feat(can): 添加跨通道CAN突发发送功能支持多电机同步驱动
- 新增 /can/send_burst HTTP接口，支持一次SPI事务批量发送多帧CAN消息 - 实现canFdSendBurst函数，通过0xC7 SPI类型实现背靠背装载各通道邮箱 - 添加canBurstCapacity函数计算单次突发最大帧数限制 - 突发发送期间暂停can_feedback_task避免SPI抢占冲突 refactor(can_feedback_task): 改造为周期查询+事件消费模式 - 0xC4/0xC5从GD32主动推送改为ESP32周期查询（250ms/1s） - 0xC6/0xD2仍保留事件驱动推送模式，由任务消费处理 - 消除OTA期间GD32悬空按铃导致的超时刷屏问题 - 电机OTA期间也暂停任务避免与0xD1抢夺SPI资源 perf(ota_relay): 增加重发次数上限提升传输可靠性 - 将kMaxDataSends从3次增加到5次，提高数据包传输成功率 chore(version): 更新固件版本号至0.3.78 - 版本查询checkVersionWait移到tickInFlight释放后异步触发 - 避免/motor/version请求拖长tick导致tickStuck误报通道闪黄
This commit is contained in:
小龙虾
+217
-3
@@ -699,9 +699,223 @@ code { color: var(--esp32-hi); font-family: var(--font-mono); }
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border-bottom: 1px solid rgba(255,255,255,.04);
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}
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.heap-low-table th { color: var(--text-dim); font-weight: 500; position: sticky; top: 0; background: var(--bg-elevated); text-align: right; }
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.heap-low-table td:nth-child(5), .heap-low-table td:nth-child(6),
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.heap-low-table td:nth-child(7), .heap-low-table td:nth-child(9) { text-align: left; }
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.heap-low-table td:first-child { color: var(--text-dim); }
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.ble-low-table td:nth-child(5), .ble-low-table td:nth-child(6),
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.ble-low-table td:nth-child(7), .ble-low-table td:nth-child(9) { text-align: left; }
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.ble-low-table td:first-child { color: var(--text-dim); }
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/* ================= BLE 连接按钮（launch 风格） =================
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圆形物理按键：未连接=暗淡待机；勾选=已连接，蓝光环绕 + 文字波浪动画。
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checkbox 隐藏，由 JS setConnectionState 驱动 checked，避免异步连接失败导致状态错位。 */
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.ble-launch-wrap {
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display: flex; flex-direction: column; align-items: center;
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gap: 12px; padding: 6px 0 2px;
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}
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.ble-launch-btn {
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cursor: pointer; position: relative;
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display: flex; flex-direction: column; align-items: center;
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margin: 0;
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}
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.ble-launch-btn input {
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opacity: 0; width: 0; height: 0; display: none;
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}
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/* —— 三态：idle 待机 / connecting 连接中转圈 / connected 已连接变亮 —— */
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/* 默认 text3 隐藏 */
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.ble-launch-btn .back .mid .ble-dial .center .start .text3 {
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opacity: 0;
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}
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/* connecting：仅光晕转圈（loading），按钮整体保持暗淡 */
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.ble-launch-btn[data-ble-state="connecting"] .back .spot-shadow,
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.ble-launch-btn[data-ble-state="connecting"] .back .mid .spot-main,
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.ble-launch-btn[data-ble-state="connecting"] .back .mid .ble-dial .spot-light {
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opacity: 0.7;
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animation: ble-spot-rot 1.4s linear infinite;
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}
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.ble-launch-btn[data-ble-state="connecting"] .back .mid .ble-dial .center .start .text1 {
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opacity: 0;
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}
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.ble-launch-btn[data-ble-state="connecting"] .back .mid .ble-dial .center .start .text3 {
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opacity: 1;
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color: #9bb8d8;
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animation: ble-text-pulse 1.2s ease-in-out infinite;
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}
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/* connected：整个按钮变亮 + 静态整圈蓝光晕（不转圈）+ 文字波浪 */
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/* spot 元素默认是横向条状（为转圈动画设计），connected 时改成整圈圆环 */
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.ble-launch-btn[data-ble-state="connected"] .back .spot-shadow {
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transition: opacity 1.2s ease;
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opacity: 0.9;
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width: 106px; height: 106px;
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border-radius: 50%;
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filter: blur(12px) brightness(1.2);
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}
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.ble-launch-btn[data-ble-state="connected"] .back .mid .spot-main {
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transition: opacity 1.2s ease;
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opacity: 0.95;
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width: 100px; height: 100px;
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border-radius: 50%;
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filter: blur(9px) brightness(1.6);
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}
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.ble-launch-btn[data-ble-state="connected"] .back .mid .ble-dial .spot-light {
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transition: opacity 1.2s ease;
