feat(firmware): support rocking-horse workbench delivery

firmware/t2g/Seat_Controller_demo/App/seat_dynamic_mode.c

@@ -5,6 +5,7 @@
 
 #include "motor_control.h"
 #include "seat_dynamic_mode_config.h"
+#include "seat_feature_profile.h"
 #include "seat_motor_manager.h"
 #include "seat_move_config.h"
 
@@ -206,6 +207,12 @@ bool SeatDynamicMode_Start(uint8_t modeId, uint16_t commandSequence)
         SeatDynamic_Definition(modeId);
     uint8_t motor;
 
+#if !SEAT_FEATURE_ROCKING_HORSE
+    if(modeId == SEAT_DYNAMIC_MODE_ROCKING_HORSE)
+    {
+        return false;
+    }
+#endif
     if((definition == NULL) || SeatDynamicMode_IsActive() ||
        SeatMotorManager_IsAnyActive())
     {

firmware/t2g/Seat_Controller_demo/App/seat_move_application.c

@@ -681,6 +681,13 @@ static bool SeatMove_ParametersValid(const seat_move_command_t *command,
             *reject = SEAT_MOVE_REJECT_PARAM_RANGE;
             return false;
         }
+#if !SEAT_FEATURE_ROCKING_HORSE
+        if(command->paramA == SEAT_DYNAMIC_MODE_ROCKING_HORSE)
+        {
+            *reject = SEAT_MOVE_REJECT_BAD_OPCODE;
+            return false;
+        }
+#endif
         break;
     case SEAT_MOVE_OPCODE_STOP_DYNAMIC_MODE:
         if((command->paramA != 0u) || (command->paramB != 0u))

firmware/t2g/Seat_Controller_demo/Config/seat_feature_profile.h

@@ -9,6 +9,7 @@
 #define SEAT_FEATURE_POSITION_CONTROL (1)
 #define SEAT_FEATURE_VENTILATION      (1)
 #define SEAT_FEATURE_HEATING          (1)
+#define SEAT_FEATURE_ROCKING_HORSE    (1)
 
 #if ((SEAT_FEATURE_POSITION_CONTROL != 0) && \
      (SEAT_FEATURE_POSITION_CONTROL != 1))
@@ -21,6 +22,13 @@
 #error "SEAT_FEATURE_HEATING must be 0 or 1"
 #endif
 
+#if ((SEAT_FEATURE_ROCKING_HORSE != 0) && (SEAT_FEATURE_ROCKING_HORSE != 1))
+#error "SEAT_FEATURE_ROCKING_HORSE must be 0 or 1"
+#endif
+#if SEAT_FEATURE_ROCKING_HORSE && !SEAT_FEATURE_POSITION_CONTROL
+#error "Rocking-horse mode requires position control"
+#endif
+
 #define SEAT_FEATURE_THERMAL \
     ((SEAT_FEATURE_VENTILATION != 0) || (SEAT_FEATURE_HEATING != 0))