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feat: 切向力算法更新 + AD反解x模块

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lenn
2026-05-25 14:44:31 +08:00
parent e52c86ea1a
commit 011bfe2450
35 changed files with 31833 additions and 79 deletions
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devkit/build/je-skin-devkit-server/warn-je-skin-devkit-server.txt Normal file
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This file lists modules PyInstaller was not able to find. This does not
necessarily mean these modules are required for running your program. Both
Python's standard library and 3rd-party Python packages often conditionally
import optional modules, some of which may be available only on certain
platforms.
Types of import:
* top-level: imported at the top-level - look at these first
* conditional: imported within an if-statement
* delayed: imported within a function
* optional: imported within a try-except-statement
IMPORTANT: Do NOT post this list to the issue-tracker. Use it as a basis for
tracking down the missing module yourself. Thanks!
missing module named pwd - imported by posixpath (delayed, conditional, optional), shutil (delayed, optional), tarfile (optional), pathlib (optional), netrc (delayed, optional), subprocess (delayed, conditional, optional), http.server (delayed, optional)
missing module named grp - imported by shutil (delayed, optional), tarfile (optional), pathlib (optional), subprocess (delayed, conditional, optional)
missing module named 'collections.abc' - imported by _colorize (top-level), typing (top-level), traceback (top-level), logging (top-level), selectors (top-level), http.client (top-level), importlib.resources.readers (top-level), inspect (top-level), tracemalloc (top-level), multiprocessing.managers (top-level), typing_extensions (top-level), asyncio.base_events (top-level), asyncio.coroutines (top-level), grpc.aio._metadata (top-level), google.protobuf.internal.containers (top-level), google.protobuf.internal.well_known_types (top-level), numpy._typing._array_like (top-level), numpy._typing._nested_sequence (conditional), numpy._typing._shape (top-level), numpy._typing._dtype_like (top-level), numpy.lib._function_base_impl (top-level), _pyrepl.types (top-level), numpy.lib._npyio_impl (top-level), numpy.random._common (top-level), numpy.random._generator (top-level), numpy.random.bit_generator (top-level), numpy.random.mtrand (top-level), numpy.polynomial._polybase (top-level), xml.etree.ElementTree (top-level)
missing module named _posixsubprocess - imported by subprocess (conditional), multiprocessing.util (delayed)
missing module named fcntl - imported by pathlib._os (optional), subprocess (optional)
missing module named _posixshmem - imported by multiprocessing.resource_tracker (conditional), multiprocessing.shared_memory (conditional)
missing module named _scproxy - imported by urllib.request (conditional)
missing module named posix - imported by posixpath (optional), shutil (conditional), importlib._bootstrap_external (conditional), pathlib._os (optional), os (conditional, optional), _pyrepl.trace (conditional)
missing module named resource - imported by posix (top-level)
missing module named _frozen_importlib_external - imported by importlib._bootstrap (delayed), importlib (optional), importlib.abc (optional), zipimport (top-level)
excluded module named _frozen_importlib - imported by importlib (optional), importlib.abc (optional), zipimport (top-level)
missing module named multiprocessing.BufferTooShort - imported by multiprocessing (top-level), multiprocessing.connection (top-level)
missing module named multiprocessing.AuthenticationError - imported by multiprocessing (top-level), multiprocessing.forkserver (top-level), multiprocessing.connection (top-level)
missing module named multiprocessing.get_context - imported by multiprocessing (top-level), multiprocessing.pool (top-level), multiprocessing.managers (top-level), multiprocessing.sharedctypes (top-level)
missing module named multiprocessing.TimeoutError - imported by multiprocessing (top-level), multiprocessing.pool (top-level)
missing module named multiprocessing.set_start_method - imported by multiprocessing (top-level), multiprocessing.spawn (top-level)
missing module named multiprocessing.get_start_method - imported by multiprocessing (top-level), multiprocessing.spawn (top-level)
missing module named pyimod02_importers - imported by C:\Python314\Lib\site-packages\PyInstaller\hooks\rthooks\pyi_rth_pkgutil.py (delayed)
missing module named _dummy_thread - imported by numpy._core.arrayprint (optional)
missing module named 'numpy_distutils.cpuinfo' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
missing module named 'numpy_distutils.fcompiler' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
missing module named 'numpy_distutils.command' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
missing module named numpy_distutils - imported by numpy.f2py.diagnose (delayed, optional)
missing module named charset_normalizer - imported by numpy.f2py.crackfortran (optional)
missing module named vms_lib - imported by platform (delayed, optional)
missing module named 'java.lang' - imported by platform (delayed, optional)
missing module named java - imported by platform (delayed)
missing module named psutil - imported by numpy.testing._private.utils (delayed, optional)
missing module named termios - imported by tty (top-level), _pyrepl.pager (delayed, optional)
missing module named readline - imported by cmd (delayed, conditional, optional), code (delayed, conditional, optional), pdb (delayed, conditional, optional), rlcompleter (optional)
missing module named win32pdh - imported by numpy.testing._private.utils (delayed, conditional)
missing module named _typeshed - imported by numpy.random.bit_generator (top-level)
missing module named numpy.random.RandomState - imported by numpy.random (top-level), numpy.random._generator (top-level)
missing module named pyodide_js - imported by threadpoolctl (delayed, optional)
missing module named numpy._core.zeros - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.vstack - imported by numpy._core (top-level), numpy.lib._shape_base_impl (top-level), numpy (conditional)
missing module named numpy._core.void - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.vecmat - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.vecdot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.ushort - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.unsignedinteger - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.ulonglong - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.ulong - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.uintp - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.uintc - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.uint64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.uint32 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.uint16 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.uint - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.ubyte - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.trunc - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.true_divide - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.transpose - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._function_base_impl (top-level), numpy (conditional)
missing module named numpy._core.trace - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.timedelta64 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.tensordot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.tanh - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.tan - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.swapaxes - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.sum - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.subtract - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.str_ - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.square - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.sqrt - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
missing module named numpy._core.spacing - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.sort - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.sinh - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.single - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.signedinteger - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.signbit - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.sign - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.short - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.rint - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.right_shift - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.result_type - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional), numpy.fft._pocketfft (top-level)
missing module named numpy._core.remainder - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.reciprocal - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
missing module named numpy._core.radians - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.rad2deg - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.prod - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.power - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.positive - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.pi - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.outer - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.ones - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
missing module named numpy._core.object_ - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.number - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.not_equal - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.nextafter - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.newaxis - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.negative - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.ndarray - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy.lib._utils_impl (top-level), numpy (conditional)
