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
72 lines
2.8 KiB
Python
72 lines
2.8 KiB
Python
#!/usr/bin/env python3
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"""静默多档标定：1ms / 2ms / 4ms，每档先停环再设周期再开环，避免混拍。"""
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import json, os, subprocess, sys, 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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BASE = "http://127.0.0.1:8090"
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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(BASE+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 set_prio(level="RealTime"):
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p = int(subprocess.check_output(["powershell","-NoProfile","-Command","(Get-Process ecat_native).Id"], text=True).strip())
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subprocess.check_output(["powershell","-NoProfile","-Command",
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f"$p=Get-Process -Id {p}; $p.PriorityClass='{level}'; $p.PriorityClass"], text=True)
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return p
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def set_period(ms):
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post("/api/motor/stop")
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time.sleep(0.2)
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r = post("/api/motor/period", {"period_ms": ms})
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time.sleep(0.2)
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post("/api/motor/start")
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time.sleep(0.8)
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return r
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def meter(tag, secs=18):
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r = subprocess.run([sys.executable, os.path.join(ROOT,"scripts","skip_rate_meter.py"),
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"--tag", tag, "--secs", str(secs)],
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capture_output=True, text=True, encoding="utf-8", errors="replace")
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files = sorted([f for f in os.listdir(LAB) if f.startswith(tag+"_") and f.endswith(".json")])
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return json.load(open(os.path.join(LAB, files[-1]), encoding="utf-8"))
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def main():
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print("set RealTime")
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print("pid", set_prio("RealTime"))
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rows = []
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for ms in (1.0, 2.0, 4.0):
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print(f"\n=== period {ms} ms ===")
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print(set_period(ms))
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time.sleep(2.0) # settle
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data = meter(f"quiet_{ms:g}ms", 18)
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row = {
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"period_ms": ms,
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"late_per_s": data["late_per_s"],
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"skip_per_s": data["skip_per_s"],
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"late_frac_pct": data["late_frac_pct"],
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"achieved_hz": data["achieved_hz"],
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"n_late": data["n_late"],
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"send_stall_frac": data["send_stall_frac"],
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"rx_stall_frac": data["rx_stall_frac"],
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"work_p50": data["window_cyc_us"]["work"]["p50"],
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"rx_p50": data["window_cyc_us"]["rx"]["p50"],
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"send_p50": data["window_cyc_us"]["send"]["p50"],
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"work_p90": data["window_cyc_us"]["work"]["p90"],
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}
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rows.append(row)
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print(row)
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# restore 1ms as user default
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print("\nrestore period 1.0")
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print(set_period(1.0))
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path = os.path.join(LAB, f"summary_quiet_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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print(json.dumps(rows, ensure_ascii=False, indent=2))
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if __name__ == "__main__":
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main()
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