432 lines
16 KiB
Rust
432 lines
16 KiB
Rust
//! 闭环集成测试：`EscBus` + 内存通道 + 一阶电机仿真。
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//!
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//! 全部可在任意平台（macOS / Linux / CI）运行，无需硬件。
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#![allow(clippy::unwrap_used, clippy::expect_used)]
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use std::time::Duration;
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use can::{CanFrame, CanLink};
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use esc_bus::{BusOptions, EscBus, EscBusError, EscConfig};
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use motor::{Disable, EffortDrive, MotorFeedback, VelocityDrive};
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use motor_control::{MotorPolicy, VelocityGains};
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use motor_protocol::{EscFeedback, encode_feedback_frame};
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use sim_harness::spawn_plant;
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use tokio::sync::mpsc;
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use tokio::task::JoinHandle;
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use tokio::time::{MissedTickBehavior, interval, sleep, timeout};
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/// 与 `PlantParams::gm3508` 增益精确匹配的速度环参数（ff = 16384 / 9254）。
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fn tuned(esc_id: u8, direction: f32) -> EscConfig {
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EscConfig::gm3508(format!("m{esc_id}"), esc_id, direction)
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}
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fn tuned_gains() -> VelocityGains {
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VelocityGains::new(8.0, 2.0, 0.0, 16384.0 / 9254.0)
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}
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fn spawn_bus(
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link: CanLink,
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configs: Vec<EscConfig>,
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options: BusOptions,
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) -> Result<esc_bus::EscBusHandle<MotorPolicy>, EscBusError> {
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let mut policy = MotorPolicy::new();
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for config in &configs {
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policy.configure(config.esc_id, config.current_limit, tuned_gains());
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}
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EscBus::spawn(link, configs, options, policy)
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}
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/// 轮询直到条件满足或超时（毫秒，仿真时间）。
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async fn wait_until(total_ms: u64, mut cond: impl FnMut() -> bool) -> bool {
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let mut waited = 0u64;
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while waited < total_ms {
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if cond() {
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return true;
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}
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sleep(Duration::from_millis(5)).await;
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waited += 5;
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}
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cond()
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}
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/// 与 [`wait_until`] 相同，但每次轮询都重新下发 `target_rpm`。
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///
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/// **命令是租约**：驱动在 [`BusOptions::command_timeout`]（默认 50ms）内未收到
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/// 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。
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async fn hold_until<M: VelocityDrive>(
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total_ms: u64,
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motor: &M,
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target_rpm: f32,
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mut cond: impl FnMut() -> bool,
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) -> bool {
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let mut waited = 0u64;
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loop {
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motor.set_velocity(target_rpm); // 续租
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if cond() {
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return true;
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}
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if waited >= total_ms {
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return false;
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}
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sleep(Duration::from_millis(5)).await;
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waited += 5;
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}
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}
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/// 保持 `target_rpm` 共 `ms` 毫秒（期间持续续租），仅推进仿真时间。
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async fn hold<M: VelocityDrive>(motor: &M, target_rpm: f32, ms: u64) {
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let _ = hold_until(ms, motor, target_rpm, || false).await;
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}
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/// 手动向总线注入一帧所有电机的反馈（新鲜度 100ms 内有效）。
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async fn send_feedback(peer: &CanLink, esc_ids: &[u8]) {
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for &id in esc_ids {
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let fb = EscFeedback { angle_raw: 0, speed_rpm: 0, current_raw: 0, temperature_c: 30 };
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peer.outgoing_tx.send(encode_feedback_frame(id, &fb)).await.unwrap();
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}
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}
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async fn recv_command(peer: &mut CanLink) -> CanFrame {
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timeout(Duration::from_millis(100), peer.incoming_rx.recv())
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.await
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.expect("timed out waiting for command frame")
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.expect("link closed")
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}
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fn slot_current(frame: &CanFrame, slot: usize) -> i16 {
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i16::from_be_bytes([frame.data[slot * 2], frame.data[slot * 2 + 1]])
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}
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// ---------------------------------------------------------------- 收敛性
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#[tokio::test(start_paused = true)]
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async fn velocity_loop_converges() {
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let (bus_link, plant_link) = CanLink::pair(512);
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let plant = spawn_plant(plant_link, &[1], Duration::from_millis(1));
