315 lines
13 KiB
Python
315 lines
13 KiB
Python
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#!/usr/bin/env python3
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"""ecat_proc.py — ecat_native 进程治理（跨进程锁 / autostart / kill / RealTime）。
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从 esp32_server.py 外提（R8）。职责是「谁有权把 ecat_native 拉起来/杀掉」，
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不碰 HTTP/静态/lease——那些留在 esp32_server.py。
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路径注入：BASE_DIR **只在 esp32_server 定义一次**，启动时调用
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`init(BASE_DIR)` 设置本模块的 ECAT_DIR / ECAT_NATIVE_EXE，并向
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ecat_client 注册 autostart 钩子。
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保留 P0 行为（不得回退）：
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- 跨进程命名互斥锁 _EcatProcXLock（GUI 进程 + 服务子进程串行 kill/start）
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- **先复用健康监听实例**，绝不 kill 对方刚拉起的 native
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- 默认网卡 I210（与 js/common/device-link.js / pages/motor.html 一致，R2）
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- 拉起时带 --parent-pid，native 在本服务退出后自我了断
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- stdout 落盘（DEVNULL 会吞掉崩溃现场）
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"""
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from __future__ import annotations
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import ctypes
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import os
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import subprocess
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import threading
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import time
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import ecat_client
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# 网卡默认子串：与 js/common/device-link.js / pages/motor.html 保持一致（R2）
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ECAT_DEFAULT_ADAPTER = "I210"
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ECAT_DIR = None
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ECAT_NATIVE_EXE = None
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g_ecat_child = None # 由本服务拉起的 ecat 服务子进程(复用已有实例时为 None)
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g_ecat_log_fp = None # native stdout 落盘句柄(见 autostart 内注释)
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g_ecat_lock = threading.Lock() # 串行化自动启动, 避免并发请求拉起多个进程
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# R3: 跨进程互斥（GUI 进程 + 服务子进程都可能 autostart/kill native）
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_ECAT_XPROC_MUTEX_NAME = "Local\\DCU_Esp32Tools_EcatNativeProc"
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def _resolve_ecat_dir(base_dir):
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"""定位 tools/ecat（ecat_native.exe 的仓库，与本仓库平级）。
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从 git worktree（.../tools/ESP32/.worktrees/<slug>）启动时，BASE_DIR 的
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上一级是 .worktrees 而不是 tools，直接 join("..","ecat") 会拼成
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.../ESP32/.worktrees/ecat，找不到 exe。先走回主检出再取兄弟目录。
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"""
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d = os.path.abspath(base_dir)
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parent = os.path.dirname(d)
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if os.path.basename(parent) == ".worktrees":
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d = os.path.dirname(parent) # → .../tools/ESP32 主检出
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return os.path.normpath(os.path.join(d, "..", "ecat"))
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def init(base_dir: str) -> dict:
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"""由 esp32_server 在导入时调用：注入 BASE_DIR，注册 autostart 钩子。"""
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global ECAT_DIR, ECAT_NATIVE_EXE
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ECAT_DIR = _resolve_ecat_dir(base_dir)
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ECAT_NATIVE_EXE = os.path.join(ECAT_DIR, "build_native", "ecat_native.exe")
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ecat_client.set_autostart_hook(autostart)
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return {"ecat_dir": ECAT_DIR, "native_exe": ECAT_NATIVE_EXE}
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class _EcatProcXLock:
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"""Windows 命名互斥锁：串行化所有会 kill/拉起 ecat_native 的路径。"""
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def __init__(self, timeout_ms=60000):
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self.timeout_ms = timeout_ms
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self._handle = None
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self._owned = False
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def __enter__(self):
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k32 = ctypes.WinDLL("kernel32", use_last_error=True)
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self._handle = k32.CreateMutexW(None, False, _ECAT_XPROC_MUTEX_NAME)
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if not self._handle:
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return self
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r = k32.WaitForSingleObject(self._handle, self.timeout_ms)
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# WAIT_OBJECT_0=0, WAIT_ABANDONED=0x80
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self._owned = r in (0, 0x80)
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return self
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def __exit__(self, *exc):
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if not self._handle:
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return False
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k32 = ctypes.WinDLL("kernel32", use_last_error=True)
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try:
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if self._owned:
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k32.ReleaseMutex(self._handle)
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finally:
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k32.CloseHandle(self._handle)
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self._handle = None
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return False
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def _set_ecat_realtime(pid: int) -> bool:
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"""把 ecat_native 提到 RealTime 进程优先级。
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native 自己 SetPriorityClass(RT) 会被系统静默钳成 High（令牌无
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SeIncreaseBasePriorityPrivilege）。由本服务（启动方）从外部设置才能粘住。
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pdo 线程已是 TIME_CRITICAL：进程类 High→线程 15，RealTime→线程 31，
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后者才扛得住桌面 DPC/调度抢占。实测 1ms 档 late ~12/s → 个位数。
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失败返回 False，不影响启动。
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"""
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try:
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import ctypes.wintypes as wt # noqa: F401
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PROCESS_SET_INFORMATION = 0x0200
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REALTIME_PRIORITY_CLASS = 0x00000100
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HIGH_PRIORITY_CLASS = 0x00000080
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k32 = ctypes.WinDLL("kernel32", use_last_error=True)
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h = k32.OpenProcess(PROCESS_SET_INFORMATION, False, int(pid))
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if not h:
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return False
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try:
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if k32.SetPriorityClass(h, REALTIME_PRIORITY_CLASS):
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return True
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return bool(k32.SetPriorityClass(h, HIGH_PRIORITY_CLASS))
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finally:
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k32.CloseHandle(h)
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except Exception:
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return False
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def _ecat_reuse_listening_native():
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"""端口上已有健康 native → 直接复用（可能是另一进程刚拉起的），不 kill。"""
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g_port = ecat_client.g_ecat_port
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ports = ([g_port] if g_port else []) + \
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[p for p in ecat_client.ECAT_PORTS if p != g_port]
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for p in ports:
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if not ecat_client._port_taken(p):
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continue
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try:
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status, data = ecat_client._ecat_post(
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p, "/api/native/health", b"{}", 1.0,
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connect_timeout=0.4)
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if status == 200:
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return p
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except Exception:
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continue
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return None
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def _kill_all_ecat_native():
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"""强杀所有 ecat_native.exe，返回杀掉的个数。
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两个 native 并存会抢 Npcap 适配器：后起的抓不到从站、HTTP 超时、
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PDO 空转。启动新实例前必须保证旧的死透。只按进程名杀，不碰 python。
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"""
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try:
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out = subprocess.check_output(
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["tasklist", "/FI", "IMAGENAME eq ecat_native.exe",
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"/FO", "CSV", "/NH"],
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text=True, stderr=subprocess.DEVNULL, timeout=8,
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creationflags=getattr(subprocess, "CREATE_NO_WINDOW", 0),
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) or ""
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except Exception:
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return 0
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pids = []
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for line in (out or "").splitlines():
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parts = [p.strip().strip('"') for p in line.split(",")]
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if len(parts) >= 2 and parts[0].lower() == "ecat_native.exe":
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try:
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pids.append(int(parts[1]))
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except ValueError:
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pass
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if not pids:
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return 0
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for pid in pids:
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try:
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subprocess.run(
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["taskkill", "/F", "/PID", str(pid)],
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capture_output=True, timeout=5,
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creationflags=getattr(subprocess, "CREATE_NO_WINDOW", 0),
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)
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except Exception:
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pass
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# 等 Npcap 句柄随进程退出由内核回收
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deadline = time.time() + 3.0
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while time.time() < deadline:
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try:
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again = subprocess.check_output(
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["tasklist", "/FI", "IMAGENAME eq ecat_native.exe",
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"/FO", "CSV", "/NH"],
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text=True, stderr=subprocess.DEVNULL, timeout=4,
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creationflags=getattr(subprocess, "CREATE_NO_WINDOW", 0),
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) or ""
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if "ecat_native.exe" not in (again or "").lower():
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break
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except Exception:
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break
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time.sleep(0.2)
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else:
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time.sleep(0.3)
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return len(pids)
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def autostart():
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"""按需拉起 tools/ecat 的服务进程。返回 (port, log_lines)。
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单实例策略（2026-09-12，R3 加固 2026-09-23）：
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- 跨进程命名互斥锁串行化 kill/start（GUI 进程与服务子进程共用）。
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- **先探测健康监听实例并复用**，绝不 kill 对方刚拉起的 native。
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- 本进程子进程仍存活 → 只等它听口，**绝不 kill_all**（否则启动中的实例
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会被自己下一次请求杀掉，形成 8s kill_stale 死循环）。
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- 子进程已死 / 从未拉起且无健康监听 → 先 taskkill 全部残留 ecat_native，再起唯一实例。
