload=%u",
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(unsigned)frames, (unsigned)payload_len);
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const int64_t t_start = esp_timer_get_time();
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for (uint32_t i = 0U; i < frames; ++i) {
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uint8_t resp_type = 0U;
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uint8_t resp_payload[64];
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size_t resp_len = 0U;
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const int64_t t0 = esp_timer_get_time();
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const esp_err_t ret = SpiMaster::instance().transact(
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kProbeType, probe, payload_len,
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&resp_type, resp_payload, sizeof(resp_payload), &resp_len,
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kFrameTimeoutMs);
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const int64_t t1 = esp_timer_get_time();
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if (ret == ESP_OK && resp_type == 0x80U) {
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const uint64_t rtt = (uint64_t)(t1 - t0);
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++n_ok;
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rtt_sum_us += rtt;
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if (rtt < rtt_min_us) { rtt_min_us = rtt; }
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if (rtt > rtt_max_us) { rtt_max_us = rtt; }
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const uint32_t ms_bucket = (uint32_t)(rtt / 1000U);
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if (ms_bucket < 2U) { ++histo[0]; }
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else if (ms_bucket < 3U) { ++histo[1]; }
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else if (ms_bucket < 4U) { ++histo[2]; }
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else if (ms_bucket < 5U) { ++histo[3]; }
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else { ++histo[4]; }
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} else {
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++n_fail;
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}
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}
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const int64_t elapsed_us = esp_timer_get_time() - t_start;
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const uint32_t elapsed_ms = (uint32_t)(elapsed_us / 1000);
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const uint64_t rtt_avg_us = (n_ok > 0U) ? (rtt_sum_us / n_ok) : 0U;
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/* 吞吐语义：payload 字节 / 完整"发送+应答"周期，等效 0xD1 单缓冲喂速上限 */
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double tput_kbps = 0.0;
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if (elapsed_us > 0 && n_ok > 0U) {
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tput_kbps = ((double)n_ok * (double)payload_len) / ((double)elapsed_us / 1000000.0) / 1024.0;
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}
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if (rtt_min_us == UINT64_MAX) { rtt_min_us = 0U; }
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DEBUG_INFO("SPI", "[SPEEDTEST] done ok=%u fail=%u avg=%uus tput=%.1fKB/s",
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(unsigned)n_ok, (unsigned)n_fail, (unsigned)rtt_avg_us, tput_kbps);
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char text[480];
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const int len = snprintf(text, sizeof(text),
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"SPI 测速结果\n"
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"帧数: %u 成功: %u 失败: %u%s\n"
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"载荷: %u B/帧 总耗时: %u ms\n"
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"往返延迟: 平均 %.1f ms 最快 %.1f ms 最慢 %.1f ms\n"
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"延迟分布: <2ms:%u 2-3ms:%u 3-4ms:%u 4-5ms:%u >=5ms:%u\n"
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"等效吞吐: %.1f KB/s\n",
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(unsigned)frames, (unsigned)n_ok, (unsigned)n_fail,
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(n_fail > 0U) ? " <-- 存在失败帧, 链路异常!" : "",
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(unsigned)payload_len, (unsigned)elapsed_ms,
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(double)rtt_avg_us / 1000.0, (double)rtt_min_us / 1000.0,
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(double)rtt_max_us / 1000.0,
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(unsigned)histo[0], (unsigned)histo[1], (unsigned)histo[2],
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(unsigned)histo[3], (unsigned)histo[4], tput_kbps);
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http_set_cors_headers(req);
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httpd_resp_set_type(req, "text/plain; charset=utf-8");
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return httpd_resp_send(req, text, (len > 0) ? len : 0);
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}
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