update frontend components and cargo config

src/lib/components/CenterStage.svelte

@@ -29,6 +29,7 @@
   export let summary: HudSummary;
   export let pressureMatrix: number[] | null = null;
   export let spatialForce: HudSpatialForce | null = null;
+  export let devkitSpatialForce: HudSpatialForce | null = null;
   export let showConfigPanel = false;
   export let configPanelTitle = "";
   export let configPanelHint = "";
@@ -327,6 +328,29 @@
                   {locale}
                   side="right"
                   panelIndex={rightPanels.length}
+                  panelCode="ALG"
+                  panelTitle={locale === "zh-CN" ? "本地切向力" : "Local Tangential"}
+                  badgeLabel={locale === "zh-CN" ? "算法" : "ALGO"}
+                />
+              </div>
+
+              <div
+                class="panel-motion-shell"
+                in:fly={{ x: 180, duration: 340, opacity: 0.08, easing: cubicOut }}
+                out:fly={{ x: 180, duration: 280, opacity: 0.06, easing: cubicIn }}
+              >
+                <SpatialForcePanel
+                  spatialForce={devkitSpatialForce}
+                  {locale}
+                  side="right"
+                  panelIndex={rightPanels.length + 1}
+                  panelCode="DKT"
+                  panelTitle={locale === "zh-CN" ? "DevKit 切向力" : "DevKit Tangential"}
+                  badgeLabel="DEVKIT"
+                  badgeTone="lime"
+                  showMetrics={false}
+                  requireMagnitude={false}
+                  compactMetaText={locale === "zh-CN" ? "等待 DevKit 角度流" : "Waiting for DevKit angle"}
                 />
               </div>
 

src/lib/components/SpatialForcePanel.svelte

@@ -5,6 +5,13 @@
   export let side: "left" | "right" = "right";
   export let panelIndex = 0;
   export let locale: "zh-CN" | "en-US" = "zh-CN";
+  export let panelCode = "TAN";
+  export let panelTitle = "";
+  export let badgeLabel = "";
+  export let badgeTone: "cyan" | "lime" | "orange" = "cyan";
+  export let showMetrics = true;
+  export let requireMagnitude = true;
+  export let compactMetaText = "";
 
   function formatValue(value: number | null, digits = 1): string {
     if (value === null || !Number.isFinite(value)) {
@@ -91,11 +98,15 @@
           strength: "Strength",
           confidence: "Confidence"
         };
+  $: resolvedTitle = panelTitle || i18n.title;
+  $: resolvedBadgeLabel = badgeLabel || i18n.angle;
+  $: resolvedCompactMetaText =
+    compactMetaText || (locale === "zh-CN" ? "仅使用角度流" : "Angle stream only");
 
   $: hasData =
     spatialForce !== null &&
     Number.isFinite(spatialForce.angleDeg) &&
-    Number.isFinite(spatialForce.magnitude);
+    (!requireMagnitude || Number.isFinite(spatialForce.magnitude));
   $: angleDeg = hasData ? normalizeAngle(spatialForce?.angleDeg ?? 0) : 0;
   $: updateVisualAngle(angleDeg, hasData);
   $: magnitude = hasData ? spatialForce?.magnitude ?? 0 : null;
@@ -110,12 +121,12 @@
 >
   <header class="panel-head">
     <div class="head-text">
-      <p class="panel-code">TAN</p>
+      <p class="panel-code">{panelCode}</p>
-      <p class="panel-title">{i18n.title}</p>
+      <p class="panel-title">{resolvedTitle}</p>
     </div>
 
     <div class="icon-layer" aria-hidden="true">
-      <span class="icon-chip tone-cyan">{i18n.angle}</span>
+      <span class={`icon-chip tone-${badgeTone}`}>{resolvedBadgeLabel}</span>
     </div>
   </header>
 
@@ -152,8 +163,13 @@
 
     <div class="angle-stage">
       <p class="angle-label">{i18n.heading}</p>
-      <p class="angle-meta">{i18n.strength}: {formatValue(magnitude, 2)}</p>
+      {#if showMetrics}
-      <p class="angle-meta">{i18n.confidence}: {hasData ? `${formatValue(confidence, 0)}%` : "--"}</p>
+        <p class="angle-meta">{i18n.strength}: {formatValue(magnitude, 2)}</p>
+        <p class="angle-meta">{i18n.confidence}: {hasData ? `${formatValue(confidence, 0)}%` : "--"}</p>
+      {:else}
+        <p class="angle-meta">{resolvedCompactMetaText}</p>
+        <p class="angle-meta">{hasData ? (locale === "zh-CN" ? "实时对比中" : "Live comparison") : "--"}</p>
+      {/if}
     </div>
   </div>
 </article>
@@ -251,6 +267,14 @@
     border-color: rgb(var(--hud-cyan-rgb) / 0.54);
   }
 
