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
2026-08-09 18:57:03 +00:00
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+"""硬件变量 + RobotStruct 全流程测试（Mock I2C 总线，journal 断言）
+
+关键期望值（与 bot4cj + PCA9685.lua 逐字节对齐）：
+    45°  → 脉宽 0.5+2*45/180 = 1.0ms → offval = int(1.0*4096/20) = 204
+    135° → 脉宽 2.0ms → offval = int(2.0*4096/20) = 409（s3 反装 45°→135°）
+    0°   → 脉宽 0.5ms → offval = 102（首行 '-' 占位解析为 0）
+"""
+
+from pybot.robot import RobotStruct
+from tests.conftest import SCRIPTS_DIR
+
+PRESCALE = 121      # int(25e6/(4096*50) - 1 + 0.5)
+
+
+def std_robot(mock_i2c):
+    with open(SCRIPTS_DIR / "std.mt", encoding="utf-8") as f:
+        return RobotStruct(f, dry_run=True)
+
+
+def _writes(mock, fd):
+    return [(e[2], e[3]) for e in mock.journal
+            if e[0] == "write_reg" and e[1] == fd]
+
+
+def test_create_hardvars(mock_i2c):
+    robot = std_robot(mock_i2c)
+    assert set(robot.M) == {"A", "F", "i2c-0", "i2c-1", "pca9685-0", "spk",
+                            "s1", "s2", "s3", "s4", "s5",
+                            "s6", "s7", "s8", "s9", "s10"}
+    # 两条 I2C 总线在工厂阶段即打开
+    opens = [e for e in mock_i2c.journal if e[0] == "open"]
+    assert [e[1] for e in opens] == ["/dev/i2c-0", "/dev/i2c-1"]
+    # 别名变量
+    assert robot.M["A"].play({}) == "angle"
+    assert robot.M["F"].play({}) == "frequency"
+    robot.deactive()
+
+
+def test_pca9685_build_sequence(mock_i2c):
+    robot = std_robot(mock_i2c)
+    fd = robot.M["i2c-1"].play({})["fd"]
+    robot.active()
+    # 初始化序列：复位 → SLEEP → prescale=121 → 唤醒（与 Lua 版一致）
+    assert _writes(mock_i2c, fd) == [
+        (0x00, 0x80), (0x00, 0x10), (0xFE, PRESCALE), (0x00, 0x20)]
+    assert ("set_addr", fd, 0x40) in mock_i2c.journal
+    robot.deactive()
+
+
+def test_run_stand_action(mock_i2c):
+    robot = std_robot(mock_i2c)
+    fd = robot.M["i2c-1"].play({})["fd"]
+    robot.active()
+    mock_i2c.journal.clear()        # 只看 @Action 阶段
+    robot.run()
+    writes = _writes(mock_i2c, fd)
+    reg = lambda ch: 0x06 + 4 * ch  # noqa: E731
+
+    def servo_writes(ch, offval):
+        return [(reg(ch) + 0, 0x00), (reg(ch) + 1, 0x00),
+                (reg(ch) + 2, offval & 0xFF), (reg(ch) + 3, offval >> 8)]
+
+    # s1: 45° 正装 → offval 204；s2: '-' 首行 → 0° → 102
+    assert writes[0:4] == servo_writes(0, 204)
+    assert writes[4:8] == servo_writes(1, 102)
+    # s3: max=-90 反装，45° → 135° → offval 409（写 [153, 1]）
+    assert writes[8:12] == servo_writes(2, 409)
+    # s9/s10: 90° → offval = int(1.5*4096/20) = 307
+    assert writes[32:36] == servo_writes(8, 307)
+    assert writes[36:40] == servo_writes(9, 307)
+    # 10 舵机 × 4 寄存器
+    assert len(writes) == 40
+    robot.deactive()
+
+
+def test_deactive_reverse_and_idempotent(mock_i2c):
+    robot = std_robot(mock_i2c)
+    fd0 = robot.M["i2c-0"].play({})["fd"]
+    fd1 = robot.M["i2c-1"].play({})["fd"]
+    robot.active()
+    robot.deactive()
+    # 倒序：先 PCA9685 复位（fd1 写 0x80），再关 i2c-1，最后关 i2c-0
+    closes = [e[1] for e in mock_i2c.journal if e[0] == "close"]
+    assert closes == [fd1, fd0]
+    reset_idx = mock_i2c.journal.index(("write_reg", fd1, 0x00, 0x80),
+                                       mock_i2c.journal.index(("close", fd1))
+                                       - 5)
+    assert reset_idx < mock_i2c.journal.index(("close", fd1))
+    # 幂等：重复调用不再产生操作
+    n = len(mock_i2c.journal)
+    robot.deactive()
+    assert len(mock_i2c.journal) == n
+
+
+def test_redefined_hardvar_destroys_old(mock_i2c, caplog):
+    """重名硬件变量：destroy 旧值 + 告警（修复 r.cj:911 FIXME）"""
+    text = ("@I2C\nname path;\nx /dev/i2c-0;\nx /dev/i2c-1;\n@\n"
+            "@Action\nx.angle;\n0;\n@\n")
+    robot = RobotStruct(text, dry_run=True)
+    closes = [e for e in mock_i2c.journal if e[0] == "close"]
+    assert len(closes) == 1         # 旧的 /dev/i2c-0 已被关闭
+    assert any("redefined" in r.message for r in caplog.records)
+    robot.deactive()
+
+
+def test_action_validation(mock_i2c):
+    """Q05：执行前整表校验列名格式与设备存在性"""
+    import pytest
+    text = ("@I2C\nname path;\ni /dev/i2c-0;\n@\n"
+            "@Action\nbadcolumn;\n0;\n@\n")
+    robot = RobotStruct(text, dry_run=True)
+    with pytest.raises(ValueError, match="not valid"):
+        robot.run()
+    robot.deactive()
+
+    text2 = ("@I2C\nname path;\ni /dev/i2c-0;\n@\n"
+             "@Action\nghost.angle;\n0;\n@\n")
+    robot2 = RobotStruct(text2, dry_run=True)
+    with pytest.raises(ValueError, match="not defined"):
+        robot2.run()
+    robot2.deactive()