优化无线/有线CAN，以及控制指令解析

.gitignore

@@ -4,12 +4,14 @@
 __pycache__/
 *.py[cod]
 artifacts/runs/
+artifacts/mode-profiles/
 artifacts/server/
 artifacts/tmp/
 artifacts/self-repair/
 artifacts/*.log
 tmp/*.log
 .codex_tmp/
+/build/
 firmware/t2g/Seat_Controller_demo/Tests/manual_hil/logs/
 firmware/t2g/Seat_Controller_demo/Tests/manual_hil/seat_function_runtime/
 tools/zcan/seat_function_runtime/

Makefile

@@ -1,9 +1,18 @@
-.PHONY: validate test dev dev-lan
+.PHONY: validate test dev dev-lan can-protocol-generate can-protocol-check can-read-trans can-read-trans-test
 
-validate:
+CAN_READ_TRANS_BUILD_DIR ?= build/can_read_trans
+CAN_READ_TRANS_CANFD_ROOT ?= /home/orin/project511/project-code/canfd
+
+can-protocol-generate:
+	python tools/generate_can_semantic_protocol.py
+
+can-protocol-check:
+	python tools/generate_can_semantic_protocol.py --check
+
+validate: can-protocol-check
 	python tools/validate_repository.py
 
-test:
+test: can-protocol-check
 	PYTHONPATH=src:domains/seat/src python -m unittest discover -s domains/seat/tests -p 'test_*.py'
 	PYTHONPATH=src:domains/seat/src python -m unittest discover -s tests -p 'test_*.py'
 
@@ -12,3 +21,12 @@ dev:
 
 dev-lan:
 	PYTHONPATH=src:domains/seat/src python -m cognitive_agent.server --host 0.0.0.0
+
+can-read-trans: can-protocol-generate
+	cmake -S tools/can_read_trans -B $(CAN_READ_TRANS_BUILD_DIR) \
+		-DCMAKE_BUILD_TYPE=Release \
+		-DCANFD_ROOT=$(CAN_READ_TRANS_CANFD_ROOT)
+	cmake --build $(CAN_READ_TRANS_BUILD_DIR) --parallel
+
+can-read-trans-test: can-read-trans
+	ctest --test-dir $(CAN_READ_TRANS_BUILD_DIR) --output-on-failure

README.md

@@ -113,6 +113,21 @@ 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)。
+有线 ZLG 与本机 NanoMQ 无线链路使用相同的通道角色：CAN0 只对应副驾座椅，
+CAN1 对应空调、车窗、灯光、遮阳帘、主驾座椅等其余车辆状态和控制。车辆控制
+后端不允许回退到 CAN0；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。
+
+需要在终端独立核对双通道状态或下发一条明确的白名单语义命令时，可构建
+`can_read_trans`。该程序由同一个 C++ 进程持有 ZLG 设备：CAN0 监听并控制副驾
+座椅固件原生协议，CAN1 监听并控制其余车辆矩阵协议；默认只监听、默认不启用
+适配器内部终端电阻，也不提供任意原始帧注入入口。`console --execute` 可在同一
+设备会话中持续接收状态并交互下发 CAN0/CAN1 白名单命令。构建、命令示例、反馈
+判定和安全限制见 [can_read_trans 双通道检测与控制](docs/workflows/can-read-trans.md)。
+
 ## 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/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");
-  $("#gestureDrawer").setAttribute("aria-hidden", "false");
-  $("#gestureBackdrop").hidden = false;
-  requestAnimationFrame(() => $("#gestureBackdrop").classList.add("visible"));
-  $("#gestureToggleButton").setAttribute("aria-expanded", "true");
+  if (!state.enabled) {
+    notify(state.disabledReason || "当前运行模式未启用手势控制");
+    return false;
+  }
+  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");
-  $("#gestureDrawer").setAttribute("aria-hidden", "true");
-  $("#gestureBackdrop").classList.remove("visible");
-  window.setTimeout(() => { $("#gestureBackdrop").hidden = true; }, 240);
-  $("#gestureToggleButton").setAttribute("aria-expanded", "false");
+  const drawer = $("#gestureDrawer");
+  drawer?.classList.remove("open");
+  drawer?.setAttribute("aria-hidden", "true");
   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="/console-v2.css?v=sync-layout-26" />
+    <link rel="stylesheet" href="/styles.css?v=dual-seat-16" />
+    <link rel="stylesheet" href="/console-v2.css?v=sync-layout-41" />
     <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="/app.js?v=dual-seat-85" defer></script>
-    <script type="module" src="/gesture-control.js?v=android-pad-8"></script>
-    <script src="/pwa.js?v=android-pad-2" defer></script>
-    <script src="/console-v2.js?v=sync-layout-26" defer></script>
+    <script src="/network.js?v=android-pad-2" defer></script>
+    <script src="/app.js?v=dual-seat-107" defer></script>
+    <script type="module" src="/gesture-control.js?v=android-pad-9"></script>
+    <script src="/pwa.js?v=android-pad-3" defer></script>
+    <script src="/console-v2.js?v=task-outcome-47" defer></script>
     <script src="/self-extension.js?v=sync-layout-26" defer></script>
   </head>
-  <body>
-    <header class="topbar">
-      <div class="brand-block">
-        <span class="brand-mark" aria-hidden="true"><i data-lucide="brain-circuit"></i></span>
-        <div>
-          <h1>Cognitive Agent</h1>
-          <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>
-
+  <body class="console-v2">
+    <div class="v2-boot-screen" id="v2BootScreen" role="status" aria-live="polite">
+      <span class="v2-boot-mark" aria-hidden="true"><i></i><i></i><i></i></span>
+      <strong>511工程-智能座舱</strong>
+      <small>正在加载车机控制与实时状态</small>
+    </div>
     <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">
                 <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>循环</dt><dd id="cycleMode">外循环</dd></div>
-                <div><dt>A/C</dt><dd id="acState">关闭</dd></div>
-                <div><dt>前除霜</dt><dd id="defrostState">关闭</dd></div>
+                <div><dt>风量</dt><dd id="fanLevel">未知</dd></div>
+                <div><dt>循环</dt><dd id="cycleMode">未知</dd></div>
+                <div><dt>A/C</dt><dd id="acState">未知</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>动作</dt><dd id="shadeMotionState">停止</dd></div>
+                <div><dt>遮阳帘</dt><dd id="shadePositionValue">未知</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>室内/阅读灯</dt><dd id="interiorLightPower">关闭</dd></div>
-                <div><dt>氛围亮度</dt><dd id="ambientBrightness">0 / 0</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">未知</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>右前窗</dt><dd id="frontRightWindow">0%</dd></div>
-                <div><dt>左后窗</dt><dd id="rearLeftWindow">0%</dd></div>
-                <div><dt>右后窗</dt><dd id="rearRightWindow">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">未知</dd></div>
+                <div><dt>左后窗</dt><dd id="rearLeftWindow">未知</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>
-                <span class="device-state" id="frontLightState">OFF</span>
+                <div><strong>前大灯</strong><small>FB 0x38A · CH1</small></div>
+                <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>远光灯</dt><dd id="highBeamState">关闭</dd></div>
-                <div><dt>雾灯</dt><dd id="fogLightState">关闭</dd></div>
-                <div><dt>转向灯</dt><dd id="turnSignalState">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">未知</dd></div>
+                <div><dt>雾灯</dt><dd id="fogLightState">未知</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");
-    if (!badge) return;
-    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] });
+    notify("检测到前端更新，正在刷新页面");
+    registration.waiting?.postMessage({ type: "SKIP_WAITING" });
   }
 
