优化无线/有线CAN，以及控制指令解析

tests/unit/test_zlgcan_linux_bridge.py

@@ -12,7 +12,10 @@ from cognitive_agent.infrastructure.can.gateway import (
     ZlgCanBridgeProcess,
     ZlgChannelConfig,
 )
-from cognitive_agent.infrastructure.can.hardware import VehicleCanSettings
+from cognitive_agent.infrastructure.can.hardware import (
+    SeatHardwareSettings,
+    VehicleCanSettings,
+)
 from cognitive_agent.infrastructure.can.zlgcan_linux_bridge import (
     EXPECTED_ABI_SIZES,
     Driver,
@@ -113,6 +116,34 @@ class LinuxZlgBridgeTests(unittest.TestCase):
                 self.assertTrue(settings.bridge_script.name.endswith("linux_bridge.py"))
                 self.assertTrue(settings.public_info()["state_configured"])
 
+    def test_linux_wired_vehicle_enables_native_passenger_can0_profile(self) -> None:
+        with tempfile.TemporaryDirectory() as directory:
+            library = Path(directory) / "libusbcanfd.so"
+            library.write_bytes(b"test")
+            environment = {
+                "COGNITIVE_AGENT_VEHICLE_CAN_ENABLED": "true",
+                "COGNITIVE_AGENT_VEHICLE_CAN_BACKEND": "zlgcan-linux",
+                "COGNITIVE_AGENT_WIRED_PASSENGER_CAN_ENABLED": "true",
+                "COGNITIVE_AGENT_SEAT_CAN_CHANNEL": "0",
+                "COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN_REQUIRED": "false",
+                "COGNITIVE_AGENT_ZLGCAN_PYTHON": sys.executable,
+                "COGNITIVE_AGENT_ZLGCAN_LINUX_LIBRARY": str(library),
+            }
+            with patch.dict(os.environ, environment, clear=True):
+                settings = SeatHardwareSettings.from_env(REPOSITORY_ROOT)
+                self.assertTrue(settings.native_passenger_can0)
+                self.assertTrue(settings.configured)
+                self.assertEqual(settings.backend, "zlgcan-linux")
+                self.assertEqual(settings.channel, "0")
+                self.assertEqual(settings.device_type, 33)
+                self.assertFalse(settings.termination_enabled)
+                self.assertFalse(settings.auto_flash_enabled)
+                self.assertFalse(settings.position_sync_enabled)
+                self.assertEqual(
+                    settings.public_info()["protocol_profile"],
+                    "passenger-seat-native-can0-v1",
+                )
+
     def test_process_passes_monitor_and_trace_flags_to_bridge(self) -> None:
         process = Mock()
         process.stdout = io.StringIO('{"ok":true,"event":"ready"}\n')