feat: complete dual-seat whole-vehicle orchestration

tests/unit/test_native_can_integration.py

@@ -11,7 +11,7 @@ from cognitive_agent.application.native_can_runtime import (
     NativeCanRuntime,
 )
 from cognitive_agent.application.seat_service import REPOSITORY_ROOT, SeatDemoService
-from cognitive_agent.infrastructure.can.gateway import CanFrame
+from cognitive_agent.infrastructure.can.gateway import CanFrame, ZlgChannelConfig
 from cognitive_agent.infrastructure.can.hardware import VehicleCanSettings
 
 
@@ -253,6 +253,27 @@ class NativeCanIntegrationTests(unittest.TestCase):
 
         self.assertFalse(settings.enabled)
 
+    def test_dual_channel_formats_are_explicit_and_independent(self) -> None:
+        seat = ZlgChannelConfig(
+            channel=0,
+            frame_format="classic_can",
+            arbitration_bitrate=500_000,
+            data_bitrate=2_000_000,
+            termination_enabled=True,
+        )
+        vehicle = ZlgChannelConfig(
+            channel=1,
+            frame_format="can_fd",
+            arbitration_bitrate=500_000,
+            data_bitrate=2_000_000,
+            termination_enabled=False,
+        )
+
+        self.assertEqual(seat.public()["frame_format"], "classic_can")
+        self.assertEqual(vehicle.public()["frame_format"], "can_fd")
+        self.assertNotEqual(seat.channel, vehicle.channel)
+        self.assertNotEqual(seat.termination_enabled, vehicle.termination_enabled)
+
 
 if __name__ == "__main__":
     unittest.main()