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优化了副驾座椅控制

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This commit is contained in:
minghanchen
2026-08-25 11:39:41 +08:00
parent 33c92d1352
commit 9ac8fdface
34 changed files with 31714 additions and 289 deletions
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tests/unit/test_mqtt_ota_seat_executor.py
+149 -8
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@@ -2,8 +2,12 @@ from __future__ import annotations
import unittest
from collections import deque
from pathlib import Path
import tempfile
from types import SimpleNamespace
from unittest.mock import patch
from cognitive_agent.application.seat_service import SeatDemoService
from cognitive_agent.application.mqtt_ota_seat_executor import (
MqttOtaSeatExecutor,
)
@@ -11,6 +15,9 @@ from cognitive_agent.infrastructure.can.gateway import CanFrame
from seat_domain import parse_local_intent
REPOSITORY_ROOT = Path(__file__).resolve().parents[2]
def _axis_frame(axis: int, value_x100: int, *, valid: bool = True) -> CanFrame:
flags = (1 << 3) if valid else 0
return CanFrame(
@@ -57,6 +64,8 @@ class _FakeOtaBus:
bitrate_switch=bitrate_switch,
)
self.sent.append(frame)
if arbitration_id != 0x6A0:
return frame
opcode = data[2]
job_state = (
1 | (4 << 4) | (9 << 8)
@@ -87,6 +96,30 @@ class _FakeOtaBus:
class _StatusExecutor:
class _Matrix:
@staticmethod
def encode(message: str, signals: dict[str, int]) -> dict[str, str]:
if message == "T2G_Seat_Thermal_Mode_3CE":
return {
"frame_id": "0x3CE",
"data_hex": f"{int(signals['Driver_Seat_Thermal_Mode']) << 4:02X} 00 00 00 00 00 00 00",
}
byte0 = (
int(signals["Driver_Seat_Ventilation_On"])
| (int(signals["Driver_Seat_Ventilation_Mode"]) << 2)
| (int(signals["Driver_Seat_Heating_On"]) << 4)
)
byte2 = (
int(signals["Driver_Seat_Ventilation_Gear"])
| (int(signals["Driver_Seat_Heating_Gear"]) << 4)
)
return {
"frame_id": "0x29E",
"data_hex": f"{byte0:02X} 00 {byte2:02X} 00 00 00 00 00",
}
matrix = _Matrix()
def read_physical_state(self) -> dict[str, object]:
return {"position": {}, "complete": False}
@@ -97,6 +130,37 @@ class _StatusExecutor:
) -> dict[str, object]:
return {"position": {}, "complete": True, "missing": []}
def _execute_thermal(
self,
bus: _FakeOtaBus,
command: dict[str, object],
operations: list[dict[str, object]],
) -> list[dict[str, object]]:
encoded = self.matrix.encode(
str(command["message"]),
command["signals"], # type: ignore[arg-type]
)
sent = bus.send(
int(encoded["frame_id"], 16),
bytes.fromhex(encoded["data_hex"]),
)
feedback = bus.receive(100)
if feedback is None or feedback.arbitration_id != 0x4FA:
raise RuntimeError("missing thermal feedback")
return [
{
"ref": str(operation["id"]),
"domain": "seat",
"status": "succeeded",
"message": "thermal feedback confirmed",
"telemetry": {
"command_frame": sent.public(),
"feedback_frame": feedback.public(),
},
}
for operation in operations
]
def _function_config(capability: str, parameters: dict[str, object]) -> dict[str, object]:
return {
@@ -115,6 +179,65 @@ def _function_config(capability: str, parameters: dict[str, object]) -> dict[str
class MqttOtaSeatExecutorTests(unittest.TestCase):
def test_wireless_hardware_service_skips_local_t2g_profile_and_bench(self) -> None:
bus = _FakeOtaBus([_axis_frame(0, 4_000)])
executor = MqttOtaSeatExecutor( # type: ignore[arg-type]
_StatusExecutor(),
lambda: bus,
)
service = SeatDemoService(REPOSITORY_ROOT)
service.vehicle_mqtt_settings = SimpleNamespace(
enabled=True,
configured=True,
authorize=lambda _token: None,
)
validated_events: list[dict[str, object]] = []
with tempfile.TemporaryDirectory() as temporary_directory:
service.artifact_root = Path(temporary_directory)
with (
patch.object(
type(service.hardware_settings),
"validate_function_config",
side_effect=AssertionError(
"wireless CAN0 must not check the local combined profile"
),
),
patch.object(
service.hardware_execution,
"reserve",
side_effect=AssertionError(
"wireless CAN0 must not reserve the local physical bench"
),
),
patch.object(
service,
"_new_hardware_executor",
return_value=executor,
) as executor_factory,
):
result = service.process(
"把副驾座椅水平位置调到35%",
provider="local",
conversation_id="conv-wireless-can0-no-local-hardware",
execution_mode="hardware",
control_transport="wireless_mqtt",
_on_commands_validated=validated_events.append,
)
self.assertEqual(result["status"], "succeeded")
self.assertEqual(list(result["command_plans"]), ["seat"])
self.assertEqual(len(validated_events), 1)
self.assertEqual(list(validated_events[0]["command_plans"]), ["seat"])
self.assertEqual(
result["command_plans"]["seat"]["spec"]["commands"][0]["message"],
"T2G_Seat_Move_Command_300",
)
self.assertEqual(bus.sent[0].arbitration_id, 0x6A0)
self.assertEqual(bus.sent[0].data[2], 0x64)
self.assertEqual(int.from_bytes(bus.sent[0].data[4:8], "little"), 350)
self.assertTrue(executor_factory.call_args.kwargs["remote_transport"])
def test_seat_height_language_maps_to_internal_axis_one_capability(self) -> None:
parsed = parse_local_intent("副驾座椅高度调到60%")
@@ -161,7 +284,7 @@ class MqttOtaSeatExecutorTests(unittest.TestCase):
self.assertEqual(int.from_bytes(bus.sent[0].data[4:8], "little"), 500)
self.assertEqual(
bus.debug_commands,
["seat passenger longitudinal position 50"],
["seat passenger horizontal position 50"],
)
self.assertEqual(
report["spec"]["results"][0]["telemetry"]["effective_position_pct"],
@@ -203,8 +326,10 @@ class MqttOtaSeatExecutorTests(unittest.TestCase):
self.assertNotIn(0x61, [frame.data[2] for frame in bus.sent])
self.assertNotIn(0x62, [frame.data[2] for frame in bus.sent])
def test_wireless_thermal_command_fails_before_publish(self) -> None:
bus = _FakeOtaBus([])
def test_wireless_thermal_command_uses_native_firmware_frames(self) -> None:
bus = _FakeOtaBus(
[CanFrame(0x4FA, bytes((0x11, 0, 0, 0, 0, 0, 0, 0)), channel=0)]
)
executor = MqttOtaSeatExecutor( # type: ignore[arg-type]
_StatusExecutor(),
lambda: bus,
@@ -212,10 +337,21 @@ class MqttOtaSeatExecutorTests(unittest.TestCase):
plan = {
"spec": {
"commands": [
{
"operation_ref": "operation-1",
"message": "T2G_Seat_Thermal_Mode_3CE",
"signals": {"Driver_Seat_Thermal_Mode": 1},
},
{
"operation_ref": "operation-1",
"message": "T2G_Seat_Thermal_Control_29E",
"signals": {},
"signals": {
"Driver_Seat_Ventilation_On": 2,
"Driver_Seat_Ventilation_Mode": 1,
"Driver_Seat_Heating_On": 1,
"Driver_Seat_Ventilation_Gear": 0,
"Driver_Seat_Heating_Gear": 1,
},
}
]
}
@@ -226,9 +362,14 @@ class MqttOtaSeatExecutorTests(unittest.TestCase):
_function_config("seat.set_heating", {"state": "on", "level": 1}),
)
self.assertEqual(report["spec"]["status"], "failed")
self.assertIn("does not provide wireless thermal control", report["spec"]["results"][0]["message"])
self.assertEqual(bus.sent, [])
self.assertEqual(report["spec"]["status"], "succeeded")
self.assertEqual([frame.arbitration_id for frame in bus.sent], [0x3CE, 0x29E])
self.assertEqual(bus.sent[0].data, bytes.fromhex("10 00 00 00 00 00 00 00"))
self.assertEqual(bus.sent[1].data, bytes.fromhex("16 00 10 00 00 00 00 00"))
self.assertEqual(
bus.debug_commands,
["seat passenger heat low", "seat passenger heat low"],
)
def test_dynamic_semantic_modes_use_seat_ota_firmware_selectors(self) -> None:
for semantic_mode, firmware_selector, mode_name in (
@@ -267,7 +408,7 @@ class MqttOtaSeatExecutorTests(unittest.TestCase):
self.assertEqual(
bus.debug_commands,
[
"seat passenger dynamic start "
"seat passenger dynamic "
+ ("rocking-horse" if semantic_mode == 1 else "cradle")
],
)