增加high lever，待测试，待全部转换为C++版本加速，待接口与官方同步

README.md

@@ -16,6 +16,24 @@ Unitree Go1 **PRO** 机型的低层电机控制 Python SDK。完整逆向 PRO
 
 ## 快速上手
 
+### 高层控制 (走/跳/姿态, 通过 sportMode 系统)
+
+```python
+from go1_pro_sdk import Go1, Velocity, Pose, LED
+
+with Go1() as dog:
+    dog.stand_up()
+    dog.set_walk_mode()
+    dog.walk(Velocity(vx=0.3))    # 前进
+    dog.dance_1()
+    dog.set_led(LED(0, 255, 0))
+    dog.stand_down()
+```
+
+通过 MQTT 控制树莓派上的 Legged_sport. 跟低层互不冲突, 但只能二选一同时用.
+
+### 低层控制 (直接控 12 个电机)
+
 ```python
 from go1_pro_sdk import MCUClient, LowCmd, MotorCmd, MotorMode
 

examples/README.md

@@ -1,5 +1,35 @@
 # Examples
 
+## 高层 (HighLevel) — 通过 sportMode + MQTT, 不需停 Pi 进程
+
+适合: 走/跳/姿态/表演动作. 跟 lowlevel 控制方式互不兼容, 同时只用一种.
+
+### example_highlevel_walk.py — 走一圈
+
+```bash
+python examples/example_highlevel_walk.py
+```
+
+起立 → walk 模式 → 前进 2 秒 → 转向 2 秒 → 趴下.
+
+### example_highlevel_pose.py — 姿态变化
+
+```bash
+python examples/example_highlevel_pose.py
+```
+
+stand 模式下做各种姿态: 倾斜/扭转/抬头/低头/蹲下/撑直.
+
+### example_highlevel_dance.py — 跳舞 + 头灯
+
+```bash
+python examples/example_highlevel_dance.py
+```
+
+dance_1 + 头灯炫彩切换.
+
+## 低层 (LowLevel) — 直接控制 12 电机, 必须停 sportMode
+
 每个示例都假定:
 - 你已经从狗上提取了 `blowfish_state.bin` (或用包内置的)
 - 已经停掉 Pi 上的 keep_sport_alive + Legged_sport + appTransit

examples/example_highlevel_dance.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+"""高层表演: 跳舞 1 + 头灯炫彩."""
+import sys
+import time
+
+from go1_pro_sdk import Go1, LED
+
+
+def main():
+    print('🐕 高层示例: 跳舞 + 头灯')
+
+    with Go1() as dog:
+        # 头灯橙黄
+        dog.set_led(LED(255, 128, 0))
+
+        print('stand_up...')
+        dog.stand_up()
+        time.sleep(3)
+
+        print('dance_1!')
+        dog.dance_1()
+
+        # 跳舞期间循环换色
+        colors = [(255, 0, 0), (0, 255, 0), (0, 0, 255), (255, 255, 0), (255, 0, 255)]
+        for r, g, b in colors:
+            dog.set_led(LED(r, g, b))
+            time.sleep(2)
+
+        print('stand_down...')
+        dog.stand_down()
+        time.sleep(3)
+        dog.set_led(LED(0, 0, 0))
+
+    print('✅ 结束')
+
+
+if __name__ == '__main__':
+    sys.exit(main() or 0)

examples/example_highlevel_pose.py

@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+"""高层姿态控制: 站立 + 各方向倾斜/扭转."""
+import sys
+import time
+
+from go1_pro_sdk import Go1, Pose
+
+
+def main():
+    print('🐕 高层示例: 站立姿态变化')
+
+    with Go1() as dog:
+        print('stand_up...')
+        dog.stand_up()
+        time.sleep(3)
+
+        print('进入 stand 模式...')