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opacity: 0.9;
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width: 92px; height: 92px;
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border-radius: 50%;
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filter: blur(8px) brightness(1.2);
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}
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.ble-launch-btn[data-ble-state="connected"] .back .mid .ble-dial .center .icon svg {
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filter: brightness(1.15);
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}
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.ble-launch-btn[data-ble-state="connected"] .back .mid .ble-dial .center .launch {
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color: #e9f0fa;
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}
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.ble-launch-btn[data-ble-state="connected"] .back .mid .ble-dial .center .launch > div {
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animation: ble-wave-text 1.8s calc(var(--i) * -0.13s) infinite;
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}
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.ble-launch-btn[data-ble-state="connected"] .back .mid .ble-dial .center .start .text1 {
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transition: transform 0.5s ease, opacity 0.5s ease;
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transform: translateX(10px);
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opacity: 0;
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}
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.ble-launch-btn[data-ble-state="connected"] .back .mid .ble-dial .center .start .text2 {
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opacity: 1;
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animation: ble-text2 0.5s forwards;
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}
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.ble-launch-btn:active .back .mid .ble-dial {
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transform: scale(0.94);
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box-shadow:
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0 -1px 2px rgba(255,255,255,0.3),
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inset 0 0 10px rgba(0,0,0,0.24),
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inset 0 -13px 26px rgba(0,0,0,0.8);
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}
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/* —— 外圈金属环 —— */
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.ble-launch-btn .back {
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position: relative; z-index: 200;
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width: 128px; height: 128px;
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display: flex; justify-content: center; align-items: center;
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border-radius: 50%;
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background-image: linear-gradient(0, #5e5e61 20%, #212123);
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box-shadow:
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inset 0 1px 1px rgba(255,255,255,0.3),
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inset 0 3px 5px rgba(255,255,255,0.6),
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inset 0 -4px 2px rgba(255,255,255,0.05),
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inset 0 -2px 0 rgba(0,0,0,0.15),
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inset -2px 4px 0 rgba(0,0,0,0.3),
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inset 2px 4px 0 rgba(0,0,0,0.3),
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0 -7px 16px 2px rgba(255,255,255,0.18),
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0 4px 16px 2px rgba(0,0,0,0.5),
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0 2px 5px #7c7c7c;
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cursor: pointer;
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}
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.ble-launch-btn .back .spot-shadow {
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position: absolute;
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width: 96px; height: 27px;
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background: rgba(95,168,255,0.9);
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opacity: 0;
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filter: blur(14px) brightness(1.1);
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}
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.ble-launch-btn .back .mid {
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overflow: hidden; position: relative;
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width: 106px; height: 106px;
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display: flex; justify-content: center; align-items: center;
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border-radius: 50%;
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background: #000;
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box-shadow: 0 0 4px #000, 0 1px 2px rgba(255,255,255,0.8);
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}
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.ble-launch-btn .back .mid::before {
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content: ''; position: absolute; z-index: 500;
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width: 100%; height: 100%; border-radius: 50%;
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background: transparent;
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box-shadow: inset 0 -12px 18px rgba(0,0,0,0.8);
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pointer-events: none;
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}
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.ble-launch-btn .back .mid .spot-main {
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position: absolute;
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width: 110px; height: 20px;
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background: #5fa8ff;
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opacity: 0;
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filter: blur(11px) brightness(1.5);
