python部分官方化对齐接口

tests/test_official_compat.py

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+"""Contract tests for the official ``robot_interface`` compatibility API."""
+
+from copy import deepcopy
+
+import pytest
+
+import robot_interface as sdk
+from go1_pro_sdk import build_low_cmd_plain
+
+
+class _FakeMCUClient:
+    instances = []
+
+    def __init__(self, mcu_ip, mcu_port, local_port):
+        self.mcu_ip = mcu_ip
+        self.mcu_port = mcu_port
+        self.local_port = local_port or 49152
+        self.next_state = sdk.LowState()
+        self.next_state.motorState[sdk.FR_1].q = 1.23
+        self.sent = []
+        self.closed = False
+        self.__class__.instances.append(self)
+
+    def send(self, cmd):
+        self.sent.append(deepcopy(cmd))
+        return 616
+
+    def recv_latest(self):
+        return deepcopy(self.next_state)
+
+    def recv_state(self, timeout):
+        return deepcopy(self.next_state)
+
+    def close(self):
+        self.closed = True
+
+
+@pytest.fixture
+def fake_client(monkeypatch):
+    _FakeMCUClient.instances.clear()
+    monkeypatch.setattr(
+        "go1_pro_sdk.compat.robot_interface.MCUClient",
+        _FakeMCUClient,
+    )
+    return _FakeMCUClient
+
+
+def test_official_names_and_data_types_are_available():
+    assert sdk.LOWLEVEL == 0xff
+    assert sdk.LeggedType.Go1 == 2
+    assert sdk.Go1 is sdk.LeggedType.Go1
+    assert sdk.FR_0 == 0
+    assert sdk.RL_2 == 11
+    assert sdk.BmsState().SOC == 0
+    assert sdk.HighCmd().velocity == [0.0, 0.0]
+
+
+def test_init_cmd_data_uses_official_stop_sentinels():
+    udp = sdk.UDP(sdk.LOWLEVEL, 0, "192.168.123.10", 8007)
+    cmd = sdk.LowCmd()
+
+    assert udp.InitCmdData(cmd) is None
+    assert cmd.levelFlag == sdk.LOWLEVEL
+    assert len(cmd.motorCmd) == 20
+    assert all(m.mode == 0x0A for m in cmd.motorCmd)
+    assert all(m.q == sdk.PosStopF for m in cmd.motorCmd)
+    assert all(m.dq == sdk.VelStopF for m in cmd.motorCmd)
+
+
+def test_official_lowlevel_send_receive_sequence(fake_client):
+    udp = sdk.UDP(sdk.LOWLEVEL, 0, "192.168.123.10", 8007)
+    cmd = sdk.LowCmd()
+    state = sdk.LowState()
+    udp.InitCmdData(cmd)
+
+    assert udp.Recv() == 858
+    assert udp.GetRecv(state) is None
+    assert state.motorState[sdk.FR_1].q == pytest.approx(1.23)
+
+    cmd.motorCmd[sdk.FR_1].q = 1.2
+    cmd.motorCmd[sdk.FR_1].dq = 0.0
+    cmd.motorCmd[sdk.FR_1].Kp = 5.0
+    cmd.motorCmd[sdk.FR_1].Kd = 1.0
+    assert udp.SetSend(cmd) == 0
+    assert udp.Send() == 616
+
+    client = fake_client.instances[0]
+    assert client.sent[0].motorCmd[sdk.FR_1].q == pytest.approx(1.2)
+    assert udp.udpState.SendCount == 1
+    assert udp.udpState.RecvCount == 1
+
+
+def test_position_limit_skips_stop_sentinel():
+    cmd = sdk.LowCmd()
+    sdk.UDP(sdk.LOWLEVEL, 0, "192.168.123.10", 8007).InitCmdData(cmd)
+    cmd.motorCmd[sdk.FR_1].q = 99.0
+
+    safe = sdk.Safety(sdk.LeggedType.Go1)
+    assert safe.PositionLimit(cmd) is None
+
+    assert cmd.motorCmd[sdk.FR_0].q == sdk.PosStopF
+    assert cmd.motorCmd[sdk.FR_1].q == pytest.approx(3.5)
+
+
+def test_bms_command_is_serialized():
+    cmd = sdk.LowCmd()
+    cmd.bms.off = 0xA5
+    cmd.bms.reserve = [1, 2, 3]
+
+    plain = build_low_cmd_plain(cmd)
+    assert plain[562:566] == b"\xa5\x01\x02\x03"
+
+
+def test_official_reserved_field_shapes_are_serialized():
+    cmd = sdk.LowCmd()
+    cmd.SN = [0x04030201, 0x08070605]
+    cmd.version = [0x01020304, 0x05060708]
+    cmd.reserve = 0x44332211
+
+    plain = build_low_cmd_plain(cmd)
+    assert plain[4:12] == bytes.fromhex("0102030405060708")
+    assert plain[12:20] == bytes.fromhex("0403020108070605")
+    assert plain[606:610] == bytes.fromhex("11223344")
+
+
+def test_fixed_size_official_arrays_are_validated():
+    cmd = sdk.LowCmd()
+    cmd.wirelessRemote = [0] * 39
+    with pytest.raises(ValueError, match="wirelessRemote"):
+        build_low_cmd_plain(cmd)
+
+
+def test_highlevel_udp_reports_the_unsupported_boundary():
+    udp = sdk.UDP(sdk.HIGHLEVEL, 8080, "192.168.123.161", 8082)
+    cmd = sdk.HighCmd()
+    udp.InitCmdData(cmd)
+    udp.SetSend(cmd)
+
+    with pytest.raises(NotImplementedError, match="HighCmd/HighState UDP"):
+        udp.Send()