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/soem/ethercatfoe.h

@@ -0,0 +1,33 @@
+/*
+ * 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 ethercatfoe.c
+ */
+
+#ifndef _ethercatfoe_
+#define _ethercatfoe_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#ifdef EC_VER1
+int ec_FOEdefinehook(void *hook);
+int ec_FOEread(uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout);
+int ec_FOEwrite(uint16 slave, char *filename, uint32 password, int psize, void *p, int timeout);
+#endif
+
+int ecx_FOEdefinehook(ecx_contextt *context, void *hook);
+int ecx_FOEread(ecx_contextt *context, uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout);
+int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 password, int psize, void *p, int timeout);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif