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/osal.h

@@ -0,0 +1,59 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+#ifndef _osal_
+#define _osal_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "osal_defs.h"
+#include <stdint.h>
+
+/* General types */
+#ifndef TRUE
+#define TRUE                1
+#endif
+#ifndef FALSE
+#define FALSE               0
+#endif
+typedef uint8_t             boolean;
+typedef int8_t              int8;
+typedef int16_t             int16;
+typedef int32_t             int32;
+typedef uint8_t             uint8;
+typedef uint16_t            uint16;
+typedef uint32_t            uint32;
+typedef int64_t             int64;
+typedef uint64_t            uint64;
+typedef float               float32;
+typedef double              float64;
+
+typedef struct
+{
+    uint32 sec;     /*< Seconds elapsed since the Epoch (Jan 1, 1970) */
+    uint32 usec;    /*< Microseconds elapsed since last second boundary */
+} ec_timet;
+
+typedef struct osal_timer
+{
+    ec_timet stop_time;
+} osal_timert;
+
+void osal_timer_start(osal_timert * self, uint32 timeout_us);
+boolean osal_timer_is_expired(osal_timert * self);
+int osal_usleep(uint32 usec);
+ec_timet osal_current_time(void);
+void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff);
+int osal_thread_create(void *thandle, int stacksize, void *func, void *param);
+int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif