feat: update CAN integration and T2G seat firmware

domains/seat/tests/unit/test_intent.py

@@ -9,27 +9,27 @@ class LocalIntentParserTests(unittest.TestCase):
     @staticmethod
     def context(level: int = 0) -> dict:
         return {
-            "last_target": "driver" if level else None,
+            "last_target": "passenger" if level else None,
             "devices": {
                 "driver": {
-                    "ventilation": {"state": "on" if level else "off", "level": level},
+                    "ventilation": {"state": "off", "level": 0},
                     "heating": {"state": "off", "level": 0},
                 },
                 "passenger": {
-                    "ventilation": {"state": "off", "level": 0},
+                    "ventilation": {"state": "on" if level else "off", "level": level},
                     "heating": {"state": "off", "level": 0},
                 },
             },
         }
 
-    def test_parses_driver_ventilation_on(self) -> None:
-        result = parse_local_intent("打开主驾座椅通风")
+    def test_parses_passenger_ventilation_on(self) -> None:
+        result = parse_local_intent("打开副驾座椅通风")
 
         self.assertEqual(
             result["actions"],
             [
                 {
-                    "target": "driver",
+                    "target": "passenger",
                     "function": "ventilation",
                     "state": "on",
                     "requested_level": None,
@@ -38,31 +38,65 @@ class LocalIntentParserTests(unittest.TestCase):
         )
         self.assertEqual(result["ambiguities"], [])
 
-    def test_expands_front_seats(self) -> None:
+    def test_rejects_scope_that_includes_driver(self) -> None:
         result = parse_local_intent("主副驾座椅通风都打开")
 
-        self.assertEqual({item["target"] for item in result["actions"]}, {"driver", "passenger"})
-        self.assertTrue(all(item["state"] == "on" for item in result["actions"]))
-
-    def test_keeps_requested_level_for_safety_validation(self) -> None:
-        result = parse_local_intent("主驾座椅加热开到三档")
-
-        self.assertEqual(result["actions"][0]["requested_level"], 3)
-
-    def test_requires_target(self) -> None:
-        result = parse_local_intent("打开座椅通风")
-
         self.assertEqual(result["actions"], [])
         self.assertEqual(result["ambiguities"][0]["field"], "target")
+        self.assertIn("仅控制副驾", result["ambiguities"][0]["question"])
+
+    def test_keeps_requested_level_for_safety_validation(self) -> None:
+        result = parse_local_intent("副驾座椅加热开到三档")
+
+        self.assertEqual(result["actions"][0]["requested_level"], 3)
+
+    def test_defaults_missing_target_to_passenger(self) -> None:
+        result = parse_local_intent("打开座椅通风")
+
+        self.assertEqual(result["actions"][0]["target"], "passenger")
+        self.assertEqual(result["ambiguities"], [])
+
+    def test_parses_four_axis_zero_for_passenger(self) -> None:
+        result = parse_local_intent("把水平、坐盆、靠背、腿托四轴归零")
+
+        self.assertEqual(result["ambiguities"], [])
+        self.assertEqual(
+            [(action["axis"], action["position_pct"]) for action in result["actions"]],
+            [
+                ("longitudinal", 0),
+                ("cushion_tilt", 0),
+                ("backrest_recline", 0),
+                ("legrest_height", 0),
+            ],
+        )
+        self.assertTrue(
+            all(action["target"] == "passenger" for action in result["actions"])
+        )
+
+    def test_parses_explicit_motion_percentages(self) -> None:
+        result = parse_local_intent("副驾水平移到63%，靠背调到54%")
+
+        self.assertEqual(result["ambiguities"], [])
+        self.assertEqual(
+            [(action["axis"], action["position_pct"]) for action in result["actions"]],
+            [("longitudinal", 63), ("backrest_recline", 54)],
+        )
+
+    def test_rejects_driver_four_axis_zero(self) -> None:
+        result = parse_local_intent("把主驾座椅四轴归零")
+
+        self.assertEqual(result["actions"], [])
+        self.assertEqual(result["ambiguities"][0]["field"], "target")
+        self.assertIn("仅控制副驾", result["ambiguities"][0]["question"])
 
     def test_maps_mild_hot_and_stuffy_feedback_to_level_one(self) -> None:
-        result = parse_local_intent("主驾有点热，有点闷", self.context())
+        result = parse_local_intent("副驾有点热，有点闷", self.context())
 