   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/self-extension.js

@@ -718,7 +718,7 @@
   }
 
   function isPhysicalVehicleSource(value) {
-    return ["physical_can", "physical_can_ch0", "physical_can_ch1", "physical_partial"].includes(value);
+    return ["physical_can", "physical_can_ch0", "physical_can_ch1", "wireless_mqtt_ch0", "wireless_mqtt_ch1", "physical_partial"].includes(value);
   }
 
   function containsAuthoritativePhysicalCh1State(value) {

apps/web-console/service-worker.js

@@ -1,16 +1,16 @@
-const CACHE_VERSION = "cognitive-agent-pad-v178";
+const CACHE_VERSION = "cognitive-agent-pad-v210";
 const SHELL_CACHE = `${CACHE_VERSION}-shell`;
 const RUNTIME_CACHE = `${CACHE_VERSION}-runtime`;
 const APP_SHELL = [
   "/",
   "/index.html",
-  "/styles.css?v=dual-seat-9",
-  "/network.js?v=android-pad-1",
-  "/app.js?v=dual-seat-85",
-  "/gesture-control.js?v=android-pad-8",
-  "/pwa.js?v=android-pad-2",
-  "/console-v2.css?v=sync-layout-26",
-  "/console-v2.js?v=sync-layout-26",
+  "/styles.css?v=dual-seat-16",
+  "/network.js?v=android-pad-2",
+  "/app.js?v=dual-seat-107",
+  "/gesture-control.js?v=android-pad-9",
+  "/pwa.js?v=android-pad-3",
+  "/console-v2.css?v=sync-layout-41",
+  "/console-v2.js?v=task-outcome-47",
   "/self-extension.css?v=sync-layout-26",
   "/self-extension.js?v=sync-layout-26",
   "/assets/pets/self-extension-cat.png?v=3",