missing module named numpy._core.multiply - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.moveaxis - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.modf - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.mod - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.minimum - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.maximum - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.max - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.matvec - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.matrix_transpose - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.matmul - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.longlong - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.longdouble - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.long - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.logical_xor - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.logical_or - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.logical_not - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.logical_and - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.logaddexp2 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.logaddexp - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.log10 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.log2 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.log1p - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.log - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.linspace - imported by numpy._core (top-level), numpy.lib._index_tricks_impl (top-level), numpy (conditional)
missing module named numpy._core.less_equal - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.less - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.left_shift - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.ldexp - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.lcm - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.isscalar - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy.lib._polynomial_impl (top-level), numpy (conditional)
missing module named numpy._core.isnat - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional)
missing module named numpy._core.isnan - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.isfinite - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.intp - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.integer - imported by numpy._core (conditional), numpy (conditional), numpy.fft._helper (top-level)
missing module named numpy._core.intc - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.int64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.int32 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.int16 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.int8 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.inf - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.inexact - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.iinfo - imported by numpy._core (top-level), numpy.lib._twodim_base_impl (top-level), numpy (conditional)
missing module named numpy._core.hypot - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.hstack - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
missing module named numpy._core.heaviside - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.half - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.greater_equal - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.greater - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.gcd - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.frompyfunc - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.frexp - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.fmod - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.fmin - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.fmax - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.floor_divide - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.floor - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.floating - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.float_power - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.float32 - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.float16 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.finfo - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
missing module named numpy._core.fabs - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.expm1 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.exp2 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.exp - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.euler_gamma - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.errstate - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.equal - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.empty_like - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
missing module named numpy._core.empty - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy.fft._helper (top-level)
missing module named numpy._core.e - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.double - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.dot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
missing module named numpy._core.divmod - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.divide - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.diagonal - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.degrees - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.deg2rad - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.datetime64 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.csingle - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.cross - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.count_nonzero - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.cosh - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.cos - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.copysign - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.conjugate - imported by numpy._core (conditional), numpy (conditional), numpy.fft._pocketfft (top-level)
missing module named numpy._core.conj - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.complexfloating - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.complex64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
missing module named numpy._core.clongdouble - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.character - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.ceil - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.cdouble - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.cbrt - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.bytes_ - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.byte - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.bool_ - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.bitwise_xor - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.bitwise_or - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.bitwise_count - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.bitwise_and - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.atleast_3d - imported by numpy._core (top-level), numpy.lib._shape_base_impl (top-level), numpy (conditional)
missing module named numpy._core.atleast_2d - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.atleast_1d - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
missing module named numpy._core.asarray - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._array_utils_impl (top-level), numpy (conditional), numpy.fft._helper (top-level), numpy.fft._pocketfft (top-level)
missing module named numpy._core.asanyarray - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.array_repr - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional)
missing module named numpy._core.array2string - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.array - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
missing module named numpy._core.argsort - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.arctanh - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.arctan2 - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.arctan - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.arcsinh - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.arcsin - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.arccosh - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.arccos - imported by numpy._core (conditional), numpy (conditional)
missing module named numpy._core.arange - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy.fft._helper (top-level)
missing module named numpy._core.amin - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.amax - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named numpy._core.all - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
missing module named numpy._core.add - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
missing module named yaml - imported by numpy.__config__ (delayed)
missing module named numpy._distributor_init_local - imported by numpy (optional), numpy._distributor_init (optional)
missing module named defusedxml - imported by openpyxl.xml (delayed, optional)
missing module named lxml - imported by openpyxl.xml (delayed, optional)
missing module named 'defusedxml.ElementTree' - imported by openpyxl.xml.functions (conditional)
missing module named 'lxml.etree' - imported by openpyxl.xml.functions (conditional)
missing module named PIL - imported by openpyxl.drawing.image (optional)
missing module named openpyxl.tests - imported by openpyxl.reader.excel (optional)
missing module named google.protobuf.pyext._message - imported by google.protobuf.pyext (conditional, optional), google.protobuf.internal.api_implementation (conditional, optional), google.protobuf.descriptor (conditional), google.protobuf.pyext.cpp_message (conditional)
missing module named google.protobuf.enable_deterministic_proto_serialization - imported by google.protobuf (optional), google.protobuf.internal.api_implementation (optional)
missing module named google.protobuf.internal._api_implementation - imported by google.protobuf.internal (optional), google.protobuf.internal.api_implementation (optional)
missing module named grpc_reflection - imported by grpc (optional)
missing module named grpc_health - imported by grpc (optional)
missing module named pkg_resources - imported by grpc_tools.protoc (conditional)

