优化了副驾座椅控制

src/cognitive_agent/application/seat_service.py

@@ -57,6 +57,9 @@ from cognitive_agent.application.mqtt_ota_seat_executor import (  # noqa: E402
     MqttOtaSeatExecutor,
 )
 from cognitive_agent.application.native_can_intent import merge_native_can_intent  # noqa: E402
+from cognitive_agent.application.direct_can_control import (  # noqa: E402
+    build_direct_can_intent,
+)
 from cognitive_agent.application.native_can_relative import (  # noqa: E402
     NativeCanRelativeResolver,
 )
@@ -1401,6 +1404,47 @@ class SeatDemoService:
         }
         return merged
 
+    def process_can_commands(
+        self,
+        commands: object,
+        conversation_id: str | None = None,
+        execution_mode: str = "dry_run",
+        approval_token: str | None = None,
+        vehicle_id: str | None = None,
+        simulation_fault: str = "normal",
+        *,
+        hardware_client_id: str | None = None,
+        hardware_access_bypass: bool = True,
+        control_transport: str = WIRED_CAN_TRANSPORT,
+    ) -> dict[str, Any]:
+        """Compile and execute an exact UI command batch without intent parsing."""
+
+        resolved_conversation_id = conversation_id or f"conv-{uuid.uuid4().hex}"
+        if not CONVERSATION_ID_PATTERN.fullmatch(resolved_conversation_id):
+            raise ValueError(
+                "conversation_id must start with conv- and contain only lowercase letters, numbers, or hyphens"
+            )
+        vehicle_profile = self.vehicle_profiles.get(vehicle_id)
+        context = self._context_for_vehicle(
+            self.conversations.snapshot(resolved_conversation_id),
+            vehicle_profile,
+        )
+        direct_can_batch = build_direct_can_intent(commands, context)
+        normalized_commands, _parsed = direct_can_batch
+        return self.process(
+            "；".join(normalized_commands),
+            provider="local",
+            conversation_id=resolved_conversation_id,
+            execution_mode=execution_mode,
+            approval_token=approval_token,
+            vehicle_id=vehicle_id,
+            simulation_fault=simulation_fault,
+            hardware_client_id=hardware_client_id,
+            hardware_access_bypass=hardware_access_bypass,
+            control_transport=control_transport,
+            _direct_can_batch=direct_can_batch,
+        )
+
     def process(
         self,
         utterance: str,
@@ -1420,6 +1464,7 @@ class SeatDemoService:
         _model_parse_source: str = "cloud_model",
         _allow_empty_control_result: bool = False,
         _on_commands_validated: Callable[[dict[str, Any]], None] | None = None,
+        _direct_can_batch: tuple[list[str], dict[str, Any]] | None = None,
     ) -> dict[str, Any]:
         control_transport = self._validate_control_transport(control_transport)
         # Creating a reusable scene is a configuration workflow.  Synthesize
@@ -1444,6 +1489,28 @@ class SeatDemoService:
                 _model_parse_source,
                 _allow_empty_control_result,
                 _on_commands_validated,
+                _direct_can_batch,
+            )
+        if control_transport == WIRELESS_MQTT_TRANSPORT:
+            # The head unit owns both physical CAN channels in wireless mode.
+            # Local T2G/ZLG hardware access, firmware profiles and the local
+            # physical-bench lease are unrelated to MQTT relay execution.
+            return self._process_once(
+                utterance,
+                provider,
+                conversation_id,
+                execution_mode,
+                approval_token,
+                vehicle_id,
+                simulation_fault,
+                reasoning_effort,
+                control_transport,
+                _local_preview,
+                _excluded_control_signatures,
+                _model_parse_source,
+                _allow_empty_control_result,
+                _on_commands_validated,
+                _direct_can_batch,
             )
         if hardware_access_bypass or self._driver_only_vehicle_execution_active(
             control_transport
@@ -1464,6 +1531,7 @@ class SeatDemoService:
                     _model_parse_source,
                     _allow_empty_control_result,
                     _on_commands_validated,
+                    _direct_can_batch,
                 )
         authorized_client_id = self.hardware_access.ensure_authorized(hardware_client_id)
         with self.hardware_execution.reserve():
@@ -1483,6 +1551,7 @@ class SeatDemoService:
                     _model_parse_source,
                     _allow_empty_control_result,
                     _on_commands_validated,
+                    _direct_can_batch,
                 )
 
     def _process_once(
@@ -1501,6 +1570,7 @@ class SeatDemoService:
         model_parse_source: str = "cloud_model",
         allow_empty_control_result: bool = False,
         on_commands_validated: Callable[[dict[str, Any]], None] | None = None,
+        direct_can_batch: tuple[list[str], dict[str, Any]] | None = None,
     ) -> dict[str, Any]:
         control_transport = self._validate_control_transport(control_transport)
         utterance = utterance.strip()
@@ -1569,9 +1639,13 @@ class SeatDemoService:
             vehicle_profile,
         )
         context["mode_profiles"] = self.mode_profiles.public_modes(vehicle_profile.id)
-        matched_modes = self.mode_profiles.match_text(
-            utterance,
-            vehicle_id=vehicle_profile.id,
+        matched_modes = (
+            []
+            if direct_can_batch is not None
+            else self.mode_profiles.match_text(
+                utterance,
+                vehicle_id=vehicle_profile.id,
+            )
         )
         traces: list[dict[str, Any]] = []
         result: dict[str, Any] = {
@@ -1614,6 +1688,9 @@ class SeatDemoService:
                 for item in context.get("presets", [])
             ],
             "trace_events": traces,
+            "can_commands": (
+                list(direct_can_batch[0]) if direct_can_batch is not None else []
+            ),
         }
 
         started = time.perf_counter()
@@ -1652,40 +1729,45 @@ class SeatDemoService:
                 result,
                 traces,
             )
-        parsed, provider_used, provider_notice = self._interpret(
-            utterance,
-            provider,
-            context,
-            vehicle_profile,
-            reasoning_effort=reasoning_effort,
-            local_preview=local_preview,
-            model_parse_source=model_parse_source,
-        )
-        if self._is_dynamic_mode_stop_request(utterance):
-            parsed = self._apply_dynamic_mode_stop_request(parsed, utterance)
+        if direct_can_batch is not None:
+            parsed = deepcopy(direct_can_batch[1])
+            provider_used = "direct_can_control"
+            provider_notice = None
         else:
-            parsed = self._apply_mode_profiles(
-                parsed, matched_modes, context, vehicle_profile
+            parsed, provider_used, provider_notice = self._interpret(
+                utterance,
+                provider,
+                context,
+                vehicle_profile,
+                reasoning_effort=reasoning_effort,
+                local_preview=local_preview,
+                model_parse_source=model_parse_source,
+            )
+            if self._is_dynamic_mode_stop_request(utterance):
+                parsed = self._apply_dynamic_mode_stop_request(parsed, utterance)
+            else:
+                parsed = self._apply_mode_profiles(
+                    parsed, matched_modes, context, vehicle_profile
+                )
+            parsed = self._mark_control_parse_source(parsed, "local_rule")
+            relative_resolution = (
+                self.native_can_relative_resolver.resolve(utterance, context)
+                if self.native_can_relative_resolver.matches(utterance)
+                else None
+            )
+            parsed = merge_native_can_intent(
+                parsed,
+                utterance,
+                relative_actions=(
+                    relative_resolution.actions if relative_resolution else None
+                ),
+                relative_ambiguities=(
+                    relative_resolution.ambiguities if relative_resolution else None
+                ),
+                relative_claimed_controls=(
+                    relative_resolution.claimed_controls if relative_resolution else None
+                ),
             )
-        parsed = self._mark_control_parse_source(parsed, "local_rule")
-        relative_resolution = (
-            self.native_can_relative_resolver.resolve(utterance, context)
-            if self.native_can_relative_resolver.matches(utterance)
-            else None
-        )
-        parsed = merge_native_can_intent(
-            parsed,
-            utterance,
-            relative_actions=(
-                relative_resolution.actions if relative_resolution else None
-            ),
-            relative_ambiguities=(
-                relative_resolution.ambiguities if relative_resolution else None
-            ),
-            relative_claimed_controls=(
-                relative_resolution.claimed_controls if relative_resolution else None
-            ),
-        )
         if local_preview:
             parsed["ambiguities"] = []
             parsed["unresolved_spans"] = []
@@ -2136,7 +2218,8 @@ class SeatDemoService:
         compile_started = time.perf_counter()
         try:
             if hardware_request:
-                self.hardware_settings.validate_function_config(function_config)
+                if control_transport != WIRELESS_MQTT_TRANSPORT:
+                    self.hardware_settings.validate_function_config(function_config)
                 command_plan = self.hardware_compiler.compile(
                     function_config, context["devices"]
                 )
@@ -2199,7 +2282,11 @@ class SeatDemoService:
             "safety_check",
             "succeeded",
             (
-                (
+                "无线 MQTT CAN0 座椅语义白名单与 seat-ota 报文白名单已通过；"
+                "本地 T2G 固件 profile、USB-CAN 与物理台架连接不参与校验。"
+                if hardware_request
+                and control_transport == WIRELESS_MQTT_TRANSPORT
+                else (
                     "硬件启用、授权令牌、固件 profile 与目标座椅配置门禁已通过；"
                     if self.hardware_settings.approval_required
                     else "硬件启用、调试免令牌、固件 profile 与目标座椅配置门禁已通过；"
@@ -2220,15 +2307,26 @@ class SeatDemoService:
                     simulation_fault if simulated_hardware_request else None
                 ),
                 "position_calibration_gate": (
-                    "runtime_can_preflight" if hardware_request else "not_applicable"
+                    "remote_seat_ota_feedback"
+                    if hardware_request
+                    and control_transport == WIRELESS_MQTT_TRANSPORT
+                    else "runtime_can_preflight"
+                    if hardware_request
+                    else "not_applicable"
                 ),
                 "mapping_status": (
-                    "protocol_hil_verified_combined_firmware_hil_pending"
+                    "mqtt_can0_seat_ota_whitelist"
+                    if hardware_request
+                    and control_transport == WIRELESS_MQTT_TRANSPORT
+                    else "protocol_hil_verified_combined_firmware_hil_pending"
                     if hardware_request
                     else "draft"
                 ),
                 "firmware_profiles": (
-                    sorted(self.hardware_settings.profiles) if hardware_request else []
+                    sorted(self.hardware_settings.profiles)
+                    if hardware_request
+                    and control_transport != WIRELESS_MQTT_TRANSPORT
+                    else []
                 ),
             },
         )
@@ -2249,9 +2347,6 @@ class SeatDemoService:
                 command_plan, function_config, context["devices"]
             )
             if vehicle_safety_preflight is not None:
-                execution_report["spec"]["vehicle_safety_preflight"] = (
-                    vehicle_safety_preflight
-                )
                 for item in execution_report["spec"].get("results", []):
                     item.setdefault("telemetry", {})[
                         "vehicle_safety_preflight"
@@ -4045,10 +4140,15 @@ class SeatDemoService:
 
