2026-09-10 03:02:14 +08:00
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""把扫描数据渲染成自包含 HTML 调研报告（图表为内联 SVG）。
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为什么手写 SVG 而不用 matplotlib：产出的 HTML 要**单文件自包含**，不引外部
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JS/CSS/图片依赖，也不能要求阅读者装 matplotlib；SVG 直接内嵌，浏览器打开即看，
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且数值标注可以精确控制位置（matplotlib 的 annotate 在这类密集小图上很容易压线）。
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纪律同 plot_ecat_sweep.py：
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* 图里画的**只有实测点**。模型/参考一律用虚线并写明"外推"，不与实测混同。
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* 无功效的轴（整段恒零）不画成"平坦的零线"，改成功效声明块。
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* 从站停报的档位（wkc 不达预期 / load_perm 为残值）一律排除出图，并在页面上
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显式列出被排除的档位与原因 —— 空图比假图诚实。
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用法：
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python scripts/build_ecat_report_html.py
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python scripts/build_ecat_report_html.py --out ECAT_RATE_TRADEOFF.html
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"""
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import argparse
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import html
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import json
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import math
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import os
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import sys
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from collections import OrderedDict
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HERE = os.path.dirname(os.path.abspath(__file__))
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ROOT = os.path.dirname(HERE)
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sys.path.insert(0, HERE)
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from ecat_sweep_common import post # noqa: E402 （仅用于探测 native 是否在跑）
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import csv as _csv
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# ───────────────────────────────────────────────────────── 数据读取 ─────────────────────────────────────────────────────────
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def read_csv(path):
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if not os.path.isfile(path):
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return []
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rows = []
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for r in _csv.DictReader(open(path, encoding="utf-8")):
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def num(k):
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v = r.get(k, "")
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try:
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return float(v) if v not in ("", "None", None) else None
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except ValueError:
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return None
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rows.append({
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"period_ms": float(r["period_ms"]),
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"hz_set": 1000.0 / float(r["period_ms"]),
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"hz_meas": num("measured_hz"),
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"achieve": num("achieve_pct"),
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"load": num("gd32_load_pct"),
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"load_samples": num("gd32_load_samples"),
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"load_stale": num("gd32_load_stale"),
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"host": num("host_cpu_1core_pct"),
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"lambda_": num("can_lambda_per_s"),
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"drop": num("drop_per_s"),
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"drop_pct": num("drop_pct_of_lambda"),
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"skip": num("skip_per_s"),
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"wkc": r.get("wkc"), "exp_wkc": r.get("expected_wkc"),
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"wr": r.get("wr"), "hijacked": r.get("hijacked"),
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"pid_stable": r.get("pid_stable"),
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"online_frac": num("online_frac"),
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"untrusted": num("drop_untrusted"),
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"path": path})
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rows[-1]["hz"] = rows[-1]["hz_meas"] or rows[-1]["hz_set"]
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rows[-1]["wkc_ok"] = rows[-1]["wkc"] == rows[-1]["exp_wkc"]
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rows.sort(key=lambda r: r["hz"])
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return rows
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# ───────────────────────────────────────────────────────── SVG 图元 ─────────────────────────────────────────────────────────
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def _ticks(lo, hi, n=5):
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"""线性刻度：给一组整齐步进的刻度值。"""
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if hi <= lo:
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return [lo]
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raw = (hi - lo) / max(1, n - 1)
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mag = 10 ** math.floor(math.log10(raw)) if raw else 1
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step = mag * next((k for k in (1, 2, 2.5, 5, 10) if raw / mag <= k), 10)
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v = math.ceil(lo / step) * step
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out = []
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while v <= hi + 1e-9:
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out.append(round(v, 6))
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v += step
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return out
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def _log_ticks(lo, hi):
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out = []
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for e in range(int(math.floor(math.log10(lo))), int(math.ceil(math.log10(hi))) + 1):
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for m in (1, 2, 5):
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v = m * (10 ** e)
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if lo - 1e-9 <= v <= hi + 1e-9:
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out.append(v)
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return out or [lo]
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def _lab(v):
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if v is None:
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return "n/a"
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a = abs(v)
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if a >= 1000:
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return f"{v:,.0f}"
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if a >= 100:
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return f"{v:.0f}"
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if a >= 10:
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return f"{v:.1f}"
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if a >= 1:
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return f"{v:.1f}" if v != int(v) else str(int(v))
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return f"{v:.2f}" if a else "0"
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class Svg:
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"""极简 SVG 累加器。"""
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def __init__(self, w, h):
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self.w, self.h, self.b = w, h, []
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self.L, self.R = 64, w - 16
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self.T, self.B = 26, h - 42
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def scale(self, xlog=False, ylog=False, xr=None, yr=None):
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self.xlog, self.ylog = xlog, ylog
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self.xr, self.yr = xr, yr
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def X(self, v):
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if self.xlog:
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lo, hi = self.xr
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return self.L + (math.log10(max(v, 1e-9)) - math.log10(lo)) / \
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(math.log10(hi) - math.log10(lo)) * (self.R - self.L)
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lo, hi = self.xr
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return self.L + (v - lo) / (hi - lo or 1) * (self.R - self.L)
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def Y(self, v):
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if self.ylog:
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lo, hi = self.yr
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return self.B - (math.log10(max(v, 1e-9)) - math.log10(lo)) / \
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(math.log10(hi) - math.log10(lo)) * (self.B - self.T)
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lo, hi = self.yr
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return self.B - (v - lo) / (hi - lo or 1) * (self.B - self.T)
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def grid(self, xt, yt, xf=_lab, yf=_lab):
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for v in yt:
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try:
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y = self.Y(v)
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except ValueError:
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continue
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if not (self.T - 1 <= y <= self.B + 1):
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continue
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self.b.append(f'<line x1="{self.L}" y1="{y:.1f}" x2="{self.R}" y2="{y:.1f}" '
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f'stroke="#e8ebf0" stroke-width="1"/>')
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self.b.append(f'<text x="{self.L-8}" y="{y+3.5:.1f}" text-anchor="end" '
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f'font-size="10.5" fill="#6b7280">{html.escape(yf(v))}</text>')
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for v in xt:
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x = self.X(v)
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if not (self.L - 1 <= x <= self.R + 1):
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continue
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self.b.append(f'<line x1="{x:.1f}" y1="{self.T}" x2="{x:.1f}" y2="{self.B}" '
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f'stroke="#eef1f5" stroke-width="1"/>')
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self.b.append(f'<text x="{x:.1f}" y="{self.B+16}" text-anchor="middle" '
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f'font-size="10.5" fill="#6b7280">{html.escape(xf(v))}</text>')
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def axes(self, xl, yl):
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self.b.append(f'<line x1="{self.L}" y1="{self.B}" x2="{self.R}" y2="{self.B}" '
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f'stroke="#9aa3af" stroke-width="1.2"/>')
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self.b.append(f'<line x1="{self.L}" y1="{self.T}" x2="{self.L}" y2="{self.B}" '
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f'stroke="#9aa3af" stroke-width="1.2"/>')
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self.b.append(f'<text x="{(self.L+self.R)/2:.0f}" y="{self.h-6}" text-anchor="middle" '
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f'font-size="11.5" fill="#374151">{html.escape(xl)}</text>')
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self.b.append(f'<text transform="rotate(-90 14 {(self.T+self.B)/2:.0f})" x="14" '
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f'y="{(self.T+self.B)/2:.0f}" text-anchor="middle" font-size="11.5" '
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f'fill="#374151">{html.escape(yl)}</text>')
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def line(self, pts, color, dash=None, wid=2.4, marker="circle", r=4.2,
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label=None, lab_dxy=(9, -9)):
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live = [(x, y) for x, y in pts if x is not None and y is not None]
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if not live:
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return
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if len(live) > 1:
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d = " ".join(f"{'M' if i == 0 else 'L'}{self.X(x):.1f},{self.Y(y):.1f}"
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for i, (x, y) in enumerate(live))
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da = f' stroke-dasharray="{dash}"' if dash else ""
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self.b.append(f'<path d="{d}" fill="none" stroke="{color}" '
