From 47ffe1bd5433d9b999e9a9d55609e88624f34909 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=B0=8F=E9=BE=99=E8=99=BE?= Date: Mon, 27 Apr 2026 03:22:49 +0800 Subject: [PATCH] =?UTF-8?q?feat(wifi=5Fota):=20=E6=B7=BB=E5=8A=A0CAN?= =?UTF-8?q?=E5=B8=A7=E8=BD=AC=E5=8F=91=E5=8A=9F=E8=83=BD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 添加了HTTP接口用于转发CAN帧，包括/can/send POST接口用于发送CAN帧， 以及/can/status GET接口用于查询CAN通道状态。同时集成了SPI master驱动 以支持与GD32之间的CANFD通信，并定义了完整的CAN帧格式和通道管理机制。 BREAKING CHANGE: 移除了OTA上位机工具脚本 --- main/server/wifi_ota.cpp | 111 ++++++ main/transport/spi_master.cpp | 85 +++++ main/transport/spi_master.h | 49 +++ tools/ota_host_tool.py | 660 ---------------------------------- tools/ota_host_web.html | 113 ++++++ 5 files changed, 358 insertions(+), 660 deletions(-) delete mode 100644 tools/ota_host_tool.py diff --git a/main/server/wifi_ota.cpp b/main/server/wifi_ota.cpp index 2c1cea4..e802ba4 100644 --- a/main/server/wifi_ota.cpp +++ b/main/server/wifi_ota.cpp @@ -21,6 +21,8 @@ #include "ota_relay.h" #include "health_monitor.h" #include "monitor/debug_log.h" +#include "spi_master.h" +#include "cJSON.h" static ota_wifi_mode_t s_wifi_mode = OTA_WIFI_MODE_AP; static bool s_ota_storage_done = false; @@ -252,6 +254,98 @@ static esp_err_t health_handler(httpd_req_t *req) return ESP_OK; } +// HTTP POST /can/send 处理器 +// 上位机发送 CAN 帧，经 ESP32 转发到 GD32 +// 请求体: {"ch": 0, "id": 123456, "data": "0102030405060708", "dlc": 8} +// data 为 hex 字符串（可不填，自动用 dlc 决定实际发送长度） +static esp_err_t can_send_handler(httpd_req_t *req) +{ + char buf[256] = {0}; + int ret = httpd_req_recv(req, buf, sizeof(buf) - 1); + if (ret <= 0) { + httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "接收数据失败"); + return ESP_FAIL; + } + buf[ret] = '\0'; + + cJSON *root = cJSON_Parse(buf); + if (!root) { + httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "JSON 解析失败"); + return ESP_FAIL; + } + + cJSON *ch_item = cJSON_GetObjectItem(root, "ch"); + cJSON *id_item = cJSON_GetObjectItem(root, "id"); + cJSON *data_item = cJSON_GetObjectItem(root, "data"); + cJSON *dlc_item = cJSON_GetObjectItem(root, "dlc"); + + if (!ch_item || !id_item) { + cJSON_Delete(root); + httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "缺少 ch 或 id 字段"); + return ESP_FAIL; + } + + can_channel_t ch = (can_channel_t)cJSON_GetNumberValue(ch_item); + uint32_t ext_id = (uint32_t)cJSON_GetNumberValue(id_item); + uint8_t dlc = dlc_item ? (uint8_t)cJSON_GetNumberValue(dlc_item) : 0; + + uint8_t tx_data[CAN_MAX_DLC] = {0}; + uint8_t tx_dlc = 0; + + if (data_item && cJSON_IsString(data_item)) { + const char *hex_str = cJSON_GetStringValue(data_item); + size_t hex_len = strlen(hex_str); + for (size_t i = 0; i < hex_len / 2 && i < CAN_MAX_DLC; i++) { + char byte_str[3] = { hex_str[i * 2], hex_str[i * 2 + 1], '\0' }; + tx_data[i] = (uint8_t)strtol(byte_str, NULL, 16); + tx_dlc++; + } + } + + if (tx_dlc == 0 && dlc > 0) { + tx_dlc = (dlc > CAN_MAX_DLC) ? CAN_MAX_DLC : dlc; + } + + cJSON_Delete(root); + + // 发送 CAN 帧到 GD32 + uint8_t resp_data[CAN_MAX_DLC] = {0}; + int resp_len = gd32_can_send(ch, ext_id, tx_data, tx_dlc, + resp_data, sizeof(resp_data), 1000); + + char resp[512]; + if (resp_len >= 0) { + // 将响应 data 转为 hex 字符串 + char resp_hex[CAN_MAX_DLC * 2 + 1] = {0}; + for (int i = 0; i < resp_len; i++) { + sprintf(&resp_hex[i * 