feat(esp32): 添加多电机OTA中继功能并优化调试日志系统
- 新增多电机状态、版本和OTA中继监控模块（monitor/motor_state.cpp, monitor/motor_version.cpp, monitor/motor_ota_relay.cpp） - 在CAN反馈任务中添加0xC5/0xC6/0xD2类型消息处理，支持多电机状态推送 - 重构调试日志系统，将一次性JSON分配改为512B栈缓冲流式发送，降低内存峰值 - 调试UART波特率从115200提升至30000 - 修改版本管理方式，从自动生version.h改为手动维护 - 更新VSCode设置以支持ESP-IDF开发环境配置 - 在OTA协调器中添加电机OTA互斥机制，防止并发冲突 - 完善中继状态机异常处理，添加远程取消通知机制
This commit is contained in:
小龙虾
@@ -0,0 +1,458 @@
|
||||
/*
|
||||
* motor_ota_relay.cpp - 电机 OTA relay ESP32 侧实现
|
||||
*/
|
||||
#include "monitor/motor_ota_relay.h"
|
||||
#include "monitor/debug_log.h"
|
||||
#include "transport/spi_master.h"
|
||||
#include "storage/gd32_flash_store.h"
|
||||
#include "esp_log.h"
|
||||
#include "esp_timer.h"
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "freertos/semphr.h"
|
||||
#include <string.h>
|
||||
|
||||
static const char *TAG = "MOTOR_OTA";
|
||||
|
||||
/* SPI 类型常量（与 GD32 app_spi_command_defs.h 对齐） */
|
||||
static constexpr uint8_t kSpiMotorOtaCmd = 0xD0U;
|
||||
static constexpr uint8_t kSpiMotorOtaData = 0xD1U;
|
||||
static constexpr uint8_t kSpiMotorOtaStatus = 0xD2U;
|
||||
static constexpr uint8_t kRspAck = 0x80U;
|
||||
static constexpr uint8_t kRspWait = 0x81U;
|
||||
|
||||
/* 内部状态 */
|
||||
static SemaphoreHandle_t s_mutex = nullptr;
|
||||
static motor_ota_status_t s_status = {};
|
||||
/* 固件不再整体缓冲在堆里：HTTP handler 流式写入 gd32_ota flash 分区，
|
||||
* feedTask 经 flashReadChunk 分块读取（见 feedTask）。 */
|
||||
static uint32_t s_fw_size = 0;
|
||||
static uint32_t s_fw_offset = 0; /* 已喂给 GD32 的偏移 */
|
||||
static TaskHandle_t s_feed_task = nullptr;
|
||||
static volatile bool s_feed_running = false;
|
||||
|
||||
static int64_t nowMs() {
|
||||
return esp_timer_get_time() / 1000;
|
||||
}
|
||||
|
||||
/* ═══════════════════ 喂数据 task ═══════════════════ */
|
||||
|
||||
static void feedTask(void *arg)
|
||||
{
|
||||
(void)arg;
|
||||
uint8_t resp_payload[16];
|
||||
uint8_t resp_type = 0;
|
||||
size_t resp_len = 0;
|
||||
/* 栈上 chunk：[offset:u32 LE][data…]，避免整固件堆缓冲 */
|
||||
uint8_t chunk_buf[MOTOR_OTA_CHUNK_SIZE];
|
||||
|
||||
/* 整体超时保护：feedTask 最长存活 120s，超时自动退出。
|
||||
* 防止 GD32 侧不回 ACK 或持续回 WAIT 时，task 永久卡在循环里，
|
||||
* 导致 motorOtaIsActive() 一直为 true、阻塞其他 OTA。 */
|
||||
const int64_t deadline_ms = nowMs() + 120000LL;
|
||||
|
||||
/* 启动宽限期：GD32 需要时间完成 kPreCancel(800ms 残帧窗口) + 握手(~1s)。
|
||||
* 在这个窗口内不检查终态，避免上一次 OTA 残留的 ERROR 状态推送
|
||||
* (0xD2 ring) 抢先覆写 s_status 导致 feedTask 误判退出。
|
||||
* 原 3s 过保守：GD32 进握手后不再发 ERROR push，1500ms 足够覆盖
|
||||
* kPreCancel + 开始握手（kBootSettleMs 已降到 800ms）。 */
|
||||
const int64_t grace_end_ms = nowMs() + 1500LL;
|
||||
|
||||
