test(guard): 验收链改名入库 + 补真退出码；tx 冻结守卫真机门槛两段
之前 e2e_web_send_latency.py / recover_ecat_after_reset.py / measure_click_to_motion.py 全在 .gitignore 里（e2e_/measure_ 通配），换台机器 clone 就跑不了验收；且 recover 脚本零失败路径（--skip-e2e 无条件退 0）。现在统一到已跟踪的 check_ 前缀， .gitignore 一行例外都不用加，并把"跑过了"和"恢复了"绑成一件事。 - check_recover_after_reset.py：force_reopen 后改为轮询到 dc=1/250us/loop=1/op=1/ wkc>=3（上限 15s，替掉原来单点采样那次假 loop=0），并断言守卫心跳在涨、 发一帧 3s 内出口必须跟上；退出码 0/1/2（前置不满足=BLOCKED=2）。 - check_web_send_latency.py：新增第 6 段读 health.guard（旧 exe 无 guard 块 / alive_ticks 不涨 都算 FAIL），第 5 段改调已入库的 check_click_to_motion.py。 它每次发送只等 2s，结构上看不到 8s 判据，所以只报"守卫当时是死是活"， 不拿它冒充触发验证。 - check_guard_idle_silence.py：健康总线的"另一极"——90s 静默 + 25s 1Hz 发送， 要求心跳在涨、armed 恒 0、fires/wr 零增量、每次发送都被消费。这是防 "把守卫修成重连风暴"的真机版（对应离线 T1b/T4/T5/T6）。 - check_guard_fires_hw.py：需人在场按 GD32 RESET 制造冻结，证明 armed 秒起、 tx_stale_s 爬过 8s、fires +1、日志有 [GUARD] 全量重连、松手后 20s 内出口 重新前进，再验证 60s 冷却内不第二次触发；--with-pm-hold 另证"静音"时心跳仍在涨。 只认 guard.fires，不认 wr（wr 汇总所有恢复路径，会以错误的理由通过）。 - guard_probe.py：两个真机脚本共用同一份前置判据与通路选择（先 :2625 页面代理， 再直连 native 8090..8095）。前置没满足一律 BLOCKED——loop=0 或 pm_hold=1 时判据 按设计是静音的，那种"绿了"毫无意义，所以判据只放一个执行点。
This commit is contained in:
@@ -0,0 +1,169 @@
|
||||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
"""测量「点击发送」到「电机 STATUS 显示开始运动」的端到端延迟。
|
||||
|
||||
口径说明（务必读）：
|
||||
t_click = 脚本在发起 motor/send 之前的时间戳
|
||||
≈ 网页点击处理完、即将 fetch 的时刻（未含浏览器主线程/桥调用开销）
|
||||
t_http = motor/send HTTP 返回（控制面入队完成）
|
||||
t_can = GD32 bridge.tx_count/ack 变化（EtherCAT 出口，命令已进 CAN）
|
||||
t_motion = 电机 STATUS 中 rtAngle/rtVelocity 相对基线发生可测变化
|
||||
（软件可见的「开始动」代理，不是编码器轴端绝对时刻）
|
||||
|
||||
用法:
|
||||
python scripts/measure_click_to_motion.py
|
||||
python scripts/measure_click_to_motion.py --node 3 --ch 2 --vel 40 --timeout 3
|
||||
"""
|
||||
from __future__ import annotations
|
||||
|
||||
import argparse
|
||||
import json
|
||||
import os
|
||||
import struct
|
||||
import sys
|
||||
import time
|
||||
import urllib.request
|
||||
|
||||
PAGE = os.environ.get("DCU_PAGE_BASE", "http://127.0.0.1:2625")
|
||||
ECAT = PAGE + "/ecat/api"
|
||||
|
||||
|
||||
def post(url, obj, timeout=8.0):
|
||||
data = json.dumps(obj, ensure_ascii=False, separators=(",", ":")).encode("utf-8")
|
||||
req = urllib.request.Request(url, data=data, headers={"Content-Type": "application/json"}, method="POST")
|
||||
t0 = time.perf_counter()
|
||||
with urllib.request.urlopen(req, timeout=timeout) as r:
|
||||
body = r.read()
|
||||
return (time.perf_counter() - t0) * 1000.0, json.loads(body.decode("utf-8", "replace") or "{}")
|
||||
|
||||
|
||||
def decode_status(data_hex: str):
|
||||
if not data_hex or len(data_hex) < 36:
|
||||
return None
|
||||
raw = bytes.fromhex(data_hex[:72] if len(data_hex) >= 72 else data_hex)
|
||||
if len(raw) < 21:
|
||||
return None
|
||||
|
||||
def f32(off):
|
||||
if off + 4 > len(raw):
|
||||
return 0.0
|
||||
v = struct.unpack_from("<f", raw, off)[0]
|
||||
return v if v == v else 0.0 # NaN → 0
|
||||
|
||||
return {
|
||||
"rtAngle": f32(13),
|
||||
"rtVelocity": f32(17),
|
||||
"rtCurrent": f32(21),
|
||||
}
|
||||
|
||||
|
||||
def motor_sample(node: int, ch: int):
|
||||
_, snap = post(ECAT + "/motor/state", {}, 5)
|
||||
if not snap.get("ok"):
|
||||
return None, None, None
|
||||
br = snap.get("bridge") or {}
|
||||
outlet = (br.get("tx_count"), br.get("ack"))
|
||||
seq = snap.get("sent_seq")
|
||||
for m in snap.get("motors") or []:
|
||||
if m.get("node") == node and m.get("ch") == ch:
|
||||
return decode_status(m.get("data") or ""), outlet, seq
|
||||
return None, outlet, seq
|
||||
|
||||
|
||||
def build_cmd(mode, voltage, current, velocity, angle, pid=100):
|
||||
buf = bytearray(32)
|
||||
buf[0] = mode & 0xFF
|
||||