config/can_protocol/semantic_protocol.json

@@ -0,0 +1,433 @@
+{
+  "schema": "cognitive-agent-can-semantic-protocol/v1",
+  "version": "1.0.0",
+  "description": "Single source of truth for CAN0/CAN1 semantic commands and transport metadata. Frame encoders and feedback algorithms remain named special handlers when they require stateful closed-loop behavior.",
+  "channels": {
+    "0": {
+      "name": "passenger_seat_can",
+      "frame_format": "classic_can",
+      "bitrate": 500000
+    },
+    "1": {
+      "name": "vehicle_body_can",
+      "frame_format": "mixed",
+      "arbitration_bitrate": 500000,
+      "data_bitrate": 2000000
+    }
+  },
+  "rules": [
+    {
+      "id": "can0.seat.position",
+      "channel": 0,
+      "domain": "seat",
+      "capabilities": [
+        "seat.set_longitudinal_position",
+        "seat.set_cushion_tilt",
+        "seat.set_backrest_recline",
+        "seat.set_legrest_height"
+      ],
+      "help": "seat passenger <horizontal|basin|backrest|legrest> position <0-100>",
+      "patterns": [
+        [
+          {"literal": "seat"},
+          {"literal": "passenger"},
+          {"enum": "axis", "values": ["horizontal", "longitudinal", "basin", "height", "backrest", "legrest"]},
+          {"literal": "position"},
+          {"integer": "position_pct", "minimum": 0, "maximum": 100}
+        ]
+      ],
+      "frames": [
+        {
+          "key": "move",
+          "frame_id": "0x300",
+          "format": "classic_can",
+          "brs": false,
+          "dlc": 8,
+          "template_kind": "can0_motion_fields",
+          "base_payload_hex": "00 10 00 00 00 00 00 00",
+          "fields": {
+            "opcode": {"start_bit": 0, "bit_length": 8, "absolute": 1, "home_zero": 11},
+            "motor": {"start_bit": 8, "bit_length": 2, "values": {"horizontal": 0, "longitudinal": 0, "basin": 1, "height": 1, "backrest": 2, "legrest": 3}},
+            "protocol_version": {"start_bit": 12, "bit_length": 2, "constant": 1},
+            "sequence": {"start_bit": 16, "bit_length": 16, "runtime_allocated": true},
+            "param_a": {"start_bit": 32, "bit_length": 16, "scale": 100, "home_key": 19282},
+            "param_b": {"start_bit": 48, "bit_length": 16, "absolute_timeout_ms": 30000, "home_timeout_s": 120}
+          },
+          "repeat": {"kind": "fixed", "count": 1, "period_ms": 0},
+          "feedback_ids": ["0x301", "0x302"],
+          "feedback_policy": "ack_then_motor_terminal"
+        }
+      ],
+      "special_handler": "can0_absolute_position",
+      "evidence": "passenger_firmware_hil_verified"
+    },
+    {
+      "id": "can0.seat.relative",
+      "channel": 0,
+      "domain": "seat",
+      "capabilities": [
+        "seat.set_longitudinal_position",
+        "seat.set_cushion_tilt",
+        "seat.set_backrest_recline",
+        "seat.set_legrest_height"
+      ],
+      "help": "seat passenger <axis> relative <direction> <1-100>",
+      "patterns": [
+        [{"literal": "seat"}, {"literal": "passenger"}, {"enum": "axis", "values": ["horizontal", "longitudinal"]}, {"literal": "relative"}, {"enum": "direction", "values": ["forward", "backward"]}, {"integer": "delta_pct", "minimum": 1, "maximum": 100}],
+        [{"literal": "seat"}, {"literal": "passenger"}, {"enum": "axis", "values": ["basin", "height"]}, {"literal": "relative"}, {"enum": "direction", "values": ["up", "down"]}, {"integer": "delta_pct", "minimum": 1, "maximum": 100}],
+        [{"literal": "seat"}, {"literal": "passenger"}, {"literal": "backrest"}, {"literal": "relative"}, {"enum": "direction", "values": ["forward", "backward"]}, {"integer": "delta_pct", "minimum": 1, "maximum": 100}],
+        [{"literal": "seat"}, {"literal": "passenger"}, {"literal": "legrest"}, {"literal": "relative"}, {"enum": "direction", "values": ["up", "down"]}, {"integer": "delta_pct", "minimum": 1, "maximum": 100}]
+      ],
+      "frames": [
+        {
+          "key": "move",
+          "frame_id": "0x300",
+          "format": "classic_can",
+          "brs": false,
+          "dlc": 8,
+          "template_kind": "can0_relative_closed_loop_or_timed_fallback",
+          "base_payload_hex": "03 10 00 00 00 00 00 00",
+          "fields": {
+            "closed_loop_opcode": 1,
+            "timed_fallback_opcode": 3,
+            "timed_fallback_max_delta_pct": 15,
+            "direction_values": {"increase": 1, "decrease": 2}
+          },
+          "repeat": {"kind": "fixed", "count": 1, "period_ms": 0},
+          "feedback_ids": ["0x301", "0x302"],
+          "feedback_policy": "fresh_position_then_ack_then_motor_terminal"
+        }
+      ],
+      "special_handler": "can0_relative_position",
