feat(factory): support USB CDC alongside UART CLI

components/control_plane/src/runtime/control_plane_factory_cli.c

@@ -4,8 +4,8 @@
  * SPDX-License-Identifier: Apache-2.0
  *
  * Factory provisioning serial CLI. Owns command line parsing, provisioning
- * command handlers, and UART replies in the control-plane layer. Reads
- * `\r\n`-delimited commands from the console UART through the domain console
+ * command handlers, and per-port replies in the control-plane layer. Reads
+ * `\r\n`-delimited commands from UART0 and USB Serial/JTAG CDC through the domain console
  * bridge and replies with `OK`, `ERROR <reason>`, or one JSON line.
  *
  * 工厂串口 CLI 拥有行缓冲、命令解析和应答格式，但设备身份/Wi-Fi 的持久化仍经 domain 完成。
@@ -36,7 +36,8 @@
 #define FACTORY_CLI_SERIAL_MAX_LEN     64
 #define FACTORY_CLI_JSON_MAX_LEN       640
 #define FACTORY_CLI_WIFI_JSON_MAX_LEN  3072
-#define FACTORY_CLI_READ_TIMEOUT_MS    100
+#define FACTORY_CLI_INPUT_BURST_BYTES  64
+#define FACTORY_CLI_PARTIAL_TIMEOUT_MS 2000
 #define FACTORY_CLI_RESET_REPLY_DELAY_MS 100
 #ifndef CONFIG_TQ_FACTORY_CLI_TASK_STACK_BYTES
 #define CONFIG_TQ_FACTORY_CLI_TASK_STACK_BYTES (7U * 1024U)
@@ -71,9 +72,22 @@ static bool s_worker_starting;
 static portMUX_TYPE s_worker_lock = portMUX_INITIALIZER_UNLOCKED;
 
 /* Touched only by the single worker task; no extra lock required. */
-static bool s_factory_mode_enabled;
-static char s_pending_device_id[FACTORY_CLI_DEVICE_ID_MAX_LEN];
-static char s_pending_serial_number[FACTORY_CLI_SERIAL_MAX_LEN];
+typedef struct {
+    char line[FACTORY_CLI_MAX_LINE_LEN];
+    size_t line_len;
+    bool discard_until_eol;
+    TickType_t last_rx_tick;
+    bool factory_mode_enabled;
+    char pending_device_id[FACTORY_CLI_DEVICE_ID_MAX_LEN];
+    char pending_serial_number[FACTORY_CLI_SERIAL_MAX_LEN];
+} factory_cli_session_t;
+
+/* 两路行缓冲及身份暂存也隔离，不能把UART的ID和CDC的序列号拼成一次保存。
+ * 只有单个CLI worker访问；回复路由只在同步执行命令期间有效。 */
+static factory_cli_session_t s_uart_session;
+static factory_cli_session_t s_cdc_session;
+static factory_cli_session_t *s_current_session = &s_uart_session;
+static bool s_reply_over_cdc;
 
 static TaskHandle_t factory_cli_get_worker_task(void)
 {
@@ -250,7 +264,11 @@ static size_t split_args(char *line, char *argv[], size_t max_args)
 
 static void cli_write_line(const char *line)
 {
+    if (s_reply_over_cdc) {
+        domain_runtime_console_write_cdc_line(line);
+    } else {
         domain_runtime_console_write_line(line);
+    }
 }
 
 static void cli_write_ok(void)
@@ -443,7 +461,7 @@ static void handle_get_device_info(void)
     char json[FACTORY_CLI_JSON_MAX_LEN] = {0};
     snprintf(json, sizeof(json),
              "{\"factory_mode\":%s,\"device_id\":\"%s\",\"serial_number\":\"%s\"}",
-             s_factory_mode_enabled ? "true" : "false",
+             s_current_session->factory_mode_enabled ? "true" : "false",
              device_id,
              serial_number);
     cli_write_line(json);
@@ -457,8 +475,8 @@ static void handle_save_config(void)
     domain_runtime_read_device_identity(current_id, sizeof(current_id),
                                         current_sn, sizeof(current_sn));
 
-    const char *id_source = s_pending_device_id[0] != '\0' ? s_pending_device_id : current_id;
-    const char *sn_source = s_pending_serial_number[0] != '\0' ? s_pending_serial_number : current_sn;
+    const char *id_source = s_current_session->pending_device_id[0] != '\0' ? s_current_session->pending_device_id : current_id;
+    const char *sn_source = s_current_session->pending_serial_number[0] != '\0' ? s_current_session->pending_serial_number : current_sn;
     if (is_text_empty(id_source) || is_text_empty(sn_source)) {
         cli_write_error("identity_not_ready");
         return;
@@ -481,8 +499,8 @@ static void handle_save_config(void)
         return;
     }
 
-    s_pending_device_id[0] = '\0';
-    s_pending_serial_number[0] = '\0';
+    s_current_session->pending_device_id[0] = '\0';
+    s_current_session->pending_serial_number[0] = '\0';
     /* Force a fresh challenge/response against the new identity on next use. */
     control_plane_multimodal_device_auth_invalidate(0);
     /* 仅发布配置更新；Wi-Fi worker 在自己的上下文恢复配网，不阻塞串口应答。 */
@@ -597,7 +615,7 @@ static void handle_command_line(char *line)
     const char *cmd = argv[0];
 