/* 重新启用 suppressRingService：ring service 抢占 SPI 带宽导致吐量从 ~5 chunks/s 降到 ~1.5 chunks/s。
|
||||
* 进度显示由 feedTask 自己基于 s_fw_offset 更新(近似值)，不依赖 GD32 push。 */
|
||||
SpiMaster::instance().setSuppressRingService(true);
|
||||
|
||||
/* suppress 期间 s_status 不被 0xD2 push 更新（worker 不读 ring），
|
||||
* feedTask 无法靠 motorOtaGetStatus() 检测 GD32 是否已进 ERROR/FINISHED 终态。
|
||||
* 连续 SPI 失败计数：超过阈值时主动 QUERY GD32 真实状态，避免盲重试空转到 120s。 */
|
||||
uint32_t consec_fail = 0U;
|
||||
constexpr uint32_t kQueryAfterFails = 8U; /* 连续 8 次失败(~2s)后 QUERY 一次 */
|
||||
uint32_t ack_n = 0U; /* 成功 ACK 计数，用于降频写 s_status */
|
||||
|
||||
while (s_feed_running && s_fw_offset < s_fw_size) {
|
||||
if (nowMs() >= deadline_ms) {
|
||||
ESP_LOGE(TAG, "feedTask 整体超时 (120s)，强制退出 offset=%u/%u",
|
||||
(unsigned)s_fw_offset, (unsigned)s_fw_size);
|
||||
break;
|
||||
}
|
||||
|
||||
/* GD32 已进终态：停止喂，避免盲重试空转到 120s 超时。
|
||||
* 启动宽限期(3s)内跳过终态检查：避免上一次 OTA 残留的 ERROR 状态推送
|
||||
* (0xD2 ring 延迟到达) 覆写 s_status 导致 feedTask 误判退出发 CANCEL。
|
||||
* GD32 需 kPreCancel(500ms 沉淀)+握手(~1s) 才能进入传输态。 */
|
||||
const motor_ota_status_t st = motorOtaGetStatus();
|
||||
if (nowMs() >= grace_end_ms) {
|
||||
if (st.state == MOTOR_OTA_IDLE || st.state == MOTOR_OTA_FINISHED ||
|
||||
st.state == MOTOR_OTA_ERROR) {
|
||||
ESP_LOGW(TAG, "GD32 终态 0x%02X，停止喂数据 offset=%u/%u",
|
||||
(int)st.state, (unsigned)s_fw_offset, (unsigned)s_fw_size);
|
||||
break;
|
||||
}
|
||||
}
|
||||
/* 注：旧版有 "GD32 回到握手阶段→重置 offset" 的逻辑，
|
||||
* 但 v1.4.38+ 已移除握手重试(0x05 直接中止不重握手)，
|
||||
* 且 v1.4.58 feedData 在握手期间就接受数据(预填充缓冲)。
|
||||
* 若在此重置 offset，会导致缓冲中数据重复。已移除。 */
|
||||
|
||||
const uint32_t remaining = s_fw_size - s_fw_offset;
|
||||
const uint32_t data_len = (remaining < MOTOR_OTA_CHUNK_DATA)
|
||||
? remaining : MOTOR_OTA_CHUNK_DATA;
|
||||
const uint32_t frame_len = MOTOR_OTA_CHUNK_HDR + data_len;
|
||||
|
||||
/* [0..3]=绝对 offset LE，[4..]=固件数据。重传同 offset 时 GD32 幂等。 */
|
||||
chunk_buf[0] = static_cast<uint8_t>(s_fw_offset & 0xFFU);
|
||||
chunk_buf[1] = static_cast<uint8_t>((s_fw_offset >> 8) & 0xFFU);
|
||||
chunk_buf[2] = static_cast<uint8_t>((s_fw_offset >> 16) & 0xFFU);
|
||||
chunk_buf[3] = static_cast<uint8_t>((s_fw_offset >> 24) & 0xFFU);
|
||||
esp_err_t rd = Gd32FlashStore::instance().flashReadChunk(
|
||||
s_fw_offset, chunk_buf + MOTOR_OTA_CHUNK_HDR, data_len);
|
||||
if (rd != ESP_OK) {
|
||||
ESP_LOGE(TAG, "flash read fail @%u: %s", (unsigned)s_fw_offset, esp_err_to_name(rd));
|
||||
break;
|
||||
}
|
||||
|
||||
esp_err_t ret = SpiMaster::instance().transact(
|
||||
kSpiMotorOtaData,
|
||||
chunk_buf, frame_len,
|
||||
&resp_type, resp_payload, sizeof(resp_payload), &resp_len,
|
||||