         self.assertEqual(
             result["actions"],
             [
                 {
-                    "target": "driver",
+                    "target": "passenger",
                     "function": "ventilation",
                     "state": "on",
                     "requested_level": 1,
@@ -75,7 +109,7 @@ class LocalIntentParserTests(unittest.TestCase):
         result = parse_local_intent("还有点闷", self.context(level=1))
 
         self.assertEqual(result["actions"][0]["requested_level"], 2)
-        self.assertEqual(result["actions"][0]["target"], "driver")
+        self.assertEqual(result["actions"][0]["target"], "passenger")
         self.assertIn("提升到2档", "".join(result["decision_summary"]))
 
     def test_cold_feedback_reduces_active_ventilation_before_heating(self) -> None:
@@ -85,7 +119,7 @@ class LocalIntentParserTests(unittest.TestCase):
             result["actions"],
             [
                 {
-                    "target": "driver",
+                    "target": "passenger",
                     "function": "ventilation",
                     "state": "off",
                     "requested_level": None,
@@ -114,7 +148,7 @@ class LocalIntentParserTests(unittest.TestCase):
         self.assertIn("致冷来源", "".join(result["decision_summary"]))
 
     def test_cold_and_stuffy_are_independent_comfort_dimensions(self) -> None:
-        result = parse_local_intent("主驾有点冷、有点闷", self.context())
+        result = parse_local_intent("副驾有点冷、有点闷", self.context())
 
         self.assertEqual(
             {

domains/seat/tests/unit/test_matrix_compiler.py

@@ -24,7 +24,7 @@ class MatrixCompilerTests(unittest.TestCase):
         self.compiler = SeatCompiler(DOMAIN_ROOT / "can" / "signal-mapping.yaml")
 
     def test_encodes_combined_control_bits(self) -> None:
-        parsed = parse_local_intent("打开主驾座椅通风，同时关闭副驾座椅加热")
+        parsed = parse_local_intent("打开副驾座椅通风，同时关闭副驾座椅加热")
         config = build_function_config(parsed, "req-test-001", "local_rules")
         plan = self.compiler.compile(config)
         command = plan["spec"]["commands"][0]
@@ -32,7 +32,7 @@ class MatrixCompilerTests(unittest.TestCase):
         frame = self.matrix.encode(command["message"], command["signals"])
 
         self.assertEqual(frame["frame_id"], "0x42A")
-        self.assertEqual(frame["data_hex"], "01 80")
+        self.assertEqual(frame["data_hex"], "00 90")
 
     def test_compilation_is_deterministic(self) -> None:
         parsed = parse_local_intent("关闭副驾座椅通风")
@@ -46,20 +46,20 @@ class MatrixCompilerTests(unittest.TestCase):
             "actions": [
                 {
                     "action_type": "position",
-                    "target": "driver",
+                    "target": "passenger",
                     "axis": "longitudinal",
                     "position_pct": 35,
                 },
                 {
                     "action_type": "position",
-                    "target": "driver",
+                    "target": "passenger",
                     "axis": "backrest_recline",
                     "position_pct": 60,
                 },
             ],
             "deferred_requests": [],
             "ambiguities": [],
-            "decision_summary": ["Move two driver-seat axes."],
+            "decision_summary": ["Move two front-passenger-seat axes."],
             "confidence": 1.0,
         }
         config = build_function_config(parsed, "req-motion-001", "test")
@@ -68,15 +68,15 @@ class MatrixCompilerTests(unittest.TestCase):
 
         self.assertEqual(len(plan["spec"]["commands"]), 2)
         first, second = plan["spec"]["commands"]
-        self.assertEqual(first["message"], "Driver_Seat_Motion_Command_550")
+        self.assertEqual(first["message"], "Passenger_Seat_Motion_Command_551")
         self.assertEqual(first["signals"]["Longitudinal_Target_Pct"], 35)
         self.assertEqual(first["signals"]["Motion_Enable_Mask"], 1)
-        self.assertEqual(first["completion"]["message"], "Driver_Seat_Motion_Status_558")
+        self.assertEqual(first["completion"]["message"], "Passenger_Seat_Motion_Status_559")
         self.assertEqual(first["completion"]["signal"], "Longitudinal_Actual_Pct")
         self.assertEqual(second["signals"]["Backrest_Recline_Target_Pct"], 60)
         self.assertEqual(second["signals"]["Motion_Enable_Mask"], 4)
         frame = self.combined_matrix.encode(first["message"], first["signals"])
-        self.assertEqual(frame["frame_id"], "0x550")
+        self.assertEqual(frame["frame_id"], "0x551")
         self.assertEqual(frame["payload_size"], 8)