102 lines
3.6 KiB
Python
102 lines
3.6 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""ECAT 与 WiFi 两条链路对同一 seq 的 48B STATUS 做逐字节对照。
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两条链路读的是 GD32 里同一张 MotorState 表，但读取上下文不同：
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* ECAT 段2 由 buildInput 取表，跑在 PDI_Isr —— 会抢占主循环的写侧（本次修复点）；
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* WiFi 0xC5/buildPayload 与写侧同在主循环 —— 结构上不可能读到中间态。
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所以 WiFi 侧可当参照：同一 seq 在两边必须逐字节相同（seq 由 global_seq 唯一确定，
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一次更新只产生一个 seq）。不等 ⇒ ECAT 侧那一份是没写完的半成品。
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用法: python scripts/probe_ecat_vs_wifi.py [秒数]
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"""
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import json
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import socket
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import struct
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import sys
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import time
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import urllib.request
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HOST, PORT = "127.0.0.1", 8090
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DUR_S = float(sys.argv[1]) if len(sys.argv) > 1 else 60.0
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ESP = "192.168.31.127"
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REQ = (f"POST /api/motor/state HTTP/1.0\r\nHost: {HOST}:{PORT}\r\n"
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"Content-Type: application/json\r\nContent-Length: 2\r\n"
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"Connection: close\r\n\r\n{}").encode("ascii")
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def ecat_once():
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s = socket.create_connection((HOST, PORT))
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try:
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s.sendall(REQ)
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buf = bytearray()
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while True:
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c = s.recv(65536)
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if not c:
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break
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buf.extend(c)
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finally:
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s.close()
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_, _, d = bytes(buf).partition(b"\r\n\r\n")
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return json.loads(d.decode("utf-8", "replace"))
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def wifi_once():
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"""返回 {node: (seq, 48B)}。协议 ver=2：entry 92B，data 在 +12。"""
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b = urllib.request.urlopen(f"http://{ESP}/motor/state?bin=1", timeout=3).read()
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if len(b) < 12 or struct.unpack_from("<H", b, 0)[0] != 0x4D53 or b[2] != 2:
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return {}
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out, off = {}, 12
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for _ in range(b[9]):
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if off + 92 > len(b):
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break
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out[b[off]] = (struct.unpack_from("<I", b, off + 8)[0],
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b[off + 12:off + 60])
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off += 92
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return out
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def main():
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cache = {} # node -> {seq: payload}（ECAT 侧见过的每一帧）
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matched = mism = polls = wpolls = 0
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bad = []
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t0 = time.time()
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while time.time() - t0 < DUR_S:
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try:
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snap = ecat_once()
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polls += 1
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for m in snap.get("motors") or []:
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if m.get("online") and m.get("data"):
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cache.setdefault(m["node"], {})[m["seq"]] = bytes.fromhex(m["data"])
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if len(cache[m["node"]]) > 4000:
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for k in sorted(cache[m["node"]])[:2000]:
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del cache[m["node"]][k]
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except Exception:
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continue
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try:
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w = wifi_once()
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wpolls += 1
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except Exception:
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continue
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for node, (seq, payload) in w.items():
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d = cache.get(node, {}).get(seq)
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if d is None:
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continue # 该 seq 未被 ECAT 侧采到，跳过
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matched += 1
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if d != payload:
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mism += 1
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bad.append((round(time.time() - t0, 2), node, seq, d.hex(), payload.hex()))
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print(f"轮询 ECAT {polls} 次 / WiFi {wpolls} 次 / {DUR_S:.0f}s")
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print(f"两侧同 seq 可比对 = {matched} 逐字节不一致 = {mism}")
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for t, node, seq, e, w in bad[:6]:
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j = next((i for i in range(48) if e[i] != w[i]), 48)
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print(f" t={t}s node={node} seq={seq} 首字节差={j}")
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print(f" ECAT={e}")
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print(f" WiFi={w}")
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if not matched:
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print("功效不足：ECAT 帧率远高于 WiFi 采样，同 seq 交集为 0，本次判定不作数。")
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if __name__ == "__main__":
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main()
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