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优化无线/有线CAN，以及控制指令解析

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This commit is contained in:
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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src/cognitive_agent/application/seat_service.py
+354 -49
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@@ -54,9 +54,12 @@ from cognitive_agent.application.model_plan_adapter import ( # noqa: E402
SEAT_MOTION_CAPABILITIES,
)
from cognitive_agent.application.mqtt_ota_seat_executor import ( # noqa: E402
MqttOtaSeatExecutor,
MqttNativeSeatExecutor,
)
from cognitive_agent.application.native_can_intent import ( # noqa: E402
DRIVER_SEAT_MASSAGE_CONTINUATION_PATTERN,
merge_native_can_intent,
)
from cognitive_agent.application.native_can_intent import merge_native_can_intent # noqa: E402
from cognitive_agent.application.direct_can_control import ( # noqa: E402
build_direct_can_intent,
)
@@ -103,7 +106,10 @@ from cognitive_agent.infrastructure.can.hardware import ( # noqa: E402
VehicleCanSettings,
VehicleMqttSettings,
)
from cognitive_agent.infrastructure.can.gateway import ZlgChannelConfig # noqa: E402
from cognitive_agent.infrastructure.can.gateway import ( # noqa: E402
ZlgCanBridgeProcess,
ZlgChannelConfig,
)
from cognitive_agent.infrastructure.can.mqtt_transport import ( # noqa: E402
MqttCanTransport,
)
@@ -153,6 +159,88 @@ def _wireless_mqtt_publish_preflight() -> dict[str, Any]:
}
EXECUTION_VERIFICATION_STATUSES = frozenset(
{"verified_success", "submitted_unverified", "failed_or_blocked"}
)
def _operation_verification_status(item: dict[str, Any]) -> str:
"""Classify one operation without conflating Tx and physical feedback."""
telemetry = item.get("telemetry", {})
explicit = str(telemetry.get("verification_status") or "")
if explicit in EXECUTION_VERIFICATION_STATUSES:
return explicit
if item.get("status") != "succeeded":
return "failed_or_blocked"
if (
telemetry.get("physical_effect_confirmed") is True
or telemetry.get("feedback_frame") is not None
or telemetry.get("hardware_feedback") is True
or telemetry.get("firmware_verified") is True
):
return "verified_success"
if (
telemetry.get("command_frame") is not None
or telemetry.get("delivery_status") in {"submitted", "queued", "published"}
):
return "submitted_unverified"
# Dry-run and control-plane operations are complete at their own evidence
# level and do not claim that a physical actuator moved.
return "verified_success"
def _annotate_execution_report(report: dict[str, Any]) -> tuple[str, bool]:
"""Add task-level evidence and normalize submission success.
Returns ``(verification_status, partially_succeeded)``. Support steps such
as firmware identity checks do not turn a failed requested operation into a
partially successful user task.
"""
spec = report.setdefault("spec", {})
results = [item for item in spec.get("results", []) if isinstance(item, dict)]
operation_results = [
item
for item in results
if item.get("ref") not in {"seat-controller-firmware"}
] or results
statuses_by_ref: dict[str, list[str]] = {}
for item in operation_results:
statuses_by_ref.setdefault(str(item.get("ref") or "operation"), []).append(
_operation_verification_status(item)
)
statuses = [
(
"failed_or_blocked"
if "failed_or_blocked" in values
else "submitted_unverified"
if "submitted_unverified" in values
else "verified_success"
)
for values in statuses_by_ref.values()
]
failed = sum(status == "failed_or_blocked" for status in statuses)
accepted = len(statuses) - failed
partially_succeeded = bool(failed and accepted)
verification_status = (
"failed_or_blocked"
if failed
else "submitted_unverified"
if any(status == "submitted_unverified" for status in statuses)
else "verified_success"
)
spec["verification_status"] = verification_status
spec["status"] = (
"partially_succeeded"
if partially_succeeded
else "failed"
if failed
else "succeeded"
)
return verification_status, partially_succeeded
def _has_mixed_driver_passenger_seat_scope(utterance: str) -> bool:
"""Detect one request that crosses the CH1-driver and CH0-passenger boundary."""
