优化了副驾座椅控制

src/cognitive_agent/infrastructure/can/mqtt_transport.py

@@ -43,18 +43,24 @@ MQTT_VALID_FD_PAYLOAD_LENGTHS = frozenset(
 )
 MQTT_SAFETY_FEEDBACK_IDS = frozenset({0x342, 0x4EB})
 MQTT_VEHICLE_FEEDBACK_IDS = OBSERVABLE_IDS | frozenset({0x2F5, 0x37B})
-# Frames accepted from the Android head unit are the seat-ota wire protocol.
-# ``0x302`` is an internal compatibility frame synthesized below so the
-# existing seat-domain state reader can consume the four firmware axes; it is
-# deliberately not accepted as authoritative MQTT input.
-MQTT_SEAT_WIRE_FEEDBACK_IDS = frozenset({0x6A0, 0x6A2})
-MQTT_SEAT_FEEDBACK_IDS = frozenset({0x302, 0x6A2})
+# CAN0 accepts both state formats currently emitted by the passenger-seat
+# stack.  The production firmware publishes its authoritative classic-CAN
+# status directly on 0x301..0x306/0x4FA.  Older head-unit builds expose the
+# read-only seat-ota request/response exchange on 0x6A0/0x6A2; that exchange is
+# retained and translated to an internal 0x302 position frame below.
+MQTT_SEAT_NATIVE_FEEDBACK_IDS = frozenset(
+    {0x301, 0x302, 0x303, 0x304, 0x305, 0x306, 0x4FA}
+)
+MQTT_SEAT_WIRE_FEEDBACK_IDS = MQTT_SEAT_NATIVE_FEEDBACK_IDS | frozenset(
+    {0x6A0, 0x6A2}
+)
+MQTT_SEAT_FEEDBACK_IDS = MQTT_SEAT_NATIVE_FEEDBACK_IDS | frozenset({0x6A2})
 MQTT_ACCEPTED_FEEDBACK_IDS = {
     0: MQTT_SEAT_FEEDBACK_IDS,
     1: MQTT_VEHICLE_FEEDBACK_IDS,
 }
 MQTT_APPROVED_CONTROL_IDS = {
-    0: frozenset({0x6A0}),
+    0: frozenset({0x29E, 0x3CE, 0x6A0}),
     1: frozenset({0x1DE, 0x32B, 0x3FC, 0x431, 0x4C1, 0x4EF, 0x4F5}),
 }
 MQTT_OTA_SEAT_RUNTIME_OPCODES = frozenset({0x63, 0x64, 0x65, 0x66})
@@ -449,6 +455,39 @@ def _validate_ota_seat_runtime_control(data: bytes) -> None:
         )
 
 
+def _validate_native_seat_thermal_control(frame: CanFrame) -> None:
+    """Validate the two runtime thermal frames implemented by the CAN0 firmware."""
+
+    if len(frame.data) != 8:
+        raise CanGatewayError("CAN0 passenger-seat thermal control requires DLC 8")
+    if frame.arbitration_id == 0x3CE:
+        mode = (frame.data[0] >> 4) & 0x03
+        if mode not in {1, 2} or frame.data[0] & 0xCF or any(frame.data[1:]):
+            raise CanGatewayError("CAN0 0x3CE thermal mode payload is invalid")
+        return
+    if frame.arbitration_id != 0x29E:
+        raise CanGatewayError("CAN0 native thermal frame ID is invalid")
+    fan_on = frame.data[0] & 0x03
+    fan_mode = (frame.data[0] >> 2) & 0x03
+    heating_on = (frame.data[0] >> 4) & 0x03
+    fan_level = frame.data[2] & 0x0F
+    heating_level = (frame.data[2] >> 4) & 0x0F
+    if (
+        fan_on not in {1, 2}
+        or fan_mode != 1
+        or heating_on not in {1, 2}
+        or fan_level not in range(4)
+        or heating_level not in range(4)
+        or (fan_on == 1 and fan_level == 0)
+        or (fan_on == 2 and fan_level != 0)
+        or (heating_on == 1 and heating_level == 0)
+        or (heating_on == 2 and heating_level != 0)
+        or frame.data[1] != 0
+        or any(frame.data[3:])
+    ):
+        raise CanGatewayError("CAN0 0x29E thermal control payload is invalid")
+
+
 class MqttCanTransport:
     """One process-wide MQTT connection serving snapshots and executor buses."""
 
@@ -633,7 +672,7 @@ class MqttCanTransport:
                 discriminator = (
                     frame.data[0]
                     if frame.channel == 0
-                    and frame.arbitration_id == 0x302
+                    and frame.arbitration_id in {0x302, 0x303, 0x304}
                     and frame.data
                     else 0
                 )
@@ -751,7 +790,15 @@ class MqttCanTransport:
             initial_frames = tuple(
                 frame
                 for (seen_channel, _frame_id, _discriminator),
-                (captured_monotonic, frame) in sorted(self._latest_bus_frames.items())
+                (captured_monotonic, frame) in sorted(
+                    self._latest_bus_frames.items(),
+                    key=lambda item: (
+                        0 if item[0][1] == 0x306 else
+                        1 if item[0][1] == 0x4FA else
+                        2,
+                        item[0],
+                    ),
+                )
                 if replay_latest
                 and seen_channel == channel
                 and now - captured_monotonic <= self.freshness_s
@@ -772,8 +819,10 @@ class MqttCanTransport:
         if frame.channel == 0 and (frame.is_fd or frame.bitrate_switch):
             raise CanGatewayError("CAN0 passenger-seat control requires classic CAN")
         _validate_headunit_command_frame(frame)
-        if frame.channel == 0:
+        if frame.channel == 0 and frame.arbitration_id == 0x6A0:
             _validate_ota_seat_runtime_control(frame.data)
+        elif frame.channel == 0:
+            _validate_native_seat_thermal_control(frame)
         with self._condition:
             client = self._client
             state = self._state