Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
|
50b3741b1a |
6
.gitignore
vendored
6
.gitignore
vendored
@@ -25,12 +25,6 @@ vite.config.ts.timestamp-*
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/src-tauri/target/
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/src-tauri/target-codex-check*/
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/src-tauri/gen/schemas/
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||||
/src-tauri/gen/android/app/build/
|
||||
/src-tauri/gen/android/buildSrc/build/
|
||||
/src-tauri/gen/android/.gradle/
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||||
/src-tauri/gen/android/app/.gradle/
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/src-tauri/gen/android/buildSrc/.gradle/
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||||
/src-tauri/gen/android/build/reports/
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||||
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/src-tauri/program.log*
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/src-tauri/recording_replay_debug_*.csv
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||||
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3
.gitmodules
vendored
3
.gitmodules
vendored
@@ -1,3 +0,0 @@
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||||
[submodule "eskin-finger-sdk"]
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path = eskin-finger-sdk
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url = https://gitea.e-skin.top/yanjie/eskin-finger-sdk.git
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ad_solver.exe
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ad_solver.pdb
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Load Diff
@@ -1,359 +0,0 @@
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||||
('d:\\JE-Skin-main\\devkit\\dist\\je-skin-devkit-server.exe',
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||||
True,
|
||||
False,
|
||||
False,
|
||||
'C:\\Python314\\Lib\\site-packages\\PyInstaller\\bootloader\\images\\icon-console.ico',
|
||||
None,
|
||||
False,
|
||||
False,
|
||||
b'<?xml version="1.0" encoding="UTF-8" standalone="yes"?>\n<assembly xmlns='
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||||
b'"urn:schemas-microsoft-com:asm.v1" manifestVersion="1.0">\n <trustInfo x'
|
||||
b'mlns="urn:schemas-microsoft-com:asm.v3">\n <security>\n <requested'
|
||||
b'Privileges>\n <requestedExecutionLevel level="asInvoker" uiAccess='
|
||||
b'"false"/>\n </requestedPrivileges>\n </security>\n </trustInfo>\n '
|
||||
b'<compatibility xmlns="urn:schemas-microsoft-com:compatibility.v1">\n <'
|
||||
b'application>\n <supportedOS Id="{e2011457-1546-43c5-a5fe-008deee3d3f'
|
||||
b'0}"/>\n <supportedOS Id="{35138b9a-5d96-4fbd-8e2d-a2440225f93a}"/>\n '
|
||||
b' <supportedOS Id="{4a2f28e3-53b9-4441-ba9c-d69d4a4a6e38}"/>\n <s'
|
||||
b'upportedOS Id="{1f676c76-80e1-4239-95bb-83d0f6d0da78}"/>\n <supporte'
|
||||
b'dOS Id="{8e0f7a12-bfb3-4fe8-b9a5-48fd50a15a9a}"/>\n </application>\n <'
|
||||
b'/compatibility>\n <application xmlns="urn:schemas-microsoft-com:asm.v3">'
|
||||
b'\n <windowsSettings>\n <longPathAware xmlns="http://schemas.micros'
|
||||
b'oft.com/SMI/2016/WindowsSettings">true</longPathAware>\n </windowsSett'
|
||||
b'ings>\n </application>\n <dependency>\n <dependentAssembly>\n <ass'
|
||||
b'emblyIdentity type="win32" name="Microsoft.Windows.Common-Controls" version='
|
||||
b'"6.0.0.0" processorArchitecture="*" publicKeyToken="6595b64144ccf1df" langua'
|
||||
b'ge="*"/>\n </dependentAssembly>\n </dependency>\n</assembly>',
|
||||
True,
|
||||
False,
|
||||
None,
|
||||
None,
|
||||
None,
|
||||
'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\je-skin-devkit-server.pkg',
|
||||
[('pyi-contents-directory _internal', '', 'OPTION'),
|
||||
('PYZ-00.pyz',
|
||||
'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\PYZ-00.pyz',
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||||
'PYZ'),
|
||||
('struct',
|
||||
'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\struct.pyc',
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||||
'PYMODULE'),
|
||||
('pyimod01_archive',
|
||||
'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod01_archive.pyc',
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||||
'PYMODULE'),
|
||||
('pyimod02_importers',
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||||
'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod02_importers.pyc',
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'PYMODULE'),
|
||||
('pyimod03_ctypes',
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||||
'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod03_ctypes.pyc',
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'PYMODULE'),
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||||
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'PYMODULE'),
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||||
('pyiboot01_bootstrap',
|
||||
'C:\\Python314\\Lib\\site-packages\\PyInstaller\\loader\\pyiboot01_bootstrap.py',
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'PYSOURCE'),
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'PYSOURCE'),
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'C:\\Python314\\Lib\\site-packages\\PyInstaller\\hooks\\rthooks\\pyi_rth_pkgutil.py',
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'PYSOURCE'),
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('pyi_rth_multiprocessing',
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'PYSOURCE'),
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'BINARY'),
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'EXTENSION'),
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'EXTENSION'),
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||||
('grpc\\_cython\\_credentials\\roots.pem',
|
||||
'C:\\Python314\\Lib\\site-packages\\grpc\\_cython\\_credentials\\roots.pem',
|
||||
'DATA'),
|
||||
('grpc\\_cython\\_cygrpc\\private_key_signing\\private_key_signer_py_wrapper.h',
|
||||
'C:\\Python314\\Lib\\site-packages\\grpc\\_cython\\_cygrpc\\private_key_signing\\private_key_signer_py_wrapper.h',
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|
||||
('grpc\\_cython\\_cygrpc\\private_key_signing\\private_key_signer_py_wrapper.cc',
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||||
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'DATA'),
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||||
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'DATA'),
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||||
('numpy-2.4.4.dist-info\\INSTALLER',
|
||||
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||||
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||||
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|
||||
('numpy-2.4.4.dist-info\\licenses\\numpy\\fft\\pocketfft\\LICENSE.md',
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|
||||
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|
||||
('numpy-2.4.4.dist-info\\licenses\\numpy\\linalg\\lapack_lite\\LICENSE.txt',
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||||
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|
||||
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|
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|
||||
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|
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||||
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|
||||
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|
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'DATA'),
|
||||
('numpy-2.4.4.dist-info\\licenses\\numpy\\ma\\LICENSE',
|
||||
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|
||||
'DATA'),
|
||||
('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\umath\\svml\\LICENSE',
|
||||
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|
||||
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|
||||
('numpy-2.4.4.dist-info\\entry_points.txt',
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
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@@ -1,245 +0,0 @@
|
||||
|
||||
This file lists modules PyInstaller was not able to find. This does not
|
||||
necessarily mean these modules are required for running your program. Both
|
||||
Python's standard library and 3rd-party Python packages often conditionally
|
||||
import optional modules, some of which may be available only on certain
|
||||
platforms.
|
||||
|
||||
Types of import:
|
||||
* top-level: imported at the top-level - look at these first
|
||||
* conditional: imported within an if-statement
|
||||
* delayed: imported within a function
|
||||
* optional: imported within a try-except-statement
|
||||
|
||||
IMPORTANT: Do NOT post this list to the issue-tracker. Use it as a basis for
|
||||
tracking down the missing module yourself. Thanks!
|
||||
|
||||
missing module named pwd - imported by posixpath (delayed, conditional, optional), shutil (delayed, optional), tarfile (optional), pathlib (optional), netrc (delayed, optional), subprocess (delayed, conditional, optional), http.server (delayed, optional)
|
||||
missing module named grp - imported by shutil (delayed, optional), tarfile (optional), pathlib (optional), subprocess (delayed, conditional, optional)
|
||||
missing module named 'collections.abc' - imported by _colorize (top-level), typing (top-level), traceback (top-level), logging (top-level), selectors (top-level), http.client (top-level), importlib.resources.readers (top-level), inspect (top-level), tracemalloc (top-level), multiprocessing.managers (top-level), typing_extensions (top-level), asyncio.base_events (top-level), asyncio.coroutines (top-level), grpc.aio._metadata (top-level), google.protobuf.internal.containers (top-level), google.protobuf.internal.well_known_types (top-level), numpy._typing._array_like (top-level), numpy._typing._nested_sequence (conditional), numpy._typing._shape (top-level), numpy._typing._dtype_like (top-level), numpy.lib._function_base_impl (top-level), _pyrepl.types (top-level), numpy.lib._npyio_impl (top-level), numpy.random._common (top-level), numpy.random._generator (top-level), numpy.random.bit_generator (top-level), numpy.random.mtrand (top-level), numpy.polynomial._polybase (top-level), xml.etree.ElementTree (top-level)
|
||||
missing module named _posixsubprocess - imported by subprocess (conditional), multiprocessing.util (delayed)
|
||||
missing module named fcntl - imported by pathlib._os (optional), subprocess (optional)
|
||||
missing module named _posixshmem - imported by multiprocessing.resource_tracker (conditional), multiprocessing.shared_memory (conditional)
|
||||
missing module named _scproxy - imported by urllib.request (conditional)
|
||||
missing module named posix - imported by posixpath (optional), shutil (conditional), importlib._bootstrap_external (conditional), pathlib._os (optional), os (conditional, optional), _pyrepl.trace (conditional)
|
||||
missing module named resource - imported by posix (top-level)
|
||||
missing module named _frozen_importlib_external - imported by importlib._bootstrap (delayed), importlib (optional), importlib.abc (optional), zipimport (top-level)
|
||||
excluded module named _frozen_importlib - imported by importlib (optional), importlib.abc (optional), zipimport (top-level)
|
||||
missing module named multiprocessing.BufferTooShort - imported by multiprocessing (top-level), multiprocessing.connection (top-level)
|
||||
missing module named multiprocessing.AuthenticationError - imported by multiprocessing (top-level), multiprocessing.forkserver (top-level), multiprocessing.connection (top-level)
|
||||
missing module named multiprocessing.get_context - imported by multiprocessing (top-level), multiprocessing.pool (top-level), multiprocessing.managers (top-level), multiprocessing.sharedctypes (top-level)
|
||||
missing module named multiprocessing.TimeoutError - imported by multiprocessing (top-level), multiprocessing.pool (top-level)
|
||||
missing module named multiprocessing.set_start_method - imported by multiprocessing (top-level), multiprocessing.spawn (top-level)
|
||||
missing module named multiprocessing.get_start_method - imported by multiprocessing (top-level), multiprocessing.spawn (top-level)
|
||||
missing module named pyimod02_importers - imported by C:\Python314\Lib\site-packages\PyInstaller\hooks\rthooks\pyi_rth_pkgutil.py (delayed)
|
||||
missing module named _dummy_thread - imported by numpy._core.arrayprint (optional)
|
||||
missing module named 'numpy_distutils.cpuinfo' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
|
||||
missing module named 'numpy_distutils.fcompiler' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
|
||||
missing module named 'numpy_distutils.command' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
|
||||
missing module named numpy_distutils - imported by numpy.f2py.diagnose (delayed, optional)
|
||||
missing module named charset_normalizer - imported by numpy.f2py.crackfortran (optional)
|
||||
missing module named vms_lib - imported by platform (delayed, optional)
|
||||
missing module named 'java.lang' - imported by platform (delayed, optional)
|
||||
missing module named java - imported by platform (delayed)
|
||||
missing module named psutil - imported by numpy.testing._private.utils (delayed, optional)
|
||||
missing module named termios - imported by tty (top-level), _pyrepl.pager (delayed, optional)
|
||||
missing module named readline - imported by cmd (delayed, conditional, optional), code (delayed, conditional, optional), pdb (delayed, conditional, optional), rlcompleter (optional)
|
||||
missing module named win32pdh - imported by numpy.testing._private.utils (delayed, conditional)
|
||||
missing module named _typeshed - imported by numpy.random.bit_generator (top-level)
|
||||
missing module named numpy.random.RandomState - imported by numpy.random (top-level), numpy.random._generator (top-level)
|
||||
missing module named pyodide_js - imported by threadpoolctl (delayed, optional)
|
||||
missing module named numpy._core.zeros - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.vstack - imported by numpy._core (top-level), numpy.lib._shape_base_impl (top-level), numpy (conditional)
|
||||
missing module named numpy._core.void - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.vecmat - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.vecdot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.ushort - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.unsignedinteger - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.ulonglong - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.ulong - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.uintp - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.uintc - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.uint64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
|
||||
missing module named numpy._core.uint32 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
|
||||
missing module named numpy._core.uint16 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
|
||||
missing module named numpy._core.uint - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.ubyte - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.trunc - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.true_divide - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.transpose - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._function_base_impl (top-level), numpy (conditional)
|
||||
missing module named numpy._core.trace - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.timedelta64 - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.tensordot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.tanh - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.tan - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.swapaxes - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.sum - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.subtract - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.str_ - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.square - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.sqrt - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
|
||||
missing module named numpy._core.spacing - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.sort - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.sinh - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.single - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.signedinteger - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.signbit - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
|
||||
missing module named numpy._core.sign - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.short - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.rint - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.right_shift - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.result_type - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional), numpy.fft._pocketfft (top-level)
|
||||
missing module named numpy._core.remainder - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.reciprocal - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
|
||||
missing module named numpy._core.radians - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.rad2deg - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.prod - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.power - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.positive - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.pi - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.outer - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.ones - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
|
||||
missing module named numpy._core.object_ - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
|
||||
missing module named numpy._core.number - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
|
||||
missing module named numpy._core.not_equal - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.nextafter - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.newaxis - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.negative - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.ndarray - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy.lib._utils_impl (top-level), numpy (conditional)
|
||||
missing module named numpy._core.multiply - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.moveaxis - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.modf - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.mod - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.minimum - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.maximum - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.max - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
|
||||
missing module named numpy._core.matvec - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.matrix_transpose - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.matmul - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.longlong - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.longdouble - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.long - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.logical_xor - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.logical_or - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.logical_not - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.logical_and - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.logaddexp2 - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.logaddexp - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.log10 - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.log2 - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.log1p - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.log - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.linspace - imported by numpy._core (top-level), numpy.lib._index_tricks_impl (top-level), numpy (conditional)
|
||||
missing module named numpy._core.less_equal - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.less - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.left_shift - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.ldexp - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.lcm - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.isscalar - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy.lib._polynomial_impl (top-level), numpy (conditional)
|
||||
missing module named numpy._core.isnat - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional)
|
||||
missing module named numpy._core.isnan - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
|
||||
missing module named numpy._core.isfinite - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.intp - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy._array_api_info (top-level)
|
||||
missing module named numpy._core.integer - imported by numpy._core (conditional), numpy (conditional), numpy.fft._helper (top-level)
|
||||
missing module named numpy._core.intc - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.int64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
|
||||
missing module named numpy._core.int32 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
|
||||
missing module named numpy._core.int16 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
|
||||
missing module named numpy._core.int8 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
|
||||
missing module named numpy._core.inf - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
|
||||
missing module named numpy._core.inexact - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.iinfo - imported by numpy._core (top-level), numpy.lib._twodim_base_impl (top-level), numpy (conditional)
|
||||
missing module named numpy._core.hypot - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.hstack - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
|
||||
missing module named numpy._core.heaviside - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.half - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.greater_equal - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.greater - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.gcd - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.frompyfunc - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.frexp - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.fmod - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.fmin - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.fmax - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.floor_divide - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.floor - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.floating - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.float_power - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.float32 - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy._array_api_info (top-level)
|
||||
missing module named numpy._core.float16 - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.finfo - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
|
||||
missing module named numpy._core.fabs - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.expm1 - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.exp2 - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.exp - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.euler_gamma - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.errstate - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
|
||||
missing module named numpy._core.equal - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.empty_like - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
|
||||
missing module named numpy._core.empty - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy.fft._helper (top-level)
|
||||
missing module named numpy._core.e - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.double - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.dot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
|
||||
missing module named numpy._core.divmod - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.divide - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.diagonal - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.degrees - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.deg2rad - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.datetime64 - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.csingle - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.cross - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.count_nonzero - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.cosh - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.cos - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.copysign - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.conjugate - imported by numpy._core (conditional), numpy (conditional), numpy.fft._pocketfft (top-level)
|
||||
missing module named numpy._core.conj - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.complexfloating - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.complex64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
|
||||
missing module named numpy._core.clongdouble - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.character - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.ceil - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.cdouble - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.cbrt - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.bytes_ - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.byte - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.bool_ - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.bitwise_xor - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.bitwise_or - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.bitwise_count - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.bitwise_and - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.atleast_3d - imported by numpy._core (top-level), numpy.lib._shape_base_impl (top-level), numpy (conditional)
|
||||
missing module named numpy._core.atleast_2d - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.atleast_1d - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
|
||||
missing module named numpy._core.asarray - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._array_utils_impl (top-level), numpy (conditional), numpy.fft._helper (top-level), numpy.fft._pocketfft (top-level)
|
||||
missing module named numpy._core.asanyarray - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.array_repr - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional)
|
||||
missing module named numpy._core.array2string - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
|
||||
missing module named numpy._core.array - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
|
||||
missing module named numpy._core.argsort - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.arctanh - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.arctan2 - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.arctan - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.arcsinh - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.arcsin - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.arccosh - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.arccos - imported by numpy._core (conditional), numpy (conditional)
|
||||
missing module named numpy._core.arange - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy.fft._helper (top-level)
|
||||
missing module named numpy._core.amin - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.amax - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named numpy._core.all - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
|
||||
missing module named numpy._core.add - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
|
||||
missing module named yaml - imported by numpy.__config__ (delayed)
|
||||
missing module named numpy._distributor_init_local - imported by numpy (optional), numpy._distributor_init (optional)
|
||||
missing module named defusedxml - imported by openpyxl.xml (delayed, optional)
|
||||
missing module named lxml - imported by openpyxl.xml (delayed, optional)
|
||||
missing module named 'defusedxml.ElementTree' - imported by openpyxl.xml.functions (conditional)
|
||||
missing module named 'lxml.etree' - imported by openpyxl.xml.functions (conditional)
|
||||
missing module named PIL - imported by openpyxl.drawing.image (optional)
|
||||
missing module named openpyxl.tests - imported by openpyxl.reader.excel (optional)
|
||||
missing module named google.protobuf.pyext._message - imported by google.protobuf.pyext (conditional, optional), google.protobuf.internal.api_implementation (conditional, optional), google.protobuf.descriptor (conditional), google.protobuf.pyext.cpp_message (conditional)
|
||||
missing module named google.protobuf.enable_deterministic_proto_serialization - imported by google.protobuf (optional), google.protobuf.internal.api_implementation (optional)
|
||||
missing module named google.protobuf.internal._api_implementation - imported by google.protobuf.internal (optional), google.protobuf.internal.api_implementation (optional)
|
||||
missing module named grpc_reflection - imported by grpc (optional)
|
||||
missing module named grpc_health - imported by grpc (optional)
|
||||
missing module named pkg_resources - imported by grpc_tools.protoc (conditional)
|
||||
File diff suppressed because it is too large
Load Diff
BIN
devkit/dist/je-skin-devkit-server.exe
vendored
BIN
devkit/dist/je-skin-devkit-server.exe
vendored
Binary file not shown.
Binary file not shown.
@@ -5,8 +5,8 @@ a = Analysis(
|
||||
['sensor_server.py'],
|
||||
pathex=[],
|
||||
binaries=[],
|
||||
datas=[],
|
||||
hiddenimports=[],
|
||||
datas=[('sensor_stream_pb2.py', '.'), ('sensor_stream_pb2_grpc.py', '.')],
|
||||
hiddenimports=['grpc', 'openpyxl', 'numpy'],
|
||||
hookspath=[],
|
||||
hooksconfig={},
|
||||
runtime_hooks=[],
|
||||
|
||||
@@ -26,6 +26,7 @@ import sys
|
||||
import time
|
||||
from concurrent import futures
|
||||
from pathlib import Path
|
||||
|
||||
import grpc
|
||||
import sensor_stream_pb2
|
||||
import sensor_stream_pb2_grpc
|
||||
@@ -230,56 +231,30 @@ def _append_analysis_log(source_csv: str, stats: dict):
|
||||
class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
|
||||
"""接收实时传感器帧（streaming）"""
|
||||
|
||||
_csv_path = None # 类变量，记录当前 CSV 路径
|
||||
|
||||
def __init__(self):
|
||||
self.frame_count = 0
|
||||
self.last_report_time = time.time()
|
||||
self.last_angle = None
|
||||
self._csv_file = None
|
||||
self._csv_writer = None
|
||||
|
||||
def _open_csv(self):
|
||||
"""打开一个新的 CSV 文件用于持续写入"""
|
||||
ts = time.strftime("%Y%m%d_%H%M%S")
|
||||
SensorPushServicer._csv_path = os.path.join(os.getcwd(), f"sensor_log_{ts}.csv")
|
||||
self._csv_file = open(SensorPushServicer._csv_path, "w", newline="", encoding="utf-8-sig")
|
||||
self._csv_writer = csv.writer(self._csv_file)
|
||||
header = ["seq", "timestamp_ms", "dts_ms", "angle", "magnitude", "state", "cop_x", "cop_y", "base_x", "base_y", "resultant_force"] + [f"ch{i}" for i in range(SENSOR_ROWS * SENSOR_COLS)]
|
||||
self._csv_writer.writerow(header)
|
||||
self._csv_file.flush()
|
||||
print(f"[SensorPush] CSV logging to: {SensorPushServicer._csv_path}")
|
||||
|
||||
def _close_csv(self):
|
||||
"""关闭 CSV 文件"""
|
||||
if self._csv_file:
|
||||
self._csv_file.close()
|
||||
print(f"[SensorPush] CSV saved: {SensorPushServicer._csv_path}")
|
||||
self._csv_file = None
|
||||
self._csv_writer = None
|
||||
|
||||
def Upload(self, request_iterator, context):
|
||||
