小龙虾
2138a572ee
- 新增多电机状态、版本和OTA中继监控模块（monitor/motor_state.cpp, monitor/motor_version.cpp, monitor/motor_ota_relay.cpp） - 在CAN反馈任务中添加0xC5/0xC6/0xD2类型消息处理，支持多电机状态推送 - 重构调试日志系统，将一次性JSON分配改为512B栈缓冲流式发送，降低内存峰值 - 调试UART波特率从115200提升至30000 - 修改版本管理方式，从自动生version.h改为手动维护 - 更新VSCode设置以支持ESP-IDF开发环境配置 - 在OTA协调器中添加电机OTA互斥机制，防止并发冲突 - 完善中继状态机异常处理，添加远程取消通知机制
333 lines
19 KiB
HTML
333 lines
19 KiB
HTML
<!DOCTYPE html>
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<html lang="zh-CN">
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<head>
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<meta charset="UTF-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<title>ESP32 CAN 通信控制台</title>
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<link rel="stylesheet" href="css/base.css?v=857f83a5">
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<link rel="stylesheet" href="css/layout.css?v=acd17001">
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<link rel="stylesheet" href="css/components.css?v=7bc7d5db">
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<link rel="stylesheet" href="css/can.css?v=c06f5688">
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<link rel="stylesheet" href="css/responsive.css?v=46449483">
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</head>
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<body class="can-page">
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<div class="container can-container">
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<header class="header-bar can-header">
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<div class="header-brand">
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<span class="brand-logo" aria-hidden="true">
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<svg viewBox="0 0 24 24" fill="none" stroke="currentColor" stroke-width="1.7" stroke-linecap="round" stroke-linejoin="round">
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<rect x="6" y="6" width="12" height="12" rx="2.5"/>
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<rect x="9.5" y="9.5" width="5" height="5" rx="1" fill="currentColor" stroke="none" opacity=".85"/>
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<path d="M9 2v3M15 2v3M9 19v3M15 19v3M2 9h3M2 15h3M19 9h3M19 15h3"/>
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</svg>
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</span>
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<div class="brand-text">
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<strong>ESP32 CAN 通信控制台</strong>
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<span class="brand-sub">DCU · Robot_v2 · CAN FD</span>
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</div>
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</div>
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<div class="header-status">
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<span class="pill offline" id="canConnPill"><span class="indicator"></span><span id="canConnTxt">未连接</span></span>
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<span class="pill" id="canIpPill">IP --</span>
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<span class="pill" id="canRssiPill">RSSI --</span>
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<span class="pill" id="canUptimePill">运行 --</span>
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<span class="pill" id="canVersionPill">v--</span>
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<span class="pill" id="canChannelPill">CH0</span>
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<span class="pill" id="dbcSummaryPill">未导入 DBC</span>
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<span class="pill" id="messageSummaryPill">0 报文</span>
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<span class="pill" id="fbModePill">模式: --</span>
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<span class="pill" id="fbPollStatus">轮询: --</span>
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</div>
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<div class="header-sub can-header-actions">
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<a class="pill can-link-pill" href="index.html">返回 OTA 控制台</a>
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<a class="pill can-link-pill" href="can_monitor.html" title="独立全屏监控页">监控全屏</a>
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</div>
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</header>
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<!-- DBC 并入报文列表：无文件时列表内大拖放区；有文件时标题栏紧凑摘要 + 更换 -->
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<input type="file" id="dbcFileInput" accept=".dbc,text/plain" multiple style="display:none;">
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<div class="can-editor-layout">
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<div class="can-main-col">
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<section class="card can-table-card" id="dbcDropZone">
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<div class="card-head can-msg-list-head">
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<span class="ico">📚</span>
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<span>报文列表</span>
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<!-- 已导入：合计 + 文件 chip（可逐个移除） -->
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<div class="dbc-summary-strip dbc-summary-inline" id="dbcFileInfo" hidden>
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<span class="dbc-summary-meta">
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<span><b id="dbcFileCount">0</b>文件</span>
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<span><b id="dbcMessageCount">0</b>报文</span>
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<span><b id="dbcSignalCount">0</b>信号</span>
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<span><b id="dbcNodeCount">0</b>节点</span>
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<span id="dbcFileSize">0 B</span>
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</span>
