feat: 切向力算法更新 + AD反解x模块

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

@@ -77,11 +77,12 @@ impl TactileACodec {
             .chunks_exact(2)
             .map(|chunk| {
                 let raw = u16::from_le_bytes([chunk[0], chunk[1]]) as i32;
-                if raw < 15 {
-                    0
-                } else {
-                    raw
-                }
+                raw
+                // if raw < 15 {
+                //     0
+                // } else {
+                //     raw
+                // }
             })
             .collect::<Vec<i32>>();
 

src-tauri/src/serial_core/serial.rs

@@ -22,7 +22,7 @@ use tokio::io::{AsyncReadExt, AsyncWriteExt};
 use tokio::time::{self, Duration, MissedTickBehavior};
 use tokio_serial::SerialStream;
 use tokio_util::sync::CancellationToken;
-
+use crate::ad_solver::solve_for_x;
 const AUTO_SUB_INTERVAL: Duration = Duration::from_nanos(16_666_667);
 
 pub enum PollMode<F> {
@@ -316,10 +316,10 @@ where
                         {
                             let pzt_values = vals.iter().map(|value| *value as f32).collect::<Vec<f32>>();
                             if let Ok(analysis) = pzt_processor.get_pzt_analysis(&pzt_values) {
-                                debug!(
-                                    "spatial force: angle={:.2}°, magnitude={:.2}, dx={:.2}, dy={:.2}",
-                                    analysis.angle_deg, analysis.magnitude, analysis.planar_x, analysis.planar_y
-                                );
+                                // debug!(
+                                //     "spatial force: angle={:.2}°, magnitude={:.2}, dx={:.2}, dy={:.2}",
+                                //     analysis.angle_deg, analysis.magnitude, analysis.planar_x, analysis.planar_y
+                                // );
                                 if PztProcessor::should_report(&analysis) {
                                     spatial_force = Some(HudSpatialForce {
                                         angle_deg: analysis.angle_deg,
@@ -333,6 +333,7 @@ where
                         {
                             let summary = vals.iter().copied().sum::<i32>();
                             let force = raw_to_g1(summary as u32);
+                            
                             push_devkit_frame(&app, vals.as_slice(), frame.dts_ms(), force);
                         }
 
@@ -358,6 +359,8 @@ fn build_display_values(
 ) -> Option<Vec<i32>> {
     let summary = values.iter().copied().sum::<i32>();
     let force = raw_to_g1(summary as u32);
+    // let force_solve = solve_for_x(summary as f64)?;
+    // println!("force_solve: {force_solve}");
     chart_state.record_summary(force as f32);
     chart_state.record_pressure_matrix(values);
     chart_state.record_spatial_force(spatial_force);
@@ -417,12 +420,12 @@ fn infer_matrix_shape(len: usize) -> (u32, u32) {
 }
 
 fn raw_to_g1(raw: u32) -> f64 {
-    const X: [u32; 12] = [
-        0, 84402, 117218, 140176, 159126, 175812, 191484, 208758, 224703, 252448, 302361, 352703,
+    const X: [u32; 13] = [
+        0, 16811, 41350, 79241, 94615, 127446, 149559, 175900, 195056, 237852, 267810, 322472, 378511,
     ];
 
-    const Y: [f64; 12] = [
-        0.0, 160.0, 260.0, 360.0, 460.0, 560.0, 660.0, 760.0, 860.0, 1060.0, 1560.0, 2060.0,
+    const Y: [f64; 13] = [
+        0.0, 57.0, 97.0, 197.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0,
     ];
 
     let n = X.len();