cbb
eac3717f9a
- 实现局域网设备发现面板，支持探测ESP32中继板并自动切换端点 - 添加POST /api/lan/probe接口用于设备探测，返回三态判决结果 - 实现快扫和全段扫描两种模式，支持种子地址优先探测 - 添加端点唯一写手机制，防止多处同时修改设备IP - 优化链路胶囊UI显示WiFi/EtherCAT/BLE连接状态和设备名称 - 修复EtherCAT链路OTA刷写期间PDO循环暂停和AL状态处理问题 - 调整PDO周期设置范围为0.125-4ms，支持亚毫秒显示为微秒 - 添加ESP32 WiFi使能开关控件样式和数据来源角标显示
535 lines
20 KiB
JavaScript
535 lines
20 KiB
JavaScript
/**
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* device-link.js — 全链路连接中心（ConnectionHub）
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*
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* 统一管理页面上的 WiFi / EtherCAT / BLE 三条链路：
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* - 健康轮询：外壳 Owner 常驻拉 ESP32 /system/status 与 EtherCAT status+load
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* - 端点配置：设备 IP（dcu_esp_ip）、网卡子串（dcu_ecat_adapter）只在此读写
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* - 通道适配：wifiBaseUrl / ecatPost 供各页复用，禁止再散落 localStorage
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*
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* 角色：
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* - Owner：tabs.html 加载前设 window.__dcuDeviceLinkOwner = true
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* - Client：任意页 import { deviceLink }
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* 独立直开页无 Owner 时，client 仍可读 IP / 发 ecatPost，只是无跨页快照。
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*
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* 命令仍由业务页自己发；连接灯只认本层健康态（布尔优先，文案保留调用方语义）。
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*/
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"use strict";
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import {
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getDeviceIp, saveDeviceIp, getBaseUrl as baseUrlFromIp,
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isValidIpv4, getDeviceMeta, saveDeviceMeta
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} from "./base-url.js";
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import { flashBusyNow } from "./utils.js";
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import {
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runEcatBootstrap, repairEcatDc, getEcatAdapterOrDefault,
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ECAT_DEFAULT_ADAPTER,
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} from "./ecat-bus.js";
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var CH_NAME = "dcu-device-link";
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var ESP32_FAIL_ONLINE = 3; /* 连续失败 ≥3 判离线 */
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var ESP32_POLL_MS = 1000;
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var ECAT_POLL_MS = 2000;
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var ECAT_BUS_RETRY_MS = 10000; /* 开总线失败后的重试间隔 */
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var AUTO_SCAN_COOLDOWN_MS = 60000; /* 判离线后最多每 60s 提一次候选设备 */
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var ecatDcGuardBusy = false; /* DC/周期自愈 in-flight */
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var LS_ECAT_PERIOD = "dcu_ecat_period_ms";
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var LS_ECAT_SPIN = "dcu_ecat_spin";
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var LS_ECAT_ADAPTER = "dcu_ecat_adapter";
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/* R6：网卡默认常量只在 ecat-bus.js 定义；此处 re-export 保持旧 import 路径可用 */
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var DEFAULT_ECAT_ADAPTER = ECAT_DEFAULT_ADAPTER;
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function nowMs() { return Date.now(); }
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function readIp() {
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return getDeviceIp();
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}
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function writeIp(ip) {
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/* 校验在 base-url.saveDeviceIp 单点做：非法值不改写现值，返回 false。 */
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return saveDeviceIp(ip);
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}
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function readAdapter() {
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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 getEcatAdapterOrDefault();
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}
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function writeAdapter(substr) {
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if (!substr || !String(substr).trim()) return;
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try { localStorage.setItem(LS_ECAT_ADAPTER, String(substr).trim()); } catch (_) {}
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}
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/**
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* 统一 /ecat/api/* 代理请求（同源，esp32_server 转发到 ecat_native）。
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* @param {string} path 相对路径，如 "status" / "app/load" / "open"
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* @param {object} body JSON body，缺省 {}
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* @param {number} timeoutMs 默认 5000
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* @returns {Promise<object>} 解析后的 JSON
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*/
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async function ecatPost(path, body, timeoutMs) {
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var p = String(path || "").replace(/^\/+/, "");
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var resp = await fetch("/ecat/api/" + p, {
