feat: tolerate recoverable seat intent inputs

2026-08-02 06:12:36 +08:00
parent 55d0d400cb
commit a6d974cb29
9 changed files with 942 additions and 31 deletions
@@ -2,6 +2,7 @@

 from __future__ import annotations

+import math
 import re
 import unicodedata
 from copy import deepcopy
@@ -20,7 +21,7 @@ STATE_PATTERN = re.compile(
 LEVEL_PATTERN = re.compile(r"(最高|最低|[1-5一二三四五高中低])\s*档")
 POSITION_PATTERN_TEMPLATE = (
    r"{alias}(?:位置)?(?:调到|移动到|移到|设为|设置为|调至|移动至|到|为)?"
-    r"(?P<position>\d{{1,3}})%"
+    r"(?P<position>[+-]?\d{{1,3}}(?:\.\d+)?)%"
 )
 ANGLE_PATTERN_TEMPLATE = (
    r"{alias}(?:夹角|角度)?(?:调到|放倒到|抬到|移动到|移到|设为|设置为|"
@@ -300,6 +301,16 @@ def _format_seconds(duration_ms: int) -> str:
    return f"{seconds:g}"


+def _round_half_away_from_zero(value: float) -> int:
+    """Use the integer a user normally expects from a .5 position request."""
+
+    return math.floor(value + 0.5) if value >= 0 else math.ceil(value - 0.5)
+
+
+def _format_numeric_request(value: float) -> str:
+    return f"{value:g}"
+
+
 def _timed_motion_action(
    axis: str,
    direction_token: str,
@@ -309,8 +320,8 @@ def _timed_motion_action(
    operation = _relative_direction(axis, direction_token)
    if operation is None:
        return None, f"{direction_token}不适用于该座椅轴，请确认移动方向。"
-    if requested_duration_ms <= 0:
-        return None, "座椅按时长移动的时长必须大于0。"
+    if requested_duration_ms < 0:
+        return None, "座椅按时长移动的时长不能为负数。"
    state = _context_motion_state(context, axis)
    if state is None:
        return None, "缺少当前座椅位置，无法安全计算按时长移动的方向和备用端点。"
@@ -894,12 +905,18 @@ def parse_local_intent(
            for axis, aliases in MOTION_AXIS_ALIASES.items()
            if any(alias in clause for alias in aliases)
        ]
-        percentages = list(re.finditer(r"(?P<position>\d{1,3})%", clause))
+        percentages = list(
+            re.finditer(r"(?P<position>[+-]?\d{1,3}(?:\.\d+)?)%", clause)
+        )
        shared_position = None
        if len(clause_axes) > 1 and len(percentages) == 1 and re.search(
            r"都|全部|均", clause
        ):
-            shared_position = int(percentages[0].group("position"))
+            requested_shared_value = float(percentages[0].group("position"))
+            rounded_shared_position = _round_half_away_from_zero(
+                requested_shared_value
+            )
+            shared_position = max(0, min(100, rounded_shared_position))
            target_zh = (
                _nearest_preceding_target(clause, percentages[0].start()) or "副驾"
            )
@@ -908,8 +925,6 @@ def parse_local_intent(
                    {"field": "target", "question": PASSENGER_ONLY_QUESTION}
                )
            else:
-                requested_shared_position = shared_position
-                shared_position = min(100, shared_position)
                motion_actions.extend(
                    {
                        "target": "passenger",
@@ -920,11 +935,22 @@ def parse_local_intent(
                            {
                                "user_notice": (
                                    f"{MOTION_AXIS_LABELS[axis]}请求位置"
-                                    f"{requested_shared_position}%超过最大行程；"
-                                    "已采用备用目标并移动到对应机械末端。"
+                                    f"{_format_numeric_request(requested_shared_value)}%；"
+                                    + (
+                                        f"已取整为{rounded_shared_position}%。"
+                                        if requested_shared_value
+                                        != rounded_shared_position
+                                        else ""
+                                    )
+                                    + (
+                                        f" 取整后超过0到100%行程，已采用"
+                                        f"{shared_position}%备用目标并移动到对应机械末端。"
+                                        if rounded_shared_position != shared_position
+                                        else ""
+                                    )
                                )
                            }
-                            if requested_shared_position > 100
+                            if requested_shared_value != shared_position
                            else {}
                        ),
                    }
@@ -1104,8 +1130,13 @@ def parse_local_intent(
                    break
                absolute_angle = None
                if position_match is not None:
-                    requested_position_pct = int(position_match.group("position"))
-                    position_pct = min(100, requested_position_pct)
+                    requested_position_value = float(
+                        position_match.group("position")
+                    )
+                    requested_position_pct = _round_half_away_from_zero(
+                        requested_position_value
+                    )
+                    position_pct = max(0, min(100, requested_position_pct))
                else:
                    requested_angle = int(angle_match.group("angle"))
                    minimum, maximum = MOTION_ANGLE_RANGES[axis]
@@ -1133,11 +1164,21 @@ def parse_local_intent(
                            f"{minimum}到{maximum}度行程；已采用备用目标"
                            f"{absolute_angle}度并移动到{endpoint_label}。"
                        )
-                elif requested_position_pct != position_pct:
-                    motion_action["user_notice"] = (
-                        f"{MOTION_AXIS_LABELS[axis]}请求位置{requested_position_pct}%超过"
-                        "0到100%行程；已采用100%的备用目标并移动到机械末端。"
-                    )
+                else:
+                    notices: list[str] = []
+                    if requested_position_value != requested_position_pct:
+                        notices.append(
+                            f"{MOTION_AXIS_LABELS[axis]}请求位置"
+                            f"{_format_numeric_request(requested_position_value)}%；"
+                            f"已取整为{requested_position_pct}%。"
+                        )
+                    if requested_position_pct != position_pct:
+                        notices.append(
+                            f"取整后超过0到100%行程；已采用{position_pct}%的备用目标"
+                            "并移动到对应机械末端。"
+                        )
+                    if notices:
+                        motion_action["user_notice"] = " ".join(notices)
                motion_actions.append(motion_action)
                break

