优化了副驾座椅控制

tools/generate_natural_can_command_suite.py

@@ -0,0 +1,847 @@
+#!/usr/bin/env python3
+"""Generate the expanded natural-language to CAN command test catalog."""
+
+from __future__ import annotations
+
+import csv
+from collections import Counter
+from itertools import combinations
+import json
+from pathlib import Path
+from typing import Any
+
+
+ROOT = Path(__file__).resolve().parents[1]
+JSON_PATH = ROOT / "tests/fixtures/natural_can_command_combination_suite.json"
+CSV_PATH = ROOT / "docs/testing/自然语言转CAN组合测试用例.csv"
+DOC_PATH = ROOT / "docs/testing/自然语言转CAN组合测试说明.md"
+
+
+def can0_operation(
+    capability: str,
+    parameters: dict[str, Any],
+    target: str = "passenger",
+) -> dict[str, Any]:
+    return {
+        "target": target,
+        "capability": capability,
+        "parameters": parameters,
+    }
+
+
+def build_cases() -> list[dict[str, Any]]:
+    cases: list[dict[str, Any]] = []
+
+    def add(
+        case_id: str,
+        utterance: str,
+        *,
+        domains: tuple[str, ...],
+        channels: tuple[str, ...] = ("can1",),
+        commands: tuple[str, ...] = (),
+        can0_operations: tuple[dict[str, Any], ...] = (),
+        kind: str = "atomic",
+        status: str = "succeeded",
+        sources: tuple[str, ...] = (),
+    ) -> dict[str, Any]:
+        case = {
+            "id": case_id,
+            "kind": kind,
+            "channels": list(channels),
+            "domains": list(domains),
+            "utterance": utterance,
+            "expected_status": status,
+            "expected_commands": list(commands),
+            "expected_can0_operations": list(can0_operations),
+        }
+        if sources:
+            case["source_case_ids"] = list(sources)
+        cases.append(case)
+        return case
+
+    add(
+        "CAN1-DOOR-REAR-LOCK",
+        "后排车门上锁",
+        domains=("door",),
+        commands=("door rear lock",),
+    )
+    add(
+        "CAN1-DOOR-REAR-UNLOCK",
+        "后排门锁解锁",
+        domains=("door",),
+        commands=("door rear unlock",),
+    )
+
+    window_targets = {
+        "ALL": ("全部车窗", "all"),
+        "FRONT": ("前排车窗", "front"),
+        "REAR": ("后排车窗", "rear"),
+        "FRONT-LEFT": ("左前车窗", "front-left"),
+        "FRONT-RIGHT": ("右前车窗", "front-right"),
+        "REAR-LEFT": ("左后车窗", "rear-left"),
+        "REAR-RIGHT": ("右后车窗", "rear-right"),
+    }
+    window_motions = {
+        "OPEN": ("打开", "open"),
+        "CLOSE": ("关闭", "close"),
+        "STOP": ("停止", "stop"),
+    }
+    for target_id, (target_text, target_command) in window_targets.items():
+        for motion_id, (verb, motion) in window_motions.items():
+            add(
+                f"CAN1-WINDOW-{target_id}-{motion_id}",
+                f"{verb}{target_text}",
+                domains=("window",),
+                commands=(f"window {target_command} {motion}",),
+            )
+    for target_id, (target_text, target_command) in tuple(window_targets.items())[3:]:
+        for position in (0, 25, 50, 100):
+            add(
+                f"CAN1-WINDOW-{target_id}-POSITION-{position}",
+                f"把{target_text}开到{position}%",
+                domains=("window",),
+                commands=(f"window {target_command} position {position}",),
+            )
+    for alias_id, alias, target in (
+        ("DRIVER", "主驾", "front-left"),
+        ("PASSENGER", "副驾", "front-right"),
+    ):
+        for motion_id, (verb, motion) in window_motions.items():
+            add(
+                f"CAN1-WINDOW-{alias_id}-ALIAS-{motion_id}",
+                f"{verb}{alias}车窗",
+                domains=("window",),
+                commands=(f"window {target} {motion}",),
+            )
+
+    add("CAN1-AC-ON", "打开空调", domains=("climate",), commands=("ac on",))
+    add("CAN1-AC-OFF", "关闭空调", domains=("climate",), commands=("ac off",))
+    for level in range(1, 8):
+        add(
+            f"CAN1-AC-FAN-{level}",
+            f"空调风量调到{level}档",
+            domains=("climate",),
+            commands=(f"ac fan {level}",),
+        )
+    for alias_id, alias, level in (
+        ("MIN", "最小", 1),
+        ("LOWEST", "最低", 1),
+        ("LOW", "低档", 1),
+        ("MIDDLE", "中等", 4),
+        ("MEDIUM", "中档", 4),
+        ("HIGH", "高档", 7),
+        ("HIGHEST", "最高", 7),
+        ("MAX", "最大", 7),
+    ):
+        add(
+            f"CAN1-AC-FAN-ALIAS-{alias_id}",
+            f"空调风量设置为{alias}",
+            domains=("climate",),
+            commands=(f"ac fan {level}",),
+        )
+
+    outlet_modes = (
+        ("FACE", "吹脸", "face"),
+        ("FACE-FEET", "吹面和吹脚", "face-feet"),
+        ("FEET", "吹脚", "feet"),
+        ("FEET-DEFROST", "吹脚除霜", "feet-defrost"),
+        ("DEFROST", "除霜", "defrost"),
+        ("FACE-FEET-DEFROST", "吹脸、吹脚和除霜", "face-feet-defrost"),
+        ("FACE-DEFROST", "吹脸和除霜", "face-defrost"),
+    )
+    for mode_id, mode_text, mode in outlet_modes:
+        add(
+            f"CAN1-AC-MODE-{mode_id}",
+            f"空调出风模式设置为{mode_text}",
+            domains=("climate",),
+            commands=(f"ac mode {mode}",),
+        )
+    for target_id, target_text, target in (
+        ("DRIVER", "主驾", "driver"),
+        ("PASSENGER", "副驾", "passenger"),
+        ("REAR", "后排", "rear"),
+    ):
+        for temperature in (18, 24, 32):
+            add(
+                f"CAN1-AC-TEMP-{target_id}-{temperature}",
+                f"{target_text}空调温度设置为{temperature}度",
+                domains=("climate",),
+                commands=(f"ac temp {target} {temperature}",),
+            )
+    for mode_id, mode_text, mode in (
+        ("MANUAL", "手动控制", "manual"),
+        ("AUTO", "自动控制", "auto"),
+    ):
+        add(
+            f"CAN1-AC-CONTROL-{mode_id}",
+            f"空调设置为{mode_text}",
+            domains=("climate",),
+            commands=(f"ac control {mode}",),
+        )
+    for cycle_id, cycle_text, cycle in (
+        ("INTERNAL", "内循环", "internal"),
+        ("EXTERNAL", "外循环", "external"),
+    ):
+        add(
+            f"CAN1-AC-CYCLE-{cycle_id}",
+            f"空调设置为{cycle_text}",
+            domains=("climate",),
+            commands=(f"ac cycle {cycle}",),
+        )
+
+    outlet_targets = (
+        ("DRIVER-LEFT", "主驾左", "driver-left", (-25, -40)),
+        ("DRIVER-RIGHT", "主驾右", "driver-right", (30, 30)),
+        ("PASSENGER-LEFT", "副驾左", "passenger-left", (-10, -40)),
+        ("PASSENGER-RIGHT", "副驾右", "passenger-right", (5, 30)),
+    )
+    for target_id, target_text, target, calibrated in outlet_targets:
+        for horizontal, vertical in ((0, 0), (25, 75), (100, 100)):
+            add(
+                f"CAN1-OUTLET-{target_id}-PERCENT-{horizontal}-{vertical}",
+                f"{target_text}风口水平{horizontal}%上下{vertical}%",
+                domains=("outlet",),
+                commands=(
+                    f"outlet {target} percent {horizontal} {vertical}",
+                ),
+            )
+        add(
+            f"CAN1-OUTLET-{target_id}-CALIBRATED",
+            f"{target_text}风口标定坐标左右{calibrated[0]}上下{calibrated[1]}",
+            domains=("outlet",),
+            commands=(
+                f"outlet {target} position {calibrated[0]} {calibrated[1]}",
+            ),
+        )
+
+    for feature_id, feature_text, feature in (
+        ("VENT", "通风", "vent"),
+        ("HEAT", "加热", "heat"),
+    ):
+        for level_id, level_text, level in (
+            ("OFF", "关闭", "off"),
+            ("LOW", "低档", "low"),
+            ("MIN", "最低", "low"),
+            ("HIGH", "高档", "high"),
+            ("MAX", "最大", "high"),
+        ):
+            utterance = (
+                f"关闭主驾座椅{feature_text}"
+                if level == "off"
+                else f"主驾座椅{feature_text}设置为{level_text}"
+            )
+            add(
+                f"CAN1-SEAT-DRIVER-{feature_id}-{level_id}",
+                utterance,
+                domains=("seat",),
+                commands=(f"seat driver {feature} {level}",),
+            )
+        add(
+            f"CAN1-SEAT-DRIVER-{feature_id}-OPEN-DEFAULT",
+            f"打开主驾座椅{feature_text}",
+            domains=("seat",),
+            commands=(f"seat driver {feature} low",),
+        )
+
+    add(
+        "CAN1-SEAT-DRIVER-MASSAGE-OPEN",
+        "打开主驾座椅按摩",
+        domains=("seat",),
+        commands=("seat driver massage mode relax",),
+    )
+    add(
+        "CAN1-SEAT-DRIVER-MASSAGE-OFF",
+        "关闭主驾座椅按摩",
+        domains=("seat",),
+        commands=("seat driver massage off",),
+    )
+    for strength_id, strength_text, strength in (
+        ("WEAK", "最小", "weak"),
+        ("MEDIUM", "中等", "medium"),
+        ("STRONG", "最大", "strong"),
+        ("LOWEST", "最低", "weak"),
+        ("HIGHEST", "最高", "strong"),
+    ):
+        add(
+            f"CAN1-SEAT-DRIVER-MASSAGE-STRENGTH-{strength_id}",
+            f"主驾座椅按摩强度设置为{strength_text}",
+            domains=("seat",),
+            commands=(f"seat driver massage strength {strength}",),
+        )
+    for mode_id, mode_text, mode in (
+        ("WAVE", "波浪", "wave"),
+        ("PULSE", "脉冲", "pulse"),
+        ("STRETCH", "伸展", "stretch"),
+        ("SLACK", "松弛", "slack"),
+        ("RELAX", "放松", "relax"),
+    ):
+        add(
+            f"CAN1-SEAT-DRIVER-MASSAGE-MODE-{mode_id}",
+            f"主驾座椅按摩模式设置为{mode_text}",
+            domains=("seat",),
+            commands=(f"seat driver massage mode {mode}",),
+        )
+
+    driver_motion_cases = (
+        ("HORIZONTAL-FORWARD", "主驾座椅向前移动500毫秒", "horizontal forward 500"),
+        ("HORIZONTAL-BACKWARD", "主驾座椅后退两秒", "horizontal backward 2000"),
+        ("HORIZONTAL-STOP", "停止主驾座椅前后移动", "horizontal stop"),
+        ("HEIGHT-UP", "主驾座椅往上移动300毫秒", "height up 300"),
+        ("HEIGHT-DOWN", "主驾座椅向下移动一秒", "height down 1000"),
+        ("HEIGHT-STOP", "停止主驾座椅高度调节", "height stop"),
+        ("BACKREST-FORWARD", "主驾座椅靠背调直500毫秒", "backrest forward 500"),
+        ("BACKREST-BACKWARD", "主驾座椅椅背放倒800毫秒", "backrest backward 800"),
+        ("BACKREST-STOP", "停止主驾座椅靠背动作", "backrest stop"),
+        ("BASIN-UP", "主驾座椅坐盆抬高300毫秒", "basin up 300"),
+        ("BASIN-DOWN", "主驾座椅座垫放低一秒", "basin down 1000"),
+        ("BASIN-STOP", "停止主驾座椅坐盆动作", "basin stop"),
+    )
+    for case_id, utterance, suffix in driver_motion_cases:
+        add(
+            f"CAN1-SEAT-DRIVER-{case_id}",
+            utterance,
