/* * wifi_ota.cpp - WiFi OTA 服务器实现 * WifiOta 类封装 WiFi 初始化、HTTP OTA 服务器和网络状态查询。 * T4.1 - T4.5 */ #include #include "freertos/FreeRTOS.h" #include "freertos/task.h" #include "freertos/semphr.h" #include "esp_wifi.h" #include "esp_netif.h" #include "esp_http_server.h" #include "esp_system.h" #include "esp_chip_info.h" #include "esp_timer.h" #include "esp_ota_ops.h" #include "nvs_flash.h" #include "lwip/netdb.h" #include "esp_netif.h" #include "esp_netif_types.h" #include "esp_event.h" #include "esp_mac.h" #include "app_config.h" #include "ota_mutex.h" #include "wifi_ota.h" #include "esp32_ota_core.h" #include "ota_relay.h" #include "health_monitor.h" #include "monitor/debug_log.h" #include "spi_master.h" #include "cJSON.h" // ============================================================ WifiOta& WifiOta::instance() { static WifiOta inst; return inst; } static constexpr uint32_t GD32_OTA_FLASH_SECTOR_SIZE = 4096U; static uint32_t align_up_u32(uint32_t value, uint32_t alignment) { return ((value + alignment - 1U) / alignment) * alignment; } /** * @brief 预先声明：为 STA 模式配置静态 IP、网关和子网掩码。 */ /** * @brief 为 HTTP 响应添加跨域访问控制头。 * @param req HTTP 请求对象。 */ static void http_set_cors_headers(httpd_req_t *req) { httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); httpd_resp_set_hdr(req, "Access-Control-Allow-Methods", "GET, POST, OPTIONS"); httpd_resp_set_hdr(req, "Access-Control-Allow-Headers", "Content-Type"); httpd_resp_set_hdr(req, "Access-Control-Max-Age", "600"); } /** * @brief 处理 HTTP OPTIONS 预检请求，返回 204。 * @param req HTTP 请求对象。 * @return ESP_OK。 */ static esp_err_t http_options_handler(httpd_req_t *req) { http_set_cors_headers(req); httpd_resp_set_status(req, "204 No Content"); httpd_resp_send(req, NULL, 0); return ESP_OK; } // ---------------------------------------- // STA 后台重连任务（避免在系统事件回调中调用 esp_wifi_connect 死锁） // ---------------------------------------- /** * @brief 独立 FreeRTOS 任务，处理 STA 连接/重连的退避延迟和 esp_wifi_connect() 调用。 * 事件回调仅通过 xTaskNotifyGive 唤醒本任务，不直接在系统事件任务中阻塞或调用 WiFi API。 */ void WifiOta::reconnectTask(void* pvParameters) { (void)pvParameters; while (1) { // 等待事件回调通知（阻塞，不消耗 CPU） ulTaskNotifyTake(pdTRUE, portMAX_DELAY); WifiOta& self = WifiOta::instance(); // 已连接或已放弃，无需处理 if (self.getStaConnected() || self.getStaRetryExhausted()) { continue; } self.stateLock(); // 达到最大重试次数 if (self.getStaRetryCount() >= WIFI_STA_MAX_RETRY) { DEBUG_ERR("WIFI", "STA 重连失败 %d 次，放弃", self.getStaRetryCount()); self.setStaRetryExhausted(true); self.stateUnlock(); continue; } self.setStaRetryCount(self.getStaRetryCount() + 1); int retryCount = self.getStaRetryCount(); // 计算退避延迟：冷启动前 3 次递增退避，其余固定 1s int delay_ms = 0; if (self.m_coldBoot && retryCount <= 3) { delay_ms = 2000 * retryCount; // 2s, 4s, 6s DEBUG_INFO("WIFI", "冷启动退避重连第 %d 次 (等 %dms)", retryCount, delay_ms); } else if (retryCount > 1) { delay_ms = 1000; // 普通重连 1s 延迟 DEBUG_INFO("WIFI", "重连第 %d 次...", retryCount); } else { DEBUG_INFO("WIFI", "首次连接..."); } self.stateUnlock(); if (delay_ms > 0) { vTaskDelay(pdMS_TO_TICKS(delay_ms)); } // 延迟后再次检查状态，防止期间已连接或已放弃 if (!self.getStaConnected() && !self.getStaRetryExhausted()) { esp_err_t err = esp_wifi_connect(); if (err != ESP_OK) { DEBUG_ERR("WIFI", "esp_wifi_connect() 失败: %s", esp_err_to_name(err)); } } } } // ---------------------------------------- // WiFi/IP 事件回调（事件驱动连接） // ---------------------------------------- /** * @brief WiFi/IP 事件回调，处理 STA 启停、重连和获取 IP 等状态变化。 * @param arg 回调用户参数。 * @param event_base 事件基类（WIFI_EVENT 或 IP_EVENT）。 * @param event_id 具体事件 ID。 * @param event_data 事件附带数据。 */ void WifiOta::wifiEventHandler(void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data) { WifiOta& inst = WifiOta::instance(); if (event_base == WIFI_EVENT) { switch (event_id) { case WIFI_EVENT_STA_START: DEBUG_INFO("WIFI", "STA 已启动，开始连接..."); inst.stateLock(); inst.setStaRetryCount(0); inst.setStaRetryExhausted(false); inst.stateUnlock(); if (inst.m_reconnectTask) { xTaskNotifyGive(inst.m_reconnectTask); } break; case WIFI_EVENT_STA_CONNECTED: DEBUG_INFO("WIFI", "STA 已关联到 AP"); inst.stateLock(); inst.setStaConnected(true); inst.setStaRetryCount(0); inst.setStaRetryExhausted(false); // ★ 连接成功，重置耗尽标志 inst.stateUnlock(); if (inst.m_staConnectedSem) { xSemaphoreGive(inst.m_staConnectedSem); } break; case WIFI_EVENT_STA_DISCONNECTED: { wifi_event_sta_disconnected_t* disconn = (wifi_event_sta_disconnected_t*)event_data; inst.stateLock(); inst.setStaConnected(false); bool exhausted = inst.getStaRetryExhausted(); int retryCount = inst.getStaRetryCount(); inst.stateUnlock(); if (!exhausted) { DEBUG_WARN("WIFI", "STA 断开, reason=%d, retry=%d", disconn->reason, retryCount); if (inst.m_reconnectTask) { xTaskNotifyGive(inst.m_reconnectTask); } } else { DEBUG_WARN("WIFI", "STA 断开, 重试次数已耗尽"); } break; } case WIFI_EVENT_AP_STACONNECTED: { wifi_event_ap_staconnected_t* event = (wifi_event_ap_staconnected_t*)event_data; DEBUG_INFO("WIFI", "AP: 客户端 " MACSTR " 连入, AID=%d", MAC2STR(event->mac), event->aid); break; } case WIFI_EVENT_AP_STADISCONNECTED: { wifi_event_ap_stadisconnected_t* event = (wifi_event_ap_stadisconnected_t*)event_data; DEBUG_INFO("WIFI", "AP: 客户端 " MACSTR " 离开, AID=%d, reason=%d", MAC2STR(event->mac), event->aid, event->reason); break; } default: break; } } else if (event_base == IP_EVENT) { switch (event_id) { case IP_EVENT_STA_GOT_IP: { ip_event_got_ip_t* event = (ip_event_got_ip_t*)event_data; DEBUG_INFO("WIFI", "STA 获取 IP: " IPSTR, IP2STR(&event->ip_info.ip)); if (WifiOta::instance().m_staGotIpSem) { xSemaphoreGive(WifiOta::instance().m_staGotIpSem); } break; } default: break; } } } // ---------------------------------------- // WiFi AP 模式初始化 /** * @brief 初始化 SoftAP 模式，供局域网 OTA 使用。 * @return ESP_OK 成功，其他失败。 */ void WifiOta::initAp() { DEBUG_INFO("WIFI", "=== 初始化 WiFi AP 模式 ==="); WifiOta::instance().m_wifiMode = OTA_WIFI_MODE_AP; esp_netif_t *ap_netif = esp_netif_get_handle_from_ifkey("WIFI_AP_DEF"); if (ap_netif == NULL) { ap_netif = esp_netif_create_default_wifi_ap(); } if (ap_netif != NULL) { esp_netif_dhcps_stop(ap_netif); esp_netif_ip_info_t ip_info; memset(&ip_info, 0, sizeof(ip_info)); // 方案 A：SoftAP 使用 192.168.31.0/24 网段 inet_pton(AF_INET, "192.168.31.1", &ip_info.ip); inet_pton(AF_INET, "192.168.31.1", &ip_info.gw); inet_pton(AF_INET, "255.255.255.0", &ip_info.netmask); ESP_ERROR_CHECK(esp_netif_set_ip_info(ap_netif, &ip_info)); esp_netif_dhcps_start(ap_netif); DEBUG_INFO("WIFI", "AP IP 已设置: 192.168.31.1"); } wifi_config_t wifi_config = {}; memcpy(wifi_config.ap.ssid, WIFI_AP_SSID, strlen(WIFI_AP_SSID) + 1); wifi_config.ap.ssid_len = strlen(WIFI_AP_SSID); memcpy(wifi_config.ap.password, WIFI_AP_PASSWORD, strlen(WIFI_AP_PASSWORD) + 1); wifi_config.ap.max_connection = WIFI_AP_MAX_CONNECT; wifi_config.ap.authmode = WIFI_AUTH_WPA_WPA2_PSK; wifi_config.ap.channel = WIFI_AP_CHANNEL; DEBUG_INFO("WIFI", "AP SSID: %s, Channel: %d", WIFI_AP_SSID, WIFI_AP_CHANNEL); ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP)); ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_AP, &wifi_config)); ESP_ERROR_CHECK(esp_wifi_start()); DEBUG_INFO("WIFI", "WiFi AP 已启动: %s", WIFI_AP_SSID); DEBUG_INFO("WIFI", "AP IP 地址: 192.168.31.1"); DEBUG_INFO("WIFI", "AP 网关地址: 192.168.31.1"); DEBUG_INFO("WIFI", "最大连接数: %d", WIFI_AP_MAX_CONNECT); } // ---------------------------------------- // WiFi STA 模式初始化 /** * @brief 初始化 STA 模式并连接预配置的路由器。 * @return ESP_OK 成功，其他失败。 */ esp_err_t WifiOta::initSta() { DEBUG_INFO("WIFI", "=== 初始化 WiFi STA 模式 ==="); WifiOta::instance().m_wifiMode = OTA_WIFI_MODE_STA; WifiOta::instance().setStaRetryCount(0); WifiOta::instance().setStaRetryExhausted(false); // ★ 设置国家代码：中国，允许信道 1-13 // ESP32 默认国家是 US（只允许 1-11），中国路由可能用 12/13 wifi_country_t country = {}; memcpy(country.cc, "CN", 3); country.schan = 1; country.nchan = 13; country.policy = WIFI_COUNTRY_POLICY_MANUAL; wifi_config_t wifi_config = {}; wifi_config.sta.scan_method = WIFI_ALL_CHANNEL_SCAN; wifi_config.sta.sort_method = WIFI_CONNECT_AP_BY_SIGNAL; wifi_config.sta.threshold.authmode = WIFI_AUTH_WPA2_PSK; wifi_config.sta.pmf_cfg.capable = true; wifi_config.sta.pmf_cfg.required = false; wifi_config.sta.listen_interval = 3; memcpy(wifi_config.sta.ssid, WIFI_STA_SSID, strlen(WIFI_STA_SSID) + 1); memcpy(wifi_config.sta.password, WIFI_STA_PASSWORD, strlen(WIFI_STA_PASSWORD) + 1); DEBUG_INFO("WIFI", "STA SSID: %s (全信道扫描, CN 国家代码)", WIFI_STA_SSID); ESP_ERROR_CHECK(esp_wifi_set_country(&country)); ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA)); ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config)); setStaticIp(); // ★ 冷启动时在 wifi_start 前增加延迟 // 长时间断电后首次上电，WiFi PHY 校准需要额外时间 // esp_wifi_start() 内部会触发 PHY 初始化和校准 // 如果校准未完成就启动射频，可能导致连接失败 if (WifiOta::instance().m_coldBoot) { DEBUG_INFO("WIFI", "冷启动: 等待 PHY 就绪..."); vTaskDelay(pdMS_TO_TICKS(500)); } ESP_ERROR_CHECK(esp_wifi_start()); ESP_ERROR_CHECK(esp_wifi_set_ps(WIFI_PS_NONE)); DEBUG_INFO("WIFI", "WiFi STA 启动, SSID: %s, 事件驱动连接...", WIFI_STA_SSID); return ESP_OK; } /** * @brief 等待 STA 连接成功并获取 IP（静态 IP 等 CONNECTED，DHCP 等 GOT_IP） * @param ip_str 输出缓冲区，存放获取到的 IP 字符串。 * @param len 缓冲区长度。 * @return ESP_OK 连接成功，其他失败。 */ esp_err_t WifiOta::waitStaConnected(char *ip_str, size_t ip_len) { SemaphoreHandle_t wait_sem = WIFI_STA_USE_STATIC_IP ? WifiOta::instance().m_staConnectedSem : WifiOta::instance().m_staGotIpSem; const char *wait_name = WIFI_STA_USE_STATIC_IP ? "STA_CONNECTED" : "STA_GOT_IP"; if (wait_sem == NULL) { DEBUG_ERR("WIFI", "%s 信号量未创建", wait_name); return ESP_ERR_INVALID_STATE; } // ★ 使用轮询等待，检查 WifiOta::instance().m_staRetryExhausted 标志加速退出 // 不再一次性等完整超时，而是每秒检查一次重试耗尽状态 TickType_t timeout_ticks = pdMS_TO_TICKS(WIFI_STA_CONNECT_TIMEOUT_MS); TickType_t start_tick = xTaskGetTickCount(); TickType_t deadline = start_tick + timeout_ticks; while (xTaskGetTickCount() < deadline) { // 每次最多等 1 秒 TickType_t wait_until = xTaskGetTickCount() + pdMS_TO_TICKS(1000); if (wait_until > deadline) wait_until = deadline; if (xSemaphoreTake(wait_sem, wait_until - xTaskGetTickCount()) == pdTRUE) { esp_netif_ip_info_t ip_info; esp_netif_t *netif = esp_netif_get_handle_from_ifkey("WIFI_STA_DEF"); if (netif != NULL && esp_netif_get_ip_info(netif, &ip_info) == ESP_OK) { if (ip_str) { snprintf(ip_str, ip_len, IPSTR, IP2STR(&ip_info.ip)); } DEBUG_INFO("WIFI", "%s 等待成功, 当前 IP: " IPSTR, wait_name, IP2STR(&ip_info.ip)); } WifiOta::instance().setStaConnected(true); return ESP_OK; } // ★ 重试已耗尽，不再等待 if (WifiOta::instance().getStaRetryExhausted()) { DEBUG_ERR("WIFI", "STA 重试已耗尽 (%d 次)，立即切换 AP", WifiOta::instance().getStaRetryCount()); return ESP_ERR_TIMEOUT; } } DEBUG_ERR("WIFI", "等待 %s 超时 (%d ms), 重连次数: %d", wait_name, WIFI_STA_CONNECT_TIMEOUT_MS, WifiOta::instance().getStaRetryCount()); return ESP_ERR_TIMEOUT; } /** * @brief 设置 STA 静态 IP */ void WifiOta::setStaticIp() { if (WIFI_STA_USE_STATIC_IP) { esp_netif_t *sta_netif = esp_netif_get_handle_from_ifkey("WIFI_STA_DEF"); if (sta_netif) { DEBUG_INFO("WIFI", "STA 使用静态 IP 模式，停止 DHCP Client"); ESP_ERROR_CHECK(esp_netif_dhcpc_stop(sta_netif)); esp_netif_ip_info_t info; memset(&info, 0, sizeof(info)); inet_pton(AF_INET, WIFI_STA_STATIC_IP, &info.ip); inet_pton(AF_INET, WIFI_STA_STATIC_GW, &info.gw); inet_pton(AF_INET, WIFI_STA_STATIC_NETMASK, &info.netmask); ESP_ERROR_CHECK(esp_netif_set_ip_info(sta_netif, &info)); DEBUG_INFO("WIFI", "静态 IP 已设置: %s", WIFI_STA_STATIC_IP); // 设置 DNS esp_netif_dns_info_t dns_info; memset(&dns_info, 0, sizeof(dns_info)); inet_pton(AF_INET, WIFI_STA_STATIC_DNS, &dns_info.ip.u_addr.ip4.addr); ESP_ERROR_CHECK(esp_netif_set_dns_info(sta_netif, ESP_NETIF_DNS_MAIN, &dns_info)); DEBUG_INFO("WIFI", "DNS 已设置: %s", WIFI_STA_STATIC_DNS); } } else { DEBUG_INFO("WIFI", "使用 DHCP 获取 IP"); } } // ---------------------------------------- // ESP32 OTA 内部函数 // 注：begin/write/finalize/abort 已抽离到 Esp32OtaCore（main/ota/esp32_ota_core.{h,cpp}） // WiFi 与 BLE 通道共用同一核心，本文件仅负责 HTTP 传输层。 /** * @brief HTTP POST /ota/update - 完成 ESP32 OTA 并重启 * verify_only=true: 仅校验 SHA-256，不设置启动分区，不重启 * verify_only=false或缺省: 完整流程（校验 + 设置启动分区 + 重启） * * 实际的 end/verify/set_boot/restart 逻辑全部委托给 Esp32OtaCore。 * @param req * @return */ static esp_err_t esp32_ota_update_handler(httpd_req_t *req) { http_set_cors_headers(req); Esp32OtaCore &core = Esp32OtaCore::instance(); if (!core.isActive()) { httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "OTA not started"); return ESP_FAIL; } // 读取请求体，获取前端 SHA-256 和 verify_only 标志 char frontend_sha_hex[65] = {0}; bool has_frontend_sha = false; bool verify_only = false; if (req->content_len > 0 && req->content_len < 256) { char buf[256] = {0}; int ret = httpd_req_recv(req, buf, req->content_len); if (ret > 0) { buf[ret] = '\0'; cJSON *root = cJSON_Parse(buf); if (root) { cJSON *sha_item = cJSON_GetObjectItem(root, "sha256"); if (sha_item && cJSON_IsString(sha_item)) { const char *sha_str = cJSON_GetStringValue(sha_item); if (sha_str && strlen(sha_str) == 64) { strncpy(frontend_sha_hex, sha_str, 64); frontend_sha_hex[64] = '\0'; has_frontend_sha = true; DEBUG_INFO("OTA", "Frontend SHA-256: %s", frontend_sha_hex); } } cJSON *verify_item = cJSON_GetObjectItem(root, "verify_only"); if (verify_item && cJSON_IsBool(verify_item)) { verify_only = cJSON_IsTrue(verify_item); } cJSON_Delete(root); } } } char device_sha_hex[65] = {0}; // ── verify_only 模式：只计算并返回设备端 SHA，不 end/set_boot/reboot ── if (verify_only) { DEBUG_INFO("OTA", "ESP32 OTA verify-only mode, %u bytes", (unsigned)core.getReceived()); esp_err_t sha_err = core.computeDeviceSha(device_sha_hex); if (sha_err != ESP_OK) { DEBUG_ERR("OTA", "verify-only: SHA 计算失败: %s", esp_err_to_name(sha_err)); httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, esp_err_to_name(sha_err)); return ESP_FAIL; } char ok_resp[256] = {0}; snprintf(ok_resp, sizeof(ok_resp), "{\"status\": \"ok\", \"message\": \"SHA-256 computed\", \"sha256\": \"%s\"}", device_sha_hex); httpd_resp_set_type(req, "application/json"); httpd_resp_send(req, ok_resp, strlen(ok_resp)); return ESP_OK; } // ── 完整模式：finalize 不重启，先把含设备端 SHA 的结果返回给前端 ── // 关键：reboot=false，让 core.finalize 真正返回，才能拿到 device_sha_hex // 并把响应发回前端；待响应发完后再延迟重启。 // 若 reboot=true，core 内部直接 esp_restart()，HTTP 响应永远发不出去， // 前端会得到 "Failed to fetch" 而错过核对结果。 DEBUG_INFO("OTA", "ESP32 OTA finalize, %u bytes...", (unsigned)core.getReceived()); esp_err_t err = core.finalize(has_frontend_sha ? frontend_sha_hex : nullptr, /*reboot=*/false, device_sha_hex); if (err == ESP_OK) { // 1) 把包含设备端 SHA 的响应发回前端 char resp[320] = {0}; snprintf(resp, sizeof(resp), "{\"status\": \"ok\", \"message\": \"OTA finished, rebooting\", " "\"sha256\": \"%s\"}", device_sha_hex); httpd_resp_set_type(req, "application/json"); httpd_resp_send(req, resp, strlen(resp)); // 2) 响应发完后延迟 500ms 重启，给 TCP 缓冲区时间 flush 到客户端 DEBUG_INFO("OTA", "响应已发送，500ms 后重启..."); vTaskDelay(pdMS_TO_TICKS(500)); esp_restart(); // 不会返回 return ESP_OK; } // 失败：core 已内部清理（abort + mutex release） if (err == ESP_ERR_INVALID_VERSION) { char err_resp[256] = {0}; snprintf(err_resp, sizeof(err_resp), "{\"status\": \"error\", \"message\": \"SHA-256 mismatch\", \"frontend\": \"%s\", \"device\": \"%s\"}", frontend_sha_hex, device_sha_hex); httpd_resp_set_type(req, "application/json"); httpd_resp_send(req, err_resp, strlen(err_resp)); } else { httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, esp_err_to_name(err)); } return ESP_FAIL; } /** * @brief HTTP POST /restart - 立即重启 ESP32 * @param req * @return */ static esp_err_t restart_handler(httpd_req_t *req) { (void)req; http_set_cors_headers(req); DEBUG_INFO("OTA", "收到重启请求，500ms 后重启..."); const char resp[] = "{\"status\": \"ok\", \"message\": \"rebooting\"}"; httpd_resp_set_type(req, "application/json"); httpd_resp_send(req, resp, strlen(resp)); vTaskDelay(pdMS_TO_TICKS(500)); esp_restart(); return ESP_OK; } // ---------------------------------------- // 从 HTTP 流中读取完整的 JSON 头（以 } 结尾） /** * @brief 返回 JSON 字符串长度，失败返回 0 * @param req * @param buf * @param buf_size * @return */ static int recv_json_header(httpd_req_t *req, char *buf, int buf_size) { int total = 0; int depth = 1; // 开头的 '{' 已被 peek 消费，从 1 开始 while (total < buf_size - 1) { int ret = httpd_req_recv(req, buf + total, 1); // 逐字节读，精确找到 JSON 结尾 if (ret <= 0) return total; total += ret; buf[total] = '\0'; if (buf[total - 1] == '{') depth++; else if (buf[total - 1] == '}') { depth--; if (depth == 0) return total; // JSON 头读完 } } return total; // fallback: return consumed bytes } // ---------------------------------------- // 统一 /ota/upload 处理器（自动识别目标） /** * @brief HTTP 文件上传处理器，接收固件并写入 Flash。 * @param req * @return ESP_OK 成功，其他失败。 */ static esp_err_t ota_upload_handler(httpd_req_t *req) { http_set_cors_headers(req); DEBUG_INFO("WIFI", "=== HTTP: POST /ota/upload ==="); DEBUG_INFO("WIFI", "收到固件上传请求, 内容长度: %d 字节", req->content_len); // 预读 1 字节判断是 JSON 还是 binary char peek; int peek_ret = httpd_req_recv(req, &peek, 1); if (peek_ret <= 0) { httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "接收失败"); return ESP_FAIL; } bool is_esp32_ota = false; uint32_t total_size = 0; int json_header_len = 0; uint8_t pre_read_buf[256] = {0}; int pre_read_len = 1; pre_read_buf[0] = (uint8_t)peek; if (peek == '{') { // JSON 模式：逐字节读完 JSON 头 char json_buf[256]; json_buf[0] = peek; json_header_len = recv_json_header(req, json_buf + 1, sizeof(json_buf) - 1); if (json_header_len > 0) { json_header_len++; // 加上已读的 peek 字节 json_buf[json_header_len] = '\0'; pre_read_len = json_header_len; if (pre_read_len > (int)sizeof(pre_read_buf)) pre_read_len = (int)sizeof(pre_read_buf); memcpy(pre_read_buf, json_buf, pre_read_len); cJSON *root = cJSON_Parse(json_buf); if (root) { cJSON *type_item = cJSON_GetObjectItem(root, "type"); if (type_item && cJSON_IsString(type_item) && strcmp(cJSON_GetStringValue(type_item), "esp32") == 0) { is_esp32_ota = true; DEBUG_INFO("WIFI", "检测到 ESP32 OTA, JSON 头长度: %d 