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mtc 新模块：命令式动作脚本（Python DSL）→ .mt 矩阵编译器，非阻塞时间轴 IR（重叠截断/rest 静止值）+ 10ms 栅格化，产物可由 pybot/bot4cj 直接执行；34 测试全绿（含 pybot parser e2e）。 pybot speaker.py：frequency<=0 改为静音节拍（仅 sleep 保时序，不再钳到 min_f 低鸣），对齐仓颉版 sleep 占位语义；mtc Beep 通道 rest=0，段前/段间/段后回落静音，两侧语义闭环。 修复 test_actpred_compatibility 过时断言（99c1bc1 首行分解为重复微步 19→20 帧时漏改，14→15）。 文档三处同步：根 README 回填 memdb/pybot/actpred 并新增 mtc（模块表+端口一览+章节），MODULES/ARCHITECTURE 同步 mtc，新建 mtc/README.md。
98 lines
2.7 KiB
Python
98 lines
2.7 KiB
Python
"""emit 测试：数值格式化 / .mt 文本结构 / 用户设计示例逐字比对"""
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from mtc.dsl import compile_script
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from mtc.emit import fmt_num
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# 用户设计示例（修正后）：非阻塞时间轴，s2 第 6 行起步
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EXAMPLE = '''
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Servo("s1", 180, 0, 0, "pca9685-0", 0)
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Servo("s2", 180, 0, 0, "pca9685-0", 1)
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Speaker("spk", 2, 48000, 0.6, 5000, 20)
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Action("s1", 10, 100)
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Delay(50)
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Action("s2", 20, 50)
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'''
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EXPECTED_MT = """\
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@Servo
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name max min offset controller channel;
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s1 180 0 0 pca9685-0 0;
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s2 180 0 0 pca9685-0 1;
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@
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@Speaker
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name channels sample_rate volumn max_f min_f;
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spk 2 48000 0.6 5000 20;
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@
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@Action
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s1.angle s2.angle spk.frequency spk.delay;
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1 0 0 10;
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2 0 0 10;
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3 0 0 10;
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4 0 0 10;
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5 0 0 10;
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6 4 0 10;
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7 8 0 10;
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8 12 0 10;
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9 16 0 10;
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10 20 0 10;
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@
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"""
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def test_example_matches_user_design_exactly():
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text, warnings = compile_script(EXAMPLE)
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assert warnings == []
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assert text == EXPECTED_MT
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def test_fmt_num_integer_and_decimal():
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assert fmt_num(10.0) == "10"
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assert fmt_num(0) == "0"
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assert fmt_num(-3.0) == "-3"
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assert fmt_num(1.666666) == "1.667"
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assert fmt_num(2.500) == "2.5"
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def test_non_integer_step_values():
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"""10°/6 步：栅格值保留 3 位小数（pybot parse_mt float 可解析）"""
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text, _ = compile_script(
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'Servo("s1", 180, 0, 0, "pca9685-0", 0)\n'
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'Speaker("spk", 2, 48000, 0.6, 5000, 20)\n'
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'Action("s1", 10, 60)\n')
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rows = [l for l in text.splitlines() if l.endswith("10;")]
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assert len(rows) == 6
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assert rows[0].startswith("1.667 ")
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assert rows[-1].startswith("10 ")
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def test_no_speaker_no_delay_column_and_warns():
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text, warnings = compile_script(
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'Servo("s1", 180, 0, 0, "pca9685-0", 0)\n'
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'Action("s1", 10, 20)\n')
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assert any("无 Speaker" in w for w in warnings)
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assert "s1.angle;" in text # 表头无 frequency/delay 列
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assert "frequency" not in text
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def test_beep_gap_falls_back_to_zero_silence():
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text, _ = compile_script(
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'Speaker("spk", 2, 48000, 0.6, 5000, 20)\n'
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'Beep(1000, 30)\n'
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'Delay(50)\n') # T = max(段尾30, 游标50) = 50 → 5 行
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lines = text.splitlines()
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assert "spk.frequency spk.delay;" in lines
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rows = [l for l in lines if l.endswith(" 10;")]
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# 段内 1000；段后回落 0 = 静音（对齐 pybot speaker freq<=0 语义）
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assert [r.split()[0] for r in rows] == ["1000", "1000", "1000", "0", "0"]
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def test_pure_delay_script_fills_freq_zero_column():
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"""纯延时：自动补 spk.frequency 恒 0 列（SpeakerVar.play 两键契约）"""
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text, _ = compile_script(
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'Speaker("spk", 2, 48000, 0.6, 5000, 20)\n'
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'Delay(50)\n')
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assert "spk.frequency spk.delay;" in text
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assert text.count("0 10;") == 5
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