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 +1,76 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""High vs RealTime 多轮 A/B，输出对比。结束后设为 --final 指定档。"""
+import json, os, subprocess, sys, time
+
+ROOT = os.path.normpath(os.path.join(os.path.dirname(__file__), ".."))
+LAB = os.path.join(ROOT, "lab", "skip_meter")
+
+def ecat_pid():
+    out = subprocess.check_output(
+        ["powershell","-NoProfile","-Command","(Get-Process ecat_native).Id"],
+        text=True).strip()
+    return int(out.splitlines()[0])
+
+def set_prio(level):
+    p = ecat_pid()
+    subprocess.check_output(
+        ["powershell","-NoProfile","-Command",
+         f"$p=Get-Process -Id {p}; $p.PriorityClass='{level}'; $p.PriorityClass"],
+        text=True)
+    return level
+
+def meter(tag, secs=12):
+    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"))
+
+def row(level, data, n):
+    return {
+        "round": n, "level": level,
+        "late_per_s": data["late_per_s"], "skip_per_s": data["skip_per_s"],
+        "send_stall_frac": data["send_stall_frac"], "rx_stall_frac": data["rx_stall_frac"],
+        "achieved_hz": data["achieved_hz"], "n_late": data["n_late"],
+        "send_p90": (data.get("window_cyc_us") or {}).get("send",{}).get("p90"),
+        "work_p90": (data.get("window_cyc_us") or {}).get("work",{}).get("p90"),
+    }
+
+def main():
+    final = "RealTime"
+    if len(sys.argv) > 1:
+        final = sys.argv[1]
+    rows = []
+    # A-B-A-B
+    seq = ["High","RealTime","High","RealTime"]
+    for i, lv in enumerate(seq, 1):
+        set_prio(lv)
+        time.sleep(1.0)
+        data = meter(f"ab_{lv}_{i}", 12)
+        r = row(lv, data, i)
+        rows.append(r)
+        print(r)
+    set_prio(final)
+    print("FINAL", final, "pid", ecat_pid())
+    # summary means
+    by = {}
+    for r in rows:
+        by.setdefault(r["level"], []).append(r)
+    means = {}
+    for lv, rs in by.items():
+        means[lv] = {
+            "n": len(rs),
+            "late_per_s_mean": round(sum(x["late_per_s"] for x in rs)/len(rs), 3),
+            "skip_per_s_mean": round(sum(x["skip_per_s"] for x in rs)/len(rs), 3),
+            "send_p90_mean": round(sum(x["send_p90"] or 0 for x in rs)/len(rs), 1),
+            "work_p90_mean": round(sum(x["work_p90"] or 0 for x in rs)/len(rs), 1),
+        }
+    print("MEANS", json.dumps(means, ensure_ascii=False, indent=2))
+    path = os.path.join(LAB, f"summary_ab_prio_{int(time.time())}.json")
+    json.dump({"rows": rows, "means": means, "final": final}, open(path,"w",encoding="utf-8"),
+              ensure_ascii=False, indent=2)
+    print("WROTE", path)
+
+if __name__ == "__main__":
+    main()