@@ -301,6 +301,29 @@ class LocalIntentParserTests(unittest.TestCase):
        self.assertTrue(minimum["actions"][0]["motion_intent"]["duration_clamped"])
        self.assertIn("最小允许时长为0.3秒", minimum["actions"][0]["user_notice"])

+    def test_rounds_decimal_and_clamps_negative_absolute_positions(self) -> None:
+        decimal = parse_local_intent("副驾座椅水平位置调到50.5%")
+        negative = parse_local_intent("副驾座椅水平位置调到-10%")
+
+        self.assertEqual(decimal["ambiguities"], [])
+        self.assertEqual(decimal["actions"][0]["position_pct"], 51)
+        self.assertIn("取整为51%", decimal["actions"][0]["user_notice"])
+        self.assertEqual(negative["ambiguities"], [])
+        self.assertEqual(negative["actions"][0]["position_pct"], 0)
+        self.assertIn("0%的备用目标", negative["actions"][0]["user_notice"])
+
+    def test_zero_duration_uses_minimum_safe_motion_instead_of_rejecting(self) -> None:
+        result = parse_local_intent(
+            "副驾靠背向后移动0秒", self.motion_context()
+        )
+
+        self.assertEqual(result["ambiguities"], [])
+        motion = result["actions"][0]["motion_intent"]
+        self.assertEqual(motion["requested_duration_ms"], 0)
+        self.assertEqual(motion["applied_duration_ms"], 300)
+        self.assertTrue(motion["duration_clamped"])
+        self.assertIn("已按0.3秒", result["actions"][0]["user_notice"])
+
    def test_rejects_unsupported_level_and_conflicting_state(self) -> None:
        unsupported = parse_local_intent("副驾加热开到4档")
        conflicting = parse_local_intent("打开副驾加热然后关闭副驾加热")