print("[SensorPush] Client connected, waiting for frames...")
|
||||
reset_baseline()
|
||||
self.last_angle = None
|
||||
self.frame_count = 0
|
||||
self._open_csv()
|
||||
|
||||
for frame in request_iterator:
|
||||
self.frame_count += 1
|
||||
angle = 0.0
|
||||
magnitude = 0.0
|
||||
state = 0
|
||||
ok = True
|
||||
message = "OK"
|
||||
cop_x = cop_y = base_x = base_y = 0.0
|
||||
total_press = 0.0
|
||||
threshold = 0.0
|
||||
if len(frame.matrix) == SENSOR_ROWS * SENSOR_COLS:
|
||||
try:
|
||||
angle, magnitude, state, cop_x, cop_y, base_x, base_y, total_press, threshold = get_pzt_angle(frame.matrix)
|
||||
angle = get_pzt_angle(frame.matrix)
|
||||
self.last_angle = angle
|
||||
print(f"devkit: angle={angle:.2f}, magnitude={magnitude:.4f}, state={state}, cop_x={cop_x:.4f}, cop_y={cop_y:.4f}, base_x={base_x:.4f}, base_y={base_y:.4f}, total_press={total_press:.2f}, thresh={threshold:.2f}")
|
||||
if self.frame_count <= 10 or self.frame_count % 30 == 0:
|
||||
print(
|
||||
f"[SensorPush] PZT angle frame #{frame.seq} "
|
||||
f"dts={frame.dts_ms} angle={angle:.2f}"
|
||||
)
|
||||
except Exception as e:
|
||||
ok = False
|
||||
message = str(e)
|
||||
@@ -287,18 +262,6 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
|
||||
else:
|
||||
ok = False
|
||||
message = f"Invalid matrix length: {len(frame.matrix)}"
|
||||
print(f"[Recv #{frame.seq}] INVALID len={len(frame.matrix)}")
|
||||
|
||||
# 持续写入 CSV
|
||||
if self._csv_writer:
|
||||
row = [frame.seq, frame.timestamp_ms, frame.dts_ms,
|
||||
f"{angle:.4f}", f"{magnitude:.4f}", state,
|
||||
f"{cop_x:.4f}", f"{cop_y:.4f}", f"{base_x:.4f}", f"{base_y:.4f}",
|
||||
frame.resultant_force]
|
||||
row += list(frame.matrix)
|
||||
self._csv_writer.writerow(row)
|
||||
if self.frame_count % 10 == 0:
|
||||
self._csv_file.flush()
|
||||
|
||||
yield sensor_stream_pb2.PztAngleResponse(
|
||||
seq=frame.seq,
|
||||
@@ -307,14 +270,6 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
|
||||
dts_ms=frame.dts_ms,
|
||||
ok=ok,
|
||||
message=message,
|
||||
magnitude=magnitude,
|
||||
state=state,
|
||||
cop_x=cop_x,
|
||||
cop_y=cop_y,
|
||||
base_x=base_x,
|
||||
base_y=base_y,
|
||||
total_press=total_press,
|
||||
threshold=threshold,
|
||||
)
|
||||
|
||||
if self.frame_count % 100 == 0:
|
||||
@@ -335,7 +290,6 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
|
||||
f"total={self.frame_count} | ~{fps:.1f} fps"
|
||||
)
|
||||
|
||||
self._close_csv()
|
||||
print(f"[SensorPush] Stream ended. Total: {self.frame_count}")
|
||||
|
||||
|
||||
@@ -396,84 +350,67 @@ def serve(port: int):
|
||||
|
||||
|
||||
import numpy as np
|
||||
from collections import deque
|
||||
import threading
|
||||
|
||||
# ===================== 算法参数=====================
|
||||
COP_INIT_MEDIAN_FRAMES = 1 # 初始COP取中位数的帧数
|
||||
NOISE_COLLECT_FRAMES = 10 # 动态阈值基线采集帧数
|
||||
THRESH_K = 5 # 阈值 = K * mean
|
||||
TOTAL_PRESSURE_LOW_THRESHOLD = 500
|
||||
COP_STABILITY_FRAMES_REQUIRED = 5
|
||||
SENSOR_ROWS = 12
|
||||
SENSOR_COLS = 7
|
||||
|
||||
# ===================== 二次静置精修参数 =====================
|
||||
POST_INIT_WINDOW_CNT = 60000
|
||||
POST_INIT_STABLE_CNT = 100
|
||||
POST_INIT_STABLE_THRESH = 0.1
|
||||
|
||||
# ===================== 线程安全全局状态 =====================
|
||||
first_frame = None
|
||||
first_frame_lock = threading.Lock()
|
||||
|
||||
first_contact_CoP_x = None
|
||||
first_contact_CoP_y = None
|
||||
contact_initialized = False
|
||||
|
||||
# 候选初始CoP缓冲
|
||||
cop_init_x_buf = deque(maxlen=COP_INIT_MEDIAN_FRAMES)
|
||||
cop_init_y_buf = deque(maxlen=COP_INIT_MEDIAN_FRAMES)
|
||||
total_pressure_low_counter = 0
|
||||
|
||||
# 动态阈值
|
||||
noise_sum_buf = deque(maxlen=NOISE_COLLECT_FRAMES)
|
||||
dynamic_thresh = None
|
||||
# ===================== 基线减除 =====================
|
||||
def subtract_baseline(current_frame):
|
||||
global first_frame
|
||||
current_frame = np.array(current_frame, dtype=np.float32).flatten()
|
||||
|
||||
# 二次静置精修状态
|
||||
post_init_frame_cnt = 0
|
||||
post_stable_cnt = 0
|
||||
post_refined_flag = False
|
||||
post_cand_x = None
|
||||
post_cand_y = None
|
||||
with first_frame_lock:
|
||||
if first_frame is None:
|
||||
first_frame = current_frame.copy()
|
||||
|
||||
diff = current_frame - first_frame
|
||||
return np.clip(diff, 0, None)
|
||||
|
||||
# ===================== 重置CoP状态 =====================
|
||||
def reset_cop_state():
|
||||
global first_contact_CoP_x, first_contact_CoP_y, contact_initialized
|
||||
global post_init_frame_cnt, post_stable_cnt, post_refined_flag
|
||||
global post_cand_x, post_cand_y
|
||||
global total_pressure_low_counter
|
||||
|
||||
first_contact_CoP_x = None
|
||||
first_contact_CoP_y = None
|
||||
contact_initialized = False
|
||||
cop_init_x_buf.clear()
|
||||
cop_init_y_buf.clear()
|
||||
post_init_frame_cnt = 0
|
||||
post_stable_cnt = 0
|
||||
post_refined_flag = False
|
||||
post_cand_x = None
|
||||
post_cand_y = None
|
||||
|
||||
total_pressure_low_counter = 0
|
||||
|
||||
# ===================== CoP压力中心计算 =====================
|
||||
def compute_pressure_direction(raw_frame):
|
||||
def compute_pressure_direction(baseline_subtracted_frame):
|
||||
global first_contact_CoP_x, first_contact_CoP_y, contact_initialized
|
||||
global post_init_frame_cnt, post_stable_cnt, post_refined_flag
|
||||
global post_cand_x, post_cand_y
|
||||
global noise_sum_buf, dynamic_thresh
|
||||
global total_pressure_low_counter
|
||||
|
||||
rows, cols = SENSOR_ROWS, SENSOR_COLS
|
||||
frame_flat = np.asarray(raw_frame, dtype=np.float32).flatten()
|
||||
frame_flat = np.asarray(baseline_subtracted_frame, dtype=np.float32).flatten()
|
||||
frame2d = frame_flat.reshape(rows, cols)
|
||||
|
||||
total_pressure = np.sum(frame2d)
|
||||
if total_pressure < TOTAL_PRESSURE_LOW_THRESHOLD:
|
||||
total_pressure_low_counter += 1
|
||||
else:
|
||||
total_pressure_low_counter = 0
|
||||
|
||||
# 动态阈值
|
||||
if dynamic_thresh is None:
|
||||
noise_sum_buf.append(total_pressure)
|
||||
if len(noise_sum_buf) >= NOISE_COLLECT_FRAMES:
|
||||
sums = np.array(noise_sum_buf)
|
||||
dynamic_thresh = THRESH_K * float(np.mean(sums))
|
||||
|
||||
# 低压重置
|
||||
if total_pressure == 0 or (dynamic_thresh is not None and total_pressure < dynamic_thresh):
|
||||
if contact_initialized and dynamic_thresh is not None:
|
||||
if total_pressure_low_counter >= COP_STABILITY_FRAMES_REQUIRED:
|
||||
reset_cop_state()
|
||||
return 0.0, 0.0, 0, rows-1, 0, cols-1, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0.0, dynamic_thresh
|
||||
return 0.0, 0.0
|
||||
|
||||
if total_pressure == 0:
|
||||
return 0.0, 0.0
|
||||
|
||||
x_grid = np.tile(np.arange(cols), (rows, 1))
|
||||
y_grid = np.repeat(np.arange(rows), cols).reshape(rows, cols)
|
||||
@@ -482,66 +419,16 @@ def compute_pressure_direction(raw_frame):
|
||||
|
||||
delta_CoP_x = 0.0
|
||||
delta_CoP_y = 0.0
|
||||
base_x = cop_x
|
||||
base_y = cop_y
|
||||
|
||||
# ============ 初始点稳定判断（中位数判定） ============
|
||||
if not contact_initialized:
|
||||
cop_init_x_buf.append(cop_x)
|
||||
cop_init_y_buf.append(cop_y)
|
||||
|
||||
if len(cop_init_x_buf) >= COP_INIT_MEDIAN_FRAMES:
|
||||
first_contact_CoP_x = float(np.median(cop_init_x_buf))
|
||||
first_contact_CoP_y = float(np.median(cop_init_y_buf))
|
||||
first_contact_CoP_x = cop_x
|
||||
first_contact_CoP_y = cop_y
|
||||
contact_initialized = True
|
||||
cop_init_x_buf.clear()
|
||||
cop_init_y_buf.clear()
|
||||
|
||||
# ========== 计算偏移量 ==========
|
||||
else:
|
||||
# 二次静置精修
|
||||
post_init_frame_cnt += 1
|
||||
if not post_refined_flag and post_init_frame_cnt <= POST_INIT_WINDOW_CNT:
|
||||
if post_cand_x is not None:
|
||||
dist_val = np.hypot(cop_x - post_cand_x, cop_y - post_cand_y)
|
||||
if dist_val <= POST_INIT_STABLE_THRESH:
|
||||
post_stable_cnt += 1
|
||||
else:
|
||||
post_cand_x = cop_x
|
||||
post_cand_y = cop_y
|
||||
post_stable_cnt = 1
|
||||
else:
|
||||
post_cand_x = cop_x
|
||||
post_cand_y = cop_y
|
||||
post_stable_cnt = 1
|
||||
|
||||
if post_stable_cnt >= POST_INIT_STABLE_CNT:
|
||||
first_contact_CoP_x = post_cand_x
|
||||
first_contact_CoP_y = post_cand_y
|
||||
post_refined_flag = True
|
||||
else:
|
||||
post_refined_flag = True
|
||||
|
||||
delta_CoP_x = cop_x - first_contact_CoP_x
|
||||
delta_CoP_y = first_contact_CoP_y - cop_y
|
||||
base_x = first_contact_CoP_x
|
||||
base_y = first_contact_CoP_y
|
||||
|
||||
magnitude = np.hypot(delta_CoP_x, delta_CoP_y)
|
||||
if not contact_initialized:
|
||||
state = 0
|
||||
elif not post_refined_flag:
|
||||
state = 1
|
||||
else:
|
||||
state = 2
|
||||
|
||||
return (cop_x, cop_y,
|
||||
0, rows-1, 0, cols-1,
|
||||
delta_CoP_x, delta_CoP_y,
|
||||
base_x, base_y,
|
||||
magnitude, state,
|
||||
total_pressure, dynamic_thresh)
|
||||
delta_CoP_y = cop_y - first_contact_CoP_y
|
||||
|
||||
return delta_CoP_x, delta_CoP_y
|
||||
|
||||
# ===================== 角度计算核心 =====================
|
||||
def compute_vector_angle(x: float, y: float) -> tuple[float, float]:
|
||||
@@ -553,27 +440,23 @@ def compute_vector_angle(x: float, y: float) -> tuple[float, float]:
|
||||
return angle, mag
|
||||
|
||||
def compute_PZT_angle(Px: float, Py: float) -> tuple[float, float]:
|
||||
return compute_vector_angle(Px, Py)
|
||||
|
||||
return compute_vector_angle(Px, -Py)
|
||||
|
||||
# ===================== 核心入口函数 =====================
|
||||
def get_pzt_angle(adc_data):
|
||||
if len(adc_data) != 84:
|
||||
raise ValueError("ADC数据长度必须为84")
|
||||
result = compute_pressure_direction(adc_data)
|
||||
cop_x, cop_y = result[0], result[1]
|
||||
dx, dy = result[6], result[7]
|
||||
base_x, base_y = result[8], result[9]
|
||||
magnitude = result[10]
|
||||
state = int(result[11])
|
||||
total_press = result[12]
|
||||
threshold = result[13]
|
||||
baseline_subtracted = subtract_baseline(adc_data)
|
||||
dx, dy = compute_pressure_direction(baseline_subtracted)
|
||||
pzt_angle, _ = compute_PZT_angle(dx, dy)
|
||||
return pzt_angle, magnitude, state, cop_x, cop_y, base_x, base_y, total_press, threshold
|
||||
|
||||
return pzt_angle
|
||||
|
||||
# ===================== 重置基线（校准用） =====================
|
||||
def reset_baseline():
|
||||
global first_frame
|
||||
with first_frame_lock:
|
||||
first_frame = None
|
||||
reset_cop_state()
|
||||
|
||||
|
||||
|
||||
@@ -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\"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')
|
||||
|
||||
_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=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_start=174
|
||||
_globals['_PZTANGLERESPONSE']._serialized_end=287
|
||||
_globals['_PROCESSREQUEST']._serialized_start=289
|
||||
_globals['_PROCESSREQUEST']._serialized_end=345
|
||||
_globals['_PROCESSRESPONSE']._serialized_start=348
|
||||
_globals['_PROCESSRESPONSE']._serialized_end=514
|
||||
_globals['_SENSORPUSH']._serialized_start=516
|
||||
_globals['_SENSORPUSH']._serialized_end=603
|
||||
_globals['_EXPORTPROCESSOR']._serialized_start=605
|
||||
_globals['_EXPORTPROCESSOR']._serialized_end=700
|
||||
# @@protoc_insertion_point(module_scope)
|
||||
|
||||
@@ -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()
|
||||
98
src-tauri/Cargo.lock
generated
98
src-tauri/Cargo.lock
generated
@@ -8,17 +8,14 @@ version = "0.4.0"
|
||||
dependencies = [
|
||||
"anyhow",
|
||||
"async-stream",
|
||||
"async-trait",
|
||||
"axum 0.8.9",
|
||||
"chrono",
|
||||
"crc",
|
||||
"csv",
|
||||
"dirs",
|
||||
"eskin-finger-sdk",
|
||||
"fern",
|
||||
"futures-util",
|
||||
"humantime",
|
||||
"log",
|
||||
"ndarray",
|
||||
"prost",
|
||||
"prost-types",
|
||||
"protoc-bin-vendored",
|
||||
@@ -1152,6 +1149,23 @@ dependencies = [
|
||||
"windows-sys 0.61.2",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "eskin-finger-sdk"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"chrono",
|
||||
"crc",
|
||||
"crossbeam-channel",
|
||||
"fern",
|
||||
"libc",
|
||||
"log",
|
||||
"serde",
|
||||
"serde_json",
|
||||
"serialport",
|
||||
"thiserror 2.0.18",
|
||||
"uuid",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "event-listener"
|
||||
version = "5.4.1"
|
||||
@@ -2314,9 +2328,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "libc"
|
||||
version = "0.2.183"
|
||||
version = "0.2.186"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b5b646652bf6661599e1da8901b3b9522896f01e736bad5f723fe7a3a27f899d"
|
||||
checksum = "68ab91017fe16c622486840e4c83c9a37afeff978bd239b5293d61ece587de66"
|
||||
|
||||
[[package]]
|
||||
name = "libloading"
|
||||
@@ -2340,6 +2354,26 @@ dependencies = [
|
||||
"redox_syscall 0.7.4",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "libudev"
|
||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "78b324152da65df7bb95acfcaab55e3097ceaab02fb19b228a9eb74d55f135e0"
|
||||
dependencies = [
|
||||
"libc",
|
||||
"libudev-sys",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "libudev-sys"
|
||||
version = "0.1.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3c8469b4a23b962c1396b9b451dda50ef5b283e8dd309d69033475fa9b334324"
|
||||
dependencies = [
|
||||
"libc",
|
||||
"pkg-config",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "linux-raw-sys"
|
||||
version = "0.12.1"
|
||||
@@ -2442,16 +2476,6 @@ version = "0.8.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "47e1ffaa40ddd1f3ed91f717a33c8c0ee23fff369e3aa8772b9605cc1d22f4c3"
|
||||
|
||||
[[package]]
|
||||
name = "matrixmultiply"
|
||||
version = "0.3.10"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a06de3016e9fae57a36fd14dba131fccf49f74b40b7fbdb472f96e361ec71a08"
|
||||
dependencies = [
|
||||
"autocfg",
|
||||
"rawpointer",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "memchr"
|
||||
version = "2.8.0"
|
||||
@@ -2541,19 +2565,6 @@ version = "0.10.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1d87ecb2933e8aeadb3e3a02b828fed80a7528047e68b4f424523a0981a3a084"
|
||||
|
||||
[[package]]
|
||||
name = "ndarray"
|
||||
version = "0.15.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "adb12d4e967ec485a5f71c6311fe28158e9d6f4bc4a447b474184d0f91a8fa32"
|
||||
dependencies = [
|
||||
"matrixmultiply",
|
||||
"num-complex",
|
||||
"num-integer",
|
||||
"num-traits",
|
||||
"rawpointer",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "ndk"
|
||||
version = "0.9.0"
|
||||
@@ -2619,30 +2630,12 @@ version = "0.1.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "72ef4a56884ca558e5ddb05a1d1e7e1bfd9a68d9ed024c21704cc98872dae1bb"
|
||||
|
||||
[[package]]
|
||||
name = "num-complex"
|
||||
version = "0.4.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
|
||||
dependencies = [
|
||||
"num-traits",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "num-conv"
|
||||
version = "0.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "cf97ec579c3c42f953ef76dbf8d55ac91fb219dde70e49aa4a6b7d74e9919050"
|
||||
|
||||
[[package]]
|
||||
name = "num-integer"
|
||||
version = "0.1.46"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
|
||||
dependencies = [
|
||||
"num-traits",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "num-traits"
|
||||
version = "0.2.19"
|
||||
@@ -3647,12 +3640,6 @@ version = "0.6.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "20675572f6f24e9e76ef639bc5552774ed45f1c30e2951e1e99c59888861c539"
|
||||
|
||||
[[package]]
|
||||
name = "rawpointer"
|
||||
version = "0.2.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
|
||||
|
||||
[[package]]
|
||||
name = "redox_syscall"
|
||||
version = "0.5.18"
|
||||
@@ -4263,6 +4250,7 @@ dependencies = [
|
||||
"core-foundation",
|
||||
"core-foundation-sys",
|
||||
"io-kit-sys",
|
||||
"libudev",
|
||||
"mach2",
|
||||
"nix 0.26.4",
|
||||
"scopeguard",
|
||||
@@ -5565,9 +5553,9 @@ checksum = "b6c140620e7ffbb22c2dee59cafe6084a59b5ffc27a8859a5f0d494b5d52b6be"
|
||||
|
||||
[[package]]
|
||||
name = "uuid"
|
||||
version = "1.22.0"
|
||||
version = "1.23.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a68d3c8f01c0cfa54a75291d83601161799e4a89a39e0929f4b0354d88757a37"
|
||||
checksum = "ddd74a9687298c6858e9b88ec8935ec45d22e8fd5e6394fa1bd4e99a87789c76"
|
||||
dependencies = [
|
||||
"getrandom 0.4.2",
|
||||
"js-sys",
|
||||
|
||||
@@ -15,9 +15,8 @@ name = "tauri_demo_lib"
|
||||
crate-type = ["staticlib", "cdylib", "rlib"]
|
||||
|
||||
[features]
|
||||
default = ["multi-dim"]
|
||||
default = []
|
||||
devkit = ["dep:tonic", "dep:prost", "dep:prost-types", "dep:async-stream", "dep:dirs"]
|
||||
multi-dim = ["dep:ndarray"]
|
||||
|
||||
[build-dependencies]
|
||||
tauri-build = { version = "2", features = [] }
|
||||
@@ -37,22 +36,19 @@ async-stream = { version = "0.3", optional = true }
|
||||
dirs = { version = "6", optional = true }
|
||||
tokio-serial = { version = "5.4.5" }
|
||||
tokio = { version = "1.50.0", features = ["full"] }
|
||||
async-trait = "0.1.89"
|
||||
tokio-util = "0.7.18"
|
||||
serde_json = "1"
|
||||
fern = { version = "0.7.1", features = ["colored", "date-based"] }
|
||||
log = "0.4.29"
|
||||
humantime = "2.3.0"
|
||||
csv = "1.4.0"
|
||||
chrono = "0.4.44"
|
||||
crc = "3.4.0"
|
||||
axum = { version = "0.8", features = ["ws"] }
|
||||
tower-http = { version = "0.6", features = ["cors"] }
|
||||
futures-util = "0.3"
|
||||
uuid = { version = "1", features = ["v4", "serde"] }
|
||||
rand = "0.8"
|
||||
reqwest = { version = "0.12", default-features = false, features = ["json", "rustls-tls"] }
|
||||
ndarray = { version = "0.15", optional = true }
|
||||
eskin-finger-sdk = { path = "../eskin-finger-sdk" }
|
||||
|
||||
[target.'cfg(not(any(target_os = "android", target_os = "ios")))'.dependencies]
|
||||
tauri-plugin-updater = "2"
|
||||
|
||||
@@ -1,5 +0,0 @@
|
||||
# THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
|
||||
|
||||
-keep class com.lenn.tauri_serial.TauriActivity {
|
||||
public app.tauri.plugin.PluginManager getPluginManager();
|
||||
}
|
||||
@@ -1 +0,0 @@
|
||||
{"$schema":"https://schema.tauri.app/config/2","productName":"JE-Skin","version":"0.4.0","identifier":"com.lenn.tauri-serial","app":{"windows":[{"label":"main","create":true,"url":"index.html","dragDropEnabled":true,"center":false,"width":1366.0,"height":860.0,"resizable":true,"maximizable":true,"minimizable":true,"closable":true,"title":"JE-Skin","fullscreen":false,"focus":true,"focusable":true,"transparent":false,"maximized":false,"visible":true,"decorations":false,"alwaysOnBottom":false,"alwaysOnTop":false,"visibleOnAllWorkspaces":false,"contentProtected":false,"skipTaskbar":false,"titleBarStyle":"Visible","hiddenTitle":false,"acceptFirstMouse":false,"shadow":true,"incognito":false,"zoomHotkeysEnabled":false,"browserExtensionsEnabled":false,"useHttpsScheme":false,"javascriptDisabled":false,"allowLinkPreview":true,"disableInputAccessoryView":false,"scrollBarStyle":"default"}],"security":{"freezePrototype":false,"dangerousDisableAssetCspModification":false,"assetProtocol":{"scope":[],"enable":false},"pattern":{"use":"brownfield"},"capabilities":[]},"macOSPrivateApi":false,"withGlobalTauri":false,"enableGTKAppId":false},"build":{"devUrl":"http://localhost:1420/","frontendDist":"../build","beforeDevCommand":"npm run dev","beforeBuildCommand":"npm run build","removeUnusedCommands":false,"additionalWatchFolders":[]},"bundle":{"active":true,"targets":"all","createUpdaterArtifacts":true,"icon":["icons/32x32.png","icons/128x128.png","icons/128x128@2x.png","icons/icon.icns","icons/icon.ico"],"resources":["resources/je-skin-devkit-server.exe"],"useLocalToolsDir":false,"windows":{"digestAlgorithm":null,"certificateThumbprint":null,"timestampUrl":null,"tsp":false,"webviewInstallMode":{"type":"downloadBootstrapper","silent":true},"allowDowngrades":true,"wix":null,"nsis":{"template":"nsis/installer.nsi","headerImage":null,"sidebarImage":null,"installerIcon":"icons/icon.ico","installMode":"both","languages":null,"customLanguageFiles":null,"displayLanguageSelector":false,"compression":"lzma","startMenuFolder":null,"installerHooks":null,"minimumWebview2Version":null},"signCommand":null},"linux":{"appimage":{"bundleMediaFramework":false,"files":{}},"deb":{"files":{}},"rpm":{"release":"1","epoch":0,"files":{}}},"macOS":{"files":{},"minimumSystemVersion":"10.13","hardenedRuntime":true,"dmg":{"windowSize":{"width":660,"height":400},"appPosition":{"x":180,"y":170},"applicationFolderPosition":{"x":480,"y":170}}},"iOS":{"minimumSystemVersion":"14.0"},"android":{"minSdkVersion":24,"autoIncrementVersionCode":false}},"plugins":{}}
|
||||
@@ -1,33 +0,0 @@
|
||||
/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
|
||||
|
||||
// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
// SPDX-License-Identifier: MIT
|
||||
|
||||
@file:Suppress("unused")
|
||||
|
||||
package com.lenn.tauri_serial
|
||||
|
||||
import android.webkit.*
|
||||
|
||||
class Ipc(val webViewClient: RustWebViewClient) {
|
||||
@JavascriptInterface
|
||||
fun postMessage(message: String?) {
|
||||
message?.let {m ->
|
||||
// we're not using WebView::getUrl() here because it needs to be executed on the main thread
|
||||
// and it would slow down the Ipc
|
||||
// so instead we track the current URL on the webview client
|
||||
this.ipc(webViewClient.currentUrl, m)
|
||||
}
|
||||
}
|
||||
|
||||
companion object {
|
||||
init {
|
||||
System.loadLibrary("tauri_demo_lib")
|
||||
}
|
||||
}
|
||||
|
||||
private external fun ipc(url: String, message: String)
|
||||
|
||||
|
||||
}
|
||||
@@ -1,89 +0,0 @@
|
||||
/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
|
||||
|
||||
// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
// SPDX-License-Identifier: MIT
|
||||
|
||||
@file:Suppress("unused", "MemberVisibilityCanBePrivate")
|
||||
|
||||
package com.lenn.tauri_serial
|
||||
|
||||
// taken from https://github.com/ionic-team/capacitor/blob/6658bca41e78239347e458175b14ca8bd5c1d6e8/android/capacitor/src/main/java/com/getcapacitor/Logger.java
|
||||
|
||||
import android.text.TextUtils
|
||||
import android.util.Log
|
||||
|
||||
class Logger {
|
||||
companion object {
|
||||
private const val LOG_TAG_CORE = "Tauri"
|
||||
|
||||
fun tags(vararg subtags: String): String {
|
||||
return if (subtags.isNotEmpty()) {
|
||||
LOG_TAG_CORE + "/" + TextUtils.join("/", subtags)
|
||||
} else LOG_TAG_CORE
|
||||
}
|
||||
|
||||
fun verbose(message: String) {
|
||||
verbose(LOG_TAG_CORE, message)
|
||||
}
|
||||
|
||||
private fun verbose(tag: String, message: String) {
|
||||
if (!shouldLog()) {
|
||||
return
|
||||
}
|
||||
Log.v(tag, message)
|
||||
}
|
||||
|
||||
fun debug(message: String) {
|
||||
debug(LOG_TAG_CORE, message)
|
||||
}
|
||||
|
||||
fun debug(tag: String, message: String) {
|
||||
if (!shouldLog()) {
|
||||
return
|
||||
}
|
||||
Log.d(tag, message)
|
||||
}
|
||||
|
||||
fun info(message: String) {
|
||||
info(LOG_TAG_CORE, message)
|
||||
}
|
||||
|
||||
fun info(tag: String, message: String) {
|
||||
if (!shouldLog()) {
|
||||
return
|
||||
}
|
||||
Log.i(tag, message)
|
||||
}
|
||||
|
||||
fun warn(message: String) {
|
||||
warn(LOG_TAG_CORE, message)
|
||||
}
|
||||
|
||||
fun warn(tag: String, message: String) {
|
||||
if (!shouldLog()) {
|
||||
return
|
||||
}
|
||||
Log.w(tag, message)
|
||||
}
|
||||
|
||||
fun error(message: String) {
|
||||
error(LOG_TAG_CORE, message, null)
|
||||
}
|
||||
|
||||
fun error(message: String, e: Throwable?) {
|
||||
error(LOG_TAG_CORE, message, e)
|
||||
}
|
||||
|
||||
fun error(tag: String, message: String, e: Throwable?) {
|
||||
if (!shouldLog()) {
|
||||
return
|
||||
}
|
||||
Log.e(tag, message, e)
|
||||
}
|
||||
|
||||
private fun shouldLog(): Boolean {
|
||||
return BuildConfig.DEBUG
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,117 +0,0 @@
|
||||
/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
|
||||
|
||||
// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
// SPDX-License-Identifier: MIT
|
||||
|
||||
package com.lenn.tauri_serial
|
||||
|
||||
// taken from https://github.com/ionic-team/capacitor/blob/6658bca41e78239347e458175b14ca8bd5c1d6e8/android/capacitor/src/main/java/com/getcapacitor/PermissionHelper.java
|
||||
|
||||
import android.content.Context
|
||||
import android.content.pm.PackageManager
|
||||
import android.os.Build
|
||||
import androidx.core.app.ActivityCompat
|
||||
import java.util.ArrayList
|
||||
|
||||
object PermissionHelper {
|
||||
/**
|
||||
* Checks if a list of given permissions are all granted by the user
|
||||
*
|
||||
* @param permissions Permissions to check.
|
||||
* @return True if all permissions are granted, false if at least one is not.
|
||||
*/
|
||||
fun hasPermissions(context: Context?, permissions: Array<String>): Boolean {
|
||||
for (perm in permissions) {
|
||||
if (ActivityCompat.checkSelfPermission(
|
||||
context!!,
|
||||
perm
|
||||
) != PackageManager.PERMISSION_GRANTED
|
||||
) {
|
||||
return false
|
||||
}
|
||||
}
|
||||
return true
|
||||
}
|
||||
|
||||
/**
|
||||
* Check whether the given permission has been defined in the AndroidManifest.xml
|
||||
*
|
||||
* @param permission A permission to check.
|
||||
* @return True if the permission has been defined in the Manifest, false if not.
|
||||
*/
|
||||
fun hasDefinedPermission(context: Context, permission: String): Boolean {
|
||||
var hasPermission = false
|
||||
val requestedPermissions = getManifestPermissions(context)
|
||||
if (!requestedPermissions.isNullOrEmpty()) {
|
||||
val requestedPermissionsList = listOf(*requestedPermissions)
|
||||
val requestedPermissionsArrayList = ArrayList(requestedPermissionsList)
|
||||
if (requestedPermissionsArrayList.contains(permission)) {
|
||||
hasPermission = true
|
||||
}
|
||||
}
|
||||
return hasPermission
|
||||
}
|
||||
|
||||
/**
|
||||
* Check whether all of the given permissions have been defined in the AndroidManifest.xml
|
||||
* @param context the app context
|
||||
* @param permissions a list of permissions
|
||||
* @return true only if all permissions are defined in the AndroidManifest.xml
|
||||
*/
|
||||
fun hasDefinedPermissions(context: Context, permissions: Array<String>): Boolean {
|
||||
for (permission in permissions) {
|
||||
if (!hasDefinedPermission(context, permission)) {
|
||||
return false
|
||||
}
|
||||
}
|
||||
return true
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the permissions defined in AndroidManifest.xml
|
||||
*
|
||||
* @return The permissions defined in AndroidManifest.xml
|
||||
*/
|
||||
private fun getManifestPermissions(context: Context): Array<String>? {
|
||||
var requestedPermissions: Array<String>? = null
|
||||
try {
|
||||
val pm = context.packageManager
|
||||
val packageInfo = if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.TIRAMISU) {
|
||||
pm.getPackageInfo(context.packageName, PackageManager.PackageInfoFlags.of(PackageManager.GET_PERMISSIONS.toLong()))
|
||||
} else {
|
||||
@Suppress("DEPRECATION")
|
||||
pm.getPackageInfo(context.packageName, PackageManager.GET_PERMISSIONS)
|
||||
}
|
||||
if (packageInfo != null) {
|
||||
requestedPermissions = packageInfo.requestedPermissions
|
||||
}
|
||||
} catch (_: Exception) {
|
||||
}
|
||||
return requestedPermissions
|
||||
}
|
||||
|
||||
/**
|
||||
* Given a list of permissions, return a new list with the ones not present in AndroidManifest.xml
|
||||
*
|
||||
* @param neededPermissions The permissions needed.
|
||||
* @return The permissions not present in AndroidManifest.xml
|
||||
*/
|
||||
fun getUndefinedPermissions(context: Context, neededPermissions: Array<String?>): Array<String?> {
|
||||
val undefinedPermissions = ArrayList<String?>()
|
||||
val requestedPermissions = getManifestPermissions(context)
|
||||
if (!requestedPermissions.isNullOrEmpty()) {
|
||||
val requestedPermissionsList = listOf(*requestedPermissions)
|
||||
val requestedPermissionsArrayList = ArrayList(requestedPermissionsList)
|
||||
for (permission in neededPermissions) {
|
||||
if (!requestedPermissionsArrayList.contains(permission)) {
|
||||
undefinedPermissions.add(permission)
|
||||
}
|
||||
}
|
||||
var undefinedPermissionArray = arrayOfNulls<String>(undefinedPermissions.size)
|
||||
undefinedPermissionArray = undefinedPermissions.toArray(undefinedPermissionArray)
|
||||
return undefinedPermissionArray
|
||||
}
|
||||
return neededPermissions
|
||||
}
|
||||
}
|
||||
@@ -1,495 +0,0 @@
|
||||
/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
|
||||
|
||||
// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
// SPDX-License-Identifier: MIT
|
||||
|
||||
@file:Suppress("ObsoleteSdkInt", "RedundantOverride", "QueryPermissionsNeeded", "SimpleDateFormat")
|
||||
|
||||
package com.lenn.tauri_serial
|
||||
|
||||
// taken from https://github.com/ionic-team/capacitor/blob/6658bca41e78239347e458175b14ca8bd5c1d6e8/android/capacitor/src/main/java/com/getcapacitor/BridgeWebChromeClient.java
|
||||
|
||||
import android.Manifest
|
||||
import android.app.Activity
|
||||
import android.app.AlertDialog
|
||||
import android.content.ActivityNotFoundException
|
||||
import android.content.DialogInterface
|
||||
import android.content.Intent
|
||||
import android.net.Uri
|
||||
import android.os.Build
|
||||
import android.os.Environment
|
||||
import android.provider.MediaStore
|
||||
import android.view.View
|
||||
import android.webkit.*
|
||||
import android.widget.EditText
|
||||
import androidx.activity.result.ActivityResult
|
||||
import androidx.activity.result.ActivityResultCallback
|
||||
import androidx.activity.result.ActivityResultLauncher
|
||||
import androidx.activity.result.contract.ActivityResultContracts
|
||||
import androidx.core.content.FileProvider
|
||||
import java.io.File
|
||||
import java.io.IOException
|
||||
import java.text.SimpleDateFormat
|
||||
import java.util.*
|
||||
|
||||
class RustWebChromeClient(appActivity: WryActivity) : WebChromeClient() {
|
||||
private interface PermissionListener {
|
||||
fun onPermissionSelect(isGranted: Boolean?)
|
||||
}
|
||||
|
||||
private interface ActivityResultListener {
|
||||
fun onActivityResult(result: ActivityResult?)
|
||||
}
|
||||
|
||||
private val activity: WryActivity
|
||||
private var permissionLauncher: ActivityResultLauncher<Array<String>>
|
||||
private var activityLauncher: ActivityResultLauncher<Intent>
|
||||
private var permissionListener: PermissionListener? = null
|
||||
private var activityListener: ActivityResultListener? = null
|
||||
|
||||
init {
|
||||
activity = appActivity
|
||||
val permissionCallback =
|
||||
ActivityResultCallback { isGranted: Map<String, Boolean> ->
|
||||
if (permissionListener != null) {
|
||||
var granted = true
|
||||
for ((_, value) in isGranted) {
|
||||
if (!value) granted = false
|
||||
}
|
||||
permissionListener!!.onPermissionSelect(granted)
|
||||
}
|
||||
}
|
||||
permissionLauncher =
|
||||
activity.registerForActivityResult(ActivityResultContracts.RequestMultiplePermissions(), permissionCallback)
|
||||
activityLauncher = activity.registerForActivityResult(
|
||||
ActivityResultContracts.StartActivityForResult()
|
||||
) { result ->
|
||||
if (activityListener != null) {
|
||||
activityListener!!.onActivityResult(result)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Render web content in `view`.
|
||||
*
|
||||
* Both this method and [.onHideCustomView] are required for
|
||||
* rendering web content in full screen.
|
||||
*
|
||||
* @see [](https://developer.android.com/reference/android/webkit/WebChromeClient.onShowCustomView
|
||||
) */
|
||||
override fun onShowCustomView(view: View, callback: CustomViewCallback) {
|
||||
callback.onCustomViewHidden()
|
||||
super.onShowCustomView(view, callback)
|
||||
}
|
||||
|
||||
/**
|
||||
* Render web content in the original Web View again.
|
||||
*
|
||||
* Do not remove this method--@see #onShowCustomView(View, CustomViewCallback).
|
||||
*/
|
||||
override fun onHideCustomView() {
|
||||
super.onHideCustomView()
|
||||
}
|
||||
|
||||
override fun onPermissionRequest(request: PermissionRequest) {
|
||||
val isRequestPermissionRequired = Build.VERSION.SDK_INT >= Build.VERSION_CODES.M
|
||||
val permissionList: MutableList<String> = ArrayList()
|
||||
if (listOf(*request.resources).contains("android.webkit.resource.VIDEO_CAPTURE")) {
|
||||
permissionList.add(Manifest.permission.CAMERA)
|
||||
}
|
||||
if (listOf(*request.resources).contains("android.webkit.resource.AUDIO_CAPTURE")) {
|
||||
permissionList.add(Manifest.permission.MODIFY_AUDIO_SETTINGS)
|
||||
permissionList.add(Manifest.permission.RECORD_AUDIO)
|
||||
}
|
||||
if (permissionList.isNotEmpty() && isRequestPermissionRequired) {
|
||||
val permissions = permissionList.toTypedArray()
|
||||
permissionListener = object : PermissionListener {
|
||||
override fun onPermissionSelect(isGranted: Boolean?) {
|
||||
if (isGranted == true) {
|
||||
request.grant(request.resources)
|
||||
} else {
|
||||
request.deny()
|
||||
}
|
||||
}
|
||||
}
|
||||
permissionLauncher.launch(permissions)
|
||||
} else {
|
||||
request.grant(request.resources)
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Show the browser alert modal
|
||||
* @param view
|
||||
* @param url
|
||||
* @param message
|
||||
* @param result
|
||||
* @return
|
||||
*/
|
||||
override fun onJsAlert(view: WebView, url: String, message: String, result: JsResult): Boolean {
|
||||
if (activity.isFinishing) {
|
||||
return true
|
||||
}
|
||||
val builder = AlertDialog.Builder(view.context)
|
||||
builder
|
||||
.setMessage(message)
|
||||
.setPositiveButton(
|
||||
"OK"
|
||||
) { dialog: DialogInterface, _: Int ->
|
||||
dialog.dismiss()
|
||||
result.confirm()
|
||||
}
|
||||
.setOnCancelListener { dialog: DialogInterface ->
|
||||
dialog.dismiss()
|
||||
result.cancel()
|
||||
}
|
||||
val dialog = builder.create()
|
||||
dialog.show()
|
||||
return true
|
||||
}
|
||||
|
||||
/**
|
||||
* Show the browser confirm modal
|
||||
* @param view
|
||||
* @param url
|
||||
* @param message
|
||||
* @param result
|
||||
* @return
|
||||
*/
|
||||
override fun onJsConfirm(view: WebView, url: String, message: String, result: JsResult): Boolean {
|
||||
if (activity.isFinishing) {
|
||||
return true
|
||||
}
|
||||
val builder = AlertDialog.Builder(view.context)
|
||||
builder
|
||||
.setMessage(message)
|
||||
.setPositiveButton(
|
||||
"OK"
|
||||
) { dialog: DialogInterface, _: Int ->
|
||||
dialog.dismiss()
|
||||
result.confirm()
|
||||
}
|
||||
.setNegativeButton(
|
||||
"Cancel"
|
||||
) { dialog: DialogInterface, _: Int ->
|
||||
dialog.dismiss()
|
||||
result.cancel()
|
||||
}
|
||||
.setOnCancelListener { dialog: DialogInterface ->
|
||||
dialog.dismiss()
|
||||
result.cancel()
|
||||
}
|
||||
val dialog = builder.create()
|
||||
dialog.show()
|
||||
return true
|
||||
}
|
||||
|
||||
/**
|
||||
* Show the browser prompt modal
|
||||
* @param view
|
||||
* @param url
|
||||
* @param message
|
||||
* @param defaultValue
|
||||
* @param result
|
||||
* @return
|
||||
*/
|
||||
override fun onJsPrompt(
|
||||
view: WebView,
|
||||
url: String,
|
||||
message: String,
|
||||
defaultValue: String,
|
||||
result: JsPromptResult
|
||||
): Boolean {
|
||||
if (activity.isFinishing) {
|
||||
return true
|
||||
}
|
||||
val builder = AlertDialog.Builder(view.context)
|
||||
val input = EditText(view.context)
|
||||
builder
|
||||
.setMessage(message)
|
||||
.setView(input)
|
||||
.setPositiveButton(
|
||||
"OK"
|
||||
) { dialog: DialogInterface, _: Int ->
|
||||
dialog.dismiss()
|
||||
val inputText1 = input.text.toString().trim { it <= ' ' }
|
||||
result.confirm(inputText1)
|
||||
}
|
||||
.setNegativeButton(
|
||||
"Cancel"
|
||||
) { dialog: DialogInterface, _: Int ->
|
||||
dialog.dismiss()
|
||||
result.cancel()
|
||||
}
|
||||
.setOnCancelListener { dialog: DialogInterface ->
|
||||
dialog.dismiss()
|
||||
result.cancel()
|
||||
}
|
||||
val dialog = builder.create()
|
||||
dialog.show()
|
||||
return true
|
||||
}
|
||||
|
||||
/**
|
||||
* Handle the browser geolocation permission prompt
|
||||
* @param origin
|
||||
* @param callback
|
||||
*/
|
||||
override fun onGeolocationPermissionsShowPrompt(
|
||||
origin: String,
|
||||
callback: GeolocationPermissions.Callback
|
||||
) {
|
||||
super.onGeolocationPermissionsShowPrompt(origin, callback)
|
||||
Logger.debug("onGeolocationPermissionsShowPrompt: DOING IT HERE FOR ORIGIN: $origin")
|
||||
val geoPermissions =
|
||||
arrayOf(Manifest.permission.ACCESS_COARSE_LOCATION, Manifest.permission.ACCESS_FINE_LOCATION)
|
||||
if (!PermissionHelper.hasPermissions(activity, geoPermissions)) {
|
||||
permissionListener = object : PermissionListener {
|
||||
override fun onPermissionSelect(isGranted: Boolean?) {
|
||||
if (isGranted == true) {
|
||||
callback.invoke(origin, true, false)
|
||||
} else {
|
||||
val coarsePermission =
|
||||
arrayOf(Manifest.permission.ACCESS_COARSE_LOCATION)
|
||||
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.S &&
|
||||
PermissionHelper.hasPermissions(activity, coarsePermission)
|
||||
) {
|
||||
callback.invoke(origin, true, false)
|
||||
} else {
|
||||
callback.invoke(origin, false, false)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
permissionLauncher.launch(geoPermissions)
|
||||
} else {
|
||||
// permission is already granted
|
||||
callback.invoke(origin, true, false)
|
||||
Logger.debug("onGeolocationPermissionsShowPrompt: has required permission")
|
||||
}
|
||||
}
|
||||
|
||||
override fun onShowFileChooser(
|
||||
webView: WebView,
|
||||
filePathCallback: ValueCallback<Array<Uri?>?>,
|
||||
fileChooserParams: FileChooserParams
|
||||
): Boolean {
|
||||
val acceptTypes = listOf(*fileChooserParams.acceptTypes)
|
||||
val captureEnabled = fileChooserParams.isCaptureEnabled
|
||||
val capturePhoto = captureEnabled && acceptTypes.contains("image/*")
|
||||
val captureVideo = captureEnabled && acceptTypes.contains("video/*")
|
||||
if (capturePhoto || captureVideo) {
|
||||
if (isMediaCaptureSupported) {
|
||||
showMediaCaptureOrFilePicker(filePathCallback, fileChooserParams, captureVideo)
|
||||
} else {
|
||||
permissionListener = object : PermissionListener {
|
||||
override fun onPermissionSelect(isGranted: Boolean?) {
|
||||
if (isGranted == true) {
|
||||
showMediaCaptureOrFilePicker(filePathCallback, fileChooserParams, captureVideo)
|
||||
} else {
|
||||
Logger.warn(Logger.tags("FileChooser"), "Camera permission not granted")
|
||||
filePathCallback.onReceiveValue(null)
|
||||
}
|
||||
}
|
||||
}
|
||||
val camPermission = arrayOf(Manifest.permission.CAMERA)
|
||||
permissionLauncher.launch(camPermission)
|
||||
}
|
||||
} else {
|
||||
showFilePicker(filePathCallback, fileChooserParams)
|
||||
}
|
||||
return true
|
||||
}
|
||||
|
||||
private val isMediaCaptureSupported: Boolean
|
||||
get() {
|
||||
val permissions = arrayOf(Manifest.permission.CAMERA)
|
||||
return PermissionHelper.hasPermissions(activity, permissions) ||
|
||||
!PermissionHelper.hasDefinedPermission(activity, Manifest.permission.CAMERA)
|
||||
}
|
||||
|
||||
private fun showMediaCaptureOrFilePicker(
|
||||
filePathCallback: ValueCallback<Array<Uri?>?>,
|
||||
fileChooserParams: FileChooserParams,
|
||||
isVideo: Boolean
|
||||
) {
|
||||
val isVideoCaptureSupported = true
|
||||
val shown = if (isVideo && isVideoCaptureSupported) {
|
||||
showVideoCapturePicker(filePathCallback)
|
||||
} else {
|
||||
showImageCapturePicker(filePathCallback)
|
||||
}
|
||||
if (!shown) {
|
||||
Logger.warn(
|
||||
Logger.tags("FileChooser"),
|
||||
"Media capture intent could not be launched. Falling back to default file picker."
|
||||
)
|
||||
showFilePicker(filePathCallback, fileChooserParams)
|
||||
}
|
||||
}
|
||||
|
||||
private fun showImageCapturePicker(filePathCallback: ValueCallback<Array<Uri?>?>): Boolean {
|
||||
val takePictureIntent = Intent(MediaStore.ACTION_IMAGE_CAPTURE)
|
||||
if (takePictureIntent.resolveActivity(activity.packageManager) == null) {
|
||||
return false
|
||||
}
|
||||
val imageFileUri: Uri = try {
|
||||
createImageFileUri()
|
||||
} catch (ex: Exception) {
|
||||
Logger.error("Unable to create temporary media capture file: " + ex.message)
|
||||
return false
|
||||
}
|
||||
takePictureIntent.putExtra(MediaStore.EXTRA_OUTPUT, imageFileUri)
|
||||
activityListener = object : ActivityResultListener {
|
||||
override fun onActivityResult(result: ActivityResult?) {
|
||||
var res: Array<Uri?>? = null
|
||||
if (result?.resultCode == Activity.RESULT_OK) {
|
||||
res = arrayOf(imageFileUri)
|
||||
}
|
||||
filePathCallback.onReceiveValue(res)
|
||||
}
|
||||
}
|
||||
activityLauncher.launch(takePictureIntent)
|
||||
return true
|
||||
}
|
||||
|
||||
private fun showVideoCapturePicker(filePathCallback: ValueCallback<Array<Uri?>?>): Boolean {
|
||||
val takeVideoIntent = Intent(MediaStore.ACTION_VIDEO_CAPTURE)
|
||||
if (takeVideoIntent.resolveActivity(activity.packageManager) == null) {
|
||||
return false
|
||||
}
|
||||
activityListener = object : ActivityResultListener {
|
||||
override fun onActivityResult(result: ActivityResult?) {
|
||||
var res: Array<Uri?>? = null
|
||||
if (result?.resultCode == Activity.RESULT_OK) {
|
||||
res = arrayOf(result.data!!.data)
|
||||
}
|
||||
filePathCallback.onReceiveValue(res)
|
||||
}
|
||||
}
|
||||
activityLauncher.launch(takeVideoIntent)
|
||||
return true
|
||||
}
|
||||
|
||||
private fun showFilePicker(
|
||||
filePathCallback: ValueCallback<Array<Uri?>?>,
|
||||
fileChooserParams: FileChooserParams
|
||||
) {
|
||||
val intent = fileChooserParams.createIntent()
|
||||
if (fileChooserParams.mode == FileChooserParams.MODE_OPEN_MULTIPLE) {
|
||||
intent.putExtra(Intent.EXTRA_ALLOW_MULTIPLE, true)
|
||||
}
|
||||
if (fileChooserParams.acceptTypes.size > 1 || intent.type!!.startsWith(".")) {
|
||||
val validTypes = getValidTypes(fileChooserParams.acceptTypes)
|
||||
intent.putExtra(Intent.EXTRA_MIME_TYPES, validTypes)
|
||||
if (intent.type!!.startsWith(".")) {
|
||||
intent.type = validTypes[0]
|
||||
}
|
||||
}
|
||||
try {
|
||||
activityListener = object : ActivityResultListener {
|
||||
override fun onActivityResult(result: ActivityResult?) {
|
||||
val res: Array<Uri?>?
|
||||
val resultIntent = result?.data
|
||||
if (result?.resultCode == Activity.RESULT_OK && resultIntent!!.clipData != null) {
|
||||
val numFiles = resultIntent.clipData!!.itemCount
|
||||
res = arrayOfNulls(numFiles)
|
||||
for (i in 0 until numFiles) {
|
||||
res[i] = resultIntent.clipData!!.getItemAt(i).uri
|
||||
}
|
||||
} else {
|
||||
res = FileChooserParams.parseResult(
|
||||
result?.resultCode ?: 0,
|
||||
resultIntent
|
||||
)
|
||||
}
|
||||
filePathCallback.onReceiveValue(res)
|
||||
}
|
||||
}
|
||||
activityLauncher.launch(intent)
|
||||
} catch (e: ActivityNotFoundException) {
|
||||
filePathCallback.onReceiveValue(null)
|
||||
}
|
||||
}
|
||||
|
||||
private fun getValidTypes(currentTypes: Array<String>): Array<String> {
|
||||
val validTypes: MutableList<String> = ArrayList()
|
||||
val mtm = MimeTypeMap.getSingleton()
|
||||
for (mime in currentTypes) {
|
||||
if (mime.startsWith(".")) {
|
||||
val extension = mime.substring(1)
|
||||
val extensionMime = mtm.getMimeTypeFromExtension(extension)
|
||||
if (extensionMime != null && !validTypes.contains(extensionMime)) {
|
||||
validTypes.add(extensionMime)
|
||||
}
|
||||
} else if (!validTypes.contains(mime)) {
|
||||
validTypes.add(mime)
|
||||
}
|
||||
}
|
||||
val validObj: Array<Any> = validTypes.toTypedArray()
|
||||
return Arrays.copyOf(
|
||||
validObj, validObj.size,
|
||||
Array<String>::class.java
|
||||
)
|
||||
}
|
||||
|
||||
override fun onConsoleMessage(consoleMessage: ConsoleMessage): Boolean {
|
||||
val tag: String = Logger.tags("Console")
|
||||
if (consoleMessage.message() != null && isValidMsg(consoleMessage.message())) {
|
||||
val msg = String.format(
|
||||
"File: %s - Line %d - Msg: %s",
|
||||
consoleMessage.sourceId(),
|
||||
consoleMessage.lineNumber(),
|
||||
consoleMessage.message()
|
||||
)
|
||||
val level = consoleMessage.messageLevel().name
|
||||
if ("ERROR".equals(level, ignoreCase = true)) {
|
||||
Logger.error(tag, msg, null)
|
||||
} else if ("WARNING".equals(level, ignoreCase = true)) {
|
||||
Logger.warn(tag, msg)
|
||||
} else if ("TIP".equals(level, ignoreCase = true)) {
|
||||
Logger.debug(tag, msg)
|
||||
} else {
|
||||
Logger.info(tag, msg)
|
||||
}
|
||||
}
|
||||
return true
|
||||
}
|
||||
|
||||
private fun isValidMsg(msg: String): Boolean {
|
||||
return !(msg.contains("%cresult %c") ||
|
||||
msg.contains("%cnative %c") ||
|
||||
msg.equals("[object Object]", ignoreCase = true) ||
|
||||
msg.equals("console.groupEnd", ignoreCase = true))
|
||||
}
|
||||
|
||||
@Throws(IOException::class)
|
||||
private fun createImageFileUri(): Uri {
|
||||
val photoFile = createImageFile(activity)
|
||||
return FileProvider.getUriForFile(
|
||||
activity,
|
||||
activity.packageName.toString() + ".fileprovider",
|
||||
photoFile
|
||||
)
|
||||
}
|
||||
|
||||
@Throws(IOException::class)
|
||||
private fun createImageFile(activity: Activity): File {
|
||||
// Create an image file name
|
||||
val timeStamp = SimpleDateFormat("yyyyMMdd_HHmmss").format(Date())
|
||||
val imageFileName = "JPEG_" + timeStamp + "_"
|
||||
val storageDir = activity.getExternalFilesDir(Environment.DIRECTORY_PICTURES)
|
||||
return File.createTempFile(imageFileName, ".jpg", storageDir)
|
||||
}
|
||||
|
||||
override fun onReceivedTitle(
|
||||
view: WebView,
|
||||
title: String
|
||||
) {
|
||||
handleReceivedTitle(view, title)
|
||||
}
|
||||
|
||||
private external fun handleReceivedTitle(webview: WebView, title: String)
|
||||
}
|
||||
@@ -1,101 +0,0 @@
|
||||
/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
|
||||
|
||||
// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
// SPDX-License-Identifier: MIT
|
||||
|
||||
@file:Suppress("unused", "SetJavaScriptEnabled")
|
||||
|
||||
package com.lenn.tauri_serial
|
||||
|
||||
import android.annotation.SuppressLint
|
||||
import android.webkit.*
|
||||
import android.content.Context
|
||||
import androidx.webkit.WebViewCompat
|
||||
import androidx.webkit.WebViewFeature
|
||||
import kotlin.collections.Map
|
||||
|
||||
@SuppressLint("RestrictedApi")
|
||||
class RustWebView(context: Context, val initScripts: Array<String>, val id: String): WebView(context) {
|
||||
val isDocumentStartScriptEnabled: Boolean
|
||||
|
||||
init {
|
||||
settings.javaScriptEnabled = true
|
||||
settings.domStorageEnabled = true
|
||||
settings.setGeolocationEnabled(true)
|
||||
settings.databaseEnabled = true
|
||||
settings.mediaPlaybackRequiresUserGesture = false
|
||||
settings.javaScriptCanOpenWindowsAutomatically = true
|
||||
|
||||
if (WebViewFeature.isFeatureSupported(WebViewFeature.DOCUMENT_START_SCRIPT)) {
|
||||
isDocumentStartScriptEnabled = true
|
||||
for (script in initScripts) {
|
||||
WebViewCompat.addDocumentStartJavaScript(this, script, setOf("*"));
|
||||
}
|
||||
} else {
|
||||
isDocumentStartScriptEnabled = false
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
fun loadUrlMainThread(url: String) {
|
||||
post {
|
||||
loadUrl(url)
|
||||
}
|
||||
}
|
||||
|
||||
fun loadUrlMainThread(url: String, additionalHttpHeaders: Map<String, String>) {
|
||||
post {
|
||||
loadUrl(url, additionalHttpHeaders)
|
||||
}
|
||||
}
|
||||
|
||||
override fun loadUrl(url: String) {
|
||||
if (!shouldOverride(url)) {
|
||||
super.loadUrl(url);
|
||||
}
|
||||
}
|
||||
|
||||
override fun loadUrl(url: String, additionalHttpHeaders: Map<String, String>) {
|
||||
if (!shouldOverride(url)) {
|
||||
super.loadUrl(url, additionalHttpHeaders);
|
||||
}
|
||||
}
|
||||
|
||||
fun loadHTMLMainThread(html: String) {
|
||||
post {
|
||||
super.loadData(html, "text/html", null)
|
||||
}
|
||||
}
|
||||
|
||||
fun evalScript(id: Int, script: String) {
|
||||
post {
|
||||
super.evaluateJavascript(script) { result ->
|
||||
onEval(id, result)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fun clearAllBrowsingData() {
|
||||
try {
|
||||
super.getContext().deleteDatabase("webviewCache.db")
|
||||
super.getContext().deleteDatabase("webview.db")
|
||||
super.clearCache(true)
|
||||
super.clearHistory()
|
||||
super.clearFormData()
|
||||
} catch (ex: Exception) {
|
||||
Logger.error("Unable to create temporary media capture file: " + ex.message)
|
||||
}
|
||||
}
|
||||
|
||||
fun getCookies(url: String): String {
|
||||
val cookieManager = CookieManager.getInstance()
|
||||
return cookieManager.getCookie(url)
|
||||
}
|
||||
|
||||
private external fun shouldOverride(url: String): Boolean
|
||||
private external fun onEval(id: Int, result: String)
|
||||
|
||||
|
||||
}
|
||||
@@ -1,107 +0,0 @@
|
||||
/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
|
||||
|
||||
// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
// SPDX-License-Identifier: MIT
|
||||
|
||||
package com.lenn.tauri_serial
|
||||
|
||||
import android.net.Uri
|
||||
import android.webkit.*
|
||||
import android.content.Context
|
||||
import android.graphics.Bitmap
|
||||
import android.os.Handler
|
||||
import android.os.Looper
|
||||
import androidx.webkit.WebViewAssetLoader
|
||||
|
||||
class RustWebViewClient(context: Context): WebViewClient() {
|
||||
private val interceptedState = mutableMapOf<String, Boolean>()
|
||||
var currentUrl: String = "about:blank"
|
||||
private var lastInterceptedUrl: Uri? = null
|
||||
private var pendingUrlRedirect: String? = null
|
||||
|
||||
private val assetLoader = WebViewAssetLoader.Builder()
|
||||
.setDomain(assetLoaderDomain())
|
||||
.addPathHandler("/", WebViewAssetLoader.AssetsPathHandler(context))
|
||||
.build()
|
||||
|
||||
override fun shouldInterceptRequest(
|
||||
view: WebView,
|
||||
request: WebResourceRequest
|
||||
): WebResourceResponse? {
|
||||
pendingUrlRedirect?.let {
|
||||
Handler(Looper.getMainLooper()).post {
|
||||
view.loadUrl(it)
|
||||
}
|
||||
pendingUrlRedirect = null
|
||||
return null
|
||||
}
|
||||
|
||||
lastInterceptedUrl = request.url
|
||||
return if (withAssetLoader()) {
|
||||
assetLoader.shouldInterceptRequest(request.url)
|
||||
} else {
|
||||
val rustWebview = view as RustWebView;
|
||||
val response = handleRequest(rustWebview.id, request, rustWebview.isDocumentStartScriptEnabled)
|
||||
interceptedState[request.url.toString()] = response != null
|
||||
return response
|
||||
}
|
||||
}
|
||||
|
||||
override fun shouldOverrideUrlLoading(
|
||||
view: WebView,
|
||||
request: WebResourceRequest
|
||||
): Boolean {
|
||||
return shouldOverride(request.url.toString())
|
||||
}
|
||||
|
||||
override fun onPageStarted(view: WebView, url: String, favicon: Bitmap?) {
|
||||
currentUrl = url
|
||||
if (interceptedState[url] == false) {
|
||||
val webView = view as RustWebView
|
||||
for (script in webView.initScripts) {
|
||||
view.evaluateJavascript(script, null)
|
||||
}
|
||||
}
|
||||
return onPageLoading(url)
|
||||
}
|
||||
|
||||
override fun onPageFinished(view: WebView, url: String) {
|
||||
onPageLoaded(url)
|
||||
}
|
||||
|
||||
override fun onReceivedError(
|
||||
view: WebView,
|
||||
request: WebResourceRequest,
|
||||
error: WebResourceError
|
||||
) {
|
||||
// we get a net::ERR_CONNECTION_REFUSED when an external URL redirects to a custom protocol
|
||||
// e.g. oauth flow, because shouldInterceptRequest is not called on redirects
|
||||
// so we must force retry here with loadUrl() to get a chance of the custom protocol to kick in
|
||||
if (error.errorCode == ERROR_CONNECT && request.isForMainFrame && request.url != lastInterceptedUrl) {
|
||||
// prevent the default error page from showing
|
||||
view.stopLoading()
|
||||
// without this initial loadUrl the app is stuck
|
||||
view.loadUrl(request.url.toString())
|
||||
// ensure the URL is actually loaded - for some reason there's a race condition and we need to call loadUrl() again later
|
||||
pendingUrlRedirect = request.url.toString()
|
||||
} else {
|
||||
super.onReceivedError(view, request, error)
|
||||
}
|
||||
}
|
||||
|
||||
companion object {
|
||||
init {
|
||||
System.loadLibrary("tauri_demo_lib")
|
||||
}
|
||||
}
|
||||
|
||||
private external fun assetLoaderDomain(): String
|
||||
private external fun withAssetLoader(): Boolean
|
||||
private external fun handleRequest(webviewId: String, request: WebResourceRequest, isDocumentStartScriptEnabled: Boolean): WebResourceResponse?
|
||||
private external fun shouldOverride(url: String): Boolean
|
||||
private external fun onPageLoading(url: String)
|
||||
private external fun onPageLoaded(url: String)
|
||||
|
||||
|
||||
}
|
||||
@@ -1,51 +0,0 @@
|
||||
// Copyright 2019-2024 Tauri Programme within The Commons Conservancy
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
// SPDX-License-Identifier: MIT
|
||||
|
||||
/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
|
||||
|
||||
package com.lenn.tauri_serial
|
||||
|
||||
import android.content.Intent
|
||||
import android.content.res.Configuration
|
||||
import app.tauri.plugin.PluginManager
|
||||
|
||||
abstract class TauriActivity : WryActivity() {
|
||||
var pluginManager: PluginManager = PluginManager(this)
|
||||
override val handleBackNavigation: Boolean = false
|
||||
|
||||
override fun onNewIntent(intent: Intent) {
|
||||
super.onNewIntent(intent)
|
||||
pluginManager.onNewIntent(intent)
|
||||
}
|
||||
|
||||
override fun onResume() {
|
||||
super.onResume()
|
||||
pluginManager.onResume()
|
||||
}
|
||||
|
||||
override fun onPause() {
|
||||
super.onPause()
|
||||
pluginManager.onPause()
|
||||
}
|
||||
|
||||
override fun onRestart() {
|
||||
super.onRestart()
|
||||
pluginManager.onRestart()
|
||||
}
|
||||
|
||||
override fun onStop() {
|
||||
super.onStop()
|
||||
pluginManager.onStop()
|
||||
}
|
||||
|
||||
override fun onDestroy() {
|
||||
super.onDestroy()
|
||||
pluginManager.onDestroy()
|
||||
}
|
||||
|
||||
override fun onConfigurationChanged(newConfig: Configuration) {
|
||||
super.onConfigurationChanged(newConfig)
|
||||
pluginManager.onConfigurationChanged(newConfig)
|
||||
}
|
||||
}
|
||||
@@ -1,146 +0,0 @@
|
||||
/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
|
||||
|
||||
// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
// SPDX-License-Identifier: MIT
|
||||
|
||||
package com.lenn.tauri_serial
|
||||
|
||||
import com.lenn.tauri_serial.RustWebView
|
||||
import android.annotation.SuppressLint
|
||||
import android.os.Build
|
||||
import android.os.Bundle
|
||||
import android.webkit.WebView
|
||||
import android.view.KeyEvent
|
||||
import androidx.activity.OnBackPressedCallback
|
||||
import androidx.appcompat.app.AppCompatActivity
|
||||
|
||||
abstract class WryActivity : AppCompatActivity() {
|
||||
private lateinit var mWebView: RustWebView
|
||||
open val handleBackNavigation: Boolean = true
|
||||
|
||||
open fun onWebViewCreate(webView: WebView) { }
|
||||
|
||||
fun setWebView(webView: RustWebView) {
|
||||
mWebView = webView
|
||||
|
||||
if (handleBackNavigation) {
|
||||
val callback = object : OnBackPressedCallback(true) {
|
||||
override fun handleOnBackPressed() {
|
||||
if (this@WryActivity.mWebView.canGoBack()) {
|
||||
this@WryActivity.mWebView.goBack()
|
||||
} else {
|
||||
this.isEnabled = false
|
||||
this@WryActivity.onBackPressed()
|
||||
this.isEnabled = true
|
||||
}
|
||||
}
|
||||
}
|
||||
onBackPressedDispatcher.addCallback(this, callback)
|
||||
}
|
||||
|
||||
onWebViewCreate(webView)
|
||||
}
|
||||
|
||||
val version: String
|
||||
@SuppressLint("WebViewApiAvailability", "ObsoleteSdkInt")
|
||||
get() {
|
||||
// Check getCurrentWebViewPackage() directly if above Android 8
|
||||
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
|
||||
return WebView.getCurrentWebViewPackage()?.versionName ?: ""
|
||||
}
|
||||
|
||||
// Otherwise manually check WebView versions
|
||||
var webViewPackage = "com.google.android.webview"
|
||||
if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
|
||||
webViewPackage = "com.android.chrome"
|
||||
}
|
||||
try {
|
||||
@Suppress("DEPRECATION")
|
||||
val info = packageManager.getPackageInfo(webViewPackage, 0)
|
||||
return info.versionName.toString()
|
||||
} catch (ex: Exception) {
|
||||
Logger.warn("Unable to get package info for '$webViewPackage'$ex")
|
||||
}
|
||||
|
||||
try {
|
||||
@Suppress("DEPRECATION")
|
||||
val info = packageManager.getPackageInfo("com.android.webview", 0)
|
||||
return info.versionName.toString()
|
||||
} catch (ex: Exception) {
|
||||
Logger.warn("Unable to get package info for 'com.android.webview'$ex")
|
||||
}
|
||||
|
||||
// Could not detect any webview, return empty string
|
||||
return ""
|
||||
}
|
||||
|
||||
override fun onCreate(savedInstanceState: Bundle?) {
|
||||
super.onCreate(savedInstanceState)
|
||||
create(this)
|
||||
}
|
||||
|
||||
override fun onStart() {
|
||||
super.onStart()
|
||||
start()
|
||||
}
|
||||
|
||||
override fun onResume() {
|
||||
super.onResume()
|
||||
resume()
|
||||
}
|
||||
|
||||
override fun onPause() {
|
||||
super.onPause()
|
||||
pause()
|
||||
}
|
||||
|
||||
override fun onStop() {
|
||||
super.onStop()
|
||||
stop()
|
||||
}
|
||||
|
||||
override fun onWindowFocusChanged(hasFocus: Boolean) {
|
||||
super.onWindowFocusChanged(hasFocus)
|
||||
focus(hasFocus)
|
||||
}
|
||||
|
||||
override fun onSaveInstanceState(outState: Bundle) {
|
||||
super.onSaveInstanceState(outState)
|
||||
save()
|
||||
}
|
||||
|
||||
override fun onDestroy() {
|
||||
super.onDestroy()
|
||||
destroy()
|
||||
onActivityDestroy()
|
||||
}
|
||||
|
||||
override fun onLowMemory() {
|
||||
super.onLowMemory()
|
||||
memory()
|
||||
}
|
||||
|
||||
fun getAppClass(name: String): Class<*> {
|
||||
return Class.forName(name)
|
||||
}
|
||||
|
||||
companion object {
|
||||
init {
|
||||
System.loadLibrary("tauri_demo_lib")
|
||||
}
|
||||
}
|
||||
|
||||
private external fun create(activity: WryActivity)
|
||||
private external fun start()
|
||||
private external fun resume()
|
||||
private external fun pause()
|
||||
private external fun stop()
|
||||
private external fun save()
|
||||
private external fun destroy()
|
||||
private external fun onActivityDestroy()
|
||||
private external fun memory()
|
||||
private external fun focus(focus: Boolean)
|
||||
|
||||
|
||||
}
|
||||
@@ -1,35 +0,0 @@
|
||||
# THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!!
|
||||
|
||||
# Copyright 2020-2023 Tauri Programme within The Commons Conservancy
|
||||
# SPDX-License-Identifier: Apache-2.0
|
||||
# SPDX-License-Identifier: MIT
|
||||
|
||||
-keep class com.lenn.tauri_serial.* {
|
||||
native <methods>;
|
||||
}
|
||||
|
||||
-keep class com.lenn.tauri_serial.WryActivity {
|
||||
public <init>(...);
|
||||
|
||||
void setWebView(com.lenn.tauri_serial.RustWebView);
|
||||
java.lang.Class getAppClass(...);
|
||||
java.lang.String getVersion();
|
||||
}
|
||||
|
||||
-keep class com.lenn.tauri_serial.Ipc {
|
||||
public <init>(...);
|
||||
|
||||
@android.webkit.JavascriptInterface public <methods>;
|
||||
}
|
||||
|
||||
-keep class com.lenn.tauri_serial.RustWebView {
|
||||
public <init>(...);
|
||||
|
||||
void loadUrlMainThread(...);
|
||||
void loadHTMLMainThread(...);
|
||||
void evalScript(...);
|
||||
}
|
||||
|
||||
-keep class com.lenn.tauri_serial.RustWebChromeClient,com.lenn.tauri_serial.RustWebViewClient {
|
||||
public <init>(...);
|
||||
}
|
||||
@@ -1 +0,0 @@
|
||||
/home/lenn/Workspace/JE-Skin/src-tauri/target/aarch64-linux-android/release/libtauri_demo_lib.so
|
||||
@@ -1 +0,0 @@
|
||||
/home/lenn/Workspace/JE-Skin/src-tauri/target/armv7-linux-androideabi/release/libtauri_demo_lib.so
|
||||
@@ -1 +0,0 @@
|
||||
/home/lenn/Workspace/JE-Skin/src-tauri/target/i686-linux-android/release/libtauri_demo_lib.so
|
||||
@@ -1 +0,0 @@
|
||||
/home/lenn/Workspace/JE-Skin/src-tauri/target/x86_64-linux-android/release/libtauri_demo_lib.so
|
||||
@@ -1,6 +0,0 @@
|
||||
// THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
|
||||
val implementation by configurations
|
||||
dependencies {
|
||||
implementation(project(":tauri-android"))
|
||||
implementation(project(":tauri-plugin-opener"))
|
||||
}
|
||||
@@ -1,3 +0,0 @@
|
||||
// THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
|
||||
tauri.android.versionName=0.4.0
|
||||
tauri.android.versionCode=4000
|
||||
@@ -1,5 +0,0 @@
|
||||
// THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
|
||||
include ':tauri-android'
|
||||
project(':tauri-android').projectDir = new File("/home/lenn/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/tauri-2.10.3/mobile/android")
|
||||
include ':tauri-plugin-opener'
|
||||
project(':tauri-plugin-opener').projectDir = new File("/home/lenn/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/tauri-plugin-opener-2.5.3/android")
|
||||
@@ -27,14 +27,6 @@ message PztAngleResponse {
|
||||
uint32 dts_ms = 4;
|
||||
bool ok = 5;
|
||||
string message = 6;
|
||||
float magnitude = 7;
|
||||
uint32 state = 8;
|
||||
float cop_x = 9;
|
||||
float cop_y = 10;
|
||||
float base_x = 11;
|
||||
float base_y = 12;
|
||||
float total_press = 13;
|
||||
float threshold = 14;
|
||||
}
|
||||
|
||||
message ProcessRequest {
|
||||
|
||||
Binary file not shown.
