feat: 初始化

2026-09-22 20:05:16 +08:00
commit 7d87987e41
54 changed files with 6446 additions and 0 deletions
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+//! 闭环集成测试：`EscBus` + 内存通道 + 一阶电机仿真。
+//!
+//! 全部可在任意平台（macOS / Linux / CI）运行，无需硬件。
+
+#![allow(clippy::unwrap_used, clippy::expect_used)]
+
+use std::time::Duration;
+
+use dji_esc::{
+    BusOptions, CanFrame, CanLink, EscBus, EscBusError, EscConfig, EscFeedback,
+    encode_feedback_frame, spawn_plant,
+};
+use motor_core::{Disable, EffortDrive, MotorFeedback, VelocityDrive};
+use tokio::time::{sleep, timeout};
+
+/// 与 `PlantMotor::gm3508` 增益精确匹配的速度环参数（ff = 16384 / 9254）。
+fn tuned(esc_id: u8, direction: f32) -> EscConfig {
+    let mut cfg = EscConfig::gm3508(format!("m{esc_id}"), esc_id, direction);
+    cfg.kp = 8.0;
+    cfg.ki = 2.0;
+    cfg.kd = 0.0;
+    cfg.feedforward = 16384.0 / 9254.0;
+    cfg
+}
+
+/// 轮询直到条件满足或超时（毫秒，仿真时间）。
+async fn wait_until(total_ms: u64, mut cond: impl FnMut() -> bool) -> bool {
+    let mut waited = 0u64;
+    while waited < total_ms {
+        if cond() {
+            return true;
+        }
+        sleep(Duration::from_millis(5)).await;
+        waited += 5;
+    }
+    cond()
+}
+
+/// 手动向总线注入一帧所有电机的反馈（新鲜度 100ms 内有效）。
+async fn send_feedback(peer: &CanLink, esc_ids: &[u8]) {
+    for &id in esc_ids {
+        let fb = EscFeedback { angle_raw: 0, speed_rpm: 0, current_raw: 0, temperature_c: 30 };
+        peer.outgoing_tx.send(encode_feedback_frame(id, &fb)).await.unwrap();
+    }
+}
+
+async fn recv_command(peer: &mut CanLink) -> CanFrame {
+    timeout(Duration::from_millis(100), peer.incoming_rx.recv())
+        .await
+        .expect("timed out waiting for command frame")
+        .expect("link closed")
+}
+
+fn slot_current(frame: &CanFrame, slot: usize) -> i16 {
+    i16::from_be_bytes([frame.data[slot * 2], frame.data[slot * 2 + 1]])
+}
+
+// ---------------------------------------------------------------- 收敛性
+
+#[tokio::test(start_paused = true)]
+async fn velocity_loop_converges() {
+    let (bus_link, plant_link) = CanLink::pair(512);
+    let plant = spawn_plant(plant_link, &[1], Duration::from_millis(1));
+    let bus = EscBus::spawn(bus_link, vec![tuned(1, 1.0)], BusOptions::default()).unwrap();
+    let motor = bus.motor(1).unwrap().clone();
+
+    motor.set_velocity(3000.0);
+    let ok = wait_until(2000, || motor.state().rotor_speed_rpm >= 2950.0).await;
+    assert!(ok, "not converged, rpm = {}", motor.state().rotor_speed_rpm);
+
+    // 稳态保持（速度无漂移、反馈持续流入）。
+    let count_before = motor.state().feedback_count;
+    sleep(Duration::from_millis(300)).await;
+    let st = motor.state();
+    assert!((2950.0..=3050.0).contains(&st.rotor_speed_rpm), "steady state drifted: {st:?}");
+    assert!(
+        st.feedback_count >= count_before + 280,
+        "feedback should keep flowing: {} → {}",
+        count_before,
+        st.feedback_count
+    );
+
+    plant.abort();
+    bus.shutdown().await;
+}
+
+#[tokio::test(start_paused = true)]
+async fn reversed_motor_converges_in_physical_frame() {
+    // direction = -1：物理 +2000 rpm ⇔ 电调侧 -2000 rpm。
+    let (bus_link, plant_link) = CanLink::pair(512);
+    let plant = spawn_plant(plant_link, &[2], Duration::from_millis(1));
+    let bus = EscBus::spawn(bus_link, vec![tuned(2, -1.0)], BusOptions::default()).unwrap();
