Update raw_to_g1 calibration points

- Remove NeonBreakoutArena split panel from CenterStage
- Remove numeric matrix display mode toggle (keep dot matrix only)
- Remove 3D module stage mode switcher from HudPanel
- Remove precision-test config link and related UI state
- Cargo check passes (1 warning: unused import in log.rs)

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

@@ -1,8 +1,8 @@
-('d:\\JE-Skin-main\\devkit\\dist\\je-skin-devkit-server.exe',
+('D:\\Workspace\\je-skin-customer-demo\\devkit\\dist\\je-skin-devkit-server.exe',
  True,
  False,
  False,
- 'C:\\Python314\\Lib\\site-packages\\PyInstaller\\bootloader\\images\\icon-console.ico',
+ 'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\PyInstaller\\bootloader\\images\\icon-console.ico',
  None,
  False,
  False,
@@ -29,142 +29,173 @@
  None,
  None,
  None,
- 'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\je-skin-devkit-server.pkg',
+ 'D:\\Workspace\\je-skin-customer-demo\\devkit\\build\\je-skin-devkit-server\\je-skin-devkit-server.pkg',
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   ('PYZ-00.pyz',
-   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\PYZ-00.pyz',
+   'D:\\Workspace\\je-skin-customer-demo\\devkit\\build\\je-skin-devkit-server\\PYZ-00.pyz',
    'PYZ'),
   ('struct',
-   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\struct.pyc',
+   'D:\\Workspace\\je-skin-customer-demo\\devkit\\build\\je-skin-devkit-server\\localpycs\\struct.pyc',
    'PYMODULE'),
   ('pyimod01_archive',
-   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod01_archive.pyc',
+   'D:\\Workspace\\je-skin-customer-demo\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod01_archive.pyc',
    'PYMODULE'),
   ('pyimod02_importers',
-   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod02_importers.pyc',
+   'D:\\Workspace\\je-skin-customer-demo\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod02_importers.pyc',
    'PYMODULE'),
   ('pyimod03_ctypes',
-   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod03_ctypes.pyc',
+   'D:\\Workspace\\je-skin-customer-demo\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod03_ctypes.pyc',
    'PYMODULE'),
   ('pyimod04_pywin32',
-   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod04_pywin32.pyc',
+   'D:\\Workspace\\je-skin-customer-demo\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod04_pywin32.pyc',
    'PYMODULE'),
   ('pyiboot01_bootstrap',
-   'C:\\Python314\\Lib\\site-packages\\PyInstaller\\loader\\pyiboot01_bootstrap.py',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\PyInstaller\\loader\\pyiboot01_bootstrap.py',
    'PYSOURCE'),
   ('pyi_rth_inspect',
-   'C:\\Python314\\Lib\\site-packages\\PyInstaller\\hooks\\rthooks\\pyi_rth_inspect.py',
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    'PYSOURCE'),
   ('pyi_rth_pkgutil',
-   'C:\\Python314\\Lib\\site-packages\\PyInstaller\\hooks\\rthooks\\pyi_rth_pkgutil.py',
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    'PYSOURCE'),
   ('pyi_rth_multiprocessing',
-   'C:\\Python314\\Lib\\site-packages\\PyInstaller\\hooks\\rthooks\\pyi_rth_multiprocessing.py',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\PyInstaller\\hooks\\rthooks\\pyi_rth_multiprocessing.py',
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-  ('sensor_server', 'D:\\JE-Skin-main\\devkit\\sensor_server.py', 'PYSOURCE'),
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+   'EXTENSION'),
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+   'EXTENSION'),
+  ('numpy\\random\\_sfc64.cp313-win_amd64.pyd',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy\\random\\_sfc64.cp313-win_amd64.pyd',
+   'EXTENSION'),
+  ('numpy\\random\\_philox.cp313-win_amd64.pyd',
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+   'EXTENSION'),
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+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy\\random\\_pcg64.cp313-win_amd64.pyd',
+   'EXTENSION'),
+  ('numpy\\random\\_mt19937.cp313-win_amd64.pyd',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy\\random\\_mt19937.cp313-win_amd64.pyd',
+   'EXTENSION'),
+  ('numpy\\random\\_generator.cp313-win_amd64.pyd',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy\\random\\_generator.cp313-win_amd64.pyd',
+   'EXTENSION'),
+  ('numpy\\random\\_common.cp313-win_amd64.pyd',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy\\random\\_common.cp313-win_amd64.pyd',
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+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy\\fft\\_pocketfft_umath.cp313-win_amd64.pyd',
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+   'EXTENSION'),
+  ('grpc\\_cython\\cygrpc.cp313-win_amd64.pyd',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\grpc\\_cython\\cygrpc.cp313-win_amd64.pyd',
    'EXTENSION'),
   ('google\\_upb\\_message.pyd',
-   'C:\\Python314\\Lib\\site-packages\\google\\_upb\\_message.pyd',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\google\\_upb\\_message.pyd',
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-  ('grpc_tools\\_protoc_compiler.cp314-win_amd64.pyd',
-   'C:\\Python314\\Lib\\site-packages\\grpc_tools\\_protoc_compiler.cp314-win_amd64.pyd',
+  ('grpc_tools\\_protoc_compiler.cp313-win_amd64.pyd',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\grpc_tools\\_protoc_compiler.cp313-win_amd64.pyd',
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-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-locale-l1-1-0.dll',
+  ('api-ms-win-crt-process-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-process-l1-1-0.dll',
    'BINARY'),
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-  ('api-ms-win-crt-convert-l1-1-0.dll',
-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-convert-l1-1-0.dll',
+  ('api-ms-win-crt-locale-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-locale-l1-1-0.dll',
    'BINARY'),
   ('api-ms-win-crt-heap-l1-1-0.dll',
    'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-heap-l1-1-0.dll',
    'BINARY'),
+  ('zlib.dll', 'C:\\Users\\Administrator\\miniconda3\\zlib.dll', 'BINARY'),
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    'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-string-l1-1-0.dll',
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-  ('api-ms-win-crt-process-l1-1-0.dll',
-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-process-l1-1-0.dll',
+  ('api-ms-win-crt-filesystem-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-filesystem-l1-1-0.dll',
    'BINARY'),
-  ('api-ms-win-crt-math-l1-1-0.dll',
-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-math-l1-1-0.dll',
+  ('api-ms-win-crt-environment-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-environment-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-crt-convert-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-convert-l1-1-0.dll',
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@@ -172,188 +203,221 @@
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+  ('VCRUNTIME140.dll',
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-  ('python3.dll', 'C:\\Python314\\python3.dll', 'BINARY'),
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devkit/build/je-skin-devkit-server/PKG-00.toc

@@ -1,4 +1,4 @@
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-   'C:\\Python314\\Lib\\site-packages\\numpy\\_core\\_multiarray_tests.cp314-win_amd64.pyd',
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-   'C:\\Python314\\Lib\\site-packages\\grpc\\_cython\\cygrpc.cp314-win_amd64.pyd',
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+   'EXTENSION'),
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+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy\\random\\mtrand.cp313-win_amd64.pyd',
+   'EXTENSION'),
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+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy\\random\\bit_generator.cp313-win_amd64.pyd',
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+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy\\random\\_sfc64.cp313-win_amd64.pyd',
+   'EXTENSION'),
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+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy\\random\\_philox.cp313-win_amd64.pyd',
+   'EXTENSION'),
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+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy\\random\\_pcg64.cp313-win_amd64.pyd',
+   'EXTENSION'),
+  ('numpy\\random\\_mt19937.cp313-win_amd64.pyd',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy\\random\\_mt19937.cp313-win_amd64.pyd',
+   'EXTENSION'),
+  ('numpy\\random\\_generator.cp313-win_amd64.pyd',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy\\random\\_generator.cp313-win_amd64.pyd',
+   'EXTENSION'),
+  ('numpy\\random\\_common.cp313-win_amd64.pyd',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy\\random\\_common.cp313-win_amd64.pyd',
+   'EXTENSION'),
+  ('numpy\\random\\_bounded_integers.cp313-win_amd64.pyd',
+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy\\random\\_bounded_integers.cp313-win_amd64.pyd',
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+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\numpy\\fft\\_pocketfft_umath.cp313-win_amd64.pyd',
+   'EXTENSION'),
+  ('_elementtree.pyd',
+   'C:\\Users\\Administrator\\miniconda3\\DLLs\\_elementtree.pyd',
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    'EXTENSION'),
   ('google\\_upb\\_message.pyd',
-   'C:\\Python314\\Lib\\site-packages\\google\\_upb\\_message.pyd',
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+   'C:\\Users\\Administrator\\miniconda3\\Lib\\site-packages\\grpc_tools\\_protoc_compiler.cp313-win_amd64.pyd',
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-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-locale-l1-1-0.dll',
+  ('api-ms-win-crt-process-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-process-l1-1-0.dll',
    'BINARY'),
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-  ('api-ms-win-crt-convert-l1-1-0.dll',
-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-convert-l1-1-0.dll',
+  ('api-ms-win-crt-locale-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-locale-l1-1-0.dll',
    'BINARY'),
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    'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-heap-l1-1-0.dll',
    'BINARY'),
+  ('zlib.dll', 'C:\\Users\\Administrator\\miniconda3\\zlib.dll', 'BINARY'),
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    'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-string-l1-1-0.dll',
    'BINARY'),
-  ('api-ms-win-crt-process-l1-1-0.dll',
-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-process-l1-1-0.dll',
+  ('api-ms-win-crt-filesystem-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-filesystem-l1-1-0.dll',
    'BINARY'),
-  ('api-ms-win-crt-math-l1-1-0.dll',
-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-math-l1-1-0.dll',
+  ('api-ms-win-crt-environment-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-environment-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-crt-convert-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-convert-l1-1-0.dll',
    'BINARY'),
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    'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-stdio-l1-1-0.dll',
@@ -150,184 +181,217 @@
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-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-utility-l1-1-0.dll',
+  ('VCRUNTIME140.dll',
+   'C:\\Users\\Administrator\\miniconda3\\VCRUNTIME140.dll',
+   'BINARY'),
+  ('api-ms-win-crt-math-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-math-l1-1-0.dll',
    'BINARY'),
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-  ('libffi-8.dll', 'C:\\Python314\\DLLs\\libffi-8.dll', 'BINARY'),
-  ('python3.dll', 'C:\\Python314\\python3.dll', 'BINARY'),
+  ('api-ms-win-crt-utility-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-utility-l1-1-0.dll',
+   'BINARY'),
+  ('VCRUNTIME140_1.dll',
+   'C:\\Users\\Administrator\\miniconda3\\VCRUNTIME140_1.dll',
+   'BINARY'),
+  ('libexpat.dll',
+   'C:\\Users\\Administrator\\miniconda3\\Library\\bin\\libexpat.dll',
+   'BINARY'),
+  ('libssl-3-x64.dll',
+   'C:\\Users\\Administrator\\miniconda3\\Library\\bin\\libssl-3-x64.dll',
+   'BINARY'),
+  ('libcrypto-3-x64.dll',
+   'C:\\Users\\Administrator\\miniconda3\\Library\\bin\\libcrypto-3-x64.dll',
+   'BINARY'),
+  ('libmpdec-4.dll',
+   'C:\\Users\\Administrator\\miniconda3\\Library\\bin\\libmpdec-4.dll',
+   'BINARY'),
+  ('liblzma.dll',
+   'C:\\Users\\Administrator\\miniconda3\\Library\\bin\\liblzma.dll',
+   'BINARY'),
+  ('LIBBZ2.dll',
+   'C:\\Users\\Administrator\\miniconda3\\Library\\bin\\LIBBZ2.dll',
+   'BINARY'),
+  ('ffi.dll',
+   'C:\\Users\\Administrator\\miniconda3\\Library\\bin\\ffi.dll',
+   'BINARY'),
+  ('python3.dll',
+   'C:\\Users\\Administrator\\miniconda3\\python3.dll',
+   'BINARY'),
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devkit/build/je-skin-devkit-server/warn-je-skin-devkit-server.txt

@@ -14,40 +14,41 @@ Types of import:
 IMPORTANT: Do NOT post this list to the issue-tracker. Use it as a basis for
             tracking down the missing module yourself. Thanks!
 
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-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 pwd - imported by posixpath (delayed, conditional, optional), shutil (delayed, optional), tarfile (optional), pathlib._local (optional), subprocess (delayed, conditional, optional), http.server (delayed, optional), netrc (delayed, optional), getpass (delayed, optional)
+missing module named grp - imported by shutil (delayed, optional), tarfile (optional), pathlib._local (optional), subprocess (delayed, conditional, optional)
+missing module named 'collections.abc' - imported by traceback (top-level), typing (top-level), inspect (top-level), logging (top-level), importlib.resources.readers (top-level), selectors (top-level), tracemalloc (top-level), http.client (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), 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 fcntl - imported by 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 termios - imported by tty (top-level), _pyrepl.pager (delayed, optional), getpass (optional)
+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.connection (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 posix - imported by os (conditional, optional), posixpath (optional), shutil (conditional), importlib._bootstrap_external (conditional)
+missing module named resource - imported by posix (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 pyimod02_importers - imported by C:\Users\Administrator\miniconda3\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 asyncio.DefaultEventLoopPolicy - imported by asyncio (delayed, conditional), asyncio.events (delayed, conditional)
+missing module named annotationlib - imported by typing_extensions (conditional)
 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 threadpoolctl - imported by numpy.lib._utils_impl (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)
@@ -84,7 +85,7 @@ missing module named numpy._core.sinh - imported by numpy._core (conditional), n
 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.sign - imported by numpy._core (conditional), 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)

devkit/je-skin-devkit-server.spec

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

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\"\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')
+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\"\xf9\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(\x05\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\x12\x13\n\x0btotal_press\x18\r \x01(\x02\x12\x11\n\tthreshold\x18\x0e \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)
@@ -34,13 +34,13 @@ if not _descriptor._USE_C_DESCRIPTORS:
   _globals['_SENSORFRAME']._serialized_start=39
   _globals['_SENSORFRAME']._serialized_end=172
   _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
+  _globals['_PZTANGLERESPONSE']._serialized_end=424
+  _globals['_PROCESSREQUEST']._serialized_start=426
+  _globals['_PROCESSREQUEST']._serialized_end=482
+  _globals['_PROCESSRESPONSE']._serialized_start=485
+  _globals['_PROCESSRESPONSE']._serialized_end=651
+  _globals['_SENSORPUSH']._serialized_start=653
+  _globals['_SENSORPUSH']._serialized_end=740
+  _globals['_EXPORTPROCESSOR']._serialized_start=742
+  _globals['_EXPORTPROCESSOR']._serialized_end=837
 # @@protoc_insertion_point(module_scope)

devkit/test_pzt.py

@@ -1,127 +0,0 @@
-"""
-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()

docs/CHANGELOG.md

@@ -0,0 +1,32 @@
+# 更新日志
+
+## 2026-06-09 - 送样分支
+
+分支：`sample-delivery`
+
+提交：`160ff54 Prepare sample delivery UI`
+
+### 显示与交互
+
+- 合力曲线改为 Canvas 渲染，保留原有 HUD 风格。
+- 合力曲线 panel 宽度调整为与三维力 panel 一致。
+- 卸力后合力曲线继续接收并渲染后端 0 值数据，panel 延迟 5 秒消失。
+- 5 秒内重新施力会取消合力曲线的消失计时。
+- 三维力 panel 改为卸力后延迟 5 秒消失。
+- 三维力箭头仍然实时跟随后端数据，卸力后箭头立即消失，不冻结最后方向。
+
+### 后端数据
+
+
+- 合力低于显示阈值时，后端不再清空 summary 数组，而是持续写入 `0.0`。
+- 压力矩阵在低于显示阈值时仍然清零。
+- 前端可以通过 summary 数组是否存在和最新值大小来判断释放状态。
+
+### 显示范围
+
+- 合力与压力数值显示增加最大显示值处理：超过 `25.6` 时显示为 `25.6+`。
+
+### 验证
+
+- `npm.cmd run check` 通过，0 errors，保留 13 个既有 warnings。
+- `cargo check` 通过。

