cpp sdk更新

fast_lowcmd_cpp/test_fast_lowcmd.py

@@ -3,6 +3,8 @@ import os
 import pytest
 
 from fast_lowcmd import FastLowCmdBuilder, default_state_path
+from fast_mcu import FastMCUClient
+from go1_fast_lowcmd import FastNativeMCUClient
 from go1_pro_sdk import Blowfish, LowCmd, MotorCmd, MotorMode, PowerProtectViolation
 from go1_pro_sdk import apply_safety
 from go1_pro_sdk.codec.lowcmd_builder import build_low_cmd_encrypted, build_low_cmd_plain
@@ -140,9 +142,30 @@ def test_state_file_is_required():
         FastLowCmdBuilder(os.path.join(os.path.dirname(__file__), "missing_state.bin"))
 
 
+def test_native_mcu_client_empty_recv():
+    client = FastNativeMCUClient(default_state_path(), "127.0.0.1", 8007, 0, 4096, "little")
+    try:
+        assert client.local_port() > 0
+        assert client.recv_latest_fields() is None
+    finally:
+        client.close()
+
+
+def test_fast_mcu_uses_native_udp_client():
+    client = FastMCUClient(mcu_ip="127.0.0.1", mcu_port=8007, local_port=0)
+    try:
+        assert client.backend == "cpp_lowcmd_cpp_lowstate_cpp_udp"
+        assert client.local_port > 0
+        assert client.recv_latest() is None
+    finally:
+        client.close()
+
+
 def test_lowstate_decrypt_matches_python(builder, bf):
     root = os.path.dirname(os.path.dirname(__file__))
     packet_path = os.path.join(root, "data", "captures", "mcu_response.bin")
+    if not os.path.exists(packet_path):
+        pytest.skip("private LowState capture is not available")
     with open(packet_path, "rb") as f:
         packet = f.read()