+        dog.set_stand_mode()
+        time.sleep(1)
+
+        poses = [
+            ('左倾', Pose(lean_left_right=-0.5)),
+            ('右倾', Pose(lean_left_right=+0.5)),
+            ('扭头左', Pose(twist_left_right=-0.5)),
+            ('扭头右', Pose(twist_left_right=+0.5)),
+            ('低头', Pose(look_up_down=-0.5)),
+            ('抬头', Pose(look_up_down=+0.5)),
+            ('蹲下', Pose(extend_squat=-0.5)),
+            ('撑直', Pose(extend_squat=+0.5)),
+            ('归位', Pose()),
+        ]
+        for name, pose in poses:
+            print(f'  → {name}')
+            for _ in range(15):
+                dog.pose(pose)
+                time.sleep(0.1)
+
+        print('stand_down...')
+        dog.stand_down()
+        time.sleep(3)
+
+    print('✅ 结束')
+
+
+if __name__ == '__main__':
+    sys.exit(main() or 0)

examples/example_highlevel_walk.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+"""高层走动示例 — 站起来 → 走一圈 → 趴下.
+
+跟 lowlevel 控制不同, 高层走的是 sportMode 系统, 不需要 stop_sportmode.
+"""
+import sys
+import time
+
+from go1_pro_sdk import Go1, Velocity, Pose
+
+
+def main():
+    print('🐕 高层控制示例: stand_up → walk → 转向 → 趴下')
+    print('   通过 MQTT 控制 Pi 上的 sportMode')
+
+    with Go1() as dog:
+        print('\n[1/5] stand_up (起立)...')
+        dog.stand_up()
+        time.sleep(3)
+
+        print('[2/5] 进入 walk 模式...')
+        dog.set_walk_mode()
+        time.sleep(1)
+
+        print('[3/5] 前进 2 秒 (vx=0.2)...')
+        for _ in range(20):
+            dog.walk(Velocity(vx=0.2))
+            time.sleep(0.1)
+
+        print('[4/5] 原地转向 2 秒 (vz=0.3)...')
+        for _ in range(20):
+            dog.walk(Velocity(vz=0.3))
+            time.sleep(0.1)
+
+        print('       停止 1 秒...')
+        dog.stop()
+        time.sleep(1)
+
+        print('[5/5] stand_down (趴下)...')
+        dog.stand_down()
+        time.sleep(3)
+
+    print('✅ 结束')
+
+
+if __name__ == '__main__':
+    sys.exit(main() or 0)

go1_pro_sdk/__init__.py

@@ -24,6 +24,7 @@
         client.safe_stop()                       # 退出前发 damping
 """
 from .connection.mcu_client import MCUClient
+from .highlevel import Go1, Go1MQTT, Velocity, Pose, LED, Mode
 from .codec.blowfish import Blowfish, verify_state
 from .codec.lowcmd_builder import build_low_cmd_plain, build_low_cmd_encrypted
 from .codec.lowstate_parser import parse_low_state
@@ -47,7 +48,9 @@ from .utils import (
 __version__ = '0.1.0'
 
 __all__ = [
-    # 高层 API
+    # 高层 (MQTT, sportMode)
+    'Go1', 'Go1MQTT', 'Velocity', 'Pose', 'LED', 'Mode',
+    # 低层 (UDP, MCU 直连)
     'MCUClient',
     # 数据结构
     'MotorCmd', 'MotorState', 'MotorMode',

go1_pro_sdk/highlevel/__init__.py

@@ -0,0 +1,15 @@
+"""高层控制 (MQTT 模式切换 + 速度/姿态命令).
+
+跟 lowlevel (MCUClient / 12 关节) 是两条独立通道:
+  - lowlevel: 直接控电机, 必须停 sportMode, 接管完全控制
+  - highlevel: 通过 sportMode/Legged_sport, 用 MQTT 切换 walk/stand/dance 等模式
+
+正常使用应当只选一种, 不能同时使用 (会冲突).
