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refactor: enforce layered crates and Rust audit gates

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Horldsence
2026-09-24 13:00:03 +08:00
parent af151525d1
commit 8a582fc102
67 changed files with 3918 additions and 581 deletions
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crates/verification/integration/tests/esc_closed_loop.rs
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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 can::{CanFrame, CanLink};
use esc_bus::{BusOptions, EscBus, EscBusError, EscConfig};
use motor::{Disable, EffortDrive, MotorFeedback, VelocityDrive};
use motor_control::{MotorPolicy, VelocityGains};
use motor_protocol::{EscFeedback, encode_feedback_frame};
use sim_harness::spawn_plant;
use tokio::sync::mpsc;
use tokio::task::JoinHandle;
use tokio::time::{MissedTickBehavior, interval, sleep, timeout};
/// 与 `PlantParams::gm3508` 增益精确匹配的速度环参数（ff = 16384 / 9254）。
fn tuned(esc_id: u8, direction: f32) -> EscConfig {
EscConfig::gm3508(format!("m{esc_id}"), esc_id, direction)
}
fn tuned_gains() -> VelocityGains {
VelocityGains::new(8.0, 2.0, 0.0, 16384.0 / 9254.0)
}
fn spawn_bus(
link: CanLink,
configs: Vec<EscConfig>,
options: BusOptions,
) -> Result<esc_bus::EscBusHandle<MotorPolicy>, EscBusError> {
let mut policy = MotorPolicy::new();
for config in &configs {
policy.configure(config.esc_id, config.current_limit, tuned_gains());
}
EscBus::spawn(link, configs, options, policy)
}
/// 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()
}
/// 与 [`wait_until`] 相同，但每次轮询都重新下发 `target_rpm`。
///
/// **命令是租约**：驱动在 [`BusOptions::command_timeout`]（默认 50ms）内未收到
/// 新命令就强制 0 输出。真实底盘循环每 1ms 重发一次，这里以 5ms 节拍模拟。
async fn hold_until<M: VelocityDrive>(
total_ms: u64,
motor: &M,
target_rpm: f32,
mut cond: impl FnMut() -> bool,
) -> bool {
let mut waited = 0u64;
loop {
motor.set_velocity(target_rpm); // 续租
if cond() {
return true;
}
if waited >= total_ms {
return false;
}
sleep(Duration::from_millis(5)).await;
waited += 5;
}
}
/// 保持 `target_rpm` 共 `ms` 毫秒（期间持续续租），仅推进仿真时间。
async fn hold<M: VelocityDrive>(motor: &M, target_rpm: f32, ms: u64) {
let _ = hold_until(ms, motor, target_rpm, || false).await;
}
/// 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 = spawn_bus(bus_link, vec![tuned(1, 1.0)], BusOptions::default()).unwrap();
let motor = bus.motor(1).unwrap().clone();
motor.set_velocity(3000.0);
let ok = hold_until(2000, &motor, 3000.0, || 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）；期间必须继续续租命令。
let count_before = motor.state().feedback_count;
hold(&motor, 3000.0, 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 = spawn_bus(bus_link, vec![tuned(2, -1.0)], BusOptions::default()).unwrap();
let motor = bus.motor(2).unwrap().clone();
motor.set_velocity(2000.0);
let ok = hold_until(2000, &motor, 2000.0, || 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 = spawn_bus(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 = spawn_bus(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 {
bus.motor(1).unwrap().set_velocity(30000.0); // 续租，避免读到租约到期后的 0
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;
}
// ---------------------------------------------------------------- 命令租约
/// 反馈喂食器：每 5ms 注入一帧所有电机的反馈，让电机保持"在线"，
/// 从而把「租约到期归零」与「离线保护归零」区分开。
fn spawn_feedback(yield_tx: mpsc::Sender<CanFrame>, esc_ids: Vec<u8>) -> JoinHandle<()> {
tokio::spawn(async move {
let mut ticker = interval(Duration::from_millis(5));
ticker.set_missed_tick_behavior(MissedTickBehavior::Skip);
let fb = EscFeedback { angle_raw: 0, speed_rpm: 0, current_raw: 0, temperature_c: 30 };
loop {
ticker.tick().await;
for &id in &esc_ids {
