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base: yanjie:91307f1985381a32d1487494dcbc1b002d78ec1c
Branches Tags
yanjie:main yanjie:sample-delivery yanjie:customer-demo yanjie:silicone yanjie:android-main yanjie:sdk-dev yanjie:pre-module-dev yanjie:display yanjie:cli yanjie:dev
yanjie:0528-5 yanjie:0528-1 yanjie:0528-6 yanjie:0521-4 yanjie:0.4.0 yanjie:0.3.1 yanjie:0.3.0 yanjie:0.2.0 yanjie:0.1.0
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compare: yanjie:customer-demo
Branches Tags
yanjie:main yanjie:sample-delivery yanjie:customer-demo yanjie:silicone yanjie:android-main yanjie:sdk-dev yanjie:pre-module-dev yanjie:display yanjie:cli yanjie:dev
yanjie:0528-5 yanjie:0528-1 yanjie:0528-6 yanjie:0521-4 yanjie:0.4.0 yanjie:0.3.1 yanjie:0.3.0 yanjie:0.2.0 yanjie:0.1.0

4 Commits
91307f1985 ... customer-d

Author SHA1 Message Date
lenn
79faa67dd8 update serial and spatial force components 2026-06-02 16:24:15 +08:00
lenn
78c4445b93 update devkit server and model files 2026-06-02 09:43:05 +08:00
lenn
0812142359 Fix HUD window controls 2026-05-26 14:33:51 +08:00
Ubuntu
39840f469f feat: customer demo - remove breakout game, numeric matrix, 3D module switcher 
- 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)
 2026-05-25 15:17:48 +08:00
53 changed files with 39691 additions and 6452 deletions
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@@ -1,8 +1,8 @@
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devkit/build/je-skin-devkit-server/PKG-00.toc
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@@ -14,40 +14,41 @@ Types of import:
IMPORTANT: Do NOT post this list to the issue-tracker. Use it as a basis for
tracking down the missing module yourself. Thanks!
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missing module named grp - imported by shutil (delayed, optional), tarfile (optional), pathlib (optional), subprocess (delayed, conditional, optional)
missing module named 'collections.abc' - imported by _colorize (top-level), typing (top-level), traceback (top-level), logging (top-level), selectors (top-level), http.client (top-level), importlib.resources.readers (top-level), inspect (top-level), tracemalloc (top-level), multiprocessing.managers (top-level), typing_extensions (top-level), asyncio.base_events (top-level), asyncio.coroutines (top-level), grpc.aio._metadata (top-level), google.protobuf.internal.containers (top-level), google.protobuf.internal.well_known_types (top-level), numpy._typing._array_like (top-level), numpy._typing._nested_sequence (conditional), numpy._typing._shape (top-level), numpy._typing._dtype_like (top-level), numpy.lib._function_base_impl (top-level), _pyrepl.types (top-level), numpy.lib._npyio_impl (top-level), numpy.random._common (top-level), numpy.random._generator (top-level), numpy.random.bit_generator (top-level), numpy.random.mtrand (top-level), numpy.polynomial._polybase (top-level), xml.etree.ElementTree (top-level)
missing module named 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)
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missing module named resource - imported by posix (top-level)
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missing module named win32pdh - imported by numpy.testing._private.utils (delayed, conditional)
missing module named _typeshed - imported by numpy.random.bit_generator (top-level)
missing module named numpy.random.RandomState - imported by numpy.random (top-level), numpy.random._generator (top-level)
missing module named pyodide_js - imported by threadpoolctl (delayed, optional)
missing module named 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)
@@ -84,7 +85,7 @@ missing module named numpy._core.sinh - imported by numpy._core (conditional), n
missing module named numpy._core.single - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.signedinteger - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.signbit - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.sign - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.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)

3009
devkit/build/je-skin-devkit-server/xref-je-skin-devkit-server.html
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devkit/dist/je-skin-devkit-server.exe vendored
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devkit/je-skin-devkit-server.exe
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4
devkit/je-skin-devkit-server.spec
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@@ -5,8 +5,8 @@ a = Analysis(
['sensor_server.py'],
pathex=[],
binaries=[],
datas=[],
hiddenimports=[],
datas=[('sensor_stream_pb2*.py', '.')],
hiddenimports=['grpc', 'openpyxl'],
hookspath=[],
hooksconfig={},
runtime_hooks=[],

896
devkit/sensor_server.py
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20
devkit/sensor_stream_pb2.py
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@@ -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\"\xd1\x01\n\x10PztAngleResponse\x12\x0b\n\x03seq\x18\x01 \x01(\x04\x12\x14\n\x0ctimestamp_ms\x18\x02 \x01(\x04\x12\r\n\x05\x61ngle\x18\x03 \x01(\x02\x12\x0e\n\x06\x64ts_ms\x18\x04 \x01(\r\x12\n\n\x02ok\x18\x05 \x01(\x08\x12\x0f\n\x07message\x18\x06 \x01(\t\x12\x11\n\tmagnitude\x18\x07 \x01(\x02\x12\r\n\x05state\x18\x08 \x01(\r\x12\r\n\x05\x63op_x\x18\t \x01(\x02\x12\r\n\x05\x63op_y\x18\n \x01(\x02\x12\x0e\n\x06\x62\x61se_x\x18\x0b \x01(\x02\x12\x0e\n\x06\x62\x61se_y\x18\x0c \x01(\x02\"8\n\x0eProcessRequest\x12\x10\n\x08\x63sv_path\x18\x01 \x01(\t\x12\x14\n\x0csave_as_xlsx\x18\x02 \x01(\x08\"\xa6\x01\n\x0fProcessResponse\x12\n\n\x02ok\x18\x01 \x01(\x08\x12\x13\n\x0boutput_path\x18\x02 \x01(\t\x12\x13\n\x0bgroups_used\x18\x03 \x01(\r\x12\x12\n\nmean_value\x18\x04 \x01(\x01\x12\x11\n\tthreshold\x18\x05 \x01(\x01\x12\x12\n\nrows_total\x18\x06 \x01(\r\x12\x11\n\trows_kept\x18\x07 \x01(\r\x12\x0f\n\x07message\x18\x08 \x01(\t2W\n\nSensorPush\x12I\n\x06Upload\x12\x1a.sensor_stream.SensorFrame\x1a\x1f.sensor_stream.PztAngleResponse(\x01\x30\x01\x32_\n\x0f\x45xportProcessor\x12L\n\x0bProcessFile\x12\x1d.sensor_stream.ProcessRequest\x1a\x1e.sensor_stream.ProcessResponseb\x06proto3')
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)
@@ -34,13 +34,13 @@ if not _descriptor._USE_C_DESCRIPTORS:
_globals['_SENSORFRAME']._serialized_start=39
_globals['_SENSORFRAME']._serialized_end=172
_globals['_PZTANGLERESPONSE']._serialized_start=175
_globals['_PZTANGLERESPONSE']._serialized_end=384
_globals['_PROCESSREQUEST']._serialized_start=386
_globals['_PROCESSREQUEST']._serialized_end=442
_globals['_PROCESSRESPONSE']._serialized_start=445
_globals['_PROCESSRESPONSE']._serialized_end=611
_globals['_SENSORPUSH']._serialized_start=613
_globals['_SENSORPUSH']._serialized_end=700
_globals['_EXPORTPROCESSOR']._serialized_start=702
_globals['_EXPORTPROCESSOR']._serialized_end=797
_globals['_PZTANGLERESPONSE']._serialized_end=424
_globals['_PROCESSREQUEST']._serialized_start=426
_globals['_PROCESSREQUEST']._serialized_end=482
_globals['_PROCESSRESPONSE']._serialized_start=485
_globals['_PROCESSRESPONSE']._serialized_end=651
_globals['_SENSORPUSH']._serialized_start=653
_globals['_SENSORPUSH']._serialized_end=740
_globals['_EXPORTPROCESSOR']._serialized_start=742
_globals['_EXPORTPROCESSOR']._serialized_end=837
# @@protoc_insertion_point(module_scope)

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devkit/test_pzt.py
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@@ -1,127 +0,0 @@
"""
独立测试脚本：读取84个原始ADC数据，传入CoP算法计算角度，终端打印结果。
用法:
python test_pzt.py # 从 stdin 逐行读取（每行84个逗号分隔数值）
python test_pzt.py data.csv # 从 CSV 文件逐行读取
python test_pzt.py --random # 生成随机测试数据（调试用）
"""
import sys
import csv
import numpy as np
# ── 从 sensor_server.py 导入算法 ──
sys.path.insert(0, ".")
from sensor_server import (
get_pzt_angle,
reset_baseline,
subtract_baseline,
compute_pressure_direction,
compute_PZT_angle,
)
def print_result(data_label: str, pzt_angle: float, magnitude: float, state: int, cop_x: float, cop_y: float, base_x: float, base_y: float):
dx = cop_x - base_x
dy = base_y - cop_y
print(
f"devkit: angle={pzt_angle:.2f}, magnitude={magnitude:.4f}, state={state}, "
f"cop_x={cop_x:.4f}, cop_y={cop_y:.4f}, dx={dx:.4f}, dy={dy:.4f}"
)
def process_values(values: list[int | float]):
"""处理一帧84个值并打印结果"""
if len(values) != 84:
print(f"[ERROR] 期望84个值，实际收到 {len(values)} 个", file=sys.stderr)
return
try:
pzt_angle, magnitude, state, cop_x, cop_y, base_x, base_y = get_pzt_angle(values)
print_result("", pzt_angle, magnitude, state, cop_x, cop_y, base_x, base_y)
except Exception as e:
print(f"[ERROR] 计算失败: {e}", file=sys.stderr)
def run_random_test():
"""生成随机数据测试算法"""
reset_baseline()
print("[TEST] 使用随机数据测试 CoP 算法")
print("[TEST] 先用全零帧建立基线...")
process_values([0] * 84)
print("[TEST] 模拟右侧偏移按压...")
# 模拟：row 5-7, col 4-6 区域有压力
data = [0.0] * 84
for r in range(5, 8):
for c in range(4, 7):
idx = r * 7 + c
data[idx] = 100.0 + (c - 4) * 50 # 右侧更强
process_values(data)
print("[TEST] 模拟下方偏移按压...")
data2 = [0.0] * 84
for r in range(8, 11):
for c in range(2, 5):
idx = r * 7 + c
data2[idx] = 150.0 + (r - 8) * 30
process_values(data2)
print("[TEST] 完成")
def run_csv_mode(filepath: str):
"""从 CSV 文件逐行读取并处理"""
reset_baseline()
print(f"[CSV] 读取文件: {filepath}")
with open(filepath, "r", encoding="utf-8-sig", newline="") as f:
reader = csv.reader(f)
for i, row in enumerate(reader):
if not row:
continue
# 跳过 header
if row[0].strip() in ("seq", "timestamp_ms"):
print(f"[CSV] 跳过 header: {row[:5]}...")
continue
try:
values = [float(v) for v in row]
if len(values) == 84:
process_values(values)
elif len(values) > 84:
process_values(values[:84])
except ValueError:
continue
def run_stdin_mode():
"""从 stdin 逐行读取"""
reset_baseline()
print("[STDIN] 等待输入（每行84个逗号分隔数值，Ctrl+C 退出）...")
try:
for line in sys.stdin:
line = line.strip()
if not line:
continue
try:
values = [float(v) for v in line.split(",")]
if len(values) >= 84:
process_values(values[:84])
except ValueError:
continue
except KeyboardInterrupt:
print("\n[STDIN] 已退出")
def main():
if len(sys.argv) > 1:
arg = sys.argv[1]
if arg == "--random":
run_random_test()
elif arg == "--help" or arg == "-h":
print(__doc__)
else:
run_csv_mode(arg)
else:
run_stdin_mode()
if __name__ == "__main__":
main()

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src-tauri/Cargo.lock generated
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src-tauri/proto/sensor_stream.proto
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@@ -28,7 +28,7 @@ message PztAngleResponse {
bool ok = 5;
string message = 6;
float magnitude = 7;
uint32 state = 8;
int32 state = 8;
float cop_x = 9;
float cop_y = 10;
float base_x = 11;

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

69
src-tauri/src/commands/devkit.rs
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@@ -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)
}

149
src-tauri/src/commands/serial.rs
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@@ -1,13 +1,15 @@
use crate::serial_core::codecs::hand_gateway::HandGatewayCodec;
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};
use log::info;
use serde::{Deserialize, Serialize};
use serde::Serialize;
use std::fs::File;
use std::io::Cursor;
use std::path::{Path, PathBuf};
@@ -22,10 +24,6 @@ const DEFAULT_TACTILE_ROWS: usize = 12;
const DEFAULT_TACTILE_POLL_INTERVAL_MS: u64 = 10;
const DEFAULT_TACTILE_REPLY_TIMEOUT_MS: u64 = 140;
// MCU currently uses a fixed node layout. Update this list to match the firmware:
// one entry per Config bit, containing that node's number of u16 samples.
const DEFAULT_HAND_GATEWAY_NODE_SAMPLE_COUNTS: &[u16] = &[84];
type SharedTactileRecording = Arc<Mutex<TactileARecording>>;
#[derive(Serialize)]
@@ -36,13 +34,6 @@ pub struct SerialConnectResponse {
pub message: String,
}
#[derive(Debug, Clone, Copy, Deserialize)]
#[serde(rename_all = "camelCase")]
pub enum SerialProtocol {
TactileA,
HandGateway,
}
#[derive(Serialize)]
#[serde(rename_all = "camelCase")]
pub struct SerialExportResponse {
@@ -56,6 +47,7 @@ pub struct SerialExportResponse {
pub struct SerialImportFrame {
pub data: Vec<i32>,
pub dts_ms: u64,
pub spatial_force: Option<HudSpatialForce>,
}
#[derive(Serialize)]
@@ -79,7 +71,7 @@ struct SerialSession {
port: String,
cancel: CancellationToken,
task: JoinHandle<()>,
current_record: Option<SharedTactileRecording>,
current_record: SharedTactileRecording,
}
#[derive(Default)]
@@ -90,7 +82,7 @@ pub struct SerialConnectionState {
pub async fn shutdown_active_session(
state: &SerialConnectionState,
) -> Result<Option<(String, Option<SharedTactileRecording>)>, SerialError> {
) -> Result<Option<(String, SharedTactileRecording)>, SerialError> {
let session = {
let mut guard = state.session.lock().map_err(|_| SerialError::StateError)?;
guard.take()
@@ -110,15 +102,13 @@ pub async fn shutdown_active_session(
let _ = task.await;
let frame_count = current_record
.as_ref()
.and_then(|record| record.lock().ok().map(|record| record.frames.len()))
.lock()
.map(|record| record.frames.len())
.unwrap_or(0);
info!("last_record has {} frames", frame_count);
if let (Some(current_record), Ok(mut last_record)) =
(current_record.as_ref(), state.last_record.lock())
{
if let Ok(mut last_record) = state.last_record.lock() {
*last_record = Some(current_record.clone());
}
@@ -147,7 +137,6 @@ pub fn serial_enum() -> Result<Vec<String>, SerialError> {
pub async fn serial_connect(
app: AppHandle,
port: String,
protocol: SerialProtocol,
state: State<'_, SerialConnectionState>,
) -> Result<SerialConnectResponse, SerialError> {
let port_name = port.trim().to_string();
@@ -163,10 +152,7 @@ pub async fn serial_connect(
}
let cancel = CancellationToken::new();
let current_record = match protocol {
SerialProtocol::TactileA => Some(Arc::new(Mutex::new(TactileARecording::new()))),
SerialProtocol::HandGateway => None,
};
let current_record = Arc::new(Mutex::new(TactileARecording::new()));
let task_record = current_record.clone();
let task_cancel = cancel.clone();
let task_app = app.clone();
@@ -178,51 +164,32 @@ pub async fn serial_connect(
let session_started_at = Instant::now();
let task = tauri::async_runtime::spawn(async move {
let run_result = match protocol {
SerialProtocol::TactileA => {
let codec = TactileACodec::new(DEFAULT_TACTILE_COLS, DEFAULT_TACTILE_ROWS);
let handler = TactileAHandler;
let poll_mode = PollMode::Enabled(Box::new(TactileAPollRequester::new(
Duration::from_millis(DEFAULT_TACTILE_POLL_INTERVAL_MS),
DEFAULT_TACTILE_COLS,
DEFAULT_TACTILE_ROWS,
Duration::from_millis(DEFAULT_TACTILE_REPLY_TIMEOUT_MS),
)));
let codec = TactileACodec::new(DEFAULT_TACTILE_COLS, DEFAULT_TACTILE_ROWS);
let handler = TactileAHandler;
let poll_mode = PollMode::Enabled(Box::new(TactileAPollRequester::new(
Duration::from_millis(DEFAULT_TACTILE_POLL_INTERVAL_MS),
DEFAULT_TACTILE_COLS,
DEFAULT_TACTILE_ROWS,
Duration::from_millis(DEFAULT_TACTILE_REPLY_TIMEOUT_MS),
)));
serial::run_serial_with_poll(
task_app.clone(),
port,
codec,
handler,
session_started_at,
task_record
.clone()
.expect("tactile protocol must have a recording"),
task_cancel,
poll_mode,
)
.await
}
SerialProtocol::HandGateway => {
let codec = HandGatewayCodec::new(DEFAULT_HAND_GATEWAY_NODE_SAMPLE_COUNTS);
serial::run_hand_gateway_serial(
task_app.clone(),
port,
codec,
session_started_at,
task_cancel,
)
.await
}
};
if let Err(error) = run_result {
if let Err(error) = serial::run_serial_with_poll(
task_app.clone(),
port,
codec,
handler,
session_started_at,
task_record.clone(),
task_cancel,
poll_mode,
)
.await
{
eprintln!("serial task exited with error: {error}");
}
let manager = task_app.state::<SerialConnectionState>();
if let (Some(task_record), Ok(mut last_record)) = (task_record, manager.last_record.lock())
{
if let Ok(mut last_record) = manager.last_record.lock() {
*last_record = Some(task_record);
}
@@ -359,13 +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
.into_iter()
.map(|packet| SerialImportFrame {
data: packet.data,
dts_ms: packet.dts_ms,
})
.collect();
let frames = build_import_frames(packets);
Ok(SerialImportResponse {
file_name,
@@ -390,6 +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> {
@@ -397,7 +396,7 @@ fn resolve_record_for_export(
let session = state.session.lock().map_err(|_| SerialError::StateError)?;
session
.as_ref()
.and_then(|current_session| current_session.current_record.clone())
.map(|current_session| current_session.current_record.clone())
};
if let Some(recording) = current_record {
@@ -418,7 +417,7 @@ fn snapshot_record_frame_count(
let session = state.session.lock().map_err(|_| SerialError::StateError)?;
session
.as_ref()
.and_then(|current_session| current_session.current_record.clone())
.map(|current_session| current_session.current_record.clone())
};
if let Some(record) = current_record {

