docs: 新增 .qoder Repowiki 知识库文档

2026-09-07 12:19:26 +08:00
parent 43d42ad891
commit ef9472334a
105 changed files with 1313322 additions and 263 deletions
@@ -0,0 +1,105 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""把 ECAT 侧收到的每一拍信号全量落盘，供事后分析（不在线判优劣）。
+
+去重规则只有一条：同一 (node,seq) 或同一 (id,data) 帧只在第一次出现时写一行 ——
+重复采样不携带新信息，去掉后可以把时长拉长。其余一律保留。
+
+行格式（CSV，第 1 列是相对起始的秒）：
+  M,t,node,ch,seq,online,dlc,hex36     段2 电机槽（STATUS 前 36B，含 cpu%@31/init@32-35）
+  F,t,kind,ch,dlc,id,hex36             段3 xrx / 段4 rx_batch 的帧
+  H,t,cycles,wkc,gseq,win_base,win_count,active,rx,tx,drop   每 20 拍一条头部与桥计数
+
+用法: python scripts/rec_ecat_slots.py [秒数=120] [端口=8090] [输出文件]
+"""
+import csv
+import json
+import socket
+import struct
+import sys
+import time
+
+HOST = "127.0.0.1"
+DUR_S = float(sys.argv[1]) if len(sys.argv) > 1 else 120.0
+PORT = int(sys.argv[2]) if len(sys.argv) > 2 else 8090
+OUT = sys.argv[3] if len(sys.argv) > 3 else "ecat_slots_raw.csv"
+
+REQ = (f"POST /api/motor/state HTTP/1.0\r\nHost: {HOST}:{PORT}\r\n"
+       "Content-Type: application/json\r\nContent-Length: 2\r\n"
+       "Connection: close\r\n\r\n{}").encode("ascii")
+
+
+def once():
+    s = socket.create_connection((HOST, PORT))
+    try:
+        s.sendall(REQ)
+        buf = bytearray()
+        while True:
+            c = s.recv(65536)
+            if not c:
+                break
+            buf.extend(c)
+    finally:
+        s.close()
+    _, _, d = bytes(buf).partition(b"\r\n\r\n")
+    return json.loads(d.decode("utf-8", "replace"))
+
+
+def main():
+    seen_m, seen_f = set(), set()
+    polls = rows = 0
+    t0 = time.time()
+    with open(OUT, "w", newline="", encoding="ascii") as f:
+        w = csv.writer(f)
+        w.writerow(["#kind", "t", "a", "b", "c", "d", "e", "f"])
+        while True:
+            dt = time.time() - t0
+            if dt >= DUR_S:
+                break
+            try:
+                snap = once()
+            except Exception:
+                continue
+            polls += 1
+            h = snap.get("head") or {}
+            b = snap.get("bridge") or {}
+            if polls % 20 == 1:
+                w.writerow(["H", f"{dt:.6f}", snap.get("cycles"), snap.get("wkc"),
+                            h.get("global_seq"), h.get("win_base"), h.get("win_count"),
+                            h.get("active"), b.get("rx_count"), b.get("tx_count"),
+                            b.get("drop")])
+            for m in snap.get("motors") or []:
+                if not m.get("data"):
+                    continue
+                key = (m["node"], m["ch"], m["seq"])
+                if key in seen_m:
+                    continue
+                seen_m.add(key)
+                if len(seen_m) > 400000:            # 去重集合本身的内存上限
+                    seen_m = set(list(seen_m)[-200000:])
+                d = bytes.fromhex(m["data"])[:36]
+                w.writerow(["M", f"{dt:.6f}", m["node"], m["ch"], m["seq"],
+                            int(bool(m.get("online"))), m.get("dlc"), d.hex()])
+                rows += 1
+            def emit_frames(fr, kind):
+                if not fr or not fr.get("data"):
+                    return
+                d = bytes.fromhex(fr["data"])[:36]
+                key = (fr.get("id"), d.hex())
+                if key in seen_f:
+                    return
+                seen_f.add(key)
+                w.writerow([kind, f"{dt:.6f}", fr.get("ch"), fr.get("dlc"),
+                            fr.get("id"), "", "", d.hex()])
+
+            emit_frames(snap.get("xrx"), "X")
+            for x in ((snap.get("rx_batch") or {}).get("frames") or []):
+                emit_frames(x, "B")
+            if len(seen_f) > 400000:
+                seen_f = set(list(seen_f)[-200000:])
+    print(f"落盘 {OUT}: 轮询 {polls} 次 / {DUR_S:.0f}s，写入 {rows} 行 "
+          f"(电机槽 {len(seen_m)} 帧, 接收帧 {len(seen_f)})")
+
+
+if __name__ == "__main__":
+    main()