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method: "POST",
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headers: { "Content-Type": "application/json" },
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body: JSON.stringify(body || {}),
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cache: "no-store",
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signal: AbortSignal.timeout(timeoutMs || 5000)
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});
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var text = await resp.text();
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var json = {};
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try { json = text ? JSON.parse(text) : {}; } catch (_) {
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throw new Error("响应非合法 JSON");
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}
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if (!resp.ok) {
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var err = new Error("HTTP " + resp.status);
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err.status = resp.status;
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err.json = json;
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throw err;
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}
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return json;
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}
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function emptySnapshot() {
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return {
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ts: 0,
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ip: readIp(),
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links: {
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esp32: { online: false, ageMs: -1, failStreak: 0 },
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ecat: { online: false, busOpen: false, op: false, loop: false,
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loadValid: false, loadPerm: 0, ageMs: -1, deviceName: "",
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slaveState: null, alStatus: null },
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ble: { online: false, deviceName: "", owner: null }
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},
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esp32Status: null,
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/* 端点一致性：'match' | 'mismatch' | 'unverified'（见 checkEndpoint） */
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endpointCheck: 'unverified',
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endpointCheckNote: ''
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};
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}
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/* ───────────────────────── Owner ───────────────────────── */
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function createOwner() {
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var ch = null;
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try { ch = new BroadcastChannel(CH_NAME); } catch (_) { ch = null; }
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var snap = emptySnapshot();
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var esp32Fails = 0;
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var lastEsp32OkAt = 0;
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var esp32Timer = null;
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var ecatTimer = null;
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var stopped = false;
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/* 外壳启动即强制拉起总线（open + motor/start），不必等电机页切 EtherCAT。
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* 成功后不再重复 motor/start；掉线后按 ECAT_BUS_RETRY_MS 退避重试。 */
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var ecatBusReady = false;
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var ecatBusBusy = false;
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var ecatBusNextTryAt = 0;
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var uptimeBase = null; /* {ip, up} 只用于 uptime 倒退检测（换板/复位） */
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var autoScanAt = 0; /* 上次自动提候选的时刻，见 maybeAutoScan */
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function publish() {
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snap.ts = nowMs();
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snap.ip = readIp();
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if (ch) {
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try { ch.postMessage({ type: "snapshot", snap: snap }); } catch (_) {}
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}
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}
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function setEsp32(status, ok) {
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if (ok) {
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esp32Fails = 0;
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lastEsp32OkAt = nowMs();
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snap.links.esp32.online = true;
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snap.links.esp32.ageMs = 0;
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snap.esp32Status = status || null;
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snap.endpointCheck = checkEndpoint(status);
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} else {
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esp32Fails++;
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snap.links.esp32.failStreak = esp32Fails;
