feat(protocol): 更新SPI Link协议至v2版本并优化CAN通信
- 将SPI OTA帧格式升级为SPI Link v2，采用新的帧格式： | SOF0 0xA5 | SOF1 0x5A | VER 0x02 | FLAGS | SESSION 4B LE | TX_SEQ | ACK_SEQ | CREDIT | TYPE | LEN 2B LE | RSV 2B | PAYLOAD | CRC32 4B LE | - 新增V2_OVERHEAD=20字节开销，APP最大payload为236字节，BOOT为108字节 - 修改帧类型定义：ENTER_BOOT从0xB5合并至0xB0，新增CAN业务类型0xC0~C3 - 更新CAN协议文档，支持SPI Link v2-only模式，调整最大业务payload计算 - 扩展0xC1帧功能，支持双向通信和1Hz主动推送ID快照 - 添加0xC3完整ID快照帧类型，包含seq/rx_count等完整字段 - 更新协议文档中的错误码定义和反馈payload格式 refactor(main): 重构主程序入口并添加CAN反馈任务 - 在main.cpp中添加CAN反馈任务，更新启动流程注释 - 创建createCriticalTask辅助函数，统一关键任务创建逻辑 - 调整SPI初始化顺序，确保CAN反馈任务依赖正确 - 优化错误处理机制，关键任务失败时立即重启 - 将GD32版本探测移至ota_relay任务处理 - 更新版本号至0.3.48，调整编译时间和Git哈希 config: 更新SPI和BLE配置参数 - 添加SPI主机相关配置参数，包括CS GPIO、READY GPIO等引脚定义 - 配置SPI缓冲区大小：APP为256字节，BOOT为128字节 - 更新BLE滑动窗口参数，ACK窗口设为32，数据队列深度为72 - 调整SPI工作队列大小至5120字节，增加任务堆栈监控说明
This commit is contained in:
小龙虾
+97
-39
@@ -1,6 +1,9 @@
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import { showToast } from './common/toast.js';
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/**
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* can_monitor.js - CAN 接收监控（独立页 can_monitor.html 与 can.html 右侧抽屉共用）
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*/
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import { showToast } from './common/toast.js?v=20260717t';
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var state = { fbTimer: null };
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var state = { fbTimer: null, fbAbortCtrl: null };
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var el = {};
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@@ -16,7 +19,8 @@ var ids = [
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'fb2LastId', 'fb2Dlc', 'fb2Flags', 'fb2LastData',
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'btnModeAllPass', 'btnModeFilter', 'btnModeBridge',
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'idsnapChannel', 'idsnapStatus', 'idsnapBody',
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'toast', 'toastIco', 'toastMsg'
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'toast', 'toastIco', 'toastMsg',
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'toolIp' /* can.html 共用 IP */
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];
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function cacheElements() {
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@@ -29,29 +33,45 @@ function sanitize(text) {
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}
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function getBaseUrl() {
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var ip = (el.monIp && el.monIp.value ? el.monIp.value.trim() : '') || '192.168.31.127';
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var ip = '';
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if (el.monIp && el.monIp.value) {
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ip = el.monIp.value.trim();
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} else if (el.toolIp && el.toolIp.value) {
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ip = el.toolIp.value.trim();
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} else {
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try {
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var saved = localStorage.getItem('dcu_esp_ip');
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if (saved && saved.trim()) ip = saved.trim();
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} catch (_) {}
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}
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if (!ip) ip = '192.168.31.127';
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return 'http://' + ip;
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}
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function setConnState(ok, text) {
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/* 嵌入 can.html 时顶栏已有 canConnPill，不再用 monConn 重复占位 */
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if (el.monConnPill) el.monConnPill.className = 'pill ' + (ok ? 'online' : 'offline');
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if (el.monConnTxt) el.monConnTxt.textContent = text;
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if (el.monConnIndicator) el.monConnIndicator.className = 'conn-indicator ' + (ok ? 'ok' : 'err');
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if (el.monConnIndicatorTxt) el.monConnIndicatorTxt.textContent = text;
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/* 轮询状态即监控连通性（与顶栏 canConn 去重时仍更新 fbPollStatus） */
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if (!el.monConnPill && el.fbPollStatus && !ok) {
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el.fbPollStatus.textContent = '轮询: 离线';
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el.fbPollStatus.className = 'pill offline';
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}
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}
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// ── 1Hz 轮询 /can/feedback ─────────────────────────────────
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async function pollFeedback() {
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// 取消上一次 in-flight 请求，防止 SPI 慢响应堆积导致 UI 瞬间刷新多次
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if (state.fbAbortCtrl) { try { state.fbAbortCtrl.abort(); } catch(_e) {} }
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if (state.fbAbortCtrl) { try { state.fbAbortCtrl.abort(); } catch (_e) {} }
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state.fbAbortCtrl = new AbortController();
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var fbPollTimer = setTimeout(function() { try { state.fbAbortCtrl.abort(); } catch(_e) {} }, 3000);
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var fbPollTimer = setTimeout(function () { try { state.fbAbortCtrl.abort(); } catch (_e) {} }, 3000);