2], "%02X", resp_data[i]); + } + snprintf(resp, sizeof(resp), + "{\"status\": \"ok\", \"ch\": %d, \"id\": %lu, \"sent\": %d, \"recv_len\": %d, \"recv\": \"%s\"}", + ch, (unsigned long)ext_id, tx_dlc, resp_len, resp_hex); + } else { + snprintf(resp, sizeof(resp), + "{\"status\": \"error\", \"code\": %d}", resp_len); + } + + httpd_resp_set_type(req, "application/json"); + httpd_resp_send(req, resp, strlen(resp)); + return ESP_OK; +} + +// HTTP GET /can/status 处理器 +static esp_err_t can_status_handler(httpd_req_t *req) +{ + char resp[128]; + snprintf(resp, sizeof(resp), + "{\"channels\": 3, \"max_dlc\": %d, \"spi_init\": %s}", + CAN_MAX_DLC, + g_spi_device != NULL ? "true" : "false"); + httpd_resp_set_type(req, "application/json"); + httpd_resp_send(req, resp, strlen(resp)); + return ESP_OK; +} + // HTTP GET /wifi/status 处理器 static esp_err_t wifi_status_handler(httpd_req_t *req) { @@ -340,6 +434,23 @@ static esp_err_t http_ota_server_start(void) }; httpd_register_uri_handler(s_http_server, &wifi_status_uri); + // CAN 帧转发 + httpd_uri_t can_send_uri = { + .uri = "/can/send", + .method = HTTP_POST, + .handler = can_send_handler, + .user_ctx = NULL + }; + httpd_register_uri_handler(s_http_server, &can_send_uri); + + httpd_uri_t can_status_uri = { + .uri = "/can/status", + .method = HTTP_GET, + .handler = can_status_handler, + .user_ctx = NULL + }; + httpd_register_uri_handler(s_http_server, &can_status_uri); + DEBUG_INFO("WIFI", "HTTP 服务器已启动"); return ESP_OK; diff --git a/main/transport/spi_master.cpp b/main/transport/spi_master.cpp index 6855fbb..b990279 100644 --- a/main/transport/spi_master.cpp +++ b/main/transport/spi_master.cpp @@ -2,12 +2,15 @@ * spi_master.c - SPI Master 驱动实现 * T1.1 - T1.4 * ESP-IDF 6.0 适配版本 + * CANFD 3通道发送接口 */ #include +#include #include "freertos/FreeRTOS.h" #include "freertos/task.h" #include "driver/spi_master.h" #include "soc/spi_struct.h" +#include "esp_err.h" #include "spi_master.h" #include "monitor/debug_log.h" @@ -99,6 +102,88 @@ esp_err_t spi_recv(uint8_t cmd, uint8_t *recv_buf, size_t len, uint32_t timeout_ return spi_sync_transfer(cmd, dummy, len, recv_buf, len, timeout_ms); } +// CANFD 帧发送 +// 帧格式: [通道(1B)] [扩展帧ID(4B BE)] [数据(1~64B)] +static int can_frame_send(can_channel_t channel, uint32_t ext_id, + const uint8_t *data, uint8_t dlc, + uint8_t *recv_buf, uint8_t recv_max, + uint32_t timeout_ms) +{ + if (g_spi_device == NULL) { + return -1; + } + + if (dlc == 0 || dlc > CAN_MAX_DLC) { + DEBUG_ERR("SPI", "DLC 无效: %d", dlc); + return -2; + } + + if (channel >= CAN_CHANNEL_MAX) { + DEBUG_ERR("SPI", "通道号无效: %d", channel); + return -3; + } + + // 构建 CANFD 帧: [通道(1B)] [EXT_ID(4B)] [DATA(dlc B)] + uint8_t tx_buf[1 + 4 + CAN_MAX_DLC] = {0}; + tx_buf[0] = (uint8_t)channel; + tx_buf[1] = (uint8_t)((ext_id >> 24) & 0xFF); + tx_buf[2] = (uint8_t)((ext_id >> 16) & 0xFF); + tx_buf[3] = (uint8_t)((ext_id >> 8) & 0xFF); + tx_buf[4] = (uint8_t)(ext_id & 0xFF); + memcpy(&tx_buf[5], data, dlc); + + size_t tx_len = 5 + dlc; + uint8_t rx_buf[5 + CAN_MAX_DLC] = {0}; + + spi_transaction_t t = {}; + t.tx_buffer = tx_buf; + t.rx_buffer = rx_buf; + t.length = tx_len * 8; + t.rxlength = (recv_max > 0) ? (5 + recv_max) * 8 : 0; + + esp_err_t ret = spi_device_transmit(g_spi_device, &t); + if (ret != ESP_OK) { + DEBUG_ERR("SPI", "CAN[ch%d] ID=0x%08X 发送失败: %s", + channel, ext_id, esp_err_to_name(ret)); + return -4; + } + + if (recv_buf && recv_max > 0) { + // 解析 GD32 响应帧 + uint8_t resp_channel = rx_buf[0]; + uint32_t resp_id = (rx_buf[1] << 24) | (rx_buf[2] << 16) + | (rx_buf[3] << 8) | rx_buf[4]; + uint8_t resp_dlc = resp_id >> 24; // 复用了 ID 字段低字节作为 DLC + resp_id &= 0x00FFFFFF; + + uint8_t copy_len = (resp_dlc < recv_max) ? resp_dlc : recv_max; + memcpy(recv_buf, &rx_buf[5], copy_len); + + DEBUG_INFO("SPI", "CAN[ch%d] ID=0x%08X 响应 DLC=%d", + resp_channel, resp_id, copy_len); + return copy_len; + } + + return 0; +} + +int gd32_can_send(can_channel_t channel, uint32_t ext_id, + const uint8_t *data, uint8_t dlc, + uint8_t *recv_buf, uint8_t recv_max, + uint32_t timeout_ms) +{ + if (dlc == 0) { + dlc = (data != NULL) ? 64 : 0; // 避免 dlc=0 的情况 + } + return can_frame_send(channel, ext_id, data, dlc, recv_buf, recv_max, timeout_ms); +} + +int gd32_can_send_no_reply(can_channel_t channel, uint32_t ext_id, + const uint8_t *data, uint8_t dlc) +{ + return can_frame_send(channel, ext_id, data, dlc, NULL, 0, 0); +} + // 带重试的 SPI 传输 esp_err_t spi_transfer_with_retry(uint8_t cmd, const uint8_t *payload, size_t payload_len, uint8_t *recv_buf, diff --git a/main/transport/spi_master.h b/main/transport/spi_master.h index f936f42..c9b2d8f 100644 --- a/main/transport/spi_master.h +++ b/main/transport/spi_master.h @@ -1,5 +1,6 @@ /* * spi_master.h - SPI Master 驱动头文件 + * CANFD 3通道发送接口 + 底层 SPI 总线 */ #ifndef SPI_MASTER_H #define SPI_MASTER_H @@ -16,6 +17,54 @@ // SPI 设备句柄（外部引用） extern spi_device_handle_t g_spi_device; +// ============================================================ +// CANFD 帧格式（3通道） +// [通道编号: 1B] [扩展帧ID: 4B BE] [数据: 1~64B] +// 长度自动识别，无需发送 DLC +// ============================================================ +#define CAN_EXTENDED_ID_BITS (29) // CAN 扩展帧 ID 位数 +#define CAN_MAX_DLC (64) // 最大数据长度 +#define CAN_CHANNEL_MASK (0x03) // 通道号掩码 (0~2) + +// 通道定义 +typedef enum { + CAN_CHANNEL_0 = 0, + CAN_CHANNEL_1 = 1, + CAN_CHANNEL_2 = 2, + CAN_CHANNEL_MAX = 3, +} can_channel_t; + +// CANFD 帧结构 +typedef struct { + can_channel_t channel; // CAN 通道 (0~2) + uint32_t ext_id; // 扩展帧 ID (29bit, Big-Endian 存储) + uint8_t data[CAN_MAX_DLC]; + uint8_t dlc; // 数据长度 (1~64) +} can_frame_t; + +// ============================================================ +// 发送 CANFD 帧 +// channel: CAN 通道 (0, 1, 2) +// ext_id: 扩展帧 ID (29bit) +// data: 数据内容 (1~64 字节) +// dlc: 数据长度 (自动识别，可传 0 由 data 长度决定) +// recv_buf: 接收缓冲区 (可传 NULL) +// recv_max: 期望接收最大字节数 +// timeout_ms: 超时时间 (ms) +// 返回: >= 0 成功(实际接收字节数), < 0 失败 +// ============================================================ +int gd32_can_send(can_channel_t channel, uint32_t ext_id, + const uint8_t *data, uint8_t dlc, + uint8_t *recv_buf, uint8_t recv_max, + uint32_t timeout_ms); + +// 快速发送接口（不带响应接收） +// 用于广播/通知类 CAN 帧 +int gd32_can_send_no_reply(can_channel_t channel, uint32_t ext_id, + const uint8_t *data, uint8_t dlc); + +// ============================================================ + // 初始化 SPI2 (VSPI) 总线和设备 esp_err_t spi_master_init(void); diff --git a/tools/ota_host_tool.py b/tools/ota_host_tool.py deleted file mode 100644 index 05e6052..0000000 --- a/tools/ota_host_tool.py +++ /dev/null @@ -1,660 +0,0 @@ -""" -ESP32-C3 OTA 上位机工具 -通过 WiFi 连接 ESP32，发送 .hex 固件文件并触发 OTA - -依赖: Python 3.8+, tkinter (标准库), requests - -用法: - python ota_host_tool.py -""" -import os -import sys -import socket -import threading -import traceback -import struct -from datetime import datetime -from typing import Optional, List, Tuple - -# 尝试导入 tkinter，失败时给出提示 -try: - import tkinter as tk - from tkinter import filedialog, messagebox, ttk -except ImportError: - print("错误: 缺少 tkinter 模块") - print("Linux/Mac 请安装: pip install tkinter") - print("Windows 通常自带 tkinter") - sys.exit(1) - -try: - import requests -except ImportError: - print("错误: 缺少 requests 模块") - print("请安装: pip install requests") - sys.exit(1) - - -# ===================== 配置 ===================== -ESP32_IP = "192.168.4.1" # ESP32 在 AP 模式下的 IP -ESP32_PORT = 80 # HTTP 端口 -DEBUG_LOG_IP = "0.0.0.0" # 监听所有接口 -DEBUG_LOG_PORT = 6666 # UDP 日志监听端口 -TARGET_CHIP = "GD32E508" # 目标芯片（用于显示） -CHUNK_SIZE = 4096 # 每包大小（字节） -# ============================================= - - -class LogHandler: - """UDP 日志接收器""" - - def __init__(self, text_widget: 'tk.Text', port: int = DEBUG_LOG_PORT): - self.text_widget = text_widget - self.port = port - self.running = False - self.sock: Optional[socket.socket] = None - self.thread: Optional[threading.Thread] = None - - # 颜色标签 - self.tag_configs = { - '[E]': {'foreground': '#FF4444', 'background': '#FFE4E4'}, - '[W]': {'foreground': '#FF8800', 'background': '#FFF4E4'}, - '[I]': {'foreground': '#0088FF', 'background': '#E4F0FF'}, - '[D]': {'foreground': '#888888', 'background': '#F0F0F0'}, - '[C]': {'foreground': '#00CC66', 'background': '#E4FFE4'}, - } - - def start(self): - """启动日志接收线程""" - self.running = True - self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) - self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) - self.sock.bind((DEBUG_LOG_IP, self.port)) - self.sock.settimeout(0.5) - - self.thread = threading.Thread(target=self._receive_loop, daemon=True) - self.thread.start() - - def stop(self): - """停止日志接收""" - self.running = False - if self.sock: - self.sock.close() - if self.thread: - self.thread.join(timeout=1) - - def _receive_loop(self): - """日志接收循环""" - while self.running: - try: - data, addr = self.sock.recvfrom(1024) - msg = data.decode('utf-8', errors='replace').strip() - if msg: - self._append_log(msg) - except socket.timeout: - continue - except Exception: - pass - - def _append_log(self, msg: str): - """在 Text 组件中追加日志""" - # 根据日志级别应用颜色 - applied = False - for prefix, config in self.tag_configs.items(): - if f'{prefix}' in msg or prefix in msg: - self.text_widget.insert('end', msg + '\n', prefix) - applied = True - break - - if not applied: - self.text_widget.insert('end', msg + '\n') - - # 自动滚动到底部 - self.text_widget.see('end') - - -class IntelHexParser: - """Intel HEX 文件解析器 - - 支持标准 Intel HEX 格式（:BB AAAA TT DD... CC） - """ - - def __init__(self, filepath: str): - self.filepath = filepath - self.data: List[Optional[bytes]] = [] # 按地址索引的字节数据 - self.max_addr = 0 - self.min_addr = 0xFFFFFFFF - - def parse(self) -> Tuple[bool, str]: - """解析 HEX 文件，返回 (成功标志, 消息)""" - try: - with open(self.filepath, 'r', encoding='utf-8') as f: - for line_no, line in enumerate(f, 1): - line = line.strip() - if not line: - continue - - ok, msg = self._parse_line(line, line_no) - if not ok: - return False, msg - - # 计算实际数据范围 - if self.min_addr == 0xFFFFFFFF: - return False, "HEX 文件为空或不包含数据" - - return True, f"解析成功，地址范围: 0x{self.min_addr:06X} - 0x{self.max_addr:06X}，共 {self.max_addr - self.min_addr + 1} 字节" - - except FileNotFoundError: - return False, f"文件不存在: {self.filepath}" - except Exception as e: - return False, f"解析失败: {e}" - - def _parse_line(self, line: str, line_no: int) -> Tuple[bool, str]: - """解析单行 HEX""" - if not line.startswith(':'): - return False, f"第 {line_no} 行格式错误，缺少 ':' 前缀" - - if len(line) < 11: - return False, f"第 {line_no} 行长度不足" - - try: - # 解析头部 - byte_count = int(line[1:3], 16) - address = int(line[3:7], 16) - record_type = int(line[7:9], 16) - - # 验证数据长度 - expected_len = 9 + byte_count * 2 + 2 - if len(line) != expected_len: - return False, f"第 {line_no} 行长度不匹配，期望 {expected_len} 实际 {len(line)}" - - # 解析数据 - data_bytes = bytes.fromhex(line[9:9 + byte_count * 2]) - - # 验证 CRC - checksum = int(line[-2:], 16) - calc_checksum = self._calc_checksum(line[1:-2]) - if calc_checksum != checksum: - return False, f"第 {line_no} 行 CRC 校验失败" - - except ValueError as e: - return False, f"第 {line_no} 行数据解析错误: {e}" - - # 处理不同类型的记录 - if record_type == 0x00: - # 数据记录 - abs_addr = address - if self.min_addr == 0xFFFFFFFF or abs_addr < self.min_addr: - self.min_addr = abs_addr - if abs_addr + byte_count - 1 > self.max_addr: - self.max_addr = abs_addr + byte_count - 1 - - # 存储数据（简化处理：直接存储） - if len(self.data) < abs_addr + byte_count: - self.data.extend([None] * (abs_addr + byte_count - len(self.data))) - for i, b in enumerate(data_bytes): - self.data[abs_addr + i] = b - - elif record_type == 0x01: - # 文件结束记录 - pass - - elif record_type == 0x02: - # 扩展段地址 - pass - - elif record_type == 0x04: - # 扩展线性地址 - pass - - return True, "" - - def _calc_checksum(self, hex_str: str) -> int: - """计算校验和""" - return sum(int(hex_str[i:i+2], 16) for i in range(0, len(hex_str), 2)) & 0xFF - - def get_data_segment(self, start: int, length: int) -> bytes: - """获取指定范围的数据，不足部分填充 0xFF""" - result = bytearray() - for i in range(length): - addr = start + i - if addr < len(self.data) and self.data[addr] is not None: - result.append(self.data[addr]) - else: - result.append(0xFF) - return bytes(result) - - def get_total_size(self) -> int: - """获取总数据大小""" - if self.min_addr == 0xFFFFFFFF: - return 0 - return self.max_addr - self.min_addr + 1 - - -class OTAClient: - """OTA 客户端，与 ESP32 通信""" - - def __init__(self, esp_ip: str = ESP32_IP, esp_port: int = ESP32_PORT): - self.esp_ip = esp_ip - self.esp_port = esp_port - self.base_url = f"http://{esp_ip}:{esp_port}" - - def upload_firmware(self, filepath: str, - progress_callback=None, - chunk_size: int = CHUNK_SIZE) -> Tuple[bool, str]: - """上传固件到 ESP32 - - Args: - filepath: HEX 文件路径 - progress_callback: 进度回调函数，参数为 (当前字节, 总字节) - - Returns: - (成功标志, 消息) - """ - # 解析 HEX 文件 - parser = IntelHexParser(filepath) - ok, msg = parser.parse() - if not ok: - return False, msg - - total_size = parser.get_total_size() - print(f"[OTA] 固件大小: {total_size} 字节") - - # 分块发送 - addr = parser.min_addr - sent_bytes = 0 - seq = 0 - - while addr <= parser.max_addr: - # 计算本块大小 - remaining = parser.max_addr - addr + 1 - chunk = min(chunk_size, remaining) - - # 读取数据 - data = parser.get_data_segment(addr, chunk) - - # 构造数据包: SEQ(2B) + SIZE(4B) + DATA - packet = struct.pack(' Tuple[bool, str]: - """触发 ESP32 开始 OTA 中继""" - try: - response = requests.post(f"{self.base_url}/ota/relay", timeout=5) - if response.status_code == 200: - return True, "OTA 中继已触发" - return False, f"触发失败: HTTP {response.status_code}" - except Exception as e: - return False, f"网络错误: {e}" - - def