feat(ecat): PDO 快发 ESF1 桌面强制直通，堵死慢发回落
桌面 APP 下 ECAT motor 发送只走 pywebview ESF1→native TCP； 删除桥内 HTTP/JSON 回落。附延迟测量与 pack 自测脚本与规格文档。
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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""pdo-fast-send 端到端分段延迟（模式切换代理）。
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电机启动/转动有惯性，rtAngle/rtVelocity 阈值难踩准。改用 **CONFIG 回报的
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Target_Control_Mode（0x000N0101 B0）** 作为「命令已被电机接收并应用」的可见
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代理：CMD 的 mode 字节一旦被接受，下一拍 CONFIG 就会以新 mode 回报。
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路径:
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json — HTTP POST /ecat/api/motor/send（浏览器同款页面代理）
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fast — ecat_send_raw_frames（桌面桥同构 ESF1 TCP，不含 pywebview hop）
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分段:
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t_click = 发请求前
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t_sent = 控制面返回（入队完成）
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t_can = bridge.tx_count/ack 变化（EtherCAT→GD32 CAN 出口）
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t_mode = 观测到目标节点 CONFIG B0 == 期望 mode（xrx 或 motor/rx）
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用法:
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python scripts/check_e2e_click_motion.py
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python scripts/check_e2e_click_motion.py --node 3 --ch 2 --trials 5
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python scripts/check_e2e_click_motion.py --proxy motion # 旧：角度/速度阈值
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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 # 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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# 观测默认打 native 直连：页面代理 p50~2ms×多次 + xrx 单帧槽会把 CONFIG 观测抬到 ~12ms
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NATIVE = os.environ.get("DCU_NATIVE_API", "http://127.0.0.1:8090/api")
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OBS = NATIVE # 观测环（motor/state、motor/rx）
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# 安全模式对：0=Disable（输出关闭），2=Velocity 但目标速度 0（不驱动转动）
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SAFE_TOGGLE = (0, 2)
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def post(url, obj=None, raw=None, ctype="application/json", timeout=8.0):
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if raw is not None:
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data = raw
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headers = {"Content-Type": ctype}
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else:
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data = json.dumps(obj or {}, ensure_ascii=False, separators=(",", ":")).encode("utf-8")
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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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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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def decode_status(data_hex: str):
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if not data_hex or len(data_hex) < 36:
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return None
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raw = bytes.fromhex(data_hex[:72] if len(data_hex) >= 72 else data_hex)
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if len(raw) < 21:
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return None
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def f32(off):
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if off + 4 > len(raw):
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return 0.0
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v = struct.unpack_from("<f", raw, off)[0]
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return v if v == v else 0.0
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return {"rtAngle": f32(13), "rtVelocity": f32(17), "rtCurrent": f32(21), "b10": raw[10]}
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def motor_sample(node: int, ch: int):
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_, snap = post(OBS + "/motor/state", {}, timeout=5)
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if not snap.get("ok"):
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return None, None, snap
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br = snap.get("bridge") or {}
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outlet = (br.get("tx_count"), br.get("ack"), br.get("last_tx_id_hex"))
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st = None
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for m in snap.get("motors") or []:
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if m.get("node") == node and m.get("ch") == ch:
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st = decode_status(m.get("data") or "")
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break
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return st, outlet, snap
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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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buf = bytearray(32)
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buf[0] = mode & 0xFF
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struct.pack_into("<H", buf, 1, int(round(voltage * 1000)) & 0xFFFF)
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struct.pack_into("<f", buf, 3, float(current))
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struct.pack_into("<f", buf, 7, float(velocity))
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struct.pack_into("<f", buf, 11, float(angle))
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struct.pack_into("<h", buf, 15, pid)
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struct.pack_into("<h", buf, 17, pid)
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struct.pack_into("<h", buf, 19, pid)
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return buf.hex()
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def send_path(path: str, ch: int, node: int, data_hex: str):
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frames = [{"ch": ch, "id": (node << 16) | 0x0200, "dlc": 32, "data": data_hex}]
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if path == "fast":
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t0 = time.perf_counter()
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resp = ecat_send_raw_frames(frames, 2000)
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return (time.perf_counter() - t0) * 1000.0, resp
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ms, resp = post(ECAT + "/motor/send", {"frames": frames}, timeout=6)
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return ms, resp
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def outlet_changed(a, b):
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if not a or not b:
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return False
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return (a[0], a[1]) != (b[0], b[1]) and a[0] is not None
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def cfg_mode_from_hex(data_hex: str):
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if not data_hex or len(data_hex) < 2:
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return None
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try:
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return int(data_hex[:2], 16)
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except ValueError:
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return None
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def scan_config_mode(node: int, snap: dict):
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"""从 xrx + motor/rx 找目标节点 CONFIG(0x000N0101) 的 B0 mode。"""
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want_id = (node << 16) | 0x0101
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hits = []
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x = snap.get("xrx") or {}
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if x.get("id") == want_id:
