fix: 修复打砖块游戏碰撞穿透bug，添加渐进提速机制

src-tauri/src/devkit/client.rs

@@ -8,14 +8,24 @@ use std::path::PathBuf;
 use std::sync::atomic::{AtomicBool, AtomicU32, Ordering};
 use std::sync::Arc;
 
+use serde::{Deserialize, Serialize};
+use tauri::{AppHandle, Emitter};
 use tokio::sync::mpsc;
 use tokio::task::JoinHandle;
-use serde::{Deserialize, Serialize};
 
 use super::proto::sensor_push_client::SensorPushClient;
 use super::proto::export_processor_client::ExportProcessorClient;
 use super::proto::{ProcessRequest, SensorFrame};
 
+#[derive(Debug, Clone, Serialize)]
+#[serde(rename_all = "camelCase")]
+struct DevKitPztAngleEvent {
+    seq: u64,
+    timestamp_ms: u64,
+    dts_ms: u32,
+    angle: f32,
+}
+
 // ── DevKit 配置 ────────────────────────────────────────────────────
 
 #[derive(Debug, Clone, Serialize, Deserialize)]
@@ -145,7 +155,7 @@ impl DevKitState {
     }
 
     /// 启动 gRPC client，连接到 Python server 并开始推送数据
-    pub async fn start(&self, port: u16) -> Result<(), String> {
+    pub async fn start(&self, app: AppHandle, port: u16) -> Result<(), String> {
         if self.running.load(Ordering::SeqCst) {
             return Err("AlreadyRunning".into());
         }
@@ -161,9 +171,10 @@ impl DevKitState {
 
         let running = Arc::clone(&self.running);
         let frame_count = Arc::clone(&self.frame_count);
+        let app_handle = app.clone();
 
         let handle = tokio::spawn(async move {
-            if let Err(e) = run_grpc_upload(addr, rx, frame_count).await {
+            if let Err(e) = run_grpc_upload(app_handle, addr, rx, frame_count).await {
                 ::log::error!("DevKit gRPC upload error: {e:?}");
             }
             running.store(false, Ordering::SeqCst);
@@ -241,6 +252,7 @@ impl DevKitState {
 // ── gRPC Upload Client ─────────────────────────────────────────────
 
 async fn run_grpc_upload(
+    app: AppHandle,
     addr: String,
     mut rx: mpsc::Receiver<SensorFrame>,
     frame_count: Arc<AtomicU32>,
@@ -255,14 +267,29 @@ async fn run_grpc_upload(
     };
 
     let response = client.upload(stream).await?;
-    let resp = response.into_inner();
+    let mut inbound = response.into_inner();
 
-    ::log::info!(
-        "DevKit upload complete: ok={}, frames={}, msg={}",
-        resp.ok,
-        resp.frames_received,
-        resp.message
-    );
+    while let Some(message) = inbound.message().await? {
+        if message.ok {
+            let payload = DevKitPztAngleEvent {
+                seq: message.seq,
+                timestamp_ms: message.timestamp_ms,
+                dts_ms: message.dts_ms,
+                angle: message.angle,
+            };
+            ::log::debug!(
+                "python pzt angle: seq={} dts_ms={} angle={:.2}",
+                message.seq,
+                message.dts_ms,
+                message.angle
+            );
+            app.emit("devkit_pzt_angle", payload)?;
+        } else {
+            ::log::warn!("DevKit PZT response error: {}", message.message);
+        }
+    }
+
+    ::log::info!("DevKit upload stream closed");
 
     Ok(())
-}
+}