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2026-07-30 08:45:38 +08:00
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platforms/README.md
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# Vehicle Platforms
每个子目录描述一个可部署车型/台架。平台目录是 DBC、总线、标定和安全范围的唯一事实来源，由 CAN/集成人员维护。
领域插件引用 message/signal 名称和标定资源，不复制仲裁 ID、bit layout 或车型范围。`execution_enabled: false` 的平台只能生成和 dry-run，Runtime 必须拒绝实车发送。
platforms/reference_vehicle/calibration/README.md
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# Platform Calibrations
本目录中的文件是结构占位，不包含可执行标定。集成人员应定义统一 Calibration Schema，并补齐来源、单位、批准人、有效车型版本和安全范围。`status: draft` 时 Runtime 必须拒绝 HIL/实车执行。
platforms/reference_vehicle/calibration/ambient_light.yaml
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version: 0.1.0
status: draft
domain: ambient_light
values: {}
platforms/reference_vehicle/calibration/climate.yaml
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version: 0.1.0
status: draft
domain: climate
values: {}
platforms/reference_vehicle/calibration/roof.yaml
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version: 0.1.0
status: draft
domain: roof
values: {}
platforms/reference_vehicle/calibration/seat.yaml
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version: 0.1.0
status: draft
domain: seat
values: {}
platforms/reference_vehicle/can/README.md
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# Reference Vehicle CAN
`dbc/vehicle.dbc` 必须由 CAN 负责人提供并通过许可、版本和 hash 审查。当前仓库不包含虚构 DBC；平台保持 `execution_enabled: false`。
总线 backend/channel 从 platform manifest 和环境变量加载，不能在领域插件中硬编码。
platforms/reference_vehicle/can/dbc/.gitkeep
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platforms/reference_vehicle/manifest.yaml
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apiVersion: cognitive-agent/v1alpha1
kind: PlatformManifest
metadata:
id: reference-vehicle-platform
name: Reference vehicle development platform
version: 0.1.0
description: Non-production scaffold; DBC and calibrations are intentionally incomplete.
spec:
platform: reference_vehicle
execution_enabled: false
dbc_files:
- can/dbc/vehicle.dbc
buses:
- name: body_can
backend: virtual
channel_env: COGNITIVE_AGENT_BODY_CAN_CHANNEL
fd: false
supported_domains:
- seat
- climate
- ambient_light
- roof
calibrations:
seat: calibration/seat.yaml
climate: calibration/climate.yaml
ambient_light: calibration/ambient_light.yaml
roof: calibration/roof.yaml
platforms/t2g_seat_bench/calibration/seat.yaml
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version: 1.1.0
status: hil_verified_partial
domain: seat
protocol:
version: 1
bitrate: 500000
frame_format: classic_can_11_bit
payload_bytes: 8
absolute_position_opcode: 1
timed_duty_opcode: 3
stop_all_opcode: 9
default_duty_percent: 50
timed_duty_min_duration_ms: 300
timed_duty_max_duration_ms: 8000
increase_direction: 1
decrease_direction: 2
axes:
seat.set_legrest_extension:
motor_selector: 0
physical_unit: mm
maximum_value_x100: 10200
default_max_hall_count: 480
timed_duty_ms_per_pct: 175
max_uncalibrated_relative_pct: 15
hardware_verified: true
seat.set_legrest_height:
motor_selector: 1
physical_unit: degree
maximum_value_x100: 8500
default_max_hall_count: 790
timed_duty_ms_per_pct: 440
max_uncalibrated_relative_pct: 15
hardware_verified: true
seat.set_backrest_recline:
motor_selector: 2
physical_unit: degree
maximum_value_x100: 9000
default_max_hall_count: 1590
timed_duty_ms_per_pct: 500
max_uncalibrated_relative_pct: 15
hardware_verified: true
seat.set_longitudinal_position:
motor_selector: 3
physical_unit: mm
maximum_value_x100: 24000
default_max_hall_count: 960
timed_duty_ms_per_pct: 175
max_uncalibrated_relative_pct: 15
hardware_verified: false
enable_env: COGNITIVE_AGENT_ENABLE_UNVERIFIED_LONGITUDINAL
platforms/t2g_seat_bench/can/dbc/seat.dbc
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VERSION "T2G seat bench 1.1"
NS_ :
NS_DESC_
CM_
BA_DEF_
BA_
VAL_
BS_:
BU_: HOST T2G_THERMAL T2G_MOVE
