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
2026-09-05 01:20:14 +08:00
parent 979da72181
commit 79633a2b0f
121 changed files with 33088 additions and 75 deletions
@@ -0,0 +1,153 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+#include <winsock2.h>
+#include <osal.h>
+#include "osal_win32.h"
+
+static int64_t sysfrequency;
+static double qpc2usec;
+
+#define USECS_PER_SEC     1000000
+
+static int osal_getrelativetime(struct timeval *tv, struct timezone *tz)
+{
+   int64_t wintime, usecs;
+   (void)tz;
+   if(!sysfrequency)
+   {
+      timeBeginPeriod(1);
+      QueryPerformanceFrequency((LARGE_INTEGER *)&sysfrequency);
+      qpc2usec = 1000000.0 / sysfrequency;
+   }
+   QueryPerformanceCounter((LARGE_INTEGER *)&wintime);
+   usecs = (int64_t)((double)wintime * qpc2usec);
+   tv->tv_sec = (long)(usecs / 1000000);
+   tv->tv_usec = (long)(usecs - (tv->tv_sec * 1000000));
+
+   return 1;
+}
+
+int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
+{
+   FILETIME system_time;
+   int64 system_time64, usecs;
+   (void)tz;
+   /* The offset variable is required to switch from Windows epoch (January 1, 1601) to
+    * Unix epoch (January 1, 1970). Number of days between both epochs: 134.774
+    *
+    * The time returned by GetSystemTimeAsFileTime() changes in 100 ns steps, so the
+    * following factors are required for the conversion from days to 100 ns steps:
+    *
+    * 86.400 seconds per day; 1.000.000 microseconds per second; 10 * 100 ns per microsecond
+   */
+   int64 offset = -134774LL * 86400LL * 1000000LL * 10LL;
+
+   GetSystemTimeAsFileTime(&system_time);
+
+   system_time64 = ((int64)(system_time.dwHighDateTime) << 32) + (int64)system_time.dwLowDateTime;
+   system_time64 += offset;
+   usecs = system_time64 / 10;
+
+   tv->tv_sec = (long)(usecs / 1000000);
+   tv->tv_usec = (long)(usecs - (tv->tv_sec * 1000000));
+
+   return 1;
+}
+
+ec_timet osal_current_time (void)
+{
+   struct timeval current_time;
+   ec_timet return_value;
+
+   osal_gettimeofday (&current_time, 0);
+   return_value.sec = current_time.tv_sec;
+   return_value.usec = current_time.tv_usec;
+   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;
+   }
+}
+
+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, 0);
+   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, 0);
+   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;
+}
+
+int osal_usleep(uint32 usec)
+{
+   osal_timert qtime;
+   osal_timer_start(&qtime, usec);
+   if(usec >= 1000)
+   {
+      SleepEx(usec / 1000, FALSE);
+   }
+   while(!osal_timer_is_expired(&qtime));
+   return 1;
+}
+
+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)
+{
+   *(OSAL_THREAD_HANDLE*)thandle = CreateThread(NULL, stacksize, func, param, 0, NULL);
+   if(!thandle)
+   {
+      return 0;
+   }
+   return 1;
+}
+
+int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param)
+{
+   int ret;
+   ret = osal_thread_create(thandle, stacksize, func, param);
+   if (ret)
+   {
+      ret = SetThreadPriority(thandle, THREAD_PRIORITY_TIME_CRITICAL);
+   }
+   return ret;
+}