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 +1,117 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+#include <sys/ioctl.h>
+#include <net/if.h>
+#include <sys/socket.h>
+#include <arpa/inet.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "oshw.h"
+
+/**
+ * Host to Network byte order (i.e. to big endian).
+ *
+ * Note that Ethercat uses little endian byte order, except for the Ethernet
+ * header which is big endian as usual.
+ */
+uint16 oshw_htons(uint16 host)
+{
+   uint16 network = htons (host);
+   return network;
+}
+
+/**
+ * Network (i.e. big endian) to Host byte order.
+ *
+ * Note that Ethercat uses little endian byte order, except for the Ethernet
+ * header which is big endian as usual.
+ */
+uint16 oshw_ntohs(uint16 network)
+{
+   uint16 host = ntohs (network);
+   return host;
+}
+
+/** Create list over available network adapters.
+ * @return First element in linked list of adapters
+ */
+ec_adaptert * oshw_find_adapters(void)
+{
+   int i;
+   struct if_nameindex *ids;
+   ec_adaptert * adapter;
+   ec_adaptert * prev_adapter = NULL;
+   ec_adaptert * ret_adapter = NULL;
+
+
+   /* Iterate all devices and create a local copy holding the name and
+    * description.
+    */
+
+   ids = if_nameindex ();
+   for(i = 0; ids[i].if_index != 0; i++)
+   {
+      adapter = (ec_adaptert *)malloc(sizeof(ec_adaptert));
+      /* If we got more than one adapter save link list pointer to previous
+       * adapter.
+       * Else save as pointer to return.
+       */
+      if (prev_adapter)
+      {
+         prev_adapter->next = adapter;
+      }
+      else
+      {
+         ret_adapter = adapter;
+      }
+
+      /* fetch description and name, in Linux we use the same on both */
+      adapter->next = NULL;
+
+      if (ids[i].if_name)
+      {
+          strncpy(adapter->name, ids[i].if_name, EC_MAXLEN_ADAPTERNAME);
+          adapter->name[EC_MAXLEN_ADAPTERNAME-1] = '\0';
+          strncpy(adapter->desc, ids[i].if_name, EC_MAXLEN_ADAPTERNAME);
+          adapter->desc[EC_MAXLEN_ADAPTERNAME-1] = '\0';
+      }
+      else
+      {
+         adapter->name[0] = '\0';
+         adapter->desc[0] = '\0';
+      }
+
+      prev_adapter = adapter;
+   }
+
+   if_freenameindex (ids);
+
+   return ret_adapter;
+}
+
+/** Free memory allocated memory used by adapter collection.
+ * @param[in] adapter = First element in linked list of adapters
+ * EC_NOFRAME.
+ */
+void oshw_free_adapters(ec_adaptert * adapter)
+{
+   ec_adaptert * next_adapter;
+   /* Iterate the linked list and free all elements holding
+    * adapter information
+    */
+   if(adapter)
+   {
+      next_adapter = adapter->next;
+      free (adapter);
+      while (next_adapter)
+      {
+         adapter = next_adapter;
+         next_adapter = adapter->next;
+         free (adapter);
+      }
+   }
+}