pNexus
dd442f0f22
完成 Rust/egui 上位机主流程：BLE/USB 传输、协议编解码、控制/实时/统计/CSV、UI 与验证脚本。\n\n保留真实设备联调和长稳实测清单，避免把未验证的硬件结果当成交付完成。
79 lines
2.8 KiB
Markdown
79 lines
2.8 KiB
Markdown
# YRobot Motor Control Panel
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Rust/egui desktop tool for YRobot motor debugging. It supports direct BLE and USB Dongle transport, motor control commands, realtime debug plots, CSV recording, and session statistics.
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## Build
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Windows executable:
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```bash
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cargo build --release --target x86_64-pc-windows-gnu
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```
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Output:
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```text
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target/x86_64-pc-windows-gnu/release/yrobot-motor-control-panel.exe
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```
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Run tests for the Windows target:
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```bash
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cargo test --target x86_64-pc-windows-gnu
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```
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Run the full local verification gate:
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```bash
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./scripts/verify.sh
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```
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## Minimal Project Files
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To hand the project to another developer, keep these tracked files:
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- `Cargo.toml`
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- `Cargo.lock`
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- `docs/`
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- `README.md`
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- `scripts/`
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- `src/`
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Do not include local/generated directories such as `target/`, `.agents/`, `.claude/`, or `.codegraph/`.
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## Use
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1. Select `BLE` or `USB Dongle`.
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2. Select `Left`, `Right`, or `Neutral` before connecting.
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3. BLE: click `Scan / Refresh`, select a device, then `Connect BLE`. Use `Stop Scan` to stop discovery.
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4. USB Dongle: refresh/select a serial port, then `Open USB`. The serial session uses `115200 8N1`.
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5. After connection, use motor controls, realtime debug, CSV recording, and status/statistics panels.
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Heartbeat starts only after BLE notify subscription or USB serial open succeeds, and stops when the session is disconnected.
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CSV recording is flushed and closed when recording is stopped or the session ends.
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The status panel shows live metrics and the latest error summary for the current session.
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Closing the app cancels scans, disconnects the active session, and closes any active CSV recorder.
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## Protocol Notes
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- BLE uses Nordic UART characteristics:
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- TX: `6e400002-b5a3-f393-e0a9-e50e24dcca9e`
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- RX notify: `6e400003-b5a3-f393-e0a9-e50e24dcca9e`
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- USB Dongle downlink wraps motor payload as `5A A5 + DEV(0x31) + LEN + PAYLOAD + CRC8/MAXIM`.
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- USB Dongle uplink extracts `seq_id(2B LE)` and `dt_ms(2B LE)` before motor protocol parsing.
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## Verification
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Current automated checks cover data model defaults/serde, protocol encode/decode, heartbeat cancel/error behavior, parameter validation, tuning packet reassembly, debug-field error marking, communication-event logging, CSV writing/no-op/error paths, session-end/app-close recorder cleanup, host interval statistics, USB `seq_id`/`dt_ms` statistics, and simulated BLE/USB receive paths into chart/statistics.
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Hardware validation still requires a real YRobot motor and USB Dongle:
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- BLE scan/connect/notify/write.
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- 2s heartbeat under real connection.
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- Motor parameter set/query.
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- Realtime debug stream at device rate.
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- USB Dongle serial open, wrapping/unwrapping, `seq_id`/`dt_ms` diagnostics.
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- Long-run stability on the target machine.
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Use [docs/hardware-validation.md](docs/hardware-validation.md) to record final hardware acceptance.
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