feat: 切向力算法更新 + AD反解x模块

This reverts commit aa08a75aef.

.gitignore

@@ -25,6 +25,12 @@ vite.config.ts.timestamp-*
 /src-tauri/target/
 /src-tauri/target-codex-check*/
 /src-tauri/gen/schemas/
+/src-tauri/gen/android/app/build/
+/src-tauri/gen/android/buildSrc/build/
+/src-tauri/gen/android/.gradle/
+/src-tauri/gen/android/app/.gradle/
+/src-tauri/gen/android/buildSrc/.gradle/
+/src-tauri/gen/android/build/reports/
 
 /src-tauri/program.log*
 /src-tauri/recording_replay_debug_*.csv

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "eskin-finger-sdk"]
+	path = eskin-finger-sdk
+	url = https://gitea.e-skin.top/yanjie/eskin-finger-sdk.git

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+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\ma\\LICENSE',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\ma\\LICENSE',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\umath\\svml\\LICENSE',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\umath\\svml\\LICENSE',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\entry_points.txt',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\entry_points.txt',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\mt19937\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\mt19937\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\LICENSE.txt',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\LICENSE.txt',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\multiarray\\dragon4_LICENSE.txt',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\multiarray\\dragon4_LICENSE.txt',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\METADATA',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\METADATA',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\DELVEWHEEL',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\DELVEWHEEL',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\highway\\LICENSE',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\highway\\LICENSE',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\distributions\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\distributions\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\npysort\\x86-simd-sort\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\npysort\\x86-simd-sort\\LICENSE.md',
+   'DATA'),
+  ('base_library.zip',
+   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\base_library.zip',
+   'DATA')],
+ 'python314.dll',
+ False,
+ False,
+ False,
+ [],
+ None,
+ None,
+ None)

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

@@ -0,0 +1,245 @@
+
+This file lists modules PyInstaller was not able to find. This does not
+necessarily mean these modules are required for running your program. Both
+Python's standard library and 3rd-party Python packages often conditionally
+import optional modules, some of which may be available only on certain
+platforms.
+
+Types of import:
+* top-level: imported at the top-level - look at these first
+* conditional: imported within an if-statement
+* delayed: imported within a function
+* optional: imported within a try-except-statement
+
+IMPORTANT: Do NOT post this list to the issue-tracker. Use it as a basis for
+            tracking down the missing module yourself. Thanks!
+
+missing module named pwd - imported by posixpath (delayed, conditional, optional), shutil (delayed, optional), tarfile (optional), pathlib (optional), netrc (delayed, optional), subprocess (delayed, conditional, optional), http.server (delayed, optional)
+missing module named grp - imported by shutil (delayed, optional), tarfile (optional), pathlib (optional), subprocess (delayed, conditional, optional)
+missing module named 'collections.abc' - imported by _colorize (top-level), typing (top-level), traceback (top-level), logging (top-level), selectors (top-level), http.client (top-level), importlib.resources.readers (top-level), inspect (top-level), tracemalloc (top-level), multiprocessing.managers (top-level), typing_extensions (top-level), asyncio.base_events (top-level), asyncio.coroutines (top-level), grpc.aio._metadata (top-level), google.protobuf.internal.containers (top-level), google.protobuf.internal.well_known_types (top-level), numpy._typing._array_like (top-level), numpy._typing._nested_sequence (conditional), numpy._typing._shape (top-level), numpy._typing._dtype_like (top-level), numpy.lib._function_base_impl (top-level), _pyrepl.types (top-level), numpy.lib._npyio_impl (top-level), numpy.random._common (top-level), numpy.random._generator (top-level), numpy.random.bit_generator (top-level), numpy.random.mtrand (top-level), numpy.polynomial._polybase (top-level), xml.etree.ElementTree (top-level)
+missing module named _posixsubprocess - imported by subprocess (conditional), multiprocessing.util (delayed)
+missing module named fcntl - imported by pathlib._os (optional), subprocess (optional)
+missing module named _posixshmem - imported by multiprocessing.resource_tracker (conditional), multiprocessing.shared_memory (conditional)
+missing module named _scproxy - imported by urllib.request (conditional)
+missing module named posix - imported by posixpath (optional), shutil (conditional), importlib._bootstrap_external (conditional), pathlib._os (optional), os (conditional, optional), _pyrepl.trace (conditional)
+missing module named resource - imported by posix (top-level)
+missing module named _frozen_importlib_external - imported by importlib._bootstrap (delayed), importlib (optional), importlib.abc (optional), zipimport (top-level)
+excluded module named _frozen_importlib - imported by importlib (optional), importlib.abc (optional), zipimport (top-level)
+missing module named multiprocessing.BufferTooShort - imported by multiprocessing (top-level), multiprocessing.connection (top-level)
+missing module named multiprocessing.AuthenticationError - imported by multiprocessing (top-level), multiprocessing.forkserver (top-level), multiprocessing.connection (top-level)
+missing module named multiprocessing.get_context - imported by multiprocessing (top-level), multiprocessing.pool (top-level), multiprocessing.managers (top-level), multiprocessing.sharedctypes (top-level)
+missing module named multiprocessing.TimeoutError - imported by multiprocessing (top-level), multiprocessing.pool (top-level)
+missing module named multiprocessing.set_start_method - imported by multiprocessing (top-level), multiprocessing.spawn (top-level)
+missing module named multiprocessing.get_start_method - imported by multiprocessing (top-level), multiprocessing.spawn (top-level)
+missing module named pyimod02_importers - imported by C:\Python314\Lib\site-packages\PyInstaller\hooks\rthooks\pyi_rth_pkgutil.py (delayed)
+missing module named _dummy_thread - imported by numpy._core.arrayprint (optional)
+missing module named 'numpy_distutils.cpuinfo' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
+missing module named 'numpy_distutils.fcompiler' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
+missing module named 'numpy_distutils.command' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
+missing module named numpy_distutils - imported by numpy.f2py.diagnose (delayed, optional)
+missing module named charset_normalizer - imported by numpy.f2py.crackfortran (optional)
+missing module named vms_lib - imported by platform (delayed, optional)
+missing module named 'java.lang' - imported by platform (delayed, optional)
+missing module named java - imported by platform (delayed)
+missing module named psutil - imported by numpy.testing._private.utils (delayed, optional)
+missing module named termios - imported by tty (top-level), _pyrepl.pager (delayed, optional)
+missing module named readline - imported by cmd (delayed, conditional, optional), code (delayed, conditional, optional), pdb (delayed, conditional, optional), rlcompleter (optional)
+missing module named win32pdh - imported by numpy.testing._private.utils (delayed, conditional)
+missing module named _typeshed - imported by numpy.random.bit_generator (top-level)
+missing module named numpy.random.RandomState - imported by numpy.random (top-level), numpy.random._generator (top-level)
+missing module named pyodide_js - imported by threadpoolctl (delayed, optional)
+missing module named numpy._core.zeros - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.vstack - imported by numpy._core (top-level), numpy.lib._shape_base_impl (top-level), numpy (conditional)
+missing module named numpy._core.void - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.vecmat - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.vecdot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.ushort - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.unsignedinteger - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.ulonglong - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.ulong - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.uintp - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.uintc - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.uint64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.uint32 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.uint16 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.uint - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.ubyte - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.trunc - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.true_divide - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.transpose - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._function_base_impl (top-level), numpy (conditional)
+missing module named numpy._core.trace - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.timedelta64 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.tensordot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.tanh - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.tan - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.swapaxes - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.sum - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.subtract - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.str_ - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.square - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.sqrt - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
+missing module named numpy._core.spacing - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.sort - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.sinh - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.single - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.signedinteger - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.signbit - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.sign - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.short - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.rint - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.right_shift - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.result_type - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional), numpy.fft._pocketfft (top-level)
+missing module named numpy._core.remainder - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.reciprocal - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
+missing module named numpy._core.radians - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.rad2deg - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.prod - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.power - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.positive - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.pi - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.outer - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.ones - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
+missing module named numpy._core.object_ - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.number - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.not_equal - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.nextafter - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.newaxis - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.negative - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.ndarray - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy.lib._utils_impl (top-level), numpy (conditional)
+missing module named numpy._core.multiply - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.moveaxis - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.modf - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.mod - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.minimum - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.maximum - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.max - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.matvec - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.matrix_transpose - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.matmul - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.longlong - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.longdouble - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.long - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.logical_xor - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.logical_or - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.logical_not - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.logical_and - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.logaddexp2 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.logaddexp - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.log10 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.log2 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.log1p - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.log - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.linspace - imported by numpy._core (top-level), numpy.lib._index_tricks_impl (top-level), numpy (conditional)
+missing module named numpy._core.less_equal - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.less - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.left_shift - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.ldexp - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.lcm - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.isscalar - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy.lib._polynomial_impl (top-level), numpy (conditional)
+missing module named numpy._core.isnat - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional)
+missing module named numpy._core.isnan - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.isfinite - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.intp - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.integer - imported by numpy._core (conditional), numpy (conditional), numpy.fft._helper (top-level)
+missing module named numpy._core.intc - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.int64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.int32 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.int16 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.int8 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.inf - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.inexact - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.iinfo - imported by numpy._core (top-level), numpy.lib._twodim_base_impl (top-level), numpy (conditional)
+missing module named numpy._core.hypot - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.hstack - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
+missing module named numpy._core.heaviside - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.half - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.greater_equal - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.greater - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.gcd - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.frompyfunc - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.frexp - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.fmod - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.fmin - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.fmax - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.floor_divide - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.floor - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.floating - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.float_power - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.float32 - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.float16 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.finfo - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
+missing module named numpy._core.fabs - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.expm1 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.exp2 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.exp - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.euler_gamma - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.errstate - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.equal - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.empty_like - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
+missing module named numpy._core.empty - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy.fft._helper (top-level)
+missing module named numpy._core.e - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.double - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.dot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
+missing module named numpy._core.divmod - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.divide - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.diagonal - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.degrees - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.deg2rad - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.datetime64 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.csingle - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.cross - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.count_nonzero - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.cosh - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.cos - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.copysign - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.conjugate - imported by numpy._core (conditional), numpy (conditional), numpy.fft._pocketfft (top-level)
+missing module named numpy._core.conj - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.complexfloating - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.complex64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
+missing module named numpy._core.clongdouble - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.character - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.ceil - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.cdouble - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.cbrt - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.bytes_ - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.byte - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.bool_ - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.bitwise_xor - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.bitwise_or - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.bitwise_count - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.bitwise_and - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.atleast_3d - imported by numpy._core (top-level), numpy.lib._shape_base_impl (top-level), numpy (conditional)
+missing module named numpy._core.atleast_2d - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.atleast_1d - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
+missing module named numpy._core.asarray - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._array_utils_impl (top-level), numpy (conditional), numpy.fft._helper (top-level), numpy.fft._pocketfft (top-level)
+missing module named numpy._core.asanyarray - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.array_repr - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional)
+missing module named numpy._core.array2string - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.array - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
+missing module named numpy._core.argsort - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.arctanh - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.arctan2 - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.arctan - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.arcsinh - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.arcsin - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.arccosh - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.arccos - imported by numpy._core (conditional), numpy (conditional)
+missing module named numpy._core.arange - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy.fft._helper (top-level)
+missing module named numpy._core.amin - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.amax - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named numpy._core.all - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
+missing module named numpy._core.add - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
+missing module named yaml - imported by numpy.__config__ (delayed)
+missing module named numpy._distributor_init_local - imported by numpy (optional), numpy._distributor_init (optional)
+missing module named defusedxml - imported by openpyxl.xml (delayed, optional)
+missing module named lxml - imported by openpyxl.xml (delayed, optional)
+missing module named 'defusedxml.ElementTree' - imported by openpyxl.xml.functions (conditional)
+missing module named 'lxml.etree' - imported by openpyxl.xml.functions (conditional)
+missing module named PIL - imported by openpyxl.drawing.image (optional)
+missing module named openpyxl.tests - imported by openpyxl.reader.excel (optional)
+missing module named google.protobuf.pyext._message - imported by google.protobuf.pyext (conditional, optional), google.protobuf.internal.api_implementation (conditional, optional), google.protobuf.descriptor (conditional), google.protobuf.pyext.cpp_message (conditional)
+missing module named google.protobuf.enable_deterministic_proto_serialization - imported by google.protobuf (optional), google.protobuf.internal.api_implementation (optional)
+missing module named google.protobuf.internal._api_implementation - imported by google.protobuf.internal (optional), google.protobuf.internal.api_implementation (optional)
+missing module named grpc_reflection - imported by grpc (optional)
+missing module named grpc_health - imported by grpc (optional)
+missing module named pkg_resources - imported by grpc_tools.protoc (conditional)

devkit/je-skin-devkit-server.spec

@@ -5,8 +5,8 @@ a = Analysis(
     ['sensor_server.py'],
     pathex=[],
     binaries=[],
-    datas=[('sensor_stream_pb2.py', '.'), ('sensor_stream_pb2_grpc.py', '.')],
-    hiddenimports=['grpc', 'openpyxl', 'numpy'],
+    datas=[],
+    hiddenimports=[],
     hookspath=[],
     hooksconfig={},
     runtime_hooks=[],

devkit/sensor_server.py

@@ -26,7 +26,6 @@ import sys
 import time
 from concurrent import futures
 from pathlib import Path
-
 import grpc
 import sensor_stream_pb2
 import sensor_stream_pb2_grpc
@@ -231,30 +230,56 @@ def _append_analysis_log(source_csv: str, stats: dict):
 class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
     """接收实时传感器帧（streaming）"""
 
+    _csv_path = None  # 类变量，记录当前 CSV 路径
+
     def __init__(self):
         self.frame_count = 0
         self.last_report_time = time.time()
         self.last_angle = None
+        self._csv_file = None
+        self._csv_writer = None
+
+    def _open_csv(self):
+        """打开一个新的 CSV 文件用于持续写入"""
+        ts = time.strftime("%Y%m%d_%H%M%S")
+        SensorPushServicer._csv_path = os.path.join(os.getcwd(), f"sensor_log_{ts}.csv")
+        self._csv_file = open(SensorPushServicer._csv_path, "w", newline="", encoding="utf-8-sig")
+        self._csv_writer = csv.writer(self._csv_file)
+        header = ["seq", "timestamp_ms", "dts_ms", "angle", "magnitude", "state", "cop_x", "cop_y", "base_x", "base_y", "resultant_force"] + [f"ch{i}" for i in range(SENSOR_ROWS * SENSOR_COLS)]
+        self._csv_writer.writerow(header)
+        self._csv_file.flush()
+        print(f"[SensorPush] CSV logging to: {SensorPushServicer._csv_path}")
+
+    def _close_csv(self):
+        """关闭 CSV 文件"""
+        if self._csv_file:
+            self._csv_file.close()
+            print(f"[SensorPush] CSV saved: {SensorPushServicer._csv_path}")
+            self._csv_file = None
+            self._csv_writer = None
 
     def Upload(self, request_iterator, context):
         print("[SensorPush] Client connected, waiting for frames...")
         reset_baseline()
         self.last_angle = None
+        self.frame_count = 0
+        self._open_csv()
 
         for frame in request_iterator:
             self.frame_count += 1
             angle = 0.0
+            magnitude = 0.0
+            state = 0
             ok = True
             message = "OK"
+            cop_x = cop_y = base_x = base_y = 0.0
+            total_press = 0.0
+            threshold = 0.0
             if len(frame.matrix) == SENSOR_ROWS * SENSOR_COLS:
                 try:
-                    angle = get_pzt_angle(frame.matrix)
+                    angle, magnitude, state, cop_x, cop_y, base_x, base_y, total_press, threshold = get_pzt_angle(frame.matrix)
                     self.last_angle = angle
-                    if self.frame_count <= 10 or self.frame_count % 30 == 0:
-                        print(
-                            f"[SensorPush] PZT angle frame #{frame.seq} "
-                            f"dts={frame.dts_ms} angle={angle:.2f}"
-                        )
+                    print(f"devkit: angle={angle:.2f}, magnitude={magnitude:.4f}, state={state}, cop_x={cop_x:.4f}, cop_y={cop_y:.4f}, base_x={base_x:.4f}, base_y={base_y:.4f}, total_press={total_press:.2f}, thresh={threshold:.2f}")
                 except Exception as e:
                     ok = False
                     message = str(e)
@@ -262,6 +287,18 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
             else:
                 ok = False
                 message = f"Invalid matrix length: {len(frame.matrix)}"
+                print(f"[Recv #{frame.seq}] INVALID len={len(frame.matrix)}")
+
+            # 持续写入 CSV
+            if self._csv_writer:
+                row = [frame.seq, frame.timestamp_ms, frame.dts_ms,
+                       f"{angle:.4f}", f"{magnitude:.4f}", state,
+                       f"{cop_x:.4f}", f"{cop_y:.4f}", f"{base_x:.4f}", f"{base_y:.4f}",
+                       frame.resultant_force]
+                row += list(frame.matrix)
+                self._csv_writer.writerow(row)
+                if self.frame_count % 10 == 0:
+                    self._csv_file.flush()
 
             yield sensor_stream_pb2.PztAngleResponse(
                 seq=frame.seq,
@@ -270,6 +307,14 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
                 dts_ms=frame.dts_ms,
                 ok=ok,
                 message=message,
+                magnitude=magnitude,
+                state=state,
+                cop_x=cop_x,
+                cop_y=cop_y,
+                base_x=base_x,
+                base_y=base_y,
+                total_press=total_press,
+                threshold=threshold,
             )
 
             if self.frame_count % 100 == 0:
@@ -290,6 +335,7 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
                     f"total={self.frame_count} | ~{fps:.1f} fps"
                 )
 
+        self._close_csv()
         print(f"[SensorPush] Stream ended. Total: {self.frame_count}")
 
 
@@ -350,67 +396,84 @@ def serve(port: int):
 
 
 import numpy as np
-import threading
+from collections import deque
 
 # ===================== 算法参数=====================
-TOTAL_PRESSURE_LOW_THRESHOLD = 500     
-COP_STABILITY_FRAMES_REQUIRED = 5       
-SENSOR_ROWS = 12                        
-SENSOR_COLS = 7                         
+COP_INIT_MEDIAN_FRAMES = 1                 # 初始COP取中位数的帧数
+NOISE_COLLECT_FRAMES = 10                 # 动态阈值基线采集帧数
+THRESH_K = 5                              # 阈值 = K * mean
+SENSOR_ROWS = 12
+SENSOR_COLS = 7
+
+# ===================== 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
 
-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
+
+# 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
 
-# ===================== 基线减除 =====================
-def subtract_baseline(current_frame):
-    global first_frame
-    current_frame = np.array(current_frame, dtype=np.float32).flatten()
-    
-    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 total_pressure_low_counter
+    global post_init_frame_cnt, post_stable_cnt, post_refined_flag
+    global post_cand_x, post_cand_y
 
     first_contact_CoP_x = None
     first_contact_CoP_y = None
     contact_initialized = False
-    total_pressure_low_counter = 0
+    cop_init_x_buf.clear()
+    cop_init_y_buf.clear()
+    post_init_frame_cnt = 0
+    post_stable_cnt = 0
+    post_refined_flag = False
+    post_cand_x = None
+    post_cand_y = None
+
 
 # ===================== CoP压力中心计算 =====================
-def compute_pressure_direction(baseline_subtracted_frame):
+def compute_pressure_direction(raw_frame):
     global first_contact_CoP_x, first_contact_CoP_y, contact_initialized
-    global total_pressure_low_counter
+    global post_init_frame_cnt, post_stable_cnt, post_refined_flag
+    global post_cand_x, post_cand_y
+    global noise_sum_buf, dynamic_thresh
 
     rows, cols = SENSOR_ROWS, SENSOR_COLS
-    frame_flat = np.asarray(baseline_subtracted_frame, dtype=np.float32).flatten()
+    frame_flat = np.asarray(raw_frame, dtype=np.float32).flatten()
     frame2d = frame_flat.reshape(rows, cols)
 
     total_pressure = np.sum(frame2d)
-    if total_pressure < TOTAL_PRESSURE_LOW_THRESHOLD:
-        total_pressure_low_counter += 1
-    else:
-        total_pressure_low_counter = 0
 
-    if total_pressure_low_counter >= COP_STABILITY_FRAMES_REQUIRED:
-        reset_cop_state()
-        return 0.0, 0.0
+    # 动态阈值
+    if dynamic_thresh is None:
+        noise_sum_buf.append(total_pressure)
+        if len(noise_sum_buf) >= NOISE_COLLECT_FRAMES:
+            sums = np.array(noise_sum_buf)
+            dynamic_thresh = THRESH_K * float(np.mean(sums))
 
-    if total_pressure == 0:
-        return 0.0, 0.0
+    # 低压重置
+    if total_pressure == 0 or (dynamic_thresh is not None and total_pressure < dynamic_thresh):
+        if contact_initialized and dynamic_thresh is not None:
+            reset_cop_state()
+        return 0.0, 0.0, 0, rows-1, 0, cols-1, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0.0, dynamic_thresh
 
     x_grid = np.tile(np.arange(cols), (rows, 1))
     y_grid = np.repeat(np.arange(rows), cols).reshape(rows, cols)
@@ -419,44 +482,98 @@ def compute_pressure_direction(baseline_subtracted_frame):
 
     delta_CoP_x = 0.0
     delta_CoP_y = 0.0
+    base_x = cop_x
+    base_y = cop_y
 
+    # ============ 初始点稳定判断（中位数判定） ============
     if not contact_initialized:
-        first_contact_CoP_x = cop_x
-        first_contact_CoP_y = cop_y
-        contact_initialized = True
-    else:
-        delta_CoP_x = cop_x - first_contact_CoP_x
-        delta_CoP_y = cop_y - first_contact_CoP_y
+        cop_init_x_buf.append(cop_x)
+        cop_init_y_buf.append(cop_y)
+
+        if len(cop_init_x_buf) >= COP_INIT_MEDIAN_FRAMES:
+            first_contact_CoP_x = float(np.median(cop_init_x_buf))
+            first_contact_CoP_y = float(np.median(cop_init_y_buf))
+            contact_initialized = True
+            cop_init_x_buf.clear()
+            cop_init_y_buf.clear()
+
+    # ========== 计算偏移量 ==========
+    else:
+        # 二次静置精修
+        post_init_frame_cnt += 1
+        if not post_refined_flag and post_init_frame_cnt <= POST_INIT_WINDOW_CNT:
+            if post_cand_x is not None:
+                dist_val = np.hypot(cop_x - post_cand_x, cop_y - post_cand_y)
+                if dist_val <= POST_INIT_STABLE_THRESH:
+                    post_stable_cnt += 1
+                else:
+                    post_cand_x = cop_x
+                    post_cand_y = cop_y
+                    post_stable_cnt = 1
+            else:
+                post_cand_x = cop_x
+                post_cand_y = cop_y
+                post_stable_cnt = 1
+
+            if post_stable_cnt >= POST_INIT_STABLE_CNT:
+                first_contact_CoP_x = post_cand_x
+                first_contact_CoP_y = post_cand_y
+                post_refined_flag = True
+        else:
+            post_refined_flag = True
+
+        delta_CoP_x = cop_x - first_contact_CoP_x
+        delta_CoP_y = first_contact_CoP_y - cop_y
+        base_x = first_contact_CoP_x
+        base_y = first_contact_CoP_y
+
+    magnitude = np.hypot(delta_CoP_x, delta_CoP_y)
+    if not contact_initialized:
+        state = 0
+    elif not post_refined_flag:
+        state = 1
+    else:
+        state = 2
+
+    return (cop_x, cop_y,
+            0, rows-1, 0, cols-1,
+            delta_CoP_x, delta_CoP_y,
+            base_x, base_y,
+            magnitude, state,
+            total_pressure, dynamic_thresh)
 
-    return delta_CoP_x, delta_CoP_y
 
 # ===================== 角度计算核心 =====================
 def compute_vector_angle(x: float, y: float) -> tuple[float, float]:
     epsilon = 1e-8
-    mag = np.hypot(x, y)                                  
-    angle = np.degrees(np.arctan2(y, x + epsilon))         
+    mag = np.hypot(x, y)
+    angle = np.degrees(np.arctan2(y, x + epsilon))
     if angle < 0:
         angle += 360
     return angle, mag
 
 def compute_PZT_angle(Px: float, Py: float) -> tuple[float, float]:
-    return compute_vector_angle(Px, -Py)
+    return compute_vector_angle(Px, Py)
+
 
 # ===================== 核心入口函数 =====================
 def get_pzt_angle(adc_data):
     if len(adc_data) != 84:
         raise ValueError("ADC数据长度必须为84")
-    baseline_subtracted = subtract_baseline(adc_data)
-    dx, dy = compute_pressure_direction(baseline_subtracted)
+    result = compute_pressure_direction(adc_data)
+    cop_x, cop_y = result[0], result[1]
+    dx, dy = result[6], result[7]
+    base_x, base_y = result[8], result[9]
+    magnitude = result[10]
+    state = int(result[11])
+    total_press = result[12]
+    threshold = result[13]
     pzt_angle, _ = compute_PZT_angle(dx, dy)
-    
-    return pzt_angle
+    return pzt_angle, magnitude, state, cop_x, cop_y, base_x, base_y, total_press, threshold
+
 
 # ===================== 重置基线（校准用） =====================
 def reset_baseline():
-    global first_frame
-    with first_frame_lock:
-        first_frame = None
     reset_cop_state()
 
 

devkit/sensor_stream_pb2.py

@@ -24,7 +24,7 @@ _sym_db = _symbol_database.Default()
 
