feat: 切向力算法更新 + AD反解x模块

feat(devkit): 终端打印pzt_angle/magnitude/state
feat(devkit): 动态阈值=K*mean, POST_INIT_STABLE_CNT=200, get_pzt_angle返回cop/base坐标, CSV打印全部输出
2026-05-25 14:44:31 +08:00 · 2026-05-23 19:14:14 +08:00 · 2026-05-23 18:46:32 +08:00 · 2026-05-23 18:23:20 +08:00 · 2026-05-22 16:33:20 +08:00 · 2026-05-22 16:11:26 +08:00
42 changed files with 33145 additions and 175 deletions
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+++ b/ad_solver.6dgoloo5nyv74ie878md8rtxa.rcgu.o
--- a/ad_solver.ad_solver.cdfee8e00be01766-cgu.0.rcgu.o
+++ b/ad_solver.ad_solver.cdfee8e00be01766-cgu.0.rcgu.o
--- a/ad_solver.exe
+++ b/ad_solver.exe
--- a/ad_solver.pdb
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--- a/devkit/pycache/sensor_server.cpython-314.pyc
+++ b/devkit/pycache/sensor_server.cpython-314.pyc
--- a/devkit/pycache/sensor_stream_pb2.cpython-314.pyc
+++ b/devkit/pycache/sensor_stream_pb2.cpython-314.pyc
--- a/devkit/pycache/sensor_stream_pb2_grpc.cpython-314.pyc
+++ b/devkit/pycache/sensor_stream_pb2_grpc.cpython-314.pyc
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+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\RECORD',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\WHEEL',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\WHEEL',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\sfc64\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\sfc64\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\philox\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\philox\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\pcg64\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\pcg64\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\ma\\LICENSE',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\ma\\LICENSE',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\umath\\svml\\LICENSE',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\umath\\svml\\LICENSE',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\entry_points.txt',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\entry_points.txt',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\mt19937\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\mt19937\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\LICENSE.txt',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\LICENSE.txt',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\multiarray\\dragon4_LICENSE.txt',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\multiarray\\dragon4_LICENSE.txt',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\METADATA',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\METADATA',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\DELVEWHEEL',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\DELVEWHEEL',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\highway\\LICENSE',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\highway\\LICENSE',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\distributions\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\distributions\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\npysort\\x86-simd-sort\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\npysort\\x86-simd-sort\\LICENSE.md',
+   'DATA'),
+  ('base_library.zip',
+   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\base_library.zip',
+   'DATA')],
+ 'python314.dll',
+ False,
+ False,
+ False,
+ [],
+ None,
+ None,
+ None)
--- a/devkit/build/je-skin-devkit-server/PYZ-00.pyz
+++ b/devkit/build/je-skin-devkit-server/PYZ-00.pyz
--- a/devkit/build/je-skin-devkit-server/PYZ-00.toc
+++ b/devkit/build/je-skin-devkit-server/PYZ-00.toc
--- a/devkit/build/je-skin-devkit-server/base_library.zip
+++ b/devkit/build/je-skin-devkit-server/base_library.zip
--- a/devkit/build/je-skin-devkit-server/je-skin-devkit-server.pkg
+++ b/devkit/build/je-skin-devkit-server/je-skin-devkit-server.pkg
--- a/devkit/build/je-skin-devkit-server/localpycs/pyimod01_archive.pyc
+++ b/devkit/build/je-skin-devkit-server/localpycs/pyimod01_archive.pyc
--- a/devkit/build/je-skin-devkit-server/localpycs/pyimod02_importers.pyc
+++ b/devkit/build/je-skin-devkit-server/localpycs/pyimod02_importers.pyc
--- a/devkit/build/je-skin-devkit-server/localpycs/pyimod03_ctypes.pyc
+++ b/devkit/build/je-skin-devkit-server/localpycs/pyimod03_ctypes.pyc
--- a/devkit/build/je-skin-devkit-server/localpycs/pyimod04_pywin32.pyc
+++ b/devkit/build/je-skin-devkit-server/localpycs/pyimod04_pywin32.pyc
--- a/devkit/build/je-skin-devkit-server/localpycs/struct.pyc
+++ b/devkit/build/je-skin-devkit-server/localpycs/struct.pyc
--- a/devkit/build/je-skin-devkit-server/warn-je-skin-devkit-server.txt
+++ b/devkit/build/je-skin-devkit-server/warn-je-skin-devkit-server.txt
@@ -0,0 +1,245 @@
+
+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 (optional), netrc (delayed, optional), subprocess (delayed, conditional, optional), http.server (delayed, optional)
+missing module named grp - imported by shutil (delayed, optional), tarfile (optional), pathlib (optional), subprocess (delayed, conditional, optional)
+missing module named 'collections.abc' - imported by _colorize (top-level), typing (top-level), traceback (top-level), logging (top-level), selectors (top-level), http.client (top-level), importlib.resources.readers (top-level), inspect (top-level), tracemalloc (top-level), multiprocessing.managers (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), _pyrepl.types (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 pathlib._os (optional), 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 posix - imported by posixpath (optional), shutil (conditional), importlib._bootstrap_external (conditional), pathlib._os (optional), os (conditional, optional), _pyrepl.trace (conditional)
+missing module named resource - imported by posix (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 multiprocessing.BufferTooShort - imported by multiprocessing (top-level), multiprocessing.connection (top-level)
+missing module named multiprocessing.AuthenticationError - imported by multiprocessing (top-level), multiprocessing.forkserver (top-level), multiprocessing.connection (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:\Python314\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 '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 charset_normalizer - imported by numpy.f2py.crackfortran (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 termios - imported by tty (top-level), _pyrepl.pager (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 pyodide_js - imported by threadpoolctl (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 (top-level), numpy.linalg._linalg (top-level), 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)
--- a/devkit/build/je-skin-devkit-server/xref-je-skin-devkit-server.html
+++ b/devkit/build/je-skin-devkit-server/xref-je-skin-devkit-server.html
--- a/devkit/dist/je-skin-devkit-server.exe
+++ b/devkit/dist/je-skin-devkit-server.exe
--- a/devkit/je-skin-devkit-server.exe
+++ b/devkit/je-skin-devkit-server.exe
--- a/devkit/je-skin-devkit-server.spec
+++ b/devkit/je-skin-devkit-server.spec
@@ -5,8 +5,8 @@ a = Analysis(
    ['sensor_server.py'],
    pathex=[],
    binaries=[],
-    datas=[('sensor_stream_pb2.py', '.'), ('sensor_stream_pb2_grpc.py', '.')],
-    hiddenimports=['grpc', 'openpyxl', 'numpy'],
+    datas=[],
+    hiddenimports=[],
    hookspath=[],
    hooksconfig={},
    runtime_hooks=[],
--- a/devkit/sensor_server.py
+++ b/devkit/sensor_server.py
@@ -26,7 +26,6 @@ import sys
 import time
 from concurrent import futures
 from pathlib import Path
-
 import grpc
 import sensor_stream_pb2
 import sensor_stream_pb2_grpc
@@ -231,30 +230,56 @@ def _append_analysis_log(source_csv: str, stats: dict):
 class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
    """接收实时传感器帧（streaming）"""

+    _csv_path = None  # 类变量，记录当前 CSV 路径
+
    def __init__(self):
        self.frame_count = 0
        self.last_report_time = time.time()
        self.last_angle = None
+        self._csv_file = None
+        self._csv_writer = None
+
+    def _open_csv(self):
+        """打开一个新的 CSV 文件用于持续写入"""
+        ts = time.strftime("%Y%m%d_%H%M%S")
+        SensorPushServicer._csv_path = os.path.join(os.getcwd(), f"sensor_log_{ts}.csv")
+        self._csv_file = open(SensorPushServicer._csv_path, "w", newline="", encoding="utf-8-sig")
+        self._csv_writer = csv.writer(self._csv_file)
+        header = ["seq", "timestamp_ms", "dts_ms", "angle", "magnitude", "state", "cop_x", "cop_y", "base_x", "base_y", "resultant_force"] + [f"ch{i}" for i in range(SENSOR_ROWS * SENSOR_COLS)]
+        self._csv_writer.writerow(header)
+        self._csv_file.flush()
+        print(f"[SensorPush] CSV logging to: {SensorPushServicer._csv_path}")
+
+    def _close_csv(self):
+        """关闭 CSV 文件"""
+        if self._csv_file:
+            self._csv_file.close()
+            print(f"[SensorPush] CSV saved: {SensorPushServicer._csv_path}")
+            self._csv_file = None
+            self._csv_writer = None

    def Upload(self, request_iterator, context):
        print("[SensorPush] Client connected, waiting for frames...")
        reset_baseline()
        self.last_angle = None
+        self.frame_count = 0
+        self._open_csv()

        for frame in request_iterator:
            self.frame_count += 1
            angle = 0.0
+            magnitude = 0.0
+            state = 0
            ok = True
            message = "OK"
+            cop_x = cop_y = base_x = base_y = 0.0
+            total_press = 0.0
+            threshold = 0.0
            if len(frame.matrix) == SENSOR_ROWS * SENSOR_COLS:
                try:
-                    angle = get_pzt_angle(frame.matrix)
+                    angle, magnitude, state, cop_x, cop_y, base_x, base_y, total_press, threshold = get_pzt_angle(frame.matrix)
                    self.last_angle = angle
-                    if self.frame_count <= 10 or self.frame_count % 30 == 0:
-                        print(
-                            f"[SensorPush] PZT angle frame #{frame.seq} "
-                            f"dts={frame.dts_ms} angle={angle:.2f}"
-                        )
+                    print(f"devkit: angle={angle:.2f}, magnitude={magnitude:.4f}, state={state}, cop_x={cop_x:.4f}, cop_y={cop_y:.4f}, base_x={base_x:.4f}, base_y={base_y:.4f}, total_press={total_press:.2f}, thresh={threshold:.2f}")
                except Exception as e:
                    ok = False
                    message = str(e)
@@ -262,6 +287,18 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
            else:
                ok = False
                message = f"Invalid matrix length: {len(frame.matrix)}"
+                print(f"[Recv #{frame.seq}] INVALID len={len(frame.matrix)}")
+
+            # 持续写入 CSV
+            if self._csv_writer:
+                row = [frame.seq, frame.timestamp_ms, frame.dts_ms,
+                       f"{angle:.4f}", f"{magnitude:.4f}", state,
+                       f"{cop_x:.4f}", f"{cop_y:.4f}", f"{base_x:.4f}", f"{base_y:.4f}",
+                       frame.resultant_force]
+                row += list(frame.matrix)
+                self._csv_writer.writerow(row)
+                if self.frame_count % 10 == 0:
+                    self._csv_file.flush()

            yield sensor_stream_pb2.PztAngleResponse(
                seq=frame.seq,
@@ -270,6 +307,14 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
                dts_ms=frame.dts_ms,
                ok=ok,
                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,
            )

            if self.frame_count % 100 == 0:
@@ -290,6 +335,7 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
                    f"total={self.frame_count} | ~{fps:.1f} fps"
                )

+        self._close_csv()
        print(f"[SensorPush] Stream ended. Total: {self.frame_count}")


