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 +1,44 @@
+#!/usr/bin/env python3
+import json, os, subprocess, sys, time
+ROOT = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+LAB = os.path.join(ROOT, "lab", "skip_meter")
+
+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=15):
+    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"))
+    d = json.load(open(os.path.join(LAB, files[-1]), encoding="utf-8"))
+    return {
+        "tag": tag,
+        "late_per_s": d["late_per_s"], "skip_per_s": d["skip_per_s"],
+        "achieved_hz": d["achieved_hz"], "n_late": d["n_late"],
+        "work_p50": d["window_cyc_us"]["work"]["p50"],
+        "rx_p50": d["window_cyc_us"]["rx"]["p50"],
+        "send_p50": d["window_cyc_us"]["send"]["p50"],
+        "work_p90": d["window_cyc_us"]["work"]["p90"],
+    }
+
+def main():
+    set_prio("RealTime")
+    rows = []
+    for i in range(1, 4):
+        print(f"round {i} settle...")
+        time.sleep(4)
+        r = meter(f"multirt_{i}", 15)
+        print(r)
+        rows.append(r)
+    lates = [x["late_per_s"] for x in rows]
+    print("mean late", sum(lates)/len(lates), "min", min(lates), "max", max(lates))
+    path = os.path.join(LAB, f"summary_multirt_{int(time.time())}.json")
+    json.dump(rows, open(path,"w",encoding="utf-8"), ensure_ascii=False, indent=2)
+    print("WROTE", path)
+
+if __name__ == "__main__":
+    main()