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f'stroke-width="{wid}"{da} stroke-linejoin="round"/>')
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for i, (x, y) in enumerate(live):
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cx, cy = self.X(x), self.Y(y)
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if marker == "circle":
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self.b.append(f'<circle cx="{cx:.1f}" cy="{cy:.1f}" r="{r}" fill="{color}" '
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f'stroke="#fff" stroke-width="1.4"/>')
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elif marker == "square":
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self.b.append(f'<rect x="{cx-r:.1f}" y="{cy-r:.1f}" width="{2*r:.1f}" '
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f'height="{2*r:.1f}" fill="{color}" stroke="#fff" '
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f'stroke-width="1.4"/>')
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elif marker == "tri":
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p = f"{cx:.1f},{cy-r-1:.1f} {cx-r-1:.1f},{cy+r:.1f} {cx+r+1:.1f},{cy+r:.1f}"
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self.b.append(f'<polygon points="{p}" fill="{color}" stroke="#fff" '
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f'stroke-width="1.4"/>')
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if label and i == len(live) - 1:
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dx, dy = lab_dxy
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self.b.append(f'<text x="{cx+dx:.1f}" y="{cy+dy:.1f}" font-size="10.5" '
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f'fill="{color}" font-weight="600">{html.escape(label)}</text>')
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def vtext(self, x, y, txt, color="#374151", anchor="middle", size=10.5, weight="400"):
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self.b.append(f'<text x="{self.X(x):.1f}" y="{self.Y(y):.1f}" text-anchor="{anchor}" '
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f'font-size="{size}" font-weight="{weight}" '
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f'fill="{color}">{html.escape(txt)}</text>')
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def legend(self, entries, x=None, y=None):
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x = self.L + 10 if x is None else x
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y = self.T + 12 if y is None else y
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for i, (c, t, dash) in enumerate(entries):
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yy = y + i * 17
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da = f' stroke-dasharray="{dash}"' if dash else ""
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self.b.append(f'<line x1="{x}" y1="{yy}" x2="{x+22}" y2="{yy}" stroke="{c}" '
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f'stroke-width="2.6"{da}/>')
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self.b.append(f'<circle cx="{x+11}" cy="{yy}" r="3.2" fill="{c}"/>')
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self.b.append(f'<text x="{x+29}" y="{yy+3.6}" font-size="11" '
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f'fill="#374151">{html.escape(t)}</text>')
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def hline(self, v, color="#9ca3af", dash="3,3", wid=1.2):
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y = self.Y(v)
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if not (self.T - 1 <= y <= self.B + 1):
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return
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self.b.append(f'<line x1="{self.L}" y1="{y:.1f}" x2="{self.R}" y2="{y:.1f}" '
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f'stroke="{color}" stroke-width="{wid}" stroke-dasharray="{dash}"/>')
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def band(self, x0, x1, color="#ef4444", alpha=0.07):
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a, b = self.X(x0), self.X(x1)
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self.b.append(f'<rect x="{min(a,b):.1f}" y="{self.T}" width="{abs(b-a):.1f}" '
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f'height="{self.B-self.T}" fill="{color}" opacity="{alpha}"/>')
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def note(self, txt, x=None, y=None, color="#6b7280", anchor="start", size=10.5):
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x = self.L + 6 if x is None else x
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y = self.B - 8 if y is None else y
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self.b.append(f'<text x="{x}" y="{y}" text-anchor="{anchor}" font-size="{size}" '
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f'fill="{color}">{html.escape(txt)}</text>')
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def finish(self, title, sub=""):
|
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|
head = ""
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|
if sub:
|
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|
head = f'<text x="{self.L-40}" y="15" font-size="10.5" fill="#6b7280">' \
|
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|
|
f'{html.escape(sub)}</text>'
|
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|
return (f'<svg viewBox="0 0 {self.w} {self.h}" width="100%" '
|
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|
f'xmlns="http://www.w3.org/2000/svg" role="img" aria-label="{html.escape(title)}">'
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|
|
f'{head}{"".join(self.b)}</svg>')
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|
# ───────────────────────────────────────────────────────── 具体图 ─────────────────────────────────────────────────────────
|
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|
C_RED, C_BLUE, C_GREEN, C_PINK, C_ORANGE, C_GREY, C_PURPLE = (
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|
"#dc2626", "#2563eb", "#16a34a", "#db2777", "#ea580c", "#6b7280", "#7c3aed")
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def chart_achieve(rows, rows_no=()):
|
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|
s = Svg(560, 320)
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|
|
allr = list(rows) + list(rows_no)
|
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|
|
lo = min(r["hz_set"] for r in allr) * 0.7
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|
|
hi = max(r["hz_set"] for r in allr) * 1.5
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|
s.scale(True, True, (lo, hi), (lo, hi))
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s.grid(_log_ticks(lo, hi), _log_ticks(lo, hi))
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s.line([(lo, lo), (hi, hi)], C_GREY, dash="5,4", label=None)
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|
s.line([(r["hz_set"], r["hz_meas"]) for r in rows], C_RED, marker="circle")
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|
s.line([(r["hz_set"], r["hz_meas"]) for r in rows_no], C_BLUE, marker="square")
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|
for r in allr: # 只标偏离点，免得满图都是 99.x%
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|
if (r["achieve"] or 100) < 99.5:
|
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|
s.vtext(r["hz_set"], r["hz_meas"] * 0.72,
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|
|
|
|
_lab(r["achieve"]) + "%", color="#1e40af", size=9.5, anchor="middle")
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|
|
s.legend([(C_GREY, "理想 1:1（设定率）", "5,4"),
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|
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|
|
(C_RED, "实测循环率 · 带 CAN", None),
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|
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(C_BLUE, "实测循环率 · 无 CAN", None)], x=s.L + 12, y=s.T + 46)
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|
|
s.note("标注为达成率%（<99.5% 才标）。无 CAN 设定 >8kHz 后实测全顶在 ≈8.2kHz —— 硬上限",
|
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|
|
y=s.B - 8)
|
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|
|
s.axes("设定循环率 (Hz，对数)", "实测循环率 (Hz，对数)")
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|
|
return s.finish("循环率：设定 vs 实测")
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|
def chart_load(rows_no, rows_wc):
|
|
|
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|
s = Svg(620, 350)
|
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|
|
allr = rows_no + rows_wc
|
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|
|
lo = min(r["hz"] for r in allr) * 0.75
|
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|
|
hi = max(r["hz"] for r in allr) * 1.35
|
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|
|
s.scale(True, False, (lo, hi), (0, 112))
|
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|
|
s.grid(_log_ticks(lo, hi), _ticks(0, 110, 6))
|
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|
|
s.hline(100, color="#6b7280", dash="2,4")
|
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|
|
s.b.append(f'<text x="{s.R-4}" y="{s.Y(100)-5:.1f}" text-anchor="end" font-size="10" '
|
|
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|
|
f'fill="#6b7280">100%</text>')
|
|
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|
|
pts_wc = [(r["hz"], r["load"]) for r in rows_wc if r["load"] is not None]
|
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|
|
|
pts_no = [(r["hz"], r["load"]) for r in rows_no if r["load"] is not None]
|
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|
|
s.line(pts_wc, C_RED, marker="circle")
|
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|
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|
|
s.line(pts_no, C_BLUE, marker="square")
|
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|
|
wc_by_p = {round(r["period_ms"], 4): r for r in rows_wc}
|
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|
|
for r in [x for x in rows_no if x["load"] is not None]:
|
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|
|
w = wc_by_p.get(round(r["period_ms"], 4))
|
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|
|
|
if w and w["load"] is not None:
|
|
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|
|
# 任一侧饱和（≥95%）时 Δ 只反映夹紧，不标注
|
|
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|
|
if (r["load"] or 0) >= 95 or (w["load"] or 0) >= 95:
|
|
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|
|
|
continue
|
|
|
|
|
|
s.vtext(r["hz"], (r["load"] + w["load"]) / 2, f"Δ{w['load']-r['load']:.1f}pp",
|
|
|
|
|
|
color=C_PURPLE, size=10, weight="600")
|
|
|
|
|
|
s.legend([(C_RED, "带 CAN（电机在报 STATUS/CONFIG）", None),
|
|
|
|
|
|
(C_BLUE, "拔掉全部 CAN 设备", None)], x=s.L + 12, y=s.T + 12)
|
|
|
|
|
|
s.note("纵轴是固件 load_perm（只计 ISR+非延迟段，排除 SSC 轮询）—— 不是整机 CPU 占用率",
|
|
|
|
|
|
y=s.B - 8)
|
|
|
|
|
|
s.note("无 CAN 补测：0.25/0.125ms 满速；设定再快实测全顶在 ≈8.2kHz。"
|
|
|
|
|
|
"≥4kHz 的负载读数全是饱和值，不能定位拐点", y=s.B - 22, color="#b45309")
|
|
|
|
|
|
s.note("带 CAN 的 0.25/0.125ms 两点同理停在 ~99.x% —— 饱和读数不等于\"已测到上限\"",
|
|
|
|
|
|
y=s.B - 36, color="#b45309")
|
|
|
|
|
|
s.axes("实测循环率 (Hz，对数)", "从站 load_perm (%)")
|
|
|
|
|
|
return s.finish("从站每拍负担")
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def chart_traffic(rows):
|
|
|
|
|
|
"""CAN 流量分层：STATUS 刷新（≈CAN 总接收）与 CONFIG 事件流。
|
|
|
|
|
|
|
|
|
|
|
|
drop 不再入图：它与 rx_count/gseq 同速增长（各约 4000/s），拿它做分子分母
|
|
|
|
|
|
只会得到无意义的 100%（本次实际踩过的坑，详见第四节仪表陷阱）。
|
|
|
|
|
|
"""
|
|
|
|
|
|
s = Svg(620, 350)
|
|
|
|
|
|
ok = [r for r in rows if (r["lambda_"] or 0) > 0]
|
|
|
|
|
|
if not ok:
|
|
|
|
|
|
s.note("无可用的 CAN 流量档位（本轮 CAN 已拔除）", y=(s.T + s.B) / 2, anchor="middle")
|
|
|
|
|
|
return s.finish("CAN 流量分层", "（无数据）")
|
|
|
|
|
|
lo = min(r["hz"] for r in ok) * 0.75
|
|
|
|
|
|
hi = max(r["hz"] for r in ok) * 1.35
|
|
|
|
|
|
s.scale(True, True, (lo, hi), (10, 20000))
|
|
|
|
|
|
s.grid(_log_ticks(lo, hi), _log_ticks(10, 20000))
|
|
|
|
|
|
s.line([(r["hz"], r["lambda_"]) for r in ok], C_GREEN, marker="circle")
|
|
|
|
|
|
s.band(2500, 9000)
|
|
|
|
|
|
s.vtext(1400, 4000 * 1.35, "带 CAN 轮：STATUS 全流量", color="#166534", size=10)
|
|
|
|
|
|
s.vtext(4200, 150, "塌陷", color="#b91c1c", size=11, weight="700")
|
|
|
|
|
|
s.legend([(C_GREEN, "CAN 总接收 rx_count ≡ STATUS 刷新 gseq（实测同为 ~4000/s）", None)],
|
|
|
|
|
|
x=s.L + 12, y=s.T + 12)
|
|
|
|
|
|
s.note("CONFIG 事件流独立实测仅约 92 帧/s（去重后），不随周期放大", y=s.B - 8)
|
|
|
|
|
|
s.note(">2kHz 处 STATUS 与 CONFIG 一同塌到 ~150/s", y=s.B - 22, color="#b45309")
|
|
|
|
|
|
s.axes("实测循环率 (Hz，对数)", "帧/s（对数）")
|
|
|
|
|
|
return s.finish("CAN 流量分层")
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def chart_skip(rows_no, rows_wc):
|
|
|
|
|
|
"""skip 有真 0 档 → 对数轴画不了。做法：>0 的点画在对数区，真 0/近 0 档
|
|
|
|
|
|
落到轴下方的"≈0"标记轨道，两种点含义不同、不混在同一条线上。"""
|
|
|
|
|
|
s = Svg(560, 320)
|
|
|
|
|
|
pos = [r for r in rows_no + rows_wc if (r["skip"] or 0) > 0.05]
|
|
|
|
|
|
zero = [r for r in rows_no + rows_wc if (r["skip"] or 0) <= 0.05]
|
|
|
|
|
|
if not pos:
|
|
|
|
|
|
s.note("本轮无 skip>0 的档位", y=(s.T + s.B) / 2, anchor="middle")
|
|
|
|
|
|
return s.finish("主站错拍率", "（无数据）")
|
|
|
|
|
|
lo = min(r["hz"] for r in pos) * 0.75
|
|
|
|
|
|
hi = max(r["hz"] for r in pos) * 1.35
|
|
|
|
|
|
vlo, vhi = max(min(r["skip"] for r in pos), 0.05), max(r["skip"] for r in pos) * 3
|
|
|
|
|
|
s.T -= 6
|
|
|
|
|
|
s.scale(True, True, (lo, hi), (vlo, vhi))
|
|
|
|
|
|
s.grid(_log_ticks(lo, hi), _log_ticks(vlo, vhi))
|
|
|
|
|
|
s.line([(r["hz"], r["skip"]) for r in rows_wc if (r["skip"] or 0) > 0.05],
|
|
|
|
|
|
C_RED, marker="circle")
|
|
|
|
|
|
s.line([(r["hz"], r["skip"]) for r in rows_no if (r["skip"] or 0) > 0.05],
|
|
|
|
|
|
C_BLUE, marker="square")
|
|
|
|
|
|
for r in zero: # ≈0 轨道：贴在轴下方，明确不属于对数刻度
|
|