4
src-tauri/src/commands/window.rs
View File

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

20
src-tauri/src/devkit/client.rs
View File

@@ -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 ────────────────────────────────────────────────────
@@ -276,9 +284,19 @@ 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!(
"devkit: angle={:.2}, magnitude={:.4}, state={}, cop_x={:.4}, cop_y={:.4}, base_x={:.4}, base_y={:.4}, total_press={:.2}, thresh={:.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.magnitude,
message.state,

4
src-tauri/src/lib.rs
View File

@@ -1,4 +1,3 @@
pub mod ad_solver;
mod commands;
mod lan_game;
pub mod log;
@@ -155,7 +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"))]

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

@@ -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()

390
src-tauri/src/serial_core/codecs/hand_gateway.rs
View File

@@ -1,390 +0,0 @@
use crate::serial_core::codec::Codec;
use crate::serial_core::error::CodecError;
use crate::serial_core::frame::{
HandGatewayDataRepFrame, HandGatewayFrame, HandGatewayFrameMetaData, HandGatewayFrameNode,
};
use crate::serial_core::utils::{calc_crc8_itu, elapsed_millis};
use log::debug;
use std::time::Instant;
const FRAME_HEADER: [u8; 2] = [0x55, 0xAA];
const RESPONSE_DATA_CMD: u8 = 0x81;
const RESPONSE_DATA_FIXED_LENGTH: usize = 16;
const RESPONSE_DATA_PREFIX_LENGTH: usize = 19;
const MIN_FRAME_LENGTH: usize = 7;
const DEFAULT_MAX_FRAME_LENGTH: usize = 64 * 1024;
/// Describes one fixed MCU data block.
///
/// `config_mask` identifies the bit associated with this block in the protocol's
/// Config/ValidConfig fields. `sample_count` is the number of little-endian u16
/// samples in the block.
#[derive(Debug, Clone, PartialEq, Eq)]
pub struct HandGatewayNodeConfig {
pub config_mask: u32,
pub sample_count: usize,
}
impl HandGatewayNodeConfig {
pub const fn new(config_mask: u32, sample_count: usize) -> Self {
Self {
config_mask,
sample_count,
}
}
fn payload_len(&self, bytes_per_sample: usize) -> Option<usize> {
self.sample_count.checked_mul(bytes_per_sample)
}
}
/// Host-side description of the configuration currently hard-coded in the MCU.
///
/// Keep the node order identical to the MCU Config bit order. When the MCU gains
/// GET_CONFIG support, construct this value from that response instead of changing
/// the decoder.
#[derive(Debug, Clone, PartialEq, Eq)]
pub struct HandGatewayConfig {
pub protocol_version: u8,
pub bytes_per_sample: usize,
pub max_frame_length: usize,
pub nodes: Vec<HandGatewayNodeConfig>,
}
impl HandGatewayConfig {
pub fn new(nodes: Vec<HandGatewayNodeConfig>) -> Self {
Self {
protocol_version: 0x01,
bytes_per_sample: 2,
max_frame_length: DEFAULT_MAX_FRAME_LENGTH,
nodes,
}
}
fn validate(&self) -> Result<(), CodecError> {
if self.bytes_per_sample == 0 || self.max_frame_length < MIN_FRAME_LENGTH {
return Err(CodecError::InvalidLength);
}
let mut used_masks = 0u32;
for node in &self.nodes {
if node.config_mask == 0
|| node.config_mask.count_ones() != 1
|| used_masks & node.config_mask != 0
|| node.payload_len(self.bytes_per_sample).is_none()
{
return Err(CodecError::InvalidLength);
}
used_masks |= node.config_mask;
}
Ok(())
}
}
pub struct HandGatewayCodec {
buffer: Vec<u8>,
config: HandGatewayConfig,
}
impl HandGatewayCodec {
/// Convenience constructor for sequential Config bits (bit 0, bit 1, ...).
/// Each entry is the u16 sample count of one MCU node.
pub fn new(node_sample_counts: &[u16]) -> Self {
let nodes = node_sample_counts
.iter()
.enumerate()
.map(|(index, &sample_count)| {
let config_mask = 1u32.checked_shl(index as u32).unwrap_or(0);
HandGatewayNodeConfig::new(config_mask, usize::from(sample_count))
})
.collect();
Self {
buffer: Vec::new(),
config: HandGatewayConfig::new(nodes),
}
}
pub fn with_config(config: HandGatewayConfig) -> Result<Self, CodecError> {
config.validate()?;
Ok(Self {
buffer: Vec::new(),
config,
})
}
pub fn config(&self) -> &HandGatewayConfig {
&self.config
}
pub fn parse_node_payload(data: &[u8]) -> Result<Vec<u16>, CodecError> {
if data.len() % 2 != 0 {
return Err(CodecError::InvalidLength);
}
Ok(data
.chunks_exact(2)
.map(|chunk| u16::from_le_bytes([chunk[0], chunk[1]]))
.collect())
}
fn retain_possible_header_prefix(&mut self) {
if self.buffer.last() == Some(&FRAME_HEADER[0]) {
self.buffer.drain(..self.buffer.len() - 1);
} else {
self.buffer.clear();
}
}
fn parse_data_response(
&self,
frame: &[u8],
length: u16,
session_started_at: Instant,
) -> Result<HandGatewayFrame, CodecError> {
let payload_len = usize::from(length)
.checked_sub(RESPONSE_DATA_FIXED_LENGTH)
.ok_or(CodecError::InvalidLength)?;
let payload_end = RESPONSE_DATA_PREFIX_LENGTH
.checked_add(payload_len)
.ok_or(CodecError::PayloadTooLarge)?;
if payload_end + 1 != frame.len() {
return Err(CodecError::InvalidLength);
}
let version = frame[5];
if version != self.config.protocol_version {
return Err(CodecError::InvalidFrameType);
}
let timestamp = u32::from_le_bytes(frame[6..10].try_into().unwrap());
let config = u32::from_le_bytes(frame[10..14].try_into().unwrap());
let valid_config = u32::from_le_bytes(frame[14..18].try_into().unwrap());
let block_count = frame[18];
let active_nodes: Vec<&HandGatewayNodeConfig> = self
.config
.nodes
.iter()
.filter(|node| config & node.config_mask != 0)
.collect();
if active_nodes.len() != usize::from(block_count) {
return Err(CodecError::InvalidLength);
}
let expected_payload_len = active_nodes.iter().try_fold(0usize, |total, node| {
let node_len = node
.payload_len(self.config.bytes_per_sample)
.ok_or(CodecError::PayloadTooLarge)?;
total
.checked_add(node_len)
.ok_or(CodecError::PayloadTooLarge)
})?;
if expected_payload_len != payload_len {
return Err(CodecError::InvalidLength);
}
let mut cursor = RESPONSE_DATA_PREFIX_LENGTH;
let mut nodes = Vec::with_capacity(active_nodes.len());
for node in active_nodes {
let node_len = node
.payload_len(self.config.bytes_per_sample)
.ok_or(CodecError::PayloadTooLarge)?;
let next = cursor + node_len;
nodes.push(HandGatewayFrameNode {
config_mask: node.config_mask,
valid: valid_config & node.config_mask != 0,
payload: frame[cursor..next].to_vec(),
});
cursor = next;
}
Ok(HandGatewayFrame::DataRep(HandGatewayDataRepFrame {
meta: HandGatewayFrameMetaData {
header: FRAME_HEADER,
length,
cmd: RESPONSE_DATA_CMD,
version,
checksum: frame[frame.len() - 1],
},
timestamp,
config,
valid_config,
block_count,
nodes,
dts_ms: elapsed_millis(session_started_at),
}))
}
}
impl Codec<HandGatewayFrame> for HandGatewayCodec {
fn decode(
&mut self,
input: &[u8],
session_started_at: Instant,
) -> Result<Vec<HandGatewayFrame>, CodecError> {
self.config.validate()?;
self.buffer.extend_from_slice(input);
let mut frames = Vec::new();
loop {
let Some(header_pos) = self
.buffer
.windows(FRAME_HEADER.len())
.position(|window| window == FRAME_HEADER)
else {
self.retain_possible_header_prefix();
break;
};
if header_pos > 0 {
self.buffer.drain(..header_pos);
}
if self.buffer.len() < 4 {
break;
}
let length = u16::from_le_bytes([self.buffer[2], self.buffer[3]]);
let frame_len = usize::from(length)
.checked_add(4)
.ok_or(CodecError::PayloadTooLarge)?;
if frame_len < MIN_FRAME_LENGTH || frame_len > self.config.max_frame_length {
debug!("invalid hand gateway frame length: {frame_len}");
self.buffer.drain(..1);
continue;
}
if self.buffer.len() < frame_len {
break;
}
let expected_checksum = calc_crc8_itu(&self.buffer[..frame_len - 1]);
let received_checksum = self.buffer[frame_len - 1];
if expected_checksum != received_checksum {
debug!(
"hand gateway checksum mismatch: expected {expected_checksum:02X}, got {received_checksum:02X}"
);
self.buffer.drain(..1);
continue;
}
if self.buffer[4] == RESPONSE_DATA_CMD {
match self.parse_data_response(
&self.buffer[..frame_len],
length,
session_started_at,
) {
Ok(frame) => frames.push(frame),
Err(error) => debug!("invalid hand gateway data response: {error}"),
}
}
self.buffer.drain(..frame_len);
}
Ok(frames)
}
fn encode(&self, _frame: &HandGatewayFrame) -> Result<Vec<u8>, CodecError> {
Err(CodecError::InvalidFrameType)
}
}
#[cfg(test)]
mod tests {
use super::*;
fn test_codec() -> HandGatewayCodec {
HandGatewayCodec::with_config(HandGatewayConfig::new(vec![
HandGatewayNodeConfig::new(1 << 0, 2),
HandGatewayNodeConfig::new(1 << 1, 1),
]))
.unwrap()
}
fn data_response(config: u32, valid_config: u32, payload: &[u8]) -> Vec<u8> {
let block_count = config.count_ones() as u8;
let length = (RESPONSE_DATA_FIXED_LENGTH + payload.len()) as u16;
let mut frame = Vec::new();
frame.extend_from_slice(&FRAME_HEADER);
frame.extend_from_slice(&length.to_le_bytes());
frame.push(RESPONSE_DATA_CMD);
frame.push(0x01);
frame.extend_from_slice(&123_456u32.to_le_bytes());
frame.extend_from_slice(&config.to_le_bytes());
frame.extend_from_slice(&valid_config.to_le_bytes());
frame.push(block_count);
frame.extend_from_slice(payload);
frame.push(calc_crc8_itu(&frame));
frame
}
#[test]
fn decodes_configured_nodes() {
let mut codec = test_codec();
let bytes = data_response(0b11, 0b01, &[1, 0, 2, 0, 3, 0]);
let frames = codec.decode(&bytes, Instant::now()).unwrap();
let HandGatewayFrame::DataRep(frame) = &frames[0];
assert_eq!(frame.timestamp, 123_456);
assert_eq!(frame.block_count, 2);
assert_eq!(frame.nodes.len(), 2);
assert_eq!(frame.nodes[0].config_mask, 1);
assert!(frame.nodes[0].valid);
assert_eq!(
HandGatewayCodec::parse_node_payload(&frame.nodes[0].payload).unwrap(),
[1, 2]
);
assert!(!frame.nodes[1].valid);
assert_eq!(
HandGatewayCodec::parse_node_payload(&frame.nodes[1].payload).unwrap(),
[3]
);
}
#[test]
fn supports_split_and_sticky_packets() {
let mut codec = test_codec();
let frame = data_response(0b01, 0b01, &[1, 0, 2, 0]);
let split = frame.len() / 2;
assert!(codec
.decode(&frame[..split], Instant::now())
.unwrap()
.is_empty());
let mut remainder_and_next = frame[split..].to_vec();
remainder_and_next.extend_from_slice(&frame);
let frames = codec.decode(&remainder_and_next, Instant::now()).unwrap();
assert_eq!(frames.len(), 2);
}
#[test]
fn resynchronizes_after_noise_and_bad_crc() {
let mut codec = test_codec();
let valid = data_response(0b10, 0b10, &[9, 0]);
let mut bad = valid.clone();
let last = bad.len() - 1;
bad[last] ^= 0xFF;
let mut bytes = vec![0x13, 0x55, 0x12];
bytes.extend_from_slice(&bad);
bytes.extend_from_slice(&valid);
let frames = codec.decode(&bytes, Instant::now()).unwrap();
assert_eq!(frames.len(), 1);
}
#[test]
fn rejects_payload_that_does_not_match_fixed_config() {
let mut codec = test_codec();
let bytes = data_response(0b01, 0b01, &[1, 0]);
assert!(codec.decode(&bytes, Instant::now()).unwrap().is_empty());
}
}

