feat: synchronize CH1 vehicle control and feedback

domains/seat/tests/integration/test_seat_service.py

@@ -177,7 +177,7 @@ class SeatServiceIntegrationTests(unittest.TestCase):
         route = next(event for event in result["trace_events"] if event["stage"] == "domain_route")
         self.assertEqual(route["details"]["domains"], ["climate"])
 
-    def test_openai_output_is_not_rewritten_by_local_semantic_planner(self) -> None:
+    def test_openai_unscoped_passenger_target_is_rewritten_to_driver_ch1(self) -> None:
         model_output = {
             "detected_domains": ["seat"],
             "requests": [
@@ -199,26 +199,31 @@ class SeatServiceIntegrationTests(unittest.TestCase):
 
         with patch.object(self.service.openai, "interpret", return_value=model_output) as interpret:
             parsed, provider, notice = self.service._interpret(
-                "车上太闷了", "openai", context
+                "关闭座椅通风", "openai", context
             )
 
         self.assertEqual(parsed["decision_summary"], ["model-owned-plan"])
         self.assertEqual(parsed["model_requests"], model_output["requests"])
+        self.assertEqual(parsed["actions"], [])
         self.assertEqual(
-            parsed["actions"],
+            parsed["deferred_requests"],
             [
                 {
-                    "target": "passenger",
-                    "function": "ventilation",
-                    "state": "off",
-                    "requested_level": None,
+                    "domain": "seat",
+                    "capability": "seat.set_driver_ventilation_native",
+                    "target_scope": "driver",
+                    "desired_change": "deactivate",
+                    "requested_value": "off",
+                    "parameters": {"state": "off"},
+                    "reason": "model-owned-plan",
+                    "execution_backend": "native_can",
                 }
             ],
         )
         self.assertEqual(provider, f"openai:{self.service.openai.model}")
         self.assertIsNone(notice)
         interpret.assert_called_once_with(
-            "车上太闷了", context, self.service.capability_context
+            "关闭座椅通风", context, self.service.capability_context
         )
 
     def test_explicit_gpt_failure_falls_back_to_local_rules(self) -> None:
@@ -680,7 +685,7 @@ class SeatServiceIntegrationTests(unittest.TestCase):
                 conversation_id,
             )
             second = self.service.process(
-                "靠背再向后一点", "openai", conversation_id
+                "副驾靠背再向后一点", "openai", conversation_id
             )
             saved = self.service.process(
                 "将当前状态保存为零重力模式", "openai", conversation_id
@@ -767,24 +772,35 @@ class SeatServiceIntegrationTests(unittest.TestCase):
         apply_context = interpret.call_args_list[4].args[1]
         self.assertEqual(apply_context["presets"][0]["name"], "零重力模式")
 
-    def test_missing_target_defaults_to_passenger(self) -> None:
+    def test_missing_target_defaults_to_driver_ch1(self) -> None:
         result = self.service.process("打开座椅通风", provider="local")
 
         self.assertEqual(result["status"], "succeeded")
         operation = result["function_config"]["spec"]["operations"][0]
-        self.assertEqual(operation["target"]["instance"], "passenger")
+        self.assertEqual(operation["target"]["zone"], "driver")
+        self.assertEqual(
+            operation["capability"], "seat.set_driver_ventilation_native"
+        )
+        self.assertEqual(
+            result["command_plan"]["spec"]["commands"][0]["bus"],
+            "body_can",
+        )
 
-    def test_explicit_driver_target_is_rejected(self) -> None:
+    def test_explicit_driver_target_uses_ch1_native_can(self) -> None:
         result = self.service.process("打开主驾座椅通风", provider="local")
 
-        self.assertEqual(result["status"], "needs_confirmation")
-        self.assertIsNone(result["function_config"])
-        questions = [
-            item["question"] for item in result["intent_ir"]["spec"]["ambiguities"]
-        ]
-        self.assertTrue(any("仅控制副驾" in question for question in questions))
+        self.assertEqual(result["status"], "succeeded")
+        operation = result["function_config"]["spec"]["operations"][0]
+        self.assertEqual(operation["target"]["zone"], "driver")
+        self.assertEqual(
+            operation["capability"], "seat.set_driver_ventilation_native"
+        )
+        command = result["command_plan"]["spec"]["commands"][0]
+        self.assertEqual(command["bus"], "body_can")
+        self.assertEqual(command["signals"]["frame_id"], "0x431")
+        self.assertEqual(command["signals"]["feedback_ids"], "0x4FA")
 
-    def test_model_driver_target_is_rejected(self) -> None:
+    def test_model_driver_target_is_replaced_by_ch1_native_can(self) -> None:
         model_output = {
             "detected_domains": ["seat"],
             "requests": [
@@ -808,12 +824,13 @@ class SeatServiceIntegrationTests(unittest.TestCase):
                 "打开主驾座椅通风", "openai", "conv-driver-rejected"
             )
 
-        self.assertEqual(result["status"], "needs_confirmation")
-        self.assertIsNone(result["function_config"])
-        questions = [
-            item["question"] for item in result["intent_ir"]["spec"]["ambiguities"]
-        ]
-        self.assertTrue(any("仅控制副驾" in question for question in questions))
+        self.assertEqual(result["status"], "succeeded")
+        operation = result["function_config"]["spec"]["operations"][0]
+        self.assertEqual(operation["target"]["zone"], "driver")
+        self.assertEqual(
+            operation["capability"], "seat.set_driver_ventilation_native"
+        )
+        self.assertFalse(result["deferred_requests"])
 
 
 if __name__ == "__main__":

domains/seat/tests/unit/test_t2g_hardware.py

@@ -476,7 +476,7 @@ class ProtocolSignatureFakeBus:
         self.received: deque[CanFrame] = deque()
         self.closed = False
         if signature:
-            self.received.append(CanFrame(0x301, bytes.fromhex("10 00 00 00 00 00 F0 D0")))
+            self.received.append(CanFrame(0x301, bytes.fromhex("10 00 00 00 00 00 F0 F0")))
             for motor in range(4):
                 self.received.append(
                     CanFrame(0x302, bytes([motor, 0, 0x08, 0, 0, 0, 0, 0]))
@@ -1684,7 +1684,7 @@ class T2GHardwareTests(unittest.TestCase):
 
         self.assertIs(prepared, bus)
         self.assertFalse(telemetry["programmed_this_request"])
-        self.assertEqual(telemetry["firmware_revision"], 13)
+        self.assertEqual(telemetry["firmware_revision"], 15)
         self.assertEqual(bus.sent, [])
         self.assertEqual(telemetry["max_hall_counts"], [480, 374, 917, 647])
         self.assertFalse(bus.closed)
@@ -1755,7 +1755,7 @@ class T2GHardwareTests(unittest.TestCase):
             guard.prepare_bus()
 
         message = str(raised.exception)
-        self.assertIn("firmware_revision=0 (expected 13)", message)
+        self.assertIn("firmware_revision=0 (expected 15)", message)
         self.assertIn("missing_frame_ids=0x306", message)
         self.assertIn("max_hall_counts=480,374,917,647", message)
         self.assertTrue(bus.closed)