feat: update CAN integration and T2G seat firmware

2026-08-01 15:55:21 +08:00
parent 8cda026ac2
commit 4aded5c21d
1443 changed files with 1007122 additions and 4978 deletions
@@ -20,6 +20,7 @@ const state = {
  progressTimer: null,
  seatTwin: null,
  seatActuatorState: {},
+  seatFeedbackSource: "simulated",
  availableSeatAxes: null,
 };

@@ -41,7 +42,7 @@ const TWIN_DEFAULT_POSITIONS = {
 };
 const TWIN_ANGLE_RANGES = {
  backrest_recline: [95, 150],
-  legrest_height: [95, 163],
+  legrest_height: [95, 167],
 };

 function initJointTwinLayout() {
@@ -104,13 +105,13 @@ function twinPostureAngles(device) {
    device?.position?.[axis]?.angle_deg
    ?? twinAngleForPosition(axis, position(axis, fallback)),
  );
-  const cushion = 2 + position("cushion_tilt", 50) * 0.09;
+  const cushion = position("cushion_tilt", 50) * 0.09;
  return {
    cushion_tilt: cushion,
-    backrest_recline: included("backrest_recline", 20) - 90 + cushion,
-    legrest_height: Math.abs(
-      180 - cushion - included("legrest_height", 0),
-    ),
+    backrest_recline: included("backrest_recline", 20)
+      - TWIN_ANGLE_RANGES.backrest_recline[0],
+    legrest_height: included("legrest_height", 0)
+      - TWIN_ANGLE_RANGES.legrest_height[0],
  };
 }

@@ -1492,15 +1493,15 @@ function renderTwinCalloutValues(device) {
    Number.isInteger(number) ? String(number) : number.toFixed(1)
  );
  const values = {
-    longitudinal: [`${longitudinal}%`, longitudinal < 45 ? "后移区" : longitudinal > 55 ? "前移区" : "中位区"],
+    longitudinal: [`${longitudinal}%`, longitudinal < 45 ? "前移区" : longitudinal > 55 ? "后移区" : "中位区"],
    cushion_tilt: [`${formatAngle(postureAngles.cushion_tilt)}°`, `${cushion}%`],
    backrest_recline: [
      `${backrestEstimated ? "≈" : ""}${formatAngle(postureAngles.backrest_recline)}°`,
-      `${backrestEstimated ? "估算 " : ""}${backrest}% · 相对竖直`,
+      `${backrestEstimated ? "估算 " : ""}${backrest}% · 相对归零位`,
    ],
    legrest_height: [
      `${legrestEstimated ? "≈" : ""}${formatAngle(postureAngles.legrest_height)}°`,
-      `${legrestEstimated ? "估算 " : ""}${legrest}% · 相对地板`,
+      `${legrestEstimated ? "估算 " : ""}${legrest}% · 相对垂直零位`,
    ],
    legrest_extension: [`${extension}%`, "伸缩行程"],
    backrest_included_angle: [
@@ -1522,10 +1523,10 @@ function renderTwinCalloutValues(device) {
 function renderTwinReadout() {
  const twin = state.seatTwin;
  if (!twin) return;
-  const seat = twin.selected;
-  const device = twin.actuatorState[seat];
-  $("#twinSeatName").textContent = seat === "driver" ? "主驾" : "副驾";
-  $("#twinSeatZone").textContent = seat === "driver" ? "front_left" : "front_right";
+  const seat = "passenger";
+  const device = twin.actuatorState.passenger;
+  $("#twinSeatName").textContent = "副驾";
+  $("#twinSeatZone").textContent = "front_right";
  const postureAngles = twinPostureAngles(device);
  Object.entries(TWIN_DEFAULT_POSITIONS).forEach(([axis, fallback]) => {
    const motion = device?.position?.[axis];
@@ -1554,7 +1555,7 @@ function renderTwinReadout() {
 function updateTwinExplicitAngles(result) {
  const twin = state.seatTwin;
  if (!twin) return;
-  const targets = { driver: {}, passenger: {} };
+  const targets = { passenger: {} };
  const requestedSeats = new Set();
  const capabilityAxes = {
    "seat.set_backrest_recline": "backrest_recline",
@@ -2245,7 +2246,7 @@ function initSeatTwin() {
    vehicleSystems,
    selected: "passenger",
    actuatorState: { passenger: initialDevice() },
-    explicitAngleTargets: { driver: {}, passenger: {} },
+    explicitAngleTargets: { passenger: {} },
    view: { yaw: -0.62, pitch: 0.31, distance: 10.2, targetX: 0 },
    dragging: false,
    pointer: { x: 0, y: 0 },
@@ -2429,7 +2430,7 @@ function initSeatTwin() {
        model.angles[axis] += Math.abs(delta) < 0.03 ? delta : delta * 0.085;
      });
      model.slide.position.z = (model.positions.longitudinal - 50) * 0.012;
-      const cushionAngle = 2 + model.positions.cushion_tilt * 0.09;
+      const cushionAngle = model.positions.cushion_tilt * 0.09;
      model.cushionPivot.rotation.x = degrees(-cushionAngle);
      model.backrestPivot.rotation.x = (
        model.cushionPivot.rotation.x
@@ -2503,6 +2504,26 @@ function selectProvider(provider) {
  });
 }

+function updateSeatFeedbackModeLabel() {
+  const label = $("#seatFeedbackModeLabel");
+  if (!label) return;
+  if (state.seatFeedbackSource === "physical_can") {
+    label.textContent = "PHYSICAL CAN · BENCH SYNCHRONIZED";
+    return;
+  }
+  if (state.seatFeedbackSource === "physical_partial") {
+    label.textContent = "PHYSICAL CAN · PARTIAL FEEDBACK";
+    return;
+  }
+  if (state.seatFeedbackSource === "unavailable") {
+    label.textContent = "PHYSICAL CAN · SYNC UNAVAILABLE";
+    return;
+  }
+  label.textContent = state.executionMode === "hardware"
+    ? "PHYSICAL CAN FEEDBACK"
+    : "SIMULATED FEEDBACK";
+}
+
 function selectExecutionMode(mode) {
  if (mode === "hardware" && !state.runtime?.hardware?.configured) return;
  state.executionMode = mode;
@@ -2510,7 +2531,8 @@ function selectExecutionMode(mode) {
    button.classList.toggle("active", button.dataset.executionMode === mode);
  });
  const hardware = mode === "hardware";
-  $("#approvalField").hidden = !hardware;
+  const approvalRequired = Boolean(state.runtime?.hardware?.approval_required);
+  $("#approvalField").hidden = !hardware || !approvalRequired;
  $("#executionBadge").className = `status-badge ${hardware ? "" : "neutral"}`.trim();
  $("#executionBadge").innerHTML = hardware
    ? '<i data-lucide="radio-tower"></i>HIL · 真实 CAN'
@@ -2523,9 +2545,13 @@ function selectExecutionMode(mode) {
  $("#feedbackModeLabel").textContent = hardware
    ? "T2G BENCH · PHYSICAL CAN FEEDBACK"
    : "MATRIX-BACKED · SIMULATED FEEDBACK";
-  $("#seatFeedbackModeLabel").textContent = hardware
-    ? "PHYSICAL CAN FEEDBACK"
-    : "SIMULATED FEEDBACK";
+  const runButtonLabel = $("#runButton span");
+  if (runButtonLabel) {
+    runButtonLabel.textContent = hardware
+      ? (approvalRequired ? "授权并真实执行" : "真实执行")
+      : "生成并执行";
+  }
+  updateSeatFeedbackModeLabel();
  refreshIcons();
 }

@@ -2715,7 +2741,7 @@ async function loadRuntime() {
    if (state.runtime.openai_available) {
      badge.classList.remove("danger");
      badge.innerHTML = `<i data-lucide="sparkles"></i>${state.runtime.openai_model}`;
-      $("#providerNote").textContent = `${state.runtime.openai_model} · Responses API · 结构化输出`;
+      $("#providerNote").textContent = `${state.runtime.openai_model} · Responses API · 失败时自动降级本地规则`;
      selectProvider("openai");
    } else {
      badge.classList.add("danger");
@@ -2730,18 +2756,21 @@ async function loadRuntime() {
    hardwareButton.disabled = !hardware.configured;
    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";
    $("#hardwareNote").textContent = hardware.configured
-      ? `${hardware.backend} · ${hardware.bitrate / 1000} kbit/s · ${profileText} · ${flashText}`
-      : `真实执行已锁定：${profileText}；请完成服务端启用、令牌、适配器和固件镜像配置`;
+      ? `${hardware.backend} · ${hardware.bitrate / 1000} kbit/s · ${profileText} · ${flashText} · ${approvalText}`
+      : `真实执行已锁定：${profileText}；请完成服务端启用、适配器、固件镜像${hardware.approval_required ? "和令牌" : ""}配置`;
    $("#hardwareAliasNote").textContent = "副驾座椅 → t2g_primary_seat（统一电机、加热和通风执行器）";
    $("#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。"
-      : "仅接受已烧录且身份匹配的统一固件；需要自动烧录时请启用服务端开关。";
+      : "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 ${hardware.configured ? "" : "danger"}`.trim();
    $("#hardwareBadge").innerHTML = hardware.configured
      ? '<i data-lucide="shield-check"></i>硬件已配置'
      : '<i data-lucide="shield-off"></i>硬件锁定';
-    $("#hardwareCoverage").textContent = hardware.configured ? "可选 · 需授权" : "已阻断";
+    $("#hardwareCoverage").textContent = hardware.configured
+      ? `可选 · ${approvalText}`
+      : "已阻断";
    $("#hardwareCoverage").className = hardware.configured ? "available" : "blocked";
    selectExecutionMode("dry_run");
    refreshIcons();
@@ -2753,6 +2782,37 @@ async function loadRuntime() {
  }
 }

+async function synchronizePhysicalSeatState() {
+  if (!state.runtime?.hardware?.configured) return false;
+  const query = new URLSearchParams({
+    conversation_id: state.conversationId,
+    vehicle_id: state.vehicleId || state.runtime.default_vehicle_id || "",
+  });
+  try {
+    const response = await fetch(`/api/hardware/seat-state?${query}`, {
+      cache: "no-store",
+    });
+    if (response.status === 401) {
+      window.location.replace("/login");
+      return false;
+    }
+    if (!response.ok) throw new Error(`HTTP ${response.status}`);
+    const payload = await response.json();
+    renderSeatState(payload.actuator_state);
+    state.seatFeedbackSource = payload.complete
+      ? "physical_can"
+      : "physical_partial";
+    updateSeatFeedbackModeLabel();
+    return true;
+  } catch (_error) {
+    if (!state.seatFeedbackSource.startsWith("physical")) {
+      state.seatFeedbackSource = "unavailable";
+      updateSeatFeedbackModeLabel();
+    }
+    return false;
+  }
+}
+
 async function loadAuthStatus() {
  const response = await fetch("/api/auth/status", { cache: "no-store" });
  if (!response.ok) return;
@@ -3413,15 +3473,17 @@ function renderExecution(result) {
      : `${executedDomains.join(" / ")} 共 ${report.spec.results.length} 个操作已完成 CAN 编码与虚拟执行`;
  if (motionCount) executionDetail += `，含 ${motionCount} 个座椅位置电机反馈`;
  if (firmwareResult?.telemetry?.programmed_this_request) executionDetail += "；本次已自动烧录并校验统一固件";
-  else if (firmwareResult) executionDetail += "；板上统一固件身份已校验";
+  else if (firmwareResult) executionDetail += "；板上统一固件协议签名已校验";
  if (result.status === "partially_succeeded") {
    executionDetail += "；未接入域请求已保留为 deferred request";
  }
  if (!reportSucceeded) {
    const failure = report.spec.results.find((item) => item.status === "failed");
    const failureTelemetry = failure?.telemetry || {};
-    executionDetail = failureTelemetry.error_type === "FirmwareProgrammingError"
-      ? "固件身份验证或自动烧录失败，座椅控制帧未发送。"
+    executionDetail = failureTelemetry.error_type === "CanGatewayError"
+      ? `CAN 适配器或总线访问失败：${failure?.message || "无法打开或访问 CAN 适配器。"}`
+      : failureTelemetry.error_type === "FirmwareProgrammingError"
+        ? `固件协议签名验证或自动烧录失败，座椅控制帧未发送：${failure?.message || "请检查 CMSIS-DAP 探针和 IAR 配置。"}`
      : failureTelemetry.calibration_required
        ? `大幅相对移动已转换为绝对目标，但 Motor${failureTelemetry.motor_selector} 的 Position_Valid=0；未发送绝对移动命令，请先在台架清空并备好急停后执行显式端点标定。`
      : failureTelemetry.failure_category === "stall_no_hall_activity"
@@ -3432,7 +3494,7 @@ function renderExecution(result) {
        ? `Motor${failureTelemetry.motor_selector} ${failureTelemetry.motor_result_name}，板端事件 ${failureTelemetry.last_motor_event_name || "UNAVAILABLE"}；${failureTelemetry.stop_all_attempted ? "已尝试发送 STOP_ALL。" : "请检查硬件回读。"}`
      : failureTelemetry.stop_all_attempted
        ? "真实台架未返回满足目标的反馈，移动链路已尝试发送 STOP_ALL。"
-        : "真实台架未返回满足目标的物理反馈。";
+        : failure?.message || "真实台架未返回满足目标的物理反馈。";
  }
  summary.innerHTML = `<i data-lucide="${reportSucceeded ? ((presetSave || modeSave) ? "bookmark-check" : "circle-check-big") : "circle-x"}"></i><div><strong>${reportSucceeded ? (modeSave ? "长期模式已保存" : presetSave ? "姿态预设已保存" : (physical ? "真实台架执行成功" : "虚拟执行成功")) : "真实台架执行失败"}</strong><span>${executionDetail}</span></div>`;
  $("#resultNavMeta").textContent = reportSucceeded
@@ -3464,6 +3526,14 @@ function renderExecution(result) {

 function renderResult(result) {
  state.result = result;
+  const reportMode = result.execution_report?.spec?.mode;
+  if (reportMode === "hil") {
+    state.seatFeedbackSource = result.execution_report?.spec?.physical_state?.complete
+      ? "physical_can"
+      : "physical_partial";
+  } else if (result.function_configs?.seat) {
+    state.seatFeedbackSource = "simulated";
+  }
  const executionSucceeded = ["succeeded", "partially_succeeded"].includes(result.status);
  const domains = Object.keys(result.function_configs || {});
  const domainLabels = {
@@ -3493,6 +3563,7 @@ function renderResult(result) {
  renderTrace(result.trace_events || []);
  renderValidation(result.validation || []);
  renderSeatState(result.actuator_state);
+  updateSeatFeedbackModeLabel();
  renderDomainState(result.domain_state);
  updateTwinExplicitAngles(result);
  renderSavedPresets(result);
@@ -3518,8 +3589,10 @@ async function submitRequest(event) {
  $("#resultTitle").textContent = "正在执行车舱编排";
  startProgress();
  const approvalTokenInput = $("#approvalToken");
-  const approvalToken = state.executionMode === "hardware"
-    ? approvalTokenInput.value
+  const approvalRequired = state.executionMode === "hardware"
+    && Boolean(state.runtime?.hardware?.approval_required);
+  const approvalToken = approvalRequired
+    ? approvalTokenInput?.value || ""
    : null;
  if (approvalTokenInput) approvalTokenInput.value = "";

@@ -3533,7 +3606,7 @@ async function submitRequest(event) {
        conversation_id: state.conversationId,
        vehicle_id: state.vehicleId || state.runtime?.default_vehicle_id,
        execution_mode: state.executionMode,
-        ...(state.executionMode === "hardware"
+        ...(approvalRequired
          ? { approval_token: approvalToken }
          : {}),
      }),
@@ -3545,6 +3618,9 @@ async function submitRequest(event) {
    }
    if (!response.ok) throw new Error(payload.message || payload.error || `HTTP ${response.status}`);
    renderResult(payload);
+    if (state.executionMode === "hardware") {
+      await synchronizePhysicalSeatState();
+    }
    const completed = ["succeeded", "partially_succeeded"].includes(payload.status);
    showToast(completed
      ? (payload.execution_report?.spec?.mode === "hil" ? "真实台架执行与反馈确认已完成" : "可执行动作的 dry-run 已完成")
@@ -3558,7 +3634,10 @@ async function submitRequest(event) {
  } finally {
    button.disabled = false;
    button.classList.remove("loading");
-    button.innerHTML = `<i data-lucide="play"></i><span>${state.executionMode === "hardware" ? "授权并真实执行" : "生成并执行"}</span>`;
+    const hardwareLabel = state.runtime?.hardware?.approval_required
+      ? "授权并真实执行"
+      : "真实执行";
+    button.innerHTML = `<i data-lucide="play"></i><span>${state.executionMode === "hardware" ? hardwareLabel : "生成并执行"}</span>`;
    refreshIcons();
  }
 }
@@ -3684,6 +3763,7 @@ document.addEventListener("DOMContentLoaded", async () => {
  $$('[data-download]').forEach((button) => button.addEventListener("click", () => downloadArtifact(button.dataset.download)));
  await loadAuthStatus();
  await loadRuntime();
+  await synchronizePhysicalSeatState();
  if (new URLSearchParams(window.location.search).get("autorun") === "1") {
    $("#requestForm").requestSubmit();
  }
@@ -10,7 +10,7 @@
    <script src="https://unpkg.com/three@0.147.0/build/three.min.js" defer></script>
    <script src="https://unpkg.com/three@0.147.0/examples/js/libs/fflate.min.js" defer></script>
    <script src="https://unpkg.com/three@0.147.0/examples/js/loaders/FBXLoader.js" defer></script>
-    <script src="/app.js?v=unified-cabin-22" defer></script>
+    <script src="/app.js?v=unified-cabin-23" defer></script>
    <script type="module" src="/gesture-control.js?v=gesture-core-3"></script>
  </head>
  <body>
@@ -92,7 +92,7 @@
              </button>
            </div>
            <p class="provider-note" id="hardwareNote">正在检查 CAN 适配器与 IAR 固件配置</p>
-            <p class="provider-note" id="hardwareAliasNote">主驾和副驾暂时共享同一组实体电机、加热与通风执行器</p>
+            <p class="provider-note" id="hardwareAliasNote">所有座椅能力仅控制副驾实体电机、加热与通风执行器</p>
          </div>

          <div class="field-group vehicle-field">
@@ -108,8 +108,8 @@

          <div class="field-group approval-field" id="approvalField" hidden>
            <label class="field-label" for="approvalToken">硬件执行授权令牌</label>
-            <input id="approvalToken" name="approval_token" type="password" inputmode="numeric" maxlength="6" autocomplete="off" spellcheck="false" placeholder="请输入 123456" />
-            <p class="provider-note">演示授权令牌为 123456，仅用于本次安全校验，不会写入日志、会话或执行制品。</p>
+            <input id="approvalToken" name="approval_token" type="password" maxlength="128" autocomplete="off" spellcheck="false" placeholder="请输入服务端配置令牌" />
+            <p class="provider-note">仅在服务端启用令牌门禁时显示；令牌不会写入日志、会话或执行制品。</p>
            <p class="provider-note" id="autoFlashNote">正在检查自动烧录配置</p>
          </div>

@@ -298,9 +298,9 @@
            <div class="twin-seat-label passenger"><i></i><span>副驾动态座椅</span><small>ACTIVE · FRONT RIGHT</small></div>
            <div class="twin-callout-layer" aria-hidden="true">
              <div class="twin-callout" data-callout="longitudinal"><span>水平位置</span><b>50%</b><small>导轨</small></div>
-              <div class="twin-callout" data-callout="cushion_tilt"><span>坐垫俯仰</span><b>7°</b><small>50%</small></div>
-              <div class="twin-callout" data-callout="backrest_recline"><span>靠背夹角</span><b>20.5°</b><small>20% · 相对竖直</small></div>
-              <div class="twin-callout" data-callout="legrest_height"><span>腿托夹角</span><b>78.5°</b><small>0% · 相对地板</small></div>
+              <div class="twin-callout" data-callout="cushion_tilt"><span>坐垫俯仰</span><b>4.5°</b><small>50%</small></div>
+              <div class="twin-callout" data-callout="backrest_recline"><span>靠背夹角</span><b>13.6°</b><small>20% · 相对归零位</small></div>
+              <div class="twin-callout" data-callout="legrest_height"><span>腿托夹角</span><b>0°</b><small>0% · 相对垂直零位</small></div>
              <div class="twin-callout" data-callout="legrest_extension"><span>腿托伸缩</span><b>0%</b><small>行程</small></div>
              <div class="twin-callout included-angle-callout" data-callout="backrest_included_angle" hidden><span>靠背-坐垫夹角</span><b>104°</b><small>本轮指定夹角</small></div>
              <div class="twin-callout included-angle-callout" data-callout="legrest_included_angle" hidden><span>坐垫-腿托夹角</span><b>95°</b><small>本轮指定夹角</small></div>
@@ -338,18 +338,10 @@
        <section class="state-band">
          <div class="seat-state-section">
            <div class="section-title-row">
-              <div><span class="section-kicker">ACTUATOR STATE</span><h3>前排座椅状态</h3></div>
+              <div><span class="section-kicker">ACTUATOR STATE</span><h3>副驾座椅状态</h3></div>
              <span class="simulation-label" id="seatFeedbackModeLabel">SIMULATED FEEDBACK</span>
            </div>
            <div class="seat-grid">
-              <article class="seat-card" data-seat="driver">
-                <div class="seat-identity"><i data-lucide="armchair"></i><div><strong>主驾</strong><span>front_left</span></div></div>
-                <div class="thermal-states">
-                  <span data-function="ventilation"><i data-lucide="wind"></i>通风 <b>--</b></span>
-                  <span data-function="heating"><i data-lucide="flame"></i>加热 <b>--</b></span>
-                </div>
-                <div class="motion-state-grid" aria-live="polite"></div>
-              </article>
              <article class="seat-card" data-seat="passenger">
                <div class="seat-identity"><i data-lucide="armchair"></i><div><strong>副驾</strong><span>front_right</span></div></div>
                <div class="thermal-states">