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桌面 APP 下 ECAT motor 发送只走 pywebview ESF1→native TCP； 删除桥内 HTTP/JSON 回落。附延迟测量与 pack 自测脚本与规格文档。
61 lines
1.7 KiB
Python
61 lines
1.7 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""ESF1 打包/解包单测（无网卡、无 native）。"""
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from __future__ import annotations
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import os
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import struct
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import sys
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sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..")))
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from esp32_server import ( # noqa: E402
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ESF_FRAME_W,
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ESF_MAGIC,
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FSOK_MAGIC,
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pack_esf,
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unpack_fsok,
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)
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def main() -> int:
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frames = [
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{"ch": 2, "id": 0x00030200, "dlc": 32, "data": "01" + "00" * 31},
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{"ch": 0, "id": 1, "dlc": 2, "data": "AABB"},
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]
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body = pack_esf(frames)
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assert len(body) == 8 + 2 * ESF_FRAME_W, len(body)
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magic, n, flags, reserved = struct.unpack_from("<IBBH", body, 0)
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assert magic == ESF_MAGIC
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assert n == 2 and flags == 0 and reserved == 0
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ch0, dlc0, pad0, id0 = struct.unpack_from("<BBHI", body, 8)
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assert (ch0, dlc0, pad0, id0) == (2, 32, 0, 0x00030200)
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data0 = body[8 + 8 : 8 + 8 + 64]
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assert data0[0] == 0x01 and data0[1] == 0x00 and len(data0) == 64
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ch1, dlc1, _pad1, id1 = struct.unpack_from("<BBHI", body, 8 + ESF_FRAME_W)
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assert (ch1, dlc1, id1) == (0, 2, 1)
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assert body[8 + ESF_FRAME_W + 8 : 8 + ESF_FRAME_W + 10] == b"\xAA\xBB"
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ok = unpack_fsok(struct.pack("<IBBH", FSOK_MAGIC, 1, 3, 7))
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assert ok["ok"] is True and ok["queued"] == 3 and ok["backlog"] == 7
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bad = unpack_fsok(b"\x00" * 8)
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assert bad["ok"] is False
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try:
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pack_esf([{"ch": 9, "id": 1, "dlc": 1, "data": "00"}])
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raise AssertionError("非法 ch 未拒绝")
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except ValueError:
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pass
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try:
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pack_esf([])
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raise AssertionError("空帧未拒绝")
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except ValueError:
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pass
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print("test_esf_pack: PASS")
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return 0
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if __name__ == "__main__":
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sys.exit(main())
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