@@ -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);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,27 +1,18 @@
|
||||
use crate::serial_core::codecs::tactile_a::{
|
||||
export_recording_csv, TactileACodec, TactileACsvImporter, TactileAHandler,
|
||||
};
|
||||
use crate::serial_core::error::SerialError;
|
||||
use crate::serial_core::record::CsvImporter;
|
||||
use crate::serial_core::serial::{PollMode, TactileAPollRequester};
|
||||
use crate::serial_core::{serial, TactileARecording};
|
||||
use crate::serial_core::record::{self, FingerRecording};
|
||||
use crate::serial_core::serial;
|
||||
use eskin_finger_sdk::device::EskinDevice;
|
||||
use log::info;
|
||||
use serde::Serialize;
|
||||
use std::fs::File;
|
||||
use std::io::Cursor;
|
||||
use std::path::{Path, PathBuf};
|
||||
use std::sync::{Arc, Mutex};
|
||||
use std::time::{Duration, Instant, SystemTime, UNIX_EPOCH};
|
||||
use std::time::{SystemTime, UNIX_EPOCH};
|
||||
use tauri::{async_runtime::JoinHandle, AppHandle, Manager, State};
|
||||
use tokio_serial::{available_ports, SerialPortBuilderExt};
|
||||
use tokio_serial::available_ports;
|
||||
use tokio_util::sync::CancellationToken;
|
||||
|
||||
const DEFAULT_TACTILE_COLS: usize = 7;
|
||||
const DEFAULT_TACTILE_ROWS: usize = 12;
|
||||
const DEFAULT_TACTILE_POLL_INTERVAL_MS: u64 = 10;
|
||||
const DEFAULT_TACTILE_REPLY_TIMEOUT_MS: u64 = 140;
|
||||
|
||||
type SharedTactileRecording = Arc<Mutex<TactileARecording>>;
|
||||
type SharedRecording = Arc<Mutex<FingerRecording>>;
|
||||
|
||||
#[derive(Serialize)]
|
||||
#[serde(rename_all = "camelCase")]
|
||||
@@ -67,18 +58,18 @@ struct SerialSession {
|
||||
port: String,
|
||||
cancel: CancellationToken,
|
||||
task: JoinHandle<()>,
|
||||
current_record: SharedTactileRecording,
|
||||
current_record: SharedRecording,
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct SerialConnectionState {
|
||||
session: Mutex<Option<SerialSession>>,
|
||||
last_record: Mutex<Option<SharedTactileRecording>>,
|
||||
last_record: Mutex<Option<SharedRecording>>,
|
||||
}
|
||||
|
||||
pub async fn shutdown_active_session(
|
||||
state: &SerialConnectionState,
|
||||
) -> Result<Option<(String, SharedTactileRecording)>, SerialError> {
|
||||
) -> Result<Option<(String, SharedRecording)>, SerialError> {
|
||||
let session = {
|
||||
let mut guard = state.session.lock().map_err(|_| SerialError::StateError)?;
|
||||
guard.take()
|
||||
@@ -148,62 +139,41 @@ pub async fn serial_connect(
|
||||
}
|
||||
|
||||
let cancel = CancellationToken::new();
|
||||
let current_record = Arc::new(Mutex::new(TactileARecording::new()));
|
||||
let current_record = Arc::new(Mutex::new(FingerRecording::new()));
|
||||
let task_record = current_record.clone();
|
||||
let task_cancel = cancel.clone();
|
||||
let task_app = app.clone();
|
||||
let task_port_name = port_name.clone();
|
||||
|
||||
let port = tokio_serial::new(&port_name, 921600)
|
||||
.open_native_async()
|
||||
.map_err(|_| SerialError::OpenError)?;
|
||||
let session_started_at = Instant::now();
|
||||
|
||||
let task = tauri::async_runtime::spawn(async move {
|
||||
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),
|
||||
)));
|
||||
// Open device using SDK
|
||||
let session = match serial::open_device(&task_port_name) {
|
||||
Ok(s) => s,
|
||||
Err(e) => {
|
||||
eprintln!("Failed to open device: {e}");
|
||||
cleanup_session(&task_app, &task_port_name, task_record).await;
|
||||
return;
|
||||
}
|
||||
};
|
||||
|
||||
if let Err(error) = serial::run_serial_with_poll(
|
||||
let mut device = session.device;
|
||||
|
||||
// Run stream with recording
|
||||
if let Err(error) = serial::run_stream_with_record(
|
||||
task_app.clone(),
|
||||
port,
|
||||
codec,
|
||||
handler,
|
||||
session_started_at,
|
||||
task_record.clone(),
|
||||
&mut device,
|
||||
task_cancel,
|
||||
poll_mode,
|
||||
task_record.clone(),
|
||||
)
|
||||
.await
|
||||
{
|
||||
eprintln!("serial task exited with error: {error}");
|
||||
}
|
||||
|
||||
let manager = task_app.state::<SerialConnectionState>();
|
||||
if let Ok(mut last_record) = manager.last_record.lock() {
|
||||
*last_record = Some(task_record);
|
||||
}
|
||||
// Close device
|
||||
let _ = device.close();
|
||||
|
||||
let mut session = match manager.session.lock() {
|
||||
Ok(session) => session,
|
||||
Err(_) => return,
|
||||
};
|
||||
|
||||
{
|
||||
let should_clear = session
|
||||
.as_ref()
|
||||
.map(|current| current.port.as_str() == task_port_name.as_str())
|
||||
.unwrap_or(false);
|
||||
|
||||
if should_clear {
|
||||
session.take();
|
||||
}
|
||||
}
|
||||
cleanup_session(&task_app, &task_port_name, task_record).await;
|
||||
});
|
||||
|
||||
let mut session = state.session.lock().map_err(|_| SerialError::StateError)?;
|
||||
@@ -227,6 +197,31 @@ pub async fn serial_connect(
|
||||
})
|
||||
}
|
||||
|
||||
async fn cleanup_session(
|
||||
app: &AppHandle,
|
||||
port_name: &str,
|
||||
record: SharedRecording,
|
||||
) {
|
||||
let manager = app.state::<SerialConnectionState>();
|
||||
if let Ok(mut last_record) = manager.last_record.lock() {
|
||||
*last_record = Some(record);
|
||||
}
|
||||
|
||||
let mut session = match manager.session.lock() {
|
||||
Ok(session) => session,
|
||||
Err(_) => return,
|
||||
};
|
||||
|
||||
let should_clear = session
|
||||
.as_ref()
|
||||
.map(|current| current.port.as_str() == port_name)
|
||||
.unwrap_or(false);
|
||||
|
||||
if should_clear {
|
||||
session.take();
|
||||
}
|
||||
}
|
||||
|
||||
#[tauri::command]
|
||||
pub async fn serial_disconnect(
|
||||
state: State<'_, SerialConnectionState>,
|
||||
@@ -293,8 +288,8 @@ pub fn serial_export_csv_to_path(
|
||||
state: State<'_, SerialConnectionState>,
|
||||
) -> Result<SerialExportResponse, SerialError> {
|
||||
let output_path = resolve_export_path(file_path)?;
|
||||
let record = resolve_record_for_export(&state)?;
|
||||
let frame_count = write_record_to_csv(record, &output_path)?;
|
||||
let rec = resolve_record_for_export(&state)?;
|
||||
let frame_count = write_record_to_csv(rec, &output_path)?;
|
||||
let path = output_path.display().to_string();
|
||||
|
||||
info!("csv exported to {path}, frame_count={frame_count}");
|
||||
@@ -311,22 +306,20 @@ pub fn serial_import_csv(
|
||||
file_name: String,
|
||||
csv_content: String,
|
||||
) -> Result<SerialImportResponse, SerialError> {
|
||||
let mut importer = TactileACsvImporter::new(file_name.as_str());
|
||||
let packets = importer
|
||||
.load(Cursor::new(csv_content.into_bytes()))
|
||||
let packets = record::import_csv(Cursor::new(csv_content.into_bytes()))
|
||||
.map_err(|_| SerialError::ImportError)?;
|
||||
|
||||
if packets.is_empty() {
|
||||
return Err(SerialError::NoRecordedData);
|
||||
}
|
||||
|
||||
let channel_count = packets.first().map(|item| item.data.len()).unwrap_or(0);
|
||||
let channel_count = 1; // fz is a single value per sample
|
||||
let frame_count = packets.len();
|
||||
let frames = packets
|
||||
.into_iter()
|
||||
.map(|packet| SerialImportFrame {
|
||||
data: packet.data,
|
||||
dts_ms: packet.dts_ms,
|
||||
data: vec![packet.fz as i32],
|
||||
dts_ms: packet.timestamp_us / 1000,
|
||||
})
|
||||
.collect();
|
||||
|
||||
@@ -355,7 +348,7 @@ pub fn serial_import_csv_from_path(file_path: String) -> Result<SerialImportResp
|
||||
|
||||
fn resolve_record_for_export(
|
||||
state: &State<'_, SerialConnectionState>,
|
||||
) -> Result<SharedTactileRecording, SerialError> {
|
||||
) -> Result<SharedRecording, SerialError> {
|
||||
let current_record = {
|
||||
let session = state.session.lock().map_err(|_| SerialError::StateError)?;
|
||||
session
|
||||
@@ -406,7 +399,7 @@ fn snapshot_record_frame_count(
|
||||
}
|
||||
|
||||
fn write_record_to_csv(
|
||||
record: SharedTactileRecording,
|
||||
record: SharedRecording,
|
||||
output_path: &Path,
|
||||
) -> Result<usize, SerialError> {
|
||||
if let Some(parent) = output_path.parent() {
|
||||
@@ -415,14 +408,14 @@ fn write_record_to_csv(
|
||||
}
|
||||
}
|
||||
|
||||
let mut file = File::create(output_path).map_err(|_| SerialError::ExportError)?;
|
||||
let file = std::fs::File::create(output_path).map_err(|_| SerialError::ExportError)?;
|
||||
let frame_count = {
|
||||
let recording = record.lock().map_err(|_| SerialError::StateError)?;
|
||||
if recording.frames.is_empty() {
|
||||
return Err(SerialError::NoRecordedData);
|
||||
}
|
||||
|
||||
export_recording_csv(&recording, &mut file).map_err(|_| SerialError::ExportError)?;
|
||||
record::export_recording_csv(&recording, file).map_err(|_| SerialError::ExportError)?;
|
||||
recording.frames.len()
|
||||
};
|
||||
|
||||
|
||||
@@ -278,16 +278,10 @@ async fn run_grpc_upload(
|
||||
angle: message.angle,
|
||||
};
|
||||
::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}",
|
||||
message.angle,
|
||||
message.magnitude,
|
||||
message.state,
|
||||
message.cop_x,
|
||||
message.cop_y,
|
||||
message.base_x,
|
||||
message.base_y,
|
||||
message.total_press,
|
||||
message.threshold
|
||||
"python pzt angle: seq={} dts_ms={} angle={:.2}",
|
||||
message.seq,
|
||||
message.dts_ms,
|
||||
message.angle
|
||||
);
|
||||
app.emit("devkit_pzt_angle", payload)?;
|
||||
} else {
|
||||
|
||||
@@ -1,4 +1,3 @@
|
||||
pub mod ad_solver;
|
||||
mod commands;
|
||||
mod lan_game;
|
||||
pub mod log;
|
||||
|
||||
@@ -1,6 +0,0 @@
|
||||
use crate::serial_core::error::CodecError;
|
||||
use std::time::Instant;
|
||||
pub trait Codec<F> {
|
||||
fn decode(&mut self, input: &[u8], session_started_at: Instant) -> Result<Vec<F>, CodecError>;
|
||||
fn encode(&self, frame: &F) -> Result<Vec<u8>, CodecError>;
|
||||
}
|
||||
@@ -1,5 +0,0 @@
|
||||
use crate::serial_core::{frame::TestFrame, record::Recording};
|
||||
|
||||
pub mod test;
|
||||
pub mod tactile_a;
|
||||
pub type TestRecording = Recording<TestFrame>;
|
||||
@@ -1,383 +0,0 @@
|
||||
use crate::serial_core::error::CodecError;
|
||||
use crate::serial_core::frame::{
|
||||
FrameHandler, TactileAFrameMetaData, TactileARepFrame, TactileAReqFrame,
|
||||
};
|
||||
use crate::serial_core::record::{write_csv, CsvExporter, CsvImporter, RecordedFrame, Recording};
|
||||
use crate::serial_core::utils::{calc_crc8_itu, elapsed_millis};
|
||||
use crate::serial_core::{
|
||||
codec::Codec,
|
||||
frame::{TactileAFrame, TactileAFrameStatusCode},
|
||||
};
|
||||
use async_trait::async_trait;
|
||||
use csv::StringRecord;
|
||||
use anyhow::anyhow;
|
||||
use std::io::Read;
|
||||
use log::debug;
|
||||
|
||||
const FRAME_BUFFER_MIN_LENGTH: usize = 15;
|
||||
|
||||
pub struct TactileACodec {
|
||||
buffer: Vec<u8>,
|
||||
expected_data_len: usize,
|
||||
}
|
||||
|
||||
pub struct TactileACsvExporter {
|
||||
channels: usize,
|
||||
}
|
||||
|
||||
pub struct TactileACsvImporter {
|
||||
channels: usize,
|
||||
data_row: usize,
|
||||
packets: Vec<TactileADataPacket>,
|
||||
}
|
||||
|
||||
pub struct TactileAHandler;
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct TactileADataPacket {
|
||||
pub data: Vec<i32>,
|
||||
pub dts_ms: u64,
|
||||
}
|
||||
|
||||
impl From<u8> for TactileAFrameStatusCode {
|
||||
fn from(value: u8) -> Self {
|
||||
match value {
|
||||
0 => TactileAFrameStatusCode::Success,
|
||||
_ => TactileAFrameStatusCode::Failure,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl TryFrom<&TactileARepFrame> for TactileADataPacket {
|
||||
type Error = CodecError;
|
||||
fn try_from(value: &TactileARepFrame) -> Result<TactileADataPacket, Self::Error> {
|
||||
let data = TactileACodec::parse_data_frame(&value.payload)?;
|
||||
let dts_ms = value.dts_ms;
|
||||
Ok(TactileADataPacket {
|
||||
data: data,
|
||||
dts_ms: dts_ms,
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
impl TactileACodec {
|
||||
pub fn new(cols: usize, rows: usize) -> TactileACodec {
|
||||
Self {
|
||||
buffer: Vec::new(),
|
||||
expected_data_len: cols * rows * 2,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn parse_data_frame(data: &[u8]) -> Result<Vec<i32>, CodecError> {
|
||||
if data.len() % 2 != 0 {
|
||||
return Err(CodecError::InvalidLength);
|
||||
}
|
||||
|
||||
let vals: Vec<i32> = data
|
||||
.chunks_exact(2)
|
||||
.map(|chunk| {
|
||||
let raw = u16::from_le_bytes([chunk[0], chunk[1]]) as i32;
|
||||
raw
|
||||
// if raw < 15 {
|
||||
// 0
|
||||
// } else {
|
||||
// raw
|
||||
// }
|
||||
})
|
||||
.collect::<Vec<i32>>();
|
||||
|
||||
Ok(vals)
|
||||
}
|
||||
|
||||
pub fn build_req_frame(cols: usize, rows: usize) -> anyhow::Result<TactileAFrame> {
|
||||
let header = [0x55, 0xAA];
|
||||
let payload_len: usize = 9;
|
||||
let device_addr: u8 = 0x34;
|
||||
let extend_code: u8 = 0x00;
|
||||
let func_code: u8 = 0xFB;
|
||||
let start_addr: u32 = 7168;
|
||||
let except_data_len: usize = cols * rows * 2;
|
||||
let checksum: u8 = 0;
|
||||
Ok(TactileAFrame::Req(TactileAReqFrame {
|
||||
meta: TactileAFrameMetaData {
|
||||
header,
|
||||
payload_len,
|
||||
device_addr,
|
||||
extend_code,
|
||||
func_code,
|
||||
start_addr,
|
||||
except_data_len,
|
||||
checksum,
|
||||
},
|
||||
}))
|
||||
}
|
||||
}
|
||||
|
||||
impl Codec<TactileAFrame> for TactileACodec {
|
||||
fn decode(
|
||||
&mut self,
|
||||
input: &[u8],
|
||||
session_started_at: std::time::Instant,
|
||||
) -> Result<Vec<TactileAFrame>, CodecError> {
|
||||
self.buffer.extend_from_slice(input);
|
||||
let mut frames: Vec<TactileAFrame> = Vec::new();
|
||||
|
||||
loop {
|
||||
if self.buffer.len() < FRAME_BUFFER_MIN_LENGTH {
|
||||
break;
|
||||
}
|
||||
|
||||
let header_pos = self.buffer.windows(2).position(|w| w == [0xAA, 0x55]);
|
||||
|
||||
let Some(pos) = header_pos else {
|
||||
self.buffer.clear();
|
||||
break;
|
||||
};
|
||||
if pos > 0 {
|
||||
self.buffer.drain(0..pos);
|
||||
}
|
||||
|
||||
if self.buffer.len() < FRAME_BUFFER_MIN_LENGTH {
|
||||
break;
|
||||
}
|
||||
|
||||
let header = [self.buffer[0], self.buffer[1]];
|
||||
let payload_len = u16::from_le_bytes([self.buffer[2], self.buffer[3]]) as usize;
|
||||
let device_addr = self.buffer[4];
|
||||
let extend_code = self.buffer[5];
|
||||
let func_code = self.buffer[6];
|
||||
let start_addr = u32::from_le_bytes([
|
||||
self.buffer[7],
|
||||
self.buffer[8],
|
||||
self.buffer[9],
|
||||
self.buffer[10],
|
||||
]);
|
||||
let except_data_len = u16::from_le_bytes([self.buffer[11], self.buffer[12]]) as usize;
|
||||
let status = TactileAFrameStatusCode::from(self.buffer[13]);
|
||||
if except_data_len != self.expected_data_len {
|
||||
debug!(
|
||||
"unexpected payload length: expected {}, got {}, buffer_len={}",
|
||||
self.expected_data_len,
|
||||
except_data_len,
|
||||
self.buffer.len()
|
||||
);
|
||||
self.buffer.drain(0..1);
|
||||
continue;
|
||||
}
|
||||
|
||||
let frame_length = except_data_len + FRAME_BUFFER_MIN_LENGTH;
|
||||
if self.buffer.len() < frame_length {
|
||||
break;
|
||||
}
|
||||
|
||||
let need_check_data = self.buffer[0..14 + except_data_len].to_vec();
|
||||
let payload = self.buffer[14..14 + except_data_len].to_vec();
|
||||
let crc8_itu_alg = crc::Crc::<u8>::new(&crc::CRC_8_I_432_1);
|
||||
let checksum = crc8_itu_alg.checksum(&need_check_data.as_slice());
|
||||
if self.buffer[frame_length - 1] != checksum {
|
||||
debug!(
|
||||
"checksum mismatch: expected {:02X}, got {:02X}, frame_len={}",
|
||||
checksum,
|
||||
self.buffer[frame_length - 1],
|
||||
frame_length
|
||||
);
|
||||
self.buffer.drain(0..1);
|
||||
continue;
|
||||
}
|
||||
let dts_ms = elapsed_millis(session_started_at);
|
||||
let meta: TactileAFrameMetaData = TactileAFrameMetaData {
|
||||
header,
|
||||
payload_len,
|
||||
device_addr,
|
||||
extend_code,
|
||||
func_code,
|
||||
start_addr,
|
||||
except_data_len,
|
||||
checksum,
|
||||
};
|
||||
frames.push(TactileAFrame::Rep({
|
||||
TactileARepFrame {
|
||||
meta,
|
||||
status,
|
||||
payload,
|
||||
dts_ms,
|
||||
}
|
||||
}));
|
||||
|
||||
self.buffer.drain(0..frame_length);
|
||||
}
|
||||
|
||||
Ok(frames)
|
||||
}
|
||||
|
||||
fn encode(
|
||||
&self,
|
||||
frame: &TactileAFrame,
|
||||
) -> Result<Vec<u8>, crate::serial_core::error::CodecError> {
|
||||
match frame {
|
||||
TactileAFrame::Req(f) => {
|
||||
let mut req_bytes: Vec<u8> = Vec::new();
|
||||
req_bytes.extend_from_slice(f.meta.header.as_slice());
|
||||
req_bytes.extend_from_slice((f.meta.payload_len as u16).to_le_bytes().as_slice());
|
||||
req_bytes.push(f.meta.device_addr);
|
||||
req_bytes.push(f.meta.extend_code);
|
||||
req_bytes.push(f.meta.func_code);
|
||||
|
||||
req_bytes.extend_from_slice(f.meta.start_addr.to_le_bytes().as_slice());
|
||||
req_bytes.extend_from_slice((f.meta.except_data_len as u16).to_le_bytes().as_slice());
|
||||
let checksum = calc_crc8_itu(req_bytes.as_slice());
|
||||
req_bytes.push(checksum);
|
||||
Ok(req_bytes)
|
||||
}
|
||||
_ => {
|
||||
Err(CodecError::InvalidFrameType)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[async_trait]
|
||||
impl FrameHandler<TactileAFrame, i32> for TactileAHandler {
|
||||
async fn on_frame(&mut self, frame: &TactileAFrame) -> anyhow::Result<Option<Vec<i32>>> {
|
||||
match frame {
|
||||
TactileAFrame::Rep(rep) => {
|
||||
let vals = TactileACodec::parse_data_frame(&rep.payload)?;
|
||||
Ok(Some(vals))
|
||||
}
|
||||
_ => Ok(None),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl TactileACsvExporter {
|
||||
fn new(channels: usize) -> Self {
|
||||
TactileACsvExporter { channels }
|
||||
}
|
||||
}
|
||||
|
||||
impl CsvExporter<TactileARepFrame> for TactileACsvExporter {
|
||||
type Error = CodecError;
|
||||
fn csv_header(&self, _recording: &Recording<TactileARepFrame>) -> Vec<String> {
|
||||
let mut header: Vec<String> = Vec::new();
|
||||
for i in 0..self.channels {
|
||||
header.push(format!("channel{}", i + 1));
|
||||
}
|
||||
|
||||
header.push("dts".to_string());
|
||||
header.push("summary".to_string());
|
||||
header
|
||||
}
|
||||
|
||||
fn csv_row(
|
||||
&self,
|
||||
item: &RecordedFrame<TactileARepFrame>,
|
||||
) -> anyhow::Result<Vec<String>> {
|
||||
let packet = TactileADataPacket::try_from(&item.frame)?;
|
||||
let summary: i32 = packet.data.iter().sum();
|
||||
let mut row: Vec<String> = packet.data.iter().map(|x| x.to_string()).collect();
|
||||
row.push(packet.dts_ms.to_string());
|
||||
row.push(summary.to_string());
|
||||
Ok(row)
|
||||
}
|
||||
}
|
||||
|
||||
impl CsvExporter<TactileAFrame> for TactileACsvExporter {
|
||||
type Error = CodecError;
|
||||
|
||||
fn csv_header(&self, _recording: &Recording<TactileAFrame>) -> Vec<String> {
|
||||
let mut header: Vec<String> = Vec::new();
|
||||
for i in 0..self.channels {
|
||||
header.push(format!("channel{}", i + 1));
|
||||
}
|
||||
|
||||
header.push("dts".to_string());
|
||||
header
|
||||
}
|
||||
|
||||
fn csv_row(
|
||||
&self,
|
||||
item: &RecordedFrame<TactileAFrame>,
|
||||
) -> anyhow::Result<Vec<String>> {
|
||||
let rep = match &item.frame {
|
||||
TactileAFrame::Rep(rep) => rep,
|
||||
TactileAFrame::Req(_) => return Err(anyhow!("request frame cannot be exported to csv row")),
|
||||
};
|
||||
|
||||
let packet = TactileADataPacket::try_from(rep)?;
|
||||
let mut row: Vec<String> = packet.data.iter().map(|x| x.to_string()).collect();
|
||||
row.push(packet.dts_ms.to_string());
|
||||
Ok(row)
|
||||
}
|
||||
}
|
||||
|
||||
impl TactileACsvImporter {
|
||||
pub fn new(_path: &str) -> TactileACsvImporter {
|
||||
Self {
|
||||
channels: 0,
|
||||
data_row: 0,
|
||||
packets: Vec::new(),
|
||||
}
|
||||
}
|
||||
|
||||
fn parse_record(&mut self, record: StringRecord) -> anyhow::Result<TactileADataPacket> {
|
||||
if self.channels == 0 {
|
||||
return Err(anyhow!("csv header is missing channel columns"));
|
||||
}
|
||||
|
||||
if record.len() < self.channels + 1 {
|
||||
return Err(anyhow!("csv row has insufficient columns"));
|
||||
}
|
||||
|
||||
let mut data = Vec::with_capacity(self.channels);
|
||||
for index in 0..self.channels {
|
||||
let cell = record.get(index).ok_or_else(|| anyhow!("missing channel cell"))?;
|
||||
data.push(cell.parse::<i32>()?);
|
||||
}
|
||||
|
||||
let dts_cell = record
|
||||
.get(self.channels)
|
||||
.ok_or_else(|| anyhow!("missing dts cell"))?;
|
||||
let dts_ms = dts_cell.parse::<u64>()?;
|
||||
|
||||
Ok(TactileADataPacket {
|
||||
data: data,
|
||||
dts_ms: dts_ms,
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
impl CsvImporter<TactileADataPacket> for TactileACsvImporter {
|
||||
fn load<R: Read>(&mut self, reader: R) -> anyhow::Result<Vec<TactileADataPacket>> {
|
||||
let mut rdr = csv::Reader::from_reader(reader);
|
||||
let headers = rdr.headers()?.clone();
|
||||
self.channels = headers.len().saturating_sub(1);
|
||||
self.data_row = 0;
|
||||
self.packets.clear();
|
||||
|
||||
for record in rdr.records() {
|
||||
let record = record?;
|
||||
let packet = self.parse_record(record)?;
|
||||
self.packets.push(packet);
|
||||
self.data_row += 1;
|
||||
}
|
||||
|
||||
Ok(self.packets.clone())
|
||||
}
|
||||
}
|
||||
|
||||
pub fn export_recording_csv<W>(recording: &Recording<TactileAFrame>, writer: W) -> anyhow::Result<()>
|
||||
where
|
||||
W: std::io::Write,
|
||||
{
|
||||
let channel_nb = recording
|
||||
.frames
|
||||
.iter()
|
||||
.find_map(|frame| match &frame.frame {
|
||||
TactileAFrame::Rep(rep) => Some(rep.payload.len() / 2),
|
||||
TactileAFrame::Req(_) => None,
|
||||
})
|
||||
.unwrap_or(0);
|
||||
|
||||
let exporter = TactileACsvExporter::new(channel_nb);
|
||||
write_csv(recording, &exporter, writer)
|
||||
}
|
||||
@@ -1,256 +0,0 @@
|
||||
use std::io::Read;
|
||||
use std::time::Instant;
|
||||
use crate::serial_core::frame::{FrameHandler};
|
||||
use crate::serial_core::{codec::Codec, error::CodecError, frame::TestFrame};
|
||||
use anyhow::anyhow;
|
||||
use async_trait::async_trait;
|
||||
use csv::StringRecord;
|
||||
use crate::serial_core::record::{write_csv, CsvExporter, CsvImporter, RecordedFrame, Recording};
|
||||
use crate::serial_core::utils::{
|
||||
elapsed_millis,
|
||||
usize_to_u16_be_bytes
|
||||
};
|
||||
pub struct TestCodec {
|
||||
buffer: Vec<u8>,
|
||||
}
|
||||
|
||||
pub struct TestHandler;
|
||||
|
||||
impl TestCodec {
|
||||
pub fn new() -> TestCodec {
|
||||
Self { buffer: Vec::new() }
|
||||
}
|
||||
}
|
||||
|
||||
impl Codec<TestFrame> for TestCodec {
|
||||
fn decode(&mut self, input: &[u8], session_started_at: Instant) -> Result<Vec<TestFrame>, CodecError> {
|
||||
self.buffer.extend_from_slice(input);
|
||||
let mut frames = Vec::new();
|
||||
|
||||
loop {
|
||||
if self.buffer.len() < 6 {
|
||||
break;
|
||||
}
|
||||
|
||||
let header_pos = self.buffer.windows(2).position(|w| w == [0xAA, 0x55]);
|
||||
|
||||
let Some(pos) = header_pos else {
|
||||
self.buffer.clear();
|
||||
break;
|
||||
};
|
||||
if pos > 0 {
|
||||
self.buffer.drain(0..pos);
|
||||
}
|
||||
|
||||
if self.buffer.len() < 6 {
|
||||
break;
|
||||
}
|
||||
|
||||
let cmd = self.buffer[2];
|
||||
let length_bytes = [self.buffer[3], self.buffer[4]];
|
||||
let length = u16::from_be_bytes(length_bytes) as usize;
|
||||
let frame_length = (length + 6) as usize;
|
||||
if self.buffer.len() < frame_length {
|
||||
break;
|
||||
}
|
||||
let payload = self.buffer[5..5 + length].to_vec();
|
||||
// let checksum = crc8(payload.as_slice());
|
||||
let crc8_alg = crc::Crc::<u8>::new(&crc::CRC_8_SMBUS);
|
||||
let checksum = crc8_alg.checksum(payload.as_slice());
|
||||
if self.buffer[frame_length - 1] != checksum {
|
||||
self.buffer.drain(0..1);
|
||||
continue;
|
||||
}
|
||||
let dts = elapsed_millis(session_started_at);
|
||||
println!("dts_ms: {dts}");
|
||||
frames.push(TestFrame {
|
||||
header: [0xAA, 0x55],
|
||||
cmd: cmd,
|
||||
length: length,
|
||||
payload: payload,
|
||||
checksum: checksum,
|
||||
dts_ms: dts,
|
||||
});
|
||||
|
||||
self.buffer.drain(0..frame_length);
|
||||
}
|
||||
|
||||
Ok(frames)
|
||||
}
|
||||
fn encode(&self, frame: &TestFrame) -> Result<Vec<u8>, CodecError> {
|
||||
let _ = u16::try_from(frame.payload.len()).map_err(|_| CodecError::PayloadTooLarge)?;
|
||||
let mut out = Vec::with_capacity(6 + frame.length);
|
||||
out.extend_from_slice(&frame.header);
|
||||
out.push(frame.cmd);
|
||||
out.extend_from_slice(&usize_to_u16_be_bytes(frame.length));
|
||||
out.extend_from_slice(&frame.payload);
|
||||
out.push(frame.checksum);
|
||||
|
||||
Ok(out)
|
||||
}
|
||||
}
|
||||
|
||||
#[async_trait]
|
||||
impl FrameHandler<TestFrame, i32> for TestHandler {
|
||||
async fn on_frame(&mut self, frame: &TestFrame) -> anyhow::Result<Option<Vec<i32>>> {
|
||||
match frame.cmd {
|
||||
0x01 => {
|
||||
let vals = parse_data_frame(&frame.payload)?;
|
||||
Ok(Some(vals))
|
||||
}
|
||||
_ => Ok(None),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn parse_data_frame(data: &[u8]) -> Result<Vec<i32>, CodecError> {
|
||||
if data.len() % 2 != 0 {
|
||||
return Err(CodecError::InvalidLength);
|
||||
}
|
||||
|
||||
let vals: Vec<i32> = data
|
||||
.chunks_exact(2)
|
||||
.map(|chunk| u16::from_be_bytes([chunk[0], chunk[1]]) as i32)
|
||||
.collect::<Vec<i32>>();
|
||||
|
||||
Ok(vals)
|
||||
}
|
||||
|
||||
pub struct TestCsvExporter;
|
||||
pub struct TestCsvImporter {
|
||||
channels: usize,
|
||||
data_row: usize,
|
||||
packets: Vec<TestDataPacket>,
|
||||
}
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct TestDataPacket {
|
||||
pub data: Vec<i32>,
|
||||
pub dts_ms: u64
|
||||
}
|
||||
|
||||
impl TryFrom<&TestFrame> for TestDataPacket {
|
||||
type Error = CodecError;
|
||||
fn try_from(frame: &TestFrame) -> Result<TestDataPacket, Self::Error> {
|
||||
let data = parse_data_frame(&frame.payload)?;
|
||||
let dts = frame.dts_ms;
|
||||
Ok(TestDataPacket { data: data, dts_ms: dts })
|
||||
}
|
||||
}
|
||||
// impl From<TestFrame> for TestDataPacket {
|
||||
// fn from(frame: TestFrame) -> Self {
|
||||
// let data = parse_data_frame(&frame.payload)?;
|
||||
// let dts = frame.dts_ms;
|
||||
// TestDataPacket { data: data, dts_ms: dts }
|
||||
// }
|
||||
// }
|
||||
|
||||
|
||||
impl CsvExporter<TestFrame> for TestCsvExporter {
|
||||
type Error = CodecError;
|
||||
fn csv_header(&self, recording: &Recording<TestFrame>) -> Vec<String> {
|
||||
let channel_nb = recording
|
||||
.frames
|
||||
.iter()
|
||||
.find_map(|frame| parse_data_frame(&frame.frame.payload).ok().map(|vals| vals.len()))
|
||||
.unwrap_or(0);
|
||||
let mut header: Vec<String> = Vec::new();
|
||||
for i in 0..channel_nb {
|
||||
header.push(format!("channel{}", i + 1));
|
||||
}
|
||||
header.push("dts".to_string());
|
||||
|
||||
header
|
||||
}
|
||||
|
||||
fn csv_row(&self, item: &RecordedFrame<TestFrame>) -> anyhow::Result<Vec<String>> {
|
||||
let packet: TestDataPacket = TestDataPacket::try_from(&item.frame)?;
|
||||
let mut row: Vec<String> = packet.data.iter().map(|&x| x.to_string()).collect();
|
||||
row.push(packet.dts_ms.to_string());
|
||||
Ok(row)
|
||||
}
|
||||
}
|
||||
|
||||
impl TestCsvImporter {
|
||||
pub fn new(_path: &str) -> TestCsvImporter {
|
||||
Self {
|
||||
channels: 0,
|
||||
data_row: 0,
|
||||
packets: Vec::new(),
|
||||
}
|
||||
}
|
||||
|
||||
fn parse_record(&mut self, record: StringRecord) -> anyhow::Result<TestDataPacket>{
|
||||
if self.channels == 0 {
|
||||
return Err(anyhow!("csv header is missing channel columns"));
|
||||
}
|
||||
|
||||
if record.len() < self.channels + 1 {
|
||||
return Err(anyhow!("csv row has insufficient columns"));
|
||||
}
|
||||
|
||||
let mut data = Vec::with_capacity(self.channels);
|
||||
for index in 0..self.channels {
|
||||
let cell = record.get(index).ok_or_else(|| anyhow!("missing channel cell"))?;
|
||||
data.push(cell.parse::<i32>()?);
|
||||
}
|
||||
|
||||
let dts_cell = record
|
||||
.get(self.channels)
|
||||
.ok_or_else(|| anyhow!("missing dts cell"))?;
|
||||
let dts_ms = dts_cell.parse::<u64>()?;
|
||||
|
||||
Ok(TestDataPacket {
|
||||
data: data,
|
||||
dts_ms: dts_ms,
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
impl CsvImporter<TestDataPacket> for TestCsvImporter {
|
||||
fn load<R: Read>(&mut self, reader: R) -> anyhow::Result<Vec<TestDataPacket>> {
|
||||
let mut rdr = csv::Reader::from_reader(reader);
|
||||
let headers = rdr.headers()?.clone();
|
||||
self.channels = headers.len().saturating_sub(1);
|
||||
self.data_row = 0;
|
||||
self.packets.clear();
|
||||
|
||||
for record in rdr.records() {
|
||||
let record = record?;
|
||||
let packet = self.parse_record(record)?;
|
||||
self.packets.push(packet);
|
||||
self.data_row += 1;
|
||||
}
|
||||
|
||||
Ok(self.packets.clone())
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
pub fn export_recording_csv<W>(recording: &Recording<TestFrame>, writer: W) -> anyhow::Result<()>
|
||||
where
|
||||
W: std::io::Write,
|
||||
{
|
||||
write_csv(recording, &TestCsvExporter, writer)
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
use csv::Reader;
|
||||
use std::io::Cursor;
|
||||
|
||||
#[test]
|
||||
fn test_read_csv_basic() -> anyhow::Result<()> {
|
||||
let mut rdr = Reader::from_path("recording_20260329_125238.csv")?;
|
||||
let headers = rdr.headers()?;
|
||||
println!("headers: {:?}", headers);
|
||||
|
||||
for result in rdr.records() {
|
||||
let record = result?;
|
||||
println!("record: {:?}", record);
|
||||
}
|
||||
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
@@ -1,57 +0,0 @@
|
||||
use anyhow::Result;
|
||||
use async_trait::async_trait;
|
||||
#[derive(Debug, Clone, PartialEq, Eq)]
|
||||
pub struct TestFrame {
|
||||
pub header: [u8; 2],
|
||||
pub cmd: u8,
|
||||
pub length: usize,
|
||||
pub payload: Vec<u8>,
|
||||
pub checksum: u8,
|
||||
pub dts_ms: u64
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq)]
|
||||
pub struct TactileAFrameMetaData {
|
||||
pub header: [u8; 2],
|
||||
pub payload_len: usize,
|
||||
pub device_addr: u8,
|
||||
pub extend_code: u8,
|
||||
pub func_code: u8,
|
||||
pub start_addr: u32,
|
||||
pub except_data_len: usize,
|
||||
// pub status: u8,
|
||||
// pub payload_data: Vec<u8>,
|
||||
pub checksum: u8,
|
||||
// pub dts_ms: u64,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq)]
|
||||
pub struct TactileAReqFrame {
|
||||
pub meta: TactileAFrameMetaData,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq)]
|
||||
pub struct TactileARepFrame {
|
||||
pub meta: TactileAFrameMetaData,
|
||||
pub status: TactileAFrameStatusCode,
|
||||
pub payload: Vec<u8>,
|
||||
pub dts_ms: u64
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq)]
|
||||
pub enum TactileAFrameStatusCode {
|
||||
Success,
|
||||
Failure
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq)]
|
||||
pub enum TactileAFrame {
|
||||
Req(TactileAReqFrame),
|
||||
Rep(TactileARepFrame)
|
||||
}
|
||||
|
||||
#[async_trait]
|
||||
pub trait FrameHandler<F, T>: Send {
|
||||
async fn on_frame(&mut self, frame: &F) -> Result<Option<Vec<T>>>;
|
||||
}
|
||||
|
||||
@@ -1,34 +1,4 @@
|
||||
use crate::serial_core::{
|
||||
frame::{TactileAFrame, TestFrame},
|
||||
record::Recording,
|
||||
};
|
||||
|
||||
pub mod codec;
|
||||
pub mod codecs;
|
||||
pub mod error;
|
||||
pub mod frame;
|
||||
pub mod model;
|
||||
pub mod serial;
|
||||
pub mod record;
|
||||
pub mod utils;
|
||||
#[cfg(feature = "multi-dim")]
|
||||
pub mod multi_dim_force;
|
||||
|
||||
pub type TestRecording = Recording<TestFrame>;
|
||||
pub type TactileARecording = Recording<TactileAFrame>;
|
||||
|
||||
pub struct SerialConnection {
|
||||
pub port: String,
|
||||
}
|
||||
|
||||
pub fn connect(port: &str) -> Result<SerialConnection, String> {
|
||||
let port = port.trim();
|
||||
|
||||
if port.is_empty() {
|
||||
return Err("Serial port is required".to_string());
|
||||
}
|
||||
|
||||
Ok(SerialConnection {
|
||||
port: port.to_string(),
|
||||
})
|
||||
}
|
||||
|
||||
@@ -1,8 +1,6 @@
|
||||
use crate::serial_core::frame::TestFrame;
|
||||
use std::collections::HashMap;
|
||||
use std::time::{Duration, Instant, SystemTime, UNIX_EPOCH};
|
||||
|
||||
const MAX_POINTS: usize = 28;
|
||||
const MAX_SUMMARY_POINTS: usize = 42;
|
||||
const PANEL_STALE_AFTER: Duration = Duration::from_millis(2400);
|
||||
|
||||
@@ -13,7 +11,6 @@ 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)]
|
||||
@@ -75,33 +72,19 @@ 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>,
|
||||
}
|
||||
|
||||
struct PanelEntry {
|
||||
panel: HudSignalPanel,
|
||||
last_seen: Instant,
|
||||
}
|
||||
|
||||
pub struct HudChartState {
|
||||
panels: HashMap<String, PanelEntry>,
|
||||
order: Vec<String>,
|
||||
summary_points: Vec<f32>,
|
||||
pressure_matrix: Option<Vec<f32>>,
|
||||
spatial_force: Option<HudSpatialForce>,
|
||||
last_frame_seen: Option<Instant>,
|
||||
}
|
||||
|
||||
struct PanelEntry {
|
||||
panel: HudSignalPanel,
|
||||
last_seen: Instant,
|
||||
}
|
||||
|
||||
impl HudChartState {
|
||||
pub fn new() -> Self {
|
||||
Self {
|
||||
@@ -109,93 +92,27 @@ impl HudChartState {
|
||||
order: Vec::new(),
|
||||
summary_points: Vec::new(),
|
||||
pressure_matrix: None,
|
||||
spatial_force: None,
|
||||
last_frame_seen: None,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn record_summary(&mut self, value: f32) {
|
||||
push_summary_point(&mut self.summary_points, value);
|
||||
self.last_frame_seen = Some(Instant::now());
|
||||
}
|
||||
|
||||
pub fn record_pressure_matrix(&mut self, values: &[i32]) {
|
||||
pub fn record_pressure_matrix(&mut self, values: &[f32]) {
|
||||
if values.is_empty() {
|
||||
return;
|
||||
}
|
||||
|
||||
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);
|
||||
|
||||
for update in expand_frame_updates(frame, decoded_values) {
|
||||
self.apply_update(update, now);
|
||||
}
|
||||
|
||||
self.prune_stale_at(now);
|
||||
self.snapshot()
|
||||
self.pressure_matrix = Some(values.to_vec());
|
||||
}
|
||||
|
||||
pub fn prune_stale(&mut self) -> Option<HudPacket> {
|
||||
let now = Instant::now();
|
||||
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());
|
||||
let summary_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;
|
||||
}
|
||||
|
||||
Some(self.snapshot())
|
||||
}
|
||||
|
||||
fn apply_update(&mut self, update: HudPanelUpdate, now: Instant) {
|
||||
if update.values.is_empty() {
|
||||
return;
|
||||
}
|
||||
|
||||
if !self.panels.contains_key(&update.source_id) {
|
||||
let next_side = side_for_index(self.order.len());
|
||||
self.order.push(update.source_id.clone());
|
||||
self.panels.insert(
|
||||
update.source_id.clone(),
|
||||
PanelEntry {
|
||||
panel: build_panel(&update.source_id, next_side, update.values.len()),
|
||||
last_seen: now,
|
||||
},
|
||||
);
|
||||
}
|
||||
|
||||
let entry = self
|
||||
.panels
|
||||
.get_mut(&update.source_id)
|
||||
.expect("panel entry should exist after insertion");
|
||||
|
||||
entry.last_seen = now;
|
||||
entry.panel.active = true;
|
||||
ensure_panel_channels(&mut entry.panel, update.values.len());
|
||||
|
||||
for (index, value) in update.values.into_iter().enumerate() {
|
||||
if let Some(series) = entry.panel.series.get_mut(index) {
|
||||
push_point(&mut series.points, value);
|
||||
}
|
||||
}
|
||||
|
||||
refresh_panel_stats(&mut entry.panel);
|
||||
}
|
||||
|
||||
fn prune_stale_at(&mut self, now: Instant) {
|
||||
self.panels
|
||||
.retain(|_, entry| now.duration_since(entry.last_seen) <= PANEL_STALE_AFTER);
|
||||
self.order.retain(|id| self.panels.contains_key(id));
|
||||
@@ -208,9 +125,18 @@ impl HudChartState {
|
||||
if summary_stale {
|
||||
self.summary_points.clear();
|
||||
self.pressure_matrix = None;
|
||||
self.spatial_force = None;
|
||||
self.last_frame_seen = None;
|
||||
}
|
||||
|
||||
if before == self.panels.len() && summary_before == self.summary_points.len() {
|
||||
return None;
|
||||
}
|
||||
|
||||
Some(self.snapshot())
|
||||
}
|
||||
|
||||
pub fn build_snapshot(&mut self) -> HudPacket {
|
||||
self.snapshot()
|
||||
}
|
||||
|
||||
fn snapshot(&mut self) -> HudPacket {
|
||||
@@ -227,7 +153,6 @@ impl HudChartState {
|
||||
panels,
|
||||
summary: build_summary(&self.summary_points),
|
||||
pressure_matrix: self.pressure_matrix.clone(),
|
||||
spatial_force: self.spatial_force.clone(),
|
||||
}
|
||||
}
|
||||
|
||||
@@ -246,106 +171,6 @@ impl Default for HudChartState {
|
||||
}
|
||||
}
|
||||
|
||||
fn build_panel(source_id: &str, side: HudPanelSide, channel_count: usize) -> HudSignalPanel {
|
||||
HudSignalPanel {
|
||||
id: format!("panel-{source_id}"),
|
||||
code: source_id.to_string(),
|
||||
title: format!("Source {source_id}"),
|
||||
side,
|
||||
active: true,
|
||||
series: build_panel_series(source_id, channel_count, &[]),
|
||||
icons: build_panel_icons(source_id, channel_count),
|
||||
latest: None,
|
||||
min: None,
|
||||
max: None,
|
||||
}
|
||||
}
|
||||
|
||||
fn expand_frame_updates(frame: &TestFrame, decoded_values: Option<&[i32]>) -> Vec<HudPanelUpdate> {
|
||||
if let Some(values) = decoded_values {
|
||||
if values.is_empty() {
|
||||
return Vec::new();
|
||||
}
|
||||
|
||||
return vec![HudPanelUpdate {
|
||||
source_id: format_source_id(frame.cmd),
|
||||
values: values.iter().map(|value| *value as f32).collect(),
|
||||
}];
|
||||
}
|
||||
|
||||
let chunks = frame.payload.chunks_exact(4);
|
||||
|
||||
if !frame.payload.is_empty() && chunks.remainder().is_empty() {
|
||||
return chunks.map(build_update_from_chunk).collect();
|
||||
}
|
||||
|
||||
vec![HudPanelUpdate {
|
||||
source_id: format_source_id(frame.cmd),
|
||||
values: fallback_values(frame),
|
||||
}]
|
||||
}
|
||||
|
||||
fn build_update_from_chunk(chunk: &[u8]) -> HudPanelUpdate {
|
||||
HudPanelUpdate {
|
||||
source_id: format_source_id(chunk[0]),
|
||||
values: chunk[1..]
|
||||
.iter()
|
||||
.enumerate()
|
||||
.map(|(index, byte)| normalize_value(*byte, tone_for_index(index)))
|
||||
.collect(),
|
||||
}
|
||||
}
|
||||
|
||||
fn fallback_values(frame: &TestFrame) -> Vec<f32> {
|
||||
let mut bytes = frame.payload.clone();
|
||||
|
||||
if bytes.is_empty() {
|
||||
bytes.extend([
|
||||
frame.cmd,
|
||||
frame.length as u8,
|
||||
frame.checksum,
|
||||
frame.cmd.wrapping_add(frame.checksum),
|
||||
]);
|
||||
}
|
||||
|
||||
while bytes.len() < 3 {
|
||||
let previous = *bytes.last().unwrap_or(&frame.cmd);
|
||||
bytes.push(
|
||||
previous
|
||||
.wrapping_add(frame.cmd)
|
||||
.wrapping_add(bytes.len() as u8),
|
||||
);
|
||||
}
|
||||
|
||||
bytes
|
||||
.into_iter()
|
||||
.enumerate()
|
||||
.map(|(index, byte)| normalize_value(byte, tone_for_index(index)))
|
||||
.collect()
|
||||
}
|
||||
|
||||
fn normalize_value(byte: u8, tone: HudTone) -> f32 {
|
||||
let base = (byte as f32 / 255.0) * 100.0;
|
||||
let offset = match tone {
|
||||
HudTone::Cyan => 6.0,
|
||||
HudTone::Lime => 0.0,
|
||||
HudTone::Orange => -6.0,
|
||||
HudTone::Violet => 10.0,
|
||||
HudTone::Gold => -10.0,
|
||||
HudTone::Rose => 3.0,
|
||||
};
|
||||
|
||||
(base + offset).clamp(0.0, 100.0)
|
||||
}
|
||||
|
||||
fn format_source_id(byte: u8) -> String {
|
||||
if byte.is_ascii_alphanumeric() {
|
||||
(byte as char).to_ascii_uppercase().to_string()
|
||||
} else {
|
||||
format!("CH{:02X}", byte)
|
||||
}
|
||||
}
|
||||
|
||||
fn side_for_index(index: usize) -> HudPanelSide {
|
||||
if index % 2 == 0 {
|
||||
HudPanelSide::Left
|
||||
@@ -354,91 +179,6 @@ fn side_for_index(index: usize) -> HudPanelSide {
|
||||
}
|
||||
}
|
||||
|
||||
fn push_point(points: &mut Vec<f32>, value: f32) {
|
||||
if points.len() >= MAX_POINTS {
|
||||
points.remove(0);
|
||||
}
|
||||
|
||||
points.push((value * 10.0).round() / 10.0);
|
||||
}
|
||||
|
||||
fn build_panel_series(
|
||||
source_id: &str,
|
||||
channel_count: usize,
|
||||
previous: &[HudSignalSeries],
|
||||
) -> Vec<HudSignalSeries> {
|
||||
(0..channel_count)
|
||||
.map(|index| HudSignalSeries {
|
||||
id: format!("{source_id}-series-{}", index + 1),
|
||||
tone: tone_for_index(index),
|
||||
points: previous
|
||||
.get(index)
|
||||
.map(|series| series.points.clone())
|
||||
.unwrap_or_default(),
|
||||
})
|
||||
.collect()
|
||||
}
|
||||
|
||||
fn build_panel_icons(source_id: &str, channel_count: usize) -> Vec<HudSignalIcon> {
|
||||
(0..channel_count)
|
||||
.map(|index| HudSignalIcon {
|
||||
id: format!("{source_id}-icon-{}", index + 1),
|
||||
label: if channel_count == 1 {
|
||||
"TOTAL".to_string()
|
||||
} else {
|
||||
format!("{source_id}-{}", index + 1)
|
||||
},
|
||||
tone: tone_for_index(index),
|
||||
})
|
||||
.collect()
|
||||
}
|
||||
|
||||
fn ensure_panel_channels(panel: &mut HudSignalPanel, channel_count: usize) {
|
||||
if panel.series.len() == channel_count && panel.icons.len() == channel_count {
|
||||
return;
|
||||
}
|
||||
|
||||
panel.series = build_panel_series(&panel.code, channel_count, &panel.series);
|
||||
panel.icons = build_panel_icons(&panel.code, channel_count);
|
||||
}
|
||||
|
||||
fn refresh_panel_stats(panel: &mut HudSignalPanel) {
|
||||
let latest_values: Vec<f32> = panel
|
||||
.series
|
||||
.iter()
|
||||
.filter_map(|series| series.points.last().copied())
|
||||
.collect();
|
||||
|
||||
panel.latest = if latest_values.is_empty() {
|
||||
None
|
||||
} else {
|
||||
Some(latest_values.iter().sum::<f32>() / latest_values.len() as f32)
|
||||
};
|
||||
|
||||
panel.min = panel
|
||||
.series
|
||||
.iter()
|
||||
.flat_map(|series| series.points.iter().copied())
|
||||
.reduce(f32::min);
|
||||
|
||||
panel.max = panel
|
||||
.series
|
||||
.iter()
|
||||
.flat_map(|series| series.points.iter().copied())
|
||||
.reduce(f32::max);
|
||||
}
|
||||
|
||||
fn tone_for_index(index: usize) -> HudTone {
|
||||
match index % 6 {
|
||||
0 => HudTone::Cyan,
|
||||
1 => HudTone::Lime,
|
||||
2 => HudTone::Orange,
|
||||
3 => HudTone::Violet,
|
||||
4 => HudTone::Gold,
|
||||
_ => HudTone::Rose,
|
||||
}
|
||||
}
|
||||
|
||||
fn push_summary_point(points: &mut Vec<f32>, value: f32) {
|
||||
if points.len() >= MAX_SUMMARY_POINTS {
|
||||
points.remove(0);
|
||||
@@ -463,61 +203,3 @@ fn now_millis() -> u64 {
|
||||
.map(|duration| duration.as_millis() as u64)
|
||||
.unwrap_or_default()
|
||||
}
|
||||
|
||||
// #[cfg(test)]
|
||||
// mod tests {
|
||||
// use super::*;
|
||||
//
|
||||
// fn sample_frame() -> TestFrame {
|
||||
// TestFrame {
|
||||
// header: [0xAA, 0x55],
|
||||
// cmd: 0x01,
|
||||
// length: 4,
|
||||
// payload: vec![0x00, 0x0A, 0x00, 0x14],
|
||||
// checksum: 0,
|
||||
//
|
||||
// }
|
||||
// }
|
||||
//
|
||||
// #[test]
|
||||
// fn prune_stale_clears_panels_and_summary_after_timeout() {
|
||||
// let mut state = HudChartState::new();
|
||||
// let frame = sample_frame();
|
||||
//
|
||||
// state.record_summary(30.0);
|
||||
// let _ = state.apply_frame(&frame, Some(&[10, 20]));
|
||||
//
|
||||
// let stale_now = Instant::now();
|
||||
// let stale_seen = stale_now - PANEL_STALE_AFTER - Duration::from_millis(1);
|
||||
//
|
||||
// state.last_frame_seen = Some(stale_seen);
|
||||
//
|
||||
// for entry in state.panels.values_mut() {
|
||||
// entry.last_seen = stale_seen;
|
||||
// }
|
||||
//
|
||||
// let packet = state
|
||||
// .prune_stale()
|
||||
// .expect("stale data should emit an update");
|
||||
//
|
||||
// assert!(packet.panels.is_empty());
|
||||
// assert!(packet.summary.points.is_empty());
|
||||
// assert!(state.panels.is_empty());
|
||||
// assert!(state.summary_points.is_empty());
|
||||
// }
|
||||
//
|
||||
// #[test]
|
||||
// fn prune_stale_keeps_recent_summary_points() {
|
||||
// let mut state = HudChartState::new();
|
||||
// let frame = sample_frame();
|
||||
//
|
||||
// state.record_summary(30.0);
|
||||
// let _ = state.apply_frame(&frame, Some(&[10, 20]));
|
||||
//
|
||||
// state.last_frame_seen = Some(Instant::now());
|
||||
//
|
||||
// assert!(state.prune_stale().is_none());
|
||||
// assert_eq!(state.summary_points, vec![30.0]);
|
||||
// assert_eq!(state.panels.len(), 1);
|
||||
// }
|
||||
// }
|
||||
|
||||
@@ -1,527 +0,0 @@
|
||||
const SENSOR_ROWS: usize = 12;
|
||||
const SENSOR_COLS: usize = 7;
|
||||
const SENSOR_COUNT: usize = SENSOR_ROWS * SENSOR_COLS;
|
||||
|
||||
const CONTACT_ENTER_TOTAL_THRESHOLD: f32 = 520.0;
|
||||
const CONTACT_ENTER_PEAK_THRESHOLD: f32 = 50.0;
|
||||
const CONTACT_EXIT_TOTAL_THRESHOLD: f32 = 260.0;
|
||||
const CONTACT_EXIT_PEAK_THRESHOLD: f32 = 28.0;
|
||||
const CONTACT_ENTER_FRAMES_REQUIRED: usize = 2;
|
||||
const CONTACT_EXIT_FRAMES_REQUIRED: usize = 8;
|
||||
|
||||
const BASELINE_IDLE_ALPHA: f32 = 0.035;
|
||||
const BASELINE_BOOTSTRAP_ALPHA: f32 = 1.0;
|
||||
const BASELINE_NOISE_FLOOR: f32 = 5.0;
|
||||
|
||||
const ACTIVE_CELL_MIN_VALUE: f32 = 18.0;
|
||||
const ACTIVE_CELL_PEAK_RATIO: f32 = 0.14;
|
||||
const MIN_ACTIVE_CELLS: usize = 3;
|
||||
|
||||
const ANCHOR_LERP_ALPHA: f32 = 0.018;
|
||||
const VECTOR_SMOOTHING_ALPHA: f32 = 0.16;
|
||||
|
||||
const REPORT_MAGNITUDE_ENTER: f32 = 0.12;
|
||||
const REPORT_MAGNITUDE_EXIT: f32 = 0.045;
|
||||
const REPORT_CONFIDENCE_ENTER: f32 = 0.14;
|
||||
const REPORT_CONFIDENCE_EXIT: f32 = 0.06;
|
||||
const REPORT_HOLD_FRAMES: usize = 10;
|
||||
|
||||
const ASYMMETRY_WEIGHT: f32 = 1.1;
|
||||
const DRIFT_WEIGHT: f32 = 0.65;
|
||||
const MOTION_WEIGHT: f32 = 0.25;
|
||||
|
||||
#[derive(Debug, Clone, Copy)]
|
||||
pub struct PztSpatialAnalysis {
|
||||
pub angle_deg: f32,
|
||||
pub magnitude: f32,
|
||||
pub planar_x: f32,
|
||||
pub planar_y: f32,
|
||||
pub confidence: f32,
|
||||
pub contact_active: bool,
|
||||
pub reportable: bool,
|
||||
}
|
||||
|
||||
pub struct PztProcessor {
|
||||
baseline_frame: Option<Vec<f32>>,
|
||||
contact_active: bool,
|
||||
contact_enter_counter: usize,
|
||||
contact_exit_counter: usize,
|
||||
anchor_cop_x: Option<f32>,
|
||||
anchor_cop_y: Option<f32>,
|
||||
last_cop_x: Option<f32>,
|
||||
last_cop_y: Option<f32>,
|
||||
smoothed_x: f32,
|
||||
smoothed_y: f32,
|
||||
report_active: bool,
|
||||
report_hold_counter: usize,
|
||||
held_report: Option<PztSpatialAnalysis>,
|
||||
}
|
||||
|
||||
#[derive(Clone, Copy)]
|
||||
struct ContactStats {
|
||||
total: f32,
|
||||
peak: f32,
|
||||
active_total: f32,
|
||||
active_cells: usize,
|
||||
min_row: usize,
|
||||
max_row: usize,
|
||||
min_col: usize,
|
||||
max_col: usize,
|
||||
cop_x: f32,
|
||||
cop_y: f32,
|
||||
asymmetry_x: f32,
|
||||
asymmetry_y: f32,
|
||||
}
|
||||
|
||||
impl PztProcessor {
|
||||
pub fn new() -> Self {
|
||||
Self {
|
||||
baseline_frame: None,
|
||||
contact_active: false,
|
||||
contact_enter_counter: 0,
|
||||
contact_exit_counter: 0,
|
||||
anchor_cop_x: None,
|
||||
anchor_cop_y: None,
|
||||
last_cop_x: None,
|
||||
last_cop_y: None,
|
||||
smoothed_x: 0.0,
|
||||
smoothed_y: 0.0,
|
||||
report_active: false,
|
||||
report_hold_counter: 0,
|
||||
held_report: None,
|
||||
}
|
||||
}
|
||||
|
||||
fn reset_tracking_state(&mut self) {
|
||||
self.contact_active = false;
|
||||
self.contact_enter_counter = 0;
|
||||
self.contact_exit_counter = 0;
|
||||
self.anchor_cop_x = None;
|
||||
self.anchor_cop_y = None;
|
||||
self.last_cop_x = None;
|
||||
self.last_cop_y = None;
|
||||
self.smoothed_x = 0.0;
|
||||
self.smoothed_y = 0.0;
|
||||
}
|
||||
|
||||
fn reset_report_state(&mut self) {
|
||||
self.report_active = false;
|
||||
self.report_hold_counter = 0;
|
||||
self.held_report = None;
|
||||
}
|
||||
|
||||
fn update_idle_baseline(&mut self, raw_frame: &[f32], alpha: f32) {
|
||||
match self.baseline_frame.as_mut() {
|
||||
Some(baseline) => {
|
||||
for (base, current) in baseline.iter_mut().zip(raw_frame.iter().copied()) {
|
||||
*base += (current - *base) * alpha;
|
||||
}
|
||||
}
|
||||
None => {
|
||||
self.baseline_frame = Some(raw_frame.to_vec());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn subtract_baseline(&mut self, raw_frame: &[f32]) -> Vec<f32> {
|
||||
if self.baseline_frame.is_none() {
|
||||
self.update_idle_baseline(raw_frame, BASELINE_BOOTSTRAP_ALPHA);
|
||||
}
|
||||
|
||||
let baseline = self
|
||||
.baseline_frame
|
||||
.as_ref()
|
||||
.expect("baseline should exist after bootstrap");
|
||||
|
||||
raw_frame
|
||||
.iter()
|
||||
.zip(baseline.iter())
|
||||
.map(|(raw, base)| (raw - base - BASELINE_NOISE_FLOOR).max(0.0))
|
||||
.collect()
|
||||
}
|
||||
|
||||
fn pressure_metrics(frame: &[f32]) -> (f32, f32) {
|
||||
let total = frame.iter().sum::<f32>();
|
||||
let peak = frame.iter().copied().fold(0.0, f32::max);
|
||||
(total, peak)
|
||||
}
|
||||
|
||||
fn is_contact_enter_frame(frame: &[f32]) -> bool {
|
||||
let (total, peak) = Self::pressure_metrics(frame);
|
||||
total >= CONTACT_ENTER_TOTAL_THRESHOLD && peak >= CONTACT_ENTER_PEAK_THRESHOLD
|
||||
}
|
||||
|
||||
fn is_contact_exit_frame(frame: &[f32]) -> bool {
|
||||
let (total, peak) = Self::pressure_metrics(frame);
|
||||
total <= CONTACT_EXIT_TOTAL_THRESHOLD || peak <= CONTACT_EXIT_PEAK_THRESHOLD
|
||||
}
|
||||
|
||||
fn inactive_analysis() -> PztSpatialAnalysis {
|
||||
PztSpatialAnalysis {
|
||||
angle_deg: 0.0,
|
||||
magnitude: 0.0,
|
||||
planar_x: 0.0,
|
||||
planar_y: 0.0,
|
||||
confidence: 0.0,
|
||||
contact_active: false,
|
||||
reportable: false,
|
||||
}
|
||||
}
|
||||
|
||||
fn weak_contact_analysis() -> PztSpatialAnalysis {
|
||||
PztSpatialAnalysis {
|
||||
contact_active: true,
|
||||
..Self::inactive_analysis()
|
||||
}
|
||||
}
|
||||
|
||||
fn compute_contact_stats(frame: &[f32]) -> Option<ContactStats> {
|
||||
let total = frame.iter().sum::<f32>();
|
||||
if total <= 0.0 {
|
||||
return None;
|
||||
}
|
||||
|
||||
let peak = frame.iter().copied().fold(0.0, f32::max);
|
||||
if peak <= 0.0 {
|
||||
return None;
|
||||
}
|
||||
|
||||
let active_threshold = (peak * ACTIVE_CELL_PEAK_RATIO).max(ACTIVE_CELL_MIN_VALUE);
|
||||
|
||||
let mut active_total = 0.0;
|
||||
let mut active_cells = 0usize;
|
||||
let mut weighted_col_sum = 0.0;
|
||||
let mut weighted_row_sum = 0.0;
|
||||
let mut min_row = SENSOR_ROWS;
|
||||
let mut max_row = 0usize;
|
||||
let mut min_col = SENSOR_COLS;
|
||||
let mut max_col = 0usize;
|
||||
|
||||
for row in 0..SENSOR_ROWS {
|
||||
for col in 0..SENSOR_COLS {
|
||||
let index = row * SENSOR_COLS + col;
|
||||
let value = frame[index];
|
||||
if value < active_threshold {
|
||||
continue;
|
||||
}
|
||||
|
||||
active_cells += 1;
|
||||
active_total += value;
|
||||
weighted_col_sum += value * col as f32;
|
||||
weighted_row_sum += value * row as f32;
|
||||
min_row = min_row.min(row);
|
||||
max_row = max_row.max(row);
|
||||
min_col = min_col.min(col);
|
||||
max_col = max_col.max(col);
|
||||
}
|
||||
}
|
||||
|
||||
if active_cells < MIN_ACTIVE_CELLS || active_total <= 0.0 {
|
||||
return None;
|
||||
}
|
||||
|
||||
let cop_x = weighted_col_sum / active_total;
|
||||
let cop_y = weighted_row_sum / active_total;
|
||||
let bbox_center_x = (min_col + max_col) as f32 * 0.5;
|
||||
let bbox_center_y = (min_row + max_row) as f32 * 0.5;
|
||||
let half_width = ((max_col - min_col).max(1) as f32) * 0.5;
|
||||
let half_height = ((max_row - min_row).max(1) as f32) * 0.5;
|
||||
|
||||
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 magnitude = (x * x + y * y).sqrt();
|
||||
if magnitude <= f32::EPSILON {
|
||||
return (0.0, 0.0);
|
||||
}
|
||||
|
||||
let mut angle = y.atan2(x).to_degrees();
|
||||
if angle < 0.0 {
|
||||
angle += 360.0;
|
||||
}
|
||||
|
||||
(angle, magnitude)
|
||||
}
|
||||
|
||||
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_subtracted = self.subtract_baseline(adc_data);
|
||||
if !self.update_contact_state(adc_data, &baseline_subtracted) {
|
||||
return Ok(Self::inactive_analysis());
|
||||
}
|
||||
|
||||
let Some(stats) = Self::compute_contact_stats(&baseline_subtracted) else {
|
||||
return Ok(self.stabilize_report(Self::weak_contact_analysis()));
|
||||
};
|
||||
|
||||
let Some(anchor_x) = self.anchor_cop_x else {
|
||||
self.anchor_cop_x = Some(stats.cop_x);
|
||||
self.anchor_cop_y = Some(stats.cop_y);
|
||||
self.last_cop_x = Some(stats.cop_x);
|
||||
self.last_cop_y = Some(stats.cop_y);
|
||||
|
||||
return Ok(self.stabilize_report(Self::weak_contact_analysis()));
|
||||
};
|
||||
let anchor_y = self.anchor_cop_y.unwrap_or(stats.cop_y);
|
||||
let last_x = self.last_cop_x.unwrap_or(stats.cop_x);
|
||||
let last_y = self.last_cop_y.unwrap_or(stats.cop_y);
|
||||
|
||||
let drift_x = stats.cop_x - anchor_x;
|
||||
let drift_y = stats.cop_y - anchor_y;
|
||||
let motion_x = stats.cop_x - last_x;
|
||||
let motion_y = stats.cop_y - last_y;
|
||||
|
||||
let combined_x = stats.asymmetry_x * ASYMMETRY_WEIGHT
|
||||
+ drift_x * DRIFT_WEIGHT
|
||||
+ motion_x * MOTION_WEIGHT;
|
||||
let combined_y = stats.asymmetry_y * ASYMMETRY_WEIGHT
|
||||
+ drift_y * DRIFT_WEIGHT
|
||||
+ motion_y * MOTION_WEIGHT;
|
||||
|
||||
self.smoothed_x += (combined_x - self.smoothed_x) * VECTOR_SMOOTHING_ALPHA;
|
||||
self.smoothed_y += (combined_y - self.smoothed_y) * VECTOR_SMOOTHING_ALPHA;
|
||||
|
||||
self.anchor_cop_x = Some(anchor_x + drift_x * ANCHOR_LERP_ALPHA);
|
||||
self.anchor_cop_y = Some(anchor_y + drift_y * ANCHOR_LERP_ALPHA);
|
||||
self.last_cop_x = Some(stats.cop_x);
|
||||
self.last_cop_y = Some(stats.cop_y);
|
||||
|
||||
let planar_x = self.smoothed_x;
|
||||
let planar_y = -self.smoothed_y;
|
||||
let (angle_deg, magnitude) = Self::compute_vector_angle(planar_x, planar_y);
|
||||
|
||||
let active_span_rows = (stats.max_row - stats.min_row + 1) as f32 / SENSOR_ROWS as f32;
|
||||
let active_span_cols = (stats.max_col - stats.min_col + 1) as f32 / SENSOR_COLS as f32;
|
||||
let activity = (stats.active_cells as f32 / SENSOR_COUNT as f32).clamp(0.0, 1.0);
|
||||
let span = ((active_span_rows + active_span_cols) * 0.5).clamp(0.0, 1.0);
|
||||
let pressure_ratio = (stats.active_total / stats.total.max(1.0)).clamp(0.0, 1.0);
|
||||
let peak_ratio =
|
||||
(stats.peak / (stats.total / stats.active_cells as f32 + 1.0)).clamp(0.0, 1.0);
|
||||
let confidence =
|
||||
((activity * 0.35) + (span * 0.2) + (pressure_ratio * 0.3) + (peak_ratio * 0.15))
|
||||
.clamp(0.0, 1.0);
|
||||
|
||||
Ok(self.stabilize_report(PztSpatialAnalysis {
|
||||
angle_deg,
|
||||
magnitude,
|
||||
planar_x,
|
||||
planar_y,
|
||||
confidence,
|
||||
contact_active: true,
|
||||
reportable: false,
|
||||
}))
|
||||
}
|
||||
|
||||
pub fn get_pzt_angle(&mut self, adc_data: &[f32]) -> Result<f32, &'static str> {
|
||||
Ok(self.get_pzt_analysis(adc_data)?.angle_deg)
|
||||
}
|
||||
|
||||
pub fn should_report(analysis: &PztSpatialAnalysis) -> bool {
|
||||
analysis.reportable
|
||||
}
|
||||
|
||||
pub fn reset_baseline(&mut self) {
|
||||
self.baseline_frame = None;
|
||||
self.reset_tracking_state();
|
||||
self.reset_report_state();
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::{PztProcessor, SENSOR_COLS, SENSOR_ROWS};
|
||||
|
||||
fn index(row: usize, col: usize) -> usize {
|
||||
row * SENSOR_COLS + col
|
||||
}
|
||||
|
||||
fn make_frame(active: &[(usize, usize, f32)]) -> [f32; SENSOR_ROWS * SENSOR_COLS] {
|
||||
let mut frame = [0.0; SENSOR_ROWS * SENSOR_COLS];
|
||||
for (row, col, value) in active {
|
||||
frame[index(*row, *col)] = *value;
|
||||
}
|
||||
frame
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn idle_frame_does_not_report_contact() {
|
||||
let mut processor = PztProcessor::new();
|
||||
let frame = [0.0; SENSOR_ROWS * SENSOR_COLS];
|
||||
let analysis = processor.get_pzt_analysis(&frame).unwrap();
|
||||
assert!(!analysis.contact_active);
|
||||
assert!(!analysis.reportable);
|
||||
assert_eq!(analysis.magnitude, 0.0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn right_heavy_contact_reports_rightward_angle_after_confirmation() {
|
||||
let mut processor = PztProcessor::new();
|
||||
let baseline = [0.0; SENSOR_ROWS * SENSOR_COLS];
|
||||
let contact = make_frame(&[
|
||||
(5, 2, 120.0),
|
||||
(5, 3, 180.0),
|
||||
(5, 4, 280.0),
|
||||
(6, 2, 110.0),
|
||||
(6, 3, 170.0),
|
||||
(6, 4, 260.0),
|
||||
(7, 2, 100.0),
|
||||
(7, 3, 150.0),
|
||||
(7, 4, 240.0),
|
||||
]);
|
||||
|
||||
let _ = processor.get_pzt_analysis(&baseline).unwrap();
|
||||
|
||||
let mut analysis = processor.get_pzt_analysis(&contact).unwrap();
|
||||
for _ in 0..8 {
|
||||
analysis = processor.get_pzt_analysis(&contact).unwrap();
|
||||
}
|
||||
|
||||
assert!(analysis.contact_active);
|
||||
assert!(analysis.reportable);
|
||||
assert!(analysis.magnitude > 0.0);
|
||||
assert!(analysis.angle_deg <= 45.0 || analysis.angle_deg >= 315.0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn report_stays_active_through_short_weak_gap() {
|
||||
let mut processor = PztProcessor::new();
|
||||
let baseline = [0.0; SENSOR_ROWS * SENSOR_COLS];
|
||||
let contact = make_frame(&[
|
||||
(5, 2, 120.0),
|
||||
(5, 3, 180.0),
|
||||
(5, 4, 280.0),
|
||||
(6, 2, 110.0),
|
||||
(6, 3, 170.0),
|
||||
(6, 4, 260.0),
|
||||
(7, 2, 100.0),
|
||||
(7, 3, 150.0),
|
||||
(7, 4, 240.0),
|
||||
]);
|
||||
let weak = make_frame(&[(5, 3, 55.0), (5, 4, 60.0), (6, 3, 50.0), (6, 4, 58.0)]);
|
||||
|
||||
let _ = processor.get_pzt_analysis(&baseline).unwrap();
|
||||
for _ in 0..10 {
|
||||
let _ = processor.get_pzt_analysis(&contact).unwrap();
|
||||
}
|
||||
|
||||
let analysis = processor.get_pzt_analysis(&weak).unwrap();
|
||||
assert!(analysis.reportable);
|
||||
}
|
||||
}
|
||||
@@ -1,3 +1,5 @@
|
||||
use eskin_finger_sdk::types::FingerSample;
|
||||
|
||||
#[derive(Clone)]
|
||||
pub struct FrameTiming {
|
||||
pub pts_ms: Option<u64>,
|
||||
@@ -7,50 +9,82 @@ pub struct FrameTiming {
|
||||
#[derive(Clone)]
|
||||
pub struct RecordedFrame<F> {
|
||||
pub timing: FrameTiming,
|
||||
pub frame: F
|
||||
pub frame: F,
|
||||
}
|
||||
|
||||
#[derive(Clone, Default)]
|
||||
pub struct Recording<F> {
|
||||
pub frames: Vec<RecordedFrame<F>>
|
||||
pub frames: Vec<RecordedFrame<F>>,
|
||||
}
|
||||
|
||||
impl<F> Recording<F> {
|
||||
pub fn new() -> Recording<F> { Self { frames: Vec::new() } }
|
||||
pub fn push(&mut self, ite: RecordedFrame<F>) {
|
||||
self.frames.push(ite);
|
||||
pub fn new() -> Recording<F> {
|
||||
Self {
|
||||
frames: Vec::new(),
|
||||
}
|
||||
}
|
||||
pub fn push(&mut self, item: RecordedFrame<F>) {
|
||||
self.frames.push(item);
|
||||
}
|
||||
}
|
||||
|
||||
pub trait CsvExporter<F> {
|
||||
type Error: std::error::Error + Send + Sync + 'static;
|
||||
fn csv_header(&self, recording: &Recording<F>) -> Vec<String>;
|
||||
fn csv_row(&self, item: &RecordedFrame<F>) -> anyhow::Result<Vec<String>>;
|
||||
}
|
||||
pub type FingerRecording = Recording<FingerSample>;
|
||||
|
||||
// TODO: CsvImporter
|
||||
pub trait CsvImporter<P> {
|
||||
fn load<R: std::io::Read>(&mut self, reader: R) -> anyhow::Result<Vec<P>>;
|
||||
}
|
||||
|
||||
pub fn write_csv<F, E, W>(
|
||||
recording: &Recording<F>,
|
||||
exporter: &E,
|
||||
writer: W,
|
||||
pub fn export_recording_csv<W>(
|
||||
recording: &Recording<FingerSample>,
|
||||
mut writer: W,
|
||||
) -> anyhow::Result<()>
|
||||
where
|
||||
E: CsvExporter<F>,
|
||||
W: std::io::Write,
|
||||
{
|
||||
let header = exporter.csv_header(&recording);
|
||||
let mut wrt = csv::Writer::from_writer(writer);
|
||||
wrt.write_record(header)?;
|
||||
for f in &recording.frames {
|
||||
let row = exporter.csv_row(f)?;
|
||||
wrt.write_record(&row)?;
|
||||
// Infer channel count from the first sample's combined_forces (just fz)
|
||||
// We write: timestamp_us, sequence, module, fx, fy, fz
|
||||
let mut wrt = csv::Writer::from_writer(&mut writer);
|
||||
wrt.write_record(["timestamp_us", "sequence", "module", "fx", "fy", "fz"])?;
|
||||
|
||||
for frame in &recording.frames {
|
||||
let s = &frame.frame;
|
||||
wrt.write_record(&[
|
||||
s.timestamp_us.to_string(),
|
||||
s.sequence.to_string(),
|
||||
format!("{:?}", s.combined_forces.module),
|
||||
s.combined_forces.force.fx.to_string(),
|
||||
s.combined_forces.force.fy.to_string(),
|
||||
s.combined_forces.force.fz.to_string(),
|
||||
])?;
|
||||
}
|
||||
|
||||
wrt.flush()?;
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub struct FingerSampleCsvPacket {
|
||||
pub timestamp_us: u64,
|
||||
pub sequence: u32,
|
||||
pub fz: u32,
|
||||
}
|
||||
|
||||
pub fn import_csv<R: std::io::Read>(
|
||||
reader: R,
|
||||
) -> anyhow::Result<Vec<FingerSampleCsvPacket>> {
|
||||
let mut rdr = csv::Reader::from_reader(reader);
|
||||
let mut packets = Vec::new();
|
||||
|
||||
for result in rdr.records() {
|
||||
let record = result?;
|
||||
if record.len() < 6 {
|
||||
continue;
|
||||
}
|
||||
let timestamp_us = record.get(0).unwrap_or("0").parse::<u64>().unwrap_or(0);
|
||||
let sequence = record.get(1).unwrap_or("0").parse::<u32>().unwrap_or(0);
|
||||
let fz = record.get(5).unwrap_or("0").parse::<u32>().unwrap_or(0);
|
||||
|
||||
packets.push(FingerSampleCsvPacket {
|
||||
timestamp_us,
|
||||
sequence,
|
||||
fz,
|
||||
});
|
||||
}
|
||||
|
||||
Ok(packets)
|
||||
}
|
||||
@@ -1,453 +1,160 @@
|
||||
#[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, HudSpatialForce};
|
||||
#[cfg(feature = "multi-dim")]
|
||||
use crate::serial_core::multi_dim_force::PztProcessor;
|
||||
use crate::serial_core::model::HudChartState;
|
||||
use crate::serial_core::record::Recording;
|
||||
use crate::serial_core::record::{FrameTiming, RecordedFrame};
|
||||
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;
|
||||
#[cfg(feature = "devkit")]
|
||||
use tauri::Manager;
|
||||
use eskin_finger_sdk::channel::DeviceEvent;
|
||||
use eskin_finger_sdk::config::DeviceConfig;
|
||||
use eskin_finger_sdk::device::{EskinDevice, EskinDeviceInner};
|
||||
use eskin_finger_sdk::transport::SerialPortTransport;
|
||||
use eskin_finger_sdk::types::FingerSample;
|
||||
use tauri::{AppHandle, Emitter};
|
||||
use tokio::io::{AsyncReadExt, AsyncWriteExt};
|
||||
use tokio::time::{self, Duration, MissedTickBehavior};
|
||||
use tokio_serial::SerialStream;
|
||||
use tokio_util::sync::CancellationToken;
|
||||
use crate::ad_solver::solve_for_x;
|
||||
const AUTO_SUB_INTERVAL: Duration = Duration::from_nanos(16_666_667);
|
||||
|
||||
pub enum PollMode<F> {
|
||||
Disable,
|
||||
Enabled(Box<dyn PollRequester<F>>),
|
||||
use super::model::HudPacket;
|
||||
|
||||
pub struct SdkSession {
|
||||
pub device: EskinDeviceInner,
|
||||
}
|
||||
|
||||
struct PendingSubFrame<F> {
|
||||
frame: F,
|
||||
values: Vec<i32>,
|
||||
spatial_force: Option<HudSpatialForce>,
|
||||
pub fn open_device(port: &str) -> Result<SdkSession, String> {
|
||||
let port = port.trim();
|
||||
if port.is_empty() {
|
||||
return Err("Serial port is required".to_string());
|
||||
}
|
||||
|
||||
pub trait SerialFrame: Clone + Send + 'static {
|
||||
fn dts_ms(&self) -> u64;
|
||||
let transport = SerialPortTransport::new(port, 921600);
|
||||
let config = DeviceConfig::default();
|
||||
let mut device = EskinDeviceInner::new(config, Box::new(transport));
|
||||
device.open().map_err(|e| e.to_string())?;
|
||||
|
||||
fn to_hud_packet(
|
||||
&self,
|
||||
chart_state: &mut HudChartState,
|
||||
display_values: Option<&[i32]>,
|
||||
) -> Option<HudPacket>;
|
||||
Ok(SdkSession { device })
|
||||
}
|
||||
|
||||
impl SerialFrame for TestFrame {
|
||||
fn dts_ms(&self) -> u64 {
|
||||
self.dts_ms
|
||||
}
|
||||
|
||||
fn to_hud_packet(
|
||||
&self,
|
||||
chart_state: &mut HudChartState,
|
||||
display_values: Option<&[i32]>,
|
||||
) -> Option<HudPacket> {
|
||||
Some(chart_state.apply_frame(self, display_values))
|
||||
}
|
||||
}
|
||||
|
||||
impl SerialFrame for TactileAFrame {
|
||||
fn dts_ms(&self) -> u64 {
|
||||
match self {
|
||||
TactileAFrame::Req(_) => 0,
|
||||
TactileAFrame::Rep(rep) => rep.dts_ms,
|
||||
}
|
||||
}
|
||||
|
||||
fn to_hud_packet(
|
||||
&self,
|
||||
chart_state: &mut HudChartState,
|
||||
display_values: Option<&[i32]>,
|
||||
) -> Option<HudPacket> {
|
||||
match self {
|
||||
TactileAFrame::Req(_) => None,
|
||||
TactileAFrame::Rep(rep) => {
|
||||
let proxy = TestFrame {
|
||||
header: rep.meta.header,
|
||||
cmd: rep.meta.func_code,
|
||||
length: rep.meta.except_data_len,
|
||||
payload: rep.payload.clone(),
|
||||
checksum: rep.meta.checksum,
|
||||
dts_ms: rep.dts_ms,
|
||||
};
|
||||
|
||||
Some(chart_state.apply_frame(&proxy, display_values))
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub trait PollRequester<F>: Send {
|
||||
fn poll_interval(&self) -> Option<Duration> {
|
||||
None
|
||||
}
|
||||
|
||||
fn should_request(&mut self) -> bool {
|
||||
true
|
||||
}
|
||||
|
||||
fn next_request(&mut self) -> Result<Option<F>> {
|
||||
Ok(None)
|
||||
}
|
||||
|
||||
fn on_rx_frame(&mut self, _frame: &F) {}
|
||||
}
|
||||
|
||||
#[derive(Default)]
|
||||
pub struct NoopPollRequester;
|
||||
|
||||
impl<F> PollRequester<F> for NoopPollRequester {}
|
||||
|
||||
pub struct TactileAPollRequester {
|
||||
period: Duration,
|
||||
cols: usize,
|
||||
rows: usize,
|
||||
awaiting_reply: bool,
|
||||
last_request_at: Option<Instant>,
|
||||
reply_timeout: Duration,
|
||||
}
|
||||
|
||||
impl TactileAPollRequester {
|
||||
pub fn new(period: Duration, cols: usize, rows: usize, reply_timeout: Duration) -> Self {
|
||||
Self {
|
||||
period,
|
||||
cols,
|
||||
rows,
|
||||
awaiting_reply: false,
|
||||
last_request_at: None,
|
||||
reply_timeout,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl PollRequester<TactileAFrame> for TactileAPollRequester {
|
||||
fn poll_interval(&self) -> Option<Duration> {
|
||||
Some(self.period)
|
||||
}
|
||||
|
||||
fn should_request(&mut self) -> bool {
|
||||
if !self.awaiting_reply {
|
||||
return true;
|
||||
}
|
||||
let timed_out = self
|
||||
.last_request_at
|
||||
.map(|t| t.elapsed() >= self.reply_timeout)
|
||||
.unwrap_or(false);
|
||||
|
||||
if timed_out {
|
||||
self.awaiting_reply = false;
|
||||
self.last_request_at = None;
|
||||
return true;
|
||||
}
|
||||
|
||||
false
|
||||
}
|
||||
|
||||
fn next_request(&mut self) -> Result<Option<TactileAFrame>> {
|
||||
let req = TactileACodec::build_req_frame(self.cols, self.rows)?;
|
||||
self.awaiting_reply = true;
|
||||
self.last_request_at = Some(Instant::now());
|
||||
Ok(Some(req))
|
||||
}
|
||||
|
||||
fn on_rx_frame(&mut self, frame: &TactileAFrame) {
|
||||
if matches!(frame, TactileAFrame::Rep(_)) {
|
||||
self.awaiting_reply = false;
|
||||
self.last_request_at = None
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub async fn run_serial<C, H, T, F>(
|
||||
pub async fn run_stream(
|
||||
app: AppHandle,
|
||||
port: SerialStream,
|
||||
codec: C,
|
||||
handler: H,
|
||||
session_started_at: Instant,
|
||||
recording: Arc<Mutex<Recording<F>>>,
|
||||
device: &mut EskinDeviceInner,
|
||||
cancel: CancellationToken,
|
||||
) -> Result<()>
|
||||
where
|
||||
F: SerialFrame,
|
||||
C: Codec<F> + Send + 'static,
|
||||
H: FrameHandler<F, T> + Send + 'static,
|
||||
T: Into<i32>,
|
||||
{
|
||||
run_serial_with_poll(
|
||||
app,
|
||||
port,
|
||||
codec,
|
||||
handler,
|
||||
session_started_at,
|
||||
recording,
|
||||
cancel,
|
||||
PollMode::Disable,
|
||||
)
|
||||
.await
|
||||
}
|
||||
|
||||
pub async fn run_serial_with_poll<C, H, T, F>(
|
||||
app: AppHandle,
|
||||
mut port: SerialStream,
|
||||
mut codec: C,
|
||||
mut handler: H,
|
||||
session_started_at: Instant,
|
||||
recording: Arc<Mutex<Recording<F>>>,
|
||||
cancel: CancellationToken,
|
||||
poll_mode: PollMode<F>,
|
||||
) -> Result<()>
|
||||
where
|
||||
F: SerialFrame,
|
||||
C: Codec<F> + Send + 'static,
|
||||
H: FrameHandler<F, T> + Send + 'static,
|
||||
T: Into<i32>,
|
||||
{
|
||||
let mut requester = match poll_mode {
|
||||
PollMode::Disable => None,
|
||||
PollMode::Enabled(r) => Some(r),
|
||||
};
|
||||
|
||||
let mut poll_interval = requester.as_ref().and_then(|r| r.poll_interval()).map(|d| {
|
||||
let mut it = time::interval(d);
|
||||
it.set_missed_tick_behavior(MissedTickBehavior::Skip);
|
||||
it
|
||||
});
|
||||
let mut poll_sub_interval = time::interval(AUTO_SUB_INTERVAL);
|
||||
poll_sub_interval.set_missed_tick_behavior(MissedTickBehavior::Skip);
|
||||
) -> Result<(), String> {
|
||||
device
|
||||
.start_stream()
|
||||
.map_err(|e| format!("start_stream failed: {e}"))?;
|
||||
|
||||
let channels = device.channels();
|
||||
let mut chart_state = HudChartState::new();
|
||||
let mut buffer = [0u8; 1024];
|
||||
let mut prune_interval = time::interval(Duration::from_millis(450));
|
||||
#[cfg(feature = "multi-dim")]
|
||||
let mut pzt_processor = PztProcessor::new();
|
||||
let mut pending_sub_frame: Option<PendingSubFrame<F>> = None;
|
||||
prune_interval.set_missed_tick_behavior(MissedTickBehavior::Delay);
|
||||
|
||||
loop {
|
||||
let result = loop {
|
||||
tokio::select! {
|
||||
_ = cancel.cancelled() => break,
|
||||
_ = async {
|
||||
match poll_interval.as_mut() {
|
||||
Some(it) => {
|
||||
it.tick().await;
|
||||
_ = cancel.cancelled() => {
|
||||
break Ok(());
|
||||
}
|
||||
None => pending::<()>().await,
|
||||
_ = tokio::time::sleep(tokio::time::Duration::from_millis(1)) => {}
|
||||
}
|
||||
} => {
|
||||
if let Some(r) = requester.as_mut() {
|
||||
if r.should_request() {
|
||||
if let Some(req) = r.next_request()? {
|
||||
let bytes = codec.encode(&req)?;
|
||||
port.write_all(&bytes).await?;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
_ = prune_interval.tick() => {
|
||||
if let Some(packet) = chart_state.prune_stale() {
|
||||
app.emit("hud_stream", packet)?;
|
||||
}
|
||||
}
|
||||
_ = poll_sub_interval.tick() => {
|
||||
if let Some(pending) = pending_sub_frame.take() {
|
||||
let display_values = build_display_values(
|
||||
&mut chart_state,
|
||||
pending.values.as_slice(),
|
||||
pending.spatial_force,
|
||||
);
|
||||
|
||||
if let Some(packet) = pending
|
||||
.frame
|
||||
.to_hud_packet(&mut chart_state, display_values.as_deref())
|
||||
// Try to receive a sample (non-blocking-ish via small timeout)
|
||||
match channels.recv_sample(5) {
|
||||
Ok(sample) => {
|
||||
if let Some(packet) = build_hud_packet_from_sample(&sample, &mut chart_state) {
|
||||
let _ = app.emit("hud_stream", packet);
|
||||
}
|
||||
}
|
||||
Err(eskin_finger_sdk::error::SdkError::Timeout) => {
|
||||
// No sample yet, check for events
|
||||
}
|
||||
Err(e) => {
|
||||
break Err(format!("sample recv error: {e}"));
|
||||
}
|
||||
}
|
||||
|
||||
// Drain any events
|
||||
if let Err(e) = drain_events(&channels) {
|
||||
break Err(e);
|
||||
}
|
||||
};
|
||||
|
||||
let _ = device.stop_stream();
|
||||
result
|
||||
}
|
||||
|
||||
pub async fn run_stream_with_record(
|
||||
app: AppHandle,
|
||||
device: &mut EskinDeviceInner,
|
||||
cancel: CancellationToken,
|
||||
recording: std::sync::Arc<std::sync::Mutex<Recording<FingerSample>>>,
|
||||
) -> Result<(), String> {
|
||||
device
|
||||
.start_stream()
|
||||
.map_err(|e| format!("start_stream failed: {e}"))?;
|
||||
|
||||
let channels = device.channels();
|
||||
let mut chart_state = HudChartState::new();
|
||||
|
||||
let result = loop {
|
||||
tokio::select! {
|
||||
_ = cancel.cancelled() => {
|
||||
break Ok(());
|
||||
}
|
||||
_ = tokio::time::sleep(tokio::time::Duration::from_millis(1)) => {}
|
||||
}
|
||||
|
||||
match channels.recv_sample(5) {
|
||||
Ok(sample) => {
|
||||
// Record
|
||||
{
|
||||
app.emit("hud_stream", packet)?;
|
||||
}
|
||||
}
|
||||
}
|
||||
read_result = port.read(&mut buffer) => {
|
||||
let n = read_result?;
|
||||
if n == 0 {
|
||||
// Some serial drivers can resolve reads with 0 bytes repeatedly.
|
||||
// Yield here so timer-driven poll requests are not starved by a busy loop.
|
||||
tokio::task::yield_now().await;
|
||||
continue;
|
||||
}
|
||||
|
||||
let frames = codec.decode(&buffer[..n], session_started_at)?;
|
||||
for frame in frames {
|
||||
if let Some(r) = requester.as_mut() {
|
||||
r.on_rx_frame(&frame);
|
||||
}
|
||||
|
||||
let decode_res = handler
|
||||
.on_frame(&frame)
|
||||
.await?
|
||||
.map(|vals| vals.into_iter().map(Into::into).collect::<Vec<i32>>());
|
||||
|
||||
let mut record = recording
|
||||
.lock()
|
||||
.map_err(|_| anyhow::anyhow!("recording state poisoned"))?;
|
||||
record.push(RecordedFrame {
|
||||
timing: FrameTiming {
|
||||
.map_err(|_| "recording state poisoned".to_string())?;
|
||||
record.push(crate::serial_core::record::RecordedFrame {
|
||||
timing: crate::serial_core::record::FrameTiming {
|
||||
pts_ms: None,
|
||||
dts_ms: frame.dts_ms(),
|
||||
dts_ms: sample.timestamp_us / 1000,
|
||||
},
|
||||
frame: frame.clone(),
|
||||
});
|
||||
drop(record);
|
||||
|
||||
if let Some(vals) = decode_res {
|
||||
let mut spatial_force = None;
|
||||
#[cfg(feature = "multi-dim")]
|
||||
{
|
||||
let pzt_values = vals.iter().map(|value| *value as f32).collect::<Vec<f32>>();
|
||||
if let Ok(analysis) = pzt_processor.get_pzt_analysis(&pzt_values) {
|
||||
// debug!(
|
||||
// "spatial force: angle={:.2}°, magnitude={:.2}, dx={:.2}, dy={:.2}",
|
||||
// analysis.angle_deg, analysis.magnitude, analysis.planar_x, analysis.planar_y
|
||||
// );
|
||||
if PztProcessor::should_report(&analysis) {
|
||||
spatial_force = Some(HudSpatialForce {
|
||||
angle_deg: analysis.angle_deg,
|
||||
magnitude: analysis.magnitude,
|
||||
confidence: analysis.confidence,
|
||||
frame: sample.clone(),
|
||||
});
|
||||
}
|
||||
}
|
||||
}
|
||||
#[cfg(feature = "devkit")]
|
||||
{
|
||||
let summary = vals.iter().copied().sum::<i32>();
|
||||
let force = raw_to_g1(summary as u32);
|
||||
|
||||
push_devkit_frame(&app, vals.as_slice(), frame.dts_ms(), force);
|
||||
if let Some(packet) = build_hud_packet_from_sample(&sample, &mut chart_state) {
|
||||
let _ = app.emit("hud_stream", packet);
|
||||
}
|
||||
}
|
||||
Err(eskin_finger_sdk::error::SdkError::Timeout) => {}
|
||||
Err(e) => {
|
||||
break Err(format!("sample recv error: {e}"));
|
||||
}
|
||||
}
|
||||
|
||||
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)?;
|
||||
if let Err(e) = drain_events(&channels) {
|
||||
break Err(e);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Ok(())
|
||||
};
|
||||
|
||||
let _ = device.stop_stream();
|
||||
result
|
||||
}
|
||||
|
||||
fn build_display_values(
|
||||
fn drain_events(channels: &std::sync::Arc<eskin_finger_sdk::channel::ChannelManager>) -> Result<(), String> {
|
||||
loop {
|
||||
match channels.recv_event(0) {
|
||||
Ok(DeviceEvent::IoError(msg)) => {
|
||||
eprintln!("SDK stream io error: {msg}");
|
||||
return Err(format!("stream io error: {msg}"));
|
||||
}
|
||||
Ok(_) => {}
|
||||
Err(eskin_finger_sdk::error::SdkError::Timeout) => return Ok(()),
|
||||
Err(eskin_finger_sdk::error::SdkError::ChannelClosed) => {
|
||||
return Err("event channel closed".into());
|
||||
}
|
||||
Err(_) => return Ok(()),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn build_hud_packet_from_sample(
|
||||
sample: &FingerSample,
|
||||
chart_state: &mut HudChartState,
|
||||
values: &[i32],
|
||||
spatial_force: Option<HudSpatialForce>,
|
||||
) -> Option<Vec<i32>> {
|
||||
let summary = values.iter().copied().sum::<i32>();
|
||||
let force = raw_to_g1(summary as u32);
|
||||
// let force_solve = solve_for_x(summary as f64)?;
|
||||
// println!("force_solve: {force_solve}");
|
||||
chart_state.record_summary(force as f32);
|
||||
chart_state.record_pressure_matrix(values);
|
||||
chart_state.record_spatial_force(spatial_force);
|
||||
Some(vec![summary])
|
||||
) -> Option<HudPacket> {
|
||||
let fz = sample.combined_forces.force.fz as f32;
|
||||
chart_state.record_summary(fz);
|
||||
if !sample.raw_adcs.is_empty() {
|
||||
let pressure: Vec<f32> = sample.raw_adcs.iter().map(|&v| v as f32).collect();
|
||||
chart_state.record_pressure_matrix(&pressure);
|
||||
}
|
||||
|
||||
#[cfg(feature = "devkit")]
|
||||
fn push_devkit_frame(app: &AppHandle, values: &[i32], dts_ms: u64, resultant_force: f64) {
|
||||
let devkit_state = app.state::<DevKitState>();
|
||||
if !devkit_state.running.load(Ordering::Relaxed) {
|
||||
return;
|
||||
}
|
||||
|
||||
let (rows, cols) = infer_matrix_shape(values.len());
|
||||
let timestamp_ms = std::time::SystemTime::now()
|
||||
.duration_since(std::time::UNIX_EPOCH)
|
||||
.unwrap_or_default()
|
||||
.as_millis() as u64;
|
||||
|
||||
let seq = timestamp_ms;
|
||||
let matrix = values
|
||||
.iter()
|
||||
.map(|value| (*value).max(0) as u32)
|
||||
.collect::<Vec<_>>();
|
||||
|
||||
devkit_state.push_frame(SensorFrame {
|
||||
seq,
|
||||
timestamp_ms,
|
||||
rows,
|
||||
cols,
|
||||
matrix,
|
||||
resultant_force,
|
||||
dts_ms: dts_ms as u32,
|
||||
});
|
||||
}
|
||||
|
||||
#[cfg(feature = "devkit")]
|
||||
fn infer_matrix_shape(len: usize) -> (u32, u32) {
|
||||
if len == 84 {
|
||||
return (12, 7);
|
||||
}
|
||||
|
||||
if len == 0 {
|
||||
return (0, 0);
|
||||
}
|
||||
|
||||
let mut best = (len, 1);
|
||||
let mut factor = 1usize;
|
||||
while factor * factor <= len {
|
||||
if len % factor == 0 {
|
||||
best = (len / factor, factor);
|
||||
}
|
||||
factor += 1;
|
||||
}
|
||||
|
||||
(best.0 as u32, best.1 as 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 Y: [f64; 13] = [
|
||||
0.0, 57.0, 97.0, 197.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0,
|
||||
];
|
||||
|
||||
let n = X.len();
|
||||
if raw <= X[0] {
|
||||
return Y[0] / 100.0;
|
||||
}
|
||||
if raw >= X[n - 1] {
|
||||
return Y[n - 1] / 100.0;
|
||||
}
|
||||
|
||||
let mut left = 0;
|
||||
let mut right = n - 1;
|
||||
|
||||
while left + 1 < right {
|
||||
let mid = (left + right) / 2;
|
||||
if raw < X[mid] {
|
||||
right = mid;
|
||||
} else {
|
||||
left = mid;
|
||||
}
|
||||
}
|
||||
|
||||
let ratio = (raw - X[left]) as f64 / (X[right] - X[left]) as f64;
|
||||
Y[left] / 100.0 + ratio * (Y[right] - Y[left]) / 100.0
|
||||
Some(chart_state.build_snapshot())
|
||||
}
|
||||
|
||||
@@ -1,59 +0,0 @@
|
||||
|
||||
use std::time::Instant;
|
||||
|
||||
pub fn usize_to_u16_be_bytes(n: usize) -> [u8; 2] {
|
||||
(n as u16).to_be_bytes()
|
||||
}
|
||||
|
||||
pub fn usize_to_u16_le_bytes(n: usize) -> [u8; 2] {
|
||||
(n as u16).to_be_bytes()
|
||||
}
|
||||
|
||||
pub fn u16_to_hex_be_bytes(n: u16) -> [u8; 2] {
|
||||
(n as u16).to_be_bytes()
|
||||
}
|
||||
|
||||
pub fn u16_to_hex_le_bytes(n: u16) -> [u8; 2] {
|
||||
(n as u16).to_le_bytes()
|
||||
}
|
||||
|
||||
pub fn calc_crc8_smbus(c: &[u8]) -> u8 {
|
||||
let crc8_smbus = crc::Crc::<u8>::new(&crc::CRC_8_SMBUS);
|
||||
let checksum = crc8_smbus.checksum(c);
|
||||
return checksum;
|
||||
}
|
||||
|
||||
pub fn calc_crc8_itu(c: &[u8]) -> u8 {
|
||||
let crc8_itu_alg = crc::Crc::<u8>::new(&crc::CRC_8_I_432_1);
|
||||
let checksum = crc8_itu_alg.checksum(c);
|
||||
return checksum;
|
||||
}
|
||||
|
||||
pub fn elapsed_millis(start_at: Instant) -> u64 {
|
||||
start_at.elapsed().as_millis() as u64
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod test {
|
||||
use anyhow::Ok;
|
||||
|
||||
use crate::serial_core::utils::{calc_crc8_itu, calc_crc8_smbus};
|
||||
|
||||
#[test]
|
||||
fn test_crc8_itu() -> anyhow::Result<()> {
|
||||
let req_vec = vec![0x55, 0xAA, 0x09, 0x00, 0x34, 0x00, 0xFB, 0x00, 0x1C, 0x00, 0x00, 0x18, 0x00];
|
||||
let checksum = calc_crc8_itu(req_vec.as_slice());
|
||||
assert_eq!(checksum, 0x7A);
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_crc8_smbus() -> anyhow::Result<()> {
|
||||
let req_vec = vec![0x55, 0xAA, 0x09, 0x00, 0x34, 0x00, 0xFB, 0x00, 0x1C, 0x00, 0x00, 0x18, 0x00];
|
||||
let checksum = calc_crc8_smbus(req_vec.as_slice());
|
||||
assert_eq!(checksum, 0x2F);
|
||||
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
@@ -6,21 +6,17 @@
|
||||
import { fly } from "svelte/transition";
|
||||
import { DEFAULT_PRESSURE_RANGE_MAX, DEFAULT_PRESSURE_RANGE_MIN } from "$lib/config/pressure-range";
|
||||
import ConfigPanel from "$lib/components/ConfigPanel.svelte";
|
||||
import ModelStage from "$lib/components/ModelStage.svelte";
|
||||
import NeonBreakoutArena from "$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,
|
||||
PressureColorMapPreset,
|
||||
StageViewMode
|
||||
PressureColorMapPreset
|
||||
} from "$lib/types/hud";
|
||||
|
||||
export let locale: LocaleCode = "zh-CN";
|
||||
@@ -28,8 +24,6 @@
|
||||
export let rightPanels: HudSignalPanel[] = [];
|
||||
export let summary: HudSummary;
|
||||
export let pressureMatrix: number[] | null = null;
|
||||
export let spatialForce: HudSpatialForce | null = null;
|
||||
export let devkitSpatialForce: HudSpatialForce | null = null;
|
||||
export let showConfigPanel = false;
|
||||
export let configPanelTitle = "";
|
||||
export let configPanelHint = "";
|
||||
@@ -47,8 +41,6 @@
|
||||
export let rangeMax = DEFAULT_PRESSURE_RANGE_MAX;
|
||||
export let colorMapPreset: PressureColorMapPreset = "emerald";
|
||||
export let matrixDisplayMode: MatrixDisplayMode = "dots";
|
||||
export let stageViewMode: StageViewMode = "webgl";
|
||||
export let modelUrl = "/models/je-skin-model.glb";
|
||||
export let replaySectionLabel = "";
|
||||
export let replayPlayLabel = "";
|
||||
export let replayPauseLabel = "";
|
||||
@@ -92,7 +84,6 @@
|
||||
$: 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 {
|
||||
const value = Number.parseFloat(rawValue);
|
||||
@@ -185,13 +176,7 @@
|
||||
bind:this={stagePlaneEl}
|
||||
style="--panel-zone-top-dyn: {panelZoneTopPx}px; --rail-scale-left: {leftRailScale}; --rail-scale-right: {rightRailScale};"
|
||||
>
|
||||
{#if isModelStage}
|
||||
<div class="canvas-wrap">
|
||||
{#key modelUrl}
|
||||
<ModelStage {locale} {modelUrl} />
|
||||
{/key}
|
||||
</div>
|
||||
{:else if showPrecisionTestPanel}
|
||||
{#if showPrecisionTestPanel}
|
||||
<div class="split-game-wrap">
|
||||
<section class="split-panel split-matrix-panel">
|
||||
<header class="split-panel-head">
|
||||
@@ -247,7 +232,7 @@
|
||||
</div>
|
||||
{/if}
|
||||
|
||||
{#if showConfigPanel && !showPrecisionTestPanel && !isModelStage}
|
||||
{#if showConfigPanel && !showPrecisionTestPanel}
|
||||
<div class="config-panel-wrap">
|
||||
<ConfigPanel
|
||||
bind:matrixRows
|
||||
@@ -269,7 +254,7 @@
|
||||
</div>
|
||||
{/if}
|
||||
|
||||
{#if !showPrecisionTestPanel && !isModelStage}
|
||||
{#if !showPrecisionTestPanel}
|
||||
<div class="panel-zone" bind:this={panelZoneEl}>
|
||||
<aside class="side-rail left-rail">
|
||||
<div class="rail-stack" bind:this={leftStackEl}>
|
||||
@@ -318,42 +303,6 @@
|
||||
</div>
|
||||
{/each}
|
||||
|
||||
<div
|
||||
class="panel-motion-shell"
|
||||
in:fly={{ x: 180, duration: 340, opacity: 0.08, easing: cubicOut }}
|
||||
out:fly={{ x: 180, duration: 280, opacity: 0.06, easing: cubicIn }}
|
||||
>
|
||||
<SpatialForcePanel
|
||||
{spatialForce}
|
||||
{locale}
|
||||
side="right"
|
||||
panelIndex={rightPanels.length}
|
||||
panelCode="ALG"
|
||||
panelTitle={locale === "zh-CN" ? "本地切向力" : "Local Tangential"}
|
||||
badgeLabel={locale === "zh-CN" ? "算法" : "ALGO"}
|
||||
/>
|
||||
</div>
|
||||
|
||||
<div
|
||||
class="panel-motion-shell"
|
||||
in:fly={{ x: 180, duration: 340, opacity: 0.08, easing: cubicOut }}
|
||||
out:fly={{ x: 180, duration: 280, opacity: 0.06, easing: cubicIn }}
|
||||
>
|
||||
<SpatialForcePanel
|
||||
spatialForce={devkitSpatialForce}
|
||||
{locale}
|
||||
side="right"
|
||||
panelIndex={rightPanels.length + 1}
|
||||
panelCode="DKT"
|
||||
panelTitle={locale === "zh-CN" ? "DevKit 切向力" : "DevKit Tangential"}
|
||||
badgeLabel="DEVKIT"
|
||||
badgeTone="lime"
|
||||
showMetrics={false}
|
||||
requireMagnitude={false}
|
||||
compactMetaText={locale === "zh-CN" ? "等待 DevKit 角度流" : "Waiting for DevKit angle"}
|
||||
/>
|
||||
</div>
|
||||
|
||||
{#if summaryCurveVisible && summarySide === "right"}
|
||||
<div
|
||||
class="panel-motion-shell"
|
||||
@@ -377,7 +326,7 @@
|
||||
</div>
|
||||
{/if}
|
||||
|
||||
{#if replayHasData && !showPrecisionTestPanel && !isModelStage}
|
||||
{#if replayHasData && !showPrecisionTestPanel}
|
||||
<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 +364,7 @@
|
||||
</aside>
|
||||
{/if}
|
||||
|
||||
{#if !showPrecisionTestPanel && !isModelStage}
|
||||
{#if !showPrecisionTestPanel}
|
||||
<div class="stage-bottom-overlay">
|
||||
<slot />
|
||||
</div>
|
||||
|
||||
@@ -6,7 +6,6 @@
|
||||
HudNoticeTone,
|
||||
LocaleCode,
|
||||
MatrixDisplayMode,
|
||||
StageViewMode,
|
||||
WindowControlAction
|
||||
} from "$lib/types/hud";
|
||||
|
||||
@@ -35,10 +34,6 @@
|
||||
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 = "";
|
||||
export let exportActionLabel = "";
|
||||
@@ -61,7 +56,6 @@
|
||||
localechange: LocaleCode;
|
||||
configlink: string;
|
||||
matrixdisplaytoggle: boolean;
|
||||
stagemodechange: StageViewMode;
|
||||
portchange: string;
|
||||
serialrefresh: void;
|
||||
serialconnect: string;
|
||||
@@ -111,10 +105,6 @@
|
||||
dispatch("matrixdisplaytoggle", matrixDisplayMode !== "dots");
|
||||
}
|
||||
|
||||
function emitStageModeChange(nextMode: StageViewMode): void {
|
||||
dispatch("stagemodechange", nextMode);
|
||||
}
|
||||
|
||||
function emitPortChange(event: Event): void {
|
||||
const target = event.currentTarget as HTMLSelectElement;
|
||||
dispatch("portchange", target.value);
|
||||
@@ -227,28 +217,6 @@
|
||||
</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>
|
||||
@@ -517,8 +485,7 @@
|
||||
background: var(--panel-surface);
|
||||
}
|
||||
|
||||
.matrix-switch-wrap,
|
||||
.stage-mode-switch {
|
||||
.matrix-switch-wrap {
|
||||
display: inline-flex;
|
||||
align-items: center;
|
||||
gap: 0.4rem;
|
||||
@@ -529,8 +496,7 @@
|
||||
background: var(--panel-surface);
|
||||
}
|
||||
|
||||
.matrix-switch-label,
|
||||
.stage-mode-label {
|
||||
.matrix-switch-label {
|
||||
color: var(--panel-text-dim);
|
||||
font-size: 0.66rem;
|
||||
letter-spacing: 0.08em;
|
||||
@@ -621,45 +587,6 @@
|
||||
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;
|
||||
|
||||
@@ -1,469 +0,0 @@
|
||||
<script lang="ts">
|
||||
import { onMount } from "svelte";
|
||||
import * as THREE from "three";
|
||||
import { OrbitControls } from "three/examples/jsm/controls/OrbitControls.js";
|
||||
import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader.js";
|
||||
import type { GLTF } from "three/examples/jsm/loaders/GLTFLoader.js";
|
||||
import type { LocaleCode } from "$lib/types/hud";
|
||||
|
||||
type ModelLoadState = "loading" | "ready" | "missing" | "error";
|
||||
|
||||
export let locale: LocaleCode = "zh-CN";
|
||||
export let modelUrl = "/models/je-skin-model.glb";
|
||||
|
||||
let rootEl: HTMLDivElement | undefined;
|
||||
let canvasEl: HTMLCanvasElement | undefined;
|
||||
let loadState: ModelLoadState = "loading";
|
||||
let loadProgress = 0;
|
||||
let loadError = "";
|
||||
|
||||
const FLOOR_Y = -1.15;
|
||||
const MODEL_FLOOR_CLEARANCE = 0.035;
|
||||
const MODEL_TARGET_HEIGHT = 8.4;
|
||||
const MODEL_MIN_SCALE = 0.02;
|
||||
const MODEL_MAX_SCALE = 80;
|
||||
const CAMERA_DISTANCE_FACTOR = 1.35;
|
||||
const CAMERA_DISTANCE_MIN = 7.5;
|
||||
const CAMERA_DISTANCE_MAX = 24;
|
||||
|
||||
$: 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) => {
|
||||
const mesh = child as THREE.Mesh;
|
||||
if (mesh.geometry) {
|
||||
mesh.geometry.dispose();
|
||||
}
|
||||
|
||||
const material = mesh.material;
|
||||
if (Array.isArray(material)) {
|
||||
for (const item of material) {
|
||||
item.dispose();
|
||||
}
|
||||
} else if (material) {
|
||||
material.dispose();
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
function buildPlaceholderModel(): THREE.Group {
|
||||
const group = new THREE.Group();
|
||||
const cyan = new THREE.Color(0x5ee7ff);
|
||||
const lime = new THREE.Color(0xa6ff7a);
|
||||
|
||||
const platform = new THREE.Mesh(
|
||||
new THREE.CylinderGeometry(5.8, 6.7, 0.36, 96),
|
||||
new THREE.MeshStandardMaterial({
|
||||
color: 0x0c1824,
|
||||
emissive: 0x07131f,
|
||||
metalness: 0.62,
|
||||
roughness: 0.34
|
||||
})
|
||||
);
|
||||
platform.position.y = 0.18;
|
||||
group.add(platform);
|
||||
|
||||
const ringGeometry = new THREE.TorusGeometry(4.35, 0.035, 10, 128);
|
||||
const ringMaterial = new THREE.MeshBasicMaterial({ color: cyan, transparent: true, opacity: 0.78 });
|
||||
for (let index = 0; index < 3; index += 1) {
|
||||
const ring = new THREE.Mesh(ringGeometry, ringMaterial);
|
||||
ring.position.y = 0.52 + index * 0.52;
|
||||
ring.rotation.x = Math.PI / 2;
|
||||
group.add(ring);
|
||||
}
|
||||
|
||||
const coreMaterial = new THREE.MeshStandardMaterial({
|
||||
color: 0x1b2a38,
|
||||
emissive: 0x0a2632,
|
||||
metalness: 0.48,
|
||||
roughness: 0.42,
|
||||
transparent: true,
|
||||
opacity: 0.72
|
||||
});
|
||||
const core = new THREE.Mesh(new THREE.BoxGeometry(2.2, 3.4, 1.1), coreMaterial);
|
||||
core.position.y = 2.4;
|
||||
core.rotation.y = -0.36;
|
||||
group.add(core);
|
||||
|
||||
const sensorMaterial = new THREE.MeshBasicMaterial({ color: lime, transparent: true, opacity: 0.88 });
|
||||
for (let index = 0; index < 7; index += 1) {
|
||||
const bead = new THREE.Mesh(new THREE.SphereGeometry(0.13, 18, 18), sensorMaterial);
|
||||
bead.position.set(-0.72 + index * 0.24, 3.18 + Math.sin(index * 0.72) * 0.18, 0.6);
|
||||
group.add(bead);
|
||||
}
|
||||
|
||||
return group;
|
||||
}
|
||||
|
||||
function clamp(value: number, min: number, max: number): number {
|
||||
return Math.min(max, Math.max(min, value));
|
||||
}
|
||||
|
||||
function normalizeObjectToStage(object: THREE.Object3D): THREE.Box3 {
|
||||
object.updateMatrixWorld(true);
|
||||
let bounds = new THREE.Box3().setFromObject(object);
|
||||
const size = bounds.getSize(new THREE.Vector3());
|
||||
const currentHeight = Math.max(size.y, 0.001);
|
||||
const scale = clamp(MODEL_TARGET_HEIGHT / currentHeight, MODEL_MIN_SCALE, MODEL_MAX_SCALE);
|
||||
|
||||
object.scale.multiplyScalar(scale);
|
||||
object.updateMatrixWorld(true);
|
||||
|
||||
bounds = new THREE.Box3().setFromObject(object);
|
||||
const center = bounds.getCenter(new THREE.Vector3());
|
||||
object.position.x -= center.x;
|
||||
object.position.z -= center.z;
|
||||
object.position.y += FLOOR_Y + MODEL_FLOOR_CLEARANCE - bounds.min.y;
|
||||
object.updateMatrixWorld(true);
|
||||
|
||||
return new THREE.Box3().setFromObject(object);
|
||||
}
|
||||
|
||||
function frameObject(object: THREE.Object3D, camera: THREE.PerspectiveCamera, controls: OrbitControls): void {
|
||||
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.set(0, targetY, 0);
|
||||
controls.minDistance = Math.max(distance * 0.32, 2);
|
||||
controls.maxDistance = Math.max(distance * 2.5, 12);
|
||||
controls.update();
|
||||
}
|
||||
|
||||
onMount(() => {
|
||||
if (!rootEl || !canvasEl) {
|
||||
return;
|
||||
}
|
||||
|
||||
const renderer = new THREE.WebGLRenderer({
|
||||
canvas: canvasEl,
|
||||
antialias: true,
|
||||
alpha: true,
|
||||
powerPreference: "high-performance"
|
||||
});
|
||||
renderer.setPixelRatio(Math.min(window.devicePixelRatio || 1, 2));
|
||||
renderer.setClearColor(0x03070d, 1);
|
||||
renderer.outputColorSpace = THREE.SRGBColorSpace;
|
||||
renderer.toneMapping = THREE.ACESFilmicToneMapping;
|
||||
renderer.toneMappingExposure = 1.08;
|
||||
|
||||
const scene = new THREE.Scene();
|
||||
scene.fog = new THREE.FogExp2(0x03070d, 0.028);
|
||||
|
||||
const camera = new THREE.PerspectiveCamera(38, 1, 0.05, 600);
|
||||
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.set(0, FLOOR_Y + 3.2, 0);
|
||||
|
||||
const labGroup = new THREE.Group();
|
||||
scene.add(labGroup);
|
||||
|
||||
const grid = new THREE.GridHelper(42, 42, 0x63e6ff, 0x123047);
|
||||
grid.position.y = FLOOR_Y;
|
||||
const gridMaterial = grid.material;
|
||||
if (Array.isArray(gridMaterial)) {
|
||||
for (const material of gridMaterial) {
|
||||
material.transparent = true;
|
||||
material.opacity = 0.28;
|
||||
}
|
||||
} else {
|
||||
gridMaterial.transparent = true;
|
||||
gridMaterial.opacity = 0.28;
|
||||
}
|
||||
labGroup.add(grid);
|
||||
|
||||
const backGrid = new THREE.GridHelper(42, 42, 0x5ee7ff, 0x0c2436);
|
||||
backGrid.position.set(0, 9.5, -17);
|
||||
backGrid.rotation.x = Math.PI / 2;
|
||||
const backGridMaterial = backGrid.material;
|
||||
if (Array.isArray(backGridMaterial)) {
|
||||
for (const material of backGridMaterial) {
|
||||
material.transparent = true;
|
||||
material.opacity = 0.12;
|
||||
}
|
||||
} else {
|
||||
backGridMaterial.transparent = true;
|
||||
backGridMaterial.opacity = 0.12;
|
||||
}
|
||||
labGroup.add(backGrid);
|
||||
|
||||
const floor = new THREE.Mesh(
|
||||
new THREE.PlaneGeometry(42, 42),
|
||||
new THREE.MeshStandardMaterial({
|
||||
color: 0x050c14,
|
||||
metalness: 0.28,
|
||||
roughness: 0.64,
|
||||
transparent: true,
|
||||
opacity: 0.72
|
||||
})
|
||||
);
|
||||
floor.rotation.x = -Math.PI / 2;
|
||||
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();
|
||||
scene.add(activeModel);
|
||||
frameObject(activeModel, camera, controls);
|
||||
|
||||
const loader = new GLTFLoader();
|
||||
loader.load(
|
||||
modelUrl,
|
||||
(gltf: GLTF) => {
|
||||
scene.remove(activeModel);
|
||||
disposeObject3D(activeModel);
|
||||
activeModel = gltf.scene;
|
||||
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";
|
||||
loadProgress = 100;
|
||||
},
|
||||
(event) => {
|
||||
if (event.total > 0) {
|
||||
loadProgress = (event.loaded / event.total) * 100;
|
||||
} else {
|
||||
loadProgress = 12;
|
||||
}
|
||||
},
|
||||
(error) => {
|
||||
const message = error instanceof Error ? error.message : String(error);
|
||||
loadError = message || "Unknown model loader error";
|
||||
loadState = message.toLowerCase().includes("404") ? "missing" : "error";
|
||||
loadProgress = 0;
|
||||
}
|
||||
);
|
||||
|
||||
const resize = () => {
|
||||
if (!rootEl) {
|
||||
return;
|
||||
}
|
||||
|
||||
const width = rootEl.clientWidth;
|
||||
const height = rootEl.clientHeight;
|
||||
if (width <= 0 || height <= 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
renderer.setSize(width, height, false);
|
||||
camera.aspect = width / height;
|
||||
camera.updateProjectionMatrix();
|
||||
};
|
||||
|
||||
resize();
|
||||
const resizeObserver = new ResizeObserver(resize);
|
||||
resizeObserver.observe(rootEl);
|
||||
|
||||
renderer.setAnimationLoop((timestamp) => {
|
||||
const seconds = timestamp / 1000;
|
||||
labGroup.position.y = Math.sin(seconds * 0.75) * 0.015;
|
||||
if (loadState !== "ready") {
|
||||
activeModel.rotation.y = seconds * 0.32;
|
||||
}
|
||||
controls.update();
|
||||
renderer.render(scene, camera);
|
||||
});
|
||||
|
||||
return () => {
|
||||
resizeObserver.disconnect();
|
||||
renderer.setAnimationLoop(null);
|
||||
controls.dispose();
|
||||
disposeObject3D(activeModel);
|
||||
disposeObject3D(labGroup);
|
||||
renderer.dispose();
|
||||
};
|
||||
});
|
||||
</script>
|
||||
|
||||
<div class="model-stage" bind:this={rootEl}>
|
||||
<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>
|
||||
.model-stage {
|
||||
position: absolute;
|
||||
inset: 0;
|
||||
overflow: hidden;
|
||||
background:
|
||||
radial-gradient(circle at 52% 62%, rgb(94 231 255 / 0.12), transparent 26%),
|
||||
radial-gradient(circle at 24% 18%, rgb(166 255 122 / 0.07), transparent 24%),
|
||||
linear-gradient(180deg, #03070d 0%, #07111b 48%, #02050a 100%);
|
||||
}
|
||||
|
||||
.model-canvas,
|
||||
.model-vignette,
|
||||
.model-scanlines {
|
||||
position: absolute;
|
||||
inset: 0;
|
||||
inline-size: 100%;
|
||||
block-size: 100%;
|
||||
}
|
||||
|
||||
.model-canvas {
|
||||
display: block;
|
||||
}
|
||||
|
||||
.model-vignette,
|
||||
.model-scanlines {
|
||||
pointer-events: none;
|
||||
}
|
||||
|
||||
.model-vignette {
|
||||
background:
|
||||
linear-gradient(90deg, rgb(0 0 0 / 0.36), transparent 22%, transparent 78%, rgb(0 0 0 / 0.34)),
|
||||
radial-gradient(circle at center, transparent 48%, rgb(0 0 0 / 0.58) 100%);
|
||||
}
|
||||
|
||||
.model-scanlines {
|
||||
opacity: 0.32;
|
||||
background:
|
||||
repeating-linear-gradient(180deg, rgb(94 231 255 / 0.045) 0, rgb(94 231 255 / 0.045) 1px, transparent 1px, transparent 4px);
|
||||
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>
|
||||
@@ -1,523 +0,0 @@
|
||||
<script lang="ts">
|
||||
import type { HudSpatialForce } from "$lib/types/hud";
