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
2026-08-01 04:14:51 +08:00
parent e9cb7342f6
commit 04a118219f
17 changed files with 572 additions and 90 deletions
@@ -329,6 +329,6 @@
  <span id="toastMsg">操作成功</span>
 </div>

-<script type="module" src="js/can.js?v=20260727a"></script>
+<script type="module" src="js/can.js?v=20260801f"></script>
 </body>
 </html>
@@ -44,7 +44,7 @@ import {
  sendManualFrame,
  resetManualFields,
  loadPreviewToManual
-} from './can/send.js';
+} from './can/send.js?v=20260801f';
 import {
  scheduleCanPersist,
  loadCanSession,
@@ -14,7 +14,7 @@
 */
 import { state, el, getBaseUrl, padHex, bytesToHex, parseNumericId } from './dbc.js';
 import { escapeHtml } from '../common/utils.js';
-import { showToast } from '../common/toast.js';
+import { showToast } from '../common/toast.js?v=20260801f';
 import { updateBatchUi } from './messages.js';
 import { ensureMessageDefaults, getSignalValueMap, getSelectedMessage, updateEncodedPreview, encodeMessageData } from './signals.js';
 import { scheduleCanPersist } from './persist.js';
@@ -124,12 +124,23 @@ async function sendCanBatchRequest(channel, frames) {
  var n = frames && frames.length ? frames.length : 0;
  /* 单帧设备侧 timeout 2s；多帧按帧数留余量 */
  var timeoutMs = (n <= 1) ? 8000 : Math.max(15000, n * 500);
-  var resp = await fetch(getBaseUrl() + '/can/send_batch', {
-    method: 'POST',
-    headers: { 'Content-Type': 'application/json' },
-    body: JSON.stringify({ ch: channel, frames: frames }),
-    signal: AbortSignal.timeout(timeoutMs)
-  });
+  /* AbortSignal.timeout 在连接被 reset 的边缘情况下偶发不触发，
+   * 叠加一条手动竞速超时，避免 await 永久挂起导致整批不渲染。 */
+  var ac = new AbortController();
+  var timer = setTimeout(function () { ac.abort(); }, timeoutMs);
+  var resp;
+  try {
+    resp = await fetch(getBaseUrl() + '/can/send_batch', {
+      method: 'POST',
+      headers: { 'Content-Type': 'application/json' },
+      body: JSON.stringify({ ch: channel, frames: frames }),
+      signal: ac.signal
+    });
+  } catch (err) {
+    throw new Error('请求失败: ' + (err && err.message ? err.message : err));
+  } finally {
+    clearTimeout(timer);
+  }
  var text = await resp.text();
  var json = {};
  try {
@@ -231,12 +242,12 @@ export function renderHistory() {

 // ==================== 批量发送 ====================
 /**
- * 单批最多帧数。实测一次发送 >9 帧失败率明显上升，故按 9 帧分批；
- * 批次之间留 BATCH_INTER_CHUNK_DELAY_MS 间隔，给 CAN/SPI 总线喘息时间。
+ * 单批最多帧数。按 64 帧分批（一次请求发 64 帧）；批次之间留
+ * BATCH_INTER_CHUNK_DELAY_MS 间隔，给 CAN/SPI 总线喘息时间。
 */
-var BATCH_CHUNK = 32;
+var BATCH_CHUNK = 64;
 /** 批次间延时（ms），仅在还有后续批次时等待 */
-var BATCH_INTER_CHUNK_DELAY_MS = 200;
+var BATCH_INTER_CHUNK_DELAY_MS = 100;

 /**
 * @description 批量发送所有勾选的报文（仅 /can/send_batch）。
@@ -330,10 +341,13 @@ export async function sendCheckedMessages() {
    renderHistory();
    scheduleCanPersist();
    var tone = fail === 0 ? 'success' : (ok === 0 ? 'error' : 'warning');
-    showToast('批量发送完成：成功 ' + ok + '，失败 ' + fail, tone);
+    showToast('批量发送完成：成功 ' + ok + '，失败 ' + fail, tone, { force: true });
  } finally {
    state.batchInFlight = false;
    updateBatchUi();
+    /* 兜底渲染：无论 try 内是否抛异常，都保证已写入的 silent 历史条目可见，
+     * 避免「批量发了但结果不显示」的偶发现象（renderHistory 幂等，多调一次无害）。 */
+    renderHistory();
  }
