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
129 lines
4.4 KiB
Python
129 lines
4.4 KiB
Python
#!/usr/bin/env python3
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"""查 pdo 线程亲和 + 尝试 ITR 200/400 在 0.25ms 静默下的表现。"""
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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, timeout=60):
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return subprocess.check_output(["powershell","-NoProfile","-Command",cmd],
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text=True, encoding="utf-8", errors="replace",
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timeout=timeout).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(timeout=35):
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t0 = time.time()
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while time.time()-t0 < timeout:
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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:
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return h
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except Exception:
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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 quiet_rate(sec=8):
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st = post("/api/motor/state")
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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()
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time.sleep(sec)
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st = post("/api/motor/state")
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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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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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"cyc_us": st.get("cyc_us"),
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"period": st.get("period_ms"),
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}
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def bus_restart_period(ms):
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try:
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post("/api/motor/stop")
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except Exception:
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pass
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time.sleep(0.15)
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post("/api/motor/period", {"period_ms": ms})
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time.sleep(0.15)
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post("/api/motor/start")
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def nic_set(kw, val):
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out, err = "", ""
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r = subprocess.run(["powershell","-NoProfile","-Command",
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f"Set-NetAdapterAdvancedProperty -Name '{NIC}' -RegistryKeyword '{kw}' -RegistryValue '{val}' -NoRestart"],
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capture_output=True, text=True, encoding="utf-8", errors="replace")
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return r.stdout.strip(), r.stderr.strip()
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# affinity of ecat threads via .NET is limited; dump processor affinity mask
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print("=== process affinity ===")
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print(ps(r'''
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$p = Get-Process ecat_native
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"PID $($p.Id) Priority=$($p.PriorityClass)"
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# ProcessorAffinity is a bitmask
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"Affinity=$($p.ProcessorAffinity)"
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'''))
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print("=== I210 current ITR/moderation ===")
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print(ps(r'''
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Get-NetAdapterAdvancedProperty -Name '以太网 2' |
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Where-Object { $_.RegistryKeyword -in 'ITR','*InterruptModeration','*TransmitBuffers' } |
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Select-Object RegistryKeyword,DisplayValue | ConvertTo-Json -Compress
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'''))
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results = []
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# try ITR values at 0.25ms quiet
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for itr in ("200", "400", "950", "65535"):
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print(f"\n===== ITR={itr} @0.25ms =====")
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o, e = nic_set("*InterruptModeration", "1")
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o2, e2 = nic_set("ITR", itr)
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print("set", o2 or o, e2 or e)
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# restart nic only if needed - ITR may need restart
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ps(f"Restart-NetAdapter -Name '{NIC}' -Confirm:$false")
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time.sleep(2)
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h = wait_ok(30)
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print("health", bool(h))
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if not h:
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try:
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post("/api/op/start"); post("/api/motor/start")
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h = wait_ok(20)
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except Exception as ex:
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print(ex)
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set_rt()
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bus_restart_period(0.25)
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time.sleep(3)
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set_rt()
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r = quiet_rate(8)
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print(json.dumps({k:r[k] for k in ("pdo_hz","late_per_s","period")}, ensure_ascii=False))
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print("work/send/rx", r["cyc_us"]["work"]["p50"], r["cyc_us"]["send"]["p50"], r["cyc_us"]["rx"]["p50"])
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results.append({"itr": itr, **{k:r[k] for k in ("pdo_hz","late_per_s")},
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"work_p50": r["cyc_us"]["work"]["p50"], "send_p50": r["cyc_us"]["send"]["p50"],
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"rx_p50": r["cyc_us"]["rx"]["p50"]})
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print("\nSUMMARY", json.dumps(results, ensure_ascii=False, indent=2))
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# restore adaptive
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nic_set("ITR", "65535")
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ps(f"Restart-NetAdapter -Name '{NIC}' -Confirm:$false")
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time.sleep(2)
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wait_ok(25)
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set_rt()
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# leave at 1ms for safety
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bus_restart_period(1.0)
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time.sleep(1)
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print("restored 1ms", post("/api/native/health"))
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path = os.path.join(LAB, f"summary_itr_4k_{int(time.time())}.json")
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json.dump(results, open(path,"w",encoding="utf-8"), ensure_ascii=False, indent=2)
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print("WROTE", path)
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