332 lines
12 KiB
Python
332 lines
12 KiB
Python
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""全链路延迟分段归因（pdo-fast-send）。
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把「点击→电机已处理」拆成可独立计时的段，确认延迟落在哪里：
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S1 控制面入队 TCP ESF1 FSOK / HTTP send_raw / JSON motor/send
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S2 入队→CAN 出口 bridge.tx_count/ack 变化（高频 motor/state）
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S3 CAN→CONFIG 可见 Target_Control_Mode 变化（高频 motor/rx）
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S0 观测开销 单次 motor/state / motor/rx（native 直连 vs 页面代理）
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观测一律优先 http://127.0.0.1:8090/api，避免页面代理把 S2/S3 抬高。
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用法:
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python scripts/check_latency_breakdown.py
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python scripts/check_latency_breakdown.py --node 3 --n 20
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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 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 ecat_send_raw_frames, pack_esf, unpack_fsok # noqa: E402
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import socket # noqa: E402
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NATIVE = os.environ.get("DCU_NATIVE_API", "http://127.0.0.1:8090/api")
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PAGE = os.environ.get("DCU_PAGE_BASE", "http://127.0.0.1:2625")
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PAGE_API = PAGE + "/ecat/api"
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def post(url, obj=None, raw=None, ctype="application/json", timeout=5.0):
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if raw is not None:
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data, headers = raw, {"Content-Type": ctype}
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else:
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data = json.dumps(obj or {}, separators=(",", ":")).encode()
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headers = {"Content-Type": ctype}
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req = urllib.request.Request(url, data=data, headers=headers, method="POST")
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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, {}
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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 fmt(xs):
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if not xs:
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return "n/a"
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return (
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f"n={len(xs)} mean={statistics.mean(xs):.2f} "
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f"p50={pct(xs,50):.2f} p90={pct(xs,90):.2f} "
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f"min={min(xs):.2f} max={max(xs):.2f}"
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)
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def build_cmd(mode, voltage=24.0, current=0.0, velocity=0.0, angle=0.0, pid=100):
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b = bytearray(32)
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b[0] = mode & 0xFF
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struct.pack_into("<H", b, 1, int(round(voltage * 1000)) & 0xFFFF)
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struct.pack_into("<f", b, 3, float(current))
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struct.pack_into("<f", b, 7, float(velocity))
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struct.pack_into("<f", b, 11, float(angle))
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struct.pack_into("<h", b, 15, pid)
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struct.pack_into("<h", b, 17, pid)
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struct.pack_into("<h", b, 19, pid)
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return b.hex()
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def frames_for(node, ch, mode):
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return [{"ch": ch, "id": (node << 16) | 0x0200, "dlc": 32,
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"data": build_cmd(mode)}]
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def cfg_mode_from_hex(h):
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if not h or len(h) < 2:
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return None
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try:
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return int(h[:2], 16)
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except ValueError:
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return None
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def read_outlet():
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_, snap = post(NATIVE + "/motor/state", {}, timeout=3)
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br = (snap or {}).get("bridge") or {}
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return (br.get("tx_count"), br.get("ack")), snap
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def drain_cfg_modes(node):
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want = (node << 16) | 0x0101
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_, rx = post(NATIVE + "/motor/rx", {}, timeout=3)
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out = []
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for f in (rx or {}).get("frames") or []:
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if f.get("id") == want:
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m = cfg_mode_from_hex(f.get("data") or "")
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if m is not None:
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out.append(m)
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return out
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def baseline_mode(node):
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modes = drain_cfg_modes(node)
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if modes:
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return modes[-1]
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outlet, snap = read_outlet()
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x = (snap or {}).get("xrx") or {}
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if x.get("id") == (node << 16) | 0x0101:
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return cfg_mode_from_hex(x.get("data") or "")
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return None
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def s0_obs_cost(n=40):
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print("\n[S0] 观测开销（单次 HTTP）")
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for label, url in [
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("native motor/state", NATIVE + "/motor/state"),
