feat(pybot): bot4cj 的 Python 迁移版（.mt 解析 + 硬件驱动 + 插件系统）
- parser: FSM 解析器与仓颉版逐语义对齐，修 S01/S02/S04/Q05 - robot/hardvars: 六类硬件变量工厂，修 r.cj:911 重名 FIXME、Q07 倒序释放 - plugin: Python 插件替代 Lua 桥接，修 S07 三级路径查找 - hd: i2c(每fd锁 Q03/S06)/spi/servo/kalman/mpu6050(S05/Q06)/speaker(S03 实声) - modules: PCA9685 与 Lua 版逐字节对齐；ADS1115 重写(experimental)；ADS1256 空桩 - tests: 42 项 pytest 全绿（Mock 总线 journal 断言） - CLI: --dry-run / --test roundtrip / --verbose；运行时零第三方依赖
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"""硬件层（Linux I2C / SPI / 舵机 / 传感器 / 扬声器）"""
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@@ -0,0 +1,219 @@
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"""Linux I2C 封装 —— 移植自 bot4cj/src/hd/I2C.cj + src/cpp/I2C.c
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纯标准库实现（fcntl.ioctl + os.read/write），零第三方依赖。
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与仓颉版的差异（审计修复，语义不变）：
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S06: read_reg 返回 0..255 无符号 int（仓颉版返回有符号 Int8，
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16 位拼接时符号扩展破坏低字节）；
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Q03: 每 fd 锁用 dict[fd → threading.Lock]（仓颉版 20 槽数组 O(n) 扫描且容量受限）。
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后端可切换：默认真实总线；use_mock() 切换为记录型 Mock（--dry-run 与单测共用），
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Mock 的写序列 journal 是与仓颉版做逐字节 diff 的等价性验证工件（方案 §6.3）。
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"""
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import fcntl
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import logging
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import os
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import threading
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from contextlib import contextmanager
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log = logging.getLogger("pybot.i2c")
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I2C_SLAVE = 0x0703 # at least on arm64（与仓颉版一致）
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class I2CError(OSError):
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"""I2C 设备异常（对应仓颉版 I2cExcept 系列）"""
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# ---------------- 后端（真实总线 / Mock） ----------------
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class _RealBackend:
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"""真实 I2C 总线：glibc open/ioctl/read/write 一层到底"""
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def open(self, path):
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return os.open(path, os.O_RDWR)
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def close(self, fd):
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os.close(fd)
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def set_addr(self, fd, addr):
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fcntl.ioctl(fd, I2C_SLAVE, addr)
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def write_reg(self, fd, reg, val):
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if os.write(fd, bytes([reg & 0xFF, val & 0xFF])) != 2:
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raise I2CError(f"failed to write i2c reg 0x{reg:02X} (fd={fd})")
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def read_reg(self, fd, reg):
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# 读取寄存器之前要先写寄存器地址
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if os.write(fd, bytes([reg & 0xFF])) != 1:
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raise I2CError(f"failed to select i2c reg 0x{reg:02X} (fd={fd})")
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data = os.read(fd, 1)
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if len(data) != 1:
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raise I2CError(f"failed to read i2c reg 0x{reg:02X} (fd={fd})")
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return data[0] # 0..255 无符号（修复 S06）
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def write_block(self, fd, reg, data):
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"""向 reg 起连写多字节（ADS1115 等 16 位寄存器设备）"""
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buf = bytes([reg & 0xFF]) + bytes(data)
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if os.write(fd, buf) != len(buf):
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raise I2CError(f"failed to write i2c block at reg 0x{reg:02X} (fd={fd})")
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def read_block(self, fd, reg, n):
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"""从 reg 起连读 n 字节（自动递增寄存器，MPU6050 一次读 14 字节）"""
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if os.write(fd, bytes([reg & 0xFF])) != 1:
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raise I2CError(f"failed to select i2c reg 0x{reg:02X} (fd={fd})")
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data = os.read(fd, n)
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if len(data) != n:
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raise I2CError(f"short read at i2c reg 0x{reg:02X}: "
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f"{len(data)}/{n} bytes (fd={fd})")
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return data
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class MockBackend:
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"""记录型 Mock 总线：不碰硬件，记录全部操作序列供断言/diff"""
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def __init__(self):
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self.journal = [] # [(op, ...), ...] 全部操作按序记录
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self.reg_values = {} # {(fd, reg): int} 单寄存器读注入
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self.block_values = {} # {(fd, reg): bytes} 块读注入
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self._next_fd = 1000
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def open(self, path):
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fd = self._next_fd
