refactor: adjust resultant force zero threshold from 0.4 to 0.1

.gitignore

@@ -25,12 +25,6 @@ vite.config.ts.timestamp-*
 /src-tauri/target/
 /src-tauri/target-codex-check*/
 /src-tauri/gen/schemas/
-/src-tauri/gen/android/app/build/
-/src-tauri/gen/android/buildSrc/build/
-/src-tauri/gen/android/.gradle/
-/src-tauri/gen/android/app/.gradle/
-/src-tauri/gen/android/buildSrc/.gradle/
-/src-tauri/gen/android/build/reports/
 
 /src-tauri/program.log*
 /src-tauri/recording_replay_debug_*.csv

.gitmodules

@@ -1,3 +0,0 @@
-[submodule "eskin-finger-sdk"]
-	path = eskin-finger-sdk
-	url = https://gitea.e-skin.top/yanjie/eskin-finger-sdk.git

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

@@ -1,359 +0,0 @@
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-  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\distributions\\LICENSE.md',
-   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\distributions\\LICENSE.md',
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-  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\npysort\\x86-simd-sort\\LICENSE.md',
-   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\npysort\\x86-simd-sort\\LICENSE.md',
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-  ('base_library.zip',
-   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\base_library.zip',
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devkit/build/je-skin-devkit-server/warn-je-skin-devkit-server.txt

@@ -1,245 +0,0 @@
-
-This file lists modules PyInstaller was not able to find. This does not
-necessarily mean these modules are required for running your program. Both
-Python's standard library and 3rd-party Python packages often conditionally
-import optional modules, some of which may be available only on certain
-platforms.
-
-Types of import:
-* top-level: imported at the top-level - look at these first
-* conditional: imported within an if-statement
-* delayed: imported within a function
-* optional: imported within a try-except-statement
-
-IMPORTANT: Do NOT post this list to the issue-tracker. Use it as a basis for
-            tracking down the missing module yourself. Thanks!
-
-missing module named pwd - imported by posixpath (delayed, conditional, optional), shutil (delayed, optional), tarfile (optional), pathlib (optional), netrc (delayed, optional), subprocess (delayed, conditional, optional), http.server (delayed, optional)
-missing module named grp - imported by shutil (delayed, optional), tarfile (optional), pathlib (optional), subprocess (delayed, conditional, optional)
-missing module named 'collections.abc' - imported by _colorize (top-level), typing (top-level), traceback (top-level), logging (top-level), selectors (top-level), http.client (top-level), importlib.resources.readers (top-level), inspect (top-level), tracemalloc (top-level), multiprocessing.managers (top-level), typing_extensions (top-level), asyncio.base_events (top-level), asyncio.coroutines (top-level), grpc.aio._metadata (top-level), google.protobuf.internal.containers (top-level), google.protobuf.internal.well_known_types (top-level), numpy._typing._array_like (top-level), numpy._typing._nested_sequence (conditional), numpy._typing._shape (top-level), numpy._typing._dtype_like (top-level), numpy.lib._function_base_impl (top-level), _pyrepl.types (top-level), numpy.lib._npyio_impl (top-level), numpy.random._common (top-level), numpy.random._generator (top-level), numpy.random.bit_generator (top-level), numpy.random.mtrand (top-level), numpy.polynomial._polybase (top-level), xml.etree.ElementTree (top-level)
-missing module named _posixsubprocess - imported by subprocess (conditional), multiprocessing.util (delayed)
-missing module named fcntl - imported by pathlib._os (optional), subprocess (optional)
-missing module named _posixshmem - imported by multiprocessing.resource_tracker (conditional), multiprocessing.shared_memory (conditional)
-missing module named _scproxy - imported by urllib.request (conditional)
-missing module named posix - imported by posixpath (optional), shutil (conditional), importlib._bootstrap_external (conditional), pathlib._os (optional), os (conditional, optional), _pyrepl.trace (conditional)
-missing module named resource - imported by posix (top-level)
-missing module named _frozen_importlib_external - imported by importlib._bootstrap (delayed), importlib (optional), importlib.abc (optional), zipimport (top-level)
-excluded module named _frozen_importlib - imported by importlib (optional), importlib.abc (optional), zipimport (top-level)
-missing module named multiprocessing.BufferTooShort - imported by multiprocessing (top-level), multiprocessing.connection (top-level)
-missing module named multiprocessing.AuthenticationError - imported by multiprocessing (top-level), multiprocessing.forkserver (top-level), multiprocessing.connection (top-level)
-missing module named multiprocessing.get_context - imported by multiprocessing (top-level), multiprocessing.pool (top-level), multiprocessing.managers (top-level), multiprocessing.sharedctypes (top-level)
-missing module named multiprocessing.TimeoutError - imported by multiprocessing (top-level), multiprocessing.pool (top-level)
-missing module named multiprocessing.set_start_method - imported by multiprocessing (top-level), multiprocessing.spawn (top-level)
-missing module named multiprocessing.get_start_method - imported by multiprocessing (top-level), multiprocessing.spawn (top-level)
-missing module named pyimod02_importers - imported by C:\Python314\Lib\site-packages\PyInstaller\hooks\rthooks\pyi_rth_pkgutil.py (delayed)
-missing module named _dummy_thread - imported by numpy._core.arrayprint (optional)
-missing module named 'numpy_distutils.cpuinfo' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
-missing module named 'numpy_distutils.fcompiler' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
-missing module named 'numpy_distutils.command' - imported by numpy.f2py.diagnose (delayed, conditional, optional)
-missing module named numpy_distutils - imported by numpy.f2py.diagnose (delayed, optional)
-missing module named charset_normalizer - imported by numpy.f2py.crackfortran (optional)
-missing module named vms_lib - imported by platform (delayed, optional)
-missing module named 'java.lang' - imported by platform (delayed, optional)
-missing module named java - imported by platform (delayed)
-missing module named psutil - imported by numpy.testing._private.utils (delayed, optional)
-missing module named termios - imported by tty (top-level), _pyrepl.pager (delayed, optional)
-missing module named readline - imported by cmd (delayed, conditional, optional), code (delayed, conditional, optional), pdb (delayed, conditional, optional), rlcompleter (optional)
-missing module named win32pdh - imported by numpy.testing._private.utils (delayed, conditional)
-missing module named _typeshed - imported by numpy.random.bit_generator (top-level)
-missing module named numpy.random.RandomState - imported by numpy.random (top-level), numpy.random._generator (top-level)
-missing module named pyodide_js - imported by threadpoolctl (delayed, optional)
-missing module named numpy._core.zeros - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.vstack - imported by numpy._core (top-level), numpy.lib._shape_base_impl (top-level), numpy (conditional)
-missing module named numpy._core.void - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.vecmat - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.vecdot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.ushort - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.unsignedinteger - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.ulonglong - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.ulong - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.uintp - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.uintc - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.uint64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
-missing module named numpy._core.uint32 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
-missing module named numpy._core.uint16 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
-missing module named numpy._core.uint - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.ubyte - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.trunc - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.true_divide - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.transpose - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._function_base_impl (top-level), numpy (conditional)
-missing module named numpy._core.trace - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.timedelta64 - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.tensordot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.tanh - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.tan - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.swapaxes - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.sum - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.subtract - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.str_ - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.square - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.sqrt - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
-missing module named numpy._core.spacing - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.sort - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.sinh - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.single - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.signedinteger - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.signbit - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
-missing module named numpy._core.sign - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.short - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.rint - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.right_shift - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.result_type - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional), numpy.fft._pocketfft (top-level)
-missing module named numpy._core.remainder - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.reciprocal - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
-missing module named numpy._core.radians - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.rad2deg - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.prod - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.power - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.positive - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.pi - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.outer - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.ones - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
-missing module named numpy._core.object_ - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
-missing module named numpy._core.number - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
-missing module named numpy._core.not_equal - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.nextafter - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.newaxis - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.negative - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.ndarray - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy.lib._utils_impl (top-level), numpy (conditional)
-missing module named numpy._core.multiply - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.moveaxis - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.modf - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.mod - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.minimum - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.maximum - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.max - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
-missing module named numpy._core.matvec - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.matrix_transpose - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.matmul - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.longlong - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.longdouble - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.long - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.logical_xor - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.logical_or - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.logical_not - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.logical_and - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.logaddexp2 - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.logaddexp - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.log10 - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.log2 - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.log1p - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.log - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.linspace - imported by numpy._core (top-level), numpy.lib._index_tricks_impl (top-level), numpy (conditional)
-missing module named numpy._core.less_equal - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.less - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.left_shift - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.ldexp - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.lcm - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.isscalar - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy.lib._polynomial_impl (top-level), numpy (conditional)
-missing module named numpy._core.isnat - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional)
-missing module named numpy._core.isnan - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
-missing module named numpy._core.isfinite - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.intp - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy._array_api_info (top-level)
-missing module named numpy._core.integer - imported by numpy._core (conditional), numpy (conditional), numpy.fft._helper (top-level)
-missing module named numpy._core.intc - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.int64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
-missing module named numpy._core.int32 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
-missing module named numpy._core.int16 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
-missing module named numpy._core.int8 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
-missing module named numpy._core.inf - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
-missing module named numpy._core.inexact - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.iinfo - imported by numpy._core (top-level), numpy.lib._twodim_base_impl (top-level), numpy (conditional)
-missing module named numpy._core.hypot - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.hstack - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
-missing module named numpy._core.heaviside - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.half - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.greater_equal - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.greater - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.gcd - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.frompyfunc - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.frexp - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.fmod - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.fmin - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.fmax - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.floor_divide - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.floor - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.floating - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.float_power - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.float32 - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy._array_api_info (top-level)
-missing module named numpy._core.float16 - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.finfo - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
-missing module named numpy._core.fabs - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.expm1 - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.exp2 - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.exp - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.euler_gamma - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.errstate - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
-missing module named numpy._core.equal - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.empty_like - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional), numpy.fft._pocketfft (top-level)
-missing module named numpy._core.empty - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy.fft._helper (top-level)
-missing module named numpy._core.e - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.double - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.dot - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
-missing module named numpy._core.divmod - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.divide - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.diagonal - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.degrees - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.deg2rad - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.datetime64 - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.csingle - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.cross - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.count_nonzero - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.cosh - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.cos - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.copysign - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.conjugate - imported by numpy._core (conditional), numpy (conditional), numpy.fft._pocketfft (top-level)
-missing module named numpy._core.conj - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.complexfloating - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.complex64 - imported by numpy._core (conditional), numpy (conditional), numpy._array_api_info (top-level)
-missing module named numpy._core.clongdouble - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.character - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.ceil - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.cdouble - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.cbrt - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.bytes_ - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.byte - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.bool_ - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.bitwise_xor - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.bitwise_or - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.bitwise_count - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.bitwise_and - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.atleast_3d - imported by numpy._core (top-level), numpy.lib._shape_base_impl (top-level), numpy (conditional)
-missing module named numpy._core.atleast_2d - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.atleast_1d - imported by numpy._core (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
-missing module named numpy._core.asarray - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.lib._array_utils_impl (top-level), numpy (conditional), numpy.fft._helper (top-level), numpy.fft._pocketfft (top-level)
-missing module named numpy._core.asanyarray - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.array_repr - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional)
-missing module named numpy._core.array2string - imported by numpy._core (delayed), numpy.testing._private.utils (delayed), numpy (conditional)
-missing module named numpy._core.array - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (top-level), numpy.lib._polynomial_impl (top-level), numpy (conditional)
-missing module named numpy._core.argsort - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.arctanh - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.arctan2 - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.arctan - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.arcsinh - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.arcsin - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.arccosh - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.arccos - imported by numpy._core (conditional), numpy (conditional)
-missing module named numpy._core.arange - imported by numpy._core (top-level), numpy.testing._private.utils (top-level), numpy (conditional), numpy.fft._helper (top-level)
-missing module named numpy._core.amin - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.amax - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named numpy._core.all - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy.testing._private.utils (delayed), numpy (conditional)
-missing module named numpy._core.add - imported by numpy._core (top-level), numpy.linalg._linalg (top-level), numpy (conditional)
-missing module named yaml - imported by numpy.__config__ (delayed)
-missing module named numpy._distributor_init_local - imported by numpy (optional), numpy._distributor_init (optional)
-missing module named defusedxml - imported by openpyxl.xml (delayed, optional)
-missing module named lxml - imported by openpyxl.xml (delayed, optional)
-missing module named 'defusedxml.ElementTree' - imported by openpyxl.xml.functions (conditional)
-missing module named 'lxml.etree' - imported by openpyxl.xml.functions (conditional)
-missing module named PIL - imported by openpyxl.drawing.image (optional)
-missing module named openpyxl.tests - imported by openpyxl.reader.excel (optional)
-missing module named google.protobuf.pyext._message - imported by google.protobuf.pyext (conditional, optional), google.protobuf.internal.api_implementation (conditional, optional), google.protobuf.descriptor (conditional), google.protobuf.pyext.cpp_message (conditional)
-missing module named google.protobuf.enable_deterministic_proto_serialization - imported by google.protobuf (optional), google.protobuf.internal.api_implementation (optional)
-missing module named google.protobuf.internal._api_implementation - imported by google.protobuf.internal (optional), google.protobuf.internal.api_implementation (optional)
-missing module named grpc_reflection - imported by grpc (optional)
-missing module named grpc_health - imported by grpc (optional)
-missing module named pkg_resources - imported by grpc_tools.protoc (conditional)

devkit/je-skin-devkit-server.spec

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

devkit/sensor_server.py

@@ -26,6 +26,7 @@ import sys
 import time
 from concurrent import futures
 from pathlib import Path
+
 import grpc
 import sensor_stream_pb2
 import sensor_stream_pb2_grpc
@@ -230,56 +231,30 @@ def _append_analysis_log(source_csv: str, stats: dict):
 class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
     """接收实时传感器帧（streaming）"""
 
