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feat(motor): 自适应 PDO 窗口与通道活动指示，新增原生 SOEM 时序诊断

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后端 PDO 循环改为按在线槽收缩状态窗口，稀疏总线下单槽每周期都能刷新，
并补上尾部槽的发现扫描游标；新增自旋节拍源（阈值/显式覆盖）、P 核识别
与线程级钉核，自旋期间释放 GIL 以免 HTTP 线程被饿死；启动时先关停旧实例，
避免两个进程争用 Npcap 适配器。

记录每拍完整时间线、GC stop-the-world 事件与网格跳拍数，经 /api/motor/dbg
导出用于归因固定频率的超时；配
This commit is contained in:
cbb
2026-09-05 01:20:14 +08:00
parent 979da72181
commit 79633a2b0f
121 changed files with 33088 additions and 75 deletions
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build_native/one.bat
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@echo off
call "C:\Program Files\Microsoft Visual Studio\2022\Community\VC\Auxiliary\Build\vcvars64.bat" >nul
cd /d G:\Robot_v2\DCU\tools\ecat
cl /nologo /c /O2 /W3 /utf-8 /D_CRT_SECURE_NO_WARNINGS /I soem-src\soem /I soem-src\osal /I soem-src\osal\win32 /I soem-src\oshw\win32 /I soem-src\oshw\win32\wpcap\Include /Fobuild_native\ soem-src\oshw\win32\nicdrv.c 2>&1