update serial and spatial force components

- Remove NeonBreakoutArena split panel from CenterStage
- Remove numeric matrix display mode toggle (keep dot matrix only)
- Remove 3D module stage mode switcher from HudPanel
- Remove precision-test config link and related UI state
- Cargo check passes (1 warning: unused import in log.rs)

devkit/build/je-skin-devkit-server/EXE-00.toc

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+   'BINARY'),
+  ('api-ms-win-core-processthreads-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-processthreads-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-datetime-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-datetime-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-namedpipe-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-namedpipe-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-file-l2-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-file-l2-1-0.dll',
+   'BINARY'),
+  ('sensor_stream_pb2.py',
+   'D:\\Workspace\\je-skin-customer-demo\\devkit\\sensor_stream_pb2.py',
+   'DATA'),
+  ('sensor_stream_pb2_grpc.py',
+   'D:\\Workspace\\je-skin-customer-demo\\devkit\\sensor_stream_pb2_grpc.py',
+   'DATA'),
+  ('grpc\\_cython\\_cygrpc\\private_key_signing\\private_key_signer_py_wrapper.cc',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\grpc\\_cython\\_cygrpc\\private_key_signing\\private_key_signer_py_wrapper.cc',
+   'DATA'),
+  ('grpc\\_cython\\_cygrpc\\private_key_signing\\private_key_signer_py_wrapper.h',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\grpc\\_cython\\_cygrpc\\private_key_signing\\private_key_signer_py_wrapper.h',
+   'DATA'),
+  ('grpc\\_cython\\_credentials\\roots.pem',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\grpc\\_cython\\_credentials\\roots.pem',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\WHEEL',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\WHEEL',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\licenses\\numpy\\random\\src\\distributions\\LICENSE.md',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\licenses\\numpy\\random\\src\\distributions\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\REQUESTED',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\REQUESTED',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\licenses\\numpy\\random\\src\\mt19937\\LICENSE.md',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\licenses\\numpy\\random\\src\\mt19937\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\licenses\\numpy\\random\\src\\sfc64\\LICENSE.md',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\licenses\\numpy\\random\\src\\sfc64\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\licenses\\numpy\\linalg\\lapack_lite\\LICENSE.txt',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\licenses\\numpy\\linalg\\lapack_lite\\LICENSE.txt',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\licenses\\numpy\\random\\LICENSE.md',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\licenses\\numpy\\random\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\INSTALLER',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\INSTALLER',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\licenses\\numpy\\_core\\src\\multiarray\\dragon4_LICENSE.txt',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\licenses\\numpy\\_core\\src\\multiarray\\dragon4_LICENSE.txt',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\licenses\\numpy\\fft\\pocketfft\\LICENSE.md',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\licenses\\numpy\\fft\\pocketfft\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\licenses\\numpy\\ma\\LICENSE',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\licenses\\numpy\\ma\\LICENSE',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\entry_points.txt',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\entry_points.txt',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\licenses\\numpy\\_core\\src\\common\\pythoncapi-compat\\COPYING',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\licenses\\numpy\\_core\\src\\common\\pythoncapi-compat\\COPYING',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\licenses\\LICENSE.txt',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\licenses\\LICENSE.txt',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\licenses\\numpy\\random\\src\\splitmix64\\LICENSE.md',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\licenses\\numpy\\random\\src\\splitmix64\\LICENSE.md',
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+  ('numpy-2.4.6.dist-info\\licenses\\numpy\\_core\\src\\umath\\svml\\LICENSE',
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+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\licenses\\numpy\\_core\\src\\npysort\\x86-simd-sort\\LICENSE.md',
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+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\METADATA',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\licenses\\numpy\\random\\src\\philox\\LICENSE.md',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\licenses\\numpy\\random\\src\\philox\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\RECORD',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\RECORD',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\licenses\\numpy\\_core\\src\\highway\\LICENSE',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\licenses\\numpy\\_core\\src\\highway\\LICENSE',
+   'DATA'),
+  ('numpy-2.4.6.dist-info\\licenses\\numpy\\random\\src\\pcg64\\LICENSE.md',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy-2.4.6.dist-info\\licenses\\numpy\\random\\src\\pcg64\\LICENSE.md',
+   'DATA'),
+  ('base_library.zip',
+   'D:\\Workspace\\je-skin-customer-demo\\devkit\\build\\je-skin-devkit-server\\base_library.zip',
+   'DATA')],
+ 'python313.dll',
+ False,
+ False,
+ False,
+ [],
+ None,
+ None,
+ None)

