131 lines
8.5 KiB
JavaScript
131 lines
8.5 KiB
JavaScript
/**
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* 浏览器实测：ECAT 刷新速度下限档 6ms（不限速档）。
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* 单测只验了纯逻辑；这里验真机行为：
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* - 输入框 min/step 随链路变（否则浏览器把合法的 6ms 标成 :invalid）
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* - 6ms 真的比 50ms 快，且拿到实测频率而不是理论 166Hz
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* - 存量缓存里的旧 1ms 会被抬到 6ms（绘制上限之上没有消费者）
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* - 不限速档**不**亮卡顿黄标（每拍撞上在途请求是预期行为）
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* - 切回 WiFi 时 6ms 不会被带过去（wifi 下限 50ms）
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*/
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const CDP = "http://127.0.0.1:9333";
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const list = await (await fetch(CDP + "/json/list")).json();
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const page = list.find((t) => t.type === "page");
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const sock = new WebSocket(page.webSocketDebuggerUrl);
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let id = 0; const pending = new Map();
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await new Promise((r, j) => { sock.onopen = r; sock.onerror = j; });
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sock.onmessage = (e) => { const m = JSON.parse(e.data); if (m.id && pending.has(m.id)) { pending.get(m.id)(m); pending.delete(m.id); } };
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const send = (method, params = {}) => { const myId = ++id; return new Promise((res) => { pending.set(myId, res); sock.send(JSON.stringify({ id: myId, method, params })); }); };
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async function ev(expr) {
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const r = await send("Runtime.evaluate", { expression: expr, awaitPromise: true, returnByValue: true });
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return r.result && r.result.result && r.result.result.value;
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}
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const sleep = (ms) => new Promise((r) => setTimeout(r, ms));
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let pass = 0, fail = 0; const out = [];
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const check = (n, c, d) => { if (c) { pass++; out.push(" \u2713 " + n); } else { fail++; out.push(" \u2717 " + n + (d ? " \u2014 " + d : "")); } };
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await send("Runtime.enable"); await send("Page.enable");
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/* 页面服务端口可传参：node scripts/xxx.mjs [port]（默认 2625） */
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const PORT = Number(process.argv[2] || 2625);
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const PAGE = `http://127.0.0.1:${PORT}/pages/motor.html`;
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/* 干净起点，直接进 ECAT */
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await send("Page.navigate", { url: PAGE }); await sleep(2000);
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await ev(`localStorage.setItem("dcu_motor_transport","ecat"); localStorage.removeItem("dcu_motor_ui_v2"); "ok"`);
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await send("Page.navigate", { url: PAGE }); await sleep(3500);
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/* 请求计数探针 */
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await ev(`(() => {
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window.__cnt = 0;
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if (!window.__origFetch) window.__origFetch = window.fetch;
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window.fetch = function (u) { if (String(u).includes("motor/state")) window.__cnt++; return window.__origFetch.apply(this, arguments); };
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return "ok";
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})()`);
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async function measure(sec) {
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await ev(`window.__cnt = 0; "ok"`);
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await sleep(sec * 1000);
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return await ev(`window.__cnt`) / sec;
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}
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const pre = JSON.parse(await ev(`JSON.stringify({tp: motorDbg.state.tpId, conn: motorDbg.state.connected, eff: motorDbg.state.refreshIntervalMs})`));
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out.push("\n[前置] " + JSON.stringify(pre));
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check("已在 ecat 链路且已连接", pre.tp === "ecat" && pre.conn === true, JSON.stringify(pre));
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out.push("\n[A] ECAT 下输入框的 min/step 应放开到 6/1");
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let dom = JSON.parse(await ev(`JSON.stringify({min: document.querySelector("#refreshRate").min, step: document.querySelector("#refreshRate").step})`));
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check("min=6（否则浏览器校验会把 6ms 判成非法）", dom.min === "6", JSON.stringify(dom));
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check("step=1（下限档要能逐 ms 微调）", dom.step === "1", JSON.stringify(dom));
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out.push("\n[B] 基线：ECAT 默认 50ms");
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const hz50 = await measure(3);
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out.push(` 实测 ${hz50.toFixed(1)} Hz`);
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check("50ms 档约 20Hz", hz50 > 12 && hz50 < 30, `实测 ${hz50.toFixed(1)}`);
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out.push("\n[C] 设成 6ms —— 应被接受且明显更快");
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await ev(`(() => { const i=document.querySelector("#refreshRate"); i.value="6"; i.dispatchEvent(new Event("change")); return "ok"; })()`);
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await sleep(800);
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let st = JSON.parse(await ev(`JSON.stringify({eff: motorDbg.state.refreshIntervalMs, val: document.querySelector("#refreshRate").value, valid: document.querySelector("#refreshRate").checkValidity(), map: motorDbg.state.refreshByTp})`));
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check("6ms 被接受（没被钳回 50）", st.eff === 6, JSON.stringify(st));
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check("输入框显示 6", st.val === "6", JSON.stringify(st));
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check("通过浏览器原生校验（min 已同步）", st.valid === true, JSON.stringify(st));
