优化前端，优化前端指令，优化自定义控制

.gitignore

@@ -4,6 +4,7 @@
 __pycache__/
 *.py[cod]
 artifacts/runs/
+artifacts/mode-profiles/
 artifacts/server/
 artifacts/tmp/
 artifacts/self-repair/

README.md

@@ -113,6 +113,13 @@ config/gesture/default.yaml
 
 同一局域网的其他电脑需要体验时，使用 `make dev-lan` 监听全部网络接口。服务启动日志会打印实际 LAN 地址，例如 `http://172.20.10.5:8000`。前端和 API 使用同源访问，不需要 CORS，也不会把 `OPENAI_API_KEY` 发送到浏览器。若没有启用 `.env.auth`，任何可达设备都能触发服务端 GPT 请求，因此未认证的 LAN 模式只应在可信网络内临时演示。
 
+Linux 上使用 USBCANFD-200U 被动同步 CH1 车辆状态时，使用
+`zlgcan-linux` 后端。USB 权限、60 MHz/500k/2M 位时序、只读配置和状态接口
+验证见 [Linux ZLG 车辆状态接入](docs/workflows/linux-zlg-vehicle-state.md)。
+同一页面也可选择本机 NanoMQ 无线链路，其中 CAN0 对应副驾座椅、CAN1 对应
+其余车辆状态和控制；MQTT 主题、原始 CAN 帧 JSON 合约和有线/无线共用安全
+门禁见同一文档。
+
 ## 认证与公网体验
 
 公网演示必须启用 `.env.auth` 中的服务端认证。密码使用 PBKDF2-SHA256 哈希保存；认证成功后签发有有效期的 HMAC 会话 Cookie，Cookie 使用 `HttpOnly` 和 `SameSite=Strict`，经 HTTPS 代理时自动增加 `Secure`。登录失败按来源 IP 限流，GPT 请求按体验账号限制每分钟调用次数。未登录访问页面会跳转 `/login`，未登录 API 请求返回 `401`。

apps/web-console/console-v2.js

@@ -20,7 +20,6 @@
     sidebarCollapsed: sessionStorage.getItem("cognitive-agent.sidebar-collapsed") === "true",
   };
 
-  const dropdownControls = new Map();
   let reasoningPickerControl = null;
 
   function make(tag, className, html) {
@@ -39,10 +38,261 @@
       .replaceAll("'", "'");
   }
 
-  function closeCustomDropdowns(except = null) {
+  const normalizedCanTarget = (target = {}) => String(
-    dropdownControls.forEach((control) => {
+    target.zone || target.instance || target.device || "vehicle",
-      if (control !== except) control.close();
+  ).replaceAll("_", "-");
+
+  const normalizedOnOff = (value) => {
+    if ([true, 1, "1", "on", "open", "enabled"].includes(value)) return "on";
+    if ([false, 0, "0", "off", "close", "disabled"].includes(value)) return "off";
+    return null;
+  };
+
+  const boundedInteger = (value, minimum, maximum) => {
+    const numeric = Number(value);
+    return Number.isInteger(numeric) && numeric >= minimum && numeric <= maximum
+      ? numeric
+      : null;
+  };
+
+  function parsedCanCommandForOperation(operation = {}) {
+    const capability = String(operation.capability || "");
+    const parameters = operation.parameters || {};
+    const target = normalizedCanTarget(operation.target);
+    const onOff = normalizedOnOff(parameters.state ?? parameters.power);
+    const hyphenated = (value) => String(value || "").replaceAll("_", "-");
+    const command = (category, text, channel = "CAN1", frame = "") => ({
+      channel, category, command: text, ...(frame ? { frame } : {}),
     });
+    const hexByte = (value) => Number(value).toString(16).padStart(2, "0").toUpperCase();
+    const otaCan0Frame = (opcode, selector, argument) => {
+      const numeric = Number(argument) >>> 0;
+      const argumentBytes = [0, 8, 16, 24].map((shift) => hexByte((numeric >>> shift) & 0xFF));
+      return `0x6A0 · C7 <SEQ> ${hexByte(opcode)} ${hexByte(selector)} ${argumentBytes.join(" ")}`;
+    };
+
+    const isPassengerSeat = new Set(["passenger", "front-right"]).has(target);
+    if (isPassengerSeat) {
+      const passengerAxes = {
+        "seat.set_longitudinal_position": ["副驾座椅前后调节", "longitudinal", 0],
+        "seat.set_cushion_tilt": ["副驾座椅高度调节", "height", 1],
+        "seat.set_backrest_recline": ["副驾座椅靠背调节", "backrest", 2],
+        "seat.set_legrest_height": ["副驾座椅腿托调节", "legrest", 3],
+      };
+      const axis = passengerAxes[capability];
+      const position = boundedInteger(parameters.position_pct, 0, 100);
+      if (axis && position !== null) {
+        const targetPermille = position * 10;
+        return command(
+          axis[0],
+          `seat passenger ${axis[1]} position ${position}`,
+          "CAN0",
+          otaCan0Frame(0x64, axis[2], targetPermille),
+        );
+      }
+      if (capability === "seat.start_dynamic_mode") {
+        const mode = boundedInteger(parameters.mode_id, 1, 2);
+        if (mode !== null) {
+          const dynamic = mode === 1
+            ? { name: "rocking-horse", selector: 2 }
+            : { name: "cradle", selector: 1 };
+          return command(
+            "副驾座椅动态模式",
+            `seat passenger dynamic start ${dynamic.name}`,
+            "CAN0",
+            otaCan0Frame(0x66, dynamic.selector, 300),
+          );
+        }
+      }
+      if (capability === "seat.stop_dynamic_mode") {
+        return command(
+          "副驾座椅动态模式",
+          "seat passenger dynamic stop",
+          "CAN0",
+          otaCan0Frame(0x63, 0xFF, 0),
+        );
+      }
+    }
+
+    if (capability === "door.set_rear_lock") {
+      const lockState = String(parameters.state || "");
+      const action = new Set(["lock", "unlock"]).has(lockState)
+        ? lockState
+        : onOff === "on" ? "lock" : onOff === "off" ? "unlock" : null;
+      if (action) return command("后排门锁", `door rear ${action}`);
+    }
+    if (capability === "door.set_vehicle_lock") {
+      const lockState = String(parameters.state || "");
+      if (new Set(["lock", "unlock"]).has(lockState)) {
+        return command("整车门锁", `door vehicle ${lockState}`);
+      }
+    }
+    if (capability === "window.set_motion") {
+      const scope = new Set(["all", "front", "rear", "front-left", "front-right", "rear-left", "rear-right"]);
+      const motion = String(parameters.motion || parameters.action || "");
+      if (scope.has(target) && new Set(["open", "close", "stop"]).has(motion)) {
+        return command("车窗动作", `window ${target} ${motion}`);
+      }
+    }
+    if (capability === "window.set_position") {
+      const position = boundedInteger(parameters.position_pct, 0, 100);
+      if (new Set(["front-left", "front-right", "rear-left", "rear-right"]).has(target)
+        && position !== null) {
+        return command("单窗位置", `window ${target} position ${position}`);
+      }
+    }
+    if (capability === "climate.set_power" && onOff) {
+      return command("空调电源", `ac ${onOff}`);
+    }
+    if (capability === "climate.set_fan_level") {
+      const level = boundedInteger(parameters.level ?? parameters.fan_level, 1, 7);
+      if (level !== null) return command("空调风量", `ac fan ${level}`);
+    }
+    if (capability === "climate.set_outlet_mode") {
+      const mode = hyphenated(parameters.mode ?? parameters.outlet_mode);
+      const modes = new Set(["face", "face-feet", "feet", "feet-defrost", "defrost", "face-feet-defrost", "face-defrost"]);
+      if (modes.has(mode)) return command("出风模式", `ac mode ${mode}`);
+    }
+    if (capability === "climate.set_temperature") {
+      const temperature = boundedInteger(parameters.temperature_c, 18, 32);
+      if (new Set(["driver", "passenger", "rear"]).has(target) && temperature !== null) {
+        return command("空调温度", `ac temp ${target} ${temperature}`);
+      }
+    }
+    if (capability === "climate.set_control_mode") {
+      const mode = String(parameters.mode ?? parameters.control_mode ?? "");
+      if (new Set(["manual", "auto"]).has(mode)) return command("空调控制方式", `ac control ${mode}`);
+    }
+    if (capability === "climate.set_cycle_mode") {
+      const mode = String(parameters.mode ?? parameters.cycle_mode ?? "");
+      if (new Set(["internal", "external"]).has(mode)) return command("空调循环", `ac cycle ${mode}`);
+    }
+    if (capability === "outlet.set_position_percent") {
+      const horizontal = boundedInteger(parameters.horizontal_pct, 0, 100);
+      const vertical = boundedInteger(parameters.vertical_pct, 0, 100);
+      if (new Set(["driver-left", "driver-right", "passenger-left", "passenger-right"]).has(target)
+        && horizontal !== null && vertical !== null) {
+        return command("风口百分比", `outlet ${target} percent ${horizontal} ${vertical}`);
+      }
+    }
+    if (capability === "outlet.set_calibrated_position") {
+      const horizontal = boundedInteger(parameters.horizontal_value, -128, 126);
+      const vertical = boundedInteger(parameters.vertical_value, -128, 126);
+      if (new Set(["driver-left", "driver-right", "passenger-left", "passenger-right"]).has(target)
+        && horizontal !== null && vertical !== null) {
+        return command("风口标定坐标", `outlet ${target} position ${horizontal} ${vertical}`);
+      }
+    }
+    if (new Set(["seat.set_driver_ventilation_native", "seat.set_driver_heating_native"]).has(capability)
+      && new Set(["driver", "front-left"]).has(target)) {
+      const feature = capability.includes("heating") ? "heat" : "vent";
+      const level = boundedInteger(parameters.level, 1, 2);
+      const setting = onOff === "off" ? "off" : level === 1 ? "high" : level === 2 ? "low" : null;
+      if (setting) return command("主驾座椅通风/加热", `seat driver ${feature} ${setting}`);
+    }
+    if (capability === "seat.set_driver_massage_native"
+      && new Set(["driver", "front-left"]).has(target)) {
+      const action = String(parameters.action || "");
+      if (action === "off") return command("主驾座椅按摩", "seat driver massage off");
+      if (action === "strength") {
+        const strength = { 1: "weak", 2: "medium", 3: "strong" }[Number(parameters.strength)]
+          || (new Set(["weak", "medium", "strong"]).has(parameters.strength) ? parameters.strength : null);
+        if (strength) return command("主驾座椅按摩", `seat driver massage strength ${strength}`);
+      }
+      if (action === "mode" && new Set(["wave", "pulse", "stretch", "slack", "relax"]).has(parameters.mode)) {
+        return command("主驾座椅按摩", `seat driver massage mode ${parameters.mode}`);
+      }
+    }
+    if (capability === "seat.set_driver_axis_native"
+      && new Set(["driver", "front-left"]).has(target)) {
+      const axis = String(parameters.axis || "");
+      const direction = String(parameters.direction || "");
+      const validDirections = {
+        horizontal: new Set(["forward", "backward", "stop"]),
+        height: new Set(["up", "down", "stop"]),
+        backrest: new Set(["forward", "backward", "stop"]),
+        basin: new Set(["up", "down", "stop"]),
+      };
+      if (validDirections[axis]?.has(direction)) {
+        if (direction === "stop") return command("主驾座椅调节", `seat driver ${axis} stop`);
+        const duration = boundedInteger(parameters.duration_ms, 100, 2000);
+        if (duration !== null) return command("主驾座椅调节", `seat driver ${axis} ${direction} ${duration}`);
+      }
+    }
+    if (capability === "seat.set_driver_position_native") {
+      const position = boundedInteger(parameters.position ?? parameters.slot, 1, 3);
+      if (position !== null) return command("主驾座椅记忆", `seat driver position ${position}`);
+    }
+    if (capability === "seat.recall_driver_memory_native") {
+      const position = boundedInteger(parameters.position ?? parameters.slot, 1, 3);
+      if (position !== null) return command("主驾座椅记忆", `seat driver memory recall ${position}`);
+    }
+    if (capability === "interior_light.set_indoor_power" && onOff) {
+      return command("室内灯总开关", `light indoor ${onOff}`);
+    }
+    if (capability === "interior_light.set_reading_power" && target === "all" && onOff) {
+      return command("全部阅读灯", `light reading all ${onOff}`);
+    }
+    if (capability === "ambient_light.set_power" && onOff) {
+      return command("氛围灯", `light ambient ${onOff}`);
+    }
+    if (capability === "ambient_light.set_color_index") {
+      const color = boundedInteger(parameters.color_index, 1, 127);
+      if (color !== null) return command("氛围灯", `light ambient color ${color}`);
+    }
+    if (capability === "ambient_light.set_brightness_level") {
+      const level = boundedInteger(parameters.brightness_level, 1, 5);
+      if (level !== null) return command("氛围灯", `light ambient brightness ${level}`);
+    }
+    if (capability === "roof.set_shade_motion") {
+      const motion = String(parameters.motion || "");
+      if (new Set(["open", "close", "half", "stop"]).has(motion)) {
+        return command("遮阳帘", `shade ${motion}`);
+      }
+    }
+    if (capability === "roof.set_shade_position") {
+      const position = boundedInteger(parameters.position_pct ?? parameters.shade_position_pct, 0, 100);
+      if (position !== null) return command("遮阳帘", `shade position ${position}`);
+    }
+    return null;
+  }
+
+  function parsedCanCommands(result = {}) {
+    const configurations = result.function_configs || {};
+    const plans = result.command_plans || {};
+    const planKeys = new Set(Object.keys(plans));
+    const hasCompiledPlan = planKeys.size > 0 || Boolean(result.command_plan);
+    if (!hasCompiledPlan) return [];
+    const commands = [];
+    Object.entries(configurations).forEach(([configKey, configuration]) => {
+      if (planKeys.size > 0 && !planKeys.has(configKey)) return;
+      (configuration?.spec?.operations || []).forEach((operation) => {
+        const item = parsedCanCommandForOperation(operation);
+        if (item) commands.push(item);
+      });
+    });
+    return [...new Map(commands.map((item) => [`${item.channel}:${item.command}`, item])).values()];
+  }
+
+  function renderParsedCanCommands(result, { message = "" } = {}) {
+    const panel = $("#v2CanCommandPanel");
+    const list = $("#v2CanCommandList");
+    const count = $("#v2CanCommandCount");
+    if (!panel || !list || !count) return;
+    const commands = result ? parsedCanCommands(result) : [];
+    count.textContent = String(commands.length);
+    panel.dataset.state = commands.length ? "ready" : message ? "pending" : "empty";
+    if (commands.length) {
+      list.innerHTML = `<ol>${commands.map((item) => `
+        <li data-can-channel="${escapeHtml(item.channel)}">
+          <span><b class="v2-can-command-channel">${escapeHtml(item.channel)}</b>${escapeHtml(item.category)}</span>
+          <code>${escapeHtml(item.command)}</code>
+          ${item.frame ? `<small class="v2-can-command-frame">seat-ota · ${escapeHtml(item.frame)}</small>` : ""}
+        </li>`).join("")}</ol>`;
+    } else {
+      list.innerHTML = `<p>${escapeHtml(message || "本次请求未生成已验证的 CAN 控制指令")}</p>`;
+    }
+    requestAnimationFrame(syncSidebarLogBaseline);
   }
 