     if (strcmp(cmd, "factory_mode") == 0) {
-        s_factory_mode_enabled = true;
+        s_current_session->factory_mode_enabled = true;
         cli_write_ok();
     } else if (strcmp(cmd, "get_device_info") == 0) {
         handle_get_device_info();
@@ -606,9 +624,9 @@ static void handle_command_line(char *line)
             cli_write_error("missing_device_id");
             return;
         }
-        strlcpy(s_pending_device_id, argv[1], sizeof(s_pending_device_id));
-        trim_text(s_pending_device_id);
-        if (s_pending_device_id[0] == '\0') {
+        strlcpy(s_current_session->pending_device_id, argv[1], sizeof(s_current_session->pending_device_id));
+        trim_text(s_current_session->pending_device_id);
+        if (s_current_session->pending_device_id[0] == '\0') {
             cli_write_error("invalid_device_id");
             return;
         }
@@ -618,9 +636,9 @@ static void handle_command_line(char *line)
             cli_write_error("missing_serial_number");
             return;
         }
-        strlcpy(s_pending_serial_number, argv[1], sizeof(s_pending_serial_number));
-        trim_text(s_pending_serial_number);
-        if (s_pending_serial_number[0] == '\0') {
+        strlcpy(s_current_session->pending_serial_number, argv[1], sizeof(s_current_session->pending_serial_number));
+        trim_text(s_current_session->pending_serial_number);
+        if (s_current_session->pending_serial_number[0] == '\0') {
             cli_write_error("invalid_serial_number");
             return;
         }
@@ -684,6 +702,53 @@ static void handle_command_line(char *line)
     }
 }
 
+static void factory_cli_poll_input(factory_cli_session_t *session, bool over_cdc)
+{
+    /* 每轮每路最多64字节，避免一端持续发送饿死另一端；所有命令仍串行执行。 */
+    if (session->line_len > 0U &&
+        (TickType_t)(xTaskGetTickCount() - session->last_rx_tick) >=
+                pdMS_TO_TICKS(FACTORY_CLI_PARTIAL_TIMEOUT_MS)) {
+        session->line_len = 0U;
+        session->discard_until_eol = true;
+    }
+    for (unsigned i = 0; i < FACTORY_CLI_INPUT_BURST_BYTES; ++i) {
+        uint8_t ch = 0;
+        int got = over_cdc ? domain_runtime_console_read_cdc_bytes(&ch, 1U, 0)
+                           : domain_runtime_console_read_bytes(&ch, 1U, 0);
+        if (got <= 0) {
+            if (got < 0) {
+                session->line_len = 0U;
+                session->discard_until_eol = true;
+            }
+            break;
+        }
+        session->last_rx_tick = xTaskGetTickCount();
+        if (ch == '\r' || ch == '\n') {
+            if (session->discard_until_eol) {
+                session->discard_until_eol = false;
+                session->line_len = 0U;
+            } else if (session->line_len > 0U) {
+                session->line[session->line_len] = '\0';
+                s_current_session = session;
+                s_reply_over_cdc = over_cdc;
+                handle_command_line(session->line);
+                session->line_len = 0U;
+            }
+            continue;
+        }
+        if (session->discard_until_eol || ch < 0x20 || ch == 0x7F) {
+            continue;
+        }
+        if (session->line_len < sizeof(session->line) - 1U) {
+            session->line[session->line_len++] = (char)ch;
+        } else {
+            /* 整行丢弃到换行，不能把超长命令尾部误当成save_config等新命令。 */
+            session->line_len = 0U;
+            session->discard_until_eol = true;
+        }
+    }
+}
+
 static void factory_cli_worker(void *arg)
 {
     (void)arg;
@@ -696,34 +761,20 @@ static void factory_cli_worker(void *arg)
         vTaskDelete(NULL);
         return;
     }
-    ESP_LOGI(TAG, "Factory serial CLI ready on console UART");
-
-    char line[FACTORY_CLI_MAX_LINE_LEN];
-    size_t line_len = 0;
+    ESP_LOGI(TAG, "Factory serial CLI ready (UART0 and enabled USB Serial/JTAG CDC)");
+    memset(&s_uart_session, 0, sizeof(s_uart_session));
+    memset(&s_cdc_session, 0, sizeof(s_cdc_session));
+    s_current_session = &s_uart_session;
+    s_reply_over_cdc = false;
 
     while (!factory_cli_get_stop_requested()) {
-        uint8_t ch = 0;
-        int got = domain_runtime_console_read_bytes(&ch, 1, FACTORY_CLI_READ_TIMEOUT_MS);
-        if (got <= 0) {
-            continue;
-        }
-
-        if (ch == '\r' || ch == '\n') {
-            if (line_len > 0) {
-                line[line_len] = '\0';
-                handle_command_line(line);
-                line_len = 0;
-            }
-            continue;
-        }
-        if (ch < 0x20 || ch == 0x7F) {
-            continue;
-        }
-        if (line_len < sizeof(line) - 1U) {
-            line[line_len++] = (char)ch;
-        } else {
-            line_len = 0; /* overlong line: drop and resync */
+        factory_cli_poll_input(&s_uart_session, false);
+        if (factory_cli_get_stop_requested()) {
+            break;
         }
+        factory_cli_poll_input(&s_cdc_session, true);
+        /* 驱动读取均为非阻塞；空闲时至少让出一个tick，不创建第二个CLI任务。 */
+        vTaskDelay(1);
     }
 
     factory_cli_finish_worker_exit();

components/domain/include/domain.h

@@ -613,12 +613,20 @@ void domain_runtime_restart(void);
  *
  * `read_bytes` returns bytes read (0 on timeout, <0 on error). A zero timeout
  * polls once; negative timeouts are invalid and return <0. Used by the factory
- * provisioning CLI.
+ * provisioning CLI. install幂等，安装锁最多等待100ms；至少一路可用即成功。
+ * 原有read/write_line操作UART0，CDC使用下方独立入口。
  */
 esp_err_t domain_runtime_console_install(void);
 int domain_runtime_console_read_bytes(uint8_t *buf, size_t len, int timeout_ms);
 void domain_runtime_console_write_line(const char *line);
 