-    _csv_path = None  # 类变量，记录当前 CSV 路径
-
     def __init__(self):
         self.frame_count = 0
         self.last_report_time = time.time()
         self.last_angle = None
-        self._csv_file = None
-        self._csv_writer = None
-
-    def _open_csv(self):
-        """打开一个新的 CSV 文件用于持续写入"""
-        ts = time.strftime("%Y%m%d_%H%M%S")
-        SensorPushServicer._csv_path = os.path.join(os.getcwd(), f"sensor_log_{ts}.csv")
-        self._csv_file = open(SensorPushServicer._csv_path, "w", newline="", encoding="utf-8-sig")
-        self._csv_writer = csv.writer(self._csv_file)
-        header = ["seq", "timestamp_ms", "dts_ms", "angle", "magnitude", "state", "cop_x", "cop_y", "base_x", "base_y", "resultant_force"] + [f"ch{i}" for i in range(SENSOR_ROWS * SENSOR_COLS)]
-        self._csv_writer.writerow(header)
-        self._csv_file.flush()
-        print(f"[SensorPush] CSV logging to: {SensorPushServicer._csv_path}")
-
-    def _close_csv(self):
-        """关闭 CSV 文件"""
-        if self._csv_file:
-            self._csv_file.close()
-            print(f"[SensorPush] CSV saved: {SensorPushServicer._csv_path}")
-            self._csv_file = None
-            self._csv_writer = None
 
     def Upload(self, request_iterator, context):
         print("[SensorPush] Client connected, waiting for frames...")
         reset_baseline()
         self.last_angle = None
-        self.frame_count = 0
-        self._open_csv()
 
         for frame in request_iterator:
             self.frame_count += 1
             angle = 0.0
-            magnitude = 0.0
-            state = 0
             ok = True
             message = "OK"
-            cop_x = cop_y = base_x = base_y = 0.0
-            total_press = 0.0
-            threshold = 0.0
             if len(frame.matrix) == SENSOR_ROWS * SENSOR_COLS:
                 try:
-                    angle, magnitude, state, cop_x, cop_y, base_x, base_y, total_press, threshold = get_pzt_angle(frame.matrix)
+                    angle = get_pzt_angle(frame.matrix)
                     self.last_angle = angle
-                    print(f"devkit: angle={angle:.2f}, magnitude={magnitude:.4f}, state={state}, cop_x={cop_x:.4f}, cop_y={cop_y:.4f}, base_x={base_x:.4f}, base_y={base_y:.4f}, total_press={total_press:.2f}, thresh={threshold:.2f}")
+                    if self.frame_count <= 10 or self.frame_count % 30 == 0:
+                        print(
+                            f"[SensorPush] PZT angle frame #{frame.seq} "
+                            f"dts={frame.dts_ms} angle={angle:.2f}"
+                        )
                 except Exception as e:
                     ok = False
                     message = str(e)
@@ -287,18 +262,6 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
             else:
                 ok = False
                 message = f"Invalid matrix length: {len(frame.matrix)}"
-                print(f"[Recv #{frame.seq}] INVALID len={len(frame.matrix)}")
-
-            # 持续写入 CSV
-            if self._csv_writer:
-                row = [frame.seq, frame.timestamp_ms, frame.dts_ms,
-                       f"{angle:.4f}", f"{magnitude:.4f}", state,
-                       f"{cop_x:.4f}", f"{cop_y:.4f}", f"{base_x:.4f}", f"{base_y:.4f}",
-                       frame.resultant_force]
-                row += list(frame.matrix)
-                self._csv_writer.writerow(row)
-                if self.frame_count % 10 == 0:
-                    self._csv_file.flush()
 
             yield sensor_stream_pb2.PztAngleResponse(
                 seq=frame.seq,
@@ -307,14 +270,6 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
                 dts_ms=frame.dts_ms,
                 ok=ok,
                 message=message,
-                magnitude=magnitude,
-                state=state,
-                cop_x=cop_x,
-                cop_y=cop_y,
-                base_x=base_x,
-                base_y=base_y,
-                total_press=total_press,
-                threshold=threshold,
             )
 
             if self.frame_count % 100 == 0:
@@ -335,7 +290,6 @@ class SensorPushServicer(sensor_stream_pb2_grpc.SensorPushServicer):
                     f"total={self.frame_count} | ~{fps:.1f} fps"
                 )
 
-        self._close_csv()
         print(f"[SensorPush] Stream ended. Total: {self.frame_count}")
 
 
@@ -396,84 +350,67 @@ def serve(port: int):
 
 
 import numpy as np
-from collections import deque
+import threading
 
 # ===================== 算法参数=====================
-COP_INIT_MEDIAN_FRAMES = 1                 # 初始COP取中位数的帧数
+TOTAL_PRESSURE_LOW_THRESHOLD = 500     
-NOISE_COLLECT_FRAMES = 10                 # 动态阈值基线采集帧数
+COP_STABILITY_FRAMES_REQUIRED = 5       
-THRESH_K = 5                              # 阈值 = K * mean
 SENSOR_ROWS = 12                        
 SENSOR_COLS = 7                         
 
-# ===================== 二次静置精修参数 =====================
-POST_INIT_WINDOW_CNT = 60000
-POST_INIT_STABLE_CNT = 100
-POST_INIT_STABLE_THRESH = 0.1
-
 # ===================== 线程安全全局状态 =====================
+first_frame = None                     
+first_frame_lock = threading.Lock()     
+
 first_contact_CoP_x = None              
 first_contact_CoP_y = None              
 contact_initialized = False             
 
-# 候选初始CoP缓冲
+total_pressure_low_counter = 0          
-cop_init_x_buf = deque(maxlen=COP_INIT_MEDIAN_FRAMES)
-cop_init_y_buf = deque(maxlen=COP_INIT_MEDIAN_FRAMES)
 
-# 动态阈值
+# ===================== 基线减除 =====================
-noise_sum_buf = deque(maxlen=NOISE_COLLECT_FRAMES)
+def subtract_baseline(current_frame):
-dynamic_thresh = None
+    global first_frame
+    current_frame = np.array(current_frame, dtype=np.float32).flatten()
     