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13sensor_stream.proto\x12\rsensor_stream\"\x85\x01\n\x0bSensorFrame\x12\x0b\n\x03seq\x18\x01 \x01(\x04\x12\x14\n\x0ctimestamp_ms\x18\x02 \x01(\x04\x12\x0c\n\x04rows\x18\x03 \x01(\r\x12\x0c\n\x04\x63ols\x18\x04 \x01(\r\x12\x0e\n\x06matrix\x18\x05 \x03(\r\x12\x17\n\x0fresultant_force\x18\x06 \x01(\x01\x12\x0e\n\x06\x64ts_ms\x18\x07 \x01(\r\"q\n\x10PztAngleResponse\x12\x0b\n\x03seq\x18\x01 \x01(\x04\x12\x14\n\x0ctimestamp_ms\x18\x02 \x01(\x04\x12\r\n\x05\x61ngle\x18\x03 \x01(\x02\x12\x0e\n\x06\x64ts_ms\x18\x04 \x01(\r\x12\n\n\x02ok\x18\x05 \x01(\x08\x12\x0f\n\x07message\x18\x06 \x01(\t\"8\n\x0eProcessRequest\x12\x10\n\x08\x63sv_path\x18\x01 \x01(\t\x12\x14\n\x0csave_as_xlsx\x18\x02 \x01(\x08\"\xa6\x01\n\x0fProcessResponse\x12\n\n\x02ok\x18\x01 \x01(\x08\x12\x13\n\x0boutput_path\x18\x02 \x01(\t\x12\x13\n\x0bgroups_used\x18\x03 \x01(\r\x12\x12\n\nmean_value\x18\x04 \x01(\x01\x12\x11\n\tthreshold\x18\x05 \x01(\x01\x12\x12\n\nrows_total\x18\x06 \x01(\r\x12\x11\n\trows_kept\x18\x07 \x01(\r\x12\x0f\n\x07message\x18\x08 \x01(\t2W\n\nSensorPush\x12I\n\x06Upload\x12\x1a.sensor_stream.SensorFrame\x1a\x1f.sensor_stream.PztAngleResponse(\x01\x30\x01\x32_\n\x0f\x45xportProcessor\x12L\n\x0bProcessFile\x12\x1d.sensor_stream.ProcessRequest\x1a\x1e.sensor_stream.ProcessResponseb\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13sensor_stream.proto\x12\rsensor_stream\"\x85\x01\n\x0bSensorFrame\x12\x0b\n\x03seq\x18\x01 \x01(\x04\x12\x14\n\x0ctimestamp_ms\x18\x02 \x01(\x04\x12\x0c\n\x04rows\x18\x03 \x01(\r\x12\x0c\n\x04\x63ols\x18\x04 \x01(\r\x12\x0e\n\x06matrix\x18\x05 \x03(\r\x12\x17\n\x0fresultant_force\x18\x06 \x01(\x01\x12\x0e\n\x06\x64ts_ms\x18\x07 \x01(\r\"\xd1\x01\n\x10PztAngleResponse\x12\x0b\n\x03seq\x18\x01 \x01(\x04\x12\x14\n\x0ctimestamp_ms\x18\x02 \x01(\x04\x12\r\n\x05\x61ngle\x18\x03 \x01(\x02\x12\x0e\n\x06\x64ts_ms\x18\x04 \x01(\r\x12\n\n\x02ok\x18\x05 \x01(\x08\x12\x0f\n\x07message\x18\x06 \x01(\t\x12\x11\n\tmagnitude\x18\x07 \x01(\x02\x12\r\n\x05state\x18\x08 \x01(\r\x12\r\n\x05\x63op_x\x18\t \x01(\x02\x12\r\n\x05\x63op_y\x18\n \x01(\x02\x12\x0e\n\x06\x62\x61se_x\x18\x0b \x01(\x02\x12\x0e\n\x06\x62\x61se_y\x18\x0c \x01(\x02\"8\n\x0eProcessRequest\x12\x10\n\x08\x63sv_path\x18\x01 \x01(\t\x12\x14\n\x0csave_as_xlsx\x18\x02 \x01(\x08\"\xa6\x01\n\x0fProcessResponse\x12\n\n\x02ok\x18\x01 \x01(\x08\x12\x13\n\x0boutput_path\x18\x02 \x01(\t\x12\x13\n\x0bgroups_used\x18\x03 \x01(\r\x12\x12\n\nmean_value\x18\x04 \x01(\x01\x12\x11\n\tthreshold\x18\x05 \x01(\x01\x12\x12\n\nrows_total\x18\x06 \x01(\r\x12\x11\n\trows_kept\x18\x07 \x01(\r\x12\x0f\n\x07message\x18\x08 \x01(\t2W\n\nSensorPush\x12I\n\x06Upload\x12\x1a.sensor_stream.SensorFrame\x1a\x1f.sensor_stream.PztAngleResponse(\x01\x30\x01\x32_\n\x0f\x45xportProcessor\x12L\n\x0bProcessFile\x12\x1d.sensor_stream.ProcessRequest\x1a\x1e.sensor_stream.ProcessResponseb\x06proto3')
 
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
@@ -33,14 +33,14 @@ if not _descriptor._USE_C_DESCRIPTORS:
   DESCRIPTOR._loaded_options = None
   _globals['_SENSORFRAME']._serialized_start=39
   _globals['_SENSORFRAME']._serialized_end=172
-  _globals['_PZTANGLERESPONSE']._serialized_start=174
-  _globals['_PZTANGLERESPONSE']._serialized_end=287
-  _globals['_PROCESSREQUEST']._serialized_start=289
-  _globals['_PROCESSREQUEST']._serialized_end=345
-  _globals['_PROCESSRESPONSE']._serialized_start=348
-  _globals['_PROCESSRESPONSE']._serialized_end=514
-  _globals['_SENSORPUSH']._serialized_start=516
-  _globals['_SENSORPUSH']._serialized_end=603
-  _globals['_EXPORTPROCESSOR']._serialized_start=605
-  _globals['_EXPORTPROCESSOR']._serialized_end=700
+  _globals['_PZTANGLERESPONSE']._serialized_start=175
+  _globals['_PZTANGLERESPONSE']._serialized_end=384
+  _globals['_PROCESSREQUEST']._serialized_start=386
+  _globals['_PROCESSREQUEST']._serialized_end=442
+  _globals['_PROCESSRESPONSE']._serialized_start=445
+  _globals['_PROCESSRESPONSE']._serialized_end=611
+  _globals['_SENSORPUSH']._serialized_start=613
+  _globals['_SENSORPUSH']._serialized_end=700
+  _globals['_EXPORTPROCESSOR']._serialized_start=702
+  _globals['_EXPORTPROCESSOR']._serialized_end=797
 # @@protoc_insertion_point(module_scope)

devkit/test_pzt.py

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

src-tauri/Cargo.lock

@@ -8,14 +8,17 @@ 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",
@@ -1149,23 +1152,6 @@ 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"
@@ -2328,9 +2314,9 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.186"
+version = "0.2.183"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "68ab91017fe16c622486840e4c83c9a37afeff978bd239b5293d61ece587de66"
+checksum = "b5b646652bf6661599e1da8901b3b9522896f01e736bad5f723fe7a3a27f899d"
 
 [[package]]
 name = "libloading"
@@ -2354,26 +2340,6 @@ 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"
@@ -2476,6 +2442,16 @@ 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"
@@ -2565,6 +2541,19 @@ 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"
@@ -2630,12 +2619,30 @@ 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"
@@ -3640,6 +3647,12 @@ 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"
@@ -4250,7 +4263,6 @@ dependencies = [
  "core-foundation",
  "core-foundation-sys",
  "io-kit-sys",
- "libudev",
  "mach2",
  "nix 0.26.4",
  "scopeguard",
@@ -5553,9 +5565,9 @@ checksum = "b6c140620e7ffbb22c2dee59cafe6084a59b5ffc27a8859a5f0d494b5d52b6be"
 
 [[package]]
 name = "uuid"
-version = "1.23.1"
+version = "1.22.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ddd74a9687298c6858e9b88ec8935ec45d22e8fd5e6394fa1bd4e99a87789c76"
+checksum = "a68d3c8f01c0cfa54a75291d83601161799e4a89a39e0929f4b0354d88757a37"
 dependencies = [
  "getrandom 0.4.2",
  "js-sys",

src-tauri/Cargo.toml

@@ -15,8 +15,9 @@ name = "tauri_demo_lib"
 crate-type = ["staticlib", "cdylib", "rlib"]
 
 [features]
-default = []
+default = ["multi-dim"]
 devkit = ["dep:tonic", "dep:prost", "dep:prost-types", "dep:async-stream", "dep:dirs"]
+multi-dim = ["dep:ndarray"]
 
 [build-dependencies]
 tauri-build = { version = "2", features = [] }
@@ -36,19 +37,22 @@ 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"] }
-eskin-finger-sdk = { path = "../eskin-finger-sdk" }
+ndarray = { version = "0.15", optional = true }
 
 [target.'cfg(not(any(target_os = "android", target_os = "ios")))'.dependencies]
 tauri-plugin-updater = "2"

src-tauri/gen/android/app/proguard-tauri.pro

@@ -0,0 +1,5 @@
+# THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
+
+-keep class com.lenn.tauri_serial.TauriActivity {
+  public app.tauri.plugin.PluginManager getPluginManager();
+}

src-tauri/gen/android/app/src/main/assets/tauri.conf.json

@@ -0,0 +1 @@
+{"$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":{}}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/Ipc.kt

@@ -0,0 +1,33 @@
+/* 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)
+
+    
+}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/Logger.kt

@@ -0,0 +1,89 @@
+/* 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
+    }
+  }
+}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/PermissionHelper.kt

@@ -0,0 +1,117 @@
+/* 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
+  }
+}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/RustWebChromeClient.kt

@@ -0,0 +1,495 @@
+/* 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)
+}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/RustWebView.kt

@@ -0,0 +1,101 @@
+/* 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)
+
+    
+}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/RustWebViewClient.kt

@@ -0,0 +1,107 @@
+/* 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)
+
+    
+}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/TauriActivity.kt

@@ -0,0 +1,51 @@
+// 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)
+  }
+}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/WryActivity.kt

@@ -0,0 +1,146 @@
+/* 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)
+
+    
+}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/proguard-wry.pro

@@ -0,0 +1,35 @@
+# 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>(...);
+}

src-tauri/gen/android/app/src/main/jniLibs/arm64-v8a/libtauri_demo_lib.so

@@ -0,0 +1 @@
+/home/lenn/Workspace/JE-Skin/src-tauri/target/aarch64-linux-android/release/libtauri_demo_lib.so

src-tauri/gen/android/app/src/main/jniLibs/armeabi-v7a/libtauri_demo_lib.so

@@ -0,0 +1 @@
+/home/lenn/Workspace/JE-Skin/src-tauri/target/armv7-linux-androideabi/release/libtauri_demo_lib.so

src-tauri/gen/android/app/src/main/jniLibs/x86/libtauri_demo_lib.so

@@ -0,0 +1 @@
+/home/lenn/Workspace/JE-Skin/src-tauri/target/i686-linux-android/release/libtauri_demo_lib.so

src-tauri/gen/android/app/src/main/jniLibs/x86_64/libtauri_demo_lib.so

@@ -0,0 +1 @@
+/home/lenn/Workspace/JE-Skin/src-tauri/target/x86_64-linux-android/release/libtauri_demo_lib.so

src-tauri/gen/android/app/tauri.build.gradle.kts

@@ -0,0 +1,6 @@
+// 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"))
+}

src-tauri/gen/android/app/tauri.properties

@@ -0,0 +1,3 @@
+// THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
+tauri.android.versionName=0.4.0
+tauri.android.versionCode=4000

src-tauri/gen/android/tauri.settings.gradle

@@ -0,0 +1,5 @@
+// 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")

src-tauri/proto/sensor_stream.proto

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

src-tauri/src/ad_solver.rs

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

src-tauri/src/commands/serial.rs

@@ -1,18 +1,27 @@
+use crate::serial_core::codecs::tactile_a::{
+    export_recording_csv, TactileACodec, TactileACsvImporter, TactileAHandler,
+};
 use crate::serial_core::error::SerialError;
-use crate::serial_core::record::{self, FingerRecording};
-use crate::serial_core::serial;
-use eskin_finger_sdk::device::EskinDevice;
+use crate::serial_core::record::CsvImporter;
+use crate::serial_core::serial::{PollMode, TactileAPollRequester};
+use crate::serial_core::{serial, TactileARecording};
 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::{SystemTime, UNIX_EPOCH};
+use std::time::{Duration, Instant, SystemTime, UNIX_EPOCH};
 use tauri::{async_runtime::JoinHandle, AppHandle, Manager, State};
-use tokio_serial::available_ports;
+use tokio_serial::{available_ports, SerialPortBuilderExt};
 use tokio_util::sync::CancellationToken;
 
-type SharedRecording = Arc<Mutex<FingerRecording>>;
+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>>;
 
 #[derive(Serialize)]
 #[serde(rename_all = "camelCase")]
@@ -58,18 +67,18 @@ struct SerialSession {
     port: String,
     cancel: CancellationToken,
     task: JoinHandle<()>,
-    current_record: SharedRecording,
+    current_record: SharedTactileRecording,
 }
 
 #[derive(Default)]
 pub struct SerialConnectionState {
     session: Mutex<Option<SerialSession>>,
-    last_record: Mutex<Option<SharedRecording>>,
+    last_record: Mutex<Option<SharedTactileRecording>>,
 }
 
 pub async fn shutdown_active_session(
     state: &SerialConnectionState,
-) -> Result<Option<(String, SharedRecording)>, SerialError> {
+) -> Result<Option<(String, SharedTactileRecording)>, SerialError> {
     let session = {
         let mut guard = state.session.lock().map_err(|_| SerialError::StateError)?;
         guard.take()
@@ -139,41 +148,62 @@ pub async fn serial_connect(
     }
 
     let cancel = CancellationToken::new();
-    let current_record = Arc::new(Mutex::new(FingerRecording::new()));
+    let current_record = Arc::new(Mutex::new(TactileARecording::new()));
     let task_record = current_record.clone();
     let task_cancel = cancel.clone();
     let task_app = app.clone();
     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 {
-        // 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;
-            }
-        };
+        let codec = TactileACodec::new(DEFAULT_TACTILE_COLS, DEFAULT_TACTILE_ROWS);
+        let handler = TactileAHandler;
+        let poll_mode = PollMode::Enabled(Box::new(TactileAPollRequester::new(
+            Duration::from_millis(DEFAULT_TACTILE_POLL_INTERVAL_MS),
+            DEFAULT_TACTILE_COLS,
+            DEFAULT_TACTILE_ROWS,
+            Duration::from_millis(DEFAULT_TACTILE_REPLY_TIMEOUT_MS),
+        )));
 
-        let mut device = session.device;
-
-        // Run stream with recording
-        if let Err(error) = serial::run_stream_with_record(
+        if let Err(error) = serial::run_serial_with_poll(
             task_app.clone(),
-            &mut device,
-            task_cancel,
+            port,
+            codec,
+            handler,
+            session_started_at,
             task_record.clone(),
+            task_cancel,
+            poll_mode,
         )
         .await
         {
             eprintln!("serial task exited with error: {error}");
         }
 
-        // Close device
-        let _ = device.close();
+        let manager = task_app.state::<SerialConnectionState>();
+        if let Ok(mut last_record) = manager.last_record.lock() {
+            *last_record = Some(task_record);
+        }
 
-        cleanup_session(&task_app, &task_port_name, task_record).await;
+        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();
+            }
+        }
     });
 
     let mut session = state.session.lock().map_err(|_| SerialError::StateError)?;
@@ -197,31 +227,6 @@ 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>,
@@ -288,8 +293,8 @@ pub fn serial_export_csv_to_path(
     state: State<'_, SerialConnectionState>,
 ) -> Result<SerialExportResponse, SerialError> {
     let output_path = resolve_export_path(file_path)?;
-    let rec = resolve_record_for_export(&state)?;
-    let frame_count = write_record_to_csv(rec, &output_path)?;
+    let record = resolve_record_for_export(&state)?;
+    let frame_count = write_record_to_csv(record, &output_path)?;
     let path = output_path.display().to_string();
 
     info!("csv exported to {path}, frame_count={frame_count}");
@@ -306,20 +311,22 @@ pub fn serial_import_csv(
     file_name: String,
     csv_content: String,
 ) -> Result<SerialImportResponse, SerialError> {
-    let packets = record::import_csv(Cursor::new(csv_content.into_bytes()))
+    let mut importer = TactileACsvImporter::new(file_name.as_str());
+    let packets = importer
+        .load(Cursor::new(csv_content.into_bytes()))
         .map_err(|_| SerialError::ImportError)?;
 
     if packets.is_empty() {
         return Err(SerialError::NoRecordedData);
     }
 
-    let channel_count = 1; // fz is a single value per sample
+    let channel_count = packets.first().map(|item| item.data.len()).unwrap_or(0);
     let frame_count = packets.len();
     let frames = packets
         .into_iter()
         .map(|packet| SerialImportFrame {
-            data: vec![packet.fz as i32],
-            dts_ms: packet.timestamp_us / 1000,
+            data: packet.data,
+            dts_ms: packet.dts_ms,
         })
         .collect();
 
@@ -348,7 +355,7 @@ pub fn serial_import_csv_from_path(file_path: String) -> Result<SerialImportResp
 
 fn resolve_record_for_export(
     state: &State<'_, SerialConnectionState>,
-) -> Result<SharedRecording, SerialError> {
+) -> Result<SharedTactileRecording, SerialError> {
     let current_record = {
         let session = state.session.lock().map_err(|_| SerialError::StateError)?;
         session
@@ -399,7 +406,7 @@ fn snapshot_record_frame_count(
 }
 
 fn write_record_to_csv(
-    record: SharedRecording,
+    record: SharedTactileRecording,
     output_path: &Path,
 ) -> Result<usize, SerialError> {
     if let Some(parent) = output_path.parent() {
@@ -408,14 +415,14 @@ fn write_record_to_csv(
         }
     }
 
-    let file = std::fs::File::create(output_path).map_err(|_| SerialError::ExportError)?;
+    let mut file = 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);
         }
 
-        record::export_recording_csv(&recording, file).map_err(|_| SerialError::ExportError)?;
+        export_recording_csv(&recording, &mut file).map_err(|_| SerialError::ExportError)?;
         recording.frames.len()
     };
 
@@ -461,4 +468,4 @@ fn resolve_absolute_path(raw_path: &str) -> std::io::Result<PathBuf> {
     } else {
         Ok(std::env::current_dir()?.join(path))
     }
-}
+}

src-tauri/src/devkit/client.rs

@@ -278,10 +278,16 @@ async fn run_grpc_upload(
                 angle: message.angle,
             };
             ::log::debug!(
-                "python pzt angle: seq={} dts_ms={} angle={:.2}",
-                message.seq,
-                message.dts_ms,
-                message.angle
+                "devkit: angle={:.2}, magnitude={:.4}, state={}, cop_x={:.4}, cop_y={:.4}, base_x={:.4}, base_y={:.4}, total_press={:.2}, thresh={:.2}",
+                message.angle,
+                message.magnitude,
+                message.state,
+                message.cop_x,
+                message.cop_y,
+                message.base_x,
+                message.base_y,
+                message.total_press,
+                message.threshold
             );
             app.emit("devkit_pzt_angle", payload)?;
         } else {

src-tauri/src/lib.rs

@@ -1,3 +1,4 @@
+pub mod ad_solver;
 mod commands;
 mod lan_game;
 pub mod log;

src-tauri/src/serial_core/codec.rs

@@ -0,0 +1,6 @@
+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>;
+}

src-tauri/src/serial_core/codecs/mod.rs

@@ -0,0 +1,5 @@
+use crate::serial_core::{frame::TestFrame, record::Recording};
+
+pub mod test;
+pub mod tactile_a;
+pub type TestRecording = Recording<TestFrame>;

src-tauri/src/serial_core/codecs/tactile_a.rs

@@ -0,0 +1,383 @@
+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)
+}

src-tauri/src/serial_core/codecs/test.rs

@@ -0,0 +1,256 @@
+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(())
+    }
+}

src-tauri/src/serial_core/frame.rs

@@ -0,0 +1,57 @@
+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>>>;
+}
+

src-tauri/src/serial_core/mod.rs

@@ -1,4 +1,34 @@
+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 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(),
+    })
+}

src-tauri/src/serial_core/model.rs

@@ -1,6 +1,8 @@
+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);
 
@@ -11,6 +13,7 @@ pub struct HudPacket {
     pub panels: Vec<HudSignalPanel>,
     pub summary: HudSummary,
     pub pressure_matrix: Option<Vec<f32>>,
+    pub spatial_force: Option<HudSpatialForce>,
 }
 
 #[derive(serde::Serialize, Clone)]
@@ -72,12 +75,17 @@ pub struct HudSignalIcon {
     pub tone: HudTone,
 }
 
-pub struct HudChartState {
-    panels: HashMap<String, PanelEntry>,
-    order: Vec<String>,
-    summary_points: Vec<f32>,
-    pressure_matrix: Option<Vec<f32>>,
-    last_frame_seen: Option<Instant>,
+#[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 {
@@ -85,6 +93,15 @@ struct PanelEntry {
     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>,
+}
+
 impl HudChartState {
     pub fn new() -> Self {
         Self {
@@ -92,27 +109,93 @@ 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: &[f32]) {
+    pub fn record_pressure_matrix(&mut self, values: &[i32]) {
         if values.is_empty() {
             return;
         }
-        self.pressure_matrix = Some(values.to_vec());
+
+        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()
     }
 
     pub fn prune_stale(&mut self) -> Option<HudPacket> {
-        let now = Instant::now();
         let before = self.panels.len();
-        let summary_before = self.summary_points.len();
+        let summary_points_before = self.summary_points.len();
+        let had_pressure_matrix = self.pressure_matrix.is_some();
+        let had_spatial_force = self.spatial_force.is_some();
+        self.prune_stale_at(Instant::now());
 
+        if before == self.panels.len()
+            && summary_points_before == self.summary_points.len()
+            && 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));
@@ -125,18 +208,9 @@ 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 {
@@ -153,6 +227,7 @@ impl HudChartState {
             panels,
             summary: build_summary(&self.summary_points),
             pressure_matrix: self.pressure_matrix.clone(),
+            spatial_force: self.spatial_force.clone(),
         }
     }
 
@@ -171,6 +246,106 @@ 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
@@ -179,6 +354,91 @@ 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);
@@ -202,4 +462,62 @@ fn now_millis() -> u64 {
         .duration_since(UNIX_EPOCH)
         .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);
+//     }
+// }

src-tauri/src/serial_core/multi_dim_force.rs

@@ -0,0 +1,527 @@
+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);
+    }
+}

src-tauri/src/serial_core/record.rs

@@ -1,5 +1,3 @@
-use eskin_finger_sdk::types::FingerSample;
-
 #[derive(Clone)]
 pub struct FrameTiming {
     pub pts_ms: Option<u64>,
@@ -9,82 +7,50 @@ 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, item: RecordedFrame<F>) {
-        self.frames.push(item);
+    pub fn new() -> Recording<F> { Self { frames: Vec::new() } }
+    pub fn push(&mut self, ite: RecordedFrame<F>) {
+        self.frames.push(ite);
     }
 }
 
-pub type FingerRecording = Recording<FingerSample>;
+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 fn export_recording_csv<W>(
-    recording: &Recording<FingerSample>,
-    mut writer: W,
+// 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,
 ) -> anyhow::Result<()>
 where
+    E: CsvExporter<F>,
     W: std::io::Write,
 {
-    // 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(),
-        ])?;
+    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)?;
     }
 
     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)
-}

src-tauri/src/serial_core/serial.rs

@@ -1,160 +1,453 @@
-use crate::serial_core::model::HudChartState;
+#[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::record::Recording;
-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 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 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);
 
-use super::model::HudPacket;
-
-pub struct SdkSession {
-    pub device: EskinDeviceInner,
+pub enum PollMode<F> {
+    Disable,
+    Enabled(Box<dyn PollRequester<F>>),
 }
 
-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());
+struct PendingSubFrame<F> {
+    frame: F,
+    values: Vec<i32>,
+    spatial_force: Option<HudSpatialForce>,
+}
+
+pub trait SerialFrame: Clone + Send + 'static {
+    fn dts_ms(&self) -> u64;
+
+    fn to_hud_packet(
+        &self,
+        chart_state: &mut HudChartState,
+        display_values: Option<&[i32]>,
+    ) -> Option<HudPacket>;
+}
+
+impl SerialFrame for TestFrame {
+    fn dts_ms(&self) -> u64 {
+        self.dts_ms
     }
 
-    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())?;
-
-    Ok(SdkSession { device })
+    fn to_hud_packet(
+        &self,
+        chart_state: &mut HudChartState,
+        display_values: Option<&[i32]>,
+    ) -> Option<HudPacket> {
+        Some(chart_state.apply_frame(self, display_values))
+    }
 }
 
-pub async fn run_stream(
+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>(
     app: AppHandle,
-    device: &mut EskinDeviceInner,
+    port: SerialStream,
+    codec: C,
+    handler: H,
+    session_started_at: Instant,
+    recording: Arc<Mutex<Recording<F>>>,
     cancel: CancellationToken,
-) -> Result<(), String> {
-    device
-        .start_stream()
-        .map_err(|e| format!("start_stream failed: {e}"))?;
+) -> 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
+}
 
-    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)) => {}
-        }
-
-        // 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);
-        }
+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 _ = device.stop_stream();
-    result
-}
+    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);
 
-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 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);
 
-    let result = loop {
+    loop {
         tokio::select! {
-            _ = cancel.cancelled() => {
-                break Ok(());
+            _ = cancel.cancelled() => break,
+            _ = async {
+                match poll_interval.as_mut() {
+                    Some(it) => {
+                        it.tick().await;
+                    }
+                    None => pending::<()>().await,
+                }
+            } => {
+                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?;
+                        }
+                    }
+                }
             }
-            _ = tokio::time::sleep(tokio::time::Duration::from_millis(1)) => {}
-        }
+            _ = 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())
+                    {
+                        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>>());
 
-        match channels.recv_sample(5) {
-            Ok(sample) => {
-                // Record
-                {
                     let mut record = recording
                         .lock()
-                        .map_err(|_| "recording state poisoned".to_string())?;
-                    record.push(crate::serial_core::record::RecordedFrame {
-                        timing: crate::serial_core::record::FrameTiming {
+                        .map_err(|_| anyhow::anyhow!("recording state poisoned"))?;
+                    record.push(RecordedFrame {
+                        timing: FrameTiming {
                             pts_ms: None,
-                            dts_ms: sample.timestamp_us / 1000,
+                            dts_ms: frame.dts_ms(),
                         },
-                        frame: sample.clone(),
+                        frame: frame.clone(),
                     });
-                }
+                    drop(record);
 
-                if let Some(packet) = build_hud_packet_from_sample(&sample, &mut chart_state) {
-                    let _ = app.emit("hud_stream", packet);
+                    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,
+                                    });
+                                }
+                            }
+                        }
+                        #[cfg(feature = "devkit")]
+                        {
+                            let summary = vals.iter().copied().sum::<i32>();
+                            let force = raw_to_g1(summary as u32);
+                            
+                            push_devkit_frame(&app, vals.as_slice(), frame.dts_ms(), force);
+                        }
+
+                        pending_sub_frame = Some(PendingSubFrame {
+                            frame: frame.clone(),
+                            values: vals,
+                            spatial_force,
+                        });
+                    } else if let Some(packet) = frame.to_hud_packet(&mut chart_state, None) {
+                        app.emit("hud_stream", packet)?;
+                    }
                 }
             }
-            Err(eskin_finger_sdk::error::SdkError::Timeout) => {}
-            Err(e) => {
-                break Err(format!("sample recv error: {e}"));
-            }
-        }
-
-        if let Err(e) = drain_events(&channels) {
-            break Err(e);
-        }
-    };
-
-    let _ = device.stop_stream();
-    result
-}
-
-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(()),
         }
     }
+    Ok(())
 }
 
-fn build_hud_packet_from_sample(
-    sample: &FingerSample,
+fn build_display_values(
     chart_state: &mut HudChartState,
-) -> 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);
-    }
-    Some(chart_state.build_snapshot())
+    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])
+}
+
+#[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
 }

src-tauri/src/serial_core/utils.rs

@@ -0,0 +1,59 @@
+
+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(())
+    }
+}

src/lib/components/CenterStage.svelte

@@ -6,17 +6,21 @@
   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
+    PressureColorMapPreset,
+    StageViewMode
   } from "$lib/types/hud";
 
   export let locale: LocaleCode = "zh-CN";
@@ -24,6 +28,8 @@
   export let rightPanels: HudSignalPanel[] = [];
   export let summary: HudSummary;
   export let pressureMatrix: number[] | null = null;
+  export let spatialForce: HudSpatialForce | null = null;
+  export let devkitSpatialForce: HudSpatialForce | null = null;
   export let showConfigPanel = false;
   export let configPanelTitle = "";
   export let configPanelHint = "";
@@ -41,6 +47,8 @@
   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 = "";
@@ -84,6 +92,7 @@
   $: 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);
@@ -176,7 +185,13 @@
       bind:this={stagePlaneEl}
       style="--panel-zone-top-dyn: {panelZoneTopPx}px; --rail-scale-left: {leftRailScale}; --rail-scale-right: {rightRailScale};"
     >
-      {#if showPrecisionTestPanel}
+      {#if isModelStage}
+        <div class="canvas-wrap">
+          {#key modelUrl}
+            <ModelStage {locale} {modelUrl} />
+          {/key}
+        </div>
+      {:else if showPrecisionTestPanel}
         <div class="split-game-wrap">
           <section class="split-panel split-matrix-panel">
             <header class="split-panel-head">
@@ -232,7 +247,7 @@
         </div>
       {/if}
 
-      {#if showConfigPanel && !showPrecisionTestPanel}
+      {#if showConfigPanel && !showPrecisionTestPanel && !isModelStage}
         <div class="config-panel-wrap">
           <ConfigPanel
             bind:matrixRows
@@ -254,7 +269,7 @@
         </div>
       {/if}
 
-      {#if !showPrecisionTestPanel}
+      {#if !showPrecisionTestPanel && !isModelStage}
         <div class="panel-zone" bind:this={panelZoneEl}>
           <aside class="side-rail left-rail">
             <div class="rail-stack" bind:this={leftStackEl}>
@@ -303,6 +318,42 @@
                 </div>
               {/each}
 
+              <div
+                class="panel-motion-shell"
+                in:fly={{ x: 180, duration: 340, opacity: 0.08, easing: cubicOut }}
+                out:fly={{ x: 180, duration: 280, opacity: 0.06, easing: cubicIn }}
+              >
+                <SpatialForcePanel
+                  {spatialForce}
+                  {locale}
+                  side="right"
+                  panelIndex={rightPanels.length}
+                  panelCode="ALG"
+                  panelTitle={locale === "zh-CN" ? "本地切向力" : "Local Tangential"}
+                  badgeLabel={locale === "zh-CN" ? "算法" : "ALGO"}
+                />
+              </div>
+
+              <div
+                class="panel-motion-shell"
+                in:fly={{ x: 180, duration: 340, opacity: 0.08, easing: cubicOut }}
+                out:fly={{ x: 180, duration: 280, opacity: 0.06, easing: cubicIn }}
+              >
+                <SpatialForcePanel
+                  spatialForce={devkitSpatialForce}
+                  {locale}
+                  side="right"
+                  panelIndex={rightPanels.length + 1}
+                  panelCode="DKT"
+                  panelTitle={locale === "zh-CN" ? "DevKit 切向力" : "DevKit Tangential"}
+                  badgeLabel="DEVKIT"
+                  badgeTone="lime"
+                  showMetrics={false}
+                  requireMagnitude={false}
+                  compactMetaText={locale === "zh-CN" ? "等待 DevKit 角度流" : "Waiting for DevKit angle"}
+                />
+              </div>
+
               {#if summaryCurveVisible && summarySide === "right"}
                 <div
                   class="panel-motion-shell"
@@ -326,7 +377,7 @@
         </div>
       {/if}
 
-      {#if replayHasData && !showPrecisionTestPanel}
+      {#if replayHasData && !showPrecisionTestPanel && !isModelStage}
         <aside class="replay-floating-panel" class:is-left={replaySide === "left"} class:is-right={replaySide === "right"}>
           <div class="replay-panel-head">
             <div class="replay-panel-title-group">
@@ -364,7 +415,7 @@
         </aside>
       {/if}
 
-      {#if !showPrecisionTestPanel}
+      {#if !showPrecisionTestPanel && !isModelStage}
         <div class="stage-bottom-overlay">
           <slot />
         </div>

src/lib/components/HudPanel.svelte

@@ -6,6 +6,7 @@
     HudNoticeTone,
     LocaleCode,
     MatrixDisplayMode,
+    StageViewMode,
     WindowControlAction
   } from "$lib/types/hud";
 
@@ -34,6 +35,10 @@
   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 = "";
@@ -56,6 +61,7 @@
     localechange: LocaleCode;
     configlink: string;
     matrixdisplaytoggle: boolean;
+    stagemodechange: StageViewMode;
     portchange: string;
     serialrefresh: void;
     serialconnect: string;
@@ -105,6 +111,10 @@
     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);
@@ -217,6 +227,28 @@
         </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>
@@ -485,7 +517,8 @@
     background: var(--panel-surface);
   }
 
-  .matrix-switch-wrap {
+  .matrix-switch-wrap,
+  .stage-mode-switch {
     display: inline-flex;
     align-items: center;
     gap: 0.4rem;
@@ -496,7 +529,8 @@
     background: var(--panel-surface);
   }
 
-  .matrix-switch-label {
+  .matrix-switch-label,
+  .stage-mode-label {
     color: var(--panel-text-dim);
     font-size: 0.66rem;
     letter-spacing: 0.08em;
@@ -587,6 +621,45 @@
     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;
@@ -1216,4 +1289,4 @@
     }
 
   }
-</style>
+</style>

src/lib/components/ModelStage.svelte

@@ -0,0 +1,469 @@
+<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>

src/lib/components/SpatialForcePanel.svelte

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

src/lib/types/hud.ts

@@ -3,6 +3,7 @@ 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";
@@ -40,11 +41,18 @@ export interface HudSignalPanel {
   max: number | null;
 }
 
+export interface HudSpatialForce {
+  angleDeg: number;
+  magnitude: number;
+  confidence: number;
+}
+
 export interface HudPacket {
   ts: number;
   panels: HudSignalPanel[];
   summary: HudSummary;
   pressureMatrix: number[] | null;
+  spatialForce: HudSpatialForce | null;
 }
 
 export interface HudSummary {
@@ -86,6 +94,9 @@ export interface HudCopy {
   matrixViewLabel: string;
   matrixViewNumericLabel: string;
   matrixViewDotsLabel: string;
+  stageModeLabel: string;
+  stageModeWebglLabel: string;
+  stageModeModelLabel: string;
   resetConfigLabel: string;
   applyLiveHint: string;
   runtimeReady: string;

src/routes/+page.svelte

@@ -22,6 +22,7 @@
     HudConfigLink,
     HudNoticeTone,
     HudPacket,
+    HudSpatialForce,
     PressureColorMapPreset,
     HudSignalPanel,
     HudSignalSeries,
@@ -33,6 +34,7 @@
     SerialRecordStateResult,
     SerialImportResult,
     SignalTone,
+    StageViewMode,
     WindowControlAction
   } from "$lib/types/hud";
 
@@ -44,6 +46,13 @@
     dtsMs: number;
   }
 
+  interface DevKitPztAngleEvent {
+    seq: number;
+    timestampMs: number;
+    dtsMs: number;
+    angle: number;
+  }
+
   const copyByLocale: Record<LocaleCode, HudCopy> = {
     "zh-CN": {
       appName: "JE-Skin",
@@ -62,6 +71,9 @@
       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",
@@ -121,6 +133,9 @@
       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",
@@ -221,12 +236,15 @@
   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;
@@ -260,6 +278,7 @@
     rowsKept: number;
   } | null = null;
   let devkitStatusTimer: number | null = null;
+  let devkitSpatialForceClearTimer: number | null = null;
   let sessionStartedAt: number = Date.now();
 
   $: uiCopy = copyByLocale[locale];
@@ -287,6 +306,31 @@
     return typeof window !== "undefined" && "__TAURI_INTERNALS__" in window;
   }
 
+  function clearDevkitSpatialForce(): void {
+    devkitSpatialForce = null;
+    if (devkitSpatialForceClearTimer != null && typeof window !== "undefined") {
+      window.clearTimeout(devkitSpatialForceClearTimer);
+      devkitSpatialForceClearTimer = null;
+    }
+    hasSignalData = signalPanels.length > 0 || summary.points.length > 0 || spatialForce !== null;
+  }
+
+  function scheduleDevkitSpatialForceClear(): void {
+    if (typeof window === "undefined") {
+      return;
+    }
+
+    if (devkitSpatialForceClearTimer != null) {
+      window.clearTimeout(devkitSpatialForceClearTimer);
+    }
+
+    devkitSpatialForceClearTimer = window.setTimeout(() => {
+      devkitSpatialForce = null;
+      devkitSpatialForceClearTimer = null;
+      hasSignalData = signalPanels.length > 0 || summary.points.length > 0 || spatialForce !== null;
+    }, 420);
+  }
+
   function clamp(value: number, min: number, max: number): number {
     return Math.min(max, Math.max(min, value));
   }
@@ -709,6 +753,8 @@
 
   function resetReplayVisualState(): void {
     pressureMatrix = buildZeroMatrix();
+    spatialForce = null;
+    clearDevkitSpatialForce();
     signalPanels = buildInactivePanels();
     summary = buildEmptySummary();
     hasSignalData = false;
@@ -744,6 +790,8 @@
     replayHasDisplayedFrame = true;
     replayProgress = replayFrames.length > 1 ? safeIndex / (replayFrames.length - 1) : 1;
     pressureMatrix = frameValuesToMatrix(replayFrames[safeIndex].values);
+    spatialForce = null;
+    clearDevkitSpatialForce();
     signalPanels = buildInactivePanels();
     summary = buildReplaySummaryAt(safeIndex);
     hasSignalData = true;
@@ -998,7 +1046,12 @@
       summary = packet.summary;
     }
     pressureMatrix = packet.pressureMatrix;
-    hasSignalData = signalPanels.length > 0 || packet.summary.points.length > 0;
+    spatialForce = packet.spatialForce ?? null;
+    hasSignalData =
+      signalPanels.length > 0 ||
+      packet.summary.points.length > 0 ||
+      spatialForce !== null ||
+      devkitSpatialForce !== null;
   }
 
   function clearHudPanels(): void {
@@ -1006,17 +1059,19 @@
     signalPanels = buildInactivePanels();
     summary = buildEmptySummary();
     pressureMatrix = null;
+    spatialForce = null;
+    clearDevkitSpatialForce();
   }
 
   function startMockFeed(push: (packet: HudPacket) => void): () => void {
     let panels = buildInactivePanels();
     let summaryValue = buildSummary(createSummaryPoints(randomBetween(480, 1440)));
-    push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null });
+    push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null, spatialForce: null });
 
     const timerId = window.setInterval(() => {
       summaryValue = evolveSummary(summaryValue);
 
-      push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null });
+      push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null, spatialForce: null });
     }, signalRenderTickMs);
 
     return () => {
@@ -1644,6 +1699,7 @@
 
   function handleConfigLink(event: CustomEvent<string>): void {
     if (event.detail === "precision-test") {
+      stageViewMode = "webgl";
       isPrecisionTestOpen = !isPrecisionTestOpen;
       isConfigPanelOpen = false;
       isDevKitConfigOpen = false;
@@ -1651,6 +1707,7 @@
     }
 
     if (event.detail === "settings") {
+      stageViewMode = "webgl";
       isPrecisionTestOpen = false;
       isConfigPanelOpen = !isConfigPanelOpen;
       isDevKitConfigOpen = false;
@@ -1743,6 +1800,14 @@
     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;
@@ -1770,12 +1835,25 @@
         .catch((error) => {
           console.error("Failed to listen for hud_stream:", error);
         });
-      void listen<{ seq: number; timestampMs: number; dtsMs: number; angle: number }>(
-        "devkit_pzt_angle",
-        (event) => {
-          console.log("[devkit_pzt_angle]", event.payload);
+      void listen<DevKitPztAngleEvent>("devkit_pzt_angle", (event) => {
+        const angleDeg = Number(event.payload.angle);
+        if (!Number.isFinite(angleDeg)) {
+          clearDevkitSpatialForce();
+          return;
         }
-      )
+
+        devkitSpatialForce = {
+          angleDeg,
+          magnitude: 0,
+          confidence: 0
+        };
+        scheduleDevkitSpatialForceClear();
+        hasSignalData =
+          signalPanels.length > 0 ||
+          summary.points.length > 0 ||
+          spatialForce !== null ||
+          devkitSpatialForce !== null;
+      })
         .then((unlisten) => {
           if (disposed) {
             unlisten();
@@ -1794,6 +1872,7 @@
     return () => {
       disposed = true;
       pauseReplayPlayback();
+      clearDevkitSpatialForce();
       stopMockFeed?.();
       unlistenHudStream?.();
       unlistenDevkitPztAngle?.();
@@ -1838,6 +1917,10 @@
       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}
@@ -1860,6 +1943,7 @@
       on:portchange={handlePortChange}
       on:configlink={handleConfigLink}
       on:matrixdisplaytoggle={handleMatrixDisplayToggle}
+      on:stagemodechange={handleStageModeChange}
       on:serialrefresh={handleSerialRefresh}
       on:serialconnect={handleSerialConnect}
       on:serialexport={handleSerialExportRequest}
@@ -1880,6 +1964,7 @@
       bind:rangeMax
       bind:colorMapPreset
       bind:matrixDisplayMode
+      {stageViewMode}
       configPanelTitle={uiCopy.configPanelTitle}
       configPanelHint={uiCopy.configPanelHint}
       matrixSizeLabel={uiCopy.matrixSizeLabel}
@@ -1906,6 +1991,8 @@
       leftPanels={leftSignalPanels}
       rightPanels={rightSignalPanels}
       {pressureMatrix}
+      {spatialForce}
+      {devkitSpatialForce}
       showConfigPanel={isConfigPanelOpen}
       showPrecisionTestPanel={isPrecisionTestOpen}
       {summary}
@@ -1916,7 +2003,7 @@
       on:replayclose={handleReplayClose}
       on:configclose={() => (isConfigPanelOpen = false)}
     >
-      {#if !isPrecisionTestOpen}
+      {#if !isPrecisionTestOpen && stageViewMode === "webgl"}
         <section class="range-scale" aria-label="Signal Range">
           <p class="range-label">{locale === "zh-CN" ? "范围" : "Range"}</p>
           <div class="range-track">

static/models/README.md

@@ -0,0 +1,14 @@
+# 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
+```