 }

@@ -12,14 +12,20 @@ const TOAST_AUTOHIDE_MS = 3000;
 var _toastHideTimer = null;
 var _toastLastKey = '';
 var _toastLastAt = 0;
-export function showToast(message, type) {
+/**
+ * @param {string} message
+ * @param {string} [type] success/error/warning
+ * @param {{ force?: boolean }} [opts] force=true 时跳过 5s 去重，
+ *   用于用户主动操作（如批量发送完成）的反馈，避免 alert 阻塞后时间漂移导致被去重吞掉。
+ */
+export function showToast(message, type, opts) {
  type = type || 'success';
  var toast = document.getElementById('toast');
  if (!toast) return;
  // 相同文案 5s 内不重复弹，避免轮询把 ✓ 刷成「疯狂跳」
  var key = type + '|' + message;
  var now = Date.now();
-  if (key === _toastLastKey && (now - _toastLastAt) < TOAST_DEDUPE_MS) {
+  if (!(opts && opts.force) && key === _toastLastKey && (now - _toastLastAt) < TOAST_DEDUPE_MS) {
    return;
  }
  _toastLastKey = key;
@@ -2172,8 +2172,14 @@ function startOtaPoll() {
 	      /* 状态变化写日志，避免 UI 只停在「开始握手」一行 */
 	      if (st.state && st.state !== lastState) {
 	        const zh = OTA_STATE_ZH[st.state] || st.state;
+	        /* 握手阶段(pre_cancel / handshake_req / handshake_nonce / handshake_confirm / erase)
+	         * 不显示 x/y 进度——
+	         * 握手未成时 packets_acked 是 ESP32 预填充字节数，不是电机真实 ACK，
+	         * 显示 "0/912" 无意义且让用户误以为在传输。transfer 起才显示进度。 */
+	        const showPkt = (st.state === "transfer" || st.state === "wait_app_run" ||
+	                        st.state === "finish_ota" || st.state === "finished");
 	        otaLog(`<span class="log-info">[状态]</span> ${zh}` +
-	          (st.total_packets ? ` · ${st.packets_acked || 0}/${st.total_packets}` : ""));
+	          (showPkt && st.total_packets ? ` · ${st.packets_acked || 0}/${st.total_packets}` : ""));
 	        lastState = st.state;
 	      } else if (st.state === "transfer" && st.total_packets > 0) {
 	        const acked = st.packets_acked || 0;
@@ -2253,13 +2259,23 @@ function startOtaPoll() {
 	  setOtaStage(stage);
 	  const acked = st.packets_acked || 0;
 	  const total = st.total_packets || 1;
-	  /* HTML 模板已是「包 <已确认> / <总数>」，这里各填各的；
-	   * 之前往 otaPktNum 塞整串 "acked/total" 会渲染成「包 696/912 / 912」。 */
-	  $("#otaPktNum").textContent = String(acked);
-	  $("#otaPktTotal").textContent = String(total);
-	  $("#otaProgressFill").style.width = (acked / total * 100).toFixed(1) + "%";
+	  /* 握手阶段(pre_cancel / handshake_req / handshake_nonce / handshake_confirm / erase)
+	   * 不更新进度条和包数——
+	   * 此时 packets_acked 是 ESP32 预填充字节数不是电机真实 ACK，
+	   * 显示 0/912 会让人误以为在传输。transfer 起才显示进度。 */
+	  const inTransfer = (st.state === "transfer" || st.state === "wait_app_run" ||
+	                      st.state === "finish_ota" || st.state === "finished");
+	  if (inTransfer) {
+	    $("#otaPktNum").textContent = String(acked);
+	    $("#otaPktTotal").textContent = String(total);
+	    $("#otaProgressFill").style.width = (acked / total * 100).toFixed(1) + "%";
+	  } else {
+	    /* 握手阶段进度条归零，避免残留上次进度 */
+	    $("#otaPktNum").textContent = "0";
+	    $("#otaProgressFill").style.width = "0%";
+	  }
 	  const elapsed = (performance.now() - startTime) / 1000;
-	  if (elapsed > 0.5 && acked > 0) {
+	  if (elapsed > 0.5 && acked > 0 && inTransfer) {
 	    $("#otaSpeed").textContent = (acked * 48 / elapsed / 1024).toFixed(1) + " KB/s";
 	  }
