feat: integrate cabin CAN and verified dynamic seat modes
This commit is contained in:
vee
@@ -19,7 +19,14 @@ from cognitive_agent.infrastructure.firmware import (
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T2GSeatProgrammer,
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)
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from .gateway import CanBus, CanGatewayError, PythonCanBus, ZlgCanBridgeBus
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from .gateway import (
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CanBus,
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CanGatewayError,
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PythonCanBus,
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ZlgCanBridgeBus,
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ZlgCanBridgeProcess,
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ZlgChannelConfig,
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)
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TRUE_VALUES = {"1", "true", "yes", "on"}
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@@ -32,6 +39,8 @@ CAPABILITY_PROFILE = {
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"seat.set_cushion_tilt": "combined",
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"seat.set_backrest_recline": "combined",
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"seat.set_legrest_height": "combined",
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"seat.start_dynamic_mode": "combined",
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"seat.stop_dynamic_mode": "combined",
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}
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@@ -132,6 +141,7 @@ class SeatHardwareSettings:
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profiles: frozenset[str]
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backend: str
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bitrate: int
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termination_enabled: bool
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channel: str
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interface: str
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device_type: int
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@@ -196,6 +206,9 @@ class SeatHardwareSettings:
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profiles=_profiles_from_env(),
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backend=backend,
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bitrate=_env_int("COGNITIVE_AGENT_SEAT_CAN_BITRATE", 500_000),
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termination_enabled=_env_bool(
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"COGNITIVE_AGENT_SEAT_CAN_TERMINATION_ENABLED", default=True
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),
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channel=os.getenv("COGNITIVE_AGENT_SEAT_CAN_CHANNEL", "0").strip(),
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interface=os.getenv("COGNITIVE_AGENT_SEAT_CAN_INTERFACE", "socketcan").strip(),
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device_type=_env_int("COGNITIVE_AGENT_ZLGCAN_DEVICE_TYPE", 41),
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@@ -234,7 +247,7 @@ class SeatHardwareSettings:
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"COGNITIVE_AGENT_SEAT_HOME_TIMEOUT_S", 120
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),
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firmware_probe_timeout_ms=_env_int(
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"COGNITIVE_AGENT_SEAT_FIRMWARE_PROBE_TIMEOUT_MS", 1_200
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"COGNITIVE_AGENT_SEAT_FIRMWARE_PROBE_TIMEOUT_MS", 3_500
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),
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firmware_boot_wait_ms=_env_int(
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"COGNITIVE_AGENT_SEAT_FIRMWARE_BOOT_WAIT_MS", 1_500
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@@ -368,6 +381,7 @@ class SeatHardwareSettings:
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device_index=self.device_index,
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channel=numeric_channel,
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bitrate=self.bitrate,
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termination_enabled=self.termination_enabled,
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)
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return create_zlg_bus
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@@ -390,9 +404,11 @@ class SeatHardwareSettings:
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timeout_ms=self.firmware_program_timeout_ms,
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)
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def firmware_guard(self) -> T2GFirmwareGuard:
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def firmware_guard(
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self, bus_factory: Callable[[], CanBus] | None = None
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) -> T2GFirmwareGuard:
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return T2GFirmwareGuard(
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self.bus_factory(),
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bus_factory or self.bus_factory(),
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self._programmer() if self.auto_flash_enabled else None,
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auto_flash=self.auto_flash_enabled,
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probe_timeout_ms=self.firmware_probe_timeout_ms,
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@@ -420,6 +436,7 @@ class SeatHardwareSettings:
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"adapter_configured": self.adapter_configured,
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"channel": self.channel,
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"bitrate": self.bitrate,
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"termination_enabled": self.termination_enabled,
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"frame_format": "classic_can_11_bit",
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"firmware_profiles": sorted(self.profiles),
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"firmware_images": images,
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@@ -450,3 +467,209 @@ class SeatHardwareSettings:
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"current diagnostics use conservative bench thresholds and do not replace external power limiting",
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],
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}
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@dataclass(frozen=True)
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class VehicleCanSettings:
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"""Fail-closed channel/timing contract imported from the verified CAN_DEV branch."""
