feat: synchronize CH1 vehicle control and feedback

2026-08-11 10:42:13 +08:00
parent 3701192a11
commit 32379a1573
50 changed files with 13636 additions and 736 deletions
@@ -1,5 +1,20 @@
+function createOpaqueId(prefix) {
+  if (globalThis.crypto?.randomUUID) {
+    return `${prefix}-${globalThis.crypto.randomUUID()}`;
+  }
+  if (globalThis.crypto?.getRandomValues) {
+    const bytes = new Uint8Array(16);
+    globalThis.crypto.getRandomValues(bytes);
+    const randomHex = [...bytes]
+      .map((value) => value.toString(16).padStart(2, "0"))
+      .join("");
+    return `${prefix}-${randomHex}`;
+  }
+  return `${prefix}-${Date.now().toString(36)}-${Math.random().toString(36).slice(2, 14)}`;
+}
+
 function createConversationId() {
-  return `conv-${crypto.randomUUID()}`;
+  return createOpaqueId("conv");
 }

 function loadConversationId() {
@@ -14,7 +29,7 @@ function loadHardwareClientId() {
  const key = "cognitive-agent.hardware-client-id";
  const stored = localStorage.getItem(key);
  if (/^hwc-[a-z0-9-]{8,80}$/.test(stored || "")) return stored;
-  const clientId = `hwc-${crypto.randomUUID()}`;
+  const clientId = createOpaqueId("hwc");
  localStorage.setItem(key, clientId);
  return clientId;
 }
@@ -26,6 +41,8 @@ const state = {
  vehicleId: null,
  runtime: null,
  result: null,
+  vehicleStateSnapshot: null,
+  vehicleStateTurn: -1,
  progressTimer: null,
  seatTwin: null,
  seatActuatorState: {},
@@ -1730,10 +1747,11 @@ function renderTwinCalloutValues(device) {
 function renderTwinReadout() {
  const twin = state.seatTwin;
  if (!twin) return;
-  const seat = "passenger";
-  const device = twin.actuatorState.passenger;
-  $("#twinSeatName").textContent = "副驾";
-  $("#twinSeatZone").textContent = "front_right";
+  const driverOnly = state.runtime?.vehicle_can?.target_policy === "ch1_body_can_driver_only";
+  const seat = driverOnly ? "driver" : "passenger";
+  const device = twin.actuatorState[seat] || twin.actuatorState.passenger;
+  $("#twinSeatName").textContent = driverOnly ? "主驾" : "副驾";
+  $("#twinSeatZone").textContent = driverOnly ? "front_left · CH1" : "front_right";
  const postureAngles = twinPostureAngles(device);
  Object.entries(TWIN_DEFAULT_POSITIONS).forEach(([axis, fallback]) => {
    const motion = device?.position?.[axis];
@@ -3388,6 +3406,12 @@ function isLocalDecisionHost() {
  return ["127.0.0.1", "localhost", "::1"].includes(window.location.hostname);
 }

+function isDriverOnlyCh1Runtime() {
+  return state.runtime?.vehicle_can?.configured === true
+    && state.runtime?.vehicle_can?.target_policy === "ch1_body_can_driver_only"
+    && state.runtime?.hardware?.configured !== true;
+}
+
 function renderHardwareAccess(status) {
  state.hardwareAccess = status;
 }
@@ -3415,6 +3439,10 @@ function selectProvider(provider) {
 function updateSeatFeedbackModeLabel() {
  const label = $("#seatFeedbackModeLabel");
  if (!label) return;
+  if (state.seatFeedbackSource === "physical_can_ch1") {
+    label.textContent = "CH1 PHYSICAL CAN · DRIVER SYNCHRONIZED";
+    return;
+  }
  if (state.seatFeedbackSource === "physical_can") {
    label.textContent = "PHYSICAL CAN · BENCH SYNCHRONIZED";
    return;
@@ -3445,9 +3473,8 @@ function selectExecutionMode(mode) {
  });
  const hardware = mode === "hardware";
  const simulatedHardware = mode === "simulated_hardware";
-  const approvalRequired = Boolean(state.runtime?.hardware?.approval_required);
  const vehicleCanReady = Boolean(state.runtime?.vehicle_can?.configured);
