优化了副驾座椅控制
This commit is contained in:
minghanchen
@@ -203,7 +203,7 @@ class MqttCanPayloadTests(unittest.TestCase):
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self.assertEqual(frame.arbitration_id, 0x42E)
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self.assertTrue(frame.is_fd)
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def test_ignores_legacy_can0_state_outside_seat_ota_wire_protocol(self) -> None:
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def test_accepts_native_passenger_seat_firmware_status(self) -> None:
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frames = parse_mqtt_can_payload(
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json.dumps(
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{
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@@ -220,7 +220,9 @@ class MqttCanPayloadTests(unittest.TestCase):
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}
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)
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)
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self.assertEqual(frames, [])
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self.assertEqual(len(frames), 1)
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self.assertEqual(frames[0].channel, 0)
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self.assertEqual(frames[0].arbitration_id, 0x302)
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def test_translates_seat_ota_info_responses_into_four_position_states(self) -> None:
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values = {
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@@ -317,7 +319,7 @@ class MqttCanPayloadTests(unittest.TestCase):
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)
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self.assertEqual(
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[(frame.channel, frame.arbitration_id) for frame in frames],
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[(1, 0x342)],
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[(0, 0x302), (1, 0x342)],
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)
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def test_rejects_decoded_state_invalid_channels_and_channel_conflicts(self) -> None:
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@@ -435,6 +437,76 @@ class MqttCanTransportTests(unittest.TestCase):
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self.assertLess(time.perf_counter() - started, 0.05)
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self.assertEqual(snapshot.observed_ids, frozenset({0x388}))
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def test_native_can0_status_maps_to_passenger_frontend_state(self) -> None:
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self.client.emit(
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"n7/n7-headunit/can/state",
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{
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"schema": "n7-can-signals/v1",
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"signals": [
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{
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"channel": "can0",
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"canId": "0x302",
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"frameType": "classic",
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"bytes": [axis, 0x26, 0x08, 0, 0, value & 0xFF,
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(value >> 8) & 0xFF, 0],
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}
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for axis, value in enumerate((1000, 2500, 5000, 9000))
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] + [
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{
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"channel": "can0",
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"canId": "0x4FA",
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"frameType": "classic",
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"bytes": [0x22, 0, 0, 0, 0, 0, 0, 0],
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},
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{
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"channel": "can0",
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"canId": "0x306",
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"frameType": "classic",
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"bytes": [1, 2, 3, 0x0F, 2, 0, 100, 0],
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},
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],
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},
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)
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service = SeatDemoService(REPOSITORY_ROOT)
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service._vehicle_mqtt_transport = self.transport
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service.vehicle_mqtt_settings = SimpleNamespace(state_configured=True)
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payload = service._synchronize_hardware_state_once(
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"conv-native-can0-state",
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control_transport="wireless_mqtt",
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)
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passenger = payload["actuator_state"]["passenger"]
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self.assertEqual(
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{
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axis: value["position_pct"]
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for axis, value in passenger["position"].items()
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if axis in {
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"longitudinal",
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"cushion_tilt",
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"backrest_recline",
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"legrest_height",
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}
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},
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{
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"longitudinal": 10,
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"cushion_tilt": 25,
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"backrest_recline": 50,
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"legrest_height": 90,
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},
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)
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self.assertEqual(passenger["ventilation"]["level"], 1)
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self.assertEqual(passenger["heating"]["level"], 3)
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self.assertEqual(passenger["dynamic_mode"]["mode_id"], 1)
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self.assertEqual(passenger["dynamic_mode"]["state"], "running")
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self.assertTrue(
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all(
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item["feedback_source"] == "wireless_mqtt_ch0"
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for item in passenger["position"].values()
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if item.get("position_valid") is not None
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)
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)
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def test_vehicle_envelope_four_frames_decode_from_raw_can1_bytes(self) -> None:
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self.client.emit(
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"n7/n7-headunit/can/state",
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@@ -758,6 +830,158 @@ class MqttCanTransportTests(unittest.TestCase):
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)
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)
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def test_wireless_hardware_can1_service_skips_local_hardware_connection(self) -> None:
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service = SeatDemoService(REPOSITORY_ROOT)
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service._vehicle_mqtt_transport = self.transport
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service.vehicle_mqtt_settings = SimpleNamespace(
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enabled=True,
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configured=True,
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feedback_timeout_ms=1,
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authorize=lambda _token: None,
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)
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validated_events: list[dict[str, object]] = []
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with tempfile.TemporaryDirectory() as temporary_directory:
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service.artifact_root = Path(temporary_directory)
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with (
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patch.object(
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service.hardware_execution,
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"reserve",
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side_effect=AssertionError(
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"wireless CAN1 must not reserve the local physical bench"
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),
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),
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patch("cognitive_agent.application.native_can_runtime.time.sleep"),
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):
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result = service.process(
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"空调温度设置为24度",
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provider="local",
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conversation_id="conv-wireless-can1-no-local-hardware",
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execution_mode="hardware",
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control_transport="wireless_mqtt",
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_on_commands_validated=validated_events.append,
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)
