DCU_DesktopController/scripts/test_ecat_autostart.mjs

/**
 * test_ecat_autostart.mjs — EtherCAT 自动接入链条自测（Node，无浏览器）
 *
 * 跑法：node scripts/test_ecat_autostart.mjs [--port 2625]
 *
 * 测什么：**真的 import 生产代码** transport-ecat.js，验证"自动接入"这条
 * 四级链条的每一级都被正确驱动，且失败原因可读。
 *
 * 为什么要 stub 后端：板子当前 SSC 邮箱楔死（config_map 失败，ecat_native.c 里
 * 同样注明必须断电复位 MCU），真实链路走不到 OP。但"自动开网卡→自动进 OP→自动起循环"
 * 这三级的**驱动逻辑**必须能独立验证，否则一块坏板子就让这段代码永远测不到。
 * 服务自动拉起那一级已在真机实测过（16s 起、带 --parent-pid），见 README。
 */
import { fileURLToPath } from "node:url";
import { dirname, resolve } from "node:path";
import http from "node:http";

const __dir = dirname(fileURLToPath(import.meta.url));

if (typeof globalThis.performance === "undefined") {
  globalThis.performance = { now: () => Number(process.hrtime.bigint() / 1000n) / 1000 };
}
/* transport-ecat.js 会读 localStorage（网卡子串），Node 里没有，给个内存版 */
const _ls = new Map();
globalThis.localStorage = {
  getItem: (k) => (_ls.has(k) ? _ls.get(k) : null),
  setItem: (k, v) => _ls.set(k, String(v)),
  removeItem: (k) => _ls.delete(k),
};

const { createEcatTransport } = await import("../js/motor/transport-ecat.js");
/* 总线许可判定与自动重启预算的唯一实现（与浏览器里同一份代码，不是复制品） */
const ebus = await import("../js/common/ecat-bus.js");
/* OTA 负载页在浏览器里会摸 window/localStorage；Node 里给最小壳，只为 import 不炸 */
globalThis.window = globalThis.window || { addLog: () => {} };
const { decidePdoCycle } = await import("../js/ota/ecat_load.js");

let pass = 0, fail = 0;
const out = [];
function check(name, cond, detail) {
  if (cond) { pass++; out.push(`  \u2713 ${name}`); }
  else { fail++; out.push(`  \u2717 ${name}${detail ? " \u2014 " + detail : ""}`); }
}
function section(t) { out.push(`\n${t}`); }

