优化无线/有线CAN，以及控制指令解析

.gitignore

@@ -4,10 +4,27 @@
 __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/
+artifacts/hil/*_server_*.log
+artifacts/hil/frontend_service_*.log
+tmp/can-matrix-artifact/
+tmp/reference-project-code-CAN_DEV/
+firmware/t2g/Seat_Controller_demo/IAR/settings/
+firmware/t2g/Seat_Controller_demo/IAR/Seat_Controller_demo.eww
+firmware/t2g/Seat_Controller_demo/IAR/rev_d/.Seat_Controller_demo_build_cache
+firmware/t2g/Seat_Controller_demo/IAR/rev_d/.ninja_deps
+firmware/t2g/Seat_Controller_demo/IAR/rev_d/.ninja_log
+firmware/t2g/Seat_Controller_demo/IAR/rev_d/BrowseInfo/
+firmware/t2g/Seat_Controller_demo/IAR/rev_d/List/
+firmware/t2g/Seat_Controller_demo/IAR/rev_d/Obj/
 firmware/t2g/tviibh8m/src/examples/crypto/ClientRunsOnCM7_0/RSA/key_data/private_key*.pem

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

@@ -77,6 +77,8 @@ artifacts/runs/<request_id>/
 
 ## 可执行领域
 
+座椅与空调等车身设备使用同一 ZLG CAN 盒双通道联动时，参见 [T2G 座椅与车身双通道 CAN 联动](docs/workflows/t2g-cabin-dual-channel-can.md)。
+
 当前已接入四个相互隔离的可执行领域：
 
 - 座椅：所有热管理、位置移动和姿态预设能力仅面向副驾；未指定座位时默认副驾，显式主驾请求拒绝执行。
@@ -111,6 +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`。
@@ -134,4 +151,4 @@ PYTHONPATH=src python -m cognitive_agent.auth generate-secret
 
 完整能力边界、矩阵解释和验收用例见 [座椅阶段一交付](docs/workflows/seat-stage1-delivery.md)。
 
-已验证的 T2G 加热、通风和四电机能力已完整纳入 `firmware/t2g`，包括 IAR 工程及仓库内 `common/tviibh8m` 构建依赖。M0/M1/M2/M3 分别对应水平、坐盆、靠背和腿托；真实硬件请求先被动核对新版周期反馈与 480/374/917/647 Hall 量程，未检测到匹配固件时默认通过 IAR C-SPY 自动烧写并复验，再发送 CAN 并等待真实回读。当前前端、能力注册、编译、安全门禁和状态反馈只允许副驾 `passenger/front_right`；固件中的 `Driver_Seat_*` 仅是板端既有协议字段名。构建、ZLG bridge、接线、安全门禁、前端测试集和已知量程归零见 [T2G 座椅真实硬件台架接入](docs/workflows/t2g-seat-hardware-bench.md) 与 [前端能力测试集](docs/testing/t2g-seat-frontend-test-suite.md)。
+已验证的 T2G 加热、通风、四电机和原生动态模式能力已完整纳入 `firmware/t2g`，包括 IAR 工程及仓库内 `common/tviibh8m` 构建依赖。M0/M1/M2/M3 分别对应水平、坐盆、靠背和腿托；revision 13通过`0x306`反馈带斜向耦合补偿的木马模式与四轴全程联动动态摇篮的阶段/循环状态。木马模式围绕中间姿态在`[270,250,460,400]`和`[370,130,540,460]`之间连续俯仰往复：坐盆峰峰行程120 Hall、约18 mm垂直分量，水平峰峰行程100 Hall、90%巡航Duty，用额外水平行程抵消坐盆斜向运动约16.4 mm的反向水平分量；参数集中在`seat_dynamic_mode_config.h`并由N7长期库镜像。动态模式收到一次启动命令后由ECU连续循环，收到停止/全停命令或累计运行10分钟时停止；目标到位式阶段在底层堵转/无运动保护继续生效的前提下使用独立保护窗口。真实硬件请求先被动核对新版周期反馈与 480/374/917/647 Hall 量程，未检测到匹配固件时默认通过 IAR C-SPY 自动烧写并复验，再发送 CAN 并等待真实回读。当前前端、能力注册、编译、安全门禁和状态反馈只允许副驾 `passenger/front_right`；固件中的 `Driver_Seat_*` 仅是板端既有协议字段名。构建、ZLG bridge、接线、安全门禁、前端测试集和已知量程归零见 [T2G 座椅真实硬件台架接入](docs/workflows/t2g-seat-hardware-bench.md) 与 [前端能力测试集](docs/testing/t2g-seat-frontend-test-suite.md)。

apps/web-console/README.md

@@ -1,13 +1,15 @@
 # Web Console
 
-Web 控制台提供一句话、快捷功能模式与手势控制入口，不在浏览器中生成 CAN。所有动作统一提交给后端编排、配置校验、安全门禁和执行链路。
+Web 控制台是车机端的远程自编排与同步显示界面。网页保留一句话指令和预设功能模式入口，请求通过同源服务发送至车机执行；同时同步显示车机任务、编排结果、设备反馈和 USB 扩展能力。真实 CAN 与硬件执行权限仍由服务端安全门禁控制。
 
 当前页面包括：
 
-- 一句话联动座椅、空调、天幕和氛围灯，支持 Enter 执行和 GPT/本地规则切换。
-- 观影、午休、零重力快捷模式，以及当前副驾驶姿态的命名保存入口。
-- 六阶段执行链路、整车联合孪生、领域状态、配置、CAN 计划和执行结果。
-- 右侧手势控制抽屉，包含摄像头画面、关键点骨架、保持进度、动作速查与自定义映射。
+- 自编排和自扩展合并为一个实时界面，登录身份固定为 `user`，不再提供模块切换。
+- 网页端可输入一句话指令或点击预设模式，车机端同样可发起任务；两端任务与结果统一同步。
+- 整车数字孪生位于工作区中央，点击或悬停热点可查看车窗、遮阳帘、主/副驾座椅、阅读灯、氛围灯、前大灯和空调的完整状态。
+- 车端设备状态与外设能力板块均可独立隐藏或恢复，面板状态在当前浏览器会话中保留。
+- USB 外设接入后同步显示 GSCU 链路、外设名称、类型、已学习能力和最近一次跨设备联动。
+- 左侧运行日志集中显示网页/车机任务、链路、设备与外设同步事件。
 
 UI 只展示可审计的“决策摘要”和“处理轨迹”，不展示模型私有思维过程。
 
@@ -39,6 +41,25 @@ make dev-lan
 
 其他设备访问启动日志打印的 `http://<LAN-IP>:8000`。页面与后端 API 由同一服务提供，无需单独配置前端地址。
 
+自扩展接口统一位于 `/api/extension/*`，GSCU1B 默认以 TCP 模式监听
+`0.0.0.0:4444`。可通过 `GSCU_TRANSPORT=simulation` 使用演示学习器，或通过
+`GSCU_TRANSPORT=mqtt` 与 `GSCU_MQTT_*` 配置接入 MQTT。MQTT 依赖可通过
+项目的 `ir` 可选依赖安装。自扩展不再需要独立的 `8010` 前端服务。
+
+TCP 模式下本服务是服务器，GSCU1B 是客户端：设备配网页中的“TCP服务器”
+必须填写运行本服务的主机地址，“TCP端口”必须与 `GSCU_TCP_PORT` 一致。
+如需绑定指定网卡地址，可设置 `GSCU_TCP_LISTEN_HOST`；网卡晚于服务就绪或
+端口被短暂占用时，监听器会按 `GSCU_TCP_BIND_RETRY_SECONDS`（默认 1 秒）
+自动重试。`/api/extension/health` 的 `listening` 表示服务器已监听，只有收到
+真实设备会话后 `connected`/`peer_connected` 才会变为 `true`。
+
+车机与网页同步使用以下同源接口：
+
+- `GET /api/vehicle-display-sync`：网页轮询最新车机任务、结果、外设目录与扩展链路状态。
+- `POST /api/requests`：车机执行时附带 `client_type: "head_unit"`；网页控制台附带 `client_type: "web_console"`。两类任务的执行结果都会写入同步快照。
+- `POST /api/extension/display-sync`：车机刚识别 USB 外设时上报 `device` 与 `peripherals` 能力目录，无需等待首次执行。
+- `POST /api/extension/assistant/plan` 和 `/api/extension/vehicle/execute`：联动规划与车端执行结果同样写入同步快照。
+
 公网入口由后端统一认证，前端不保存密码或 API Key。未认证访问自动进入
 `/login`，主控制台提供退出按钮。固定入口是
 `https://511.kendeji.fun`，应用容器只监听服务器回环地址，再由 Caddy 提供

apps/web-console/gesture-control.js

@@ -55,6 +55,12 @@ const state = {
   customMapping: loadCustomMapping(),
   customizeOpen: false,
   engine: null,
+  runtimeReady: false,
+  enabled: true,
+  disabledReason: "",
+  cameraStatus: "checking",
+  cameraMessage: "正在检测摄像头…",
+  cameraCheckSequence: 0,
 };
 
 const $ = (selector) => document.querySelector(selector);
@@ -80,6 +86,92 @@ function notify(message) {
   window.setTimeout(() => toast.classList.remove("visible"), 2600);
 }
 
+function cameraFailureDetails(error) {
+  if (!navigator.mediaDevices?.getUserMedia) {
+    return window.isSecureContext === false
+      ? { status: "unsupported", message: "当前页面不是安全连接，浏览器已阻止摄像头访问" }
+      : { status: "unsupported", message: "当前浏览器不支持摄像头访问" };
+  }
+  switch (error?.name) {
+    case "NotFoundError":
+    case "DevicesNotFoundError":
+      return { status: "unavailable", message: "未检测到可用摄像头" };
+    case "NotAllowedError":
+    case "PermissionDeniedError":
+    case "SecurityError":
+      return { status: "blocked", message: "摄像头权限被拒绝，请在浏览器设置中允许访问" };
+    case "NotReadableError":
+    case "TrackStartError":
+      return { status: "busy", message: "摄像头正被其他程序占用或暂时不可用" };
+    case "OverconstrainedError":
+    case "ConstraintNotSatisfiedError":
+      return { status: "incompatible", message: "摄像头不支持当前画面参数" };
+    case "AbortError":
+      return { status: "unknown", message: "摄像头启动被中断，请重试" };
+    default:
+      return { status: "unknown", message: error?.message || "摄像头启动失败" };
+  }
+}
+
+function syncCameraButtonAvailability() {
+  const button = $("#gestureStartButton");
+  if (!button || state.stream) return;
+  button.disabled = !state.enabled
+    || !state.runtimeReady
+    || ["checking", "unavailable", "unsupported"].includes(state.cameraStatus);
+}
+
+function setCameraAvailability(status, message, { announce = true } = {}) {
+  state.cameraStatus = status;
+  state.cameraMessage = message;
+  $("#gestureDrawer")?.setAttribute("data-camera-status", status);
+  syncCameraButtonAvailability();
+  if (announce && !state.stream) $("#gestureSafetyText").textContent = message;
+}
+
+async function refreshCameraAvailability({ announce = true } = {}) {
+  if (!navigator.mediaDevices?.enumerateDevices || !navigator.mediaDevices?.getUserMedia) {
+    const failure = cameraFailureDetails();
+    setCameraAvailability(failure.status, failure.message, { announce });
+    return false;
+  }
+
+  const checkSequence = ++state.cameraCheckSequence;
+  if (!state.stream) setCameraAvailability("checking", "正在检测摄像头…", { announce });
+  try {
+    const devices = await navigator.mediaDevices.enumerateDevices();
+    if (checkSequence !== state.cameraCheckSequence) return state.cameraStatus === "available";
+    const available = devices.some((device) => device.kind === "videoinput");
+    setCameraAvailability(
+      available ? "available" : "unavailable",
+      available ? "已检测到摄像头，点击开启开始识别" : "未检测到可用摄像头",
+      { announce },
+    );
+    return available;
+  } catch (error) {
+    if (checkSequence !== state.cameraCheckSequence) return state.cameraStatus === "available";
+    const failure = cameraFailureDetails(error);
+    const message = failure.status === "blocked"
+      ? "尚未获得摄像头权限，可点击开启并在浏览器中授权"
+      : "暂时无法检测摄像头，可点击开启时再次确认";
+    setCameraAvailability("unknown", message, { announce });
+    return null;
+  }
+}
+
+async function handleCameraDeviceChange() {
+  const streamWasActive = Boolean(state.stream);
+  const available = await refreshCameraAvailability({ announce: !streamWasActive });
+  const streamStillLive = state.stream?.getVideoTracks().some((track) => track.readyState === "live");
+  if (streamWasActive && (available === false || !streamStillLive)) {
+    const message = available === false
+      ? "摄像头连接已断开，未检测到其他可用摄像头"
+      : "当前摄像头连接已断开，请重新开启摄像头";
+    stopCamera({ message });
+    notify(message);
+  }
+}
+
 function distance(a, b) {
   return Math.hypot(a.x - b.x, a.y - b.y);
 }
@@ -386,7 +478,6 @@ function updateEngineUI(engine, message) {
   pill.className = `gesture-state-pill ${engine.armed ? (engine.currentAction ? "moving" : "armed") : "idle"}`;
   pill.querySelector("b").textContent = engine.armed ? (engine.currentAction ? "执行中" : "已激活") : "已锁止";
   $("#gestureSafetyText").textContent = message;
-  $("#gestureArmButton").textContent = engine.armed ? "已激活" : "激活控制";
 }
 
 function executeGestureAction(action) {
@@ -497,6 +588,8 @@ async function startCamera() {
   const button = $("#gestureStartButton");
   button.disabled = true;
   button.querySelector("span").textContent = "正在启动…";
+  button.setAttribute("aria-label", "正在启动摄像头");
+  button.setAttribute("title", "正在启动摄像头");
   try {
     if (!state.runtime) await loadGestureRuntime();
     await loadRecognizer();
@@ -504,27 +597,30 @@ async function startCamera() {
       video: { width: { ideal: 1280 }, height: { ideal: 720 }, facingMode: "user" },
       audio: false,
     });
+    setCameraAvailability("available", "摄像头可用，点击开启开始识别", { announce: false });
     const video = $("#gestureVideo");
     video.srcObject = state.stream;
     await video.play();
     $("#gestureCameraEmpty").hidden = true;
     $("#gestureLiveBadge").hidden = false;
-    $("#gestureArmButton").disabled = false;
     $("#gestureStopButton").disabled = false;
     button.classList.add("active");
     button.querySelector("span").textContent = "关闭摄像头";
+    button.setAttribute("aria-label", "关闭摄像头");
+    button.setAttribute("title", "关闭摄像头");
     $("#gestureSafetyText").textContent = "张开手掌并保持 1 秒以激活";
     state.frameRequest = requestAnimationFrame(recognizeLoop);
   } catch (error) {
-    $("#gestureSafetyText").textContent = error.message || "摄像头启动失败";
-    notify(error.message || "摄像头启动失败");
-    stopCamera();
+    const failure = cameraFailureDetails(error);
+    setCameraAvailability(failure.status, failure.message, { announce: false });
+    stopCamera({ message: failure.message });
+    notify(failure.message);
   } finally {
-    button.disabled = false;
+    syncCameraButtonAvailability();
   }
 }
 
-function stopCamera() {
+function stopCamera({ message = null } = {}) {
   if (state.frameRequest) cancelAnimationFrame(state.frameRequest);
   state.frameRequest = null;
   state.stream?.getTracks().forEach((track) => track.stop());
@@ -536,15 +632,17 @@ function stopCamera() {
   canvas?.getContext("2d")?.clearRect(0, 0, canvas.width, canvas.height);
   $("#gestureCameraEmpty").hidden = false;
   $("#gestureLiveBadge").hidden = true;
-  $("#gestureArmButton").disabled = true;
   $("#gestureStopButton").disabled = true;
   const button = $("#gestureStartButton");
   button.classList.remove("active");
   button.querySelector("span").textContent = "开启摄像头";
+  button.setAttribute("aria-label", "开启摄像头");
+  button.setAttribute("title", "开启摄像头");
   state.engine?.setArmed(false);
   $("#gestureDetected").textContent = "—";
   $("#gestureExpected").textContent = "等待启动";
-  $("#gestureSafetyText").textContent = "摄像头尚未开启";
+  $("#gestureSafetyText").textContent = message || state.cameraMessage || "摄像头尚未开启";
+  syncCameraButtonAvailability();
 }
 
 function toggleCamera() {
@@ -598,63 +696,70 @@ 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 initModeRail() {
-  document.querySelectorAll("[data-mode-command]").forEach((button) => button.addEventListener("click", () => {
-    window.CognitiveAgentConsole?.executeUtterance?.(button.dataset.modeCommand, { autoSubmit: true });
-  }));
-  $("#saveModeToggle")?.addEventListener("click", () => {
-    const composer = $("#saveModeComposer");
-    composer.hidden = !composer.hidden;
-    if (!composer.hidden) $("#saveModeName").focus();
-  });
-  $("#saveModeConfirm")?.addEventListener("click", () => {
-    const name = $("#saveModeName").value.trim();
-    if (!name) return notify("请先输入模式名称");
-    window.CognitiveAgentConsole?.executeUtterance?.(`将当前副驾驶座椅姿态保存为${name}模式`, { autoSubmit: true });
-    $("#saveModeComposer").hidden = true;
-    $("#saveModeName").value = "";
-  });
+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 () => {
-  $("#gestureToggleButton")?.addEventListener("click", openDrawer);
+  $("#gestureStartButton").disabled = true;
   $("#gestureCloseButton")?.addEventListener("click", closeDrawer);
-  $("#gestureBackdrop")?.addEventListener("click", closeDrawer);
   $("#gestureStartButton")?.addEventListener("click", toggleCamera);
-  $("#gestureArmButton")?.addEventListener("click", () => state.engine?.setArmed(!state.engine.armed));
   $("#gestureStopButton")?.addEventListener("click", () => state.engine?.setArmed(false));
   $("#gestureCustomizeButton")?.addEventListener("click", toggleCustomize);
   $("#gestureBindButton")?.addEventListener("click", bindCurrentGesture);
   $("#gestureResetMapping")?.addEventListener("click", resetMapping);
   document.addEventListener("keydown", (event) => {
-    if (event.key === "Escape" && $("#gestureDrawer")?.classList.contains("open")) closeDrawer();
+    if (event.key !== "Escape") return;
+    if ($("#gestureDrawer")?.classList.contains("open")) closeDrawer();
   });
   document.addEventListener("visibilitychange", () => { if (document.hidden && state.stream) stopCamera(); });
   window.addEventListener("beforeunload", stopCamera);
-  initModeRail();
+  navigator.mediaDevices?.addEventListener?.("devicechange", handleCameraDeviceChange);
+  let runtimeError = null;
   try {
     await loadGestureRuntime();
-    $("#gestureSafetyText").textContent = state.runtime.available ? "能力就绪，开启摄像头开始识别" : "内置手势模型不可用";
+    state.runtimeReady = Boolean(state.runtime.available && state.runtime.model_available);
+    if (!state.runtimeReady) runtimeError = new Error("内置手势模型不可用");
   } catch (error) {
-    $("#gestureSafetyText").textContent = error.message;
-    $("#gestureStartButton").disabled = true;
+    runtimeError = error;
+    state.runtimeReady = false;
   }
+  await refreshCameraAvailability({ announce: !runtimeError });
+  if (runtimeError) $("#gestureSafetyText").textContent = runtimeError.message;
+  syncCameraButtonAvailability();
 });

apps/web-console/index.html

@@ -8,41 +8,27 @@
     <meta name="mobile-web-app-capable" content="yes" />
     <link rel="manifest" href="/manifest.webmanifest" />
     <link rel="icon" href="/icons/app-icon-192.png" />
-    <title>智舱随行 · 一句话与手势控制</title>
-    <link rel="stylesheet" href="/styles.css?v=android-pad-2" />
+    <title>511工程-智能座舱</title>
+    <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=seat-hil-9" defer></script>
-    <script type="module" src="/gesture-control.js?v=android-pad-1"></script>
-    <script src="/pwa.js?v=android-pad-1" 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">
@@ -52,15 +38,29 @@
         </div>
 
         <div class="mode-rail" aria-label="快捷功能模式">
-          <div class="mode-rail-heading"><span>快捷模式</span><button id="saveModeToggle" type="button"><i data-lucide="bookmark-plus"></i>保存当前</button></div>
-          <div class="mode-chips">
-            <button type="button" data-mode-command="进入观影模式：副驾驶调整为舒适观影姿态，空调24度、风量2档，天幕调暗，氛围灯切换成暖橙色"><i data-lucide="clapperboard"></i>观影</button>
-            <button type="button" data-mode-command="进入午休模式：副驾驶靠背后倾，腿托伸出，空调25度，天幕最暗，氛围灯切换为柔和暖色"><i data-lucide="moon-star"></i>午休</button>
-            <button type="button" data-mode-command="副驾驶调整为零重力模式"><i data-lucide="orbit"></i>零重力</button>
+          <div class="mode-rail-heading">
+            <div><span>功能模式</span><small>点击模式即可执行，运行状态会实时反馈</small></div>
+            <button id="saveModeToggle" type="button"><i data-lucide="bookmark-plus"></i>根据指令创建</button>
+          </div>
+          <div class="mode-chips" aria-label="快捷功能模式" aria-live="polite">
+            <button type="button" data-mode-profile-id="zero_gravity" data-mode-command="进入零重力模式"><i data-lucide="orbit"></i><span>零重力</span></button>
+            <button type="button" data-mode-profile-id="office" data-mode-command="进入办公模式"><i data-lucide="briefcase"></i><span>办公</span></button>
+            <button type="button" data-mode-profile-id="nap" data-mode-command="进入小憩模式"><i data-lucide="moon-star"></i><span>小憩</span></button>
+          </div>
+          <div class="mode-rail-controls" aria-label="功能模式浏览">
+            <div class="mode-rail-pager" role="group" aria-label="翻阅快捷功能模式">
+              <button class="mode-rail-page" id="modeRailPrev" type="button" aria-label="查看上一组功能模式" title="上一组" disabled><i data-lucide="chevron-left"></i></button>
+              <button class="mode-rail-page" id="modeRailNext" type="button" aria-label="查看下一组功能模式" title="下一组"><i data-lucide="chevron-right"></i></button>
+            </div>
+            <button class="mode-gallery-toggle" id="modeGalleryToggle" type="button" aria-expanded="false" aria-controls="modeGallery"><i data-lucide="layout-grid"></i><span>全部模式</span><strong id="modeGalleryCount">0</strong></button>
           </div>
           <div class="save-mode-composer" id="saveModeComposer" hidden>
-            <input id="saveModeName" maxlength="24" placeholder="给当前模式起个名字" />
-            <button id="saveModeConfirm" type="button">保存</button>
+            <div class="save-mode-source"><small>将根据当前指令创建</small><p id="saveModeSource">请先在指令框输入需要固化的功能组合</p></div>
+            <input id="saveModeName" maxlength="24" placeholder="输入模式名称，例如：通勤模式" aria-label="新功能模式名称" />
+            <div class="save-mode-actions">
+              <button id="saveModeCancel" type="button">取消</button>
+              <button id="saveModeConfirm" type="button">创建并添加</button>
+            </div>
           </div>
         </div>
 
@@ -89,13 +89,29 @@
             <p class="provider-note" id="providerNote">正在读取运行时配置</p>
           </div>
 
+          <div class="field-group" id="reasoningField">
+            <span class="field-label">模型推理强度</span>
+            <div class="segmented reasoning-segmented" role="group" aria-label="模型推理强度">
+              <button type="button" class="segment reasoning-option" data-reasoning-effort="low">
+                <i data-lucide="zap"></i><span><strong>极速</strong><small>简单指令，优先响应速度</small></span><i class="reasoning-check" data-lucide="check"></i>
+              </button>
+              <button type="button" class="segment reasoning-option active" data-reasoning-effort="medium">
+                <i data-lucide="scale"></i><span><strong>均衡</strong><small>日常控制，兼顾速度与理解</small></span><i class="reasoning-check" data-lucide="check"></i>
+              </button>
+              <button type="button" class="segment reasoning-option" data-reasoning-effort="high">
+                <i data-lucide="brain"></i><span><strong>深度</strong><small>复杂联动、相对动作与约束</small></span><i class="reasoning-check" data-lucide="check"></i>
+              </button>
+            </div>
+            <p class="provider-note" id="reasoningNote">均衡模式兼顾自然语言解析精度与响应速度</p>
+          </div>
+
           <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>
@@ -106,14 +122,17 @@
             <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 hardware-access-field" id="hardwareAccessField" hidden>
-            <label class="field-label" for="hardwareClientLabel">真实台架使用权</label>
-            <input id="hardwareClientLabel" maxlength="64" autocomplete="off" placeholder="终端名称，例如：张三-测试电脑" />
-            <div class="hardware-access-actions">
-              <button id="requestHardwareAccess" type="button">向本地申请</button>
-              <button id="releaseHardwareAccess" type="button" class="secondary" hidden>停止使用</button>
+          <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 hardware-access-status" id="hardwareAccessStatus">尚未申请；本次真实执行不会进入 CAN 链路。</p>
+            <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>
@@ -140,57 +159,12 @@
             <p class="provider-note" id="vehicleNote">正在读取座椅量程与角度标定</p>
           </div>
 
-          <div class="field-group approval-field" id="approvalField" hidden>
-            <label class="field-label" for="approvalToken">硬件执行授权令牌</label>
-            <input id="approvalToken" name="approval_token" type="password" maxlength="128" autocomplete="off" spellcheck="false" placeholder="请输入服务端配置令牌" />
-            <p class="provider-note">仅在服务端启用令牌门禁时显示；令牌不会写入日志、会话或执行制品。</p>
-            <p class="provider-note" id="autoFlashNote">正在检查自动烧录配置</p>
-          </div>
-
-          <button class="primary-action" id="runButton" type="submit">
+          <button class="primary-action" id="runButton" type="submit" aria-label="执行车舱控制指令">
             <i data-lucide="play"></i>
             <span>生成并执行</span>
           </button>
         </form>
 
-        <div class="example-group">
-          <span class="field-label">示例请求</span>
-          <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">
@@ -209,130 +183,176 @@
           </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>
-              <span class="section-kicker">JOINT DEVICE STATE</span>
-              <h3 id="cabinStateTitle">联合设备状态</h3>
+            <div class="cabin-title-copy">
+              <span class="section-kicker">LIVE VEHICLE EXECUTORS</span>
+              <h3 id="cabinStateTitle">整车设备状态</h3>
+              <p>CH0 独立控制副驾四电机，CH1 映射主驾与车身执行器；所有状态按当前反馈源更新。</p>
+            </div>
+            <div class="cabin-channel-legend" aria-label="整车设备通道说明">
+              <span data-channel="ch0"><i>CH0</i>副驾座椅</span>
+              <span data-channel="ch1"><i>CH1</i>主驾 / 车身</span>
+              <span class="simulation-label" id="feedbackModeLabel">MATRIX-BACKED · SIMULATED FEEDBACK</span>
             </div>
-            <span class="simulation-label" id="feedbackModeLabel">MATRIX-BACKED · SIMULATED FEEDBACK</span>
           </div>
           <div class="domain-grid">
-            <article class="domain-panel climate-panel" data-domain-panel="climate">
+            <article class="domain-panel climate-panel" data-domain-panel="climate" data-device-channel="ch1">
               <header>
                 <span class="domain-icon"><i data-lucide="fan"></i></span>
-                <div><strong>空调</strong><small>CLIMATE · 0x064</small></div>
-                <span class="device-state" id="climatePower">OFF</span>
+                <div><strong>空调</strong><small>CMD 0x1DE · FB 0x404 · CH1</small></div>
+                <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>
 
-            <article class="domain-panel roof-panel" data-domain-panel="roof">
+            <article class="domain-panel vehicle-status-panel" data-domain-panel="vehicle_status" data-device-channel="ch1">
+              <header>
+                <span class="domain-icon"><i data-lucide="gauge"></i></span>
+                <div><strong>车辆状态</strong><small>FB 0x342 · 0x4EB · 0x407 · CH1</small></div>
+                <span class="device-state readonly-state" id="vehicleTelemetryState">只读</span>
+              </header>
+              <p class="domain-capability-line readonly-capability"><span>只读信号</span>档位 · 车速 · 四门锁状态</p>
+              <div class="vehicle-primary-readout">
+                <div><span>当前档位</span><strong id="vehicleGear">--</strong></div>
+                <div><span>实时车速</span><strong id="vehicleSpeed">-- km/h</strong></div>
+              </div>
+              <div class="door-state-grid" aria-label="四门锁状态">
+                <span data-door-state="front_left"><i></i>左前门<b id="frontLeftDoorState">未知</b></span>
+                <span data-door-state="front_right"><i></i>右前门<b id="frontRightDoorState">未知</b></span>
+                <span data-door-state="rear_left"><i></i>左后门<b id="rearLeftDoorState">未知</b></span>
+                <span data-door-state="rear_right"><i></i>右后门<b id="rearRightDoorState">未知</b></span>
+              </div>
+            </article>
+
+            <article class="domain-panel roof-panel" data-domain-panel="roof" data-device-channel="ch1">
               <header>
                 <span class="domain-icon"><i data-lucide="panels-top-left"></i></span>
-                <div><strong>智能天幕</strong><small>ROOF · 0x4C1 / 0x3E6</small></div>
-                <span class="device-state" id="roofState">READY</span>
+                <div><strong>遮阳帘</strong><small>CMD 0x431 · FB 0x41A · CH1</small></div>
+                <span class="device-state" id="roofState">UNKNOWN</span>
               </header>
-              <div class="roof-visual" aria-label="天幕透光率与遮阳帘位置">
-                <div class="roof-glass" id="roofGlass">
-                  <span class="roof-shade" id="roofShade"></span>
-                  <i></i><i></i><i></i>
-                </div>
+              <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>透光率</dt><dd id="transmittanceValue">100%</dd></div>
-                <div><dt>遮阳帘</dt><dd id="shadePositionValue">0%</dd></div>
-                <div><dt>自动调光</dt><dd id="automaticDimming">关闭</dd></div>
-                <div><dt>电机反馈</dt><dd id="roofMotorState">已停止</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">未知</dd></div>
               </dl>
             </article>
 
-            <article class="domain-panel ambient-panel" data-domain-panel="ambient_light">
+            <article class="domain-panel ambient-panel" data-domain-panel="ambient_light" data-device-channel="ch1">
               <header>
                 <span class="domain-icon"><i data-lucide="lamp-ceiling"></i></span>
-                <div><strong>氛围灯</strong><small>AMBIENT · RGB 16.8M</small></div>
-                <span class="device-state" id="ambientPower">OFF</span>
+                <div><strong>车内灯光</strong><small>INTERIOR / AMBIENT · CH1</small></div>
+                <span class="device-state" id="ambientPower">UNKNOWN</span>
               </header>
-              <div class="ambient-visual" id="ambientVisual" aria-label="副驾手套箱上方九段氛围灯排灯">
-                <div class="ambient-dashboard-sketch" aria-hidden="true">
-                  <span class="ambient-dashboard-top"></span>
-                  <span class="ambient-center-screen"></span>
-                  <span class="ambient-glovebox"></span>
-                  <span class="ambient-glovebox-lamp">
-                    <i class="ambient-line"></i><i class="ambient-line"></i><i class="ambient-line"></i>
-                    <i class="ambient-line"></i><i class="ambient-line"></i><i class="ambient-line"></i>
-                    <i class="ambient-line"></i><i class="ambient-line"></i><i class="ambient-line"></i>
-                  </span>
-                </div>
-                <small class="ambient-location-label">副驾 · 手套箱上方排灯</small>
+              <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">
+                <span data-ambient-zone="front"><i id="ambientFrontMeter"></i><b>前排</b></span>
+                <span data-ambient-zone="rear"><i id="ambientRearMeter"></i><b>后排</b></span>
               </div>
               <dl class="domain-readouts">
-                <div><dt>颜色</dt><dd><i class="color-swatch" id="ambientSwatch"></i><span id="ambientColor">#74D9FF</span></dd></div>
-                <div><dt>亮度</dt><dd id="ambientBrightness">0%</dd></div>
-                <div><dt>模式</dt><dd id="ambientMode">关闭</dd></div>
-                <div><dt>控制精度</dt><dd>24-bit RGB</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>
+
+            <article class="domain-panel window-panel" data-domain-panel="window" data-device-channel="ch1">
+              <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">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">
+                <span data-window-meter="front_left"><i></i><b>左前</b></span>
+                <span data-window-meter="front_right"><i></i><b>右前</b></span>
+                <span data-window-meter="rear_left"><i></i><b>左后</b></span>
+                <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">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>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">
+                <span data-light-meter="lowBeamState"><i></i><b>近光</b></span>
+                <span data-light-meter="highBeamState"><i></i><b>远光</b></span>
+                <span data-light-meter="fogLightState"><i></i><b>雾灯</b></span>
+                <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">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>
+
           </div>
         </section>
 
         <section class="twin-band" aria-labelledby="twinTitle">
           <div class="twin-heading">
-            <div>
-              <span class="section-kicker">FULL VEHICLE DIGITAL TWIN</span>
+            <div class="twin-title-copy">
+              <span class="section-kicker">LIVE VEHICLE DIGITAL TWIN</span>
               <h3 id="twinTitle">整车孪生界面</h3>
               <div class="preset-indicator" id="presetIndicator" hidden>
                 <i data-lucide="bookmark-check"></i><span></span>
               </div>
             </div>
             <div class="twin-toolbar">
-              <span class="twin-focus-badge"><i data-lucide="scan"></i>透明车体 · 实体设备</span>
+              <div class="twin-selector" role="tablist" aria-label="前排座椅孪生选择">
+                <button class="twin-seat-button active" type="button" role="tab" aria-selected="true" data-twin-seat="passenger">副驾座椅 · CH0</button>
+                <button class="twin-seat-button" type="button" role="tab" aria-selected="false" data-twin-seat="driver">主驾座椅 · CH1</button>
+              </div>
               <button class="icon-button twin-reset" id="twinReset" type="button" title="复位 3D 视角" aria-label="复位 3D 视角">
                 <i data-lucide="rotate-3d"></i>
               </button>
             </div>
           </div>
           <div class="twin-stage" id="seatTwin" data-selected-seat="passenger">
-            <canvas id="seatTwinCanvas" data-vehicle-model="byd-tang-2024-reference" data-seat-layout="five-seat" data-active-seat="front-right" aria-label="具有前后遮挡明暗层次的半透明整车外壳、始终清晰显示的动态副驾、全景天幕、仪表台空调出风口与副驾手套箱上方氛围灯三维状态"></canvas>
-            <div class="vehicle-system-hud" aria-label="整车孪生系统状态">
-              <span data-twin-system="roof"><i data-lucide="panels-top-left"></i><small>全景天幕</small><b id="twinRoofState">透光 100%</b></span>
-              <span data-twin-system="climate"><i data-lucide="wind"></i><small>仪表台 HVAC</small><b id="twinClimateState">关闭</b></span>
-              <span data-twin-system="ambient"><i data-lucide="lamp-ceiling"></i><small>手套箱氛围灯</small><b id="twinAmbientState">关闭</b></span>
-            </div>
-            <div class="twin-seat-label passenger"><i></i><span>副驾动态座椅</span><small>ACTIVE · FRONT RIGHT</small></div>
+            <canvas id="seatTwinCanvas" data-vehicle-model="byd-tang-2024-reference" data-seat-layout="five-seat" data-active-seat="front-right" aria-label="通过模型动画展示 CH0 副驾座椅与 CH1 主驾座椅、空调气流、智能天幕、阅读灯、四门车窗与前大灯状态的整车数字孪生"></canvas>
+            <div class="twin-seat-label passenger"><i></i><span>副驾座椅</span><small>CH0 · 右前排</small></div>
+            <div class="twin-seat-label driver"><i></i><span>主驾座椅</span><small>CH1 · 左前排</small></div>
             <div class="twin-callout-layer" aria-hidden="true">
               <div class="twin-callout" data-callout="longitudinal"><span>水平位置</span><b>50%</b><small>导轨</small></div>
               <div class="twin-callout" data-callout="cushion_tilt"><span>坐垫俯仰</span><b>4.5°</b><small>50%</small></div>
+              <div class="twin-callout" data-callout="height"><span>座椅高度</span><b>50%</b><small>CH1 高度电机</small></div>
               <div class="twin-callout" data-callout="backrest_recline"><span>靠背夹角</span><b>13.6°</b><small>20% · 相对归零位</small></div>
               <div class="twin-callout" data-callout="legrest_height"><span>腿托夹角</span><b>0°</b><small>0% · 相对垂直零位</small></div>
               <div class="twin-callout" data-callout="legrest_extension"><span>腿托伸缩</span><b>0%</b><small>行程</small></div>
@@ -342,12 +362,13 @@
             <div class="twin-orientation"><i data-lucide="move-down"></i><span>车头方向</span></div>
             <aside class="twin-readout" aria-live="polite">
               <div class="twin-readout-heading">
-                <div><strong id="twinSeatName">副驾</strong><span id="twinSeatZone">front_right</span></div>
+                <div><strong id="twinSeatName">副驾座椅</strong><span id="twinSeatZone">CH0 · 右前排</span></div>
                 <span class="twin-feedback"><i></i>FEEDBACK</span>
               </div>
               <div class="twin-axis-list">
                 <div data-twin-axis="longitudinal"><span>水平位置</span><b>50%</b><i></i></div>
                 <div data-twin-axis="cushion_tilt"><span>坐垫俯仰</span><b>50%</b><i></i></div>
+                <div data-twin-axis="height"><span>座椅高度</span><b>50%</b><i></i></div>
                 <div data-twin-axis="backrest_recline"><span>靠背夹角</span><b>20% · 104°</b><i></i></div>
                 <div data-twin-axis="legrest_height"><span>腿托夹角</span><b>0% · 95°</b><i></i></div>
                 <div data-twin-axis="legrest_extension"><span>腿托伸缩</span><b>0%</b><i></i></div>
@@ -372,15 +393,28 @@
         <section class="state-band">
           <div class="seat-state-section">
             <div class="section-title-row">
-              <div><span class="section-kicker">ACTUATOR STATE</span><h3>副驾座椅状态</h3></div>
-              <span class="simulation-label" id="seatFeedbackModeLabel">SIMULATED FEEDBACK</span>
+              <div><span class="section-kicker">ACTUATOR STATE</span><h3>前排座椅状态</h3></div>
+              <span class="simulation-label" id="seatFeedbackModeLabel">CH0 / CH1 FEEDBACK</span>
             </div>
             <div class="seat-grid">
               <article class="seat-card" data-seat="passenger">
-                <div class="seat-identity"><i data-lucide="armchair"></i><div><strong>副驾</strong><span>front_right</span></div></div>
+                <div class="seat-identity"><i data-lucide="armchair"></i><div><strong>副驾座椅</strong><span>右前排</span></div></div>
+                <span class="seat-channel-badge" data-seat-feedback="passenger">CH0 · 等待反馈</span>
+                <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="motion-state-grid" aria-live="polite"></div>
+              </article>
+              <article class="seat-card" data-seat="driver">
+                <div class="seat-identity"><i data-lucide="armchair"></i><div><strong>主驾座椅</strong><span>左前排</span></div></div>
+                <span class="seat-channel-badge" data-seat-feedback="driver">CH1 · 等待反馈</span>
+                <div class="dynamic-mode-state" data-dynamic-mode>
+                  <i data-lucide="radio-tower"></i><span>车端 CAN FD</span><b>只读同步</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>
@@ -394,6 +428,7 @@
               <div><dt>天幕 / 遮阳帘 0–100%</dt><dd class="available">可编译</dd></div>
               <div><dt>氛围灯 RGB / 亮度</dt><dd class="available">可编译</dd></div>
               <div><dt>副驾座椅统一执行器</dt><dd class="simulated">t2g_primary_seat</dd></div>
+              <div><dt>主驾座椅车端执行器</dt><dd class="simulated">CH1 · 左前排</dd></div>
               <div><dt>真实台架 CAN 下发</dt><dd class="blocked" id="hardwareCoverage">未配置</dd></div>
             </dl>
           </div>
@@ -463,7 +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>
@@ -500,12 +534,11 @@
 
       <div class="gesture-actions">
         <button class="gesture-primary" id="gestureStartButton" type="button"><i data-lucide="camera"></i><span>开启摄像头</span></button>
-        <button id="gestureArmButton" type="button" disabled><i data-lucide="hand"></i>激活控制</button>
         <button id="gestureStopButton" type="button" disabled><i data-lucide="octagon"></i>停止</button>
       </div>
 
       <section class="gesture-guide-card">
-        <div class="gesture-card-heading"><div><span>动作速查</span><small>张掌激活 · 握拳只停止</small></div><button id="gestureCustomizeButton" type="button"><i data-lucide="sliders-horizontal"></i>自定义</button></div>
+        <div class="gesture-card-heading"><div><span>手势速查</span><small>张掌激活 · 握拳只停止</small></div><button id="gestureCustomizeButton" type="button"><i data-lucide="sliders-horizontal"></i>自定义</button></div>
         <div class="gesture-map-grid" id="gestureMapGrid"></div>
         <div class="gesture-customize" id="gestureCustomizePanel" hidden>
           <div><span>识别到</span><strong id="gestureCustomizeToken">请先摆出手势</strong></div>
@@ -518,6 +551,67 @@
       <footer class="gesture-footnote"><i data-lucide="shield-check"></i><span>换动作无需重新张掌；连续 3 秒无有效动作后自动锁止。</span></footer>
     </aside>
 
+    <div class="mode-gallery-backdrop" id="modeGalleryBackdrop" hidden>
+      <section class="mode-gallery" id="modeGallery" role="dialog" aria-modal="true" aria-labelledby="modeGalleryTitle" aria-describedby="modeGalleryDescription">
+        <header class="mode-gallery-header">
+          <div>
+            <span class="mode-gallery-kicker">SCENE LIBRARY</span>
+            <h2 id="modeGalleryTitle">全部功能模式</h2>
+            <p id="modeGalleryDescription">按场景集中展示所有预设及用户创建模式，点击任一模式即可执行。</p>
+          </div>
+          <button class="mode-gallery-close" id="modeGalleryClose" type="button" aria-label="关闭全部功能模式"><i data-lucide="x"></i></button>
+        </header>
+        <div class="mode-gallery-summary"><span><i data-lucide="layers-3"></i>可用模式</span><strong id="modeGallerySummaryCount">0</strong></div>
+        <div class="mode-gallery-groups" id="modeGalleryGroups" aria-live="polite"></div>
+        <footer class="mode-gallery-footer"><i data-lucide="info"></i><span>执行状态与主界面同步：蓝色执行中、绿色已完成、红色执行失败。</span></footer>
+      </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() {
@@ -17,7 +13,9 @@
     try {
       const registration = await navigator.serviceWorker.register("/service-worker.js", {
         scope: "/",
+        updateViaCache: "none",
       });
+      await registration.update();
       if (registration.waiting) showUpdate(registration);
       registration.addEventListener("updatefound", () => {
         const worker = registration.installing;

apps/web-console/service-worker.js

@@ -1,14 +1,20 @@
-const CACHE_VERSION = "cognitive-agent-pad-v9";
+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=android-pad-2",
-  "/network.js?v=android-pad-1",
-  "/app.js?v=seat-hil-9",
-  "/gesture-control.js?v=android-pad-1",
-  "/pwa.js?v=android-pad-1",
+  "/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",
+  "/assets/pets/self-extension-cat-entrance.png?v=3",
   "/manifest.webmanifest",
   "/icons/app-icon-192.png",
   "/icons/app-icon-512.png",
@@ -27,6 +33,7 @@ self.addEventListener("install", (event) => {
   event.waitUntil(
     caches.open(SHELL_CACHE)
       .then((cache) => cache.addAll(APP_SHELL))
+      .then(() => self.skipWaiting())
       .then(() => self.clients.matchAll({ includeUncontrolled: true }))
       .then((clients) => clients.forEach((client) => client.postMessage({ type: "OFFLINE_READY" })))
   );
@@ -45,12 +52,13 @@ self.addEventListener("activate", (event) => {
 });
 
 async function cacheFirst(request) {
-  const cached = await caches.match(request);
+  const shellCache = await caches.open(SHELL_CACHE);
+  const runtimeCache = await caches.open(RUNTIME_CACHE);
+  const cached = (await shellCache.match(request)) || (await runtimeCache.match(request));
   if (cached) return cached;
   const response = await fetch(request);
   if (response.ok) {
-    const cache = await caches.open(RUNTIME_CACHE);
-    await cache.put(request, response.clone());
+    await runtimeCache.put(request, response.clone());
   }
   return response;
 }
@@ -64,7 +72,11 @@ async function navigationResponse(request) {
     }
     return response;
   } catch (_error) {
-    return (await caches.match("/index.html")) || Response.error();
+    const shellCache = await caches.open(SHELL_CACHE);
+    const runtimeCache = await caches.open(RUNTIME_CACHE);
+    return (await runtimeCache.match("/index.html"))
+      || (await shellCache.match("/index.html"))
+      || Response.error();
   }
 }
 

artifacts/hil/cabin_dual_channel_hil_20260804.json

@@ -0,0 +1,87 @@
+{
+  "schema_version": "1.0.0",
+  "validated_at": "2026-08-04T09:55:52+08:00",
+  "platform": "t2g_cabin_bench",
+  "adapter": {
+    "model": "USBCANFD-200U",
+    "device_type": 41,
+    "device_index": 0,
+    "driver_self_test": {
+      "passed": true,
+      "pointer_bits": 32,
+      "missing_exports": [],
+      "classic_frame_size": 16,
+      "can_fd_frame_size": 72,
+      "can_fd_tx_size": 76,
+      "can_fd_rx_size": 80
+    }
+  },
+  "channels": {
+    "seat_can": {
+      "channel": 0,
+      "format": "classic_can_11_bit",
+      "bitrate": 500000,
+      "diagnostic_self_reception": {
+        "frame_id": "0x7AA",
+        "payload_hex": "43 48 30 53 45 41 54 30",
+        "passed": true
+      },
+      "external_passive_observation_seconds": 6,
+      "external_frames_observed": 0,
+      "physical_feedback_verified": false
+    },
+    "body_can": {
+      "channel": 1,
+      "format": "iso_can_fd_11_bit",
+      "arbitration_bitrate": 500000,
+      "data_bitrate": 2000000,
+      "bitrate_switch": true,
+      "diagnostic_self_reception": {
+        "frame_id": "0x7AA",
+        "payload_hex": "43 48 31 2D 42 4F 44 59 2D 43 41 4E 46 44 21 21",
+        "payload_size": 16,
+        "passed": true
+      },
+      "external_passive_observation_seconds": 5,
+      "external_frames_observed": 0,
+      "physical_feedback_verified": false
+    }
+  },
+  "linked_request": {
+    "utterance": "关闭副驾座椅通风，同时关闭空调",
+    "dry_run": {
+      "status": "succeeded",
+      "function_configs": ["seat", "native_climate"],
+      "command_plans": ["seat", "native_climate"]
+    },
+    "hardware_attempts": [
+      {
+        "request_id": "req-20260804015505-713de5",
+        "status": "execution_failed",
+        "body_can": "0x1DE transmit rejected; channel_error=0x00000004",
+        "seat_can": "passive firmware signature not observed within 1200 ms; no seat control frame sent"
+      },
+      {
+        "request_id": "req-20260804015552-674fb4",
+        "status": "execution_failed",
+        "body_can": "0x1DE transmit rejected; channel_error=0x00000000",
+        "seat_can": "passive firmware signature not observed within 3500 ms; no seat control frame sent"
+      }
+    ]
+  },
+  "verdict": {
+    "adapter_dual_channel_transport": "passed",
+    "classic_can_transport": "passed",
+    "iso_can_fd_brs_transport": "passed",
+    "one_sentence_compilation_and_routing": "passed",
+    "seat_ecu_closed_loop": "not_verified_no_external_frames",
+    "body_ecu_closed_loop": "not_verified_no_bus_ack_or_0x404_feedback",
+    "overall_hardware_requirement": "blocked_by_external_bus_connectivity_or_power"
+  },
+  "safety_cleanup": {
+    "seat_control_acknowledged": false,
+    "body_control_acknowledged": false,
+    "actuator_state_changed_by_verified_command": false,
+    "zcanpro_restarted": true
+  }
+}

artifacts/hil/ch1_vehicle_door_smoke_hil_latest.json

@@ -0,0 +1,267 @@
+{
+  "suite": "ch1-vehicle-door-smoke-hil",
+  "started_with": {
+    "source": "physical_can_ch1",
+    "channel": 1,
+    "read_only": true,
+    "captured_at": "2026-08-10T18:26:38.774392Z",
+    "gear": "P",
+    "speed_kmh": 0.0,
+    "frame_count": 2751,
+    "evidence": {
+      "gear_frame_id": "0x342",
+      "speed_frame_id": "0x4EB"
+    }
+  },
+  "finished_at": "2026-08-10T18:27:06.208449Z",
+  "results": [
+    {
+      "at": "2026-08-10T18:26:43.864787Z",
+      "module": "self_orchestration",
+      "case_id": "DOOR-VEHICLE-LOCK",
+      "status": "failed",
+      "duration_ms": 4032,
+      "safety_snapshot": {
+        "source": "physical_can_ch1",
+        "channel": 1,
+        "read_only": true,
+        "captured_at": "2026-08-10T18:26:39.775825Z",
+        "gear": "P",
+        "speed_kmh": 0.0,
+        "frame_count": 2256,
+        "evidence": {
+          "gear_frame_id": "0x342",
+          "speed_frame_id": "0x4EB"
+        }
+      },
+      "error": "Ch1HilContractError: DOOR-VEHICLE-LOCK: request status is execution_failed"
+    },
+    {
+      "at": "2026-08-10T18:27:06.208449Z",
+      "module": "cleanup",
+      "case_id": "suite_finally",
+      "status": "passed",
+      "results": [
+        {
+          "case_id": "WINDOW-FRONT-LEFT-0",
+          "command": "window front-left position 0",
+          "http_status": 201,
+          "status": "passed",
+          "duration_ms": 2843,
+          "safety_snapshot": {
+            "source": "physical_can_ch1",
+            "channel": 1,
+            "read_only": true,
+            "captured_at": "2026-08-10T18:26:44.790088Z",
+            "gear": "P",
+            "speed_kmh": 0.0,
+            "frame_count": 2279,
+            "evidence": {
+              "gear_frame_id": "0x342",
+              "speed_frame_id": "0x4EB"
+            }
+          },
+          "request_id": "req-20260810182644-0f4f23"
+        },
+        {
+          "case_id": "SHADE-POSITION-0",
+          "command": "shade position 0",
+          "http_status": 201,
+          "status": "passed",
+          "duration_ms": 2235,
+          "safety_snapshot": {
+            "source": "physical_can_ch1",
+            "channel": 1,
+            "read_only": true,
+            "captured_at": "2026-08-10T18:26:47.795715Z",
+            "gear": "P",
+            "speed_kmh": 0.0,
+            "frame_count": 2694,
+            "evidence": {
+              "gear_frame_id": "0x342",
+              "speed_frame_id": "0x4EB"
+            }
+          },
+          "request_id": "req-20260810182647-436fd7"
+        },
+        {
+          "case_id": "DOOR-VEHICLE-UNLOCK",
+          "command": "door vehicle unlock",
+          "http_status": 201,
+          "status": "passed",
+          "duration_ms": 2906,
+          "safety_snapshot": {
+            "source": "physical_can_ch1",
+            "channel": 1,
+            "read_only": true,
+            "captured_at": "2026-08-10T18:26:49.802764Z",
+            "gear": "P",
+            "speed_kmh": 0.0,
+            "frame_count": 2017,
+            "evidence": {
+              "gear_frame_id": "0x342",
+              "speed_frame_id": "0x4EB"
+            }
+          },
+          "request_id": "req-20260810182649-4a52a7"
+        },
+        {
+          "case_id": "SEAT-DRIVER-MASSAGE-OFF",
+          "command": "seat driver massage off",
+          "http_status": 201,
+          "status": "passed",
+          "duration_ms": 2500,
+          "safety_snapshot": {
+            "source": "physical_can_ch1",
+            "channel": 1,
+            "read_only": true,
+            "captured_at": "2026-08-10T18:26:52.820116Z",
+            "gear": "P",
+            "speed_kmh": 0.0,
+            "frame_count": 2374,
+            "evidence": {
+              "gear_frame_id": "0x342",
+              "speed_frame_id": "0x4EB"
+            }
+          },
+          "request_id": "req-20260810182652-028f24"
+        },
+        {
+          "case_id": "SEAT-DRIVER-HEAT-OFF",
+          "command": "seat driver heat off",
+          "http_status": 201,
+          "status": "passed",
+          "duration_ms": 2000,
+          "safety_snapshot": {
+            "source": "physical_can_ch1",
+            "channel": 1,
+            "read_only": true,
+            "captured_at": "2026-08-10T18:26:54.817949Z",
+            "gear": "P",
+            "speed_kmh": 0.0,
+            "frame_count": 697,
+            "evidence": {
+              "gear_frame_id": "0x342",
+              "speed_frame_id": "0x4EB"
+            }
+          },
+          "request_id": "req-20260810182654-200daa"
+        },
+        {
+          "case_id": "SEAT-DRIVER-VENT-OFF",
+          "command": "seat driver vent off",
+          "http_status": 201,
+          "status": "passed",
+          "duration_ms": 2000,
+          "safety_snapshot": {
+            "source": "physical_can_ch1",
+            "channel": 1,
+            "read_only": true,
+            "captured_at": "2026-08-10T18:26:56.821969Z",
+            "gear": "P",
+            "speed_kmh": 0.0,
+            "frame_count": 709,
+            "evidence": {
+              "gear_frame_id": "0x342",
+              "speed_frame_id": "0x4EB"
+            }
+          },
+          "request_id": "req-20260810182656-77bc93"
+        },
+        {
+          "case_id": "CLIMATE-POWER-OFF",
+          "command": "ac off",
+          "http_status": 201,
+          "status": "passed",
+          "duration_ms": 1859,
+          "safety_snapshot": {
+            "source": "physical_can_ch1",
+            "channel": 1,
+            "read_only": true,
+            "captured_at": "2026-08-10T18:26:58.826087Z",
+            "gear": "P",
+            "speed_kmh": 0.0,
+            "frame_count": 735,
+            "evidence": {
+              "gear_frame_id": "0x342",
+              "speed_frame_id": "0x4EB"
+            }
+          },
+          "request_id": "req-20260810182658-1509d2"
+        },
+        {
+          "case_id": "LIGHT-INDOOR-OFF",
+          "command": "light indoor off",
+          "http_status": 201,
+          "status": "passed",
+          "duration_ms": 1953,
+          "safety_snapshot": {
+            "source": "physical_can_ch1",
+            "channel": 1,
+            "read_only": true,
+            "captured_at": "2026-08-10T18:27:00.833034Z",
+            "gear": "P",
+            "speed_kmh": 0.0,
+            "frame_count": 1204,
+            "evidence": {
+              "gear_frame_id": "0x342",
+              "speed_frame_id": "0x4EB"
+            }
+          },
+          "request_id": "req-20260810182700-64ded1"
+        },
+        {
+          "case_id": "AMBIENT-POWER-OFF",
+          "command": "light ambient off",
+          "http_status": 201,
+          "status": "passed",
+          "duration_ms": 2172,
+          "safety_snapshot": {
+            "source": "physical_can_ch1",
+            "channel": 1,
+            "read_only": true,
+            "captured_at": "2026-08-10T18:27:02.837333Z",
+            "gear": "P",
+            "speed_kmh": 0.0,
+            "frame_count": 1445,
+            "evidence": {
+              "gear_frame_id": "0x342",
+              "speed_frame_id": "0x4EB"
+            }
+          },
+          "request_id": "req-20260810182702-78f422"
+        },
+        {
+          "case_id": "LIGHT-READING-ALL-OFF",
+          "command": "light reading all off",
+          "http_status": 201,
+          "status": "passed",
+          "duration_ms": 1875,
+          "safety_snapshot": {
+            "source": "physical_can_ch1",
+            "channel": 1,
+            "read_only": true,
+            "captured_at": "2026-08-10T18:27:04.842348Z",
+            "gear": "P",
+            "speed_kmh": 0.0,
+            "frame_count": 829,
+            "evidence": {
+              "gear_frame_id": "0x342",
+              "speed_frame_id": "0x4EB"
+            }
+          },
+          "request_id": "req-20260810182704-244a2c"
+        }
+      ]
+    }
+  ],
+  "summary": {
+    "total": 1,
+    "passed": 0,
+    "failed": 1,
+    "aborted_on_first_failure": true,
+    "cleanup_runs": 1,
+    "cleanup_failed": false,
+    "offline_rejection_cases": 24
+  }
+}

artifacts/hil/dynamic_cradle_rev10_continuous_cruise_20260804.json

@@ -0,0 +1,63 @@
+{
+  "validated_at": "2026-08-04",
+  "firmware_revision": 10,
+  "firmware_image_sha256": "85f9d67ff1efb36c37f38bb7584dffdbb6ecbee33bfc70ab491bad0d57da63b2",
+  "change": "remove delayed M1 clearance/catch-up and keep all four axes moving from the phase start",
+  "max_hall": [499, 374, 917, 647],
+  "known_range_home": {
+    "hall_before": [379, 255, 417, 416],
+    "hall_after": [0, 0, 0, 0],
+    "all_complete_ok": true,
+    "all_position_valid": true
+  },
+  "step_1_to_step_2": {
+    "start_hall": [391, 140, 406, 405],
+    "target_hall": [246, 281, 701, 494],
+    "observed_hall": [246, 281, 701, 494],
+    "four_axis_start_spread_s": 0.070,
+    "four_axis_arrival_spread_s": 0.342,
+    "cruise_checkpoint": {
+      "elapsed_s": 3.090,
+      "hall": [354, 202, 510, 468],
+      "normalized_progress": {
+        "longitudinal": 0.255,
+        "cushion_tilt": 0.440,
+        "backrest_recline": 0.353,
+        "legrest_height": 0.708
+      }
+    },
+    "result": "PASS"
+  },
+  "step_2_to_step_3": {
+    "start_hall": [246, 281, 701, 494],
+    "target_hall": [391, 140, 405, 404],
+    "observed_hall": [391, 140, 405, 404],
+    "four_axis_start_spread_s": 0.050,
+    "four_axis_arrival_spread_s": 0.339,
+    "cruise_checkpoint": {
+      "elapsed_s": 2.591,
+      "hall": [283, 226, 616, 435],
+      "normalized_progress": {
+        "longitudinal": 0.255,
+        "cushion_tilt": 0.390,
+        "backrest_recline": 0.287,
+        "legrest_height": 0.656
+      }
+    },
+    "result": "PASS"
+  },
+  "continuous_rollover": {
+    "next_cycle_all_four_axes_active": true,
+    "next_cycle_start_spread_s": 0.051,
+    "result": "PASS"
+  },
+  "stop_verification": {
+    "ack": 1,
+    "reject": 0,
+    "final_0x306": "00 00 00 00 00 00 00 00",
+    "active_mask": 0,
+    "fault_mask": 0,
+    "result": "PASS"
+  },
+  "result": "PASS"
+}

artifacts/hil/dynamic_cradle_rev9_20260804.json

@@ -0,0 +1,88 @@
+{
+  "validated_at": "2026-08-04",
+  "firmware_revision": 9,
+  "firmware_image_sha256": "216f3f6b2d7c441f2050e99c2b9d54153a69b46466235232dec1b7ab7644b7c4",
+  "mode": "dynamic_cradle",
+  "coordinate_precondition": {
+    "motor": 1,
+    "operation": "HOME_KNOWN_RANGE",
+    "ack": 1,
+    "reject": 0,
+    "hall_before": 169,
+    "hall_after": 0,
+    "max_hall_preserved": 374,
+    "near": true,
+    "position_valid": true,
+    "result": "PASS"
+  },
+  "full_cycle": {
+    "entry_step_1": {
+      "target_hall": [391, 140, 405, 404],
+      "observed_hall": [392, 141, 405, 403]
+    },
+    "step_1_to_step_2": {
+      "target_hall": [246, 281, 701, 494],
+      "observed_hall": [246, 281, 701, 494],
+      "duration_s": 17.329,
+      "four_axis_start_spread_s": 0.077,
+      "four_axis_arrival_spread_s": 0.338,
+      "result": "PASS"
+    },
+    "step_2_to_step_3": {
+      "target_hall": [391, 140, 405, 404],
+      "observed_hall": [391, 140, 405, 405],
+      "duration_s": 15.155,
+      "four_axis_start_spread_s": 0.079,
+      "four_axis_arrival_spread_s": 0.495,
+      "result": "PASS"
+    },
+    "cycle_index_after_return": 1,
+    "fault_mask": 0,
+    "result": "PASS"
+  },
+  "continuous_rollover": {
+    "cycle_0_forward_start_spread_s": 0.052,
+    "cycle_0_return_start_spread_s": 0.053,
+    "cycle_1_forward_start_spread_s": 0.082,
+    "phase_transitions_s": [0.370, 17.888, 32.781],
+    "result": "PASS"
+  },
+  "step_3_to_step_1_semantics": "Step 3 and Step 1 have identical Hall targets, so their boundary has zero physical displacement. The ECU rolls the cycle index atomically and synchronously launches the next Step 1-to-Step 2 leg.",
+  "stop_verification": {
+    "stop_dynamic_sent": true,
+    "final_0x306": "00 00 00 00 00 00 00 00",
+    "result": "PASS"
+  },
+  "frontend_natural_language_hil": {
+    "start": {
+      "utterance": "开启动态摇篮模式",
+      "request_id": "req-20260804071706-45a1df",
+      "result": "SUCCEEDED",
+      "firmware_signature": "seat-controller-smv8-dynamic-modes-v9",
+      "command": "0x300 0E 10 06 00 02 00 00 00",
+      "ui_state": "动态摇篮模式 · 循环中 · 最长10分钟"
+    },
+    "active_physical_can_observation": {
+      "source": "physical_can",
+      "complete": true,
+      "moving_axes": {
+        "longitudinal_pct": 59,
+        "backrest_recline_pct": 75
+      },
+      "all_axes_position_valid": true,
+      "faults": false
+    },
+    "stop": {
+      "utterance": "关闭动态摇篮模式",
+      "request_id": "req-20260804072028-55179f",
+      "result": "SUCCEEDED",
+      "command": "0x300 0F 10 07 00 00 00 00 00",
+      "ui_state": "未运行",
+      "all_axes_stopped": true,
+      "all_axes_position_valid": true,
+      "faults": false
+    },
+    "hardware_access_after_test": "automatically released by the 180-second local idle policy",
+    "result": "PASS"
+  }
+}

artifacts/hil/rocking_horse_rev11_20260804.json

@@ -0,0 +1,343 @@
+{
+  "mode": "rocking_horse",
+  "firmware_revision": 11,
+  "max_hall": [
+    499,
+    374,
+    917,
+    647
+  ],
+  "homes": [
+    {
+      "motor": 0,
+      "hall_before": 349,
+      "hall_after": 0,
+      "ack": {
+        "ack": 1,
+        "reject": 0,
+        "sequence": 21,
+        "opcode": 11,
+        "firmware_revision": 11
+      },
+      "terminal": {
+        "motor": 0,
+        "task": 6,
+        "result": 2,
+        "active": false,
+        "position_valid": true,
+        "sequence": 21,
+        "position_x100": 0
+      }
+    },
+    {
+      "motor": 1,
+      "hall_before": 163,
+      "hall_after": 0,
+      "ack": {
+        "ack": 1,
+        "reject": 0,
+        "sequence": 22,
+        "opcode": 11,
+        "firmware_revision": 11
+      },
+      "terminal": {
+        "motor": 1,
+        "task": 6,
+        "result": 2,
+        "active": false,
+        "position_valid": true,
+        "sequence": 22,
+        "position_x100": 0
+      }
+    },
+    {
+      "motor": 2,
+      "hall_before": 534,
+      "hall_after": 0,
+      "ack": {
+        "ack": 1,
+        "reject": 0,
+        "sequence": 23,
+        "opcode": 11,
+        "firmware_revision": 11
+      },
+      "terminal": {
+        "motor": 2,
+        "task": 6,
+        "result": 2,
+        "active": false,
+        "position_valid": true,
+        "sequence": 23,
+        "position_x100": 0
+      }
+    },
+    {
+      "motor": 3,
+      "hall_before": 456,
+      "hall_after": 0,
+      "ack": {
+        "ack": 1,
+        "reject": 0,
+        "sequence": 24,
+        "opcode": 11,
+        "firmware_revision": 11
+      },
+      "terminal": {
+        "motor": 3,
+        "task": 6,
+        "result": 2,
+        "active": false,
+        "position_valid": true,
+        "sequence": 24,
+        "position_x100": 0
+      }
+    }
+  ],
+  "start_ack": {
+    "ack": 1,
+    "reject": 0,
+    "sequence": 37,
+    "opcode": 14,
+    "firmware_revision": 11
+  },
+  "segments": [
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+      "cycle_index": 0,
+      "phase": 2,
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+      "all_axes_arrived": true,
+      "target": [
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+    },
+    {
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+      "start_hall": [
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+      "target": [
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+    {
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+      "all_axes_arrived": true,
+      "target": [
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+      ]
+    },
+    {
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+      "start_hall": [
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+      "all_axes_started": true,
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+      "target": [
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+  ],
+  "repeat_first_active": {
+    "0": 262566.4901705,
+    "1": 262566.5153454,
+    "2": 262566.542698,
+    "3": 262566.5681911
+  },
+  "stop_ack": {
+    "ack": 1,
+    "reject": 0,
+    "sequence": 38,
+    "opcode": 15,
+    "firmware_revision": 11
+  },
+  "idle": {
+    "mode_id": 0,
+    "state": 0,
+    "phase": 0,
+    "active_mask": 0,
+    "fault_mask": 0,
+    "cycle_index": 0,
+    "phase_elapsed_ms": 0
+  }
+}

artifacts/hil/rocking_horse_rev12_cushion_amplitude_20260804.json

@@ -0,0 +1,343 @@
+{
+  "mode": "rocking_horse",
+  "firmware_revision": 12,
+  "max_hall": [
+    499,
+    374,
+    917,
+    647
+  ],
+  "homes": [
+    {
+      "motor": 0,
+      "hall_before": 342,
+      "hall_after": 0,
+      "ack": {
+        "ack": 1,
+        "reject": 0,
+        "sequence": 1,
+        "opcode": 11,
+        "firmware_revision": 12
+      },
+      "terminal": {
+        "motor": 0,
+        "task": 6,
+        "result": 2,
+        "active": false,
+        "position_valid": true,
+        "sequence": 1,
+        "position_x100": 0
+      }
+    },
+    {
+      "motor": 1,
+      "hall_before": 166,
+      "hall_after": 0,
+      "ack": {
+        "ack": 1,
+        "reject": 0,
+        "sequence": 2,
+        "opcode": 11,
+        "firmware_revision": 12
+      },
+      "terminal": {
+        "motor": 1,
+        "task": 6,
+        "result": 2,
+        "active": false,
+        "position_valid": true,
+        "sequence": 2,
+        "position_x100": 0
+      }
+    },
+    {
+      "motor": 2,
+      "hall_before": 534,
+      "hall_after": 0,
+      "ack": {
+        "ack": 1,
+        "reject": 0,
+        "sequence": 3,
+        "opcode": 11,
+        "firmware_revision": 12
+      },
+      "terminal": {
+        "motor": 2,
+        "task": 6,
+        "result": 2,
+        "active": false,
+        "position_valid": true,
+        "sequence": 3,
+        "position_x100": 0
+      }
+    },
+    {
+      "motor": 3,
+      "hall_before": 454,
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+        "reject": 0,
+        "sequence": 4,
+        "opcode": 11,
+        "firmware_revision": 12
+      },
+      "terminal": {
+        "motor": 3,
+        "task": 6,
+        "result": 2,
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+        "position_valid": true,
+        "sequence": 4,
+        "position_x100": 0
+      }
+    }
+  ],
+  "start_ack": {
+    "ack": 1,
+    "reject": 0,
+    "sequence": 17,
+    "opcode": 14,
+    "firmware_revision": 12
+  },
+  "segments": [
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+    {
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+      "target": [
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+      ]
+    },
+    {
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+      "start_hall": [
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+      "cruise_checkpoint": {
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+          0.25,
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+      "end_hall": [
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+      "all_axes_started": true,
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+      "target": [
+        350,
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+        460
+      ]
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+  ],
+  "repeat_first_active": {
+    "0": 264093.8496089,
+    "2": 264093.8578157,
+    "3": 264093.8843526,
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+  "stop_ack": {
+    "ack": 1,
+    "reject": 0,
+    "sequence": 18,
+    "opcode": 15,
+    "firmware_revision": 12
+  },
+  "idle": {
+    "mode_id": 0,
+    "state": 0,
+    "phase": 0,
+    "active_mask": 0,
+    "fault_mask": 0,
+    "cycle_index": 0,
+    "phase_elapsed_ms": 0
+  }
+}

artifacts/hil/rocking_horse_rev13_horizontal_compensation_20260804.json

@@ -0,0 +1,343 @@
+{
+  "mode": "rocking_horse",
+  "firmware_revision": 13,
+  "max_hall": [
+    499,
+    374,
+    917,
+    647
+  ],
+  "homes": [
+    {
+      "motor": 0,
+      "hall_before": 326,
+      "hall_after": 0,
+      "ack": {
+        "ack": 1,
+        "reject": 0,
+        "sequence": 1,
+        "opcode": 11,
+        "firmware_revision": 13
+      },
+      "terminal": {
+        "motor": 0,
+        "task": 6,
+        "result": 2,
+        "active": false,
+        "position_valid": true,
+        "sequence": 1,
+        "position_x100": 0
+      }
+    },
+    {
+      "motor": 1,
+      "hall_before": 138,
+      "hall_after": 0,
+      "ack": {
+        "ack": 1,
+        "reject": 0,
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+    },
+    {
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+    "phase_elapsed_ms": 0
+  }
+}

artifacts/hil/seat_frontend_hil_20260801_run3_modes.json

@@ -0,0 +1,764 @@
+{
+  "suite": "t2g-seat-frontend-full-hil",
+  "started_at": "2026-08-01T14:53:29.226676Z",
+  "base_url": "http://127.0.0.1:8000",
+  "vehicle_id": "denza_n7",
+  "conversation_id": "conv-hil-full-20260801145329",
+  "runtime": {
+    "hardware_execution_allowed": true,
+    "firmware_profiles": [
+      "combined"
+    ]
+  },
+  "results": [
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+      "id": "MODE-QUEEN",
+      "group": "mode",
+      "utterance": "副驾执行女王副驾行驶模式",
+      "started_at": "2026-08-01T14:53:29.226724Z",
+      "status": "failed",
+      "errors": [
+        "T2G motor 0 TIMEOUT: task_state=7, Hall=499->499"
+      ],
+      "http_status": 201,
+      "request_id": "req-20260801145329-c441d5",
+      "failure_telemetry": {
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+        "motion_axis": "longitudinal",
+        "task_state": 7,
+        "motor_result": 6,
+        "motor_result_name": "TIMEOUT",
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+        "hall_after": 499,
+        "hall_delta": 0,
+        "endpoint_recovery_max_near_hall": 72,
+        "command_frame": {
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+          "payload_size": 8,
+          "data_hex": "01 10 30 00 20 1C 30 75",
+          "timestamp": null
+        },
+        "ack_frame": {
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+          "payload_size": 8,
+          "data_hex": "21 00 30 00 01 01 F0 4B",
+          "timestamp": 26444.37267
+        },
+        "feedback_frame": {
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+          "payload_size": 8,
+          "data_hex": "00 67 28 30 00 10 27 00",
+          "timestamp": 26450.902006
+        },
+        "diagnostic_before_frame": {
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+          "payload_size": 8,
+          "data_hex": "00 00 F3 01 F3 01 00 90",
+          "timestamp": 26444.360963
+        },
+        "diagnostic_frame": {
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+          "payload_size": 8,
+          "data_hex": "00 05 F3 01 F3 01 00 A0",
+          "timestamp": 26450.903153
+        },
+        "diagnostic_read_error": null,
+        "current_diagnostic": {
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+            "current_calibrating": false,
+            "frame": {
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+              "payload_size": 8,
+              "data_hex": "00 0B D6 00 01 00 F4 01",
+              "timestamp": 26449.53215
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+            "stall_current_delta_threshold_raw": 500,
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+            "high_current": false,
+            "hall_activity_low": true,
+            "current_calibrating": false,
+            "frame": {
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+              "payload_size": 8,
+              "data_hex": "00 0B D4 00 01 00 F4 01",
+              "timestamp": 26450.886864
+            }
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+        },
+        "error_type": "HardwareExecutionError",
+        "stop_all_attempted": true,
+        "simulated": false
+      },
+      "finished_at": "2026-08-01T14:53:36.269029Z",
+      "duration_ms": 7042
+    },
+    {
+      "id": "MODE-BABY-NAP",
+      "group": "mode",
+      "utterance": "副驾执行宝宝午睡模式",
+      "status": "safety_blocked",
+      "started_at": "2026-08-01T14:53:36.269096Z",
+      "finished_at": "2026-08-01T14:53:36.269098Z",
+      "duration_ms": 0,
+      "errors": [],
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+        "reason": "M1 near-direction mechanical obstruction: repeated Hall stop at 122/123 with zero pulses and high current; do not drive toward the near endpoint until the mechanism is inspected.",
+        "evidence": {
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+          "pulse_count": 0,
+          "peak_current_delta_raw": 1205,
+          "stall_threshold_raw": 500
+        }
+      }
+    },
+    {
+      "id": "MODE-CRUISE-SOFA",
+      "group": "mode",
+      "utterance": "副驾执行巡航沙发模式",
+      "status": "safety_blocked",
+      "started_at": "2026-08-01T14:53:36.269107Z",
+      "finished_at": "2026-08-01T14:53:36.269108Z",
+      "duration_ms": 0,
+      "errors": [],
+      "safety_block": {
+        "axis": "cushion_tilt",
+        "target_pct": 30,
+        "minimum_safe_target_pct": 35,
+        "reason": "M1 near-direction mechanical obstruction: repeated Hall stop at 122/123 with zero pulses and high current; do not drive toward the near endpoint until the mechanism is inspected.",
+        "evidence": {
+          "hall_count": 122,
+          "pulse_count": 0,
+          "peak_current_delta_raw": 1205,
+          "stall_threshold_raw": 500
+        }
+      }
+    },
+    {
+      "id": "MODE-MEDITATION",
+      "group": "mode",
+      "utterance": "副驾执行冥想空间模式",
+      "started_at": "2026-08-01T14:53:36.269121Z",
+      "status": "failed",
+      "errors": [
+        "T2G motor 1 STALL: task_state=7, Hall=374->374"
+      ],
+      "http_status": 201,
+      "request_id": "req-20260801145336-cea6e3",
+      "failure_telemetry": {
+        "motor_selector": 1,
+        "motion_axis": "cushion_tilt",
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+        "motor_result": 5,
+        "motor_result_name": "STALL",
+        "position_valid": true,
+        "hall_before": 374,
+        "hall_after": 374,
+        "hall_delta": 0,
+        "endpoint_recovery_max_near_hall": 56,
+        "command_frame": {
+          "frame_id": "0x300",
+          "payload_size": 8,
+          "data_hex": "01 11 34 00 30 11 30 75",
+          "timestamp": null
+        },
+        "ack_frame": {
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+          "payload_size": 8,
+          "data_hex": "21 00 34 00 01 02 F0 49",
+          "timestamp": 26453.41257
+        },
+        "feedback_frame": {
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+          "payload_size": 8,
+          "data_hex": "01 57 68 34 00 10 27 00",
+          "timestamp": 26462.801669
+        },
+        "diagnostic_before_frame": {
+          "frame_id": "0x303",
+          "payload_size": 8,
+          "data_hex": "01 00 76 01 76 01 00 B0",
+          "timestamp": 26451.441787
+        },
+        "diagnostic_frame": {
+          "frame_id": "0x303",
+          "payload_size": 8,
+          "data_hex": "01 14 76 01 76 01 00 C1",
+          "timestamp": 26462.802815
+        },
+        "diagnostic_read_error": null,
+        "current_diagnostic": {
+          "sample_count": 113,
+          "valid_sample_count": 113,
+          "max_current_raw": 1353,
+          "max_current_delta_raw": 1351,
+          "high_current_seen": true,
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+          "stall_overlap_seen": true,
+          "peak": {
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+            "current_baseline_raw": 2,
+            "current_delta_raw": 1351,
+            "stall_current_delta_threshold_raw": 500,
+            "current_sample_valid": true,
+            "current_baseline_valid": true,
+            "high_current": true,
+            "hall_activity_low": false,
+            "current_calibrating": false,
+            "frame": {
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+              "payload_size": 8,
+              "data_hex": "01 07 49 05 02 00 F4 01",
+              "timestamp": 26461.7585
+            }
+          },
+          "latest": {
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+            "current_baseline_raw": 2,
+            "current_delta_raw": 1197,
+            "stall_current_delta_threshold_raw": 500,
+            "current_sample_valid": true,
+            "current_baseline_valid": true,
+            "high_current": true,
+            "hall_activity_low": true,
+            "current_calibrating": false,
+            "frame": {
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+              "payload_size": 8,
+              "data_hex": "01 0F AF 04 02 00 F4 01",
+              "timestamp": 26462.798972
+            }
+          }
+        },
+        "error_type": "HardwareExecutionError",
+        "stop_all_attempted": true,
+        "simulated": false
+      },
+      "finished_at": "2026-08-01T14:53:48.119388Z",
+      "duration_ms": 11850
+    },
+    {
+      "id": "MODE-LEISURE",
+      "group": "mode",
+      "utterance": "副驾执行休闲躺椅模式",
+      "status": "safety_blocked",
+      "started_at": "2026-08-01T14:53:48.119450Z",
+      "finished_at": "2026-08-01T14:53:48.119452Z",
+      "duration_ms": 0,
+      "errors": [],
+      "safety_block": {
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+        "target_pct": 30,
+        "minimum_safe_target_pct": 35,
+        "reason": "M1 near-direction mechanical obstruction: repeated Hall stop at 122/123 with zero pulses and high current; do not drive toward the near endpoint until the mechanism is inspected.",
+        "evidence": {
+          "hall_count": 122,
+          "pulse_count": 0,
+          "peak_current_delta_raw": 1205,
+          "stall_threshold_raw": 500
+        }
+      }
+    },
+    {
+      "id": "MODE-CALF",
+      "group": "mode",
+      "utterance": "副驾执行小腿解压悬浮模式",
+      "started_at": "2026-08-01T14:53:48.119461Z",
+      "status": "failed",
+      "errors": [
+        "T2G motor 0 TIMEOUT: task_state=7, Hall=499->499"
+      ],
+      "http_status": 201,
+      "request_id": "req-20260801145348-bae676",
+      "failure_telemetry": {
+        "motor_selector": 0,
+        "motion_axis": "longitudinal",
+        "task_state": 7,
+        "motor_result": 6,
+        "motor_result_name": "TIMEOUT",
+        "position_valid": true,
+        "hall_before": 499,
+        "hall_after": 499,
+        "hall_delta": 0,
+        "endpoint_recovery_max_near_hall": 72,
+        "command_frame": {
+          "frame_id": "0x300",
+          "payload_size": 8,
+          "data_hex": "01 10 37 00 EC 13 30 75",
+          "timestamp": null
+        },
+        "ack_frame": {
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+          "payload_size": 8,
+          "data_hex": "21 00 37 00 01 01 F0 41",
+          "timestamp": 26463.239675
+        },
+        "feedback_frame": {
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+          "payload_size": 8,
+          "data_hex": "00 67 28 37 00 10 27 00",
+          "timestamp": 26469.752618
+        },
+        "diagnostic_before_frame": {
+          "frame_id": "0x303",
+          "payload_size": 8,
+          "data_hex": "00 00 F3 01 F3 01 00 10",
+          "timestamp": 26463.237716
+        },
+        "diagnostic_frame": {
+          "frame_id": "0x303",
+          "payload_size": 8,
+          "data_hex": "00 05 F3 01 F3 01 00 20",
+          "timestamp": 26469.754985
+        },
+        "diagnostic_read_error": null,
+        "current_diagnostic": {
+          "sample_count": 65,
+          "valid_sample_count": 65,
+          "max_current_raw": 253,
+          "max_current_delta_raw": 250,
+          "high_current_seen": false,
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+            "current_baseline_raw": 3,
+            "current_delta_raw": 250,
+            "stall_current_delta_threshold_raw": 500,
+            "current_sample_valid": true,
+            "current_baseline_valid": true,
+            "high_current": false,
+            "hall_activity_low": false,
+            "current_calibrating": false,
+            "frame": {
+              "frame_id": "0x304",
+              "payload_size": 8,
+              "data_hex": "00 03 FD 00 03 00 F4 01",
+              "timestamp": 26463.272395
+            }
+          },
+          "latest": {
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+            "current_baseline_raw": 3,
+            "current_delta_raw": 204,
+            "stall_current_delta_threshold_raw": 500,
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+            "current_baseline_valid": true,
+            "high_current": false,
+            "hall_activity_low": true,
+            "current_calibrating": false,
+            "frame": {
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+              "payload_size": 8,
+              "data_hex": "00 0B CF 00 03 00 F4 01",
+              "timestamp": 26469.728393
+            }
+          }
+        },
+        "error_type": "HardwareExecutionError",
+        "stop_all_attempted": true,
+        "simulated": false
+      },
+      "finished_at": "2026-08-01T14:53:55.135955Z",
+      "duration_ms": 7017
+    },
+    {
+      "id": "MODE-BEACH",
+      "group": "mode",
+      "utterance": "副驾执行电感沙滩椅模式",
+      "status": "safety_blocked",
+      "started_at": "2026-08-01T14:53:55.136004Z",
+      "finished_at": "2026-08-01T14:53:55.136006Z",
+      "duration_ms": 0,
+      "errors": [],
+      "safety_block": {
+        "axis": "cushion_tilt",
+        "target_pct": 0,
+        "minimum_safe_target_pct": 35,
+        "reason": "M1 near-direction mechanical obstruction: repeated Hall stop at 122/123 with zero pulses and high current; do not drive toward the near endpoint until the mechanism is inspected.",
+        "evidence": {
+          "hall_count": 122,
+          "pulse_count": 0,
+          "peak_current_delta_raw": 1205,
+          "stall_threshold_raw": 500
+        }
+      }
+    },
+    {
+      "id": "MODE-NAP",
+      "group": "mode",
+      "utterance": "副驾执行小憩模式",
+      "started_at": "2026-08-01T14:53:55.136014Z",
+      "status": "passed",
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+          "zone": "front_right",
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+      "utterance": "副驾执行零重力模式",
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+      "status": "passed",
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+      "request_id": "req-20260801145402-f6ff8b",
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+              "data_hex": "01 26 28 40 00 10 27 00",
+              "timestamp": 26483.657826
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+              "data_hex": "03 26 08 42 00 B5 24 00",
+              "timestamp": 26483.708846
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+            "timestamp": 26483.717983
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+            "timestamp": 26483.717983
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+        },
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+        "source": "physical_can",
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+      "duration_ms": 6808
+    }
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+    "group": "cleanup",
+    "utterance": "关闭副驾座椅加热和通风",
+    "started_at": "2026-08-01T14:54:08.963900Z",
+    "status": "passed",
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+    "request_id": "req-20260801145408-c833b5",
+    "matched_modes": [],
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+    "physical_state": {
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+            "timestamp": 26484.485071
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+            "payload_size": 8,
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+            "timestamp": 26484.511148
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+          "motor_selector": 1,
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+            "data_hex": "01 26 28 40 00 10 27 00",
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+            "data_hex": "02 26 08 41 00 A7 1F 00",
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+          "data_hex": "09 00 00 00 00 00 00 00",
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+      "source": "physical_can",
+      "target": {
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+        "zone": "front_right",
+        "instance": "passenger"
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+      "complete": true,
+      "missing": []
+    },
+    "finished_at": "2026-08-01T14:54:09.821001Z",
+    "duration_ms": 857
+  },
+  "finished_at": "2026-08-01T14:54:09.821038Z",
+  "summary": {
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+    "failed": 3,
+    "safety_blocked": 4,
+    "executed": 5,
+    "final_state_passed": true
+  }
+}

artifacts/hil/seat_frontend_hil_20260801_run4_m0_home.json

@@ -0,0 +1,240 @@
+{
+  "suite": "t2g-seat-frontend-full-hil",
+  "started_at": "2026-08-01T14:55:16.839705Z",
+  "base_url": "http://127.0.0.1:8000",
+  "vehicle_id": "denza_n7",
+  "conversation_id": "conv-hil-full-20260801145516",
+  "runtime": {
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+    "firmware_profiles": [
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+    ]
+  },
+  "results": [
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+      "group": "motion",
+      "utterance": "把副驾座椅水平位置归零",
+      "started_at": "2026-08-01T14:55:16.839746Z",
+      "status": "failed",
+      "errors": [
+        "T2G motor 0 CALIBRATION_FAILED: task_state=7, Hall=499->499"
+      ],
+      "http_status": 201,
+      "request_id": "req-20260801145516-496358",
+      "failure_telemetry": {
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+        "motion_axis": "longitudinal",
+        "task_state": 7,
+        "motor_result": 11,
+        "motor_result_name": "CALIBRATION_FAILED",
+        "position_valid": false,
+        "hall_before": 499,
+        "hall_after": 499,
+        "hall_delta": 0,
+        "endpoint_recovery_max_near_hall": 72,
+        "command_frame": {
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+          "payload_size": 8,
+          "data_hex": "0B 10 44 00 52 4B 78 00",
+          "timestamp": null
+        },
+        "ack_frame": {
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+          "payload_size": 8,
+          "data_hex": "51 00 44 00 0B 41 F0 4F",
+          "timestamp": 26552.027376
+        },
+        "feedback_frame": {
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+          "payload_size": 8,
+          "data_hex": "00 B7 00 44 00 FF FF 00",
+          "timestamp": 26555.266451
+        },
+        "diagnostic_before_frame": {
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+          "payload_size": 8,
+          "data_hex": "00 00 F3 01 F3 01 00 C0",
+          "timestamp": 26552.016761
+        },
+        "diagnostic_frame": {
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+          "payload_size": 8,
+          "data_hex": "00 88 F3 01 F3 01 00 00",
+          "timestamp": 26555.267587
+        },
+        "diagnostic_read_error": null,
+        "current_diagnostic": {
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+          "valid_sample_count": 36,
+          "max_current_raw": 223,
+          "max_current_delta_raw": 220,
+          "high_current_seen": false,
+          "low_hall_seen": true,
+          "stall_overlap_seen": false,
+          "peak": {
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+            "current_delta_raw": 220,
+            "stall_current_delta_threshold_raw": 500,
+            "current_sample_valid": true,
+            "current_baseline_valid": true,
+            "high_current": false,
+            "hall_activity_low": false,
+            "current_calibrating": true,
+            "frame": {
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+              "payload_size": 8,
+              "data_hex": "00 13 DF 00 03 00 F4 01",
+              "timestamp": 26552.116307
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+          },
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+            "current_delta_raw": 0,
+            "stall_current_delta_threshold_raw": 500,
+            "current_sample_valid": true,
+            "current_baseline_valid": true,
+            "high_current": false,
+            "hall_activity_low": true,
+            "current_calibrating": false,
+            "frame": {
+              "frame_id": "0x304",
+              "payload_size": 8,
+              "data_hex": "00 0B 0A 00 17 00 F4 01",
+              "timestamp": 26555.246382
+            }
+          }
+        },
+        "error_type": "HardwareExecutionError",
+        "stop_all_attempted": true,
+        "simulated": false
+      },
+      "finished_at": "2026-08-01T14:55:20.627987Z",
+      "duration_ms": 3788
+    }
+  ],
+  "final_state": {
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+    "group": "cleanup",
+    "utterance": "关闭副驾座椅加热和通风",
+    "started_at": "2026-08-01T14:55:20.628029Z",
+    "status": "passed",
+    "errors": [],
+    "http_status": 201,
+    "request_id": "req-20260801145520-65fe81",
+    "matched_modes": [],
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+    "physical_state": {
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+          "motion_state": "stopped",
+          "fault": false,
+          "task_state": 0,
+          "motor_result": 3,
+          "motor_selector": 2,
+          "value_x100": 8103,
+          "feedback_frame": {
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+            "payload_size": 8,
+            "data_hex": "02 30 08 45 00 A7 1F 00",
+            "timestamp": 26556.1968
+          }
+        },
+        "legrest_height": {
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+          "position_valid": true,
+          "motion_state": "stopped",
+          "fault": false,
+          "task_state": 0,
+          "motor_result": 3,
+          "motor_selector": 3,
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+          "feedback_frame": {
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+            "payload_size": 8,
+            "data_hex": "03 30 08 45 00 B5 24 00",
+            "timestamp": 26556.222629
+          }
+        },
+        "longitudinal": {
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+          "position_valid": false,
+          "motion_state": "stopped",
+          "fault": false,
+          "task_state": 0,
+          "motor_result": 3,
+          "motor_selector": 0,
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+          "feedback_frame": {
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+            "payload_size": 8,
+            "data_hex": "00 30 00 45 00 FF FF 00",
+            "timestamp": 26556.248442
+          }
+        },
+        "cushion_tilt": {
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+          "position_valid": true,
+          "motion_state": "stopped",
+          "fault": false,
+          "task_state": 0,
+          "motor_result": 3,
+          "motor_selector": 1,
+          "value_x100": 10000,
+          "feedback_frame": {
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+            "payload_size": 8,
+            "data_hex": "01 30 28 45 00 10 27 00",
+            "timestamp": 26556.274646
+          }
+        }
+      },
+      "ventilation": {
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+        "feedback_value": 1,
+        "feedback_frame": {
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+          "payload_size": 8,
+          "data_hex": "09 00 00 00 00 00 00 00",
+          "timestamp": 26556.283681
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+        "feedback_value": 1,
+        "feedback_frame": {
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+          "payload_size": 8,
+          "data_hex": "09 00 00 00 00 00 00 00",
+          "timestamp": 26556.283681
+        }
+      },
+      "captured_at": "2026-08-01T14:55:21.452124Z",
+      "source": "physical_can",
+      "target": {
+        "device": "seat",
+        "zone": "front_right",
+        "instance": "passenger"
+      },
+      "complete": true,
+      "missing": []
+    },
+    "finished_at": "2026-08-01T14:55:21.531805Z",
+    "duration_ms": 904
+  },
+  "finished_at": "2026-08-01T14:55:21.531835Z",
+  "summary": {
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+    "passed": 0,
+    "failed": 1,
+    "safety_blocked": 0,
+    "executed": 1,
+    "final_state_passed": true
+  }
+}

artifacts/hil/seat_frontend_hil_20260801_run5_m0_home_rev5.json

@@ -0,0 +1,62 @@
+{
+  "suite": "t2g-seat-frontend-full-hil",
+  "started_at": "2026-08-01T15:32:33.035150Z",
+  "base_url": "http://127.0.0.1:8000",
+  "vehicle_id": "denza_n7",
+  "conversation_id": "conv-hil-full-20260801153233",
+  "runtime": {
+    "hardware_execution_allowed": true,
+    "firmware_profiles": [
+      "combined"
+    ]
+  },
+  "results": [
+    {
+      "id": "MOTION-M0-HOME",
+      "group": "motion",
+      "utterance": "把副驾座椅水平位置归零",
+      "started_at": "2026-08-01T15:32:33.035187Z",
+      "status": "failed",
+      "errors": [
+        "ZCAN_SetValue(canfd_abit_baud_rate) failed"
+      ],
+      "http_status": 201,
+      "request_id": "req-20260801153233-4d8760",
+      "failure_telemetry": {
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+        "stop_all_attempted": false,
+        "simulated": false
+      },
+      "finished_at": "2026-08-01T15:32:33.233128Z",
+      "duration_ms": 198
+    }
+  ],
+  "final_state": {
+    "id": "FINAL-THERMAL-OFF",
+    "group": "cleanup",
+    "utterance": "关闭副驾座椅加热和通风",
+    "started_at": "2026-08-01T15:32:33.233166Z",
+    "status": "failed",
+    "errors": [
+      "ZCAN_SetValue(canfd_abit_baud_rate) failed"
+    ],
+    "http_status": 201,
+    "request_id": "req-20260801153233-dc02d8",
+    "failure_telemetry": {
+      "error_type": "CanGatewayError",
+      "stop_all_attempted": false,
+      "simulated": false
+    },
+    "finished_at": "2026-08-01T15:32:33.390312Z",
+    "duration_ms": 157
+  },
+  "finished_at": "2026-08-01T15:32:33.390330Z",
+  "summary": {
+    "total": 1,
+    "passed": 0,
+    "failed": 1,
+    "safety_blocked": 0,
+    "executed": 1,
+    "final_state_passed": false
+  }
+}

