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
@@ -1,6 +1,7 @@
 from __future__ import annotations

 import json
+import os
 import tempfile
 import threading
 import unittest
@@ -9,9 +10,11 @@ import urllib.request
 from http.cookiejar import CookieJar
 from http.server import ThreadingHTTPServer
 from pathlib import Path
+from unittest.mock import patch

 from cognitive_agent.auth import AuthConfig, AuthRuntime, hash_password
 from cognitive_agent.application.seat_service import REPOSITORY_ROOT, SeatDemoService
+from cognitive_agent.infrastructure.llm.openai_responses import OpenAIIntentError
 from cognitive_agent.server import SeatDemoHandler


@@ -22,8 +25,18 @@ class SeatWebApiTests(unittest.TestCase):
    @classmethod
    def setUpClass(cls) -> None:
        cls.temporary_directory = tempfile.TemporaryDirectory()
-        service = SeatDemoService(REPOSITORY_ROOT)
+        # Web regression tests must never inherit a developer's live bench
+        # enablement, especially when local debug mode intentionally skips the
+        # per-request approval token.
+        with patch.dict(
+            os.environ,
+            {"COGNITIVE_AGENT_HARDWARE_EXECUTION_ENABLED": "false"},
+            clear=False,
+        ):
+            service = SeatDemoService(REPOSITORY_ROOT)
        service.artifact_root = Path(cls.temporary_directory.name)
+        cls.service = service
+        cls.original_service = SeatDemoHandler.service
        SeatDemoHandler.service = service
        cls.original_auth = SeatDemoHandler.auth
        SeatDemoHandler.auth = AuthRuntime(
@@ -53,6 +66,7 @@ class SeatWebApiTests(unittest.TestCase):
        cls.server.shutdown()
        cls.server.server_close()
        cls.thread.join(timeout=2)
+        SeatDemoHandler.service = cls.original_service
        SeatDemoHandler.auth = cls.original_auth
        cls.temporary_directory.cleanup()

@@ -99,7 +113,7 @@ class SeatWebApiTests(unittest.TestCase):
        self.assertIn("FBXLoader.js", html)
        self.assertIn('data-seat-layout="five-seat"', html)
        self.assertIn('data-active-seat="front-right"', html)
-        self.assertIn('placeholder="请输入 123456"', html)
+        self.assertIn('placeholder="请输入服务端配置令牌"', html)
        self.assertIn('data-callout="backrest_recline"', html)
        self.assertIn('data-callout="legrest_extension"', html)
        self.assertIn('data-callout="backrest_included_angle"', html)
@@ -116,7 +130,14 @@ class SeatWebApiTests(unittest.TestCase):
        self.assertIn("坐垫脚托夹角133度", html)
        self.assertNotIn('data-axis="height"', html)
        self.assertEqual(runtime["domain"], "cabin")
-        self.assertFalse(runtime["hardware_execution_allowed"])
+        self.assertEqual(
+            runtime["hardware_execution_allowed"],
+            runtime["hardware"]["configured"],
+        )
+        self.assertEqual(runtime["hardware"]["supported_targets"], ["front_right"])
+        self.assertEqual(
+            runtime["hardware"]["supported_seat_instances"], ["passenger"]
+        )
        self.assertGreaterEqual(runtime["matrix"]["messages"], 25)
        self.assertGreaterEqual(runtime["matrix"]["signals"], 128)
        self.assertEqual(runtime["motion_position_range_pct"], [0, 100])
@@ -148,6 +169,13 @@ class SeatWebApiTests(unittest.TestCase):
        self.assertIn("climate.set_temperature", capability_names)
        self.assertIn("roof.set_transmittance", capability_names)
        self.assertIn("ambient_light.set_illumination", capability_names)
+        seat_capabilities = [
+            item for item in runtime["capabilities"] if item["name"].startswith("seat.")
+        ]
+        self.assertTrue(seat_capabilities)
+        self.assertTrue(
+            all(item["target_scopes"] == ["passenger"] for item in seat_capabilities)
+        )

