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 +1,120 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+/** \file
+ * \brief
+ * Headerfile for nicdrv.c
+ */
+
+#ifndef _nicdrvh_
+#define _nicdrvh_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <pthread.h>
+
+/** pointer structure to Tx and Rx stacks */
+typedef struct
+{
+   /** socket connection used */
+   int         *sock;
+   /** tx buffer */
+   ec_bufT     (*txbuf)[EC_MAXBUF];
+   /** tx buffer lengths */
+   int         (*txbuflength)[EC_MAXBUF];
+   /** temporary receive buffer */
+   ec_bufT     *tempbuf;
+   /** rx buffers */
+   ec_bufT     (*rxbuf)[EC_MAXBUF];
+   /** rx buffer status fields */
+   int         (*rxbufstat)[EC_MAXBUF];
+   /** received MAC source address (middle word) */
+   int         (*rxsa)[EC_MAXBUF];
+} ec_stackT;
+
+/** pointer structure to buffers for redundant port */
+typedef struct
+{
+   ec_stackT   stack;
+   int         sockhandle;
+   /** rx buffers */
+   ec_bufT rxbuf[EC_MAXBUF];
+   /** rx buffer status */
+   int rxbufstat[EC_MAXBUF];
+   /** rx MAC source address */
+   int rxsa[EC_MAXBUF];
+   /** temporary rx buffer */
+   ec_bufT tempinbuf;
+} ecx_redportt;
+
+/** pointer structure to buffers, vars and mutexes for port instantiation */
+typedef struct
+{
+   ec_stackT   stack;
+   int         sockhandle;
+   /** rx buffers */
+   ec_bufT rxbuf[EC_MAXBUF];
+   /** rx buffer status */
+   int rxbufstat[EC_MAXBUF];
+   /** rx MAC source address */
+   int rxsa[EC_MAXBUF];
+   /** temporary rx buffer */
+   ec_bufT tempinbuf;
+   /** temporary rx buffer status */
+   int tempinbufs;
+   /** transmit buffers */
+   ec_bufT txbuf[EC_MAXBUF];
+   /** transmit buffer lengths */
+   int txbuflength[EC_MAXBUF];
+   /** temporary tx buffer */
+   ec_bufT txbuf2;
+   /** temporary tx buffer length */
+   int txbuflength2;
+   /** last used frame index */
+   uint8 lastidx;
+   /** current redundancy state */
+   int redstate;
+   /** pointer to redundancy port and buffers */
+   ecx_redportt *redport;
+   pthread_mutex_t getindex_mutex;
+   pthread_mutex_t tx_mutex;
+   pthread_mutex_t rx_mutex;
+} ecx_portt;
+
+extern const uint16 priMAC[3];
+extern const uint16 secMAC[3];
+
+#ifdef EC_VER1
+extern ecx_portt     ecx_port;
+extern ecx_redportt  ecx_redport;
+
+int ec_setupnic(const char * ifname, int secondary);
+int ec_closenic(void);
+void ec_setbufstat(uint8 idx, int bufstat);
+uint8 ec_getindex(void);
+int ec_outframe(uint8 idx, int sock);
+int ec_outframe_red(uint8 idx);
+int ec_waitinframe(uint8 idx, int timeout);
+int ec_srconfirm(uint8 idx,int timeout);
+#endif
+
+void ec_setupheader(void *p);
+int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
+int ecx_closenic(ecx_portt *port);
+void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat);
+uint8 ecx_getindex(ecx_portt *port);
+int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
+int ecx_outframe_red(ecx_portt *port, uint8 idx);
+int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
+int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif