优化后端和前端

src/cognitive_agent/infrastructure/can/mqtt_transport.py

@@ -411,6 +411,10 @@ def mqtt_control_payload(
             "data": frame.data.hex(" ").upper(),
             "repeat": 1,
             "intervalMs": 0,
+            # Vehicle state is consumed asynchronously from can/state by the
+            # Cognitive Agent. Do not serialize Android's command worker on a
+            # per-command response wait as well.
+            "expectResponse": False,
             "responseTimeoutMs": bounded_timeout_ms,
         },
         ensure_ascii=False,
@@ -788,14 +792,19 @@ class MqttCanTransport:
         )
         if int(getattr(result, "rc", 0)) != 0:
             raise CanGatewayError(f"MQTT CAN publish failed with code {result.rc}")
-        if hasattr(result, "wait_for_publish"):
-            published = result.wait_for_publish(timeout=2.0)
-            if published is False:
-                raise CanGatewayError("MQTT CAN publish confirmation timed out")
+        # Paho already accepted the payload into its network-loop queue when
+        # publish() returns rc == MQTT_ERR_SUCCESS.  Waiting here serializes
+        # every repeated CAN frame and previously added up to two seconds per
+        # frame.  Observe an already-available acknowledgement without ever
+        # blocking the control pipeline.
+        is_published = getattr(result, "is_published", None)
+        broker_confirmed = bool(is_published()) if callable(is_published) else False
         return {
             "topic": self.settings.control_topic,
             "qos": self.settings.qos,
             "retain": False,
+            "delivery_status": "published" if broker_confirmed else "queued",
+            "message_id": getattr(result, "mid", None),
             "payload": json.loads(raw_payload),
         }
 
@@ -876,7 +885,7 @@ class MqttCanBus:
 
     @property
     def published_messages(self) -> tuple[dict[str, Any], ...]:
-        """Return this bus view's confirmed MQTT publications in send order."""
+        """Return this bus view's accepted MQTT publications in send order."""
 
         return tuple(deepcopy(self._published_messages))