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orin
2026-07-30 14:09:04 +08:00
parent 25b24ac4cd
commit 49f5c49c53
35 changed files with 4078 additions and 48 deletions
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domains/seat/config/capabilities.yaml
+34 -7
View File
@@ -65,7 +65,9 @@ spec:
description: >-
Set one front seat's fore-aft rail position. position_pct is an absolute target: 0 is the
rearmost mechanical limit and 100 is the forwardmost limit. Resolve relative requests such
as "move back a little" against the current position supplied in runtime state.
as "move back a little" against the current position supplied in runtime state. For a
vehicle-specific physical relative request, distance_mm may be supplied and the runtime
converts it to an absolute position_pct before CAN compilation.
target_devices:
- seat_longitudinal_motor
target_scopes:
@@ -75,10 +77,17 @@ spec:
- name: position_pct
type: integer
unit: percent
required: true
required: false
minimum: 0
maximum: 100
description: Absolute normalized fore-aft target.
- name: distance_mm
type: number
unit: mm
required: false
minimum: 0
maximum: 215
description: Relative physical fore-aft movement resolved against current position and vehicle calibration.
risk_level: high
confirmation_policy: on_ambiguity
- name: seat.set_cushion_tilt
@@ -105,7 +114,9 @@ spec:
Set the backrest recline of one front seat. Use either position_pct or angle_deg.
position_pct is absolute: 0 is the most upright limit and 100 is the most reclined limit.
angle_deg is the included angle between the seat-cushion surface and backrest centreline,
from 95 to 140 degrees. "Backrest backward" means a larger value.
from 95 to 163 degrees for the selected Denza N7 profile. "Backrest backward" means a
larger value. For relative physical angle requests, angle_delta_deg may be supplied and the
runtime converts it to an absolute position_pct before CAN compilation.
target_devices:
- seat_backrest_motor
target_scopes:
@@ -124,16 +135,25 @@ spec:
unit: degree
required: false
minimum: 95
maximum: 140
maximum: 163
description: Exact included angle between the cushion surface and backrest centreline.
- name: angle_delta_deg
type: number
unit: degree
required: false
minimum: 0
maximum: 68
description: Relative backrest angle movement resolved against current posture and vehicle calibration.
risk_level: high
confirmation_policy: on_ambiguity
- name: seat.set_legrest_height
description: >-
Raise or lower one front seat's powered leg rest. Use either position_pct or angle_deg.
position_pct is absolute: 0 is fully lowered and 100 is fully raised. angle_deg is the
included angle between the cushion surface and leg-rest surface, from 95 to 160 degrees.
This axis does not change leg-rest extension.
included angle between the cushion surface and leg-rest surface, from 95 to 173 degrees for
the selected Denza N7 profile. For relative physical angle requests, angle_delta_deg may be
supplied and the runtime converts it to an absolute position_pct before CAN compilation. This
axis does not change leg-rest extension.
target_devices:
- seat_legrest_lift_motor
target_scopes:
@@ -152,8 +172,15 @@ spec:
unit: degree
required: false
minimum: 95
maximum: 160
maximum: 173
description: Exact included angle between the cushion surface and leg-rest surface.
- name: angle_delta_deg
type: number
unit: degree
required: false
minimum: 0
maximum: 78
description: Relative leg-rest lift angle movement resolved against current posture and vehicle calibration.
risk_level: high
confirmation_policy: on_ambiguity
- name: seat.set_legrest_extension
domains/seat/schemas/function-parameters.schema.json
+1 -1
View File
@@ -61,7 +61,7 @@
"required": ["position_pct"],
"properties": {
"position_pct": {"type": "integer", "minimum": 0, "maximum": 100},
"angle_deg": {"type": "number", "minimum": 95, "maximum": 160}
"angle_deg": {"type": "number", "minimum": 95, "maximum": 173}
}
}
}
domains/seat/src/seat_domain/validator.py
+2 -2
View File
@@ -16,8 +16,8 @@ SUPPORTED_MOTION_AXES = {
"legrest_extension",
}
ANGLE_RANGES = {
"backrest_recline": (95, 140),
"legrest_height": (95, 160),
"backrest_recline": (95, 163),
"legrest_height": (95, 173),
}
domains/seat/tests/integration/test_seat_service.py
+104 -5
View File
@@ -376,6 +376,105 @@ class SeatServiceIntegrationTests(unittest.TestCase):
40,
)
def test_model_relative_physical_motion_uses_vehicle_profile(self) -> None:
model_output = {
"detected_domains": ["seat"],
"requests": [
{
"domain": "seat",
"capability": "seat.set_longitudinal_position",
"target_scope": "driver",
"operation": "increase",
"parameters": [{"name": "distance_mm", "value": 50}],
"reason": "Move forward by a physical distance.",
},
{
"domain": "seat",
"capability": "seat.set_backrest_recline",
"target_scope": "driver",
"operation": "increase",
"parameters": [{"name": "angle_delta_deg", "value": 10}],
"reason": "Recline by a relative physical angle.",
},
],
"ambiguities": [],
"decision_summary": ["使用车型量程把相对物理量换算为绝对百分比。"],
"confidence": 0.94,
}
self.service.openai.api_key = "test-key"
with patch.object(self.service.openai, "interpret", return_value=model_output) as interpret:
result = self.service.process(
"主驾水平向前移动50毫米，靠背往后10度",
"openai",
"conv-vehicle-profile-relative",
vehicle_id="denza_n7",
)
self.assertEqual(result["status"], "succeeded")
self.assertEqual(result["vehicle"]["id"], "denza_n7")
operations = result["function_config"]["spec"]["operations"]
self.assertEqual(operations[0]["parameters"], {"position_pct": 73})
self.assertEqual(
operations[1]["parameters"],
{"position_pct": 38, "angle_deg": 116},
)
backrest_motion = operations[1]["motion"]
self.assertEqual(backrest_motion["mode"], "relative")
self.assertEqual(backrest_motion["direction"], "increase")
self.assertEqual(backrest_motion["start_position_pct"], 20)
self.assertEqual(backrest_motion["delta_position_pct"], 18)
self.assertEqual(backrest_motion["start_angle_deg"], 106.0)
self.assertEqual(backrest_motion["delta_angle_deg"], 10)
context_sent_to_model = interpret.call_args.args[1]
self.assertEqual(context_sent_to_model["vehicle"]["id"], "denza_n7")
self.assertEqual(
context_sent_to_model["devices"]["driver"]["position"][
"backrest_recline"
]["angle_deg"],
106.0,
)
def test_vehicle_profile_angle_limits_are_accepted(self) -> None:
model_output = {
"detected_domains": ["seat"],
"requests": [
{
"domain": "seat",
"capability": "seat.set_backrest_recline",
"target_scope": "passenger",
"operation": "set",
"parameters": [{"name": "angle_deg", "value": 163}],
"reason": "Use the vehicle-specific maximum backrest angle.",
},
{
"domain": "seat",
"capability": "seat.set_legrest_height",
"target_scope": "passenger",
"operation": "set",
"parameters": [{"name": "angle_deg", "value": 173}],
"reason": "Use the vehicle-specific maximum legrest angle.",
},
],
"ambiguities": [],
"decision_summary": ["车型角度边界按腾势 N7 配置执行。"],
"confidence": 0.95,
}
self.service.openai.api_key = "test-key"
with patch.object(self.service.openai, "interpret", return_value=model_output):
result = self.service.process(
"副驾靠背到163度，腿托到173度",
"openai",
"conv-vehicle-angle-limits",
vehicle_id="denza_n7",
)
self.assertEqual(result["status"], "succeeded")
operations = result["function_config"]["spec"]["operations"]
self.assertEqual(operations[0]["parameters"], {"position_pct": 100, "angle_deg": 163})
self.assertEqual(operations[1]["parameters"], {"position_pct": 100, "angle_deg": 173})
def test_motion_adapter_does_not_resolve_missing_absolute_target(self) -> None:
model_output = {
"detected_domains": ["seat"],
@@ -527,11 +626,11 @@ class SeatServiceIntegrationTests(unittest.TestCase):
first_operations = first["function_config"]["spec"]["operations"]
self.assertEqual(
first_operations[0]["parameters"],
{"position_pct": 73, "angle_deg": 128},
{"position_pct": 49, "angle_deg": 128},
)
self.assertEqual(
first_operations[1]["parameters"],
{"position_pct": 58, "angle_deg": 133},
{"position_pct": 49, "angle_deg": 133},
)
self.assertEqual(
first["actuator_state"]["passenger"]["position"]["backrest_recline"][
@@ -541,7 +640,7 @@ class SeatServiceIntegrationTests(unittest.TestCase):
)
first_telemetry = first["execution_report"]["spec"]["results"][0]["telemetry"]
self.assertEqual(first_telemetry["requested_angle_deg"], 128)
self.assertEqual(first_telemetry["effective_position_pct"], 73)
self.assertEqual(first_telemetry["effective_position_pct"], 49)
self.assertEqual(
second["actuator_state"]["passenger"]["position"]["backrest_recline"][
@@ -554,8 +653,8 @@ class SeatServiceIntegrationTests(unittest.TestCase):
]
self.assertEqual(relative_motion["mode"], "relative")
self.assertEqual(relative_motion["direction"], "increase")
self.assertEqual(relative_motion["start_position_pct"], 73)
self.assertEqual(relative_motion["delta_position_pct"], 11)
self.assertEqual(relative_motion["start_position_pct"], 49)
self.assertEqual(relative_motion["delta_position_pct"], 7)
self.assertEqual(relative_motion["delta_angle_deg"], 5)
second_context = interpret.call_args_list[1].args[1]
self.assertEqual(
domains/seat/tests/unit/test_t2g_hardware.py
+5
View File
@@ -598,6 +598,11 @@ class T2GHardwareTests(unittest.TestCase):
"COGNITIVE_AGENT_HARDWARE_EXECUTION_ENABLED": "true",
"COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN": "bench-secret",
"COGNITIVE_AGENT_SEAT_FIRMWARE_PROFILES": "combined",
"COGNITIVE_AGENT_SEAT_CAN_BACKEND": "python-can",
"COGNITIVE_AGENT_SEAT_CAN_BITRATE": "500000",
"COGNITIVE_AGENT_SEAT_CAN_INTERFACE": "socketcan",
"COGNITIVE_AGENT_SEAT_CAN_CHANNEL": "0",
"COGNITIVE_AGENT_SEAT_AUTO_FLASH_ENABLED": "false",
"COGNITIVE_AGENT_ENABLE_UNVERIFIED_LONGITUDINAL": "false",
}
with patch.dict(os.environ, environment, clear=False):