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snap.links.esp32.ageMs = lastEsp32OkAt ? (nowMs() - lastEsp32OkAt) : -1;
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if (esp32Fails >= ESP32_FAIL_ONLINE) {
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snap.links.esp32.online = false;
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snap.endpointCheck = checkEndpoint(null);
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maybeAutoScan();
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}
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}
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snap.links.esp32.failStreak = esp32Fails;
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publish();
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}
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/**
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* 「现在连的还是我选的那台吗」——判据必须有灵敏度，不能是自证：
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* 版本变 / 设备自报 IP 与所选不符 / uptime 倒退，三条都能被
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* "同地址换了一块板"或"板子刚复位"真实触发。
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* 拉不到 status 时**不改判**（保持上一次结论），否则断网会把
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* mismatch 说成事实。
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*/
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function checkEndpoint(status) {
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var meta = getDeviceMeta();
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var ip = readIp();
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if (!meta || String(meta.ip) !== String(ip)) return 'unverified';
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if (!status) {
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/* 拉不到 status 就**没有**证据可判：不能沿用上一条结论，更不能把
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* "上一个端点的 status" 拿来判当前端点（实测会吐出一条自造的
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* "设备自报 x.x.x.x 与所选 y.y.y.y 不符"——那是陈旧数据的回声）。 */
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snap.endpointCheckNote = '';
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return 'unverified';
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}
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var w = status.wifi || {};
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if (status.version && meta.version && String(status.version) !== String(meta.version)) {
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snap.endpointCheckNote = '版本与所选不符：' + meta.version + ' → ' + status.version;
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return 'mismatch';
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}
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if (w.connected === true && w.ip && String(w.ip) !== String(ip)) {
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snap.endpointCheckNote = '设备自报 ' + w.ip + '，与所选 ' + ip + ' 不符';
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return 'mismatch';
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}
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var up = Number(status.uptime_sec);
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if (Number.isFinite(up)) {
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if (uptimeBase && uptimeBase.ip === ip && Number.isFinite(uptimeBase.up)
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&& up + 2 < uptimeBase.up) {
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snap.endpointCheckNote = 'uptime ' + Math.round(uptimeBase.up) + 's → '
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+ Math.round(up) + 's：这地址上换板了或刚复位';
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uptimeBase = { ip: ip, up: up };
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return 'mismatch';
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}
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uptimeBase = { ip: ip, up: up };
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}
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snap.endpointCheckNote = '';
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return status.version ? 'match' : 'unverified';
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}
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/**
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* 离线了才提一次候选，**绝不自动改端点**。三个门都是必需的：
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* 扫描本身会占板子 httpd 的 socket（max_open_sockets=6 + lru_purge，
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* wifi_ota.cpp:419-436），而 ECAT 环跑 / 刷写期间 httpd 常常本就不响应
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* （spi_master.cpp:768-771）——那时 failStreak 是假阳性，不加门就成了
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* "扫→踢连接→更离线→再扫"的正反馈。
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*/
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function maybeAutoScan() {
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var now = nowMs();
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if (autoScanAt && now - autoScanAt < AUTO_SCAN_COOLDOWN_MS) return;
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if (flashBusyNow()) return;
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if (snap.links.ecat && snap.links.ecat.loop) return;
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autoScanAt = now;
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if (ch) { try { ch.postMessage({ type: 'auto-scan', ip: readIp() }); } catch (_) {} }
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}
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function pollEsp32() {