devkit/build/je-skin-devkit-server/warn-je-skin-devkit-server.txt

@@ -0,0 +1,246 @@
+
+This file lists modules PyInstaller was not able to find. This does not
+necessarily mean these modules are required for running your program. Both
+Python's standard library and 3rd-party Python packages often conditionally
+import optional modules, some of which may be available only on certain
+platforms.
+
+Types of import:
+* top-level: imported at the top-level - look at these first
+* conditional: imported within an if-statement
+* delayed: imported within a function
+* optional: imported within a try-except-statement
+
+IMPORTANT: Do NOT post this list to the issue-tracker. Use it as a basis for
+            tracking down the missing module yourself. Thanks!
+
+missing module named pwd - imported by posixpath (delayed, conditional, optional), shutil (delayed, optional), tarfile (optional), pathlib._local (optional), subprocess (delayed, conditional, optional), http.server (delayed, optional), netrc (delayed, optional), getpass (delayed, optional)
+missing module named grp - imported by shutil (delayed, optional), tarfile (optional), pathlib._local (optional), subprocess (delayed, conditional, optional)
+missing module named 'collections.abc' - imported by traceback (top-level), typing (top-level), inspect (top-level), logging (top-level), importlib.resources.readers (top-level), selectors (top-level), tracemalloc (top-level), http.client (top-level), typing_extensions (top-level), asyncio.base_events (top-level), asyncio.coroutines (top-level), grpc.aio._metadata (top-level), google.protobuf.internal.containers (top-level), google.protobuf.internal.well_known_types (top-level), numpy._typing._array_like (top-level), numpy._typing._nested_sequence (conditional), numpy._typing._shape (top-level), numpy._typing._dtype_like (top-level), numpy.lib._function_base_impl (top-level), numpy.lib._npyio_impl (top-level), numpy.random._common (top-level), numpy.random._generator (top-level), numpy.random.bit_generator (top-level), numpy.random.mtrand (top-level), numpy.polynomial._polybase (top-level), xml.etree.ElementTree (top-level)
+missing module named _posixsubprocess - imported by subprocess (conditional), multiprocessing.util (delayed)
+missing module named fcntl - imported by subprocess (optional)
+missing module named _posixshmem - imported by multiprocessing.resource_tracker (conditional), multiprocessing.shared_memory (conditional)
+missing module named _scproxy - imported by urllib.request (conditional)
+missing module named termios - imported by tty (top-level), _pyrepl.pager (delayed, optional), getpass (optional)
+missing module named multiprocessing.BufferTooShort - imported by multiprocessing (top-level), multiprocessing.connection (top-level)
+missing module named multiprocessing.AuthenticationError - imported by multiprocessing (top-level), multiprocessing.connection (top-level)
+missing module named _frozen_importlib_external - imported by importlib._bootstrap (delayed), importlib (optional), importlib.abc (optional), zipimport (top-level)
+excluded module named _frozen_importlib - imported by importlib (optional), importlib.abc (optional), zipimport (top-level)
+missing module named posix - imported by os (conditional, optional), posixpath (optional), shutil (conditional), importlib._bootstrap_external (conditional)
+missing module named resource - imported by posix (top-level)
+missing module named multiprocessing.get_context - imported by multiprocessing (top-level), multiprocessing.pool (top-level), multiprocessing.managers (top-level), multiprocessing.sharedctypes (top-level)
+missing module named multiprocessing.TimeoutError - imported by multiprocessing (top-level), multiprocessing.pool (top-level)
+missing module named multiprocessing.set_start_method - imported by multiprocessing (top-level), multiprocessing.spawn (top-level)
+missing module named multiprocessing.get_start_method - imported by multiprocessing (top-level), multiprocessing.spawn (top-level)
+missing module named pyimod02_importers - imported by C:\Users\Administrator\miniconda3\Lib\site-packages\PyInstaller\hooks\rthooks\pyi_rth_pkgutil.py (delayed)
+missing module named _dummy_thread - imported by numpy._core.arrayprint (optional)
+missing module named asyncio.DefaultEventLoopPolicy - imported by asyncio (delayed, conditional), asyncio.events (delayed, conditional)
+missing module named annotationlib - imported by typing_extensions (conditional)
+missing module named 'numpy_distutils.cpuinfo' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
+missing module named 'numpy_distutils.fcompiler' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
+missing module named 'numpy_distutils.command' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
+missing module named numpy_distutils - imported by numpy.f2py.diagnose (delayed, optional)
+missing module named vms_lib - imported by platform (delayed, optional)
+missing module named 'java.lang' - imported by platform (delayed, optional)
+missing module named java - imported by platform (delayed)
+missing module named psutil - imported by numpy.testing._private.utils (delayed, optional)
+missing module named readline - imported by cmd (delayed, conditional, optional), code (delayed, conditional, optional), pdb (delayed, conditional, optional), rlcompleter (optional)
+missing module named win32pdh - imported by numpy.testing._private.utils (delayed, conditional)
+missing module named _typeshed - imported by numpy.random.bit_generator (top-level)
+missing module named numpy.random.RandomState - imported by numpy.random (top-level), numpy.random._generator (top-level)
+missing module named threadpoolctl - imported by numpy.lib._utils_impl (delayed, optional)
+missing module named numpy._core.zeros - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.vstack - imported by numpy._core (top-level), numpy.lib._shape_base_impl (top-level), numpy (conditional)
+missing module named numpy._core.void - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.vecmat - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.vecdot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.ushort - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.unsignedinteger - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.ulonglong - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.ulong - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.uintp - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.uintc - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.uint64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.uint32 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.uint16 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.uint - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.ubyte - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.trunc - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.true_divide - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.transpose - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._function_base_impl (top-level), numpy (conditional)
+missing module named numpy._core.trace - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.timedelta64 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.tensordot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.tanh - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.tan - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.swapaxes - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.sum - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.subtract - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.str_ - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.square - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.sqrt - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
+missing module named numpy._core.spacing - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.sort - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.sinh - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.single - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.signedinteger - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.signbit - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.sign - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.short - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.rint - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.right_shift - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.result_type - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional), numpy.fft._pocketfft (top-level)
+missing module named numpy._core.remainder - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.reciprocal - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
+missing module named numpy._core.radians - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.rad2deg - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.prod - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.power - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.positive - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.pi - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.outer - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.ones - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
+missing module named numpy._core.object_ - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.number - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.not_equal - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.nextafter - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.newaxis - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.negative - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.ndarray - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy.lib._utils_impl (top-level), numpy (conditional)
+missing module named numpy._core.multiply - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.moveaxis - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.modf - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.mod - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.minimum - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.maximum - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.max - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.matvec - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.matrix_transpose - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.matmul - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.longlong - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.longdouble - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.long - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.logical_xor - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.logical_or - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.logical_not - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.logical_and - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.logaddexp2 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.logaddexp - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.log10 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.log2 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.log1p - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.log - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.linspace - imported by numpy._core (top-level), numpy.lib._index_tricks_impl (top-level), numpy (conditional)
+missing module named numpy._core.less_equal - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.less - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.left_shift - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.ldexp - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.lcm - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.isscalar - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy.lib._polynomial_impl (top-level), numpy (conditional)
+missing module named numpy._core.isnat - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional)
+missing module named numpy._core.isnan - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.isfinite - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.intp - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.integer - imported by numpy._core (conditional), numpy (conditional), numpy.fft._helper (top-level)
+missing module named numpy._core.intc - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.int64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.int32 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.int16 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.int8 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.inf - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.inexact - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.iinfo - imported by numpy._core (top-level), numpy.lib._twodim_base_impl (top-level), numpy (conditional)
+missing module named numpy._core.hypot - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.hstack - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
+missing module named numpy._core.heaviside - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.half - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.greater_equal - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.greater - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.gcd - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.frompyfunc - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.frexp - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.fmod - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.fmin - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.fmax - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.floor_divide - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.floor - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.floating - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.float_power - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.float32 - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.float16 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.finfo - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
+missing module named numpy._core.fabs - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.expm1 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.exp2 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.exp - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.euler_gamma - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.errstate - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.equal - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.empty_like - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
+missing module named numpy._core.empty - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy.fft._helper (top-level)
+missing module named numpy._core.e - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.double - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.dot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
+missing module named numpy._core.divmod - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.divide - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.diagonal - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.degrees - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.deg2rad - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.datetime64 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.csingle - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.cross - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.count_nonzero - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.cosh - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.cos - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.copysign - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.conjugate - imported by numpy._core (conditional), numpy (conditional), numpy.fft._pocketfft (top-level)
+missing module named numpy._core.conj - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.complexfloating - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.complex64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.clongdouble - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.character - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.ceil - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.cdouble - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.cbrt - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.bytes_ - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.byte - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.bool_ - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.bitwise_xor - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.bitwise_or - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.bitwise_count - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.bitwise_and - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.atleast_3d - imported by numpy._core (top-level), numpy.lib._shape_base_impl (top-level), numpy (conditional)
+missing module named numpy._core.atleast_2d - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.atleast_1d - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
+missing module named numpy._core.asarray - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._array_utils_impl (top-level), numpy (conditional), numpy.fft._helper (top-level), numpy.fft._pocketfft (top-level)
+missing module named numpy._core.asanyarray - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.array_repr - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional)
+missing module named numpy._core.array2string - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.array - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
+missing module named numpy._core.argsort - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.arctanh - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.arctan2 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.arctan - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.arcsinh - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.arcsin - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.arccosh - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.arccos - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.arange - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy.fft._helper (top-level)
+missing module named numpy._core.amin - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.amax - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.all - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.add - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named yaml - imported by numpy.__config__ (delayed)
+missing module named numpy._distributor_init_local - imported by numpy (optional), numpy._distributor_init (optional)
+missing module named defusedxml - imported by openpyxl.xml (delayed, optional)
+missing module named lxml - imported by openpyxl.xml (delayed, optional)
+missing module named 'defusedxml.ElementTree' - imported by openpyxl.xml.functions (conditional)
+missing module named 'lxml.etree' - imported by openpyxl.xml.functions (conditional)
+missing module named PIL - imported by openpyxl.drawing.image (optional)
+missing module named openpyxl.tests - imported by openpyxl.reader.excel (optional)
+missing module named google.protobuf.pyext._message - imported by google.protobuf.pyext (conditional, optional), google.protobuf.internal.api_implementation (conditional, optional), google.protobuf.descriptor (conditional), google.protobuf.pyext.cpp_message (conditional)
+missing module named google.protobuf.enable_deterministic_proto_serialization - imported by google.protobuf (optional), google.protobuf.internal.api_implementation (optional)
+missing module named google.protobuf.internal._api_implementation - imported by google.protobuf.internal (optional), google.protobuf.internal.api_implementation (optional)
+missing module named grpc_reflection - imported by grpc (optional)
+missing module named grpc_health - imported by grpc (optional)
+missing module named pkg_resources - imported by grpc_tools.protoc (conditional)

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', '.')],
+    datas=[('sensor_stream_pb2*.py', '.')],
-    hiddenimports=['grpc', 'openpyxl', 'numpy'],
+    hiddenimports=['grpc', 'openpyxl'],
     hookspath=[],
     hooksconfig={},
     runtime_hooks=[],

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\"\xf9\x01\n\x10PztAngleResponse\x12\x0b\n\x03seq\x18\x01 \x01(\x04\x12\x14\n\x0ctimestamp_ms\x18\x02 \x01(\x04\x12\r\n\x05\x61ngle\x18\x03 \x01(\x02\x12\x0e\n\x06\x64ts_ms\x18\x04 \x01(\r\x12\n\n\x02ok\x18\x05 \x01(\x08\x12\x0f\n\x07message\x18\x06 \x01(\t\x12\x11\n\tmagnitude\x18\x07 \x01(\x02\x12\r\n\x05state\x18\x08 \x01(\x05\x12\r\n\x05\x63op_x\x18\t \x01(\x02\x12\r\n\x05\x63op_y\x18\n \x01(\x02\x12\x0e\n\x06\x62\x61se_x\x18\x0b \x01(\x02\x12\x0e\n\x06\x62\x61se_y\x18\x0c \x01(\x02\x12\x13\n\x0btotal_press\x18\r \x01(\x02\x12\x11\n\tthreshold\x18\x0e \x01(\x02\"8\n\x0eProcessRequest\x12\x10\n\x08\x63sv_path\x18\x01 \x01(\t\x12\x14\n\x0csave_as_xlsx\x18\x02 \x01(\x08\"\xa6\x01\n\x0fProcessResponse\x12\n\n\x02ok\x18\x01 \x01(\x08\x12\x13\n\x0boutput_path\x18\x02 \x01(\t\x12\x13\n\x0bgroups_used\x18\x03 \x01(\r\x12\x12\n\nmean_value\x18\x04 \x01(\x01\x12\x11\n\tthreshold\x18\x05 \x01(\x01\x12\x12\n\nrows_total\x18\x06 \x01(\r\x12\x11\n\trows_kept\x18\x07 \x01(\r\x12\x0f\n\x07message\x18\x08 \x01(\t2W\n\nSensorPush\x12I\n\x06Upload\x12\x1a.sensor_stream.SensorFrame\x1a\x1f.sensor_stream.PztAngleResponse(\x01\x30\x01\x32_\n\x0f\x45xportProcessor\x12L\n\x0bProcessFile\x12\x1d.sensor_stream.ProcessRequest\x1a\x1e.sensor_stream.ProcessResponseb\x06proto3')
 