-  $("#approvalField").hidden = !hardware || !approvalRequired;
+  const ch1DriverOnly = state.runtime?.vehicle_can?.target_policy === "ch1_body_can_driver_only";
  $("#simulationFaultField").hidden = !simulatedHardware;
  $("#executionBadge").className = `status-badge ${hardware ? "" : simulatedHardware ? "warning" : "neutral"}`.trim();
  $("#executionBadge").innerHTML = hardware
@@ -3456,10 +3483,12 @@ function selectExecutionMode(mode) {
      ? '<i data-lucide="bug-play"></i>SIM · 模拟台架'
      : '<i data-lucide="flask-conical"></i>DRY-RUN';
  $("#safetyTitle").textContent = hardware
-    ? "真实台架安全门禁"
+    ? (ch1DriverOnly ? "CH1 实车安全门禁" : "真实台架安全门禁")
    : simulatedHardware ? "模拟台架隔离边界" : "虚拟执行边界";
  $("#safetyText").textContent = hardware
-    ? vehicleCanReady
+    ? ch1DriverOnly && vehicleCanReady
+      ? "仅使用 ZLG CH1 控制主驾座椅与已验证车身设备；每次动作前必须确认 P 挡和 0 km/h，并以 CH1 状态帧回读为准。CH0、副驾 T2G 与 IAR 路径均不参与。"
+      : vehicleCanReady
      ? "同一 CAN 盒由单进程持有：通道 0 控制副驾座椅并校验板端反馈，通道 1 以 ISO CAN FD 500 kbit/s / 2 Mbit/s 控制空调等车身设备并校验状态帧。"
      : "当前仅通道 0 连接副驾座椅台架并校验板端反馈；车端 CAN 未启用，模式中的其他车舱领域保持虚拟执行。"
    : simulatedHardware
@@ -3467,14 +3496,16 @@ function selectExecutionMode(mode) {
      : "四域 CAN 均为 dry-run，真实发送被强制关闭。";
  $("#executeStageLabel").textContent = hardware ? "台架执行" : simulatedHardware ? "故障仿真" : "虚拟执行";
  $("#feedbackModeLabel").textContent = hardware
-    ? "T2G BENCH · PHYSICAL CAN FEEDBACK"
+    ? (ch1DriverOnly
+      ? "CH1 BODY CAN · AUTHORITATIVE PHYSICAL FEEDBACK"
+      : "T2G BENCH · PHYSICAL CAN FEEDBACK")
    : simulatedHardware
      ? "SIMULATED HIL · FAULT INJECTION"
      : "MATRIX-BACKED · SIMULATED FEEDBACK";
  const runButtonLabel = $("#runButton span");
  if (runButtonLabel) {
    runButtonLabel.textContent = hardware
-      ? (approvalRequired ? "授权并真实执行" : "真实执行")
+      ? "真实执行"
      : simulatedHardware ? "运行故障仿真" : "生成并执行";
  }
  updateSeatFeedbackModeLabel();
@@ -3571,7 +3602,11 @@ function selectVehicle(vehicleId, { silent = false } = {}) {
  $("#vehicleNote").textContent = longitudinal && backrest
    ? `${vehicle.name} · 水平 ${longitudinal.range}${longitudinal.unit} · 靠背 ${backrest.range}${backrest.unit}`
    : `${vehicle.name} · 已加载车型配置`;
-  if (state.result?.actuator_state) {
+  if (isDriverOnlyCh1Runtime()) {
+    if (state.vehicleStateSnapshot?.actuatorState) {
+      renderSeatState(state.vehicleStateSnapshot.actuatorState);
+    }
+  } else if (state.result?.actuator_state) {
    renderSeatState(state.result.actuator_state);
  } else if (state.seatTwin?.actuatorState) {
    renderSeatState(state.seatTwin.actuatorState);
@@ -3613,6 +3648,14 @@ function modeSecondsLabel(durationMs) {
 function populateModeChips() {
  const group = $(".mode-chips");
  if (!group) return;
+  if (state.runtime?.vehicle_can?.target_policy === "ch1_body_can_driver_only") {
+    group.innerHTML = `
+      <button type="button" data-mode-command="seat driver vent low"><i data-lucide="wind"></i>主驾通风</button>
+      <button type="button" data-mode-command="ac temp driver 24"><i data-lucide="snowflake"></i>主驾 24℃</button>
+      <button type="button" data-mode-command="shade position 0"><i data-lucide="panels-top-left"></i>遮阳帘关闭</button>`;
+    refreshIcons();
+    return;
+  }
  const buttons = () => $$("button", group);
  modeProfiles().forEach((mode) => {
    const label = modeChipLabel(mode);
@@ -3709,17 +3752,91 @@ function saveCurrentModeProfile() {
  $("#requestForm").requestSubmit();
 }

