ROS 2 与 App 通讯 02：控制四台 ZDT 电机app/tests/test_architecture.py
"""ZDT Motor Brick V1 架构边界永久回归测试。"""
import inspect
from pathlib import Path
import time
import unittest
from fake_backend import FakeBackend
import zdt_motor
from zdt_motor import (
BusKind,
ChecksumType,
SocketCanEndpoint,
ZDTCanBus,
ZDTMotor,
ZDTMotorBus,
)
from zdt_motor.backends import CanBackend, CanFrame, SocketCANBackend
from zdt_motor.commands import common, emm, x
from zdt_motor.messages import LogicalCommand, ZDTResponse
from zdt_motor.protocols import ZDTCanProtocol, calculate_checksum, split_can_frames
def response_frames(address, function_code, data):
"""
@description : 构造固定0x6B校验的测试应答帧
@param address : 应答电机地址
@param function_code : 应答功能码
@param data : 不含功能码和校验码的应答数据
@return : CanFrame元组
"""
body = bytes((function_code,)) + bytes(data)
checksum = calculate_checksum("fixed_6b", address, body)
return split_can_frames(address, body + bytes((checksum,)))
def wait_until(predicate, timeout_s=0.3):
"""
@description : 在测试超时内等待条件成立
@param predicate : 返回布尔值的条件函数
@param timeout_s : 最大等待秒数
@return : 条件是否在超时前成立
"""
deadline = time.monotonic() + timeout_s
while time.monotonic() < deadline:
if predicate():
return True
time.sleep(0.001)
return bool(predicate())
class RecordingMotorBus(ZDTMotorBus):
"""记录逻辑请求而不接触任何 CAN 实现的测试总线。"""
def __init__(self):
"""
@description : 初始化逻辑请求记录
@param : 无参数
@return : 无返回值
"""
self.requests = []
@property
def kind(self):
"""
@description : 返回测试总线种类
@param : 无参数
@return : BusKind.CAN
"""
return BusKind.CAN
@property
def endpoint(self):
"""
@description : 返回测试端点
@param : 无参数
@return : None
"""
return None
@property
def checksum(self):
"""
@description : 返回测试校验方式
@param : 无参数
@return : ChecksumType.FIXED_6B
"""
return ChecksumType.FIXED_6B
@property
def default_timeout_s(self):
"""
@description : 返回测试默认超时
@param : 无参数
@return : 0.5秒
"""
return 0.5
def open(self):
"""
@description : 打开测试总线
@param : 无参数
@return : 当前测试总线
"""
return self
def close(self):
"""
@description : 关闭测试总线
@param : 无参数
@return : 无返回值
"""
def request(self, address, command, **kwargs):
"""
@description : 记录逻辑请求并返回测试应答
@param address : 电机地址
@param command : LogicalCommand实例
@param kwargs : 超时等可选参数
@return : ZDTResponse测试应答
"""
self.requests.append((address, command, kwargs))
return ZDTResponse(address, command.function_code, b"\x02", b"", 0.0)
def describe(self):
"""
@description : 返回测试总线描述
@param : 无参数
@return : 测试描述字典
"""
return {"kind": self.kind.value}
class ArchitectureBoundaryTests(unittest.TestCase):
"""验证命令、电机、CAN Session、协议和 Backend 的职责边界。"""
def test_can_backend_contract(self):
"""
@description : 验证真实和测试CAN Backend继承CanBackend
@param : 无参数
@return : 无返回值
"""
self.assertTrue(issubclass(SocketCANBackend, CanBackend))
self.assertIsInstance(FakeBackend(), CanBackend)
def test_motor_accepts_zdt_motor_bus(self):
"""
@description : 验证ZDTMotor只依赖正式ZDTMotorBus契约
@param : 无参数
@return : 无返回值
"""
bus = RecordingMotorBus()
motor = ZDTMotor(bus=bus, motor_id=1, model="X57S", firmware="emm")
self.assertIs(motor.bus, bus)
def test_commands_return_logical_command(self):
"""
@description : 验证三组命令构造器只返回LogicalCommand
@param : 无参数
@return : 无返回值
"""
commands = (
common.build_enable(),
emm.build_speed(10),
x.build_speed(10),
)
self.assertTrue(all(isinstance(item, LogicalCommand) for item in commands))
self.assertTrue(all(not isinstance(item, CanFrame) for item in commands))
def test_commands_do_not_require_can_backend(self):
"""
@description : 验证命令模块源码不依赖CAN帧或Backend
@param : 无参数
@return : 无返回值
"""
for module in (common, emm, x):
source = inspect.getsource(module)
self.assertNotIn("CanFrame", source)
self.assertNotIn("backends", source)
self.assertNotIn("import can", source)
