init

2026-07-30 08:45:38 +08:00
commit 25b24ac4cd
1333 changed files with 170092 additions and 0 deletions
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+# Global Configuration
+
+全局配置只放运行时行为和策略，不放领域参数、DBC、密钥或车型标定。加载顺序建议为 `default.yaml`、环境 overlay、部署 Secret/环境变量；后加载项不得把平台安全上限放宽。
+
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+runtime:
+  execution_mode: dry_run
+  artifact_root: artifacts/runs
+  request_timeout_ms: 60000
+  require_confirmation_for_real_execution: true
+agent:
+  locale: zh-CN
+  structured_output_required: true
+trace:
+  include_raw_utterance: false
+  include_private_reasoning: false
+
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+environment: development
+can:
+  backend: virtual
+llm:
+  api_key_env: OPENAI_API_KEY
+execution:
+  hardware_enabled: false
+
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+environment: t2g_seat_bench
+platform: t2g_seat_bench
+execution:
+  mode: hil
+  hardware_enabled_env: COGNITIVE_AGENT_HARDWARE_EXECUTION_ENABLED
+  approval_token_env: COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN
+  allowed_domain: seat
+  allowed_target_zones: [front_left, front_right]
+  physical_target_alias: t2g_primary_seat
+can:
+  backend: zlgcan
+  bitrate: 500000
+  frame_format: classic_can_11_bit
+  channel_env: COGNITIVE_AGENT_SEAT_CAN_CHANNEL
+firmware:
+  profiles_env: COGNITIVE_AGENT_SEAT_FIRMWARE_PROFILES
+  valid_profiles: [combined]
+  topology: one_board_unified_seat_controller
+  repository_project: firmware/t2g/Seat_Controller_demo/IAR/Seat_Controller_demo.ewp
+  identity_request: {frame_id: 0x304, data_hex: "53 45 41 54 01 00 00 00"}
+  identity_response: {frame_id: 0x305, data_hex: "53 45 41 54 01 01 00 3F"}
+  auto_flash_enabled_env: COGNITIVE_AGENT_SEAT_AUTO_FLASH_ENABLED
+  programmer: iar_cspy_cmsisdap
+safety:
+  stop_all_on_motion_error: true
+  require_physical_feedback: true
+  longitudinal_motor3_enabled: false
+  cushion_tilt_enabled: false
+  shared_physical_target: true
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+environment: test
+can:
+  backend: virtual
+llm:
+  backend: deterministic_fake
+execution:
+  hardware_enabled: false
+
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+environment: vehicle
+can:
+  backend: socketcan
+llm:
+  api_key_env: OPENAI_API_KEY
+execution:
+  hardware_enabled: false
+  approval_token_env: COGNITIVE_AGENT_EXECUTION_APPROVAL
+
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+camera:
+  index: 0
+  width: 1280
+  height: 720
+  mirror: true
+  backend: auto
+
+model:
+  path: models/gesture_recognizer.task
+  num_hands: 2
+  min_hand_detection_confidence: 0.65
+  min_hand_presence_confidence: 0.65
+  min_tracking_confidence: 0.60
+
+recognition:
+  canned_score_threshold: 0.70
+  open_palm_score_threshold: 0.62
+  geometry_confirmed_score_threshold: 0.60
+  canned_margin_threshold: 0.12
+  min_hand_span: 0.12
+  action_hold_ms: 600
+  min_action_frames: 8
+  arm_hold_ms: 1000
+  two_hand_hold_ms: 1000
+  slot_hold_ms: 500
+  confirm_hold_ms: 700
+  hand_loss_stop_ms: 120
+  armed_idle_timeout_ms: 3000
+  max_continuous_motion_ms: 1500
+  neutral_release_ms: 350
+
+mapping:
+  point_up: SEAT_UP
+  point_down: SEAT_DOWN
+  point_right: SEAT_FORWARD
+  point_left: SEAT_BACKWARD
+  thumb_up: BACKREST_FORWARD
+  thumb_down: BACKREST_BACKWARD
+  gun_up: LEGREST_EXTEND
+  gun_down: LEGREST_RETRACT
+  # Compatibility fallback when the camera cannot hold a stable finger-gun pose.
+  victory_right: LEGREST_EXTEND
+  victory_left: LEGREST_RETRACT
+
+seat:
+  initial_positions:
+    horizontal: 50.0
+    height: 50.0
+    legrest: 0.0
+    backrest: 50.0
+  manual_rate_percent_per_second: 18.0
+  mode_rate_percent_per_second: 12.0
+
+storage:
+  modes_file: data/modes.json
+  events_file: data/events.jsonl
+  gesture_mappings_file: data/gesture_mappings.json
+
+ui:
+  window_name: Seat Gesture Control
+  draw_landmarks: true
+  show_fps: true
+  validation_width: 1600
+  validation_height: 900
+  fullscreen: false
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+version: 0.1.0
+defaults:
+  mode: dry_run
+  failure_policy: abort
+  max_parallelism: 4
+  command_timeout_ms: 10000
+  idempotency_required: true
+  persist_audit_before_send: true
+
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+version: 0.1.0
+default_action: deny
+rules:
+  require_valid_platform_manifest: true
+  require_verified_signal_mapping_for_hardware: true
+  require_verified_calibration_for_hardware: true
+  require_vehicle_state_snapshot: true
+  reject_unknown_capability: true
+  reject_raw_can_payload: true
+