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try {
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var resp = await fetch(getBaseUrl() + '/can/feedback', { signal: state.fbAbortCtrl.signal });
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if (!resp.ok) return;
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var data = await resp.json();
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var channels = data.channels || [];
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var selectedCh = el.idsnapChannel ? parseInt(el.idsnapChannel.value) : 0;
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var selectedCh = el.idsnapChannel ? parseInt(el.idsnapChannel.value, 10) : 0;
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for (var i = 0; i < 3; i++) {
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var ch = channels[i];
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@@ -62,7 +82,6 @@ async function pollFeedback() {
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renderChannel(i, ch);
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}
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// 渲染选中通道的 ID 快照表
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var sel = channels[selectedCh];
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if (sel && sel.valid && sel.entries) {
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renderIdTable(sel.entries, sel.count || sel.entries.length);
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@@ -82,8 +101,7 @@ async function pollFeedback() {
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clearTimeout(fbPollTimer);
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} catch (e) {
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clearTimeout(fbPollTimer);
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// 自身 AbortController 触发的取消不算失败，静默返回
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if (e && e.name === "AbortError") return;
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if (e && e.name === 'AbortError') return;
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if (el.fbPollStatus) {
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el.fbPollStatus.textContent = '轮询: 离线';
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el.fbPollStatus.className = 'pill offline';
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@@ -99,12 +117,18 @@ function renderChannel(i, ch) {
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el[p + 'State'].textContent = hasIds ? '活跃 (' + ch.count + ' ID)' : '无帧（总线空闲）';
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el[p + 'State'].className = 'fb-val ' + (hasIds ? 'ok' : 'info');
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}
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if (el[p + 'Rx']) el[p + 'Rx'].textContent = ch.rx;
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if (el[p + 'Tx']) el[p + 'Tx'].textContent = ch.tx;
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if (el[p + 'Rx']) el[p + 'Rx'].textContent = ch.rx;
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if (el[p + 'Tx']) el[p + 'Tx'].textContent = ch.tx;
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if (el[p + 'Drop']) { el[p + 'Drop'].textContent = ch.drop; el[p + 'Drop'].className = 'fb-val' + (ch.drop > 0 ? ' warn' : ''); }
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if (el[p + 'Err']) { el[p + 'Err'].textContent = ch.err; el[p + 'Err'].className = 'fb-val' + (ch.err > 0 ? ' err' : ''); }
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if (el[p + 'Tec']) { el[p + 'Tec'].textContent = (ch.tec !== undefined && ch.tec !== null) ? ch.tec : '--'; el[p + 'Tec'].className = 'fb-val' + (ch.tec > 0 ? ' warn' : ''); }
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if (el[p + 'Rec']) { el[p + 'Rec'].textContent = (ch.rec !== undefined && ch.rec !== null) ? ch.rec : '--'; el[p + 'Rec'].className = 'fb-val' + (ch.rec > 0 ? ' warn' : ''); }
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if (el[p + 'Err']) { el[p + 'Err'].textContent = ch.err; el[p + 'Err'].className = 'fb-val' + (ch.err > 0 ? ' err' : ''); }
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if (el[p + 'Tec']) {
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el[p + 'Tec'].textContent = (ch.tec !== undefined && ch.tec !== null) ? ch.tec : '--';
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el[p + 'Tec'].className = 'fb-val' + (ch.tec > 0 ? ' warn' : '');
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}
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if (el[p + 'Rec']) {
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el[p + 'Rec'].textContent = (ch.rec !== undefined && ch.rec !== null) ? ch.rec : '--';
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el[p + 'Rec'].className = 'fb-val' + (ch.rec > 0 ? ' warn' : '');
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}
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if (el[p + 'Bus']) {
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if (ch.bus_state === undefined || ch.bus_state === null) {
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el[p + 'Bus'].textContent = '未知';
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@@ -118,23 +142,22 @@ function renderChannel(i, ch) {
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if (bs & 8) parts.push('BUS_OFF');
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if (bs & 16) parts.push('ERR_WARN');
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el[p + 'Bus'].textContent = (bs === 0) ? '正常' : (parts.length ? parts.join(' ') : '正常');
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el[p + 'Bus'].className = 'fb-val' + ((bs & 8) ? ' err' : (bs & (4|16)) ? ' warn' : '');
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el[p + 'Bus'].className = 'fb-val' + ((bs & 8) ? ' err' : (bs & (4 | 16)) ? ' warn' : '');
