merge: integrate wired and wireless CAN into N7Web

2026-08-19 10:21:27 +08:00
parent 772ab685d6 52c4dd08f9
commit fff7657fea
34 changed files with 4740 additions and 246 deletions
@@ -39,10 +39,16 @@ function loadHardwareClientId() {
  return clientId;
 }

+function loadControlTransport() {
+  const stored = localStorage.getItem("cognitive-agent.control-transport");
+  return ["wired_can", "wireless_mqtt"].includes(stored) ? stored : "wired_can";
+}
+
 const state = {
  provider: "openai",
  reasoningEffort: localStorage.getItem("cognitive-agent.reasoning-effort") || "medium",
  executionMode: "dry_run",
+  controlTransport: loadControlTransport(),
  conversationId: loadConversationId(),
  vehicleId: null,
  runtime: null,
@@ -61,6 +67,7 @@ const state = {
  hardwareAccessPoller: null,
  physicalStatePoller: null,
  physicalStateSyncPromise: null,
+  passengerStateSyncPromise: null,
  pendingModeProfileId: null,
  modeRunTimer: null,
  modeDraftCommand: "",
@@ -76,11 +83,18 @@ const apiRequest = (input, options) => window.CognitiveAgentNetwork.request(inpu
 // workflow so the UI does not report failure while the seat is still moving.
 const HARDWARE_REQUEST_TIMEOUT_MS = 15 * 60 * 1000;
 const REQUEST_TIMEOUT_MS = 45 * 1000;
+const DEFAULT_PHYSICAL_STATE_POLL_INTERVAL_MS = 5000;

 function requestTimeoutForExecutionMode(mode) {
  return mode === "hardware" ? HARDWARE_REQUEST_TIMEOUT_MS : REQUEST_TIMEOUT_MS;
 }

+function physicalStatePollIntervalMs() {
+  const configured = Number(selectedVehicleTransport()?.state_sync?.poll_interval_ms);
+  if (!Number.isFinite(configured)) return DEFAULT_PHYSICAL_STATE_POLL_INTERVAL_MS;
+  return Math.max(250, Math.min(DEFAULT_PHYSICAL_STATE_POLL_INTERVAL_MS, configured));
+}
+
 function refreshIcons() {
  if (window.lucide) {
    window.lucide.createIcons({ attrs: { "aria-hidden": "true" } });
@@ -4222,12 +4236,80 @@ function isLocalDecisionHost() {
  return ["127.0.0.1", "localhost", "::1"].includes(window.location.hostname);
 }

+function vehicleTransportOptions() {
+  return Array.isArray(state.runtime?.vehicle_transports?.options)
+    ? state.runtime.vehicle_transports.options
+    : [];
+}
+
+function selectedVehicleTransport() {
+  return vehicleTransportOptions().find((item) => item.id === state.controlTransport)
+    || (state.controlTransport === "wireless_mqtt"
+      ? state.runtime?.vehicle_mqtt
+      : state.runtime?.vehicle_can)
+    || null;
+}
+
 function isDriverOnlyCh1Runtime() {
-  return state.runtime?.vehicle_can?.configured === true
-    && state.runtime?.vehicle_can?.target_policy === "ch1_body_can_driver_only"
+  const transport = selectedVehicleTransport();
+  return transport?.configured === true
+    && transport?.target_policy === "ch1_body_can_driver_only"
    && state.runtime?.hardware?.configured !== true;
 }

+function renderControlTransport() {
+  const options = vehicleTransportOptions();
+  $$('[data-control-transport]').forEach((button) => {
+    const id = button.dataset.controlTransport;
+    const runtime = options.find((item) => item.id === id)
+      || (id === "wireless_mqtt" ? state.runtime?.vehicle_mqtt : state.runtime?.vehicle_can);
+    const selected = id === state.controlTransport;
+    button.classList.toggle("active", selected);
+    button.setAttribute("aria-pressed", String(selected));
+    // Transport choice is intentionally manual. An unavailable connection is
+    // shown as offline, but it must never disable or silently change the
+    // operator's wired/wireless selection.
