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

build_native.bat

@@ -0,0 +1,14 @@
+@echo off
+setlocal
+call "C:\Program Files\Microsoft Visual Studio\2022\Community\VC\Auxiliary\Build\vcvars64.bat" >nul
+cd /d G:\Robot_v2\DCU\tools\ecat
+if not exist build_native mkdir build_native
+if not exist build_native\wpcap.lib (
+  dumpbin /exports C:\Windows\System32\Npcap\wpcap.dll > build_native\exports.txt
+  venv\Scripts\python.exe exports2def.py build_native\exports.txt build_native\wpcap.def wpcap
+  lib /def:build_native\wpcap.def /machine:X64 /out:build_native\wpcap.lib
+  if errorlevel 1 exit /b 1
+)
+cl /nologo /O2 /W3 /utf-8 /D_CRT_SECURE_NO_WARNINGS /DWIN32 /I soem-src\soem /I soem-src\osal /I soem-src\osal\win32 /I soem-src\oshw\win32 /I soem-src\oshw\win32\wpcap\Include /Fo:build_native\ ecat_native.c soem-src\soem\ethercatbase.c soem-src\soem\ethercatcoe.c soem-src\soem\ethercatconfig.c soem-src\soem\ethercatdc.c soem-src\soem\ethercateoe.c soem-src\soem\ethercatfoe.c soem-src\soem\ethercatmain.c soem-src\soem\ethercatprint.c soem-src\soem\ethercatsoe.c soem-src\osal\win32\osal.c soem-src\oshw\win32\nicdrv.c soem-src\oshw\win32\oshw.c /link /OUT:build_native\ecat_native.exe build_native\wpcap.lib ws2_32.lib winmm.lib
+if errorlevel 1 exit /b 1
+echo [OK] build_native\ecat_native.exe