3
src-tauri/src/serial_core/codecs/mod.rs
View File

@@ -2,5 +2,4 @@ use crate::serial_core::{frame::TestFrame, record::Recording};
pub mod test;
pub mod tactile_a;
pub mod hand_gateway;
pub type TestRecording = Recording<TestFrame>;
pub type TestRecording = Recording<TestFrame>;

19
src-tauri/src/serial_core/codecs/tactile_a.rs
View File

@@ -14,7 +14,7 @@ use anyhow::anyhow;
use std::io::Read;
use log::debug;
const FINGER_FRAME_BUFFER_MIN_LENGTH: usize = 15;
const FRAME_BUFFER_MIN_LENGTH: usize = 15;
pub struct TactileACodec {
buffer: Vec<u8>,
@@ -77,12 +77,11 @@ impl TactileACodec {
.chunks_exact(2)
.map(|chunk| {
let raw = u16::from_le_bytes([chunk[0], chunk[1]]) as i32;
raw
// if raw < 15 {
// 0
// } else {
// raw
// }
if raw < 15 {
0
} else {
raw
}
})
.collect::<Vec<i32>>();
@@ -123,7 +122,7 @@ impl Codec<TactileAFrame> for TactileACodec {
let mut frames: Vec<TactileAFrame> = Vec::new();
loop {
if self.buffer.len() < FINGER_FRAME_BUFFER_MIN_LENGTH {
if self.buffer.len() < FRAME_BUFFER_MIN_LENGTH {
break;
}
@@ -137,7 +136,7 @@ impl Codec<TactileAFrame> for TactileACodec {
self.buffer.drain(0..pos);
}
if self.buffer.len() < FINGER_FRAME_BUFFER_MIN_LENGTH {
if self.buffer.len() < FRAME_BUFFER_MIN_LENGTH {
break;
}
@@ -165,7 +164,7 @@ impl Codec<TactileAFrame> for TactileACodec {
continue;
}
let frame_length = except_data_len + FINGER_FRAME_BUFFER_MIN_LENGTH;
let frame_length = except_data_len + FRAME_BUFFER_MIN_LENGTH;
if self.buffer.len() < frame_length {
break;
}

43
src-tauri/src/serial_core/frame.rs
View File

@@ -7,7 +7,7 @@ pub struct TestFrame {
pub length: usize,
pub payload: Vec<u8>,
pub checksum: u8,
pub dts_ms: u64,
pub dts_ms: u64
}
#[derive(Debug, Clone, PartialEq, Eq)]
@@ -30,59 +30,28 @@ pub struct TactileAReqFrame {
pub meta: TactileAFrameMetaData,
}
#[derive(Debug, Clone, PartialEq, Eq)]
#[derive(Debug, Clone, PartialEq, Eq)]
pub struct TactileARepFrame {
pub meta: TactileAFrameMetaData,
pub status: TactileAFrameStatusCode,
pub payload: Vec<u8>,
pub dts_ms: u64,
pub dts_ms: u64
}
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum TactileAFrameStatusCode {
Success,
Failure,
Failure
}
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum TactileAFrame {
Req(TactileAReqFrame),
Rep(TactileARepFrame),
}
#[derive(Debug, Clone, PartialEq, Eq)]
pub struct HandGatewayFrameMetaData {
pub header: [u8; 2],
pub length: u16,
pub cmd: u8,
pub version: u8,
pub checksum: u8,
}
#[derive(Debug, Clone, PartialEq, Eq)]
pub struct HandGatewayFrameNode {
pub config_mask: u32,
pub valid: bool,
pub payload: Vec<u8>,
}
#[derive(Debug, Clone, PartialEq, Eq)]
pub struct HandGatewayDataRepFrame {
pub meta: HandGatewayFrameMetaData,
pub timestamp: u32,
pub config: u32,
pub valid_config: u32,
pub block_count: u8,
pub nodes: Vec<HandGatewayFrameNode>,
pub dts_ms: u64,
}
#[derive(Debug, Clone, PartialEq, Eq)]
pub enum HandGatewayFrame {
DataRep(HandGatewayDataRepFrame),
Rep(TactileARepFrame)
}
#[async_trait]
pub trait FrameHandler<F, T>: Send {
async fn on_frame(&mut self, frame: &F) -> Result<Option<Vec<T>>>;
}