check_status(self) -> Tuple[bool, str]: - """查询 OTA 状态""" - try: - response = requests.get(f"{self.base_url}/ota/status", timeout=5) - if response.status_code == 200: - return True, response.text - return False, f"查询失败: HTTP {response.status_code}" - except Exception as e: - return False, f"网络错误: {e}" - - def health_check(self) -> Tuple[bool, str]: - """查询 ESP32 健康状态""" - try: - response = requests.get(f"{self.base_url}/health", timeout=5) - if response.status_code == 200: - return True, response.text - return False, f"查询失败: HTTP {response.status_code}" - except Exception as e: - return False, f"网络错误: {e}" - - -class OTAToolGUI: - """OTA 上位机主界面""" - - def __init__(self): - self.root = tk.Tk() - self.root.title(f"ESP32 OTA 上位机工具 - {TARGET_CHIP}") - self.root.geometry("900x700") - - # ESP32 连接配置 - self.esp_ip = tk.StringVar(value=ESP32_IP) - - # OTA 客户端 - self.ota_client = OTAClient() - - # 日志接收器 - self.log_handler: Optional[LogHandler] = None - - # 当前的 HEX 文件 - self.current_hex_file = None - - self._create_widgets() - self._start_log_receiver() - - def _create_widgets(self): - """创建界面组件""" - # ----- 顶部：连接配置 ----- - frame_conn = tk.LabelFrame(self.root, text="ESP32 连接配置", padx=10, pady=5) - frame_conn.pack(fill='x', padx=10, pady=5) - - tk.Label(frame_conn, text="ESP32 IP:").grid(row=0, column=0, sticky='e') - tk.Entry(frame_conn, textvariable=self.esp_ip, width=20).grid(row=0, column=1, padx=5) - - tk.Button(frame_conn, text="连接测试", command=self._test_connection).grid(row=0, column=2, padx=5) - tk.Button(frame_conn, text="健康检查", command=self._health_check).grid(row=0, column=3, padx=5) - - # ----- 中部左侧：文件选择 ----- - frame_file = tk.LabelFrame(self.root, text="固件文件", padx=10, pady=5) - frame_file.pack(fill='both', expand=True, side='left', padx=10, pady=5) - - self.file_path_var = tk.StringVar(value="未选择文件") - tk.Label(frame_file, textvariable=self.file_path_var, fg='blue', wraplength=300).pack(fill='x') - - tk.Button(frame_file, text="选择 .hex 文件", command=self._select_hex_file).pack(pady=5) - tk.Button(frame_file, text="选择 .bin 文件", command=self._select_bin_file).pack(pady=5) - - # 文件信息 - self.file_info_var = tk.StringVar(value="") - tk.Label(frame_file, textvariable=self.file_info_var, fg='gray').pack(fill='x') - - # 上传按钮 - self.upload_btn = tk.Button(frame_file, text="开始上传固件", bg='green', fg='white', - font=('Arial', 12, 'bold'), state='disabled', - command=self._start_upload) - self.upload_btn.pack(fill='x', pady=10) - - # 进度条 - self.progress_var = tk.DoubleVar(value=0) - self.progress_bar = ttk.Progressbar(frame_file, variable=self.progress_var, maximum=100) - self.progress_bar.pack(fill='x', pady=5) - - self.progress_label = tk.Label(frame_file, text="", fg='gray') - self.progress_label.pack() - - # 触发 OTA 中继 - tk.Button(frame_file, text="触发 ESP32 OTA 中继", bg='orange', - command=self._trigger_relay).pack(fill='x', pady=5) - - # ----- 中部右侧：调试日志 ----- - frame_log = tk.LabelFrame(self.root, text="调试日志 (UDP:6666)", padx=5, pady=5) - frame_log.pack(fill='both', expand=True, side='right', padx=10, pady=5) - - # 日志文本框 - self.log_text = tk.Text(frame_log, height=25, width=70, font=('Courier New', 9)) - self.log_text.pack(fill='both', expand=True) - - # 配置日志颜色标签 - self.log_text.tag_config('[E]', foreground='#FF4444') - self.log_text.tag_config('[W]', foreground='#FF8800') - self.log_text.tag_config('[I]', foreground='#0088FF') - self.log_text.tag_config('[D]', foreground='#888888') - - # 