优化前端，优化前端指令，优化自定义控制

src/cognitive_agent/infrastructure/can/hardware.py

@@ -767,7 +767,7 @@ class VehicleCanSettings:
 
 @dataclass(frozen=True)
 class VehicleMqttSettings:
-    """Wireless CAN0/CAN1 relay settings with the same physical approval gate."""
+    """Wireless CAN0/CAN1 relay settings for the local head-unit broker."""
 
     enabled: bool
     approval_required: bool
@@ -789,7 +789,11 @@ class VehicleMqttSettings:
         return cls(
             enabled=_env_bool("COGNITIVE_AGENT_VEHICLE_MQTT_ENABLED", default=True),
             approval_required=_env_bool(
-                "COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN_REQUIRED", default=True
+                "COGNITIVE_AGENT_VEHICLE_MQTT_APPROVAL_TOKEN_REQUIRED",
+                default=_env_bool(
+                    "COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN_REQUIRED",
+                    default=False,
+                ),
             ),
             approval_token=os.getenv("COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN", ""),
             host=os.getenv("COGNITIVE_AGENT_VEHICLE_MQTT_HOST", "127.0.0.1").strip(),
@@ -800,7 +804,7 @@ class VehicleMqttSettings:
             ).strip(),
             control_topic=os.getenv(
                 "COGNITIVE_AGENT_VEHICLE_MQTT_CONTROL_TOPIC",
-                "n7/can_control",
+                "n7/n7-headunit/can/command",
             ).strip(),
             qos=_env_int("COGNITIVE_AGENT_VEHICLE_MQTT_QOS", 1),
             keepalive_s=_env_int("COGNITIVE_AGENT_VEHICLE_MQTT_KEEPALIVE_S", 30),
@@ -871,6 +875,8 @@ class VehicleMqttSettings:
             "channels": {"seat": 0, "vehicle": 1},
             "target_policy": "dual_channel_mqtt_can0_passenger_can1_vehicle",
             "frame_contract": "n7.can.frame.v1",
+            "state_contract": "n7-can-signals/v1",
+            "control_contract": "n7-headunit-can-command/v1",
             "can0_seat_protocol": "seat-ota-runtime",
             "can0_state_contract": "0x6A0-SEAT_INFO-plus-0x6A2-to-0x302",
             "can0_control_id": "0x6A0",