Improve panel layout and per-user installer

.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

@@ -1,4 +1,6 @@
+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};
@@ -6,25 +8,28 @@ use crate::ui::SerialMode;
 use crate::{
     matrix::{MATRIX_COLS, MATRIX_ROWS},
     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_matrix_config_panel,
-        panel_restore_item,
+        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 HAND_FORCE_PANEL_COUNT: usize = 7;
+const HAND_FORCE_SEGMENT_COUNTS: [usize; HAND_FORCE_PANEL_COUNT] = [84, 84, 84, 84, 84, 70, 44];
 
 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,
@@ -36,6 +41,16 @@ 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,
+    breakout_visible: bool,
+    breakout_game: BreakoutGame,
+    context_menu_open: bool,
+    context_menu_pos: egui::Pos2,
     active_mode: ActiveMode,
 }
 
@@ -66,7 +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],
@@ -92,6 +107,16 @@ 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,
+            breakout_visible: false,
+            breakout_game: BreakoutGame::default(),
+            context_menu_open: false,
+            context_menu_pos: egui::pos2(24.0, 48.0),
             active_mode: ActiveMode::Finger(FingerMode {
                 rows: 12,
                 cols: 7,
@@ -101,10 +126,7 @@ impl EskinDesktopApp {
         }
     }
 
-    fn draw_wgpu_background(&mut self, ui: &mut egui::Ui) {
+    fn draw_wgpu_background_rect(&self, ui: &mut egui::Ui, rect: egui::Rect) {
-        self.update_pressure_matrix();
-
-        let rect = ui.max_rect();
         let width = rect.width().max(1.0);
         let height = rect.height().max(1.0);
 
@@ -114,9 +136,84 @@ 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, glow));
+        painter.line_segment([center, end], egui::Stroke::new(2.4, color));
+        painter.line_segment(
+            [end, end - direction * 14.0 + side * 7.0],
+            egui::Stroke::new(2.4, color),
+        );
+        painter.line_segment(
+            [end, end - direction * 14.0 - side * 7.0],
+            egui::Stroke::new(2.4, color),
+        );
+        painter.circle_filled(center, 4.2, color);
+    }
+
+    fn draw_workspace(&mut self, ui: &mut egui::Ui) {
+        if self.breakout_visible {
+            self.draw_split_workspace(ui);
+        } else {
+            self.draw_wgpu_background_rect(ui, ui.max_rect());
+        }
+    }
+
+    fn draw_split_workspace(&mut self, ui: &mut egui::Ui) {
+        let screen = ui.max_rect();
+        let content = egui::Rect::from_min_max(
+            screen.left_top() + egui::vec2(0.0, layout::TITLE_BAR_HEIGHT),
+            screen.right_bottom(),
+        );
+        let gutter = 10.0;
+        let half_width = (content.width() - gutter).max(1.0) * 0.5;
+        let left = egui::Rect::from_min_size(content.min, egui::vec2(half_width, content.height()));
+        let right = egui::Rect::from_min_max(
+            egui::pos2(left.right() + gutter, content.top()),
+            content.right_bottom(),
+        );
+
+        ui.painter()
+            .rect_filled(screen, egui::CornerRadius::ZERO, ONE_DARK_PRO.bg);
+        paint_split_viewport_shell(ui, left, "DOTMATRIX", "压力矩阵 / WGPU");
+        paint_split_viewport_shell(ui, right, "BREAKOUT", "压力控制打砖块");
+
+        let left_body = split_viewport_body(left);
+        let right_body = split_viewport_body(right);
+        self.draw_wgpu_background_rect(ui, left_body);
+
+        let breakout_control = control_from_matrix(
+            &self.latest_raw_matrix,
+            self.latest_matrix_rows,
+            self.latest_matrix_cols,
+        );
+        self.breakout_game.draw_viewport(
+            ui.ctx(),
+            right_body,
+            &mut self.breakout_visible,
+            breakout_control,
+        );
     }
 
     fn update_pressure_matrix(&mut self) {
@@ -127,20 +224,29 @@ impl EskinDesktopApp {
                 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);
 
-            // Update signal history (sum of all pressure values)
+            // Keep JE-Skin's summary path separate from the optional spatial-force vector.
-            let total: f32 = sample.matrix.iter().map(|v| *v as f32).sum();
+            let raw_total = sample
-            self.signal_history.push(total);
+                .matrix
-            if self.signal_history.len() > 128 {
+                .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(25.6);
+            let force = if force <= 0.1 { 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.config_state.mode == SerialMode::Hand {
-            if self.data_log_frame % DATA_LOG_EVERY_FRAMES == 0 {
+                update_hand_signal_histories(&mut self.hand_signal_histories, &sample.matrix);
-                log_pressure_sample(&sample.matrix, sample.rows, sample.cols);
             }
         }
     }
@@ -258,12 +364,34 @@ impl EskinDesktopApp {
 
     fn draw_floating_panels(&mut self, ctx: &egui::Context) {
         // draw_scene_panel(ctx, &mut self.scene_panel);
-        if let Some(next_mode) =
+        // if self.config_state.mode == SerialMode::Hand && self.stats_panel.visible {
-            draw_config_panel(ctx, &mut self.config_panel, &mut self.config_state)
+        //     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,
+        ) {
             self.switch_mode(next_mode);
         }
-        draw_stats_panel(ctx, &mut self.stats_panel);
+        match self.config_state.mode {
+            SerialMode::Finger => {
+                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,
@@ -273,40 +401,108 @@ impl EskinDesktopApp {
         draw_matrix_config_panel(ctx, &mut self.matrix_config_panel, &mut self.matrix_config);
     }
 
-    fn draw_panel_context_menu(&mut self, ui: &mut egui::Ui) {
+    fn draw_panel_context_menu(&mut self, ctx: &egui::Context) {
-        let response = ui.interact(
+        let (secondary_clicked, pointer_pos, escape_pressed) = ctx.input(|input| {
-            ui.max_rect(),
+            (
-            egui::Id::new("workspace_panel_context_menu"),
+                input.pointer.secondary_clicked(),
-            egui::Sense::click(),
+                input.pointer.interact_pos(),
-        );
+                input.key_pressed(egui::Key::Escape),
+            )
+        });
 
-        response.context_menu(|ui| {
+        if secondary_clicked {
+            self.context_menu_open = true;
+            self.context_menu_pos = pointer_pos.unwrap_or(self.context_menu_pos);
+        }
+        if escape_pressed {
+            self.context_menu_open = false;
+        }
+        if !self.context_menu_open {
+            return;
+        }
+
+        let mut close_menu = false;
+        let response = egui::Area::new(egui::Id::new("workspace_context_menu_area"))
+            .fixed_pos(self.context_menu_pos)
+            .order(egui::Order::Foreground)
+            .show(ctx, |ui| {
+                egui::Frame::popup(ui.style()).show(ui, |ui| {
+                    ui.set_min_width(132.0);
                     ui.label("显示面板");
                     ui.separator();
 
                     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
+                        .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;
                         self.stats_panel.visible = true;
-                ui.close();
+                        self.breakout_visible = true;
+                        close_menu = true;
                     }
                 });
+            });
+
+        let clicked_outside = ctx.input(|input| {
+            input.pointer.primary_clicked()
+                && input
+                    .pointer
+                    .interact_pos()
+                    .is_some_and(|pos| !response.response.rect.contains(pos))
+        });
+        if close_menu || clicked_outside {
+            self.context_menu_open = false;
+        }
     }
 
     fn switch_mode(&mut self, next: SerialMode) {
         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 {
@@ -320,27 +516,114 @@ impl EskinDesktopApp {
     }
 }
 
-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 {
+    const RAW: [u32; 12] = [
+        0, 21382, 108507, 123183, 147405, 171105, 192395, 250443, 231423, 350560, 396616, 429444,
+    ];
+    const FORCE_CENTI_N: [f32; 12] = [
+        0.0, 57.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0, 2557.0,
+    ];
+
+    if raw <= RAW[0] {
+        return FORCE_CENTI_N[0] / 100.0;
+    }
+
+    if raw >= RAW[RAW.len() - 1] {
+        return FORCE_CENTI_N[FORCE_CENTI_N.len() - 1] / 100.0;
+    }
+
+    let mut left = 0usize;
+    let mut right = RAW.len() - 1;
+    while left + 1 < right {
+        let mid = (left + right) / 2;
+        if RAW[mid] <= raw {
+            left = mid;
+        } else {
+            right = mid;
+        }
+    }
+
+    let raw_left = RAW[left] as f32;
+    let raw_right = RAW[right] as f32;
+    let span = (raw_right - raw_left).max(1.0);
+    let ratio = (raw as f32 - raw_left) / span;
+
+    (FORCE_CENTI_N[left] + ratio * (FORCE_CENTI_N[right] - FORCE_CENTI_N[left])) / 100.0
+}
+
+fn paint_split_viewport_shell(
+    ui: &egui::Ui,
+    rect: egui::Rect,
+    title: &'static str,
+    subtitle: &'static str,
+) {
+    let painter = ui.painter();
+    painter.rect_filled(
+        rect,
+        egui::CornerRadius::same(8),
+        egui::Color32::from_rgb(11, 17, 23),
+    );
+    painter.rect_stroke(
+        rect,
+        egui::CornerRadius::same(8),
+        egui::Stroke::new(1.0, ONE_DARK_PRO.border_soft),
+        egui::StrokeKind::Outside,
+    );
+    painter.line_segment(
+        [
+            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),
+    );
+    painter.text(
+        rect.left_top() + egui::vec2(14.0, 16.0),
+        egui::Align2::LEFT_CENTER,
+        title,
+        egui::FontId::monospace(13.0),
+        ONE_DARK_PRO.accent,
+    );
+    painter.text(
+        rect.left_top() + egui::vec2(122.0, 16.0),
+        egui::Align2::LEFT_CENTER,
+        subtitle,
+        egui::FontId::proportional(12.0),
+        ONE_DARK_PRO.text_dim,
     );
 }
 
-fn normalize_pressure_sample(raw: &[u32], rows: u32, cols: u32, normalized: &mut PressureFrame) {
+fn split_viewport_body(rect: egui::Rect) -> egui::Rect {
-    const RANGE_MIN: f32 = 0.0;
+    egui::Rect::from_min_max(
-    const RANGE_MAX: f32 = 7000.0;
+        rect.left_top() + egui::vec2(10.0, 44.0),
+        rect.right_bottom() - egui::vec2(10.0, 10.0),
+    )
+}
 
+fn normalize_pressure_sample(raw: &[u32], rows: u32, cols: u32, normalized: &mut PressureFrame) {
     normalized.fill([0.0, 0.0]);
 
     let src_cols = cols.max(1);
@@ -352,27 +635,40 @@ 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]
-        }
-    }
 }
 
 impl eframe::App for EskinDesktopApp {
     fn ui(&mut self, ui: &mut egui::Ui, frame: &mut eframe::Frame) {
         let ctx = ui.ctx().clone();
 
-        self.draw_wgpu_background(ui);
+        self.update_pressure_matrix();
-        self.draw_panel_context_menu(ui);
+        self.draw_workspace(ui);
         self.draw_title_bar(ui, frame);
         self.draw_floating_panels(&ctx);
+        self.draw_panel_context_menu(&ctx);
 
         // Keep repainting while the wgpu background is a realtime viewport.
         ctx.request_repaint();

src/breakout.rs

@@ -0,0 +1,643 @@
+use eframe::egui;
+
+use crate::style::{self, ACCENT_BLUE, ACCENT_GREEN, ACCENT_ORANGE, ACCENT_RED, ONE_DARK_PRO};
+
+const BRICK_ROWS: usize = 7;
+const BRICK_COLS: usize = 12;
+const PADDLE_W: f32 = 0.24;
+const PADDLE_H: f32 = 0.030;
+const PADDLE_Y: f32 = 0.88;
+const PADDLE_SPEED: f32 = 0.92;
+const BALL_RADIUS: f32 = 0.010;
+const BALL_SPEED: f32 = 0.52;
+const MAX_BALL_SPEED: f32 = 0.86;
+const PRESSURE_RANGE_MIN: f32 = 0.0;
+const PRESSURE_RANGE_MAX: f32 = 7000.0;
+const PAUSE_COOLDOWN: f64 = 0.64;
+
+#[derive(Clone, Copy, PartialEq, Eq)]
+enum BreakoutPhase {
+    Idle,
+    Running,
+    Paused,
+    Over,
+}
+
+struct Brick {
+    rect: egui::Rect,
+    alive: bool,
+    flash: f32,
+}
+
+#[derive(Default, Clone, Copy)]
+pub struct BreakoutControl {
+    pub axis: f32,
+    pub top_force: f32,
+    pub left_force: f32,
+    pub right_force: f32,
+}
+
+pub struct BreakoutGame {
+    phase: BreakoutPhase,
+    bricks: Vec<Brick>,
+    paddle_x: f32,
+    ball_pos: egui::Pos2,
+    ball_vel: egui::Vec2,
+    score: u32,
+    combo: u32,
+    lives: u32,
+    level: u32,
+    last_time: Option<f64>,
+    previous_pause_gesture: bool,
+    pause_locked_until: f64,
+}
+
+impl Default for BreakoutGame {
+    fn default() -> Self {
+        let mut game = Self {
+            phase: BreakoutPhase::Idle,
+            bricks: Vec::new(),
+            paddle_x: 0.5,
+            ball_pos: egui::pos2(0.5, PADDLE_Y - PADDLE_H - BALL_RADIUS),
+            ball_vel: egui::vec2(0.0, 0.0),
+            score: 0,
+            combo: 0,
+            lives: 3,
+            level: 1,
+            last_time: None,
+            previous_pause_gesture: false,
+            pause_locked_until: 0.0,
+        };
+        game.rebuild_bricks();
+        game
+    }
+}
+
+impl BreakoutGame {
+    pub fn draw_viewport(
+        &mut self,
+        ctx: &egui::Context,
+        rect: egui::Rect,
+        visible: &mut bool,
+        control: BreakoutControl,
+    ) {
+        if !*visible {
+            self.last_time = None;
+            return;
+        }
+
+        ctx.request_repaint();
+        let now = ctx.input(|input| input.time);
+        let dt = self
+            .last_time
+            .map(|last| (now - last) as f32)
+            .unwrap_or(1.0 / 60.0)
+            .clamp(0.0, 1.0 / 30.0);
+        self.last_time = Some(now);
+
+        let mut close_requested = false;
+        egui::Area::new(egui::Id::new("breakout_game_viewport"))
+            .fixed_pos(rect.min)
+            .order(egui::Order::Middle)
+            .show(ctx, |ui| {
+                ui.set_min_size(rect.size());
+                ui.set_max_size(rect.size());
+                style::group_frame().show(ui, |ui| {
+                    ui.set_min_size(rect.size() - egui::vec2(20.0, 16.0));
+                    if self.draw_contents(ui, control, dt, now, true) {
+                        close_requested = true;
+                    }
+                });
+            });
+
+        if close_requested {
+            *visible = false;
+        }
+    }
+
+    fn draw_contents(
+        &mut self,
+        ui: &mut egui::Ui,
+        control: BreakoutControl,
+        dt: f32,
+        now: f64,
+        embedded: bool,
+    ) -> bool {
+        let mut close_requested = false;
+        ui.horizontal(|ui| {
+            ui.colored_label(
+                ACCENT_BLUE,
+                egui::RichText::new("NEON BREAKOUT").monospace().size(13.0),
+            );
+            ui.label(style::subtle_text("压力矩阵控制 / 左右分区驱动"));
+            ui.with_layout(egui::Layout::right_to_left(egui::Align::Center), |ui| {
+                if embedded && ui.add(style::tag_button("退出分屏")).clicked() {
+                    close_requested = true;
+                }
+                if ui.add(style::tag_button("重开")).clicked() {
+                    self.reset();
+                    self.start();
+                }
+                if ui.add(style::tag_button("暂停")).clicked() {
+                    self.toggle_pause();
+                }
+            });
+        });
+
+        ui.add_space(5.0);
+        ui.horizontal(|ui| {
+            status_chip(ui, "状态", self.status_text(), status_color(self.phase));
+            status_chip(ui, "分数", self.score.to_string(), ACCENT_GREEN);
+            status_chip(ui, "连击", self.combo.to_string(), ACCENT_ORANGE);
+            status_chip(ui, "生命", self.lives.to_string(), ACCENT_RED);
+            status_chip(ui, "关卡", self.level.to_string(), ACCENT_BLUE);
+        });
+
+        ui.add_space(7.0);
+        let available = ui.available_size();
+        let game_size = egui::vec2(available.x.max(500.0), (available.y - 6.0).max(330.0));
+        let (rect, response) = ui.allocate_exact_size(game_size, egui::Sense::click());
+        if response.clicked() && self.phase != BreakoutPhase::Running {
+            self.start();
+        }
+
+        let keyboard_axis = ui.input(|input| {
+            (input.key_down(egui::Key::ArrowRight) as i32
+                - input.key_down(egui::Key::ArrowLeft) as i32) as f32
+        });
+        if ui.input(|input| input.key_pressed(egui::Key::Space)) {
+            self.start();
+        }
+        if ui.input(|input| input.key_pressed(egui::Key::P)) {
+            self.toggle_pause();
+        }
+
+        let axis = if keyboard_axis.abs() > 0.0 {
+            keyboard_axis
+        } else {
+            control.axis
+        };
+        self.handle_pressure_gesture(control.top_force, now);
+        self.update(dt, axis);
+        self.paint(ui, rect, control);
+        close_requested
+    }
+
+    fn reset(&mut self) {
+        self.phase = BreakoutPhase::Idle;
+        self.paddle_x = 0.5;
+        self.ball_pos = egui::pos2(0.5, PADDLE_Y - PADDLE_H - BALL_RADIUS);
+        self.ball_vel = egui::Vec2::ZERO;
+        self.score = 0;
+        self.combo = 0;
+        self.lives = 3;
+        self.level = 1;
+        self.rebuild_bricks();
+    }
+
+    fn start(&mut self) {
+        if self.phase == BreakoutPhase::Over {
+            self.reset();
+        }
+        if self.phase != BreakoutPhase::Running {
+            self.phase = BreakoutPhase::Running;
+            if self.ball_vel == egui::Vec2::ZERO {
+                self.launch_ball();
+            }
+        }
+    }
+
+    fn toggle_pause(&mut self) {
+        self.phase = match self.phase {
+            BreakoutPhase::Running => BreakoutPhase::Paused,
+            BreakoutPhase::Paused => BreakoutPhase::Running,
+            other => other,
+        };
+    }
+
+    fn handle_pressure_gesture(&mut self, top_force: f32, now: f64) {
+        let threshold = pressure_pause_threshold();
+        let active = top_force >= threshold;
+        if active && !self.previous_pause_gesture && now >= self.pause_locked_until {
+            if self.phase == BreakoutPhase::Idle || self.phase == BreakoutPhase::Over {
+                self.start();
+            } else {
+                self.toggle_pause();
+            }
+            self.pause_locked_until = now + PAUSE_COOLDOWN;
+        }
+        self.previous_pause_gesture = active;
+    }
+
+    fn update(&mut self, dt: f32, axis: f32) {
+        for brick in &mut self.bricks {
+            brick.flash = (brick.flash - dt * 2.4).max(0.0);
+        }
+
+        if self.phase != BreakoutPhase::Running {
+            self.ball_pos = egui::pos2(self.paddle_x, PADDLE_Y - PADDLE_H - BALL_RADIUS);
+            return;
+        }
+
+        self.paddle_x = (self.paddle_x + axis.clamp(-1.0, 1.0) * PADDLE_SPEED * dt)
+            .clamp(PADDLE_W * 0.5, 1.0 - PADDLE_W * 0.5);
+
+        self.ball_pos += self.ball_vel * dt;
+        self.resolve_wall_collision();
+        self.resolve_paddle_collision();
+        self.resolve_brick_collision();
+    }
+
+    fn launch_ball(&mut self) {
+        let direction = if self.level % 2 == 0 { -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;
+    }
+
+    fn resolve_wall_collision(&mut self) {
+        if self.ball_pos.x - BALL_RADIUS <= 0.0 {
+            self.ball_pos.x = BALL_RADIUS;
+            self.ball_vel.x = self.ball_vel.x.abs();
+        } else if self.ball_pos.x + BALL_RADIUS >= 1.0 {
+            self.ball_pos.x = 1.0 - BALL_RADIUS;
+            self.ball_vel.x = -self.ball_vel.x.abs();
+        }
+
+        if self.ball_pos.y - BALL_RADIUS <= 0.0 {
+            self.ball_pos.y = BALL_RADIUS;
+            self.ball_vel.y = self.ball_vel.y.abs();
+        }
+
+        if self.ball_pos.y - BALL_RADIUS > 1.0 {
+            self.lives = self.lives.saturating_sub(1);
+            self.combo = 0;
+            if self.lives == 0 {
+                self.phase = BreakoutPhase::Over;
+                self.ball_vel = egui::Vec2::ZERO;
+            } else {
+                self.ball_pos = egui::pos2(self.paddle_x, PADDLE_Y - PADDLE_H - BALL_RADIUS);
+                self.launch_ball();
+            }
+        }
+    }
+
+    fn resolve_paddle_collision(&mut self) {
+        if self.ball_vel.y <= 0.0 {
+            return;
+        }
+
+        let paddle = paddle_rect(self.paddle_x);
+        if !circle_hits_rect(self.ball_pos, BALL_RADIUS, paddle) {
+            return;
+        }
+
+        self.ball_pos.y = paddle.top() - BALL_RADIUS;
+        let offset = ((self.ball_pos.x - self.paddle_x) / (PADDLE_W * 0.5)).clamp(-1.0, 1.0);
+        let speed = self.ball_vel.length().clamp(BALL_SPEED, MAX_BALL_SPEED);
+        self.ball_vel = egui::vec2(offset * 0.82, -1.0).normalized() * speed;
+        self.combo = 0;
+    }
+
+    fn resolve_brick_collision(&mut self) {
+        for brick in &mut self.bricks {
+            if !brick.alive || !circle_hits_rect(self.ball_pos, BALL_RADIUS, brick.rect) {
+                continue;
+            }
+
+            let overlap_x = (self.ball_pos.x + BALL_RADIUS - brick.rect.left())
+                .min(brick.rect.right() - (self.ball_pos.x - BALL_RADIUS));
+            let overlap_y = (self.ball_pos.y + BALL_RADIUS - brick.rect.top())
+                .min(brick.rect.bottom() - (self.ball_pos.y - BALL_RADIUS));
+            if overlap_x < overlap_y {
+                self.ball_vel.x *= -1.0;
+            } else {
+                self.ball_vel.y *= -1.0;
+            }
+
+            brick.alive = false;
+            brick.flash = 1.0;
+            self.combo += 1;
+            self.score += 40 + self.combo * 5;
+            let speed = (self.ball_vel.length() * 1.014).min(MAX_BALL_SPEED);
+            self.ball_vel = self.ball_vel.normalized() * speed;
+            break;
+        }
+
+        if self.bricks.iter().all(|brick| !brick.alive) {
+            self.level += 1;
+            self.rebuild_bricks();
+            self.launch_ball();
+        }
+    }
+
+    fn rebuild_bricks(&mut self) {
+        self.bricks.clear();
+        let gap_x = 0.012;
+        let gap_y = 0.017;
+        let left = 0.075;
+        let top = 0.10;
+        let total_w = 0.85;
+        let brick_w = (total_w - gap_x * (BRICK_COLS - 1) as f32) / BRICK_COLS as f32;
+        let brick_h = 0.040;
+
+        for row in 0..BRICK_ROWS {
+            for col in 0..BRICK_COLS {
+                let x = left + col as f32 * (brick_w + gap_x);
+                let y = top + row as f32 * (brick_h + gap_y);
+                self.bricks.push(Brick {
+                    rect: egui::Rect::from_min_size(egui::pos2(x, y), egui::vec2(brick_w, brick_h)),
+                    alive: true,
+                    flash: 0.0,
+                });
+            }
+        }
+    }
+
+    fn status_text(&self) -> &'static str {
+        match self.phase {
+            BreakoutPhase::Idle => "待机",
+            BreakoutPhase::Running => "运行",
+            BreakoutPhase::Paused => "暂停",
+            BreakoutPhase::Over => "结束",
+        }
+    }
+
+    fn paint(&self, ui: &egui::Ui, rect: egui::Rect, control: BreakoutControl) {
+        let painter = ui.painter_at(rect);
+        painter.rect_filled(
+            rect,
+            egui::CornerRadius::same(6),
+            egui::Color32::from_rgb(8, 14, 19),
+        );
+        painter.rect_stroke(
+            rect,
+            egui::CornerRadius::same(6),
+            egui::Stroke::new(1.0, color_alpha(ONE_DARK_PRO.accent, 110)),
+            egui::StrokeKind::Outside,
+        );
+
+        paint_arena_grid(&painter, rect);
+        for (index, brick) in self.bricks.iter().enumerate() {
+            paint_brick(&painter, rect, brick, index);
+        }
+
+        paint_paddle(&painter, rect, self.paddle_x);
+        paint_ball(&painter, rect, self.ball_pos);
+        paint_control_meter(&painter, rect, control);
+
+        if self.phase == BreakoutPhase::Idle
+            || self.phase == BreakoutPhase::Paused
+            || self.phase == BreakoutPhase::Over
+        {
+            paint_center_overlay(&painter, rect, self.phase);
+        }
+    }
+}
+
+pub fn control_from_matrix(raw: &[u32], rows: u32, cols: u32) -> BreakoutControl {
+    if raw.is_empty() {
+        return BreakoutControl::default();
+    }
+
+    let rows = rows.max(1) as usize;
+    let cols = cols.max(1) as usize;
+    let sample_rows = rows.min(2);
+    let sample_cols = cols.min(2);
+    let avg = |row_start: usize, row_end: usize, col_start: usize, col_end: usize| -> f32 {
+        let mut sum = 0.0;
+        let mut count = 0.0;
+        for row in row_start..row_end {
+            for col in col_start..col_end {
+                let index = row * cols + col;
+                if let Some(value) = raw.get(index) {
+                    sum += *value as f32;
+                    count += 1.0;
+                }
+            }
+        }
+        if count > 0.0 { sum / count } else { 0.0 }
+    };
+
+    let tl = avg(0, sample_rows, 0, sample_cols);
+    let tr = avg(0, sample_rows, cols.saturating_sub(sample_cols), cols);
+    let bl = avg(rows.saturating_sub(sample_rows), rows, 0, sample_cols);
+    let br = avg(
+        rows.saturating_sub(sample_rows),
+        rows,
+        cols.saturating_sub(sample_cols),
+        cols,
+    );
+
+    let left_force = tl + bl;
+    let right_force = tr + br;
+    let top_force = tl + tr;
+    let span = 1200.0_f32.max((PRESSURE_RANGE_MAX - PRESSURE_RANGE_MIN) * 0.22);
+    let raw_axis = ((right_force - left_force) / span).clamp(-1.0, 1.0);
+    let axis = if raw_axis.abs() < 0.045 {
+        0.0
+    } else {
+        raw_axis
+    };
+
+    BreakoutControl {
+        axis,
+        top_force,
+        left_force,
+        right_force,
+    }
+}
+
+fn pressure_pause_threshold() -> f32 {
+    420.0_f32.max(((PRESSURE_RANGE_MAX - PRESSURE_RANGE_MIN).max(1000.0) * 0.07).round())
+}
+
+fn paddle_rect(paddle_x: f32) -> egui::Rect {
+    egui::Rect::from_center_size(
+        egui::pos2(paddle_x, PADDLE_Y),
+        egui::vec2(PADDLE_W, PADDLE_H),
+    )
+}
+
+fn circle_hits_rect(center: egui::Pos2, radius: f32, rect: egui::Rect) -> bool {
+    let closest_x = center.x.clamp(rect.left(), rect.right());
+    let closest_y = center.y.clamp(rect.top(), rect.bottom());
+    let dx = center.x - closest_x;
+    let dy = center.y - closest_y;
+    dx * dx + dy * dy <= radius * radius
+}
+
+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)))
+        .corner_radius(egui::CornerRadius::same(4))
+        .inner_margin(egui::Margin::symmetric(8, 4))
+        .show(ui, |ui| {
+            ui.horizontal(|ui| {
+                ui.colored_label(ONE_DARK_PRO.text_subtle, label);
+                ui.colored_label(color, value.to_string());
+            });
+        });
+}
+
+fn status_color(phase: BreakoutPhase) -> egui::Color32 {
+    match phase {
+        BreakoutPhase::Idle => ONE_DARK_PRO.text_dim,
+        BreakoutPhase::Running => ACCENT_GREEN,
+        BreakoutPhase::Paused => ACCENT_ORANGE,
+        BreakoutPhase::Over => ACCENT_RED,
+    }
+}
+
+fn to_screen(rect: egui::Rect, point: egui::Pos2) -> egui::Pos2 {
+    egui::pos2(
+        rect.left() + point.x * rect.width(),
+        rect.top() + point.y * rect.height(),
+    )
+}
+
+fn to_screen_rect(rect: egui::Rect, local: egui::Rect) -> egui::Rect {
+    egui::Rect::from_min_max(
+        rect.left_top() + local.min.to_vec2() * rect.size(),
+        rect.left_top() + local.max.to_vec2() * rect.size(),
+    )
+}
+
+fn paint_arena_grid(painter: &egui::Painter, rect: egui::Rect) {
+    // 游戏背景保持纯净，避免网格和外框干扰砖块本身的色块节奏。
+    painter.rect_filled(
+        rect,
+        egui::CornerRadius::same(6),
+        egui::Color32::from_rgb(2, 8, 10),
+    );
+
+    painter.rect_stroke(
+        rect,
+        egui::CornerRadius::same(6),
+        egui::Stroke::new(1.0, color_alpha(ONE_DARK_PRO.accent, 70)),
+        egui::StrokeKind::Inside,
+    );
+}
+
+fn paint_brick(painter: &egui::Painter, arena: egui::Rect, brick: &Brick, index: usize) {
+    let rect = to_screen_rect(arena, brick.rect);
+    if brick.alive {
+        let row = index / BRICK_COLS;
+        let col = index % BRICK_COLS;
+        // 参考示例图：纯色矩形砖块，黑色间隔由砖块之间的空隙自然露出。
+        painter.rect_filled(rect, egui::CornerRadius::ZERO, brick_color(row, col));
+    } else if brick.flash > 0.0 {
+        let alpha = (brick.flash * 150.0) as u8;
+        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::StrokeKind::Outside,
+        );
+    }
+}
+
+fn paint_paddle(painter: &egui::Painter, arena: egui::Rect, paddle_x: f32) {
+    let rect = to_screen_rect(arena, paddle_rect(paddle_x));
+    // 托盘也改成纯色块，和砖块保持同一种视觉语言。
+    painter.rect_filled(rect, egui::CornerRadius::ZERO, ACCENT_BLUE);
+}
+
+fn paint_ball(painter: &egui::Painter, arena: egui::Rect, ball_pos: egui::Pos2) {
+    let center = to_screen(arena, ball_pos);
+    let radius = BALL_RADIUS * arena.width().min(arena.height());
+    // 球保留为一个普通实心圆，避免额外高光和光晕。
+    painter.circle_filled(center, radius, egui::Color32::from_rgb(241, 207, 70));
+}
+
+fn paint_control_meter(painter: &egui::Painter, arena: egui::Rect, control: BreakoutControl) {
+    let meter_width = arena.width().mul_add(0.30, 0.0).clamp(180.0, 240.0);
+    let meter = egui::Rect::from_min_size(
+        arena.left_bottom() + egui::vec2(18.0, -34.0),
+        egui::vec2(meter_width, 18.0),
+    );
+    painter.rect_filled(
+        meter,
+        egui::CornerRadius::same(4),
+        color_alpha(ONE_DARK_PRO.panel_deep, 220),
+    );
+    painter.rect_stroke(
+        meter,
+        egui::CornerRadius::same(4),
+        egui::Stroke::new(1.0, color_alpha(ONE_DARK_PRO.border, 120)),
+        egui::StrokeKind::Outside,
+    );
+    let center_x = meter.center().x;
+    painter.line_segment(
+        [
+            egui::pos2(center_x, meter.top()),
+            egui::pos2(center_x, meter.bottom()),
+        ],
+        egui::Stroke::new(1.0, ONE_DARK_PRO.border_soft),
+    );
+    let marker_x = center_x + control.axis.clamp(-1.0, 1.0) * meter.width() * 0.45;
+    painter.circle_filled(
+        egui::pos2(marker_x, meter.center().y),
+        5.0,
+        color_alpha(ACCENT_GREEN, 210),
+    );
+    painter.circle_filled(
+        egui::pos2(marker_x, meter.center().y),
+        2.3,
+        color_alpha(egui::Color32::WHITE, 150),
+    );
+    painter.text(
+        meter.right_center() + egui::vec2(10.0, 0.0),
+        egui::Align2::LEFT_CENTER,
+        format!(
+            "L {:>4.0}  R {:>4.0}  T {:>4.0}",
+            control.left_force, control.right_force, control.top_force
+        ),
+        egui::FontId::monospace(10.0),
+        ONE_DARK_PRO.text_dim,
+    );
+}
+
+fn paint_center_overlay(painter: &egui::Painter, rect: egui::Rect, phase: BreakoutPhase) {
+    painter.rect_filled(
+        rect,
+        egui::CornerRadius::same(6),
+        color_alpha(egui::Color32::BLACK, 82),
+    );
+    let (title, detail) = match phase {
+        BreakoutPhase::Idle => ("按压顶部或点击开始", "左右分区压力控制挡板"),
+        BreakoutPhase::Paused => ("已暂停", "再次按压顶部、P 或点击暂停继续"),
+        BreakoutPhase::Over => ("游戏结束", "点击或空格重开"),
+        BreakoutPhase::Running => ("", ""),
+    };
+    painter.text(
+        rect.center() - egui::vec2(0.0, 10.0),
+        egui::Align2::CENTER_CENTER,
+        title,
+        egui::FontId::proportional(24.0),
+        ONE_DARK_PRO.text,
+    );
+    painter.text(
+        rect.center() + egui::vec2(0.0, 20.0),
+        egui::Align2::CENTER_CENTER,
+        detail,
+        egui::FontId::proportional(13.0),
+        ONE_DARK_PRO.text_dim,
+    );
+}
+
+fn brick_color(row: usize, col: usize) -> egui::Color32 {
+    const PALETTE: [egui::Color32; 5] = [
+        egui::Color32::from_rgb(46, 178, 104),
+        egui::Color32::from_rgb(73, 188, 220),
+        egui::Color32::from_rgb(234, 199, 73),
+        egui::Color32::from_rgb(232, 125, 64),
+        egui::Color32::from_rgb(237, 68, 62),
+    ];
+
+    PALETTE[(col + row * 2) % PALETTE.len()]
+}
+
+fn color_alpha(color: egui::Color32, alpha: u8) -> egui::Color32 {
+    egui::Color32::from_rgba_premultiplied(color.r(), color.g(), color.b(), alpha)
+}