+    button.disabled = false;
+    button.dataset.connectionState = runtime?.state_sync?.state === "online" ? "online" : "offline";
+    button.title = runtime?.state_configured === true
+      ? runtime?.state_sync?.last_error || ""
+      : `${id === "wireless_mqtt" ? "无线 MQTT" : "有线 CAN"} 当前未配置（仍可手动选择）`;
+  });
+  const selected = selectedVehicleTransport();
+  const note = $("#vehicleTransportNote");
+  if (!note) return;
+  if (selected?.state_configured !== true) {
+    note.textContent = state.controlTransport === "wireless_mqtt"
+      ? "已手动选择无线控制 · MQTT 当前未配置或不可用"
+      : "已手动选择有线控制 · ZLG CAN 当前未配置或不可用";
+    return;
+  }
+  if (state.controlTransport === "wireless_mqtt") {
+    const connection = selected?.state_sync?.state === "online" ? "已连接" : "未连接";
+    note.textContent = `MQTT ${connection} · 状态 ${selected?.condition_topic || "n7/n7-headunit/can/state"} · 控制 ${selected?.control_topic || "n7/can_control"}`;
+  } else {
+    const connection = selected?.state_sync?.state === "online" ? "已连接" : "未连接";
+    note.textContent = `ZLG 有线 ${connection} · CH${selected?.channel ?? 1} · CAN FD 500k/2M`;
+  }
+}
+
+function selectControlTransport(transport) {
+  if (!["wired_can", "wireless_mqtt"].includes(transport)) return;
+  const changed = state.controlTransport !== transport;
+  state.controlTransport = transport;
+  localStorage.setItem("cognitive-agent.control-transport", transport);
+  if (changed) {
+    state.conversationId = createConversationId();
+    sessionStorage.setItem("cognitive-agent.conversation-id", state.conversationId);
+    state.seatFeedbackSources.passenger = "unavailable";
+    state.seatFeedbackSources.driver = "unavailable";
+  }
+  state.vehicleStateSnapshot = null;
+  state.vehicleStateTurn = -1;
+  renderControlTransport();
+  applyRuntimeTargetPolicy(state.runtime);
+}
+
 function renderHardwareAccess(status) {
  state.hardwareAccess = status;
 }
@@ -4258,6 +4340,8 @@ function updateSeatFeedbackModeLabel() {
    physical_can: "实车已同步",
    physical_partial: "物理反馈不完整",
    physical_can_ch1: "实车已同步",
+    wireless_mqtt_ch0: "MQTT 已同步",
+    wireless_mqtt_ch1: "MQTT 已同步",
    simulated_hardware: "模拟 HIL",
    simulated: "虚拟反馈",
    unavailable: "不可用",
@@ -4266,6 +4350,8 @@ function updateSeatFeedbackModeLabel() {
    physical_can: "实车",
    physical_partial: "部分",
    physical_can_ch1: "实车",
+    wireless_mqtt_ch0: "MQTT",
+    wireless_mqtt_ch1: "MQTT",
    simulated_hardware: "模拟",
    simulated: "虚拟",
    unavailable: "未连接",
@@ -4283,7 +4369,11 @@ function updateSeatFeedbackModeLabel() {
 }

 function selectExecutionMode(mode) {
-  if (mode === "hardware" && !state.runtime?.hardware_execution_allowed) return;
+  const selectedTransport = selectedVehicleTransport();
+  const hardwareExecutionReady = Boolean(
+    state.runtime?.hardware?.configured || selectedTransport?.configured,
+  );
+  if (mode === "hardware" && !hardwareExecutionReady) return;
  if (mode === "simulated_hardware" && !state.runtime?.simulated_hardware?.enabled) return;
  state.executionMode = mode;
  $$('[data-execution-mode]').forEach((button) => {
@@ -4291,7 +4381,8 @@ function selectExecutionMode(mode) {
  });
  const hardware = mode === "hardware";
  const simulatedHardware = mode === "simulated_hardware";
-  const vehicleCanReady = Boolean(state.runtime?.vehicle_can?.configured);
+  const vehicleCanReady = Boolean(selectedTransport?.configured);
+  const mqttSelected = state.controlTransport === "wireless_mqtt";
  const ch1DriverOnly = isDriverOnlyCh1Runtime();
  $("#simulationFaultField").hidden = !simulatedHardware;
  $("#executionBadge").className = `status-badge ${hardware ? "" : simulatedHardware ? "warning" : "neutral"}`.trim();
@@ -4305,7 +4396,7 @@ function selectExecutionMode(mode) {
    : simulatedHardware ? "模拟台架隔离边界" : "虚拟执行边界";
  $("#safetyText").textContent = hardware
    ? ch1DriverOnly && vehicleCanReady
-      ? "仅使用 ZLG CH1 控制主驾座椅与已验证车身设备；每次动作前必须确认 P 挡和 0 km/h，并以 CH1 状态帧回读为准。CH0、副驾 T2G 与 IAR 路径均不参与。"
+      ? `仅使用${mqttSelected ? "本地 MQTT 无线链路" : "ZLG 有线 CH1"}控制主驾座椅与已验证车身设备；每次动作前必须确认 P 挡和 0 km/h，并以 CH1 状态帧回读为准。CH0、副驾 T2G 与 IAR 路径均不参与。`
      : vehicleCanReady
      ? "同一 CAN 盒由单进程持有：CH0 控制副驾四电机并校验板端反馈；CH1 控制主驾四电机与车身设备，每次动作前校验 P 挡、零车速和对应状态帧。"
      : "当前仅通道 0 连接副驾座椅台架并校验板端反馈；车端 CAN 未启用，模式中的其他车舱领域保持虚拟执行。"
@@ -4315,7 +4406,9 @@ function selectExecutionMode(mode) {
  $("#executeStageLabel").textContent = hardware ? "台架执行" : simulatedHardware ? "故障仿真" : "虚拟执行";
  $("#feedbackModeLabel").textContent = hardware
    ? (ch1DriverOnly
-      ? "CH1 BODY CAN · AUTHORITATIVE PHYSICAL FEEDBACK"
+      ? (mqttSelected
+        ? "MQTT CH1 · AUTHORITATIVE CAN FEEDBACK"
+        : "CH1 BODY CAN · AUTHORITATIVE PHYSICAL FEEDBACK")
      : "T2G BENCH · PHYSICAL CAN FEEDBACK")
    : simulatedHardware
      ? "SIMULATED HIL · FAULT INJECTION"
@@ -5019,13 +5112,18 @@ async function saveCurrentModeProfile() {
 }

 function applyRuntimeTargetPolicy(runtime) {
-  const passengerReady = runtime?.hardware?.configured === true;
-  const driverReady = runtime?.vehicle_can?.configured === true;
+  const selectedTransport = selectedVehicleTransport();
+  const wirelessDualChannel = state.controlTransport === "wireless_mqtt"
+    && selectedTransport?.target_policy === "dual_channel_mqtt_can0_passenger_can1_vehicle";
+  const passengerReady = wirelessDualChannel
+    ? selectedTransport?.configured === true
+    : runtime?.hardware?.configured === true;
+  const driverReady = selectedTransport?.configured === true;
  const driverOnly = driverReady && !passengerReady;
  const stage = $("#seatTwin");
  if (stage) {
    stage.dataset.passengerChannel = "CH0";
-    stage.dataset.driverChannel = "CH1";
+    stage.dataset.driverChannel = state.controlTransport === "wireless_mqtt" ? "MQTT" : "CH1";
    stage.dataset.passengerConfigured = String(passengerReady);
    stage.dataset.driverConfigured = String(driverReady);
  }
@@ -5072,6 +5170,7 @@ async function loadRuntime() {
    const response = await apiRequest("/api/runtime", { cache: "no-store" });
    if (!response.ok) throw new Error(`HTTP ${response.status}`);
    state.runtime = await response.json();
+    renderControlTransport();
    applyRuntimeTargetPolicy(state.runtime);
    populateVehicleSelector();
    populateModeChips();
@@ -5080,12 +5179,17 @@ async function loadRuntime() {
      state.reasoningEffort = configuredEffort;
    }
    const hardware = state.runtime.hardware || {};
-    const vehicleCan = state.runtime.vehicle_can || {};
-    const linkedHardwareReady = Boolean(hardware.configured && vehicleCan.configured);
-    const seatHardwareReady = Boolean(hardware.configured);
+    const vehicleCan = selectedVehicleTransport() || {};
+    const mqttSelected = state.controlTransport === "wireless_mqtt";
+    const mqttDualChannel = mqttSelected
+      && vehicleCan.target_policy === "dual_channel_mqtt_can0_passenger_can1_vehicle";
+    const seatHardwareReady = Boolean(
+      mqttDualChannel ? vehicleCan.configured : hardware.configured,
+    );
    const vehicleHardwareReady = Boolean(vehicleCan.configured);
+    const linkedHardwareReady = seatHardwareReady && vehicleHardwareReady;
    const ch1DriverOnly = vehicleHardwareReady && !seatHardwareReady;
-    const hardwareExecutionReady = Boolean(state.runtime.hardware_execution_allowed);