+  .icon-chip.tone-lime {
+    border-color: rgb(var(--hud-lime-rgb) / 0.54);
+  }
+
+  .icon-chip.tone-orange {
+    border-color: rgb(var(--hud-orange-rgb) / 0.54);
+  }
+
   .panel-body {
     display: grid;
     grid-template-columns: minmax(0, 1.1fr) minmax(10rem, 0.9fr);

src/routes/+page.svelte

@@ -46,6 +46,13 @@
     dtsMs: number;
   }
 
+  interface DevKitPztAngleEvent {
+    seq: number;
+    timestampMs: number;
+    dtsMs: number;
+    angle: number;
+  }
+
   const copyByLocale: Record<LocaleCode, HudCopy> = {
     "zh-CN": {
       appName: "JE-Skin",
@@ -230,6 +237,7 @@
   let summary: HudSummary = buildEmptySummary();
   let pressureMatrix: number[] | null = null;
   let spatialForce: HudSpatialForce | null = null;
+  let devkitSpatialForce: HudSpatialForce | null = null;
   let matrixRows = 12;
   let matrixCols = 7;
   let rangeMin = DEFAULT_PRESSURE_RANGE_MIN;
@@ -270,6 +278,7 @@
     rowsKept: number;
   } | null = null;
   let devkitStatusTimer: number | null = null;
+  let devkitSpatialForceClearTimer: number | null = null;
   let sessionStartedAt: number = Date.now();
 
   $: uiCopy = copyByLocale[locale];
@@ -297,6 +306,31 @@
     return typeof window !== "undefined" && "__TAURI_INTERNALS__" in window;
   }
 
+  function clearDevkitSpatialForce(): void {
+    devkitSpatialForce = null;
+    if (devkitSpatialForceClearTimer != null && typeof window !== "undefined") {
+      window.clearTimeout(devkitSpatialForceClearTimer);
+      devkitSpatialForceClearTimer = null;
+    }
+    hasSignalData = signalPanels.length > 0 || summary.points.length > 0 || spatialForce !== null;
+  }
+
+  function scheduleDevkitSpatialForceClear(): void {
+    if (typeof window === "undefined") {
+      return;
+    }
+
+    if (devkitSpatialForceClearTimer != null) {
+      window.clearTimeout(devkitSpatialForceClearTimer);
+    }
+
+    devkitSpatialForceClearTimer = window.setTimeout(() => {
+      devkitSpatialForce = null;
+      devkitSpatialForceClearTimer = null;
+      hasSignalData = signalPanels.length > 0 || summary.points.length > 0 || spatialForce !== null;
+    }, 420);
+  }
+
   function clamp(value: number, min: number, max: number): number {
     return Math.min(max, Math.max(min, value));
   }
@@ -720,6 +754,7 @@
   function resetReplayVisualState(): void {
     pressureMatrix = buildZeroMatrix();
     spatialForce = null;
+    clearDevkitSpatialForce();
     signalPanels = buildInactivePanels();
     summary = buildEmptySummary();
     hasSignalData = false;
@@ -756,6 +791,7 @@
     replayProgress = replayFrames.length > 1 ? safeIndex / (replayFrames.length - 1) : 1;
     pressureMatrix = frameValuesToMatrix(replayFrames[safeIndex].values);
     spatialForce = null;
+    clearDevkitSpatialForce();
     signalPanels = buildInactivePanels();
     summary = buildReplaySummaryAt(safeIndex);
     hasSignalData = true;
@@ -1011,7 +1047,11 @@
     }
     pressureMatrix = packet.pressureMatrix;
     spatialForce = packet.spatialForce ?? null;
-    hasSignalData = signalPanels.length > 0 || packet.summary.points.length > 0 || spatialForce !== null;
+    hasSignalData =
+      signalPanels.length > 0 ||
+      packet.summary.points.length > 0 ||
+      spatialForce !== null ||
+      devkitSpatialForce !== null;
   }
 
   function clearHudPanels(): void {
@@ -1020,6 +1060,7 @@
     summary = buildEmptySummary();
     pressureMatrix = null;
     spatialForce = null;
+    clearDevkitSpatialForce();
   }
 
   function startMockFeed(push: (packet: HudPacket) => void): () => void {
@@ -1794,12 +1835,25 @@
         .catch((error) => {
           console.error("Failed to listen for hud_stream:", error);
         });
-      void listen<{ seq: number; timestampMs: number; dtsMs: number; angle: number }>(
+      void listen<DevKitPztAngleEvent>("devkit_pzt_angle", (event) => {
-        "devkit_pzt_angle",
+        const angleDeg = Number(event.payload.angle);
-        (event) => {
+        if (!Number.isFinite(angleDeg)) {
-          console.log("[devkit_pzt_angle]", event.payload);
+          clearDevkitSpatialForce();
+          return;
         }
-      )
+
+        devkitSpatialForce = {
+          angleDeg,
+          magnitude: 0,
+          confidence: 0
+        };
+        scheduleDevkitSpatialForceClear();
+        hasSignalData =
+          signalPanels.length > 0 ||
+          summary.points.length > 0 ||
+          spatialForce !== null ||
+          devkitSpatialForce !== null;
+      })
         .then((unlisten) => {
           if (disposed) {
             unlisten();
@@ -1818,6 +1872,7 @@
     return () => {
       disposed = true;
       pauseReplayPlayback();
+      clearDevkitSpatialForce();
       stopMockFeed?.();
       unlistenHudStream?.();
       unlistenDevkitPztAngle?.();
@@ -1937,6 +1992,7 @@
       rightPanels={rightSignalPanels}
       {pressureMatrix}
       {spatialForce}
+      {devkitSpatialForce}
       showConfigPanel={isConfigPanelOpen}
       showPrecisionTestPanel={isPrecisionTestOpen}
       {summary}