106 lines
3.9 KiB
Python
106 lines
3.9 KiB
Python
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""把 ECAT 侧收到的每一拍信号全量落盘，供事后分析（不在线判优劣）。
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去重规则只有一条：同一 (node,seq) 或同一 (id,data) 帧只在第一次出现时写一行 ——
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重复采样不携带新信息，去掉后可以把时长拉长。其余一律保留。
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行格式（CSV，第 1 列是相对起始的秒）：
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M,t,node,ch,seq,online,dlc,hex36 段2 电机槽（STATUS 前 36B，含 cpu%@31/init@32-35）
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F,t,kind,ch,dlc,id,hex36 段3 xrx / 段4 rx_batch 的帧
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H,t,cycles,wkc,gseq,win_base,win_count,active,rx,tx,drop 每 20 拍一条头部与桥计数
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用法: python scripts/rec_ecat_slots.py [秒数=120] [端口=8090] [输出文件]
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"""
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import csv
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import json
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import socket
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import struct
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import sys
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import time
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HOST = "127.0.0.1"
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DUR_S = float(sys.argv[1]) if len(sys.argv) > 1 else 120.0
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PORT = int(sys.argv[2]) if len(sys.argv) > 2 else 8090
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OUT = sys.argv[3] if len(sys.argv) > 3 else "ecat_slots_raw.csv"
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REQ = (f"POST /api/motor/state HTTP/1.0\r\nHost: {HOST}:{PORT}\r\n"
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"Content-Type: application/json\r\nContent-Length: 2\r\n"
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"Connection: close\r\n\r\n{}").encode("ascii")
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def once():
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s = socket.create_connection((HOST, PORT))
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try:
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s.sendall(REQ)
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buf = bytearray()
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while True:
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c = s.recv(65536)
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if not c:
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break
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buf.extend(c)
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finally:
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s.close()
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_, _, d = bytes(buf).partition(b"\r\n\r\n")
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return json.loads(d.decode("utf-8", "replace"))
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def main():
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seen_m, seen_f = set(), set()
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polls = rows = 0
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t0 = time.time()
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with open(OUT, "w", newline="", encoding="ascii") as f:
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w = csv.writer(f)
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w.writerow(["#kind", "t", "a", "b", "c", "d", "e", "f"])
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while True:
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dt = time.time() - t0
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if dt >= DUR_S:
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break
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try:
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snap = once()
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except Exception:
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continue
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polls += 1
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h = snap.get("head") or {}
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b = snap.get("bridge") or {}
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if polls % 20 == 1:
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w.writerow(["H", f"{dt:.6f}", snap.get("cycles"), snap.get("wkc"),
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h.get("global_seq"), h.get("win_base"), h.get("win_count"),
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h.get("active"), b.get("rx_count"), b.get("tx_count"),
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b.get("drop")])
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for m in snap.get("motors") or []:
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if not m.get("data"):
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continue
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key = (m["node"], m["ch"], m["seq"])
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if key in seen_m:
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continue
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seen_m.add(key)
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if len(seen_m) > 400000: # 去重集合本身的内存上限
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seen_m = set(list(seen_m)[-200000:])
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d = bytes.fromhex(m["data"])[:36]
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w.writerow(["M", f"{dt:.6f}", m["node"], m["ch"], m["seq"],
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int(bool(m.get("online"))), m.get("dlc"), d.hex()])
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rows += 1
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def emit_frames(fr, kind):
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if not fr or not fr.get("data"):
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return
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d = bytes.fromhex(fr["data"])[:36]
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key = (fr.get("id"), d.hex())
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if key in seen_f:
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return
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seen_f.add(key)
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w.writerow([kind, f"{dt:.6f}", fr.get("ch"), fr.get("dlc"),
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fr.get("id"), "", "", d.hex()])
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emit_frames(snap.get("xrx"), "X")
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for x in ((snap.get("rx_batch") or {}).get("frames") or []):
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emit_frames(x, "B")
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if len(seen_f) > 400000:
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seen_f = set(list(seen_f)[-200000:])
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print(f"落盘 {OUT}: 轮询 {polls} 次 / {DUR_S:.0f}s，写入 {rows} 行 "
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f"(电机槽 {len(seen_m)} 帧, 接收帧 {len(seen_f)})")
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if __name__ == "__main__":
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main()
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