feat(pybot): 微动作分解——带时延的 @Action 行按 10ms 粒度插值执行
每行带 delay 的动作分解为 N=delay//10 个微步，舵机角度从上一行 目标值线性插值到当前行目标值。首行不分解（设初始位置），每步调 speaker.play(freq, 10) 提供声音+时序，dry_run 下补 sleep(0.01)。 delay 必须是 10 的倍数。录制时每个微步产出一帧+插值动作向量。
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@@ -1,4 +1,4 @@
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"""EpisodeRecorder 测试：actpred 格式数据集录制
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"""EpisodeRecorder 测试：actpred 格式数据集录制 + 微动作分解
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全部在 dry_run / mock I2C 下运行，不碰真实硬件。
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"""
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@@ -15,7 +15,7 @@ from pybot.robot import RobotStruct
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# ---- 测试用 .mt 脚本 ----
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# 仅 @Camera + @Action(cam0.frame) —— 不需要 I2C
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# 仅 @Camera + @Action(cam0.frame) —— 不需要 I2C，无 Speaker 无微动作
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CAMERA_MT = """
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@Camera
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name width height framerate capacity;
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@@ -28,11 +28,14 @@ cam0.frame;
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@
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"""
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# @Camera + @Servo + 多行 @Action（含占位符）—— 需要 mock I2C
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# @Camera + @Servo + @Speaker + 多行 @Action（含占位符 + delay）—— 需要 mock I2C
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# 10 行 @Action，首行不分解，后续行 delay=20 → N=2 微步
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# 总步数：1 + 9×2 = 19
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SERVO_CAMERA_MT = """
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@Alias
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name alias;
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A angle;
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F frequency;
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@
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@I2C
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@@ -51,23 +54,99 @@ pca9685-0 i2c-1 0x40;
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s2 180 - - - 1;
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@
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@Speaker
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name channels sample_rate volumn max_f min_f;
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spk 2 48000 0.6 5000 -;
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@
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@Camera
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name width height framerate capacity;
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cam0 320 240 15 2;
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@
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@Action
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s1.A s2.A;
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45 0;
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- 10;
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- 20;
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- 30;
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- 0;
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- 10;
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- 20;
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- 30;
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- 0;
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- 10;
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s1.A s2.A spk.F spk.delay;
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45 0 10 20;
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- 10 - 20;
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- 20 - 20;
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- 30 - 20;
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- 0 - 20;
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- 10 - 20;
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- 20 - 20;
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- 30 - 20;
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- 0 - 20;
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- 10 - 20;
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@
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"""
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# 简单插值测试：2 行 @Action，delay=30 → N=3
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# s1: row1=0（首行不分解），row2 从 0→30 分 3 步 → 10, 20, 30
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MICRO_ACTION_MT = """
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@Alias
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name alias;
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A angle;
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F frequency;
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@
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@I2C
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name path;
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i2c-1 /dev/i2c-1;
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@
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@PCA9685
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name I2C address;
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pca9685-0 i2c-1 0x40;
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@
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@Servo
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name max min offset controller channel;
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s1 90 - - pca9685-0 0;
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@
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@Speaker
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name channels sample_rate volumn max_f min_f;
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spk 2 48000 0.6 5000 -;
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@
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@Action
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s1.A spk.F spk.delay;
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0 10 30;
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30 - 30;
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@
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"""
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# delay 非 10 倍数 → 应报错
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BAD_DELAY_MT = """
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@Alias
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name alias;
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A angle;
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F frequency;
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@
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@I2C
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name path;
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i2c-1 /dev/i2c-1;
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@
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@PCA9685
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name I2C address;
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pca9685-0 i2c-1 0x40;
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@
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@Servo
