feat(vesc): integrate native calibration diagnostics and configuration archives

2026-09-25 16:37:56 +03:00
parent 24bbaefb00
commit 45fb14b206
85 changed files with 17968 additions and 28 deletions
@@ -0,0 +1,54 @@
+"""Owner-assigned drive slots, independent of USB addresses and motor commands."""
+import json
+
+LAYOUTS = {"1x1": ("left.1", "right.1"), "2x2": ("left.1", "left.2", "right.1", "right.2")}
+
+def slot_label(layout, slot):
+    side = "Левый" if slot.startswith("left.") else "Правый"
+    return side + ((" передний" if slot.endswith(".1") else " задний") if layout == "2x2" else "")
+
+
+class DriveProfile:
+    def __init__(self, root, atomic):
+        self.path, self.atomic = root / "drive-profile.json", atomic
+        self.value = json.loads(self.path.read_text()) if self.path.exists() else {"layout": None, "revision": 0, "bindings": {}}
+
+    def update(self, action, params, device):
+        current = self.value
+        if params["revision"] != current["revision"]:
+            raise ValueError("Профиль привода изменился. Обновите карточку.")
+        bindings = dict(current["bindings"])
+        layout = current["layout"]
+        if action == "vesc.drive.layout":
+            layout = params["layout"]
+            if set(bindings) - set(LAYOUTS[layout]):
+                raise ValueError("Сначала снимите назначения задних моторов.")
+        elif action == "vesc.drive.assign":
+            layout, slot = params["layout"], params["slot"]
+            if set(bindings) - set(LAYOUTS[layout]):
+                raise ValueError("Сначала снимите назначения задних моторов.")
+            if slot and slot in bindings and bindings[slot]["device_id"] != device.id:
+                raise ValueError("Это место уже занято. Сначала снимите прежнее назначение.")
+            bindings = {key: value for key, value in bindings.items() if value["device_id"] != device.id}
+            if slot:
+                bindings[slot] = {"device_id": device.id, "uuid": device.identity["uuid"]}
+        else:
+            bindings.pop(params["slot"], None)
+        value = {"layout": layout, "revision": current["revision"] + 1, "bindings": bindings}
+        self.atomic(self.path, value)
+        self.value = value
+        return value
+
+
+def validate(action, params):
+    keys = {"revision", "layout"} if action == "vesc.drive.layout" else ({"revision", "layout", "slot"} if action == "vesc.drive.assign" else {"revision", "slot"})
+    if set(params) != keys or type(params["revision"]) is not int or params["revision"] < 0:
+        raise ValueError("Invalid drive profile revision")
+    if action == "vesc.drive.layout":
+        if params["layout"] not in LAYOUTS:
+            raise ValueError("Invalid drive layout")
+    elif action == "vesc.drive.assign":
+        if params["layout"] not in LAYOUTS or params["slot"] not in ("", *LAYOUTS[params["layout"]]):
+            raise ValueError("Invalid drive layout or slot")
+    elif params["slot"] not in LAYOUTS["2x2"]:
+        raise ValueError("Invalid drive slot")