src/connection.rs

@@ -4,7 +4,10 @@ use std::time::Duration;
 
 use crossbeam_channel::{self, Receiver, Sender, TryRecvError};
 
-use crate::serial_core::serial::{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)]
@@ -27,6 +30,9 @@ struct Session {
     cancel_tx: Sender<()>,
     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.
@@ -34,6 +40,7 @@ pub struct ConnectionManager {
     state: Arc<Mutex<ConnectionState>>,
     session: Arc<Mutex<Option<Session>>>,
     latest_sample: Arc<Mutex<Option<PressureSample>>>,
+    stats: Arc<Mutex<SerialIoStats>>,
 }
 
 impl ConnectionManager {
@@ -42,6 +49,7 @@ impl ConnectionManager {
             state: Arc::new(Mutex::new(ConnectionState::Disconnected)),
             session: Arc::new(Mutex::new(None)),
             latest_sample: Arc::new(Mutex::new(None)),
+            stats: Arc::new(Mutex::new(SerialIoStats::default())),
         }
     }
 
@@ -53,8 +61,31 @@ impl ConnectionManager {
         *self.state.lock().unwrap() = new_state;
     }
 
+    pub fn stats(&self) -> SerialIoStats {
+        let session = self.session.lock().unwrap();
+        if let Some(ref session) = *session {
+            loop {
+                match session.stats_rx.try_recv() {
+                    Ok(stats) => *self.stats.lock().unwrap() = stats,
+                    Err(TryRecvError::Empty) => break,
+                    Err(TryRecvError::Disconnected) => break,
+                }
+            }
+        }
+
+        *self.stats.lock().unwrap()
+    }
+
     /// 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);
 
@@ -64,16 +95,22 @@ impl ConnectionManager {
         let latest_sample = Arc::clone(&self.latest_sample);
         let (cancel_tx, cancel_rx) = crossbeam_channel::bounded::<()>(1);
         let (sample_tx, sample_rx) = crossbeam_channel::bounded::<Vec<i32>>(16);
+        let (stats_tx, stats_rx) = crossbeam_channel::bounded::<SerialIoStats>(16);
+        *self.stats.lock().unwrap() = SerialIoStats::default();
 
         let handle = thread::spawn(move || {
             let result = run_device_loop(
                 &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}");
@@ -85,6 +122,9 @@ impl ConnectionManager {
             cancel_tx,
             handle,
             sample_rx,
+            stats_rx,
+            rows,
+            cols,
         });
     }
 
@@ -102,6 +142,7 @@ impl ConnectionManager {
 
         self.set_state(ConnectionState::Disconnected);
         *self.latest_sample.lock().unwrap() = None;
+        *self.stats.lock().unwrap() = SerialIoStats::default();
     }
 
     /// Drain pending samples (non-blocking) and return the last one.
@@ -112,10 +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,
@@ -140,13 +183,17 @@ 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;
@@ -154,36 +201,19 @@ fn run_device_loop(
     let mut rw = SerialPortReadWrite::new(port);
     *state.lock().unwrap() = ConnectionState::Streaming;
 
-    // We need to also forward samples to latest_sample
+    run_serial_loop(
-    let (inner_tx, inner_rx) = crossbeam_channel::bounded::<Vec<i32>>(16);
+        &mut rw,
-    let latest = Arc::clone(latest_sample);
+        rows as usize,
-    let outer_tx = sample_tx.clone();
+        cols as usize,
+        protocol,
+        cancel_rx,
+        sample_tx,
+        Some(stats_tx),
+        Some(&recorder),
+    );
 
-    // Bridge thread: reads from inner channel, forwards to both sample_tx and latest_sample
+    if let Ok(mut latest) = latest_sample.lock() {
-    let bridge_cancel = cancel_rx.clone();
+        *latest = None;
-    let bridge_handle = thread::spawn(move || {
-        loop {
-            if bridge_cancel.try_recv().is_ok() {
-                break;
     }
-            match inner_rx.try_recv() {
-                Ok(vals) => {
-                    // Store latest
-                    let matrix = vals.iter().map(|v| (*v).max(0) as u32).collect();
-                    *latest.lock().unwrap() = Some(PressureSample { matrix, rows, cols });
-                    // Forward
-                    let _ = outer_tx.try_send(vals);
-                }
-                Err(TryRecvError::Empty) => {
-                    std::thread::sleep(Duration::from_millis(1));
-                }
-                Err(TryRecvError::Disconnected) => break,
-            }
-        }
-    });
-
-    run_serial_loop(&mut rw, rows as usize, cols as usize, cancel_rx, &inner_tx);
-
-    let _ = bridge_handle.join();
     Ok(())
 }

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

@@ -1,5 +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/render.rs

@@ -13,11 +13,13 @@ 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,
 }
 
@@ -68,6 +70,27 @@ const HAND_TIP_MATRICES: [HandTipMatrix; 5] = [
     },
 ];
 
+const HAND_PALM_CHIPS: [HandPalmChip; 2] = [
+    HandPalmChip {
+        center_px: [538.0, 608.0],
+        size_px: [248.0, 82.0],
+        angle_rad: 0.06,
+        rows: 5,
+        cols: 14,
+    },
+    HandPalmChip {
+        center_px: [606.0, 780.0],
+        size_px: [72.0, 214.0],
+        angle_rad: 0.05,
+        rows: 11,
+        cols: 4,
+    },
+];
+
+const HAND_FINGER_SENSOR_CELLS: usize = 12 * 7;
+const HAND_PALM_HORIZONTAL_OFFSET: usize = HAND_FINGER_SENSOR_CELLS * 5;
+const HAND_PALM_VERTICAL_OFFSET: usize = HAND_PALM_HORIZONTAL_OFFSET + 5 * 14;
+
 // 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.
@@ -77,6 +100,16 @@ struct HandTipMatrix {
     angle_rad: f32,
 }
 
