feat: 切向力算法更新 + AD反解x模块

devkit/build/je-skin-devkit-server/EXE-00.toc

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+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\mt19937\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\LICENSE.txt',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\LICENSE.txt',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\multiarray\\dragon4_LICENSE.txt',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\multiarray\\dragon4_LICENSE.txt',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\METADATA',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\METADATA',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\DELVEWHEEL',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\DELVEWHEEL',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\highway\\LICENSE',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\highway\\LICENSE',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\distributions\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\distributions\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\npysort\\x86-simd-sort\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\npysort\\x86-simd-sort\\LICENSE.md',
+   'DATA'),
+  ('base_library.zip',
+   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\base_library.zip',
+   'DATA')],
+ 'python314.dll',
+ False,
+ False,
+ False,
+ [],
+ None,
+ None,
+ None)

devkit/build/je-skin-devkit-server/warn-je-skin-devkit-server.txt

@@ -0,0 +1,245 @@
+
+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)

devkit/je-skin-devkit-server.spec

@@ -5,8 +5,8 @@ a = Analysis(
     ['sensor_server.py'],
     pathex=[],
     binaries=[],
-    datas=[('sensor_stream_pb2.py', '.'), ('sensor_stream_pb2_grpc.py', '.')],
+    datas=[],
-    hiddenimports=['grpc', 'openpyxl', 'numpy'],
+    hiddenimports=[],
     hookspath=[],
     hooksconfig={},
     runtime_hooks=[],

devkit/sensor_server.py

@@ -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
@@ -231,30 +230,56 @@ def _append_analysis_log(source_csv: str, stats: dict):
 class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
     """接收实时传感器帧（streaming）"""
 
+    _csv_path = None  # 类变量，记录当前 CSV 路径
+
     def __init__(self):
         self.frame_count = 0
         self.last_report_time = time.time()
         self.last_angle = None
+        self._csv_file = None
+        self._csv_writer = None
+
+    def _open_csv(self):
+        """打开一个新的 CSV 文件用于持续写入"""
+        ts = time.strftime("%Y%m%d_%H%M%S")
+        SensorPushServicer._csv_path = os.path.join(os.getcwd(), f"sensor_log_{ts}.csv")
+        self._csv_file = open(SensorPushServicer._csv_path, "w", newline="", encoding="utf-8-sig")
+        self._csv_writer = csv.writer(self._csv_file)
+        header = ["seq", "timestamp_ms", "dts_ms", "angle", "magnitude", "state", "cop_x", "cop_y", "base_x", "base_y", "resultant_force"] + [f"ch{i}" for i in range(SENSOR_ROWS * SENSOR_COLS)]
+        self._csv_writer.writerow(header)
+        self._csv_file.flush()
+        print(f"[SensorPush] CSV logging to: {SensorPushServicer._csv_path}")
+
+    def _close_csv(self):
+        """关闭 CSV 文件"""
+        if self._csv_file:
+            self._csv_file.close()
+            print(f"[SensorPush] CSV saved: {SensorPushServicer._csv_path}")
+            self._csv_file = None
+            self._csv_writer = None
 
     def Upload(self, request_iterator, context):
         print("[SensorPush] Client connected, waiting for frames...")
         reset_baseline()
         self.last_angle = None
+        self.frame_count = 0
+        self._open_csv()
 
         for frame in request_iterator:
             self.frame_count += 1
             angle = 0.0
+            magnitude = 0.0
+            state = 0
             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 = 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
-                    if self.frame_count <= 10 or self.frame_count % 30 == 0:
+                    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}")
-                        print(
-                            f"[SensorPush] PZT angle frame #{frame.seq} "
-                            f"dts={frame.dts_ms} angle={angle:.2f}"
-                        )
                 except Exception as e:
                     ok = False
                     message = str(e)
@@ -262,6 +287,18 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
             else:
                 ok = False
                 message = f"Invalid matrix length: {len(frame.matrix)}"
+                print(f"[Recv #{frame.seq}] INVALID len={len(frame.matrix)}")
+
+            # 持续写入 CSV
+            if self._csv_writer:
+                row = [frame.seq, frame.timestamp_ms, frame.dts_ms,
+                       f"{angle:.4f}", f"{magnitude:.4f}", state,
+                       f"{cop_x:.4f}", f"{cop_y:.4f}", f"{base_x:.4f}", f"{base_y:.4f}",
+                       frame.resultant_force]
+                row += list(frame.matrix)
+                self._csv_writer.writerow(row)
+                if self.frame_count % 10 == 0:
+                    self._csv_file.flush()
 
             yield sensor_stream_pb2.PztAngleResponse(
                 seq=frame.seq,
@@ -270,6 +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:
@@ -290,6 +335,7 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
                     f"total={self.frame_count} | ~{fps:.1f} fps"
                 )
 