artifacts/hil/seat_frontend_hil_20260801_run6_m0_home_rev5.json

@@ -0,0 +1,240 @@
+{
+  "suite": "t2g-seat-frontend-full-hil",
+  "started_at": "2026-08-01T15:38:36.967401Z",
+  "base_url": "http://127.0.0.1:8000",
+  "vehicle_id": "denza_n7",
+  "conversation_id": "conv-hil-full-20260801153836",
+  "runtime": {
+    "hardware_execution_allowed": true,
+    "firmware_profiles": [
+      "combined"
+    ]
+  },
+  "results": [
+    {
+      "id": "MOTION-M0-HOME",
+      "group": "motion",
+      "utterance": "把副驾座椅水平位置归零",
+      "started_at": "2026-08-01T15:38:36.967442Z",
+      "status": "failed",
+      "errors": [
+        "T2G motor 0 CALIBRATION_FAILED: task_state=7, Hall=499->499"
+      ],
+      "http_status": 201,
+      "request_id": "req-20260801153836-3cd030",
+      "failure_telemetry": {
+        "motor_selector": 0,
+        "motion_axis": "longitudinal",
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+        "instance": "passenger"
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+    "finished_at": "2026-08-01T15:38:54.576238Z",
+    "duration_ms": 878
+  },
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+    "final_state_passed": true
+  }
+}

artifacts/hil/seat_frontend_hil_20260801_run7_rev6_flash_thermal_off.json

@@ -0,0 +1,363 @@
+{
+  "suite": "t2g-seat-frontend-full-hil",
+  "started_at": "2026-08-01T15:43:36.160681Z",
+  "base_url": "http://127.0.0.1:8000",
+  "vehicle_id": "denza_n7",
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+      "utterance": "关闭副驾座椅通风",
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+      "status": "passed",
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+          "data_hex": "09 00 00 00 00 00 00 00",
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+    "duration_ms": 841
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+    "final_state_passed": true
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+}

artifacts/hil/seat_frontend_hil_20260802_all_modes_post_cleanup.json

@@ -0,0 +1,250 @@
+{
+  "suite": "t2g-seat-frontend-full-hil",
+  "started_at": "2026-08-01T17:39:16.430915Z",
+  "base_url": "http://127.0.0.1:8000",
+  "vehicle_id": "denza_n7",
+  "conversation_id": "conv-hil-full-20260801173916",
+  "runtime": {
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+    "firmware_profiles": [
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+    ]
+  },
+  "results": [
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+      "group": "motion",
+      "utterance": "把副驾水平、坐盆、靠背、腿托四轴归零",
+      "started_at": "2026-08-01T17:39:16.430950Z",
+      "status": "passed",
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+      "request_id": "req-20260801173916-90206d",
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+      "physical_state": {
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+    "status": "passed",
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+        }
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+      "target": {
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+        "zone": "front_right",
+        "instance": "passenger"
+      },
+      "complete": true,
+      "missing": []
+    },
+    "finished_at": "2026-08-01T17:40:25.130245Z",
+    "duration_ms": 830
+  },
+  "finished_at": "2026-08-01T17:40:25.130276Z",
+  "summary": {
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+    "passed": 1,
+    "failed": 0,
+    "safety_blocked": 0,
+    "executed": 1,
+    "final_state_passed": true
+  }
+}

artifacts/hil/seat_frontend_hil_20260802_gpt56_position_sync_targeted.json

@@ -0,0 +1,364 @@
+{
+  "suite": "t2g-seat-frontend-comprehensive-hil",
+  "started_at": "2026-08-01T20:30:03.347380Z",
+  "base_url": "http://127.0.0.1:8000",
+  "vehicle_id": "denza_n7",
+  "conversation_id": "conv-hil-full-20260801203003",
+  "runtime": {
+    "hardware_execution_allowed": true,
+    "firmware_profiles": [
+      "combined"
+    ]
+  },
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+      "group": "model",
+      "utterance": "前舱空间太挤了，把座椅调整到舒服的位置",
+      "started_at": "2026-08-01T20:30:43.772650Z",
+      "status": "passed",
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+      "request_id": "req-20260801203043-6dba03",
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+              "data_hex": "02 26 08 09 00 AD 0D 00",
+              "timestamp": 46720.941274
+            }
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+              "data_hex": "03 26 08 0A 00 ED 03 00",
+              "timestamp": 46720.967852
+            }
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+            }
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+          }
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+      "finished_at": "2026-08-01T20:31:25.863040Z",
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+    }
+  ],
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+    "utterance": "关闭副驾座椅加热和通风，并把水平、坐盆、靠背、腿托四轴归零",
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+    "status": "passed",
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+    "request_id": "req-20260801203003-f00e7a",
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+          "feedback_frame": {
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+            "payload_size": 8,
+            "data_hex": "02 26 18 04 00 00 00 00",
+            "timestamp": 46678.856952
+          }
+        },
+        "legrest_height": {
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+            "payload_size": 8,
+            "data_hex": "03 26 18 05 00 00 00 00",
+            "timestamp": 46678.882795
+          }
+        },
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+            "data_hex": "00 26 18 02 00 00 00 00",
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+        }
+      },
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+      },
+      "captured_at": "2026-08-01T20:30:43.683001Z",
+      "source": "physical_can",
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+        "zone": "front_right",
+        "instance": "passenger"
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+  },
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+    "utterance": "关闭副驾座椅加热和通风，并把水平、坐盆、靠背、腿托四轴归零",
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+    "status": "passed",
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+      "captured_at": "2026-08-01T20:32:04.818553Z",
+      "source": "physical_can",
+      "target": {
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+        "zone": "front_right",
+        "instance": "passenger"
+      },
+      "complete": true,
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+    },
+    "finished_at": "2026-08-01T20:32:04.895597Z",
+    "duration_ms": 39033
+  },
+  "finished_at": "2026-08-01T20:32:04.895635Z",
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+    "safety_blocked": 0,
+    "executed": 1,
+    "position_memory_sync_passed": true,
+    "final_state_passed": true
+  }
+}

artifacts/hil/seat_frontend_hil_20260802_post_suite_zero_cleanup.json

@@ -0,0 +1,250 @@
+{
+  "suite": "t2g-seat-frontend-full-hil",
+  "started_at": "2026-08-01T17:16:40.264559Z",
+  "base_url": "http://127.0.0.1:8000",
+  "vehicle_id": "denza_n7",
+  "conversation_id": "conv-hil-full-20260801171640",
+  "runtime": {
+    "hardware_execution_allowed": true,
+    "firmware_profiles": [
+      "combined"
+    ]
+  },
+  "results": [
+    {
+      "id": "MOTION-ALL-ZERO",
+      "group": "motion",
+      "utterance": "把副驾水平、坐盆、靠背、腿托四轴归零",
+      "started_at": "2026-08-01T17:16:40.264614Z",
+      "status": "passed",
+      "errors": [],
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+      "request_id": "req-20260801171640-4a5f1e",
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+              "data_hex": "02 26 18 19 01 00 00 00",
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+          "instance": "passenger"
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+      "duration_ms": 70498
+    }
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+    "group": "cleanup",
+    "utterance": "关闭副驾座椅加热和通风",
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+    "status": "passed",
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+          "timestamp": 35106.558466
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+        "instance": "passenger"
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+      "complete": true,
+      "missing": []
+    },
+    "finished_at": "2026-08-01T17:17:51.636183Z",
+    "duration_ms": 873
+  },
+  "finished_at": "2026-08-01T17:17:51.636217Z",
+  "summary": {
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+    "passed": 1,
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+    "safety_blocked": 0,
+    "executed": 1,
+    "final_state_passed": true
+  }
+}

artifacts/hil/seat_frontend_hil_20260802_preflight_firmware_restore.json

@@ -0,0 +1,363 @@
+{
+  "suite": "t2g-seat-frontend-full-hil",
+  "started_at": "2026-08-01T16:40:47.172484Z",
+  "base_url": "http://127.0.0.1:8000",
+  "vehicle_id": "denza_n7",
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+    "firmware_profiles": [
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+      "utterance": "关闭副驾座椅加热",
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+      "utterance": "关闭副驾座椅通风",
+      "started_at": "2026-08-01T16:41:02.738421Z",
+      "status": "passed",
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+      "request_id": "req-20260801164102-401927",
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+              "data_hex": "03 00 18 00 00 00 00 00",
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+        "target": {
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+    "utterance": "关闭副驾座椅加热和通风",
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+      },
+      "captured_at": "2026-08-01T16:41:04.301854Z",
+      "source": "physical_can",
+      "target": {
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+        "zone": "front_right",
+        "instance": "passenger"
+      },
+      "complete": true,
+      "missing": []
+    },
+    "finished_at": "2026-08-01T16:41:04.424088Z",
+    "duration_ms": 854
+  },
+  "finished_at": "2026-08-01T16:41:04.424118Z",
+  "summary": {
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+    "final_state_passed": true
+  }
+}

artifacts/hil/seat_frontend_hil_20260802_timeout_fix_post_cleanup.json

@@ -0,0 +1,250 @@
+{
+  "suite": "t2g-seat-frontend-full-hil",
+  "started_at": "2026-08-01T17:32:24.627065Z",
+  "base_url": "http://127.0.0.1:8000",
+  "vehicle_id": "denza_n7",
+  "conversation_id": "conv-hil-full-20260801173224",
+  "runtime": {
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+    "firmware_profiles": [
+      "combined"
+    ]
+  },
+  "results": [
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+      "group": "motion",
+      "utterance": "把副驾水平、坐盆、靠背、腿托四轴归零",
+      "started_at": "2026-08-01T17:32:24.627106Z",
+      "status": "passed",
+      "errors": [],
+      "http_status": 201,
+      "request_id": "req-20260801173224-cedf76",
+      "matched_modes": [],
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+      "physical_state": {
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+            "motor_result": 2,
+            "motor_selector": 0,
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+              "data_hex": "00 26 18 30 01 00 00 00",
+              "timestamp": 36047.100786
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+            "task_state": 6,
+            "motor_result": 2,
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+              "data_hex": "01 26 18 31 01 00 00 00",
+              "timestamp": 36047.126273
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+              "timestamp": 36047.152829
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+            "motor_result": 2,
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+            "feedback_frame": {
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+              "timestamp": 36047.178304
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+          }
+        },
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+      "duration_ms": 67605
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+    "group": "cleanup",
+    "utterance": "关闭副驾座椅加热和通风",
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+    "status": "passed",
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+    "physical_state": {
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+            "timestamp": 36047.954191
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+            "timestamp": 36047.980699
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+      },
+      "captured_at": "2026-08-01T17:33:32.986103Z",
+      "source": "physical_can",
+      "target": {
+        "device": "seat",
+        "zone": "front_right",
+        "instance": "passenger"
+      },
+      "complete": true,
+      "missing": []
+    },
+    "finished_at": "2026-08-01T17:33:33.067889Z",
+    "duration_ms": 836
+  },
+  "finished_at": "2026-08-01T17:33:33.067920Z",
+  "summary": {
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+    "passed": 1,
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+    "safety_blocked": 0,
+    "executed": 1,
+    "final_state_passed": true
+  }
+}

artifacts/hil/seat_frontend_hil_20260802_timeout_fix_precondition_zero.json

@@ -0,0 +1,250 @@
+{
+  "suite": "t2g-seat-frontend-full-hil",
+  "started_at": "2026-08-01T17:26:35.994926Z",
+  "base_url": "http://127.0.0.1:8000",
+  "vehicle_id": "denza_n7",
+  "conversation_id": "conv-hil-full-20260801172635",
+  "runtime": {
+    "hardware_execution_allowed": true,
+    "firmware_profiles": [
+      "combined"
+    ]
+  },
+  "results": [
+    {
+      "id": "MOTION-ALL-ZERO",
+      "group": "motion",
+      "utterance": "把副驾水平、坐盆、靠背、腿托四轴归零",
+      "started_at": "2026-08-01T17:26:35.994963Z",
+      "status": "passed",
+      "errors": [],
+      "http_status": 201,
+      "request_id": "req-20260801172635-cf368d",
+      "matched_modes": [],
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+      "physical_state": {
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+            "position_valid": true,
+            "motion_state": "stopped",
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+            "task_state": 6,
+            "motor_result": 2,
+            "motor_selector": 2,
+            "value_x100": 0,
+            "feedback_frame": {
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+              "payload_size": 8,
+              "data_hex": "02 26 18 23 01 00 00 00",
+              "timestamp": 35698.280073
+            }
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+  },
+  "finished_at": "2026-08-01T17:27:44.276129Z",
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+  }
+}

artifacts/hil/seat_frontend_hil_20260802_zero_gravity_timeout_fix.json

@@ -0,0 +1,252 @@
+{
+  "suite": "t2g-seat-frontend-full-hil",
+  "started_at": "2026-08-01T17:32:02.775803Z",
+  "base_url": "http://127.0.0.1:8000",
+  "vehicle_id": "denza_n7",
+  "conversation_id": "conv-hil-full-20260801173202",
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+    "utterance": "关闭副驾座椅加热和通风",
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+            "data_hex": "02 26 08 2D 01 A7 1F 00",
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+      },
+      "captured_at": "2026-08-01T17:32:10.308851Z",
+      "source": "physical_can",
+      "target": {
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+        "zone": "front_right",
+        "instance": "passenger"
+      },
+      "complete": true,
+      "missing": []
+    },
+    "finished_at": "2026-08-01T17:32:10.379863Z",
+    "duration_ms": 797
+  },
+  "finished_at": "2026-08-01T17:32:10.379894Z",
+  "summary": {
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+    "passed": 1,
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+    "executed": 1,
+    "final_state_passed": true
+  }
+}

artifacts/hil/seat_frontend_hil_20260808_dynamic_modes.json

@@ -0,0 +1,825 @@
+{
+  "suite": "t2g-seat-frontend-comprehensive-hil",
+  "started_at": "2026-08-07T18:17:38.577477Z",
+  "base_url": "http://127.0.0.1:8003",
+  "vehicle_id": "denza_n7",
+  "conversation_id": "conv-hil-full-20260807181738",
+  "runtime": {
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+    "firmware_profiles": [
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+    ]
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+      "started_at": "2026-08-07T18:18:01.681906Z",
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+            "channel": 0,
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+          }
+        },
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+        "source": "physical_can",
+        "target": {
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+          "instance": "passenger"
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+    },
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+            "feedback_frame": {
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+              "timestamp": 106975.934169,
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+            "timestamp": 106975.955173,
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+          "feedback_frame": {
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+            "payload_size": 8,
+            "data_hex": "09 00 00 00 00 00 00 00",
+            "timestamp": 106975.955173,
+            "channel": 0,
+            "is_fd": false,
+            "bitrate_switch": false
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+        "source": "physical_can",
+        "target": {
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+          "instance": "passenger"
+        },
+        "complete": true,
+        "missing": []
+      },
+      "finished_at": "2026-08-07T18:18:04.413787Z",
+      "duration_ms": 896
+    },
+    {
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+      "group": "mode",
+      "utterance": "关闭动态摇篮模式",
+      "started_at": "2026-08-07T18:18:04.416034Z",
+      "status": "passed",
+      "errors": [],
+      "http_status": 201,
+      "request_id": "req-20260807181804-bcf153",
+      "provider_used": "local_rules",
+      "matched_modes": [
+        "dynamic_cradle"
+      ],
+      "state_http_status": 200,
+      "physical_state": {
+        "position": {
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+            "position_valid": true,
+            "motion_state": "stopped",
+            "fault": false,
+            "task_state": 0,
+            "motor_result": 3,
+            "motor_selector": 0,
+            "value_x100": 1122,
+            "feedback_frame": {
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+              "payload_size": 8,
+              "data_hex": "00 30 08 38 00 62 04 00",
+              "timestamp": 106976.740494,
+              "channel": 0,
+              "is_fd": false,
+              "bitrate_switch": false
+            }
+          },
+          "cushion_tilt": {
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+            "position_valid": true,
+            "motion_state": "stopped",
+            "fault": false,
+            "task_state": 0,
+            "motor_result": 3,
+            "motor_selector": 1,
+            "value_x100": 2246,
+            "feedback_frame": {
+              "frame_id": "0x302",
+              "payload_size": 8,
+              "data_hex": "01 30 08 38 00 C6 08 00",
+              "timestamp": 106976.76544,
+              "channel": 0,
+              "is_fd": false,
+              "bitrate_switch": false
+            }
+          },
+          "backrest_recline": {
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+            "position_valid": true,
+            "motion_state": "stopped",
+            "fault": false,
+            "task_state": 0,
+            "motor_result": 3,
+            "motor_selector": 2,
+            "value_x100": 742,
+            "feedback_frame": {
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+              "payload_size": 8,
+              "data_hex": "02 30 08 38 00 E6 02 00",
+              "timestamp": 106976.792049,
+              "channel": 0,
+              "is_fd": false,
+              "bitrate_switch": false
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+          },
+          "legrest_height": {
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+            "position_valid": true,
+            "motion_state": "stopped",
+            "fault": false,
+            "task_state": 0,
+            "motor_result": 3,
+            "motor_selector": 3,
+            "value_x100": 1144,
+            "feedback_frame": {
+              "frame_id": "0x302",
+              "payload_size": 8,
+              "data_hex": "03 30 08 38 00 78 04 00",
+              "timestamp": 106976.817508,
+              "channel": 0,
+              "is_fd": false,
+              "bitrate_switch": false
+            }
+          }
+        },
+        "ventilation": {
+          "state": "off",
+          "level": 0,
+          "feedback_value": 1,
+          "feedback_frame": {
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+            "payload_size": 8,
+            "data_hex": "09 00 00 00 00 00 00 00",
+            "timestamp": 106976.829112,
+            "channel": 0,
+            "is_fd": false,
+            "bitrate_switch": false
+          }
+        },
+        "heating": {
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+          "feedback_value": 1,
+          "feedback_frame": {
+            "frame_id": "0x4FA",
+            "payload_size": 8,
+            "data_hex": "09 00 00 00 00 00 00 00",
+            "timestamp": 106976.829112,
+            "channel": 0,
+            "is_fd": false,
+            "bitrate_switch": false
+          }
+        },
+        "captured_at": "2026-08-07T18:18:05.221617Z",
+        "source": "physical_can",
+        "target": {
+          "device": "seat",
+          "zone": "front_right",
+          "instance": "passenger"
+        },
+        "complete": true,
+        "missing": []
+      },
+      "finished_at": "2026-08-07T18:18:05.302650Z",
+      "duration_ms": 887
+    }
+  ],
+  "position_memory_sync": {
+    "id": "PREFLIGHT-POSITION-MEMORY-SYNC",
+    "group": "preflight",
+    "utterance": "关闭副驾座椅加热和通风，并把水平、坐盆、靠背、腿托四轴归零",
+    "started_at": "2026-08-07T18:17:38.579391Z",
+    "status": "passed",
+    "errors": [],
+    "http_status": 201,
+    "request_id": "req-20260807181738-c1fa94",
+    "provider_used": "local_rules",
+    "matched_modes": [],
+    "state_http_status": 200,
+    "physical_state": {
+      "position": {
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+          "position_valid": true,
+          "motion_state": "stopped",
+          "fault": false,
+          "task_state": 6,
+          "motor_result": 2,
+          "motor_selector": 2,
+          "value_x100": 0,
+          "feedback_frame": {
+            "frame_id": "0x302",
+            "payload_size": 8,
+            "data_hex": "02 26 18 31 00 00 00 00",
+            "timestamp": 106973.120321,
+            "channel": 0,
+            "is_fd": false,
+            "bitrate_switch": false
+          }
+        },
+        "legrest_height": {
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+          "position_valid": true,
+          "motion_state": "stopped",
+          "fault": false,
+          "task_state": 6,
+          "motor_result": 2,
+          "motor_selector": 3,
+          "value_x100": 0,
+          "feedback_frame": {
+            "frame_id": "0x302",
+            "payload_size": 8,
+            "data_hex": "03 26 18 32 00 00 00 00",
+            "timestamp": 106973.146175,
+            "channel": 0,
+            "is_fd": false,
+            "bitrate_switch": false
+          }
+        },
+        "longitudinal": {
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+          "position_valid": true,
+          "motion_state": "stopped",
+          "fault": false,
+          "task_state": 6,
+          "motor_result": 2,
+          "motor_selector": 0,
+          "value_x100": 0,
+          "feedback_frame": {
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+            "payload_size": 8,
+            "data_hex": "00 26 18 2F 00 00 00 00",
+            "timestamp": 106973.171397,
+            "channel": 0,
+            "is_fd": false,
+            "bitrate_switch": false
+          }
+        },
+        "cushion_tilt": {
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+          "position_valid": true,
+          "motion_state": "stopped",
+          "fault": false,
+          "task_state": 6,
+          "motor_result": 2,
+          "motor_selector": 1,
+          "value_x100": 0,
+          "feedback_frame": {
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+            "payload_size": 8,
+            "data_hex": "01 26 18 30 00 00 00 00",
+            "timestamp": 106973.198366,
+            "channel": 0,
+            "is_fd": false,
+            "bitrate_switch": false
+          }
+        }
+      },
+      "ventilation": {
+        "state": "off",
+        "level": 0,
+        "feedback_value": 1,
+        "feedback_frame": {
+          "frame_id": "0x4FA",
+          "payload_size": 8,
+          "data_hex": "09 00 00 00 00 00 00 00",
+          "timestamp": 106973.204067,
+          "channel": 0,
+          "is_fd": false,
+          "bitrate_switch": false
+        }
+      },
+      "heating": {
+        "state": "off",
+        "level": 0,
+        "feedback_value": 1,
+        "feedback_frame": {
+          "frame_id": "0x4FA",
+          "payload_size": 8,
+          "data_hex": "09 00 00 00 00 00 00 00",
+          "timestamp": 106973.204067,
+          "channel": 0,
+          "is_fd": false,
+          "bitrate_switch": false
+        }
+      },
+      "captured_at": "2026-08-07T18:18:01.596265Z",
+      "source": "physical_can",
+      "target": {
+        "device": "seat",
+        "zone": "front_right",
+        "instance": "passenger"
+      },
+      "complete": true,
+      "missing": []
+    },
+    "finished_at": "2026-08-07T18:18:01.678120Z",
+    "duration_ms": 23099
+  },
+  "final_state": {
+    "id": "FINAL-THERMAL-OFF",
+    "group": "cleanup",
+    "utterance": "关闭副驾座椅加热和通风，并把水平、坐盆、靠背、腿托四轴归零",
+    "started_at": "2026-08-07T18:18:05.303817Z",
+    "status": "passed",
+    "errors": [],
+    "http_status": 201,
+    "request_id": "req-20260807181805-8f6d46",
+    "provider_used": "local_rules",
+    "matched_modes": [],
+    "state_http_status": 200,
+    "physical_state": {
+      "position": {
+        "backrest_recline": {
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+          "position_valid": true,
+          "motion_state": "stopped",
+          "fault": false,
+          "task_state": 6,
+          "motor_result": 2,
+          "motor_selector": 2,
+          "value_x100": 0,
+          "feedback_frame": {
+            "frame_id": "0x302",
+            "payload_size": 8,
+            "data_hex": "02 26 18 3C 00 00 00 00",
+            "timestamp": 106996.774961,
+            "channel": 0,
+            "is_fd": false,
+            "bitrate_switch": false
+          }
+        },
+        "legrest_height": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped",
+          "fault": false,
+          "task_state": 6,
+          "motor_result": 2,
+          "motor_selector": 3,
+          "value_x100": 0,
+          "feedback_frame": {
+            "frame_id": "0x302",
+            "payload_size": 8,
+            "data_hex": "03 26 18 3D 00 00 00 00",
+            "timestamp": 106996.800164,
+            "channel": 0,
+            "is_fd": false,
+            "bitrate_switch": false
+          }
+        },
+        "longitudinal": {
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+          "position_valid": true,
+          "motion_state": "stopped",
+          "fault": false,
+          "task_state": 6,
+          "motor_result": 2,
+          "motor_selector": 0,
+          "value_x100": 0,
+          "feedback_frame": {
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+            "payload_size": 8,
+            "data_hex": "00 26 18 3A 00 00 00 00",
+            "timestamp": 106996.826407,
+            "channel": 0,
+            "is_fd": false,
+            "bitrate_switch": false
+          }
+        },
+        "cushion_tilt": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped",
+          "fault": false,
+          "task_state": 6,
+          "motor_result": 2,
+          "motor_selector": 1,
+          "value_x100": 0,
+          "feedback_frame": {
+            "frame_id": "0x302",
+            "payload_size": 8,
+            "data_hex": "01 26 18 3B 00 00 00 00",
+            "timestamp": 106996.852753,
+            "channel": 0,
+            "is_fd": false,
+            "bitrate_switch": false
+          }
+        }
+      },
+      "ventilation": {
+        "state": "off",
+        "level": 0,
+        "feedback_value": 1,
+        "feedback_frame": {
+          "frame_id": "0x4FA",
+          "payload_size": 8,
+          "data_hex": "09 00 00 00 00 00 00 00",
+          "timestamp": 106996.861946,
+          "channel": 0,
+          "is_fd": false,
+          "bitrate_switch": false
+        }
+      },
+      "heating": {
+        "state": "off",
+        "level": 0,
+        "feedback_value": 1,
+        "feedback_frame": {
+          "frame_id": "0x4FA",
+          "payload_size": 8,
+          "data_hex": "09 00 00 00 00 00 00 00",
+          "timestamp": 106996.861946,
+          "channel": 0,
+          "is_fd": false,
+          "bitrate_switch": false
+        }
+      },
+      "captured_at": "2026-08-07T18:18:25.255987Z",
+      "source": "physical_can",
+      "target": {
+        "device": "seat",
+        "zone": "front_right",
+        "instance": "passenger"
+      },
+      "complete": true,
+      "missing": []
+    },
+    "finished_at": "2026-08-07T18:18:25.336490Z",
+    "duration_ms": 20033
+  },
+  "finished_at": "2026-08-07T18:18:25.336534Z",
+  "summary": {
+    "total": 4,
+    "passed": 4,
+    "failed": 0,
+    "safety_blocked": 0,
+    "executed": 4,
+    "position_memory_sync_passed": true,
+    "final_state_passed": true
+  }
+}

artifacts/hil/seat_frontend_hil_20260809_legrest_home_fix_nonzero.json

@@ -0,0 +1,174 @@
+{
+  "suite": "t2g-seat-frontend-comprehensive-hil",
+  "started_at": "2026-08-09T14:41:51.089381Z",
+  "base_url": "http://127.0.0.1:8003",
+  "vehicle_id": "denza_n7",
+  "conversation_id": "conv-hil-full-20260809144151",
+  "runtime": {
+    "hardware_execution_allowed": true,
+    "firmware_profiles": [
+      "combined"
+    ]
+  },
+  "results": [
+    {
+      "id": "MOTION-M3-20-LEGREST",
+      "group": "motion",
+      "utterance": "副驾腿托调到20%",
+      "started_at": "2026-08-09T14:41:52.650112Z",
+      "status": "failed",
+      "errors": [
+        "M3运动反馈未达到目标"
+      ],
+      "http_status": 201,
+      "request_id": "req-20260809144152-1c844d",
+      "provider_used": "local_rules",
+      "failure_telemetry": {
+        "transport": "zcanpro_shared_bridge",
+        "hardware_feedback": false,
+        "simulated": false,
+        "bridge_result": {
+          "details": {
+            "command_id": "t2g_move_passenger_legrest_height_20pct",
+            "stop_all_attempted": true,
+            "summary": "M3运动反馈未达到目标",
+            "target": 2000,
+            "terminal": null,
+            "tolerance": 100
+          },
+          "log_dir": "D:\\huang.xuewei\\Git\\Cognitive_Agent\\artifacts\\self-repair\\hardware\\20260809_224152_db5620",
+          "report_path": "D:\\huang.xuewei\\Git\\Cognitive_Agent\\artifacts\\self-repair\\hardware\\20260809_224152_db5620\\report.json",
+          "request_id": "SEAT_ORCH_1786286512679_db5620",
+          "result": "FAIL",
+          "summary": "M3运动反馈未达到目标"
+        },
+        "error_type": null,
+        "stop_all_attempted": true
+      },
+      "finished_at": "2026-08-09T14:41:54.700435Z",
+      "duration_ms": 2050
+    }
+  ],
+  "position_memory_sync": {
+    "id": "PREFLIGHT-POSITION-MEMORY-SYNC",
+    "group": "preflight",
+    "utterance": "关闭副驾座椅加热和通风，并把水平、坐盆、靠背、腿托四轴归零",
+    "started_at": "2026-08-09T14:41:51.089407Z",
+    "status": "passed",
+    "errors": [],
+    "http_status": 201,
+    "request_id": "req-20260809144151-bb6620",
+    "provider_used": "local_rules",
+    "matched_modes": [],
+    "state_http_status": 200,
+    "physical_state": {
+      "position": {
+        "longitudinal": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "cushion_tilt": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "backrest_recline": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "legrest_height": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        }
+      },
+      "ventilation": {
+        "state": "off",
+        "level": 0
+      },
+      "heating": {
+        "state": "off",
+        "level": 0
+      },
+      "captured_at": "2026-08-09T14:41:52.648514Z",
+      "source": "physical_can",
+      "target": {
+        "device": "seat",
+        "zone": "front_right",
+        "instance": "passenger"
+      },
+      "complete": true,
+      "missing": []
+    },
+    "finished_at": "2026-08-09T14:41:52.650041Z",
+    "duration_ms": 1561
+  },
+  "final_state": {
+    "id": "FINAL-THERMAL-OFF",
+    "group": "cleanup",
+    "utterance": "关闭副驾座椅加热和通风，并把水平、坐盆、靠背、腿托四轴归零",
+    "started_at": "2026-08-09T14:41:54.700479Z",
+    "status": "passed",
+    "errors": [],
+    "http_status": 201,
+    "request_id": "req-20260809144154-f4ad43",
+    "provider_used": "local_rules",
+    "matched_modes": [],
+    "state_http_status": 200,
+    "physical_state": {
+      "position": {
+        "longitudinal": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "cushion_tilt": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "backrest_recline": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "legrest_height": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        }
+      },
+      "ventilation": {
+        "state": "off",
+        "level": 0
+      },
+      "heating": {
+        "state": "off",
+        "level": 0
+      },
+      "captured_at": "2026-08-09T14:41:59.460250Z",
+      "source": "physical_can",
+      "target": {
+        "device": "seat",
+        "zone": "front_right",
+        "instance": "passenger"
+      },
+      "complete": true,
+      "missing": []
+    },
+    "finished_at": "2026-08-09T14:41:59.460811Z",
+    "duration_ms": 4760
+  },
+  "finished_at": "2026-08-09T14:41:59.460848Z",
+  "summary": {
+    "total": 1,
+    "passed": 0,
+    "failed": 1,
+    "safety_blocked": 0,
+    "executed": 1,
+    "position_memory_sync_passed": true,
+    "final_state_passed": true
+  }
+}

artifacts/hil/seat_frontend_hil_20260809_user_admin_retest.json

@@ -0,0 +1,358 @@
+{
+  "suite": "t2g-seat-frontend-comprehensive-hil",
+  "started_at": "2026-08-09T10:04:15.082291Z",
+  "base_url": "http://127.0.0.1:8003",
+  "vehicle_id": "denza_n7",
+  "conversation_id": "conv-hil-full-20260809100415",
+  "runtime": {
+    "hardware_execution_allowed": true,
+    "firmware_profiles": [
+      "combined"
+    ]
+  },
+  "results": [
+    {
+      "id": "MOTION-M0-25-HORIZONTAL",
+      "group": "motion",
+      "utterance": "把副驾座椅水平位置调到25%",
+      "started_at": "2026-08-09T10:04:16.311200Z",
+      "status": "passed",
+      "errors": [],
+      "http_status": 201,
+      "request_id": "req-20260809100416-4da1f3",
+      "provider_used": "local_rules",
+      "matched_modes": [],
+      "state_http_status": 200,
+      "physical_state": {
+        "position": {
+          "longitudinal": {
+            "position_pct": 25,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "cushion_tilt": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "backrest_recline": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "legrest_height": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped"
+          }
+        },
+        "ventilation": {
+          "state": "off",
+          "level": 0
+        },
+        "heating": {
+          "state": "off",
+          "level": 0
+        },
+        "captured_at": "2026-08-09T10:04:21.364491Z",
+        "source": "physical_can",
+        "target": {
+          "device": "seat",
+          "zone": "front_right",
+          "instance": "passenger"
+        },
+        "complete": true,
+        "missing": []
+      },
+      "finished_at": "2026-08-09T10:04:21.365063Z",
+      "duration_ms": 5054
+    },
+    {
+      "id": "MOTION-M1-20-PAN",
+      "group": "motion",
+      "utterance": "把副驾坐盆调到20%",
+      "started_at": "2026-08-09T10:04:21.365115Z",
+      "status": "passed",
+      "errors": [],
+      "http_status": 201,
+      "request_id": "req-20260809100421-b0b99e",
+      "provider_used": "local_rules",
+      "matched_modes": [],
+      "state_http_status": 200,
+      "physical_state": {
+        "position": {
+          "longitudinal": {
+            "position_pct": 25,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "cushion_tilt": {
+            "position_pct": 20,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "backrest_recline": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "legrest_height": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped"
+          }
+        },
+        "ventilation": {
+          "state": "off",
+          "level": 0
+        },
+        "heating": {
+          "state": "off",
+          "level": 0
+        },
+        "captured_at": "2026-08-09T10:04:24.207471Z",
+        "source": "physical_can",
+        "target": {
+          "device": "seat",
+          "zone": "front_right",
+          "instance": "passenger"
+        },
+        "complete": true,
+        "missing": []
+      },
+      "finished_at": "2026-08-09T10:04:24.208128Z",
+      "duration_ms": 2843
+    },
+    {
+      "id": "COMBINED-ALL",
+      "group": "combined",
+      "utterance": "打开副驾加热1档、通风1档，座椅水平到30%，坐盆到40%，靠背到37%，腿托到42%",
+      "started_at": "2026-08-09T10:04:24.208183Z",
+      "status": "failed",
+      "errors": [
+        "M3运动反馈未达到目标"
+      ],
+      "http_status": 201,
+      "request_id": "req-20260809100424-27194b",
+      "provider_used": "local_rules",
+      "failure_telemetry": {
+        "transport": "zcanpro_shared_bridge",
+        "hardware_feedback": false,
+        "simulated": false,
+        "bridge_result": {
+          "details": {
+            "command_id": "t2g_move_passenger_legrest_height_42pct",
+            "stop_all_attempted": true,
+            "summary": "M3运动反馈未达到目标",
+            "target": 4200,
+            "terminal": {
+              "active": false,
+              "direction": 0,
+              "driver_fault": false,
+              "duty": 0,
+              "far": false,
+              "motor": 3,
+              "near": false,
+              "position": 2349,
+              "position_valid": true,
+              "result": 6,
+              "sequence": 50339,
+              "stall": false,
+              "task": 7
+            },
+            "tolerance": 100
+          },
+          "log_dir": "D:\\huang.xuewei\\Git\\Cognitive_Agent\\artifacts\\self-repair\\hardware\\20260809_180424_546250",
+          "report_path": "D:\\huang.xuewei\\Git\\Cognitive_Agent\\artifacts\\self-repair\\hardware\\20260809_180424_546250\\report.json",
+          "request_id": "SEAT_ORCH_1786269864212_546250",
+          "result": "FAIL",
+          "summary": "M3运动反馈未达到目标"
+        },
+        "error_type": null,
+        "stop_all_attempted": true
+      },
+      "finished_at": "2026-08-09T10:04:47.676002Z",
+      "duration_ms": 23468
+    },
+    {
+      "id": "MODE-EASY-OPEN",
+      "group": "mode",
+      "utterance": "打开轻松进出模式",
+      "started_at": "2026-08-09T10:04:47.676048Z",
+      "status": "passed",
+      "errors": [],
+      "http_status": 201,
+      "request_id": "req-20260809100447-c855cc",
+      "provider_used": "local_rules",
+      "matched_modes": [
+        "easy_entry_exit"
+      ],
+      "state_http_status": 200,
+      "physical_state": {
+        "position": {
+          "longitudinal": {
+            "position_pct": 100,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "cushion_tilt": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "backrest_recline": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "legrest_height": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped"
+          }
+        },
+        "ventilation": {
+          "state": "on",
+          "level": 1
+        },
+        "heating": {
+          "state": "on",
+          "level": 1
+        },
+        "captured_at": "2026-08-09T10:05:18.547335Z",
+        "source": "physical_can",
+        "target": {
+          "device": "seat",
+          "zone": "front_right",
+          "instance": "passenger"
+        },
+        "complete": true,
+        "missing": []
+      },
+      "finished_at": "2026-08-09T10:05:18.548156Z",
+      "duration_ms": 30872
+    }
+  ],
+  "position_memory_sync": {
+    "id": "PREFLIGHT-POSITION-MEMORY-SYNC",
+    "group": "preflight",
+    "utterance": "关闭副驾座椅加热和通风，并把水平、坐盆、靠背、腿托四轴归零",
+    "started_at": "2026-08-09T10:04:15.082316Z",
+    "status": "passed",
+    "errors": [],
+    "http_status": 201,
+    "request_id": "req-20260809100415-146708",
+    "provider_used": "local_rules",
+    "matched_modes": [],
+    "state_http_status": 200,
+    "physical_state": {
+      "position": {
+        "longitudinal": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "cushion_tilt": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "backrest_recline": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "legrest_height": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        }
+      },
+      "ventilation": {
+        "state": "off",
+        "level": 0
+      },
+      "heating": {
+        "state": "off",
+        "level": 0
+      },
+      "captured_at": "2026-08-09T10:04:16.310470Z",
+      "source": "physical_can",
+      "target": {
+        "device": "seat",
+        "zone": "front_right",
+        "instance": "passenger"
+      },
+      "complete": true,
+      "missing": []
+    },
+    "finished_at": "2026-08-09T10:04:16.311124Z",
+    "duration_ms": 1229
+  },
+  "final_state": {
+    "id": "FINAL-THERMAL-OFF",
+    "group": "cleanup",
+    "utterance": "关闭副驾座椅加热和通风，并把水平、坐盆、靠背、腿托四轴归零",
+    "started_at": "2026-08-09T10:05:18.548210Z",
+    "status": "passed",
+    "errors": [],
+    "http_status": 201,
+    "request_id": "req-20260809100518-e21b3f",
+    "provider_used": "local_rules",
+    "matched_modes": [],
+    "state_http_status": 200,
+    "physical_state": {
+      "position": {
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+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "cushion_tilt": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "backrest_recline": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "legrest_height": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        }
+      },
+      "ventilation": {
+        "state": "off",
+        "level": 0
+      },
+      "heating": {
+        "state": "off",
+        "level": 0
+      },
+      "captured_at": "2026-08-09T10:05:36.941483Z",
+      "source": "physical_can",
+      "target": {
+        "device": "seat",
+        "zone": "front_right",
+        "instance": "passenger"
+      },
+      "complete": true,
+      "missing": []
+    },
+    "finished_at": "2026-08-09T10:05:36.942155Z",
+    "duration_ms": 18394
+  },
+  "finished_at": "2026-08-09T10:05:36.942191Z",
+  "summary": {
+    "total": 4,
+    "passed": 3,
+    "failed": 1,
+    "safety_blocked": 0,
+    "executed": 4,
+    "position_memory_sync_passed": true,
+    "final_state_passed": true
+  }
+}

artifacts/hil/seat_frontend_hil_20260809_user_admin_retest_v2.json

@@ -0,0 +1,363 @@
+{
+  "suite": "t2g-seat-frontend-comprehensive-hil",
+  "started_at": "2026-08-09T10:09:27.978007Z",
+  "base_url": "http://127.0.0.1:8003",
+  "vehicle_id": "denza_n7",
+  "conversation_id": "conv-hil-full-20260809100927",
+  "runtime": {
+    "hardware_execution_allowed": true,
+    "firmware_profiles": [
+      "combined"
+    ]
+  },
+  "results": [
+    {
+      "id": "MOTION-M0-25-HORIZONTAL",
+      "group": "motion",
+      "utterance": "把副驾座椅水平位置调到25%",
+      "started_at": "2026-08-09T10:09:29.207379Z",
+      "status": "passed",
+      "errors": [],
+      "http_status": 201,
+      "request_id": "req-20260809100929-f3faee",
+      "provider_used": "local_rules",
+      "matched_modes": [],
+      "state_http_status": 200,
+      "physical_state": {
+        "position": {
+          "longitudinal": {
+            "position_pct": 25,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "cushion_tilt": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "backrest_recline": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "legrest_height": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped"
+          }
+        },
+        "ventilation": {
+          "state": "off",
+          "level": 0
+        },
+        "heating": {
+          "state": "off",
+          "level": 0
+        },
+        "captured_at": "2026-08-09T10:09:34.257766Z",
+        "source": "physical_can",
+        "target": {
+          "device": "seat",
+          "zone": "front_right",
+          "instance": "passenger"
+        },
+        "complete": true,
+        "missing": []
+      },
+      "finished_at": "2026-08-09T10:09:34.258318Z",
+      "duration_ms": 5051
+    },
+    {
+      "id": "MOTION-M1-20-PAN",
+      "group": "motion",
+      "utterance": "把副驾坐盆调到20%",
+      "started_at": "2026-08-09T10:09:34.258367Z",
+      "status": "passed",
+      "errors": [],
+      "http_status": 201,
+      "request_id": "req-20260809100934-e7b1ff",
+      "provider_used": "local_rules",
+      "matched_modes": [],
+      "state_http_status": 200,
+      "physical_state": {
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+            "position_pct": 25,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "cushion_tilt": {
+            "position_pct": 20,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "backrest_recline": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "legrest_height": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped"
+          }
+        },
+        "ventilation": {
+          "state": "off",
+          "level": 0
+        },
+        "heating": {
+          "state": "off",
+          "level": 0
+        },
+        "captured_at": "2026-08-09T10:09:37.186209Z",
+        "source": "physical_can",
+        "target": {
+          "device": "seat",
+          "zone": "front_right",
+          "instance": "passenger"
+        },
+        "complete": true,
+        "missing": []
+      },
+      "finished_at": "2026-08-09T10:09:37.186800Z",
+      "duration_ms": 2928
+    },
+    {
+      "id": "COMBINED-ALL",
+      "group": "combined",
+      "utterance": "打开副驾加热1档、通风1档，座椅水平到30%，坐盆到40%，靠背到37%，腿托到42%",
+      "started_at": "2026-08-09T10:09:37.186855Z",
+      "status": "passed",
+      "errors": [],
+      "http_status": 201,
+      "request_id": "req-20260809100937-a7f166",
+      "provider_used": "local_rules",
+      "matched_modes": [],
+      "state_http_status": 200,
+      "physical_state": {
+        "position": {
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+            "position_pct": 30,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "cushion_tilt": {
+            "position_pct": 40,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "backrest_recline": {
+            "position_pct": 37,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "legrest_height": {
+            "position_pct": 42,
+            "position_valid": true,
+            "motion_state": "stopped"
+          }
+        },
+        "ventilation": {
+          "state": "on",
+          "level": 1
+        },
+        "heating": {
+          "state": "on",
+          "level": 1
+        },
+        "captured_at": "2026-08-09T10:09:58.061243Z",
+        "source": "physical_can",
+        "target": {
+          "device": "seat",
+          "zone": "front_right",
+          "instance": "passenger"
+        },
+        "complete": true,
+        "missing": []
+      },
+      "finished_at": "2026-08-09T10:09:58.061831Z",
+      "duration_ms": 20875
+    },
+    {
+      "id": "MODE-EASY-OPEN",
+      "group": "mode",
+      "utterance": "打开轻松进出模式",
+      "started_at": "2026-08-09T10:09:58.061892Z",
+      "status": "passed",
+      "errors": [],
+      "http_status": 201,
+      "request_id": "req-20260809100958-e2d7f8",
+      "provider_used": "local_rules",
+      "matched_modes": [
+        "easy_entry_exit"
+      ],
+      "state_http_status": 200,
+      "physical_state": {
+        "position": {
+          "longitudinal": {
+            "position_pct": 100,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "cushion_tilt": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "backrest_recline": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped"
+          },
+          "legrest_height": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped"
+          }
+        },
+        "ventilation": {
+          "state": "on",
+          "level": 1
+        },
+        "heating": {
+          "state": "on",
+          "level": 1
+        },
+        "captured_at": "2026-08-09T10:10:30.421120Z",
+        "source": "physical_can",
+        "target": {
+          "device": "seat",
+          "zone": "front_right",
+          "instance": "passenger"
+        },
+        "complete": true,
+        "missing": []
+      },
+      "finished_at": "2026-08-09T10:10:30.421790Z",
+      "duration_ms": 32360
+    }
+  ],
+  "position_memory_sync": {
+    "id": "PREFLIGHT-POSITION-MEMORY-SYNC",
+    "group": "preflight",
+    "utterance": "关闭副驾座椅加热和通风，并把水平、坐盆、靠背、腿托四轴归零",
+    "started_at": "2026-08-09T10:09:27.978032Z",
+    "status": "passed",
+    "errors": [],
+    "http_status": 201,
+    "request_id": "req-20260809100927-fbc991",
+    "provider_used": "local_rules",
+    "matched_modes": [],
+    "state_http_status": 200,
+    "physical_state": {
+      "position": {
+        "longitudinal": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "cushion_tilt": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "backrest_recline": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "legrest_height": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        }
+      },
+      "ventilation": {
+        "state": "off",
+        "level": 0
+      },
+      "heating": {
+        "state": "off",
+        "level": 0
+      },
+      "captured_at": "2026-08-09T10:09:29.206596Z",
+      "source": "physical_can",
+      "target": {
+        "device": "seat",
+        "zone": "front_right",
+        "instance": "passenger"
+      },
+      "complete": true,
+      "missing": []
+    },
+    "finished_at": "2026-08-09T10:09:29.207187Z",
+    "duration_ms": 1229
+  },
+  "final_state": {
+    "id": "FINAL-THERMAL-OFF",
+    "group": "cleanup",
+    "utterance": "关闭副驾座椅加热和通风，并把水平、坐盆、靠背、腿托四轴归零",
+    "started_at": "2026-08-09T10:10:30.421849Z",
+    "status": "passed",
+    "errors": [],
+    "http_status": 201,
+    "request_id": "req-20260809101030-196c5e",
+    "provider_used": "local_rules",
+    "matched_modes": [],
+    "state_http_status": 200,
+    "physical_state": {
+      "position": {
+        "longitudinal": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "cushion_tilt": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "backrest_recline": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        },
+        "legrest_height": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped"
+        }
+      },
+      "ventilation": {
+        "state": "off",
+        "level": 0
+      },
+      "heating": {
+        "state": "off",
+        "level": 0
+      },
+      "captured_at": "2026-08-09T10:10:48.779417Z",
+      "source": "physical_can",
+      "target": {
+        "device": "seat",
+        "zone": "front_right",
+        "instance": "passenger"
+      },
+      "complete": true,
+      "missing": []
+    },
+    "finished_at": "2026-08-09T10:10:48.780316Z",
+    "duration_ms": 18358
+  },
+  "finished_at": "2026-08-09T10:10:48.780363Z",
+  "summary": {
+    "total": 4,
+    "passed": 4,
+    "failed": 0,
+    "safety_blocked": 0,
+    "executed": 4,
+    "position_memory_sync_passed": true,
+    "final_state_passed": true
+  }
+}

artifacts/hil/seat_frontend_hil_cleanup.json

@@ -0,0 +1,250 @@
+{
+  "suite": "t2g-seat-frontend-comprehensive-hil",
+  "started_at": "2026-08-01T18:19:38.370275Z",
+  "base_url": "http://127.0.0.1:8000",
+  "vehicle_id": "denza_n7",
+  "conversation_id": "conv-hil-full-20260801181938",
+  "runtime": {
+    "hardware_execution_allowed": true,
+    "firmware_profiles": [
+      "combined"
+    ]
+  },
+  "results": [
+    {
+      "id": "MOTION-ALL-ZERO",
+      "group": "motion",
+      "utterance": "把副驾水平、坐盆、靠背、腿托四轴归零",
+      "started_at": "2026-08-01T18:19:38.370320Z",
+      "status": "passed",
+      "errors": [],
+      "http_status": 201,
+      "request_id": "req-20260801181938-22b770",
+      "matched_modes": [],
+      "state_http_status": 200,
+      "physical_state": {
+        "position": {
+          "backrest_recline": {
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+            "position_valid": true,
+            "motion_state": "stopped",
+            "fault": false,
+            "task_state": 6,
+            "motor_result": 2,
+            "motor_selector": 2,
+            "value_x100": 0,
+            "feedback_frame": {
+              "frame_id": "0x302",
+              "payload_size": 8,
+              "data_hex": "02 26 18 2A 01 00 00 00",
+              "timestamp": 38880.446998
+            }
+          },
+          "legrest_height": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped",
+            "fault": false,
+            "task_state": 6,
+            "motor_result": 2,
+            "motor_selector": 3,
+            "value_x100": 0,
+            "feedback_frame": {
+              "frame_id": "0x302",
+              "payload_size": 8,
+              "data_hex": "03 26 18 2B 01 00 00 00",
+              "timestamp": 38880.472823
+            }
+          },
+          "longitudinal": {
+            "position_pct": 0,
+            "position_valid": true,
+            "motion_state": "stopped",
+            "fault": false,
+            "task_state": 6,
+            "motor_result": 2,
+            "motor_selector": 0,
+            "value_x100": 0,
+            "feedback_frame": {
+              "frame_id": "0x302",
+              "payload_size": 8,
+              "data_hex": "00 26 18 28 01 00 00 00",
+              "timestamp": 38880.498667
+            }
+          },
+          "cushion_tilt": {
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+            "position_valid": true,
+            "motion_state": "stopped",
+            "fault": false,
+            "task_state": 6,
+            "motor_result": 2,
+            "motor_selector": 1,
+            "value_x100": 0,
+            "feedback_frame": {
+              "frame_id": "0x302",
+              "payload_size": 8,
+              "data_hex": "01 26 18 29 01 00 00 00",
+              "timestamp": 38880.524482
+            }
+          }
+        },
+        "ventilation": {
+          "state": "off",
+          "level": 0,
+          "feedback_value": 1,
+          "feedback_frame": {
+            "frame_id": "0x4FA",
+            "payload_size": 8,
+            "data_hex": "09 00 00 00 00 00 00 00",
+            "timestamp": 38880.532693
+          }
+        },
+        "heating": {
+          "state": "off",
+          "level": 0,
+          "feedback_value": 1,
+          "feedback_frame": {
+            "frame_id": "0x4FA",
+            "payload_size": 8,
+            "data_hex": "09 00 00 00 00 00 00 00",
+            "timestamp": 38880.532693
+          }
+        },
+        "captured_at": "2026-08-01T18:20:45.450814Z",
+        "source": "physical_can",
+        "target": {
+          "device": "seat",
+          "zone": "front_right",
+          "instance": "passenger"
+        },
+        "complete": true,
+        "missing": []
+      },
+      "finished_at": "2026-08-01T18:20:45.533084Z",
+      "duration_ms": 67163
+    }
+  ],
+  "final_state": {
+    "id": "FINAL-THERMAL-OFF",
+    "group": "cleanup",
+    "utterance": "关闭副驾座椅加热和通风，并把水平、坐盆、靠背、腿托四轴归零",
+    "started_at": "2026-08-01T18:20:45.533139Z",
+    "status": "passed",
+    "errors": [],
+    "http_status": 201,
+    "request_id": "req-20260801182045-0ea6d9",
+    "matched_modes": [],
+    "state_http_status": 200,
+    "physical_state": {
+      "position": {
+        "legrest_height": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped",
+          "fault": false,
+          "task_state": 6,
+          "motor_result": 2,
+          "motor_selector": 3,
+          "value_x100": 0,
+          "feedback_frame": {
+            "frame_id": "0x302",
+            "payload_size": 8,
+            "data_hex": "03 26 18 30 01 00 00 00",
+            "timestamp": 38903.567521
+          }
+        },
+        "longitudinal": {
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+          "position_valid": true,
+          "motion_state": "stopped",
+          "fault": false,
+          "task_state": 6,
+          "motor_result": 2,
+          "motor_selector": 0,
+          "value_x100": 0,
+          "feedback_frame": {
+            "frame_id": "0x302",
+            "payload_size": 8,
+            "data_hex": "00 26 18 2D 01 00 00 00",
+            "timestamp": 38903.593343
+          }
+        },
+        "cushion_tilt": {
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+          "position_valid": true,
+          "motion_state": "stopped",
+          "fault": false,
+          "task_state": 6,
+          "motor_result": 2,
+          "motor_selector": 1,
+          "value_x100": 0,
+          "feedback_frame": {
+            "frame_id": "0x302",
+            "payload_size": 8,
+            "data_hex": "01 26 18 2E 01 00 00 00",
+            "timestamp": 38903.619184
+          }
+        },
+        "backrest_recline": {
+          "position_pct": 0,
+          "position_valid": true,
+          "motion_state": "stopped",
+          "fault": false,
+          "task_state": 6,
+          "motor_result": 2,
+          "motor_selector": 2,
+          "value_x100": 0,
+          "feedback_frame": {
+            "frame_id": "0x302",
+            "payload_size": 8,
+            "data_hex": "02 26 18 2F 01 00 00 00",
+            "timestamp": 38903.646408
+          }
+        }
+      },
+      "ventilation": {
+        "state": "off",
+        "level": 0,
+        "feedback_value": 1,
+        "feedback_frame": {
+          "frame_id": "0x4FA",
+          "payload_size": 8,
+          "data_hex": "09 00 00 00 00 00 00 00",
+          "timestamp": 38903.653213
+        }
+      },
+      "heating": {
+        "state": "off",
+        "level": 0,
+        "feedback_value": 1,
+        "feedback_frame": {
+          "frame_id": "0x4FA",
+          "payload_size": 8,
+          "data_hex": "09 00 00 00 00 00 00 00",
+          "timestamp": 38903.653213
+        }
+      },
+      "captured_at": "2026-08-01T18:21:08.570962Z",
+      "source": "physical_can",
+      "target": {
+        "device": "seat",
+        "zone": "front_right",
+        "instance": "passenger"
+      },
+      "complete": true,
+      "missing": []
+    },
+    "finished_at": "2026-08-01T18:21:08.651237Z",
+    "duration_ms": 23118
+  },
+  "finished_at": "2026-08-01T18:21:08.651275Z",
+  "summary": {
+    "total": 1,
+    "passed": 1,
+    "failed": 0,
+    "safety_blocked": 0,
+    "executed": 1,
+    "final_state_passed": true
+  }
+}

artifacts/hil/seat_zero_gravity_regression.json

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

artifacts/local-server/server.pid

@@ -0,0 +1 @@
+9136