if yield_tx.send(encode_feedback_frame(id, &fb)).await.is_err() {
return;
}
}
}
})
}
/// 一次性 `set_velocity` 在租约内出力，租约到期后必须自动归零；
/// 重新下发又能恢复出力——这就是"命令是租约"契约的可执行规范。
#[tokio::test(start_paused = true)]
async fn command_lease_expires_and_renews() {
let (bus_link, mut peer) = CanLink::pair(256);
let feeder = spawn_feedback(peer.outgoing_tx.clone(), vec![1]);
let bus = spawn_bus(bus_link, vec![tuned(1, 1.0)], BusOptions::default()).unwrap();
let motor = bus.motor(1).unwrap().clone();
// 1) 下发后 30ms 内（< 50ms 租约）应看到非零电流。
motor.set_velocity(3000.0);
let mut live = false;
for _ in 0..30 {
if slot_current(&recv_command(&mut peer).await, 0) != 0 {
live = true;
break;
}
}
assert!(live, "租约内应输出非零电流");
// 2) 沉默 200ms（> 50ms 租约）→ 必须强制归零。
sleep(Duration::from_millis(200)).await;
// 排空沉默期间积压的帧：其中前段仍带着租约到期前的旧命令。
while peer.incoming_rx.try_recv().is_ok() {}
sleep(Duration::from_millis(10)).await;
for _ in 0..5 {
let raw = slot_current(&recv_command(&mut peer).await, 0);
assert_eq!(raw, 0, "租约到期后必须归零，实测 {raw}");
}
// 3) 续租 → 恢复出力。
motor.set_velocity(3000.0);
let mut renewed = false;
for _ in 0..30 {
if slot_current(&recv_command(&mut peer).await, 0) != 0 {
renewed = true;
break;
}
}
assert!(renewed, "续租后应恢复非零电流");
feeder.abort();
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 = spawn_bus(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 {
// 续租两条直发命令，避免读到租约到期后的 0 槽。
bus.motor(3).unwrap().set_effort_raw(1234);
bus.motor(5).unwrap().set_effort_raw(-567);
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 = spawn_bus(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 = spawn_bus(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!(spawn_bus(link(), vec![], BusOptions::default()).err(), Some(EscBusError::NoMotors));
assert_eq!(
spawn_bus(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 = spawn_bus(link(), vec![bad], BusOptions::default()).err();
assert!(
matches!(err, Some(EscBusError::InvalidConfig { .. })),
"expected InvalidConfig, got {err:?}"
);
}
// ---------------------------------------------------------------- 增益热更新
/// 自动整定的真机后端靠这条路径逐次试验：不重启总线，只换增益。
/// 契约：① 读取即得到最新增益；② 换增益后控制器**状态复位**（无旧积分残留）；
/// ③ 限幅等安全字段不受影响。
#[tokio::test(start_paused = true)]
async fn velocity_gains_can_be_hot_swapped() {
let (bus_link, plant_link) = CanLink::pair(256);
let plant = spawn_plant(plant_link, &[1], Duration::from_millis(1));
let cfg = tuned(1, 1.0);
let limit = i32::from(cfg.current_limit);
let bus = spawn_bus(bus_link, vec![cfg.clone()], BusOptions::default()).unwrap();
let motor = bus.motor(1).unwrap().clone();
// ① 初始增益来自 EscConfig（含前馈）。
assert_eq!(bus.with_policy(|policy| policy.velocity_gains(motor.id()).unwrap()), tuned_gains());
// 让旧增益的积分先积累起来（大静差 + 深度饱和）。
motor.set_velocity(9000.0);
hold(&motor, 9000.0, 200).await;
let stale = bus.with_policy(|policy| policy.velocity_gains(motor.id()).unwrap());
// ② 热更新：控制器被重建。
let swapped = VelocityGains::new(1.0, 0.0, 0.0, 0.0);
bus.with_policy(|policy| policy.set_velocity_gains(motor.id(), swapped));
assert_eq!(bus.with_policy(|policy| policy.velocity_gains(motor.id()).unwrap()), swapped);
assert_ne!(bus.with_policy(|policy| policy.velocity_gains(motor.id()).unwrap()), stale);
// 新增益生效：误差 e 时输出 = kp·e = e（无前馈、无积分），并仍被限幅夹住。
motor.set_velocity(30_000.0);
let saturated =
hold_until(500, &motor, 30_000.0, || i32::from(motor.state().effort_raw) >= limit).await;
assert!(saturated, "effort = {} 未达到限幅 {}", motor.state().effort_raw, limit);
// ③ 限幅仍是启动时的 current_limit：热更新不得放宽安全边界。
let effort = i32::from(motor.state().effort_raw);
assert_eq!(effort, limit, "饱和值必须正好是 current_limit");
assert_eq!(
bus.with_policy(|policy| policy.velocity_gains(motor.id()).unwrap()),
swapped,
"热更新后增益保持不变"
);
plant.abort();
bus.shutdown().await;
}