refactor(motor): P1 拆分 main.js + 收敛连接/总线状态机
R4 外提 scope/ota/seq/conn-poll；R5 waitVersion/queryNodeIdParam 下沉 transport；R6 ecat-bus 单点 bootstrap；R7 toast-stack + utils 去重。 main.js 4647→~1894 行。?v= 已 bump 20260924a。
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/**
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* ecat-bus.js — EtherCAT 总线 bootstrap / open / motor-start 唯一实现
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*
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* 设备链路（device-link 外壳 Owner）与电机传输（transport-ecat）都调用本模块，
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* 策略只保留一份：
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* health →（未就绪）status →（未开）open 网卡 → motor/start 进 OP + 起 PDO 循环
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*
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* 红线：
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* - DC 钉死 250µs（period_ms 默认/钳制 0.25，dc_cycle_us = max(250, round(ms*1000))）
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* - 幂等：native/health 报 bus_open+loop 时**复用**，不再 motor/start
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* （start 会先 loop_stop，热路径假超时 / SSC 楔死风险）
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* - 网卡默认常量 ECAT_DEFAULT_ADAPTER 只在此定义
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*/
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"use strict";
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/** 网卡匹配子串默认值（代码/页面/测试的唯一来源；文档漂移以此为准）。 */
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export const ECAT_DEFAULT_ADAPTER = "I210";
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/** 默认 PDO 周期（ms）：1ms+DC 会让发送出口回到 ~1s，必须 250µs 档。 */
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export const ECAT_DEFAULT_PERIOD_MS = 0.25;
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/** DC SYNC0 目标周期（µs）。 */
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export const ECAT_DC_CYCLE_US = 250;
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const LS_ECAT_PERIOD = "dcu_ecat_period_ms";
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const LS_ECAT_SPIN = "dcu_ecat_spin";
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const LS_ECAT_ADAPTER = "dcu_ecat_adapter";
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const LS_PERIOD_MIG = "dcu_ecat_period_mig";
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function readAdapterRaw() {
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try {
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var s = localStorage.getItem(LS_ECAT_ADAPTER);
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if (s && s.trim()) return s.trim();
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} catch (_) {}
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return ECAT_DEFAULT_ADAPTER;
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}
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/**
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* 构造 motor/start body：period 钳到 ≤0.5ms 且默认 0.25，DC 钉 250µs。
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* @param {{period_ms?:number, spin?:boolean|null, fromLocalStorage?:boolean}} [opts]
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*/
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export function resolveEcatStartBody(opts) {
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opts = opts || {};
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var body = {};
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var per = Number(opts.period_ms);
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if (!opts.fromLocalStorage && opts.period_ms == null) {
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per = ECAT_DEFAULT_PERIOD_MS;
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} else if (!(per > 0) || per > 0.5) {
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per = ECAT_DEFAULT_PERIOD_MS;
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}
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body.period_ms = per;
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body.dc_cycle_us = Math.max(ECAT_DC_CYCLE_US, Math.round(per * 1000));
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body.dc_shift_us = 0;
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var spin = opts.spin;
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if (spin == null && opts.fromLocalStorage) {
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try {
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var sp = localStorage.getItem(LS_ECAT_SPIN);
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if (sp === "0") spin = false;
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else if (sp === "1") spin = true;
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} catch (_) {}
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}
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if (spin === true || spin === false) body.spin = spin;
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return body;
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}
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/** 从 localStorage 解析 period；一次性清理 Python 时代误存的 "4"。 */
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export function readStoredEcatPeriod() {
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try {
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if (!localStorage.getItem(LS_PERIOD_MIG)) {
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if (parseFloat(localStorage.getItem(LS_ECAT_PERIOD)) === 4) {
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localStorage.removeItem(LS_ECAT_PERIOD);
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}
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localStorage.setItem(LS_PERIOD_MIG, "1");
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}
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var v = parseFloat(localStorage.getItem(LS_ECAT_PERIOD));
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/* 用户显式设过才用；否则 0.25ms */
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if (v > 0 && v !== 1) return v;
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return ECAT_DEFAULT_PERIOD_MS;
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} catch (_) {
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return ECAT_DEFAULT_PERIOD_MS;
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}
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}
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/** @description 只读健康：bus_open + loop = 后台 PDO 循环在跑。 */
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export async function isEcatBusHealthy(ecatPost) {
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try {
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var h = await ecatPost("native/health", {}, 2500);
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return !!(h && h.ok && h.bus_open && h.loop);
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} catch (_) {
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return false;
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}
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}
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/**
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* 确保网卡已打开。已连接则复用，不重复 open。