+function applyRuntimeTargetPolicy(runtime) {
+  const driverOnly = runtime?.vehicle_can?.target_policy === "ch1_body_can_driver_only";
+  if (!driverOnly) return;
+  const stage = $("#seatTwin");
+  const canvas = $("#seatTwinCanvas");
+  const label = $(".twin-seat-label");
+  const card = $(".seat-card[data-seat=\"passenger\"], .seat-card[data-seat=\"driver\"]");
+  if (stage) stage.dataset.physicalSeat = "driver";
+  if (canvas) {
+    canvas.dataset.activeSeat = "front-left";
+    canvas.setAttribute("aria-label", "通过模型动画展示 CH1 主驾座椅与车身设备物理反馈");
+  }
+  if (label) {
+    label.classList.remove("passenger");
+    label.classList.add("driver");
+    $("span", label).textContent = "主驾车身座椅";
+    $("small", label).textContent = "ACTIVE · FRONT LEFT · CH1";
+  }
+  $("#twinSeatName").textContent = "主驾";
+  $("#twinSeatZone").textContent = "front_left";
+  if (card) {
+    card.dataset.seat = "driver";
+    $(".seat-identity strong", card).textContent = "主驾";
+    $(".seat-identity span", card).textContent = "front_left · CH1";
+  }
+  const sectionHeading = $(".seat-state-section .section-title-row h3");
+  if (sectionHeading) sectionHeading.textContent = "主驾座椅状态";
+  const coverageTarget = $(".coverage-section dl div:nth-child(4) dt");
+  const coverageValue = $(".coverage-section dl div:nth-child(4) dd");
+  if (coverageTarget) coverageTarget.textContent = "主驾座椅车身 CAN 执行器";
+  if (coverageValue) {
+    coverageValue.textContent = "driver · front_left · CH1";
+    coverageValue.className = "available";
+  }
+  const jointCopy = $(".joint-twin-heading p");
+  if (jointCopy) jointCopy.textContent = "CH1 主驾座椅与车身设备物理反馈联合展示；CH0、副驾 T2G 与 IAR 路径已禁用。";
+  const unsupportedFrontLightPanel = $('[data-domain-panel="front_light"]');
+  if (unsupportedFrontLightPanel) unsupportedFrontLightPanel.hidden = true;
+  const jointSeatScope = $(".joint-scope span");
+  if (jointSeatScope) jointSeatScope.innerHTML = '<i data-lucide="armchair"></i>主驾座椅 · CH1';
+  const input = $("#utterance");
+  if (input) {
+    input.placeholder = "例如：打开主驾通风，并把空调温度调到24度";
+    if (input.value.includes("观影状态") || input.value.includes("副驾")) {
+      input.value = "打开主驾通风，并把空调温度调到24度";
+    }
+  }
+  const safeExamples = [
+    ["seat driver vent low", "主驾通风低档"],
+    ["seat driver heat low", "主驾加热低档"],
+    ["ac temp driver 24", "主驾空调 24℃"],
+    ["window front-left position 0", "关闭左前车窗"],
+    ["shade position 0", "关闭遮阳帘"],
+    ["light reading all off", "关闭全部阅读灯"],
+  ];
+  $$(".example-command").forEach((button, index) => {
+    const example = safeExamples[index];
+    button.hidden = !example;
+    if (!example) return;
+    button.dataset.example = example[0];
+    const label = $("span", button);
+    if (label) label.textContent = example[1];
+  });
+  const gestureButton = $("#gestureToggleButton");
+  if (gestureButton) {
+    gestureButton.disabled = true;
+    gestureButton.title = "CH1 主驾实车测试不启用无闭环的座椅位置手势";
+  }
+  refreshIcons();
+}
+
 async function loadRuntime() {
  try {
    const response = await apiRequest("/api/runtime", { cache: "no-store" });
    if (!response.ok) throw new Error(`HTTP ${response.status}`);
    state.runtime = await response.json();
+    applyRuntimeTargetPolicy(state.runtime);
    populateVehicleSelector();
    populateModeChips();
    const hardware = state.runtime.hardware || {};
    const vehicleCan = state.runtime.vehicle_can || {};
    const linkedHardwareReady = Boolean(hardware.configured && vehicleCan.configured);
