Miayui
70 lines
3.0 KiB
Python
70 lines
3.0 KiB
Python
"""Translate the N7 passenger-seat preset contract into local seat operations."""
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from __future__ import annotations
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from collections.abc import Mapping
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from typing import Any
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from cognitive_agent.application.vehicle_profile import VehicleProfile
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# N7 targets_pulse uses the ECU's M0, M1, M2, M3 ordering.
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N7_SEAT_PRESET_AXES = (
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"longitudinal", "cushion_tilt", "backrest_recline", "legrest_height",
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)
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N7_SEAT_PRESET_CAPABILITIES = (
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"seat.set_longitudinal_position", "seat.set_cushion_tilt",
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"seat.set_backrest_recline", "seat.set_legrest_height",
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)
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def expand_n7_seat_preset(
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action: Mapping[str, Any], vehicle: VehicleProfile,
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) -> list[dict[str, Any]] | None:
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"""Expand an immediate preset; retain unrelated/timed actions for N7 routing.
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The existing seat contract accepts whole percentages. Retain the source
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pulses in the stored card, and round only at this execution boundary.
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Never round a nonzero pulse target into the ECU's explicit homing command.
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"""
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if action.get("capability") != "local_scene.seat_preset":
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return None
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if (
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vehicle.id != "denza_n7"
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or action.get("domain") != "local_vehicle"
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or action.get("target_scope") not in {"vehicle", "passenger", "front_right"}
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or action.get("operation") != "set"
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):
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raise ValueError("车端座椅预设仅支持腾势 N7 副驾的绝对位置设置。")
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parameters = action.get("parameters")
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if not isinstance(parameters, Mapping) or set(parameters) != {"targets_pulse"}:
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raise ValueError("车端座椅预设必须且只能包含 targets_pulse 参数。")
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targets = parameters["targets_pulse"]
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if not isinstance(targets, list) or len(targets) != 4:
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raise ValueError("车端座椅预设需要按 M0–M3 顺序提供四个脉冲目标。")
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operations = []
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for axis, capability, pulse in zip(
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N7_SEAT_PRESET_AXES, N7_SEAT_PRESET_CAPABILITIES, targets, strict=True
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):
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motor = vehicle.seat_motors.get(axis)
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maximum = motor.hall_total_pulses if motor is not None else 0
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if maximum <= 0:
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raise ValueError(f"车端座椅预设缺少 {axis} 的有效霍尔标定。")
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if isinstance(pulse, bool) or not isinstance(pulse, int) or not 0 <= pulse <= maximum:
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raise ValueError(f"车端座椅预设 {axis} 脉冲目标必须为 0–{maximum} 的整数。")
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position_pct = round(pulse * 100 / maximum)
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if 0 < pulse < maximum:
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position_pct = max(1, min(99, position_pct))
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operations.append({
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"domain": "seat",
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"capability": capability,
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"target_scope": "passenger",
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"operation": "set",
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"parameters": {"position_pct": position_pct},
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"reason": f"车端副驾预设 {axis}：{pulse}/{maximum} 脉冲转换为 {position_pct}%。",
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})
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# A delayed vehicle-owned action must not become an immediate PC movement.
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if action.get("at_ms", 0) != 0:
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return None
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return operations
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