package-lock.json

@@ -9,7 +9,7 @@
       "version": "0.4.0",
       "license": "MIT",
       "dependencies": {
-        "@tauri-apps/api": "^2",
+        "@tauri-apps/api": "^2.11.0",
         "@tauri-apps/plugin-opener": "^2",
         "@tauri-apps/plugin-process": "^2.3.1",
         "@tauri-apps/plugin-updater": "^2.10.1",
@@ -19,7 +19,7 @@
         "@sveltejs/adapter-static": "^3.0.6",
         "@sveltejs/kit": "^2.9.0",
         "@sveltejs/vite-plugin-svelte": "^5.0.0",
-        "@tauri-apps/cli": "^2",
+        "@tauri-apps/cli": "^2.11.2",
         "@types/three": "^0.183.1",
         "svelte": "^5.0.0",
         "svelte-check": "^4.0.0",
@@ -1032,9 +1032,9 @@
       }
     },
     "node_modules/@tauri-apps/api": {
-      "version": "2.10.1",
-      "resolved": "https://registry.npmjs.org/@tauri-apps/api/-/api-2.10.1.tgz",
-      "integrity": "sha512-hKL/jWf293UDSUN09rR69hrToyIXBb8CjGaWC7gfinvnQrBVvnLr08FeFi38gxtugAVyVcTa5/FD/Xnkb1siBw==",
+      "version": "2.11.0",
+      "resolved": "https://registry.npmjs.org/@tauri-apps/api/-/api-2.11.0.tgz",
+      "integrity": "sha512-7CinYODhky9lmO23xHnUFv0Xt43fbtWMyxZcLcRBlFkcgXKuEirBvHpmtJ89YMhyeGcq20Wuc47Fa4XjyniywA==",
       "license": "Apache-2.0 OR MIT",
       "funding": {
         "type": "opencollective",
@@ -1042,9 +1042,9 @@
       }
     },
     "node_modules/@tauri-apps/cli": {
-      "version": "2.10.1",
-      "resolved": "https://registry.npmjs.org/@tauri-apps/cli/-/cli-2.10.1.tgz",
-      "integrity": "sha512-jQNGF/5quwORdZSSLtTluyKQ+o6SMa/AUICfhf4egCGFdMHqWssApVgYSbg+jmrZoc8e1DscNvjTnXtlHLS11g==",
+      "version": "2.11.2",
+      "resolved": "https://registry.npmjs.org/@tauri-apps/cli/-/cli-2.11.2.tgz",
+      "integrity": "sha512-bk3HemqvGRoy+5D/dVMUQHKMYLglD0jVnMm/0iGMH6ufZ+p8r14m6BpIixwij3PBvZdvORUp1YifTD8QxVZ1Nw==",
       "dev": true,
       "license": "Apache-2.0 OR MIT",
       "bin": {
@@ -1058,23 +1058,23 @@
         "url": "https://opencollective.com/tauri"
       },
       "optionalDependencies": {
-        "@tauri-apps/cli-darwin-arm64": "2.10.1",
-        "@tauri-apps/cli-darwin-x64": "2.10.1",
-        "@tauri-apps/cli-linux-arm-gnueabihf": "2.10.1",
-        "@tauri-apps/cli-linux-arm64-gnu": "2.10.1",
-        "@tauri-apps/cli-linux-arm64-musl": "2.10.1",
-        "@tauri-apps/cli-linux-riscv64-gnu": "2.10.1",
-        "@tauri-apps/cli-linux-x64-gnu": "2.10.1",
-        "@tauri-apps/cli-linux-x64-musl": "2.10.1",
-        "@tauri-apps/cli-win32-arm64-msvc": "2.10.1",
-        "@tauri-apps/cli-win32-ia32-msvc": "2.10.1",
-        "@tauri-apps/cli-win32-x64-msvc": "2.10.1"
+        "@tauri-apps/cli-darwin-arm64": "2.11.2",
+        "@tauri-apps/cli-darwin-x64": "2.11.2",
+        "@tauri-apps/cli-linux-arm-gnueabihf": "2.11.2",
+        "@tauri-apps/cli-linux-arm64-gnu": "2.11.2",
+        "@tauri-apps/cli-linux-arm64-musl": "2.11.2",
+        "@tauri-apps/cli-linux-riscv64-gnu": "2.11.2",
+        "@tauri-apps/cli-linux-x64-gnu": "2.11.2",
+        "@tauri-apps/cli-linux-x64-musl": "2.11.2",
+        "@tauri-apps/cli-win32-arm64-msvc": "2.11.2",
+        "@tauri-apps/cli-win32-ia32-msvc": "2.11.2",
+        "@tauri-apps/cli-win32-x64-msvc": "2.11.2"
       }
     },
     "node_modules/@tauri-apps/cli-darwin-arm64": {
-      "version": "2.10.1",
-      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-darwin-arm64/-/cli-darwin-arm64-2.10.1.tgz",
-      "integrity": "sha512-Z2OjCXiZ+fbYZy7PmP3WRnOpM9+Fy+oonKDEmUE6MwN4IGaYqgceTjwHucc/kEEYZos5GICve35f7ZiizgqEnQ==",
+      "version": "2.11.2",
+      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-darwin-arm64/-/cli-darwin-arm64-2.11.2.tgz",
+      "integrity": "sha512-+4UZzLt+eOAEQCwgd+TqKgyUJMrvx+BgdXLLaqJYmPqzP+nE6YZr/hY6CWLYGQb8jFn99jEkmC6uA3tNvamA1w==",
       "cpu": [
         "arm64"
       ],
@@ -1089,9 +1089,9 @@
       }
     },
     "node_modules/@tauri-apps/cli-darwin-x64": {
-      "version": "2.10.1",
-      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-darwin-x64/-/cli-darwin-x64-2.10.1.tgz",
-      "integrity": "sha512-V/irQVvjPMGOTQqNj55PnQPVuH4VJP8vZCN7ajnj+ZS8Kom1tEM2hR3qbbIRoS3dBKs5mbG8yg1WC+97dq17Pw==",
+      "version": "2.11.2",
+      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-darwin-x64/-/cli-darwin-x64-2.11.2.tgz",
+      "integrity": "sha512-VjYYtZUPqDMLutSfJEyxFE3Bz+DPi7c8wC3imckgvciLDZLq4qwKJxBicg0BXGhXjJsl8vKWgWRFNMPELQ+Xyg==",
       "cpu": [
         "x64"
       ],
@@ -1106,9 +1106,9 @@
       }
     },
     "node_modules/@tauri-apps/cli-linux-arm-gnueabihf": {
-      "version": "2.10.1",
-      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-linux-arm-gnueabihf/-/cli-linux-arm-gnueabihf-2.10.1.tgz",
-      "integrity": "sha512-Hyzwsb4VnCWKGfTw+wSt15Z2pLw2f0JdFBfq2vHBOBhvg7oi6uhKiF87hmbXOBXUZaGkyRDkCHsdzJcIfoJC2w==",
+      "version": "2.11.2",
+      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-linux-arm-gnueabihf/-/cli-linux-arm-gnueabihf-2.11.2.tgz",
+      "integrity": "sha512-yMemD6f4i95AQriS8EazyOFzbE34yjnP16i3IOzpHGQvBoy2DjypFMFBq0NtPuITURv/cOGguRtHR5d79/9CSA==",
       "cpu": [
         "arm"
       ],
@@ -1123,9 +1123,9 @@
       }
     },
     "node_modules/@tauri-apps/cli-linux-arm64-gnu": {
-      "version": "2.10.1",
-      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-linux-arm64-gnu/-/cli-linux-arm64-gnu-2.10.1.tgz",
-      "integrity": "sha512-OyOYs2t5GkBIvyWjA1+h4CZxTcdz1OZPCWAPz5DYEfB0cnWHERTnQ/SLayQzncrT0kwRoSfSz9KxenkyJoTelA==",
+      "version": "2.11.2",
+      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-linux-arm64-gnu/-/cli-linux-arm64-gnu-2.11.2.tgz",
+      "integrity": "sha512-cgI91D2wL8GSgoWwZXDqt+DwnuZCP2/bz03QAE4TrhgAKIsrB4hX26W/H1EONPUUNkqrsgeCD0wU6pcNjV/5kw==",
       "cpu": [
         "arm64"
       ],
@@ -1143,9 +1143,9 @@
       }
     },
     "node_modules/@tauri-apps/cli-linux-arm64-musl": {
-      "version": "2.10.1",
-      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-linux-arm64-musl/-/cli-linux-arm64-musl-2.10.1.tgz",
-      "integrity": "sha512-MIj78PDDGjkg3NqGptDOGgfXks7SYJwhiMh8SBoZS+vfdz7yP5jN18bNaLnDhsVIPARcAhE1TlsZe/8Yxo2zqg==",
+      "version": "2.11.2",
+      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-linux-arm64-musl/-/cli-linux-arm64-musl-2.11.2.tgz",
+      "integrity": "sha512-X1rm0BERqAAggtYTESSgXrS3sz4Sb/OiPiz54UqISlXW+GkR3vNIGnsy/lejNmoXGVqri3Q53BCfQiclOIyRPw==",
       "cpu": [
         "arm64"
       ],
@@ -1163,9 +1163,9 @@
       }
     },
     "node_modules/@tauri-apps/cli-linux-riscv64-gnu": {
-      "version": "2.10.1",
-      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-linux-riscv64-gnu/-/cli-linux-riscv64-gnu-2.10.1.tgz",
-      "integrity": "sha512-X0lvOVUg8PCVaoEtEAnpxmnkwlE1gcMDTqfhbefICKDnOTJ5Est3qL0SrWxizDackIOKBcvtpejrSiVpuJI1kw==",
+      "version": "2.11.2",
+      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-linux-riscv64-gnu/-/cli-linux-riscv64-gnu-2.11.2.tgz",
+      "integrity": "sha512-usbMLJbT3KtkOrBMDVeGYNM35aTHXx38SJSzTMSqqjeUIOQ+iVPjb2yAGNAE+KqmBbAx4FOFIyMeKXx2M/JKGQ==",
       "cpu": [
         "riscv64"
       ],
@@ -1183,9 +1183,9 @@
       }
     },
     "node_modules/@tauri-apps/cli-linux-x64-gnu": {
-      "version": "2.10.1",
-      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-linux-x64-gnu/-/cli-linux-x64-gnu-2.10.1.tgz",
-      "integrity": "sha512-2/12bEzsJS9fAKybxgicCDFxYD1WEI9kO+tlDwX5znWG2GwMBaiWcmhGlZ8fi+DMe9CXlcVarMTYc0L3REIRxw==",
+      "version": "2.11.2",
+      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-linux-x64-gnu/-/cli-linux-x64-gnu-2.11.2.tgz",
+      "integrity": "sha512-Ru4gwJKPG0ctVGchRGpRup4Y4lW2SSfFnrbQcyHhCliKy4g8Qz97TrUgCur4CbWyAgKxvGh3SjrkA0LDYzDGiw==",
       "cpu": [
         "x64"
       ],
@@ -1203,9 +1203,9 @@
       }
     },
     "node_modules/@tauri-apps/cli-linux-x64-musl": {
-      "version": "2.10.1",
-      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-linux-x64-musl/-/cli-linux-x64-musl-2.10.1.tgz",
-      "integrity": "sha512-Y8J0ZzswPz50UcGOFuXGEMrxbjwKSPgXftx5qnkuMs2rmwQB5ssvLb6tn54wDSYxe7S6vlLob9vt0VKuNOaCIQ==",
+      "version": "2.11.2",
+      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-linux-x64-musl/-/cli-linux-x64-musl-2.11.2.tgz",
+      "integrity": "sha512-eUm7T6clN1MMmNSRQ9gaWsQdyehQx2Gmn5hht/QUlqZQI/qcP2OJK5dnaxqwFzCr2HdsEo9ydxaqcS1oJzMvUw==",
       "cpu": [
         "x64"
       ],
@@ -1223,9 +1223,9 @@
       }
     },
     "node_modules/@tauri-apps/cli-win32-arm64-msvc": {
-      "version": "2.10.1",
-      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-win32-arm64-msvc/-/cli-win32-arm64-msvc-2.10.1.tgz",
-      "integrity": "sha512-iSt5B86jHYAPJa/IlYw++SXtFPGnWtFJriHn7X0NFBVunF6zu9+/zOn8OgqIWSl8RgzhLGXQEEtGBdR4wzpVgg==",
+      "version": "2.11.2",
+      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-win32-arm64-msvc/-/cli-win32-arm64-msvc-2.11.2.tgz",
+      "integrity": "sha512-HeeZW80jU+gVTOEX4X/hC6NVSAdDVXajwP5fxIZ/3z9WvUC7qrudX2GMTilYq6Dg0e0sk0XgsAJD1hZ5wPBXUA==",
       "cpu": [
         "arm64"
       ],
@@ -1240,9 +1240,9 @@
       }
     },
     "node_modules/@tauri-apps/cli-win32-ia32-msvc": {
-      "version": "2.10.1",
-      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-win32-ia32-msvc/-/cli-win32-ia32-msvc-2.10.1.tgz",
-      "integrity": "sha512-gXyxgEzsFegmnWywYU5pEBURkcFN/Oo45EAwvZrHMh+zUSEAvO5E8TXsgPADYm31d1u7OQU3O3HsYfVBf2moHw==",
+      "version": "2.11.2",
+      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-win32-ia32-msvc/-/cli-win32-ia32-msvc-2.11.2.tgz",
+      "integrity": "sha512-YhjQNZcXfbkCLyazSv1nPnJ9iRFE1wm6kc51FDbU10/Dk09io+6PAGMLjkxnX2GdM0qMnDmTjstY8mTDVvtKeA==",
       "cpu": [
         "ia32"
       ],
@@ -1257,9 +1257,9 @@
       }
     },
     "node_modules/@tauri-apps/cli-win32-x64-msvc": {
-      "version": "2.10.1",
-      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-win32-x64-msvc/-/cli-win32-x64-msvc-2.10.1.tgz",
-      "integrity": "sha512-6Cn7YpPFwzChy0ERz6djKEmUehWrYlM+xTaNzGPgZocw3BD7OfwfWHKVWxXzdjEW2KfKkHddfdxK1XXTYqBRLg==",
+      "version": "2.11.2",
+      "resolved": "https://registry.npmjs.org/@tauri-apps/cli-win32-x64-msvc/-/cli-win32-x64-msvc-2.11.2.tgz",
+      "integrity": "sha512-d2JchlFIpZevZVReyqhQOekJmb1UH3rhZ5VX6sH3ty9ETE0TKQavpihvoScUXfKKpW6HZC0MrFGRU0ZtD+w3gA==",
       "cpu": [
         "x64"
       ],

package.json

@@ -15,7 +15,7 @@
   },
   "license": "MIT",
   "dependencies": {
-    "@tauri-apps/api": "^2",
+    "@tauri-apps/api": "^2.11.0",
     "@tauri-apps/plugin-opener": "^2",
     "@tauri-apps/plugin-process": "^2.3.1",
     "@tauri-apps/plugin-updater": "^2.10.1",
@@ -25,7 +25,7 @@
     "@sveltejs/adapter-static": "^3.0.6",
     "@sveltejs/kit": "^2.9.0",
     "@sveltejs/vite-plugin-svelte": "^5.0.0",
-    "@tauri-apps/cli": "^2",
+    "@tauri-apps/cli": "^2.11.2",
     "@types/three": "^0.183.1",
     "svelte": "^5.0.0",
     "svelte-check": "^4.0.0",

src-tauri/Cargo.toml

@@ -16,6 +16,7 @@ crate-type = ["staticlib", "cdylib", "rlib"]
 
 [features]
 default = ["multi-dim"]
+debug = []
 devkit = ["dep:tonic", "dep:prost", "dep:prost-types", "dep:async-stream", "dep:dirs"]
 multi-dim = ["dep:ndarray"]
 

src-tauri/proto/sensor_stream.proto

@@ -28,7 +28,7 @@ message PztAngleResponse {
   bool ok = 5;
   string message = 6;
   float magnitude = 7;
-  uint32 state = 8;
+  int32 state = 8;
   float cop_x = 9;
   float cop_y = 10;
   float base_x = 11;

src-tauri/src/ad_solver.rs

@@ -1,162 +0,0 @@
-/// 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/commands/devkit.rs

@@ -2,11 +2,26 @@
 //!
 //! 仅在 `devkit` feature 启用时编译。
 
+use serde::Serialize;
+use std::sync::atomic::{AtomicU64, Ordering};
+use std::time::{SystemTime, UNIX_EPOCH};
 use tauri::State;
 #[cfg(feature = "devkit")]
 use tauri::AppHandle;
 
-use crate::devkit::{DevKitConfig, DevKitState, DevKitStatusSnapshot, ExportProcessResult};
+use crate::devkit::{
+    proto::SensorFrame, DevKitConfig, DevKitState, DevKitStatusSnapshot, ExportProcessResult,
+};
+
+static REPLAY_SEQ_COUNTER: AtomicU64 = AtomicU64::new(0);
+
+#[derive(Serialize)]
+#[serde(rename_all = "camelCase")]
+pub struct DevKitReplayFramePushResult {
+    pub seq: u64,
+    pub timestamp_ms: u64,
+    pub dts_ms: u32,
+}
 
 #[tauri::command]
 pub fn devkit_status(state: State<'_, DevKitState>) -> DevKitStatusSnapshot {
@@ -51,3 +66,55 @@ pub async fn devkit_process_export(
     let use_xlsx = save_as_xlsx.unwrap_or(config.save_as_xlsx);
     state.process_export(&csv_path, use_xlsx).await
 }
+
+#[tauri::command]
+pub fn devkit_push_replay_frame(
+    state: State<'_, DevKitState>,
+    values: Vec<i32>,
+    dts_ms: u32,
+    seq: Option<u64>,
+) -> Result<DevKitReplayFramePushResult, String> {
+    if values.len() != 84 {
+        return Err(format!("InvalidReplayMatrixLength: {}", values.len()));
+    }
+
+    if !state.running.load(Ordering::Relaxed) {
+        return Err("NotRunning".to_string());
+    }
+
+    let timestamp_ms = now_millis();
+    let seq = seq.unwrap_or_else(|| build_replay_seq(timestamp_ms));
+    let resultant_force = values.iter().copied().sum::<i32>().max(0) as f64;
+    let matrix = values
+        .into_iter()
+        .map(|value| value.max(0) as u32)
+        .collect::<Vec<_>>();
+
+    state.push_frame(SensorFrame {
+        seq,
+        timestamp_ms,
+        rows: 12,
+        cols: 7,
+        matrix,
+        resultant_force,
+        dts_ms,
+    });
+
+    Ok(DevKitReplayFramePushResult {
+        seq,
+        timestamp_ms,
+        dts_ms,
+    })
+}
+
+fn now_millis() -> u64 {
+    SystemTime::now()
+        .duration_since(UNIX_EPOCH)
+        .map(|duration| duration.as_millis() as u64)
+        .unwrap_or_default()
+}
+
+fn build_replay_seq(timestamp_ms: u64) -> u64 {
+    let counter = REPLAY_SEQ_COUNTER.fetch_add(1, Ordering::Relaxed) % 1000;
+    timestamp_ms.saturating_mul(1000).saturating_add(counter)
+}

src-tauri/src/commands/serial.rs

@@ -1,7 +1,10 @@
 use crate::serial_core::codecs::tactile_a::{
-    export_recording_csv, TactileACodec, TactileACsvImporter, TactileAHandler,
+    export_recording_csv, TactileACodec, TactileACsvImporter, TactileADataPacket, TactileAHandler,
 };
 use crate::serial_core::error::SerialError;
+use crate::serial_core::model::HudSpatialForce;
+#[cfg(feature = "multi-dim")]
+use crate::serial_core::multi_dim_force::PztProcessor;
 use crate::serial_core::record::CsvImporter;
 use crate::serial_core::serial::{PollMode, TactileAPollRequester};
 use crate::serial_core::{serial, TactileARecording};
@@ -44,6 +47,7 @@ pub struct SerialExportResponse {
 pub struct SerialImportFrame {
     pub data: Vec<i32>,
     pub dts_ms: u64,
+    pub spatial_force: Option<HudSpatialForce>,
 }
 
 #[derive(Serialize)]
@@ -118,8 +122,7 @@ pub fn serial_enum() -> Result<Vec<String>, SerialError> {
         .into_iter()
         .filter_map(|p| {
             let name = p.port_name;
-            #[cfg(unix)]
-            if !name.contains("USB") {
+            if !should_include_serial_port(&name) {
                 return None;
             }
             Some(name)
@@ -129,6 +132,21 @@ pub fn serial_enum() -> Result<Vec<String>, SerialError> {
     Ok(ports)
 }
 
+#[cfg(target_os = "macos")]
+fn should_include_serial_port(name: &str) -> bool {
+    name.to_ascii_lowercase().contains("usb")
+}
+
+#[cfg(all(unix, not(target_os = "macos")))]
+fn should_include_serial_port(name: &str) -> bool {
+    name.contains("USB")
+}
+
+#[cfg(not(unix))]
+fn should_include_serial_port(_name: &str) -> bool {
+    true
+}
+
 #[tauri::command]
 pub async fn serial_connect(
     app: AppHandle,
@@ -181,7 +199,7 @@ pub async fn serial_connect(
         )
         .await
         {
-            eprintln!("serial task exited with error: {error}");
+            log::error!("serial task exited with error: {error}");
         }
 
         let manager = task_app.state::<SerialConnectionState>();
@@ -322,13 +340,7 @@ pub fn serial_import_csv(
 
     let channel_count = packets.first().map(|item| item.data.len()).unwrap_or(0);
     let frame_count = packets.len();
-    let frames = packets
-        .into_iter()
-        .map(|packet| SerialImportFrame {
-            data: packet.data,
-            dts_ms: packet.dts_ms,
-        })
-        .collect();
+    let frames = build_import_frames(packets);
 
     Ok(SerialImportResponse {
         file_name,
@@ -353,6 +365,44 @@ pub fn serial_import_csv_from_path(file_path: String) -> Result<SerialImportResp
     serial_import_csv(file_name, csv_content)
 }
 
+fn build_import_frames(packets: Vec<TactileADataPacket>) -> Vec<SerialImportFrame> {
+    #[cfg(feature = "multi-dim")]
+    let mut pzt_processor = PztProcessor::new();
+
+    packets
+        .into_iter()
+        .map(|packet| {
+            #[cfg(feature = "multi-dim")]
+            let spatial_force = replay_spatial_force(&mut pzt_processor, &packet.data);
+
+            #[cfg(not(feature = "multi-dim"))]
+            let spatial_force = None;
+
+            SerialImportFrame {
+                data: packet.data,
+                dts_ms: packet.dts_ms,
+                spatial_force,
+            }
+        })
+        .collect()
+}
+
+#[cfg(feature = "multi-dim")]
+fn replay_spatial_force(processor: &mut PztProcessor, values: &[i32]) -> Option<HudSpatialForce> {
+    let pzt_values = values.iter().map(|value| *value as f32).collect::<Vec<f32>>();
+    let analysis = processor.get_pzt_analysis(&pzt_values).ok()?;
+
+    if !PztProcessor::should_report(&analysis) {
+        return None;
+    }
+
+    Some(HudSpatialForce {
+        angle_deg: analysis.angle_deg,
+        magnitude: analysis.magnitude,
+        confidence: analysis.confidence,
+    })
+}
+
 fn resolve_record_for_export(
     state: &State<'_, SerialConnectionState>,
 ) -> Result<SharedTactileRecording, SerialError> {

src-tauri/src/commands/window.rs

@@ -35,6 +35,6 @@ pub async fn win_close(
         .await
         .map_err(|error| error.to_string())?;
 