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

75
devkit/sensor_server.py
View File

@@ -26,7 +26,6 @@ import sys
import time
from concurrent import futures
from pathlib import Path
import grpc
import sensor_stream_pb2
import sensor_stream_pb2_grpc
@@ -274,12 +273,13 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
ok = True
message = "OK"
cop_x = cop_y = base_x = base_y = 0.0
total_press = 0.0
threshold = 0.0
if len(frame.matrix) == SENSOR_ROWS * SENSOR_COLS:
try:
angle, magnitude, state, cop_x, cop_y, base_x, base_y = get_pzt_angle(frame.matrix)
angle, magnitude, state, cop_x, cop_y, base_x, base_y, total_press, threshold = get_pzt_angle(frame.matrix)
self.last_angle = angle
# 打印接收到的数据和计算结果
print(f"[PZT] seq={frame.seq} pzt_angle={angle:.2f} magnitude={magnitude:.4f} state={state}")
print(f"devkit: angle={angle:.2f}, magnitude={magnitude:.4f}, state={state}, cop_x={cop_x:.4f}, cop_y={cop_y:.4f}, base_x={base_x:.4f}, base_y={base_y:.4f}, total_press={total_press:.2f}, thresh={threshold:.2f}")
except Exception as e:
ok = False
message = str(e)
@@ -307,6 +307,14 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
dts_ms=frame.dts_ms,
ok=ok,
message=message,
magnitude=magnitude,
state=state,
cop_x=cop_x,
cop_y=cop_y,
base_x=base_x,
base_y=base_y,
total_press=total_press,
threshold=threshold,
)
if self.frame_count % 100 == 0:
@@ -388,25 +396,21 @@ def serve(port: int):
import numpy as np
import threading
from collections import deque
# ===================== 算法参数=====================
COP_INIT_MEDIAN_FRAMES = 15 # 初始COP取中位数的帧数
NOISE_COLLECT_FRAMES = 20 # 动态阈值基线采集帧数
COP_INIT_MEDIAN_FRAMES = 1 # 初始COP取中位数的帧数
NOISE_COLLECT_FRAMES = 10 # 动态阈值基线采集帧数
THRESH_K = 5 # 阈值 = K * mean
SENSOR_ROWS = 12
SENSOR_COLS = 7
# ===================== 二次静置精修参数 =====================
POST_INIT_WINDOW_CNT = 60000
POST_INIT_STABLE_CNT = 200
POST_INIT_STABLE_CNT = 100
POST_INIT_STABLE_THRESH = 0.1
# ===================== 线程安全全局状态 =====================
first_frame = None
first_frame_lock = threading.Lock()
first_contact_CoP_x = None
first_contact_CoP_y = None
contact_initialized = False
@@ -427,19 +431,6 @@ post_cand_x = None
post_cand_y = None
# ===================== 基线减除 =====================
def subtract_baseline(current_frame):
global first_frame
current_frame = np.array(current_frame, dtype=np.float32).flatten()
with first_frame_lock:
if first_frame is None:
first_frame = current_frame.copy()
diff = current_frame - first_frame
return np.clip(diff, 0, None)
# ===================== 重置CoP状态 =====================
def reset_cop_state():
global first_contact_CoP_x, first_contact_CoP_y, contact_initialized
@@ -459,14 +450,14 @@ def reset_cop_state():
# ===================== CoP压力中心计算 =====================
def compute_pressure_direction(baseline_subtracted_frame):
def compute_pressure_direction(raw_frame):
global first_contact_CoP_x, first_contact_CoP_y, contact_initialized
global post_init_frame_cnt, post_stable_cnt, post_refined_flag
global post_cand_x, post_cand_y
global noise_sum_buf, dynamic_thresh
