fix: correct 3D fingertip sampling and PCB mapping

.openclaw/settings.json

@@ -1,35 +0,0 @@
-{
-  "hooks": {
-    "pre-exec": [
-      {
-        "matcher": "",
-        "command": "scale gate pre-tool Bash --args-json \"$ARGS\" --session-id \"$SESSION_ID\""
-      },
-      {
-        "matcher": "edit|write",
-        "command": "scale gate pre-tool Edit --args-json \"$ARGS\" --session-id \"$SESSION_ID\""
-      }
-    ],
-    "post-exec": [
-      {
-        "matcher": "edit|write",
-        "command": "scale gate post-tool Edit --args-json \"$ARGS\" --exit-code \"$EXIT_CODE\" --session-id \"$SESSION_ID\""
-      },
-      {
-        "matcher": "",
-        "command": "scale gate post-tool Bash --args-json \"$ARGS\" --exit-code \"$EXIT_CODE\" --session-id \"$SESSION_ID\""
-      }
-    ],
-    "before-stop": [
-      {
-        "matcher": "",
-        "command": "scale gate before-stop --session-id \"$SESSION_ID\""
-      }
-    ]
-  },
-  "permissions": {
-    "allow": [
-      "scale:*"
-    ]
-  }
-}

Cargo.lock

@@ -1304,7 +1304,7 @@ checksum = "dea2df4cf52843e0452895c455a1a2cfbb842a1e7329671acf418fdc53ed4c59"
 
 [[package]]
 name = "eskin-model-player"
-version = "0.5.0"
+version = "5.0.0"
 dependencies = [
  "anyhow",
  "bytemuck",

Cargo.toml

@@ -1,9 +1,14 @@
 [package]
 name = "eskin-model-player"
-version = "0.5.0"
+version = "5.0.0"
 edition = "2024"
+authors = ["JOYSONQUIN"]
+description = "Desktop pressure sensor visualization and playback application."
 build = "build.rs"
 
+[package.metadata.wix]
+eula = false
+
 [dependencies]
 eframe = { version = "0.34.2", features = ["default", "wgpu", "__screenshot"] }
 env_logger = { version = "0.11.10", features = ["auto-color", "humantime"] }
@@ -22,3 +27,8 @@ gltf = "1.4.1"
 [build-dependencies]
 anyhow = "1.0.102"
 fs_extra = "1.3.0"
+
+
+[[bin]]
+name = "ESkinPlayer"
+path = "src/main.rs"

src/app.rs

@@ -1,34 +1,35 @@
 use crate::breakout::{BreakoutGame, control_from_matrix};
 use crate::connection::ConnectionManager;
+use crate::force::{ForceEstimatorState, HudSpatialForce};
 use crate::recording::Recorder;
 use crate::render::{ActiveMode, FingerMode, HandGatewayMode};
-use crate::style::{ONE_DARK_PRO, apply_fonts, apply_theme, layout};
+use crate::style::{self, ONE_DARK_PRO, apply_fonts, apply_theme, dim_text, layout};
 use crate::ui::SerialMode;
 use crate::{
-    matrix::{MATRIX_COLS, MATRIX_ROWS},
+    matrix::{MATRIX_COLS, MATRIX_ROWS, UNFOLDED_SENSOR_SEGMENT_COUNTS},
     render::{
-        BackgroundRenderResources, PRESSURE_CELL_COUNT, PressureFrame, WgpuBackgroundCallback,
+        BackgroundRenderResources, PRESSURE_CELL_COUNT, PressureFrame, PressureSamples,
+        WgpuBackgroundCallback,
     },
     ui::{
         ConfigPanelState, ConnectPanelState, FloatingPanelState, MatrixConfigState,
-        draw_config_panel, draw_export_panel, draw_matrix_config_panel, draw_stats_panel,
+        draw_config_panel, draw_export_panel, draw_hand_force_panels, draw_stats_panel,
         panel_restore_item,
     },
 };
 use eframe::{egui, egui_wgpu};
 use std::sync::Arc;
 
-const DATA_LOG_EVERY_FRAMES: u64 = 30;
 const SUMMARY_POINTS_PER_SERIES: usize = 42;
-const MIN_DISPLAY_FORCE_N: f32 = 0.1;
+const HAND_FORCE_PANEL_COUNT: usize = UNFOLDED_SENSOR_SEGMENT_COUNTS.len();
-const MAX_DISPLAY_FORCE_N: f32 = 25.6;
+const HAND_FORCE_SEGMENT_COUNTS: [usize; HAND_FORCE_PANEL_COUNT] = UNFOLDED_SENSOR_SEGMENT_COUNTS;
 
 pub struct EskinDesktopApp {
     connect_panel: FloatingPanelState,
     connect_state: ConnectPanelState,
     connection: Arc<ConnectionManager>,
     pressure_matrix: PressureFrame,
-    data_log_frame: u64,
+    hand_pressure: PressureSamples,
     scene_panel: FloatingPanelState,
     config_panel: FloatingPanelState,
     config_state: ConfigPanelState,
@@ -40,6 +41,9 @@ pub struct EskinDesktopApp {
     matrix_config_panel: FloatingPanelState,
     matrix_config: MatrixConfigState,
     signal_history: Vec<f32>,
+    hand_signal_histories: [Vec<f32>; HAND_FORCE_PANEL_COUNT],
+    force_estimator: ForceEstimatorState,
+    latest_spatial_force: Option<HudSpatialForce>,
     latest_raw_matrix: Vec<u32>,
     latest_matrix_rows: u32,
     latest_matrix_cols: u32,
@@ -77,7 +81,7 @@ impl EskinDesktopApp {
             connect_state: ConnectPanelState::default(),
             connection: Arc::new(ConnectionManager::new()),
             pressure_matrix: [[0.0, 0.0]; PRESSURE_CELL_COUNT],
-            data_log_frame: 0,
+            hand_pressure: Vec::new(),
             scene_panel: FloatingPanelState::new(
                 [layout::LEFT_X, layout::TOP_Y],
                 [layout::LEFT_TAG_X, layout::TOP_Y],
@@ -103,6 +107,9 @@ impl EskinDesktopApp {
             ),
             matrix_config: MatrixConfigState::default(),
             signal_history: Vec::with_capacity(128),
+            hand_signal_histories: std::array::from_fn(|_| Vec::with_capacity(128)),
+            force_estimator: ForceEstimatorState::new(),
+            latest_spatial_force: None,
             latest_raw_matrix: Vec::new(),
             latest_matrix_rows: MATRIX_ROWS,
             latest_matrix_cols: MATRIX_COLS,
@@ -129,9 +136,40 @@ impl EskinDesktopApp {
                 width,
                 height,
                 pressure: self.pressure_matrix,
+                hand_pressure: self.hand_pressure.clone(),
                 active_mode: self.active_mode.clone(),
             },
         ));
+        self.paint_spatial_force_overlay(ui, rect);
+    }
+
+    fn paint_spatial_force_overlay(&self, ui: &egui::Ui, rect: egui::Rect) {
+        let Some(force) = self.latest_spatial_force else {
+            return;
+        };
+
+        let painter = ui.painter();
+        let center = rect.center();
+        let magnitude = force.magnitude.clamp(0.0, 1.8);
+        let length = 34.0 + magnitude * 54.0;
+        let angle = force.angle_deg.to_radians();
+        let direction = egui::vec2(angle.cos(), angle.sin());
+        let end = center + direction * length;
+        let side = egui::vec2(-direction.y, direction.x);
+        let color = egui::Color32::from_rgb(255, 196, 54);
+        let glow = egui::Color32::from_rgba_unmultiplied(255, 196, 54, 58);
+
+        painter.line_segment([center, end], egui::Stroke::new(9.0_f32, glow));
+        painter.line_segment([center, end], egui::Stroke::new(2.4_f32, color));
+        painter.line_segment(
+            [end, end - direction * 14.0 + side * 7.0],
+            egui::Stroke::new(2.4_f32, color),
+        );
+        painter.line_segment(
+            [end, end - direction * 14.0 - side * 7.0],
+            egui::Stroke::new(2.4_f32, color),
+        );
+        painter.circle_filled(center, 4.2, color);
     }
 
     fn draw_workspace(&mut self, ui: &mut egui::Ui) {
@@ -180,41 +218,38 @@ impl EskinDesktopApp {
 
     fn update_pressure_matrix(&mut self) {
         if let Some(sample) = self.connection.take_latest_sample() {
+            if self.config_state.mode == SerialMode::Finger3D {
+                eprintln!(
+                    "[3d-rawdata] rows={} cols={} values={:?}",
+                    sample.rows, sample.cols, sample.matrix
+                );
+            }
             normalize_pressure_sample(
                 &sample.matrix,
                 sample.rows,
                 sample.cols,
                 &mut self.pressure_matrix,
             );
+            self.hand_pressure = normalize_pressure_samples(&sample.matrix);
             self.latest_raw_matrix.clear();
             self.latest_raw_matrix.extend_from_slice(&sample.matrix);
             self.latest_matrix_rows = sample.rows;
             self.latest_matrix_cols = sample.cols;
 
-            // Feed data to recorder
+            self.latest_spatial_force = self.force_estimator.analyze(&sample.matrix);
-            self.recorder.add_frame(&sample.matrix);
 
-            // JE-Skin summary logic: sum all cells first, then convert raw summary to force.
+            // Keep JE-Skin's summary path separate from the optional spatial-force vector.
             let raw_total = sample
                 .matrix
                 .iter()
                 .fold(0_u64, |sum, value| sum + *value as u64)
                 .min(u32::MAX as u64) as u32;
-            let force = raw_to_g1(raw_total).min(MAX_DISPLAY_FORCE_N);
+            let force = raw_to_g1(raw_total).min(25.6);
-            let force = if force <= MIN_DISPLAY_FORCE_N {
+            let force = if force <= 0.1 { 0.0 } else { force };
-                0.0
-            } else {
-                force
-            };
             self.signal_history.push(force);
             if self.signal_history.len() > SUMMARY_POINTS_PER_SERIES {
                 self.signal_history.remove(0);
             }
-
-            self.data_log_frame += 1;
-            if self.data_log_frame % DATA_LOG_EVERY_FRAMES == 0 {
-                log_pressure_sample(&sample.matrix, sample.rows, sample.cols);
-            }
         }
     }
 
@@ -232,7 +267,7 @@ impl EskinDesktopApp {
         );
         ui.painter().line_segment(
             [title_bar_rect.left_bottom(), title_bar_rect.right_bottom()],
-            egui::Stroke::new(1.0, ONE_DARK_PRO.border),
+            egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border),
         );
 
         // Drag-to-move: double-click to maximize, drag to move
@@ -273,14 +308,14 @@ impl EskinDesktopApp {
                     btn_close_center + egui::vec2(-3.0, -3.0),
                     btn_close_center + egui::vec2(3.0, 3.0),
                 ],
-                egui::Stroke::new(1.5, egui::Color32::from_rgb(80, 0, 0)),
+                egui::Stroke::new(1.5_f32, egui::Color32::from_rgb(80, 0, 0)),
             );
             ui.painter().line_segment(
                 [
                     btn_close_center + egui::vec2(3.0, -3.0),
                     btn_close_center + egui::vec2(-3.0, 3.0),
                 ],
-                egui::Stroke::new(1.5, egui::Color32::from_rgb(80, 0, 0)),
+                egui::Stroke::new(1.5_f32, egui::Color32::from_rgb(80, 0, 0)),
             );
         }
         if close_resp.clicked() {
@@ -299,7 +334,7 @@ impl EskinDesktopApp {
                     btn_min_center + egui::vec2(-3.0, 0.0),
                     btn_min_center + egui::vec2(3.0, 0.0),
                 ],
-                egui::Stroke::new(1.5, egui::Color32::from_rgb(120, 80, 0)),
+                egui::Stroke::new(1.5_f32, egui::Color32::from_rgb(120, 80, 0)),
             );
         }
         if min_resp.clicked() {
@@ -318,7 +353,7 @@ impl EskinDesktopApp {
             ui.painter().rect_stroke(
                 egui::Rect::from_center_size(btn_max_center, egui::vec2(s * 2.0, s * 2.0)),
                 egui::CornerRadius::same(1),
-                egui::Stroke::new(1.5, egui::Color32::from_rgb(0, 80, 10)),
+                egui::Stroke::new(1.5_f32, egui::Color32::from_rgb(0, 80, 10)),
                 egui::StrokeKind::Outside,
             );
         }
@@ -329,24 +364,58 @@ impl EskinDesktopApp {
         }
     }
 
-    fn draw_floating_panels(&mut self, ctx: &egui::Context) {
+    fn draw_floating_panels(
+        &mut self,
+        ctx: &egui::Context,
+        stats: crate::serial_core::serial::SerialIoStats,
+    ) {
         // draw_scene_panel(ctx, &mut self.scene_panel);
+        // if self.config_state.mode == SerialMode::Hand && self.stats_panel.visible {
+        //     self.config_panel.visible = false;
+        //     self.export_panel.visible = false;
+        //     self.matrix_config_panel.visible = false;
+        // }
+
         if let Some(next_mode) = draw_config_panel(
             ctx,
             &mut self.config_panel,
             &mut self.config_state,
             &self.connection,
+            &self.recorder,
+            stats,
+            100.0,
+            100.0,
         ) {
             self.switch_mode(next_mode);
         }
-        draw_stats_panel(ctx, &mut self.stats_panel, &self.signal_history);
+        match self.config_state.mode {
+            SerialMode::Finger => {
+                draw_stats_panel(
+                    ctx,
+                    &mut self.stats_panel,
+                    &self.signal_history,
+                    self.latest_spatial_force,
+                );
+            }
+            SerialMode::Finger3D => {
+                draw_stats_panel(
+                    ctx,
+                    &mut self.stats_panel,
+                    &self.signal_history,
+                    self.latest_spatial_force,
+                );
+            }
+            SerialMode::Hand => {
+                draw_hand_force_panels(ctx, self.stats_panel.visible, &self.hand_signal_histories);
+            }
+        }
         draw_export_panel(
             ctx,
             &mut self.export_panel,
             &self.recorder,
             &mut self.export_path,
         );
-        draw_matrix_config_panel(ctx, &mut self.matrix_config_panel, &mut self.matrix_config);
+        // draw_matrix_config_panel(ctx, &mut self.matrix_config_panel, &mut self.matrix_config);
     }
 
     fn draw_panel_context_menu(&mut self, ctx: &egui::Context) {
@@ -382,15 +451,40 @@ impl EskinDesktopApp {
                     panel_restore_item(ui, "配置", &mut self.config_panel);
                     panel_restore_item(ui, "录制", &mut self.export_panel);
                     panel_restore_item(ui, "矩阵", &mut self.matrix_config_panel);
+                    if self.stats_panel.visible {
+                        if ui
+                            .add_sized(
+                                egui::vec2(ui.available_width(), 0.0),
+                                egui::Button::new("隐藏 统计"),
+                            )
+                            .clicked()
+                        {
+                            self.stats_panel.visible = false;
+                            close_menu = true;
+                        }
+                    } else {
                         panel_restore_item(ui, "统计", &mut self.stats_panel);
-                    if ui.button("打砖块").clicked() {
+                    }
+                    if ui
+                        .add_sized(
+                            egui::vec2(ui.available_width(), 0.0),
+                            egui::Button::new("打砖块"),
+                        )
+                        .clicked()
+                    {
                         self.breakout_visible = true;
                         close_menu = true;
                     }
 
                     ui.separator();
 
-                    if ui.button("全部显示").clicked() {
+                    if ui
+                        .add_sized(
+                            egui::vec2(ui.available_width(), 0.0),
+                            egui::Button::new("全部显示"),
+                        )
+                        .clicked()
+                    {
                         self.config_panel.visible = true;
                         self.export_panel.visible = true;
                         self.matrix_config_panel.visible = true;
@@ -414,11 +508,27 @@ impl EskinDesktopApp {
     }
 
     fn switch_mode(&mut self, next: SerialMode) {
+        if next == SerialMode::Finger3D {
+            // The 3D fingertip PCB sends one 12x9 TactileA frame (108 cells).
+            self.matrix_config = MatrixConfigState {
+                rows: 12,
+                cols: 9,
+                color_min: 0.0,
+                color_max: 7000.0,
+            };
+        }
         self.connect_state.mode = next;
         self.config_state.mode = next;
+        self.config_state.baud_rate = next.baud_rate();
         self.connection.disconnect();
         self.pressure_matrix.fill([0.0, 0.0]);
-        self.data_log_frame = 0;
+        self.hand_pressure.clear();
+        self.force_estimator.reset();
+        self.latest_spatial_force = None;
+        self.signal_history.clear();
+        self.hand_signal_histories
+            .iter_mut()
+            .for_each(|history| history.clear());
 
         self.active_mode = match next {
             SerialMode::Finger => ActiveMode::Finger(FingerMode {
@@ -427,26 +537,35 @@ impl EskinDesktopApp {
                 range: 0..7000,
                 dot: true,
             }),
-            SerialMode::Hand => ActiveMode::Hand(HandGatewayMode { range: 0..7000 }),
+            SerialMode::Finger3D | SerialMode::Hand => {
+                ActiveMode::Hand(HandGatewayMode { range: 0..7000 })
             }
+        };
     }
 }
 
