feat(ecat): 启动后把 ecat_native 提到 RealTime；跳拍优化实验脚本与报告

- esp32_server: Popen 后外部 SetPriorityClass(RT/High)，native 自设会被钳成 High - 入库 skip_* 标定/实验脚本与 REPORT_ecat_skip_opt_20260917 - 前端 WIP：layout/app/polling/boot_ecat/index - 不含 lab/skip_meter 原始采样与 preview 截图
2026-09-17 02:32:20 +08:00
parent b3a3a365bb
commit e91d53e0fc
22 changed files with 1956 additions and 61 deletions
@@ -0,0 +1,130 @@
+#!/usr/bin/env python3
+"""在「以太网 2」(I210) 上关闭非 EtherCAT 绑定，测跳拍率；可 --restore 还原。"""
+from __future__ import annotations
+
+import json
+import os
+import subprocess
+import sys
+import time
+
+ROOT = os.path.normpath(os.path.join(os.path.dirname(__file__), ".."))
+LAB = os.path.join(ROOT, "lab", "skip_meter")
+NIC = "以太网 2"
+
+
+def ps(cmd, timeout=60):
+    r = subprocess.run(
+        ["powershell", "-NoProfile", "-Command", cmd],
+        capture_output=True, text=True, encoding="utf-8", errors="replace", timeout=timeout,
+    )
+    return (r.stdout or "").strip(), (r.stderr or "").strip()
+
+
+def snapshot():
+    out, err = ps(
+        f"Get-NetAdapterBinding -Name '{NIC}' | "
+        "Select-Object DisplayName,ComponentID,Enabled | ConvertTo-Json -Compress"
+    )
+    data = json.loads(out)
+    return data if isinstance(data, list) else [data]
+
+
+def disable(component_ids):
+    logs = []
+    for cid in component_ids:
+        out, err = ps(
+            f"Disable-NetAdapterBinding -Name '{NIC}' -ComponentID '{cid}' -Confirm:$false; "
+            f"Get-NetAdapterBinding -Name '{NIC}' -ComponentID '{cid}' | "
+            "Select-Object ComponentID,Enabled | ConvertTo-Json -Compress"
+        )
+        logs.append({"cid": cid, "out": out[:300], "err": err[:300]})
+    return logs
+
+
+def enable(component_ids):
+    logs = []
+    for cid in component_ids:
+        out, err = ps(
+            f"Enable-NetAdapterBinding -Name '{NIC}' -ComponentID '{cid}' -Confirm:$false; "
+            f"Get-NetAdapterBinding -Name '{NIC}' -ComponentID '{cid}' | "
+            "Select-Object ComponentID,Enabled | ConvertTo-Json -Compress"
+        )
+        logs.append({"cid": cid, "out": out[:300], "err": err[:300]})
+    return logs
+
+
+def set_prio(level="RealTime"):
+    p = int(subprocess.check_output(
+        ["powershell", "-NoProfile", "-Command", "(Get-Process ecat_native).Id"],
+        text=True).strip())
+    subprocess.check_output(
+        ["powershell", "-NoProfile", "-Command",
+         f"$p=Get-Process -Id {p}; $p.PriorityClass='{level}'; $p.PriorityClass"],
+        text=True)
+    return p
+
+
+def meter(tag, secs=18):
+    r = subprocess.run(
+        [sys.executable, os.path.join(ROOT, "scripts", "skip_rate_meter.py"),
+         "--tag", tag, "--secs", str(secs)],
+        capture_output=True, text=True, encoding="utf-8", errors="replace")
+    files = sorted(f for f in os.listdir(LAB) if f.startswith(tag + "_") and f.endswith(".json"))
+    return json.load(open(os.path.join(LAB, files[-1]), encoding="utf-8"))
+
+
+# Offloads that are useless/dangerous for raw EtherCAT on a dedicated NIC
+OFFLOADS = [
+    "vmware_bridge",  # VMware Bridge — intercepts/injects, classic ECAT killer
+    "ms_pacer",       # QoS packet scheduler
+    "ms_lldp",        # LLDP
+    "ms_rspndr",      # LLTD responder
+    "ms_lltdio",      # LLTD mapper
+    "ms_server",      # file/printer sharing
+    "ms_msclient",    # Microsoft network client
+    # keep ms_tcpip / ms_tcpip6 for now in case anything uses IP on this NIC
+    # Npcap must stay: INSECURE_NPCAP
+]
+
+
+def main():
+    os.makedirs(LAB, exist_ok=True)
+    snap = snapshot()
+    snap_path = os.path.join(LAB, f"nic_bind_{int(time.time())}.json")
+    json.dump(snap, open(snap_path, "w", encoding="utf-8"), ensure_ascii=False, indent=2)
+    print("bind snapshot", snap_path)
+
+    if "--restore" in sys.argv:
+        print(enable(OFFLOADS))
+        return 0
+
+    print("disable", OFFLOADS)
+    print(json.dumps(disable(OFFLOADS), ensure_ascii=False, indent=2))
+    print("set RealTime")
+    print("pid", set_prio("RealTime"))
+    # binding change usually doesn't reset link; brief settle
+    time.sleep(3)
+    data = meter("bind_off", 18)
+    row = {
+        "late_per_s": data["late_per_s"],
+        "skip_per_s": data["skip_per_s"],
+        "late_frac_pct": data["late_frac_pct"],
+        "achieved_hz": data["achieved_hz"],
+        "n_late": data["n_late"],
+        "send_stall_frac": data["send_stall_frac"],
+        "rx_stall_frac": data["rx_stall_frac"],
+        "work_p50": data["window_cyc_us"]["work"]["p50"],
+        "rx_p50": data["window_cyc_us"]["rx"]["p50"],
+        "send_p50": data["window_cyc_us"]["send"]["p50"],
+        "work_p90": data["window_cyc_us"]["work"]["p90"],
+    }
+    print("ROW", json.dumps(row, ensure_ascii=False, indent=2))
+    out = os.path.join(LAB, f"summary_bind_off_{int(time.time())}.json")
+    json.dump({"row": row, "disabled": OFFLOADS, "snap": snap_path},
+              open(out, "w", encoding="utf-8"), ensure_ascii=False, indent=2)
+    print("WROTE", out)
+
+
+if __name__ == "__main__":
+    main()