from __future__ import annotations import json import tempfile import time import unittest from pathlib import Path from types import SimpleNamespace from unittest.mock import patch from cognitive_agent.application.native_can_runtime import NativeCanRuntime from cognitive_agent.application.seat_service import SeatDemoService from cognitive_agent.infrastructure.can.gateway import CanFrame from cognitive_agent.infrastructure.can.hardware import ( HardwareSafetyError, VehicleMqttSettings, ) from cognitive_agent.infrastructure.can.mqtt_transport import ( MQTT_CAN_SCHEMA, MqttCanTransport, parse_mqtt_can_payload, ) REPOSITORY_ROOT = Path(__file__).resolve().parents[2] class _PublishResult: rc = 0 mid = 17 def is_published(self) -> bool: return True def wait_for_publish(self, timeout: float) -> bool: raise AssertionError("control publish must never block for acknowledgement") class _FakeMqttClient: def __init__(self) -> None: self.on_connect = None self.on_disconnect = None self.on_message = None self.subscriptions: list[tuple[str, int]] = [] self.published: list[tuple[str, str, int, bool]] = [] def reconnect_delay_set(self, **_kwargs) -> None: return None def connect_async(self, host: str, port: int, keepalive: int) -> None: self.connection = (host, port, keepalive) def loop_start(self) -> None: self.on_connect(self, None, {}, 0, None) def loop_stop(self) -> None: return None def disconnect(self) -> None: return None def subscribe(self, topic: str, qos: int): self.subscriptions.append((topic, qos)) return (0, 1) def publish(self, topic: str, payload: str, qos: int, retain: bool): self.published.append((topic, payload, qos, retain)) return _PublishResult() def emit(self, topic: str, payload: object) -> None: message = SimpleNamespace( topic=topic, payload=json.dumps(payload).encode("utf-8"), ) self.on_message(self, None, message) def _settings(): values = { "enabled": True, "state_configured": True, "configured": True, "host": "127.0.0.1", "port": 1883, "condition_topic": "n7/n7-headunit/can/state", "control_topic": "n7/n7-headunit/can/command", "qos": 1, "keepalive_s": 30, "username": None, "password": None, "tls_enabled": False, "feedback_timeout_ms": 100, } values["public_info"] = lambda: { "enabled": True, "configured": True, "state_configured": True, "backend": "mqtt", "condition_topic": "n7/n7-headunit/can/state", "control_topic": "n7/n7-headunit/can/command", } return SimpleNamespace(**values) class MqttCanPayloadTests(unittest.TestCase): def test_default_topics_and_public_contracts_match_headunit(self) -> None: with patch.dict("os.environ", {}, clear=True): settings = VehicleMqttSettings.from_env() info = settings.public_info() self.assertEqual(settings.condition_topic, "n7/n7-headunit/can/state") self.assertEqual(settings.control_topic, "n7/n7-headunit/can/command") self.assertFalse(settings.approval_required) self.assertEqual(info["state_contract"], "n7-can-signals/v1") self.assertEqual(info["control_contract"], "n7-headunit-can-command/v1") def test_explicit_shared_approval_policy_still_locks_mqtt_control(self) -> None: with patch.dict( "os.environ", {"COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN_REQUIRED": "true"}, clear=True, ): settings = VehicleMqttSettings.from_env() self.assertTrue(settings.approval_required) self.assertFalse(settings.configured) def test_accepts_one_canonical_frame_and_common_receive_aliases(self) -> None: canonical = parse_mqtt_can_payload( json.dumps( { "schema": MQTT_CAN_SCHEMA, "arbitration_id": 0x342, "channel": 1, "data_hex": "00 00 00 01 00 00 00 00", "is_fd": True, "bitrate_switch": True, } ) )[0] alias = parse_mqtt_can_payload( json.dumps({"canId": "0x4FA", "data": [0] * 8}) )[0] self.assertEqual(canonical.arbitration_id, 0x342) self.assertEqual(canonical.channel, 1) self.assertTrue(canonical.is_fd) self.assertEqual(alias.arbitration_id, 0x4FA) def test_accepts_vehicle_n7_can_signals_envelope(self) -> None: frames = parse_mqtt_can_payload( json.dumps( { "schema": "n7-can-signals/v1", "sequence": 335, "timestamp": 1787037724090, "online": True, "signals": [ { "channel": "can1", "channelIndex": 1, "canId": "0x388", "canIdDecimal": 904, "frameType": "fd", "brs": True, "dlc": 8, "data": "00 00 00 02 01 00 59 00", "bytes": [0, 0, 0, 2, 1, 0, 89, 0], "timestamp": 1787037667665, "direction": "rx", } ], "can1Vehicle": { "parsed": {"speedKph": 0, "gear": 1} }, } ) ) self.assertEqual(len(frames), 1) self.assertEqual(frames[0].arbitration_id, 0x388) self.assertEqual(frames[0].channel, 1) self.assertEqual(frames[0].data, bytes.fromhex("00 00 00 02 01 00 59 00")) self.assertTrue(frames[0].is_fd) self.assertTrue(frames[0].bitrate_switch) self.assertEqual(frames[0].timestamp, 1787037667.665) def test_accepts_nested_can1_vehicle_signals_when_top_level_is_absent(self) -> None: frame = parse_mqtt_can_payload( json.dumps( { "schema": "n7-can-signals/v1", "can1Vehicle": { "signals": [ { "channel": "can1", "canId": "0x42E", "frameType": "fd", "brs": True, "bytes": [17, 