优化

.gitignore

@@ -0,0 +1,7 @@
+.venv/
+.env
+.env.auth
+__pycache__/
+*.py[cod]
+artifacts/runs/
+tmp/*.log

apps/web-console/app.js

@@ -19,6 +19,8 @@ const state = {
   result: null,
   progressTimer: null,
   seatTwin: null,
+  seatActuatorState: {},
+  availableSeatAxes: null,
 };
 
 const $ = (selector, root = document) => root.querySelector(selector);
@@ -1629,36 +1631,83 @@ function classifyReferenceMaterial(material) {
 }
 
 const TWIN_OUTLINE_STYLE = {
-  body: { color: 0x315d69, lineOpacity: 0.52, fillOpacity: 0.014, renderOrder: 30 },
+  body: {
-  glass: { color: 0x78a7b2, lineOpacity: 0.18, fillOpacity: 0.006, renderOrder: 31 },
+    color: 0x315d69,
-  detail: { color: 0x536f76, lineOpacity: 0.28, fillOpacity: 0.009, renderOrder: 32 },
+    lineOpacity: 0.36,
-  wheel: { color: 0x203d45, lineOpacity: 0.68, fillOpacity: 0.02, renderOrder: 33 },
+    occludedColor: 0xa7b8bb,
-  interior: { color: 0x607e83, lineOpacity: 0.24, fillOpacity: 0.008, renderOrder: 36 },
+    occludedLineOpacity: 0.12,
-  light: { color: 0x536f76, lineOpacity: 0.28, fillOpacity: 0.009, renderOrder: 32 },
+    fillOpacity: 0.11,
+    thresholdAngle: 58,
+    renderOrder: 30,
+  },
+  glass: { color: 0x78a7b2, lineOpacity: 0, fillOpacity: 0.045, renderOrder: 31 },
+  detail: { color: 0x536f76, lineOpacity: 0, fillOpacity: 0.028, renderOrder: 32 },
+  wheel: {
+    color: 0x203d45,
+    lineOpacity: 0.52,
+    occludedColor: 0x9eafb2,
+    occludedLineOpacity: 0.14,
+    fillOpacity: 0.18,
+    thresholdAngle: 50,
+    renderOrder: 33,
+  },
+  interior: { color: 0x607e83, lineOpacity: 0, fillOpacity: 0.012, renderOrder: 36 },
+  light: { color: 0x536f76, lineOpacity: 0, fillOpacity: 0.07, renderOrder: 32 },
 };
 
 function addTwinMeshOutline(THREE, mesh, style, thresholdAngle = 30) {
-  if (!mesh.geometry?.attributes?.position || mesh.userData.twinOutline) return null;
+  if (
+    !mesh.geometry?.attributes?.position
+    || mesh.userData.twinOutline
+    || style.lineOpacity <= 0
+  ) return null;
   const geometry = new THREE.EdgesGeometry(mesh.geometry, thresholdAngle);
   if (!geometry.getAttribute("position")?.count) {
     geometry.dispose();
     return null;
   }
-  const material = new THREE.LineBasicMaterial({
+  const visibleMaterial = new THREE.LineBasicMaterial({
     color: style.color,
     transparent: true,
     opacity: style.lineOpacity,
     depthWrite: false,
     depthTest: true,
+    depthFunc: THREE.LessEqualDepth,
     toneMapped: false,
   });
-  const outline = new THREE.LineSegments(geometry, material);
+  visibleMaterial.onBeforeCompile = (shader) => {
-  outline.name = `${mesh.name || "mesh"}_outline`;
+    shader.vertexShader = shader.vertexShader.replace(
-  outline.renderOrder = style.renderOrder;
+      "#include <project_vertex>",
-  outline.frustumCulled = mesh.frustumCulled;
+      "#include <project_vertex>\ngl_Position.z -= 0.0006 * gl_Position.w;",
-  mesh.add(outline);
+    );
-  mesh.userData.twinOutline = outline;
+  };
-  return outline;
+  visibleMaterial.customProgramCacheKey = () => "twin-visible-line-depth-bias-v1";
+  const visibleOutline = new THREE.LineSegments(geometry, visibleMaterial);
+  visibleOutline.name = `${mesh.name || "mesh"}_outline_visible`;
+  visibleOutline.renderOrder = style.renderOrder + 1;
+  visibleOutline.frustumCulled = mesh.frustumCulled;
+  mesh.add(visibleOutline);
+  mesh.userData.twinOutline = visibleOutline;
+
+  const occludedOpacity = style.occludedLineOpacity ?? 0;
+  if (occludedOpacity > 0) {
+    const occludedMaterial = new THREE.LineBasicMaterial({
+      color: style.occludedColor ?? style.color,
+      transparent: true,
+      opacity: occludedOpacity,
+      depthWrite: false,
+      depthTest: true,
+      depthFunc: THREE.GreaterDepth,
+      toneMapped: false,
+    });
+    const occludedOutline = new THREE.LineSegments(geometry, occludedMaterial);
+    occludedOutline.name = `${mesh.name || "mesh"}_outline_occluded`;
+    occludedOutline.renderOrder = style.renderOrder;
+    occludedOutline.frustumCulled = mesh.frustumCulled;
+    mesh.add(occludedOutline);
+    mesh.userData.twinOccludedOutline = occludedOutline;
+  }
+  return visibleOutline;
 }
 