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check("只写进 ecat 那一份，wifi 仍 250", st.map.ecat === 6 && st.map.wifi === 250, JSON.stringify(st));
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const hz1 = await measure(4);
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out.push(` 实测 ${hz1.toFixed(1)} Hz（每拍一次 HTTP 往返，6ms 档约 160Hz 量级）`);
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check("6ms 明显快于 50ms 档", hz1 > hz50 * 1.5, `6ms=${hz1.toFixed(1)} vs 50ms=${hz50.toFixed(1)}`);
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check("但达不到理论 166Hz 以上（受每拍 HTTP 往返限制）", hz1 < 200, `实测 ${hz1.toFixed(1)}`);
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out.push("\n[C2] 硬填旧的 1ms —— 应被抬到下限 6ms");
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await ev(`(() => { const i=document.querySelector("#refreshRate"); i.value="1"; i.dispatchEvent(new Event("change")); return "ok"; })()`);
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await sleep(500);
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st = JSON.parse(await ev(`JSON.stringify({eff: motorDbg.state.refreshIntervalMs, val: document.querySelector("#refreshRate").value})`));
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check("旧 1ms 被抬到 6ms", st.eff === 6, JSON.stringify(st));
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check("输入框回填 6", st.val === "6", JSON.stringify(st));
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out.push("\n[D] 不限速档不应亮卡顿黄标");
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st = JSON.parse(await ev(`JSON.stringify({stuck: motorDbg.state.tickStuck, cls: document.querySelector("#chSelect").classList.contains("stuck"), title: document.querySelector("#chSelect").title})`));
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check("tickStuck 保持 0（每拍撞上在途请求是预期行为，不算卡顿）", st.stuck === 0, JSON.stringify(st));
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check("通道下拉框没有 .stuck 黄标", st.cls === false, JSON.stringify(st));
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check("没有误导性的卡顿提示文案", !st.title, JSON.stringify(st));
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out.push("\n[E] STATUS 面板的 Hz 应是实测值，不是理论 166Hz");
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const hzText = await ev(`document.querySelector("#statusIdLabel").textContent`);
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out.push(` 面板显示: ${hzText}`);
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const m = String(hzText).match(/([\d.]+)\s*Hz/);
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check("面板有 Hz 读数", !!m || /\u2026/.test(String(hzText)), hzText);
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if (m) {
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const shown = parseFloat(m[1]);
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check("显示的不是谎报的理论值", shown < 200, `显示 ${shown}Hz`);
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check("显示值与实测频率同量级（±60%）",
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Math.abs(shown - hz1) / Math.max(hz1, 1) < 0.6, `显示 ${shown} vs 实测 ${hz1.toFixed(1)}`);
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}
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out.push("\n[F] 切到 WiFi：6ms 不能带过去（wifi 下限 50ms）");
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await ev(`(() => { const s=document.querySelector("#transportSelect"); s.value="wifi"; s.dispatchEvent(new Event("change")); return "ok"; })()`);
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await sleep(1500);
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st = JSON.parse(await ev(`JSON.stringify({eff: motorDbg.state.refreshIntervalMs, val: document.querySelector("#refreshRate").value, min: document.querySelector("#refreshRate").min, step: document.querySelector("#refreshRate").step})`));
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check("WiFi 生效值 250（不是 ECAT 的 6）", st.eff === 250, JSON.stringify(st));
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check("WiFi 下 min 收回 50", st.min === "50", JSON.stringify(st));
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check("WiFi 下 step 收回 50", st.step === "50", JSON.stringify(st));
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/* 在 WiFi 下硬填 1ms，应被钳到 50 */
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await ev(`(() => { const i=document.querySelector("#refreshRate"); i.value="1"; i.dispatchEvent(new Event("change")); return "ok"; })()`);
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await sleep(500);
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st = JSON.parse(await ev(`JSON.stringify({eff: motorDbg.state.refreshIntervalMs, val: document.querySelector("#refreshRate").value})`));
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check("WiFi 下填 1ms 被钳到 50（无线往返撑不住）", st.eff === 50, JSON.stringify(st));
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out.push("\n[G] 切回 ECAT：仍记着自己的 6ms");
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await ev(`(() => { const s=document.querySelector("#transportSelect"); s.value="ecat"; s.dispatchEvent(new Event("change")); return "ok"; })()`);
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await sleep(2500);
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st = JSON.parse(await ev(`JSON.stringify({eff: motorDbg.state.refreshIntervalMs, val: document.querySelector("#refreshRate").value, min: document.querySelector("#refreshRate").min})`));
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check("ECAT 生效值回到 6ms", st.eff === 6, JSON.stringify(st));
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check("min 重新放开到 6", st.min === "6", JSON.stringify(st));
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/* 刷新页面后 6ms 应持久化 */
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await send("Page.navigate", { url: PAGE }); await sleep(3000);
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st = JSON.parse(await ev(`JSON.stringify({eff: motorDbg.state.refreshIntervalMs, val: document.querySelector("#refreshRate").value, map: motorDbg.state.refreshByTp})`));
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check("刷新页面后 ECAT 仍是 6ms（持久化 + 加载时不被钳高）", st.eff === 6, JSON.stringify(st));
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check("刷新后 wifi 那一份仍是 50（上面手动改过）", st.map.wifi === 50, JSON.stringify(st));
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console.log(out.join("\n"));
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console.log("\n" + "=".repeat(56));
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console.log(`通过 ${pass} 项，失败 ${fail} 项`);
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sock.close();
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process.exit(fail === 0 ? 0 : 1);
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