添加无线模块
This commit is contained in:
minghanchen
@@ -0,0 +1,209 @@
|
||||
from __future__ import annotations
|
||||
|
||||
import threading
|
||||
import time
|
||||
import unittest
|
||||
from collections import deque
|
||||
from pathlib import Path
|
||||
from types import SimpleNamespace
|
||||
|
||||
from cognitive_agent.application.seat_service import SeatDemoService
|
||||
from cognitive_agent.application.vehicle_state_monitor import (
|
||||
OBSERVABLE_IDS,
|
||||
REQUIRED_UI_IDS,
|
||||
VehicleStateMonitor,
|
||||
VehicleStateSnapshot,
|
||||
)
|
||||
from cognitive_agent.infrastructure.can.gateway import (
|
||||
CanFrame,
|
||||
CanGatewayError,
|
||||
ZlgChannelConfig,
|
||||
)
|
||||
|
||||
REPOSITORY_ROOT = Path(__file__).resolve().parents[2]
|
||||
|
||||
|
||||
class _FakeBus:
|
||||
def __init__(self, frames: list[CanFrame]) -> None:
|
||||
self._frames = deque(frames)
|
||||
self._condition = threading.Condition()
|
||||
|
||||
def push(self, frame: CanFrame) -> None:
|
||||
with self._condition:
|
||||
self._frames.append(frame)
|
||||
self._condition.notify_all()
|
||||
|
||||
def receive(self, timeout_ms: int, *, include_fd: bool = False) -> CanFrame | None:
|
||||
if not include_fd:
|
||||
raise AssertionError("vehicle monitor must receive classic CAN and CAN FD")
|
||||
with self._condition:
|
||||
if not self._frames:
|
||||
self._condition.wait(max(0, timeout_ms) / 1000)
|
||||
return self._frames.popleft() if self._frames else None
|
||||
|
||||
|
||||
class _FakeBridge:
|
||||
def __init__(self, bus: _FakeBus) -> None:
|
||||
self.bus = bus
|
||||
self.closed = False
|
||||
|
||||
def channel_bus(self, channel: int) -> _FakeBus:
|
||||
if channel != 1:
|
||||
raise AssertionError("vehicle monitor must stay on CH1")
|
||||
return self.bus
|
||||
|
||||
def close(self) -> None:
|
||||
self.closed = True
|
||||
|
||||
|
||||
class _FakeSettings:
|
||||
channel = 1
|
||||
feedback_timeout_ms = 100
|
||||
|
||||
def __init__(self, bus: _FakeBus) -> None:
|
||||
self.bus = bus
|
||||
self.bridge_instance = _FakeBridge(bus)
|
||||
self.monitor_only: bool | None = None
|
||||
|
||||
def channel_config(self) -> ZlgChannelConfig:
|
||||
return ZlgChannelConfig(channel=1, termination_enabled=False)
|
||||
|
||||
def bridge(
|
||||
self,
|
||||
channels: list[ZlgChannelConfig],
|
||||
*,
|
||||
monitor_only: bool = False,
|
||||
) -> _FakeBridge:
|
||||
if len(channels) != 1:
|
||||
raise AssertionError("vehicle monitor must own exactly one channel")
|
||||
self.monitor_only = monitor_only
|
||||
if channels[0].receive_ids != tuple(sorted(OBSERVABLE_IDS)):
|
||||
raise AssertionError("vehicle monitor must filter to observable identifiers")
|
||||
return self.bridge_instance
|
||||
|
||||
|
||||
def _frame(frame_id: int, data: bytes | None = None) -> CanFrame:
|
||||
return CanFrame(
|
||||
frame_id,
|
||||
data or bytes(8),
|
||||
channel=1,
|
||||
is_fd=True,
|
||||
bitrate_switch=True,
|
||||
)
|
||||
|
||||
|
||||
def _baseline_frames() -> list[CanFrame]:
|
||||
gear_p = bytearray(8)
|
||||
gear_p[3] = 1
|
||||
return [
|
||||
_frame(0x342, bytes(gear_p)),
|
||||
_frame(0x4EB, bytes.fromhex("0700000000000000")),
|
||||
_frame(0x407),
|
||||
_frame(0x4FA),
|
||||
_frame(0x494),
|
||||
]
|
||||
|
||||
|
||||
class VehicleStateMonitorTests(unittest.TestCase):
|
||||
def test_persistent_monitor_returns_cached_state_without_reopening_adapter(self) -> None:
|
||||
bus = _FakeBus(_baseline_frames())
|
||||
settings = _FakeSettings(bus)
|
||||