|
||||
|
||||
export let spatialForce: HudSpatialForce | null = null;
|
||||
export let side: "left" | "right" = "right";
|
||||
export let panelIndex = 0;
|
||||
export let locale: "zh-CN" | "en-US" = "zh-CN";
|
||||
export let panelCode = "TAN";
|
||||
export let panelTitle = "";
|
||||
export let badgeLabel = "";
|
||||
export let badgeTone: "cyan" | "lime" | "orange" = "cyan";
|
||||
export let showMetrics = true;
|
||||
export let requireMagnitude = true;
|
||||
export let compactMetaText = "";
|
||||
|
||||
function formatValue(value: number | null, digits = 1): string {
|
||||
if (value === null || !Number.isFinite(value)) {
|
||||
return "--";
|
||||
}
|
||||
|
||||
return value.toFixed(digits);
|
||||
}
|
||||
|
||||
function normalizeAngle(value: number): number {
|
||||
return ((value % 360) + 360) % 360;
|
||||
}
|
||||
|
||||
function shortestAngleDelta(from: number, to: number): number {
|
||||
const delta = ((to - from + 540) % 360) - 180;
|
||||
return delta === -180 ? 180 : delta;
|
||||
}
|
||||
|
||||
const jumpAngleThresholdDeg = 72;
|
||||
|
||||
let visualAngleDeg = 0;
|
||||
let previousRawAngleDeg: number | null = null;
|
||||
let snapVector = false;
|
||||
let snapResetFrame: number | null = null;
|
||||
|
||||
function setSnapVector(): void {
|
||||
snapVector = true;
|
||||
|
||||
if (typeof window === "undefined") {
|
||||
return;
|
||||
}
|
||||
|
||||
if (snapResetFrame !== null) {
|
||||
window.cancelAnimationFrame(snapResetFrame);
|
||||
}
|
||||
|
||||
snapResetFrame = window.requestAnimationFrame(() => {
|
||||
snapVector = false;
|
||||
snapResetFrame = null;
|
||||
});
|
||||
}
|
||||
|
||||
function updateVisualAngle(rawAngleDeg: number, active: boolean): void {
|
||||
if (!active) {
|
||||
previousRawAngleDeg = null;
|
||||
visualAngleDeg = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
if (previousRawAngleDeg === null) {
|
||||
previousRawAngleDeg = rawAngleDeg;
|
||||
visualAngleDeg = rawAngleDeg;
|
||||
return;
|
||||
}
|
||||
|
||||
const delta = shortestAngleDelta(previousRawAngleDeg, rawAngleDeg);
|
||||
if (Math.abs(delta) < 0.001) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (Math.abs(delta) >= jumpAngleThresholdDeg) {
|
||||
setSnapVector();
|
||||
}
|
||||
|
||||
visualAngleDeg += delta;
|
||||
previousRawAngleDeg = rawAngleDeg;
|
||||
}
|
||||
|
||||
$: i18n =
|
||||
locale === "zh-CN"
|
||||
? {
|
||||
title: "切向力方向",
|
||||
waiting: "等待数据",
|
||||
angle: "ANGLE",
|
||||
heading: "方向角",
|
||||
strength: "强度",
|
||||
confidence: "置信度"
|
||||
}
|
||||
: {
|
||||
title: "Tangential Direction",
|
||||
waiting: "Waiting",
|
||||
angle: "ANGLE",
|
||||
heading: "Heading",
|
||||
strength: "Strength",
|
||||
confidence: "Confidence"
|
||||
};
|
||||
$: resolvedTitle = panelTitle || i18n.title;
|
||||
$: resolvedBadgeLabel = badgeLabel || i18n.angle;
|
||||
$: resolvedCompactMetaText =
|
||||
compactMetaText || (locale === "zh-CN" ? "仅使用角度流" : "Angle stream only");
|
||||
|
||||
$: hasData =
|
||||
spatialForce !== null &&
|
||||
Number.isFinite(spatialForce.angleDeg) &&
|
||||
(!requireMagnitude || Number.isFinite(spatialForce.magnitude));
|
||||
$: angleDeg = hasData ? normalizeAngle(spatialForce?.angleDeg ?? 0) : 0;
|
||||
$: updateVisualAngle(angleDeg, hasData);
|
||||
$: magnitude = hasData ? spatialForce?.magnitude ?? 0 : null;
|
||||
$: confidence = hasData ? (spatialForce?.confidence ?? 0) * 100 : null;
|
||||
</script>
|
||||
|
||||
<article
|
||||
class="signal-panel spatial-panel side-{side}"
|
||||
class:is-empty={!hasData}
|
||||
aria-hidden={false}
|
||||
style="--panel-index: {panelIndex};"
|
||||
>
|
||||
<header class="panel-head">
|
||||
<div class="head-text">
|
||||
<p class="panel-code">{panelCode}</p>
|
||||
<p class="panel-title">{resolvedTitle}</p>
|
||||
</div>
|
||||
|
||||
<div class="icon-layer" aria-hidden="true">
|
||||
<span class={`icon-chip tone-${badgeTone}`}>{resolvedBadgeLabel}</span>
|
||||
</div>
|
||||
</header>
|
||||
|
||||
<div class="panel-body">
|
||||
<div class="compass-stage">
|
||||
<div class="compass-core">
|
||||
<div class="compass-ring compass-ring-outer"></div>
|
||||
<div class="compass-ring compass-ring-inner"></div>
|
||||
<div class="compass-axis axis-horizontal"></div>
|
||||
<div class="compass-axis axis-vertical"></div>
|
||||
{#if hasData}
|
||||
<div
|
||||
class="compass-vector"
|
||||
class:is-snap={snapVector}
|
||||
style="transform: translateY(-50%) rotate({-visualAngleDeg}deg);"
|
||||
>
|
||||
<span class="vector-shaft"></span>
|
||||
<span class="vector-head"></span>
|
||||
</div>
|
||||
{/if}
|
||||
<div class="compass-center"></div>
|
||||
<span class="compass-label label-top">90</span>
|
||||
<span class="compass-label label-right">0</span>
|
||||
<span class="compass-label label-bottom">270</span>
|
||||
<span class="compass-label label-left">180</span>
|
||||
</div>
|
||||
|
||||
{#if !hasData}
|
||||
<div class="empty-state">
|
||||
<span>{i18n.waiting}</span>
|
||||
</div>
|
||||
{/if}
|
||||
</div>
|
||||
|
||||
<div class="angle-stage">
|
||||
<p class="angle-label">{i18n.heading}</p>
|
||||
{#if showMetrics}
|
||||
<p class="angle-meta">{i18n.strength}: {formatValue(magnitude, 2)}</p>
|
||||
<p class="angle-meta">{i18n.confidence}: {hasData ? `${formatValue(confidence, 0)}%` : "--"}</p>
|
||||
{:else}
|
||||
<p class="angle-meta">{resolvedCompactMetaText}</p>
|
||||
<p class="angle-meta">{hasData ? (locale === "zh-CN" ? "实时对比中" : "Live comparison") : "--"}</p>
|
||||
{/if}
|
||||
</div>
|
||||
</div>
|
||||
</article>
|
||||
|
||||
<style>
|
||||
.signal-panel {
|
||||
--offset-x: 12%;
|
||||
--enter-ms: 1800ms;
|
||||
--fade-ms: 1000ms;
|
||||
overflow: hidden;
|
||||
inline-size: min(100%, clamp(34rem, 44vw, 44rem));
|
||||
justify-self: start;
|
||||
display: grid;
|
||||
grid-template-rows: auto 1fr;
|
||||
gap: 0.68rem;
|
||||
padding: 0.88rem 0.96rem 1rem;
|
||||
border: 1px solid rgb(var(--hud-border-strong-rgb) / 0.42);
|
||||
border-radius: 0.92rem;
|
||||
background:
|
||||
linear-gradient(160deg, rgb(var(--hud-surface-alt-rgb) / 0.76) 0%, rgb(var(--hud-surface-rgb) / 0.62) 48%, rgb(var(--hud-surface-deep-rgb) / 0.76) 100%),
|
||||
radial-gradient(circle at 12% 0, rgb(var(--hud-glow-rgb) / 0.1), transparent 40%);
|
||||
box-shadow:
|
||||
inset 0 0 0 1px rgb(var(--hud-border-strong-rgb) / 0.08),
|
||||
inset 0 -24px 32px rgb(0 0 0 / 0.48),
|
||||
0 0 14px rgb(var(--hud-glow-rgb) / 0.14);
|
||||
opacity: 1;
|
||||
transform: translateX(0) scale(1) rotate(0);
|
||||
transition:
|
||||
opacity var(--fade-ms) cubic-bezier(0.18, 0.88, 0.3, 1),
|
||||
transform var(--enter-ms) cubic-bezier(0.2, 0.9, 0.28, 1),
|
||||
border-color 460ms ease,
|
||||
filter 760ms ease;
|
||||
transition-delay: calc(var(--panel-index) * 140ms);
|
||||
}
|
||||
|
||||
.signal-panel.side-left {
|
||||
--offset-x: -132%;
|
||||
}
|
||||
|
||||
.signal-panel.side-right {
|
||||
--offset-x: 132%;
|
||||
justify-self: end;
|
||||
}
|
||||
|
||||
.spatial-panel.is-empty {
|
||||
opacity: 0.82;
|
||||
}
|
||||
|
||||
.panel-head {
|
||||
display: flex;
|
||||
justify-content: space-between;
|
||||
align-items: flex-start;
|
||||
gap: 0.4rem;
|
||||
margin-block-end: 0;
|
||||
}
|
||||
|
||||
.head-text {
|
||||
min-width: 0;
|
||||
}
|
||||
|
||||
.panel-code {
|
||||
margin: 0;
|
||||
font-size: 0.63rem;
|
||||
color: rgb(var(--hud-text-dim-rgb) / 0.88);
|
||||
letter-spacing: 0.12em;
|
||||
text-transform: uppercase;
|
||||
}
|
||||
|
||||
.panel-title {
|
||||
margin: 0.12rem 0 0;
|
||||
font-size: 1.08rem;
|
||||
color: rgb(var(--hud-text-main-rgb) / 0.96);
|
||||
letter-spacing: 0.05em;
|
||||
}
|
||||
|
||||
.icon-layer {
|
||||
display: flex;
|
||||
flex-wrap: wrap;
|
||||
align-items: center;
|
||||
justify-content: flex-end;
|
||||
gap: 0.26rem;
|
||||
}
|
||||
|
||||
.icon-chip {
|
||||
border: 1px solid rgb(var(--hud-border-strong-rgb) / 0.44);
|
||||
border-radius: 999px;
|
||||
padding: 0.08rem 0.36rem;
|
||||
font-size: 0.58rem;
|
||||
letter-spacing: 0.08em;
|
||||
color: rgb(var(--hud-text-main-rgb) / 0.94);
|
||||
background: rgb(var(--hud-surface-rgb) / 0.66);
|
||||
}
|
||||
|
||||
.icon-chip.tone-cyan {
|
||||
border-color: rgb(var(--hud-cyan-rgb) / 0.54);
|
||||
}
|
||||
|
||||
.icon-chip.tone-lime {
|
||||
border-color: rgb(var(--hud-lime-rgb) / 0.54);
|
||||
}
|
||||
|
||||
.icon-chip.tone-orange {
|
||||
border-color: rgb(var(--hud-orange-rgb) / 0.54);
|
||||
}
|
||||
|
||||
.panel-body {
|
||||
display: grid;
|
||||
grid-template-columns: minmax(0, 1.1fr) minmax(10rem, 0.9fr);
|
||||
gap: 0.72rem;
|
||||
block-size: clamp(12rem, 15.5vw, 15rem);
|
||||
min-block-size: clamp(12rem, 15.5vw, 15rem);
|
||||
}
|
||||
|
||||
.compass-stage {
|
||||
position: relative;
|
||||
min-block-size: 0;
|
||||
overflow: hidden;
|
||||
border: 1px solid rgb(var(--hud-border-strong-rgb) / 0.32);
|
||||
border-radius: 0.62rem;
|
||||
background:
|
||||
linear-gradient(180deg, rgb(var(--hud-surface-alt-rgb) / 0.68), rgb(var(--hud-surface-deep-rgb) / 0.78)),
|
||||
radial-gradient(circle at 50% 0, rgb(var(--hud-glow-rgb) / 0.09), transparent 45%);
|
||||
display: grid;
|
||||
place-items: center;
|
||||
}
|
||||
|
||||
.compass-core {
|
||||
position: relative;
|
||||
inline-size: min(72%, 13rem);
|
||||
aspect-ratio: 1;
|
||||
}
|
||||
|
||||
.compass-ring,
|
||||
.compass-axis,
|
||||
.compass-center,
|
||||
.compass-vector {
|
||||
position: absolute;
|
||||
top: 50%;
|
||||
left: 50%;
|
||||
}
|
||||
|
||||
.compass-ring {
|
||||
border-radius: 50%;
|
||||
transform: translate(-50%, -50%);
|
||||
}
|
||||
|
||||
.compass-ring-outer {
|
||||
inline-size: 100%;
|
||||
block-size: 100%;
|
||||
border: 1px solid rgb(var(--hud-cyan-rgb) / 0.28);
|
||||
box-shadow: 0 0 18px rgb(var(--hud-glow-rgb) / 0.08);
|
||||
}
|
||||
|
||||
.compass-ring-inner {
|
||||
inline-size: 62%;
|
||||
block-size: 62%;
|
||||
border: 1px dashed rgb(var(--hud-border-strong-rgb) / 0.3);
|
||||
}
|
||||
|
||||
.compass-axis {
|
||||
background: rgb(var(--hud-border-strong-rgb) / 0.18);
|
||||
transform: translate(-50%, -50%);
|
||||
}
|
||||
|
||||
.axis-horizontal {
|
||||
inline-size: 86%;
|
||||
block-size: 1px;
|
||||
}
|
||||
|
||||
.axis-vertical {
|
||||
inline-size: 1px;
|
||||
block-size: 86%;
|
||||
}
|
||||
|
||||
.compass-vector {
|
||||
inline-size: 42%;
|
||||
block-size: 0.9rem;
|
||||
transform-origin: 0 50%;
|
||||
transition: transform 220ms ease;
|
||||
}
|
||||
|
||||
.compass-vector.is-snap {
|
||||
transition-duration: 0ms;
|
||||
}
|
||||
|
||||
.vector-shaft {
|
||||
position: absolute;
|
||||
top: 50%;
|
||||
left: 0;
|
||||
right: 0.7rem;
|
||||
block-size: 2px;
|
||||
transform: translateY(-50%);
|
||||
border-radius: 999px;
|
||||
background: linear-gradient(90deg, rgb(var(--hud-cyan-rgb) / 0.18), rgb(var(--hud-cyan-rgb) / 0.96));
|
||||
box-shadow: 0 0 14px rgb(var(--hud-cyan-rgb) / 0.2);
|
||||
}
|
||||
|
||||
.vector-head {
|
||||
position: absolute;
|
||||
top: 50%;
|
||||
right: 0;
|
||||
inline-size: 0;
|
||||
block-size: 0;
|
||||
transform: translateY(-50%);
|
||||
border-top: 0.36rem solid transparent;
|
||||
border-bottom: 0.36rem solid transparent;
|
||||
border-left: 0.7rem solid rgb(var(--hud-lime-rgb) / 0.96);
|
||||
filter: drop-shadow(0 0 8px rgb(var(--hud-lime-rgb) / 0.24));
|
||||
}
|
||||
|
||||
.compass-center {
|
||||
inline-size: 0.56rem;
|
||||
block-size: 0.56rem;
|
||||
transform: translate(-50%, -50%);
|
||||
border-radius: 50%;
|
||||
background: rgb(var(--hud-text-main-rgb) / 0.92);
|
||||
box-shadow: 0 0 10px rgb(var(--hud-text-main-rgb) / 0.12);
|
||||
}
|
||||
|
||||
.compass-label {
|
||||
position: absolute;
|
||||
font-size: 0.58rem;
|
||||
color: rgb(var(--hud-text-dim-rgb) / 0.8);
|
||||
letter-spacing: 0.08em;
|
||||
}
|
||||
|
||||
.label-top {
|
||||
top: -0.9rem;
|
||||
left: 50%;
|
||||
transform: translateX(-50%);
|
||||
}
|
||||
|
||||
.label-right {
|
||||
top: 50%;
|
||||
right: -1rem;
|
||||
transform: translateY(-50%);
|
||||
}
|
||||
|
||||
.label-bottom {
|
||||
bottom: -0.9rem;
|
||||
left: 50%;
|
||||
transform: translateX(-50%);
|
||||
}
|
||||
|
||||
.label-left {
|
||||
top: 50%;
|
||||
left: -1.35rem;
|
||||
transform: translateY(-50%);
|
||||
}
|
||||
|
||||
.empty-state {
|
||||
position: absolute;
|
||||
inset: 0;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
color: rgb(var(--hud-text-dim-rgb) / 0.76);
|
||||
font-size: 0.66rem;
|
||||
letter-spacing: 0.08em;
|
||||
text-transform: uppercase;
|
||||
background: linear-gradient(180deg, rgb(var(--hud-surface-deep-rgb) / 0.06), rgb(var(--hud-surface-deep-rgb) / 0.18));
|
||||
}
|
||||
|
||||
.angle-stage {
|
||||
border: 1px solid rgb(var(--hud-border-rgb) / 0.26);
|
||||
border-radius: 0.62rem;
|
||||
padding: 0.9rem 0.85rem;
|
||||
block-size: 100%;
|
||||
min-block-size: 0;
|
||||
overflow: hidden;
|
||||
background:
|
||||
linear-gradient(180deg, rgb(var(--hud-surface-rgb) / 0.72), rgb(var(--hud-surface-deep-rgb) / 0.84)),
|
||||
radial-gradient(circle at 50% 0, rgb(var(--hud-glow-rgb) / 0.05), transparent 58%);
|
||||
display: grid;
|
||||
grid-template-rows: auto auto auto;
|
||||
align-content: center;
|
||||
justify-items: start;
|
||||
gap: 0.36rem;
|
||||
}
|
||||
|
||||
.angle-label {
|
||||
margin: 0;
|
||||
color: rgb(var(--hud-text-dim-rgb) / 0.82);
|
||||
font-size: 0.68rem;
|
||||
letter-spacing: 0.08em;
|
||||
text-transform: uppercase;
|
||||
}
|
||||
|
||||
.angle-meta {
|
||||
margin: 0;
|
||||
inline-size: 10rem;
|
||||
min-block-size: 1rem;
|
||||
white-space: nowrap;
|
||||
overflow: hidden;
|
||||
text-overflow: ellipsis;
|
||||
color: rgb(var(--hud-text-dim-rgb) / 0.84);
|
||||
font-size: 0.68rem;
|
||||
font-variant-numeric: tabular-nums;
|
||||
letter-spacing: 0.05em;
|
||||
}
|
||||
|
||||
@media (max-width: 1180px) {
|
||||
.signal-panel {
|
||||
inline-size: min(100%, clamp(28rem, 40vw, 38rem));
|
||||
}
|
||||
}
|
||||
|
||||
@media (max-height: 900px) {
|
||||
.signal-panel {
|
||||
inline-size: min(100%, clamp(28rem, 38vw, 36rem));
|
||||
padding: 0.7rem 0.76rem 0.8rem;
|
||||
}
|
||||
}
|
||||
|
||||
@media (max-height: 760px) {
|
||||
.signal-panel {
|
||||
inline-size: min(100%, clamp(24rem, 34vw, 30rem));
|
||||
padding: 0.62rem 0.68rem 0.72rem;
|
||||
gap: 0.48rem;
|
||||
}
|
||||
|
||||
.panel-body {
|
||||
block-size: clamp(9rem, 10vw, 10.8rem);
|
||||
min-block-size: clamp(9rem, 10vw, 10.8rem);
|
||||
}
|
||||
}
|
||||
|
||||
@media (max-height: 680px) {
|
||||
.signal-panel {
|
||||
inline-size: min(100%, clamp(20rem, 28vw, 26rem));
|
||||
padding: 0.52rem 0.58rem 0.6rem;
|
||||
gap: 0.36rem;
|
||||
}
|
||||
}
|
||||
|
||||
@media (max-width: 900px) {
|
||||
.signal-panel {
|
||||
inline-size: 100%;
|
||||
}
|
||||
|
||||
.panel-body {
|
||||
grid-template-columns: 1fr;
|
||||
block-size: auto;
|
||||
min-block-size: auto;
|
||||
}
|
||||
|
||||
.compass-core {
|
||||
inline-size: min(58vw, 12rem);
|
||||
}
|
||||
}
|
||||
</style>
|
||||
@@ -3,7 +3,6 @@ export type LocaleCode = "zh-CN" | "en-US";
|
||||
export type WindowControlAction = "minimize" | "toggle-maximize" | "close";
|
||||
|
||||
export type ConnectionState = "online" | "connecting" | "offline";
|
||||
export type StageViewMode = "webgl" | "model3d";
|
||||
|
||||
export type StageStatusTone = "ok" | "warn" | "idle";
|
||||
export type HudNoticeTone = "ok" | "warn" | "info";
|
||||
@@ -41,18 +40,11 @@ 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 {
|
||||
@@ -94,9 +86,6 @@ export interface HudCopy {
|
||||
matrixViewLabel: string;
|
||||
matrixViewNumericLabel: string;
|
||||
matrixViewDotsLabel: string;
|
||||
stageModeLabel: string;
|
||||
stageModeWebglLabel: string;
|
||||
stageModeModelLabel: string;
|
||||
resetConfigLabel: string;
|
||||
applyLiveHint: string;
|
||||
runtimeReady: string;
|
||||
|
||||
@@ -22,7 +22,6 @@
|
||||
HudConfigLink,
|
||||
HudNoticeTone,
|
||||
HudPacket,
|
||||
HudSpatialForce,
|
||||
PressureColorMapPreset,
|
||||
HudSignalPanel,
|
||||
HudSignalSeries,
|
||||
@@ -34,7 +33,6 @@
|
||||
SerialRecordStateResult,
|
||||
SerialImportResult,
|
||||
SignalTone,
|
||||
StageViewMode,
|
||||
WindowControlAction
|
||||
} from "$lib/types/hud";
|
||||
|
||||
@@ -46,13 +44,6 @@
|
||||
dtsMs: number;
|
||||
}
|
||||
|
||||
interface DevKitPztAngleEvent {
|
||||
seq: number;
|
||||
timestampMs: number;
|
||||
dtsMs: number;
|
||||
angle: number;
|
||||
}
|
||||
|
||||
const copyByLocale: Record<LocaleCode, HudCopy> = {
|
||||
"zh-CN": {
|
||||
appName: "JE-Skin",
|
||||
@@ -71,9 +62,6 @@
|
||||
matrixViewLabel: "矩阵模式",
|
||||
matrixViewNumericLabel: "数字矩阵",
|
||||
matrixViewDotsLabel: "点矩阵",
|
||||
stageModeLabel: "渲染模式",
|
||||
stageModeWebglLabel: "WebGL",
|
||||
stageModeModelLabel: "3D 模型",
|
||||
resetConfigLabel: "恢复默认",
|
||||
applyLiveHint: "实时生效 / 矩阵尺寸变更将重建 viewer",
|
||||
runtimeReady: "WEBGL2 READY",
|
||||
@@ -133,9 +121,6 @@
|
||||
matrixViewLabel: "Matrix Mode",
|
||||
matrixViewNumericLabel: "Numeric",
|
||||
matrixViewDotsLabel: "Dots",
|
||||
stageModeLabel: "Render Mode",
|
||||
stageModeWebglLabel: "WebGL",
|
||||
stageModeModelLabel: "3D Model",
|
||||
resetConfigLabel: "Reset",
|
||||
applyLiveHint: "Live apply / size changes recreate the viewer",
|
||||
runtimeReady: "WEBGL2 READY",
|
||||
@@ -236,15 +221,12 @@
|
||||
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;
|
||||
let replayHasDisplayedFrame = false;
|
||||
@@ -278,7 +260,6 @@
|
||||
rowsKept: number;
|
||||
} | null = null;
|
||||
let devkitStatusTimer: number | null = null;
|
||||
let devkitSpatialForceClearTimer: number | null = null;
|
||||
let sessionStartedAt: number = Date.now();
|
||||
|
||||
$: uiCopy = copyByLocale[locale];
|
||||
@@ -306,31 +287,6 @@
|
||||
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));
|
||||
}
|
||||
@@ -753,8 +709,6 @@
|
||||
|
||||
function resetReplayVisualState(): void {
|
||||
pressureMatrix = buildZeroMatrix();
|
||||
spatialForce = null;
|
||||
clearDevkitSpatialForce();
|
||||
signalPanels = buildInactivePanels();
|
||||
summary = buildEmptySummary();
|
||||
hasSignalData = false;
|
||||
@@ -790,8 +744,6 @@
|
||||
replayHasDisplayedFrame = true;
|
||||
replayProgress = replayFrames.length > 1 ? safeIndex / (replayFrames.length - 1) : 1;
|
||||
pressureMatrix = frameValuesToMatrix(replayFrames[safeIndex].values);
|
||||
spatialForce = null;
|
||||
clearDevkitSpatialForce();
|
||||
signalPanels = buildInactivePanels();
|
||||
summary = buildReplaySummaryAt(safeIndex);
|
||||
hasSignalData = true;
|
||||
@@ -1046,12 +998,7 @@
|
||||
summary = packet.summary;
|
||||
}
|
||||
pressureMatrix = packet.pressureMatrix;
|
||||
spatialForce = packet.spatialForce ?? null;
|
||||
hasSignalData =
|
||||
signalPanels.length > 0 ||
|
||||
packet.summary.points.length > 0 ||
|
||||
spatialForce !== null ||
|
||||
devkitSpatialForce !== null;
|
||||
hasSignalData = signalPanels.length > 0 || packet.summary.points.length > 0;
|
||||
}
|
||||
|
||||
function clearHudPanels(): void {
|
||||
@@ -1059,19 +1006,17 @@
|
||||
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, spatialForce: null });
|
||||
push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null });
|
||||
|
||||
const timerId = window.setInterval(() => {
|
||||
summaryValue = evolveSummary(summaryValue);
|
||||
|
||||
push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null, spatialForce: null });
|
||||
push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null });
|
||||
}, signalRenderTickMs);
|
||||
|
||||
return () => {
|
||||
@@ -1699,7 +1644,6 @@
|
||||
|
||||
function handleConfigLink(event: CustomEvent<string>): void {
|
||||
if (event.detail === "precision-test") {
|
||||
stageViewMode = "webgl";
|
||||
isPrecisionTestOpen = !isPrecisionTestOpen;
|
||||
isConfigPanelOpen = false;
|
||||
isDevKitConfigOpen = false;
|
||||
@@ -1707,7 +1651,6 @@
|
||||
}
|
||||
|
||||
if (event.detail === "settings") {
|
||||
stageViewMode = "webgl";
|
||||
isPrecisionTestOpen = false;
|
||||
isConfigPanelOpen = !isConfigPanelOpen;
|
||||
isDevKitConfigOpen = false;
|
||||
@@ -1800,14 +1743,6 @@
|
||||
matrixDisplayMode = event.detail ? "dots" : "numeric";
|
||||
}
|
||||
|
||||
function handleStageModeChange(event: CustomEvent<StageViewMode>): void {
|
||||
stageViewMode = event.detail;
|
||||
if (stageViewMode === "model3d") {
|
||||
isPrecisionTestOpen = false;
|
||||
isConfigPanelOpen = false;
|
||||
}
|
||||
}
|
||||
|
||||
onMount(() => {
|
||||
let disposed = false;
|
||||
let unlistenHudStream: UnlistenFn | null = null;
|
||||
@@ -1835,25 +1770,12 @@
|
||||
.catch((error) => {
|
||||
console.error("Failed to listen for hud_stream:", error);
|
||||
});
|
||||
void listen<DevKitPztAngleEvent>("devkit_pzt_angle", (event) => {
|
||||
const angleDeg = Number(event.payload.angle);
|
||||
if (!Number.isFinite(angleDeg)) {
|
||||
clearDevkitSpatialForce();
|
||||
return;
|
||||
void listen<{ seq: number; timestampMs: number; dtsMs: number; angle: number }>(
|
||||
"devkit_pzt_angle",
|
||||
(event) => {
|
||||
console.log("[devkit_pzt_angle]", event.payload);
|
||||
}
|
||||
|
||||
devkitSpatialForce = {
|
||||
angleDeg,
|
||||
magnitude: 0,
|
||||
confidence: 0
|
||||
};
|
||||
scheduleDevkitSpatialForceClear();
|
||||
hasSignalData =
|
||||
signalPanels.length > 0 ||
|
||||
summary.points.length > 0 ||
|
||||
spatialForce !== null ||
|
||||
devkitSpatialForce !== null;
|
||||
})
|
||||
)
|
||||
.then((unlisten) => {
|
||||
if (disposed) {
|
||||
unlisten();
|
||||
@@ -1872,7 +1794,6 @@
|
||||
return () => {
|
||||
disposed = true;
|
||||
pauseReplayPlayback();
|
||||
clearDevkitSpatialForce();
|
||||
stopMockFeed?.();
|
||||
unlistenHudStream?.();
|
||||
unlistenDevkitPztAngle?.();
|
||||
@@ -1917,10 +1838,6 @@
|
||||
matrixViewNumericLabel={uiCopy.matrixViewNumericLabel}
|
||||
matrixViewDotsLabel={uiCopy.matrixViewDotsLabel}
|
||||
{matrixDisplayMode}
|
||||
stageModeLabel={uiCopy.stageModeLabel}
|
||||
stageModeWebglLabel={uiCopy.stageModeWebglLabel}
|
||||
stageModeModelLabel={uiCopy.stageModeModelLabel}
|
||||
{stageViewMode}
|
||||
connectActionLabel={uiCopy.connectActionLabel}
|
||||
disconnectActionLabel={uiCopy.disconnectActionLabel}
|
||||
exportActionLabel={uiCopy.exportActionLabel}
|
||||
@@ -1943,7 +1860,6 @@
|
||||
on:portchange={handlePortChange}
|
||||
on:configlink={handleConfigLink}
|
||||
on:matrixdisplaytoggle={handleMatrixDisplayToggle}
|
||||
on:stagemodechange={handleStageModeChange}
|
||||
on:serialrefresh={handleSerialRefresh}
|
||||
on:serialconnect={handleSerialConnect}
|
||||
on:serialexport={handleSerialExportRequest}
|
||||
@@ -1964,7 +1880,6 @@
|
||||
bind:rangeMax
|
||||
bind:colorMapPreset
|
||||
bind:matrixDisplayMode
|
||||
{stageViewMode}
|
||||
configPanelTitle={uiCopy.configPanelTitle}
|
||||
configPanelHint={uiCopy.configPanelHint}
|
||||
matrixSizeLabel={uiCopy.matrixSizeLabel}
|
||||
@@ -1991,8 +1906,6 @@
|
||||
leftPanels={leftSignalPanels}
|
||||
rightPanels={rightSignalPanels}
|
||||
{pressureMatrix}
|
||||
{spatialForce}
|
||||
{devkitSpatialForce}
|
||||
showConfigPanel={isConfigPanelOpen}
|
||||
showPrecisionTestPanel={isPrecisionTestOpen}
|
||||
{summary}
|
||||
@@ -2003,7 +1916,7 @@
|
||||
on:replayclose={handleReplayClose}
|
||||
on:configclose={() => (isConfigPanelOpen = false)}
|
||||
>
|
||||
{#if !isPrecisionTestOpen && stageViewMode === "webgl"}
|
||||
{#if !isPrecisionTestOpen}
|
||||
<section class="range-scale" aria-label="Signal Range">
|
||||
<p class="range-label">{locale === "zh-CN" ? "范围" : "Range"}</p>
|
||||
<div class="range-track">
|
||||
|
||||
@@ -1,14 +0,0 @@
|
||||
# 3D model assets
|
||||
|
||||
Put the first pipeline model here:
|
||||
|
||||
- Preferred: `static/models/je-skin-model.glb`
|
||||
- Format: glTF 2.0 `.glb`
|
||||
- Also supported after changing `modelUrl`: glTF 2.0 `.gltf` with its `.bin` and texture files in the same folder
|
||||
- Not supported directly: older glTF 1.0 assets. Convert them to glTF 2.0 first.
|
||||
|
||||
Runtime URL used by the app:
|
||||
|
||||
```text
|
||||
/models/je-skin-model.glb
|
||||
```
|
||||
Binary file not shown.
Reference in New Issue
Block a user