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 +1,136 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""跳拍率标定：固定时长采 /api/motor/dbg，输出可对比 JSON。
+
+主判据: late_per_s, skip_per_s, send_stall_frac, rx_stall_frac
+用法:
+  python scripts/skip_rate_meter.py --tag base --secs 20
+"""
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import time
+import urllib.request
+
+BASE = os.environ.get("ECAT_BASE", "http://127.0.0.1:8090")
+OUTDIR = os.path.join(os.path.dirname(__file__), "..", "lab", "skip_meter")
+
+
+def post(path: str, body=None, timeout=5.0):
+    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=timeout) as r:
+        return json.loads(r.read().decode())
+
+
+def main() -> int:
+    ap = argparse.ArgumentParser()
+    ap.add_argument("--tag", default="sample")
+    ap.add_argument("--secs", type=float, default=20.0)
+    ap.add_argument("--hz", type=float, default=5.0)
+    ap.add_argument("--out", default=None)
+    args = ap.parse_args()
+
+    st0 = post("/api/motor/state")
+    period = float(st0.get("period_ms") or 1.0)
+    t0 = time.time()
+    pulses = []
+    last_t = None
+    n_poll = 0
+    # dbg t0 uses now_s() (QPC-based), NOT unix time. Track by last-seen t0 only.
+    while time.time() - t0 < args.secs:
+        dbg = post("/api/motor/dbg")
+        n_poll += 1
+        cyc = dbg.get("cyc") or []
+        if last_t is not None:
+            new = [r for r in cyc if r[0] > last_t]
+        else:
+            # first poll: adopt the whole ring's last timestamp as cursor;
+            # count only k>0 from now on via subsequent polls. Also count
+            # k>0 already in ring as "pre-existing" (not in window rate).
+            new = []
+        if cyc:
+            last_t = cyc[-1][0]
+        elif last_t is None:
+            last_t = None
+        for r in new:
+            if len(r) < 8:
+                continue
+            k = int(r[5])
+            if k <= 0:
+                continue
+            send_us = (r[2] - r[1]) * 1e6
+            rx_us = (r[3] - r[2]) * 1e6
+            pulses.append(
+                {
+                    "t0": r[0],
+                    "k": k,
+                    "send_us": send_us,
+                    "rx_us": rx_us,
+                    "work_us": (r[4] - r[0]) * 1e6,
+                    "sd": float(r[6]) if len(r) > 6 else None,
+                    "rxc": int(r[7]) if len(r) > 7 else None,
+                    "kind": (
+                        "send"
+                        if send_us >= 500
+                        else ("rx" if rx_us >= 500 else "other")
+                    ),
+                }
+            )
+        time.sleep(max(0.0, 1.0 / args.hz))
+
+    st1 = post("/api/motor/state")
+    wall = time.time() - t0
+    n_late = len(pulses)
+    n_skip = sum(p["k"] for p in pulses)
+    by = {"send": 0, "rx": 0, "other": 0}
+    for p in pulses:
+        by[p["kind"]] += 1
+
+    # approximate expected beats in window
+    # use cycles delta when available
+    cyc0 = st0.get("cycles") or 0
+    cyc1 = st1.get("cycles") or 0
+    dcyc = max(0, cyc1 - cyc0)
+
+    cu = st1.get("cyc_us") or {}
+    result = {
+        "tag": args.tag,
+        "ts": time.time(),
+        "wall_s": round(wall, 3),
+        "period_ms": period,
+        "pcore_mask": st1.get("pcore_mask"),
+        "wkc": st1.get("wkc"),
+        "spin": st1.get("spin"),
+        "cycles_delta": dcyc,
+        "achieved_hz": round(dcyc / wall, 2) if wall > 0 else None,
+        "late_per_s": round(n_late / wall, 3) if wall else None,
+        "skip_per_s": round(n_skip / wall, 3) if wall else None,
+        "late_frac_pct": round(100.0 * n_late / dcyc, 4) if dcyc else None,
+        "skip_frac_pct": round(100.0 * n_skip / dcyc, 4) if dcyc else None,
+        "send_stall_frac": round(by["send"] / n_late, 4) if n_late else None,
+        "rx_stall_frac": round(by["rx"] / n_late, 4) if n_late else None,
+        "n_late": n_late,
+        "n_skip": n_skip,
+        "by_kind": by,
+        "window_cyc_us": cu,
+        "n_poll": n_poll,
+        "pulses_sample": pulses[:40],
+    }
+
+    os.makedirs(OUTDIR, exist_ok=True)
+    out = args.out or os.path.join(OUTDIR, f"{args.tag}_{int(time.time())}.json")
+    with open(out, "w", encoding="utf-8") as f:
+        json.dump(result, f, ensure_ascii=False, indent=2)
+    print(json.dumps({k: result[k] for k in result if k != "pulses_sample"},
+                     ensure_ascii=False, indent=2))
+    print(f"WROTE {out}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())