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优化无线/有线CAN，以及控制指令解析

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minghanchen
2026-08-26 20:11:09 +08:00
parent 9ac8fdface
commit 4a0570706f
49 changed files with 8409 additions and 1289 deletions
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config/can_protocol/semantic_protocol.json
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{
"schema": "cognitive-agent-can-semantic-protocol/v1",
"version": "1.0.0",
"description": "Single source of truth for CAN0/CAN1 semantic commands and transport metadata. Frame encoders and feedback algorithms remain named special handlers when they require stateful closed-loop behavior.",
"channels": {
"0": {
"name": "passenger_seat_can",
"frame_format": "classic_can",
"bitrate": 500000
},
"1": {
"name": "vehicle_body_can",
"frame_format": "mixed",
"arbitration_bitrate": 500000,
"data_bitrate": 2000000
}
},
"rules": [
{
"id": "can0.seat.position",
"channel": 0,
"domain": "seat",
"capabilities": [
"seat.set_longitudinal_position",
"seat.set_cushion_tilt",
"seat.set_backrest_recline",
"seat.set_legrest_height"
],
"help": "seat passenger <horizontal|basin|backrest|legrest> position <0-100>",
"patterns": [
[
{"literal": "seat"},
{"literal": "passenger"},
{"enum": "axis", "values": ["horizontal", "longitudinal", "basin", "height", "backrest", "legrest"]},
{"literal": "position"},
{"integer": "position_pct", "minimum": 0, "maximum": 100}
]
],
"frames": [
{
"key": "move",
"frame_id": "0x300",
"format": "classic_can",
"brs": false,
"dlc": 8,
"template_kind": "can0_motion_fields",
"base_payload_hex": "00 10 00 00 00 00 00 00",
"fields": {
"opcode": {"start_bit": 0, "bit_length": 8, "absolute": 1, "home_zero": 11},
"motor": {"start_bit": 8, "bit_length": 2, "values": {"horizontal": 0, "longitudinal": 0, "basin": 1, "height": 1, "backrest": 2, "legrest": 3}},
"protocol_version": {"start_bit": 12, "bit_length": 2, "constant": 1},
"sequence": {"start_bit": 16, "bit_length": 16, "runtime_allocated": true},
"param_a": {"start_bit": 32, "bit_length": 16, "scale": 100, "home_key": 19282},
"param_b": {"start_bit": 48, "bit_length": 16, "absolute_timeout_ms": 30000, "home_timeout_s": 120}
},
"repeat": {"kind": "fixed", "count": 1, "period_ms": 0},
"feedback_ids": ["0x301", "0x302"],
"feedback_policy": "ack_then_motor_terminal"
}
],
"special_handler": "can0_absolute_position",
"evidence": "passenger_firmware_hil_verified"
},
{
"id": "can0.seat.relative",
"channel": 0,
"domain": "seat",
"capabilities": [
"seat.set_longitudinal_position",
"seat.set_cushion_tilt",
"seat.set_backrest_recline",
"seat.set_legrest_height"
],
"help": "seat passenger <axis> relative <direction> <1-100>",
"patterns": [
[{"literal": "seat"}, {"literal": "passenger"}, {"enum": "axis", "values": ["horizontal", "longitudinal"]}, {"literal": "relative"}, {"enum": "direction", "values": ["forward", "backward"]}, {"integer": "delta_pct", "minimum": 1, "maximum": 100}],
[{"literal": "seat"}, {"literal": "passenger"}, {"enum": "axis", "values": ["basin", "height"]}, {"literal": "relative"}, {"enum": "direction", "values": ["up", "down"]}, {"integer": "delta_pct", "minimum": 1, "maximum": 100}],
[{"literal": "seat"}, {"literal": "passenger"}, {"literal": "backrest"}, {"literal": "relative"}, {"enum": "direction", "values": ["forward", "backward"]}, {"integer": "delta_pct", "minimum": 1, "maximum": 100}],
[{"literal": "seat"}, {"literal": "passenger"}, {"literal": "legrest"}, {"literal": "relative"}, {"enum": "direction", "values": ["up", "down"]}, {"integer": "delta_pct", "minimum": 1, "maximum": 100}]
],
"frames": [
{
"key": "move",
"frame_id": "0x300",
"format": "classic_can",
"brs": false,
"dlc": 8,
"template_kind": "can0_relative_closed_loop_or_timed_fallback",
"base_payload_hex": "03 10 00 00 00 00 00 00",