    def test_post_request_returns_complete_dry_run(self) -> None:
        request = urllib.request.Request(
@@ -156,7 +184,7 @@ class SeatWebApiTests(unittest.TestCase):
            headers={"Content-Type": "application/json"},
            data=json.dumps(
                {
-                    "utterance": "主驾有点热，有点闷",
+                    "utterance": "副驾有点热，有点闷",
                    "provider": "local",
                    "conversation_id": "conv-e2e-browser",
                    "vehicle_id": "denza_n7",
@@ -172,7 +200,171 @@ class SeatWebApiTests(unittest.TestCase):
        self.assertEqual(result["execution_report"]["spec"]["mode"], "dry_run")
        self.assertEqual(result["conversation_id"], "conv-e2e-browser")
        self.assertEqual(result["vehicle"]["id"], "denza_n7")
-        self.assertEqual(result["actuator_state"]["driver"]["ventilation"]["level"], 1)
+        self.assertEqual(result["actuator_state"]["passenger"]["ventilation"]["level"], 1)
+
+    def test_hardware_state_endpoint_returns_physical_passenger_snapshot(self) -> None:
+        synchronized = {
+            "status": "succeeded",
+            "conversation_id": "conv-e2e-physical-state",
+            "source": "physical_can",
+            "complete": True,
+            "missing": [],
+            "actuator_state": {
+                "passenger": {
+                    "position": {
+                        "longitudinal": {"position_pct": 0},
+                        "cushion_tilt": {"position_pct": 0},
+                        "backrest_recline": {"position_pct": 0},
+                        "legrest_height": {"position_pct": 0},
+                    }
+                }
+            },
+        }
+        with patch.object(
+            self.service,
+            "synchronize_hardware_state",
+            return_value=synchronized,
+        ) as synchronize:
+            with self.opener.open(
+                f"{self.base_url}/api/hardware/seat-state?"
+                "conversation_id=conv-e2e-physical-state&vehicle_id=denza_n7",
+                timeout=3,
+            ) as response:
+                payload = json.loads(response.read().decode("utf-8"))
+
+        self.assertEqual(payload["source"], "physical_can")
+        self.assertEqual(
+            payload["actuator_state"]["passenger"]["position"]["longitudinal"]["position_pct"],
+            0,
+        )
+        synchronize.assert_called_once_with(
+            "conv-e2e-physical-state",
+            "denza_n7",
+        )
+
+    def test_gpt_http_failure_falls_back_without_returning_502(self) -> None:
+        original_api_key = self.service.openai.api_key
+        self.service.openai.api_key = "test-key"
+        request = urllib.request.Request(
+            f"{self.base_url}/api/requests",
+            method="POST",
+            headers={"Content-Type": "application/json"},
+            data=json.dumps(
+                {
+                    "utterance": "打开副驾座椅通风",
+                    "provider": "openai",
+                    "conversation_id": "conv-e2e-gpt-fallback",
+                    "execution_mode": "dry_run",
+                }
+            ).encode("utf-8"),
+        )
+        try:
+            with patch.object(
+                self.service.openai,
+                "interpret",
+                side_effect=OpenAIIntentError("invalid_api_key"),
+            ):
+                with self.opener.open(request, timeout=3) as response:
+                    result = json.loads(response.read().decode("utf-8"))
+                    self.assertEqual(response.status, 201)
+        finally:
+            self.service.openai.api_key = original_api_key
+
+        self.assertEqual(result["status"], "succeeded")
+        self.assertEqual(result["provider_used"], "local_rules_fallback")
+        self.assertEqual(result["execution_report"]["spec"]["mode"], "dry_run")
+
+    def test_frontend_suite_covers_every_physical_seat_capability(self) -> None:
+        suite_path = (
+            REPOSITORY_ROOT
+            / "tests"
+            / "fixtures"
+            / "seat_frontend_capabilities.json"
+        )
+        suite = json.loads(suite_path.read_text(encoding="utf-8"))
+        required = set(suite["required_hardware_capabilities"])
+        covered: set[str] = set()
+        original_api_key = self.service.openai.api_key
+        self.service.openai.api_key = "frontend-suite-test-key"
+        try:
+            for case in suite["cases"]:
+                with self.subTest(case=case["id"]):
+                    requests = []
+                    for expected in case["operations"]:
+                        covered.add(expected["capability"])
+                        requests.append(
+                            {
+                                "domain": "seat",
+                                "capability": expected["capability"],
+                                "target_scope": expected["target"],
+                                "operation": "set",
+                                "parameters": [
+                                    {"name": name, "value": value}
+                                    for name, value in expected["parameters"].items()
+                                ],
+                                "reason": f"frontend test case {case['id']}",
+                            }
+                        )
+                    model_plan = {
+                        "detected_domains": ["seat"],
+                        "requests": requests,
+                        "ambiguities": [],
+                        "decision_summary": [f"执行前端测试用例 {case['id']}。"],
+                        "confidence": 0.99,
+                    }
+                    request = urllib.request.Request(
+                        f"{self.base_url}/api/requests",
+                        method="POST",
+                        headers={"Content-Type": "application/json"},
+                        data=json.dumps(
+                            {
+                                "utterance": case["utterance"],
+                                "provider": "openai",
+                                "conversation_id": f"conv-frontend-suite-{case['id'].lower()}",
+                                "execution_mode": "dry_run",
+                                "vehicle_id": "denza_n7",
+                            },
+                            ensure_ascii=False,
+                        ).encode("utf-8"),
+                    )
+                    with patch.object(
+                        self.service.openai,
+                        "interpret",
+                        return_value=model_plan,
+                    ):
+                        try:
+                            with self.opener.open(request, timeout=3) as response:
+                                result = json.loads(response.read().decode("utf-8"))
+                        except urllib.error.HTTPError as exc:
+                            detail = exc.read().decode("utf-8", errors="replace")
+                            self.fail(f"frontend case {case['id']} returned {exc.code}: {detail}")
+
+                    self.assertEqual(result["status"], "succeeded")
+                    operations = result["function_config"]["spec"]["operations"]
+                    self.assertEqual(len(operations), len(case["operations"]))
+                    self.assertEqual(
+                        result["execution_report"]["spec"]["mode"], "dry_run"
+                    )
+                    self.assertEqual(
+                        len(result["execution_report"]["spec"]["results"]),
+                        len(case["operations"]),
+                    )
+                    for expected, actual in zip(case["operations"], operations):
+                        self.assertEqual(actual["capability"], expected["capability"])
+                        self.assertEqual(
+                            actual["target"]["instance"], expected["target"]
+                        )
+                        for name, value in expected["parameters"].items():
+                            self.assertEqual(actual["parameters"][name], value)
+        finally:
+            self.service.openai.api_key = original_api_key
+
+        self.assertEqual(covered, required)
+        safety_ids = {item["id"] for item in suite["safety_cases"]}
+        self.assertEqual(
+            safety_ids,
+            {"SAFE-01", "SAFE-02", "SAFE-03", "RECOVERY-01"},
+        )

    def test_hardware_request_is_rejected_when_server_gate_is_locked(self) -> None:
        request = urllib.request.Request(
@@ -181,7 +373,7 @@ class SeatWebApiTests(unittest.TestCase):
            headers={"Content-Type": "application/json"},
            data=json.dumps(
                {
-                    "utterance": "主驾座椅加热开到一档",
+                    "utterance": "副驾座椅加热开到一档",
                    "provider": "local",
                    "conversation_id": "conv-e2e-hardware-locked",
                    "execution_mode": "hardware",
@@ -0,0 +1,131 @@
+{
+  "schema_version": 1,
+  "suite": "t2g-seat-frontend-capabilities",
+  "execution_policy": {
+    "automated_mode": "dry_run",
+    "physical_mode": "hardware",
+    "physical_test_requires_operator": true,
+    "auto_home_during_suite": false
+  },
+  "required_hardware_capabilities": [
+    "seat.set_heating",
+    "seat.set_ventilation",
+    "seat.set_longitudinal_position",
+    "seat.set_cushion_tilt",
+    "seat.set_backrest_recline",
+    "seat.set_legrest_height"
+  ],
+  "cases": [
+    {
+      "id": "THERM-01",
+      "utterance": "副驾驶座椅加热开到3档",
+      "operations": [
+        {"target": "passenger", "capability": "seat.set_heating", "parameters": {"state": "on", "level": 3}}
+      ],
+      "bench_check": "0x4FA 加热档位回读为3，靠背加热电流诊断合理。"
+    },
+    {
+      "id": "THERM-02",
+      "utterance": "关闭副驾驶座椅加热",
+      "operations": [
+        {"target": "passenger", "capability": "seat.set_heating", "parameters": {"state": "off"}}
+      ],
+      "bench_check": "0x4FA 加热档位回读为0，输出关闭。"
+    },
+    {
+      "id": "THERM-03",
+      "utterance": "副驾驶座椅通风开到2档",
+      "operations": [
+        {"target": "passenger", "capability": "seat.set_ventilation", "parameters": {"state": "on", "level": 2}}
+      ],
+      "bench_check": "0x4FA 通风档位回读为2，风机运行。"
+    },
+    {
+      "id": "THERM-04",
+      "utterance": "关闭副驾驶座椅通风",
+      "operations": [
+        {"target": "passenger", "capability": "seat.set_ventilation", "parameters": {"state": "off"}}
+      ],
+      "bench_check": "0x4FA 通风档位回读为0，风机关闭。"
+    },
+    {
+      "id": "MOTION-01",
+      "utterance": "把副驾驶座椅水平位置调到25%",
+      "operations": [
+        {"target": "passenger", "capability": "seat.set_longitudinal_position", "parameters": {"position_pct": 25}}
+      ],
+      "bench_check": "M0动作，0x302归一化位置约2500，最终COMPLETE/OK。"
+    },
+    {
+      "id": "MOTION-02",
+      "utterance": "把副驾驶坐盆倾角调到35%",
+      "operations": [
+        {"target": "passenger", "capability": "seat.set_cushion_tilt", "parameters": {"position_pct": 35}}
+      ],
+      "bench_check": "M1动作，0x302归一化位置约3500，最终COMPLETE/OK。"
+    },
+    {
+      "id": "MOTION-03",
+      "utterance": "把副驾驶靠背调到130度",
+      "operations": [
+        {"target": "passenger", "capability": "seat.set_backrest_recline", "parameters": {"angle_deg": 130}}
+      ],
+      "bench_check": "M2向目标角度动作，显示角度约130度，最终COMPLETE/OK。"
+    },
+    {
+      "id": "MOTION-04",
+      "utterance": "把副驾驶腿托抬到145度",
+      "operations": [
+        {"target": "passenger", "capability": "seat.set_legrest_height", "parameters": {"angle_deg": 145}}
+      ],
+      "bench_check": "M3向目标角度动作，显示角度约145度，最终COMPLETE/OK。"
+    },
+    {
+      "id": "COMBINED-01",
+      "utterance": "副驾驶加热1档、通风1档，座椅水平到30%，坐盆到25%，靠背到120度，腿托到125度",
+      "operations": [
+        {"target": "passenger", "capability": "seat.set_heating", "parameters": {"state": "on", "level": 1}},
+        {"target": "passenger", "capability": "seat.set_ventilation", "parameters": {"state": "on", "level": 1}},
+        {"target": "passenger", "capability": "seat.set_longitudinal_position", "parameters": {"position_pct": 30}},
+        {"target": "passenger", "capability": "seat.set_cushion_tilt", "parameters": {"position_pct": 25}},
+        {"target": "passenger", "capability": "seat.set_backrest_recline", "parameters": {"angle_deg": 120}},
+        {"target": "passenger", "capability": "seat.set_legrest_height", "parameters": {"angle_deg": 125}}
+      ],
+      "bench_check": "六项操作逐项成功，每项均有对应ACK/状态回读；任一失败后不继续宣称整句成功。"
+    },
+    {
+      "id": "DEFAULT-01",
+      "utterance": "打开座椅通风",
+      "operations": [
+        {"target": "passenger", "capability": "seat.set_ventilation", "parameters": {"state": "on"}}
+      ],
+      "bench_check": "未指定座位时生成且仅生成副驾通风操作。"
+    }
+  ],
+  "safety_cases": [
+    {
+      "id": "SAFE-01",
+      "utterance": "打开主驾驶座椅通风",
+      "expected": "needs_confirmation",
+      "reason": "当前仅支持副驾；显式主驾请求不得重定向到副驾。"
+    },
+    {
+      "id": "SAFE-02",
+      "utterance": "把副驾驶腿托伸长到50%",
+      "expected": "hardware_safety_gate",
+      "reason": "当前台架没有独立腿托伸缩轴，必须在打开CAN前拒绝。"
+    },
+    {
+      "id": "SAFE-03",
+      "utterance": "副驾驶座椅加热开到1档",
+      "expected": "hardware_safety_gate",
+      "reason": "错误或缺失硬件授权令牌必须返回403。"
+    },
+    {
+      "id": "RECOVERY-01",
+      "utterance": "副驾驶座椅加热开到1档",
+      "expected": "program_then_execute",
+      "reason": "无匹配周期反馈时自动烧写仓库固件，复验通过后才允许动作。"
+    }
+  ]
+}
@@ -3,7 +3,7 @@ from __future__ import annotations
 import tempfile
 import unittest
 from pathlib import Path
-from unittest.mock import patch
+from unittest.mock import MagicMock, patch

 from cognitive_agent.application.domain_runtime import ConfiguredDomainRuntime
 from cognitive_agent.application.mode_profile import ModeProfileRegistry
@@ -254,7 +254,24 @@ class MultiDomainServiceTests(unittest.TestCase):
        )
        self.assertEqual(
            by_capability["seat.set_legrest_height"]["parameters"],
-            {"position_pct": 87, "angle_deg": 163},
+            {"position_pct": 94, "angle_deg": 163},
+        )
+
+    def test_named_mode_profile_suppresses_generic_local_parser_ambiguity(self) -> None:
+        result = self.service.process(
+            "副驾进入零重力模式",
+            "local",
+            "conv-zero-gravity-local-mode",
+            vehicle_id="denza_n7",
+        )
+
+        self.assertEqual(result["status"], "succeeded")
+        self.assertEqual(result["matched_modes"][0]["id"], "zero_gravity")
+        self.assertFalse(
+            any(
+                issue.get("code") == "AMBIGUOUS_INTENT"
+                for issue in result["validation"]
+            )
        )

    def test_named_mode_profile_combines_with_temporary_roof_request(self) -> None:
@@ -294,6 +311,252 @@ class MultiDomainServiceTests(unittest.TestCase):
            },
        )

+    def test_hardware_orchestration_uses_physical_passenger_seat_and_virtual_roof(
+        self,
+    ) -> None:
+        model_output = {
+            "detected_domains": ["seat", "roof"],
+            "requests": [
+                {
+                    "domain": "seat",
+                    "capability": "seat.set_backrest_recline",
+                    "target_scope": "passenger",
+                    "operation": "set",
+                    "parameters": [{"name": "position_pct", "value": 55}],
+                    "reason": "调整副驾靠背。",
+                },
+                {
+                    "domain": "roof",
+                    "capability": "roof.set_transmittance",
+                    "target_scope": "vehicle",
+                    "operation": "set",
+                    "parameters": [{"name": "transmittance_pct", "value": 20}],
+                    "reason": "降低天幕透光率。",
+                },
+            ],
+            "ambiguities": [],
+            "decision_summary": ["执行副驾与天幕联合模式。"],
+            "confidence": 0.96,
+        }
+        physical_state = {
+            "position": {
+                "longitudinal": {"position_pct": 51, "position_valid": True},
+                "cushion_tilt": {"position_pct": 11, "position_valid": True},
+                "backrest_recline": {"position_pct": 54, "position_valid": True},
+                "legrest_height": {"position_pct": 0, "position_valid": True},
+            },
+            "ventilation": {"state": "off", "level": 0},
+            "heating": {"state": "off", "level": 0},
+            "captured_at": "2026-07-31T04:00:00Z",
+            "complete": True,
+            "missing": [],
+        }
+
+        def execute_hardware(plan, config, devices):
+            del plan, devices
+            operation = config["spec"]["operations"][0]
+            return {
+                "apiVersion": "cognitive-agent/v1alpha1",
+                "kind": "ExecutionReport",
+                "metadata": {
+                    "id": "report-hardware-test",
+                    "name": "T2G seat hardware execution report",
+                    "version": "1.0.0",
+                    "request_id": config["metadata"]["request_id"],
+                    "labels": {"simulation": "false"},
+                },
+                "spec": {
+                    "mode": "hil",
+                    "status": "succeeded",
+                    "started_at": "2026-07-31T04:00:00Z",
+                    "finished_at": "2026-07-31T04:00:01Z",
+                    "physical_state": physical_state,
+                    "results": [
+                        {
+                            "ref": operation["id"],
+                            "domain": "seat",
+                            "status": "succeeded",
+                            "message": "physical target reached",
+                            "telemetry": {
+                                "motion_axis": "backrest_recline",
+                                "effective_position_pct": 54,
+                                "position_valid": True,
+                                "simulated": False,
+                            },
+                        }
+                    ],
+                },
+        }
+
+        hardware_executor = MagicMock()
+        hardware_executor.execute.side_effect = execute_hardware
+        initial_driver_backrest = self.service.conversations.snapshot(
+            "conv-mixed-hardware-success"
+        )["devices"]["driver"]["position"]["backrest_recline"]["position_pct"]
+        with (
+            patch.object(self.service.openai, "interpret", return_value=model_output),
+            patch.object(type(self.service.hardware_settings), "authorize"),
+            patch.object(
+                type(self.service.hardware_settings),
+                "validate_function_config",
+            ),
+            patch.object(
+                self.service,
+                "_new_hardware_executor",
+                return_value=hardware_executor,
+            ) as executor_factory,
+        ):
+            result = self.service.process(
+                "副驾靠背调到55%，天幕透光率调到20%",
+                "openai",
+                "conv-mixed-hardware-success",
+                execution_mode="hardware",
+                approval_token="test-token",
+                vehicle_id="denza_n7",
+            )
+
+        self.assertEqual(result["status"], "succeeded")
+        self.assertEqual(result["execution_report"]["spec"]["mode"], "hil")
+        self.assertEqual(
+            result["execution_report"]["metadata"]["labels"]["simulation"],
+            "mixed",
+        )
+        executor_factory.assert_called_once_with()
+        hardware_executor.execute.assert_called_once()
+        by_domain = {
+            item["domain"]: item
+            for item in result["execution_report"]["spec"]["results"]
+        }
+        self.assertFalse(by_domain["seat"]["telemetry"]["simulated"])
+        self.assertTrue(by_domain["roof"]["telemetry"]["simulated"])
+        self.assertEqual(
+            result["actuator_state"]["passenger"]["position"][
+                "backrest_recline"
+            ]["position_pct"],
+            54,
+        )
+        self.assertEqual(
+            result["actuator_state"]["driver"]["position"]["backrest_recline"][
+                "position_pct"
+            ],
+            initial_driver_backrest,
+        )
+        self.assertEqual(result["domain_state"]["roof"]["transmittance_pct"], 20)
+
+    def test_hardware_orchestration_failure_still_synchronizes_physical_seat(
+        self,
+    ) -> None:
+        model_output = {
+            "detected_domains": ["seat", "roof"],
+            "requests": [
+                {
+                    "domain": "seat",
+                    "capability": "seat.set_longitudinal_position",
+                    "target_scope": "passenger",
+                    "operation": "set",
+                    "parameters": [{"name": "position_pct", "value": 100}],
+                    "reason": "移动副驾。",
+                },
+                {
+                    "domain": "roof",
+                    "capability": "roof.set_transmittance",
+                    "target_scope": "vehicle",
+                    "operation": "set",
+                    "parameters": [{"name": "transmittance_pct", "value": 20}],
+                    "reason": "降低天幕透光率。",
+                },
+            ],
+            "ambiguities": [],
+            "decision_summary": ["执行副驾与天幕联合模式。"],
+            "confidence": 0.96,
+        }
+        hardware_executor = MagicMock()
+
+        def execute_hardware(plan, config, devices):
+            del plan, devices
+            return {
+                "apiVersion": "cognitive-agent/v1alpha1",
+                "kind": "ExecutionReport",
+                "metadata": {
+                    "id": "report-hardware-failure-test",
+                    "name": "T2G seat hardware execution report",
+                    "version": "1.0.0",
+                    "request_id": config["metadata"]["request_id"],
+                    "labels": {"simulation": "false"},
+                },
+                "spec": {
+                    "mode": "hil",
+                    "status": "failed",
+                    "started_at": "2026-07-31T04:00:00Z",
+                    "finished_at": "2026-07-31T04:00:01Z",
+                    "physical_state": {
+                        "position": {
+                            "longitudinal": {
+                                "position_pct": 63,
+                                "position_valid": True,
+                            }
+                        },
+                        "captured_at": "2026-07-31T04:00:01Z",
+                        "complete": False,
+                        "missing": ["cushion_tilt", "backrest_recline", "legrest_height"],
+                    },
+                    "results": [
+                        {
+                            "ref": config["spec"]["operations"][0]["id"],
+                            "domain": "seat",
+                            "status": "failed",
+                            "message": "Motor0 TIMEOUT",
+                            "telemetry": {"simulated": False},
+                        }
+                    ],
+                },
+            }
+
+        hardware_executor.execute.side_effect = execute_hardware
+        initial_roof = self.service.conversations.snapshot(
+            "conv-mixed-hardware-failure"
+        )["domain_devices"]["roof"]["transmittance_pct"]
+        with (
+            patch.object(self.service.openai, "interpret", return_value=model_output),
+            patch.object(type(self.service.hardware_settings), "authorize"),
+            patch.object(
+                type(self.service.hardware_settings),
+                "validate_function_config",
+            ),
+            patch.object(
+                self.service,
+                "_new_hardware_executor",
+                return_value=hardware_executor,
+            ),
+        ):
+            result = self.service.process(
+                "副驾水平移到100%，天幕透光率调到20%",
+                "openai",
+                "conv-mixed-hardware-failure",
+                execution_mode="hardware",
+                approval_token="test-token",
+                vehicle_id="denza_n7",
+            )
+
+        self.assertEqual(result["status"], "execution_failed")
+        self.assertEqual(result["execution_report"]["spec"]["status"], "failed")
+        self.assertEqual(
+            result["actuator_state"]["passenger"]["position"]["longitudinal"][
+                "position_pct"
+            ],
+            63,
+        )
+        self.assertEqual(
+            result["actuator_state"]["passenger"]["position"]["longitudinal"][
+                "feedback_source"
+            ],
+            "physical_can",
+        )
+        self.assertEqual(
+            result["domain_state"]["roof"]["transmittance_pct"],
+            initial_roof,
+        )
+
    def test_reference_mode_library_modes_execute_for_denza(self) -> None:
        model_output = {
            "detected_domains": ["seat"],
@@ -42,7 +42,7 @@ class ModeProfileRegistryTests(unittest.TestCase):
        self.assertEqual(
            by_capability["seat.set_legrest_height"]["parameters"],
            [
-                {"name": "position_pct", "value": 87},
+                {"name": "position_pct", "value": 94},
                {"name": "angle_deg", "value": 163},
            ],
        )
@@ -91,17 +91,17 @@ class ModeProfileRegistryTests(unittest.TestCase):
    def test_denza_mode_positions_use_corrected_n7_zero_points(self) -> None:
        registry = ModeProfileRegistry(REPOSITORY_ROOT / "config" / "modes")
        expected_positions = {
-            "baby_nap": (81, 30),
-            "calf_decompression_float": (51, 75),
-            "cruise_sofa": (51, 30),
-            "easy_entry_exit": (100, 0),
-            "electric_beach_chair": (100, 0),
-            "leisure_lounger": (51, 30),
-            "meditation_space": (100, 44),
-            "nap": (0, 0),
-            "office": (72, 22),
-            "queen_passenger_driving": (72, 38),
-            "zero_gravity": (100, 100),
+            "baby_nap": (81, 30, 41, 0),
+            "calf_decompression_float": (51, 75, 0, 100),
+            "cruise_sofa": (51, 30, 44, 53),
+            "easy_entry_exit": (100, 0, 0, 0),
+            "electric_beach_chair": (100, 0, 100, 60),
+            "leisure_lounger": (51, 30, 66, 76),
+            "meditation_space": (100, 44, 44, 58),
+            "nap": (100, 100, 81, 94),
+            "office": (72, 22, 22, 21),
+            "queen_passenger_driving": (72, 38, 44, 31),
+            "zero_gravity": (100, 100, 81, 94),
        }

        profiles = {
@@ -124,6 +124,8 @@ class ModeProfileRegistryTests(unittest.TestCase):
                for capability in (
                    "seat.set_longitudinal_position",
                    "seat.set_cushion_tilt",
+                    "seat.set_backrest_recline",
+                    "seat.set_legrest_height",
                )
            )

@@ -15,17 +15,17 @@ INTENT = {
        {
            "domain": "seat",
            "capability": "seat.set_ventilation",
-            "target_scope": "driver",
+            "target_scope": "passenger",
            "operation": "activate",
            "parameters": [
                {"name": "state", "value": "on"},
                {"name": "level", "value": 1},
            ],
-            "reason": "Driver requested seat ventilation.",
+            "reason": "Passenger requested seat ventilation.",
        }
    ],
    "ambiguities": [],
-    "decision_summary": ["打开主驾座椅通风"],
+    "decision_summary": ["打开副驾座椅通风"],
    "confidence": 0.99,
 }

@@ -59,11 +59,11 @@ class OpenAIResponsesTests(unittest.TestCase):
                return_value=FakeResponse(response_body),
            ) as urlopen:
                result = interpreter.interpret(
-                    "主驾还有点闷",
+                    "副驾还有点闷",
                    {
-                        "last_target": "driver",
+                        "last_target": "passenger",
                        "devices": {
-                            "driver": {
+                            "passenger": {
                                "ventilation": {"state": "on", "level": 1}
                            }
                        },
@@ -100,7 +100,7 @@ class OpenAIResponsesTests(unittest.TestCase):
                "cognitive_agent.infrastructure.llm.openai_responses.urllib.request.urlopen",
                return_value=FakeResponse(stream_body),
            ) as urlopen:
-                result = interpreter.interpret("打开主驾座椅通风")
+                result = interpreter.interpret("打开副驾座椅通风")

        request_payload = json.loads(urlopen.call_args.args[0].data.decode("utf-8"))
        self.assertEqual(result, INTENT)
@@ -122,7 +122,7 @@ class OpenAIResponsesTests(unittest.TestCase):
            ) as urlopen, patch(
                "cognitive_agent.infrastructure.llm.openai_responses.time.sleep"
            ) as sleep:
-                result = interpreter.interpret("打开主驾座椅通风")
+                result = interpreter.interpret("打开副驾座椅通风")

        self.assertEqual(result, INTENT)
        self.assertEqual(urlopen.call_count, 2)
@@ -158,7 +158,7 @@ class OpenAIResponsesTests(unittest.TestCase):
            ) as urlopen, patch(
                "cognitive_agent.infrastructure.llm.openai_responses.time.sleep"
            ) as sleep:
-                result = interpreter.interpret("打开主驾座椅通风")
+                result = interpreter.interpret("打开副驾座椅通风")

        self.assertEqual(result, INTENT)
        self.assertEqual(urlopen.call_count, 2)
@@ -32,7 +32,7 @@ class VehicleProfileTests(unittest.TestCase):
        self.assertEqual(profile.seat_motors["cushion_tilt"].positive_direction, "down")
        self.assertEqual(profile.seat_motors["backrest_recline"].range, 68)
        self.assertEqual(profile.seat_motors["backrest_recline"].hall_total_pulses, 917)
-        self.assertEqual(profile.seat_motors["legrest_height"].range, 78)
+        self.assertEqual(profile.seat_motors["legrest_height"].range, 72)
        self.assertEqual(profile.seat_motors["legrest_height"].hall_total_pulses, 647)

    def test_converts_relative_physical_delta_to_absolute_percent(self) -> None:
@@ -61,13 +61,13 @@ class VehicleProfileTests(unittest.TestCase):
            "kind": "included_angle",
            "zero_deg": 95,
            "max_deg": 163,
-            "provisional": True,
+            "provisional": False,
        })
        self.assertEqual(legrest["display_angle"], {
            "kind": "included_angle",
            "zero_deg": 95,
-            "max_deg": 173,
-            "provisional": True,
+            "max_deg": 167,
+            "provisional": False,
        })