+            domains=("seat",),
+            commands=(f"seat driver {suffix}",),
+        )
+    add(
+        "CAN1-SEAT-DRIVER-STOP-ALL",
+        "停止主驾座椅移动",
+        domains=("seat",),
+        commands=(
+            "seat driver horizontal stop",
+            "seat driver height stop",
+            "seat driver backrest stop",
+            "seat driver basin stop",
+        ),
+    )
+    for slot in (1, 2, 3):
+        add(
+            f"CAN1-SEAT-DRIVER-MEMORY-{slot}",
+            f"调用主驾座椅记忆位置{slot}",
+            domains=("seat",),
+            commands=(f"seat driver position {slot}",),
+        )
+
+    for state_id, state_text, state in (
+        ("ON", "打开", "on"),
+        ("OFF", "关闭", "off"),
+    ):
+        add(
+            f"CAN1-LIGHT-INDOOR-{state_id}",
+            f"{state_text}室内灯",
+            domains=("interior_light",),
+            commands=(f"light indoor {state}",),
+        )
+        add(
+            f"CAN1-LIGHT-READING-ALL-{state_id}",
+            f"{state_text}全部阅读灯",
+            domains=("interior_light",),
+            commands=(f"light reading all {state}",),
+        )
+        add(
+            f"CAN1-LIGHT-AMBIENT-{state_id}",
+            f"{state_text}氛围灯",
+            domains=("ambient_light",),
+            commands=(f"light ambient {state}",),
+        )
+    for color in (1, 32, 70, 127):
+        add(
+            f"CAN1-LIGHT-AMBIENT-COLOR-{color}",
+            f"氛围灯颜色编号设置为{color}",
+            domains=("ambient_light",),
+            commands=(f"light ambient color {color}",),
+        )
+    for brightness in range(1, 6):
+        add(
+            f"CAN1-LIGHT-AMBIENT-BRIGHTNESS-{brightness}",
+            f"氛围灯亮度设置为{brightness}档",
+            domains=("ambient_light",),
+            commands=(f"light ambient brightness {brightness}",),
+        )
+    for alias_id, alias, brightness in (
+        ("MIN", "最低", 1),
+        ("MIDDLE", "中等", 3),
+        ("MAX", "最高", 5),
+    ):
+        add(
+            f"CAN1-LIGHT-AMBIENT-BRIGHTNESS-ALIAS-{alias_id}",
+            f"氛围灯亮度设置为{alias}",
+            domains=("ambient_light",),
+            commands=(f"light ambient brightness {brightness}",),
+        )
+
+    for motion_id, motion_text, motion in (
+        ("OPEN", "打开", "open"),
+        ("CLOSE", "关闭", "close"),
+        ("HALF", "半开", "half"),
+        ("STOP", "停止", "stop"),
+    ):
+        utterance = f"遮阳帘{motion_text}" if motion == "half" else f"{motion_text}遮阳帘"
+        add(
+            f"CAN1-SHADE-{motion_id}",
+            utterance,
+            domains=("roof",),
+            commands=(f"shade {motion}",),
+        )
+    for position in (0, 20, 30, 50, 100):
+        add(
+            f"CAN1-SHADE-POSITION-{position}",
+            f"遮阳帘打开到{position}%",
+            domains=("roof",),
+            commands=(f"shade position {position}",),
+        )
+
+    can0_atoms = (
+        (
+            "CAN0-SEAT-PASSENGER-HEAT-1",
+            "副驾驶座椅加热开到1档",
+            can0_operation("seat.set_heating", {"state": "on", "level": 1}),
+        ),
+        (
+            "CAN0-SEAT-PASSENGER-HEAT-2",
+            "副驾驶座椅加热开到2档",
+            can0_operation("seat.set_heating", {"state": "on", "level": 2}),
+        ),
+        (
+            "CAN0-SEAT-PASSENGER-HEAT-3",
+            "副驾驶座椅加热开到3档",
+            can0_operation("seat.set_heating", {"state": "on", "level": 3}),
+        ),
+        (
+            "CAN0-SEAT-PASSENGER-HEAT-OFF",
+            "关闭副驾驶座椅加热",
+            can0_operation("seat.set_heating", {"state": "off"}),
+        ),
+        (
+            "CAN0-SEAT-PASSENGER-VENT-1",
+            "副驾驶座椅通风开到1档",
+            can0_operation("seat.set_ventilation", {"state": "on", "level": 1}),
+        ),
+        (
+            "CAN0-SEAT-PASSENGER-VENT-2",
+            "副驾驶座椅通风开到2档",
+            can0_operation("seat.set_ventilation", {"state": "on", "level": 2}),
+        ),
+        (
+            "CAN0-SEAT-PASSENGER-VENT-3",
+            "副驾驶座椅通风开到3档",
+            can0_operation("seat.set_ventilation", {"state": "on", "level": 3}),
+        ),
+        (
+            "CAN0-SEAT-PASSENGER-VENT-OFF",
+            "关闭副驾驶座椅通风",
+            can0_operation("seat.set_ventilation", {"state": "off"}),
+        ),
+        (
+            "CAN0-SEAT-PASSENGER-HORIZONTAL-30",
+            "把副驾驶座椅水平位置调到30%",
+            can0_operation("seat.set_longitudinal_position", {"position_pct": 30}),
+        ),
+        (
+            "CAN0-SEAT-PASSENGER-BASIN-40",
+            "把副驾驶坐盆倾角调到40%",
+            can0_operation("seat.set_cushion_tilt", {"position_pct": 40}),
+        ),
+        (
+            "CAN0-SEAT-PASSENGER-BACKREST-120",
+            "把副驾驶靠背调到120度",
+            can0_operation(
+                "seat.set_backrest_recline",
+                {"position_pct": 37, "angle_deg": 120},
+            ),
+        ),
+        (
+            "CAN0-SEAT-PASSENGER-LEGREST-125",
+            "把副驾驶腿托抬到125度",
+            can0_operation(
+                "seat.set_legrest_height",
+                {"position_pct": 42, "angle_deg": 125},
+            ),
+        ),
+    )
+    for case_id, utterance, operation in can0_atoms:
+        add(
+            case_id,
+            utterance,
+            domains=("seat",),
+            channels=("can0",),
+            can0_operations=(operation,),
+        )
+
+    atom_by_id = {case["id"]: case for case in cases}
+
+    def combine(
+        case_id: str,
+        source_ids: tuple[str, ...],
+        *,
+        separator: str = "，",
+        kind: str,
+    ) -> None:
+        source_cases = [atom_by_id[source_id] for source_id in source_ids]
+        channels = tuple(
+            channel
+            for channel in ("can0", "can1")
+            if any(channel in item["channels"] for item in source_cases)
+        )
+        domains = tuple(
+            dict.fromkeys(
+                domain for item in source_cases for domain in item["domains"]
+            )
+        )
+        add(
+            case_id,
+            separator.join(item["utterance"] for item in source_cases),
+            domains=domains,
+            channels=channels,
+            commands=tuple(
+                command
+                for item in source_cases
+                for command in item["expected_commands"]
+            ),
+            can0_operations=tuple(
+                operation
+                for item in source_cases
+                for operation in item["expected_can0_operations"]
+            ),
+            kind=kind,
+            sources=source_ids,
+        )
+
+    pair_pool = (
+        "CAN1-DOOR-REAR-LOCK",
+        "CAN1-WINDOW-FRONT-LEFT-OPEN",
+        "CAN1-WINDOW-REAR-RIGHT-POSITION-25",
+        "CAN1-AC-ON",
+        "CAN1-AC-FAN-2",
+        "CAN1-AC-MODE-FACE-FEET",
+        "CAN1-AC-TEMP-DRIVER-24",
+        "CAN1-AC-TEMP-PASSENGER-24",
+        "CAN1-AC-TEMP-REAR-24",
