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 +1,71 @@
+#!/usr/bin/env python3
+"""静默多档标定：1ms / 2ms / 4ms，每档先停环再设周期再开环，避免混拍。"""
+import json, os, subprocess, sys, time, urllib.request
+
+ROOT = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+LAB = os.path.join(ROOT, "lab", "skip_meter")
+BASE = "http://127.0.0.1:8090"
+
+def post(p, b=None):
+    d = json.dumps(b or {}).encode()
+    r = urllib.request.Request(BASE+p, data=d, headers={"Content-Type":"application/json"})
+    return json.loads(urllib.request.urlopen(r, timeout=8).read().decode())
+
+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 set_period(ms):
+    post("/api/motor/stop")
+    time.sleep(0.2)
+    r = post("/api/motor/period", {"period_ms": ms})
+    time.sleep(0.2)
+    post("/api/motor/start")
+    time.sleep(0.8)
+    return r
+
+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"))
+
+def main():
+    print("set RealTime")
+    print("pid", set_prio("RealTime"))
+    rows = []
+    for ms in (1.0, 2.0, 4.0):
+        print(f"\n=== period {ms} ms ===")
+        print(set_period(ms))
+        time.sleep(2.0)  # settle
+        data = meter(f"quiet_{ms:g}ms", 18)
+        row = {
+            "period_ms": ms,
+            "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"],
+        }
+        rows.append(row)
+        print(row)
+
+    # restore 1ms as user default
+    print("\nrestore period 1.0")
+    print(set_period(1.0))
+    path = os.path.join(LAB, f"summary_quiet_periods_{int(time.time())}.json")
+    json.dump(rows, open(path,"w",encoding="utf-8"), ensure_ascii=False, indent=2)
+    print("WROTE", path)
+    print(json.dumps(rows, ensure_ascii=False, indent=2))
+
+if __name__ == "__main__":
+    main()