monitor = VehicleStateMonitor(settings, reconnect_delay_s=0.01) # type: ignore[arg-type]
|
||||
self.addCleanup(monitor.close)
|
||||
|
||||
first = monitor.snapshot()
|
||||
started = time.perf_counter()
|
||||
second = monitor.snapshot()
|
||||
cached_latency_s = time.perf_counter() - started
|
||||
|
||||
self.assertEqual(first.observed_ids, REQUIRED_UI_IDS)
|
||||
self.assertEqual(second.observed_ids, REQUIRED_UI_IDS)
|
||||
self.assertLess(cached_latency_s, 0.05)
|
||||
self.assertTrue(settings.monitor_only)
|
||||
self.assertEqual(monitor.public_info()["mode"], "persistent_monitor")
|
||||
|
||||
def test_monitor_updates_sequence_for_each_new_feedback_frame(self) -> None:
|
||||
bus = _FakeBus(_baseline_frames())
|
||||
monitor = VehicleStateMonitor(
|
||||
_FakeSettings(bus), # type: ignore[arg-type]
|
||||
reconnect_delay_s=0.01,
|
||||
)
|
||||
self.addCleanup(monitor.close)
|
||||
baseline = monitor.snapshot()
|
||||
|
||||
gear_d = bytearray(8)
|
||||
gear_d[3] = 4
|
||||
bus.push(_frame(0x342, bytes(gear_d)))
|
||||
deadline = time.monotonic() + 0.5
|
||||
updated = baseline
|
||||
while updated.capture_sequence == baseline.capture_sequence:
|
||||
if time.monotonic() >= deadline:
|
||||
self.fail("monitor did not consume the new gear frame")
|
||||
time.sleep(0.005)
|
||||
updated = monitor.snapshot()
|
||||
|
||||
gear = next(
|
||||
state["vehicle_safety"]["gear"]
|
||||
for state in updated.feedback_states
|
||||
if state["frame_id"] == "0x342"
|
||||
)
|
||||
self.assertEqual(gear, "D")
|
||||
|
||||
def test_monitor_surfaces_adapter_open_failure(self) -> None:
|
||||
settings = _FakeSettings(_FakeBus([]))
|
||||
|
||||
def fail_bridge(*_args: object, **_kwargs: object) -> _FakeBridge:
|
||||
raise RuntimeError("adapter open failed")
|
||||
|
||||
settings.bridge = fail_bridge # type: ignore[method-assign]
|
||||
monitor = VehicleStateMonitor(settings, reconnect_delay_s=0.01) # type: ignore[arg-type]
|
||||
self.addCleanup(monitor.close)
|
||||
|
||||
with self.assertRaisesRegex(CanGatewayError, "adapter open failed"):
|
||||
monitor.snapshot()
|
||||
|
||||
def test_service_merges_a_cached_monitor_snapshot(self) -> None:
|
||||
service = SeatDemoService(REPOSITORY_ROOT)
|
||||
gear_state = {
|
||||
"source": "physical_can_ch1",
|
||||
"channel": 1,
|
||||
"frame_id": "0x342",
|
||||
"feedback_frame_id": "0x342",
|
||||
"valid": True,
|
||||
"captured_at": "2026-08-18T00:00:00Z",
|
||||
"vehicle_safety": {"gear": "P"},
|
||||
"verification": {
|
||||
"authoritative": True,
|
||||
"channel": 1,
|
||||
"simulated": False,
|
||||
"read_only": True,
|
||||
"frame_id": "0x342",
|
||||
"payload_size": 8,
|
||||
},
|
||||
}
|
||||
service.vehicle_can_settings = SimpleNamespace(
|
||||
state_configured=True,
|
||||
backend="zlgcan-linux",
|
||||
)
|
||||
service._vehicle_state_monitor = SimpleNamespace(
|
||||
snapshot=lambda: VehicleStateSnapshot(
|
||||
feedback_states=(gear_state,),
|
||||
observed_ids=REQUIRED_UI_IDS,
|
||||
captured_at="2026-08-18T00:00:00Z",
|
||||
capture_sequence=42,
|
||||
)
|
||||
)
|
||||
|
||||
result = service._synchronize_vehicle_state_once(
|
||||
"conv-monitor-test",
|
||||
"denza_n7",
|
||||
)
|
||||
|
||||
self.assertEqual(result["capture_sequence"], 42)
|
||||
self.assertEqual(result["domain_state"]["vehicle_status"]["gear"], "P")
|
||||
self.assertTrue(result["complete"])
|
||||
self.assertTrue(result["body_state_complete"])
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
Reference in New Issue
Block a user