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
+216
-73
@@ -19,21 +19,55 @@ import {
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appendHeapLowRecords, loadHeapLowHistory, clearHeapLowHistory, HEAP_HISTORY_MAX
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} from './heap-low-history.js';
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// ==================== 渲染缓存（性能） ====================
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// /system/status 每 1s（中继期 400ms）刷一次 UI。此前每轮全量 innerHTML 重建
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// CPU/任务栈列表 + 无条件写几十个节点，引发周期性样式重算/重排/重绘掉帧。
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// 这里统一三条策略：静态元素只查一次、文本/宽度/类名写前比较、列表增量更新。
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var elCache = {}; // id -> element（页面静态节点，仅首次 getElementById）
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function getEl(id) {
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var el = elCache[id];
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if (el === undefined || el === null) {
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el = document.getElementById(id);
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if (el) elCache[id] = el; // 未找到不缓存，等节点出现后再查
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}
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return el || null;
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}
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/** 写前比较的 textContent 更新：值未变则不触碰 DOM，避免无谓样式失效。 */
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function setTextById(id, value) {
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var el = getEl(id);
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if (!el) return;
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var v = String(value);
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if (el.textContent !== v) el.textContent = v;
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}
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function setClassIfChanged(el, cls) {
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if (el && el.className !== cls) el.className = cls;
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}
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function setTextIfChanged(el, txt) {
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if (el && el.textContent !== txt) el.textContent = txt;
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}
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/** 写前比较的宽度更新：用元素上的 _lastW 缓存避免读回 style 字符串。 */
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function setWidthIfChanged(el, widthStr) {
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if (el && el._lastW !== widthStr) {
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el._lastW = widthStr;
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el.style.width = widthStr;
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}
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}
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// ==================== 连接管理 ====================
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export function updateConnectionUi(connected, text) {
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var label = text || (connected ? '已连接' : '未连接');
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// 仅顶栏连接胶囊（下方连接卡不再重复显示文案）
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var pc = document.getElementById('pillConn');
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var pct = document.getElementById('pillConnTxt');
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var pc = getEl('pillConn');
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var pct = getEl('pillConnTxt');
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if (pc) {
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pc.className = connected ? 'pill online' : 'pill offline';
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if (pct) pct.textContent = label;
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setClassIfChanged(pc, connected ? 'pill online' : 'pill offline');
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if (pct) setTextIfChanged(pct, label);
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}
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// 系统状态卡徽章
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var bc = document.getElementById('bConn');
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var bc = getEl('bConn');
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if (bc) {
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bc.textContent = connected ? '在线' : '离线';
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bc.className = 'v ' + (connected ? 'ok' : 'err');
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setTextIfChanged(bc, connected ? '在线' : '离线');
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setClassIfChanged(bc, 'v ' + (connected ? 'ok' : 'err'));
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}
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}
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export function updateHealthUi(healthCode, freeHeap) {
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@@ -41,13 +75,12 @@ export function updateHealthUi(healthCode, freeHeap) {
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var health = healthCode !== undefined ? (healthNames[healthCode] || '未知') : '未知';
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/* 连接文案由 updateConnectionUi / 顶栏 pill 负责，不在此拼「设备在线 · 系统正常」 */
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if (freeHeap !== undefined) {
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var mHeapEl = document.getElementById('mHeap');
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if (mHeapEl) mHeapEl.textContent = formatBytes(freeHeap);
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setTextById('mHeap', formatBytes(freeHeap));
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}
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var mh = document.getElementById('mHealth');
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var mh = getEl('mHealth');
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if (mh) {
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mh.textContent = health;
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mh.className = 'v ' + (healthCode === 0 ? 'ok' : healthCode === 1 ? 'warn' : 'err');