   function closeReasoningPicker() {
@@ -105,7 +355,6 @@
       trigger.setAttribute("aria-expanded", "false");
     };
     const open = () => {
-      closeCustomDropdowns();
       reasoningField.hidden = false;
       trigger.classList.add("open");
       trigger.setAttribute("aria-expanded", "true");
@@ -142,223 +391,43 @@
     sync();
   }
 
-  function enhanceSelect(select) {
-    if (!select || dropdownControls.has(select)) return;
-    const shell = select.parentElement;
-    if (!shell) return;
-
-    shell.classList.add("v2-custom-select");
-    select.classList.add("v2-native-select");
-
-    const trigger = make("button", "v2-dropdown-trigger", `
-      <span class="v2-dropdown-value"></span>
-      <span class="v2-dropdown-caret" aria-hidden="true"></span>`);
-    trigger.type = "button";
-    trigger.setAttribute("aria-haspopup", "listbox");
-    trigger.setAttribute("aria-expanded", "false");
-    trigger.setAttribute("aria-label", select.getAttribute("aria-label") || "打开下拉菜单");
-
-    const menu = make("div", "v2-dropdown-menu", "");
-    menu.id = `${select.id}Menu`;
-    menu.hidden = true;
-    menu.setAttribute("role", "listbox");
-    menu.setAttribute("aria-label", select.getAttribute("aria-label") || "选项");
-    trigger.setAttribute("aria-controls", menu.id);
-    shell.append(trigger, menu);
-
-    const valueNode = $(".v2-dropdown-value", trigger);
-    const render = () => {
-      const selected = select.selectedOptions[0] || select.options[0];
-      valueNode.textContent = selected?.textContent?.trim() || "请选择";
-      trigger.disabled = select.disabled;
-      menu.innerHTML = "";
-      [...select.options].forEach((option) => {
-        const item = make("button", "v2-dropdown-option", "");
-        item.type = "button";
-        item.dataset.value = option.value;
-        item.textContent = option.textContent.trim();
-        item.disabled = option.disabled;
-        item.setAttribute("role", "option");
-        item.setAttribute("aria-selected", String(option.value === select.value));
-        menu.append(item);
-      });
-    };
-
-    const close = () => {
-      menu.hidden = true;
-      shell.classList.remove("v2-dropdown-open");
-      trigger.setAttribute("aria-expanded", "false");
-    };
-
-    const open = () => {
-      if (trigger.disabled) return;
-      closeCustomDropdowns();
-      render();
-      menu.hidden = false;
-      shell.classList.add("v2-dropdown-open");
-      trigger.setAttribute("aria-expanded", "true");
-    };
-
-    const control = { close, menu, open, select, shell, sync: render, trigger };
-    dropdownControls.set(select, control);
-
-    trigger.addEventListener("click", (event) => {
-      event.stopPropagation();
-      if (menu.hidden) open();
-      else close();
-    });
-    trigger.addEventListener("keydown", (event) => {
-      if (event.key === "ArrowDown") {
-        event.preventDefault();
-        open();
-        requestAnimationFrame(() => {
-          $(".v2-dropdown-option[aria-selected=\"true\"]:not(:disabled)", menu)?.focus();
-        });
-      } else if (event.key === "Escape") {
-        close();
-      }
-    });
-    menu.addEventListener("click", (event) => {
-      event.stopPropagation();
-      const item = event.target.closest(".v2-dropdown-option");
-      if (!item || item.disabled) return;
-      select.value = item.dataset.value;
-      select.dispatchEvent(new Event("change", { bubbles: true }));
-      render();
-      close();
-      trigger.focus();
-    });
-    menu.addEventListener("keydown", (event) => {
-      if (event.key !== "Escape") return;
-      event.preventDefault();
-      close();
-      trigger.focus();
-    });
-    select.addEventListener("change", render);
-    new MutationObserver(render).observe(select, {
-      attributes: true,
-      characterData: true,
-      childList: true,
-      subtree: true,
-    });
-    render();
-  }
-
-  function enhanceConfiguredDropdowns() {
-    [$("#vehicleSelect")]
-      .filter(Boolean)
-      .forEach(enhanceSelect);
-  }
-
   function buildSidebar(commandPanel) {
     commandPanel.classList.add("v2-sidebar");
     commandPanel.innerHTML = "";
 
-    const profile = make("section", "v2-profile", `
+    const sidebarToggle = make("button", "v2-sidebar-toggle", '<i data-lucide="panel-left-close"></i>');
-      <div class="v2-avatar" aria-hidden="true"><span></span></div>
+    sidebarToggle.id = "v2SidebarToggle";
-      <div class="v2-profile-copy">
+    sidebarToggle.type = "button";
-        <small>WELCOME TO THE CABIN</small>
+    sidebarToggle.setAttribute("aria-label", "折叠左侧控制台");
-        <div class="v2-role-select">
+    sidebarToggle.setAttribute("aria-expanded", "true");
-          <span>Hi,</span><strong>user</strong>
-        </div>
-      </div>
-      <button class="v2-sidebar-toggle" id="v2SidebarToggle" type="button" aria-label="折叠左侧控制台" aria-expanded="true">
-        <i data-lucide="panel-left-close"></i>
-      </button>`);
-
-    const control = make("section", "v2-sidebar-section v2-control-section", `
-      <div class="v2-section-heading">
-        <span>CONTROL DESK</span>
-        <h2>控制台</h2>
-      </div>
-      <span class="v2-field-caption">控制方式</span>
-      <div class="v2-control-switch" role="group" aria-label="控制方式">
-        <button type="button" data-v2-control="natural"><i data-lucide="message-square-text"></i><span>自然语言控制</span></button>
-        <button type="button" data-v2-control="gesture"><i data-lucide="scan-face"></i><span>手势控制</span></button>
-      </div>`);
-
-    const config = make("section", "v2-sidebar-section v2-config-section", `
-      <div class="v2-divider"></div>
-      <span class="v2-field-caption">配置信息</span>
-      <div class="v2-config-stack" id="v2ConfigStack"></div>`);
 
     const footer = make("footer", "v2-sidebar-footer", `
       <span class="v2-live-dot"></span>
       <div><strong>智舱控制链路</strong><small id="v2ConnectionText">正在连接服务</small></div>
       <button type="button" id="v2LogoutButton" title="退出登录" aria-label="退出登录"><i data-lucide="log-out"></i></button>`);
 
-    commandPanel.append(profile, control, config, footer);
+    commandPanel.append(sidebarToggle, footer);
-    return $("#v2ConfigStack");
   }
 
-  function buildConfigFields(configStack, originalForm) {
+  function prepareRuntimeControls(originalForm) {
     const vehicleField = $(".vehicle-field", originalForm);
+    const transportField = $("#vehicleTransportField", originalForm);
     const providerField = $(".field-group:has(.segmented [data-provider])", originalForm);
     const reasoningField = $("#reasoningField", originalForm);
     const executionField = $(".field-group:has(.execution-mode-options)", originalForm);
     const simulationFaultField = $("#simulationFaultField", originalForm);
 
-    if (vehicleField) {
+    transportField?.classList.add("v2-transport-field");
-      vehicleField.classList.add("v2-config-field", "v2-vehicle-field");
+    executionField?.classList.add("v2-execution-field");
-      const vehicleControl = $(".vehicle-select-control", vehicleField);
+    simulationFaultField?.classList.add("v2-simulation-fault-field");
-      const vehicleSelect = $("#vehicleSelect", vehicleField);
-      const vehicleIcon = $("svg, [data-lucide]", vehicleControl);
-      if (vehicleControl && vehicleSelect && vehicleIcon) {
-        const copy = make("div", "v2-config-card-copy", "<small>车型配置</small>");
-        const selectSlot = make("div", "v2-config-card-select", "");
-        const state = make("span", "v2-field-state", "CHECK");
-        state.id = "v2VehicleState";
-        selectSlot.append(vehicleSelect);
-        copy.append(selectSlot);
-        vehicleControl.classList.add("v2-config-card", "v2-config-select-card");
-        vehicleControl.id = "v2VehicleCard";
-        vehicleControl.dataset.state = "checking";
-        vehicleControl.replaceChildren(vehicleIcon, copy, state);
-        $(".field-label", vehicleField)?.remove();
-      }
-      configStack.append(vehicleField);
-    }
 
-    const modelField = make("div", "v2-config-field v2-config-card v2-model-field", `
-      <i data-lucide="sparkles"></i>
-      <div><small>推理模型</small><strong id="v2ModelValue">模型检测中</strong></div>
-      <span class="v2-field-state" id="v2ModelState">AUTO</span>
-      <p class="provider-note" id="v2ModelNote">模型由服务端安全配置</p>`);
-    modelField.id = "v2ModelField";
-    configStack.append(modelField);
     installReasoningPicker(reasoningField, originalForm);
 
-    const gestureModelField = make("div", "v2-config-field v2-config-card v2-gesture-model-field", `
+    [vehicleField, providerField].forEach((field) => {
-      <i data-lucide="scan-line"></i>
-      <div><small>手势模型</small><strong id="v2GestureModelValue">MediaPipe GR</strong></div>
-      <span class="v2-field-state">VISION</span>
-      <small class="v2-gesture-model-note" id="v2GestureModelNote">Tasks Vision · 0.10.14</small>`);
-    gestureModelField.id = "v2GestureModelField";
-    configStack.append(gestureModelField);
-
-    const userHardwareState = make("div", "v2-user-target-status", `
-      <i></i><span id="v2UserTargetText">正在准备虚拟 CAN</span>`);
-    configStack.append(userHardwareState);
-
-    if (providerField) {
-      providerField.classList.add("v2-provider-field");
-      providerField.hidden = true;
-      configStack.append(providerField);
-    }
-
-    if (executionField) {
-      executionField.classList.add("v2-native-execution-field");
-      executionField.hidden = true;
-      configStack.append(executionField);
-    }
-
-    const advanced = make("div", "v2-advanced-stack", "");
-    [simulationFaultField].forEach((field) => {
       if (!field) return;
-      field.classList.add("v2-config-field", "v2-advanced-field");
+      field.classList.add("v2-runtime-data-field");
-      advanced.append(field);
+      field.hidden = true;
     });
-    configStack.append(advanced);
   }
 
   function buildOperation(mainPanel, originalForm, panelHeading, modeRail, requestHeader, gestureDrawer) {
@@ -576,16 +645,14 @@
   const syncedDevices = [
     {
       id: "passenger", name: "副驾座椅", icon: "armchair",
-      rows: () => [["通风", seatFunctionValue("passenger", "ventilation")], ["加热", seatFunctionValue("passenger", "heating")], ["水平", seatAxisValue("passenger", "longitudinal")], ["坐垫", seatAxisValue("passenger", "cushion_tilt")], ["靠背", seatAxisValue("passenger", "backrest_recline")], ["腿托", seatAxisValue("passenger", "legrest_height")]],
+      rows: () => [["前后", seatAxisValue("passenger", "longitudinal")], ["高度", seatAxisValue("passenger", "cushion_tilt")], ["靠背", seatAxisValue("passenger", "backrest_recline")], ["腿托", seatAxisValue("passenger", "legrest_height")]],
       controls: () => [
-        selectControl("ventilation", "通风", seatLevelControlValue("passenger", "ventilation"), levelOptions),
+        rangeControl("longitudinal", "前后", seatAxisValue("passenger", "longitudinal")),
-        selectControl("heating", "加热", seatLevelControlValue("passenger", "heating"), levelOptions),
+        rangeControl("cushion_tilt", "高度", seatAxisValue("passenger", "cushion_tilt")),
-        rangeControl("longitudinal", "水平", seatAxisValue("passenger", "longitudinal")),
-        rangeControl("cushion_tilt", "坐垫", seatAxisValue("passenger", "cushion_tilt")),
         rangeControl("backrest_recline", "靠背", seatAxisValue("passenger", "backrest_recline")),
         rangeControl("legrest_height", "腿托", seatAxisValue("passenger", "legrest_height")),
       ],
-      command: (values) => `调节副驾座椅：通风${optionLabel(levelOptions, values.ventilation)}，加热${optionLabel(levelOptions, values.heating)}，水平${values.longitudinal}%，坐垫${values.cushion_tilt}%，靠背${values.backrest_recline}%，腿托${values.legrest_height}%`,
+      command: (values) => `调节副驾座椅：前后${values.longitudinal}%，座椅高度${values.cushion_tilt}%，靠背${values.backrest_recline}%，腿托${values.legrest_height}%`,
     },
     {
       id: "driver", name: "主驾座椅", icon: "armchair",
@@ -1000,6 +1067,11 @@
       button.classList.toggle("v2-sync-active", active);
     });
     renderTaskTimeline(task);
+    if (normalizedStatus === "running") {
+      renderParsedCanCommands(null, { message: "正在解析自然语言并生成 CAN 控制指令…" });
+    } else if (result) {
+      renderParsedCanCommands(result);
+    }
   }
 
   function applyDisplaySnapshot(snapshot) {
@@ -1021,9 +1093,6 @@
           : listening ? "等待 USB 外设" : "扩展链路检查中";
       usbState.dataset.state = connected ? "online" : listening ? "listening" : "offline";
     }
-    if ($("#v2SyncTransport")) {
-      $("#v2SyncTransport").textContent = `${String(health.transport || "GSCU").toUpperCase()} · ${health.peer || health.listen || "等待连接"}`;
-    }
     const vehicleOnline = health.vehicle?.connected !== false;
     const vehicleBadge = $("#v2HeadUnitState");
     if (vehicleBadge) {
@@ -1118,7 +1187,26 @@
     const sidebar = $(".v2-sidebar");
     const lowerPanel = $("#v2DevicePanel") || $(".joint-twin-shell > .twin-band");
     if (!sidebar || !lowerPanel) return;
-    const offset = Math.max(0, lowerPanel.getBoundingClientRect().top - sidebar.getBoundingClientRect().top);
+    const sidebarRect = sidebar.getBoundingClientRect();
+    const overview = $(".v2-sync-sidebar-overview", sidebar);
+    const overviewRect = overview?.getBoundingClientRect();
+    const overviewBottom = overview && overviewRect
+      ? Array.from(overview.children).reduce(
+        (bottom, child) => Math.max(bottom, child.getBoundingClientRect().bottom),
+        overviewRect.top,
+      )
+      : 0;
+    const overviewPaddingBottom = overview
+      ? Number.parseFloat(getComputedStyle(overview).paddingBottom) || 0
+      : 0;
+    const requiredOverviewHeight = overviewRect
+      ? Math.ceil(overviewBottom - overviewRect.top + overviewPaddingBottom + 10)
+      : 0;
+    const offset = Math.max(
+      0,
+      lowerPanel.getBoundingClientRect().top - sidebarRect.top,
+      requiredOverviewHeight,
+    );
     sidebar.style.setProperty("--v2-sync-log-top", `${offset}px`);
   }
 
@@ -1137,7 +1225,6 @@
           <div class="v2-sync-link" id="v2MirrorState" data-state="checking"><i data-lucide="refresh-cw"></i><div><strong>网页同步</strong><span>建立同步中</span></div><b></b></div>
           <div class="v2-sync-link" id="v2UsbState" data-state="checking"><i data-lucide="usb"></i><div><strong>USB 扩展</strong><span>检查外设中</span></div><b></b></div>
         </div>
-        <div class="v2-sync-protocol"><i data-lucide="radio-tower"></i><div><small>扩展链路</small><strong id="v2SyncTransport">GSCU · 等待连接</strong></div></div>
       </div>
       <section class="v2-sync-log" aria-labelledby="v2SyncLogTitle">
         <header><div><small>RUNTIME / SYNC</small><h3 id="v2SyncLogTitle">运行日志 / 同步记录</h3></div><select id="v2LogFilter" aria-label="筛选同步日志"><option value="all">全部</option><option value="task">任务</option><option value="sync">同步</option><option value="extension">外设</option><option value="device">设备</option></select></header>
@@ -1145,7 +1232,39 @@
       </section>`);
     if (sidebar && sidebarFooter) {
       sidebar.insertBefore(syncSidebar, sidebarFooter);
-      $(".v2-sync-sidebar-overview", syncSidebar)?.append(sidebarFooter);
+      const syncOverview = $(".v2-sync-sidebar-overview", syncSidebar);
+      const transportField = $("#vehicleTransportField");
+      const executionField = $(".field-group:has(.execution-mode-options)");
+      const simulationFaultField = $("#simulationFaultField");
+      if (syncOverview) {
+        const linkStack = $(".v2-sync-link-stack", syncOverview);
+        const insertVisibleControl = (field, className) => {
+          if (!field) return;
+          field.classList.add(className);
+          if (linkStack) syncOverview.insertBefore(field, linkStack);
+          else syncOverview.append(field);
+        };
+        insertVisibleControl(transportField, "v2-sync-transport-field");
+        if (executionField) executionField.hidden = false;
+        insertVisibleControl(executionField, "v2-sync-execution-field");
+        insertVisibleControl(simulationFaultField, "v2-sync-simulation-fault-field");
+        const canCommandPanel = make("details", "v2-can-command-panel", `
+          <summary>
+            <span><i data-lucide="binary"></i><b>已解析 CAN 控制指令</b></span>
+            <strong id="v2CanCommandCount">0</strong>
+            <i data-lucide="chevron-down"></i>
+          </summary>
+          <div class="v2-can-command-list" id="v2CanCommandList">
+            <p>等待自然语言解析结果</p>
+          </div>`);
+        canCommandPanel.id = "v2CanCommandPanel";
+        if (linkStack) syncOverview.insertBefore(canCommandPanel, linkStack);
+        else syncOverview.append(canCommandPanel);
+        canCommandPanel.addEventListener("toggle", () => {
+          requestAnimationFrame(syncSidebarLogBaseline);
+        });
+      }
+      syncOverview?.append(sidebarFooter);
       const sidebarToggle = $("#v2SidebarToggle", sidebar);
       if (sidebarToggle) $(".v2-sync-sidebar-heading", syncSidebar)?.append(sidebarToggle);
     }
@@ -1228,8 +1347,12 @@
       if (event.target.matches("select[data-device-control]")) storeDeviceControlDraft(event.target);
     });
     $("#v2LogFilter")?.addEventListener("change", renderSyncLogs);
+    $("#requestForm")?.addEventListener("submit", () => {
+      renderParsedCanCommands(null, { message: "正在解析自然语言并生成 CAN 控制指令…" });
+    });
     window.addEventListener("cognitive-agent:result", (event) => {
       const result = event.detail || {};
+      renderParsedCanCommands(result);
       appendSyncLog({
         key: result.request_id ? `result:${result.request_id}` : "",
         category: "task",
@@ -1253,6 +1376,7 @@
         renderSyncedDevices();
       }
       if (event.detail?.error) {
+        renderParsedCanCommands(null, { message: "本次请求未生成 CAN 控制指令" });
         appendSyncLog({ category: "task", title: "编排任务执行失败", detail: event.detail.error.message || "请求失败", status: "error" });
       }
     });
@@ -1370,23 +1494,18 @@
     if (requestStatus && statusTarget && requestStatus.parentElement !== statusTarget) {
       statusTarget.append(requestStatus);
     }
-    $$('[data-v2-control]').forEach((button) => {
-      const active = button.dataset.v2Control === ui.controlMode;
-      button.classList.toggle("active", active);
-      button.setAttribute("aria-pressed", String(active));
-    });
     requestAnimationFrame(updateModeEdgeHints);
     const drawer = $("#gestureDrawer");
     if (!triggerGesture) {
       const gestureVisible = ui.controlMode === "gesture";
       drawer?.setAttribute("aria-hidden", String(!gestureVisible));
-      $("#gestureToggleButton")?.setAttribute("aria-expanded", String(gestureVisible));
+      drawer?.classList.toggle("open", gestureVisible);
       return;
     }
     if (ui.controlMode === "gesture") {
-      if (!drawer?.classList.contains("open")) $("#gestureToggleButton")?.click();
+      window.CognitiveAgentGesture?.open?.();
     } else if (drawer?.classList.contains("open")) {
-      $("#gestureCloseButton")?.click();
+      window.CognitiveAgentGesture?.close?.();
     }
   }
 
