线性算法验证失败，蠕变导致时飘一直上升

src-tauri/src/serial_core/serial.rs

@@ -5,8 +5,9 @@ use crate::serial_core::frame::{FrameHandler, TactileAFrame, TestFrame};
 use crate::serial_core::model::{HudChartState, HudPacket};
 use crate::serial_core::record::Recording;
 use crate::serial_core::record::{FrameTiming, RecordedFrame};
+use crate::serial_core::sensor_runtime::SensorRuntimeFilter;
 use anyhow::Result;
-use log::{debug, info};
+use log::info;
 use std::fs::File;
 use std::future::pending;
 use std::sync::{Arc, Mutex};
@@ -206,7 +207,9 @@ where
     H: FrameHandler<F, T> + Send + 'static,
     T: Into<i32>,
 {
-    info!("run_serial_with_poll");
+    let mut sensor_runtime =
+        SensorRuntimeFilter::new().map_err(|error| anyhow::anyhow!(error))?;
+
     let mut requester = match poll_mode {
         PollMode::Disable => None,
         PollMode::Enabled(r) => Some(r),
@@ -238,7 +241,7 @@ where
                     if r.should_request() {
                         if let Some(req) = r.next_request()? {
                             let bytes = codec.encode(&req)?;
-                            debug!("send {:02X?}", bytes);
+                            // debug!("send {:02X?}", bytes);
                             port.write_all(&bytes).await?;
                         }
                     }
@@ -276,10 +279,14 @@ where
                     });
 
                     let display_values = if let Some(vals) = decode_res.as_ref() {
-                        let summary = vals.iter().copied().sum::<i32>();
-                        chart_state.record_summary(summary as f32);
+                        let raw_summary = vals.iter().copied().sum::<i32>();
+                        let raw_force_g = raw_to_g1(raw_summary as u32);
+                        let stable_force_g =
+                            sensor_runtime.process_sample_with_dts(raw_summary as f64, frame.dts_ms());
+                        info!("raw force(g) = {raw_force_g:.3}, stable force(g) = {stable_force_g:.3}");
+                        chart_state.record_summary(stable_force_g as f32);
                         chart_state.record_pressure_matrix(vals.as_slice());
-                        Some(vec![summary])
+                        Some(vec![stable_force_g.round() as i32])
                     } else {
                         None
                     };
@@ -294,7 +301,38 @@ where
     Ok(())
 }
 
-// 鍦?src-tauri/src/serial_core/serial.rs 涓坊鍔?
+fn raw_to_g1(raw: u32) -> f64 {
+    const X: [u32; 11] = [
+        0, 74602, 105503, 131459, 153512, 172041, 193794, 218947, 240580, 295118, 332346,
+    ];
+
+    const Y: [f64; 11] = [
+        0.0, 160.0, 260.0, 360.0, 460.0, 560.0, 660.0, 860.0, 1060.0, 1560.0, 2060.0,
+    ];
+
+    let n = X.len();
+    if raw <= X[0] {
+        return Y[0] / 100.0;
+    }
+    if raw >= X[n - 1] {
+        return Y[n - 1] / 100.0;
+    }
+
+    let mut left = 0;
+    let mut right = n - 1;
+
+    while left + 1 < right {
+        let mid = (left + right) / 2;
+        if raw < X[mid] {
+            right = mid;
+        } else {
+            left = mid;
+        }
+    }
+
+    let ratio = (raw - X[left]) as f64 / (X[right] - X[left]) as f64;
+    Y[left] + ratio * (Y[right] - Y[left])
+}
 pub async fn run_serial_with_calibration(
     app: AppHandle,
     mut port: SerialStream,