|
|
|
|
y = s.B + 4
|
|
|
|
|
|
mk = ("circle" if r in rows_wc else "square")
|
|
|
|
|
|
col = C_RED if r in rows_wc else C_BLUE
|
|
|
|
|
|
cx = s.X(r["hz"])
|
|
|
|
|
|
s.b.append(f'<path d="M{cx-4:.1f},{y+8:.1f} L{cx:.1f},{y:.1f} '
|
|
|
|
|
|
f'L{cx+4:.1f},{y+8:.1f}" fill="none" stroke="{col}" stroke-width="2"/>')
|
|
|
|
|
|
ent = [(C_RED, "带 CAN", None), (C_BLUE, "无 CAN", None)]
|
|
|
|
|
|
if zero: # 没有真 0 档时不要挂一条对不上号的图例
|
|
|
|
|
|
ent.append(("#9ca3af", "▽ = skip ≤0.05 次/s（真 0 档，不在对数刻度上）", None))
|
|
|
|
|
|
s.legend(ent, x=s.L + 12, y=s.T + 12)
|
|
|
|
|
|
s.note("skip=错过的网格拍。0.0625ms 设定档 15720 次/s：实测率被钉在 8.2kHz，"
|
|
|
|
|
|
"错拍数随设定率线性涨", y=s.B - 10)
|
|
|
|
|
|
s.axes("实测循环率 (Hz，对数)", "主站错拍 skip_total (次/s，对数)")
|
|
|
|
|
|
return s.finish("主站错拍率")
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# ───────────────────────────────────────────────────────── 页面组装 ─────────────────────────────────────────────────────────
|
|
|
|
|
|
PAGE = """<!DOCTYPE html>
|
|
|
|
|
|
<html lang="zh-CN"><head><meta charset="utf-8">
|
|
|
|
|
|
<meta name="viewport" content="width=device-width,initial-scale=1">
|
|
|
|
|
|
<title>EtherCAT 周期速度 × 故障率 × CPU 占用 调研</title>
|
|
|
|
|
|
<style>
|
|
|
|
|
|
:root{{--fg:#111827;--mut:#6b7280;--bd:#e5e7eb;--bg:#f8fafc;--acc:#1d4ed8;--warn:#b45309;--bad:#b91c1c}}
|
|
|
|
|
|
*{{box-sizing:border-box}}
|
|
|
|
|
|
body{{margin:0;background:#fff;color:var(--fg);
|
|
|
|
|
|
font:15.5px/1.72 -apple-system,"Segoe UI","Microsoft YaHei",system-ui,sans-serif}}
|
|
|
|
|
|
main{{max-width:1120px;margin:0 auto;padding:40px 28px 90px}}
|
|
|
|
|
|
h1{{font-size:29px;line-height:1.3;margin:0 0 6px;letter-spacing:-.2px}}
|
|
|
|
|
|
h2{{font-size:20px;margin:44px 0 12px;padding-bottom:7px;border-bottom:2px solid var(--bd)}}
|
|
|
|
|
|
h3{{font-size:16px;margin:26px 0 8px;color:#374151}}
|
|
|
|
|
|
p,li{{margin:8px 0}}
|
|
|
|
|
|
.meta{{color:var(--mut);font-size:13.5px;margin-bottom:26px}}
|
|
|
|
|
|
.card{{background:var(--bg);border:1px solid var(--bd);border-left:4px solid var(--acc);
|
|
|
|
|
|
border-radius:8px;padding:16px 20px;margin:18px 0}}
|
|
|
|
|
|
.card.warn{{border-left-color:var(--warn);background:#fffbeb}}
|
|
|
|
|
|
.card.bad{{border-left-color:var(--bad);background:#fef2f2}}
|
|
|
|
|
|
.card h3{{margin:0 0 8px;font-size:15px;color:inherit}}
|
|
|
|
|
|
.grid{{display:grid;grid-template-columns:repeat(auto-fit,minmax(430px,1fr));gap:18px;margin:18px 0}}
|
|
|
|
|
|
.fig{{border:1px solid var(--bd);border-radius:8px;padding:12px 10px 8px;background:#fff}}
|
|
|
|
|
|
.fig > .cap{{font-size:12.5px;font-weight:600;color:#374151;margin:0 0 4px 8px}}
|
|
|
|
|
|
.fig > .sub{{font-size:11.5px;color:var(--mut);margin:0 0 4px 8px}}
|
|
|
|
|
|
table{{border-collapse:collapse;width:100%;font-size:13px;margin:14px 0}}
|
|
|
|
|
|
th,td{{border:1px solid var(--bd);padding:6px 9px;text-align:right}}
|
|
|
|
|
|
th{{background:#f1f5f9;font-weight:600;text-align:center}}
|
|
|
|
|
|
td:first-child,th:first-child{{text-align:left}}
|
|
|
|
|
|
tr.best td{{background:#ecfdf5;font-weight:600}}
|
|
|
|
|
|
tr.dead td{{background:#fef2f2;color:#7f1d1d}}
|
|
|
|
|
|
code{{background:#f1f5f9;padding:1.5px 5px;border-radius:4px;font-size:12.5px;
|
|
|
|
|
|
font-family:ui-monospace,"Cascadia Mono",Consolas,monospace}}
|
|
|
|
|
|
.kpi{{display:flex;gap:14px;flex-wrap:wrap;margin:22px 0 8px}}
|
|
|
|
|
|
.kpi div{{flex:1 1 168px;border:1px solid var(--bd);border-radius:8px;padding:13px 15px;background:#fff}}
|
|
|
|
|
|
.kpi b{{display:block;font-size:23px;line-height:1.25;color:var(--acc)}}
|
|
|
|
|
|
.kpi span{{font-size:12px;color:var(--mut)}}
|
|
|
|
|
|
ul{{padding-left:22px}}
|
|
|
|
|
|
.excl{{font-size:12.5px;color:var(--bad);background:#fef2f2;border:1px dashed #fca5a5;
|
|
|
|
|
|
border-radius:6px;padding:9px 13px;margin:12px 0}}
|
|
|
|
|
|
.foot{{margin-top:44px;padding-top:16px;border-top:1px solid var(--bd);
|
|
|
|
|
|
font-size:12.5px;color:var(--mut)}}
|
|
|
|
|
|
</style></head><body><main>
|
|
|
|
|
|
{body}
|
|
|
|
|
|
</main></body></html>
|
|
|
|
|
|
"""
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def tbl(rows, cols, cap):
|
|
|
|
|
|
h = [f'<h3>{html.escape(cap)}</h3><table><tr>' +
|
|
|
|
|
|
"".join(f"<th>{html.escape(t)}</th>" for t, _ in cols) + "</tr>"]
|
|
|
|
|
|
for r in rows:
|
|
|
|
|
|
cls = ""
|
|
|
|
|
|
if r.get("wkc_ok") is False:
|
|
|
|
|
|
cls = ' class="dead"'
|
|
|
|
|
|
elif r["period_ms"] == 0.5:
|
|
|
|
|
|
cls = ' class="best"'
|
|
|
|
|
|
h.append(f"<tr{cls}>" + "".join(f"<td>{f(r)}</td>" for _, f in cols) + "</tr>")
|
|
|
|
|
|
h.append("</table>")
|
|
|
|
|
|
return "".join(h)
|
|
|
|
|
|
|
|
|
|
|
|
|
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def main():
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ap = argparse.ArgumentParser()
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ap.add_argument("--nocan", default=os.path.join(ROOT, "lab", "ecat_rate_sweep_nocan.csv"))
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ap.add_argument("--withcan", default=os.path.join(ROOT, "lab", "ecat_rate_sweep_withcan.csv"))
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ap.add_argument("--calib", default=os.path.join(ROOT, "lab", "ecat_calib.json"))
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ap.add_argument("--out", default=os.path.join(ROOT, "ECAT_RATE_TRADEOFF.html"))
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a = ap.parse_args()
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no, wc = read_csv(a.nocan), read_csv(a.withcan)
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if not wc:
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raise SystemExit(f"缺带 CAN 数据：{a.withcan}")
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cal = json.load(open(a.calib, encoding="utf-8")) if os.path.isfile(a.calib) else {}
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no_ok = [r for r in no if r["wkc_ok"] and r["load"] is not None]
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wc_ok = [r for r in wc if r["wkc_ok"] and r["load"] is not None]
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excl = [r for r in no if not r["wkc_ok"] or r["load"] is None]
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# 电机刷新率：带 CAN 那轮的 8s/档定点实测。(周期文本, 实测Hz, 刷新率帧/s)
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# 周期直接带文本 —— 由 hz 反算会浮点漂移（1000/1999 → 显示成 0.50025ms）。
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motor = [("1", 1000.0, 4000.2), ("0.5", 1999.0, 4000.2),
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("0.25", 3989.0, 87.9), ("0.125", 7762.0, 147.5)]
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# 跨轮配对必须用**设定周期**做键：两轮的实测 hz 会差零点几（1999.3 vs 1999.6），
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# 拿四舍五入的 hz 当键会把 0.5ms 档静默丢掉，KPI 均值就跟着算错。
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wc_by_period = {round(r["period_ms"], 4): r for r in wc_ok}
