feat: complete dual-seat whole-vehicle orchestration

tests/unit/test_self_extension.py

@@ -19,6 +19,7 @@ from cognitive_agent.application.self_extension import (
     build_gateway_command,
     validate_slot,
 )
+from cognitive_agent.application.zcan_seat_executor import ZcanBridgeSeatExecutor
 
 
 class SelfExtensionTests(unittest.TestCase):
@@ -138,7 +139,7 @@ class SelfExtensionTests(unittest.TestCase):
                 "_request_gpt_plan",
                 return_value=json.dumps(proposed),
             ):
-                with self.assertRaisesRegex(ExtensionIntegrationError, "CH1"):
+                with self.assertRaisesRegex(ExtensionIntegrationError, "双通道"):
                     service.plan(
                         {
                             "utterance": "打开座椅通风",
@@ -225,7 +226,59 @@ class SelfExtensionTests(unittest.TestCase):
         command_schema = request_payload["text"]["format"]["schema"]["properties"][
             "steps"
         ]["items"]["properties"]["command"]
-        self.assertEqual(command_schema["enum"], ["", "ac off"])
+        self.assertEqual(command_schema["type"], "string")
+        self.assertEqual(command_schema["maxLength"], 300)
+
+    def test_plan_accepts_bounded_passenger_position_for_declared_ch0_executor(
+        self,
+    ) -> None:
+        service = SelfExtensionService(SimulationGateway())
+        proposed = {
+            "summary": "调整副驾",
+            "needs_confirmation": False,
+            "question": "",
+            "steps": [
+                {
+                    "kind": "vehicle",
+                    "capability_id": "",
+                    "command": "副驾水平调到63%",
+                    "label": "副驾水平位置 63%",
+                    "delay_ms": 0,
+                }
+            ],
+        }
+        payload = {
+            "utterance": "副驾水平位置调到63%",
+            "peripherals": [],
+            "vehicle_devices": [
+                {
+                    "id": "passenger-seat",
+                    "name": "副驾座椅",
+                    "channel": "CH0",
+                    "actions": [
+                        {"name": "副驾水平 50%", "command": "副驾水平调到50%"}
+                    ],
+                }
+            ],
+        }
+        with patch.dict(os.environ, {"OPENAI_API_KEY": "test-key"}, clear=False):
+            with patch.object(
+                service,
+                "_request_gpt_plan",
+                return_value=json.dumps(proposed, ensure_ascii=False),
+            ):
+                result = service.plan(payload)
+        self.assertEqual(result["steps"][0]["command"], "副驾水平调到63%")
+
+        proposed["steps"][0]["command"] = "副驾水平调到101%"
+        with patch.dict(os.environ, {"OPENAI_API_KEY": "test-key"}, clear=False):
+            with patch.object(
+                service,
+                "_request_gpt_plan",
+                return_value=json.dumps(proposed, ensure_ascii=False),
+            ):
+                with self.assertRaisesRegex(ExtensionIntegrationError, "双通道"):
+                    service.plan(payload)
 
     def test_vehicle_execution_reuses_the_same_orchestration_service(self) -> None:
         with patch.dict(
@@ -515,6 +568,93 @@ class SelfExtensionTests(unittest.TestCase):
                 self.assertFalse(rejected["success"])
                 self.assertFalse(rejected["physical_feedback_confirmed"])
 
+    def test_ch0_passenger_feedback_requires_shared_runtime_physical_snapshot(
+        self,
+    ) -> None:
+        operation = {
+            "ref": "passenger-longitudinal-63",
+            "domain": "seat",
+            "status": "succeeded",
+            "telemetry": {
+                "transport": "shared_can_runtime",
+                "channel": 0,
+                "simulated": False,
+                "hardware_feedback": True,
+                "feedback_required": True,
+                "feedback_observed": True,
+                "feedback_match": True,
+                "physical_state": {
+                    "source": "physical_can",
+                    "channel": 0,
+                    "target": {
+                        "device": "seat",
+                        "zone": "front_right",
+                        "instance": "passenger",
+                    },
+                    "position": {
+                        "longitudinal": {
+                            "position_pct": 63,
+                            "position_valid": True,
+                        }
+                    },
+                },
+            },
+        }
+        verified = SelfExtensionService._authoritative_vehicle_feedback_state(
+            operation
+        )
+        self.assertIsNotNone(verified)
+        self.assertEqual(verified["verification"]["channel"], 0)
+
+        operation["telemetry"]["transport"] = "untrusted_bridge"
+        self.assertIsNone(
+            SelfExtensionService._authoritative_vehicle_feedback_state(operation)
+        )
+
+    def test_ch0_bridge_report_exposes_verified_passenger_snapshot(self) -> None:
+        function_config = {
+            "metadata": {"request_id": "req-ch0-extension"},
+            "spec": {
+                "operations": [
+                    {
+                        "id": "passenger-longitudinal-63",
+                        "capability": "seat.set_longitudinal_position",
+                    }
+                ]
+            },
+        }
+        bridge_result = {
+            "result": "PASS",
+            "details": {
+                "summary": "物理反馈达到目标",
+                "motors": [
+                    {
+                        "position": 6300 if index == 0 else 5000,
+                        "position_valid": True,
+                        "active": False,
+                    }
+                    for index in range(4)
+                ],
+                "thermal": [0x01],
+            },
+        }
+        report = ZcanBridgeSeatExecutor._report(
+            function_config,
+            "2026-08-11T00:00:00Z",
+            bridge_result,
+            None,
+        )
+        physical_state = report["spec"]["physical_state"]
+        self.assertEqual(physical_state["source"], "physical_can")
+        self.assertEqual(physical_state["channel"], 0)
+        self.assertEqual(
+            physical_state["position"]["longitudinal"]["position_pct"], 63
+        )
+        verified = SelfExtensionService._authoritative_vehicle_feedback_state(
+            report["spec"]["results"][0]
+        )
+        self.assertIsNotNone(verified)
+
     def test_vehicle_execution_ignores_browser_routing_overrides(self) -> None:
         with patch.dict(
             os.environ,