200U); /* 200ms: v1.4.59成功时的确切值。poll有~95ms 做多次盲读 */
|
||||
|
||||
if (ret != ESP_OK) {
|
||||
ESP_LOGW(TAG, "SPI data fail: %s offset=%u", esp_err_to_name(ret), (unsigned)s_fw_offset);
|
||||
vTaskDelay(pdMS_TO_TICKS(10)); /* 快速重试（原 100ms 太慢导致吐量低） */
|
||||
/* suppress 期间 s_status 不更新，连续失败时主动 QUERY GD32 真实状态，
|
||||
* 避免 GD32 已进 ERROR 终态但 feedTask 不知道、盲重试空转到 120s 超时。 */
|
||||
if (++consec_fail >= kQueryAfterFails) {
|
||||
consec_fail = 0U;
|
||||
uint8_t qcmd[1] = {2U}; /* cmd=QUERY */
|
||||
uint8_t qt = 0, qp[16] = {0};
|
||||
size_t ql = 0;
|
||||
if (SpiMaster::instance().transact(
|
||||
kSpiMotorOtaCmd, qcmd, 1, &qt, qp, sizeof(qp), &ql, 300U) == ESP_OK
|
||||
&& qt == kRspAck && ql >= 1U) {
|
||||
motor_ota_state_t qst = static_cast<motor_ota_state_t>(qp[0]);
|
||||
if (qst == MOTOR_OTA_IDLE || qst == MOTOR_OTA_FINISHED ||
|
||||
qst == MOTOR_OTA_ERROR) {
|
||||
ESP_LOGW(TAG, "QUERY 检测到 GD32 终态 0x%02X err=0x%02X，停止喂数据 offset=%u/%u",
|
||||
(int)qst, (unsigned)qp[1],
|
||||
(unsigned)s_fw_offset, (unsigned)s_fw_size);
|
||||
if (s_mutex && xSemaphoreTake(s_mutex, pdMS_TO_TICKS(50)) == pdTRUE) {
|
||||
s_status.state = qst;
|
||||
s_status.error_code = qp[1];
|
||||
if (ql >= 6U) {
|
||||
s_status.packets_acked = static_cast<uint16_t>(qp[2])
|
||||
| (static_cast<uint16_t>(qp[3]) << 8);
|
||||
s_status.total_packets = static_cast<uint16_t>(qp[4])
|
||||
| (static_cast<uint16_t>(qp[5]) << 8);
|
||||
}
|
||||
s_status.last_update_ms = nowMs();
|
||||
xSemaphoreGive(s_mutex);
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
continue; /* 不推进 offset，同 offset 重发 */
|
||||
}
|
||||
consec_fail = 0U;
|
||||
|
||||
if (resp_type == kRspAck) {
|
||||
s_fw_offset += data_len;
|
||||
/* 进度：每 8 chunk 写 s_status；state 在 suppress 下不会收 0xD2，
|
||||
* 喂数一开始就标 TRANSFER，避免网页卡在「开始握手」。 */
|
||||
const bool touch_status = ((++ack_n & 7U) == 0U) || (s_fw_offset >= s_fw_size);
|
||||
if (touch_status || ack_n == 1U) {
|
||||
const uint16_t fed_pkts = static_cast<uint16_t>((s_fw_offset + 47U) / 48U);
|
||||
if (s_mutex && xSemaphoreTake(s_mutex, pdMS_TO_TICKS(2)) == pdTRUE) {
|
||||
if (s_status.state < MOTOR_OTA_TRANSFER ||
|
||||
s_status.state == MOTOR_OTA_PRE_CANCEL ||
|
||||
s_status.state == MOTOR_OTA_HANDSHAKE_REQ ||
|
||||
s_status.state == MOTOR_OTA_HANDSHAKE_NONCE ||
|
||||
s_status.state == MOTOR_OTA_HANDSHAKE_CONFIRM ||
|
||||
s_status.state == MOTOR_OTA_ERASE) {
|
||||
s_status.state = MOTOR_OTA_TRANSFER;
|
||||
}
|
||||
s_status.packets_acked = fed_pkts;
|
||||
s_status.last_update_ms = nowMs();
|
||||
xSemaphoreGive(s_mutex);
|
||||
}
|
||||
}
|
||||
} else if (resp_type == kRspWait) {
|
||||