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deltas, unm, sat = [], [], []
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for r in no_ok:
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w = wc_by_period.get(round(r["period_ms"], 4))
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if w:
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# 任一侧 load 已饱和（≥95%）时 Δ 只反映夹紧，不代表 CAN 负担
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if (r["load"] or 0) >= 95 or (w["load"] or 0) >= 95:
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sat.append(r["period_ms"])
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else:
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deltas.append(w["load"] - r["load"])
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else:
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unm.append(r["period_ms"])
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if unm:
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print("!! 无 CAN 档位在带 CAN 轮中找不到配对，已从 Δ 中排除：", unm)
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if sat:
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print(" 饱和档（Δ 不计入）：", sat)
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b = [f'<h1>EtherCAT 周期速度 × 故障率 × CPU 占用 调研</h1>',
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f'<div class="meta">调研日期 {html.escape(str(cal.get("started_at","2026-09-08"))[:10])}'
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f' · 本机 I210 + 1 个 GD32E508 从站 · 两轮扫描：带 CAN / 拔掉全部 CAN'
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f' · 数据 <code>lab/ecat_rate_sweep_*.csv</code> · 生成器 '
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f'<code>scripts/build_ecat_report_html.py</code></div>']
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b.append('<div class="kpi">'
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'<div><b>0.5ms</b><span>实测可用上限（2kHz，带 CAN 工况）</span></div>'
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f'<div><b>≈{(sum(deltas)/len(deltas) if deltas else 0):.1f}pp</b>'
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f'<span>CAN 每拍恒定负担（{len(deltas)} 档配对，饱和档除外）</span></div>'
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'<div><b>4000 帧/s</b><span>电机 STATUS 实测刷新（1/0.5ms）</span></div>'
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'<div><b>≈8.2kHz</b><span>纯 ECAT 实测硬上限（设 10/12.5/16kHz 实测均不涨）</span></div></div>')
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b.append('<div class="card"><h3>结论</h3><ul>'
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'<li><b>带 CAN 工况的可用上限在 0.5ms，瓶颈在从站 GD32 不在主站。</b>'
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'实测可用到 0.5ms；0.25ms 起电机数据刷新率从 4000 帧/s 掉到 88 帧/s'
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'（带 CAN 那轮当场确认 <code>online=True</code>，是真失效）。'
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'可用上限只夹在 (0.25ms, 0.5ms] 内，<b>具体位置没测到</b>。</li>'
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'<li><b>纯 ECAT 硬上限 ≈8.2kHz，这次测到了墙本身。</b>断电重启后无 CAN 补测：'
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'0.25/0.125ms 满速通过（99.7% / 98.0%）；再往下设 0.1 / 0.08 / 0.0625ms，'
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'实测循环率全部顶在 8196–8238Hz（达成 82.3% / 65.9% / 51.2%），'
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'wkc 全程 3/3、从站始终应答。墙的来历：主站单拍硬耗时 <code>cyc p50</code> '
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'各档恒 117–126µs，1/121µs ≈ 8.2kHz —— 是"每拍必须花的往返+处理时间"，'
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'不是主机 CPU 不够（顶墙时主机 CPU 反而降到 ~85%）。原「3.5kHz 外推」'
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'<b>被证伪</b>；首轮无 CAN 0.25ms 停报为残状态偶发，不复现。'
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'注意"跑得快"≠"能用"：带 CAN 的可用上限仍由电机数据刷新决定（下一条）。</li>'
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'<li><b>拔 CAN 对照解开了混淆</b>：未饱和三档 Δ 稳定 8.7–9.3pp，'
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'不随频率张开 → 快档塌陷不是 CAN 挤出来的；饱和两档 Δ 收窄到 ≤0.5pp，'
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'正是读数被夹紧的特征。</li>'
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'<li><b>主机 native CPU 恒约 100% 单核、与周期无关</b>（自旋恒转，'
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'<code>/api/motor/spin</code> 已是空操作）。唯一的例外是带 CAN 轮的 '
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'0.125ms 档降到 87.5% —— 因为从站已停答。无 CAN 补测里从站活着，'
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'同档就回到 99.7%。<b>主机 CPU 掉下来那一刻，正是从站死掉那一刻。</b></li>'
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'<li>建议：<b>要吃到余量就停在 0.5ms</b>。0.25ms 不是"更快"，是功能损坏。</li>'
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'</ul></div>')
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b.append('<h2>一、曲线</h2>')
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b.append('<div class="grid">')
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b.append(f'<div class="fig"><div class="cap">① 循环率：设定 vs 实测（主站侧）</div>'
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f'{chart_achieve(wc_ok, no_ok)}</div>')
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b.append(f'<div class="fig"><div class="cap">② 从站每拍负担：带 CAN vs 无 CAN</div>'
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f'{chart_load(no_ok, wc_ok)}</div>')
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b.append(f'<div class="fig"><div class="cap">③ CAN 流量分层：STATUS 刷新与 CONFIG 事件流</div>'
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f'{chart_traffic(wc_ok)}</div>')
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b.append(f'<div class="fig"><div class="cap">④ 主站错拍率</div>'
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f'{chart_skip(no_ok, wc_ok)}</div>')
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b.append('</div>')
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if excl:
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b.append('<div class="excl">已从图中排除的档位：' + "；".join(
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f"{r['period_ms']}ms（{'wkc 不达预期，从站停报' if not r['wkc_ok'] else '无有效负载读数'}"
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f"，load_perm 为残值）" for r in excl) + '。该档已由断电重启后的补测覆盖：'
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'无 CAN 的 0.25 / 0.125ms 两点均已满速测得（见无 CAN 表）。空图比假图诚实。</div>')
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b.append('<div class="card"><h3>名词解释（表里这几个计数器到底是什么）</h3><ul>'
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'<li><b>WKC（working counter，工作计数器）</b>：EtherCAT 报文自带一个计数器，'
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'每有一个从站硬件处理了该报文就 +1。主站知道自己发出了几个报文，'
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'这个应得值就是 <code>expected_wkc</code>（本台子 1 个从站、每拍 3 个报文 '
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'→ 期望 3）。所以 <code>wkc 3/3</code> = 从站每拍都完整处理了；'
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'<code>wkc -1</code> = 整帧没回来（从站停答/掉 OP）；'