+// Palm chips follow the hand layout: one horizontal 5x14 matrix and one vertical
+// 11x4 matrix, rendered as dark inset chip tiles on the palm.
+struct HandPalmChip {
+    center_px: [f32; 2],
+    size_px: [f32; 2],
+    angle_rad: f32,
+    rows: u32,
+    cols: u32,
+}
+
 impl egui_wgpu::CallbackTrait for WgpuBackgroundCallback {
     fn prepare(
         &self,
@@ -87,7 +120,13 @@ 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()
     }
 
@@ -115,15 +154,24 @@ pub struct BackgroundRenderResources {
     hand_image_pipeline: wgpu::RenderPipeline,
     glyph_pipeline: wgpu::RenderPipeline,
     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,
 
     glyph_vertex_buffer: wgpu::Buffer,
     glyph_instance_buffer: wgpu::Buffer,
     glyph_instances: Vec<GlyphInstance>,
+    hand_membrane_instance_buffer: wgpu::Buffer,
+    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,
 }
 
@@ -445,8 +493,14 @@ impl BackgroundRenderResources {
         let glyph_pipeline =
             create_glyph_pipeline(device, target_format, &shader, &pipeline_layout);
         let dot_pipeline = create_dot_pipeline(device, target_format, &shader, &pipeline_layout);
+        let hand_membrane_pipeline =
+            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);
 
         let _model_pipelines =
             create_model_pipelines(device, target_format, &shader, &model_pipeline_layout);
@@ -474,6 +528,16 @@ impl BackgroundRenderResources {
             contents: bytemuck::cast_slice(&glyph_instances),
             usage: wgpu::BufferUsages::VERTEX | wgpu::BufferUsages::COPY_DST,
         });
+        let hand_membrane_instances = build_hand_membrane_instances(
+            hand_image_texture.width as f32,
+            hand_image_texture.height as f32,
+        );
+        let hand_membrane_instance_buffer =
+            device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
+                label: Some("Hand Fingertip Membrane Instance Buffer"),
+                contents: bytemuck::cast_slice(&hand_membrane_instances),
+                usage: wgpu::BufferUsages::VERTEX,
+            });
         let hand_dot_instances = build_hand_dot_instances(
             rows,
             cols,
@@ -487,6 +551,29 @@ 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(
+            hand_image_texture.width as f32,
+            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"),
+                contents: bytemuck::cast_slice(&hand_palm_dot_instances),
+                usage: wgpu::BufferUsages::VERTEX | wgpu::BufferUsages::COPY_DST,
+            });
 
         Self {
             layout,
@@ -500,19 +587,35 @@ impl BackgroundRenderResources {
             hand_image_pipeline,
             glyph_pipeline,
             dot_pipeline,
+            hand_membrane_pipeline,
             hand_dot_pipeline,
+            hand_palm_chip_pipeline,
+            hand_palm_dot_pipeline,
             hand_image_bind_group,
             hand_image_texture,
             glyph_vertex_buffer,
             glyph_instance_buffer,
             glyph_instances,
+            hand_membrane_instance_buffer,
+            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,
@@ -544,20 +647,41 @@ 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() {
+            pressure.as_slice()
+        } else {
+            hand_pressure
+        };
+
+        // Hand mode uses UV-anchored fingertip matrices over hand.png.
         // Rebuild their instance positions here so pressure colors update every frame.
         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,
             0,
             bytemuck::cast_slice(&self.hand_dot_instances),
         );
+
+        // Palm chips reuse the same live 12x7 pressure frame, but draw it as
+        // embedded micro-pixels inside dark chip tiles.
+        self.hand_palm_dot_instances = build_hand_palm_dot_instances(
+            self.rows,
+            self.cols,
+            self.hand_image_texture.width as f32,
+            self.hand_image_texture.height as f32,
+            hand_pressure,
+        );
+        queue.write_buffer(
+            &self.hand_palm_dot_instance_buffer,
+            0,
+            bytemuck::cast_slice(&self.hand_palm_dot_instances),
+        );
     }
 
     fn paint(&self, render_pass: &mut wgpu::RenderPass<'_>, active_mode: &ActiveMode) {
@@ -595,11 +719,26 @@ impl BackgroundRenderResources {
     fn paint_hand(&self, render_pass: &mut wgpu::RenderPass<'_>, mode: &HandGatewayMode) {
         let _range = mode.range.clone();
 
-        // Draw the five fingertip dot matrices after hand.png, so they sit on top of the texture.
+        // First draw the translucent sensor membranes, then draw live pressure beads on their grid.
+        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(..));
+        render_pass.draw(0..6, 0..self.hand_palm_dot_instances.len() as u32);
     }
 
     fn visible_instance_count(&self, rows: u32, cols: u32) -> u32 {
@@ -867,6 +1006,39 @@ fn create_dot_pipeline(
     })
 }
 
+fn create_hand_membrane_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 Fingertip Sensor Membrane Pipeline"),
+        layout: Some(layout),
+        vertex: wgpu::VertexState {
+            module: shader,
+            entry_point: Some("vs_hand_membrane"),
+            compilation_options: Default::default(),
+            buffers: &[GlyphVertex::desc(), GlyphInstance::desc()],
+        },
+        fragment: Some(wgpu::FragmentState {
+            module: shader,
+            entry_point: Some("fs_hand_membrane"),
+            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_dot_pipeline(
     device: &wgpu::Device,
     target_format: &wgpu::TextureFormat,
@@ -900,24 +1072,133 @@ 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,
+    shader: &wgpu::ShaderModule,
+    layout: &wgpu::PipelineLayout,
+) -> wgpu::RenderPipeline {
+    device.create_render_pipeline(&wgpu::RenderPipelineDescriptor {
+        label: Some("Hand Palm Embedded Chip Dot Pipeline"),
+        layout: Some(layout),
+        vertex: wgpu::VertexState {
+            module: shader,
+            entry_point: Some("vs_hand_palm_dot"),
+            compilation_options: Default::default(),
+            buffers: &[GlyphVertex::desc(), GlyphInstance::desc()],
+        },
+        fragment: Some(wgpu::FragmentState {
+            module: shader,
+            entry_point: Some("fs_hand_palm_dot"),
+            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 build_hand_membrane_instances(image_width: f32, image_height: f32) -> Vec<GlyphInstance> {
+    HAND_TIP_MATRICES
+        .iter()
+        .map(|tip| {
+            let uv_x = tip.center_px[0] / image_width.max(1.0);
+            let uv_y = tip.center_px[1] / image_height.max(1.0);
+            let membrane_size = [tip.size_px[0] * 1.62, tip.size_px[1] * 1.56];
+
+            GlyphInstance {
+                // Membrane shaders read xy as hand.png UV.
+                world_position: [uv_x, uv_y, 0.0, 1.0],
+                // Store angle and an oversized source-image pixel size for the floating sensor film.
+                style: [tip.angle_rad, membrane_size[0], membrane_size[1], 0.0],
+            }
+        })
+        .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];
@@ -941,6 +1222,67 @@ fn build_hand_dot_instances(
     instances
 }
 
+fn build_hand_palm_dot_instances(
+    _rows: u32,
+    _cols: u32,
+    image_width: f32,
+    image_height: f32,
+    pressure: &[[f32; 2]],
+) -> Vec<GlyphInstance> {
+    let chip_dot_count: usize = HAND_PALM_CHIPS
+        .iter()
+        .map(|chip| (chip.rows * chip.cols) as usize)
+        .sum();
+    let mut instances = Vec::with_capacity(chip_dot_count);
+
+    for (chip_index, chip) in HAND_PALM_CHIPS.into_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 {
+                let index = (row * chip.cols + col) as usize;
+                let offset = match chip_index {
+                    0 => HAND_PALM_HORIZONTAL_OFFSET,
+                    _ => HAND_PALM_VERTICAL_OFFSET,
+                };
+                let [normalized, display_value] =
+                    sample_pressure_at(pressure, offset + index, index);
+
+                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),
+                        y / image_height.max(1.0),
+                        0.0,
+                        1.0,
+                    ],
+                    style: [normalized, display_value, 0.0, 0.0],
+                });
+            }
+        }
+    }
+
+    instances
+}
+
+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])
+}
+
 fn build_glyph_instances(
     rows: u32,
     cols: u32,