 _globals = globals()
 _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_start=175
-  _globals['_PZTANGLERESPONSE']._serialized_end=287
+  _globals['_PZTANGLERESPONSE']._serialized_end=424
-  _globals['_PROCESSREQUEST']._serialized_start=289
+  _globals['_PROCESSREQUEST']._serialized_start=426
-  _globals['_PROCESSREQUEST']._serialized_end=345
+  _globals['_PROCESSREQUEST']._serialized_end=482
-  _globals['_PROCESSRESPONSE']._serialized_start=348
+  _globals['_PROCESSRESPONSE']._serialized_start=485
-  _globals['_PROCESSRESPONSE']._serialized_end=514
+  _globals['_PROCESSRESPONSE']._serialized_end=651
-  _globals['_SENSORPUSH']._serialized_start=516
+  _globals['_SENSORPUSH']._serialized_start=653
-  _globals['_SENSORPUSH']._serialized_end=603
+  _globals['_SENSORPUSH']._serialized_end=740
-  _globals['_EXPORTPROCESSOR']._serialized_start=605
+  _globals['_EXPORTPROCESSOR']._serialized_start=742
-  _globals['_EXPORTPROCESSOR']._serialized_end=700
+  _globals['_EXPORTPROCESSOR']._serialized_end=837
 # @@protoc_insertion_point(module_scope)

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",

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"]
 

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;
+  int32 state = 8;
+  float cop_x = 9;
+  float cop_y = 10;
+  float base_x = 11;
+  float base_y = 12;
+  float total_press = 13;
+  float threshold = 14;
 }
 
 message ProcessRequest {

src-tauri/src/commands/devkit.rs

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

src-tauri/src/commands/serial.rs

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

src-tauri/src/commands/window.rs

@@ -35,6 +35,6 @@ pub async fn win_close(
         .await
         .map_err(|error| error.to_string())?;
 
-    app.exit(0);
+    main_window(&app)?.close().map_err(|error| error.to_string())
-    Ok(())
 }
+

src-tauri/src/devkit/client.rs

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

src-tauri/src/lib.rs

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

src-tauri/src/log.rs

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

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(),
         }
     }
 

src-tauri/src/serial_core/multi_dim_force.rs

@@ -1,122 +1,696 @@
-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 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;
+const EDGE_ASYMMETRY_DAMPING: f32 = 0.35;
+const EDGE_INWARD_ROLLING_BIAS: f32 = 0.55;
+const EDGE_START_COP_THRESHOLD: f32 = 0.45;
+const EDGE_START_BIAS_WEIGHT: f32 = 1.1;
+const ROLLING_FRICTION_ALPHA: f32 = 0.68;
+const ROLLING_FRICTION_MIN_MAGNITUDE: f32 = 0.05;
+
+#[derive(Debug, Clone, Copy)]
+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>>,
+    baseline_frame: Option<Vec<f32>>,
-    first_contact_cop_x: Option<f32>,
+    contact_active: bool,
-    first_contact_cop_y: Option<f32>,
+    contact_enter_counter: usize,
-    contact_initialized: bool,
+    contact_exit_counter: usize,
-    total_pressure_low_counter: usize,
+    anchor_cop_x: Option<f32>,
+    anchor_cop_y: Option<f32>,
+    last_cop_x: Option<f32>,
+    last_cop_y: Option<f32>,
+    edge_start_bias_x: f32,
+    edge_start_bias_y: 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,
+            baseline_frame: None,
-            first_contact_cop_x: None,
+            contact_active: false,
-            first_contact_cop_y: None,
+            contact_enter_counter: 0,
-            contact_initialized: false,
+            contact_exit_counter: 0,
-            total_pressure_low_counter: 0,
+            anchor_cop_x: None,
+            anchor_cop_y: None,
+            last_cop_x: None,
+            last_cop_y: None,
+            edge_start_bias_x: 0.0,
+            edge_start_bias_y: 0.0,
+            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> {
+    fn reset_tracking_state(&mut self) {
-        if self.first_frame.is_none() {
+        self.contact_active = false;
-            self.first_frame = Some(current_frame.to_vec());
+        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.edge_start_bias_x = 0.0;
+        self.edge_start_bias_y = 0.0;
+        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();
+        let baseline = self
-        current_frame
+            .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) {
+    fn pressure_metrics(frame: &[f32]) -> (f32, f32) {
-        self.first_contact_cop_x = None;
+        let total = frame.iter().sum::<f32>();
-        self.first_contact_cop_y = None;
+        let peak = frame.iter().copied().fold(0.0, f32::max);
-        self.contact_initialized = false;
+        (total, peak)
-        self.total_pressure_low_counter = 0;
     }
 
-    fn compute_pressure_direction(&mut self, frame: &[f32]) -> (f32, f32) {
+    fn is_contact_enter_frame(frame: &[f32]) -> bool {
-        let frame2d = Array2::from_shape_vec((SENSOR_ROWS, SENSOR_COLS), frame.to_vec()).unwrap();
+        let (total, peak) = Self::pressure_metrics(frame);
-        let total_pressure: f32 = frame2d.sum();
+        total >= CONTACT_ENTER_TOTAL_THRESHOLD && peak >= CONTACT_ENTER_PEAK_THRESHOLD
-        if total_pressure < TOTAL_PRESSURE_LOW_THRESHOLD as f32 {
+    }
-            self.total_pressure_low_counter += 1;
+
-        } else {
+    fn is_contact_exit_frame(frame: &[f32]) -> bool {
-            self.total_pressure_low_counter = 0;
+        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 {
+        let peak = frame.iter().copied().fold(0.0, f32::max);
-            self.reset_cop_state();
+        if peak <= 0.0 {
-            return (0.0, 0.0);
+            return None;
         }
 
-        if total_pressure == 0.0 {
+        let active_threshold = (peak * ACTIVE_CELL_PEAK_RATIO).max(ACTIVE_CELL_MIN_VALUE);
-            return (0.0, 0.0);
-        }
 
-        let mut sum_x = 0.0;
+        let mut active_total = 0.0;
-        let mut sum_y = 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 row in 0..SENSOR_ROWS {
-            for c in 0..SENSOR_COLS {
+            for col in 0..SENSOR_COLS {
-                let val = frame2d[(r, c)];
+                let index = row * SENSOR_COLS + col;
-                sum_x += val * c as f32;
+                let value = frame[index];
-                sum_y += val * r as f32;
+                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;
+        if active_cells < MIN_ACTIVE_CELLS || active_total <= 0.0 {
-        let cop_y = sum_y / total_pressure;
+            return None;
-
-        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);
         }
 
-        let dx = cop_x - self.first_contact_cop_x.unwrap();
+        let cop_x = weighted_col_sum / active_total;
-        let dy = cop_y - self.first_contact_cop_y.unwrap();
+        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 magnitude = (x * x + y * y).sqrt();
-        let mag = (x * x + y * y).sqrt();
+        if magnitude <= f32::EPSILON {
-        let mut angle = (y).atan2(x + epsilon).to_degrees();
+            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) {
+    fn contact_touches_edge(stats: &ContactStats) -> bool {
-        Self::compute_vector_angle(px, -py)
+        stats.min_row == 0
+            || stats.max_row == SENSOR_ROWS - 1
+            || stats.min_col == 0
+            || stats.max_col == SENSOR_COLS - 1
     }
 
-    pub fn get_pzt_angle(&mut self, adc_data: &[f32]) -> Result<f32, &'static str> {
+    fn damp_edge_asymmetry(
-        if adc_data.len() != 84 {
+        stats: &ContactStats,
+        kinematic_x: f32,
+        kinematic_y: f32,
+    ) -> (f32, f32) {
+        let mut asymmetry_x = stats.asymmetry_x * ASYMMETRY_WEIGHT;
+        let mut asymmetry_y = stats.asymmetry_y * ASYMMETRY_WEIGHT;
+
+        if stats.min_col == 0 && asymmetry_x < 0.0 {
+            asymmetry_x = -asymmetry_x * EDGE_INWARD_ROLLING_BIAS;
+        }
+        if stats.max_col == SENSOR_COLS - 1 && asymmetry_x > 0.0 {
+            asymmetry_x = -asymmetry_x * EDGE_INWARD_ROLLING_BIAS;
+        }
+        if stats.min_row == 0 && asymmetry_y < 0.0 {
+            asymmetry_y = -asymmetry_y * EDGE_INWARD_ROLLING_BIAS;
+        }
+        if stats.max_row == SENSOR_ROWS - 1 && asymmetry_y > 0.0 {
+            asymmetry_y = -asymmetry_y * EDGE_INWARD_ROLLING_BIAS;
+        }
+
+        if Self::contact_touches_edge(stats) {
+            let opposing_dot = asymmetry_x * kinematic_x + asymmetry_y * kinematic_y;
+            let kinematic_mag = (kinematic_x * kinematic_x + kinematic_y * kinematic_y).sqrt();
+            if opposing_dot < 0.0 && kinematic_mag >= ROLLING_FRICTION_MIN_MAGNITUDE {
+                asymmetry_x *= EDGE_ASYMMETRY_DAMPING;
+                asymmetry_y *= EDGE_ASYMMETRY_DAMPING;
+            }
+        }
+
+        (asymmetry_x, asymmetry_y)
+    }
+
+    fn edge_start_bias(stats: &ContactStats) -> (f32, f32) {
+        let center_x = (SENSOR_COLS - 1) as f32 * 0.5;
+        let center_y = (SENSOR_ROWS - 1) as f32 * 0.5;
+        let normalized_x = ((stats.cop_x - center_x) / center_x.max(1.0)).clamp(-1.0, 1.0);
+        let normalized_y = ((stats.cop_y - center_y) / center_y.max(1.0)).clamp(-1.0, 1.0);
+
+        let mut bias_x = 0.0;
+        let mut bias_y = 0.0;
+
+        if stats.min_col == 0 || stats.max_col == SENSOR_COLS - 1 {
+            bias_x = Self::edge_start_axis_bias(normalized_x);
+        }
+        if stats.min_row == 0 || stats.max_row == SENSOR_ROWS - 1 {
+            bias_y = Self::edge_start_axis_bias(normalized_y);
+        }
+
+        (bias_x, bias_y)
+    }
+
+    fn edge_start_axis_bias(normalized_axis: f32) -> f32 {
+        let distance = normalized_axis.abs();
+        if distance <= EDGE_START_COP_THRESHOLD {
+            return 0.0;
+        }
+
+        let strength = ((distance - EDGE_START_COP_THRESHOLD) / (1.0 - EDGE_START_COP_THRESHOLD))
+            .clamp(0.0, 1.0);
+        -normalized_axis.signum() * strength * EDGE_START_BIAS_WEIGHT
+    }
+
+    fn apply_rolling_friction(
+        previous_x: f32,
+        previous_y: f32,
+        current_x: f32,
+        current_y: f32,
+    ) -> (f32, f32) {
+        let previous_mag = (previous_x * previous_x + previous_y * previous_y).sqrt();
+        let current_mag = (current_x * current_x + current_y * current_y).sqrt();
+
+        if previous_mag < ROLLING_FRICTION_MIN_MAGNITUDE
+            || current_mag < ROLLING_FRICTION_MIN_MAGNITUDE
+        {
+            return (current_x, current_y);
+        }
+
+        let dot = previous_x * current_x + previous_y * current_y;
+        if dot >= 0.0 {
+            return (current_x, current_y);
+        }
+
+        let mixed_x = current_x * (1.0 - ROLLING_FRICTION_ALPHA)
+            + previous_x * ROLLING_FRICTION_ALPHA;
+        let mixed_y = current_y * (1.0 - ROLLING_FRICTION_ALPHA)
+            + previous_y * ROLLING_FRICTION_ALPHA;
+
+        if mixed_x * previous_x + mixed_y * previous_y >= 0.0 {
+            return (mixed_x, mixed_y);
+        }
+
+        let keep_mag = previous_mag.min(current_mag) * 0.5;
+        (
+            previous_x / previous_mag * keep_mag,
+            previous_y / previous_mag * keep_mag,
+        )
+    }
+
+    fn update_contact_state(&mut self, raw_frame: &[f32], frame: &[f32]) -> bool {
+        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
+    }
+
+    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 baseline_subtracted = self.subtract_baseline(adc_data);
-        let (dx, dy) = self.compute_pressure_direction(&baseline);
+        if !self.update_contact_state(adc_data, &baseline_subtracted) {
-        let (angle, _) = Self::compute_pzt_angle(dx, dy);
+            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);
+            let (edge_start_bias_x, edge_start_bias_y) = Self::edge_start_bias(&stats);
+            self.edge_start_bias_x = edge_start_bias_x;
+            self.edge_start_bias_y = edge_start_bias_y;
+
+            return Ok(self.stabilize_report(Self::weak_contact_analysis()));
+        };
+        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 kinematic_x = drift_x * DRIFT_WEIGHT + motion_x * MOTION_WEIGHT;
+        let kinematic_y = drift_y * DRIFT_WEIGHT + motion_y * MOTION_WEIGHT;
+        let edge_bias_x = self.edge_start_bias_x;
+        let edge_bias_y = self.edge_start_bias_y;
+        let (asymmetry_x, asymmetry_y) =
+            Self::damp_edge_asymmetry(&stats, kinematic_x + edge_bias_x, kinematic_y + edge_bias_y);
+
+        let combined_x = asymmetry_x + kinematic_x + edge_bias_x;
+        let combined_y = asymmetry_y + kinematic_y + edge_bias_y;
+        let (combined_x, combined_y) = Self::apply_rolling_friction(
+            self.smoothed_x,
+            self.smoothed_y,
+            combined_x,
+            combined_y,
+        );
+
+        self.smoothed_x += (combined_x - self.smoothed_x) * VECTOR_SMOOTHING_ALPHA;
+        self.smoothed_y += (combined_y - self.smoothed_y) * VECTOR_SMOOTHING_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.baseline_frame = None;
-        self.reset_cop_state();
+        self.reset_tracking_state();
+        self.reset_report_state();
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::{ContactStats, 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
+    }
+
+    fn stats_touching_bottom_edge() -> ContactStats {
+        ContactStats {
+            total: 1000.0,
+            peak: 300.0,
+            active_total: 900.0,
+            active_cells: 6,
+            min_row: SENSOR_ROWS - 2,
+            max_row: SENSOR_ROWS - 1,
+            min_col: 2,
+            max_col: 4,
+            cop_x: 3.0,
+            cop_y: 10.5,
+            asymmetry_x: 0.0,
+            asymmetry_y: 1.0,
+        }
+    }
+
+    #[test]
+    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);
+    }
+
+    #[test]
+    fn bottom_edge_outward_gradient_is_turned_inward() {
+        let stats = stats_touching_bottom_edge();
+        let (_asymmetry_x, asymmetry_y) = PztProcessor::damp_edge_asymmetry(&stats, 0.0, -0.2);
+
+        assert!(asymmetry_y < 0.0);
+        assert!(asymmetry_y > -1.1);
+    }
+
+    #[test]
+    fn bottom_edge_start_adds_fixed_upward_bias() {
+        let stats = stats_touching_bottom_edge();
+        let (_bias_x, bias_y) = PztProcessor::edge_start_bias(&stats);
+
+        assert!(bias_y < 0.0);
+    }
+
+    #[test]
+    fn rolling_friction_resists_one_frame_reversal() {
+        let (x, y) = PztProcessor::apply_rolling_friction(0.4, 0.0, -0.6, 0.0);
+
+        assert!(x > 0.0);
+        assert_eq!(y, 0.0);
     }
 }

src-tauri/src/serial_core/serial.rs

@@ -1,23 +1,22 @@
+#[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;
 #[cfg(feature = "devkit")]
 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;
@@ -33,6 +32,7 @@ pub enum PollMode<F> {
 struct PendingSubFrame<F> {
     frame: F,
     values: Vec<i32>,
+    spatial_force: Option<HudSpatialForce>,
 }
 
 pub trait SerialFrame: Clone + Send + 'static {
@@ -266,6 +266,7 @@ where
                     let display_values = build_display_values(
                         &mut chart_state,
                         pending.values.as_slice(),
+                        pending.spatial_force,
                     );
 
                     if let Some(packet) = pending
@@ -309,11 +310,21 @@ where
                     drop(record);
 
                     if let Some(vals) = decode_res {
+                        #[cfg(feature = "multi-dim")]
+                        let mut spatial_force = None;
+                        #[cfg(not(feature = "multi-dim"))]
+                        let 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) {
+                            if let Ok(analysis) = pzt_processor.get_pzt_analysis(&pzt_values) {
-                                // debug!("pzt angle: {:.2}", angle);
+                                if PztProcessor::should_report(&analysis) {
+                                    spatial_force = Some(HudSpatialForce {
+                                        angle_deg: analysis.angle_deg,
+                                        magnitude: analysis.magnitude,
+                                        confidence: analysis.confidence,
+                                    });
+                                }
                             }
                         }
                         #[cfg(feature = "devkit")]
@@ -326,6 +337,7 @@ where
                         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 +349,16 @@ 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);
     chart_state.record_summary(force as f32);
     chart_state.record_pressure_matrix(values);
+    chart_state.record_spatial_force(spatial_force);
     Some(vec![summary])
 }
 

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 +28,7 @@
   export let rightPanels: HudSignalPanel[] = [];
   export let summary: HudSummary;
   export let pressureMatrix: number[] | null = null;
+  export let spatialForce: HudSpatialForce | null = null;
   export let showConfigPanel = false;
   export let configPanelTitle = "";
   export let configPanelHint = "";
@@ -57,7 +60,6 @@
   export let replayProgress = 0;
   export let replayFileName = "";
   export let replayFrameInfo = "";
-  export let showPrecisionTestPanel = false;
   export let sessionStartedAt: number = Date.now();
 
   let stagePlaneEl: HTMLDivElement | undefined;
@@ -86,8 +88,6 @@
   $: replayToggleButtonText = replayIsPlaying ? replayPauseLabel : replayPlayLabel;
   $: replayProgressPercent = Math.round(Math.min(1, Math.max(0, replayProgress)) * 100);
   $: summaryCurveVisible = summary.points.length > 0 && summary.points.some((value) => Number.isFinite(value) && Math.abs(value) >= 0.0001);
-  $: splitMatrixTitle = locale === "zh-CN" ? "数字矩阵" : "Matrix";
-  $: splitMatrixHint = locale === "zh-CN" ? "实时压力数据 / 数字矩阵" : "Live pressure matrix";
   $: isModelStage = stageViewMode === "model3d";
 
   function toPxNumber(rawValue: string): number {
@@ -113,7 +113,7 @@
       return;
     }
 