-    app.exit(0);
-    Ok(())
+    main_window(&app)?.close().map_err(|error| error.to_string())
 }
+

src-tauri/src/devkit/client.rs

@@ -24,6 +24,14 @@ struct DevKitPztAngleEvent {
     timestamp_ms: u64,
     dts_ms: u32,
     angle: f32,
+    magnitude: f32,
+    state: i32,
+    cop_x: f32,
+    cop_y: f32,
+    base_x: f32,
+    base_y: f32,
+    total_press: f32,
+    threshold: f32,
 }
 
 // ── DevKit 配置 ────────────────────────────────────────────────────
@@ -276,9 +284,19 @@ async fn run_grpc_upload(
                 timestamp_ms: message.timestamp_ms,
                 dts_ms: message.dts_ms,
                 angle: message.angle,
+                magnitude: message.magnitude,
+                state: message.state,
+                cop_x: message.cop_x,
+                cop_y: message.cop_y,
+                base_x: message.base_x,
+                base_y: message.base_y,
+                total_press: message.total_press,
+                threshold: message.threshold,
             };
             ::log::debug!(
-                "devkit: angle={:.2}, magnitude={:.4}, state={}, cop_x={:.4}, cop_y={:.4}, base_x={:.4}, base_y={:.4}, total_press={:.2}, thresh={:.2}",
+                "python pzt angle: seq={} dts_ms={} angle={:.2} magnitude={:.2} state={} cop=({:.2},{:.2}) base=({:.2},{:.2}) total_press={:.2} threshold={:.2}",
+                message.seq,
+                message.dts_ms,
                 message.angle,
                 message.magnitude,
                 message.state,

src-tauri/src/lib.rs

@@ -1,4 +1,3 @@
-pub mod ad_solver;
 mod commands;
 mod lan_game;
 pub mod log;
@@ -155,7 +154,8 @@ pub fn run() {
         commands::devkit::devkit_stop,
         commands::devkit::devkit_get_config,
         commands::devkit::devkit_set_config,
-        commands::devkit::devkit_process_export
+        commands::devkit::devkit_process_export,
+        commands::devkit::devkit_push_replay_frame
     ]);
 
     #[cfg(not(feature = "devkit"))]

src-tauri/src/log.rs

@@ -3,7 +3,7 @@ use fern::{
     Dispatch,
 };
 use log::debug;
-use std::{path::{Path, PathBuf}, time::SystemTime};
+use std::{path::PathBuf, time::SystemTime};
 
 fn log_directory() -> PathBuf {
     let base_dir = std::env::var_os("LOCALAPPDATA")
@@ -67,6 +67,7 @@ pub fn setup_logger() {
 
     Dispatch::new()
         .level(log::LevelFilter::Debug)
+        .level_for("h2", log::LevelFilter::Info)
         .chain(console_config)
         .chain(file_config)
         .apply()

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

@@ -77,12 +77,11 @@ 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
-                // if raw < 15 {
-                //     0
-                // } else {
-                //     raw
-                // }
+                }
             })
             .collect::<Vec<i32>>();
 

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

@@ -62,7 +62,6 @@ impl Codec<TestFrame> for TestCodec {
                 continue;
             }
             let dts = elapsed_millis(session_started_at);
-            println!("dts_ms: {dts}");
             frames.push(TestFrame {
                 header: [0xAA, 0x55],
                 cmd: cmd,
@@ -244,11 +243,10 @@ mod tests {
     fn test_read_csv_basic() -> anyhow::Result<()> {
         let mut rdr = Reader::from_path("recording_20260329_125238.csv")?;
         let headers = rdr.headers()?;
-        println!("headers: {:?}", headers);
 
         for result in rdr.records() {
             let record = result?;
-            println!("record: {:?}", record);
+            let _ = record;
         }
 
         Ok(())

src-tauri/src/serial_core/model.rs

@@ -118,6 +118,10 @@ impl HudChartState {
         push_summary_point(&mut self.summary_points, value);
     }
 
+    pub fn clear_summary(&mut self) {
+        self.summary_points.clear();
+    }
+
     pub fn record_pressure_matrix(&mut self, values: &[i32]) {
         if values.is_empty() {
             return;

src-tauri/src/serial_core/multi_dim_force.rs

@@ -2,33 +2,22 @@ const SENSOR_ROWS: usize = 12;
 const SENSOR_COLS: usize = 7;
 const SENSOR_COUNT: usize = SENSOR_ROWS * SENSOR_COLS;
 
-const CONTACT_ENTER_TOTAL_THRESHOLD: f32 = 520.0;
-const CONTACT_ENTER_PEAK_THRESHOLD: f32 = 50.0;
-const CONTACT_EXIT_TOTAL_THRESHOLD: f32 = 260.0;
-const CONTACT_EXIT_PEAK_THRESHOLD: f32 = 28.0;
-const CONTACT_ENTER_FRAMES_REQUIRED: usize = 2;
-const CONTACT_EXIT_FRAMES_REQUIRED: usize = 8;
-
-const BASELINE_IDLE_ALPHA: f32 = 0.035;
-const BASELINE_BOOTSTRAP_ALPHA: f32 = 1.0;
-const BASELINE_NOISE_FLOOR: f32 = 5.0;
-
-const ACTIVE_CELL_MIN_VALUE: f32 = 18.0;
-const ACTIVE_CELL_PEAK_RATIO: f32 = 0.14;
-const MIN_ACTIVE_CELLS: usize = 3;
-
-const ANCHOR_LERP_ALPHA: f32 = 0.018;
-const VECTOR_SMOOTHING_ALPHA: f32 = 0.16;
-
-const REPORT_MAGNITUDE_ENTER: f32 = 0.12;
-const REPORT_MAGNITUDE_EXIT: f32 = 0.045;
-const REPORT_CONFIDENCE_ENTER: f32 = 0.14;
-const REPORT_CONFIDENCE_EXIT: f32 = 0.06;
-const REPORT_HOLD_FRAMES: usize = 10;
-
-const ASYMMETRY_WEIGHT: f32 = 1.1;
-const DRIFT_WEIGHT: f32 = 0.65;
-const MOTION_WEIGHT: f32 = 0.25;
+const NOISE_COLLECT_MS: f32 = 300.0;
+const THRESH_K: f32 = 5.0;
+const MIN_THRESHOLD: f32 = 50.0;
+const CONTACT_CONFIRM_MS: f32 = 20.0;
+const RELEASE_CONFIRM_MS: f32 = 50.0;
+const INIT_COLLECT_MS: f32 = 80.0;
+const SNAP_CENTER_X: f32 = 3.0;
+const SNAP_CENTER_Y: f32 = 5.5;
+const SNAP_RANGE_X: f32 = 0.25;
+const SNAP_RANGE_Y: f32 = 0.25;
+const POST_REFINE_WINDOW_MS: f32 = 800.0;
+const POST_STABLE_MS: f32 = 200.0;
+const POST_STABLE_THRESH: f32 = 0.1;
+const COP_LPF_ALPHA: f32 = 0.25;
+const EPSILON: f32 = 1e-8;
+const DISPLAY_ANGLE_OFFSET_DEG: f32 = -90.0;
 
 #[derive(Debug, Clone, Copy)]
 pub struct PztSpatialAnalysis {
@@ -41,392 +30,140 @@ pub struct PztSpatialAnalysis {
     pub reportable: bool,
 }
 
-pub struct PztProcessor {
-    baseline_frame: Option<Vec<f32>>,
-    contact_active: bool,
-    contact_enter_counter: usize,
-    contact_exit_counter: usize,
-    anchor_cop_x: Option<f32>,
-    anchor_cop_y: Option<f32>,
-    last_cop_x: Option<f32>,
-    last_cop_y: Option<f32>,
-    smoothed_x: f32,
-    smoothed_y: f32,
-    report_active: bool,
-    report_hold_counter: usize,
-    held_report: Option<PztSpatialAnalysis>,
+#[derive(Clone, Copy, Debug, PartialEq, Eq)]
+enum CoPState {
+    NoContact = 0,
+    InitCollecting = 1,
+    PostRefining = 2,
+    Ready = 3,
 }
 
-#[derive(Clone, Copy)]
-struct ContactStats {
-    total: f32,
-    peak: f32,
-    active_total: f32,
-    active_cells: usize,
-    min_row: usize,
-    max_row: usize,
-    min_col: usize,
-    max_col: usize,
-    cop_x: f32,
-    cop_y: f32,
-    asymmetry_x: f32,
-    asymmetry_y: f32,
+pub struct PztProcessor {
+    dynamic_thresh: Option<f32>,
+    noise_samples: Vec<f32>,
+    noise_start_ms: Option<f32>,
+    first_contact_cop_x: Option<f32>,
+    first_contact_cop_y: Option<f32>,
+    state: CoPState,
+    init_x_buf: Vec<f32>,
+    init_y_buf: Vec<f32>,
+    init_start_ms: Option<f32>,
+    post_start_ms: Option<f32>,
+    post_stable_start_ms: Option<f32>,
+    post_cand_x: Option<f32>,
+    post_cand_y: Option<f32>,
+    post_refined: bool,
+    contact_candidate_start_ms: Option<f32>,
+    release_candidate_start_ms: Option<f32>,
+    filtered_cop_x: Option<f32>,
+    filtered_cop_y: Option<f32>,
+    synthetic_timestamp_ms: f32,
 }
 
 impl PztProcessor {
     pub fn new() -> Self {
-        Self {
-            baseline_frame: None,
-            contact_active: false,
-            contact_enter_counter: 0,
-            contact_exit_counter: 0,
-            anchor_cop_x: None,
-            anchor_cop_y: None,
-            last_cop_x: None,
-            last_cop_y: None,
-            smoothed_x: 0.0,
-            smoothed_y: 0.0,
-            report_active: false,
-            report_hold_counter: 0,
-            held_report: None,
-        }
+        let mut processor = Self {
+            dynamic_thresh: None,
+            noise_samples: Vec::new(),
+            noise_start_ms: None,
+            first_contact_cop_x: None,
+            first_contact_cop_y: None,
+            state: CoPState::NoContact,
+            init_x_buf: Vec::new(),
+            init_y_buf: Vec::new(),
+            init_start_ms: None,
+            post_start_ms: None,
+            post_stable_start_ms: None,
+            post_cand_x: None,
+            post_cand_y: None,
+            post_refined: false,
+            contact_candidate_start_ms: None,
+            release_candidate_start_ms: None,
+            filtered_cop_x: None,
+            filtered_cop_y: None,
+            synthetic_timestamp_ms: 0.0,
+        };
+        processor.reset_all();
+        processor
     }
 
-    fn reset_tracking_state(&mut self) {
-        self.contact_active = false;
-        self.contact_enter_counter = 0;
-        self.contact_exit_counter = 0;
-        self.anchor_cop_x = None;
-        self.anchor_cop_y = None;
-        self.last_cop_x = None;
-        self.last_cop_y = None;
-        self.smoothed_x = 0.0;
-        self.smoothed_y = 0.0;
+    fn reset_all(&mut self) {
+        self.dynamic_thresh = None;
+        self.noise_samples.clear();
+        self.noise_start_ms = None;
+        self.reset_contact_state();
     }
 
-    fn reset_report_state(&mut self) {
-        self.report_active = false;
-        self.report_hold_counter = 0;
-        self.held_report = None;
+    fn reset_contact_state(&mut self) {
+        self.first_contact_cop_x = None;
+        self.first_contact_cop_y = None;
+        self.state = CoPState::NoContact;
+        self.init_x_buf.clear();
+        self.init_y_buf.clear();
+        self.init_start_ms = None;
+        self.post_start_ms = None;
+        self.post_stable_start_ms = None;
+        self.post_cand_x = None;
+        self.post_cand_y = None;
+        self.post_refined = false;
+        self.contact_candidate_start_ms = None;
+        self.release_candidate_start_ms = None;
+        self.filtered_cop_x = None;
+        self.filtered_cop_y = None;
     }
 
-    fn update_idle_baseline(&mut self, raw_frame: &[f32], alpha: f32) {
-        match self.baseline_frame.as_mut() {
-            Some(baseline) => {
-                for (base, current) in baseline.iter_mut().zip(raw_frame.iter().copied()) {
-                    *base += (current - *base) * alpha;
-                }
-            }
-            None => {
-                self.baseline_frame = Some(raw_frame.to_vec());
-            }
-        }
+    pub fn get_pzt_analysis_at(
+        &mut self,
+        adc_data: &[f32],
+        timestamp_ms: f32,
+    ) -> Result<PztSpatialAnalysis, &'static str> {
+        if adc_data.len() != SENSOR_COUNT {
+            return Err("ADC data length must be 84");
         }
 
-    fn subtract_baseline(&mut self, raw_frame: &[f32]) -> Vec<f32> {
-        if self.baseline_frame.is_none() {
-            self.update_idle_baseline(raw_frame, BASELINE_BOOTSTRAP_ALPHA);
+        let frame = Self::prepare_frame(adc_data);
+        let total_pressure = frame.iter().sum::<f32>();
+        self.update_dynamic_threshold(total_pressure, timestamp_ms);
+
+        let raw_contact = self.is_raw_contact(total_pressure);
+        let contact_valid = self.debounce_contact(raw_contact, timestamp_ms);
+        if !contact_valid {
+            self.handle_no_contact();
+            return Ok(Self::empty_analysis(false));
         }
 
-        let baseline = self
-            .baseline_frame
-            .as_ref()
-            .expect("baseline should exist after bootstrap");
+        let Some((cop_x, cop_y)) = Self::compute_cop(&frame, total_pressure) else {
+            return Ok(Self::empty_analysis(false));
+        };
+        let (cop_x, cop_y) = self.filter_cop(cop_x, cop_y);
+        self.update_state_machine(cop_x, cop_y, timestamp_ms);
 
-        raw_frame
-            .iter()
-            .zip(baseline.iter())
-            .map(|(raw, base)| (raw - base - BASELINE_NOISE_FLOOR).max(0.0))
-            .collect()
-    }
+        let (base_x, base_y, dx, dy) = match (self.first_contact_cop_x, self.first_contact_cop_y) {
+            (Some(base_x), Some(base_y)) => (base_x, base_y, cop_x - base_x, base_y - cop_y),
+            _ => (cop_x, cop_y, 0.0, 0.0),
+        };
+        let _ = (base_x, base_y);
 
-    fn pressure_metrics(frame: &[f32]) -> (f32, f32) {
-        let total = frame.iter().sum::<f32>();
-        let peak = frame.iter().copied().fold(0.0, f32::max);
-        (total, peak)
-    }
+        let (angle_deg, magnitude) = Self::compute_vector_angle(dx, dy);
+        let reportable = self.state != CoPState::NoContact && magnitude > 0.0;
 
-    fn is_contact_enter_frame(frame: &[f32]) -> bool {
-        let (total, peak) = Self::pressure_metrics(frame);
-        total >= CONTACT_ENTER_TOTAL_THRESHOLD && peak >= CONTACT_ENTER_PEAK_THRESHOLD
-    }
-
-    fn is_contact_exit_frame(frame: &[f32]) -> bool {
-        let (total, peak) = Self::pressure_metrics(frame);
-        total <= CONTACT_EXIT_TOTAL_THRESHOLD || peak <= CONTACT_EXIT_PEAK_THRESHOLD
-    }
-
-    fn inactive_analysis() -> PztSpatialAnalysis {
-        PztSpatialAnalysis {
-            angle_deg: 0.0,
-            magnitude: 0.0,
-            planar_x: 0.0,
-            planar_y: 0.0,
-            confidence: 0.0,
-            contact_active: false,
-            reportable: false,
-        }
-    }
-
-    fn weak_contact_analysis() -> PztSpatialAnalysis {
-        PztSpatialAnalysis {
-            contact_active: true,
-            ..Self::inactive_analysis()
-        }
-    }
-
-    fn compute_contact_stats(frame: &[f32]) -> Option<ContactStats> {
-        let total = frame.iter().sum::<f32>();
-        if total <= 0.0 {
-            return None;
-        }
-
-        let peak = frame.iter().copied().fold(0.0, f32::max);
-        if peak <= 0.0 {
-            return None;
-        }
-
-        let active_threshold = (peak * ACTIVE_CELL_PEAK_RATIO).max(ACTIVE_CELL_MIN_VALUE);
-
-        let mut active_total = 0.0;
-        let mut active_cells = 0usize;
-        let mut weighted_col_sum = 0.0;
-        let mut weighted_row_sum = 0.0;
-        let mut min_row = SENSOR_ROWS;
-        let mut max_row = 0usize;
-        let mut min_col = SENSOR_COLS;
-        let mut max_col = 0usize;
-
-        for row in 0..SENSOR_ROWS {
-            for col in 0..SENSOR_COLS {
-                let index = row * SENSOR_COLS + col;
-                let value = frame[index];
-                if value < active_threshold {
-                    continue;
-                }
-
-                active_cells += 1;
-                active_total += value;
-                weighted_col_sum += value * col as f32;
-                weighted_row_sum += value * row as f32;
-                min_row = min_row.min(row);
-                max_row = max_row.max(row);
-                min_col = min_col.min(col);
-                max_col = max_col.max(col);
-            }
-        }
-
-        if active_cells < MIN_ACTIVE_CELLS || active_total <= 0.0 {
-            return None;
-        }
-
-        let cop_x = weighted_col_sum / active_total;
-        let cop_y = weighted_row_sum / active_total;
-        let bbox_center_x = (min_col + max_col) as f32 * 0.5;
-        let bbox_center_y = (min_row + max_row) as f32 * 0.5;
-        let half_width = ((max_col - min_col).max(1) as f32) * 0.5;
-        let half_height = ((max_row - min_row).max(1) as f32) * 0.5;
-
-        let mut asymmetry_x = 0.0;
-        let mut asymmetry_y = 0.0;
-
-        for row in min_row..=max_row {
-            for col in min_col..=max_col {
-                let index = row * SENSOR_COLS + col;
-                let value = frame[index];
-                if value < active_threshold {
-                    continue;
-                }
-
-                asymmetry_x += value * ((col as f32 - bbox_center_x) / half_width);
-                asymmetry_y += value * ((row as f32 - bbox_center_y) / half_height);
-            }
-        }
-
-        Some(ContactStats {
-            total,
-            peak,
-            active_total,
-            active_cells,
-            min_row,
-            max_row,
-            min_col,
-            max_col,
-            cop_x,
-            cop_y,
-            asymmetry_x: asymmetry_x / active_total,
-            asymmetry_y: asymmetry_y / active_total,
+        Ok(PztSpatialAnalysis {
+            angle_deg,
+            magnitude,
+            planar_x: dx,
+            planar_y: dy,
+            confidence: (self.state as i32 as f32 / CoPState::Ready as i32 as f32).clamp(0.0, 1.0),
+            contact_active: self.state != CoPState::NoContact,
+            reportable,
         })
     }
 