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() % 2 != 0 {
+            return Err(CodecError::InvalidLength);
+        }
+
+        Ok(data
+            .chunks_exact(2)
+            .map(|chunk| u16::from_le_bytes([chunk[0], chunk[1]]))
+            .collect())
+    }
+
+    fn retain_possible_header_prefix(&mut self) {
+        if self.buffer.last() == Some(&FRAME_HEADER[0]) {
+            self.buffer.drain(..self.buffer.len() - 1);
+        } else {
+            self.buffer.clear();
+        }
+    }
+
+    fn parse_data_response_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

@@ -13,6 +13,15 @@ pub struct TactileACodec {
     expected_data_len: usize,
 }
 
+impl From<u8> for TactileAFrameStatusCode {
+    fn from(value: u8) -> Self {
+        match value {
+            0 => TactileAFrameStatusCode::Success,
+            _ => TactileAFrameStatusCode::Failure,
+        }
+    }
+}
+
 impl TactileACodec {
     pub fn new(cols: usize, rows: usize) -> TactileACodec {
         Self {
@@ -37,7 +46,7 @@ impl TactileACodec {
         Ok(vals)
     }
 
-    pub fn build_req_frame(cols: usize, rows: usize) -> TactileAFrame {
+    pub fn build_req_frame(cols: usize, rows: usize) -> anyhow::Result<TactileAFrame> {
         let header = [0x55, 0xAA];
         let payload_len: usize = 9;
         let device_addr: u8 = 0x34;
@@ -46,7 +55,7 @@ impl TactileACodec {
         let start_addr: u32 = 7168;
         let except_data_len: usize = cols * rows * 2;
         let checksum: u8 = 0;
-        TactileAFrame::Req(TactileAReqFrame {
+        Ok(TactileAFrame::Req(TactileAReqFrame {
             meta: TactileAFrameMetaData {
                 header,
                 payload_len,
@@ -57,7 +66,7 @@ impl TactileACodec {
                 except_data_len,
                 checksum,
             },
-        })
+        }))
     }
 }
 
@@ -102,10 +111,7 @@ impl Codec<TactileAFrame> for TactileACodec {
                 self.buffer[10],
             ]);
             let except_data_len = u16::from_le_bytes([self.buffer[11], self.buffer[12]]) as usize;
-            let status = match self.buffer[13] {
+            let status = TactileAFrameStatusCode::from(self.buffer[13]);
-                0 => TactileAFrameStatusCode::Success,
-                _ => TactileAFrameStatusCode::Failure,
-            };
 
             if except_data_len != self.expected_data_len {
                 log::debug!(

src/serial_core/error.rs

@@ -9,6 +9,8 @@ pub enum SerialError {
     AlreadyConnected,
     StateError,
     NoRecordedData,
+    ExportError,
+    ImportError,
 }
 
 impl fmt::Display for SerialError {
@@ -21,6 +23,8 @@ impl fmt::Display for SerialError {
             SerialError::AlreadyConnected => write!(f, "Already Connected"),
             SerialError::StateError => write!(f, "State Error"),
             SerialError::NoRecordedData => write!(f, "No Recorded Data"),
+            SerialError::ExportError => write!(f, "Export Error"),
+            SerialError::ImportError => write!(f, "Import Error"),
         }
     }
 }

src/serial_core/frame.rs

@@ -1,3 +1,13 @@
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct TestFrame {
+    pub header: [u8; 2],
+    pub cmd: u8,
+    pub length: usize,
+    pub payload: Vec<u8>,
+    pub checksum: u8,
+    pub dts_ms: u64,
+}
+
 #[derive(Debug, Clone, PartialEq, Eq)]
 pub struct TactileAFrameMetaData {
     pub header: [u8; 2],

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 % 2 == 0 {
+            (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

@@ -1,12 +1,26 @@
+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 crate::serial_core::utils::elapsed_millis;
+use crossbeam_channel::{Receiver, Sender};
-use crossbeam_channel::{Receiver, Sender, TryRecvError};
 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 {
+    pub rx_bytes: u64,
+    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.
@@ -14,14 +28,43 @@ 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);
-    let req_frame = TactileACodec::build_req_frame(cols, rows);
+    let req_frame = match TactileACodec::build_req_frame(cols, rows) {
+        Ok(frame) => frame,
+        Err(err) => {
+            eprintln!("[serial] request frame build error: {err}");
+            return;
+        }
+    };
     let mut buffer = [0u8; 1024];
-    let mut poll_interval = Duration::from_millis(POLL_INTERVAL_MS);
+    let poll_interval = Duration::from_millis(POLL_INTERVAL_MS);
+    let mut io_stats = SerialIoStats::default();
 
     loop {
         // Check cancel
@@ -31,7 +74,10 @@ pub fn run_serial_loop(
 
         // Send poll request
         if let Ok(req_bytes) = codec.encode(&req_frame) {
-            let _ = port.write_all(&req_bytes);
+            if 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
@@ -43,10 +89,17 @@ pub fn run_serial_loop(
 
             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 {
                             if let TactileAFrame::Rep(rep) = frame {
                                 if let Ok(vals) = TactileACodec::parse_data_frame(&rep.payload) {
+                                    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);
                                 }
                             }
@@ -68,6 +121,109 @@ 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);
+    }
+}
+
 /// Trait abstracting read+write for the serial port
 pub trait ReadWrite: Send {
     fn read(&mut self, buf: &mut [u8]) -> std::io::Result<usize>;

src/serial_core/utils.rs

@@ -1,10 +1,64 @@
 use std::time::Instant;
 
+pub fn usize_to_u16_be_bytes(n: usize) -> [u8; 2] {
+    (n as u16).to_be_bytes()
+}
+
+pub fn usize_to_u16_le_bytes(n: usize) -> [u8; 2] {
+    (n as u16).to_be_bytes()
+}
+
+pub fn u16_to_hex_be_bytes(n: u16) -> [u8; 2] {
+    n.to_be_bytes()
+}
+
+pub fn u16_to_hex_le_bytes(n: u16) -> [u8; 2] {
+    n.to_le_bytes()
+}
+
+pub fn calc_crc8_smbus(c: &[u8]) -> u8 {
+    let crc8_smbus = crc::Crc::<u8>::new(&crc::CRC_8_SMBUS);
+    crc8_smbus.checksum(c)
+}
+
 pub fn calc_crc8_itu(c: &[u8]) -> u8 {
     let crc8_itu_alg = crc::Crc::<u8>::new(&crc::CRC_8_I_432_1);
     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_itu_xor55, calc_crc8_smbus};
+
+    #[test]
+    fn test_crc8_itu() {
+        let req_vec = vec![
+            0x55, 0xAA, 0x09, 0x00, 0x34, 0x00, 0xFB, 0x00, 0x1C, 0x00, 0x00, 0x18, 0x00,
+        ];
+        let checksum = calc_crc8_itu(req_vec.as_slice());
+        assert_eq!(checksum, 0x7A);
+    }
+
+    #[test]
+    fn test_crc8_smbus() {
+        let req_vec = vec![
+            0x55, 0xAA, 0x09, 0x00, 0x34, 0x00, 0xFB, 0x00, 0x1C, 0x00, 0x00, 0x18, 0x00,
+        ];
+        let checksum = calc_crc8_smbus(req_vec.as_slice());
+        assert_eq!(checksum, 0x2F);
+    }
+
+    #[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),
@@ -213,6 +213,19 @@ pub fn tag_button(label: impl Into<egui::WidgetText>) -> egui::Button<'static> {
         .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, ONE_DARK_PRO.border))
+        .corner_radius(egui::CornerRadius::same(4))
+        .min_size(egui::vec2(0.0, METRICS.button_height))
+}
+
 pub fn primary_button(label: impl Into<egui::WidgetText>) -> egui::Button<'static> {
     egui::Button::new(label)
         .fill(ONE_DARK_PRO.accent)

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);
 }
 
 
@@ -377,6 +369,100 @@ fn hand_image_uv_to_clip(image_uv: vec2f) -> vec2f {
     return vec2f(screen_uv.x * 2.0 - 1.0, 1.0 - screen_uv.y * 2.0);
 }
 