字节", json_header_len); } cJSON *size_item = cJSON_GetObjectItem(root, "total_size"); if (size_item) { total_size = (uint32_t)cJSON_GetNumberValue(size_item); } cJSON_Delete(root); } } } if (is_esp32_ota) { // --- ESP32 OTA --- if (total_size == 0) { httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "missing total_size"); return ESP_FAIL; } Esp32OtaCore &core = Esp32OtaCore::instance(); esp_err_t err = core.begin(total_size); if (err != ESP_OK) { if (err == ESP_ERR_INVALID_STATE) { httpd_resp_send_err(req, HTTPD_403_FORBIDDEN, "ESP32 OTA occupied by another channel"); } else { httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "OTA begin failed"); } return ESP_FAIL; } // 堆分配缓冲区，避免栈溢出（HTTP server 栈仅 8KB） uint8_t *fw_buf = (uint8_t *)malloc(OTA_BLOCK_SIZE); if (!fw_buf) { core.abort(); httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "内存分配失败"); return ESP_FAIL; } size_t total_firmware_written = 0; size_t total_received = json_header_len; // 已消费的字节数 int last_percent = 0; while (total_received < req->content_len) { size_t to_read = req->content_len - total_received; if (to_read > OTA_BLOCK_SIZE) to_read = OTA_BLOCK_SIZE; int ret = httpd_req_recv(req, (char *)fw_buf, to_read); if (ret <= 0) { DEBUG_ERR("WIFI", "HTTP recv failed (ret=%d), aborting OTA", ret); free(fw_buf); core.abort(); httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "HTTP recv failed"); return ESP_FAIL; } err = core.write(fw_buf, (size_t)ret); if (err != ESP_OK) { DEBUG_ERR("WIFI", "OTA write failed: %s", esp_err_to_name(err)); free(fw_buf); core.abort(); httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "OTA write failed"); return ESP_FAIL; } total_firmware_written += ret; total_received += ret; if (total_size > 0) { int percent = (int)((total_firmware_written * 100) / total_size); if (percent / 10 > last_percent / 10) { last_percent = percent; DEBUG_INFO("WIFI", "ESP32 OTA 进度: %u / %u (%d%%)", (unsigned int)total_firmware_written, total_size, percent); } } } free(fw_buf); DEBUG_INFO("WIFI", "ESP32 OTA 存储完成: %u 字节 (跳过 JSON 头 %d 字节)", (unsigned int)core.getReceived(), json_header_len); const char resp[] = "{\"status\": \"ok\", \"message\": \"stored, call POST /ota/update to finish\", \"target\": \"esp32\"}"; httpd_resp_set_type(req, "application/json"); httpd_resp_send(req, resp, strlen(resp)); return ESP_OK; } // --- GD32 OTA（原逻辑）--- const uint32_t gd32_fw_size = (uint32_t)req->content_len; // 网页上传协议：JSON 头 + raw binary。raw binary 大小优先取 JSON 中的 total_size，否则按 content_len - json_header_len 计算。 uint32_t gd32_valid_size; if (json_header_len > 0 && (uint32_t)json_header_len < gd32_fw_size) { gd32_valid_size = (total_size > 0 && total_size < gd32_fw_size) ? total_size : (gd32_fw_size - (uint32_t)json_header_len); } else { gd32_valid_size = gd32_fw_size; } const uint32_t gd32_rounded_size = (uint32_t)(((gd32_valid_size + (uint32_t)GD32_OTA_PACKET_SIZE - 1U) / (uint32_t)GD32_OTA_PACKET_SIZE) * (uint32_t)GD32_OTA_PACKET_SIZE); if (gd32_valid_size == 0U || gd32_valid_size > OTA_MAX_FIRMWARE_SIZE || gd32_rounded_size > OTA_MAX_FIRMWARE_SIZE) { DEBUG_ERR("WIFI", "firmware size invalid: valid=%u rounded48=%u max=%u", (unsigned)gd32_valid_size, (unsigned)gd32_rounded_size, (unsigned)OTA_MAX_FIRMWARE_SIZE); httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "firmware too large or alignment overflow"); return ESP_FAIL; } if (OtaRelay::getState() != RELAY_IDLE) { DEBUG_WARN("WIFI", "GD32 OTA 开始前复位中继状态: %d", OtaRelay::getState()); OtaRelay::instance().reset(); } WifiOta::instance().stateLock(); WifiOta::instance().setGd32StorageDone(false); WifiOta::instance().setRelayTriggered(false); WifiOta::instance().stateUnlock(); const esp_partition_t *gd32_partition = esp_partition_find_first( ESP_PARTITION_TYPE_DATA, ESP_PARTITION_SUBTYPE_DATA_SPIFFS, "gd32_ota"); if (!gd32_partition) { DEBUG_ERR("WIFI", "找不到 gd32_ota 分区"); httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "找不到 gd32_ota 分区"); return ESP_FAIL; } const uint32_t gd32_erase_size = align_up_u32(gd32_valid_size, GD32_OTA_FLASH_SECTOR_SIZE); if (gd32_erase_size > gd32_partition->size) { DEBUG_ERR("WIFI", "gd32_ota 分区空间不足: erase=%u partition=%u", (unsigned)gd32_erase_size, (unsigned)gd32_partition->size); httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "gd32_ota partition too small"); return ESP_FAIL; } DEBUG_INFO("WIFI", "擦除 gd32_ota 分区: %u bytes (fw=%u, partition=%u)", (unsigned)gd32_erase_size, (unsigned)gd32_valid_size, (unsigned)gd32_partition->size); esp_err_t erase_err = esp_partition_erase_range(gd32_partition, 0, gd32_erase_size); if (erase_err != ESP_OK) { DEBUG_ERR("WIFI", "擦除 gd32_ota 分区失败: %s", esp_err_to_name(erase_err)); char err_msg[96]; snprintf(err_msg, sizeof(err_msg), "erase gd32_ota failed: %s", esp_err_to_name(erase_err)); httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, err_msg); return ESP_FAIL; } OtaRelay::metaClear(); uint8_t *buf = (uint8_t *)malloc(OTA_BLOCK_SIZE); if (!buf) { httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "内存分配失败"); return ESP_FAIL; } int received = 0; // GD32 路径与网页上传协议对齐：网页上传的是 raw binary（不带 6B 头）。 uint32_t expected_fw_size_raw = gd32_valid_size; ota_meta_t meta_raw = { .total_size = expected_fw_size_raw, .stored_size = 0, .last_seq = 0, .checksum = {0} }; OtaRelay::metaSave(&meta_raw); uint32_t gd32_offset = 0; DEBUG_INFO("WIFI", "GD32 raw upload start: %u bytes", expected_fw_size_raw); // JSON 头已解析完毕，pre_read_buf 中的 JSON 字节不是固件数据，不能写入分区。 // 仅在纯二进制模式（无 JSON 头）时写入 peek 的首字节。 