-    fn compute_vector_angle(x: f32, y: f32) -> (f32, f32) {
-        let magnitude = (x * x + y * y).sqrt();
-        if magnitude <= f32::EPSILON {
-            return (0.0, 0.0);
-        }
-
-        let mut angle = y.atan2(x).to_degrees();
-        if angle < 0.0 {
-            angle += 360.0;
-        }
-
-        (angle, magnitude)
-    }
-
-    fn update_contact_state(&mut self, raw_frame: &[f32], frame: &[f32]) -> bool {
-        if self.contact_active {
-            if Self::is_contact_exit_frame(frame) {
-                self.contact_exit_counter += 1;
-                if self.contact_exit_counter >= CONTACT_EXIT_FRAMES_REQUIRED {
-                    self.update_idle_baseline(raw_frame, BASELINE_IDLE_ALPHA);
-                    self.reset_tracking_state();
-                    self.reset_report_state();
-                    return false;
-                }
-            } else {
-                self.contact_exit_counter = 0;
-            }
-
-            return true;
-        }
-
-        if Self::is_contact_enter_frame(frame) {
-            self.contact_enter_counter += 1;
-            if self.contact_enter_counter >= CONTACT_ENTER_FRAMES_REQUIRED {
-                self.contact_active = true;
-                self.contact_enter_counter = 0;
-                self.contact_exit_counter = 0;
-                return true;
-            }
-
-            return false;
-        }
-
-        self.contact_enter_counter = 0;
-        self.update_idle_baseline(raw_frame, BASELINE_IDLE_ALPHA);
-        false
-    }
-
-    fn store_report(&mut self, mut analysis: PztSpatialAnalysis) -> PztSpatialAnalysis {
-        analysis.reportable = true;
-        self.report_active = true;
-        self.report_hold_counter = 0;
-        self.held_report = Some(analysis);
-        analysis
-    }
-
-    fn hold_or_drop_report(&mut self) -> PztSpatialAnalysis {
-        if self.report_active && self.report_hold_counter < REPORT_HOLD_FRAMES {
-            self.report_hold_counter += 1;
-            if let Some(mut held) = self.held_report {
-                held.reportable = true;
-                return held;
-            }
-        }
-
-        self.reset_report_state();
-        Self::weak_contact_analysis()
-    }
-
-    fn stabilize_report(&mut self, analysis: PztSpatialAnalysis) -> PztSpatialAnalysis {
-        if !analysis.contact_active {
-            self.reset_report_state();
-            return analysis;
-        }
-
-        let can_enter = analysis.magnitude >= REPORT_MAGNITUDE_ENTER
-            && analysis.confidence >= REPORT_CONFIDENCE_ENTER;
-        let can_stay = analysis.magnitude >= REPORT_MAGNITUDE_EXIT
-            && analysis.confidence >= REPORT_CONFIDENCE_EXIT;
-
-        if self.report_active {
-            if can_stay {
-                return self.store_report(analysis);
-            }
-
-            return self.hold_or_drop_report();
-        }
-
-        if can_enter {
-            return self.store_report(analysis);
-        }
-
-        analysis
-    }
-
     pub fn get_pzt_analysis(
         &mut self,
         adc_data: &[f32],
     ) -> Result<PztSpatialAnalysis, &'static str> {
-        if adc_data.len() != SENSOR_COUNT {
-            return Err("ADC data length must be 84");
-        }
-
-        let baseline_subtracted = self.subtract_baseline(adc_data);
-        if !self.update_contact_state(adc_data, &baseline_subtracted) {
-            return Ok(Self::inactive_analysis());
-        }
-
-        let Some(stats) = Self::compute_contact_stats(&baseline_subtracted) else {
-            return Ok(self.stabilize_report(Self::weak_contact_analysis()));
-        };
-
-        let Some(anchor_x) = self.anchor_cop_x else {
-            self.anchor_cop_x = Some(stats.cop_x);
-            self.anchor_cop_y = Some(stats.cop_y);
-            self.last_cop_x = Some(stats.cop_x);
-            self.last_cop_y = Some(stats.cop_y);
-
-            return Ok(self.stabilize_report(Self::weak_contact_analysis()));
-        };
-        let anchor_y = self.anchor_cop_y.unwrap_or(stats.cop_y);
-        let last_x = self.last_cop_x.unwrap_or(stats.cop_x);
-        let last_y = self.last_cop_y.unwrap_or(stats.cop_y);
-
-        let drift_x = stats.cop_x - anchor_x;
-        let drift_y = stats.cop_y - anchor_y;
-        let motion_x = stats.cop_x - last_x;
-        let motion_y = stats.cop_y - last_y;
-
-        let combined_x = stats.asymmetry_x * ASYMMETRY_WEIGHT
-            + drift_x * DRIFT_WEIGHT
-            + motion_x * MOTION_WEIGHT;
-        let combined_y = stats.asymmetry_y * ASYMMETRY_WEIGHT
-            + drift_y * DRIFT_WEIGHT
-            + motion_y * MOTION_WEIGHT;
-
-        self.smoothed_x += (combined_x - self.smoothed_x) * VECTOR_SMOOTHING_ALPHA;
-        self.smoothed_y += (combined_y - self.smoothed_y) * VECTOR_SMOOTHING_ALPHA;
-
-        self.anchor_cop_x = Some(anchor_x + drift_x * ANCHOR_LERP_ALPHA);
-        self.anchor_cop_y = Some(anchor_y + drift_y * ANCHOR_LERP_ALPHA);
-        self.last_cop_x = Some(stats.cop_x);
-        self.last_cop_y = Some(stats.cop_y);
-
-        let planar_x = self.smoothed_x;
-        let planar_y = -self.smoothed_y;
-        let (angle_deg, magnitude) = Self::compute_vector_angle(planar_x, planar_y);
-
-        let active_span_rows = (stats.max_row - stats.min_row + 1) as f32 / SENSOR_ROWS as f32;
-        let active_span_cols = (stats.max_col - stats.min_col + 1) as f32 / SENSOR_COLS as f32;
-        let activity = (stats.active_cells as f32 / SENSOR_COUNT as f32).clamp(0.0, 1.0);
-        let span = ((active_span_rows + active_span_cols) * 0.5).clamp(0.0, 1.0);
-        let pressure_ratio = (stats.active_total / stats.total.max(1.0)).clamp(0.0, 1.0);
-        let peak_ratio =
-            (stats.peak / (stats.total / stats.active_cells as f32 + 1.0)).clamp(0.0, 1.0);
-        let confidence =
-            ((activity * 0.35) + (span * 0.2) + (pressure_ratio * 0.3) + (peak_ratio * 0.15))
-                .clamp(0.0, 1.0);
-
-        Ok(self.stabilize_report(PztSpatialAnalysis {
-            angle_deg,
-            magnitude,
-            planar_x,
-            planar_y,
-            confidence,
-            contact_active: true,
-            reportable: false,
-        }))
+        self.synthetic_timestamp_ms += 16.667;
+        self.get_pzt_analysis_at(adc_data, self.synthetic_timestamp_ms)
     }
 
     pub fn get_pzt_angle(&mut self, adc_data: &[f32]) -> Result<f32, &'static str> {
@@ -438,9 +175,242 @@ impl PztProcessor {
     }
 
     pub fn reset_baseline(&mut self) {
-        self.baseline_frame = None;
-        self.reset_tracking_state();
-        self.reset_report_state();
+        self.reset_all();
+        self.synthetic_timestamp_ms = 0.0;
+    }
+
+    fn prepare_frame(adc_data: &[f32]) -> [f32; SENSOR_COUNT] {
+        let mut frame = [0.0; SENSOR_COUNT];
+        for (target, value) in frame.iter_mut().zip(adc_data.iter().copied()) {
+            *target = value.max(0.0);
+        }
+        frame
+    }
+
+    fn update_dynamic_threshold(&mut self, total_pressure: f32, timestamp_ms: f32) {
+        if self.dynamic_thresh.is_some() {
+            return;
+        }
+
+        if self.noise_start_ms.is_none() {
+            self.noise_start_ms = Some(timestamp_ms);
+        }
+
+        self.noise_samples.push(total_pressure);
+        let noise_start = self.noise_start_ms.unwrap_or(timestamp_ms);
+        if timestamp_ms - noise_start >= NOISE_COLLECT_MS {
+            let mean = mean(&self.noise_samples);
+            let std = stddev(&self.noise_samples, mean);
+            self.dynamic_thresh = Some((mean + THRESH_K * std).max(MIN_THRESHOLD));
+        }
+    }
+
+    fn is_raw_contact(&self, total_pressure: f32) -> bool {
+        self.dynamic_thresh
+            .map(|threshold| total_pressure >= threshold)
+            .unwrap_or(false)
+    }
+
+    fn debounce_contact(&mut self, raw_contact: bool, timestamp_ms: f32) -> bool {
+        let currently_in_contact = self.state != CoPState::NoContact;
+
+        if raw_contact {
+            self.release_candidate_start_ms = None;
+
+            if currently_in_contact {
+                return true;
+            }
+
+            let contact_start = *self.contact_candidate_start_ms.get_or_insert(timestamp_ms);
+            return timestamp_ms - contact_start >= CONTACT_CONFIRM_MS;
+        }
+
+        self.contact_candidate_start_ms = None;
+        if !currently_in_contact {
+            return false;
+        }
+
+        let release_start = *self.release_candidate_start_ms.get_or_insert(timestamp_ms);
+        timestamp_ms - release_start < RELEASE_CONFIRM_MS
+    }
+
+    fn handle_no_contact(&mut self) {
+        if self.state != CoPState::NoContact {
+            self.reset_contact_state();
+        }
+    }
+
+    fn compute_cop(frame: &[f32; SENSOR_COUNT], total_pressure: f32) -> Option<(f32, f32)> {
+        if total_pressure <= 0.0 {
+            return None;
+        }
+
+        let mut weighted_col_sum = 0.0;
+        let mut weighted_row_sum = 0.0;
+        for row in 0..SENSOR_ROWS {
+            for col in 0..SENSOR_COLS {
+                let value = frame[row * SENSOR_COLS + col];
+                weighted_col_sum += value * col as f32;
+                weighted_row_sum += value * row as f32;
+            }
+        }
+
+        Some((
+            weighted_col_sum / total_pressure,
+            weighted_row_sum / total_pressure,
+        ))
+    }
+
+    fn filter_cop(&mut self, cop_x: f32, cop_y: f32) -> (f32, f32) {
+        if COP_LPF_ALPHA <= 0.0 {
+            return (cop_x, cop_y);
+        }
+
+        match (self.filtered_cop_x, self.filtered_cop_y) {
+            (Some(prev_x), Some(prev_y)) => {
+                let next_x = COP_LPF_ALPHA * cop_x + (1.0 - COP_LPF_ALPHA) * prev_x;
+                let next_y = COP_LPF_ALPHA * cop_y + (1.0 - COP_LPF_ALPHA) * prev_y;
+                self.filtered_cop_x = Some(next_x);
+                self.filtered_cop_y = Some(next_y);
+                (next_x, next_y)
+            }
+            _ => {
+                self.filtered_cop_x = Some(cop_x);
+                self.filtered_cop_y = Some(cop_y);
+                (cop_x, cop_y)
+            }
+        }
+    }
+
+    fn update_state_machine(&mut self, cop_x: f32, cop_y: f32, timestamp_ms: f32) {
+        if self.state == CoPState::NoContact {
+            self.state = CoPState::InitCollecting;
+            self.init_start_ms = Some(timestamp_ms);
+            self.init_x_buf.clear();
+            self.init_y_buf.clear();
+        }
+
+        if self.state == CoPState::InitCollecting {
+            self.init_x_buf.push(cop_x);
+            self.init_y_buf.push(cop_y);
+
+            let init_start = self.init_start_ms.unwrap_or(timestamp_ms);
+            if timestamp_ms - init_start >= INIT_COLLECT_MS {
+                let mut base_x = median(&self.init_x_buf);
+                let mut base_y = median(&self.init_y_buf);
+                (base_x, base_y) = Self::apply_center_snap(base_x, base_y);
+
+                self.first_contact_cop_x = Some(base_x);
+                self.first_contact_cop_y = Some(base_y);
+                self.post_start_ms = Some(timestamp_ms);
+                self.post_cand_x = None;
+                self.post_cand_y = None;
+                self.post_stable_start_ms = None;
+                self.state = CoPState::PostRefining;
+            }
+            return;
+        }
+
+        if self.state == CoPState::PostRefining {
+            self.post_refine(cop_x, cop_y, timestamp_ms);
+        }
+    }
+
+    fn apply_center_snap(base_x: f32, base_y: f32) -> (f32, f32) {
+        if (base_x - SNAP_CENTER_X).abs() <= SNAP_RANGE_X
+            && (base_y - SNAP_CENTER_Y).abs() <= SNAP_RANGE_Y
+        {
+            return (SNAP_CENTER_X, SNAP_CENTER_Y);
+        }
+
+        (base_x, base_y)
+    }
+
+    fn post_refine(&mut self, cop_x: f32, cop_y: f32, timestamp_ms: f32) {
+        let post_start = *self.post_start_ms.get_or_insert(timestamp_ms);
+        if timestamp_ms - post_start >= POST_REFINE_WINDOW_MS {
+            self.post_refined = true;
+            self.state = CoPState::Ready;
+            return;
+        }
+
+        let (Some(cand_x), Some(cand_y)) = (self.post_cand_x, self.post_cand_y) else {
+            self.post_cand_x = Some(cop_x);
+            self.post_cand_y = Some(cop_y);
+            self.post_stable_start_ms = Some(timestamp_ms);
+            return;
+        };
+
+        let dist = ((cop_x - cand_x).powi(2) + (cop_y - cand_y).powi(2)).sqrt();
+        if dist <= POST_STABLE_THRESH {
+            let stable_start = *self.post_stable_start_ms.get_or_insert(timestamp_ms);
+            if timestamp_ms - stable_start >= POST_STABLE_MS {
+                let (refined_x, refined_y) = Self::apply_center_snap(cand_x, cand_y);
+                self.first_contact_cop_x = Some(refined_x);
+                self.first_contact_cop_y = Some(refined_y);
+                self.post_refined = true;
+                self.state = CoPState::Ready;
+            }
+        } else {
+            self.post_cand_x = Some(cop_x);
+            self.post_cand_y = Some(cop_y);
+            self.post_stable_start_ms = Some(timestamp_ms);
+        }
+    }
+
+    fn compute_vector_angle(x: f32, y: f32) -> (f32, f32) {
+        let magnitude = (x * x + y * y).sqrt();
+        let angle = (y.atan2(x + EPSILON).to_degrees() + DISPLAY_ANGLE_OFFSET_DEG).rem_euclid(360.0);
+        (angle, magnitude)
+    }
+
+    fn empty_analysis(contact_active: bool) -> PztSpatialAnalysis {
+        PztSpatialAnalysis {
+            angle_deg: 0.0,
+            magnitude: 0.0,
+            planar_x: 0.0,
+            planar_y: 0.0,
+            confidence: 0.0,
+            contact_active,
+            reportable: false,
+        }
+    }
+}
+
+fn mean(values: &[f32]) -> f32 {
+    if values.is_empty() {
+        return 0.0;
+    }
+    values.iter().sum::<f32>() / values.len() as f32
+}
+
+fn stddev(values: &[f32], mean: f32) -> f32 {
+    if values.is_empty() {
+        return 0.0;
+    }
+    let variance = values
+        .iter()
+        .map(|value| {
+            let delta = value - mean;
+            delta * delta
+        })
+        .sum::<f32>()
+        / values.len() as f32;
+    variance.sqrt()
+}
+
+fn median(values: &[f32]) -> f32 {
+    if values.is_empty() {
+        return 0.0;
+    }
+
+    let mut sorted = values.to_vec();
+    sorted.sort_by(|left, right| left.partial_cmp(right).unwrap_or(std::cmp::Ordering::Equal));
+    let mid = sorted.len() / 2;
+    if sorted.len() % 2 == 0 {
+        (sorted[mid - 1] + sorted[mid]) * 0.5
+    } else {
+        sorted[mid]
     }
 }
 
@@ -464,64 +434,73 @@ mod tests {
     fn idle_frame_does_not_report_contact() {
         let mut processor = PztProcessor::new();
         let frame = [0.0; SENSOR_ROWS * SENSOR_COLS];
-        let analysis = processor.get_pzt_analysis(&frame).unwrap();
+        let analysis = processor.get_pzt_analysis_at(&frame, 0.0).unwrap();
         assert!(!analysis.contact_active);
         assert!(!analysis.reportable);
         assert_eq!(analysis.magnitude, 0.0);
     }
 
     #[test]
-    fn right_heavy_contact_reports_rightward_angle_after_confirmation() {
+    fn rightward_cop_shift_reports_rightward_angle() {
         let mut processor = PztProcessor::new();
-        let baseline = [0.0; SENSOR_ROWS * SENSOR_COLS];
-        let contact = make_frame(&[
+        let quiet = [0.0; SENSOR_ROWS * SENSOR_COLS];
+        for step in 0..20 {
+            let _ = processor
+                .get_pzt_analysis_at(&quiet, step as f32 * 20.0)
+                .unwrap();
+        }
+
+        let center_contact = make_frame(&[
             (5, 2, 120.0),
             (5, 3, 180.0),
-            (5, 4, 280.0),
-            (6, 2, 110.0),
-            (6, 3, 170.0),
-            (6, 4, 260.0),
-            (7, 2, 100.0),
-            (7, 3, 150.0),
-            (7, 4, 240.0),
+            (5, 4, 120.0),
+            (6, 2, 120.0),
+            (6, 3, 180.0),
+            (6, 4, 120.0),
         ]);
-
-        let _ = processor.get_pzt_analysis(&baseline).unwrap();
-
-        let mut analysis = processor.get_pzt_analysis(&contact).unwrap();
-        for _ in 0..8 {
-            analysis = processor.get_pzt_analysis(&contact).unwrap();
+        for step in 20..70 {
+            let _ = processor
+                .get_pzt_analysis_at(&center_contact, step as f32 * 20.0)
+                .unwrap();
         }
 
+        let right_contact = make_frame(&[
+            (5, 3, 120.0),
+            (5, 4, 220.0),
+            (5, 5, 260.0),
+            (6, 3, 120.0),
+            (6, 4, 220.0),
+            (6, 5, 260.0),
+        ]);
+        let analysis = processor
+            .get_pzt_analysis_at(&right_contact, 1_500.0)
+            .unwrap();
+
         assert!(analysis.contact_active);
         assert!(analysis.reportable);
         assert!(analysis.magnitude > 0.0);
-        assert!(analysis.angle_deg <= 45.0 || analysis.angle_deg >= 315.0);
+        assert!(analysis.angle_deg >= 225.0 && analysis.angle_deg <= 315.0);
     }
 
     #[test]
-    fn report_stays_active_through_short_weak_gap() {
+    fn release_debounce_holds_short_gap() {
         let mut processor = PztProcessor::new();
-        let baseline = [0.0; SENSOR_ROWS * SENSOR_COLS];
-        let contact = make_frame(&[
-            (5, 2, 120.0),
-            (5, 3, 180.0),
-            (5, 4, 280.0),
-            (6, 2, 110.0),
-            (6, 3, 170.0),
-            (6, 4, 260.0),
-            (7, 2, 100.0),
-            (7, 3, 150.0),
-            (7, 4, 240.0),
-        ]);
-        let weak = make_frame(&[(5, 3, 55.0), (5, 4, 60.0), (6, 3, 50.0), (6, 4, 58.0)]);
-
-        let _ = processor.get_pzt_analysis(&baseline).unwrap();
-        for _ in 0..10 {
-            let _ = processor.get_pzt_analysis(&contact).unwrap();
+        let quiet = [0.0; SENSOR_ROWS * SENSOR_COLS];
+        for step in 0..20 {
+            let _ = processor
+                .get_pzt_analysis_at(&quiet, step as f32 * 20.0)
+                .unwrap();
         }
 
-        let analysis = processor.get_pzt_analysis(&weak).unwrap();
-        assert!(analysis.reportable);
+        let contact = make_frame(&[(5, 3, 300.0), (5, 4, 300.0), (6, 3, 300.0), (6, 4, 300.0)]);
+        for step in 20..70 {
+            let _ = processor
+                .get_pzt_analysis_at(&contact, step as f32 * 20.0)
+                .unwrap();
+        }
+
+        let weak = make_frame(&[(5, 3, 10.0), (5, 4, 10.0), (6, 3, 10.0), (6, 4, 10.0)]);
+        let analysis = processor.get_pzt_analysis_at(&weak, 1_410.0).unwrap();
+        assert!(analysis.contact_active);
     }
 }

src-tauri/src/serial_core/serial.rs

@@ -9,7 +9,6 @@ use crate::serial_core::multi_dim_force::PztProcessor;
 use crate::serial_core::record::Recording;
 use crate::serial_core::record::{FrameTiming, RecordedFrame};
 use anyhow::Result;
-use log::debug;
 use std::future::pending;
 #[cfg(feature = "devkit")]
 use std::sync::atomic::Ordering;
@@ -22,7 +21,7 @@ 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> {
@@ -311,15 +310,14 @@ where
                     drop(record);
 
                     if let Some(vals) = decode_res {
+                        #[cfg(feature = "multi-dim")]
                         let mut spatial_force = None;
+                        #[cfg(not(feature = "multi-dim"))]
+                        let spatial_force = None;
                         #[cfg(feature = "multi-dim")]
                         {
                             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
-                                // );
+                            if let Ok(analysis) = pzt_processor.get_pzt_analysis_at(&pzt_values, frame.dts_ms() as f32) {
                                 if PztProcessor::should_report(&analysis) {
                                     spatial_force = Some(HudSpatialForce {
                                         angle_deg: analysis.angle_deg,
@@ -329,13 +327,15 @@ where
                                 }
                             }
                         }
-                        #[cfg(feature = "devkit")]
-                        {
-                            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);
-                        }
+                        // #[cfg(feature = "devkit")]
+                        // {
+                        //     let summary = vals.iter().copied().sum::<i32>();
+                        //     #[cfg(feature = "debug")]
+                        //     let force = raw_to_g1(summary as u32);
+                        //     #[cfg(not(feature = "debug"))]
+                        //     let force = summary as f64;
+                        //     push_devkit_frame(&app, vals.as_slice(), frame.dts_ms(), force);
+                        // }
 
                         pending_sub_frame = Some(PendingSubFrame {
                             frame: frame.clone(),
@@ -358,15 +358,24 @@ fn build_display_values(
     spatial_force: Option<HudSpatialForce>,
 ) -> 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);
-    Some(vec![summary])
+
+    let x = raw_to_g1(summary as u32).min(MAX_DISPLAY_FORCE);
+    if x <= MIN_DISPLAY_FORCE {
+        let zero_values = vec![0; values.len()];
+        chart_state.record_summary(0.0);
+        chart_state.record_pressure_matrix(&zero_values);
+        return Some(vec![0]);
+    }
+
+    chart_state.record_pressure_matrix(values);
+    chart_state.record_summary(x as f32);
+    Some(vec![x.round() as i32])
 }
 
+const MIN_DISPLAY_FORCE: f64 = 0.1;
+const MAX_DISPLAY_FORCE: f64 = 25.6;
+
 #[cfg(feature = "devkit")]
 fn push_devkit_frame(app: &AppHandle, values: &[i32], dts_ms: u64, resultant_force: f64) {
     let devkit_state = app.state::<DevKitState>();
@@ -420,12 +429,12 @@ fn infer_matrix_shape(len: usize) -> (u32, u32) {
 }
 
 fn raw_to_g1(raw: u32) -> f64 {
-    const X: [u32; 13] = [
-        0, 16811, 41350, 79241, 94615, 127446, 149559, 175900, 195056, 237852, 267810, 322472, 378511,
+    const X: [u32; 12] = [
+        0, 25077, 104682, 133468, 160843, 181418, 207589, 243402, 285163, 341185, 401743, 450145
     ];
 
-    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,
+    const Y: [f64; 12] = [
+        0.0, 57.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0, 2557.0
     ];
 
     let n = X.len();

src-tauri/tauri.conf.json

@@ -41,9 +41,7 @@
         "template": "nsis/installer.nsi"
       }
     },
-    "resources": [
-      "resources/je-skin-devkit-server.exe"
-    ]
+    "resources": []
   },
   "plugins": {
     "updater": {

src/lib/components/CenterStage.svelte

@@ -29,7 +29,6 @@
   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 = "";
@@ -61,8 +60,9 @@
   export let replayProgress = 0;
   export let replayFileName = "";
   export let replayFrameInfo = "";
-  export let showPrecisionTestPanel = false;
   export let sessionStartedAt: number = Date.now();
+  export let summaryReleasePending = false;
+  export let spatialForcePanelVisible = false;
 
   let stagePlaneEl: HTMLDivElement | undefined;
   let panelZoneEl: HTMLDivElement | undefined;
@@ -89,9 +89,9 @@
   $: replaySide = summarySide === "left" ? "right" : "left";
   $: replayToggleButtonText = replayIsPlaying ? replayPauseLabel : replayPlayLabel;
   $: replayProgressPercent = Math.round(Math.min(1, Math.max(0, replayProgress)) * 100);
-  $: summaryCurveVisible = summary.points.length > 0 && summary.points.some((value) => Number.isFinite(value) && Math.abs(value) >= 0.0001);
-  $: splitMatrixTitle = locale === "zh-CN" ? "数字矩阵" : "Matrix";
-  $: splitMatrixHint = locale === "zh-CN" ? "实时压力数据 / 数字矩阵" : "Live pressure matrix";
+  $: summaryCurveVisible =
+    summary.points.length > 0 &&
+    (summaryReleasePending || summary.points.some((value) => Number.isFinite(value) && Math.abs(value) >= 0.0001));
   $: isModelStage = stageViewMode === "model3d";
 
   function toPxNumber(rawValue: string): number {
@@ -117,7 +117,7 @@
       return;
     }
 
-    panelZoneTopPx = showPrecisionTestPanel ? 24 : 16;
+    panelZoneTopPx = 16;
 
     const panelZoneBottomPx = panelZoneEl ? toPxNumber(getComputedStyle(panelZoneEl).bottom) : 0;
     const zoneHeight = Math.max(0, stagePlaneEl.clientHeight - panelZoneTopPx - panelZoneBottomPx);
@@ -191,43 +191,6 @@
             <ModelStage {locale} {modelUrl} />
           {/key}
         </div>
-      {:else if showPrecisionTestPanel}
-        <div class="split-game-wrap">
-          <section class="split-panel split-matrix-panel">
-            <header class="split-panel-head">
-              <p>{splitMatrixTitle}</p>
-              <span>{splitMatrixHint}</span>
-            </header>
-            <div class="split-panel-body">
-              {#key `${matrixRows}x${matrixCols}:${colorMapPreset}:split`}
-                <PressureMatrixViewer
-                  {summary}
-                  {pressureMatrix}
-                  {matrixRows}
-                  {matrixCols}
-                  {rangeMin}
-                  {rangeMax}
-                  {colorMapPreset}
-                  {matrixDisplayMode}
-                  {locale}
-                  showStatsPanel={true}
-                />
-              {/key}
-            </div>
-          </section>
-
-          <section class="split-panel split-breakout-panel">
-            <NeonBreakoutArena
-              {locale}
-              {pressureMatrix}
-              {matrixRows}
-              {matrixCols}
-              {rangeMin}
-              {rangeMax}
-              {colorMapPreset}
-            />
-          </section>
-        </div>
       {:else}
         <div class="canvas-wrap">
           {#key `${matrixRows}x${matrixCols}:${colorMapPreset}`}
@@ -247,7 +210,7 @@
         </div>
       {/if}
 
-      {#if showConfigPanel && !showPrecisionTestPanel && !isModelStage}
+      {#if showConfigPanel && !isModelStage}
         <div class="config-panel-wrap">
           <ConfigPanel
             bind:matrixRows
@@ -269,7 +232,7 @@
         </div>
       {/if}
 
-      {#if !showPrecisionTestPanel && !isModelStage}
+      {#if !isModelStage}
         <div class="panel-zone" bind:this={panelZoneEl}>
           <aside class="side-rail left-rail">
             <div class="rail-stack" bind:this={leftStackEl}>
@@ -317,7 +280,7 @@
                   <SignalChart {panel} panelIndex={index} {locale} />
                 </div>
               {/each}
-
+              {#if spatialForcePanelVisible}
                 <div
                   class="panel-motion-shell"
                   in:fly={{ x: 180, duration: 340, opacity: 0.08, easing: cubicOut }}
@@ -328,31 +291,13 @@
                     {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"
+                    panelCode="3D"
+                    panelTitle={locale === "zh-CN" ? "三维力" : "3D Force"}
+                    badgeLabel=""
                     badgeTone="lime"
-                  showMetrics={false}
-                  requireMagnitude={false}
-                  compactMetaText={locale === "zh-CN" ? "等待 DevKit 角度流" : "Waiting for DevKit angle"}
                   />
                 </div>
+              {/if}
 
               {#if summaryCurveVisible && summarySide === "right"}
                 <div
@@ -368,7 +313,7 @@
                     {sessionStartedAt}
                     isRealtime={!replayHasData}
                     side="right"
-                    panelIndex={rightPanels.length}
+                    panelIndex={rightPanels.length + (spatialForcePanelVisible ? 1 : 0)}
                   />
                 </div>
               {/if}
@@ -377,7 +322,7 @@
         </div>
       {/if}
 
-      {#if replayHasData && !showPrecisionTestPanel && !isModelStage}
+      {#if replayHasData && !isModelStage}
         <aside class="replay-floating-panel" class:is-left={replaySide === "left"} class:is-right={replaySide === "right"}>
           <div class="replay-panel-head">
             <div class="replay-panel-title-group">
@@ -415,7 +360,7 @@
         </aside>
       {/if}
 
-      {#if !showPrecisionTestPanel && !isModelStage}
+      {#if !isModelStage}
         <div class="stage-bottom-overlay">
           <slot />
         </div>

src/lib/components/HudPanel.svelte

@@ -2,10 +2,8 @@
   import { createEventDispatcher } from "svelte";
   import type {
     ConnectionState,
-    HudConfigLink,
     HudNoticeTone,
     LocaleCode,
-    MatrixDisplayMode,
     StageViewMode,
     WindowControlAction
   } from "$lib/types/hud";
@@ -29,15 +27,8 @@
   export let serialPortValue = "";
   export let serialPortOptions: string[] = [];
   export let refreshPortsLabel = "";
-  export let configLinksLabel = "";
-  export let configLinks: HudConfigLink[] = [];
   export let matrixViewLabel = "";
-  export let matrixViewNumericLabel = "";
   export let matrixViewDotsLabel = "";
-  export let matrixDisplayMode: MatrixDisplayMode = "dots";
-  export let stageModeLabel = "";
-  export let stageModeWebglLabel = "";
-  export let stageModeModelLabel = "";
   export let stageViewMode: StageViewMode = "webgl";
   export let connectActionLabel = "";
   export let disconnectActionLabel = "";
@@ -59,7 +50,6 @@
   const dispatch = createEventDispatcher<{
     windowcontrol: WindowControlAction;
     localechange: LocaleCode;
-    configlink: string;
     matrixdisplaytoggle: boolean;
     stagemodechange: StageViewMode;
     portchange: string;
@@ -103,14 +93,6 @@
     dispatch("localechange", nextLocale);
   }
 
-  function emitConfigLink(linkId: string): void {
-    dispatch("configlink", linkId);
-  }
-
-  function emitMatrixDisplayToggle(): void {
-    dispatch("matrixdisplaytoggle", matrixDisplayMode !== "dots");
-  }
-
   function emitStageModeChange(nextMode: StageViewMode): void {
     dispatch("stagemodechange", nextMode);
   }
@@ -195,60 +177,6 @@
 
   <div class="control-bar">
     <div class="control-main-row">
-      <section class="config-links" aria-label={configLinksLabel}>
-        {#each configLinks as link (link.id)}
-          <button
-            type="button"
-            class="config-link tone-{link.tone ?? 'neutral'}"
-            class:is-active={Boolean(link.active)}
-            on:click={() => emitConfigLink(link.id)}
-          >
-            <span class="config-indicator" aria-hidden="true"></span>
-            <span class="config-label">{link.label}</span>
-          </button>
-        {/each}
-      </section>
-
-      <section class="matrix-switch-wrap" aria-label={matrixViewLabel}>
-        <span class="matrix-switch-label">{matrixViewLabel}</span>
-        <button
-          type="button"
-          class="matrix-switch-btn"
-          class:is-active={matrixDisplayMode === "dots"}
-          role="switch"
-          aria-checked={matrixDisplayMode === "dots"}
-          aria-label={matrixViewDotsLabel}
-          on:click={emitMatrixDisplayToggle}
-        >
-          <span class="matrix-switch-track" aria-hidden="true">
-            <span class="matrix-switch-thumb"></span>
-          </span>
-          <span class="matrix-switch-copy">{matrixDisplayMode === "dots" ? matrixViewDotsLabel : matrixViewNumericLabel}</span>
-        </button>
-      </section>
-
-      <section class="stage-mode-switch" aria-label={stageModeLabel}>
-        <span class="stage-mode-label">{stageModeLabel}</span>
-        <div class="stage-mode-options" role="group" aria-label={stageModeLabel}>
-          <button
-            type="button"
-            class="stage-mode-btn"
-            class:is-active={stageViewMode === "webgl"}
-            on:click={() => emitStageModeChange("webgl")}
-          >
-            {stageModeWebglLabel}
-          </button>
-          <button
-            type="button"
-            class="stage-mode-btn"
-            class:is-active={stageViewMode === "model3d"}
-            on:click={() => emitStageModeChange("model3d")}
-          >
-            {stageModeModelLabel}
-          </button>
-        </div>
-      </section>
-
       <section class="state-card" aria-label={connectionLabel}>
         <span class="state-dot" class:ok={connectionTone === "ok"} class:warn={connectionTone === "warn"}></span>
         <span class="state-label">{connectionLabel}</span>
@@ -517,149 +445,6 @@
     background: var(--panel-surface);
   }
 
-  .matrix-switch-wrap,
-  .stage-mode-switch {
-    display: inline-flex;
-    align-items: center;
-    gap: 0.4rem;
-    min-block-size: 2rem;
-    border: 1px solid var(--panel-line);
-    border-radius: 999px;
-    padding: 0.16rem 0.22rem 0.16rem 0.56rem;
-    background: var(--panel-surface);
-  }
-
-  .matrix-switch-label,
-  .stage-mode-label {
-    color: var(--panel-text-dim);
-    font-size: 0.66rem;
-    letter-spacing: 0.08em;
-    text-transform: uppercase;
-    line-height: 1;
-    white-space: nowrap;
-  }
-
-  .matrix-switch-btn {
-    display: inline-flex;
-    align-items: center;
-    gap: 0.42rem;
-    min-block-size: 1.62rem;
-    border: 1px solid rgb(var(--hud-border-rgb) / 0.26);
-    border-radius: 999px;
-    padding: 0.18rem 0.28rem 0.18rem 0.22rem;
-    background: rgb(var(--hud-surface-deep-rgb) / 0.84);
-    color: rgb(var(--hud-text-main-rgb) / 0.92);
-    cursor: pointer;
-    transition:
-      border-color 180ms ease,
-      box-shadow 180ms ease,
-      background-color 180ms ease,
-      color 180ms ease;
-  }
-
-  .matrix-switch-btn:hover {
-    border-color: rgb(var(--hud-cyan-rgb) / 0.4);
-  }
-
-  .matrix-switch-btn.is-active {
-    border-color: rgb(var(--hud-cyan-rgb) / 0.5);
-    background:
-      linear-gradient(180deg, rgb(var(--hud-surface-alt-rgb) / 0.94), rgb(var(--hud-surface-rgb) / 0.9)),
-      radial-gradient(circle at 50% 0, rgb(var(--hud-cyan-rgb) / 0.12), transparent 60%);
-    box-shadow:
-      inset 0 0 0 1px rgb(var(--hud-text-main-rgb) / 0.05),
-      0 0 12px rgb(var(--hud-cyan-rgb) / 0.12);
-  }
-
-  .matrix-switch-track {
-    position: relative;
-    display: inline-flex;
-    align-items: center;
-    inline-size: 2.2rem;
-    block-size: 1.2rem;
-    border-radius: 999px;
-    padding: 0.14rem;
-    background: rgb(var(--hud-surface-rgb) / 0.9);
-    box-shadow: inset 0 0 0 1px rgb(var(--hud-border-rgb) / 0.24);
-    transition:
-      background-color 180ms ease,
-      box-shadow 180ms ease;
-  }
-
-  .matrix-switch-btn.is-active .matrix-switch-track {
-    background: rgb(var(--hud-cyan-rgb) / 0.18);
-    box-shadow: inset 0 0 0 1px rgb(var(--hud-cyan-rgb) / 0.18);
-  }
-
-  .matrix-switch-thumb {
-    inline-size: 0.92rem;
-    block-size: 0.92rem;
-    border-radius: 50%;
-    background: rgb(var(--hud-text-main-rgb) / 0.96);
-    box-shadow:
-      0 1px 4px rgb(0 0 0 / 0.26),
-      0 0 10px rgb(var(--hud-text-main-rgb) / 0.12);
-    transform: translateX(0);
-    transition:
-      transform 180ms ease,
-      background-color 180ms ease,
-      box-shadow 180ms ease;
-  }
-
-  .matrix-switch-btn.is-active .matrix-switch-thumb {
-    transform: translateX(0.96rem);
-    background: rgb(var(--hud-cyan-rgb) / 0.96);
-    box-shadow:
-      0 1px 4px rgb(0 0 0 / 0.26),
-      0 0 12px rgb(var(--hud-cyan-rgb) / 0.22);
-  }
-
-  .matrix-switch-copy {
-    font-size: 0.74rem;
-    letter-spacing: 0.04em;
-    white-space: nowrap;
-    line-height: 1;
-  }
-
-  .stage-mode-options {
-    display: inline-flex;
-    align-items: center;
-    gap: 0.18rem;
-    padding: 0.16rem;
-    border: 1px solid rgb(var(--hud-border-rgb) / 0.24);
-    border-radius: 999px;
-    background: rgb(var(--hud-surface-deep-rgb) / 0.8);
-  }
-
-  .stage-mode-btn {
-    min-block-size: 1.38rem;
-    border: 1px solid transparent;
-    border-radius: 999px;
-    padding: 0.18rem 0.54rem;
-    background: transparent;
-    color: rgb(var(--hud-text-dim-rgb) / 0.88);
-    font: inherit;
-    font-size: 0.7rem;
-    letter-spacing: 0.04em;
-    cursor: pointer;
-    transition:
-      border-color 180ms ease,
-      background-color 180ms ease,
-      color 180ms ease,
-      box-shadow 180ms ease;
-  }
-
-  .stage-mode-btn:hover {
-    color: rgb(var(--hud-text-main-rgb) / 0.96);
-  }
-
-  .stage-mode-btn.is-active {
-    border-color: rgb(var(--hud-cyan-rgb) / 0.42);
-    background: rgb(var(--hud-cyan-rgb) / 0.14);
-    color: rgb(var(--hud-text-main-rgb) / 0.98);
-    box-shadow: 0 0 12px rgb(var(--hud-cyan-rgb) / 0.1);
-  }
-
   .state-dot {
     inline-size: 0.55rem;
     block-size: 0.55rem;
@@ -1123,93 +908,6 @@
     background: rgb(10 16 20 / 0.7);
   }
 