    const seatHardwareReady = Boolean(hardware.configured);
+    const vehicleHardwareReady = Boolean(vehicleCan.configured);
+    const ch1DriverOnly = vehicleCan.target_policy === "ch1_body_can_driver_only";
    const hardwareExecutionReady = Boolean(state.runtime.hardware_execution_allowed);
    const badge = $("#modelBadge");
    const gptButton = $('[data-provider="openai"]');
@@ -3747,34 +3864,39 @@ async function loadRuntime() {
      : "通过安卓联调脚本或环境变量启用模拟台架";
    const profileText = (hardware.firmware_profiles || []).join(" / ") || "未选择 profile";
    const flashText = hardware.auto_flash_enabled ? "自动烧录已启用" : "自动烧录未启用";
-    const approvalText = hardware.approval_required ? "需授权令牌" : "调试免令牌";
    const concurrencyText = hardware.concurrency_policy === "single_flight_fail_fast"
      ? " · 动作防冲突"
      : "";
-    const accessText = hardware.access_policy === "local_approval_idle_lease"
+    const accessText = !ch1DriverOnly
+      && hardware.access_policy === "local_approval_idle_lease"
      ? ` · 本地审批 · 空闲 ${hardware.access_inactivity_timeout_seconds || 180} 秒自动停止`
      : "";
-    $("#hardwareNote").textContent = linkedHardwareReady
-      ? `${hardware.backend} · CH${hardware.channel} 座椅 ${hardware.bitrate / 1000} kbit/s · CH${vehicleCan.channel} 车身 CAN FD ${vehicleCan.arbitration.bitrate / 1000}k/${vehicleCan.data.bitrate / 1000000}M · ${profileText} · ${flashText} · ${approvalText}${accessText}${concurrencyText}`
+    $("#hardwareNote").textContent = ch1DriverOnly && vehicleHardwareReady && !seatHardwareReady
+      ? `${vehicleCan.backend} · CH${vehicleCan.channel} 车身 CAN FD ${vehicleCan.arbitration.bitrate / 1000}k/${vehicleCan.data.bitrate / 1000000}M · 仅主驾/车端白名单 · CH0/T2G/IAR 已禁用${accessText}${concurrencyText}`
+      : linkedHardwareReady
+      ? `${hardware.backend} · CH${hardware.channel} 座椅 ${hardware.bitrate / 1000} kbit/s · CH${vehicleCan.channel} 车身 CAN FD ${vehicleCan.arbitration.bitrate / 1000}k/${vehicleCan.data.bitrate / 1000000}M · ${profileText} · ${flashText}${accessText}${concurrencyText}`
      : seatHardwareReady
        ? `${hardware.backend} · CH${hardware.channel} 座椅 ${hardware.bitrate / 1000} kbit/s · ${profileText} · ${flashText} · 车端 CAN 未启用，其他领域保持虚拟执行${accessText}${concurrencyText}`
-      : `联动真实执行已锁定：${profileText}；请完成座椅固件、双通道 ZLG 适配器、车身 CAN FD${hardware.approval_required ? "和令牌" : ""}配置`;
-    $("#hardwareAliasNote").textContent = linkedHardwareReady
+      : `联动真实执行已锁定：${profileText}；请完成座椅固件、双通道 ZLG 适配器和车身 CAN FD 配置`;
+    $("#hardwareAliasNote").textContent = ch1DriverOnly && vehicleHardwareReady && !seatHardwareReady
+      ? "CH1 → 车身 CAN FD / 主驾座椅 · CH0 与副驾 T2G 路径禁止"
+      : linkedHardwareReady
      ? "CH0 → 副驾座椅控制器 · CH1 → 车身 CAN FD"
      : seatHardwareReady
        ? `CH${hardware.channel} → 副驾座椅控制器 · 车身控制暂用虚拟 CAN`
        : "尚未配置可执行的物理 CAN 通道";
-    $("#autoFlashNote").textContent = hardware.auto_flash_enabled
-      ? "未检测到匹配固件时，将在发送座椅控制帧前通过 IAR C-SPY 自动烧录并重新验证。"
-      : "仅接受周期反馈与四轴量程签名匹配的统一固件；需要自动烧录时请启用服务端开关。";
    $("#hardwareBadge").className = `status-badge ${hardwareExecutionReady ? "" : "danger"}`.trim();
-    $("#hardwareBadge").innerHTML = linkedHardwareReady
+    $("#hardwareBadge").innerHTML = ch1DriverOnly && vehicleHardwareReady && !seatHardwareReady
+      ? '<i data-lucide="shield-check"></i>CH1 车端已配置'
+      : linkedHardwareReady
      ? '<i data-lucide="shield-check"></i>双通道已配置'
      : seatHardwareReady
        ? '<i data-lucide="shield-check"></i>座椅台架已配置'