100, 50, 3, 144, 2, 0, 198], } ] }, } ) )[0] self.assertEqual(frame.arbitration_id, 0x42E) self.assertTrue(frame.is_fd) def test_accepts_native_passenger_seat_firmware_status(self) -> None: frames = parse_mqtt_can_payload( json.dumps( { "schema": "n7-can-signals/v1", "can0Seat": { "signals": [ { "canId": "0x302", "frameType": "classic", "bytes": [0] * 8, } ] }, } ) ) self.assertEqual(len(frames), 1) self.assertEqual(frames[0].channel, 0) self.assertEqual(frames[0].arbitration_id, 0x302) def test_translates_seat_ota_info_responses_into_four_position_states(self) -> None: values = { 1: (480 << 16) | 407, 2: (373 << 16) | 266, 3: (917 << 16) | 451, 4: (647 << 16) | 575, } signals = [] for selector, value in values.items(): sequence = 0x20 + selector signals.extend( ( { "channel": "can0", "canId": "0x6A0", "frameType": "classic", "direction": "tx", "bytes": [0xC7, sequence, 0x60, selector, 0, 0, 0, 0], }, { "channel": "can0", "canId": "0x6A2", "frameType": "classic", "direction": "rx", "bytes": [0x7C, sequence, 0x60, 0, *value.to_bytes(4, "little")], }, ) ) frames = parse_mqtt_can_payload(json.dumps({"signals": signals})) positions = [frame for frame in frames if frame.arbitration_id == 0x302] self.assertEqual([frame.data[0] for frame in positions], [0, 1, 2, 3]) self.assertEqual( [int.from_bytes(frame.data[5:7], "little") for frame in positions], [round(407 * 10_000 / 480), round(266 * 10_000 / 373), round(451 * 10_000 / 917), round(575 * 10_000 / 647)], ) self.assertTrue(all(frame.data[2] & (1 << 3) for frame in positions)) def test_translates_headunit_6a2_selector_metadata_without_6a0_requests( self, ) -> None: values = { 1: bytes.fromhex("E0 01 E0 01"), # 480 / 480 2: bytes.fromhex("00 00 75 01"), # 0 / 373 3: bytes.fromhex("00 00 95 03"), # 0 / 917 4: bytes.fromhex("BF 01 87 02"), # 447 / 647 5: bytes.fromhex("11 00 00 00"), 6: bytes.fromhex("11 00 00 00"), 7: bytes.fromhex("11 00 02 00"), 8: bytes.fromhex("11 00 00 00"), } frames = parse_mqtt_can_payload( json.dumps( { "schema": "n7-can-signals/v1", "signals": [ { "channel": "can0", "channelIndex": 0, "canId": "0x6A2", "frameType": "classic", "brs": False, "dlc": 8, "selector": selector, "bytes": [0x7C, 0x30 + selector, 0x60, 0, *value], "direction": "rx", } for selector, value in values.items() ], } ) ) positions = [frame for frame in frames if frame.arbitration_id == 0x302] self.assertEqual([frame.data[0] for frame in positions], [0, 1, 2, 3]) self.assertEqual( [int.from_bytes(frame.data[5:7], "little") for frame in positions], [10_000, 0, 0, round(447 * 10_000 / 647)], ) self.assertTrue(all(frame.data[2] & (1 << 3) for frame in positions)) def test_rejects_invalid_or_conflicting_headunit_seat_selector_metadata( self, ) -> None: with self.assertRaisesRegex(ValueError, "integer from 0 to 14"): parse_mqtt_can_payload( json.dumps( { "channel": "can0", "canId": "0x6A2", "selector": "1", "bytes": [0x7C, 1, 0x60, 0, 0xE0, 1, 0xE0, 1], } ) ) with self.assertRaisesRegex(ValueError, "valid 0x6A2"): parse_mqtt_can_payload( json.dumps( { "channel": "can0", "canId": "0x302", "selector": 1, "bytes": [0] * 8, } ) ) frames = parse_mqtt_can_payload( json.dumps( { "signals": [ {"channel": "can0", "canId": "0x6A0", "bytes": [0xC7, 0x21, 0x60, 1, 0, 0, 0, 0]}, {"channel": "can0", "canId": "0x6A2", "selector": 2, "bytes": [0x7C, 0x21, 0x60, 0, 0xE0, 1, 0xE0, 1]}, ] } ) ) self.assertFalse(any(frame.arbitration_id == 0x302 for frame in frames)) def test_rejects_can0_frames_outside_seat_firmware_format(self) -> None: for label, frame in ( ( "fd", { "channel": "can0", "canId": "0x6A0", "frameType": "fd", "bytes": [0] * 8, }, ), ( "brs", { "channel": "can0", "canId": "0x6A2", "frameType": "classic", "brs": True, "bytes": [0] * 8, }, ), ( "dlc", { "channel": "can0", "canId": "0x6A2", "frameType": "classic", "bytes": [0] * 7, }, ), ): with self.subTest(label=label), self.assertRaisesRegex( ValueError, "classic CAN, no BRS, and DLC 8" ): parse_mqtt_can_payload(json.dumps(frame)) def test_top_level_signals_can_mix_can0_and_can1_without_nested_duplicates(self) -> None: frames = parse_mqtt_can_payload( json.dumps( { "schema": "n7-can-signals/v1", "signals": [ {"channel": "can0", "canId": "0x302", "bytes": [0] * 8}, {"channel": "can1", "canId": "0x342", "bytes": [0] * 8}, ], "can0Seat": { "signals": [ {"channel": "can0", "canId": "0x302", "bytes": [0] * 8} ] }, } ) ) self.assertEqual( [(frame.channel, frame.arbitration_id) for frame in frames], [(0, 0x302), (1, 0x342)], ) def test_rejects_decoded_state_invalid_channels_and_channel_conflicts(self) -> None: with self.assertRaisesRegex(ValueError, "requires an ID and data"): parse_mqtt_can_payload(json.dumps({"gear": "P", "speed_kmh": 0})) with self.assertRaisesRegex(ValueError, "only CAN0 or CAN1"): parse_mqtt_can_payload( json.dumps({"id": 0x342, "channel": 2, "data": [0] * 8}) ) with self.assertRaisesRegex(ValueError, "declarations conflict"): parse_mqtt_can_payload( json.dumps( { "id": 0x342, "channel": "can1", "channelIndex": 0, "data": [0] * 8, } ) ) def test_control_remains_locked_without_existing_hardware_approval(self) -> None: settings = VehicleMqttSettings( enabled=True, approval_required=True, approval_token="", host="127.0.0.1", port=1883, condition_topic="n7/n7-headunit/can/state", control_topic="n7/n7-headunit/can/command", qos=1, keepalive_s=30, username=None, password=None, tls_enabled=False, feedback_timeout_ms=1_500, ) with patch( "cognitive_agent.infrastructure.can.hardware._module_available", return_value=True, ): self.assertTrue(settings.state_configured) self.assertFalse(settings.configured) with self.assertRaisesRegex(HardwareSafetyError, "not configured"): settings.authorize(None) class MqttCanTransportTests(unittest.TestCase): def setUp(self) -> None: self.client = _FakeMqttClient() self.transport = MqttCanTransport( _settings(), client_factory=lambda: self.client, ) self.transport.start() def tearDown(self) -> None: self.transport.close() def test_condition_frames_use_existing_decoder_and_snapshot_contract(self) -> None: self.client.emit( "n7/n7-headunit/can/state", { "frames": [ {"id": 0x342, "data": [0, 0, 0, 1, 0, 0, 0, 0]}, {"id": 0x4EB, "data": [7, 0, 0, 0, 0, 0, 0, 0]}, {"id": 0x407, "data": [0] * 8}, {"id": 0x494, "data": [0] * 8}, {"id": 0x4FA, "data": [0] * 8}, {"id": 0x555, "data": [255] * 8}, ] }, ) snapshot = self.transport.snapshot() self.assertEqual( snapshot.observed_ids, frozenset({0x342, 0x4EB, 0x407, 0x494, 0x4FA}), ) self.assertTrue( all( state["verification"]["transport"] == "wireless_mqtt" for state in snapshot.feedback_states ) ) self.assertTrue( all( state["source"] == "wireless_mqtt_ch1" for state in snapshot.feedback_states ) ) self.assertEqual( self.client.subscriptions, [("n7/n7-headunit/can/state", 1)], ) def test_first_partial_live_vehicle_snapshot_does_not_wait_for_missing_ids(self) -> None: self.client.emit( "n7/n7-headunit/can/state", { "signals": [ { "channel": "can1", "canId": "0x388", "frameType": "fd", "brs": True, "bytes": [0, 0, 0, 2, 1, 0, 89, 0], } ] }, ) started = time.perf_counter() snapshot = self.transport.snapshot() self.assertLess(time.perf_counter() - started, 0.05) self.assertEqual(snapshot.observed_ids, frozenset({0x388})) def test_native_can0_status_maps_to_passenger_frontend_state(self) -> None: self.client.emit( "n7/n7-headunit/can/state", { "schema": "n7-can-signals/v1", "signals": [ { "channel": "can0", "canId": "0x302", "frameType": "classic", "bytes": [axis, 0x26, 0x08, 0, 0, value & 0xFF, (value >> 8) & 0xFF, 0], } for axis, value in enumerate((1000, 2500, 5000, 9000)) ] + [ { "channel": "can0", "canId": "0x4FA", "frameType": "classic", "bytes": [0x22, 0, 0, 0, 0, 0, 0, 0], }, { "channel": "can0", "canId": "0x306", "frameType": "classic", "bytes": [1, 2, 3, 0x0F, 2, 0, 100, 0], }, ], }, ) service = SeatDemoService(REPOSITORY_ROOT) service._vehicle_mqtt_transport = self.transport service.vehicle_mqtt_settings = SimpleNamespace(state_configured=True) payload = service._synchronize_hardware_state_once( "conv-native-can0-state", control_transport="wireless_mqtt", ) passenger = payload["actuator_state"]["passenger"] self.assertEqual( { axis: value["position_pct"] for axis, value in passenger["position"].items() if axis in { "longitudinal", "cushion_tilt", "backrest_recline", "legrest_height", } }, { "longitudinal": 10, "cushion_tilt": 25, "backrest_recline": 50, "legrest_height": 90, }, ) self.assertEqual(passenger["ventilation"]["level"], 1) self.assertEqual(passenger["heating"]["level"], 3) self.assertEqual(passenger["dynamic_mode"]["mode_id"], 1) self.assertEqual(passenger["dynamic_mode"]["state"], "running") self.assertTrue( all( item["feedback_source"] == "wireless_mqtt_ch0" for item in passenger["position"].values() if item.get("position_valid") is not None ) ) def test_headunit_6a2_selector_state_maps_to_passenger_frontend_state(self) -> None: values = { 1: bytes.fromhex("E0 01 E0 01"), 2: bytes.fromhex("00 00 75 01"), 3: bytes.fromhex("00 00 95 03"), 4: bytes.fromhex("BF 01 87 02"), 5: bytes.fromhex("11 00 00 00"), 6: bytes.fromhex("11 00 00 00"), 7: bytes.fromhex("11 00 02 00"), 8: bytes.fromhex("11 00 00 00"), } self.client.emit( "n7/n7-headunit/can/state", { "schema": "n7-can-signals/v1", "signals": [ { "channel": "can0", "canId": "0x6A2", "selector": selector, "frameType": "classic", "bytes": [0x7C, 0x50 + selector, 0x60, 0, *value], } for selector, value in values.items() ], }, ) service = SeatDemoService(REPOSITORY_ROOT) service._vehicle_mqtt_transport = self.transport service.vehicle_mqtt_settings = SimpleNamespace(state_configured=True) payload = service._synchronize_hardware_state_once( "conv-headunit-selector-can0-state", control_transport="wireless_mqtt", ) passenger = payload["actuator_state"]["passenger"] self.assertEqual( { axis: passenger["position"][axis]["position_pct"] for axis in ( "longitudinal", "cushion_tilt", "backrest_recline", "legrest_height", ) }, { "longitudinal": 100, "cushion_tilt": 0, "backrest_recline": 0, "legrest_height": 69, }, ) self.assertEqual(payload["source"], "wireless_mqtt_ch0") self.assertTrue(payload["complete"]) def test_vehicle_envelope_four_frames_decode_from_raw_can1_bytes(self) -> None: self.client.emit( "n7/n7-headunit/can/state", { "schema": "n7-can-signals/v1", "sequence": 335, "signals": [ {"channel": "can1", "canId": frame_id, "frameType": "fd", "brs": True, "data": data} for frame_id, data in ( ("0x388", "00 00 00 02 01 00 59 00"), ("0x41A", "00 5C 85 08 20 42 C1 FD"), ("0x42E", "11 64 32 03 90 02 00 C6"), ("0x3FF", "5B 09 FF 0F 32 61 04 12"), ) ], # This summary is deliberately inconsistent. Only the raw CAN # bytes above are allowed to update authoritative UI state. "can1Vehicle": {"parsed": {"speedKph": 123, "gear": 4}}, }, ) snapshot = self.transport.snapshot() self.assertEqual( snapshot.observed_ids, frozenset({0x388, 0x3FF, 0x41A, 0x42E}), ) by_id = {state["frame_id"]: state for state in snapshot.feedback_states} self.assertEqual( by_id["0x388"]["domain_state"]["window"]["positions"]["rear_left"]["position_pct"], 2, ) self.assertEqual( by_id["0x41A"]["domain_state"]["roof"]["shade_position_pct"], 92, ) self.assertIsNone( by_id["0x42E"]["domain_state"]["ambient_light"]["front_color_index"] ) self.assertEqual( by_id["0x3FF"]["domain_state"]["interior_light"]["ambient_illuminance_lux"], 510, ) self.assertTrue( all(state["source"] == "wireless_mqtt_ch1" for state in by_id.values()) ) def test_stale_safety_signal_cannot_enter_snapshot_or_executor_bus(self) -> None: bus = self.transport.bus(channel=1) self.client.emit( "n7/n7-headunit/can/state", { "schema": "n7-can-signals/v1", "signals": [ { "channel": "can1", "channelIndex": 1, "canId": "0x342", "frameType": "fd", "brs": True, "data": "00 00 00 01 00 00 00 00", "timestamp": round((time.time() - 60) * 1_000), } ], }, ) snapshot = self.transport.snapshot() info = self.transport.public_info()["state_sync"] self.assertEqual(info["capture_sequence"], 1) self.assertEqual(info["stale_frames"], 1) self.assertEqual(info["observed_frame_ids"], []) self.assertEqual(snapshot.observed_ids, frozenset()) self.assertIsNone(bus.receive(0, include_fd=True)) def test_stale_non_safety_can1_frames_are_display_only(self) -> None: bus = self.transport.bus(channel=1) cached_timestamp = round((time.time() - 60) * 1_000) self.client.emit( "n7/n7-headunit/can/state", { "schema": "n7-can-signals/v1", "signals": [ { "channel": "can1", "canId": frame_id, "frameType": "fd", "brs": True, "data": data, "timestamp": cached_timestamp, } for frame_id, data in ( ("0x388", "00 00 00 02 01 00 59 00"), ("0x41A", "00 5C 85 08 20 42 C1 FD"), ("0x42E", "11 64 32 03 90 02 00 C6"), ("0x3FF", "5B 09 FF 0F 32 61 04 12"), ) ], }, ) snapshot = self.transport.snapshot() self.assertEqual( snapshot.observed_ids, frozenset({0x388, 0x3FF, 0x41A, 0x42E}), ) for state in snapshot.feedback_states: verification = state["verification"] self.assertFalse(verification["fresh"]) self.assertTrue(verification["display_only"]) self.assertFalse(verification["control_eligible"]) self.assertGreater(verification["cache_age_ms"], 50_000) self.assertIsNone(bus.receive(0, include_fd=True)) def test_outlet_switch_feedback_is_available_to_the_can1_executor_bus(self) -> None: bus = self.transport.bus(channel=1) data = bytearray(64) data[41:45] = bytes((0x26, 0x80, 0x80, 0x80)) self.client.emit( "n7/n7-headunit/can/state", { "signals": [ { "channel": "can1", "canId": "0x4BB", "frameType": "fd", "brs": True, "bytes": list(data), } ] }, ) feedback = bus.receive(0, include_fd=True) self.assertIsNotNone(feedback) self.assertEqual(feedback.arbitration_id, 0x4BB) self.assertEqual(feedback.data[41], 0x26) def test_bus_publishes_only_headunit_command_contract(self) -> None: bus = self.transport.bus() bus.set_debug_command("shade position 20") sent = bus.send( 0x431, bytes.fromhex("10 00 00 00 00 00 00 00"), is_fd=True, bitrate_switch=True, ) self.assertEqual(sent.channel, 1) self.assertEqual(len(self.client.published), 1) topic, raw_payload, qos, retain = self.client.published[0] payload = json.loads(raw_payload) self.assertEqual(topic, "n7/n7-headunit/can/command") self.assertEqual(qos, 1) self.assertFalse(retain) self.assertRegex(payload["requestId"], r"^cognitive-agent-[0-9a-f]{32}$") self.assertEqual(payload["command"], "shade position 20") self.assertEqual(payload["channel"], "can1") self.assertEqual(payload["canId"], "0x431") self.assertEqual(payload["frameType"], "fd") self.assertTrue(payload["brs"]) self.assertFalse(payload["extended"]) self.assertFalse(payload["remote"]) self.assertEqual(payload["data"], "10 00 00 00 00 00 00 00") self.assertEqual(payload["repeat"], 1) self.assertEqual(payload["intervalMs"], 0) self.assertFalse(payload["expectResponse"]) self.assertEqual(payload["responseTimeoutMs"], 100) publication = bus.published_messages[0] self.assertEqual(publication["topic"], topic) self.assertEqual(publication["qos"], qos) self.assertEqual(publication["retain"], retain) self.assertEqual(publication["delivery_status"], "published") self.assertEqual(publication["message_id"], 17) self.assertEqual(publication["payload"], payload) self.assertTrue( { "schema", "arbitration_id", "frame_id", "data_hex", "is_fd", "bitrate_switch", }.isdisjoint(payload) ) bus.send( 0x431, bytes.fromhex("10 00 00 00 00 00 00 00"), is_fd=True, bitrate_switch=True, ) second_payload = json.loads(self.client.published[1][1]) self.assertNotEqual(payload["requestId"], second_payload["requestId"]) with self.assertRaisesRegex(Exception, "FD command requires BRS"): bus.send(0x431, bytes(8), is_fd=True, bitrate_switch=False) with self.assertRaisesRegex(Exception, "classic CAN command cannot enable BRS"): bus.send(0x431, bytes(8), is_fd=False, bitrate_switch=True) with self.assertRaisesRegex(Exception, "approved CAN1 control set"): bus.send(0x555, bytes(8), is_fd=True) with self.assertRaisesRegex(Exception, "at most 256"): bus.set_debug_command("x" * 257) self.assertEqual(len(self.client.published), 2) self.assertEqual(len(bus.published_messages), 2) def test_publish_returns_queued_without_waiting_for_broker_ack(self) -> None: class QueuedPublishResult: rc = 0 mid = 29 @staticmethod def is_published() -> bool: return False @staticmethod def wait_for_publish(timeout: float) -> bool: raise AssertionError( f"wait_for_publish({timeout}) must not be called" ) with patch.object( self.client, "publish", return_value=QueuedPublishResult(), ): publication = self.transport.publish( CanFrame( arbitration_id=0x431, data=bytes.fromhex("10 00 00 00 00 00 00 00"), channel=1, is_fd=True, bitrate_switch=True, ), command="shade position 20", ) self.assertEqual(publication["delivery_status"], "queued") self.assertEqual(publication["message_id"], 29) def test_can1_whitelist_publishes_rear_lock_candidate_with_debug_command(self) -> None: bus = self.transport.bus(channel=1) bus.set_debug_command("door rear lock") sent = bus.send(0x32B, bytes.fromhex("0A 40 00 00 00 00 00 00")) self.assertEqual(sent.arbitration_id, 0x32B) self.assertFalse(sent.is_fd) topic, raw_payload, qos, retain = self.client.published[-1] payload = json.loads(raw_payload) self.assertEqual(topic, "n7/n7-headunit/can/command") self.assertEqual(qos, 1) self.assertFalse(retain) self.assertEqual(payload["command"], "door rear lock") self.assertEqual(payload["channel"], "can1") self.assertEqual(payload["canId"], "0x32B") self.assertEqual(payload["frameType"], "classic") self.assertFalse(payload["brs"]) self.assertEqual(payload["data"], "0A 40 00 00 00 00 00 00") def test_wireless_whitelisted_climate_plan_publishes_without_safety_or_feedback_frames( self, ) -> None: service = SeatDemoService(REPOSITORY_ROOT) service._vehicle_mqtt_transport = self.transport service.vehicle_mqtt_settings = SimpleNamespace(feedback_timeout_ms=1) actions = [ { "domain": "climate", "capability": "climate.set_temperature", "target": "driver", "operation": "set", "parameters": {"temperature_c": 24}, }, { "domain": "climate", "capability": "climate.set_fan_level", "target": "vehicle", "operation": "set", "parameters": {"level": 2}, }, ] runtime = NativeCanRuntime(REPOSITORY_ROOT) config = runtime.build_function_config( "climate", actions, "req-wireless-climate", "local_rules" ) plan = runtime.compile(config) with ( patch( "cognitive_agent.application.seat_service.observe_vehicle_safety", side_effect=AssertionError( "wireless whitelist publish must not require 0x342/0x4EB" ), ), patch("cognitive_agent.application.native_can_runtime.time.sleep"), ): reports = service._execute_orchestrated_reports( {"native_climate": config}, {"native_climate": plan}, {"native_climate"}, {}, hardware_request=True, simulated_hardware_request=False, simulation_fault="normal", control_transport="wireless_mqtt", ) report = reports["native_climate"] self.assertEqual(report["spec"]["status"], "succeeded") self.assertEqual( report["spec"]["vehicle_safety_preflight"]["policy"], "mqtt_whitelist_publish", ) self.assertEqual(len(self.client.published), 6) payloads = [json.loads(item[1]) for item in self.client.published] self.assertTrue( all( topic == "n7/n7-headunit/can/command" for topic, _payload, _qos, _retain in self.client.published ) ) self.assertTrue(all(payload["channel"] == "can1" for payload in payloads)) self.assertTrue(all(payload["canId"] == "0x1DE" for payload in payloads)) self.assertEqual( [payload["command"] for payload in payloads], ["ac temp driver 24"] * 3 + ["ac fan 2"] * 3, ) self.assertEqual( [payload["data"] for payload in payloads], [ "00 00 00 00 18 00 00 00", "00 00 00 00 18 00 00 00", "00 00 00 00 18 00 00 00", "20 00 00 00 00 00 00 00", "20 00 00 00 00 00 00 00", "20 00 00 00 00 00 00 00", ], ) for result in report["spec"]["results"]: self.assertEqual(result["status"], "succeeded") self.assertEqual(result["telemetry"]["delivery_status"], "published") self.assertEqual( result["telemetry"]["verification_status"], "submitted_unverified", ) self.assertFalse(result["telemetry"]["feedback_required"]) self.assertFalse(result["telemetry"]["physical_effect_confirmed"]) self.assertEqual(len(result["telemetry"]["mqtt_messages"]), 