+/** 独立USB Serial/JTAG CDC端点：read语义同UART，禁用/不可用返回负数。
+ * write为尽力发送（共250ms入队预算，超时可能已发送部分），不切换或广播到UART。
+ * 两路输入必须由同一个CLI任务消费，并各自维护行缓冲。驱动常驻，不随CLI stop卸载。
+ */
+int domain_runtime_console_read_cdc_bytes(uint8_t *buf, size_t len, int timeout_ms);
+void domain_runtime_console_write_cdc_line(const char *line);
+
 void domain_runtime_behavior_set_keep_awake(bool keep_awake);
 esp_err_t domain_runtime_behavior_play_prompt(domain_wifi_prompt_id_t prompt);
 esp_err_t domain_runtime_behavior_play_prompt_file(const char *path);

components/domain/src/runtime/domain_runtime_adapters.c

@@ -1213,6 +1213,16 @@ void domain_runtime_console_write_line(const char *line)
     platform_console_write_line(line);
 }
 
+int domain_runtime_console_read_cdc_bytes(uint8_t *buf, size_t len, int timeout_ms)
+{
+    return platform_console_read_cdc_bytes(buf, len, timeout_ms);
+}
+
+void domain_runtime_console_write_cdc_line(const char *line)
+{
+    platform_console_write_cdc_line(line);
+}
+
 esp_err_t domain_runtime_stepper_rotate_angle_with_accel_timeout(float angle,
                                                                  int target_delay_us,
                                                                  int timeout_ms)

components/platform/CMakeLists.txt

@@ -77,6 +77,10 @@ set(platform_priv_requires
         nvs_flash
 )
 
+if(CONFIG_TQ_FACTORY_CLI_USB_CDC_ENABLE)
+    list(APPEND platform_priv_requires esp_driver_usb_serial_jtag)
+endif()
+
 if(CONFIG_TQ_NETWORK_DIAGNOSTICS_ENABLE)
     list(APPEND platform_priv_requires lwip)
 endif()

components/platform/include/platform.h

@@ -243,7 +243,8 @@ esp_err_t platform_write_device_identity(const char *device_id, const char *seri
  * @brief 工厂 CLI 使用的串口行传输原语。
  *        Console (UART) line-transport primitives for the factory CLI.
  *
- * 这些接口不保存命令状态。install 可重复调用；read 返回读取字节数，超时返回0，
+ * 这些接口不保存命令状态。install 可重复调用，安装锁最多等待100ms；至少一路可用即成功。
+ * 原有read/write_line操作UART0；read 返回读取字节数，超时返回0，
  * 错误返回负数。零超时表示轮询一次，负超时无效。
  * Stateless primitives over the console UART. `platform_console_install()` is
  * idempotent (a pre-existing console driver is treated as success).
@@ -254,6 +255,13 @@ esp_err_t platform_console_install(void);
 int platform_console_read_bytes(uint8_t *buf, size_t len, int timeout_ms);
 void platform_console_write_line(const char *line);
 
+/** 独立USB Serial/JTAG CDC端点：read语义同UART，禁用/不可用返回负数。
+ * write为尽力发送（共250ms入队预算，超时可能已发送部分），不切换或广播到UART。
+ * 两路输入必须由同一个CLI任务消费，并各自维护行缓冲。驱动常驻，不随CLI stop卸载。
+ */
+int platform_console_read_cdc_bytes(uint8_t *buf, size_t len, int timeout_ms);
+void platform_console_write_cdc_line(const char *line);
+
 /**
  * @brief 基于 NVS 的通用持久化键值存储原语。
  *        Generic persistent key/value blob storage (NVS-backed).

components/platform/src/platform_console_driver.c

@@ -3,15 +3,24 @@
  *
  * SPDX-License-Identifier: Apache-2.0
  *
- * Console UART line-transport primitives for the factory CLI. Line
+ * UART and USB Serial/JTAG CDC line-transport primitives for the factory CLI. Line
  * accumulation and the worker loop live in the control-plane CLI owner.
  */
 
 #include "platform.h"
 
 #include <string.h>
+#include <stdio.h>
 
 #include "driver/uart.h"
+#include "sdkconfig.h"
+#if CONFIG_TQ_FACTORY_CLI_USB_CDC_ENABLE
+#include "driver/usb_serial_jtag.h"
+#if CONFIG_VFS_SUPPORT_IO
+#include "driver/usb_serial_jtag_vfs.h"
+#endif
+#endif
+#include "freertos/semphr.h"
 #include "esp_log.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
@@ -22,30 +31,67 @@
 
 static const char *TAG = "platform_console";
 
-/* UART0 驱动安装具有幂等性，已由其他启动路径安装也视为可用。 */
+/* 两个驱动是平台常驻资源，CLI stop只停止消费者，不卸载共享控制台驱动。
+ * 初始化串行化且可重入；USB安装失败仍允许UART工作，下一次install会重试USB。 */
+static StaticSemaphore_t s_install_lock_buffer;
+static SemaphoreHandle_t s_install_lock;
+static portMUX_TYPE s_install_lock_guard = portMUX_INITIALIZER_UNLOCKED;
+#if CONFIG_TQ_FACTORY_CLI_USB_CDC_ENABLE && CONFIG_VFS_SUPPORT_IO
+static bool s_usb_vfs_attached;
+#endif
+
 esp_err_t platform_console_install(void)
 {
-    esp_err_t err = uart_driver_install(PLATFORM_CONSOLE_UART_PORT,
-                                        PLATFORM_CONSOLE_RX_BUFFER,
-                                        0,
-                                        0,
-                                        NULL,
-                                        0);
-    /* The console may have already installed the UART driver; treat that as success. */
-    if (err == ESP_ERR_INVALID_STATE) {
-        return ESP_OK;
+    portENTER_CRITICAL(&s_install_lock_guard);
+    if (s_install_lock == NULL) {
+        s_install_lock = xSemaphoreCreateMutexStatic(&s_install_lock_buffer);
     }
-    if (err != ESP_OK) {
-        ESP_LOGE(TAG, "Failed to install UART%d driver: %s",
-                 (int)PLATFORM_CONSOLE_UART_PORT, esp_err_to_name(err));
+    portEXIT_CRITICAL(&s_install_lock_guard);
+    if (s_install_lock == NULL ||
+        xSemaphoreTake(s_install_lock, pdMS_TO_TICKS(100)) != pdTRUE) {
+        return ESP_ERR_TIMEOUT;
     }
-    return err;
+    esp_err_t uart_err = ESP_OK;
+    if (!uart_is_driver_installed(PLATFORM_CONSOLE_UART_PORT)) {
+        uart_err = uart_driver_install(PLATFORM_CONSOLE_UART_PORT,
+                                      PLATFORM_CONSOLE_RX_BUFFER, 0, 0, NULL, 0);
+    }
+    if (uart_err != ESP_OK) {
+        ESP_LOGW(TAG, "Factory UART0 unavailable: %s", esp_err_to_name(uart_err));
+    }
+    bool ready = uart_err == ESP_OK;
+#if CONFIG_TQ_FACTORY_CLI_USB_CDC_ENABLE
+    esp_err_t usb_err = ESP_OK;
+    if (!usb_serial_jtag_is_driver_installed()) {
+        usb_serial_jtag_driver_config_t config = {
+            .rx_buffer_size = PLATFORM_CONSOLE_RX_BUFFER,
+            .tx_buffer_size = 1024,
+        };
+        usb_err = usb_serial_jtag_driver_install(&config);
+    }
+    if (usb_err != ESP_OK) {
+        ESP_LOGW(TAG, "Factory USB Serial/JTAG CDC unavailable: %s", esp_err_to_name(usb_err));
+    } else {
+#if CONFIG_VFS_SUPPORT_IO
+        if (!s_usb_vfs_attached) {
+            /* 日志的USB第二输出也走同一驱动队列，避免VFS直接写FIFO与ISR竞争。 */
+            usb_serial_jtag_vfs_use_driver();
+            s_usb_vfs_attached = true;
+        }
+#endif
+        ESP_LOGI(TAG, "Factory USB Serial/JTAG CDC ready (GPIO19 D-, GPIO20 D+)");
+        ready = true;
+    }
+#endif
+    (void)xSemaphoreGive(s_install_lock);
+    return ready ? ESP_OK : uart_err;
 }
 
 int platform_console_read_bytes(uint8_t *buf, size_t len, int timeout_ms)
 {
     /* 0 表示单次轮询，负数是无效参数；正数转换为 FreeRTOS 有界等待。 */
-    if (buf == NULL || len == 0U || timeout_ms < 0) {
+    if (buf == NULL || len == 0U || timeout_ms < 0 ||
+        !uart_is_driver_installed(PLATFORM_CONSOLE_UART_PORT)) {
         return -1;
     }
     TickType_t ticks = pdMS_TO_TICKS(timeout_ms);
@@ -55,9 +101,63 @@ int platform_console_read_bytes(uint8_t *buf, size_t len, int timeout_ms)
 void platform_console_write_line(const char *line)
 {
     /* 工厂协议按行发送，统一补充 CRLF，避免调用方重复处理行结束符。 */
-    if (line == NULL) {
+    if (line == NULL || !uart_is_driver_installed(PLATFORM_CONSOLE_UART_PORT)) {
         return;
     }
     uart_write_bytes(PLATFORM_CONSOLE_UART_PORT, line, strlen(line));
     uart_write_bytes(PLATFORM_CONSOLE_UART_PORT, "\r\n", 2);
 }
+
+int platform_console_read_cdc_bytes(uint8_t *buf, size_t len, int timeout_ms)
+{
+#if CONFIG_TQ_FACTORY_CLI_USB_CDC_ENABLE
+    if (buf == NULL || len == 0U || len > UINT32_MAX || timeout_ms < 0 ||
+        !usb_serial_jtag_is_driver_installed()) {
+        return -1;
+    }
+    return usb_serial_jtag_read_bytes(buf, (uint32_t)len, pdMS_TO_TICKS(timeout_ms));
+#else
+    (void)buf;
+    (void)len;
+    (void)timeout_ms;
+    return -1;
+#endif
+}
+
+void platform_console_write_cdc_line(const char *line)
+{
+#if CONFIG_TQ_FACTORY_CLI_USB_CDC_ENABLE
+    if (line == NULL || !usb_serial_jtag_is_driver_installed()) {
+        return;
+    }
+    /* USB未打开/拔出时不能让CLI卡住。使用零等待的小块写入和一条应答共250ms预算；
+     * 超时停止入队，已经交给驱动的字节不可撤销，主机按完整JSON/OK判定成功。 */
+    TickType_t started = xTaskGetTickCount();
+    TickType_t budget = pdMS_TO_TICKS(250);
+    /* 普通ESP_LOG使用stdout；按行有界获取同一锁，避免JSON被并发日志插入。
+     * 不使用无界flockfile，未能获得锁也必须让CLI继续处理停止/另一端输入。 */
+    while (ftrylockfile(stdout) != 0) {
+        if ((TickType_t)(xTaskGetTickCount() - started) >= budget) {
+            return;
+        }
+        vTaskDelay(1);
+    }
+    size_t length = strlen(line);
+    size_t sent = 0U;
+    while (sent < length + 2U &&
+           (TickType_t)(xTaskGetTickCount() - started) < budget) {
+        const char *data = sent < length ? line + sent : &"\r\n"[sent - length];
+        size_t remaining = sent < length ? length - sent : length + 2U - sent;
+        size_t chunk = remaining > 64U ? 64U : remaining;
+        int written = usb_serial_jtag_write_bytes(data, chunk, 0);
+        if (written > 0) {
+            sent += (size_t)written;
+        } else {
+            vTaskDelay(1);
+        }
+    }
+    funlockfile(stdout);
+#else
+    (void)line;
+#endif
+}

docs/firmware-pin-usage.md

@@ -100,3 +100,11 @@ bounded lock failure, cleanup and retry (`tools/test_battery_adc_init.py`).
 Config/default consistency and enabled-pin uniqueness checks passed.
 No device was flashed; touch polarity, ADC2 sampling with Wi-Fi, charger/wake,
 motor direction and concurrent operation still require hardware validation.
+
+## Factory CLI UART and CDC
+
+`CONFIG_TQ_FACTORY_CLI_USB_CDC_ENABLE=y` enables native USB Serial/JTAG CDC input
+on GPIO19/20 alongside UART0 (GPIO43 TX / GPIO44 RX). Logs may already appear on
+CDC through the secondary console; this option additionally enables command input
+and routes replies back to the requesting port. UART and CDC line buffers and
+pending identity values are separate. See [the CLI guide](工厂CLI串口与CDC使用说明.zh-CN.md).

