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 +1,79 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""进程优先级对照：不高/RealTime，各采 skip rate。不改网卡、不碰固件。"""
+import json, os, subprocess, sys, time, urllib.request
+
+ROOT = os.path.normpath(os.path.join(os.path.dirname(__file__), ".."))
+LAB = os.path.join(ROOT, "lab", "skip_meter")
+BASE = "http://127.0.0.1:8090"
+
+def post(path, body=None):
+    data = json.dumps(body or {}).encode()
+    req = urllib.request.Request(BASE+path, data=data, headers={"Content-Type":"application/json"})
+    with urllib.request.urlopen(req, timeout=5) as r:
+        return json.loads(r.read().decode())
+
+def pid():
+    return post("/api/native/health")  # health has no pid; use process name
+    # fallback below
+
+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()
+    cmd = f"$p=Get-Process -Id {p}; $p.PriorityClass='{level}'; $p.PriorityClass"
+    return subprocess.check_output(["powershell","-NoProfile","-Command",cmd], text=True).strip()
+
+def meter(tag, secs=16):
+    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")])
+    data = json.load(open(os.path.join(LAB, files[-1]), encoding="utf-8")) if files else None
+    return data, r.stdout
+
+def main():
+    p = ecat_pid()
+    print("ecat pid", p)
+    cur = subprocess.check_output(
+        ["powershell","-NoProfile","-Command", f"(Get-Process -Id {p}).PriorityClass"],
+        text=True).strip()
+    print("current PriorityClass", cur)
+
+    results = []
+    for level in ("High", "RealTime"):
+        print(f"\n=== set {level} ===")
+        try:
+            print(set_prio(level))
+        except Exception as e:
+            print("set fail", e)
+            continue
+        time.sleep(1.5)
+        data, out = meter(f"prio_{level}", 16)
+        if data:
+            row = {"level": level, "late_per_s": data["late_per_s"], "skip_per_s": data["skip_per_s"],
+                   "late_frac_pct": data["late_frac_pct"], "send_stall_frac": data["send_stall_frac"],
+                   "rx_stall_frac": data["rx_stall_frac"], "achieved_hz": data["achieved_hz"],
+                   "n_late": data["n_late"]}
+            results.append(row)
+            print("ROW", row)
+        print(out[-800:] if out else "")
+
+    # restore High (safe default; pdo thread already TIME_CRITICAL)
+    try:
+        print("restore High")
+        print(set_prio("High"))
+    except Exception as e:
+        print("restore fail", e)
+
+    path = os.path.join(LAB, f"summary_prio_{int(time.time())}.json")
+    json.dump({"results": results, "original": cur}, open(path,"w",encoding="utf-8"), ensure_ascii=False, indent=2)
+    print("WROTE", path)
+
+if __name__ == "__main__":
+    main()