/* 缓冲满：不推进 offset，稍候用新 TX_SEQ 再发同一 offset。
|
||||
* WAIT 路径 SPI 层已推进 seq（见 otaPollResponseUnlocked），
|
||||
* 避免同 seq 重发被 GD32 当重复请求死锁。 */
|
||||
vTaskDelay(pdMS_TO_TICKS(2));
|
||||
} else {
|
||||
/* 非 ACK/WAIT（含 ERROR/陈旧 type）：不 break 整次 OTA。
|
||||
* 曾因 poll 读到 EVENT/错 type 直接 break → fed 卡首 chunk。 */
|
||||
ESP_LOGW(TAG, "SPI data unexpected type=0x%02X offset=%u，重试",
|
||||
resp_type, (unsigned)s_fw_offset);
|
||||
vTaskDelay(pdMS_TO_TICKS(5));
|
||||
}
|
||||
}
|
||||
|
||||
/* 恢复 ring service，让后续 GD32 push(FINISHED/ERROR) 正常到达 */
|
||||
SpiMaster::instance().setSuppressRingService(false);
|
||||
|
||||
/* feedTask 字节喂完 ≠ GD32/电机已完成。suppress 期间 0xD2 被丢；
|
||||
* 末包 CAN ACK / 跳转 APP 还要数百 ms。只 QUERY 一次会把前端卡在 kTransfer。
|
||||
* 退出后轮询 QUERY，直到 GD32 进 FINISHED/ERROR/IDLE，或最多 ~8s。 */
|
||||
{
|
||||
constexpr uint32_t kExitPollMs = 8000U;
|
||||
constexpr uint32_t kExitGapMs = 150U;
|
||||
const uint32_t exit_deadline = nowMs() + kExitPollMs;
|
||||
bool got_terminal = false;
|
||||
while (nowMs() < exit_deadline) {
|
||||
/* 优先吃 ring 推送（已恢复 suppress） */
|
||||
{
|
||||
const motor_ota_status_t st = motorOtaGetStatus();
|
||||
if (st.state == MOTOR_OTA_FINISHED || st.state == MOTOR_OTA_ERROR ||
|
||||
st.state == MOTOR_OTA_IDLE) {
|
||||
ESP_LOGI(TAG, "feedTask 退出，ring 终态: state=%u err=%u pkt=%u/%u",
|
||||
(unsigned)st.state, (unsigned)st.error_code,
|
||||
(unsigned)st.packets_acked, (unsigned)st.total_packets);
|
||||
got_terminal = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
uint8_t qcmd[1] = {2U}; /* cmd=QUERY */
|
||||
uint8_t qresp_type = 0;
|
||||
uint8_t qresp[16] = {0};
|
||||
size_t qresp_len = 0;
|
||||
esp_err_t qr = SpiMaster::instance().transact(
|
||||
kSpiMotorOtaCmd, qcmd, 1,
|
||||
&qresp_type, qresp, sizeof(qresp), &qresp_len, 300U);
|
||||
if (qr == ESP_OK && qresp_type == kRspAck && qresp_len >= 10U) {
|
||||
const motor_ota_state_t qst = static_cast<motor_ota_state_t>(qresp[0]);
|
||||
if (s_mutex && xSemaphoreTake(s_mutex, pdMS_TO_TICKS(100)) == pdTRUE) {
|
||||
s_status.state = qst;
|
||||
s_status.error_code = qresp[1];
|
||||
s_status.packets_acked = static_cast<uint16_t>(qresp[2])
|
||||
| (static_cast<uint16_t>(qresp[3]) << 8);
|
||||
s_status.total_packets = static_cast<uint16_t>(qresp[4])
|
||||
| (static_cast<uint16_t>(qresp[5]) << 8);
|
||||
s_status.fw_size = static_cast<uint32_t>(qresp[6])
|
||||
| (static_cast<uint32_t>(qresp[7]) << 8)
|
||||
| (static_cast<uint32_t>(qresp[8]) << 16)
|
||||
| (static_cast<uint32_t>(qresp[9]) << 24);
|
||||
s_status.last_update_ms = nowMs();
|
||||
xSemaphoreGive(s_mutex);
|
||||
}
|
||||