+        "CAN1-AC-CONTROL-AUTO",
+        "CAN1-AC-CYCLE-INTERNAL",
+        "CAN1-OUTLET-DRIVER-LEFT-PERCENT-25-75",
+        "CAN1-OUTLET-PASSENGER-RIGHT-PERCENT-25-75",
+        "CAN1-SEAT-DRIVER-VENT-HIGH",
+        "CAN1-SEAT-DRIVER-HEAT-LOW",
+        "CAN1-SEAT-DRIVER-MASSAGE-MODE-RELAX",
+        "CAN1-SEAT-DRIVER-MASSAGE-STRENGTH-MEDIUM",
+        "CAN1-SEAT-DRIVER-HORIZONTAL-FORWARD",
+        "CAN1-SEAT-DRIVER-HEIGHT-UP",
+        "CAN1-LIGHT-INDOOR-ON",
+        "CAN1-LIGHT-READING-ALL-ON",
+        "CAN1-LIGHT-AMBIENT-ON",
+        "CAN1-LIGHT-AMBIENT-COLOR-70",
+        "CAN1-LIGHT-AMBIENT-BRIGHTNESS-3",
+        "CAN1-SHADE-POSITION-30",
+    )
+    for index, source_pair in enumerate(combinations(pair_pool, 2), start=1):
+        combine(
+            f"COMBO-PAIR-COMMA-{index:03d}",
+            source_pair,
+            kind="pairwise",
+        )
+        combine(
+            f"COMBO-PAIR-SEMICOLON-{index:03d}",
+            source_pair,
+            separator="；",
+            kind="pairwise_separator_variant",
+        )
+
+    multi_anchors = (
+        "CAN1-DOOR-REAR-LOCK",
+        "CAN1-WINDOW-FRONT-LEFT-OPEN",
+        "CAN1-AC-FAN-2",
+        "CAN1-OUTLET-DRIVER-LEFT-PERCENT-25-75",
+        "CAN1-SEAT-DRIVER-VENT-HIGH",
+        "CAN1-LIGHT-INDOOR-ON",
+        "CAN1-LIGHT-AMBIENT-COLOR-70",
+        "CAN1-SHADE-POSITION-30",
+        "CAN0-SEAT-PASSENGER-HEAT-2",
+    )
+    for index, source_ids in enumerate(combinations(multi_anchors, 3), start=1):
+        combine(
+            f"COMBO-TRIPLE-{index:03d}",
+            source_ids,
+            kind="three_command",
+        )
+    for index, source_ids in enumerate(combinations(multi_anchors, 4), start=1):
+        combine(
+            f"COMBO-QUADRUPLE-{index:03d}",
+            source_ids,
+            kind="four_command",
+        )
+
+    cross_can1 = pair_pool[:15]
+    cross_can0 = tuple(item[0] for item in can0_atoms[0:8])
+    for index, (can1_id, can0_id) in enumerate(
+        ((left, right) for left in cross_can1 for right in cross_can0),
+        start=1,
+    ):
+        combine(
+            f"COMBO-CROSS-CHANNEL-{index:03d}",
+            (can1_id, can0_id),
+            kind="cross_can0_can1",
+        )
+
+    scenes = (
+        (
+            "MOVIE",
+            (
+                "CAN1-AC-ON",
+                "CAN1-AC-TEMP-DRIVER-24",
+                "CAN1-AC-FAN-2",
+                "CAN1-SHADE-POSITION-100",
+                "CAN1-LIGHT-AMBIENT-COLOR-70",
+                "CAN1-LIGHT-AMBIENT-BRIGHTNESS-3",
+            ),
+        ),
+        (
+            "DRIVER-COMFORT",
+            (
+                "CAN1-SEAT-DRIVER-VENT-LOW",
+                "CAN1-SEAT-DRIVER-MASSAGE-MODE-RELAX",
+                "CAN1-SEAT-DRIVER-MASSAGE-STRENGTH-MEDIUM",
+                "CAN1-AC-TEMP-DRIVER-24",
+                "CAN1-AC-FAN-2",
+            ),
+        ),
+        (
+            "PASSENGER-COMFORT",
+            (
+                "CAN0-SEAT-PASSENGER-HEAT-2",
+                "CAN0-SEAT-PASSENGER-HORIZONTAL-30",
+                "CAN0-SEAT-PASSENGER-BASIN-40",
+                "CAN0-SEAT-PASSENGER-BACKREST-120",
+                "CAN0-SEAT-PASSENGER-LEGREST-125",
+            ),
+        ),
+        (
+            "CABIN-BRIGHT",
+            (
+                "CAN1-LIGHT-INDOOR-ON",
+                "CAN1-LIGHT-READING-ALL-ON",
+                "CAN1-LIGHT-AMBIENT-ON",
+                "CAN1-LIGHT-AMBIENT-COLOR-70",