+        self._close_csv()
         print(f"[SensorPush] Stream ended. Total: {self.frame_count}")
 
 
@@ -350,67 +396,84 @@ def serve(port: int):
 
 
 import numpy as np
-import threading
+from collections import deque
 
 # ===================== 算法参数=====================
-TOTAL_PRESSURE_LOW_THRESHOLD = 500     
+COP_INIT_MEDIAN_FRAMES = 1                 # 初始COP取中位数的帧数
-COP_STABILITY_FRAMES_REQUIRED = 5       
+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
 
-# ===================== 线程安全全局状态 =====================
+# ===================== 二次静置精修参数 =====================
-first_frame = None                     
+POST_INIT_WINDOW_CNT = 60000
-first_frame_lock = threading.Lock()     
+POST_INIT_STABLE_CNT = 100
+POST_INIT_STABLE_THRESH = 0.1
 
+# ===================== 线程安全全局状态 =====================
 first_contact_CoP_x = None
 first_contact_CoP_y = None
 contact_initialized = False
 
-total_pressure_low_counter = 0          
+# 候选初始CoP缓冲
+cop_init_x_buf = deque(maxlen=COP_INIT_MEDIAN_FRAMES)
+cop_init_y_buf = deque(maxlen=COP_INIT_MEDIAN_FRAMES)
 
-# ===================== 基线减除 =====================
+# 动态阈值
-def subtract_baseline(current_frame):
+noise_sum_buf = deque(maxlen=NOISE_COLLECT_FRAMES)
-    global first_frame
+dynamic_thresh = None
-    current_frame = np.array(current_frame, dtype=np.float32).flatten()
 
-    with first_frame_lock:
+# 二次静置精修状态
-        if first_frame is None:
+post_init_frame_cnt = 0
-            first_frame = current_frame.copy()
+post_stable_cnt = 0
+post_refined_flag = False
+post_cand_x = None
+post_cand_y = None
 
-    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
-    global total_pressure_low_counter
+    global post_init_frame_cnt, post_stable_cnt, post_refined_flag
+    global post_cand_x, post_cand_y
 
     first_contact_CoP_x = None
     first_contact_CoP_y = None
     contact_initialized = False
-    total_pressure_low_counter = 0
+    cop_init_x_buf.clear()
+    cop_init_y_buf.clear()
+    post_init_frame_cnt = 0
+    post_stable_cnt = 0
+    post_refined_flag = False
+    post_cand_x = None
+    post_cand_y = None
+
 
 # ===================== 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 total_pressure_low_counter
+    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)
-    if total_pressure < TOTAL_PRESSURE_LOW_THRESHOLD:
-        total_pressure_low_counter += 1
-    else:
-        total_pressure_low_counter = 0
 
-    if total_pressure_low_counter >= COP_STABILITY_FRAMES_REQUIRED:
+    # 动态阈值
-        reset_cop_state()
+    if dynamic_thresh is None:
-        return 0.0, 0.0
+        noise_sum_buf.append(total_pressure)
+        if len(noise_sum_buf) >= NOISE_COLLECT_FRAMES:
+            sums = np.array(noise_sum_buf)
+            dynamic_thresh = THRESH_K * float(np.mean(sums))
 
-    if total_pressure == 0:
+    # 低压重置
-        return 0.0, 0.0
+    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, 0.0, dynamic_thresh
 
     x_grid = np.tile(np.arange(cols), (rows, 1))
     y_grid = np.repeat(np.arange(rows), cols).reshape(rows, cols)
@@ -419,16 +482,66 @@ def compute_pressure_direction(baseline_subtracted_frame):
 
