cpp sdk更新

fast_lowcmd_cpp/fast_mcu.py

@@ -1,12 +1,12 @@
-"""Fast MCU client using native LowState decrypt/parse.
+"""Fast MCU client using native LowState decrypt/parse and UDP drain.
 
 The public shape mirrors go1_pro_sdk.connection.MCUClient for deployment code,
 while keeping the receive hot path out of pure Python.
 """
-import socket
 import time
 
 from fast_lowcmd import FastLowCmdBuilder, default_state_path
+from go1_fast_lowcmd import FastNativeMCUClient
 from go1_pro_sdk import MCU_IP, MCU_PORT
 from go1_pro_sdk.utils.constants import RCVBUF_SIZE
 
@@ -127,16 +127,19 @@ class FastMCUClient:
             raise ValueError("FastMCUClient currently supports only little-endian Blowfish state")
         self.mcu_ip = mcu_ip
         self.mcu_port = mcu_port
-        self.builder = FastLowCmdBuilder(state_path or default_state_path())
-
-        sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-        sock.setblocking(False)
-        sock.setsockopt(socket.SOL_SOCKET, socket.SO_RCVBUF, RCVBUF_SIZE)
-        sock.bind(("", local_port))
-        self.sock = sock
-        self.local_port = sock.getsockname()[1]
+        resolved_state_path = state_path or default_state_path()
+        self.builder = FastLowCmdBuilder(resolved_state_path)
+        self._native = FastNativeMCUClient(
+            resolved_state_path,
+            mcu_ip,
+            int(mcu_port),
+            int(local_port),
+            int(RCVBUF_SIZE),
+            endian,
+        )
+        self.local_port = self._native.local_port()
         self._last_state = None
-        self.backend = "cpp_lowcmd_cpp_lowstate"
+        self.backend = "cpp_lowcmd_cpp_lowstate_cpp_udp"
 
     def __enter__(self):
         return self
@@ -145,27 +148,16 @@ class FastMCUClient:
         self.close()
 
     def close(self):
-        if self.sock:
-            self.sock.close()
-            self.sock = None
+        native = getattr(self, "_native", None)
+        if native is not None:
+            native.close()
+            self._native = None
 
     def send_raw(self, raw_cipher):
-        self.sock.sendto(raw_cipher, (self.mcu_ip, self.mcu_port))
-        return len(raw_cipher)
+        return self._native.send_raw(raw_cipher)
 
     def recv_latest(self):
-        last_data = None
-        while True:
-            try:
-                data, _ = self.sock.recvfrom(2048)
-                last_data = data
-            except (BlockingIOError, socket.timeout):
-                break
-
-        if last_data is None:
-            return None
-
-        fields = self.builder.decrypt_lowstate(last_data)
+        fields = self._native.recv_latest_fields()
         if fields is None:
             return None
         self._last_state = FastLowState(fields)