"fields": {
"closed_loop_opcode": 1,
"timed_fallback_opcode": 3,
"timed_fallback_max_delta_pct": 15,
"direction_values": {"increase": 1, "decrease": 2}
},
"repeat": {"kind": "fixed", "count": 1, "period_ms": 0},
"feedback_ids": ["0x301", "0x302"],
"feedback_policy": "fresh_position_then_ack_then_motor_terminal"
}
],
"special_handler": "can0_relative_position",
"evidence": "passenger_firmware_hil_verified"
},
{
"id": "can0.seat.thermal",
"channel": 0,
"domain": "seat",
"capabilities": ["seat.set_ventilation", "seat.set_heating"],
"help": "seat passenger <vent|heat> <off|low|medium|high>",
"patterns": [
[{"literal": "seat"}, {"literal": "passenger"}, {"enum": "feature", "values": ["vent", "heat"]}, {"enum": "level", "values": ["off", "low", "medium", "high"]}]
],
"frames": [
{
"key": "thermal_mode",
"frame_id": "0x3CE",
"format": "classic_can",
"brs": false,
"dlc": 8,
"template_kind": "can0_heating_mode_optional",
"base_payload_hex": "10 00 00 00 00 00 00 00",
"repeat": {"kind": "fixed", "count": 1, "period_ms": 0},
"feedback_ids": ["0x4FA"],
"optional_when": "heating_on"
},
{
"key": "thermal_control",
"frame_id": "0x29E",
"format": "classic_can",
"brs": false,
"dlc": 8,
"template_kind": "can0_thermal_bit_fields",
"base_payload_hex": "00 00 00 00 00 00 00 00",
"repeat": {"kind": "fixed", "count": 1, "period_ms": 0},
"feedback_ids": ["0x4FA"],
"feedback_policy": "thermal_state_match"
}
],
"special_handler": "can0_thermal_preserve_peer_feature",
"evidence": "passenger_firmware_hil_verified"
},
{
"id": "can0.seat.dynamic",
"channel": 0,
"domain": "seat",
"capabilities": ["seat.start_dynamic_mode", "seat.stop_dynamic_mode"],
"help": "seat passenger dynamic <rocking-horse|cradle|stop>",
"patterns": [
[{"literal": "seat"}, {"literal": "passenger"}, {"literal": "dynamic"}, {"enum": "mode", "values": ["rocking-horse", "cradle", "stop"]}],
[{"literal": "seat"}, {"literal": "passenger"}, {"literal": "dynamic"}, {"literal": "start"}, {"enum": "mode", "values": ["rocking-horse", "cradle"]}]
],
"frames": [
{
"key": "dynamic",
"frame_id": "0x300",
"format": "classic_can",
"brs": false,
"dlc": 8,
"template_kind": "can0_dynamic_fields",
"base_payload_hex": "0E 10 00 00 00 00 00 00",
"fields": {"start_opcode": 14, "stop_opcode": 15, "mode_values": {"rocking-horse": 1, "cradle": 2, "stop": 0}},
"repeat": {"kind": "fixed", "count": 1, "period_ms": 0},
"feedback_ids": ["0x301", "0x306"],
"feedback_policy": "ack_then_dynamic_state"
}
],
"special_handler": "can0_dynamic_mode",
"evidence": "passenger_firmware_hil_verified"
},
{
"id": "can1.door.rear_lock",
"channel": 1,
"domain": "door",
"capabilities": ["door.set_rear_lock"],
"help": "door rear <lock|unlock>",
"patterns": [[{"literal": "door"}, {"literal": "rear"}, {"enum": "state", "values": ["lock", "unlock"]}]],
"frames": [{"key": "command", "frame_id": "0x32B", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "bit_fields", "base_payload_hex": "0A 00 00 00 00 00 00 00", "fields": {"state": {"start_bit": 14, "bit_length": 2, "values": {"lock": 1, "unlock": 2}}}, "repeat": {"kind": "fixed", "count": 1, "period_ms": 0}, "feedback_ids": ["0x407"], "feedback_policy": "rear_lock_state_match"}],
"evidence": "matrix_candidate_with_feedback"
},
{
"id": "can1.window.motion",
"channel": 1,
"domain": "window",
"capabilities": ["window.set_motion"],
"help": "window <all|front|rear|front-left|front-right|rear-left|rear-right> <open|close|stop>",
"patterns": [[{"literal": "window"}, {"enum": "target", "values": ["all", "front", "rear", "front-left", "front-right", "rear-left", "rear-right"]}, {"enum": "motion", "values": ["open", "close", "stop"]}]],
"frames": [{"key": "command", "frame_id": "0x431", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "window_motion_bit_fields", "base_payload_hex": "00 00 00 00 00 00 00 00", "fields": {"starts": [48, 56, 51, 59], "motion_values": {"open": 1, "close": 2, "stop": 3}}, "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x388"], "feedback_policy": "window_state_match"}],
"evidence": "vehicle_trace_verified"
},
{
"id": "can1.window.position",
"channel": 1,
"domain": "window",
"capabilities": ["window.set_position"],
"help": "window <front-left|front-right|rear-left|rear-right> position <0-100>",
"patterns": [[{"literal": "window"}, {"enum": "target", "values": ["front-left", "front-right", "rear-left", "rear-right"]}, {"literal": "position"}, {"integer": "position_pct", "minimum": 0, "maximum": 100}]],
"frames": [{"key": "command", "frame_id": "0x431", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "window_feedback_closed_loop", "base_payload_hex": "00 00 00 00 00 00 00 00", "repeat": {"kind": "special", "count": 1, "period_ms": 0}, "feedback_ids": ["0x388"], "feedback_policy": "fresh_position_then_motion_then_stop"}],
"special_handler": "window_position"
},
{
"id": "can1.climate.power",
"channel": 1,
"domain": "climate",
"capabilities": ["climate.set_power", "climate.set_ac"],
"help": "ac <on|off>",
"patterns": [[{"literal": "ac"}, {"enum": "state", "values": ["on", "off"]}]],
"frames": [{"key": "command", "frame_id": "0x1DE", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "bit_fields", "base_payload_hex": "00 00 00 00 00 00 00 00", "fields": {"state": {"start_bit": 28, "bit_length": 2, "values": {"on": 1, "off": 2}}}, "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x404"], "feedback_policy": "climate_power_match"}],
"evidence": "matrix_and_vehicle_trace_verified"
},
{
"id": "can1.climate.fan",
"channel": 1,
"domain": "climate",
"capabilities": ["climate.set_fan_level"],
"help": "ac fan <1-7>",
"patterns": [[{"literal": "ac"}, {"literal": "fan"}, {"integer": "level", "minimum": 1, "maximum": 7}]],
"frames": [{"key": "command", "frame_id": "0x1DE", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "bit_fields", "base_payload_hex": "00 00 00 00 00 00 00 00", "fields": {"level": {"start_bit": 4, "bit_length": 4}}, "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x404"], "feedback_policy": "climate_fan_match"}],
"evidence": "matrix_and_vehicle_trace_verified"
},
{
"id": "can1.climate.mode",
"channel": 1,
"domain": "climate",
"capabilities": ["climate.set_outlet_mode"],
"help": "ac mode <face|face-feet|feet|feet-defrost|defrost|face-feet-defrost|face-defrost>",
"patterns": [[{"literal": "ac"}, {"literal": "mode"}, {"enum": "mode", "values": ["face", "face-feet", "feet", "feet-defrost", "defrost", "face-feet-defrost", "face-defrost"]}]],
"frames": [{"key": "command", "frame_id": "0x1DE", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "bit_fields", "base_payload_hex": "00 00 00 00 00 00 00 00", "fields": {"mode": {"start_bit": 0, "bit_length": 4, "values": {"face": 1, "face-feet": 2, "feet": 3, "feet-defrost": 4, "defrost": 5, "face-feet-defrost": 6, "face-defrost": 7}}}, "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x404"], "feedback_policy": "climate_mode_match"}],
"evidence": "matrix_and_vehicle_trace_verified"
},
{
"id": "can1.climate.temperature",
"channel": 1,
"domain": "climate",
"capabilities": ["climate.set_temperature"],
"help": "ac temp <driver|passenger|rear> <18-32>",
"patterns": [[{"literal": "ac"}, {"literal": "temp"}, {"enum": "target", "values": ["driver", "passenger", "rear"]}, {"integer": "temperature_c", "minimum": 18, "maximum": 32}]],
"frames": [
{"key": "front", "frame_id": "0x1DE", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "climate_temperature", "base_payload_hex": "00 00 00 00 00 00 00 00", "fields": {"starts": {"driver": 32, "passenger": 40}}, "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x404"], "feedback_policy": "climate_temperature_match"},
{"key": "rear", "frame_id": "0x1DE", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "climate_temperature", "base_payload_hex": "00 00 00 00 00 00 00 00", "fields": {"starts": {"rear": 48}}, "repeat": {"kind": "fixed", "count": 1, "period_ms": 100}, "feedback_ids": ["0x404"], "feedback_policy": "climate_temperature_match"}
],
"evidence": "matrix_and_vehicle_trace_verified"
},
{
"id": "can1.climate.control",
"channel": 1,
"domain": "climate",
"capabilities": ["climate.set_control_mode"],
"help": "ac control <manual|auto>",
"patterns": [[{"literal": "ac"}, {"literal": "control"}, {"enum": "mode", "values": ["manual", "auto"]}]],
"frames": [{"key": "command", "frame_id": "0x1DE", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "bit_fields", "base_payload_hex": "00 00 00 00 00 00 00 00", "fields": {"mode": {"start_bit": 16, "bit_length": 2, "values": {"manual": 1, "auto": 2}}}, "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x404"], "feedback_policy": "climate_control_match"}],
"evidence": "matrix_and_vehicle_trace_verified"
},
{
"id": "can1.climate.cycle",
"channel": 1,
"domain": "climate",
"capabilities": ["climate.set_cycle_mode"],
"help": "ac cycle <internal|external>",
"patterns": [[{"literal": "ac"}, {"literal": "cycle"}, {"enum": "mode", "values": ["internal", "external"]}]],
"frames": [{"key": "command", "frame_id": "0x1DE", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "bit_fields", "base_payload_hex": "00 00 00 00 00 00 00 00", "fields": {"mode": {"start_bit": 19, "bit_length": 2, "values": {"internal": 1, "external": 2}}}, "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x404"], "feedback_policy": "climate_cycle_match"}],
"evidence": "matrix_and_vehicle_trace_verified"
},
{
"id": "can1.outlet.switch",
"channel": 1,
"domain": "outlet",
"capabilities": ["outlet.set_switch_state"],
"help": "outlet <driver-left|driver-right|passenger-left|passenger-right> <open|close>",
"patterns": [[{"literal": "outlet"}, {"enum": "target", "values": ["driver-left", "driver-right", "passenger-left", "passenger-right"]}, {"enum": "state", "values": ["open", "close"]}]],
"frames": [{
"key": "command", "frame_id": "0x4EF", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "static_variant", "base_payload_hex": "00 00 00 00 00 00 00 00",
"payload_variants": {
"driver-left:open": "02 FF FF FF FF 01 FF FF",
"driver-left:close": "02 FF FF FF FF 02 FF FF",
"driver-right:open": "02 FF FF FF FF 04 FF FF",
"driver-right:close": "02 FF FF FF FF 08 FF FF",
"passenger-left:open": "03 FF FF FF FF 01 00 00",
"passenger-left:close": "03 FF FF FF FF 02 00 00",
"passenger-right:open": "03 FF FF FF FF 04 00 00",
"passenger-right:close": "03 FF FF FF FF 08 00 00"
},
"repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x4BB", "0x37B"], "feedback_policy": "outlet_switch_state_match"
}],
"evidence": "vehicle_differential_trace_verified"
},
{
"id": "can1.outlet.percent",
"channel": 1,
"domain": "outlet",
"capabilities": ["outlet.set_position_percent"],
"help": "outlet <target> percent <0-100> <0-100>",
"patterns": [[{"literal": "outlet"}, {"enum": "target", "values": ["driver-left", "driver-right", "passenger-left", "passenger-right"]}, {"literal": "percent"}, {"integer": "horizontal_pct", "minimum": 0, "maximum": 100}, {"integer": "vertical_pct", "minimum": 0, "maximum": 100}]],
"frames": [{"key": "command", "frame_id": "0x4EF", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "outlet_calibrated_coordinates", "base_payload_hex": "00 FF FF FF FF 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x2F5", "0x37B"], "feedback_policy": "outlet_position_match"}],
"special_handler": "outlet_percent_to_calibrated_position"
},
{
"id": "can1.outlet.position",
"channel": 1,
"domain": "outlet",
"capabilities": ["outlet.set_calibrated_position"],