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<span class="dbc-file-chips" id="dbcFileChips"></span>
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</div>
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<div class="can-msg-head-actions">
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<button class="btn btn-ghost btn-sm" id="clearDbcBtn" type="button" title="清除全部 DBC" hidden>全部清除</button>
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<button class="btn btn-primary btn-sm" id="importDbcBtn" type="button">导入 DBC</button>
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</div>
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</div>
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<!-- 通道 / 搜索 / 勾选 / 节点 / 批量 同一工具栏 -->
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<div class="can-msg-toolbar" id="canMsgToolbar">
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<label class="can-msg-channel" for="defaultChannel">
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<span class="can-msg-channel-label">通道</span>
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<select class="input can-msg-channel-select" id="defaultChannel" title="默认发送通道">
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<option value="0">CH0</option>
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<option value="1">CH1</option>
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<option value="2">CH2</option>
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</select>
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</label>
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<div class="can-msg-search-wrap">
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<input class="input can-msg-search" type="text" id="dbcSearch"
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placeholder="搜索报文名 / ID / 节点 / 信号" autocomplete="off">
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</div>
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<div class="can-batch-actions">
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<span class="pill" id="selectedCountPill">已勾选 0</span>
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<div class="can-node-filter" id="nodeFilterWrap">
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<button class="btn btn-outline btn-sm can-node-filter-btn" id="nodeFilterBtn" type="button" aria-haspopup="true" aria-expanded="false">
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<span class="can-node-filter-label" id="nodeFilterLabel">发送节点：全部</span>
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<span class="can-node-filter-caret">▾</span>
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</button>
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<div class="can-node-filter-panel" id="nodeFilterPanel" hidden>
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<div class="can-node-filter-head">
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<input class="input can-node-filter-search" id="nodeFilterSearch" type="text" placeholder="筛选节点名…">
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<div class="can-node-filter-actions">
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<button class="btn btn-ghost btn-sm" id="nodeFilterAllBtn" type="button">全选</button>
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<button class="btn btn-ghost btn-sm" id="nodeFilterNoneBtn" type="button">清空</button>
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</div>
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</div>
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<div class="can-node-filter-list" id="nodeFilterList">
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<div class="status-empty">先导入 DBC。</div>
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</div>
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</div>
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</div>
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<label class="checkbox-inline can-batch-all-label" title="全选/取消当前过滤的所有报文">
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<input type="checkbox" id="selectAllBox">
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<span>全选当前过滤</span>
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</label>
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<button class="btn btn-outline btn-sm" id="expandAllBtn" type="button">展开全部</button>
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<button class="btn btn-outline btn-sm" id="collapseAllBtn" type="button">收起全部</button>
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<button class="btn btn-primary btn-sm" id="sendCheckedBtn" type="button">批量发送勾选</button>
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</div>
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</div>
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<div class="card-body can-table-card-body">
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<div class="message-list" id="messageList">
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<div class="dbc-empty-drop" id="dbcEmptyDrop">
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<div class="upload-ico">📥</div>
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<h4>导入 DBC 开始编辑报文</h4>
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<p>点击此处或拖拽 <code>.dbc</code> 文件到列表区域</p>
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</div>
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</div>
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<div class="helper-note" id="dbcHint" hidden></div>
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</div>
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</section>
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<section class="card can-history-card">
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<div class="card-head"><span class="ico">🕘</span> 最近发送</div>
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<div class="card-body">
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<div class="history-list history-list-compact" id="historyList">