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self._next_fd += 1
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self.journal.append(("open", path, fd))
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return fd
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def close(self, fd):
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self.journal.append(("close", fd))
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def set_addr(self, fd, addr):
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self.journal.append(("set_addr", fd, addr))
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def write_reg(self, fd, reg, val):
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self.journal.append(("write_reg", fd, reg & 0xFF, val & 0xFF))
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def read_reg(self, fd, reg):
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self.journal.append(("read_reg", fd, reg))
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return self.reg_values.get((fd, reg), 0) & 0xFF
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def write_block(self, fd, reg, data):
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self.journal.append(("write_block", fd, reg & 0xFF, bytes(data)))
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def read_block(self, fd, reg, n):
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self.journal.append(("read_block", fd, reg, n))
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return self.block_values.get((fd, reg), bytes(n))
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_backend = _RealBackend()
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def use_mock():
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"""切换到 Mock 总线（--dry-run / 单测），返回 MockBackend 以便读取 journal"""
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global _backend
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_backend = MockBackend()
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return _backend
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def use_real():
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"""切换回真实总线"""
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global _backend
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_backend = _RealBackend()
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# ---------------- I2C 锁具（每 fd 一把，修复 Q03） ----------------
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# 同一 fd 上"设地址 + 读/写寄存器"必须是原子序列（多设备共享总线）
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_MAIN_LOCK = threading.Lock() # 主锁，操作锁具注册表时使用
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_LOCKS = {} # {fd: threading.Lock}
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def _register_lock(fd):
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with _MAIN_LOCK:
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_LOCKS[fd] = threading.Lock()
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def _unregister_lock(fd):
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with _MAIN_LOCK:
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_LOCKS.pop(fd, None)
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@contextmanager
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def transaction(fd):
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"""with transaction(fd): 持有该 fd 的总线锁，保证 I2C 操作序列原子"""
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with _MAIN_LOCK:
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lock = _LOCKS.get(fd)
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if lock is None:
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raise I2CError(f"no i2c lock for fd {fd} (device not opened by pybot?)")
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with lock:
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yield
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# ---------------- 模块级函数（供插件 modules/*.py 直接调用） ----------------
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# 对应仓颉版注册给 Lua 的 i2c_open/i2c_close/i2c_set_addr/i2c_write_reg/i2c_read_reg
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def open_dev(path):
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fd = _backend.open(path)
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_register_lock(fd)
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log.debug("i2c open %s -> fd=%d", path, fd)
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return fd
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def close_dev(fd):
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_unregister_lock(fd)
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_backend.close(fd)
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log.debug("i2c close fd=%d", fd)
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def set_addr(fd, addr):
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_backend.set_addr(fd, addr)
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def write_reg(fd, reg, val):
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_backend.write_reg(fd, reg, val)
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def read_reg(fd, reg):
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return _backend.read_reg(fd, reg)
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def write_block(fd, reg, data):
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_backend.write_block(fd, reg, data)
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def read_block(fd, reg, n):
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return _backend.read_block(fd, reg, n)
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# ---------------- I2C 总线对象（对应仓颉版 I2C_Orig） ----------------
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class I2CBus:
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"""持有一个 I2C 设备文件句柄；close() 幂等"""
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def __init__(self, path):