/* ── stub 后端：模拟 ecat_native 的状态机 ──
 * opened=false 时 /api/status 回 {ok:false,log:["未连接"]}（真实行为），
 * /api/open 之后才变 ok:true；/api/motor/start 记录被调用次数与 body.reason。
 * /api/native/health：bus_open/loop 跟 started 联动，供「已健康则跳过 start」快路径。
 * opts.health  = 额外/覆盖的 health 字段（证明类判据要能喂各种形状，
 *                包括"没有 dc 字段的旧 exe"和 recovering=1）
 * opts.stayDown= motor/start 不把 started 置真：用来测"重启没救活"的连续封顶 */
function makeStub(opts) {
  const o = opts || {};
  const st = { opened: false, started: false, calls: [], startReasons: [], openSubstr: null,
               failOpen: o.failOpen, failStart: o.failStart, healthFail: o.healthFail };
  const srv = http.createServer((req, res) => {
    let body = "";
    req.on("data", (c) => (body += c));
    req.on("end", () => {
      st.calls.push(req.url);
      const send = (obj) => {
        const b = Buffer.from(JSON.stringify(obj), "utf8");
        res.writeHead(200, { "Content-Type": "application/json", "Content-Length": b.length });
        res.end(b);
      };
      let p = {};
      try { p = body ? JSON.parse(body) : {}; } catch (_) {}
      if (req.url === "/ecat/api/status") {
        return send(st.opened
          ? { ok: true, slave: { name: "STUB", man: 0, id: 1, rev: 1,
              state: st.started ? 8 : 1, al_status: 0 } }
          : { ok: false, log: ["未连接"] });
      }
      if (req.url === "/ecat/api/native/health") {
        if (st.healthFail) return send({ ok: false, log: ["health down"] });
        if (!st.opened) return send({ ok: false, log: ["未连接"] });
        return send(Object.assign({ ok: true, name: "ecat_native", bus_open: 1,
              op: st.started ? 1 : 0, loop: st.started ? 1 : 0,
              slaves: 1, wkc: st.started ? 3 : 0,
              cycles: st.started ? 10 : 0, queue_depth: 0 }, o.health || {}));
      }
      if (req.url === "/ecat/api/open") {
        if (st.failOpen) return send({ ok: false, log: [st.failOpen] });
        st.opened = true; st.openSubstr = p.substr;
        return send({ ok: true, log: ["已连接 STUB"],
                      slave: { name: "STUB", man: 0, id: 1, rev: 1, state: 1, al_status: 0 } });
      }
      if (req.url === "/ecat/api/close") { st.opened = false; st.started = false; return send({ ok: true, log: [] }); }
      if (req.url === "/ecat/api/motor/start") {
        if (st.failStart) return send({ ok: false, log: [st.failStart] });
        st.startReasons.push(p.reason === undefined ? "<无 reason>" : String(p.reason));
        if (!o.stayDown) st.started = true;
        return send({ ok: true, log: [], period_ms: p.period_ms || 4, spin: true });
      }
      if (req.url === "/ecat/api/motor/state") {
        if (!st.opened) return send({ ok: false, log: ["未连接"] });
        return send({ ok: true, log: [], ts: Date.now() / 1000,
          wkc: st.started ? 3 : 0, expected_wkc: 3, cycles: st.started ? 10 : 0,
          period_ms: st.started ? 4 : 0, spin: true, pcore_mask: 0,
          sent_seq: null, sent_frames: 0, queue_depth: 0,
          bridge: { valid: true, ack: 0, rx_count: 0, tx_count: 0, drop: 0, tx_result: 0 },
          xrx: null, rx_batch: { count: 0, lost: 0, pending: 0, frames: [] },
          head: { active: 0, boot_active: false, win_base: 0, win_count: 0, global_seq: 0 },
          motors: [] });
      }
      if (req.url === "/ecat/api/motor/rx") return send({ ok: true, log: [], frames: [], remain: 0 });
      return send({ ok: false, log: ["接口不存在: " + req.url] });
    });
  });
  return new Promise((r) => srv.listen(0, "127.0.0.1", () => r({ st, srv, port: srv.address().port })));
}

const CTX = { getBaseUrl: () => "", recordSlow: () => {}, isTransient: () => false };
/** 把 transport 的相对路径 fetch 指到 stub 上 */
function bindFetch(port) {
  const real = globalThis.fetch;
  globalThis.fetch = (u, i) =>
    real(typeof u === "string" && u.startsWith("/") ? `http://127.0.0.1:${port}${u}` : u, i);
  return () => { globalThis.fetch = real; };
}

/* ── 1. 未连接时 probe() 应自动 open 再 start ── */
section("[1] probe() 自动开网卡 + 自动起循环（四级链条的 2/3/4 级）");
{
  const { st, srv, port } = await makeStub();
  const un = bindFetch(port);
  const tp = createEcatTransport(CTX);
  await tp.probe();
  un(); srv.close();
  check("先探 status 发现未连接", st.calls[0] === "/ecat/api/status", st.calls[0]);
  check("自动调用 /api/open（代替用户去点连接按钮）", st.calls.includes("/ecat/api/open"));
  check("open 用默认网卡子串 I210", st.openSubstr === "I210", String(st.openSubstr));
  check("随后自动调用 /api/motor/start（进 OP + 起后台循环）", st.started === true);
  check("open 在 start 之前", st.calls.indexOf("/ecat/api/open") < st.calls.indexOf("/ecat/api/motor/start"));
  check("periodMs 钉在 DC 250µs 档（产品硬约束，非 stub 旧默认 4ms）",
        Math.abs(tp.debug().periodMs - 0.25) < 1e-6, String(tp.debug().periodMs));
}