def test_can_protocol_encodes_logical_command(self):
"""
@description : 验证ZDTCanProtocol把逻辑命令编码成正确扩展帧
@param : 无参数
@return : 无返回值
"""
command = LogicalCommand(0xF3, bytes.fromhex("AB 01 00"), 3)
frames = ZDTCanProtocol().encode_command(1, command)
self.assertEqual(len(frames), 1)
self.assertEqual(frames[0].arbitration_id, 0x0100)
self.assertTrue(frames[0].is_extended)
self.assertEqual(frames[0].data, bytes.fromhex("F3 AB 01 00 6B"))
def test_can_protocol_multiframe(self):
"""
@description : 验证长逻辑命令的CAN分包编号和续包功能码
@param : 无参数
@return : 无返回值
"""
command = LogicalCommand(0xFD, bytes(range(1, 15)), 3)
frames = ZDTCanProtocol().encode_command(2, command)
self.assertEqual(
[frame.arbitration_id for frame in frames],
[0x0200, 0x0201, 0x0202],
)
self.assertTrue(all(len(frame.data) <= 8 for frame in frames))
self.assertTrue(all(frame.data[0] == 0xFD for frame in frames))
def test_raw_request_remains_logical(self):
"""
@description : 验证RawMotorAPI把逻辑命令交给ZDTMotorBus请求
@param : 无参数
@return : 无返回值
"""
bus = RecordingMotorBus()
motor = ZDTMotor(bus=bus, motor_id=3, model="X57S", firmware="emm")
response = motor.raw.request(
0x35,
expected_response_length=5,
timeout_s=0.2,
)
address, command, kwargs = bus.requests[0]
self.assertEqual(address, 3)
self.assertIsInstance(command, LogicalCommand)
self.assertEqual(command.function_code, 0x35)
self.assertEqual(command.expected_response_length, 5)
self.assertEqual(kwargs["timeout_s"], 0.2)
self.assertIsInstance(response, ZDTResponse)
def test_raw_api_does_not_expose_frames(self):
"""
@description : 验证RawMotorAPI不再暴露CAN专属frames接口
@param : 无参数
@return : 无返回值
"""
motor = ZDTMotor(
bus=RecordingMotorBus(),
motor_id=1,
model="X57S",
firmware="emm",
)
self.assertFalse(hasattr(motor.raw, "frames"))
def test_only_socketcan_backend_imports_python_can(self):
"""
@description : 验证python-can只出现在SocketCANBackend实现文件
@param : 无参数
@return : 无返回值
"""
package_root = Path(zdt_motor.__file__).resolve().parent
importers = []
for source_path in package_root.rglob("*.py"):
if "import can" in source_path.read_text(encoding="utf-8"):
importers.append(source_path.relative_to(package_root).as_posix())
self.assertEqual(importers, ["backends/socketcan.py"])
def test_completion_function_set_is_specific(self):
"""
@description : 验证F5和9A完成返回进入事件队列
@param : 无参数
@return : 无返回值
"""
backend = FakeBackend()
bus = ZDTCanBus(backend=backend)
try:
bus.open()
for function_code in (0xF5, 0x9A):
for frame in response_frames(1, function_code, b"\x9F"):
backend.queue_frame(frame)
first = bus.next_event(timeout_s=0.2)
second = bus.next_event(timeout_s=0.2)
self.assertEqual(
[(first.function_code, first.data), (second.function_code, second.data)],
[(0xF5, b"\x9F"), (0x9A, b"\x9F")],
)
finally:
bus.close()
def test_event_queue_is_bounded_and_keeps_newest(self):
"""
@description : 验证事件队列满时丢弃最旧事件并累计计数
@param : 无参数
@return : 无返回值
"""
backend = FakeBackend()
bus = ZDTCanBus(backend=backend, event_queue_size=2)
try:
bus.open()
for address in (1, 2, 3):
for frame in response_frames(address, 0xFD, b"\x9F"):
backend.queue_frame(frame)
self.assertTrue(wait_until(lambda: bus.dropped_event_count == 1))
self.assertEqual(bus.next_event().address, 2)
self.assertEqual(bus.next_event().address, 3)
self.assertIsNone(bus.next_event())
finally:
bus.close()
def test_socketcan_endpoint_normalizes_strings(self):
"""
@description : 验证SocketCAN接口名和物理端口会去除首尾空白
@param : 无参数
@return : 无返回值
"""
endpoint = SocketCanEndpoint(
interface=" can0 ",
physical_port=" VENTUNO Q FDCAN1 ",
)
self.assertEqual(endpoint.interface, "can0")
self.assertEqual(endpoint.physical_port, "VENTUNO Q FDCAN1")
if __name__ == "__main__":
unittest.main()