docs/knowledge vault/device-auth-v2-flow.zh-CN.md

@@ -130,7 +130,10 @@ CONFIG_TQ_FACTORY_CLI_ENABLE=y
 control_plane_factory_cli_start();
 ```
 
-它创建名为 `factory_cli` 的 FreeRTOS 任务，通过 Console UART 读取以 `\r` 或 `\n` 结束的命令。
+它创建单个名为 `factory_cli` 的 FreeRTOS 任务，同时轮询 UART0 与原生 USB Serial/JTAG CDC，
+读取以 `\r` 或 `\n` 结束的命令。新增 `CONFIG_TQ_FACTORY_CLI_USB_CDC_ENABLE=y` 默认启用CDC，
+两路各自维护行缓冲、工厂模式和待保存身份字段，回复只发给命令来源。
+详见 [工厂CLI串口与CDC使用说明](../工厂CLI串口与CDC使用说明.zh-CN.md)。
 
 关键参数：
 
@@ -138,8 +141,8 @@ control_plane_factory_cli_start();
 | --- | ---: |
 | 最大命令行长度 | 512 B |
 | 最大参数数量 | 8 |
-| 串口读取超时 | 100 ms |
-| 任务栈 | 12 KiB |
+| 接收调度 | 两路非阻塞读取，每路每轮最多64字节，每轮让出1 tick |
+| 任务栈 | 默认7 KiB（`CONFIG_TQ_FACTORY_CLI_TASK_STACK_BYTES`） |
 | 任务优先级 | 4 |
 | 运行核心 | `CONFIG_TQ_LOCAL_TASK_CORE` |
 
@@ -186,8 +189,8 @@ get_device_info
 `set_device_id` 和 `set_serial_number` 只将值暂存在 RAM：
 
 ```c
-s_pending_device_id
-s_pending_serial_number
+s_current_session->pending_device_id
+s_current_session->pending_serial_number
 ```
 
 只有执行 `save_config` 后，才会调用：

docs/工厂CLI串口与CDC使用说明.zh-CN.md

@@ -0,0 +1,90 @@
+# 工厂 CLI：UART0 与原生 USB CDC
+
+2026-10-23：工厂CLI新增原生USB Serial/JTAG CDC收发，保留UART0。
+此前CDC可看到第二控制台日志，但工厂CLI只读取UART0；“能看到日志”不代表能输入命令。
+
+## 配置与接线
+
+`menuconfig`位置：`TQ Cat Configuration -> Voice, Authentication & Multimodal ->
+Credentials & Device Authentication`。
+
+```text
+CONFIG_TQ_FACTORY_CLI_ENABLE=y
+CONFIG_TQ_FACTORY_CLI_USB_CDC_ENABLE=y
+```
+
+第二项默认开启，要求芯片支持USB Serial/JTAG，且没有选择USB-OTG控制台。
+这里的CDC是ESP32-S3自带的USB Serial/JTAG设备，不是TinyUSB/USB-OTG CDC实现。
+关闭第二项仍能使用UART0。
+
+- 原生USB：GPIO19 D-、GPIO20 D+，使用板上的原生USB接口和数据线。
+- UART0：GPIO43 TX、GPIO44 RX，使用3.3V USB转串口，交叉连接TX/RX并共地。
+- 当前日志主控制台仍为UART0，USB Serial/JTAG仍为第二日志输出；不改变刷机方式。
+
+## 发送命令
+
+刷入新固件后，打开原生USB枚举出来的串口。macOS通常为`/dev/cu.usbmodem…`，
+应使用本机实际枚举的端口。UART当前波特率115200；原生USB CDC的速率不代表UART线速。
+
+逐行发送，每行以回车或换行结束：
+
+```text
+get_device_info
+factory_mode
+set_device_id <后台登记的设备UUID>
+set_serial_number <同一台设备的实际序列号>
+save_config
+get_device_info
+get_auth_material
+```
+
+普通设置成功返回`OK`；读取命令返回JSON和`OK`；失败返回`ERROR <reason>`。
+`save_config`成功才表示写入Flash。JSON和`OK`应作为独立完整行读取，工具应允许穿插日志行。
+关于注册服务和工位签名，继续按设备认证文档操作；CDC不改变认证协议。
+
+日志入口：
+
+```text
+platform_console: Factory USB Serial/JTAG CDC ready (GPIO19 D-, GPIO20 D+)
+cp_factory_cli: Factory serial CLI ready (UART0 and enabled USB Serial/JTAG CDC)
+```
+
+平台日志确认实际CDC驱动安装；CLI通用就绪日志只表示至少有一路可用。
+如果某一路初始化失败，会打印对应警告，另一路仍可工作，后续install可重试失败一路。
+
+## 隔离、超时和生命周期
+
+只有一个CLI任务。每轮先后读取两路，各最多64字节，非阻塞读取后让出一个tick。
+两路命令串行执行，不新增第二个worker。每路独立保存行缓冲、工厂模式及待提交身份，
+回复只发回来源端口。持久化的设备身份仍是整台设备共享，不能把两路当成两台设备操作。
+
+超长行丢弃至下一个行尾，不把尾部重新当作命令。半行连续2秒没有新字节也会丢弃至行尾；
+USB拔插后建议先发送一个空行，再发完整命令。CDC读取报错也会清理当前半行。
+
+USB发送使用小块、零等待驱动入队，一条回复共用250ms预算（含获取stdout锁），
+并按整行保护，避免普通ESP_LOG插进JSON。USB未打开或拔出时不会无限等待。
+超时可能已有部分数据入队；250ms是软件入队预算，不保证主机已收到。
+工具必须检查完整应答，超时后可先换行并查询设备状态，不能仅凭部分输出认定保存成功。
+UART沿用原有发送路径。驱动是平台常驻共享资源，CLI停止/重启不卸载驱动，
+启动可重复调用；CLI仍按原有协作取消、有界等待和强制兜底策略停止。
+
+新增USB RX/TX缓冲请求分别为2048/1024字节，另有驱动/队列/ISR开销；
+两路行数组共1024字节，待提交身份数组共256字节，另有会话元数据。
+它们不是图像或DMA缓存；没有新增CLI任务，也未增加CLI任务栈配置。
+
+## 验证
+
+```sh
+python3 tools/test_factory_cli_console.py
+python3 tools/test_provisioning_recovery.py
+```
+
+第一项编译实际平台驱动及CLI组帧、命令解析、身份保存函数，分别验证CDC开/关、
+驱动重复初始化、单端失败与回退、双端来源路由、身份暂存隔离、USB发送超时、超长行
+与半行恢复；使用ASan/UBSan。第二项回归身份保存通知和配网恢复。
+
+本次CDC开启/关闭的主机测试和配网恢复测试均通过，ESP-IDF 5.5.4新板配置构建通过；
+未烧录，尚未完成本次实现的USB枚举与实机收发验证。
+
+实机验收需分别通过UART、CDC发送`get_device_info`，再验证CDC身份保存、公钥读取、
+USB拔插及双端交错命令。主机故障桩和构建不能代替USB枚举及实机收发测试。

main/Kconfig.projbuild

@@ -1380,6 +1380,16 @@ menu "TQ Cat Configuration"
                 device identity provisioning, public-key retrieval, and
                 on-device challenge signing.
 
+        config TQ_FACTORY_CLI_USB_CDC_ENABLE
+            bool "Also accept factory CLI commands over USB Serial/JTAG CDC"
+            depends on TQ_FACTORY_CLI_ENABLE && SOC_USB_SERIAL_JTAG_SUPPORTED && !ESP_CONSOLE_USB_CDC
+            default y
+            help
+                Use the ESP32-S3 built-in USB Serial/JTAG CDC port in addition
+                to UART0. Each input has a separate command buffer and replies
+                return to the requesting port. This is not TinyUSB/USB-OTG CDC.
+                GPIO19/20 must remain connected to the native USB connector.
+
         config TQ_FACTORY_CLI_TASK_STACK_BYTES
             int "Factory CLI task stack (bytes)"
             default 7168

sdkconfig.defaults

@@ -190,6 +190,7 @@ CONFIG_TQ_MULTIMODAL_WATCHDOG_TASK_STACK_BYTES=6144
 # CONFIG_MULTIMODAL_AUTH_BYPASS_TOKEN_SERVICE is not set
 CONFIG_AUTH_V2_ENABLE=y
 CONFIG_TQ_FACTORY_CLI_ENABLE=y
+CONFIG_TQ_FACTORY_CLI_USB_CDC_ENABLE=y
 CONFIG_TQ_FACTORY_CLI_TASK_STACK_BYTES=7168
 CONFIG_MULTIMODAL_UPSTREAM_MODE="push2talk"
 CONFIG_MULTIMODAL_PTT_BUTTON_GPIO=13

tools/test_factory_cli_console.py

@@ -0,0 +1,218 @@
+#!/usr/bin/env python3
+"""Compile actual console driver and CLI framing/handlers with UART/CDC stubs."""
+from pathlib import Path
+import re
+import subprocess
+import tempfile
+
+ROOT = Path(__file__).resolve().parents[1]
+
+
+def extract(source, name):
+    match = re.search(r'^(?:static )?[\w *]+\b' + name + r'\([^;]*?\)\s*\{', source, re.M)
+    assert match, name
+    end, depth = match.end(), 1
+    while depth:
+        depth += (source[end] == '{') - (source[end] == '}')
+        end += 1
+    return source[match.start():end]
+
+
+STUBS = r'''
+#include <assert.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <ctype.h>
+#define CONFIG_VFS_SUPPORT_IO 1
+#define ESP_OK 0
+#define ESP_FAIL 1
+#define ESP_ERR_TIMEOUT 2
+#define UART_NUM_0 0
+#define portMUX_INITIALIZER_UNLOCKED 0
+#define portENTER_CRITICAL(p) ((void)(p))
+#define portEXIT_CRITICAL(p) ((void)(p))
+#define pdTRUE 1
+#define pdMS_TO_TICKS(n) (n)
+#define ESP_LOGI(tag, ...) do { (void)(tag); if(0) printf(__VA_ARGS__); } while(0)
+#define ESP_LOGW ESP_LOGI
+#define ESP_LOGE ESP_LOGI
+#define FACTORY_CLI_MAX_LINE_LEN 512
+#define FACTORY_CLI_MAX_ARGC 8
+#define FACTORY_CLI_DEVICE_ID_MAX_LEN 64
+#define FACTORY_CLI_SERIAL_MAX_LEN 64
+#define FACTORY_CLI_INPUT_BURST_BYTES 64
+#define FACTORY_CLI_PARTIAL_TIMEOUT_MS 2000
+#define FACTORY_CLI_JSON_MAX_LEN 640
+#define DOMAIN_EXPRESSION_CHOUQIAN 1
+#define DOMAIN_EXPRESSION_TRIGGER_FACTORY_LCD_TEST 2
+typedef int esp_err_t;
+typedef uint32_t TickType_t;
+typedef int StaticSemaphore_t;
+typedef int *SemaphoreHandle_t;
+typedef int portMUX_TYPE;
+typedef struct {uint32_t rx_buffer_size,tx_buffer_size;} usb_serial_jtag_driver_config_t;
+typedef struct {int id,trigger;bool chouqian_result_index_valid;size_t chouqian_result_index;} domain_expression_request_t;
+static TickType_t ticks;
+static bool uart_ready,usb_ready,lock_fail,usb_block;
+static int uart_error,usb_error,uart_installs,usb_installs;
+static const char *uart_rx="", *usb_rx="";
+static char uart_tx[16384],usb_tx[16384];
+static size_t uart_tx_len,usb_tx_len;
+static int saves,notifies;
+static char saved_id[64],saved_sn[64];
+static TickType_t xTaskGetTickCount(void) {return ticks;}
+#if CONFIG_TQ_FACTORY_CLI_USB_CDC_ENABLE
+static void vTaskDelay(TickType_t delay) {ticks+=delay;}
+#endif
+static SemaphoreHandle_t xSemaphoreCreateMutexStatic(StaticSemaphore_t *p) {return p;}
+static int xSemaphoreTake(SemaphoreHandle_t p, TickType_t wait) {assert(p && wait<=100);return !lock_fail;}
+static int xSemaphoreGive(SemaphoreHandle_t p) {assert(p);return 1;}
+static const char *esp_err_to_name(int err) {(void)err;return "fake";}
+static bool uart_is_driver_installed(int port) {assert(port==0);return uart_ready;}
+static int uart_driver_install(int port,int rx,int tx,int q,void *handle,int flags) {
+    assert(port==0 && rx==2048 && tx==0 && q==0 && !handle && !flags);
+    ++uart_installs;uart_ready=!uart_error;return uart_error;
+}
+static int uart_read_bytes(int port,void *buf,size_t len,TickType_t wait) {
+    assert(port==0 && len>0);(void)wait;
+    if(!*uart_rx)return 0; *(char *)buf=*uart_rx++;return 1;
+}
+static int uart_write_bytes(int port,const void *buf,size_t len) {
+    assert(port==0 && uart_tx_len+len<sizeof(uart_tx));
+    memcpy(uart_tx+uart_tx_len,buf,len);uart_tx_len+=len;uart_tx[uart_tx_len]=0;return (int)len;
+}
+#if CONFIG_TQ_FACTORY_CLI_USB_CDC_ENABLE
+static void usb_serial_jtag_vfs_use_driver(void) {}
+static bool usb_serial_jtag_is_driver_installed(void) {return usb_ready;}
+static int usb_serial_jtag_driver_install(usb_serial_jtag_driver_config_t *p) {
+    assert(p->rx_buffer_size==2048 && p->tx_buffer_size==1024);
+    ++usb_installs;usb_ready=!usb_error;return usb_error;
+}
+static int usb_serial_jtag_read_bytes(void *buf,uint32_t len,TickType_t wait) {
+    assert(len>0);(void)wait;
+    if(!*usb_rx)return 0;*(char *)buf=*usb_rx++;return 1;
+}
+static int usb_serial_jtag_write_bytes(const void *buf,size_t len,TickType_t wait) {
+    assert(wait==0 && len<=64);if(usb_block)return 0;
+    assert(usb_tx_len+len<sizeof(usb_tx));memcpy(usb_tx+usb_tx_len,buf,len);
+    usb_tx_len+=len;usb_tx[usb_tx_len]=0;return (int)len;
+}
+#endif
+
+#define strlcpy test_strlcpy
+static size_t test_strlcpy(char *dst,const char *src,size_t cap) {
+    size_t n=strlen(src);if(cap){size_t c=n<cap-1?n:cap-1;memcpy(dst,src,c);dst[c]=0;}return n;
+}
+static void domain_runtime_read_device_identity(char *id,size_t ilen,char *sn,size_t slen) {
+    strlcpy(id,saved_id,ilen);strlcpy(sn,saved_sn,slen);
+}
+static int domain_runtime_write_device_identity(const char *id,const char *sn) {
+    ++saves;strlcpy(saved_id,id,sizeof(saved_id));strlcpy(saved_sn,sn,sizeof(saved_sn));return ESP_OK;
+}
+static void control_plane_provisioning_configuration_changed(void) {++notifies;}
+static void control_plane_multimodal_device_auth_invalidate(int reason) {(void)reason;}
+static int domain_runtime_request_expression(const domain_expression_request_t *p) {(void)p;return ESP_OK;}
+static void handle_get_wifi(void) {}
+static void handle_set_wifi(size_t n,char **a) {(void)n;(void)a;}
+static void handle_reset_wifi(void) {}
+static void handle_get_auth_material(void) {}
+static void handle_sign_challenge(const char *a,const char *b) {(void)a;(void)b;}
+static void handle_prepare_rotate(uint32_t v) {(void)v;}
+static void handle_lcd_test(void) {}
+'''
+
+BRIDGE = r'''
+static int domain_runtime_console_read_bytes(uint8_t *buf,size_t len,int ms) {return platform_console_read_bytes(buf,len,ms);}
+static int domain_runtime_console_read_cdc_bytes(uint8_t *buf,size_t len,int ms) {return platform_console_read_cdc_bytes(buf,len,ms);}
+static void domain_runtime_console_write_line(const char *p) {platform_console_write_line(p);}
+static void domain_runtime_console_write_cdc_line(const char *p) {platform_console_write_cdc_line(p);}
+'''
+
+TESTS = r'''
+static void pump(void) {
+    for(int i=0;i<100;++i) {factory_cli_poll_input(&s_uart_session,false);factory_cli_poll_input(&s_cdc_session,true);}
+}
+static void clear_outputs(void) {uart_tx_len=usb_tx_len=0;uart_tx[0]=usb_tx[0]=0;}
+int main(void) {
+    assert(platform_console_install()==ESP_OK);
+    assert(platform_console_install()==ESP_OK && uart_installs==1);
+#if CONFIG_TQ_FACTORY_CLI_USB_CDC_ENABLE
+    assert(usb_installs==1);
+    usb_ready=false;usb_error=ESP_FAIL;
+    assert(platform_console_install()==ESP_OK && uart_ready); // UART fallback
+    usb_error=0;uart_ready=false;uart_error=ESP_FAIL;
+    assert(platform_console_install()==ESP_OK && usb_ready); // CDC fallback
+    uart_error=0;assert(platform_console_install()==ESP_OK);
+    usb_ready=uart_ready=false;usb_error=uart_error=ESP_FAIL;
+    assert(platform_console_install()!=ESP_OK);
+    usb_error=uart_error=0;assert(platform_console_install()==ESP_OK);
+#endif
+    lock_fail=true;assert(platform_console_install()==ESP_ERR_TIMEOUT);lock_fail=false;
+    uint8_t ch;
+    assert(platform_console_read_bytes(NULL,1,0)<0);
+    assert(platform_console_read_bytes(&ch,0,0)<0);
+    assert(platform_console_read_bytes(&ch,1,-1)<0);
+    uart_rx="get_device_info\r\n";pump();
+    assert(strstr(uart_tx,"device_id") && strstr(uart_tx,"OK\r\n"));
+    assert(usb_tx_len==0);
+#if CONFIG_TQ_FACTORY_CLI_USB_CDC_ENABLE
+    clear_outputs();usb_rx="get_device_info\n";pump();
+    assert(strstr(usb_tx,"device_id") && strstr(usb_tx,"OK\r\n") && uart_tx_len==0);
+    assert(platform_console_read_cdc_bytes(NULL,1,0)<0);
+    assert(platform_console_read_cdc_bytes(&ch,1,-1)<0);
+    // Partial lines do not cross ports, and pending identities are isolated too.
+    clear_outputs();uart_rx="set_device_id uart-id";pump();
+    usb_rx="set_serial_number cdc-sn\nsave_config\n";pump();
+    assert(saves==0 && strstr(usb_tx,"ERROR"));
+    uart_rx="\nset_serial_number uart-sn\nsave_config\n";pump();
+    assert(saves==1 && notifies==1 && !strcmp(saved_id,"uart-id") && !strcmp(saved_sn,"uart-sn"));
+    // A saturated/disconnected USB writer has a fixed budget; UART remains usable.
+    clear_outputs();usb_block=true;TickType_t start=ticks;
+    platform_console_write_cdc_line("reply");
+    assert(ticks-start==250 && !usb_tx_len);
+    usb_block=false;uart_rx="get_device_info\n";pump();assert(strstr(uart_tx,"OK"));
+#else
+    assert(platform_console_read_cdc_bytes(&ch,1,0)<0);
+    platform_console_write_cdc_line("disabled");assert(!usb_tx_len);
+#endif
+    // Oversize input must discard the whole line, including any valid-looking tail.
+    char oversized[700];memset(oversized,'x',600);strcpy(oversized+600,"save_config\n");
+    int before=saves;uart_rx=oversized;pump();assert(saves==before);
+    // A delayed partial command is discarded, not joined to a later command.
+    uart_rx="save_";pump();ticks+=2000;pump();uart_rx="config\n";pump();assert(saves==before);
+    clear_outputs();uart_rx="get_device_info\n";pump();assert(strstr(uart_tx,"OK"));
+    puts("PASS: actual driver/CLI init, UART/CDC routing, session isolation, bounded USB writes, overflow and partial-line recovery");
+}
+'''
+
+
+def main():
+    driver = (ROOT / 'components/platform/src/platform_console_driver.c').read_text()
+    driver = re.sub(r'^#include .*$', '', driver, flags=re.M)
+    cli = (ROOT / 'components/control_plane/src/runtime/control_plane_factory_cli.c').read_text()
+    session = re.search(r'typedef struct \{[^}]+\} factory_cli_session_t;', cli).group()
+    state = session + '\nstatic factory_cli_session_t s_uart_session, s_cdc_session;\n' \
+        'static factory_cli_session_t *s_current_session=&s_uart_session;\nstatic bool s_reply_over_cdc;\n'
+    names = ['is_text_empty', 'trim_text', 'split_args', 'cli_write_line', 'cli_write_ok',
+             'cli_write_error', 'handle_get_device_info', 'handle_save_config',
+             'handle_command_line', 'factory_cli_poll_input']
+    actual = '\n'.join(extract(cli, n) for n in names)
+    with tempfile.TemporaryDirectory(prefix='factory-cdc-') as tmp:
+        path = Path(tmp)
+        cfile = path / 'test.c'
+        cfile.write_text(STUBS + driver + BRIDGE + state + actual + TESTS)
+        for enabled in (0, 1):
+            binary = path / f'test-{enabled}'
+            subprocess.run(['clang', '-std=c11', '-Wall', '-Wextra', '-Werror',
+                            '-Wno-unused-variable', '-fsanitize=address,undefined',
+                            f'-DCONFIG_TQ_FACTORY_CLI_USB_CDC_ENABLE={enabled}',
+                            str(cfile), '-o', str(binary)], check=True)
+            subprocess.run([str(binary)], check=True)
+
+
+if __name__ == '__main__':
+    main()

tools/test_provisioning_recovery.py

@@ -103,7 +103,10 @@ static QueueHandle_t s_provisioning_queue;
 static EventGroupHandle_t s_provisioning_events;
 static domain_wifi_provisioning_event_callback_t s_event_callback;
 static void *s_event_user_data;
-static char s_pending_device_id[64], s_pending_serial_number[64];
+static struct { char pending_device_id[64], pending_serial_number[64]; } test_session;
+static __typeof__(test_session) *s_current_session = &test_session;
+#define s_pending_device_id test_session.pending_device_id
+#define s_pending_serial_number test_session.pending_serial_number
 static uint64_t esp_timer_get_time(void) {return now_ms*1000;}
 static void vTaskDelay(unsigned ms) {now_ms+=ms;}
 static void domain_runtime_restart(void) {++restarts;}