+    let motor = bus.motor(2).unwrap().clone();
+
+    motor.set_velocity(2000.0);
+    let ok = wait_until(2000, || motor.state().rotor_speed_rpm >= 1950.0).await;
+    assert!(ok, "not converged, rpm = {}", motor.state().rotor_speed_rpm);
+
+    let st = motor.state();
+    assert!((1950.0..=2050.0).contains(&st.rotor_speed_rpm), "{st:?}");
+    // 物理转速为正 ⇒ 电调电流为负 ⇒ 物理电流 = dir × esc > 0。
+    assert!(st.effort_raw > 0, "{st:?}");
+
+    plant.abort();
+    bus.shutdown().await;
+}
+
+// ---------------------------------------------------------------- 安全
+
+#[tokio::test(start_paused = true)]
+async fn motor_without_feedback_commands_zero_current() {
+    let (bus_link, mut peer) = CanLink::pair(64);
+    // 不接 plant → 永远没有反馈。
+    let bus = EscBus::spawn(bus_link, vec![tuned(1, 1.0)], BusOptions::default()).unwrap();
+
+    bus.motor(1).unwrap().set_velocity(5000.0);
+    for _ in 0..5 {
+        let frame = recv_command(&mut peer).await;
+        assert_eq!(frame.id, 0x200);
+        assert_eq!(frame.data, [0; 8], "must send zero current while offline");
+    }
+    bus.shutdown().await;
+}
+
+#[tokio::test(start_paused = true)]
+async fn current_limit_clamps_saturation() {
+    let (bus_link, mut peer) = CanLink::pair(64);
+    let mut cfg = tuned(1, 1.0);
+    cfg.current_limit = 5000;
+    let bus = EscBus::spawn(bus_link, vec![cfg], BusOptions::default()).unwrap();
+
+    send_feedback(&peer, &[1]).await;
+    bus.motor(1).unwrap().set_velocity(30000.0); // 不可达目标 → 深度饱和
+    sleep(Duration::from_millis(5)).await;
+
+    let mut saw_saturated = false;
+    for _ in 0..5 {
+        let frame = recv_command(&mut peer).await;
+        let raw = slot_current(&frame, 0);
+        assert!(raw <= 5000, "current {raw} exceeds limit 5000");
+        saw_saturated |= raw == 5000;
+    }
+    assert!(saw_saturated, "loop should reach the configured limit");
+    bus.shutdown().await;
+}
+
+// ---------------------------------------------------------------- 组帧与路由
+
+#[tokio::test(start_paused = true)]
+async fn current_commands_route_to_group_slots() {
+    let (bus_link, mut peer) = CanLink::pair(256);
+    let configs = (1..=5).map(|id| tuned(id, 1.0)).collect();
+    let bus = EscBus::spawn(bus_link, configs, BusOptions::default()).unwrap();
+
+    bus.motor(3).unwrap().set_effort_raw(1234);
+    bus.motor(5).unwrap().set_effort_raw(-567);
+    send_feedback(&peer, &(1..=5).collect::<Vec<_>>()).await;
+    sleep(Duration::from_millis(5)).await;
+
+    let mut saw_200 = false;
+    let mut saw_1ff = false;
+    for _ in 0..20 {
+        let frame = recv_command(&mut peer).await;
+        match frame.id {
+            0x200 if !saw_200 => {
+                assert_eq!(frame.data, [0, 0, 0, 0, 0x04, 0xD2, 0, 0], "esc3 slot = 1234");
+                saw_200 = true;
+            }
+            0x1FF if !saw_1ff => {
+                // -567 = 0xFDC9（i16 补码，大端）。
+                assert_eq!(frame.data, [0xFD, 0xC9, 0, 0, 0, 0, 0, 0], "esc5 slot = -567");
+                saw_1ff = true;
+            }
+            _ => {}
+        }
+        if saw_200 && saw_1ff {
+            break;
+        }
+    }
+    assert!(saw_200, "no 0x200 frame observed");
+    assert!(saw_1ff, "no 0x1FF frame observed");
+
+    // disable 后槽位清零。