if (json_header_len == 0 && pre_read_len > 0) { int first_chunk_len = pre_read_len; if (first_chunk_len > req->content_len) first_chunk_len = req->content_len; if (first_chunk_len > 0) { gd32_offset = 0; esp_err_t err = OtaRelay::flashWriteChunk(gd32_offset, pre_read_buf, (size_t)first_chunk_len); if (err != ESP_OK) { DEBUG_ERR("WIFI", "GD32 first chunk write failed: len=%d err=%s", first_chunk_len, esp_err_to_name(err)); free(buf); httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "write gd32_ota failed"); return ESP_FAIL; } received = first_chunk_len; gd32_offset += (uint32_t)first_chunk_len; OtaRelay::metaUpdate(gd32_offset, (uint32_t)(gd32_offset / OTA_BLOCK_SIZE)); } } else { received = pre_read_len; // 跳过已消费的 JSON 头字节 } while (received < req->content_len) { size_t to_read = req->content_len - received; if (to_read > OTA_BLOCK_SIZE) to_read = OTA_BLOCK_SIZE; int ret = httpd_req_recv(req, (char *)buf, to_read); if (ret <= 0) { DEBUG_ERR("WIFI", "GD32 upload interrupted: received=%d expected=%d", received, req->content_len); free(buf); httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "upload interrupted"); return ESP_FAIL; } esp_err_t err = OtaRelay::flashWriteChunk(gd32_offset, buf, (size_t)ret); if (err != ESP_OK) { DEBUG_ERR("WIFI", "GD32 write failed: offset=%u len=%d err=%s", (unsigned)gd32_offset, ret, esp_err_to_name(err)); free(buf); httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "write gd32_ota failed"); return ESP_FAIL; } received += ret; gd32_offset += (uint32_t)ret; } free(buf); // update meta with written size OtaRelay::metaUpdate(gd32_offset, (uint32_t)(gd32_offset / OTA_BLOCK_SIZE)); DEBUG_INFO("WIFI", "GD32 upload done: %u / %u bytes", (unsigned)gd32_offset, expected_fw_size_raw); ota_meta_t final_meta; OtaRelay::metaLoad(&final_meta); if (final_meta.total_size > 0 && final_meta.stored_size >= final_meta.total_size) { WifiOta::instance().stateLock(); WifiOta::instance().setGd32StorageDone(true); WifiOta::instance().stateUnlock(); DEBUG_INFO("WIFI", "GD32 firmware fully stored, computing SHA-256..."); // 计算并存储 SHA-256 校验和 esp_err_t sha_err = OtaRelay::metaFinalizeChecksum(); if (sha_err != ESP_OK) { DEBUG_ERR("WIFI", "GD32 固件 SHA-256 计算失败: %s", esp_err_to_name(sha_err)); } DEBUG_INFO("WIFI", "auto-triggering relay"); // 自动触发中继 if (OtaRelay::dispatchQueue) { uint32_t cmd = 1; // 1 = start relay xQueueSend(OtaRelay::dispatchQueue, &cmd, 0); } } const char resp[] = "{\"status\": \"ok\", \"progress\": 100, \"target\": \"gd32\"}"; httpd_resp_set_type(req, "application/json"); httpd_resp_send(req, resp, strlen(resp)); return ESP_OK; } /** * @brief HTTP POST /ota/relay 处理器 * @param req * @return */ static esp_err_t ota_relay_trigger_handler(httpd_req_t *req) { http_set_cors_headers(req); DEBUG_INFO("WIFI", "=== HTTP: POST /ota/relay ==="); DEBUG_INFO("WIFI", "收到触发 OTA 中继请求"); ota_meta_t meta; memset(&meta, 0, sizeof(meta)); if (OtaRelay::metaLoad(&meta) != ESP_OK || meta.total_size == 0 || meta.stored_size < meta.total_size) { httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "firmware not fully stored"); return ESP_FAIL; } relay_state_t curState = OtaRelay::getState(); WifiOta::instance().stateLock(); if (WifiOta::instance().getRelayTriggered() && curState != RELAY_IDLE && curState != RELAY_DONE && curState != RELAY_APP_VERIFY && curState != RELAY_ERROR) { WifiOta::instance().stateUnlock(); httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "relay already triggered"); return ESP_FAIL; } /* 上一轮中继已结束/失败/空闲，重置标志允许重新触发 */ WifiOta::instance().setRelayTriggered(false); WifiOta::instance().setGd32StorageDone(false); WifiOta::instance().stateUnlock(); if (!OtaRelay::dispatchQueue) { httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "relay queue not ready"); return ESP_FAIL; } WifiOta::instance().signalRelay(); if (!WifiOta::instance().getRelayTriggered()) { httpd_resp_send_err(req, HTTPD_500_INTERNAL_SERVER_ERROR, "relay trigger failed"); return ESP_FAIL; } const char resp[] = "{\"status\": \"ok\", \"message\": \"OTA relay triggered\"}"; httpd_resp_set_type(req, "application/json"); httpd_resp_send(req, resp, strlen(resp)); return ESP_OK; } /** * @brief HTTP GET /logs - 拉取并清空日志缓冲区 * @param req * @return */ static esp_err_t logs_handler(httpd_req_t *req) { http_set_cors_headers(req); int json_len = 0; char *json = DebugLog::instance().ringDrainJson(&json_len); if (json && json_len > 0) { httpd_resp_set_type(req, "application/json"); httpd_resp_send(req, json, json_len); free(json); } else { httpd_resp_set_type(req, "application/json"); httpd_resp_send(req, "[]", 2); } 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} /** * @brief data 为 hex 字符串（可不填，自动用 dlc 决定实际发送长度） * @param req * @return */ static esp_err_t can_send_handler(httpd_req_t *req) { http_set_cors_headers(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 = SpiMaster::instance().canSend(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 POST /spi/send 处理器 // 网页传 type + payload，ESP32 自动构建 SOF+TYPE+LEN(L/H)+PAYLOAD+CRC 帧 // 并通过 spi_ota_transfer 完成完整事务（发送+轮询响应帧+解析）。 // // 请求体: {"type": "01", "data": "01020304", "timeout_ms": 1000} // type: 帧类型 (hex 1 字节，如 01=REQ, 02=DATA, B0=BOOT) // data: 负载数据 (hex 字符串，可选) // timeout_ms: 超时毫秒 (可选, 默认 1000) /** * @brief HTTP POST /spi/send 处理器，转发上位机请求到 SPI 并返回结果。 * @param req HTTP 请求对象。 * @return ESP_OK 成功，ESP_FAIL 表示请求处理失败。 */ static esp_err_t spi_send_handler(httpd_req_t *req) { http_set_cors_headers(req); char buf[512] = {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 *type_item = cJSON_GetObjectItem(root, "type"); cJSON *data_item = cJSON_GetObjectItem(root, "data"); cJSON *timeout_item = cJSON_GetObjectItem(root, "timeout_ms"); if (!type_item || !cJSON_IsString(type_item)) { cJSON_Delete(root); httpd_resp_send_err(req, HTTPD_400_BAD_REQUEST, "缺少 type 字段"); return ESP_FAIL; } const char *type_hex = cJSON_GetStringValue(type_item); uint8_t frame_type = (uint8_t)strtol(type_hex, NULL, 16); uint32_t timeout_ms = timeout_item ? (uint32_t)cJSON_GetNumberValue(timeout_item) : 1000; // 解析 payload (hex 字符串 → 字节数组) uint8_t payload_data[SPI_OTA_FRAME_MAX] = {0}; size_t payload_len = 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 < SPI_OTA_FRAME_MAX; i++) { char byte_str[3] = { hex_str[i * 2], hex_str[i * 2 + 1], '\0' }; payload_data[i] = (uint8_t)strtol(byte_str, NULL, 