-fn log_pressure_sample(raw: &[u32], rows: u32, cols: u32) {
+fn update_hand_signal_histories(
-    let max = raw.iter().copied().max().unwrap_or(0);
+    histories: &mut [Vec<f32>; HAND_FORCE_PANEL_COUNT],
-    let sum: u64 = raw.iter().map(|value| *value as u64).sum();
+    raw_values: &[u32],
-    let non_zero = raw.iter().filter(|value| **value != 0).count();
+) {
-    let preview = raw
+    let mut offset = 0usize;
+    for (history, sample_count) in histories.iter_mut().zip(HAND_FORCE_SEGMENT_COUNTS) {
+        let raw_total = raw_values
+            .get(offset..offset + sample_count)
+            .unwrap_or(&[])
             .iter()
-        .take(12)
+            .fold(0_u64, |sum, value| sum + *value as u64)
-        .map(u32::to_string)
+            .min(u32::MAX as u64) as u32;
-        .collect::<Vec<_>>()
+        let force = raw_to_g1(raw_total).min(25.6);
-        .join(", ");
+        let force = if force <= 0.1 { 0.0 } else { force };
 
-    println!(
+        history.push(force);
-        "[pressure] {rows}x{cols} cells={} non_zero={non_zero} max={max} sum={sum} first=[{preview}]",
+        if history.len() > SUMMARY_POINTS_PER_SERIES {
-        raw.len()
+            history.remove(0);
-    );
+        }
+
+        offset += sample_count;
+    }
 }
 
 fn raw_to_g1(raw: u32) -> f32 {
@@ -465,7 +584,6 @@ fn raw_to_g1(raw: u32) -> f32 {
         return FORCE_CENTI_N[FORCE_CENTI_N.len() - 1] / 100.0;
     }
 
-    // Keep the same lookup behavior as JE-Skin so both apps report the same force.
     let mut left = 0usize;
     let mut right = RAW.len() - 1;
     while left + 1 < right {
@@ -500,7 +618,7 @@ fn paint_split_viewport_shell(
     painter.rect_stroke(
         rect,
         egui::CornerRadius::same(8),
-        egui::Stroke::new(1.0, ONE_DARK_PRO.border_soft),
+        egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border_soft),
         egui::StrokeKind::Outside,
     );
     painter.line_segment(
@@ -508,7 +626,7 @@ fn paint_split_viewport_shell(
             rect.left_top() + egui::vec2(12.0, 34.0),
             rect.right_top() + egui::vec2(-12.0, 34.0),
         ],
-        egui::Stroke::new(1.0, ONE_DARK_PRO.border_soft),
+        egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border_soft),
     );
     painter.text(
         rect.left_top() + egui::vec2(14.0, 16.0),
@@ -534,9 +652,6 @@ fn split_viewport_body(rect: egui::Rect) -> egui::Rect {
 }
 
 fn normalize_pressure_sample(raw: &[u32], rows: u32, cols: u32, normalized: &mut PressureFrame) {
-    const RANGE_MIN: f32 = 0.0;
-    const RANGE_MAX: f32 = 7000.0;
-
     normalized.fill([0.0, 0.0]);
 
     let src_cols = cols.max(1);
@@ -548,27 +663,69 @@ fn normalize_pressure_sample(raw: &[u32], rows: u32, cols: u32, normalized: &mut
             let src_index = (row * src_cols + col) as usize;
             let dst_index = (row * MATRIX_COLS + col) as usize;
             if let Some(value) = raw.get(src_index) {
-                let raw_value = *value as f32;
+                normalized[dst_index] = normalize_pressure_value(*value);
+            }
+        }
+    }
+}
+
+fn normalize_pressure_samples(raw: &[u32]) -> PressureSamples {
+    raw.iter().copied().map(normalize_pressure_value).collect()
+}
+
+fn normalize_pressure_value(value: u32) -> [f32; 2] {
+    const RANGE_MIN: f32 = 0.0;
+    const RANGE_MAX: f32 = 7000.0;
+
+    let raw_value = value as f32;
     let mapped = ((raw_value - RANGE_MIN) / (RANGE_MAX - RANGE_MIN)).clamp(0.0, 1.0);
     let display_value = if raw_value <= RANGE_MIN + 4.0 {
         0.0
     } else {
         raw_value.round().min(9999.0)
     };
-                normalized[dst_index] = [mapped, display_value];
+
+    [mapped, display_value]
 }
+
+fn draw_config_bar_mode(ui: &mut egui::Ui, config: &mut ConfigPanelState) -> Option<SerialMode> {
+    let mut changed_to = None;
+
+    ui.horizontal(|ui| {
+        ui.colored_label(dim_text(), "单面指尖");
+        if mode_button(ui, &mut config.mode, SerialMode::Finger, "单面指尖") {
+            changed_to = Some(SerialMode::Finger);
         }
+    });
+
+    changed_to
+}
+
+fn mode_button(
+    ui: &mut egui::Ui,
+    mode: &mut SerialMode,
+    value: SerialMode,
+    label: &'static str,
+) -> bool {
+    let clicked = ui.add(style::mode_button(label, *mode == value)).clicked();
+
+    if clicked && *mode != value {
+        *mode = value;
+        true
+    } else {
+        false
     }
 }
 
 impl eframe::App for EskinDesktopApp {
     fn ui(&mut self, ui: &mut egui::Ui, frame: &mut eframe::Frame) {
         let ctx = ui.ctx().clone();
+        let stats = self.connection.stats();
 
         self.update_pressure_matrix();
         self.draw_workspace(ui);
         self.draw_title_bar(ui, frame);
-        self.draw_floating_panels(&ctx);
+        self.draw_floating_panels(&ctx, stats);
         self.draw_panel_context_menu(&ctx);
 
         // Keep repainting while the wgpu background is a realtime viewport.

src/breakout.rs

@@ -249,7 +249,11 @@ impl BreakoutGame {
     }
 
     fn launch_ball(&mut self) {
-        let direction = if self.level % 2 == 0 { -0.24 } else { 0.24 };
+        let direction = if self.level.is_multiple_of(2) {
+            -0.24
+        } else {
+            0.24
+        };
         self.ball_pos = egui::pos2(self.paddle_x, PADDLE_Y - PADDLE_H - BALL_RADIUS);
         self.ball_vel = egui::vec2(direction, -1.0).normalized() * BALL_SPEED;
     }
@@ -372,7 +376,7 @@ impl BreakoutGame {
         painter.rect_stroke(
             rect,
             egui::CornerRadius::same(6),
-            egui::Stroke::new(1.0, color_alpha(ONE_DARK_PRO.accent, 110)),
+            egui::Stroke::new(1.0_f32, color_alpha(ONE_DARK_PRO.accent, 110)),
             egui::StrokeKind::Outside,
         );
 
@@ -469,7 +473,7 @@ fn circle_hits_rect(center: egui::Pos2, radius: f32, rect: egui::Rect) -> bool {
 fn status_chip(ui: &mut egui::Ui, label: &'static str, value: impl ToString, color: egui::Color32) {
     egui::Frame::new()
         .fill(color_alpha(ONE_DARK_PRO.panel_deep, 190))
-        .stroke(egui::Stroke::new(1.0, color_alpha(color, 92)))
+        .stroke(egui::Stroke::new(1.0_f32, color_alpha(color, 92)))
         .corner_radius(egui::CornerRadius::same(4))
         .inner_margin(egui::Margin::symmetric(8, 4))
         .show(ui, |ui| {
@@ -514,7 +518,7 @@ fn paint_arena_grid(painter: &egui::Painter, rect: egui::Rect) {
     painter.rect_stroke(
         rect,
         egui::CornerRadius::same(6),
-        egui::Stroke::new(1.0, color_alpha(ONE_DARK_PRO.accent, 70)),
+        egui::Stroke::new(1.0_f32, color_alpha(ONE_DARK_PRO.accent, 70)),
         egui::StrokeKind::Inside,
     );
 }
@@ -531,7 +535,7 @@ fn paint_brick(painter: &egui::Painter, arena: egui::Rect, brick: &Brick, index:
         painter.rect_stroke(
             rect.expand(4.0 * brick.flash),
             egui::CornerRadius::same(4),
-            egui::Stroke::new(1.4, color_alpha(ONE_DARK_PRO.accent_hot, alpha)),
+            egui::Stroke::new(1.4_f32, color_alpha(ONE_DARK_PRO.accent_hot, alpha)),
             egui::StrokeKind::Outside,
         );
     }
@@ -564,7 +568,7 @@ fn paint_control_meter(painter: &egui::Painter, arena: egui::Rect, control: Brea
     painter.rect_stroke(
         meter,
         egui::CornerRadius::same(4),
-        egui::Stroke::new(1.0, color_alpha(ONE_DARK_PRO.border, 120)),
+        egui::Stroke::new(1.0_f32, color_alpha(ONE_DARK_PRO.border, 120)),
         egui::StrokeKind::Outside,
     );
     let center_x = meter.center().x;
@@ -573,7 +577,7 @@ fn paint_control_meter(painter: &egui::Painter, arena: egui::Rect, control: Brea
             egui::pos2(center_x, meter.top()),
             egui::pos2(center_x, meter.bottom()),
         ],
-        egui::Stroke::new(1.0, ONE_DARK_PRO.border_soft),
+        egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border_soft),
     );
     let marker_x = center_x + control.axis.clamp(-1.0, 1.0) * meter.width() * 0.45;
     painter.circle_filled(

src/connection.rs

@@ -4,7 +4,10 @@ use std::time::Duration;
 
 use crossbeam_channel::{self, Receiver, Sender, TryRecvError};
 
-use crate::serial_core::serial::{SerialIoStats, SerialPortReadWrite, run_serial_loop};
+use crate::recording::Recorder;
+use crate::serial_core::serial::{
+    SerialIoStats, SerialPortReadWrite, SerialProtocol, run_serial_loop,
+};
 
 /// Connection state visible to the UI.
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
@@ -28,6 +31,8 @@ struct Session {
     handle: JoinHandle<()>,
     sample_rx: Receiver<Vec<i32>>,
     stats_rx: Receiver<SerialIoStats>,
+    rows: u32,
+    cols: u32,
 }
 
 /// Thread-safe connection manager that the UI and renderer can share.
@@ -72,7 +77,15 @@ impl ConnectionManager {
     }
 
     /// Connect to the given serial port and start streaming in a background thread.
-    pub fn connect(&self, port_name: &str, rows: u32, cols: u32) {
+    pub fn connect(
+        &self,
+        port_name: &str,
+        rows: u32,
+        cols: u32,
+        baud_rate: u32,
+        protocol: SerialProtocol,
+        recorder: Recorder,
+    ) {
         self.disconnect();
         self.set_state(ConnectionState::Connecting);
 
@@ -90,11 +103,14 @@ impl ConnectionManager {
                 &port,
                 rows,
                 cols,
+                baud_rate,
+                protocol,
                 &state,
                 &cancel_rx,
                 &sample_tx,
                 &stats_tx,
                 &latest_sample,
+                recorder,
             );
             if let Err(e) = result {
                 eprintln!("[connection] device loop error: {e}");
@@ -107,6 +123,8 @@ impl ConnectionManager {
             handle,
             sample_rx,
             stats_rx,
+            rows,
+            cols,
         });
     }
 
@@ -135,10 +153,12 @@ impl ConnectionManager {
             loop {
                 match session.sample_rx.try_recv() {
                     Ok(vals) => {
-                        let rows = 12u32;
-                        let cols = 7u32;
                         let matrix = vals.iter().map(|v| (*v).max(0) as u32).collect();
-                        last = Some(PressureSample { matrix, rows, cols });
+                        last = Some(PressureSample {
+                            matrix,
+                            rows: session.rows,
+                            cols: session.cols,
+                        });
                     }
                     Err(TryRecvError::Empty) => break,
                     Err(TryRecvError::Disconnected) => break,
@@ -159,18 +179,22 @@ impl Default for ConnectionManager {
 }
 
 /// The blocking device loop that runs on a background thread.
+#[allow(clippy::too_many_arguments)]
 fn run_device_loop(
     port_name: &str,
     rows: u32,
     cols: u32,
+    baud_rate: u32,
+    protocol: SerialProtocol,
     state: &Arc<Mutex<ConnectionState>>,
     cancel_rx: &Receiver<()>,
     sample_tx: &Sender<Vec<i32>>,
     stats_tx: &Sender<SerialIoStats>,
     latest_sample: &Arc<Mutex<Option<PressureSample>>>,
+    recorder: Recorder,
 ) -> Result<(), Box<dyn std::error::Error + Send + Sync>> {
-    let port = serialport::new(port_name, 921_600)
+    let port = serialport::new(port_name, baud_rate)
-        .timeout(Duration::from_millis(100))
+        .timeout(Duration::from_millis(1))
         .open()?;
 
     *state.lock().unwrap() = ConnectionState::Connected;
@@ -182,9 +206,11 @@ fn run_device_loop(
         &mut rw,
         rows as usize,
         cols as usize,
+        protocol,
         cancel_rx,
         sample_tx,
         Some(stats_tx),
+        Some(&recorder),
     );
 
     if let Ok(mut latest) = latest_sample.lock() {

src/force.rs

@@ -0,0 +1,49 @@
+use crate::serial_core::multi_dim_force::PztProcessor;
+
+const FINGER_SAMPLE_COUNT: usize = 84;
+const MIN_TANGENTIAL_MAGNITUDE: f32 = 0.02;
+
+#[derive(Debug, Clone, Copy)]
+pub struct HudSpatialForce {
+    pub angle_deg: f32,
+    pub magnitude: f32,
+}
+
+pub struct ForceEstimatorState {
+    pzt_processor: PztProcessor,
+}
+
+impl ForceEstimatorState {
+    pub fn new() -> Self {
+        Self {
+            pzt_processor: PztProcessor::new(),
+        }
+    }
+
+    pub fn reset(&mut self) {
+        self.pzt_processor.reset_baseline();
+    }
+
+    pub fn analyze(&mut self, values: &[u32]) -> Option<HudSpatialForce> {
+        if values.len() != FINGER_SAMPLE_COUNT {
+            return None;
+        }
+
+        let pzt_values = values.iter().map(|value| *value as f32).collect::<Vec<_>>();
+
+        self.pzt_processor
+            .get_pzt_analysis(&pzt_values)
+            .ok()
+            .filter(|analysis| analysis.magnitude > MIN_TANGENTIAL_MAGNITUDE)
+            .map(|analysis| HudSpatialForce {
+                angle_deg: analysis.angle_deg,
+                magnitude: analysis.magnitude,
+            })
+    }
+}
+
+impl Default for ForceEstimatorState {
+    fn default() -> Self {
+        Self::new()
+    }
+}

src/main.rs

@@ -1,6 +1,9 @@
+#![allow(dead_code)]
+#![cfg_attr(not(debug_assertions), windows_subsystem = "windows")]
 mod app;
 mod breakout;
 mod connection;
+mod force;
 mod matrix;
 mod model;
 mod recording;

src/matrix.rs

@@ -1,5 +1,31 @@
 pub const MATRIX_ROWS: u32 = 12;
 pub const MATRIX_COLS: u32 = 7;
+pub const UNFOLDED_L_CHANNEL_COUNT: usize = 8;
+pub const UNFOLDED_H_CHANNEL_COUNT: usize = 13;
+pub const UNFOLDED_SENSOR_COUNT: usize = UNFOLDED_L_CHANNEL_COUNT * UNFOLDED_H_CHANNEL_COUNT;
+pub const UNFOLDED_SENSOR_SEGMENT_COUNTS: [usize; 10] = [8, 3, 5, 8, 10, 44, 3, 5, 8, 10];
+
+pub const fn unfolded_lh_sample_index(l: usize, h: usize) -> usize {
+    debug_assert!(l < UNFOLDED_L_CHANNEL_COUNT);
+    debug_assert!(h < UNFOLDED_H_CHANNEL_COUNT);
+    h * UNFOLDED_L_CHANNEL_COUNT + l
+}
+
+#[cfg(test)]
+mod adc_scan_tests {
+    use super::*;
+
+    #[test]
+    fn scan_changes_l_before_advancing_h() {
+        let first_h0_scan = (0..UNFOLDED_L_CHANNEL_COUNT)
+            .map(|l| unfolded_lh_sample_index(l, 0))
+            .collect::<Vec<_>>();
+
+        assert_eq!(first_h0_scan, (0..8).collect::<Vec<_>>());
+        assert_eq!(unfolded_lh_sample_index(0, 1), 8);
+        assert_eq!(unfolded_lh_sample_index(7, 12), 103);
+    }
+}
 
 const BASE_MATRIX_SPAN: f32 = 24.0;
 const MATRIX_SPAN_GROWTH: f32 = 0.6;

src/recording.rs

@@ -145,11 +145,11 @@ impl Recorder {
             r.state == RecordingState::Recording || r.state == RecordingState::Paused,
             "nothing to stop"
         );
-        if r.state == RecordingState::Paused {
+        if r.state == RecordingState::Paused
-            if let Some(ps) = r.pause_start.take() {
+            && let Some(ps) = r.pause_start.take()
+        {
             r.paused_duration_ms += ps.elapsed().as_millis() as u64;
         }
-        }
         r.state = RecordingState::Idle;
         Ok(())
     }
@@ -317,16 +317,15 @@ impl Recorder {
         }
 