"help": "outlet <target> position <-128..126> <-128..126>",
"patterns": [[{"literal": "outlet"}, {"enum": "target", "values": ["driver-left", "driver-right", "passenger-left", "passenger-right"]}, {"literal": "position"}, {"integer": "horizontal_value", "minimum": -128, "maximum": 126}, {"integer": "vertical_value", "minimum": -128, "maximum": 126}]],
"frames": [{"key": "command", "frame_id": "0x4EF", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "outlet_calibrated_coordinates", "base_payload_hex": "00 FF FF FF FF 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x2F5", "0x37B"], "feedback_policy": "outlet_position_match"}],
"special_handler": "outlet_calibrated_position"
},
{
"id": "can1.seat.driver_thermal",
"channel": 1,
"domain": "seat",
"capabilities": ["seat.set_driver_ventilation_native", "seat.set_driver_heating_native"],
"help": "seat driver <vent|heat> <off|low|high>",
"patterns": [[{"literal": "seat"}, {"literal": "driver"}, {"enum": "feature", "values": ["vent", "heat"]}, {"enum": "level", "values": ["off", "low", "high"]}]],
"frames": [{"key": "command", "frame_id": "0x431", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "driver_seat_thermal", "base_payload_hex": "00 00 00 00 00 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x4FA"], "feedback_policy": "driver_seat_thermal_match"}],
"evidence": "vehicle_trace_verified"
},
{
"id": "can1.seat.driver_massage",
"channel": 1,
"domain": "seat",
"capabilities": ["seat.set_driver_massage_native"],
"help": "seat driver massage <off|strength weak|medium|strong|mode wave|pulse|stretch|slack|relax>",
"patterns": [
[{"literal": "seat"}, {"literal": "driver"}, {"literal": "massage"}, {"literal": "off"}],
[{"literal": "seat"}, {"literal": "driver"}, {"literal": "massage"}, {"literal": "strength"}, {"enum": "strength", "values": ["weak", "medium", "strong"]}],
[{"literal": "seat"}, {"literal": "driver"}, {"literal": "massage"}, {"literal": "mode"}, {"enum": "mode", "values": ["wave", "pulse", "stretch", "slack", "relax"]}]
],
"frames": [{"key": "command", "frame_id": "0x4C1", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "driver_seat_massage", "base_payload_hex": "12 00 00 00 00 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x4FA"], "feedback_policy": "driver_seat_massage_match"}],
"evidence": "vehicle_trace_verified"
},
{
"id": "can1.seat.driver_axis",
"channel": 1,
"domain": "seat",
"capabilities": ["seat.set_driver_axis_native"],
"help": "seat driver <horizontal|height|backrest|basin> <direction|stop> [100-2000]",
"patterns": [
[{"literal": "seat"}, {"literal": "driver"}, {"enum": "axis", "values": ["horizontal", "backrest"]}, {"enum": "direction", "values": ["forward", "backward"]}],
[{"literal": "seat"}, {"literal": "driver"}, {"enum": "axis", "values": ["horizontal", "backrest"]}, {"enum": "direction", "values": ["forward", "backward"]}, {"integer": "duration_ms", "minimum": 100, "maximum": 2000}],
[{"literal": "seat"}, {"literal": "driver"}, {"enum": "axis", "values": ["height", "basin"]}, {"enum": "direction", "values": ["up", "down"]}],
[{"literal": "seat"}, {"literal": "driver"}, {"enum": "axis", "values": ["height", "basin"]}, {"enum": "direction", "values": ["up", "down"]}, {"integer": "duration_ms", "minimum": 100, "maximum": 2000}],
[{"literal": "seat"}, {"literal": "driver"}, {"enum": "axis", "values": ["horizontal", "height", "backrest", "basin"]}, {"literal": "stop"}]
],
"frames": [
{"key": "motion", "frame_id": "0x4C1", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "driver_seat_axis", "base_payload_hex": "05 00 00 00 00 00 00 00", "repeat": {"kind": "duration_ceiling", "count": 0, "period_ms": 100, "default_duration_ms": 500}, "feedback_ids": ["0x494"], "feedback_policy": "activity_then_forced_stop"},
