DCU_DesktopController/scripts/skip_restart_native.py

#!/usr/bin/env python3
"""重启 ecat_native 进程（让 esp32_server/父进程重拉），测 rx 是否回到 ~90µs。"""
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, timeout=5):
    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=timeout).read().decode())

def ps(cmd):
    return subprocess.check_output(["powershell","-NoProfile","-Command",cmd],
                                   text=True, encoding="utf-8", errors="replace").strip()

def wait_health(timeout=40):
    t0 = time.time()
    while time.time()-t0 < timeout:
        try:
            h = post("/api/native/health")
            if h.get("loop")==1 and int(h.get("wkc") or 0)>=3:
                return True, h
        except Exception:
            pass
        time.sleep(0.5)
    return False, None

def meter(tag, secs=16):
    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():
    # re-enable IP (keep VMware off — it's harmful and was only “enabled” by coincidence in morning)
    for cid in ("ms_tcpip", "ms_tcpip6"):
        try:
            ps(f"Enable-NetAdapterBinding -Name '以太网 2' -ComponentID '{cid}' -Confirm:$false")
            print("enabled", cid)
        except Exception as e:
            print("enable fail", cid, e)

    info = ps("Get-CimInstance Win32_Process -Filter \"Name='ecat_native.exe'\" | Select-Object ProcessId,ParentProcessId,CommandLine | ConvertTo-Json -Compress")
    print("before", info[:500])

    print("kill ecat_native...")
    ps("Stop-Process -Name ecat_native -Force -ErrorAction SilentlyContinue")
    time.sleep(2)

    # parent may be esp32_server — wait for auto-restart
    ok, h = wait_health(45)
    print("auto restart?", ok, h)
    if not ok:
        print("manual start")
        exe = r"G:\Robot_v2\DCU\tools\ecat\build_native\ecat_native.exe"
        cwd = r"G:\Robot_v2\DCU\tools\ecat"
        subprocess.Popen(
            [exe, "--substr", "I210", "--mask", "0x50", "--web", "src/web"],
            cwd=cwd,
            stdout=open(os.path.join(cwd,"build_native","native_stdout.log"),"a"),
            stderr=subprocess.STDOUT,
            creationflags=subprocess.CREATE_NEW_PROCESS_GROUP,
        )
        time.sleep(3)
        ok, h = wait_health(30)
        print("manual health", ok, h)
        if ok:
            try:
                post("/api/op/start")
                post("/api/motor/start")
            except Exception as e:
                print("start fail", e)
            ok, h = wait_health(20)
            print("after start", ok, h)

    # set RealTime
    try:
        p = int(ps("(Get-Process ecat_native).Id"))
        ps(f"$p=Get-Process -Id {p}; $p.PriorityClass='RealTime'; $p.PriorityClass")
        print("RealTime", p)
    except Exception as e:
        print("prio fail", e)

    print("settle 10s")
    time.sleep(10)
    st = post("/api/motor/state")
    print("cyc", st.get("cyc_us"))
    print("period", st.get("period_ms"), "wkc", st.get("wkc"), "pcore", st.get("pcore_mask"))

    data = meter("restart_rt", 16)
    row = {
        "late_per_s": data["late_per_s"], "skip_per_s": data["skip_per_s"],
        "achieved_hz": data["achieved_hz"], "n_late": data["n_late"],
        "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"],
        "send_stall_frac": data["send_stall_frac"],
        "rx_stall_frac": data["rx_stall_frac"],
    }
    print(json.dumps(row, ensure_ascii=False, indent=2))
    out = os.path.join(LAB, f"summary_restart_{int(time.time())}.json")
    json.dump(row, open(out,"w",encoding="utf-8"), ensure_ascii=False, indent=2)
    print("WROTE", out)

if __name__ == "__main__":
    main()