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let bus = spawn_bus(bus_link, vec![tuned(1, 1.0)], BusOptions::default()).unwrap();
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let motor = bus.motor(1).unwrap().clone();
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motor.set_velocity(3000.0);
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let ok = hold_until(2000, &motor, 3000.0, || motor.state().rotor_speed_rpm >= 2950.0).await;
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assert!(ok, "not converged, rpm = {}", motor.state().rotor_speed_rpm);
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// 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。
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let count_before = motor.state().feedback_count;
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hold(&motor, 3000.0, 300).await;
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let st = motor.state();
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assert!((2950.0..=3050.0).contains(&st.rotor_speed_rpm), "steady state drifted: {st:?}");
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assert!(
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st.feedback_count >= count_before + 280,
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"feedback should keep flowing: {} → {}",
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count_before,
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st.feedback_count
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);
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plant.abort();
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bus.shutdown().await;
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}
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#[tokio::test(start_paused = true)]
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async fn reversed_motor_converges_in_physical_frame() {
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// direction = -1：物理 +2000 rpm ⇔ 电调侧 -2000 rpm。
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let (bus_link, plant_link) = CanLink::pair(512);
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let plant = spawn_plant(plant_link, &[2], Duration::from_millis(1));
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let bus = spawn_bus(bus_link, vec![tuned(2, -1.0)], BusOptions::default()).unwrap();
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let motor = bus.motor(2).unwrap().clone();
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motor.set_velocity(2000.0);
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let ok = hold_until(2000, &motor, 2000.0, || motor.state().rotor_speed_rpm >= 1950.0).await;
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assert!(ok, "not converged, rpm = {}", motor.state().rotor_speed_rpm);
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let st = motor.state();
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assert!((1950.0..=2050.0).contains(&st.rotor_speed_rpm), "{st:?}");
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// 物理转速为正 ⇒ 电调电流为负 ⇒ 物理电流 = dir × esc > 0。
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assert!(st.effort_raw > 0, "{st:?}");
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plant.abort();
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bus.shutdown().await;
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}
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// ---------------------------------------------------------------- 安全
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#[tokio::test(start_paused = true)]
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async fn motor_without_feedback_commands_zero_current() {
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let (bus_link, mut peer) = CanLink::pair(64);
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// 不接 plant → 永远没有反馈。
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let bus = spawn_bus(bus_link, vec![tuned(1, 1.0)], BusOptions::default()).unwrap();
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bus.motor(1).unwrap().set_velocity(5000.0);
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for _ in 0..5 {
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let frame = recv_command(&mut peer).await;
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assert_eq!(frame.id, 0x200);
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assert_eq!(frame.data, [0; 8], "must send zero current while offline");
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}
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bus.shutdown().await;
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}
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#[tokio::test(start_paused = true)]
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async fn current_limit_clamps_saturation() {
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let (bus_link, mut peer) = CanLink::pair(64);
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let mut cfg = tuned(1, 1.0);
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cfg.current_limit = 5000;
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let bus = spawn_bus(bus_link, vec![cfg], BusOptions::default()).unwrap();
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send_feedback(&peer, &[1]).await;
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bus.motor(1).unwrap().set_velocity(30000.0); // 不可达目标 → 深度饱和
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sleep(Duration::from_millis(5)).await;
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let mut saw_saturated = false;
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for _ in 0..5 {
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bus.motor(1).unwrap().set_velocity(30000.0); // 续租，避免读到租约到期后的 0
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let frame = recv_command(&mut peer).await;
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let raw = slot_current(&frame, 0);
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assert!(raw <= 5000, "current {raw} exceeds limit 5000");
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saw_saturated |= raw == 5000;
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}
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assert!(saw_saturated, "loop should reach the configured limit");
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bus.shutdown().await;
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}
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// ---------------------------------------------------------------- 命令租约
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/// 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"，
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/// 从而把「租约到期归零」与「离线保护归零」区分开。
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fn spawn_feedback(yield_tx: mpsc::Sender<CanFrame>, esc_ids: Vec<u8>) -> JoinHandle<()> {
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tokio::spawn(async move {
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let mut ticker = interval(Duration::from_millis(5));
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ticker.set_missed_tick_behavior(MissedTickBehavior::Skip);
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let fb = EscFeedback { angle_raw: 0, speed_rpm: 0, current_raw: 0, temperature_c: 30 };
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loop {
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ticker.tick().await;
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for &id in &esc_ids {
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if yield_tx.send(encode_feedback_frame(id, &fb)).await.is_err() {
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return;
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}
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}
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}
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})
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}
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/// 一次性 `set_velocity` 在租约内出力，租约到期后必须自动归零；
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/// 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。
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#[tokio::test(start_paused = true)]
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async fn command_lease_expires_and_renews() {
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let (bus_link, mut peer) = CanLink::pair(256);
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let feeder = spawn_feedback(peer.outgoing_tx.clone(), vec![1]);
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let bus = spawn_bus(bus_link, vec![tuned(1, 1.0)], BusOptions::default()).unwrap();
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let motor = bus.motor(1).unwrap().clone();
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// 1) 下发后 30ms 内（< 50ms 租约）应看到非零电流。
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motor.set_velocity(3000.0);
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let mut live = false;
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for _ in 0..30 {
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if slot_current(&recv_command(&mut peer).await, 0) != 0 {
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live = true;
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break;
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}
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}
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assert!(live, "租约内应输出非零电流");
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// 2) 沉默 200ms（> 50ms 租约）→ 必须强制归零。
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sleep(Duration::from_millis(200)).await;
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// 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。
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while peer.incoming_rx.try_recv().is_ok() {}
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sleep(Duration::from_millis(10)).await;
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for _ in 0..5 {
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let raw = slot_current(&recv_command(&mut peer).await, 0);
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assert_eq!(raw, 0, "租约到期后必须归零，实测 {raw}");
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}
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// 3) 续租 → 恢复出力。
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motor.set_velocity(3000.0);
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let mut renewed = false;
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for _ in 0..30 {
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if slot_current(&recv_command(&mut peer).await, 0) != 0 {
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renewed = true;
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break;
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}
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}
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assert!(renewed, "续租后应恢复非零电流");
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feeder.abort();
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bus.shutdown().await;
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}
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// ---------------------------------------------------------------- 组帧与路由
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#[tokio::test(start_paused = true)]
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async fn current_commands_route_to_group_slots() {
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let (bus_link, mut peer) = CanLink::pair(256);
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let configs = (1..=5).map(|id| tuned(id, 1.0)).collect();
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let bus = spawn_bus(bus_link, configs, BusOptions::default()).unwrap();
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bus.motor(3).unwrap().set_effort_raw(1234);
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bus.motor(5).unwrap().set_effort_raw(-567);
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send_feedback(&peer, &(1..=5).collect::<Vec<_>>()).await;
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sleep(Duration::from_millis(5)).await;
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let mut saw_200 = false;
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let mut saw_1ff = false;
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for _ in 0..20 {
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// 续租两条直发命令，避免读到租约到期后的 0 槽。
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bus.motor(3).unwrap().set_effort_raw(1234);
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bus.motor(5).unwrap().set_effort_raw(-567);
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let frame = recv_command(&mut peer).await;
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match frame.id {
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0x200 if !saw_200 => {
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assert_eq!(frame.data, [0, 0, 0, 0, 0x04, 0xD2, 0, 0], "esc3 slot = 1234");
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saw_200 = true;
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}
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0x1FF if !saw_1ff => {
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// -567 = 0xFDC9（i16 补码，大端）。
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assert_eq!(frame.data, [0xFD, 0xC9, 0, 0, 0, 0, 0, 0], "esc5 slot = -567");
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saw_1ff = true;
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}
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_ => {}
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}
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if saw_200 && saw_1ff {
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break;
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}
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}
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assert!(saw_200, "no 0x200 frame observed");
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assert!(saw_1ff, "no 0x1FF frame observed");
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// disable 后槽位清零。
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bus.motor(3).unwrap().disable();
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let zeroed = wait_until(200, || {
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try_find_frame(&mut peer, |frame| frame.id == 0x200 && slot_current(frame, 2) == 0)
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})
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.await;
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assert!(zeroed, "esc3 slot should return to 0 after disable");
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bus.shutdown().await;
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}
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/// 非阻塞地扫一眼通道里已有的帧。
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fn try_find_frame(peer: &mut CanLink, pred: impl Fn(&CanFrame) -> bool) -> bool {
