cpp对齐官方

tests/test_mcu_client.py

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+from pathlib import Path
+from hashlib import sha256
+
+import pytest
+
+from go1_pro_sdk import LowCmd, MCUClient
+from go1_pro_sdk.connection import mcu_client as mcu_module
+
+
+ROOT = Path(__file__).resolve().parents[1]
+CAPTURE_FILE = ROOT / "data/captures/mcu_response_new.bin"
+if not CAPTURE_FILE.is_file():
+    pytest.skip("private LowState capture is not available", allow_module_level=True)
+CAPTURE = CAPTURE_FILE.read_bytes()
+DAMPING_SHA256 = "ca911b04a09d8e8b069c96ac31e410b683fcf1bff625dd203f9efde215888400"
+
+
+class FakeSocket:
+    def __init__(self):
+        self.sent = []
+        self.recv_batches = []
+        self.closed = False
+        self.bound = None
+        self.blocking = None
+
+    def setblocking(self, value):
+        self.blocking = value
+
+    def setsockopt(self, *args):
+        pass
+
+    def bind(self, address):
+        self.bound = address
+
+    def getsockname(self):
+        return ("0.0.0.0", 45678)
+
+    def sendto(self, data, address):
+        self.sent.append((bytes(data), address))
+        return len(data)
+
+    def recvfrom(self, size):
+        if not self.recv_batches:
+            raise BlockingIOError
+        batch = self.recv_batches[0]
+        if not batch:
+            self.recv_batches.pop(0)
+            raise BlockingIOError
+        return batch.pop(0)[:size], ("192.168.123.10", 8007)
+
+    def close(self):
+        self.closed = True
+
+
+@pytest.fixture
+def fake_socket(monkeypatch):
+    sock = FakeSocket()
+    monkeypatch.setattr(mcu_module.socket, "socket", lambda *args, **kwargs: sock)
+    monkeypatch.setattr(mcu_module.time, "sleep", lambda duration: None)
+    return sock
+
+
+def test_native_client_send_receive_and_close(fake_socket):
+    with MCUClient() as client:
+        assert client.local_port == 45678
+        assert client.send(LowCmd().all_damping()) == 616
+        packet, address = fake_socket.sent[-1]
+        assert address == ("192.168.123.10", 8007)
+        assert sha256(packet).hexdigest() == DAMPING_SHA256
+
+        fake_socket.recv_batches = [[CAPTURE]]
+        state = client.recv_latest()
+        assert state is client.last_state
+        assert [motor.temperature for motor in state.motorState[:3]] == [79, 50, 51]
+        assert state.wirelessRemote[:2] == b"\x55\x51"
+
+    assert fake_socket.closed
+    assert client.sock is None
+
+
+def test_native_client_ignores_invalid_state(fake_socket):
+    client = MCUClient()
+    fake_socket.recv_batches = [[b"\x00" * 858]]
+    assert client.recv_latest() is None
+    assert client.last_state is None
+
+
+def test_native_wake_and_safe_stop(fake_socket):
+    client = MCUClient()
+    fake_socket.recv_batches = [[CAPTURE], [CAPTURE], [CAPTURE]]
+    assert client.wake_mcu(n_frames=3, dt=0) == 3
+    assert len(fake_socket.sent) == 3
+    assert all(sha256(packet).hexdigest() == DAMPING_SHA256 for packet, _ in fake_socket.sent)
+
+    client.safe_stop(n_frames=2, dt=0)
+    assert len(fake_socket.sent) == 5
+    assert all(sha256(packet).hexdigest() == DAMPING_SHA256 for packet, _ in fake_socket.sent)