119 lines
3.7 KiB
Python
119 lines
3.7 KiB
Python
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""A/B：JSON motor/send vs ESF1 快发（HTTP send_raw / 持久 TCP）软件段延迟。
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需要：tools/ecat ecat_native 已运行（总线可不必在 OP，未连接时会报未连接但仍计时）。
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用法:
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python scripts/check_esf_latency.py
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python scripts/check_esf_latency.py --n 40
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"""
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from __future__ import annotations
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import argparse
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import json
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import os
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import socket
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import statistics
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import struct
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import sys
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import time
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import urllib.request
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sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..")))
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from esp32_server import pack_esf, unpack_fsok # noqa: E402
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PAGE = os.environ.get("DCU_PAGE_BASE", "http://127.0.0.1:2625")
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ECAT = PAGE + "/ecat/api"
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def http(url, data: bytes, ctype="application/json", timeout=5.0):
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req = urllib.request.Request(
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url, data=data,
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headers={"Content-Type": ctype, "Accept": "application/json"},
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method="POST",
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)
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t0 = time.perf_counter()
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try:
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with urllib.request.urlopen(req, timeout=timeout) as r:
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body = r.read()
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ms = (time.perf_counter() - t0) * 1000.0
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try:
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return ms, json.loads(body.decode("utf-8", "replace") or "{}")
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except Exception:
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return ms, {"_raw_len": len(body)}
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except Exception as e:
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return (time.perf_counter() - t0) * 1000.0, {"ok": False, "error": str(e)}
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def pct(xs, p):
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if not xs:
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return None
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xs = sorted(xs)
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k = max(0, min(len(xs) - 1, int(round((p / 100.0) * (len(xs) - 1)))))
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return xs[k]
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def main() -> int:
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ap = argparse.ArgumentParser()
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ap.add_argument("--n", type=int, default=30)
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args = ap.parse_args()
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frame = {"ch": 2, "id": 0x00030200, "dlc": 32,
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"data": "02" + "00" * 29 + "000000"} # 静止 CMD
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frames = [frame]
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esf = pack_esf(frames)
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js = json.dumps({"frames": frames}, ensure_ascii=False, separators=(",", ":")).encode("utf-8")
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ms_h, health = http(ECAT + "/native/health", b"{}")
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print(f"health {ms_h:.2f}ms {json.dumps(health, ensure_ascii=False)[:200]}")
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fsp = int(health.get("fast_send_port") or 0)
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print(f"fast_send_port={fsp}")
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json_ms, raw_ms = [], []
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for _ in range(args.n):
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ms, _ = http(ECAT + "/motor/send", js)
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json_ms.append(ms)
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ms, _ = http(ECAT + "/motor/send_raw", esf, "application/octet-stream")
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raw_ms.append(ms)
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tcp_ms = []
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if fsp > 0:
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sock = socket.create_connection(("127.0.0.1", fsp), timeout=None)
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sock.settimeout(2.0)
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try:
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sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
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except Exception:
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pass
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for _ in range(args.n):
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t0 = time.perf_counter()
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sock.sendall(esf)
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resp = b""
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while len(resp) < 8:
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c = sock.recv(8 - len(resp))
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if not c:
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raise OSError("closed")
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resp += c
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tcp_ms.append((time.perf_counter() - t0) * 1000.0)
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r = unpack_fsok(resp)
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if not r.get("ok") and not tcp_ms:
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print("TCP 快发 ok=false", r)
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sock.close()
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def show(name, xs):
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if not xs:
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print(f"{name}: (skip)")
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return
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print(f"{name}: n={len(xs)} mean={statistics.mean(xs):.3f}ms "
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f"p50={pct(xs,50):.3f} p90={pct(xs,90):.3f} min={min(xs):.3f} max={max(xs):.3f}")
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show("JSON motor/send ", json_ms)
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show("HTTP send_raw ", raw_ms)
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show("TCP fast_send ", tcp_ms)
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print("口径：HTTP 客户端侧 POST 往返（含本机代理时）；不含浏览器 JS/pywebview hop。")
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return 0
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if __name__ == "__main__":
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sys.exit(main())
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