feat: add VCU status feedback and map DEBUG safety inputs

2026-10-03 21:52:14 +08:00
parent dbbda5624a
commit 1e7b2e7f96
305 changed files with 32906 additions and 68 deletions
@@ -0,0 +1,59 @@
+import json, time
+from pathlib import Path
+import numpy as np
+import pyautogui as pg
+import win32clipboard
+from pywinauto import Desktop
+ROOT=Path(__file__).resolve().parent
+w=Desktop(backend='win32').window(handle=4721434)
+u=Desktop(backend='uia').window(handle=4721434)
+w.set_focus()
+u.child_window(title='停止',control_type='Hyperlink').invoke()
+time.sleep(1)
+w.child_window(title='键盘输入').click()
+time.sleep(.5)
+canvas=next(c.rectangle() for c in w.children() if c.rectangle().width()==720 and c.rectangle().height()==408)
+ROIS={0:[(15,82,165,118)],1:[(374,82,525,118),(555,146,706,185)],2:[(555,82,706,118)],3:[(374,146,525,185)],4:[(195,146,345,185)],5:[(195,82,345,118)],6:[(15,241,345,272)],7:[(375,241,705,272)],8:[(15,311,165,341)],9:[(195,311,345,341)],10:[(375,311,525,341)],11:[(555,311,705,341)],12:[(15,375,165,405)],13:[(195,375,345,405)],14:[(375,375,525,405)],15:[(555,375,705,405)]}
+records=[]
+def execute(code):
+    win32clipboard.OpenClipboard()
+    win32clipboard.EmptyClipboard()
+    win32clipboard.SetClipboardText(code,win32clipboard.CF_UNICODETEXT)
+    win32clipboard.CloseClipboard()
+    r=w.rectangle()
+    pg.click(r.left+180,r.top+915)
+    pg.hotkey('ctrl','a')
+    pg.hotkey('ctrl','v')
+    w.child_window(title='执行所有代码').click()
+    time.sleep(.5)
+def check(name,states):
+    shot=pg.screenshot(region=(canvas.left,canvas.top,canvas.width(),canvas.height()))
+    shot.save(str(ROOT/f'sim_{name}.png'))
+    pixels=np.asarray(shot)
+    for index,state in enumerate(states):
+        for x1,y1,x2,y2 in ROIS[index]:
+            a=pixels[y1:y2,x1:x2,:3].astype(np.int16)
+            r,g,b=a[:,:,0],a[:,:,1],a[:,:,2]
+            counts=[int(((r>75)&(r<180)&(abs(r-g)<8)&(abs(r-b)<8)).sum()),int(((g>180)&(r<80)&(b<80)).sum()),int(((r>180)&(g<80)&(b<80)).sum())]
+            assert counts[state]>20 and (state==1 or counts[1]==0) and (state==2 or counts[2]==0),(name,index,state,counts)
+    records.append({'name':name,'states':states,'screenshot':f'sim_{name}.png','passed':True})
+    (ROOT/'simulator-results.json').write_text(json.dumps({'scope':'Keyboard input simulation, not physical CAN/UART display proof','checks':records},indent=2),encoding='utf-8')
+    print(name+' passed',flush=True)
+execute('\n'.join([f'd{i}=0' for i in range(16)]+['page debug']))
+check('initial_unknown',[0]*16)
+for index,signal in [(5,'left_motor_interlock'),(6,'RES'),(7,'control_box')]:
+    for state in (1,2,0):
+        execute(f'd{index}={state}')
+        states=[0]*16
+        states[index]=state
+        check(f'{signal}_{state}',states)
+execute('\n'.join(f'd{i}=1' for i in range(15)))
+check('all_normal',[1]*15+[0])
+execute('\n'.join(f'd{i}=2' for i in range(15)))
+check('all_fault',[2]*15+[0])
+execute('\n'.join(f'd{i}=0' for i in range(16)))
+check('final_unknown',[0]*16)
+w.child_window(title='用户MCU输入').click()
+time.sleep(.4)
+u.child_window(title='开始',control_type='Hyperlink').invoke()
+print('13 keyboard simulation checks passed; returned to User MCU input')