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}
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.ble-launch-btn .back .mid .ble-dial {
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position: relative; z-index: 90;
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display: flex; justify-content: center; align-items: center;
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width: 100px; height: 100px; border-radius: 50%;
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background: #424242;
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box-shadow:
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0 -1px 2px rgba(255,255,255,0.5),
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inset 0 -9px 18px rgba(0,0,0,0.8);
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transition: transform 0.2s ease, box-shadow 0.2s ease;
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}
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.ble-launch-btn .back .mid .ble-dial .spot-light {
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position: absolute;
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width: 110px; height: 20px;
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opacity: 0;
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background: rgba(95,168,255,0.6);
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filter: blur(14px) brightness(1.1);
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}
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.ble-launch-btn .back .mid .ble-dial .center {
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position: relative; z-index: 100;
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width: 86px; height: 86px;
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display: flex; flex-direction: column;
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align-items: center; justify-content: center; gap: 2px;
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border-radius: 50%;
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background: #232323;
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cursor: pointer;
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}
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.ble-launch-btn .back .mid .ble-dial .center .icon svg {
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margin-top: -3px;
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width: 18px;
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filter: brightness(1) grayscale(1);
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transition: filter 1.5s ease;
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}
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.ble-launch-btn .back .mid .ble-dial .center .launch {
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display: flex; margin-top: -3px;
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font-size: 13px; color: #595959;
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font-family: var(--font-display);
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letter-spacing: 0.04em;
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}
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.ble-launch-btn .back .mid .ble-dial .center .start {
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position: relative;
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width: 100%; height: 11px;
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font-size: 9px; color: #737373;
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text-align: center;
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font-family: var(--font-display);
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}
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.ble-launch-btn .back .mid .ble-dial .center .start > div {
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position: absolute; left: 50%; top: 0;
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transform: translateX(-50%);
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white-space: nowrap;
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}
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.ble-launch-btn .back .mid .ble-dial .center .start .text2 {
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opacity: 0;
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display: inline-flex;
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}
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.ble-launch-btn .back .mid .ble-dial .center .start .text2 > span {
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animation: ble-wave-text 1.8s calc(var(--n) * -0.13s) infinite;
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}
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.ble-launch-hint {
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font-size: 11px; color: var(--text-dim);
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letter-spacing: 0.04em;
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}
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@keyframes ble-wave-text {
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0% { opacity: 0.7; }
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50% { color: #c6e0ff; opacity: 1; }
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100% { opacity: 0.7; }
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}
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@keyframes ble-spot-rot {
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0% { transform: rotate(0); }
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100% { transform: rotate(360deg); }
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}
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@keyframes ble-text2 {
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0% { transform: translateX(-80%); }
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100% { transform: translateX(-50%); }
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}
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@keyframes ble-text-pulse {
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0%, 100% { opacity: 0.5; }
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50% { opacity: 1; }
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}
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.heap-low-table tbody tr:hover { background: rgba(255,255,255,.03); }
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.heap-low-table td.has-suspect { color: var(--red); font-weight: 500; }
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.heap-low-table td.idle-suspect { color: var(--gd32-hi); }
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+102
-5
@@ -74,11 +74,14 @@ label { display: block; }
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/* ═══════════════════════ TOOLBAR ═══════════════════════ */
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.toolbar {
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grid-row: 1;
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grid-column: 1;
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position: relative; z-index: 10;
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display: flex; align-items: center; gap: var(--sp-4);
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padding: 0 var(--sp-5);
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background: var(--bg-panel);
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background: linear-gradient(90deg, color-mix(in srgb, var(--seed-primary) 7%, var(--bg-panel)), var(--bg-panel) 42%);
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border-bottom: 1px solid var(--border);
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box-shadow: 0 8px 24px rgba(0, 0, 0, .15);
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}
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.toolbar-brand {
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display: flex; align-items: center; gap: var(--sp-3);
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@@ -146,6 +149,15 @@ label { display: block; }
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font-family: var(--font-mono); font-size: 0.82rem; outline: none;
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}
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.ch-select:focus { border-color: var(--primary); }
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/* 轮询卡顿：通道下拉框变黄并呼吸发光（fixed-tick 下某拍未按时完成） */
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.ch-select.stuck {
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border-color: color-mix(in srgb, var(--warn) 65%, transparent);
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animation: stuckPulse 1.2s ease-in-out infinite;
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}
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@keyframes stuckPulse {
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0%, 100% { box-shadow: 0 0 2px color-mix(in srgb, var(--warn) 15%, transparent); }
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50% { box-shadow: 0 0 10px color-mix(in srgb, var(--warn) 40%, transparent); }
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}
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/* 刷新速度输入框：与 .ch-select 同风格，宽度收窄 */
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.refresh-input {
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@@ -169,6 +181,8 @@ label { display: block; }
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/* ═══════════════════════ MAIN LAYOUT ═══════════════════════ */
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.main-grid {
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grid-row: 2;
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grid-column: 1;
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position: relative; z-index: 1;
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display: grid;
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grid-template-columns: minmax(240px, 290px) minmax(0, 0.9fr) minmax(420px, 1.1fr);
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@@ -178,15 +192,17 @@ label { display: block; }
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min-height: 0;
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}
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.panel {
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background: var(--bg-panel);
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background: linear-gradient(145deg, color-mix(in srgb, var(--bg-panel) 94%, #ffffff 3%), var(--bg-panel) 52%);
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border: 1px solid var(--border);
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border-radius: var(--radius-lg);
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display: flex; flex-direction: column;
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min-height: 0; overflow: hidden;
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box-shadow: 0 10px 28px rgba(0, 0, 0, .16), inset 0 1px 0 rgba(255, 255, 255, .025);
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}
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.panel-head {
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display: flex; align-items: center; gap: var(--sp-2);
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padding: var(--sp-3) var(--sp-4);
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background: linear-gradient(90deg, var(--primary-dim), transparent 48%);
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border-bottom: 1px solid var(--border);
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flex-shrink: 0;
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}
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@@ -588,10 +604,12 @@ label { display: block; }
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/* ═══════════════════════ STATUS BAR ═══════════════════════ */
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.statusbar {
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grid-row: 3;
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grid-column: 1;
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position: relative; z-index: 10;
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display: flex; align-items: center; gap: var(--sp-4);
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padding: 0 var(--sp-5);
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background: var(--bg-panel);
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background: color-mix(in srgb, var(--bg-panel) 92%, #000000 8%);
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border-top: 1px solid var(--border);
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||||