      : '<i data-lucide="shield-off"></i>硬件锁定';
-    $("#hardwareCoverage").textContent = linkedHardwareReady
-      ? `CH0 座椅 + CH${vehicleCan.channel} 车身 · ${approvalText}${accessText}${concurrencyText}`
+    $("#hardwareCoverage").textContent = ch1DriverOnly && vehicleHardwareReady && !seatHardwareReady
+      ? `CH1 主驾 + 车端设备 · 物理字段回读${accessText}${concurrencyText}`
+      : linkedHardwareReady
+      ? `CH0 座椅 + CH${vehicleCan.channel} 车身${accessText}${concurrencyText}`
      : seatHardwareReady
        ? `CH${hardware.channel} 座椅 · 物理反馈${accessText}${concurrencyText}`
        : "已阻断";
@@ -3795,6 +3917,9 @@ async function loadRuntime() {
 }

 async function synchronizePhysicalSeatState() {
+  if (state.runtime?.vehicle_can?.target_policy === "ch1_body_can_driver_only") {
+    return false;
+  }
  if (!state.runtime?.hardware?.configured) return false;
  const query = new URLSearchParams({
    conversation_id: state.conversationId,
@@ -4053,11 +4178,26 @@ function renderSeatState(actuatorState) {
      }
      const item = $(`.seat-card[data-seat="${seat}"] [data-function="${feature}"]`);
      if (!item) return;
+      if (feature === "massage") {
+        const mode = String(value.mode || "off");
+        const strength = String(value.strength || "off");
+        const active = !["off", "unknown", ""].includes(mode)
+          || !["off", "unknown", ""].includes(strength);
+        item.classList.toggle("on", active);
+        $("b", item).textContent = active
+          ? `${mode.toUpperCase()} · ${strength.toUpperCase()}`
+          : "OFF";
+        return;
+      }
      item.classList.toggle("on", value.state === "on");
      $("b", item).textContent = value.state === "on" ? `ON · L${value.level}` : "OFF";
    });
  });
-  updateSeatTwin(mergedActuatorState);
+  const twinActuatorState = state.runtime?.vehicle_can?.target_policy === "ch1_body_can_driver_only"
+    && mergedActuatorState.driver
+    ? { ...mergedActuatorState, passenger: mergedActuatorState.driver }
+    : mergedActuatorState;
+  updateSeatTwin(twinActuatorState);
 }

 function renderDomainState(domainState) {
@@ -4103,7 +4243,11 @@ function renderDomainState(domainState) {
    const vehicleSystems = state.seatTwin?.vehicleSystems;
    if (vehicleSystems) {
      vehicleSystems.targets.climateLevel = Math.max(0, Math.min(7, Number(climate.fan_level) || 0));
-      vehicleSystems.targets.climateTemperature = Number(passengerTemperature) || 24;
+      vehicleSystems.targets.climateTemperature = Number(
+        state.runtime?.vehicle_can?.target_policy === "ch1_body_can_driver_only"
+          ? driverTemperature
+          : passengerTemperature,
+      ) || 24;
    }
  }

@@ -4130,10 +4274,19 @@ function renderDomainState(domainState) {
  const ambient = domainState.ambient_light;
  if (ambient) {
    const active = ambient.power === "on";
-    const color = /^#[0-9A-Fa-f]{6}$/.test(ambient.color_hex || "")
+    const indexedPhysicalColor = ambient.feedback_source === "physical_can_ch1"
+      && Number.isInteger(ambient.front_color_index);
+    const color = indexedPhysicalColor
+      ? "#D6DCE0"
+      : /^#[0-9A-Fa-f]{6}$/.test(ambient.color_hex || "")
      ? ambient.color_hex.toUpperCase()
      : "#74D9FF";
-    const brightness = Math.max(0, Math.min(100, Number(ambient.brightness_pct) || 0));
+    const physicalBrightness = Number(ambient.front_brightness_level);
+    const brightness = Math.max(0, Math.min(100,
+      Number.isFinite(physicalBrightness) && ambient.feedback_source === "physical_can_ch1"
