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update devkit server and model files

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lenn
2026-06-02 09:43:05 +08:00
parent 0812142359
commit 78c4445b93
40 changed files with 66301 additions and 316 deletions
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This file lists modules PyInstaller was not able to find. This does not
necessarily mean these modules are required for running your program. Both
Python's standard library and 3rd-party Python packages often conditionally
import optional modules, some of which may be available only on certain
platforms.
Types of import:
* top-level: imported at the top-level - look at these first
* conditional: imported within an if-statement
* delayed: imported within a function
* optional: imported within a try-except-statement
IMPORTANT: Do NOT post this list to the issue-tracker. Use it as a basis for
tracking down the missing module yourself. Thanks!
missing module named pwd - imported by posixpath (delayed, conditional, optional), shutil (delayed, optional), tarfile (optional), pathlib._local (optional), subprocess (delayed, conditional, optional), http.server (delayed, optional), netrc (delayed, optional), getpass (delayed, optional)
missing module named grp - imported by shutil (delayed, optional), tarfile (optional), pathlib._local (optional), subprocess (delayed, conditional, optional)
missing module named 'collections.abc' - imported by traceback (top-level), typing (top-level), inspect (top-level), logging (top-level), importlib.resources.readers (top-level), selectors (top-level), tracemalloc (top-level), http.client (top-level), typing_extensions (top-level), asyncio.base_events (top-level), asyncio.coroutines (top-level), grpc.aio._metadata (top-level), google.protobuf.internal.containers (top-level), google.protobuf.internal.well_known_types (top-level), numpy._typing._array_like (top-level), numpy._typing._nested_sequence (conditional), numpy._typing._shape (top-level), numpy._typing._dtype_like (top-level), numpy.lib._function_base_impl (top-level), numpy.lib._npyio_impl (top-level), numpy.random._common (top-level), numpy.random._generator (top-level), numpy.random.bit_generator (top-level), numpy.random.mtrand (top-level), numpy.polynomial._polybase (top-level), xml.etree.ElementTree (top-level)
missing module named _posixsubprocess - imported by subprocess (conditional), multiprocessing.util (delayed)
missing module named fcntl - imported by subprocess (optional)
missing module named _posixshmem - imported by multiprocessing.resource_tracker (conditional), multiprocessing.shared_memory (conditional)
missing module named _scproxy - imported by urllib.request (conditional)
missing module named termios - imported by tty (top-level), _pyrepl.pager (delayed, optional), getpass (optional)
missing module named multiprocessing.BufferTooShort - imported by multiprocessing (top-level), multiprocessing.connection (top-level)
missing module named multiprocessing.AuthenticationError - imported by multiprocessing (top-level), multiprocessing.connection (top-level)
missing module named _frozen_importlib_external - imported by importlib._bootstrap (delayed), importlib (optional), importlib.abc (optional), zipimport (top-level)
excluded module named _frozen_importlib - imported by importlib (optional), importlib.abc (optional), zipimport (top-level)
missing module named posix - imported by os (conditional, optional), posixpath (optional), shutil (conditional), importlib._bootstrap_external (conditional)
missing module named resource - imported by posix (top-level)
missing module named multiprocessing.get_context - imported by multiprocessing (top-level), multiprocessing.pool (top-level), multiprocessing.managers (top-level), multiprocessing.sharedctypes (top-level)
missing module named multiprocessing.TimeoutError - imported by multiprocessing (top-level), multiprocessing.pool (top-level)
missing module named multiprocessing.set_start_method - imported by multiprocessing (top-level), multiprocessing.spawn (top-level)
missing module named multiprocessing.get_start_method - imported by multiprocessing (top-level), multiprocessing.spawn (top-level)
missing module named pyimod02_importers - imported by C:\Users\Administrator\miniconda3\Lib\site-packages\PyInstaller\hooks\rthooks\pyi_rth_pkgutil.py (delayed)
missing module named _dummy_thread - imported by numpy._core.arrayprint (optional)
missing module named asyncio.DefaultEventLoopPolicy - imported by asyncio (delayed, conditional), asyncio.events (delayed, conditional)
missing module named annotationlib - imported by typing_extensions (conditional)
missing module named 'numpy_distutils.cpuinfo' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
missing module named 'numpy_distutils.fcompiler' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
missing module named 'numpy_distutils.command' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
missing module named numpy_distutils - imported by numpy.f2py.diagnose (delayed, optional)
missing module named vms_lib - imported by platform (delayed, optional)
missing module named 'java.lang' - imported by platform (delayed, optional)
missing module named java - imported by platform (delayed)
missing module named psutil - imported by numpy.testing._private.utils (delayed, optional)
missing module named readline - imported by cmd (delayed, conditional, optional), code (delayed, conditional, optional), pdb (delayed, conditional, optional), rlcompleter (optional)
missing module named win32pdh - imported by numpy.testing._private.utils (delayed, conditional)
missing module named _typeshed - imported by numpy.random.bit_generator (top-level)
missing module named numpy.random.RandomState - imported by numpy.random (top-level), numpy.random._generator (top-level)
missing module named threadpoolctl - imported by numpy.lib._utils_impl (delayed, optional)
missing module named numpy._core.zeros - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.vstack - imported by numpy._core (top-level), numpy.lib._shape_base_impl (top-level), numpy (conditional)
missing module named numpy._core.void - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.vecmat - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.vecdot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.ushort - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.unsignedinteger - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.ulonglong - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.ulong - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.uintp - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.uintc - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.uint64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.uint32 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.uint16 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.uint - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.ubyte - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.trunc - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.true_divide - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.transpose - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._function_base_impl (top-level), numpy (conditional)
missing module named numpy._core.trace - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.timedelta64 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.tensordot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.tanh - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.tan - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.swapaxes - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.sum - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.subtract - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.str_ - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.square - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.sqrt - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
missing module named numpy._core.spacing - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.sort - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.sinh - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.single - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.signedinteger - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.signbit - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.sign - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.short - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.rint - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.right_shift - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.result_type - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional), numpy.fft._pocketfft (top-level)
missing module named numpy._core.remainder - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.reciprocal - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
missing module named numpy._core.radians - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.rad2deg - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.prod - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.power - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.positive - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.pi - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.outer - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.ones - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
missing module named numpy._core.object_ - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.number - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.not_equal - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.nextafter - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.newaxis - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.negative - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.ndarray - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy.lib._utils_impl (top-level), numpy (conditional)
missing module named numpy._core.multiply - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.moveaxis - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.modf - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.mod - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.minimum - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.maximum - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.max - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.matvec - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.matrix_transpose - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.matmul - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.longlong - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.longdouble - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.long - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.logical_xor - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.logical_or - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.logical_not - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.logical_and - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.logaddexp2 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.logaddexp - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.log10 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.log2 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.log1p - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.log - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.linspace - imported by numpy._core (top-level), numpy.lib._index_tricks_impl (top-level), numpy (conditional)
missing module named numpy._core.less_equal - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.less - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.left_shift - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.ldexp - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.lcm - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.isscalar - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy.lib._polynomial_impl (top-level), numpy (conditional)
missing module named numpy._core.isnat - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional)
missing module named numpy._core.isnan - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.isfinite - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.intp - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.integer - imported by numpy._core (conditional), numpy (conditional), numpy.fft._helper (top-level)
missing module named numpy._core.intc - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.int64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.int32 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.int16 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.int8 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.inf - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.inexact - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.iinfo - imported by numpy._core (top-level), numpy.lib._twodim_base_impl (top-level), numpy (conditional)
missing module named numpy._core.hypot - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.hstack - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
missing module named numpy._core.heaviside - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.half - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.greater_equal - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.greater - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.gcd - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.frompyfunc - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.frexp - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.fmod - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.fmin - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.fmax - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.floor_divide - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.floor - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.floating - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.float_power - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.float32 - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.float16 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.finfo - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
missing module named numpy._core.fabs - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.expm1 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.exp2 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.exp - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.euler_gamma - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.errstate - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.equal - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.empty_like - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
missing module named numpy._core.empty - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy.fft._helper (top-level)
missing module named numpy._core.e - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.double - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.dot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
missing module named numpy._core.divmod - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.divide - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.diagonal - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.degrees - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.deg2rad - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.datetime64 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.csingle - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.cross - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.count_nonzero - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.cosh - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.cos - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.copysign - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.conjugate - imported by numpy._core (conditional), numpy (conditional), numpy.fft._pocketfft (top-level)
missing module named numpy._core.conj - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.complexfloating - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.complex64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.clongdouble - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.character - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.ceil - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.cdouble - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.cbrt - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.bytes_ - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.byte - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.bool_ - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.bitwise_xor - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.bitwise_or - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.bitwise_count - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.bitwise_and - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.atleast_3d - imported by numpy._core (top-level), numpy.lib._shape_base_impl (top-level), numpy (conditional)
missing module named numpy._core.atleast_2d - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.atleast_1d - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
missing module named numpy._core.asarray - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._array_utils_impl (top-level), numpy (conditional), numpy.fft._helper (top-level), numpy.fft._pocketfft (top-level)
missing module named numpy._core.asanyarray - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.array_repr - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional)
missing module named numpy._core.array2string - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.array - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
missing module named numpy._core.argsort - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.arctanh - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.arctan2 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.arctan - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.arcsinh - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.arcsin - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.arccosh - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.arccos - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.arange - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy.fft._helper (top-level)
missing module named numpy._core.amin - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.amax - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.all - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.add - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named yaml - imported by numpy.__config__ (delayed)
missing module named numpy._distributor_init_local - imported by numpy (optional), numpy._distributor_init (optional)
missing module named defusedxml - imported by openpyxl.xml (delayed, optional)
missing module named lxml - imported by openpyxl.xml (delayed, optional)
missing module named 'defusedxml.ElementTree' - imported by openpyxl.xml.functions (conditional)
missing module named 'lxml.etree' - imported by openpyxl.xml.functions (conditional)
missing module named PIL - imported by openpyxl.drawing.image (optional)
missing module named openpyxl.tests - imported by openpyxl.reader.excel (optional)
missing module named google.protobuf.pyext._message - imported by google.protobuf.pyext (conditional, optional), google.protobuf.internal.api_implementation (conditional, optional), google.protobuf.descriptor (conditional), google.protobuf.pyext.cpp_message (conditional)
missing module named google.protobuf.enable_deterministic_proto_serialization - imported by google.protobuf (optional), google.protobuf.internal.api_implementation (optional)
missing module named google.protobuf.internal._api_implementation - imported by google.protobuf.internal (optional), google.protobuf.internal.api_implementation (optional)
missing module named grpc_reflection - imported by grpc (optional)
missing module named grpc_health - imported by grpc (optional)
missing module named pkg_resources - imported by grpc_tools.protoc (conditional)

26418
devkit/build/je-skin-devkit-server/xref-je-skin-devkit-server.html Normal file
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4
devkit/je-skin-devkit-server.spec
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@@ -5,8 +5,8 @@ a = Analysis(
['sensor_server.py'], ['sensor_server.py'],
pathex=[], pathex=[],
binaries=[], binaries=[],
datas=[('sensor_stream_pb2.py', '.'), ('sensor_stream_pb2_grpc.py', '.')], datas=[('sensor_stream_pb2*.py', '.')],
hiddenimports=['grpc', 'openpyxl', 'numpy'], hiddenimports=['grpc', 'openpyxl'],
hookspath=[], hookspath=[],
hooksconfig={}, hooksconfig={},
runtime_hooks=[], runtime_hooks=[],

590
devkit/sensor_server.py
View File

@@ -235,25 +235,45 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
self.frame_count = 0 self.frame_count = 0
self.last_report_time = time.time() self.last_report_time = time.time()
self.last_angle = None self.last_angle = None
self.last_state = 0
self.last_magnitude = 0.0
def Upload(self, request_iterator, context): def Upload(self, request_iterator, context):
print("[SensorPush] Client connected, waiting for frames...") print("[SensorPush] Client connected, waiting for frames...")
reset_baseline() reset_baseline()
self.last_angle = None self.last_angle = None
self.last_state = 0
self.last_magnitude = 0.0
for frame in request_iterator: for frame in request_iterator:
self.frame_count += 1 self.frame_count += 1
angle = 0.0 angle = 0.0
magnitude = 0.0
state = 0
cop_x = 0.0
cop_y = 0.0
base_x = 0.0
base_y = 0.0
total_press = 0.0
threshold = 0.0
ok = True ok = True
message = "OK" message = "OK"
if len(frame.matrix) == SENSOR_ROWS * SENSOR_COLS: if len(frame.matrix) == SENSOR_ROWS * SENSOR_COLS:
try: try:
angle = get_pzt_angle(frame.matrix) result = get_pzt_angle(frame.matrix, float(frame.dts_ms))
angle, magnitude, state, cop_x, cop_y, base_x, base_y, total_press, threshold = result
threshold = threshold or 0.0
self.last_angle = angle self.last_angle = angle
self.last_state = state
self.last_magnitude = magnitude
if self.frame_count <= 10 or self.frame_count % 30 == 0: if self.frame_count <= 10 or self.frame_count % 30 == 0:
print( print(
f"[SensorPush] PZT angle frame #{frame.seq} " f"[SensorPush] PZT angle frame #{frame.seq} "
f"dts={frame.dts_ms} angle={angle:.2f} " f"dts={frame.dts_ms} angle={angle:.2f} "
f"mag={magnitude:.2f} state={state} "
f"cop=({cop_x:.2f},{cop_y:.2f}) "
f"base=({base_x:.2f},{base_y:.2f}) "
f"total={total_press:.2f} threshold={threshold:.2f}"
) )
except Exception as e: except Exception as e:
ok = False ok = False
@@ -270,6 +290,14 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
dts_ms=frame.dts_ms, dts_ms=frame.dts_ms,
ok=ok, ok=ok,
message=message, message=message,
magnitude=magnitude,
state=state,
cop_x=cop_x,
cop_y=cop_y,
base_x=base_x,
base_y=base_y,
total_press=total_press,
threshold=threshold or 0.0,
) )
if self.frame_count % 100 == 0: if self.frame_count % 100 == 0:
@@ -286,6 +314,8 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
f"[SensorPush] Frame #{frame.seq} | " f"[SensorPush] Frame #{frame.seq} | "
f"{frame.rows}x{frame.cols} | " f"{frame.rows}x{frame.cols} | "
f"angle={angle_text} | " f"angle={angle_text} | "
f"mag={self.last_magnitude:.2f} | "
f"state={self.last_state} | "
f"force={frame.resultant_force:.1f} | " f"force={frame.resultant_force:.1f} | "
f"total={self.frame_count} | ~{fps:.1f} fps" f"total={self.frame_count} | ~{fps:.1f} fps"
) )
@@ -351,14 +381,24 @@ def serve(port: int):
import numpy as np import numpy as np
import threading import threading
from collections import deque
# ===================== 算法参数===================== # ===================== 切向力算法参数 ======================
TOTAL_PRESSURE_LOW_THRESHOLD = 500 COP_INIT_MEDIAN_FRAMES = 1
COP_STABILITY_FRAMES_REQUIRED = 5 NOISE_COLLECT_FRAMES = 20
THRESH_K = 5
SENSOR_ROWS = 12 SENSOR_ROWS = 12
SENSOR_COLS = 7 SENSOR_COLS = 7
# ===================== 线程安全全局状态 ===================== SNAP_CENTER_X, SNAP_CENTER_Y = 3.0, 5.5
SNAP_RANGE_X = 0.0
SNAP_RANGE_Y = 0.0
POST_INIT_WINDOW_CNT = 600000
POST_INIT_STABLE_CNT = 500
POST_INIT_STABLE_THRESH = 0.1
# ===================== 线程安全全局状态 ======================
first_frame = None first_frame = None
first_frame_lock = threading.Lock() first_frame_lock = threading.Lock()
@@ -366,7 +406,17 @@ first_contact_CoP_x = None
first_contact_CoP_y = None first_contact_CoP_y = None
contact_initialized = False contact_initialized = False
total_pressure_low_counter = 0 cop_init_x_buf = deque(maxlen=COP_INIT_MEDIAN_FRAMES)
cop_init_y_buf = deque(maxlen=COP_INIT_MEDIAN_FRAMES)
noise_sum_buf = deque(maxlen=NOISE_COLLECT_FRAMES)
dynamic_thresh = None
post_init_frame_cnt = 0
post_stable_cnt = 0
post_refined_flag = False
post_cand_x = None
post_cand_y = None
# ===================== 基线减除 ===================== # ===================== 基线减除 =====================
def subtract_baseline(current_frame): def subtract_baseline(current_frame):
@@ -381,36 +431,46 @@ def subtract_baseline(current_frame):
return np.clip(diff, 0, None) return np.clip(diff, 0, None)
# ===================== 重置CoP状态 ===================== # ===================== 重置CoP状态 =====================
def reset_cop_state(): def _legacy_reset_cop_state():
global first_contact_CoP_x, first_contact_CoP_y, contact_initialized global first_contact_CoP_x, first_contact_CoP_y, contact_initialized
global total_pressure_low_counter global post_init_frame_cnt, post_stable_cnt, post_refined_flag
global post_cand_x, post_cand_y
first_contact_CoP_x = None first_contact_CoP_x = None
first_contact_CoP_y = None first_contact_CoP_y = None
contact_initialized = False contact_initialized = False
total_pressure_low_counter = 0 cop_init_x_buf.clear()
cop_init_y_buf.clear()
post_init_frame_cnt = 0
post_stable_cnt = 0
post_refined_flag = False
post_cand_x = None
post_cand_y = None
# ===================== CoP压力中心计算 =====================
def compute_pressure_direction(baseline_subtracted_frame): # ===================== CoP压力中心计算（新算法） =====================
def _legacy_compute_pressure_direction(baseline_subtracted_frame):
global first_contact_CoP_x, first_contact_CoP_y, contact_initialized global first_contact_CoP_x, first_contact_CoP_y, contact_initialized
global total_pressure_low_counter global post_init_frame_cnt, post_stable_cnt, post_refined_flag
global post_cand_x, post_cand_y
global noise_sum_buf, dynamic_thresh
rows, cols = SENSOR_ROWS, SENSOR_COLS rows, cols = SENSOR_ROWS, SENSOR_COLS
frame_flat = np.asarray(baseline_subtracted_frame, dtype=np.float32).flatten() frame_flat = np.asarray(baseline_subtracted_frame, dtype=np.float32).flatten()
frame2d = frame_flat.reshape(rows, cols) frame2d = frame_flat.reshape(rows, cols)
total_pressure = np.sum(frame2d) total_pressure = np.sum(frame2d)
if total_pressure < TOTAL_PRESSURE_LOW_THRESHOLD:
total_pressure_low_counter += 1
else:
total_pressure_low_counter = 0
if total_pressure_low_counter >= COP_STABILITY_FRAMES_REQUIRED: if dynamic_thresh is None:
reset_cop_state() noise_sum_buf.append(total_pressure)
return 0.0, 0.0 if len(noise_sum_buf) >= NOISE_COLLECT_FRAMES:
sums = np.array(noise_sum_buf)
dynamic_thresh = THRESH_K * float(np.mean(sums))
if total_pressure == 0: if total_pressure == 0 or (dynamic_thresh is not None and total_pressure < dynamic_thresh):
return 0.0, 0.0 if contact_initialized and dynamic_thresh is not None:
_legacy_reset_cop_state()
return 0.0, 0.0, 0, rows-1, 0, cols-1, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0.0, dynamic_thresh
x_grid = np.tile(np.arange(cols), (rows, 1)) x_grid = np.tile(np.arange(cols), (rows, 1))
y_grid = np.repeat(np.arange(rows), cols).reshape(rows, cols) y_grid = np.repeat(np.arange(rows), cols).reshape(rows, cols)
@@ -419,19 +479,69 @@ def compute_pressure_direction(baseline_subtracted_frame):
delta_CoP_x = 0.0 delta_CoP_x = 0.0
delta_CoP_y = 0.0 delta_CoP_y = 0.0
base_x = cop_x
base_y = cop_y
if not contact_initialized: if not contact_initialized:
first_contact_CoP_x = cop_x cop_init_x_buf.append(cop_x)
first_contact_CoP_y = cop_y cop_init_y_buf.append(cop_y)
contact_initialized = True
else:
delta_CoP_x = cop_x - first_contact_CoP_x
delta_CoP_y = cop_y - first_contact_CoP_y
return delta_CoP_x, delta_CoP_y if len(cop_init_x_buf) >= COP_INIT_MEDIAN_FRAMES:
first_contact_CoP_x = float(np.median(cop_init_x_buf))
first_contact_CoP_y = float(np.median(cop_init_y_buf))
contact_initialized = True
cop_init_x_buf.clear()
cop_init_y_buf.clear()
if (abs(first_contact_CoP_x - SNAP_CENTER_X) <= SNAP_RANGE_X and
abs(first_contact_CoP_y - SNAP_CENTER_Y) <= SNAP_RANGE_Y):
first_contact_CoP_x = SNAP_CENTER_X
first_contact_CoP_y = SNAP_CENTER_Y
else:
post_init_frame_cnt += 1
if not post_refined_flag and post_init_frame_cnt <= POST_INIT_WINDOW_CNT:
if post_cand_x is not None:
dist_val = np.hypot(cop_x - post_cand_x, cop_y - post_cand_y)
if dist_val <= POST_INIT_STABLE_THRESH:
post_stable_cnt += 1
else:
post_cand_x = cop_x
post_cand_y = cop_y
post_stable_cnt = 1
else:
post_cand_x = cop_x
post_cand_y = cop_y
post_stable_cnt = 1
if post_stable_cnt >= POST_INIT_STABLE_CNT:
first_contact_CoP_x = post_cand_x
first_contact_CoP_y = post_cand_y
post_refined_flag = True
else:
post_refined_flag = True
delta_CoP_x = cop_x - first_contact_CoP_x
delta_CoP_y = first_contact_CoP_y - cop_y
base_x = first_contact_CoP_x
base_y = first_contact_CoP_y
magnitude = np.hypot(delta_CoP_x, delta_CoP_y)
if not contact_initialized:
state = 0
elif not post_refined_flag:
state = 1
else:
state = 2
return (cop_x, cop_y,
0, rows-1, 0, cols-1,
delta_CoP_x, delta_CoP_y,
base_x, base_y,
magnitude, state,
total_pressure, dynamic_thresh)
# ===================== 角度计算核心 ===================== # ===================== 角度计算核心 =====================
def compute_vector_angle(x: float, y: float) -> tuple[float, float]: def _legacy_compute_vector_angle(x: float, y: float) -> tuple[float, float]:
epsilon = 1e-8 epsilon = 1e-8
mag = np.hypot(x, y) mag = np.hypot(x, y)
angle = np.degrees(np.arctan2(y, x + epsilon)) angle = np.degrees(np.arctan2(y, x + epsilon))
@@ -439,25 +549,425 @@ def compute_vector_angle(x: float, y: float) -> tuple[float, float]:
angle += 360 angle += 360
return angle, mag return angle, mag
def compute_PZT_angle(Px: float, Py: float) -> tuple[float, float]: def _legacy_compute_PZT_angle(Px: float, Py: float) -> tuple[float, float]:
return compute_vector_angle(Px, -Py) return _legacy_compute_vector_angle(Px, Py)
# ===================== 核心入口函数 ===================== # ===================== 核心入口函数 =====================
def get_pzt_angle(adc_data): def _legacy_get_pzt_angle(adc_data):
if len(adc_data) != 84: if len(adc_data) != 84:
raise ValueError("ADC数据长度必须为84") raise ValueError("ADC数据长度必须为84")
baseline_subtracted = subtract_baseline(adc_data) result = _legacy_compute_pressure_direction(adc_data)
dx, dy = compute_pressure_direction(baseline_subtracted) cop_x, cop_y = result[0], result[1]
pzt_angle, _ = compute_PZT_angle(dx, dy) dx, dy = result[6], result[7]
base_x, base_y = result[8], result[9]
return pzt_angle magnitude = result[10]
state = int(result[11])
total_press = result[12]
threshold = result[13]
pzt_angle, _ = _legacy_compute_PZT_angle(dx, dy)
return pzt_angle, magnitude, state, cop_x, cop_y, base_x, base_y, total_press, threshold
# ===================== 重置基线（校准用） ===================== # ===================== 重置基线（校准用） =====================
def reset_baseline(): def _legacy_reset_baseline():
global first_frame global first_frame, noise_sum_buf, dynamic_thresh
with first_frame_lock: with first_frame_lock:
first_frame = None first_frame = None
reset_cop_state() noise_sum_buf.clear()
dynamic_thresh = None
_legacy_reset_cop_state()
from dataclasses import dataclass
from enum import IntEnum
from typing import Optional, Tuple
ADC_LEN = SENSOR_ROWS * SENSOR_COLS
class CoPState(IntEnum):
NO_CONTACT = 0
INIT_COLLECTING = 1
POST_REFINING = 2
READY = 3
@dataclass
class CoPResult:
cop_x: float
cop_y: float
row_min: int
row_max: int
col_min: int
col_max: int
dx: float
dy: float
base_x: float
base_y: float
magnitude: float
state: int
total_pressure: float
threshold: Optional[float]
angle: float
@dataclass
class CoPConfig:
rows: int = SENSOR_ROWS
cols: int = SENSOR_COLS
noise_collect_ms: float = 300.0
thresh_k: float = 5.0
min_threshold: float = 50.0
contact_confirm_ms: float = 20.0
release_confirm_ms: float = 50.0
init_collect_ms: float = 80.0
snap_enable: bool = True
snap_center_x: float = 3.0
snap_center_y: float = 5.5
snap_range_x: float = 0.25
snap_range_y: float = 0.25
post_refine_enable: bool = True
post_refine_window_ms: float = 800.0
post_stable_ms: float = 200.0
post_stable_thresh: float = 0.1
cop_lpf_alpha: float = 0.25
epsilon: float = 1e-8
class PressureDirectionEstimator:
def __init__(self, config: CoPConfig = CoPConfig()):
self.cfg = config
self.reset_all()
def reset_all(self):
self.dynamic_thresh: Optional[float] = None
self.noise_samples = []
self.noise_start_ms: Optional[float] = None
self.reset_contact_state()
def reset_contact_state(self):
self.first_contact_cop_x: Optional[float] = None
self.first_contact_cop_y: Optional[float] = None
self.state = CoPState.NO_CONTACT
self.init_x_buf = []
self.init_y_buf = []
self.init_start_ms: Optional[float] = None
self.post_start_ms: Optional[float] = None
self.post_stable_start_ms: Optional[float] = None
self.post_cand_x: Optional[float] = None
self.post_cand_y: Optional[float] = None
self.post_refined = False
self.contact_candidate_start_ms: Optional[float] = None
self.release_candidate_start_ms: Optional[float] = None
self.filtered_cop_x: Optional[float] = None
self.filtered_cop_y: Optional[float] = None
def update(self, adc_data, timestamp_ms: float) -> CoPResult:
frame2d = self._prepare_frame(adc_data)
total_pressure = float(np.sum(frame2d))
self._update_dynamic_threshold(total_pressure, timestamp_ms)
raw_contact = self._is_raw_contact(total_pressure)
contact_valid = self._debounce_contact(raw_contact, timestamp_ms)
if not contact_valid:
self._handle_no_contact()
return self._make_empty_result(total_pressure)
cop_x, cop_y = self._compute_cop(frame2d, total_pressure)
cop_x, cop_y = self._filter_cop(cop_x, cop_y)
self._update_state_machine(cop_x, cop_y, timestamp_ms)
if self.first_contact_cop_x is None or self.first_contact_cop_y is None:
dx = 0.0
dy = 0.0
base_x = cop_x
base_y = cop_y
else:
base_x = self.first_contact_cop_x
base_y = self.first_contact_cop_y
dx = cop_x - base_x
dy = base_y - cop_y
magnitude = float(np.hypot(dx, dy))
angle = self.compute_vector_angle(dx, dy)[0]
return CoPResult(
cop_x=float(cop_x),
cop_y=float(cop_y),
row_min=0,
row_max=self.cfg.rows - 1,
col_min=0,
col_max=self.cfg.cols - 1,
dx=float(dx),
dy=float(dy),
base_x=float(base_x),
base_y=float(base_y),
magnitude=magnitude,
state=int(self.state),
total_pressure=total_pressure,
threshold=self.dynamic_thresh,
angle=float(angle),
)
def _prepare_frame(self, adc_data) -> np.ndarray:
arr = np.asarray(adc_data, dtype=np.float32).flatten()
expected_len = self.cfg.rows * self.cfg.cols
if len(arr) != expected_len:
raise ValueError(f"ADC数据长度必须为{expected_len}，当前为{len(arr)}")
arr = np.clip(arr, 0, None)
return arr.reshape(self.cfg.rows, self.cfg.cols)
def _update_dynamic_threshold(self, total_pressure: float, timestamp_ms: float):
if self.dynamic_thresh is not None:
return
if self.noise_start_ms is None:
self.noise_start_ms = timestamp_ms
self.noise_samples.append(total_pressure)
if timestamp_ms - self.noise_start_ms >= self.cfg.noise_collect_ms:
samples = np.asarray(self.noise_samples, dtype=np.float32)
mean_val = float(np.mean(samples))
std_val = float(np.std(samples))
thresh = mean_val + self.cfg.thresh_k * std_val
self.dynamic_thresh = max(thresh, self.cfg.min_threshold)
def _is_raw_contact(self, total_pressure: float) -> bool:
if self.dynamic_thresh is None:
return False
return total_pressure >= self.dynamic_thresh
def _debounce_contact(self, raw_contact: bool, timestamp_ms: float) -> bool:
currently_in_contact = self.state != CoPState.NO_CONTACT
if raw_contact:
self.release_candidate_start_ms = None
if currently_in_contact:
return True
if self.contact_candidate_start_ms is None:
self.contact_candidate_start_ms = timestamp_ms
return timestamp_ms - self.contact_candidate_start_ms >= self.cfg.contact_confirm_ms
self.contact_candidate_start_ms = None
if not currently_in_contact:
return False
if self.release_candidate_start_ms is None:
self.release_candidate_start_ms = timestamp_ms
if timestamp_ms - self.release_candidate_start_ms >= self.cfg.release_confirm_ms:
return False
return True
def _handle_no_contact(self):
if self.state != CoPState.NO_CONTACT:
self.reset_contact_state()
def _compute_cop(self, frame2d: np.ndarray, total_pressure: float) -> Tuple[float, float]:
rows, cols = self.cfg.rows, self.cfg.cols
x_grid = np.tile(np.arange(cols, dtype=np.float32), (rows, 1))
y_grid = np.repeat(np.arange(rows, dtype=np.float32), cols).reshape(rows, cols)
cop_x = float(np.sum(frame2d * x_grid) / total_pressure)
cop_y = float(np.sum(frame2d * y_grid) / total_pressure)
return cop_x, cop_y
def _filter_cop(self, cop_x: float, cop_y: float) -> Tuple[float, float]:
alpha = self.cfg.cop_lpf_alpha
if alpha <= 0.0:
return cop_x, cop_y
if self.filtered_cop_x is None or self.filtered_cop_y is None:
self.filtered_cop_x = cop_x
self.filtered_cop_y = cop_y
else:
self.filtered_cop_x = alpha * cop_x + (1.0 - alpha) * self.filtered_cop_x
self.filtered_cop_y = alpha * cop_y + (1.0 - alpha) * self.filtered_cop_y
return self.filtered_cop_x, self.filtered_cop_y
def _update_state_machine(self, cop_x: float, cop_y: float, timestamp_ms: float):
if self.state == CoPState.NO_CONTACT:
self.state = CoPState.INIT_COLLECTING
self.init_start_ms = timestamp_ms
self.init_x_buf.clear()
self.init_y_buf.clear()
if self.state == CoPState.INIT_COLLECTING:
self.init_x_buf.append(cop_x)
self.init_y_buf.append(cop_y)
if self.init_start_ms is None:
self.init_start_ms = timestamp_ms
if timestamp_ms - self.init_start_ms >= self.cfg.init_collect_ms:
base_x = float(np.median(self.init_x_buf))
base_y = float(np.median(self.init_y_buf))
base_x, base_y = self._apply_center_snap(base_x, base_y)
self.first_contact_cop_x = base_x
self.first_contact_cop_y = base_y
self.post_start_ms = timestamp_ms
self.post_cand_x = None
self.post_cand_y = None
self.post_stable_start_ms = None
if self.cfg.post_refine_enable:
self.state = CoPState.POST_REFINING
else:
self.post_refined = True
self.state = CoPState.READY
return
if self.state == CoPState.POST_REFINING:
self._post_refine(cop_x, cop_y, timestamp_ms)
def _apply_center_snap(self, base_x: float, base_y: float) -> Tuple[float, float]:
if not self.cfg.snap_enable:
return base_x, base_y
if (
abs(base_x - self.cfg.snap_center_x) <= self.cfg.snap_range_x
and abs(base_y - self.cfg.snap_center_y) <= self.cfg.snap_range_y
):
return self.cfg.snap_center_x, self.cfg.snap_center_y
return base_x, base_y
def _post_refine(self, cop_x: float, cop_y: float, timestamp_ms: float):
if self.post_start_ms is None:
self.post_start_ms = timestamp_ms
if timestamp_ms - self.post_start_ms >= self.cfg.post_refine_window_ms:
self.post_refined = True
self.state = CoPState.READY
return
if self.post_cand_x is None or self.post_cand_y is None:
self.post_cand_x = cop_x
self.post_cand_y = cop_y
self.post_stable_start_ms = timestamp_ms
return
dist = float(np.hypot(cop_x - self.post_cand_x, cop_y - self.post_cand_y))
if dist <= self.cfg.post_stable_thresh:
if self.post_stable_start_ms is None:
self.post_stable_start_ms = timestamp_ms
if timestamp_ms - self.post_stable_start_ms >= self.cfg.post_stable_ms:
refined_x, refined_y = self._apply_center_snap(self.post_cand_x, self.post_cand_y)
self.first_contact_cop_x = float(refined_x)
self.first_contact_cop_y = float(refined_y)
self.post_refined = True
self.state = CoPState.READY
else:
self.post_cand_x = cop_x
self.post_cand_y = cop_y
self.post_stable_start_ms = timestamp_ms
def _make_empty_result(self, total_pressure: float) -> CoPResult:
return CoPResult(
cop_x=0.0,
cop_y=0.0,
row_min=0,
row_max=self.cfg.rows - 1,
col_min=0,
col_max=self.cfg.cols - 1,
dx=0.0,
dy=0.0,
base_x=0.0,
base_y=0.0,
magnitude=0.0,
state=int(CoPState.NO_CONTACT),
total_pressure=float(total_pressure),
threshold=self.dynamic_thresh,
angle=0.0,
)
def compute_vector_angle(self, x: float, y: float) -> Tuple[float, float]:
mag = float(np.hypot(x, y))
angle = float(np.degrees(np.arctan2(y, x + self.cfg.epsilon)))
if angle < 0:
angle += 360.0
return angle, mag
_estimator = PressureDirectionEstimator()
def reset_cop_state():
_estimator.reset_contact_state()
def reset_all_state():
_estimator.reset_all()
def compute_pressure_direction(adc_data, timestamp_ms: float):
result = _estimator.update(adc_data, timestamp_ms)
return (
result.cop_x,
result.cop_y,
result.row_min,
result.row_max,
result.col_min,
result.col_max,
result.dx,
result.dy,
result.base_x,
result.base_y,
result.magnitude,
result.state,
result.total_pressure,
result.threshold,
)
def compute_vector_angle(x: float, y: float) -> Tuple[float, float]:
return _estimator.compute_vector_angle(x, y)
def compute_PZT_angle(Px: float, Py: float) -> Tuple[float, float]:
return compute_vector_angle(Px, Py)
def get_pzt_angle(adc_data, timestamp_ms: float):
if len(adc_data) != ADC_LEN:
raise ValueError(f"ADC数据长度必须为{ADC_LEN}")
result = _estimator.update(adc_data, timestamp_ms)
return (
result.angle,
result.magnitude,
result.state,
result.cop_x,
result.cop_y,
result.base_x,
result.base_y,
result.total_pressure,
result.threshold,
)
def reset_baseline():
reset_all_state()
if __name__ == "__main__": if __name__ == "__main__":

22
devkit/sensor_stream_pb2.py
View File

@@ -24,7 +24,7 @@ _sym_db = _symbol_database.Default()
DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13sensor_stream.proto\x12\rsensor_stream\"\x85\x01\n\x0bSensorFrame\x12\x0b\n\x03seq\x18\x01 \x01(\x04\x12\x14\n\x0ctimestamp_ms\x18\x02 \x01(\x04\x12\x0c\n\x04rows\x18\x03 \x01(\r\x12\x0c\n\x04\x63ols\x18\x04 \x01(\r\x12\x0e\n\x06matrix\x18\x05 \x03(\r\x12\x17\n\x0fresultant_force\x18\x06 \x01(\x01\x12\x0e\n\x06\x64ts_ms\x18\x07 \x01(\r\"q\n\x10PztAngleResponse\x12\x0b\n\x03seq\x18\x01 \x01(\x04\x12\x14\n\x0ctimestamp_ms\x18\x02 \x01(\x04\x12\r\n\x05\x61ngle\x18\x03 \x01(\x02\x12\x0e\n\x06\x64ts_ms\x18\x04 \x01(\r\x12\n\n\x02ok\x18\x05 \x01(\x08\x12\x0f\n\x07message\x18\x06 \x01(\t\"8\n\x0eProcessRequest\x12\x10\n\x08\x63sv_path\x18\x01 \x01(\t\x12\x14\n\x0csave_as_xlsx\x18\x02 \x01(\x08\"\xa6\x01\n\x0fProcessResponse\x12\n\n\x02ok\x18\x01 \x01(\x08\x12\x13\n\x0boutput_path\x18\x02 \x01(\t\x12\x13\n\x0bgroups_used\x18\x03 \x01(\r\x12\x12\n\nmean_value\x18\x04 \x01(\x01\x12\x11\n\tthreshold\x18\x05 \x01(\x01\x12\x12\n\nrows_total\x18\x06 \x01(\r\x12\x11\n\trows_kept\x18\x07 \x01(\r\x12\x0f\n\x07message\x18\x08 \x01(\t2W\n\nSensorPush\x12I\n\x06Upload\x12\x1a.sensor_stream.SensorFrame\x1a\x1f.sensor_stream.PztAngleResponse(\x01\x30\x01\x32_\n\x0f\x45xportProcessor\x12L\n\x0bProcessFile\x12\x1d.sensor_stream.ProcessRequest\x1a\x1e.sensor_stream.ProcessResponseb\x06proto3') DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13sensor_stream.proto\x12\rsensor_stream\"\x85\x01\n\x0bSensorFrame\x12\x0b\n\x03seq\x18\x01 \x01(\x04\x12\x14\n\x0ctimestamp_ms\x18\x02 \x01(\x04\x12\x0c\n\x04rows\x18\x03 \x01(\r\x12\x0c\n\x04\x63ols\x18\x04 \x01(\r\x12\x0e\n\x06matrix\x18\x05 \x03(\r\x12\x17\n\x0fresultant_force\x18\x06 \x01(\x01\x12\x0e\n\x06\x64ts_ms\x18\x07 \x01(\r\"\xf9\x01\n\x10PztAngleResponse\x12\x0b\n\x03seq\x18\x01 \x01(\x04\x12\x14\n\x0ctimestamp_ms\x18\x02 \x01(\x04\x12\r\n\x05\x61ngle\x18\x03 \x01(\x02\x12\x0e\n\x06\x64ts_ms\x18\x04 \x01(\r\x12\n\n\x02ok\x18\x05 \x01(\x08\x12\x0f\n\x07message\x18\x06 \x01(\t\x12\x11\n\tmagnitude\x18\x07 \x01(\x02\x12\r\n\x05state\x18\x08 \x01(\x05\x12\r\n\x05\x63op_x\x18\t \x01(\x02\x12\r\n\x05\x63op_y\x18\n \x01(\x02\x12\x0e\n\x06\x62\x61se_x\x18\x0b \x01(\x02\x12\x0e\n\x06\x62\x61se_y\x18\x0c \x01(\x02\x12\x13\n\x0btotal_press\x18\r \x01(\x02\x12\x11\n\tthreshold\x18\x0e \x01(\x02\"8\n\x0eProcessRequest\x12\x10\n\x08\x63sv_path\x18\x01 \x01(\t\x12\x14\n\x0csave_as_xlsx\x18\x02 \x01(\x08\"\xa6\x01\n\x0fProcessResponse\x12\n\n\x02ok\x18\x01 \x01(\x08\x12\x13\n\x0boutput_path\x18\x02 \x01(\t\x12\x13\n\x0bgroups_used\x18\x03 \x01(\r\x12\x12\n\nmean_value\x18\x04 \x01(\x01\x12\x11\n\tthreshold\x18\x05 \x01(\x01\x12\x12\n\nrows_total\x18\x06 \x01(\r\x12\x11\n\trows_kept\x18\x07 \x01(\r\x12\x0f\n\x07message\x18\x08 \x01(\t2W\n\nSensorPush\x12I\n\x06Upload\x12\x1a.sensor_stream.SensorFrame\x1a\x1f.sensor_stream.PztAngleResponse(\x01\x30\x01\x32_\n\x0f\x45xportProcessor\x12L\n\x0bProcessFile\x12\x1d.sensor_stream.ProcessRequest\x1a\x1e.sensor_stream.ProcessResponseb\x06proto3')
_globals = globals() _globals = globals()
_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals) _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
@@ -33,14 +33,14 @@ if not _descriptor._USE_C_DESCRIPTORS:
DESCRIPTOR._loaded_options = None DESCRIPTOR._loaded_options = None
_globals['_SENSORFRAME']._serialized_start=39 _globals['_SENSORFRAME']._serialized_start=39
_globals['_SENSORFRAME']._serialized_end=172 _globals['_SENSORFRAME']._serialized_end=172
_globals['_PZTANGLERESPONSE']._serialized_start=174 _globals['_PZTANGLERESPONSE']._serialized_start=175
_globals['_PZTANGLERESPONSE']._serialized_end=287 _globals['_PZTANGLERESPONSE']._serialized_end=424
_globals['_PROCESSREQUEST']._serialized_start=289 _globals['_PROCESSREQUEST']._serialized_start=426
_globals['_PROCESSREQUEST']._serialized_end=345 _globals['_PROCESSREQUEST']._serialized_end=482
_globals['_PROCESSRESPONSE']._serialized_start=348 _globals['_PROCESSRESPONSE']._serialized_start=485
_globals['_PROCESSRESPONSE']._serialized_end=514 _globals['_PROCESSRESPONSE']._serialized_end=651
_globals['_SENSORPUSH']._serialized_start=516 _globals['_SENSORPUSH']._serialized_start=653
_globals['_SENSORPUSH']._serialized_end=603 _globals['_SENSORPUSH']._serialized_end=740
_globals['_EXPORTPROCESSOR']._serialized_start=605 _globals['_EXPORTPROCESSOR']._serialized_start=742
_globals['_EXPORTPROCESSOR']._serialized_end=700 _globals['_EXPORTPROCESSOR']._serialized_end=837
# @@protoc_insertion_point(module_scope) # @@protoc_insertion_point(module_scope)

0
devkit/server-start.err.log Normal file
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33231
devkit/server-start.out.log Normal file
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File diff suppressed because it is too large Load Diff

2
package-lock.json generated
View File

@@ -6,7 +6,7 @@
"packages": { "packages": {
"": { "": {
"name": "JE-Skin", "name": "JE-Skin",
"version": "0.3.0", "version": "0.4.0",
"license": "MIT", "license": "MIT",
"dependencies": { "dependencies": {
"@tauri-apps/api": "^2", "@tauri-apps/api": "^2",

8
src-tauri/proto/sensor_stream.proto
View File

@@ -27,6 +27,14 @@ message PztAngleResponse {
uint32 dts_ms = 4; uint32 dts_ms = 4;
bool ok = 5; bool ok = 5;
string message = 6; string message = 6;
float magnitude = 7;
int32 state = 8;
float cop_x = 9;
float cop_y = 10;
float base_x = 11;
float base_y = 12;
float total_press = 13;
float threshold = 14;
} }
message ProcessRequest { message ProcessRequest {

BIN
src-tauri/resources/je-skin-devkit-server.exe
View File

Binary file not shown.

69
src-tauri/src/commands/devkit.rs
View File

@@ -2,11 +2,26 @@
//! //!
//! 仅在 `devkit` feature 启用时编译。 //! 仅在 `devkit` feature 启用时编译。
use serde::Serialize;
use std::sync::atomic::{AtomicU64, Ordering};
use std::time::{SystemTime, UNIX_EPOCH};
use tauri::State; use tauri::State;
#[cfg(feature = "devkit")] #[cfg(feature = "devkit")]
use tauri::AppHandle; use tauri::AppHandle;
use crate::devkit::{DevKitConfig, DevKitState, DevKitStatusSnapshot, ExportProcessResult}; use crate::devkit::{
proto::SensorFrame, DevKitConfig, DevKitState, DevKitStatusSnapshot, ExportProcessResult,
};
static REPLAY_SEQ_COUNTER: AtomicU64 = AtomicU64::new(0);
#[derive(Serialize)]
#[serde(rename_all = "camelCase")]
pub struct DevKitReplayFramePushResult {
pub seq: u64,
pub timestamp_ms: u64,
pub dts_ms: u32,
}
#[tauri::command] #[tauri::command]
pub fn devkit_status(state: State<'_, DevKitState>) -> DevKitStatusSnapshot { pub fn devkit_status(state: State<'_, DevKitState>) -> DevKitStatusSnapshot {
@@ -51,3 +66,55 @@ pub async fn devkit_process_export(
let use_xlsx = save_as_xlsx.unwrap_or(config.save_as_xlsx); let use_xlsx = save_as_xlsx.unwrap_or(config.save_as_xlsx);
state.process_export(&csv_path, use_xlsx).await state.process_export(&csv_path, use_xlsx).await
} }
#[tauri::command]
pub fn devkit_push_replay_frame(
state: State<'_, DevKitState>,
values: Vec<i32>,
dts_ms: u32,
seq: Option<u64>,
) -> Result<DevKitReplayFramePushResult, String> {
if values.len() != 84 {
return Err(format!("InvalidReplayMatrixLength: {}", values.len()));
}
if !state.running.load(Ordering::Relaxed) {
return Err("NotRunning".to_string());
}
let timestamp_ms = now_millis();
let seq = seq.unwrap_or_else(|| build_replay_seq(timestamp_ms));
let resultant_force = values.iter().copied().sum::<i32>().max(0) as f64;
let matrix = values
.into_iter()
.map(|value| value.max(0) as u32)
.collect::<Vec<_>>();
state.push_frame(SensorFrame {
seq,
timestamp_ms,
rows: 12,
cols: 7,
matrix,
resultant_force,
dts_ms,
});
Ok(DevKitReplayFramePushResult {
seq,
timestamp_ms,
dts_ms,
})
}
fn now_millis() -> u64 {
SystemTime::now()
.duration_since(UNIX_EPOCH)
.map(|duration| duration.as_millis() as u64)
.unwrap_or_default()
}
fn build_replay_seq(timestamp_ms: u64) -> u64 {
let counter = REPLAY_SEQ_COUNTER.fetch_add(1, Ordering::Relaxed) % 1000;
timestamp_ms.saturating_mul(1000).saturating_add(counter)
}

52
src-tauri/src/commands/serial.rs
View File

@@ -1,7 +1,10 @@
use crate::serial_core::codecs::tactile_a::{ use crate::serial_core::codecs::tactile_a::{
export_recording_csv, TactileACodec, TactileACsvImporter, TactileAHandler, export_recording_csv, TactileACodec, TactileACsvImporter, TactileADataPacket, TactileAHandler,
}; };
use crate::serial_core::error::SerialError; use crate::serial_core::error::SerialError;
use crate::serial_core::model::HudSpatialForce;
#[cfg(feature = "multi-dim")]
use crate::serial_core::multi_dim_force::PztProcessor;
use crate::serial_core::record::CsvImporter; use crate::serial_core::record::CsvImporter;
use crate::serial_core::serial::{PollMode, TactileAPollRequester}; use crate::serial_core::serial::{PollMode, TactileAPollRequester};
use crate::serial_core::{serial, TactileARecording}; use crate::serial_core::{serial, TactileARecording};
@@ -44,6 +47,7 @@ pub struct SerialExportResponse {
pub struct SerialImportFrame { pub struct SerialImportFrame {
pub data: Vec<i32>, pub data: Vec<i32>,
pub dts_ms: u64, pub dts_ms: u64,
pub spatial_force: Option<HudSpatialForce>,
} }
#[derive(Serialize)] #[derive(Serialize)]
@@ -322,13 +326,7 @@ pub fn serial_import_csv(
let channel_count = packets.first().map(|item| item.data.len()).unwrap_or(0); let channel_count = packets.first().map(|item| item.data.len()).unwrap_or(0);
let frame_count = packets.len(); let frame_count = packets.len();
let frames = packets let frames = build_import_frames(packets);
.into_iter()
.map(|packet| SerialImportFrame {
data: packet.data,
dts_ms: packet.dts_ms,
})
.collect();
Ok(SerialImportResponse { Ok(SerialImportResponse {
file_name, file_name,
@@ -353,6 +351,44 @@ pub fn serial_import_csv_from_path(file_path: String) -> Result<SerialImportResp
serial_import_csv(file_name, csv_content) serial_import_csv(file_name, csv_content)
} }
fn build_import_frames(packets: Vec<TactileADataPacket>) -> Vec<SerialImportFrame> {
#[cfg(feature = "multi-dim")]
let mut pzt_processor = PztProcessor::new();
packets
.into_iter()
.map(|packet| {
#[cfg(feature = "multi-dim")]
let spatial_force = replay_spatial_force(&mut pzt_processor, &packet.data);
#[cfg(not(feature = "multi-dim"))]
let spatial_force = None;
SerialImportFrame {
data: packet.data,
dts_ms: packet.dts_ms,
spatial_force,
}
})
.collect()
}
#[cfg(feature = "multi-dim")]
fn replay_spatial_force(processor: &mut PztProcessor, values: &[i32]) -> Option<HudSpatialForce> {
let pzt_values = values.iter().map(|value| *value as f32).collect::<Vec<f32>>();
let analysis = processor.get_pzt_analysis(&pzt_values).ok()?;
if !PztProcessor::should_report(&analysis) {
return None;
}
Some(HudSpatialForce {
angle_deg: analysis.angle_deg,
magnitude: analysis.magnitude,
confidence: analysis.confidence,
})
}
fn resolve_record_for_export( fn resolve_record_for_export(
state: &State<'_, SerialConnectionState>, state: &State<'_, SerialConnectionState>,
) -> Result<SharedTactileRecording, SerialError> { ) -> Result<SharedTactileRecording, SerialError> {

28
src-tauri/src/devkit/client.rs
View File

@@ -24,6 +24,14 @@ struct DevKitPztAngleEvent {
timestamp_ms: u64, timestamp_ms: u64,
dts_ms: u32, dts_ms: u32,
angle: f32, angle: f32,
magnitude: f32,
state: i32,
cop_x: f32,
cop_y: f32,
base_x: f32,
base_y: f32,
total_press: f32,
threshold: f32,
} }
// ── DevKit 配置 ──────────────────────────────────────────────────── // ── DevKit 配置 ────────────────────────────────────────────────────
@@ -276,12 +284,28 @@ async fn run_grpc_upload(
timestamp_ms: message.timestamp_ms, timestamp_ms: message.timestamp_ms,
dts_ms: message.dts_ms, dts_ms: message.dts_ms,
angle: message.angle, angle: message.angle,
magnitude: message.magnitude,
state: message.state,
cop_x: message.cop_x,
cop_y: message.cop_y,
base_x: message.base_x,
base_y: message.base_y,
total_press: message.total_press,
threshold: message.threshold,
}; };
::log::debug!( ::log::debug!(
"python pzt angle: seq={} dts_ms={} angle={:.2}", "python pzt angle: seq={} dts_ms={} angle={:.2} magnitude={:.2} state={} cop=({:.2},{:.2}) base=({:.2},{:.2}) total_press={:.2} threshold={:.2}",
message.seq, message.seq,
message.dts_ms, message.dts_ms,
message.angle message.angle,
message.magnitude,
message.state,
message.cop_x,
message.cop_y,
message.base_x,
message.base_y,
message.total_press,
message.threshold
); );
app.emit("devkit_pzt_angle", payload)?; app.emit("devkit_pzt_angle", payload)?;
} else { } else {

3
src-tauri/src/lib.rs
View File

@@ -154,7 +154,8 @@ pub fn run() {
commands::devkit::devkit_stop, commands::devkit::devkit_stop,
commands::devkit::devkit_get_config, commands::devkit::devkit_get_config,
commands::devkit::devkit_set_config, commands::devkit::devkit_set_config,
commands::devkit::devkit_process_export commands::devkit::devkit_process_export,
commands::devkit::devkit_push_replay_frame
]); ]);
#[cfg(not(feature = "devkit"))] #[cfg(not(feature = "devkit"))]

3
src-tauri/src/log.rs
View File

@@ -3,7 +3,7 @@ use fern::{
Dispatch, Dispatch,
}; };
use log::debug; use log::debug;
use std::{path::{Path, PathBuf}, time::SystemTime}; use std::{path::PathBuf, time::SystemTime};
fn log_directory() -> PathBuf { fn log_directory() -> PathBuf {
let base_dir = std::env::var_os("LOCALAPPDATA") let base_dir = std::env::var_os("LOCALAPPDATA")
@@ -67,6 +67,7 @@ pub fn setup_logger() {
Dispatch::new() Dispatch::new()
.level(log::LevelFilter::Debug) .level(log::LevelFilter::Debug)
.level_for("h2", log::LevelFilter::Info)
.chain(console_config) .chain(console_config)
.chain(file_config) .chain(file_config)
.apply() .apply()

189
src-tauri/src/serial_core/multi_dim_force.rs
View File

@@ -17,7 +17,6 @@ const ACTIVE_CELL_MIN_VALUE: f32 = 18.0;
const ACTIVE_CELL_PEAK_RATIO: f32 = 0.14; const ACTIVE_CELL_PEAK_RATIO: f32 = 0.14;
const MIN_ACTIVE_CELLS: usize = 3; const MIN_ACTIVE_CELLS: usize = 3;
const ANCHOR_LERP_ALPHA: f32 = 0.018;
const VECTOR_SMOOTHING_ALPHA: f32 = 0.16; const VECTOR_SMOOTHING_ALPHA: f32 = 0.16;
const REPORT_MAGNITUDE_ENTER: f32 = 0.12; const REPORT_MAGNITUDE_ENTER: f32 = 0.12;
@@ -29,6 +28,12 @@ const REPORT_HOLD_FRAMES: usize = 10;
const ASYMMETRY_WEIGHT: f32 = 1.1; const ASYMMETRY_WEIGHT: f32 = 1.1;
const DRIFT_WEIGHT: f32 = 0.65; const DRIFT_WEIGHT: f32 = 0.65;
const MOTION_WEIGHT: f32 = 0.25; const MOTION_WEIGHT: f32 = 0.25;
const EDGE_ASYMMETRY_DAMPING: f32 = 0.35;
const EDGE_INWARD_ROLLING_BIAS: f32 = 0.55;
const EDGE_START_COP_THRESHOLD: f32 = 0.45;
const EDGE_START_BIAS_WEIGHT: f32 = 1.1;
const ROLLING_FRICTION_ALPHA: f32 = 0.68;
const ROLLING_FRICTION_MIN_MAGNITUDE: f32 = 0.05;
#[derive(Debug, Clone, Copy)] #[derive(Debug, Clone, Copy)]
pub struct PztSpatialAnalysis { pub struct PztSpatialAnalysis {
@@ -50,6 +55,8 @@ pub struct PztProcessor {
anchor_cop_y: Option<f32>, anchor_cop_y: Option<f32>,
last_cop_x: Option<f32>, last_cop_x: Option<f32>,
last_cop_y: Option<f32>, last_cop_y: Option<f32>,
edge_start_bias_x: f32,
edge_start_bias_y: f32,
smoothed_x: f32, smoothed_x: f32,
smoothed_y: f32, smoothed_y: f32,
report_active: bool, report_active: bool,
@@ -84,6 +91,8 @@ impl PztProcessor {
anchor_cop_y: None, anchor_cop_y: None,
last_cop_x: None, last_cop_x: None,
last_cop_y: None, last_cop_y: None,
edge_start_bias_x: 0.0,
edge_start_bias_y: 0.0,
smoothed_x: 0.0, smoothed_x: 0.0,
smoothed_y: 0.0, smoothed_y: 0.0,
report_active: false, report_active: false,
@@ -100,6 +109,8 @@ impl PztProcessor {
self.anchor_cop_y = None; self.anchor_cop_y = None;
self.last_cop_x = None; self.last_cop_x = None;
self.last_cop_y = None; self.last_cop_y = None;
self.edge_start_bias_x = 0.0;
self.edge_start_bias_y = 0.0;
self.smoothed_x = 0.0; self.smoothed_x = 0.0;
self.smoothed_y = 0.0; self.smoothed_y = 0.0;
} }
@@ -273,6 +284,112 @@ impl PztProcessor {
(angle, magnitude) (angle, magnitude)
} }
fn contact_touches_edge(stats: &ContactStats) -> bool {
stats.min_row == 0
|| stats.max_row == SENSOR_ROWS - 1
|| stats.min_col == 0
|| stats.max_col == SENSOR_COLS - 1
}
fn damp_edge_asymmetry(
stats: &ContactStats,
kinematic_x: f32,
kinematic_y: f32,
) -> (f32, f32) {
let mut asymmetry_x = stats.asymmetry_x * ASYMMETRY_WEIGHT;
let mut asymmetry_y = stats.asymmetry_y * ASYMMETRY_WEIGHT;
if stats.min_col == 0 && asymmetry_x < 0.0 {
asymmetry_x = -asymmetry_x * EDGE_INWARD_ROLLING_BIAS;
}
if stats.max_col == SENSOR_COLS - 1 && asymmetry_x > 0.0 {
asymmetry_x = -asymmetry_x * EDGE_INWARD_ROLLING_BIAS;
}
if stats.min_row == 0 && asymmetry_y < 0.0 {
asymmetry_y = -asymmetry_y * EDGE_INWARD_ROLLING_BIAS;
}
if stats.max_row == SENSOR_ROWS - 1 && asymmetry_y > 0.0 {
asymmetry_y = -asymmetry_y * EDGE_INWARD_ROLLING_BIAS;
}
if Self::contact_touches_edge(stats) {
let opposing_dot = asymmetry_x * kinematic_x + asymmetry_y * kinematic_y;
let kinematic_mag = (kinematic_x * kinematic_x + kinematic_y * kinematic_y).sqrt();
if opposing_dot < 0.0 && kinematic_mag >= ROLLING_FRICTION_MIN_MAGNITUDE {
asymmetry_x *= EDGE_ASYMMETRY_DAMPING;
asymmetry_y *= EDGE_ASYMMETRY_DAMPING;
}
}
(asymmetry_x, asymmetry_y)
}
fn edge_start_bias(stats: &ContactStats) -> (f32, f32) {
let center_x = (SENSOR_COLS - 1) as f32 * 0.5;
let center_y = (SENSOR_ROWS - 1) as f32 * 0.5;
let normalized_x = ((stats.cop_x - center_x) / center_x.max(1.0)).clamp(-1.0, 1.0);
let normalized_y = ((stats.cop_y - center_y) / center_y.max(1.0)).clamp(-1.0, 1.0);
let mut bias_x = 0.0;
let mut bias_y = 0.0;
if stats.min_col == 0 || stats.max_col == SENSOR_COLS - 1 {
bias_x = Self::edge_start_axis_bias(normalized_x);
}
if stats.min_row == 0 || stats.max_row == SENSOR_ROWS - 1 {
bias_y = Self::edge_start_axis_bias(normalized_y);
}
(bias_x, bias_y)
}
fn edge_start_axis_bias(normalized_axis: f32) -> f32 {
let distance = normalized_axis.abs();
if distance <= EDGE_START_COP_THRESHOLD {
return 0.0;
}
let strength = ((distance - EDGE_START_COP_THRESHOLD) / (1.0 - EDGE_START_COP_THRESHOLD))
.clamp(0.0, 1.0);
-normalized_axis.signum() * strength * EDGE_START_BIAS_WEIGHT
}
fn apply_rolling_friction(
previous_x: f32,
previous_y: f32,
current_x: f32,
current_y: f32,
) -> (f32, f32) {
let previous_mag = (previous_x * previous_x + previous_y * previous_y).sqrt();
let current_mag = (current_x * current_x + current_y * current_y).sqrt();
if previous_mag < ROLLING_FRICTION_MIN_MAGNITUDE
|| current_mag < ROLLING_FRICTION_MIN_MAGNITUDE
{
return (current_x, current_y);
}
let dot = previous_x * current_x + previous_y * current_y;
if dot >= 0.0 {
return (current_x, current_y);
}
let mixed_x = current_x * (1.0 - ROLLING_FRICTION_ALPHA)
+ previous_x * ROLLING_FRICTION_ALPHA;
let mixed_y = current_y * (1.0 - ROLLING_FRICTION_ALPHA)
+ previous_y * ROLLING_FRICTION_ALPHA;
if mixed_x * previous_x + mixed_y * previous_y >= 0.0 {
return (mixed_x, mixed_y);
}
let keep_mag = previous_mag.min(current_mag) * 0.5;
(
previous_x / previous_mag * keep_mag,
previous_y / previous_mag * keep_mag,
)
}
fn update_contact_state(&mut self, raw_frame: &[f32], frame: &[f32]) -> bool { fn update_contact_state(&mut self, raw_frame: &[f32], frame: &[f32]) -> bool {
if self.contact_active { if self.contact_active {
if Self::is_contact_exit_frame(frame) { if Self::is_contact_exit_frame(frame) {
@@ -376,6 +493,9 @@ impl PztProcessor {
self.anchor_cop_y = Some(stats.cop_y); self.anchor_cop_y = Some(stats.cop_y);
self.last_cop_x = Some(stats.cop_x); self.last_cop_x = Some(stats.cop_x);
self.last_cop_y = Some(stats.cop_y); self.last_cop_y = Some(stats.cop_y);
let (edge_start_bias_x, edge_start_bias_y) = Self::edge_start_bias(&stats);
self.edge_start_bias_x = edge_start_bias_x;
self.edge_start_bias_y = edge_start_bias_y;
return Ok(self.stabilize_report(Self::weak_contact_analysis())); return Ok(self.stabilize_report(Self::weak_contact_analysis()));
}; };
@@ -388,18 +508,25 @@ impl PztProcessor {
let motion_x = stats.cop_x - last_x; let motion_x = stats.cop_x - last_x;
let motion_y = stats.cop_y - last_y; let motion_y = stats.cop_y - last_y;
let combined_x = stats.asymmetry_x * ASYMMETRY_WEIGHT let kinematic_x = drift_x * DRIFT_WEIGHT + motion_x * MOTION_WEIGHT;
+ drift_x * DRIFT_WEIGHT let kinematic_y = drift_y * DRIFT_WEIGHT + motion_y * MOTION_WEIGHT;
+ motion_x * MOTION_WEIGHT; let edge_bias_x = self.edge_start_bias_x;
let combined_y = stats.asymmetry_y * ASYMMETRY_WEIGHT let edge_bias_y = self.edge_start_bias_y;
+ drift_y * DRIFT_WEIGHT let (asymmetry_x, asymmetry_y) =
+ motion_y * MOTION_WEIGHT; Self::damp_edge_asymmetry(&stats, kinematic_x + edge_bias_x, kinematic_y + edge_bias_y);
let combined_x = asymmetry_x + kinematic_x + edge_bias_x;
let combined_y = asymmetry_y + kinematic_y + edge_bias_y;
let (combined_x, combined_y) = Self::apply_rolling_friction(
self.smoothed_x,
self.smoothed_y,
combined_x,
combined_y,
);
self.smoothed_x += (combined_x - self.smoothed_x) * VECTOR_SMOOTHING_ALPHA; self.smoothed_x += (combined_x - self.smoothed_x) * VECTOR_SMOOTHING_ALPHA;
self.smoothed_y += (combined_y - self.smoothed_y) * VECTOR_SMOOTHING_ALPHA; self.smoothed_y += (combined_y - self.smoothed_y) * VECTOR_SMOOTHING_ALPHA;
self.anchor_cop_x = Some(anchor_x + drift_x * ANCHOR_LERP_ALPHA);
self.anchor_cop_y = Some(anchor_y + drift_y * ANCHOR_LERP_ALPHA);
self.last_cop_x = Some(stats.cop_x); self.last_cop_x = Some(stats.cop_x);
self.last_cop_y = Some(stats.cop_y); self.last_cop_y = Some(stats.cop_y);
@@ -446,7 +573,7 @@ impl PztProcessor {
#[cfg(test)] #[cfg(test)]
mod tests { mod tests {
use super::{PztProcessor, SENSOR_COLS, SENSOR_ROWS}; use super::{ContactStats, PztProcessor, SENSOR_COLS, SENSOR_ROWS};
fn index(row: usize, col: usize) -> usize { fn index(row: usize, col: usize) -> usize {
row * SENSOR_COLS + col row * SENSOR_COLS + col
@@ -460,6 +587,23 @@ mod tests {
frame frame
} }
fn stats_touching_bottom_edge() -> ContactStats {
ContactStats {
total: 1000.0,
peak: 300.0,
active_total: 900.0,
active_cells: 6,
min_row: SENSOR_ROWS - 2,
max_row: SENSOR_ROWS - 1,
min_col: 2,
max_col: 4,
cop_x: 3.0,
cop_y: 10.5,
asymmetry_x: 0.0,
asymmetry_y: 1.0,
}
}
#[test] #[test]
fn idle_frame_does_not_report_contact() { fn idle_frame_does_not_report_contact() {
let mut processor = PztProcessor::new(); let mut processor = PztProcessor::new();
@@ -524,4 +668,29 @@ mod tests {
let analysis = processor.get_pzt_analysis(&weak).unwrap(); let analysis = processor.get_pzt_analysis(&weak).unwrap();
assert!(analysis.reportable); assert!(analysis.reportable);
} }
#[test]
fn bottom_edge_outward_gradient_is_turned_inward() {
let stats = stats_touching_bottom_edge();
let (_asymmetry_x, asymmetry_y) = PztProcessor::damp_edge_asymmetry(&stats, 0.0, -0.2);
assert!(asymmetry_y < 0.0);
assert!(asymmetry_y > -1.1);
}
#[test]
fn bottom_edge_start_adds_fixed_upward_bias() {
let stats = stats_touching_bottom_edge();
let (_bias_x, bias_y) = PztProcessor::edge_start_bias(&stats);
assert!(bias_y < 0.0);
}
#[test]
fn rolling_friction_resists_one_frame_reversal() {
let (x, y) = PztProcessor::apply_rolling_friction(0.4, 0.0, -0.6, 0.0);
assert!(x > 0.0);
assert_eq!(y, 0.0);
}
} }

8
src-tauri/src/serial_core/serial.rs
View File

@@ -9,7 +9,6 @@ use crate::serial_core::multi_dim_force::PztProcessor;
use crate::serial_core::record::Recording; use crate::serial_core::record::Recording;
use crate::serial_core::record::{FrameTiming, RecordedFrame}; use crate::serial_core::record::{FrameTiming, RecordedFrame};
use anyhow::Result; use anyhow::Result;
use log::debug;
use std::future::pending; use std::future::pending;
#[cfg(feature = "devkit")] #[cfg(feature = "devkit")]
use std::sync::atomic::Ordering; use std::sync::atomic::Ordering;
@@ -311,15 +310,14 @@ where
drop(record); drop(record);
if let Some(vals) = decode_res { if let Some(vals) = decode_res {
#[cfg(feature = "multi-dim")]
let mut spatial_force = None; let mut spatial_force = None;
#[cfg(not(feature = "multi-dim"))]
let spatial_force = None;
#[cfg(feature = "multi-dim")] #[cfg(feature = "multi-dim")]
{ {
let pzt_values = vals.iter().map(|value| *value as f32).collect::<Vec<f32>>(); let pzt_values = vals.iter().map(|value| *value as f32).collect::<Vec<f32>>();
if let Ok(analysis) = pzt_processor.get_pzt_analysis(&pzt_values) { if let Ok(analysis) = pzt_processor.get_pzt_analysis(&pzt_values) {
debug!(
"spatial force: angle={:.2}°, magnitude={:.2}, dx={:.2}, dy={:.2}",
analysis.angle_deg, analysis.magnitude, analysis.planar_x, analysis.planar_y
);
if PztProcessor::should_report(&analysis) { if PztProcessor::should_report(&analysis) {
spatial_force = Some(HudSpatialForce { spatial_force = Some(HudSpatialForce {
angle_deg: analysis.angle_deg, angle_deg: analysis.angle_deg,

119
src/lib/components/HudPanel.svelte
View File

@@ -2,7 +2,6 @@
import { createEventDispatcher } from "svelte"; import { createEventDispatcher } from "svelte";
import type { import type {
ConnectionState, ConnectionState,
HudConfigLink,
HudNoticeTone, HudNoticeTone,
LocaleCode, LocaleCode,
StageViewMode, StageViewMode,
@@ -28,8 +27,6 @@
export let serialPortValue = ""; export let serialPortValue = "";
export let serialPortOptions: string[] = []; export let serialPortOptions: string[] = [];
export let refreshPortsLabel = ""; export let refreshPortsLabel = "";
export let configLinksLabel = "";
export let configLinks: HudConfigLink[] = [];
export let matrixViewLabel = ""; export let matrixViewLabel = "";
export let matrixViewDotsLabel = ""; export let matrixViewDotsLabel = "";
export let stageViewMode: StageViewMode = "webgl"; export let stageViewMode: StageViewMode = "webgl";
@@ -53,7 +50,6 @@
const dispatch = createEventDispatcher<{ const dispatch = createEventDispatcher<{
windowcontrol: WindowControlAction; windowcontrol: WindowControlAction;
localechange: LocaleCode; localechange: LocaleCode;
configlink: string;
matrixdisplaytoggle: boolean; matrixdisplaytoggle: boolean;
stagemodechange: StageViewMode; stagemodechange: StageViewMode;
portchange: string; portchange: string;
@@ -97,10 +93,6 @@
dispatch("localechange", nextLocale); dispatch("localechange", nextLocale);
} }
function emitConfigLink(linkId: string): void {
dispatch("configlink", linkId);
}
function emitStageModeChange(nextMode: StageViewMode): void { function emitStageModeChange(nextMode: StageViewMode): void {
dispatch("stagemodechange", nextMode); dispatch("stagemodechange", nextMode);
} }
@@ -185,20 +177,6 @@
<div class="control-bar"> <div class="control-bar">
<div class="control-main-row"> <div class="control-main-row">
<section class="config-links" aria-label={configLinksLabel}>
{#each configLinks as link (link.id)}
<button
type="button"
class="config-link tone-{link.tone ?? 'neutral'}"
class:is-active={Boolean(link.active)}
on:click={() => emitConfigLink(link.id)}
>
<span class="config-indicator" aria-hidden="true"></span>
<span class="config-label">{link.label}</span>
</button>
{/each}
</section>
<section class="state-card" aria-label={connectionLabel}> <section class="state-card" aria-label={connectionLabel}>
<span class="state-dot" class:ok={connectionTone === "ok"} class:warn={connectionTone === "warn"}></span> <span class="state-dot" class:ok={connectionTone === "ok"} class:warn={connectionTone === "warn"}></span>
<span class="state-label">{connectionLabel}</span> <span class="state-label">{connectionLabel}</span>
@@ -930,93 +908,6 @@
background: rgb(10 16 20 / 0.7); background: rgb(10 16 20 / 0.7);
} }
.config-links {
display: inline-flex;
align-items: center;
gap: 0.2rem;
min-block-size: 2rem;
border: 1px solid rgb(95 132 158 / 0.36);
border-radius: 999px;
padding: 0.17rem 0.2rem;
background: linear-gradient(180deg, rgb(9 15 19 / 0.9), rgb(4 8 12 / 0.86));
box-shadow: inset 0 0 0 1px rgb(140 184 210 / 0.06);
}
.config-link {
display: inline-flex;
align-items: center;
gap: 0.34rem;
border: 1px solid transparent;
border-radius: 999px;
padding: 0.26rem 0.64rem;
background: transparent;
color: rgb(164 188 208 / 0.9);
font-size: 0.81rem;
letter-spacing: 0.05em;
cursor: pointer;
transition:
color 180ms ease,
border-color 180ms ease,
background-color 180ms ease,
box-shadow 220ms ease;
}
.config-indicator {
inline-size: 0.34rem;
block-size: 0.34rem;
border-radius: 999px;
background: rgb(136 157 174 / 0.88);
box-shadow: 0 0 0 2px rgb(136 157 174 / 0.16);
transition:
background-color 180ms ease,
box-shadow 200ms ease;
}
.config-label {
line-height: 1;
}
.config-link:hover {
color: #d7edfb;
border-color: rgb(62 232 255 / 0.26);
}
.config-link.is-active {
color: #f1fdff;
border-color: rgb(106 150 180 / 0.56);
background: rgb(18 27 35 / 0.9);
box-shadow:
inset 0 0 0 1px rgb(167 218 252 / 0.08),
0 0 10px rgb(62 232 255 / 0.12);
}
.config-link.tone-cyan.is-active {
border-color: rgb(62 232 255 / 0.48);
}
.config-link.tone-lime.is-active {
border-color: rgb(133 255 68 / 0.52);
}
.config-link.tone-orange.is-active {
border-color: rgb(255 91 63 / 0.52);
}
.config-link.tone-cyan.is-active .config-indicator {
background: var(--hud-cyan);
box-shadow: 0 0 0 2px rgb(62 232 255 / 0.17);
}
.config-link.tone-lime.is-active .config-indicator {
background: var(--hud-lime);
box-shadow: 0 0 0 2px rgb(133 255 68 / 0.17);
}
.config-link.tone-orange.is-active .config-indicator {
background: var(--hud-orange);
box-shadow: 0 0 0 2px rgb(255 91 63 / 0.18);
}
.locale-btn { .locale-btn {
border: 1px solid transparent; border: 1px solid transparent;
border-radius: 999px; border-radius: 999px;
@@ -1043,21 +934,11 @@
background: rgb(24 31 25 / 0.9); background: rgb(24 31 25 / 0.9);
} }
@media (max-width: 1080px) {
.config-links {
flex-wrap: wrap;
}
}
@media (max-width: 820px) { @media (max-width: 820px) {
.control-main-row { .control-main-row {
gap: 0.44rem; gap: 0.44rem;
} }
.config-links {
flex-wrap: wrap;
}
.serial-select { .serial-select {
padding-inline-start: 0.45rem; padding-inline-start: 0.45rem;
} }

2
src/lib/components/ModelStage.svelte
View File

@@ -9,7 +9,7 @@
type ModelLoadState = "loading" | "ready" | "missing" | "error"; type ModelLoadState = "loading" | "ready" | "missing" | "error";
export let locale: LocaleCode = "zh-CN"; export let locale: LocaleCode = "zh-CN";
export let modelUrl = "/models/je-skin-model.glb"; export let modelUrl = "/models/je-skin-model.gltf";
let rootEl: HTMLDivElement | undefined; let rootEl: HTMLDivElement | undefined;
let canvasEl: HTMLCanvasElement | undefined; let canvasEl: HTMLCanvasElement | undefined;

11
src/lib/types/hud.ts
View File

@@ -14,8 +14,6 @@ export type MatrixDisplayMode = "numeric" | "dots";
export type SignalPanelSide = "left" | "right"; export type SignalPanelSide = "left" | "right";
export type HudConfigTone = "neutral" | "cyan" | "lime" | "orange";
export interface HudSignalSeries { export interface HudSignalSeries {
id: string; id: string;
tone: SignalTone; tone: SignalTone;
@@ -64,13 +62,6 @@ export interface HudSummary {
max: number | null; max: number | null;
} }
export interface HudConfigLink {
id: string;
label: string;
tone?: HudConfigTone;
active?: boolean;
}
export interface HudColorMapOption { export interface HudColorMapOption {
id: PressureColorMapPreset; id: PressureColorMapPreset;
label: string; label: string;
@@ -107,7 +98,6 @@ export interface HudCopy {
deviceLabel: string; deviceLabel: string;
sampleRateLabel: string; sampleRateLabel: string;
channelsLabel: string; channelsLabel: string;
configLinksLabel: string;
refreshPortsLabel: string; refreshPortsLabel: string;
connectActionLabel: string; connectActionLabel: string;
disconnectActionLabel: string; disconnectActionLabel: string;
@@ -169,6 +159,7 @@ export interface SerialRecordStateResult {
export interface SerialImportFrameResult { export interface SerialImportFrameResult {
data: number[]; data: number[];
dtsMs: number; dtsMs: number;
spatialForce: HudSpatialForce | null;
} }
export interface SerialImportResult { export interface SerialImportResult {

166
src/routes/+page.svelte
View File

@@ -19,7 +19,6 @@
FileExplorerRoot, FileExplorerRoot,
HudColorMapOption, HudColorMapOption,
HudCopy, HudCopy,
HudConfigLink,
HudNoticeTone, HudNoticeTone,
HudPacket, HudPacket,
HudSpatialForce, HudSpatialForce,
@@ -43,6 +42,7 @@
interface ReplayFrame { interface ReplayFrame {
values: number[]; values: number[];
dtsMs: number; dtsMs: number;
spatialForce?: HudSpatialForce | null;
} }
interface DevKitPztAngleEvent { interface DevKitPztAngleEvent {
@@ -50,6 +50,20 @@
timestampMs: number; timestampMs: number;
dtsMs: number; dtsMs: number;
angle: number; angle: number;
magnitude: number;
state: number;
copX: number;
copY: number;
baseX: number;
baseY: number;
totalPress: number;
threshold: number;
}
interface DevKitReplayFramePushResult {
seq: number;
timestampMs: number;
dtsMs: number;
} }
const copyByLocale: Record<LocaleCode, HudCopy> = { const copyByLocale: Record<LocaleCode, HudCopy> = {
@@ -83,7 +97,6 @@
deviceLabel: "设备", deviceLabel: "设备",
sampleRateLabel: "采样率", sampleRateLabel: "采样率",
channelsLabel: "通道", channelsLabel: "通道",
configLinksLabel: "配置链接",
refreshPortsLabel: "刷新", refreshPortsLabel: "刷新",
connectActionLabel: "连接", connectActionLabel: "连接",
disconnectActionLabel: "断开", disconnectActionLabel: "断开",
@@ -145,7 +158,6 @@
deviceLabel: "Device", deviceLabel: "Device",
sampleRateLabel: "Sample Rate", sampleRateLabel: "Sample Rate",
channelsLabel: "Channels", channelsLabel: "Channels",
configLinksLabel: "Config Links",
refreshPortsLabel: "Refresh", refreshPortsLabel: "Refresh",
connectActionLabel: "Connect", connectActionLabel: "Connect",
disconnectActionLabel: "Disconnect", disconnectActionLabel: "Disconnect",
@@ -228,8 +240,6 @@
let sampleRateValue = "100Hz"; let sampleRateValue = "100Hz";
let channelsValue = "84"; let channelsValue = "84";
let isWindowMaximized = false; let isWindowMaximized = false;
let activeConfigLinkId = "stream-on";
let isConfigPanelOpen = false;
let hasSignalData = false; let hasSignalData = false;
let signalPanels: HudSignalPanel[] = buildInactivePanels(); let signalPanels: HudSignalPanel[] = buildInactivePanels();
let summary: HudSummary = buildEmptySummary(); let summary: HudSummary = buildEmptySummary();
@@ -250,6 +260,8 @@
let replayProgress = 0; let replayProgress = 0;
let replayFileName = ""; let replayFileName = "";
let replayTimerId: number | null = null; let replayTimerId: number | null = null;
let replayPendingDevkitSeq: number | null = null;
let replayDevkitSeqCounter = 0;
let fileExplorerOpen = false; let fileExplorerOpen = false;
let fileExplorerMode: FileExplorerMode = "open"; let fileExplorerMode: FileExplorerMode = "open";
let fileExplorerBusy = false; let fileExplorerBusy = false;
@@ -279,13 +291,6 @@
let sessionStartedAt: number = Date.now(); let sessionStartedAt: number = Date.now();
$: uiCopy = copyByLocale[locale]; $: uiCopy = copyByLocale[locale];
$: configLinks = buildConfigLinks(
locale,
activeConfigLinkId,
isConfigPanelOpen,
devkitEnabled,
isDevKitConfigOpen
);
$: leftSignalPanels = signalPanels.filter((panel) => panel.side === "left"); $: leftSignalPanels = signalPanels.filter((panel) => panel.side === "left");
$: rightSignalPanels = signalPanels.filter((panel) => panel.side === "right"); $: rightSignalPanels = signalPanels.filter((panel) => panel.side === "right");
$: rangeTicks = buildRangeTicks(rangeMin, rangeMax); $: rangeTicks = buildRangeTicks(rangeMin, rangeMax);
@@ -679,7 +684,8 @@
}); });
frames = result.frames.map((frame) => ({ frames = result.frames.map((frame) => ({
values: frame.data, values: frame.data,
dtsMs: frame.dtsMs dtsMs: frame.dtsMs,
spatialForce: frame.spatialForce
})); }));
importedFrameCount = result.frameCount; importedFrameCount = result.frameCount;
importedChannelCount = result.channelCount; importedChannelCount = result.channelCount;
@@ -709,7 +715,8 @@
const frames = result.frames.map((frame) => ({ const frames = result.frames.map((frame) => ({
values: frame.data, values: frame.data,
dtsMs: frame.dtsMs dtsMs: frame.dtsMs,
spatialForce: frame.spatialForce
})); }));
applyImportedFrames(result.fileName, frames, result.frameCount, result.channelCount); applyImportedFrames(result.fileName, frames, result.frameCount, result.channelCount);
@@ -730,6 +737,43 @@
replayTimerId = null; replayTimerId = null;
} }
function buildReplayDevkitSeq(frameIndex: number): number {
replayDevkitSeqCounter = (replayDevkitSeqCounter + 1) % 1000;
return Date.now() * 1000 + replayDevkitSeqCounter + frameIndex;
}
function canPushReplayFrameToDevkit(frame: ReplayFrame): boolean {
return (
isTauriRuntime() &&
devkitEnabled &&
devkitRunning &&
frame.values.length === 84
);
}
function pushReplayFrameToDevkit(frame: ReplayFrame, frameIndex: number): void {
if (!canPushReplayFrameToDevkit(frame)) {
replayPendingDevkitSeq = null;
clearDevkitSpatialForce();
return;
}
const seq = buildReplayDevkitSeq(frameIndex);
replayPendingDevkitSeq = seq;
clearDevkitSpatialForce();
void invoke<DevKitReplayFramePushResult>("devkit_push_replay_frame", {
values: frame.values.map((value) => Math.max(0, Math.round(Number(value) || 0))),
dtsMs: clamp(Math.round(frame.dtsMs), 0, 4_294_967_295),
seq
}).catch((error) => {
if (replayPendingDevkitSeq === seq) {
replayPendingDevkitSeq = null;
}
console.error("Failed to push replay frame to DevKit:", error);
});
}
function frameValuesToMatrix(values: number[]): number[] { function frameValuesToMatrix(values: number[]): number[] {
const totalCells = Math.max(matrixRows * matrixCols, 1); const totalCells = Math.max(matrixRows * matrixCols, 1);
const matrix = new Array<number>(totalCells).fill(0); const matrix = new Array<number>(totalCells).fill(0);
@@ -750,6 +794,7 @@
function resetReplayVisualState(): void { function resetReplayVisualState(): void {
pressureMatrix = buildZeroMatrix(); pressureMatrix = buildZeroMatrix();
spatialForce = null; spatialForce = null;
replayPendingDevkitSeq = null;
clearDevkitSpatialForce(); clearDevkitSpatialForce();
signalPanels = buildInactivePanels(); signalPanels = buildInactivePanels();
summary = buildEmptySummary(); summary = buildEmptySummary();
@@ -785,9 +830,10 @@
replayCurrentIndex = safeIndex; replayCurrentIndex = safeIndex;
replayHasDisplayedFrame = true; replayHasDisplayedFrame = true;
replayProgress = replayFrames.length > 1 ? safeIndex / (replayFrames.length - 1) : 1; replayProgress = replayFrames.length > 1 ? safeIndex / (replayFrames.length - 1) : 1;
pressureMatrix = frameValuesToMatrix(replayFrames[safeIndex].values); const frame = replayFrames[safeIndex];
spatialForce = null; pressureMatrix = frameValuesToMatrix(frame.values);
clearDevkitSpatialForce(); spatialForce = frame.spatialForce ?? null;
pushReplayFrameToDevkit(frame, safeIndex);
signalPanels = buildInactivePanels(); signalPanels = buildInactivePanels();
summary = buildReplaySummaryAt(safeIndex); summary = buildReplaySummaryAt(safeIndex);
hasSignalData = true; hasSignalData = true;
@@ -1081,52 +1127,6 @@
}); });
} }
function buildConfigLinks(
currentLocale: LocaleCode,
activeId: string,
isSettingsOpen: boolean,
isDevKitEnabled: boolean,
isDevKitOpen: boolean
): HudConfigLink[] {
const labels =
currentLocale === "zh-CN"
? {
streamOn: "打开",
settings: "参数"
}
: {
streamOn: "Open",
settings: "Setup"
};
const devkitLabel = currentLocale === "zh-CN" ? "开发工具" : "DevKit";
const links: HudConfigLink[] = [
{
id: "stream-on",
label: labels.streamOn,
tone: "lime",
active: activeId === "stream-on"
},
{
id: "settings",
label: labels.settings,
tone: "neutral",
active: isSettingsOpen
}
];
if (isDevKitEnabled) {
links.push({
id: "devkit",
label: devkitLabel,
tone: "cyan",
active: isDevKitOpen
});
}
return links;
}
async function ensureDefaultWindowSize(): Promise<void> { async function ensureDefaultWindowSize(): Promise<void> {
if (!isTauriRuntime()) { if (!isTauriRuntime()) {
return; return;
@@ -1676,26 +1676,6 @@
resetReplayVisualState(); resetReplayVisualState();
} }
function handleConfigLink(event: CustomEvent<string>): void {
if (event.detail === "settings") {
stageViewMode = "webgl";
isConfigPanelOpen = !isConfigPanelOpen;
isDevKitConfigOpen = false;
return;
}
if (event.detail === "devkit") {
isConfigPanelOpen = false;
isDevKitConfigOpen = !isDevKitConfigOpen;
return;
}
isConfigPanelOpen = false;
isDevKitConfigOpen = false;
activeConfigLinkId = event.detail;
console.info("[hud] config link clicked:", event.detail);
}
async function handleWindowControl(event: CustomEvent<WindowControlAction>): Promise<void> { async function handleWindowControl(event: CustomEvent<WindowControlAction>): Promise<void> {
if (!isTauriRuntime()) { if (!isTauriRuntime()) {
return; return;
@@ -1766,9 +1746,6 @@
function handleStageModeChange(event: CustomEvent<StageViewMode>): void { function handleStageModeChange(event: CustomEvent<StageViewMode>): void {
stageViewMode = event.detail; stageViewMode = event.detail;
if (stageViewMode === "model3d") {
isConfigPanelOpen = false;
}
} }
onMount(() => { onMount(() => {
@@ -1799,6 +1776,13 @@
console.error("Failed to listen for hud_stream:", error); console.error("Failed to listen for hud_stream:", error);
}); });
void listen<DevKitPztAngleEvent>("devkit_pzt_angle", (event) => { void listen<DevKitPztAngleEvent>("devkit_pzt_angle", (event) => {
if (replayHasData) {
if (replayPendingDevkitSeq == null || event.payload.seq !== replayPendingDevkitSeq) {
return;
}
replayPendingDevkitSeq = null;
}
const angleDeg = Number(event.payload.angle); const angleDeg = Number(event.payload.angle);
if (!Number.isFinite(angleDeg)) { if (!Number.isFinite(angleDeg)) {
clearDevkitSpatialForce(); clearDevkitSpatialForce();
@@ -1807,8 +1791,8 @@
devkitSpatialForce = { devkitSpatialForce = {
angleDeg, angleDeg,
magnitude: 0, magnitude: Number.isFinite(event.payload.magnitude) ? event.payload.magnitude : 0,
confidence: 0 confidence: event.payload.state
}; };
scheduleDevkitSpatialForceClear(); scheduleDevkitSpatialForceClear();
hasSignalData = hasSignalData =
@@ -1874,7 +1858,6 @@
sampleRateValue={sampleRateValue} sampleRateValue={sampleRateValue}
channelsLabel={uiCopy.channelsLabel} channelsLabel={uiCopy.channelsLabel}
channelsValue={channelsValue} channelsValue={channelsValue}
configLinksLabel={uiCopy.configLinksLabel}
refreshPortsLabel={uiCopy.refreshPortsLabel} refreshPortsLabel={uiCopy.refreshPortsLabel}
matrixViewLabel={uiCopy.matrixViewLabel} matrixViewLabel={uiCopy.matrixViewLabel}
matrixViewDotsLabel={uiCopy.matrixViewDotsLabel} matrixViewDotsLabel={uiCopy.matrixViewDotsLabel}
@@ -1890,7 +1873,6 @@
noticeCancelLabel={locale === "zh-CN" ? "取消" : "Cancel"} noticeCancelLabel={locale === "zh-CN" ? "取消" : "Cancel"}
noticeShowActions={updateNoticeVisible} noticeShowActions={updateNoticeVisible}
noticeActionBusy={updateInstallBusy} noticeActionBusy={updateInstallBusy}
{configLinks}
{isRefreshingPorts} {isRefreshingPorts}
{isExporting} {isExporting}
isConnectDisabled={!serialPortValue || connectionState === "connecting"} isConnectDisabled={!serialPortValue || connectionState === "connecting"}
@@ -1899,7 +1881,6 @@
on:windowcontrol={handleWindowControl} on:windowcontrol={handleWindowControl}
on:localechange={handleLocaleChange} on:localechange={handleLocaleChange}
on:portchange={handlePortChange} on:portchange={handlePortChange}
on:configlink={handleConfigLink}
on:stagemodechange={handleStageModeChange} on:stagemodechange={handleStageModeChange}
on:serialrefresh={handleSerialRefresh} on:serialrefresh={handleSerialRefresh}
on:serialconnect={handleSerialConnect} on:serialconnect={handleSerialConnect}
@@ -1949,14 +1930,13 @@
{pressureMatrix} {pressureMatrix}
{spatialForce} {spatialForce}
{devkitSpatialForce} {devkitSpatialForce}
showConfigPanel={isConfigPanelOpen} showConfigPanel={false}
{summary} {summary}
on:replaytoggle={handleReplayToggle} on:replaytoggle={handleReplayToggle}
on:replaystop={handleReplayStop} on:replaystop={handleReplayStop}
on:replayseek={handleReplaySeek} on:replayseek={handleReplaySeek}
on:replayspeed={handleReplaySpeed} on:replayspeed={handleReplaySpeed}
on:replayclose={handleReplayClose} on:replayclose={handleReplayClose}
on:configclose={() => (isConfigPanelOpen = false)}
> >
{#if stageViewMode === "webgl"} {#if stageViewMode === "webgl"}
<section class="range-scale" aria-label="Signal Range"> <section class="range-scale" aria-label="Signal Range">

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