cbb
79633a2b0f
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
130 lines
3.4 KiB
C
130 lines
3.4 KiB
C
/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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/** \file
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* \brief
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* Headerfile for ethercatsoe.c
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*/
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#ifndef _ethercatsoe_
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#define _ethercatsoe_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#define EC_SOE_DATASTATE_B 0x01
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#define EC_SOE_NAME_B 0x02
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#define EC_SOE_ATTRIBUTE_B 0x04
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#define EC_SOE_UNIT_B 0x08
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#define EC_SOE_MIN_B 0x10
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#define EC_SOE_MAX_B 0x20
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#define EC_SOE_VALUE_B 0x40
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#define EC_SOE_DEFAULT_B 0x80
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#define EC_SOE_MAXNAME 60
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#define EC_SOE_MAXMAPPING 64
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#define EC_IDN_MDTCONFIG 24
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#define EC_IDN_ATCONFIG 16
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/** SoE name structure */
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PACKED_BEGIN
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typedef struct PACKED
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{
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/** current length in bytes of list */
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uint16 currentlength;
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/** maximum length in bytes of list */
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uint16 maxlength;
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char name[EC_SOE_MAXNAME];
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} ec_SoEnamet;
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PACKED_END
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/** SoE list structure */
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PACKED_BEGIN
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typedef struct PACKED
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{
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/** current length in bytes of list */
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uint16 currentlength;
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/** maximum length in bytes of list */
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uint16 maxlength;
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union
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{
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uint8 byte[8];
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uint16 word[4];
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uint32 dword[2];
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uint64 lword[1];
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};
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} ec_SoElistt;
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PACKED_END
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/** SoE IDN mapping structure */
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PACKED_BEGIN
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typedef struct PACKED
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{
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/** current length in bytes of list */
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uint16 currentlength;
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/** maximum length in bytes of list */
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uint16 maxlength;
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uint16 idn[EC_SOE_MAXMAPPING];
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} ec_SoEmappingt;
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PACKED_END
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#define EC_SOE_LENGTH_1 0x00
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#define EC_SOE_LENGTH_2 0x01
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#define EC_SOE_LENGTH_4 0x02
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#define EC_SOE_LENGTH_8 0x03
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#define EC_SOE_TYPE_BINARY 0x00
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#define EC_SOE_TYPE_UINT 0x01
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#define EC_SOE_TYPE_INT 0x02
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#define EC_SOE_TYPE_HEX 0x03
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#define EC_SOE_TYPE_STRING 0x04
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#define EC_SOE_TYPE_IDN 0x05
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#define EC_SOE_TYPE_FLOAT 0x06
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#define EC_SOE_TYPE_PARAMETER 0x07
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/** SoE attribute structure */
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PACKED_BEGIN
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typedef struct PACKED
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{
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/** evaluation factor for display purposes */
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uint32 evafactor :16;
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/** length of IDN element(s) */
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uint32 length :2;
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/** IDN is list */
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uint32 list :1;
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/** IDN is command */
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uint32 command :1;
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/** datatype */
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uint32 datatype :3;
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uint32 reserved1 :1;
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/** decimals to display if float datatype */
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uint32 decimals :4;
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/** write protected in pre-op */
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uint32 wppreop :1;
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/** write protected in safe-op */
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uint32 wpsafeop :1;
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/** write protected in op */
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uint32 wpop :1;
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uint32 reserved2 :1;
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} ec_SoEattributet;
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PACKED_END
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#ifdef EC_VER1
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int ec_SoEread(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout);
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int ec_SoEwrite(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout);
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int ec_readIDNmap(uint16 slave, uint32 *Osize, uint32 *Isize);
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#endif
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int ecx_SoEread(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout);
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int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout);
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int ecx_readIDNmap(ecx_contextt *context, uint16 slave, uint32 *Osize, uint32 *Isize);
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#ifdef __cplusplus
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}
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#endif
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#endif |