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name max min offset controller channel;
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s1 90 - - pca9685-0 0;
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@
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@Speaker
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name channels sample_rate volumn max_f min_f;
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spk 2 48000 0.6 5000 -;
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@
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@Action
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s1.A spk.F spk.delay;
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0 10 15;
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30 - 15;
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@
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"""
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@@ -110,11 +189,11 @@ def test_episode_format(tmp_path):
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assert (ep_dir / "images").is_dir()
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assert (ep_dir / "actions.npy").exists()
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jpgs = list((ep_dir / "images").glob("*.jpg"))
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assert len(jpgs) == 1 # CAMERA_MT 有 1 行 @Action
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assert len(jpgs) == 1 # CAMERA_MT 有 1 行 @Action，无 Speaker 不分解
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def test_action_vector_padding(tmp_path, mock_i2c):
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"""2 列 .mt → 18 维向量，末尾 16 维为零"""
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"""4 列 .mt → 18 维向量，末尾 14 维为零；微步展开后 19 步"""
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robot = RobotStruct(SERVO_CAMERA_MT, dry_run=True)
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robot.active()
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rec = EpisodeRecorder(str(tmp_path), action_dim=18)
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@@ -122,12 +201,12 @@ def test_action_vector_padding(tmp_path, mock_i2c):
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robot.deactive()
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actions = np.load(tmp_path / "episode_0000" / "actions.npy")
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assert actions.shape == (10, 18) # 10 行 @Action × 18 维
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assert np.all(actions[:, 2:] == 0) # 列 2-17 全为零
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assert actions.shape == (19, 18) # 1（首行）+ 9×2（微步）= 19
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assert np.all(actions[:, 4:] == 0) # 列 4-17 全为零
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def test_placeholder_resolution(tmp_path, mock_i2c):
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"""`-` 占位符正确递归解析"""
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"""`-` 占位符递归解析 + 微步插值"""
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robot = RobotStruct(SERVO_CAMERA_MT, dry_run=True)
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robot.active()
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rec = EpisodeRecorder(str(tmp_path), action_dim=18)
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@@ -135,10 +214,10 @@ def test_placeholder_resolution(tmp_path, mock_i2c):
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robot.deactive()
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actions = np.load(tmp_path / "episode_0000" / "actions.npy")
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# s1.A: row0=45, row1..9 全是 '-' → 递归取上一行 → 全 45
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# s1.A: 全 45（首行 45，后续行 '-' 继承 45，插值 45→45 仍为 45）
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assert np.all(actions[:, 0] == 45)
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# s2.A: 0,10,20,30,0,10,20,30,0,10
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expected_s2 = [0, 10, 20, 30, 0, 10, 20, 30, 0, 10]
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# s2.A: 首行 0，后续行插值
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expected_s2 = [0, 5, 10, 15, 20, 25, 30, 15, 0, 5, 10, 15, 20, 25, 30, 15, 0, 5, 10]
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assert list(actions[:, 1]) == expected_s2
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@@ -182,6 +261,30 @@ def test_episode_auto_increment(tmp_path):
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assert (tmp_path / "episode_0001").is_dir()
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def test_micro_action_interpolation(tmp_path, mock_i2c):
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"""微动作插值：s1 从 0→30 分 3 步 → 10, 20, 30"""
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robot = RobotStruct(MICRO_ACTION_MT, dry_run=True)
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robot.active()
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rec = EpisodeRecorder(str(tmp_path), action_dim=18)
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robot.run(recorder=rec)
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robot.deactive()
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actions = np.load(tmp_path / "episode_0000" / "actions.npy")
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# 首行 s1=0（不分解），row2 s1 从 0→30 分 3 步
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expected_s1 = [0, 10, 20, 30]
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assert list(actions[:, 0]) == expected_s1
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def test_delay_not_multiple_of_10(tmp_path, mock_i2c):
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"""delay 非 10 倍数时报错"""
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robot = RobotStruct(BAD_DELAY_MT, dry_run=True)
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robot.active()
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rec = EpisodeRecorder(str(tmp_path), action_dim=18)
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with pytest.raises(ValueError, match="不是 10 的倍数"):
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robot.run(recorder=rec)
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robot.deactive()
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def test_actpred_compatibility(tmp_path, mock_i2c):
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"""用 actpred 的 ActionDataset 加载录制的 episode"""
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pytest.importorskip("torch")
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@@ -199,8 +302,8 @@ def test_actpred_compatibility(tmp_path, mock_i2c):
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from dataset import ActionDataset
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ds = ActionDataset(str(tmp_path), history_len=5,
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action_dim=18, frame_len=3)
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# 10 行，start=max(5,2)=5，samples: t=5..9 → 5 个样本
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assert len(ds) == 5
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# 19 帧，start=max(5,2)=5，samples: t=5..18 → 14 个样本
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assert len(ds) == 14
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sample = ds[0]
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# ActionDataset 默认 resize 到 640×480，与相机原始尺寸无关
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assert sample["images"].shape == (3, 3, 480, 640) # (F, C, H, W)
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