+
+参考 https://github.com/Daniel89710/unitree-go1-py (MIT License)
+"""
+from .go1 import Go1
+from .mqtt_client import Go1MQTT
+from .types import Velocity, Pose, LED, Mode
+
+__all__ = ['Go1', 'Go1MQTT', 'Velocity', 'Pose', 'LED', 'Mode']

go1_pro_sdk/highlevel/go1.py

@@ -0,0 +1,121 @@
+"""Go1 高层控制 — 友好 API 封装.
+
+跟 unitree-go1-py 的 Go1 类 API 一致, 但去掉了相机/UDP highState 部分
+(我们 lowlevel 通过 MCUClient + Blowfish 拿 12 关节, 不需要 :8082 highState).
+
+用法:
+    from go1_pro_sdk import Go1, Velocity, Pose
+
+    with Go1() as dog:
+        dog.stand_up()
+        time.sleep(2)
+        dog.set_walk_mode()
+        dog.walk(Velocity(vx=0.3))      # 前进
+        time.sleep(2)
+        dog.stop()
+        dog.stand_down()
+"""
+import time
+from typing import Optional
+
+from .mqtt_client import Go1MQTT, DEFAULT_HOST, DEFAULT_PORT
+from .types import LED, Mode, Pose, Velocity
+
+
+class Go1:
+    """Go1 高层控制对象."""
+
+    def __init__(self, host: str = DEFAULT_HOST, port: int = DEFAULT_PORT):
+        self._mqtt = Go1MQTT(host, port)
+
+    def __enter__(self):
+        return self
+
+    def __exit__(self, *args):
+        self.close()
+
+    def close(self):
+        self._mqtt.disconnect()
+
+    # ===== 起立 / 趴下 =====
+
+    def stand_up(self) -> None:
+        """从趴地起立 (forceStand)."""
+        self._mqtt.switch_mode(Mode.STAND_UP)
+
+    def stand_down(self) -> None:
+        """趴下."""
+        self._mqtt.switch_mode(Mode.STAND_DOWN)
+
+    def recover_stand(self) -> None:
+        """从任意姿态恢复站立."""
+        self._mqtt.switch_mode(Mode.RECOVER_STAND)
+
+    def damping(self) -> None:
+        """阻尼模式 (电机失能, 关节自由可手动转动)."""
+        self._mqtt.switch_mode(Mode.DAMPING)
+
+    # ===== 运动模式切换 =====
+
+    def set_stand_mode(self) -> None:
+        """进入 stand 模式 (能用 pose() 调姿态)."""
+        self.pose(Pose())   # 先零姿态
+        self._mqtt.switch_mode(Mode.STAND)
+
+    def set_walk_mode(self) -> None:
+        """进入 walk 模式 (能用 walk() 给速度)."""
+        self.walk(Velocity())
+        self._mqtt.switch_mode(Mode.WALK)
+
+    def set_run_mode(self) -> None:
+        """进入 run 模式 (高速 trot)."""
+        self.walk(Velocity())
+        self._mqtt.switch_mode(Mode.RUN)
+
+    def set_climb_mode(self) -> None:
+        """进入 climb 模式 (上下楼梯)."""
+        self.walk(Velocity())
+        self._mqtt.switch_mode(Mode.CLIMB)
+
+    # ===== 速度 / 姿态命令 =====
+
+    def walk(self, cmd: Velocity) -> None:
+        """发速度命令 (需先 set_walk_mode/run/climb)."""
+        self._mqtt.send_cmd_vel(cmd)
+
+    def pose(self, cmd: Pose) -> None:
+        """发姿态命令 (需先 set_stand_mode)."""
+        self._mqtt.send_cmd_pose(cmd)
+
+    def stop(self) -> None:
+        """立即零速度 (停止行走)."""
+        self.walk(Velocity())
+
+    # ===== 表演动作 =====
+
+    def dance_1(self) -> None:
+        self._mqtt.switch_mode(Mode.DANCE_1)
+
+    def dance_2(self) -> None:
+        self._mqtt.switch_mode(Mode.DANCE_2)
+
+    def straight_hand(self) -> None:
+        """握手动作."""