79
src-tauri/src/serial_core/serial.rs
View File

@@ -1,8 +1,6 @@
use crate::ad_solver::solve_for_x;
#[cfg(feature = "devkit")]
use crate::devkit::{proto::SensorFrame, DevKitState};
use crate::serial_core::codec::Codec;
use crate::serial_core::codecs::hand_gateway::HandGatewayCodec;
use crate::serial_core::codecs::tactile_a::TactileACodec;
use crate::serial_core::frame::{FrameHandler, TactileAFrame, TestFrame};
use crate::serial_core::model::{HudChartState, HudPacket, HudSpatialForce};
@@ -11,8 +9,6 @@ use crate::serial_core::multi_dim_force::PztProcessor;
use crate::serial_core::record::Recording;
use crate::serial_core::record::{FrameTiming, RecordedFrame};
use anyhow::Result;
use log::debug;
use log::info;
use std::future::pending;
#[cfg(feature = "devkit")]
use std::sync::atomic::Ordering;
@@ -25,6 +21,7 @@ use tokio::io::{AsyncReadExt, AsyncWriteExt};
use tokio::time::{self, Duration, MissedTickBehavior};
use tokio_serial::SerialStream;
use tokio_util::sync::CancellationToken;
const AUTO_SUB_INTERVAL: Duration = Duration::from_nanos(16_666_667);
pub enum PollMode<F> {
@@ -202,61 +199,6 @@ where
.await
}
/// Runs the hand gateway in passive mode. The MCU continuously uploads data, so
/// this loop never writes request frames to the serial port.
pub async fn run_hand_gateway_serial(
app: AppHandle,
mut port: SerialStream,
mut codec: HandGatewayCodec,
session_started_at: Instant,
cancel: CancellationToken,
) -> Result<()> {
let mut buffer = [0u8; 4096];
loop {
tokio::select! {
_ = cancel.cancelled() => break,
read_result = port.read(&mut buffer) => {
let n = read_result?;
if n == 0 {
tokio::task::yield_now().await;
continue;
}
let raw = &buffer[..n];
app.emit("hand_gateway_raw", raw.to_vec())?;
let raw_hex = raw
.iter()
.map(|byte| format!("{byte:02X}"))
.collect::<Vec<_>>()
.join(" ");
info!("[hand_gateway][raw] {raw_hex}");
for frame in codec.decode(raw, session_started_at)? {
let crate::serial_core::frame::HandGatewayFrame::DataRep(frame) = frame;
info!(
"[hand_gateway][frame] timestamp_us={} config=0x{:08X} valid_config=0x{:08X} block_count={}",
frame.timestamp,
frame.config,
frame.valid_config,
frame.block_count,
);
for node in frame.nodes {
info!(
"[hand_gateway][node] mask=0x{:08X} valid={} payload={:02X?}",
node.config_mask,
node.valid,
node.payload,
);
}
}
}
}
}
Ok(())
}
pub async fn run_serial_with_poll<C, H, T, F>(
app: AppHandle,
mut port: SerialStream,
@@ -368,15 +310,14 @@ 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(analysis) = pzt_processor.get_pzt_analysis(&pzt_values) {
// debug!(
// "spatial force: angle={:.2}°, magnitude={:.2}, dx={:.2}, dy={:.2}",
// analysis.angle_deg, analysis.magnitude, analysis.planar_x, analysis.planar_y
// );
if PztProcessor::should_report(&analysis) {
spatial_force = Some(HudSpatialForce {
angle_deg: analysis.angle_deg,
@@ -390,7 +331,6 @@ where
{
let summary = vals.iter().copied().sum::<i32>();
let force = raw_to_g1(summary as u32);
push_devkit_frame(&app, vals.as_slice(), frame.dts_ms(), force);
}
@@ -416,8 +356,6 @@ fn build_display_values(
) -> Option<Vec<i32>> {
let summary = values.iter().copied().sum::<i32>();
let force = raw_to_g1(summary as u32);
// let force_solve = solve_for_x(summary as f64)?;
// println!("force_solve: {force_solve}");
chart_state.record_summary(force as f32);
chart_state.record_pressure_matrix(values);
chart_state.record_spatial_force(spatial_force);
@@ -477,13 +415,12 @@ fn infer_matrix_shape(len: usize) -> (u32, u32) {
}
fn raw_to_g1(raw: u32) -> f64 {
const X: [u32; 13] = [
0, 16811, 41350, 79241, 94615, 127446, 149559, 175900, 195056, 237852, 267810, 322472,
378511,
const X: [u32; 12] = [
0, 84402, 117218, 140176, 159126, 175812, 191484, 208758, 224703, 252448, 302361, 352703,
];
const Y: [f64; 13] = [
0.0, 57.0, 97.0, 197.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0,
const Y: [f64; 12] = [
0.0, 160.0, 260.0, 360.0, 460.0, 560.0, 660.0, 760.0, 860.0, 1060.0, 1560.0, 2060.0,
];
let n = X.len();

105
src/lib/components/CenterStage.svelte
View File

@@ -29,7 +29,6 @@
export let summary: HudSummary;
export let pressureMatrix: number[] | null = null;
export let spatialForce: HudSpatialForce | null = null;
export let devkitSpatialForce: HudSpatialForce | null = null;
export let showConfigPanel = false;
export let configPanelTitle = "";
export let configPanelHint = "";
@@ -48,7 +47,7 @@
export let colorMapPreset: PressureColorMapPreset = "emerald";
export let matrixDisplayMode: MatrixDisplayMode = "dots";
export let stageViewMode: StageViewMode = "webgl";
export let modelUrl = "/models/je-skin-model.gltf";
export let modelUrl = "/models/je-skin-model.glb";
export let replaySectionLabel = "";
export let replayPlayLabel = "";
export let replayPauseLabel = "";
@@ -61,7 +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;
@@ -90,8 +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";
$: isModelStage = stageViewMode === "model3d";
function toPxNumber(rawValue: string): number {
@@ -117,7 +113,7 @@
return;
}
panelZoneTopPx = showPrecisionTestPanel ? 24 : 16;
panelZoneTopPx = 16;
const panelZoneBottomPx = panelZoneEl ? toPxNumber(getComputedStyle(panelZoneEl).bottom) : 0;
const zoneHeight = Math.max(0, stagePlaneEl.clientHeight - panelZoneTopPx - panelZoneBottomPx);
@@ -191,43 +187,6 @@
<ModelStage {locale} {modelUrl} />
{/key}
</div>
{:else if showPrecisionTestPanel}
<div class="split-game-wrap">
<section class="split-panel split-matrix-panel">
<header class="split-panel-head">
<p>{splitMatrixTitle}</p>
<span>{splitMatrixHint}</span>
</header>
<div class="split-panel-body">
{#key `${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}`}
@@ -247,7 +206,7 @@
</div>
{/if}
{#if showConfigPanel && !showPrecisionTestPanel && !isModelStage}
{#if showConfigPanel && !isModelStage}
<div class="config-panel-wrap">
<ConfigPanel
bind:matrixRows
@@ -269,7 +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}>
@@ -318,41 +277,25 @@
</div>
{/each}
<div
class="panel-motion-shell"
in:fly={{ x: 180, duration: 340, opacity: 0.08, easing: cubicOut }}
out:fly={{ x: 180, duration: 280, opacity: 0.06, easing: cubicIn }}
>
<SpatialForcePanel
{spatialForce}
{locale}
side="right"
panelIndex={rightPanels.length}
panelCode="ALG"
panelTitle={locale === "zh-CN" ? "本地切向力" : "Local Tangential"}
badgeLabel={locale === "zh-CN" ? "算法" : "ALGO"}
/>
</div>
<div
class="panel-motion-shell"
in:fly={{ x: 180, duration: 340, opacity: 0.08, easing: cubicOut }}
out:fly={{ x: 180, duration: 280, opacity: 0.06, easing: cubicIn }}
>
<SpatialForcePanel
spatialForce={devkitSpatialForce}
{locale}
side="right"
panelIndex={rightPanels.length + 1}
panelCode="DKT"
panelTitle={locale === "zh-CN" ? "DevKit 切向力" : "DevKit Tangential"}
badgeLabel="DEVKIT"
badgeTone="lime"
showMetrics={false}
requireMagnitude={false}
compactMetaText={locale === "zh-CN" ? "等待 DevKit 角度流" : "Waiting for DevKit angle"}
/>
</div>
{#if 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
@@ -377,7 +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">
@@ -415,7 +358,7 @@
</aside>
{/if}
{#if !showPrecisionTestPanel && !isModelStage}
{#if !isModelStage}
<div class="stage-bottom-overlay">
<slot />
</div>