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setTextIfChanged(mh, health);
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setClassIfChanged(mh, 'v ' + (healthCode === 0 ? 'ok' : healthCode === 1 ? 'warn' : 'err'));
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}
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ensureHealthBootToggleBound();
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}
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@@ -86,11 +119,22 @@ function ensureHealthBootToggleBound() {
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}
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/** 启动自检内容（/system/status.boot）；挂在健康状态展开区，非常驻。 */
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/** 启动自检渲染签名：boot 数据启动后不变，签名相同就跳过整段 DOM 重建。 */
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var bootUiSig = null;
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function updateBootInitUi(data) {
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var boot = data && data.boot ? data.boot : null;
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var resultEl = document.getElementById('mBootResult');
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var failedEl = document.getElementById('mBootFailed');
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var listEl = document.getElementById('bootModuleList');
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/* 签名 = 影响渲染的全部字段；每秒轮询里 boot 几乎永远不变，直接短路 */
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var sig = boot
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? [boot.mask, boot.critical_ok, boot.all_ok, boot.summary, boot.failed,
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Array.isArray(boot.modules) ? boot.modules.length : 0].join('|')
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: 'none';
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if (sig === bootUiSig) return;
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bootUiSig = sig;
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var resultEl = getEl('mBootResult');
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var failedEl = getEl('mBootFailed');
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var listEl = getEl('bootModuleList');
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if (!boot) {
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if (resultEl) {
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resultEl.textContent = '--';
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@@ -146,23 +190,128 @@ function updateBootInitUi(data) {
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ensureHealthBootToggleBound();
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}
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/* ==================== 状态任务列表：增量渲染 ====================
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* innerHTML 全量重建会重解析 HTML、重建每条 .status-task-bar（其 ::after 微光
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* 动画随之重启、合成层反复创建销毁），是主页每秒掉帧的主要来源之一。
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* 这里按 key（任务名）缓存行节点：集合不变时只改数字/宽度，排序变了仅移动节点。
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* 行结构统一：head(名称/占比) + bar + 3 项 meta。
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* items: [{ key, rowCls, pctText, width, fillCls, metaLabels[3], metas[3] }]
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*/
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function buildStatusTaskRowHtml(it) {
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return '' +
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'<div class="' + it.rowCls + '">' +
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'<div class="status-task-head">' +
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'<div class="status-task-name">' + escapeHtml(it.key) + '</div>' +
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'<div class="status-task-ratio">' + escapeHtml(it.pctText) + '</div>' +
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'</div>' +
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'<div class="status-task-bar"><div class="' + it.fillCls + '" style="width:' + it.width + '"></div></div>' +
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'<div class="status-task-meta">' +
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'<div><span>' + it.metaLabels[0] + '</span><b>' + escapeHtml(it.metas[0]) + '</b></div>' +
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'<div><span>' + it.metaLabels[1] + '</span><b>' + escapeHtml(it.metas[1]) + '</b></div>' +
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'<div><span>' + it.metaLabels[2] + '</span><b>' + escapeHtml(it.metas[2]) + '</b></div>' +
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'</div>' +
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'</div>';
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}
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function updateStatusTaskRow(row, it) {
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var refs = row._refs;
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if (!refs) {
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refs = row._refs = {
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ratio: row.querySelector('.status-task-ratio'),
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fill: row.querySelector('.status-task-bar > div'),
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metas: row.querySelectorAll('.status-task-meta b')
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};
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}
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setTextIfChanged(refs.ratio, it.pctText);
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setClassIfChanged(refs.fill, it.fillCls);
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setWidthIfChanged(refs.fill, it.width);
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setTextIfChanged(refs.metas[0], it.metas[0]);
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setTextIfChanged(refs.metas[1], it.metas[1]);
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setTextIfChanged(refs.metas[2], it.metas[2]);
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}
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/** 空态提示：内容未变不重写，并清掉行缓存让下次有数据时重建。 */
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function setListEmpty(listEl, html) {
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var cache = listEl._rowCache;
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if (cache) { cache.rows = {}; cache.keys = null; }
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if (listEl._emptyHtml !== html) {
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listEl._emptyHtml = html;
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listEl.innerHTML = html;
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}
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}
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function renderStatusTaskList(listEl, items) {
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listEl._emptyHtml = null;
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var cache = listEl._rowCache || (listEl._rowCache = { keys: null, rows: {} });
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var keys = [];
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var seen = {};
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var hasDup = false;
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for (var i = 0; i < items.length; i++) {
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var k = items[i].key;
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if (seen[k]) hasDup = true;
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seen[k] = true;
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keys.push(k);
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}
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var keyStr = keys.join('\u0001');
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var sameSet = !hasDup && keys.length === Object.keys(cache.rows).length &&
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keys.every(function (k2) { return !!cache.rows[k2]; });
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if (!sameSet) {
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/* 集合变化（或同名任务无法索引）：一次性重建并缓存行引用 */
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listEl.innerHTML = items.map(buildStatusTaskRowHtml).join('');
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cache.rows = {};
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cache.keys = null;
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if (!hasDup) {
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for (var c = 0; c < listEl.children.length; c++) cache.rows[keys[c]] = listEl.children[c];
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cache.keys = keyStr;
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}
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return;
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}
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if (keyStr !== cache.keys) {
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/* 集合相同仅排序变化：按新顺序移动既有节点，不重建、不解析 HTML */
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for (var m = 0; m < keys.length; m++) listEl.appendChild(cache.rows[keys[m]]);
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cache.keys = keyStr;
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}
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for (var u = 0; u < items.length; u++) updateStatusTaskRow(cache.rows[keys[u]], items[u]);
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}
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/* 原始 JSON 折叠面板：收起时跳过 JSON.stringify + 大段文本重排；
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* 展开瞬间用 window.latestSystemStatus 补渲染，行为与之前一致。 */
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var statusJsonBound = false;
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function renderStatusJsonIfVisible(data) {
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var statusJson = getEl('statusJson');
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if (!statusJson) return;
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var fold = getEl('statusJsonFold');
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if (!statusJsonBound && fold) {
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statusJsonBound = true;
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var head = fold.querySelector('.status-subfold-head');
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var renderLatest = function () {
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/* 内联 onclick/onkeydown 已先切换 collapsed，这里只补展开后的内容 */
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if (!fold.classList.contains('collapsed') && window.latestSystemStatus) {
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statusJson.textContent = JSON.stringify(window.latestSystemStatus, null, 2);
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}
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};
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if (head) {
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head.addEventListener('click', renderLatest);
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head.addEventListener('keydown', function (e) {
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if (e.key === 'Enter' || e.key === ' ') renderLatest();
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});
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}
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}
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if (fold && fold.classList.contains('collapsed')) return;
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statusJson.textContent = JSON.stringify(data, null, 2);
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}
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export function updateHeapAndTaskStatusUi(data) {
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if (!data) return;
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var formatPercent = window.formatPercent;
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var ota = data.ota || {};
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var setText = function (id, value) {
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var el = document.getElementById(id);
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if (el) el.textContent = value;
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};
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var setText = function (id, value) { setTextById(id, value); };
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updateBootInitUi(data);
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// ---- 堆概况：已用 / 总计 + 占用条 ----
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function setFill(id, pct) {