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port 为 None 表示拉不起来。
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"""
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global g_ecat_child, g_ecat_log_fp
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if not ECAT_NATIVE_EXE:
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return None, ["ecat_proc.init 未调用（BASE_DIR 未注入）"]
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with _EcatProcXLock():
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with g_ecat_lock:
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logs = []
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# ── R3: 另一进程（GUI/服务）已在跑的健康实例 → 复用 ──
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reuse = _ecat_reuse_listening_native()
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if reuse:
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ecat_client.g_ecat_port = reuse
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return reuse, [f"复用已在监听的 EtherCAT native (端口 {reuse})"]
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# ── 我们自己拉起的还活着：只复用/等它，不杀 ──
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if g_ecat_child is not None and g_ecat_child.poll() is None:
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port = ecat_client._ecat_find_port()
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if port:
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ecat_client.g_ecat_port = port
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return port, []
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# 仍在启动（kill_stale/绑口最多约 10s）：等完再判
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deadline = time.time() + 10
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while time.time() < deadline:
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if g_ecat_child.poll() is not None:
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break
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port = ecat_client._ecat_find_port()
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if port:
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ecat_client.g_ecat_port = port
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return port, []
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time.sleep(0.3)
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if g_ecat_child.poll() is None:
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return None, logs + ["EtherCAT 服务仍在启动中(未监听端口)，请稍候再试"]
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g_ecat_child = None
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if g_ecat_child is not None and g_ecat_child.poll() is not None:
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g_ecat_child = None
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if not os.path.isfile(ECAT_NATIVE_EXE):
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return None, [
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f"找不到 EtherCAT 原生守护进程: {ECAT_NATIVE_EXE}",
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"请先运行 tools\\ecat\\build_native.bat 编译(需 VS2022 + Npcap)。",
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]
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# 无健康监听才清残留：禁止双实例抢网卡
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killed = _kill_all_ecat_native()
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if killed:
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logs.append(f"已清掉 {killed} 个残留 ecat_native（单实例，防抢网卡）")
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try:
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# 日志落文件而不是 DEVNULL：native 的 stdout 是崩溃/楔死/自动重拉的
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# 唯一现场（WEDGE、kill_stale、进 OP 全打这里），DEVNULL 吞掉后只能靠
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# Windows 事件日志反推（2026-09-12 教训）。追加写，重启服务不清零。
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if g_ecat_log_fp is None:
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g_ecat_log_fp = open(
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os.path.join(ECAT_DIR, "build_native", "native_stdout.log"),
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"ab", buffering=0)
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g_ecat_child = subprocess.Popen(
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[ECAT_NATIVE_EXE, "--substr", ECAT_DEFAULT_ADAPTER,
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"--mask", "0x50",
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"--web", "src/web", "--parent-pid", str(os.getpid())],
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cwd=ECAT_DIR,
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stdout=g_ecat_log_fp, stderr=subprocess.STDOUT,
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stdin=subprocess.DEVNULL,
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creationflags=getattr(subprocess, "CREATE_NO_WINDOW", 0),
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)
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logs.append(f"已自动启动 EtherCAT 原生守护进程(pid {g_ecat_child.pid})")
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if _set_ecat_realtime(g_ecat_child.pid):
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logs.append(f"EtherCAT 进程优先级已提到 RealTime(pid {g_ecat_child.pid})")
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else:
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logs.append("EtherCAT 进程 RealTime 提权失败(保持默认/High, 可手动设)")
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except OSError as e:
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return None, logs + [f"启动 EtherCAT 服务失败: {type(e).__name__}: {e}"]
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deadline = time.time() + 12
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while time.time() < deadline:
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if g_ecat_child.poll() is not None:
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return None, logs + [
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f"EtherCAT 守护进程启动后立刻退出(exit={g_ecat_child.returncode}) —— "
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"多为 Npcap 未安装或 8090..8095 全被占; "
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"可双击 tools/ecat/ecat_web.bat 看具体报错"]
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port = ecat_client._ecat_find_port()
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if port:
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ecat_client.g_ecat_port = port
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logs.append(f"EtherCAT 服务已就绪(端口 {port})")
|
|||
|
|
return port, logs
|
|||
|
|
time.sleep(0.3)
|
|||
|
|
return None, logs + ["EtherCAT 服务启动超时(12s 内未监听端口)"]
|
|||
|
|
|
|||
|
|
|
|||
|
|
# 旧名兼容（server / 脚本）
|
|||
|
|
_ecat_autostart = autostart
|
|||
|
|
|
|||
|
|
|
|||
|
|
def watch_parent(ppid):
|
|||
|
|
"""兜底看门狗(Job Object 万一不可用时): 父 GUI 进程消失就自我了断,
|
|||
|
|
避免窗口关了服务还在后台占端口。"""
|
|||
|
|
def _loop():
|
|||
|
|
k32 = ctypes.windll.kernel32
|
|||
|
|
h = k32.OpenProcess(0x00100000, False, ppid) # SYNCHRONIZE
|
|||
|
|
if not h:
|
|||
|
|
return
|
|||
|
|
k32.WaitForSingleObject(h, 0xFFFFFFFF) # 父进程退出即返回
|
|||
|
|
os._exit(0)
|
|||
|
|
threading.Thread(target=_loop, daemon=True).start()
|
|||
|
|
|
|||
|
|
|
|||
|
|
_watch_parent = watch_parent
|