-# 二次静置精修状态
+    with first_frame_lock:
-post_init_frame_cnt = 0
+        if first_frame is None:
-post_stable_cnt = 0
+            first_frame = current_frame.copy()
-post_refined_flag = False
-post_cand_x = None
-post_cand_y = None
     
+    diff = current_frame - first_frame
+    return np.clip(diff, 0, None)        
 
 # ===================== 重置CoP状态 =====================
 def reset_cop_state():
     global first_contact_CoP_x, first_contact_CoP_y, contact_initialized
-    global post_init_frame_cnt, post_stable_cnt, post_refined_flag
+    global total_pressure_low_counter
-    global post_cand_x, post_cand_y
 
     first_contact_CoP_x = None
     first_contact_CoP_y = None
     contact_initialized = False
-    cop_init_x_buf.clear()
+    total_pressure_low_counter = 0
-    cop_init_y_buf.clear()
-    post_init_frame_cnt = 0
-    post_stable_cnt = 0
-    post_refined_flag = False
-    post_cand_x = None
-    post_cand_y = None
-
 
 # ===================== CoP压力中心计算 =====================
-def compute_pressure_direction(raw_frame):
+def compute_pressure_direction(baseline_subtracted_frame):
     global first_contact_CoP_x, first_contact_CoP_y, contact_initialized
-    global post_init_frame_cnt, post_stable_cnt, post_refined_flag
+    global total_pressure_low_counter
-    global post_cand_x, post_cand_y
-    global noise_sum_buf, dynamic_thresh
 
     rows, cols = SENSOR_ROWS, SENSOR_COLS
-    frame_flat = np.asarray(raw_frame, dtype=np.float32).flatten()
+    frame_flat = np.asarray(baseline_subtracted_frame, dtype=np.float32).flatten()
     frame2d = frame_flat.reshape(rows, cols)
 
     total_pressure = np.sum(frame2d)
+    if total_pressure < TOTAL_PRESSURE_LOW_THRESHOLD:
+        total_pressure_low_counter += 1
+    else:
+        total_pressure_low_counter = 0
 
-    # 动态阈值
+    if total_pressure_low_counter >= COP_STABILITY_FRAMES_REQUIRED:
-    if dynamic_thresh is None:
+        reset_cop_state()
-        noise_sum_buf.append(total_pressure)
+        return 0.0, 0.0
-        if len(noise_sum_buf) >= NOISE_COLLECT_FRAMES:
-            sums = np.array(noise_sum_buf)
-            dynamic_thresh = THRESH_K * float(np.mean(sums))
 
-    # 低压重置
+    if total_pressure == 0:
-    if total_pressure == 0 or (dynamic_thresh is not None and total_pressure < dynamic_thresh):
+        return 0.0, 0.0
-        if contact_initialized and dynamic_thresh is not None:
-            reset_cop_state()
-        return 0.0, 0.0, 0, rows-1, 0, cols-1, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0.0, dynamic_thresh
 
     x_grid = np.tile(np.arange(cols), (rows, 1))
     y_grid = np.repeat(np.arange(rows), cols).reshape(rows, cols)
@@ -482,66 +419,16 @@ def compute_pressure_direction(raw_frame):
 
     delta_CoP_x = 0.0
     delta_CoP_y = 0.0
-    base_x = cop_x
-    base_y = cop_y
 
-    # ============ 初始点稳定判断（中位数判定） ============
     if not contact_initialized:
-        cop_init_x_buf.append(cop_x)
+        first_contact_CoP_x = cop_x
-        cop_init_y_buf.append(cop_y)
+        first_contact_CoP_y = cop_y
-
+        contact_initialized = True
-        if len(cop_init_x_buf) >= COP_INIT_MEDIAN_FRAMES:
-            first_contact_CoP_x = float(np.median(cop_init_x_buf))
-            first_contact_CoP_y = float(np.median(cop_init_y_buf))
-            contact_initialized = True
-            cop_init_x_buf.clear()
-            cop_init_y_buf.clear()
-
-    # ========== 计算偏移量 ==========
     else:
-        # 二次静置精修
-        post_init_frame_cnt += 1
-        if not post_refined_flag and post_init_frame_cnt <= POST_INIT_WINDOW_CNT:
-            if post_cand_x is not None:
-                dist_val = np.hypot(cop_x - post_cand_x, cop_y - post_cand_y)
-                if dist_val <= POST_INIT_STABLE_THRESH:
-                    post_stable_cnt += 1
-                else:
-                    post_cand_x = cop_x
-                    post_cand_y = cop_y
-                    post_stable_cnt = 1
-            else:
-                post_cand_x = cop_x
-                post_cand_y = cop_y
-                post_stable_cnt = 1
-
-            if post_stable_cnt >= POST_INIT_STABLE_CNT:
-                first_contact_CoP_x = post_cand_x
-                first_contact_CoP_y = post_cand_y
-                post_refined_flag = True
-        else:
-            post_refined_flag = True
-
         delta_CoP_x = cop_x - first_contact_CoP_x
-        delta_CoP_y = first_contact_CoP_y - cop_y
+        delta_CoP_y = cop_y - first_contact_CoP_y
-        base_x = first_contact_CoP_x
-        base_y = first_contact_CoP_y
-
-    magnitude = np.hypot(delta_CoP_x, delta_CoP_y)
-    if not contact_initialized:
-        state = 0
-    elif not post_refined_flag:
-        state = 1
-    else:
-        state = 2
-
-    return (cop_x, cop_y,
-            0, rows-1, 0, cols-1,
-            delta_CoP_x, delta_CoP_y,
-            base_x, base_y,
-            magnitude, state,
-            total_pressure, dynamic_thresh)
 
+    return delta_CoP_x, delta_CoP_y
 
 # ===================== 角度计算核心 =====================
 def compute_vector_angle(x: float, y: float) -> tuple[float, float]:
@@ -553,27 +440,23 @@ def compute_vector_angle(x: float, y: float) -> tuple[float, float]:
     return angle, mag
 
 def compute_PZT_angle(Px: float, Py: float) -> tuple[float, float]:
-    return compute_vector_angle(Px, Py)
+    return compute_vector_angle(Px, -Py)
-
 
 # ===================== 核心入口函数 =====================
 def get_pzt_angle(adc_data):
     if len(adc_data) != 84:
         raise ValueError("ADC数据长度必须为84")
-    result = compute_pressure_direction(adc_data)
+    baseline_subtracted = subtract_baseline(adc_data)
-    cop_x, cop_y = result[0], result[1]
+    dx, dy = compute_pressure_direction(baseline_subtracted)
-    dx, dy = result[6], result[7]
-    base_x, base_y = result[8], result[9]
-    magnitude = result[10]
-    state = int(result[11])
-    total_press = result[12]
-    threshold = result[13]
     pzt_angle, _ = compute_PZT_angle(dx, dy)
-    return pzt_angle, magnitude, state, cop_x, cop_y, base_x, base_y, total_press, threshold
     
+    return pzt_angle
 
 # ===================== 重置基线（校准用） =====================
 def reset_baseline():
+    global first_frame
+    with first_frame_lock:
+        first_frame = None
     reset_cop_state()
 
 

devkit/sensor_stream_pb2.py

@@ -24,7 +24,7 @@ _sym_db = _symbol_database.Default()
 
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13sensor_stream.proto\x12\rsensor_stream\"\x85\x01\n\x0bSensorFrame\x12\x0b\n\x03seq\x18\x01 \x01(\x04\x12\x14\n\x0ctimestamp_ms\x18\x02 \x01(\x04\x12\x0c\n\x04rows\x18\x03 \x01(\r\x12\x0c\n\x04\x63ols\x18\x04 \x01(\r\x12\x0e\n\x06matrix\x18\x05 \x03(\r\x12\x17\n\x0fresultant_force\x18\x06 \x01(\x01\x12\x0e\n\x06\x64ts_ms\x18\x07 \x01(\r\"\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\"q\n\x10PztAngleResponse\x12\x0b\n\x03seq\x18\x01 \x01(\x04\x12\x14\n\x0ctimestamp_ms\x18\x02 \x01(\x04\x12\r\n\x05\x61ngle\x18\x03 \x01(\x02\x12\x0e\n\x06\x64ts_ms\x18\x04 \x01(\r\x12\n\n\x02ok\x18\x05 \x01(\x08\x12\x0f\n\x07message\x18\x06 \x01(\t\"8\n\x0eProcessRequest\x12\x10\n\x08\x63sv_path\x18\x01 \x01(\t\x12\x14\n\x0csave_as_xlsx\x18\x02 \x01(\x08\"\xa6\x01\n\x0fProcessResponse\x12\n\n\x02ok\x18\x01 \x01(\x08\x12\x13\n\x0boutput_path\x18\x02 \x01(\t\x12\x13\n\x0bgroups_used\x18\x03 \x01(\r\x12\x12\n\nmean_value\x18\x04 \x01(\x01\x12\x11\n\tthreshold\x18\x05 \x01(\x01\x12\x12\n\nrows_total\x18\x06 \x01(\r\x12\x11\n\trows_kept\x18\x07 \x01(\r\x12\x0f\n\x07message\x18\x08 \x01(\t2W\n\nSensorPush\x12I\n\x06Upload\x12\x1a.sensor_stream.SensorFrame\x1a\x1f.sensor_stream.PztAngleResponse(\x01\x30\x01\x32_\n\x0f\x45xportProcessor\x12L\n\x0bProcessFile\x12\x1d.sensor_stream.ProcessRequest\x1a\x1e.sensor_stream.ProcessResponseb\x06proto3')
 
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
@@ -33,14 +33,14 @@ if not _descriptor._USE_C_DESCRIPTORS:
   DESCRIPTOR._loaded_options = None
   _globals['_SENSORFRAME']._serialized_start=39
   _globals['_SENSORFRAME']._serialized_end=172
-  _globals['_PZTANGLERESPONSE']._serialized_start=175
+  _globals['_PZTANGLERESPONSE']._serialized_start=174
-  _globals['_PZTANGLERESPONSE']._serialized_end=384
+  _globals['_PZTANGLERESPONSE']._serialized_end=287
-  _globals['_PROCESSREQUEST']._serialized_start=386
+  _globals['_PROCESSREQUEST']._serialized_start=289
-  _globals['_PROCESSREQUEST']._serialized_end=442
+  _globals['_PROCESSREQUEST']._serialized_end=345
-  _globals['_PROCESSRESPONSE']._serialized_start=445
+  _globals['_PROCESSRESPONSE']._serialized_start=348
-  _globals['_PROCESSRESPONSE']._serialized_end=611
+  _globals['_PROCESSRESPONSE']._serialized_end=514
-  _globals['_SENSORPUSH']._serialized_start=613
+  _globals['_SENSORPUSH']._serialized_start=516
-  _globals['_SENSORPUSH']._serialized_end=700
+  _globals['_SENSORPUSH']._serialized_end=603
-  _globals['_EXPORTPROCESSOR']._serialized_start=702
+  _globals['_EXPORTPROCESSOR']._serialized_start=605
-  _globals['_EXPORTPROCESSOR']._serialized_end=797
+  _globals['_EXPORTPROCESSOR']._serialized_end=700
 # @@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()

src-tauri/Cargo.toml

@@ -15,7 +15,7 @@ name = "tauri_demo_lib"
 crate-type = ["staticlib", "cdylib", "rlib"]
 
 [features]
-default = ["multi-dim"]
+default = []
 devkit = ["dep:tonic", "dep:prost", "dep:prost-types", "dep:async-stream", "dep:dirs"]
 multi-dim = ["dep:ndarray"]
 

src-tauri/gen/android/app/proguard-tauri.pro

@@ -1,5 +0,0 @@
-# THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
-
--keep class com.lenn.tauri_serial.TauriActivity {
-  public app.tauri.plugin.PluginManager getPluginManager();
-}

src-tauri/gen/android/app/src/main/assets/tauri.conf.json

@@ -1 +0,0 @@
-{"$schema":"https://schema.tauri.app/config/2","productName":"JE-Skin","version":"0.4.0","identifier":"com.lenn.tauri-serial","app":{"windows":[{"label":"main","create":true,"url":"index.html","dragDropEnabled":true,"center":false,"width":1366.0,"height":860.0,"resizable":true,"maximizable":true,"minimizable":true,"closable":true,"title":"JE-Skin","fullscreen":false,"focus":true,"focusable":true,"transparent":false,"maximized":false,"visible":true,"decorations":false,"alwaysOnBottom":false,"alwaysOnTop":false,"visibleOnAllWorkspaces":false,"contentProtected":false,"skipTaskbar":false,"titleBarStyle":"Visible","hiddenTitle":false,"acceptFirstMouse":false,"shadow":true,"incognito":false,"zoomHotkeysEnabled":false,"browserExtensionsEnabled":false,"useHttpsScheme":false,"javascriptDisabled":false,"allowLinkPreview":true,"disableInputAccessoryView":false,"scrollBarStyle":"default"}],"security":{"freezePrototype":false,"dangerousDisableAssetCspModification":false,"assetProtocol":{"scope":[],"enable":false},"pattern":{"use":"brownfield"},"capabilities":[]},"macOSPrivateApi":false,"withGlobalTauri":false,"enableGTKAppId":false},"build":{"devUrl":"http://localhost:1420/","frontendDist":"../build","beforeDevCommand":"npm run dev","beforeBuildCommand":"npm run build","removeUnusedCommands":false,"additionalWatchFolders":[]},"bundle":{"active":true,"targets":"all","createUpdaterArtifacts":true,"icon":["icons/32x32.png","icons/128x128.png","icons/128x128@2x.png","icons/icon.icns","icons/icon.ico"],"resources":["resources/je-skin-devkit-server.exe"],"useLocalToolsDir":false,"windows":{"digestAlgorithm":null,"certificateThumbprint":null,"timestampUrl":null,"tsp":false,"webviewInstallMode":{"type":"downloadBootstrapper","silent":true},"allowDowngrades":true,"wix":null,"nsis":{"template":"nsis/installer.nsi","headerImage":null,"sidebarImage":null,"installerIcon":"icons/icon.ico","installMode":"both","languages":null,"customLanguageFiles":null,"displayLanguageSelector":false,"compression":"lzma","startMenuFolder":null,"installerHooks":null,"minimumWebview2Version":null},"signCommand":null},"linux":{"appimage":{"bundleMediaFramework":false,"files":{}},"deb":{"files":{}},"rpm":{"release":"1","epoch":0,"files":{}}},"macOS":{"files":{},"minimumSystemVersion":"10.13","hardenedRuntime":true,"dmg":{"windowSize":{"width":660,"height":400},"appPosition":{"x":180,"y":170},"applicationFolderPosition":{"x":480,"y":170}}},"iOS":{"minimumSystemVersion":"14.0"},"android":{"minSdkVersion":24,"autoIncrementVersionCode":false}},"plugins":{}}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/Ipc.kt