+      "evidence": "passenger_firmware_hil_verified"
+    },
+    {
+      "id": "can0.seat.thermal",
+      "channel": 0,
+      "domain": "seat",
+      "capabilities": ["seat.set_ventilation", "seat.set_heating"],
+      "help": "seat passenger <vent|heat> <off|low|medium|high>",
+      "patterns": [
+        [{"literal": "seat"}, {"literal": "passenger"}, {"enum": "feature", "values": ["vent", "heat"]}, {"enum": "level", "values": ["off", "low", "medium", "high"]}]
+      ],
+      "frames": [
+        {
+          "key": "thermal_mode",
+          "frame_id": "0x3CE",
+          "format": "classic_can",
+          "brs": false,
+          "dlc": 8,
+          "template_kind": "can0_heating_mode_optional",
+          "base_payload_hex": "10 00 00 00 00 00 00 00",
+          "repeat": {"kind": "fixed", "count": 1, "period_ms": 0},
+          "feedback_ids": ["0x4FA"],
+          "optional_when": "heating_on"
+        },
+        {
+          "key": "thermal_control",
+          "frame_id": "0x29E",
+          "format": "classic_can",
+          "brs": false,
+          "dlc": 8,
+          "template_kind": "can0_thermal_bit_fields",
+          "base_payload_hex": "00 00 00 00 00 00 00 00",
+          "repeat": {"kind": "fixed", "count": 1, "period_ms": 0},
+          "feedback_ids": ["0x4FA"],
+          "feedback_policy": "thermal_state_match"
+        }
+      ],
+      "special_handler": "can0_thermal_preserve_peer_feature",
+      "evidence": "passenger_firmware_hil_verified"
+    },
+    {
+      "id": "can0.seat.dynamic",
+      "channel": 0,
+      "domain": "seat",
+      "capabilities": ["seat.start_dynamic_mode", "seat.stop_dynamic_mode"],
+      "help": "seat passenger dynamic <rocking-horse|cradle|stop>",
+      "patterns": [
+        [{"literal": "seat"}, {"literal": "passenger"}, {"literal": "dynamic"}, {"enum": "mode", "values": ["rocking-horse", "cradle", "stop"]}],
+        [{"literal": "seat"}, {"literal": "passenger"}, {"literal": "dynamic"}, {"literal": "start"}, {"enum": "mode", "values": ["rocking-horse", "cradle"]}]
+      ],
+      "frames": [
+        {
+          "key": "dynamic",
+          "frame_id": "0x300",
+          "format": "classic_can",
+          "brs": false,
+          "dlc": 8,
+          "template_kind": "can0_dynamic_fields",
+          "base_payload_hex": "0E 10 00 00 00 00 00 00",
+          "fields": {"start_opcode": 14, "stop_opcode": 15, "mode_values": {"rocking-horse": 1, "cradle": 2, "stop": 0}},
+          "repeat": {"kind": "fixed", "count": 1, "period_ms": 0},
+          "feedback_ids": ["0x301", "0x306"],
+          "feedback_policy": "ack_then_dynamic_state"
+        }
+      ],
+      "special_handler": "can0_dynamic_mode",
+      "evidence": "passenger_firmware_hil_verified"
+    },
+    {
+      "id": "can1.door.rear_lock",
+      "channel": 1,
+      "domain": "door",
+      "capabilities": ["door.set_rear_lock"],
+      "help": "door rear <lock|unlock>",
+      "patterns": [[{"literal": "door"}, {"literal": "rear"}, {"enum": "state", "values": ["lock", "unlock"]}]],
+      "frames": [{"key": "command", "frame_id": "0x32B", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "bit_fields", "base_payload_hex": "0A 00 00 00 00 00 00 00", "fields": {"state": {"start_bit": 14, "bit_length": 2, "values": {"lock": 1, "unlock": 2}}}, "repeat": {"kind": "fixed", "count": 1, "period_ms": 0}, "feedback_ids": ["0x407"], "feedback_policy": "rear_lock_state_match"}],
+      "evidence": "matrix_candidate_with_feedback"
+    },
+    {
+      "id": "can1.window.motion",
+      "channel": 1,
+      "domain": "window",
+      "capabilities": ["window.set_motion"],
+      "help": "window <all|front|rear|front-left|front-right|rear-left|rear-right> <open|close|stop>",
+      "patterns": [[{"literal": "window"}, {"enum": "target", "values": ["all", "front", "rear", "front-left", "front-right", "rear-left", "rear-right"]}, {"enum": "motion", "values": ["open", "close", "stop"]}]],
+      "frames": [{"key": "command", "frame_id": "0x431", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "window_motion_bit_fields", "base_payload_hex": "00 00 00 00 00 00 00 00", "fields": {"starts": [48, 56, 51, 59], "motion_values": {"open": 1, "close": 2, "stop": 3}}, "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x388"], "feedback_policy": "window_state_match"}],
+      "evidence": "vehicle_trace_verified"
+    },
+    {
+      "id": "can1.window.position",
+      "channel": 1,
+      "domain": "window",
+      "capabilities": ["window.set_position"],
+      "help": "window <front-left|front-right|rear-left|rear-right> position <0-100>",
+      "patterns": [[{"literal": "window"}, {"enum": "target", "values": ["front-left", "front-right", "rear-left", "rear-right"]}, {"literal": "position"}, {"integer": "position_pct", "minimum": 0, "maximum": 100}]],
+      "frames": [{"key": "command", "frame_id": "0x431", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "window_feedback_closed_loop", "base_payload_hex": "00 00 00 00 00 00 00 00", "repeat": {"kind": "special", "count": 1, "period_ms": 0}, "feedback_ids": ["0x388"], "feedback_policy": "fresh_position_then_motion_then_stop"}],
+      "special_handler": "window_position"
+    },
+    {
+      "id": "can1.climate.power",
+      "channel": 1,
+      "domain": "climate",
+      "capabilities": ["climate.set_power", "climate.set_ac"],
+      "help": "ac <on|off>",
+      "patterns": [[{"literal": "ac"}, {"enum": "state", "values": ["on", "off"]}]],
+      "frames": [{"key": "command", "frame_id": "0x1DE", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "bit_fields", "base_payload_hex": "00 00 00 00 00 00 00 00", "fields": {"state": {"start_bit": 28, "bit_length": 2, "values": {"on": 1, "off": 2}}}, "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x404"], "feedback_policy": "climate_power_match"}],
+      "evidence": "matrix_and_vehicle_trace_verified"
+    },
+    {
+      "id": "can1.climate.fan",
+      "channel": 1,
+      "domain": "climate",
+      "capabilities": ["climate.set_fan_level"],
+      "help": "ac fan <1-7>",
+      "patterns": [[{"literal": "ac"}, {"literal": "fan"}, {"integer": "level", "minimum": 1, "maximum": 7}]],
+      "frames": [{"key": "command", "frame_id": "0x1DE", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "bit_fields", "base_payload_hex": "00 00 00 00 00 00 00 00", "fields": {"level": {"start_bit": 4, "bit_length": 4}}, "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x404"], "feedback_policy": "climate_fan_match"}],
+      "evidence": "matrix_and_vehicle_trace_verified"
+    },
+    {
+      "id": "can1.climate.mode",
+      "channel": 1,
+      "domain": "climate",
+      "capabilities": ["climate.set_outlet_mode"],
+      "help": "ac mode <face|face-feet|feet|feet-defrost|defrost|face-feet-defrost|face-defrost>",
+      "patterns": [[{"literal": "ac"}, {"literal": "mode"}, {"enum": "mode", "values": ["face", "face-feet", "feet", "feet-defrost", "defrost", "face-feet-defrost", "face-defrost"]}]],
+      "frames": [{"key": "command", "frame_id": "0x1DE", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "bit_fields", "base_payload_hex": "00 00 00 00 00 00 00 00", "fields": {"mode": {"start_bit": 0, "bit_length": 4, "values": {"face": 1, "face-feet": 2, "feet": 3, "feet-defrost": 4, "defrost": 5, "face-feet-defrost": 6, "face-defrost": 7}}}, "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x404"], "feedback_policy": "climate_mode_match"}],
+      "evidence": "matrix_and_vehicle_trace_verified"
+    },
+    {
+      "id": "can1.climate.temperature",
+      "channel": 1,
+      "domain": "climate",
+      "capabilities": ["climate.set_temperature"],
+      "help": "ac temp <driver|passenger|rear> <18-32>",
+      "patterns": [[{"literal": "ac"}, {"literal": "temp"}, {"enum": "target", "values": ["driver", "passenger", "rear"]}, {"integer": "temperature_c", "minimum": 18, "maximum": 32}]],
+      "frames": [
+        {"key": "front", "frame_id": "0x1DE", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "climate_temperature", "base_payload_hex": "00 00 00 00 00 00 00 00", "fields": {"starts": {"driver": 32, "passenger": 40}}, "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x404"], "feedback_policy": "climate_temperature_match"},
+        {"key": "rear", "frame_id": "0x1DE", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "climate_temperature", "base_payload_hex": "00 00 00 00 00 00 00 00", "fields": {"starts": {"rear": 48}}, "repeat": {"kind": "fixed", "count": 1, "period_ms": 100}, "feedback_ids": ["0x404"], "feedback_policy": "climate_temperature_match"}
+      ],
+      "evidence": "matrix_and_vehicle_trace_verified"
+    },
+    {
+      "id": "can1.climate.control",
+      "channel": 1,
+      "domain": "climate",
+      "capabilities": ["climate.set_control_mode"],
+      "help": "ac control <manual|auto>",
+      "patterns": [[{"literal": "ac"}, {"literal": "control"}, {"enum": "mode", "values": ["manual", "auto"]}]],
+      "frames": [{"key": "command", "frame_id": "0x1DE", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "bit_fields", "base_payload_hex": "00 00 00 00 00 00 00 00", "fields": {"mode": {"start_bit": 16, "bit_length": 2, "values": {"manual": 1, "auto": 2}}}, "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x404"], "feedback_policy": "climate_control_match"}],
+      "evidence": "matrix_and_vehicle_trace_verified"
+    },
+    {
+      "id": "can1.climate.cycle",
+      "channel": 1,
+      "domain": "climate",
+      "capabilities": ["climate.set_cycle_mode"],
+      "help": "ac cycle <internal|external>",
+      "patterns": [[{"literal": "ac"}, {"literal": "cycle"}, {"enum": "mode", "values": ["internal", "external"]}]],
+      "frames": [{"key": "command", "frame_id": "0x1DE", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "bit_fields", "base_payload_hex": "00 00 00 00 00 00 00 00", "fields": {"mode": {"start_bit": 19, "bit_length": 2, "values": {"internal": 1, "external": 2}}}, "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x404"], "feedback_policy": "climate_cycle_match"}],
+      "evidence": "matrix_and_vehicle_trace_verified"
+    },
+    {
+      "id": "can1.outlet.switch",
+      "channel": 1,
+      "domain": "outlet",
+      "capabilities": ["outlet.set_switch_state"],
+      "help": "outlet <driver-left|driver-right|passenger-left|passenger-right> <open|close>",
+      "patterns": [[{"literal": "outlet"}, {"enum": "target", "values": ["driver-left", "driver-right", "passenger-left", "passenger-right"]}, {"enum": "state", "values": ["open", "close"]}]],
+      "frames": [{
+        "key": "command", "frame_id": "0x4EF", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "static_variant", "base_payload_hex": "00 00 00 00 00 00 00 00",
+        "payload_variants": {
+          "driver-left:open": "02 FF FF FF FF 01 FF FF",
+          "driver-left:close": "02 FF FF FF FF 02 FF FF",
+          "driver-right:open": "02 FF FF FF FF 04 FF FF",
+          "driver-right:close": "02 FF FF FF FF 08 FF FF",
+          "passenger-left:open": "03 FF FF FF FF 01 00 00",
+          "passenger-left:close": "03 FF FF FF FF 02 00 00",
+          "passenger-right:open": "03 FF FF FF FF 04 00 00",
+          "passenger-right:close": "03 FF FF FF FF 08 00 00"
+        },
+        "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x4BB", "0x37B"], "feedback_policy": "outlet_switch_state_match"
+      }],
+      "evidence": "vehicle_differential_trace_verified"
+    },
+    {
+      "id": "can1.outlet.percent",
+      "channel": 1,
+      "domain": "outlet",
+      "capabilities": ["outlet.set_position_percent"],
+      "help": "outlet <target> percent <0-100> <0-100>",
+      "patterns": [[{"literal": "outlet"}, {"enum": "target", "values": ["driver-left", "driver-right", "passenger-left", "passenger-right"]}, {"literal": "percent"}, {"integer": "horizontal_pct", "minimum": 0, "maximum": 100}, {"integer": "vertical_pct", "minimum": 0, "maximum": 100}]],
+      "frames": [{"key": "command", "frame_id": "0x4EF", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "outlet_calibrated_coordinates", "base_payload_hex": "00 FF FF FF FF 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x2F5", "0x37B"], "feedback_policy": "outlet_position_match"}],
+      "special_handler": "outlet_percent_to_calibrated_position"
+    },
+    {
+      "id": "can1.outlet.position",
+      "channel": 1,
+      "domain": "outlet",
+      "capabilities": ["outlet.set_calibrated_position"],
+      "help": "outlet <target> position <-128..126> <-128..126>",
+      "patterns": [[{"literal": "outlet"}, {"enum": "target", "values": ["driver-left", "driver-right", "passenger-left", "passenger-right"]}, {"literal": "position"}, {"integer": "horizontal_value", "minimum": -128, "maximum": 126}, {"integer": "vertical_value", "minimum": -128, "maximum": 126}]],
+      "frames": [{"key": "command", "frame_id": "0x4EF", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "outlet_calibrated_coordinates", "base_payload_hex": "00 FF FF FF FF 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x2F5", "0x37B"], "feedback_policy": "outlet_position_match"}],
+      "special_handler": "outlet_calibrated_position"
+    },
+    {
+      "id": "can1.seat.driver_thermal",
+      "channel": 1,
+      "domain": "seat",
+      "capabilities": ["seat.set_driver_ventilation_native", "seat.set_driver_heating_native"],
+      "help": "seat driver <vent|heat> <off|low|high>",
+      "patterns": [[{"literal": "seat"}, {"literal": "driver"}, {"enum": "feature", "values": ["vent", "heat"]}, {"enum": "level", "values": ["off", "low", "high"]}]],
+      "frames": [{"key": "command", "frame_id": "0x431", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "driver_seat_thermal", "base_payload_hex": "00 00 00 00 00 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x4FA"], "feedback_policy": "driver_seat_thermal_match"}],
+      "evidence": "vehicle_trace_verified"
+    },
+    {
+      "id": "can1.seat.driver_massage",
+      "channel": 1,
+      "domain": "seat",
+      "capabilities": ["seat.set_driver_massage_native"],
+      "help": "seat driver massage <off|strength weak|medium|strong|mode wave|pulse|stretch|slack|relax>",
+      "patterns": [
+        [{"literal": "seat"}, {"literal": "driver"}, {"literal": "massage"}, {"literal": "off"}],
+        [{"literal": "seat"}, {"literal": "driver"}, {"literal": "massage"}, {"literal": "strength"}, {"enum": "strength", "values": ["weak", "medium", "strong"]}],
+        [{"literal": "seat"}, {"literal": "driver"}, {"literal": "massage"}, {"literal": "mode"}, {"enum": "mode", "values": ["wave", "pulse", "stretch", "slack", "relax"]}]
+      ],
+      "frames": [{"key": "command", "frame_id": "0x4C1", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "driver_seat_massage", "base_payload_hex": "12 00 00 00 00 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x4FA"], "feedback_policy": "driver_seat_massage_match"}],
+      "evidence": "vehicle_trace_verified"
+    },
+    {
+      "id": "can1.seat.driver_axis",
+      "channel": 1,
+      "domain": "seat",
+      "capabilities": ["seat.set_driver_axis_native"],
+      "help": "seat driver <horizontal|height|backrest|basin> <direction|stop> [100-2000]",
+      "patterns": [
+        [{"literal": "seat"}, {"literal": "driver"}, {"enum": "axis", "values": ["horizontal", "backrest"]}, {"enum": "direction", "values": ["forward", "backward"]}],
+        [{"literal": "seat"}, {"literal": "driver"}, {"enum": "axis", "values": ["horizontal", "backrest"]}, {"enum": "direction", "values": ["forward", "backward"]}, {"integer": "duration_ms", "minimum": 100, "maximum": 2000}],
+        [{"literal": "seat"}, {"literal": "driver"}, {"enum": "axis", "values": ["height", "basin"]}, {"enum": "direction", "values": ["up", "down"]}],
+        [{"literal": "seat"}, {"literal": "driver"}, {"enum": "axis", "values": ["height", "basin"]}, {"enum": "direction", "values": ["up", "down"]}, {"integer": "duration_ms", "minimum": 100, "maximum": 2000}],
+        [{"literal": "seat"}, {"literal": "driver"}, {"enum": "axis", "values": ["horizontal", "height", "backrest", "basin"]}, {"literal": "stop"}]
+      ],
+      "frames": [
+        {"key": "motion", "frame_id": "0x4C1", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "driver_seat_axis", "base_payload_hex": "05 00 00 00 00 00 00 00", "repeat": {"kind": "duration_ceiling", "count": 0, "period_ms": 100, "default_duration_ms": 500}, "feedback_ids": ["0x494"], "feedback_policy": "activity_then_forced_stop"},
+        {"key": "stop", "frame_id": "0x4C1", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "static", "base_payload_hex": "05 00 00 00 00 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x494"], "feedback_policy": "submitted_stop"}
+      ],
+      "special_handler": "driver_seat_axis"
+    },
+    {
+      "id": "can1.seat.driver_memory",
+      "channel": 1,
+      "domain": "seat",
+      "capabilities": ["seat.set_driver_position_native", "seat.recall_driver_memory_native"],
+      "help": "seat driver position <1-3> | seat driver memory recall <1-3>",
+      "patterns": [
+        [{"literal": "seat"}, {"literal": "driver"}, {"literal": "position"}, {"integer": "slot", "minimum": 1, "maximum": 3}],
+        [{"literal": "seat"}, {"literal": "driver"}, {"literal": "memory"}, {"literal": "recall"}, {"integer": "slot", "minimum": 1, "maximum": 3}]
+      ],
+      "frames": [{"key": "sequence", "frame_id": "0x4C1", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "learned_driver_memory_pair", "base_payload_hex": "16 00 00 00 00 00 00 00", "repeat": {"kind": "sequence", "count": 20, "period_ms": 50}, "feedback_ids": ["0x494"], "feedback_policy": "fresh_initialized_status_then_post_status"}],
+      "special_handler": "driver_seat_memory_recall"
+    },
+    {
+      "id": "can1.light.indoor",
+      "channel": 1,
+      "domain": "light",
+      "capabilities": ["interior_light.set_indoor_power"],
+      "help": "light indoor <on|off>",
+      "patterns": [[{"literal": "light"}, {"literal": "indoor"}, {"enum": "state", "values": ["on", "off"]}]],
+      "frames": [{"key": "command", "frame_id": "0x4F5", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "reading_light_all", "base_payload_hex": "00 00 03 FF FF 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x42E"], "feedback_policy": "indoor_light_match"}],
+      "evidence": "vehicle_trace_verified"
+    },
+    {
+      "id": "can1.light.reading_all",
+      "channel": 1,
+      "domain": "light",
+      "capabilities": ["interior_light.set_reading_power"],
+      "help": "light reading all <on|off>",
+      "patterns": [[{"literal": "light"}, {"literal": "reading"}, {"literal": "all"}, {"enum": "state", "values": ["on", "off"]}]],
+      "frames": [{"key": "command", "frame_id": "0x4F5", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "reading_light_all", "base_payload_hex": "00 00 03 FF FF 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x42E"], "feedback_policy": "indoor_light_match"}],
+      "evidence": "vehicle_trace_verified"
+    },
+    {
+      "id": "can1.light.ambient_power",
+      "channel": 1,
+      "domain": "light",
+      "capabilities": ["ambient_light.set_power"],
+      "help": "light ambient <on|off>",
+      "patterns": [[{"literal": "light"}, {"literal": "ambient"}, {"enum": "state", "values": ["on", "off"]}]],
+      "frames": [{"key": "command", "frame_id": "0x3FC", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "static_variant", "base_payload_hex": "00 00 00 00 00 00 00 00", "payload_variants": {"on": "00 36 00 75 00 80 00 00", "off": "00 31 00 75 00 80 00 00"}, "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x42E"], "feedback_policy": "ambient_power_match"}],
+      "evidence": "vehicle_trace_verified"
+    },
+    {
+      "id": "can1.light.ambient_color",
+      "channel": 1,
+      "domain": "light",
+      "capabilities": ["ambient_light.set_color_index"],
+      "help": "light ambient color <1-127>",
+      "patterns": [[{"literal": "light"}, {"literal": "ambient"}, {"literal": "color"}, {"integer": "color_index", "minimum": 1, "maximum": 127}]],
+      "frames": [{"key": "command", "frame_id": "0x3FC", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "ambient_color", "base_payload_hex": "00 30 00 75 00 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x42E"], "feedback_policy": "ambient_color_match"}],
+      "evidence": "vehicle_trace_verified"
+    },
+    {
+      "id": "can1.light.ambient_brightness",
+      "channel": 1,
+      "domain": "light",
+      "capabilities": ["ambient_light.set_brightness_level"],
+      "help": "light ambient brightness <1-5>",
+      "patterns": [[{"literal": "light"}, {"literal": "ambient"}, {"literal": "brightness"}, {"integer": "brightness_level", "minimum": 1, "maximum": 5}]],
+      "frames": [{"key": "command", "frame_id": "0x3FC", "format": "can_fd", "brs": true, "dlc": 8, "template_kind": "ambient_brightness", "base_payload_hex": "00 30 00 75 00 00 00 00", "repeat": {"kind": "fixed", "count": 3, "period_ms": 100}, "feedback_ids": ["0x42E"], "feedback_policy": "ambient_brightness_match"}],
+      "evidence": "vehicle_trace_verified"
+    },
+    {
+      "id": "can1.shade.motion",
+      "channel": 1,
+      "domain": "roof",
+      "capabilities": ["roof.set_shade_motion"],
+      "help": "shade <open|close|half|stop>",
+      "patterns": [[{"literal": "shade"}, {"enum": "motion", "values": ["open", "close", "half", "stop"]}]],
+      "frames": [{"key": "command", "frame_id": "0x431", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "static_variant", "base_payload_hex": "00 00 00 00 00 00 00 00", "payload_variants": {"open": "10 00 00 00 00 00 00 00", "close": "20 00 00 00 00 00 00 00", "half": "30 00 00 00 00 00 00 00", "stop": "40 00 00 00 00 00 00 00"}, "repeat": {"kind": "fixed", "count": 1, "period_ms": 0}, "feedback_ids": ["0x41A"], "feedback_policy": "shade_position_or_stop_submission"}],
+      "special_handler": "shade_preset"
+    },
+    {
+      "id": "can1.shade.position",
+      "channel": 1,
+      "domain": "roof",
+      "capabilities": ["roof.set_shade_position"],
+      "help": "shade position <0-100>",
+      "patterns": [[{"literal": "shade"}, {"literal": "position"}, {"integer": "position_pct", "minimum": 0, "maximum": 100}]],
+      "frames": [{"key": "command", "frame_id": "0x431", "format": "classic_can", "brs": false, "dlc": 8, "template_kind": "shade_feedback_closed_loop", "base_payload_hex": "40 00 00 00 00 00 00 00", "repeat": {"kind": "special", "count": 1, "period_ms": 0}, "feedback_ids": ["0x41A"], "feedback_policy": "fresh_position_then_motion_then_stop"}],
+      "special_handler": "shade_position"
+    }
+  ]
+}

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/environments/linux_wired_dual_channel.example.env

@@ -0,0 +1,24 @@
+# Linux USBCANFD-200U wired dual-channel N7 runtime.
+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_WIRED_PASSENGER_CAN_ENABLED=true
+COGNITIVE_AGENT_SEAT_CAN_BACKEND=zlgcan-linux
+COGNITIVE_AGENT_SEAT_CAN_CHANNEL=0
+COGNITIVE_AGENT_SEAT_CAN_BITRATE=500000
+COGNITIVE_AGENT_SEAT_CAN_TERMINATION_ENABLED=false
+COGNITIVE_AGENT_SEAT_AUTO_FLASH_ENABLED=false
+COGNITIVE_AGENT_SEAT_POSITION_SYNC_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 supervised bench only. Keep token approval enabled for shared/remote use.
+COGNITIVE_AGENT_HARDWARE_APPROVAL_TOKEN_REQUIRED=false