+        ? physicalBrightness * 20
+        : Number(ambient.brightness_pct) || 0,
+    ));
    const opacity = active ? Math.max(0.18, brightness / 100) : 0.08;
    const modeLabels = {
      camping: "露营",
@@ -4145,14 +4298,18 @@ function renderDomainState(domainState) {
      on: "开启",
      off: "关闭",
    };
-    $('[data-domain-panel="ambient_light"]').classList.toggle("active", active);
-    $("#ambientPower").textContent = active ? "ON" : "OFF";
+    const lightPanel = $('[data-domain-panel="ambient_light"]');
+    lightPanel.dataset.ambientPower = ambient.power || "unknown";
    $$(".ambient-line").forEach((line) => {
      line.style.background = color;
      line.style.boxShadow = `0 0 ${Math.round(5 + brightness / 8)}px ${color}`;
      line.style.opacity = String(opacity);
    });
-    $("#ambientMode").textContent = modeLabels[ambient.mode] || ambient.mode || "自定义";
+    $("#ambientMode").textContent = indexedPhysicalColor
+      ? (active ? "开启（车端色号）" : "关闭")
+      : modeLabels[ambient.mode] || ambient.mode || "自定义";
+    $("#ambientBrightness").textContent = `${ambient.front_brightness_level ?? "-"} / ${ambient.rear_brightness_level ?? "-"}`;
+    $("#ambientColorIndex").textContent = `${ambient.front_color_index ?? "-"} / ${ambient.rear_color_index ?? "-"}`;
    const vehicleSystems = state.seatTwin?.vehicleSystems;
    if (vehicleSystems) {
      vehicleSystems.targets.ambientPower = active ? 1 : 0;
@@ -4161,6 +4318,22 @@ function renderDomainState(domainState) {
    }
  }

+  const interiorLight = domainState.interior_light;
+  if (interiorLight) {
+    const lightPanel = $('[data-domain-panel="ambient_light"]');
+    lightPanel.dataset.interiorPower = interiorLight.power || "unknown";
+    $("#interiorLightPower").textContent = interiorLight.power === "on" ? "开启" : "关闭";
+  }
+  if (ambient || interiorLight) {
+    const lightPanel = $('[data-domain-panel="ambient_light"]');
+    const ambientOn = lightPanel.dataset.ambientPower === "on";
+    const interiorOn = lightPanel.dataset.interiorPower === "on";
+    lightPanel.classList.toggle("active", ambientOn || interiorOn);
+    $("#ambientPower").textContent = ambientOn
+      ? "AMBIENT"
+      : interiorOn ? "INTERIOR" : "OFF";
+  }
+
  const windowState = domainState.window || domainState.windows;
  if (windowState) {
    const readWindowPosition = (key) => {
@@ -4290,7 +4463,8 @@ const CONFIG_CAPABILITY_LABELS = {
  "climate.set_outlet_mode": "设置出风模式",
  "climate.set_front_defrost": "设置前风挡除霜",
  "climate.set_control_mode": "设置空调控制模式",
-  "door.set_rear_lock": "设置后排门锁",
+  "door.set_vehicle_lock": "整车门锁（当前 CH1 仅观测）",
+  "door.set_rear_lock": "二排门锁（当前 CH1 仅观测、已停用）",
  "window.set_motion": "控制车窗动作",
  "window.set_position": "设置车窗开度",
  "outlet.set_position_percent": "设置电动风口位置",
@@ -4602,7 +4776,9 @@ function renderExecution(result) {
    : simulatedHil
      ? `${executedDomains.join(" / ")} 已完成隔离 HIL 仿真，未访问物理 CAN`
    : physical
-      ? `${executedDomains.join(" / ")} 已下发真实 CAN，并以 IAR 固件实际反馈确认 ${operationResults.filter((item) => item.status === "succeeded").length} 个步骤`
+      ? state.runtime?.vehicle_can?.target_policy === "ch1_body_can_driver_only"
+        ? `${executedDomains.join(" / ")} 已通过 CH1 下发，并以车端状态字段确认 ${operationResults.filter((item) => item.status === "succeeded").length} 个步骤`
+        : `${executedDomains.join(" / ")} 已下发真实 CAN，并以 IAR 固件实际反馈确认 ${operationResults.filter((item) => item.status === "succeeded").length} 个步骤`