+    const hardwareExecutionReady = Boolean(hardware.configured || vehicleCan.configured);
    const badge = $("#modelBadge");
    const gptButton = $('[data-provider="openai"]');
    if (state.runtime.openai_available) {
@@ -5120,32 +5224,35 @@ async function loadRuntime() {
      && hardware.access_policy === "local_approval_idle_lease"
      ? ` · 本地审批 · 空闲 ${hardware.access_inactivity_timeout_seconds || 180} 秒自动停止`
      : "";
+    const vehicleRouteText = mqttSelected
+      ? `MQTT ${vehicleCan.host || "127.0.0.1"}:${vehicleCan.port || 1883} · ${vehicleCan.condition_topic || "n7/n7-headunit/can/state"} / ${vehicleCan.control_topic || "n7/can_control"}`
+      : `${vehicleCan.backend || "zlgcan"} · CH${vehicleCan.channel ?? 1} 车身 CAN FD ${Number(vehicleCan.arbitration?.bitrate || 500000) / 1000}k/${Number(vehicleCan.data?.bitrate || 2000000) / 1000000}M`;
    $("#hardwareNote").textContent = ch1DriverOnly && vehicleHardwareReady && !seatHardwareReady
-      ? `${vehicleCan.backend} · CH${vehicleCan.channel} 车身 CAN FD ${vehicleCan.arbitration.bitrate / 1000}k/${vehicleCan.data.bitrate / 1000000}M · 仅主驾/车端白名单 · CH0/T2G/IAR 已禁用${accessText}${concurrencyText}`
+      ? `${vehicleRouteText} · 仅主驾/车端白名单 · CH0/T2G/IAR 已禁用${accessText}${concurrencyText}`
      : linkedHardwareReady
-      ? `${hardware.backend} · CH${hardware.channel} 座椅 ${hardware.bitrate / 1000} kbit/s · CH${vehicleCan.channel} 车身 CAN FD ${vehicleCan.arbitration.bitrate / 1000}k/${vehicleCan.data.bitrate / 1000000}M · ${profileText} · ${flashText}${accessText}${concurrencyText}`
+      ? `${mqttDualChannel ? "MQTT CAN0 副驾座椅 · MQTT CAN1 其余车辆" : `${hardware.backend} · CH${hardware.channel} 座椅 ${hardware.bitrate / 1000} kbit/s`} · ${vehicleRouteText} · ${profileText}${mqttDualChannel ? " · 远端自动烧录禁用" : ` · ${flashText}`}${accessText}${concurrencyText}`
      : seatHardwareReady
        ? `${hardware.backend} · CH${hardware.channel} 座椅 ${hardware.bitrate / 1000} kbit/s · ${profileText} · ${flashText} · 车端 CAN 未启用，其他领域保持虚拟执行${accessText}${concurrencyText}`
-      : `联动真实执行已锁定：${profileText}；请完成座椅固件、双通道 ZLG 适配器和车身 CAN FD 配置`;
+      : `真实执行已锁定：${profileText}；当前${mqttSelected ? "无线 MQTT" : "有线 CAN"}控制未通过后端审批配置`;
    $("#hardwareAliasNote").textContent = ch1DriverOnly && vehicleHardwareReady && !seatHardwareReady
-      ? "CH1 → 车身 CAN FD / 主驾座椅 · CH0 与副驾 T2G 路径禁止"
+      ? `${mqttSelected ? "MQTT" : "CH1"} → 车身 CAN / 主驾座椅 · CH0 与副驾 T2G 路径禁止`
      : linkedHardwareReady
-      ? "CH0 → 副驾座椅控制器 · CH1 → 车身 CAN FD"
+      ? `${mqttDualChannel ? "MQTT CAN0" : "CH0"} → 副驾座椅控制器 · ${mqttDualChannel ? "MQTT CAN1" : "CH1"} → 其余车辆 CAN`
      : seatHardwareReady
        ? `CH${hardware.channel} → 副驾座椅控制器 · 车身控制暂用虚拟 CAN`
        : "尚未配置可执行的物理 CAN 通道";
    $("#hardwareBadge").className = `status-badge ${hardwareExecutionReady ? "" : "danger"}`.trim();
    $("#hardwareBadge").innerHTML = ch1DriverOnly && vehicleHardwareReady && !seatHardwareReady
-      ? '<i data-lucide="shield-check"></i>CH1 车端已配置'
+      ? `<i data-lucide="shield-check"></i>${mqttSelected ? "MQTT" : "CH1"} 车端已配置`
      : linkedHardwareReady
      ? '<i data-lucide="shield-check"></i>双通道已配置'
      : seatHardwareReady
        ? '<i data-lucide="shield-check"></i>座椅台架已配置'
      : '<i data-lucide="shield-off"></i>硬件锁定';
    $("#hardwareCoverage").textContent = ch1DriverOnly && vehicleHardwareReady && !seatHardwareReady
-      ? `CH1 主驾 + 车端设备 · 物理字段回读${accessText}${concurrencyText}`
+      ? `${mqttSelected ? "MQTT" : "CH1"} 主驾 + 车端设备 · CAN 字段回读${accessText}${concurrencyText}`
      : linkedHardwareReady
-      ? `CH0 座椅 + CH${vehicleCan.channel} 车身${accessText}${concurrencyText}`
+      ? `CH0 座椅 + ${mqttSelected ? "MQTT" : `CH${vehicleCan.channel}`} 车身${accessText}${concurrencyText}`
      : seatHardwareReady
        ? `CH${hardware.channel} 座椅 · 物理反馈${accessText}${concurrencyText}`
        : "已阻断";
@@ -5166,10 +5273,16 @@ async function loadRuntime() {
 }

 async function synchronizePassengerSeatState() {
-  if (!state.runtime?.hardware?.configured) return false;
+  const requestedTransport = state.controlTransport;
+  const mqttSelected = requestedTransport === "wireless_mqtt";
+  const stateReady = mqttSelected
+    ? selectedVehicleTransport()?.state_configured
+    : state.runtime?.hardware?.configured;
+  if (!stateReady) return false;
  const query = new URLSearchParams({
    conversation_id: state.conversationId,
    vehicle_id: state.vehicleId || state.runtime.default_vehicle_id || "",
+    control_transport: requestedTransport,
    hardware_client_id: state.hardwareClientId,
  });
  try {
@@ -5182,15 +5295,16 @@ async function synchronizePassengerSeatState() {
    }
    if (!response.ok) throw new Error(`HTTP ${response.status}`);
    const payload = await response.json();
+    if (requestedTransport !== state.controlTransport) return false;
    renderSeatState({ passenger: payload.actuator_state?.passenger || {} });
    state.seatFeedbackSources.passenger = payload.complete
-      ? "physical_can"
+      ? payload.source === "wireless_mqtt_ch0" ? "wireless_mqtt_ch0" : "physical_can"
      : "physical_partial";
    state.seatFeedbackSource = state.seatFeedbackSources.passenger;
    updateSeatFeedbackModeLabel();
    return true;
  } catch (_error) {
-    if (!state.seatFeedbackSources.passenger.startsWith("physical")) {
+    if (!["physical_can", "wireless_mqtt_ch0"].includes(state.seatFeedbackSources.passenger)) {
      state.seatFeedbackSources.passenger = "unavailable";
      updateSeatFeedbackModeLabel();
    }
@@ -5199,10 +5313,12 @@ async function synchronizePassengerSeatState() {
 }

 async function synchronizeDriverSeatState() {
-  if (!state.runtime?.vehicle_can?.configured) return false;
+  if (!selectedVehicleTransport()?.state_configured) return false;
+  const requestedTransport = state.controlTransport;
  const query = new URLSearchParams({
    conversation_id: state.conversationId,
    vehicle_id: state.vehicleId || state.runtime.default_vehicle_id || "",
+    control_transport: requestedTransport,
    hardware_client_id: state.hardwareClientId,
  });
  try {
@@ -5213,13 +5329,16 @@ async function synchronizeDriverSeatState() {
    }
    if (!response.ok) throw new Error(`HTTP ${response.status}`);
    const payload = await response.json();
+    if (requestedTransport !== state.controlTransport) return false;
    applyAuthoritativeVehicleState(payload);
-    state.seatFeedbackSources.driver = payload.complete ? "physical_can_ch1" : "physical_partial";
+    state.seatFeedbackSources.driver = payload.complete
+      ? payload.source === "wireless_mqtt_ch1" ? "wireless_mqtt_ch1" : "physical_can_ch1"
+      : "physical_partial";
    state.seatFeedbackSource = state.seatFeedbackSources.driver;
    updateSeatFeedbackModeLabel();
    return true;
  } catch (_error) {
-    if (!state.seatFeedbackSources.driver.startsWith("physical")) {
+    if (!["physical_can_ch1", "wireless_mqtt_ch1"].includes(state.seatFeedbackSources.driver)) {
      state.seatFeedbackSources.driver = "unavailable";
      updateSeatFeedbackModeLabel();
    }
@@ -5230,7 +5349,22 @@ async function synchronizeDriverSeatState() {
 async function synchronizePhysicalSeatState() {
  if (state.physicalStateSyncPromise) return state.physicalStateSyncPromise;
  state.physicalStateSyncPromise = (async () => {
-    // Both channels share one adapter owner; keep passive reads serialized.
+    if (state.controlTransport === "wireless_mqtt") {
+      // CAN0 may legitimately be absent and wait for its bounded seat-status
+      // timeout. Keep that wait single-flight in the background so cached
+      // CAN1 vehicle state can still refresh at the MQTT polling cadence.
+      if (!state.passengerStateSyncPromise) {
+        let passengerPromise;
+        passengerPromise = synchronizePassengerSeatState().finally(() => {
+          if (state.passengerStateSyncPromise === passengerPromise) {
+            state.passengerStateSyncPromise = null;
+          }
+        });
+        state.passengerStateSyncPromise = passengerPromise;
+      }
+      return synchronizeDriverSeatState();
+    }
+    // The wired channels share one adapter owner; keep passive reads serialized.
    const passenger = await synchronizePassengerSeatState();
    const driver = await synchronizeDriverSeatState();
    return passenger || driver;
@@ -5242,6 +5376,16 @@ async function synchronizePhysicalSeatState() {
  }
 }

+function restartPhysicalStatePolling() {
+  if (state.physicalStatePoller) window.clearInterval(state.physicalStatePoller);
+  state.physicalStatePoller = window.setInterval(() => {
+    const activeModule = document.body.dataset.module;
+    if (document.visibilityState !== "visible") return;
+    if (!["self-orchestration", "self-extension"].includes(activeModule)) return;
+    synchronizePhysicalSeatState();
+  }, physicalStatePollIntervalMs());
+}
+
 async function loadAuthStatus() {
  const response = await apiRequest("/api/auth/status", { cache: "no-store" });
  if (!response.ok) return;
@@ -5542,7 +5686,7 @@ function renderDomainState(domainState) {
    if (vehicleSystems) {
      vehicleSystems.targets.climateLevel = Math.max(0, Math.min(7, Number(climate.fan_level) || 0));
      vehicleSystems.targets.climateTemperature = Number(
-        state.runtime?.vehicle_can?.target_policy === "ch1_body_can_driver_only"
+        selectedVehicleTransport()?.target_policy === "ch1_body_can_driver_only"
          ? driverTemperature
          : passengerTemperature,
      ) || 24;
@@ -6170,8 +6314,8 @@ function renderExecution(result) {
    : simulatedHil
      ? `${executedDomains.join(" / ")} 已完成隔离 HIL 仿真，未访问物理 CAN`
    : physical
-      ? state.runtime?.vehicle_can?.target_policy === "ch1_body_can_driver_only"
-        ? `${executedDomains.join(" / ")} 已通过 CH1 下发，并以车端状态字段确认 ${operationResults.filter((item) => item.status === "succeeded").length} 个步骤`
+      ? selectedVehicleTransport()?.target_policy === "ch1_body_can_driver_only"
+        ? `${executedDomains.join(" / ")} 已通过${result.control_transport === "wireless_mqtt" ? " MQTT" : " CH1"}下发，并以车端状态字段确认 ${operationResults.filter((item) => item.status === "succeeded").length} 个步骤`
        : `${executedDomains.join(" / ")} 已下发真实 CAN，并以 IAR 固件实际反馈确认 ${operationResults.filter((item) => item.status === "succeeded").length} 个步骤`
      : `${executedDomains.join(" / ")} 共 ${report.spec.results.length} 个操作已完成 CAN 编码与虚拟执行`;
  if (partiallySucceeded) {
@@ -6306,8 +6450,12 @@ function applyAuthoritativeVehicleState(payload) {
    domainState: domainPatch,
  };
  if (actuatorPatch?.driver) {
-    state.seatFeedbackSource = "physical_can_ch1";
-    state.seatFeedbackSources.driver = "physical_can_ch1";
+    const source = payload.control_transport === "wireless_mqtt"
+      || payload.source === "wireless_mqtt_ch1"
+      ? "wireless_mqtt_ch1"
+      : "physical_can_ch1";
+    state.seatFeedbackSource = source;
+    state.seatFeedbackSources.driver = source;
  }
  renderSeatState(actuatorPatch);
  renderDomainState(domainPatch);
@@ -6346,8 +6494,10 @@ function renderResult(result) {
    if (result.actuator_state?.driver) state.seatFeedbackSources.driver = "simulated_hardware";
  } else if (feedbackSource === "physical_can_ch1"
    && isAuthoritativeVehicleStatePayload(result)) {
-    state.seatFeedbackSource = "physical_can_ch1";
-    state.seatFeedbackSources.driver = "physical_can_ch1";
+    state.seatFeedbackSource = result.control_transport === "wireless_mqtt"
+      ? "wireless_mqtt_ch1"
+      : "physical_can_ch1";
+    state.seatFeedbackSources.driver = state.seatFeedbackSource;
  } else if (reportMode === "hil") {
    state.seatFeedbackSource = result.execution_report?.spec?.physical_state?.complete
      ? "physical_can"
@@ -6393,7 +6543,7 @@ function renderResult(result) {
  renderTrace(result.trace_events || []);
  renderValidation(result.validation || []);
  const ch1HardwareResult = reportMode === "hil"
-    && state.runtime?.vehicle_can?.target_policy === "ch1_body_can_driver_only";
+    && selectedVehicleTransport()?.target_policy === "ch1_body_can_driver_only";
  if (ch1HardwareResult) {
    applyAuthoritativeVehicleState(result);
  } else {
@@ -6457,6 +6607,7 @@ async function submitRequest(event) {
        conversation_id: state.conversationId,
        vehicle_id: state.vehicleId || state.runtime?.default_vehicle_id,
        execution_mode: state.executionMode,
+        control_transport: state.controlTransport,
        ...(state.provider === "openai" ? { reasoning_effort: state.reasoningEffort } : {}),
        ...(state.executionMode === "hardware" && !driverOnlyCh1
          ? { hardware_client_id: state.hardwareClientId }
@@ -6716,6 +6867,12 @@ document.addEventListener("DOMContentLoaded", async () => {
  $$(".segment[data-provider]").forEach((button) => button.addEventListener("click", () => selectProvider(button.dataset.provider)));
  $$('[data-reasoning-effort]').forEach((button) => button.addEventListener("click", () => selectReasoningEffort(button.dataset.reasoningEffort)));
  $$('[data-execution-mode]').forEach((button) => button.addEventListener("click", () => selectExecutionMode(button.dataset.executionMode)));
+  $$('[data-control-transport]').forEach((button) => button.addEventListener("click", async () => {
+    selectControlTransport(button.dataset.controlTransport);
+    await loadRuntime();
+    restartPhysicalStatePolling();
+    await synchronizePhysicalSeatState();
+  }));
  $$(".example-command").forEach((button) => button.addEventListener("click", () => {
    $("#utterance").value = button.dataset.example;
  }));
@@ -6732,12 +6889,7 @@ document.addEventListener("DOMContentLoaded", async () => {
    );
  }
  await synchronizePhysicalSeatState();
-  state.physicalStatePoller = window.setInterval(() => {
-    const activeModule = document.body.dataset.module;
-    if (document.visibilityState !== "visible") return;
-    if (!["self-orchestration", "self-extension"].includes(activeModule)) return;
-    synchronizePhysicalSeatState();
-  }, 5000);
+  restartPhysicalStatePolling();
  if (new URLSearchParams(window.location.search).get("autorun") === "1") {
    $("#requestForm").requestSubmit();
  }