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<div class="status-empty">尚未发送任何 CAN 帧。</div>
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</div>
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</div>
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</section>
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</div>
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<aside class="can-sidepanel">
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<section class="card can-preview-card">
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<div class="card-head"><span class="ico">🛰️</span> 帧预览</div>
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<div class="card-body">
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<div class="can-frame-panel can-frame-panel-compact">
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<div class="can-frame-hex" id="generatedHex">--</div>
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<div class="can-byte-strip" id="generatedBytes"></div>
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<div class="helper-note" id="encodeHint">选择报文后，信号值会实时编码为 CAN 数据。</div>
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<div class="btn-row can-frame-actions">
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<button class="btn btn-outline btn-sm" id="loadPreviewToRawBtn" type="button">载入到原始发送区</button>
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<button class="btn btn-primary btn-sm" id="sendSelectedBtn" type="button">发送当前预览帧</button>
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</div>
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<div class="can-response" id="dbcResp" style="display:none;">
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<div class="can-response-label">设备响应</div>
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<div id="dbcRespText"></div>
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</div>
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</div>
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</div>
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</section>
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<section class="card can-raw-card">
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<div class="card-head"><span class="ico">✍️</span> 原始帧发送</div>
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<div class="card-body">
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<div class="row-2 can-raw-grid">
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<div class="form-row" style="margin:0;">
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<label class="form-label" for="manualChannel">通道</label>
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<select class="input" id="manualChannel">
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<option value="0">CH0</option>
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<option value="1">CH1</option>
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<option value="2">CH2</option>
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</select>
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</div>
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<div class="form-row" style="margin:0;">
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<label class="form-label" for="manualId">CAN ID</label>
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<input class="input" type="text" id="manualId" value="0x18DA00F1" placeholder="支持 0x 或十进制">
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</div>
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</div>
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<div class="form-row" style="margin-top:10px;">
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<label class="form-label" for="manualDlc">DLC</label>
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<input class="input" type="number" id="manualDlc" value="8" min="0" max="64">
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</div>
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<div class="form-row" style="margin-top:10px;">
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<label class="form-label" for="manualData">HEX 数据</label>
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<input class="input" type="text" id="manualData" value="0102030405060708" placeholder="01020304...">
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</div>
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<div class="helper-note" id="manualHint">
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原始帧模式适合绕过 DBC 直接发 HEX，或发送当前预览帧后二次微调。
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</div>
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<div class="btn-row">
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<button class="btn btn-primary" id="sendManualBtn" type="button">发送原始帧</button>
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<button class="btn btn-outline" id="resetManualBtn" type="button">重置</button>
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</div>
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<div class="can-response" id="manualResp" style="display:none;">
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<div class="can-response-label">设备响应</div>
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<div id="manualRespText"></div>
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</div>
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</div>
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</section>
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</aside>
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</div>
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</div>
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<!-- 右侧滑出：CAN 接收监控（与 OTA 页「堆与任务栈」同样交互） -->
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<aside class="sys-drawer can-monitor-drawer" id="canMonitorDrawer" aria-label="CAN 接收监控">
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<div class="sys-drawer-rail" title="悬停展开 CAN 接收监控">