@@ -1435,120 +1554,53 @@
     window.setTimeout(() => window.dispatchEvent(new Event("resize")), 180);
   }
 
-  function requestUserSafeExecutionMode() {
+  function keepRunButtonAvailable() {
-    const dryRunButton = $('[data-execution-mode="dry_run"]');
-    const note = $("#v2ExecutionNote");
-    const userTarget = $(".v2-user-target-status");
-    const userTargetText = $("#v2UserTargetText");
     const runButton = $("#runButton");
-    if (!dryRunButton) return;
-    if (!dryRunButton.classList.contains("active")) dryRunButton.click();
-    if (note) note.textContent = "user 固定使用虚拟 CAN 安全执行环境";
-    if (userTarget) userTarget.dataset.state = "ready";
-    if (userTargetText) userTargetText.textContent = "执行目标：虚拟 CAN";
     if (runButton && !runButton.classList.contains("loading")) runButton.disabled = false;
-    syncExecutionSelector();
   }
 
-  function syncExecutionSelector() {
+  function syncRuntimePresentation(connectionState = window.CognitiveAgentNetwork?.getState?.()) {
-    const select = $("#v2ExecutionSelect");
-    if (!select) return;
-    const active = $('[data-execution-mode].active');
-    if (active) select.value = active.dataset.executionMode;
-    ["dry_run", "simulated_hardware", "hardware"].forEach((value) => {
-      const option = $(`option[value="${value}"]`, select);
-      const button = $(`[data-execution-mode="${value}"]`);
-      if (option && button) option.disabled = button.disabled;
-    });
-    dropdownControls.get(select)?.sync();
-  }
-
-  function syncRuntimePresentation() {
-    const modelBadge = $("#modelBadge");
-    const connectionBadge = $("#connectionBadge");
-    const modelValue = $("#v2ModelValue");
-    const modelNote = $("#v2ModelNote");
     const connectionText = $("#v2ConnectionText");
-    if (modelBadge && modelValue) {
+    if (connectionText) {
-      const text = modelBadge.textContent.trim() || "模型检测中";
+      const status = connectionState?.status || "connecting";
-      modelValue.textContent = text;
+      const labels = {
-      const unavailable = modelBadge.classList.contains("danger");
+        connecting: "正在连接服务",
-      $("#v2ModelField")?.classList.toggle("unavailable", unavailable);
+        online: "服务已连接",
-      $("#v2ModelState").textContent = unavailable ? "LOCAL" : "READY";
+        degraded: "连接不稳定",
-      if (modelNote) modelNote.textContent = unavailable
+        offline: "服务已断开",
-        ? "GPT 不可用，自动使用本地规则"
+      };
-        : "服务端安全托管 · 失败自动降级";
+      connectionText.textContent = labels[status] || labels.connecting;
-    }
+      connectionText.title = connectionState?.lastError || connectionText.textContent;
-    if (connectionBadge && connectionText) {
+      $(".v2-sidebar-footer")?.classList.toggle(
-      connectionText.textContent = connectionBadge.textContent.trim() || "正在连接服务";
+        "offline",
-      const online = !connectionBadge.classList.contains("danger")
+        status === "offline" || status === "degraded",
-        && !connectionBadge.classList.contains("warning");
+      );
-      $(".v2-sidebar-footer")?.classList.toggle("offline", !online);
-    }
-    syncExecutionSelector();
-    requestUserSafeExecutionMode();
-  }
-
-  function setVehicleLinkState(connected) {
-    const card = $("#v2VehicleCard");
-    const state = $("#v2VehicleState");
-    if (!card || !state) return;
-    card.dataset.state = connected ? "online" : "offline";
-    state.textContent = connected ? "READY" : "OFFLINE";
-  }
-
-  async function refreshVehicleLinkState() {
-    const card = $("#v2VehicleCard");
-    const state = $("#v2VehicleState");
-    if (card) card.dataset.state = "checking";
-    if (state) state.textContent = "CHECK";
-    try {
-      const response = await fetch("/api/extension/health", {
-        credentials: "same-origin",
-        headers: { Accept: "application/json" },
-      });
-      if (!response.ok) throw new Error(`HTTP ${response.status}`);
-      const health = await response.json();
-      setVehicleLinkState(Boolean(health.vehicle?.connected));
-    } catch (_error) {
-      setVehicleLinkState(false);
     }
+    keepRunButtonAvailable();
   }
 
   function bindEvents() {
-    $$('[data-v2-control]').forEach((button) => {
-      button.addEventListener("click", () => {
-        setControlMode(button.dataset.v2Control);
-      });
-    });
     $$('.v2-module-tab').forEach((button) => {
       button.addEventListener("click", () => {
         if (!button.disabled) setModule(button.dataset.module);
       });
     });
-    $("#v2ExecutionSelect")?.addEventListener("change", (event) => {
-      $(`[data-execution-mode="${event.target.value}"]`)?.click();
-      syncExecutionSelector();
-    });
     $$(".v2-page-button").forEach((button) => {
       button.addEventListener("click", () => setPage(button.dataset.v2PageTarget));
     });
-    $("#v2LogoutButton")?.addEventListener("click", () => $("#logoutButton")?.click());
+    $("#v2LogoutButton")?.addEventListener(
-    window.addEventListener("cognitive-agent:connection", (event) => {
+      "click",
-      if (event.detail?.status === "online") refreshVehicleLinkState();
+      () => window.CognitiveAgentConsole?.logout?.(),
-      else if (["offline", "degraded"].includes(event.detail?.status)) setVehicleLinkState(false);
+    );
-    });
     $("#v2SidebarToggle")?.addEventListener(
       "click",
       () => setSidebarCollapsed(!ui.sidebarCollapsed),
     );
     document.addEventListener("click", () => {
-      closeCustomDropdowns();
       closeReasoningPicker();
     });
     document.addEventListener("keydown", (event) => {
       if (event.key === "Escape") {
-        closeCustomDropdowns();
         closeReasoningPicker();
         clearTwinDevicePreview({ force: true });
       }
@@ -1577,8 +1629,11 @@
         .observe(modeChips, { childList: true });
     }
 
-    const observer = new MutationObserver(syncRuntimePresentation);
+    window.addEventListener("cognitive-agent:connection", (event) => {
-    [$("#modelBadge"), $("#connectionBadge"), $("#hardwareMode"), $("#simulationMode")]
+      syncRuntimePresentation(event.detail);
+    });
+    const observer = new MutationObserver(() => keepRunButtonAvailable());
+    [$("#hardwareMode"), $("#simulationMode")]
       .filter(Boolean)
       .forEach((node) => observer.observe(node, {
         attributes: true,
@@ -1598,8 +1653,6 @@
     document.body.classList.add("console-v2");
     const panelHeading = $(".panel-heading", commandPanel);
     const modeRail = $(".mode-rail", commandPanel);
-    const exampleGroup = $(".example-group", commandPanel);
-    const safetyStrip = $("#safetyStrip", commandPanel);
     const requestHeader = $(".request-header", mainPanel);
     const gestureDrawer = $("#gestureDrawer");
 
@@ -1609,18 +1662,11 @@
       requestHeader,
       gestureDrawer,
       originalForm,
-      exampleGroup,
-      safetyStrip,
     };
     Object.values(detached).filter(Boolean).forEach((node) => node.remove());
 
-    const legacyParking = make("div", "v2-legacy-parking v2-legacy-hidden", "");
+    buildSidebar(commandPanel);
-    [exampleGroup, safetyStrip].filter(Boolean).forEach((node) => legacyParking.append(node));
+    prepareRuntimeControls(originalForm);
-    document.body.append(legacyParking);
-
-    const configStack = buildSidebar(commandPanel);
-    buildConfigFields(configStack, originalForm);
-    enhanceConfiguredDropdowns();
     buildOperation(
       mainPanel,
       originalForm,
@@ -1630,9 +1676,6 @@
       gestureDrawer,
     );
     buildModuleSwitcher(mainPanel);
-    $(".pipeline", mainPanel)?.classList.add("v2-legacy-hidden");
-    $(".topbar")?.classList.add("v2-legacy-hidden");
-    $(".gesture-backdrop")?.classList.add("v2-legacy-hidden");
     buildOutput(mainPanel);
     buildSyncControlLayer();
     bindEvents();
@@ -1641,18 +1684,18 @@
     setSidebarCollapsed(ui.sidebarCollapsed);
     setPage(0);
     syncRuntimePresentation();
-    refreshVehicleLinkState();
     window.lucide?.createIcons({ attrs: { "aria-hidden": "true" } });
     requestAnimationFrame(() => {
       updateModeEdgeHints();
       document.body.classList.add("v2-ready");
+      window.setTimeout(() => $("#v2BootScreen")?.remove(), 220);
     });
   }
 
   window.CognitiveAgentConsoleV2 = {
-    enhanceSelect,
     getModule: () => ui.activeModule,
     getRole: () => "user",
+    getParsedCanCommands: (result) => parsedCanCommands(result).map((item) => ({ ...item })),
     setModule,
   };
 

apps/web-console/gesture-control.js

@@ -56,6 +56,8 @@ const state = {
   customizeOpen: false,
   engine: null,
   runtimeReady: false,
+  enabled: true,
+  disabledReason: "",
   cameraStatus: "checking",
   cameraMessage: "正在检测摄像头…",
   cameraCheckSequence: 0,
@@ -114,7 +116,8 @@ function cameraFailureDetails(error) {
 function syncCameraButtonAvailability() {
   const button = $("#gestureStartButton");
   if (!button || state.stream) return;
-  button.disabled = !state.runtimeReady
+  button.disabled = !state.enabled
+    || !state.runtimeReady
     || ["checking", "unavailable", "unsupported"].includes(state.cameraStatus);
 }
 
@@ -693,29 +696,48 @@ function resetMapping() {
 }
 
 function openDrawer() {
-  $("#gestureDrawer").classList.add("open");
+  if (!state.enabled) {
-  $("#gestureDrawer").setAttribute("aria-hidden", "false");
+    notify(state.disabledReason || "当前运行模式未启用手势控制");
-  $("#gestureBackdrop").hidden = false;
+    return false;
-  requestAnimationFrame(() => $("#gestureBackdrop").classList.add("visible"));
+  }
-  $("#gestureToggleButton").setAttribute("aria-expanded", "true");
+  const drawer = $("#gestureDrawer");
+  if (!drawer) return false;
+  drawer.classList.add("open");
+  drawer.setAttribute("aria-hidden", "false");
   document.body.classList.add("gesture-open");
+  return true;
 }
 
 function closeDrawer() {
   stopCamera();
-  $("#gestureDrawer").classList.remove("open");
+  const drawer = $("#gestureDrawer");
-  $("#gestureDrawer").setAttribute("aria-hidden", "true");
+  drawer?.classList.remove("open");
-  $("#gestureBackdrop").classList.remove("visible");
+  drawer?.setAttribute("aria-hidden", "true");
-  window.setTimeout(() => { $("#gestureBackdrop").hidden = true; }, 240);
-  $("#gestureToggleButton").setAttribute("aria-expanded", "false");
   document.body.classList.remove("gesture-open");
 }
 
+function setEnabled(enabled, { reason = "" } = {}) {
+  state.enabled = Boolean(enabled);
+  state.disabledReason = state.enabled ? "" : String(reason || "当前运行模式未启用手势控制");
+  if (!state.enabled) closeDrawer();
+  syncCameraButtonAvailability();
+  const drawer = $("#gestureDrawer");
+  if (drawer) {
+    drawer.dataset.enabled = String(state.enabled);
+    drawer.title = state.disabledReason;
+  }
+}
+
+window.CognitiveAgentGesture = {
+  open: openDrawer,
+  close: closeDrawer,
+  isOpen: () => $("#gestureDrawer")?.classList.contains("open") === true,
+  setEnabled,
+};
+
 document.addEventListener("DOMContentLoaded", async () => {
   $("#gestureStartButton").disabled = true;
-  $("#gestureToggleButton")?.addEventListener("click", openDrawer);
   $("#gestureCloseButton")?.addEventListener("click", closeDrawer);
-  $("#gestureBackdrop")?.addEventListener("click", closeDrawer);
   $("#gestureStartButton")?.addEventListener("click", toggleCamera);
   $("#gestureStopButton")?.addEventListener("click", () => state.engine?.setArmed(false));
   $("#gestureCustomizeButton")?.addEventListener("click", toggleCustomize);

apps/web-console/index.html

@@ -9,44 +9,26 @@
     <link rel="manifest" href="/manifest.webmanifest" />
     <link rel="icon" href="/icons/app-icon-192.png" />
     <title>511工程-智能座舱</title>
-    <link rel="stylesheet" href="/styles.css?v=dual-seat-9" />
+    <link rel="stylesheet" href="/styles.css?v=dual-seat-16" />
-    <link rel="stylesheet" href="/console-v2.css?v=sync-layout-26" />
+    <link rel="stylesheet" href="/console-v2.css?v=sync-layout-40" />
     <link rel="stylesheet" href="/self-extension.css?v=sync-layout-26" />
     <script src="/vendor/lucide/0.468.0/lucide.min.js" defer></script>
     <script src="/vendor/three/0.147.0/three.min.js" defer></script>
     <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="/network.js?v=android-pad-2" defer></script>
-    <script src="/app.js?v=dual-seat-85" defer></script>
+    <script src="/app.js?v=dual-seat-101" defer></script>
-    <script type="module" src="/gesture-control.js?v=android-pad-8"></script>
+    <script type="module" src="/gesture-control.js?v=android-pad-9"></script>
-    <script src="/pwa.js?v=android-pad-2" defer></script>
+    <script src="/pwa.js?v=android-pad-3" defer></script>
-    <script src="/console-v2.js?v=sync-layout-26" defer></script>
+    <script src="/console-v2.js?v=sync-layout-41" defer></script>
     <script src="/self-extension.js?v=sync-layout-26" defer></script>
   </head>
-  <body>
+  <body class="console-v2">
-    <header class="topbar">
+    <div class="v2-boot-screen" id="v2BootScreen" role="status" aria-live="polite">
-      <div class="brand-block">
+      <span class="v2-boot-mark" aria-hidden="true"><i></i><i></i><i></i></span>
-        <span class="brand-mark" aria-hidden="true"><i data-lucide="brain-circuit"></i></span>
+      <strong>511工程-智能座舱</strong>
-        <div>
+      <small>正在加载车机控制与实时状态</small>
-          <h1>Cognitive Agent</h1>
+    </div>
-          <p>CABIN ORCHESTRATION <span>/</span> MULTI-DOMAIN</p>
-        </div>
-      </div>
-      <div class="runtime-badges" aria-label="运行环境">
-        <button class="gesture-entry" id="gestureToggleButton" type="button" aria-controls="gestureDrawer" aria-expanded="false">
-          <span class="gesture-entry-dot"></span><i data-lucide="scan-face"></i>手势控制
-        </button>
-        <span class="status-badge neutral connection-badge" id="connectionBadge"><i data-lucide="loader-circle"></i><span>连接中</span></span>
-        <button class="status-badge neutral pwa-badge" id="pwaBadge" type="button" hidden></button>
-        <span class="status-badge neutral" id="executionBadge"><i data-lucide="flask-conical"></i>DRY-RUN</span>
-        <span class="status-badge" id="modelBadge"><i data-lucide="sparkles"></i>模型检测中</span>
-        <span class="status-badge danger" id="hardwareBadge"><i data-lucide="shield-off"></i>硬件检测中</span>
-        <button class="status-badge auth-logout" id="logoutButton" type="button" title="退出登录" aria-label="退出登录" hidden>
-          <i data-lucide="log-out"></i>
-        </button>
-      </div>
-    </header>
-
     <div class="workspace">
       <aside class="command-panel">
         <div class="panel-heading">
@@ -126,10 +108,10 @@
           <div class="field-group">
             <span class="field-label">执行目标</span>
             <div class="segmented execution-mode-options" role="group" aria-label="执行目标">
-              <button type="button" class="mode-option active" data-execution-mode="dry_run">
+              <button type="button" class="mode-option" data-execution-mode="dry_run">
                 <i data-lucide="flask-conical"></i>虚拟 CAN
               </button>
-              <button type="button" class="mode-option" id="hardwareMode" data-execution-mode="hardware" disabled>
+              <button type="button" class="mode-option active" id="hardwareMode" data-execution-mode="hardware" disabled>
                 <i data-lucide="radio-tower"></i>真实台架
               </button>
               <button type="button" class="mode-option" id="simulationMode" data-execution-mode="simulated_hardware" disabled>
@@ -140,6 +122,19 @@
             <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" id="vehicleTransportField">
+            <span class="field-label">车辆连接方式</span>
+            <div class="segmented vehicle-transport-options" role="group" aria-label="车辆连接方式">
+              <button type="button" class="mode-option active" data-control-transport="wired_can">
+                <i data-lucide="cable"></i>有线 CAN
+              </button>
+              <button type="button" class="mode-option" data-control-transport="wireless_mqtt">
+                <i data-lucide="wifi"></i>无线 CAN
+              </button>
+            </div>
+            <p class="provider-note" id="vehicleTransportNote">正在检查车辆连接</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">
@@ -170,47 +165,6 @@
           </button>
         </form>
 
-        <div class="example-group">
-          <span class="field-label">示例请求</span>
-          <button type="button" class="example-command featured-example" data-example="副驾座椅通风3档，同时打开空调，温度设为24度，风量3档">
-            <i data-lucide="workflow"></i><span>副驾通风 + 空调 24℃ · 双通道联动</span><i data-lucide="chevron-right"></i>
-          </button>
-          <button type="button" class="example-command" data-example="空调打开，车内温度调到24度，风量3档">
-            <i data-lucide="fan"></i><span>空调 24℃ · 风量 3 档</span><i data-lucide="chevron-right"></i>
-          </button>
-          <button type="button" class="example-command" data-example="天幕透光率调到30%，遮阳帘打开一半">
-            <i data-lucide="panels-top-left"></i><span>天幕透光 30% · 遮阳帘 50%</span><i data-lucide="chevron-right"></i>
-          </button>
-          <button type="button" class="example-command" data-example="打开氛围灯，调成冰蓝色，亮度60%">
-            <i data-lucide="lamp-ceiling"></i><span>冰蓝氛围灯 · 亮度 60%</span><i data-lucide="chevron-right"></i>
-          </button>
-          <button type="button" class="example-command featured-example" data-example="进入观影状态：副驾调整为舒适观影姿态，空调24度、风量2档，天幕调暗，氛围灯换成暖橙色">
-            <i data-lucide="clapperboard"></i><span>跨域观影场景</span><i data-lucide="chevron-right"></i>
-          </button>
-          <button type="button" class="example-command" data-example="副驾有点热，有点闷">
-            <i data-lucide="wind"></i><span>副驾有点热，有点闷</span><i data-lucide="chevron-right"></i>
-          </button>
-          <button type="button" class="example-command" data-example="副驾靠背向后移动5度">
-            <i data-lucide="move-horizontal"></i><span>副驾靠背向后 5°</span><i data-lucide="chevron-right"></i>
-          </button>
-          <button type="button" class="example-command" data-example="副驾调整为零重力模式，要求靠背座椅夹角128度，坐垫脚托夹角133度">
-            <i data-lucide="compass"></i><span>副驾零重力精确夹角</span><i data-lucide="chevron-right"></i>
-          </button>
-          <button type="button" class="example-command" data-example="将当前状态保存为零重力模式">
-            <i data-lucide="bookmark-plus"></i><span>保存当前座椅姿态</span><i data-lucide="chevron-right"></i>
-          </button>
-          <button type="button" class="example-command warning-example" data-example="副驾座椅加热开到三档">
-            <i data-lucide="triangle-alert"></i><span>三档请求（档位虚拟）</span><i data-lucide="chevron-right"></i>
-          </button>
-        </div>
-
-        <div class="safety-strip" id="safetyStrip">
-          <i data-lucide="shield-check"></i>
-          <div>
-            <strong id="safetyTitle">虚拟执行边界</strong>
-            <span id="safetyText">四域 CAN 均为 dry-run，实车发送被强制关闭。</span>
-          </div>
-        </div>
       </aside>
 
       <main class="main-panel">
@@ -229,20 +183,6 @@
           </div>
         </section>
 
-        <section class="pipeline" aria-label="执行链路">
-          <div class="pipeline-step" data-stage="intent_parse"><span>01</span><i data-lucide="message-square-text"></i><b>意图抽取</b></div>
-          <i class="pipeline-arrow" data-lucide="chevron-right"></i>
-          <div class="pipeline-step" data-stage="function_generate"><span>02</span><i data-lucide="file-code-2"></i><b>配置生成</b></div>
-          <i class="pipeline-arrow" data-lucide="chevron-right"></i>
-          <div class="pipeline-step" data-stage="domain_validate"><span>03</span><i data-lucide="badge-check"></i><b>双层校验</b></div>
-          <i class="pipeline-arrow" data-lucide="chevron-right"></i>
-          <div class="pipeline-step" data-stage="compile"><span>04</span><i data-lucide="binary"></i><b>CAN 编译</b></div>
-          <i class="pipeline-arrow" data-lucide="chevron-right"></i>
-          <div class="pipeline-step" data-stage="safety_check"><span>05</span><i data-lucide="shield-check"></i><b>安全门禁</b></div>
-          <i class="pipeline-arrow" data-lucide="chevron-right"></i>
-          <div class="pipeline-step" data-stage="execute"><span>06</span><i data-lucide="radio-tower"></i><b id="executeStageLabel">虚拟执行</b></div>
-        </section>
-
         <section class="cabin-band" aria-labelledby="cabinStateTitle">
           <div class="section-title-row cabin-heading">
             <div class="cabin-title-copy">
@@ -261,27 +201,27 @@
               <header>
                 <span class="domain-icon"><i data-lucide="fan"></i></span>
                 <div><strong>空调</strong><small>CMD 0x1DE · FB 0x404 · CH1</small></div>
-                <span class="device-state" id="climatePower">OFF</span>
+                <span class="device-state" id="climatePower">UNKNOWN</span>
               </header>
               <p class="domain-capability-line"><span>可控参数</span>电源 · 温度 · 风量/风向</p>
               <div class="climate-display">
                 <div class="zone-temperature">
-                  <span>主驾</span><strong id="driverTemperature">24<sup>℃</sup></strong>
+                  <span>主驾</span><strong id="driverTemperature">--<sup>℃</sup></strong>
                   <small>风向<b id="driverAirDirection">-</b></small>
                 </div>
                 <div class="airflow-visual" id="airflowVisual" data-level="0" aria-label="空调风量">
                   <i></i><i></i><i></i><i></i><i></i><i></i><i></i>
                 </div>
                 <div class="zone-temperature passenger-temperature">
-                  <span>副驾</span><strong id="passengerTemperature">24<sup>℃</sup></strong>
+                  <span>副驾</span><strong id="passengerTemperature">--<sup>℃</sup></strong>
                   <small>风向<b id="passengerAirDirection">-</b></small>
                 </div>
               </div>
               <dl class="domain-readouts">
-                <div><dt>风量</dt><dd id="fanLevel">0 档</dd></div>
+                <div><dt>风量</dt><dd id="fanLevel">未知</dd></div>
-                <div><dt>循环</dt><dd id="cycleMode">外循环</dd></div>
+                <div><dt>循环</dt><dd id="cycleMode">未知</dd></div>
-                <div><dt>A/C</dt><dd id="acState">关闭</dd></div>
+                <div><dt>A/C</dt><dd id="acState">未知</dd></div>
-                <div><dt>前除霜</dt><dd id="defrostState">关闭</dd></div>
+                <div><dt>前除霜</dt><dd id="defrostState">未知</dd></div>
               </dl>
             </article>
 
@@ -308,17 +248,17 @@
               <header>
                 <span class="domain-icon"><i data-lucide="panels-top-left"></i></span>
                 <div><strong>遮阳帘</strong><small>CMD 0x431 · FB 0x41A · CH1</small></div>
-                <span class="device-state" id="roofState">READY</span>
+                <span class="device-state" id="roofState">UNKNOWN</span>
               </header>
               <p class="domain-capability-line"><span>可控参数</span>开关 / 停止 · 位置</p>
               <div class="domain-summary-visual shade-summary-visual" aria-hidden="true">
                 <span>闭合</span><i><b id="shadePositionMeter"></b></i><span>打开</span>
               </div>
               <dl class="domain-readouts">
-                <div><dt>遮阳帘</dt><dd id="shadePositionValue">0%</dd></div>
+                <div><dt>遮阳帘</dt><dd id="shadePositionValue">未知</dd></div>
-                <div><dt>动作</dt><dd id="shadeMotionState">停止</dd></div>
+                <div><dt>动作</dt><dd id="shadeMotionState">未知</dd></div>
                 <div><dt>初始化</dt><dd id="shadeInitializedState">未知</dd></div>
-                <div><dt>热保护</dt><dd id="shadeThermalState">正常</dd></div>
+                <div><dt>热保护</dt><dd id="shadeThermalState">未知</dd></div>
               </dl>
             </article>
 
@@ -326,7 +266,7 @@
               <header>
                 <span class="domain-icon"><i data-lucide="lamp-ceiling"></i></span>
                 <div><strong>车内灯光</strong><small>INTERIOR / AMBIENT · CH1</small></div>
-                <span class="device-state" id="ambientPower">OFF</span>
+                <span class="device-state" id="ambientPower">UNKNOWN</span>
               </header>
               <p class="domain-capability-line"><span>可控参数</span>阅读灯 · 氛围亮度 · 色号</p>
               <div class="domain-summary-visual ambient-summary-visual" aria-hidden="true">
@@ -334,9 +274,9 @@
                 <span data-ambient-zone="rear"><i id="ambientRearMeter"></i><b>后排</b></span>
               </div>
               <dl class="domain-readouts">
-                <div><dt>氛围灯</dt><dd id="ambientMode">关闭</dd></div>
+                <div><dt>氛围灯</dt><dd id="ambientMode">未知</dd></div>
-                <div><dt>室内/阅读灯</dt><dd id="interiorLightPower">关闭</dd></div>
+                <div><dt>室内/阅读灯</dt><dd id="interiorLightPower">未知</dd></div>
-                <div><dt>氛围亮度</dt><dd id="ambientBrightness">0 / 0</dd></div>
+                <div><dt>氛围亮度</dt><dd id="ambientBrightness">- / -</dd></div>
                 <div><dt>氛围色号</dt><dd id="ambientColorIndex">- / -</dd></div>
               </dl>
             </article>
@@ -345,7 +285,7 @@
               <header>
                 <span class="domain-icon"><i data-lucide="gallery-vertical-end"></i></span>
                 <div><strong>车窗</strong><small>CMD 0x431 · FB 0x388 · CH1</small></div>
-                <span class="device-state" id="windowState">READY</span>
+                <span class="device-state" id="windowState">UNKNOWN</span>
               </header>
               <p class="domain-capability-line"><span>可控参数</span>四窗独立 · 开/关/停 · 位置</p>
               <div class="domain-summary-visual window-summary-visual" aria-hidden="true">
@@ -355,18 +295,18 @@
                 <span data-window-meter="rear_right"><i></i><b>右后</b></span>
               </div>
               <dl class="domain-readouts">
-                <div><dt>左前窗</dt><dd id="frontLeftWindow">0%</dd></div>
+                <div><dt>左前窗</dt><dd id="frontLeftWindow">未知</dd></div>
-                <div><dt>右前窗</dt><dd id="frontRightWindow">0%</dd></div>
+                <div><dt>右前窗</dt><dd id="frontRightWindow">未知</dd></div>
-                <div><dt>左后窗</dt><dd id="rearLeftWindow">0%</dd></div>
+                <div><dt>左后窗</dt><dd id="rearLeftWindow">未知</dd></div>
-                <div><dt>右后窗</dt><dd id="rearRightWindow">0%</dd></div>
+                <div><dt>右后窗</dt><dd id="rearRightWindow">未知</dd></div>
               </dl>
             </article>
 
             <article class="domain-panel lighting-panel" data-domain-panel="front_light" data-device-channel="ch1">
               <header>
                 <span class="domain-icon"><i data-lucide="car-front"></i></span>
-                <div><strong>前大灯</strong><small>FRONT LIGHT · SWITCH</small></div>
+                <div><strong>前大灯</strong><small>FB 0x38A · CH1</small></div>
-                <span class="device-state" id="frontLightState">OFF</span>
+                <span class="device-state" id="frontLightState">UNKNOWN</span>
               </header>
               <p class="domain-capability-line"><span>可控参数</span>近/远光 · 雾灯 · 转向灯</p>
               <div class="domain-summary-visual lighting-summary-visual" aria-hidden="true">
@@ -376,10 +316,10 @@
                 <span data-light-meter="turnSignalState"><i></i><b>转向</b></span>
               </div>
               <dl class="domain-readouts">
-                <div><dt>近光灯</dt><dd id="lowBeamState">关闭</dd></div>
+                <div><dt>近光灯</dt><dd id="lowBeamState">未知</dd></div>
-                <div><dt>远光灯</dt><dd id="highBeamState">关闭</dd></div>
+                <div><dt>远光灯</dt><dd id="highBeamState">未知</dd></div>
-                <div><dt>雾灯</dt><dd id="fogLightState">关闭</dd></div>
+                <div><dt>雾灯</dt><dd id="fogLightState">未知</dd></div>
-                <div><dt>转向灯</dt><dd id="turnSignalState">关闭</dd></div>
+                <div><dt>转向灯</dt><dd id="turnSignalState">未知</dd></div>
               </dl>
             </article>
 
@@ -463,11 +403,6 @@
                 <div class="dynamic-mode-state" data-dynamic-mode>
                   <i data-lucide="waves"></i><span>动态模式</span><b>未运行</b>
                 </div>
-                <div class="thermal-states">
-                  <span data-function="ventilation"><i data-lucide="wind"></i>通风 <b>--</b></span>
-                  <span data-function="heating"><i data-lucide="flame"></i>加热 <b>--</b></span>
-                  <span data-function="massage"><i data-lucide="waves"></i>按摩 <b>--</b></span>
-                </div>
                 <div class="motion-state-grid" aria-live="polite"></div>
               </article>
               <article class="seat-card" data-seat="driver">
@@ -563,7 +498,6 @@
       </main>
     </div>
 
-    <div class="gesture-backdrop" id="gestureBackdrop" hidden></div>
     <aside class="gesture-drawer" id="gestureDrawer" aria-hidden="true" aria-labelledby="gestureDrawerTitle">
       <header class="gesture-drawer-header">
         <div>
@@ -633,6 +567,51 @@
       </section>
     </div>
 
+    <div class="mode-editor-backdrop" id="modeEditorBackdrop" hidden>
+      <section class="mode-editor" role="dialog" aria-modal="true" aria-labelledby="modeEditorTitle" aria-describedby="modeEditorDescription">
+        <div class="mode-editor-setup">
+          <header class="mode-editor-header">
+            <div>
+              <span>MODE WORKFLOW</span>
+              <h2 id="modeEditorTitle">编辑功能模式</h2>
+              <p id="modeEditorDescription">执行后生成 CAN 控制指令流；完成后永久保存到当前模式卡片。</p>
+            </div>
+            <button id="modeEditorClose" type="button" aria-label="关闭模式编辑器"><i data-lucide="x"></i></button>
+          </header>
+          <div class="mode-editor-inputs">
+            <label class="mode-editor-field mode-editor-name-field" for="modeEditorName">
+              <span>模式名称</span>
+              <input id="modeEditorName" maxlength="64" autocomplete="off" placeholder="输入模式名称" />
+            </label>
+            <label class="mode-editor-field mode-editor-instruction-field" for="modeEditorInstruction">
+              <span>自然语言指令</span>
+              <textarea id="modeEditorInstruction" maxlength="1000" rows="3" placeholder="例如：空调24度、风量2档，打开遮阳帘"></textarea>
+            </label>
+          </div>
+        </div>
+        <section class="mode-editor-flow" aria-live="polite">
+          <header>
+            <span><i data-lucide="workflow"></i>CAN 控制指令流</span>
+            <div class="mode-editor-flow-tools">
+              <b id="modeEditorFlowCount">尚未生成</b>
+              <button id="modeEditorFlowExpand" type="button" aria-expanded="false" aria-label="展开 CAN 控制指令区域" title="展开 CAN 控制指令区域">
+                <i data-lucide="maximize-2"></i>
+              </button>
+            </div>
+          </header>
+          <div class="mode-editor-flow-preview empty" id="modeEditorFlowPreview">
+            <p>点击“执行”后，这里会显示由后端生成的 CAN 控制指令流。</p>
+          </div>
+        </section>
+        <p class="mode-editor-status" id="modeEditorStatus">修改自然语言后需要重新执行，才能点击完成永久保存。</p>
+        <footer class="mode-editor-actions">
+          <button id="modeEditorCancel" type="button">取消</button>
+          <button class="mode-editor-execute" id="modeEditorExecute" type="button"><i data-lucide="play"></i><span>执行</span></button>
+          <button class="mode-editor-complete" id="modeEditorComplete" type="button" disabled><i data-lucide="save"></i><span>完成</span></button>
+        </footer>
+      </section>
+    </div>
+
     <div class="toast" id="toast" role="status" aria-live="polite"></div>
   </body>
 </html>

apps/web-console/login.html

@@ -6,7 +6,7 @@
     <meta name="color-scheme" content="light" />
     <title>登录 · Cognitive Agent</title>
     <link rel="stylesheet" href="/login.css" />
-    <script src="/network.js?v=android-pad-1" defer></script>
+    <script src="/network.js?v=android-pad-2" defer></script>
     <script src="/login.js" defer></script>
   </head>
   <body>

apps/web-console/network.js

@@ -12,30 +12,11 @@
     return { ...state };
   }
 
-  function renderBadge() {
-    const badge = document.querySelector("#connectionBadge");
-    if (!badge) return;
-    const presentation = {
-      connecting: ["neutral", "loader-circle", "连接中"],
-      online: ["", "wifi", "服务已连接"],
-      degraded: ["warning", "wifi-low", "连接不稳定"],
-      offline: ["danger", "wifi-off", "服务已断开"],
-    }[state.status];
-    badge.className = `status-badge connection-badge ${presentation[0]}`.trim();
-    badge.innerHTML = `<i data-lucide="${presentation[1]}"></i><span>${presentation[2]}</span>`;
-    badge.title = state.lastError || presentation[2];
-    window.lucide?.createIcons?.({
-      attrs: { "aria-hidden": "true" },
-      nodes: [badge],
-    });
-  }
-
   function publish(status, error = null) {
     const changed = state.status !== status || state.lastError !== error;
     state.status = status;
     state.lastError = error;
     if (status === "online") state.lastSuccessAt = new Date().toISOString();
-    renderBadge();
     if (!changed) return;
     const detail = snapshot();
     listeners.forEach((listener) => listener(detail));
@@ -110,7 +91,6 @@
 
   function startMonitoring() {
     if (probeTimer !== null) return;
-    renderBadge();
     probe();
     probeTimer = window.setInterval(probe, 10000);
     window.addEventListener("online", () => {

apps/web-console/pwa.js

@@ -4,12 +4,8 @@
   }
 
   function showUpdate(registration) {
-    const badge = document.querySelector("#pwaBadge");
+    notify("检测到前端更新，正在刷新页面");
-    if (!badge) return;
+    registration.waiting?.postMessage({ type: "SKIP_WAITING" });
-    badge.hidden = false;
-    badge.innerHTML = '<i data-lucide="refresh-cw"></i><span>发现更新</span>';
-    badge.onclick = () => registration.waiting?.postMessage({ type: "SKIP_WAITING" });
-    window.lucide?.createIcons?.({ attrs: { "aria-hidden": "true" }, nodes: [badge] });
   }
 
   async function register() {

apps/web-console/self-extension.css

@@ -14,8 +14,6 @@
   display: none;
 }
 
-.console-v2[data-module="self-extension"] .v2-control-section,
-.console-v2[data-module="self-extension"] .v2-config-section,
 .console-v2[data-module="self-extension"] .v2-sidebar > .v2-sidebar-footer:not(.v2-extension-footer),
 .console-v2[data-module="self-extension"] .v2-operation-shell,
 .console-v2[data-module="self-extension"] .v2-output-shell {

apps/web-console/service-worker.js

@@ -1,16 +1,16 @@
-const CACHE_VERSION = "cognitive-agent-pad-v178";
+const CACHE_VERSION = "cognitive-agent-pad-v202";
 const SHELL_CACHE = `${CACHE_VERSION}-shell`;
 const RUNTIME_CACHE = `${CACHE_VERSION}-runtime`;
 const APP_SHELL = [
   "/",
   "/index.html",
-  "/styles.css?v=dual-seat-9",
+  "/styles.css?v=dual-seat-16",
-  "/network.js?v=android-pad-1",
+  "/network.js?v=android-pad-2",
-  "/app.js?v=dual-seat-85",
+  "/app.js?v=dual-seat-101",
-  "/gesture-control.js?v=android-pad-8",
+  "/gesture-control.js?v=android-pad-9",
-  "/pwa.js?v=android-pad-2",
+  "/pwa.js?v=android-pad-3",
-  "/console-v2.css?v=sync-layout-26",
+  "/console-v2.css?v=sync-layout-40",
-  "/console-v2.js?v=sync-layout-26",
+  "/console-v2.js?v=sync-layout-41",
   "/self-extension.css?v=sync-layout-26",
   "/self-extension.js?v=sync-layout-26",
   "/assets/pets/self-extension-cat.png?v=3",

config/environments/linux_vehicle_state.example.env

@@ -0,0 +1,25 @@
+# Read-only vehicle-state synchronization through ZLG's Linux VCI SDK.
+# Keep the approval token unset: hardware transmit remains locked.
+COGNITIVE_AGENT_VEHICLE_CAN_ENABLED=true
+COGNITIVE_AGENT_VEHICLE_CAN_BACKEND=zlgcan-linux
+COGNITIVE_AGENT_VEHICLE_CAN_CHANNEL=1
+COGNITIVE_AGENT_VEHICLE_CAN_REQUIRED_CHANNEL=1
+COGNITIVE_AGENT_VEHICLE_CAN_ARBITRATION_BITRATE=500000
+COGNITIVE_AGENT_VEHICLE_CAN_DATA_BITRATE=2000000
+COGNITIVE_AGENT_VEHICLE_CAN_TERMINATION_ENABLED=false
+COGNITIVE_AGENT_ZLGCAN_DEVICE_TYPE=33
+COGNITIVE_AGENT_ZLGCAN_DEVICE_INDEX=0
+COGNITIVE_AGENT_ZLGCAN_LINUX_LIBRARY=/home/orin/project511/project-code/canfd/libusbcanfd.so
+COGNITIVE_AGENT_SHARED_CAN_RUNTIME_ENABLED=false
+
+# Local NanoMQ wireless dual-CAN relay: CAN0 is the passenger seat; CAN1 is the
+# rest of the vehicle. The local relay is executable by default; set the MQTT
+# approval flag below to true and configure the shared approval token when a
+# deployment needs an additional server-side transmit gate.
+COGNITIVE_AGENT_VEHICLE_MQTT_ENABLED=true
+COGNITIVE_AGENT_VEHICLE_MQTT_APPROVAL_TOKEN_REQUIRED=false
+COGNITIVE_AGENT_VEHICLE_MQTT_HOST=127.0.0.1
+COGNITIVE_AGENT_VEHICLE_MQTT_PORT=1883
+COGNITIVE_AGENT_VEHICLE_MQTT_CONDITION_TOPIC=n7/n7-headunit/can/state
+COGNITIVE_AGENT_VEHICLE_MQTT_CONTROL_TOPIC=n7/n7-headunit/can/command
+COGNITIVE_AGENT_VEHICLE_MQTT_QOS=1

config/native_can_capabilities/door.yaml

@@ -3,7 +3,7 @@ kind: CapabilityCatalog
 metadata:
   id: door-native-can-capabilities
   name: Door native CAN capabilities
-  version: 1.2.0
+  version: 1.3.0
 spec:
   domain: door
   capabilities:
@@ -22,9 +22,9 @@ spec:
       risk_level: high
       confirmation_policy: always
     - name: door.set_rear_lock
-      description: Observational only and deprecated. Physical control is unsupported on the current CH1; legacy 0x32B is second-row-only and must not be treated as whole-vehicle locking.
+      description: Matrix- and head-unit-backed second-row door lock request on classic CAN ID 0x32B, sub-ID 0x0A. It controls only the rear doors and must never be represented as whole-vehicle locking; physical completion still requires matching 0x407 feedback.
-      execution_support: observational_only
+      execution_support: matrix_candidate_with_feedback
-      physical_control_supported: false
+      physical_control_supported: true
       target_devices: [rear_door_lock]
       target_scopes: [rear]
       parameters:
@@ -32,6 +32,6 @@ spec:
           type: string
           required: true
           allowed_values: [lock, unlock]
-          description: Legacy second-row intent retained only for explicit rejection and compatibility parsing.
+          description: Second-row lock request; lock is raw 1 and unlock is raw 2 at start bit 14.
       risk_level: high
-      confirmation_policy: always
+      confirmation_policy: on_ambiguity

config/native_can_capabilities/driver_seat.yaml

@@ -3,7 +3,7 @@ kind: CapabilityCatalog
 metadata:
   id: driver-seat-native-can-capabilities
   name: Driver seat native CAN capabilities
-  version: 1.0.0
+  version: 1.1.0
 spec:
   domain: seat
   capabilities:
@@ -108,3 +108,40 @@ spec:
           description: Bounded motion duration; omitted values default to 500 ms.
       risk_level: high
       confirmation_policy: on_ambiguity
+
+    - name: seat.set_driver_position_native
+      description: >-
+        Alias for recalling one of the three physical driver/front-left seat memory
+        slots. The complete 0x4C1/0x15 and /0x16 payloads must have been learned from
+        the PAD and a fresh 0x494 must prove all four axes initialized before replay.
+      target_devices: [driver_seat_memory]
+      target_scopes: [driver, front_left]
+      parameters:
+        - name: slot
+          type: integer
+          required: true
+          minimum: 1
+          maximum: 3
+          allowed_values: [1, 2, 3]
+          description: Previously learned PAD memory slot.
+      risk_level: high
+      confirmation_policy: on_ambiguity
+
+    - name: seat.recall_driver_memory_native
+      description: >-
+        Recall one of the three physical driver/front-left seat memory slots by
+        alternating that slot's learned 0x4C1/0x16 and /0x15 payloads for ten cycles.
+        0x494 does not expose final absolute motor positions, so delivery is not
+        represented as proof that the seat reached its final position.
+      target_devices: [driver_seat_memory]
+      target_scopes: [driver, front_left]
+      parameters:
+        - name: slot
+          type: integer
+          required: true
+          minimum: 1
+          maximum: 3
+          allowed_values: [1, 2, 3]
+          description: Previously learned PAD memory slot.
+      risk_level: high
+      confirmation_policy: on_ambiguity

docs/workflows/linux-zlg-vehicle-state.md

@@ -0,0 +1,205 @@
+# Linux ZLG 车辆状态接入
+
+当前工程可以通过 ZLG Linux VCI SDK 被动读取 USBCANFD-200U 的 CH1，并把
+车辆状态送入 `/api/hardware/vehicle-state` 和前端整车孪生。状态轮询使用独立
+`monitor-only` 桥，桥进程会拒绝所有发送请求。服务启动后由一个常驻监听线程
+持续缓存最新的已验证状态，HTTP 接口不会为每次前端请求反复开关 USB 设备。
+Linux 只读状态模式的前端刷新周期为 500 ms；缓存只保留 3 秒内的新鲜反馈，
+断线后会自动关闭旧桥并重试连接。监听通道只接受本文列出的 12 个标准帧 ID，
+同时在 SDK 桥内保留同样的软件过滤，避免把无关总线流量转发给服务进程。
+
+## 硬件和总线基线
+
+- USB：`3068:0009 ZLG USBCANFD-200U`
+- Linux SDK 设备类型：`33`
+- 通道：CH1
+- 帧格式：11-bit ISO CAN FD，按报文保留 BRS 属性
+- 控制器时钟：60 MHz
+- 仲裁段：500 kbit/s，`tseg1=14, tseg2=3, sjw=2, brp=5`
+- 数据段：2 Mbit/s，`tseg1=10, tseg2=2, sjw=2, brp=1`
+- 终端：默认不启用适配器内部 120 欧；只能按实际拓扑调整
+
+前端车辆概况依赖 `0x342`（档位）、`0x4EB/0x07`（车速）和 `0x407`
+（门锁）。主驾座椅依赖 `0x4FA`、`0x494`。收到其他帧不能替代这些已验证
+反馈。车身设备还会按帧独立更新：`0x388` 四窗、`0x404` 空调、`0x41A`
+遮阳帘、`0x42E/0x3F3/0x3FF` 车内灯光，以及 `0x38A` 前部灯光。
+
+## 前端有线 / 无线选择
+
+前端“车辆连接方式”提供两个相互独立的传输选项：
+
+- 有线控制：状态和控制都走后端 ZLG CH1。
+- 无线控制：状态订阅 `n7/n7-headunit/can/state`，控制发布到
+  `n7/n7-headunit/can/command`；默认 Broker 为 `127.0.0.1:1883`。MQTT CAN0 专用于
+  副驾座椅，MQTT CAN1 专用于除副驾座椅外的车辆状态和控制。
+
+选择保存在当前浏览器，并随车辆状态请求和控制请求一起传给后端。切换传输时
+会建立新的会话上下文，上一条链路缓存的状态不会冒充当前链路状态。两种方式
+共用同一套编译范围检查、P 挡/零车速预检、反馈目标匹配和硬件批准令牌；MQTT
+发布成功只证明 Broker 接收了消息，不能替代 ECU 状态反馈。
+
+MQTT 状态主题只承载原始 CAN 帧，不接受已经解析的车辆状态 JSON。接收侧继续
+兼容下面的规范单帧格式：
+
+```json
+{
+  "schema": "n7.can.frame.v1",
+  "arbitration_id": 834,
+  "frame_id": "0x342",
+  "channel": 1,
+  "data_hex": "00 00 00 01 00 00 00 00",
+  "data": [0, 0, 0, 1, 0, 0, 0, 0],
+  "payload_size": 8,
+  "is_fd": true,
+  "bitrate_switch": true,
+  "timestamp": 1787029200.0
+}
+```
+
+车机实际使用的 `n7-can-signals/v1` 状态包由顶层 `signals` 承载同样的原始帧。
+`n7/n7-headunit/can/state` 可以发送单帧对象，也可以发送
+`{"frames":[...]}` 批次。接收侧兼容 `can_id`、`canId`、`frame_id` 和
+`dataHex` 等常见字段名，但仍强制 CAN0/CAN1、11 位 ID、1–64 字节长度和
+逐通道反馈 ID 白名单。
+
+自然语言指令仍先由后端编译、检查白名单和车辆安全条件。每个已批准的 CAN 帧
+再转换为车机 App `CanCommand` 格式并发布到
+`n7/n7-headunit/can/command`：
+
+```json
+{
+  "requestId": "cognitive-agent-0e77879b83fd47a9bf12efb3d20dfae7",
+  "channel": "can1",
+  "canId": "0x431",
+  "frameType": "fd",
+  "brs": true,
+  "extended": false,
+  "remote": false,
+  "data": "10 00 00 00 00 00 00 00",
+  "repeat": 1,
+  "intervalMs": 0,
+  "responseTimeoutMs": 1500
+}
+```
+
+每次发布生成不同的 `requestId`。MQTT 外层固定 `repeat=1`，原有执行器继续负责
+矩阵要求的重复次数、周期和动作后的安全停止，不会在车机端再次叠加重复发送。
+CAN0 输出 `classic` 且禁用 BRS；CAN1 按编译结果输出 Classic CAN 或合法长度的
+FD+BRS。车机按通道、控制 ID 和帧类型推断预期反馈 ID。
+
+无线通道边界为：
+
+- CAN0：经典 CAN 副驾座椅；直接状态接收 `0x301–0x307`、`0x4FA`。当前车端
+  还会以只读 `0x6A0` `SEAT_INFO(0x60)` 查询和 `0x6A2` 响应上报四轴 Hall
+  位置、范围和标志。后端只配对 `C7/7C`、相同序号、`status=0` 的查询响应，
+  再转换成统一的四轴 `0x302` 状态；查询帧不会被当作普通动作执行。
+  无线副驾控制只允许 `0x6A0` 中固件明确提供的运行时 opcode：
+  `STOP(0x63)`、`MOVE(0x64)`、`HEARTBEAT(0x65)` 和
+  `DYNAMIC_START(0x66)`，并等待匹配序号/opcode 的 `0x6A2` 成功响应及新鲜
+  四轴位置反馈。刷写、进入 Bootloader、测试、校准和回零 opcode 全部拒绝；
+  旧 `0x29E/0x300/0x3CE` 不会在该无线 CAN0 路径发布。
+- CAN1：除副驾座椅以外的整车 CAN；状态和控制继续使用项目中已有的 CH1
+  车辆白名单。CAN0 控制 ID 不能经 CAN1 发送，CAN1 控制 ID 也不能经 CAN0
+  发送。
+
+两个通道的协议来源严格分离：
+
+- CAN0 只以 `/home/orin/project511/seat-code-file/seat-ota` 副驾固件为准；
+  入站状态必须是 11 位标准帧、经典 CAN、无 BRS、DLC 8。
+- CAN1 只以
+  `/home/orin/project511/project-code/canfd/CAN矩阵表_filled.xlsx` 为准。
+  例如 `0x42E` 颜色值只有 `0x01–0x1F` 有效，保留值不会显示为
+  真实颜色。`0x388` 的四窗关好位按矩阵解析；byte 3–6 的四窗百分比另有
+  `project-code/canfd/window_native.txt` 实车变化轨迹和车端原始帧证据，
+  因此只有数值落在 `0–100` 时才显示为开度。
+
+MQTT 消息自带的 `can0Seat.parsed` 和 `can1Vehicle.parsed` 只可用于车端
+诊断，后端不使用它们更新状态或通过安全门禁。
+
+副驾位置换算严格使用固件 `OTA_SEAT_INFO_AXIS0..3_POSITION_RANGE`：响应值低
+16 位为当前位置 Hall 计数，高 16 位为该轴 Hall 范围；
+`OTA_SEAT_INFO_AXIS0..3_FLAGS` 提供 `valid/moving/driver_fault/direction`。四轴
+分别映射为水平、坐垫、靠背和腿托。只读缓存最多保留 3 秒，新建状态请求可
+立即复用新鲜四轴快照，不需要等待下一轮车端查询。
+
+每个 MQTT 总线视图只会收到本通道反馈。发布完成仅代表 Broker 接收消息；
+座椅和整车执行器仍必须等待对应状态 ID 与目标字段匹配，才会报告动作成功。
+当前 seat-ota 固件只提供四轴位置和动态模式控制，没有副驾加热/通风运行时
+opcode；无线模式收到这两类副驾请求会在发布前明确失败，不会伪造反馈。
+
+车端现有 `n7-can-signals/v1` 状态封装也可直接发布到
+`n7/n7-headunit/can/state`。后端优先从顶层 `signals` 读取，避免与嵌套副本重复；
+顶层缺失时会合并 `can0Seat.signals`（默认 CAN0）和
+`can1Vehicle.signals`（默认 CAN1）。接收兼容 `channel: "can0"/"can1"`、
+`channelIndex`、`frameType`、`brs`、`data`/`bytes` 和毫秒时间戳。若同一帧的
+`channel` 与 `channelIndex` 冲突，整批消息会被拒绝。封装中的
+`can0Seat.parsed` 和 `can1Vehicle.parsed` 都不作为权威状态输入；安全预检和
+前端状态仍由原始 CAN 帧通过逐通道白名单解码器生成。带 Unix 时间戳的过期
+CAN1 非安全帧可短暂作为 `display_only` 缓存显示，但不会进入控制执行器的
+反馈队列。过期的 `0x342` 挡位和 `0x4EB` 车速帧会直接拒绝，绝不能用
+旧的 P 挡或零车速结果通过当前控制预检。
+
+无线 CAN0 和 CAN1 状态读取互不持有真实执行独占锁。CAN0 状态缺失或等待时
+不会再让 CAN1 接口返回 `hardware_busy`。前端按通道分别保持 single-flight，
+CAN1 以 500 ms 周期刷新；手动切换有线/无线后会立即按所选后端重新建立轮询
+周期，上一传输方式的迟到响应会被丢弃。
+
+无线副驾动作在向 CAN0 发布前，也必须通过同一条 MQTT 链路上的 CAN1 新鲜
+P 挡与零车速预检。远端链路不会触发本机 IAR 自动烧录；副驾固件升级仍需走
+独立、明确授权的维护流程。
+
+## USB 权限
+
+设备节点必须允许运行服务的用户读写。推荐使用仅授予当前桌面登录用户权限的
+udev 规则：
+
+```bash
+sudo sh -c 'printf "%s\n" '\''SUBSYSTEM=="usb", ATTR{idVendor}=="3068", ATTR{idProduct}=="0009", TAG+="uaccess", MODE="0660"'\'' > /etc/udev/rules.d/50-zlg-usbcanfd.rules'
+sudo udevadm control --reload-rules
+sudo udevadm trigger --attr-match=idVendor=3068 --attr-match=idProduct=0009
+```
+
+若 ACL 没有立即出现，重新插拔适配器。使用以下命令核对，当前服务用户应具有
+`rw`：
+
+```bash
+getfacl -p /dev/bus/usb/001/006
+```
+
+设备编号每次插拔可能变化，应以 `lsusb` 的 Bus/Device 为准。
+
+## 服务配置
+
+将 `config/environments/linux_vehicle_state.example.env` 中的配置复制到仓库
+根目录 `.env`，并按实际 SDK 位置修改
+`COGNITIVE_AGENT_ZLGCAN_LINUX_LIBRARY`。不要设置硬件批准令牌；此时
+`vehicle_can.state_configured=true`，但 `vehicle_can.configured=false`，所以只
+允许状态同步，前端真实执行保持锁定。
+
+启动：
+
+```bash
+make dev
+```
+
+核对运行时：
+
+```bash
+curl -s http://127.0.0.1:8000/api/runtime
+```
+
+车辆状态接口在有线模式应返回 `source=physical_can_ch1`，在无线模式应返回
+`source=wireless_mqtt_ch1`，并包含实际收到的 `observed_frame_ids` 和缺失反馈
+列表。前端“整车设备状态”会把这两个来源都作为权威实时状态，并明确显示
+“有线 CAN”或“无线 CAN”。发送成功、CAN ACK 和状态反馈是不同证据层级；
+只有接口实际收到并解码目标反馈才会更新前端。
+
+## SDK 自检
+
+自检只加载动态库和核对 ABI，不打开 USB：
+
+```bash
+.venv/bin/python src/cognitive_agent/infrastructure/can/zlgcan_linux_bridge.py \
+  --dll /home/orin/project511/project-code/canfd/libusbcanfd.so \
+  --self-test
+```

domains/seat/schemas/function-parameters.schema.json

@@ -121,6 +121,26 @@
                   }
                 }
               },
+              {
+                "type": "object",
+                "properties": {
+                  "capability": {
+                    "type": "string",
+                    "enum": [
+                      "seat.set_driver_position_native",
+                      "seat.recall_driver_memory_native"
+                    ]
+                  },
+                  "parameters": {
+                    "type": "object",
+                    "additionalProperties": false,
+                    "required": ["slot"],
+                    "properties": {
+                      "slot": {"type": "integer", "minimum": 1, "maximum": 3}
+                    }
+                  }
+                }
+              },
               {
                 "type": "object",
                 "properties": {