 function applyTwinOutlineStyle(THREE, root, options = {}) {
@@ -1694,6 +1743,9 @@ function configureTwinSolidEntity(THREE, roots, options = {}) {
     root.traverse((object) => {
       if (!object.isMesh || !object.visible) return;
       if (object.userData.twinOutline) object.userData.twinOutline.visible = false;
+      if (object.userData.twinOccludedOutline) {
+        object.userData.twinOccludedOutline.visible = false;
+      }
       const materials = Array.isArray(object.material) ? object.material : [object.material];
       materials.filter(Boolean).forEach((material) => {
         material.transparent = Boolean(options.transparent);
@@ -1792,12 +1844,20 @@ function configureReferenceVehicleModel(THREE, vehicle) {
       const material = sourceMaterial.clone();
       const descriptor = referenceMaterialDescriptor(material);
       const category = classifyReferenceMaterial(material);
+      const outlineStyle = TWIN_OUTLINE_STYLE[category] || TWIN_OUTLINE_STYLE.detail;
       const key = `${category}:${material.name || "unnamed"}`;
       report.materials.set(key, (report.materials.get(key) || 0) + 1);
-      if (material.map) {
+      [
-        material.map.colorSpace = THREE.SRGBColorSpace;
+        "map",
-        material.map.anisotropy = 8;
+        "aoMap",
-      }
+        "bumpMap",
+        "normalMap",
+        "roughnessMap",
+        "metalnessMap",
+        "emissiveMap",
+      ].forEach((textureKey) => {
+        if (textureKey in material) material[textureKey] = null;
+      });
       if (material.emissive) {
         material.emissive.setHex(0x000000);
         if ("emissiveIntensity" in material) material.emissiveIntensity = 0;
@@ -1832,11 +1892,15 @@ function configureReferenceVehicleModel(THREE, vehicle) {
       } else if (/chrome|metal|alloy|rim/.test(descriptor) && material.color) {
         material.color.setHex(0xaeb9bb);
       }
-      const outlineStyle = TWIN_OUTLINE_STYLE[category] || TWIN_OUTLINE_STYLE.detail;
       material.transparent = true;
       material.opacity = outlineStyle.fillOpacity;
-      material.depthWrite = false;
+      material.depthWrite = ["body", "detail", "wheel"].includes(category);
-      material.side = THREE.DoubleSide;
+      material.depthTest = true;
+      material.side = category === "glass" ? THREE.DoubleSide : THREE.FrontSide;
+      material.wireframe = false;
+      if ("flatShading" in material) material.flatShading = false;
+      if ("roughness" in material) material.roughness = category === "body" ? 0.72 : 0.82;
+      if ("metalness" in material) material.metalness = category === "wheel" ? 0.48 : 0.08;
       if (material.emissive) material.emissive.setHex(0x000000);
       if ("emissiveIntensity" in material) material.emissiveIntensity = 0;
       material.needsUpdate = true;
@@ -1851,7 +1915,12 @@ function configureReferenceVehicleModel(THREE, vehicle) {
     const outlineCategory = categoryPriority.find((category) => categories.includes(category)) || "detail";
     const outlineStyle = TWIN_OUTLINE_STYLE[outlineCategory];
     object.renderOrder = outlineStyle.renderOrder - 1;
-    addTwinMeshOutline(THREE, object, outlineStyle, 30);
+    addTwinMeshOutline(
+      THREE,
+      object,
+      outlineStyle,
+      outlineStyle.thresholdAngle ?? 60,
+    );
   });
   return report;
 }
@@ -2048,6 +2117,7 @@ function initSeatTwin() {
 