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self.assertEqual(result["status"], "succeeded")
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self.assertEqual(list(result["command_plans"]), ["native_climate"])
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self.assertEqual(len(validated_events), 1)
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self.assertEqual(
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list(validated_events[0]["command_plans"]),
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["native_climate"],
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)
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payloads = [json.loads(item[1]) for item in self.client.published]
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self.assertEqual(len(payloads), 3)
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self.assertTrue(all(item["channel"] == "can1" for item in payloads))
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self.assertTrue(all(item["command"] == "ac temp driver 24" for item in payloads))
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def test_wireless_hardware_combines_can0_and_can1_without_local_profile(self) -> None:
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service = SeatDemoService(REPOSITORY_ROOT)
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service._vehicle_mqtt_transport = self.transport
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service.vehicle_mqtt_settings = SimpleNamespace(
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enabled=True,
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configured=True,
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feedback_timeout_ms=1,
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authorize=lambda _token: None,
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)
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validated_events: list[dict[str, object]] = []
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seat_execution: dict[str, object] = {}
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def execute_seat(
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plan: dict[str, object],
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config: dict[str, object],
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_state: dict[str, object],
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) -> dict[str, object]:
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seat_execution["plan"] = plan
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seat_execution["config"] = config
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operation = config["spec"]["operations"][0] # type: ignore[index]
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request_id = config["metadata"]["request_id"] # type: ignore[index]
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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": f"report-{request_id}",
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"name": "wireless CAN0 test report",
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"version": "1.0.0",
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"request_id": request_id,
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"labels": {
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"simulation": "false",
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"seat_feedback": "wireless_mqtt_ch0",
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},
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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": "2026-08-25T00:00:00Z",
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"finished_at": "2026-08-25T00:00:00Z",
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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": "wireless CAN0 command published",
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"telemetry": {
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"effective_position_pct": 35,
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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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with tempfile.TemporaryDirectory() as temporary_directory:
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service.artifact_root = Path(temporary_directory)
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with (
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patch.object(
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type(service.hardware_settings),
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"validate_function_config",
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side_effect=AssertionError(
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"wireless mixed CAN0/CAN1 must not check combined profile"
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),
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),
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patch.object(
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service.hardware_execution,
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"reserve",
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side_effect=AssertionError(
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"wireless mixed CAN0/CAN1 must not reserve local hardware"
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),
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),
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patch.object(
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service,
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"_new_hardware_executor",
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return_value=SimpleNamespace(execute=execute_seat),
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) as executor_factory,
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patch("cognitive_agent.application.native_can_runtime.time.sleep"),
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):
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result = service.process(
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"把副驾座椅水平位置调到35%，空调温度设置为24度",
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provider="local",
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conversation_id="conv-wireless-can0-can1-no-local-hardware",
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execution_mode="hardware",
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control_transport="wireless_mqtt",
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_on_commands_validated=validated_events.append,
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)
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self.assertEqual(result["status"], "succeeded")
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self.assertEqual(
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set(result["command_plans"]),
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{"seat", "native_climate"},
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)
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self.assertEqual(len(validated_events), 1)
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self.assertEqual(
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set(validated_events[0]["command_plans"]),
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{"seat", "native_climate"},
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)
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self.assertEqual(
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seat_execution["plan"]["spec"]["commands"][0]["message"], # type: ignore[index]
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"T2G_Seat_Move_Command_300",
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)
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self.assertTrue(executor_factory.call_args.kwargs["remote_transport"])
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payloads = [json.loads(item[1]) for item in self.client.published]
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self.assertEqual(len(payloads), 3)
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self.assertTrue(all(item["channel"] == "can1" for item in payloads))
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self.assertTrue(all(item["command"] == "ac temp driver 24" for item in payloads))
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def test_wireless_fixed_controls_and_shade_preset_never_wait_for_state(
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self,
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) -> None:
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@@ -935,6 +1159,21 @@ class MqttCanTransportTests(unittest.TestCase):
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self.assertEqual(payload["command"], "")
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self.assertEqual(payload["frameType"], "classic")
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self.assertFalse(payload["brs"])
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bus.set_debug_command("seat passenger heat low")
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bus.send(0x3CE, bytes.fromhex("10 00 00 00 00 00 00 00"))
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bus.send(0x29E, bytes.fromhex("16 00 10 00 00 00 00 00"))
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thermal_payloads = [
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json.loads(item[1]) for item in self.client.published[-2:]
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]
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self.assertEqual(
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[item["canId"] for item in thermal_payloads],
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["0x3CE", "0x29E"],
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)
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self.assertTrue(
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all(item["command"] == "seat passenger heat low" for item in thermal_payloads)
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)
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with self.assertRaisesRegex(Exception, "0x29E thermal control payload"):
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bus.send(0x29E, bytes(8))
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with self.assertRaisesRegex(Exception, "approved CAN0 control set"):
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bus.send(0x431, bytes(8))
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with self.assertRaisesRegex(Exception, "requires classic CAN"):
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