312
src/lib/components/HudPanel.svelte
View File

@@ -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;
}

209
src/lib/components/ModelStage.svelte
View File

@@ -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;
@@ -19,15 +19,43 @@
const FLOOR_Y = -1.15;
const MODEL_FLOOR_CLEARANCE = 0.035;
const MODEL_TARGET_HEIGHT = 6.55;
const MODEL_TARGET_HEIGHT = 8.4;
const MODEL_MIN_SCALE = 0.02;
const MODEL_MAX_SCALE = 80;
const FIXED_CAMERA_POSITION = new THREE.Vector3(-0.113, -0.149, 10.911);
const FIXED_CAMERA_TARGET = new THREE.Vector3(0, 2.35, 0);
const MODEL_FRONT_ROTATION_Y = -Math.PI / 2;
const MODEL_UPRIGHT_ROTATION_Z = Math.PI * 1.5 - THREE.MathUtils.degToRad(2.2);
const CAMERA_DISTANCE_FACTOR = 1.35;
const CAMERA_DISTANCE_MIN = 7.5;
const CAMERA_DISTANCE_MAX = 24;
$: canvasLabel = locale === "zh-CN" ? "3D 模型" : "3D Model";
$: copy =
locale === "zh-CN"
? {
title: "3D 模型舱",
subtitle: "Dark Grid / Future Lab",
loading: "正在加载模型",
ready: "模型已载入",
missing: "等待模型文件",
error: "模型加载失败",
modelPath: "模型路径",
hint: "请使用 glTF 2.0 的 .glb/.gltf；旧版 glTF 1.0 需要先转换"
}
: {
title: "3D Model Bay",
subtitle: "Dark Grid / Future Lab",
loading: "Loading model",
ready: "Model loaded",
missing: "Waiting for model file",
error: "Model load failed",
modelPath: "Model path",
hint: "Use glTF 2.0 .glb/.gltf assets; older glTF 1.0 files need conversion first"
};
$: statusText =
loadState === "ready"
? copy.ready
: loadState === "missing"
? copy.missing
: loadState === "error"
? copy.error
: `${copy.loading} ${Math.round(loadProgress)}%`;
function disposeObject3D(object: THREE.Object3D): void {
object.traverse((child) => {
@@ -100,41 +128,7 @@
return Math.min(max, Math.max(min, value));
}
function materialToUnlit(material: THREE.Material): THREE.Material {
const source = material as THREE.MeshStandardMaterial & THREE.MeshPhysicalMaterial;
const unlit = new THREE.MeshBasicMaterial({
color: source.color?.clone() ?? new THREE.Color(0xffffff),
map: source.map ?? null,
transparent: source.transparent,
opacity: source.opacity,
alphaMap: source.alphaMap ?? null,
side: source.side,
depthWrite: source.depthWrite,
depthTest: source.depthTest,
vertexColors: source.vertexColors,
toneMapped: false
});
return unlit;
}
function applyUnlitMaterials(object: THREE.Object3D): void {
object.traverse((child) => {
const mesh = child as THREE.Mesh;
if (!mesh.isMesh || !mesh.material) {
return;
}
mesh.castShadow = false;
mesh.receiveShadow = false;
mesh.material = Array.isArray(mesh.material)
? mesh.material.map(materialToUnlit)
: materialToUnlit(mesh.material);
});
}
function normalizeObjectToStage(object: THREE.Object3D): THREE.Box3 {
object.rotation.set(0, MODEL_FRONT_ROTATION_Y, MODEL_UPRIGHT_ROTATION_Z);
object.updateMatrixWorld(true);
let bounds = new THREE.Box3().setFromObject(object);
const size = bounds.getSize(new THREE.Vector3());
@@ -155,14 +149,19 @@
}
function frameObject(object: THREE.Object3D, camera: THREE.PerspectiveCamera, controls: OrbitControls): void {
normalizeObjectToStage(object);
camera.position.copy(FIXED_CAMERA_POSITION);
camera.near = 0.05;
camera.far = 600;
const bounds = normalizeObjectToStage(object);
const size = bounds.getSize(new THREE.Vector3());
const maxAxis = Math.max(size.x, size.y, size.z, 1);
const distance = clamp(maxAxis * CAMERA_DISTANCE_FACTOR, CAMERA_DISTANCE_MIN, CAMERA_DISTANCE_MAX);
const targetY = FLOOR_Y + Math.max(size.y * 0.46, 1.4);
camera.position.set(distance * 0.48, targetY + distance * 0.24, distance * 0.68);
camera.near = Math.max(distance / 80, 0.01);
camera.far = distance * 24;
camera.updateProjectionMatrix();
controls.target.copy(FIXED_CAMERA_TARGET);
controls.minDistance = 2.4;
controls.maxDistance = 32;
controls.target.set(0, targetY, 0);
controls.minDistance = Math.max(distance * 0.32, 2);
controls.maxDistance = Math.max(distance * 2.5, 12);
controls.update();
}
@@ -187,15 +186,14 @@
scene.fog = new THREE.FogExp2(0x03070d, 0.028);
const camera = new THREE.PerspectiveCamera(38, 1, 0.05, 600);
camera.position.copy(FIXED_CAMERA_POSITION);
camera.lookAt(FIXED_CAMERA_TARGET);
camera.position.set(8, 6, 9);
const controls = new OrbitControls(camera, canvasEl);
controls.enableDamping = true;
controls.dampingFactor = 0.08;
controls.minDistance = 2.4;
controls.maxDistance = 32;
controls.target.copy(FIXED_CAMERA_TARGET);
controls.target.set(0, FLOOR_Y + 3.2, 0);
const labGroup = new THREE.Group();
scene.add(labGroup);
@@ -243,8 +241,16 @@
floor.position.y = FLOOR_Y - 0.018;
labGroup.add(floor);
const ambient = new THREE.AmbientLight(0x9fb8d0, 0.22);
const keyLight = new THREE.DirectionalLight(0x7be7ff, 1.5);
keyLight.position.set(8, 12, 8);
const rimLight = new THREE.PointLight(0xa6ff7a, 26, 24, 2.1);
rimLight.position.set(-4.5, 4.8, -3.6);
const sideLight = new THREE.PointLight(0x5c8cff, 15, 28, 1.7);
sideLight.position.set(5.8, 3.2, -5.4);
scene.add(ambient, keyLight, rimLight, sideLight);
let activeModel: THREE.Object3D = buildPlaceholderModel();
applyUnlitMaterials(activeModel);
scene.add(activeModel);
frameObject(activeModel, camera, controls);
@@ -255,7 +261,13 @@
scene.remove(activeModel);
disposeObject3D(activeModel);
activeModel = gltf.scene;
applyUnlitMaterials(activeModel);
activeModel.traverse((child) => {
const mesh = child as THREE.Mesh;
if (mesh.isMesh) {
mesh.castShadow = true;
mesh.receiveShadow = true;
}
});
scene.add(activeModel);
frameObject(activeModel, camera, controls);
loadState = "ready";
@@ -318,9 +330,20 @@
</script>
<div class="model-stage" bind:this={rootEl}>
<canvas class="model-canvas" bind:this={canvasEl} aria-label={canvasLabel}></canvas>
<canvas class="model-canvas" bind:this={canvasEl} aria-label={copy.title}></canvas>
<div class="model-vignette" aria-hidden="true"></div>
<div class="model-scanlines" aria-hidden="true"></div>
<section class="model-hud" aria-label={copy.title}>
<p class="model-kicker">{copy.subtitle}</p>
<h2>{copy.title}</h2>
<div class="model-status-row">
<span class="status-light" class:is-ready={loadState === "ready"}></span>
<span>{statusText}</span>
</div>
<p class="model-path">{copy.modelPath}: {modelUrl}</p>
<p class="model-hint">{loadError || copy.hint}</p>
</section>
</div>
<style>
@@ -365,4 +388,82 @@
mix-blend-mode: screen;
}
.model-hud {
position: absolute;
top: clamp(1.2rem, 2.8vw, 2.2rem);
left: clamp(1.2rem, 2.8vw, 2.4rem);
z-index: 2;
display: grid;
gap: 0.42rem;
max-inline-size: min(22rem, 42vw);
padding: 0.9rem 1rem 1rem;
border: 1px solid rgb(94 231 255 / 0.24);
border-radius: 0.7rem;
background:
linear-gradient(180deg, rgb(8 18 28 / 0.82), rgb(3 9 15 / 0.72)),
radial-gradient(circle at 0 0, rgb(94 231 255 / 0.1), transparent 44%);
box-shadow:
inset 0 1px 0 rgb(255 255 255 / 0.06),
0 0 28px rgb(94 231 255 / 0.08);
backdrop-filter: blur(10px);
}
.model-kicker,
.model-path,
.model-hint {
margin: 0;
color: rgb(198 226 239 / 0.72);
font-size: 0.6rem;
letter-spacing: 0.1em;
text-transform: uppercase;
line-height: 1.35;
}
h2 {
margin: 0;
color: rgb(241 251 255 / 0.96);
font-size: clamp(1.15rem, 1.1vw + 0.88rem, 1.72rem);
line-height: 1.05;
font-weight: 650;
}
.model-status-row {
display: inline-flex;
align-items: center;
gap: 0.44rem;
color: rgb(229 249 255 / 0.94);
font-size: 0.78rem;
letter-spacing: 0.04em;
}
.status-light {
inline-size: 0.58rem;
block-size: 0.58rem;
border-radius: 50%;
background: rgb(255 188 92 / 0.95);
box-shadow: 0 0 0 2px rgb(255 188 92 / 0.16), 0 0 12px rgb(255 188 92 / 0.18);
}
.status-light.is-ready {
background: rgb(166 255 122 / 0.95);
box-shadow: 0 0 0 2px rgb(166 255 122 / 0.16), 0 0 14px rgb(166 255 122 / 0.22);
}
.model-path {
color: rgb(94 231 255 / 0.78);
text-transform: none;
word-break: break-word;
}
.model-hint {
color: rgb(198 226 239 / 0.66);
text-transform: none;
letter-spacing: 0.04em;
}
@media (max-width: 960px) {
.model-hud {
max-inline-size: min(20rem, calc(100% - 2.4rem));
}
}
</style>