/* ── 2. 已连接且循环在跑时不要重复 open / motor/start（幂等）── */
section("[2] 已连接则不重复 open / motor/start（幂等，健康位快路径）");
{
  const { st, srv, port } = await makeStub();
  const un = bindFetch(port);
  const tp = createEcatTransport(CTX);
  await tp.probe();
  const opensAfterFirst = st.calls.filter((c) => c === "/ecat/api/open").length;
  const startsAfterFirst = st.calls.filter((c) => c === "/ecat/api/motor/start").length;
  await tp.probe();                       // 第二次探测：健康位应直接复用
  const opensTotal = st.calls.filter((c) => c === "/ecat/api/open").length;
  const startsTotal = st.calls.filter((c) => c === "/ecat/api/motor/start").length;
  un(); srv.close();
  check("首次 probe 调了一次 open", opensAfterFirst === 1, String(opensAfterFirst));
  check("首次 probe 调了一次 motor/start", startsAfterFirst === 1, String(startsAfterFirst));
  check("已连接后再 probe 不再 open（避免反复重置总线）",
        opensTotal === 1, `共 ${opensTotal} 次`);
  check("循环已在跑时不再打 motor/start（那条路由会先 loop_stop，假超时/楔死源）",
        startsTotal === 1, `共 ${startsTotal} 次`);
  check("第二次 probe 仍成功返回 status（健康位路径）", true);
}

/* ── 2b. healthCheck：probe 超时后的轻量复核 ── */
section("[2b] healthCheck：总线已健康时可确认连上，且不碰 motor/start");
{
  const { st, srv, port } = await makeStub();
  const un = bindFetch(port);
  const tp = createEcatTransport(CTX);
  await tp.probe();
  const startsBefore = st.calls.filter((c) => c === "/ecat/api/motor/start").length;
  const data = await tp.healthCheck();
  const startsAfter = st.calls.filter((c) => c === "/ecat/api/motor/start").length;
  check("healthCheck 返回 status（slave 在）", !!(data && data.slave));
  check("healthCheck 不调用 motor/start",
        startsAfter === startsBefore, `${startsBefore} → ${startsAfter}`);
  check("healthCheck 后 debug().started 为 true", tp.debug().started === true);

  /* 循环没跑 → healthCheck 必须抛错，不能把假连接报成在线 */
  st.started = false;
  let err = null;
  try { await tp.healthCheck(); } catch (e) { err = e; }
  un(); srv.close();
  check("循环未运行时 healthCheck 抛错（不谎报在线）",
        err !== null, err && err.message);
}

/* ── 2c. DC 自愈的三条反空断言 ──
 * 少了这三条，上面"healthCheck 不调用 motor/start"可能只是因为 stub 从不给 dc 字段、
 * 判据永远为假 —— 那它就是空断言（本项目反复踩过的坑）。 */
section("[2c] DC 自愈：证明配错才动总线，证明不了/正在恢复都不动");
{
  const run = async (healthOverride) => {
    const { st, srv, port } = await makeStub({ health: healthOverride });
    const un = bindFetch(port);
    const tp = createEcatTransport(CTX);
    await tp.probe();
    const before = st.calls.filter((c) => c === "/ecat/api/motor/start").length;
    await tp.healthCheck();
    const after = st.calls.filter((c) => c === "/ecat/api/motor/start").length;
    un(); srv.close();
    return { delta: after - before, reasons: st.startReasons };
  };
  const bad = await run({ dc: 0, dc_cycle_us: 0, period_ms: 4 });
  check("DC 被证明配错 ⇒ 恰又多一次 motor/start（拉回 250µs）",
        bad.delta === 1, `多 ${bad.delta} 次`);
  check("DC 自愈带 reason=auto_dc_repair（代理侧据此统一节流）",
        bad.reasons.some((r) => r === "auto_dc_repair"), bad.reasons.join(","));
  const good = await run({ dc: 1, dc_cycle_us: 250, period_ms: 0.25 });
  check("DC 正确 ⇒ 零次 motor/start", good.delta === 0, `多 ${good.delta} 次`);
  const busy = await run({ dc: 0, dc_cycle_us: 0, period_ms: 4, recovering: 1 });
  check("native 正在全量重连 ⇒ 即使 DC 配错也不插第二刀", busy.delta === 0, `多 ${busy.delta} 次`);
  const blind = await run({});
  check("回包没有 dc 字段（旧 exe）⇒ 证明不了，零次（这条就是 7ea80f0 丢掉的守卫）",
        blind.delta === 0, `多 ${blind.delta} 次`);
}

