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feat: integrate cabin CAN and verified dynamic seat modes

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This commit is contained in:
vee
2026-08-04 17:51:38 +08:00
parent 155fbb59ba
commit dc7c91800e
99 changed files with 51897 additions and 3618 deletions
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artifacts/hil/seat_zero_gravity_regression.json
+252
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@@ -0,0 +1,252 @@
{
"suite": "t2g-seat-frontend-comprehensive-hil",
"started_at": "2026-08-01T18:23:33.171605Z",
"base_url": "http://127.0.0.1:8000",
"vehicle_id": "denza_n7",
"conversation_id": "conv-hil-full-20260801182333",
"runtime": {
"hardware_execution_allowed": true,
"firmware_profiles": [
"combined"
]
},
"results": [
{
"id": "MODE-ZERO-GRAVITY-OPEN",
"group": "mode",
"utterance": "打开零重力模式",
"started_at": "2026-08-01T18:23:33.171647Z",
"status": "passed",
"errors": [],
"http_status": 201,
"request_id": "req-20260801182333-ad87f6",
"matched_modes": [
"zero_gravity"
],
"state_http_status": 200,
"physical_state": {
"position": {
"cushion_tilt": {
"position_pct": 100,
"position_valid": true,
"motion_state": "stopped",
"fault": false,
"task_state": 6,
"motor_result": 2,
"motor_selector": 1,
"value_x100": 10000,
"feedback_frame": {
"frame_id": "0x302",
"payload_size": 8,
"data_hex": "01 26 28 33 01 10 27 00",
"timestamp": 39114.700574
}
},
"backrest_recline": {
"position_pct": 81,
"position_valid": true,
"motion_state": "stopped",
"fault": false,
"task_state": 6,
"motor_result": 2,
"motor_selector": 2,
"value_x100": 8103,
"feedback_frame": {
"frame_id": "0x302",
"payload_size": 8,
"data_hex": "02 26 08 34 01 A7 1F 00",
"timestamp": 39114.725999
}
},
"legrest_height": {
"position_pct": 94,
"position_valid": true,
"motion_state": "stopped",
"fault": false,
"task_state": 6,
"motor_result": 2,
"motor_selector": 3,
"value_x100": 9397,
"feedback_frame": {
"frame_id": "0x302",
"payload_size": 8,
"data_hex": "03 26 08 35 01 B5 24 00",
"timestamp": 39114.754159
}
},
"longitudinal": {
"position_pct": 100,
"position_valid": true,
"motion_state": "stopped",
"fault": false,
"task_state": 6,
"motor_result": 2,
"motor_selector": 0,
"value_x100": 10000,
"feedback_frame": {
"frame_id": "0x302",
"payload_size": 8,
"data_hex": "00 26 28 32 01 10 27 00",
"timestamp": 39114.780784
}
}
},
"ventilation": {
"state": "off",
"level": 0,
"feedback_value": 1,
"feedback_frame": {
"frame_id": "0x4FA",
"payload_size": 8,
"data_hex": "09 00 00 00 00 00 00 00",
"timestamp": 39114.790091
}
},
"heating": {
"state": "off",
"level": 0,
"feedback_value": 1,
"feedback_frame": {
"frame_id": "0x4FA",
"payload_size": 8,
"data_hex": "09 00 00 00 00 00 00 00",
"timestamp": 39114.790091
}
},
"captured_at": "2026-08-01T18:24:39.703780Z",
"source": "physical_can",
"target": {
"device": "seat",
"zone": "front_right",
"instance": "passenger"
},
"complete": true,
"missing": []
},
"finished_at": "2026-08-01T18:24:39.790515Z",
"duration_ms": 66619
}
],
"final_state": {
"id": "FINAL-THERMAL-OFF",
"group": "cleanup",
"utterance": "关闭副驾座椅加热和通风，并把水平、坐盆、靠背、腿托四轴归零",
"started_at": "2026-08-01T18:24:39.790569Z",
"status": "passed",
"errors": [],
"http_status": 201,
"request_id": "req-20260801182439-328aa0",
"matched_modes": [],
"state_http_status": 200,
"physical_state": {
"position": {
"cushion_tilt": {
"position_pct": 0,
"position_valid": true,
"motion_state": "stopped",
"fault": false,
"task_state": 6,
"motor_result": 2,
"motor_selector": 1,
"value_x100": 0,
"feedback_frame": {
"frame_id": "0x302",
"payload_size": 8,
"data_hex": "01 26 18 38 01 00 00 00",
"timestamp": 39185.409902
}
},
"backrest_recline": {
"position_pct": 0,
"position_valid": true,
"motion_state": "stopped",
"fault": false,
"task_state": 6,
"motor_result": 2,
"motor_selector": 2,
"value_x100": 0,
"feedback_frame": {
"frame_id": "0x302",
"payload_size": 8,
"data_hex": "02 26 18 39 01 00 00 00",
"timestamp": 39185.435684
}
},
"legrest_height": {
"position_pct": 0,
"position_valid": true,
"motion_state": "stopped",
"fault": false,
"task_state": 6,
"motor_result": 2,
"motor_selector": 3,
"value_x100": 0,
"feedback_frame": {
"frame_id": "0x302",
"payload_size": 8,
"data_hex": "03 26 18 3A 01 00 00 00",
"timestamp": 39185.461565
}
},
"longitudinal": {
"position_pct": 0,
"position_valid": true,
"motion_state": "stopped",
"fault": false,
"task_state": 6,
"motor_result": 2,
"motor_selector": 0,
"value_x100": 0,
"feedback_frame": {
"frame_id": "0x302",
"payload_size": 8,
"data_hex": "00 26 18 37 01 00 00 00",
"timestamp": 39185.487663
}
}
},
"ventilation": {
"state": "off",
"level": 0,
"feedback_value": 1,
"feedback_frame": {
"frame_id": "0x4FA",
"payload_size": 8,
"data_hex": "09 00 00 00 00 00 00 00",
"timestamp": 39185.496704
}
},
"heating": {
"state": "off",
"level": 0,
"feedback_value": 1,
"feedback_frame": {
"frame_id": "0x4FA",
"payload_size": 8,
"data_hex": "09 00 00 00 00 00 00 00",
"timestamp": 39185.496704
}
},
"captured_at": "2026-08-01T18:25:50.408971Z",
"source": "physical_can",
"target": {
"device": "seat",
"zone": "front_right",
"instance": "passenger"
},
"complete": true,
"missing": []
},
"finished_at": "2026-08-01T18:25:50.490639Z",
"duration_ms": 70700
},
"finished_at": "2026-08-01T18:25:50.490676Z",
"summary": {
"total": 1,
"passed": 1,
"failed": 0,
"safety_blocked": 0,
"executed": 1,
"final_state_passed": true
}
}