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self.path = path
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self.fd = open_dev(path)
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def close(self):
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if self.fd >= 0:
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close_dev(self.fd)
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self.fd = -1
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def set_addr(self, addr):
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set_addr(self.fd, addr)
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def write_reg(self, reg, val):
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write_reg(self.fd, reg, val)
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def read_reg(self, reg):
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return read_reg(self.fd, reg)
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def write_block(self, reg, data):
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write_block(self.fd, reg, data)
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def read_block(self, reg, n):
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return read_block(self.fd, reg, n)
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def transaction(self):
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return transaction(self.fd)
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@@ -0,0 +1,29 @@
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"""一维卡尔曼滤波器 —— 移植自 bot4cj/src/math/kalman.cj
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用法：
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k = Kalman(20.0, 200.0) # Q=20 R=200（与仓颉版 MPU6050 参数一致）
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filtered = k.filter(sensor_value)
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R 固定时，Q 越大代表越信任测量值；Q 越小代表越信任模型预测值。
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"""
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class Kalman:
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"""A=1 B=0 H=1 的一维卡尔曼滤波（五个核心公式）"""
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def __init__(self, q, r):
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self.x_last = 0.0 # 上一时刻的最优结果 X(k-1|k-1)
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self.p_last = 0.0 # 上一时刻最优结果的协方差 P(k-1|k-1)
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self.a = 1.0
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self.q = q # 系统噪声协方差
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self.r = r # 测量噪声协方差
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def filter(self, dat):
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x_mid = self.a * self.x_last # (1) x(k|k-1) = A*X(k-1|k-1)
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p_mid = self.a * self.p_last + self.q # (2) p(k|k-1) = A*p(k-1|k-1)*A'+Q
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kg = p_mid / (p_mid + self.r) # (4) kg(k) = p(k|k-1)/(p(k|k-1)+R)
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x_now = x_mid + kg * (dat - x_mid) # (3) x(k|k) = X(k|k-1)+kg*(Z(k)-X(k|k-1))
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p_now = (1.0 - kg) * p_mid # (5) p(k|k) = (1-kg)*P(k|k-1)
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self.p_last = p_now
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self.x_last = x_now
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return x_now
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@@ -0,0 +1,134 @@
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"""MPU6050 六轴姿态传感器 —— 移植自 bot4cj/src/hd/MPU6050.cj
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10ms 周期采样线程 + 6 路一维卡尔曼滤波，输出 roll/pitch 姿态角。
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与仓颉版的差异（审计修复，语义不变）：
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S05: ADDR_1 = 0x69（AD0 拉高时的地址；仓颉版误写 0x68 与 ADDR_0 重复）；
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Q06: 停止采样用 threading.Event（仓颉版裸 bool 无内存屏障）；
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pitch 用 atan2(-ax, sqrt(ay²+az²)) 代替 atan(-ax/sqrt(...))，防除零且值域一致。
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"""
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import logging
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import math
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import struct
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import threading
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import time
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from . import i2c
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from .kalman import Kalman
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log = logging.getLogger("pybot.mpu6050")
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ADDR_0 = 0x68 # AD0 引脚接地
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ADDR_1 = 0x69 # AD0 引脚拉高（修复 S05）
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# 寄存器地址
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PWR_MGMT_1 = 0x6B
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GYRO_CONFIG = 0x1B
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ACCEL_CONFIG = 0x1C
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ACCEL_XOUT_H = 0x3B # 14 字节连读起点：加速度(6) + 温度(2) + 陀螺仪(6)
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RAD_TO_DEG = 57.2956 # 弧度转角度（与仓颉版一致）
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SAMPLE_INTERVAL = 0.01 # 10ms 采样周期
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class MPU6050:
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"""MPU6050 传感器：绑定到某条 I2C 总线的 fd 上
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用法：
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m = MPU6050(fd, ADDR_0)
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m.setup()
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m.start_daemon()
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... m.latest() ...