font-family: var(--font-mono); font-size: 0.72rem; color: var(--fg-muted);
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overflow: hidden;
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@@ -641,12 +659,91 @@ label { display: block; }
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/* disconnected banner */
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.net-banner {
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display: none; align-items: center; gap: var(--sp-2);
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||||
display: none; grid-row: 1; grid-column: 1;
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||||
align-self: end; transform: translateY(100%); z-index: 20;
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||||
align-items: center; gap: var(--sp-2);
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||||
padding: 4px var(--sp-5); font-size: .72rem; font-family: var(--font-mono);
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||||
background: var(--danger-dim); color: var(--danger);
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||||
background: linear-gradient(90deg, color-mix(in srgb, var(--danger) 20%, var(--bg-panel)), var(--danger-dim)); color: var(--danger);
|
||||
border-bottom: 1px solid color-mix(in srgb, var(--danger) 30%, transparent);
|
||||
box-shadow: 0 8px 20px rgba(0, 0, 0, .24);
|
||||
}
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||||
.net-banner.show { display: flex; }
|
||||
body:has(.net-banner.show) .main-grid { padding-top: calc(var(--sp-3) + 29px); }
|
||||
|
||||
/* ═══════════════════════ 命令序列 tab ═══════════════════════ */
|
||||
.seq-toolbar { display: flex; align-items: center; gap: var(--sp-3); flex-wrap: wrap; margin-bottom: var(--sp-4); }
|
||||
.seq-status { font-family: var(--font-mono); font-size: 0.78rem; color: var(--fg-dim); margin-left: auto; white-space: nowrap; }
|
||||
.seq-status.on { color: var(--primary); }
|
||||
.seq-list { display: flex; flex-direction: column; gap: var(--sp-3); }
|
||||
.seq-empty {
|
||||
padding: var(--sp-5); text-align: center; color: var(--fg-dim); font-size: 0.8rem;
|
||||
border: 1px dashed var(--border-strong); border-radius: var(--radius); line-height: 1.7;
|
||||
}
|
||||
.seq-step {
|
||||
padding: var(--sp-3); border-radius: var(--radius);
|
||||
border: 1px solid var(--border); background: var(--bg-root);
|
||||
transition: border-color .2s, background .2s;
|
||||
}
|
||||
.seq-step:hover { border-color: var(--border-strong); }
|
||||
.seq-step.current {
|
||||
border-color: color-mix(in srgb, var(--seed-primary) 55%, transparent);
|
||||
background: color-mix(in srgb, var(--seed-primary) 5%, var(--bg-root));
|
||||
}
|
||||
.seq-locked .seq-step { opacity: .55; pointer-events: none; }
|
||||
.seq-step-head { display: flex; align-items: center; gap: var(--sp-2); flex-wrap: wrap; margin-bottom: var(--sp-2); }
|
||||
.seq-idx { font-family: var(--font-mono); font-size: 0.78rem; font-weight: 600; color: var(--primary); min-width: 4.2em; }
|
||||
.seq-num {
|
||||
padding: 4px 8px; background: var(--bg-root);
|
||||
border: 1px solid var(--border-strong); border-radius: var(--radius-sm);
|
||||
font-family: var(--font-mono); font-size: 0.78rem; outline: none; color: var(--fg);
|
||||
transition: border-color .2s;
|
||||
}
|
||||
.seq-num:focus { border-color: var(--primary); }
|
||||
/* 隐藏原生上下箭头（样式丑且尺寸不可控）：数值直接键入，聚焦后可用键盘 ↑↓ 微调 */
|
||||
.seq-num { -moz-appearance: textfield; appearance: textfield; }
|
||||
.seq-num::-webkit-inner-spin-button,
|
||||
.seq-num::-webkit-outer-spin-button { -webkit-appearance: none; margin: 0; }
|
||||
.seq-step-head .seq-num { width: 6.8em; text-align: right; }
|
||||
.seq-step-head select {
|
||||
padding: 4px 8px; background: var(--bg-root);
|
||||
border: 1px solid var(--border-strong); border-radius: var(--radius-sm);
|
||||
font-family: var(--font-mono); font-size: 0.78rem; outline: none; color: var(--fg);
|
||||
}
|
||||
.seq-step-head select:focus { border-color: var(--primary); }
|
||||
.seq-hold-label, .seq-hold-unit { font-size: 0.68rem; color: var(--fg-dim); font-family: var(--font-mono); }
|
||||
.seq-ops { margin-left: auto; display: flex; gap: 2px; }
|
||||
.seq-ops button {
|
||||
width: 26px; height: 26px; border-radius: var(--radius-sm);
|
||||
display: inline-flex; align-items: center; justify-content: center;
|
||||
color: var(--fg-dim); background: transparent; border: none;
|
||||
transition: background .15s, color .15s;
|
||||
}
|
||||
.seq-ops button svg { flex-shrink: 0; }
|
||||
.seq-ops button:hover:not(:disabled) { background: var(--primary-dim); color: var(--primary); }
|
||||
.seq-ops button.seq-del:hover:not(:disabled) { background: var(--danger-dim); color: var(--danger); }
|
||||
.seq-ops button:disabled { opacity: .25; cursor: default; }
|
||||
.seq-step-fields { display: grid; grid-template-columns: repeat(auto-fit, minmax(110px, 1fr)); gap: var(--sp-2); }
|
||||
.seq-step-fields .field-label { font-size: 0.62rem; }
|
||||
.seq-step-fields .seq-num { width: 100%; }
|
||||
/* 动作组：一步内多个电机动作（近同时下发），动作行嵌套在步骤卡片内 */
|
||||
.seq-count {
|
||||
font-family: var(--font-mono); font-size: 0.68rem; color: var(--fg-dim);
|
||||
padding: 2px 8px; border: 1px solid var(--border); border-radius: 999px; white-space: nowrap;
|
||||
}
|
||||
.seq-actions { display: flex; flex-direction: column; gap: var(--sp-2); }
|
||||
.seq-action {
|
||||
padding: var(--sp-2) var(--sp-3); border-radius: var(--radius-sm);
|
||||
border: 1px solid var(--border); background: var(--bg-panel);
|
||||
}
|
||||
.seq-action-head { display: flex; align-items: center; gap: var(--sp-2); flex-wrap: wrap; margin-bottom: var(--sp-2); }
|
||||
.seq-action-tag { font-family: var(--font-mono); font-size: 0.7rem; font-weight: 600; color: var(--fg-muted); min-width: 4.2em; }
|
||||
.seq-action-head select {
|
||||
padding: 4px 8px; background: var(--bg-root);
|
||||
border: 1px solid var(--border-strong); border-radius: var(--radius-sm);
|
||||
font-family: var(--font-mono); font-size: 0.78rem; outline: none; color: var(--fg);
|
||||
}
|
||||
.seq-action-head select:focus { border-color: var(--primary); }
|
||||
.seq-hint { margin-top: var(--sp-4); font-size: 0.72rem; color: var(--fg-dim); line-height: 1.6; }
|
||||
|
||||
/* ═══════════════════════ RESPONSIVE ═══════════════════════ */
|
||||
@media (max-width: 1365px) {
|
||||
|
||||
Reference in New Issue
Block a user