-    panelZoneTopPx = showPrecisionTestPanel ? 24 : 16;
+    panelZoneTopPx = 16;
 
     const panelZoneBottomPx = panelZoneEl ? toPxNumber(getComputedStyle(panelZoneEl).bottom) : 0;
     const zoneHeight = Math.max(0, stagePlaneEl.clientHeight - panelZoneTopPx - panelZoneBottomPx);
@@ -187,43 +187,6 @@
             <ModelStage {locale} {modelUrl} />
           {/key}
         </div>
-      {:else if showPrecisionTestPanel}
-        <div class="split-game-wrap">
-          <section class="split-panel split-matrix-panel">
-            <header class="split-panel-head">
-              <p>{splitMatrixTitle}</p>
-              <span>{splitMatrixHint}</span>
-            </header>
-            <div class="split-panel-body">
-              {#key `${matrixRows}x${matrixCols}:${colorMapPreset}:split`}
-                <PressureMatrixViewer
-                  {summary}
-                  {pressureMatrix}
-                  {matrixRows}
-                  {matrixCols}
-                  {rangeMin}
-                  {rangeMax}
-                  {colorMapPreset}
-                  {matrixDisplayMode}
-                  {locale}
-                  showStatsPanel={true}
-                />
-              {/key}
-            </div>
-          </section>
-
-          <section class="split-panel split-breakout-panel">
-            <NeonBreakoutArena
-              {locale}
-              {pressureMatrix}
-              {matrixRows}
-              {matrixCols}
-              {rangeMin}
-              {rangeMax}
-              {colorMapPreset}
-            />
-          </section>
-        </div>
       {:else}
         <div class="canvas-wrap">
           {#key `${matrixRows}x${matrixCols}:${colorMapPreset}`}
@@ -243,7 +206,7 @@
         </div>
       {/if}
 
-      {#if showConfigPanel && !showPrecisionTestPanel && !isModelStage}
+      {#if showConfigPanel && !isModelStage}
         <div class="config-panel-wrap">
           <ConfigPanel
             bind:matrixRows
@@ -265,7 +228,7 @@
         </div>
       {/if}
 
-      {#if !showPrecisionTestPanel && !isModelStage}
+      {#if !isModelStage}
         <div class="panel-zone" bind:this={panelZoneEl}>
           <aside class="side-rail left-rail">
             <div class="rail-stack" bind:this={leftStackEl}>
@@ -314,6 +277,26 @@
                 </div>
               {/each}
 
+
+              {#if spatialForce}
+                <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="3D"
+                    panelTitle={locale === "zh-CN" ? "三维力" : "3D Force"}
+                    badgeLabel=""
+                    badgeTone="lime"
+                  />
+                </div>
+              {/if}
+
               {#if summaryCurveVisible && summarySide === "right"}
                 <div
                   class="panel-motion-shell"
@@ -337,7 +320,7 @@
         </div>
       {/if}
 
-      {#if replayHasData && !showPrecisionTestPanel && !isModelStage}
+      {#if replayHasData && !isModelStage}
         <aside class="replay-floating-panel" class:is-left={replaySide === "left"} class:is-right={replaySide === "right"}>
           <div class="replay-panel-head">
             <div class="replay-panel-title-group">
@@ -375,7 +358,7 @@
         </aside>
       {/if}
 
-      {#if !showPrecisionTestPanel && !isModelStage}
+      {#if !isModelStage}
         <div class="stage-bottom-overlay">
           <slot />
         </div>

src/lib/components/HudPanel.svelte

@@ -2,10 +2,8 @@
   import { createEventDispatcher } from "svelte";
   import type {
     ConnectionState,
-    HudConfigLink,
     HudNoticeTone,
     LocaleCode,
-    MatrixDisplayMode,
     StageViewMode,
     WindowControlAction
   } from "$lib/types/hud";
@@ -29,15 +27,8 @@
   export let serialPortValue = "";
   export let serialPortOptions: string[] = [];
   export let refreshPortsLabel = "";
-  export let configLinksLabel = "";
-  export let configLinks: HudConfigLink[] = [];
   export let matrixViewLabel = "";
-  export let matrixViewNumericLabel = "";
   export let matrixViewDotsLabel = "";
-  export let matrixDisplayMode: MatrixDisplayMode = "dots";
-  export let stageModeLabel = "";
-  export let stageModeWebglLabel = "";
-  export let stageModeModelLabel = "";
   export let stageViewMode: StageViewMode = "webgl";
   export let connectActionLabel = "";
   export let disconnectActionLabel = "";
@@ -59,7 +50,6 @@
   const dispatch = createEventDispatcher<{
     windowcontrol: WindowControlAction;
     localechange: LocaleCode;
-    configlink: string;
     matrixdisplaytoggle: boolean;
     stagemodechange: StageViewMode;
     portchange: string;
@@ -103,14 +93,6 @@
     dispatch("localechange", nextLocale);
   }
 
-  function emitConfigLink(linkId: string): void {
-    dispatch("configlink", linkId);
-  }
-
-  function emitMatrixDisplayToggle(): void {
-    dispatch("matrixdisplaytoggle", matrixDisplayMode !== "dots");
-  }
-
   function emitStageModeChange(nextMode: StageViewMode): void {
     dispatch("stagemodechange", nextMode);
   }
@@ -195,60 +177,6 @@
 
   <div class="control-bar">
     <div class="control-main-row">
-      <section class="config-links" aria-label={configLinksLabel}>
-        {#each configLinks as link (link.id)}
-          <button
-            type="button"
-            class="config-link tone-{link.tone ?? 'neutral'}"
-            class:is-active={Boolean(link.active)}
-            on:click={() => emitConfigLink(link.id)}
-          >
-            <span class="config-indicator" aria-hidden="true"></span>
-            <span class="config-label">{link.label}</span>
-          </button>
-        {/each}
-      </section>
-
-      <section class="matrix-switch-wrap" aria-label={matrixViewLabel}>
-        <span class="matrix-switch-label">{matrixViewLabel}</span>
-        <button
-          type="button"
-          class="matrix-switch-btn"
-          class:is-active={matrixDisplayMode === "dots"}
-          role="switch"
-          aria-checked={matrixDisplayMode === "dots"}
-          aria-label={matrixViewDotsLabel}
-          on:click={emitMatrixDisplayToggle}
-        >
-          <span class="matrix-switch-track" aria-hidden="true">
-            <span class="matrix-switch-thumb"></span>
-          </span>
-          <span class="matrix-switch-copy">{matrixDisplayMode === "dots" ? matrixViewDotsLabel : matrixViewNumericLabel}</span>
-        </button>
-      </section>
-
-      <section class="stage-mode-switch" aria-label={stageModeLabel}>
-        <span class="stage-mode-label">{stageModeLabel}</span>
-        <div class="stage-mode-options" role="group" aria-label={stageModeLabel}>
-          <button
-            type="button"
-            class="stage-mode-btn"
-            class:is-active={stageViewMode === "webgl"}
-            on:click={() => emitStageModeChange("webgl")}
-          >
-            {stageModeWebglLabel}
-          </button>
-          <button
-            type="button"
-            class="stage-mode-btn"
-            class:is-active={stageViewMode === "model3d"}
-            on:click={() => emitStageModeChange("model3d")}
-          >
-            {stageModeModelLabel}
-          </button>
-        </div>
-      </section>
-
       <section class="state-card" aria-label={connectionLabel}>
         <span class="state-dot" class:ok={connectionTone === "ok"} class:warn={connectionTone === "warn"}></span>
         <span class="state-label">{connectionLabel}</span>
@@ -517,149 +445,6 @@
     background: var(--panel-surface);
   }
 
-  .matrix-switch-wrap,
-  .stage-mode-switch {
-    display: inline-flex;
-    align-items: center;
-    gap: 0.4rem;
-    min-block-size: 2rem;
-    border: 1px solid var(--panel-line);
-    border-radius: 999px;
-    padding: 0.16rem 0.22rem 0.16rem 0.56rem;
-    background: var(--panel-surface);
-  }
-
-  .matrix-switch-label,
-  .stage-mode-label {
-    color: var(--panel-text-dim);
-    font-size: 0.66rem;
-    letter-spacing: 0.08em;
-    text-transform: uppercase;
-    line-height: 1;
-    white-space: nowrap;
-  }
-
-  .matrix-switch-btn {
-    display: inline-flex;
-    align-items: center;
-    gap: 0.42rem;
-    min-block-size: 1.62rem;
-    border: 1px solid rgb(var(--hud-border-rgb) / 0.26);
-    border-radius: 999px;
-    padding: 0.18rem 0.28rem 0.18rem 0.22rem;
-    background: rgb(var(--hud-surface-deep-rgb) / 0.84);
-    color: rgb(var(--hud-text-main-rgb) / 0.92);
-    cursor: pointer;
-    transition:
-      border-color 180ms ease,
-      box-shadow 180ms ease,
-      background-color 180ms ease,
-      color 180ms ease;
-  }
-
-  .matrix-switch-btn:hover {
-    border-color: rgb(var(--hud-cyan-rgb) / 0.4);
-  }
-
-  .matrix-switch-btn.is-active {
-    border-color: rgb(var(--hud-cyan-rgb) / 0.5);
-    background:
-      linear-gradient(180deg, rgb(var(--hud-surface-alt-rgb) / 0.94), rgb(var(--hud-surface-rgb) / 0.9)),
-      radial-gradient(circle at 50% 0, rgb(var(--hud-cyan-rgb) / 0.12), transparent 60%);
-    box-shadow:
-      inset 0 0 0 1px rgb(var(--hud-text-main-rgb) / 0.05),
-      0 0 12px rgb(var(--hud-cyan-rgb) / 0.12);
-  }
-
-  .matrix-switch-track {
-    position: relative;
-    display: inline-flex;
-    align-items: center;
-    inline-size: 2.2rem;
-    block-size: 1.2rem;
-    border-radius: 999px;
-    padding: 0.14rem;
-    background: rgb(var(--hud-surface-rgb) / 0.9);
-    box-shadow: inset 0 0 0 1px rgb(var(--hud-border-rgb) / 0.24);
-    transition:
-      background-color 180ms ease,
-      box-shadow 180ms ease;
-  }
-
-  .matrix-switch-btn.is-active .matrix-switch-track {
-    background: rgb(var(--hud-cyan-rgb) / 0.18);
-    box-shadow: inset 0 0 0 1px rgb(var(--hud-cyan-rgb) / 0.18);
-  }
-
-  .matrix-switch-thumb {
-    inline-size: 0.92rem;
-    block-size: 0.92rem;
-    border-radius: 50%;
-    background: rgb(var(--hud-text-main-rgb) / 0.96);
-    box-shadow:
-      0 1px 4px rgb(0 0 0 / 0.26),
-      0 0 10px rgb(var(--hud-text-main-rgb) / 0.12);
-    transform: translateX(0);
-    transition:
-      transform 180ms ease,
-      background-color 180ms ease,
-      box-shadow 180ms ease;
-  }
-
-  .matrix-switch-btn.is-active .matrix-switch-thumb {
-    transform: translateX(0.96rem);
-    background: rgb(var(--hud-cyan-rgb) / 0.96);
-    box-shadow:
-      0 1px 4px rgb(0 0 0 / 0.26),
-      0 0 12px rgb(var(--hud-cyan-rgb) / 0.22);
-  }
-
-  .matrix-switch-copy {
-    font-size: 0.74rem;
-    letter-spacing: 0.04em;
-    white-space: nowrap;
-    line-height: 1;
-  }
-
-  .stage-mode-options {
-    display: inline-flex;
-    align-items: center;
-    gap: 0.18rem;
-    padding: 0.16rem;
-    border: 1px solid rgb(var(--hud-border-rgb) / 0.24);
-    border-radius: 999px;
-    background: rgb(var(--hud-surface-deep-rgb) / 0.8);
-  }
-
-  .stage-mode-btn {
-    min-block-size: 1.38rem;
-    border: 1px solid transparent;
-    border-radius: 999px;
-    padding: 0.18rem 0.54rem;
-    background: transparent;
-    color: rgb(var(--hud-text-dim-rgb) / 0.88);
-    font: inherit;
-    font-size: 0.7rem;
-    letter-spacing: 0.04em;
-    cursor: pointer;
-    transition:
-      border-color 180ms ease,
-      background-color 180ms ease,
-      color 180ms ease,
-      box-shadow 180ms ease;
-  }
-
-  .stage-mode-btn:hover {
-    color: rgb(var(--hud-text-main-rgb) / 0.96);
-  }
-
-  .stage-mode-btn.is-active {
-    border-color: rgb(var(--hud-cyan-rgb) / 0.42);
-    background: rgb(var(--hud-cyan-rgb) / 0.14);
-    color: rgb(var(--hud-text-main-rgb) / 0.98);
-    box-shadow: 0 0 12px rgb(var(--hud-cyan-rgb) / 0.1);
-  }
-
   .state-dot {
     inline-size: 0.55rem;
     block-size: 0.55rem;
@@ -1123,93 +908,6 @@
     background: rgb(10 16 20 / 0.7);
   }
 
-  .config-links {
-    display: inline-flex;
-    align-items: center;
-    gap: 0.2rem;
-    min-block-size: 2rem;
-    border: 1px solid rgb(95 132 158 / 0.36);
-    border-radius: 999px;
-    padding: 0.17rem 0.2rem;
-    background: linear-gradient(180deg, rgb(9 15 19 / 0.9), rgb(4 8 12 / 0.86));
-    box-shadow: inset 0 0 0 1px rgb(140 184 210 / 0.06);
-  }
-
-  .config-link {
-    display: inline-flex;
-    align-items: center;
-    gap: 0.34rem;
-    border: 1px solid transparent;
-    border-radius: 999px;
-    padding: 0.26rem 0.64rem;
-    background: transparent;
-    color: rgb(164 188 208 / 0.9);
-    font-size: 0.81rem;
-    letter-spacing: 0.05em;
-    cursor: pointer;
-    transition:
-      color 180ms ease,
-      border-color 180ms ease,
-      background-color 180ms ease,
-      box-shadow 220ms ease;
-  }
-
-  .config-indicator {
-    inline-size: 0.34rem;
-    block-size: 0.34rem;
-    border-radius: 999px;
-    background: rgb(136 157 174 / 0.88);
-    box-shadow: 0 0 0 2px rgb(136 157 174 / 0.16);
-    transition:
-      background-color 180ms ease,
-      box-shadow 200ms ease;
-  }
-
-  .config-label {
-    line-height: 1;
-  }
-
-  .config-link:hover {
-    color: #d7edfb;
-    border-color: rgb(62 232 255 / 0.26);
-  }
-
-  .config-link.is-active {
-    color: #f1fdff;
-    border-color: rgb(106 150 180 / 0.56);
-    background: rgb(18 27 35 / 0.9);
-    box-shadow:
-      inset 0 0 0 1px rgb(167 218 252 / 0.08),
-      0 0 10px rgb(62 232 255 / 0.12);
-  }
-
-  .config-link.tone-cyan.is-active {
-    border-color: rgb(62 232 255 / 0.48);
-  }
-
-  .config-link.tone-lime.is-active {
-    border-color: rgb(133 255 68 / 0.52);
-  }
-
-  .config-link.tone-orange.is-active {
-    border-color: rgb(255 91 63 / 0.52);
-  }
-
-  .config-link.tone-cyan.is-active .config-indicator {
-    background: var(--hud-cyan);
-    box-shadow: 0 0 0 2px rgb(62 232 255 / 0.17);
-  }
-
-  .config-link.tone-lime.is-active .config-indicator {
-    background: var(--hud-lime);
-    box-shadow: 0 0 0 2px rgb(133 255 68 / 0.17);
-  }
-
-  .config-link.tone-orange.is-active .config-indicator {
-    background: var(--hud-orange);
-    box-shadow: 0 0 0 2px rgb(255 91 63 / 0.18);
-  }
-
   .locale-btn {
     border: 1px solid transparent;
     border-radius: 999px;
@@ -1236,21 +934,11 @@
     background: rgb(24 31 25 / 0.9);
   }
 
-  @media (max-width: 1080px) {
-    .config-links {
-      flex-wrap: wrap;
-    }
-  }
-
   @media (max-width: 820px) {
     .control-main-row {
       gap: 0.44rem;
     }
 
-    .config-links {
-      flex-wrap: wrap;
-    }
-
     .serial-select {
       padding-inline-start: 0.45rem;
     }

src/lib/components/ModelStage.svelte

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

src/lib/components/SpatialForcePanel.svelte

@@ -0,0 +1,478 @@
+<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 requireMagnitude = true;
+
+  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: "三维力",
+          waiting: "等待数据",
+          angle: "ANGLE",
+          heading: "方向角",
+          strength: "强度",
+          confidence: "置信度"
+        }
+      : {
+          title: "3D Force",
+          waiting: "Waiting",
+          angle: "ANGLE",
+          heading: "Heading",
+          strength: "Strength",
+          confidence: "Confidence"
+        };
+  $: resolvedTitle = panelTitle || i18n.title;
+  $: resolvedBadgeLabel = badgeLabel || i18n.angle;
+
+  $: hasData =
+    spatialForce !== null &&
+    Number.isFinite(spatialForce.angleDeg) &&
+    (!requireMagnitude || Number.isFinite(spatialForce.magnitude));
+  $: angleDeg = hasData ? normalizeAngle(spatialForce?.angleDeg ?? 0) : 0;
+  $: updateVisualAngle(angleDeg, hasData);
+</script>
+
+{#if hasData}
+  <article
+    class="signal-panel spatial-panel side-{side}"
+    aria-label={resolvedTitle}
+    style="--panel-index: {panelIndex};"
+  >
+    <header class="panel-head">
+      <div class="head-text">
+        <p class="panel-code">{panelCode}</p>
+        <p class="panel-title">{resolvedTitle}</p>
+      </div>
+
+      {#if resolvedBadgeLabel}
+        <div class="icon-layer" aria-hidden="true">
+          <span class={`icon-chip tone-${badgeTone}`}>{resolvedBadgeLabel}</span>
+        </div>
+      {/if}
+    </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>
+          <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>
+          <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>
+      </div>
+    </div>
+  </article>
+{/if}
+<style>
+  .signal-panel {
+    --offset-x: 12%;
+    --enter-ms: 1800ms;
+    --fade-ms: 1000ms;
+    overflow: hidden;
+    inline-size: var(--rail-width, min(100%, clamp(34rem, 44vw, 44rem)));
+    max-inline-size: 100%;
+    box-sizing: border-box;
+    flex: 0 0 var(--rail-width, auto);
+    justify-self: start;
+    display: grid;
+    grid-template-rows: auto 1fr auto;
+    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;
+  }
+
+  .spatial-panel::after {
+    content: "";
+    display: block;
+    block-size: 1rem;
+  }
+
+  .spatial-panel {
+    margin-block-end: clamp(0.8rem, 1.8vh, 1.4rem);
+  }
+
+  .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, 1fr);
+    gap: 0.72rem;
+    block-size: clamp(12rem, 15.5vw, 15rem);
+    min-block-size: 5rem;
+  }
+
+  .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));
+  }
+
+  @media (max-width: 1180px) {
+    .signal-panel {
+      inline-size: var(--rail-width, min(100%, clamp(28rem, 40vw, 38rem)));
+    }
+
+    .panel-body {
+      block-size: clamp(10rem, 13vw, 12rem);
+    }
+  }
+
+  @media (max-height: 900px) {
+    .signal-panel {
+      inline-size: var(--rail-width, min(100%, clamp(28rem, 38vw, 36rem)));
+      padding: 0.7rem 0.76rem 0.8rem;
+    }
+
+    .panel-body {
+      block-size: clamp(9.8rem, 12vw, 11.8rem);
+    }
+  }
+
+  @media (max-height: 760px) {
+    .signal-panel {
+      inline-size: var(--rail-width, min(100%, clamp(24rem, 34vw, 30rem)));
+      padding: 0.62rem 0.68rem 0.72rem;
+      gap: 0.48rem;
+    }
+
+    .panel-body {
+      block-size: clamp(8rem, 9.5vw, 9.8rem);
+    }
+  }
+
+  @media (max-height: 680px) {
+    .signal-panel {
+      inline-size: var(--rail-width, min(100%, clamp(20rem, 28vw, 26rem)));
+      padding: 0.52rem 0.58rem 0.6rem;
+      gap: 0.36rem;
+    }
+
+    .panel-body {
+      block-size: clamp(6.5rem, 8vw, 7.5rem);
+    }
+  }
+
+  @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>