if (qst == MOTOR_OTA_FINISHED || qst == MOTOR_OTA_ERROR ||
|
||||
qst == MOTOR_OTA_IDLE) {
|
||||
ESP_LOGI(TAG, "feedTask 退出，QUERY 终态: state=%u err=%u pkt=%u/%u",
|
||||
(unsigned)qst, (unsigned)qresp[1],
|
||||
(unsigned)(static_cast<uint16_t>(qresp[2])
|
||||
| (static_cast<uint16_t>(qresp[3]) << 8)),
|
||||
(unsigned)(static_cast<uint16_t>(qresp[4])
|
||||
| (static_cast<uint16_t>(qresp[5]) << 8)));
|
||||
got_terminal = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
vTaskDelay(pdMS_TO_TICKS(kExitGapMs));
|
||||
}
|
||||
if (!got_terminal) {
|
||||
ESP_LOGW(TAG, "feedTask 退出轮询超时，前端可能仍显示传输中 offset=%u/%u",
|
||||
(unsigned)s_fw_offset, (unsigned)s_fw_size);
|
||||
}
|
||||
}
|
||||
|
||||
s_feed_running = false;
|
||||
s_feed_task = nullptr;
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
/* ═══════════════════ 公开接口 ═══════════════════ */
|
||||
|
||||
void motorOtaRelayInit(void)
|
||||
{
|
||||
if (!s_mutex) {
|
||||
s_mutex = xSemaphoreCreateMutex();
|
||||
}
|
||||
}
|
||||
|
||||
void onMotorOtaStatusPush(const uint8_t *payload, size_t len)
|
||||
{
|
||||
if (len < 12U || !s_mutex) return;
|
||||
if (xSemaphoreTake(s_mutex, pdMS_TO_TICKS(10)) != pdTRUE) return;
|
||||
|
||||
s_status.state = static_cast<motor_ota_state_t>(payload[0]);
|
||||
s_status.error_code = payload[1];
|
||||
s_status.packets_acked = static_cast<uint16_t>(payload[2]) | (static_cast<uint16_t>(payload[3]) << 8);
|
||||
s_status.total_packets = static_cast<uint16_t>(payload[4]) | (static_cast<uint16_t>(payload[5]) << 8);
|
||||
s_status.fw_size = static_cast<uint32_t>(payload[6])
|
||||
| (static_cast<uint32_t>(payload[7]) << 8)
|
||||
| (static_cast<uint32_t>(payload[8]) << 16)
|
||||
| (static_cast<uint32_t>(payload[9]) << 24);
|
||||
s_status.buf_used = static_cast<uint16_t>(payload[10]) | (static_cast<uint16_t>(payload[11]) << 8);
|
||||
s_status.last_update_ms = nowMs();
|
||||
|
||||
xSemaphoreGive(s_mutex);
|
||||
}
|
||||
|
||||
int motorOtaStart(uint32_t fw_size, uint8_t channel)
|
||||
{
|
||||
if (fw_size == 0 || fw_size > MOTOR_OTA_MAX_FW_SIZE || channel > 2) {
|
||||
return -1;
|
||||
}
|
||||
if (s_feed_running) {
|
||||
return -2;
|
||||
}
|
||||
|
||||
/* 固件已由 HTTP handler 流式写入 gd32_ota 分区；此处不再堆缓冲 */
|
||||
s_fw_size = fw_size;
|
||||
s_fw_offset = 0;
|
||||
|
||||
/* 发 SPI start 命令（best-effort，不阻塞等 ACK）。
|
||||
* SPI "延迟一拍"协议下，START 的 ACK 偶发被 send 阶段当作 stale 吃掉、
|
||||
* poll 反读空 → transact 报 TIMEOUT，但 GD32 实际已收到 START 进握手
|
||||
* （GD32 日志 "SPI 0xD0 START recv" + "START v150" 每次稳定出现）。
|
||||
* 重发 START 会被 GD32 拒（已在进行中→0xE5），QUERY 的 ACK 同样受
|
||||
* delayed-by-one 影响不可靠。改为 fire-and-forget：命令发出即继续，
|
||||