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repository_root: Path
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enabled: bool
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approval_required: bool
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approval_token: str
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backend: str
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channel: int
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arbitration_bitrate: int
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data_bitrate: int
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termination_enabled: bool
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clock_hz: int
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arbitration_tseg1: int
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arbitration_tseg2: int
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arbitration_sjw: int
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arbitration_brp: int
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data_tseg1: int
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data_tseg2: int
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data_sjw: int
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data_brp: int
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feedback_timeout_ms: int
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device_type: int
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device_index: int
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zlg_python: Path
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zlg_dll: Path
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bridge_script: Path
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@classmethod
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def from_env(cls, repository_root: Path) -> "VehicleCanSettings":
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return cls(
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repository_root=repository_root,
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enabled=_env_bool(
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"COGNITIVE_AGENT_VEHICLE_CAN_ENABLED",
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default=_env_bool("COGNITIVE_AGENT_HARDWARE_EXECUTION_ENABLED"),
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),
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approval_required=_env_bool(
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"COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN_REQUIRED", default=True
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),
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approval_token=os.getenv("COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN", ""),
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backend=os.getenv(
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"COGNITIVE_AGENT_VEHICLE_CAN_BACKEND", "zlgcan"
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).strip().lower(),
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channel=_env_int("COGNITIVE_AGENT_VEHICLE_CAN_CHANNEL", 1),
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arbitration_bitrate=_env_int(
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"COGNITIVE_AGENT_VEHICLE_CAN_ARBITRATION_BITRATE", 500_000
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),
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data_bitrate=_env_int(
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"COGNITIVE_AGENT_VEHICLE_CAN_DATA_BITRATE", 2_000_000
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),
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termination_enabled=_env_bool(
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"COGNITIVE_AGENT_VEHICLE_CAN_TERMINATION_ENABLED", default=False
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),
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clock_hz=60_000_000,
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arbitration_tseg1=14,
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arbitration_tseg2=3,
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arbitration_sjw=2,
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arbitration_brp=5,
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data_tseg1=10,
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data_tseg2=2,
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data_sjw=2,
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data_brp=1,
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feedback_timeout_ms=_env_int(
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"COGNITIVE_AGENT_VEHICLE_CAN_FEEDBACK_TIMEOUT_MS", 1_500
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),
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device_type=_env_int("COGNITIVE_AGENT_ZLGCAN_DEVICE_TYPE", 41),
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device_index=_env_int("COGNITIVE_AGENT_ZLGCAN_DEVICE_INDEX", 0),
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zlg_python=Path(
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os.getenv(
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"COGNITIVE_AGENT_ZLGCAN_PYTHON",
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r"C:\Program Files (x86)\ZCANPRO\python38\python.exe",
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)
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),
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zlg_dll=Path(
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os.getenv(
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"COGNITIVE_AGENT_ZLGCAN_DLL",
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r"C:\Program Files (x86)\ZCANPRO\zlgcan.dll",
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)
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),
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bridge_script=repository_root
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/ "src"
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/ "cognitive_agent"
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/ "infrastructure"
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/ "can"
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/ "zlgcan_bridge.py",
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)
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@property
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def adapter_configured(self) -> bool:
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return bool(
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self.backend == "zlgcan"
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and self.zlg_python.is_file()
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and self.zlg_dll.is_file()
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and self.bridge_script.is_file()
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)
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@property
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def configured(self) -> bool:
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return bool(
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self.enabled
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and (not self.approval_required or self.approval_token)
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and self.adapter_configured
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and self.timing_is_verified
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)
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@property
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def timing_is_verified(self) -> bool:
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return (
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self.arbitration_bitrate == 500_000
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and self.data_bitrate == 2_000_000
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and 60_000_000
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// ((self.arbitration_brp + 1) * (self.arbitration_tseg1 + self.arbitration_tseg2 + 3))
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== 500_000
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and 60_000_000
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// ((self.data_brp + 1) * (self.data_tseg1 + self.data_tseg2 + 3))
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== 2_000_000
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)
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def authorize(self, supplied_token: str | None) -> None:
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if not self.enabled:
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raise HardwareSafetyError(
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"vehicle CAN execution is disabled; set COGNITIVE_AGENT_VEHICLE_CAN_ENABLED=true"
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)
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if self.approval_required:
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if not self.approval_token:
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raise HardwareSafetyError(
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"COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN is not configured"
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)
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if not supplied_token or not hmac.compare_digest(
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supplied_token, self.approval_token
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):
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raise HardwareSafetyError("hardware approval token is invalid")
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if self.backend != "zlgcan":
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raise HardwareSafetyError(
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"vehicle CAN FD currently requires the zlgcan multi-channel backend"
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)
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if self.channel < 0:
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raise HardwareSafetyError("vehicle CAN channel cannot be negative")
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if not self.timing_is_verified:
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raise HardwareSafetyError(
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"vehicle CAN timing must remain ISO CAN FD 500 kbit/s / 2 Mbit/s at 80% sample point"
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)
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if not 100 <= self.feedback_timeout_ms <= 10_000:
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raise HardwareSafetyError(
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"COGNITIVE_AGENT_VEHICLE_CAN_FEEDBACK_TIMEOUT_MS must be between 100 and 10000"
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)
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if not self.adapter_configured:
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raise HardwareSafetyError("the configured ZLG CAN FD runtime is not ready")
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def channel_config(self) -> ZlgChannelConfig:
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return ZlgChannelConfig(
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channel=self.channel,
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arbitration_bitrate=self.arbitration_bitrate,
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data_bitrate=self.data_bitrate,
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can_fd_iso=True,
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termination_enabled=self.termination_enabled,
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)
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def bridge(self, channels: list[ZlgChannelConfig]) -> ZlgCanBridgeProcess:
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return ZlgCanBridgeProcess(
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python_executable=self.zlg_python,
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bridge_script=self.bridge_script,
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dll_path=self.zlg_dll,
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device_type=self.device_type,
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device_index=self.device_index,
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channels=channels,
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)
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def public_info(self) -> dict[str, Any]:
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return {
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"enabled": self.enabled,
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"configured": self.configured,
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"backend": self.backend,
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"platform": "t2g_cabin_bench",
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"channel": self.channel,
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"mode": 0,
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"work_mode": "normal",
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"can_fd_standard": "ISO",
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"termination_enabled": self.termination_enabled,
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"clock_hz": self.clock_hz,
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"arbitration": {
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"bitrate": self.arbitration_bitrate,
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"tseg1": self.arbitration_tseg1,
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"tseg2": self.arbitration_tseg2,
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"sjw": self.arbitration_sjw,
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"smp": 0,
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"brp": self.arbitration_brp,
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"total_tq": 20,
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"sample_point_percent": 80,
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},
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"data": {
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"bitrate": self.data_bitrate,
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"tseg1": self.data_tseg1,
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"tseg2": self.data_tseg2,
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"sjw": self.data_sjw,
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"smp": 0,
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"brp": self.data_brp,
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"total_tq": 15,
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"sample_point_percent": 80,
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},
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"source_branch": "project-code/CAN_DEV",
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"source_commit": "6e7ed04a468dfcde7efda9e30bc15144bf02faf9",
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}
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