{"key": "stop", "frame_id": "0x4C1", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "static", "base_payload_hex": "05 00 00 00 00 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x494"], "feedback_policy": "submitted_stop"}
],
"special_handler": "driver_seat_axis"
},
{
"id": "can1.seat.driver_memory",
"channel": 1,
"domain": "seat",
"capabilities": ["seat.set_driver_position_native", "seat.recall_driver_memory_native"],
"help": "seat driver position <1-3> | seat driver memory recall <1-3>",
"patterns": [
[{"literal": "seat"}, {"literal": "driver"}, {"literal": "position"}, {"integer": "slot", "minimum": 1, "maximum": 3}],
[{"literal": "seat"}, {"literal": "driver"}, {"literal": "memory"}, {"literal": "recall"}, {"integer": "slot", "minimum": 1, "maximum": 3}]
],
"frames": [{"key": "sequence", "frame_id": "0x4C1", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "learned_driver_memory_pair", "base_payload_hex": "16 00 00 00 00 00 00 00", "repeat": {"kind": "sequence", "count": 20, "period_ms": 50}, "feedback_ids": ["0x494"], "feedback_policy": "fresh_initialized_status_then_post_status"}],
"special_handler": "driver_seat_memory_recall"
},
{
"id": "can1.light.indoor",
"channel": 1,
"domain": "light",
"capabilities": ["interior_light.set_indoor_power"],
"help": "light indoor <on|off>",
"patterns": [[{"literal": "light"}, {"literal": "indoor"}, {"enum": "state", "values": ["on", "off"]}]],
"frames": [{"key": "command", "frame_id": "0x4F5", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "reading_light_all", "base_payload_hex": "00 00 03 FF FF 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x42E"], "feedback_policy": "indoor_light_match"}],
"evidence": "vehicle_trace_verified"
},
{
"id": "can1.light.reading_all",
"channel": 1,
"domain": "light",
"capabilities": ["interior_light.set_reading_power"],
"help": "light reading all <on|off>",
"patterns": [[{"literal": "light"}, {"literal": "reading"}, {"literal": "all"}, {"enum": "state", "values": ["on", "off"]}]],
"frames": [{"key": "command", "frame_id": "0x4F5", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "reading_light_all", "base_payload_hex": "00 00 03 FF FF 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x42E"], "feedback_policy": "indoor_light_match"}],
"evidence": "vehicle_trace_verified"
},
{
"id": "can1.light.ambient_power",
"channel": 1,
"domain": "light",
"capabilities": ["ambient_light.set_power"],
"help": "light ambient <on|off>",
"patterns": [[{"literal": "light"}, {"literal": "ambient"}, {"enum": "state", "values": ["on", "off"]}]],
"frames": [{"key": "command", "frame_id": "0x3FC", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "static_variant", "base_payload_hex": "00 00 00 00 00 00 00 00", "payload_variants": {"on": "00 36 00 75 00 80 00 00", "off": "00 31 00 75 00 80 00 00"}, "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x42E"], "feedback_policy": "ambient_power_match"}],
"evidence": "vehicle_trace_verified"
},
{
"id": "can1.light.ambient_color",
"channel": 1,
"domain": "light",
"capabilities": ["ambient_light.set_color_index"],
"help": "light ambient color <1-127>",
"patterns": [[{"literal": "light"}, {"literal": "ambient"}, {"literal": "color"}, {"integer": "color_index", "minimum": 1, "maximum": 127}]],
"frames": [{"key": "command", "frame_id": "0x3FC", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "ambient_color", "base_payload_hex": "00 30 00 75 00 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x42E"], "feedback_policy": "ambient_color_match"}],
"evidence": "vehicle_trace_verified"
},
{
"id": "can1.light.ambient_brightness",
"channel": 1,
"domain": "light",
"capabilities": ["ambient_light.set_brightness_level"],
"help": "light ambient brightness <1-5>",
"patterns": [[{"literal": "light"}, {"literal": "ambient"}, {"literal": "brightness"}, {"integer": "brightness_level", "minimum": 1, "maximum": 5}]],