* 由 feedTask 靠 GD32 push 的状态 + 超时保护自决去留。 */
|
||||
uint8_t cmd[6];
|
||||
cmd[0] = 0U; /* cmd=START */
|
||||
cmd[1] = channel;
|
||||
cmd[2] = static_cast<uint8_t>(fw_size & 0xFF);
|
||||
cmd[3] = static_cast<uint8_t>((fw_size >> 8) & 0xFF);
|
||||
cmd[4] = static_cast<uint8_t>((fw_size >> 16) & 0xFF);
|
||||
cmd[5] = static_cast<uint8_t>((fw_size >> 24) & 0xFF);
|
||||
|
||||
uint8_t resp_type = 0;
|
||||
uint8_t resp_payload[16];
|
||||
size_t resp_len = 0;
|
||||
esp_err_t ret = SpiMaster::instance().transact(
|
||||
kSpiMotorOtaCmd, cmd, 6,
|
||||
&resp_type, resp_payload, sizeof(resp_payload), &resp_len,
|
||||
300U); /* 300ms: fire-and-forget，让 worker 有足够时间完成 START。
|
||||
* 原 500ms 偏保守；GD32 收到 START 立即进 kPreCancel，<50ms 响应。 */
|
||||
if (ret != ESP_OK || resp_type != kRspAck) {
|
||||
DEBUG_WARN(TAG, "START SPI 未确认 ACK (ret=%s resp=0x%02X)——fire-and-forget 继续",
|
||||
esp_err_to_name(ret), resp_type);
|
||||
}
|
||||
|
||||
/* 初始化状态 */
|
||||
if (s_mutex && xSemaphoreTake(s_mutex, pdMS_TO_TICKS(100)) == pdTRUE) {
|
||||
memset(&s_status, 0, sizeof(s_status));
|
||||
s_status.state = MOTOR_OTA_HANDSHAKE_REQ;
|
||||
s_status.fw_size = fw_size;
|
||||
s_status.total_packets = static_cast<uint16_t>((fw_size + 47U) / 48U);
|
||||
s_status.last_update_ms = nowMs();
|
||||
xSemaphoreGive(s_mutex);
|
||||
}
|
||||
|
||||
/* 启动喂数据 task。prio=7 > spi_worker(6) > httpd(5)：
|
||||
* 传输期优先抢 SPI 队列；实际总线访问仍经 worker 串行。 */
|
||||
s_feed_running = true;
|
||||
BaseType_t ok = xTaskCreate(feedTask, "ota_feed", 4096, nullptr, 7, &s_feed_task);
|
||||
if (ok != pdPASS) {
|
||||
s_feed_running = false;
|
||||
return -3;
|
||||
}
|
||||
|
||||
ESP_LOGI(TAG, "Motor OTA started: %lu B, ch=%u", (unsigned long)fw_size, channel);
|
||||
return 0;
|
||||
}
|
||||
|
||||
void motorOtaCancel(void)
|
||||
{
|
||||
DEBUG_WARN(TAG, "cancel: feed_running=%d task=%p offset=%u/%u",
|
||||
(int)s_feed_running, s_feed_task,
|
||||
(unsigned)s_fw_offset, (unsigned)s_fw_size);
|
||||
|
||||
/* 立即标记 false，让 feedTask 在下次循环检查时退出。
|
||||
* motorOtaIsActive() 依赖此标志，设 false 后后续 OTA 不再被阻塞。 */
|
||||
s_feed_running = false;
|
||||
|
||||
/* 标记状态为 IDLE，让前端 /motor/ota/status 立即看到空闲 */
|
||||
if (s_mutex && xSemaphoreTake(s_mutex, pdMS_TO_TICKS(100)) == pdTRUE) {
|
||||
s_status.state = MOTOR_OTA_IDLE;
|
||||
s_status.last_update_ms = nowMs();
|
||||
xSemaphoreGive(s_mutex);
|
||||
}
|
||||
|
||||
/* 通知 GD32 取消 relay 状态机 + 等 feedTask 退出是耗时操作
|
||||
*（SPI transact 最多 1s + feedTask 退出最多 2s），不能在 httpd 线程
|
||||
* 同步阻塞，否则 cancel HTTP 请求本身会超时（"Failed to fetch"），
|
||||
* 且 httpd 单线程会饿死其他端点。
|
||||
* 用独立 task 异步执行，HTTP handler 立即返回。 */
|
||||
