feat: add local hardware approval leases

2026-08-03 10:20:55 +08:00
parent 85b4740d29
commit a952f37ceb
14 changed files with 1089 additions and 25 deletions
@@ -10,6 +10,20 @@ function loadConversationId() {
  return conversationId;
 }

+function loadHardwareClientId() {
+  const key = "cognitive-agent.hardware-client-id";
+  const stored = localStorage.getItem(key);
+  if (/^hwc-[a-z0-9-]{8,80}$/.test(stored || "")) return stored;
+  const clientId = `hwc-${crypto.randomUUID()}`;
+  localStorage.setItem(key, clientId);
+  return clientId;
+}
+
+function defaultHardwareClientLabel(clientId) {
+  return localStorage.getItem("cognitive-agent.hardware-client-label")
+    || `测试终端-${clientId.slice(-6)}`;
+}
+
 const state = {
  provider: "openai",
  executionMode: "dry_run",
@@ -23,6 +37,9 @@ const state = {
  seatFeedbackSource: "simulated",
  availableSeatAxes: null,
  connectionStatus: window.CognitiveAgentNetwork?.getState?.().status || "connecting",
+  hardwareClientId: loadHardwareClientId(),
+  hardwareAccess: null,
+  hardwareAccessPoller: null,
 };

 const $ = (selector, root = document) => root.querySelector(selector);
@@ -2509,6 +2526,89 @@ function showToast(message) {
  showToast.timer = window.setTimeout(() => toast.classList.remove("show"), 2200);
 }

+function isLocalDecisionHost() {
+  return ["127.0.0.1", "localhost", "::1"].includes(window.location.hostname);
+}
+
+function renderHardwareAccess(status) {
+  state.hardwareAccess = status;
+  const statusNode = $("#hardwareAccessStatus");
+  const requestButton = $("#requestHardwareAccess");
+  const releaseButton = $("#releaseHardwareAccess");
+  if (!statusNode || !requestButton || !releaseButton) return;
+  const accessState = status?.state || "none";
+  statusNode.dataset.state = accessState;
+  if (accessState === "approved") {
+    statusNode.textContent = `本地已同意。剩余空闲时间 ${status.idle_remaining_seconds ?? 180} 秒；每次真实执行后重新计时。`;
+    requestButton.hidden = true;
+    releaseButton.hidden = false;
+  } else if (accessState === "pending") {
+    statusNode.textContent = `正在等待本地审批，当前排队第 ${status.queue_position || 1} 位；未获批前不会进入 CAN 链路。`;
+    requestButton.textContent = "更新申请";
+    requestButton.hidden = false;
+    releaseButton.hidden = false;
+  } else if (accessState === "expired") {
+    statusNode.textContent = "因 3 分钟未执行测试，使用权已自动停止；再次使用请重新申请。";
+    requestButton.textContent = "重新申请";
+    requestButton.hidden = false;
+    releaseButton.hidden = true;
+  } else {
+    statusNode.textContent = "尚未申请；真实台架指令不会进入 CAN 链路。";
+    requestButton.textContent = "向本地申请";
+    requestButton.hidden = false;
+    releaseButton.hidden = true;
+  }
+}
+
+async function loadHardwareAccessStatus({ silent = false } = {}) {
+  try {
+    const query = new URLSearchParams({ client_id: state.hardwareClientId });
+    const response = await apiRequest(`/api/hardware/access/status?${query}`, { cache: "no-store" });
+    if (response.status === 401) return;
+    const payload = await response.json();
+    if (!response.ok) throw new Error(payload.message || payload.error);
+    renderHardwareAccess(payload);
+  } catch (error) {
+    if (!silent) showToast(`使用权状态读取失败：${error.message}`);
+  }
+}
+
+async function requestHardwareAccess() {
+  const input = $("#hardwareClientLabel");
+  const label = input.value.trim() || defaultHardwareClientLabel(state.hardwareClientId);
+  input.value = label;
+  localStorage.setItem("cognitive-agent.hardware-client-label", label);
+  try {
+    const response = await apiRequest("/api/hardware/access/request", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ client_id: state.hardwareClientId, label }),
+    });
+    const payload = await response.json();
+    if (!response.ok) throw new Error(payload.message || payload.error);
+    renderHardwareAccess(payload);
+    showToast(payload.state === "approved" ? "当前使用权仍然有效" : "申请已发送到台架本机，请等待审批");
+  } catch (error) {
+    showToast(`申请失败：${error.message}`);
+  }
+}
+
+async function releaseHardwareAccess() {
+  try {
+    const response = await apiRequest("/api/hardware/access/release", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify({ client_id: state.hardwareClientId }),
+    });
+    const payload = await response.json();
+    if (!response.ok) throw new Error(payload.message || payload.error);
+    renderHardwareAccess(payload);
+    showToast("已停止使用真实台架；再次使用需要重新申请");
+  } catch (error) {
+    showToast(`停止使用失败：${error.message}`);
+  }
+}
+
 function selectProvider(provider) {
  state.provider = provider;
  $$(".segment[data-provider]").forEach((button) => {
@@ -2551,6 +2651,7 @@ function selectExecutionMode(mode) {
  const simulatedHardware = mode === "simulated_hardware";
  const approvalRequired = Boolean(state.runtime?.hardware?.approval_required);
  $("#approvalField").hidden = !hardware || !approvalRequired;
+  $("#hardwareAccessField").hidden = !hardware;
  $("#simulationFaultField").hidden = !simulatedHardware;
  $("#executionBadge").className = `status-badge ${hardware ? "" : simulatedHardware ? "warning" : "neutral"}`.trim();
  $("#executionBadge").innerHTML = hardware
@@ -2791,10 +2892,13 @@ async function loadRuntime() {
    const flashText = hardware.auto_flash_enabled ? "自动烧录已启用" : "自动烧录未启用";
    const approvalText = hardware.approval_required ? "需授权令牌" : "调试免令牌";
    const concurrencyText = hardware.concurrency_policy === "single_flight_fail_fast"
-      ? " · 单请求独占"
+      ? " · 动作防冲突"
+      : "";
+    const accessText = hardware.access_policy === "local_approval_idle_lease"
+      ? ` · 本地审批 · 空闲 ${hardware.access_inactivity_timeout_seconds || 180} 秒自动停止`
      : "";
    $("#hardwareNote").textContent = hardware.configured
-      ? `${hardware.backend} · ${hardware.bitrate / 1000} kbit/s · ${profileText} · ${flashText} · ${approvalText}${concurrencyText}`
+      ? `${hardware.backend} · ${hardware.bitrate / 1000} kbit/s · ${profileText} · ${flashText} · ${approvalText}${accessText}${concurrencyText}`
      : `真实执行已锁定：${profileText}；请完成服务端启用、适配器、固件镜像${hardware.approval_required ? "和令牌" : ""}配置`;
    $("#hardwareAliasNote").textContent = "副驾座椅 → t2g_primary_seat（统一电机、加热和通风执行器）";
    $("#autoFlashNote").textContent = hardware.auto_flash_enabled
@@ -2805,7 +2909,7 @@ async function loadRuntime() {
      ? '<i data-lucide="shield-check"></i>硬件已配置'
      : '<i data-lucide="shield-off"></i>硬件锁定';
    $("#hardwareCoverage").textContent = hardware.configured
-      ? `可选 · ${approvalText}${concurrencyText}`
+      ? `可选 · ${approvalText}${accessText}${concurrencyText}`
      : "已阻断";
    $("#hardwareCoverage").className = hardware.configured ? "available" : "blocked";
    const modeAvailable = state.executionMode === "hardware"
@@ -2828,6 +2932,7 @@ async function synchronizePhysicalSeatState() {
  const query = new URLSearchParams({
    conversation_id: state.conversationId,
    vehicle_id: state.vehicleId || state.runtime.default_vehicle_id || "",
+    hardware_client_id: state.hardwareClientId,
  });
  try {
    const response = await apiRequest(`/api/hardware/seat-state?${query}`, {
@@ -3647,6 +3752,14 @@ async function submitRequest(event) {
    showToast("请输入车舱控制请求");
    return;
  }
+  if (state.executionMode === "hardware"
+    && !isLocalDecisionHost()
+    && state.hardwareAccess?.state !== "approved") {
+    showToast(state.hardwareAccess?.state === "pending"
+      ? "申请仍在等待本地审批"
+      : "请先申请并获得本地真实台架使用权");
+    return;
+  }
  const button = $("#runButton");
  button.disabled = true;
  button.classList.add("loading");
@@ -3674,6 +3787,9 @@ async function submitRequest(event) {
        conversation_id: state.conversationId,
        vehicle_id: state.vehicleId || state.runtime?.default_vehicle_id,
        execution_mode: state.executionMode,
+        ...(state.executionMode === "hardware"
+          ? { hardware_client_id: state.hardwareClientId }
+          : {}),
        ...(state.executionMode === "simulated_hardware"
          ? { simulation_fault: $("#simulationFault").value }
          : {}),
@@ -3711,7 +3827,12 @@ async function submitRequest(event) {
  } catch (error) {
    window.clearInterval(state.progressTimer);
    resetPipeline();
-    if (error.code === "hardware_busy") {
+    if (error.code === "hardware_access_required") {
+      setRunStatus("failed", "ACCESS REQUIRED");
+      $("#resultTitle").textContent = "真实台架使用权无效";
+      await loadHardwareAccessStatus({ silent: true });
+      showToast(error.message);
+    } else if (error.code === "hardware_busy") {
      setRunStatus("failed", "BENCH BUSY");
      $("#resultTitle").textContent = "真实台架正在使用";
      const retryHint = error.retryAfter > 0 ? ` 建议 ${error.retryAfter} 秒后重试。` : "";
@@ -3833,6 +3954,9 @@ document.addEventListener("DOMContentLoaded", async () => {
  refreshIcons();
  initSeatTwin();
  $("#requestForm").addEventListener("submit", submitRequest);
+  $("#hardwareClientLabel").value = defaultHardwareClientLabel(state.hardwareClientId);
+  $("#requestHardwareAccess").addEventListener("click", requestHardwareAccess);
+  $("#releaseHardwareAccess").addEventListener("click", releaseHardwareAccess);
  $("#utterance").addEventListener("keydown", (event) => {
    if (event.key === "Enter" && !event.shiftKey && !event.isComposing) {
      event.preventDefault();
@@ -3867,6 +3991,11 @@ document.addEventListener("DOMContentLoaded", async () => {
  $$('[data-download]').forEach((button) => button.addEventListener("click", () => downloadArtifact(button.dataset.download)));
  await loadAuthStatus();
  await loadRuntime();
+  await loadHardwareAccessStatus({ silent: true });
+  state.hardwareAccessPoller = window.setInterval(
+    () => loadHardwareAccessStatus({ silent: true }),
+    3000,
+  );
  await synchronizePhysicalSeatState();
  if (new URLSearchParams(window.location.search).get("autorun") === "1") {
    $("#requestForm").requestSubmit();
@@ -0,0 +1,39 @@
+:root { color-scheme: dark; font-family: Inter, "Microsoft YaHei", system-ui, sans-serif; background: #070b12; color: #edf4ff; }
+* { box-sizing: border-box; }
+body { margin: 0; min-height: 100vh; background: radial-gradient(circle at 18% 0%, #17294b 0, transparent 35%), #070b12; }
+.shell { width: min(1040px, calc(100% - 40px)); margin: 0 auto; padding: 54px 0 80px; }
+header, .section-title, .policy, .request, .lease-details { display: flex; align-items: center; justify-content: space-between; gap: 20px; }
+header { margin-bottom: 34px; }
+h1, h2, p { margin: 0; }
+h1 { font-size: clamp(30px, 5vw, 48px); letter-spacing: -.04em; }
+h2 { font-size: 22px; }
+.eyebrow { color: #65a8ff; font-size: 12px; letter-spacing: .16em; font-weight: 800; margin-bottom: 8px; }
+.lead, small { color: #8d9caf; }
+.lead { margin-top: 12px; }
+a, button { font: inherit; }
+a { color: #cfe4ff; text-decoration: none; border: 1px solid #2b3a50; border-radius: 10px; padding: 10px 14px; }
+.policy, .card { background: rgba(15, 23, 36, .88); border: 1px solid #26354a; border-radius: 18px; box-shadow: 0 20px 60px rgba(0,0,0,.22); }
+.policy { padding: 18px 22px; justify-content: flex-start; margin-bottom: 18px; }
+.policy div { display: grid; gap: 3px; flex: 1; }
+.dot { width: 10px; height: 10px; border-radius: 50%; background: #41d390; box-shadow: 0 0 16px #41d390; }
+#clock { color: #8d9caf; font-variant-numeric: tabular-nums; }
+.card { padding: 24px; margin-top: 18px; }
+.active-card { border-color: #315a86; }
+.section-title { margin-bottom: 20px; }
+.count { min-width: 30px; height: 30px; display: grid; place-items: center; border-radius: 999px; background: #1a2d48; color: #7fbbff; font-weight: 800; }
+.empty { padding: 26px 4px; color: #74849a; text-align: center; }
+.request-list { display: grid; gap: 12px; }
+.request { padding: 16px; border-radius: 13px; border: 1px solid #26364d; background: #0b121e; }
+.identity { display: grid; gap: 5px; min-width: 0; }
+.identity strong { font-size: 17px; }
+.identity code, .identity span { color: #8394aa; font-size: 12px; overflow-wrap: anywhere; }
+.actions { display: flex; gap: 8px; }
+button { color: #f4f8ff; background: #1577db; border: 0; border-radius: 9px; padding: 10px 14px; cursor: pointer; font-weight: 750; }
+button:hover { filter: brightness(1.12); }
+button:disabled { opacity: .45; cursor: wait; }
+button.secondary { background: #243348; }
+button.danger { background: #b83449; }
+.lease-details { justify-content: flex-start; flex-wrap: wrap; padding: 18px; border-radius: 13px; background: #0b121e; border: 1px solid #284f78; }
+.lease-details .timer { margin-left: auto; color: #4ce0a0; font-weight: 850; font-size: 22px; font-variant-numeric: tabular-nums; }
+.message { margin-top: 18px; min-height: 24px; color: #7fbbff; }
+@media (max-width: 680px) { .shell { width: min(100% - 24px, 1040px); padding-top: 26px; } header, .request, .lease-details { align-items: flex-start; flex-direction: column; } .actions { width: 100%; } .actions button { flex: 1; } .lease-details .timer { margin-left: 0; } }
@@ -0,0 +1,46 @@
+<!doctype html>
+<html lang="zh-CN">
+<head>
+  <meta charset="utf-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1">
+  <title>真实台架本地决策台</title>
+  <link rel="stylesheet" href="/hardware-control.css">
+</head>
+<body>
+  <main class="shell">
+    <header>
+      <div>
+        <p class="eyebrow">LOCAL BENCH AUTHORITY</p>
+        <h1>真实台架本地决策台</h1>
+        <p class="lead">只有本机可以批准、拒绝或停止终端的真实台架使用权。</p>
+      </div>
+      <a href="/">返回控制台</a>
+    </header>
+
+    <section class="policy">
+      <span class="dot"></span>
+      <div><strong>单终端租约</strong><small>获批终端可连续测试；最后一次真实执行后空闲 180 秒自动停止。</small></div>
+      <span id="clock">正在连接…</span>
+    </section>
+
+    <section class="card active-card">
+      <div class="section-title">
+        <div><p class="eyebrow">ACTIVE LEASE</p><h2>当前使用者</h2></div>
+        <button id="revokeButton" class="danger" type="button" hidden>立即停止使用</button>
+      </div>
+      <div id="activeLease" class="empty">当前无人获批使用真实台架。</div>
+    </section>
+
+    <section class="card">
+      <div class="section-title">
+        <div><p class="eyebrow">PENDING REQUESTS</p><h2>等待审批</h2></div>
+        <span id="pendingCount" class="count">0</span>
+      </div>
+      <div id="pendingRequests" class="request-list empty">暂时没有申请。</div>
+    </section>
+
+    <p id="message" class="message" role="status"></p>
+  </main>
+  <script src="/hardware-control.js" defer></script>
+</body>
+</html>
@@ -0,0 +1,104 @@
+const activeLease = document.querySelector("#activeLease");
+const pendingRequests = document.querySelector("#pendingRequests");
+const pendingCount = document.querySelector("#pendingCount");
+const revokeButton = document.querySelector("#revokeButton");
+const message = document.querySelector("#message");
+let snapshot = null;
+
+function escapeHtml(value) {
+  const node = document.createElement("span");
+  node.textContent = String(value ?? "");
+  return node.innerHTML;
+}
+
+function showMessage(value, error = false) {
+  message.textContent = value;
+  message.style.color = error ? "#ff8797" : "#7fbbff";
+}
+
+async function api(path, body) {
+  const response = await fetch(path, {
+    method: body ? "POST" : "GET",
+    credentials: "same-origin",
+    headers: body ? { "Content-Type": "application/json" } : {},
+    body: body ? JSON.stringify(body) : undefined,
+  });
+  if (response.status === 401) {
+    location.replace(`/login?next=${encodeURIComponent(location.pathname)}`);
+    throw new Error("请先登录本机服务");
+  }
+  const payload = await response.json();
+  if (!response.ok) throw new Error(payload.message || payload.error);
+  return payload;
+}
+
+function render(data) {
+  snapshot = data;
+  pendingCount.textContent = String(data.pending.length);
+  if (data.active) {
+    const lease = data.active;
+    activeLease.className = "lease-details";
+    activeLease.innerHTML = `
+      <div class="identity"><strong>${escapeHtml(lease.label)}</strong><code>${escapeHtml(lease.client_id)}</code><span>来源 ${escapeHtml(lease.client_address)} · 最近执行 ${escapeHtml(lease.last_activity_at)}</span></div>
+      <div class="timer">${Number(lease.idle_remaining_seconds)}s</div>`;
+    revokeButton.hidden = false;
+    revokeButton.dataset.clientId = lease.client_id;
+  } else {
+    activeLease.className = "empty";
+    activeLease.textContent = "当前无人获批使用真实台架。";
+    revokeButton.hidden = true;
+  }
+  if (!data.pending.length) {
+    pendingRequests.className = "request-list empty";
+    pendingRequests.textContent = "暂时没有申请。";
+    return;
+  }
+  pendingRequests.className = "request-list";
+  pendingRequests.innerHTML = data.pending.map((request) => `
+    <article class="request">
+      <div class="identity"><strong>${escapeHtml(request.label)}</strong><code>${escapeHtml(request.client_id)}</code><span>来源 ${escapeHtml(request.client_address)} · ${escapeHtml(request.requested_at)}</span></div>
+      <div class="actions">
+        <button type="button" data-action="approve" data-client-id="${escapeHtml(request.client_id)}">同意</button>
+        <button type="button" class="secondary" data-action="deny" data-client-id="${escapeHtml(request.client_id)}">拒绝</button>
+      </div>
+    </article>`).join("");
+}
+
+async function refresh() {
+  try {
+    render(await api("/api/local/hardware-access"));
+    document.querySelector("#clock").textContent = new Date().toLocaleTimeString("zh-CN", { hour12: false });
+  } catch (error) {
+    showMessage(error.message, true);
+  }
+}
+
+pendingRequests.addEventListener("click", async (event) => {
+  const button = event.target.closest("button[data-action]");
+  if (!button) return;
+  button.disabled = true;
+  try {
+    const action = button.dataset.action;
+    render(await api(`/api/local/hardware-access/${action}`, { client_id: button.dataset.clientId }));
+    showMessage(action === "approve" ? "已授予该终端真实台架使用权。" : "已拒绝该终端的申请。");
+  } catch (error) {
+    showMessage(error.message, true);
+  } finally {
+    button.disabled = false;
+  }
+});
+
+revokeButton.addEventListener("click", async () => {
+  revokeButton.disabled = true;
+  try {
+    render(await api("/api/local/hardware-access/revoke", { client_id: revokeButton.dataset.clientId }));
+    showMessage("已停止该终端的真实台架使用权；再次使用必须重新申请。");
+  } catch (error) {
+    showMessage(error.message, true);
+  } finally {
+    revokeButton.disabled = false;
+  }
+});
+
+refresh();
+setInterval(refresh, 2000);
@@ -15,7 +15,7 @@
    <script src="/vendor/three/0.147.0/fflate.min.js" defer></script>
    <script src="/vendor/three/0.147.0/FBXLoader.js" defer></script>
    <script src="/network.js?v=android-pad-1" defer></script>
-    <script src="/app.js?v=seat-hil-8" defer></script>
+    <script src="/app.js?v=seat-hil-9" defer></script>
    <script type="module" src="/gesture-control.js?v=android-pad-1"></script>
    <script src="/pwa.js?v=android-pad-1" defer></script>
  </head>
@@ -106,6 +106,16 @@
            <p class="provider-note" id="hardwareAliasNote">所有座椅能力仅控制副驾实体电机、加热与通风执行器</p>
          </div>

+          <div class="field-group hardware-access-field" id="hardwareAccessField" hidden>
+            <label class="field-label" for="hardwareClientLabel">真实台架使用权</label>
+            <input id="hardwareClientLabel" maxlength="64" autocomplete="off" placeholder="终端名称，例如：张三-测试电脑" />
+            <div class="hardware-access-actions">
+              <button id="requestHardwareAccess" type="button">向本地申请</button>
+              <button id="releaseHardwareAccess" type="button" class="secondary" hidden>停止使用</button>
+            </div>
+            <p class="provider-note hardware-access-status" id="hardwareAccessStatus">尚未申请；本次真实执行不会进入 CAN 链路。</p>
+          </div>
+
          <div class="field-group simulation-fault-field" id="simulationFaultField" hidden>
            <label class="field-label" for="simulationFault">故障注入场景</label>
            <select id="simulationFault" aria-label="选择模拟硬件故障">
@@ -1,4 +1,4 @@
-const CACHE_VERSION = "cognitive-agent-pad-v8";
+const CACHE_VERSION = "cognitive-agent-pad-v9";
 const SHELL_CACHE = `${CACHE_VERSION}-shell`;
 const RUNTIME_CACHE = `${CACHE_VERSION}-runtime`;
 const APP_SHELL = [
@@ -6,7 +6,7 @@ const APP_SHELL = [
  "/index.html",
  "/styles.css?v=android-pad-2",
  "/network.js?v=android-pad-1",
-  "/app.js?v=seat-hil-8",
+  "/app.js?v=seat-hil-9",
  "/gesture-control.js?v=android-pad-1",
  "/pwa.js?v=android-pad-1",
  "/manifest.webmanifest",
@@ -4357,6 +4357,54 @@ pre {
  }
 }

+.hardware-access-field {
+  padding: 12px;
+  border: 1px solid rgba(38, 102, 159, 0.24);
+  border-radius: 7px;
+  background: rgba(38, 102, 159, 0.055);
+}
+
+.hardware-access-field input {
+  width: 100%;
+  min-height: 40px;
+  margin-top: 8px;
+  padding: 9px 11px;
+  color: var(--ink);
+  background: white;
+  border: 1px solid var(--line-strong);
+  border-radius: 6px;
+  font: inherit;
+}
+
+.hardware-access-actions {
+  display: grid;
+  grid-template-columns: 1fr 1fr;
+  gap: 8px;
+  margin-top: 8px;
+}
+
+.hardware-access-actions button {
+  min-height: 38px;
+  border: 0;
+  border-radius: 5px;
+  color: white;
+  background: var(--blue);
+  font: inherit;
+  font-size: 12px;
+  font-weight: 800;
+  cursor: pointer;
+}
+
+.hardware-access-actions button.secondary {
+  color: var(--ink);
+  background: white;
+  border: 1px solid var(--line-strong);
+}
+
+.hardware-access-status[data-state="approved"] { color: var(--teal); font-weight: 750; }
+.hardware-access-status[data-state="pending"] { color: #9a6800; font-weight: 750; }
+.hardware-access-status[data-state="expired"] { color: var(--danger); font-weight: 750; }
+
 /* Android PAD, touch and installable-app refinements ---------------------- */
 .execution-mode-options {
  grid-template-columns: repeat(3, minmax(0, 1fr));
@@ -69,6 +69,20 @@ COGNITIVE_AGENT_SEAT_HOME_TIMEOUT_S=120

 `COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN_REQUIRED` 默认为 `true`，生产和公网部署应保持默认值。本地受控台架调试可显式设为 `false`，此时前端隐藏令牌输入且服务端不再逐请求校验令牌；硬件启用、固件、适配器、副驾目标、物理反馈和故障 STOP_ALL 等其他门禁保持不变。

+## 公网多人使用与本地审批租约
+
+公网用户选择“真实台架”后，浏览器会创建一个保存在本机 `localStorage` 的随机终端 ID。用户填写可识别的终端名称并点击“向本地申请”；申请只进入等待队列，未获批、已拒绝或已过期的执行请求会在打开 CAN 前返回 `hardware_access_required`。
+
+台架操作员在台架电脑打开 `http://127.0.0.1:8000/hardware-control`，可查看所有等待终端并执行：
+
+- 同意其中一台终端；若已有使用者，新的同意会撤销旧租约。
+- 拒绝等待中的申请。
+- 停止当前终端的使用权；后续请求立即失效。
+
+审批页面和 `/api/local/hardware-access*` 只接受无代理头的本机回环请求。通过公网域名、Caddy 或 SSH 反向隧道访问会返回 `403 local_access_required`，即使已经登录也不能远程审批。
+
+同一时间只有一台终端持有租约。获批后可连续执行多项真实台架测试，每次真正取得台架执行锁时刷新活跃时间；动作正在执行时不会因超时被中途撤权。最后一次动作完成后空闲 180 秒，租约自动停止，再次使用必须重新申请。用户也可点击“停止使用”主动释放。进程重启会清空全部申请和租约，以安全关闭状态重新开始。租约负责“谁可以用”，进程级单动作互斥继续负责防止同一获批终端的并发 CAN 指令互相覆盖。
+
 `COGNITIVE_AGENT_SEAT_AUTO_FLASH_ENABLED` 在真实硬件执行启用时默认为 `true`，上面的显式配置便于台架审计；如需禁止自动覆盖控制器固件，可明确设置为 `false`。此默认值不会影响 `dry_run`。

 当前台架只公布并接受副驾目标 `passenger/front_right`。没有座位词的座椅指令默认副驾；显式主驾、主副驾或前排范围请求会在打开 CAN 前拒绝，不能静默重定向。热管理 CAN 中仍出现的 `Driver_Seat_*` 是板端既有协议字段名，不代表应用层可以控制主驾。
@@ -64,6 +64,9 @@ from cognitive_agent.infrastructure.can.hardware import (  # noqa: E402
    PHYSICAL_BENCH_COORDINATOR,
    SeatHardwareSettings,
 )
+from cognitive_agent.infrastructure.can.access import (  # noqa: E402
+    PHYSICAL_BENCH_ACCESS,
+)
 from cognitive_agent.runtime.contracts import ContractValidator  # noqa: E402


@@ -140,6 +143,7 @@ class SeatDemoService:
        )
        self.hardware_settings = SeatHardwareSettings.from_env(repository_root)
        self.hardware_execution = PHYSICAL_BENCH_COORDINATOR
+        self.hardware_access = PHYSICAL_BENCH_ACCESS
        # Shared by the short-lived hardware executor instances. A process must
        # establish a fresh physical four-axis reference before trusting stored
        # Hall counts, and a firmware replacement invalidates it again.
@@ -181,6 +185,7 @@ class SeatDemoService:
        default_vehicle = self.vehicle_profiles.default()
        hardware_info = self.hardware_settings.public_info()
        hardware_info.update(self.hardware_execution.public_info())
+        hardware_info.update(self.hardware_access.public_info())
        return {
            "service": "cabin-cognitive-orchestrator",
            "domain": "cabin",
@@ -247,11 +252,19 @@ class SeatDemoService:
        self,
        conversation_id: str,
        vehicle_id: str | None = None,
+        *,
+        hardware_client_id: str | None = None,
+        hardware_access_bypass: bool = True,
    ) -> dict[str, Any]:
        """Read the bench only when no physical execution currently owns it."""

+        if hardware_access_bypass:
            with self.hardware_execution.reserve():
                return self._synchronize_hardware_state_once(conversation_id, vehicle_id)
+        authorized_client_id = self.hardware_access.ensure_authorized(hardware_client_id)
+        with self.hardware_execution.reserve():
+            with self.hardware_access.use(authorized_client_id):
+                return self._synchronize_hardware_state_once(conversation_id, vehicle_id)

    def _synchronize_hardware_state_once(
        self,
@@ -322,6 +335,9 @@ class SeatDemoService:
        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,
    ) -> dict[str, Any]:
        if execution_mode != "hardware":
            return self._process_once(
@@ -333,6 +349,7 @@ class SeatDemoService:
                vehicle_id,
                simulation_fault,
            )
+        if hardware_access_bypass:
            with self.hardware_execution.reserve():
                return self._process_once(
                    utterance,
@@ -343,6 +360,18 @@ class SeatDemoService:
                    vehicle_id,
                    simulation_fault,
                )
+        authorized_client_id = self.hardware_access.ensure_authorized(hardware_client_id)
+        with self.hardware_execution.reserve():
+            with self.hardware_access.use(authorized_client_id):
+                return self._process_once(
+                    utterance,
+                    provider,
+                    conversation_id,
+                    execution_mode,
+                    approval_token,
+                    vehicle_id,
+                    simulation_fault,
+                )

    def _process_once(
        self,
@@ -9,6 +9,11 @@ from .hardware import (
    PHYSICAL_BENCH_COORDINATOR,
    SeatHardwareSettings,
 )
+from .access import (
+    HardwareAccessController,
+    HardwareAccessRequiredError,
+    PHYSICAL_BENCH_ACCESS,
+)