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if (stopped) return;
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var ac = null;
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try { ac = new AbortController(); } catch (_) {}
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var tmo = null;
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fetch(baseUrlFromIp() + "/system/status" + (window._memLayout ? "" : "?layout=1"), {
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signal: ac ? ac.signal : undefined,
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cache: "no-store"
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}).then(function (r) {
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if (!r.ok) throw new Error("HTTP " + r.status);
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return r.json();
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}).then(function (j) {
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if (ac) { clearTimeout(tmo); }
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setEsp32(j, true);
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}).catch(function () {
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if (ac) { clearTimeout(tmo); }
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setEsp32(null, false);
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}).then(function () {
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esp32Timer = setTimeout(pollEsp32, ESP32_POLL_MS);
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});
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if (ac) {
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tmo = setTimeout(function () { try { ac.abort(); } catch (_) {} }, 4000);
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}
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}
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/**
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* 开总线：R6 —— 策略只在 js/common/ecat-bus.js（health→open→motor/start，
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* DC 250µs，已健康则复用）。外壳 Owner 启动时强制执行，用户不必先去电机页。
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* BOOT/OTA 刷写中禁止重拉：motor/start 会 loop_stop，会掐死灌写会话。
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*/
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function bootstrapEcatBus() {
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if (stopped || ecatBusBusy) return;
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/* BOOT/OTA 刷写中禁止重拉：motor/start 会 loop_stop，会掐死灌写会话。
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* motorOtaEcatBusy = 电机 OTA 正经邮箱灌 GD32（native worker 独占总线十几秒），
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* 这条请求只会在锁上排队，排到时把刚恢复的循环再停一遍。 */
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if (window.bootEcatBusy || window.isUploading || window.motorOtaEcatBusy) return;
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/* 对面是 BOOT（邮箱 PREOP、不跑 OP/PDO）时不要 motor/start：
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* 跳转/刷写结束后 bootEcatIsBoot 会钉住，直到 jump_app 确认 APP。 */
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if (window.bootEcatIsBoot === true) return;
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var now = nowMs();
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if (ecatBusReady) return;
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if (now < ecatBusNextTryAt) return;
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ecatBusBusy = true;
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ecatBusNextTryAt = now + ECAT_BUS_RETRY_MS;
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var adapter = readAdapter();
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var period = null;
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var spin = null;
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try {
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period = parseFloat(localStorage.getItem(LS_ECAT_PERIOD));
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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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runEcatBootstrap({
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ecatPost: ecatPost,
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adapter: adapter,
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period_ms: period,
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spin: spin,
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}).then(function (r) {
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if (r && r.ok) ecatBusReady = true;
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}).catch(function () {
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/* 网线没插/从站未上电：退避后由 pollEcat 再触发 */
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}).then(function () {
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ecatBusBusy = false;
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});
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}
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function pollEcat() {
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if (stopped) return;
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var stP = ecatPost("status", {}, 4000).catch(function () { return null; });
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var ldP = ecatPost("app/load", {}, 4000).catch(function () { return null; });
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Promise.all([stP, ldP]).then(function (arr) {
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var st = arr[0], ld = arr[1];
