DCU_DesktopController/scripts/skip_rate_meter.py

#!/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())