qing
99c1bc1739
pybot run()：带 delay 的首行（无前序状态）不再单步执行，分解为 N=delay//10 个重复微步（插值退化恒等），录制数据全 10ms 均匀节拍， delay 列恒 10ms——行级时长信息已隐式编码在步数中，消除首行 200ms 造成的时间采样不均（frame_len/history_len 等间隔假设被破坏）。 actpred default_column_weights：spk.delay 权重 0.2→0.0（步级恒值列 无信号，与保留位同级）；spk.F 保持 0.2。 新录制数据集（952 样本，delay 恒 10）存于 data/pybot_record_v2（不入库）。
123 lines
4.7 KiB
Python
123 lines
4.7 KiB
Python
"""硬件变量 + RobotStruct 全流程测试（Mock I2C 总线，journal 断言）
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关键期望值（与 bot4cj + PCA9685.lua 逐字节对齐）：
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45° → 脉宽 0.5+2*45/180 = 1.0ms → offval = int(1.0*4096/20) = 204
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135° → 脉宽 2.0ms → offval = int(2.0*4096/20) = 409（s3 反装 45°→135°）
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0° → 脉宽 0.5ms → offval = 102（首行 '-' 占位解析为 0）
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"""
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from pybot.robot import RobotStruct
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from tests.conftest import SCRIPTS_DIR
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PRESCALE = 121 # int(25e6/(4096*50) - 1 + 0.5)
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def std_robot(mock_i2c):
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with open(SCRIPTS_DIR / "std.mt", encoding="utf-8") as f:
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return RobotStruct(f, dry_run=True)
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def _writes(mock, fd):
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return [(e[2], e[3]) for e in mock.journal
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if e[0] == "write_reg" and e[1] == fd]
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def test_create_hardvars(mock_i2c):
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robot = std_robot(mock_i2c)
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assert set(robot.M) == {"A", "F", "i2c-0", "i2c-1", "pca9685-0", "spk",
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"s1", "s2", "s3", "s4", "s5",
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"s6", "s7", "s8", "s9", "s10"}
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# 两条 I2C 总线在工厂阶段即打开
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opens = [e for e in mock_i2c.journal if e[0] == "open"]
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assert [e[1] for e in opens] == ["/dev/i2c-0", "/dev/i2c-1"]
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# 别名变量
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assert robot.M["A"].play({}) == "angle"
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assert robot.M["F"].play({}) == "frequency"
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robot.deactive()
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def test_pca9685_build_sequence(mock_i2c):
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robot = std_robot(mock_i2c)
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fd = robot.M["i2c-1"].play({})["fd"]
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robot.active()
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# 初始化序列：复位 → SLEEP → prescale=121 → 唤醒（与 Lua 版一致）
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assert _writes(mock_i2c, fd) == [
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(0x00, 0x80), (0x00, 0x10), (0xFE, PRESCALE), (0x00, 0x20)]
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assert ("set_addr", fd, 0x40) in mock_i2c.journal
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robot.deactive()
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def test_run_stand_action(mock_i2c):
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robot = std_robot(mock_i2c)
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fd = robot.M["i2c-1"].play({})["fd"]
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robot.active()
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mock_i2c.journal.clear() # 只看 @Action 阶段
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robot.run()
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writes = _writes(mock_i2c, fd)
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reg = lambda ch: 0x06 + 4 * ch # noqa: E731
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def servo_writes(ch, offval):
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return [(reg(ch) + 0, 0x00), (reg(ch) + 1, 0x00),
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(reg(ch) + 2, offval & 0xFF), (reg(ch) + 3, offval >> 8)]
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# s1: 45° 正装 → offval 204；s2: '-' 首行 → 0° → 102
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assert writes[0:4] == servo_writes(0, 204)
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assert writes[4:8] == servo_writes(1, 102)
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# s3: max=-90 反装，45° → 135° → offval 409（写 [153, 1]）
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assert writes[8:12] == servo_writes(2, 409)
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# s9/s10: 90° → offval = int(1.5*4096/20) = 307
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assert writes[32:36] == servo_writes(8, 307)
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assert writes[36:40] == servo_writes(9, 307)
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# 首行 delay=200 → 分解为 20 个重复微步：10 舵机 × 4 寄存器 × 20 步
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assert len(writes) == 800
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assert writes[40:44] == servo_writes(0, 204) # 第 2 步与第 1 步相同
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robot.deactive()
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def test_deactive_reverse_and_idempotent(mock_i2c):
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robot = std_robot(mock_i2c)
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fd0 = robot.M["i2c-0"].play({})["fd"]
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fd1 = robot.M["i2c-1"].play({})["fd"]
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robot.active()
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robot.deactive()
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# 倒序：先 PCA9685 复位（fd1 写 0x80），再关 i2c-1，最后关 i2c-0
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closes = [e[1] for e in mock_i2c.journal if e[0] == "close"]
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assert closes == [fd1, fd0]
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reset_idx = mock_i2c.journal.index(("write_reg", fd1, 0x00, 0x80),
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mock_i2c.journal.index(("close", fd1))
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- 5)
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assert reset_idx < mock_i2c.journal.index(("close", fd1))
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# 幂等：重复调用不再产生操作
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n = len(mock_i2c.journal)
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robot.deactive()
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assert len(mock_i2c.journal) == n
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def test_redefined_hardvar_destroys_old(mock_i2c, caplog):
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"""重名硬件变量：destroy 旧值 + 告警（修复 r.cj:911 FIXME）"""
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text = ("@I2C\nname path;\nx /dev/i2c-0;\nx /dev/i2c-1;\n@\n"
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"@Action\nx.angle;\n0;\n@\n")
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robot = RobotStruct(text, dry_run=True)
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closes = [e for e in mock_i2c.journal if e[0] == "close"]
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assert len(closes) == 1 # 旧的 /dev/i2c-0 已被关闭
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assert any("redefined" in r.message for r in caplog.records)
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robot.deactive()
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def test_action_validation(mock_i2c):
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"""Q05：执行前整表校验列名格式与设备存在性"""
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import pytest
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text = ("@I2C\nname path;\ni /dev/i2c-0;\n@\n"
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"@Action\nbadcolumn;\n0;\n@\n")
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robot = RobotStruct(text, dry_run=True)
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with pytest.raises(ValueError, match="not valid"):
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robot.run()
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robot.deactive()
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text2 = ("@I2C\nname path;\ni /dev/i2c-0;\n@\n"
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"@Action\nghost.angle;\n0;\n@\n")
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robot2 = RobotStruct(text2, dry_run=True)
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with pytest.raises(ValueError, match="not defined"):
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robot2.run()
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robot2.deactive()
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