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* @param {(path:string,body?:object,timeoutMs?:number)=>Promise<any>} ecatPost
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* @param {string} [adapter]
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*/
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export async function openEcatAdapter(ecatPost, adapter) {
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var substr = (adapter && String(adapter).trim()) || readAdapterRaw() || ECAT_DEFAULT_ADAPTER;
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var st = await ecatPost("status", {}, 6000);
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if (st && st.ok === true) return st;
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var r = await ecatPost("open", { substr: substr }, 20000);
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if (!r || r.ok !== true) {
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var msg = (r && r.log && r.log.length) ? r.log.join(" / ") : "打开网卡失败";
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var err = new Error(msg);
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err.transient = false;
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throw err;
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}
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return r;
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}
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/**
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* 启动 OP + PDO 循环。force=false 且总线已健康则跳过 start。
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* @returns {Promise<{reused:boolean, result?:object}>}
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*/
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export async function startEcatMotorLoop(ecatPost, opts) {
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opts = opts || {};
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if (!opts.force && await isEcatBusHealthy(ecatPost)) {
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return { reused: true };
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}
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var body;
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if (opts.body) body = opts.body;
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else if (opts.fromLocalStorage) {
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body = resolveEcatStartBody({ fromLocalStorage: true, period_ms: readStoredEcatPeriod() });
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} else {
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body = resolveEcatStartBody({ period_ms: opts.period_ms, spin: opts.spin });
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}
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var r = await ecatPost("motor/start", body, 30000);
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if (r && r.ok === false) {
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throw new Error((r.log && r.log.join(" / ")) || "motor/start 失败");
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}
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return { reused: false, result: r || {}, body: body };
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}
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/**
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* 完整 bootstrap：health → open → motor/start。
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* @param {{
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* ecatPost: (path:string,body?:object,timeoutMs?:number)=>Promise<any>,
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* adapter?: string, period_ms?: number, spin?: boolean|null, force?: boolean,
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* fromLocalStorage?: boolean,
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* }} opts
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* @returns {Promise<{ok:true, reused:boolean, result?:object}>}
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*/
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export async function runEcatBootstrap(opts) {
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var ecatPost = opts.ecatPost;
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if (await isEcatBusHealthy(ecatPost) && !opts.force) {
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return { ok: true, reused: true };
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}
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await openEcatAdapter(ecatPost, opts.adapter);
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var st = await startEcatMotorLoop(ecatPost, {
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force: true,
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period_ms: opts.period_ms,
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spin: opts.spin,
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fromLocalStorage: opts.fromLocalStorage,
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body: opts.body,
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});
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return { ok: true, reused: false, result: st.result };
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}
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/**
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* DC/周期自愈：被配错（free-run 或 ≥1ms）时拉回 250µs。
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* @returns {Promise<object|null>} null=无需修复
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*/
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export async function repairEcatDc(ecatPost) {
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var h = await ecatPost("native/health", {}, 2000).catch(function () { return null; });
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if (!h || !h.ok) return null;
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var dcs = Number(h.dc_cycle_us);
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var per = Number(h.period_ms);
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if (h.dc === 1 && dcs === ECAT_DC_CYCLE_US &&
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(h.period_ms == null || Math.abs(per - ECAT_DEFAULT_PERIOD_MS) < 0.001)) {
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return null;
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}
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return ecatPost("motor/start", {
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period_ms: ECAT_DEFAULT_PERIOD_MS,
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dc_cycle_us: ECAT_DC_CYCLE_US,
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dc_shift_us: 0,
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}, 30000);
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}
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/** @description 读当前网卡子串（localStorage → 默认 I210）。 */
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export function getEcatAdapterOrDefault() {
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return readAdapterRaw();
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}
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