static TaskHandle_t cancel_task = nullptr;
|
||||
if (cancel_task != nullptr) {
|
||||
/* 上一次 cancel 还在跑，不重复创建 */
|
||||
DEBUG_WARN(TAG, "cancel: previous cancel task still running, skip");
|
||||
return;
|
||||
}
|
||||
|
||||
auto do_cancel = [](void *) {
|
||||
/* 通知 GD32 取消 relay 状态机 */
|
||||
uint8_t cmd[1] = {1U}; /* cmd=CANCEL */
|
||||
uint8_t resp_type = 0;
|
||||
uint8_t resp_payload[4];
|
||||
size_t resp_len = 0;
|
||||
esp_err_t ret = SpiMaster::instance().transact(
|
||||
kSpiMotorOtaCmd, cmd, 1,
|
||||
&resp_type, resp_payload, sizeof(resp_payload), &resp_len,
|
||||
1000U);
|
||||
DEBUG_WARN(TAG, "cancel: GD32 resp ret=%s type=0x%02X", esp_err_to_name(ret), resp_type);
|
||||
|
||||
/* 等待 feedTask 真正退出（最多 2s），避免 s_feed_running 已清但 task
|
||||
* 仍卡在 SpiMaster::transact 阻塞中，导致 motorOtaIsActive() 瞬时仍 true。 */
|
||||
TaskHandle_t t = s_feed_task;
|
||||
if (t) {
|
||||
for (int i = 0; i < 200 && s_feed_task != nullptr; i++) {
|
||||
vTaskDelay(pdMS_TO_TICKS(10));
|
||||
}
|
||||
if (s_feed_task != nullptr) {
|
||||
DEBUG_ERR(TAG, "cancel: feedTask 未在 2s 内退出，强制删除");
|
||||
vTaskDelete(s_feed_task);
|
||||
s_feed_task = nullptr;
|
||||
}
|
||||
}
|
||||
s_feed_running = false; /* 双保险 */
|
||||
cancel_task = nullptr;
|
||||
vTaskDelete(NULL);
|
||||
};
|
||||
|
||||
BaseType_t ok = xTaskCreate(do_cancel, "ota_cancel", 3072, nullptr, 4, &cancel_task);
|
||||
if (ok != pdPASS) {
|
||||
DEBUG_ERR(TAG, "cancel: failed to create cancel task, doing sync cancel");
|
||||
cancel_task = nullptr;
|
||||
/* 降级：同步执行（极端 OOM 情况） */
|
||||
uint8_t cmd[1] = {1U};
|
||||
uint8_t resp_type = 0;
|
||||
uint8_t resp_payload[4];
|
||||
size_t resp_len = 0;
|
||||
(void)SpiMaster::instance().transact(
|
||||
kSpiMotorOtaCmd, cmd, 1,
|
||||
&resp_type, resp_payload, sizeof(resp_payload), &resp_len,
|
||||
1000U);
|
||||
TaskHandle_t t = s_feed_task;
|
||||
if (t) {
|
||||
for (int i = 0; i < 200 && s_feed_task != nullptr; i++) {
|
||||
vTaskDelay(pdMS_TO_TICKS(10));
|
||||
}
|
||||
if (s_feed_task != nullptr) {
|
||||
vTaskDelete(s_feed_task);
|
||||
s_feed_task = nullptr;
|
||||
}
|
||||
}
|
||||
s_feed_running = false;
|
||||
}
|
||||
DEBUG_WARN(TAG, "cancel: dispatched feed_running=%d", (int)s_feed_running);
|
||||
}
|
||||
|
||||
bool motorOtaIsActive(void)
|
||||
{
|
||||
return s_feed_running;
|
||||
}
|
||||
|
||||
motor_ota_status_t motorOtaGetStatus(void)
|
||||
{
|
||||
motor_ota_status_t out = {};
|
||||
if (s_mutex && xSemaphoreTake(s_mutex, pdMS_TO_TICKS(100)) == pdTRUE) {
|
||||
out = s_status;
|
||||
xSemaphoreGive(s_mutex);
|
||||
}
|
||||
return out;
|
||||
}
|
||||
Reference in New Issue
Block a user