@@ -0,0 +1,13 @@
  + from __future__ import annotations
  + 
  + def _clamp(value, limit):
  +     return max(-limit, min(limit, value))
  + 
  + def execute(payload: dict) -> dict:
  +     desired, limits = payload["desired"], payload["limits"]
  +     safe = payload.get("safety_state") == "RUN"
  +     command = {
  +         "steering_rad": _clamp(float(desired.get("steering_rad", 0)), float(limits["steering_rad"])) if safe else 0.0,
  +         "speed_mps": max(0.0, min(float(desired.get("speed_mps", 0)), float(limits["speed_mps"]))) if safe else 0.0,
  +     }
  +     return {"sequence": int(payload["sequence"]), "accepted": safe, "actuator_command": command, "transport": "CAN-FD"}

added examples/input.json +12−0 View file

@@ -0,0 +1,12 @@
  + {
  +   "sequence": 42,
  +   "desired": {
  +     "steering_rad": 0.2,
  +     "speed_mps": 1.5
  +   },
  +   "limits": {
  +     "steering_rad": 0.55,
  +     "speed_mps": 4
  +   },
  +   "safety_state": "RUN"
  + }

added pyproject.toml +8−0 View file

@@ -0,0 +1,8 @@
  + [project]
  + name = "icu_platform"
  + version = "0.1.0"
  + description = "센서 프레임과 A-SW 목표값을 ICU 액추에이터 명령 봉투로 변환합니다."
  + requires-python = ">=3.11"
  + 
  + [tool.unittest]
  + test-path = "tests"

added run.py +10−0 View file

@@ -0,0 +1,10 @@
  + from __future__ import annotations
  + import json
  + import sys
  + from asw_component import execute
  + 
  + if __name__ == "__main__":
  +     path = sys.argv[1] if len(sys.argv) > 1 else None
  +     with open(path, encoding="utf-8") if path else sys.stdin as source:
  +         payload = json.load(source)
  +     print(json.dumps(execute(payload), ensure_ascii=False, indent=2))