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"payload_size": 8, "data_hex": "02 26 08 0C 00 79 17 00", "timestamp": 26173.582967 } }, "legrest_height": { "position_pct": 0, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 0, "motor_result": 3, "motor_selector": 3, "value_x100": 0, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "03 30 18 0B 00 00 00 00", "timestamp": 26173.609993 } }, "longitudinal": { "position_pct": 0, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 0, "motor_result": 3, "motor_selector": 0, "value_x100": 0, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "00 30 18 0B 00 00 00 00", "timestamp": 26173.637376 } }, "cushion_tilt": { "position_pct": 60, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 0, "motor_result": 3, "motor_selector": 1, "value_x100": 5989, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "01 30 08 0B 00 65 17 00", "timestamp": 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"position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 0, "motor_result": 3, "motor_selector": 1, "value_x100": 5989, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "01 30 08 0D 00 65 17 00", "timestamp": 26193.099722 } }, "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 0E 00 00 00 00", "timestamp": 26193.126386 } }, "legrest_height": { "position_pct": 0, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 0, "motor_result": 3, "motor_selector": 3, "value_x100": 0, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "03 30 18 0D 00 00 00 00", "timestamp": 26193.152327 } }, "longitudinal": { "position_pct": 0, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 0, "motor_result": 3, "motor_selector": 0, "value_x100": 0, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "00 30 18 0D 00 00 00 00", "timestamp": 26193.177827 } } }, "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": 26193.184603 } }, "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": 26193.184603 } }, "captured_at": "2026-08-01T14:49:18.361677Z", "source": "physical_can", "target": { "device": "seat", "zone": "front_right", "instance": "passenger" }, "complete": true, "missing": [] }, "finished_at": "2026-08-01T14:49:18.449538Z", "duration_ms": 19516 }, { "id": "MOTION-M3-20", "group": "motion", "utterance": "把副驾腿托调到20%", "started_at": "2026-08-01T14:49:18.449600Z", "status": "passed", "errors": [], 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"2026-08-01T14:49:22.277844Z", "duration_ms": 3828 }, { "id": "MOTION-M3-60", "group": "motion", "utterance": "把副驾腿托调到60%", "started_at": "2026-08-01T14:49:22.277908Z", "status": "passed", "errors": [], "http_status": 201, "request_id": "req-20260801144922-1b57d6", "matched_modes": [], "state_http_status": 200, "physical_state": { "position": { "longitudinal": { "position_pct": 0, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 0, "motor_result": 3, "motor_selector": 0, "value_x100": 0, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "00 30 18 11 00 00 00 00", "timestamp": 26203.64114 } }, "cushion_tilt": { "position_pct": 60, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 0, "motor_result": 3, "motor_selector": 1, "value_x100": 5989, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "01 30 08 11 00 65 17 00", "timestamp": 26203.665936 } }, "backrest_recline": { 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"captured_at": "2026-08-01T14:49:28.903539Z", "source": "physical_can", "target": { "device": "seat", "zone": "front_right", "instance": "passenger" }, "complete": true, "missing": [] }, "finished_at": "2026-08-01T14:49:28.974791Z", "duration_ms": 6697 }, { "id": "MOTION-M3-HOME", "group": "motion", "utterance": "把副驾腿托归零", "started_at": "2026-08-01T14:49:28.974852Z", "status": "passed", "errors": [], "http_status": 201, "request_id": "req-20260801144928-eb6dd3", "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 14 00 00 00 00", "timestamp": 26214.161987 } }, "longitudinal": { "position_pct": 0, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 0, "motor_result": 3, "motor_selector": 0, "value_x100": 0, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "00 30 18 13 00 00 00 00", "timestamp": 26214.188619 } }, "cushion_tilt": { "position_pct": 60, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 0, "motor_result": 3, "motor_selector": 1, "value_x100": 5989, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "01 30 08 13 00 65 17 00", "timestamp": 26214.214158 } }, "backrest_recline": { "position_pct": 0, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 0, "motor_result": 3, "motor_selector": 2, "value_x100": 0, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "02 30 18 13 00 00 00 00", "timestamp": 26214.240817 } } }, "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": 26214.246755 } }, "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": 26214.246755 } }, "captured_at": "2026-08-01T14:49:39.423263Z", "source": "physical_can", "target": { "device": "seat", "zone": "front_right", "instance": "passenger" }, "complete": true, "missing": [] }, "finished_at": "2026-08-01T14:49:39.500644Z", "duration_ms": 10526 }, { "id": "MOTION-ALL-ZERO", "group": "motion", "utterance": "把副驾水平、坐盆、靠背、腿托四轴归零", "status": "safety_blocked", "started_at": "2026-08-01T14:49:39.500708Z", "finished_at": "2026-08-01T14:49:39.500710Z", "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": "COMBINED-ALL", "group": "combined", "utterance": "打开副驾加热1档、打开通风1档，座椅水平到30%，坐盆到40%，靠背到37%，腿托到42%", "started_at": "2026-08-01T14:49:39.500720Z", "status": "passed", "errors": [], "http_status": 201, "request_id": "req-20260801144939-36cbec", "matched_modes": [], "state_http_status": 200, "physical_state": { "position": { "backrest_recline": { "position_pct": 37, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 6, "motor_result": 2, "motor_selector": 2, "value_x100": 3708, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "02 26 08 18 00 7C 0E 00", "timestamp": 26247.946715 } }, "legrest_height": { "position_pct": 42, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 6, "motor_result": 2, "motor_selector": 3, "value_x100": 4204, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "03 26 08 19 00 6C 10 00", "timestamp": 26247.972824 } }, "longitudinal": { "position_pct": 30, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 6, "motor_result": 2, "motor_selector": 0, "value_x100": 3026, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "00 26 08 16 00 D2 0B 00", "timestamp": 26247.998934 } }, "cushion_tilt": { "position_pct": 40, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 6, "motor_result": 2, "motor_selector": 1, "value_x100": 4011, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "01 26 08 17 00 AB 0F 00", "timestamp": 26248.025073 } } }, "ventilation": { "state": "on", "level": 1, "feedback_value": 2, "feedback_frame": { "frame_id": "0x4FA", "payload_size": 8, "data_hex": "12 00 00 00 00 00 00 00", "timestamp": 26248.031936 } }, "heating": { "state": "on", "level": 1, "feedback_value": 2, "feedback_frame": { "frame_id": "0x4FA", "payload_size": 8, "data_hex": "12 00 00 00 00 00 00 00", "timestamp": 26248.031936 } }, "captured_at": "2026-08-01T14:50:13.207616Z", "source": "physical_can", "target": { "device": "seat", "zone": "front_right", "instance": "passenger" }, "complete": true, "missing": [] }, "finished_at": "2026-08-01T14:50:13.288554Z", "duration_ms": 33788 }, { "id": "COMBINED-OFF", "group": "combined", "utterance": "关闭副驾座椅加热和通风", "started_at": "2026-08-01T14:50:13.288653Z", "status": "passed", "errors": [], "http_status": 201, "request_id": "req-20260801145013-7339f7", "matched_modes": [], "state_http_status": 200, "physical_state": { "position": { "cushion_tilt": { "position_pct": 40, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 6, "motor_result": 2, "motor_selector": 1, "value_x100": 4011, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "01 26 08 17 00 AB 0F 00", "timestamp": 26248.798682 } }, "backrest_recline": { "position_pct": 37, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 6, "motor_result": 2, "motor_selector": 2, "value_x100": 3708, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "02 26 08 18 00 7C 0E 00", "timestamp": 26248.824729 } }, "legrest_height": { "position_pct": 42, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 6, "motor_result": 2, "motor_selector": 3, "value_x100": 4204, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "03 26 08 19 00 6C 10 00", "timestamp": 26248.851193 } }, "longitudinal": { "position_pct": 30, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 6, "motor_result": 2, "motor_selector": 0, "value_x100": 3026, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "00 26 08 16 00 D2 0B 00", "timestamp": 26248.877212 } } }, "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": 26248.886329 } }, "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": 26248.886329 } }, "captured_at": "2026-08-01T14:50:14.062054Z", "source": "physical_can", "target": { "device": "seat", "zone": "front_right", "instance": "passenger" }, "complete": true, "missing": [] }, "finished_at": "2026-08-01T14:50:14.142370Z", "duration_ms": 854 }, { "id": "MODE-EASY-ENTRY", "group": "mode", "utterance": "副驾执行轻松进出模式", "status": "safety_blocked", "started_at": "2026-08-01T14:50:14.142478Z", "finished_at": "2026-08-01T14:50:14.142483Z", "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-OFFICE", "group": "mode", "utterance": "副驾执行办公模式", "status": "safety_blocked", "started_at": "2026-08-01T14:50:14.142499Z", "finished_at": "2026-08-01T14:50:14.142502Z", "duration_ms": 0, "errors": [], "safety_block": { "axis": "cushion_tilt", "target_pct": 22, "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-QUEEN", "group": "mode", "utterance": "副驾执行女王副驾行驶模式", "started_at": "2026-08-01T14:50:14.142517Z", "status": "passed", "errors": [], "http_status": 201, "request_id": "req-20260801145014-70664a", "matched_modes": [ "queen_passenger_driving" ], "state_http_status": 200, "physical_state": { "position": { "legrest_height": { "position_pct": 31, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 6, "motor_result": 2, "motor_selector": 3, "value_x100": 3091, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "03 26 08 1E 00 13 0C 00", "timestamp": 26265.676052 } }, "longitudinal": { "position_pct": 72, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 6, "motor_result": 2, "motor_selector": 0, "value_x100": 7214, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "00 26 08 1B 00 2E 1C 00", "timestamp": 26265.702155 } }, "cushion_tilt": { "position_pct": 38, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 6, "motor_result": 2, "motor_selector": 1, "value_x100": 3797, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "01 26 08 1C 00 D5 0E 00", "timestamp": 26265.728141 } }, "backrest_recline": { "position_pct": 44, "position_valid": true, "motion_state": "stopped", "fault": false, "task_state": 6, "motor_result": 2, "motor_selector": 2, "value_x100": 4406, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "02 26 08 1D 00 36 11 00", "timestamp": 26265.75347 } } }, "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": 26265.762581 } }, "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": 26265.762581 } }, "captured_at": "2026-08-01T14:50:30.937958Z", "source": "physical_can", "target": { "device": "seat", "zone": "front_right", "instance": "passenger" }, "complete": true, "missing": [] }, "finished_at": "2026-08-01T14:50:31.019740Z", "duration_ms": 16877 }, { "id": "MODE-BABY-NAP", "group": "mode", "utterance": "副驾执行宝宝午睡模式", "status": "safety_blocked", "started_at": "2026-08-01T14:50:31.019838Z", "finished_at": "2026-08-01T14:50:31.019840Z", "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-CRUISE-SOFA", "group": "mode", "utterance": "副驾执行巡航沙发模式", "status": "safety_blocked", "started_at": "2026-08-01T14:50:31.019849Z", "finished_at": "2026-08-01T14:50:31.019851Z", "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": "2026-08-01T14:50:31.019858Z", "status": "failed", "errors": [ "T2G motor 0 STALL: task_state=7, Hall=360->403" ], "http_status": 201, "request_id": "req-20260801145031-38266e", "failure_telemetry": { "motor_selector": 0, "motion_axis": "longitudinal", "task_state": 7, "motor_result": 5, "motor_result_name": "STALL", "position_valid": true, "hall_before": 360, "hall_after": 403, "hall_delta": 43, "endpoint_recovery_max_near_hall": 72, "command_frame": { "frame_id": "0x300", "payload_size": 8, "data_hex": "01 10 20 00 10 27 30 75", "timestamp": null }, "ack_frame": { "frame_id": "0x301", "payload_size": 8, "data_hex": "21 00 20 00 01 01 F0 44", "timestamp": 26266.161915 }, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "00 57 48 20 00 8C 1F 00", "timestamp": 26276.392137 }, "diagnostic_before_frame": { "frame_id": "0x303", "payload_size": 8, "data_hex": "00 00 68 01 F3 01 00 D0", "timestamp": 26266.159916 }, "diagnostic_frame": { "frame_id": "0x303", "payload_size": 8, "data_hex": "00 14 93 01 F3 01 00 31", "timestamp": 26276.393289 }, "diagnostic_read_error": null, "current_diagnostic": { "sample_count": 102, "valid_sample_count": 102, "max_current_raw": 786, "max_current_delta_raw": 786, "high_current_seen": true, "low_hall_seen": true, "stall_overlap_seen": true, "peak": { "current_raw": 786, "current_baseline_raw": 0, "current_delta_raw": 786, "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": { "frame_id": "0x304", "payload_size": 8, "data_hex": "00 0F 12 03 00 00 F4 01", "timestamp": 26272.600559 } }, "latest": { "current_raw": 761, "current_baseline_raw": 4, "current_delta_raw": 757, "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": { "frame_id": "0x304", "payload_size": 8, "data_hex": "00 0F F9 02 04 00 F4 01", "timestamp": 26276.348574 } } }, "error_type": "HardwareExecutionError", "stop_all_attempted": true, "simulated": false }, "finished_at": "2026-08-01T14:50:41.708093Z", "duration_ms": 10688 }, { "id": "MODE-LEISURE", "group": "mode", "utterance": "副驾执行休闲躺椅模式", "status": "safety_blocked", "started_at": "2026-08-01T14:50:41.708148Z", "finished_at": "2026-08-01T14:50:41.708150Z", "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-CALF", "group": "mode", "utterance": "副驾执行小腿解压悬浮模式", "started_at": "2026-08-01T14:50:41.708159Z", "status": "failed", "errors": [ "T2G motor 0 TIMEOUT: task_state=7, Hall=403->403" ], "http_status": 201, "request_id": "req-20260801145041-9ad1e3", "failure_telemetry": { "motor_selector": 0, "motion_axis": "longitudinal", "task_state": 7, "motor_result": 6, "motor_result_name": "TIMEOUT", "position_valid": true, "hall_before": 403, "hall_after": 403, "hall_delta": 0, "endpoint_recovery_max_near_hall": 72, "command_frame": { "frame_id": "0x300", "payload_size": 8, "data_hex": "01 10 23 00 EC 13 30 75", "timestamp": null }, "ack_frame": { "frame_id": "0x301", "payload_size": 8, "data_hex": "21 00 23 00 01 01 F0 44", "timestamp": 26276.844086 }, "feedback_frame": { "frame_id": "0x302", "payload_size": 8, "data_hex": "00 67 08 23 00 8C 1F 00", "timestamp": 26283.391631 }, "diagnostic_before_frame": { "frame_id": "0x303", "payload_size": 8, "data_hex": "00 04 93 01 F3 01 00 70", "timestamp": 26276.842135 }, "diagnostic_frame": { "frame_id": "0x303", "payload_size": 8, "data_hex": "00 05 93 01 F3 01 00 80", "timestamp": 26283.392777 }, "diagnostic_read_error": null, "current_diagnostic": { "sample_count": 65, "valid_sample_count": 65, "max_current_raw": 261, "max_current_delta_raw": 257, "high_current_seen": false, "low_hall_seen": true, "stall_overlap_seen": false, "peak": { "current_raw": 261, "current_baseline_raw": 4, "current_delta_raw": 257, "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 05 01 04 00 F4 01", "timestamp": 26276.878946 } }, "latest": { "current_raw": 209, "current_baseline_raw": 4, "current_delta_raw": 205, "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 D1 00 04 00 F4 01", "timestamp": 26283.333981 } } }, "error_type": "HardwareExecutionError", "stop_all_attempted": true, "simulated": false }, "finished_at": "2026-08-01T14:50:48.717928Z", "duration_ms": 7010 }, { "id": "MODE-BEACH", "group": "mode", "utterance": "副驾执行电感沙滩椅模式", "status": "safety_blocked", "started_at": "2026-08-01T14:50:48.717980Z", "finished_at": "2026-08-01T14:50:48.717982Z", "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": "2026-08-01T14:50:48.717991Z", "status": "passed", "errors": [], "http_status": 201, "request_id": "req-20260801145048-75799d", "matched_modes": [ "nap" ], "state_http_status": 200, "physical_state": { "position": { "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 29 00 B5 24 00", "timestamp": 26322.562423 } }, "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 26 00 10 27 00", "timestamp": 26322.588512 } }, "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 27 00 10 27 00", "timestamp": 26322.614652 } }, "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 28 00 A7 1F 00", "timestamp": 26322.640737 } } }, "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": 26322.651384 } }, "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": 26322.651384 } }, "captured_at": "2026-08-01T14:51:27.825471Z", "source": "physical_can", "target": { "device": "seat", "zone": "front_right", "instance": "passenger" }, "complete": true, "missing": [] }, "finished_at": "2026-08-01T14:51:27.901781Z", "duration_ms": 39184 }, { "id": "MODE-ZERO-GRAVITY", "group": "mode", "utterance": "副驾执行零重力模式", "started_at": "2026-08-01T14:51:27.901869Z", "status": "passed", "errors": [], "http_status": 201, "request_id": "req-20260801145127-214380", "matched_modes": [ "zero_gravity" ], "state_http_status": 200, "physical_state": { "position": { "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 2E 00 B5 24 00", "timestamp": 26329.365561 } }, "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 2B 00 10 27 00", "timestamp": 26329.391612 } }, "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 2C 00 10 27 00", "timestamp": 26329.417696 } }, "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 2D 00 A7 1F 00", "timestamp": 26329.442725 } } }, "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": 26329.45217 } }, "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": 26329.45217 } }, "captured_at": "2026-08-01T14:51:34.625915Z", "source": "physical_can", "target": { "device": "seat", "zone": "front_right", "instance": "passenger" }, "complete": true, "missing": [] }, "finished_at": "2026-08-01T14:51:34.701037Z", "duration_ms": 6799 } ], "final_state": { "id": "FINAL-THERMAL-OFF", "group": "cleanup", "utterance": "关闭副驾座椅加热和通风", "started_at": "2026-08-01T14:51:34.701100Z", "status": "passed", "errors": [], "http_status": 201, "request_id": "req-20260801145134-275e25", "matched_modes": [], "state_http_status": 200, "physical_state": { "position": { "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 2D 00 A7 1F 00", "timestamp": 26330.235576 } }, "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 2E 00 B5 24 00", "timestamp": 26330.260914 } }, "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 2B 00 10 27 00", "timestamp": 26330.286997 } }, "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 2C 00 10 27 00", "timestamp": 26330.313124 } } }, "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": 26330.323377 } }, "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": 26330.323377 } }, "captured_at": "2026-08-01T14:51:35.497204Z", "source": "physical_can", "target": { "device": "seat", "zone": "front_right", "instance": "passenger" }, "complete": true, "missing": [] }, "finished_at": "2026-08-01T14:51:35.579514Z", "duration_ms": 878 }, "finished_at": "2026-08-01T14:51:35.579548Z", "summary": { "total": 33, "passed": 23, "failed": 2, "safety_blocked": 8, "executed": 25, "final_state_passed": true } }