16); payload_len++; } } DEBUG_INFO("SPI", "WEB SPI: type=0x%02X, payload=%zu 字节", frame_type, payload_len); cJSON_Delete(root); char resp[1024]; uint8_t resp_type = 0; uint8_t resp_payload[SPI_OTA_FRAME_MAX] = {0}; size_t resp_len = 0; esp_err_t spi_err = SpiMaster::instance().otaTransfer(frame_type, payload_data, payload_len, &resp_type, resp_payload, sizeof(resp_payload), &resp_len, timeout_ms); if (spi_err == ESP_OK) { char resp_hex[SPI_OTA_FRAME_MAX * 2 + 1] = {0}; for (size_t i = 0; i < resp_len; i++) { sprintf(&resp_hex[i * 2], "%02X", resp_payload[i]); } snprintf(resp, sizeof(resp), "{\"status\": \"ok\", \"type\": \"%02X\", \"payload_len\": %zu, \"resp_type\": \"%02X\", \"resp_len\": %zu, \"recv\": \"%s\"}", frame_type, payload_len, resp_type, resp_len, resp_hex); DEBUG_INFO("SPI", "WEB SPI 响应: type=0x%02X len=%zu payload=%s", resp_type, resp_len, resp_hex); } else { snprintf(resp, sizeof(resp), "{\"status\": \"error\", \"code\": %d, \"message\": \"%s\"}", spi_err, esp_err_to_name(spi_err)); DEBUG_ERR("SPI", "WEB SPI 失败: %s", esp_err_to_name(spi_err)); } httpd_resp_set_type(req, "application/json"); httpd_resp_send(req, resp, strlen(resp)); return ESP_OK; } /** * @brief HTTP GET /system/status 处理器 * @param req * @return */ static esp_err_t system_status_handler(httpd_req_t *req) { http_set_cors_headers(req); char ip_str[16] = "0.0.0.0"; int8_t rssi = -127; bool connected = false; if (WifiOta::instance().m_wifiMode == OTA_WIFI_MODE_STA && WifiOta::instance().getStaConnected()) { esp_netif_ip_info_t ip_info; esp_netif_t *sta_netif = esp_netif_get_handle_from_ifkey("WIFI_STA_DEF"); if (sta_netif && esp_netif_get_ip_info(sta_netif, &ip_info) == ESP_OK) { snprintf(ip_str, sizeof(ip_str), IPSTR, IP2STR(&ip_info.ip)); } wifi_ap_record_t ap_info; if (esp_wifi_sta_get_ap_info(&ap_info) == ESP_OK) { rssi = ap_info.rssi; } connected = true; } gd32_version_t pingVer = {}; OtaRelay::getGd32Version(&pingVer); /* 若尚无 GD32 版本信息且 OTA 中继空闲，尝试一次 SPI PING 获取 */ if (pingVer.app_major == 0 && pingVer.boot_major == 0 && OtaRelay::getState() == RELAY_IDLE) { static uint32_t last_ping_ms = 0; uint32_t now_ms = (uint32_t)(esp_timer_get_time() / 1000); if (now_ms - last_ping_ms > 5000) { /* 5 秒节流 */ last_ping_ms = now_ms; uint32_t uptime = 0; gd32_version_t ver = {}; if (SpiMaster::instance().appPing(500, &uptime, &ver) == ESP_OK) { OtaRelay::setGd32AppAlive(true); OtaRelay::setGd32Version(ver); } else { OtaRelay::setGd32AppAlive(false); } } } ota_meta_t meta; memset(&meta, 0, sizeof(meta)); OtaRelay::metaLoad(&meta); gd32_version_t snapVer2 = {}; OtaRelay::getGd32Version(&snapVer2); char resp[1024]; int len = snprintf(resp, sizeof(resp), "{\"version\": \"%s\", \"build_time\": \"%s\", \"git_hash\": \"%s\", \"health\": %d, \"free_heap\": %lu, \"min_free_heap\": %lu, \"temperature\": %.1f, \"uptime_sec\": %lu, \"wifi\": {\"mode\": \"%s\", \"ip\": \"%s\", \"rssi\": %d, \"connected\": %s}, \"ota\": {\"total_size\": %lu, \"stored_size\": %lu, \"storage_done\": %s, \"relay_state\": %d, \"relay_seq\": %lu, \"relay_total_packets\": %lu, \"gd32_app_alive\": %s, \"gd32_app\": \"v%d.%d.%d.%d\", \"gd32_boot\": \"v%d.%d.%d.%d\"}}", FW_VERSION, FW_BUILD_TIME, FW_GIT_HASH, HealthMonitor::instance().getCurrent(), (unsigned long)esp_get_free_heap_size(), (unsigned long)esp_get_minimum_free_heap_size(), (double)HealthMonitor::instance().getLastTemperature(), (unsigned long)(esp_timer_get_time() / 1000000), WifiOta::instance().m_wifiMode == OTA_WIFI_MODE_AP ? "AP" : "STA", ip_str, rssi, connected ? "true" : "false", (unsigned long)meta.total_size, (unsigned long)meta.stored_size, WifiOta::instance().getGd32StorageDone() ? "true" : "false", OtaRelay::getState(), (unsigned long)OtaRelay::getRelaySeq(), (unsigned long)OtaRelay::getRelayTotalPackets(), OtaRelay::getGd32AppAlive() ? "true" : "false", snapVer2.app_major, snapVer2.app_minor, snapVer2.app_patch, snapVer2.app_build, snapVer2.boot_major, snapVer2.boot_minor, snapVer2.boot_patch, snapVer2.boot_build); httpd_resp_set_type(req, "application/json"); httpd_resp_send(req, resp, len); return ESP_OK; } // ---------------------------------------- // 启动 HTTP OTA 服务器 /** * @brief 启动 HTTP OTA 服务器，注册各接口路由。 * @return ESP_OK 成功，其他失败。 */ esp_err_t WifiOta::httpServerStart() { httpd_config_t config = HTTPD_DEFAULT_CONFIG(); config.server_port = HTTP_SERVER_PORT; config.stack_size = HTTP_SERVER_STACK_SIZE; config.max_uri_handlers = 32; // 现有业务端点 + 对应 OPTIONS 预检 config.max_open_sockets = 4; // LWIP_MAX_SOCKETS 默认 7，HTTP 内部占 3，最多 4 config.lru_purge_enable = true; // socket 满时自动清理最久未用的连接 config.recv_wait_timeout = 30; // GD32 上传前会擦除 Flash，5 秒默认值过紧 config.send_wait_timeout = 30; DEBUG_INFO("WIFI", "=== 启动 HTTP OTA 服务器 ==="); DEBUG_INFO("WIFI", "HTTP 服务器端口: %d", config.server_port); esp_err_t err = httpd_start(&WifiOta::instance().m_httpServer, &config); if (err != ESP_OK) { DEBUG_ERR("WIFI", "HTTP 服务器启动失败: %s", esp_err_to_name(err)); return err; } // 从 NVS 恢复固件存储状态（重启后保留） { ota_meta_t boot_meta; if (OtaRelay::metaLoad(&boot_meta) == ESP_OK && boot_meta.total_size > 0 && boot_meta.stored_size >= boot_meta.total_size) { WifiOta::instance().setGd32StorageDone(true); DEBUG_INFO("WIFI", "从 NVS 恢复: 固件已就绪 (%u bytes)", boot_meta.total_size); } } httpd_uri_t upload_uri = { .uri = "/ota/upload", .method = HTTP_POST, .handler = ota_upload_handler, .user_ctx = NULL }; httpd_register_uri_handler(WifiOta::instance().m_httpServer, &upload_uri); httpd_uri_t upload_options_uri = { .uri = "/ota/upload", .method = HTTP_OPTIONS, .handler = http_options_handler, .user_ctx = NULL }; httpd_register_uri_handler(WifiOta::instance().m_httpServer, &upload_options_uri); httpd_uri_t relay_uri = { .uri = "/ota/relay", .method = HTTP_POST, .handler = ota_relay_trigger_handler, .user_ctx = NULL }; httpd_register_uri_handler(WifiOta::instance().m_httpServer, &relay_uri); httpd_uri_t relay_options_uri = { .uri = "/ota/relay", .method = HTTP_OPTIONS, .handler = http_options_handler, .user_ctx = NULL }; httpd_register_uri_handler(WifiOta::instance().m_httpServer, &relay_options_uri); httpd_uri_t esp32_update_uri = { .uri = "/ota/update", .method = HTTP_POST, .handler = esp32_ota_update_handler, .user_ctx = NULL }; httpd_register_uri_handler(WifiOta::instance().m_httpServer, &esp32_update_uri); httpd_uri_t esp32_update_options_uri = { .uri = "/ota/update", .method = HTTP_OPTIONS, .handler = http_options_handler, .user_ctx = NULL }; httpd_register_uri_handler(WifiOta::instance().m_httpServer, &esp32_update_options_uri); httpd_uri_t restart_uri = { .uri = "/restart", .method = HTTP_POST, .handler = restart_handler, .user_ctx = NULL }; httpd_register_uri_handler(WifiOta::instance().m_httpServer, &restart_uri); httpd_uri_t restart_options_uri = { .uri = "/restart", .method = HTTP_OPTIONS, .handler = http_options_handler, .user_ctx = NULL }; httpd_register_uri_handler(WifiOta::instance().m_httpServer, &restart_options_uri); httpd_uri_t logs_uri = { .uri = "/logs", .method = HTTP_GET, .handler = logs_handler, .user_ctx = NULL }; httpd_register_uri_handler(WifiOta::instance().m_httpServer, &logs_uri); httpd_uri_t logs_options_uri = { .uri = "/logs", .method = HTTP_OPTIONS, .handler = http_options_handler, .user_ctx = NULL }; httpd_register_uri_handler(WifiOta::instance().m_httpServer, &logs_options_uri); httpd_uri_t system_status_uri = { .uri = "/system/status", .method = HTTP_GET, .handler = system_status_handler, .user_ctx = NULL }; httpd_register_uri_handler(WifiOta::instance().m_httpServer, &system_status_uri); httpd_uri_t system_status_options_uri = { .uri = "/system/status", .method = HTTP_OPTIONS, .handler = http_options_handler, .user_ctx = NULL }; httpd_register_uri_handler(WifiOta::instance().m_httpServer, &system_status_options_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(WifiOta::instance().m_httpServer, &can_send_uri); httpd_uri_t can_send_options_uri = { .uri = "/can/send", .method = HTTP_OPTIONS, .handler = http_options_handler, .user_ctx = NULL }; httpd_register_uri_handler(WifiOta::instance().m_httpServer, &can_send_options_uri); // SPI 直接发送 httpd_uri_t spi_send_uri = { .uri = "/spi/send", .method = HTTP_POST, .handler = spi_send_handler, .user_ctx = NULL }; httpd_register_uri_handler(WifiOta::instance().m_httpServer, &spi_send_uri); httpd_uri_t spi_send_options_uri = { .uri = "/spi/send", .method = HTTP_OPTIONS, .handler = http_options_handler, .user_ctx = NULL }; httpd_register_uri_handler(WifiOta::instance().m_httpServer, &spi_send_options_uri); DEBUG_INFO("WIFI", "注册端点: /ota/upload, /ota/relay, /ota/update, /restart, /logs, /system/status, /can/send, /spi/send"); return ESP_OK; } // ---------------------------------------- // 公开 API /** * @brief 通知 OTA 中继开始向 GD32 转发固件。 */ void WifiOta::signalRelay() { ota_meta_t meta; memset(&meta, 0, sizeof(meta)); if (OtaRelay::metaLoad(&meta) != ESP_OK || meta.total_size == 0 || meta.stored_size < meta.total_size) { DEBUG_WARN("WIFI", "GD32 固件未完整存储，拒绝触发转发: stored=%lu total=%lu", (unsigned long)meta.stored_size, (unsigned long)meta.total_size); return; } relay_state_t st = OtaRelay::getState(); WifiOta::instance().stateLock(); if (WifiOta::instance().getRelayTriggered() && st != RELAY_IDLE && st != RELAY_DONE && st != RELAY_APP_VERIFY && st != RELAY_ERROR) { WifiOta::instance().stateUnlock(); DEBUG_WARN("WIFI", "转发正在执行中，状态: %d", st); return; } /* 上一轮中继已结束/失败/空闲，重置标志 */ WifiOta::instance().setRelayTriggered(false); WifiOta::instance().setGd32StorageDone(false); WifiOta::instance().setRelayTriggered(true); WifiOta::instance().stateUnlock(); if (OtaRelay::dispatchQueue) { uint32_t msg = 1; BaseType_t ret = xQueueSend(OtaRelay::dispatchQueue, &msg, pdMS_TO_TICKS(100)); if (ret == pdTRUE) { DEBUG_INFO("WIFI", "OTA 调度信号已发送到中继任务"); } else { DEBUG_ERR("WIFI", "OTA 调度信号发送失败"); WifiOta::instance().setRelayTriggered(false); } } else { DEBUG_ERR("WIFI", "OTA 中继队列尚未就绪"); WifiOta::instance().setRelayTriggered(false); } } /** * @brief 获取当前 WiFi 工作模式（AP 或 STA）。 * @return 当前 WiFi 模式枚举值。 */ ota_wifi_mode_t WifiOta::getMode() { return WifiOta::instance().m_wifiMode; } /** * @brief 获取当前 WiFi 信号强度。 * @return 信号强度（dBm），未连接时返回无效值。 */ int8_t WifiOta::getRssi() { if (WifiOta::instance().m_wifiMode != OTA_WIFI_MODE_STA || !WifiOta::instance().getStaConnected()) { return -127; } wifi_ap_record_t ap_info; if (esp_wifi_sta_get_ap_info(&ap_info) == ESP_OK) { return ap_info.rssi; } return -127; } /** * @brief 判断 STA 是否已连接到上级 WiFi。 * @return true 已连接，false 未连接。 */ bool WifiOta::isConnected() { return WifiOta::instance().getStaConnected(); } // ---------------------------------------- // ★ WiFi 早期初始化（在 app_main 调度器启动前调用） // 包括：NVS → netif → event handler → WiFi driver → 配置 → connect // 返回：true = STA 模式已启动（正在连接），false = 需要切 AP /** * @brief 在调度器启动前初始化 WiFi 并尝试 STA 连接。 * @return true STA 初始化中，false 需回退 AP。 */ bool WifiOta::earlyInit() { DEBUG_INFO("WIFI", "=== WiFi 早期初始化 (调度器启动前) ==="); // ★ 冷启动检测：判断是否为上电复位 esp_reset_reason_t reset_reason = esp_reset_reason(); WifiOta::instance().m_coldBoot = (reset_reason == ESP_RST_POWERON || reset_reason == ESP_RST_BROWNOUT); DEBUG_INFO("WIFI", "复位原因: %d (%s), 冷启动: %s", reset_reason, (reset_reason == ESP_RST_POWERON) ? "POWER_ON" : (reset_reason == ESP_RST_BROWNOUT) ? "BROWNOUT" : (reset_reason == ESP_RST_SW) ? "SOFTWARE" : (reset_reason == ESP_RST_PANIC) ? "PANIC" : (reset_reason == ESP_RST_INT_WDT) ? "INT_WDT" : (reset_reason == ESP_RST_TASK_WDT) ? "TASK_WDT" : (reset_reason == ESP_RST_DEEPSLEEP) ? "DEEP_SLEEP" : "OTHER", WifiOta::instance().m_coldBoot ? "是" : "否"); esp_err_t err = nvs_flash_init(); bool nvs_erased = false; if (err == ESP_ERR_NVS_NO_FREE_PAGES || err == ESP_ERR_NVS_NEW_VERSION_FOUND) { // NVS 分区损坏或版本不匹配，擦除后重试 DEBUG_WARN("WIFI", "NVS 分区异常 (%s)，擦除后重试", esp_err_to_name(err)); ESP_ERROR_CHECK(nvs_flash_erase()); nvs_erased = true; err = nvs_flash_init(); } if (err != ESP_OK) { DEBUG_ERR("WIFI", "NVS 初始化失败: %s", esp_err_to_name(err)); } else { if (nvs_erased) { DEBUG_WARN("WIFI", "NVS 已擦除重建，WiFi PHY 校准数据已清除，将重新校准"); } DEBUG_INFO("WIFI", "NVS 初始化成功"); } // ★ 冷启动时强制清除 WiFi NVS 缓存，避免残留脏数据 // 长时间断电后 NVS 中的 WiFi 配置缓存可能不一致 if (WifiOta::instance().m_coldBoot) { nvs_handle_t nvs_handle; err = nvs_open("nvs.net80211", NVS_READWRITE, &nvs_handle); if (err == ESP_OK) { // 清除 WiFi 驱动内部 NVS 缓存键 nvs_erase_all(nvs_handle); nvs_commit(nvs_handle); nvs_close(nvs_handle); DEBUG_INFO("WIFI", "冷启动: 已清除 WiFi NVS 缓存 (nvs.net80211)"); } else { DEBUG_INFO("WIFI", "冷启动: 无 WiFi NVS 缓存分区，跳过清除"); } // 同样清除 PHY 校准数据分区，强制下次全量校准 err = nvs_open("phy", NVS_READWRITE, &nvs_handle); if (err == ESP_OK) { nvs_erase_all(nvs_handle); nvs_commit(nvs_handle); nvs_close(nvs_handle); DEBUG_INFO("WIFI", "冷启动: 已清除 PHY 校准缓存，将重新校准"); } } // ★ 创建状态互斥锁（保护 WiFi 连接状态、OTA 中继标志等跨任务共享变量） if (WifiOta::instance().getStateMutex() == NULL) { SemaphoreHandle_t mtx = xSemaphoreCreateMutex(); if (mtx) { // 通过临时获取再赋值（私有成员在同类内可访问） WifiOta::instance().m_stateMutex = mtx; DEBUG_INFO("WIFI", "状态互斥锁已创建"); } else { DEBUG_ERR("WIFI", "创建状态互斥锁失败"); } } WifiOta::instance().m_staConnectedSem = xSemaphoreCreateBinary(); WifiOta::instance().m_staGotIpSem = xSemaphoreCreateBinary(); if (!WifiOta::instance().m_staConnectedSem || !WifiOta::instance().m_staGotIpSem) { DEBUG_ERR("WIFI", "创建信号量失败"); } // 创建后台重连任务：避免在系统事件任务中调用 esp_wifi_connect()/vTaskDelay 导致死锁 if (WifiOta::instance().m_reconnectTask == nullptr) { BaseType_t ret = xTaskCreate(&WifiOta::reconnectTask, "wifi_reconnect", 4096, NULL, 5, &WifiOta::instance().m_reconnectTask); if (ret != pdPASS) { DEBUG_ERR("WIFI", "创建重连任务失败"); } else { DEBUG_INFO("WIFI", "WiFi 重连任务已创建"); } } // 注册 WiFi/IP 事件回调（必须在 esp_wifi_init 之前） ESP_ERROR_CHECK(esp_event_handler_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &WifiOta::wifiEventHandler, NULL)); ESP_ERROR_CHECK(esp_event_handler_register(IP_EVENT, ESP_EVENT_ANY_ID, &WifiOta::wifiEventHandler, NULL)); DEBUG_INFO("WIFI", "WiFi/IP 事件回调已注册"); esp_netif_t *sta_netif = esp_netif_get_handle_from_ifkey("WIFI_STA_DEF"); if (sta_netif == NULL) { sta_netif = esp_netif_create_default_wifi_sta(); if (sta_netif == NULL) { DEBUG_ERR("WIFI", "创建 STA netif 失败"); } else { DEBUG_INFO("WIFI", "STA netif 已创建"); } } else { DEBUG_INFO("WIFI", "STA netif 已存在，跳过创建"); } wifi_init_config_t wifi_cfg = WIFI_INIT_CONFIG_DEFAULT(); ESP_ERROR_CHECK(esp_wifi_init(&wifi_cfg)); DEBUG_INFO("WIFI", "WiFi driver 初始化成功"); // STA 优先，失败时返回 false 让 task 切 AP if (CONFIG_WIFI_MODE == 1) { DEBUG_INFO("WIFI", "工作模式: STA (优先)"); err = initSta(); if (err == ESP_OK) { // 连接已触发（STA_START 事件驱动），返回 true // 实际连接状态由 WifiOta::taskEntry 等待确认 return true; } DEBUG_WARN("WIFI", "STA 初始化失败，将切换 AP"); return false; } else { DEBUG_INFO("WIFI", "工作模式: AP"); initAp(); return false; // AP 模式，不需要等待连接 } } // ---------------------------------------- // WiFi OTA FreeRTOS 任务 // WiFi 初始化已在 app_main 中通过 WifiOta::instance().earlyInit() 完成 // 此任务负责：等待连接结果 → 启动 HTTP 服务器 → 状态监控 /** * @brief WiFi OTA FreeRTOS 任务，提供 HTTP 上传和中继触发。 * @param pvParameters FreeRTOS 任务参数，未使用。 */ void WifiOta::taskEntry(void *pvParameters) { (void)pvParameters; DEBUG_INFO("WIFI", "=== WiFi OTA 任务启动 ==="); // 等待 STA 连接结果（wifi_early_init 已触发连接） if (WifiOta::getMode() == OTA_WIFI_MODE_STA) { char ip_str[16] = {0}; esp_err_t err = instance().waitStaConnected(ip_str, sizeof(ip_str)); if (err == ESP_OK) { DEBUG_INFO("WIFI", "STA 已连接, IP: %s", ip_str); } else { DEBUG_WARN("WIFI", "STA 连接超时，切换到 AP 模式..."); // ★ 完整的 STA→AP 切换流程： // 1. 停止 WiFi // 2. 反初始化 WiFi 驱动（释放内部资源，包括 NVS 缓存） // 3. 重新初始化 WiFi 驱动 // 4. 重新注册事件回调 // 5. 以 AP 模式启动 esp_wifi_stop(); esp_err_t deinit_err = esp_wifi_deinit(); if (deinit_err != ESP_OK) { DEBUG_WARN("WIFI", "WiFi deinit 失败: %s，仅 stop 后切 AP", esp_err_to_name(deinit_err)); } else { DEBUG_INFO("WIFI", "WiFi 驱动已反初始化，重新初始化..."); wifi_init_config_t wifi_cfg = WIFI_INIT_CONFIG_DEFAULT(); deinit_err = esp_wifi_init(&wifi_cfg); if (deinit_err != ESP_OK) { DEBUG_ERR("WIFI", "WiFi 驱动重新初始化失败: %s", esp_err_to_name(deinit_err)); } else { // ★ deinit 后事件回调会丢失，必须重新注册 esp_event_handler_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &WifiOta::wifiEventHandler, NULL); esp_event_handler_register(IP_EVENT, ESP_EVENT_ANY_ID, &WifiOta::wifiEventHandler, NULL); DEBUG_INFO("WIFI", "WiFi/IP 事件回调已重新注册"); } } WifiOta::instance().m_wifiMode = OTA_WIFI_MODE_AP; instance().initAp(); } } // AP 模式：wifi_early_init 已完成，无需额外操作 esp_err_t err = instance().httpServerStart(); if (err != ESP_OK) { DEBUG_ERR("WIFI", "HTTP 服务器启动失败"); } // ★ WiFi 已连接，UDP 从这里开始能通 // 等待网络栈稳定（ARP 表建立、路由就绪），避免首批 UDP 包丢失 vTaskDelay(pdMS_TO_TICKS(500)); // 启动摘要，发两遍确保上位机收到（第一包可能触发 ARP 被丢） esp_chip_info_t chip; esp_chip_info(&chip); for (int i = 0; i < 2; i++) { DEBUG_INFO("WIFI", "========================================"); DEBUG_INFO("WIFI", "[启动摘要] ESP32-C3 OTA Relay v%s", FW_VERSION); DEBUG_INFO("WIFI", "[启动摘要] Chip: %s, Rev %d", CONFIG_IDF_TARGET, chip.revision); DEBUG_INFO("WIFI", "[启动摘要] Free heap: %lu bytes", (unsigned long)esp_get_free_heap_size()); DEBUG_INFO("WIFI", "[启动摘要] WiFi: %s", WifiOta::getMode() == OTA_WIFI_MODE_STA ? "STA" : "AP"); DEBUG_INFO("WIFI", "[启动摘要] NVS + WiFi driver + netif + event handler 初始化完成"); DEBUG_INFO("WIFI", "[启动摘要] HTTP 服务器端口: %d", HTTP_SERVER_PORT); DEBUG_INFO("WIFI", "========================================"); DEBUG_INFO("WIFI", "=== WiFi OTA 服务器就绪 ==="); if (i == 0) vTaskDelay(pdMS_TO_TICKS(200)); } // WiFi 状态监控 // 每秒一次循环：每 10 秒检查 RSSI uint32_t tick = 0; while (1) { tick++; // 每 10 秒检查一次 RSSI if (tick % 10 == 0) { int8_t rssi = WifiOta::getRssi(); if (rssi != -127) { HealthMonitor::instance().updateFromWifiRssi(rssi); if (rssi < WIFI_RSSI_CRITICAL) { DEBUG_WARN("WIFI", "WiFi RSSI 危险: %d dBm (阈值: %d)", rssi, WIFI_RSSI_CRITICAL); } else if (rssi < WIFI_RSSI_WARNING) { DEBUG_WARN("WIFI", "WiFi RSSI 较弱: %d dBm", rssi); } } } vTaskDelay(pdMS_TO_TICKS(1000)); } }