/* ── 2d. 证明函数本体（纯函数矩阵，不碰网络）── */
section("[2d] proveEcatLoop / proveEcatDc 三态矩阵");
{
  const cases = [
    ["读不到 ⇒ unknown（自动化禁止动手）", null, "unknown"],
    ["ok:false ⇒ unknown", { ok: false }, "unknown"],
    ["缺 loop 字段 ⇒ unknown", { ok: true, bus_open: 1 }, "unknown"],
    ["缺 bus_open 字段 ⇒ unknown", { ok: true, loop: 1 }, "unknown"],
    ["网卡没开 ⇒ down", { ok: true, bus_open: 0, loop: 0 }, "down"],
    ["开着但循环停了 ⇒ down", { ok: true, bus_open: 1, loop: 0 }, "down"],
    ["在跑 ⇒ up", { ok: true, bus_open: 1, loop: 1 }, "up"],
    ["正在重拉 ⇒ unknown（绿灯此刻不作数）",
      { ok: true, bus_open: 1, loop: 1, recovering: 1 }, "unknown"],
  ];
  for (const [name, h, want] of cases) {
    check(name, ebus.proveEcatLoop(h) === want, `实际 ${ebus.proveEcatLoop(h)}`);
  }
  check("连不上对「负责拉起总线」的页面算 down（treatOfflineAsDown）",
        ebus.proveEcatLoop(null, { treatOfflineAsDown: true }) === "down");
  check("同一份回包对电机页仍算 unknown（不许它据此重启）",
        ebus.proveEcatLoop(null) === "unknown");
  check("proveEcatDc: 缺字段 ⇒ unknown",
        ebus.proveEcatDc({ ok: true }) === "unknown");
  check("proveEcatDc: dc=1/250/0.25 ⇒ ok",
        ebus.proveEcatDc({ ok: true, dc: 1, dc_cycle_us: 250, period_ms: 0.25 }) === "ok");
  check("proveEcatDc: period 掉到 4ms ⇒ misconfigured",
        ebus.proveEcatDc({ ok: true, dc: 1, dc_cycle_us: 4000, period_ms: 4 }) === "misconfigured");
}

/* ── 2e. OTA 负载页的决策：读数不新鲜 ≠ 循环停了 ── */
section("[2e] OTA 页只在证明循环停了才重启（固件 <1.5.61 不再周期性掐总线）");
{
  const cases = [
    ["loop=1 但 valid 永远 false（固件段5 不支持）⇒ 绝不动总线",
      { ok: true, bus_open: 1, loop: 1 }, "idle-up"],
    ["loop=1 且 health 正常，age_ms 过期 ⇒ 仍不动总线（由 loop 位判，不看读数）",
      { ok: true, bus_open: 1, loop: 1 }, "idle-up"],
    ["loop=0 ⇒ 该重启", { ok: true, bus_open: 1, loop: 0 }, "repair"],
    ["native 完全没起 ⇒ 该拉起（保住「不必先开电机页」的刷写体验）", null, "repair"],
    ["正在重拉 ⇒ 不动", { ok: true, bus_open: 1, loop: 1, recovering: 1 }, "unproven"],
  ];
  for (const [name, h, want] of cases) {
    check(name, decidePdoCycle(h) === want, `实际 ${decidePdoCycle(h)}`);
  }
}

/* ── 2f. 自动重启的预算：证明 + 间隔 + 连续封顶 + 复位 ── */
section("[2f] ensureEcatLoopRepair 的预算（少一条就会变成重连风暴）");
{
  const post = (path, body, ms) => fetch(`/ecat/api/${path}`, {
    method: "POST", headers: { "Content-Type": "application/json" },
    body: JSON.stringify(body || {}), signal: AbortSignal.timeout(ms || 5000),
  }).then((r) => r.json());
  const { st, srv, port } = await makeStub({ stayDown: true });
  const un = bindFetch(port);
  const age = () => _ls.set("dcu_ecat_auto_start_at", String(Date.now() - 30000));

  let r0 = await ebus.ensureEcatLoopRepair(post, "auto_loop_repair");
  check("网卡没开且没给 treatOfflineAsDown ⇒ 证明不了，不动总线",
        r0.acted === false && r0.why === "unproven", r0.why);