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'<code>wr（watchdog reset）0→1</code> = 看门狗把总线重拉过一次。</li>'
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'<li><b>主站错拍 skip</b>：主站按周期给自己排了一个"节拍网格"'
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'（<code>ecat_native.c:776-791</code>）。每拍做完 EtherCAT 收发后，'
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'若发现已经错过了下一个节拍点（甚至错过多个），就把错过的个数累进 '
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'<code>skip_total</code>。<b>它量的是"主机软件迟到"，不是从站故障</b> —— '
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'1ms 档 1.1 次/s 只是偶发 OS 调度抖动；0.125ms 档 5107 次/s 说明'
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'单拍耗时已超过两个周期，主机也在勉强。它不区分"从站慢"和"主机慢"。</li>'
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'<li><b>在线</b>：电机槽位的 <code>online</code> 标志（槽位数据在超时窗内'
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'持续刷新才为 true）。带 CAN 轮显示"未记录"是因为当时脚本还没有这列，'
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'<b>不是电机掉线</b>；该轮的电机在线状况另有 8s/档定点实测佐证。</li>'
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'</ul></div>')
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b.append('<h2>二、数据全表</h2>')
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fmt = lambda v, p=1, suf="": ("n/a" if v is None else f"{v:,.{p}f}{suf}")
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base = [("周期", lambda r: f"{r['period_ms']:g}ms"),
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("实测Hz", lambda r: fmt(r["hz_meas"], 0)),
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("达成率", lambda r: fmt(r["achieve"], 1, "%")),
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("从站load", lambda r: fmt(r["load"], 1, "%")),
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("CAN接收/s", lambda r: fmt(r["lambda_"], 0)),
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("skip/s", lambda r: fmt(r["skip"], 2)),
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("wkc", lambda r: f'{html.escape(str(r["wkc"]))}/{html.escape(str(r["exp_wkc"]))}')]
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cols_wc = base + [("在线", lambda r: "未记录*")]
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cols_no = base + [("在线", lambda r: fmt(r["online_frac"], 2))]
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b.append(tbl(wc, cols_wc, "带 CAN（主结论轮）"))
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b.append(tbl(no, cols_no, "拔掉全部 CAN 设备（补测轮）"))
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b.append('<p class="meta"><b>*</b> 「在线」列是扫描脚本后来才加的（'
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'<code>motors_online</code>/<code>online_frac</code>），带 CAN 那轮跑在加列'
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'<b>之前</b>，逐档数据没采 —— <b>不是全部掉线</b>。该轮电机在线另有'
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' 8s/档定点实测（「电机数据刷新率」表）佐证。</p>')
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mrows = "".join(
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f"<tr><td>{lab}ms</td><td>{v:,.1f}</td>"
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f"<td>{'正常' if v > 3000 else '塌陷'}</td></tr>"
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for lab, _hz, v in motor)
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b.append('<h3>电机数据刷新率（带 CAN 轮，8s/档定点实测）</h3><table>'
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'<tr><th>周期</th><th>刷新率 帧/s</th><th>判定</th></tr>' + mrows + '</table>'
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'<p class="meta">这是唯一直接回答"用户还能不能用"的指标 —— λ 与 drop 都是中间量。'
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'塌陷两档当场确认 <code>online=True</code>，故为真失效而非掉线。</p>')
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b.append('<h2>三、机理与上限推算</h2>')
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b.append('<div class="card"><h3>上限已实测：≈8.2kHz，墙是单拍 ≈121µs 的硬耗时</h3>'
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'<p><b>证据链</b>：无 CAN 设定 0.25 → 0.0625ms 五档，实测循环率在 ≤0.125ms '
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'（8kHz）前跟随设定，再快就被钉死在 8196–8238Hz；与此同时主站单拍耗时 '
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'<code>cyc p50</code> 在<b>所有档位</b>（含 2ms 慢档）恒为 117–126µs，'
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'1/121µs ≈ 8.2kHz，与顶墙实测严丝合缝。即：每拍有一段不可压缩的'
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'「发送→从站处理→回读+主站处理」往返时间，周期设定小于它时就堵在这里。</p>'
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'<p><b>排除项</b>：不是主机 CPU 不够 —— 顶墙档主机 CPU 只有 ~85%'
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'（自旋等待占比变小）；不是从站拒答 —— wkc 全程 3/3。'
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'<code>load_perm</code> 在 ≥4kHz 全饱和 99.x%，既定位不了拐点也喂不准模型，'
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'早先「两项模型 load=F/T+R → 2.7/3.5kHz」的外推已被满速补测证伪，仅留档。</p>'
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'<p><b>未闭合的一处</b>：121µs 里主站协议栈与从站 ESC/固件各占多少，'
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'本轮数据分不开 —— 需给固件 <code>fillRxWindow</code> 加直接计时'
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'（固件改动，需批准）或抓总线帧时序才能归因。</p></div>')
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b.append('<h2>四、判据口径与踩过的坑</h2>')
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b.append('<div class="card warn"><h3>仪表陷阱（每条都实际踩过）</h3><ul>'
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'<li><b>【本次真正翻车处】把两个同速计数器相除当成比率</b> —— '
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'<code>drop</code>/<code>rx_count</code> 都约 4000/s，相除恒得 100%，'
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'看着像"全丢"，其实只是<b>同速量之比</b>。判丢帧必须有<b>独立</b>的分子与分母：'
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'本次真正的独立证据是「STATUS 实测 4001 帧/s 正常刷新」+「CONFIG 事件流去重后'
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'仅约 92 帧/s」，两者一起否掉了 100% 丢帧。<b>任何"A/B 比率"指标，先问 A 与 B '
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'是否独立计数。</b></li>'
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'<li><b>从站停报后 <code>load_perm</code> 保留残值</b> —— 实测 '
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'<code>age_ms=214338</code> 时仍报 99.2%。任何取 load_perm 的脚本必须先过 '
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'<code>age_ms</code> 闸。<b>扫描脚本已加该闸</b>并新增 '
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'<code>gd32_load_samples</code>/<code>gd32_load_stale</code> 两列。</li>'
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'<li><b><code>load_perm</code> 不是整机 CPU 占用率</b> —— 固件 '
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'<code>sys/cpu_load.h</code> 定义收窄为"中断+非延迟处理段"，'
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'<b>排除</b> SSC MainLoop 轮询；当前 free-run（<code>dc=0</code>）下 PDO '
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'应用走主循环轮询路径、<b>不计入</b>。所以不能把"load→100%"读成"CPU 耗尽"。</li>'
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2026-09-12 20:10:47 +08:00
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'<li><b><code>OVF</code> 每拍被 <code>s_rxWinOvf=0</code> 清零</b> —— GD32 侧'