+        self._mqtt.switch_mode(Mode.STRAIGHT_HAND)
+
+    def jump_yaw(self) -> None:
+        """原地转 90°."""
+        self._mqtt.switch_mode(Mode.JUMP_YAW)
+
+    # ===== LED 头灯 =====
+
+    def set_led(self, led: LED) -> None:
+        """设置头灯 RGB."""
+        self._mqtt.set_led(led)
+
+    # ===== 通用 =====
+
+    @property
+    def mqtt(self) -> Go1MQTT:
+        """直接访问 MQTT 客户端 (高级用途, 比如订阅 BMS)."""
+        return self._mqtt

go1_pro_sdk/highlevel/mqtt_client.py

@@ -0,0 +1,142 @@
+"""MQTT 客户端 — 高层控制底层封装."""
+import random
+import socket
+import struct
+import sys
+from typing import Callable, Optional
+
+from .types import LED, Mode, Pose, Velocity, PubTopic, SubTopic
+
+DEFAULT_HOST = "192.168.123.161"   # 树莓派 (MQTT broker 跑在上面)
+DEFAULT_PORT = 1883
+DEFAULT_KEEPALIVE = 60
+
+
+def _clip(v: float, lo: float = -1.0, hi: float = 1.0) -> float:
+    return max(lo, min(hi, v))
+
+
+class Go1MQTT:
+    """高层 MQTT 客户端.
+
+    用法:
+        with Go1MQTT() as mqtt:
+            mqtt.switch_mode(Mode.STAND)
+            mqtt.send_cmd_pose(Pose(lean_left_right=0.3))
+    """
+
+    def __init__(self, host: str = DEFAULT_HOST, port: int = DEFAULT_PORT,
+                 keepalive: int = DEFAULT_KEEPALIVE,
+                 on_message: Optional[Callable] = None):
+        try:
+            import paho.mqtt.client as mqtt_client
+        except ImportError:
+            print("❌ paho-mqtt 未安装. 装一下: pip install paho-mqtt")
+            sys.exit(1)
+
+        self._host = host
+        self._port = port
+        self._keepalive = keepalive
+        self._client_id = f"go1_pro_sdk-{random.randint(0, 100000)}"
+
+        self._mqttc = mqtt_client.Client(
+            client_id=self._client_id,
+            callback_api_version=mqtt_client.CallbackAPIVersion.VERSION2,
+        )
+
+        def _on_connect(client, userdata, flags, rc, properties):
+            if rc == 0:
+                pass  # quiet
+            else:
+                print(f"[MQTT] connect failed rc={rc}")
+
+        def _on_message(client, userdata, msg):
+            if on_message:
+                on_message(msg.topic, msg.payload)
+
+        self._mqttc.on_connect = _on_connect
+        self._mqttc.on_message = _on_message
+        try:
+            self._mqttc.connect(host, port, keepalive)
+        except (socket.timeout, OSError) as err:
+            print(f"❌ [MQTT] 连接 {host}:{port} 失败: {err}")
+            print("   检查 192.168.123.161 (Pi) 是否在线, MQTT broker 是否运行")
+            raise
+
+        self._mqttc.loop_start()
+
+    def __enter__(self):
+        return self
+
+    def __exit__(self, *args):
+        self.disconnect()
+
+    def disconnect(self):
+        try:
+            self._mqttc.loop_stop()
+            self._mqttc.disconnect()
+        except Exception:
+            pass
+
+    # ===== 订阅 =====
+
+    def subscribe(self, topic: str, qos: int = 0):
+        """订阅一个 topic. 消息到达时调用构造函数传入的 on_message."""
+        self._mqttc.subscribe(topic, qos)
+
+    # ===== 模式切换 =====
+
+    def switch_mode(self, mode):
+        """切换运动模式.