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while let Ok(frame) = peer.incoming_rx.try_recv() {
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if pred(&frame) {
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return true;
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}
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}
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false
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}
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// ---------------------------------------------------------------- 反馈 → 状态
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#[tokio::test]
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async fn feedback_updates_state_with_direction() {
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let (bus_link, peer) = CanLink::pair(64);
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let bus = spawn_bus(bus_link, vec![tuned(2, -1.0)], BusOptions::default()).unwrap();
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// 两帧正向跨圈：8000 → 100，电调侧圈数 ≈ 1.0122。
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let fb = EscFeedback { angle_raw: 8000, speed_rpm: 600, current_raw: -300, temperature_c: 47 };
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peer.outgoing_tx.send(encode_feedback_frame(2, &fb)).await.unwrap();
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let fb2 = EscFeedback { angle_raw: 100, ..fb };
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peer.outgoing_tx.send(encode_feedback_frame(2, &fb2)).await.unwrap();
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sleep(Duration::from_millis(50)).await;
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let st = bus.motor(2).unwrap().state();
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assert_eq!(st.rotor_angle_raw, 100);
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assert!((st.rotor_speed_rpm + 600.0).abs() < 1e-3); // direction = -1
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assert_eq!(st.effort_raw, 300);
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assert_eq!(st.temperature_c, 47);
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assert_eq!(st.feedback_count, 2);
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let esc_rev = 1.0 + 100.0 / 8192.0;
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assert!(
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(st.rotor_revolutions + esc_rev).abs() < 1e-3,
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"revolutions = {}",
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st.rotor_revolutions
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);
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// 输出轴换算由 `OutputShaft` 负责（见 motor-core gearbox 单测）。
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bus.shutdown().await;
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}
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// ---------------------------------------------------------------- 生命周期
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#[tokio::test(start_paused = true)]
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async fn shutdown_stops_tasks_and_closes_link() {
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let (bus_link, mut peer) = CanLink::pair(128);
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// 不接 plant，直接验证任务生命周期。
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let bus = spawn_bus(bus_link, vec![tuned(1, 1.0)], BusOptions::default()).unwrap();
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bus.motor(1).unwrap().set_velocity(1000.0);
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sleep(Duration::from_millis(20)).await;
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// 有命令帧在流动。
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assert!(peer.incoming_rx.recv().await.is_some());
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bus.shutdown().await;
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// 排空残留缓冲帧后应立即得到 None（发送端已全部退出）；
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// 若任务仍在运行，帧会持续流入并触发超时。
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loop {
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match timeout(Duration::from_millis(100), peer.incoming_rx.recv()).await {
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Ok(None) => break,
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Ok(Some(_)) => {} // 排空残留缓冲帧
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Err(elapsed) => panic!("bus tasks still running after shutdown (waited {elapsed:?})"),
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}
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}
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}
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#[test]
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fn spawn_rejects_bad_configs() {
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let link = || CanLink::pair(8).0;
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assert_eq!(spawn_bus(link(), vec![], BusOptions::default()).err(), Some(EscBusError::NoMotors));
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assert_eq!(
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spawn_bus(link(), vec![tuned(2, 1.0), tuned(2, -1.0)], BusOptions::default()).err(),
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Some(EscBusError::DuplicateEscId(2))
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);
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let mut bad = tuned(1, 1.0);
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bad.direction = 0.0;
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let err = spawn_bus(link(), vec![bad], BusOptions::default()).err();
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assert!(
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matches!(err, Some(EscBusError::InvalidConfig { .. })),
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"expected InvalidConfig, got {err:?}"
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);
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}
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// ---------------------------------------------------------------- 增益热更新
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/// 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。
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/// 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）；
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/// ③ 限幅等安全字段不受影响。
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#[tokio::test(start_paused = true)]
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async fn velocity_gains_can_be_hot_swapped() {
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let (bus_link, plant_link) = CanLink::pair(256);
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let plant = spawn_plant(plant_link, &[1], Duration::from_millis(1));
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let cfg = tuned(1, 1.0);
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let limit = i32::from(cfg.current_limit);
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let bus = spawn_bus(bus_link, vec![cfg.clone()], BusOptions::default()).unwrap();
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let motor = bus.motor(1).unwrap().clone();
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// ① 初始增益来自 EscConfig（含前馈）。
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assert_eq!(bus.with_policy(|policy| policy.velocity_gains(motor.id()).unwrap()), tuned_gains());
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// 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;
|
||
}
|