from __future__ import annotations import unittest from collections import deque from types import SimpleNamespace from cognitive_agent.application.mqtt_ota_seat_executor import ( MqttOtaSeatExecutor, ) from cognitive_agent.infrastructure.can.gateway import CanFrame from seat_domain import parse_local_intent def _axis_frame(axis: int, value_x100: int, *, valid: bool = True) -> CanFrame: flags = (1 << 3) if valid else 0 return CanFrame( 0x302, bytes( ( axis, 0, flags, 0, 0, value_x100 & 0xFF, (value_x100 >> 8) & 0xFF, 0, ) ), channel=0, ) class _FakeOtaBus: def __init__(self, initial_frames: list[CanFrame]) -> None: self.frames = deque(initial_frames) self.sent: list[CanFrame] = [] self.debug_commands: list[str] = [] self.closed = False def set_debug_command(self, command: str) -> None: self.debug_commands.append(command) def send( self, arbitration_id: int, data: bytes, *, is_fd: bool = False, bitrate_switch: bool = False, ) -> CanFrame: frame = CanFrame( arbitration_id, bytes(data), channel=0, is_fd=is_fd, bitrate_switch=bitrate_switch, ) self.sent.append(frame) opcode = data[2] job_state = ( 1 | (4 << 4) | (9 << 8) if opcode == 0x66 else (1 | (3 << 4) | (7 << 8)) if opcode in {0x64, 0x65} else (1 << 1) | (1 << 2) ) self.frames.append( CanFrame( 0x6A2, bytes((0x7C, data[1], opcode, 0)) + job_state.to_bytes(4, "little"), channel=0, ) ) if opcode == 0x64: target_x100 = int.from_bytes(data[4:8], "little") * 10 self.frames.append(_axis_frame(data[3], target_x100)) return frame def receive(self, _timeout_ms: int, *, include_fd: bool = False) -> CanFrame | None: del include_fd return self.frames.popleft() if self.frames else None def close(self) -> None: self.closed = True class _StatusExecutor: def read_physical_state(self) -> dict[str, object]: return {"position": {}, "complete": False} def _capture_physical_state( self, _bus: _FakeOtaBus, _results: list[dict[str, object]], ) -> dict[str, object]: return {"position": {}, "complete": True, "missing": []} def _function_config(capability: str, parameters: dict[str, object]) -> dict[str, object]: return { "metadata": {"request_id": "req-mqtt-ota-seat"}, "spec": { "operations": [ { "id": "operation-1", "capability": capability, "target": {"zone": "front_right", "instance": "passenger"}, "parameters": parameters, } ] }, } class MqttOtaSeatExecutorTests(unittest.TestCase): def test_seat_height_language_maps_to_internal_axis_one_capability(self) -> None: parsed = parse_local_intent("副驾座椅高度调到60%") self.assertEqual(parsed["ambiguities"], []) self.assertEqual(parsed["actions"][0]["axis"], "cushion_tilt") self.assertEqual(parsed["actions"][0]["position_pct"], 60) self.assertIn("目标：副驾座椅高度位置60%。", parsed["decision_summary"]) def test_absolute_move_uses_runtime_move_and_fresh_position_confirmation(self) -> None: bus = _FakeOtaBus([_axis_frame(0, 4_000)]) executor = MqttOtaSeatExecutor( # type: ignore[arg-type] _StatusExecutor(), lambda: bus, ) plan = { "spec": { "commands": [ { "operation_ref": "operation-1", "message": "T2G_Seat_Move_Command_300", "signals": {"Opcode": 1, "Motor_Selector": 0}, "completion": { "value": 5_000, "tolerance": 100, "timeout_ms": 1_000, }, } ] } } report = executor.execute( plan, _function_config( "seat.set_longitudinal_position", {"position_pct": 50}, ), ) self.assertEqual(report["spec"]["status"], "succeeded") self.assertEqual(bus.sent[0].arbitration_id, 0x6A0) self.assertEqual(bus.sent[0].data[2], 0x64) self.assertEqual(bus.sent[0].data[3], 0) self.assertEqual(int.from_bytes(bus.sent[0].data[4:8], "little"), 500) self.assertEqual( bus.debug_commands, ["seat passenger longitudinal position 50"], ) self.assertEqual( report["spec"]["results"][0]["telemetry"]["effective_position_pct"], 50, ) self.assertTrue(bus.closed) def test_legacy_zero_target_maps_to_move_not_homing(self) -> None: bus = _FakeOtaBus([_axis_frame(3, 2_000)]) executor = MqttOtaSeatExecutor( # type: ignore[arg-type] _StatusExecutor(), lambda: bus, ) plan = { "spec": { "commands": [ { "operation_ref": "operation-1", "message": "T2G_Seat_Move_Command_300", "signals": {"Opcode": 0x0B, "Motor_Selector": 3}, "completion": { "value": 0, "tolerance": 100, "timeout_ms": 1_000, }, } ] } } report = executor.execute( plan, _function_config("seat.set_legrest_height", {"position_pct": 0}), ) self.assertEqual(report["spec"]["status"], "succeeded") self.assertEqual(bus.sent[0].data[2], 0x64) self.assertEqual(int.from_bytes(bus.sent[0].data[4:8], "little"), 0) self.assertNotIn(0x61, [frame.data[2] for frame in bus.sent]) self.assertNotIn(0x62, [frame.data[2] for frame in bus.sent]) def test_wireless_thermal_command_fails_before_publish(self) -> None: bus = _FakeOtaBus([]) executor = MqttOtaSeatExecutor( # type: ignore[arg-type] _StatusExecutor(), lambda: bus, ) plan = { "spec": { "commands": [ { "operation_ref": "operation-1", "message": "T2G_Seat_Thermal_Control_29E", "signals": {}, } ] } } report = executor.execute( plan, _function_config("seat.set_heating", {"state": "on", "level": 1}), ) self.assertEqual(report["spec"]["status"], "failed") self.assertIn("does not provide wireless thermal control", report["spec"]["results"][0]["message"]) self.assertEqual(bus.sent, []) def test_dynamic_semantic_modes_use_seat_ota_firmware_selectors(self) -> None: for semantic_mode, firmware_selector, mode_name in ( (1, 2, "木马模式"), (2, 1, "动态摇篮模式"), ): with self.subTest(semantic_mode=semantic_mode): bus = _FakeOtaBus([]) executor = MqttOtaSeatExecutor( # type: ignore[arg-type] _StatusExecutor(), lambda: bus, ) plan = { "spec": { "commands": [ { "operation_ref": "operation-1", "message": "T2G_Seat_Move_Command_300", "signals": {"Opcode": 0x0E, "Motor_Selector": 0}, } ] } } report = executor.execute( plan, _function_config( "seat.start_dynamic_mode", {"mode_id": semantic_mode}, ), ) self.assertEqual(report["spec"]["status"], "succeeded") self.assertEqual(bus.sent[0].data[2], 0x66) self.assertEqual(bus.sent[0].data[3], firmware_selector) self.assertEqual( bus.debug_commands, [ "seat passenger dynamic start " + ("rocking-horse" if semantic_mode == 1 else "cradle") ], ) self.assertEqual( int.from_bytes(bus.sent[0].data[4:8], "little"), 300, ) telemetry = report["spec"]["results"][0]["telemetry"] self.assertEqual(telemetry["dynamic_mode_id"], semantic_mode) self.assertEqual(telemetry["ota_dynamic_selector"], firmware_selector) self.assertEqual(telemetry["dynamic_mode_name"], mode_name) if __name__ == "__main__": unittest.main()