feat: integrate cabin CAN and verified dynamic seat modes

src/cognitive_agent/application/model_plan_adapter.py

@@ -27,7 +27,14 @@ SEAT_MOTION_CAPABILITIES = {
 SEAT_RELATIVE_PHYSICAL_PARAMETERS = {"distance_mm", "angle_delta_deg"}
 SAVE_PRESET_CAPABILITY = "seat.save_posture_preset"
 APPLY_PRESET_CAPABILITY = "seat.apply_posture_preset"
+DYNAMIC_MODE_CAPABILITY = "seat.start_dynamic_mode"
+DYNAMIC_MODE_STOP_CAPABILITY = "seat.stop_dynamic_mode"
+DYNAMIC_MODE_MAX_RUNTIME_MS = 600_000
 HEX_COLOR = re.compile(r"^#[0-9A-Fa-f]{6}$")
+NATIVE_CAN_ONLY_CAPABILITIES = {
+    "climate.set_control_mode",
+    "roof.set_shade_motion",
+}
 
 
 class ModelPlanAdapter:
@@ -69,7 +76,7 @@ class ModelPlanAdapter:
                 )
                 continue
 
-            domain, availability, capability = registered
+            domain, domain_availability, capability = registered
             parameters = {
                 str(item["name"]): item.get("value")
                 for item in request.get("parameters", [])
@@ -93,7 +100,26 @@ class ModelPlanAdapter:
                 )
                 continue
 
-            if availability != "executable":
+            availability = (
+                "native_can"
+                if capability_name in NATIVE_CAN_ONLY_CAPABILITIES
+                else domain_availability
+            )
+            native_only_request = (
+                domain == "seat"
+                and capability_name in SEAT_CAPABILITIES
+                and (
+                    request.get("target_scope") in {"left_rear", "right_rear"}
+                    or parameters.get("level") in {4, 5}
+                )
+            ) or (
+                capability_name == "climate.set_outlet_mode"
+                and (
+                    request.get("target_scope") == "vehicle"
+                    or parameters.get("mode") not in {"face", "feet"}
+                )
+            )
+            if availability != "executable" or native_only_request:
                 values = [value for value in parameters.values() if value is not None]
                 deferred.append(
                     {
@@ -104,6 +130,11 @@ class ModelPlanAdapter:
                         "requested_value": values[0] if len(values) == 1 else None,
                         "parameters": parameters,
                         "reason": request["reason"],
+                        "execution_backend": (
+                            "native_can"
+                            if availability == "native_can" or native_only_request
+                            else availability
+                        ),
                     }
                 )
                 continue
@@ -182,6 +213,20 @@ class ModelPlanAdapter:
                     }
                 )
                 continue
+            if capability_name == DYNAMIC_MODE_STOP_CAPABILITY:
+                dynamic_action = self._dynamic_mode_stop_action(
+                    index, request, parameters, ambiguities
+                )
+                if dynamic_action is not None:
+                    actions.append(dynamic_action)
+                continue
+            if capability_name == DYNAMIC_MODE_CAPABILITY:
+                dynamic_action = self._dynamic_mode_action(
+                    index, request, parameters, ambiguities
+                )
+                if dynamic_action is not None:
+                    actions.append(dynamic_action)
+                continue
             action = self._seat_action(
                 index, request, parameters, ambiguities, context, vehicle_profile
             )
@@ -352,6 +397,79 @@ class ModelPlanAdapter:
             return None
         return {"target": target, "preset_name": preset_name.strip()}
 
+    @staticmethod
+    def _dynamic_mode_action(
+        index: int,
+        request: dict[str, Any],
+        parameters: dict[str, Any],
+        ambiguities: list[dict[str, str]],
+    ) -> dict[str, Any] | None:
+        target = request.get("target_scope")
+        if target != "passenger":
+            ambiguities.append(
+                {
+                    "field": f"requests[{index}].target_scope",
+                    "question": "当前动态座椅模式仅控制副驾。",
+                }
+            )
+            return None
+        mode_id = parameters.get("mode_id")
+        if (
+            not isinstance(mode_id, (int, float))
+            or isinstance(mode_id, bool)
+            or not float(mode_id).is_integer()
+            or int(mode_id) not in {1, 2}
+        ):
+            ambiguities.append(
+                {
+                    "field": f"requests[{index}].parameters.mode_id",
+                    "question": "动态座椅模式编号必须是 1（木马模式）或 2（动态摇篮）。",
+                }
+            )
+            return None
+        normalized_mode_id = int(mode_id)
+        return {
+            "action_type": "dynamic_mode",
+            "target": target,
+            "mode_id": normalized_mode_id,
+            "mode_name": (
+                "木马模式"
+                if normalized_mode_id == 1
+                else "动态摇篮模式"
+            ),
+            "repeat": "until_stopped_or_timeout",
+            "max_runtime_ms": DYNAMIC_MODE_MAX_RUNTIME_MS,
+        }
+
+    @staticmethod
+    def _dynamic_mode_stop_action(
+        index: int,
+        request: dict[str, Any],
+        parameters: dict[str, Any],
+        ambiguities: list[dict[str, str]],
+    ) -> dict[str, Any] | None:
+        target = request.get("target_scope")
+        if target != "passenger":
+            ambiguities.append(
+                {
+                    "field": f"requests[{index}].target_scope",
+                    "question": "当前动态座椅模式仅控制副驾。",
+                }
+            )
+            return None
+        if parameters:
+            ambiguities.append(
+                {
+                    "field": f"requests[{index}].parameters",
+                    "question": "停止动态座椅模式不接受额外参数。",
+                }
+            )
+            return None
+        return {
+            "action_type": "dynamic_mode_stop",
+            "target": target,
+        }
+
     @staticmethod
     def _find_preset(
         presets: list[dict[str, Any]],