+
+        Args:
+            mode: Mode 枚举或字符串. 例: Mode.STAND_UP / "standUp"
+        """
+        payload = mode.value if isinstance(mode, Mode) else str(mode)
+        self._mqttc.publish(PubTopic.ACTION.value, payload, qos=1)
+
+    # ===== 速度/姿态命令 =====
+
+    def send_cmd_vel(self, cmd: Velocity):
+        """发送速度命令 (须先 walk/run/climb 模式).
+
+        Unitree 协议: stick 上发 4 个 float (vy, vz, 0, vx), 比较反直觉.
+        """
+        # 先发零给摇杆缓冲清零 (跟原版一致)
+        self._mqttc.publish(PubTopic.STICK.value, struct.pack("ffff", 0, 0, 0, 0), qos=0)
+
+        vx = _clip(cmd.vx)
+        vy = _clip(cmd.vy)
+        vz = _clip(cmd.vz)
+        self._mqttc.publish(
+            PubTopic.STICK.value,
+            struct.pack("ffff", vy, vz, 0.0, vx),
+            qos=0,
+        )
+
+    def send_cmd_pose(self, cmd: Pose):
+        """发送姿态命令 (须先进入 stand 模式)."""
+        ll = _clip(cmd.lean_left_right)
+        tw = _clip(cmd.twist_left_right)
+        lu = _clip(cmd.look_up_down)
+        es = _clip(cmd.extend_squat)
+        self._mqttc.publish(
+            PubTopic.STICK.value,
+            struct.pack("ffff", ll, tw, lu, es),
+            qos=0,
+        )
+
+    # ===== LED =====
+
+    def set_led(self, led: LED):
+        """设置头灯 RGB 颜色 (0-255)."""
+        r = max(0, min(255, int(led.r)))
+        g = max(0, min(255, int(led.g)))
+        b = max(0, min(255, int(led.b)))
+        self._mqttc.publish(PubTopic.LED.value, bytes([r, g, b]), qos=1)
+
+    # ===== 原始访问 =====
+
+    def publish_raw(self, topic: str, payload, qos: int = 0):
+        """直接发布 (高级用途)."""
+        self._mqttc.publish(topic, payload, qos)

go1_pro_sdk/highlevel/types.py

@@ -0,0 +1,68 @@
+"""高层控制数据类型 (移植自 unitree-go1-py)."""
+from enum import Enum
+from typing import NamedTuple
+
+
+class Mode(str, Enum):
+    """可切换的运动模式 (MQTT controller/action payload)."""
+    DAMPING = "damping"
+    STAND_UP = "standUp"
+    STAND_DOWN = "standDown"
+    RECOVER_STAND = "recoverStand"
+    STAND = "stand"
+    WALK = "walk"
+    RUN = "run"
+    CLIMB = "climb"
+    # 表演模式
+    DANCE_1 = "dance1"
+    DANCE_2 = "dance2"
+    STRAIGHT_HAND = "straightHand1"
+    JUMP_YAW = "jumpYaw"
+
+
+class Velocity(NamedTuple):
+    """走动速度命令.
+
+    需要先进入 walk/run/climb 模式才生效. 各值范围 -1..+1.
+    """
+    vx: float = 0.0    # 前后 (前正)
+    vy: float = 0.0    # 左右 (左正)
+    vz: float = 0.0    # 转向角速度 (左转正)
+
+
+class Pose(NamedTuple):
+    """姿态命令 (需先进入 stand 模式).
+
+    各值范围 -1..+1.
+    """
+    lean_left_right: float = 0.0     # 身体左右倾
+    twist_left_right: float = 0.0    # 身体扭转
+    look_up_down: float = 0.0        # 抬头/低头
+    extend_squat: float = 0.0        # 撑直/下蹲
+
+
+class LED(NamedTuple):
+    """LED RGB (0-255)."""
+    r: int = 0
+    g: int = 0
+    b: int = 0
+
+
+# ===== MQTT topics =====
+
+class PubTopic(str, Enum):
+    """发布主题."""
