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
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小龙虾
@@ -397,7 +397,14 @@ export function setupDropZone(zoneId, chip) {
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zone.addEventListener('drop', function (e) {
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e.preventDefault(); e.currentTarget.classList.remove('dragover');
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var file = e.dataTransfer.files[0];
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if (file) processFile(file, chip);
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if (!file) return;
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/* 拖拽拿不到 FSAPI 句柄：必须清掉旧句柄，否则热重载会把上一个文件读回来
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覆盖本次拖入的文件（表现为"刷错固件"），并同步删除 IDB 持久化句柄 */
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if (chip === 'esp32') window.esp32FileHandle = null;
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else window.gd32FileHandle = null;
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window._pendingFwHandles[chip] = null;
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persistFileHandle(chip, null);
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processFile(file, chip);
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});
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}
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@@ -171,12 +171,15 @@ export function cleanupAfterOtaFailure(reason) {
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setActivePhase(null);
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window.currentOtaTarget = null;
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// 4. 恢复上传按钮（两枚都解禁并恢复原文案，避免 chip 判错或一侧残留"上传中"）
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['uploadEsp32Btn', 'uploadGd32Btn'].forEach(function (btnId) {
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// 4. 恢复上传按钮（两枚都解禁并恢复各自原文案，避免 chip 判错或一侧残留"上传中"）
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// ★ 按钮文案是固定的，绝不能用共享的 uploadBtnOrigText 回写两枚，否则最后
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// 刷 GD32 后 ESP32 按钮会被错写成 "GD32 OTA"（反之亦然）。
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var uploadBtnLabels = { uploadEsp32Btn: '上传并升级 ESP32', uploadGd32Btn: 'GD32 OTA' };
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Object.keys(uploadBtnLabels).forEach(function (btnId) {
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var btn = document.getElementById(btnId);
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if (!btn) return;
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btn.disabled = false;
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if (window.uploadBtnOrigText) btn.textContent = window.uploadBtnOrigText;
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btn.textContent = uploadBtnLabels[btnId];
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});
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window.activeUploadChip = null;
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window.otaSessionTarget = null;
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+37
-24
@@ -106,6 +106,18 @@ function setDisplayedRelayState(rs) {
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updateStagesFromRelayState(rs);
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}
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/* 写前比较小工具：每秒轮询里大部分仪表盘字段不变，
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* 无条件写 textContent/className/title 会白白触发样式失效。 */
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function setNodeText(el, txt) {
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if (el && el.textContent !== txt) el.textContent = txt;
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}
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function setNodeClass(el, cls) {
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if (el && el.className !== cls) el.className = cls;
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}
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function setNodeTitle(el, title) {
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if (el && el.title !== title) el.title = title;
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}
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/**
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* 常驻仪表盘：堆、连接、健康、版本、温度、IP/RSSI。
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* @param {object} data /system/status JSON
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@@ -122,28 +134,29 @@ function applyDashboardUi(data, ota, wifi) {
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if (data.version) {
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var pillVerEl = document.getElementById('pillVer');
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if (pillVerEl) {
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pillVerEl.textContent = 'v' + data.version;
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pillVerEl.dataset.tooltip = data.build_time ? ('编译: ' + data.build_time) : '';
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setNodeText(pillVerEl, 'v' + data.version);
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var verTip = data.build_time ? ('编译: ' + data.build_time) : '';
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if (pillVerEl.dataset.tooltip !== verTip) pillVerEl.dataset.tooltip = verTip;
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}
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var mGd32App = document.getElementById('mGd32App');
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var mGd32Boot = document.getElementById('mGd32Boot');
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if (mGd32App) {
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if (ota.gd32_app && ota.gd32_app !== 'v0.0.0.0') {
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mGd32App.textContent = ota.gd32_app;
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mGd32App.className = 'v ok';
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setNodeText(mGd32App, ota.gd32_app);
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setNodeClass(mGd32App, 'v ok');
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} else {
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mGd32App.textContent = ota.gd32_app_alive ? '未知' : '离线';
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mGd32App.className = 'v';
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setNodeText(mGd32App, ota.gd32_app_alive ? '未知' : '离线');
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setNodeClass(mGd32App, 'v');
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}
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}
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if (mGd32Boot) {
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if (ota.gd32_boot && ota.gd32_boot !== 'v0.0.0.0') {
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mGd32Boot.textContent = ota.gd32_boot;
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mGd32Boot.className = 'v ok';
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setNodeText(mGd32Boot, ota.gd32_boot);
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setNodeClass(mGd32Boot, 'v ok');
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} else {