181
src/lib/components/SpatialForcePanel.svelte
View File

@@ -9,17 +9,7 @@
export let panelTitle = "";
export let badgeLabel = "";
export let badgeTone: "cyan" | "lime" | "orange" = "cyan";
export let showMetrics = true;
export let requireMagnitude = true;
export let compactMetaText = "";
function formatValue(value: number | null, digits = 1): string {
if (value === null || !Number.isFinite(value)) {
return "--";
}
return value.toFixed(digits);
}
function normalizeAngle(value: number): number {
return ((value % 360) + 360) % 360;
@@ -83,7 +73,7 @@
$: i18n =
locale === "zh-CN"
? {
title: "切向力方向",
title: "三维力",
waiting: "等待数据",
angle: "ANGLE",
heading: "方向角",
@@ -91,7 +81,7 @@
confidence: "置信度"
}
: {
title: "Tangential Direction",
title: "3D Force",
waiting: "Waiting",
angle: "ANGLE",
heading: "Heading",
@@ -100,8 +90,6 @@
};
$: resolvedTitle = panelTitle || i18n.title;
$: resolvedBadgeLabel = badgeLabel || i18n.angle;
$: resolvedCompactMetaText =
compactMetaText || (locale === "zh-CN" ? "仅使用角度流" : "Angle stream only");
$: hasData =
spatialForce !== null &&
@@ -109,35 +97,34 @@
(!requireMagnitude || Number.isFinite(spatialForce.magnitude));
$: angleDeg = hasData ? normalizeAngle(spatialForce?.angleDeg ?? 0) : 0;
$: updateVisualAngle(angleDeg, hasData);
$: magnitude = hasData ? spatialForce?.magnitude ?? 0 : null;
$: confidence = hasData ? (spatialForce?.confidence ?? 0) * 100 : null;
</script>
<article
class="signal-panel spatial-panel side-{side}"
class:is-empty={!hasData}
aria-hidden={false}
style="--panel-index: {panelIndex};"
>
<header class="panel-head">
<div class="head-text">
<p class="panel-code">{panelCode}</p>
<p class="panel-title">{resolvedTitle}</p>
</div>
{#if hasData}
<article
class="signal-panel spatial-panel side-{side}"
aria-label={resolvedTitle}
style="--panel-index: {panelIndex};"
>
<header class="panel-head">
<div class="head-text">
<p class="panel-code">{panelCode}</p>
<p class="panel-title">{resolvedTitle}</p>
</div>
<div class="icon-layer" aria-hidden="true">
<span class={`icon-chip tone-${badgeTone}`}>{resolvedBadgeLabel}</span>
</div>
</header>
{#if resolvedBadgeLabel}
<div class="icon-layer" aria-hidden="true">
<span class={`icon-chip tone-${badgeTone}`}>{resolvedBadgeLabel}</span>
</div>
{/if}
</header>
<div class="panel-body">
<div class="compass-stage">
<div class="compass-core">
<div class="compass-ring compass-ring-outer"></div>
<div class="compass-ring compass-ring-inner"></div>
<div class="compass-axis axis-horizontal"></div>
<div class="compass-axis axis-vertical"></div>
{#if hasData}
<div class="panel-body">
<div class="compass-stage">
<div class="compass-core">
<div class="compass-ring compass-ring-outer"></div>
<div class="compass-ring compass-ring-inner"></div>
<div class="compass-axis axis-horizontal"></div>
<div class="compass-axis axis-vertical"></div>
<div
class="compass-vector"
class:is-snap={snapVector}
@@ -146,44 +133,29 @@
<span class="vector-shaft"></span>
<span class="vector-head"></span>
</div>
{/if}
<div class="compass-center"></div>
<span class="compass-label label-top">90</span>
<span class="compass-label label-right">0</span>
<span class="compass-label label-bottom">270</span>
<span class="compass-label label-left">180</span>
</div>
{#if !hasData}
<div class="empty-state">
<span>{i18n.waiting}</span>
<div class="compass-center"></div>
<span class="compass-label label-top">90</span>
<span class="compass-label label-right">0</span>
<span class="compass-label label-bottom">270</span>
<span class="compass-label label-left">180</span>
</div>
{/if}
</div>
</div>
<div class="angle-stage">
<p class="angle-label">{i18n.heading}</p>
{#if showMetrics}
<p class="angle-meta">{i18n.strength}: {formatValue(magnitude, 2)}</p>
<p class="angle-meta">{i18n.confidence}: {hasData ? `${formatValue(confidence, 0)}%` : "--"}</p>
{:else}
<p class="angle-meta">{resolvedCompactMetaText}</p>
<p class="angle-meta">{hasData ? (locale === "zh-CN" ? "实时对比中" : "Live comparison") : "--"}</p>
{/if}
</div>
</div>
</article>
</article>
{/if}
<style>
.signal-panel {
--offset-x: 12%;
--enter-ms: 1800ms;
--fade-ms: 1000ms;
overflow: hidden;
inline-size: min(100%, clamp(34rem, 44vw, 44rem));
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;
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);
@@ -218,6 +190,16 @@
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;
@@ -277,10 +259,10 @@
.panel-body {
display: grid;
grid-template-columns: minmax(0, 1.1fr) minmax(10rem, 0.9fr);
grid-template-columns: minmax(0, 1fr);
gap: 0.72rem;
block-size: clamp(12rem, 15.5vw, 15rem);
min-block-size: clamp(12rem, 15.5vw, 15rem);
min-block-size: 5rem;
}
.compass-stage {
@@ -433,76 +415,49 @@
background: linear-gradient(180deg, rgb(var(--hud-surface-deep-rgb) / 0.06), rgb(var(--hud-surface-deep-rgb) / 0.18));
}
.angle-stage {
border: 1px solid rgb(var(--hud-border-rgb) / 0.26);
border-radius: 0.62rem;
padding: 0.9rem 0.85rem;
block-size: 100%;
min-block-size: 0;
overflow: hidden;
background:
linear-gradient(180deg, rgb(var(--hud-surface-rgb) / 0.72), rgb(var(--hud-surface-deep-rgb) / 0.84)),
radial-gradient(circle at 50% 0, rgb(var(--hud-glow-rgb) / 0.05), transparent 58%);
display: grid;
grid-template-rows: auto auto auto;
align-content: center;
justify-items: start;
gap: 0.36rem;
}
.angle-label {
margin: 0;
color: rgb(var(--hud-text-dim-rgb) / 0.82);
font-size: 0.68rem;
letter-spacing: 0.08em;
text-transform: uppercase;
}
.angle-meta {
margin: 0;
inline-size: 10rem;
min-block-size: 1rem;
white-space: nowrap;
overflow: hidden;
text-overflow: ellipsis;
color: rgb(var(--hud-text-dim-rgb) / 0.84);
font-size: 0.68rem;
font-variant-numeric: tabular-nums;
letter-spacing: 0.05em;
}
@media (max-width: 1180px) {
.signal-panel {
inline-size: min(100%, clamp(28rem, 40vw, 38rem));
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: min(100%, clamp(28rem, 38vw, 36rem));
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: min(100%, clamp(24rem, 34vw, 30rem));
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(9rem, 10vw, 10.8rem);
min-block-size: clamp(9rem, 10vw, 10.8rem);
block-size: clamp(8rem, 9.5vw, 9.8rem);
}
}
@media (max-height: 680px) {
.signal-panel {
inline-size: min(100%, clamp(20rem, 28vw, 26rem));
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) {