      : `${executedDomains.join(" / ")} 共 ${report.spec.results.length} 个操作已完成 CAN 编码与虚拟执行`;
  if (partiallySucceeded) {
    executionDetail = `部分执行完成：${succeededDomains.join(" / ")} 成功 ${succeededOperations.length} 项；${failedDomains.join(" / ")} 未完成 ${failedOperations.length} 项，失败设备未阻断其他设备`;
@@ -4682,12 +4858,67 @@ function renderExecution(result) {
  refreshIcons();
 }

+function physicalCh1StatePatch(value) {
+  if (!value || typeof value !== "object" || Array.isArray(value)) return null;
+  if (value.source === "physical_can_ch1" || value.feedback_source === "physical_can_ch1") {
+    return value;
+  }
+  const patch = {};
+  Object.entries(value).forEach(([key, item]) => {
+    const child = physicalCh1StatePatch(item);
+    if (child) patch[key] = child;
+  });
+  return Object.keys(patch).length ? patch : null;
+}
+
+function isAuthoritativeVehicleStatePayload(payload) {
+  if (!payload || typeof payload !== "object") return false;
+  if (payload.conversation_id !== state.conversationId) return false;
+  return Boolean(
+    physicalCh1StatePatch(payload.actuator_state)
+    || physicalCh1StatePatch(payload.domain_state),
+  );
+}
+
+function applyAuthoritativeVehicleState(payload) {
+  if (!isAuthoritativeVehicleStatePayload(payload)) return false;
+  const turn = Number(payload.conversation_turn);
+  if (Number.isFinite(turn) && turn < state.vehicleStateTurn) return false;
+  if (Number.isFinite(turn)) state.vehicleStateTurn = turn;
+  const actuatorPatch = physicalCh1StatePatch(payload.actuator_state);
+  const domainPatch = physicalCh1StatePatch(payload.domain_state);
+  const previousActuatorState = state.vehicleStateSnapshot?.actuatorState || null;
+  state.vehicleStateSnapshot = {
+    conversationId: payload.conversation_id,
+    conversationTurn: Number.isFinite(turn) ? turn : null,
+    requestId: payload.request_id || null,
+    actuatorState: actuatorPatch
+      ? mergeSeatActuatorState(previousActuatorState, actuatorPatch)
+      : previousActuatorState,
+    domainState: domainPatch,
+  };
+  if (actuatorPatch?.driver) {
+    state.seatFeedbackSource = "physical_can_ch1";
+  }
+  renderSeatState(actuatorPatch);
+  renderDomainState(domainPatch);
+  updateSeatFeedbackModeLabel();
+  return true;
+}
+
+window.addEventListener("cognitive-agent:extension-vehicle-result", (event) => {
+  applyAuthoritativeVehicleState(event.detail);
+});
+
 function renderResult(result) {
  state.result = result;
  const reportMode = result.execution_report?.spec?.mode;
  const feedbackSource = result.execution_report?.metadata?.labels?.seat_feedback;
  if (feedbackSource === "simulated_hardware") {
    state.seatFeedbackSource = "simulated_hardware";
+  } else if (feedbackSource === "physical_can_ch1"
+    && isAuthoritativeVehicleStatePayload(result)) {
+    state.seatFeedbackSource = "physical_can_ch1";
  } else if (reportMode === "hil") {
    state.seatFeedbackSource = result.execution_report?.spec?.physical_state?.complete
      ? "physical_can"
@@ -4726,9 +4957,15 @@ function renderResult(result) {
  renderDecision(result);
  renderTrace(result.trace_events || []);
  renderValidation(result.validation || []);
-  renderSeatState(result.actuator_state);
-  updateSeatFeedbackModeLabel();
-  renderDomainState(result.domain_state);
+  const ch1HardwareResult = reportMode === "hil"
+    && state.runtime?.vehicle_can?.target_policy === "ch1_body_can_driver_only";
+  if (ch1HardwareResult) {
+    applyAuthoritativeVehicleState(result);
