feat: complete dual-seat whole-vehicle orchestration

2026-08-12 15:12:40 +08:00
parent 32379a1573
commit 9ce64b3a01
62 changed files with 9741 additions and 3950 deletions
@@ -641,6 +641,7 @@ class VehicleCanSettings:
    def channel_config(self) -> ZlgChannelConfig:
        return ZlgChannelConfig(
            channel=self.channel,
+            frame_format="can_fd",
            arbitration_bitrate=self.arbitration_bitrate,
            data_bitrate=self.data_bitrate,
            can_fd_iso=True,
@@ -667,6 +668,8 @@ class VehicleCanSettings:
            "required_channel": self.required_channel,
            "channel_is_allowed": self.channel_is_allowed,
            "target_policy": "ch1_body_can_driver_only",
+            "channel_role": "driver_front_left",
+            "coexists_with_seat_channel": True,
            "forbidden_paths": ["ch0", "t2g_seat_bench", "passenger", "front_right"],
            "mode": 0,
            "work_mode": "normal",