vee
530 lines
21 KiB
Python
530 lines
21 KiB
Python
from __future__ import annotations
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import json
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import unittest
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from pathlib import Path
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from unittest.mock import patch
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from cognitive_agent.application.capability_registry import CapabilityRegistry
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from cognitive_agent.application.native_can_intent import merge_native_can_intent
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from cognitive_agent.application.native_can_runtime import (
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NativeCanCompileError,
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NativeCanExecutor,
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NativeCanRuntime,
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)
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from cognitive_agent.infrastructure.can.gateway import CanFrame
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REPOSITORY_ROOT = Path(__file__).resolve().parents[2]
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class _FakeBus:
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def __init__(
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self,
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received: list[CanFrame] | None = None,
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*,
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fail_on_calls: set[int] | None = None,
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) -> None:
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self.received = list(received or [])
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self.fail_on_calls = set(fail_on_calls or set())
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self.send_calls = 0
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self.sent: list[CanFrame] = []
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self.closed = False
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def send(
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self,
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arbitration_id: int,
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data: bytes,
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*,
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is_fd: bool = False,
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bitrate_switch: bool = False,
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) -> CanFrame:
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self.send_calls += 1
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if self.send_calls in self.fail_on_calls:
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raise RuntimeError(f"injected send fault {self.send_calls}")
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frame = CanFrame(
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arbitration_id,
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bytes(data),
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channel=1,
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is_fd=is_fd,
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bitrate_switch=bitrate_switch,
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)
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self.sent.append(frame)
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return frame
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def receive(
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self, timeout_ms: int, *, include_fd: bool = False
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) -> CanFrame | None:
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return self.received.pop(0) if self.received else None
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def close(self) -> None:
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self.closed = True
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def _native_action(
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capability: str, parameters: dict, target: str = "driver"
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) -> dict:
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return {
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"domain": "seat",
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"capability": capability,
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"target": target,
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"operation": "set",
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"parameters": parameters,
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}
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class DriverSeatNativeCanTests(unittest.TestCase):
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def setUp(self) -> None:
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self.runtime = NativeCanRuntime(REPOSITORY_ROOT)
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def _compile(
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self, capability: str, parameters: dict, target: str = "driver"
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) -> tuple[dict, dict]:
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config = self.runtime.build_function_config(
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"seat",
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[_native_action(capability, parameters, target)],
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"req-driver-seat",
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"local_rules",
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)
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return config, self.runtime.compile(config)
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@staticmethod
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def _parsed_action(utterance: str) -> dict | None:
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parsed = merge_native_can_intent({}, utterance)
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actions = parsed.get("native_can_actions", [])
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return actions[0] if len(actions) == 1 else None
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def test_catalog_exposes_only_driver_and_front_left_native_targets(self) -> None:
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snapshot = CapabilityRegistry(REPOSITORY_ROOT, {"seat"}).snapshot()
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native_seat = next(
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item
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for item in snapshot["domains"]
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if item["domain"] == "seat" and item["availability"] == "native_can"
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)
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capabilities = {item["name"]: item for item in native_seat["capabilities"]}
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self.assertEqual(
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set(capabilities),
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{
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"seat.set_driver_ventilation_native",
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"seat.set_driver_heating_native",
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"seat.set_driver_massage_native",
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"seat.set_driver_axis_native",
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},
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)
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for capability in capabilities.values():
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self.assertEqual(set(capability["target_scopes"]), {"driver", "front_left"})
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def test_exact_commands_preserve_verified_driver_seat_parameters(self) -> None:
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cases = {
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"seat driver vent low": (
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"seat.set_driver_ventilation_native",
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{"state": "on", "level": 2},
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"driver",
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),
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"seat front-left heat high": (
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"seat.set_driver_heating_native",
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{"state": "on", "level": 1},
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"front_left",
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),
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"seat driver massage off": (
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"seat.set_driver_massage_native",
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{"action": "off"},
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"driver",
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),
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"seat driver massage strength strong": (
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"seat.set_driver_massage_native",
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{"action": "strength", "strength": 3},
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"driver",
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),
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"seat driver massage mode relax": (
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"seat.set_driver_massage_native",
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{"action": "mode", "mode": "relax"},
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"driver",
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),
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"seat driver backrest backward 800": (
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"seat.set_driver_axis_native",
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{"axis": "backrest", "direction": "backward", "duration_ms": 800},
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"driver",
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),
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"seat driver height stop": (
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"seat.set_driver_axis_native",
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{"axis": "height", "direction": "stop", "duration_ms": 500},
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"driver",
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),
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}
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for utterance, expected in cases.items():
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with self.subTest(utterance=utterance):
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action = self._parsed_action(utterance)
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self.assertIsNotNone(action)
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assert action is not None
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self.assertEqual(
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(action["capability"], action["parameters"], action["target"]),
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expected,
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)
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def test_chinese_commands_require_explicit_driver_scope(self) -> None:
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cases = {
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"打开主驾座椅通风": (
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"seat.set_driver_ventilation_native",
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{"state": "on", "level": 2},
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),
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"主驾座椅加热高档": (
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"seat.set_driver_heating_native",
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{"state": "on", "level": 1},
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),
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"把驾驶位按摩调成波浪模式": (
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"seat.set_driver_massage_native",
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{"action": "mode", "mode": "wave"},
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),
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"主驾座椅按摩强度调高": (
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"seat.set_driver_massage_native",
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{"action": "strength", "strength": 3},
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),
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"主驾座椅向前移动500毫秒": (
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"seat.set_driver_axis_native",
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{"axis": "horizontal", "direction": "forward", "duration_ms": 500},
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),
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"主驾座椅靠背后仰800毫秒": (
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"seat.set_driver_axis_native",
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{"axis": "backrest", "direction": "backward", "duration_ms": 800},
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),
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"把主驾座椅坐盆降低": (
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"seat.set_driver_axis_native",
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{"axis": "basin", "direction": "down", "duration_ms": 500},
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),
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"主驾座椅升高": (
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"seat.set_driver_axis_native",
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{"axis": "height", "direction": "up", "duration_ms": 500},
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),
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}
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for utterance, expected in cases.items():
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with self.subTest(utterance=utterance):
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action = self._parsed_action(utterance)
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self.assertIsNotNone(action)
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assert action is not None
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self.assertEqual((action["capability"], action["parameters"]), expected)
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self.assertEqual(action["target"], "driver")
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def test_parser_rejects_passenger_right_front_and_unsafe_guesses(self) -> None:
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utterances = (
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"seat passenger vent low",
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"seat front-right heat high",
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"打开副驾座椅通风",
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"打开右前座椅加热",
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"打开主驾和副驾座椅通风",
