8c1f519526
- FPWR fire-and-forget: two alternating leaked tx slots, or()-driven 20us kick to reach sendable, poll_once reap after next spin-detect (late=0 over 350k cycles). Fixes: reap placement, poll_once kick - exec drops to 24us mean, freeing budget for 4kHz (250us) operation - 4kHz verified: TwinCAT PLC at 4001.8Hz, lag 5-6 cycles (RTT 1.25-1.5ms); J1900 effective 2.9kHz - FPRD poll cost (71us x N) exceeds 250us budget, occasional frame miss - Conclusion: J1900 write wait never contributed to lag; the 4-stage pipeline is TwinCAT IO mapping + bridge forwarding
62 lines
2.4 KiB
PowerShell
62 lines
2.4 KiB
PowerShell
#Requires -RunAsAdministrator
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#Requires -Version 5.1
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$ErrorActionPreference = 'Continue'
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function Invoke-Com {
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param([scriptblock]$Fn, [int]$Retries = 30, [int]$DelayMs = 2000)
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for ($i = 0; $i -lt $Retries; $i++) {
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try { return & $Fn } catch {
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$hr = $_.Exception.HResult
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if ($hr -eq -2147418111) { Start-Sleep -Milliseconds $DelayMs; continue }
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throw
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}
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}
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throw "COM call rejected $Retries times (RPC_E_CALL_REJECTED)"
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}
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Write-Host "=== Deploy 8B with RPC retry ==="
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$dte = Invoke-Com { New-Object -ComObject TcXaeShell.DTE.17.0 }
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Invoke-Com { $dte.MainWindow.Visible = $true } | Out-Null
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try { Invoke-Com { $dte.SuppressUI = $false } | Out-Null } catch {}
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Invoke-Com { $dte.Solution.Open('C:\Users\tonycao\work\twincat3-auto-cli\TwinCAT_EL6695_Primary_4kHz\TwinCATProject1.sln') } | Out-Null
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Write-Host "solution opened"
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$sm = $null
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for ($i = 0; $i -lt 40; $i++) {
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try { $sm = Invoke-Com { $dte.Solution.Projects.Item(1).Object } -Retries 3 -DelayMs 3000; if ($sm) { break } } catch { Write-Host " waiting sysmgr..." }
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}
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if (-not $sm) { Write-Host "FATAL: no sysmgr"; exit 1 }
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Write-Host "sysmgr OK"
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Invoke-Com { $sm.SetTargetNetId('169.254.176.217.1.1') } | Out-Null
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Write-Host "building..."
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try { Invoke-Com { $dte.ExecuteCommand('Build.BuildSolution') } -Retries 10 | Out-Null } catch { Write-Host "build cmd: $_" }
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# wait for build done (BuildState 3 = done)
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$done = $false
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for ($i = 0; $i -lt 90; $i++) {
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try {
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$bs = Invoke-Com { $dte.Solution.SolutionBuild.BuildState } -Retries 5 -DelayMs 3000
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$bi = Invoke-Com { $dte.Solution.SolutionBuild.LastBuildInfo } -Retries 5 -DelayMs 1000
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if ($bs -eq 3) { Write-Host "build done (LastBuildInfo=$bi) after $($i*2)s"; $done = $true; break }
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} catch { Write-Host " build poll err: $_" }
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Start-Sleep -Seconds 2
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}
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if (-not $done) { Write-Host "WARN: build state never reached done" }
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# dump build errors if any
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try {
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$ew = $dte.ToolWindows.ErrorList
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Write-Host "error list check skipped"
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} catch {}
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Write-Host "activating..."
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Invoke-Com { $sm.ActivateConfiguration() } -Retries 30 -DelayMs 3000 | Out-Null
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Write-Host "activated"
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Start-Sleep 10
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Write-Host "restarting runtime..."
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Invoke-Com { $sm.StartRestartTwinCAT() } -Retries 30 -DelayMs 3000 | Out-Null
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Write-Host "restart issued"
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Start-Sleep 12
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try { Write-Host "IsTwinCATStarted=$($sm.IsTwinCATStarted)" } catch {}
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Write-Host "=== done ==="
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