@@ -1,33 +0,0 @@
-/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
-
-// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
-// SPDX-License-Identifier: Apache-2.0
-// SPDX-License-Identifier: MIT
-
-@file:Suppress("unused")
-
-package com.lenn.tauri_serial
-
-import android.webkit.*
-
-class Ipc(val webViewClient: RustWebViewClient) {
-    @JavascriptInterface
-    fun postMessage(message: String?) {
-        message?.let {m ->
-            // we're not using WebView::getUrl() here because it needs to be executed on the main thread
-            // and it would slow down the Ipc
-            // so instead we track the current URL on the webview client
-            this.ipc(webViewClient.currentUrl, m)
-        }
-    }
-
-    companion object {
-        init {
-            System.loadLibrary("tauri_demo_lib")
-        }
-    }
-
-    private external fun ipc(url: String, message: String)
-
-    
-}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/Logger.kt

@@ -1,89 +0,0 @@
-/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
-
-// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
-// SPDX-License-Identifier: Apache-2.0
-// SPDX-License-Identifier: MIT
-
-@file:Suppress("unused", "MemberVisibilityCanBePrivate")
-
-package com.lenn.tauri_serial
-
-// taken from https://github.com/ionic-team/capacitor/blob/6658bca41e78239347e458175b14ca8bd5c1d6e8/android/capacitor/src/main/java/com/getcapacitor/Logger.java
-
-import android.text.TextUtils
-import android.util.Log
-
-class Logger {
-  companion object {
-    private const val LOG_TAG_CORE = "Tauri"
-
-    fun tags(vararg subtags: String): String {
-      return if (subtags.isNotEmpty()) {
-        LOG_TAG_CORE + "/" + TextUtils.join("/", subtags)
-      } else LOG_TAG_CORE
-    }
-
-    fun verbose(message: String) {
-      verbose(LOG_TAG_CORE, message)
-    }
-
-    private fun verbose(tag: String, message: String) {
-      if (!shouldLog()) {
-        return
-      }
-      Log.v(tag, message)
-    }
-
-    fun debug(message: String) {
-      debug(LOG_TAG_CORE, message)
-    }
-
-    fun debug(tag: String, message: String) {
-      if (!shouldLog()) {
-        return
-      }
-      Log.d(tag, message)
-    }
-
-    fun info(message: String) {
-      info(LOG_TAG_CORE, message)
-    }
-
-    fun info(tag: String, message: String) {
-      if (!shouldLog()) {
-        return
-      }
-      Log.i(tag, message)
-    }
-
-    fun warn(message: String) {
-      warn(LOG_TAG_CORE, message)
-    }
-
-    fun warn(tag: String, message: String) {
-      if (!shouldLog()) {
-        return
-      }
-      Log.w(tag, message)
-    }
-
-    fun error(message: String) {
-      error(LOG_TAG_CORE, message, null)
-    }
-
-    fun error(message: String, e: Throwable?) {
-      error(LOG_TAG_CORE, message, e)
-    }
-
-    fun error(tag: String, message: String, e: Throwable?) {
-      if (!shouldLog()) {
-        return
-      }
-      Log.e(tag, message, e)
-    }
-
-    private fun shouldLog(): Boolean {
-      return BuildConfig.DEBUG
-    }
-  }
-}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/PermissionHelper.kt

@@ -1,117 +0,0 @@
-/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
-
-// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
-// SPDX-License-Identifier: Apache-2.0
-// SPDX-License-Identifier: MIT
-
-package com.lenn.tauri_serial
-
-// taken from https://github.com/ionic-team/capacitor/blob/6658bca41e78239347e458175b14ca8bd5c1d6e8/android/capacitor/src/main/java/com/getcapacitor/PermissionHelper.java
-
-import android.content.Context
-import android.content.pm.PackageManager
-import android.os.Build
-import androidx.core.app.ActivityCompat
-import java.util.ArrayList
-
-object PermissionHelper {
-  /**
-   * Checks if a list of given permissions are all granted by the user
-   *
-   * @param permissions Permissions to check.
-   * @return True if all permissions are granted, false if at least one is not.
-   */
-  fun hasPermissions(context: Context?, permissions: Array<String>): Boolean {
-    for (perm in permissions) {
-      if (ActivityCompat.checkSelfPermission(
-          context!!,
-          perm
-        ) != PackageManager.PERMISSION_GRANTED
-      ) {
-        return false
-      }
-    }
-    return true
-  }
-
-  /**
-   * Check whether the given permission has been defined in the AndroidManifest.xml
-   *
-   * @param permission A permission to check.
-   * @return True if the permission has been defined in the Manifest, false if not.
-   */
-  fun hasDefinedPermission(context: Context, permission: String): Boolean {
-    var hasPermission = false
-    val requestedPermissions = getManifestPermissions(context)
-    if (!requestedPermissions.isNullOrEmpty()) {
-      val requestedPermissionsList = listOf(*requestedPermissions)
-      val requestedPermissionsArrayList = ArrayList(requestedPermissionsList)
-      if (requestedPermissionsArrayList.contains(permission)) {
-        hasPermission = true
-      }
-    }
-    return hasPermission
-  }
-
-  /**
-   * Check whether all of the given permissions have been defined in the AndroidManifest.xml
-   * @param context the app context
-   * @param permissions a list of permissions
-   * @return true only if all permissions are defined in the AndroidManifest.xml
-   */
-  fun hasDefinedPermissions(context: Context, permissions: Array<String>): Boolean {
-    for (permission in permissions) {
-      if (!hasDefinedPermission(context, permission)) {
-        return false
-      }
-    }
-    return true
-  }
-
-  /**
-   * Get the permissions defined in AndroidManifest.xml
-   *
-   * @return The permissions defined in AndroidManifest.xml
-   */
-  private fun getManifestPermissions(context: Context): Array<String>? {
-    var requestedPermissions: Array<String>? = null
-    try {
-      val pm = context.packageManager
-      val packageInfo = if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.TIRAMISU) {
-        pm.getPackageInfo(context.packageName, PackageManager.PackageInfoFlags.of(PackageManager.GET_PERMISSIONS.toLong()))
-      } else {
-        @Suppress("DEPRECATION")
-        pm.getPackageInfo(context.packageName, PackageManager.GET_PERMISSIONS)
-      }
-      if (packageInfo != null) {
-        requestedPermissions = packageInfo.requestedPermissions
-      }
-    } catch (_: Exception) {
-    }
-    return requestedPermissions
-  }
-
-  /**
-   * Given a list of permissions, return a new list with the ones not present in AndroidManifest.xml
-   *
-   * @param neededPermissions The permissions needed.
-   * @return The permissions not present in AndroidManifest.xml
-   */
-  fun getUndefinedPermissions(context: Context, neededPermissions: Array<String?>): Array<String?> {
-    val undefinedPermissions = ArrayList<String?>()
-    val requestedPermissions = getManifestPermissions(context)
-    if (!requestedPermissions.isNullOrEmpty()) {
-      val requestedPermissionsList = listOf(*requestedPermissions)
-      val requestedPermissionsArrayList = ArrayList(requestedPermissionsList)
-      for (permission in neededPermissions) {
-        if (!requestedPermissionsArrayList.contains(permission)) {
-          undefinedPermissions.add(permission)
-        }
-      }
-      var undefinedPermissionArray = arrayOfNulls<String>(undefinedPermissions.size)
-      undefinedPermissionArray = undefinedPermissions.toArray(undefinedPermissionArray)
-      return undefinedPermissionArray
-    }
-    return neededPermissions
-  }
-}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/RustWebChromeClient.kt

