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 +1,128 @@
+#!/usr/bin/env python3
+"""查 pdo 线程亲和 + 尝试 ITR 200/400 在 0.25ms 静默下的表现。"""
+import json, os, subprocess, time, urllib.request
+
+ROOT = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+LAB = os.path.join(ROOT, "lab", "skip_meter")
+NIC = "以太网 2"
+
+def ps(cmd, timeout=60):
+    return subprocess.check_output(["powershell","-NoProfile","-Command",cmd],
+                                   text=True, encoding="utf-8", errors="replace",
+                                   timeout=timeout).strip()
+
+def post(p, b=None):
+    d = json.dumps(b or {}).encode()
+    r = urllib.request.Request("http://127.0.0.1:8090"+p, data=d, headers={"Content-Type":"application/json"})
+    return json.loads(urllib.request.urlopen(r, timeout=8).read().decode())
+
+def wait_ok(timeout=35):
+    t0 = time.time()
+    while time.time()-t0 < timeout:
+        try:
+            h = post("/api/native/health")
+            if h.get("loop")==1 and int(h.get("wkc") or 0)>=3:
+                return h
+        except Exception:
+            pass
+        time.sleep(0.4)
+    return None
+
+def set_rt():
+    p = int(ps("(Get-Process ecat_native).Id"))
+    ps(f"$p=Get-Process -Id {p}; $p.PriorityClass='RealTime'; $p.PriorityClass")
+    return p
+
+def quiet_rate(sec=8):
+    st = post("/api/motor/state")
+    dbg = post("/api/motor/dbg")
+    c0, s0 = st.get("cycles") or 0, dbg.get("skip_total") or 0
+    t0 = time.time()
+    time.sleep(sec)
+    st = post("/api/motor/state")
+    dbg = post("/api/motor/dbg")
+    dt = time.time()-t0
+    c1, s1 = st.get("cycles") or 0, dbg.get("skip_total") or 0
+    return {
+        "pdo_hz": round((c1-c0)/dt, 1),
+        "late_per_s": round((s1-s0)/dt, 2),
+        "cyc_us": st.get("cyc_us"),
+        "period": st.get("period_ms"),
+    }
+
+def bus_restart_period(ms):
+    try:
+        post("/api/motor/stop")
+    except Exception:
+        pass
+    time.sleep(0.15)
+    post("/api/motor/period", {"period_ms": ms})
+    time.sleep(0.15)
+    post("/api/motor/start")
+
+def nic_set(kw, val):
+    out, err = "", ""
+    r = subprocess.run(["powershell","-NoProfile","-Command",
+        f"Set-NetAdapterAdvancedProperty -Name '{NIC}' -RegistryKeyword '{kw}' -RegistryValue '{val}' -NoRestart"],
+        capture_output=True, text=True, encoding="utf-8", errors="replace")
+    return r.stdout.strip(), r.stderr.strip()
+
+# affinity of ecat threads via .NET is limited; dump processor affinity mask
+print("=== process affinity ===")
+print(ps(r'''
+$p = Get-Process ecat_native
+"PID $($p.Id) Priority=$($p.PriorityClass)"
+# ProcessorAffinity is a bitmask
+"Affinity=$($p.ProcessorAffinity)"
+'''))
+
+print("=== I210 current ITR/moderation ===")
+print(ps(r'''
+Get-NetAdapterAdvancedProperty -Name '以太网 2' |
+  Where-Object { $_.RegistryKeyword -in 'ITR','*InterruptModeration','*TransmitBuffers' } |
+  Select-Object RegistryKeyword,DisplayValue | ConvertTo-Json -Compress
+'''))
+
+results = []
+# try ITR values at 0.25ms quiet
+for itr in ("200", "400", "950", "65535"):
+    print(f"\n===== ITR={itr} @0.25ms =====")
+    o, e = nic_set("*InterruptModeration", "1")
+    o2, e2 = nic_set("ITR", itr)
+    print("set", o2 or o, e2 or e)
+    # restart nic only if needed - ITR may need restart
+    ps(f"Restart-NetAdapter -Name '{NIC}' -Confirm:$false")
+    time.sleep(2)
+    h = wait_ok(30)
+    print("health", bool(h))
+    if not h:
+        try:
+            post("/api/op/start"); post("/api/motor/start")
+            h = wait_ok(20)
+        except Exception as ex:
+            print(ex)
+    set_rt()
+    bus_restart_period(0.25)
+    time.sleep(3)
+    set_rt()
+    r = quiet_rate(8)
+    print(json.dumps({k:r[k] for k in ("pdo_hz","late_per_s","period")}, ensure_ascii=False))
+    print("work/send/rx", r["cyc_us"]["work"]["p50"], r["cyc_us"]["send"]["p50"], r["cyc_us"]["rx"]["p50"])
+    results.append({"itr": itr, **{k:r[k] for k in ("pdo_hz","late_per_s")},
+                    "work_p50": r["cyc_us"]["work"]["p50"], "send_p50": r["cyc_us"]["send"]["p50"],
+                    "rx_p50": r["cyc_us"]["rx"]["p50"]})
+
+print("\nSUMMARY", json.dumps(results, ensure_ascii=False, indent=2))
+# restore adaptive
+nic_set("ITR", "65535")
+ps(f"Restart-NetAdapter -Name '{NIC}' -Confirm:$false")
+time.sleep(2)
+wait_ok(25)
+set_rt()
+# leave at 1ms for safety
+bus_restart_period(1.0)
+time.sleep(1)
+print("restored 1ms", post("/api/native/health"))
+path = os.path.join(LAB, f"summary_itr_4k_{int(time.time())}.json")
+json.dump(results, open(path,"w",encoding="utf-8"), ensure_ascii=False, indent=2)
+print("WROTE", path)