-  .config-links {
-    display: inline-flex;
-    align-items: center;
-    gap: 0.2rem;
-    min-block-size: 2rem;
-    border: 1px solid rgb(95 132 158 / 0.36);
-    border-radius: 999px;
-    padding: 0.17rem 0.2rem;
-    background: linear-gradient(180deg, rgb(9 15 19 / 0.9), rgb(4 8 12 / 0.86));
-    box-shadow: inset 0 0 0 1px rgb(140 184 210 / 0.06);
-  }
-
-  .config-link {
-    display: inline-flex;
-    align-items: center;
-    gap: 0.34rem;
-    border: 1px solid transparent;
-    border-radius: 999px;
-    padding: 0.26rem 0.64rem;
-    background: transparent;
-    color: rgb(164 188 208 / 0.9);
-    font-size: 0.81rem;
-    letter-spacing: 0.05em;
-    cursor: pointer;
-    transition:
-      color 180ms ease,
-      border-color 180ms ease,
-      background-color 180ms ease,
-      box-shadow 220ms ease;
-  }
-
-  .config-indicator {
-    inline-size: 0.34rem;
-    block-size: 0.34rem;
-    border-radius: 999px;
-    background: rgb(136 157 174 / 0.88);
-    box-shadow: 0 0 0 2px rgb(136 157 174 / 0.16);
-    transition:
-      background-color 180ms ease,
-      box-shadow 200ms ease;
-  }
-
-  .config-label {
-    line-height: 1;
-  }
-
-  .config-link:hover {
-    color: #d7edfb;
-    border-color: rgb(62 232 255 / 0.26);
-  }
-
-  .config-link.is-active {
-    color: #f1fdff;
-    border-color: rgb(106 150 180 / 0.56);
-    background: rgb(18 27 35 / 0.9);
-    box-shadow:
-      inset 0 0 0 1px rgb(167 218 252 / 0.08),
-      0 0 10px rgb(62 232 255 / 0.12);
-  }
-
-  .config-link.tone-cyan.is-active {
-    border-color: rgb(62 232 255 / 0.48);
-  }
-
-  .config-link.tone-lime.is-active {
-    border-color: rgb(133 255 68 / 0.52);
-  }
-
-  .config-link.tone-orange.is-active {
-    border-color: rgb(255 91 63 / 0.52);
-  }
-
-  .config-link.tone-cyan.is-active .config-indicator {
-    background: var(--hud-cyan);
-    box-shadow: 0 0 0 2px rgb(62 232 255 / 0.17);
-  }
-
-  .config-link.tone-lime.is-active .config-indicator {
-    background: var(--hud-lime);
-    box-shadow: 0 0 0 2px rgb(133 255 68 / 0.17);
-  }
-
-  .config-link.tone-orange.is-active .config-indicator {
-    background: var(--hud-orange);
-    box-shadow: 0 0 0 2px rgb(255 91 63 / 0.18);
-  }
-
   .locale-btn {
     border: 1px solid transparent;
     border-radius: 999px;
@@ -1236,21 +934,11 @@
     background: rgb(24 31 25 / 0.9);
   }
 
-  @media (max-width: 1080px) {
-    .config-links {
-      flex-wrap: wrap;
-    }
-  }
-
   @media (max-width: 820px) {
     .control-main-row {
       gap: 0.44rem;
     }
 
-    .config-links {
-      flex-wrap: wrap;
-    }
-
     .serial-select {
       padding-inline-start: 0.45rem;
     }

src/lib/components/ModelStage.svelte

@@ -9,7 +9,7 @@
   type ModelLoadState = "loading" | "ready" | "missing" | "error";
 
   export let locale: LocaleCode = "zh-CN";
-  export let modelUrl = "/models/je-skin-model.glb";
+  export let modelUrl = "/models/je-skin-model.gltf";
 
   let rootEl: HTMLDivElement | undefined;
   let canvasEl: HTMLCanvasElement | undefined;

src/lib/components/PressureMatrixViewer.svelte

@@ -67,6 +67,7 @@
   const CAMERA_TARGET_Z = MATRIX_OFFSET_Z - 0.4;
   const MATRIX_ROTATION_Y = 0;
   const rangeStopPositions = [0, 0.25, 0.5, 0.75, 0.875, 1] as const;
+  const maxDisplayForce = 25.6;
 
   const labelVector = new THREE.Vector3();
   $: resolvedColorPalette = pressureColorPalettes[colorMapPreset] ?? pressureColorPalettes.emerald;
@@ -145,6 +146,10 @@
       return "--";
     }
 
+    if (value >= maxDisplayForce) {
+      return `${maxDisplayForce.toFixed(1)}+`;
+    }
+
     return value.toFixed(1);
   }
 
@@ -672,14 +677,6 @@
             <span class="stats-key">{viewerI18n.current}</span>
             <strong class="stats-value">{formatForceStat(stats.current)}</strong>
           </article>
-          <article class="stats-card">
-            <span class="stats-key">{viewerI18n.max}</span>
-            <strong class="stats-value">{formatForceStat(stats.max)}</strong>
-          </article>
-          <article class="stats-card">
-            <span class="stats-key">{viewerI18n.min}</span>
-            <strong class="stats-value">{formatForceStat(stats.min)}</strong>
-          </article>
         </div>
         <p class="stats-note">{statsNote}</p>
       </section>
@@ -768,7 +765,7 @@
 
   .stats-grid {
     display: grid;
-    grid-template-columns: repeat(2, minmax(0, 1fr));
+    grid-template-columns: minmax(0, 1fr);
     gap: 0.46rem;
   }
 

src/lib/components/SignalChart.svelte

@@ -11,6 +11,7 @@
 
   const viewportWidth = 100;
   const viewportHeight = 36;
+  const maxDisplayForce = 25.6;
 
   const toneColorMap: Record<SignalTone, string> = {
     cyan: "62 232 255",
@@ -32,7 +33,15 @@
   }
 
   function formatMetric(value: number | null): string {
-    return value === null ? "--" : value.toFixed(1);
+    if (value === null) {
+      return "--";
+    }
+
+    if (value >= maxDisplayForce) {
+      return `${maxDisplayForce.toFixed(1)}+`;
+    }
+
+    return value.toFixed(1);
   }
 
   function resolveBounds(seriesCollection: HudSignalPanel["series"]): { min: number; max: number } {

src/lib/components/SpatialForcePanel.svelte

@@ -9,17 +9,7 @@
   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)) {
-      return "--";
-    }
-
-    return value.toFixed(digits);
-  }
 
   function normalizeAngle(value: number): number {
     return ((value % 360) + 360) % 360;
@@ -30,6 +20,7 @@
     return delta === -180 ? 180 : delta;
   }
 
+  const displayAngleOffsetDeg = 90;
   const jumpAngleThresholdDeg = 72;
 
   let visualAngleDeg = 0;
@@ -83,7 +74,7 @@
   $: i18n =
     locale === "zh-CN"
       ? {
-          title: "切向力方向",
+          title: "三维力",
           waiting: "等待数据",
           angle: "ANGLE",
           heading: "方向角",
@@ -91,7 +82,7 @@
           confidence: "置信度"
         }
       : {
-          title: "Tangential Direction",
+          title: "3D Force",
           waiting: "Waiting",
           angle: "ANGLE",
           heading: "Heading",
@@ -100,23 +91,19 @@
         };
   $: 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) &&
-    (!requireMagnitude || Number.isFinite(spatialForce.magnitude));
-  $: angleDeg = hasData ? normalizeAngle(spatialForce?.angleDeg ?? 0) : 0;
+    (!requireMagnitude || (Number.isFinite(spatialForce.magnitude) && Math.abs(spatialForce.magnitude) >= 0.0001));
+  $: angleDeg = hasData ? normalizeAngle((spatialForce?.angleDeg ?? 0) + displayAngleOffsetDeg) : 0;
   $: updateVisualAngle(angleDeg, hasData);
-  $: magnitude = hasData ? spatialForce?.magnitude ?? 0 : null;
-  $: confidence = hasData ? (spatialForce?.confidence ?? 0) * 100 : null;
 </script>
 
 <article
   class="signal-panel spatial-panel side-{side}"
   class:is-empty={!hasData}
-  aria-hidden={false}
+  aria-label={resolvedTitle}
   style="--panel-index: {panelIndex};"
 >
   <header class="panel-head">
@@ -125,9 +112,11 @@
       <p class="panel-title">{resolvedTitle}</p>
     </div>
 
+    {#if resolvedBadgeLabel}
       <div class="icon-layer" aria-hidden="true">
         <span class={`icon-chip tone-${badgeTone}`}>{resolvedBadgeLabel}</span>
       </div>
+    {/if}
   </header>
 
   <div class="panel-body">
@@ -148,42 +137,28 @@
           </div>
         {/if}
         <div class="compass-center"></div>
-        <span class="compass-label label-top">90</span>
-        <span class="compass-label label-right">0</span>
-        <span class="compass-label label-bottom">270</span>
-        <span class="compass-label label-left">180</span>
+        <span class="compass-label label-top">0</span>
+        <span class="compass-label label-right">270</span>
+        <span class="compass-label label-bottom">180</span>
+        <span class="compass-label label-left">90</span>
+      </div>
     </div>
 
-      {#if !hasData}
-        <div class="empty-state">
-          <span>{i18n.waiting}</span>
-        </div>
-      {/if}
-    </div>
-
-    <div class="angle-stage">
-      <p class="angle-label">{i18n.heading}</p>
-      {#if showMetrics}
-        <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>
-
 <style>
   .signal-panel {
     --offset-x: 12%;
     --enter-ms: 1800ms;
     --fade-ms: 1000ms;
     overflow: hidden;
-    inline-size: min(100%, clamp(34rem, 44vw, 44rem));
+    inline-size: var(--rail-width, min(100%, clamp(34rem, 44vw, 44rem)));
+    max-inline-size: 100%;
+    box-sizing: border-box;
+    flex: 0 0 var(--rail-width, auto);
     justify-self: start;
     display: grid;
-    grid-template-rows: auto 1fr;
+    grid-template-rows: auto 1fr auto;
     gap: 0.68rem;
     padding: 0.88rem 0.96rem 1rem;
     border: 1px solid rgb(var(--hud-border-strong-rgb) / 0.42);
@@ -218,6 +193,16 @@
     opacity: 0.82;
   }
 
+  .spatial-panel::after {
+    content: "";
+    display: block;
+    block-size: 1rem;
+  }
+
+  .spatial-panel {
+    margin-block-end: clamp(0.8rem, 1.8vh, 1.4rem);
+  }
+
   .panel-head {
     display: flex;
     justify-content: space-between;
@@ -277,16 +262,18 @@
 
   .panel-body {
     display: grid;
-    grid-template-columns: minmax(0, 1.1fr) minmax(10rem, 0.9fr);
+    grid-template-columns: minmax(0, 1fr);
     gap: 0.72rem;
-    block-size: clamp(12rem, 15.5vw, 15rem);
-    min-block-size: clamp(12rem, 15.5vw, 15rem);
+    block-size: clamp(14rem, 17vw, 16.5rem);
+    min-block-size: 5rem;
   }
 
   .compass-stage {
     position: relative;
     min-block-size: 0;
+    box-sizing: border-box;
     overflow: hidden;
+    padding: 1.35rem 1.7rem;
     border: 1px solid rgb(var(--hud-border-strong-rgb) / 0.32);
     border-radius: 0.62rem;
     background:
@@ -298,7 +285,8 @@
 
   .compass-core {
     position: relative;
-    inline-size: min(72%, 13rem);
+    inline-size: min(72%, 12.2rem, calc(100% - 3.4rem));
+    min-inline-size: 6.2rem;
     aspect-ratio: 1;
   }
 
@@ -397,26 +385,26 @@
   }
 
   .label-top {
-    top: -0.9rem;
+    top: 0.35rem;
     left: 50%;
     transform: translateX(-50%);
   }
 
   .label-right {
     top: 50%;
-    right: -1rem;
+    right: 0.42rem;
     transform: translateY(-50%);
   }
 
   .label-bottom {
-    bottom: -0.9rem;
+    bottom: 0.35rem;
     left: 50%;
     transform: translateX(-50%);
   }
 
   .label-left {
     top: 50%;
-    left: -1.35rem;
+    left: 0.42rem;
     transform: translateY(-50%);
   }
 
@@ -433,76 +421,79 @@
     background: linear-gradient(180deg, rgb(var(--hud-surface-deep-rgb) / 0.06), rgb(var(--hud-surface-deep-rgb) / 0.18));
   }
 
-  .angle-stage {
-    border: 1px solid rgb(var(--hud-border-rgb) / 0.26);
-    border-radius: 0.62rem;
-    padding: 0.9rem 0.85rem;
-    block-size: 100%;
-    min-block-size: 0;
-    overflow: hidden;
-    background:
-      linear-gradient(180deg, rgb(var(--hud-surface-rgb) / 0.72), rgb(var(--hud-surface-deep-rgb) / 0.84)),
-      radial-gradient(circle at 50% 0, rgb(var(--hud-glow-rgb) / 0.05), transparent 58%);
-    display: grid;
-    grid-template-rows: auto auto auto;
-    align-content: center;
-    justify-items: start;
-    gap: 0.36rem;
-  }
-
-  .angle-label {
-    margin: 0;
-    color: rgb(var(--hud-text-dim-rgb) / 0.82);
-    font-size: 0.68rem;
-    letter-spacing: 0.08em;
-    text-transform: uppercase;
-  }
-
-  .angle-meta {
-    margin: 0;
-    inline-size: 10rem;
-    min-block-size: 1rem;
-    white-space: nowrap;
-    overflow: hidden;
-    text-overflow: ellipsis;
-    color: rgb(var(--hud-text-dim-rgb) / 0.84);
-    font-size: 0.68rem;
-    font-variant-numeric: tabular-nums;
-    letter-spacing: 0.05em;
-  }
-
   @media (max-width: 1180px) {
     .signal-panel {
-      inline-size: min(100%, clamp(28rem, 40vw, 38rem));
+      inline-size: var(--rail-width, min(100%, clamp(28rem, 40vw, 38rem)));
+    }
+
+    .panel-body {
+      block-size: clamp(12rem, 14.5vw, 14rem);
+    }
+
+    .compass-core {
+      inline-size: min(64%, 10.4rem, calc(100% - 3.4rem));
     }
   }
 
   @media (max-height: 900px) {
     .signal-panel {
-      inline-size: min(100%, clamp(28rem, 38vw, 36rem));
+      inline-size: var(--rail-width, min(100%, clamp(28rem, 38vw, 36rem)));
       padding: 0.7rem 0.76rem 0.8rem;
     }
+
+    .panel-body {
+      block-size: clamp(11.2rem, 13.5vw, 13.2rem);
+    }
+
+    .compass-stage {
+      padding-block: 1.2rem;
+    }
+
+    .compass-core {
+      inline-size: min(62%, 10rem, calc(100% - 3.4rem));
+    }
   }
 
   @media (max-height: 760px) {
     .signal-panel {
-      inline-size: min(100%, clamp(24rem, 34vw, 30rem));
+      inline-size: var(--rail-width, min(100%, clamp(24rem, 34vw, 30rem)));
       padding: 0.62rem 0.68rem 0.72rem;
       gap: 0.48rem;
     }
 
     .panel-body {
-      block-size: clamp(9rem, 10vw, 10.8rem);
-      min-block-size: clamp(9rem, 10vw, 10.8rem);
+      block-size: clamp(9.4rem, 11vw, 10.8rem);
+    }
+
+    .compass-stage {
+      padding: 1rem 1.45rem;
+    }
+
+    .compass-core {
+      inline-size: min(58%, 8.2rem, calc(100% - 2.9rem));
+      min-inline-size: 5.6rem;
     }
   }
 
   @media (max-height: 680px) {
     .signal-panel {
-      inline-size: min(100%, clamp(20rem, 28vw, 26rem));
+      inline-size: var(--rail-width, min(100%, clamp(20rem, 28vw, 26rem)));
       padding: 0.52rem 0.58rem 0.6rem;
       gap: 0.36rem;
     }
+
+    .panel-body {
+      block-size: clamp(7.6rem, 9vw, 8.8rem);
+    }
+
+    .compass-stage {
+      padding: 0.82rem 1.25rem;
+    }
+
+    .compass-core {
+      inline-size: min(54%, 6.4rem, calc(100% - 2.5rem));
+      min-inline-size: 4.8rem;
+    }
   }
 
   @media (max-width: 900px) {

src/lib/components/SummaryCurve.svelte

@@ -11,15 +11,26 @@
   export let sessionStartedAt: number = Date.now();
   export let isRealtime = false;
 
+  let canvasEl: HTMLCanvasElement | undefined;
   let currentTimeSeconds = 0;
   let timerId: ReturnType<typeof setInterval> | null = null;
+  let resizeObserver: ResizeObserver | null = null;
 
   onMount(() => {
     timerId = setInterval(() => {
       currentTimeSeconds = Math.round((Date.now() - sessionStartedAt) / 100) / 10;
     }, 200);
+
+    if (canvasEl) {
+      resizeObserver = new ResizeObserver(() => {
+        drawCanvas(canvasEl, plotPoints, yAxisTicks, xAxisTicks, sampleCount);
+      });
+      resizeObserver.observe(canvasEl);
+    }
+
     return () => {
       if (timerId != null) clearInterval(timerId);
+      resizeObserver?.disconnect();
     };
   });
 
@@ -33,7 +44,8 @@
   const plotInsetRight = 4;
   const plotInsetTop = 4;
   const plotInsetBottom = 9;
-  const fixedYBounds = { min: 0, max: 25 };
+  const maxDisplayForce = 25.6;
+  const fixedYBounds = { min: 0, max: maxDisplayForce };
 
   interface CurveSample {
     x: number;
@@ -56,14 +68,6 @@
     return Math.min(max, Math.max(min, value));
   }
 
-  function formatValue(value: number | null): string {
-    if (value === null) {
-      return "--";
-    }
-
-    return value.toFixed(1);
-  }
-
   function formatAxisValue(value: number, axis: "x" | "y"): string {
     if (!Number.isFinite(value)) {
       return "--";
@@ -225,24 +229,117 @@
     }));
   }
 
-  function createLinePath(points: PlotPoint[]): string {
-    if (points.length === 0) {
-      return "";
+  function drawCanvas(
+    canvas: HTMLCanvasElement | undefined,
+    points: PlotPoint[],
+    yTicks: AxisTick[],
+    xTicks: AxisTick[],
+    count: number
+  ): void {
+    if (!canvas) {
+      return;
     }
 
-    return points.map((point, index) => `${index === 0 ? "M" : "L"} ${point.x} ${point.y}`).join(" ");
+    const context = canvas.getContext("2d");
+    if (!context) {
+      return;
     }
 
-  function createAreaPath(points: PlotPoint[]): string {
-    if (points.length < 2) {
-      return "";
+    const cssWidth = Math.max(1, canvas.clientWidth);
+    const cssHeight = Math.max(1, canvas.clientHeight);
+    const dpr = typeof window === "undefined" ? 1 : window.devicePixelRatio || 1;
+    const targetWidth = Math.round(cssWidth * dpr);
+    const targetHeight = Math.round(cssHeight * dpr);
+
+    if (canvas.width !== targetWidth || canvas.height !== targetHeight) {
+      canvas.width = targetWidth;
+      canvas.height = targetHeight;
     }
 
-    const linePath = createLinePath(points);
-    const firstPoint = points[0];
+    context.setTransform(targetWidth / viewportWidth, 0, 0, targetHeight / viewportHeight, 0, 0);
+    context.clearRect(0, 0, viewportWidth, viewportHeight);
+
+    context.save();
+    context.lineWidth = 0.45;
+    context.strokeStyle = "rgb(120 180 150 / 0.16)";
+    for (const tick of yTicks) {
+      context.beginPath();
+      context.moveTo(plotInsetLeft, tick.plotY);
+      context.lineTo(viewportWidth - plotInsetRight, tick.plotY);
+      context.stroke();
+    }
+    context.restore();
+
+    if (points.length >= 2) {
+      const baselineY = viewportHeight - plotInsetBottom;
+      const fill = context.createLinearGradient(0, plotInsetTop, 0, baselineY);
+      fill.addColorStop(0, "rgb(62 232 255 / 0.28)");
+      fill.addColorStop(1, "rgb(62 232 255 / 0.02)");
+
+      context.save();
+      context.beginPath();
+      context.moveTo(points[0].x, points[0].y);
+      for (let index = 1; index < points.length; index += 1) {
+        context.lineTo(points[index].x, points[index].y);
+      }
+      context.lineTo(points[points.length - 1].x, baselineY);
+      context.lineTo(points[0].x, baselineY);
+      context.closePath();
+      context.fillStyle = fill;
+      context.fill();
+      context.restore();
+    }
+
+    if (points.length > 0) {
+      context.save();
+      context.beginPath();
+      context.moveTo(points[0].x, points[0].y);
+      for (let index = 1; index < points.length; index += 1) {
+        context.lineTo(points[index].x, points[index].y);
+      }
+      context.lineWidth = 1.35;
+      context.lineCap = "round";
+      context.lineJoin = "round";
+      context.strokeStyle = "rgb(130 232 255 / 0.96)";
+      context.shadowColor = "rgb(62 232 255 / 0.22)";
+      context.shadowBlur = 4;
+      context.stroke();
+      context.restore();
+
       const lastPoint = points[points.length - 1];
+      context.save();
+      context.beginPath();
+      context.arc(lastPoint.x, lastPoint.y, 1.7, 0, Math.PI * 2);
+      context.fillStyle = "rgb(73 222 128 / 0.98)";
+      context.shadowColor = "rgb(73 222 128 / 0.3)";
+      context.shadowBlur = 6;
+      context.fill();
+      context.restore();
+    }
 
