feat: release v1.0.2 LeKiwi 语言控制与网站嵌入

集成服务器托管模型、自然语言移动与有界抓放、内置 LeKiwi URL 导入和双摄像头；同步部署契约与指定域名 iframe 白名单，保留原有物理安全、会话及调用预算防护。更新 npm 包及锁文件版本、CHANGELOG 与发布文档。提交前 typecheck、120 项定向前端测试和 44 项后端测试通过（3 项可选跳过）；真实 v2 云模型抓放仍待单独验收，不包含运行密钥或构建产物。
2026-09-24 15:29:49 +08:00
parent f3a8a38acd
commit 0d986f60bd
93 changed files with 5166 additions and 1094 deletions
@@ -0,0 +1,99 @@
+import unittest
+
+from decision_server.commands import checked as motion_checked
+from decision_server.language_tasks import checked, resolve_target
+from decision_server.protocol import (
+    LANGUAGE_PRECONDITIONS,
+    LANGUAGE_SKILLS,
+    VERSION,
+    DecisionError,
+    validate_jev,
+    validate_plan,
+)
+from decision_server.protocol import (
+    LANGUAGE_VERSION as V,
+)
+
+
+def command(**changes):
+    return (
+        dict(
+            version=V,
+            action="pick_place",
+            value=0,
+            summary="搬运方块",
+            objectId="block",
+            targetId="B",
+            position=[],
+            supportId="table",
+        )
+        | changes
+    )
+
+
+class LanguageTests(unittest.TestCase):
+    def test_named_and_coordinates(self):
+        self.assertEqual(
+            checked(command(), "抓起方块并搬到B区放下", motion_checked)["targetId"], "B"
+        )
+        for text, values in [
+            ("搬到(25,50)厘米", [0.25, 0.5]),
+            ("搬到 X=0.25 Y=0.50 Z=0.128", [0.25, 0.5, 0.128]),
+        ]:
+            result = checked(command(targetId="coordinates", position=values), text, motion_checked)
+            self.assertEqual(
+                resolve_target(result["targetId"], result["position"]),
+                ([0.25, 0.5, 0.128], "table"),
+            )
+
+    def test_bad_targets_and_mismatch(self):
+        for pos in ([0.8, 0.5], [0.25, 0.5, 0.5], [float("nan"), 0.5]):
+            with self.assertRaises(DecisionError):
+                resolve_target("coordinates", pos)
+        with self.assertRaisesRegex(DecisionError, "command_mismatch"):
+            checked(
+                command(targetId="coordinates", position=[0.25, 0.6]),
+                "搬到(0.25,0.50)",
+                motion_checked,
+            )
+        for text in [
+            "不要搬到 B 区",
+            "搬到指定位置",
+            "前进0.5米然后搬到 B 区",
+            "搬到 A 区或者 B 区",
+        ]:
+            self.assertEqual(checked(command(), text, motion_checked)["action"], "clarify")
+
+    def test_multiple_or_contradictory_coordinates_rejected(self):
+        for instruction in ["搬到(0.25,0.5)然后到(0.25,0.6)", "搬到 B 区 (0.25,0.5)"]:
+            with self.assertRaises(DecisionError):
+                checked(command(), instruction, motion_checked)
+
+    def test_v2_does_not_weaken_v1(self):
+        plan = dict(
+            version=V,
+            objectId="block",
+            goalId="placement",
+            summary="计划",
+            steps=[
+                dict(skill=s, precondition=LANGUAGE_PRECONDITIONS[s], onFailure="stop")
+                for s in LANGUAGE_SKILLS
+            ],
+        )
+        validate_plan(plan, LANGUAGE_SKILLS, V)
+        with self.assertRaises(DecisionError):
+            validate_plan(plan, LANGUAGE_SKILLS, VERSION)
+        d = dict(
+            version=V,
+            choice="stow",
+            grasp="empty",
+            diagnosis="none",
+            recovery="continue",
+            noul="allow",
+            score="good",
+            reason="verified_progress",
+        )
+        validate_jev(d, ["stow", "stop"], V)
+        for field, value in [("noul", "yes"), ("score", 100), ("choice", "carry")]:
+            with self.assertRaises(DecisionError):
+                validate_jev(d | {field: value}, ["stow", "stop"], V)