cbb
e91d53e0fc
- 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
87 lines
3.2 KiB
Python
87 lines
3.2 KiB
Python
#!/usr/bin/env python3
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import json, os, subprocess, time, urllib.request
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ROOT = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
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LAB = os.path.join(ROOT, "lab", "skip_meter")
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NIC = "以太网 2"
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def ps(cmd):
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return subprocess.check_output(["powershell","-NoProfile","-Command",cmd],
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text=True, encoding="utf-8", errors="replace").strip()
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def post(p, b=None):
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d = json.dumps(b or {}).encode()
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r = urllib.request.Request("http://127.0.0.1:8090"+p, data=d, headers={"Content-Type":"application/json"})
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return json.loads(urllib.request.urlopen(r, timeout=8).read().decode())
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def wait_ok(t=30):
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t0=time.time()
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while time.time()-t0<t:
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try:
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h=post("/api/native/health")
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if h.get("loop")==1 and int(h.get("wkc") or 0)>=3: return h
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except Exception: pass
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time.sleep(0.4)
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return None
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def set_rt():
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p=int(ps("(Get-Process ecat_native).Id"))
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ps(f"$p=Get-Process -Id {p}; $p.PriorityClass='RealTime'; $p.PriorityClass")
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return p
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def period(ms):
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post("/api/motor/stop"); time.sleep(0.12)
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post("/api/motor/period", {"period_ms": ms}); time.sleep(0.12)
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post("/api/motor/start")
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def quiet(sec=10):
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st=post("/api/motor/state"); dbg=post("/api/motor/dbg")
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c0,s0=st.get("cycles") or 0, dbg.get("skip_total") or 0
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t0=time.time(); time.sleep(sec)
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st=post("/api/motor/state"); dbg=post("/api/motor/dbg")
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dt=time.time()-t0
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c1,s1=st.get("cycles") or 0, dbg.get("skip_total") or 0
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cu=st.get("cyc_us") or {}
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# also sample dbg ring k distribution
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ring=dbg.get("cyc") or []
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ks=[r[5] for r in ring if len(r)>=6]
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works=[(r[4]-r[0])*1e6 for r in ring if len(r)>=5]
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sends=[(r[2]-r[1])*1e6 for r in ring if len(r)>=3]
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rxs=[(r[3]-r[2])*1e6 for r in ring if len(r)>=4]
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def pct(a,q):
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if not a: return None
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a=sorted(a); return round(a[int(q*(len(a)-1))],1)
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return {
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"pdo_hz": round((c1-c0)/dt,1),
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"late_per_s": round((s1-s0)/dt,2),
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"achieved_vs_4k": round(100*(c1-c0)/dt/4000,1),
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"cyc_us": cu,
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"ring_n": len(ring),
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"k_gt0": sum(1 for k in ks if k>0),
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"k_sum": sum(ks),
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"work_pct": {"p50":pct(works,.5),"p90":pct(works,.9),"p99":pct(works,.99),"max":pct(works,1.0) if works else None},
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"send_pct": {"p50":pct(sends,.5),"p90":pct(sends,.9),"max":pct(sends,1.0) if sends else None},
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"rx_pct": {"p50":pct(rxs,.5),"p90":pct(rxs,.9),"max":pct(rxs,1.0) if rxs else None},
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}
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# set ITR 200
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ps("Set-NetAdapterAdvancedProperty -Name '以太网 2' -RegistryKeyword '*InterruptModeration' -RegistryValue '1' -NoRestart")
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ps("Set-NetAdapterAdvancedProperty -Name '以太网 2' -RegistryKeyword 'ITR' -RegistryValue '200' -NoRestart")
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ps("Restart-NetAdapter -Name '以太网 2' -Confirm:$false")
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time.sleep(2)
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print("health", wait_ok())
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set_rt()
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rows=[]
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for ms in (0.25, 0.5, 1.0):
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print(f"\n=== {ms} ms ITR=200 ===")
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period(ms)
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time.sleep(4)
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set_rt()
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r=quiet(10)
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print(json.dumps(r, ensure_ascii=False, indent=2))
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rows.append(r)
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path=os.path.join(LAB, f"summary_itr200_periods_{int(time.time())}.json")
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json.dump(rows, open(path,"w",encoding="utf-8"), ensure_ascii=False, indent=2)
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print("WROTE", path)
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