@@ -358,6 +446,17 @@ class SeatDemoService:
# the physical passenger-seat path through the shared adapter.
state_sync_info["poll_interval_ms"] = 5_000
vehicle_can_info["state_sync"] = state_sync_info
elif self.vehicle_can_settings.state_configured:
vehicle_can_info["state_sync"] = {
"mode": "on_demand_shared_adapter",
"state": "ready",
"read_only": True,
"poll_interval_ms": 5_000,
"snapshot_freshness_ms": 5_000,
"capture_sequence": None,
"observed_frame_ids": [],
"last_error": None,
}
vehicle_mqtt_info = self._vehicle_mqtt_transport.public_info()
return {
"service": "cabin-cognitive-orchestrator",
@@ -383,6 +482,16 @@ class SeatDemoService:
"id": WIRED_CAN_TRANSPORT,
"label": "有线控制",
**vehicle_can_info,
"target_policy": (
"dual_channel_wired_can0_passenger_can1_vehicle"
if self.hardware_settings.configured
and self.vehicle_can_settings.configured
else vehicle_can_info.get("target_policy")
),
"channels": {
"seat": 0,
"vehicle": self.vehicle_can_settings.channel,
},
},
{
"id": WIRELESS_MQTT_TRANSPORT,
@@ -411,7 +520,7 @@ class SeatDemoService:
and self.vehicle_can_settings.enabled
),
"active_policy": (
"dual_channel_passenger_ch0_driver_ch1"
"dual_channel_wired_can0_passenger_can1_vehicle"
if self.hardware_settings.configured
and self.vehicle_can_settings.configured
else "ch1_body_can_driver_only"
@@ -759,6 +868,7 @@ class SeatDemoService:
)
control_transport = self._validate_control_transport(control_transport)
mqtt_selected = control_transport == WIRELESS_MQTT_TRANSPORT
wired_state_bridge = None
if mqtt_selected:
if not self.vehicle_mqtt_settings.state_configured:
raise HardwareSafetyError("the MQTT CAN0 seat relay is not configured")
@@ -768,13 +878,40 @@ class SeatDemoService:
)
else:
if not self.hardware_settings.configured:
raise HardwareSafetyError("the T2G seat hardware runtime is not configured")
bus_factory = None
raise HardwareSafetyError(
"the passenger-seat CAN0 hardware runtime is not configured"
)
if (
self.hardware_settings.native_passenger_can0
and self.vehicle_can_settings.adapter_configured
):
wired_state_bridge = self.vehicle_can_settings.bridge(
[
ZlgChannelConfig(
channel=0,
frame_format="classic_can",
arbitration_bitrate=self.hardware_settings.bitrate,
data_bitrate=self.vehicle_can_settings.data_bitrate,
can_fd_iso=True,
termination_enabled=(
self.hardware_settings.termination_enabled
),
)
],
monitor_only=True,
)
bus_factory = lambda: wired_state_bridge.channel_bus(0)
else:
bus_factory = None
vehicle_profile = self.vehicle_profiles.get(vehicle_id)
physical_state = self._new_hardware_executor(
bus_factory,
remote_transport=mqtt_selected,
).read_physical_state()
try:
physical_state = self._new_hardware_executor(
bus_factory,
remote_transport=mqtt_selected,
).read_physical_state()
finally:
if wired_state_bridge is not None:
wired_state_bridge.close()
if mqtt_selected:
physical_state["source"] = "wireless_mqtt_ch0"
context = self.conversations.synchronize_physical_passenger(
@@ -1006,12 +1143,16 @@ class SeatDemoService:
bus_factory: Any | None = None,
*,
remote_transport: bool = False,
) -> HardwareSeatExecutor | MqttOtaSeatExecutor | ZcanBridgeSeatExecutor:
) -> HardwareSeatExecutor | MqttNativeSeatExecutor | ZcanBridgeSeatExecutor:
shared_bridge_enabled = os.getenv(
"COGNITIVE_AGENT_SHARED_CAN_RUNTIME_ENABLED",
os.getenv("COGNITIVE_AGENT_SEAT_SHARED_ZCANPRO_BRIDGE_ENABLED", "true"),
).strip().lower() in {"1", "true", "yes", "on"}
if bus_factory is None and shared_bridge_enabled:
if (
bus_factory is None
and shared_bridge_enabled
and self.hardware_settings.backend != "zlgcan-linux"
):