     delta_CoP_x = 0.0
     delta_CoP_y = 0.0
+    base_x = cop_x
+    base_y = cop_y
 
+    # ============ 初始点稳定判断（中位数判定） ============
     if not contact_initialized:
-        first_contact_CoP_x = cop_x
+        cop_init_x_buf.append(cop_x)
-        first_contact_CoP_y = cop_y
+        cop_init_y_buf.append(cop_y)
-        contact_initialized = True
+
-    else:
+        if len(cop_init_x_buf) >= COP_INIT_MEDIAN_FRAMES:
-        delta_CoP_x = cop_x - first_contact_CoP_x
+            first_contact_CoP_x = float(np.median(cop_init_x_buf))
-        delta_CoP_y = cop_y - first_contact_CoP_y
+            first_contact_CoP_y = float(np.median(cop_init_y_buf))
+            contact_initialized = True
+            cop_init_x_buf.clear()
+            cop_init_y_buf.clear()
+
+    # ========== 计算偏移量 ==========
+    else:
+        # 二次静置精修
+        post_init_frame_cnt += 1
+        if not post_refined_flag and post_init_frame_cnt <= POST_INIT_WINDOW_CNT:
+            if post_cand_x is not None:
+                dist_val = np.hypot(cop_x - post_cand_x, cop_y - post_cand_y)
+                if dist_val <= POST_INIT_STABLE_THRESH:
+                    post_stable_cnt += 1
+                else:
+                    post_cand_x = cop_x
+                    post_cand_y = cop_y
+                    post_stable_cnt = 1
+            else:
+                post_cand_x = cop_x
+                post_cand_y = cop_y
+                post_stable_cnt = 1
+
+            if post_stable_cnt >= POST_INIT_STABLE_CNT:
+                first_contact_CoP_x = post_cand_x
+                first_contact_CoP_y = post_cand_y
+                post_refined_flag = True
+        else:
+            post_refined_flag = True
+
+        delta_CoP_x = cop_x - first_contact_CoP_x
+        delta_CoP_y = first_contact_CoP_y - cop_y
+        base_x = first_contact_CoP_x
+        base_y = first_contact_CoP_y
+
+    magnitude = np.hypot(delta_CoP_x, delta_CoP_y)
+    if not contact_initialized:
+        state = 0
+    elif not post_refined_flag:
+        state = 1
+    else:
+        state = 2
+
+    return (cop_x, cop_y,
+            0, rows-1, 0, cols-1,
+            delta_CoP_x, delta_CoP_y,
+            base_x, base_y,
+            magnitude, state,
+            total_pressure, dynamic_thresh)
 
-    return delta_CoP_x, delta_CoP_y
 
 # ===================== 角度计算核心 =====================
 def compute_vector_angle(x: float, y: float) -> tuple[float, float]:
@@ -440,23 +553,27 @@ def compute_vector_angle(x: float, y: float) -> tuple[float, float]:
     return angle, mag
 
 def compute_PZT_angle(Px: float, Py: float) -> tuple[float, float]:
-    return compute_vector_angle(Px, -Py)
+    return compute_vector_angle(Px, Py)
+
 
 # ===================== 核心入口函数 =====================
 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(adc_data)
-    dx, dy = compute_pressure_direction(baseline_subtracted)
+    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, total_press, threshold
 
-    return pzt_angle
 
 # ===================== 重置基线（校准用） =====================
 def reset_baseline():
-    global first_frame
-    with first_frame_lock:
-        first_frame = None
     reset_cop_state()
 
 

devkit/sensor_stream_pb2.py

@@ -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_start=175
-  _globals['_PZTANGLERESPONSE']._serialized_end=287
+  _globals['_PZTANGLERESPONSE']._serialized_end=384
-  _globals['_PROCESSREQUEST']._serialized_start=289
+  _globals['_PROCESSREQUEST']._serialized_start=386
-  _globals['_PROCESSREQUEST']._serialized_end=345
+  _globals['_PROCESSREQUEST']._serialized_end=442
-  _globals['_PROCESSRESPONSE']._serialized_start=348
+  _globals['_PROCESSRESPONSE']._serialized_start=445
-  _globals['_PROCESSRESPONSE']._serialized_end=514
+  _globals['_PROCESSRESPONSE']._serialized_end=611
-  _globals['_SENSORPUSH']._serialized_start=516
+  _globals['_SENSORPUSH']._serialized_start=613
-  _globals['_SENSORPUSH']._serialized_end=603
+  _globals['_SENSORPUSH']._serialized_end=700
-  _globals['_EXPORTPROCESSOR']._serialized_start=605
+  _globals['_EXPORTPROCESSOR']._serialized_start=702
-  _globals['_EXPORTPROCESSOR']._serialized_end=700
+  _globals['_EXPORTPROCESSOR']._serialized_end=797
 # @@protoc_insertion_point(module_scope)

