更新 L1 配置并完善自动识别逻辑

config/l1_hand.json

@@ -1,13 +1,7 @@
 {
   "model": "L1-Hand-V1",
-  "name": "L1-Hand-V1",
-  "aliases": ["XiaoShun-Hand"],
-  "slave_id": 49,
+  "name": "GHand Lite 1",
   "modbus_profile": "l1",
-  "ethercat_input_sizes": [1302],
-  "ethercat_output_size": 36,
-  "ethercat_rpdo_layout": "per_joint_mode_3reg",
-  "ethercat_tpdo_layout": "l1_extended",
   "joints": [
     { "id": "THUMB_TMC_FE" },
     { "id": "THUMB_TMC_AA", "min": 0.0, "max": 30.0 },
@@ -21,6 +15,12 @@
     { "id": "LF_PIP" },
     { "id": "LF_MCP",      "min": 0.0, "max": 90.0 }
   ],
-  "has_tactile": false,
-  "tactile_regions": []
+  "has_tactile": true,
+  "tactile_regions": [
+    { "id": "THUMB", "count": 80 },
+    { "id": "FF",    "count": 80 },
+    { "id": "MF",    "count": 80 },
+    { "id": "RF",    "count": 80 },
+    { "id": "LF",    "count": 80 }
+  ]
 }

src/ghand/_config.py

@@ -254,7 +254,11 @@ def find_config_by_name(device_name: str) -> ProductConfig | None:
             except (json.JSONDecodeError, OSError):
                 continue
 
-            names = [data.get("name", ""), *data.get("aliases", [])]
+            names = [
+                data.get("model", ""),
+                data.get("name", ""),
+                *data.get("aliases", []),
+            ]
             if any(name.lower() == device_name.lower() for name in names if name):
                 logger.info("Auto-detected product config: %s -> %s", device_name, file_path)
                 return _load_config_from_file(file_path)

tests/test_connection_cleanup.py

@@ -1,3 +1,5 @@
+import math
+import struct
 import sys
 import types
 from pathlib import Path
@@ -338,39 +340,44 @@ def test_ethercat_comm_keeps_default_708_tpdo_layout():
     assert [region.count for region in comm.config.tactile_regions] == [52, 31, 31, 31, 31]
 
 
-def test_ethercat_l1_accepts_extended_pdo_sizes_and_packs_per_joint_commands():
+def test_ethercat_l1_uses_configured_tactile_pdo_sizes_and_default_rpdo():
     config = load_product_config(ProductType.L1)
     comm = EthercatComm.__new__(EthercatComm)
     comm._client = FakeEthercatClientForSend()
     comm.update_config(config)
 
-    assert comm._expected_tpdo_sizes == (92, 1302)
-    assert comm._expected_rpdo_size == 36
+    assert comm._expected_tpdo_sizes == (1168, 1324)
+    assert comm._expected_rpdo_size == 38
 
     comm.move_joints(
         [JointCommand(id=JointId.FF_MCP, angle=12.3, speed=-4, torque=5)],
         CtrlMode.SPEED,
     )
 
     data = comm._client.sent[-1]
-    assert len(data) == 36
-    assert data[0:6] == bytes.fromhex("02 00 00 00 00 00")
-    assert data[12:18] == bytes.fromhex("02 00 7b 00 fc 05")
+    assert len(data) == 38
+    assert data[0:2] == bytes.fromhex("02 00")
+    angle, speed, torque = struct.unpack_from("<fbb", data, 14)
+    assert math.isclose(angle, math.radians(12.3), rel_tol=1e-6)
+    assert speed == -4
+    assert torque == 5
 
     comm.stop()
-    assert comm._client.sent[-1][0:6] == bytes.fromhex("00 01 00 00 00 00")
+    assert comm._client.sent[-1][0:2] == bytes.fromhex("00 01")
 
 
-def test_ethercat_l1_extended_tpdo_parses_joint_prefix():
+def test_ethercat_l1_tpdo_parses_joint_prefix_with_configured_tactile_size():
     config = load_product_config(ProductType.L1)
-    data = bytearray(1302)
+    data = bytearray(1324)
     offset = 4
     for joint_id in config.valid_joints:
         if joint_id == JointId.FF_MCP:
-            data[offset:offset + 6] = bytes.fromhex("01 00 78 00 fc 05")
+            data[offset:offset + 8] = struct.pack(
+                "<BBfbb", 1, 0, math.radians(12.0), -4, 5
+            )
         else:
-            data[offset:offset + 6] = bytes.fromhex("00 00 00 00 00 00")
-        offset += 6
+            data[offset:offset + 8] = bytes(8)
+        offset += 8
 
     comm = EthercatComm.__new__(EthercatComm)
     comm._client = FakeEthercatClientForRecv(bytes(data))
@@ -382,7 +389,7 @@ def test_ethercat_l1_extended_tpdo_parses_joint_prefix():
     assert isinstance(ff_mcp, JointData)
     assert ff_mcp.state == State.RUNNING
     assert ff_mcp.error == ErrorCode.NORMAL
-    assert ff_mcp.angle == 12.0
+    assert math.isclose(ff_mcp.angle, 12.0, rel_tol=1e-6)
     assert ff_mcp.speed == -4
     assert ff_mcp.torque == 5
 

tests/test_modbus_profiles.py

@@ -84,7 +84,7 @@ def test_l1_profile_loads_protocol_register_map():
     config = load_product_config(ProductType.L1)
     profile = get_modbus_profile(config)
 
-    assert config.name == "L1-Hand-V1"
+    assert config.name == "GHand Lite 1"
     assert config.modbus_profile == "l1"
     assert profile.name == "l1"
     assert profile.joint_input_addresses[JointId.THUMB_TMC_FE] == 0x1023
@@ -111,6 +111,8 @@ def test_l1_profile_loads_protocol_register_map():
     assert JointId.MF_PIP not in config.joint_limits
     assert JointId.RF_PIP not in config.joint_limits
     assert JointId.LF_PIP not in config.joint_limits
+    assert config.has_tactile is True
+    assert [region.count for region in config.tactile_regions] == [80] * 5
 
 
 def test_canfd_g5_connection_uses_legacy_timer_register():
@@ -149,12 +151,11 @@ def test_l1_config_can_be_found_by_device_name():
     config = find_config_by_name("L1-Hand-V1")
 
     assert config is not None
-    assert config.name == "L1-Hand-V1"
+    assert config.name == "GHand Lite 1"
     assert config.modbus_profile == "l1"
 
     alias_config = find_config_by_name("XiaoShun-Hand")
-    assert alias_config is not None
-    assert alias_config.name == "L1-Hand-V1"
+    assert alias_config is None
 
 
 def test_l1_hand_type_uses_low_byte():