 __all__ = [
    "CanBus",
@@ -16,10 +21,13 @@ __all__ = [
    "CanGatewayError",
    "CanMatrix",
    "HardwareBusyError",
+    "HardwareAccessController",
+    "HardwareAccessRequiredError",
    "HardwareExecutionCoordinator",
    "HardwareSafetyError",
    "MatrixError",
    "PHYSICAL_BENCH_COORDINATOR",
+    "PHYSICAL_BENCH_ACCESS",
    "PythonCanBus",
    "SeatHardwareSettings",
    "ZlgCanBridgeBus",
@@ -0,0 +1,268 @@
+"""Local approval leases for access to the single physical seat bench."""
+
+from __future__ import annotations
+
+import re
+import threading
+import time
+from contextlib import contextmanager
+from datetime import UTC, datetime
+from typing import Any, Callable, Iterator
+
+
+HARDWARE_CLIENT_ID_PATTERN = re.compile(r"^hwc-[a-z0-9-]{8,80}$")
+
+
+def _utc_now() -> str:
+    return datetime.now(UTC).isoformat().replace("+00:00", "Z")
+
+
+class HardwareAccessRequiredError(PermissionError):
+    """Raised before CAN is opened when a terminal has no active lease."""
+
+    def __init__(self, state: str = "none") -> None:
+        self.state = state
+        messages = {
+            "pending": "真实台架使用申请正在等待本地审批，本次请求未进入 CAN 链路。",
+            "expired": "真实台架使用权因空闲超过 3 分钟已自动停止，请重新申请。",
+            "none": "当前终端尚未获得真实台架使用权，请先向本地发送申请。",
+        }
+        super().__init__(messages.get(state, messages["none"]))
+
+
+class HardwareAccessController:
+    """Manage one locally-approved terminal and a bounded pending queue."""
+
+    def __init__(
+        self,
+        inactivity_timeout_seconds: int = 180,
+        max_pending: int = 32,
+        *,
+        clock: Callable[[], float] = time.monotonic,
+        timestamp: Callable[[], str] = _utc_now,
+    ) -> None:
+        if inactivity_timeout_seconds <= 0:
+            raise ValueError("inactivity_timeout_seconds must be positive")
+        if max_pending <= 0:
+            raise ValueError("max_pending must be positive")
+        self.inactivity_timeout_seconds = inactivity_timeout_seconds
+        self.max_pending = max_pending
+        self._clock = clock
+        self._timestamp = timestamp
+        self._lock = threading.RLock()
+        self._pending: dict[str, dict[str, Any]] = {}
+        self._active: dict[str, Any] | None = None
+        self._expired_clients: set[str] = set()
+
+    @staticmethod
+    def validate_client_id(client_id: str | None) -> str:
+        value = (client_id or "").strip().lower()
+        if not HARDWARE_CLIENT_ID_PATTERN.fullmatch(value):
+            raise ValueError(
+                "hardware_client_id must start with hwc- and contain 8-80 lowercase letters, numbers, or hyphens"
+            )
+        return value
+
+    @staticmethod
+    def clean_label(label: str | None, client_id: str) -> str:
+        value = " ".join((label or "").strip().split())
+        if any(ord(character) < 32 for character in value):
+            raise ValueError("terminal label must not contain control characters")
+        return value[:64] or f"终端-{client_id[-6:]}"
+
+    def request_access(
+        self,
+        client_id: str | None,
+        label: str | None,
+        client_address: str,
+    ) -> dict[str, Any]:
+        client_id = self.validate_client_id(client_id)
+        clean_label = self.clean_label(label, client_id)
+        with self._lock:
+            self._expire_locked()
+            self._expired_clients.discard(client_id)
+            if self._active and self._active["client_id"] == client_id:
+                return self._public_status_locked(client_id)
+            existing = self._pending.get(client_id)
+            if existing:
+                existing.update(label=clean_label, client_address=client_address)
+            else:
+                if len(self._pending) >= self.max_pending:
+                    raise ValueError("hardware access request queue is full")
+                self._pending[client_id] = {
+                    "client_id": client_id,
+                    "label": clean_label,
+                    "client_address": client_address,
+                    "requested_at": self._timestamp(),
+                }
+            return self._public_status_locked(client_id)
+
+    def status(self, client_id: str | None) -> dict[str, Any]:
+        client_id = self.validate_client_id(client_id)
+        with self._lock:
+            self._expire_locked()
+            return self._public_status_locked(client_id)
+
+    def admin_snapshot(self) -> dict[str, Any]:
+        with self._lock:
+            self._expire_locked()
+            active = None
+            if self._active:
+                active = dict(self._active)
+                active.update(self._lease_timing_locked())
+                active.pop("last_activity_monotonic", None)
+                active.pop("active_executions", None)
+            return {
+                "policy": "local_approval_idle_lease",
+                "inactivity_timeout_seconds": self.inactivity_timeout_seconds,
+                "active": active,
+                "pending": [dict(record) for record in self._pending.values()],
+            }
+
+    def approve(self, client_id: str | None) -> dict[str, Any]:
+        client_id = self.validate_client_id(client_id)
+        with self._lock:
+            self._expire_locked()
+            request = self._pending.pop(client_id, None)
+            if request is None:
+                if self._active and self._active["client_id"] == client_id:
+                    return self.admin_snapshot()
+                raise ValueError("hardware access request is no longer pending")
+            now = self._clock()
+            self._active = {
+                **request,
+                "approved_at": self._timestamp(),
+                "last_activity_at": self._timestamp(),
+                "last_activity_monotonic": now,
+                "active_executions": 0,
+            }
+            self._expired_clients.discard(client_id)
+            return self.admin_snapshot()
+
+    def deny(self, client_id: str | None) -> dict[str, Any]:
+        client_id = self.validate_client_id(client_id)
+        with self._lock:
+            self._pending.pop(client_id, None)
+            self._expired_clients.discard(client_id)
+            return self.admin_snapshot()
+
+    def release(self, client_id: str | None) -> dict[str, Any]:
+        client_id = self.validate_client_id(client_id)
+        with self._lock:
+            self._expire_locked()
+            self._pending.pop(client_id, None)
+            if self._active and self._active["client_id"] == client_id:
+                self._active = None
+            self._expired_clients.discard(client_id)
+            return self._public_status_locked(client_id)
+
+    def revoke(self, client_id: str | None = None) -> dict[str, Any]:
+        with self._lock:
+            self._expire_locked()
+            if client_id:
+                client_id = self.validate_client_id(client_id)
+                if self._active and self._active["client_id"] != client_id:
+                    raise ValueError("the selected terminal does not own the hardware lease")
+            self._active = None
+            return self.admin_snapshot()
+
+    @contextmanager
+    def use(self, client_id: str | None) -> Iterator[None]:
+        client_id = self.validate_client_id(client_id)
+        with self._lock:
+            self._expire_locked()
+            if not self._active or self._active["client_id"] != client_id:
+                raise HardwareAccessRequiredError(self._state_locked(client_id))
+            self._active["active_executions"] += 1
+            self._touch_locked()
+        try:
+            yield
+        finally:
+            with self._lock:
+                if self._active and self._active["client_id"] == client_id:
+                    self._active["active_executions"] = max(
+                        0, int(self._active["active_executions"]) - 1
+                    )
+                    self._touch_locked()
+
+    def ensure_authorized(self, client_id: str | None) -> str:
+        """Validate a lease without refreshing it for a failed/busy request."""
+
+        client_id = self.validate_client_id(client_id)
+        with self._lock:
+            self._expire_locked()
+            if not self._active or self._active["client_id"] != client_id:
+                raise HardwareAccessRequiredError(self._state_locked(client_id))
+        return client_id
+
+    def public_info(self) -> dict[str, Any]:
+        with self._lock:
+            self._expire_locked()
+            return {
+                "access_policy": "local_approval_idle_lease",
+                "access_inactivity_timeout_seconds": self.inactivity_timeout_seconds,
+                "access_pending_count": len(self._pending),
+                "access_lease_active": self._active is not None,
+            }
+
+    def _touch_locked(self) -> None:
+        if self._active:
+            self._active["last_activity_monotonic"] = self._clock()
+            self._active["last_activity_at"] = self._timestamp()
+
+    def _expire_locked(self) -> None:
+        if not self._active:
+            return
+        if int(self._active.get("active_executions", 0)) > 0:
+            return
+        idle = self._clock() - float(self._active["last_activity_monotonic"])
+        if idle < self.inactivity_timeout_seconds:
+            return
+        self._expired_clients.add(str(self._active["client_id"]))
+        self._active = None
+
+    def _state_locked(self, client_id: str) -> str:
+        if self._active and self._active["client_id"] == client_id:
+            return "approved"
+        if client_id in self._pending:
+            return "pending"
+        if client_id in self._expired_clients:
+            return "expired"
+        return "none"
+
+    def _lease_timing_locked(self) -> dict[str, Any]:
+        if not self._active:
+            return {}
+        if int(self._active.get("active_executions", 0)) > 0:
+            return {
+                "idle_seconds": 0,
+                "idle_remaining_seconds": self.inactivity_timeout_seconds,
+                "active_execution": True,
+            }
+        idle = max(0.0, self._clock() - float(self._active["last_activity_monotonic"]))
+        return {
+            "idle_seconds": int(idle),
+            "idle_remaining_seconds": max(
+                0, self.inactivity_timeout_seconds - int(idle)
+            ),
+        }
+
+    def _public_status_locked(self, client_id: str) -> dict[str, Any]:
+        state = self._state_locked(client_id)
+        result: dict[str, Any] = {
+            "state": state,
+            "client_id": client_id,
+            "inactivity_timeout_seconds": self.inactivity_timeout_seconds,
+        }
+        if state == "approved":
+            result.update(self._lease_timing_locked())
+            result["approved_at"] = self._active["approved_at"]
+            result["last_activity_at"] = self._active["last_activity_at"]
+        elif state == "pending":
+            pending_ids = list(self._pending)
+            result["queue_position"] = pending_ids.index(client_id) + 1
+            result["requested_at"] = self._pending[client_id]["requested_at"]
+        return result
+
+
+PHYSICAL_BENCH_ACCESS = HardwareAccessController()
@@ -32,6 +32,9 @@ from cognitive_agent.infrastructure.can.hardware import (  # noqa: E402
    HardwareBusyError,
    HardwareSafetyError,
 )
+from cognitive_agent.infrastructure.can.access import (  # noqa: E402
+    HardwareAccessRequiredError,
+)
 from cognitive_agent.infrastructure.llm.openai_responses import OpenAIIntentError  # noqa: E402