3) self.assertTrue( all( message["topic"] == "n7/n7-headunit/can/command" for message in result["telemetry"]["mqtt_messages"] ) ) def test_wireless_individual_outlet_plan_publishes_observed_frame_triplet( self, ) -> None: service = SeatDemoService(REPOSITORY_ROOT) service._vehicle_mqtt_transport = self.transport service.vehicle_mqtt_settings = SimpleNamespace(feedback_timeout_ms=1) runtime = NativeCanRuntime(REPOSITORY_ROOT) config = runtime.build_function_config( "outlet", [ { "domain": "outlet", "capability": "outlet.set_switch_state", "target": "passenger_right", "operation": "set", "parameters": {"state": "close"}, } ], "req-wireless-outlet-switch", "local_rules", ) plan = runtime.compile(config) with patch("cognitive_agent.application.native_can_runtime.time.sleep"): reports = service._execute_orchestrated_reports( {"native_outlet": config}, {"native_outlet": plan}, {"native_outlet"}, {}, hardware_request=True, simulated_hardware_request=False, simulation_fault="normal", control_transport="wireless_mqtt", ) self.assertEqual(reports["native_outlet"]["spec"]["status"], "succeeded") payloads = [json.loads(item[1]) for item in self.client.published] self.assertEqual(len(payloads), 3) self.assertTrue( all(payload["command"] == "outlet passenger-right close" for payload in payloads) ) self.assertTrue(all(payload["channel"] == "can1" for payload in payloads)) self.assertTrue(all(payload["canId"] == "0x4EF" for payload in payloads)) self.assertTrue(all(payload["frameType"] == "fd" for payload in payloads)) self.assertTrue(all(payload["brs"] is True for payload in payloads)) self.assertTrue( all(payload["data"] == "03 FF FF FF FF 08 00 00" for payload in payloads) ) def test_wireless_hardware_can1_service_skips_local_hardware_connection(self) -> None: service = SeatDemoService(REPOSITORY_ROOT) service._vehicle_mqtt_transport = self.transport service.vehicle_mqtt_settings = SimpleNamespace( enabled=True, configured=True, feedback_timeout_ms=1, authorize=lambda _token: None, ) validated_events: list[dict[str, object]] = [] with tempfile.TemporaryDirectory() as temporary_directory: service.artifact_root = Path(temporary_directory) with ( patch.object( service.hardware_execution, "reserve", side_effect=AssertionError( "wireless CAN1 must not reserve the local physical bench" ), ), patch("cognitive_agent.application.native_can_runtime.time.sleep"), ): result = service.process( "空调温度设置为24度", provider="local", conversation_id="conv-wireless-can1-no-local-hardware", execution_mode="hardware", control_transport="wireless_mqtt", _on_commands_validated=validated_events.append, ) self.assertEqual(result["status"], "succeeded") self.assertEqual(list(result["command_plans"]), ["native_climate"]) self.assertEqual(len(validated_events), 1) self.assertEqual( list(validated_events[0]["command_plans"]), ["native_climate"], ) payloads = [json.loads(item[1]) for item in self.client.published] self.assertEqual(len(payloads), 3) self.assertTrue(all(item["channel"] == "can1" for item in payloads)) self.assertTrue(all(item["command"] == "ac temp driver 24" for item in payloads)) def test_wireless_hardware_combines_can0_and_can1_without_local_profile(self) -> None: service = SeatDemoService(REPOSITORY_ROOT) service._vehicle_mqtt_transport = self.transport service.vehicle_mqtt_settings = SimpleNamespace( enabled=True, configured=True, feedback_timeout_ms=1, authorize=lambda _token: None, ) validated_events: list[dict[str, object]] = [] seat_execution: dict[str, object] = {} def execute_seat( plan: dict[str, object], config: dict[str, object], _state: dict[str, object], ) -> dict[str, object]: seat_execution["plan"] = plan seat_execution["config"] = config operation = config["spec"]["operations"][0] # type: ignore[index] request_id = config["metadata"]["request_id"] # type: ignore[index] return { "apiVersion": "cognitive-agent/v1alpha1", "kind": "ExecutionReport", "metadata": { "id": f"report-{request_id}", "name": "wireless CAN0 test report", "version": "1.0.0", "request_id": request_id, "labels": { "simulation": "false", "seat_feedback": "wireless_mqtt_ch0", }, }, "spec": { "mode": "hil", "status": "succeeded", "started_at": "2026-08-25T00:00:00Z", "finished_at": "2026-08-25T00:00:00Z", "results": [ { "ref": operation["id"], "domain": "seat", "status": "succeeded", "message": "wireless CAN0 command published", "telemetry": { "effective_position_pct": 35, "position_valid": True, "simulated": False, }, } ], }, } with tempfile.TemporaryDirectory() as temporary_directory: service.artifact_root = Path(temporary_directory) with ( patch.object( type(service.hardware_settings), "validate_function_config", side_effect=AssertionError( "wireless mixed CAN0/CAN1 must not check combined profile" ), ), patch.object( service.hardware_execution, "reserve", side_effect=AssertionError( "wireless