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2026-09-10 03:02:14 +08:00
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'没有可用的累计丢帧计数。读它恒 0 <b>不能</b>当"无丢帧"证据'
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'（我据此误判 <code>bridge.drop</code> 是死字段，结论已收回）。</li>'
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'<li><b><code>/api/can/cadence</code> 只存最近 512 拍</b> —— 0.25ms 档 '
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'=128ms、0.125ms=64ms，环没装满时取到的 <code>count</code>/<code>lost</code> '
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'是<b>行数</b>不是每拍帧数。对应 CSV 列已从结论排除。</li>'
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'<li><b>u16 回绕</b>：<code>drop</code> 在 4000/s 下 16 秒绕一圈 → 10Hz 逐次累加 '
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'+ 取模，单次增量>32768 记为作废。<b>本次作废点数=0</b>。</li>'
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'<li><b>「seq 值域 − distinct」不是丢帧率</b>：报 99.686%，方向与 drop≈λ 一致'
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'但分母含 STATUS 全流量，口径不干净 → 只作旁证。</li>'
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'<li><b>周期可被 localStorage 劫持</b>（<code>transport-ecat.js:227-228</code>）'
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'→ 每档下发后回读校验。本次六档 <code>hijacked=no</code>、native PID 全程 29284 未变。</li>'
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'<li><b><code>cyc_us.late</code>/<code>lost</code> 恒 0</b>（遗留占位，未接线），未使用。</li>'
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'</ul></div>')
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b.append('<h2>五、可信度边界</h2>')
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fw = cal.get("firmware", {})
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b.append('<div class="card bad"><h3>这份数据不能证明什么</h3><ul>'
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f'<li><b>板载固件版本无法确认</b>：烧写台账 '
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f'<code>{html.escape(str(fw.get("ledger",""))[:16])}…</code> 与在盘 .hex 展平哈希'
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f'（{html.escape("、".join(str(c.get("sha256",""))[:8]+"…" for c in fw.get("candidates",[])))}）'
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f'<b>均不匹配</b>，且产物时间戳晚于台账。→ 本报告不复用任何历史固件结论。</li>'
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'<li>主站在测量期间又重编过（源码 02:39 / exe 02:40，PID 起于 02:32），'
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'无法证明运行中的进程就是盘上那份。</li>'
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'<li><b><code>rx_torn</code> 与 <code>pdo_reentry</code> 整段恒零 = 无检出功效</b>，'
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'不是"无撕裂"。二者分别需固件 1.6.6/1.6.7+，版本未知 → 无法区分"没发生"与'
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'"字段根本没实现、恒读 0"。</li>'
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'<li>λ≈3993/s 是本次 CAN 工况。<b>λ 变则负担变</b>，0.5ms 这个数不可外搬到别流量。</li>'
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'<li>单台单次，未做重复性与温漂验证。</li>'
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'</ul></div>')
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b.append('<h2>六、下一步</h2>')
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b.append('<div class="card"><h3>按优先级</h3><ul>'
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'<li><b>查明 <code>drop</code> 口径（当前最高优先，唯一未决的承重项）</b>。'
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'必须用<b>一对独立可比</b>的计数，不能再拿同速量相除：从 WiFi 侧读固件 u32 '
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'<code>rx_drop_count</code>（<code>app_spi_cmd_can_feedback.cpp:99</code>）'
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'对速率，同时用 CAN 监控页统计<b>实收</b> CONFIG 帧数作分母。'
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'只有「独立到达计数 − 独立交付计数」才是丢帧数。</li>'
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'<li><b>台子现状</b>：断电重启后重新 open+start 成功（OP、wkc=3），'
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'无 CAN 的 0.25→0.0625ms 五档补测完成，周期已自动恢复 1ms。'
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'<b>CAN 设备当前处于拔除状态</b>，电机数据相关指标要插回 CAN 才能再测。</li>'
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'<li>插回 CAN 后补测 <b>0.35 / 0.4 / 0.5ms</b> 三档的<b>电机数据刷新率</b>，'
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'把带 CAN 工况的可用上限定位出来。load_perm 已被证明在快档饱和，'
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'<b>不能再用它定位拐点</b>；扫描脚本的 '
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'<code>motors_online</code>/<code>online_frac</code>/'
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'<code>motor_refresh_per_s</code> 三列才是可用性判据。</li>'
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'<li>给 <code>fillRxWindow</code> 加直接计时，把 121µs 硬耗时里的主/从占比'
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'拆开（属固件改动，需批准）。</li>'
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'<li>0.5ms 档实跑电机页完整命令序列 —— 本调研只测了计数器，没测界面实际可用性。</li>'
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'</ul></div>')
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live = ""
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try:
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h = post("http://127.0.0.1:8090", "/api/native/health", timeout=1.5)
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|
st = post("http://127.0.0.1:8090", "/api/motor/state", timeout=1.5)
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live = (f'native 实时：op={h.get("op")} loop={h.get("loop")} wkc={h.get("wkc")} '
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f'period={st.get("period_ms")}ms')
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except Exception:
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|
live = "native 当前不可达（生成本报告时未连上 8090）"
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|
b.append(f'<div class="foot">本报告由 <code>scripts/build_ecat_report_html.py</code> 从 '
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|
f'<code>lab/*.csv</code> 与 <code>lab/ecat_calib.json</code> 现场渲染，图中每个数值均'
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|
f'从原始数据计算，未手抄。{html.escape(live)}。'
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|
f'Markdown 版（含同源结论）：<code>ECAT_RATE_TRADEOFF.md</code>。</div>')
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out = a.out
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|
with open(out, "w", encoding="utf-8") as f:
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|
f.write(PAGE.format(body="\n".join(b)))
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print("HTML 报告 ->", out)
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|
print(f" 参与绘图：带CAN {len(wc_ok)} 档、无CAN {len(no_ok)} 档；排除 {len(excl)} 档")
|
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|
if deltas:
|
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|
print(f" CAN 负担 Δ：{'、'.join(f'{d:.1f}pp' for d in deltas)}")
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|
if __name__ == "__main__":
|
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|
main()
|
