init pro_sdk

tests/test_lowcmd_builder.py

@@ -0,0 +1,94 @@
+"""LowCmd 序列化测试 (PRO 格式)."""
+import os
+import pytest
+from go1_pro_sdk import (
+    Blowfish, LowCmd, MotorCmd, MotorMode,
+    build_low_cmd_plain, build_low_cmd_encrypted,
+)
+
+
+STATE_FILE = os.path.join(
+    os.path.dirname(__file__), '..', 'go1_pro_sdk', '_data', 'blowfish_state.bin'
+)
+
+
+@pytest.fixture
+def bf():
+    return Blowfish.from_state_file(STATE_FILE)
+
+
+def test_plain_length_616():
+    cmd = LowCmd()
+    plain = build_low_cmd_plain(cmd)
+    assert len(plain) == 616
+
+
+def test_plain_head():
+    cmd = LowCmd()
+    plain = build_low_cmd_plain(cmd)
+    assert plain[:2] == b'\xfe\xef'
+    assert plain[2] == 0xff
+
+
+def test_plain_sn_version_all_zero():
+    """PRO 真实包 SN/version 全 0."""
+    cmd = LowCmd()
+    plain = build_low_cmd_plain(cmd)
+    assert plain[4:12] == b'\x00' * 8     # SN
+    assert plain[12:20] == b'\x00' * 8    # version
+
+
+def test_plain_bandwidth_be():
+    """bandWidth 是 BE 字节序 (3a c0, 不是 c0 3a)."""
+    cmd = LowCmd()
+    plain = build_low_cmd_plain(cmd)
+    assert plain[20:22] == b'\x3a\xc0'
+
+
+def test_plain_padding_zeros():
+    """610..612 是固定 0000."""
+    cmd = LowCmd()
+    plain = build_low_cmd_plain(cmd)
+    assert plain[610:612] == b'\x00\x00'
+
+
+def test_plain_crc_at_612():
+    """CRC 在 612..616, 不是 EDU 的 610..614."""
+    cmd = LowCmd()
+    plain = build_low_cmd_plain(cmd)
+    from go1_pro_sdk.utils.common import gen_crc
+    expected_crc = gen_crc(plain[:612])
+    assert plain[612:616] == expected_crc
+
+
+def test_encrypted_damping_matches_real(bf):
+    """全 damping 加密后, 前 16B 应跟真实 Legged_sport 抓包一致."""
+    cmd = LowCmd()
+    enc = build_low_cmd_encrypted(cmd, bf)
+    assert len(enc) == 616
+    # 真实抓包前 16B (strace 抓的 Legged_sport sendto 内容)
+    expected = bytes.fromhex('e79e1ccc4bae9cf812aa0354236b66e3')
+    assert enc[:16] == expected
+
+
+def test_set_motor_by_name():
+    cmd = LowCmd()
+    cmd.set_motor('FR_1', MotorCmd(mode=MotorMode.Servo, q=1.2, Kp=5, Kd=1))
+    assert cmd.motorCmd[1].mode == MotorMode.Servo
+    assert cmd.motorCmd[1].q == 1.2
+    assert cmd.motorCmd[1].Kp == 5
+
+
+def test_set_motor_by_index():
+    cmd = LowCmd()
+    cmd.set_motor(5, MotorCmd(q=2.0))
+    assert cmd.motorCmd[5].q == 2.0
+
+
+def test_all_damping():
+    cmd = LowCmd()
+    cmd.motorCmd[0].mode = MotorMode.Servo
+    cmd.motorCmd[0].q = 1.5
+    cmd.all_damping()
+    assert cmd.motorCmd[0].mode == MotorMode.Damping
+    assert cmd.motorCmd[0].q == 0.0