         // Set the start instant so duration_ms() reports the imported span
-        if !r.frames.is_empty() {
+        if !r.frames.is_empty()
-            if let Some(last) = r.frames.last() {
+            && let Some(last) = r.frames.last()
+        {
             // Pretend the recording happened `last.timestamp_ms` ago
             // so that elapsed_ms() would return that value.
             // We store a "fake" start by noting the offset.
-                r.start =
+            r.start = Some(Instant::now() - std::time::Duration::from_millis(last.timestamp_ms));
-                    Some(Instant::now() - std::time::Duration::from_millis(last.timestamp_ms));
             r.paused_duration_ms = 0;
         }
-        }
 
         Ok(())
     }

src/render.rs

@@ -1,5 +1,8 @@
 use crate::{
-    matrix::{MatrixLayout, build_view_projection, glyph_world_position},
+    matrix::{
+        MatrixLayout, UNFOLDED_SENSOR_COUNT, build_view_projection, glyph_world_position,
+        unfolded_lh_sample_index,
+    },
     model::{AlphaMode, InstanceRaw, ModelVertex, Vertex},
     resources, texture,
 };
@@ -13,11 +16,13 @@ use std::ops::Range;
 pub const PRESSURE_CELL_COUNT: usize =
     (crate::matrix::MATRIX_ROWS * crate::matrix::MATRIX_COLS) as usize;
 pub type PressureFrame = [[f32; 2]; PRESSURE_CELL_COUNT];
+pub type PressureSamples = Vec<[f32; 2]>;
 
 pub struct WgpuBackgroundCallback {
     pub width: f32,
     pub height: f32,
     pub pressure: PressureFrame,
+    pub hand_pressure: PressureSamples,
     pub active_mode: ActiveMode,
 }
 
@@ -68,23 +73,97 @@ const HAND_TIP_MATRICES: [HandTipMatrix; 5] = [
     },
 ];
 
-const HAND_PALM_CHIPS: [HandPalmChip; 2] = [
+const UNFOLDED_CANVAS_SIZE: [f32; 2] = [850.0, 750.0];
+const UNFOLDED_CELL_SPACING_PX: f32 = 42.0;
+const UNFOLDED_SENSOR_CHIPS: [HandPalmChip; 10] = [
+    // Top cap: 2 rows x 4 columns.
     HandPalmChip {
-        center_px: [538.0, 608.0],
+        center_px: [425.0, 165.0],
-        size_px: [248.0, 82.0],
+        size_px: [176.0, 88.0],
-        angle_rad: 0.06,
+        angle_rad: 0.0,
-        rows: 5,
+        rows: 2,
-        cols: 14,
+        cols: 4,
+        sample_offset: 0,
+    },
+    // Left wing, authored from the outside towards the 11x4 center block.
+    HandPalmChip {
+        center_px: [140.0, 578.0],
+        size_px: [46.0, 132.0],
+        angle_rad: 0.0,
+        rows: 3,
+        cols: 1,
+        sample_offset: 8,
     },
     HandPalmChip {
-        center_px: [606.0, 780.0],
+        center_px: [188.0, 534.0],
-        size_px: [72.0, 214.0],
+        size_px: [46.0, 220.0],
-        angle_rad: 0.05,
+        angle_rad: 0.0,
+        rows: 5,
+        cols: 1,
+        sample_offset: 11,
+    },
+    HandPalmChip {
+        center_px: [236.0, 468.0],
+        size_px: [46.0, 352.0],
+        angle_rad: 0.0,
+        rows: 8,
+        cols: 1,
+        sample_offset: 16,
+    },
+    HandPalmChip {
+        center_px: [284.0, 424.0],
+        size_px: [46.0, 440.0],
+        angle_rad: 0.0,
+        rows: 10,
+        cols: 1,
+        sample_offset: 24,
+    },
+    // Center spine: 11 rows x 4 columns.
+    HandPalmChip {
+        center_px: [425.0, 444.0],
+        size_px: [176.0, 484.0],
+        angle_rad: 0.0,
         rows: 11,
         cols: 4,
+        sample_offset: 34,
+    },
+    // Right wing mirrors the left wing. Data remains ordered 3, 5, 8, 10.
+    HandPalmChip {
+        center_px: [710.0, 578.0],
+        size_px: [46.0, 132.0],
+        angle_rad: 0.0,
+        rows: 3,
+        cols: 1,
+        sample_offset: 78,
+    },
+    HandPalmChip {
+        center_px: [662.0, 534.0],
+        size_px: [46.0, 220.0],
+        angle_rad: 0.0,
+        rows: 5,
+        cols: 1,
+        sample_offset: 81,
+    },
+    HandPalmChip {
+        center_px: [614.0, 468.0],
+        size_px: [46.0, 352.0],
+        angle_rad: 0.0,
+        rows: 8,
+        cols: 1,
+        sample_offset: 86,
+    },
+    HandPalmChip {
+        center_px: [566.0, 424.0],
+        size_px: [46.0, 440.0],
+        angle_rad: 0.0,
+        rows: 10,
+        cols: 1,
+        sample_offset: 94,
     },
 ];
 
+const HAND_FINGER_SENSOR_CELLS: usize = 12 * 7;
+
 // Each entry pins one miniature matrix to a fingertip in hand.png.
 // Coordinates are authored in source-image pixels so they are easy to tune by eye.
 // size_px keeps the same 7:12 aspect as the Finger-mode 7 columns x 12 rows matrix.
@@ -94,14 +173,15 @@ struct HandTipMatrix {
     angle_rad: f32,
 }
 
-// Palm chips follow the hand layout: one horizontal 5x14 matrix and one vertical
+// One block in the flat 270-degree sensor layout. Coordinates use a dedicated
-// 11x4 matrix, rendered as dark inset chip tiles on the palm.
+// 850x750 canvas so the unfolded shape stays prominent across window sizes.
 struct HandPalmChip {
     center_px: [f32; 2],
     size_px: [f32; 2],
     angle_rad: f32,
     rows: u32,
     cols: u32,
+    sample_offset: usize,
 }
 
 impl egui_wgpu::CallbackTrait for WgpuBackgroundCallback {
@@ -114,7 +194,13 @@ impl egui_wgpu::CallbackTrait for WgpuBackgroundCallback {
         resources: &mut egui_wgpu::CallbackResources,
     ) -> Vec<wgpu::CommandBuffer> {
         let resources: &mut BackgroundRenderResources = resources.get_mut().unwrap();
-        resources.prepare(queue, self.width, self.height, &self.pressure);
+        resources.prepare(
+            queue,
+            self.width,
+            self.height,
+            &self.pressure,
+            &self.hand_pressure,
+        );
         Vec::new()
     }
 
@@ -144,7 +230,6 @@ pub struct BackgroundRenderResources {
     dot_pipeline: wgpu::RenderPipeline,
     hand_membrane_pipeline: wgpu::RenderPipeline,
     hand_dot_pipeline: wgpu::RenderPipeline,
-    hand_palm_chip_pipeline: wgpu::RenderPipeline,
     hand_palm_dot_pipeline: wgpu::RenderPipeline,
     hand_image_bind_group: wgpu::BindGroup,
     hand_image_texture: texture::Texture,
@@ -156,8 +241,6 @@ pub struct BackgroundRenderResources {
     hand_membrane_instances: Vec<GlyphInstance>,
     hand_dot_instance_buffer: wgpu::Buffer,
     hand_dot_instances: Vec<GlyphInstance>,
-    hand_palm_chip_instance_buffer: wgpu::Buffer,
-    hand_palm_chip_instances: Vec<GlyphInstance>,
     hand_palm_dot_instance_buffer: wgpu::Buffer,
     hand_palm_dot_instances: Vec<GlyphInstance>,
     render_options: RenderOptions,
@@ -265,10 +348,7 @@ impl BackgroundRenderResources {
             build_view_projection(1.0, &layout),
             surface_is_srgb,
             render_options,
-            [
+            UNFOLDED_CANVAS_SIZE,
-                hand_image_texture.width as f32,
-                hand_image_texture.height as f32,
-            ],
         );
         let uniform_buffer = device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
             label: Some("Pressure Matrix Uniform Buffer"),
@@ -485,8 +565,6 @@ impl BackgroundRenderResources {
             create_hand_membrane_pipeline(device, target_format, &shader, &pipeline_layout);
         let hand_dot_pipeline =
             create_hand_dot_pipeline(device, target_format, &shader, &pipeline_layout);
-        let hand_palm_chip_pipeline =
-            create_hand_palm_chip_pipeline(device, target_format, &shader, &pipeline_layout);
         let hand_palm_dot_pipeline =
             create_hand_palm_dot_pipeline(device, target_format, &shader, &pipeline_layout);
 
@@ -539,23 +617,8 @@ impl BackgroundRenderResources {
                 contents: bytemuck::cast_slice(&hand_dot_instances),
                 usage: wgpu::BufferUsages::VERTEX | wgpu::BufferUsages::COPY_DST,
             });
-        let hand_palm_chip_instances = build_hand_palm_chip_instances(
+        let hand_palm_dot_instances =
-            hand_image_texture.width as f32,
+            build_hand_palm_dot_instances(rows, cols, &[[0.0, 0.0]; PRESSURE_CELL_COUNT]);
-            hand_image_texture.height as f32,
-        );
-        let hand_palm_chip_instance_buffer =
-            device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
-                label: Some("Hand Palm Chip Instance Buffer"),
-                contents: bytemuck::cast_slice(&hand_palm_chip_instances),
-                usage: wgpu::BufferUsages::VERTEX,
-            });
-        let hand_palm_dot_instances = build_hand_palm_dot_instances(
-            rows,
-            cols,
-            hand_image_texture.width as f32,
-            hand_image_texture.height as f32,
-            &[[0.0, 0.0]; PRESSURE_CELL_COUNT],
-        );
         let hand_palm_dot_instance_buffer =
             device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
                 label: Some("Hand Palm Chip Dot Instance Buffer"),
@@ -577,7 +640,6 @@ impl BackgroundRenderResources {
             dot_pipeline,
             hand_membrane_pipeline,
             hand_dot_pipeline,
-            hand_palm_chip_pipeline,
             hand_palm_dot_pipeline,
             hand_image_bind_group,
             hand_image_texture,
@@ -588,15 +650,20 @@ impl BackgroundRenderResources {
             hand_membrane_instances,
             hand_dot_instance_buffer,
             hand_dot_instances,
-            hand_palm_chip_instance_buffer,
-            hand_palm_chip_instances,
             hand_palm_dot_instance_buffer,
             hand_palm_dot_instances,
             render_options,
         }
     }
 
-    fn prepare(&mut self, queue: &wgpu::Queue, width: f32, height: f32, pressure: &PressureFrame) {
+    fn prepare(
+        &mut self,
+        queue: &wgpu::Queue,
+        width: f32,
+        height: f32,
+        pressure: &PressureFrame,
+        hand_pressure: &[[f32; 2]],
+    ) {
         let aspect = width / height.max(1.0);
         self.uniform = MatrixUniform::new(
             width,
@@ -604,10 +671,7 @@ impl BackgroundRenderResources {
             build_view_projection(aspect, &self.layout),
             self.surface_is_srgb,
             self.render_options,
-            [
+            UNFOLDED_CANVAS_SIZE,
-                self.hand_image_texture.width as f32,
-                self.hand_image_texture.height as f32,
-            ],
         );
         queue.write_buffer(
             &self.uniform_buffer,
@@ -628,14 +692,20 @@ impl BackgroundRenderResources {
             bytemuck::cast_slice(&self.glyph_instances),
         );
 
-        // Hand mode uses five UV-anchored fingertip matrices over hand.png.
+        let hand_pressure = if hand_pressure.is_empty() {
-        // Rebuild their instance positions here so pressure colors update every frame.
+            pressure.as_slice()
+        } else {
+            hand_pressure
+        };
+
+        // Keep legacy fingertip buffers current while both hardware modes share
+        // the same renderer resources.
         self.hand_dot_instances = build_hand_dot_instances(
             self.rows,
             self.cols,
             self.hand_image_texture.width as f32,
             self.hand_image_texture.height as f32,
-            pressure,
+            hand_pressure,
         );
         queue.write_buffer(
             &self.hand_dot_instance_buffer,
@@ -643,15 +713,9 @@ impl BackgroundRenderResources {
             bytemuck::cast_slice(&self.hand_dot_instances),
         );
 
-        // Palm chips reuse the same live 12x7 pressure frame, but draw it as
+        // Rebuild the 104-cell unfolded layout with the latest gateway samples.
-        // embedded micro-pixels inside dark chip tiles.
+        self.hand_palm_dot_instances =
-        self.hand_palm_dot_instances = build_hand_palm_dot_instances(
+            build_hand_palm_dot_instances(self.rows, self.cols, hand_pressure);
-            self.rows,
-            self.cols,
-            self.hand_image_texture.width as f32,
-            self.hand_image_texture.height as f32,
-            pressure,
-        );
         queue.write_buffer(
             &self.hand_palm_dot_instance_buffer,
             0,
@@ -667,12 +731,7 @@ impl BackgroundRenderResources {
 
         match active_mode {
             ActiveMode::Finger(mode) => self.paint_finger(render_pass, mode),
-            ActiveMode::Hand(mode) => {
+            ActiveMode::Hand(mode) => self.paint_hand(render_pass, mode),
-                render_pass.set_pipeline(&self.hand_image_pipeline);
-                render_pass.set_bind_group(1, &self.hand_image_bind_group, &[]);
-                render_pass.draw(0..6, 0..1);
-                self.paint_hand(render_pass, mode);
-            }
         }
     }
 
@@ -694,22 +753,7 @@ impl BackgroundRenderResources {
     fn paint_hand(&self, render_pass: &mut wgpu::RenderPass<'_>, mode: &HandGatewayMode) {
         let _range = mode.range.clone();
 
-        // First draw the translucent sensor membranes, then draw live pressure beads on their grid.
+        // Match Finger mode: draw only the 104 independent pressure dots.
-        render_pass.set_pipeline(&self.hand_membrane_pipeline);
-        render_pass.set_vertex_buffer(0, self.glyph_vertex_buffer.slice(..));
-        render_pass.set_vertex_buffer(1, self.hand_membrane_instance_buffer.slice(..));
-        render_pass.draw(0..6, 0..self.hand_membrane_instances.len() as u32);
-
-        render_pass.set_pipeline(&self.hand_dot_pipeline);
-        render_pass.set_vertex_buffer(0, self.glyph_vertex_buffer.slice(..));
-        render_pass.set_vertex_buffer(1, self.hand_dot_instance_buffer.slice(..));
-        render_pass.draw(0..6, 0..self.hand_dot_instances.len() as u32);
-
-        render_pass.set_pipeline(&self.hand_palm_chip_pipeline);
-        render_pass.set_vertex_buffer(0, self.glyph_vertex_buffer.slice(..));
-        render_pass.set_vertex_buffer(1, self.hand_palm_chip_instance_buffer.slice(..));
-        render_pass.draw(0..6, 0..self.hand_palm_chip_instances.len() as u32);
-
         render_pass.set_pipeline(&self.hand_palm_dot_pipeline);
         render_pass.set_vertex_buffer(0, self.glyph_vertex_buffer.slice(..));
         render_pass.set_vertex_buffer(1, self.hand_palm_dot_instance_buffer.slice(..));
@@ -1047,39 +1091,6 @@ fn create_hand_dot_pipeline(
     })
 }
 
-fn create_hand_palm_chip_pipeline(
-    device: &wgpu::Device,
-    target_format: &wgpu::TextureFormat,
-    shader: &wgpu::ShaderModule,
-    layout: &wgpu::PipelineLayout,
-) -> wgpu::RenderPipeline {
-    device.create_render_pipeline(&wgpu::RenderPipelineDescriptor {
-        label: Some("Hand Palm Embedded Chip Pipeline"),
-        layout: Some(layout),
-        vertex: wgpu::VertexState {
-            module: shader,
-            entry_point: Some("vs_hand_palm_chip"),
-            compilation_options: Default::default(),
-            buffers: &[GlyphVertex::desc(), GlyphInstance::desc()],
-        },
-        fragment: Some(wgpu::FragmentState {
-            module: shader,
-            entry_point: Some("fs_hand_palm_chip"),
-            compilation_options: Default::default(),
-            targets: &[Some(wgpu::ColorTargetState {
-                format: *target_format,
-                blend: Some(wgpu::BlendState::ALPHA_BLENDING),
-                write_mask: wgpu::ColorWrites::ALL,
-            })],
-        }),
-        primitive: wgpu::PrimitiveState::default(),
-        depth_stencil: None,
-        multisample: wgpu::MultisampleState::default(),
-        multiview_mask: None,
-        cache: None,
-    })
-}
-
 fn create_hand_palm_dot_pipeline(
     device: &wgpu::Device,
     target_format: &wgpu::TextureFormat,
@@ -1131,46 +1142,27 @@ fn build_hand_membrane_instances(image_width: f32, image_height: f32) -> Vec<Gly
         .collect()
 }
 
-fn build_hand_palm_chip_instances(image_width: f32, image_height: f32) -> Vec<GlyphInstance> {
-    HAND_PALM_CHIPS
-        .iter()
-        .map(|chip| {
-            let uv_x = chip.center_px[0] / image_width.max(1.0);
-            let uv_y = chip.center_px[1] / image_height.max(1.0);
-
-            GlyphInstance {
-                // Palm chip shaders read xy as hand.png UV.
-                world_position: [uv_x, uv_y, 0.0, 1.0],
-                // Store chip angle, source-image pixel size, and matrix shape for the shader grid.
-                style: [
-                    chip.angle_rad,
-                    chip.size_px[0],
-                    chip.size_px[1],
-                    (chip.rows * 100 + chip.cols) as f32,
-                ],
-            }
-        })
-        .collect()
-}
-
 fn build_hand_dot_instances(
     rows: u32,
     cols: u32,
     image_width: f32,
     image_height: f32,
-    pressure: &PressureFrame,
+    pressure: &[[f32; 2]],
 ) -> Vec<GlyphInstance> {
     let mut instances = Vec::with_capacity(HAND_TIP_MATRICES.len() * rows as usize * cols as usize);
 
-    for tip in HAND_TIP_MATRICES {
+    for (tip_index, tip) in HAND_TIP_MATRICES.into_iter().enumerate() {
         let cos = tip.angle_rad.cos();
         let sin = tip.angle_rad.sin();
 
         for row in 0..rows {
             for col in 0..cols {
                 let index = (row * cols + col) as usize;
-                let [normalized, display_value] =
+                let [normalized, display_value] = sample_pressure_at(
-                    pressure.get(index).copied().unwrap_or([0.0, 0.0]);
+                    pressure,
+                    tip_index * HAND_FINGER_SENSOR_CELLS + index,
+                    index,
+                );
 
                 // Lay out a rows x cols matrix in fingertip-local pixel space.
                 let local_x = (col as f32 - cols as f32 / 2.0 + 0.5) / cols as f32 * tip.size_px[0];
@@ -1195,46 +1187,28 @@ fn build_hand_dot_instances(
 }
 
 fn build_hand_palm_dot_instances(
-    rows: u32,
+    _rows: u32,
-    cols: u32,
+    _cols: u32,
-    image_width: f32,
+    pressure: &[[f32; 2]],
-    image_height: f32,
-    pressure: &PressureFrame,
 ) -> Vec<GlyphInstance> {
-    let chip_dot_count: usize = HAND_PALM_CHIPS
+    let chip_dot_count: usize = UNFOLDED_SENSOR_CHIPS
         .iter()
         .map(|chip| (chip.rows * chip.cols) as usize)
         .sum();
+    debug_assert_eq!(chip_dot_count, UNFOLDED_SENSOR_COUNT);
     let mut instances = Vec::with_capacity(chip_dot_count);
 
-    for chip in HAND_PALM_CHIPS {
+    for (chip_index, chip) in UNFOLDED_SENSOR_CHIPS.iter().enumerate() {
-        let cos = chip.angle_rad.cos();
-        let sin = chip.angle_rad.sin();
-        // Leave a bevel around the chip so the matrix reads as embedded pixels.
-        let active_size = [chip.size_px[0] * 0.72, chip.size_px[1] * 0.76];
-
         for row in 0..chip.rows {
             for col in 0..chip.cols {
-                // Current live data is still the device pressure frame. Sample it by
+                let index = unfolded_adc_sample_index(chip_index, row, col);
-                // proportion so the palm's 5x14 and 11x4 layouts get coherent values.
+                let [normalized, display_value] = sample_pressure_at(pressure, index, index);
-                let source_row = resample_index(row, chip.rows, rows);
+                let [x, y] = unfolded_cell_position(&chip, row, col);
-                let source_col = resample_index(col, chip.cols, cols);
-                let index = (source_row * cols + source_col) as usize;
-                let [normalized, display_value] =
-                    pressure.get(index).copied().unwrap_or([0.0, 0.0]);
-
-                let local_x =
-                    (col as f32 - chip.cols as f32 / 2.0 + 0.5) / chip.cols as f32 * active_size[0];
-                let local_y =
-                    (row as f32 - chip.rows as f32 / 2.0 + 0.5) / chip.rows as f32 * active_size[1];
-
-                let x = chip.center_px[0] + local_x * cos - local_y * sin;
-                let y = chip.center_px[1] + local_x * sin + local_y * cos;
 
                 instances.push(GlyphInstance {
                     world_position: [
-                        x / image_width.max(1.0),
+                        x / UNFOLDED_CANVAS_SIZE[0],
-                        y / image_height.max(1.0),
+                        y / UNFOLDED_CANVAS_SIZE[1],
                         0.0,
                         1.0,
                     ],
@@ -1247,13 +1221,272 @@ fn build_hand_palm_dot_instances(
     instances
 }
 
-fn resample_index(index: u32, source_count: u32, target_count: u32) -> u32 {
+fn unfolded_adc_sample_index(chip_index: usize, row: u32, col: u32) -> usize {
-    if source_count <= 1 || target_count <= 1 {
+    // Raw sample 0 is L0H0. The scan advances L first:
-        return 0;
+    // L0H0, L1H0, …, L7H0, L0H1, …, L7H12.
+    // The PCB unfolds those channel pairs into the ten visual regions below.
+    let (l, h) = match chip_index {
+        0 => (5 - col, 12 - row),         // top cap: L5…L2 × H12…H11
+        1 => (6, row),                    // left outer tip: L6 × H0…H2
+        2 => (7, folded_five_row_h(row)), // left folded wing
+        3 => (7, 10 - row),               // left inner wing: L7 × H10…H3
+        4 => (6, 12 - row),               // left inner spine: L6 × H12…H3
+        5 => (5 - col, 10 - row),         // center: L5…L2 × H10…H0
+        6 => (1, row),                    // right outer tip: L1 × H0…H2
+        7 => (0, folded_five_row_h(row)), // right folded wing
+        8 => (0, 10 - row),               // right inner wing: L0 × H10…H3
+        9 => (1, 12 - row),               // right inner spine: L1 × H12…H3
+        _ => unreachable!("invalid unfolded PCB region"),
+    };
+
+    unfolded_lh_sample_index(l as usize, h as usize)
 }
 
-    let mapped = index as f32 / (source_count - 1) as f32 * (target_count - 1) as f32;
+fn folded_five_row_h(row: u32) -> u32 {
-    mapped.round().clamp(0.0, (target_count - 1) as f32) as u32
+    const PCB_H_ROUTE: [u32; 5] = [12, 11, 0, 1, 2];
+    PCB_H_ROUTE[row as usize]
+}
+fn unfolded_cell_position(chip: &HandPalmChip, row: u32, col: u32) -> [f32; 2] {
+    let cos = chip.angle_rad.cos();
+    let sin = chip.angle_rad.sin();
+    // Author every region on the same point grid. Using the last row as the
+    // vertical anchor keeps the stepped wing columns exactly bottom-aligned.
+    let bottom_center_y = chip.center_px[1] + chip.size_px[1] * 0.5 - 22.0;
+    let local_x = (col as f32 - chip.cols as f32 / 2.0 + 0.5) * UNFOLDED_CELL_SPACING_PX;
+    let y_from_bottom = (chip.rows.saturating_sub(row + 1)) as f32 * UNFOLDED_CELL_SPACING_PX;
+    let local_y = -y_from_bottom;
+
+    [
+        chip.center_px[0] + local_x * cos - local_y * sin,
+        bottom_center_y + local_x * sin + local_y * cos,
+    ]
+}
+
+fn sample_pressure_at(pressure: &[[f32; 2]], index: usize, fallback_index: usize) -> [f32; 2] {
+    pressure
+        .get(index)
+        .or_else(|| pressure.get(fallback_index))
+        .copied()
+        .unwrap_or([0.0, 0.0])
+}
+
+#[cfg(test)]
+mod unfolded_layout_tests {
+    use super::*;
+    use crate::matrix::UNFOLDED_SENSOR_SEGMENT_COUNTS;
+
+    #[test]
+    fn unfolded_layout_maps_every_lh_adc_channel_once() {
+        let mut seen = [false; UNFOLDED_SENSOR_COUNT];
+
+        for (chip_index, chip) in UNFOLDED_SENSOR_CHIPS.iter().enumerate() {
+            for row in 0..chip.rows {
+                for col in 0..chip.cols {
+                    let index = unfolded_adc_sample_index(chip_index, row, col);
+                    assert!(index < UNFOLDED_SENSOR_COUNT);
+                    assert!(!seen[index], "duplicate ADC sample index {index}");
+                    seen[index] = true;
+                }
+            }
+        }
+
+        assert!(seen.into_iter().all(|mapped| mapped));
+        assert_eq!(unfolded_lh_sample_index(0, 0), 0); // first raw sample
+        assert_eq!(unfolded_lh_sample_index(1, 0), 1); // L changes first
+        assert_eq!(unfolded_lh_sample_index(7, 0), 7);
+        assert_eq!(unfolded_lh_sample_index(0, 1), 8); // then H advances
+        assert_eq!(unfolded_adc_sample_index(7, 0, 0), 96); // L0H12
+        assert_eq!(unfolded_adc_sample_index(6, 0, 0), 1); // L1H0
+        assert_eq!(unfolded_lh_sample_index(7, 12), 103); // last rendered sample
+    }
+
+    #[test]
+    fn unfolded_layout_matches_annotated_adc_intersections() {
+        // Right folded/outer intersections: 1=L0H0, 2=L1H0,
+        // 9=L0H1, 10=L1H1, 17=L0H2, 18=L1H2.
+        assert_eq!(unfolded_adc_sample_index(7, 2, 0) + 1, 1);
+        assert_eq!(unfolded_adc_sample_index(6, 0, 0) + 1, 2);
+        assert_eq!(unfolded_adc_sample_index(7, 3, 0) + 1, 9);
+        assert_eq!(unfolded_adc_sample_index(6, 1, 0) + 1, 10);
+        assert_eq!(unfolded_adc_sample_index(7, 4, 0) + 1, 17);
+        assert_eq!(unfolded_adc_sample_index(6, 2, 0) + 1, 18);
+
+        // Right inner routes continue upward from H3.
+        assert_eq!(
+            (0..8)
+                .map(|row| unfolded_adc_sample_index(8, row, 0) + 1)
+                .collect::<Vec<_>>(),
+            vec![81, 73, 65, 57, 49, 41, 33, 25]
+        );
+        assert_eq!(
+            (0..10)
+                .map(|row| unfolded_adc_sample_index(9, row, 0) + 1)
+                .collect::<Vec<_>>(),
+            vec![98, 90, 82, 74, 66, 58, 50, 42, 34, 26]
+        );
+
+        // Left routes mirror the right side's PCB continuation.
+        assert_eq!(
+            (0..3)
+                .map(|row| unfolded_adc_sample_index(1, row, 0) + 1)
+                .collect::<Vec<_>>(),
+            vec![7, 15, 23]
+        );
+        assert_eq!(
+            (0..5)
+                .map(|row| unfolded_adc_sample_index(2, row, 0) + 1)
+                .collect::<Vec<_>>(),
+            vec![104, 96, 8, 16, 24]
+        );
+        assert_eq!(
+            (0..8)
+                .map(|row| unfolded_adc_sample_index(3, row, 0) + 1)
+                .collect::<Vec<_>>(),
+            vec![88, 80, 72, 64, 56, 48, 40, 32]
+        );
+        assert_eq!(
+            (0..10)
+                .map(|row| unfolded_adc_sample_index(4, row, 0) + 1)
+                .collect::<Vec<_>>(),
+            vec![103, 95, 87, 79, 71, 63, 55, 47, 39, 31]
+        );
+
+        // Center rows H0…H7, each ordered L5, L4, L3, L2.
+        for h in 0..=7 {
+            let row = 10 - h;
+            let expected = (2..=5)
+                .rev()
+                .map(|l| unfolded_lh_sample_index(l, h as usize) + 1)
+                .collect::<Vec<_>>();
+            let rendered = (0..4)
+                .map(|col| unfolded_adc_sample_index(5, row, col) + 1)
+                .collect::<Vec<_>>();
+            assert_eq!(rendered, expected);
+        }
+    }
+
+    #[test]
+    fn annotated_folded_points_share_the_same_physical_rows() {
+        let same_y = |left_chip: usize, left_row: u32, right_chip: usize, right_row: u32| {
+            let left = unfolded_cell_position(&UNFOLDED_SENSOR_CHIPS[left_chip], left_row, 0)[1];
+            let right = unfolded_cell_position(&UNFOLDED_SENSOR_CHIPS[right_chip], right_row, 0)[1];
+            assert!((left - right).abs() < 0.01);
+        };
+
+        // Left outer pairs: 7/8, 15/16, 23/24.
+        for row in 0..3 {
+            same_y(1, row, 2, row + 2);
+        }
+
+        // Right outer pairs: 2/1, 10/9, 18/17.
+        for row in 0..3 {
+            same_y(6, row, 7, row + 2);
+        }
+
+        // Inner continuations align by H despite belonging to different strips.
+        for row in 0..8 {
+            same_y(3, row, 4, row + 2);
+            same_y(8, row, 9, row + 2);
+        }
+    }
+
+    #[test]
+    fn unfolded_layout_matches_requested_shapes() {
+        let shapes = UNFOLDED_SENSOR_CHIPS.map(|chip| (chip.rows, chip.cols));
+        let sample_counts = UNFOLDED_SENSOR_CHIPS.map(|chip| (chip.rows * chip.cols) as usize);
+
+        assert_eq!(
+            shapes,
+            [
+                (2, 4),
+                (3, 1),
+                (5, 1),
+                (8, 1),
+                (10, 1),
+                (11, 4),
+                (3, 1),
+                (5, 1),
+                (8, 1),
+                (10, 1),
+            ]
+        );
+        assert_eq!(sample_counts, UNFOLDED_SENSOR_SEGMENT_COUNTS);
+    }
+
+    #[test]
+    fn unfolded_wings_are_mirrored_around_center() {
+        let center_x = UNFOLDED_SENSOR_CHIPS[5].center_px[0];
+
+        for (left, right) in UNFOLDED_SENSOR_CHIPS[1..5]
+            .iter()
+            .zip(UNFOLDED_SENSOR_CHIPS[6..10].iter())
+        {
+            assert_eq!((left.rows, left.cols), (right.rows, right.cols));
+            assert_eq!(left.center_px[1], right.center_px[1]);
+            assert!(
+                ((center_x - left.center_px[0]) - (right.center_px[0] - center_x)).abs() < 0.01
+            );
+        }
+    }
+
+    #[test]
+    fn unfolded_layout_fits_its_canvas() {
+        for chip in UNFOLDED_SENSOR_CHIPS {
+            let half_width = chip.size_px[0] * 0.5;
+            let half_height = chip.size_px[1] * 0.5;
+
+            assert!(chip.center_px[0] - half_width >= 0.0);
+            assert!(chip.center_px[0] + half_width <= UNFOLDED_CANVAS_SIZE[0]);
+            assert!(chip.center_px[1] - half_height >= 0.0);
+            assert!(chip.center_px[1] + half_height <= UNFOLDED_CANVAS_SIZE[1]);
+        }
+    }
+
+    #[test]
+    fn unfolded_wing_rows_share_one_bottom_baseline() {
+        let wing_indices = [1usize, 2, 3, 4, 6, 7, 8, 9];
+        let expected_y = unfolded_cell_position(
+            &UNFOLDED_SENSOR_CHIPS[wing_indices[0]],
+            UNFOLDED_SENSOR_CHIPS[wing_indices[0]].rows - 1,
+            0,
+        )[1];
+
+        for index in wing_indices {
+            let chip = &UNFOLDED_SENSOR_CHIPS[index];
+            let bottom_y = unfolded_cell_position(chip, chip.rows - 1, 0)[1];
+            assert!((bottom_y - expected_y).abs() < 0.01);
+        }
+    }
+
+    #[test]
+    fn unfolded_wings_are_compact_with_more_space_at_center() {
+        let left_x = UNFOLDED_SENSOR_CHIPS[1..5]
+            .iter()
+            .map(|chip| chip.center_px[0])
+            .collect::<Vec<_>>();
+        let wing_gap = left_x[1] - left_x[0];
+        assert!((wing_gap - 48.0).abs() < 0.01);
+        assert!(
+            left_x
+                .windows(2)
+                .all(|pair| (pair[1] - pair[0] - wing_gap).abs() < 0.01)
+        );
+
+        let center_left_x = unfolded_cell_position(&UNFOLDED_SENSOR_CHIPS[5], 0, 0)[0];
+        let left_inner_x = unfolded_cell_position(&UNFOLDED_SENSOR_CHIPS[4], 0, 0)[0];
+        assert!(center_left_x - left_inner_x > wing_gap);
+    }
+
+    #[test]
+    fn unfolded_top_block_sits_close_to_center_block() {
+        let top = &UNFOLDED_SENSOR_CHIPS[0];
+        let center = &UNFOLDED_SENSOR_CHIPS[5];
+        let top_bottom_y = unfolded_cell_position(top, top.rows - 1, 0)[1];
+        let center_top_y = unfolded_cell_position(center, 0, 0)[1];
+
+        assert!(center_top_y > top_bottom_y);
+        assert!(center_top_y - top_bottom_y < UNFOLDED_CELL_SPACING_PX * 2.0);
+    }
 }
 
 fn build_glyph_instances(

src/resources.rs

@@ -457,6 +457,7 @@ fn create_color_material(
     ))
 }
 
+#[allow(clippy::too_many_arguments)]
 fn create_material(
     device: &wgpu::Device,
     texture_bind_group_layout: &wgpu::BindGroupLayout,
@@ -702,6 +703,7 @@ fn append_gltf_node_meshes(
     Ok(())
 }
 