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var el = document.getElementById(id);
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var el = getEl(id);
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if (!el) return;
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el.style.width = Math.max(0, Math.min(100, pct)) + '%';
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el.className = 'heap-bar-fill' + (pct >= 85 ? ' danger' : pct >= 70 ? ' warn' : '');
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setWidthIfChanged(el, Math.max(0, Math.min(100, pct)) + '%');
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setClassIfChanged(el, 'heap-bar-fill' + (pct >= 85 ? ' danger' : pct >= 70 ? ' warn' : ''));
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}
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function setBar(usageId, fillId, pctId, free, total) {
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if (free === undefined || total === undefined) {
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@@ -176,15 +325,15 @@ export function updateHeapAndTaskStatusUi(data) {
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setText(pctId, pct.toFixed(1) + '%');
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}
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function setCpuFill(pct) {
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var el = document.getElementById('cpuUsageFill');
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var el = getEl('cpuUsageFill');
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if (!el) return;
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var safePct = Math.max(0, Math.min(100, Number(pct) || 0));
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el.style.width = safePct + '%';
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el.className = 'heap-bar-fill cpu-fill' + (safePct >= 85 ? ' danger' : safePct >= 70 ? ' warn' : '');
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setWidthIfChanged(el, safePct + '%');
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setClassIfChanged(el, 'heap-bar-fill cpu-fill' + (safePct >= 85 ? ' danger' : safePct >= 70 ? ' warn' : ''));
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}
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function updateCpuUsageUi(cpuData) {
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cpuData = cpuData || {};
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var taskList = document.getElementById('cpuTaskList');
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var taskList = getEl('cpuTaskList');
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if (!cpuData.available) {
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setText('cpuUsageText', '未启用 FreeRTOS 统计');
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setText('cpuUsagePct', '--');
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@@ -192,7 +341,7 @@ export function updateHeapAndTaskStatusUi(data) {
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setText('cpuSampleMs', '--');
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setText('cpuTaskCount', '--');
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setCpuFill(0);
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if (taskList) taskList.innerHTML = '<div class="status-empty">固件未启用 CPU runtime stats</div>';
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if (taskList) setListEmpty(taskList, '<div class="status-empty">固件未启用 CPU runtime stats</div>');
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return;
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}
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if (!cpuData.valid) {
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@@ -202,15 +351,19 @@ export function updateHeapAndTaskStatusUi(data) {
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setText('cpuSampleMs', '--');
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setText('cpuTaskCount', '--');
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setCpuFill(0);
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if (taskList) taskList.innerHTML = '<div class="status-empty">首次刷新只建立基线，下一次刷新后显示 CPU 占用</div>';
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if (taskList) setListEmpty(taskList, '<div class="status-empty">首次刷新只建立基线，下一次刷新后显示 CPU 占用</div>');
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return;
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}
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var usagePct = Number(cpuData.usage_pct) || 0;
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var idlePct = Number(cpuData.idle_pct) || 0;
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var sampleMs = Number(cpuData.sample_ms) || 0;
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var tasks = Array.isArray(cpuData.tasks) ? cpuData.tasks.slice() : [];
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/* 按占用率降序；占比相同再按任务号，保证排序稳定。
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* renderStatusTaskList 在集合不变时只 appendChild 调序，不重建 DOM。 */
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tasks.sort(function (a, b) {
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return (Number(b.usage_pct) || 0) - (Number(a.usage_pct) || 0);
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var d = (Number(b.usage_pct) || 0) - (Number(a.usage_pct) || 0);
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if (d !== 0) return d;
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return (Number(a.task_number) || 0) - (Number(b.task_number) || 0);
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});
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setText('cpuUsageText', 'CPU 已用 ' + formatPercent(usagePct));
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@@ -221,28 +374,24 @@ export function updateHeapAndTaskStatusUi(data) {
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setCpuFill(usagePct);
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if (taskList) {
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/* 按占用降序渲染全部任务；列表容器 CSS 默认露出约 3 条，其余滚动 */
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/* 按占用降序渲染全部任务；列表容器 CSS 默认露出约 3 条，其余滚动。
|
||||
* 增量更新：集合不变时只改数字/宽度，避免每秒 innerHTML 全量重建 */
|
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if (!tasks.length) {
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taskList.innerHTML = '<div class="status-empty">当前采样没有任务增量</div>';
|
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setListEmpty(taskList, '<div class="status-empty">当前采样没有任务增量</div>');
|
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} else {
|
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taskList.innerHTML = tasks.map(function (task) {
|
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renderStatusTaskList(taskList, tasks.map(function (task) {
|
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var pct = Number(task.usage_pct) || 0;
|
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var delta = Number(task.runtime_delta) || 0;
|
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var fillClass = pct >= 85 ? 'err' : pct >= 70 ? 'warn' : '';
|
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return '' +
|
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'<div class="status-task cpu-task">' +
|
||||
'<div class="status-task-head">' +
|
||||
'<div class="status-task-name">' + escapeHtml(task.name || 'task') + '</div>' +
|
||||
'<div class="status-task-ratio">' + escapeHtml(formatPercent(pct)) + '</div>' +
|
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'</div>' +
|
||||
'<div class="status-task-bar"><div class="status-task-bar-fill ' + fillClass + '" style="width:' + Math.max(0, Math.min(100, pct)) + '%"></div></div>' +
|
||||
'<div class="status-task-meta">' +
|
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'<div><span>任务号</span><b>' + escapeHtml(task.task_number) + '</b></div>' +
|
||||
'<div><span>增量</span><b>' + escapeHtml(delta) + '</b></div>' +
|
||||
'<div><span>占比</span><b>' + escapeHtml(formatPercent(pct)) + '</b></div>' +
|
||||
'</div>' +
|
||||
'</div>';
|
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}).join('');
|
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return {
|
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key: String(task.name || 'task'),
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rowCls: 'status-task cpu-task',
|
||||
pctText: formatPercent(pct),
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width: Math.max(0, Math.min(100, pct)) + '%',
|
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fillCls: 'status-task-bar-fill' + (pct >= 85 ? ' err' : pct >= 70 ? ' warn' : ''),
|
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metaLabels: ['任务号', '增量', '占比'],
|
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metas: [String(task.task_number), String(delta), formatPercent(pct)]
|
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};
|
||||
}));
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -321,8 +470,8 @@ export function updateHeapAndTaskStatusUi(data) {
|
||||
setText('mRtcFree', '--');
|
||||
setText('mAllocBlocks', '--');
|
||||
['memSegIram', 'memSegData', 'memSegBss', 'memSegUsed', 'memSegFree'].forEach(function (id) {
|
||||
var el = document.getElementById(id);
|
||||
if (el) el.style.width = '0%';
|
||||
var el = getEl(id);
|
||||
if (el) setWidthIfChanged(el, '0%');
|
||||
});
|
||||
return;
|
||||
}
|
||||
@@ -365,10 +514,10 @@ export function updateHeapAndTaskStatusUi(data) {
|
||||
? formatBytes(Number(mem.task_stack_total)) : '--');
|
||||
|
||||
function setSeg(id, bytes) {
|
||||
var el = document.getElementById(id);
|
||||
var el = getEl(id);
|
||||
if (!el) return;
|
||||
var pct = sramTotal > 0 ? (bytes * 100 / sramTotal) : 0;
|
||||
el.style.width = Math.max(0, Math.min(100, pct)) + '%';
|
||||
setWidthIfChanged(el, Math.max(0, Math.min(100, pct)) + '%');
|
||||
}
|
||||
setSeg('memSegIram', iram);
|
||||
setSeg('memSegData', dataSz);
|
||||
@@ -410,12 +559,12 @@ export function updateHeapAndTaskStatusUi(data) {
|
||||
if (Number.isFinite(ota.relay_state)) window.lastRelayState = ota.relay_state;
|
||||
setText('sStatusUpdated', formatTime(new Date()));
|
||||
|
||||
var taskList = document.getElementById('taskStackList');
|
||||
var taskList = getEl('taskStackList');
|
||||
if (taskList) {
|
||||
var taskStack = data.task_stack || {};
|
||||
var names = Object.keys(taskStack);
|
||||
if (!names.length) {
|
||||
taskList.innerHTML = '<div class="status-empty">当前状态未包含任务栈信息</div>';
|
||||
setListEmpty(taskList, '<div class="status-empty">当前状态未包含任务栈信息</div>');
|
||||
} else {
|
||||
/* 峰值占用比例降序；容器默认露出最高 3 条，其余滚动 */
|
||||
names.sort(function (a, b) {
|
||||
@@ -427,34 +576,28 @@ export function updateHeapAndTaskStatusUi(data) {
|
||||
var pb = sb > 0 ? ((Number(ib.peak_used_bytes) || 0) * 100 / sb) : 0;
|
||||
return pb - pa;
|
||||
});
|
||||
taskList.innerHTML = names.map(function (name) {
|
||||
/* 增量更新：任务集合稳定时仅改变化的数值，不重建 DOM */
|
||||
renderStatusTaskList(taskList, names.map(function (name) {
|
||||
var item = taskStack[name] || {};
|
||||
var stackSize = Number(item.stack_size_bytes) || 0;
|
||||
var watermark = Number(item.high_watermark_bytes) || 0;
|
||||
var peakUsed = Number(item.peak_used_bytes) || 0;
|
||||
var usagePct = stackSize > 0 ? (peakUsed * 100 / stackSize) : 0;
|
||||
var fillClass = usagePct >= 85 ? 'err' : usagePct >= 70 ? 'warn' : '';
|
||||
return '' +
|
||||
'<div class="status-task">' +
|
||||
'<div class="status-task-head">' +
|
||||
'<div class="status-task-name">' + escapeHtml(name) + '</div>' +
|
||||
'<div class="status-task-ratio">' + escapeHtml(formatPercent(usagePct)) + '</div>' +
|
||||
'</div>' +
|
||||
'<div class="status-task-bar"><div class="status-task-bar-fill ' + fillClass + '" style="width:' + Math.max(0, Math.min(100, usagePct)) + '%"></div></div>' +
|
||||
'<div class="status-task-meta">' +
|
||||
'<div><span>栈大小</span><b>' + escapeHtml(formatBytes(stackSize)) + '</b></div>' +
|
||||
'<div><span>剩余水位</span><b>' + escapeHtml(formatBytes(watermark)) + '</b></div>' +
|
||||
'<div><span>峰值占用</span><b>' + escapeHtml(formatBytes(peakUsed)) + '</b></div>' +
|
||||
'</div>' +
|
||||
'</div>';
|
||||
}).join('');
|
||||
return {
|
||||
key: name,
|
||||
rowCls: 'status-task',
|
||||
pctText: formatPercent(usagePct),
|
||||
width: Math.max(0, Math.min(100, usagePct)) + '%',
|
||||
fillCls: 'status-task-bar-fill' + (usagePct >= 85 ? ' err' : usagePct >= 70 ? ' warn' : ''),
|
||||
metaLabels: ['栈大小', '剩余水位', '峰值占用'],
|
||||
metas: [formatBytes(stackSize), formatBytes(watermark), formatBytes(peakUsed)]
|
||||
};
|
||||
}));
|
||||
}
|
||||
}
|
||||
|
||||
var statusJson = document.getElementById('statusJson');
|
||||
if (statusJson) {
|
||||
statusJson.textContent = JSON.stringify(data, null, 2);
|
||||
}
|
||||
/* 原始 JSON：折叠时跳过序列化与大段文本写入（展开瞬间自动补渲染） */
|
||||
renderStatusJsonIfVisible(data);
|
||||
}
|
||||
/** 从设备 IP 推导网关 IP（取前三段 + .1） */
|
||||
function getGatewayIp() {
|
||||
|
||||
Reference in New Issue
Block a user