feat: synchronize CH1 vehicle control and feedback

tests/unit/test_native_can_integration.py

@@ -1,6 +1,7 @@
 from __future__ import annotations
 
 import os
+import copy
 import unittest
 from pathlib import Path
 from unittest.mock import patch
@@ -140,6 +141,62 @@ class NativeCanIntegrationTests(unittest.TestCase):
             ).execute(self.runtime, plan, config)
         self.assertEqual(report["spec"]["status"], "failed")
 
+    def test_executor_ignores_stale_wrong_value_until_target_feedback_arrives(self) -> None:
+        config, plan = self._compile(
+            "climate",
+            [
+                {
+                    "domain": "climate",
+                    "capability": "climate.set_power",
+                    "target": "vehicle",
+                    "operation": "set",
+                    "parameters": {"state": "on"},
+                }
+            ],
+        )
+        off = CanFrame(0x404, bytes((0, 2, 0, 0, 0, 0, 0, 0)), channel=1)
+        on = CanFrame(0x404, bytes((0, 1, 0, 0, 0, 0, 0, 0)), channel=1)
+        bus = _FakeBus([off, on])
+
+        with patch("cognitive_agent.application.native_can_runtime.time.sleep"):
+            report = NativeCanExecutor(lambda: bus, feedback_timeout_ms=10).execute(
+                self.runtime, plan, config
+            )
+
+        telemetry = report["spec"]["results"][0]["telemetry"]
+        self.assertEqual(report["spec"]["status"], "succeeded")
+        self.assertTrue(telemetry["feedback_match"])
+        self.assertEqual(telemetry["feedback_frame"]["data_hex"], "00 01 00 00 00 00 00 00")
+        self.assertEqual(telemetry["channel"], 1)
+
+    def test_executor_refuses_to_send_without_value_match_contract(self) -> None:
+        config, plan = self._compile(
+            "climate",
+            [
+                {
+                    "domain": "climate",
+                    "capability": "climate.set_power",
+                    "target": "vehicle",
+                    "operation": "set",
+                    "parameters": {"state": "on"},
+                }
+            ],
+        )
+        unsafe_plan = copy.deepcopy(plan)
+        unsafe_plan["spec"]["commands"][0]["signals"]["expected_feedback"] = ""
+        bus = _FakeBus()
+
+        report = NativeCanExecutor(lambda: bus, feedback_timeout_ms=1).execute(
+            self.runtime, unsafe_plan, config
+        )
+
+        self.assertEqual(report["spec"]["status"], "failed")
+        self.assertFalse(bus.sent)
+        self.assertIn(
+            "target-value match contract",
+            report["spec"]["results"][0]["message"],
+        )
+
     def test_one_sentence_builds_seat_and_vehicle_channel_plans(self) -> None:
         service = SeatDemoService(REPOSITORY_ROOT)
         result = service.process(
@@ -154,6 +211,28 @@ class NativeCanIntegrationTests(unittest.TestCase):
         self.assertTrue(all(item["bus"] == "body_can" for item in body_commands))
         self.assertFalse(result["deferred_requests"])
 
+    def test_retired_vehicle_lock_intent_returns_explicit_unavailable_result(self) -> None:
+        service = SeatDemoService(REPOSITORY_ROOT)
+        for index, command in enumerate(("door vehicle lock", "door vehicle unlock")):
+            with self.subTest(command=command):
+                result = service.process(
+                    command,
+                    provider="local",
+                    conversation_id=f"conv-retired-door-lock-{index}",
+                    execution_mode="dry_run",
+                )
+                self.assertEqual(result["status"], "capability_unavailable")
+                self.assertEqual(result["function_configs"], {})
+                self.assertEqual(result["command_plans"], {})
+                self.assertEqual(
+                    result["deferred_requests"][0]["rejection_code"],
+                    "CH1_DOOR_LOCK_CONTROL_UNSUPPORTED",
+                )
+                self.assertEqual(
+                    result["deferred_requests"][0]["execution_backend"],
+                    "unsupported",
+                )
+
     def test_vehicle_timing_contract_matches_requested_60mhz_values(self) -> None:
         settings = VehicleCanSettings.from_env(Path(REPOSITORY_ROOT))
         self.assertTrue(settings.timing_is_verified)