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m.stop_daemon(); m.wait_daemon()
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"""
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def __init__(self, fd, addr=ADDR_0):
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self.fd = fd
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self.addr = addr
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# 6 路卡尔曼滤波（Q=20 R=200，与仓颉版参数一致）
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self._k_ax = Kalman(20.0, 200.0)
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self._k_ay = Kalman(20.0, 200.0)
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self._k_az = Kalman(20.0, 200.0)
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self._k_gx = Kalman(20.0, 200.0)
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self._k_gy = Kalman(20.0, 200.0)
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self._k_gz = Kalman(20.0, 200.0)
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self._stop = threading.Event() # 修复 Q06
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self._thread = None
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self._lock = threading.Lock()
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self._latest = {"roll": 0.0, "pitch": 0.0,
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"ax": 0.0, "ay": 0.0, "az": 0.0,
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"gx": 0.0, "gy": 0.0, "gz": 0.0}
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# ---------------- 初始化 ----------------
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def setup(self):
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"""唤醒 + 配置量程：陀螺仪 ±500°/s、加速度 ±8g（与仓颉版一致）"""
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with i2c.transaction(self.fd):
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i2c.set_addr(self.fd, self.addr)
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time.sleep(0.001)
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i2c.write_reg(self.fd, PWR_MGMT_1, 0x00) # 解除休眠
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i2c.write_reg(self.fd, GYRO_CONFIG, 0x08) # ±500°/s
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i2c.write_reg(self.fd, ACCEL_CONFIG, 0x10) # ±8g
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time.sleep(0.1) # 等待传感器稳定（锁外，不占总线）
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log.debug("mpu6050 setup done (fd=%d addr=0x%02X)", self.fd, self.addr)
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# ---------------- 读取 ----------------
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def read_sensor(self):
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"""一次事务连读 14 字节，返回 (ax, ay, az, gx, gy, gz) 原始值"""
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with i2c.transaction(self.fd):
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i2c.set_addr(self.fd, self.addr)
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data = i2c.read_block(self.fd, ACCEL_XOUT_H, 14)
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vals = struct.unpack(">7h", data) # 大端 7 个有符号 16 位
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# 索引 3 是温度，跳过
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return vals[0], vals[1], vals[2], vals[4], vals[5], vals[6]
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def _sample_once(self):
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ax, ay, az, gx, gy, gz = self.read_sensor()
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fax = self._k_ax.filter(float(ax))