+    ACTION = "controller/action"           # 切换运动模式
+    STICK = "controller/stick"             # 摇杆命令 (4 floats)
+    CODE = "programming/code"              # 编程接口 (高级)
+    CURRENT_ACTION = "programming/current_action"
+    RUN = "programming/run"
+    LED = "face_light/color"               # 头灯颜色
+
+
+class SubTopic(str, Enum):
+    """订阅主题."""
+    BMS = "bms/state"
+    FIRMWARE = "firmware/version"
+    CODE = "programming/code"
+    ACTION = "programming/action"          # 当前正在执行的动作

pyproject.toml

@@ -19,10 +19,9 @@ classifiers = [
     "Programming Language :: Python :: 3.8",
     "Topic :: Scientific/Engineering :: Robotics",
 ]
-dependencies = []   # 纯标准库
-
-[project.optional-dependencies]
-mqtt = ["paho-mqtt>=2.0.0"]   # 用 MQTT 切换 sportMode 模式时需要
+dependencies = [
+    "paho-mqtt>=2.0.0",   # 高层 MQTT 控制 (Go1 / Go1MQTT)
+]   # lowlevel (MCUClient) 不需要任何依赖, 纯标准库
 
 [project.urls]
 Homepage = "https://github.com/your-username/go1_pro_sdk"
@@ -32,6 +31,7 @@ Documentation = "https://github.com/your-username/go1_pro_sdk/blob/main/docs/"
 packages = ["go1_pro_sdk",
             "go1_pro_sdk.codec",
             "go1_pro_sdk.connection",
+            "go1_pro_sdk.highlevel",
             "go1_pro_sdk.safety",
             "go1_pro_sdk.types",
             "go1_pro_sdk.utils"]

tests/test_highlevel.py

@@ -0,0 +1,144 @@
+"""高层 MQTT 控制测试 (用 unittest.mock 替换 paho.mqtt, 不需要真实 broker)."""
+import struct
+from unittest.mock import MagicMock, patch
+import pytest
+
+
+@pytest.fixture
+def mock_mqtt():
+    """打补丁让 Go1MQTT 用 mock client, 不实际连接."""
+    with patch('paho.mqtt.client.Client') as MockClient:
+        instance = MagicMock()
+        MockClient.return_value = instance
+        yield instance
+
+
+def test_velocity_default():
+    from go1_pro_sdk import Velocity
+    v = Velocity()
+    assert v.vx == 0.0
+    assert v.vy == 0.0
+    assert v.vz == 0.0
+
+
+def test_pose_named_arg():
+    from go1_pro_sdk import Pose
+    p = Pose(lean_left_right=0.5)
+    assert p.lean_left_right == 0.5
+    assert p.twist_left_right == 0.0
+
+
+def test_mode_enum_string():
+    from go1_pro_sdk import Mode
+    assert Mode.STAND_UP.value == 'standUp'
+    assert Mode.DANCE_1.value == 'dance1'
+    assert Mode.DAMPING.value == 'damping'
+
+
+def test_go1mqtt_connect_and_disconnect(mock_mqtt):
+    from go1_pro_sdk.highlevel import Go1MQTT
+    client = Go1MQTT(host='localhost', port=1883)
+    mock_mqtt.connect.assert_called_once_with('localhost', 1883, 60)
+    mock_mqtt.loop_start.assert_called_once()
+
+    client.disconnect()
+    mock_mqtt.loop_stop.assert_called()
+    mock_mqtt.disconnect.assert_called()
+
+
+def test_switch_mode_publishes_to_action(mock_mqtt):
+    from go1_pro_sdk import Mode
+    from go1_pro_sdk.highlevel import Go1MQTT
+    client = Go1MQTT()
+
+    client.switch_mode(Mode.STAND_UP)
+
+    # 应该发送 controller/action = "standUp"
