优化前端，优化前端指令，优化自定义控制

config/environments/linux_vehicle_state.example.env

@@ -13,11 +13,13 @@ COGNITIVE_AGENT_ZLGCAN_LINUX_LIBRARY=/home/orin/project511/project-code/canfd/li
 COGNITIVE_AGENT_SHARED_CAN_RUNTIME_ENABLED=false
 
 # Local NanoMQ wireless dual-CAN relay: CAN0 is the passenger seat; CAN1 is the
-# rest of the vehicle. State subscription remains available while physical
-# control stays locked unless the existing hardware approval policy is configured.
+# rest of the vehicle. The local relay is executable by default; set the MQTT
+# approval flag below to true and configure the shared approval token when a
+# deployment needs an additional server-side transmit gate.
 COGNITIVE_AGENT_VEHICLE_MQTT_ENABLED=true
+COGNITIVE_AGENT_VEHICLE_MQTT_APPROVAL_TOKEN_REQUIRED=false
 COGNITIVE_AGENT_VEHICLE_MQTT_HOST=127.0.0.1
 COGNITIVE_AGENT_VEHICLE_MQTT_PORT=1883
 COGNITIVE_AGENT_VEHICLE_MQTT_CONDITION_TOPIC=n7/n7-headunit/can/state
-COGNITIVE_AGENT_VEHICLE_MQTT_CONTROL_TOPIC=n7/can_control
+COGNITIVE_AGENT_VEHICLE_MQTT_CONTROL_TOPIC=n7/n7-headunit/can/command
 COGNITIVE_AGENT_VEHICLE_MQTT_QOS=1

config/native_can_capabilities/door.yaml

@@ -3,7 +3,7 @@ kind: CapabilityCatalog
 metadata:
   id: door-native-can-capabilities
   name: Door native CAN capabilities
-  version: 1.2.0
+  version: 1.3.0
 spec:
   domain: door
   capabilities:
@@ -22,9 +22,9 @@ spec:
       risk_level: high
       confirmation_policy: always
     - name: door.set_rear_lock
-      description: Observational only and deprecated. Physical control is unsupported on the current CH1; legacy 0x32B is second-row-only and must not be treated as whole-vehicle locking.
-      execution_support: observational_only
-      physical_control_supported: false
+      description: Matrix- and head-unit-backed second-row door lock request on classic CAN ID 0x32B, sub-ID 0x0A. It controls only the rear doors and must never be represented as whole-vehicle locking; physical completion still requires matching 0x407 feedback.
+      execution_support: matrix_candidate_with_feedback
+      physical_control_supported: true
       target_devices: [rear_door_lock]
       target_scopes: [rear]
       parameters:
@@ -32,6 +32,6 @@ spec:
           type: string
           required: true
           allowed_values: [lock, unlock]
-          description: Legacy second-row intent retained only for explicit rejection and compatibility parsing.
+          description: Second-row lock request; lock is raw 1 and unlock is raw 2 at start bit 14.
       risk_level: high
-      confirmation_policy: always
+      confirmation_policy: on_ambiguity

config/native_can_capabilities/driver_seat.yaml

@@ -3,7 +3,7 @@ kind: CapabilityCatalog
 metadata:
   id: driver-seat-native-can-capabilities
   name: Driver seat native CAN capabilities
-  version: 1.0.0
+  version: 1.1.0
 spec:
   domain: seat
   capabilities:
@@ -108,3 +108,40 @@ spec:
           description: Bounded motion duration; omitted values default to 500 ms.
       risk_level: high
       confirmation_policy: on_ambiguity
+
+    - name: seat.set_driver_position_native
+      description: >-
+        Alias for recalling one of the three physical driver/front-left seat memory
+        slots. The complete 0x4C1/0x15 and /0x16 payloads must have been learned from
+        the PAD and a fresh 0x494 must prove all four axes initialized before replay.
+      target_devices: [driver_seat_memory]
+      target_scopes: [driver, front_left]
+      parameters:
+        - name: slot
+          type: integer
+          required: true
+          minimum: 1
+          maximum: 3
+          allowed_values: [1, 2, 3]
+          description: Previously learned PAD memory slot.
+      risk_level: high
+      confirmation_policy: on_ambiguity
+
+    - name: seat.recall_driver_memory_native
+      description: >-
+        Recall one of the three physical driver/front-left seat memory slots by
+        alternating that slot's learned 0x4C1/0x16 and /0x15 payloads for ten cycles.
+        0x494 does not expose final absolute motor positions, so delivery is not
+        represented as proof that the seat reached its final position.
+      target_devices: [driver_seat_memory]
+      target_scopes: [driver, front_left]
+      parameters:
+        - name: slot
+          type: integer
+          required: true
+          minimum: 1
+          maximum: 3
+          allowed_values: [1, 2, 3]
+          description: Previously learned PAD memory slot.
+      risk_level: high
+      confirmation_policy: on_ambiguity