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}
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}
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if (el[p + 'Seq']) el[p + 'Seq'].textContent = ch.seq;
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if (el[p + 'Seq']) el[p + 'Seq'].textContent = ch.seq;
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if (el[p + 'Delta']) { el[p + 'Delta'].textContent = ch.count || 0; el[p + 'Delta'].className = 'fb-val'; }
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// 最新帧摘要
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var entries = ch.entries;
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if (entries && entries.length) {
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var last = entries[entries.length - 1];
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if (el[p + 'LastId']) { el[p + 'LastId'].textContent = last.id; el[p + 'LastId'].className = 'fb-val mono'; }
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if (el[p + 'Dlc']) el[p + 'Dlc'].textContent = last.dlc;
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if (el[p + 'Flags']) el[p + 'Flags'].textContent = (last.fd ? 'FD' : '-') + ' / ' + (last.brs ? 'BRS' : '-') + ' / ' + (last.esi ? 'ESI' : '-');
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if (el[p + 'LastId']) { el[p + 'LastId'].textContent = last.id; el[p + 'LastId'].className = 'fb-val mono'; }
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if (el[p + 'Dlc']) el[p + 'Dlc'].textContent = last.dlc;
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if (el[p + 'Flags']) el[p + 'Flags'].textContent = (last.fd ? 'FD' : '-') + ' / ' + (last.brs ? 'BRS' : '-') + ' / ' + (last.esi ? 'ESI' : '-');
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if (el[p + 'LastData']) { el[p + 'LastData'].textContent = last.data || '--'; el[p + 'LastData'].className = 'fb-val mono fb-data-cell'; }
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} else {
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if (el[p + 'LastId']) { el[p + 'LastId'].textContent = '--'; el[p + 'LastId'].className = 'fb-val mono'; }
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if (el[p + 'Dlc']) el[p + 'Dlc'].textContent = '--';
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if (el[p + 'Flags']) el[p + 'Flags'].textContent = '--';
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if (el[p + 'LastId']) { el[p + 'LastId'].textContent = '--'; el[p + 'LastId'].className = 'fb-val mono'; }
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if (el[p + 'Dlc']) el[p + 'Dlc'].textContent = '--';
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if (el[p + 'Flags']) el[p + 'Flags'].textContent = '--';
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if (el[p + 'LastData']) { el[p + 'LastData'].textContent = '--'; el[p + 'LastData'].className = 'fb-val mono fb-data-cell'; }
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}
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if (i === 0 && el.fbModePill) {
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@@ -146,13 +169,14 @@ function renderChannel(i, ch) {
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function renderChannelEmpty(i) {
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var p = 'fb' + i;
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if (el[p + 'State']) { el[p + 'State'].textContent = 'SPI 离线'; el[p + 'State'].className = 'fb-val err'; }
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['Rx','Tx','Drop','Err','Tec','Rec','Bus','Seq','Delta','Dlc','Flags'].forEach(function (f) {
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['Rx', 'Tx', 'Drop', 'Err', 'Tec', 'Rec', 'Bus', 'Seq', 'Delta', 'Dlc', 'Flags'].forEach(function (f) {
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if (el[p + f]) { el[p + f].textContent = '--'; el[p + f].className = 'fb-val'; }
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});
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if (el[p + 'LastId']) { el[p + 'LastId'].textContent = '--'; el[p + 'LastId'].className = 'fb-val mono'; }
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if (el[p + 'LastId']) { el[p + 'LastId'].textContent = '--'; el[p + 'LastId'].className = 'fb-val mono'; }
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if (el[p + 'LastData']) { el[p + 'LastData'].textContent = '--'; el[p + 'LastData'].className = 'fb-val mono fb-data-cell'; }
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}
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function renderIdTable(entries, count) {
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function renderIdTable(entries) {
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var tbody = el.idsnapBody;
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if (!tbody) return;
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if (!entries || !entries.length) {
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@@ -181,7 +205,6 @@ function renderIdTableEmpty() {
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if (el.idsnapStatus) { el.idsnapStatus.textContent = '--'; el.idsnapStatus.className = 'pill'; }
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}
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// ── 连接测试 ─────────────────────────────────────────────
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async function testConnection() {
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try {
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var resp = await fetch(getBaseUrl() + '/can/feedback', { signal: AbortSignal.timeout(3000) });
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@@ -194,7 +217,6 @@ async function testConnection() {
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}
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}
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// ── 模式切换 ─────────────────────────────────────────────
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async function setCanMode(mode) {
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try {
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var resp = await fetch(getBaseUrl() + '/can/mode', {
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@@ -214,19 +236,55 @@ async function setCanMode(mode) {
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}
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}
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// ── 初始化 ───────────────────────────────────────────────
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function init() {
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/**
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* 初始化监控逻辑。可在 can_monitor.html（独立）或 can.html（抽屉）中调用。
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* 幂等：重复调用不会叠加多个 interval。
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*/
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export function initCanMonitor() {
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cacheElements();
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/* 无监控 DOM 时跳过（纯 can 发送页历史形态） */
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if (!el.fb0State && !el.idsnapBody) return;
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if (state.fbTimer) {
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clearInterval(state.fbTimer);
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state.fbTimer = null;
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}
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setConnState(false, '未连接');
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if (el.monTestBtn) el.monTestBtn.addEventListener('click', testConnection);
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if (el.monIp) el.monIp.addEventListener('change', testConnection);
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if (el.btnModeAllPass) el.btnModeAllPass.addEventListener('click', function () { setCanMode(0); });
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if (el.btnModeFilter) el.btnModeFilter.addEventListener('click', function () { setCanMode(1); });
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if (el.btnModeBridge) el.btnModeBridge.addEventListener('click', function () { setCanMode(2); });
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if (el.idsnapChannel) el.idsnapChannel.addEventListener('change', pollFeedback);
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if (!state.bound) {
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state.bound = true;
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if (el.monTestBtn) el.monTestBtn.addEventListener('click', testConnection);
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if (el.monIp) el.monIp.addEventListener('change', testConnection);
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/* 嵌入 can.html 时 IP 与发送台共用 */
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if (el.toolIp && !el.monIp) {
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el.toolIp.addEventListener('change', function () {
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pollFeedback();
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});
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}
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if (el.btnModeAllPass) el.btnModeAllPass.addEventListener('click', function () { setCanMode(0); });
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if (el.btnModeFilter) el.btnModeFilter.addEventListener('click', function () { setCanMode(1); });
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if (el.btnModeBridge) el.btnModeBridge.addEventListener('click', function () { setCanMode(2); });
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if (el.idsnapChannel) el.idsnapChannel.addEventListener('change', pollFeedback);
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/* 通道卡：默认折叠详情，点标题展开/收起 */
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document.querySelectorAll('.feedback-channel .feedback-ch-head').forEach(function (head) {
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var toggle = function (e) {
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e.preventDefault();
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var card = head.closest('.feedback-channel');
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if (card) card.classList.toggle('collapsed');
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};
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head.addEventListener('click', toggle);
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head.addEventListener('keydown', function (e) {
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if (e.key === 'Enter' || e.key === ' ') toggle(e);
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});
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});
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}
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setTimeout(testConnection, 150);
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pollFeedback();
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state.fbTimer = setInterval(pollFeedback, 1000);
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}
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init();
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/* 独立页 can_monitor.html：有 monIp 时自启；嵌入 can.html 由 can.js 调用 initCanMonitor() */
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if (document.getElementById('monIp')) {
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initCanMonitor();
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}
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Block a user