Files
ESP32_COMM/tools/js/ble/session.js
T
小龙虾 ef6d3a4be3 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
2026-08-10 00:54:12 +08:00

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JavaScript
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// ==================== BLE OTA 结果等待与中止 ====================
import { BLE_OTA_CTRL_ABORT_OTA } from './constants.js';
import { state, els, bleLog } from './state.js';
import { connectBle, disconnectBle } from './gatt.js';
import { autoFlash } from './transfer.js';
import { syncSelectedFileFromInput } from './file.js';
export function clearOtaResultWaiter() {
if (state.otaResultWaiter) {
clearTimeout(state.otaResultWaiter.timer);
state.otaResultWaiter = null;
}
}
export function resolveOtaResult(status, detail) {
if (!state.otaResultWaiter) return;
var waiter = state.otaResultWaiter;
state.otaResultWaiter = null;
clearTimeout(waiter.timer);
waiter.resolve({ status: status, detail: detail || {} });
}
export function rejectOtaResult(message, detail) {
if (!state.otaResultWaiter) return;
var waiter = state.otaResultWaiter;
state.otaResultWaiter = null;
clearTimeout(waiter.timer);
var err = new Error(message || 'OTA 收尾失败');
err.detail = detail || {};
waiter.reject(err);
}
export function nextOtaSessionId() {
state.otaRunId = (state.otaRunId + 1) & 0xFFFF;
if (state.otaRunId === 0) state.otaRunId = 1;
return state.otaRunId;
}
export function finishBelongsToWaiter(targetKey, value) {
if (!state.otaResultWaiter || state.otaResultWaiter.targetKey !== targetKey) return false;
return (value & 0xFFFF) === state.otaResultWaiter.sessionId;
}
export function finishSessionId(value) {
return value & 0xFFFF;
}
export function isSessionlessFinish(value) {
return finishSessionId(value) === 0;
}
export function hasCurrentWaiter(targetKey) {
return !!(state.otaResultWaiter && state.otaResultWaiter.targetKey === targetKey);
}
export function waitForOtaResult(targetKey, sessionId, timeoutMs) {
clearOtaResultWaiter();
var runId = state.otaRunId;
return new Promise(function(resolve, reject) {
var timer = setTimeout(function() {
if (state.otaResultWaiter && state.otaResultWaiter.runId === runId) {
state.otaResultWaiter = null;
}
reject(new Error(targetKey === 'gd32' ? '等待 GD32 OTA 转发结果超时' : '等待 ESP32 OTA 收尾结果超时'));
}, timeoutMs);
state.otaResultWaiter = {
targetKey: targetKey,
sessionId: sessionId,
runId: runId,
timer: timer,
resolve: resolve,
reject: reject,
};
});
}
/**
* @description 中止当前 BLE OTA 任务并清理状态。
* 改进:发 0xFB 控制命令让 ESP32 主动清理 OTA 会话,BLE 保持连接。
* 旧做法是直接断开 BLE 触发 GAP disconnect 清理,导致用户需重连。
* 若 0xFB 发送失败(如 CTRL 特征不可用),回退到设置标志等待发包循环自然退出。
*/
export async function abortTask() {
state.abortRequested = true; // 立即停止发送循环
bleLog('OTA', '已请求中止,发送 0xFB 让设备端清理(BLE 保持连接)');
if (state.ctrlChar && state.server && state.device.gatt.connected) {
try {
const session = state.sessionId || 0;
const abortCmd = new Uint8Array([BLE_OTA_CTRL_ABORT_OTA, session & 0xFF, (session >> 8) & 0xFF]);
await state.ctrlChar.writeValue(abortCmd);
bleLog('OTA', '0xFB 已发送,等待设备端回复 ABORTED (stage=0x20)');
} catch (e) {
bleLog('OTA', '0xFB 发送失败: ' + e.message + ',回退到本地中止', 'E');
// CTRL 写入失败时回退:本地立即标记失败,不再等设备端 ABORTED 回复
state.lastUploadStatus = 'failed';
if (state.ackWaiter) {
const waiter = state.ackWaiter;
state.ackWaiter = null;
clearTimeout(waiter.timer);
waiter.reject(new Error('中止失败: ' + e.message));
}
rejectOtaResult('中止失败: ' + e.message, { stage: 0xFB, value: 0 });
}
} else {
// CTRL 特征未就绪(连接已断或未完成握手),仅本地清理
bleLog('OTA', 'CTRL 特征不可用,仅本地中止', 'W');
state.lastUploadStatus = 'failed';
rejectOtaResult('CTRL 特征不可用', { stage: 0xFB, value: 0 });
}
}
export function bindEvents() {
if (els.bleConnectToggle) {
// launch 风格按钮:用 click 而非 change 触发——navigator.bluetooth.requestDevice
// 必须在 user gesture 内调用,change 事件不被识别为 user gesture,会报
// "Must be handling a user gesture to show a permission request."
// preventDefault 阻止 label 默认勾选,checked 由 setConnectionState 按实际结果驱动。
els.bleConnectToggle.addEventListener('click', (e) => {
e.preventDefault();
if (state._bleConnecting) return; // 连接进行中,忽略重复点击
var btn = document.querySelector('.ble-launch-btn');
if (state.server) {
els.bleConnectToggle.checked = false;
if (btn) btn.setAttribute('data-ble-state', 'idle');
disconnectBle(); // → resetUiAfterDisconnect 置 idle
} else {
state._bleConnecting = true;
els.bleConnectToggle.checked = true; // 即时视觉反馈
if (btn) btn.setAttribute('data-ble-state', 'connecting');
// 连接结束后按实际结果收口:成功→connected / 失败→idle
// 不依赖 state.js 的 setConnectionState(ES 模块子导入可能被浏览器缓存为旧版)
connectBle().finally(() => {
state._bleConnecting = false;
var b = document.querySelector('.ble-launch-btn');
if (b) b.setAttribute('data-ble-state', state.server ? 'connected' : 'idle');
});
}
});
// 兜底:自动断开(onDisconnected)、重连等路径绕过 click handler,
// 用轮询同步 data-ble-state,确保按钮状态始终与 state.server 一致。
setInterval(function() {
if (state._bleConnecting) return; // 连接中不干扰
var btn = document.querySelector('.ble-launch-btn');
if (!btn || !btn.offsetParent) return; // 按钮不可见(WiFi 模式)时跳过
var expected = state.server ? 'connected' : 'idle';
if (btn.getAttribute('data-ble-state') !== expected) {
btn.setAttribute('data-ble-state', expected);
}
}, 800);
}
els.autoFlashBtn.addEventListener('click', autoFlash);
els.abortBtn.addEventListener('click', abortTask);
// 上传区事件由 app.js 的 setupSharedUploadZone 统一处理
// 文件输入变化时同步 BLE 文件状态
els.firmwareFile.addEventListener('change', syncSelectedFileFromInput);
els.firmwareFile.addEventListener('input', syncSelectedFileFromInput);
window.addEventListener('focus', () => setTimeout(syncSelectedFileFromInput, 0));
}