 	  $("#otaCrc").textContent = OTA_STATE_ZH[st.state] || st.state;
@@ -345,6 +345,6 @@
  </div>
 </div>

-<script type="module" src="js/motor/main.js?v=20260730g"></script>
+<script type="module" src="js/motor/main.js?v=20260801b"></script>
 </body>
 </html>
@@ -0,0 +1,175 @@
+<!DOCTYPE html>
+<!--
+  【临时功能 SPI-SPEEDTEST】SPI 链路测速独立页面
+  ─────────────────────────────────────────────
+  完全自包含（无外部 css/js 依赖），不被任何其他页面引用。
+  删除方法：直接删掉本文件即可（固件端点删除方法见
+  main/monitor/spi_speed_test.cpp 文件头）。
+
+  用法：浏览器直接打开本文件，或经 serve.bat 访问
+        http://localhost:8080/spi_test.html
+-->
+<html lang="zh-CN">
+<head>
+<meta charset="utf-8">
+<meta name="viewport" content="width=device-width, initial-scale=1">
+<title>SPI 测速（临时工具）</title>
+<style>
+  * { box-sizing: border-box; margin: 0; padding: 0; }
+  body {
+    font-family: "Segoe UI", "Microsoft YaHei", sans-serif;
+    background: #14171c; color: #d8dee6;
+    max-width: 760px; margin: 0 auto; padding: 24px 16px;
+  }
+  h1 { font-size: 20px; margin-bottom: 4px; }
+  .sub { color: #7a8494; font-size: 12px; margin-bottom: 20px; }
+  .card {
+    background: #1c2129; border: 1px solid #2a313c; border-radius: 8px;
+    padding: 16px; margin-bottom: 16px;
+  }
+  label { font-size: 13px; color: #9aa5b3; margin-right: 6px; }
+  input {
+    background: #12151a; color: #d8dee6; border: 1px solid #2a313c;
+    border-radius: 4px; padding: 6px 8px; font-size: 14px; width: 130px;
+  }
+  input.narrow { width: 70px; }
+  .row { display: flex; flex-wrap: wrap; gap: 12px; align-items: center; margin-bottom: 12px; }
+  button {
+    background: #2563eb; color: #fff; border: 0; border-radius: 6px;
+    padding: 8px 18px; font-size: 14px; cursor: pointer;
+  }
+  button:hover { background: #1d4ed8; }
+  button:disabled { background: #3a4250; cursor: wait; }
+  button.alt { background: #374151; }
+  button.alt:hover { background: #4b5563; }
+  pre {
+    background: #12151a; border: 1px solid #2a313c; border-radius: 6px;
+    padding: 12px; font-size: 14px; line-height: 1.7; white-space: pre-wrap;
+    min-height: 120px;
+  }
+  pre.fail { border-color: #b91c1c; color: #fca5a5; }
+  table { width: 100%; border-collapse: collapse; font-size: 13px; }
+  th, td { text-align: left; padding: 5px 8px; border-bottom: 1px solid #2a313c; }
+  th { color: #7a8494; font-weight: normal; }
+  td.bad { color: #f87171; }
+  .hint { color: #7a8494; font-size: 12px; line-height: 1.7; margin-top: 8px; }
+</style>
+</head>
+<body>
+  <h1>SPI 链路测速</h1>
+  <div class="sub">临时诊断工具 [SPI-SPEEDTEST] — 探针 0xA1 APP PING，删除时直接删掉本文件</div>
+
+  <div class="card">
+    <div class="row">
+      <label>设备 IP</label><input id="ip" value="192.168.31.127">
+      <label>帧数</label><input id="frames" class="narrow" value="200">
+      <label>载荷 B</label><input id="payload" class="narrow" value="236">
+    </div>
+    <div class="row">
+      <button id="btnRun">开始测速</button>
+      <button id="btnRtt" class="alt">空载 RTT（500 帧）</button>
+      <button id="btnStress" class="alt">压力测试（2000 帧满载）</button>
+    </div>
+    <div class="hint">
+      满帧 236B = 等效电机 OTA 0xD1 数据节奏；载荷 0 = 纯握手往返。<br>
+      判读：失败必须为 0；「最快」是链路物理极限周期；「平均-最快」差值是软件调度开销。
+    </div>
+  </div>
+
+  <div class="card">
+    <pre id="out">等待测试…</pre>