"frames": [{"key": "command", "frame_id": "0x3FC", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "ambient_brightness", "base_payload_hex": "00 30 00 75 00 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x42E"], "feedback_policy": "ambient_brightness_match"}],
"evidence": "vehicle_trace_verified"
},
{
"id": "can1.shade.motion",
"channel": 1,
"domain": "roof",
"capabilities": ["roof.set_shade_motion"],
"help": "shade <open|close|half|stop>",
"patterns": [[{"literal": "shade"}, {"enum": "motion", "values": ["open", "close", "half", "stop"]}]],
"frames": [{"key": "command", "frame_id": "0x431", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "static_variant", "base_payload_hex": "00 00 00 00 00 00 00 00", "payload_variants": {"open": "10 00 00 00 00 00 00 00", "close": "20 00 00 00 00 00 00 00", "half": "30 00 00 00 00 00 00 00", "stop": "40 00 00 00 00 00 00 00"}, "repeat": {"kind": "fixed", "count": 1, "period_ms": 0}, "feedback_ids": ["0x41A"], "feedback_policy": "shade_position_or_stop_submission"}],
"special_handler": "shade_preset"
},
{
"id": "can1.shade.position",
"channel": 1,
"domain": "roof",
"capabilities": ["roof.set_shade_position"],
"help": "shade position <0-100>",
"patterns": [[{"literal": "shade"}, {"literal": "position"}, {"integer": "position_pct", "minimum": 0, "maximum": 100}]],
"frames": [{"key": "command", "frame_id": "0x431", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "shade_feedback_closed_loop", "base_payload_hex": "40 00 00 00 00 00 00 00", "repeat": {"kind": "special", "count": 1, "period_ms": 0}, "feedback_ids": ["0x41A"], "feedback_policy": "fresh_position_then_motion_then_stop"}],
"special_handler": "shade_position"
}
]
}
config/environments/linux_wired_dual_channel.example.env
+24
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@@ -0,0 +1,24 @@
# Linux USBCANFD-200U wired dual-channel N7 runtime.
COGNITIVE_AGENT_VEHICLE_CAN_ENABLED=true
COGNITIVE_AGENT_VEHICLE_CAN_BACKEND=zlgcan-linux
COGNITIVE_AGENT_VEHICLE_CAN_CHANNEL=1
COGNITIVE_AGENT_VEHICLE_CAN_REQUIRED_CHANNEL=1
COGNITIVE_AGENT_VEHICLE_CAN_ARBITRATION_BITRATE=500000
COGNITIVE_AGENT_VEHICLE_CAN_DATA_BITRATE=2000000
COGNITIVE_AGENT_VEHICLE_CAN_TERMINATION_ENABLED=false
COGNITIVE_AGENT_WIRED_PASSENGER_CAN_ENABLED=true
COGNITIVE_AGENT_SEAT_CAN_BACKEND=zlgcan-linux
COGNITIVE_AGENT_SEAT_CAN_CHANNEL=0
COGNITIVE_AGENT_SEAT_CAN_BITRATE=500000
COGNITIVE_AGENT_SEAT_CAN_TERMINATION_ENABLED=false
COGNITIVE_AGENT_SEAT_AUTO_FLASH_ENABLED=false
COGNITIVE_AGENT_SEAT_POSITION_SYNC_ENABLED=false
COGNITIVE_AGENT_ZLGCAN_DEVICE_TYPE=33
COGNITIVE_AGENT_ZLGCAN_DEVICE_INDEX=0
COGNITIVE_AGENT_ZLGCAN_LINUX_LIBRARY=/home/orin/project511/project-code/canfd/libusbcanfd.so
COGNITIVE_AGENT_SHARED_CAN_RUNTIME_ENABLED=false
# Local supervised bench only. Keep token approval enabled for shared/remote use.
COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN_REQUIRED=false
config/native_can_capabilities/outlet.yaml
+12
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@@ -7,6 +7,18 @@ metadata:
spec:
domain: outlet
capabilities:
- name: outlet.set_switch_state
description: Open or close one front motorized air outlet using the byte-exact head-unit CAN FD request observed on the vehicle.
target_devices: [motorized_air_outlet]
target_scopes: [driver_left, driver_right, passenger_left, passenger_right]
parameters:
- name: state
type: string
required: true
allowed_values: [open, close]
description: Explicit switch state for exactly one air outlet.
risk_level: medium
confirmation_policy: on_ambiguity
- name: outlet.set_position_percent
description: Set both axes of one calibrated front air outlet using normalized percentages through vehicle CAN FD.
target_devices: [motorized_air_outlet]