+    mock_mqtt.publish.assert_called_with('controller/action', 'standUp', qos=1)
+
+
+def test_switch_mode_string_also_works(mock_mqtt):
+    from go1_pro_sdk.highlevel import Go1MQTT
+    client = Go1MQTT()
+    client.switch_mode('walk')
+    mock_mqtt.publish.assert_called_with('controller/action', 'walk', qos=1)
+
+
+def test_send_cmd_vel_publishes_4_floats(mock_mqtt):
+    from go1_pro_sdk import Velocity
+    from go1_pro_sdk.highlevel import Go1MQTT
+    client = Go1MQTT()
+
+    client.send_cmd_vel(Velocity(vx=0.3, vy=0.1, vz=-0.2))
+
+    # 应该有 2 次 publish: 先归零再发实际
+    assert mock_mqtt.publish.call_count >= 2
+    last_call = mock_mqtt.publish.call_args_list[-1]
+    topic, payload = last_call.args[0], last_call.args[1]
+    assert topic == 'controller/stick'
+    # 协议: (vy, vz, 0, vx) — unitree 反直觉的顺序
+    vy, vz, _, vx = struct.unpack('ffff', payload)
+    assert abs(vy - 0.1) < 1e-5
+    assert abs(vz - (-0.2)) < 1e-5
+    assert abs(vx - 0.3) < 1e-5
+
+
+def test_send_cmd_vel_clips_to_1(mock_mqtt):
+    from go1_pro_sdk import Velocity
+    from go1_pro_sdk.highlevel import Go1MQTT
+    client = Go1MQTT()
+
+    client.send_cmd_vel(Velocity(vx=5.0, vy=-3.0, vz=0.0))   # 超界
+    last_payload = mock_mqtt.publish.call_args_list[-1].args[1]
+    vy, vz, _, vx = struct.unpack('ffff', last_payload)
+    assert vx == 1.0
+    assert vy == -1.0
+
+
+def test_send_cmd_pose(mock_mqtt):
+    from go1_pro_sdk import Pose
+    from go1_pro_sdk.highlevel import Go1MQTT
+    client = Go1MQTT()
+
+    client.send_cmd_pose(Pose(lean_left_right=0.3, twist_left_right=0.0,
+                              look_up_down=0.2, extend_squat=-0.5))
+    payload = mock_mqtt.publish.call_args.args[1]
+    ll, tw, lu, es = struct.unpack('ffff', payload)
+    assert abs(ll - 0.3) < 1e-5
+    assert abs(lu - 0.2) < 1e-5
+    assert abs(es - (-0.5)) < 1e-5
+
+
+def test_set_led_publishes_3_bytes(mock_mqtt):
+    from go1_pro_sdk import LED
+    from go1_pro_sdk.highlevel import Go1MQTT
+    client = Go1MQTT()
+
+    client.set_led(LED(255, 128, 0))
+    last_call = mock_mqtt.publish.call_args
+    assert last_call.args[0] == 'face_light/color'
+    assert last_call.args[1] == bytes([255, 128, 0])
+
+
+def test_set_led_clips_0_255(mock_mqtt):
+    from go1_pro_sdk import LED
+    from go1_pro_sdk.highlevel import Go1MQTT
+    client = Go1MQTT()
+
+    client.set_led(LED(300, -10, 100))
+    assert mock_mqtt.publish.call_args.args[1] == bytes([255, 0, 100])
+
+
+def test_go1_high_level_api_calls_mqtt(mock_mqtt):
+    """Go1 类的方法应该都委托给 Go1MQTT."""
+    from go1_pro_sdk import Go1, Velocity, LED
+
+    with Go1() as dog:
+        dog.stand_up()
+        dog.dance_1()
+        dog.walk(Velocity(vx=0.5))
+        dog.set_led(LED(0, 255, 0))
+        dog.stand_down()
+
+    # 应该有多次 publish
+    assert mock_mqtt.publish.call_count >= 5