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