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

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

soem-src/osal/linux/osal.c

@@ -0,0 +1,144 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+#include <time.h>
+#include <sys/time.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <string.h>
+#include <osal.h>
+
+#define USECS_PER_SEC     1000000
+
+int osal_usleep (uint32 usec)
+{
+   struct timespec ts;
+   ts.tv_sec = usec / USECS_PER_SEC;
+   ts.tv_nsec = (usec % USECS_PER_SEC) * 1000;
+   /* usleep is deprecated, use nanosleep instead */
+   return nanosleep(&ts, NULL);
+}
+
+ec_timet osal_current_time(void)
+{
+   struct timespec current_time;
+   ec_timet return_value;
+
+   clock_gettime(CLOCK_REALTIME, &current_time);
+   return_value.sec = current_time.tv_sec;
+   return_value.usec = current_time.tv_nsec / 1000;
+
+   return return_value;
+}
+
+void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
+{
+   if (end->usec < start->usec) {
+      diff->sec = end->sec - start->sec - 1;
+      diff->usec = end->usec + 1000000 - start->usec;
+   }
+   else {
+      diff->sec = end->sec - start->sec;
+      diff->usec = end->usec - start->usec;
+   }
+}
+
+/* Returns time from some unspecified moment in past,
+ * strictly increasing, used for time intervals measurement. */
+static void osal_getrelativetime(struct timeval *tv)
+{
+   struct timespec ts;
+
+   /* Use clock_gettime to prevent possible live-lock.
+    * Gettimeofday uses CLOCK_REALTIME that can get NTP timeadjust.
+    * If this function preempts timeadjust and it uses vpage it live-locks.
+    * Also when using XENOMAI, only clock_gettime is RT safe */
+   clock_gettime(CLOCK_MONOTONIC, &ts);
+   tv->tv_sec = ts.tv_sec;
+   tv->tv_usec = ts.tv_nsec / 1000;
+}
+
+void osal_timer_start(osal_timert * self, uint32 timeout_usec)
+{
+   struct timeval start_time;
+   struct timeval timeout;
+   struct timeval stop_time;
+
+   osal_getrelativetime(&start_time);
+   timeout.tv_sec = timeout_usec / USECS_PER_SEC;
+   timeout.tv_usec = timeout_usec % USECS_PER_SEC;
+   timeradd(&start_time, &timeout, &stop_time);
+
+   self->stop_time.sec = stop_time.tv_sec;
+   self->stop_time.usec = stop_time.tv_usec;
+}
+
+boolean osal_timer_is_expired (osal_timert * self)
+{
+   struct timeval current_time;
+   struct timeval stop_time;
+   int is_not_yet_expired;
+
+   osal_getrelativetime(&current_time);
+   stop_time.tv_sec = self->stop_time.sec;
+   stop_time.tv_usec = self->stop_time.usec;
+   is_not_yet_expired = timercmp(&current_time, &stop_time, <);
+
+   return is_not_yet_expired == FALSE;
+}
+
+void *osal_malloc(size_t size)
+{
+   return malloc(size);
+}
+
+void osal_free(void *ptr)
+{
+   free(ptr);
+}
+
+int osal_thread_create(void *thandle, int stacksize, void *func, void *param)
+{
+   int                  ret;
+   pthread_attr_t       attr;
+   pthread_t            *threadp;
+
+   threadp = thandle;
+   pthread_attr_init(&attr);
+   pthread_attr_setstacksize(&attr, stacksize);
+   ret = pthread_create(threadp, &attr, func, param);
+   if(ret < 0)
+   {
+      return 0;
+   }
+   return 1;
+}
+
+int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param)
+{
+   int                  ret;
+   pthread_attr_t       attr;
+   struct sched_param   schparam;
+   pthread_t            *threadp;
+
+   threadp = thandle;
+   pthread_attr_init(&attr);
+   pthread_attr_setstacksize(&attr, stacksize);
+   ret = pthread_create(threadp, &attr, func, param);
+   pthread_attr_destroy(&attr);
+   if(ret < 0)
+   {
+      return 0;
+   }
+   memset(&schparam, 0, sizeof(schparam));
+   schparam.sched_priority = 40;
+   ret = pthread_setschedparam(*threadp, SCHED_FIFO, &schparam);
+   if(ret < 0)
+   {
+      return 0;
+   }
+
+   return 1;
+}

soem-src/osal/linux/osal_defs.h

@@ -0,0 +1,38 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+#ifndef _osal_defs_
+#define _osal_defs_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// define if debug printf is needed
+//#define EC_DEBUG
+
+#ifdef EC_DEBUG
+#define EC_PRINT printf
+#else
+#define EC_PRINT(...) do {} while (0)
+#endif
+
+#ifndef PACKED
+#define PACKED_BEGIN
+#define PACKED  __attribute__((__packed__))
+#define PACKED_END
+#endif
+
+#include <pthread.h>
+#define OSAL_THREAD_HANDLE pthread_t *
+#define OSAL_THREAD_FUNC void
+#define OSAL_THREAD_FUNC_RT void
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif