feat: update CAN integration and T2G seat firmware
This commit is contained in:
vee
@@ -3,7 +3,7 @@ from __future__ import annotations
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import tempfile
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import unittest
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from pathlib import Path
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from unittest.mock import patch
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from unittest.mock import MagicMock, patch
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from cognitive_agent.application.domain_runtime import ConfiguredDomainRuntime
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from cognitive_agent.application.mode_profile import ModeProfileRegistry
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@@ -254,7 +254,24 @@ class MultiDomainServiceTests(unittest.TestCase):
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)
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self.assertEqual(
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by_capability["seat.set_legrest_height"]["parameters"],
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{"position_pct": 87, "angle_deg": 163},
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{"position_pct": 94, "angle_deg": 163},
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)
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def test_named_mode_profile_suppresses_generic_local_parser_ambiguity(self) -> None:
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result = self.service.process(
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"副驾进入零重力模式",
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"local",
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"conv-zero-gravity-local-mode",
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vehicle_id="denza_n7",
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)
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self.assertEqual(result["status"], "succeeded")
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self.assertEqual(result["matched_modes"][0]["id"], "zero_gravity")
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self.assertFalse(
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any(
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issue.get("code") == "AMBIGUOUS_INTENT"
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for issue in result["validation"]
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)
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)
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def test_named_mode_profile_combines_with_temporary_roof_request(self) -> None:
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@@ -294,6 +311,252 @@ class MultiDomainServiceTests(unittest.TestCase):
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},
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)
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def test_hardware_orchestration_uses_physical_passenger_seat_and_virtual_roof(
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self,
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) -> None:
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model_output = {
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"detected_domains": ["seat", "roof"],
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"requests": [
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{
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"domain": "seat",
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"capability": "seat.set_backrest_recline",
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"target_scope": "passenger",
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"operation": "set",
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"parameters": [{"name": "position_pct", "value": 55}],
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"reason": "调整副驾靠背。",
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},
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{
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"domain": "roof",
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"capability": "roof.set_transmittance",
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"target_scope": "vehicle",
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"operation": "set",
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"parameters": [{"name": "transmittance_pct", "value": 20}],
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"reason": "降低天幕透光率。",
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},
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],
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"ambiguities": [],
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"decision_summary": ["执行副驾与天幕联合模式。"],
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"confidence": 0.96,
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}
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physical_state = {
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"position": {
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"longitudinal": {"position_pct": 51, "position_valid": True},
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"cushion_tilt": {"position_pct": 11, "position_valid": True},
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"backrest_recline": {"position_pct": 54, "position_valid": True},
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"legrest_height": {"position_pct": 0, "position_valid": True},
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},
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"ventilation": {"state": "off", "level": 0},
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"heating": {"state": "off", "level": 0},
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"captured_at": "2026-07-31T04:00:00Z",
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"complete": True,
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"missing": [],
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}
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def execute_hardware(plan, config, devices):
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del plan, devices
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operation = config["spec"]["operations"][0]
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return {
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"apiVersion": "cognitive-agent/v1alpha1",
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"kind": "ExecutionReport",
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"metadata": {
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"id": "report-hardware-test",
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"name": "T2G seat hardware execution report",
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"version": "1.0.0",
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"request_id": config["metadata"]["request_id"],
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"labels": {"simulation": "false"},
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},
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"spec": {
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"mode": "hil",
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"status": "succeeded",
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"started_at": "2026-07-31T04:00:00Z",
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"finished_at": "2026-07-31T04:00:01Z",
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"physical_state": physical_state,
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"results": [
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{
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"ref": operation["id"],
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"domain": "seat",
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"status": "succeeded",
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"message": "physical target reached",
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"telemetry": {
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"motion_axis": "backrest_recline",
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"effective_position_pct": 54,
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"position_valid": True,
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"simulated": False,
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},
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}
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],
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},
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}
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hardware_executor = MagicMock()
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hardware_executor.execute.side_effect = execute_hardware
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initial_driver_backrest = self.service.conversations.snapshot(
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"conv-mixed-hardware-success"
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)["devices"]["driver"]["position"]["backrest_recline"]["position_pct"]
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with (
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patch.object(self.service.openai, "interpret", return_value=model_output),
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patch.object(type(self.service.hardware_settings), "authorize"),
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patch.object(
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type(self.service.hardware_settings),
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"validate_function_config",
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),
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patch.object(
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self.service,
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"_new_hardware_executor",
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return_value=hardware_executor,
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) as executor_factory,
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):
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result = self.service.process(
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"副驾靠背调到55%，天幕透光率调到20%",
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"openai",
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"conv-mixed-hardware-success",
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execution_mode="hardware",
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approval_token="test-token",
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vehicle_id="denza_n7",
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)
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self.assertEqual(result["status"], "succeeded")
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self.assertEqual(result["execution_report"]["spec"]["mode"], "hil")
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self.assertEqual(
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result["execution_report"]["metadata"]["labels"]["simulation"],
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"mixed",
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)
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executor_factory.assert_called_once_with()
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hardware_executor.execute.assert_called_once()
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by_domain = {
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item["domain"]: item
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for item in result["execution_report"]["spec"]["results"]
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}
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self.assertFalse(by_domain["seat"]["telemetry"]["simulated"])
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self.assertTrue(by_domain["roof"]["telemetry"]["simulated"])
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self.assertEqual(
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result["actuator_state"]["passenger"]["position"][
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"backrest_recline"
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]["position_pct"],
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54,
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)
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self.assertEqual(
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result["actuator_state"]["driver"]["position"]["backrest_recline"][
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"position_pct"
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],
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initial_driver_backrest,
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)
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self.assertEqual(result["domain_state"]["roof"]["transmittance_pct"], 20)
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def test_hardware_orchestration_failure_still_synchronizes_physical_seat(
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self,
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) -> None:
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model_output = {
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"detected_domains": ["seat", "roof"],
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"requests": [
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{
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"domain": "seat",
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"capability": "seat.set_longitudinal_position",
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"target_scope": "passenger",
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"operation": "set",
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"parameters": [{"name": "position_pct", "value": 100}],
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"reason": "移动副驾。",
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},
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{
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"domain": "roof",
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"capability": "roof.set_transmittance",
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"target_scope": "vehicle",
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"operation": "set",
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"parameters": [{"name": "transmittance_pct", "value": 20}],
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"reason": "降低天幕透光率。",
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},
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],
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"ambiguities": [],
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"decision_summary": ["执行副驾与天幕联合模式。"],
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"confidence": 0.96,
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}
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hardware_executor = MagicMock()
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def execute_hardware(plan, config, devices):
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del plan, devices
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return {
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"apiVersion": "cognitive-agent/v1alpha1",
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"kind": "ExecutionReport",
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"metadata": {
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"id": "report-hardware-failure-test",
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"name": "T2G seat hardware execution report",
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"version": "1.0.0",
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"request_id": config["metadata"]["request_id"],
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"labels": {"simulation": "false"},
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},
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"spec": {
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"mode": "hil",
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"status": "failed",
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"started_at": "2026-07-31T04:00:00Z",
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"finished_at": "2026-07-31T04:00:01Z",
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"physical_state": {
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"position": {
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"longitudinal": {
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"position_pct": 63,
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"position_valid": True,
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}
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},
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"captured_at": "2026-07-31T04:00:01Z",
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"complete": False,
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"missing": ["cushion_tilt", "backrest_recline", "legrest_height"],
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},
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"results": [
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{
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"ref": config["spec"]["operations"][0]["id"],
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"domain": "seat",
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"status": "failed",
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"message": "Motor0 TIMEOUT",
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"telemetry": {"simulated": False},
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}
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],
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},
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}
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hardware_executor.execute.side_effect = execute_hardware
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initial_roof = self.service.conversations.snapshot(
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"conv-mixed-hardware-failure"
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)["domain_devices"]["roof"]["transmittance_pct"]
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with (
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patch.object(self.service.openai, "interpret", return_value=model_output),
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patch.object(type(self.service.hardware_settings), "authorize"),
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patch.object(
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type(self.service.hardware_settings),
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"validate_function_config",
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),
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patch.object(
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self.service,
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"_new_hardware_executor",
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return_value=hardware_executor,
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),
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):
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result = self.service.process(
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"副驾水平移到100%，天幕透光率调到20%",
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"openai",
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"conv-mixed-hardware-failure",
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execution_mode="hardware",
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approval_token="test-token",
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vehicle_id="denza_n7",
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)
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self.assertEqual(result["status"], "execution_failed")
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self.assertEqual(result["execution_report"]["spec"]["status"], "failed")
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self.assertEqual(
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result["actuator_state"]["passenger"]["position"]["longitudinal"][
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"position_pct"
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],
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63,
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)
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self.assertEqual(
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result["actuator_state"]["passenger"]["position"]["longitudinal"][
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"feedback_source"
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],
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"physical_can",
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)
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self.assertEqual(
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result["domain_state"]["roof"]["transmittance_pct"],
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initial_roof,
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)
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def test_reference_mode_library_modes_execute_for_denza(self) -> None:
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model_output = {
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"detected_domains": ["seat"],
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