-    return `${linePath} L ${lastPoint.x} ${viewportHeight - plotInsetBottom} L ${firstPoint.x} ${viewportHeight - plotInsetBottom} Z`;
+    context.save();
+    context.font = "600 3.2px sans-serif";
+    context.textBaseline = "middle";
+    context.shadowColor = "rgb(0 0 0 / 0.3)";
+    context.shadowBlur = 4;
+    context.fillStyle = "rgb(145 185 165 / 0.84)";
+    for (const tick of yTicks) {
+      context.textAlign = "right";
+      context.fillText(tick.label, tick.plotX, tick.plotY + 0.5);
+    }
+
+    context.fillStyle = "rgb(180 220 200 / 0.9)";
+    context.textBaseline = "alphabetic";
+    for (let index = 0; index < xTicks.length; index += 1) {
+      const tick = xTicks[index];
+      context.textAlign = index === 0 ? "left" : index === xTicks.length - 1 ? "right" : "center";
+      context.fillText(tick.label, tick.plotX, tick.plotY);
+    }
+    context.restore();
+
+    if (count === 0) {
+      context.clearRect(0, 0, viewportWidth, viewportHeight);
+    }
   }
 
   $: sourceYValues = yValues && yValues.length ? yValues : summary.points;
@@ -261,14 +358,9 @@
   $: xDataBounds = resolveDataBounds(samples.map((sample) => sample.x));
   $: yDataBounds = resolveDataBounds(samples.map((sample) => sample.y));
   $: plotPoints = convertPoints(samples, xScaleBounds, yScaleBounds);
-  $: linePath = createLinePath(plotPoints);
-  $: areaPath = createAreaPath(plotPoints);
-  $: lastPoint = plotPoints.length > 0 ? plotPoints[plotPoints.length - 1] : null;
   $: yAxisTicks = sampleCount > 0 ? buildYAxisTicks(yScaleBounds, yDataBounds) : [];
   $: xAxisTicks = sampleCount > 0 ? buildXAxisTicks(xScaleBounds) : [];
-  $: latestValue = formatValue(summary.latest);
-  $: minValue = formatValue(summary.min);
-  $: maxValue = formatValue(summary.max);
+  $: drawCanvas(canvasEl, plotPoints, yAxisTicks, xAxisTicks, sampleCount);
 </script>
 
 <article
@@ -280,62 +372,12 @@
   <header class="panel-head">
     <div class="head-text">
       <p class="panel-code">RF</p>
-      <p class="panel-title">{summary.label}</p>
-    </div>
-
-    <div class="icon-layer" aria-hidden="true">
-      <span class="icon-chip tone-cyan">NOW</span>
-      <span class="icon-chip tone-lime">MIN</span>
-      <span class="icon-chip tone-orange">MAX</span>
+      <p class="panel-title">{locale === "zh-CN" ? "合力" : "Resultant Force"}</p>
     </div>
   </header>
 
   <div class="chart-stage">
-    <svg viewBox="0 0 {viewportWidth} {viewportHeight}" preserveAspectRatio="none" role="img" aria-label={summary.label}>
-      <defs>
-        <linearGradient id="summary-fill" x1="0%" y1="0%" x2="0%" y2="100%">
-          <stop offset="0%" stop-color="rgb(62 232 255 / 0.28)" />
-          <stop offset="100%" stop-color="rgb(62 232 255 / 0.02)" />
-        </linearGradient>
-      </defs>
-
-      <g class="grid-lines" aria-hidden="true">
-        {#each yAxisTicks as tick (`grid-${tick.value}`)}
-          <line x1={plotInsetLeft} y1={tick.plotY} x2={viewportWidth - plotInsetRight} y2={tick.plotY}></line>
-        {/each}
-      </g>
-
-      {#if areaPath}
-        <path d={areaPath} class="summary-area"></path>
-      {/if}
-
-      {#if linePath}
-        <path d={linePath} class="summary-line"></path>
-      {/if}
-
-      {#if lastPoint}
-        <circle cx={lastPoint.x} cy={lastPoint.y} r="1.7" class="summary-dot"></circle>
-      {/if}
-
-      <g class="axis-labels" aria-hidden="true">
-        {#each yAxisTicks as tick, index (`y-${index}`)}
-          <text class="axis-label y-axis-label" x={tick.plotX} y={tick.plotY + 1.1} text-anchor="end">
-            {tick.label}
-          </text>
-        {/each}
-
-        {#each xAxisTicks as tick, index (`x-${index}`)}
-          <text
-            class="axis-label x-axis-label"
-            x={tick.plotX}
-            y={tick.plotY}
-            text-anchor={index === 0 ? "start" : index === xAxisTicks.length - 1 ? "end" : "middle"}
-          >
-            {tick.label}
-          </text>
-        {/each}
-      </g>
-    </svg>
+    <canvas bind:this={canvasEl} aria-label={summary.label}></canvas>
 
     {#if sampleCount === 0}
       <div class="empty-state">
@@ -343,24 +385,6 @@
       </div>
     {/if}
   </div>
-
-  <footer class="panel-foot">
-    <p class="foot-item">
-      <span class="dot tone-cyan"></span>
-      <span class="metric-text">{i18n.now}</span>
-      <span class="value">{latestValue}</span>
-    </p>
-    <p class="foot-item">
-      <span class="dot tone-lime"></span>
-      <span class="metric-text">{i18n.min}</span>
-      <span class="value">{minValue}</span>
-    </p>
-    <p class="foot-item">
-      <span class="dot tone-orange"></span>
-      <span class="metric-text">{i18n.max}</span>
-      <span class="value">{maxValue}</span>
-    </p>
-  </footer>
 </article>
 
 <style>
@@ -369,10 +393,13 @@
     --enter-ms: 1800ms;
     --fade-ms: 1000ms;
     overflow: hidden;
-    inline-size: min(100%, clamp(34rem, 44vw, 44rem));
+    inline-size: var(--rail-width, min(100%, clamp(34rem, 44vw, 44rem)));
+    max-inline-size: 100%;
+    box-sizing: border-box;
+    flex: 0 0 var(--rail-width, auto);
     justify-self: start;
     display: grid;
-    grid-template-rows: auto 1fr auto;
+    grid-template-rows: auto 1fr;
     gap: 0.68rem;
     padding: 0.88rem 0.96rem 1rem;
     border: 1px solid rgb(var(--hud-border-strong-rgb) / 0.42);
@@ -438,36 +465,6 @@
     letter-spacing: 0.05em;
   }
 
-  .icon-layer {
-    display: flex;
-    flex-wrap: wrap;
-    align-items: center;
-    justify-content: flex-end;
-    gap: 0.26rem;
-  }
-
-  .icon-chip {
-    border: 1px solid rgb(var(--hud-border-strong-rgb) / 0.44);
-    border-radius: 999px;
-    padding: 0.08rem 0.36rem;
-    font-size: 0.58rem;
-    letter-spacing: 0.08em;
-    color: rgb(var(--hud-text-main-rgb) / 0.94);
-    background: rgb(var(--hud-surface-rgb) / 0.66);
-  }
-
-  .icon-chip.tone-cyan {
-    border-color: rgb(var(--hud-cyan-rgb) / 0.54);
-  }
-
-  .icon-chip.tone-lime {
-    border-color: rgb(var(--hud-lime-rgb) / 0.56);
-  }
-
-  .icon-chip.tone-orange {
-    border-color: rgb(var(--hud-orange-rgb) / 0.58);
-  }
-
   .chart-stage {
     position: relative;
     block-size: clamp(12rem, 15.5vw, 15rem);
@@ -480,53 +477,12 @@
       radial-gradient(circle at 50% 0, rgb(var(--hud-glow-rgb) / 0.09), transparent 45%);
   }
 
-  svg {
+  canvas {
     display: block;
     inline-size: 100%;
     block-size: 100%;
   }
 
-  .grid-lines line {
-    stroke: rgb(var(--hud-border-strong-rgb) / 0.16);
-    stroke-width: 0.45;
-  }
-
-  .summary-area {
-    fill: url(#summary-fill);
-  }
-
-  .summary-line {
-    fill: none;
-    stroke: rgb(var(--hud-cyan-rgb) / 0.96);
-    stroke-width: 1.35;
-    stroke-linecap: round;
-    stroke-linejoin: round;
-    filter: drop-shadow(0 0 4px rgb(var(--hud-cyan-rgb) / 0.22));
-  }
-
-  .summary-dot {
-    fill: rgb(var(--hud-lime-rgb) / 0.98);
-    filter: drop-shadow(0 0 6px rgb(var(--hud-lime-rgb) / 0.3));
-  }
-
-  .axis-label {
-    fill: rgb(var(--hud-text-main-rgb) / 0.88);
-    font-size: 3.2px;
-    font-weight: 600;
-    letter-spacing: 0.02em;
-    text-shadow:
-      0 1px 0 rgb(0 0 0 / 0.46),
-      0 0 4px rgb(0 0 0 / 0.3);
-  }
-
-  .y-axis-label {
-    fill: rgb(var(--hud-text-dim-rgb) / 0.84);
-  }
-
-  .x-axis-label {
-    fill: rgb(var(--hud-text-dim-rgb) / 0.9);
-  }
-
   .empty-state {
     position: absolute;
     inset: 0;
@@ -540,58 +496,9 @@
     background: linear-gradient(180deg, rgb(var(--hud-surface-deep-rgb) / 0.06), rgb(var(--hud-surface-deep-rgb) / 0.18));
   }
 
-  .panel-foot {
-    display: flex;
-    flex-wrap: nowrap;
-    gap: 0.8rem;
-    margin: 0;
-    padding: 0;
-    flex-shrink: 0;
-  }
-
-  .foot-item {
-    margin: 0;
-    display: inline-flex;
-    align-items: center;
-    gap: 0.22rem;
-    color: rgb(var(--hud-text-main-rgb) / 0.9);
-    font-size: 0.68rem;
-    letter-spacing: 0.03em;
-    white-space: nowrap;
-    flex-shrink: 0;
-  }
-
-  .metric-text {
-    color: rgb(var(--hud-text-dim-rgb) / 0.82);
-    text-transform: uppercase;
-    flex-shrink: 0;
-  }
-
-  .dot {
-    inline-size: 0.34rem;
-    block-size: 0.34rem;
-    border-radius: 50%;
-  }
-
-  .dot.tone-cyan {
-    background: rgb(var(--hud-cyan-rgb));
-  }
-
-  .dot.tone-lime {
-    background: rgb(var(--hud-lime-rgb));
-  }
-
-  .dot.tone-orange {
-    background: rgb(var(--hud-orange-rgb));
-  }
-
-  .value {
-    min-inline-size: 2.6rem;
-  }
-
   @media (max-width: 1180px) {
     .signal-panel {
-      inline-size: min(100%, clamp(28rem, 40vw, 38rem));
+      inline-size: var(--rail-width, min(100%, clamp(28rem, 40vw, 38rem)));
     }
 
     .chart-stage {
@@ -601,7 +508,7 @@
 
   @media (max-height: 900px) {
     .signal-panel {
-      inline-size: min(100%, clamp(28rem, 38vw, 36rem));
+      inline-size: var(--rail-width, min(100%, clamp(28rem, 38vw, 36rem)));
       padding: 0.7rem 0.76rem 0.8rem;
     }
 
@@ -612,7 +519,7 @@
 
   @media (max-height: 760px) {
     .signal-panel {
-      inline-size: min(100%, clamp(24rem, 34vw, 30rem));
+      inline-size: var(--rail-width, min(100%, clamp(24rem, 34vw, 30rem)));
       padding: 0.62rem 0.68rem 0.72rem;
       gap: 0.48rem;
     }
@@ -624,7 +531,7 @@
 
   @media (max-height: 680px) {
     .signal-panel {
-      inline-size: min(100%, clamp(20rem, 28vw, 26rem));
+      inline-size: var(--rail-width, min(100%, clamp(20rem, 28vw, 26rem)));
       padding: 0.52rem 0.58rem 0.6rem;
       gap: 0.36rem;
     }

src/lib/types/hud.ts

@@ -14,8 +14,6 @@ export type MatrixDisplayMode = "numeric" | "dots";
 
 export type SignalPanelSide = "left" | "right";
 
-export type HudConfigTone = "neutral" | "cyan" | "lime" | "orange";
-
 export interface HudSignalSeries {
   id: string;
   tone: SignalTone;
@@ -64,13 +62,6 @@ export interface HudSummary {
   max: number | null;
 }
 
-export interface HudConfigLink {
-  id: string;
-  label: string;
-  tone?: HudConfigTone;
-  active?: boolean;
-}
-
 export interface HudColorMapOption {
   id: PressureColorMapPreset;
   label: string;
@@ -107,7 +98,6 @@ export interface HudCopy {
   deviceLabel: string;
   sampleRateLabel: string;
   channelsLabel: string;
-  configLinksLabel: string;
   refreshPortsLabel: string;
   connectActionLabel: string;
   disconnectActionLabel: string;
@@ -169,6 +159,7 @@ export interface SerialRecordStateResult {
 export interface SerialImportFrameResult {
   data: number[];
   dtsMs: number;
+  spatialForce: HudSpatialForce | null;
 }
 
 export interface SerialImportResult {

src/routes/+page.svelte

@@ -19,7 +19,6 @@
     FileExplorerRoot,
     HudColorMapOption,
     HudCopy,
-    HudConfigLink,
     HudNoticeTone,
     HudPacket,
     HudSpatialForce,
@@ -28,7 +27,6 @@
     HudSignalSeries,
     HudSummary,
     LocaleCode,
-    MatrixDisplayMode,
     SerialConnectResult,
     SerialExportResult,
     SerialRecordStateResult,
@@ -44,6 +42,7 @@
   interface ReplayFrame {
     values: number[];
     dtsMs: number;
+    spatialForce?: HudSpatialForce | null;
   }
 
   interface DevKitPztAngleEvent {
@@ -51,6 +50,20 @@
     timestampMs: number;
     dtsMs: number;
     angle: number;
+    magnitude: number;
+    state: number;
+    copX: number;
+    copY: number;
+    baseX: number;
+    baseY: number;
+    totalPress: number;
+    threshold: number;
+  }
+
+  interface DevKitReplayFramePushResult {
+    seq: number;
+    timestampMs: number;
+    dtsMs: number;
   }
 
   const copyByLocale: Record<LocaleCode, HudCopy> = {
@@ -69,7 +82,7 @@
       rangeMaxLabel: "最大值",
       colorMapLabel: "映射颜色",
       matrixViewLabel: "矩阵模式",
-      matrixViewNumericLabel: "数字矩阵",
+      matrixViewNumericLabel: "数字模式",
       matrixViewDotsLabel: "点矩阵",
       stageModeLabel: "渲染模式",
       stageModeWebglLabel: "WebGL",
@@ -84,7 +97,6 @@
       deviceLabel: "设备",
       sampleRateLabel: "采样率",
       channelsLabel: "通道",
-      configLinksLabel: "配置链接",
       refreshPortsLabel: "刷新",
       connectActionLabel: "连接",
       disconnectActionLabel: "断开",
@@ -146,7 +158,6 @@
       deviceLabel: "Device",
       sampleRateLabel: "Sample Rate",
       channelsLabel: "Channels",
-      configLinksLabel: "Config Links",
       refreshPortsLabel: "Refresh",
       connectActionLabel: "Connect",
       disconnectActionLabel: "Disconnect",
@@ -183,6 +194,9 @@
   const pointsPerSeries = 28;
   const summaryPointsPerSeries = 42;
   const signalRenderTickMs = 1200;
+  const summaryReleaseForceEpsilon = 0.1;
+  const releaseClearDelayMs = 5000;
+  const spatialForceMagnitudeEpsilon = 0.0001;
   const replayDefaultFrameMs = 40;
   const showSignalPanels = false;
   const mockToneCycle: SignalTone[] = ["cyan", "lime", "orange", "violet", "gold", "rose"];
@@ -229,9 +243,6 @@
   let sampleRateValue = "100Hz";
   let channelsValue = "84";
   let isWindowMaximized = false;
-  let activeConfigLinkId = "stream-on";
-  let isConfigPanelOpen = false;
-  let isPrecisionTestOpen = false;
   let hasSignalData = false;
   let signalPanels: HudSignalPanel[] = buildInactivePanels();
   let summary: HudSummary = buildEmptySummary();
@@ -243,7 +254,6 @@
   let rangeMin = DEFAULT_PRESSURE_RANGE_MIN;
   let rangeMax = DEFAULT_PRESSURE_RANGE_MAX;
   let colorMapPreset: PressureColorMapPreset = "emerald";
-  let matrixDisplayMode: MatrixDisplayMode = "dots";
   let stageViewMode: StageViewMode = "webgl";
   let replayFrames: ReplayFrame[] = [];
   let replayCurrentIndex = 0;
@@ -253,6 +263,8 @@
   let replayProgress = 0;
   let replayFileName = "";
   let replayTimerId: number | null = null;
+  let replayPendingDevkitSeq: number | null = null;
+  let replayDevkitSeqCounter = 0;
   let fileExplorerOpen = false;
   let fileExplorerMode: FileExplorerMode = "open";
   let fileExplorerBusy = false;
@@ -279,17 +291,14 @@
   } | null = null;
   let devkitStatusTimer: number | null = null;
   let devkitSpatialForceClearTimer: number | null = null;
+  let summaryClearTimer: number | null = null;
+  let spatialForceClearTimer: number | null = null;
+  let summaryReleaseHidden = true;
+  let spatialForceReleaseHidden = false;
+  let spatialForcePanelVisible = false;
   let sessionStartedAt: number = Date.now();
 
   $: uiCopy = copyByLocale[locale];
-  $: configLinks = buildConfigLinks(
-    locale,
-    activeConfigLinkId,
-    isConfigPanelOpen,
-    isPrecisionTestOpen,
-    devkitEnabled,
-    isDevKitConfigOpen
-  );
   $: leftSignalPanels = signalPanels.filter((panel) => panel.side === "left");
   $: rightSignalPanels = signalPanels.filter((panel) => panel.side === "right");
   $: rangeTicks = buildRangeTicks(rangeMin, rangeMax);
@@ -297,6 +306,7 @@
   $: rangeScaleStyle = buildRangeScaleStyle(colorMapPreset);
   $: replayHasData = replayFrames.length > 0;
   $: replayFrameInfo = replayHasData ? `${replayHasDisplayedFrame ? replayCurrentIndex + 1 : 0}/${replayFrames.length}` : "";
+  $: summaryReleasePending = summaryClearTimer != null;
   $: fileExplorerTitle =
     fileExplorerMode === "open" ? uiCopy.fileExplorerImportTitle : uiCopy.fileExplorerExportTitle;
   $: fileExplorerConfirmLabel =
@@ -312,7 +322,11 @@
       window.clearTimeout(devkitSpatialForceClearTimer);
       devkitSpatialForceClearTimer = null;
     }
-    hasSignalData = signalPanels.length > 0 || summary.points.length > 0 || spatialForce !== null;
+    hasSignalData =
+      signalPanels.length > 0 ||
+      summary.points.length > 0 ||
+      spatialForce !== null ||
+      spatialForcePanelVisible;
   }
 
   function scheduleDevkitSpatialForceClear(): void {
@@ -331,6 +345,54 @@
     }, 420);
   }
 