+  </div>
+
+  <div class="card">
+    <table>
+      <thead><tr><th>时间</th><th>帧数</th><th>载荷</th><th>失败</th><th>平均</th><th>最快</th><th>吞吐</th></tr></thead>
+      <tbody id="hist"></tbody>
+    </table>
+    <div class="hint">本页历史仅存内存，刷新即清空——方便改参数前后对比。</div>
+  </div>
+
+<script>
+"use strict";
+(function () {
+  var out = document.getElementById("out");
+  var hist = document.getElementById("hist");
+  var btns = [
+    document.getElementById("btnRun"),
+    document.getElementById("btnRtt"),
+    document.getElementById("btnStress")
+  ];
+  var ipInput = document.getElementById("ip");
+
+  var savedIp = null;
+  try { savedIp = window.localStorage.getItem("spi_test_ip"); } catch (e) {}
+  if (savedIp) { ipInput.value = savedIp; }
+
+  function setBusy(busy) {
+    for (var i = 0; i < btns.length; i++) { btns[i].disabled = busy; }
+  }
+
+  function pad2(n) { return (n < 10 ? "0" : "") + n; }
+
+  function addHistory(frames, payload, text) {
+    /* 从设备中文文本里提取关键数字做历史行 */
+    var fail = (text.match(/失败:\s*(\d+)/) || [])[1] || "?";
+    var avg  = (text.match(/平均\s*([\d.]+)\s*ms/) || [])[1] || "?";
+    var min  = (text.match(/最快\s*([\d.]+)\s*ms/) || [])[1] || "?";
+    var tput = (text.match(/等效吞吐:\s*([\d.]+)\s*KB\/s/) || [])[1] || "-";
+    var d = new Date();
+    var tr = document.createElement("tr");
+    var cells = [
+      pad2(d.getHours()) + ":" + pad2(d.getMinutes()) + ":" + pad2(d.getSeconds()),
+      String(frames), String(payload) + "B", fail,
+      avg + "ms", min + "ms", tput === "-" ? "-" : tput + "KB/s"
+    ];
+    for (var i = 0; i < cells.length; i++) {
+      var td = document.createElement("td");
+      td.textContent = cells[i];
+      if (i === 3 && fail !== "0") { td.className = "bad"; }
+      tr.appendChild(td);
+    }
+    hist.insertBefore(tr, hist.firstChild);
+  }
+
+  function run(frames, payload) {
+    var ip = ipInput.value.trim();
+    try { window.localStorage.setItem("spi_test_ip", ip); } catch (e) {}
+    var url = "http://" + ip + "/spi/speedtest?frames=" + frames + "&payload=" + payload;
+    setBusy(true);
+    out.className = "";
+    out.textContent = "测试中… (" + frames + " 帧 × " + payload + "B)";
+    fetch(url)
+      .then(function (r) {
+        if (!r.ok) { throw new Error("HTTP " + r.status); }
+        return r.text();
+      })
+      .then(function (text) {
+        var failed = /失败:\s*[1-9]/.test(text);
+        out.className = failed ? "fail" : "";
+        out.textContent = text;
+        addHistory(frames, payload, text);
+      })
+      .catch(function (err) {
+        out.className = "fail";
+        out.textContent = "请求失败: " + err.message + "\n请检查设备 IP 与网络连通性。";
+      })
+      .then(function () { setBusy(false); });
+  }
+
+  function clampInt(v, lo, hi, dflt) {
+    var n = parseInt(v, 10);
+    if (isNaN(n)) { return dflt; }
+    return Math.min(hi, Math.max(lo, n));
+  }
+
+  btns[0].onclick = function () {
+    run(clampInt(document.getElementById("frames").value, 1, 2000, 200),
+        clampInt(document.getElementById("payload").value, 0, 236, 236));
+  };
+  btns[1].onclick = function () { run(500, 0); };
+  btns[2].onclick = function () { run(2000, 236); };
+})();
+</script>
+</body>
+</html>