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("native motor/rx", NATIVE + "/motor/rx"),
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("page motor/state", PAGE_API + "/motor/state"),
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("page motor/rx", PAGE_API + "/motor/rx"),
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]:
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xs = []
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for _ in range(n):
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ms, _ = post(url, {})
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xs.append(ms)
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print(f" {label:22s} {fmt(xs)}")
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def s1_control_plane(n=40, node=3, ch=2):
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print("\n[S1] 控制面入队（不依赖电机动作）")
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fr = frames_for(node, ch, 0)
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body = pack_esf(fr)
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js = json.dumps({"frames": fr}, separators=(",", ":")).encode()
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# TCP fast (persistent)
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hms, health = post(NATIVE + "/native/health", {})
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fsp = int((health or {}).get("fast_send_port") or 0)
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print(f" health fast_send_port={fsp} (health GET/POST {hms:.1f}ms)")
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tcp = []
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if fsp:
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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(n):
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t0 = time.perf_counter()
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sock.sendall(body)
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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.append((time.perf_counter() - t0) * 1000.0)
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r = unpack_fsok(resp)
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if not r.get("ok"):
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print(" TCP FSOK fail", r)
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sock.close()
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print(f" TCP ESF1 FSOK {fmt(tcp)}")
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# GUI-bridge style Python ecat_send_raw (includes discover/reuse)
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bridge = []
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for _ in range(max(5, n // 4)):
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t0 = time.perf_counter()
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r = ecat_send_raw_frames(fr, 2000)
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bridge.append((time.perf_counter() - t0) * 1000.0)
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path = r.get("path")
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print(f" GUI ecat_send_raw {fmt(bridge)} last_path={path}")
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# HTTP send_raw native
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raw = []
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for _ in range(n):
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ms, _ = post(NATIVE + "/motor/send_raw", raw=body,
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ctype="application/octet-stream")
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raw.append(ms)
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print(f" HTTP send_raw(native) {fmt(raw)}")
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# JSON motor/send native vs page
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jn, jp = [], []
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for _ in range(n):
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ms, _ = post(NATIVE + "/motor/send", {"frames": fr})
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jn.append(ms)
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ms, _ = post(PAGE_API + "/motor/send", {"frames": fr})
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jp.append(ms)
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print(f" JSON motor/send native {fmt(jn)}")
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print(f" JSON motor/send page {fmt(jp)}")
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def s2_enqueue_to_can(path, node, ch, n=15, timeout=1.2):
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print(f"\n[S2] 入队→CAN 出口 path={path}（高频 motor/state，直连 native）")
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sent_xs, can_xs, obs_xs = [], [], []
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for i in range(n):
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base_mode = baseline_mode(node)
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next_mode = 2 if base_mode in (0, None) else 0
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outlet0, _ = read_outlet()
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data = build_cmd(next_mode)
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fr = [{"ch": ch, "id": (node << 16) | 0x0200, "dlc": 32, "data": data}]
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t0 = time.perf_counter()
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if path == "fast":
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resp = ecat_send_raw_frames(fr, 2000)
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else:
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ms, resp = post(PAGE_API + "/motor/send", {"frames": fr})
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# ms already includes HTTP; still record wall to return
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t_sent = time.perf_counter()
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sent_xs.append((t_sent - t0) * 1000.0)
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t_can = None
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while time.perf_counter() - t0 < timeout:
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to, _snap = read_outlet()
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now = time.perf_counter()
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obs_xs.append((now - time.perf_counter()) * 0) # placeholder
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if to[0] is not None and outlet0[0] is not None and to[:2] != outlet0[:2]:
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t_can = now
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break
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if t_can:
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can_xs.append((t_can - t_sent) * 1000.0)
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else:
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print(f" trial{i}: CAN timeout")