+  function cancelSummaryClear(): void {
+    if (summaryClearTimer != null && typeof window !== "undefined") {
+      window.clearTimeout(summaryClearTimer);
+    }
+    summaryClearTimer = null;
+  }
+
+  function scheduleSummaryClear(): void {
+    if (typeof window === "undefined" || summary.points.length === 0) {
+      return;
+    }
+
+    if (summaryClearTimer != null) {
+      return;
+    }
+
+    summaryClearTimer = window.setTimeout(() => {
+      summary = buildEmptySummary();
+      summaryClearTimer = null;
+      summaryReleaseHidden = true;
+      hasSignalData = signalPanels.length > 0 || spatialForce !== null || spatialForcePanelVisible;
+    }, releaseClearDelayMs);
+  }
+
+  function cancelSpatialForceClear(): void {
+    if (spatialForceClearTimer != null && typeof window !== "undefined") {
+      window.clearTimeout(spatialForceClearTimer);
+    }
+    spatialForceClearTimer = null;
+  }
+
+  function scheduleSpatialForceClear(): void {
+    if (typeof window === "undefined" || !spatialForcePanelVisible) {
+      return;
+    }
+
+    if (spatialForceClearTimer != null) {
+      return;
+    }
+
+    spatialForceClearTimer = window.setTimeout(() => {
+      spatialForceClearTimer = null;
+      spatialForceReleaseHidden = true;
+      spatialForcePanelVisible = false;
+      hasSignalData = signalPanels.length > 0 || summary.points.length > 0 || spatialForce !== null;
+    }, releaseClearDelayMs);
+  }
+
   function clamp(value: number, min: number, max: number): number {
     return Math.min(max, Math.max(min, value));
   }
@@ -683,7 +745,8 @@
         });
         frames = result.frames.map((frame) => ({
           values: frame.data,
-          dtsMs: frame.dtsMs
+          dtsMs: frame.dtsMs,
+          spatialForce: frame.spatialForce
         }));
         importedFrameCount = result.frameCount;
         importedChannelCount = result.channelCount;
@@ -713,7 +776,8 @@
 
       const frames = result.frames.map((frame) => ({
         values: frame.data,
-        dtsMs: frame.dtsMs
+        dtsMs: frame.dtsMs,
+        spatialForce: frame.spatialForce
       }));
 
       applyImportedFrames(result.fileName, frames, result.frameCount, result.channelCount);
@@ -734,6 +798,43 @@
     replayTimerId = null;
   }
 
+  function buildReplayDevkitSeq(frameIndex: number): number {
+    replayDevkitSeqCounter = (replayDevkitSeqCounter + 1) % 1000;
+    return Date.now() * 1000 + replayDevkitSeqCounter + frameIndex;
+  }
+
+  function canPushReplayFrameToDevkit(frame: ReplayFrame): boolean {
+    return (
+      isTauriRuntime() &&
+      devkitEnabled &&
+      devkitRunning &&
+      frame.values.length === 84
+    );
+  }
+
+  function pushReplayFrameToDevkit(frame: ReplayFrame, frameIndex: number): void {
+    if (!canPushReplayFrameToDevkit(frame)) {
+      replayPendingDevkitSeq = null;
+      clearDevkitSpatialForce();
+      return;
+    }
+
+    const seq = buildReplayDevkitSeq(frameIndex);
+    replayPendingDevkitSeq = seq;
+    clearDevkitSpatialForce();
+
+    void invoke<DevKitReplayFramePushResult>("devkit_push_replay_frame", {
+      values: frame.values.map((value) => Math.max(0, Math.round(Number(value) || 0))),
+      dtsMs: clamp(Math.round(frame.dtsMs), 0, 4_294_967_295),
+      seq
+    }).catch((error) => {
+      if (replayPendingDevkitSeq === seq) {
+        replayPendingDevkitSeq = null;
+      }
+      console.error("Failed to push replay frame to DevKit:", error);
+    });
+  }
+
   function frameValuesToMatrix(values: number[]): number[] {
     const totalCells = Math.max(matrixRows * matrixCols, 1);
     const matrix = new Array<number>(totalCells).fill(0);
@@ -752,8 +853,13 @@
   }
 
   function resetReplayVisualState(): void {
+    cancelSummaryClear();
+    cancelSpatialForceClear();
+    spatialForceReleaseHidden = false;
+    spatialForcePanelVisible = false;
     pressureMatrix = buildZeroMatrix();
     spatialForce = null;
+    replayPendingDevkitSeq = null;
     clearDevkitSpatialForce();
     signalPanels = buildInactivePanels();
     summary = buildEmptySummary();
@@ -789,9 +895,14 @@
     replayCurrentIndex = safeIndex;
     replayHasDisplayedFrame = true;
     replayProgress = replayFrames.length > 1 ? safeIndex / (replayFrames.length - 1) : 1;
-    pressureMatrix = frameValuesToMatrix(replayFrames[safeIndex].values);
-    spatialForce = null;
-    clearDevkitSpatialForce();
+    const frame = replayFrames[safeIndex];
+    cancelSummaryClear();
+    cancelSpatialForceClear();
+    spatialForceReleaseHidden = false;
+    pressureMatrix = frameValuesToMatrix(frame.values);
+    spatialForce = frame.spatialForce ?? null;
+    spatialForcePanelVisible = spatialForce !== null;
+    pushReplayFrameToDevkit(frame, safeIndex);
     signalPanels = buildInactivePanels();
     summary = buildReplaySummaryAt(safeIndex);
     hasSignalData = true;
@@ -960,13 +1071,99 @@
   }
 
   function isZeroLikeValue(value: number): boolean {
-    return !Number.isFinite(value) || Math.abs(value) < 0.0001;
+    return !Number.isFinite(value) || Math.abs(value) <= summaryReleaseForceEpsilon;
   }
 
   function shouldHideSummary(points: number[]): boolean {
     return points.length === 0 || points.every((value) => isZeroLikeValue(value));
   }
 
+  function latestSummaryValue(summaryValue: HudSummary): number | null {
+    if (Number.isFinite(summaryValue.latest)) {
+      return summaryValue.latest;
+    }
+
+    const latestPoint = summaryValue.points[summaryValue.points.length - 1];
+    return Number.isFinite(latestPoint) ? latestPoint : null;
+  }
+
+  function hasActiveSummary(summaryValue: HudSummary): boolean {
+    const latest = latestSummaryValue(summaryValue);
+    return latest !== null && !isZeroLikeValue(latest);
+  }
+
+  function hasActiveSpatialForce(spatialForceValue: HudSpatialForce | null): boolean {
+    return (
+      spatialForceValue !== null &&
+      Number.isFinite(spatialForceValue.angleDeg) &&
+      Number.isFinite(spatialForceValue.magnitude) &&
+      Math.abs(spatialForceValue.magnitude) > spatialForceMagnitudeEpsilon
+    );
+  }
+
+  function buildPacketSummary(summaryValue: HudSummary): HudSummary {
+    const nowSeconds = Math.round((Date.now() - sessionStartedAt) / 100) / 10;
+    const pointCount = summaryValue.points.length;
+    const spacing =
+      pointCount > 1 ? Math.min(1.2, nowSeconds / Math.max(pointCount - 1, 1)) : 0;
+    const startX = Math.max(0, nowSeconds - spacing * Math.max(pointCount - 1, 0));
+    const xValues = summaryValue.points.map((_, index) => Math.round((startX + index * spacing) * 10) / 10);
+    return { ...summaryValue, xValues };
+  }
+
+  function estimateSummarySpacing(xValues: number[]): number {
+    const diffs = xValues
+      .slice(1)
+      .map((value, index) => value - xValues[index])
+      .filter((value) => Number.isFinite(value) && value > 0);
+
+    if (diffs.length === 0) {
+      return 1.2;
+    }
+
+    const average = diffs.reduce((sum, value) => sum + value, 0) / diffs.length;
+    return Math.max(0.1, Math.min(1.2, Math.round(average * 10) / 10));
+  }
+
+  function buildContinuousSummary(summaryValue: HudSummary): HudSummary {
+    if (
+      summary.points.length === 0 ||
+      !summary.xValues ||
+      summary.xValues.length !== summary.points.length
+    ) {
+      return buildPacketSummary(summaryValue);
+    }
+
+    const pointCount = summaryValue.points.length;
+    const previousXValues = summary.xValues;
+    const previousCount = previousXValues.length;
+
+    if (pointCount === 0) {
+      return buildEmptySummary();
+    }
+
+    if (pointCount < previousCount) {
+      return buildPacketSummary(summaryValue);
+    }
+
+    const spacing = estimateSummarySpacing(previousXValues);
+    let xValues: number[];
+
+    if (pointCount > previousCount) {
+      xValues = previousXValues.slice();
+      while (xValues.length < pointCount) {
+        const previousX = xValues[xValues.length - 1] ?? 0;
+        xValues.push(Math.round((previousX + spacing) * 10) / 10);
+      }
+    } else {
+      xValues = previousXValues.slice(1);
+      const previousX = previousXValues[previousXValues.length - 1] ?? 0;
+      xValues.push(Math.round((previousX + spacing) * 10) / 10);
+    }
+
+    return { ...summaryValue, xValues };
+  }
+
   function normalizeSummary(summaryValue: HudSummary): HudSummary {
     return shouldHideSummary(summaryValue.points) ? buildEmptySummary() : summaryValue;
   }
@@ -1034,27 +1231,48 @@
       return;
     }
     signalPanels = showSignalPanels ? packet.panels : buildInactivePanels();
+    const packetHasActiveSummary = hasActiveSummary(packet.summary);
     if (packet.summary.points.length > 0) {
-      const nowSeconds = Math.round((Date.now() - sessionStartedAt) / 100) / 10;
-      const pointCount = packet.summary.points.length;
-      const spacing =
-        pointCount > 1 ? Math.min(1.2, nowSeconds / Math.max(pointCount - 1, 1)) : 0;
-      const startX = Math.max(0, nowSeconds - spacing * Math.max(pointCount - 1, 0));
-      const xValues = packet.summary.points.map((_, index) => Math.round((startX + index * spacing) * 10) / 10);
-      summary = { ...packet.summary, xValues };
+      if (packetHasActiveSummary) {
+        summaryReleaseHidden = false;
+        summary = buildContinuousSummary(packet.summary);
+        cancelSummaryClear();
+      } else if (summaryReleaseHidden) {
+        summary = buildEmptySummary();
       } else {
-      summary = packet.summary;
+        summary = buildContinuousSummary(packet.summary);
+        scheduleSummaryClear();
+      }
+    } else if (!summaryReleaseHidden) {
+      scheduleSummaryClear();
     }
     pressureMatrix = packet.pressureMatrix;
-    spatialForce = packet.spatialForce ?? null;
+    const nextSpatialForce = packet.spatialForce ?? null;
+    if (packetHasActiveSummary && hasActiveSpatialForce(nextSpatialForce)) {
+      spatialForceReleaseHidden = false;
+      spatialForcePanelVisible = true;
+      spatialForce = nextSpatialForce;
+      cancelSpatialForceClear();
+    } else {
+      spatialForce = null;
+      if (spatialForceReleaseHidden || !spatialForcePanelVisible) {
+        spatialForcePanelVisible = false;
+      }
+      scheduleSpatialForceClear();
+    }
     hasSignalData =
       signalPanels.length > 0 ||
-      packet.summary.points.length > 0 ||
+      summary.points.length > 0 ||
       spatialForce !== null ||
-      devkitSpatialForce !== null;
+      spatialForcePanelVisible;
   }
 
   function clearHudPanels(): void {
+    cancelSummaryClear();
+    cancelSpatialForceClear();
+    summaryReleaseHidden = true;
+    spatialForceReleaseHidden = false;
+    spatialForcePanelVisible = false;
     hasSignalData = false;
     signalPanels = buildInactivePanels();
     summary = buildEmptySummary();
@@ -1085,69 +1303,6 @@
     });
   }
 
-  function buildConfigLinks(
-    currentLocale: LocaleCode,
-    activeId: string,
-    isSettingsOpen: boolean,
-    isPrecisionOpen: boolean,
-    isDevKitEnabled: boolean,
-    isDevKitOpen: boolean
-  ): HudConfigLink[] {
-    const labels =
-      currentLocale === "zh-CN"
-        ? {
-            streamOn: "打开",
-            streamOff: "关闭",
-            precisionTest: "游戏",
-            settings: "参数"
-          }
-        : {
-            streamOn: "Open",
-            streamOff: "Close",
-            precisionTest: "Game",
-            settings: "Setup"
-          };
-    const devkitLabel = currentLocale === "zh-CN" ? "开发工具" : "DevKit";
-
-    const links: HudConfigLink[] = [
-      {
-        id: "stream-on",
-        label: labels.streamOn,
-        tone: "lime",
-        active: activeId === "stream-on"
-      },
-      {
-        id: "stream-off",
-        label: labels.streamOff,
-        tone: "orange",
-        active: activeId === "stream-off"
-      },
-      {
-        id: "precision-test",
-        label: labels.precisionTest,
-        tone: "lime",
-        active: isPrecisionOpen
-      },
-      {
-        id: "settings",
-        label: labels.settings,
-        tone: "neutral",
-        active: isSettingsOpen
-      }
-    ];
-
-    if (isDevKitEnabled) {
-      links.push({
-        id: "devkit",
-        label: devkitLabel,
-        tone: "cyan",
-        active: isDevKitOpen
-      });
-    }
-
-    return links;
-  }
-
   async function ensureDefaultWindowSize(): Promise<void> {
     if (!isTauriRuntime()) {
       return;
@@ -1697,37 +1852,6 @@
     resetReplayVisualState();
   }
 
-  function handleConfigLink(event: CustomEvent<string>): void {
-    if (event.detail === "precision-test") {
-      stageViewMode = "webgl";
-      isPrecisionTestOpen = !isPrecisionTestOpen;
-      isConfigPanelOpen = false;
-      isDevKitConfigOpen = false;
-      return;
-    }
-
-    if (event.detail === "settings") {
-      stageViewMode = "webgl";
-      isPrecisionTestOpen = false;
-      isConfigPanelOpen = !isConfigPanelOpen;
-      isDevKitConfigOpen = false;
-      return;
-    }
-
-    if (event.detail === "devkit") {
-      isPrecisionTestOpen = false;
-      isConfigPanelOpen = false;
-      isDevKitConfigOpen = !isDevKitConfigOpen;
-      return;
-    }
-
-    isPrecisionTestOpen = false;
-    isConfigPanelOpen = false;
-    isDevKitConfigOpen = false;
-    activeConfigLinkId = event.detail;
-    console.info("[hud] config link clicked:", event.detail);
-  }
-
   async function handleWindowControl(event: CustomEvent<WindowControlAction>): Promise<void> {
     if (!isTauriRuntime()) {
       return;
@@ -1796,16 +1920,8 @@
     }
   }
 
-  function handleMatrixDisplayToggle(event: CustomEvent<boolean>): void {
-    matrixDisplayMode = event.detail ? "dots" : "numeric";
-  }
-
   function handleStageModeChange(event: CustomEvent<StageViewMode>): void {
     stageViewMode = event.detail;
-    if (stageViewMode === "model3d") {
-      isPrecisionTestOpen = false;
-      isConfigPanelOpen = false;
-    }
   }
 
   onMount(() => {
@@ -1836,23 +1952,27 @@
           console.error("Failed to listen for hud_stream:", error);
         });
       void listen<DevKitPztAngleEvent>("devkit_pzt_angle", (event) => {
+        if (replayHasData) {
+          if (replayPendingDevkitSeq == null || event.payload.seq !== replayPendingDevkitSeq) {
+            return;
+          }
+          replayPendingDevkitSeq = null;
+        }
+
         const angleDeg = Number(event.payload.angle);
-        if (!Number.isFinite(angleDeg)) {
+        const magnitude = Number(event.payload.magnitude);
+        const isReportable = event.payload.state > 0 && Number.isFinite(magnitude) && magnitude > 0;
+        if (!Number.isFinite(angleDeg) || !isReportable) {
           clearDevkitSpatialForce();
           return;
         }
 
         devkitSpatialForce = {
           angleDeg,
-          magnitude: 0,
+          magnitude,
           confidence: 0
         };
         scheduleDevkitSpatialForceClear();
-        hasSignalData =
-          signalPanels.length > 0 ||
-          summary.points.length > 0 ||
-          spatialForce !== null ||
-          devkitSpatialForce !== null;
       })
         .then((unlisten) => {
           if (disposed) {
@@ -1872,6 +1992,8 @@
     return () => {
       disposed = true;
       pauseReplayPlayback();
+      cancelSummaryClear();
+      cancelSpatialForceClear();
       clearDevkitSpatialForce();
       stopMockFeed?.();
       unlistenHudStream?.();
@@ -1911,15 +2033,9 @@
       sampleRateValue={sampleRateValue}
       channelsLabel={uiCopy.channelsLabel}
       channelsValue={channelsValue}
-      configLinksLabel={uiCopy.configLinksLabel}
       refreshPortsLabel={uiCopy.refreshPortsLabel}
       matrixViewLabel={uiCopy.matrixViewLabel}
-      matrixViewNumericLabel={uiCopy.matrixViewNumericLabel}
       matrixViewDotsLabel={uiCopy.matrixViewDotsLabel}
-      {matrixDisplayMode}
-      stageModeLabel={uiCopy.stageModeLabel}
-      stageModeWebglLabel={uiCopy.stageModeWebglLabel}
-      stageModeModelLabel={uiCopy.stageModeModelLabel}
       {stageViewMode}
       connectActionLabel={uiCopy.connectActionLabel}
       disconnectActionLabel={uiCopy.disconnectActionLabel}
@@ -1932,7 +2048,6 @@
       noticeCancelLabel={locale === "zh-CN" ? "取消" : "Cancel"}
       noticeShowActions={updateNoticeVisible}
       noticeActionBusy={updateInstallBusy}
-      {configLinks}
       {isRefreshingPorts}
       {isExporting}
       isConnectDisabled={!serialPortValue || connectionState === "connecting"}
@@ -1941,8 +2056,6 @@
       on:windowcontrol={handleWindowControl}
       on:localechange={handleLocaleChange}
       on:portchange={handlePortChange}
-      on:configlink={handleConfigLink}
-      on:matrixdisplaytoggle={handleMatrixDisplayToggle}
       on:stagemodechange={handleStageModeChange}
       on:serialrefresh={handleSerialRefresh}
       on:serialconnect={handleSerialConnect}
@@ -1963,7 +2076,6 @@
       bind:rangeMin
       bind:rangeMax
       bind:colorMapPreset
-      bind:matrixDisplayMode
       {stageViewMode}
       configPanelTitle={uiCopy.configPanelTitle}
       configPanelHint={uiCopy.configPanelHint}
@@ -1986,24 +2098,23 @@
       {replayFileName}
       {replayFrameInfo}
       {sessionStartedAt}
+      {summaryReleasePending}
+      {spatialForcePanelVisible}
       resetConfigLabel={uiCopy.resetConfigLabel}
       applyLiveHint={uiCopy.applyLiveHint}
       leftPanels={leftSignalPanels}
       rightPanels={rightSignalPanels}
       {pressureMatrix}
       {spatialForce}
-      {devkitSpatialForce}
-      showConfigPanel={isConfigPanelOpen}
-      showPrecisionTestPanel={isPrecisionTestOpen}
+      showConfigPanel={false}
       {summary}
       on:replaytoggle={handleReplayToggle}
       on:replaystop={handleReplayStop}
       on:replayseek={handleReplaySeek}
       on:replayspeed={handleReplaySpeed}
       on:replayclose={handleReplayClose}
-      on:configclose={() => (isConfigPanelOpen = false)}
     >
-      {#if !isPrecisionTestOpen && stageViewMode === "webgl"}
+      {#if stageViewMode === "webgl"}
         <section class="range-scale" aria-label="Signal Range">
           <p class="range-label">{locale === "zh-CN" ? "范围" : "Range"}</p>
           <div class="range-track">