95 lines
2.4 KiB
Python
95 lines
2.4 KiB
Python
"""LowCmd 序列化测试 (PRO 格式)."""
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import os
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import pytest
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from go1_pro_sdk import (
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Blowfish, LowCmd, MotorCmd, MotorMode,
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build_low_cmd_plain, build_low_cmd_encrypted,
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)
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STATE_FILE = os.path.join(
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os.path.dirname(__file__), '..', 'go1_pro_sdk', '_data', 'blowfish_state.bin'
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)
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@pytest.fixture
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def bf():
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return Blowfish.from_state_file(STATE_FILE)
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def test_plain_length_616():
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cmd = LowCmd()
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plain = build_low_cmd_plain(cmd)
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assert len(plain) == 616
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def test_plain_head():
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cmd = LowCmd()
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plain = build_low_cmd_plain(cmd)
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assert plain[:2] == b'\xfe\xef'
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assert plain[2] == 0xff
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def test_plain_sn_version_all_zero():
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"""PRO 真实包 SN/version 全 0."""
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cmd = LowCmd()
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plain = build_low_cmd_plain(cmd)
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assert plain[4:12] == b'\x00' * 8 # SN
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assert plain[12:20] == b'\x00' * 8 # version
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def test_plain_bandwidth_be():
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"""bandWidth 是 BE 字节序 (3a c0, 不是 c0 3a)."""
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cmd = LowCmd()
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plain = build_low_cmd_plain(cmd)
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assert plain[20:22] == b'\x3a\xc0'
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def test_plain_padding_zeros():
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"""610..612 是固定 0000."""
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cmd = LowCmd()
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plain = build_low_cmd_plain(cmd)
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assert plain[610:612] == b'\x00\x00'
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def test_plain_crc_at_612():
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"""CRC 在 612..616, 不是 EDU 的 610..614."""
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cmd = LowCmd()
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plain = build_low_cmd_plain(cmd)
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from go1_pro_sdk.utils.common import gen_crc
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expected_crc = gen_crc(plain[:612])
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assert plain[612:616] == expected_crc
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def test_encrypted_damping_matches_real(bf):
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"""全 damping 加密后, 前 16B 应跟真实 Legged_sport 抓包一致."""
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cmd = LowCmd()
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enc = build_low_cmd_encrypted(cmd, bf)
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assert len(enc) == 616
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# 真实抓包前 16B (strace 抓的 Legged_sport sendto 内容)
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expected = bytes.fromhex('e79e1ccc4bae9cf812aa0354236b66e3')
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assert enc[:16] == expected
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def test_set_motor_by_name():
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cmd = LowCmd()
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cmd.set_motor('FR_1', MotorCmd(mode=MotorMode.Servo, q=1.2, Kp=5, Kd=1))
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assert cmd.motorCmd[1].mode == MotorMode.Servo
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assert cmd.motorCmd[1].q == 1.2
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assert cmd.motorCmd[1].Kp == 5
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def test_set_motor_by_index():
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cmd = LowCmd()
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cmd.set_motor(5, MotorCmd(q=2.0))
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assert cmd.motorCmd[5].q == 2.0
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def test_all_damping():
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cmd = LowCmd()
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cmd.motorCmd[0].mode = MotorMode.Servo
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cmd.motorCmd[0].q = 1.5
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cmd.all_damping()
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assert cmd.motorCmd[0].mode == MotorMode.Damping
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assert cmd.motorCmd[0].q == 0.0
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