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<span class="sys-drawer-rail-ico">📊</span>
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<span class="sys-drawer-rail-text">CAN 接收监控</span>
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</div>
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<div class="sys-drawer-panel card">
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<div class="card-head sys-drawer-head">
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<span class="ico">📊</span> CAN 接收监控
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</div>
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<div class="card-body sys-drawer-body">
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<div class="status-section-title">接收模式</div>
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<div class="input-group" style="margin-bottom:12px;flex-wrap:wrap;">
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<button class="btn btn-primary btn-sm" id="btnModeAllPass" type="button">全收模式</button>
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<button class="btn btn-outline btn-sm" id="btnModeFilter" type="button">过滤模式</button>
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<button class="btn btn-outline btn-sm" id="btnModeBridge" type="button" title="CAN0 收到的每一帧按原帧格式自动转发到 CAN1 与 CAN2">CAN0→1/2 桥接</button>
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</div>
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<div class="helper-note" id="monHelper" style="margin-bottom:14px;">
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地址与顶栏一致；1Hz <code>/can/feedback</code>。悬停抽屉保持展开。
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</div>
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<div class="status-section-title">三路 CAN 通道（1Hz）</div>
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<div class="feedback-grid feedback-grid-drawer">
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<div class="feedback-channel collapsed" id="fbCh0">
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<div class="feedback-ch-head" role="button" tabindex="0" title="点击展开/折叠详情">
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<span class="ch-dot ch0"></span> CAN0
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<span class="feedback-expand-caret">▾</span>
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</div>
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<div class="feedback-primary">
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<div class="feedback-row"><span class="fb-label">状态</span><span class="fb-val" id="fb0State">--</span></div>
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<div class="feedback-row"><span class="fb-label">接收数</span><span class="fb-val" id="fb0Rx">--</span></div>
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<div class="feedback-row"><span class="fb-label">发送数</span><span class="fb-val" id="fb0Tx">--</span></div>
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<div class="feedback-row"><span class="fb-label">丢帧</span><span class="fb-val" id="fb0Drop">--</span></div>
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<div class="feedback-row"><span class="fb-label">错误</span><span class="fb-val" id="fb0Err">--</span></div>
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</div>
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<div class="feedback-detail">
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<div class="feedback-row"><span class="fb-label">TEC</span><span class="fb-val" id="fb0Tec">--</span></div>
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<div class="feedback-row"><span class="fb-label">REC</span><span class="fb-val" id="fb0Rec">--</span></div>
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<div class="feedback-row"><span class="fb-label">总线状态</span><span class="fb-val" id="fb0Bus">--</span></div>
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<div class="feedback-row"><span class="fb-label">最新ID</span><span class="fb-val mono" id="fb0LastId">--</span></div>
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<div class="feedback-row"><span class="fb-label">DLC</span><span class="fb-val" id="fb0Dlc">--</span></div>
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<div class="feedback-row"><span class="fb-label">FD/BRS/ESI</span><span class="fb-val" id="fb0Flags">--</span></div>
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<div class="feedback-row"><span class="fb-label">Seq</span><span class="fb-val" id="fb0Seq">--</span></div>
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<div class="feedback-row"><span class="fb-label">Δrx/s</span><span class="fb-val" id="fb0Delta">--</span></div>
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<div class="feedback-row"><span class="fb-label">最新HEX</span><span class="fb-val mono fb-data-cell" id="fb0LastData">--</span></div>
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</div>
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</div>
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<div class="feedback-channel collapsed" id="fbCh1">
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<div class="feedback-ch-head" role="button" tabindex="0" title="点击展开/折叠详情">
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<span class="ch-dot ch1"></span> CAN1
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<span class="feedback-expand-caret">▾</span>
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</div>
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<div class="feedback-primary">
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<div class="feedback-row"><span class="fb-label">状态</span><span class="fb-val" id="fb1State">--</span></div>
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<div class="feedback-row"><span class="fb-label">接收数</span><span class="fb-val" id="fb1Rx">--</span></div>
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<div class="feedback-row"><span class="fb-label">发送数</span><span class="fb-val" id="fb1Tx">--</span></div>
