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2026-06-05 12:53:48 +08:00 · 2026-05-23 21:43:45 +08:00 · 2026-05-17 19:48:25 +08:00 · 2026-05-15 21:55:42 +08:00 · 2026-05-06 17:25:05 +08:00 · 2026-05-04 11:13:59 +08:00
643 changed files with 63087 additions and 4671 deletions
@@ -8,6 +8,7 @@
 3. [输出的 ROS 2 话题](#3-输出的-ros-2-话题)
 4. [团队协作与 Git 配置指南 (必读)](#4-团队协作与-git-配置指南-必读)
 5. [开发与分支规范](#5-开发与分支规范)
+6. [相关文档](#6-相关文档)

 ---

@@ -214,3 +215,16 @@ git lfs track "*.usd"
 git add .gitattributes
 git commit -m "Add Git LFS tracking for large files"
 ⚠️ 注意：如果已经提交了大文件到历史记录，需要使用 git lfs migrate 来重写历史，否则只是追踪新文件。
+
+---
+
+## 6. 相关文档
+
+本项目包含多个子模块，相关文档位置如下：
+
+| 文档 | 路径 | 说明 |
+|------|------|------|
+| **AGV 标定系统总述** | [`agv_calib_brain/README.md`](./agv_calib_brain/README.md) | 自动化标定车间整体架构、核心能力、快速开始 |
+| **仿真启动指南** | [`agv_calib_brain/SIMULATION_GUIDE.md`](./agv_calib_brain/SIMULATION_GUIDE.md) | 如何单独启动 Isaac 仿真各组件 |
+| **源码目录说明** | [`agv_calib_brain/src/README.md`](./agv_calib_brain/src/README.md) | 源码组织结构、边界规则 |
+| **Isaac 仿真车间** | 本文档 | Isaac Sim 环境配置、基础仿真运行 |
@@ -0,0 +1,2 @@
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+*.py[cod]
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+        {
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+          "wall": "left",
+          "mount": "flush",
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+          ]
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+          "mount": "flush",
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+          "position": [
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+            1.2100000000000002
+          ],
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+          ]
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+        {
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+          "wall": "left",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
+            2.25,
+            2.985,
+            1.2100000000000002
+          ],
+          "rotation_deg": [
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+            0,
+            0
+          ]
+        },
+        {
+          "id": "left_wall_r00_c05",
+          "wall": "left",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
+            3.75,
+            2.985,
+            1.2100000000000002
+          ],
+          "rotation_deg": [
+            90,
+            0,
+            0
+          ]
+        },
+        {
+          "id": "left_wall_r01_c00",
+          "wall": "left",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
+            -3.749999999999999,
+            2.985,
+            2.33
+          ],
+          "rotation_deg": [
+            90,
+            0,
+            0
+          ]
+        },
+        {
+          "id": "left_wall_r01_c01",
+          "wall": "left",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
+            -2.249999999999999,
+            2.985,
+            2.33
+          ],
+          "rotation_deg": [
+            90,
+            0,
+            0
+          ]
+        },
+        {
+          "id": "left_wall_r01_c02",
+          "wall": "left",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
+            -0.7499999999999996,
+            2.985,
+            2.33
+          ],
+          "rotation_deg": [
+            90,
+            0,
+            0
+          ]
+        },
+        {
+          "id": "left_wall_r01_c03",
+          "wall": "left",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
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+            2.985,
+            2.33
+          ],
+          "rotation_deg": [
+            90,
+            0,
+            0
+          ]
+        },
+        {
+          "id": "left_wall_r01_c04",
+          "wall": "left",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
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+            2.985,
+            2.33
+          ],
+          "rotation_deg": [
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+            0,
+            0
+          ]
+        },
+        {
+          "id": "left_wall_r01_c05",
+          "wall": "left",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
+            3.75,
+            2.985,
+            2.33
+          ],
+          "rotation_deg": [
+            90,
+            0,
+            0
+          ]
+        },
+        {
+          "id": "right_wall_r00_c00",
+          "wall": "right",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
+            -3.749999999999999,
+            -2.985,
+            1.2100000000000002
+          ],
+          "rotation_deg": [
+            90,
+            0,
+            180
+          ]
+        },
+        {
+          "id": "right_wall_r00_c01",
+          "wall": "right",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
+            -2.249999999999999,
+            -2.985,
+            1.2100000000000002
+          ],
+          "rotation_deg": [
+            90,
+            0,
+            180
+          ]
+        },
+        {
+          "id": "right_wall_r00_c02",
+          "wall": "right",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
+            -0.7499999999999996,
+            -2.985,
+            1.2100000000000002
+          ],
+          "rotation_deg": [
+            90,
+            0,
+            180
+          ]
+        },
+        {
+          "id": "right_wall_r00_c03",
+          "wall": "right",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
+            0.75,
+            -2.985,
+            1.2100000000000002
+          ],
+          "rotation_deg": [
+            90,
+            0,
+            180
+          ]
+        },
+        {
+          "id": "right_wall_r00_c04",
+          "wall": "right",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
+            2.25,
+            -2.985,
+            1.2100000000000002
+          ],
+          "rotation_deg": [
+            90,
+            0,
+            180
+          ]
+        },
+        {
+          "id": "right_wall_r01_c00",
+          "wall": "right",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
+            -3.749999999999999,
+            -2.985,
+            2.33
+          ],
+          "rotation_deg": [
+            90,
+            0,
+            180
+          ]
+        },
+        {
+          "id": "right_wall_r01_c01",
+          "wall": "right",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
+            -2.249999999999999,
+            -2.985,
+            2.33
+          ],
+          "rotation_deg": [
+            90,
+            0,
+            180
+          ]
+        },
+        {
+          "id": "right_wall_r01_c02",
+          "wall": "right",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
+            -0.7499999999999996,
+            -2.985,
+            2.33
+          ],
+          "rotation_deg": [
+            90,
+            0,
+            180
+          ]
+        },
+        {
+          "id": "right_wall_r01_c03",
+          "wall": "right",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
+            0.75,
+            -2.985,
+            2.33
+          ],
+          "rotation_deg": [
+            90,
+            0,
+            180
+          ]
+        },
+        {
+          "id": "right_wall_r01_c04",
+          "wall": "right",
+          "mount": "flush",
+          "purpose": "wall_checkerboard_array",
+          "position": [
+            2.25,
+            -2.985,
+            2.33
+          ],
+          "rotation_deg": [
+            90,
+            0,
+            180
+          ]
+        }
+      ]
+    },
+    "down_camera_intrinsic_target": {
+      "enabled": true,
+      "texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/down_camera_charuco.png",
+      "pattern": "charuco",
+      "squares_x": 30,
+      "squares_y": 10,
+      "square_size_x_m": 0.09000000000000001,
+      "square_size_y_m": 0.09,
+      "layout": [
+        {
+          "id": "down_camera_3d_charuco_ramp",
+          "target_type": "down_camera_intrinsic",
+          "pattern": "charuco",
+          "purpose": "intrinsic_calibration_with_depth_and_pose_gradient",
+          "center": [
+            0.0,
+            -2.15,
+            0.028499999999999998
+          ],
+          "length_m": 2.7,
+          "width_m": 0.9,
+          "squares_x": 30,
+          "squares_y": 10,
+          "square_size_m": 0.09,
+          "min_height_m": 0.012,
+          "max_height_m": 0.045,
+          "recommended_drive_axis": "+x",
+          "recommended_speed_mps": 0.1,
+          "surfaces": [
+            {
+              "id": "low_flat_charuco",
+              "type": "flat",
+              "x_range_m": [
+                -1.35,
+                -0.756
+              ],
+              "z_range_m": [
+                0.012,
+                0.012
+              ]
+            },
+            {
+              "id": "continuous_slope_charuco",
+              "type": "continuous_slope",
+              "x_range_m": [
+                -0.756,
+                0.6479999999999999
+              ],
+              "z_range_m": [
+                0.012,
+                0.045
+              ]
+            },
+            {
+              "id": "high_flat_charuco",
+              "type": "flat",
+              "x_range_m": [
+                0.6479999999999999,
+                1.35
+              ],
+              "z_range_m": [
+                0.045,
+                0.045
+              ]
+            }
+          ]
+        }
+      ]
+    }
+  },
+  "ros_topics": {
+    "cmd_vel": "/vehicle/demo_agv_001/actuator/cmd_vel",
+    "camera_image": "/AutoCalib_Workshop/camera/image_raw",
+    "lidar_prefix": "/AutoCalib_Workshop/lidar",
+    "front_camera_image": "/sensor/front_camera/image_raw",
+    "down_camera_image": "/sensor/down_camera/image_raw",
+    "lidar_3d_pointcloud": "/sensor/lidar_3d/pointcloud",
+    "lidar_2d_scan": "/sensor/lidar_2d/scan",
+    "imu": "/sensor/imu/data",
+    "external_telemetry": "/isaac/external_localization/vehicle/pose",
+    "chassis_telemetry": "/chassis/telemetry",
+    "control_telemetry": "/control/telemetry",
+    "sensor_telemetry": "/sensor_calibration/telemetry"
+  },
+  "chassis_calibration": {
+    "chassis_type": "ackermann",
+    "wheel_radius_m": 0.1,
+    "wheel_track_m": 0.52,
+    "wheel_base_m": 0.8
+  },
+  "control_calibration": {
+    "parameter_version": "isaac_control_baseline_v1"
+  },
+  "external_truth": {
+    "localization_source_id": "isaac_sim_truth_source",
+    "reference_source_name": "isaac_sim_truth_source",
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "expected_position_stddev_m": 0.01,
+    "expected_yaw_stddev_rad": 0.01,
+    "expected_time_sync_offset_ms": 2.0,
+    "visualization_enabled": false,
+    "visualization_root_prim": "/World/ExternalTruthVisualization",
+    "target_ball_radius_m": 0.075,
+    "target_balls": [
+      {
+        "ball_id": "front_left",
+        "center_in_base_link": {
+          "x_m": 0.58,
+          "y_m": 0.32,
+          "z_m": 1.28
+        }
+      },
+      {
+        "ball_id": "front_right",
+        "center_in_base_link": {
+          "x_m": 0.58,
+          "y_m": -0.32,
+          "z_m": 1.28
+        }
+      },
+      {
+        "ball_id": "rear_center",
+        "center_in_base_link": {
+          "x_m": -0.5,
+          "y_m": 0.0,
+          "z_m": 1.22
+        }
+      }
+    ]
+  },
+  "sensors": [
+    {
+      "sensor_id": "demo_front_camera",
+      "sensor_type": "front_camera",
+      "frame_id": "front_camera_link",
+      "image_topic": "/sensor/front_camera/image_raw",
+      "telemetry_topic": "/sensor_calibration/telemetry",
+      "mount_pose": {
+        "x_m": 1.12,
+        "y_m": 0.0,
+        "z_m": 1.18,
+        "roll_rad": 1.5707963267948966,
+        "pitch_rad": 0.0,
+        "yaw_rad": -1.5707963267948966
+      }
+    },
+    {
+      "sensor_id": "demo_down_camera",
+      "sensor_type": "down_camera",
+      "frame_id": "down_camera_link",
+      "image_topic": "/sensor/down_camera/image_raw",
+      "mount_pose": {
+        "x_m": 0.4,
+        "y_m": 0.0,
+        "z_m": 0.2,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_lidar_3d",
+      "sensor_type": "lidar_3d",
+      "frame_id": "lidar_3d_link",
+      "pointcloud_topic": "/sensor/lidar_3d/pointcloud",
+      "mount_pose": {
+        "x_m": 0.55,
+        "y_m": 0.0,
+        "z_m": 1.2,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_lidar_2d",
+      "sensor_type": "lidar_2d",
+      "frame_id": "lidar_2d_link",
+      "scan_topic": "/sensor/lidar_2d/scan",
+      "mount_pose": {
+        "x_m": 0.7,
+        "y_m": 0.0,
+        "z_m": 1.0,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_imu",
+      "sensor_type": "imu",
+      "frame_id": "imu_link",
+      "imu_topic": "/sensor/imu/data",
+      "mount_pose": {
+        "x_m": 0.4,
+        "y_m": 0.0,
+        "z_m": 0.26,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    }
+  ],
+  "lidar_2d_calibration_targets": {
+    "enabled": true,
+    "target_width_m": 0.82,
+    "target_height_m": 1.6,
+    "target_thickness_m": 0.04,
+    "target_bottom_z_m": 0.08,
+    "slope_angle_deg": 45.0,
+    "targets": [
+      {
+        "id": "front_vertical_reference_panel",
+        "wall": "front",
+        "type": "vertical_reference",
+        "position": [
+          4.920000000000001,
+          -2.34,
+          0.88
+        ],
+        "scale": [
+          0.04,
+          0.82,
+          1.6
+        ],
+        "rotation_deg": [
+          0.0,
+          0.0,
+          0.0
+        ],
+        "nominal_plane": "x = room_length/2 - standoff - thickness"
+      },
+      {
+        "id": "front_45deg_height_encoding_panel",
+        "wall": "front",
+        "type": "height_encoding_slope",
+        "position": [
+          4.1000000000000005,
+          -1.4,
+          0.88
+        ],
+        "scale": [
+          0.04,
+          0.82,
+          2.262741699796952
+        ],
+        "rotation_deg": [
+          0.0,
+          -45.0,
+          0.0
+        ],
+        "slope_angle_deg": 45.0,
+        "height_to_range_sign": "higher_scan_plane_farther_from_front_wall"
+      },
+      {
+        "id": "right_vertical_reference_panel",
+        "wall": "right",
+        "type": "vertical_reference",
+        "position": [
+          3.87,
+          -2.92,
+          0.88
+        ],
+        "scale": [
+          0.82,
+          0.04,
+          1.6
+        ],
+        "rotation_deg": [
+          0.0,
+          0.0,
+          0.0
+        ],
+        "nominal_plane": "y = -room_width/2 + standoff + thickness"
+      }
+    ]
+  },
+  "orchestrator_session_config_hint": {
+    "vehicle_id": "demo_agv_001",
+    "localization_source_id": "isaac_sim_truth_source",
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "reference_target_id": "isaac_external_truth"
+  }
+}
@@ -0,0 +1,168 @@
+{
+  "vehicle": {
+    "vehicle_id": "demo_agv_001",
+    "vehicle_source": "urdf_direct",
+    "source_urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
+    "urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
+    "usd_path": null,
+    "stage_prim_path": "/ackermann_front_steer_rear_drive",
+    "drive_wheels": [
+      "rear_left_wheel_link",
+      "rear_right_wheel_link"
+    ],
+    "steer_wheels": [
+      "front_left_wheel_link",
+      "front_right_wheel_link"
+    ],
+    "initial_pose": {
+      "x_m": 0.0,
+      "y_m": 0.0,
+      "z_m": 0.0,
+      "yaw_rad": 0.0
+    }
+  },
+  "workshop": {
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "room_length_m": 10.0,
+    "room_width_m": 6.0,
+    "room_height_m": 3.5,
+    "checkerboard": {
+      "rows": 6,
+      "cols": 9,
+      "square_size_m": 0.12,
+      "texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/checkerboard.png",
+      "reserved_wall_zones": {},
+      "layout": []
+    },
+    "down_camera_intrinsic_target": {
+      "enabled": false,
+      "texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/down_camera_charuco.png",
+      "pattern": "charuco",
+      "squares_x": 30,
+      "squares_y": 10,
+      "square_size_x_m": 0.09000000000000001,
+      "square_size_y_m": 0.09,
+      "layout": []
+    }
+  },
+  "ros_topics": {
+    "cmd_vel": "/vehicle/demo_agv_001/actuator/cmd_vel",
+    "camera_image": "/AutoCalib_Workshop/camera/image_raw",
+    "lidar_prefix": "/AutoCalib_Workshop/lidar",
+    "front_camera_image": "/sensor/front_camera/image_raw",
+    "down_camera_image": "/sensor/down_camera/image_raw",
+    "lidar_3d_pointcloud": "/sensor/lidar_3d/pointcloud",
+    "lidar_2d_scan": "/sensor/lidar_2d/scan",
+    "imu": "/sensor/imu/data",
+    "external_telemetry": "/isaac/external_localization/vehicle/pose",
+    "chassis_telemetry": "/chassis/telemetry",
+    "control_telemetry": "/control/telemetry",
+    "sensor_telemetry": "/sensor_calibration/telemetry"
+  },
+  "chassis_calibration": {
+    "chassis_type": "ackermann",
+    "wheel_radius_m": 0.1,
+    "wheel_track_m": 0.52,
+    "wheel_base_m": 0.8
+  },
+  "control_calibration": {
+    "parameter_version": "isaac_control_baseline_v1"
+  },
+  "external_truth": {
+    "localization_source_id": "isaac_sim_truth_source",
+    "reference_source_name": "isaac_sim_truth_source",
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "expected_position_stddev_m": 0.01,
+    "expected_yaw_stddev_rad": 0.01,
+    "expected_time_sync_offset_ms": 2.0,
+    "visualization_enabled": false
+  },
+  "sensors": [
+    {
+      "sensor_id": "demo_front_camera",
+      "sensor_type": "front_camera",
+      "frame_id": "front_camera_link",
+      "image_topic": "/sensor/front_camera/image_raw",
+      "telemetry_topic": "/sensor_calibration/telemetry",
+      "mount_pose": {
+        "x_m": 1.12,
+        "y_m": 0.0,
+        "z_m": 1.18,
+        "roll_rad": 1.5707963267948966,
+        "pitch_rad": 0.0,
+        "yaw_rad": -1.5707963267948966
+      }
+    },
+    {
+      "sensor_id": "demo_down_camera",
+      "sensor_type": "down_camera",
+      "frame_id": "down_camera_link",
+      "image_topic": "/sensor/down_camera/image_raw",
+      "mount_pose": {
+        "x_m": 0.4,
+        "y_m": 0.0,
+        "z_m": 0.2,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_lidar_3d",
+      "sensor_type": "lidar_3d",
+      "frame_id": "lidar_3d_link",
+      "pointcloud_topic": "/sensor/lidar_3d/pointcloud",
+      "mount_pose": {
+        "x_m": 0.55,
+        "y_m": 0.0,
+        "z_m": 1.2,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_lidar_2d",
+      "sensor_type": "lidar_2d",
+      "frame_id": "lidar_2d_link",
+      "scan_topic": "/sensor/lidar_2d/scan",
+      "mount_pose": {
+        "x_m": 0.7,
+        "y_m": 0.0,
+        "z_m": 1.0,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_imu",
+      "sensor_type": "imu",
+      "frame_id": "imu_link",
+      "imu_topic": "/sensor/imu/data",
+      "mount_pose": {
+        "x_m": 0.4,
+        "y_m": 0.0,
+        "z_m": 0.26,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    }
+  ],
+  "lidar_2d_calibration_targets": {
+    "enabled": false,
+    "target_width_m": 0.82,
+    "target_height_m": 1.6,
+    "target_thickness_m": 0.04,
+    "target_bottom_z_m": 0.08,
+    "slope_angle_deg": 45.0,
+    "targets": []
+  },
+  "orchestrator_session_config_hint": {
+    "vehicle_id": "demo_agv_001",
+    "localization_source_id": "isaac_sim_truth_source",
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "reference_target_id": "isaac_external_truth"
+  }
+}
@@ -0,0 +1,168 @@
+{
+  "vehicle": {
+    "vehicle_id": "demo_agv_001",
+    "vehicle_source": "urdf_direct",
+    "source_urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
+    "urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
+    "usd_path": null,
+    "stage_prim_path": "/ackermann_front_steer_rear_drive",
+    "drive_wheels": [
+      "rear_left_wheel_link",
+      "rear_right_wheel_link"
+    ],
+    "steer_wheels": [
+      "front_left_wheel_link",
+      "front_right_wheel_link"
+    ],
+    "initial_pose": {
+      "x_m": 0.0,
+      "y_m": 0.0,
+      "z_m": 0.0,
+      "yaw_rad": 0.0
+    }
+  },
+  "workshop": {
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "room_length_m": 10.0,
+    "room_width_m": 6.0,
+    "room_height_m": 3.5,
+    "checkerboard": {
+      "rows": 6,
+      "cols": 9,
+      "square_size_m": 0.12,
+      "texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/checkerboard.png",
+      "reserved_wall_zones": {},
+      "layout": []
+    },
+    "down_camera_intrinsic_target": {
+      "enabled": false,
+      "texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/down_camera_charuco.png",
+      "pattern": "charuco",
+      "squares_x": 30,
+      "squares_y": 10,
+      "square_size_x_m": 0.09000000000000001,
+      "square_size_y_m": 0.09,
+      "layout": []
+    }
+  },
+  "ros_topics": {
+    "cmd_vel": "/vehicle/demo_agv_001/actuator/cmd_vel",
+    "camera_image": "/AutoCalib_Workshop/camera/image_raw",
+    "lidar_prefix": "/AutoCalib_Workshop/lidar",
+    "front_camera_image": "/sensor/front_camera/image_raw",
+    "down_camera_image": "/sensor/down_camera/image_raw",
+    "lidar_3d_pointcloud": "/sensor/lidar_3d/pointcloud",
+    "lidar_2d_scan": "/sensor/lidar_2d/scan",
+    "imu": "/sensor/imu/data",
+    "external_telemetry": "/isaac/external_localization/vehicle/pose",
+    "chassis_telemetry": "/chassis/telemetry",
+    "control_telemetry": "/control/telemetry",
+    "sensor_telemetry": "/sensor_calibration/telemetry"
+  },
+  "chassis_calibration": {
+    "chassis_type": "ackermann",
+    "wheel_radius_m": 0.1,
+    "wheel_track_m": 0.52,
+    "wheel_base_m": 0.8
+  },
+  "control_calibration": {
+    "parameter_version": "isaac_control_baseline_v1"
+  },
+  "external_truth": {
+    "localization_source_id": "isaac_sim_truth_source",
+    "reference_source_name": "isaac_sim_truth_source",
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "expected_position_stddev_m": 0.01,
+    "expected_yaw_stddev_rad": 0.01,
+    "expected_time_sync_offset_ms": 2.0,
+    "visualization_enabled": false
+  },
+  "sensors": [
+    {
+      "sensor_id": "demo_front_camera",
+      "sensor_type": "front_camera",
+      "frame_id": "front_camera_link",
+      "image_topic": "/sensor/front_camera/image_raw",
+      "telemetry_topic": "/sensor_calibration/telemetry",
+      "mount_pose": {
+        "x_m": 1.12,
+        "y_m": 0.0,
+        "z_m": 1.18,
+        "roll_rad": 1.5707963267948966,
+        "pitch_rad": 0.0,
+        "yaw_rad": -1.5707963267948966
+      }
+    },
+    {
+      "sensor_id": "demo_down_camera",
+      "sensor_type": "down_camera",
+      "frame_id": "down_camera_link",
+      "image_topic": "/sensor/down_camera/image_raw",
+      "mount_pose": {
+        "x_m": 0.4,
+        "y_m": 0.0,
+        "z_m": 0.2,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_lidar_3d",
+      "sensor_type": "lidar_3d",
+      "frame_id": "lidar_3d_link",
+      "pointcloud_topic": "/sensor/lidar_3d/pointcloud",
+      "mount_pose": {
+        "x_m": 0.55,
+        "y_m": 0.0,
+        "z_m": 1.2,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_lidar_2d",
+      "sensor_type": "lidar_2d",
+      "frame_id": "lidar_2d_link",
+      "scan_topic": "/sensor/lidar_2d/scan",
+      "mount_pose": {
+        "x_m": 0.7,
+        "y_m": 0.0,
+        "z_m": 1.0,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_imu",
+      "sensor_type": "imu",
+      "frame_id": "imu_link",
+      "imu_topic": "/sensor/imu/data",
+      "mount_pose": {
+        "x_m": 0.4,
+        "y_m": 0.0,
+        "z_m": 0.26,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    }
+  ],
+  "lidar_2d_calibration_targets": {
+    "enabled": false,
+    "target_width_m": 0.82,
+    "target_height_m": 1.6,
+    "target_thickness_m": 0.04,
+    "target_bottom_z_m": 0.08,
+    "slope_angle_deg": 45.0,
+    "targets": []
+  },
+  "orchestrator_session_config_hint": {
+    "vehicle_id": "demo_agv_001",
+    "localization_source_id": "isaac_sim_truth_source",
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "reference_target_id": "isaac_external_truth"
+  }
+}
@@ -0,0 +1,168 @@
+{
+  "vehicle": {
+    "vehicle_id": "demo_agv_001",
+    "vehicle_source": "urdf_direct",
+    "source_urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
+    "urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
+    "usd_path": null,
+    "stage_prim_path": "/ackermann_front_steer_rear_drive",
+    "drive_wheels": [
+      "rear_left_wheel_link",
+      "rear_right_wheel_link"
+    ],
+    "steer_wheels": [
+      "front_left_wheel_link",
+      "front_right_wheel_link"
+    ],
+    "initial_pose": {
+      "x_m": 0.0,
+      "y_m": 0.0,
+      "z_m": 0.0,
+      "yaw_rad": 0.0
+    }
+  },
+  "workshop": {
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "room_length_m": 10.0,
+    "room_width_m": 6.0,
+    "room_height_m": 3.5,
+    "checkerboard": {
+      "rows": 6,
+      "cols": 9,
+      "square_size_m": 0.12,
+      "texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/checkerboard.png",
+      "reserved_wall_zones": {},
+      "layout": []
+    },
+    "down_camera_intrinsic_target": {
+      "enabled": false,
+      "texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/down_camera_charuco.png",
+      "pattern": "charuco",
+      "squares_x": 30,
+      "squares_y": 10,
+      "square_size_x_m": 0.09000000000000001,
+      "square_size_y_m": 0.09,
+      "layout": []
+    }
+  },
+  "ros_topics": {
+    "cmd_vel": "/vehicle/demo_agv_001/actuator/cmd_vel",
+    "camera_image": "/AutoCalib_Workshop/camera/image_raw",
+    "lidar_prefix": "/AutoCalib_Workshop/lidar",
+    "front_camera_image": "/sensor/front_camera/image_raw",
+    "down_camera_image": "/sensor/down_camera/image_raw",
+    "lidar_3d_pointcloud": "/sensor/lidar_3d/pointcloud",
+    "lidar_2d_scan": "/sensor/lidar_2d/scan",
+    "imu": "/sensor/imu/data",
+    "external_telemetry": "/isaac/external_localization/vehicle/pose",
+    "chassis_telemetry": "/chassis/telemetry",
+    "control_telemetry": "/control/telemetry",
+    "sensor_telemetry": "/sensor_calibration/telemetry"
+  },
+  "chassis_calibration": {
+    "chassis_type": "ackermann",
+    "wheel_radius_m": 0.1,
+    "wheel_track_m": 0.52,
+    "wheel_base_m": 0.8
+  },
+  "control_calibration": {
+    "parameter_version": "isaac_control_baseline_v1"
+  },
+  "external_truth": {
+    "localization_source_id": "isaac_sim_truth_source",
+    "reference_source_name": "isaac_sim_truth_source",
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "expected_position_stddev_m": 0.01,
+    "expected_yaw_stddev_rad": 0.01,
+    "expected_time_sync_offset_ms": 2.0,
+    "visualization_enabled": false
+  },
+  "sensors": [
+    {
+      "sensor_id": "demo_front_camera",
+      "sensor_type": "front_camera",
+      "frame_id": "front_camera_link",
+      "image_topic": "/sensor/front_camera/image_raw",
+      "telemetry_topic": "/sensor_calibration/telemetry",
+      "mount_pose": {
+        "x_m": 1.12,
+        "y_m": 0.0,
+        "z_m": 1.18,
+        "roll_rad": 1.5707963267948966,
+        "pitch_rad": 0.0,
+        "yaw_rad": -1.5707963267948966
+      }
+    },
+    {
+      "sensor_id": "demo_down_camera",
+      "sensor_type": "down_camera",
+      "frame_id": "down_camera_link",
+      "image_topic": "/sensor/down_camera/image_raw",
+      "mount_pose": {
+        "x_m": 0.4,
+        "y_m": 0.0,
+        "z_m": 0.2,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_lidar_3d",
+      "sensor_type": "lidar_3d",
+      "frame_id": "lidar_3d_link",
+      "pointcloud_topic": "/sensor/lidar_3d/pointcloud",
+      "mount_pose": {
+        "x_m": 0.55,
+        "y_m": 0.0,
+        "z_m": 1.2,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_lidar_2d",
+      "sensor_type": "lidar_2d",
+      "frame_id": "lidar_2d_link",
+      "scan_topic": "/sensor/lidar_2d/scan",
+      "mount_pose": {
+        "x_m": 0.7,
+        "y_m": 0.0,
+        "z_m": 1.0,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_imu",
+      "sensor_type": "imu",
+      "frame_id": "imu_link",
+      "imu_topic": "/sensor/imu/data",
+      "mount_pose": {
+        "x_m": 0.4,
+        "y_m": 0.0,
+        "z_m": 0.26,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    }
+  ],
+  "lidar_2d_calibration_targets": {
+    "enabled": false,
+    "target_width_m": 0.82,
+    "target_height_m": 1.6,
+    "target_thickness_m": 0.04,
+    "target_bottom_z_m": 0.08,
+    "slope_angle_deg": 45.0,
+    "targets": []
+  },
+  "orchestrator_session_config_hint": {
+    "vehicle_id": "demo_agv_001",
+    "localization_source_id": "isaac_sim_truth_source",
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "reference_target_id": "isaac_external_truth"
+  }
+}
@@ -0,0 +1,168 @@
+{
+  "vehicle": {
+    "vehicle_id": "demo_agv_001",
+    "vehicle_source": "urdf_direct",
+    "source_urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
+    "urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
+    "usd_path": null,
+    "stage_prim_path": "/ackermann_front_steer_rear_drive",
+    "drive_wheels": [
+      "rear_left_wheel_link",
+      "rear_right_wheel_link"
+    ],
+    "steer_wheels": [
+      "front_left_wheel_link",
+      "front_right_wheel_link"
+    ],
+    "initial_pose": {
+      "x_m": 0.0,
+      "y_m": 0.0,
+      "z_m": 0.0,
+      "yaw_rad": 0.0
+    }
+  },
+  "workshop": {
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "room_length_m": 10.0,
+    "room_width_m": 6.0,
+    "room_height_m": 3.5,
+    "checkerboard": {
+      "rows": 6,
+      "cols": 9,
+      "square_size_m": 0.12,
+      "texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/checkerboard.png",
+      "reserved_wall_zones": {},
+      "layout": []
+    },
+    "down_camera_intrinsic_target": {
+      "enabled": false,
+      "texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/down_camera_charuco.png",
+      "pattern": "charuco",
+      "squares_x": 30,
+      "squares_y": 10,
+      "square_size_x_m": 0.09000000000000001,
+      "square_size_y_m": 0.09,
+      "layout": []
+    }
+  },
+  "ros_topics": {
+    "cmd_vel": "/vehicle/demo_agv_001/actuator/cmd_vel",
+    "camera_image": "/AutoCalib_Workshop/camera/image_raw",
+    "lidar_prefix": "/AutoCalib_Workshop/lidar",
+    "front_camera_image": "/sensor/front_camera/image_raw",
+    "down_camera_image": "/sensor/down_camera/image_raw",
+    "lidar_3d_pointcloud": "/sensor/lidar_3d/pointcloud",
+    "lidar_2d_scan": "/sensor/lidar_2d/scan",
+    "imu": "/sensor/imu/data",
+    "external_telemetry": "/isaac/external_localization/vehicle/pose",
+    "chassis_telemetry": "/chassis/telemetry",
+    "control_telemetry": "/control/telemetry",
+    "sensor_telemetry": "/sensor_calibration/telemetry"
+  },
+  "chassis_calibration": {
+    "chassis_type": "ackermann",
+    "wheel_radius_m": 0.1,
+    "wheel_track_m": 0.52,
+    "wheel_base_m": 0.8
+  },
+  "control_calibration": {
+    "parameter_version": "isaac_control_baseline_v1"
+  },
+  "external_truth": {
+    "localization_source_id": "isaac_sim_truth_source",
+    "reference_source_name": "isaac_sim_truth_source",
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "expected_position_stddev_m": 0.01,
+    "expected_yaw_stddev_rad": 0.01,
+    "expected_time_sync_offset_ms": 2.0,
+    "visualization_enabled": false
+  },
+  "sensors": [
+    {
+      "sensor_id": "demo_front_camera",
+      "sensor_type": "front_camera",
+      "frame_id": "front_camera_link",
+      "image_topic": "/sensor/front_camera/image_raw",
+      "telemetry_topic": "/sensor_calibration/telemetry",
+      "mount_pose": {
+        "x_m": 1.12,
+        "y_m": 0.0,
+        "z_m": 1.18,
+        "roll_rad": 1.5707963267948966,
+        "pitch_rad": 0.0,
+        "yaw_rad": -1.5707963267948966
+      }
+    },
+    {
+      "sensor_id": "demo_down_camera",
+      "sensor_type": "down_camera",
+      "frame_id": "down_camera_link",
+      "image_topic": "/sensor/down_camera/image_raw",
+      "mount_pose": {
+        "x_m": 0.4,
+        "y_m": 0.0,
+        "z_m": 0.2,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_lidar_3d",
+      "sensor_type": "lidar_3d",
+      "frame_id": "lidar_3d_link",
+      "pointcloud_topic": "/sensor/lidar_3d/pointcloud",
+      "mount_pose": {
+        "x_m": 0.55,
+        "y_m": 0.0,
+        "z_m": 1.2,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_lidar_2d",
+      "sensor_type": "lidar_2d",
+      "frame_id": "lidar_2d_link",
+      "scan_topic": "/sensor/lidar_2d/scan",
+      "mount_pose": {
+        "x_m": 0.7,
+        "y_m": 0.0,
+        "z_m": 1.0,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_imu",
+      "sensor_type": "imu",
+      "frame_id": "imu_link",
+      "imu_topic": "/sensor/imu/data",
+      "mount_pose": {
+        "x_m": 0.4,
+        "y_m": 0.0,
+        "z_m": 0.26,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    }
+  ],
+  "lidar_2d_calibration_targets": {
+    "enabled": false,
+    "target_width_m": 0.82,
+    "target_height_m": 1.6,
+    "target_thickness_m": 0.04,
+    "target_bottom_z_m": 0.08,
+    "slope_angle_deg": 45.0,
+    "targets": []
+  },
+  "orchestrator_session_config_hint": {
+    "vehicle_id": "demo_agv_001",
+    "localization_source_id": "isaac_sim_truth_source",
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "reference_target_id": "isaac_external_truth"
+  }
+}
@@ -0,0 +1,168 @@
+{
+  "vehicle": {
+    "vehicle_id": "demo_agv_001",
+    "vehicle_source": "urdf_direct",
+    "source_urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
+    "urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
+    "usd_path": null,
+    "stage_prim_path": "/ackermann_front_steer_rear_drive",
+    "drive_wheels": [
+      "rear_left_wheel_link",
+      "rear_right_wheel_link"
+    ],
+    "steer_wheels": [
+      "front_left_wheel_link",
+      "front_right_wheel_link"
+    ],
+    "initial_pose": {
+      "x_m": 0.0,
+      "y_m": 0.0,
+      "z_m": 0.0,
+      "yaw_rad": 0.0
+    }
+  },
+  "workshop": {
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "room_length_m": 10.0,
+    "room_width_m": 6.0,
+    "room_height_m": 3.5,
+    "checkerboard": {
+      "rows": 6,
+      "cols": 9,
+      "square_size_m": 0.12,
+      "texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/checkerboard.png",
+      "reserved_wall_zones": {},
+      "layout": []
+    },
+    "down_camera_intrinsic_target": {
+      "enabled": false,
+      "texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/down_camera_charuco.png",
+      "pattern": "charuco",
+      "squares_x": 30,
+      "squares_y": 10,
+      "square_size_x_m": 0.09000000000000001,
+      "square_size_y_m": 0.09,
+      "layout": []
+    }
+  },
+  "ros_topics": {
+    "cmd_vel": "/vehicle/demo_agv_001/actuator/cmd_vel",
+    "camera_image": "/AutoCalib_Workshop/camera/image_raw",
+    "lidar_prefix": "/AutoCalib_Workshop/lidar",
+    "front_camera_image": "/sensor/front_camera/image_raw",
+    "down_camera_image": "/sensor/down_camera/image_raw",
+    "lidar_3d_pointcloud": "/sensor/lidar_3d/pointcloud",
+    "lidar_2d_scan": "/sensor/lidar_2d/scan",
+    "imu": "/sensor/imu/data",
+    "external_telemetry": "/isaac/external_localization/vehicle/pose",
+    "chassis_telemetry": "/chassis/telemetry",
+    "control_telemetry": "/control/telemetry",
+    "sensor_telemetry": "/sensor_calibration/telemetry"
+  },
+  "chassis_calibration": {
+    "chassis_type": "ackermann",
+    "wheel_radius_m": 0.1,
+    "wheel_track_m": 0.52,
+    "wheel_base_m": 0.8
+  },
+  "control_calibration": {
+    "parameter_version": "isaac_control_baseline_v1"
+  },
+  "external_truth": {
+    "localization_source_id": "isaac_sim_truth_source",
+    "reference_source_name": "isaac_sim_truth_source",
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "expected_position_stddev_m": 0.01,
+    "expected_yaw_stddev_rad": 0.01,
+    "expected_time_sync_offset_ms": 2.0,
+    "visualization_enabled": false
+  },
+  "sensors": [
+    {
+      "sensor_id": "demo_front_camera",
+      "sensor_type": "front_camera",
+      "frame_id": "front_camera_link",
+      "image_topic": "/sensor/front_camera/image_raw",
+      "telemetry_topic": "/sensor_calibration/telemetry",
+      "mount_pose": {
+        "x_m": 1.12,
+        "y_m": 0.0,
+        "z_m": 1.18,
+        "roll_rad": 1.5707963267948966,
+        "pitch_rad": 0.0,
+        "yaw_rad": -1.5707963267948966
+      }
+    },
+    {
+      "sensor_id": "demo_down_camera",
+      "sensor_type": "down_camera",
+      "frame_id": "down_camera_link",
+      "image_topic": "/sensor/down_camera/image_raw",
+      "mount_pose": {
+        "x_m": 0.4,
+        "y_m": 0.0,
+        "z_m": 0.2,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_lidar_3d",
+      "sensor_type": "lidar_3d",
+      "frame_id": "lidar_3d_link",
+      "pointcloud_topic": "/sensor/lidar_3d/pointcloud",
+      "mount_pose": {
+        "x_m": 0.55,
+        "y_m": 0.0,
+        "z_m": 1.2,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_lidar_2d",
+      "sensor_type": "lidar_2d",
+      "frame_id": "lidar_2d_link",
+      "scan_topic": "/sensor/lidar_2d/scan",
+      "mount_pose": {
+        "x_m": 0.7,
+        "y_m": 0.0,
+        "z_m": 1.0,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    },
+    {
+      "sensor_id": "demo_imu",
+      "sensor_type": "imu",
+      "frame_id": "imu_link",
+      "imu_topic": "/sensor/imu/data",
+      "mount_pose": {
+        "x_m": 0.4,
+        "y_m": 0.0,
+        "z_m": 0.26,
+        "roll_rad": 0.0,
+        "pitch_rad": 0.0,
+        "yaw_rad": 0.0
+      }
+    }
+  ],
+  "lidar_2d_calibration_targets": {
+    "enabled": false,
+    "target_width_m": 0.82,
+    "target_height_m": 1.6,
+    "target_thickness_m": 0.04,
+    "target_bottom_z_m": 0.08,
+    "slope_angle_deg": 45.0,
+    "targets": []
+  },
+  "orchestrator_session_config_hint": {
+    "vehicle_id": "demo_agv_001",
+    "localization_source_id": "isaac_sim_truth_source",
+    "workcell_zone_id": "isaac_workcell_zone_a",
+    "reference_target_id": "isaac_external_truth"
+  }
+}
@@ -0,0 +1,134 @@
+# AGV 自动标定车间 - 总述
+
+本项目是 AGV（自动导引车）自动化标定车间的软件系统，用于在车间环境中对 AGV 进行底盘参数标定、运控参数标定、传感器内参/外参标定，以及手眼标定。
+
+## 项目概述
+
+### 核心能力
+
+| 标定类型 | 说明 | 状态 |
+|---------|------|------|
+| 外部真值接入 | 通过外部定位系统（如 OptiTrack、激光雷达定位）获取车辆位姿真值 | ✅ 已验证 |
+| 底盘参数标定 | 标定轮距、轴距、转向角等底盘几何参数 | ✅ 已验证（模板） |
+| 运控参数标定 | 标定横向/纵向控制器的 PID/MPC/LQR 参数 | ✅ 已验证（模板） |
+| 传感器内参标定 | 相机（前视/下视）、IMU 的内参标定 | ✅ 已验证（模板） |
+| 传感器外参标定 | 相机、雷达等传感器相对于车体坐标系的外参标定 | 🚧 待完善 |
+| 手眼标定 | 机械臂与相机之间的变换关系标定 | 🚧 待开发 |
+
+### 技术架构
+
+```
+┌─────────────────────────────────────────────────────────────────┐
+│                         车间工控机（Ubuntu）                      │
+│  ┌─────────────────┐  ┌──────────────┐  ┌─────────────────────┐ │
+│  │ workshop_       │  │ 底盘标定服务  │  │ 传感器标定服务       │ │
+│  │ orchestrator_v2 │  │ chassis_     │  │ sensor_calibration_ │ │
+│  │    (总控)       │  │ calibration  │  │     service         │ │
+│  └────────┬────────┘  └──────────────┘  └─────────────────────┘ │
+│           │                                                      │
+│  ┌────────▼────────┐  ┌──────────────┐  ┌─────────────────────┐ │
+│  │ vehicle_agent_  │  │ 运控标定服务  │  │ 外部位姿服务         │ │
+│  │    gateway      │  │ control_     │  │ external_           │ │
+│  │  (WiFi6/TCP网关) │  │ calibration  │  │ localization_       │ │
+│  └─────────────────┘  └──────────────┘    └─────────────────────┘ │
+└─────────────────────────────────────────────────────────────────┘
+                              │ WiFi6/TCP
+                              ▼
+┌─────────────────────────────────────────────────────────────────┐
+│                         车端电脑（Windows/Linux）                │
+│  ┌─────────────────┐  ┌──────────────┐  ┌─────────────────────┐ │
+│  │   车端 Agent     │  │  底盘控制器   │  │    传感器驱动        │ │
+│  │ (TCP<->CAN/PLC) │  │   (CAN/PLC)  │  │  (相机/雷达/IMU)     │ │
+│  └─────────────────┘  └──────────────┘  └─────────────────────┘ │
+└─────────────────────────────────────────────────────────────────┘
+```
+
+## 目录结构
+
+```
+agv_calib_brain/
+├── src/
+│   ├── core/              # 核心标定逻辑
+│   │   ├── workshop_orchestrator/      # 车间总控编排器
+│   │   ├── chassis_calibration_service/ # 底盘标定服务
+│   │   ├── control_calibration_service/ # 运控标定服务
+│   │   ├── sensor_calibration_service/  # 传感器标定服务
+│   │   ├── external_localization_service/ # 外部位姿服务
+│   │   └── vehicle_profile_manager/    # 车辆画像管理
+│   │
+│   ├── communication/     # 通信层
+│   │   ├── win_ubuntu_bridge/          # 车间<->车端通信桥
+│   │   └── interfaces/                 # ROS2 接口定义
+│   │
+│   ├── simulation/        # 仿真验证
+│   │   ├── isaac_workshop_sim/         # Isaac Sim 标定车间
+│   │   ├── vehicle_agent_sim/          # 仿真车端 Agent
+│   │   ├── vehicle_sensor_agent_sim/   # 仿真传感器 Agent
+│   │   └── tools/                      # 仿真工具脚本
+│   │
+│   ├── deployment/        # 部署配置
+│   │   └── profiles/                   # 仿真/部署配置文件
+│   │
+│   ├── site_deployment/   # 真实现场部署
+│   │   └── (真实车辆 SDK、PLC/CAN 适配)
+│   │
+│   └── apps/              # 操作员工具
+│
+├── run_isaac_real_sim_test.sh    # 一键启动 Isaac 仿真测试
+├── stop_isaac_real_sim_stack.sh  # 停止仿真栈
+├── SIMULATION_GUIDE.md           # 仿真环境启动指南
+└── README.md                     # 本文件
+```
+
+## 快速开始
+
+### 1. 编译
+
+```bash
+cd /home/nvidia/study/AutoCalib-Workshop/agv_calib_brain
+colcon build
+source install/setup.bash
+```
+
+### 2. 一键启动完整仿真
+
+```bash
+# 启动 Isaac + 车端 Agent + 车间总控 + 执行验收
+./run_isaac_real_sim_test.sh --headless
+```
+
+### 3. 查看详细指南
+
+- **仿真启动指南**: [SIMULATION_GUIDE.md](./SIMULATION_GUIDE.md) - 如何单独启动各组件
+- **源码目录说明**: [src/README.md](./src/README.md) - 源码组织结构
+
+## 主要验证场景
+
+| 场景 | 启动方式 | 验证内容 |
+|------|---------|---------|
+| 快速闭环验证 | `launch_sim_stack.py --component vehicle-agent` + `minimal_workshop_demo.launch.py` | 车间总控能创建 session、生成阶段计划、调用车端接口 |
+| Isaac topic 检查 | `run_isaac_real_sim_test.sh --headless`（前半段） | Isaac 能发布传感器和真值 topic |
+| 完整 Isaac 仿真闭环 | `run_isaac_real_sim_test.sh --headless` | 场景、agent、桥接、总控一起运行 |
+| 传感器转发链路 | `--component vehicle-agent,sensor-ingest` | 车端能订阅 Isaac topic，车间端能拉取数据 |
+
+## 四条核心通信链路
+
+| 链路 | 方向 | 功能 | 组件 |
+|------|------|------|------|
+| 外部真值链路 | 外部系统 → 车端 | 位姿、速度、时间戳 | `external-pose-bridge` |
+| 底盘链路 | 车间 → 车端 | 下发标定动作、读取遥测 | `vehicle-agent-gateway` |
+| 运控链路 | 车间 → 车端 | 下发控制任务、读取误差 | `vehicle-agent-gateway` |
+| 传感器链路 | 车端 → 车间 | 相机、雷达、IMU 数据 | `sensor-ingest` |
+
+## 开发状态
+
+- ✅ **已完成**: 车间总控编排器、四类标定服务框架、车辆画像管理、Isaac 仿真环境、WiFi6/TCP 通信链路、端到端验收脚本
+- 🚧 **进行中**: 传感器外参标定采样链路、真实算法参数收敛
+- ⏳ **待开发**: 手眼标定、真实现场部署验证
+
+## 关键设计原则
+
+1. **主控只编排流程** - `workshop_orchestrator_v2` 负责阶段调度，具体标定由独立 ROS2 包实现
+2. **仿真与现场分离** - Isaac 代码只在 `simulation/`，真实车辆代码只在 `site_deployment/`
+3. **统一通信协议** - 车间与车端通过 WiFi6/TCP 通信，协议由 `communication/` 定义
+4. **车辆画像驱动** - 车辆能力、传感器配置通过 `vehicle_profile` 描述，支持多车型
@@ -0,0 +1,150 @@
+# 仿真环境启动指南
+
+本文档说明如何单独启动 Isaac 仿真环境的各个组件。
+
+## 前置条件
+
+```bash
+# 先 source ROS2 环境
+source install/setup.bash
+```
+
+## 单独启动组件
+
+### 1. Isaac 仿真环境
+
+```bash
+# 带可视化界面
+python3 src/simulation/tools/launch_sim_stack.py --component isaac
+
+# headless 模式（无界面）
+python3 src/simulation/tools/launch_sim_stack.py --component isaac --headless
+```
+
+### 2. 仿真车端统一 Agent
+
+包含底盘、运控、传感器数据转发：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component vehicle-agent
+```
+
+### 3. 外部位姿桥
+
+将 Isaac 真值转发给车端：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component external-pose-bridge
+```
+
+### 4. 车间侧传感器 Ingest
+
+从车端轮询传感器数据：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component sensor-ingest
+```
+
+### 5. 车间 Gateway
+
+ROS2 节点，对接底盘/运控：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component gateway
+```
+
+## 启动完整仿真链路
+
+### 方式一：一键启动所有仿真组件（不含车间总控）
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component all
+```
+
+### 方式二：分步启动（推荐用于调试）
+
+终端 1 - 启动 Isaac：
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component isaac
+```
+
+终端 2 - 启动车端 Agent：
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component vehicle-agent
+```
+
+终端 3 - 启动外部位姿桥：
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component external-pose-bridge
+```
+
+终端 4 - 启动传感器 Ingest：
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component sensor-ingest
+```
+
+终端 5 - 启动车间 Gateway：
+```bash
+python3 src/simulation/tools/launch_sim_stack.py --component gateway
+```
+
+终端 6 - 启动车间总控：
+```bash
+ros2 launch win_ubuntu_bridge minimal_workshop_demo.launch.py \
+  use_gateway:=true \
+  chassis_host:=127.0.0.1 \
+  control_host:=127.0.0.1 \
+  sensor_registry:=demo_front_camera,demo_down_camera,demo_lidar_3d,demo_lidar_2d,demo_imu
+```
+
+## 验证仿真环境
+
+启动后检查 topic：
+
+```bash
+# 查看 Isaac 发布的传感器数据
+ros2 topic list | grep isaac
+
+# 检查各传感器数据频率
+ros2 topic hz /sensor/front_camera/image_raw
+ros2 topic hz /sensor/down_camera/image_raw
+ros2 topic hz /sensor/lidar_3d/pointcloud
+ros2 topic hz /sensor/lidar_2d/scan
+ros2 topic hz /sensor/imu/data
+
+# 检查外部位姿
+ros2 topic hz /isaac/external_localization/vehicle/pose
+```
+
+## 执行端到端验收测试
+
+仿真环境启动后，执行验收：
+
+```bash
+python3 src/simulation/tools/smoke_test_workshop_orchestrator.py \
+  --verbose-feedback \
+  --no-publish-fake-external-telemetry
+```
+
+## 停止仿真环境
+
+按 `Ctrl+C` 停止各组件，或使用：
+
+```bash
+./stop_isaac_real_sim_stack.sh
+```
+
+## 快捷脚本
+
+也可以使用一键测试脚本（启动所有组件并执行验收）：
+
+```bash
+# 完整测试（启动 + 验收 + 停止）
+./run_isaac_real_sim_test.sh
+
+# 保持运行（不执行验收）
+./run_isaac_real_sim_test.sh --no-smoke --keep-running
+
+# headless 模式
+./run_isaac_real_sim_test.sh --headless
+```
@@ -0,0 +1,50 @@
+# 自动化标定流程图（当前实现状态）
+
+```mermaid
+flowchart TD
+  A[启动 minimal_workshop_demo.launch.py] --> B[vehicle_profile_manager\n最小画像服务]
+  A --> C[external_localization_service\n最小外部真值校核服务]
+  A --> D[chassis_calibration_service\n最小底盘 stub]
+  A --> E[control_calibration_service\n最小运控 stub]
+  A --> F[sensor_calibration_service\n最小传感器 stub]
+  A --> G[workshop_orchestrator_v2\n总控编排器]
+
+  B --> H[create_session]
+  H --> I[PlanBuilder 生成 stage_plan]
+  I --> J[execute_session]
+  J --> K[PrecheckRunner 预检]
+  K --> L{是否通过预检}
+  L -- 否 --> M[生成失败报告\nfinish_session_precheck_failed]
+  L -- 是 --> N[按阶段执行]
+
+  N --> O[外部真值校核\nexternal_localization_client]
+  N --> P[底盘标定\nchassis_gateway_client]
+  N --> Q[运控参数调优\ncontrol_gateway_client]
+  N --> R[传感器标定\nsensor_gateway_client]
+
+  O --> O1[external_localization_service\nreadiness + action]
+  P --> P1[chassis_calibration_service\nreadiness + action]
+  Q --> Q1[control_calibration_service\nreadiness + action]
+  R --> R1[sensor_calibration_service\nreadiness + action]
+
+  O1 --> S[收集 StageResultSummary]
+  P1 --> S
+  Q1 --> S
+  R1 --> S
+
+  S --> T[ReportBuilder 生成 WorkshopReport]
+  T --> U[get_report 查询最终报告]
+
+  classDef done fill:#d1fae5,stroke:#059669,color:#064e3b;
+  classDef stub fill:#fef3c7,stroke:#d97706,color:#92400e;
+  classDef core fill:#dbeafe,stroke:#2563eb,color:#1e3a8a;
+
+  class B,C,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U core;
+  class D,E,F,O1,P1,Q1,R1 stub;
+```
+
+## 说明
+
+- **核心编排已完成**：session、plan、precheck、stage dispatch、report。
+- **专项执行端目前是最小 stub**：能接 readiness / action，主要用于跑通链路。
+- **当前可验证闭环**：`create_session -> execute_session -> get_report`。
@@ -18,7 +18,22 @@ BUILD_ARGS=(
 )

 # 如需部分包编译，把 xxx 换成包名后取消下一行注释
-# BUILD_ARGS+=(--packages-select autoware_pose_initializer)
+BUILD_ARGS+=(--packages-select calibration_chassis_interfaces \
+                               calibration_control_interfaces \
+                               calibration_common_interfaces \
+                               calibration_external_localization_interfaces \
+                               calibration_sensor_interfaces \
+                               calibration_vehicle_profile_interfaces \
+                               calibration_workshop_orchestration_interfaces \
+                               workshop_orchestrator_v2 \
+                               vehicle_profile_manager \
+                               external_localization_service \
+                               chassis_calibration_service \
+                               control_calibration_service \
+                               sensor_calibration_service \
+                               vehicle_agent_gateway \
+                               win_ubuntu_bridge
+  )

 log "Starting colcon build..."
 if AUTOWARE_COMPILE_WITH_CUDA=1 "${BUILD_ARGS[@]}"; then
@@ -33,5 +48,3 @@ if AUTOWARE_COMPILE_WITH_CUDA=1 "${BUILD_ARGS[@]}"; then
 else
  warn "Build failed, skip sourcing."
 fi
-
-
@@ -0,0 +1,63 @@
+# 标定系统分层架构图
+
+```mermaid
+flowchart TB
+  UI[UI / 上层系统] --> ORCH[workshop_orchestrator_v2\n总控编排器]
+
+  ORCH -->|create_session| PLAN[PlanBuilder\n生成阶段计划]
+  ORCH -->|execute_session| PRECHECK[PrecheckRunner\n执行前检查]
+  ORCH -->|stage dispatch| GW[各专项 Gateway Client]
+  ORCH -->|report| RPT[ReportBuilder\n生成最终报告]
+
+  GW --> EXT[external_localization_service]
+  GW --> CHA[chassis_calibration_service]
+  GW --> CON[control_calibration_service]
+  GW --> SEN[sensor_calibration_service]
+  GW --> VPM[vehicle_profile_manager]
+
+  subgraph SERVICE[专项包：ROS 接口层]
+    EXT1[action/service/readiness]
+    CHA1[action/service/readiness]
+    CON1[action/service/readiness]
+    SEN1[action/service/readiness]
+    VPM1[profile query / update / applicability]
+  end
+
+  EXT --> EXT1
+  CHA --> CHA1
+  CON --> CON1
+  SEN --> SEN1
+  VPM --> VPM1
+
+  subgraph ALG[专项包：算法执行层]
+    EXTALG[外部真值校核算法]
+    CHAALG[底盘标定算法]
+    CONALG[运控评估算法]
+    SENALG[传感器标定算法]
+  end
+
+  EXT1 --> EXTALG
+  CHA1 --> CHAALG
+  CON1 --> CONALG
+  SEN1 --> SENALG
+
+  EXTALG -->|结果翻译| EXT1
+  CHAALG -->|结果翻译| CHA1
+  CONALG -->|结果翻译| CON1
+  SENALG -->|结果翻译| SEN1
+
+  classDef core fill:#dbeafe,stroke:#2563eb,color:#1e3a8a;
+  classDef service fill:#fef3c7,stroke:#d97706,color:#92400e;
+  classDef algo fill:#d1fae5,stroke:#059669,color:#064e3b;
+
+  class ORCH,PLAN,PRECHECK,RPT,GW core;
+  class EXT,CHA,CON,SEN,VPM,EXT1,CHA1,CON1,SEN1,VPM1 service;
+  class EXTALG,CHAALG,CONALG,SENALG algo;
+```
+
+## 说明
+
+- **总控编排器** 只管流程，不直接承载专项算法。
+- **专项包** 对外暴露固定 ROS 接口，内部再挂算法执行层。
+- **算法层** 可以独立替换，只要输入/输出协议不变。
+- **topic / service / action** 用来解耦流程和算法实现。
@@ -0,0 +1,49 @@
+# 标定系统架构对照图
+
+```mermaid
+flowchart LR
+  subgraph NOW[当前实现]
+    UI1[UI / 上层系统] --> ORCH1[workshop_orchestrator_v2\n总控编排器]
+    ORCH1 --> PLAN1[PlanBuilder / PrecheckRunner / ReportBuilder]
+    ORCH1 --> GW1[Gateway Clients]
+    GW1 --> EXT1[external_localization_service\n最小 stub]
+    GW1 --> CHA1[chassis_calibration_service\n最小 stub]
+    GW1 --> CON1[control_calibration_service\n最小 stub]
+    GW1 --> SEN1[sensor_calibration_service\n最小 stub]
+    ORCH1 --> REP1[get_report]
+  end
+
+  subgraph FUTURE[未来算法接入]
+    UI2[UI / 上层系统] --> ORCH2[workshop_orchestrator_v2\n总控编排器]
+    ORCH2 --> PLAN2[PlanBuilder / PrecheckRunner / ReportBuilder]
+    ORCH2 --> GW2[Gateway Clients]
+    GW2 --> EXT2[external_localization_service\nROS 接口层]
+    GW2 --> CHA2[chassis_calibration_service\nROS 接口层]
+    GW2 --> CON2[control_calibration_service\nROS 接口层]
+    GW2 --> SEN2[sensor_calibration_service\nROS 接口层]
+    EXT2 --> EXTALG[外部真值校核算法]
+    CHA2 --> CHAALG[底盘标定算法]
+    CON2 --> CONALG[运控评估算法]
+    SEN2 --> SENALG[传感器标定算法]
+    EXTALG --> EXT2
+    CHAALG --> CHA2
+    CONALG --> CON2
+    SENALG --> SEN2
+    ORCH2 --> REP2[get_report]
+  end
+
+  classDef core fill:#dbeafe,stroke:#2563eb,color:#1e3a8a;
+  classDef stub fill:#fef3c7,stroke:#d97706,color:#92400e;
+  classDef algo fill:#d1fae5,stroke:#059669,color:#064e3b;
+
+  class ORCH1,PLAN1,GW1,REP1,ORCH2,PLAN2,GW2,REP2 core;
+  class EXT1,CHA1,CON1,SEN1 stub;
+  class EXT2,CHA2,CON2,SEN2 algo;
+  class EXTALG,CHAALG,CONALG,SENALG algo;
+```
+
+## 读图方式
+
+- **左边当前实现**：专项包先用最小 stub 跑通流程。
+- **右边未来接入**：专项包保留 ROS 接口，内部替换成真实算法。
+- **总控不变**：orchestrator 始终只负责编排，不直接承载算法。
@@ -0,0 +1,661 @@
+#!/usr/bin/env bash
+# 一键启动 Isaac 真实仿真闭环测试。
+#
+# 默认流程：
+# 1. 使用 conda 环境 AutoCalib_Workshop 启动 Isaac 标定车间；
+# 2. 启动仿真车端统一 agent、外部位姿桥和车间侧传感器 ingest；
+# 3. 启动车间总控 demo；
+# 4. 使用 Isaac 真实发布的真值/传感器数据执行 orchestrator 端到端验收；
+# 5. 验收结束后自动停止后台进程。
+
+set -Eeuo pipefail
+
+WORKSPACE_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+CONDA_ENV_NAME="${CONDA_ENV_NAME:-AutoCalib_Workshop}"
+ROS_LOG_DIR="${ROS_LOG_DIR:-/tmp/roslog}"
+RUN_LOG_ROOT="${RUN_LOG_ROOT:-${WORKSPACE_DIR}/log/isaac_real_sim_$(date +%Y%m%d_%H%M%S)}"
+
+HEADLESS=0
+DO_BUILD=0
+RUN_SMOKE=1
+KEEP_RUNNING=0
+WITH_SENSOR_INGEST=1
+WAIT_FOR_ISAAC_TOPICS=1
+WORKSHOP_USE_GATEWAY=1
+ISAAC_WAIT_SEC="${ISAAC_WAIT_SEC:-180}"
+WORKSHOP_WARMUP_SEC="${WORKSHOP_WARMUP_SEC:-5}"
+START_GRACE_SEC="${START_GRACE_SEC:-2}"
+STOP_GRACE_SEC="${STOP_GRACE_SEC:-8}"
+TERM_GRACE_SEC="${TERM_GRACE_SEC:-3}"
+SMOKE_TASKS=""
+DATA_INPUT_PARAMS_FILE=""
+DATASET_INDEX_FILE=""
+
+PIDS=()
+NAMES=()
+LOGS=()
+CLEANED=0
+
+usage() {
+  cat <<'EOF'
+用法:
+  ./run_isaac_real_sim_test.sh [选项]
+
+默认会验证:
+  1. Isaac 发布外部真值、前视相机、下视相机、3D 雷达、2D 雷达、IMU topic。
+  2. 仿真车端统一 agent、外部位姿桥、车间侧传感器 ingest 都能启动并通信。
+  3. 车间总控能创建 session，并默认执行 external,chassis,control,sensor_intrinsic 阶段。
+  4. 传感器数据能从 Isaac -> 车端 -> WiFi6/TCP -> 车间侧链路流动。
+
+当前不验证:
+  1. 真实底盘参数是否已经收敛。
+  2. 真实相机内参、传感器外参是否已经被算法正确求解。
+  3. 棋盘格角点数量、点云几何质量、时间同步精度等采样质量。
+
+选项:
+  --headless              以 headless 模式启动 Isaac。
+  --build                 启动前先执行 colcon build。
+  --no-smoke              只启动仿真链路，不执行 orchestrator 验收。
+  --keep-running          验收结束后保持仿真链路运行，按 Ctrl+C 停止。
+  --no-sensor-ingest      不启动车间侧传感器 ingest 轮询进程。
+  --skip-topic-check      不等待 Isaac 真值/传感器 topic，直接继续启动后续链路。
+  --local-calibration-services
+                          底盘和运控阶段使用本地标定服务节点，便于验证四个算法服务的数据输入注入。
+  --data-input-params-file PATH
+                          把真实采集/ingest 生成的 site_data_input.yaml 注入算法服务。
+  --dataset-index-file PATH
+                          把真实采集/ingest 生成的 dataset_index.yaml 写入最终报告。
+  --isaac-wait-sec SEC    等待 Isaac topic 的最长时间，默认 180 秒。
+  --warmup-sec SEC        总控 demo 启动后等待采集真值历史的时间，默认 5 秒。
+  --tasks LIST            覆盖 smoke_test_workshop_orchestrator.py 的任务列表。
+                          例: external,chassis,control,sensor_intrinsic
+  --conda-env NAME        Isaac 进程使用的 conda 环境，默认 AutoCalib_Workshop。
+  -h, --help              显示帮助。
+
+环境变量:
+  CONDA_ENV_NAME          同 --conda-env。
+  ROS_LOG_DIR             ROS 日志目录，默认 /tmp/roslog。
+  RUN_LOG_ROOT            本脚本各后台进程日志目录。
+  STOP_GRACE_SEC          SIGINT 后等待后台进程优雅退出的秒数，默认 8。
+  TERM_GRACE_SEC          SIGTERM 后等待后台进程退出的秒数，默认 3。
+
+示例:
+  ./run_isaac_real_sim_test.sh --headless
+  ./run_isaac_real_sim_test.sh --headless --keep-running
+  ./run_isaac_real_sim_test.sh --headless --local-calibration-services --data-input-params-file /data/agv_calib/session_001/site_data_input.yaml
+  ./run_isaac_real_sim_test.sh --no-smoke
+EOF
+}
+
+log() {
+  echo "[INFO] $*"
+}
+
+warn() {
+  echo "[WARN] $*" >&2
+}
+
+die() {
+  echo "[ERROR] $*" >&2
+  exit 1
+}
+
+resolve_workspace_path() {
+  local path="$1"
+  case "${path}" in
+    /*)
+      echo "${path}"
+      ;;
+    *)
+      echo "${WORKSPACE_DIR}/${path}"
+      ;;
+  esac
+}
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --headless)
+      HEADLESS=1
+      shift
+      ;;
+    --build)
+      DO_BUILD=1
+      shift
+      ;;
+    --no-smoke)
+      RUN_SMOKE=0
+      KEEP_RUNNING=1
+      shift
+      ;;
+    --keep-running)
+      KEEP_RUNNING=1
+      shift
+      ;;
+    --no-sensor-ingest)
+      WITH_SENSOR_INGEST=0
+      shift
+      ;;
+    --skip-topic-check)
+      WAIT_FOR_ISAAC_TOPICS=0
+      shift
+      ;;
+    --local-calibration-services)
+      WORKSHOP_USE_GATEWAY=0
+      shift
+      ;;
+    --data-input-params-file)
+      [[ $# -ge 2 ]] || die "--data-input-params-file 需要参数"
+      DATA_INPUT_PARAMS_FILE="$2"
+      shift 2
+      ;;
+    --dataset-index-file)
+      [[ $# -ge 2 ]] || die "--dataset-index-file 需要参数"
+      DATASET_INDEX_FILE="$2"
+      shift 2
+      ;;
+    --isaac-wait-sec)
+      [[ $# -ge 2 ]] || die "--isaac-wait-sec 需要参数"
+      ISAAC_WAIT_SEC="$2"
+      shift 2
+      ;;
+    --warmup-sec)
+      [[ $# -ge 2 ]] || die "--warmup-sec 需要参数"
+      WORKSHOP_WARMUP_SEC="$2"
+      shift 2
+      ;;
+    --tasks)
+      [[ $# -ge 2 ]] || die "--tasks 需要参数"
+      SMOKE_TASKS="$2"
+      shift 2
+      ;;
+    --conda-env)
+      [[ $# -ge 2 ]] || die "--conda-env 需要参数"
+      CONDA_ENV_NAME="$2"
+      shift 2
+      ;;
+    -h|--help)
+      usage
+      exit 0
+      ;;
+    *)
+      die "未知参数: $1"
+      ;;
+  esac
+done
+
+if [[ -n "${DATA_INPUT_PARAMS_FILE}" ]]; then
+  DATA_INPUT_PARAMS_FILE="$(resolve_workspace_path "${DATA_INPUT_PARAMS_FILE}")"
+  [[ -f "${DATA_INPUT_PARAMS_FILE}" ]] || die "找不到数据输入参数文件: ${DATA_INPUT_PARAMS_FILE}"
+  [[ "${DATA_INPUT_PARAMS_FILE}" != *"'"* ]] || die "data_input_params_file 路径不能包含单引号"
+  if [[ -z "${DATASET_INDEX_FILE}" ]]; then
+    DATASET_INDEX_FILE="$(dirname "${DATA_INPUT_PARAMS_FILE}")/dataset_index.yaml"
+  fi
+fi
+
+if [[ -n "${DATASET_INDEX_FILE}" ]]; then
+  DATASET_INDEX_FILE="$(resolve_workspace_path "${DATASET_INDEX_FILE}")"
+  [[ "${DATASET_INDEX_FILE}" != *"'"* ]] || die "dataset_index_file 路径不能包含单引号"
+fi
+
+if [[ "${WORKSHOP_USE_GATEWAY}" -eq 1 ]]; then
+  WORKSHOP_USE_GATEWAY_VALUE="true"
+else
+  WORKSHOP_USE_GATEWAY_VALUE="false"
+fi
+
+resolve_conda_sh() {
+  if [[ -n "${CONDA_SH:-}" && -f "${CONDA_SH}" ]]; then
+    echo "${CONDA_SH}"
+    return 0
+  fi
+
+  local candidate
+  for candidate in \
+    "${HOME}/anaconda3/etc/profile.d/conda.sh" \
+    "${HOME}/miniconda3/etc/profile.d/conda.sh" \
+    "/opt/conda/etc/profile.d/conda.sh"
+  do
+    if [[ -f "${candidate}" ]]; then
+      echo "${candidate}"
+      return 0
+    fi
+  done
+
+  if command -v conda >/dev/null 2>&1; then
+    local base
+    base="$(conda info --base 2>/dev/null || true)"
+    if [[ -n "${base}" && -f "${base}/etc/profile.d/conda.sh" ]]; then
+      echo "${base}/etc/profile.d/conda.sh"
+      return 0
+    fi
+  fi
+
+  return 1
+}
+
+source_ros_env() {
+  set +u
+  if [[ -f /opt/ros/humble/setup.bash ]]; then
+    source /opt/ros/humble/setup.bash
+  fi
+  source "${WORKSPACE_DIR}/install/setup.bash"
+  set -u
+}
+
+wait_for_background_exit() {
+  local timeout_sec="$1"
+  local deadline=$((SECONDS + timeout_sec))
+  local pid
+
+  while (( SECONDS < deadline )); do
+    local any_alive=0
+    for pid in "${PIDS[@]}"; do
+      if kill -0 "${pid}" >/dev/null 2>&1; then
+        any_alive=1
+        break
+      fi
+    done
+    if [[ "${any_alive}" -eq 0 ]]; then
+      return 0
+    fi
+    sleep 1
+  done
+
+  return 1
+}
+
+cleanup() {
+  if [[ "${CLEANED}" -eq 1 ]]; then
+    return
+  fi
+  CLEANED=1
+
+  if [[ "${#PIDS[@]}" -eq 0 ]]; then
+    return
+  fi
+
+  log "正在停止后台进程..."
+  local i pid name
+  for ((i=${#PIDS[@]}-1; i>=0; i--)); do
+    pid="${PIDS[$i]}"
+    name="${NAMES[$i]}"
+    if kill -0 "${pid}" >/dev/null 2>&1; then
+      log "发送 SIGINT: ${name} pid=${pid}"
+      kill -INT "${pid}" >/dev/null 2>&1 || true
+    fi
+  done
+
+  wait_for_background_exit "${STOP_GRACE_SEC}" || true
+  for ((i=${#PIDS[@]}-1; i>=0; i--)); do
+    pid="${PIDS[$i]}"
+    name="${NAMES[$i]}"
+    if kill -0 "${pid}" >/dev/null 2>&1; then
+      log "${name} 未在 ${STOP_GRACE_SEC}s 内退出，发送 SIGTERM: pid=${pid}"
+      kill -TERM "${pid}" >/dev/null 2>&1 || true
+    fi
+  done
+
+  wait_for_background_exit "${TERM_GRACE_SEC}" || true
+  for ((i=${#PIDS[@]}-1; i>=0; i--)); do
+    pid="${PIDS[$i]}"
+    name="${NAMES[$i]}"
+    if kill -0 "${pid}" >/dev/null 2>&1; then
+      warn "${name} 仍未退出，发送 SIGKILL: pid=${pid}"
+      kill -KILL "${pid}" >/dev/null 2>&1 || true
+    fi
+  done
+}
+
+on_signal() {
+  trap - INT TERM
+  cleanup
+  exit 130
+}
+
+trap cleanup EXIT
+trap on_signal INT TERM
+
+start_bg() {
+  local name="$1"
+  shift
+  local logfile="${RUN_LOG_ROOT}/${name}.log"
+
+  log "启动 ${name}，日志: ${logfile}"
+  "$@" >"${logfile}" 2>&1 &
+  local pid=$!
+  PIDS+=("${pid}")
+  NAMES+=("${name}")
+  LOGS+=("${logfile}")
+
+  sleep "${START_GRACE_SEC}"
+  if ! kill -0 "${pid}" >/dev/null 2>&1; then
+    warn "${name} 启动后立即退出，最近日志如下:"
+    tail -n 120 "${logfile}" >&2 || true
+    exit 1
+  fi
+}
+
+wait_for_tcp_port() {
+  local host="$1"
+  local port="$2"
+  local timeout_sec="$3"
+  local name="$4"
+  local deadline=$((SECONDS + timeout_sec))
+
+  log "等待 ${name} TCP ${host}:${port}"
+  while (( SECONDS < deadline )); do
+    if timeout 1 bash -c "</dev/tcp/${host}/${port}" >/dev/null 2>&1; then
+      log "${name} 已就绪"
+      return 0
+    fi
+    sleep 1
+  done
+
+  warn "等待 ${name} 超时"
+  return 1
+}
+
+wait_for_ros_topic_once() {
+  local topic="$1"
+  local timeout_sec="$2"
+  local deadline=$((SECONDS + timeout_sec))
+  local echo_args=(--qos-reliability best_effort --once "${topic}")
+
+  case "${topic}" in
+    /sensor/front_camera/*|/sensor/down_camera/*|/sensor/lidar_3d/*)
+      echo_args=(--qos-reliability best_effort --once "${topic}" --field header)
+      ;;
+  esac
+
+  log "等待 Isaac topic: ${topic}"
+  while (( SECONDS < deadline )); do
+    if timeout 8s ros2 topic echo "${echo_args[@]}" >/dev/null 2>&1; then
+      log "已收到 topic: ${topic}"
+      return 0
+    fi
+    sleep 2
+  done
+
+  warn "等待 topic 超时: ${topic}"
+  warn "可检查 Isaac 日志: ${RUN_LOG_ROOT}/isaac.log"
+  if [[ -f "${RUN_LOG_ROOT}/isaac.log" ]]; then
+    warn "Isaac 最近日志:"
+    tail -n 120 "${RUN_LOG_ROOT}/isaac.log" >&2 || true
+  fi
+  return 1
+}
+
+wait_for_ros_service() {
+  local service="$1"
+  local timeout_sec="$2"
+  local deadline=$((SECONDS + timeout_sec))
+
+  log "等待 ROS service: ${service}"
+  while (( SECONDS < deadline )); do
+    if ros2 service list 2>/dev/null | grep -qx "${service}"; then
+      log "service 已就绪: ${service}"
+      return 0
+    fi
+    sleep 1
+  done
+
+  warn "等待 service 超时: ${service}"
+  return 1
+}
+
+wait_for_ros_param() {
+  local node="$1"
+  local param="$2"
+  local timeout_sec="$3"
+  local deadline=$((SECONDS + timeout_sec))
+
+  log "等待 ROS 参数: ${node} ${param}"
+  while (( SECONDS < deadline )); do
+    if ros2 param get "${node}" "${param}" >/dev/null 2>&1; then
+      log "参数已就绪: ${node} ${param}"
+      return 0
+    fi
+    sleep 1
+  done
+
+  warn "等待参数超时: ${node} ${param}"
+  return 1
+}
+
+require_ros_param_non_empty() {
+  local node="$1"
+  local param="$2"
+  local output
+
+  output="$(ros2 param get "${node}" "${param}" 2>/dev/null || true)"
+  if [[ -z "${output}" || "${output}" == *"[]"* || "${output}" == *"not set"* ]]; then
+    warn "数据输入参数为空: ${node} ${param}; 输出: ${output}"
+    return 1
+  fi
+  log "数据输入参数已注入: ${node} ${param}"
+  return 0
+}
+
+verify_data_input_params() {
+  if [[ -z "${DATA_INPUT_PARAMS_FILE}" ]]; then
+    return 0
+  fi
+
+  log "验证 data_input 参数注入: ${DATA_INPUT_PARAMS_FILE}"
+  wait_for_ros_param "/external_localization_service" "data_input.data_window_start_timestamp_us" 30 || return 1
+  wait_for_ros_param "/sensor_calibration_service" "data_input.data_window_start_timestamp_us" 30 || return 1
+  require_ros_param_non_empty "/external_localization_service" "data_input.external_observation_files" || return 1
+  require_ros_param_non_empty "/sensor_calibration_service" "data_input.synchronized_dataset_files" || return 1
+  wait_for_ros_param "/workshop_orchestrator_v2" "data_input_params_file" 30 || return 1
+  require_ros_param_non_empty "/workshop_orchestrator_v2" "data_input_params_file" || return 1
+
+  if [[ "${WORKSHOP_USE_GATEWAY}" -eq 0 ]]; then
+    wait_for_ros_param "/chassis_calibration_service" "data_input.data_window_start_timestamp_us" 30 || return 1
+    wait_for_ros_param "/control_calibration_service" "data_input.data_window_start_timestamp_us" 30 || return 1
+    require_ros_param_non_empty "/chassis_calibration_service" "data_input.chassis_motion_data_files" || return 1
+    require_ros_param_non_empty "/control_calibration_service" "data_input.control_evaluation_data_files" || return 1
+  else
+    warn "当前使用 vehicle_agent_gateway，底盘/运控 data_input 由车端 agent 侧负责，本脚本只验证 external/sensor 注入。"
+  fi
+}
+
+check_no_existing_workshop_orchestrator() {
+  local nodes
+  nodes="$(timeout 5s ros2 node list 2>/dev/null || true)"
+  if [[ -z "${nodes}" ]]; then
+    return
+  fi
+
+  local count
+  count="$(printf '%s\n' "${nodes}" | grep -xc "/workshop_orchestrator_v2" || true)"
+  if [[ "${count}" -gt 0 ]]; then
+    die "检测到已有 /workshop_orchestrator_v2 节点。请先关闭旧的 workshop-demo/仿真脚本，或执行 ./stop_isaac_real_sim_stack.sh --kill 清理遗留进程，否则 create_session 和 execute_session 可能连到不同实例。"
+  fi
+}
+
+mkdir -p "${ROS_LOG_DIR}" "${RUN_LOG_ROOT}"
+
+if [[ "${DO_BUILD}" -eq 1 ]]; then
+  log "执行 colcon build"
+  (
+    cd "${WORKSPACE_DIR}"
+    set +u
+    if [[ -f /opt/ros/humble/setup.bash ]]; then
+      source /opt/ros/humble/setup.bash
+    fi
+    set -u
+    colcon build
+  )
+fi
+
+[[ -f "${WORKSPACE_DIR}/install/setup.bash" ]] || die "找不到 install/setup.bash，请先执行 colcon build，或使用 --build"
+
+CONDA_SH_PATH="$(resolve_conda_sh || true)"
+[[ -n "${CONDA_SH_PATH}" ]] || die "找不到 conda.sh，无法激活 conda 环境 ${CONDA_ENV_NAME}"
+
+source_ros_env
+
+log "工作空间: ${WORKSPACE_DIR}"
+log "ROS_LOG_DIR: ${ROS_LOG_DIR}"
+log "进程日志目录: ${RUN_LOG_ROOT}"
+log "Isaac conda 环境: ${CONDA_ENV_NAME}"
+log "Isaac headless: ${HEADLESS}"
+log "总控底盘/运控模式 use_gateway=${WORKSHOP_USE_GATEWAY_VALUE}"
+if [[ -n "${DATA_INPUT_PARAMS_FILE}" ]]; then
+  log "数据输入参数文件: ${DATA_INPUT_PARAMS_FILE}"
+fi
+
+export PYTHONUNBUFFERED=1
+check_no_existing_workshop_orchestrator
+
+ISAAC_HEADLESS_ARG=""
+if [[ "${HEADLESS}" -eq 1 ]]; then
+  ISAAC_HEADLESS_ARG="--headless"
+fi
+
+start_bg "isaac" bash -lc "
+  set -Eeuo pipefail
+  cd '${WORKSPACE_DIR}'
+  set +u
+  source '${CONDA_SH_PATH}'
+  conda activate '${CONDA_ENV_NAME}'
+  if [[ -f /opt/ros/humble/setup.bash ]]; then
+    source /opt/ros/humble/setup.bash
+  fi
+  source '${WORKSPACE_DIR}/install/setup.bash'
+  set -u
+  export ROS_LOG_DIR='${ROS_LOG_DIR}'
+  export PYTHONNOUSERSITE=1
+  exec python3 src/simulation/tools/launch_sim_stack.py --component isaac ${ISAAC_HEADLESS_ARG}
+"
+
+if [[ "${WAIT_FOR_ISAAC_TOPICS}" -eq 1 ]]; then
+  wait_for_ros_topic_once "/isaac/external_localization/vehicle/pose" "${ISAAC_WAIT_SEC}" || exit 1
+  wait_for_ros_topic_once "/sensor/front_camera/image_raw" "${ISAAC_WAIT_SEC}" || exit 1
+  wait_for_ros_topic_once "/sensor/down_camera/image_raw" "${ISAAC_WAIT_SEC}" || exit 1
+  wait_for_ros_topic_once "/sensor/lidar_3d/pointcloud" "${ISAAC_WAIT_SEC}" || exit 1
+  wait_for_ros_topic_once "/sensor/imu/data" "${ISAAC_WAIT_SEC}" || exit 1
+  wait_for_ros_topic_once "/sensor/lidar_2d/scan" "${ISAAC_WAIT_SEC}" || exit 1
+fi
+
+start_bg "vehicle-agent" bash -lc "
+  set -Eeuo pipefail
+  cd '${WORKSPACE_DIR}'
+  set +u
+  if [[ -f /opt/ros/humble/setup.bash ]]; then
+    source /opt/ros/humble/setup.bash
+  fi
+  source '${WORKSPACE_DIR}/install/setup.bash'
+  set -u
+  export ROS_LOG_DIR='${ROS_LOG_DIR}'
+  exec python3 src/simulation/tools/launch_sim_stack.py --component vehicle-agent
+"
+wait_for_tcp_port "127.0.0.1" 9000 30 "vehicle-agent unified WiFi6" || exit 1
+
+start_bg "external-pose-bridge" bash -lc "
+  set -Eeuo pipefail
+  cd '${WORKSPACE_DIR}'
+  set +u
+  if [[ -f /opt/ros/humble/setup.bash ]]; then
+    source /opt/ros/humble/setup.bash
+  fi
+  source '${WORKSPACE_DIR}/install/setup.bash'
+  set -u
+  export ROS_LOG_DIR='${ROS_LOG_DIR}'
+  exec python3 src/simulation/tools/launch_sim_stack.py --component external-pose-bridge
+"
+
+if [[ "${WITH_SENSOR_INGEST}" -eq 1 ]]; then
+  start_bg "sensor-ingest" bash -lc "
+    set -Eeuo pipefail
+    cd '${WORKSPACE_DIR}'
+    set +u
+    if [[ -f /opt/ros/humble/setup.bash ]]; then
+      source /opt/ros/humble/setup.bash
+    fi
+    source '${WORKSPACE_DIR}/install/setup.bash'
+    set -u
+    export ROS_LOG_DIR='${ROS_LOG_DIR}'
+    exec python3 src/simulation/tools/launch_sim_stack.py --component sensor-ingest
+  "
+fi
+
+start_bg "workshop-demo" bash -lc "
+  set -Eeuo pipefail
+  cd '${WORKSPACE_DIR}'
+  set +u
+  if [[ -f /opt/ros/humble/setup.bash ]]; then
+    source /opt/ros/humble/setup.bash
+  fi
+  source '${WORKSPACE_DIR}/install/setup.bash'
+  set -u
+  export ROS_LOG_DIR='${ROS_LOG_DIR}'
+  launch_args=(
+    'use_gateway:=${WORKSHOP_USE_GATEWAY_VALUE}'
+    'chassis_host:=127.0.0.1'
+    'control_host:=127.0.0.1'
+    'sensor_registry:=demo_front_camera,demo_down_camera,demo_lidar_3d,demo_lidar_2d,demo_imu'
+  )
+  if [[ -n '${DATA_INPUT_PARAMS_FILE}' ]]; then
+    launch_args+=('data_input_params_file:=${DATA_INPUT_PARAMS_FILE}')
+  fi
+  if [[ -n '${DATASET_INDEX_FILE}' ]]; then
+    launch_args+=('dataset_index_file:=${DATASET_INDEX_FILE}')
+  fi
+  exec ros2 launch win_ubuntu_bridge minimal_workshop_demo.launch.py \"\${launch_args[@]}\"
+"
+
+wait_for_ros_service "/workshop_v2/create_session" 60 || exit 1
+verify_data_input_params || exit 1
+
+log "等待 ${WORKSHOP_WARMUP_SEC}s，让 external_localization_service 累积 Isaac 真值历史"
+sleep "${WORKSHOP_WARMUP_SEC}"
+
+SMOKE_STATUS=0
+if [[ "${RUN_SMOKE}" -eq 1 ]]; then
+  SMOKE_ARGS=(
+    --verbose-feedback
+    --no-publish-fake-external-telemetry
+  )
+  if [[ "${WORKSHOP_USE_GATEWAY}" -eq 0 ]]; then
+    SMOKE_ARGS+=(--disable-wifi6-precheck)
+  fi
+  if [[ -n "${SMOKE_TASKS}" ]]; then
+    SMOKE_ARGS+=(--tasks "${SMOKE_TASKS}")
+  fi
+
+  SMOKE_LOG="${RUN_LOG_ROOT}/smoke.log"
+  log "执行 orchestrator 端到端验收，日志: ${SMOKE_LOG}"
+  set +e
+  (
+    cd "${WORKSPACE_DIR}"
+    source_ros_env
+    export ROS_LOG_DIR="${ROS_LOG_DIR}"
+    python3 src/simulation/tools/smoke_test_workshop_orchestrator.py "${SMOKE_ARGS[@]}"
+  ) 2>&1 | tee "${SMOKE_LOG}"
+  SMOKE_STATUS=${PIPESTATUS[0]}
+  set -e
+
+  if [[ "${SMOKE_STATUS}" -eq 0 ]]; then
+    if [[ -n "${DATA_INPUT_PARAMS_FILE}" ]]; then
+      grep -q "site_data_input.yaml" "${SMOKE_LOG}" || die "报告中没有记录 site_data_input.yaml"
+      if [[ -f "${DATASET_INDEX_FILE}" ]]; then
+        grep -q "dataset_index.yaml" "${SMOKE_LOG}" || die "报告中没有记录 dataset_index.yaml"
+      fi
+    fi
+    log "仿真闭环验收通过"
+  else
+    warn "仿真闭环验收失败，退出码: ${SMOKE_STATUS}"
+  fi
+else
+  log "已按 --no-smoke 跳过 orchestrator 验收"
+fi
+
+if [[ "${KEEP_RUNNING}" -eq 1 ]]; then
+  log "仿真链路保持运行中。按 Ctrl+C 停止。"
+  while true; do
+    sleep 3600
+  done
+fi
+
+exit "${SMOKE_STATUS}"
@@ -0,0 +1,280 @@
+#!/usr/bin/env bash
+# 本地数据输入回归测试。
+#
+# 验证链路：
+# dataset_index.yaml -> site_data_input.yaml -> external -> chassis -> control -> sensor_intrinsic -> report
+#
+# 这个脚本不启动 Isaac，不依赖 GPU；用于快速检查算法模板和数据输入注入合同。
+
+set -Eeuo pipefail
+
+WORKSPACE_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+ROS_LOG_DIR="${ROS_LOG_DIR:-/tmp/roslog}"
+RUN_LOG_ROOT="${RUN_LOG_ROOT:-${WORKSPACE_DIR}/log/local_data_input_smoke_$(date +%Y%m%d_%H%M%S)}"
+export ROS_LOG_DIR
+
+SITE_PROFILE="src/deployment/profiles/site_template.yaml"
+SESSION_ID="session_001"
+SESSION_DIR="/tmp/agv_calib_local_data_input_smoke/session_001"
+DATASET_INDEX_FILE=""
+DATA_INPUT_PARAMS_FILE=""
+TASKS="external,chassis,control,sensor_intrinsic"
+KEEP_RUNNING=0
+SKIP_GENERATE=0
+STRICT_INDEX=1
+
+PIDS=()
+NAMES=()
+CLEANED=0
+
+usage() {
+  cat <<'EOF'
+用法:
+  ./run_local_data_input_smoke.sh [选项]
+
+用途:
+  不启动 Isaac，只启动本地 ROS 标定服务和总控，验证数据输入参数注入与 report 链路。
+
+选项:
+  --site-profile PATH          现场 profile，默认 src/deployment/profiles/site_template.yaml。
+  --session-id ID              自动生成样例数据集时使用的 session_id，默认 session_001。
+  --session-dir PATH           自动生成样例数据集时使用的会话目录。
+  --data-input-params-file PATH
+                              使用已有 site_data_input.yaml，跳过自动生成。
+  --dataset-index PATH        使用已有 site_data_input.yaml 时，对应的 dataset_index.yaml。
+  --tasks LIST                 逗号分隔任务列表，默认 external,chassis,control,sensor_intrinsic。
+  --skip-generate              不生成 dataset_index/site_data_input，只使用 --data-input-params-file。
+  --no-strict-index            关闭 dataset_index 严格任务输入校验。
+  --keep-running               smoke 结束后保持 launch 进程运行。
+  -h, --help                   显示帮助。
+
+示例:
+  ./run_local_data_input_smoke.sh
+  ./run_local_data_input_smoke.sh --data-input-params-file /data/agv_calib/session_001/site_data_input.yaml
+EOF
+}
+
+log() {
+  echo "[INFO] $*"
+}
+
+warn() {
+  echo "[WARN] $*" >&2
+}
+
+die() {
+  echo "[ERROR] $*" >&2
+  exit 1
+}
+
+resolve_workspace_path() {
+  local path="$1"
+  case "${path}" in
+    /*)
+      echo "${path}"
+      ;;
+    *)
+      echo "${WORKSPACE_DIR}/${path}"
+      ;;
+  esac
+}
+
+source_ros_env() {
+  set +u
+  if [[ -f /opt/ros/humble/setup.bash ]]; then
+    source /opt/ros/humble/setup.bash
+  fi
+  source "${WORKSPACE_DIR}/install/setup.bash"
+  set -u
+}
+
+cleanup() {
+  if [[ "${CLEANED}" -eq 1 ]]; then
+    return
+  fi
+  CLEANED=1
+
+  local i pid name
+  for ((i=${#PIDS[@]}-1; i>=0; i--)); do
+    pid="${PIDS[$i]}"
+    name="${NAMES[$i]}"
+    if kill -0 "${pid}" >/dev/null 2>&1; then
+      log "停止 ${name}: pid=${pid}"
+      kill -INT "${pid}" >/dev/null 2>&1 || true
+    fi
+  done
+  sleep 2
+  for ((i=${#PIDS[@]}-1; i>=0; i--)); do
+    pid="${PIDS[$i]}"
+    name="${NAMES[$i]}"
+    if kill -0 "${pid}" >/dev/null 2>&1; then
+      warn "${name} 未退出，发送 SIGTERM: pid=${pid}"
+      kill -TERM "${pid}" >/dev/null 2>&1 || true
+    fi
+  done
+}
+
+trap cleanup EXIT
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --site-profile)
+      [[ $# -ge 2 ]] || die "--site-profile 需要参数"
+      SITE_PROFILE="$2"
+      shift 2
+      ;;
+    --session-id)
+      [[ $# -ge 2 ]] || die "--session-id 需要参数"
+      SESSION_ID="$2"
+      shift 2
+      ;;
+    --session-dir)
+      [[ $# -ge 2 ]] || die "--session-dir 需要参数"
+      SESSION_DIR="$2"
+      shift 2
+      ;;
+    --data-input-params-file)
+      [[ $# -ge 2 ]] || die "--data-input-params-file 需要参数"
+      DATA_INPUT_PARAMS_FILE="$2"
+      SKIP_GENERATE=1
+      shift 2
+      ;;
+    --dataset-index)
+      [[ $# -ge 2 ]] || die "--dataset-index 需要参数"
+      DATASET_INDEX_FILE="$2"
+      shift 2
+      ;;
+    --tasks)
+      [[ $# -ge 2 ]] || die "--tasks 需要参数"
+      TASKS="$2"
+      shift 2
+      ;;
+    --skip-generate)
+      SKIP_GENERATE=1
+      shift
+      ;;
+    --no-strict-index)
+      STRICT_INDEX=0
+      shift
+      ;;
+    --keep-running)
+      KEEP_RUNNING=1
+      shift
+      ;;
+    -h|--help)
+      usage
+      exit 0
+      ;;
+    *)
+      die "未知参数: $1"
+      ;;
+  esac
+done
+
+SITE_PROFILE="$(resolve_workspace_path "${SITE_PROFILE}")"
+SESSION_DIR="$(resolve_workspace_path "${SESSION_DIR}")"
+if [[ -n "${DATA_INPUT_PARAMS_FILE}" ]]; then
+  DATA_INPUT_PARAMS_FILE="$(resolve_workspace_path "${DATA_INPUT_PARAMS_FILE}")"
+fi
+if [[ -n "${DATASET_INDEX_FILE}" ]]; then
+  DATASET_INDEX_FILE="$(resolve_workspace_path "${DATASET_INDEX_FILE}")"
+fi
+
+[[ -f "${SITE_PROFILE}" ]] || die "找不到 site profile: ${SITE_PROFILE}"
+[[ -f "${WORKSPACE_DIR}/install/setup.bash" ]] || die "找不到 install/setup.bash，请先执行 colcon build"
+
+mkdir -p "${ROS_LOG_DIR}" "${RUN_LOG_ROOT}"
+
+source_ros_env
+
+if [[ "${SKIP_GENERATE}" -eq 0 ]]; then
+  log "生成本地样例数据集索引和数据输入参数文件"
+  python3 "${WORKSPACE_DIR}/src/site_deployment/workshop_sensor_ingest_real/site_session_capture.py" \
+    --site-profile "${SITE_PROFILE}" \
+    --session-dir "${SESSION_DIR}" \
+    --session-id "${SESSION_ID}" \
+    --site-id local_smoke \
+    --vehicle-id demo_agv_001 \
+    --start-us 1770000000000000 \
+    --end-us 1770000120000000 \
+    --overwrite \
+    --file external.external_observation_files=external/external_observations.csv \
+    --file chassis.chassis_motion_data_files=chassis/chassis_motion.csv \
+    --file control.control_evaluation_data_files=control/control_eval.csv \
+    --file control.reference_signal_files=control/reference_signal.csv \
+    --file control.chassis_response_files=control/chassis_response.csv \
+    --file control.truth_trajectory_files=control/truth_trajectory.csv \
+    --file sensor.image_sample_files=sensor/front_camera/images.yaml \
+    --file sensor.target_detection_files=sensor/front_camera/charuco_detections.json \
+    --finalize
+  DATA_INPUT_PARAMS_FILE="${SESSION_DIR}/site_data_input.yaml"
+  DATASET_INDEX_FILE="${SESSION_DIR}/dataset_index.yaml"
+elif [[ -z "${DATASET_INDEX_FILE}" ]]; then
+  DATASET_INDEX_FILE="$(dirname "${DATA_INPUT_PARAMS_FILE}")/dataset_index.yaml"
+fi
+
+[[ -f "${DATA_INPUT_PARAMS_FILE}" ]] || die "找不到数据输入参数文件: ${DATA_INPUT_PARAMS_FILE}"
+
+if [[ "${STRICT_INDEX}" -eq 1 ]]; then
+  if [[ -f "${DATASET_INDEX_FILE}" ]]; then
+    log "校验数据集索引: ${DATASET_INDEX_FILE}"
+    python3 "${WORKSPACE_DIR}/src/deployment/tools/validate_dataset_index.py" \
+      "${DATASET_INDEX_FILE}" \
+      --tasks "${TASKS}"
+  else
+    warn "未找到 dataset_index.yaml，跳过索引校验: ${DATASET_INDEX_FILE}"
+  fi
+fi
+
+LAUNCH_LOG="${RUN_LOG_ROOT}/launch.log"
+log "启动本地标定服务和总控，日志: ${LAUNCH_LOG}"
+ros2 launch win_ubuntu_bridge minimal_workshop_demo.launch.py \
+  use_gateway:=false \
+  data_input_params_file:="${DATA_INPUT_PARAMS_FILE}" \
+  dataset_index_file:="${DATASET_INDEX_FILE}" \
+  sensor_registry:=demo_front_camera,demo_down_camera,demo_lidar_3d,demo_lidar_2d,demo_imu \
+  >"${LAUNCH_LOG}" 2>&1 &
+PIDS+=("$!")
+NAMES+=("local-workshop-demo")
+
+log "等待 /workshop_v2/create_session"
+for _ in $(seq 1 60); do
+  if ros2 service list 2>/dev/null | grep -qx /workshop_v2/create_session; then
+    break
+  fi
+  sleep 1
+done
+ros2 service list 2>/dev/null | grep -qx /workshop_v2/create_session || {
+  tail -n 120 "${LAUNCH_LOG}" >&2 || true
+  die "等待 /workshop_v2/create_session 超时"
+}
+
+log "确认四个算法服务已读取 data_input 参数"
+ros2 param get /external_localization_service data_input.external_observation_files
+ros2 param get /chassis_calibration_service data_input.chassis_motion_data_files
+ros2 param get /control_calibration_service data_input.control_evaluation_data_files
+ros2 param get /sensor_calibration_service data_input.synchronized_dataset_files
+ros2 param get /workshop_orchestrator_v2 data_input_params_file
+ros2 param get /workshop_orchestrator_v2 dataset_index_file
+
+SMOKE_LOG="${RUN_LOG_ROOT}/smoke.log"
+log "执行本地四阶段 smoke，日志: ${SMOKE_LOG}"
+python3 "${WORKSPACE_DIR}/src/simulation/tools/smoke_test_workshop_orchestrator.py" \
+  --tasks "${TASKS}" \
+  --verbose-feedback \
+  --disable-wifi6-precheck \
+  2>&1 | tee "${SMOKE_LOG}"
+
+grep -q "site_data_input.yaml" "${SMOKE_LOG}" || die "报告中没有记录 site_data_input.yaml"
+if [[ -f "${DATASET_INDEX_FILE}" ]]; then
+  grep -q "dataset_index.yaml" "${SMOKE_LOG}" || die "报告中没有记录 dataset_index.yaml"
+fi
+
+if [[ "${KEEP_RUNNING}" -eq 1 ]]; then
+  log "本地服务保持运行中。按 Ctrl+C 停止。"
+  while true; do
+    sleep 3600
+  done
+fi
+
+log "本地数据输入回归测试通过"
@@ -0,0 +1,73 @@
+# 源码目录结构
+
+`src` 按“仿真、核心逻辑、通信、现场部署”的边界组织，而不是按临时实验文件组织。
+
+## 目录说明
+
+- `apps/`
+  面向操作人员的工具和界面原型。
+
+- `communication/`
+  ROS 2 接口包、TCP 帧协议、车间工控机到车端电脑的 gateway。这个层应该同时服务于仿真和现场部署。
+
+- `core/`
+  标定流程和标定算法，包括 `workshop_orchestrator`、底盘标定、运控标定、传感器标定、车辆参数管理等可复用核心逻辑。
+
+- `simulation/`
+  部署前仿真验证代码。Isaac 车间、仿真车辆、仿真车端 agent、仿真传感器、仿真标定靶和旧版仿真包都放在这里。
+
+- `deployment/`
+  部署 profile、数据集索引转换工具和从仿真迁移到现场前的检查清单。这里放配置基准，不放算法实现。
+
+- `docs/`
+  源码树内的设计说明、边界说明和迁移规则。
+
+- `site_deployment/`
+  真实现场部署代码，例如真实车端电脑适配器、真实车辆 SDK、PLC/CAN 或厂商控制器对接代码。
+
+## 边界规则
+
+- Isaac API 只放在 `simulation/`。
+- 真实车辆 SDK、PLC、CAN、厂商控制器相关代码只放在 `site_deployment/`。
+- ROS 2 接口、TCP 协议和 gateway 放在 `communication/`。
+- 编排流程和标定算法放在 `core/`。
+- 部署 profile 放在 `deployment/`。
+- 设计说明和迁移边界说明放在 `docs/`。
+
+## 文档入口
+
+- `docs/sim_to_site_code_boundary.md`
+  仿真代码、可复用核心代码和真实现场部署代码的边界。
+
+- `docs/algorithm_template_contract.md`
+  标定算法模板合同，定义模板维护者和算法实现者的责任边界、可修改文件、输入输出字段和 smoke 验证要求。
+
+## 主要入口
+
+本地数据输入回归测试：
+
+```bash
+./run_local_data_input_smoke.sh
+```
+
+Isaac 车间仿真：
+
+```bash
+python3 src/simulation/isaac_workshop_sim/scripts/build_calibration_room.py
+```
+
+仿真车端 agent：
+
+```bash
+python3 src/simulation/vehicle_agent_sim/scripts/isaac_vehicle_agent_sim.py
+```
+
+按 profile 启动完整仿真链路：
+
+```bash
+python3 src/simulation/tools/launch_sim_stack.py
+```
+
+这条链路中，车间工控机与车端电脑之间的底盘、运控、外部真值位姿和传感器数据都通过 TCP/WiFi6 仿真边界传输；Isaac topic 只留在仿真内部。
+
+车间 gateway 和 `workshop_orchestrator` 仍然按 ROS 2 包名启动；源码分别在 `communication/` 和 `core/` 下。
@@ -1,56 +0,0 @@
-# -*- coding: utf-8 -*-
-# Generated by the protocol buffer compiler.  DO NOT EDIT!
-# NO CHECKED-IN PROTOBUF GENCODE
-# source: agv_calib_control.proto
-# Protobuf Python Version: 6.31.1
-"""Generated protocol buffer code."""
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import descriptor_pool as _descriptor_pool
-from google.protobuf import runtime_version as _runtime_version
-from google.protobuf import symbol_database as _symbol_database
-from google.protobuf.internal import builder as _builder
-_runtime_version.ValidateProtobufRuntimeVersion(
-    _runtime_version.Domain.PUBLIC,
-    6,
-    31,
-    1,
-    '',
-    'agv_calib_control.proto'
-)
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x17\x61gv_calib_control.proto\x12\x17\x61gv.calibration.control\"\x07\n\x05\x45mpty\"4\n\x10StandardResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x0f\n\x07message\x18\x02 \x01(\t\"\x8b\x01\n\x0bModeRequest\x12>\n\x0btarget_mode\x18\x01 \x01(\x0e\x32).agv.calibration.control.ModeRequest.Mode\"<\n\x04Mode\x12\x0f\n\x0bNORMAL_MODE\x10\x00\x12\x12\n\x0eOPEN_LOOP_MODE\x10\x01\x12\x0f\n\x0bTUNING_MODE\x10\x02\"p\n\x0fOpenLoopRequest\x12\x16\n\x0eleft_motor_cmd\x18\x01 \x01(\x01\x12\x17\n\x0fright_motor_cmd\x18\x02 \x01(\x01\x12\x16\n\x0esteering_angle\x18\x03 \x01(\x01\x12\x14\n\x0c\x64uration_sec\x18\x04 \x01(\x01\"h\n\x0fTrajectoryPoint\x12\x0b\n\x03x_m\x18\x01 \x01(\x01\x12\x0b\n\x03y_m\x18\x02 \x01(\x01\x12\x0f\n\x07yaw_rad\x18\x03 \x01(\x01\x12\x17\n\x0ftarget_speed_ms\x18\x04 \x01(\x01\x12\x11\n\tcurvature\x18\x05 \x01(\x01\"a\n\x11TrajectoryRequest\x12\x14\n\x0ctest_case_id\x18\x01 \x01(\t\x12\x36\n\x04path\x18\x02 \x03(\x0b\x32(.agv.calibration.control.TrajectoryPoint\"G\n\x13StepResponseRequest\x12\x1a\n\x12target_velocity_ms\x18\x01 \x01(\x01\x12\x14\n\x0c\x64uration_sec\x18\x02 \x01(\x01\"\xf9\x05\n\rControlParams\x12$\n\x17wheel_radius_left_ratio\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12%\n\x18wheel_radius_right_ratio\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12$\n\x17\x65\x66\x66\x65\x63tive_track_width_m\x18\x03 \x01(\x01H\x02\x88\x01\x01\x12%\n\x18steering_zero_offset_deg\x18\x04 \x01(\x01H\x03\x88\x01\x01\x12\x1b\n\x0epid_kp_lateral\x18\x05 \x01(\x01H\x04\x88\x01\x01\x12\x1b\n\x0epid_ki_lateral\x18\x06 \x01(\x01H\x05\x88\x01\x01\x12\x1b\n\x0epid_kd_lateral\x18\x07 \x01(\x01H\x06\x88\x01\x01\x12\x1b\n\x0epid_kp_heading\x18\x08 \x01(\x01H\x07\x88\x01\x01\x12\x1b\n\x0epid_ki_heading\x18\t \x01(\x01H\x08\x88\x01\x01\x12\x1b\n\x0epid_kd_heading\x18\n \x01(\x01H\t\x88\x01\x01\x12%\n\x18pure_pursuit_lookahead_m\x18\x0b \x01(\x01H\n\x88\x01\x01\x12!\n\x14mpc_weight_q_lateral\x18\x0c \x01(\x01H\x0b\x88\x01\x01\x12\"\n\x15mpc_weight_r_steering\x18\r \x01(\x01H\x0c\x88\x01\x01\x42\x1a\n\x18_wheel_radius_left_ratioB\x1b\n\x19_wheel_radius_right_ratioB\x1a\n\x18_effective_track_width_mB\x1b\n\x19_steering_zero_offset_degB\x11\n\x0f_pid_kp_lateralB\x11\n\x0f_pid_ki_lateralB\x11\n\x0f_pid_kd_lateralB\x11\n\x0f_pid_kp_headingB\x11\n\x0f_pid_ki_headingB\x11\n\x0f_pid_kd_headingB\x1b\n\x19_pure_pursuit_lookahead_mB\x17\n\x15_mpc_weight_q_lateralB\x18\n\x16_mpc_weight_r_steering\"\xad\x02\n\rTelemetryData\x12\x1d\n\x15hardware_timestamp_us\x18\x01 \x01(\x03\x12\x10\n\x08odom_x_m\x18\x02 \x01(\x01\x12\x10\n\x08odom_y_m\x18\x03 \x01(\x01\x12\x14\n\x0codom_yaw_rad\x18\x04 \x01(\x01\x12\x1e\n\x16\x66\x65\x65\x64\x62\x61\x63k_linear_vel_ms\x18\x05 \x01(\x01\x12!\n\x19\x66\x65\x65\x64\x62\x61\x63k_angular_vel_rads\x18\x06 \x01(\x01\x12\x1e\n\x16left_motor_current_amp\x18\x07 \x01(\x01\x12\x1f\n\x17right_motor_current_amp\x18\x08 \x01(\x01\x12\"\n\x1asteering_motor_current_amp\x18\t \x01(\x01\x12\x1b\n\x13\x63md_steering_output\x18\n \x01(\x01\x32\xd1\x06\n\x16\x41gvCalibControlService\x12\x61\n\x0eSetControlMode\x12$.agv.calibration.control.ModeRequest\x1a).agv.calibration.control.StandardResponse\x12Z\n\rEmergencyStop\x12\x1e.agv.calibration.control.Empty\x1a).agv.calibration.control.StandardResponse\x12i\n\x12\x45xecuteOpenLoopCmd\x12(.agv.calibration.control.OpenLoopRequest\x1a).agv.calibration.control.StandardResponse\x12m\n\x14\x46ollowTestTrajectory\x12*.agv.calibration.control.TrajectoryRequest\x1a).agv.calibration.control.StandardResponse\x12n\n\x13\x45xecuteStepResponse\x12,.agv.calibration.control.StepResponseRequest\x1a).agv.calibration.control.StandardResponse\x12k\n\x16InjectTuningParameters\x12&.agv.calibration.control.ControlParams\x1a).agv.calibration.control.StandardResponse\x12\x64\n\x17\x43ommitControlParameters\x12\x1e.agv.calibration.control.Empty\x1a).agv.calibration.control.StandardResponse\x12[\n\x0fStreamTelemetry\x12\x1e.agv.calibration.control.Empty\x1a&.agv.calibration.control.TelemetryData0\x01\x62\x06proto3')
-
-_globals = globals()
-_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
-_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'agv_calib_control_pb2', _globals)
-if not _descriptor._USE_C_DESCRIPTORS:
-  DESCRIPTOR._loaded_options = None
-  _globals['_EMPTY']._serialized_start=52
-  _globals['_EMPTY']._serialized_end=59
-  _globals['_STANDARDRESPONSE']._serialized_start=61
-  _globals['_STANDARDRESPONSE']._serialized_end=113
-  _globals['_MODEREQUEST']._serialized_start=116
-  _globals['_MODEREQUEST']._serialized_end=255
-  _globals['_MODEREQUEST_MODE']._serialized_start=195
-  _globals['_MODEREQUEST_MODE']._serialized_end=255
-  _globals['_OPENLOOPREQUEST']._serialized_start=257
-  _globals['_OPENLOOPREQUEST']._serialized_end=369
-  _globals['_TRAJECTORYPOINT']._serialized_start=371
-  _globals['_TRAJECTORYPOINT']._serialized_end=475
-  _globals['_TRAJECTORYREQUEST']._serialized_start=477
-  _globals['_TRAJECTORYREQUEST']._serialized_end=574
-  _globals['_STEPRESPONSEREQUEST']._serialized_start=576
-  _globals['_STEPRESPONSEREQUEST']._serialized_end=647
-  _globals['_CONTROLPARAMS']._serialized_start=650
-  _globals['_CONTROLPARAMS']._serialized_end=1411
-  _globals['_TELEMETRYDATA']._serialized_start=1414
-  _globals['_TELEMETRYDATA']._serialized_end=1715
-  _globals['_AGVCALIBCONTROLSERVICE']._serialized_start=1718
-  _globals['_AGVCALIBCONTROLSERVICE']._serialized_end=2567
-# @@protoc_insertion_point(module_scope)
@@ -1,444 +0,0 @@
-# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
-"""Client and server classes corresponding to protobuf-defined services."""
-import grpc
-import warnings
-
-import agv_calib_control_pb2 as agv__calib__control__pb2
-
-GRPC_GENERATED_VERSION = '1.78.0'
-GRPC_VERSION = grpc.__version__
-_version_not_supported = False
-
-try:
-    from grpc._utilities import first_version_is_lower
-    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
-except ImportError:
-    _version_not_supported = True
-
-if _version_not_supported:
-    raise RuntimeError(
-        f'The grpc package installed is at version {GRPC_VERSION},'
-        + ' but the generated code in agv_calib_control_pb2_grpc.py depends on'
-        + f' grpcio>={GRPC_GENERATED_VERSION}.'
-        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
-        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
-    )
-
-
-class AgvCalibControlServiceStub(object):
-    """=========================================================
-    核心服务：AGV 运控大脑（PID/MPC）参数自动化寻优调教代理
-    [部署端 Server]：Windows车端 (满血保留自身算法，负责执行闭环追踪与高频汇报)
-    [调用端 Client]：Linux标定服务器 (上帝视角，负责发轨迹、看误差、AI打分与发新参数)
-    =========================================================
-    """
-
-    def __init__(self, channel):
-        """Constructor.
-
-        Args:
-            channel: A grpc.Channel.
-        """
-        self.SetControlMode = channel.unary_unary(
-                '/agv.calibration.control.AgvCalibControlService/SetControlMode',
-                request_serializer=agv__calib__control__pb2.ModeRequest.SerializeToString,
-                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
-                _registered_method=True)
-        self.EmergencyStop = channel.unary_unary(
-                '/agv.calibration.control.AgvCalibControlService/EmergencyStop',
-                request_serializer=agv__calib__control__pb2.Empty.SerializeToString,
-                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
-                _registered_method=True)
-        self.ExecuteOpenLoopCmd = channel.unary_unary(
-                '/agv.calibration.control.AgvCalibControlService/ExecuteOpenLoopCmd',
-                request_serializer=agv__calib__control__pb2.OpenLoopRequest.SerializeToString,
-                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
-                _registered_method=True)
-        self.FollowTestTrajectory = channel.unary_unary(
-                '/agv.calibration.control.AgvCalibControlService/FollowTestTrajectory',
-                request_serializer=agv__calib__control__pb2.TrajectoryRequest.SerializeToString,
-                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
-                _registered_method=True)
-        self.ExecuteStepResponse = channel.unary_unary(
-                '/agv.calibration.control.AgvCalibControlService/ExecuteStepResponse',
-                request_serializer=agv__calib__control__pb2.StepResponseRequest.SerializeToString,
-                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
-                _registered_method=True)
-        self.InjectTuningParameters = channel.unary_unary(
-                '/agv.calibration.control.AgvCalibControlService/InjectTuningParameters',
-                request_serializer=agv__calib__control__pb2.ControlParams.SerializeToString,
-                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
-                _registered_method=True)
-        self.CommitControlParameters = channel.unary_unary(
-                '/agv.calibration.control.AgvCalibControlService/CommitControlParameters',
-                request_serializer=agv__calib__control__pb2.Empty.SerializeToString,
-                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
-                _registered_method=True)
-        self.StreamTelemetry = channel.unary_stream(
-                '/agv.calibration.control.AgvCalibControlService/StreamTelemetry',
-                request_serializer=agv__calib__control__pb2.Empty.SerializeToString,
-                response_deserializer=agv__calib__control__pb2.TelemetryData.FromString,
-                _registered_method=True)
-
-
-class AgvCalibControlServiceServicer(object):
-    """=========================================================
-    核心服务：AGV 运控大脑（PID/MPC）参数自动化寻优调教代理
-    [部署端 Server]：Windows车端 (满血保留自身算法，负责执行闭环追踪与高频汇报)
-    [调用端 Client]：Linux标定服务器 (上帝视角，负责发轨迹、看误差、AI打分与发新参数)
-    =========================================================
-    """
-
-    def SetControlMode(self, request, context):
-        """---------------------------------------------------------
-        第一步：权限接管与生命周期安全管控
-        ---------------------------------------------------------
-        💻 [Linux 发送 -> Windows]：要求切断避障，但保留底层 PID/MPC 算法就绪
-        🚙 [Windows 返回 -> Linux]：回复模式切换成功，准备好接考题
-        """
-        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-        context.set_details('Method not implemented!')
-        raise NotImplementedError('Method not implemented!')
-
-    def EmergencyStop(self, request, context):
-        """💻 [Linux 发送 -> Windows]：断网或飞车时的最高级别急停，无视一切直接刹车
-        🚙 [Windows 返回 -> Linux]：返回底层抱死结果
-        """
-        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-        context.set_details('Method not implemented!')
-        raise NotImplementedError('Method not implemented!')
-
-    def ExecuteOpenLoopCmd(self, request, context):
-        """---------------------------------------------------------
-        第二步：运动考题下发 (开环排雷 / 闭环寻优 / 波峰对齐)
-        ---------------------------------------------------------
-        【场景A: 纯物理开环备用】
-        💻 [Linux 发送 -> Windows]：要求切断算法盲跑，多用于摸底或辅助验证
-        🚙 [Windows 返回 -> Linux]：确认已按指定 RPM/PWM 运转
-        """
-        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-        context.set_details('Method not implemented!')
-        raise NotImplementedError('Method not implemented!')
-
-    def FollowTestTrajectory(self, request, context):
-        """【场景B: 算法闭环调优】
-        💻 [Linux 发送 -> Windows]：下发一条由几百个点组成的测试轨迹(如 S型贝塞尔曲线)
-        🚙 [Windows 返回 -> Linux]：收到轨迹后，车端立刻使用它自带的 PID/MPC 算法努力贴合轨迹跑圈
-        """
-        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-        context.set_details('Method not implemented!')
-        raise NotImplementedError('Method not implemented!')
-
-    def ExecuteStepResponse(self, request, context):
-        """【场景C: 波峰时序对齐】
-        💻 [Linux 发送 -> Windows]：下发极短促的阶跃加速指令，人为制造绝对速度波峰
-        🚙 [Windows 返回 -> Linux]：确认加速。(Linux 借此波峰算出网络的绝对 Time Offset)
-        """
-        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-        context.set_details('Method not implemented!')
-        raise NotImplementedError('Method not implemented!')
-
-    def InjectTuningParameters(self, request, context):
-        """---------------------------------------------------------
-        第三步：运控参数 AI 寻优：动态热注入与最终固化
-        ---------------------------------------------------------
-        💻 [Linux 发送 -> Windows]：Linux 发现上一圈跑得差，AI算出了新的 PID/前瞻距离，要求立即热注入
-        🚙 [Windows 返回 -> Linux]：车端将新参数瞬间覆写进运行内存(不重启系统)，随时准备用新参数重跑
-        """
-        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-        context.set_details('Method not implemented!')
-        raise NotImplementedError('Method not implemented!')
-
-    def CommitControlParameters(self, request, context):
-        """💻 [Linux 发送 -> Windows]：Linux 判定误差极小，调优结束，命令固化目前内存里的最高分参数
-        🚙 [Windows 返回 -> Linux]：车端将这组完美参数永久覆写进硬盘的 config.yaml 或系统注册表
-        """
-        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-        context.set_details('Method not implemented!')
-        raise NotImplementedError('Method not implemented!')
-
-    def StreamTelemetry(self, request, context):
-        """---------------------------------------------------------
-        第四步：高频数字孪生体感上报 (50Hz)
-        ---------------------------------------------------------
-        💻 [Linux 发送 -> Windows]：空包触发，命令车端开始疯狂推流
-        🚙 [Windows 持续流式返回 -> Linux]：以 50Hz 频率，持续上报自己的里程计坐标、速度和单调时间戳
-        """
-        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-        context.set_details('Method not implemented!')
-        raise NotImplementedError('Method not implemented!')
-
-
-def add_AgvCalibControlServiceServicer_to_server(servicer, server):
-    rpc_method_handlers = {
-            'SetControlMode': grpc.unary_unary_rpc_method_handler(
-                    servicer.SetControlMode,
-                    request_deserializer=agv__calib__control__pb2.ModeRequest.FromString,
-                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
-            ),
-            'EmergencyStop': grpc.unary_unary_rpc_method_handler(
-                    servicer.EmergencyStop,
-                    request_deserializer=agv__calib__control__pb2.Empty.FromString,
-                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
-            ),
-            'ExecuteOpenLoopCmd': grpc.unary_unary_rpc_method_handler(
-                    servicer.ExecuteOpenLoopCmd,
-                    request_deserializer=agv__calib__control__pb2.OpenLoopRequest.FromString,
-                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
-            ),
-            'FollowTestTrajectory': grpc.unary_unary_rpc_method_handler(
-                    servicer.FollowTestTrajectory,
-                    request_deserializer=agv__calib__control__pb2.TrajectoryRequest.FromString,
-                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
-            ),
-            'ExecuteStepResponse': grpc.unary_unary_rpc_method_handler(
-                    servicer.ExecuteStepResponse,
-                    request_deserializer=agv__calib__control__pb2.StepResponseRequest.FromString,
-                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
-            ),
-            'InjectTuningParameters': grpc.unary_unary_rpc_method_handler(
-                    servicer.InjectTuningParameters,
-                    request_deserializer=agv__calib__control__pb2.ControlParams.FromString,
-                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
-            ),
-            'CommitControlParameters': grpc.unary_unary_rpc_method_handler(
-                    servicer.CommitControlParameters,
-                    request_deserializer=agv__calib__control__pb2.Empty.FromString,
-                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
-            ),
-            'StreamTelemetry': grpc.unary_stream_rpc_method_handler(
-                    servicer.StreamTelemetry,
-                    request_deserializer=agv__calib__control__pb2.Empty.FromString,
-                    response_serializer=agv__calib__control__pb2.TelemetryData.SerializeToString,
-            ),
-    }
-    generic_handler = grpc.method_handlers_generic_handler(
-            'agv.calibration.control.AgvCalibControlService', rpc_method_handlers)
-    server.add_generic_rpc_handlers((generic_handler,))
-    server.add_registered_method_handlers('agv.calibration.control.AgvCalibControlService', rpc_method_handlers)
-
-
- # This class is part of an EXPERIMENTAL API.
-class AgvCalibControlService(object):
-    """=========================================================
-    核心服务：AGV 运控大脑（PID/MPC）参数自动化寻优调教代理
-    [部署端 Server]：Windows车端 (满血保留自身算法，负责执行闭环追踪与高频汇报)
-    [调用端 Client]：Linux标定服务器 (上帝视角，负责发轨迹、看误差、AI打分与发新参数)
-    =========================================================
-    """
-
-    @staticmethod
-    def SetControlMode(request,
-            target,
-            options=(),
-            channel_credentials=None,
-            call_credentials=None,
-            insecure=False,
-            compression=None,
-            wait_for_ready=None,
-            timeout=None,
-            metadata=None):
-        return grpc.experimental.unary_unary(
-            request,
-            target,
-            '/agv.calibration.control.AgvCalibControlService/SetControlMode',
-            agv__calib__control__pb2.ModeRequest.SerializeToString,
-            agv__calib__control__pb2.StandardResponse.FromString,
-            options,
-            channel_credentials,
-            insecure,
-            call_credentials,
-            compression,
-            wait_for_ready,
-            timeout,
-            metadata,
-            _registered_method=True)
-
-    @staticmethod
-    def EmergencyStop(request,
-            target,
-            options=(),
-            channel_credentials=None,
-            call_credentials=None,
-            insecure=False,
-            compression=None,
-            wait_for_ready=None,
-            timeout=None,
-            metadata=None):
-        return grpc.experimental.unary_unary(
-            request,
-            target,
-            '/agv.calibration.control.AgvCalibControlService/EmergencyStop',
-            agv__calib__control__pb2.Empty.SerializeToString,
-            agv__calib__control__pb2.StandardResponse.FromString,
-            options,
-            channel_credentials,
-            insecure,
-            call_credentials,
-            compression,
-            wait_for_ready,
-            timeout,
-            metadata,
-            _registered_method=True)
-
-    @staticmethod
-    def ExecuteOpenLoopCmd(request,
-            target,
-            options=(),
-            channel_credentials=None,
-            call_credentials=None,
-            insecure=False,
-            compression=None,
-            wait_for_ready=None,
-            timeout=None,
-            metadata=None):
-        return grpc.experimental.unary_unary(
-            request,
-            target,
-            '/agv.calibration.control.AgvCalibControlService/ExecuteOpenLoopCmd',
-            agv__calib__control__pb2.OpenLoopRequest.SerializeToString,
-            agv__calib__control__pb2.StandardResponse.FromString,
-            options,
-            channel_credentials,
-            insecure,
-            call_credentials,
-            compression,
-            wait_for_ready,
-            timeout,
-            metadata,
-            _registered_method=True)
-
-    @staticmethod
-    def FollowTestTrajectory(request,
-            target,
-            options=(),
-            channel_credentials=None,
-            call_credentials=None,
-            insecure=False,
-            compression=None,
-            wait_for_ready=None,
-            timeout=None,
-            metadata=None):
-        return grpc.experimental.unary_unary(
-            request,
-            target,
-            '/agv.calibration.control.AgvCalibControlService/FollowTestTrajectory',
-            agv__calib__control__pb2.TrajectoryRequest.SerializeToString,
-            agv__calib__control__pb2.StandardResponse.FromString,
-            options,
-            channel_credentials,
-            insecure,
-            call_credentials,
-            compression,
-            wait_for_ready,
-            timeout,
-            metadata,
-            _registered_method=True)
-
-    @staticmethod
-    def ExecuteStepResponse(request,
-            target,
-            options=(),
-            channel_credentials=None,
-            call_credentials=None,
-            insecure=False,
-            compression=None,
-            wait_for_ready=None,
-            timeout=None,
-            metadata=None):
-        return grpc.experimental.unary_unary(
-            request,
-            target,
-            '/agv.calibration.control.AgvCalibControlService/ExecuteStepResponse',
-            agv__calib__control__pb2.StepResponseRequest.SerializeToString,
-            agv__calib__control__pb2.StandardResponse.FromString,
-            options,
-            channel_credentials,
-            insecure,
-            call_credentials,
-            compression,
-            wait_for_ready,
-            timeout,
-            metadata,
-            _registered_method=True)
-
-    @staticmethod
-    def InjectTuningParameters(request,
-            target,
-            options=(),
-            channel_credentials=None,
-            call_credentials=None,
-            insecure=False,
-            compression=None,
-            wait_for_ready=None,
-            timeout=None,
-            metadata=None):
-        return grpc.experimental.unary_unary(
-            request,
-            target,
-            '/agv.calibration.control.AgvCalibControlService/InjectTuningParameters',
-            agv__calib__control__pb2.ControlParams.SerializeToString,
-            agv__calib__control__pb2.StandardResponse.FromString,
-            options,
-            channel_credentials,
-            insecure,
-            call_credentials,
-            compression,
-            wait_for_ready,
-            timeout,
-            metadata,
-            _registered_method=True)
-
-    @staticmethod
-    def CommitControlParameters(request,
-            target,
-            options=(),
-            channel_credentials=None,
-            call_credentials=None,
-            insecure=False,
-            compression=None,
-            wait_for_ready=None,
-            timeout=None,
-            metadata=None):
-        return grpc.experimental.unary_unary(
-            request,
-            target,
-            '/agv.calibration.control.AgvCalibControlService/CommitControlParameters',
-            agv__calib__control__pb2.Empty.SerializeToString,
-            agv__calib__control__pb2.StandardResponse.FromString,
-            options,
-            channel_credentials,
-            insecure,
-            call_credentials,
-            compression,
-            wait_for_ready,
-            timeout,
-            metadata,
-            _registered_method=True)
-
-    @staticmethod
-    def StreamTelemetry(request,
-            target,
-            options=(),
-            channel_credentials=None,
-            call_credentials=None,
-            insecure=False,
-            compression=None,
-            wait_for_ready=None,
-            timeout=None,
-            metadata=None):
-        return grpc.experimental.unary_stream(
-            request,
-            target,
-            '/agv.calibration.control.AgvCalibControlService/StreamTelemetry',
-            agv__calib__control__pb2.Empty.SerializeToString,
-            agv__calib__control__pb2.TelemetryData.FromString,
-            options,
-            channel_credentials,
-            insecure,
-            call_credentials,
-            compression,
-            wait_for_ready,
-            timeout,
-            metadata,
-            _registered_method=True)
@@ -1,51 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(agv_calib_core)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_action REQUIRED)
-find_package(rclcpp_components REQUIRED) # 🚨 核心依赖：寻找组件库
-find_package(behaviortree_cpp_v3 REQUIRED)
-find_package(ament_index_cpp REQUIRED)
-find_package(win_ubuntu_bridge REQUIRED)
-
-# 1. 编译大脑为动态链接库 (SHARED) 组件
-add_library(brain_node SHARED src/brain_node.cpp) 
-
-# 2. 将 include 暴露给编译器
-target_include_directories(brain_node PUBLIC 
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-)
-
-ament_target_dependencies(brain_node 
-  rclcpp 
-  rclcpp_action 
-  rclcpp_components
-  behaviortree_cpp_v3 
-  ament_index_cpp 
-  win_ubuntu_bridge
-)
-
-# 3. 注册插件
-rclcpp_components_register_node(brain_node
-  PLUGIN "agv_calib_core::BrainNode"
-  EXECUTABLE brain_node_exe 
-)
-
-# 4. 安装工程中所有的核心文件夹 (不可遗漏！)
-install(TARGETS brain_node brain_node_exe
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
-)
-
-install(DIRECTORY include/ DESTINATION include)
-install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
-install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
-install(DIRECTORY behavior_trees/ DESTINATION share/${PROJECT_NAME}/behavior_trees)
-
-ament_package()
@@ -1,23 +0,0 @@
-<root main_tree_to_execute="MainCalibrationFlow">
-    <BehaviorTree ID="MainCalibrationFlow">
-        <Sequence name="全自动标定主干">
-            
-            <Sequence name="Phase_1_Chassis">
-                <MockConnectAGV />
-                <MockCallChassisAlgo /> 
-            </Sequence>
-
-            <Sequence name="Phase_2_Control">
-                <MockTuneControl />
-                <MockCallControlAlgo /> 
-            </Sequence>
-
-            <Sequence name="Phase_3_Sensor">
-                <MockMoveAndCapture />
-                <MockCallSensorAlgo />  
-                <MockCommitAllParams />      
-            </Sequence>
-
-        </Sequence>
-    </BehaviorTree>
-</root>
@@ -1,9 +0,0 @@
-<root main_tree_to_execute="MainTree">
-    <BehaviorTree ID="MainTree">
-        <Sequence name="全自动标定总流程">
-            <SetChassisMode target_mode="1" />
-            <TriggerCapture sensor_id="cam_front" capture_code_out="{shared_code}" />
-            <DownloadData sensor_id="cam_front" capture_code_in="{shared_code}" save_dir="/tmp/calib_data" saved_path_out="{saved_image_path}" />
-        </Sequence>
-    </BehaviorTree>
-</root>
@@ -1,6 +0,0 @@
-/**:
-  ros__parameters:
-    # 动态指定要加载的 XML 剧本文件名
-    tree_xml_filename: "main_tree.xml"
-    # 行为树的 Tick 循环频率 (毫秒)
-    tick_rate_ms: 50
@@ -1,25 +0,0 @@
-#pragma once
-
-#include <rclcpp/rclcpp.hpp>
-#include <behaviortree_cpp_v3/bt_factory.h>
-#include <thread>
-#include <atomic>
-#include <string>
-
-namespace agv_calib_core {
-
-// 继承 Node，化身为标准的 ROS 2 Component
-class BrainNode : public rclcpp::Node {
-public:
-    explicit BrainNode(const rclcpp::NodeOptions & options);
-    ~BrainNode() override;
-
-private:
-    // 行为树专属的后台执行线程 (极其重要！绝不能阻塞 ROS 2 容器主线程)
-    void execute_behavior_tree();
-
-    std::thread bt_thread_;
-    std::atomic<bool> is_running_;
-};
-
-} // namespace agv_calib_core
@@ -1,109 +0,0 @@
-#pragma once
-
-#include <behaviortree_cpp_v3/action_node.h>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_action/rclcpp_action.hpp>
-
-// 引入底层 win_ubuntu_bridge 接口
-#include "win_ubuntu_bridge/srv/set_diagnostic_mode.hpp"
-#include "win_ubuntu_bridge/srv/trigger_sync_capture.hpp"
-#include "win_ubuntu_bridge/action/download_sensor_data.hpp"
-
-namespace agv_calib_core {
-
-class SetChassisModeNode : public BT::SyncActionNode {
-public:
-    SetChassisModeNode(const std::string& name, const BT::NodeConfiguration& config, rclcpp::Node* node)
-        : BT::SyncActionNode(name, config), node_(node) {
-        client_ = node_->create_client<win_ubuntu_bridge::srv::SetDiagnosticMode>("/chassis_gateway/set_diagnostic_mode");
-    }
-
-    static BT::PortsList providedPorts() { return { BT::InputPort<int>("target_mode") }; }
-
-    BT::NodeStatus tick() override {
-        int mode; if (!getInput("target_mode", mode)) return BT::NodeStatus::FAILURE;
-        RCLCPP_INFO(node_->get_logger(), "🌲 [BT] 下发底盘夺权指令，模式: %d", mode);
-        if (!client_->wait_for_service(std::chrono::seconds(2))) return BT::NodeStatus::FAILURE;
-
-        auto req = std::make_shared<win_ubuntu_bridge::srv::SetDiagnosticMode::Request>(); req->target_mode = mode;
-        auto future = client_->async_send_request(req);
-        
-        // 🚨 这里阻塞等待完全没问题！因为外层 BT 跑在独立线程，根本不影响 ROS 2 Executor 的回调！
-        if (future.wait_for(std::chrono::seconds(3)) == std::future_status::ready) {
-            auto res = future.get();
-            if (res->success) return BT::NodeStatus::SUCCESS;
-        }
-        return BT::NodeStatus::FAILURE;
-    }
-private:
-    rclcpp::Node* node_; rclcpp::Client<win_ubuntu_bridge::srv::SetDiagnosticMode>::SharedPtr client_;
-};
-
-class TriggerCaptureNode : public BT::SyncActionNode {
-public:
-    TriggerCaptureNode(const std::string& name, const BT::NodeConfiguration& config, rclcpp::Node* node)
-        : BT::SyncActionNode(name, config), node_(node) {
-        client_ = node_->create_client<win_ubuntu_bridge::srv::TriggerSyncCapture>("/sensor_gateway/trigger_sync_capture");
-    }
-
-    static BT::PortsList providedPorts() {
-        return { BT::InputPort<std::string>("sensor_id"), BT::OutputPort<int64_t>("capture_code_out") };
-    }
-
-    BT::NodeStatus tick() override {
-        std::string sensor_id; getInput("sensor_id", sensor_id);
-        RCLCPP_INFO(node_->get_logger(), "📷 [BT] 冻结 %s 数据...", sensor_id.c_str());
-        if (!client_->wait_for_service(std::chrono::seconds(2))) return BT::NodeStatus::FAILURE;
-
-        auto req = std::make_shared<win_ubuntu_bridge::srv::TriggerSyncCapture::Request>(); req->sensor_ids.push_back(sensor_id);
-        auto future = client_->async_send_request(req);
-        if (future.wait_for(std::chrono::seconds(3)) == std::future_status::ready) {
-            auto res = future.get();
-            if (res->success) { setOutput("capture_code_out", res->capture_timestamp_us); return BT::NodeStatus::SUCCESS; }
-        }
-        return BT::NodeStatus::FAILURE;
-    }
-private:
-    rclcpp::Node* node_; rclcpp::Client<win_ubuntu_bridge::srv::TriggerSyncCapture>::SharedPtr client_;
-};
-
-class DownloadDataNode : public BT::StatefulActionNode {
-public:
-    DownloadDataNode(const std::string& name, const BT::NodeConfiguration& config, rclcpp::Node* node)
-        : BT::StatefulActionNode(name, config), node_(node) {
-        action_client_ = rclcpp_action::create_client<win_ubuntu_bridge::action::DownloadSensorData>(node_, "/sensor_gateway/download_sensor_data");
-    }
-
-    static BT::PortsList providedPorts() {
-        return { BT::InputPort<std::string>("sensor_id"), BT::InputPort<int64_t>("capture_code_in"),
-                 BT::InputPort<std::string>("save_dir"), BT::OutputPort<std::string>("saved_path_out") };
-    }
-
-    BT::NodeStatus onStart() override {
-        int64_t code; std::string sensor; std::string save_dir;
-        if (!getInput("capture_code_in", code) || !getInput("sensor_id", sensor) || !getInput("save_dir", save_dir)) return BT::NodeStatus::FAILURE;
-
-        RCLCPP_INFO(node_->get_logger(), "📥 [BT] 挂起下载任务，取件码: %ld", code);
-        if (!action_client_->wait_for_action_server(std::chrono::seconds(2))) return BT::NodeStatus::FAILURE;
-
-        auto goal_msg = win_ubuntu_bridge::action::DownloadSensorData::Goal();
-        goal_msg.capture_timestamp_us = code; goal_msg.sensor_id = sensor;
-        goal_msg.data_type = win_ubuntu_bridge::action::DownloadSensorData::Goal::DATA_TYPE_IMAGE; goal_msg.save_directory = save_dir;
-
-        auto send_goal_options = rclcpp_action::Client<win_ubuntu_bridge::action::DownloadSensorData>::SendGoalOptions();
-        send_goal_options.result_callback = [this](const rclcpp_action::ClientGoalHandle<win_ubuntu_bridge::action::DownloadSensorData>::WrappedResult & result) {
-            if (result.code == rclcpp_action::ResultCode::SUCCEEDED && result.result->success) {
-                RCLCPP_INFO(node_->get_logger(), "✅ [BT] 落盘成功！路径: %s", result.result->saved_file_path.c_str());
-                setOutput("saved_path_out", result.result->saved_file_path); done_ = true; success_ = true;
-            } else { done_ = true; success_ = false; }
-        };
-        action_client_->async_send_goal(goal_msg, send_goal_options); done_ = false; return BT::NodeStatus::RUNNING; 
-    }
-    BT::NodeStatus onRunning() override { if (done_) return success_ ? BT::NodeStatus::SUCCESS : BT::NodeStatus::FAILURE; return BT::NodeStatus::RUNNING; }
-    void onHalted() override { }
-private:
-    rclcpp::Node* node_; rclcpp_action::Client<win_ubuntu_bridge::action::DownloadSensorData>::SharedPtr action_client_;
-    bool done_ = false; bool success_ = false;
-};
-
-} // namespace agv_calib_core
@@ -1,31 +0,0 @@
-import os
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.descriptions import ComposableNode
-
-def generate_launch_description():
-    # 获取 yaml 文件的绝对路径
-    config_file = os.path.join(
-        get_package_share_directory('agv_calib_core'),
-        'config',
-        'brain_params.yaml'
-    )
-
-    # 建立多线程容器加载大脑组件 (MT 代表 Multi-Threaded Executor)
-    container = ComposableNodeContainer(
-        name='brain_container',
-        namespace='',
-        package='rclcpp_components',
-        executable='component_container_mt', 
-        composable_node_descriptions=[
-            ComposableNode(
-                package='agv_calib_core',
-                plugin='agv_calib_core::BrainNode',
-                name='brain_node',
-                parameters=[config_file]  # 🚨 动态挂载 YAML 参数表！
-            )
-        ],
-        output='screen',
-    )
-    return LaunchDescription([container])
@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>agv_calib_core</name>
-  <version>1.0.0</version>
-  <description>行为树总控大脑</description>
-  <maintainer email="2469171725@qq.com">nvidia</maintainer>
-  <license>Apache-2.0</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <depend>rclcpp</depend>
-  <depend>rclcpp_action</depend>
-  <depend>rclcpp_components</depend> 
-  <depend>behaviortree_cpp_v3</depend>
-  <depend>ament_index_cpp</depend>
-  <depend>win_ubuntu_bridge</depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
@@ -1,87 +0,0 @@
-#include "agv_calib_core/brain_node.hpp"
-#include "agv_calib_core/bt_ros2_nodes.hpp"
-
-#include <behaviortree_cpp_v3/bt_factory.h>
-#include <behaviortree_cpp_v3/loggers/bt_cout_logger.h>
-#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
-
-namespace agv_calib_core {
-
-BrainNode::BrainNode(const rclcpp::NodeOptions & options) 
-: Node("brain_node", options), is_running_(false) {
-    
-    RCLCPP_INFO(this->get_logger(), "👑 AGV 标定中央大脑 (Component 版) 正在挂载...");
-
-    // 1. 从 YAML 配置文件读取动态参数！绝不硬编码！
-    this->declare_parameter<std::string>("tree_xml_filename", "main_tree.xml");
-    this->declare_parameter<int>("tick_rate_ms", 50);
-
-    // 2. 启动专属的后台守护线程去运行行为树。将主线程交还给容器处理网络回调！
-    is_running_ = true;
-    bt_thread_ = std::thread(&BrainNode::execute_behavior_tree, this);
-}
-
-BrainNode::~BrainNode() {
-    is_running_ = false;
-    if (bt_thread_.joinable()) {
-        bt_thread_.join();
-    }
-}
-
-void BrainNode::execute_behavior_tree() {
-    // 稍微延时 0.5 秒，确保节点完全被容器接管，再发起 Client 寻址
-    std::this_thread::sleep_for(std::chrono::milliseconds(500));
-
-    BT::BehaviorTreeFactory factory;
-
-    // 注册业务积木，传递 this 裸指针给所有积木
-    factory.registerBuilder<SetChassisModeNode>("SetChassisMode", 
-        [this](const std::string& name, const BT::NodeConfiguration& config) {
-            return std::make_unique<SetChassisModeNode>(name, config, this);
-        });
-
-    factory.registerBuilder<TriggerCaptureNode>("TriggerCapture", 
-        [this](const std::string& name, const BT::NodeConfiguration& config) {
-            return std::make_unique<TriggerCaptureNode>(name, config, this);
-        });
-
-    factory.registerBuilder<DownloadDataNode>("DownloadData", 
-        [this](const std::string& name, const BT::NodeConfiguration& config) {
-            return std::make_unique<DownloadDataNode>(name, config, this);
-        });
-
-    try {
-        std::string xml_filename = this->get_parameter("tree_xml_filename").as_string();
-        int tick_rate = this->get_parameter("tick_rate_ms").as_int();
-
-        std::string pkg_path = ament_index_cpp::get_package_share_directory("agv_calib_core");
-        std::string xml_file = pkg_path + "/behavior_trees/" + xml_filename;
-        
-        auto tree = factory.createTreeFromFile(xml_file);
-        BT::StdCoutLogger logger_cout(tree);
-        
-        RCLCPP_INFO(this->get_logger(), "📜 XML 剧本 [%s] 加载完毕，开始全自动流水线...", xml_filename.c_str());
-        
-        // 按照 YAML 配置的频率持续 Tick
-        BT::NodeStatus status = BT::NodeStatus::RUNNING;
-        while (rclcpp::ok() && is_running_ && status == BT::NodeStatus::RUNNING) {
-            status = tree.tickRoot();
-            std::this_thread::sleep_for(std::chrono::milliseconds(tick_rate));
-        }
-
-        if (status == BT::NodeStatus::SUCCESS) {
-            RCLCPP_INFO(this->get_logger(), "🎉 标定流水线全流程完美结束！");
-        } else {
-            RCLCPP_WARN(this->get_logger(), "⚠️ 流水线未成功完成 (可能被中止)。");
-        }
-        
-    } catch (const std::exception& e) {
-        RCLCPP_ERROR(this->get_logger(), "❌ 行为树崩溃: %s", e.what());
-    }
-}
-
-} // namespace agv_calib_core
-
-// 🚨 终极一步：将该类注册为 ROS 2 Component (插件)！
-RCLCPP_COMPONENTS_REGISTER_NODE(agv_calib_core::BrainNode)
@@ -1,56 +0,0 @@
-# -*- coding: utf-8 -*-
-# Generated by the protocol buffer compiler.  DO NOT EDIT!
-# NO CHECKED-IN PROTOBUF GENCODE
-# source: agv_calib_control.proto
-# Protobuf Python Version: 6.31.1
-"""Generated protocol buffer code."""
-from google.protobuf import descriptor as _descriptor
-from google.protobuf import descriptor_pool as _descriptor_pool
-from google.protobuf import runtime_version as _runtime_version
-from google.protobuf import symbol_database as _symbol_database
-from google.protobuf.internal import builder as _builder
-_runtime_version.ValidateProtobufRuntimeVersion(
-    _runtime_version.Domain.PUBLIC,
-    6,
-    31,
-    1,
-    '',
-    'agv_calib_control.proto'
-)
-# @@protoc_insertion_point(imports)
-
-_sym_db = _symbol_database.Default()
-
-
-
-
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x17\x61gv_calib_control.proto\x12\x17\x61gv.calibration.control\"\x07\n\x05\x45mpty\"4\n\x10StandardResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x0f\n\x07message\x18\x02 \x01(\t\"\x8b\x01\n\x0bModeRequest\x12>\n\x0btarget_mode\x18\x01 \x01(\x0e\x32).agv.calibration.control.ModeRequest.Mode\"<\n\x04Mode\x12\x0f\n\x0bNORMAL_MODE\x10\x00\x12\x12\n\x0eOPEN_LOOP_MODE\x10\x01\x12\x0f\n\x0bTUNING_MODE\x10\x02\"p\n\x0fOpenLoopRequest\x12\x16\n\x0eleft_motor_cmd\x18\x01 \x01(\x01\x12\x17\n\x0fright_motor_cmd\x18\x02 \x01(\x01\x12\x16\n\x0esteering_angle\x18\x03 \x01(\x01\x12\x14\n\x0c\x64uration_sec\x18\x04 \x01(\x01\"h\n\x0fTrajectoryPoint\x12\x0b\n\x03x_m\x18\x01 \x01(\x01\x12\x0b\n\x03y_m\x18\x02 \x01(\x01\x12\x0f\n\x07yaw_rad\x18\x03 \x01(\x01\x12\x17\n\x0ftarget_speed_ms\x18\x04 \x01(\x01\x12\x11\n\tcurvature\x18\x05 \x01(\x01\"a\n\x11TrajectoryRequest\x12\x14\n\x0ctest_case_id\x18\x01 \x01(\t\x12\x36\n\x04path\x18\x02 \x03(\x0b\x32(.agv.calibration.control.TrajectoryPoint\"G\n\x13StepResponseRequest\x12\x1a\n\x12target_velocity_ms\x18\x01 \x01(\x01\x12\x14\n\x0c\x64uration_sec\x18\x02 \x01(\x01\"\xf9\x05\n\rControlParams\x12$\n\x17wheel_radius_left_ratio\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12%\n\x18wheel_radius_right_ratio\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12$\n\x17\x65\x66\x66\x65\x63tive_track_width_m\x18\x03 \x01(\x01H\x02\x88\x01\x01\x12%\n\x18steering_zero_offset_deg\x18\x04 \x01(\x01H\x03\x88\x01\x01\x12\x1b\n\x0epid_kp_lateral\x18\x05 \x01(\x01H\x04\x88\x01\x01\x12\x1b\n\x0epid_ki_lateral\x18\x06 \x01(\x01H\x05\x88\x01\x01\x12\x1b\n\x0epid_kd_lateral\x18\x07 \x01(\x01H\x06\x88\x01\x01\x12\x1b\n\x0epid_kp_heading\x18\x08 \x01(\x01H\x07\x88\x01\x01\x12\x1b\n\x0epid_ki_heading\x18\t \x01(\x01H\x08\x88\x01\x01\x12\x1b\n\x0epid_kd_heading\x18\n \x01(\x01H\t\x88\x01\x01\x12%\n\x18pure_pursuit_lookahead_m\x18\x0b \x01(\x01H\n\x88\x01\x01\x12!\n\x14mpc_weight_q_lateral\x18\x0c \x01(\x01H\x0b\x88\x01\x01\x12\"\n\x15mpc_weight_r_steering\x18\r \x01(\x01H\x0c\x88\x01\x01\x42\x1a\n\x18_wheel_radius_left_ratioB\x1b\n\x19_wheel_radius_right_ratioB\x1a\n\x18_effective_track_width_mB\x1b\n\x19_steering_zero_offset_degB\x11\n\x0f_pid_kp_lateralB\x11\n\x0f_pid_ki_lateralB\x11\n\x0f_pid_kd_lateralB\x11\n\x0f_pid_kp_headingB\x11\n\x0f_pid_ki_headingB\x11\n\x0f_pid_kd_headingB\x1b\n\x19_pure_pursuit_lookahead_mB\x17\n\x15_mpc_weight_q_lateralB\x18\n\x16_mpc_weight_r_steering\"\xad\x02\n\rTelemetryData\x12\x1d\n\x15hardware_timestamp_us\x18\x01 \x01(\x03\x12\x10\n\x08odom_x_m\x18\x02 \x01(\x01\x12\x10\n\x08odom_y_m\x18\x03 \x01(\x01\x12\x14\n\x0codom_yaw_rad\x18\x04 \x01(\x01\x12\x1e\n\x16\x66\x65\x65\x64\x62\x61\x63k_linear_vel_ms\x18\x05 \x01(\x01\x12!\n\x19\x66\x65\x65\x64\x62\x61\x63k_angular_vel_rads\x18\x06 \x01(\x01\x12\x1e\n\x16left_motor_current_amp\x18\x07 \x01(\x01\x12\x1f\n\x17right_motor_current_amp\x18\x08 \x01(\x01\x12\"\n\x1asteering_motor_current_amp\x18\t \x01(\x01\x12\x1b\n\x13\x63md_steering_output\x18\n \x01(\x01\x32\xd1\x06\n\x16\x41gvCalibControlService\x12\x61\n\x0eSetControlMode\x12$.agv.calibration.control.ModeRequest\x1a).agv.calibration.control.StandardResponse\x12Z\n\rEmergencyStop\x12\x1e.agv.calibration.control.Empty\x1a).agv.calibration.control.StandardResponse\x12i\n\x12\x45xecuteOpenLoopCmd\x12(.agv.calibration.control.OpenLoopRequest\x1a).agv.calibration.control.StandardResponse\x12m\n\x14\x46ollowTestTrajectory\x12*.agv.calibration.control.TrajectoryRequest\x1a).agv.calibration.control.StandardResponse\x12n\n\x13\x45xecuteStepResponse\x12,.agv.calibration.control.StepResponseRequest\x1a).agv.calibration.control.StandardResponse\x12k\n\x16InjectTuningParameters\x12&.agv.calibration.control.ControlParams\x1a).agv.calibration.control.StandardResponse\x12\x64\n\x17\x43ommitControlParameters\x12\x1e.agv.calibration.control.Empty\x1a).agv.calibration.control.StandardResponse\x12[\n\x0fStreamTelemetry\x12\x1e.agv.calibration.control.Empty\x1a&.agv.calibration.control.TelemetryData0\x01\x62\x06proto3')
-
-_globals = globals()
-_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
-_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'agv_calib_control_pb2', _globals)
-if not _descriptor._USE_C_DESCRIPTORS:
-  DESCRIPTOR._loaded_options = None
-  _globals['_EMPTY']._serialized_start=52
-  _globals['_EMPTY']._serialized_end=59
-  _globals['_STANDARDRESPONSE']._serialized_start=61
-  _globals['_STANDARDRESPONSE']._serialized_end=113
-  _globals['_MODEREQUEST']._serialized_start=116
-  _globals['_MODEREQUEST']._serialized_end=255
-  _globals['_MODEREQUEST_MODE']._serialized_start=195
-  _globals['_MODEREQUEST_MODE']._serialized_end=255
-  _globals['_OPENLOOPREQUEST']._serialized_start=257
-  _globals['_OPENLOOPREQUEST']._serialized_end=369
-  _globals['_TRAJECTORYPOINT']._serialized_start=371
-  _globals['_TRAJECTORYPOINT']._serialized_end=475
-  _globals['_TRAJECTORYREQUEST']._serialized_start=477
-  _globals['_TRAJECTORYREQUEST']._serialized_end=574
-  _globals['_STEPRESPONSEREQUEST']._serialized_start=576
-  _globals['_STEPRESPONSEREQUEST']._serialized_end=647
-  _globals['_CONTROLPARAMS']._serialized_start=650
-  _globals['_CONTROLPARAMS']._serialized_end=1411
-  _globals['_TELEMETRYDATA']._serialized_start=1414
-  _globals['_TELEMETRYDATA']._serialized_end=1715
-  _globals['_AGVCALIBCONTROLSERVICE']._serialized_start=1718
-  _globals['_AGVCALIBCONTROLSERVICE']._serialized_end=2567
-# @@protoc_insertion_point(module_scope)
@@ -1,444 +0,0 @@
-# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
-"""Client and server classes corresponding to protobuf-defined services."""
-import grpc
-import warnings
-
-import agv_calib_control_pb2 as agv__calib__control__pb2
-
-GRPC_GENERATED_VERSION = '1.78.0'
-GRPC_VERSION = grpc.__version__
-_version_not_supported = False
-
-try:
-    from grpc._utilities import first_version_is_lower
-    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
-except ImportError:
-    _version_not_supported = True
-
-if _version_not_supported:
-    raise RuntimeError(
-        f'The grpc package installed is at version {GRPC_VERSION},'
-        + ' but the generated code in agv_calib_control_pb2_grpc.py depends on'
-        + f' grpcio>={GRPC_GENERATED_VERSION}.'
-        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
-        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
-    )
-
-
-class AgvCalibControlServiceStub(object):
-    """=========================================================
-    核心服务：AGV 运控大脑（PID/MPC）参数自动化寻优调教代理
-    [部署端 Server]：Windows车端 (满血保留自身算法，负责执行闭环追踪与高频汇报)
-    [调用端 Client]：Linux标定服务器 (上帝视角，负责发轨迹、看误差、AI打分与发新参数)
-    =========================================================
-    """
-
-    def __init__(self, channel):
-        """Constructor.
-
-        Args:
-            channel: A grpc.Channel.
-        """
-        self.SetControlMode = channel.unary_unary(
-                '/agv.calibration.control.AgvCalibControlService/SetControlMode',
-                request_serializer=agv__calib__control__pb2.ModeRequest.SerializeToString,
-                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
-                _registered_method=True)
-        self.EmergencyStop = channel.unary_unary(
-                '/agv.calibration.control.AgvCalibControlService/EmergencyStop',
-                request_serializer=agv__calib__control__pb2.Empty.SerializeToString,
-                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
-                _registered_method=True)
-        self.ExecuteOpenLoopCmd = channel.unary_unary(
-                '/agv.calibration.control.AgvCalibControlService/ExecuteOpenLoopCmd',
-                request_serializer=agv__calib__control__pb2.OpenLoopRequest.SerializeToString,
-                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
-                _registered_method=True)
-        self.FollowTestTrajectory = channel.unary_unary(
-                '/agv.calibration.control.AgvCalibControlService/FollowTestTrajectory',
-                request_serializer=agv__calib__control__pb2.TrajectoryRequest.SerializeToString,
-                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
-                _registered_method=True)
-        self.ExecuteStepResponse = channel.unary_unary(
-                '/agv.calibration.control.AgvCalibControlService/ExecuteStepResponse',
-                request_serializer=agv__calib__control__pb2.StepResponseRequest.SerializeToString,
-                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
-                _registered_method=True)
-        self.InjectTuningParameters = channel.unary_unary(
-                '/agv.calibration.control.AgvCalibControlService/InjectTuningParameters',
-                request_serializer=agv__calib__control__pb2.ControlParams.SerializeToString,
-                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
-                _registered_method=True)
-        self.CommitControlParameters = channel.unary_unary(
-                '/agv.calibration.control.AgvCalibControlService/CommitControlParameters',
-                request_serializer=agv__calib__control__pb2.Empty.SerializeToString,
-                response_deserializer=agv__calib__control__pb2.StandardResponse.FromString,
-                _registered_method=True)
-        self.StreamTelemetry = channel.unary_stream(
-                '/agv.calibration.control.AgvCalibControlService/StreamTelemetry',
-                request_serializer=agv__calib__control__pb2.Empty.SerializeToString,
-                response_deserializer=agv__calib__control__pb2.TelemetryData.FromString,
-                _registered_method=True)
-
-
-class AgvCalibControlServiceServicer(object):
-    """=========================================================
-    核心服务：AGV 运控大脑（PID/MPC）参数自动化寻优调教代理
-    [部署端 Server]：Windows车端 (满血保留自身算法，负责执行闭环追踪与高频汇报)
-    [调用端 Client]：Linux标定服务器 (上帝视角，负责发轨迹、看误差、AI打分与发新参数)
-    =========================================================
-    """
-
-    def SetControlMode(self, request, context):
-        """---------------------------------------------------------
-        第一步：权限接管与生命周期安全管控
-        ---------------------------------------------------------
-        💻 [Linux 发送 -> Windows]：要求切断避障，但保留底层 PID/MPC 算法就绪
-        🚙 [Windows 返回 -> Linux]：回复模式切换成功，准备好接考题
-        """
-        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-        context.set_details('Method not implemented!')
-        raise NotImplementedError('Method not implemented!')
-
-    def EmergencyStop(self, request, context):
-        """💻 [Linux 发送 -> Windows]：断网或飞车时的最高级别急停，无视一切直接刹车
-        🚙 [Windows 返回 -> Linux]：返回底层抱死结果
-        """
-        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-        context.set_details('Method not implemented!')
-        raise NotImplementedError('Method not implemented!')
-
-    def ExecuteOpenLoopCmd(self, request, context):
-        """---------------------------------------------------------
-        第二步：运动考题下发 (开环排雷 / 闭环寻优 / 波峰对齐)
-        ---------------------------------------------------------
-        【场景A: 纯物理开环备用】
-        💻 [Linux 发送 -> Windows]：要求切断算法盲跑，多用于摸底或辅助验证
-        🚙 [Windows 返回 -> Linux]：确认已按指定 RPM/PWM 运转
-        """
-        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-        context.set_details('Method not implemented!')
-        raise NotImplementedError('Method not implemented!')
-
-    def FollowTestTrajectory(self, request, context):
-        """【场景B: 算法闭环调优】
-        💻 [Linux 发送 -> Windows]：下发一条由几百个点组成的测试轨迹(如 S型贝塞尔曲线)
-        🚙 [Windows 返回 -> Linux]：收到轨迹后，车端立刻使用它自带的 PID/MPC 算法努力贴合轨迹跑圈
-        """
-        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-        context.set_details('Method not implemented!')
-        raise NotImplementedError('Method not implemented!')
-
-    def ExecuteStepResponse(self, request, context):
-        """【场景C: 波峰时序对齐】
-        💻 [Linux 发送 -> Windows]：下发极短促的阶跃加速指令，人为制造绝对速度波峰
-        🚙 [Windows 返回 -> Linux]：确认加速。(Linux 借此波峰算出网络的绝对 Time Offset)
-        """
-        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-        context.set_details('Method not implemented!')
-        raise NotImplementedError('Method not implemented!')
-
-    def InjectTuningParameters(self, request, context):
-        """---------------------------------------------------------
-        第三步：运控参数 AI 寻优：动态热注入与最终固化
-        ---------------------------------------------------------
-        💻 [Linux 发送 -> Windows]：Linux 发现上一圈跑得差，AI算出了新的 PID/前瞻距离，要求立即热注入
-        🚙 [Windows 返回 -> Linux]：车端将新参数瞬间覆写进运行内存(不重启系统)，随时准备用新参数重跑
-        """
-        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-        context.set_details('Method not implemented!')
-        raise NotImplementedError('Method not implemented!')
-
-    def CommitControlParameters(self, request, context):
-        """💻 [Linux 发送 -> Windows]：Linux 判定误差极小，调优结束，命令固化目前内存里的最高分参数
-        🚙 [Windows 返回 -> Linux]：车端将这组完美参数永久覆写进硬盘的 config.yaml 或系统注册表
-        """
-        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-        context.set_details('Method not implemented!')
-        raise NotImplementedError('Method not implemented!')
-
-    def StreamTelemetry(self, request, context):
-        """---------------------------------------------------------
-        第四步：高频数字孪生体感上报 (50Hz)
-        ---------------------------------------------------------
-        💻 [Linux 发送 -> Windows]：空包触发，命令车端开始疯狂推流
-        🚙 [Windows 持续流式返回 -> Linux]：以 50Hz 频率，持续上报自己的里程计坐标、速度和单调时间戳
-        """
-        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
-        context.set_details('Method not implemented!')
-        raise NotImplementedError('Method not implemented!')
-
-
-def add_AgvCalibControlServiceServicer_to_server(servicer, server):
-    rpc_method_handlers = {
-            'SetControlMode': grpc.unary_unary_rpc_method_handler(
-                    servicer.SetControlMode,
-                    request_deserializer=agv__calib__control__pb2.ModeRequest.FromString,
-                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
-            ),
-            'EmergencyStop': grpc.unary_unary_rpc_method_handler(
-                    servicer.EmergencyStop,
-                    request_deserializer=agv__calib__control__pb2.Empty.FromString,
-                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
-            ),
-            'ExecuteOpenLoopCmd': grpc.unary_unary_rpc_method_handler(
-                    servicer.ExecuteOpenLoopCmd,
-                    request_deserializer=agv__calib__control__pb2.OpenLoopRequest.FromString,
-                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
-            ),
-            'FollowTestTrajectory': grpc.unary_unary_rpc_method_handler(
-                    servicer.FollowTestTrajectory,
-                    request_deserializer=agv__calib__control__pb2.TrajectoryRequest.FromString,
-                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
-            ),
-            'ExecuteStepResponse': grpc.unary_unary_rpc_method_handler(
-                    servicer.ExecuteStepResponse,
-                    request_deserializer=agv__calib__control__pb2.StepResponseRequest.FromString,
-                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
-            ),
-            'InjectTuningParameters': grpc.unary_unary_rpc_method_handler(
-                    servicer.InjectTuningParameters,
-                    request_deserializer=agv__calib__control__pb2.ControlParams.FromString,
-                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
-            ),
-            'CommitControlParameters': grpc.unary_unary_rpc_method_handler(
-                    servicer.CommitControlParameters,
-                    request_deserializer=agv__calib__control__pb2.Empty.FromString,
-                    response_serializer=agv__calib__control__pb2.StandardResponse.SerializeToString,
-            ),
-            'StreamTelemetry': grpc.unary_stream_rpc_method_handler(
-                    servicer.StreamTelemetry,
-                    request_deserializer=agv__calib__control__pb2.Empty.FromString,
-                    response_serializer=agv__calib__control__pb2.TelemetryData.SerializeToString,
-            ),
-    }
-    generic_handler = grpc.method_handlers_generic_handler(
-            'agv.calibration.control.AgvCalibControlService', rpc_method_handlers)
-    server.add_generic_rpc_handlers((generic_handler,))
-    server.add_registered_method_handlers('agv.calibration.control.AgvCalibControlService', rpc_method_handlers)
-
-
- # This class is part of an EXPERIMENTAL API.
-class AgvCalibControlService(object):
-    """=========================================================
-    核心服务：AGV 运控大脑（PID/MPC）参数自动化寻优调教代理
-    [部署端 Server]：Windows车端 (满血保留自身算法，负责执行闭环追踪与高频汇报)
-    [调用端 Client]：Linux标定服务器 (上帝视角，负责发轨迹、看误差、AI打分与发新参数)
-    =========================================================
-    """
-
-    @staticmethod
-    def SetControlMode(request,
-            target,
-            options=(),
-            channel_credentials=None,
-            call_credentials=None,
-            insecure=False,
-            compression=None,
-            wait_for_ready=None,
-            timeout=None,
-            metadata=None):
-        return grpc.experimental.unary_unary(
-            request,
-            target,
-            '/agv.calibration.control.AgvCalibControlService/SetControlMode',
-            agv__calib__control__pb2.ModeRequest.SerializeToString,
-            agv__calib__control__pb2.StandardResponse.FromString,
-            options,
-            channel_credentials,
-            insecure,
-            call_credentials,
-            compression,
-            wait_for_ready,
-            timeout,
-            metadata,
-            _registered_method=True)
-
-    @staticmethod
-    def EmergencyStop(request,
-            target,
-            options=(),
-            channel_credentials=None,
-            call_credentials=None,
-            insecure=False,
-            compression=None,
-            wait_for_ready=None,
-            timeout=None,
-            metadata=None):
-        return grpc.experimental.unary_unary(
-            request,
-            target,
-            '/agv.calibration.control.AgvCalibControlService/EmergencyStop',
-            agv__calib__control__pb2.Empty.SerializeToString,
-            agv__calib__control__pb2.StandardResponse.FromString,
-            options,
-            channel_credentials,
-            insecure,
-            call_credentials,
-            compression,
-            wait_for_ready,
-            timeout,
-            metadata,
-            _registered_method=True)
-
-    @staticmethod
-    def ExecuteOpenLoopCmd(request,
-            target,
-            options=(),
-            channel_credentials=None,
-            call_credentials=None,
-            insecure=False,
-            compression=None,
-            wait_for_ready=None,
-            timeout=None,
-            metadata=None):
-        return grpc.experimental.unary_unary(
-            request,
-            target,
-            '/agv.calibration.control.AgvCalibControlService/ExecuteOpenLoopCmd',
-            agv__calib__control__pb2.OpenLoopRequest.SerializeToString,
-            agv__calib__control__pb2.StandardResponse.FromString,
-            options,
-            channel_credentials,
-            insecure,
-            call_credentials,
-            compression,
-            wait_for_ready,
-            timeout,
-            metadata,
-            _registered_method=True)
-
-    @staticmethod
-    def FollowTestTrajectory(request,
-            target,
-            options=(),
-            channel_credentials=None,
-            call_credentials=None,
-            insecure=False,
-            compression=None,
-            wait_for_ready=None,
-            timeout=None,
-            metadata=None):
-        return grpc.experimental.unary_unary(
-            request,
-            target,
-            '/agv.calibration.control.AgvCalibControlService/FollowTestTrajectory',
-            agv__calib__control__pb2.TrajectoryRequest.SerializeToString,
-            agv__calib__control__pb2.StandardResponse.FromString,
-            options,
-            channel_credentials,
-            insecure,
-            call_credentials,
-            compression,
-            wait_for_ready,
-            timeout,
-            metadata,
-            _registered_method=True)
-
-    @staticmethod
-    def ExecuteStepResponse(request,
-            target,
-            options=(),
-            channel_credentials=None,
-            call_credentials=None,
-            insecure=False,
-            compression=None,
-            wait_for_ready=None,
-            timeout=None,
-            metadata=None):
-        return grpc.experimental.unary_unary(
-            request,
-            target,
-            '/agv.calibration.control.AgvCalibControlService/ExecuteStepResponse',
-            agv__calib__control__pb2.StepResponseRequest.SerializeToString,
-            agv__calib__control__pb2.StandardResponse.FromString,
-            options,
-            channel_credentials,
-            insecure,
-            call_credentials,
-            compression,
-            wait_for_ready,
-            timeout,
-            metadata,
-            _registered_method=True)
-
-    @staticmethod
-    def InjectTuningParameters(request,
-            target,
-            options=(),
-            channel_credentials=None,
-            call_credentials=None,
-            insecure=False,
-            compression=None,
-            wait_for_ready=None,
-            timeout=None,
-            metadata=None):
-        return grpc.experimental.unary_unary(
-            request,
-            target,
-            '/agv.calibration.control.AgvCalibControlService/InjectTuningParameters',
-            agv__calib__control__pb2.ControlParams.SerializeToString,
-            agv__calib__control__pb2.StandardResponse.FromString,
-            options,
-            channel_credentials,
-            insecure,
-            call_credentials,
-            compression,
-            wait_for_ready,
-            timeout,
-            metadata,
-            _registered_method=True)
-
-    @staticmethod
-    def CommitControlParameters(request,
-            target,
-            options=(),
-            channel_credentials=None,
-            call_credentials=None,
-            insecure=False,
-            compression=None,
-            wait_for_ready=None,
-            timeout=None,
-            metadata=None):
-        return grpc.experimental.unary_unary(
-            request,
-            target,
-            '/agv.calibration.control.AgvCalibControlService/CommitControlParameters',
-            agv__calib__control__pb2.Empty.SerializeToString,
-            agv__calib__control__pb2.StandardResponse.FromString,
-            options,
-            channel_credentials,
-            insecure,
-            call_credentials,
-            compression,
-            wait_for_ready,
-            timeout,
-            metadata,
-            _registered_method=True)
-
-    @staticmethod
-    def StreamTelemetry(request,
-            target,
-            options=(),
-            channel_credentials=None,
-            call_credentials=None,
-            insecure=False,
-            compression=None,
-            wait_for_ready=None,
-            timeout=None,
-            metadata=None):
-        return grpc.experimental.unary_stream(
-            request,
-            target,
-            '/agv.calibration.control.AgvCalibControlService/StreamTelemetry',
-            agv__calib__control__pb2.Empty.SerializeToString,
-            agv__calib__control__pb2.TelemetryData.FromString,
-            options,
-            channel_credentials,
-            insecure,
-            call_credentials,
-            compression,
-            wait_for_ready,
-            timeout,
-            metadata,
-            _registered_method=True)
@@ -1,26 +0,0 @@
-import grpc
-from concurrent import futures
-import time
-import agv_calib_control_pb2 as pb2
-import agv_calib_control_pb2_grpc as pb2_grpc
-
-# 扮演 Windows 车端的角色
-class FakeAgvServer(pb2_grpc.AgvCalibControlServiceServicer):
-    def SetControlMode(self, request, context):
-        print(f"\n[🚙 Windows 假车端] 收到 Linux 夺权指令! 目标模式: {request.target_mode}")
-        time.sleep(0.5) # 假装底层继电器切换花了点时间
-        print("[🚙 Windows 假车端] 避障已切断，乖乖交出控制权！")
-        
-        # 返回成功回执给 Linux
-        return pb2.StandardResponse(success=True, message="Windows: 已交出底盘控制权！")
-
-def serve():
-    server = grpc.server(futures.ThreadPoolExecutor(max_workers=10))
-    pb2_grpc.add_AgvCalibControlServiceServicer_to_server(FakeAgvServer(), server)
-    server.add_insecure_port('[::]:50051')
-    print("🚀 [Windows 假车端] 已启动，正在监听 50051 端口，等待 Linux 大脑连接...")
-    server.start()
-    server.wait_for_termination()
-
-if __name__ == '__main__':
-    serve()
@@ -0,0 +1,101 @@
+# 标定车间现场操作台
+
+这个 PySide6 界面面向真实部署使用，不再只是静态原型。它围绕车间电脑侧的实际流程组织：
+
+- 后台加载固定车间部署配置
+- 选择、加载或保存可复用的车辆画像文件
+- 检查未替换的占位配置
+- 生成本轮任务文件
+- 在界面中选择底盘类型、底盘标定参数、运控算法和传感器标定项目
+- 启动或停止 ROS 现场服务
+- 执行本轮标定流程
+- 在“车间定位”窗口显示 3D 车间图、车辆实时位置、本轮计划轨迹和定位质量信息
+- 解析并展示最终 report、阶段结果和 metadata
+
+## 运行方法
+
+```bash
+source install/setup.bash
+python3 src/apps/operator_ui/main.py
+```
+
+仿真联调时可以让界面直接加载仿真 profile：
+
+```bash
+AGV_OPERATOR_SITE_PROFILE=src/deployment/profiles/sim_workshop.yaml python3 src/apps/operator_ui/main.py
+```
+
+如果环境里还没有界面依赖：
+
+```bash
+pip install -r src/apps/operator_ui/requirements.txt
+```
+
+## 真实部署前需要先确认
+
+1. 把 `src/deployment/profiles/site_template.yaml` 复制成唯一车间的部署配置文件，并在程序默认配置里固定使用。
+2. 替换所有 `replace_with_*`、`measured_on_site`、`session_xxx` 占位项。
+3. 为首次标定的车型新建并保存车辆画像，至少填写车辆长宽高、轴距、轮距、轮半径、底盘类型、传感器 ID 和运控默认限制；同车型新车可直接选择已有车辆画像。
+4. 按现场测量并填写车间长、宽、高，单位为米。
+5. 确认车间定位输出话题是 `/workshop/external_localization/vehicle/pose`。
+6. 确认车上 Windows 程序的 IP 和端口。
+7. 真实采集完成后，把采集数据索引文件转成算法数据参数文件，再在界面里填入。
+
+## 界面操作顺序
+
+1. 查看“现场检查”页，确认固定车间配置和关键项没有失败。
+2. 在右上角查看车间尺寸是否已从固定部署配置加载。
+3. 在“车辆画像”里选择已有画像；需要新车型时点击“新建画像”，在弹出的画像窗口里填写车辆尺寸、底盘几何、运控限制，并勾选车上安装的传感器后填写编号；手眼相机需要选择眼在手上或眼在手外。
+4. 在“本轮要标定的内容”里选择：
+   - 底盘类型和要标定的底盘参数
+   - 运控轴向、控制算法和评估项目
+   - 传感器内参、外参或手眼任务；传感器 ID 来自车辆画像
+5. 点击“生成本轮任务文件”，检查“本轮任务预览”里的任务列表。
+6. 查看“车间定位”窗口，确认 3D 车间图中的本轮计划轨迹、车辆位置和质量信息在更新。
+7. 点击“启动现场服务”，等待日志中各节点启动。
+8. 点击“开始执行本轮标定”，在“报告”页查看最终结果。
+9. 验证结束后点击“停止现场服务”。
+
+## Isaac 中测试底盘选路采集
+
+如果只是验证“底盘标定流程里能不能按选定路径让车动起来、采集底盘遥测和外部真值”，先启动 Isaac 仿真链路：
+
+```bash
+./run_isaac_real_sim_test.sh --no-smoke --keep-running
+```
+
+再启动 UI：
+
+```bash
+AGV_OPERATOR_SITE_PROFILE=src/deployment/profiles/sim_workshop.yaml python3 src/apps/operator_ui/main.py
+```
+
+在“底盘标定”页选择底盘类型和“参考路径”，然后点击“开始底盘路径采集测试”。该按钮会调用
+`run_chassis_profile_capture.py`，自动传入当前选中的 `reference_path_id`，并把采集结果写到 `/tmp/agv_calib_chassis_sim/ui_*`。
+
+## 在 UI 中录制参考路径
+
+底盘标定、运控参数和传感器标定页的“参考路径”下拉框旁都有“录制”和“停止录制”按钮。点击“录制”后填写中文名称、路径 ID、录制来源、话题、路径类型和目标速度；录制来源可选外部真值定位或底盘遥测。录制时长填 `0` 表示一直录，点击“停止录制”后会收尾并把单条路径 YAML 写入对应模块的 `reference_paths/` 目录。
+
+底盘路径会按当前底盘类型写入 `allowed_chassis_types`，因此录制完成后只会出现在对应底盘类型下。需要注意的是，“开始底盘路径采集测试”仍然走 `chassis_action_profile.yaml` 的动作原语执行链路；如果一条新录制底盘路径还没有绑定到动作 profile，UI 会阻止直接执行，只把它作为参考路径文件用于路径管理和任务预览。
+
+## 注意事项
+
+- “跳过网络质量检查（仅调试）”只适合本地联调，真实部署默认不要勾选。
+- 车上 Windows 程序链路是真实部署的必需链路，界面固定启用，不再让操作人员选择。
+- 车辆 ID 表示当前这辆车；车辆画像表示同一车型的可复用静态配置，两者不要混用。
+- 底盘标定和运控参数标定都依赖车辆画像；画像会写入本轮任务文件，smoke 执行时会按当前车辆 ID 注册这份画像快照。
+- 主界面只保留车辆画像选择；画像明细在独立画像窗口里新建、编辑和保存。
+- 画像文件固定保存在 `src/deployment/profiles/vehicle_profiles/`，保存时按“画像名称.ymal”生成文件名。
+- 车间长、宽、高是固定现场配置，只能从现场配置文件读取，不允许操作员在界面手动输入。
+- 现场只有一个车间，所以界面不提供现场配置文件选择入口；部署配置由程序后台固定加载。
+- 车间长、宽、高会写入本轮任务文件，并通过 `workshop_geometry.*` 进入总控报告 metadata。
+- 车间定位输出话题、车间定位系统名称、当前标定工位从现场配置文件读取，不作为普通操作项显示。
+- “车间定位”窗口只显示 3D 位置、本轮计划轨迹和定位数据，不允许修改固定 topic 或定位系统名称。
+- 3D 车间图支持鼠标左键拖动旋转视角，左键双击恢复默认视角。
+- 本轮计划轨迹用绿色点显示，来自当前勾选的底盘动作和运控轨迹参数，不要求操作员额外输入。
+- 底盘标定、运控参数标定和传感器标定页都有“参考路径”下拉框，选项来自对应模块的 `reference_paths/*.yaml`；运控轨迹跟踪会把选中的路径展开为实际下发的轨迹点。
+- 标定流程运行时，界面订阅 `/workshop_v2/events`，上一项任务完成后会自动切到下一项需要动车采集的轨迹。
+- 界面会把明细选择写入本轮任务文件，并让标定流程读取这些任务。
+- 界面通过现有 CLI 和 ROS launch 运行流程，没有绕过总控。
+- 如果 report 显示失败，优先查看“阶段”表里的 `summary` 和日志中的 `[STAGE]` 行。
@@ -0,0 +1,388 @@
+"""操作台固定配置和任务选项。"""
+
+from __future__ import annotations
+
+import os
+from pathlib import Path
+
+
+REPO_ROOT = Path(__file__).resolve().parents[3]
+_DEFAULT_SITE_PROFILE_RAW = Path(
+    os.environ.get("AGV_OPERATOR_SITE_PROFILE", "src/deployment/profiles/site_template.yaml")
+).expanduser()
+DEFAULT_SITE_PROFILE = (
+    _DEFAULT_SITE_PROFILE_RAW.resolve(strict=False)
+    if _DEFAULT_SITE_PROFILE_RAW.is_absolute()
+    else (REPO_ROOT / _DEFAULT_SITE_PROFILE_RAW).resolve(strict=False)
+)
+DEFAULT_VEHICLE_PROFILE_DIR = REPO_ROOT / "src/deployment/profiles/vehicle_profiles"
+DEFAULT_VEHICLE_PROFILE = DEFAULT_VEHICLE_PROFILE_DIR / "ackermann_default.yaml"
+DEFAULT_REFERENCE_PATH_DIRS = {
+    "chassis": REPO_ROOT / "src/site_deployment/workshop_chassis_calibration_real/reference_paths",
+    "control": REPO_ROOT / "src/site_deployment/workshop_control_calibration_real/reference_paths",
+    "sensor": REPO_ROOT / "src/site_deployment/workshop_sensor_calibration_real/reference_paths",
+}
+VEHICLE_PROFILE_SAVE_EXTENSION = ".ymal"
+DEFAULT_SESSION_CONFIG = Path("/tmp/agv_calib_operator_ui/workshop_session_config.yaml")
+PLACEHOLDER_MARKERS = ("replace_with", "measured_on_site", "session_xxx")
+
+TASKS = [
+    ("external", "检查车间定位"),
+    ("chassis", "底盘标定"),
+    ("control", "运控参数标定"),
+    ("sensor_intrinsic", "传感器内参标定"),
+    ("sensor_extrinsic", "传感器外参标定"),
+    ("hand_eye", "手眼标定"),
+]
+
+CHASSIS_TYPES = [
+    ("ackermann", "阿克曼"),
+    ("differential", "差速轮"),
+    ("single_steer_wheel", "单舵轮"),
+    ("multi_steer_wheel", "多舵轮"),
+]
+
+STAGE_EXTERNAL = "EXTERNAL_REFERENCE_READY_CHECK_STAGE"
+STAGE_CHASSIS = "CHASSIS_CALIBRATION_STAGE"
+STAGE_CONTROL = "CONTROL_CALIBRATION_STAGE"
+STAGE_SENSOR_INTRINSIC = "SENSOR_INTRINSIC_CALIBRATION_STAGE"
+STAGE_SENSOR_EXTRINSIC = "SENSOR_EXTRINSIC_CALIBRATION_STAGE"
+STAGE_HAND_EYE = "HAND_EYE_CALIBRATION_STAGE"
+
+STAGE_DISPLAY_NAMES = {
+    STAGE_EXTERNAL: "车间定位检查",
+    STAGE_CHASSIS: "底盘标定",
+    STAGE_CONTROL: "运控参数标定",
+    STAGE_SENSOR_INTRINSIC: "传感器内参标定",
+    STAGE_SENSOR_EXTRINSIC: "传感器外参标定",
+    STAGE_HAND_EYE: "手眼标定",
+}
+
+STAGE_ID_PREFIX_BY_STAGE_TYPE = {
+    STAGE_EXTERNAL: "stage_external_reference",
+    STAGE_CHASSIS: "stage_chassis_calibration",
+    STAGE_CONTROL: "stage_control_calibration",
+    STAGE_SENSOR_INTRINSIC: "stage_sensor_intrinsic_calibration",
+    STAGE_SENSOR_EXTRINSIC: "stage_sensor_extrinsic_calibration",
+    STAGE_HAND_EYE: "stage_hand_eye_calibration",
+}
+
+WORKSHOP_EVENT_STAGE_STARTED = 5
+WORKSHOP_EVENT_STAGE_COMPLETED = 6
+WORKSHOP_EVENT_STAGE_FAILED = 7
+WORKSHOP_EVENT_REPORT_READY = 12
+
+POLICY_DISPLAY_NAMES = {
+    "REQUIRED": "必做",
+    "OPTIONAL": "可选",
+    "SKIP_IF_UNSUPPORTED": "不支持则跳过",
+}
+
+LOCALIZATION_DISPLAY_ROWS = [
+    "状态",
+    "更新时间",
+    "X(m)",
+    "Y(m)",
+    "Z(m)",
+    "Yaw(deg)",
+    "质量分数",
+    "位置标准差(m)",
+    "航向标准差(deg)",
+    "跟踪丢失率",
+    "时间同步偏差(ms)",
+    "目标数量",
+    "定位系统",
+    "任务 ID",
+]
+
+CHASSIS_PARAMETER_OPTIONS = {
+    "ackermann": [
+        {
+            "code": "chassis.ackermann.rear_wheel_radius",
+            "label": "后轮有效半径",
+            "target": "rear_drive_wheels",
+            "params": {
+                "primitive_type": "straight_line",
+                "straight_line.target_distance_m": "0.5",
+                "straight_line.target_speed_ms": "0.1",
+                "straight_line.reverse": "false",
+            },
+        },
+        {
+            "code": "chassis.ackermann.steering_zero",
+            "label": "前轮舵角零偏",
+            "target": "front_steering",
+            "params": {
+                "primitive_type": "steering_sweep",
+                "steering_sweep.target_angle_deg": "0.0",
+                "steering_sweep.sweep_amplitude_deg": "12.0",
+                "steering_sweep.sweep_frequency_hz": "0.2",
+                "steering_sweep.duration_sec": "8.0",
+            },
+        },
+        {
+            "code": "chassis.ackermann.steering_ratio",
+            "label": "转向传动比/等效轴距",
+            "target": "front_steering",
+            "params": {
+                "primitive_type": "arc",
+                "arc.target_speed_ms": "0.1",
+                "arc.radius_m": "1.2",
+                "arc.sweep_angle_deg": "90.0",
+                "arc.clockwise": "false",
+            },
+        },
+    ],
+    "differential": [
+        {
+            "code": "chassis.differential.wheel_radius",
+            "label": "左右轮有效半径",
+            "target": "drive_wheels",
+            "params": {
+                "primitive_type": "straight_line",
+                "straight_line.target_distance_m": "0.5",
+                "straight_line.target_speed_ms": "0.1",
+                "straight_line.reverse": "false",
+            },
+        },
+        {
+            "code": "chassis.differential.track_width",
+            "label": "驱动轮轮距",
+            "target": "drive_wheels",
+            "params": {
+                "primitive_type": "in_place_rotation",
+                "in_place_rotation.target_yaw_deg": "360.0",
+                "in_place_rotation.target_angular_vel_deg_s": "20.0",
+            },
+        },
+        {
+            "code": "chassis.differential.encoder_scale",
+            "label": "左右编码器比例",
+            "target": "wheel_encoders",
+            "params": {
+                "primitive_type": "straight_line",
+                "straight_line.target_distance_m": "0.5",
+                "straight_line.target_speed_ms": "0.08",
+                "straight_line.reverse": "false",
+            },
+        },
+    ],
+    "single_steer_wheel": [
+        {
+            "code": "chassis.single_steer.drive_wheel_radius",
+            "label": "驱动轮有效半径",
+            "target": "steer_drive_module",
+            "params": {
+                "primitive_type": "straight_line",
+                "straight_line.target_distance_m": "0.5",
+                "straight_line.target_speed_ms": "0.1",
+                "straight_line.reverse": "false",
+            },
+        },
+        {
+            "code": "chassis.single_steer.steer_zero",
+            "label": "舵轮零位",
+            "target": "steer_drive_module",
+            "params": {
+                "primitive_type": "steering_sweep",
+                "steering_sweep.target_angle_deg": "0.0",
+                "steering_sweep.sweep_amplitude_deg": "15.0",
+                "steering_sweep.sweep_frequency_hz": "0.2",
+                "steering_sweep.duration_sec": "8.0",
+            },
+        },
+        {
+            "code": "chassis.single_steer.steering_ratio",
+            "label": "转向比例",
+            "target": "steer_drive_module",
+            "params": {
+                "primitive_type": "arc",
+                "arc.target_speed_ms": "0.1",
+                "arc.radius_m": "1.0",
+                "arc.sweep_angle_deg": "90.0",
+                "arc.clockwise": "false",
+            },
+        },
+    ],
+    "multi_steer_wheel": [
+        {
+            "code": "chassis.multi_steer.module_wheel_radius",
+            "label": "各模块轮半径",
+            "target": "steering_modules",
+            "params": {
+                "primitive_type": "straight_line",
+                "straight_line.target_distance_m": "0.5",
+                "straight_line.target_speed_ms": "0.1",
+                "straight_line.reverse": "false",
+            },
+        },
+        {
+            "code": "chassis.multi_steer.module_zero",
+            "label": "各模块舵角零位",
+            "target": "steering_modules",
+            "params": {
+                "primitive_type": "module_alignment",
+                "module_alignment.module_ids": "module_1,module_2,module_3,module_4",
+                "module_alignment.target_zero_deg": "0.0",
+                "module_alignment.tolerance_deg": "0.5",
+            },
+        },
+        {
+            "code": "chassis.multi_steer.coordinated_steering",
+            "label": "多模块协同转向一致性",
+            "target": "steering_modules",
+            "params": {
+                "primitive_type": "coordinated_steering",
+                "coordinated_steering.module_ids": "module_1,module_2,module_3,module_4",
+                "coordinated_steering.target_angle_deg": "30.0",
+                "coordinated_steering.hold_time_sec": "3.0",
+            },
+        },
+    ],
+}
+
+CONTROL_PARAMETER_OPTIONS = [
+    {
+        "code": "control.lateral.mpc",
+        "label": "横向 MPC",
+        "target": "lateral_controller",
+        "axis": "lateral",
+        "algorithm": "mpc",
+        "params": {
+            "control.task_type": "trajectory_tracking",
+            "control.stop_at_end": "true",
+            "control.timeout_sec": "60.0",
+            "trajectory_tracking.trajectory_id": "ui_lateral_mpc_eval",
+            "trajectory_tracking.segment_index": "0",
+            "trajectory_tracking.total_segments": "1",
+            "trajectory_tracking.is_final_segment": "true",
+            "trajectory_tracking.max_external_pose_age_ms": "200.0",
+            "trajectory_tracking.min_external_pose_quality_score": "0.5",
+            "traj_pt_0_x_m": "0.0",
+            "traj_pt_0_y_m": "0.0",
+            "traj_pt_0_yaw_rad": "0.0",
+            "traj_pt_0_speed_ms": "0.1",
+            "traj_pt_1_x_m": "1.0",
+            "traj_pt_1_y_m": "0.0",
+            "traj_pt_1_yaw_rad": "0.0",
+            "traj_pt_1_speed_ms": "0.1",
+        },
+    },
+    {
+        "code": "control.lateral.lqr",
+        "label": "横向 LQR",
+        "target": "lateral_controller",
+        "axis": "lateral",
+        "algorithm": "lqr",
+        "params": {
+            "control.task_type": "trajectory_tracking",
+            "control.stop_at_end": "true",
+            "control.timeout_sec": "60.0",
+            "trajectory_tracking.trajectory_id": "ui_lateral_lqr_eval",
+            "traj_pt_0_x_m": "0.0",
+            "traj_pt_0_y_m": "0.0",
+            "traj_pt_0_yaw_rad": "0.0",
+            "traj_pt_0_speed_ms": "0.1",
+            "traj_pt_1_x_m": "1.0",
+            "traj_pt_1_y_m": "0.0",
+            "traj_pt_1_yaw_rad": "0.0",
+            "traj_pt_1_speed_ms": "0.1",
+        },
+    },
+    {
+        "code": "control.lateral.pure_pursuit",
+        "label": "横向 Pure Pursuit",
+        "target": "lateral_controller",
+        "axis": "lateral",
+        "algorithm": "pure_pursuit",
+        "params": {
+            "control.task_type": "trajectory_tracking",
+            "control.stop_at_end": "true",
+            "control.timeout_sec": "60.0",
+            "trajectory_tracking.trajectory_id": "ui_lateral_pp_eval",
+            "traj_pt_0_x_m": "0.0",
+            "traj_pt_0_y_m": "0.0",
+            "traj_pt_0_yaw_rad": "0.0",
+            "traj_pt_0_speed_ms": "0.1",
+            "traj_pt_1_x_m": "1.0",
+            "traj_pt_1_y_m": "0.0",
+            "traj_pt_1_yaw_rad": "0.0",
+            "traj_pt_1_speed_ms": "0.1",
+        },
+    },
+    {
+        "code": "control.longitudinal.pid",
+        "label": "纵向 PID",
+        "target": "longitudinal_controller",
+        "axis": "longitudinal",
+        "algorithm": "pid",
+        "params": {
+            "control.task_type": "velocity_step",
+            "velocity_step.target_velocity_ms": "0.1",
+            "velocity_step.hold_time_sec": "0.5",
+            "velocity_step.settle_before_step_sec": "0.1",
+            "control.timeout_sec": "10.0",
+        },
+    },
+    {
+        "code": "control.longitudinal.mpc",
+        "label": "纵向 MPC",
+        "target": "longitudinal_controller",
+        "axis": "longitudinal",
+        "algorithm": "mpc",
+        "params": {
+            "control.task_type": "accel_decel",
+            "accel_decel.start_velocity_ms": "0.0",
+            "accel_decel.target_velocity_ms": "0.15",
+            "accel_decel.target_accel_ms2": "0.1",
+            "accel_decel.hold_time_sec": "0.5",
+            "control.timeout_sec": "10.0",
+        },
+    },
+    {
+        "code": "control.stop_accuracy",
+        "label": "停车精度",
+        "target": "stop_controller",
+        "axis": "combined",
+        "algorithm": "stop_accuracy",
+        "params": {
+            "control.task_type": "stop_accuracy",
+            "stop_accuracy.target_stop_x_m": "0.0",
+            "stop_accuracy.target_stop_y_m": "0.0",
+            "stop_accuracy.target_stop_yaw_rad": "0.0",
+            "control.timeout_sec": "10.0",
+        },
+    },
+]
+
+SENSOR_TASK_OPTIONS = [
+    ("front_camera", "前视相机", "front_camera_intrinsic", "前视相机内参", STAGE_SENSOR_INTRINSIC),
+    ("front_camera", "前视相机", "front_camera_extrinsic", "前视相机到车体外参", STAGE_SENSOR_EXTRINSIC),
+    ("down_camera", "下视相机", "downward_camera_intrinsic", "下视相机内参", STAGE_SENSOR_INTRINSIC),
+    ("down_camera", "下视相机", "downward_camera_extrinsic", "下视相机到车体外参", STAGE_SENSOR_EXTRINSIC),
+    ("lidar_2d", "2D 激光雷达", "lidar_2d_extrinsic", "2D 激光雷达到车体外参", STAGE_SENSOR_EXTRINSIC),
+    ("lidar_3d", "3D 激光雷达", "lidar_3d_extrinsic", "3D 激光雷达到车体外参", STAGE_SENSOR_EXTRINSIC),
+    ("imu", "IMU", "imu_intrinsic", "IMU 内参", STAGE_SENSOR_INTRINSIC),
+    ("imu", "IMU", "imu_extrinsic", "IMU 到车体外参", STAGE_SENSOR_EXTRINSIC),
+    ("arm_camera", "手眼相机", "eye_in_hand", "眼在手上手眼标定", STAGE_HAND_EYE),
+    ("arm_camera", "手眼相机", "eye_to_hand", "眼在手外手眼标定", STAGE_HAND_EYE),
+]
+
+TASK_DISPLAY_NAMES = {"external": "车间定位可用性检查"}
+for options in CHASSIS_PARAMETER_OPTIONS.values():
+    for option in options:
+        TASK_DISPLAY_NAMES[str(option["code"])] = str(option["label"])
+for option in CONTROL_PARAMETER_OPTIONS:
+    TASK_DISPLAY_NAMES[str(option["code"])] = str(option["label"])
+for sensor_key, sensor_label, subtype, label, _stage_type in SENSOR_TASK_OPTIONS:
+    TASK_DISPLAY_NAMES[f"sensor.{sensor_key}.{subtype}"] = label
+
+SENSOR_STAGE_DISPLAY_NAMES: dict[str, str] = {}
+for sensor_key, sensor_label, subtype, _label, stage_type in SENSOR_TASK_OPTIONS:
+    task_code = f"sensor.{sensor_key}.{subtype}"
+    if stage_type == STAGE_SENSOR_INTRINSIC:
+        SENSOR_STAGE_DISPLAY_NAMES[task_code] = f"{sensor_label}内参标定"
+    elif stage_type == STAGE_SENSOR_EXTRINSIC:
+        SENSOR_STAGE_DISPLAY_NAMES[task_code] = f"{sensor_label}外参标定"
+    elif stage_type == STAGE_HAND_EYE:
+        SENSOR_STAGE_DISPLAY_NAMES[task_code] = f"{sensor_label}手眼标定"
@@ -0,0 +1,272 @@
+"""车间 3D 定位显示控件。"""
+
+from __future__ import annotations
+
+import math
+
+from PySide6.QtCore import QPointF, Qt
+from PySide6.QtGui import QBrush, QColor, QFont, QPainter, QPen, QPolygonF
+from PySide6.QtWidgets import QWidget
+
+
+class WorkshopLocalization3DView(QWidget):
+    def __init__(self) -> None:
+        super().__init__()
+        self.setMinimumHeight(360)
+        self.room_length_m = 0.0
+        self.room_width_m = 0.0
+        self.room_height_m = 0.0
+        self.pose: dict[str, float] | None = None
+        self.pose_valid = False
+        self.quality_score: float | None = None
+        self.status_text = "等待定位数据"
+        self.trajectory_segments: list[list[tuple[float, float, float]]] = []
+        self.trajectory_label = "本轮计划轨迹"
+        self.view_yaw_rad = math.radians(45.0)
+        self.view_pitch_rad = math.radians(35.0)
+        self.view_drag_last_pos: QPointF | None = None
+        self.setCursor(Qt.OpenHandCursor)
+
+    def set_workshop_geometry(self, geometry: dict[str, str]) -> None:
+        try:
+            self.room_length_m = float(geometry.get("length_m", "0"))
+            self.room_width_m = float(geometry.get("width_m", "0"))
+            self.room_height_m = float(geometry.get("height_m", "0"))
+        except ValueError:
+            self.room_length_m = 0.0
+            self.room_width_m = 0.0
+            self.room_height_m = 0.0
+        self.update()
+
+    def set_status(self, text: str) -> None:
+        self.status_text = text
+        self.update()
+
+    def set_pose(self, x_m: float, y_m: float, z_m: float, yaw_rad: float, valid: bool, quality_score: float | None) -> None:
+        self.pose = {"x": x_m, "y": y_m, "z": z_m, "yaw": yaw_rad}
+        self.pose_valid = valid
+        self.quality_score = quality_score
+        self.update()
+
+    def set_trajectory(self, segments: list[list[tuple[float, float, float]]], label: str = "本轮计划轨迹") -> None:
+        self.trajectory_segments = segments
+        self.trajectory_label = label
+        self.update()
+
+    def _geometry_ready(self) -> bool:
+        return self.room_length_m > 0.0 and self.room_width_m > 0.0 and self.room_height_m > 0.0
+
+    def paintEvent(self, event) -> None:
+        painter = QPainter(self)
+        painter.setRenderHint(QPainter.Antialiasing, True)
+        painter.fillRect(self.rect(), QColor("#f8fafc"))
+
+        if not self._geometry_ready():
+            painter.setPen(QColor("#991b1b"))
+            painter.setFont(QFont("", 12, QFont.Bold))
+            painter.drawText(self.rect(), Qt.AlignCenter, "车间尺寸未配置，无法显示 3D 定位图")
+            return
+
+        length = self.room_length_m
+        width = self.room_width_m
+        height = self.room_height_m
+        margin = 32.0
+        raw_points = [
+            self._raw_project(x, y, z)
+            for x in (-length / 2.0, length / 2.0)
+            for y in (-width / 2.0, width / 2.0)
+            for z in (0.0, height)
+        ]
+        min_x = min(point.x() for point in raw_points)
+        max_x = max(point.x() for point in raw_points)
+        min_y = min(point.y() for point in raw_points)
+        max_y = max(point.y() for point in raw_points)
+        span_x = max(max_x - min_x, 1e-6)
+        span_y = max(max_y - min_y, 1e-6)
+        scale = min((self.width() - margin * 2.0) / span_x, (self.height() - margin * 2.0) / span_y)
+        raw_center = QPointF((min_x + max_x) / 2.0, (min_y + max_y) / 2.0)
+        screen_center = QPointF(self.width() / 2.0, self.height() / 2.0 + 18.0)
+
+        def project(x: float, y: float, z: float) -> QPointF:
+            raw = self._raw_project(x, y, z)
+            return QPointF(
+                (raw.x() - raw_center.x()) * scale + screen_center.x(),
+                (raw.y() - raw_center.y()) * scale + screen_center.y(),
+            )
+
+        floor = [
+            project(-length / 2.0, -width / 2.0, 0.0),
+            project(length / 2.0, -width / 2.0, 0.0),
+            project(length / 2.0, width / 2.0, 0.0),
+            project(-length / 2.0, width / 2.0, 0.0),
+        ]
+        top = [
+            project(-length / 2.0, -width / 2.0, height),
+            project(length / 2.0, -width / 2.0, height),
+            project(length / 2.0, width / 2.0, height),
+            project(-length / 2.0, width / 2.0, height),
+        ]
+
+        painter.setPen(QPen(QColor("#94a3b8"), 1))
+        painter.setBrush(QBrush(QColor("#e0f2fe")))
+        painter.drawPolygon(QPolygonF(floor))
+        painter.setBrush(Qt.NoBrush)
+
+        grid_pen = QPen(QColor("#cbd5e1"), 1)
+        grid_pen.setStyle(Qt.DotLine)
+        painter.setPen(grid_pen)
+        grid_count = 8
+        for i in range(1, grid_count):
+            x = -length / 2.0 + length * i / grid_count
+            painter.drawLine(project(x, -width / 2.0, 0.0), project(x, width / 2.0, 0.0))
+            y = -width / 2.0 + width * i / grid_count
+            painter.drawLine(project(-length / 2.0, y, 0.0), project(length / 2.0, y, 0.0))
+
+        painter.setPen(QPen(QColor("#475569"), 2))
+        painter.drawPolygon(QPolygonF(floor))
+        top_pen = QPen(QColor("#64748b"), 1)
+        top_pen.setStyle(Qt.DashLine)
+        painter.setPen(top_pen)
+        painter.drawPolygon(QPolygonF(top))
+        painter.setPen(QPen(QColor("#64748b"), 1))
+        for bottom, upper in zip(floor, top):
+            painter.drawLine(bottom, upper)
+
+        self._draw_axes(painter, project, min(length, width, height) * 0.22)
+        self._draw_trajectory(painter, project)
+        if self.pose is not None:
+            self._draw_vehicle(painter, project)
+
+        painter.setPen(QColor("#0f172a"))
+        painter.setFont(QFont("", 10, QFont.Bold))
+        painter.drawText(16, 24, f"车间 {length:g} x {width:g} x {height:g} m")
+        painter.setFont(QFont("", 9))
+        if self.pose is None:
+            painter.drawText(16, 44, self.status_text)
+        else:
+            quality = "-" if self.quality_score is None else f"{self.quality_score:.3f}"
+            painter.drawText(
+                16,
+                44,
+                f"x={self.pose['x']:.3f} m, y={self.pose['y']:.3f} m, yaw={math.degrees(self.pose['yaw']):.2f} deg, 质量={quality}",
+            )
+
+    def _raw_project(self, x: float, y: float, z: float) -> QPointF:
+        yaw_cos = math.cos(self.view_yaw_rad)
+        yaw_sin = math.sin(self.view_yaw_rad)
+        pitch_sin = math.sin(self.view_pitch_rad)
+        pitch_cos = math.cos(self.view_pitch_rad)
+        rotated_x = x * yaw_cos - y * yaw_sin
+        rotated_y = x * yaw_sin + y * yaw_cos
+        return QPointF(rotated_x, rotated_y * pitch_sin - z * pitch_cos)
+
+    def mousePressEvent(self, event) -> None:
+        if event.button() == Qt.LeftButton:
+            self.view_drag_last_pos = event.position()
+            self.setCursor(Qt.ClosedHandCursor)
+
+    def mouseMoveEvent(self, event) -> None:
+        if self.view_drag_last_pos is None or not (event.buttons() & Qt.LeftButton):
+            return
+        current_pos = event.position()
+        delta = current_pos - self.view_drag_last_pos
+        self.view_drag_last_pos = current_pos
+        self.view_yaw_rad += delta.x() * 0.01
+        min_pitch = math.radians(8.0)
+        max_pitch = math.radians(78.0)
+        self.view_pitch_rad = min(max_pitch, max(min_pitch, self.view_pitch_rad - delta.y() * 0.008))
+        self.update()
+
+    def mouseReleaseEvent(self, event) -> None:
+        if event.button() == Qt.LeftButton:
+            self.view_drag_last_pos = None
+            self.setCursor(Qt.OpenHandCursor)
+
+    def mouseDoubleClickEvent(self, event) -> None:
+        if event.button() == Qt.LeftButton:
+            self.view_yaw_rad = math.radians(45.0)
+            self.view_pitch_rad = math.radians(35.0)
+            self.update()
+
+    def _draw_axes(self, painter: QPainter, project, axis_len: float) -> None:
+        origin = project(0.0, 0.0, 0.0)
+        axes = [
+            (project(axis_len, 0.0, 0.0), QColor("#dc2626"), "X"),
+            (project(0.0, axis_len, 0.0), QColor("#16a34a"), "Y"),
+            (project(0.0, 0.0, axis_len), QColor("#2563eb"), "Z"),
+        ]
+        for end, color, label in axes:
+            painter.setPen(QPen(color, 2))
+            painter.drawLine(origin, end)
+            painter.drawText(end + QPointF(4.0, -4.0), label)
+
+    def _draw_trajectory(self, painter: QPainter, project) -> None:
+        if not self.trajectory_segments:
+            return
+        path_pen = QPen(QColor("#22c55e"), 3)
+        marker_pen = QPen(QColor("#166534"), 1)
+        marker_brush = QBrush(QColor("#22c55e"))
+        label_drawn = False
+        for segment in self.trajectory_segments:
+            if len(segment) < 2:
+                continue
+            points = [project(x, y, z) for x, y, z in segment]
+            painter.setPen(path_pen)
+            for index in range(len(points) - 1):
+                painter.drawLine(points[index], points[index + 1])
+            painter.setPen(marker_pen)
+            painter.setBrush(marker_brush)
+            for point in points:
+                painter.drawEllipse(point, 3.5, 3.5)
+            painter.setBrush(Qt.NoBrush)
+            if not label_drawn:
+                painter.setPen(QColor("#166534"))
+                painter.setFont(QFont("", 9, QFont.Bold))
+                painter.drawText(points[0] + QPointF(6.0, -6.0), self.trajectory_label)
+                label_drawn = True
+
+    def _draw_vehicle(self, painter: QPainter, project) -> None:
+        if self.pose is None:
+            return
+        length = min(max(self.room_length_m * 0.08, 0.55), 1.20)
+        width = length * 0.58
+        height = min(max(self.room_height_m * 0.08, 0.25), 0.55)
+        x = self.pose["x"]
+        y = self.pose["y"]
+        yaw = self.pose["yaw"]
+        cos_yaw = math.cos(yaw)
+        sin_yaw = math.sin(yaw)
+
+        def corner(dx: float, dy: float, z: float) -> QPointF:
+            return project(
+                x + dx * cos_yaw - dy * sin_yaw,
+                y + dx * sin_yaw + dy * cos_yaw,
+                z,
+            )
+
+        bottom = [
+            corner(length / 2.0, width / 2.0, 0.0),
+            corner(length / 2.0, -width / 2.0, 0.0),
+            corner(-length / 2.0, -width / 2.0, 0.0),
+            corner(-length / 2.0, width / 2.0, 0.0),
+        ]
+        upper = [
+            corner(length / 2.0, width / 2.0, height),
+            corner(length / 2.0, -width / 2.0, height),
+            corner(-length / 2.0, -width / 2.0, height),
+            corner(-length / 2.0, width / 2.0, height),
+        ]
+        color = QColor("#22c55e") if self.pose_valid else QColor("#ef4444")
+        color.setAlpha(190)
+        painter.setPen(QPen(QColor("#14532d") if self.pose_valid else QColor("#7f1d1d"), 2))
+        painter.setBrush(QBrush(color))
+        painter.drawPolygon(QPolygonF(upper))
+        painter.setBrush(Qt.NoBrush)
+        painter.drawPolygon(QPolygonF(bottom))
+        painter.drawPolygon(QPolygonF(upper))
+        for p0, p1 in zip(bottom, upper):
+            painter.drawLine(p0, p1)
+        center = project(x, y, height + 0.03)
+        front = project(x + math.cos(yaw) * length * 0.75, y + math.sin(yaw) * length * 0.75, height + 0.03)
+        painter.setPen(QPen(QColor("#0f172a"), 3))
+        painter.drawLine(center, front)
@@ -0,0 +1,566 @@
+#!/usr/bin/env python3
+"""真实部署用标定车间操作台。"""
+
+from __future__ import annotations
+
+import signal
+import sys
+from typing import Any
+
+try:
+    import rclpy
+except ImportError:
+    rclpy = None
+
+from PySide6.QtCore import QProcess, QTimer, Qt
+from PySide6.QtGui import QFont
+from PySide6.QtWidgets import (
+    QApplication,
+    QCheckBox,
+    QComboBox,
+    QFrame,
+    QGridLayout,
+    QGroupBox,
+    QHBoxLayout,
+    QHeaderView,
+    QLabel,
+    QLineEdit,
+    QMainWindow,
+    QPlainTextEdit,
+    QPushButton,
+    QSplitter,
+    QTableWidget,
+    QTabWidget,
+    QVBoxLayout,
+    QWidget,
+)
+
+
+try:
+    from .constants import *
+    from .localization_view import WorkshopLocalization3DView
+    from .process_report import ProcessReportMixin
+    from .profile_handlers import ProfileHandlersMixin
+    from .profile_io import *
+    from .runtime_monitor import RuntimeMonitorMixin
+    from .session_builder import SessionBuilderMixin
+    from .ui_helpers import *
+except ImportError:
+    from constants import *
+    from localization_view import WorkshopLocalization3DView
+    from process_report import ProcessReportMixin
+    from profile_handlers import ProfileHandlersMixin
+    from profile_io import *
+    from runtime_monitor import RuntimeMonitorMixin
+    from session_builder import SessionBuilderMixin
+    from ui_helpers import *
+
+
+class OperatorMainWindow(
+    RuntimeMonitorMixin,
+    ProfileHandlersMixin,
+    SessionBuilderMixin,
+    ProcessReportMixin,
+    QMainWindow,
+):
+    def __init__(self) -> None:
+        super().__init__()
+        self.setWindowTitle("自动化标定车间现场操作台")
+        self.setWindowFlags(
+            self.windowFlags()
+            | Qt.Window
+            | Qt.WindowMinimizeButtonHint
+            | Qt.WindowMaximizeButtonHint
+            | Qt.WindowCloseButtonHint
+        )
+        self.resize(1520, 920)
+
+        self.site_profile: dict[str, Any] = {}
+        self.vehicle_profile_data: dict[str, Any] = {}
+        self.generated_session_config: dict[str, Any] = {}
+        self.launch_process = QProcess(self)
+        self.smoke_process = QProcess(self)
+        self.chassis_capture_process = QProcess(self)
+        self.reference_path_record_process = QProcess(self)
+        self.reference_path_record_module = ""
+        self.report_metadata: dict[str, str] = {}
+        self.report_stages: list[dict[str, str]] = []
+        self.last_unresolved_signature = ""
+        self.localization_node = None
+        self.localization_subscription = None
+        self.workshop_event_subscription = None
+        self.localization_rclpy_initialized = False
+        self.localization_last_sample_wall_time = 0.0
+        self.localization_spin_timer = QTimer(self)
+        self.localization_spin_timer.timeout.connect(self.poll_localization_messages)
+        self.trajectory_task_records: list[dict[str, Any]] = []
+        self.trajectory_stage_order: dict[str, int] = {}
+        self.trajectory_runtime_active = False
+        self.trajectory_last_completed_stage_id = ""
+
+        self._setup_process(self.launch_process, "现场服务")
+        self._setup_process(self.smoke_process, "标定流程")
+        self._setup_process(self.chassis_capture_process, "底盘路径采集")
+        self._setup_process(self.reference_path_record_process, "参考路径录制")
+        self._build_ui()
+        self._connect_live_refresh()
+        self.load_profile()
+
+    def _setup_process(self, process: QProcess, name: str) -> None:
+        process.setWorkingDirectory(str(REPO_ROOT))
+        process.readyReadStandardOutput.connect(lambda p=process, n=name: self._read_process_output(p, n))
+        process.readyReadStandardError.connect(lambda p=process, n=name: self._read_process_output(p, n))
+        process.finished.connect(lambda code, status, n=name: self._process_finished(n, code, status))
+
+    def _build_ui(self) -> None:
+        self.setStyleSheet(
+            """
+            QMainWindow { background: #f6f7f9; color: #111827; }
+            QGroupBox { border: 1px solid #d1d5db; border-radius: 6px; margin-top: 10px; padding-top: 12px; font-weight: 600; }
+            QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 4px; color: #1f2937; }
+            QLineEdit { border: 1px solid #cbd5e1; border-radius: 4px; padding: 6px; background: #ffffff; }
+            QPushButton { border: 1px solid #cbd5e1; border-radius: 4px; padding: 8px 10px; background: #ffffff; }
+            QPushButton:hover { background: #f1f5f9; }
+            QPushButton:disabled { color: #9ca3af; background: #f3f4f6; }
+            QPlainTextEdit { border: 1px solid #cbd5e1; border-radius: 4px; background: #0f172a; color: #e5e7eb; }
+            QTableWidget { border: 1px solid #cbd5e1; background: #ffffff; gridline-color: #e5e7eb; }
+            QHeaderView::section { background: #f3f4f6; padding: 5px; border: 0; border-right: 1px solid #d1d5db; font-weight: 600; }
+            """
+        )
+
+        central = QWidget()
+        self.setCentralWidget(central)
+        root = QVBoxLayout(central)
+        root.setContentsMargins(12, 12, 12, 12)
+        root.setSpacing(10)
+
+        header = QFrame()
+        header.setStyleSheet("QFrame { background: #ffffff; border: 1px solid #d1d5db; border-radius: 6px; }")
+        header_layout = QHBoxLayout(header)
+        title = QLabel("自动化标定车间现场操作台")
+        title.setFont(QFont("", 18, QFont.Bold))
+        self.workshop_dimension_state = QLabel("车间尺寸：未加载")
+        self.workshop_dimension_state.setMinimumWidth(220)
+        self.workshop_dimension_state.setAlignment(Qt.AlignRight | Qt.AlignVCenter)
+        self.localization_state = QLabel("车间定位：未加载")
+        self.localization_state.setMinimumWidth(260)
+        self.localization_state.setAlignment(Qt.AlignRight | Qt.AlignVCenter)
+        self.stack_state = QLabel("现场服务：未启动")
+        self.smoke_state = QLabel("标定流程：空闲")
+        header_layout.addWidget(title)
+        header_layout.addStretch(1)
+        header_layout.addWidget(self.workshop_dimension_state)
+        header_layout.addWidget(self.localization_state)
+        header_layout.addWidget(self.stack_state)
+        header_layout.addWidget(self.smoke_state)
+        root.addWidget(header)
+
+        splitter = QSplitter(Qt.Horizontal)
+        root.addWidget(splitter, 1)
+        splitter.addWidget(self._build_left_panel())
+        splitter.addWidget(self._build_right_panel())
+        splitter.setSizes([470, 1050])
+
+    def _connect_live_refresh(self) -> None:
+        watched_edits = [
+            self.vehicle_id_edit,
+            self.vehicle_profile_path_edit,
+            self.vehicle_profile_name_edit,
+            self.vehicle_model_name_edit,
+            self.vehicle_manufacturer_edit,
+            self.vehicle_length_edit,
+            self.vehicle_width_edit,
+            self.vehicle_height_edit,
+            self.vehicle_ground_clearance_edit,
+            self.vehicle_wheel_base_edit,
+            self.vehicle_track_width_edit,
+            self.vehicle_wheel_radius_edit,
+            self.vehicle_max_steering_angle_edit,
+            self.vehicle_min_turning_radius_edit,
+            self.vehicle_max_speed_edit,
+            self.vehicle_max_accel_edit,
+            self.vehicle_control_frequency_edit,
+            self.vehicle_host_edit,
+            self.vehicle_port_edit,
+            self.external_topic_edit,
+            self.reference_source_edit,
+            self.workcell_zone_edit,
+            self.reference_target_edit,
+            self.data_input_edit,
+            self.dataset_index_edit,
+            self.sensor_storage_edit,
+            self.sensor_registry_edit,
+            self.session_config_output_edit,
+        ]
+        for edit in watched_edits:
+            edit.textChanged.connect(self.refresh_command_preview)
+        self.skip_wifi6_check.stateChanged.connect(self.refresh_command_preview)
+
+    def _build_left_panel(self) -> QWidget:
+        panel = QWidget()
+        layout = QVBoxLayout(panel)
+        layout.setContentsMargins(0, 0, 8, 0)
+
+        self.profile_box = QGroupBox("固定车间配置")
+        profile_grid = QGridLayout(self.profile_box)
+        self.profile_path_edit = QLineEdit(str(DEFAULT_SITE_PROFILE))
+        browse_profile = QPushButton("选择")
+        browse_profile.clicked.connect(self.browse_profile)
+        reload_profile = QPushButton("加载")
+        reload_profile.clicked.connect(self.load_profile)
+        profile_grid.addWidget(QLabel("文件"), 0, 0)
+        profile_grid.addWidget(self.profile_path_edit, 0, 1)
+        profile_grid.addWidget(browse_profile, 0, 2)
+        profile_grid.addWidget(reload_profile, 0, 3)
+        self.profile_state_label = QLabel("未加载")
+        profile_grid.addWidget(QLabel("状态"), 1, 0)
+        profile_grid.addWidget(self.profile_state_label, 1, 1, 1, 3)
+        self.profile_box.hide()
+        layout.addWidget(self.profile_box)
+
+        vehicle_profile_box = QGroupBox("车辆画像")
+        vehicle_profile_grid = QGridLayout(vehicle_profile_box)
+        self.vehicle_profile_combo = QComboBox()
+        self.vehicle_profile_combo.activated.connect(self.load_selected_vehicle_profile)
+        self.vehicle_profile_path_edit = QLineEdit(str(DEFAULT_VEHICLE_PROFILE))
+        self.vehicle_profile_name_edit = QLineEdit()
+        self.vehicle_model_name_edit = QLineEdit()
+        self.vehicle_manufacturer_edit = QLineEdit()
+        self.vehicle_length_edit = QLineEdit()
+        self.vehicle_width_edit = QLineEdit()
+        self.vehicle_height_edit = QLineEdit()
+        self.vehicle_ground_clearance_edit = QLineEdit()
+        self.vehicle_wheel_base_edit = QLineEdit()
+        self.vehicle_track_width_edit = QLineEdit()
+        self.vehicle_wheel_radius_edit = QLineEdit()
+        self.vehicle_max_steering_angle_edit = QLineEdit()
+        self.vehicle_min_turning_radius_edit = QLineEdit()
+        self.vehicle_max_speed_edit = QLineEdit()
+        self.vehicle_max_accel_edit = QLineEdit()
+        self.vehicle_control_frequency_edit = QLineEdit()
+        new_vehicle_profile = QPushButton("新建画像")
+        new_vehicle_profile.clicked.connect(self.open_new_vehicle_profile_dialog)
+        edit_vehicle_profile = QPushButton("编辑画像")
+        edit_vehicle_profile.clicked.connect(self.open_edit_vehicle_profile_dialog)
+        vehicle_profile_grid.addWidget(QLabel("选择画像"), 0, 0)
+        vehicle_profile_grid.addWidget(self.vehicle_profile_combo, 0, 1)
+        vehicle_profile_grid.addWidget(new_vehicle_profile, 0, 2)
+        vehicle_profile_grid.addWidget(edit_vehicle_profile, 0, 3)
+        layout.addWidget(vehicle_profile_box)
+        self.refresh_vehicle_profile_combo()
+
+        site_box = QGroupBox("车辆连接")
+        site_grid = QGridLayout(site_box)
+        self.vehicle_id_edit = QLineEdit()
+        self.vehicle_host_edit = QLineEdit()
+        self.vehicle_port_edit = QLineEdit("9000")
+        self.skip_wifi6_check = QCheckBox("跳过网络质量检查（仅调试）")
+        self.external_topic_edit = QLineEdit()
+        self.reference_source_edit = QLineEdit()
+        self.workcell_zone_edit = QLineEdit()
+        self.reference_target_edit = QLineEdit("site_reference_target")
+        rows = [
+            ("车辆 ID", self.vehicle_id_edit),
+            ("车上 Windows 程序 IP", self.vehicle_host_edit),
+            ("车上 Windows 程序端口", self.vehicle_port_edit),
+        ]
+        for row, (label, widget) in enumerate(rows):
+            site_grid.addWidget(QLabel(label), row, 0)
+            site_grid.addWidget(widget, row, 1, 1, 2)
+        site_grid.addWidget(self.skip_wifi6_check, len(rows), 0, 1, 3)
+        layout.addWidget(site_box)
+
+        data_box = QGroupBox("采集数据和配置")
+        data_grid = QGridLayout(data_box)
+        self.data_input_edit = QLineEdit()
+        self.dataset_index_edit = QLineEdit()
+        self.sensor_storage_edit = QLineEdit("/tmp/agv_sensor_calibration")
+        self.sensor_registry_edit = QLineEdit("demo_front_camera")
+        self.session_config_output_edit = QLineEdit(str(DEFAULT_SESSION_CONFIG))
+        self._add_path_row(data_grid, 0, "算法数据参数文件", self.data_input_edit, self.browse_data_input)
+        self._add_path_row(data_grid, 1, "采集数据索引文件", self.dataset_index_edit, self.browse_dataset_index)
+        self._add_path_row(data_grid, 2, "本轮任务文件", self.session_config_output_edit, self.browse_session_config_output)
+        data_grid.addWidget(QLabel("传感器数据保存目录"), 3, 0)
+        data_grid.addWidget(self.sensor_storage_edit, 3, 1, 1, 2)
+        data_grid.addWidget(QLabel("车辆传感器 ID 列表"), 4, 0)
+        data_grid.addWidget(self.sensor_registry_edit, 4, 1, 1, 2)
+        layout.addWidget(data_box)
+
+        task_box = QGroupBox("本轮要标定的内容")
+        task_layout = QVBoxLayout(task_box)
+        self.external_check = QCheckBox("先检查车间定位是否可用")
+        self.external_check.setChecked(True)
+        self.external_check.stateChanged.connect(self.refresh_command_preview)
+        task_layout.addWidget(self.external_check)
+
+        task_tabs = QTabWidget()
+        task_tabs.addTab(self._build_chassis_task_tab(), "底盘标定")
+        task_tabs.addTab(self._build_control_task_tab(), "运控参数")
+        task_tabs.addTab(self._build_sensor_task_tab(), "传感器标定")
+        task_layout.addWidget(task_tabs)
+        layout.addWidget(task_box)
+
+        action_box = QGroupBox("操作")
+        action_layout = QGridLayout(action_box)
+        self.build_config_btn = QPushButton("生成本轮任务文件")
+        self.launch_btn = QPushButton("启动现场服务")
+        self.stop_launch_btn = QPushButton("停止现场服务")
+        self.smoke_btn = QPushButton("开始执行本轮标定")
+        self.stop_smoke_btn = QPushButton("停止本轮标定")
+        self.chassis_capture_btn = QPushButton("开始底盘路径采集测试")
+        self.stop_chassis_capture_btn = QPushButton("停止底盘路径采集")
+        self.build_config_btn.clicked.connect(self.build_session_config)
+        self.launch_btn.clicked.connect(self.start_launch_stack)
+        self.stop_launch_btn.clicked.connect(lambda: self.stop_process(self.launch_process, "现场服务"))
+        self.smoke_btn.clicked.connect(self.start_smoke_test)
+        self.stop_smoke_btn.clicked.connect(lambda: self.stop_process(self.smoke_process, "标定流程"))
+        self.chassis_capture_btn.clicked.connect(self.start_chassis_path_capture)
+        self.stop_chassis_capture_btn.clicked.connect(
+            lambda: self.stop_process(self.chassis_capture_process, "底盘路径采集")
+        )
+        action_layout.addWidget(self.build_config_btn, 0, 0)
+        action_layout.addWidget(self.launch_btn, 0, 1)
+        action_layout.addWidget(self.stop_launch_btn, 1, 1)
+        action_layout.addWidget(self.smoke_btn, 1, 0)
+        action_layout.addWidget(self.stop_smoke_btn, 2, 0, 1, 2)
+        action_layout.addWidget(self.chassis_capture_btn, 3, 0)
+        action_layout.addWidget(self.stop_chassis_capture_btn, 3, 1)
+        layout.addWidget(action_box)
+        layout.addStretch(1)
+        return panel
+
+    def _build_chassis_task_tab(self) -> QWidget:
+        tab = QWidget()
+        layout = QVBoxLayout(tab)
+        type_row = QHBoxLayout()
+        type_row.addWidget(QLabel("底盘类型"))
+        self.chassis_type_combo = QComboBox()
+        for value, label in CHASSIS_TYPES:
+            self.chassis_type_combo.addItem(label, value)
+        self.chassis_type_combo.currentIndexChanged.connect(self.rebuild_chassis_parameter_checks)
+        self.chassis_type_combo.currentIndexChanged.connect(self.refresh_reference_path_combos)
+        type_row.addWidget(self.chassis_type_combo)
+        type_row.addStretch(1)
+        layout.addLayout(type_row)
+
+        path_row = QHBoxLayout()
+        path_row.addWidget(QLabel("参考路径"))
+        self.chassis_reference_path_combo = QComboBox()
+        self.chassis_reference_path_combo.currentIndexChanged.connect(self.refresh_command_preview)
+        path_row.addWidget(self.chassis_reference_path_combo, 1)
+        self.record_chassis_path_btn = QPushButton("录制")
+        self.stop_chassis_path_record_btn = QPushButton("停止录制")
+        self.record_chassis_path_btn.clicked.connect(lambda: self.start_reference_path_recording("chassis"))
+        self.stop_chassis_path_record_btn.clicked.connect(
+            lambda: self.stop_process(self.reference_path_record_process, "参考路径录制")
+        )
+        path_row.addWidget(self.record_chassis_path_btn)
+        path_row.addWidget(self.stop_chassis_path_record_btn)
+        layout.addLayout(path_row)
+
+        self.chassis_param_area = QWidget()
+        self.chassis_param_layout = QVBoxLayout(self.chassis_param_area)
+        self.chassis_param_layout.setContentsMargins(0, 0, 0, 0)
+        layout.addWidget(self.chassis_param_area)
+        layout.addStretch(1)
+        self.chassis_param_checks: dict[str, QCheckBox] = {}
+        self.rebuild_chassis_parameter_checks()
+        return tab
+
+    def _build_control_task_tab(self) -> QWidget:
+        tab = QWidget()
+        layout = QVBoxLayout(tab)
+        path_row = QHBoxLayout()
+        path_row.addWidget(QLabel("参考路径"))
+        self.control_reference_path_combo = QComboBox()
+        self.control_reference_path_combo.currentIndexChanged.connect(self.refresh_command_preview)
+        path_row.addWidget(self.control_reference_path_combo, 1)
+        self.record_control_path_btn = QPushButton("录制")
+        self.stop_control_path_record_btn = QPushButton("停止录制")
+        self.record_control_path_btn.clicked.connect(lambda: self.start_reference_path_recording("control"))
+        self.stop_control_path_record_btn.clicked.connect(
+            lambda: self.stop_process(self.reference_path_record_process, "参考路径录制")
+        )
+        path_row.addWidget(self.record_control_path_btn)
+        path_row.addWidget(self.stop_control_path_record_btn)
+        layout.addLayout(path_row)
+
+        self.control_param_checks: dict[str, QCheckBox] = {}
+        for option in CONTROL_PARAMETER_OPTIONS:
+            check = QCheckBox(f"{option['label']} · {option['axis']} · {option['algorithm']}")
+            check.setChecked(option["code"] in {"control.lateral.mpc", "control.longitudinal.pid"})
+            check.stateChanged.connect(self.refresh_command_preview)
+            self.control_param_checks[str(option["code"])] = check
+            layout.addWidget(check)
+        layout.addStretch(1)
+        return tab
+
+    def _build_sensor_task_tab(self) -> QWidget:
+        tab = QWidget()
+        layout = QVBoxLayout(tab)
+        path_row = QHBoxLayout()
+        path_row.addWidget(QLabel("参考路径"))
+        self.sensor_reference_path_combo = QComboBox()
+        self.sensor_reference_path_combo.currentIndexChanged.connect(self.refresh_command_preview)
+        path_row.addWidget(self.sensor_reference_path_combo, 1)
+        self.record_sensor_path_btn = QPushButton("录制")
+        self.stop_sensor_path_record_btn = QPushButton("停止录制")
+        self.record_sensor_path_btn.clicked.connect(lambda: self.start_reference_path_recording("sensor"))
+        self.stop_sensor_path_record_btn.clicked.connect(
+            lambda: self.stop_process(self.reference_path_record_process, "参考路径录制")
+        )
+        path_row.addWidget(self.record_sensor_path_btn)
+        path_row.addWidget(self.stop_sensor_path_record_btn)
+        layout.addLayout(path_row)
+
+        self.sensor_id_edits: dict[str, QLineEdit] = {
+            "front_camera": QLineEdit("demo_front_camera"),
+            "down_camera": QLineEdit("demo_down_camera"),
+            "lidar_2d": QLineEdit("demo_lidar_2d"),
+            "lidar_3d": QLineEdit("demo_lidar_3d"),
+            "imu": QLineEdit("demo_imu"),
+            "arm_camera": QLineEdit("demo_arm_camera"),
+        }
+        for edit in self.sensor_id_edits.values():
+            edit.hide()
+            edit.textChanged.connect(self.refresh_command_preview)
+        self.sensor_profile_summary_label = QLabel("当前画像传感器：未加载")
+        self.sensor_profile_summary_label.setWordWrap(True)
+        layout.addWidget(self.sensor_profile_summary_label)
+
+        self.sensor_task_checks: dict[tuple[str, str], QCheckBox] = {}
+        for sensor_key, sensor_label, subtype, label, stage_type in SENSOR_TASK_OPTIONS:
+            check = QCheckBox(f"{sensor_label} · {label}")
+            check.setChecked(subtype == "front_camera_intrinsic")
+            check.stateChanged.connect(self.refresh_command_preview)
+            self.sensor_task_checks[(sensor_key, subtype)] = check
+            layout.addWidget(check)
+        layout.addStretch(1)
+        return tab
+
+    def rebuild_chassis_parameter_checks(self) -> None:
+        if not hasattr(self, "chassis_param_layout"):
+            return
+        while self.chassis_param_layout.count():
+            item = self.chassis_param_layout.takeAt(0)
+            widget = item.widget()
+            if widget is not None:
+                widget.deleteLater()
+        self.chassis_param_checks = {}
+        chassis_type = self.chassis_type_combo.currentData() or "ackermann"
+        for option in CHASSIS_PARAMETER_OPTIONS[str(chassis_type)]:
+            check = QCheckBox(f"{option['label']} · {option['target']}")
+            check.setChecked(False)
+            check.stateChanged.connect(self.refresh_command_preview)
+            self.chassis_param_checks[str(option["code"])] = check
+            self.chassis_param_layout.addWidget(check)
+        self.chassis_param_layout.addStretch(1)
+        if hasattr(self, "launch_command_preview"):
+            self.refresh_command_preview()
+
+    def _add_path_row(self, layout: QGridLayout, row: int, label: str, edit: QLineEdit, slot) -> None:
+        button = QPushButton("选择")
+        button.clicked.connect(slot)
+        layout.addWidget(QLabel(label), row, 0)
+        layout.addWidget(edit, row, 1)
+        layout.addWidget(button, row, 2)
+
+    def _build_right_panel(self) -> QWidget:
+        panel = QWidget()
+        layout = QVBoxLayout(panel)
+        layout.setContentsMargins(0, 0, 0, 0)
+
+        tabs = QTabWidget()
+        layout.addWidget(tabs, 3)
+
+        self.check_table = QTableWidget(0, 3)
+        self.check_table.setHorizontalHeaderLabels(["检查项", "状态", "说明"])
+        self.check_table.horizontalHeader().setSectionResizeMode(0, QHeaderView.ResizeToContents)
+        self.check_table.horizontalHeader().setSectionResizeMode(1, QHeaderView.ResizeToContents)
+        self.check_table.horizontalHeader().setSectionResizeMode(2, QHeaderView.Stretch)
+        tabs.addTab(self.check_table, "现场检查")
+
+        task_tab = QWidget()
+        task_layout = QVBoxLayout(task_tab)
+        self.task_table = QTableWidget(0, 4)
+        self.task_table.setHorizontalHeaderLabels(["顺序", "阶段", "标定项", "策略"])
+        self.task_table.horizontalHeader().setSectionResizeMode(QHeaderView.Stretch)
+        self.session_config_preview = QPlainTextEdit()
+        self.session_config_preview.setReadOnly(True)
+        task_layout.addWidget(self.task_table, 2)
+        tabs.addTab(task_tab, "本轮任务预览")
+
+        localization_tab = QWidget()
+        localization_layout = QVBoxLayout(localization_tab)
+        self.localization_3d_view = WorkshopLocalization3DView()
+        self.localization_summary_label = QLabel("等待定位数据")
+        self.localization_table = QTableWidget(len(LOCALIZATION_DISPLAY_ROWS), 2)
+        self.localization_table.setHorizontalHeaderLabels(["字段", "值"])
+        self.localization_table.horizontalHeader().setSectionResizeMode(0, QHeaderView.ResizeToContents)
+        self.localization_table.horizontalHeader().setSectionResizeMode(1, QHeaderView.Stretch)
+        for row, name in enumerate(LOCALIZATION_DISPLAY_ROWS):
+            self.localization_table.setItem(row, 0, table_item(name))
+            self.localization_table.setItem(row, 1, table_item("-"))
+        localization_layout.addWidget(self.localization_3d_view, 3)
+        localization_layout.addWidget(self.localization_summary_label)
+        localization_layout.addWidget(self.localization_table, 1)
+        tabs.addTab(localization_tab, "车间定位")
+
+        self.launch_command_preview = QPlainTextEdit()
+        self.launch_command_preview.setReadOnly(True)
+        self.smoke_command_preview = QPlainTextEdit()
+        self.smoke_command_preview.setReadOnly(True)
+
+        report_tab = QWidget()
+        report_layout = QVBoxLayout(report_tab)
+        self.report_summary_label = QLabel("暂无报告")
+        self.stage_table = QTableWidget(0, 5)
+        self.stage_table.setHorizontalHeaderLabels(["阶段", "成功", "自动验收", "状态", "摘要"])
+        self.stage_table.horizontalHeader().setSectionResizeMode(4, QHeaderView.Stretch)
+        self.metadata_table = QTableWidget(0, 2)
+        self.metadata_table.setHorizontalHeaderLabels(["字段", "值"])
+        self.metadata_table.horizontalHeader().setSectionResizeMode(1, QHeaderView.Stretch)
+        report_layout.addWidget(self.report_summary_label)
+        report_layout.addWidget(self.stage_table, 2)
+        report_layout.addWidget(QLabel("报告附加信息"))
+        report_layout.addWidget(self.metadata_table, 1)
+        tabs.addTab(report_tab, "报告")
+
+        self.log_view = QPlainTextEdit()
+        self.log_view.setReadOnly(True)
+        self.log_view.setFont(QFont("Consolas", 10))
+        self.log_view.setMinimumHeight(230)
+        layout.addWidget(QLabel("运行日志"))
+        layout.addWidget(self.log_view, 1)
+        return panel
+
+    def closeEvent(self, event) -> None:
+        self.stop_process(self.reference_path_record_process, "参考路径录制")
+        self.stop_process(self.chassis_capture_process, "底盘路径采集")
+        self.stop_process(self.smoke_process, "标定流程")
+        self.stop_process(self.launch_process, "现场服务")
+        if self.localization_spin_timer.isActive():
+            self.localization_spin_timer.stop()
+        if self.localization_node is not None:
+            try:
+                self.localization_node.destroy_node()
+            except Exception:
+                pass
+        if rclpy is not None and self.localization_rclpy_initialized and rclpy.ok():
+            rclpy.shutdown()
+        event.accept()
+
+
+def main() -> int:
+    app = QApplication(sys.argv)
+    signal.signal(signal.SIGINT, lambda *_: app.quit())
+    timer = QTimer()
+    timer.timeout.connect(lambda: None)
+    timer.start(200)
+    window = OperatorMainWindow()
+    window.show()
+    return app.exec()
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
@@ -0,0 +1,619 @@
+"""操作台进程启动、日志和报告展示。"""
+
+from __future__ import annotations
+
+import re
+import sys
+from datetime import datetime
+from pathlib import Path
+
+from PySide6.QtCore import QProcess
+from PySide6.QtWidgets import (
+    QCheckBox,
+    QComboBox,
+    QDialog,
+    QDialogButtonBox,
+    QFormLayout,
+    QLineEdit,
+    QMessageBox,
+    QVBoxLayout,
+)
+
+try:
+    from .constants import REPO_ROOT
+    from .profile_io import launch_arg, read_nested, shell_join
+    from .ui_helpers import table_item
+except ImportError:
+    from constants import REPO_ROOT
+    from profile_io import launch_arg, read_nested, shell_join
+    from ui_helpers import table_item
+
+
+REFERENCE_PATH_RECORDER = "src/site_deployment/workshop_reference_paths/record_calibration_reference_path.py"
+RECORD_MODULE_LABELS = {
+    "chassis": "底盘标定",
+    "control": "运控参数",
+    "sensor": "传感器标定",
+}
+RECORD_DEFAULT_PATH_TYPES = {
+    "chassis": "recorded",
+    "control": "recorded",
+    "sensor": "recorded",
+}
+RECORD_DEFAULT_RECOMMENDED_TASKS = {
+    "chassis": "recorded",
+    "control": "trajectory_tracking",
+    "sensor": "sensor_extrinsic",
+}
+
+
+class ReferencePathRecordDialog(QDialog):
+    def __init__(self, module: str, defaults: dict[str, str], parent=None) -> None:
+        super().__init__(parent)
+        self.setWindowTitle(f"录制{RECORD_MODULE_LABELS.get(module, module)}参考路径")
+        self.module = module
+        self.default_topics = {
+            "external_pose": defaults.get("external_pose_topic", ""),
+            "chassis_telemetry": defaults.get("chassis_telemetry_topic", ""),
+        }
+
+        layout = QVBoxLayout(self)
+        form = QFormLayout()
+        layout.addLayout(form)
+
+        self.display_name_edit = QLineEdit(defaults.get("display_name", ""))
+        self.path_id_edit = QLineEdit(defaults.get("path_id", ""))
+        self.source_combo = QComboBox()
+        self.source_combo.addItem("外部真值定位", "external_pose")
+        self.source_combo.addItem("底盘遥测里程计", "chassis_telemetry")
+        self.topic_edit = QLineEdit(defaults.get("topic", ""))
+        self.path_type_combo = QComboBox()
+        for item in defaults.get("path_type_options", "").split(","):
+            item = item.strip()
+            if item:
+                self.path_type_combo.addItem(item)
+        self.path_type_combo.setEditable(True)
+        current_path_type = defaults.get("path_type", "")
+        if current_path_type:
+            index = self.path_type_combo.findText(current_path_type)
+            if index >= 0:
+                self.path_type_combo.setCurrentIndex(index)
+            else:
+                self.path_type_combo.setEditText(current_path_type)
+        self.recommended_task_types_edit = QLineEdit(defaults.get("recommended_task_types", ""))
+        self.target_speed_edit = QLineEdit(defaults.get("target_speed_ms", "0.05"))
+        self.duration_edit = QLineEdit(defaults.get("duration_sec", "0"))
+        self.min_distance_step_edit = QLineEdit(defaults.get("min_distance_step_m", "0.03"))
+        self.min_yaw_step_edit = QLineEdit(defaults.get("min_yaw_step_rad", "0.03"))
+        self.description_edit = QLineEdit(defaults.get("description", ""))
+        self.overwrite_check = QCheckBox("允许覆盖同名路径文件")
+
+        source = defaults.get("source", "external_pose")
+        source_index = self.source_combo.findData(source)
+        if source_index >= 0:
+            self.source_combo.setCurrentIndex(source_index)
+        self.source_combo.currentIndexChanged.connect(self._apply_default_topic_for_source)
+
+        form.addRow("中文名称", self.display_name_edit)
+        form.addRow("路径 ID", self.path_id_edit)
+        form.addRow("录制来源", self.source_combo)
+        form.addRow("话题", self.topic_edit)
+        form.addRow("路径类型", self.path_type_combo)
+        form.addRow("推荐任务类型", self.recommended_task_types_edit)
+        form.addRow("目标速度 m/s", self.target_speed_edit)
+        form.addRow("录制时长 s", self.duration_edit)
+        form.addRow("最小点间距 m", self.min_distance_step_edit)
+        form.addRow("最小 yaw 间隔 rad", self.min_yaw_step_edit)
+        form.addRow("说明", self.description_edit)
+        form.addRow("", self.overwrite_check)
+
+        buttons = QDialogButtonBox(QDialogButtonBox.Ok | QDialogButtonBox.Cancel)
+        buttons.accepted.connect(self.accept)
+        buttons.rejected.connect(self.reject)
+        layout.addWidget(buttons)
+
+    def _apply_default_topic_for_source(self, *_args) -> None:
+        source = str(self.source_combo.currentData() or "external_pose")
+        self.topic_edit.setText(self.default_topics.get(source, ""))
+
+    def values(self) -> dict[str, object]:
+        return {
+            "module": self.module,
+            "display_name": self.display_name_edit.text().strip(),
+            "path_id": self.path_id_edit.text().strip(),
+            "source": str(self.source_combo.currentData() or "external_pose"),
+            "topic": self.topic_edit.text().strip(),
+            "path_type": self.path_type_combo.currentText().strip() or "recorded",
+            "recommended_task_types": [
+                item.strip()
+                for item in re.split(r"[,;，；\s]+", self.recommended_task_types_edit.text().strip())
+                if item.strip()
+            ],
+            "target_speed_ms": self.target_speed_edit.text().strip() or "0.0",
+            "duration_sec": self.duration_edit.text().strip() or "0",
+            "min_distance_step_m": self.min_distance_step_edit.text().strip() or "0.03",
+            "min_yaw_step_rad": self.min_yaw_step_edit.text().strip() or "0.03",
+            "description": self.description_edit.text().strip(),
+            "overwrite": self.overwrite_check.isChecked(),
+        }
+
+
+class ProcessReportMixin:
+    def _resolved_repo_path(self, raw_path: str) -> str:
+        path = Path(raw_path).expanduser()
+        if path.is_absolute():
+            return str(path.resolve(strict=False))
+        return str((REPO_ROOT / path).resolve(strict=False))
+
+    def _resolved_bridge_script(self, raw_path: str) -> str:
+        return self._resolved_repo_path(raw_path)
+
+    def _configured_path_or_default(self, keys: tuple[str, ...], default_path: str) -> str:
+        raw_path = read_nested(getattr(self, "site_profile", {}), keys, "")
+        return self._resolved_repo_path(raw_path or default_path)
+
+    def default_record_topic(self, source: str) -> str:
+        if source == "chassis_telemetry":
+            return (
+                read_nested(self.site_profile, ("vehicle_agent", "chassis_telemetry_topic"))
+                or read_nested(self.site_profile, ("chassis_telemetry_bridge", "output_topic"))
+                or "/chassis/telemetry"
+            )
+        return self.external_topic_edit.text().strip() or "/workshop/external_localization/vehicle/pose"
+
+    def reference_path_record_defaults(self, module: str) -> dict[str, str]:
+        timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+        selected = self.selected_reference_path(module) if hasattr(self, "selected_reference_path") else None
+        recommended = selected.get("recommended_task_types", []) if isinstance(selected, dict) else []
+        recommended_text = ",".join(str(item) for item in recommended) if recommended else RECORD_DEFAULT_RECOMMENDED_TASKS[module]
+        path_type = str(selected.get("path_type", "")) if isinstance(selected, dict) else ""
+        path_type_options = {
+            "chassis": "recorded,straight_line,arc,s_curve,in_place_rotation,lateral_translation,diagonal_motion",
+            "control": "recorded,straight_line,arc,s_curve,lateral_offset,stop_accuracy",
+            "sensor": "recorded,static_station,sampling_line,imu_motion,pose_sweep",
+        }[module]
+        return {
+            "display_name": f"{RECORD_MODULE_LABELS[module]}录制路径 {timestamp}",
+            "path_id": f"{module}_recorded_{timestamp}",
+            "source": "external_pose",
+            "topic": self.default_record_topic("external_pose"),
+            "external_pose_topic": self.default_record_topic("external_pose"),
+            "chassis_telemetry_topic": self.default_record_topic("chassis_telemetry"),
+            "path_type": path_type or RECORD_DEFAULT_PATH_TYPES[module],
+            "path_type_options": path_type_options,
+            "recommended_task_types": recommended_text,
+            "target_speed_ms": "0.05" if module != "chassis" else "0.08",
+            "duration_sec": "0",
+            "min_distance_step_m": "0.03",
+            "min_yaw_step_rad": "0.03",
+            "description": "操作台录制参考路径",
+        }
+
+    def validate_reference_path_record_values(self, values: dict[str, object]) -> bool:
+        path_id = str(values.get("path_id", "")).strip()
+        display_name = str(values.get("display_name", "")).strip()
+        if not display_name:
+            QMessageBox.warning(self, "路径名称缺失", "请填写中文名称。")
+            return False
+        if not re.fullmatch(r"[A-Za-z0-9][A-Za-z0-9_-]*", path_id):
+            QMessageBox.warning(self, "路径 ID 不合法", "路径 ID 只能使用英文、数字、下划线和短横线，且不能以符号开头。")
+            return False
+        for key, label in [
+            ("target_speed_ms", "目标速度"),
+            ("duration_sec", "录制时长"),
+            ("min_distance_step_m", "最小点间距"),
+            ("min_yaw_step_rad", "最小 yaw 间隔"),
+        ]:
+            try:
+                value = float(str(values.get(key, "0")))
+            except ValueError:
+                QMessageBox.warning(self, "数值格式错误", f"{label} 必须是数字。")
+                return False
+            if key != "target_speed_ms" and value < 0.0:
+                QMessageBox.warning(self, "数值格式错误", f"{label} 不能小于 0。")
+                return False
+            if key == "target_speed_ms" and value < 0.0:
+                QMessageBox.warning(self, "数值格式错误", f"{label} 不能小于 0。")
+                return False
+        return True
+
+    def build_reference_path_record_command(self, values: dict[str, object]) -> str:
+        module = str(values["module"])
+        recorder = self._configured_path_or_default(
+            ("reference_paths", "recorder"),
+            REFERENCE_PATH_RECORDER,
+        )
+        args = [
+            sys.executable,
+            recorder,
+            "--output-dir",
+            str(self.reference_path_dir(module)),
+            "--path-id",
+            str(values["path_id"]),
+            "--display-name",
+            str(values["display_name"]),
+            "--module-type",
+            module,
+            "--path-type",
+            str(values["path_type"]),
+            "--frame-id",
+            "workshop",
+            "--target-speed-ms",
+            str(values["target_speed_ms"]),
+            "--duration-sec",
+            str(values["duration_sec"]),
+            "--min-distance-step-m",
+            str(values["min_distance_step_m"]),
+            "--min-yaw-step-rad",
+            str(values["min_yaw_step_rad"]),
+            "--source",
+            str(values["source"]),
+        ]
+        topic = str(values.get("topic", "")).strip()
+        if topic:
+            args.extend(["--topic", topic])
+        description = str(values.get("description", "")).strip()
+        if description:
+            args.extend(["--description", description])
+        for task_type in values.get("recommended_task_types", []) or []:
+            args.extend(["--recommended-task-type", str(task_type)])
+        if module == "chassis":
+            args.extend(["--allowed-chassis-type", str(self.chassis_type_combo.currentData() or "ackermann")])
+        if bool(values.get("overwrite", False)):
+            args.append("--overwrite")
+        return "source install/setup.bash && exec " + shell_join(args)
+
+    def build_chassis_path_capture_command(self) -> str:
+        reference_path = self.selected_reference_path("chassis")
+        reference_path_id = str(reference_path.get("path_id", "")).strip() if reference_path else ""
+        timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+        session_dir = Path("/tmp/agv_calib_chassis_sim") / f"ui_{timestamp}"
+        vehicle_id = self.vehicle_id_edit.text().strip() or "demo_agv_001"
+        chassis_type = str(self.chassis_type_combo.currentData() or "ackermann")
+        chassis_topic = (
+            read_nested(self.site_profile, ("vehicle_agent", "chassis_telemetry_topic"))
+            or read_nested(self.site_profile, ("chassis_telemetry_bridge", "output_topic"))
+            or "/chassis/telemetry"
+        )
+        ackermann_topic = read_nested(
+            self.site_profile,
+            ("vehicle_agent", "internal_ackermann_command_topic"),
+            f"/vehicle/{vehicle_id}/internal/ackermann_cmd",
+        )
+        runner = self._configured_path_or_default(
+            ("chassis_calibration", "action_profile_capture_runner"),
+            "src/site_deployment/workshop_chassis_calibration_real/run_chassis_profile_capture.py",
+        )
+        config_file = self._configured_path_or_default(
+            ("chassis_calibration", "data_config_file"),
+            "src/site_deployment/workshop_chassis_calibration_real/config/chassis_data_sim.yaml",
+        )
+        action_profile = self._configured_path_or_default(
+            ("chassis_calibration", "action_profile_file"),
+            "src/site_deployment/workshop_chassis_calibration_real/config/chassis_action_profile.yaml",
+        )
+        args = [
+            sys.executable,
+            runner,
+            "--config",
+            config_file,
+            "--action-profile",
+            action_profile,
+            "--chassis-type",
+            chassis_type,
+            "--session-id",
+            f"ui_chassis_path_{timestamp}",
+            "--site-id",
+            self.workcell_zone_edit.text().strip() or "isaac_workcell_zone_a",
+            "--vehicle-id",
+            vehicle_id,
+            "--session-dir",
+            str(session_dir),
+            "--dataset-index-path",
+            str(session_dir / "dataset_index.yaml"),
+            "--chassis-telemetry-topic",
+            chassis_topic,
+            "--external-pose-topic",
+            self.external_topic_edit.text().strip() or "/isaac/external_localization/vehicle/pose",
+            "--ackermann-command-topic",
+            ackermann_topic,
+            "--command-source",
+            "auto",
+            "--action-server",
+            "/chassis/execute_motion_primitive",
+        ]
+        if reference_path_id:
+            args.extend(["--reference-path-id", reference_path_id])
+        return "source install/setup.bash && " + shell_join(args)
+
+    def build_launch_command(self) -> str:
+        args = [
+            "ros2",
+            "launch",
+            "win_ubuntu_bridge",
+            "minimal_workshop_demo.launch.py",
+            launch_arg("external_telemetry_topic", self.external_topic_edit.text().strip()),
+            launch_arg("expected_reference_source_name", self.reference_source_edit.text().strip()),
+            launch_arg("expected_workcell_zone_id", self.workcell_zone_edit.text().strip()),
+            launch_arg("use_gateway", "true"),
+            launch_arg("chassis_host", self.vehicle_host_edit.text().strip()),
+            launch_arg("control_host", self.vehicle_host_edit.text().strip()),
+            launch_arg("sensor_storage_root", self.sensor_storage_edit.text().strip()),
+            launch_arg("sensor_registry", self.sensor_registry_edit.text().strip()),
+        ]
+        if self.data_input_edit.text().strip():
+            args.append(launch_arg("data_input_params_file", self.data_input_edit.text().strip()))
+        if self.dataset_index_edit.text().strip():
+            args.append(launch_arg("dataset_index_file", self.dataset_index_edit.text().strip()))
+        bridge_config = getattr(self, "site_profile", {}).get("chassis_telemetry_bridge", {})
+        if isinstance(bridge_config, dict) and bridge_config:
+            bridge_script = read_nested(
+                self.site_profile,
+                ("chassis_telemetry_bridge", "bridge_tool"),
+                "src/site_deployment/workshop_chassis_calibration_real/workshop_chassis_telemetry_bridge.py",
+            )
+            args.extend([
+                launch_arg("enable_chassis_telemetry_bridge", "true"),
+                launch_arg("chassis_telemetry_bridge_script", self._resolved_bridge_script(bridge_script)),
+                launch_arg(
+                    "chassis_telemetry_bind_host",
+                    read_nested(self.site_profile, ("chassis_telemetry_bridge", "bind_host"), "0.0.0.0"),
+                ),
+                launch_arg(
+                    "chassis_telemetry_bind_port",
+                    read_nested(self.site_profile, ("chassis_telemetry_bridge", "bind_port"), "9010"),
+                ),
+                launch_arg(
+                    "chassis_telemetry_protocol",
+                    read_nested(self.site_profile, ("chassis_telemetry_bridge", "protocol"), "frame"),
+                ),
+                launch_arg(
+                    "chassis_telemetry_expected_msg_type",
+                    read_nested(self.site_profile, ("chassis_telemetry_bridge", "expected_msg_type"), "0"),
+                ),
+                launch_arg(
+                    "chassis_telemetry_topic",
+                    read_nested(self.site_profile, ("chassis_telemetry_bridge", "output_topic"), "/chassis/telemetry"),
+                ),
+                launch_arg(
+                    "chassis_telemetry_default_chassis_type",
+                    read_nested(self.site_profile, ("chassis_telemetry_bridge", "default_chassis_type"), "ackermann"),
+                ),
+                launch_arg(
+                    "chassis_telemetry_max_payload_bytes",
+                    read_nested(self.site_profile, ("chassis_telemetry_bridge", "max_payload_bytes"), "262144"),
+                ),
+            ])
+        return "source install/setup.bash && " + shell_join(args)
+
+    def build_smoke_command(self) -> str:
+        args = [
+            sys.executable,
+            "src/simulation/tools/smoke_test_workshop_orchestrator.py",
+            "--site-profile",
+            self.profile_path_edit.text().strip(),
+            "--tasks",
+            self.selected_tasks_csv(),
+            "--session-config-file",
+            self.session_config_output_edit.text().strip(),
+            "--no-publish-fake-external-telemetry",
+            "--external-telemetry-topic",
+            self.external_topic_edit.text().strip(),
+            "--reference-source-name",
+            self.reference_source_edit.text().strip(),
+            "--workcell-zone-id",
+            self.workcell_zone_edit.text().strip(),
+            "--vehicle-id",
+            self.vehicle_id_edit.text().strip(),
+            "--action-timeout-sec",
+            "240",
+            "--service-timeout-sec",
+            "10",
+            "--verbose-feedback",
+        ]
+        if self.vehicle_profile_path_edit.text().strip():
+            args.extend(["--vehicle-profile-file", self.vehicle_profile_path_edit.text().strip()])
+        if self.skip_wifi6_check.isChecked():
+            args.append("--disable-wifi6-precheck")
+        return "source install/setup.bash && " + shell_join(args)
+
+    def refresh_command_preview(self) -> None:
+        if not hasattr(self, "launch_command_preview"):
+            return
+        self.launch_command_preview.setPlainText(self.build_launch_command())
+        self.smoke_command_preview.setPlainText(self.build_smoke_command())
+        self.refresh_deployment_checks()
+        self.refresh_task_preview_from_config()
+
+    def start_launch_stack(self) -> None:
+        if self.launch_process.state() != QProcess.NotRunning:
+            QMessageBox.warning(self, "现场服务已运行", "现场服务进程已经在运行。")
+            return
+        command = self.build_launch_command()
+        self.append_log("[现场服务] 启动：" + command)
+        self.stack_state.setText("现场服务：运行中")
+        self.launch_process.start("bash", ["-lc", command])
+
+    def start_smoke_test(self) -> None:
+        if self.smoke_process.state() != QProcess.NotRunning:
+            QMessageBox.warning(self, "标定流程已运行", "标定流程已经在运行。")
+            return
+        if not self.selected_tasks():
+            QMessageBox.warning(self, "任务为空", "请至少选择一个任务。")
+            return
+        if not self.build_session_config():
+            return
+        if self.launch_process.state() == QProcess.NotRunning:
+            reply = QMessageBox.question(
+                self,
+                "现场服务未运行",
+                "当前界面没有检测到由本界面启动的现场服务，仍然继续执行本轮标定吗？",
+            )
+            if reply != QMessageBox.Yes:
+                return
+        self.reset_report()
+        if self.external_check.isChecked():
+            self.update_localization_state("检查中", "running")
+        else:
+            self.update_localization_state("本轮未检查", "neutral")
+        self.trajectory_runtime_active = True
+        self.trajectory_last_completed_stage_id = ""
+        self.refresh_planned_trajectory()
+        command = self.build_smoke_command()
+        self.append_log("[标定流程] 启动：" + command)
+        self.smoke_state.setText("标定流程：运行中")
+        self.smoke_process.start("bash", ["-lc", command])
+
+    def start_chassis_path_capture(self) -> None:
+        if self.chassis_capture_process.state() != QProcess.NotRunning:
+            QMessageBox.warning(self, "底盘路径采集已运行", "底盘路径采集进程已经在运行。")
+            return
+        if not self.selected_reference_path("chassis"):
+            QMessageBox.warning(self, "未选择路径", "请先在底盘标定页选择参考路径。")
+            return
+        reference_path = self.selected_reference_path("chassis")
+        reference_path_id = str(reference_path.get("path_id", "")).strip() if reference_path else ""
+        chassis_type = str(self.chassis_type_combo.currentData() or "ackermann")
+        if reference_path_id not in self.allowed_chassis_reference_path_ids(chassis_type):
+            QMessageBox.warning(
+                self,
+                "路径未绑定动作",
+                "这条路径是录制参考路径，但还没有绑定到底盘动作 profile，不能直接用于“底盘路径采集测试”。"
+                "请先在 chassis_action_profile.yaml 中为当前底盘类型添加对应动作，或仅用于任务预览/路径管理。",
+            )
+            return
+        if self.launch_process.state() == QProcess.NotRunning:
+            reply = QMessageBox.question(
+                self,
+                "现场服务未运行",
+                "当前界面没有检测到由本界面启动的现场服务。若你已经用脚本启动 Isaac 仿真链路，可以继续执行底盘路径采集测试。",
+            )
+            if reply != QMessageBox.Yes:
+                return
+        command = self.build_chassis_path_capture_command()
+        self.append_log("[底盘路径采集] 启动：" + command)
+        self.smoke_state.setText("底盘路径采集：运行中")
+        self.chassis_capture_process.start("bash", ["-lc", command])
+
+    def start_reference_path_recording(self, module: str) -> None:
+        if self.reference_path_record_process.state() != QProcess.NotRunning:
+            QMessageBox.warning(self, "参考路径录制已运行", "参考路径录制进程已经在运行。")
+            return
+        if self.launch_process.state() == QProcess.NotRunning:
+            reply = QMessageBox.question(
+                self,
+                "现场服务未运行",
+                "当前界面没有检测到由本界面启动的现场服务。若你已经用脚本启动 Isaac 或 ROS 现场链路，可以继续录制参考路径。",
+            )
+            if reply != QMessageBox.Yes:
+                return
+        dialog = ReferencePathRecordDialog(module, self.reference_path_record_defaults(module), self)
+        if dialog.exec() != QDialog.Accepted:
+            return
+        values = dialog.values()
+        if not self.validate_reference_path_record_values(values):
+            return
+        command = self.build_reference_path_record_command(values)
+        self.reference_path_record_module = module
+        self.append_log("[参考路径录制] 启动：" + command)
+        self.smoke_state.setText("参考路径录制：运行中")
+        self.reference_path_record_process.start("bash", ["-lc", command])
+
+    def stop_process(self, process: QProcess, name: str) -> None:
+        if process.state() == QProcess.NotRunning:
+            self.append_log(f"[{name}] 当前没有运行中的进程。")
+            return
+        self.append_log(f"[{name}] 正在停止。")
+        process.terminate()
+        if not process.waitForFinished(3000):
+            process.kill()
+            process.waitForFinished(2000)
+
+    def _read_process_output(self, process: QProcess, name: str) -> None:
+        chunks = [
+            bytes(process.readAllStandardOutput()).decode(errors="replace"),
+            bytes(process.readAllStandardError()).decode(errors="replace"),
+        ]
+        for chunk in chunks:
+            if not chunk:
+                continue
+            for line in chunk.splitlines():
+                self.append_log(f"[{name}] {line}")
+                self.parse_report_line(line)
+
+    def _process_finished(self, name: str, code: int, status: QProcess.ExitStatus) -> None:
+        status_text = "正常退出" if status == QProcess.NormalExit and code == 0 else f"退出码 {code}"
+        self.append_log(f"[{name}] {status_text}")
+        if name == "现场服务":
+            self.stack_state.setText("现场服务：未启动")
+        elif name == "标定流程":
+            self.trajectory_runtime_active = False
+            self.trajectory_last_completed_stage_id = ""
+            self.refresh_planned_trajectory()
+            self.smoke_state.setText("标定流程：空闲")
+        elif name == "底盘路径采集":
+            self.smoke_state.setText("底盘路径采集：空闲")
+        elif name == "参考路径录制":
+            self.smoke_state.setText("参考路径录制：空闲")
+            self.refresh_reference_path_combos()
+
+    def append_log(self, text: str) -> None:
+        self.log_view.appendPlainText(text)
+        scrollbar = self.log_view.verticalScrollBar()
+        scrollbar.setValue(scrollbar.maximum())
+
+    def reset_report(self) -> None:
+        self.report_metadata.clear()
+        self.report_stages.clear()
+        self.report_summary_label.setText("等待本轮标定报告")
+        self.stage_table.setRowCount(0)
+        self.metadata_table.setRowCount(0)
+
+    def parse_report_line(self, line: str) -> None:
+        if line.startswith("[REPORT] "):
+            self.report_summary_label.setText(line.replace("[REPORT] ", "", 1))
+            return
+        metadata_match = re.match(r"^\[REPORT_METADATA\]\s+([^=]+)=(.*)$", line)
+        if metadata_match:
+            self.report_metadata[metadata_match.group(1)] = metadata_match.group(2)
+            self.refresh_metadata_table()
+            return
+        stage_match = re.match(
+            r"^\[STAGE\]\s+id=(.*?)\s+success=(.*?)\s+auto_acceptance=(.*?)\s+state=(.*?)\s+summary=(.*)$",
+            line,
+        )
+        if stage_match:
+            stage_id = stage_match.group(1)
+            success_text = stage_match.group(2)
+            summary = stage_match.group(5)
+            self.report_stages.append({
+                "stage_id": stage_id,
+                "success": success_text,
+                "auto_acceptance": stage_match.group(3),
+                "state": stage_match.group(4),
+                "summary": summary,
+            })
+            if "external_reference" in stage_id or stage_id.endswith("_external"):
+                if success_text == "True":
+                    self.update_localization_state("检查通过", "ok", summary)
+                else:
+                    self.update_localization_state("检查失败", "fail", summary)
+            self.refresh_stage_table()
+
+    def refresh_metadata_table(self) -> None:
+        items = list(self.report_metadata.items())
+        self.metadata_table.setRowCount(len(items))
+        for row, (key, value) in enumerate(items):
+            self.metadata_table.setItem(row, 0, table_item(key))
+            self.metadata_table.setItem(row, 1, table_item(value))
+
+    def refresh_stage_table(self) -> None:
+        self.stage_table.setRowCount(len(self.report_stages))
+        for row, stage in enumerate(self.report_stages):
+            success = stage["success"] == "True"
+            accepted = stage["auto_acceptance"] == "True"
+            self.stage_table.setItem(row, 0, table_item(stage["stage_id"]))
+            self.stage_table.setItem(row, 1, table_item(stage["success"], "ok" if success else "fail"))
+            self.stage_table.setItem(row, 2, table_item(stage["auto_acceptance"], "ok" if accepted else "fail"))
+            self.stage_table.setItem(row, 3, table_item(stage["state"]))
+            self.stage_table.setItem(row, 4, table_item(stage["summary"]))
@@ -0,0 +1,384 @@
+"""操作台现场配置和车辆画像处理。"""
+
+from __future__ import annotations
+
+from pathlib import Path
+from typing import Any
+
+from PySide6.QtWidgets import QFileDialog, QMessageBox
+
+try:
+    from .constants import DEFAULT_SESSION_CONFIG, DEFAULT_SITE_PROFILE, DEFAULT_VEHICLE_PROFILE, DEFAULT_VEHICLE_PROFILE_DIR, REPO_ROOT
+    from .profile_io import (
+        bool_from_text,
+        collect_placeholders,
+        dump_yaml,
+        load_yaml,
+        read_nested,
+        resolve_profile_path,
+        resolve_vehicle_profile_path,
+        vehicle_profile_path_from_name,
+    )
+    from .vehicle_profile_dialog import open_vehicle_profile_dialog as show_vehicle_profile_dialog
+except ImportError:
+    from constants import DEFAULT_SESSION_CONFIG, DEFAULT_SITE_PROFILE, DEFAULT_VEHICLE_PROFILE, DEFAULT_VEHICLE_PROFILE_DIR, REPO_ROOT
+    from profile_io import (
+        bool_from_text,
+        collect_placeholders,
+        dump_yaml,
+        load_yaml,
+        read_nested,
+        resolve_profile_path,
+        resolve_vehicle_profile_path,
+        vehicle_profile_path_from_name,
+    )
+    from vehicle_profile_dialog import open_vehicle_profile_dialog as show_vehicle_profile_dialog
+
+
+class ProfileHandlersMixin:
+    def browse_profile(self) -> None:
+        path, _ = QFileDialog.getOpenFileName(self, "选择现场配置文件", str(REPO_ROOT), "YAML Files (*.yaml *.yml)")
+        if path:
+            self.profile_path_edit.setText(path)
+            self.load_profile()
+
+    def refresh_vehicle_profile_combo(self) -> None:
+        if not hasattr(self, "vehicle_profile_combo"):
+            return
+        current_path = self.vehicle_profile_path_edit.text().strip() if hasattr(self, "vehicle_profile_path_edit") else ""
+        self.vehicle_profile_combo.blockSignals(True)
+        self.vehicle_profile_combo.clear()
+        DEFAULT_VEHICLE_PROFILE_DIR.mkdir(parents=True, exist_ok=True)
+        profile_paths: list[Path] = []
+        for pattern in ("*.yaml", "*.yml", "*.ymal"):
+            profile_paths.extend(DEFAULT_VEHICLE_PROFILE_DIR.glob(pattern))
+        for profile_path in sorted(set(profile_paths)):
+            display_name = profile_path.stem
+            try:
+                profile = load_yaml(profile_path)
+                display_name = str(profile.get("display_name") or profile.get("profile_name") or profile_path.stem)
+            except Exception:
+                pass
+            self.vehicle_profile_combo.addItem(display_name, str(profile_path))
+        self.vehicle_profile_combo.blockSignals(False)
+        if current_path:
+            resolved = str(resolve_vehicle_profile_path(current_path))
+            for index in range(self.vehicle_profile_combo.count()):
+                if str(resolve_vehicle_profile_path(str(self.vehicle_profile_combo.itemData(index)))) == resolved:
+                    self.vehicle_profile_combo.setCurrentIndex(index)
+                    break
+
+    def browse_vehicle_profile(self) -> None:
+        path, _ = QFileDialog.getOpenFileName(
+            self,
+            "选择车辆画像文件",
+            str(DEFAULT_VEHICLE_PROFILE_DIR),
+            "YAML Files (*.yaml *.yml)",
+        )
+        if path:
+            self.vehicle_profile_path_edit.setText(path)
+            self.load_vehicle_profile_from_current_path()
+
+    def open_new_vehicle_profile_dialog(self) -> None:
+        self.open_vehicle_profile_dialog(new_profile=True)
+
+    def open_edit_vehicle_profile_dialog(self) -> None:
+        self.open_vehicle_profile_dialog(new_profile=False)
+
+    def open_vehicle_profile_dialog(self, new_profile: bool) -> None:
+        show_vehicle_profile_dialog(self, new_profile)
+
+    def load_selected_vehicle_profile(self, _index: int | None = None) -> None:
+        path = self.vehicle_profile_combo.currentData()
+        if path:
+            self.vehicle_profile_path_edit.setText(str(path))
+            self.load_vehicle_profile_from_current_path()
+
+    def load_vehicle_profile_from_current_path(self) -> None:
+        path = resolve_vehicle_profile_path(self.vehicle_profile_path_edit.text().strip() or str(DEFAULT_VEHICLE_PROFILE))
+        try:
+            profile = load_yaml(path)
+        except Exception as exc:
+            QMessageBox.warning(self, "车辆画像加载失败", f"无法加载车辆画像文件：{exc}")
+            return
+        self.vehicle_profile_data = profile
+        self.vehicle_profile_path_edit.setText(str(path))
+        self.vehicle_profile_name_edit.setText(str(profile.get("profile_name") or profile.get("display_name") or path.stem))
+        self.vehicle_model_name_edit.setText(str(profile.get("model_name") or ""))
+        self.vehicle_manufacturer_edit.setText(str(profile.get("manufacturer") or ""))
+        self.apply_vehicle_profile_to_ui(profile)
+        self.refresh_vehicle_profile_combo()
+        self.append_log(f"[车辆画像] 已加载：{path}")
+        self.refresh_all()
+
+    def apply_vehicle_profile_to_ui(self, profile: dict[str, Any]) -> None:
+        geometry = profile.get("geometry", {})
+        if not isinstance(geometry, dict):
+            geometry = {}
+        self.vehicle_length_edit.setText(str(geometry.get("length_m", "")))
+        self.vehicle_width_edit.setText(str(geometry.get("width_m", "")))
+        self.vehicle_height_edit.setText(str(geometry.get("height_m", "")))
+        self.vehicle_ground_clearance_edit.setText(str(geometry.get("ground_clearance_m", "")))
+
+        chassis = profile.get("chassis", {})
+        if not isinstance(chassis, dict):
+            chassis = {}
+        self.vehicle_wheel_base_edit.setText(str(chassis.get("wheel_base_m", "")))
+        self.vehicle_track_width_edit.setText(str(chassis.get("track_width_m", "")))
+        self.vehicle_wheel_radius_edit.setText(str(chassis.get("wheel_radius_m", "")))
+        self.vehicle_max_steering_angle_edit.setText(str(chassis.get("max_steering_angle_rad", "")))
+        self.vehicle_min_turning_radius_edit.setText(str(chassis.get("min_turning_radius_m", "")))
+        chassis_type = str(chassis.get("chassis_type") or profile.get("vehicle_class") or "")
+        if chassis_type and hasattr(self, "chassis_type_combo"):
+            index = self.chassis_type_combo.findData(chassis_type)
+            if index >= 0:
+                self.chassis_type_combo.setCurrentIndex(index)
+                self.rebuild_chassis_parameter_checks()
+
+        controllers = profile.get("controllers", {})
+        if not isinstance(controllers, dict):
+            controllers = {}
+        self.vehicle_max_speed_edit.setText(str(controllers.get("max_speed_mps", "")))
+        self.vehicle_max_accel_edit.setText(str(controllers.get("max_accel_mps2", "")))
+        self.vehicle_control_frequency_edit.setText(str(controllers.get("control_frequency_hz", "")))
+
+        sensors = profile.get("sensors", {})
+        if isinstance(sensors, dict) and hasattr(self, "sensor_id_edits"):
+            for edit in self.sensor_id_edits.values():
+                edit.clear()
+            for sensor_key, edit in self.sensor_id_edits.items():
+                sensor_profile = sensors.get(sensor_key, {})
+                if (
+                    isinstance(sensor_profile, dict)
+                    and bool_from_text(sensor_profile.get("enabled", True))
+                    and sensor_profile.get("sensor_id")
+                ):
+                    edit.setText(str(sensor_profile["sensor_id"]))
+            sensor_ids = [
+                edit.text().strip()
+                for edit in self.sensor_id_edits.values()
+                if edit.text().strip()
+            ]
+            self.sensor_registry_edit.setText(",".join(sensor_ids))
+            sensor_display_names = {
+                "front_camera": "前视相机",
+                "down_camera": "下视相机",
+                "lidar_2d": "2D 雷达",
+                "lidar_3d": "3D 雷达",
+                "imu": "IMU",
+                "arm_camera": "手眼相机",
+            }
+            summary_parts = [
+                f"{sensor_display_names.get(sensor_key, sensor_key)}：{edit.text().strip()}"
+                for sensor_key, edit in self.sensor_id_edits.items()
+                if edit.text().strip()
+            ]
+            if hasattr(self, "sensor_profile_summary_label"):
+                summary = "；".join(summary_parts) if summary_parts else "当前车辆画像没有启用传感器"
+                self.sensor_profile_summary_label.setText(f"当前画像传感器：{summary}")
+            if hasattr(self, "sensor_task_checks"):
+                for (sensor_key, _subtype), check in self.sensor_task_checks.items():
+                    available = bool(self.sensor_id_edits.get(sensor_key) and self.sensor_id_edits[sensor_key].text().strip())
+                    check.setEnabled(available)
+                    if not available:
+                        check.setChecked(False)
+
+    def current_vehicle_profile_payload(self) -> dict[str, Any]:
+        chassis_type = str(self.chassis_type_combo.currentData() or "ackermann") if hasattr(self, "chassis_type_combo") else "ackermann"
+        loaded_sensors = self.vehicle_profile_data.get("sensors", {}) if isinstance(self.vehicle_profile_data, dict) else {}
+        if not isinstance(loaded_sensors, dict):
+            loaded_sensors = {}
+        sensor_payload: dict[str, dict[str, Any]] = {}
+        if hasattr(self, "sensor_id_edits"):
+            for sensor_key, edit in self.sensor_id_edits.items():
+                existing = loaded_sensors.get(sensor_key, {})
+                if not isinstance(existing, dict):
+                    existing = {}
+                sensor_id = edit.text().strip()
+                if not sensor_id:
+                    continue
+                mount_type = existing.get("camera_mount_type", "eye_in_hand" if sensor_key == "arm_camera" else "unspecified")
+                sensor_payload[sensor_key] = {
+                    "sensor_id": sensor_id,
+                    "sensor_name": existing.get("sensor_name", sensor_key),
+                    "frame_id": existing.get("frame_id", f"{sensor_key}_link"),
+                    "sensor_type": existing.get("sensor_type", sensor_key),
+                    "camera_mount_type": mount_type,
+                    "enabled": existing.get("enabled", True),
+                    "needs_intrinsic_calibration": existing.get("needs_intrinsic_calibration", sensor_key in {"front_camera", "down_camera", "imu"}),
+                    "needs_extrinsic_calibration": existing.get("needs_extrinsic_calibration", True),
+                }
+        loaded_chassis = self.vehicle_profile_data.get("chassis", {}) if isinstance(self.vehicle_profile_data, dict) else {}
+        if not isinstance(loaded_chassis, dict):
+            loaded_chassis = {}
+        loaded_controllers = self.vehicle_profile_data.get("controllers", {}) if isinstance(self.vehicle_profile_data, dict) else {}
+        if not isinstance(loaded_controllers, dict):
+            loaded_controllers = {}
+        return {
+            "schema_version": 1,
+            "profile_name": self.vehicle_profile_name_edit.text().strip() or "unnamed_vehicle_profile",
+            "display_name": self.vehicle_profile_name_edit.text().strip() or "未命名车辆画像",
+            "model_name": self.vehicle_model_name_edit.text().strip(),
+            "manufacturer": self.vehicle_manufacturer_edit.text().strip(),
+            "profile_version": self.vehicle_profile_data.get("profile_version", "v1") if isinstance(self.vehicle_profile_data, dict) else "v1",
+            "description": self.vehicle_profile_data.get("description", "") if isinstance(self.vehicle_profile_data, dict) else "",
+            "base_link_frame": read_nested(self.site_profile, ("frames", "base_link"), "base_link"),
+            "geometry": {
+                "length_m": self.vehicle_length_edit.text().strip(),
+                "width_m": self.vehicle_width_edit.text().strip(),
+                "height_m": self.vehicle_height_edit.text().strip(),
+                "ground_clearance_m": self.vehicle_ground_clearance_edit.text().strip(),
+            },
+            "chassis": {
+                "chassis_type": chassis_type,
+                "wheel_base_m": self.vehicle_wheel_base_edit.text().strip() or read_nested(self.site_profile, ("vehicle_agent", "wheel_base_m"), ""),
+                "track_width_m": self.vehicle_track_width_edit.text().strip() or loaded_chassis.get("track_width_m", ""),
+                "wheel_radius_m": self.vehicle_wheel_radius_edit.text().strip() or loaded_chassis.get("wheel_radius_m", ""),
+                "max_steering_angle_rad": self.vehicle_max_steering_angle_edit.text().strip() or read_nested(self.site_profile, ("vehicle_agent", "max_steering_angle_rad"), ""),
+                "min_turning_radius_m": self.vehicle_min_turning_radius_edit.text().strip() or loaded_chassis.get("min_turning_radius_m", ""),
+            },
+            "sensors": sensor_payload,
+            "controllers": {
+                "lateral_default": loaded_controllers.get("lateral_default", "mpc"),
+                "longitudinal_default": loaded_controllers.get("longitudinal_default", "pid"),
+                "max_speed_mps": self.vehicle_max_speed_edit.text().strip(),
+                "max_accel_mps2": self.vehicle_max_accel_edit.text().strip(),
+                "control_frequency_hz": self.vehicle_control_frequency_edit.text().strip(),
+            },
+        }
+
+    def save_vehicle_profile_to_path(self, path: Path) -> None:
+        path.parent.mkdir(parents=True, exist_ok=True)
+        payload = self.current_vehicle_profile_payload()
+        path.write_text(dump_yaml(payload), encoding="utf-8")
+        self.vehicle_profile_data = payload
+        self.vehicle_profile_path_edit.setText(str(path))
+        self.refresh_vehicle_profile_combo()
+        self.append_log(f"[车辆画像] 已保存：{path}")
+        self.refresh_all()
+
+    def save_vehicle_profile(self) -> None:
+        self.save_vehicle_profile_to_path(vehicle_profile_path_from_name(self.vehicle_profile_name_edit.text()))
+
+    def save_vehicle_profile_as(self) -> None:
+        self.save_vehicle_profile()
+
+    def browse_data_input(self) -> None:
+        path, _ = QFileDialog.getOpenFileName(self, "选择算法数据参数文件", str(REPO_ROOT), "YAML Files (*.yaml *.yml)")
+        if path:
+            self.data_input_edit.setText(path)
+            self.refresh_all()
+
+    def browse_dataset_index(self) -> None:
+        path, _ = QFileDialog.getOpenFileName(self, "选择采集数据索引文件", str(REPO_ROOT), "YAML Files (*.yaml *.yml)")
+        if path:
+            self.dataset_index_edit.setText(path)
+            self.refresh_all()
+
+    def browse_session_config_output(self) -> None:
+        path, _ = QFileDialog.getSaveFileName(self, "选择本轮任务文件保存位置", str(DEFAULT_SESSION_CONFIG), "YAML Files (*.yaml *.yml)")
+        if path:
+            self.session_config_output_edit.setText(path)
+            self.refresh_command_preview()
+
+    def load_profile(self) -> None:
+        path = resolve_profile_path(self.profile_path_edit.text().strip())
+        try:
+            self.site_profile = load_yaml(path)
+        except Exception as exc:
+            self.site_profile = {}
+            self.profile_state_label.setText(f"加载失败：{exc}")
+            self.append_log(f"[界面] 现场配置文件加载失败: {exc}")
+            self.refresh_all()
+            return
+
+        self.profile_path_edit.setText(str(path))
+        self._apply_profile_defaults(path)
+        unresolved = collect_placeholders(self.site_profile)
+        self.profile_state_label.setText(f"已加载，占位项 {len(unresolved)} 个")
+        self.append_log(f"[界面] 已加载现场配置文件: {path}")
+        self.refresh_all()
+        self.restart_localization_monitor()
+        self.restart_workshop_event_monitor()
+
+    def _apply_profile_defaults(self, profile_path: Path) -> None:
+        profile = self.site_profile
+        self.vehicle_id_edit.setText(read_nested(profile, ("vehicle_id",), "demo_agv_001"))
+        self.update_workshop_dimension_state()
+        self.vehicle_host_edit.setText(read_nested(profile, ("workshop_pc", "gateway", "vehicle_host"), "127.0.0.1"))
+        self.vehicle_port_edit.setText(read_nested(profile, ("workshop_pc", "gateway", "vehicle_port"), "9000"))
+        self.external_topic_edit.setText(
+            read_nested(profile, ("external_pose_bridge", "source_topic"))
+            or read_nested(profile, ("external_localization", "output_topic"), "/workshop/external_localization/vehicle/pose")
+        )
+        self.reference_source_edit.setText(
+            read_nested(profile, ("external_pose_bridge", "reference_source_name"))
+            or read_nested(profile, ("external_localization", "reference_source_name"), "workshop_four_lidar_ball_truth")
+        )
+        self.workcell_zone_edit.setText(read_nested(profile, ("external_localization", "workcell_zone_id"), "workcell_zone_a"))
+        self.update_localization_state("待检查", "warn")
+        self.data_input_edit.setText(read_nested(profile, ("algorithm_data_inputs", "ros_params_file"), ""))
+        self.dataset_index_edit.setText(
+            read_nested(profile, ("external_localization", "recording_dataset_index_path"))
+            or read_nested(profile, ("chassis_calibration", "recording_dataset_index_path"))
+            or read_nested(profile, ("sensor_calibration", "recording_dataset_index_path"), "")
+        )
+        self.sensor_storage_edit.setText(
+            read_nested(profile, ("sensor_calibration", "recording_session_dir"), "/tmp/agv_sensor_calibration")
+        )
+        sensor_ids = [
+            read_nested(profile, ("vehicle_sensor_agent", "front_camera_sensor_id")),
+            read_nested(profile, ("vehicle_sensor_agent", "down_camera_sensor_id")),
+            read_nested(profile, ("vehicle_sensor_agent", "lidar_3d_sensor_id")),
+            read_nested(profile, ("vehicle_sensor_agent", "lidar_2d_sensor_id")),
+            read_nested(profile, ("vehicle_sensor_agent", "imu_sensor_id")),
+        ]
+        sensor_ids = [value for value in sensor_ids if value]
+        self.sensor_registry_edit.setText(",".join(sensor_ids) if sensor_ids else "demo_front_camera")
+        if hasattr(self, "sensor_id_edits"):
+            sensor_defaults = {
+                "front_camera": read_nested(profile, ("vehicle_sensor_agent", "front_camera_sensor_id"), "demo_front_camera"),
+                "down_camera": read_nested(profile, ("vehicle_sensor_agent", "down_camera_sensor_id"), "demo_down_camera"),
+                "lidar_2d": read_nested(profile, ("vehicle_sensor_agent", "lidar_2d_sensor_id"), "demo_lidar_2d"),
+                "lidar_3d": read_nested(profile, ("vehicle_sensor_agent", "lidar_3d_sensor_id"), "demo_lidar_3d"),
+                "imu": read_nested(profile, ("vehicle_sensor_agent", "imu_sensor_id"), "demo_imu"),
+                "arm_camera": "demo_arm_camera",
+            }
+            for sensor_key, sensor_id in sensor_defaults.items():
+                self.sensor_id_edits[sensor_key].setText(sensor_id)
+            sensor_display_names = {
+                "front_camera": "前视相机",
+                "down_camera": "下视相机",
+                "lidar_2d": "2D 雷达",
+                "lidar_3d": "3D 雷达",
+                "imu": "IMU",
+                "arm_camera": "手眼相机",
+            }
+            summary_parts = [
+                f"{sensor_display_names.get(sensor_key, sensor_key)}：{edit.text().strip()}"
+                for sensor_key, edit in self.sensor_id_edits.items()
+                if edit.text().strip()
+            ]
+            if hasattr(self, "sensor_profile_summary_label"):
+                summary = "；".join(summary_parts) if summary_parts else "当前车辆画像没有启用传感器"
+                self.sensor_profile_summary_label.setText(f"当前画像传感器：{summary}")
+        chassis_type = (
+            read_nested(profile, ("chassis_calibration", "chassis_type"))
+            or read_nested(profile, ("control_calibration", "chassis_type"))
+            or "ackermann"
+        )
+        if hasattr(self, "chassis_type_combo"):
+            index = self.chassis_type_combo.findData(chassis_type)
+            if index >= 0:
+                self.chassis_type_combo.setCurrentIndex(index)
+                self.rebuild_chassis_parameter_checks()
+        output_path = read_nested(profile, ("orchestrator_session", "generated_session_config_file"), "")
+        self.session_config_output_edit.setText(output_path if output_path else str(DEFAULT_SESSION_CONFIG))
+        if not Path(self.session_config_output_edit.text()).is_absolute():
+            self.session_config_output_edit.setText(str((profile_path.parent / self.session_config_output_edit.text()).resolve(strict=False)))
+        vehicle_profile_file = read_nested(profile, ("vehicle_profile", "profile_file"), str(DEFAULT_VEHICLE_PROFILE))
+        self.vehicle_profile_path_edit.setText(str(resolve_vehicle_profile_path(vehicle_profile_file)))
+        if Path(self.vehicle_profile_path_edit.text()).exists():
+            self.load_vehicle_profile_from_current_path()
+        if hasattr(self, "refresh_reference_path_combos"):
+            self.refresh_reference_path_combos()
@@ -0,0 +1,134 @@
+"""操作台配置文件读写工具。"""
+
+from __future__ import annotations
+
+import json
+import re
+import shlex
+from pathlib import Path
+from typing import Any
+
+try:
+    import yaml
+except ImportError:
+    yaml = None
+
+try:
+    from .constants import (
+        DEFAULT_VEHICLE_PROFILE_DIR,
+        PLACEHOLDER_MARKERS,
+        REPO_ROOT,
+        VEHICLE_PROFILE_SAVE_EXTENSION,
+    )
+except ImportError:
+    from constants import (
+        DEFAULT_VEHICLE_PROFILE_DIR,
+        PLACEHOLDER_MARKERS,
+        REPO_ROOT,
+        VEHICLE_PROFILE_SAVE_EXTENSION,
+    )
+
+
+def has_placeholder(value: Any) -> bool:
+    return isinstance(value, str) and any(marker in value for marker in PLACEHOLDER_MARKERS)
+
+def read_nested(data: dict[str, Any], path: tuple[str, ...], default: str = "") -> str:
+    cursor: Any = data
+    for key in path:
+        if not isinstance(cursor, dict):
+            return default
+        cursor = cursor.get(key)
+    if cursor in (None, "") or has_placeholder(cursor):
+        return default
+    return str(cursor)
+
+def collect_placeholders(value: Any, prefix: str = "") -> list[str]:
+    unresolved: list[str] = []
+    if isinstance(value, dict):
+        for key, child in value.items():
+            child_prefix = f"{prefix}.{key}" if prefix else str(key)
+            unresolved.extend(collect_placeholders(child, child_prefix))
+        return unresolved
+    if isinstance(value, list):
+        for index, child in enumerate(value):
+            child_prefix = f"{prefix}[{index}]"
+            unresolved.extend(collect_placeholders(child, child_prefix))
+        return unresolved
+    if has_placeholder(value):
+        unresolved.append(f"{prefix}: {value}")
+    return unresolved
+
+def load_yaml(path: Path) -> dict[str, Any]:
+    if yaml is None:
+        raise RuntimeError("缺少 PyYAML，无法加载现场配置文件。")
+    with path.open("r", encoding="utf-8") as stream:
+        data = yaml.safe_load(stream) or {}
+    if not isinstance(data, dict):
+        raise ValueError(f"{path} 顶层必须是 YAML map。")
+    return data
+
+class NoAliasDumper(yaml.SafeDumper if yaml is not None else object):
+    def ignore_aliases(self, data: Any) -> bool:
+        return True
+
+def dump_yaml(data: Any) -> str:
+    if yaml is None:
+        return json.dumps(data, ensure_ascii=False, indent=2)
+    return yaml.dump(data, Dumper=NoAliasDumper, sort_keys=False, allow_unicode=True)
+
+def resolve_profile_path(raw_path: str) -> Path:
+    path = Path(raw_path).expanduser()
+    if path.is_absolute():
+        return path.resolve(strict=False)
+    return (REPO_ROOT / path).resolve(strict=False)
+
+def resolve_vehicle_profile_path(raw_path: str) -> Path:
+    path = Path(raw_path).expanduser()
+    if path.is_absolute():
+        return path.resolve(strict=False)
+    return (REPO_ROOT / path).resolve(strict=False)
+
+def relative_to_repo(path: Path) -> str:
+    try:
+        return str(path.resolve(strict=False).relative_to(REPO_ROOT))
+    except ValueError:
+        return str(path.resolve(strict=False))
+
+def vehicle_profile_filename(profile_name: str) -> str:
+    name = re.sub(r"[^\w\-]+", "_", profile_name.strip() or "vehicle_profile")
+    name = name.strip("_") or "vehicle_profile"
+    return f"{name}{VEHICLE_PROFILE_SAVE_EXTENSION}"
+
+def vehicle_profile_path_from_name(profile_name: str) -> Path:
+    return DEFAULT_VEHICLE_PROFILE_DIR / vehicle_profile_filename(profile_name)
+
+def shell_join(args: list[str]) -> str:
+    return " ".join(shlex.quote(str(arg)) for arg in args if str(arg) != "")
+
+def launch_arg(name: str, value: str) -> str:
+    return f"{name}:={value}"
+
+def is_positive_number(raw_value: str) -> bool:
+    try:
+        return float(raw_value) > 0.0
+    except ValueError:
+        return False
+
+def float_or_none(raw_value: Any) -> float | None:
+    try:
+        return float(raw_value)
+    except (TypeError, ValueError):
+        return None
+
+def bool_from_text(raw_value: Any) -> bool:
+    return str(raw_value).strip().lower() in {"1", "true", "yes", "y", "on"}
+
+def task_params_map(task: dict[str, Any]) -> dict[str, str]:
+    params: dict[str, str] = {}
+    for item in task.get("task_params", []):
+        if not isinstance(item, dict):
+            continue
+        key = str(item.get("key", "")).strip()
+        if key:
+            params[key] = str(item.get("value", ""))
+    return params
@@ -0,0 +1 @@
+PySide6>=6.6.0
@@ -0,0 +1,255 @@
+"""操作台 ROS 监听和实时定位状态。"""
+
+from __future__ import annotations
+
+import math
+import time
+
+try:
+    import rclpy
+except ImportError:
+    rclpy = None
+
+try:
+    if rclpy is None:
+        raise ImportError
+    from calibration_external_localization_interfaces.msg import ExternalLocalizationTelemetry
+except ImportError:
+    ExternalLocalizationTelemetry = None
+
+try:
+    if rclpy is None:
+        raise ImportError
+    from calibration_workshop_orchestration_interfaces.msg import WorkshopEvent
+except ImportError:
+    WorkshopEvent = None
+
+try:
+    from .constants import (
+        LOCALIZATION_DISPLAY_ROWS,
+        WORKSHOP_EVENT_REPORT_READY,
+        WORKSHOP_EVENT_STAGE_COMPLETED,
+        WORKSHOP_EVENT_STAGE_FAILED,
+        WORKSHOP_EVENT_STAGE_STARTED,
+    )
+    from .profile_io import is_positive_number
+    from .ui_helpers import table_item
+except ImportError:
+    from constants import (
+        LOCALIZATION_DISPLAY_ROWS,
+        WORKSHOP_EVENT_REPORT_READY,
+        WORKSHOP_EVENT_STAGE_COMPLETED,
+        WORKSHOP_EVENT_STAGE_FAILED,
+        WORKSHOP_EVENT_STAGE_STARTED,
+    )
+    from profile_io import is_positive_number
+    from ui_helpers import table_item
+
+
+class RuntimeMonitorMixin:
+    def update_localization_state(self, state_text: str, status: str = "neutral", detail: str = "") -> None:
+        if not hasattr(self, "localization_state"):
+            return
+        zone = self.workcell_zone_edit.text().strip() or "未配置工位"
+        topic = self.external_topic_edit.text().strip() or "未配置"
+        source = self.reference_source_edit.text().strip() or "未配置"
+        self.localization_state.setText(f"车间定位：{state_text} · {zone}")
+        tooltip = f"定位话题：{topic}\n定位系统：{source}\n标定工位：{zone}"
+        if detail:
+            tooltip += f"\n最近结果：{detail}"
+        self.localization_state.setToolTip(tooltip)
+        style = {
+            "ok": ("#166534", "#dcfce7", "#86efac"),
+            "warn": ("#92400e", "#fef3c7", "#fbbf24"),
+            "fail": ("#991b1b", "#fee2e2", "#fca5a5"),
+            "running": ("#1d4ed8", "#dbeafe", "#93c5fd"),
+            "neutral": ("#374151", "#f3f4f6", "#d1d5db"),
+        }.get(status, ("#374151", "#f3f4f6", "#d1d5db"))
+        self.localization_state.setStyleSheet(
+            "QLabel {"
+            f"color: {style[0]}; background: {style[1]}; border: 1px solid {style[2]}; "
+            "border-radius: 4px; padding: 4px 8px;"
+            "}"
+        )
+
+    def update_workshop_dimension_state(self) -> None:
+        if not hasattr(self, "workshop_dimension_state"):
+            return
+        geometry = self.workshop_geometry_payload()
+        geometry_ok = all(is_positive_number(geometry[key]) for key in ("length_m", "width_m", "height_m"))
+        if geometry_ok:
+            text = f"车间尺寸：{geometry['length_m']} x {geometry['width_m']} x {geometry['height_m']} m"
+            color, background, border = "#166534", "#dcfce7", "#86efac"
+        else:
+            text = "车间尺寸：配置缺失"
+            color, background, border = "#991b1b", "#fee2e2", "#fca5a5"
+        self.workshop_dimension_state.setText(text)
+        self.workshop_dimension_state.setToolTip(
+            "车间尺寸来自现场配置文件 workshop_geometry，操作员界面不允许手动修改。"
+        )
+        if hasattr(self, "localization_3d_view"):
+            self.localization_3d_view.set_workshop_geometry(geometry)
+        self.workshop_dimension_state.setStyleSheet(
+            "QLabel {"
+            f"color: {color}; background: {background}; border: 1px solid {border}; "
+            "border-radius: 4px; padding: 4px 8px;"
+            "}"
+        )
+
+    def set_localization_display(self, values: dict[str, str], status: str | None = None) -> None:
+        if not hasattr(self, "localization_table"):
+            return
+        for row, name in enumerate(LOCALIZATION_DISPLAY_ROWS):
+            self.localization_table.setItem(row, 0, table_item(name))
+            self.localization_table.setItem(row, 1, table_item(values.get(name, "-"), status if name == "状态" else None))
+
+    def set_localization_message(self, summary: str, status_text: str = "-", status: str = "warn") -> None:
+        if hasattr(self, "localization_summary_label"):
+            self.localization_summary_label.setText(summary)
+        if hasattr(self, "localization_3d_view"):
+            self.localization_3d_view.set_status(summary)
+        self.set_localization_display({
+            "状态": status_text,
+            "定位系统": self.reference_source_edit.text().strip() or "-",
+        }, status)
+
+    def ensure_ros_monitor_node(self):
+        if rclpy is None:
+            return None
+        if not rclpy.ok():
+            rclpy.init(args=None)
+            self.localization_rclpy_initialized = True
+        if self.localization_node is None:
+            self.localization_node = rclpy.create_node("operator_ui_runtime_monitor")
+        if not self.localization_spin_timer.isActive():
+            self.localization_spin_timer.start(50)
+        return self.localization_node
+
+    def restart_localization_monitor(self) -> None:
+        topic = self.external_topic_edit.text().strip()
+        source = self.reference_source_edit.text().strip()
+        if not topic:
+            self.set_localization_message("现场配置文件没有定位话题。", "配置缺失", "fail")
+            self.update_localization_state("配置缺失", "fail")
+            return
+        self.localization_last_sample_wall_time = 0.0
+        if rclpy is None or ExternalLocalizationTelemetry is None:
+            self.set_localization_message("未连接 ROS 环境，无法订阅车间定位数据。", "未连接", "warn")
+            self.update_localization_state("未连接", "warn")
+            return
+        try:
+            node = self.ensure_ros_monitor_node()
+            if node is None:
+                return
+            if self.localization_subscription is not None:
+                node.destroy_subscription(self.localization_subscription)
+                self.localization_subscription = None
+            self.localization_subscription = node.create_subscription(
+                ExternalLocalizationTelemetry,
+                topic,
+                self.handle_localization_message,
+                10,
+            )
+            self.set_localization_message(f"正在监听车间定位数据：{source or topic}", "等待数据", "warn")
+            self.update_localization_state("等待数据", "warn")
+        except Exception as exc:
+            self.set_localization_message(f"车间定位订阅失败：{exc}", "订阅失败", "fail")
+            self.update_localization_state("订阅失败", "fail", str(exc))
+
+    def restart_workshop_event_monitor(self) -> None:
+        if rclpy is None or WorkshopEvent is None:
+            return
+        try:
+            node = self.ensure_ros_monitor_node()
+            if node is None:
+                return
+            if self.workshop_event_subscription is not None:
+                node.destroy_subscription(self.workshop_event_subscription)
+                self.workshop_event_subscription = None
+            self.workshop_event_subscription = node.create_subscription(
+                WorkshopEvent,
+                "/workshop_v2/events",
+                self.handle_workshop_event,
+                50,
+            )
+        except Exception as exc:
+            self.append_log(f"[界面] 订阅总控事件失败: {exc}")
+
+    def poll_localization_messages(self) -> None:
+        if rclpy is None or self.localization_node is None:
+            return
+        try:
+            rclpy.spin_once(self.localization_node, timeout_sec=0.0)
+        except Exception as exc:
+            self.localization_spin_timer.stop()
+            self.set_localization_message(f"车间定位读取失败：{exc}", "读取失败", "fail")
+            self.update_localization_state("读取失败", "fail", str(exc))
+            return
+        if self.localization_last_sample_wall_time > 0.0:
+            age_sec = time.time() - self.localization_last_sample_wall_time
+            if age_sec > 2.0:
+                self.update_localization_state("数据超时", "warn", f"{age_sec:.1f}s 未更新")
+
+    def handle_localization_message(self, msg) -> None:
+        self.localization_last_sample_wall_time = time.time()
+        pose = msg.workshop_pose
+        yaw_deg = math.degrees(float(pose.yaw_rad))
+        yaw_stddev_deg = math.degrees(float(msg.yaw_stddev_rad))
+        valid = bool(msg.pose_valid)
+        status_text = "正常" if valid else "位姿无效"
+        status = "ok" if valid else "fail"
+        source = msg.reference_source_name or self.reference_source_edit.text().strip()
+        values = {
+            "状态": status_text,
+            "更新时间": time.strftime("%H:%M:%S"),
+            "X(m)": f"{float(pose.x_m):.3f}",
+            "Y(m)": f"{float(pose.y_m):.3f}",
+            "Z(m)": f"{float(pose.z_m):.3f}",
+            "Yaw(deg)": f"{yaw_deg:.2f}",
+            "质量分数": f"{float(msg.quality_score):.3f}",
+            "位置标准差(m)": f"{float(msg.position_stddev_m):.4f}",
+            "航向标准差(deg)": f"{yaw_stddev_deg:.3f}",
+            "跟踪丢失率": f"{float(msg.tracking_loss_ratio):.3f}",
+            "时间同步偏差(ms)": f"{float(msg.time_sync_offset_ms):.2f}",
+            "目标数量": str(int(msg.observed_target_count)),
+            "定位系统": source or "-",
+            "任务 ID": msg.active_job_id or "-",
+        }
+        self.set_localization_display(values, status)
+        if hasattr(self, "localization_summary_label"):
+            self.localization_summary_label.setText(
+                f"x={values['X(m)']} m, y={values['Y(m)']} m, yaw={values['Yaw(deg)']} deg, 质量={values['质量分数']}"
+            )
+        if hasattr(self, "localization_3d_view"):
+            self.localization_3d_view.set_pose(
+                float(pose.x_m),
+                float(pose.y_m),
+                float(pose.z_m),
+                float(pose.yaw_rad),
+                valid,
+                float(msg.quality_score),
+            )
+        self.update_localization_state("实时正常" if valid else "位姿无效", status)
+
+    def handle_workshop_event(self, msg) -> None:
+        event_type = int(msg.event_type.value)
+        stage_id = str(msg.stage_id)
+        if event_type == WORKSHOP_EVENT_STAGE_STARTED:
+            self.trajectory_runtime_active = True
+            if not self.show_stage_trajectory(stage_id, "正在执行轨迹"):
+                self.show_next_trajectory_after_stage(stage_id)
+            return
+        if event_type == WORKSHOP_EVENT_STAGE_COMPLETED:
+            self.trajectory_runtime_active = True
+            self.trajectory_last_completed_stage_id = stage_id
+            self.show_next_trajectory_after_stage(stage_id)
+            return
+        if event_type == WORKSHOP_EVENT_STAGE_FAILED:
+            self.trajectory_runtime_active = True
+            if not self.show_stage_trajectory(stage_id, "失败阶段轨迹"):
+                self.show_next_trajectory_after_stage(stage_id)
+            return
+        if event_type == WORKSHOP_EVENT_REPORT_READY:
+            self.trajectory_runtime_active = False
+            self.trajectory_last_completed_stage_id = ""
+            self.show_all_planned_trajectories()
@@ -0,0 +1,757 @@
+"""操作台本轮任务和会话文件生成。"""
+
+from __future__ import annotations
+
+import math
+import re
+from pathlib import Path
+from typing import Any
+
+from PySide6.QtWidgets import QMessageBox
+
+try:
+    from .constants import (
+        CHASSIS_PARAMETER_OPTIONS,
+        CONTROL_PARAMETER_OPTIONS,
+        DEFAULT_REFERENCE_PATH_DIRS,
+        DEFAULT_VEHICLE_PROFILE,
+        POLICY_DISPLAY_NAMES,
+        REPO_ROOT,
+        SENSOR_TASK_OPTIONS,
+        STAGE_CHASSIS,
+        STAGE_CONTROL,
+        STAGE_EXTERNAL,
+        STAGE_HAND_EYE,
+        STAGE_SENSOR_EXTRINSIC,
+        STAGE_SENSOR_INTRINSIC,
+    )
+    from .profile_io import (
+        bool_from_text,
+        collect_placeholders,
+        dump_yaml,
+        float_or_none,
+        is_positive_number,
+        load_yaml,
+        read_nested,
+        resolve_profile_path,
+        resolve_vehicle_profile_path,
+        task_params_map,
+    )
+    from .ui_helpers import table_item, task_item_display_name, task_stage_display_name, task_stage_id
+except ImportError:
+    from constants import (
+        CHASSIS_PARAMETER_OPTIONS,
+        CONTROL_PARAMETER_OPTIONS,
+        DEFAULT_REFERENCE_PATH_DIRS,
+        DEFAULT_VEHICLE_PROFILE,
+        POLICY_DISPLAY_NAMES,
+        REPO_ROOT,
+        SENSOR_TASK_OPTIONS,
+        STAGE_CHASSIS,
+        STAGE_CONTROL,
+        STAGE_EXTERNAL,
+        STAGE_HAND_EYE,
+        STAGE_SENSOR_EXTRINSIC,
+        STAGE_SENSOR_INTRINSIC,
+    )
+    from profile_io import (
+        bool_from_text,
+        collect_placeholders,
+        dump_yaml,
+        float_or_none,
+        is_positive_number,
+        load_yaml,
+        read_nested,
+        resolve_profile_path,
+        resolve_vehicle_profile_path,
+        task_params_map,
+    )
+    from ui_helpers import table_item, task_item_display_name, task_stage_display_name, task_stage_id
+
+
+class SessionBuilderMixin:
+    def selected_tasks(self) -> list[str]:
+        tasks: list[str] = []
+        if self.external_check.isChecked():
+            tasks.append("external")
+        if self.selected_chassis_tasks():
+            tasks.append("chassis")
+        if self.selected_control_tasks():
+            tasks.append("control")
+        sensor_stages = {task["stage_type"] for task in self.selected_sensor_tasks()}
+        if STAGE_SENSOR_INTRINSIC in sensor_stages:
+            tasks.append("sensor_intrinsic")
+        if STAGE_SENSOR_EXTRINSIC in sensor_stages:
+            tasks.append("sensor_extrinsic")
+        if STAGE_HAND_EYE in sensor_stages:
+            tasks.append("hand_eye")
+        return tasks
+
+    def selected_tasks_csv(self) -> str:
+        tasks = self.selected_tasks()
+        return ",".join(tasks) if tasks else "external"
+
+    def reference_path_dir(self, module: str) -> Path:
+        config_keys = {
+            "chassis": ("chassis_calibration", "reference_path_dir"),
+            "control": ("control_calibration", "reference_path_dir"),
+            "sensor": ("sensor_calibration", "reference_path_dir"),
+        }
+        raw_path = read_nested(self.site_profile, config_keys[module])
+        if raw_path:
+            path = Path(raw_path).expanduser()
+            if path.is_absolute():
+                return path.resolve(strict=False)
+            profile_path = resolve_profile_path(self.profile_path_edit.text().strip())
+            return (profile_path.parent / path).resolve(strict=False)
+        return DEFAULT_REFERENCE_PATH_DIRS[module]
+
+    def resolve_site_or_repo_path(self, raw_path: str) -> Path:
+        path = Path(raw_path).expanduser()
+        if path.is_absolute():
+            return path.resolve(strict=False)
+        profile_path = resolve_profile_path(self.profile_path_edit.text().strip())
+        profile_relative = (profile_path.parent / path).resolve(strict=False)
+        if profile_relative.exists():
+            return profile_relative
+        return (REPO_ROOT / path).resolve(strict=False)
+
+    def chassis_action_profile_path(self) -> Path:
+        raw_path = read_nested(
+            self.site_profile,
+            ("chassis_calibration", "action_profile_file"),
+            "src/site_deployment/workshop_chassis_calibration_real/config/chassis_action_profile.yaml",
+        )
+        return self.resolve_site_or_repo_path(raw_path)
+
+    def allowed_chassis_reference_path_ids(self, chassis_type: str) -> set[str]:
+        profile_path = self.chassis_action_profile_path()
+        if not profile_path.exists():
+            return set()
+        try:
+            profile = load_yaml(profile_path)
+        except Exception as exc:
+            self.append_log(f"[参考路径] 底盘动作 profile 加载失败 {profile_path}: {exc}")
+            return set()
+        section = profile.get("chassis_profiles", {}).get(chassis_type, {})
+        actions = section.get("actions", []) if isinstance(section, dict) else []
+        if not isinstance(actions, list):
+            return set()
+        return {
+            str(action.get("reference_path_id", "")).strip()
+            for action in actions
+            if isinstance(action, dict) and str(action.get("reference_path_id", "")).strip()
+        }
+
+    def load_reference_path_options(self, module: str) -> tuple[dict[str, Any], list[dict[str, Any]]]:
+        path_dir = self.reference_path_dir(module)
+        index_path = path_dir / "index.yaml"
+        index = load_yaml(index_path) if index_path.exists() else {}
+        paths: list[dict[str, Any]] = []
+        if not path_dir.exists():
+            return index, paths
+        for path_file in sorted(path_dir.glob("*.yaml")):
+            if path_file.name in {"index.yaml", "_index.yaml"}:
+                continue
+            try:
+                payload = load_yaml(path_file)
+            except Exception as exc:
+                self.append_log(f"[参考路径] 跳过 {path_file}: {exc}")
+                continue
+            path_id = str(payload.get("path_id", "")).strip()
+            display_name = str(payload.get("display_name", "")).strip()
+            points = payload.get("points", [])
+            if not path_id or not display_name or not isinstance(points, list) or not points:
+                self.append_log(f"[参考路径] 跳过无效路径文件: {path_file}")
+                continue
+            payload["_source_file"] = str(path_file.resolve(strict=False))
+            payload["_path_dir"] = str(path_dir.resolve(strict=False))
+            paths.append(payload)
+        if module == "chassis":
+            chassis_type = (
+                str(self.chassis_type_combo.currentData() or "ackermann")
+                if hasattr(self, "chassis_type_combo")
+                else "ackermann"
+            )
+            allowed_ids = self.allowed_chassis_reference_path_ids(chassis_type)
+            if allowed_ids:
+                def recorded_path_chassis_types(path: dict[str, Any]) -> set[str]:
+                    raw_types = path.get("allowed_chassis_types", []) or []
+                    if isinstance(raw_types, str):
+                        return {raw_types}
+                    if isinstance(raw_types, list):
+                        return {str(item) for item in raw_types}
+                    return set()
+
+                paths = [
+                    path
+                    for path in paths
+                    if str(path.get("path_id", "")).strip() in allowed_ids
+                    or chassis_type in recorded_path_chassis_types(path)
+                ]
+        return index, paths
+
+    def default_reference_path_id(self, module: str, index: dict[str, Any], paths: list[dict[str, Any]]) -> str:
+        chassis_type = str(self.chassis_type_combo.currentData() or "ackermann") if hasattr(self, "chassis_type_combo") else "ackermann"
+        by_chassis = index.get("default_path_id_by_chassis", {}) if isinstance(index, dict) else {}
+        by_task = index.get("default_path_id_by_task_type", {}) if isinstance(index, dict) else {}
+        if module in {"chassis", "control"} and isinstance(by_chassis, dict):
+            default_id = str(by_chassis.get(chassis_type, "")).strip()
+            if default_id:
+                return default_id
+        if isinstance(by_task, dict):
+            task_key = {
+                "chassis": "straight_line",
+                "control": "trajectory_tracking",
+                "sensor": "camera_intrinsic",
+            }[module]
+            default_id = str(by_task.get(task_key, "")).strip()
+            if default_id:
+                return default_id
+        return str(paths[0].get("path_id", "")) if paths else ""
+
+    def refresh_reference_path_combos(self) -> None:
+        combo_specs = {
+            "chassis": "chassis_reference_path_combo",
+            "control": "control_reference_path_combo",
+            "sensor": "sensor_reference_path_combo",
+        }
+        for module, attr_name in combo_specs.items():
+            if not hasattr(self, attr_name):
+                continue
+            combo = getattr(self, attr_name)
+            previous = combo.currentData()
+            previous_id = str(previous.get("path_id", "")) if isinstance(previous, dict) else ""
+            index, paths = self.load_reference_path_options(module)
+            ids = {str(path.get("path_id", "")) for path in paths}
+            selected_id = previous_id if previous_id in ids else self.default_reference_path_id(module, index, paths)
+            if selected_id not in ids and paths:
+                selected_id = str(paths[0].get("path_id", ""))
+            combo.blockSignals(True)
+            combo.clear()
+            if not paths:
+                combo.addItem("未找到参考路径", None)
+                combo.setEnabled(False)
+            else:
+                combo.setEnabled(True)
+                for path in paths:
+                    label = f"{path.get('display_name', path.get('path_id'))} ({path.get('path_id')})"
+                    combo.addItem(label, path)
+                    if str(path.get("path_id", "")) == selected_id:
+                        combo.setCurrentIndex(combo.count() - 1)
+            combo.blockSignals(False)
+        if hasattr(self, "launch_command_preview"):
+            self.refresh_command_preview()
+
+    def selected_reference_path(self, module: str) -> dict[str, Any] | None:
+        combo = getattr(self, f"{module}_reference_path_combo", None)
+        if combo is None:
+            return None
+        path = combo.currentData()
+        return path if isinstance(path, dict) else None
+
+    @staticmethod
+    def stringify_reference_value(value: Any) -> str:
+        if isinstance(value, bool):
+            return "true" if value else "false"
+        if isinstance(value, float):
+            return f"{value:.9g}"
+        return str(value)
+
+    def add_reference_path_metadata(self, params: dict[str, Any], path: dict[str, Any] | None) -> None:
+        if not path:
+            return
+        points = path.get("points", [])
+        if not isinstance(points, list):
+            return
+        params["reference_path.id"] = path.get("path_id", "")
+        params["reference_path.display_name"] = path.get("display_name", "")
+        params["reference_path.frame_id"] = path.get("frame_id", "workshop")
+        params["reference_path.path_type"] = path.get("path_type", "polyline")
+        params["reference_path.point_count"] = len(points)
+        if path.get("_path_dir"):
+            params["reference_path.path_dir"] = path["_path_dir"]
+        if path.get("_source_file"):
+            params["reference_path.file"] = path["_source_file"]
+        if path.get("module_type"):
+            params["reference_path.module_type"] = path["module_type"]
+        if path.get("description"):
+            params["reference_path.description"] = path["description"]
+        for index, point in enumerate(points):
+            if not isinstance(point, dict):
+                continue
+            prefix = f"reference_path.pt_{index}"
+            params[f"{prefix}_x_m"] = self.stringify_reference_value(point.get("x_m", 0.0))
+            params[f"{prefix}_y_m"] = self.stringify_reference_value(point.get("y_m", 0.0))
+            params[f"{prefix}_z_m"] = self.stringify_reference_value(point.get("z_m", 0.0))
+            params[f"{prefix}_yaw_rad"] = self.stringify_reference_value(point.get("yaw_rad", 0.0))
+            params[f"{prefix}_speed_ms"] = self.stringify_reference_value(point.get("target_speed_ms", 0.0))
+
+    def apply_reference_path_as_trajectory(self, params: dict[str, Any], path: dict[str, Any] | None) -> None:
+        if not path:
+            return
+        points = path.get("points", [])
+        if not isinstance(points, list) or len(points) < 2:
+            return
+        for key in list(params):
+            if key.startswith("traj_pt_"):
+                del params[key]
+        for index, point in enumerate(points):
+            if not isinstance(point, dict):
+                continue
+            params[f"traj_pt_{index}_x_m"] = self.stringify_reference_value(point.get("x_m", 0.0))
+            params[f"traj_pt_{index}_y_m"] = self.stringify_reference_value(point.get("y_m", 0.0))
+            params[f"traj_pt_{index}_yaw_rad"] = self.stringify_reference_value(point.get("yaw_rad", 0.0))
+            params[f"traj_pt_{index}_speed_ms"] = self.stringify_reference_value(point.get("target_speed_ms", 0.0))
+
+    def refresh_all(self) -> None:
+        self.refresh_command_preview()
+        self.refresh_task_preview_from_config()
+
+    def make_task(
+        self,
+        stage_type: str,
+        task_code: str,
+        target_id: str,
+        params: dict[str, Any],
+        reason: str,
+    ) -> dict[str, Any]:
+        return {
+            "stage_type": stage_type,
+            "enabled": True,
+            "require_manual_approval": False,
+            "execution_policy": "REQUIRED",
+            "reason": reason,
+            "task_code": task_code,
+            "target_id": target_id,
+            "task_params": [
+                {"key": str(key), "value": str(value)}
+                for key, value in params.items()
+            ],
+        }
+
+    def workshop_geometry_payload(self) -> dict[str, str]:
+        return {
+            "length_m": read_nested(self.site_profile, ("workshop_geometry", "length_m"), ""),
+            "width_m": read_nested(self.site_profile, ("workshop_geometry", "width_m"), ""),
+            "height_m": read_nested(self.site_profile, ("workshop_geometry", "height_m"), ""),
+        }
+
+    def refresh_planned_trajectory(self) -> None:
+        self.trajectory_task_records = self.planned_trajectory_task_records()
+        if self.trajectory_runtime_active:
+            self.show_next_trajectory_after_stage(self.trajectory_last_completed_stage_id)
+        else:
+            self.show_all_planned_trajectories()
+
+    def planned_trajectory_segments(self) -> list[list[tuple[float, float, float]]]:
+        return [
+            segment
+            for record in self.trajectory_task_records
+            for segment in record["segments"]
+        ]
+
+    def planned_trajectory_task_records(self) -> list[dict[str, Any]]:
+        tasks = self.build_requested_tasks()
+        self.trajectory_stage_order = {
+            task_stage_id(task): order
+            for order, task in enumerate(tasks)
+        }
+        records: list[dict[str, Any]] = []
+        for order, task in enumerate(tasks):
+            params = task_params_map(task)
+            segments = self.trajectory_segments_from_task_params(params)
+            if not segments:
+                continue
+            records.append({
+                "order": order,
+                "stage_id": task_stage_id(task),
+                "display_name": f"{task_stage_display_name(task)}：{task_item_display_name(task)}",
+                "segments": segments,
+            })
+        return records
+
+    def trajectory_segments_from_task_params(self, params: dict[str, str]) -> list[list[tuple[float, float, float]]]:
+        segments: list[list[tuple[float, float, float]]] = []
+        segment = self.trajectory_points_from_reference_path(params)
+        if segment:
+            segments.append(segment)
+            return segments
+        segment = self.trajectory_points_from_explicit_params(params)
+        if segment:
+            segments.append(segment)
+            return segments
+        segment = self.trajectory_points_from_motion_primitive(params)
+        if segment:
+            segments.append(segment)
+        return segments
+
+    def show_all_planned_trajectories(self) -> None:
+        if not hasattr(self, "localization_3d_view"):
+            return
+        self.localization_3d_view.set_trajectory(self.planned_trajectory_segments(), "本轮计划轨迹")
+
+    def show_stage_trajectory(self, stage_id: str, label_prefix: str) -> bool:
+        if not hasattr(self, "localization_3d_view"):
+            return False
+        for record in self.trajectory_task_records:
+            if record["stage_id"] == stage_id:
+                self.localization_3d_view.set_trajectory(
+                    record["segments"],
+                    f"{label_prefix}：{record['display_name']}",
+                )
+                return True
+        return False
+
+    def show_next_trajectory_after_stage(self, stage_id: str) -> bool:
+        if not hasattr(self, "localization_3d_view"):
+            return False
+        completed_order = self.trajectory_stage_order.get(stage_id, -1) if stage_id else -1
+        for record in self.trajectory_task_records:
+            if int(record["order"]) > completed_order:
+                self.localization_3d_view.set_trajectory(
+                    record["segments"],
+                    f"下一项轨迹：{record['display_name']}",
+                )
+                return True
+        self.localization_3d_view.set_trajectory([], "后续没有计划轨迹")
+        return False
+
+    def trajectory_points_from_explicit_params(self, params: dict[str, str]) -> list[tuple[float, float, float]]:
+        indexed_points: dict[int, tuple[float, float]] = {}
+        indexes = sorted({
+            int(match.group(1))
+            for key in params
+            if (match := re.fullmatch(r"traj_pt_(\d+)_x_m", key))
+        })
+        for index in indexes:
+            x = float_or_none(params.get(f"traj_pt_{index}_x_m"))
+            y = float_or_none(params.get(f"traj_pt_{index}_y_m"))
+            if x is not None and y is not None:
+                indexed_points[index] = (x, y)
+        return [(x, y, 0.04) for _, (x, y) in sorted(indexed_points.items())]
+
+    def trajectory_points_from_reference_path(self, params: dict[str, str]) -> list[tuple[float, float, float]]:
+        indexes = sorted({
+            int(match.group(1))
+            for key in params
+            if (match := re.fullmatch(r"reference_path\.pt_(\d+)_x_m", key))
+        })
+        points: list[tuple[float, float, float]] = []
+        for index in indexes:
+            x = float_or_none(params.get(f"reference_path.pt_{index}_x_m"))
+            y = float_or_none(params.get(f"reference_path.pt_{index}_y_m"))
+            z = float_or_none(params.get(f"reference_path.pt_{index}_z_m"))
+            if x is not None and y is not None:
+                points.append((x, y, z if z is not None else 0.04))
+        return points
+
+    def trajectory_points_from_motion_primitive(self, params: dict[str, str]) -> list[tuple[float, float, float]]:
+        primitive_type = params.get("primitive_type", "")
+        if primitive_type == "straight_line":
+            distance = float_or_none(params.get("straight_line.target_distance_m"))
+            if distance is None:
+                return []
+            direction = -1.0 if bool_from_text(params.get("straight_line.reverse")) else 1.0
+            return [(0.0, 0.0, 0.04), (direction * abs(distance), 0.0, 0.04)]
+        if primitive_type == "arc":
+            radius = float_or_none(params.get("arc.radius_m"))
+            sweep_angle_deg = float_or_none(params.get("arc.sweep_angle_deg"))
+            if radius is None or sweep_angle_deg is None or radius <= 0.0:
+                return []
+            clockwise = bool_from_text(params.get("arc.clockwise"))
+            turn_sign = -1.0 if clockwise else 1.0
+            sweep_rad = math.radians(abs(sweep_angle_deg))
+            sample_count = max(8, min(64, int(abs(sweep_angle_deg) / 5.0) + 1))
+            points: list[tuple[float, float, float]] = []
+            for index in range(sample_count):
+                ratio = index / float(sample_count - 1)
+                theta = sweep_rad * ratio
+                x = radius * math.sin(theta)
+                y = turn_sign * radius * (1.0 - math.cos(theta))
+                points.append((x, y, 0.04))
+            return points
+        if primitive_type == "in_place_rotation":
+            radius = 0.25
+            points = []
+            for index in range(25):
+                theta = math.tau * index / 24.0
+                points.append((radius * math.cos(theta), radius * math.sin(theta), 0.04))
+            return points
+        return []
+
+    def external_task(self) -> dict[str, Any]:
+        return self.make_task(
+            STAGE_EXTERNAL,
+            "external",
+            self.reference_target_edit.text().strip() or "site_reference_target",
+            {
+                "external.static_sample_count": "1",
+                "external.dynamic_sample_count": "1",
+                "external.require_short_motion_segment": "false",
+                "external.max_position_stddev_m": "0.05",
+                "external.max_yaw_stddev_rad": "0.05",
+                "external.max_tracking_loss_ratio": "0.05",
+                "external.max_time_sync_offset_ms": "50.0",
+                "external.timeout_sec": "5.0",
+            },
+            "现场界面选择的车间定位可用性检查",
+        )
+
+    def selected_chassis_tasks(self) -> list[dict[str, Any]]:
+        if not hasattr(self, "chassis_type_combo"):
+            return []
+        chassis_type = str(self.chassis_type_combo.currentData() or "ackermann")
+        reference_path = self.selected_reference_path("chassis")
+        tasks: list[dict[str, Any]] = []
+        for option in CHASSIS_PARAMETER_OPTIONS[chassis_type]:
+            check = self.chassis_param_checks.get(str(option["code"]))
+            if check is None or not check.isChecked():
+                continue
+            params = {
+                "chassis_type": chassis_type,
+                "calibration_parameter": option["code"],
+                **option["params"],
+            }
+            params.setdefault("brake_when_finished", "true")
+            params.setdefault("timeout_sec", "20.0")
+            self.add_reference_path_metadata(params, reference_path)
+            tasks.append(self.make_task(
+                STAGE_CHASSIS,
+                str(option["code"]),
+                str(option["target"]),
+                params,
+                "现场 UI 选择的底盘标定参数",
+            ))
+        return tasks
+
+    def selected_control_tasks(self) -> list[dict[str, Any]]:
+        if not hasattr(self, "control_param_checks"):
+            return []
+        reference_path = self.selected_reference_path("control")
+        tasks: list[dict[str, Any]] = []
+        for option in CONTROL_PARAMETER_OPTIONS:
+            check = self.control_param_checks.get(str(option["code"]))
+            if check is None or not check.isChecked():
+                continue
+            params = {
+                "control.axis": option["axis"],
+                "control.algorithm": option["algorithm"],
+                "calibration_parameter": option["code"],
+                **option["params"],
+            }
+            if params.get("control.task_type") == "trajectory_tracking":
+                params.setdefault(
+                    "trajectory_tracking.required_external_pose_source_id",
+                    self.reference_source_edit.text().strip(),
+                )
+                self.apply_reference_path_as_trajectory(params, reference_path)
+            self.add_reference_path_metadata(params, reference_path)
+            tasks.append(self.make_task(
+                STAGE_CONTROL,
+                str(option["code"]),
+                str(option["target"]),
+                params,
+                "现场 UI 选择的运控参数标定",
+            ))
+        return tasks
+
+    def selected_sensor_tasks(self) -> list[dict[str, Any]]:
+        if not hasattr(self, "sensor_task_checks"):
+            return []
+        reference_path = self.selected_reference_path("sensor")
+        tasks: list[dict[str, Any]] = []
+        for sensor_key, sensor_label, subtype, label, stage_type in SENSOR_TASK_OPTIONS:
+            check = self.sensor_task_checks.get((sensor_key, subtype))
+            if check is None or not check.isChecked():
+                continue
+            sensor_edit = self.sensor_id_edits.get(sensor_key)
+            sensor_id = sensor_edit.text().strip() if sensor_edit is not None else ""
+            if not sensor_id:
+                continue
+            params: dict[str, Any] = {
+                "sensor.sensor_id": sensor_id,
+                "sensor.task_subtype": subtype,
+                "calibration_parameter": subtype,
+            }
+            if stage_type == STAGE_SENSOR_INTRINSIC and subtype.endswith("camera_intrinsic"):
+                params.update({
+                    "camera_intrinsic.required_image_count": "1",
+                    "camera_intrinsic.target_board_id": self.reference_target_edit.text().strip() or "site_reference_target",
+                    "camera_intrinsic.timeout_sec": "5.0",
+                })
+            elif stage_type == STAGE_SENSOR_INTRINSIC and subtype == "imu_intrinsic":
+                params.update({
+                    "imu_intrinsic.required_static_segment_count": "1",
+                    "imu_intrinsic.required_motion_segment_count": "1",
+                    "imu_intrinsic.timeout_sec": "5.0",
+                })
+            elif stage_type == STAGE_SENSOR_EXTRINSIC:
+                params.update({
+                    "sensor_extrinsic.base_frame_id": read_nested(self.site_profile, ("frames", "base_link"), "base_link"),
+                    "sensor_extrinsic.required_sample_count": "1",
+                    "sensor_extrinsic.timeout_sec": "5.0",
+                })
+            elif stage_type == STAGE_HAND_EYE:
+                params.update({
+                    "hand_eye.arm_id": "demo_arm",
+                    "hand_eye.required_pose_count": "1",
+                    "hand_eye.timeout_sec": "5.0",
+                })
+            self.add_reference_path_metadata(params, reference_path)
+            tasks.append(self.make_task(
+                stage_type,
+                f"sensor.{sensor_key}.{subtype}",
+                sensor_id,
+                params,
+                f"现场 UI 选择的传感器标定：{label}",
+            ))
+        return tasks
+
+    def build_requested_tasks(self) -> list[dict[str, Any]]:
+        tasks: list[dict[str, Any]] = []
+        if self.external_check.isChecked():
+            tasks.append(self.external_task())
+        tasks.extend(self.selected_chassis_tasks())
+        tasks.extend(self.selected_control_tasks())
+        tasks.extend(self.selected_sensor_tasks())
+        return tasks
+
+    def build_session_payload(self) -> dict[str, Any]:
+        requested_tasks = self.build_requested_tasks()
+        workshop_geometry = self.workshop_geometry_payload()
+        vehicle_profile_file = self.vehicle_profile_path_edit.text().strip()
+        vehicle_profile = self.current_vehicle_profile_payload()
+        vehicle_profile["profile_file"] = vehicle_profile_file
+        return {
+            "schema_version": 1,
+            "source_site_profile": self.profile_path_edit.text().strip(),
+            "vehicle_profile_file": vehicle_profile_file,
+            "vehicle_profile": vehicle_profile,
+            "generated_by": "operator_ui",
+            "workshop_geometry": workshop_geometry,
+            "session_config": {
+                "auto_commit_parameters": False,
+                "require_manual_approval_before_commit": False,
+                "run_validation_after_each_stage": False,
+                "stop_on_first_failure": True,
+                "allow_optional_stage_skip": False,
+                "enable_auto_rollback_on_validation_failure": False,
+                "allow_rebuild_execution_plan": False,
+                "localization_source_id": self.reference_source_edit.text().strip(),
+                "workcell_zone_id": self.workcell_zone_edit.text().strip(),
+                "reference_target_id": self.reference_target_edit.text().strip() or "site_reference_target",
+                "workshop_geometry": workshop_geometry,
+                "vehicle_profile_file": vehicle_profile_file,
+                "vehicle_profile_name": vehicle_profile.get("profile_name", ""),
+                "requested_tasks": requested_tasks,
+            },
+            "requested_tasks": requested_tasks,
+        }
+
+    def refresh_deployment_checks(self) -> None:
+        rows: list[tuple[str, str, str, str]] = []
+        profile_path = resolve_profile_path(self.profile_path_edit.text().strip())
+        unresolved = collect_placeholders(self.site_profile)
+        rows.append(("固定车间配置", "正常" if profile_path.exists() else "失败", "已按部署配置加载" if profile_path.exists() else "部署配置文件不存在", "ok" if profile_path.exists() else "fail"))
+        rows.append(("未替换占位项", "正常" if not unresolved else "警告", f"{len(unresolved)} 个", "ok" if not unresolved else "warn"))
+        rows.append(("车辆 ID", "正常" if self.vehicle_id_edit.text().strip() else "失败", self.vehicle_id_edit.text().strip(), "ok" if self.vehicle_id_edit.text().strip() else "fail"))
+        vehicle_profile_path = resolve_vehicle_profile_path(self.vehicle_profile_path_edit.text().strip() or str(DEFAULT_VEHICLE_PROFILE))
+        rows.append(("车辆画像", "正常" if vehicle_profile_path.exists() else "失败", f"{self.vehicle_profile_name_edit.text().strip() or '-'} · {vehicle_profile_path}", "ok" if vehicle_profile_path.exists() else "fail"))
+        vehicle_geometry_values = [
+            self.vehicle_length_edit.text().strip(),
+            self.vehicle_width_edit.text().strip(),
+            self.vehicle_height_edit.text().strip(),
+        ]
+        vehicle_geometry_ok = all(is_positive_number(value) for value in vehicle_geometry_values)
+        rows.append(("车辆外形尺寸", "正常" if vehicle_geometry_ok else "失败", f"长 {vehicle_geometry_values[0] or '-'} m，宽 {vehicle_geometry_values[1] or '-'} m，高 {vehicle_geometry_values[2] or '-'} m", "ok" if vehicle_geometry_ok else "fail"))
+        chassis_geometry_values = [
+            self.vehicle_wheel_base_edit.text().strip(),
+            self.vehicle_track_width_edit.text().strip(),
+            self.vehicle_wheel_radius_edit.text().strip(),
+        ]
+        chassis_geometry_ok = all(is_positive_number(value) for value in chassis_geometry_values)
+        rows.append(("底盘几何画像", "正常" if chassis_geometry_ok else "失败", f"轴距 {chassis_geometry_values[0] or '-'} m，轮距 {chassis_geometry_values[1] or '-'} m，轮半径 {chassis_geometry_values[2] or '-'} m", "ok" if chassis_geometry_ok else "fail"))
+        geometry = self.workshop_geometry_payload()
+        geometry_ok = all(is_positive_number(geometry[key]) for key in ("length_m", "width_m", "height_m"))
+        geometry_detail = f"长 {geometry['length_m'] or '-'} m，宽 {geometry['width_m'] or '-'} m，高 {geometry['height_m'] or '-'} m"
+        rows.append(("车间尺寸", "正常" if geometry_ok else "失败", geometry_detail, "ok" if geometry_ok else "fail"))
+        rows.append(("车上 Windows 程序", "正常" if self.vehicle_host_edit.text().strip() else "失败", f"{self.vehicle_host_edit.text()}:{self.vehicle_port_edit.text()}", "ok" if self.vehicle_host_edit.text().strip() else "fail"))
+        data_input = self.data_input_edit.text().strip()
+        rows.append(("算法数据参数文件", "正常" if data_input and Path(data_input).exists() else "警告", data_input or "未填写", "ok" if data_input and Path(data_input).exists() else "warn"))
+        dataset_index = self.dataset_index_edit.text().strip()
+        rows.append(("采集数据索引文件", "正常" if dataset_index and Path(dataset_index).exists() else "警告", dataset_index or "未填写", "ok" if dataset_index and Path(dataset_index).exists() else "warn"))
+        rows.append(("任务选择", "正常" if self.selected_tasks() else "失败", self.selected_tasks_csv(), "ok" if self.selected_tasks() else "fail"))
+
+        self.check_table.setRowCount(len(rows))
+        for row, (name, status, detail, color) in enumerate(rows):
+            self.check_table.setItem(row, 0, table_item(name))
+            self.check_table.setItem(row, 1, table_item(status, color))
+            self.check_table.setItem(row, 2, table_item(detail))
+
+        unresolved_signature = "\n".join(unresolved)
+        if unresolved and unresolved_signature != self.last_unresolved_signature:
+            self.append_log("[界面] 现场配置文件仍有占位项，真实部署前需要替换。前几项：")
+            for item in unresolved[:8]:
+                self.append_log(f"  - {item}")
+        self.last_unresolved_signature = unresolved_signature
+
+    def build_session_config(self) -> bool:
+        output_path = Path(self.session_config_output_edit.text().strip()).expanduser()
+        if not output_path.is_absolute():
+            output_path = (REPO_ROOT / output_path).resolve(strict=False)
+        output_path.parent.mkdir(parents=True, exist_ok=True)
+
+        payload = self.build_session_payload()
+        if not payload["requested_tasks"]:
+            QMessageBox.warning(self, "任务为空", "请至少选择一个标定任务。")
+            return False
+        geometry = payload.get("workshop_geometry", {})
+        if not all(is_positive_number(str(geometry.get(key, ""))) for key in ("length_m", "width_m", "height_m")):
+            QMessageBox.warning(self, "车间尺寸缺失", "现场配置文件缺少 workshop_geometry.length_m / width_m / height_m。")
+            return False
+        vehicle_profile_file = payload.get("vehicle_profile_file", "")
+        if vehicle_profile_file and not resolve_vehicle_profile_path(str(vehicle_profile_file)).exists():
+            QMessageBox.warning(self, "车辆画像缺失", "当前选择的车辆画像文件不存在。")
+            return False
+        vehicle_profile = payload.get("vehicle_profile", {})
+        vehicle_geometry = vehicle_profile.get("geometry", {}) if isinstance(vehicle_profile, dict) else {}
+        if not all(is_positive_number(str(vehicle_geometry.get(key, ""))) for key in ("length_m", "width_m", "height_m")):
+            QMessageBox.warning(self, "车辆尺寸缺失", "车辆画像缺少 geometry.length_m / width_m / height_m。")
+            return False
+        chassis_geometry = vehicle_profile.get("chassis", {}) if isinstance(vehicle_profile, dict) else {}
+        if not all(is_positive_number(str(chassis_geometry.get(key, ""))) for key in ("wheel_base_m", "track_width_m", "wheel_radius_m")):
+            QMessageBox.warning(self, "底盘画像缺失", "车辆画像缺少 chassis.wheel_base_m / track_width_m / wheel_radius_m。")
+            return False
+        output_path.write_text(dump_yaml(payload), encoding="utf-8")
+
+        self.session_config_output_edit.setText(str(output_path))
+        try:
+            self.generated_session_config = load_yaml(output_path)
+        except Exception as exc:
+            QMessageBox.critical(self, "读取失败", f"本轮任务文件已生成，但读取失败：{exc}")
+            return False
+        self.append_log(f"[本轮任务文件] 已生成：{output_path}")
+        self.refresh_task_preview_from_config()
+        self.refresh_command_preview()
+        return True
+
+    def default_sensor_id(self) -> str:
+        first = self.sensor_registry_edit.text().split(",")[0].strip()
+        return first or "demo_front_camera"
+
+    def refresh_task_preview_from_config(self) -> None:
+        tasks: list[dict[str, Any]] = []
+        preview_config = self.build_session_payload()
+        if preview_config:
+            session_config = preview_config.get("session_config", {})
+            tasks = list(session_config.get("requested_tasks", preview_config.get("requested_tasks", [])))
+        self.task_table.setRowCount(len(tasks))
+        for index, task in enumerate(tasks):
+            execution_policy = str(task.get("execution_policy", ""))
+            self.task_table.setItem(index, 0, table_item(str(index + 1)))
+            self.task_table.setItem(index, 1, table_item(task_stage_display_name(task)))
+            self.task_table.setItem(index, 2, table_item(task_item_display_name(task)))
+            self.task_table.setItem(index, 3, table_item(POLICY_DISPLAY_NAMES.get(execution_policy, execution_policy)))
+        self.session_config_preview.setPlainText(dump_yaml(preview_config) if preview_config else "尚未生成本轮任务文件。")
+        self.refresh_planned_trajectory()
@@ -0,0 +1,61 @@
+"""操作台通用显示工具。"""
+
+from __future__ import annotations
+
+from typing import Any
+
+from PySide6.QtCore import Qt
+from PySide6.QtGui import QColor
+from PySide6.QtWidgets import QTableWidgetItem
+
+try:
+    from .constants import (
+        SENSOR_STAGE_DISPLAY_NAMES,
+        STAGE_DISPLAY_NAMES,
+        STAGE_ID_PREFIX_BY_STAGE_TYPE,
+        TASK_DISPLAY_NAMES,
+    )
+except ImportError:
+    from constants import (
+        SENSOR_STAGE_DISPLAY_NAMES,
+        STAGE_DISPLAY_NAMES,
+        STAGE_ID_PREFIX_BY_STAGE_TYPE,
+        TASK_DISPLAY_NAMES,
+    )
+
+
+def table_item(text: str, status: str | None = None) -> QTableWidgetItem:
+    item = QTableWidgetItem(text)
+    item.setFlags(item.flags() ^ Qt.ItemIsEditable)
+    if status == "ok":
+        item.setBackground(QColor("#dcfce7"))
+    elif status == "warn":
+        item.setBackground(QColor("#fef3c7"))
+    elif status == "fail":
+        item.setBackground(QColor("#fee2e2"))
+    return item
+
+def task_stage_display_name(task: dict[str, Any]) -> str:
+    task_code = str(task.get("task_code", ""))
+    stage_type = str(task.get("stage_type", ""))
+    return SENSOR_STAGE_DISPLAY_NAMES.get(task_code, STAGE_DISPLAY_NAMES.get(stage_type, stage_type))
+
+def task_item_display_name(task: dict[str, Any]) -> str:
+    task_code = str(task.get("task_code", ""))
+    name = TASK_DISPLAY_NAMES.get(task_code, task_code)
+    if task_code.startswith("sensor."):
+        target_id = str(task.get("target_id", "")).strip()
+        if target_id:
+            return f"{name}（{target_id}）"
+    return name
+
+def make_task_suffix(task_code: str) -> str:
+    if not task_code:
+        return ""
+    return "_" + "".join(ch if ch.isalnum() else "_" for ch in task_code)
+
+def task_stage_id(task: dict[str, Any]) -> str:
+    stage_type = str(task.get("stage_type", ""))
+    task_code = str(task.get("task_code", ""))
+    prefix = STAGE_ID_PREFIX_BY_STAGE_TYPE.get(stage_type, "stage_unknown")
+    return prefix + make_task_suffix(task_code)
@@ -0,0 +1,278 @@
+"""车辆画像新建和编辑窗口。"""
+
+from __future__ import annotations
+
+from pathlib import Path
+from typing import Any
+
+from PySide6.QtWidgets import (
+    QCheckBox,
+    QComboBox,
+    QDialog,
+    QDialogButtonBox,
+    QGridLayout,
+    QLabel,
+    QLineEdit,
+    QMessageBox,
+    QVBoxLayout,
+)
+
+try:
+    from .constants import CHASSIS_TYPES
+    from .profile_io import (
+        bool_from_text,
+        dump_yaml,
+        is_positive_number,
+        read_nested,
+        vehicle_profile_filename,
+        vehicle_profile_path_from_name,
+    )
+except ImportError:
+    from constants import CHASSIS_TYPES
+    from profile_io import (
+        bool_from_text,
+        dump_yaml,
+        is_positive_number,
+        read_nested,
+        vehicle_profile_filename,
+        vehicle_profile_path_from_name,
+    )
+
+
+def open_vehicle_profile_dialog(window: Any, new_profile: bool) -> None:
+    self = window
+    source_payload = self.current_vehicle_profile_payload()
+    if new_profile:
+        source_payload["profile_name"] = ""
+        source_payload["display_name"] = ""
+        source_payload["manufacturer"] = ""
+        title = "新建车辆画像"
+    else:
+        title = "编辑车辆画像"
+
+    dialog = QDialog(self)
+    dialog.setWindowTitle(title)
+    dialog.resize(760, 560)
+    layout = QVBoxLayout(dialog)
+    grid = QGridLayout()
+    layout.addLayout(grid)
+
+    name_edit = QLineEdit(str(source_payload.get("profile_name", "")))
+    file_name_label = QLabel(vehicle_profile_filename(name_edit.text()))
+    model_edit = QLineEdit(str(source_payload.get("model_name", "")))
+    chassis_type_combo = QComboBox()
+    for value, label in CHASSIS_TYPES:
+        chassis_type_combo.addItem(label, value)
+    chassis_type = str(source_payload.get("chassis", {}).get("chassis_type", "ackermann"))
+    chassis_index = chassis_type_combo.findData(chassis_type)
+    if chassis_index >= 0:
+        chassis_type_combo.setCurrentIndex(chassis_index)
+
+    geometry = source_payload.get("geometry", {})
+    chassis = source_payload.get("chassis", {})
+    controllers = source_payload.get("controllers", {})
+    if not isinstance(geometry, dict):
+        geometry = {}
+    if not isinstance(chassis, dict):
+        chassis = {}
+    if not isinstance(controllers, dict):
+        controllers = {}
+
+    length_edit = QLineEdit(str(geometry.get("length_m", "")))
+    width_edit = QLineEdit(str(geometry.get("width_m", "")))
+    height_edit = QLineEdit(str(geometry.get("height_m", "")))
+    ground_clearance_edit = QLineEdit(str(geometry.get("ground_clearance_m", "")))
+    wheel_base_edit = QLineEdit(str(chassis.get("wheel_base_m", "")))
+    track_width_edit = QLineEdit(str(chassis.get("track_width_m", "")))
+    wheel_radius_edit = QLineEdit(str(chassis.get("wheel_radius_m", "")))
+    max_steering_angle_edit = QLineEdit(str(chassis.get("max_steering_angle_rad", "")))
+    min_turning_radius_edit = QLineEdit(str(chassis.get("min_turning_radius_m", "")))
+    max_speed_edit = QLineEdit(str(controllers.get("max_speed_mps", "")))
+    max_accel_edit = QLineEdit(str(controllers.get("max_accel_mps2", "")))
+    control_frequency_edit = QLineEdit(str(controllers.get("control_frequency_hz", "")))
+
+    name_edit.textChanged.connect(lambda text: file_name_label.setText(vehicle_profile_filename(text)))
+    grid.addWidget(QLabel("保存文件"), 0, 0)
+    grid.addWidget(file_name_label, 0, 1, 1, 2)
+    grid.addWidget(QLabel("画像名称"), 1, 0)
+    grid.addWidget(name_edit, 1, 1)
+    grid.addWidget(QLabel("车型名称"), 1, 2)
+    grid.addWidget(model_edit, 1, 3, 1, 2)
+    grid.addWidget(QLabel("底盘类型"), 2, 0)
+    grid.addWidget(chassis_type_combo, 2, 1, 1, 2)
+    grid.addWidget(QLabel("车长 m"), 3, 0)
+    grid.addWidget(length_edit, 3, 1)
+    grid.addWidget(QLabel("车宽 m"), 3, 2)
+    grid.addWidget(width_edit, 3, 3)
+    grid.addWidget(QLabel("车高 m"), 3, 4)
+    grid.addWidget(height_edit, 3, 5)
+    grid.addWidget(QLabel("离地间隙 m"), 4, 0)
+    grid.addWidget(ground_clearance_edit, 4, 1)
+    grid.addWidget(QLabel("轴距 m"), 4, 2)
+    grid.addWidget(wheel_base_edit, 4, 3)
+    grid.addWidget(QLabel("轮距 m"), 4, 4)
+    grid.addWidget(track_width_edit, 4, 5)
+    grid.addWidget(QLabel("轮半径 m"), 5, 0)
+    grid.addWidget(wheel_radius_edit, 5, 1)
+    grid.addWidget(QLabel("最大转角 rad"), 5, 2)
+    grid.addWidget(max_steering_angle_edit, 5, 3)
+    grid.addWidget(QLabel("最小转弯半径 m"), 5, 4)
+    grid.addWidget(min_turning_radius_edit, 5, 5)
+    grid.addWidget(QLabel("最大速度 m/s"), 6, 0)
+    grid.addWidget(max_speed_edit, 6, 1)
+    grid.addWidget(QLabel("最大加速度 m/s²"), 6, 2)
+    grid.addWidget(max_accel_edit, 6, 3)
+    grid.addWidget(QLabel("控制频率 Hz"), 6, 4)
+    grid.addWidget(control_frequency_edit, 6, 5)
+
+    sensor_fields: dict[str, tuple[QCheckBox, QLineEdit, QComboBox | None]] = {}
+    sensors = source_payload.get("sensors", {})
+    if not isinstance(sensors, dict):
+        sensors = {}
+    sensor_labels = [
+        ("front_camera", "前视相机 ID"),
+        ("down_camera", "下视相机 ID"),
+        ("lidar_3d", "3D 雷达 ID"),
+        ("lidar_2d", "2D 雷达 ID"),
+        ("imu", "IMU ID"),
+        ("arm_camera", "手眼相机 ID"),
+    ]
+    start_row = 7
+    for index, (sensor_key, label) in enumerate(sensor_labels):
+        row = start_row + index // 2
+        column = (index % 2) * 3
+        sensor_profile = sensors.get(sensor_key, {})
+        sensor_id = sensor_profile.get("sensor_id", "") if isinstance(sensor_profile, dict) else ""
+        enabled = bool_from_text(sensor_profile.get("enabled", True)) if isinstance(sensor_profile, dict) else False
+        installed_check = QCheckBox(label.replace(" ID", ""))
+        installed_check.setChecked(enabled)
+        edit = QLineEdit(str(sensor_id))
+        edit.setEnabled(enabled)
+        mount_combo: QComboBox | None = None
+        if sensor_key == "arm_camera":
+            mount_combo = QComboBox()
+            mount_combo.addItem("眼在手上", "eye_in_hand")
+            mount_combo.addItem("眼在手外", "eye_to_hand")
+            mount_type = sensor_profile.get("camera_mount_type", "eye_in_hand") if isinstance(sensor_profile, dict) else "eye_in_hand"
+            combo_index = mount_combo.findData(mount_type)
+            mount_combo.setCurrentIndex(combo_index if combo_index >= 0 else 0)
+            mount_combo.setEnabled(enabled)
+            installed_check.stateChanged.connect(
+                lambda _state, line_edit=edit, combo=mount_combo, check=installed_check: (
+                    line_edit.setEnabled(check.isChecked()),
+                    combo.setEnabled(check.isChecked()),
+                )
+            )
+        else:
+            installed_check.stateChanged.connect(
+                lambda _state, line_edit=edit, check=installed_check: line_edit.setEnabled(check.isChecked())
+            )
+        sensor_fields[sensor_key] = (installed_check, edit, mount_combo)
+        grid.addWidget(installed_check, row, column)
+        if mount_combo is None:
+            grid.addWidget(edit, row, column + 1, 1, 2)
+        else:
+            grid.addWidget(edit, row, column + 1)
+            grid.addWidget(mount_combo, row, column + 2)
+
+    buttons = QDialogButtonBox()
+    save_btn = buttons.addButton("保存", QDialogButtonBox.AcceptRole)
+    close_btn = buttons.addButton("关闭", QDialogButtonBox.RejectRole)
+    layout.addWidget(buttons)
+
+    def build_payload() -> dict[str, Any] | None:
+        required_values = [
+            length_edit.text().strip(),
+            width_edit.text().strip(),
+            height_edit.text().strip(),
+            wheel_base_edit.text().strip(),
+            track_width_edit.text().strip(),
+            wheel_radius_edit.text().strip(),
+        ]
+        if not all(is_positive_number(value) for value in required_values):
+            QMessageBox.warning(dialog, "画像不完整", "车辆长宽高、轴距、轮距、轮半径必须填写正数。")
+            return None
+        loaded_sensors = source_payload.get("sensors", {})
+        if not isinstance(loaded_sensors, dict):
+            loaded_sensors = {}
+        sensor_payload: dict[str, dict[str, Any]] = {}
+        for sensor_key, (installed_check, edit, mount_combo) in sensor_fields.items():
+            if not installed_check.isChecked():
+                continue
+            existing = loaded_sensors.get(sensor_key, {})
+            if not isinstance(existing, dict):
+                existing = {}
+            if not edit.text().strip():
+                QMessageBox.warning(dialog, "传感器编号缺失", f"{installed_check.text()}已选择安装，请填写编号。")
+                return None
+            mount_type = existing.get("camera_mount_type", "eye_in_hand" if sensor_key == "arm_camera" else "unspecified")
+            if mount_combo is not None:
+                mount_type = str(mount_combo.currentData() or "eye_in_hand")
+            sensor_payload[sensor_key] = {
+                "sensor_id": edit.text().strip(),
+                "sensor_name": existing.get("sensor_name", sensor_key),
+                "frame_id": existing.get("frame_id", f"{sensor_key}_link"),
+                "sensor_type": existing.get("sensor_type", sensor_key),
+                "camera_mount_type": mount_type,
+                "enabled": True,
+                "needs_intrinsic_calibration": existing.get("needs_intrinsic_calibration", sensor_key in {"front_camera", "down_camera", "imu"}),
+                "needs_extrinsic_calibration": existing.get("needs_extrinsic_calibration", True),
+            }
+        return {
+            "schema_version": 1,
+            "profile_name": name_edit.text().strip() or "unnamed_vehicle_profile",
+            "display_name": name_edit.text().strip() or "未命名车辆画像",
+            "model_name": model_edit.text().strip(),
+            "manufacturer": source_payload.get("manufacturer", ""),
+            "profile_version": source_payload.get("profile_version", "v1"),
+            "description": source_payload.get("description", ""),
+            "base_link_frame": read_nested(self.site_profile, ("frames", "base_link"), "base_link"),
+            "geometry": {
+                "length_m": length_edit.text().strip(),
+                "width_m": width_edit.text().strip(),
+                "height_m": height_edit.text().strip(),
+                "ground_clearance_m": ground_clearance_edit.text().strip(),
+            },
+            "chassis": {
+                "chassis_type": str(chassis_type_combo.currentData() or "ackermann"),
+                "wheel_base_m": wheel_base_edit.text().strip(),
+                "track_width_m": track_width_edit.text().strip(),
+                "wheel_radius_m": wheel_radius_edit.text().strip(),
+                "max_steering_angle_rad": max_steering_angle_edit.text().strip(),
+                "min_turning_radius_m": min_turning_radius_edit.text().strip(),
+            },
+            "sensors": sensor_payload,
+            "controllers": {
+                "lateral_default": controllers.get("lateral_default", "mpc"),
+                "longitudinal_default": controllers.get("longitudinal_default", "pid"),
+                "max_speed_mps": max_speed_edit.text().strip(),
+                "max_accel_mps2": max_accel_edit.text().strip(),
+                "control_frequency_hz": control_frequency_edit.text().strip(),
+            },
+        }
+
+    def save_to_path(target_path: Path) -> bool:
+        payload = build_payload()
+        if payload is None:
+            return False
+        target_path.parent.mkdir(parents=True, exist_ok=True)
+        target_path.write_text(dump_yaml(payload), encoding="utf-8")
+        self.vehicle_profile_data = payload
+        self.vehicle_profile_path_edit.setText(str(target_path))
+        self.vehicle_profile_name_edit.setText(str(payload["profile_name"]))
+        self.vehicle_model_name_edit.setText(str(payload["model_name"]))
+        self.vehicle_manufacturer_edit.setText(str(payload.get("manufacturer", "")))
+        self.apply_vehicle_profile_to_ui(payload)
+        self.refresh_vehicle_profile_combo()
+        self.append_log(f"[车辆画像] 已保存：{target_path}")
+        self.refresh_all()
+        return True
+
+    def save_current() -> None:
+        target_path = vehicle_profile_path_from_name(name_edit.text())
+        if save_to_path(target_path):
+            dialog.accept()
+
+    save_btn.clicked.connect(save_current)
+    close_btn.clicked.connect(dialog.reject)
+    dialog.exec()
@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.8)
+project(vehicle_internal_interfaces)
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(calibration_vehicle_profile_interfaces REQUIRED)
+
+set(msg_files
+  "msg/VehicleControlMode.msg"
+  "msg/AckermannDriveCommand.msg"
+  "msg/VehicleSafetyCommand.msg"
+  "msg/AckermannActuatorState.msg"
+  "msg/VehicleInternalState.msg"
+  "msg/VehicleHealthStatus.msg"
+  "msg/VehicleTimeSyncStatus.msg"
+  "msg/SensorLinkStatus.msg"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES calibration_vehicle_profile_interfaces
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
@@ -0,0 +1,17 @@
+# 车辆内部接口
+
+这个包定义车端电脑和车辆本体之间的内部 ROS2 消息。
+
+它不直接作为车间电脑和车端电脑之间的 WiFi6 协议。WiFi6 对外协议仍由 `calibration_*_interfaces/proto` 定义。这个包用于把真实 Windows 小车的 CAN、串口、厂商 SDK 或仿真 Isaac topic 统一映射成车端内部语义。
+
+当前消息包括：
+
+- `AckermannDriveCommand`：阿克曼底盘速度、转角、制动、超时命令。
+- `VehicleSafetyCommand`：上使能、下使能、急停、清故障、标定低速模式。
+- `AckermannActuatorState`：速度、转角、轮速、电机电流、制动/油门反馈。
+- `VehicleInternalState`：车辆模式、安全状态、底盘执行器状态、电源与运动状态。
+- `VehicleHealthStatus`：控制器在线、总线状态、通信质量和车端资源状态。
+- `VehicleTimeSyncStatus`：车端、传感器、外部真值之间的时间同步状态。
+- `SensorLinkStatus`：车载传感器在线状态、帧率、丢帧和延迟。
+
+仿真中，`vehicle_agent_sim` 会把车间电脑下发的控制请求转换为 `AckermannDriveCommand`，同时继续发布 Isaac 当前需要的 `cmd_vel`。真实部署时，Windows 车端应把这些内部消息映射到实际车辆接口。
@@ -0,0 +1,35 @@
+# =========================================================
+# 阿克曼底盘内部执行器状态
+# 发送方：车辆控制器 / Isaac 底盘执行器适配层
+# 接收方：车端电脑
+# =========================================================
+
+# 状态时间戳
+int64 hardware_timestamp_us
+
+# 实际纵向速度
+float64 actual_speed_ms
+# 实际纵向加速度
+float64 actual_accel_ms2
+# 实际前轮等效转角
+float64 actual_steering_angle_rad
+# 实际转向角速度
+float64 actual_steering_rate_rads
+
+# 左后驱动轮速度
+float64 rear_left_wheel_speed_ms
+# 右后驱动轮速度
+float64 rear_right_wheel_speed_ms
+# 左前轮等效转角
+float64 front_left_steering_angle_rad
+# 右前轮等效转角
+float64 front_right_steering_angle_rad
+
+# 驱动电机电流
+float64 drive_motor_current_amp
+# 转向电机电流
+float64 steering_motor_current_amp
+# 制动压力或制动比例，范围 [0, 1]
+float64 brake_pressure
+# 驱动控制输出，范围 [0, 1]
+float64 throttle_output
@@ -0,0 +1,33 @@
+# =========================================================
+# 阿克曼底盘内部控制命令
+# 发送方：车端电脑
+# 接收方：车辆运动控制器 / Isaac 底盘执行器适配层
+# =========================================================
+
+# 命令时间戳
+int64 command_timestamp_us
+# 命令 ID，用于追踪和去重
+string command_id
+# 命令来源，例如 vehicle_agent_sim / real_vehicle_agent
+string source
+# 控制模式
+vehicle_internal_interfaces/VehicleControlMode control_mode
+
+# 目标纵向速度
+float64 target_speed_ms
+# 目标纵向加速度；0 表示由车辆控制器默认限幅
+float64 target_accel_ms2
+# 目标前轮等效转角，左正右负
+float64 target_steering_angle_rad
+# 目标转向角速度；0 表示由车辆控制器默认限幅
+float64 target_steering_rate_rads
+
+# 制动命令，范围 [0, 1]
+float64 brake_command
+# 油门 / 驱动命令，范围 [0, 1]；仿真可选
+float64 throttle_command
+# 命令超时时间
+float64 command_timeout_sec
+
+# 是否要求控制器在超时或任务结束后停车
+bool stop_when_timeout
@@ -0,0 +1,33 @@
+# =========================================================
+# 车端传感器链路状态
+# 发送方：车端传感器代理
+# 接收方：车端电脑 / 车间电脑桥接层
+# =========================================================
+
+# 状态时间戳
+int64 hardware_timestamp_us
+
+# 传感器 ID
+string sensor_id
+# 传感器类型
+calibration_vehicle_profile_interfaces/SensorType sensor_type
+# 传感器 frame
+string frame_id
+# 车端订阅或驱动 topic / 通道名
+string source_channel
+
+# 是否在线
+bool online
+# 当前帧率
+float64 frame_rate_hz
+# 最近一帧年龄
+float64 latest_frame_age_ms
+# 累计帧数
+uint64 frame_count
+# 丢帧比例
+float64 dropped_frame_ratio
+# 最近一帧传输延迟
+float64 latest_transport_latency_ms
+
+# 当前链路状态说明
+string status_message
@@ -0,0 +1,15 @@
+# =========================================================
+# 车辆内部控制模式
+# 作用：车端电脑与车辆控制器之间约定当前车辆控制状态
+# =========================================================
+
+uint8 MODE_UNSPECIFIED=0
+uint8 DISABLED=1
+uint8 MANUAL=2
+uint8 AUTO=3
+uint8 CALIBRATION=4
+uint8 ESTOP=5
+uint8 FAULT=6
+
+# 当前模式
+uint8 value
@@ -0,0 +1,40 @@
+# =========================================================
+# 车辆内部健康诊断状态
+# 发送方：车端电脑 / 车辆控制器
+# 接收方：车端电脑内部监控或车间电脑桥接层
+# =========================================================
+
+# 状态时间戳
+int64 hardware_timestamp_us
+
+# 车端电脑进程是否在线
+bool vehicle_agent_online
+# 车辆主控制器是否在线
+bool vehicle_controller_online
+# 驱动控制器是否在线
+bool drive_controller_online
+# 转向控制器是否在线
+bool steering_controller_online
+# 传感器总线是否在线
+bool sensor_bus_online
+# CAN 或厂商控制链路是否在线
+bool vehicle_bus_online
+# 外部真值链路是否在线
+bool external_truth_link_online
+
+# 通信质量
+float64 vehicle_bus_rx_hz
+float64 vehicle_bus_drop_ratio
+float64 command_latency_ms
+float64 telemetry_latency_ms
+
+# 车端电脑资源
+float64 cpu_load_ratio
+float64 memory_used_ratio
+float64 disk_used_ratio
+float64 temperature_c
+
+# 诊断摘要
+bool healthy
+string diagnostic_code
+string diagnostic_message
@@ -0,0 +1,35 @@
+# =========================================================
+# 车辆内部综合状态
+# 发送方：车辆控制器 / Isaac 底盘执行器适配层
+# 接收方：车端电脑
+# =========================================================
+
+# 状态时间戳
+int64 hardware_timestamp_us
+# 当前控制模式
+vehicle_internal_interfaces/VehicleControlMode current_mode
+
+# 车辆是否已上使能
+bool vehicle_enabled
+# 急停是否触发
+bool estop_engaged
+# 是否处于低速标定模式
+bool calibration_low_speed_mode
+# 是否存在故障
+bool fault_active
+# 主故障码
+string primary_fault_code
+# 主故障说明
+string primary_fault_message
+
+# 当前底盘状态
+vehicle_internal_interfaces/AckermannActuatorState ackermann_state
+
+# 电源状态
+float64 battery_voltage_v
+float64 battery_current_amp
+float64 battery_soc
+
+# 车辆运动状态
+float64 yaw_rate_rads
+float64 lateral_accel_ms2
@@ -0,0 +1,30 @@
+# =========================================================
+# 车辆内部安全命令
+# 发送方：车端电脑
+# 接收方：车辆安全控制器 / 底盘控制器
+# =========================================================
+
+# 命令时间戳
+int64 command_timestamp_us
+# 命令 ID
+string command_id
+# 命令来源
+string source
+
+# 上使能车辆
+bool enable_vehicle
+# 下使能车辆
+bool disable_vehicle
+# 触发急停
+bool engage_estop
+# 解除急停
+bool release_estop
+# 清除可恢复故障
+bool clear_faults
+# 切换到标定低速安全模式
+bool enter_calibration_low_speed_mode
+# 退出标定低速安全模式
+bool exit_calibration_low_speed_mode
+
+# 操作原因
+string reason
@@ -0,0 +1,27 @@
+# =========================================================
+# 车辆内部时间同步状态
+# 发送方：车端电脑
+# 接收方：车间电脑桥接层 / 车端诊断
+# =========================================================
+
+# 状态时间戳
+int64 hardware_timestamp_us
+
+# 同步源，例如 ptp / ntp / external_truth / sim_clock
+string sync_source
+# 是否认为已同步
+bool synchronized
+
+# 车端系统时钟相对传感器硬件时钟偏差
+float64 system_to_sensor_offset_ms
+# 车端系统时钟相对外部真值时钟偏差
+float64 system_to_external_truth_offset_ms
+# 同步抖动
+float64 jitter_ms
+# 近期最大时间同步误差
+float64 max_offset_ms
+# 时间同步链路延迟
+float64 sync_transport_latency_ms
+
+# 说明
+string status_message
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>vehicle_internal_interfaces</name>
+  <version>0.0.1</version>
+  <description>ROS 2 interfaces for vehicle-computer to vehicle-controller internal communication.</description>
+
+  <maintainer email="user@example.com">user</maintainer>
+  <license>Proprietary</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>calibration_vehicle_profile_interfaces</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
@@ -0,0 +1,73 @@
+cmake_minimum_required(VERSION 3.8)
+project(calibration_chassis_interfaces)
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(action_msgs REQUIRED)
+find_package(calibration_common_interfaces REQUIRED)
+find_package(calibration_vehicle_profile_interfaces REQUIRED)
+
+set(msg_files
+  "msg/ChassisWorkMode.msg"
+  "msg/ChassisWorkModeRequest.msg"
+  "msg/ChassisReadinessResponse.msg"
+  "msg/ChassisCapabilityRequest.msg"
+  "msg/ChassisCapabilityResponse.msg"
+  "msg/StraightLineCommand.msg"
+  "msg/ArcCommand.msg"
+  "msg/InPlaceRotationCommand.msg"
+  "msg/SteeringSweepCommand.msg"
+  "msg/LateralTranslationCommand.msg"
+  "msg/DiagonalMotionCommand.msg"
+  "msg/ModuleAlignmentCheckCommand.msg"
+  "msg/CoordinatedSteeringCommand.msg"
+  "msg/MotionPrimitiveTaskPurpose.msg"
+  "msg/ChassisMotionPrimitiveType.msg"
+  "msg/MotionPrimitiveRequest.msg"
+  "msg/StreamChassisTelemetryRequest.msg"
+  "msg/WheelModuleState.msg"
+  "msg/ChassisTelemetry.msg"
+  "msg/CommonChassisCalibrationParams.msg"
+  "msg/AckermannCalibrationParams.msg"
+  "msg/DifferentialCalibrationParams.msg"
+  "msg/SingleSteerWheelCalibrationParams.msg"
+  "msg/SteeringModuleCalibrationParam.msg"
+  "msg/MultiSteerWheelCalibrationParams.msg"
+  "msg/ChassisSpecificParamsType.msg"
+  "msg/ChassisCalibrationParameterSet.msg"
+  "msg/ChassisValidationSummary.msg"
+  "msg/CommitChassisCalibrationParametersRequest.msg"
+  "msg/GetAppliedChassisCalibrationParametersRequest.msg"
+  "msg/AppliedChassisCalibrationParametersResponse.msg"
+  "msg/ChassisJobResult.msg"
+)
+
+set(srv_files
+  "srv/Heartbeat.srv"
+  "srv/GetChassisReadiness.srv"
+  "srv/SetChassisWorkMode.srv"
+  "srv/GetChassisCapability.srv"
+  "srv/StartMotionPrimitive.srv"
+  "srv/GetChassisJobStatus.srv"
+  "srv/GetChassisJobResult.srv"
+  "srv/CancelChassisJob.srv"
+  "srv/StreamChassisTelemetry.srv"
+  "srv/CommitChassisCalibrationParameters.srv"
+  "srv/GetAppliedChassisCalibrationParameters.srv"
+  "srv/EmergencyBrake.srv"
+)
+
+set(action_files
+  "action/ExecuteMotionPrimitive.action"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  ${srv_files}
+  ${action_files}
+  DEPENDENCIES std_msgs action_msgs calibration_common_interfaces calibration_vehicle_profile_interfaces
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
@@ -0,0 +1,51 @@
+calibration_chassis_interfaces/
+  CMakeLists.txt
+  package.xml
+  msg/
+    AckermannCalibrationParams.msg
+    AppliedChassisCalibrationParametersResponse.msg
+    ArcCommand.msg
+    ChassisCalibrationParameterSet.msg
+    ChassisCapabilityRequest.msg
+    ChassisCapabilityResponse.msg
+    ChassisJobResult.msg
+    ChassisMotionPrimitiveType.msg
+    ChassisReadinessResponse.msg
+    ChassisSpecificParamsType.msg
+    ChassisTelemetry.msg
+    ChassisValidationSummary.msg
+    ChassisWorkMode.msg
+    ChassisWorkModeRequest.msg
+    CommitChassisCalibrationParametersRequest.msg
+    CommonChassisCalibrationParams.msg
+    CoordinatedSteeringCommand.msg
+    DiagonalMotionCommand.msg
+    DifferentialCalibrationParams.msg
+    GetAppliedChassisCalibrationParametersRequest.msg
+    InPlaceRotationCommand.msg
+    LateralTranslationCommand.msg
+    ModuleAlignmentCheckCommand.msg
+    MotionPrimitiveRequest.msg
+    MotionPrimitiveTaskPurpose.msg
+    MultiSteerWheelCalibrationParams.msg
+    SingleSteerWheelCalibrationParams.msg
+    SteeringModuleCalibrationParam.msg
+    SteeringSweepCommand.msg
+    StraightLineCommand.msg
+    StreamChassisTelemetryRequest.msg
+    WheelModuleState.msg
+  srv/
+    CancelChassisJob.srv
+    CommitChassisCalibrationParameters.srv
+    EmergencyBrake.srv
+    GetAppliedChassisCalibrationParameters.srv
+    GetChassisCapability.srv
+    GetChassisJobResult.srv
+    GetChassisJobStatus.srv
+    GetChassisReadiness.srv
+    Heartbeat.srv
+    SetChassisWorkMode.srv
+    StartMotionPrimitive.srv
+    StreamChassisTelemetry.srv
+  action/
+    ExecuteMotionPrimitive.action
@@ -0,0 +1,22 @@
+# =========================================================
+# 底盘动作原语执行 Action
+# 作用：执行一个完整的底盘动作原语任务
+# 来源：
+# 1) StartMotionPrimitive
+# 2) GetChassisJobStatus
+# 3) GetChassisJobResult
+# 4) CancelChassisJob
+# 说明：
+# 1) goal 对应 MotionPrimitiveRequest
+# 2) result 对应 ChassisJobResult
+# 3) feedback 统一复用 common 的 JobStatus
+# =========================================================
+
+# Goal：底盘动作原语请求
+MotionPrimitiveRequest goal
+---
+# Result：底盘动作任务最终结果
+ChassisJobResult result
+---
+# Feedback：执行过程中的状态反馈
+calibration_common_interfaces/JobStatus feedback
@@ -0,0 +1,25 @@
+# =========================================================
+# 阿克曼专属参数
+# 作用：适用于阿克曼车
+# 说明：proto optional 在 ROS2 中用 has_xxx + xxx 保真
+# =========================================================
+
+bool has_front_left_steer_zero_offset_deg
+# 左前舵角零偏
+float64 front_left_steer_zero_offset_deg
+
+bool has_front_right_steer_zero_offset_deg
+# 右前舵角零偏
+float64 front_right_steer_zero_offset_deg
+
+bool has_rear_left_wheel_radius_m
+# 左后轮有效半径
+float64 rear_left_wheel_radius_m
+
+bool has_rear_right_wheel_radius_m
+# 右后轮有效半径
+float64 rear_right_wheel_radius_m
+
+bool has_steering_ratio
+# 转向传动比
+float64 steering_ratio
@@ -0,0 +1,16 @@
+# =========================================================
+# 查询当前已生效底盘参数响应
+# =========================================================
+
+# 是否成功
+bool success
+# 错误码
+calibration_common_interfaces/ErrorCode error_code
+# 说明
+string message
+# 当前版本
+string parameter_version
+# 当前生效参数
+ChassisCalibrationParameterSet params
+# 生效时间
+int64 applied_timestamp_us
@@ -0,0 +1,13 @@
+# =========================================================
+# 圆弧动作命令
+# 作用：用于验证曲线行驶能力和曲率误差
+# =========================================================
+
+# 目标线速度（m/s）
+float64 target_speed_ms
+# 目标半径（m）
+float64 radius_m
+# 圆弧扫角（度）
+float64 sweep_angle_deg
+# 是否顺时针
+bool clockwise
@@ -0,0 +1,24 @@
+# =========================================================
+# 底盘标定参数总包
+# 作用：统一表达不同底盘类型的标定结果
+# 说明：
+# 1) proto 中 specific_params 为 oneof
+# 2) ROS2 中通过 selected_specific_params + 全部 payload 字段共同表达
+# =========================================================
+
+# 底盘类型
+calibration_vehicle_profile_interfaces/ChassisType chassis_type
+# 通用参数
+CommonChassisCalibrationParams common
+
+# 当前生效的专属参数类型
+ChassisSpecificParamsType selected_specific_params
+
+# 阿克曼参数
+AckermannCalibrationParams ackermann
+# 差速参数
+DifferentialCalibrationParams differential
+# 单舵轮参数
+SingleSteerWheelCalibrationParams single_steer
+# 多舵轮参数
+MultiSteerWheelCalibrationParams multi_steer
@@ -0,0 +1,7 @@
+# =========================================================
+# 查询底盘能力请求
+# 作用：运行前确认当前车辆支持哪些动作
+# =========================================================
+
+# 请求头
+calibration_common_interfaces/RequestHeader header
@@ -0,0 +1,33 @@
+# =========================================================
+# 查询底盘能力响应
+# 作用：返回当前车辆底盘形式和支持的动作原语
+# =========================================================
+
+# 是否成功
+bool success
+# 错误码
+calibration_common_interfaces/ErrorCode error_code
+# 说明
+string message
+# 底盘类型
+calibration_vehicle_profile_interfaces/ChassisType chassis_type
+
+# 是否支持直线动作
+bool supports_straight_line
+# 是否支持圆弧动作
+bool supports_arc
+# 是否支持原地旋转
+bool supports_in_place_rotation
+# 是否支持舵角扫动
+bool supports_steer_sweep
+# 是否支持倒车动作
+bool supports_reverse_motion
+
+# 是否支持横移动作
+bool supports_lateral_translation
+# 是否支持斜移动作
+bool supports_diagonal_motion
+# 是否支持模块零位检查
+bool supports_module_alignment_check
+# 是否支持模块协同转向
+bool supports_coordinated_steering
@@ -0,0 +1,29 @@
+# =========================================================
+# 底盘任务结果
+# 作用：返回底盘动作执行后的分析摘要，供编排器判断是否可进入下一步
+# =========================================================
+
+# 是否成功
+bool success
+# 错误码
+calibration_common_interfaces/ErrorCode error_code
+# 说明
+string message
+# 任务 ID
+string job_id
+
+# 数据质量是否达标
+bool data_quality_passed
+# 是否适合写入参数
+bool suitable_for_commit
+# 推荐参数版本
+string recommended_parameter_version
+
+# 估计的直线跑偏
+float64 estimated_straight_line_bias
+# 验证摘要
+ChassisValidationSummary validation_summary
+# 本轮估计参数
+ChassisCalibrationParameterSet estimated_params
+# 关联产物
+calibration_common_interfaces/FileReference[] artifacts
@@ -0,0 +1,17 @@
+# =========================================================
+# 底盘动作原语类型
+# 作用：补足 proto oneof primitive 的 ROS2 表达
+# =========================================================
+
+uint8 CHASSIS_MOTION_PRIMITIVE_UNSPECIFIED=0
+uint8 STRAIGHT_LINE=1
+uint8 ARC=2
+uint8 IN_PLACE_ROTATION=3
+uint8 STEERING_SWEEP=4
+uint8 LATERAL_TRANSLATION=5
+uint8 DIAGONAL_MOTION=6
+uint8 MODULE_ALIGNMENT=7
+uint8 COORDINATED_STEERING=8
+
+# 当前动作原语取值
+uint8 value
@@ -0,0 +1,28 @@
+# =========================================================
+# 底盘服务就绪响应
+# 作用：返回当前底盘服务是否满足执行条件
+# =========================================================
+
+# 是否成功
+bool success
+# 错误码
+calibration_common_interfaces/ErrorCode error_code
+# 说明
+string message
+
+# 服务本身是否就绪
+bool agent_ready
+# 底盘驱动是否在线
+bool chassis_driver_online
+# 运控链路是否可执行动作
+bool motion_control_ready
+# 急停是否释放
+bool estop_released
+# 当前车辆是否允许移动
+bool vehicle_safe_to_move
+# 是否可回传遥测
+bool telemetry_available
+# 不满足项
+calibration_common_interfaces/ReadinessIssue[] issues
+# 检查时间
+int64 checked_timestamp_us
@@ -0,0 +1,13 @@
+# =========================================================
+# 底盘专属参数类型
+# 作用：补足 proto oneof specific_params 的 ROS2 表达
+# =========================================================
+
+uint8 CHASSIS_SPECIFIC_PARAMS_UNSPECIFIED=0
+uint8 ACKERMANN=1
+uint8 DIFFERENTIAL=2
+uint8 SINGLE_STEER=3
+uint8 MULTI_STEER=4
+
+# 当前专属参数类型取值
+uint8 value
@@ -0,0 +1,37 @@
+# =========================================================
+# 底盘遥测数据
+# 作用：回传原始底盘状态供 Linux 做误差分析
+# 发送方：Windows 车端代理
+# 接收方：Ubuntu 车间电脑
+# =========================================================
+
+# 硬件时间戳
+int64 hardware_timestamp_us
+# 当前底盘类型
+calibration_vehicle_profile_interfaces/ChassisType chassis_type
+
+# 车端里程计 X（m）
+float64 odom_x_m
+# 车端里程计 Y（m）
+float64 odom_y_m
+# 车端里程计偏航角（rad）
+float64 odom_yaw_rad
+# 实际线速度（m/s）
+float64 linear_velocity_ms
+# 实际角速度（rad/s）
+float64 angular_velocity_rads
+
+# 所有轮 / 舵模块状态
+WheelModuleState[] modules
+
+# 是否急停
+bool estop_engaged
+# 驱动器错误码
+uint32 driver_error_code
+# 当前任务 ID
+string active_job_id
+
+# 估计横向滑移
+float64 lateral_slip_estimate
+# 估计曲率
+float64 curvature_estimate
@@ -0,0 +1,21 @@
+# =========================================================
+# 底盘验证摘要
+# 作用：返回底盘专项自动验收的关键指标
+# =========================================================
+
+# 最大横向误差
+float64 max_lateral_error_m
+# 最大航向误差
+float64 max_yaw_error_rad
+# 横向误差均方根
+float64 rms_lateral_error_m
+# 航向误差均方根
+float64 rms_yaw_error_rad
+# 重复性误差
+float64 repeatability_error_m
+# 曲率误差
+float64 curvature_error
+# 模块一致性误差
+float64 module_consistency_error
+# 自动验收是否通过
+bool auto_acceptance_passed
@@ -0,0 +1,14 @@
+# =========================================================
+# 底盘工作模式
+# 来源：ChassisWorkModeRequest.Mode
+# 作用：切换底盘到标定准备、直接执行、验证等模式
+# =========================================================
+
+uint8 CHASSIS_MODE_UNSPECIFIED=0
+uint8 NORMAL_MODE=1
+uint8 CALIBRATION_READY_MODE=2
+uint8 DIRECT_EXECUTION_MODE=3
+uint8 VALIDATION_MODE=4
+
+# 当前模式取值
+uint8 value
@@ -0,0 +1,11 @@
+# =========================================================
+# 底盘工作模式请求
+# 作用：切换底盘到不同工作模式
+# =========================================================
+
+# 请求头
+calibration_common_interfaces/RequestHeader header
+# 目标模式
+ChassisWorkMode target_mode
+# 切换原因
+string reason
@@ -0,0 +1,17 @@
+# =========================================================
+# 写入底盘标定参数请求
+# 作用：将 Linux 求解结果写入车端
+# =========================================================
+
+# 请求头
+calibration_common_interfaces/RequestHeader header
+# 参数版本号
+string parameter_version
+# 参数总包
+ChassisCalibrationParameterSet params
+# 写入原因
+string commit_reason
+# 参数摘要
+calibration_common_interfaces/FileDigest digest
+# 是否持久化
+bool persistent_write
@@ -0,0 +1,29 @@
+# =========================================================
+# 通用底盘参数
+# 作用：不同底盘形式都可能共用的几何 / 补偿参数
+# 说明：proto optional 在 ROS2 中用 has_xxx + xxx 保真
+# =========================================================
+
+bool has_effective_wheel_base_m
+# 有效轴距（m）
+float64 effective_wheel_base_m
+
+bool has_effective_track_width_m
+# 有效轮距（m）
+float64 effective_track_width_m
+
+bool has_longitudinal_scale
+# 纵向里程比例补偿
+float64 longitudinal_scale
+
+bool has_lateral_scale
+# 横向里程比例补偿
+float64 lateral_scale
+
+bool has_yaw_scale
+# 航向比例补偿
+float64 yaw_scale
+
+bool has_straight_line_bias
+# 直线跑偏补偿
+float64 straight_line_bias
@@ -0,0 +1,11 @@
+# =========================================================
+# 模块协同转向命令
+# 作用：用于多舵轮模块协同转向与一致性测试
+# =========================================================
+
+# 参与测试的模块 ID 列表
+string[] module_ids
+# 目标舵角（度）
+float64 target_angle_deg
+# 保持时长（秒）
+float64 hold_time_sec
@@ -0,0 +1,11 @@
+# =========================================================
+# 斜移动作命令
+# 作用：用于多舵轮底盘斜向运动能力测试
+# =========================================================
+
+# 目标速度（m/s）
+float64 target_speed_ms
+# 目标距离（m）
+float64 target_distance_m
+# 目标运动方向角（度）
+float64 heading_deg
@@ -0,0 +1,25 @@
+# =========================================================
+# 差速专属参数
+# 作用：适用于差速 AGV
+# 说明：proto optional 在 ROS2 中用 has_xxx + xxx 保真
+# =========================================================
+
+bool has_left_wheel_radius_m
+# 左轮有效半径
+float64 left_wheel_radius_m
+
+bool has_right_wheel_radius_m
+# 右轮有效半径
+float64 right_wheel_radius_m
+
+bool has_axle_track_width_m
+# 驱动轮间距
+float64 axle_track_width_m
+
+bool has_left_encoder_scale
+# 左编码器比例系数
+float64 left_encoder_scale
+
+bool has_right_encoder_scale
+# 右编码器比例系数
+float64 right_encoder_scale
@@ -0,0 +1,6 @@
+# =========================================================
+# 查询当前已生效底盘参数请求
+# =========================================================
+
+# 请求头
+calibration_common_interfaces/RequestHeader header
@@ -0,0 +1,9 @@
+# =========================================================
+# 原地旋转动作命令
+# 作用：用于差速、多舵轮等底盘的旋转能力测试
+# =========================================================
+
+# 目标旋转角（度）
+float64 target_yaw_deg
+# 目标角速度（度/秒）
+float64 target_angular_vel_deg_s
@@ -0,0 +1,11 @@
+# =========================================================
+# 横移动作命令
+# 作用：用于多舵轮底盘横向平移能力测试
+# =========================================================
+
+# 目标横移速度（m/s）
+float64 target_speed_ms
+# 目标横移距离（m）
+float64 target_distance_m
+# 是否向左移动
+bool move_left
@@ -0,0 +1,11 @@
+# =========================================================
+# 模块零位检查命令
+# 作用：用于多舵轮每个舵轮模块零位与安装状态检查
+# =========================================================
+
+# 待检查模块 ID 列表
+string[] module_ids
+# 目标零位角（度）
+float64 target_zero_deg
+# 允许误差（度）
+float64 tolerance_deg
@@ -0,0 +1,44 @@
+# =========================================================
+# 底盘动作原语请求
+# 作用：让车端执行一个标准化动作
+# 发送方：Ubuntu 车间电脑
+# 接收方：Windows 车端代理
+# 说明：
+# 1) proto 中使用 oneof primitive
+# 2) ROS2 中通过 selected_primitive + 全部 payload 字段共同表达
+# =========================================================
+
+# 请求头
+calibration_common_interfaces/RequestHeader header
+# 测试用例 ID
+string test_case_id
+
+# 任务目的
+MotionPrimitiveTaskPurpose task_purpose
+
+# 当前生效的动作原语类型
+ChassisMotionPrimitiveType selected_primitive
+
+# 直线动作
+StraightLineCommand straight_line
+# 圆弧动作
+ArcCommand arc
+# 原地旋转
+InPlaceRotationCommand in_place_rotation
+# 舵角扫动
+SteeringSweepCommand steering_sweep
+# 横移
+LateralTranslationCommand lateral_translation
+# 斜移
+DiagonalMotionCommand diagonal_motion
+# 模块零位检查
+ModuleAlignmentCheckCommand module_alignment
+# 模块协同转向
+CoordinatedSteeringCommand coordinated_steering
+
+# 结束后是否刹停
+bool brake_when_finished
+# 任务超时时间
+float64 timeout_sec
+# 来源迭代号
+string source_iteration_id
@@ -0,0 +1,13 @@
+# =========================================================
+# 底盘动作任务目的
+# 来源：MotionPrimitiveRequest.TaskPurpose
+# 作用：区分数据采集、参数验证和直接检查
+# =========================================================
+
+uint8 CHASSIS_TASK_PURPOSE_UNSPECIFIED=0
+uint8 DATA_COLLECTION=1
+uint8 VALIDATION=2
+uint8 DIRECT_CHECK=3
+
+# 当前任务目的取值
+uint8 value
@@ -0,0 +1,7 @@
+# =========================================================
+# 多舵轮专属参数
+# 作用：适用于多舵轮 AGV
+# =========================================================
+
+# 各舵轮模块参数
+SteeringModuleCalibrationParam[] modules
@@ -0,0 +1,21 @@
+# =========================================================
+# 单舵轮专属参数
+# 作用：适用于单舵轮 AGV
+# 说明：proto optional 在 ROS2 中用 has_xxx + xxx 保真
+# =========================================================
+
+bool has_drive_wheel_radius_m
+# 驱动轮有效半径
+float64 drive_wheel_radius_m
+
+bool has_steer_zero_offset_deg
+# 舵角零偏
+float64 steer_zero_offset_deg
+
+bool has_steering_ratio
+# 转向比
+float64 steering_ratio
+
+bool has_drive_encoder_scale
+# 驱动编码器比例
+float64 drive_encoder_scale
@@ -0,0 +1,24 @@
+# =========================================================
+# 多舵轮单模块参数
+# 作用：用于多舵轮车每个模块的独立参数
+# 说明：proto optional 在 ROS2 中用 has_xxx + xxx 保真
+# =========================================================
+
+# 模块 ID
+string module_id
+
+bool has_wheel_radius_m
+# 模块轮半径
+float64 wheel_radius_m
+
+bool has_steer_zero_offset_deg
+# 模块舵角零偏
+float64 steer_zero_offset_deg
+
+bool has_module_pos_x_m
+# 模块在 base_link 下的 X
+float64 module_pos_x_m
+
+bool has_module_pos_y_m
+# 模块在 base_link 下的 Y
+float64 module_pos_y_m
@@ -0,0 +1,13 @@
+# =========================================================
+# 舵角扫动命令
+# 作用：用于阿克曼、单舵轮、多舵轮的转向零位和转向响应测试
+# =========================================================
+
+# 目标舵角（度）
+float64 target_angle_deg
+# 扫动幅值（度）
+float64 sweep_amplitude_deg
+# 扫动频率（Hz）
+float64 sweep_frequency_hz
+# 持续时长（秒）
+float64 duration_sec
@@ -0,0 +1,11 @@
+# =========================================================
+# 直线动作命令
+# 作用：用于验证直线行驶能力和线速度误差
+# =========================================================
+
+# 目标线速度（m/s）
+float64 target_speed_ms
+# 目标距离（m）
+float64 target_distance_m
+# 是否倒车
+bool reverse
@@ -0,0 +1,17 @@
+# =========================================================
+# 底盘遥测流请求
+# 作用：指定底盘遥测内容和频率
+# =========================================================
+
+# 请求头
+calibration_common_interfaces/RequestHeader header
+# 期望上报频率
+uint32 expected_hz
+# 是否包含里程计
+bool include_odom
+# 是否包含轮组状态
+bool include_wheel_state
+# 是否包含驱动器状态
+bool include_driver_state
+# 是否包含模块级状态
+bool include_module_state
@@ -0,0 +1,15 @@
+# =========================================================
+# 单个轮 / 舵模块状态
+# 作用：兼容差速、单舵轮、多舵轮、阿克曼等形式
+# =========================================================
+
+# 模块 ID，例如 fl / fr / drive_center
+string module_id
+# 编码器累计脉冲
+int64 encoder_ticks
+# 当前轮速（RPM）
+float64 wheel_speed_rpm
+# 当前舵角（度），无舵角则可置 0
+float64 steer_angle_deg
+# 电机电流（A）
+float64 motor_current_amp
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>calibration_chassis_interfaces</name>
+  <version>0.0.1</version>
+  <description>ROS 2 interface package generated from chassis_calibration.proto.</description>
+
+  <maintainer email="user@example.com">user</maintainer>
+  <license>Proprietary</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>builtin_interfaces</depend>
+  <depend>std_msgs</depend>
+  <depend>action_msgs</depend>
+  <depend>calibration_common_interfaces</depend>
+  <depend>calibration_vehicle_profile_interfaces</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
@@ -5,13 +5,22 @@ package agv.calibration.chassis;
 import "calibration_common.proto";
 import "vehicle_profile.proto";

+// =========================================================
+// 单位约定：
+// 1) 所有“状态量、结果量、误差量、位姿量”中的角度统一使用 rad
+// 2) 所有“人工输入更直观的命令量、限幅量、目标角度”允许使用 deg
+// 3) 字段名必须显式带单位后缀，例如 _rad / _deg / _m / _ms
+// 4) 服务端与客户端都必须严格按字段后缀做单位转换，禁止隐式假定
+// =========================================================
+
 // =========================================================
 // 文件作用：底盘标定执行代理协议
 // 运行关系：
 // Ubuntu 车间电脑(Linux) -> Windows 车端代理
 // 说明：
-// 1) Linux 负责底盘参数求解、误差分析、验证判断
+// 1) Linux 负责底盘参数求解、误差分析、自动验收、验证判断
 // 2) Windows 车端只负责执行动作、回传原始状态、写入参数
+// 3) 该协议同时覆盖：底盘预检 / 数据采集 / 参数验证 / 参数写入
 // =========================================================

 // =========================================================
@@ -24,6 +33,10 @@ service AgvCalibChassisService {
  rpc Heartbeat(.agv.calibration.common.HeartbeatRequest)
      returns (.agv.calibration.common.HeartbeatResponse);

+  // 查询底盘服务当前是否具备执行条件
+  rpc GetChassisReadiness(.agv.calibration.common.AgentReadinessRequest)
+      returns (ChassisReadinessResponse);
+
  // 设置底盘标定工作模式
  rpc SetChassisWorkMode(ChassisWorkModeRequest)
      returns (.agv.calibration.common.StandardResponse);
@@ -67,7 +80,7 @@ service AgvCalibChassisService {

 // =========================================================
 // 底盘工作模式
-// 作用：切换底盘到标定准备、直接执行等模式
+// 作用：切换底盘到标定准备、直接执行、验证等模式
 // =========================================================
 message ChassisWorkModeRequest {
  .agv.calibration.common.RequestHeader header = 1; // 请求头
@@ -84,6 +97,25 @@ message ChassisWorkModeRequest {
  string reason = 3;    // 切换原因
 }

+// =========================================================
+// 底盘服务就绪响应
+// 作用：返回当前底盘服务是否满足执行条件
+// =========================================================
+message ChassisReadinessResponse {
+  bool success = 1;                                  // 是否成功
+  .agv.calibration.common.ErrorCode error_code = 2; // 错误码
+  string message = 3;                                // 说明
+
+  bool agent_ready = 4;              // 服务本身是否就绪
+  bool chassis_driver_online = 5;    // 底盘驱动是否在线
+  bool motion_control_ready = 6;     // 运控链路是否可执行动作
+  bool estop_released = 7;           // 急停是否释放
+  bool vehicle_safe_to_move = 8;     // 当前车辆是否允许移动
+  bool telemetry_available = 9;      // 是否可回传遥测
+  repeated .agv.calibration.common.ReadinessIssue issues = 10; // 不满足项
+  int64 checked_timestamp_us = 11;   // 检查时间
+}
+
 // =========================================================
 // 查询底盘能力请求
 // 作用：运行前确认当前车辆支持哪些动作
@@ -101,11 +133,17 @@ message ChassisCapabilityResponse {
  .agv.calibration.common.ErrorCode error_code = 2;     // 错误码
  string message = 3;                                    // 说明
  .agv.calibration.vehicle.profile.ChassisType chassis_type = 4; // 底盘类型
+
  bool supports_straight_line = 5;        // 是否支持直线动作
  bool supports_arc = 6;                  // 是否支持圆弧动作
  bool supports_in_place_rotation = 7;    // 是否支持原地旋转
  bool supports_steer_sweep = 8;          // 是否支持舵角扫动
  bool supports_reverse_motion = 9;       // 是否支持倒车动作
+
+  bool supports_lateral_translation = 10; // 是否支持横移动作
+  bool supports_diagonal_motion = 11;     // 是否支持斜移动作
+  bool supports_module_alignment_check = 12; // 是否支持模块零位检查
+  bool supports_coordinated_steering = 13;   // 是否支持模块协同转向
 }

 // =========================================================
@@ -149,6 +187,46 @@ message SteeringSweepCommand {
  double duration_sec = 4;        // 持续时长（秒）
 }

+// =========================================================
+// 横移动作命令
+// 作用：用于多舵轮底盘横向平移能力测试
+// =========================================================
+message LateralTranslationCommand {
+  double target_speed_ms = 1;     // 目标横移速度（m/s）
+  double target_distance_m = 2;   // 目标横移距离（m）
+  bool move_left = 3;             // 是否向左移动
+}
+
+// =========================================================
+// 斜移动作命令
+// 作用：用于多舵轮底盘斜向运动能力测试
+// =========================================================
+message DiagonalMotionCommand {
+  double target_speed_ms = 1;     // 目标速度（m/s）
+  double target_distance_m = 2;   // 目标距离（m）
+  double heading_deg = 3;         // 目标运动方向角（度）
+}
+
+// =========================================================
+// 模块零位检查命令
+// 作用：用于多舵轮每个舵轮模块零位与安装状态检查
+// =========================================================
+message ModuleAlignmentCheckCommand {
+  repeated string module_ids = 1; // 待检查模块 ID 列表
+  double target_zero_deg = 2;     // 目标零位角（度）
+  double tolerance_deg = 3;       // 允许误差（度）
+}
+
+// =========================================================
+// 模块协同转向命令
+// 作用：用于多舵轮模块协同转向与一致性测试
+// =========================================================
+message CoordinatedSteeringCommand {
+  repeated string module_ids = 1; // 参与测试的模块 ID 列表
+  double target_angle_deg = 2;    // 目标舵角（度）
+  double hold_time_sec = 3;       // 保持时长（秒）
+}
+
 // =========================================================
 // 底盘动作原语请求
 // 作用：让车端执行一个标准化动作
@@ -173,11 +251,15 @@ message MotionPrimitiveRequest {
    ArcCommand arc = 5;                               // 圆弧动作
    InPlaceRotationCommand in_place_rotation = 6;     // 原地旋转
    SteeringSweepCommand steering_sweep = 7;          // 舵角扫动
+    LateralTranslationCommand lateral_translation = 8; // 横移
+    DiagonalMotionCommand diagonal_motion = 9;         // 斜移
+    ModuleAlignmentCheckCommand module_alignment = 10; // 模块零位检查
+    CoordinatedSteeringCommand coordinated_steering = 11; // 模块协同转向
  }

-  bool brake_when_finished = 8;  // 结束后是否刹停
-  double timeout_sec = 9;        // 任务超时时间
-  string source_iteration_id = 10; // 来源迭代号
+  bool brake_when_finished = 12; // 结束后是否刹停
+  double timeout_sec = 13;       // 任务超时时间
+  string source_iteration_id = 14; // 来源迭代号
 }

 // =========================================================
@@ -190,6 +272,7 @@ message StreamChassisTelemetryRequest {
  bool include_odom = 3;                            // 是否包含里程计
  bool include_wheel_state = 4;                     // 是否包含轮组状态
  bool include_driver_state = 5;                    // 是否包含驱动器状态
+  bool include_module_state = 6;                    // 是否包含模块级状态
 }

 // =========================================================
@@ -213,15 +296,21 @@ message WheelModuleState {
 message ChassisTelemetry {
  int64 hardware_timestamp_us = 1; // 硬件时间戳
  .agv.calibration.vehicle.profile.ChassisType chassis_type = 2; // 当前底盘类型
+
  double odom_x_m = 3;           // 车端里程计 X（m）
  double odom_y_m = 4;           // 车端里程计 Y（m）
  double odom_yaw_rad = 5;       // 车端里程计偏航角（rad）
  double linear_velocity_ms = 6; // 实际线速度（m/s）
  double angular_velocity_rads = 7; // 实际角速度（rad/s）
+
  repeated WheelModuleState modules = 8; // 所有轮 / 舵模块状态
+
  bool estop_engaged = 9;        // 是否急停
  uint32 driver_error_code = 10; // 驱动器错误码
  string active_job_id = 11;     // 当前任务 ID
+
+  double lateral_slip_estimate = 12; // 估计横向滑移
+  double curvature_estimate = 13;    // 估计曲率
 }

 // =========================================================
@@ -308,6 +397,21 @@ message ChassisCalibrationParameterSet {
  }
 }

+// =========================================================
+// 底盘验证摘要
+// 作用：返回底盘专项自动验收的关键指标
+// =========================================================
+message ChassisValidationSummary {
+  double max_lateral_error_m = 1;     // 最大横向误差
+  double max_yaw_error_rad = 2;       // 最大航向误差
+  double rms_lateral_error_m = 3;     // 横向误差均方根
+  double rms_yaw_error_rad = 4;       // 航向误差均方根
+  double repeatability_error_m = 5;   // 重复性误差
+  double curvature_error = 6;         // 曲率误差
+  double module_consistency_error = 7; // 模块一致性误差
+  bool auto_acceptance_passed = 8;    // 自动验收是否通过
+}
+
 // =========================================================
 // 写入底盘标定参数请求
 // 作用：将 Linux 求解结果写入车端
@@ -349,11 +453,13 @@ message ChassisJobResult {
  .agv.calibration.common.ErrorCode error_code = 2; // 错误码
  string message = 3;                                // 说明
  string job_id = 4;                                 // 任务 ID
+
  bool data_quality_passed = 5;             // 数据质量是否达标
  bool suitable_for_commit = 6;             // 是否适合写入参数
  string recommended_parameter_version = 7; // 推荐参数版本
-  double max_lateral_error_m = 8;                    // 最大横向误差
-  double max_yaw_error_rad = 9;                      // 最大航向误差
-  double estimated_straight_line_bias = 10;          // 估计的直线跑偏
+
+  double estimated_straight_line_bias = 8;  // 估计的直线跑偏
+  ChassisValidationSummary validation_summary = 9; // 验证摘要
+  ChassisCalibrationParameterSet estimated_params = 10; // 本轮估计参数
  repeated .agv.calibration.common.FileReference artifacts = 11; // 关联产物
 }
@@ -0,0 +1,7 @@
+# =========================================================
+# 取消底盘任务
+# =========================================================
+
+calibration_common_interfaces/JobQuery request
+---
+calibration_common_interfaces/StandardResponse response
@@ -0,0 +1,7 @@
+# =========================================================
+# 写入底盘标定结果
+# =========================================================
+
+CommitChassisCalibrationParametersRequest request
+---
+calibration_common_interfaces/StandardResponse response
@@ -0,0 +1,12 @@
+# =========================================================
+# 紧急刹停
+# 对应 proto：
+#   rpc EmergencyBrake(.agv.calibration.common.Empty)
+#       returns (.agv.calibration.common.StandardResponse);
+# 说明：
+# 1) 不自定义 Empty.msg
+# 2) 这里使用空请求 section
+# =========================================================
+
+---
+calibration_common_interfaces/StandardResponse response
@@ -0,0 +1,7 @@
+# =========================================================
+# 查询当前已生效底盘标定参数
+# =========================================================
+
+GetAppliedChassisCalibrationParametersRequest request
+---
+AppliedChassisCalibrationParametersResponse response
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
li-shihao-code	f2e5a4bb7d	完善....	2026-06-05 12:53:48 +08:00
li-shihao-code	a713b5d9ab	更新完善	2026-05-23 21:43:45 +08:00
li-shihao-code	d708e1bbea	完善....	2026-05-17 19:48:25 +08:00
li-shihao-code	93fa1b64b3	更新	2026-05-15 21:55:42 +08:00
li-shihao-code	fd04f869b1	feat:修复了车载Camera和Lidar问题....	2026-05-06 17:25:05 +08:00
li-shihao-code	6593ab0e67	feat:完善仿真环境	2026-05-04 11:13:59 +08:00
li-shihao-code	df884252ff	feat:完善仿真环境	2026-05-04 10:48:06 +08:00
li-shihao-code	1cc1ed1544	feat:完善结构与仿真环境	2026-05-04 10:42:25 +08:00
li-shihao-code	f82c3ad12a	feat: 自动化标定车间v1.0.....	2026-03-30 12:41:13 +08:00
li-shihao-code	672c77726d	feat: 自动化标定车间v1.0.....	2026-03-29 17:04:15 +08:00