+                "CAN1-LIGHT-AMBIENT-BRIGHTNESS-5",
+            ),
+        ),
+        (
+            "VENTILATION",
+            (
+                "CAN1-AC-ON",
+                "CAN1-AC-FAN-7",
+                "CAN1-AC-MODE-FACE-FEET",
+                "CAN1-AC-CYCLE-EXTERNAL",
+                "CAN1-OUTLET-DRIVER-LEFT-PERCENT-25-75",
+                "CAN1-OUTLET-PASSENGER-RIGHT-PERCENT-25-75",
+            ),
+        ),
+        (
+            "PARK-CLOSE",
+            (
+                "CAN1-WINDOW-ALL-CLOSE",
+                "CAN1-SHADE-CLOSE",
+                "CAN1-DOOR-REAR-LOCK",
+                "CAN1-LIGHT-INDOOR-OFF",
+                "CAN1-LIGHT-AMBIENT-OFF",
+                "CAN1-AC-OFF",
+            ),
+        ),
+        (
+            "DUAL-SEAT",
+            (
+                "CAN1-SEAT-DRIVER-VENT-HIGH",
+                "CAN1-SEAT-DRIVER-MASSAGE-MODE-WAVE",
+                "CAN0-SEAT-PASSENGER-VENT-2",
+                "CAN0-SEAT-PASSENGER-BACKREST-120",
+                "CAN1-AC-TEMP-DRIVER-24",
+                "CAN1-AC-TEMP-PASSENGER-24",
+            ),
+        ),
+        (
+            "ALL-ZONES-CLIMATE",
+            (
+                "CAN1-AC-ON",
+                "CAN1-AC-TEMP-DRIVER-24",
+                "CAN1-AC-TEMP-PASSENGER-24",
+                "CAN1-AC-TEMP-REAR-24",
+                "CAN1-AC-FAN-4",
+                "CAN1-AC-CONTROL-AUTO",
+                "CAN1-AC-CYCLE-INTERNAL",
+            ),
+        ),
+        (
+            "WINDOWS-SHADE",
+            (
+                "CAN1-WINDOW-FRONT-LEFT-POSITION-25",
+                "CAN1-WINDOW-FRONT-RIGHT-POSITION-50",
+                "CAN1-WINDOW-REAR-LEFT-POSITION-100",
+                "CAN1-WINDOW-REAR-RIGHT-POSITION-0",
+                "CAN1-SHADE-POSITION-30",
+            ),
+        ),
+        (
+            "DRIVER-POSTURE",
+            (
+                "CAN1-SEAT-DRIVER-HORIZONTAL-FORWARD",
+                "CAN1-SEAT-DRIVER-HEIGHT-UP",
+                "CAN1-SEAT-DRIVER-BACKREST-BACKWARD",
+                "CAN1-SEAT-DRIVER-BASIN-DOWN",
+            ),
+        ),
+    )
+    for scene_id, source_ids in scenes:
+        combine(
+            f"COMBO-SCENE-{scene_id}",
+            source_ids,
+            kind="multi_command_scene",
+        )
+
+    safety_cases = (
+        ("DRIVER-VENT-LEVEL-4", "主驾座椅通风4档"),
+        ("DRIVER-VENT-MIDDLE", "主驾座椅通风中档"),
+        ("DRIVER-ABSOLUTE-BACKREST", "把驾驶位靠背调到50%"),
+        ("DRIVER-UNVERIFIED-MODE", "主驾进入零重力模式"),
+        ("FRONT-ROW-SEAT", "打开前排座椅加热"),
+        ("PASSENGER-HEAT-LEVEL-4", "副驾座椅加热开到4档"),
+        ("PASSENGER-VENT-MISSING-STATE", "副驾座椅通风"),
+        ("PASSENGER-CONTRADICTORY", "打开副驾加热然后关闭副驾加热"),
+        ("PASSENGER-MASSAGE", "把副驾座椅按摩打开"),
+        ("MULTIPLE-SEAT-MODES", "进入办公模式和零重力模式"),
+        ("PASSENGER-LEGREST-EXTEND", "把副驾腿托伸长到50%"),
+        ("WRONG-AXIS-UNIT", "坐垫向前移动10度"),
+        ("MISSING-SEAT-AXIS", "向前移动10度"),
+        ("REAR-SEAT", "打开后排座椅加热"),
+        ("ALL-SEATS", "打开所有座椅加热"),
+        ("OUTLET-DISABLE-WITHOUT-MODE", "关闭吹面出风口"),
+    )
+    for case_id, utterance in safety_cases:
+        add(
+            f"SAFETY-{case_id}",
+            utterance,
+            domains=("safety",),
+            channels=(),
+            kind="safety_rejection",
+            status="needs_confirmation",
+        )
+    return cases
+
+
+def write_outputs(cases: list[dict[str, Any]]) -> None:
+    kind_counts = Counter(case["kind"] for case in cases)
+    channel_counts = Counter(
+        "+".join(case["channels"]) or "none" for case in cases
+    )
+    payload = {
+        "schema": "natural-can-command-combination-suite/v1",
+        "generated_on": "2026-08-24",
+        "description": "自然语言控制指令到CAN0/CAN1语义控制指令的原子、组合和安全测试目录。",
+        "summary": {
+            "total_cases": len(cases),
+            "by_kind": dict(sorted(kind_counts.items())),
+            "by_channel": dict(sorted(channel_counts.items())),
+        },
+        "cases": cases,
+    }
+    JSON_PATH.write_text(
+        json.dumps(payload, ensure_ascii=False, indent=2) + "\n",
+        encoding="utf-8",
+    )
+    with CSV_PATH.open("w", encoding="utf-8-sig", newline="") as handle:
+        writer = csv.DictWriter(
+            handle,
+            fieldnames=(
+                "id",
+                "kind",
+                "channels",
+                "domains",
+                "utterance",
+                "expected_status",
+                "expected_commands",
+                "expected_can0_operations",
+                "source_case_ids",
+            ),
+        )
+        writer.writeheader()
+        for case in cases:
+            writer.writerow(
+                {
+                    **case,
+                    "channels": "/".join(case["channels"]),
+                    "domains": "/".join(case["domains"]),
+                    "expected_commands": " | ".join(case["expected_commands"]),
+                    "expected_can0_operations": json.dumps(
+                        case["expected_can0_operations"], ensure_ascii=False
+                    ),
+                    "source_case_ids": " | ".join(
+                        case.get("source_case_ids", [])
+                    ),
+                }
+            )
+
+    kind_lines = "\n".join(
+        f"| `{kind}` | {count} |" for kind, count in sorted(kind_counts.items())
+    )
+    channel_lines = "\n".join(
+        f"| `{channel}` | {count} |"
+        for channel, count in sorted(channel_counts.items())
+    )
+    DOC_PATH.write_text(
+        f"""# 自然语言转 CAN 控制指令组合测试说明
+
+- 生成日期：2026-08-24
+- 总用例数：**{len(cases)}**
+- 执行方式：本地规则、`dry_run`，不发送真实 CAN 帧
+- 完整逐条清单：`docs/testing/自然语言转CAN组合测试用例.csv`
+- 机器可执行数据：`tests/fixtures/natural_can_command_combination_suite.json`
+
+## 覆盖数量
+
+| 用例类型 | 数量 |
+| --- | ---: |
+{kind_lines}
+
+| 通道 | 数量 |
+| --- | ---: |
+{channel_lines}
+
+## 组合策略
+
+1. 原子用例覆盖 CAN1 门锁、车窗、空调、风口、主驾座椅、灯光、遮阳帘，以及 CAN0 副驾座椅。
+2. 两两组合从 25 个互不冲突的控制槽中取组合，同时覆盖中文逗号和分号分隔形式。
+3. 三指令和四指令组合覆盖 CAN0/CAN1、座椅、空调、灯光、车窗、门锁、风口与遮阳帘的交叉。
+4. 跨通道组合明确检查副驾座椅留在 CAN0、主驾和车身控制留在 CAN1。
+5. 多指令场景覆盖观影、双座椅、全温区空调、泊车关闭、车窗与遮阳帘等常用场景。
+6. 安全用例要求白名单外目标、档位、能力和矛盾指令不生成 CAN 控制流。
+
+## 执行
+
+```bash
+PYTHONPATH=src:domains/seat/src .venv/bin/python -m pytest -q tests/integration/test_natural_can_command_combinations.py
+```
+
+重新生成清单：
+
+```bash
+.venv/bin/python tools/generate_natural_can_command_suite.py
+```
+""",
+        encoding="utf-8",
+    )
+
+
+def main() -> None:
+    cases = build_cases()
+    ids = [case["id"] for case in cases]
+    if len(ids) != len(set(ids)):
+        duplicates = [item for item, count in Counter(ids).items() if count > 1]
+        raise ValueError(f"duplicate case ids: {duplicates}")
+    write_outputs(cases)
+    print(f"generated {len(cases)} cases")
+    print(JSON_PATH)
+    print(CSV_PATH)
+    print(DOC_PATH)
+
+
+if __name__ == "__main__":
+    main()