# Import lazily so the ordinary dry-run service does not initialize
# any self-repair runtime state. Both modules then share the one
# process that is allowed to own the Windows ZLG adapter.
@@ -1054,22 +1195,72 @@ class SeatDemoService:
stop_all_motor_selector=int(
self.hardware_compiler.protocol["stop_all_motor_selector"]
),
auto_home=self.hardware_settings.auto_home_enabled,
auto_home=(
self.hardware_settings.auto_home_enabled
if not remote_transport
else False
),
home_timeout_s=self.hardware_settings.home_timeout_s,
firmware_guard=self.hardware_settings.firmware_guard(
resolved_bus_factory,
allow_programming=not remote_transport,
firmware_guard=(
None
if remote_transport
or self.hardware_settings.native_passenger_can0
else self.hardware_settings.firmware_guard(
resolved_bus_factory,
allow_programming=not remote_transport,
)
),
synchronize_position_before_first_motion=(
self.hardware_settings.position_sync_enabled
if not remote_transport
else False
),
position_sync_state=self._seat_position_memory_state,
require_thermal_feedback=not remote_transport,
feedback_required=not remote_transport,
)
if remote_transport:
return MqttOtaSeatExecutor(executor, resolved_bus_factory)
return MqttNativeSeatExecutor(executor, resolved_bus_factory)
return executor
def _new_linux_wired_dual_channel_bridge(self) -> ZlgCanBridgeProcess:
"""Open CAN0 passenger classic CAN and CAN1 body CAN FD under one owner."""
if not self.hardware_settings.native_passenger_can0:
raise HardwareSafetyError(
"the shared Linux dual-channel bridge requires native passenger CAN0"
)
if not self.vehicle_can_settings.configured:
raise HardwareSafetyError(
"the shared Linux dual-channel bridge requires configured vehicle CAN1"
)
if (
self.hardware_settings.device_type
!= self.vehicle_can_settings.device_type
or self.hardware_settings.device_index
!= self.vehicle_can_settings.device_index
or self.hardware_settings.zlg_dll.resolve()
!= self.vehicle_can_settings.zlg_dll.resolve()
):
raise HardwareSafetyError(
"CAN0 and CAN1 must use the same Linux ZLG device and SDK library"
)
return self.vehicle_can_settings.bridge(
[
ZlgChannelConfig(
channel=0,
frame_format="classic_can",
arbitration_bitrate=self.hardware_settings.bitrate,
data_bitrate=self.vehicle_can_settings.data_bitrate,
can_fd_iso=True,
termination_enabled=(
self.hardware_settings.termination_enabled
),
),
self.vehicle_can_settings.channel_config(),
]
)
def preview_native_can(
self,
utterance: str,
@@ -1867,10 +2058,11 @@ class SeatDemoService:
if parsed.get("actions") and parsed.get("native_can_actions"):
if (
control_transport == WIRED_CAN_TRANSPORT
and self.hardware_settings.backend != "zlgcan"
and self.hardware_settings.backend
not in {"zlgcan", "zlgcan-linux"}
):
raise HardwareSafetyError(
"linked seat/vehicle execution requires the shared zlgcan backend"
"linked seat/vehicle execution requires a shared ZLG backend"
)
if control_transport == WIRED_CAN_TRANSPORT:
try:
@@ -2282,7 +2474,7 @@ class SeatDemoService:
"safety_check",
"succeeded",
(
"无线 MQTT CAN0 座椅语义白名单与 seat-ota 报文白名单已通过；"
"无线 MQTT CAN0 座椅语义白名单与固件原生 0x300 报文白名单已通过；"
"本地 T2G 固件 profile、USB-CAN 与物理台架连接不参与校验。"
if hardware_request
and control_transport == WIRELESS_MQTT_TRANSPORT
@@ -2307,7 +2499,7 @@ class SeatDemoService:
simulation_fault if simulated_hardware_request else None
),
"position_calibration_gate": (
"remote_seat_ota_feedback"
"remote_native_can0_feedback"
if hardware_request
and control_transport == WIRELESS_MQTT_TRANSPORT
else "runtime_can_preflight"
@@ -2315,7 +2507,7 @@ class SeatDemoService:
else "not_applicable"
),
"mapping_status": (
"mqtt_can0_seat_ota_whitelist"
"mqtt_can0_native_firmware_whitelist"
if hardware_request
and control_transport == WIRELESS_MQTT_TRANSPORT
else "protocol_hil_verified_combined_firmware_hil_pending"
@@ -2335,17 +2527,47 @@ class SeatDemoService:
if hardware_request:
mqtt_selected = control_transport == WIRELESS_MQTT_TRANSPORT
vehicle_safety_preflight = None
if mqtt_selected:
vehicle_safety_preflight = _wireless_mqtt_publish_preflight()
hardware_executor = self._new_hardware_executor(
lambda: self._vehicle_mqtt_transport.bus(channel=0),
remote_transport=True,
wired_bridge = None
try:
if mqtt_selected:
vehicle_safety_preflight = _wireless_mqtt_publish_preflight()
hardware_executor = self._new_hardware_executor(
lambda: self._vehicle_mqtt_transport.bus(channel=0),
remote_transport=True,
)
elif (
self.hardware_settings.native_passenger_can0
and self.vehicle_can_settings.configured
):
wired_bridge = self._new_linux_wired_dual_channel_bridge()
vehicle_safety_preflight = observe_vehicle_safety(
wired_bridge.channel_bus(1),
timeout_ms=min(
5_000,
max(
1_000,
self.vehicle_can_settings.feedback_timeout_ms,
),
),
required_channel=1,
)
require_stationary_vehicle(vehicle_safety_preflight)
hardware_executor = self._new_hardware_executor(
lambda: wired_bridge.channel_bus(0)
)
else:
hardware_executor = self._new_hardware_executor()
execution_report = hardware_executor.execute(
command_plan, function_config, context["devices"]
)
else:
hardware_executor = self._new_hardware_executor()
execution_report = hardware_executor.execute(
command_plan, function_config, context["devices"]
)
except VehicleSafetyPreflightError as exc:
raise HardwareSafetyError(
"CH1 vehicle safety preflight refused passenger CAN0 execution: "
f"{exc}"
) from exc
finally:
if wired_bridge is not None:
wired_bridge.close()
if vehicle_safety_preflight is not None:
for item in execution_report["spec"].get("results", []):
item.setdefault("telemetry", {})[
@@ -2362,14 +2584,21 @@ class SeatDemoService:
execution_report = self.executor.execute(
command_plan, function_config, context["devices"]
)
execution_outcome, execution_partially_succeeded = (
_annotate_execution_report(execution_report)
)
report_issues = self.contracts.validate(execution_report)
validation.extend(report_issues)
result["execution_report"] = execution_report
result["execution_outcome"] = execution_outcome
execution_succeeded = (
not report_issues and execution_report["spec"]["status"] == "succeeded"
not report_issues
and execution_report["spec"]["status"] == "succeeded"
)
if report_issues:
result["status"] = "execution_report_invalid"
elif execution_partially_succeeded:
result["status"] = "partially_succeeded"
elif not execution_succeeded:
result["status"] = "execution_failed"
elif parsed.get("deferred_requests"):
@@ -2406,7 +2635,11 @@ class SeatDemoService:
"execute",
"succeeded" if execution_succeeded else "failed",
(
"真实 CAN 命令已发送，并收到 IAR 固件的实际状态回读。"
"真实 CAN 命令已提交；当前反馈窗口未确认车辆效果，状态以实时 CAN 回读为准。"
if hardware_request
and execution_succeeded
and execution_outcome == "submitted_unverified"
else "真实 CAN 命令已发送，并收到 IAR 固件的实际状态回读。"
if hardware_request and execution_succeeded
else (
(
@@ -2608,12 +2841,18 @@ class SeatDemoService:
feedback_by_ref = {
item["ref"]: item.get("telemetry", {})
for item in execution_report["spec"]["results"]
if item.get("status") == "succeeded"
if _operation_verification_status(item) == "verified_success"
}
updated = deepcopy(actions)
updated: list[dict[str, Any]] = []
operations = function_config["spec"]["operations"]
for action, operation in zip(updated, operations, strict=True):
telemetry = feedback_by_ref.get(operation["id"], {})
for source_action, operation in zip(actions, operations, strict=True):
telemetry = feedback_by_ref.get(operation["id"])
if telemetry is None:
# Submission alone is not an authoritative vehicle-state
# update. The asynchronous CAN/MQTT state monitor will apply
# the change if and when the vehicle reports it.
continue
action = deepcopy(source_action)
if action.get("action_type") == "position":
if telemetry.get("effective_position_pct") is not None:
action["position_pct"] = int(
@@ -2633,12 +2872,14 @@ class SeatDemoService:
if telemetry.get("motion_mode") == "timed_user_request"
else "relative_hall_confirmed_open_loop"
)
updated.append(action)
continue
raw = telemetry.get("feedback_value")
if raw is not None:
raw_value = int(raw)
action["state"] = "off" if raw_value <= 1 else "on"
action["requested_level"] = max(0, raw_value - 1)
updated.append(action)
physical_state = execution_report.get("spec", {}).get("physical_state")
if isinstance(physical_state, dict):
@@ -4259,6 +4500,8 @@ class SeatDemoService:
simulation_fault=simulation_fault,
control_transport=control_transport,
)
for domain_report in reports.values():
_annotate_execution_report(domain_report)
report_results = [
item
for domain_report in reports.values()
@@ -4276,7 +4519,7 @@ class SeatDemoService:
domain
for domain in operation_domains
if all(
item.get("status") == "succeeded"
_operation_verification_status(item) != "failed_or_blocked"
for item in operation_results
if str(item.get("domain")) == domain
)
@@ -4284,13 +4527,29 @@ class SeatDemoService:
failed_domains = {
str(item.get("domain"))
for item in operation_results
if item.get("status") == "failed"
if _operation_verification_status(item) == "failed_or_blocked"
}
execution_succeeded = all(
domain_report["spec"]["status"] == "succeeded"
for domain_report in reports.values()
) and all(item.get("status") == "succeeded" for item in report_results)
execution_succeeded = not failed_domains
execution_partially_succeeded = bool(successful_domains and failed_domains)
execution_outcome = (
"failed_or_blocked"
if failed_domains
else "submitted_unverified"
if any(
_operation_verification_status(item) == "submitted_unverified"
for item in operation_results
)
else "verified_success"
)
verified_domains = {
domain
for domain in operation_domains
if all(
_operation_verification_status(item) == "verified_success"
for item in operation_results
if str(item.get("domain")) == domain
)
}
physical_state = (
reports.get("seat", {}).get("spec", {}).get("physical_state")
if hardware_request
@@ -4299,7 +4558,14 @@ class SeatDemoService:
simulated_seat = simulated_hardware_request and "seat" in reports
report_spec: dict[str, Any] = {
"mode": "hil" if hardware_request or simulated_seat else "dry_run",
"status": "succeeded" if execution_succeeded else "failed",
"status": (
"partially_succeeded"
if execution_partially_succeeded
else "succeeded"
if execution_succeeded
else "failed"
),
"verification_status": execution_outcome,
"started_at": execution_started_at,
"finished_at": _now(),
"results": report_results,
@@ -4352,6 +4618,7 @@ class SeatDemoService:
report_issues = self.contracts.validate(execution_report)
validation.extend(report_issues)
result["execution_report"] = execution_report
result["execution_outcome"] = execution_outcome
result["validation"] = validation
if report_issues:
result["status"] = "execution_report_invalid"
@@ -4376,6 +4643,11 @@ class SeatDemoService:
"无线 MQTT CAN0/CAN1 白名单控制帧已提交；"
"车辆实际状态以状态话题回读为准。"
if wireless_hardware_request and execution_succeeded
else "有线 CAN0/CAN1 白名单控制帧已提交；"
"当前反馈窗口未确认车辆效果，状态以实时 CAN 回读为准。"
if hardware_request
and execution_succeeded
and execution_outcome == "submitted_unverified"
else "CH1 车身 CAN 动作已按目标字段物理回读闭环执行。"
if hardware_request and native_config_keys and execution_succeeded
else "副驾座椅已按独立 T2G 物理 CAN 回读闭环执行。"
@@ -4418,6 +4690,7 @@ class SeatDemoService:
"successful_domains": sorted(successful_domains),
"failed_domains": sorted(failed_domains),
"partially_succeeded": execution_partially_succeeded,
"execution_outcome": execution_outcome,
},
domain="orchestration",
)
@@ -4439,8 +4712,17 @@ class SeatDemoService:
*[
action
for action in parsed.get("domain_actions", [])
if execution_succeeded
or str(action.get("domain")) in successful_domains
if (
not hardware_request
and (
execution_succeeded
or str(action.get("domain")) in successful_domains
)
)
or (
hardware_request
and str(action.get("domain")) in verified_domains
)
],
*[
{
@@ -4550,8 +4832,16 @@ class SeatDemoService:
vehicle_safety_preflight: dict[str, Any] | None = None
mqtt_selected = control_transport == WIRELESS_MQTT_TRANSPORT
wired_native_passenger = bool(
not mqtt_selected
and "seat" in configs
and self.hardware_settings.native_passenger_can0
and self.vehicle_can_settings.configured
)
if hardware_request and (
native_config_keys or (mqtt_selected and "seat" in configs)
native_config_keys
or (mqtt_selected and "seat" in configs)
or wired_native_passenger
):
shared_runtime_enabled = (
not mqtt_selected
@@ -4584,6 +4874,10 @@ class SeatDemoService:
# on CH0; passing a raw bus factory here would bypass its one-
# owner queue and allow self-repair to race orchestration.
seat_bus_factory = None
elif wired_native_passenger:
bridge = self._new_linux_wired_dual_channel_bridge()
native_bus_factory = lambda: bridge.channel_bus(1)
seat_bus_factory = lambda: bridge.channel_bus(0)
else:
channel_configs = [self.vehicle_can_settings.channel_config()]
if "seat" in configs:
@@ -4779,11 +5073,22 @@ class SeatDemoService:
]
clauses: list[str] = []
for fragment in fragments:
# A massage mode/strength phrase may omit both "主驾" and "按摩"
# after the first clause. Keep the whole request atomic so the ON
# fallback does not emit relax before an explicit later mode.
massage_continuation = bool(
clauses
and "按摩" in clauses[-1]
and DRIVER_SEAT_MASSAGE_CONTINUATION_PATTERN.search(fragment)
)
# An exclusion is a qualifier of the control immediately before it,
# not an independent command. Keeping both pieces together lets
# the deterministic window parser remove the excluded targets
# before the command list is finalized.
if clauses and re.search(r"除外|除去|不包括|不含", fragment):
exclusion_qualifier = bool(
clauses and re.search(r"除外|除去|不包括|不含", fragment)
)
if massage_continuation or exclusion_qualifier:
clauses[-1] = f"{clauses[-1]}，{fragment}"
else:
clauses.append(fragment)