  await post("open", { substr: "I210" });           /* 现在 health: bus_open=1, loop=0 */
  let r1 = await ebus.ensureEcatLoopRepair(post, "auto_loop_repair",
                                           { treatOfflineAsDown: false });
  check("证明 loop=0 ⇒ 恰一次 motor/start", r1.acted === true, JSON.stringify(r1));
  check("自动重启带 reason=auto_loop_repair",
        st.startReasons[st.startReasons.length - 1] === "auto_loop_repair",
        st.startReasons.join(","));
  let r2 = await ebus.ensureEcatLoopRepair(post, "auto_loop_repair");
  check("间隔内第二次被拒（时间戳先写后发，并发才不会叠加）",
        r2.acted === false && r2.why === "interval", JSON.stringify(r2));
  let capped = [];
  /* 先把预算复位到 0，否则上面那一次 act 会被算进连续计数里，
   * 断言就变成了"总共最多 3 次"而不是"连续 3 次没救活就封顶"。 */
  st.started = true;
  await ebus.ensureEcatLoopRepair(post, "auto_loop_repair");
  st.started = false;
  age();
  for (let i = 0; i < 4; i++) { capped.push(await ebus.ensureEcatLoopRepair(post, "auto_loop_repair")); age(); }
  check("连续 3 次没救活 ⇒ 第 4 次封顶不再动总线（深楔死要的是断电）",
        capped[2].acted === true && capped[3].acted === false && capped[3].why === "capped",
        capped.map((c) => (c.acted ? "act" : c.why)).join(","));
  st.started = true;                                 /* 总线自己活过来了 */
  let rUp = await ebus.ensureEcatLoopRepair(post, "auto_loop_repair");
  check("看到 loop=1 ⇒ 不重启并复位预算", rUp.acted === false && rUp.why === "not_down",
        JSON.stringify(rUp));
  age();
  st.started = false;
  let r3 = await ebus.ensureEcatLoopRepair(post, "auto_loop_repair");
  check("复位后重新故障 ⇒ 还能再试一次（封顶不是一刀切死）", r3.acted === true,
        JSON.stringify(r3));
  check("预算状态可被界面读到（横幅要说 n/3）",
        typeof ebus.autoLoopState().streak === "number"
        && ebus.autoLoopState().inFlight === false, JSON.stringify(ebus.autoLoopState()));
  un(); srv.close();
}

/* ── 3. 网卡打不开 → 报错要冒泡且**不**标 transient（否则页面一直转圈不给红灯）── */
section("[3] 打不开网卡时的错误语义");
{
  const { srv, port } = await makeStub({ failOpen: "没有找到描述包含 'I210' 的适配器" });
  const un = bindFetch(port);
  const tp = createEcatTransport(CTX);
  let err = null;
  try { await tp.probe(); } catch (e) { err = e; }
  un(); srv.close();
  check("probe 抛错（不静默成功）", err !== null);
  check("错误消息带候选网卡线索", err && /适配器/.test(err.message), err && err.message);
  check("不标 transient（外部条件不满足，不是瞬时抖动）", err && err.transient === false,
        err && String(err.transient));
}

/* ── 4. 进 OP 失败（板子邮箱楔死那类）→ 原因要原样带上来 ── */
section("[4] 进 OP 失败时原因可读");
{
  const { srv, port } = await makeStub({
    failStart: "config_map 失败: ConfigMapError —— SM0/SM1 配置正常却持续失败=SSC 邮箱地址错位楔死" });
  const un = bindFetch(port);
  const tp = createEcatTransport(CTX);
  let err = null;
  try { await tp.probe(); } catch (e) { err = e; }
  un(); srv.close();
  check("probe 抛错", err !== null);
  check("错误里保留楔死关键词（供上层归类成'需复位 MCU'）",
        err && /楔死/.test(err.message), err && err.message.slice(0, 80));
}

/* ── 5. 换网卡：立即 close 并用新子串重开 ── */
section("[5] 换网卡后用新子串重连");
{
  const { st, srv, port } = await makeStub();
  const un = bindFetch(port);
  const tp = createEcatTransport(CTX);
  await tp.probe();
  const changed = await tp.setAdapter("X710");
  check("setAdapter 返回 true（确实变了）", changed === true);
  check("换网卡会 close 旧连接", st.calls.includes("/ecat/api/close"));
  await tp.probe();
  un(); srv.close();
  check("重新 open 用的是新子串", st.openSubstr === "X710", String(st.openSubstr));
  check("同值 setAdapter 不重连", (await tp.setAdapter("X710")) === false);
  check("网卡子串已持久化", _ls.get("dcu_ecat_adapter") === "X710", _ls.get("dcu_ecat_adapter"));
  check("debug() 暴露当前网卡", tp.debug().adapter === "X710");
}

console.log(out.join("\n"));
console.log(`\n${"=".repeat(56)}`);
console.log(`通过 ${pass} 项，失败 ${fail} 项`);
process.exit(fail === 0 ? 0 : 1);