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
@@ -190,6 +190,88 @@ class NativeStateSyncTests(unittest.TestCase):
        )
        self.assertEqual(after, before)

+    def test_verified_read_only_ch1_feedback_updates_only_driver(self) -> None:
+        state = self.store.synchronize_physical_ch1_feedback(
+            "conv-native-sync",
+            [{
+                "source": "physical_can_ch1",
+                "channel": 1,
+                "frame_id": "0x4FA",
+                "feedback_frame_id": "0x4FA",
+                "valid": True,
+                "verification": {
+                    "authoritative": True,
+                    "channel": 1,
+                    "simulated": False,
+                    "read_only": True,
+                    "frame_id": "0x4FA",
+                    "payload_size": 8,
+                },
+                "actuator_state": {
+                    "driver": {"ventilation": {"state": "on", "level": 3}}
+                },
+            }],
+        )
+        self.assertEqual(state["devices"]["driver"]["ventilation"]["level"], 3)
+        self.assertEqual(
+            state["devices"]["driver"]["ventilation"]["feedback_source"],
+            "physical_can_ch1",
+        )
+        self.assertEqual(state["devices"]["passenger"]["ventilation"]["state"], "off")
+
+    def test_verified_vehicle_safety_and_door_feedback_feed_whole_vehicle_state(self) -> None:
+        def feedback(frame_id: str, **state_patch: dict) -> dict:
+            return {
+                "source": "physical_can_ch1",
+                "channel": 1,
+                "frame_id": frame_id,
+                "feedback_frame_id": frame_id,
+                "valid": True,
+                "verification": {
+                    "authoritative": True,
+                    "channel": 1,
+                    "simulated": False,
+                    "read_only": True,
+                    "frame_id": frame_id,
+                    "payload_size": 8,
+                },
+                **state_patch,
+            }
+
+        state = self.store.synchronize_physical_ch1_feedback(
+            "conv-native-sync",
+            [
+                feedback("0x342", vehicle_safety={"gear": "P"}),
+                feedback("0x4EB", vehicle_safety={"speed_kmh": 0.0}),
+                feedback(
+                    "0x407",
+                    domain_state={
+                        "door": {
+                            "locks": {
+                                "front_left": {"state": "lock"},
+                                "front_right": {"state": "unlock"},
+                                "rear_left": {"state": "lock"},
+                                "rear_right": {"state": "lock"},
+                            },
+                            "vehicle_lock": {"state": "unknown"},
+                        }
+                    },
+                ),
+            ],
+        )
+
+        vehicle_status = state["domain_devices"]["vehicle_status"]
+        self.assertEqual(vehicle_status["gear"], "P")
+        self.assertEqual(vehicle_status["speed_kmh"], 0.0)
+        self.assertTrue(vehicle_status["stationary"])
+        self.assertEqual(vehicle_status["feedback_source"], "physical_can_ch1")
+        door = state["domain_devices"]["door"]
+        self.assertEqual(door["locks"]["front_right"]["state"], "unlock")
+        self.assertEqual(
+            door["locks"]["front_right"]["feedback_source"],
+            "physical_can_ch1",
+        )
+
    def test_unverified_or_empty_feedback_never_updates_state(self) -> None:
        before = self.store.snapshot("conv-native-sync")
        for feedback in (