rows, cols = SENSOR_ROWS, SENSOR_COLS
frame_flat = np.asarray(baseline_subtracted_frame, dtype=np.float32).flatten()
frame_flat = np.asarray(raw_frame, dtype=np.float32).flatten()
frame2d = frame_flat.reshape(rows, cols)
total_pressure = np.sum(frame2d)
@@ -479,13 +470,10 @@ def compute_pressure_direction(baseline_subtracted_frame):
dynamic_thresh = THRESH_K * float(np.mean(sums))
# 低压重置
if dynamic_thresh is not None and total_pressure < dynamic_thresh:
if contact_initialized:
if total_pressure == 0 or (dynamic_thresh is not None and total_pressure < dynamic_thresh):
if contact_initialized and dynamic_thresh is not None:
reset_cop_state()
return 0.0, 0.0, 0, rows-1, 0, cols-1, 0.0, 0.0, 0.0, 0.0, 0.0, 0
if total_pressure == 0:
return 0.0, 0.0, 0, rows-1, 0, cols-1, 0.0, 0.0, 0.0, 0.0, 0.0, 0
return 0.0, 0.0, 0, rows-1, 0, cols-1, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0.0, dynamic_thresh
x_grid = np.tile(np.arange(cols), (rows, 1))
y_grid = np.repeat(np.arange(rows), cols).reshape(rows, cols)
@@ -503,14 +491,8 @@ def compute_pressure_direction(baseline_subtracted_frame):
cop_init_y_buf.append(cop_y)
if len(cop_init_x_buf) >= COP_INIT_MEDIAN_FRAMES:
xs = list(cop_init_x_buf)
ys = list(cop_init_y_buf)
first_contact_CoP_x = float(np.median(xs))
first_contact_CoP_y = float(np.median(ys))
print(f"[CoP Init] 前{COP_INIT_MEDIAN_FRAMES}帧坐标:")
for i in range(len(xs)):
print(f" frame {i}: x={xs[i]:.3f}, y={ys[i]:.3f}")
print(f" 中位数: x={first_contact_CoP_x:.3f}, y={first_contact_CoP_y:.3f}")
first_contact_CoP_x = float(np.median(cop_init_x_buf))
first_contact_CoP_y = float(np.median(cop_init_y_buf))
contact_initialized = True
cop_init_x_buf.clear()
cop_init_y_buf.clear()
@@ -557,7 +539,8 @@ def compute_pressure_direction(baseline_subtracted_frame):
0, rows-1, 0, cols-1,
delta_CoP_x, delta_CoP_y,
base_x, base_y,
magnitude, state)
magnitude, state,
total_pressure, dynamic_thresh)
# ===================== 角度计算核心 =====================
@@ -577,22 +560,20 @@ def compute_PZT_angle(Px: float, Py: float) -> tuple[float, float]:
def get_pzt_angle(adc_data):
if len(adc_data) != 84:
raise ValueError("ADC数据长度必须为84")
baseline_subtracted = subtract_baseline(adc_data)
result = compute_pressure_direction(baseline_subtracted)
result = compute_pressure_direction(adc_data)
cop_x, cop_y = result[0], result[1]
dx, dy = result[6], result[7]
base_x, base_y = result[8], result[9]
magnitude = result[10]
state = int(result[11])
total_press = result[12]
threshold = result[13]
pzt_angle, _ = compute_PZT_angle(dx, dy)
return pzt_angle, magnitude, state, cop_x, cop_y, base_x, base_y
return pzt_angle, magnitude, state, cop_x, cop_y, base_x, base_y, total_press, threshold
# ===================== 重置基线（校准用） =====================
def reset_baseline():
global first_frame
with first_frame_lock:
first_frame = None
reset_cop_state()

22
devkit/sensor_stream_pb2.py
View File

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

127
devkit/test_pzt.py Normal file
View File

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