+struct HandMembraneVertexOutput {
+    @builtin(position) clip_position: vec4f,
+    @location(0) local: vec2f,
+}
+
+fn rotate_2d(point: vec2f, angle: f32) -> vec2f {
+    let c = cos(angle);
+    let s = sin(angle);
+    return vec2f(point.x * c - point.y * s, point.x * s + point.y * c);
+}
+
+fn rounded_rect_alpha(local: vec2f, radius: f32, softness: f32) -> f32 {
+    let q = abs(local) - vec2f(1.0 - radius, 1.0 - radius);
+    let dist = length(max(q, vec2f(0.0, 0.0))) + min(max(q.x, q.y), 0.0) - radius;
+    return 1.0 - smoothstep(0.0, softness, dist);
+}
+
+fn fingertip_film_alpha(
+    local: vec2f,
+    half_width: f32,
+    cap_center_y: f32,
+    rear_edge_y: f32,
+    rear_bulge: f32,
+    softness: f32,
+) -> f32 {
+    // Top/front of the film is a closed round fingertip cap.
+    let cap_dist = length(vec2f(local.x, local.y - cap_center_y));
+    let cap = (1.0 - smoothstep(half_width, half_width + softness, cap_dist))
+        * (1.0 - smoothstep(cap_center_y - softness, cap_center_y + softness, local.y));
+
+    // The rear half keeps nearly parallel sides and ends with a shallow arc;
+    // it deliberately does not converge back into another capsule end.
+    let x_norm = clamp(abs(local.x) / max(half_width, 0.001), 0.0, 1.0);
+    let rear_curve_y = rear_edge_y + rear_bulge * (1.0 - x_norm * x_norm);
+    let side = 1.0 - smoothstep(half_width, half_width + softness, abs(local.x));
+    let rear = 1.0 - smoothstep(rear_curve_y, rear_curve_y + softness, local.y);
+    let body_gate = smoothstep(cap_center_y - softness, cap_center_y + softness, local.y);
+    let body = side * rear * body_gate;
+
+    return max(cap, body);
+}
+
+@vertex
+fn vs_hand_membrane(vertex: DotVertexInput, instance: DotInstanceInput) -> HandMembraneVertexOutput {
+    let center_px = instance.world_position.xy * u.image.xy;
+    let size_px = instance.style.yz;
+    let angle = instance.style.x;
+    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: HandMembraneVertexOutput;
+    out.clip_position = vec4f(hand_image_uv_to_clip(image_uv), 0.0, 1.0);
+    out.local = vertex.local;
+    return out;
+}
+
+@fragment
+fn fs_hand_membrane(in: HandMembraneVertexOutput) -> @location(0) vec4f {
+    // The film shape matches the fingertip: closed round front, parallel rear sides,
+    // and a shallow rear arc instead of a second capsule end.
+    let panel = fingertip_film_alpha(in.local, 0.66, -0.38, 0.72, 0.18, 0.045);
+    let inner = fingertip_film_alpha(in.local, 0.54, -0.36, 0.64, 0.12, 0.060);
+    let border = clamp(panel - inner * 0.52, 0.0, 1.0);
+
+    // Dense mesh: the live 12x7 pressure dots sit over this finer sensor lattice.
+    let uv = clamp(in.local * 0.5 + vec2f(0.5, 0.5), vec2f(0.0, 0.0), vec2f(1.0, 1.0));
+    let grid = vec2f(18.0, 34.0);
+    let cell = uv * grid - vec2f(0.5, 0.5);
+    let nearest = abs(fract(cell + vec2f(0.5, 0.5)) - vec2f(0.5, 0.5));
+    let grid_line = max(
+        1.0 - smoothstep(0.014, 0.038, nearest.x),
+        1.0 - smoothstep(0.014, 0.038, nearest.y),
+    );
+    let joint = 1.0 - smoothstep(0.070, 0.150, length(nearest * vec2f(1.18, 1.0)));
+    let center_shadow = 1.0 - smoothstep(0.10, 0.76, length(in.local * vec2f(0.92, 0.66)));
+
+    let top_light = smoothstep(-0.52, 0.16, -in.local.y) * 0.20;
+    let side_glow = smoothstep(0.30, 0.70, abs(in.local.x)) * 0.26;
+    let lift_shadow = smoothstep(0.48, 0.86, in.local.y) * (1.0 - smoothstep(0.50, 0.86, abs(in.local.x))) * 0.13;
+    let scan = (0.5 + 0.5 * sin((uv.y * 76.0 + uv.x * 9.0) * 6.28318)) * 0.030;
+
+    let membrane_color = vec3f(0.006, 0.28, 0.38);
+    let line_color = vec3f(0.12, 0.72, 0.88);
+    let rim_color = vec3f(0.18, 0.98, 1.0);
+    let color = membrane_color * (0.68 + top_light + side_glow + scan)
+        + line_color * (grid_line * 0.20 + joint * 0.42)
+        + rim_color * (border * 0.92 + side_glow * 0.18)
+        - vec3f(0.0, 0.16, 0.24) * center_shadow * 0.30
+        - vec3f(0.0, 0.10, 0.16) * lift_shadow;
+    let alpha = panel * (0.24 + grid_line * 0.10 + joint * 0.23 + border * 0.42);
+
+    return output_color(color, alpha);
+}
+
 @vertex
 fn vs_hand_dot(vertex: DotVertexInput, instance: DotInstanceInput) -> DotVertexOutput {
     let intensity = saturate(instance.style.x);
@@ -387,7 +473,7 @@ fn vs_hand_dot(vertex: DotVertexInput, instance: DotInstanceInput) -> DotVertexO
     let center = hand_image_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(0.38, 0.56, shaped);
+    let pixel_size = u.glyph.x * mix(0.22, 0.34, shaped);
     let ndc_offset = vertex.local * vec2f(pixel_size / u.viewport.x, pixel_size / u.viewport.y) * 2.0;
 
     var out: DotVertexOutput;
@@ -401,19 +487,113 @@ fn vs_hand_dot(vertex: DotVertexInput, instance: DotInstanceInput) -> DotVertexO
 fn fs_hand_dot(in: DotVertexOutput) -> @location(0) vec4f {
     let intensity = saturate(in.intensity);
 
-    // Use a compact round bead instead of the larger Finger-mode glow marker.
+    // Use a compact bead so the response feels like it lives on the membrane mesh.
-    let core = circle_alpha(in.local, 0.56, 0.08);
+    let core = circle_alpha(in.local, 0.48, 0.07);
-    let halo = circle_alpha(in.local, 0.78, 0.14) * 0.16;
+    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(0.88, 1.18, 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.
+    let center = hand_image_uv_to_clip(instance.world_position.xy);
+    let pixel_size = u.glyph.x * mix(0.13, 0.25, shaped);
+    let ndc_offset = vertex.local * vec2f(pixel_size / u.viewport.x, pixel_size / u.viewport.y) * 2.0;
+
+    var out: DotVertexOutput;
+    out.clip_position = vec4f(center + ndc_offset, 0.0, 1.0);
+    out.local = vertex.local;
+    out.intensity = intensity;
+    return out;
+}
+
+@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 glow = circle_alpha(in.local, 0.95, 0.22) * intensity * 0.36;
+
+    let cold = vec3f(0.070, 0.340, 0.360);
+    let gradient = sample_range_color(intensity);
+    let color = mix(cold, gradient, smoothstep(0.0, 0.20, intensity))
+        * (0.58 + intensity * 1.04)
+        + gradient * glow * 0.72;
+
+    let alpha = max(pixel * (0.20 + intensity * 0.76), glow);
+    return output_color(color, alpha);
+}
+
 @vertex
 fn vs_dot(vertex: DotVertexInput, instance: DotInstanceInput) -> DotVertexOutput {
     let center = u.view_proj * vec4f(instance.world_position.xyz, 1.0);
@@ -435,19 +615,8 @@ fn fs_dot(in: DotVertexOutput) -> @location(0) vec4f {
     let intensity = saturate(in.intensity);
     let base_color = sample_range_color(intensity);
 
-    let core = circle_alpha(in.local, 0.42, 0.055);
+    let alpha = circle_alpha(in.local, 0.46, 0.045);
-
+    let color = base_color * mix(0.86, 1.06, intensity);
-    let glow = circle_alpha(in.local, 0.92, 0.20) * intensity * 0.32;
-
-    let highlight_pos = in.local - vec2f(-0.18, 0.20);
-
-    let highlight = circle_alpha(highlight_pos, 0.16, 0.08) * 0.45;
-
-    let  brightness = mix(0.82, 1.22, intensity);
-
-    let color = base_color * brightness + vec3f(1.0, 1.0, 1.0) * highlight;
-    
-    let alpha = max(core, 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>