feat(firmware): support rocking-horse workbench delivery

src/cognitive_agent/application/firmware_workbench.py

@@ -33,7 +33,7 @@ PIPELINE_STAGES = (
 )
 TERMINAL_TASK_STATES = frozenset({"success", "failed", "canceled", "blocked"})
 ACTIVE_TASK_STATES = frozenset({"waiting", "running", "pending_confirmation"})
-ALL_CAPABILITIES = ("时间控制", "位置控制", "座椅通风", "座椅加热")
+ALL_CAPABILITIES = ("时间控制", "位置控制", "座椅通风", "座椅加热", "动态木马")
 BASELINE_CATALOG = {
     "time_only": {
         "name": "时间控制基线",
@@ -854,6 +854,7 @@ class FirmwareWorkbenchService:
                 "position_control": "位置控制" in target_capabilities,
                 "ventilation": "座椅通风" in target_capabilities,
                 "heating": "座椅加热" in target_capabilities,
+                "rocking_horse": "动态木马" in target_capabilities,
             }
             requirements = {
                 "task_id": task_id,
@@ -910,6 +911,19 @@ class FirmwareWorkbenchService:
                             "summary": "启用靠背加热分级控制与超时保护",
                         }
                     )
+                if "动态木马" in target_capabilities:
+                    file_changes.extend([
+                        {
+                            "path": "App/seat_dynamic_mode.c",
+                            "type": "modified",
+                            "summary": "启用动态木马四轴循环运动、停止与超时保护",
+                        },
+                        {
+                            "path": "Config/seat_dynamic_mode_config.h",
+                            "type": "retained",
+                            "summary": "复用已标定的木马中心姿态、往复端点与电机占空比",
+                        },
+                    ])
                 task["file_changes"] = file_changes
                 task["code_diff"] = code_diff
                 self._save_locked()
@@ -936,7 +950,7 @@ class FirmwareWorkbenchService:
                 )
             copied_hex = workspace / "Seat_Controller_demo.hex"
             shutil.copy2(image_path, copied_hex)
-            self._finish_stage(task_id, "build", started, "IAR 编译成功，0 errors / 0 warnings。")
+            self._finish_stage(task_id, "build", started, "IAR 编译成功，HEX 镜像已生成。")
 
             started = self._begin_stage(task_id, "test", "执行固件能力与工程完整性验证。")
             self._check_cancel(cancel_event)
@@ -1059,11 +1073,15 @@ class FirmwareWorkbenchService:
             "位置控制": ("位置", "position"),
             "座椅通风": ("通风", "vent"),
             "座椅加热": ("加热", "heater", "heat"),
+            "动态木马": ("木马", "rocking_horse", "rocking horse", "rocking-horse"),
         }
         for capability, aliases in patterns.items():
             if any(alias in lowered for alias in aliases):
                 requested.append(capability)
-        return requested
+        # The ECU executes rocking-horse poses with calibrated Hall position targets.
+        if "动态木马" in requested and "位置控制" not in requested:
+            requested.append("位置控制")
+        return [capability for capability in ALL_CAPABILITIES if capability in requested]
 
     def _build_log_callback(self, task_id: str) -> Callable[[str, str], None]:
         def callback(level: str, line: str) -> None:
@@ -1115,6 +1133,8 @@ class FirmwareWorkbenchService:
             "1" if "座椅通风" in capabilities else "0",
             "-Heating",
             "1" if "座椅加热" in capabilities else "0",
+            "-RockingHorse",
+            "1" if "动态木马" in capabilities else "0",
         ]
         process = subprocess.Popen(
             command,
@@ -1175,6 +1195,7 @@ class FirmwareWorkbenchService:
                 "position_control": "位置控制" in target_capabilities,
                 "ventilation": "座椅通风" in target_capabilities,
                 "heating": "座椅加热" in target_capabilities,
+                "rocking_horse": "动态木马" in target_capabilities,
             }),
         ]
         if "位置控制" in target_capabilities:
@@ -1194,6 +1215,35 @@ class FirmwareWorkbenchService:
                 "座椅加热控制",
                 "SeatBackrestHeater_SetLevel" in thermal and "MAX_ACTIVE_TIME" in heater,
             ))
+        if "动态木马" in target_capabilities:
+            dynamic = (self.target_root / "App" / "seat_dynamic_mode.c").read_text(
+                encoding="utf-8", errors="replace"
+            )
+            dynamic_config = (
+                self.target_root / "Config" / "seat_dynamic_mode_config.h"
+            ).read_text(encoding="utf-8", errors="replace")
+            checks.extend([
+                ("动态木马位置控制依赖", feature_profile["position_control"]),
+                (
+                    "动态木马控制与停止保护",
+                    all(token in dynamic for token in (
+                        "SEAT_DYNAMIC_MODE_ROCKING_HORSE",
+                        "SEAT_FEATURE_ROCKING_HORSE",
+                        "SeatDynamicMode_Start",
+                        "SeatDynamicMode_Stop",
+                        "SeatDynamic_Fail",
+                    ))
+                    and "SEAT_MOVE_OPCODE_START_DYNAMIC_MODE" in application
+                    and "SEAT_MOVE_OPCODE_STOP_DYNAMIC_MODE" in application,
+                ),
+                (
+                    "动态木马标定与工程配置",
+                    "SEAT_DYNAMIC_HORSE_PHASE_TIMEOUT_MS" in dynamic_config
+                    and "SEAT_DYNAMIC_HORSE_FORWARD_M0_HALL" in dynamic_config
+                    and "SEAT_DYNAMIC_HORSE_BACKWARD_M0_HALL" in dynamic_config
+                    and "seat_dynamic_mode.c" in project,
+                ),
+            ])
         checks.extend([
             (
                 "IAR 工程模块完整性",
@@ -1245,6 +1295,7 @@ class FirmwareWorkbenchService:
                 "位置控制": "position",
                 "座椅通风": "vent",
                 "座椅加热": "heat",
+                "动态木马": "rocking-horse",
             }[capability]
             for capability in capabilities
         )