Joey Yakimowich-Payne
2604ff274b- Add UART_PROTOCOL_VERSION=2, IMUSample dataclass, conversion constants - Rewrite SwitchReport.to_bytes() for versioned v2 framing with checksum - Add ACCEL_LSB_PER_G=4096, GYRO_LSB_PER_RAD_S=818.5, MS2_PER_G constants - Add SENSOR_ACCEL/SENSOR_GYRO SDL type constants with fallback - Add protocol round-trip tests (8 tests, all passing)
120 lines
4.1 KiB
Python
120 lines
4.1 KiB
Python
"""Tests for UART v2 protocol serialization in switch_pico_uart."""
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import struct
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import pytest
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from switch_pico_bridge.switch_pico_uart import (
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SwitchReport,
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IMUSample,
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SwitchDpad,
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UART_HEADER,
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UART_PROTOCOL_VERSION,
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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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compute_checksum,
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)
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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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r = SwitchReport(
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buttons=0,
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imu_samples=[
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IMUSample(100, -200, 4096, 50, -50, 0),
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IMUSample(101, -201, 4097, 51, -51, 1),
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IMUSample(102, -202, 4098, 52, -52, 2),
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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 data[0] == UART_HEADER # 0xAA
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assert data[1] == UART_PROTOCOL_VERSION # 0x02
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assert data[2] == 44 # payload_len
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assert data[10] == 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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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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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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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 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[-1] == compute_checksum(data[:-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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data = r.to_bytes()
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expected_checksum = sum(data[:-1]) & 0xFF
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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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recalculated = sum(corrupted[:-1]) & 0xFF
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assert corrupted[-1] != recalculated, "Checksum should not match corrupted data"
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def test_accel_scale_gravity():
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"""1G (9.80665 m/s²) should convert to ~4096 raw counts."""
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# convert_accel_to_raw(9.80665) ≈ 4096
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raw = int(round((MS2_PER_G / MS2_PER_G) * ACCEL_LSB_PER_G))
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assert abs(raw - 4096) <= 5, f"Expected ~4096 for 1G, got {raw}"
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def test_gyro_scale_one_rad():
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"""1.0 rad/s should convert to ~818 raw counts."""
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raw = int(round(1.0 * GYRO_LSB_PER_RAD_S))
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assert abs(raw - 818) <= 5, f"Expected ~818 for 1 rad/s, got {raw}"
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def test_imu_sample_dataclass():
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"""IMUSample fields accept int16 range values."""
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s = IMUSample(
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accel_x=32767, accel_y=-32768, accel_z=0, gyro_x=100, gyro_y=-100, gyro_z=1000
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)
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assert s.accel_x == 32767
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assert s.accel_y == -32768
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assert s.gyro_z == 1000
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# Values outside int16 range are clamped in to_bytes()
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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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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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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 buttons == 0x000A
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# lx at byte 6
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assert data[6] == 200
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def test_max_imu_samples_capped():
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"""Providing >3 IMU samples should cap at 3."""
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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 data[2] == 44 # payload_len for 3 samples
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