Emulate up to four controllers on the UART firmware
UART protocol v3 adds a slot byte to input frames (v2 still accepted as slot 0) and slot-tagged BB 03 rumble frames. The regular firmware exposes SWITCH_PICO_UART_CONTROLLERS (default 4) Switch Pro interfaces like the AIO build. The bridge shares one serial port across controllers, maps index:port[:slot], and demuxes rumble by slot.
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883eba193c
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14 changed files with 737 additions and 411 deletions
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@ -1,4 +1,4 @@
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"""Tests for UART v2 protocol serialization in switch_pico_uart."""
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"""Tests for UART v3 protocol serialization in switch_pico_uart."""
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import struct
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import pytest
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@ -9,8 +9,10 @@ from switch_pico_bridge.switch_pico_uart import (
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PicoUART,
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UART_HEADER,
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UART_PROTOCOL_VERSION,
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UART_SLOT_COUNT,
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RUMBLE_HEADER,
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RUMBLE_TYPE_DECODED,
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RUMBLE_TYPE_SLOT,
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ACCEL_LSB_PER_G,
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GYRO_LSB_PER_RAD_S,
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MS2_PER_G,
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@ -35,7 +37,12 @@ class BufferedSerial:
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self._data.extend(data)
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def make_rumble_frame(low: int, high: int) -> bytes:
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def make_rumble_frame(low: int, high: int, slot: int = 0) -> bytes:
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frame = bytes([RUMBLE_HEADER, RUMBLE_TYPE_SLOT, slot, low, high])
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return frame + bytes([compute_checksum(frame)])
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def make_legacy_rumble_frame(low: int, high: int) -> bytes:
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frame = bytes([RUMBLE_HEADER, RUMBLE_TYPE_DECODED, low, high])
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return frame + bytes([compute_checksum(frame)])
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@ -48,8 +55,8 @@ def make_uart(data: bytes = b"") -> tuple[PicoUART, BufferedSerial]:
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return uart, serial_port
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def test_v2_frame_with_imu_samples():
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"""V2 frame with 3 IMU samples should be 48 bytes with correct layout."""
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def test_v3_frame_with_imu_samples():
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"""V3 frame with 3 IMU samples should be 49 bytes with correct layout."""
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r = SwitchReport(
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buttons=0,
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imu_samples=[
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@ -59,35 +66,49 @@ def test_v2_frame_with_imu_samples():
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],
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)
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data = r.to_bytes()
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assert len(data) == 48, f"Expected 48 bytes, got {len(data)}"
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assert len(data) == 49, f"Expected 49 bytes, got {len(data)}"
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assert data[0] == UART_HEADER # 0xAA
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assert data[1] == UART_PROTOCOL_VERSION # 0x02
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assert data[1] == UART_PROTOCOL_VERSION # 0x03
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assert data[2] == 44 # payload_len
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assert data[10] == 3 # imu_count
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assert data[3] == 0 # slot
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assert data[11] == 3 # imu_count
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# Verify checksum
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assert data[-1] == compute_checksum(data[:-1])
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# Verify first sample accel_x (int16 LE at byte 11)
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ax0 = struct.unpack_from("<h", data, 11)[0]
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# Verify first sample accel_x (int16 LE at byte 12)
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ax0 = struct.unpack_from("<h", data, 12)[0]
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assert ax0 == 100, f"Expected accel_x=100, got {ax0}"
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# Verify first sample gyro_z (int16 LE at bytes 21-22)
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gz0 = struct.unpack_from("<h", data, 21)[0]
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# Verify first sample gyro_z (int16 LE at bytes 22-23)
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gz0 = struct.unpack_from("<h", data, 22)[0]
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assert gz0 == 0, f"Expected gyro_z=0, got {gz0}"
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def test_v2_frame_no_imu():
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"""V2 frame with no IMU samples should be 12 bytes."""
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def test_v3_frame_no_imu():
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"""V3 frame with no IMU samples should be 13 bytes."""
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r = SwitchReport(
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buttons=0x0004, hat=SwitchDpad.CENTER, lx=128, ly=128, rx=128, ry=128
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)
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data = r.to_bytes()
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assert len(data) == 12, f"Expected 12 bytes, got {len(data)}"
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assert len(data) == 13, f"Expected 13 bytes, got {len(data)}"
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assert data[0] == UART_HEADER
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assert data[1] == UART_PROTOCOL_VERSION
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assert data[2] == 8 # payload_len
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assert data[10] == 0 # imu_count
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assert data[3] == 0 # slot
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assert data[11] == 0 # imu_count
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assert data[-1] == compute_checksum(data[:-1])
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def test_v3_frame_addresses_slot():
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"""The slot byte selects which emulated controller receives the report."""
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data = SwitchReport(buttons=0x0001).to_bytes(slot=3)
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assert data[3] == 3
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assert struct.unpack_from("<H", data, 4)[0] == 0x0001
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assert data[-1] == compute_checksum(data[:-1])
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with pytest.raises(ValueError):
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SwitchReport().to_bytes(slot=UART_SLOT_COUNT)
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with pytest.raises(ValueError):
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SwitchReport().to_bytes(slot=-1)
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def test_checksum_validation():
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"""Checksum should match sum of all preceding bytes & 0xFF."""
