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 +1,130 @@
+/*
+ * 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 ethercatsoe.c
+ */
+
+#ifndef _ethercatsoe_
+#define _ethercatsoe_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#define EC_SOE_DATASTATE_B   0x01
+#define EC_SOE_NAME_B        0x02
+#define EC_SOE_ATTRIBUTE_B   0x04
+#define EC_SOE_UNIT_B        0x08
+#define EC_SOE_MIN_B         0x10
+#define EC_SOE_MAX_B         0x20
+#define EC_SOE_VALUE_B       0x40
+#define EC_SOE_DEFAULT_B     0x80
+
+#define EC_SOE_MAXNAME       60
+#define EC_SOE_MAXMAPPING    64
+
+#define EC_IDN_MDTCONFIG     24
+#define EC_IDN_ATCONFIG      16
+
+/** SoE name structure */
+PACKED_BEGIN
+typedef struct PACKED
+{
+   /** current length in bytes of list */
+   uint16     currentlength;
+   /** maximum length in bytes of list */
+   uint16     maxlength;
+   char       name[EC_SOE_MAXNAME];
+} ec_SoEnamet;
+PACKED_END
+
+/** SoE list structure */
+PACKED_BEGIN
+typedef struct PACKED
+{
+   /** current length in bytes of list */
+   uint16     currentlength;
+   /** maximum length in bytes of list */
+   uint16     maxlength;
+   union
+   {
+      uint8   byte[8];
+      uint16  word[4];
+      uint32  dword[2];
+      uint64  lword[1];
+   };
+} ec_SoElistt;
+PACKED_END
+
+/** SoE IDN mapping structure */
+PACKED_BEGIN
+typedef struct PACKED
+{
+   /** current length in bytes of list */
+   uint16     currentlength;
+   /** maximum length in bytes of list */
+   uint16     maxlength;
+   uint16     idn[EC_SOE_MAXMAPPING];
+} ec_SoEmappingt;
+PACKED_END
+
+#define EC_SOE_LENGTH_1         0x00
+#define EC_SOE_LENGTH_2         0x01
+#define EC_SOE_LENGTH_4         0x02
+#define EC_SOE_LENGTH_8         0x03
+#define EC_SOE_TYPE_BINARY      0x00
+#define EC_SOE_TYPE_UINT        0x01
+#define EC_SOE_TYPE_INT         0x02
+#define EC_SOE_TYPE_HEX         0x03
+#define EC_SOE_TYPE_STRING      0x04
+#define EC_SOE_TYPE_IDN         0x05
+#define EC_SOE_TYPE_FLOAT       0x06
+#define EC_SOE_TYPE_PARAMETER   0x07
+
+/** SoE attribute structure */
+PACKED_BEGIN
+typedef struct PACKED
+{
+   /** evaluation factor for display purposes */
+   uint32     evafactor   :16;
+   /** length of IDN element(s) */
+   uint32     length      :2;
+   /** IDN is list */
+   uint32     list        :1;
+   /** IDN is command */
+   uint32     command     :1;
+   /** datatype */
+   uint32     datatype    :3;
+   uint32     reserved1   :1;
+   /** decimals to display if float datatype */
+   uint32     decimals    :4;
+   /** write protected in pre-op */
+   uint32     wppreop     :1;
+   /** write protected in safe-op */
+   uint32     wpsafeop    :1;
+   /** write protected in op */
+   uint32     wpop        :1;
+   uint32     reserved2   :1;
+} ec_SoEattributet;
+PACKED_END
+
+#ifdef EC_VER1
+int ec_SoEread(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout);
+int ec_SoEwrite(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout);
+int ec_readIDNmap(uint16 slave, uint32 *Osize, uint32 *Isize);
+#endif
+
+int ecx_SoEread(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout);
+int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout);
+int ecx_readIDNmap(ecx_contextt *context, uint16 slave, uint32 *Osize, uint32 *Isize);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif