feat: 添加了自动超参数整定

.github/workflows/ci.yml

@@ -28,6 +28,19 @@ jobs:
         env:
           RUSTDOCFLAGS: -D warnings
         run: cargo doc --workspace --no-deps
+      # 整定工具的可选 feature 不在默认 clippy/test 里，单独编译一次防止腐烂。
+      - name: chassis-tune plot feature
+        run: cargo check -p chassis-tune --features plot --all-targets
+      # 自动整定的确定性冒烟：同 seed 必须逐位一致，且最优解必须通过验收阈值。
+      - name: tune smoke (deterministic, no hardware)
+        run: |
+          cargo run --release -p chassis-tune -- sweep \
+            --samples 64 --top-k 3 --max-iters 40 --ensemble 2 --seed 7 \
+            --out-dir target/tune-smoke
+          cargo run --release -p chassis-tune -- sweep \
+            --samples 64 --top-k 3 --max-iters 40 --ensemble 2 --seed 7 \
+            --out-dir target/tune-smoke-again
+          diff target/tune-smoke/trials.csv target/tune-smoke-again/trials.csv
 
   vcan-integration:
     name: vcan0 integration (real kernel CAN stack)
@@ -65,6 +78,9 @@ jobs:
           targets: armv7-unknown-linux-musleabihf
       - uses: Swatinem/rust-cache@v2
       - run: cargo build --release -p chassisd --target armv7-unknown-linux-musleabihf
+      # 台架工具与整定工具同样要在板端跑（真机后端常直接跑在 T153 上）。
+      - run: cargo build --release -p chassis-bench --bin chassis-spin --target armv7-unknown-linux-musleabihf
+      - run: cargo build --release -p chassis-tune --target armv7-unknown-linux-musleabihf
 
   coverage:
     name: coverage (llvm-cov)