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<div class="feedback-row"><span class="fb-label">丢帧</span><span class="fb-val" id="fb1Drop">--</span></div>
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<div class="feedback-row"><span class="fb-label">错误</span><span class="fb-val" id="fb1Err">--</span></div>
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</div>
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<div class="feedback-detail">
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<div class="feedback-row"><span class="fb-label">TEC</span><span class="fb-val" id="fb1Tec">--</span></div>
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<div class="feedback-row"><span class="fb-label">REC</span><span class="fb-val" id="fb1Rec">--</span></div>
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<div class="feedback-row"><span class="fb-label">总线状态</span><span class="fb-val" id="fb1Bus">--</span></div>
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<div class="feedback-row"><span class="fb-label">最新ID</span><span class="fb-val mono" id="fb1LastId">--</span></div>
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<div class="feedback-row"><span class="fb-label">DLC</span><span class="fb-val" id="fb1Dlc">--</span></div>
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<div class="feedback-row"><span class="fb-label">FD/BRS/ESI</span><span class="fb-val" id="fb1Flags">--</span></div>
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<div class="feedback-row"><span class="fb-label">Seq</span><span class="fb-val" id="fb1Seq">--</span></div>
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<div class="feedback-row"><span class="fb-label">Δrx/s</span><span class="fb-val" id="fb1Delta">--</span></div>
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<div class="feedback-row"><span class="fb-label">最新HEX</span><span class="fb-val mono fb-data-cell" id="fb1LastData">--</span></div>
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</div>
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</div>
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<div class="feedback-channel collapsed" id="fbCh2">
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<div class="feedback-ch-head" role="button" tabindex="0" title="点击展开/折叠详情">
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<span class="ch-dot ch2"></span> CAN2
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<span class="feedback-expand-caret">▾</span>
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</div>
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<div class="feedback-primary">
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<div class="feedback-row"><span class="fb-label">状态</span><span class="fb-val" id="fb2State">--</span></div>
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<div class="feedback-row"><span class="fb-label">接收数</span><span class="fb-val" id="fb2Rx">--</span></div>
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<div class="feedback-row"><span class="fb-label">发送数</span><span class="fb-val" id="fb2Tx">--</span></div>
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<div class="feedback-row"><span class="fb-label">丢帧</span><span class="fb-val" id="fb2Drop">--</span></div>
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<div class="feedback-row"><span class="fb-label">错误</span><span class="fb-val" id="fb2Err">--</span></div>
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</div>
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<div class="feedback-detail">
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<div class="feedback-row"><span class="fb-label">TEC</span><span class="fb-val" id="fb2Tec">--</span></div>
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<div class="feedback-row"><span class="fb-label">REC</span><span class="fb-val" id="fb2Rec">--</span></div>
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<div class="feedback-row"><span class="fb-label">总线状态</span><span class="fb-val" id="fb2Bus">--</span></div>
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<div class="feedback-row"><span class="fb-label">最新ID</span><span class="fb-val mono" id="fb2LastId">--</span></div>
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<div class="feedback-row"><span class="fb-label">DLC</span><span class="fb-val" id="fb2Dlc">--</span></div>
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<div class="feedback-row"><span class="fb-label">FD/BRS/ESI</span><span class="fb-val" id="fb2Flags">--</span></div>
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<div class="feedback-row"><span class="fb-label">Seq</span><span class="fb-val" id="fb2Seq">--</span></div>
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<div class="feedback-row"><span class="fb-label">Δrx/s</span><span class="fb-val" id="fb2Delta">--</span></div>
|
||
<div class="feedback-row"><span class="fb-label">最新HEX</span><span class="fb-val mono fb-data-cell" id="fb2LastData">--</span></div>
|
||
</div>
|
||
</div>
|
||
</div>
|
||
|
||
<div class="status-section-title" style="margin-top:16px;display:flex;align-items:center;gap:10px;flex-wrap:wrap;">
|
||
<span>每 ID 快照表</span>
|
||
<select class="input" id="idsnapChannel" style="width:100px;text-transform:none;">
|
||
<option value="0">CAN0</option>
|
||
<option value="1">CAN1</option>
|
||
<option value="2">CAN2</option>
|
||
</select>
|
||
<span class="pill" id="idsnapStatus">--</span>
|
||
</div>
|
||
<div class="idsnap-table-wrap">
|
||
<table class="idsnap-table" id="idsnapTable">
|
||
<thead>
|
||
<tr>
|
||
<th>#</th><th>CAN ID</th><th>DLC</th>
|
||
<th>FD</th><th>BRS</th><th>ESI</th><th>数据 (HEX)</th>
|
||
</tr>
|
||
</thead>
|
||
<tbody id="idsnapBody">
|
||
<tr><td colspan="7" class="status-empty">等待数据...</td></tr>
|
||
</tbody>
|
||
</table>
|
||
</div>
|
||
</div>
|
||
</div>
|
||
</aside>
|
||
|
||
<div class="toast" id="toast">
|
||
<span class="toast-ico" id="toastIco">✓</span>
|
||
<span id="toastMsg">操作成功</span>
|
||
</div>
|
||
|
||
<script type="module" src="js/can.js?v=fad32c3a"></script>
|
||
</body>
|
||
</html>
|