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var e = snap.links.ecat;
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e.online = !!(st && st.ok && st.slave);
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e.busOpen = !!(st && st.ok);
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e.deviceName = (st && st.slave && st.slave.name) ? String(st.slave.name) : "";
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/* 从站 AL 状态原样带上，让灯色与文案同源：1=INIT 2=PREOP 3=BOOT 4=SAFEOP 8=OP。
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* 只有 ok+slave 就判"在线"太松——实测从站在 INIT、0x1008 空、循环没跑时
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* 也会被点成绿灯，而文字还写着"离线"。 */
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e.slaveState = (st && st.slave && st.slave.state != null) ? Number(st.slave.state) : null;
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e.alStatus = (st && st.slave && st.slave.al_status != null) ? Number(st.slave.al_status) : null;
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/* 同步到 window：Client 侧 updateLinkPills 在旧快照缺字段时兜底读取 */
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window.__ecatDeviceName = e.deviceName;
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/* native status 不直接给 op/loop；用 load valid + slave state 粗判 */
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e.op = !!(st && st.slave && st.slave.state != null && (st.slave.state & 0x0F) === 8);
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e.loadValid = !!(ld && ld.ok && ld.valid === true
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&& Number.isFinite(ld.age_ms) && ld.age_ms >= 0 && ld.age_ms <= 3000);
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e.loop = e.loadValid || e.op;
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e.loadPerm = (ld && Number.isFinite(ld.load_perm)) ? ld.load_perm : 0;
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e.ageMs = (ld && Number.isFinite(ld.age_ms)) ? ld.age_ms : -1;
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/* 与刚上电同判据：bus_open + loop 才算就绪。
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* jump_app / commit 后 loop 被 loop_stop 掉、bus 仍开 —— 旧逻辑只在
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* !busOpen 时清 ready，于是 Owner 永远不再 motor/start，连接要等外部
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* 自愈才回来。loop 一掉就允许 bootstrap 重拉（刷写中由上面 busy 门拦住）。 */
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if (e.busOpen && e.loop) ecatBusReady = true;
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else ecatBusReady = false;
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publish();
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/* 自愈：DC/周期被配错时发送出口秒级 —— R6 单点 repairEcatDc */
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if (e.busOpen && e.loop && !ecatDcGuardBusy) {
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ecatDcGuardBusy = true;
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repairEcatDc(ecatPost).catch(function () {}).then(function () {
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ecatDcGuardBusy = false;
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});
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}
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bootstrapEcatBus();
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}).catch(function () {
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/* 字段访问/异常不得让 ECAT 轮询永久停摆 */
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}).then(function () {
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if (!stopped) ecatTimer = setTimeout(pollEcat, ECAT_POLL_MS);
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});
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}
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function onMsg(ev) {
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var m = ev && ev.data;
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if (!m || !m.type) return;
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if (m.type === "hello") { publish(); return; }
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if (m.type === "set-ip") {
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writeIp(m.ip);
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/* 换了端点＝换了问题：旧的核对结论必须作废，否则新端点还没答过话，
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面板就拿着上一个设备的 status 报"不符"。 */
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snap.endpointCheck = 'unverified';
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snap.endpointCheckNote = '';
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uptimeBase = null; /* uptime 倒退检测只在"同一个端点连续观察"内成立 */
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/* 无论采纳还是拒绝都把"实际生效的 IP"广播回去：否则各页输入框会停在
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用户刚打的脏值上，显示连着、实际打的还是旧端点——那正是自证判据。 */
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publish();
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try {
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fetch(baseUrlFromIp() + "/system/status", {
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cache: "no-store",
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signal: AbortSignal.timeout(2000)
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}).then(function (r) { return r.json(); })
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.then(function (j) { setEsp32(j, true); })
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.catch(function () { setEsp32(null, false); });
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} catch (_) {}
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return;
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}