BO_ 670 T2G_Seat_Thermal_Control_29E: 8 HOST
SG_ Driver_Seat_Ventilation_On : 0|2@1+ (1,0) [0|3] "" T2G_THERMAL
SG_ Driver_Seat_Ventilation_Mode : 2|2@1+ (1,0) [0|3] "" T2G_THERMAL
SG_ Driver_Seat_Heating_On : 4|2@1+ (1,0) [0|3] "" T2G_THERMAL
SG_ Driver_Seat_Ventilation_Gear : 16|4@1+ (1,0) [0|5] "level" T2G_THERMAL
SG_ Driver_Seat_Heating_Gear : 20|4@1+ (1,0) [0|5] "level" T2G_THERMAL
BO_ 974 T2G_Seat_Thermal_Mode_3CE: 8 HOST
SG_ Driver_Seat_Thermal_Mode : 4|2@1+ (1,0) [0|3] "" T2G_THERMAL
BO_ 1274 T2G_Seat_Thermal_Status_4FA: 8 T2G_THERMAL
SG_ Driver_Seat_Ventilation_Status : 0|3@1+ (1,0) [0|7] "level" HOST
SG_ Driver_Seat_Heating_Status : 3|3@1+ (1,0) [0|7] "level" HOST
BO_ 768 T2G_Seat_Move_Command_300: 8 HOST
SG_ Opcode : 0|8@1+ (1,0) [0|255] "" T2G_MOVE
SG_ Motor_Selector : 8|2@1+ (1,0) [0|3] "" T2G_MOVE
SG_ Direction : 10|2@1+ (1,0) [0|3] "" T2G_MOVE
SG_ Protocol_Version : 12|2@1+ (1,0) [0|3] "" T2G_MOVE
SG_ Sequence : 16|16@1+ (1,0) [0|65535] "" T2G_MOVE
SG_ Param_A : 32|16@1+ (1,0) [0|65535] "" T2G_MOVE
SG_ Param_B : 48|16@1+ (1,0) [0|65535] "" T2G_MOVE
BO_ 769 T2G_Seat_Move_System_Status_301: 8 T2G_MOVE
SG_ Ack : 0|3@1+ (1,0) [0|7] "" HOST
SG_ Reject_Reason : 3|3@1+ (1,0) [0|7] "" HOST
SG_ Shutdown_Inhibit : 6|1@1+ (1,0) [0|1] "" HOST
SG_ Safety_Inhibit : 7|1@1+ (1,0) [0|1] "" HOST
SG_ Last_Opcode : 8|4@1+ (1,0) [0|15] "" HOST
SG_ Active_Mask : 12|4@1+ (1,0) [0|15] "" HOST
SG_ Last_Sequence : 16|16@1+ (1,0) [0|65535] "" HOST
SG_ Retry_Mask : 32|4@1+ (1,0) [0|15] "" HOST
SG_ Record_Clean : 36|1@1+ (1,0) [0|1] "" HOST
SG_ Watchdog_Reset : 37|1@1+ (1,0) [0|1] "" HOST
SG_ Record_Valid : 38|1@1+ (1,0) [0|1] "" HOST
SG_ Safety_Fault : 40|8@1+ (1,0) [0|255] "" HOST
SG_ Config_Sequence : 48|16@1+ (1,0) [0|65535] "" HOST
BO_ 770 T2G_Seat_Move_Motor_Status_302: 8 T2G_MOVE
SG_ Motor_Sub_ID : 0|8@1+ (1,0) [0|3] "" HOST
SG_ Task_State : 8|4@1+ (1,0) [0|15] "" HOST
SG_ Result : 12|4@1+ (1,0) [0|15] "" HOST
SG_ Direction : 16|2@1+ (1,0) [0|3] "" HOST
SG_ Active : 18|1@1+ (1,0) [0|1] "" HOST
SG_ Retried : 19|1@1+ (1,0) [0|1] "" HOST
SG_ Position_Valid : 20|1@1+ (1,0) [0|1] "" HOST
SG_ Motor_Sequence : 24|16@1+ (1,0) [0|65535] "" HOST
SG_ Value_X100 : 40|16@1+ (1,0) [0|65535] "" HOST
SG_ Duty_Percent : 56|8@1+ (1,0) [0|100] "%" HOST
BO_ 771 T2G_Seat_Move_Diagnostic_303: 8 T2G_MOVE
SG_ Motor_Sub_ID : 0|8@1+ (1,0) [0|3] "" HOST
SG_ Last_Motor_Event : 8|4@1+ (1,0) [0|15] "" HOST
SG_ Hall_Count : 16|16@1+ (1,0) [0|65535] "pulse" HOST
SG_ Max_Hall_Count : 32|16@1+ (1,0) [0|65535] "pulse" HOST
SG_ Max_Speed_Pps_X100 : 48|16@1+ (1,0) [0|65535] "pulse/s*100" HOST
BO_ 772 T2G_Seat_Firmware_Identity_Request_304: 8 HOST
SG_ Identity_Magic : 0|32@1+ (1,0) [0|4294967295] "" T2G_MOVE
SG_ Required_Protocol : 32|8@1+ (1,0) [0|255] "" T2G_MOVE
BO_ 773 T2G_Seat_Firmware_Identity_Response_305: 8 T2G_MOVE
SG_ Identity_Magic : 0|32@1+ (1,0) [0|4294967295] "" HOST
SG_ Firmware_Major : 32|8@1+ (1,0) [0|255] "" HOST
SG_ Firmware_Minor : 40|8@1+ (1,0) [0|255] "" HOST
SG_ Firmware_Patch : 48|8@1+ (1,0) [0|255] "" HOST
SG_ Capability_Mask : 56|8@1+ (1,0) [0|255] "" HOST
VAL_ 670 Driver_Seat_Ventilation_On 0 "invalid" 1 "on" 2 "off" 3 "reserved" ;
VAL_ 670 Driver_Seat_Heating_On 0 "invalid" 1 "on" 2 "off" 3 "reserved" ;
VAL_ 769 Ack 0 "idle" 1 "accepted" 2 "rejected" 3 "conflict" 4 "inhibited" 5 "storage_error" ;
platforms/t2g_seat_bench/manifest.yaml
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apiVersion: cognitive-agent/v1alpha1
kind: PlatformManifest
metadata:
id: t2g-seat-bench-platform
name: T2G CYT4BFBCJE seat hardware bench
version: 1.1.0
description: HIL bench using the unified Seat_Controller_demo firmware derived from the three verified seat demos.
spec:
platform: t2g_seat_bench
execution_enabled: true
dbc_files:
- can/dbc/seat.dbc
buses:
- name: seat_can
backend: zlgcan
channel_env: COGNITIVE_AGENT_SEAT_CAN_CHANNEL
fd: false
supported_domains:
- seat
calibrations:
seat: calibration/seat.yaml