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

pybot/tests/test_parser.py

@@ -0,0 +1,112 @@
+"""解析器测试：FSM / 列数校验(S01) / 占位符语义 / 序列化往返 / 全量脚本"""
+
+import io
+
+import pytest
+
+from pybot.parser import (DoesNotSync, MatrixParser, MatrixSaver,
+                          get_mt, parse_mt)
+from tests.conftest import SCRIPTS_DIR
+
+
+def parse_all(text):
+    parser = MatrixParser(text)
+    objects = []
+    while True:
+        obj = parser.parse()
+        if obj is None:
+            break
+        objects.append(obj)
+    return objects
+
+
+# ---------------- 基本解析 ----------------
+
+def test_parse_simple_block():
+    objs = parse_all("@Foo\nname val;\na 1;\nb 2;\n@\n")
+    assert len(objs) == 1
+    m = objs[0]
+    assert m.name == "Foo"
+    assert m.size == 3 and m.col == 2
+    assert m[0, 0] == "name" and m[2, 1] == "2"
+
+
+def test_parse_multiple_blocks_and_comments():
+    text = ("# 头部注释\n"
+            "@A\nx y;\n1 2;\n@\n"
+            "@B\nn;\nv;  # 行内注释\n@\n")
+    objs = parse_all(text)
+    assert [o.name for o in objs] == ["A", "B"]
+    assert objs[1][1, 0] == "v"
+
+
+def test_parse_std_mt():
+    objs = parse_all((SCRIPTS_DIR / "std.mt").read_text(encoding="utf-8"))
+    names = [o.name for o in objs]
+    assert names == ["Alias", "I2C", "PCA9685", "MPU6050_BIND",
+                     "Speaker", "Servo", "Action"]
+    servo = objs[names.index("Servo")]
+    assert servo.size == 11 and servo.col == 6      # 表头 + 10 舵机
+    # 注释掉的 MPU6050_BIND 数据行不产生内容
+    assert objs[names.index("MPU6050_BIND")].size == 1
+
+
+@pytest.mark.parametrize("script", sorted(SCRIPTS_DIR.glob("*.mt")),
+                         ids=lambda p: p.name)
+def test_parse_all_scripts(script):
+    """全量 scripts/*.mt 解析：块内每行列数一致且非空"""
+    objs = parse_all(script.read_text(encoding="utf-8"))
+    assert objs, f"{script.name}: no blocks parsed"
+    for o in objs:
+        assert o.name
+        for row in o.values:
+            assert len(row) == o.col
+
+
+# ---------------- S01：列数校验 ----------------
+
+def test_does_not_sync():
+    with pytest.raises(DoesNotSync) as ei:
+        parse_all("@Foo\na b c;\n1 2;\n@\n")
+    assert ei.value.expected == 3 and ei.value.actual == 2
+
+
+def test_missing_semicolon_merges_lines():
+    """漏写分号导致跨行合并成一行（S04 回归场景），列数不齐即报错"""
+    with pytest.raises(DoesNotSync):
+        parse_all("@Foo\na b;\n1 2\n3 4;\n@\n")
+
+
+# ---------------- 占位符语义 ----------------
+
+def _matrix(text):
+    return parse_all(text)[0]
+
+
+def test_placeholder_recursion():
+    m = _matrix("@T\nname v;\na 5;\nb -;\nc -;\n@\n")
+    assert get_mt(m, 3, 1) == "5"           # 递归两级到首行
+    assert parse_mt(m, 3, 1) == 5.0
+
+
+def test_placeholder_first_row():
+    """首行 '-'：get_mt 返回字面 '-'；parse_mt 解析为 typ("0")
+    ⚠️ 与 actpred/mt_parser.py 不同（后者用 @Servo 初始角度填充），不得误统一"""
+    m = _matrix("@T\nname v;\na -;\n@\n")
+    assert get_mt(m, 1, 1) == "-"
+    assert parse_mt(m, 1, 1) == 0.0
+    assert parse_mt(m, 1, 1, int) == 0
+
+
+# ---------------- 序列化往返 ----------------
+
+def test_roundtrip():
+    text = (SCRIPTS_DIR / "std.mt").read_text(encoding="utf-8")
+    objs = parse_all(text)
+    out = io.StringIO()
+    MatrixSaver(out).save(objs)
+    objs2 = parse_all(out.getvalue())
+    assert len(objs2) == len(objs)
+    for a, b in zip(objs, objs2):
+        assert a.name == b.name
+        assert a.values == b.values