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r = SwitchReport(buttons=0x0001)
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@ -96,7 +117,7 @@ def test_checksum_validation():
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assert data[-1] == expected_checksum
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# Corrupt a byte and verify mismatch
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corrupted = bytearray(data)
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corrupted[3] ^= 0xFF # flip bits in first payload byte
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corrupted[4] ^= 0xFF # flip bits in first payload byte
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recalculated = sum(corrupted[:-1]) & 0xFF
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assert corrupted[-1] != recalculated, "Checksum should not match corrupted data"
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@ -126,21 +147,21 @@ def test_imu_sample_dataclass():
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s2 = IMUSample(accel_x=99999)
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r = SwitchReport(imu_samples=[s2])
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data = r.to_bytes()
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ax = struct.unpack_from("<h", data, 11)[0]
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ax = struct.unpack_from("<h", data, 12)[0]
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assert ax == 32767, f"Expected clamped value 32767, got {ax}"
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def test_backward_compat_switch_report():
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"""SwitchReport with no imu_samples produces valid v2 frame (backward compat)."""
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def test_switch_report_payload_layout():
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"""Buttons and axes land at the documented v3 payload offsets."""
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r = SwitchReport(buttons=0x000A, lx=200, ly=50, rx=128, ry=128)
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data = r.to_bytes()
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assert len(data) == 12
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assert data[1] == 0x02 # still v2
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# Buttons at bytes 3-4
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buttons = struct.unpack_from("<H", data, 3)[0]
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assert len(data) == 13
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assert data[1] == 0x03
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# Buttons at bytes 4-5
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buttons = struct.unpack_from("<H", data, 4)[0]
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assert buttons == 0x000A
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# lx at byte 6
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assert data[6] == 200
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# lx at byte 7
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assert data[7] == 200
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def test_max_imu_samples_capped():
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@ -148,37 +169,51 @@ def test_max_imu_samples_capped():
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samples = [IMUSample(i, 0, 0, 0, 0, 0) for i in range(5)]
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r = SwitchReport(imu_samples=samples)
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data = r.to_bytes()
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assert len(data) == 48 # 3 samples, not 5
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assert data[10] == 3
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assert len(data) == 49 # 3 samples, not 5
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assert data[11] == 3
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assert data[2] == 44 # payload_len for 3 samples
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def test_decoded_rumble_frame_survives_fragmented_input():
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frame = make_rumble_frame(64, 192)
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frame = make_rumble_frame(64, 192, slot=1)
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uart, serial_port = make_uart(frame[:3])
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assert uart.read_rumble() is None
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serial_port.feed(frame[3:])
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assert uart.read_rumble() == pytest.approx((64 / 255.0, 192 / 255.0))
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assert uart.read_rumble() == pytest.approx((1, 64 / 255.0, 192 / 255.0))
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def test_decoded_rumble_frame_resynchronizes_after_garbage():
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uart, _ = make_uart(b"\x00\xffnot-a-frame" + make_rumble_frame(12, 34))
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assert uart.read_rumble() == pytest.approx((12 / 255.0, 34 / 255.0))
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assert uart.read_rumble() == pytest.approx((0, 12 / 255.0, 34 / 255.0))
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def test_decoded_rumble_frame_rejects_bad_checksum():
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corrupted = bytearray(make_rumble_frame(25, 50))
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corrupted[-1] ^= 0x01
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uart, _ = make_uart(bytes(corrupted) + make_rumble_frame(75, 100))
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uart, _ = make_uart(bytes(corrupted) + make_rumble_frame(75, 100, slot=2))
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assert uart.read_rumble() == pytest.approx((75 / 255.0, 100 / 255.0))
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assert uart.read_rumble() == pytest.approx((2, 75 / 255.0, 100 / 255.0))
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def test_decoded_rumble_zero_and_full_magnitudes():
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uart, _ = make_uart(make_rumble_frame(0, 0) + make_rumble_frame(255, 255))
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uart, _ = make_uart(make_rumble_frame(0, 0) + make_rumble_frame(255, 255, slot=3))
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assert uart.read_rumble() == (0.0, 0.0)
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assert uart.read_rumble() == (1.0, 1.0)
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assert uart.read_rumble() == (0, 0.0, 0.0)
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assert uart.read_rumble() == (3, 1.0, 1.0)
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def test_legacy_rumble_frame_maps_to_slot_zero():
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"""Pre-multi-controller firmware sends 5-byte frames without a slot byte."""
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uart, _ = make_uart(make_legacy_rumble_frame(10, 20) + make_rumble_frame(30, 40, slot=1))
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assert uart.read_rumble() == pytest.approx((0, 10 / 255.0, 20 / 255.0))
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assert uart.read_rumble() == pytest.approx((1, 30 / 255.0, 40 / 255.0))
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def test_rumble_frame_with_out_of_range_slot_is_skipped():
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uart, _ = make_uart(make_rumble_frame(1, 2, slot=UART_SLOT_COUNT) + make_rumble_frame(3, 4))
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assert uart.read_rumble() == pytest.approx((0, 3 / 255.0, 4 / 255.0))
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