fix: pybot 审计修复——插件异常类型、I2C 引用校验、卡尔曼除零守卫、CLI 端到端测试

pybot/pybot/__init__.py

@@ -25,3 +25,4 @@ from .parser import (          # noqa: F401
     to_int,
 )
 from .robot import RobotStruct  # noqa: F401
+from .plugin import PluginNotFound, PluginProtocolError, PluginVar  # noqa: F401

pybot/pybot/hardvars.py

@@ -114,7 +114,12 @@ class MPU6050Var(HardwareVar):
         addr = get_mt(matrix, i, matrix.index_of_col(0, "addr"))
         log.info("Create a MPU6050_BIND HVar: %s, use i2c interf: %s, "
                  "i2c addr: %s", name, i2c_name, addr)
-        fd = M[i2c_name].play({})["fd"]     # 引用 I2C 变量取 fd
+        i2c_var = M[i2c_name]
+        if not isinstance(i2c_var, I2CVar):
+            raise TypeError(
+                f"@MPU6050_BIND '{name}' references '{i2c_name}', "
+                f"but it is a {type(i2c_var).__name__}, not an I2CVar")
+        fd = i2c_var.play({})["fd"]
         return cls(name, MPU6050(fd, to_int(addr)))
 
 

pybot/pybot/hd/kalman.py

@@ -21,7 +21,7 @@ class Kalman:
     def filter(self, dat):
         x_mid = self.a * self.x_last            # (1) x(k|k-1) = A*X(k-1|k-1)
         p_mid = self.a * self.p_last + self.q   # (2) p(k|k-1) = A*p(k-1|k-1)*A'+Q
-        kg = p_mid / (p_mid + self.r)           # (4) kg(k) = p(k|k-1)/(p(k|k-1)+R)
+        kg = p_mid / max(p_mid + self.r, 1e-10)   # (4) kg(k) = p(k|k-1)/(p(k|k-1)+R)
         x_now = x_mid + kg * (dat - x_mid)      # (3) x(k|k) = X(k|k-1)+kg*(Z(k)-X(k|k-1))
         p_now = (1.0 - kg) * p_mid              # (5) p(k|k) = (1-kg)*P(k|k-1)
         self.p_last = p_now

pybot/pybot/plugin.py

@@ -37,6 +37,17 @@ class PluginNotFound(Exception):
         self.searched = searched
 
 
+class PluginProtocolError(Exception):
+    """插件缺少 build / call / destroy 之一"""
+
+    def __init__(self, name, path, missing):
+        super().__init__(
+            f"plugin '{name}' at {path} missing function: {missing}(ctx)")
+        self.name = name
+        self.path = path
+        self.missing = missing
+
+
 def search_dirs():
     """插件搜索目录（按优先级）：$PYBOT_MODULES_PATH → 包内置 → cwd"""
     dirs = []
@@ -68,9 +79,7 @@ def load_module(name):
     spec.loader.exec_module(module)
     for fn in ("build", "call", "destroy"):
         if not callable(getattr(module, fn, None)):
-            raise PluginNotFound(
-                name, [path]) from ValueError(
-                f"plugin '{name}' missing function {fn}(ctx)")
+            raise PluginProtocolError(name, path, fn)
     log.debug("loaded plugin %s from %s", name, path)
     return module