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

@@ -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;
@@ -64,13 +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;
@@ -107,7 +98,6 @@ export interface HudCopy {
deviceLabel: string;
sampleRateLabel: string;
channelsLabel: string;
configLinksLabel: string;
refreshPortsLabel: string;
connectActionLabel: string;
disconnectActionLabel: string;
@@ -169,6 +159,7 @@ export interface SerialRecordStateResult {
export interface SerialImportFrameResult {
data: number[];
dtsMs: number;
spatialForce: HudSpatialForce | null;
}
export interface SerialImportResult {

282
src/routes/+page.svelte
View File

@@ -19,7 +19,6 @@
FileExplorerRoot,
HudColorMapOption,
HudCopy,
HudConfigLink,
HudNoticeTone,
HudPacket,
HudSpatialForce,
@@ -28,7 +27,6 @@
HudSignalSeries,
HudSummary,
LocaleCode,
MatrixDisplayMode,
SerialConnectResult,
SerialExportResult,
SerialRecordStateResult,
@@ -44,6 +42,7 @@
interface ReplayFrame {
values: number[];
dtsMs: number;
spatialForce?: HudSpatialForce | null;
}
interface DevKitPztAngleEvent {
@@ -51,6 +50,20 @@
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> = {
@@ -69,7 +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",
@@ -84,7 +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",
@@ -146,7 +158,6 @@
deviceLabel: "Device",
sampleRateLabel: "Sample Rate",
channelsLabel: "Channels",
configLinksLabel: "Config Links",
refreshPortsLabel: "Refresh",
connectActionLabel: "Connect",
disconnectActionLabel: "Disconnect",
@@ -229,9 +240,6 @@
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();
@@ -243,7 +251,6 @@
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;
@@ -253,6 +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;
@@ -282,14 +291,6 @@
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);
@@ -306,10 +307,6 @@
return typeof window !== "undefined" && "__TAURI_INTERNALS__" in window;
}
function serialProtocolForStage(mode: StageViewMode = stageViewMode): "tactileA" | "handGateway" {
return mode === "model3d" ? "handGateway" : "tactileA";
}
function clearDevkitSpatialForce(): void {
devkitSpatialForce = null;
if (devkitSpatialForceClearTimer != null && typeof window !== "undefined") {
@@ -687,7 +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;
@@ -717,7 +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);
@@ -738,6 +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);
@@ -758,6 +794,7 @@
function resetReplayVisualState(): void {
pressureMatrix = buildZeroMatrix();
spatialForce = null;
replayPendingDevkitSeq = null;
clearDevkitSpatialForce();
signalPanels = buildInactivePanels();
summary = buildEmptySummary();
@@ -793,9 +830,10 @@
replayCurrentIndex = safeIndex;
replayHasDisplayedFrame = true;
replayProgress = replayFrames.length > 1 ? safeIndex / (replayFrames.length - 1) : 1;
pressureMatrix = frameValuesToMatrix(replayFrames[safeIndex].values);
spatialForce = null;
clearDevkitSpatialForce();
const frame = replayFrames[safeIndex];
pressureMatrix = frameValuesToMatrix(frame.values);
spatialForce = frame.spatialForce ?? null;
pushReplayFrameToDevkit(frame, safeIndex);
signalPanels = buildInactivePanels();
summary = buildReplaySummaryAt(safeIndex);
hasSignalData = true;
@@ -1054,8 +1092,7 @@
hasSignalData =
signalPanels.length > 0 ||
packet.summary.points.length > 0 ||
spatialForce !== null ||
devkitSpatialForce !== null;
spatialForce !== null;
}
function clearHudPanels(): void {
@@ -1089,69 +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;
@@ -1449,10 +1423,7 @@
connectionNotice = "";
try {
const result = await invoke<SerialConnectResult>("serial_connect", {
port: event.detail,
protocol: serialProtocolForStage()
});
const result = await invoke<SerialConnectResult>("serial_connect", { port: event.detail });
connectionState = result.connected ? "online" : "offline";
serialPortValue = result.port;
connectionNotice = "";
@@ -1704,37 +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;
@@ -1803,52 +1743,13 @@
}
}
function handleMatrixDisplayToggle(event: CustomEvent<boolean>): void {
matrixDisplayMode = event.detail ? "dots" : "numeric";
}
async function handleStageModeChange(event: CustomEvent<StageViewMode>): Promise<void> {
const previousMode = stageViewMode;
function handleStageModeChange(event: CustomEvent<StageViewMode>): void {
stageViewMode = event.detail;
if (stageViewMode === "model3d") {
isPrecisionTestOpen = false;
isConfigPanelOpen = false;
}
if (
previousMode === stageViewMode ||
connectionState !== "online" ||
!serialPortValue ||
!isTauriRuntime()
) {
return;
}
connectionState = "connecting";
connectionNotice = "";
try {
await invoke<SerialConnectResult>("serial_disconnect");
const result = await invoke<SerialConnectResult>("serial_connect", {
port: serialPortValue,
protocol: serialProtocolForStage(stageViewMode)
});
connectionState = result.connected ? "online" : "offline";
serialPortValue = result.port;
clearHudPanels();
console.info(`[serial] switched protocol to ${serialProtocolForStage(stageViewMode)}`);
} catch (error) {
connectionState = "offline";
connectionNotice = resolveSerialNotice(error, "connect");
connectionNoticeTone = "warn";
clearHudPanels();
console.error("Serial protocol switch failed:", error);
}
}
onMount(() => {
let disposed = false;
let unlistenHudStream: UnlistenFn | null = null;
let unlistenHandGatewayRaw: UnlistenFn | null = null;
let unlistenDevkitPztAngle: UnlistenFn | null = null;
let stopMockFeed: (() => void) | null = null;
@@ -1873,41 +1774,28 @@
.catch((error) => {
console.error("Failed to listen for hud_stream:", error);
});
void listen<number[]>("hand_gateway_raw", (event) => {
const rawHex = event.payload
.map((byte) => byte.toString(16).padStart(2, "0").toUpperCase())
.join(" ");
console.info(`[hand_gateway][raw] ${rawHex}`);
})
.then((unlisten) => {
if (disposed) {
unlisten();
void listen<DevKitPztAngleEvent>("devkit_pzt_angle", (event) => {
if (replayHasData) {
if (replayPendingDevkitSeq == null || event.payload.seq !== replayPendingDevkitSeq) {
return;
}
replayPendingDevkitSeq = null;
}
unlistenHandGatewayRaw = unlisten;
})
.catch((error) => {
console.error("Failed to listen for hand_gateway_raw:", error);
});
void listen<DevKitPztAngleEvent>("devkit_pzt_angle", (event) => {
const angleDeg = Number(event.payload.angle);
if (!Number.isFinite(angleDeg)) {
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: 0,
magnitude,
confidence: 0
};
scheduleDevkitSpatialForceClear();
hasSignalData =
signalPanels.length > 0 ||
summary.points.length > 0 ||
spatialForce !== null ||
devkitSpatialForce !== null;
})
.then((unlisten) => {
if (disposed) {
@@ -1930,7 +1818,6 @@
clearDevkitSpatialForce();
stopMockFeed?.();
unlistenHudStream?.();
unlistenHandGatewayRaw?.();
unlistenDevkitPztAngle?.();
if (devkitStatusTimer != null) {
window.clearInterval(devkitStatusTimer);
@@ -1967,15 +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}
@@ -1988,7 +1869,6 @@
noticeCancelLabel={locale === "zh-CN" ? "取消" : "Cancel"}
noticeShowActions={updateNoticeVisible}
noticeActionBusy={updateInstallBusy}
{configLinks}
{isRefreshingPorts}
{isExporting}
isConnectDisabled={!serialPortValue || connectionState === "connecting"}
@@ -1997,8 +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}
@@ -2019,7 +1897,6 @@
bind:rangeMin
bind:rangeMax
bind:colorMapPreset
bind:matrixDisplayMode
{stageViewMode}
configPanelTitle={uiCopy.configPanelTitle}
configPanelHint={uiCopy.configPanelHint}
@@ -2048,18 +1925,15 @@
rightPanels={rightSignalPanels}
{pressureMatrix}
{spatialForce}
{devkitSpatialForce}
showConfigPanel={isConfigPanelOpen}
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">