mixed CAN0/CAN1 must not reserve local hardware" ), ), patch.object( service, "_new_hardware_executor", return_value=SimpleNamespace(execute=execute_seat), ) as executor_factory, patch("cognitive_agent.application.native_can_runtime.time.sleep"), ): result = service.process( "把副驾座椅水平位置调到35%，空调温度设置为24度", provider="local", conversation_id="conv-wireless-can0-can1-no-local-hardware", execution_mode="hardware", control_transport="wireless_mqtt", _on_commands_validated=validated_events.append, ) self.assertEqual(result["status"], "succeeded") self.assertEqual( set(result["command_plans"]), {"seat", "native_climate"}, ) self.assertEqual(len(validated_events), 1) self.assertEqual( set(validated_events[0]["command_plans"]), {"seat", "native_climate"}, ) self.assertEqual( seat_execution["plan"]["spec"]["commands"][0]["message"], # type: ignore[index] "T2G_Seat_Move_Command_300", ) self.assertTrue(executor_factory.call_args.kwargs["remote_transport"]) payloads = [json.loads(item[1]) for item in self.client.published] self.assertEqual(len(payloads), 3) self.assertTrue(all(item["channel"] == "can1" for item in payloads)) self.assertTrue(all(item["command"] == "ac temp driver 24" for item in payloads)) def test_wireless_fixed_controls_and_shade_preset_never_wait_for_state( self, ) -> None: service = SeatDemoService(REPOSITORY_ROOT) service._vehicle_mqtt_transport = self.transport service.vehicle_mqtt_settings = SimpleNamespace(feedback_timeout_ms=1_500) runtime = NativeCanRuntime(REPOSITORY_ROOT) actions_by_domain = { "climate": [ { "domain": "climate", "capability": "climate.set_temperature", "target": "driver", "operation": "set", "parameters": {"temperature_c": 24}, }, { "domain": "climate", "capability": "climate.set_fan_level", "target": "vehicle", "operation": "set", "parameters": {"level": 2}, }, ], "roof": [ { "domain": "roof", "capability": "roof.set_shade_motion", "target": "vehicle", "operation": "set", "parameters": {"motion": "open"}, } ], "ambient_light": [ { "domain": "ambient_light", "capability": "ambient_light.set_power", "target": "vehicle", "operation": "set", "parameters": {"state": "on"}, } ], } configs = { f"native_{domain}": runtime.build_function_config( domain, actions, f"req-wireless-no-wait-{domain}", "local_rules", ) for domain, actions in actions_by_domain.items() } plans = {key: runtime.compile(config) for key, config in configs.items()} with ( patch.object( self.transport, "_receive_after", side_effect=AssertionError( "wireless fixed commands must not wait on can/state" ), ) as receive_after, patch("cognitive_agent.application.native_can_runtime.time.sleep"), ): reports = service._execute_orchestrated_reports( configs, plans, set(configs), {}, hardware_request=True, simulated_hardware_request=False, simulation_fault="normal", control_transport="wireless_mqtt", ) receive_after.assert_not_called() self.assertEqual(len(self.client.published), 10) self.assertTrue( all( report["spec"]["status"] == "succeeded" for report in reports.values() ) ) self.assertTrue( all( json.loads(payload)["expectResponse"] is False for _topic, payload, _qos, _retain in self.client.published ) ) def test_model_added_nonwhitelisted_action_does_not_block_whitelisted_publish( self, ) -> None: service = SeatDemoService(REPOSITORY_ROOT) service._vehicle_mqtt_transport = self.transport service.vehicle_mqtt_settings = SimpleNamespace( enabled=True, configured=True, feedback_timeout_ms=1, authorize=lambda _token: None, ) model_output = { "detected_domains": ["climate", "ambient_light"], "requests": [ { "domain": "ambient_light", "capability": "ambient_light.set_mode", "target_scope": "vehicle", "operation": "set", "parameters": [{"name": "mode", "value": "cinema"}], "reason": "模型根据观影状态补充了氛围灯模式。", }, { "domain": "climate", "capability": "climate.set_temperature", "target_scope": "driver", "operation": "set", "parameters": [{"name": "temperature_c", "value": 24}], "reason": "用户明确指定温度。", }, { "domain": "climate", "capability": "climate.set_fan_level", "target_scope": "vehicle", "operation": "set", "parameters": [{"name": "level", "value": 2}], "reason": "用户明确指定风量。", }, ], "ambiguities": [], "decision_summary": ["执行用户明确指定的观影空调设置。"], "confidence": 0.96, } with tempfile.TemporaryDirectory() as temporary_directory: service.artifact_root = Path(temporary_directory) service.openai.api_key = "test-key" with ( patch.object(service.openai, "interpret", return_value=model_output), patch("cognitive_agent.application.native_can_runtime.time.sleep"), ): result = service.process( "进入观影状态：空调24度、风量2档，", provider="openai", conversation_id="conv-wireless-movie-climate", execution_mode="hardware", control_transport="wireless_mqtt", ) self.assertEqual(result["status"], "partially_succeeded") self.assertEqual( [item["capability"] for item in result["deferred_requests"]], ["ambient_light.set_mode"], ) self.assertEqual( result["deferred_requests"][0]["rejection_code"], "WIRELESS_MQTT_CONTROL_NOT_WHITELISTED", ) self.assertEqual(len(self.client.published), 