         compile_started = time.perf_counter()
         plans: dict[str, dict[str, Any]] = {}
+        wireless_hardware_request = (
+            hardware_request
+            and control_transport == WIRELESS_MQTT_TRANSPORT
+        )
         for domain, config in configs.items():
             if domain == "seat":
                 if hardware_request:
-                    self.hardware_settings.validate_function_config(config)
+                    if not wireless_hardware_request:
+                        self.hardware_settings.validate_function_config(config)
                     plans[domain] = self.hardware_compiler.compile(
                         config,
                         context["devices"],
@@ -4225,13 +4325,10 @@ class SeatDemoService:
                 "labels": {
                     "simulation": "mixed" if hardware_request else "true",
                     "seat_feedback": (
-                        "wireless_mqtt_ch1"
-                        if (
-                            hardware_request
-                            and control_transport == WIRELESS_MQTT_TRANSPORT
-                            and native_config_keys
-                            and "seat" not in configs
-                        )
+                        "wireless_mqtt_ch0"
+                        if wireless_hardware_request and "seat" in configs
+                        else "wireless_mqtt_ch1"
+                        if wireless_hardware_request and native_config_keys
                         else "physical_can_ch1"
                         if hardware_request and native_config_keys and "seat" not in configs
                         else "physical_can"
@@ -4276,13 +4373,9 @@ class SeatDemoService:
             "execute",
             "succeeded" if execution_succeeded and not report_issues else "failed",
             (
-                "无线 MQTT 白名单控制帧已提交；车辆实际状态以状态话题回读为准。"
-                if (
-                    hardware_request
-                    and control_transport == WIRELESS_MQTT_TRANSPORT
-                    and native_config_keys
-                    and execution_succeeded
-                )
+                "无线 MQTT CAN0/CAN1 白名单控制帧已提交；"
+                "车辆实际状态以状态话题回读为准。"
+                if wireless_hardware_request and execution_succeeded
                 else "CH1 车身 CAN 动作已按目标字段物理回读闭环执行。"
                 if hardware_request and native_config_keys and execution_succeeded
                 else "副驾座椅已按独立 T2G 物理 CAN 回读闭环执行。"