feat: complete dual-seat whole-vehicle orchestration

2026-08-12 15:12:40 +08:00
parent 32379a1573
commit 9ce64b3a01
62 changed files with 9741 additions and 3950 deletions
@@ -31,6 +31,13 @@ APPLY_PRESET_CAPABILITY = "seat.apply_posture_preset"
 DYNAMIC_MODE_CAPABILITY = "seat.start_dynamic_mode"
 DYNAMIC_MODE_STOP_CAPABILITY = "seat.stop_dynamic_mode"
 DYNAMIC_MODE_MAX_RUNTIME_MS = 600_000
+TIMED_MOTION_MIN_DURATION_MS = 300
+TIMED_AXIS_LIMITS = {
+    "longitudinal": {"max_duration_ms": 30_000, "ms_per_pct": 120},
+    "cushion_tilt": {"max_duration_ms": 20_000, "ms_per_pct": 80},
+    "backrest_recline": {"max_duration_ms": 30_000, "ms_per_pct": 120},
+    "legrest_height": {"max_duration_ms": 25_000, "ms_per_pct": 100},
+}
 HEX_COLOR = re.compile(r"^#[0-9A-Fa-f]{6}$")
 NATIVE_CAN_ONLY_CAPABILITIES = {
    "climate.set_control_mode",
@@ -556,6 +563,16 @@ class ModelPlanAdapter:
        capability = request["capability"]
        if capability in SEAT_MOTION_CAPABILITIES:
            axis = SEAT_MOTION_CAPABILITIES[capability]
+            if request.get("duration_ms") is not None:
+                return ModelPlanAdapter._timed_motion_action(
+                    index,
+                    request,
+                    ambiguities,
+                    context,
+                    target,
+                    axis,
+                    vehicle_profile,
+                )
            physical_action = ModelPlanAdapter._relative_physical_motion_action(
                index,
                request,
@@ -682,6 +699,123 @@ class ModelPlanAdapter:
            ),
        }

+    @staticmethod
+    def _timed_motion_action(
+        index: int,
+        request: dict[str, Any],
+        ambiguities: list[dict[str, str]],
+        context: dict[str, Any],
+        target: str,
+        axis: str,
+        vehicle_profile: VehicleProfile | None,
+    ) -> dict[str, Any] | None:
+        duration_ms = request.get("duration_ms")
+        if (
+            not isinstance(duration_ms, (int, float))
+            or isinstance(duration_ms, bool)
+            or not float(duration_ms).is_integer()
+            or float(duration_ms) < 0
+        ):
+            ambiguities.append(
+                {
+                    "field": f"requests[{index}].duration_ms",
+                    "question": "座椅按时长移动需要非负的整数毫秒数。",
+                }
+            )
+            return None
+
+        direction = str(request.get("operation", "set"))
+        if direction not in {"increase", "decrease"}:
+            ambiguities.append(
+                {
+                    "field": f"requests[{index}].operation",
+                    "question": "座椅按时长移动需要明确 increase 或 decrease 方向。",
+                }
+            )
+            return None
+
+        timing = TIMED_AXIS_LIMITS.get(axis)
+        if timing is None:
+            ambiguities.append(
+                {
+                    "field": f"requests[{index}].capability",
+                    "question": "该座椅轴当前不支持按时长运动。",
+                }
+            )
+            return None
+        previous = (
+            context.get("devices", {})
+            .get(target, {})
+            .get("position", {})
+            .get(axis)
+        )
+        if not isinstance(previous, dict):
+            ambiguities.append(
+                {
+                    "field": f"requests[{index}].target_scope",
+                    "question": "缺少当前座椅位置，无法安全生成按时长运动命令。",
+                }
+            )
+            return None
+        current_pct = previous.get("position_pct")
+        if (
+            not isinstance(current_pct, (int, float))
+            or isinstance(current_pct, bool)
+            or not 0 <= float(current_pct) <= 100
+        ):
+            ambiguities.append(
+                {
+                    "field": f"requests[{index}].target_scope",
+                    "question": "当前座椅位置无效，无法安全执行按时长运动。",
+                }
+            )
+            return None
+
+        requested_duration_ms = int(duration_ms)
+        maximum_duration_ms = int(timing["max_duration_ms"])
+        applied_duration_ms = min(
+            maximum_duration_ms,
+            max(TIMED_MOTION_MIN_DURATION_MS, requested_duration_ms),
+        )
+        estimated_delta_pct = applied_duration_ms / int(timing["ms_per_pct"])
+        signed_delta = estimated_delta_pct if direction == "increase" else -estimated_delta_pct
+        raw_target = float(current_pct) + signed_delta
+        target_pct = round(max(0.0, min(100.0, raw_target)))
+        motion_intent: dict[str, Any] = {
+            "mode": "timed",
+            "direction": direction,
+            "start_position_pct": round(float(current_pct)),
+            "delta_position_pct": abs(target_pct - round(float(current_pct))),
+            "requested_duration_ms": requested_duration_ms,
+            "applied_duration_ms": applied_duration_ms,
+            "max_duration_ms": maximum_duration_ms,
+            "min_duration_ms": TIMED_MOTION_MIN_DURATION_MS,
+            "duration_clamped": applied_duration_ms != requested_duration_ms,
+        }
+        if raw_target >= 100:
+            motion_intent["endpoint_expected"] = "far"
+        elif raw_target <= 0:
+            motion_intent["endpoint_expected"] = "near"
+
+        action: dict[str, Any] = {
+            "action_type": "position",
+            "target": target,
+            "axis": axis,
+            "position_pct": target_pct,
+            "motion_intent": motion_intent,
+            "user_notice": f"座椅轴将按时长执行{applied_duration_ms / 1000:g}秒。",
+        }
+        motor = (
+            vehicle_profile.seat_motors.get(axis)
+            if vehicle_profile is not None
+            else None
+        )
+        if motor is not None and motor.display_angle is not None:
+            angle = motor.display_angle_for_pct(target_pct)
+            if angle is not None:
+                action["angle_deg"] = _clean_number(float(angle))
+        return action
+
    @staticmethod
    def _relative_physical_motion_action(
        index: int,