+    bus.motor(3).unwrap().disable();
+    let zeroed = wait_until(200, || {
+        try_find_frame(&mut peer, |frame| frame.id == 0x200 && slot_current(frame, 2) == 0)
+    })
+    .await;
+    assert!(zeroed, "esc3 slot should return to 0 after disable");
+    bus.shutdown().await;
+}
+
+/// 非阻塞地扫一眼通道里已有的帧。
+fn try_find_frame(peer: &mut CanLink, pred: impl Fn(&CanFrame) -> bool) -> bool {
+    while let Ok(frame) = peer.incoming_rx.try_recv() {
+        if pred(&frame) {
+            return true;
+        }
+    }
+    false
+}
+
+// ---------------------------------------------------------------- 反馈 → 状态
+
+#[tokio::test]
+async fn feedback_updates_state_with_direction() {
+    let (bus_link, peer) = CanLink::pair(64);
+    let bus = EscBus::spawn(bus_link, vec![tuned(2, -1.0)], BusOptions::default()).unwrap();
+
+    // 两帧正向跨圈：8000 → 100，电调侧圈数 ≈ 1.0122。
+    let fb = EscFeedback { angle_raw: 8000, speed_rpm: 600, current_raw: -300, temperature_c: 47 };
+    peer.outgoing_tx.send(encode_feedback_frame(2, &fb)).await.unwrap();
+    let fb2 = EscFeedback { angle_raw: 100, ..fb };
+    peer.outgoing_tx.send(encode_feedback_frame(2, &fb2)).await.unwrap();
+    sleep(Duration::from_millis(50)).await;
+
+    let st = bus.motor(2).unwrap().state();
+    assert_eq!(st.rotor_angle_raw, 100);
+    assert!((st.rotor_speed_rpm + 600.0).abs() < 1e-3); // direction = -1
+    assert_eq!(st.effort_raw, 300);
+    assert_eq!(st.temperature_c, 47);
+    assert_eq!(st.feedback_count, 2);
+    let esc_rev = 1.0 + 100.0 / 8192.0;
+    assert!(
+        (st.rotor_revolutions + esc_rev).abs() < 1e-3,
+        "revolutions = {}",
+        st.rotor_revolutions
+    );
+    // 输出轴换算由 `OutputShaft` 负责（见 motor-core gearbox 单测）。
+    bus.shutdown().await;
+}
+
+// ---------------------------------------------------------------- 生命周期
+
+#[tokio::test(start_paused = true)]
+async fn shutdown_stops_tasks_and_closes_link() {
+    let (bus_link, mut peer) = CanLink::pair(128);
+    // 不接 plant，直接验证任务生命周期。
+    let bus = EscBus::spawn(bus_link, vec![tuned(1, 1.0)], BusOptions::default()).unwrap();
+    bus.motor(1).unwrap().set_velocity(1000.0);
+    sleep(Duration::from_millis(20)).await;
+    // 有命令帧在流动。
+    assert!(peer.incoming_rx.recv().await.is_some());
+
+    bus.shutdown().await;
+    // 排空残留缓冲帧后应立即得到 None（发送端已全部退出）；
+    // 若任务仍在运行，帧会持续流入并触发超时。
+    loop {
+        match timeout(Duration::from_millis(100), peer.incoming_rx.recv()).await {
+            Ok(None) => break,
+            Ok(Some(_)) => {} // 排空残留缓冲帧
+            Err(elapsed) => panic!("bus tasks still running after shutdown (waited {elapsed:?})"),
+        }
+    }
+}
+
+#[test]
+fn spawn_rejects_bad_configs() {
+    let link = || CanLink::pair(8).0;
+    assert_eq!(
+        EscBus::spawn(link(), vec![], BusOptions::default()).err(),
+        Some(EscBusError::NoMotors)
+    );
+    assert_eq!(
+        EscBus::spawn(link(), vec![tuned(2, 1.0), tuned(2, -1.0)], BusOptions::default()).err(),
+        Some(EscBusError::DuplicateEscId(2))
+    );
+    let mut bad = tuned(1, 1.0);
+    bad.direction = 0.0;
+    let err = EscBus::spawn(link(), vec![bad], BusOptions::default()).err();
+    assert!(
+        matches!(err, Some(EscBusError::InvalidConfig { .. })),
+        "expected InvalidConfig, got {err:?}"
+    );
+}