@@ -96,6 +99,35 @@ class SeatDemoHandler(BaseHTTPRequestHandler):
            return
        if not self._authorize(path):
            return
+        if path in {"/hardware-control", "/hardware-control.html"}:
+            if not self._require_local_decision_point():
+                return
+            self._serve_static_file("hardware-control.html")
+            return
+        if path in {"/hardware-control.js", "/hardware-control.css"}:
+            if not self._require_local_decision_point():
+                return
+            self._serve_static_file(path.lstrip("/"))
+            return
+        if path == "/api/local/hardware-access":
+            if not self._require_local_decision_point():
+                return
+            self._json(self.service.hardware_access.admin_snapshot())
+            return
+        if path == "/api/hardware/access/status":
+            query = parse_qs(parsed_url.query)
+            try:
+                self._json(
+                    self.service.hardware_access.status(
+                        str(query.get("client_id", [""])[0])
+                    )
+                )
+            except ValueError as exc:
+                self._json(
+                    {"error": "invalid_request", "message": str(exc)},
+                    HTTPStatus.BAD_REQUEST,
+                )
+            return
        if path == "/api/health":
            self._json({"status": "ok", "service": "cabin-cognitive-orchestrator"})
            return
@@ -106,13 +138,25 @@ class SeatDemoHandler(BaseHTTPRequestHandler):
            query = parse_qs(parsed_url.query)
            conversation_id = str(query.get("conversation_id", [""])[0])
            vehicle_id = str(query.get("vehicle_id", [""])[0]) or None
+            hardware_client_id = str(query.get("hardware_client_id", [""])[0]) or None
            try:
                self._json(
                    self.service.synchronize_hardware_state(
                        conversation_id,
                        vehicle_id,
+                        hardware_client_id=hardware_client_id,
+                        hardware_access_bypass=self._is_unproxied_loopback_request(),
                    )
                )
+            except HardwareAccessRequiredError as exc:
+                self._json(
+                    {
+                        "error": "hardware_access_required",
+                        "message": str(exc),
+                        "access_state": exc.state,
+                    },
+                    HTTPStatus.FORBIDDEN,
+                )
            except HardwareBusyError as exc:
                self._json(
                    {
@@ -159,6 +203,15 @@ class SeatDemoHandler(BaseHTTPRequestHandler):
            return
        if not self._authorize(path):
            return
+        if path in {
+            "/api/hardware/access/request",
+            "/api/hardware/access/release",
+            "/api/local/hardware-access/approve",
+            "/api/local/hardware-access/deny",
+            "/api/local/hardware-access/revoke",
+        }:
+            self._handle_hardware_access_post(path)
+            return
        if path != "/api/requests":
            self._json({"error": "not_found"}, HTTPStatus.NOT_FOUND)
            return
@@ -178,12 +231,7 @@ class SeatDemoHandler(BaseHTTPRequestHandler):
                return
            if self.auth.config.enabled:
                self.auth.api_requests.record(username)
-            content_length = int(self.headers.get("Content-Length", "0"))
-            if content_length <= 0 or content_length > 32768:
-                raise ValueError("request body must be between 1 and 32768 bytes")
-            payload = json.loads(self.rfile.read(content_length).decode("utf-8"))
-            if not isinstance(payload, dict):
-                raise ValueError("request body must be a JSON object")
+            payload = self._read_json_body()
            result = self.service.process(
                str(payload.get("utterance", "")),
                str(payload.get("provider", "auto")),
@@ -200,8 +248,23 @@ class SeatDemoHandler(BaseHTTPRequestHandler):
                    else None
                ),
                simulation_fault=str(payload.get("simulation_fault", "normal")),
+                hardware_client_id=(
+                    str(payload["hardware_client_id"])
+                    if payload.get("hardware_client_id")
+                    else None
+                ),
+                hardware_access_bypass=self._is_unproxied_loopback_request(),
            )
            self._json(result, HTTPStatus.CREATED)
+        except HardwareAccessRequiredError as exc:
+            self._json(
+                {
+                    "error": "hardware_access_required",
+                    "message": str(exc),
+                    "access_state": exc.state,
+                },
+                HTTPStatus.FORBIDDEN,
+            )
        except HardwareBusyError as exc:
            self._json(
                {
@@ -238,6 +301,53 @@ class SeatDemoHandler(BaseHTTPRequestHandler):
                HTTPStatus.INTERNAL_SERVER_ERROR,
            )

+    def _handle_hardware_access_post(self, path: str) -> None:
+        local_path = path.startswith("/api/local/")
+        if local_path and not self._require_local_decision_point():
+            return
+        try:
+            payload = self._read_json_body(max_bytes=4096)
+            client_id = str(payload.get("client_id", ""))
+            if path == "/api/hardware/access/request":
+                status = self.service.hardware_access.request_access(
+                    client_id,
+                    str(payload.get("label", "")),
+                    self._client_key(),
+                )
+                self._json(
+                    status,
+                    HTTPStatus.OK if status["state"] == "approved" else HTTPStatus.ACCEPTED,
+                )
+                return
+            if path == "/api/hardware/access/release":
+                self._json(self.service.hardware_access.release(client_id))
+                return
+            if path == "/api/local/hardware-access/approve":
+                self._json(self.service.hardware_access.approve(client_id))
+                return
+            if path == "/api/local/hardware-access/deny":
+                self._json(self.service.hardware_access.deny(client_id))
+                return
+            if path == "/api/local/hardware-access/revoke":
+                self._json(
+                    self.service.hardware_access.revoke(client_id or None)
+                )
+                return
+        except (ValueError, json.JSONDecodeError) as exc:
+            self._json(
+                {"error": "invalid_request", "message": str(exc)},
+                HTTPStatus.BAD_REQUEST,
+            )
+
+    def _read_json_body(self, max_bytes: int = 32768) -> dict[str, object]:
+        content_length = int(self.headers.get("Content-Length", "0"))
+        if content_length <= 0 or content_length > max_bytes:
+            raise ValueError(f"request body must be between 1 and {max_bytes} bytes")
+        payload = json.loads(self.rfile.read(content_length).decode("utf-8"))
+        if not isinstance(payload, dict):
+            raise ValueError("request body must be a JSON object")
+        return payload
+
    def _authorize(self, path: str) -> bool:
        if not self.auth.config.enabled or path in PUBLIC_AUTH_PATHS:
            return True
@@ -363,6 +473,35 @@ class SeatDemoHandler(BaseHTTPRequestHandler):
                pass
        return address

+    def _is_unproxied_loopback_request(self) -> bool:
+        """Distinguish the local decision console from traffic via the tunnel."""
+
+        try:
+            direct_address = ipaddress.ip_address(self.client_address[0])
+        except ValueError:
+            return False
+        proxy_headers = (
+            "Forwarded",
+            "X-Forwarded-For",
+            "X-Real-IP",
+            "CF-Connecting-IP",
+        )
+        return direct_address.is_loopback and not any(
+            self.headers.get(name, "").strip() for name in proxy_headers
+        )
+
+    def _require_local_decision_point(self) -> bool:
+        if self._is_unproxied_loopback_request():
+            return True
+        self._json(
+            {
+                "error": "local_access_required",
+                "message": "真实台架审批与停止权限仅在台架本机开放。",
+            },
+            HTTPStatus.FORBIDDEN,
+        )
+        return False
+
    def _is_https(self) -> bool:
        if not self.auth.config.trust_proxy_headers:
            return False
@@ -15,6 +15,7 @@ from unittest.mock import patch
 from cognitive_agent.auth import AuthConfig, AuthRuntime, hash_password
 from cognitive_agent.application.seat_service import REPOSITORY_ROOT, SeatDemoService
 from cognitive_agent.infrastructure.llm.openai_responses import OpenAIIntentError
+from cognitive_agent.infrastructure.can.access import HardwareAccessController
 from cognitive_agent.server import SeatDemoHandler


@@ -71,6 +72,8 @@ class SeatWebApiTests(unittest.TestCase):
        cls.temporary_directory.cleanup()

    def setUp(self) -> None:
+        self.original_hardware_access = self.service.hardware_access
+        self.service.hardware_access = HardwareAccessController()
        self.cookie_jar = CookieJar()
        self.opener = urllib.request.build_opener(
            urllib.request.HTTPCookieProcessor(self.cookie_jar)
@@ -87,6 +90,9 @@ class SeatWebApiTests(unittest.TestCase):
            payload = json.loads(response.read().decode("utf-8"))
        self.assertTrue(payload["authenticated"])

+    def tearDown(self) -> None:
+        self.service.hardware_access = self.original_hardware_access
+
    def test_authentication_protects_console_and_api(self) -> None:
        unauthenticated = urllib.request.build_opener()
        with unauthenticated.open(f"{self.base_url}/", timeout=3) as response:
@@ -105,7 +111,7 @@ class SeatWebApiTests(unittest.TestCase):
    def test_static_console_and_runtime_endpoint(self) -> None:
        with self.opener.open(f"{self.base_url}/", timeout=3) as response:
            html = response.read().decode("utf-8")
-        with self.opener.open(f"{self.base_url}/app.js?v=seat-hil-8", timeout=3) as response:
+        with self.opener.open(f"{self.base_url}/app.js?v=seat-hil-9", timeout=3) as response:
            app_script = response.read().decode("utf-8")
        with self.opener.open(f"{self.base_url}/api/runtime", timeout=3) as response:
            runtime = json.loads(response.read().decode("utf-8"))
@@ -115,7 +121,9 @@ class SeatWebApiTests(unittest.TestCase):
        self.assertIn('data-vehicle-model="byd-tang-2024-reference"', html)
        self.assertIn("整车孪生界面", html)
        self.assertIn("透明车体 · 实体设备", html)
-        self.assertIn('src="/app.js?v=seat-hil-8"', html)
+        self.assertIn('src="/app.js?v=seat-hil-9"', html)
+        self.assertIn('id="hardwareAccessField"', html)
+        self.assertIn("hardware_access_required", app_script)
        self.assertIn("HARDWARE_REQUEST_TIMEOUT_MS = 15 * 60 * 1000", app_script)
        self.assertIn(
            "requestTimeoutForExecutionMode(state.executionMode)", app_script
@@ -151,6 +159,13 @@ class SeatWebApiTests(unittest.TestCase):
            runtime["hardware"]["concurrency_policy"],
            "single_flight_fail_fast",
        )
+        self.assertEqual(
+            runtime["hardware"]["access_policy"],
+            "local_approval_idle_lease",
+        )
+        self.assertEqual(
+            runtime["hardware"]["access_inactivity_timeout_seconds"], 180
+        )
        self.assertFalse(runtime["hardware"]["busy"])
        self.assertEqual(
            runtime["hardware"]["supported_seat_instances"], ["passenger"]
@@ -370,6 +385,8 @@ class SeatWebApiTests(unittest.TestCase):
        synchronize.assert_called_once_with(
            "conv-e2e-physical-state",
            "denza_n7",
+            hardware_client_id=None,
+            hardware_access_bypass=True,
        )

    def test_gpt_http_failure_falls_back_without_returning_502(self) -> None:
@@ -524,6 +541,109 @@ class SeatWebApiTests(unittest.TestCase):
        )
        self.assertNotIn("must-not-be-persisted", artifact_text)

+    def test_local_decision_point_selects_one_public_terminal_and_can_stop_it(self) -> None:
+        client_a = "hwc-e2e-client-a1"
+        client_b = "hwc-e2e-client-b2"
+
+        def post(path: str, payload: dict, *, public: bool = False):
+            headers = {"Content-Type": "application/json"}
+            if public:
+                headers["X-Forwarded-For"] = "203.0.113.25"
+            request = urllib.request.Request(
+                f"{self.base_url}{path}",
+                method="POST",
+                headers=headers,
+                data=json.dumps(payload, ensure_ascii=False).encode("utf-8"),
+            )
+            return self.opener.open(request, timeout=3)
+
+        with post(
+            "/api/hardware/access/request",
+            {"client_id": client_a, "label": "用户电脑 A"},
+            public=True,
+        ) as response:
+            first = json.loads(response.read().decode("utf-8"))
+            self.assertEqual(response.status, 202)
+        with post(
+            "/api/hardware/access/request",
+            {"client_id": client_b, "label": "用户电脑 B"},
+            public=True,
+        ) as response:
+            second = json.loads(response.read().decode("utf-8"))
+        self.assertEqual(first["queue_position"], 1)
+        self.assertEqual(second["queue_position"], 2)
+
+        with self.opener.open(
+            f"{self.base_url}/api/local/hardware-access", timeout=3
+        ) as response:
+            local_snapshot = json.loads(response.read().decode("utf-8"))
+        self.assertEqual(len(local_snapshot["pending"]), 2)
+
+        with post(
+            "/api/local/hardware-access/approve", {"client_id": client_b}
+        ) as response:
+            approved = json.loads(response.read().decode("utf-8"))
+        self.assertEqual(approved["active"]["client_id"], client_b)
+
+        with self.assertRaises(urllib.error.HTTPError) as remote_admin:
+            request = urllib.request.Request(
+                f"{self.base_url}/api/local/hardware-access",
+                headers={"X-Forwarded-For": "203.0.113.25"},
+            )
+            self.opener.open(request, timeout=3)
+        self.assertEqual(remote_admin.exception.code, 403)
+
+        def hardware_request(client_id: str, conversation: str):
+            return post(
+                "/api/requests",
+                {
+                    "utterance": "关闭副驾座椅加热",
+                    "provider": "local",
+                    "conversation_id": conversation,
+                    "execution_mode": "hardware",
+                    "hardware_client_id": client_id,
+                },
+                public=True,
+            )
+
+        fake_result = {"status": "succeeded", "request_id": "req-approved-client"}
+        with patch.object(
+            self.service, "_process_once", return_value=fake_result
+        ) as process_once:
+            with hardware_request(client_b, "conv-approved-client") as response:
+                self.assertEqual(response.status, 201)
+            with self.assertRaises(urllib.error.HTTPError) as unapproved:
+                hardware_request(client_a, "conv-unapproved-client")
+            denied_payload = json.loads(unapproved.exception.read().decode("utf-8"))
+            self.assertEqual(unapproved.exception.code, 403)
+            self.assertEqual(denied_payload["error"], "hardware_access_required")
+            self.assertEqual(denied_payload["access_state"], "pending")
+            self.assertEqual(process_once.call_count, 1)
+
+        with post(
+            "/api/hardware/access/release",
+            {"client_id": client_b},
+            public=True,
+        ) as response:
+            released = json.loads(response.read().decode("utf-8"))
+        self.assertEqual(released["state"], "none")
+        self.assertIsNone(self.service.hardware_access.admin_snapshot()["active"])
+
+    def test_local_hardware_decision_page_is_not_exposed_through_proxy(self) -> None:
+        with self.opener.open(
+            f"{self.base_url}/hardware-control", timeout=3
+        ) as response:
+            html = response.read().decode("utf-8")
+        self.assertIn("真实台架本地决策台", html)
+
+        proxied = urllib.request.Request(
+            f"{self.base_url}/hardware-control",
+            headers={"X-Forwarded-For": "203.0.113.25"},
+        )
+        with self.assertRaises(urllib.error.HTTPError) as caught:
+            self.opener.open(proxied, timeout=3)
+        self.assertEqual(caught.exception.code, 403)
+
    def test_overlapping_hardware_request_returns_conflict_without_entering_can(self) -> None:
        entered = threading.Event()
        release = threading.Event()
@@ -0,0 +1,110 @@
+from __future__ import annotations
+
+import unittest
+
+from cognitive_agent.infrastructure.can.access import (
+    HardwareAccessController,
+    HardwareAccessRequiredError,
+)
+
+
+CLIENT_A = "hwc-aaaaaaaa-1111"
+CLIENT_B = "hwc-bbbbbbbb-2222"
+
+
+class FakeClock:
+    def __init__(self) -> None:
+        self.value = 100.0
+
+    def __call__(self) -> float:
+        return self.value
+
+    def advance(self, seconds: float) -> None:
+        self.value += seconds
+
+
+class HardwareAccessControllerTests(unittest.TestCase):
+    def setUp(self) -> None:
+        self.clock = FakeClock()
+        self.controller = HardwareAccessController(clock=self.clock)
+
+    def test_local_admin_can_choose_one_of_multiple_pending_terminals(self) -> None:
+        first = self.controller.request_access(CLIENT_A, "电脑 A", "203.0.113.10")
+        second = self.controller.request_access(CLIENT_B, "电脑 B", "203.0.113.11")
+
+        self.assertEqual(first["queue_position"], 1)
+        self.assertEqual(second["queue_position"], 2)
+        snapshot = self.controller.approve(CLIENT_B)
+
+        self.assertEqual(snapshot["active"]["client_id"], CLIENT_B)
+        self.assertEqual([item["client_id"] for item in snapshot["pending"]], [CLIENT_A])
+        self.assertEqual(self.controller.status(CLIENT_B)["state"], "approved")
+        self.assertEqual(self.controller.status(CLIENT_A)["state"], "pending")
+
+    def test_execution_refreshes_lease_and_idle_180_seconds_expires_it(self) -> None:
+        self.controller.request_access(CLIENT_A, "电脑 A", "203.0.113.10")
+        self.controller.approve(CLIENT_A)
+        self.clock.advance(179)
+        self.assertEqual(self.controller.status(CLIENT_A)["state"], "approved")
+
+        with self.controller.use(CLIENT_A):
+            self.clock.advance(5)
+
+        self.clock.advance(179)
+        self.assertEqual(self.controller.status(CLIENT_A)["state"], "approved")
+        self.clock.advance(1)
+        expired = self.controller.status(CLIENT_A)
+        self.assertEqual(expired["state"], "expired")
+        self.assertIsNone(self.controller.admin_snapshot()["active"])
+        with self.assertRaises(HardwareAccessRequiredError) as caught:
+            with self.controller.use(CLIENT_A):
+                pass
+        self.assertEqual(caught.exception.state, "expired")
+
+    def test_long_running_execution_is_not_revoked_while_it_is_active(self) -> None:
+        self.controller.request_access(CLIENT_A, "电脑 A", "203.0.113.10")
+        self.controller.approve(CLIENT_A)
+
+        with self.controller.use(CLIENT_A):
+            self.clock.advance(600)
+            status = self.controller.status(CLIENT_A)
+            self.assertEqual(status["state"], "approved")
+            self.assertTrue(status["active_execution"])
+
+        self.assertEqual(
+            self.controller.status(CLIENT_A)["idle_remaining_seconds"], 180
+        )
+
+    def test_user_release_requires_a_new_request(self) -> None:
+        self.controller.request_access(CLIENT_A, "电脑 A", "203.0.113.10")
+        self.controller.approve(CLIENT_A)
+        self.assertEqual(self.controller.release(CLIENT_A)["state"], "none")
+        with self.assertRaises(HardwareAccessRequiredError):
+            with self.controller.use(CLIENT_A):
+                pass
+
+    def test_approving_another_terminal_revokes_previous_lease(self) -> None:
+        self.controller.request_access(CLIENT_A, "电脑 A", "203.0.113.10")
+        self.controller.approve(CLIENT_A)
+        self.controller.request_access(CLIENT_B, "电脑 B", "203.0.113.11")
+        snapshot = self.controller.approve(CLIENT_B)
+
+        self.assertEqual(snapshot["active"]["client_id"], CLIENT_B)
+        self.assertEqual(self.controller.status(CLIENT_A)["state"], "none")
+        with self.assertRaises(HardwareAccessRequiredError):
+            with self.controller.use(CLIENT_A):
+                pass
+
+    def test_local_admin_can_deny_pending_and_revoke_active(self) -> None:
+        self.controller.request_access(CLIENT_A, "电脑 A", "203.0.113.10")
+        self.controller.deny(CLIENT_A)
+        self.assertEqual(self.controller.status(CLIENT_A)["state"], "none")
+
+        self.controller.request_access(CLIENT_A, "电脑 A", "203.0.113.10")
+        self.controller.approve(CLIENT_A)
+        snapshot = self.controller.revoke(CLIENT_A)
+        self.assertIsNone(snapshot["active"])
+
+
+if __name__ == "__main__":
+    unittest.main()