src/lib/types/hud.ts

@@ -14,8 +14,6 @@ export type MatrixDisplayMode = "numeric" | "dots";
 
 export type SignalPanelSide = "left" | "right";
 
-export type HudConfigTone = "neutral" | "cyan" | "lime" | "orange";
-
 export interface HudSignalSeries {
   id: string;
   tone: SignalTone;
@@ -41,11 +39,18 @@ 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 {
@@ -57,13 +62,6 @@ export interface HudSummary {
   max: number | null;
 }
 
-export interface HudConfigLink {
-  id: string;
-  label: string;
-  tone?: HudConfigTone;
-  active?: boolean;
-}
-
 export interface HudColorMapOption {
   id: PressureColorMapPreset;
   label: string;
@@ -100,7 +98,6 @@ export interface HudCopy {
   deviceLabel: string;
   sampleRateLabel: string;
   channelsLabel: string;
-  configLinksLabel: string;
   refreshPortsLabel: string;
   connectActionLabel: string;
   disconnectActionLabel: string;
@@ -162,6 +159,7 @@ export interface SerialRecordStateResult {
 export interface SerialImportFrameResult {
   data: number[];
   dtsMs: number;
+  spatialForce: HudSpatialForce | null;
 }
 
 export interface SerialImportResult {

src/routes/+page.svelte

@@ -19,15 +19,14 @@
     FileExplorerRoot,
     HudColorMapOption,
     HudCopy,
-    HudConfigLink,
     HudNoticeTone,
     HudPacket,
+    HudSpatialForce,
     PressureColorMapPreset,
     HudSignalPanel,
     HudSignalSeries,
     HudSummary,
     LocaleCode,
-    MatrixDisplayMode,
     SerialConnectResult,
     SerialExportResult,
     SerialRecordStateResult,
@@ -43,6 +42,28 @@
   interface ReplayFrame {
     values: number[];
     dtsMs: number;
+    spatialForce?: HudSpatialForce | null;
+  }
+
+  interface DevKitPztAngleEvent {
+    seq: number;
+    timestampMs: number;
+    dtsMs: number;
+    angle: number;
+    magnitude: number;
+    state: number;
+    copX: number;
+    copY: number;
+    baseX: number;
+    baseY: number;
+    totalPress: number;
+    threshold: number;
+  }
+
+  interface DevKitReplayFramePushResult {
+    seq: number;
+    timestampMs: number;
+    dtsMs: number;
   }
 
   const copyByLocale: Record<LocaleCode, HudCopy> = {
@@ -61,7 +82,7 @@
       rangeMaxLabel: "最大值",
       colorMapLabel: "映射颜色",
       matrixViewLabel: "矩阵模式",
-      matrixViewNumericLabel: "数字矩阵",
+      matrixViewNumericLabel: "数字模式",
       matrixViewDotsLabel: "点矩阵",
       stageModeLabel: "渲染模式",
       stageModeWebglLabel: "WebGL",
@@ -76,7 +97,6 @@
       deviceLabel: "设备",
       sampleRateLabel: "采样率",
       channelsLabel: "通道",
-      configLinksLabel: "配置链接",
       refreshPortsLabel: "刷新",
       connectActionLabel: "连接",
       disconnectActionLabel: "断开",
@@ -138,7 +158,6 @@
       deviceLabel: "Device",
       sampleRateLabel: "Sample Rate",
       channelsLabel: "Channels",
-      configLinksLabel: "Config Links",
       refreshPortsLabel: "Refresh",
       connectActionLabel: "Connect",
       disconnectActionLabel: "Disconnect",
@@ -221,19 +240,17 @@
   let sampleRateValue = "100Hz";
   let channelsValue = "84";
   let isWindowMaximized = false;
-  let activeConfigLinkId = "stream-on";
-  let isConfigPanelOpen = false;
-  let isPrecisionTestOpen = false;
   let hasSignalData = false;
   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;
   let rangeMax = DEFAULT_PRESSURE_RANGE_MAX;
   let colorMapPreset: PressureColorMapPreset = "emerald";
-  let matrixDisplayMode: MatrixDisplayMode = "dots";
   let stageViewMode: StageViewMode = "webgl";
   let replayFrames: ReplayFrame[] = [];
   let replayCurrentIndex = 0;
@@ -243,6 +260,8 @@
   let replayProgress = 0;
   let replayFileName = "";
   let replayTimerId: number | null = null;
+  let replayPendingDevkitSeq: number | null = null;
+  let replayDevkitSeqCounter = 0;
   let fileExplorerOpen = false;
   let fileExplorerMode: FileExplorerMode = "open";
   let fileExplorerBusy = false;
@@ -268,17 +287,10 @@
     rowsKept: number;
   } | null = null;
   let devkitStatusTimer: number | null = null;
+  let devkitSpatialForceClearTimer: number | null = null;
   let sessionStartedAt: number = Date.now();
 
   $: uiCopy = copyByLocale[locale];
-  $: configLinks = buildConfigLinks(
-    locale,
-    activeConfigLinkId,
-    isConfigPanelOpen,
-    isPrecisionTestOpen,
-    devkitEnabled,
-    isDevKitConfigOpen
-  );
   $: leftSignalPanels = signalPanels.filter((panel) => panel.side === "left");
   $: rightSignalPanels = signalPanels.filter((panel) => panel.side === "right");
   $: rangeTicks = buildRangeTicks(rangeMin, rangeMax);
@@ -295,6 +307,31 @@
     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));
   }
@@ -647,7 +684,8 @@
         });
         frames = result.frames.map((frame) => ({
           values: frame.data,
-          dtsMs: frame.dtsMs
+          dtsMs: frame.dtsMs,
+          spatialForce: frame.spatialForce
         }));
         importedFrameCount = result.frameCount;
         importedChannelCount = result.channelCount;
@@ -677,7 +715,8 @@
 
       const frames = result.frames.map((frame) => ({
         values: frame.data,
-        dtsMs: frame.dtsMs
+        dtsMs: frame.dtsMs,
+        spatialForce: frame.spatialForce
       }));
 
       applyImportedFrames(result.fileName, frames, result.frameCount, result.channelCount);
@@ -698,6 +737,43 @@
     replayTimerId = null;
   }
 
+  function buildReplayDevkitSeq(frameIndex: number): number {
+    replayDevkitSeqCounter = (replayDevkitSeqCounter + 1) % 1000;
+    return Date.now() * 1000 + replayDevkitSeqCounter + frameIndex;
+  }
+
+  function canPushReplayFrameToDevkit(frame: ReplayFrame): boolean {
+    return (
+      isTauriRuntime() &&
+      devkitEnabled &&
+      devkitRunning &&
+      frame.values.length === 84
+    );
+  }
+
+  function pushReplayFrameToDevkit(frame: ReplayFrame, frameIndex: number): void {
+    if (!canPushReplayFrameToDevkit(frame)) {
+      replayPendingDevkitSeq = null;
+      clearDevkitSpatialForce();
+      return;
+    }
+
+    const seq = buildReplayDevkitSeq(frameIndex);
+    replayPendingDevkitSeq = seq;
+    clearDevkitSpatialForce();
+
+    void invoke<DevKitReplayFramePushResult>("devkit_push_replay_frame", {
+      values: frame.values.map((value) => Math.max(0, Math.round(Number(value) || 0))),
+      dtsMs: clamp(Math.round(frame.dtsMs), 0, 4_294_967_295),
+      seq
+    }).catch((error) => {
+      if (replayPendingDevkitSeq === seq) {
+        replayPendingDevkitSeq = null;
+      }
+      console.error("Failed to push replay frame to DevKit:", error);
+    });
+  }
+
   function frameValuesToMatrix(values: number[]): number[] {
     const totalCells = Math.max(matrixRows * matrixCols, 1);
     const matrix = new Array<number>(totalCells).fill(0);
@@ -717,6 +793,9 @@
 
   function resetReplayVisualState(): void {
     pressureMatrix = buildZeroMatrix();
+    spatialForce = null;
+    replayPendingDevkitSeq = null;
+    clearDevkitSpatialForce();
     signalPanels = buildInactivePanels();
     summary = buildEmptySummary();
     hasSignalData = false;
@@ -751,7 +830,10 @@
     replayCurrentIndex = safeIndex;
     replayHasDisplayedFrame = true;
     replayProgress = replayFrames.length > 1 ? safeIndex / (replayFrames.length - 1) : 1;
-    pressureMatrix = frameValuesToMatrix(replayFrames[safeIndex].values);
+    const frame = replayFrames[safeIndex];
+    pressureMatrix = frameValuesToMatrix(frame.values);
+    spatialForce = frame.spatialForce ?? null;
+    pushReplayFrameToDevkit(frame, safeIndex);
     signalPanels = buildInactivePanels();
     summary = buildReplaySummaryAt(safeIndex);
     hasSignalData = true;
@@ -1006,7 +1088,11 @@
       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;
   }
 
   function clearHudPanels(): void {
@@ -1014,17 +1100,19 @@
     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 () => {
@@ -1038,69 +1126,6 @@
     });
   }
 