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m = cfg_mode_from_hex(x.get("data") or "")
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if m is not None:
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hits.append(("xrx", m, x.get("data")))
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rxb = snap.get("rx_batch") or {}
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# frames 可能在快照里；若空则单独 drain
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for f in rxb.get("frames") or []:
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if f.get("id") == want_id:
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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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hits.append(("rxb", m, f.get("data")))
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return hits
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def drain_rx_modes(node: int):
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want_id = (node << 16) | 0x0101
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_, rx = post(OBS + "/motor/rx", {}, timeout=4)
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out = []
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for f in rx.get("frames") or []:
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if f.get("id") == want_id:
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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 observe_config_mode(node: int):
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"""返回 (mode_or_None, source)。优先 drain rx（CONFIG 主通道），再 xrx。"""
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modes = drain_rx_modes(node)
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if modes:
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return modes[-1], "rx"
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_, snap = post(OBS + "/motor/state", {}, timeout=4)
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hits = scan_config_mode(node, snap)
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if hits:
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return hits[-1][1], hits[-1][0]
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return None, None
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def run_once(path: str, node: int, ch: int, proxy: str, timeout: float, next_mode: int) -> dict:
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st0, outlet0, _ = motor_sample(node, ch)
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# 基线 mode：SIG 必须相对它变化，避免 CONFIG 持续回报同一 mode 造成假阳性
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base_mode, base_src = observe_config_mode(node)
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if proxy == "mode":
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# 强制与基线不同
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if base_mode == next_mode:
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next_mode = SAFE_TOGGLE[1] if base_mode == SAFE_TOGGLE[0] else SAFE_TOGGLE[0]
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data = build_cmd(mode=next_mode, voltage=24.0, current=0.0, velocity=0.0, angle=0.0)
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expect = next_mode
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else:
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data = build_cmd(mode=2, voltage=24.0, current=0.0, velocity=40.0, angle=0.0)
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expect = 2
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base_mode = None
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t_click = time.perf_counter()
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sent_ms, resp = send_path(path, ch, node, data)
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t_sent = time.perf_counter()
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t_can = None
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t_mode = None
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t_motion = None
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can_detail = mode_detail = motion_detail = ""
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ang0 = st0["rtAngle"] if st0 else 0.0
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vel0 = st0["rtVelocity"] if st0 else 0.0
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while time.perf_counter() - t_click < timeout:
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st, outlet, snap = motor_sample(node, ch)
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now = time.perf_counter()
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if t_can is None and outlet_changed(outlet0, outlet):
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t_can = now
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can_detail = f"{outlet0} → {outlet}"
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if t_mode is None and proxy == "mode":
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# 观测优先 drain rx：CONFIG 约 ~200Hz/节点，xrx 只有单槽会被其它节点挤掉
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drained = drain_rx_modes(node)
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if expect in drained and expect != base_mode:
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t_mode = now
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mode_detail = f"mode {base_mode}→{expect} via rx"
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else:
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hits = scan_config_mode(node, snap)
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for src, m, raw in reversed(hits):
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if m == expect and m != base_mode:
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t_mode = now
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mode_detail = f"mode {base_mode}→{m} via {src} data={(raw or '')[:16]}"
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break
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if st and t_motion is None and proxy == "motion":
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d_ang = abs(st["rtAngle"] - ang0)
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d_vel = abs(st["rtVelocity"] - vel0)
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if d_ang > 0.3 or abs(d_vel) > 5.0:
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t_motion = now
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motion_detail = f"Δang={d_ang:.3f} Δvel={d_vel:.2f}"
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done_mode = (proxy == "mode" and t_mode is not None) or (proxy == "motion" and t_motion is not None)
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if t_can is not None and done_mode:
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break
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# 直连 native 时观测环约 0.6–1ms；页面代理则 ≥2ms×N，会主导 p50
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time.sleep(0)
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send_path(path, ch, node, build_cmd(mode=0, voltage=24.0, current=0.0, velocity=0.0, angle=0.0))
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time.sleep(0.08)
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def ms(dt):
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return None if dt is None else dt * 1000.0
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t_sig = t_mode if proxy == "mode" else t_motion
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return {
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"ok": True,
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"path": path,
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"proxy": proxy,
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"base_mode": base_mode,
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"base_src": base_src,
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"expect_mode": expect if proxy == "mode" else None,
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"resp_ok": bool(resp.get("ok")),
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"resp_path": resp.get("path"),
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"sent_ms": sent_ms,
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"click_to_sent": ms(t_sent - t_click),
