feat: integrate calibration extension and self-repair modules

tests/unit/test_self_calibration.py

@@ -0,0 +1,91 @@
+from __future__ import annotations
+
+import tempfile
+import time
+from pathlib import Path
+
+import pytest
+
+from cognitive_agent.application.calibration import protocol
+from cognitive_agent.application.calibration.service import CalibrationService
+
+
+def test_protocol_matches_android_golden_vectors() -> None:
+    assert protocol.crc8(b"123456789") == 0x4B
+    vectors = (
+        (
+            protocol.command(0x00, protocol.OP_HELLO, protocol.AXIS_ALL),
+            "A1 00 01 FF 00 00 00 55",
+        ),
+        (
+            protocol.command(0x01, protocol.OP_ARM, protocol.AXIS_ALL, 0x4E37),
+            "A1 01 02 FF 37 4E 00 0A",
+        ),
+        (
+            protocol.command(0x23, protocol.OP_CALIBRATE, protocol.AXIS_ALL),
+            "A1 23 10 FF 00 00 00 33",
+        ),
+        (
+            protocol.command(0x24, protocol.OP_MOVE_PERMILLE, 0, 1000),
+            "A1 24 11 00 E8 03 00 78",
+        ),
+        (
+            protocol.command(0x25, protocol.OP_STOP, protocol.AXIS_ALL),
+            "A1 25 12 FF 00 00 00 6E",
+        ),
+    )
+    for actual, expected in vectors:
+        assert actual == bytes.fromhex(expected)
+
+
+def test_protocol_parses_status_and_rejects_bad_crc() -> None:
+    ack = protocol.parse(0x621, bytes.fromhex("B1 22 10 02 00 07 01 A9"))
+    assert isinstance(ack, protocol.Ack)
+    assert ack.accepted
+
+    controller = protocol.parse(0x622, bytes.fromhex("C1 01 00 17 07 FF 02 4E"))
+    assert isinstance(controller, protocol.ControllerStatus)
+    assert controller.can_ready
+    assert controller.motor_ready
+    assert controller.armed
+
+    frame = bytearray.fromhex("D1 00 F0 00 E0 01 17 40")
+    frame[2] ^= 1
+    with pytest.raises(protocol.ProtocolError):
+        protocol.parse(0x630, bytes(frame))
+
+
+def test_simulation_uses_real_wire_boundary_and_generates_pose() -> None:
+    with tempfile.TemporaryDirectory() as directory:
+        service = CalibrationService(Path(directory))
+        service.start()
+        try:
+            initial = service.snapshot()
+            assert initial["transport"] == {
+                "mode": "hardware",
+                "state": "disconnected",
+                "detail": "尚未连接",
+            }
+
+            connected = service.connect_can({"mode": "simulation"})
+            assert connected["transport"]["state"] == "online"
+            assert connected["controller"]["can_ready"]
+            assert connected["controller"]["motor_ready"]
+            assert [axis["range"] for axis in connected["axes"]] == [480, 647, 917, 373]
+
+            service.move(0, 800)
+            time.sleep(0.2)
+            moving = service.snapshot()
+            assert moving["controller"]["armed"]
+            assert moving["axes"][0]["moving"]
+
+            time.sleep(0.45)
+            pose = service.snapshot()["mqtt"]
+            assert pose["state"] == "simulated"
+            assert pose["count"] >= 1
+            assert "Seat_cushion" in pose["areas"]
+
+            stopped = service.stop()
+            assert not stopped["controller"]["armed"]
+        finally:
+            service.close()