feat: synchronize CH1 vehicle control and feedback

2026-08-11 10:42:13 +08:00
parent 3701192a11
commit 32379a1573
50 changed files with 13636 additions and 736 deletions
@@ -0,0 +1,132 @@
+"""Run the opt-in CH1 driver/body-CAN front-end HIL suite."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import sys
+from pathlib import Path
+
+
+ROOT = Path(__file__).resolve().parents[1]
+SRC = ROOT / "src"
+SEAT_SRC = ROOT / "domains" / "seat" / "src"
+for source in (SRC, SEAT_SRC):
+    if str(source) not in sys.path:
+        sys.path.insert(0, str(source))
+
+from cognitive_agent.config_loader import load_local_env  # noqa: E402
+from cognitive_agent.infrastructure.can.hardware import VehicleCanSettings  # noqa: E402
+from cognitive_agent.testing.ch1_hil import (  # noqa: E402
+    Ch1HilRunner,
+    JsonApiClient,
+    load_suite,
+    observe_stationary_ch1,
+    require_explicit_hil_arm,
+    suite_cases,
+    suite_rejections,
+    validate_ui_contract,
+)
+
+
+DEFAULT_SUITE = ROOT / "tests" / "fixtures" / "ch1_vehicle_frontend_hil_suite.json"
+DEFAULT_OUTPUT = ROOT / "artifacts" / "hil" / "ch1_vehicle_frontend_hil_latest.json"
+def passive_reader(token: str | None):
+    """Build one fresh observer that opens CH1 only and never transmits."""
+
+    settings = VehicleCanSettings.from_env(ROOT)
+    settings.authorize(token)
+    if settings.channel != 1 or settings.required_channel != 1:
+        raise RuntimeError("passive preflight refused a non-CH1 channel")
+
+    def read() -> dict:
+        bridge = settings.bridge([settings.channel_config()])
+        try:
+            bus = bridge.channel_bus(1)
+            return observe_stationary_ch1(bus, timeout_seconds=5.0)
+        finally:
+            bridge.close()
+
+    return read
+
+
+def offline_validate(suite_path: Path) -> int:
+    suite = load_suite(suite_path)
+    validate_ui_contract(
+        "self_orchestration",
+        (ROOT / "apps" / "web-console" / "app.js").read_text(encoding="utf-8"),
+    )
+    validate_ui_contract(
+        "self_extension",
+        (ROOT / "apps" / "web-console" / "self-extension.js").read_text(
+            encoding="utf-8"
+        ),
+    )
+    counts = {
+        module: {
+            "total": len(suite_cases(suite, module)),
+            "physical": sum(
+                item.get("hil", True) for item in suite_cases(suite, module)
+            ),
+            "contract_only": sum(
+                not item.get("hil", True) for item in suite_cases(suite, module)
+            ),
+            "offline_rejections": len(suite_rejections(suite, module)),
+        }
+        for module in ("self_orchestration", "self_extension")
+    }
+    print(json.dumps({"status": "validated_offline", "cases": counts}, ensure_ascii=False))
+    return 0
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(
+        description="CH1-only driver/body-CAN front-end HIL verification"
+    )
+    parser.add_argument("--suite", type=Path, default=DEFAULT_SUITE)
+    parser.add_argument("--output", type=Path, default=DEFAULT_OUTPUT)
+    parser.add_argument("--base-url", default="http://127.0.0.1:8000")
+    parser.add_argument("--offline-validate", action="store_true")
+    parser.add_argument(
+        "--confirm",
+        default="",
+        help="Live mode requires the exact text CH1_DRIVER_ONLY.",
+    )
+    args = parser.parse_args()
+    if args.offline_validate:
+        return offline_validate(args.suite)
+
+    # Loading the repository launch environment does not arm HIL by itself;
+    # the dedicated environment and exact CLI confirmation are both mandatory.
+    load_local_env(ROOT / ".env", override=True)
+    require_explicit_hil_arm(os.environ, confirmation=args.confirm)
+    suite = load_suite(args.suite)
+    token = os.getenv("COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN") or None
+    client_id = os.getenv("COGNITIVE_AGENT_CH1_HIL_CLIENT_ID") or None
+    cookie = os.getenv("COGNITIVE_AGENT_CH1_HIL_COOKIE") or None
+    api = JsonApiClient(args.base_url, cookie=cookie)
+    reader = passive_reader(token)
+
+    runner = Ch1HilRunner(
+        suite,
+        api,
+        reader,
+        confirmation=args.confirm,
+        approval_token=token,
+        hardware_client_id=client_id,
+    )
+    report = runner.run()
+
+    args.output.parent.mkdir(parents=True, exist_ok=True)
+    args.output.write_text(
+        json.dumps(report, ensure_ascii=False, indent=2) + "\n",
+        encoding="utf-8",
+    )
+    print(json.dumps(report["summary"], ensure_ascii=False))
+    print(str(args.output.resolve()))
+    return 0 if report["summary"]["failed"] == 0 else 1
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())