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"click_to_can": ms(None if t_can is None else t_can - t_click),
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"click_to_sig": ms(None if t_sig is None else t_sig - t_click),
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"sent_to_can": ms(None if t_can is None else t_can - t_sent),
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"sent_to_sig": ms(None if t_sig is None else t_sig - t_sent),
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"can_to_sig": ms(None if (t_can is None or t_sig is None) else t_sig - t_can),
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"can_detail": can_detail,
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"sig_detail": mode_detail if proxy == "mode" else motion_detail,
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"base_vel": vel0,
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"sig_ok": t_sig is not None,
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}
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def summarize(rows, key):
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xs = [r[key] for r in rows if r.get(key) is not None]
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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}ms "
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f"p50={statistics.median(xs):.2f} min={min(xs):.2f} max={max(xs):.2f}"
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)
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def main() -> int:
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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("--timeout", type=float, default=2.0)
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ap.add_argument("--trials", type=int, default=4)
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ap.add_argument("--paths", type=str, default="json,fast")
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ap.add_argument("--proxy", type=str, default="mode", choices=["mode", "motion"])
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args = ap.parse_args()
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paths = [p.strip() for p in args.paths.split(",") if p.strip()]
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_, health = post(OBS + "/native/health", {})
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print("health:", json.dumps(health, ensure_ascii=False)[:220])
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print(f"观测环直连: {OBS}（发送仍按 path 走 page/fast）")
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post(ECAT + "/motor/start",
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{"period_ms": 0.25, "dc_cycle_us": 250, "dc_shift_us": 0}, timeout=30)
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time.sleep(0.25)
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cur_mode, src = observe_config_mode(args.node)
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print(f"基线 CONFIG mode node={args.node}: {cur_mode} (via {src})")
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print(f"代理={args.proxy} 模式对={SAFE_TOGGLE} 每次在两者间切换，目标速度恒 0")
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all_rows: dict[str, list] = {}
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for path in paths:
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print(f"\n======== path={path} proxy={args.proxy} node={args.node} ch={args.ch} ========")
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rows = []
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for i in range(args.trials):
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# 每轮现读基线再选「与基线不同」的 mode
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cur_mode, _src = observe_config_mode(args.node)
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if args.proxy == "mode":
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if cur_mode == SAFE_TOGGLE[0]:
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next_mode = SAFE_TOGGLE[1]
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elif cur_mode == SAFE_TOGGLE[1]:
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next_mode = SAFE_TOGGLE[0]
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else:
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next_mode = SAFE_TOGGLE[0]
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else:
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next_mode = 2
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print(f"--- trial {i+1}/{args.trials} base_mode={cur_mode} → send mode={next_mode} ---")
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r = run_once(path, args.node, args.ch, args.proxy, args.timeout, next_mode)
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rows.append(r)
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if not r.get("resp_ok") or not r.get("sig_ok", True):
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print(" FAIL/NOSIG", {k: r.get(k) for k in
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("resp_ok", "sig_ok", "base_mode", "expect_mode", "resp_path", "sig_detail")})
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else:
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print(
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f" via={r['resp_path']} mode {r.get('base_mode')}→{r.get('expect_mode')} "
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f"sent={r['sent_ms']:.2f}ms "
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f"click→sent={r['click_to_sent']:.2f} "
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f"click→can={r['click_to_can'] if r['click_to_can'] is not None else 'n/a'} "
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f"click→sig={r['click_to_sig'] if r['click_to_sig'] is not None else 'n/a'} "
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f"sent→can={r['sent_to_can'] if r['sent_to_can'] is not None else 'n/a'} "
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f"sent→sig={r['sent_to_sig'] if r['sent_to_sig'] is not None else 'n/a'} "
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f"can→sig={r['can_to_sig'] if r['can_to_sig'] is not None else 'n/a'}"
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)
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if r.get("can_detail"):
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print(" CAN", r["can_detail"])
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if r.get("sig_detail"):
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print(" SIG", r["sig_detail"])
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time.sleep(0.35)
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all_rows[path] = rows
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good = [r for r in rows if r.get("ok") and r.get("resp_ok") and r.get("sig_ok", True)]
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print(f"\n=== {path} 汇总 ({len(good)}/{len(rows)}) ===")
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for key in ("sent_ms", "click_to_sent", "click_to_can", "click_to_sig",
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"sent_to_can", "sent_to_sig", "can_to_sig"):
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print(f" {key:14s} {summarize(good, key)}")
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print("\n======== 口径 ========")
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if args.proxy == "mode":
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print("主信号: CONFIG Target_Control_Mode (0x000N0101 B0) 变为期望值")
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print(" = 电机已接收并回报新控制模式（不依赖转动/角度阈值）")
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else:
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print("主信号: STATUS rtAngle/rtVelocity 阈值（旧口径，启动惯性会漏测）")
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print("t_click 不含真实鼠标与 pywebview hop；观测分辨率受 motor/state/rx 轮询限制。")
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print("fast 路径为 GUI 桥同构 Python 调用。")
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return 0
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if __name__ == "__main__":
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sys.exit(main())
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Reference in New Issue
Block a user