struct.pack_into("<H", buf, 1, int(round(voltage * 1000)) & 0xFFFF)
|
||||
struct.pack_into("<f", buf, 3, float(current))
|
||||
struct.pack_into("<f", buf, 7, float(velocity))
|
||||
struct.pack_into("<f", buf, 11, float(angle))
|
||||
struct.pack_into("<h", buf, 15, pid)
|
||||
struct.pack_into("<h", buf, 17, pid)
|
||||
struct.pack_into("<h", buf, 19, pid)
|
||||
return buf.hex()
|
||||
|
||||
|
||||
def send_cmd(ch, node, data_hex):
|
||||
return post(ECAT + "/motor/send", {
|
||||
"frames": [{"ch": ch, "id": (node << 16) | 0x0200, "dlc": 32, "data": data_hex}]
|
||||
}, 6)
|
||||
|
||||
|
||||
def main():
|
||||
ap = argparse.ArgumentParser()
|
||||
ap.add_argument("--node", type=int, default=3)
|
||||
ap.add_argument("--ch", type=int, default=2)
|
||||
ap.add_argument("--vel", type=float, default=40.0)
|
||||
ap.add_argument("--timeout", type=float, default=3.0)
|
||||
args = ap.parse_args()
|
||||
node, ch = args.node, args.ch
|
||||
|
||||
post(ECAT + "/motor/start",
|
||||
{"period_ms": 0.25, "dc_cycle_us": 250, "dc_shift_us": 0, "force_reopen": True}, 30)
|
||||
time.sleep(0.3)
|
||||
|
||||
base, outlet0, _ = motor_sample(node, ch)
|
||||
print(f"基线 STATUS node={node} ch={ch}: {base}")
|
||||
print(f"基线 GD32 outlet tx/ack: {outlet0}")
|
||||
if not base:
|
||||
print("FAIL: 该节点无 STATUS（请确认 EtherCAT 在线且节点有回报）")
|
||||
return 1
|
||||
|
||||
ang0, vel0 = base["rtAngle"], base["rtVelocity"]
|
||||
data = build_cmd(mode=2, voltage=24.0, current=0.0, velocity=args.vel, angle=0.0)
|
||||
print(f"将发送 CMD mode=Velocity v={args.vel} → 稍后自动 Disable")
|
||||
|
||||
t_click = time.perf_counter()
|
||||
http_ms, resp = send_cmd(ch, node, data)
|
||||
t_http = time.perf_counter()
|
||||
print(f"motor/send HTTP {http_ms:.1f}ms ok={resp.get('ok')} queued={resp.get('queued')}")
|
||||
|
||||
t_can = None
|
||||
t_motion = None
|
||||
motion_detail = None
|
||||
can_detail = None
|
||||
t0 = t_click
|
||||
while time.perf_counter() - t0 < args.timeout:
|
||||
st, outlet, _ = motor_sample(node, ch)
|
||||
now = time.perf_counter()
|
||||
if t_can is None and outlet0 and outlet != outlet0 and outlet[0] is not None:
|
||||
t_can = now
|
||||
can_detail = f"outlet {outlet0} → {outlet}"
|
||||
if st:
|
||||
d_ang = abs(st["rtAngle"] - ang0)
|
||||
d_vel = abs(st["rtVelocity"] - vel0)
|
||||
# 开始运动：角度变化 >0.3° 或速度偏离基线 >5
|
||||
if t_motion is None and (d_ang > 0.3 or d_vel > 5.0):
|
||||
t_motion = now
|
||||
motion_detail = (
|
||||
f"Δangle={d_ang:.3f}° Δvel={d_vel:.2f} "
|
||||
f"angle {ang0:.2f}→{st['rtAngle']:.2f} vel {vel0:.2f}→{st['rtVelocity']:.2f}"
|
||||
)
|
||||
if t_motion is not None and t_can is not None:
|
||||
break
|
||||
time.sleep(0.002)
|
||||
|
||||
stop = build_cmd(mode=0, voltage=24.0, current=0, velocity=0, angle=0)
|
||||
send_cmd(ch, node, stop)
|
||||
|
||||
def ms(dt):
|
||||
return None if dt is None else dt * 1000.0
|
||||
|
||||
print("\n=== 端到端（脚本 t_click ≈ 点击后即将发请求）===")
|
||||
print(f" t_click → HTTP 返回 : {ms(t_http - t_click):.1f} ms")
|
||||
print(f" t_click → GD32 CAN 出口 : {ms(t_can - t_click) if t_can else '未观测到'} ms {can_detail or ''}")
|
||||
print(f" t_click → STATUS 开始动 : {ms(t_motion - t_click) if t_motion else '超时未观测到'} ms {motion_detail or ''}")
|
||||
if t_can:
|
||||
print(f" HTTP 返回 → CAN 出口 : {ms(t_can - t_http):.1f} ms")
|
||||
if t_motion and t_can:
|
||||
print(f" CAN 出口 → STATUS 动 : {ms(t_motion - t_can):.1f} ms ← 固件/回报段")
|
||||
if t_motion:
|
||||
print(f"\n软件口径「点击→STATUS 显示开始动」≈ {ms(t_motion - t_click):.1f} ms")
|
||||
print("（不含真实鼠标事件前的浏览器调度；机械轴端时刻会更晚）")
|
||||
return 0
|
||||
print("\nFAIL: 超时未在 STATUS 中看到运动（电机未响应或回报未更新）")
|
||||
return 1
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
sys.exit(main())
|
||||
Reference in New Issue
Block a user