6) self.assertTrue( all( topic == "n7/n7-headunit/can/command" and json.loads(payload)["canId"] == "0x1DE" for topic, payload, _qos, _retain in self.client.published ) ) def test_can0_bus_publishes_only_classic_passenger_seat_control(self) -> None: bus = self.transport.bus(channel=0) sent = bus.send(0x300, bytes.fromhex("01 10 02 00 88 13 30 75")) payload = json.loads(self.client.published[-1][1]) self.assertEqual(sent.channel, 0) self.assertEqual(payload["channel"], "can0") self.assertEqual(payload["canId"], "0x300") self.assertEqual(payload["data"], "01 10 02 00 88 13 30 75") self.assertEqual(payload["command"], "") self.assertEqual(payload["frameType"], "classic") self.assertFalse(payload["brs"]) bus.set_debug_command("seat passenger heat low") bus.send(0x3CE, bytes.fromhex("10 00 00 00 00 00 00 00")) bus.send(0x29E, bytes.fromhex("16 00 10 00 00 00 00 00")) thermal_payloads = [ json.loads(item[1]) for item in self.client.published[-2:] ] self.assertEqual( [item["canId"] for item in thermal_payloads], ["0x3CE", "0x29E"], ) self.assertTrue( all(item["command"] == "seat passenger heat low" for item in thermal_payloads) ) with self.assertRaisesRegex(Exception, "0x29E thermal control payload"): bus.send(0x29E, bytes(8)) with self.assertRaisesRegex(Exception, "approved CAN0 control set"): bus.send(0x431, bytes(8)) with self.assertRaisesRegex(Exception, "requires classic CAN"): bus.send(0x300, bytes.fromhex("01 10 02 00 88 13 30 75"), is_fd=True, bitrate_switch=True) with self.assertRaisesRegex(Exception, "approved CAN0 control set"): bus.send(0x6A0, bytes.fromhex("C7 01 64 00 F4 01 00 00")) with self.assertRaisesRegex(Exception, "protocol version 1"): bus.send(0x300, bytes(8)) with self.assertRaisesRegex(Exception, "outside the semantic control whitelist"): bus.send(0x300, bytes.fromhex("0A 10 03 00 5A A5 78 00")) with self.assertRaisesRegex(Exception, "absolute move payload"): bus.send(0x300, bytes.fromhex("01 10 04 00 11 27 30 75")) with self.assertRaisesRegex(Exception, "dynamic-mode payload"): bus.send(0x300, bytes.fromhex("0E 10 05 00 03 00 00 00")) with self.assertRaisesRegex(Exception, "approved channel policy"): self.transport.publish( CanFrame(arbitration_id=0x431, data=bytes(8), channel=0) ) def test_can0_native_motion_whitelist_accepts_only_bounded_runtime_opcodes( self, ) -> None: bus = self.transport.bus(channel=0) valid_payloads = ( "01 10 01 00 88 13 30 75", # absolute 50%, 30 s "02 11 02 00 18 FC 30 75", # native relative -10%, 30 s "03 16 03 00 F4 01 84 03", # motor 2 far, 500 ms, 90% "08 12 04 00 00 00 00 00", # stop motor 2 "09 10 05 00 00 00 00 00", # stop all "0B 13 06 00 52 4B 78 00", # motor 3 known-range home "0E 10 07 00 01 00 00 00", # rocking-horse "0F 10 08 00 00 00 00 00", # stop dynamic mode ) for payload in valid_payloads: with self.subTest(payload=payload): sent = bus.send(0x300, bytes.fromhex(payload)) self.assertEqual(sent.arbitration_id, 0x300) self.assertFalse(sent.is_fd) with self.assertRaisesRegex(Exception, "requires a runtime sequence"): bus.send(0x300, bytes.fromhex("01 10 00 00 88 13 30 75")) with self.assertRaisesRegex(Exception, "outside the semantic control whitelist"): bus.send(0x300, bytes.fromhex("0D 10 09 00 3C C3 00 00")) def test_bus_receive_views_are_isolated_by_channel(self) -> None: can0 = self.transport.bus(channel=0) can1 = self.transport.bus(channel=1) self.client.emit( "n7/n7-headunit/can/state", { "signals": [ {"channel": "can0", "canId": "0x6A0", "bytes": [0xC7, 0x21, 0x60, 1, 0, 0, 0, 0]}, {"channel": "can0", "canId": "0x6A2", "bytes": [0x7C, 0x21, 0x60, 0, 0xE0, 0x01, 0xE0, 0x01]}, { "channel": "can1", "canId": "0x342", "frameType": "fd", "bytes": [0] * 8, }, ] }, ) self.assertEqual(can0.receive(0).arbitration_id, 0x6A2) self.assertEqual(can0.receive(0).arbitration_id, 0x302) self.assertEqual(can1.receive(0, include_fd=True).arbitration_id, 0x342) self.assertIsNone(can0.receive(0)) self.assertIsNone(can1.receive(0, include_fd=True)) def test_can0_status_bus_can_replay_latest_translated_ota_positions(self) -> None: signals = [] for selector, value in { 1: (480 << 16) | 407, 2: (373 << 16) | 266, 3: (917 << 16) | 451, 4: (647 << 16) | 575, }.items(): sequence = 0x40 + selector signals.extend( ( {"channel": "can0", "canId": "0x6A0", "bytes": [0xC7, sequence, 0x60, selector, 0, 0, 0, 0]}, {"channel": "can0", "canId": "0x6A2", "bytes": [0x7C, sequence, 0x60, 0, *value.to_bytes(4, "little")]}, ) ) self.client.emit("n7/n7-headunit/can/state", {"signals": signals}) bus = self.transport.bus(channel=0, replay_latest=True) replayed = [bus.receive(0) for _ in range(4)] self.assertEqual( [frame.data[0] for frame in replayed if frame is not None], [0, 1, 2, 3], ) self.assertEqual(bus.receive(0).arbitration_id, 0x6A2) self.assertIsNone(bus.receive(0)) self.assertEqual( self.transport.public_info()["state_sync"]["observed_frame_ids_by_channel"]["0"], ["0x302", "0x6A2"], ) if __name__ == "__main__": unittest.main()