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"seat driver vent low, seat passenger vent low",
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"打开主驾座椅按摩",
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"主驾座椅向前移动50毫秒",
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"seat driver height forward 500",
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)
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for utterance in utterances:
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with self.subTest(utterance=utterance):
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parsed = merge_native_can_intent({}, utterance)
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self.assertFalse(parsed.get("native_can_actions"))
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def test_deterministic_driver_parse_supersedes_deferred_model_copy(self) -> None:
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parsed = {
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"actions": [],
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"domain_actions": [],
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"native_can_actions": [],
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"deferred_requests": [
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{
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"domain": "seat",
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"capability": "seat.set_driver_ventilation_native",
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"target_scope": "driver",
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"parameters": {"state": "on", "level": 2},
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"execution_backend": "native_can",
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}
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],
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"model_requests": [
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{
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"domain": "seat",
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"capability": "seat.set_driver_ventilation_native",
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"target_scope": "driver",
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"operation": "set",
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"parameters": [
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{"name": "state", "value": "on"},
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{"name": "level", "value": 2},
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],
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"reason": "model",
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}
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],
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}
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merged = merge_native_can_intent(parsed, "打开主驾座椅通风")
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self.assertEqual(len(merged["native_can_actions"]), 1)
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self.assertEqual(
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merged["native_can_actions"][0]["capability"],
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"seat.set_driver_ventilation_native",
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)
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def test_thermal_frames_match_cpp_whitelist_and_feedback_contract(self) -> None:
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cases = (
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(
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"seat.set_driver_ventilation_native",
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{"state": "on", "level": 1},
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"00 01 00 00 00 00 00 00",
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"driver_seat_ventilation:3",
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),
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(
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"seat.set_driver_ventilation_native",
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{"state": "off"},
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"00 03 00 00 00 00 00 00",
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"driver_seat_ventilation:1",
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),
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(
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"seat.set_driver_heating_native",
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{"state": "on", "level": 2},
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"00 20 00 00 00 00 00 00",
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"driver_seat_heating:2",
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),
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(
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"seat.set_driver_heating_native",
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{"state": "off"},
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"00 30 00 00 00 00 00 00",
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"driver_seat_heating:1",
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),
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)
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for capability, parameters, payload, expected in cases:
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with self.subTest(capability=capability, parameters=parameters):
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_, plan = self._compile(capability, parameters)
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command = plan["spec"]["commands"][0]
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self.assertEqual(command["signals"]["frame_id"], "0x431")
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self.assertEqual(command["signals"]["data_hex"], payload)
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self.assertTrue(command["signals"]["is_fd"])
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self.assertTrue(command["signals"]["bitrate_switch"])
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self.assertEqual(command["repeat"], {"count": 3, "period_ms": 100})
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self.assertEqual(command["signals"]["feedback_ids"], "0x4FA")
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self.assertEqual(command["signals"]["expected_feedback"], expected)
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def test_massage_frames_match_cpp_whitelist(self) -> None:
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cases = (
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({"action": "off"}, "12 00 00 01 00 00 00 00", "driver_seat_massage_mode:1"),
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(
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{"action": "strength", "strength": 3},
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"12 03 00 00 00 00 00 00",
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"driver_seat_massage_strength:11",
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),
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(
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{"action": "mode", "mode": "relax"},
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"12 00 00 06 00 00 00 00",
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"driver_seat_massage_mode:6",
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),
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)
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for parameters, payload, expected in cases:
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with self.subTest(parameters=parameters):
