qing
01126a5786
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。
92 lines
3.2 KiB
Python
92 lines
3.2 KiB
Python
"""时间轴 IR 测试：Segment 插值 / Channel 重叠截断 / 采样保持语义"""
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import pytest
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from mtc.timeline import Channel, Segment, total_ms
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# ---------------- Segment ----------------
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def test_segment_value_at_endpoints_and_midpoint():
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s = Segment(t0=50, dur=100, v0=10, v1=30)
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assert s.end == 150
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assert s.value_at(50) == 10 # 段起点取 v0
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assert s.value_at(100) == 20 # 中点线性
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assert s.value_at(150) == 30 # 段尾取 v1
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assert s.value_at(0) == 10 # 段前保持 v0
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assert s.value_at(999) == 30 # 段后保持 v1
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# ---------------- Channel ----------------
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def test_channel_target_defaults_to_initial():
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ch = Channel("s1.angle")
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assert ch.target == 0.0 and ch.busy_until == 0.0
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ch.set_initial(45)
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assert ch.target == 45.0
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def test_channel_set_initial_after_segment_rejected():
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ch = Channel("s1.angle")
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ch.add(0, 100, 0, 10)
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with pytest.raises(ValueError):
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ch.set_initial(45)
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def test_channel_overlap_truncates_prev_and_warns():
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"""重叠：前段截断至新段 t0，基准取前段目标值（由调用方传 v0）"""
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ch = Channel("s1.angle")
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ch.add(0, 100, 0, 10) # [0,100) 0→10
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v0 = ch.target # 10（前段目标值）
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ch.add(50, 100, v0, v0 + 10) # [50,150) 10→20
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assert len(ch.segments) == 2
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assert ch.segments[0].dur == 50 # 前段截断至 t0=50
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assert ch.segments[0].end == 50
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assert ch.overlap_warns and "截断" in ch.overlap_warns[0]
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# 截断点连续：前段尾值 == 新段起点值
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assert ch.value_at(50) == 10
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assert ch.value_at(100) == 15
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def test_channel_value_at_no_segment_uses_initial():
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ch = Channel("s1.angle")
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ch.set_initial(30)
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assert ch.value_at(10) == 30
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assert ch.value_at(9999) == 30
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def test_channel_value_at_holds_last_target_after_all_segments():
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ch = Channel("s1.angle")
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ch.add(0, 100, 0, 10)
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ch.add(200, 100, 10, 5)
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assert ch.value_at(150) == 10 # 段间空隙保持前段目标值
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assert ch.value_at(100000) == 5 # 全部完结后保持最后目标值
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def test_channel_rest_value_falls_back_in_gaps():
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"""frequency 型通道（rest=0）：段前/段间空隙/段后统一回落静止值"""
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ch = Channel("spk.frequency", rest=0.0)
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ch.add(20, 30, 1000, 1000) # [20,50) 阶跃段
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ch.add(70, 20, 2000, 2000) # [70,90)
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assert ch.value_at(10) == 0 # 首段之前
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assert ch.value_at(30) == 1000 # 段内
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assert ch.value_at(50) == 1000 # 段尾端点仍属段内
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assert ch.value_at(60) == 0 # 段间空隙回落 rest
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assert ch.value_at(80) == 2000
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assert ch.value_at(999) == 0 # 全部段后回落 rest
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def test_channel_rest_does_not_affect_in_segment_value():
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"""rest 仅作用段外：舵机通道设 rest 时段内插值不受影响"""
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ch = Channel("s1.angle", rest=0.0)
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ch.add(0, 100, 10, 20)
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assert ch.value_at(50) == 15
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def test_total_ms_takes_max_of_channels_and_cursor():
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a, b = Channel("a"), Channel("b")
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a.add(0, 100, 0, 1)
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b.add(50, 100, 0, 1)
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assert total_ms({"a": a, "b": b}, cursor=0) == 150
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assert total_ms({"a": a, "b": b}, cursor=500) == 500
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