devkit/test_pzt.py

@@ -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()

package-lock.json

@@ -6,7 +6,7 @@
   "packages": {
     "": {
       "name": "JE-Skin",
-      "version": "0.3.0",
+      "version": "0.4.0",
       "license": "MIT",
       "dependencies": {
         "@tauri-apps/api": "^2",

src-tauri/proto/sensor_stream.proto

@@ -27,6 +27,14 @@ message PztAngleResponse {
   uint32 dts_ms = 4;
   bool ok = 5;
   string message = 6;
+  float magnitude = 7;
+  uint32 state = 8;
+  float cop_x = 9;
+  float cop_y = 10;
+  float base_x = 11;
+  float base_y = 12;
+  float total_press = 13;
+  float threshold = 14;
 }
 
 message ProcessRequest {

src-tauri/src/ad_solver.rs

@@ -0,0 +1,162 @@
+/// AD值反解x计算器
+/// AD = -5.732*x^3 - 131.5*x^2 + 31980*x + 13490 (x <= 6.57)
+/// AD = -377.8*x^2 + 26040*x + 51120 (x > 6.57)
+
+const X_BOUNDARY: f64 = 6.57;
+
+/// 二次方程在边界处的AD值
+/// 当 x = 6.57 时，AD = -377.8*6.57^2 + 26040*6.57 + 51120
+const AD_BOUNDARY: f64 = 205895.10;
+
+/// 二次方程求解器
+/// -377.8*x^2 + 26040*x + 51120 = ad
+/// 返回 x > 6.57 的那个解
+fn solve_quadratic(ad: f64) -> Option<f64> {
+    let a = -377.8;
+    let b = 26040.0;
+    let c = 51120.0 - ad;
+    
+    let discriminant = b * b - 4.0 * a * c;
+    if discriminant < 0.0 {
+        return None;
+    }
+    
+    let sqrt_d = discriminant.sqrt();
+    let x1 = (-b + sqrt_d) / (2.0 * a);
+    let x2 = (-b - sqrt_d) / (2.0 * a);
+    
+    // 选择 x > 6.57 的解（只可能有一个解满足这个条件）
+    if x1 > X_BOUNDARY && x1 > 0.0 {
+        Some(x1)
+    } else if x2 > X_BOUNDARY && x2 > 0.0 {
+        Some(x2)
+    } else {
+        None
+    }
+}
+
+/// 计算三次多项式的值
+/// f(x) = -5.732*x^3 - 131.5*x^2 + 31980*x + 13490
+fn cubic_value(x: f64) -> f64 {
+    -5.732 * x.powi(3) - 131.5 * x.powi(2) + 31980.0 * x + 13490.0
+}
+
+/// 使用二分法求解三次方程 (x <= 6.57)
+/// 三次方程在 [0, 6.57] 范围内是单调递增的
+fn solve_cubic_bisection(ad: f64) -> Option<f64> {
+    let mut low = 0.0;
+    let mut high = X_BOUNDARY;
+    
+    let target = ad;
+    
+    // 检查目标是否在范围内
+    let low_ad = cubic_value(low);
+    let high_ad = cubic_value(high);
+    
+    if target < low_ad.min(high_ad) || target > low_ad.max(high_ad) {
+        return None;
+    }
+    
+    for _i in 0..100 {
+        let mid = (low + high) / 2.0;
+        let mid_ad = cubic_value(mid);
+        
+        if (high - low).abs() < 1e-10 {
+            return Some((low + high) / 2.0);
+        }
+        
+        if mid_ad > target {
+            high = mid;
+        } else {
+            low = mid;
+        }
+    }
+    
+    Some((low + high) / 2.0)
+}
+
+/// 主求解函数：根据AD值反解x
+pub fn solve_for_x(ad: f64) -> Option<f64> {
+    // 如果 AD <= 边界值，使用三次方程 (x <= 6.57)
+    // 如果 AD > 边界值，使用二次方程 (x > 6.57)
+    if ad <= AD_BOUNDARY {
+        return solve_cubic_bisection(ad);
+    }
+    
+    // AD > 边界值，使用二次方程
+    solve_quadratic(ad)
+}
+
+/// 批量求解，用于验证所有解
+pub fn solve_for_x_all(ad: f64) -> Vec<f64> {
+    let mut results = Vec::new();
+    
+    // 三次方程解
+    if let Some(x) = solve_cubic_bisection(ad) {
+        results.push(x);
+    }
+    
+    // 二次方程解
+    if let Some(x) = solve_quadratic(ad) {
+        results.push(x);
+    }
+    
+    results
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn test_cubic_forward() {
+        // 测试 x <= 6.57 的正向计算
+        let x = 5.0;
+        let ad = cubic_value(x);
+        println!("x={}, ad={}", x, ad);
+        let solved = solve_for_x(ad).unwrap();
+        println!("solved={}", solved);
+        assert!((solved - x).abs() < 0.01, "x={}, solved={}", x, solved);
+    }
+
+    #[test]
+    fn test_quadratic_forward() {
+        // 测试 x > 6.57 的正向计算
+        let x = 10.0;
+        let ad = -377.8 * x * x + 26040.0 * x + 51120.0;
+        let solved = solve_for_x(ad).unwrap();
+        assert!((solved - x).abs() < 0.01, "x={}, solved={}", x, solved);
+    }
+
+    #[test]
+    fn test_boundary() {
+        // 测试边界值
+        let x = 6.57;
+        let ad_cubic = cubic_value(x);
+        let ad_quad = -377.8 * x * x + 26040.0 * x + 51120.0;
+        
+        println!("x=6.57 时三次方程 AD = {:.2}", ad_cubic);
+        println!("x=6.57 时二次方程 AD = {:.2}", ad_quad);
+        println!("边界值 AD_BOUNDARY = {:.2}", AD_BOUNDARY);
+        
+        // 边界处两个公式应该有显著差异
+        assert!((ad_cubic - ad_quad).abs() > 100.0);
+    }
+
+    #[test]
+    fn test_known_values() {
+        // 测试一些已知值
+        let test_cases = [
+            (0.0, cubic_value(0.0)),
+            (3.0, cubic_value(3.0)),
+            (6.0, cubic_value(6.0)),
+            (8.0, -377.8 * 8.0 * 8.0 + 26040.0 * 8.0 + 51120.0),
+            (15.0, -377.8 * 15.0 * 15.0 + 26040.0 * 15.0 + 51120.0),
+        ];
+        
+        for (x, ad) in test_cases {
+            let solved = solve_for_x(ad).unwrap();
+            assert!((solved - x).abs() < 0.01, "x={}, ad={}, solved={}", x, ad, solved);
+        }
+    }
+}