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_, plan = self._compile("seat.set_driver_massage_native", parameters)
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command = plan["spec"]["commands"][0]
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self.assertEqual(command["signals"]["frame_id"], "0x4C1")
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self.assertEqual(command["signals"]["data_hex"], payload)
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self.assertEqual(command["repeat"], {"count": 3, "period_ms": 100})
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self.assertEqual(command["signals"]["feedback_ids"], "0x4FA")
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self.assertEqual(command["signals"]["expected_feedback"], expected)
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def test_all_four_axes_compile_bounded_motion_and_forced_stop(self) -> None:
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cases = (
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("horizontal", "forward", "05 01 00 00 00 00 00 00"),
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("height", "down", "05 08 00 00 00 00 00 00"),
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("backrest", "forward", "05 10 00 00 00 00 00 00"),
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("basin", "down", "05 80 00 00 00 00 00 00"),
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)
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for axis, direction, payload in cases:
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with self.subTest(axis=axis):
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_, plan = self._compile(
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"seat.set_driver_axis_native",
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{"axis": axis, "direction": direction, "duration_ms": 500},
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)
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command = plan["spec"]["commands"][0]
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self.assertEqual(command["signals"]["frame_id"], "0x4C1")
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self.assertEqual(command["signals"]["data_hex"], payload)
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self.assertEqual(command["repeat"], {"count": 5, "period_ms": 100})
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self.assertEqual(command["signals"]["feedback_ids"], "0x494")
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self.assertEqual(command["signals"]["special_handler"], "driver_seat_axis")
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safety = json.loads(command["signals"]["special_parameters"])
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self.assertEqual(safety["stop_data_hex"], "05 00 00 00 00 00 00 00")
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self.assertEqual(safety["stop_repeat_count"], 3)
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self.assertEqual(safety["stop_period_ms"], 100)
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public = self.runtime.command_frame_public(command)
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self.assertTrue(public["safety"]["forced_stop"])
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def test_explicit_axis_stop_is_three_fd_stop_frames(self) -> None:
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_, plan = self._compile(
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"seat.set_driver_axis_native",
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{"axis": "height", "direction": "stop"},
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)
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command = plan["spec"]["commands"][0]
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self.assertEqual(command["signals"]["data_hex"], "05 00 00 00 00 00 00 00")
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self.assertEqual(command["repeat"], {"count": 3, "period_ms": 100})
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self.assertNotIn("special_handler", command["signals"])
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def test_compiler_fails_closed_for_wrong_seat_or_invalid_parameters(self) -> None:
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for target in ("passenger", "front_right"):
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action = _native_action(
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"seat.set_driver_ventilation_native",
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{"state": "on", "level": 2},
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target,
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)
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with self.subTest(target=target):
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self.assertFalse(self.runtime.supports(action))
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with self.assertRaises(NativeCanCompileError):
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self.runtime.build_function_config(
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"seat", [action], "req-reject", "local_rules"
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)
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self.assertNotIn("seat.set_ventilation", self.runtime.supported_capabilities)
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invalid = (
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(
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"seat.set_driver_ventilation_native",
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{"state": "on", "level": 3},
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),
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(
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"seat.set_driver_massage_native",
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{"action": "mode", "mode": "unknown"},
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),
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(
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"seat.set_driver_axis_native",
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{"axis": "height", "direction": "forward", "duration_ms": 500},
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),
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(
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"seat.set_driver_axis_native",
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{"axis": "horizontal", "direction": "forward", "duration_ms": 2001},
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),
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)
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for capability, parameters in invalid:
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with self.subTest(capability=capability, parameters=parameters):
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config = self.runtime.build_function_config(
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"seat",
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[_native_action(capability, parameters)],
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"req-invalid",
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"local_rules",
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)
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with self.assertRaises(NativeCanCompileError):
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self.runtime.compile(config)
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def test_thermal_feedback_is_semantically_matched_and_decoded(self) -> None:
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config, plan = self._compile(
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"seat.set_driver_ventilation_native",