@@ -350,67 +396,84 @@ def serve(port: int):


 import numpy as np
-import threading
+from collections import deque

 # ===================== 算法参数=====================
-TOTAL_PRESSURE_LOW_THRESHOLD = 500     
-COP_STABILITY_FRAMES_REQUIRED = 5       
+COP_INIT_MEDIAN_FRAMES = 1                 # 初始COP取中位数的帧数
+NOISE_COLLECT_FRAMES = 10                 # 动态阈值基线采集帧数
+THRESH_K = 5                              # 阈值 = K * mean
 SENSOR_ROWS = 12
 SENSOR_COLS = 7

-# ===================== 线程安全全局状态 =====================
-first_frame = None                     
-first_frame_lock = threading.Lock()     
+# ===================== 二次静置精修参数 =====================
+POST_INIT_WINDOW_CNT = 60000
+POST_INIT_STABLE_CNT = 100
+POST_INIT_STABLE_THRESH = 0.1

+# ===================== 线程安全全局状态 =====================
 first_contact_CoP_x = None
 first_contact_CoP_y = None
 contact_initialized = False

-total_pressure_low_counter = 0          
+# 候选初始CoP缓冲
+cop_init_x_buf = deque(maxlen=COP_INIT_MEDIAN_FRAMES)
+cop_init_y_buf = deque(maxlen=COP_INIT_MEDIAN_FRAMES)

-# ===================== 基线减除 =====================
-def subtract_baseline(current_frame):
-    global first_frame
-    current_frame = np.array(current_frame, dtype=np.float32).flatten()
+# 动态阈值
+noise_sum_buf = deque(maxlen=NOISE_COLLECT_FRAMES)
+dynamic_thresh = None

-    with first_frame_lock:
-        if first_frame is None:
-            first_frame = current_frame.copy()
+# 二次静置精修状态
+post_init_frame_cnt = 0
+post_stable_cnt = 0
+post_refined_flag = False
+post_cand_x = None
+post_cand_y = None

-    diff = current_frame - first_frame
-    return np.clip(diff, 0, None)        

 # ===================== 重置CoP状态 =====================
 def reset_cop_state():
    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_y = None
    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):
+def compute_pressure_direction(raw_frame):
    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
-    frame_flat = np.asarray(baseline_subtracted_frame, dtype=np.float32).flatten()
+    frame_flat = np.asarray(raw_frame, dtype=np.float32).flatten()
    frame2d = frame_flat.reshape(rows, cols)

    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:
-        reset_cop_state()
-        return 0.0, 0.0
+    # 动态阈值
+    if dynamic_thresh is None:
+        noise_sum_buf.append(total_pressure)
+        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:
-        return 0.0, 0.0
+    # 低压重置
+    if total_pressure == 0 or (dynamic_thresh is not None and total_pressure < dynamic_thresh):
+        if contact_initialized and dynamic_thresh is not None:
+            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))
    y_grid = np.repeat(np.arange(rows), cols).reshape(rows, cols)
@@ -419,16 +482,66 @@ def compute_pressure_direction(baseline_subtracted_frame):

    delta_CoP_x = 0.0
    delta_CoP_y = 0.0
+    base_x = cop_x
+    base_y = cop_y

+    # ============ 初始点稳定判断（中位数判定） ============
    if not contact_initialized:
-        first_contact_CoP_x = cop_x
-        first_contact_CoP_y = cop_y
-        contact_initialized = True
-    else:
-        delta_CoP_x = cop_x - first_contact_CoP_x
-        delta_CoP_y = cop_y - first_contact_CoP_y
+        cop_init_x_buf.append(cop_x)
+        cop_init_y_buf.append(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()
+
+    # ========== 计算偏移量 ==========
+    else:
+        # 二次静置精修
+        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)

-    return delta_CoP_x, delta_CoP_y

 # ===================== 角度计算核心 =====================
 def compute_vector_angle(x: float, y: float) -> tuple[float, float]:
@@ -440,23 +553,27 @@ def compute_vector_angle(x: float, y: float) -> tuple[float, float]:
    return angle, mag

 def compute_PZT_angle(Px: float, Py: float) -> tuple[float, float]:
-    return compute_vector_angle(Px, -Py)
+    return compute_vector_angle(Px, Py)
+

 # ===================== 核心入口函数 =====================
 def get_pzt_angle(adc_data):
    if len(adc_data) != 84:
        raise ValueError("ADC数据长度必须为84")
-    baseline_subtracted = subtract_baseline(adc_data)
-    dx, dy = compute_pressure_direction(baseline_subtracted)
+    result = compute_pressure_direction(adc_data)
+    cop_x, cop_y = result[0], result[1]
+    dx, dy = result[6], result[7]
+    base_x, base_y = result[8], result[9]
+    magnitude = result[10]
+    state = int(result[11])
+    total_press = result[12]
+    threshold = result[13]
    pzt_angle, _ = compute_PZT_angle(dx, dy)
+    return pzt_angle, magnitude, state, cop_x, cop_y, base_x, base_y, total_press, threshold

-    return pzt_angle

 # ===================== 重置基线（校准用） =====================
 def reset_baseline():
-    global first_frame
-    with first_frame_lock:
-        first_frame = None
    reset_cop_state()


--- a/devkit/sensor_stream_pb2.py
+++ b/devkit/sensor_stream_pb2.py
@@ -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\"\xd1\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(\r\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\"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()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
@@ -33,14 +33,14 @@ if not _descriptor._USE_C_DESCRIPTORS:
  DESCRIPTOR._loaded_options = None
  _globals['_SENSORFRAME']._serialized_start=39
  _globals['_SENSORFRAME']._serialized_end=172
-  _globals['_PZTANGLERESPONSE']._serialized_start=174
-  _globals['_PZTANGLERESPONSE']._serialized_end=287
-  _globals['_PROCESSREQUEST']._serialized_start=289
-  _globals['_PROCESSREQUEST']._serialized_end=345
-  _globals['_PROCESSRESPONSE']._serialized_start=348
-  _globals['_PROCESSRESPONSE']._serialized_end=514
-  _globals['_SENSORPUSH']._serialized_start=516
-  _globals['_SENSORPUSH']._serialized_end=603
-  _globals['_EXPORTPROCESSOR']._serialized_start=605
-  _globals['_EXPORTPROCESSOR']._serialized_end=700
+  _globals['_PZTANGLERESPONSE']._serialized_start=175
+  _globals['_PZTANGLERESPONSE']._serialized_end=384
+  _globals['_PROCESSREQUEST']._serialized_start=386
+  _globals['_PROCESSREQUEST']._serialized_end=442
+  _globals['_PROCESSRESPONSE']._serialized_start=445
+  _globals['_PROCESSRESPONSE']._serialized_end=611
+  _globals['_SENSORPUSH']._serialized_start=613
+  _globals['_SENSORPUSH']._serialized_end=700
+  _globals['_EXPORTPROCESSOR']._serialized_start=702
+  _globals['_EXPORTPROCESSOR']._serialized_end=797
 # @@protoc_insertion_point(module_scope)
--- a/devkit/test_pzt.py
+++ b/devkit/test_pzt.py
@@ -0,0 +1,127 @@
+"""
+独立测试脚本：读取84个原始ADC数据，传入CoP算法计算角度，终端打印结果。
+
+用法:
+    python test_pzt.py                      # 从 stdin 逐行读取（每行84个逗号分隔数值）
+    python test_pzt.py data.csv             # 从 CSV 文件逐行读取
+    python test_pzt.py --random             # 生成随机测试数据（调试用）
+"""
+
+import sys
+import csv
+import numpy as np
+
+# ── 从 sensor_server.py 导入算法 ──
+sys.path.insert(0, ".")
+from sensor_server import (
+    get_pzt_angle,
+    reset_baseline,
+    subtract_baseline,
+    compute_pressure_direction,
+    compute_PZT_angle,
+)
+
+
+def print_result(data_label: str, pzt_angle: float, magnitude: float, state: int, cop_x: float, cop_y: float, base_x: float, base_y: float):
+    dx = cop_x - base_x
+    dy = base_y - cop_y
+    print(
+        f"devkit: angle={pzt_angle:.2f}, magnitude={magnitude:.4f}, state={state}, "
+        f"cop_x={cop_x:.4f}, cop_y={cop_y:.4f}, dx={dx:.4f}, dy={dy:.4f}"
+    )
+
+
+def process_values(values: list[int | float]):
+    """处理一帧84个值并打印结果"""
+    if len(values) != 84:
+        print(f"[ERROR] 期望84个值，实际收到 {len(values)} 个", file=sys.stderr)
+        return
+
+    try:
+        pzt_angle, magnitude, state, cop_x, cop_y, base_x, base_y = get_pzt_angle(values)
+        print_result("", pzt_angle, magnitude, state, cop_x, cop_y, base_x, base_y)
+    except Exception as e:
+        print(f"[ERROR] 计算失败: {e}", file=sys.stderr)
+
+
+def run_random_test():
+    """生成随机数据测试算法"""
+    reset_baseline()
+    print("[TEST] 使用随机数据测试 CoP 算法")
+    print("[TEST] 先用全零帧建立基线...")
+    process_values([0] * 84)
+    print("[TEST] 模拟右侧偏移按压...")
+    # 模拟：row 5-7, col 4-6 区域有压力
+    data = [0.0] * 84
+    for r in range(5, 8):
+        for c in range(4, 7):
+            idx = r * 7 + c
+            data[idx] = 100.0 + (c - 4) * 50  # 右侧更强
+    process_values(data)
+    print("[TEST] 模拟下方偏移按压...")
+    data2 = [0.0] * 84
+    for r in range(8, 11):
+        for c in range(2, 5):
+            idx = r * 7 + c
+            data2[idx] = 150.0 + (r - 8) * 30
+    process_values(data2)
+    print("[TEST] 完成")
+
+
+def run_csv_mode(filepath: str):
+    """从 CSV 文件逐行读取并处理"""
+    reset_baseline()
+    print(f"[CSV] 读取文件: {filepath}")
+    with open(filepath, "r", encoding="utf-8-sig", newline="") as f:
+        reader = csv.reader(f)
+        for i, row in enumerate(reader):
+            if not row:
+                continue
+            # 跳过 header
+            if row[0].strip() in ("seq", "timestamp_ms"):
+                print(f"[CSV] 跳过 header: {row[:5]}...")
+                continue
+            try:
+                values = [float(v) for v in row]
+                if len(values) == 84:
+                    process_values(values)
+                elif len(values) > 84:
+                    process_values(values[:84])
+            except ValueError:
+                continue
+
+
+def run_stdin_mode():
+    """从 stdin 逐行读取"""
+    reset_baseline()
+    print("[STDIN] 等待输入（每行84个逗号分隔数值，Ctrl+C 退出）...")
+    try:
+        for line in sys.stdin:
+            line = line.strip()
+            if not line:
+                continue
+            try:
+                values = [float(v) for v in line.split(",")]
+                if len(values) >= 84:
+                    process_values(values[:84])
+            except ValueError:
+                continue
+    except KeyboardInterrupt:
+        print("\n[STDIN] 已退出")
+
+
+def main():
+    if len(sys.argv) > 1:
+        arg = sys.argv[1]
+        if arg == "--random":
+            run_random_test()
+        elif arg == "--help" or arg == "-h":
+            print(__doc__)
+        else:
+            run_csv_mode(arg)
+    else:
+        run_stdin_mode()
+
+
+if __name__ == "__main__":
+    main()
--- a/package-lock.json
+++ b/package-lock.json
@@ -6,7 +6,7 @@
  "packages": {
    "": {
      "name": "JE-Skin",
-      "version": "0.3.0",
+      "version": "0.4.0",
      "license": "MIT",
      "dependencies": {
        "@tauri-apps/api": "^2",
--- a/src-tauri/Cargo.toml
+++ b/src-tauri/Cargo.toml
@@ -15,7 +15,7 @@ name = "tauri_demo_lib"
 crate-type = ["staticlib", "cdylib", "rlib"]

 [features]
-default = []
+default = ["multi-dim"]
 devkit = ["dep:tonic", "dep:prost", "dep:prost-types", "dep:async-stream", "dep:dirs"]
 multi-dim = ["dep:ndarray"]

--- a/src-tauri/proto/sensor_stream.proto
+++ b/src-tauri/proto/sensor_stream.proto
@@ -27,6 +27,14 @@ message PztAngleResponse {
  uint32 dts_ms = 4;
  bool ok = 5;
  string message = 6;
+  float magnitude = 7;
+  uint32 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 {
--- a/src-tauri/resources/je-skin-devkit-server.exe
+++ b/src-tauri/resources/je-skin-devkit-server.exe
--- a/src-tauri/src/ad_solver.rs
+++ b/src-tauri/src/ad_solver.rs
@@ -0,0 +1,162 @@
+/// AD值反解x计算器
+/// AD = -5.732*x^3 - 131.5*x^2 + 31980*x + 13490 (x <= 6.57)
+/// AD = -377.8*x^2 + 26040*x + 51120 (x > 6.57)
+
+const X_BOUNDARY: f64 = 6.57;
+
+/// 二次方程在边界处的AD值
+/// 当 x = 6.57 时，AD = -377.8*6.57^2 + 26040*6.57 + 51120
+const AD_BOUNDARY: f64 = 205895.10;
+
+/// 二次方程求解器
+/// -377.8*x^2 + 26040*x + 51120 = ad
+/// 返回 x > 6.57 的那个解
+fn solve_quadratic(ad: f64) -> Option<f64> {
+    let a = -377.8;
+    let b = 26040.0;
+    let c = 51120.0 - ad;
+    
+    let discriminant = b * b - 4.0 * a * c;
+    if discriminant < 0.0 {
+        return None;
+    }
+    
+    let sqrt_d = discriminant.sqrt();
+    let x1 = (-b + sqrt_d) / (2.0 * a);
+    let x2 = (-b - sqrt_d) / (2.0 * a);
+    
+    // 选择 x > 6.57 的解（只可能有一个解满足这个条件）
+    if x1 > X_BOUNDARY && x1 > 0.0 {
+        Some(x1)
+    } else if x2 > X_BOUNDARY && x2 > 0.0 {
+        Some(x2)
+    } else {
+        None
+    }
+}
+
+/// 计算三次多项式的值
+/// f(x) = -5.732*x^3 - 131.5*x^2 + 31980*x + 13490
+fn cubic_value(x: f64) -> f64 {
+    -5.732 * x.powi(3) - 131.5 * x.powi(2) + 31980.0 * x + 13490.0
+}
+
+/// 使用二分法求解三次方程 (x <= 6.57)
+/// 三次方程在 [0, 6.57] 范围内是单调递增的
+fn solve_cubic_bisection(ad: f64) -> Option<f64> {
+    let mut low = 0.0;
+    let mut high = X_BOUNDARY;
+    
+    let target = ad;
+    
+    // 检查目标是否在范围内
+    let low_ad = cubic_value(low);
+    let high_ad = cubic_value(high);
+    
+    if target < low_ad.min(high_ad) || target > low_ad.max(high_ad) {
+        return None;
+    }
+    
+    for _i in 0..100 {
+        let mid = (low + high) / 2.0;
+        let mid_ad = cubic_value(mid);
+        
+        if (high - low).abs() < 1e-10 {
+            return Some((low + high) / 2.0);
+        }
+        
+        if mid_ad > target {
+            high = mid;
+        } else {
+            low = mid;
+        }
+    }
+    
+    Some((low + high) / 2.0)
+}
+
+/// 主求解函数：根据AD值反解x
+pub fn solve_for_x(ad: f64) -> Option<f64> {
+    // 如果 AD <= 边界值，使用三次方程 (x <= 6.57)
+    // 如果 AD > 边界值，使用二次方程 (x > 6.57)
+    if ad <= AD_BOUNDARY {
+        return solve_cubic_bisection(ad);
+    }
+    
+    // AD > 边界值，使用二次方程
+    solve_quadratic(ad)
+}
+
+/// 批量求解，用于验证所有解
+pub fn solve_for_x_all(ad: f64) -> Vec<f64> {
+    let mut results = Vec::new();
+    
+    // 三次方程解
+    if let Some(x) = solve_cubic_bisection(ad) {
+        results.push(x);
+    }
+    
+    // 二次方程解
+    if let Some(x) = solve_quadratic(ad) {
+        results.push(x);
+    }
+    
+    results
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn test_cubic_forward() {
+        // 测试 x <= 6.57 的正向计算
+        let x = 5.0;
+        let ad = cubic_value(x);
+        println!("x={}, ad={}", x, ad);
+        let solved = solve_for_x(ad).unwrap();
+        println!("solved={}", solved);
+        assert!((solved - x).abs() < 0.01, "x={}, solved={}", x, solved);
+    }
+
+    #[test]
+    fn test_quadratic_forward() {
+        // 测试 x > 6.57 的正向计算
+        let x = 10.0;
+        let ad = -377.8 * x * x + 26040.0 * x + 51120.0;
+        let solved = solve_for_x(ad).unwrap();
+        assert!((solved - x).abs() < 0.01, "x={}, solved={}", x, solved);
+    }
+
+    #[test]
+    fn test_boundary() {
+        // 测试边界值
+        let x = 6.57;
+        let ad_cubic = cubic_value(x);
+        let ad_quad = -377.8 * x * x + 26040.0 * x + 51120.0;
+        
+        println!("x=6.57 时三次方程 AD = {:.2}", ad_cubic);
+        println!("x=6.57 时二次方程 AD = {:.2}", ad_quad);
+        println!("边界值 AD_BOUNDARY = {:.2}", AD_BOUNDARY);
+        
+        // 边界处两个公式应该有显著差异
+        assert!((ad_cubic - ad_quad).abs() > 100.0);
+    }
+
+    #[test]
+    fn test_known_values() {
+        // 测试一些已知值
+        let test_cases = [
+            (0.0, cubic_value(0.0)),
+            (3.0, cubic_value(3.0)),
+            (6.0, cubic_value(6.0)),
+            (8.0, -377.8 * 8.0 * 8.0 + 26040.0 * 8.0 + 51120.0),
+            (15.0, -377.8 * 15.0 * 15.0 + 26040.0 * 15.0 + 51120.0),
+        ];
+        
+        for (x, ad) in test_cases {
+            let solved = solve_for_x(ad).unwrap();
+            assert!((solved - x).abs() < 0.01, "x={}, ad={}, solved={}", x, ad, solved);
+        }
+    }
+}
--- a/src-tauri/src/devkit/client.rs
+++ b/src-tauri/src/devkit/client.rs
@@ -278,10 +278,16 @@ async fn run_grpc_upload(
                angle: message.angle,
            };
            ::log::debug!(
-                "python pzt angle: seq={} dts_ms={} angle={:.2}",
-                message.seq,
-                message.dts_ms,
-                message.angle
+                "devkit: angle={:.2}, magnitude={:.4}, state={}, cop_x={:.4}, cop_y={:.4}, base_x={:.4}, base_y={:.4}, total_press={:.2}, thresh={:.2}",
+                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)?;
        } else {
--- a/src-tauri/src/lib.rs
+++ b/src-tauri/src/lib.rs
@@ -1,3 +1,4 @@
+pub mod ad_solver;
 mod commands;
 mod lan_game;
 pub mod log;
--- a/src-tauri/src/serial_core/codecs/tactile_a.rs
+++ b/src-tauri/src/serial_core/codecs/tactile_a.rs
@@ -77,11 +77,12 @@ impl TactileACodec {
            .chunks_exact(2)
            .map(|chunk| {
                let raw = u16::from_le_bytes([chunk[0], chunk[1]]) as i32;
-                if raw < 15 {
-                    0
-                } else {
-                    raw
-                }
+                raw
+                // if raw < 15 {
+                //     0
+                // } else {
+                //     raw
+                // }
            })
            .collect::<Vec<i32>>();

--- a/src-tauri/src/serial_core/model.rs
+++ b/src-tauri/src/serial_core/model.rs
@@ -13,6 +13,7 @@ pub struct HudPacket {
    pub panels: Vec<HudSignalPanel>,
    pub summary: HudSummary,
    pub pressure_matrix: Option<Vec<f32>>,
+    pub spatial_force: Option<HudSpatialForce>,
 }

 #[derive(serde::Serialize, Clone)]
@@ -74,6 +75,14 @@ pub struct HudSignalIcon {
    pub tone: HudTone,
 }

+#[derive(serde::Serialize, Clone)]
+#[serde(rename_all = "camelCase")]
+pub struct HudSpatialForce {
+    pub angle_deg: f32,
+    pub magnitude: f32,
+    pub confidence: f32,
+}
+
 struct HudPanelUpdate {
    source_id: String,
    values: Vec<f32>,
@@ -89,6 +98,7 @@ pub struct HudChartState {
    order: Vec<String>,
    summary_points: Vec<f32>,
    pressure_matrix: Option<Vec<f32>>,
+    spatial_force: Option<HudSpatialForce>,
    last_frame_seen: Option<Instant>,
 }

@@ -99,6 +109,7 @@ impl HudChartState {
            order: Vec::new(),
            summary_points: Vec::new(),
            pressure_matrix: None,
+            spatial_force: None,
            last_frame_seen: None,
        }
    }
@@ -115,6 +126,10 @@ impl HudChartState {
        self.pressure_matrix = Some(values.iter().map(|value| *value as f32).collect());
    }

+    pub fn record_spatial_force(&mut self, spatial_force: Option<HudSpatialForce>) {
+        self.spatial_force = spatial_force;
+    }
+
    pub fn apply_frame(&mut self, frame: &TestFrame, decoded_values: Option<&[i32]>) -> HudPacket {
        let now = Instant::now();
        self.last_frame_seen = Some(now);
@@ -130,9 +145,15 @@ impl HudChartState {
    pub fn prune_stale(&mut self) -> Option<HudPacket> {
        let before = self.panels.len();
        let summary_points_before = self.summary_points.len();
+        let had_pressure_matrix = self.pressure_matrix.is_some();
+        let had_spatial_force = self.spatial_force.is_some();
        self.prune_stale_at(Instant::now());

-        if before == self.panels.len() && summary_points_before == self.summary_points.len() {
+        if before == self.panels.len()
+            && summary_points_before == self.summary_points.len()
+            && had_pressure_matrix == self.pressure_matrix.is_some()
+            && had_spatial_force == self.spatial_force.is_some()
+        {
            return None;
        }

@@ -187,6 +208,7 @@ impl HudChartState {
        if summary_stale {
            self.summary_points.clear();
            self.pressure_matrix = None;
+            self.spatial_force = None;
            self.last_frame_seen = None;
        }
    }
@@ -205,6 +227,7 @@ impl HudChartState {
            panels,
            summary: build_summary(&self.summary_points),
            pressure_matrix: self.pressure_matrix.clone(),
+            spatial_force: self.spatial_force.clone(),
        }
    }

--- a/src-tauri/src/serial_core/multi_dim_force.rs
+++ b/src-tauri/src/serial_core/multi_dim_force.rs
@@ -1,122 +1,527 @@
-use ndarray::Array2;
-
-const TOTAL_PRESSURE_LOW_THRESHOLD: usize = 500;
-const COP_STABILITY_FRAMES_REQUIRED: usize = 5;
 const SENSOR_ROWS: usize = 12;
 const SENSOR_COLS: usize = 7;
+const SENSOR_COUNT: usize = SENSOR_ROWS * SENSOR_COLS;
+
+const CONTACT_ENTER_TOTAL_THRESHOLD: f32 = 520.0;
+const CONTACT_ENTER_PEAK_THRESHOLD: f32 = 50.0;
+const CONTACT_EXIT_TOTAL_THRESHOLD: f32 = 260.0;
+const CONTACT_EXIT_PEAK_THRESHOLD: f32 = 28.0;
+const CONTACT_ENTER_FRAMES_REQUIRED: usize = 2;
+const CONTACT_EXIT_FRAMES_REQUIRED: usize = 8;
+
+const BASELINE_IDLE_ALPHA: f32 = 0.035;
+const BASELINE_BOOTSTRAP_ALPHA: f32 = 1.0;
+const BASELINE_NOISE_FLOOR: f32 = 5.0;
+
+const ACTIVE_CELL_MIN_VALUE: f32 = 18.0;
+const ACTIVE_CELL_PEAK_RATIO: f32 = 0.14;
+const MIN_ACTIVE_CELLS: usize = 3;
+
+const ANCHOR_LERP_ALPHA: f32 = 0.018;
+const VECTOR_SMOOTHING_ALPHA: f32 = 0.16;
+
+const REPORT_MAGNITUDE_ENTER: f32 = 0.12;
+const REPORT_MAGNITUDE_EXIT: f32 = 0.045;
+const REPORT_CONFIDENCE_ENTER: f32 = 0.14;
+const REPORT_CONFIDENCE_EXIT: f32 = 0.06;
+const REPORT_HOLD_FRAMES: usize = 10;
+
+const ASYMMETRY_WEIGHT: f32 = 1.1;
+const DRIFT_WEIGHT: f32 = 0.65;
+const MOTION_WEIGHT: f32 = 0.25;
+
+#[derive(Debug, Clone, Copy)]
+pub struct PztSpatialAnalysis {
+    pub angle_deg: f32,
+    pub magnitude: f32,
+    pub planar_x: f32,
+    pub planar_y: f32,
+    pub confidence: f32,
+    pub contact_active: bool,
+    pub reportable: bool,
+}

 pub struct PztProcessor {
-    first_frame: Option<Vec<f32>>,
-    first_contact_cop_x: Option<f32>,
-    first_contact_cop_y: Option<f32>,
-    contact_initialized: bool,
-    total_pressure_low_counter: usize,
+    baseline_frame: Option<Vec<f32>>,
+    contact_active: bool,
+    contact_enter_counter: usize,
+    contact_exit_counter: usize,
+    anchor_cop_x: Option<f32>,
+    anchor_cop_y: Option<f32>,
+    last_cop_x: Option<f32>,
+    last_cop_y: Option<f32>,
+    smoothed_x: f32,
+    smoothed_y: f32,
+    report_active: bool,
+    report_hold_counter: usize,
+    held_report: Option<PztSpatialAnalysis>,
+}
+
+#[derive(Clone, Copy)]
+struct ContactStats {
+    total: f32,
+    peak: f32,
+    active_total: f32,
+    active_cells: usize,
+    min_row: usize,
+    max_row: usize,
+    min_col: usize,
+    max_col: usize,
+    cop_x: f32,
+    cop_y: f32,
+    asymmetry_x: f32,
+    asymmetry_y: f32,
 }

 impl PztProcessor {
    pub fn new() -> Self {
        Self {
-            first_frame: None,
-            first_contact_cop_x: None,
-            first_contact_cop_y: None,
-            contact_initialized: false,
-            total_pressure_low_counter: 0,
+            baseline_frame: None,
+            contact_active: false,
+            contact_enter_counter: 0,
+            contact_exit_counter: 0,
+            anchor_cop_x: None,
+            anchor_cop_y: None,
+            last_cop_x: None,
+            last_cop_y: None,
+            smoothed_x: 0.0,
+            smoothed_y: 0.0,
+            report_active: false,
+            report_hold_counter: 0,
+            held_report: None,
        }
    }

-    fn subtract_baseline(&mut self, current_frame: &[f32]) -> Vec<f32> {
-        if self.first_frame.is_none() {
-            self.first_frame = Some(current_frame.to_vec());
+    fn reset_tracking_state(&mut self) {
+        self.contact_active = false;
+        self.contact_enter_counter = 0;
+        self.contact_exit_counter = 0;
+        self.anchor_cop_x = None;
+        self.anchor_cop_y = None;
+        self.last_cop_x = None;
+        self.last_cop_y = None;
+        self.smoothed_x = 0.0;
+        self.smoothed_y = 0.0;
+    }
+
+    fn reset_report_state(&mut self) {
+        self.report_active = false;
+        self.report_hold_counter = 0;
+        self.held_report = None;
+    }
+
+    fn update_idle_baseline(&mut self, raw_frame: &[f32], alpha: f32) {
+        match self.baseline_frame.as_mut() {
+            Some(baseline) => {
+                for (base, current) in baseline.iter_mut().zip(raw_frame.iter().copied()) {
+                    *base += (current - *base) * alpha;
+                }
+            }
+            None => {
+                self.baseline_frame = Some(raw_frame.to_vec());
+            }
+        }
+    }
+
+    fn subtract_baseline(&mut self, raw_frame: &[f32]) -> Vec<f32> {
+        if self.baseline_frame.is_none() {
+            self.update_idle_baseline(raw_frame, BASELINE_BOOTSTRAP_ALPHA);
        }

-        let baseline = self.first_frame.as_ref().unwrap();
-        current_frame
+        let baseline = self
+            .baseline_frame
+            .as_ref()
+            .expect("baseline should exist after bootstrap");
+
+        raw_frame
            .iter()
            .zip(baseline.iter())
-            .map(|(c, b)| (c - b).max(0.0))
+            .map(|(raw, base)| (raw - base - BASELINE_NOISE_FLOOR).max(0.0))
            .collect()
    }

-    fn reset_cop_state(&mut self) {
-        self.first_contact_cop_x = None;
-        self.first_contact_cop_y = None;
-        self.contact_initialized = false;
-        self.total_pressure_low_counter = 0;
+    fn pressure_metrics(frame: &[f32]) -> (f32, f32) {
+        let total = frame.iter().sum::<f32>();
+        let peak = frame.iter().copied().fold(0.0, f32::max);
+        (total, peak)
    }

-    fn compute_pressure_direction(&mut self, frame: &[f32]) -> (f32, f32) {
-        let frame2d = Array2::from_shape_vec((SENSOR_ROWS, SENSOR_COLS), frame.to_vec()).unwrap();
-        let total_pressure: f32 = frame2d.sum();
-        if total_pressure < TOTAL_PRESSURE_LOW_THRESHOLD as f32 {
-            self.total_pressure_low_counter += 1;
-        } else {
-            self.total_pressure_low_counter = 0;
+    fn is_contact_enter_frame(frame: &[f32]) -> bool {
+        let (total, peak) = Self::pressure_metrics(frame);
+        total >= CONTACT_ENTER_TOTAL_THRESHOLD && peak >= CONTACT_ENTER_PEAK_THRESHOLD
+    }
+
+    fn is_contact_exit_frame(frame: &[f32]) -> bool {
+        let (total, peak) = Self::pressure_metrics(frame);
+        total <= CONTACT_EXIT_TOTAL_THRESHOLD || peak <= CONTACT_EXIT_PEAK_THRESHOLD
+    }
+
+    fn inactive_analysis() -> PztSpatialAnalysis {
+        PztSpatialAnalysis {
+            angle_deg: 0.0,
+            magnitude: 0.0,
+            planar_x: 0.0,
+            planar_y: 0.0,
+            confidence: 0.0,
+            contact_active: false,
+            reportable: false,
+        }
+    }
+
+    fn weak_contact_analysis() -> PztSpatialAnalysis {
+        PztSpatialAnalysis {
+            contact_active: true,
+            ..Self::inactive_analysis()
+        }
+    }
+
+    fn compute_contact_stats(frame: &[f32]) -> Option<ContactStats> {
+        let total = frame.iter().sum::<f32>();
+        if total <= 0.0 {
+            return None;
        }

-        if self.total_pressure_low_counter >= COP_STABILITY_FRAMES_REQUIRED {
-            self.reset_cop_state();
-            return (0.0, 0.0);
+        let peak = frame.iter().copied().fold(0.0, f32::max);
+        if peak <= 0.0 {
+            return None;
        }

-        if total_pressure == 0.0 {
-            return (0.0, 0.0);
-        }
+        let active_threshold = (peak * ACTIVE_CELL_PEAK_RATIO).max(ACTIVE_CELL_MIN_VALUE);

-        let mut sum_x = 0.0;
-        let mut sum_y = 0.0;
+        let mut active_total = 0.0;
+        let mut active_cells = 0usize;
+        let mut weighted_col_sum = 0.0;
+        let mut weighted_row_sum = 0.0;
+        let mut min_row = SENSOR_ROWS;
+        let mut max_row = 0usize;
+        let mut min_col = SENSOR_COLS;
+        let mut max_col = 0usize;

-        for r in 0..SENSOR_ROWS {
-            for c in 0..SENSOR_COLS {
-                let val = frame2d[(r, c)];
-                sum_x += val * c as f32;
-                sum_y += val * r as f32;
+        for row in 0..SENSOR_ROWS {
+            for col in 0..SENSOR_COLS {
+                let index = row * SENSOR_COLS + col;
+                let value = frame[index];
+                if value < active_threshold {
+                    continue;
+                }
+
+                active_cells += 1;
+                active_total += value;
+                weighted_col_sum += value * col as f32;
+                weighted_row_sum += value * row as f32;
+                min_row = min_row.min(row);
+                max_row = max_row.max(row);
+                min_col = min_col.min(col);
+                max_col = max_col.max(col);
            }
        }

-        let cop_x = sum_x / total_pressure;
-        let cop_y = sum_y / total_pressure;
-
-        if !self.contact_initialized {
-            self.first_contact_cop_x = Some(cop_x);
-            self.first_contact_cop_y = Some(cop_y);
-            self.contact_initialized = true;
-            return (0.0, 0.0);
+        if active_cells < MIN_ACTIVE_CELLS || active_total <= 0.0 {
+            return None;
        }

-        let dx = cop_x - self.first_contact_cop_x.unwrap();
-        let dy = cop_y - self.first_contact_cop_y.unwrap();
+        let cop_x = weighted_col_sum / active_total;
+        let cop_y = weighted_row_sum / active_total;
+        let bbox_center_x = (min_col + max_col) as f32 * 0.5;
+        let bbox_center_y = (min_row + max_row) as f32 * 0.5;
+        let half_width = ((max_col - min_col).max(1) as f32) * 0.5;
+        let half_height = ((max_row - min_row).max(1) as f32) * 0.5;

-        (dx, dy)
+        let mut asymmetry_x = 0.0;
+        let mut asymmetry_y = 0.0;
+
+        for row in min_row..=max_row {
+            for col in min_col..=max_col {
+                let index = row * SENSOR_COLS + col;
+                let value = frame[index];
+                if value < active_threshold {
+                    continue;
+                }
+
+                asymmetry_x += value * ((col as f32 - bbox_center_x) / half_width);
+                asymmetry_y += value * ((row as f32 - bbox_center_y) / half_height);
+            }
+        }
+
+        Some(ContactStats {
+            total,
+            peak,
+            active_total,
+            active_cells,
+            min_row,
+            max_row,
+            min_col,
+            max_col,
+            cop_x,
+            cop_y,
+            asymmetry_x: asymmetry_x / active_total,
+            asymmetry_y: asymmetry_y / active_total,
+        })
    }

    fn compute_vector_angle(x: f32, y: f32) -> (f32, f32) {
-        let epsilon = 1e-8;
-        let mag = (x * x + y * y).sqrt();
-        let mut angle = (y).atan2(x + epsilon).to_degrees();
+        let magnitude = (x * x + y * y).sqrt();
+        if magnitude <= f32::EPSILON {
+            return (0.0, 0.0);
+        }
+
+        let mut angle = y.atan2(x).to_degrees();
        if angle < 0.0 {
            angle += 360.0;
        }
-        (angle, mag)
+
+        (angle, magnitude)
    }

-    fn compute_pzt_angle(px: f32, py: f32) -> (f32, f32) {
-        Self::compute_vector_angle(px, -py)
+    fn update_contact_state(&mut self, raw_frame: &[f32], frame: &[f32]) -> bool {
+        if self.contact_active {
+            if Self::is_contact_exit_frame(frame) {
+                self.contact_exit_counter += 1;
+                if self.contact_exit_counter >= CONTACT_EXIT_FRAMES_REQUIRED {
+                    self.update_idle_baseline(raw_frame, BASELINE_IDLE_ALPHA);
+                    self.reset_tracking_state();
+                    self.reset_report_state();
+                    return false;
+                }
+            } else {
+                self.contact_exit_counter = 0;
+            }
+
+            return true;
+        }
+
+        if Self::is_contact_enter_frame(frame) {
+            self.contact_enter_counter += 1;
+            if self.contact_enter_counter >= CONTACT_ENTER_FRAMES_REQUIRED {
+                self.contact_active = true;
+                self.contact_enter_counter = 0;
+                self.contact_exit_counter = 0;
+                return true;
+            }
+
+            return false;
+        }
+
+        self.contact_enter_counter = 0;
+        self.update_idle_baseline(raw_frame, BASELINE_IDLE_ALPHA);
+        false
    }

-    pub fn get_pzt_angle(&mut self, adc_data: &[f32]) -> Result<f32, &'static str> {
-        if adc_data.len() != 84 {
+    fn store_report(&mut self, mut analysis: PztSpatialAnalysis) -> PztSpatialAnalysis {
+        analysis.reportable = true;
+        self.report_active = true;
+        self.report_hold_counter = 0;
+        self.held_report = Some(analysis);
+        analysis
+    }
+
+    fn hold_or_drop_report(&mut self) -> PztSpatialAnalysis {
+        if self.report_active && self.report_hold_counter < REPORT_HOLD_FRAMES {
+            self.report_hold_counter += 1;
+            if let Some(mut held) = self.held_report {
+                held.reportable = true;
+                return held;
+            }
+        }
+
+        self.reset_report_state();
+        Self::weak_contact_analysis()
+    }
+
+    fn stabilize_report(&mut self, analysis: PztSpatialAnalysis) -> PztSpatialAnalysis {
+        if !analysis.contact_active {
+            self.reset_report_state();
+            return analysis;
+        }
+
+        let can_enter = analysis.magnitude >= REPORT_MAGNITUDE_ENTER
+            && analysis.confidence >= REPORT_CONFIDENCE_ENTER;
+        let can_stay = analysis.magnitude >= REPORT_MAGNITUDE_EXIT
+            && analysis.confidence >= REPORT_CONFIDENCE_EXIT;
+
+        if self.report_active {
+            if can_stay {
+                return self.store_report(analysis);
+            }
+
+            return self.hold_or_drop_report();
+        }
+
+        if can_enter {
+            return self.store_report(analysis);
+        }
+
+        analysis
+    }
+
+    pub fn get_pzt_analysis(
+        &mut self,
+        adc_data: &[f32],
+    ) -> Result<PztSpatialAnalysis, &'static str> {
+        if adc_data.len() != SENSOR_COUNT {
            return Err("ADC data length must be 84");
        }

-        let baseline = self.subtract_baseline(adc_data);
-        let (dx, dy) = self.compute_pressure_direction(&baseline);
-        let (angle, _) = Self::compute_pzt_angle(dx, dy);
+        let baseline_subtracted = self.subtract_baseline(adc_data);
+        if !self.update_contact_state(adc_data, &baseline_subtracted) {
+            return Ok(Self::inactive_analysis());
+        }

-        Ok(angle)
+        let Some(stats) = Self::compute_contact_stats(&baseline_subtracted) else {
+            return Ok(self.stabilize_report(Self::weak_contact_analysis()));
+        };
+
+        let Some(anchor_x) = self.anchor_cop_x else {
+            self.anchor_cop_x = Some(stats.cop_x);
+            self.anchor_cop_y = Some(stats.cop_y);
+            self.last_cop_x = Some(stats.cop_x);
+            self.last_cop_y = Some(stats.cop_y);
+
+            return Ok(self.stabilize_report(Self::weak_contact_analysis()));
+        };
+        let anchor_y = self.anchor_cop_y.unwrap_or(stats.cop_y);
+        let last_x = self.last_cop_x.unwrap_or(stats.cop_x);
+        let last_y = self.last_cop_y.unwrap_or(stats.cop_y);
+
+        let drift_x = stats.cop_x - anchor_x;
+        let drift_y = stats.cop_y - anchor_y;
+        let motion_x = stats.cop_x - last_x;
+        let motion_y = stats.cop_y - last_y;
+
+        let combined_x = stats.asymmetry_x * ASYMMETRY_WEIGHT
+            + drift_x * DRIFT_WEIGHT
+            + motion_x * MOTION_WEIGHT;
+        let combined_y = stats.asymmetry_y * ASYMMETRY_WEIGHT
+            + drift_y * DRIFT_WEIGHT
+            + motion_y * MOTION_WEIGHT;
+
+        self.smoothed_x += (combined_x - self.smoothed_x) * 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_y = Some(stats.cop_y);
+
+        let planar_x = self.smoothed_x;
+        let planar_y = -self.smoothed_y;
+        let (angle_deg, magnitude) = Self::compute_vector_angle(planar_x, planar_y);
+
+        let active_span_rows = (stats.max_row - stats.min_row + 1) as f32 / SENSOR_ROWS as f32;
+        let active_span_cols = (stats.max_col - stats.min_col + 1) as f32 / SENSOR_COLS as f32;
+        let activity = (stats.active_cells as f32 / SENSOR_COUNT as f32).clamp(0.0, 1.0);
+        let span = ((active_span_rows + active_span_cols) * 0.5).clamp(0.0, 1.0);
+        let pressure_ratio = (stats.active_total / stats.total.max(1.0)).clamp(0.0, 1.0);
+        let peak_ratio =
+            (stats.peak / (stats.total / stats.active_cells as f32 + 1.0)).clamp(0.0, 1.0);
+        let confidence =
+            ((activity * 0.35) + (span * 0.2) + (pressure_ratio * 0.3) + (peak_ratio * 0.15))
+                .clamp(0.0, 1.0);
+
+        Ok(self.stabilize_report(PztSpatialAnalysis {
+            angle_deg,
+            magnitude,
+            planar_x,
+            planar_y,
+            confidence,
+            contact_active: true,
+            reportable: false,
+        }))
+    }
+
+    pub fn get_pzt_angle(&mut self, adc_data: &[f32]) -> Result<f32, &'static str> {
+        Ok(self.get_pzt_analysis(adc_data)?.angle_deg)
+    }
+
+    pub fn should_report(analysis: &PztSpatialAnalysis) -> bool {
+        analysis.reportable
    }

    pub fn reset_baseline(&mut self) {
-        self.first_frame = None;
-        self.reset_cop_state();
+        self.baseline_frame = None;
+        self.reset_tracking_state();
+        self.reset_report_state();
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::{PztProcessor, SENSOR_COLS, SENSOR_ROWS};
+
+    fn index(row: usize, col: usize) -> usize {
+        row * SENSOR_COLS + col
+    }
+
+    fn make_frame(active: &[(usize, usize, f32)]) -> [f32; SENSOR_ROWS * SENSOR_COLS] {
+        let mut frame = [0.0; SENSOR_ROWS * SENSOR_COLS];
+        for (row, col, value) in active {
+            frame[index(*row, *col)] = *value;
+        }
+        frame
+    }
+
+    #[test]
+    fn idle_frame_does_not_report_contact() {
+        let mut processor = PztProcessor::new();
+        let frame = [0.0; SENSOR_ROWS * SENSOR_COLS];
+        let analysis = processor.get_pzt_analysis(&frame).unwrap();
+        assert!(!analysis.contact_active);
+        assert!(!analysis.reportable);
+        assert_eq!(analysis.magnitude, 0.0);
+    }
+
+    #[test]
+    fn right_heavy_contact_reports_rightward_angle_after_confirmation() {
+        let mut processor = PztProcessor::new();
+        let baseline = [0.0; SENSOR_ROWS * SENSOR_COLS];
+        let contact = make_frame(&[
+            (5, 2, 120.0),
+            (5, 3, 180.0),
+            (5, 4, 280.0),
+            (6, 2, 110.0),
+            (6, 3, 170.0),
+            (6, 4, 260.0),
+            (7, 2, 100.0),
+            (7, 3, 150.0),
+            (7, 4, 240.0),
+        ]);
+
+        let _ = processor.get_pzt_analysis(&baseline).unwrap();
+
+        let mut analysis = processor.get_pzt_analysis(&contact).unwrap();
+        for _ in 0..8 {
+            analysis = processor.get_pzt_analysis(&contact).unwrap();
+        }
+
+        assert!(analysis.contact_active);
+        assert!(analysis.reportable);
+        assert!(analysis.magnitude > 0.0);
+        assert!(analysis.angle_deg <= 45.0 || analysis.angle_deg >= 315.0);
+    }
+
+    #[test]
+    fn report_stays_active_through_short_weak_gap() {
+        let mut processor = PztProcessor::new();
+        let baseline = [0.0; SENSOR_ROWS * SENSOR_COLS];
+        let contact = make_frame(&[
+            (5, 2, 120.0),
+            (5, 3, 180.0),
+            (5, 4, 280.0),
+            (6, 2, 110.0),
+            (6, 3, 170.0),
+            (6, 4, 260.0),
+            (7, 2, 100.0),
+            (7, 3, 150.0),
+            (7, 4, 240.0),
+        ]);
+        let weak = make_frame(&[(5, 3, 55.0), (5, 4, 60.0), (6, 3, 50.0), (6, 4, 58.0)]);
+
+        let _ = processor.get_pzt_analysis(&baseline).unwrap();
+        for _ in 0..10 {
+            let _ = processor.get_pzt_analysis(&contact).unwrap();
+        }
+
+        let analysis = processor.get_pzt_analysis(&weak).unwrap();
+        assert!(analysis.reportable);
    }
 }
--- a/src-tauri/src/serial_core/serial.rs
+++ b/src-tauri/src/serial_core/serial.rs
@@ -1,13 +1,13 @@
+#[cfg(feature = "devkit")]
+use crate::devkit::{proto::SensorFrame, DevKitState};
 use crate::serial_core::codec::Codec;
 use crate::serial_core::codecs::tactile_a::TactileACodec;
 use crate::serial_core::frame::{FrameHandler, TactileAFrame, TestFrame};
-use crate::serial_core::model::{HudChartState, HudPacket};
+use crate::serial_core::model::{HudChartState, HudPacket, HudSpatialForce};
 #[cfg(feature = "multi-dim")]
 use crate::serial_core::multi_dim_force::PztProcessor;
 use crate::serial_core::record::Recording;
 use crate::serial_core::record::{FrameTiming, RecordedFrame};
-#[cfg(feature = "devkit")]
-use crate::devkit::{proto::SensorFrame, DevKitState};
 use anyhow::Result;
 use log::debug;
 use std::future::pending;
@@ -15,14 +15,14 @@ use std::future::pending;
 use std::sync::atomic::Ordering;
 use std::sync::{Arc, Mutex};
 use std::time::Instant;
-use tauri::{AppHandle, Emitter};
 #[cfg(feature = "devkit")]
 use tauri::Manager;
+use tauri::{AppHandle, Emitter};
 use tokio::io::{AsyncReadExt, AsyncWriteExt};
 use tokio::time::{self, Duration, MissedTickBehavior};
 use tokio_serial::SerialStream;
 use tokio_util::sync::CancellationToken;
-
+use crate::ad_solver::solve_for_x;
 const AUTO_SUB_INTERVAL: Duration = Duration::from_nanos(16_666_667);

 pub enum PollMode<F> {
@@ -33,6 +33,7 @@ pub enum PollMode<F> {
 struct PendingSubFrame<F> {
    frame: F,
    values: Vec<i32>,
+    spatial_force: Option<HudSpatialForce>,
 }

 pub trait SerialFrame: Clone + Send + 'static {
@@ -266,6 +267,7 @@ where
                    let display_values = build_display_values(
                        &mut chart_state,
                        pending.values.as_slice(),
+                        pending.spatial_force,
                    );

                    if let Some(packet) = pending
@@ -309,23 +311,36 @@ where
                    drop(record);

                    if let Some(vals) = decode_res {
+                        let mut spatial_force = None;
                        #[cfg(feature = "multi-dim")]
                        {
                            let pzt_values = vals.iter().map(|value| *value as f32).collect::<Vec<f32>>();
-                            if let Ok(angle) = pzt_processor.get_pzt_angle(&pzt_values) {
-                                // debug!("pzt angle: {:.2}", angle);
+                            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) {
+                                    spatial_force = Some(HudSpatialForce {
+                                        angle_deg: analysis.angle_deg,
+                                        magnitude: analysis.magnitude,
+                                        confidence: analysis.confidence,
+                                    });
+                                }
                            }
                        }
                        #[cfg(feature = "devkit")]
                        {
                            let summary = vals.iter().copied().sum::<i32>();
                            let force = raw_to_g1(summary as u32);
+                            
                            push_devkit_frame(&app, vals.as_slice(), frame.dts_ms(), force);
                        }

                        pending_sub_frame = Some(PendingSubFrame {
                            frame: frame.clone(),
                            values: vals,
+                            spatial_force,
                        });
                    } else if let Some(packet) = frame.to_hud_packet(&mut chart_state, None) {
                        app.emit("hud_stream", packet)?;
@@ -337,11 +352,18 @@ where
    Ok(())
 }

-fn build_display_values(chart_state: &mut HudChartState, values: &[i32]) -> Option<Vec<i32>> {
+fn build_display_values(
+    chart_state: &mut HudChartState,
+    values: &[i32],
+    spatial_force: Option<HudSpatialForce>,
+) -> Option<Vec<i32>> {
    let summary = values.iter().copied().sum::<i32>();
    let force = raw_to_g1(summary as u32);
+    // let force_solve = solve_for_x(summary as f64)?;
+    // println!("force_solve: {force_solve}");
    chart_state.record_summary(force as f32);
    chart_state.record_pressure_matrix(values);
+    chart_state.record_spatial_force(spatial_force);
    Some(vec![summary])
 }

@@ -398,12 +420,12 @@ fn infer_matrix_shape(len: usize) -> (u32, u32) {
 }

 fn raw_to_g1(raw: u32) -> f64 {
-    const X: [u32; 12] = [
-        0, 84402, 117218, 140176, 159126, 175812, 191484, 208758, 224703, 252448, 302361, 352703,
+    const X: [u32; 13] = [
+        0, 16811, 41350, 79241, 94615, 127446, 149559, 175900, 195056, 237852, 267810, 322472, 378511,
    ];

-    const Y: [f64; 12] = [
-        0.0, 160.0, 260.0, 360.0, 460.0, 560.0, 660.0, 760.0, 860.0, 1060.0, 1560.0, 2060.0,
+    const Y: [f64; 13] = [
+        0.0, 57.0, 97.0, 197.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0,
    ];

    let n = X.len();
--- a/src/lib/components/CenterStage.svelte
+++ b/src/lib/components/CenterStage.svelte
@@ -10,10 +10,12 @@
  import NeonBreakoutArena from "$lib/components/NeonBreakoutArena.svelte";
  import PressureMatrixViewer from "$lib/components/PressureMatrixViewer.svelte";
  import SignalChart from "$lib/components/SignalChart.svelte";
+  import SpatialForcePanel from "$lib/components/SpatialForcePanel.svelte";
  import SummaryCurve from "$lib/components/SummaryCurve.svelte";
  import type {
    HudColorMapOption,
    HudSignalPanel,
+    HudSpatialForce,
    HudSummary,
    LocaleCode,
    MatrixDisplayMode,
@@ -26,6 +28,8 @@
  export let rightPanels: HudSignalPanel[] = [];
  export let summary: HudSummary;
  export let pressureMatrix: number[] | null = null;
+  export let spatialForce: HudSpatialForce | null = null;
+  export let devkitSpatialForce: HudSpatialForce | null = null;
  export let showConfigPanel = false;
  export let configPanelTitle = "";
  export let configPanelHint = "";
@@ -314,6 +318,42 @@
                </div>
              {/each}

+              <div
+                class="panel-motion-shell"
+                in:fly={{ x: 180, duration: 340, opacity: 0.08, easing: cubicOut }}
+                out:fly={{ x: 180, duration: 280, opacity: 0.06, easing: cubicIn }}
+              >
+                <SpatialForcePanel
+                  {spatialForce}
+                  {locale}
+                  side="right"
+                  panelIndex={rightPanels.length}
+                  panelCode="ALG"
+                  panelTitle={locale === "zh-CN" ? "本地切向力" : "Local Tangential"}
+                  badgeLabel={locale === "zh-CN" ? "算法" : "ALGO"}
+                />
+              </div>
+
+              <div
+                class="panel-motion-shell"
+                in:fly={{ x: 180, duration: 340, opacity: 0.08, easing: cubicOut }}
+                out:fly={{ x: 180, duration: 280, opacity: 0.06, easing: cubicIn }}
+              >
+                <SpatialForcePanel
+                  spatialForce={devkitSpatialForce}
+                  {locale}
+                  side="right"
+                  panelIndex={rightPanels.length + 1}
+                  panelCode="DKT"
+                  panelTitle={locale === "zh-CN" ? "DevKit 切向力" : "DevKit Tangential"}
+                  badgeLabel="DEVKIT"
+                  badgeTone="lime"
+                  showMetrics={false}
+                  requireMagnitude={false}
+                  compactMetaText={locale === "zh-CN" ? "等待 DevKit 角度流" : "Waiting for DevKit angle"}
+                />
+              </div>
+
              {#if summaryCurveVisible && summarySide === "right"}
                <div
                  class="panel-motion-shell"
--- a/src/lib/components/SpatialForcePanel.svelte
+++ b/src/lib/components/SpatialForcePanel.svelte
@@ -0,0 +1,523 @@
+<script lang="ts">
+  import type { HudSpatialForce } from "$lib/types/hud";
+
+  export let spatialForce: HudSpatialForce | null = null;
+  export let side: "left" | "right" = "right";
+  export let panelIndex = 0;
+  export let locale: "zh-CN" | "en-US" = "zh-CN";
+  export let panelCode = "TAN";
+  export let panelTitle = "";
+  export let badgeLabel = "";
+  export let badgeTone: "cyan" | "lime" | "orange" = "cyan";
+  export let showMetrics = true;
+  export let requireMagnitude = true;
+  export let compactMetaText = "";
+
+  function formatValue(value: number | null, digits = 1): string {
+    if (value === null || !Number.isFinite(value)) {
+      return "--";
+    }
+
+    return value.toFixed(digits);
+  }
+
+  function normalizeAngle(value: number): number {
+    return ((value % 360) + 360) % 360;
+  }
+
+  function shortestAngleDelta(from: number, to: number): number {
+    const delta = ((to - from + 540) % 360) - 180;
+    return delta === -180 ? 180 : delta;
+  }
+
+  const jumpAngleThresholdDeg = 72;
+
+  let visualAngleDeg = 0;
+  let previousRawAngleDeg: number | null = null;
+  let snapVector = false;
+  let snapResetFrame: number | null = null;
+
+  function setSnapVector(): void {
+    snapVector = true;
+
+    if (typeof window === "undefined") {
+      return;
+    }
+
+    if (snapResetFrame !== null) {
+      window.cancelAnimationFrame(snapResetFrame);
+    }
+
+    snapResetFrame = window.requestAnimationFrame(() => {
+      snapVector = false;
+      snapResetFrame = null;
+    });
+  }
+
+  function updateVisualAngle(rawAngleDeg: number, active: boolean): void {
+    if (!active) {
+      previousRawAngleDeg = null;
+      visualAngleDeg = 0;
+      return;
+    }
+
+    if (previousRawAngleDeg === null) {
+      previousRawAngleDeg = rawAngleDeg;
+      visualAngleDeg = rawAngleDeg;
+      return;
+    }
+
+    const delta = shortestAngleDelta(previousRawAngleDeg, rawAngleDeg);
+    if (Math.abs(delta) < 0.001) {
+      return;
+    }
+
+    if (Math.abs(delta) >= jumpAngleThresholdDeg) {
+      setSnapVector();
+    }
+
+    visualAngleDeg += delta;
+    previousRawAngleDeg = rawAngleDeg;
+  }
+
+  $: i18n =
+    locale === "zh-CN"
+      ? {
+          title: "切向力方向",
+          waiting: "等待数据",
+          angle: "ANGLE",
+          heading: "方向角",
+          strength: "强度",
+          confidence: "置信度"
+        }
+      : {
+          title: "Tangential Direction",
+          waiting: "Waiting",
+          angle: "ANGLE",
+          heading: "Heading",
+          strength: "Strength",
+          confidence: "Confidence"
+        };
+  $: resolvedTitle = panelTitle || i18n.title;
+  $: resolvedBadgeLabel = badgeLabel || i18n.angle;
+  $: resolvedCompactMetaText =
+    compactMetaText || (locale === "zh-CN" ? "仅使用角度流" : "Angle stream only");
+
+  $: hasData =
+    spatialForce !== null &&
+    Number.isFinite(spatialForce.angleDeg) &&
+    (!requireMagnitude || Number.isFinite(spatialForce.magnitude));
+  $: angleDeg = hasData ? normalizeAngle(spatialForce?.angleDeg ?? 0) : 0;
+  $: updateVisualAngle(angleDeg, hasData);
+  $: magnitude = hasData ? spatialForce?.magnitude ?? 0 : null;
+  $: confidence = hasData ? (spatialForce?.confidence ?? 0) * 100 : null;
+</script>
+
+<article
+  class="signal-panel spatial-panel side-{side}"
+  class:is-empty={!hasData}
+  aria-hidden={false}
+  style="--panel-index: {panelIndex};"
+>
+  <header class="panel-head">
+    <div class="head-text">
+      <p class="panel-code">{panelCode}</p>
+      <p class="panel-title">{resolvedTitle}</p>
+    </div>
+
+    <div class="icon-layer" aria-hidden="true">
+      <span class={`icon-chip tone-${badgeTone}`}>{resolvedBadgeLabel}</span>
+    </div>
+  </header>
+
+  <div class="panel-body">
+    <div class="compass-stage">
+      <div class="compass-core">
+        <div class="compass-ring compass-ring-outer"></div>
+        <div class="compass-ring compass-ring-inner"></div>
+        <div class="compass-axis axis-horizontal"></div>
+        <div class="compass-axis axis-vertical"></div>
+        {#if hasData}
+          <div
+            class="compass-vector"
+            class:is-snap={snapVector}
+            style="transform: translateY(-50%) rotate({-visualAngleDeg}deg);"
+          >
+            <span class="vector-shaft"></span>
+            <span class="vector-head"></span>
+          </div>
+        {/if}
+        <div class="compass-center"></div>
+        <span class="compass-label label-top">90</span>
+        <span class="compass-label label-right">0</span>
+        <span class="compass-label label-bottom">270</span>
+        <span class="compass-label label-left">180</span>
+      </div>
+
+      {#if !hasData}
+        <div class="empty-state">
+          <span>{i18n.waiting}</span>
+        </div>
+      {/if}
+    </div>
+
+    <div class="angle-stage">
+      <p class="angle-label">{i18n.heading}</p>
+      {#if showMetrics}
+        <p class="angle-meta">{i18n.strength}: {formatValue(magnitude, 2)}</p>
+        <p class="angle-meta">{i18n.confidence}: {hasData ? `${formatValue(confidence, 0)}%` : "--"}</p>
+      {:else}
+        <p class="angle-meta">{resolvedCompactMetaText}</p>
+        <p class="angle-meta">{hasData ? (locale === "zh-CN" ? "实时对比中" : "Live comparison") : "--"}</p>
+      {/if}
+    </div>
+  </div>
+</article>
+
+<style>
+  .signal-panel {
+    --offset-x: 12%;
+    --enter-ms: 1800ms;
+    --fade-ms: 1000ms;
+    overflow: hidden;
+    inline-size: min(100%, clamp(34rem, 44vw, 44rem));
+    justify-self: start;
+    display: grid;
+    grid-template-rows: auto 1fr;
+    gap: 0.68rem;
+    padding: 0.88rem 0.96rem 1rem;
+    border: 1px solid rgb(var(--hud-border-strong-rgb) / 0.42);
+    border-radius: 0.92rem;
+    background:
+      linear-gradient(160deg, rgb(var(--hud-surface-alt-rgb) / 0.76) 0%, rgb(var(--hud-surface-rgb) / 0.62) 48%, rgb(var(--hud-surface-deep-rgb) / 0.76) 100%),
+      radial-gradient(circle at 12% 0, rgb(var(--hud-glow-rgb) / 0.1), transparent 40%);
+    box-shadow:
+      inset 0 0 0 1px rgb(var(--hud-border-strong-rgb) / 0.08),
+      inset 0 -24px 32px rgb(0 0 0 / 0.48),
+      0 0 14px rgb(var(--hud-glow-rgb) / 0.14);
+    opacity: 1;
+    transform: translateX(0) scale(1) rotate(0);
+    transition:
+      opacity var(--fade-ms) cubic-bezier(0.18, 0.88, 0.3, 1),
+      transform var(--enter-ms) cubic-bezier(0.2, 0.9, 0.28, 1),
+      border-color 460ms ease,
+      filter 760ms ease;
+    transition-delay: calc(var(--panel-index) * 140ms);
+  }
+
+  .signal-panel.side-left {
+    --offset-x: -132%;
+  }
+
+  .signal-panel.side-right {
+    --offset-x: 132%;
+    justify-self: end;
+  }
+
+  .spatial-panel.is-empty {
+    opacity: 0.82;
+  }
+
+  .panel-head {
+    display: flex;
+    justify-content: space-between;
+    align-items: flex-start;
+    gap: 0.4rem;
+    margin-block-end: 0;
+  }
+
+  .head-text {
+    min-width: 0;
+  }
+
+  .panel-code {
+    margin: 0;
+    font-size: 0.63rem;
+    color: rgb(var(--hud-text-dim-rgb) / 0.88);
+    letter-spacing: 0.12em;
+    text-transform: uppercase;
+  }
+
+  .panel-title {
+    margin: 0.12rem 0 0;
+    font-size: 1.08rem;
+    color: rgb(var(--hud-text-main-rgb) / 0.96);
+    letter-spacing: 0.05em;
+  }
+
+  .icon-layer {
+    display: flex;
+    flex-wrap: wrap;
+    align-items: center;
+    justify-content: flex-end;
+    gap: 0.26rem;
+  }
+
+  .icon-chip {
+    border: 1px solid rgb(var(--hud-border-strong-rgb) / 0.44);
+    border-radius: 999px;
+    padding: 0.08rem 0.36rem;
+    font-size: 0.58rem;
+    letter-spacing: 0.08em;
+    color: rgb(var(--hud-text-main-rgb) / 0.94);
+    background: rgb(var(--hud-surface-rgb) / 0.66);
+  }
+
+  .icon-chip.tone-cyan {
+    border-color: rgb(var(--hud-cyan-rgb) / 0.54);
+  }
+
+  .icon-chip.tone-lime {
+    border-color: rgb(var(--hud-lime-rgb) / 0.54);
+  }
+
+  .icon-chip.tone-orange {
+    border-color: rgb(var(--hud-orange-rgb) / 0.54);
+  }
+
+  .panel-body {
+    display: grid;
+    grid-template-columns: minmax(0, 1.1fr) minmax(10rem, 0.9fr);
+    gap: 0.72rem;
+    block-size: clamp(12rem, 15.5vw, 15rem);
+    min-block-size: clamp(12rem, 15.5vw, 15rem);
+  }
+
+  .compass-stage {
+    position: relative;
+    min-block-size: 0;
+    overflow: hidden;
+    border: 1px solid rgb(var(--hud-border-strong-rgb) / 0.32);
+    border-radius: 0.62rem;
+    background:
+      linear-gradient(180deg, rgb(var(--hud-surface-alt-rgb) / 0.68), rgb(var(--hud-surface-deep-rgb) / 0.78)),
+      radial-gradient(circle at 50% 0, rgb(var(--hud-glow-rgb) / 0.09), transparent 45%);
+    display: grid;
+    place-items: center;
+  }
+
+  .compass-core {
+    position: relative;
+    inline-size: min(72%, 13rem);
+    aspect-ratio: 1;
+  }
+
+  .compass-ring,
+  .compass-axis,
+  .compass-center,
+  .compass-vector {
+    position: absolute;
+    top: 50%;
+    left: 50%;
+  }
+
+  .compass-ring {
+    border-radius: 50%;
+    transform: translate(-50%, -50%);
+  }
+
+  .compass-ring-outer {
+    inline-size: 100%;
+    block-size: 100%;
+    border: 1px solid rgb(var(--hud-cyan-rgb) / 0.28);
+    box-shadow: 0 0 18px rgb(var(--hud-glow-rgb) / 0.08);
+  }
+
+  .compass-ring-inner {
+    inline-size: 62%;
+    block-size: 62%;
+    border: 1px dashed rgb(var(--hud-border-strong-rgb) / 0.3);
+  }
+
+  .compass-axis {
+    background: rgb(var(--hud-border-strong-rgb) / 0.18);
+    transform: translate(-50%, -50%);
+  }
+
+  .axis-horizontal {
+    inline-size: 86%;
+    block-size: 1px;
+  }
+
+  .axis-vertical {
+    inline-size: 1px;
+    block-size: 86%;
+  }
+
+  .compass-vector {
+    inline-size: 42%;
+    block-size: 0.9rem;
+    transform-origin: 0 50%;
+    transition: transform 220ms ease;
+  }
+
+  .compass-vector.is-snap {
+    transition-duration: 0ms;
+  }
+
+  .vector-shaft {
+    position: absolute;
+    top: 50%;
+    left: 0;
+    right: 0.7rem;
+    block-size: 2px;
+    transform: translateY(-50%);
+    border-radius: 999px;
+    background: linear-gradient(90deg, rgb(var(--hud-cyan-rgb) / 0.18), rgb(var(--hud-cyan-rgb) / 0.96));
+    box-shadow: 0 0 14px rgb(var(--hud-cyan-rgb) / 0.2);
+  }
+
+  .vector-head {
+    position: absolute;
+    top: 50%;
+    right: 0;
+    inline-size: 0;
+    block-size: 0;
+    transform: translateY(-50%);
+    border-top: 0.36rem solid transparent;
+    border-bottom: 0.36rem solid transparent;
+    border-left: 0.7rem solid rgb(var(--hud-lime-rgb) / 0.96);
+    filter: drop-shadow(0 0 8px rgb(var(--hud-lime-rgb) / 0.24));
+  }
+
+  .compass-center {
+    inline-size: 0.56rem;
+    block-size: 0.56rem;
+    transform: translate(-50%, -50%);
+    border-radius: 50%;
+    background: rgb(var(--hud-text-main-rgb) / 0.92);
+    box-shadow: 0 0 10px rgb(var(--hud-text-main-rgb) / 0.12);
+  }
+
+  .compass-label {
+    position: absolute;
+    font-size: 0.58rem;
+    color: rgb(var(--hud-text-dim-rgb) / 0.8);
+    letter-spacing: 0.08em;
+  }
+
+  .label-top {
+    top: -0.9rem;
+    left: 50%;
+    transform: translateX(-50%);
+  }
+
+  .label-right {
+    top: 50%;
+    right: -1rem;
+    transform: translateY(-50%);
+  }
+
+  .label-bottom {
+    bottom: -0.9rem;
+    left: 50%;
+    transform: translateX(-50%);
+  }
+
+  .label-left {
+    top: 50%;
+    left: -1.35rem;
+    transform: translateY(-50%);
+  }
+
+  .empty-state {
+    position: absolute;
+    inset: 0;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    color: rgb(var(--hud-text-dim-rgb) / 0.76);
+    font-size: 0.66rem;
+    letter-spacing: 0.08em;
+    text-transform: uppercase;
+    background: linear-gradient(180deg, rgb(var(--hud-surface-deep-rgb) / 0.06), rgb(var(--hud-surface-deep-rgb) / 0.18));
+  }
+
+  .angle-stage {
+    border: 1px solid rgb(var(--hud-border-rgb) / 0.26);
+    border-radius: 0.62rem;
+    padding: 0.9rem 0.85rem;
+    block-size: 100%;
+    min-block-size: 0;
+    overflow: hidden;
+    background:
+      linear-gradient(180deg, rgb(var(--hud-surface-rgb) / 0.72), rgb(var(--hud-surface-deep-rgb) / 0.84)),
+      radial-gradient(circle at 50% 0, rgb(var(--hud-glow-rgb) / 0.05), transparent 58%);
+    display: grid;
+    grid-template-rows: auto auto auto;
+    align-content: center;
+    justify-items: start;
+    gap: 0.36rem;
+  }
+
+  .angle-label {
+    margin: 0;
+    color: rgb(var(--hud-text-dim-rgb) / 0.82);
+    font-size: 0.68rem;
+    letter-spacing: 0.08em;
+    text-transform: uppercase;
+  }
+
+  .angle-meta {
+    margin: 0;
+    inline-size: 10rem;
+    min-block-size: 1rem;
+    white-space: nowrap;
+    overflow: hidden;
+    text-overflow: ellipsis;
+    color: rgb(var(--hud-text-dim-rgb) / 0.84);
+    font-size: 0.68rem;
+    font-variant-numeric: tabular-nums;
+    letter-spacing: 0.05em;
+  }
+
+  @media (max-width: 1180px) {
+    .signal-panel {
+      inline-size: min(100%, clamp(28rem, 40vw, 38rem));
+    }
+  }
+
+  @media (max-height: 900px) {
+    .signal-panel {
+      inline-size: min(100%, clamp(28rem, 38vw, 36rem));
+      padding: 0.7rem 0.76rem 0.8rem;
+    }
+  }
+
+  @media (max-height: 760px) {
+    .signal-panel {
+      inline-size: min(100%, clamp(24rem, 34vw, 30rem));
+      padding: 0.62rem 0.68rem 0.72rem;
+      gap: 0.48rem;
+    }
+
+    .panel-body {
+      block-size: clamp(9rem, 10vw, 10.8rem);
+      min-block-size: clamp(9rem, 10vw, 10.8rem);
+    }
+  }
+
+  @media (max-height: 680px) {
+    .signal-panel {
+      inline-size: min(100%, clamp(20rem, 28vw, 26rem));
+      padding: 0.52rem 0.58rem 0.6rem;
+      gap: 0.36rem;
+    }
+  }
+
+  @media (max-width: 900px) {
+    .signal-panel {
+      inline-size: 100%;
+    }
+
+    .panel-body {
+      grid-template-columns: 1fr;
+      block-size: auto;
+      min-block-size: auto;
+    }
+
+    .compass-core {
+      inline-size: min(58vw, 12rem);
+    }
+  }
+</style>
--- a/src/lib/types/hud.ts
+++ b/src/lib/types/hud.ts
@@ -41,11 +41,18 @@ export interface HudSignalPanel {
  max: number | null;
 }

+export interface HudSpatialForce {
+  angleDeg: number;
+  magnitude: number;
+  confidence: number;
+}
+
 export interface HudPacket {
  ts: number;
  panels: HudSignalPanel[];
  summary: HudSummary;
  pressureMatrix: number[] | null;
+  spatialForce: HudSpatialForce | null;
 }

 export interface HudSummary {
--- a/src/routes/+page.svelte
+++ b/src/routes/+page.svelte
@@ -22,6 +22,7 @@
    HudConfigLink,
    HudNoticeTone,
    HudPacket,
+    HudSpatialForce,
    PressureColorMapPreset,
    HudSignalPanel,
    HudSignalSeries,
@@ -45,6 +46,13 @@
    dtsMs: number;
  }

+  interface DevKitPztAngleEvent {
+    seq: number;
+    timestampMs: number;
+    dtsMs: number;
+    angle: number;
+  }
+
  const copyByLocale: Record<LocaleCode, HudCopy> = {
    "zh-CN": {
      appName: "JE-Skin",
@@ -228,6 +236,8 @@
  let signalPanels: HudSignalPanel[] = buildInactivePanels();
  let summary: HudSummary = buildEmptySummary();
  let pressureMatrix: number[] | null = null;
+  let spatialForce: HudSpatialForce | null = null;
+  let devkitSpatialForce: HudSpatialForce | null = null;
  let matrixRows = 12;
  let matrixCols = 7;
  let rangeMin = DEFAULT_PRESSURE_RANGE_MIN;
@@ -268,6 +278,7 @@
    rowsKept: number;
  } | null = null;
  let devkitStatusTimer: number | null = null;
+  let devkitSpatialForceClearTimer: number | null = null;
  let sessionStartedAt: number = Date.now();

  $: uiCopy = copyByLocale[locale];
@@ -295,6 +306,31 @@
    return typeof window !== "undefined" && "__TAURI_INTERNALS__" in window;
  }

+  function clearDevkitSpatialForce(): void {
+    devkitSpatialForce = null;
+    if (devkitSpatialForceClearTimer != null && typeof window !== "undefined") {
+      window.clearTimeout(devkitSpatialForceClearTimer);
+      devkitSpatialForceClearTimer = null;
+    }
+    hasSignalData = signalPanels.length > 0 || summary.points.length > 0 || spatialForce !== null;
+  }
+
+  function scheduleDevkitSpatialForceClear(): void {
+    if (typeof window === "undefined") {
+      return;
+    }
+
+    if (devkitSpatialForceClearTimer != null) {
+      window.clearTimeout(devkitSpatialForceClearTimer);
+    }
+
+    devkitSpatialForceClearTimer = window.setTimeout(() => {
+      devkitSpatialForce = null;
+      devkitSpatialForceClearTimer = null;
+      hasSignalData = signalPanels.length > 0 || summary.points.length > 0 || spatialForce !== null;
+    }, 420);
+  }
+
  function clamp(value: number, min: number, max: number): number {
    return Math.min(max, Math.max(min, value));
  }
@@ -717,6 +753,8 @@

  function resetReplayVisualState(): void {
    pressureMatrix = buildZeroMatrix();
+    spatialForce = null;
+    clearDevkitSpatialForce();
    signalPanels = buildInactivePanels();
    summary = buildEmptySummary();
    hasSignalData = false;
@@ -752,6 +790,8 @@
    replayHasDisplayedFrame = true;
    replayProgress = replayFrames.length > 1 ? safeIndex / (replayFrames.length - 1) : 1;
    pressureMatrix = frameValuesToMatrix(replayFrames[safeIndex].values);
+    spatialForce = null;
+    clearDevkitSpatialForce();
    signalPanels = buildInactivePanels();
    summary = buildReplaySummaryAt(safeIndex);
    hasSignalData = true;
@@ -1006,7 +1046,12 @@
      summary = packet.summary;
    }
    pressureMatrix = packet.pressureMatrix;
-    hasSignalData = signalPanels.length > 0 || packet.summary.points.length > 0;
+    spatialForce = packet.spatialForce ?? null;
+    hasSignalData =
+      signalPanels.length > 0 ||
+      packet.summary.points.length > 0 ||
+      spatialForce !== null ||
+      devkitSpatialForce !== null;
  }

  function clearHudPanels(): void {
@@ -1014,17 +1059,19 @@
    signalPanels = buildInactivePanels();
    summary = buildEmptySummary();
    pressureMatrix = null;
+    spatialForce = null;
+    clearDevkitSpatialForce();
  }

  function startMockFeed(push: (packet: HudPacket) => void): () => void {
    let panels = buildInactivePanels();
    let summaryValue = buildSummary(createSummaryPoints(randomBetween(480, 1440)));
-    push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null });
+    push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null, spatialForce: null });

    const timerId = window.setInterval(() => {
      summaryValue = evolveSummary(summaryValue);

-      push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null });
+      push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null, spatialForce: null });
    }, signalRenderTickMs);

    return () => {
@@ -1788,12 +1835,25 @@
        .catch((error) => {
          console.error("Failed to listen for hud_stream:", error);
        });
-      void listen<{ seq: number; timestampMs: number; dtsMs: number; angle: number }>(
-        "devkit_pzt_angle",
-        (event) => {
-          console.log("[devkit_pzt_angle]", event.payload);
+      void listen<DevKitPztAngleEvent>("devkit_pzt_angle", (event) => {
+        const angleDeg = Number(event.payload.angle);
+        if (!Number.isFinite(angleDeg)) {
+          clearDevkitSpatialForce();
+          return;
        }
-      )
+
+        devkitSpatialForce = {
+          angleDeg,
+          magnitude: 0,
+          confidence: 0
+        };
+        scheduleDevkitSpatialForceClear();
+        hasSignalData =
+          signalPanels.length > 0 ||
+          summary.points.length > 0 ||
+          spatialForce !== null ||
+          devkitSpatialForce !== null;
+      })
        .then((unlisten) => {
          if (disposed) {
            unlisten();
@@ -1812,6 +1872,7 @@
    return () => {
      disposed = true;
      pauseReplayPlayback();
+      clearDevkitSpatialForce();
      stopMockFeed?.();
      unlistenHudStream?.();
      unlistenDevkitPztAngle?.();
@@ -1930,6 +1991,8 @@
      leftPanels={leftSignalPanels}
      rightPanels={rightSignalPanels}
      {pressureMatrix}
+      {spatialForce}
+      {devkitSpatialForce}
      showConfigPanel={isConfigPanelOpen}
      showPrecisionTestPanel={isPrecisionTestOpen}
      {summary}
Author	SHA1	Message	Date
lenn	011bfe2450	feat: 切向力算法更新 + AD反解x模块	2026-05-25 14:44:31 +08:00
lenn	e52c86ea1a	feat(devkit): 终端打印pzt_angle/magnitude/state	2026-05-23 19:14:14 +08:00
lenn	f1ae60c69f	feat(devkit): 动态阈值=K*mean, POST_INIT_STABLE_CNT=200, get_pzt_angle返回cop/base坐标, CSV打印全部输出	2026-05-23 18:46:32 +08:00
lenn	c906e8ac66	feat(devkit): 动态阈值公式改为K*mean, POST_INIT_STABLE_CNT=10, get_pzt_angle返回cop/base坐标, CSV增加cop_x/y/base_x/y列	2026-05-23 18:23:20 +08:00
lenn	dff8489c36	feat(devkit): 每帧打印接收数据，持续输出到CSV文件	2026-05-22 16:33:20 +08:00
lenn	030479a962	feat(devkit): 替换切向力算法为动态阈值版本，重新编译exe	2026-05-22 16:11:26 +08:00
lenn	b581e310ed	update frontend components and cargo config	2026-05-20 10:18:27 +08:00
lenn	c579544351	Revert "fix: compensate tangential force edge and full-surface cases" This reverts commit `aa08a75aef`.	2026-05-20 09:45:47 +08:00
lenn	aa08a75aef	fix: compensate tangential force edge and full-surface cases	2026-05-20 09:39:14 +08:00
lenn	6187976b6b	feat: integrate tangential force HUD	2026-05-20 08:33:20 +08:00