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fay = self._k_ay.filter(float(ay))
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faz = self._k_az.filter(float(az))
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fgx = self._k_gx.filter(float(gx))
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fgy = self._k_gy.filter(float(gy))
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fgz = self._k_gz.filter(float(gz))
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# 姿态角（加速度计解算，与仓颉版公式一致；pitch 用 atan2 防除零）
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roll = math.atan2(fay, faz) * RAD_TO_DEG
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pitch = math.atan2(-fax, math.sqrt(fay * fay + faz * faz)) * RAD_TO_DEG
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with self._lock:
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self._latest.update(roll=roll, pitch=pitch,
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ax=fax, ay=fay, az=faz,
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gx=fgx, gy=fgy, gz=fgz)
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def latest(self):
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"""最近一次滤波后的姿态数据（线程安全，返回副本）"""
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with self._lock:
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return dict(self._latest)
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# ---------------- 采样线程 ----------------
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def start_daemon(self):
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if self._thread is not None:
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return
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self._stop.clear()
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self._thread = threading.Thread(target=self._loop,
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name="mpu6050-sampler", daemon=True)
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self._thread.start()
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log.debug("mpu6050 sampler started")
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def _loop(self):
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while not self._stop.wait(SAMPLE_INTERVAL): # 10ms 周期
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try:
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self._sample_once()
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except i2c.I2CError as e:
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log.warning("mpu6050 sample failed: %s", e)
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def stop_daemon(self):
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self._stop.set()
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def wait_daemon(self):
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if self._thread is not None:
|
||||
self._thread.join()
|
||||
self._thread = None
|
||||
log.debug("mpu6050 sampler stopped")
|
||||
@@ -0,0 +1,29 @@
|
||||
"""舵机类 —— 移植自 bot4cj/src/hd/Servo.cj
|
||||
|
||||
含最大值、最小值、漂移值三个调整项，以及一个设置角度回调函数。
|
||||
角度算法与仓颉版逐行对齐：
|
||||
a = angle + offset
|
||||
a = clamp(a, |min|, |max|)
|
||||
if max < 0: a = 180 - a # 负 max 表示舵机反装，角度翻转
|
||||
"""
|
||||
|
||||
MAX_ANGLE = 180.0
|
||||
|
||||
|
||||
class Servo:
|
||||
|
||||
def __init__(self, max_angle, min_angle, offset, set_angle_callback):
|
||||
self.max = max_angle
|
||||
self.min = min_angle
|
||||
self.offset = offset
|
||||
self._set_angle = set_angle_callback
|
||||
|
||||