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{"state": "on", "level": 1},
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)
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feedback = CanFrame(
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0x4FA,
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bytes((0x0B, 0, 0, 0, 0, 0x81, 0, 0)),
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channel=1,
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is_fd=True,
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bitrate_switch=True,
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)
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bus = _FakeBus([feedback])
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with patch("cognitive_agent.application.native_can_runtime.time.sleep"):
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report = NativeCanExecutor(lambda: bus, feedback_timeout_ms=1).execute(
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self.runtime, plan, config
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)
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result = report["spec"]["results"][0]
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self.assertEqual(report["spec"]["status"], "succeeded")
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self.assertTrue(result["telemetry"]["feedback_match"])
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self.assertEqual(result["telemetry"]["feedback_state"]["ventilation"], "high")
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self.assertEqual(result["telemetry"]["feedback_state"]["heating"], "off")
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self.assertEqual(result["telemetry"]["feedback_state"]["massage_mode"], "off")
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self.assertTrue(bus.closed)
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wrong_bus = _FakeBus(
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[CanFrame(0x4FA, bytes((0x0A, 0, 0, 0, 0, 0x81, 0, 0)), channel=1)]
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)
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with patch("cognitive_agent.application.native_can_runtime.time.sleep"):
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wrong_report = NativeCanExecutor(
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lambda: wrong_bus, feedback_timeout_ms=1
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).execute(self.runtime, plan, config)
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self.assertEqual(wrong_report["spec"]["status"], "failed")
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self.assertFalse(
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wrong_report["spec"]["results"][0]["telemetry"]["feedback_match"]
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)
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def test_massage_feedback_matches_mode_and_strength_fields(self) -> None:
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cases = (
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(
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{"action": "mode", "mode": "relax"},
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bytes((1, 0, 0, 0, 0, 0x86, 0, 0)),
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"relax",
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"off",
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),
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(
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{"action": "strength", "strength": 3},
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bytes((1, 0, 0, 0, 0, 0xB1, 0, 0)),
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"off",
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"strong",
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),
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)
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for parameters, payload, mode, strength in cases:
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with self.subTest(parameters=parameters):
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config, plan = self._compile(
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"seat.set_driver_massage_native", parameters
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)
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bus = _FakeBus([CanFrame(0x4FA, payload, channel=1)])
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with patch("cognitive_agent.application.native_can_runtime.time.sleep"):
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report = NativeCanExecutor(
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lambda: bus, feedback_timeout_ms=1
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).execute(self.runtime, plan, config)
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telemetry = report["spec"]["results"][0]["telemetry"]
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self.assertEqual(report["spec"]["status"], "succeeded")
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self.assertTrue(telemetry["feedback_match"])
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self.assertEqual(telemetry["feedback_state"]["massage_mode"], mode)
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self.assertEqual(
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telemetry["feedback_state"]["massage_strength"], strength
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)
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def test_axis_executor_sends_stop_and_reports_0x494_limitation(self) -> None:
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config, plan = self._compile(
|
|
"seat.set_driver_axis_native",
|
|
{"axis": "horizontal", "direction": "forward", "duration_ms": 500},
|
|
)
|
|
feedback = CanFrame(
|
|
0x494,
|
|
bytes((0, 0, 0, 0, 0, 0, 0, 0x3C)),
|
|
channel=1,
|
|
is_fd=True,
|
|
bitrate_switch=True,
|
|
)
|
|
bus = _FakeBus([feedback])
|
|
with patch("cognitive_agent.application.native_can_runtime.time.sleep"):
|
|
report = NativeCanExecutor(lambda: bus, feedback_timeout_ms=1).execute(
|
|
self.runtime, plan, config
|
|
)
|
|
# 0x494 proves only initialization and cannot confirm that the timed
|
|
# motion physically occurred, so strict hardware feedback fails closed.
|
|
self.assertEqual(report["spec"]["status"], "failed")
|
|
self.assertEqual(len(bus.sent), 8)
|
|
self.assertTrue(all(frame.is_fd and frame.bitrate_switch for frame in bus.sent))
|
|
self.assertEqual(
|
|
[frame.data for frame in bus.sent[-3:]],
|
|
[bytes((0x05, 0, 0, 0, 0, 0, 0, 0))] * 3,
|
|
)
|
|
telemetry = report["spec"]["results"][0]["telemetry"]
|
|
self.assertIsNone(telemetry["feedback_match"])
|
|
self.assertTrue(telemetry["feedback_required"])
|
|
self.assertTrue(telemetry["feedback_observed"])
|
|
self.assertEqual(
|
|
telemetry["feedback_state"]["execution_confirmation"],
|
|
"status_frame_only",
|
|
)
|
|
self.assertTrue(all(telemetry["feedback_state"]["initialized"].values()))
|
|
|
|
def test_axis_executor_attempts_every_stop_frame_after_motion_fault(self) -> None:
|
|
config, plan = self._compile(
|
|
"seat.set_driver_axis_native",
|
|
{"axis": "basin", "direction": "up", "duration_ms": 500},
|
|
)
|
|
bus = _FakeBus(fail_on_calls={2})
|
|
with patch("cognitive_agent.application.native_can_runtime.time.sleep"):
|
|
report = NativeCanExecutor(lambda: bus, feedback_timeout_ms=1).execute(
|
|
self.runtime, plan, config
|
|
)
|
|
self.assertEqual(report["spec"]["status"], "failed")
|
|
self.assertEqual(bus.send_calls, 5)
|
|
self.assertEqual(
|
|
[frame.data for frame in bus.sent[-3:]],
|
|
[bytes((0x05, 0, 0, 0, 0, 0, 0, 0))] * 3,
|
|
)
|
|
self.assertIn("motion send failed", report["spec"]["results"][0]["message"])
|
|
self.assertTrue(bus.closed)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main()
|