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/* BOOT 版本与 APP alive 无直接关系，无版本时统一「未知」 */
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mGd32Boot.textContent = '未知';
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mGd32Boot.className = 'v';
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setNodeText(mGd32Boot, '未知');
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setNodeClass(mGd32Boot, 'v');
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}
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}
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}
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@@ -153,19 +166,19 @@ function applyDashboardUi(data, ota, wifi) {
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/* 与固件 app_config：TEMP_WARNING=80 / TEMP_CRITICAL=100 对齐 */
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if (Number.isFinite(data.temperature)) {
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var tC = data.temperature;
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mTempEl.textContent = tC.toFixed(1) + '\u00B0C';
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setNodeText(mTempEl, tC.toFixed(1) + '\u00B0C');
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if (tC >= 100) {
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mTempEl.className = 'v err';
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setNodeClass(mTempEl, 'v err');
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} else if (tC >= 80) {
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mTempEl.className = 'v warn';
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setNodeClass(mTempEl, 'v warn');
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} else {
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mTempEl.className = 'v ok';
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setNodeClass(mTempEl, 'v ok');
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}
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mTempEl.title = 'ESP32 片内温度传感器（警告≥80°C，危险≥100°C）';
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setNodeTitle(mTempEl, 'ESP32 片内温度传感器（警告≥80°C，危险≥100°C）');
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} else {
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mTempEl.textContent = '--';
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mTempEl.className = 'v';
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mTempEl.title = '温度无效或未采样';
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setNodeText(mTempEl, '--');
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setNodeClass(mTempEl, 'v');
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setNodeTitle(mTempEl, '温度无效或未采样');
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}
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}
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/* GD32 ADC：enabled 来自 HELLO_ACK 功能位（GD32 编译开关），ESP32 无本地开关 */
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@@ -177,9 +190,9 @@ function applyDashboardUi(data, ota, wifi) {
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function setMetricUi(el, text, cls, title) {
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if (!el) return;
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el.textContent = text;
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el.className = cls || 'v';
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if (title) el.title = title;
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setNodeText(el, text);
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setNodeClass(el, cls || 'v');
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if (title) setNodeTitle(el, title);
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}
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if (mGd32TempEl || mVccEl || mVddaEl) {
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@@ -233,12 +246,12 @@ function applyDashboardUi(data, ota, wifi) {
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}
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}
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var uptimeEl = document.getElementById('pillUptime');
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if (uptimeEl) uptimeEl.textContent = '\u23F1 ' + formatUptime(data.uptime_sec);
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if (uptimeEl) setNodeText(uptimeEl, '\u23F1 ' + formatUptime(data.uptime_sec));
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var pillIPEl = document.getElementById('pillIP');
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if (pillIPEl) pillIPEl.textContent = wifi.ip || '--';
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if (pillIPEl) setNodeText(pillIPEl, wifi.ip || '--');
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var rssi = (wifi.rssi !== undefined && wifi.rssi !== -127) ? wifi.rssi + ' dBm' : '--';
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var pillRSSIEl = document.getElementById('pillRSSI');
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if (pillRSSIEl) pillRSSIEl.textContent = rssi;
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if (pillRSSIEl) setNodeText(pillRSSIEl, rssi);
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}
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/**
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@@ -164,11 +164,23 @@ export async function startUpload(chip) {
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if (chip === 'esp32') window.esp32File = freshFile;
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else window.gd32File = freshFile;
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file = freshFile;
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/* .bin 直读分支此前无任何日志，热重载是否生效不可观察，补一条 */
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addLog('I', '文件', '热重载: 已重新读取 ' + freshFile.name +
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' (' + formatBytes(freshFile.size) + ')');
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}
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} catch (e) {
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addLog('W', '文件', '重新读取文件失败: ' + e.message + '，将使用缓存版本');
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}
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} else {
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/* 无 FSAPI 句柄（拖拽/传统方式选择）：无法读盘，只能用缓存。
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GD32 缓存是内存中转换出的 Blob，arrayBuffer 校验永远通过，
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若不显式告知，本地重新编译后点上传会静默刷入旧固件 */
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var cachedAt = file.lastModified
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? new Date(file.lastModified).toLocaleTimeString('zh-CN', { hour12: false })
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: '未知时间';
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addLog('W', '文件', '热重载不可用（无 FSAPI 句柄）：本次上传缓存文件 ' + file.name +
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'（磁盘修改于 ' + cachedAt + '）。如需自动读取最新编译产物，请点击上传区重新选择');
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showToast('热重载不可用，上传的是缓存文件', 'warning');
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try {
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await file.arrayBuffer();
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} catch (e) {
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