def set_angle(self, angle):
|
||||
a = angle + self.offset # 加上漂移值
|
||||
if a > abs(self.max):
|
||||
a = abs(self.max)
|
||||
if a < abs(self.min):
|
||||
a = abs(self.min)
|
||||
if self.max < 0.0:
|
||||
a = MAX_ANGLE - a # 反装翻转
|
||||
self._set_angle(a)
|
||||
@@ -0,0 +1,98 @@
|
||||
"""扬声器 —— 移植自 bot4cj/src/hd/snd.cj
|
||||
|
||||
与仓颉版的差异（审计修复 S03）：
|
||||
仓颉版 play 只是 sleep 占位、不出声；本版用标准库 wave 生成正弦波
|
||||
PCM 文件，经 `aplay -q` 播放（树莓派自带 alsa-utils）。
|
||||
aplay 不存在时降级为 sleep 占位（保持时序节拍不变）；
|
||||
dry_run 模式下仅记日志立即返回（不 sleep、不出声）。
|
||||
|
||||
时序约定：play() 阻塞总耗时对齐 delay_ms（与仓颉版 sleep(delay) 节拍一致），
|
||||
播放提前结束则补足剩余时间。
|
||||
"""
|
||||
|
||||
import logging
|
||||
import math
|
||||
import os
|
||||
import shutil
|
||||
import struct
|
||||
import subprocess
|
||||
import tempfile
|
||||
import time
|
||||
import wave
|
||||
|
||||
log = logging.getLogger("pybot.speaker")
|
||||
|
||||
FADE_MS = 5 # 首尾淡入淡出时长，消除爆音
|
||||
|
||||
|
||||
class Speaker:
|
||||
"""正弦波蜂鸣扬声器
|
||||
|
||||
volumn: 0.0~1.0 音量；max_f/min_f: 频率钳制范围（Hz）
|
||||
"""
|
||||
|
||||
def __init__(self, channels=1, sample_rate=44100, volumn=0.5,
|
||||
max_f=20000.0, min_f=20.0, dry_run=False):
|
||||
self.channels = channels
|
||||
self.sample_rate = sample_rate
|
||||
self.volumn = volumn
|
||||
self.max_f = max_f
|
||||
self.min_f = min_f
|
||||
self.dry_run = dry_run
|
||||
self._aplay = shutil.which("aplay")
|
||||
if self._aplay is None and not dry_run:
|
||||
log.warning("aplay not found, speaker degrades to silent sleep")
|
||||
|
||||
def play(self, frequency, delay_ms):
|
||||
"""播放 frequency Hz 正弦波 delay_ms 毫秒（阻塞）"""
|
||||
# 频率钳制（与仓颉版一致）
|
||||
if frequency > self.max_f:
|
||||
frequency = self.max_f
|
||||
if frequency < self.min_f:
|
||||
frequency = self.min_f
|
||||
if self.dry_run:
|
||||
log.info("speaker(dry-run): %.1fHz %dms", frequency, delay_ms)
|
||||
return
|
||||
start = time.monotonic()
|
||||
if self._aplay is not None:
|
||||
try:
|
||||
self._play_aplay(frequency, delay_ms)
|
||||
except (OSError, subprocess.SubprocessError) as e:
|
||||
log.warning("aplay failed: %s", e)
|
||||
# 补足剩余时间，保证总耗时对齐 delay_ms
|
||||
remain = delay_ms / 1000.0 - (time.monotonic() - start)
|
||||
if remain > 0:
|
||||
time.sleep(remain)
|
||||
|
||||
# ---------------- 内部 ----------------
|
||||
|
||||
def _synth(self, frequency, delay_ms):
|
||||
"""生成带 5ms 淡入淡出的 16bit PCM 正弦波"""
|
||||
n = int(self.sample_rate * delay_ms / 1000.0)
|
||||
fade = min(int(self.sample_rate * FADE_MS / 1000.0), n // 2)
|
||||
amp = self.volumn * 32767.0
|
||||
w = 2.0 * math.pi * frequency / self.sample_rate
|
||||
frames = bytearray()
|
||||
for i in range(n):
|
||||
gain = 1.0
|
||||
if i < fade:
|
||||
gain = i / fade # 淡入
|
||||
elif i >= n - fade:
|
||||
gain = (n - i) / fade # 淡出
|
||||
v = int(amp * gain * math.sin(w * i))
|
||||
frames += struct.pack("<h", v) * self.channels
|
||||
return bytes(frames)
|
||||
|
||||
def _play_aplay(self, frequency, delay_ms):
|
||||
fd, path = tempfile.mkstemp(suffix=".wav", prefix="pybot_beep_")
|
||||
os.close(fd)
|
||||
try:
|
||||
with wave.open(path, "wb") as f:
|
||||
f.setnchannels(self.channels)
|
||||
f.setsampwidth(2) # 16bit
|
||||
f.setframerate(self.sample_rate)
|
||||
f.writeframes(self._synth(frequency, delay_ms))
|
||||
subprocess.run([self._aplay, "-q", path], check=True,
|
||||
stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
|
||||
finally:
|
||||
os.unlink(path)
|
||||
@@ -0,0 +1,120 @@
|
||||
"""Linux spidev 封装 —— 对应 bot4cj/modules/SPI.lua 所需的底层能力
|
||||
|
||||
纯标准库实现（fcntl.ioctl + ctypes 缓冲区），零第三方依赖。
|
||||
