优化无线/有线CAN，以及控制指令解析

2026-08-26 20:11:09 +08:00
parent 9ac8fdface
commit 4a0570706f
49 changed files with 8409 additions and 1289 deletions
@@ -0,0 +1,93 @@
+from __future__ import annotations
+
+import subprocess
+import sys
+import unittest
+from pathlib import Path
+
+from cognitive_agent.application.native_can_runtime import NativeCanRuntime
+from cognitive_agent.generated.can_semantic_protocol import (
+    CAN0_SUPPORTED_CAPABILITIES,
+    CAN1_SUPPORTED_CAPABILITIES,
+    PROTOCOL_SOURCE_SHA256,
+    frame,
+    match_semantic_command,
+    payload_variant,
+)
+from seat_domain import T2GSeatCompiler
+
+
+ROOT = Path(__file__).resolve().parents[2]
+
+
+class SharedCanSemanticProtocolTests(unittest.TestCase):
+    def test_checked_in_python_and_cpp_views_are_current(self) -> None:
+        completed = subprocess.run(
+            [sys.executable, "tools/generate_can_semantic_protocol.py", "--check"],
+            cwd=ROOT,
+            capture_output=True,
+            text=True,
+            check=False,
+        )
+        self.assertEqual(completed.returncode, 0, completed.stderr)
+        self.assertEqual(len(PROTOCOL_SOURCE_SHA256), 64)
+
+    def test_generated_matcher_routes_both_channels_and_rejects_bad_axes(self) -> None:
+        cases = {
+            "seat passenger basin relative up 10": ("can0.seat.relative", 0),
+            "seat passenger legrest position 100": ("can0.seat.position", 0),
+            "ac fan 2": ("can1.climate.fan", 1),
+            "outlet passenger-right close": ("can1.outlet.switch", 1),
+            "seat driver horizontal forward 500": ("can1.seat.driver_axis", 1),
+        }
+        for command, expected in cases.items():
+            with self.subTest(command=command):
+                matched = match_semantic_command(command)
+                self.assertIsNotNone(matched)
+                assert matched is not None
+                self.assertEqual((matched["id"], matched["channel"]), expected)
+        for command in (
+            "seat passenger basin relative forward 10",
+            "seat driver height forward 500",
+            "ac fan 8",
+            "door vehicle lock",
+        ):
+            with self.subTest(command=command):
+                self.assertIsNone(match_semantic_command(command))
+
+    def test_outlet_static_payload_and_transport_have_one_generated_source(self) -> None:
+        metadata = frame("can1.outlet.switch")
+        self.assertEqual(metadata["frame_id"], "0x4EF")
+        self.assertEqual(metadata["format"], "can_fd")
+        self.assertTrue(metadata["brs"])
+        self.assertEqual(metadata["repeat"], {"kind": "fixed", "count": 3, "period_ms": 100})
+        self.assertEqual(metadata["feedback_ids"], ["0x4BB", "0x37B"])
+        self.assertEqual(
+            payload_variant("can1.outlet.switch", "passenger-right:close"),
+            bytes.fromhex("03 FF FF FF FF 08 00 00"),
+        )
+
+        runtime = NativeCanRuntime(ROOT)
+        spec = runtime._outlet_switch_frame(  # noqa: SLF001 - protocol contract test
+            "passenger_right", {"state": "close"}
+        )
+        self.assertEqual(spec.frame_id, 0x4EF)
+        self.assertEqual(spec.payload, bytes.fromhex("03 FF FF FF FF 08 00 00"))
+        self.assertEqual(spec.repeat_count, 3)
+        self.assertEqual(spec.period_ms, 100)
+        self.assertEqual(spec.feedback_ids, (0x4BB, 0x37B))
+
+    def test_python_capability_sets_and_can0_plan_contract_are_generated(self) -> None:
+        runtime = NativeCanRuntime(ROOT)
+        self.assertEqual(runtime.supported_capabilities, CAN1_SUPPORTED_CAPABILITIES)
+        self.assertIn("seat.set_longitudinal_position", CAN0_SUPPORTED_CAPABILITIES)
+        contract = T2GSeatCompiler._protocol_contract(  # noqa: SLF001
+            "can0.seat.position", "move"
+        )
+        self.assertEqual(contract["frame_id"], "0x300")
+        self.assertEqual(contract["repeat"]["count"], 1)
+        self.assertEqual(contract["feedback_ids"], ["0x301", "0x302"])
+
+
+if __name__ == "__main__":
+    unittest.main()