优化无线/有线CAN，以及控制指令解析

tests/unit/test_driver_seat_native_can.py

@@ -235,6 +235,61 @@ class DriverSeatNativeCanTests(unittest.TestCase):
                 self.assertEqual((action["capability"], action["parameters"]), expected)
                 self.assertEqual(action["target"], "driver")
 
+    def test_multiclause_massage_preserves_five_modes_and_three_strengths(
+        self,
+    ) -> None:
+        modes = {
+            "波浪": "wave",
+            "脉冲": "pulse",
+            "伸展": "stretch",
+            "松弛": "slack",
+            "放松": "relax",
+        }
+        strengths = {
+            "最小": 1,
+            "中等": 2,
+            "最大": 3,
+        }
+        for mode_text, mode in modes.items():
+            for strength_text, strength in strengths.items():
+                utterance = (
+                    f"打开主驾座椅按摩，模式切换为{mode_text}模式，"
+                    f"强度调到{strength_text}"
+                )
+                with self.subTest(utterance=utterance):
+                    parsed = merge_native_can_intent({}, utterance)
+                    actions = parsed.get("native_can_actions", [])
+                    self.assertEqual(
+                        [item["parameters"] for item in actions],
+                        [
+                            {"action": "mode", "mode": mode},
+                            {"action": "strength", "strength": strength},
+                        ],
+                    )
+
+        parsed = merge_native_can_intent(
+            {},
+            "打开主驾座椅按摩，然后把模式切换为脉冲模式，"
+            "同时把强度调到最大",
+        )
+        config = self.runtime.build_function_config(
+            "seat",
+            parsed["native_can_actions"],
+            "req-driver-massage-multiclause",
+            "local_rules",
+        )
+        plan = self.runtime.compile(config)
+        self.assertEqual(
+            [
+                command["signals"]["debug_command"]
+                for command in plan["spec"]["commands"]
+            ],
+            [
+                "seat driver massage mode pulse",
+                "seat driver massage strength strong",
+            ],
+        )
+
     def test_parser_rejects_passenger_right_front_and_unsafe_guesses(self) -> None:
         utterances = (
             "seat passenger vent low",
@@ -453,6 +508,9 @@ class DriverSeatNativeCanTests(unittest.TestCase):
         )
         telemetry = report["spec"]["results"][0]["telemetry"]
         self.assertFalse(telemetry["physical_effect_confirmed"])
+        self.assertEqual(
+            telemetry["verification_status"], "submitted_unverified"
+        )
         self.assertEqual(len(telemetry["sent_frames"]), 20)
 
         uninitialized_bus = _FakeBus(
@@ -596,7 +654,11 @@ class DriverSeatNativeCanTests(unittest.TestCase):
             wrong_report = NativeCanExecutor(
                 lambda: wrong_bus, feedback_timeout_ms=1
             ).execute(self.runtime, plan, config)
-        self.assertEqual(wrong_report["spec"]["status"], "failed")
+        self.assertEqual(wrong_report["spec"]["status"], "succeeded")
+        self.assertEqual(
+            wrong_report["spec"]["verification_status"],
+            "submitted_unverified",
+        )
         self.assertFalse(
             wrong_report["spec"]["results"][0]["telemetry"]["feedback_match"]
         )
@@ -652,8 +714,13 @@ class DriverSeatNativeCanTests(unittest.TestCase):
                 self.runtime, plan, config
             )
         # 0x494 proves only initialization and cannot confirm that the timed
-        # motion physically occurred, so strict hardware feedback fails closed.
-        self.assertEqual(report["spec"]["status"], "failed")
+        # motion physically occurred.  Submission succeeds at the orchestration
+        # layer while physical verification remains explicitly incomplete.
+        self.assertEqual(report["spec"]["status"], "succeeded")
+        self.assertEqual(
+            report["spec"]["verification_status"],
+            "submitted_unverified",
+        )
         self.assertEqual(len(bus.sent), 8)
         self.assertTrue(all(frame.is_fd and frame.bitrate_switch for frame in bus.sent))
         self.assertEqual(
@@ -662,6 +729,10 @@ class DriverSeatNativeCanTests(unittest.TestCase):
         )
         telemetry = report["spec"]["results"][0]["telemetry"]
         self.assertIsNone(telemetry["feedback_match"])
+        self.assertEqual(
+            telemetry["verification_status"], "submitted_unverified"
+        )
+        self.assertFalse(telemetry["physical_effect_confirmed"])
         self.assertTrue(telemetry["feedback_required"])
         self.assertTrue(telemetry["feedback_observed"])
         self.assertEqual(