-  function buildConfigLinks(
-    currentLocale: LocaleCode,
-    activeId: string,
-    isSettingsOpen: boolean,
-    isPrecisionOpen: boolean,
-    isDevKitEnabled: boolean,
-    isDevKitOpen: boolean
-  ): HudConfigLink[] {
-    const labels =
-      currentLocale === "zh-CN"
-        ? {
-            streamOn: "打开",
-            streamOff: "关闭",
-            precisionTest: "游戏",
-            settings: "参数"
-          }
-        : {
-            streamOn: "Open",
-            streamOff: "Close",
-            precisionTest: "Game",
-            settings: "Setup"
-          };
-    const devkitLabel = currentLocale === "zh-CN" ? "开发工具" : "DevKit";
-
-    const links: HudConfigLink[] = [
-      {
-        id: "stream-on",
-        label: labels.streamOn,
-        tone: "lime",
-        active: activeId === "stream-on"
-      },
-      {
-        id: "stream-off",
-        label: labels.streamOff,
-        tone: "orange",
-        active: activeId === "stream-off"
-      },
-      {
-        id: "precision-test",
-        label: labels.precisionTest,
-        tone: "lime",
-        active: isPrecisionOpen
-      },
-      {
-        id: "settings",
-        label: labels.settings,
-        tone: "neutral",
-        active: isSettingsOpen
-      }
-    ];
-
-    if (isDevKitEnabled) {
-      links.push({
-        id: "devkit",
-        label: devkitLabel,
-        tone: "cyan",
-        active: isDevKitOpen
-      });
-    }
-
-    return links;
-  }
-
   async function ensureDefaultWindowSize(): Promise<void> {
     if (!isTauriRuntime()) {
       return;
@@ -1650,37 +1675,6 @@
     resetReplayVisualState();
   }
 
-  function handleConfigLink(event: CustomEvent<string>): void {
-    if (event.detail === "precision-test") {
-      stageViewMode = "webgl";
-      isPrecisionTestOpen = !isPrecisionTestOpen;
-      isConfigPanelOpen = false;
-      isDevKitConfigOpen = false;
-      return;
-    }
-
-    if (event.detail === "settings") {
-      stageViewMode = "webgl";
-      isPrecisionTestOpen = false;
-      isConfigPanelOpen = !isConfigPanelOpen;
-      isDevKitConfigOpen = false;
-      return;
-    }
-
-    if (event.detail === "devkit") {
-      isPrecisionTestOpen = false;
-      isConfigPanelOpen = false;
-      isDevKitConfigOpen = !isDevKitConfigOpen;
-      return;
-    }
-
-    isPrecisionTestOpen = false;
-    isConfigPanelOpen = false;
-    isDevKitConfigOpen = false;
-    activeConfigLinkId = event.detail;
-    console.info("[hud] config link clicked:", event.detail);
-  }
-
   async function handleWindowControl(event: CustomEvent<WindowControlAction>): Promise<void> {
     if (!isTauriRuntime()) {
       return;
@@ -1749,16 +1743,8 @@
     }
   }
 
-  function handleMatrixDisplayToggle(event: CustomEvent<boolean>): void {
-    matrixDisplayMode = event.detail ? "dots" : "numeric";
-  }
-
   function handleStageModeChange(event: CustomEvent<StageViewMode>): void {
     stageViewMode = event.detail;
-    if (stageViewMode === "model3d") {
-      isPrecisionTestOpen = false;
-      isConfigPanelOpen = false;
-    }
   }
 
   onMount(() => {
@@ -1788,12 +1774,29 @@
         .catch((error) => {
           console.error("Failed to listen for hud_stream:", error);
         });
-      void listen<{ seq: number; timestampMs: number; dtsMs: number; angle: number }>(
+      void listen<DevKitPztAngleEvent>("devkit_pzt_angle", (event) => {
-        "devkit_pzt_angle",
+        if (replayHasData) {
-        (event) => {
+          if (replayPendingDevkitSeq == null || event.payload.seq !== replayPendingDevkitSeq) {
-          console.log("[devkit_pzt_angle]", event.payload);
+            return;
+          }
+          replayPendingDevkitSeq = null;
         }
-      )
+
+        const angleDeg = Number(event.payload.angle);
+        const magnitude = Number(event.payload.magnitude);
+        const isReportable = event.payload.state > 0 && Number.isFinite(magnitude) && magnitude > 0;
+        if (!Number.isFinite(angleDeg) || !isReportable) {
+          clearDevkitSpatialForce();
+          return;
+        }
+
+        devkitSpatialForce = {
+          angleDeg,
+          magnitude,
+          confidence: 0
+        };
+        scheduleDevkitSpatialForceClear();
+      })
         .then((unlisten) => {
           if (disposed) {
             unlisten();
@@ -1812,6 +1815,7 @@
     return () => {
       disposed = true;
       pauseReplayPlayback();
+      clearDevkitSpatialForce();
       stopMockFeed?.();
       unlistenHudStream?.();
       unlistenDevkitPztAngle?.();
@@ -1850,15 +1854,9 @@
       sampleRateValue={sampleRateValue}
       channelsLabel={uiCopy.channelsLabel}
       channelsValue={channelsValue}
-      configLinksLabel={uiCopy.configLinksLabel}
       refreshPortsLabel={uiCopy.refreshPortsLabel}
       matrixViewLabel={uiCopy.matrixViewLabel}
-      matrixViewNumericLabel={uiCopy.matrixViewNumericLabel}
       matrixViewDotsLabel={uiCopy.matrixViewDotsLabel}
-      {matrixDisplayMode}
-      stageModeLabel={uiCopy.stageModeLabel}
-      stageModeWebglLabel={uiCopy.stageModeWebglLabel}
-      stageModeModelLabel={uiCopy.stageModeModelLabel}
       {stageViewMode}
       connectActionLabel={uiCopy.connectActionLabel}
       disconnectActionLabel={uiCopy.disconnectActionLabel}
@@ -1871,7 +1869,6 @@
       noticeCancelLabel={locale === "zh-CN" ? "取消" : "Cancel"}
       noticeShowActions={updateNoticeVisible}
       noticeActionBusy={updateInstallBusy}
-      {configLinks}
       {isRefreshingPorts}
       {isExporting}
       isConnectDisabled={!serialPortValue || connectionState === "connecting"}
@@ -1880,8 +1877,6 @@
       on:windowcontrol={handleWindowControl}
       on:localechange={handleLocaleChange}
       on:portchange={handlePortChange}
-      on:configlink={handleConfigLink}
-      on:matrixdisplaytoggle={handleMatrixDisplayToggle}
       on:stagemodechange={handleStageModeChange}
       on:serialrefresh={handleSerialRefresh}
       on:serialconnect={handleSerialConnect}
@@ -1902,7 +1897,6 @@
       bind:rangeMin
       bind:rangeMax
       bind:colorMapPreset
-      bind:matrixDisplayMode
       {stageViewMode}
       configPanelTitle={uiCopy.configPanelTitle}
       configPanelHint={uiCopy.configPanelHint}
@@ -1930,17 +1924,16 @@
       leftPanels={leftSignalPanels}
       rightPanels={rightSignalPanels}
       {pressureMatrix}
-      showConfigPanel={isConfigPanelOpen}
+      {spatialForce}
-      showPrecisionTestPanel={isPrecisionTestOpen}
+      showConfigPanel={false}
       {summary}
       on:replaytoggle={handleReplayToggle}
       on:replaystop={handleReplayStop}
       on:replayseek={handleReplaySeek}
       on:replayspeed={handleReplaySpeed}
       on:replayclose={handleReplayClose}
-      on:configclose={() => (isConfigPanelOpen = false)}
     >
-      {#if !isPrecisionTestOpen && stageViewMode === "webgl"}
+      {#if stageViewMode === "webgl"}
         <section class="range-scale" aria-label="Signal Range">
           <p class="range-label">{locale === "zh-CN" ? "范围" : "Range"}</p>
           <div class="range-track">