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
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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#include <time.h>
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#include <sys/time.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdio.h>
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#include <osal.h>
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#include <vxWorks.h>
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#include <taskLib.h>
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#define timercmp(a, b, CMP) \
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(((a)->tv_sec == (b)->tv_sec) ? \
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((a)->tv_usec CMP (b)->tv_usec) : \
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((a)->tv_sec CMP (b)->tv_sec))
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#define timeradd(a, b, result) \
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do { \
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(result)->tv_sec = (a)->tv_sec + (b)->tv_sec; \
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(result)->tv_usec = (a)->tv_usec + (b)->tv_usec; \
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if ((result)->tv_usec >= 1000000) \
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{ \
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++(result)->tv_sec; \
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(result)->tv_usec -= 1000000; \
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} \
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} while (0)
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#define timersub(a, b, result) \
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do { \
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(result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \
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(result)->tv_usec = (a)->tv_usec - (b)->tv_usec; \
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if ((result)->tv_usec < 0) { \
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--(result)->tv_sec; \
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(result)->tv_usec += 1000000; \
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} \
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} while (0)
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#define USECS_PER_SEC 1000000
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/* OBS! config worker threads must have higher prio that task running ec_configuration */
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#define ECAT_TASK_PRIO_HIGH 20 /* Priority for high performance network task */
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#define ECAT_TASK_PRIO_LOW 80 /* Priority for high performance network task */
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#define ECAT_STACK_SIZE 10000 /* Stack size for high performance task */
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static int ecatTaskOptions = VX_SUPERVISOR_MODE | VX_UNBREAKABLE;
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static int ecatTaskIndex = 0;
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#ifndef use_task_delay
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#define use_task_delay 1
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#endif
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int osal_usleep (uint32 usec)
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{
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#if (use_task_delay == 1)
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/* Task delay 0 only yields */
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taskDelay(usec / 1000);
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return 0;
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#else
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/* The suspension may be longer than requested due to the rounding up of
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* the request to the timer's resolution or to other scheduling activities
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* (e.g., a higher priority task intervenes).
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*/
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struct timespec ts;
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ts.tv_sec = usec / USECS_PER_SEC;
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ts.tv_nsec = (usec % USECS_PER_SEC) * 1000;
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return nanosleep(&ts, NULL);
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#endif
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}
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int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
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{
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struct timespec ts;
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int return_value;
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(void)tz; /* Not used */
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/* Use clock_gettime CLOCK_MONOTONIC to a avoid NTP time adjustments */
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return_value = clock_gettime(CLOCK_MONOTONIC, &ts);
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tv->tv_sec = ts.tv_sec;
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tv->tv_usec = ts.tv_nsec / 1000;
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return return_value;
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}
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ec_timet osal_current_time(void)
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{
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struct timeval current_time;
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ec_timet return_value;
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osal_gettimeofday(¤t_time, 0);
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return_value.sec = current_time.tv_sec;
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return_value.usec = current_time.tv_usec;
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return return_value;
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}
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void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
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{
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if (end->usec < start->usec) {
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diff->sec = end->sec - start->sec - 1;
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diff->usec = end->usec + 1000000 - start->usec;
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}
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else {
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diff->sec = end->sec - start->sec;
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diff->usec = end->usec - start->usec;
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}
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}
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void osal_timer_start(osal_timert * self, uint32 timeout_usec)
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{
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struct timeval start_time;
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struct timeval timeout;
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struct timeval stop_time;
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osal_gettimeofday(&start_time, 0);
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timeout.tv_sec = timeout_usec / USECS_PER_SEC;
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timeout.tv_usec = timeout_usec % USECS_PER_SEC;
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timeradd(&start_time, &timeout, &stop_time);
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self->stop_time.sec = stop_time.tv_sec;
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self->stop_time.usec = stop_time.tv_usec;
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}
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boolean osal_timer_is_expired (osal_timert * self)
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{
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struct timeval current_time;
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struct timeval stop_time;
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int is_not_yet_expired;
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osal_gettimeofday(¤t_time, 0);
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stop_time.tv_sec = self->stop_time.sec;
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stop_time.tv_usec = self->stop_time.usec;
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is_not_yet_expired = timercmp(¤t_time, &stop_time, <);
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return is_not_yet_expired == FALSE;
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}
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void *osal_malloc(size_t size)
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{
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return malloc(size);
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}
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void osal_free(void *ptr)
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{
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free(ptr);
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}
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int osal_thread_create(void *thandle, int stacksize, void *func, void *param)
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{
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char task_name[20];
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TASK_ID * tid = (TASK_ID *)thandle;
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FUNCPTR func_ptr = func;
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_Vx_usr_arg_t arg1 = (_Vx_usr_arg_t)param;
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snprintf(task_name,sizeof(task_name),"worker_%d",ecatTaskIndex++);
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*tid = taskSpawn (task_name, ECAT_TASK_PRIO_LOW,
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ecatTaskOptions, ECAT_STACK_SIZE,
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func_ptr, arg1, 0, 0, 0, 0, 0, 0, 0, 0, 0);
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if(*tid == TASK_ID_ERROR)
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{
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return 0;
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}
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return 1;
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}
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int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param)
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{
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char task_name[20];
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TASK_ID * tid = (TASK_ID *)thandle;
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FUNCPTR func_ptr = func;
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_Vx_usr_arg_t arg1 = (_Vx_usr_arg_t)param;
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snprintf(task_name,sizeof(task_name),"worker_rt_%d",ecatTaskIndex++);
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*tid = taskSpawn (task_name, ECAT_TASK_PRIO_HIGH,
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ecatTaskOptions, ECAT_STACK_SIZE,
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func_ptr, arg1, 0, 0, 0, 0, 0, 0, 0, 0, 0);
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if(*tid == TASK_ID_ERROR)
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{
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return 0;
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}
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return 1;
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}
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@@ -0,0 +1,28 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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#ifndef _osal_defs_
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#define _osal_defs_
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// define if debug printf is needed
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//#define EC_DEBUG
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#ifdef EC_DEBUG
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#define EC_PRINT printf
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#else
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#define EC_PRINT(...) do {} while (0)
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#endif
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#ifndef PACKED
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#define PACKED_BEGIN
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#define PACKED __attribute__((__packed__))
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#define PACKED_END
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#endif
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#define OSAL_THREAD_HANDLE TASK_ID
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#define OSAL_THREAD_FUNC void
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#define OSAL_THREAD_FUNC_RT void
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#endif
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