   const THREE = window.THREE;
   const renderer = new THREE.WebGLRenderer({ canvas, antialias: true, powerPreference: "high-performance" });
+  renderer.autoClear = false;
   renderer.setPixelRatio(Math.min(window.devicePixelRatio || 1, 2));
   if ("outputColorSpace" in renderer) renderer.outputColorSpace = THREE.SRGBColorSpace;
   else renderer.outputEncoding = THREE.sRGBEncoding;
@@ -2058,8 +2128,11 @@ function initSeatTwin() {
   scene.background = new THREE.Color(0xe8eeec);
   scene.fog = new THREE.Fog(0xe8eeec, 12, 19);
   const camera = new THREE.PerspectiveCamera(34, 1, 0.1, 40);
-  scene.add(new THREE.HemisphereLight(0xffffff, 0x7d8b90, 2.2));
+  const hemisphereLight = new THREE.HemisphereLight(0xffffff, 0x7d8b90, 2.2);
+  hemisphereLight.layers.enable(1);
+  scene.add(hemisphereLight);
   const keyLight = new THREE.DirectionalLight(0xffffff, 3.2);
+  keyLight.layers.enable(1);
   keyLight.position.set(-4, 7, 6);
   keyLight.castShadow = true;
   keyLight.shadow.mapSize.set(1024, 1024);
@@ -2069,6 +2142,7 @@ function initSeatTwin() {
   keyLight.shadow.camera.bottom = -4;
   scene.add(keyLight);
   const fillLight = new THREE.DirectionalLight(0x9fc7d7, 1.15);
+  fillLight.layers.enable(1);
   fillLight.position.set(5, 3, -5);
   scene.add(fillLight);
 
@@ -2148,6 +2222,14 @@ function initSeatTwin() {
   });
   scene.add(fixedModels.driver.root);
   vehicleSystems.root.add(fixedModels.rear);
+  [
+    vehicleSystems.root,
+    models.passenger.root,
+    fixedModels.driver.root,
+    fixedModels.rear,
+  ].forEach((root) => {
+    root.traverse((object) => object.layers.set(1));
+  });
 
   const initialDevice = () => ({
     ventilation: { state: "off", level: 0 },
@@ -2300,6 +2382,7 @@ function initSeatTwin() {
       const anchorX = (projectedPosition.x * 0.5 + 0.5) * width;
       const anchorY = (-projectedPosition.y * 0.5 + 0.5) * height;
       const offset = {
+        longitudinal: { x: -104, y: 50 },
         backrest_recline: { x: -108, y: -28 },
         cushion_tilt: { x: 106, y: -4 },
         legrest_height: { x: 112, y: 52 },
@@ -2388,7 +2471,16 @@ function initSeatTwin() {
     );
     camera.lookAt(cameraTargetX, 1.14, -0.08);
     positionTwinCallouts();
+    renderer.clear();
+    camera.layers.set(0);
     renderer.render(scene, camera);
+    renderer.clearDepth();
+    const sceneBackground = scene.background;
+    scene.background = null;
+    camera.layers.set(1);
+    renderer.render(scene, camera);
+    scene.background = sceneBackground;
+    camera.layers.set(0);
     if (!canvas.dataset.rendered) canvas.dataset.rendered = "true";
     window.requestAnimationFrame(animate);
   }
@@ -2461,6 +2553,58 @@ function applyTwinAngleRanges(vehicle) {
   });
 }
 
+function applySeatMotorAvailability(vehicle) {
+  const motors = vehicle?.seat?.motors || {};
+  const availableAxes = new Set(Object.keys(motors));
+  state.availableSeatAxes = availableAxes;
+  Object.keys(TWIN_DEFAULT_POSITIONS).forEach((axis) => {
+    const available = availableAxes.has(axis);
+    $$(`[data-axis="${axis}"], [data-twin-axis="${axis}"], [data-callout="${axis}"]`)
+      .forEach((item) => {
+        item.classList.toggle("seat-axis-unavailable", !available);
+        item.setAttribute("aria-hidden", String(!available));
+      });
+    const motorName = motors[axis]?.name || axis;
+    const twinLabel = axis === "longitudinal"
+      ? `${motorName}位置`
+      : ["cushion_tilt", "backrest_recline", "legrest_height"].includes(axis)
+        ? `${motorName}夹角`
+        : motorName;
+    $$(`[data-twin-axis="${axis}"] > span, [data-callout="${axis}"] > span`)
+      .forEach((label) => { label.textContent = twinLabel; });
+  });
+  const cushionName = motors.cushion_tilt?.name;
+  const backrestName = motors.backrest_recline?.name;
+  const legrestName = motors.legrest_height?.name;
+  const backrestIncludedLabel = $('[data-callout="backrest_included_angle"] > span');
+  const legrestIncludedLabel = $('[data-callout="legrest_included_angle"] > span');
+  if (backrestIncludedLabel && backrestName && cushionName) {
+    backrestIncludedLabel.textContent = `${backrestName}-${cushionName}夹角`;
+  }
+  if (legrestIncludedLabel && cushionName && legrestName) {
+    legrestIncludedLabel.textContent = `${cushionName}-${legrestName}夹角`;
+  }
+}
+
+function renderSeatMotorRows(vehicle) {
+  const motors = Object.entries(vehicle?.seat?.motors || {});
+  $$(".seat-card .motion-state-grid").forEach((grid) => {
+    const fragment = document.createDocumentFragment();
+    motors.forEach(([axis, motor]) => {
+      const item = document.createElement("div");
+      item.className = "motion-axis";
+      item.dataset.axis = axis;
+      const label = document.createElement("span");
+      label.textContent = motor?.name || axis;
+      const value = document.createElement("b");
+      value.textContent = "--";
+      item.append(label, value, document.createElement("i"));
+      fragment.append(item);
+    });
+    grid.replaceChildren(fragment);
+  });
+}
+
 function selectVehicle(vehicleId, { silent = false } = {}) {
   const vehicle = findVehicleProfile(vehicleId);
   if (!vehicle) return;
@@ -2468,6 +2612,8 @@ function selectVehicle(vehicleId, { silent = false } = {}) {
   const select = $("#vehicleSelect");
   if (select) select.value = vehicle.id;
   applyTwinAngleRanges(vehicle);
+  renderSeatMotorRows(vehicle);
+  applySeatMotorAvailability(vehicle);
   const longitudinal = vehicle.seat?.motors?.longitudinal;
   const backrest = vehicle.seat?.motors?.backrest_recline;
   $("#vehicleNote").textContent = longitudinal && backrest
@@ -2476,7 +2622,7 @@ function selectVehicle(vehicleId, { silent = false } = {}) {
   if (state.result?.actuator_state) {
     renderSeatState(state.result.actuator_state);
   } else if (state.seatTwin?.actuatorState) {
-    updateSeatTwin(state.seatTwin.actuatorState);
+    renderSeatState(state.seatTwin.actuatorState);
   }
   if (!silent) showToast(`已切换车型：${vehicle.name}`);
 }
@@ -2767,10 +2913,41 @@ function resetSeatState() {
   });
 }
 
+function mergeSeatActuatorState(previousState, patchState) {
+  const mergedState = { ...(previousState || {}) };
+  Object.entries(patchState || {}).forEach(([seat, functions]) => {
+    const previousSeat = mergedState[seat] || {};
+    const mergedSeat = { ...previousSeat };
+    Object.entries(functions || {}).forEach(([feature, value]) => {
+      if (feature === "position") {
+        const previousPosition = previousSeat.position || {};
+        const mergedPosition = { ...previousPosition };
+        Object.entries(value || {}).forEach(([axis, motion]) => {
+          mergedPosition[axis] = motion && typeof motion === "object"
+            ? { ...(previousPosition[axis] || {}), ...motion }
+            : motion;
+        });
+        mergedSeat.position = mergedPosition;
+        return;
+      }
+      mergedSeat[feature] = value && typeof value === "object" && !Array.isArray(value)
+        ? { ...(previousSeat[feature] || {}), ...value }
+        : value;
+    });
+    mergedState[seat] = mergedSeat;
+  });
+  return mergedState;
+}
+
 function renderSeatState(actuatorState) {
-  resetSeatState();
   if (!actuatorState) return;
-  Object.entries(actuatorState).forEach(([seat, functions]) => {
+  const mergedActuatorState = mergeSeatActuatorState(
+    state.seatActuatorState,
+    actuatorState,
+  );
+  state.seatActuatorState = mergedActuatorState;
+  resetSeatState();
+  Object.entries(mergedActuatorState).forEach(([seat, functions]) => {
     Object.entries(functions).forEach(([feature, value]) => {
       if (feature === "position") {
         Object.entries(value).forEach(([axis, motion]) => {
@@ -2793,7 +2970,7 @@ function renderSeatState(actuatorState) {
       $("b", item).textContent = value.state === "on" ? `ON · L${value.level}` : "OFF";
     });
   });
-  updateSeatTwin(actuatorState);
+  updateSeatTwin(mergedActuatorState);
 }
 
 function renderDomainState(domainState) {

apps/web-console/index.html

@@ -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-13" defer></script>
+    <script src="/app.js?v=unified-cabin-22" defer></script>
     <script type="module" src="/gesture-control.js?v=gesture-core-3"></script>
   </head>
   <body>
@@ -289,7 +289,7 @@
             </div>
           </div>
           <div class="twin-stage" id="seatTwin" data-selected-seat="passenger">
-            <canvas id="seatTwinCanvas" data-vehicle-model="byd-tang-2024-reference" data-seat-layout="five-seat" data-active-seat="front-right" aria-label="透明轮廓整车、固定主驾和后排、动态副驾、全景天幕、仪表台空调出风口与副驾手套箱上方氛围灯三维状态"></canvas>
+            <canvas id="seatTwinCanvas" data-vehicle-model="byd-tang-2024-reference" data-seat-layout="five-seat" data-active-seat="front-right" aria-label="具有前后遮挡明暗层次的半透明整车外壳、始终清晰显示的动态副驾、全景天幕、仪表台空调出风口与副驾手套箱上方氛围灯三维状态"></canvas>
             <div class="vehicle-system-hud" aria-label="整车孪生系统状态">
               <span data-twin-system="roof"><i data-lucide="panels-top-left"></i><small>全景天幕</small><b id="twinRoofState">透光 100%</b></span>
               <span data-twin-system="climate"><i data-lucide="wind"></i><small>仪表台 HVAC</small><b id="twinClimateState">关闭</b></span>
@@ -348,13 +348,7 @@
                   <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">
+                <div class="motion-state-grid" aria-live="polite"></div>
-                  <div class="motion-axis" data-axis="longitudinal"><span>水平</span><b>--</b><i></i></div>
-                  <div class="motion-axis" data-axis="cushion_tilt"><span>坐垫俯仰</span><b>--</b><i></i></div>
-                  <div class="motion-axis" data-axis="backrest_recline"><span>靠背</span><b>--</b><i></i></div>
-                  <div class="motion-axis" data-axis="legrest_height"><span>腿托升降</span><b>--</b><i></i></div>
-                  <div class="motion-axis" data-axis="legrest_extension"><span>腿托伸缩</span><b>--</b><i></i></div>
-                </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>
@@ -362,13 +356,7 @@
                   <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">
+                <div class="motion-state-grid" aria-live="polite"></div>
-                  <div class="motion-axis" data-axis="longitudinal"><span>水平</span><b>--</b><i></i></div>
-                  <div class="motion-axis" data-axis="cushion_tilt"><span>坐垫俯仰</span><b>--</b><i></i></div>
-                  <div class="motion-axis" data-axis="backrest_recline"><span>靠背</span><b>--</b><i></i></div>
-                  <div class="motion-axis" data-axis="legrest_height"><span>腿托升降</span><b>--</b><i></i></div>
-                  <div class="motion-axis" data-axis="legrest_extension"><span>腿托伸缩</span><b>--</b><i></i></div>
-                </div>
               </article>
             </div>
           </div>

apps/web-console/styles.css

@@ -3015,11 +3015,14 @@ pre {
   bottom: 18px;
 }
 
-.joint-twin-shell [data-callout="longitudinal"],
 .joint-twin-shell [data-callout="legrest_extension"] {
   display: none !important;
 }
 
+.seat-axis-unavailable {
+  display: none !important;
+}
+
 .joint-twin-shell .twin-callout {
   min-width: 67px;
   padding: 5px 6px;

config/modes/vehicles/denza_n7/baby_nap.yaml

@@ -13,8 +13,8 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 19
+      position_pct: 81
-    reason: 宝宝午睡模式水平电机目标 40mm，按腾势 N7 215mm 行程换算。
+    reason: 宝宝午睡模式水平电机目标 175mm，按腾势 N7 215mm 行程换算。
   - domain: seat
     capability: seat.set_cushion_tilt
     target_scope: passenger

config/modes/vehicles/denza_n7/calf_decompression_float.yaml

@@ -14,8 +14,8 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 49
+      position_pct: 51
-    reason: 小腿解压悬浮模式水平电机目标 105mm，按腾势 N7 215mm 行程换算。
+    reason: 小腿解压悬浮模式水平电机目标 110mm，按腾势 N7 215mm 行程换算。
   - domain: seat
     capability: seat.set_cushion_tilt
     target_scope: passenger

config/modes/vehicles/denza_n7/cruise_sofa.yaml

@@ -13,8 +13,8 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 49
+      position_pct: 51
-    reason: 巡航沙发模式水平电机目标 105mm，按腾势 N7 215mm 行程换算。
+    reason: 巡航沙发模式水平电机目标 110mm，按腾势 N7 215mm 行程换算。
   - domain: seat
     capability: seat.set_cushion_tilt
     target_scope: passenger

config/modes/vehicles/denza_n7/easy_entry_exit.yaml

@@ -13,8 +13,8 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 0
+      position_pct: 100
-    reason: 轻松进出模式上下车水平电机目标 0mm。
+    reason: 轻松进出模式上下车水平电机目标 215mm。
   - domain: seat
     capability: seat.set_cushion_tilt
     target_scope: passenger

config/modes/vehicles/denza_n7/electric_beach_chair.yaml

@@ -14,8 +14,8 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 0
+      position_pct: 100
-    reason: 电感沙滩椅水平电机目标 0mm。
+    reason: 电感沙滩椅水平电机目标 215mm。
   - domain: seat
     capability: seat.set_cushion_tilt
     target_scope: passenger

config/modes/vehicles/denza_n7/leisure_lounger.yaml

@@ -13,8 +13,8 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 49
+      position_pct: 51
-    reason: 休闲躺椅模式水平电机目标 105mm，按腾势 N7 215mm 行程换算。
+    reason: 休闲躺椅模式水平电机目标 110mm，按腾势 N7 215mm 行程换算。
   - domain: seat
     capability: seat.set_cushion_tilt
     target_scope: passenger

config/modes/vehicles/denza_n7/meditation_space.yaml

@@ -14,8 +14,8 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 0
+      position_pct: 100
-    reason: 冥想空间模式水平电机目标 0mm。
+    reason: 冥想空间模式水平电机目标 215mm。
   - domain: seat
     capability: seat.set_cushion_tilt
     target_scope: passenger

config/modes/vehicles/denza_n7/nap.yaml

@@ -13,8 +13,8 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 100
+      position_pct: 0
-    reason: 小憩模式水平电机目标 215mm，按腾势 N7 215mm 行程换算。
+    reason: 小憩模式水平电机目标 0mm，按腾势 N7 215mm 行程换算。
   - domain: seat
     capability: seat.set_cushion_tilt
     target_scope: passenger

config/modes/vehicles/denza_n7/office.yaml

@@ -13,8 +13,8 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 28
+      position_pct: 72
-    reason: 办公模式水平电机目标 60mm，按腾势 N7 215mm 行程换算。
+    reason: 办公模式水平电机目标 155mm，按腾势 N7 215mm 行程换算。
   - domain: seat
     capability: seat.set_cushion_tilt
     target_scope: passenger

config/modes/vehicles/denza_n7/queen_passenger_driving.yaml

@@ -14,8 +14,8 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 28
+      position_pct: 72
-    reason: 女王副驾水平电机目标 60mm，按腾势 N7 215mm 行程换算。
+    reason: 女王副驾水平电机目标 155mm，按腾势 N7 215mm 行程换算。
   - domain: seat
     capability: seat.set_cushion_tilt
     target_scope: passenger

config/modes/vehicles/denza_n7/zero_gravity.yaml

@@ -16,8 +16,8 @@ operations:
     target_scope: passenger
     operation: set
     parameters:
-      position_pct: 0
+      position_pct: 100
-    reason: 零重力模式水平电机目标 0mm，按腾势 N7 215mm 行程换算。
+    reason: 零重力模式水平电机目标 215mm，按腾势 N7 215mm 行程换算。
   - domain: seat
     capability: seat.set_cushion_tilt
     target_scope: passenger

config/vehicles/denza_n7.yaml

@@ -6,15 +6,15 @@ seat:
       name: 水平
       unit: mm
       range: 215
-      reference_zero: rearmost
+      reference_zero: forwardmost
-      positive_direction: forward
+      positive_direction: backward
       hall_total_pulses: 480
     cushion_tilt:
       name: 坐盆
       unit: percent
       range: 100
-      reference_zero: lowest
+      reference_zero: highest
-      positive_direction: up
+      positive_direction: down
       hall_total_pulses: 374
     backrest_recline:
       name: 座椅靠背

domains/seat/config/capabilities.yaml

@@ -63,9 +63,10 @@ spec:
       confirmation_policy: on_ambiguity
     - name: seat.set_longitudinal_position
       description: >-
-        Set one front seat's fore-aft rail position. position_pct is an absolute target: 0 is the
+        Set one front seat's fore-aft rail position. For the selected Denza N7 profile, position_pct
-        rearmost mechanical limit and 100 is the forwardmost limit. Resolve relative requests such
+        is an absolute target: 0 is the forwardmost mechanical limit and 100 is the rearmost limit.
-        as "move back a little" against the current position supplied in runtime state. For a
+        Resolve relative requests such as "move back a little" against the current position supplied
+        in runtime state: forward decreases the value and backward increases it. For a
         vehicle-specific physical relative request, distance_mm may be supplied and the runtime
         converts it to an absolute position_pct before CAN compilation.
       target_devices:
@@ -92,8 +93,9 @@ spec:
       confirmation_policy: on_ambiguity
     - name: seat.set_cushion_tilt
       description: >-
-        Set the seat-cushion pitch for one front seat. position_pct is absolute: 0 places the front
+        Set the seat-cushion pitch for one front seat. For the selected Denza N7 profile,
-        edge at its lowest limit and 100 raises the front edge to its highest tilt limit.
+        position_pct is absolute: 0 places the front edge at its highest limit and 100 lowers the
+        front edge to its lowest tilt limit.
       target_devices:
         - seat_cushion_tilt_motor
       target_scopes:

domains/seat/tests/integration/test_seat_service.py

@@ -335,7 +335,7 @@ class SeatServiceIntegrationTests(unittest.TestCase):
                         "domain": "seat",
                         "capability": "seat.set_longitudinal_position",
                         "target_scope": "driver",
-                        "operation": "decrease",
+                        "operation": "increase",
                         "parameters": [{"name": "position_pct", "value": position}],
                         "reason": "Model resolved the relative request.",
                     }
@@ -349,7 +349,7 @@ class SeatServiceIntegrationTests(unittest.TestCase):
         with patch.object(
             self.service.openai,
             "interpret",
-            side_effect=[output(40), output(30)],
+            side_effect=[output(60), output(70)],
         ) as interpret:
             first = self.service.process(
                 "主驾往后一点", "openai", "conv-motion-follow-up"
@@ -362,18 +362,18 @@ class SeatServiceIntegrationTests(unittest.TestCase):
             first["actuator_state"]["driver"]["position"]["longitudinal"][
                 "position_pct"
             ],
-            40,
+            60,
         )
         self.assertEqual(
             second["actuator_state"]["driver"]["position"]["longitudinal"][
                 "position_pct"
             ],
-            30,
+            70,
         )
         second_context = interpret.call_args_list[1].args[1]
         self.assertEqual(
             second_context["devices"]["driver"]["position"]["longitudinal"]["position_pct"],
-            40,
+            60,
         )
 
     def test_model_relative_physical_motion_uses_vehicle_profile(self) -> None:
@@ -384,7 +384,7 @@ class SeatServiceIntegrationTests(unittest.TestCase):
                     "domain": "seat",
                     "capability": "seat.set_longitudinal_position",
                     "target_scope": "driver",
-                    "operation": "increase",
+                    "operation": "decrease",
                     "parameters": [{"name": "distance_mm", "value": 50}],
                     "reason": "Move forward by a physical distance.",
                 },
@@ -414,7 +414,7 @@ class SeatServiceIntegrationTests(unittest.TestCase):
         self.assertEqual(result["status"], "succeeded")
         self.assertEqual(result["vehicle"]["id"], "denza_n7")
         operations = result["function_config"]["spec"]["operations"]
-        self.assertEqual(operations[0]["parameters"], {"position_pct": 73})
+        self.assertEqual(operations[0]["parameters"], {"position_pct": 27})
         self.assertEqual(
             operations[1]["parameters"],
             {"position_pct": 38, "angle_deg": 116},

tests/e2e/test_seat_web_api.py

@@ -134,6 +134,14 @@ class SeatWebApiTests(unittest.TestCase):
             runtime["vehicle"]["seat"]["motors"]["longitudinal"]["range"],
             215,
         )
+        self.assertEqual(
+            runtime["vehicle"]["seat"]["motors"]["longitudinal"]["reference_zero"],
+            "forwardmost",
+        )
+        self.assertEqual(
+            runtime["vehicle"]["seat"]["motors"]["cushion_tilt"]["reference_zero"],
+            "highest",
+        )
         capability_names = {item["name"] for item in runtime["capabilities"]}
         self.assertIn("seat.save_posture_preset", capability_names)
         self.assertIn("seat.apply_posture_preset", capability_names)

tests/integration/test_multidomain_service.py

@@ -242,7 +242,7 @@ class MultiDomainServiceTests(unittest.TestCase):
         by_capability = {item["capability"]: item for item in operations}
         self.assertEqual(
             by_capability["seat.set_longitudinal_position"]["parameters"],
-            {"position_pct": 0},
+            {"position_pct": 100},
         )
         self.assertEqual(
             by_capability["seat.set_cushion_tilt"]["parameters"],

tests/unit/test_mode_profile.py

@@ -24,7 +24,7 @@ class ModeProfileRegistryTests(unittest.TestCase):
         self.assertEqual(requests[0]["capability"], "seat.set_longitudinal_position")
         self.assertEqual(requests[0]["target_scope"], "passenger")
         self.assertIn(
-            {"name": "position_pct", "value": 0},
+            {"name": "position_pct", "value": 100},
             requests[0]["parameters"],
         )
         by_capability = {request["capability"]: request for request in requests}
@@ -88,6 +88,47 @@ class ModeProfileRegistryTests(unittest.TestCase):
             "calf_decompression_float",
         )
 
+    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),
+        }
+
+        profiles = {
+            profile.id: profile
+            for profile in registry.profiles()
+            if profile.id in expected_positions and profile.vehicle_ids == ("denza_n7",)
+        }
+        actual_positions = {}
+        for profile_id, profile in profiles.items():
+            requests = {
+                request["capability"]: request
+                for request in registry.requests_for_profiles([profile])
+            }
+            actual_positions[profile_id] = tuple(
+                next(
+                    parameter["value"]
+                    for parameter in requests[capability]["parameters"]
+                    if parameter["name"] == "position_pct"
+                )
+                for capability in (
+                    "seat.set_longitudinal_position",
+                    "seat.set_cushion_tilt",
+                )
+            )
+
+        self.assertEqual(actual_positions, expected_positions)
+
     def test_common_modes_are_visible_with_vehicle_specific_overrides(self) -> None:
         with tempfile.TemporaryDirectory() as directory:
             root = Path(directory)

tests/unit/test_vehicle_profile.py

@@ -26,7 +26,10 @@ class VehicleProfileTests(unittest.TestCase):
         })
         self.assertEqual(profile.seat_motors["longitudinal"].range, 215)
         self.assertEqual(profile.seat_motors["longitudinal"].hall_total_pulses, 480)
-        self.assertEqual(profile.seat_motors["longitudinal"].reference_zero, "rearmost")
+        self.assertEqual(profile.seat_motors["longitudinal"].reference_zero, "forwardmost")
+        self.assertEqual(profile.seat_motors["longitudinal"].positive_direction, "backward")
+        self.assertEqual(profile.seat_motors["cushion_tilt"].reference_zero, "highest")
+        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)