Miayui
89 lines
3.3 KiB
Python
89 lines
3.3 KiB
Python
from copy import deepcopy
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from dataclasses import replace
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from pathlib import Path
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import pytest
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from cognitive_agent.application.n7_seat_preset import (
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N7_SEAT_PRESET_CAPABILITIES,
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expand_n7_seat_preset,
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)
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from cognitive_agent.application.vehicle_profile import VehicleProfileRegistry
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ROOT = Path(__file__).resolve().parents[2]
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def preset(targets=None):
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return {
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"domain": "local_vehicle", "capability": "local_scene.seat_preset",
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"target_scope": "vehicle", "operation": "set", "at_ms": 0,
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"parameters": {"targets_pulse": [246, 112, 405, 342] if targets is None else targets},
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}
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@pytest.fixture
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def vehicle():
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return VehicleProfileRegistry(ROOT / "config" / "vehicles").get("denza_n7")
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def test_preset_uses_vehicle_calibration_and_keeps_original_pulses(vehicle):
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action = preset()
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original = deepcopy(action)
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operations = expand_n7_seat_preset(action, vehicle)
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assert [item["capability"] for item in operations] == list(N7_SEAT_PRESET_CAPABILITIES)
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assert [item["parameters"]["position_pct"] for item in operations] == [51, 30, 44, 53]
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assert all(item["target_scope"] == "passenger" for item in operations)
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assert action == original
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calibrated = replace(vehicle, seat_motors={
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**vehicle.seat_motors,
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"longitudinal": replace(vehicle.seat_motors["longitudinal"], hall_total_pulses=500),
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})
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assert expand_n7_seat_preset(action, calibrated)[0]["parameters"] == {"position_pct": 49}
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@pytest.mark.parametrize("targets", [
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[], [1, 2, 3], [1, 2, 3, 4, 5], "246,112,405,342",
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[True, 112, 405, 342], [246.5, 112, 405, 342], ["246", 112, 405, 342],
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[-1, 112, 405, 342], [481, 112, 405, 342], [246, 375, 405, 342],
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[246, 112, 918, 342], [246, 112, 405, 648],
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])
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def test_invalid_pulses_are_rejected_without_clamping(vehicle, targets):
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with pytest.raises(ValueError):
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expand_n7_seat_preset(preset(targets), vehicle)
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@pytest.mark.parametrize("field,value", [
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("target_scope", "driver"), ("domain", "seat"), ("operation", "toggle"),
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("parameters", {"targets_pulse": [246, 112, 405, 342], "speed": 100}),
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])
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def test_unrecognized_target_or_contract_cannot_move_a_seat(vehicle, field, value):
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action = preset()
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action[field] = value
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with pytest.raises(ValueError):
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expand_n7_seat_preset(action, vehicle)
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def test_zero_and_small_targets_do_not_accidentally_home(vehicle):
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assert [item["parameters"]["position_pct"] for item in expand_n7_seat_preset(
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preset([0, 0, 0, 0]), vehicle
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)] == [0, 0, 0, 0]
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assert [item["parameters"]["position_pct"] for item in expand_n7_seat_preset(
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preset([1, 1, 1, 1]), vehicle
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)] == [1, 1, 1, 1]
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assert [item["parameters"]["position_pct"] for item in expand_n7_seat_preset(
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preset([480, 374, 917, 647]), vehicle
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)] == [100, 100, 100, 100]
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def test_delayed_actions_keep_the_vehicle_timing(vehicle):
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action = preset()
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action["at_ms"] = 3000
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assert expand_n7_seat_preset(action, vehicle) is None
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def test_wrong_vehicle_or_missing_calibration_is_rejected(vehicle):
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with pytest.raises(ValueError):
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expand_n7_seat_preset(preset(), replace(vehicle, id="other_vehicle"))
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with pytest.raises(ValueError):
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expand_n7_seat_preset(preset(), replace(vehicle, seat_motors={}))
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