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if (m.type === "ble-state") {
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snap.links.ble.online = !!m.online;
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snap.links.ble.deviceName = m.deviceName || "";
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snap.links.ble.owner = m.owner || (m.online ? "page" : null);
|
||
publish();
|
||
return;
|
||
}
|
||
}
|
||
|
||
if (ch) ch.addEventListener("message", onMsg);
|
||
pollEsp32();
|
||
pollEcat();
|
||
bootstrapEcatBus();
|
||
publish();
|
||
|
||
return {
|
||
stop: function () {
|
||
stopped = true;
|
||
if (esp32Timer) clearTimeout(esp32Timer);
|
||
if (ecatTimer) clearTimeout(ecatTimer);
|
||
if (ch) { try { ch.close(); } catch (_) {} }
|
||
}
|
||
};
|
||
}
|
||
|
||
/* ───────────────────────── Client ───────────────────────── */
|
||
|
||
function createClient() {
|
||
var ch = null;
|
||
try { ch = new BroadcastChannel(CH_NAME); } catch (_) { ch = null; }
|
||
var listeners = [];
|
||
var autoScanFns = [];
|
||
var last = null;
|
||
|
||
function emitAutoScan(m) {
|
||
for (var i = 0; i < autoScanFns.length; i++) {
|
||
try { autoScanFns[i](m || {}); } catch (_) {}
|
||
}
|
||
}
|
||
|
||
function emit() {
|
||
for (var i = 0; i < listeners.length; i++) {
|
||
try { listeners[i](last); } catch (_) {}
|
||
}
|
||
}
|
||
|
||
if (ch) {
|
||
ch.addEventListener("message", function (ev) {
|
||
var m = ev && ev.data;
|
||
if (!m || !m.type) return;
|
||
if (m.type === "auto-scan") { emitAutoScan(m); return; }
|
||
if (m.type !== "snapshot" || !m.snap) return;
|
||
last = m.snap;
|
||
emit();
|
||
});
|
||
try { ch.postMessage({ type: "hello" }); } catch (_) {}
|
||
}
|
||
|
||
function applyLocalBle(online, deviceName) {
|
||
if (last) {
|
||
last.links.ble.online = !!online;
|
||
last.links.ble.deviceName = deviceName || "";
|
||
last.links.ble.owner = online ? "iframe" : null;
|
||
last.ts = nowMs();
|
||
emit();
|
||
}
|
||
}
|
||
|
||
return {
|
||
/* ── 快照 ── */
|
||
getSnapshot: function () { return last; },
|
||
subscribe: function (fn) {
|
||
if (typeof fn !== "function") return function () {};
|
||
listeners.push(fn);
|
||
if (last) { try { fn(last); } catch (_) {} }
|
||
return function () {
|
||
var i = listeners.indexOf(fn);
|
||
if (i >= 0) listeners.splice(i, 1);
|
||
};
|
||
},
|
||
/** 指定通道当前是否在线；无快照时回退 false（调用方自行降级） */
|
||
channelOnline: function (name) {
|
||
if (!last || !last.links) return false;
|
||
var L = last.links[name];
|
||
return !!(L && L.online);
|
||
},
|
||
|
||
/* ── WiFi 端点（唯一写手；各页输入框/发现面板都走这里） ── */
|
||
/**
|
||
* @description 换设备。**唯一**能改当前端点的入口，门也只在这里判一次：
|
||
* - IPv4 合法性（base-url.saveDeviceIp 单点校验，非法不改写现值）
|
||
* - 刷写/OTA 进行中不换（motor/start 会 loop_stop、灌写会话会被掐死）
|
||
* @returns {{ok:boolean, ip?:string, reason?:string}}
|
||
*/
|
||
setIp: function (ip) {
|
||
var v = String(ip == null ? '' : ip).trim();
|
||
if (!isValidIpv4(v)) return { ok: false, reason: '不是可用 IPv4：' + v };
|
||
if (flashBusyNow()) return { ok: false, reason: '刷写/OTA 进行中，暂不换端点' };
|
||
if (!writeIp(v)) return { ok: false, reason: '写入 localStorage 失败' };
|
||
if (ch) { try { ch.postMessage({ type: "set-ip", ip: readIp() }); } catch (_) {} }
|
||
return { ok: true, ip: readIp() };
|
||
},
|
||
/**
|
||
* @description 选中一台发现到的设备：比 setIp 多一步指纹登记（版本/来源/时刻），
|
||
* Owner 之后每次拉 status 都据此核"连的还是不是这台"（snap.endpointCheck）。
|
||
* @param {{ip:string, version?:string, git_hash?:string, source?:string}} rec
|
||
*/
|
||
selectDevice: function (rec) {
|
||
var ip = rec && rec.ip != null ? String(rec.ip).trim() : '';
|
||
var r = this.setIp(ip);
|
||
if (!r.ok) return r;
|
||
saveDeviceMeta({
|
||
ip: r.ip,
|
||
version: rec.version ? String(rec.version) : '',
|
||
git_hash: rec.git_hash ? String(rec.git_hash) : '',
|
||
observedAt: nowMs(),
|
||
source: rec.source || 'lan'
|
||
});
|
||
return r;
|
||
},
|
||
/** @description 当前登记的端点指纹（无则 null）。 */
|
||
getDeviceMeta: function () { return getDeviceMeta(); },
|
||
/** @description 订阅"Owner 判离线、提候选"的信号（不自动改端点）。 */
|
||
onAutoScan: function (fn) {
|
||
if (typeof fn !== 'function') return function () {};
|
||
autoScanFns.push(fn);
|
||
return function () {
|
||
var i = autoScanFns.indexOf(fn);
|
||
if (i >= 0) autoScanFns.splice(i, 1);
|
||
};
|
||
},
|
||
getIp: function () { return readIp(); },
|
||
wifiBaseUrl: function () { return baseUrlFromIp(); },
|
||
|
||
/* ── EtherCAT 端点与请求 ── */
|
||
getEcatAdapter: function () { return readAdapter(); },
|
||
setEcatAdapter: function (substr) {
|
||
writeAdapter(substr);
|
||
return readAdapter();
|
||
},
|
||
ecatPost: ecatPost,
|
||
|
||
/* ── BLE 状态上报 ── */
|
||
reportBle: function (online, deviceName) {
|
||
var payload = {
|
||
type: "ble-state",
|
||
online: !!online,
|
||
deviceName: deviceName || "",
|
||
owner: "iframe"
|
||
};
|
||
if (ch) { try { ch.postMessage(payload); } catch (_) {} }
|
||
applyLocalBle(online, deviceName);
|
||
},
|
||
|
||
hasOwner: function () { return !!last; }
|
||
};
|
||
}
|
||
|
||
/* ───────────────────────── bootstrap ───────────────────────── */
|
||
|
||
var deviceLink;
|
||
try {
|
||
if (window.__dcuDeviceLinkOwner) {
|
||
/* 把标记消费掉：同一文档里本模块若因入口 ?v= 与 JS 间 import 的 URL 不同被
|
||
* 实例化两次（tabs.html 就是这种：入口标签带 stamp，lan-picker.js 不带），
|
||
* 只允许有一个 Owner —— 两个 Owner 就是两份 1Hz status 轮询 + 两份快照互相打架。 */
|
||
window.__dcuDeviceLinkOwner = false;
|
||
window.__dcuDeviceLinkInstance = createOwner();
|
||
}
|
||
} catch (_) {}
|
||
|
||
deviceLink = createClient();
|
||
export { deviceLink, ecatPost, readAdapter as getEcatAdapter, writeAdapter as setEcatAdapter };
|
||
export { ECAT_DEFAULT_ADAPTER };
|
||
export default deviceLink;
|