滚动条 - scrollbar = tk.Scrollbar(self.log_text, command=self.log_text.yview) - scrollbar.pack(side='right', fill='y') - self.log_text.config(yscrollcommand=scrollbar.set) - - # 清除日志按钮 - tk.Button(frame_log, text="清除日志", command=lambda: self.log_text.delete('1.0', 'end')).pack() - - def _start_log_receiver(self): - """启动 UDP 日志接收""" - self.log_handler = LogHandler(self.log_text, DEBUG_LOG_PORT) - self.log_handler.start() - self._log_info("上位机启动", "UDP 日志接收已启动，监听 0.0.0.0:6666") - - def _test_connection(self): - """测试与 ESP32 的连接""" - ip = self.esp_ip.get().strip() - if not ip: - messagebox.showerror("错误", "请输入 ESP32 的 IP 地址") - return - - self.ota_client = OTAClient(esp_ip=ip) - ok, msg = self.ota_client.health_check() - if ok: - messagebox.showinfo("连接成功", f"ESP32 连接正常\n{msg}") - self._log_info("连接", f"ESP32 ({ip}) 连接成功") - else: - messagebox.showerror("连接失败", f"无法连接到 ESP32\n{msg}") - self._log_error("连接", f"ESP32 ({ip}) 连接失败: {msg}") - - def _health_check(self): - """查询 ESP32 健康状态""" - ip = self.esp_ip.get().strip() - self.ota_client = OTAClient(esp_ip=ip) - ok, msg = self.ota_client.health_check() - if ok: - self._log_info("健康检查", msg) - messagebox.showinfo("健康状态", msg) - else: - self._log_error("健康检查", f"查询失败: {msg}") - messagebox.showerror("健康检查", f"查询失败\n{msg}") - - def _select_hex_file(self): - """选择 HEX 文件""" - filepath = filedialog.askopenfilename( - title="选择 HEX 文件", - filetypes=[("HEX 文件", "*.hex"), ("所有文件", "*.*")] - ) - if filepath: - self.current_hex_file = (filepath, 'hex') - self.file_path_var.set(os.path.basename(filepath)) - self._log_info("文件", f"已选择: {filepath}") - - # 解析文件信息 - parser = IntelHexParser(filepath) - ok, msg = parser.parse() - if ok: - self.file_info_var.set(msg) - self.upload_btn.config(state='normal') - else: - self.file_info_var.set(f"解析失败: {msg}") - self.upload_btn.config(state='disabled') - - def _select_bin_file(self): - """选择 BIN 文件（简化支持）""" - filepath = filedialog.askopenfilename( - title="选择 BIN 文件", - filetypes=[("BIN 文件", "*.bin"), ("所有文件", "*.*")] - ) - if filepath: - self.current_hex_file = (filepath, 'bin') - self.file_path_var.set(os.path.basename(filepath)) - self._log_info("文件", f"已选择: {filepath}") - - # 获取文件大小 - size = os.path.getsize(filepath) - self.file_info_var.set(f"BIN 文件，大小: {size} 字节 ({size/1024:.1f} KB)") - self.upload_btn.config(state='normal') - - def _start_upload(self): - """开始上传固件""" - if not self.current_hex_file: - messagebox.showerror("错误", "请先选择固件文件") - return - - filepath, file_type = self.current_hex_file - - self.upload_btn.config(state='disabled', text="上传中...") - self.progress_var.set(0) - self.progress_label.config(text="正在连接 ESP32...") - - # 在后台线程执行上传 - threading.Thread(target=self._upload_worker, args=(filepath, file_type), daemon=True).start() - - def _upload_worker(self, filepath: str, file_type: str): - """上传工作线程""" - try: - if file_type == 'hex': - ok, msg = self._upload_hex(filepath) - else: - ok, msg = self._upload_bin(filepath) - - if ok: - self.root.after(0, lambda: self.progress_label.config(text="上传完成")) - self.root.after(0, lambda: messagebox.showinfo("完成", msg)) - self._log_info("上传", msg) - else: - self.root.after(0, lambda: self.progress_label.config(text="上传失败")) - self.root.after(0, lambda: messagebox.showerror("上传失败", msg)) - self._log_error("上传", f"失败: {msg}") - - except Exception as e: - self.root.after(0, lambda: self.progress_label.config(text="上传异常")) - self.root.after(0, lambda: messagebox.showerror("异常", f"上传异常: {e}\n{traceback.format_exc()}")) - self._log_error("上传", f"异常: {e}") - - finally: - self.root.after(0, lambda: self.upload_btn.config(state='normal', text="开始上传固件")) - - def _upload_hex(self, filepath: str) -> Tuple[bool, str]: - """上传 HEX 文件""" - parser = IntelHexParser(filepath) - ok, msg = parser.parse() - if not ok: - return False, msg - - total_size = parser.get_total_size() - addr = parser.min_addr - seq = 0 - - while addr <= parser.max_addr: - remaining = parser.max_addr - addr + 1 - chunk = min(CHUNK_SIZE, remaining) - data = parser.get_data_segment(addr, chunk) - - packet = struct.pack(' Tuple[bool, str]: - """上传 BIN 文件（直接二进制）""" - file_size = os.path.getsize(filepath) - - with open(filepath, 'rb') as f: - seq = 0 - offset = 0 - while offset < file_size: - chunk = f.read(CHUNK_SIZE) - packet = struct.pack(' +
+
+
📨
+ CAN 帧发送 +
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@@ -1051,6 +1091,79 @@ async function healthCheck() { } } +// ==================== CAN 帧发送 ==================== +async function sendCanFrame() { + const ch = parseInt(document.getElementById('canChannel').value); + const idStr = document.getElementById('canId').value.trim(); + const dlc = parseInt(document.getElementById('canDlc').value) || 8; + const dataStr = document.getElementById('canData').value.trim(); + + // 解析 ID (支持 0x 前缀) + let extId = 0; + if (idStr.startsWith('0x') || idStr.startsWith('0X')) { + extId = parseInt(idStr, 16); + } else { + extId = parseInt(idStr, 10); + if (isNaN(extId)) extId = parseInt(idStr, 16); + } + + if (isNaN(extId)) { + showToast('ID 格式错误', 'error'); + return; + } + + // 解析 data (hex 字符串) + let dataHex = dataStr.replace(/\s/g, ''); + if (dataHex.length % 2 !== 0) { + showToast('数据长度必须为偶数', 'error'); + return; + } + + addLog('I', 'CAN', `发送 CH${ch} ID=0x${extId.toString(16).toUpperCase()} DLC=${dlc}`); + + try { + const response = await fetch(`${getBaseUrl()}/can/send`, { + method: 'POST', + headers: { 'Content-Type': 'application/json' }, + body: JSON.stringify({ + ch: ch, + id: extId, + dlc: dlc, + data: dataHex + }), + signal: AbortSignal.timeout(5000) + }); + + const result = await response.json(); + + if (result.status === 'ok') { + addLog('I', 'CAN', `响应: ${result.recv || '(无数据)'} (${result.recv_len || 0}B)`); + + const respDiv = document.getElementById('canResponse'); + const respContent = document.getElementById('canRespContent'); + respDiv.style.display = 'block'; + respContent.textContent = result.recv + ? `0x${result.recv} (${result.recv_len} 字节)` + : '无响应数据'; + + showToast(`CH${ch} 发送成功`, 'success'); + } else { + addLog('E', 'CAN', `发送失败: code=${result.code}`); + showToast(`发送失败: code=${result.code}`, 'error'); + } + } catch (e) { + addLog('E', 'CAN', `发送失败: ${e.message}`); + showToast('发送失败', 'error'); + } +} + +function clearCanFields() { + document.getElementById('canId').value = '0x18DA00F1'; + document.getElementById('canDlc').value = '8'; + document.getElementById('canData').value = '0102030405060708'; + document.getElementById('canResponse').style.display = 'none'; +} + // ==================== 文件处理 ==================== function handleFileSelect(event) { const file = event.target.files[0];