src-tauri/src/devkit/client.rs

@@ -278,10 +278,16 @@ async fn run_grpc_upload(
                 angle: message.angle,
             };
             ::log::debug!(
-                "python pzt angle: seq={} dts_ms={} angle={:.2}",
+                "devkit: angle={:.2}, magnitude={:.4}, state={}, cop_x={:.4}, cop_y={:.4}, base_x={:.4}, base_y={:.4}, total_press={:.2}, thresh={:.2}",
-                message.seq,
+                message.angle,
-                message.dts_ms,
+                message.magnitude,
-                message.angle
+                message.state,
+                message.cop_x,
+                message.cop_y,
+                message.base_x,
+                message.base_y,
+                message.total_press,
+                message.threshold
             );
             app.emit("devkit_pzt_angle", payload)?;
         } else {

src-tauri/src/lib.rs

@@ -1,3 +1,4 @@
+pub mod ad_solver;
 mod commands;
 mod lan_game;
 pub mod log;

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 {
+                raw
-                    0
+                // if raw < 15 {
-                } else {
+                //     0
-                    raw
+                // } 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!(
+                                // debug!(
-                                    "spatial force: angle={:.2}°, magnitude={:.2}, dx={:.2}, dy={:.2}",
+                                //     "spatial force: angle={:.2}°, magnitude={:.2}, dx={:.2}, dy={:.2}",
-                                    analysis.angle_deg, analysis.magnitude, analysis.planar_x, analysis.planar_y
+                                //     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] = [
+    const X: [u32; 13] = [
-        0, 84402, 117218, 140176, 159126, 175812, 191484, 208758, 224703, 252448, 302361, 352703,
+        0, 16811, 41350, 79241, 94615, 127446, 149559, 175900, 195056, 237852, 267810, 322472, 378511,
     ];
 
-    const Y: [f64; 12] = [
+    const Y: [f64; 13] = [
-        0.0, 160.0, 260.0, 360.0, 460.0, 560.0, 660.0, 760.0, 860.0, 1060.0, 1560.0, 2060.0,
+        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();