+  } else {
+    renderSeatState(result.actuator_state);
+    renderDomainState(result.domain_state);
+    updateSeatFeedbackModeLabel();
+  }
  updateTwinExplicitAngles(result);
  renderSavedPresets(result);
  if (result.mode_profile) loadRuntime();
@@ -4744,7 +4981,9 @@ async function submitRequest(event) {
    showToast("请输入车舱控制请求");
    return;
  }
+  const driverOnlyCh1 = isDriverOnlyCh1Runtime();
  if (state.executionMode === "hardware"
+    && !driverOnlyCh1
    && !isLocalDecisionHost()
    && state.hardwareAccess?.state !== "approved") {
    showToast(state.hardwareAccess?.state === "pending"
@@ -4760,14 +4999,6 @@ async function submitRequest(event) {
  setRunStatus("processing", "PROCESSING");
  $("#resultTitle").textContent = "正在执行车舱编排";
  startProgress();
-  const approvalTokenInput = $("#approvalToken");
-  const approvalRequired = state.executionMode === "hardware"
-    && Boolean(state.runtime?.hardware?.approval_required);
-  const approvalToken = approvalRequired
-    ? approvalTokenInput?.value || ""
-    : null;
-  if (approvalTokenInput) approvalTokenInput.value = "";
-
  try {
    const response = await apiRequest("/api/requests", {
      method: "POST",
@@ -4779,15 +5010,12 @@ async function submitRequest(event) {
        conversation_id: state.conversationId,
        vehicle_id: state.vehicleId || state.runtime?.default_vehicle_id,
        execution_mode: state.executionMode,
-        ...(state.executionMode === "hardware"
+        ...(state.executionMode === "hardware" && !driverOnlyCh1
          ? { hardware_client_id: state.hardwareClientId }
          : {}),
        ...(state.executionMode === "simulated_hardware"
          ? { simulation_fault: $("#simulationFault").value }
          : {}),
-        ...(approvalRequired
-          ? { approval_token: approvalToken }
-          : {}),
      }),
    });
    const payload = await response.json();
@@ -4839,11 +5067,8 @@ async function submitRequest(event) {
  } finally {
    button.disabled = false;
    button.classList.remove("loading");
-    const hardwareLabel = state.runtime?.hardware?.approval_required
-      ? "授权并真实执行"
-      : "真实执行";
    const buttonLabel = state.executionMode === "hardware"
-      ? hardwareLabel
+      ? "真实执行"
      : state.executionMode === "simulated_hardware" ? "运行故障仿真" : "生成并执行";
    button.innerHTML = `<i data-lucide="play"></i><span>${buttonLabel}</span>`;
    refreshIcons();
@@ -4923,6 +5148,9 @@ window.CognitiveAgentConsole = {
  getExecutionMode() {
    return state.executionMode;
  },
+  getConversationId() {
+    return state.conversationId;
+  },
  getResult() {
    return state.result;
  },
@@ -4982,11 +5210,13 @@ document.addEventListener("DOMContentLoaded", async () => {
  $$('[data-download]').forEach((button) => button.addEventListener("click", () => downloadArtifact(button.dataset.download)));
  await loadAuthStatus();
  await loadRuntime();
-  await loadHardwareAccessStatus({ silent: true });
-  state.hardwareAccessPoller = window.setInterval(
-    () => loadHardwareAccessStatus({ silent: true }),
-    3000,
-  );
+  if (!isDriverOnlyCh1Runtime()) {
+    await loadHardwareAccessStatus({ silent: true });
+    state.hardwareAccessPoller = window.setInterval(
+      () => loadHardwareAccessStatus({ silent: true }),
+      3000,
+    );
+  }
  await synchronizePhysicalSeatState();
  if (new URLSearchParams(window.location.search).get("autorun") === "1") {
    $("#requestForm").requestSubmit();