minghanchen
94 lines
3.7 KiB
Python
94 lines
3.7 KiB
Python
from __future__ import annotations
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import subprocess
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import sys
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import unittest
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from pathlib import Path
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from cognitive_agent.application.native_can_runtime import NativeCanRuntime
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from cognitive_agent.generated.can_semantic_protocol import (
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CAN0_SUPPORTED_CAPABILITIES,
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CAN1_SUPPORTED_CAPABILITIES,
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PROTOCOL_SOURCE_SHA256,
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frame,
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match_semantic_command,
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payload_variant,
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)
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from seat_domain import T2GSeatCompiler
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ROOT = Path(__file__).resolve().parents[2]
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class SharedCanSemanticProtocolTests(unittest.TestCase):
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def test_checked_in_python_and_cpp_views_are_current(self) -> None:
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completed = subprocess.run(
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[sys.executable, "tools/generate_can_semantic_protocol.py", "--check"],
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cwd=ROOT,
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capture_output=True,
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text=True,
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check=False,
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)
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self.assertEqual(completed.returncode, 0, completed.stderr)
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self.assertEqual(len(PROTOCOL_SOURCE_SHA256), 64)
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def test_generated_matcher_routes_both_channels_and_rejects_bad_axes(self) -> None:
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cases = {
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"seat passenger basin relative up 10": ("can0.seat.relative", 0),
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"seat passenger legrest position 100": ("can0.seat.position", 0),
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"ac fan 2": ("can1.climate.fan", 1),
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"outlet passenger-right close": ("can1.outlet.switch", 1),
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"seat driver horizontal forward 500": ("can1.seat.driver_axis", 1),
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}
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for command, expected in cases.items():
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with self.subTest(command=command):
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matched = match_semantic_command(command)
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self.assertIsNotNone(matched)
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assert matched is not None
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self.assertEqual((matched["id"], matched["channel"]), expected)
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for command in (
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"seat passenger basin relative forward 10",
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"seat driver height forward 500",
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"ac fan 8",
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"door vehicle lock",
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):
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with self.subTest(command=command):
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self.assertIsNone(match_semantic_command(command))
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def test_outlet_static_payload_and_transport_have_one_generated_source(self) -> None:
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metadata = frame("can1.outlet.switch")
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self.assertEqual(metadata["frame_id"], "0x4EF")
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self.assertEqual(metadata["format"], "can_fd")
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self.assertTrue(metadata["brs"])
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self.assertEqual(metadata["repeat"], {"kind": "fixed", "count": 3, "period_ms": 100})
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self.assertEqual(metadata["feedback_ids"], ["0x4BB", "0x37B"])
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self.assertEqual(
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payload_variant("can1.outlet.switch", "passenger-right:close"),
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bytes.fromhex("03 FF FF FF FF 08 00 00"),
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)
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runtime = NativeCanRuntime(ROOT)
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spec = runtime._outlet_switch_frame( # noqa: SLF001 - protocol contract test
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"passenger_right", {"state": "close"}
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)
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self.assertEqual(spec.frame_id, 0x4EF)
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self.assertEqual(spec.payload, bytes.fromhex("03 FF FF FF FF 08 00 00"))
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self.assertEqual(spec.repeat_count, 3)
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self.assertEqual(spec.period_ms, 100)
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self.assertEqual(spec.feedback_ids, (0x4BB, 0x37B))
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def test_python_capability_sets_and_can0_plan_contract_are_generated(self) -> None:
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runtime = NativeCanRuntime(ROOT)
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self.assertEqual(runtime.supported_capabilities, CAN1_SUPPORTED_CAPABILITIES)
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self.assertIn("seat.set_longitudinal_position", CAN0_SUPPORTED_CAPABILITIES)
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contract = T2GSeatCompiler._protocol_contract( # noqa: SLF001
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"can0.seat.position", "move"
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)
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self.assertEqual(contract["frame_id"], "0x300")
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self.assertEqual(contract["repeat"]["count"], 1)
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self.assertEqual(contract["feedback_ids"], ["0x301", "0x302"])
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if __name__ == "__main__":
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unittest.main()
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