与 hd.i2c 同构：后端可切换（use_mock()/use_real()），
|
||||
Mock journal 供 --dry-run 与单测断言。
|
||||
|
||||
spi_ioc_transfer 结构（32 字节，struct.pack 'QQIIHBBBBH'）：
|
||||
__u64 tx_buf; __u64 rx_buf; __u32 len; __u32 speed_hz;
|
||||
__u16 delay_usecs; __u8 bits_per_word; __u8 cs_change;
|
||||
__u8 tx_nbits; __u8 rx_nbits; __u16 pad;
|
||||
"""
|
||||
|
||||
import ctypes
|
||||
import fcntl
|
||||
import logging
|
||||
import os
|
||||
import struct
|
||||
|
||||
log = logging.getLogger("pybot.spi")
|
||||
|
||||
# spidev ioctl 常量（linux/spi/spidev.h，小端 arm64/x86_64 通用）
|
||||
SPI_IOC_WR_MODE = 0x40016B01
|
||||
SPI_IOC_WR_BITS_PER_WORD = 0x40016B03
|
||||
SPI_IOC_WR_MAX_SPEED_HZ = 0x40046B04
|
||||
SPI_IOC_MESSAGE_1 = 0x40206B00 # SPI_IOC_MESSAGE(1)
|
||||
|
||||
|
||||
class SPIError(OSError):
|
||||
"""SPI 设备异常"""
|
||||
|
||||
|
||||
# ---------------- 后端（真实总线 / Mock） ----------------
|
||||
|
||||
class _RealBackend:
|
||||
|
||||
def open(self, path):
|
||||
return os.open(path, os.O_RDWR)
|
||||
|
||||
def close(self, fd):
|
||||
os.close(fd)
|
||||
|
||||
def setup(self, fd, mode, bits, speed):
|
||||
fcntl.ioctl(fd, SPI_IOC_WR_MODE, struct.pack("B", mode))
|
||||
fcntl.ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, struct.pack("B", bits))
|
||||
fcntl.ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, struct.pack("I", speed))
|
||||
|
||||
def transfer(self, fd, tx, speed, bits):
|
||||
"""全双工传输：发送 tx 字节串，返回等长 rx 字节串"""
|
||||
n = len(tx)
|
||||
tx_buf = ctypes.create_string_buffer(bytes(tx), n)
|
||||
rx_buf = ctypes.create_string_buffer(n)
|
||||
msg = struct.pack("QQIIHBBBBH",
|
||||
ctypes.addressof(tx_buf), ctypes.addressof(rx_buf),
|
||||
n, speed, 0, bits, 0, 0, 0, 0)
|
||||
if fcntl.ioctl(fd, SPI_IOC_MESSAGE_1, msg) < 0:
|
||||
raise SPIError(f"spi transfer failed (fd={fd}, {n} bytes)")
|
||||
return rx_buf.raw
|
||||
|
||||
|
||||
class MockBackend:
|
||||
"""记录型 Mock：不碰硬件，记录全部操作序列供断言/diff"""
|
||||
|
||||
def __init__(self):
|
||||
self.journal = []
|
||||
self.rx_values = {} # {fd: bytes} transfer 返回值注入
|
||||
self._next_fd = 2000
|
||||
|
||||
def open(self, path):
|
||||
fd = self._next_fd
|
||||
self._next_fd += 1
|
||||
self.journal.append(("open", path, fd))
|
||||
return fd
|
||||
|
||||
def close(self, fd):
|
||||
self.journal.append(("close", fd))
|
||||
|
||||
def setup(self, fd, mode, bits, speed):
|
||||
self.journal.append(("setup", fd, mode, bits, speed))
|
||||
|
||||
def transfer(self, fd, tx, speed, bits):
|
||||
self.journal.append(("transfer", fd, bytes(tx), speed, bits))
|
||||
rx = self.rx_values.get(fd, b"")
|
||||
return rx.ljust(len(tx), b"\x00")[:len(tx)]
|
||||
|
||||
|
||||
_backend = _RealBackend()
|
||||
|
||||
|
||||
def use_mock():
|
||||
"""切换到 Mock 总线（--dry-run / 单测），返回 MockBackend 以便读取 journal"""
|
||||
global _backend
|
||||
_backend = MockBackend()
|
||||
return _backend
|
||||
|
||||
|
||||
def use_real():
|
||||
"""切换回真实总线"""
|
||||
global _backend
|
||||
_backend = _RealBackend()
|
||||
|
||||
|
||||
# ---------------- 模块级函数（供插件 modules/*.py 直接调用） ----------------
|
||||
|
||||
def open_dev(path):
|
||||
fd = _backend.open(path)
|
||||
log.debug("spi open %s -> fd=%d", path, fd)
|
||||
return fd
|
||||
|
||||
|
||||
def close_dev(fd):
|
||||
_backend.close(fd)
|
||||
log.debug("spi close fd=%d", fd)
|
||||
|
||||
|
||||
def setup(fd, mode=0, bits=8, speed=500000):
|
||||
_backend.setup(fd, mode, bits, speed)
|
||||
|
||||
|
||||
def transfer(fd, tx, speed=500000, bits=8):
|
||||
return _backend.transfer(fd, tx, speed, bits)
|
||||
Reference in new issue
Block a user