Fix Switch quaternion IMU mode

tests/test_controller_uart_bridge.py

@@ -0,0 +1,130 @@
+"""Regression tests for SDL sensor buffering in the UART bridge."""
+
+from argparse import Namespace
+from io import StringIO
+from types import SimpleNamespace
+from typing import Protocol, cast
+
+import sdl3
+from rich.console import Console
+
+import switch_pico_bridge.controller_uart_bridge as bridge
+from switch_pico_bridge.switch_pico_uart import (
+    IMUSample,
+    PicoUART,
+    SENSOR_ACCEL,
+    SENSOR_GYRO,
+    SwitchButton,
+    SwitchReport,
+    UART_BAUD,
+)
+
+
+class MonkeyPatch(Protocol):
+    def setattr(self, target: object, name: str, value: object) -> None: ...
+
+
+class RecordingUART:
+    def __init__(self) -> None:
+        self.sent_imu: list[tuple[IMUSample, ...]] = []
+
+    def send_report(self, report: SwitchReport) -> None:
+        self.sent_imu.append(tuple(report.imu_samples))
+
+    def read_rumble_payload(self) -> bytes | None:
+        return None
+
+
+def make_config() -> bridge.BridgeConfig:
+    return bridge.BridgeConfig(
+        interval=0.002,
+        deadzone_raw=0,
+        trigger_threshold=0,
+        zero_sticks=False,
+        zero_hotkey="",
+        swap_hotkey="",
+        button_map_default={},
+        button_map_swapped={},
+        swap_abxy_indices=set(),
+        swap_abxy_ids=set(),
+        swap_abxy_global=False,
+    )
+
+
+def test_sensor_buffer_retains_latest_three_samples() -> None:
+    controller = cast(sdl3.SDL_Gamepad, object())
+    ctx = bridge.ControllerContext(controller, 7, 0, "dualsense", None, None)
+    ctx.sensors_enabled = True
+    ctx.gyro_bias_locked = True
+    contexts = {ctx.instance_id: ctx}
+    config = make_config()
+
+    accel_event = cast(
+        sdl3.SDL_Event,
+        cast(
+            object,
+            SimpleNamespace(
+                gsensor=SimpleNamespace(
+                    which=ctx.instance_id,
+                    sensor=SENSOR_ACCEL,
+                    data=(0.0, 9.80665, 0.0),
+                )
+            ),
+        ),
+    )
+    bridge.handle_sensor_update(accel_event, contexts, config)
+
+    for gyro_x in (1.0, 2.0, 3.0, 4.0):
+        gyro_event = cast(
+            sdl3.SDL_Event,
+            cast(
+                object,
+                SimpleNamespace(
+                    gsensor=SimpleNamespace(
+                        which=ctx.instance_id,
+                        sensor=SENSOR_GYRO,
+                        data=(gyro_x, 0.0, 0.0),
+                    )
+                ),
+            ),
+        )
+        bridge.handle_sensor_update(gyro_event, contexts, config)
+
+    assert len(ctx.imu_samples) == 3
+    assert [sample.gyro_y for sample in ctx.imu_samples] == [
+        bridge.convert_gyro_to_raw(-2.0),
+        bridge.convert_gyro_to_raw(-3.0),
+        bridge.convert_gyro_to_raw(-4.0),
+    ]
+
+
+def test_service_republishes_latest_imu_window(monkeypatch: MonkeyPatch) -> None:
+    uart = RecordingUART()
+    controller = cast(sdl3.SDL_Gamepad, object())
+    ctx = bridge.ControllerContext(
+        controller, 7, 0, "dualsense", "/dev/null", cast(PicoUART, cast(object, uart))
+    )
+    ctx.sensors_enabled = True
+    samples = [
+        IMUSample(1, 2, 3, 4, 5, 6),
+        IMUSample(7, 8, 9, 10, 11, 12),
+        IMUSample(13, 14, 15, 16, 17, 18),
+    ]
+    ctx.imu_samples = samples.copy()
+    contexts = {ctx.instance_id: ctx}
+    config = make_config()
+
+    def ignore_poll(
+        _ctx: bridge.ControllerContext, _button_map: dict[int, SwitchButton]
+    ) -> None:
+        return None
+
+    monkeypatch.setattr(bridge, "poll_controller_buttons", ignore_poll)
+
+    args = Namespace(baud=UART_BAUD)
+    console = Console(file=StringIO())
+    bridge.service_contexts(1.0, args, config, contexts, [], console)
+    bridge.service_contexts(2.0, args, config, contexts, [], console)
+
+    assert uart.sent_imu == [tuple(samples), tuple(samples)]
+    assert ctx.imu_samples == samples