+#[allow(clippy::too_many_arguments)]
 fn append_gltf_primitive_mesh(
     mesh_name: &str,
     primitive_index: usize,
@@ -969,7 +971,7 @@ fn rgba_from_chunks(
     read_component: fn(&[u8]) -> u8,
 ) -> anyhow::Result<Vec<u8>> {
     let pixel_width = channels * component_width;
-    if pixel_width == 0 || pixels.len() % pixel_width != 0 {
+    if pixel_width == 0 || !pixels.len().is_multiple_of(pixel_width) {
         bail!("invalid glTF image byte length for {channels} channels");
     }
 

src/serial_core/codecs/hand_gateway.rs

@@ -0,0 +1,404 @@
+use crate::serial_core::codec::Codec;
+use crate::serial_core::error::CodecError;
+use crate::serial_core::utils::{calc_crc8_itu, elapsed_millis};
+use std::time::Instant;
+
+const FRAME_HEADER: [u8; 2] = [0x55, 0xAA];
+const RESPONSE_DATA_CMD: u8 = 0x81;
+const RESPONSE_DATA_LEGACY_FIXED_LENGTH: usize = 16;
+const RESPONSE_DATA_LEGACY_PREFIX_LENGTH: usize = 19;
+const RESPONSE_DATA_TEMP_FIXED_LENGTH: usize = 20;
+const RESPONSE_DATA_TEMP_PREFIX_LENGTH: usize = 23;
+const MIN_FRAME_LENGTH: usize = 7;
+const DEFAULT_MAX_FRAME_LENGTH: usize = 64 * 1024;
+
+#[derive(Debug, Clone, Copy)]
+struct HandGatewayResponseLayout {
+    fixed_length: usize,
+    prefix_length: usize,
+    timestamp_len: usize,
+    config_offset: usize,
+    valid_config_offset: usize,
+    block_count_offset: usize,
+}
+
+const TEMP_RESPONSE_LAYOUT: HandGatewayResponseLayout = HandGatewayResponseLayout {
+    fixed_length: RESPONSE_DATA_TEMP_FIXED_LENGTH,
+    prefix_length: RESPONSE_DATA_TEMP_PREFIX_LENGTH,
+    timestamp_len: 8,
+    config_offset: 14,
+    valid_config_offset: 18,
+    block_count_offset: 22,
+};
+
+const LEGACY_RESPONSE_LAYOUT: HandGatewayResponseLayout = HandGatewayResponseLayout {
+    fixed_length: RESPONSE_DATA_LEGACY_FIXED_LENGTH,
+    prefix_length: RESPONSE_DATA_LEGACY_PREFIX_LENGTH,
+    timestamp_len: 4,
+    config_offset: 10,
+    valid_config_offset: 14,
+    block_count_offset: 18,
+};
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct HandGatewayNodeConfig {
+    pub config_mask: u32,
+    pub sample_count: usize,
+}
+
+impl HandGatewayNodeConfig {
+    pub const fn new(config_mask: u32, sample_count: usize) -> Self {
+        Self {
+            config_mask,
+            sample_count,
+        }
+    }
+
+    fn payload_len(&self, bytes_per_sample: usize) -> Option<usize> {
+        self.sample_count.checked_mul(bytes_per_sample)
+    }
+}
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct HandGatewayConfig {
+    pub protocol_version: u8,
+    pub bytes_per_sample: usize,
+    pub max_frame_length: usize,
+    pub nodes: Vec<HandGatewayNodeConfig>,
+}
+
+impl HandGatewayConfig {
+    pub fn new(nodes: Vec<HandGatewayNodeConfig>) -> Self {
+        Self {
+            protocol_version: 0x01,
+            bytes_per_sample: 2,
+            max_frame_length: DEFAULT_MAX_FRAME_LENGTH,
+            nodes,
+        }
+    }
+
+    fn validate(&self) -> Result<(), CodecError> {
+        if self.bytes_per_sample == 0 || self.max_frame_length < MIN_FRAME_LENGTH {
+            return Err(CodecError::InvalidLength);
+        }
+
+        let mut used_masks = 0u32;
+        for node in &self.nodes {
+            if node.config_mask == 0
+                || node.config_mask.count_ones() != 1
+                || used_masks & node.config_mask != 0
+                || node.payload_len(self.bytes_per_sample).is_none()
+            {
+                return Err(CodecError::InvalidLength);
+            }
+            used_masks |= node.config_mask;
+        }
+
+        Ok(())
+    }
+}
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct HandGatewayFrameNode {
+    pub config_mask: u32,
+    pub valid: bool,
+    pub payload: Vec<u8>,
+}
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct HandGatewayDataRepFrame {
+    pub timestamp: u64,
+    pub config: u32,
+    pub valid_config: u32,
+    pub block_count: u8,
+    pub raw: Vec<u8>,
+    pub nodes: Vec<HandGatewayFrameNode>,
+    pub dts_ms: u64,
+}
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub enum HandGatewayFrame {
+    DataRep(HandGatewayDataRepFrame),
+}
+
+pub struct HandGatewayCodec {
+    buffer: Vec<u8>,
+    config: HandGatewayConfig,
+}
+
+impl HandGatewayCodec {
+    pub fn new(node_sample_counts: &[u16]) -> Self {
+        let nodes = node_sample_counts
+            .iter()
+            .enumerate()
+            .map(|(index, &sample_count)| {
+                HandGatewayNodeConfig::new(
+                    1u32.checked_shl(index as u32).unwrap_or(0),
+                    sample_count as usize,
+                )
+            })
+            .collect();
+
+        Self {
+            buffer: Vec::new(),
+            config: HandGatewayConfig::new(nodes),
+        }
+    }
+
+    pub fn parse_node_payload(data: &[u8]) -> Result<Vec<u16>, CodecError> {
+        if !data.len().is_multiple_of(2) {
+            return Err(CodecError::InvalidLength);
+        }
+
+        Ok(data
+            .chunks_exact(2)
+            .map(|chunk| u16::from_le_bytes([chunk[0], chunk[1]]))
+            .collect())
+    }
+
+    fn retain_possible_header_prefix(&mut self) {
+        if self.buffer.last() == Some(&FRAME_HEADER[0]) {
+            self.buffer.drain(..self.buffer.len() - 1);
+        } else {
+            self.buffer.clear();
+        }
+    }
+
+    fn parse_data_response_with_layout(
+        &self,
+        frame: &[u8],
+        length: u16,
+        session_started_at: Instant,
+        layout: HandGatewayResponseLayout,
+    ) -> Result<HandGatewayFrame, CodecError> {
+        let payload_len = usize::from(length)
+            .checked_sub(layout.fixed_length)
+            .ok_or(CodecError::InvalidLength)?;
+        let payload_end = layout
+            .prefix_length
+            .checked_add(payload_len)
+            .ok_or(CodecError::PayloadTooLarge)?;
+
+        if payload_end + 1 != frame.len() {
+            return Err(CodecError::InvalidLength);
+        }
+
+        let version = frame[5];
+        if version != self.config.protocol_version {
+            return Err(CodecError::InvalidFrameType);
+        }
+
+        let timestamp = match layout.timestamp_len {
+            4 => u32::from_le_bytes(frame[6..10].try_into().unwrap()) as u64,
+            8 => u64::from_le_bytes(frame[6..14].try_into().unwrap()),
+            _ => return Err(CodecError::InvalidLength),
+        };
+        let config = u32::from_le_bytes(
+            frame[layout.config_offset..layout.config_offset + 4]
+                .try_into()
+                .unwrap(),
+        );
+        let valid_config = u32::from_le_bytes(
+            frame[layout.valid_config_offset..layout.valid_config_offset + 4]
+                .try_into()
+                .unwrap(),
+        );
+        let block_count = frame[layout.block_count_offset];
+
+        let active_nodes = self
+            .config
+            .nodes
+            .iter()
+            .filter(|node| config & node.config_mask != 0)
+            .collect::<Vec<_>>();
+
+        if active_nodes.len() != usize::from(block_count) {
+            return Err(CodecError::InvalidLength);
+        }
+
+        let expected_payload_len = active_nodes.iter().try_fold(0usize, |total, node| {
+            let node_len = node
+                .payload_len(self.config.bytes_per_sample)
+                .ok_or(CodecError::PayloadTooLarge)?;
+            total
+                .checked_add(node_len)
+                .ok_or(CodecError::PayloadTooLarge)
+        })?;
+
+        if expected_payload_len != payload_len {
+            return Err(CodecError::InvalidLength);
+        }
+
+        let mut cursor = layout.prefix_length;
+        let mut nodes = Vec::with_capacity(active_nodes.len());
+        for node in active_nodes {
+            let node_len = node
+                .payload_len(self.config.bytes_per_sample)
+                .ok_or(CodecError::PayloadTooLarge)?;
+            let next = cursor + node_len;
+            nodes.push(HandGatewayFrameNode {
+                config_mask: node.config_mask,
+                valid: valid_config & node.config_mask != 0,
+                payload: frame[cursor..next].to_vec(),
+            });
+            cursor = next;
+        }
+
+        Ok(HandGatewayFrame::DataRep(HandGatewayDataRepFrame {
+            timestamp,
+            config,
+            valid_config,
+            block_count,
+            raw: frame.to_vec(),
+            nodes,
+            dts_ms: elapsed_millis(session_started_at),
+        }))
+    }
+
+    fn parse_data_response(
+        &self,
+        frame: &[u8],
+        length: u16,
+        session_started_at: Instant,
+    ) -> Result<HandGatewayFrame, CodecError> {
+        self.parse_data_response_with_layout(
+            frame,
+            length,
+            session_started_at,
+            TEMP_RESPONSE_LAYOUT,
+        )
+        .or_else(|_| {
+            self.parse_data_response_with_layout(
+                frame,
+                length,
+                session_started_at,
+                LEGACY_RESPONSE_LAYOUT,
+            )
+        })
+    }
+}
+
+impl Codec<HandGatewayFrame> for HandGatewayCodec {
+    fn decode(
+        &mut self,
+        input: &[u8],
+        session_started_at: Instant,
+    ) -> Result<Vec<HandGatewayFrame>, CodecError> {
+        self.config.validate()?;
+        self.buffer.extend_from_slice(input);
+        let mut frames = Vec::new();
+
+        loop {
+            let Some(header_pos) = self
+                .buffer
+                .windows(FRAME_HEADER.len())
+                .position(|window| window == FRAME_HEADER)
+            else {
+                self.retain_possible_header_prefix();
+                break;
+            };
+
+            if header_pos > 0 {
+                self.buffer.drain(..header_pos);
+            }
+
+            if self.buffer.len() < 4 {
+                break;
+            }
+
+            let length = u16::from_le_bytes([self.buffer[2], self.buffer[3]]);
+            let frame_len = usize::from(length)
+                .checked_add(4)
+                .ok_or(CodecError::PayloadTooLarge)?;
+
+            if frame_len < MIN_FRAME_LENGTH || frame_len > self.config.max_frame_length {
+                log::debug!("invalid hand gateway frame length: {frame_len}");
+                self.buffer.drain(..1);
+                continue;
+            }
+
+            if self.buffer.len() < frame_len {
+                break;
+            }
+
+            let expected_checksum = calc_crc8_itu(&self.buffer[..frame_len - 1]);
+            let received_checksum = self.buffer[frame_len - 1];
+            if expected_checksum != received_checksum {
+                log::debug!(
+                    "hand gateway checksum mismatch: expected {expected_checksum:02X}, got {received_checksum:02X}"
+                );
+                self.buffer.drain(..1);
+                continue;
+            }
+
+            if self.buffer[4] == RESPONSE_DATA_CMD {
+                match self.parse_data_response(
+                    &self.buffer[..frame_len],
+                    length,
+                    session_started_at,
+                ) {
+                    Ok(frame) => frames.push(frame),
+                    Err(error) => log::debug!("invalid hand gateway data response: {error}"),
+                }
+            }
+
+            self.buffer.drain(..frame_len);
+        }
+
+        Ok(frames)
+    }
+
+    fn encode(&self, frame: &HandGatewayFrame) -> Result<Vec<u8>, CodecError> {
+        let _ = frame;
+        Err(CodecError::InvalidFrameType)
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    fn data_response(config: u32, valid_config: u32, payload: &[u8]) -> Vec<u8> {
+        let block_count = config.count_ones() as u8;
+        let length = (RESPONSE_DATA_LEGACY_FIXED_LENGTH + payload.len()) as u16;
+        let mut frame = Vec::new();
+        frame.extend_from_slice(&FRAME_HEADER);
+        frame.extend_from_slice(&length.to_le_bytes());
+        frame.push(RESPONSE_DATA_CMD);
+        frame.push(0x01);
+        frame.extend_from_slice(&0x0102_0304u32.to_le_bytes());
+        frame.extend_from_slice(&config.to_le_bytes());
+        frame.extend_from_slice(&valid_config.to_le_bytes());
+        frame.push(block_count);
+        frame.extend_from_slice(payload);
+        let checksum = calc_crc8_itu(&frame);
+        frame.push(checksum);
+        frame
+    }
+
+    #[test]
+    fn decodes_data_response_frame() {
+        let payload = [0x10, 0x00, 0x34, 0x12, 0x08, 0x00];
+        let bytes = data_response(0b11, 0b01, &payload);
+        let frames = HandGatewayCodec::new(&[2, 1])
+            .decode(&bytes, Instant::now())
+            .unwrap();
+
+        assert_eq!(frames.len(), 1);
+        let HandGatewayFrame::DataRep(frame) = &frames[0];
+        assert_eq!(frame.timestamp, 0x0102_0304);
+        assert_eq!(frame.config, 0b11);
+        assert_eq!(frame.valid_config, 0b01);
+        assert_eq!(frame.block_count, 2);
+        assert_eq!(frame.raw, bytes);
+        assert_eq!(frame.nodes.len(), 2);
+        assert_eq!(
+            HandGatewayCodec::parse_node_payload(&frame.nodes[0].payload).unwrap(),
+            vec![16, 0x1234]
+        );
+        assert_eq!(
+            HandGatewayCodec::parse_node_payload(&frame.nodes[1].payload).unwrap(),
+            vec![8]
+        );
+    }
+}

src/serial_core/codecs/mod.rs

@@ -1 +1,2 @@
+pub mod hand_gateway;
 pub mod tactile_a;

src/serial_core/codecs/tactile_a.rs

@@ -31,7 +31,7 @@ impl TactileACodec {
     }
 
     pub fn parse_data_frame(data: &[u8]) -> Result<Vec<i32>, CodecError> {
-        if data.len() % 2 != 0 {
+        if !data.len().is_multiple_of(2) {
             return Err(CodecError::InvalidLength);
         }
 
@@ -132,7 +132,7 @@ impl Codec<TactileAFrame> for TactileACodec {
             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());
+            let checksum = crc8_itu_alg.checksum(need_check_data.as_slice());
             if self.buffer[frame_length - 1] != checksum {
                 log::debug!(
                     "checksum mismatch: expected {:02X}, got {:02X}, frame_len={}",
@@ -188,3 +188,61 @@ impl Codec<TactileAFrame> for TactileACodec {
         }
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::serial_core::codec::Codec;
+    use std::time::Instant;
+
+    const FINGER_3D_ROWS: usize = 12;
+    const FINGER_3D_COLS: usize = 9;
+    const FINGER_3D_DATA_LEN: usize = FINGER_3D_ROWS * FINGER_3D_COLS * 2;
+
+    #[test]
+    fn finger_3d_request_asks_for_108_samples() {
+        let codec = TactileACodec::new(FINGER_3D_COLS, FINGER_3D_ROWS);
+        let frame = TactileACodec::build_req_frame(FINGER_3D_COLS, FINGER_3D_ROWS).unwrap();
+        let encoded = codec.encode(&frame).unwrap();
+
+        assert_eq!(
+            u16::from_le_bytes([encoded[11], encoded[12]]) as usize,
+            FINGER_3D_DATA_LEN
+        );
+    }
+
+    #[test]
+    fn finger_3d_decode_accepts_108_samples_across_reads() {
+        let mut codec = TactileACodec::new(FINGER_3D_COLS, FINGER_3D_ROWS);
+        let payload = (0..FINGER_3D_ROWS * FINGER_3D_COLS)
+            .flat_map(|value| (value as u16).to_le_bytes())
+            .collect::<Vec<_>>();
+        let mut response = Vec::new();
+        response.extend_from_slice(&[0xAA, 0x55]);
+        response.extend_from_slice(&9_u16.to_le_bytes());
+        response.extend_from_slice(&[0x34, 0x00, 0xFB]);
+        response.extend_from_slice(&7168_u32.to_le_bytes());
+        response.extend_from_slice(&(FINGER_3D_DATA_LEN as u16).to_le_bytes());
+        response.push(0);
+        response.extend_from_slice(&payload);
+        response.push(calc_crc8_itu(&response));
+
+        let split = response.len() / 2;
+        assert!(
+            codec
+                .decode(&response[..split], Instant::now())
+                .unwrap()
+                .is_empty()
+        );
+        let frames = codec.decode(&response[split..], Instant::now()).unwrap();
+
+        let TactileAFrame::Rep(rep) = &frames[0] else {
+            panic!("expected response frame");
+        };
+        assert_eq!(rep.payload.len(), FINGER_3D_DATA_LEN);
+        assert_eq!(
+            TactileACodec::parse_data_frame(&rep.payload).unwrap().len(),
+            108
+        );
+    }
+}

src/serial_core/mod.rs

@@ -2,5 +2,6 @@ pub mod codec;
 pub mod codecs;
 pub mod error;
 pub mod frame;
+pub mod multi_dim_force;
 pub mod serial;
 pub mod utils;

src/serial_core/multi_dim_force.rs

@@ -0,0 +1,234 @@
+const SENSOR_ROWS: usize = 12;
+const SENSOR_COLS: usize = 7;
+const SENSOR_COUNT: usize = SENSOR_ROWS * SENSOR_COLS;
+
+const TOTAL_PRESSURE_LOW_THRESHOLD: f32 = 500.0;
+const COP_STABILITY_FRAMES_REQUIRED: usize = 15;
+
+const POST_INIT_WINDOW_CNT: usize = 100;
+const POST_INIT_STABLE_CNT: usize = 50;
+const POST_INIT_STABLE_THRESH: f32 = 0.1;
+
+#[derive(Debug, Clone, Copy)]
+pub struct PztSpatialAnalysis {
+    pub angle_deg: f32,
+    pub magnitude: f32,
+    pub planar_x: f32,
+    pub planar_y: f32,
+}
+
+pub struct PztProcessor {
+    first_frame: Option<Vec<f32>>,
+
+    first_contact_cop_x: Option<f32>,
+    first_contact_cop_y: Option<f32>,
+    contact_initialized: bool,
+
+    total_pressure_low_counter: usize,
+
+    cop_init_x_buf: Vec<f32>,
+    cop_init_y_buf: Vec<f32>,
+
+    post_init_frame_cnt: usize,
+    post_stable_cnt: usize,
+    post_refined_flag: bool,
+    post_cand_x: Option<f32>,
+    post_cand_y: Option<f32>,
+}
+
+impl PztProcessor {
+    pub fn new() -> Self {
+        Self {
+            first_frame: None,
+            first_contact_cop_x: None,
+            first_contact_cop_y: None,
+            contact_initialized: false,
+            total_pressure_low_counter: 0,
+            cop_init_x_buf: Vec::with_capacity(COP_STABILITY_FRAMES_REQUIRED),
+            cop_init_y_buf: Vec::with_capacity(COP_STABILITY_FRAMES_REQUIRED),
+            post_init_frame_cnt: 0,
+            post_stable_cnt: 0,
+            post_refined_flag: false,
+            post_cand_x: None,
+            post_cand_y: None,
+        }
+    }
+
+    fn subtract_baseline(&mut self, current_frame: &[f32]) -> Vec<f32> {
+        if self.first_frame.is_none() {
+            self.first_frame = Some(current_frame.to_vec());
+        }
+
+        let baseline = self.first_frame.as_ref().unwrap();
+        current_frame
+            .iter()
+            .zip(baseline.iter())
+            .map(|(current, baseline)| (current - baseline).max(0.0))
+            .collect()
+    }
+
+    fn reset_cop_state(&mut self) {
+        self.first_contact_cop_x = None;
+        self.first_contact_cop_y = None;
+        self.contact_initialized = false;
+        self.total_pressure_low_counter = 0;
+        self.cop_init_x_buf.clear();
+        self.cop_init_y_buf.clear();
+        self.post_init_frame_cnt = 0;
+        self.post_stable_cnt = 0;
+        self.post_refined_flag = false;
+        self.post_cand_x = None;
+        self.post_cand_y = None;
+    }
+
+    fn compute_median(sorted: &[f32]) -> f32 {
+        let n = sorted.len();
+        if n == 0 {
+            return 0.0;
+        }
+
+        if n.is_multiple_of(2) {
+            (sorted[n / 2 - 1] + sorted[n / 2]) / 2.0
+        } else {
+            sorted[n / 2]
+        }
+    }
+
+    fn compute_pressure_direction(&mut self, frame: &[f32]) -> (f32, f32) {
+        let total_pressure = frame.iter().sum::<f32>();
+        if total_pressure < TOTAL_PRESSURE_LOW_THRESHOLD {
+            self.total_pressure_low_counter += 1;
+        } else {
+            self.total_pressure_low_counter = 0;
+        }
+
+        if self.total_pressure_low_counter >= COP_STABILITY_FRAMES_REQUIRED {
+            self.reset_cop_state();
+            return (0.0, 0.0);
+        }
+
+        if total_pressure == 0.0 {
+            return (0.0, 0.0);
+        }
+
+        let mut sum_x = 0.0;
+        let mut sum_y = 0.0;
+        for row in 0..SENSOR_ROWS {
+            for col in 0..SENSOR_COLS {
+                let value = frame[row * SENSOR_COLS + col];
+                sum_x += value * col as f32;
+                sum_y += value * row as f32;
+            }
+        }
+        let cop_x = sum_x / total_pressure;
+        let cop_y = sum_y / total_pressure;
+
+        if !self.contact_initialized {
+            self.cop_init_x_buf.push(cop_x);
+            self.cop_init_y_buf.push(cop_y);
+
+            if self.cop_init_x_buf.len() >= COP_STABILITY_FRAMES_REQUIRED {
+                let mut xs = self.cop_init_x_buf.clone();
+                xs.sort_by(|a, b| a.partial_cmp(b).unwrap());
+                let mut ys = self.cop_init_y_buf.clone();
+                ys.sort_by(|a, b| a.partial_cmp(b).unwrap());
+
+                self.first_contact_cop_x = Some(Self::compute_median(&xs));
+                self.first_contact_cop_y = Some(Self::compute_median(&ys));
+                self.contact_initialized = true;
+                self.cop_init_x_buf.clear();
+                self.cop_init_y_buf.clear();
+            }
+
+            return (0.0, 0.0);
+        }
+
+        self.post_init_frame_cnt += 1;
+        if !self.post_refined_flag && self.post_init_frame_cnt <= POST_INIT_WINDOW_CNT {
+            if let (Some(cx), Some(cy)) = (self.post_cand_x, self.post_cand_y) {
+                let dist = ((cop_x - cx).powi(2) + (cop_y - cy).powi(2)).sqrt();
+                if dist <= POST_INIT_STABLE_THRESH {
+                    self.post_stable_cnt += 1;
+                } else {
+                    self.post_cand_x = Some(cop_x);
+                    self.post_cand_y = Some(cop_y);
+                    self.post_stable_cnt = 1;
+                }
+            } else {
+                self.post_cand_x = Some(cop_x);
+                self.post_cand_y = Some(cop_y);
+                self.post_stable_cnt = 1;
+            }
+
+            if self.post_stable_cnt >= POST_INIT_STABLE_CNT {
+                self.first_contact_cop_x = self.post_cand_x;
+                self.first_contact_cop_y = self.post_cand_y;
+                self.post_refined_flag = true;
+            }
+        } else {
+            self.post_refined_flag = true;
+        }
+
+        let base_x = self.first_contact_cop_x.unwrap_or(cop_x);
+        let base_y = self.first_contact_cop_y.unwrap_or(cop_y);
+        let delta_x = cop_x - base_x;
+        let delta_y = base_y - cop_y;
+        (delta_x, delta_y)
+    }
+
+    fn compute_vector_angle(x: f32, y: f32) -> (f32, f32) {
+        let epsilon = 1e-8f32;
+        let magnitude = (x * x + y * y).sqrt();
+        let mut angle = y.atan2(x + epsilon).to_degrees();
+        if angle < 0.0 {
+            angle += 360.0;
+        }
+        (angle, magnitude)
+    }
+
+    pub fn get_pzt_analysis(
+        &mut self,
+        adc_data: &[f32],
+    ) -> Result<PztSpatialAnalysis, &'static str> {
+        if adc_data.len() != SENSOR_COUNT {
+            return Err("ADC data length must be 84");
+        }
+
+        let baseline = self.subtract_baseline(adc_data);
+        let (dx, dy) = self.compute_pressure_direction(&baseline);
+
+        let planar_x = dx;
+        let planar_y = -dy;
+        let (angle_deg, magnitude) = Self::compute_vector_angle(planar_x, planar_y);
+
+        Ok(PztSpatialAnalysis {
+            angle_deg,
+            magnitude,
+            planar_x,
+            planar_y,
+        })
+    }
+
+    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 reset_baseline(&mut self) {
+        self.first_frame = None;
+        self.reset_cop_state();
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn idle_frame_returns_zero() {
+        let mut processor = PztProcessor::new();
+        let frame = [0.0f32; SENSOR_COUNT];
+        let analysis = processor.get_pzt_analysis(&frame).unwrap();
+        assert_eq!(analysis.magnitude, 0.0);
+        assert_eq!(analysis.angle_deg, 0.0);
+    }
+}

src/serial_core/serial.rs

@@ -1,11 +1,14 @@
+use crate::recording::Recorder;
 use crate::serial_core::codec::Codec;
+use crate::serial_core::codecs::hand_gateway::{HandGatewayCodec, HandGatewayFrame};
 use crate::serial_core::codecs::tactile_a::TactileACodec;
 use crate::serial_core::frame::TactileAFrame;
 use crossbeam_channel::{Receiver, Sender};
 use std::io::{Read, Write};
 use std::time::{Duration, Instant};
 
-const POLL_INTERVAL_MS: u64 = 10;
+const POLL_INTERVAL_MS: u64 = 5;
+const DEFAULT_HAND_GATEWAY_NODE_SAMPLE_COUNTS: &[u16] = &[84, 84, 84, 84, 84, 70, 44];
 
 #[derive(Debug, Default, Clone, Copy, PartialEq, Eq)]
 pub struct SerialIoStats {
@@ -13,15 +16,43 @@ pub struct SerialIoStats {
     pub tx_bytes: u64,
 }
 
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub enum SerialProtocol {
+    TactileA,
+    HandGateway,
+}
+
 /// Runs the serial polling loop on the calling (background) thread.
 /// Sends decoded pressure matrix data (Vec<i32>) to the output channel.
+#[allow(clippy::too_many_arguments)]
 pub fn run_serial_loop(
+    port: &mut dyn ReadWrite,
+    rows: usize,
+    cols: usize,
+    protocol: SerialProtocol,
+    cancel_rx: &Receiver<()>,
+    sample_tx: &Sender<Vec<i32>>,
+    stats_tx: Option<&Sender<SerialIoStats>>,
+    recorder: Option<&Recorder>,
+) {
+    match protocol {
+        SerialProtocol::TactileA => {
+            run_tactile_a_loop(port, rows, cols, cancel_rx, sample_tx, stats_tx, recorder)
+        }
+        SerialProtocol::HandGateway => {
+            run_hand_gateway_loop(port, cancel_rx, sample_tx, stats_tx, recorder)
+        }
+    }
+}
+
+fn run_tactile_a_loop(
     port: &mut dyn ReadWrite,
     rows: usize,
     cols: usize,
     cancel_rx: &Receiver<()>,
     sample_tx: &Sender<Vec<i32>>,
     stats_tx: Option<&Sender<SerialIoStats>>,
+    recorder: Option<&Recorder>,
 ) {
     let session_started_at = Instant::now();
     let mut codec = TactileACodec::new(cols, rows);
@@ -43,12 +74,12 @@ pub fn run_serial_loop(
         }
 
         // Send poll request
-        if let Ok(req_bytes) = codec.encode(&req_frame) {
+        if let Ok(req_bytes) = codec.encode(&req_frame)
-            if port.write_all(&req_bytes).is_ok() {
+            && port.write_all(&req_bytes).is_ok()
+        {
             io_stats.tx_bytes += req_bytes.len() as u64;
             publish_stats(stats_tx, io_stats);
         }
-        }
 
         // Read response with poll interval
         let deadline = Instant::now() + poll_interval;
@@ -63,10 +94,15 @@ pub fn run_serial_loop(
                     publish_stats(stats_tx, io_stats);
                     if let Ok(frames) = codec.decode(&buffer[..n], session_started_at) {
                         for frame in frames {
-                            if let TactileAFrame::Rep(rep) = frame {
+                            if let TactileAFrame::Rep(rep) = frame
-                                if let Ok(vals) = TactileACodec::parse_data_frame(&rep.payload) {
+                                && let Ok(vals) = TactileACodec::parse_data_frame(&rep.payload)
-                                    let _ = sample_tx.try_send(vals);
+                            {
+                                if let Some(recorder) = recorder {
+                                    let pressures: Vec<u32> =
+                                        vals.iter().map(|v| (*v).max(0) as u32).collect();
+                                    recorder.add_frame(&pressures);
                                 }
+                                let _ = sample_tx.try_send(vals);
                             }
                         }
                     }
@@ -86,6 +122,103 @@ pub fn run_serial_loop(
     }
 }
 
+fn run_hand_gateway_loop(
+    port: &mut dyn ReadWrite,
+    cancel_rx: &Receiver<()>,
+    sample_tx: &Sender<Vec<i32>>,
+    stats_tx: Option<&Sender<SerialIoStats>>,
+    recorder: Option<&Recorder>,
+) {
+    let session_started_at = Instant::now();
+    let mut codec = HandGatewayCodec::new(DEFAULT_HAND_GATEWAY_NODE_SAMPLE_COUNTS);
+    let mut buffer = [0u8; 1024];
+    let poll_interval = Duration::from_millis(POLL_INTERVAL_MS);
+    let mut io_stats = SerialIoStats::default();
+
+    loop {
+        if cancel_rx.try_recv().is_ok() {
+            break;
+        }
+
+        let deadline = Instant::now() + poll_interval;
+        loop {
+            if Instant::now() >= deadline {
+                break;
+            }
+
+            match port.read(&mut buffer) {
+                Ok(n) if n > 0 => {
+                    io_stats.rx_bytes += n as u64;
+                    publish_stats(stats_tx, io_stats);
+                    if let Ok(frames) = codec.decode(&buffer[..n], session_started_at) {
+                        for frame in frames {
+                            let HandGatewayFrame::DataRep(rep) = frame;
+                            // println!(
+                            //     "[hand-packet-raw] bytes={} timestamp_us={} config=0x{:08X} valid_config=0x{:08X} block_count={} payload_bytes={} raw={}",
+                            //     rep.raw.len(),
+                            //     rep.timestamp,
+                            //     rep.config,
+                            //     rep.valid_config,
+                            //     rep.block_count,
+                            //     rep.nodes
+                            //         .iter()
+                            //         .map(|node| node.payload.len())
+                            //         .sum::<usize>(),
+                            //     format_hex_bytes(&rep.raw)
+                            // );
+                            let mut vals = Vec::new();
+                            let mut parse_ok = true;
+                            for node in &rep.nodes {
+                                match HandGatewayCodec::parse_node_payload(&node.payload) {
+                                    Ok(node_values) => {
+                                        vals.extend(node_values.into_iter().map(|raw| {
+                                            let raw = raw as i32;
+                                            if raw < 15 { 0 } else { raw }
+                                        }));
+                                    }
+                                    Err(err) => {
+                                        parse_ok = false;
+                                        eprintln!("[hand-packet-values] parse error: {err}");
+                                        break;
+                                    }
+                                }
+                            }
+
+                            if parse_ok {
+                                // println!("[hand-packet-values] samples={}", vals.len());
+                                if let Some(recorder) = recorder {
+                                    let pressures: Vec<u32> =
+                                        vals.iter().map(|v| (*v).max(0) as u32).collect();
+                                    recorder.add_frame(&pressures);
+                                }
+                                let _ = sample_tx.try_send(vals);
+                            }
+                        }
+                    }
+                }
+                Ok(_) => {
+                    std::thread::sleep(Duration::from_millis(1));
+                }
+                Err(ref e) if e.kind() == std::io::ErrorKind::TimedOut => {
+                    continue;
+                }
+                Err(e) => {
+                    eprintln!("[serial] hand gateway read error: {e}");
+                    return;
+                }
+            }
+        }
+    }
+}
+
+fn format_hex_bytes(bytes: &[u8]) -> String {
+    bytes
+        .iter()
+        .map(|byte| format!("{byte:02X}"))
+        .collect::<Vec<_>>()
+        .join(" ")
+}
+
 fn publish_stats(stats_tx: Option<&Sender<SerialIoStats>>, stats: SerialIoStats) {
     if let Some(tx) = stats_tx {
         let _ = tx.try_send(stats);

src/serial_core/utils.rs

@@ -26,13 +26,17 @@ pub fn calc_crc8_itu(c: &[u8]) -> u8 {
     crc8_itu_alg.checksum(c)
 }
 
+pub fn calc_crc8_itu_xor55(c: &[u8]) -> u8 {
+    calc_crc8_itu(c) ^ 0x55
+}
+
 pub fn elapsed_millis(start_at: Instant) -> u64 {
     start_at.elapsed().as_millis() as u64
 }
 
 #[cfg(test)]
 mod test {
-    use crate::serial_core::utils::{calc_crc8_itu, calc_crc8_smbus};
+    use crate::serial_core::utils::{calc_crc8_itu, calc_crc8_itu_xor55, calc_crc8_smbus};
 
     #[test]
     fn test_crc8_itu() {
@@ -51,4 +55,10 @@ mod test {
         let checksum = calc_crc8_smbus(req_vec.as_slice());
         assert_eq!(checksum, 0x2F);
     }
+
+    #[test]
+    fn test_crc8_itu_xor55() {
+        let req_vec = vec![0x55, 0xAA, 0x07, 0x00, 0x01, 0x01, 0xFF, 0xFF, 0xFF, 0xFF];
+        assert_eq!(calc_crc8_itu_xor55(req_vec.as_slice()), 0xFD);
+    }
 }

src/style.rs

@@ -1,4 +1,4 @@
-use eframe::egui;
+use eframe::egui::{self, Color32};
 
 #[derive(Clone, Copy)]
 pub struct AppTheme {
@@ -29,7 +29,7 @@ pub struct DesignMetrics {
 }
 
 pub const ONE_DARK_PRO: AppTheme = AppTheme {
-    bg: egui::Color32::from_rgb(30, 40, 50),
+    bg: egui::Color32::BLACK,
     panel: egui::Color32::from_rgb(22, 28, 35),
     panel_strong: egui::Color32::from_rgb(34, 43, 54),
     panel_deep: egui::Color32::from_rgb(15, 20, 27),
@@ -61,6 +61,7 @@ pub const METRICS: DesignMetrics = DesignMetrics {
 
 pub mod layout {
     pub const TITLE_BAR_HEIGHT: f32 = 36.0;
+    pub const CONFIG_BAR_HEIGHT: f32 = 48.0;
     pub const CENTER_PANEL_TOP: f32 = 48.0;
     pub const LEFT_X: f32 = 24.0;
     pub const RIGHT_X: f32 = 1328.0;
@@ -76,7 +77,7 @@ pub fn apply_theme(ctx: &egui::Context, theme: &AppTheme) {
     visuals.override_text_color = Some(theme.text);
     visuals.panel_fill = theme.bg;
     visuals.window_fill = theme.panel;
-    visuals.window_stroke = egui::Stroke::new(1.0, theme.border);
+    visuals.window_stroke = egui::Stroke::new(1.0_f32, theme.border);
     visuals.extreme_bg_color = theme.panel_deep;
     visuals.faint_bg_color = theme.panel_strong;
     visuals.code_bg_color = theme.panel_deep;
@@ -84,23 +85,23 @@ pub fn apply_theme(ctx: &egui::Context, theme: &AppTheme) {
     visuals.error_fg_color = ACCENT_RED;
 
     visuals.widgets.noninteractive.bg_fill = theme.panel_strong;
-    visuals.widgets.noninteractive.bg_stroke = egui::Stroke::new(1.0, theme.border_soft);
+    visuals.widgets.noninteractive.bg_stroke = egui::Stroke::new(1.0_f32, theme.border_soft);
-    visuals.widgets.noninteractive.fg_stroke = egui::Stroke::new(1.0, theme.text);
+    visuals.widgets.noninteractive.fg_stroke = egui::Stroke::new(1.0_f32, theme.text);
     visuals.widgets.inactive.bg_fill = theme.panel_strong;
-    visuals.widgets.inactive.bg_stroke = egui::Stroke::new(1.0, theme.border_soft);
+    visuals.widgets.inactive.bg_stroke = egui::Stroke::new(1.0_f32, theme.border_soft);
-    visuals.widgets.inactive.fg_stroke = egui::Stroke::new(1.0, theme.text);
+    visuals.widgets.inactive.fg_stroke = egui::Stroke::new(1.0_f32, theme.text);
     visuals.widgets.hovered.bg_fill = egui::Color32::from_rgb(44, 57, 70);
-    visuals.widgets.hovered.bg_stroke = egui::Stroke::new(1.0, theme.accent);
+    visuals.widgets.hovered.bg_stroke = egui::Stroke::new(1.0_f32, theme.accent);
-    visuals.widgets.hovered.fg_stroke = egui::Stroke::new(1.0, egui::Color32::WHITE);
+    visuals.widgets.hovered.fg_stroke = egui::Stroke::new(1.0_f32, egui::Color32::WHITE);
     visuals.widgets.active.bg_fill = theme.accent;
-    visuals.widgets.active.bg_stroke = egui::Stroke::new(1.0, theme.accent_hot);
+    visuals.widgets.active.bg_stroke = egui::Stroke::new(1.0_f32, theme.accent_hot);
-    visuals.widgets.active.fg_stroke = egui::Stroke::new(1.0, egui::Color32::WHITE);
+    visuals.widgets.active.fg_stroke = egui::Stroke::new(1.0_f32, egui::Color32::WHITE);
     visuals.widgets.open.bg_fill = egui::Color32::from_rgb(39, 50, 62);
-    visuals.widgets.open.bg_stroke = egui::Stroke::new(1.0, theme.accent);
+    visuals.widgets.open.bg_stroke = egui::Stroke::new(1.0_f32, theme.accent);
-    visuals.widgets.open.fg_stroke = egui::Stroke::new(1.0, theme.text);
+    visuals.widgets.open.fg_stroke = egui::Stroke::new(1.0_f32, theme.text);
 
     visuals.selection.bg_fill = egui::Color32::from_rgb(35, 123, 140);
-    visuals.selection.stroke = egui::Stroke::new(1.0, egui::Color32::WHITE);
+    visuals.selection.stroke = egui::Stroke::new(1.0_f32, egui::Color32::WHITE);
     visuals.hyperlink_color = theme.accent_hot;
     ctx.set_visuals(visuals);
 
@@ -126,8 +127,8 @@ pub fn apply_fonts(ctx: &egui::Context) {
     let mut fonts = egui::FontDefinitions::default();
 
     fonts.font_data.insert(
-        "Hack-Bold".to_owned(),
+        "MapleMono-NF-CN-Bold".to_owned(),
-        egui::FontData::from_static(include_bytes!("../static/Hack-Bold.ttf")).into(),
+        egui::FontData::from_static(include_bytes!("../static/MapleMono-NF-CN-Bold.ttf")).into(),
     );
 
     let has_yahei = std::fs::read(r"C:\Windows\Fonts\msyh.ttc")
@@ -144,7 +145,7 @@ pub fn apply_fonts(ctx: &egui::Context) {
         .families
         .entry(egui::FontFamily::Proportional)
         .or_default()
-        .insert(0, "Hack-Bold".to_owned());
+        .insert(0, "MapleMono-NF-CN-Bold".to_owned());
     if has_yahei {
         fonts
             .families
@@ -157,7 +158,7 @@ pub fn apply_fonts(ctx: &egui::Context) {
         .families
         .entry(egui::FontFamily::Monospace)
         .or_default()
-        .insert(0, "Hack-Bold".to_owned());
+        .insert(0, "MapleMono-NF-CN-Bold".to_owned());
     if has_yahei {
         fonts
             .families
@@ -173,7 +174,7 @@ pub fn panel_frame(ctx: &egui::Context) -> egui::Frame {
     let style = ctx.global_style();
     egui::Frame::window(&style)
         .fill(ONE_DARK_PRO.panel)
-        .stroke(egui::Stroke::new(1.0, ONE_DARK_PRO.border))
+        .stroke(egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border))
         .corner_radius(egui::CornerRadius::same(ONE_DARK_PRO.radius))
         .inner_margin(egui::Margin::same(METRICS.panel_padding))
         .shadow(egui::epaint::Shadow {
@@ -197,7 +198,7 @@ pub fn center_panel_frame() -> egui::Frame {
 pub fn group_frame() -> egui::Frame {
     egui::Frame::new()
         .fill(ONE_DARK_PRO.panel_deep)
-        .stroke(egui::Stroke::new(1.0, ONE_DARK_PRO.border_soft))
+        .stroke(egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border_soft))
         .corner_radius(egui::CornerRadius::same(4))
         .inner_margin(egui::Margin::symmetric(
             METRICS.group_padding_x,
@@ -208,7 +209,20 @@ pub fn group_frame() -> egui::Frame {
 pub fn tag_button(label: impl Into<egui::WidgetText>) -> egui::Button<'static> {
     egui::Button::new(label)
         .fill(ONE_DARK_PRO.panel_strong)
-        .stroke(egui::Stroke::new(1.0, ONE_DARK_PRO.border))
+        .stroke(egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border))
+        .corner_radius(egui::CornerRadius::same(4))
+        .min_size(egui::vec2(0.0, METRICS.button_height))
+}
+
+pub fn rich_tag_button(
+    label: impl Into<String>,
+    color: impl Into<Color32>,
+) -> egui::Button<'static> {
+    let text = egui::RichText::new(label.into()).color(color);
+
+    egui::Button::new(text)
+        .fill(ONE_DARK_PRO.panel_strong)
+        .stroke(egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border))
         .corner_radius(egui::CornerRadius::same(4))
         .min_size(egui::vec2(0.0, METRICS.button_height))
 }
@@ -216,7 +230,7 @@ pub fn tag_button(label: impl Into<egui::WidgetText>) -> egui::Button<'static> {
 pub fn primary_button(label: impl Into<egui::WidgetText>) -> egui::Button<'static> {
     egui::Button::new(label)
         .fill(ONE_DARK_PRO.accent)
-        .stroke(egui::Stroke::new(1.0, ONE_DARK_PRO.accent_hot))
+        .stroke(egui::Stroke::new(1.0_f32, ONE_DARK_PRO.accent_hot))
         .corner_radius(egui::CornerRadius::same(4))
         .min_size(egui::vec2(112.0, METRICS.button_height))
 }
@@ -225,7 +239,7 @@ pub fn danger_button(label: impl Into<egui::WidgetText>) -> egui::Button<'static
     egui::Button::new(label)
         .fill(ACCENT_RED)
         .stroke(egui::Stroke::new(
-            1.0,
+            1.0_f32,
             egui::Color32::from_rgb(255, 138, 126),
         ))
         .corner_radius(egui::CornerRadius::same(4))
@@ -238,7 +252,7 @@ pub fn accent_button(
 ) -> egui::Button<'static> {
     egui::Button::new(label)
         .fill(fill)
-        .stroke(egui::Stroke::new(1.0, ONE_DARK_PRO.border))
+        .stroke(egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border))
         .corner_radius(egui::CornerRadius::same(4))
         .min_size(egui::vec2(0.0, METRICS.button_height))
 }
@@ -257,7 +271,7 @@ pub fn mode_button(label: &'static str, selected: bool) -> egui::Button<'static>
 
     egui::Button::new(egui::RichText::new(label).color(egui::Color32::WHITE))
         .fill(fill)
-        .stroke(egui::Stroke::new(1.0, stroke))
+        .stroke(egui::Stroke::new(1.0_f32, stroke))
         .corner_radius(egui::CornerRadius::same(4))
         .min_size(egui::vec2(96.0, METRICS.button_height))
 }
@@ -265,7 +279,7 @@ pub fn mode_button(label: &'static str, selected: bool) -> egui::Button<'static>
 pub fn icon_button<'a>(icon: impl Into<egui::WidgetText>, size: egui::Vec2) -> egui::Button<'a> {
     egui::Button::new(icon)
         .fill(ONE_DARK_PRO.panel_strong)
-        .stroke(egui::Stroke::new(1.0, ONE_DARK_PRO.border))
+        .stroke(egui::Stroke::new(1.0_f32, ONE_DARK_PRO.border))
         .corner_radius(egui::CornerRadius::same(4))
         .min_size(size)
 }

src/texture.rs

@@ -187,6 +187,7 @@ impl Texture {
         )
     }
 
+    #[allow(clippy::too_many_arguments)]
     pub fn from_rgba8_with_sampler(
         device: &wgpu::Device,
         queue: &wgpu::Queue,

src/theme.rs

@@ -83,53 +83,6 @@ pub fn apply_theme(ctx: &egui::Context, theme: &AppTheme) {
     ctx.set_global_style(style);
 }
 
-pub fn apply_fonts(ctx: &egui::Context) {
-    let mut fonts = egui::FontDefinitions::default();
-
-    fonts.font_data.insert(
-        "Hack-Bold".to_owned(),
-        egui::FontData::from_static(include_bytes!("../static/Hack-Bold.ttf")).into(),
-    );
-
-    let has_yahei = std::fs::read(r"C:\Windows\Fonts\msyh.ttc")
-        .or_else(|_| std::fs::read(r"C:\Windows\Fonts\msyhbd.ttc"))
-        .map(|font_data| {
-            fonts.font_data.insert(
-                "Microsoft-YaHei".to_owned(),
-                egui::FontData::from_owned(font_data).into(),
-            );
-        })
-        .is_ok();
-
-    fonts
-        .families
-        .entry(egui::FontFamily::Proportional)
-        .or_default()
-        .insert(0, "Hack-Bold".to_owned());
-    if has_yahei {
-        fonts
-            .families
-            .entry(egui::FontFamily::Proportional)
-            .or_default()
-            .push("Microsoft-YaHei".to_owned());
-    }
-
-    fonts
-        .families
-        .entry(egui::FontFamily::Monospace)
-        .or_default()
-        .insert(0, "Hack-Bold".to_owned());
-    if has_yahei {
-        fonts
-            .families
-            .entry(egui::FontFamily::Monospace)
-            .or_default()
-            .push("Microsoft-YaHei".to_owned());
-    }
-
-    ctx.set_fonts(fonts);
-}
-
 pub fn panel_frame(ctx: &egui::Context) -> egui::Frame {
     let style = ctx.global_style();
     egui::Frame::window(&style)

src/utils.rs

@@ -1,4 +1,3 @@
-use anyhow;
 use serialport::available_ports;
 
 pub fn serial_enum() -> anyhow::Result<Vec<String>> {

static/wgsl/shader.wgsl

@@ -126,15 +126,7 @@ fn vs_background(@builtin(vertex_index) vertex_index: u32) -> BackgroundVertexOu
 
 @fragment
 fn fs_background(@builtin(position) frag_coord: vec4f) -> @location(0) vec4f {
-    let pixel = frag_coord.xy;
+    return output_color(vec3f(0.0, 0.0, 0.0), 1.0);
-    let viewport = u.viewport.xy;
-    let uv = pixel / max(viewport, vec2f(1.0, 1.0));
-    var color = mix(vec3f(0.018, 0.019, 0.022), vec3f(0.038, 0.040, 0.046), 1.0 - uv.y);
-    let vignette = smoothstep(0.18, 0.92, length((uv - vec2f(0.52, 0.48)) * vec2f(viewport.x / viewport.y, 1.0)));
-    color *= 1.0 - vignette * 0.22;
-    color += vec3f(0.010, 0.010, 0.012) * (1.0 - smoothstep(0.0, 0.85, abs(uv.y - 0.50)));
-
-    return output_color(color, 1.0);
 }
 
 
@@ -357,10 +349,8 @@ fn circle_alpha(local: vec2f, radius: f32, softness: f32) -> f32 {
     return 1.0 - smoothstep(radius, radius + softness, dist);
 }
 
-// Convert a point authored in hand.png UV space into clip space.
+// Convert a point authored in sensor-canvas UV space into aspect-fitted clip space.
-// This mirrors fs_hand_image's aspect-fit math, so fingertip dots stay attached
+fn sensor_canvas_uv_to_clip(image_uv: vec2f) -> vec2f {
-// to the same image pixels when the app window changes shape.
-fn hand_image_uv_to_clip(image_uv: vec2f) -> vec2f {
     let viewport_aspect = u.viewport.x / max(u.viewport.y, 1.0);
     let image_aspect = u.image.x / max(u.image.y, 1.0);
 
@@ -428,7 +418,7 @@ fn vs_hand_membrane(vertex: DotVertexInput, instance: DotInstanceInput) -> HandM
     let image_uv = (center_px + rotate_2d(local_px, angle)) / max(u.image.xy, vec2f(1.0, 1.0));
 
     var out: HandMembraneVertexOutput;
-    out.clip_position = vec4f(hand_image_uv_to_clip(image_uv), 0.0, 1.0);
+    out.clip_position = vec4f(sensor_canvas_uv_to_clip(image_uv), 0.0, 1.0);
     out.local = vertex.local;
     return out;
 }
@@ -478,7 +468,7 @@ fn vs_hand_dot(vertex: DotVertexInput, instance: DotInstanceInput) -> DotVertexO
     let shaped = smoothstep(0.0, 1.0, intensity);
 
     // Hand instances store hand.png UV in world_position.xy instead of 3D world space.
-    let center = hand_image_uv_to_clip(instance.world_position.xy);
+    let center = sensor_canvas_uv_to_clip(instance.world_position.xy);
     // Hand fingertip matrices are much smaller than the full Finger view.
     // Keep each bead below the local cell spacing so the 12x7 matrix remains visibly separated.
     let pixel_size = u.glyph.x * mix(0.22, 0.34, shaped);
@@ -497,86 +487,25 @@ fn fs_hand_dot(in: DotVertexOutput) -> @location(0) vec4f {
 
     // Use a compact bead so the response feels like it lives on the membrane mesh.
     let core = circle_alpha(in.local, 0.48, 0.07);
-    let halo = circle_alpha(in.local, 0.74, 0.14) * 0.12;
+    let halo = circle_alpha(in.local, 0.74, 0.14) * (0.10 + intensity * 0.26);
 
-    // Keep the fingertip matrix visually close to JE-Skin's cyan model dots,
+    // Match Finger mode's pressure gradient so each hand region remains readable.
-    // while still letting pressure brighten the bead a little.
+    let idle = vec3f(0.060, 0.250, 0.320);
-    let cyan = vec3f(0.34, 0.86, 1.0);
+    let gradient = sample_range_color(intensity);
-    let hot = sample_range_color(intensity);
+    let color = mix(idle, gradient, smoothstep(0.0, 0.18, intensity))
-    let color = mix(cyan, hot, 0.22) * mix(0.82, 1.16, intensity);
+        * mix(0.78, 1.18, intensity);
 
     return output_color(color, max(core, halo));
 }
 
-fn chip_pixel_alpha(local: vec2f, half_size: f32, softness: f32) -> f32 {
-    let q = abs(local) - vec2f(half_size, half_size);
-    let dist = length(max(q, vec2f(0.0, 0.0))) + min(max(q.x, q.y), 0.0);
-    return 1.0 - smoothstep(0.0, softness, dist);
-}
-
-struct HandPalmChipVertexOutput {
-    @builtin(position) clip_position: vec4f,
-    @location(0) local: vec2f,
-    @location(1) grid: vec2f,
-}
-
-@vertex
-fn vs_hand_palm_chip(vertex: DotVertexInput, instance: DotInstanceInput) -> HandPalmChipVertexOutput {
-    let center_px = instance.world_position.xy * u.image.xy;
-    let size_px = instance.style.yz;
-    let angle = instance.style.x;
-    let packed_shape = instance.style.w;
-    let shape_rows = floor(packed_shape / 100.0);
-    let shape_cols = max(packed_shape - shape_rows * 100.0, 1.0);
-    let local_px = vertex.local * size_px * 0.5;
-    let image_uv = (center_px + rotate_2d(local_px, angle)) / max(u.image.xy, vec2f(1.0, 1.0));
-
-    var out: HandPalmChipVertexOutput;
-    out.clip_position = vec4f(hand_image_uv_to_clip(image_uv), 0.0, 1.0);
-    out.local = vertex.local;
-    out.grid = vec2f(shape_cols, max(shape_rows, 1.0));
-    return out;
-}
-
-@fragment
-fn fs_hand_palm_chip(in: HandPalmChipVertexOutput) -> @location(0) vec4f {
-    // Dark rounded tile: this is the inset chip body sitting inside the palm surface.
-    let panel = rounded_rect_alpha(in.local, 0.10, 0.040);
-    let inset = rounded_rect_alpha(in.local * vec2f(1.10, 1.08), 0.08, 0.052);
-    let rim = clamp(panel - inset * 0.72, 0.0, 1.0);
-
-    // Inactive chip pixels use the chip's real hand layout:
-    // horizontal 14 columns x 5 rows, or vertical 4 columns x 11 rows.
-    let uv = clamp(in.local * 0.5 + vec2f(0.5, 0.5), vec2f(0.0, 0.0), vec2f(1.0, 1.0));
-    let cell = abs(fract(uv * in.grid) - vec2f(0.5, 0.5));
-    let micro_pixel = 1.0 - smoothstep(0.105, 0.178, length(cell * vec2f(1.04, 0.94)));
-
-    let top_bevel = smoothstep(-0.96, -0.18, -in.local.y) * 0.16;
-    let lower_shadow = smoothstep(0.20, 0.92, in.local.y) * 0.22;
-    let side_bevel = smoothstep(0.58, 0.96, abs(in.local.x)) * 0.12;
-    let scan = (0.5 + 0.5 * sin((uv.y * 36.0 + uv.x * 7.0) * 6.28318)) * 0.026;
-
-    let base = vec3f(0.004, 0.012, 0.018);
-    let glass = vec3f(0.012, 0.048, 0.064);
-    let pixel_color = vec3f(0.075, 0.300, 0.360);
-    let rim_color = vec3f(0.060, 0.560, 0.670);
-    let color = base * (0.92 - lower_shadow)
-        + glass * (0.52 + top_bevel + side_bevel + scan)
-        + pixel_color * micro_pixel * 0.70
-        + rim_color * rim * 0.60;
-
-    let alpha = panel * (0.64 + micro_pixel * 0.18 + rim * 0.20);
-    return output_color(color, alpha);
-}
-
 @vertex
 fn vs_hand_palm_dot(vertex: DotVertexInput, instance: DotInstanceInput) -> DotVertexOutput {
     let intensity = saturate(instance.style.x);
     let shaped = smoothstep(0.0, 1.0, intensity);
 
-    // Palm chip pixels are deliberately smaller than fingertip beads so they read as a chip matrix.
+    // Use the same on-screen point size as Finger mode.
-    let center = hand_image_uv_to_clip(instance.world_position.xy);
+    let center = sensor_canvas_uv_to_clip(instance.world_position.xy);
-    let pixel_size = u.glyph.x * mix(0.13, 0.25, shaped);
+    let pixel_size = u.glyph.x * mix(1.07, 2.23, shaped);
     let ndc_offset = vertex.local * vec2f(pixel_size / u.viewport.x, pixel_size / u.viewport.y) * 2.0;
 
     var out: DotVertexOutput;
@@ -589,16 +518,11 @@ fn vs_hand_palm_dot(vertex: DotVertexInput, instance: DotInstanceInput) -> DotVe
 @fragment
 fn fs_hand_palm_dot(in: DotVertexOutput) -> @location(0) vec4f {
     let intensity = saturate(in.intensity);
-    let pixel = chip_pixel_alpha(in.local, 0.52, 0.070);
+    let base_color = sample_range_color(intensity);
-    let glow = circle_alpha(in.local, 0.95, 0.22) * intensity * 0.30;
 
-    let cold = vec3f(0.070, 0.340, 0.360);
+    let alpha = circle_alpha(in.local, 0.46, 0.045);
-    let active_color = mix(vec3f(0.110, 0.620, 0.420), vec3f(0.460, 1.000, 0.210), smoothstep(0.08, 1.0, intensity));
+    let color = base_color * mix(0.86, 1.06, intensity);
-    let color = mix(cold, active_color, smoothstep(0.02, 0.72, intensity))
-        * (0.54 + intensity * 1.10)
-        + vec3f(0.28, 1.0, 0.36) * glow * 0.90;
 
-    let alpha = max(pixel * (0.20 + intensity * 0.76), glow);
     return output_color(color, alpha);
 }
 

wix/main.wxs

@@ -0,0 +1,254 @@
+<?xml version='1.0' encoding='windows-1252'?>
+<!--
+  Copyright (C) 2017 Christopher R. Field.
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+  http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<!--
+  The "cargo wix" subcommand provides a variety of predefined variables available
+  for customization of this template. The values for each variable are set at
+  installer creation time. The following variables are available:
+
+  TargetTriple      = The rustc target triple name.
+  TargetEnv         = The rustc target environment. This is typically either
+                      "msvc" or "gnu" depending on the toolchain downloaded and
+                      installed.
+  TargetVendor      = The rustc target vendor. This is typically "pc", but Rust
+                      does support other vendors, like "uwp".
+  CargoTargetBinDir = The complete path to the directory containing the
+                      binaries (exes) to include. The default would be
+                      "target\release\". If an explicit rustc target triple is
+                      used, i.e. cross-compiling, then the default path would
+                      be "target\<CARGO_TARGET>\<CARGO_PROFILE>",
+                      where "<CARGO_TARGET>" is replaced with the "CargoTarget"
+                      variable value and "<CARGO_PROFILE>" is replaced with the
+                      value from the "CargoProfile" variable. This can also
+                      be overridden manually with the "target-bin-dir" flag.
+  CargoTargetDir    = The path to the directory for the build artifacts, i.e.
+                      "target".
+  CargoProfile      = The cargo profile used to build the binaries
+                      (usually "debug" or "release").
+  Version           = The version for the installer. The default is the
+                      "Major.Minor.Fix" semantic versioning number of the Rust
+                      package.
+-->
+
+<!--
+  Please do not remove these pre-processor If-Else blocks. These are used with
+  the `cargo wix` subcommand to automatically determine the installation
+  destination for 32-bit versus 64-bit installers. Removal of these lines will
+  cause installation errors.
+-->
+<?if $(sys.BUILDARCH) = x64 or $(sys.BUILDARCH) = arm64 ?>
+    <?define PlatformProgramFilesFolder = "ProgramFiles64Folder" ?>
+<?else ?>
+    <?define PlatformProgramFilesFolder = "ProgramFilesFolder" ?>
+<?endif ?>
+
+<Wix xmlns='http://schemas.microsoft.com/wix/2006/wi'>
+
+    <Product
+        Id='*'
+        Name='eskin-model-player'
+        UpgradeCode='7CEF316B-BE23-4533-B4B2-87D06D2230B5'
+        Manufacturer='JOYSONQUIN'
+        Language='1033'
+        Codepage='1252'
+        Version='$(var.Version)'>
+
+        <Package Id='*'
+            Keywords='Installer'
+            Description='Desktop pressure sensor visualization and playback application.'
+            Manufacturer='JOYSONQUIN'
+            InstallerVersion='450'
+            Languages='1033'
+            Compressed='yes'
+            InstallScope='perUser'
+            InstallPrivileges='limited'
+            SummaryCodepage='1252'
+            />
+
+        <MajorUpgrade
+            Schedule='afterInstallInitialize'
+            DowngradeErrorMessage='A newer version of [ProductName] is already installed. Setup will now exit.'/>
+
+        <Media Id='1' Cabinet='media1.cab' EmbedCab='yes' DiskPrompt='CD-ROM #1'/>
+        <Property Id='DiskPrompt' Value='eskin-model-player Installation'/>
+
+        <Directory Id='TARGETDIR' Name='SourceDir'>
+            <Directory Id='LocalAppDataFolder'>
+                <Directory Id='APPLICATIONFOLDER' Name='eskin-model-player'>
+                    
+                    <!--
+                      Enabling the license sidecar file in the installer is a four step process:
+
+                      1. Uncomment the `Component` tag and its contents.
+                      2. Change the value for the `Source` attribute in the `File` tag to a path
+                         to the file that should be included as the license sidecar file. The path
+                         can, and probably should be, relative to this file.
+                      3. Change the value for the `Name` attribute in the `File` tag to the
+                         desired name for the file when it is installed alongside the `bin` folder
+                         in the installation directory. This can be omitted if the desired name is
+                         the same as the file name.
+                      4. Uncomment the `ComponentRef` tag with the Id attribute value of "License"
+                         further down in this file.
+                    -->
+                    <!--
+                    <Component Id='License' Guid='*'>
+                        <File Id='LicenseFile' Name='ChangeMe' DiskId='1' Source='C:\Path\To\File' KeyPath='yes'/>
+                    </Component>
+                    -->
+
+                    <Directory Id='Bin' Name='bin'>
+                        <Component Id='Path' Guid='FD230ABD-75B9-47D4-870B-CF2EA72B76BE'>
+                            <RegistryValue
+                                Root='HKCU'
+                                Key='Software\JOYSONQUIN\eskin-model-player'
+                                Name='PathComponent'
+                                Type='integer'
+                                Value='1'
+                                KeyPath='yes'/>
+                            <RemoveFolder Id='RemoveBinFolder' Directory='Bin' On='uninstall'/>
+                            <RemoveFolder Id='RemoveApplicationFolder' Directory='APPLICATIONFOLDER' On='uninstall'/>
+                            <Environment
+                                Id='PATH'
+                                Name='PATH'
+                                Value='[Bin]'
+                                Permanent='no'
+                                Part='last'
+                                Action='set'
+                                System='no'/>
+                        </Component>
+                        <Component Id='binary0' Guid='302CAFB5-6951-426B-BC5A-988C351A2CF2'>
+                            <RegistryValue
+                                Root='HKCU'
+                                Key='Software\JOYSONQUIN\eskin-model-player'
+                                Name='BinaryComponent'
+                                Type='integer'
+                                Value='1'
+                                KeyPath='yes'/>
+                            <File
+                                Id='exe0'
+                                Name='ESkinPlayer.exe'
+                                DiskId='1'
+                                Source='$(var.CargoTargetBinDir)\ESkinPlayer.exe'/>
+                        </Component>
+                    </Directory>
+                </Directory>
+            </Directory>
+        </Directory>
+
+        <Feature
+            Id='Binaries'
+            Title='Application'
+            Description='Installs all binaries and the license.'
+            Level='1'
+            ConfigurableDirectory='APPLICATIONFOLDER'
+            AllowAdvertise='no'
+            Display='expand'
+            Absent='disallow'>
+            
+            <!--
+              Uncomment the following `ComponentRef` tag to add the license
+              sidecar file to the installer.
+            -->
+            <!--<ComponentRef Id='License'/>-->
+
+            <ComponentRef Id='binary0'/>
+
+            <Feature
+                Id='Environment'
+                Title='PATH Environment Variable'
+                Description='Add the install location of the [ProductName] executable to the PATH system environment variable. This allows the [ProductName] executable to be called from any location.'
+                Level='1'
+                Absent='allow'>
+                <ComponentRef Id='Path'/>
+            </Feature>
+        </Feature>
+
+        <SetProperty Id='ARPINSTALLLOCATION' Value='[APPLICATIONFOLDER]' After='CostFinalize'/>
+
+        
+        <!--
+          Uncomment the following `Icon` and `Property` tags to change the product icon.
+
+          The product icon is the graphic that appears in the Add/Remove
+          Programs control panel for the application.
+        -->
+        <!--<Icon Id='ProductICO' SourceFile='wix\Product.ico'/>-->
+        <!--<Property Id='ARPPRODUCTICON' Value='ProductICO' />-->
+
+        
+        <!--
+          Adding a URL to Add/Remove Programs control panel listing for the
+          application is a two step process:
+
+          1. Uncomment the following `Property` tag with the "ARPHELPLINK" Id
+             attribute value.
+          2. Change the value for `Value` attribute of the following
+             `Property` tag to a valid URL.
+        -->
+        <!--<Property Id='ARPHELPLINK' Value='ChangeMe'/>-->
+
+        <UI>
+            <UIRef Id='WixUI_FeatureTree'/>
+            
+            <!--
+              Enabling the EULA dialog in the installer is a three step process:
+
+                1. Comment out or remove the two `Publish` tags that follow the
+                   `WixVariable` tag.
+                2. Uncomment the `<WixVariable Id='WixUILicenseRtf' Value='Path\to\Eula.rft'>` tag further down
+                3. Replace the `Value` attribute of the `WixVariable` tag with
+                   the path to a RTF file that will be used as the EULA and
+                   displayed in the license agreement dialog.
+            -->
+            <Publish Dialog='WelcomeDlg' Control='Next' Event='NewDialog' Value='CustomizeDlg' Order='99'>1</Publish>
+            <Publish Dialog='CustomizeDlg' Control='Back' Event='NewDialog' Value='WelcomeDlg' Order='99'>1</Publish>
+
+        </UI>
+
+        
+        <!--
+          Enabling the EULA dialog in the installer requires uncommenting
+          the following `WixUILicenseRTF` tag and changing the `Value`
+          attribute.
+        -->
+        <!-- <WixVariable Id='WixUILicenseRtf' Value='Relative\Path\to\Eula.rtf'/> -->
+
+        
+        <!--
+          Uncomment the next `WixVariable` tag to customize the installer's
+          Graphical User Interface (GUI) and add a custom banner image across
+          the top of each screen. See the WiX Toolset documentation for details
+          about customization.
+
+          The banner BMP dimensions are 493 x 58 pixels.
+        -->
+        <!--<WixVariable Id='WixUIBannerBmp' Value='wix\Banner.bmp'/>-->
+
+        
+        <!--
+          Uncomment the next `WixVariable` tag to customize the installer's
+          Graphical User Interface (GUI) and add a custom image to the first
+          dialog, or screen. See the WiX Toolset documentation for details about
+          customization.
+
+          The dialog BMP dimensions are 493 x 312 pixels.
+        -->
+        <!--<WixVariable Id='WixUIDialogBmp' Value='wix\Dialog.bmp'/>-->
+
+    </Product>
+
+</Wix>