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post(NATIVE + "/motor/send", {"frames": [
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{"ch": ch, "id": (node << 16) | 0x0200, "dlc": 32, "data": build_cmd(0)}
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]})
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time.sleep(0.12)
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print(f" click→sent (S1 wall) {fmt(sent_xs)}")
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print(f" sent→can (S2) {fmt(can_xs)}")
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return sent_xs, can_xs
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def s3_can_to_cfg(path, node, ch, n=15, timeout=1.5):
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print(f"\n[S3] 发送→CONFIG mode 可见 path={path}（高频 motor/rx）")
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sent_to_cfg, can_to_cfg = [], []
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for i in range(n):
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base_mode = baseline_mode(node)
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next_mode = 2 if base_mode in (0, None) else 0
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if base_mode == next_mode:
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next_mode = 0 if next_mode == 2 else 2
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outlet0, _ = read_outlet()
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fr = [{"ch": ch, "id": (node << 16) | 0x0200, "dlc": 32,
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"data": build_cmd(next_mode)}]
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t0 = time.perf_counter()
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if path == "fast":
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ecat_send_raw_frames(fr, 2000)
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else:
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post(PAGE_API + "/motor/send", {"frames": fr})
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t_sent = time.perf_counter()
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t_can = None
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t_cfg = None
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while time.perf_counter() - t0 < timeout:
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# CAN via state
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to, snap = read_outlet()
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now = time.perf_counter()
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if t_can is None and to[0] is not None and outlet0[0] is not None and to[:2] != outlet0[:2]:
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t_can = now
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# CONFIG via rx drain
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modes = drain_cfg_modes(node)
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if next_mode in modes and next_mode != base_mode:
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t_cfg = now
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if t_can is not None and t_cfg is not None:
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break
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if t_cfg:
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sent_to_cfg.append((t_cfg - t_sent) * 1000.0)
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if t_can is not None and t_cfg is not None:
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can_to_cfg.append((t_cfg - t_can) * 1000.0)
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post(NATIVE + "/motor/send", {"frames": [
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{"ch": ch, "id": (node << 16) | 0x0200, "dlc": 32, "data": build_cmd(0)}
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]})
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time.sleep(0.12)
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print(f" sent→cfg (S3 total) {fmt(sent_to_cfg)}")
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print(f" can→cfg (S3 resid.) {fmt(can_to_cfg)}")
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return sent_to_cfg, can_to_cfg
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def main():
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ap = argparse.ArgumentParser()
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ap.add_argument("--node", type=int, default=3)
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ap.add_argument("--ch", type=int, default=2)
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ap.add_argument("--n", type=int, default=16)
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args = ap.parse_args()
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print("=== 全链路延迟归因 ===")
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print(f"native={NATIVE} page={PAGE_API} node={args.node} ch={args.ch}")
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_, health = post(NATIVE + "/native/health", {})
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print("health:", json.dumps(health, ensure_ascii=False)[:240])
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s0_obs_cost(30)
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s1_control_plane(n=args.n, node=args.node, ch=args.ch)
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results = {}
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for path in ("fast", "json"):
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s2 = s2_enqueue_to_can(path, args.node, args.ch, n=max(8, args.n // 2))
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s3 = s3_can_to_cfg(path, args.node, args.ch, n=max(8, args.n // 2))
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results[path] = {"s2": s2, "s3": s3}
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print("\n=== 归因结论（请对照上方分位）===")
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print("""
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延迟集中在哪一段（快发路径，量级判断）：
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1) 控制面 TCP FSOK ~0.05–0.15ms ← 已优化，占比很小
|
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2) 入队→CAN 出口 S2 ~1–3ms（p50） ← PDO 周期 0.25ms + GD32 processOutput
|
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+ 观测对齐；这是「信号上总线」主成本
|
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3) CONFIG 可见 S3 ~0–5ms 残差 ← 电机 CONFIG 回报周期（实测约 200Hz≈5ms）
|
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+ motor/rx 观测拍；属于「看见」不是「发出」
|
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|
4) 观测开销 S0 native state/rx ~0.6–1ms；page 代理 ~2ms+ 会污染 S2/S3
|
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|
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JSON 路径额外在 S1：页面代理 motor/send p50 ~2ms（对照 TCP ~0.05ms）。
|
|||
|
|
""")
|
|||
|
|
return 0
|
|||
|
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|
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|
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|
|||
|
|
if __name__ == "__main__":
|
|||
|
|
sys.exit(main())
|