@@ -1,495 +0,0 @@
-/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
-
-// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
-// SPDX-License-Identifier: Apache-2.0
-// SPDX-License-Identifier: MIT
-
-@file:Suppress("ObsoleteSdkInt", "RedundantOverride", "QueryPermissionsNeeded", "SimpleDateFormat")
-
-package com.lenn.tauri_serial
-
-// taken from https://github.com/ionic-team/capacitor/blob/6658bca41e78239347e458175b14ca8bd5c1d6e8/android/capacitor/src/main/java/com/getcapacitor/BridgeWebChromeClient.java
-
-import android.Manifest
-import android.app.Activity
-import android.app.AlertDialog
-import android.content.ActivityNotFoundException
-import android.content.DialogInterface
-import android.content.Intent
-import android.net.Uri
-import android.os.Build
-import android.os.Environment
-import android.provider.MediaStore
-import android.view.View
-import android.webkit.*
-import android.widget.EditText
-import androidx.activity.result.ActivityResult
-import androidx.activity.result.ActivityResultCallback
-import androidx.activity.result.ActivityResultLauncher
-import androidx.activity.result.contract.ActivityResultContracts
-import androidx.core.content.FileProvider
-import java.io.File
-import java.io.IOException
-import java.text.SimpleDateFormat
-import java.util.*
-
-class RustWebChromeClient(appActivity: WryActivity) : WebChromeClient() {
-  private interface PermissionListener {
-    fun onPermissionSelect(isGranted: Boolean?)
-  }
-
-  private interface ActivityResultListener {
-    fun onActivityResult(result: ActivityResult?)
-  }
-
-  private val activity: WryActivity
-  private var permissionLauncher: ActivityResultLauncher<Array<String>>
-  private var activityLauncher: ActivityResultLauncher<Intent>
-  private var permissionListener: PermissionListener? = null
-  private var activityListener: ActivityResultListener? = null
-
-  init {
-    activity = appActivity
-    val permissionCallback =
-      ActivityResultCallback { isGranted: Map<String, Boolean> ->
-        if (permissionListener != null) {
-          var granted = true
-          for ((_, value) in isGranted) {
-            if (!value) granted = false
-          }
-          permissionListener!!.onPermissionSelect(granted)
-        }
-      }
-    permissionLauncher =
-      activity.registerForActivityResult(ActivityResultContracts.RequestMultiplePermissions(), permissionCallback)
-    activityLauncher = activity.registerForActivityResult(
-      ActivityResultContracts.StartActivityForResult()
-    ) { result ->
-      if (activityListener != null) {
-        activityListener!!.onActivityResult(result)
-      }
-    }
-  }
-
-  /**
-   * Render web content in `view`.
-   *
-   * Both this method and [.onHideCustomView] are required for
-   * rendering web content in full screen.
-   *
-   * @see [](https://developer.android.com/reference/android/webkit/WebChromeClient.onShowCustomView
-  ) */
-  override fun onShowCustomView(view: View, callback: CustomViewCallback) {
-    callback.onCustomViewHidden()
-    super.onShowCustomView(view, callback)
-  }
-
-  /**
-   * Render web content in the original Web View again.
-   *
-   * Do not remove this method--@see #onShowCustomView(View, CustomViewCallback).
-   */
-  override fun onHideCustomView() {
-    super.onHideCustomView()
-  }
-
-  override fun onPermissionRequest(request: PermissionRequest) {
-    val isRequestPermissionRequired = Build.VERSION.SDK_INT >= Build.VERSION_CODES.M
-    val permissionList: MutableList<String> = ArrayList()
-    if (listOf(*request.resources).contains("android.webkit.resource.VIDEO_CAPTURE")) {
-      permissionList.add(Manifest.permission.CAMERA)
-    }
-    if (listOf(*request.resources).contains("android.webkit.resource.AUDIO_CAPTURE")) {
-      permissionList.add(Manifest.permission.MODIFY_AUDIO_SETTINGS)
-      permissionList.add(Manifest.permission.RECORD_AUDIO)
-    }
-    if (permissionList.isNotEmpty() && isRequestPermissionRequired) {
-      val permissions = permissionList.toTypedArray()
-      permissionListener = object : PermissionListener {
-        override fun onPermissionSelect(isGranted: Boolean?) {
-          if (isGranted == true) {
-            request.grant(request.resources)
-          } else {
-            request.deny()
-          }
-        }
-      }
-      permissionLauncher.launch(permissions)
-    } else {
-      request.grant(request.resources)
-    }
-  }
-
-  /**
-   * Show the browser alert modal
-   * @param view
-   * @param url
-   * @param message
-   * @param result
-   * @return
-   */
-  override fun onJsAlert(view: WebView, url: String, message: String, result: JsResult): Boolean {
-    if (activity.isFinishing) {
-      return true
-    }
-    val builder = AlertDialog.Builder(view.context)
-    builder
-      .setMessage(message)
-      .setPositiveButton(
-        "OK"
-      ) { dialog: DialogInterface, _: Int ->
-        dialog.dismiss()
-        result.confirm()
-      }
-      .setOnCancelListener { dialog: DialogInterface ->
-        dialog.dismiss()
-        result.cancel()
-      }
-    val dialog = builder.create()
-    dialog.show()
-    return true
-  }
-
-  /**
-   * Show the browser confirm modal
-   * @param view
-   * @param url
-   * @param message
-   * @param result
-   * @return
-   */
-  override fun onJsConfirm(view: WebView, url: String, message: String, result: JsResult): Boolean {
-    if (activity.isFinishing) {
-      return true
-    }
-    val builder = AlertDialog.Builder(view.context)
-    builder
-      .setMessage(message)
-      .setPositiveButton(
-        "OK"
-      ) { dialog: DialogInterface, _: Int ->
-        dialog.dismiss()
-        result.confirm()
-      }
-      .setNegativeButton(
-        "Cancel"
-      ) { dialog: DialogInterface, _: Int ->
-        dialog.dismiss()
-        result.cancel()
-      }
-      .setOnCancelListener { dialog: DialogInterface ->
-        dialog.dismiss()
-        result.cancel()
-      }
-    val dialog = builder.create()
-    dialog.show()
-    return true
-  }
-
-  /**
-   * Show the browser prompt modal
-   * @param view
-   * @param url
-   * @param message
-   * @param defaultValue
-   * @param result
-   * @return
-   */
-  override fun onJsPrompt(
-    view: WebView,
-    url: String,
-    message: String,
-    defaultValue: String,
-    result: JsPromptResult
-  ): Boolean {
-    if (activity.isFinishing) {
-      return true
-    }
-    val builder = AlertDialog.Builder(view.context)
-    val input = EditText(view.context)
-    builder
-      .setMessage(message)
-      .setView(input)
-      .setPositiveButton(
-        "OK"
-      ) { dialog: DialogInterface, _: Int ->
-        dialog.dismiss()
-        val inputText1 = input.text.toString().trim { it <= ' ' }
-        result.confirm(inputText1)
-      }
-      .setNegativeButton(
-        "Cancel"
-      ) { dialog: DialogInterface, _: Int ->
-        dialog.dismiss()
-        result.cancel()
-      }
-      .setOnCancelListener { dialog: DialogInterface ->
-        dialog.dismiss()
-        result.cancel()
-      }
-    val dialog = builder.create()
-    dialog.show()
-    return true
-  }
-
-  /**
-   * Handle the browser geolocation permission prompt
-   * @param origin
-   * @param callback
-   */
-  override fun onGeolocationPermissionsShowPrompt(
-    origin: String,
-    callback: GeolocationPermissions.Callback
-  ) {
-    super.onGeolocationPermissionsShowPrompt(origin, callback)
-    Logger.debug("onGeolocationPermissionsShowPrompt: DOING IT HERE FOR ORIGIN: $origin")
-    val geoPermissions =
-      arrayOf(Manifest.permission.ACCESS_COARSE_LOCATION, Manifest.permission.ACCESS_FINE_LOCATION)
-    if (!PermissionHelper.hasPermissions(activity, geoPermissions)) {
-      permissionListener = object : PermissionListener {
-        override fun onPermissionSelect(isGranted: Boolean?) {
-          if (isGranted == true) {
-            callback.invoke(origin, true, false)
-          } else {
-            val coarsePermission =
-              arrayOf(Manifest.permission.ACCESS_COARSE_LOCATION)
-            if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.S &&
-              PermissionHelper.hasPermissions(activity, coarsePermission)
-            ) {
-              callback.invoke(origin, true, false)
-            } else {
-              callback.invoke(origin, false, false)
-            }
-          }
-        }
-      }
-      permissionLauncher.launch(geoPermissions)
-    } else {
-      // permission is already granted
-      callback.invoke(origin, true, false)
-      Logger.debug("onGeolocationPermissionsShowPrompt: has required permission")
-    }
-  }
-
-  override fun onShowFileChooser(
-    webView: WebView,
-    filePathCallback: ValueCallback<Array<Uri?>?>,
-    fileChooserParams: FileChooserParams
-  ): Boolean {
-    val acceptTypes = listOf(*fileChooserParams.acceptTypes)
-    val captureEnabled = fileChooserParams.isCaptureEnabled
-    val capturePhoto = captureEnabled && acceptTypes.contains("image/*")
-    val captureVideo = captureEnabled && acceptTypes.contains("video/*")
-    if (capturePhoto || captureVideo) {
-      if (isMediaCaptureSupported) {
-        showMediaCaptureOrFilePicker(filePathCallback, fileChooserParams, captureVideo)
-      } else {
-        permissionListener = object : PermissionListener {
-          override fun onPermissionSelect(isGranted: Boolean?) {
-            if (isGranted == true) {
-              showMediaCaptureOrFilePicker(filePathCallback, fileChooserParams, captureVideo)
-            } else {
-              Logger.warn(Logger.tags("FileChooser"), "Camera permission not granted")
-              filePathCallback.onReceiveValue(null)
-            }
-          }
-        }
-        val camPermission = arrayOf(Manifest.permission.CAMERA)
-        permissionLauncher.launch(camPermission)
-      }
-    } else {
-      showFilePicker(filePathCallback, fileChooserParams)
-    }
-    return true
-  }
-
-  private val isMediaCaptureSupported: Boolean
-    get() {
-      val permissions = arrayOf(Manifest.permission.CAMERA)
-      return PermissionHelper.hasPermissions(activity, permissions) ||
-        !PermissionHelper.hasDefinedPermission(activity, Manifest.permission.CAMERA)
-    }
-
-  private fun showMediaCaptureOrFilePicker(
-    filePathCallback: ValueCallback<Array<Uri?>?>,
-    fileChooserParams: FileChooserParams,
-    isVideo: Boolean
-  ) {
-    val isVideoCaptureSupported = true
-    val shown = if (isVideo && isVideoCaptureSupported) {
-      showVideoCapturePicker(filePathCallback)
-    } else {
-      showImageCapturePicker(filePathCallback)
-    }
-    if (!shown) {
-      Logger.warn(
-        Logger.tags("FileChooser"),
-        "Media capture intent could not be launched. Falling back to default file picker."
-      )
-      showFilePicker(filePathCallback, fileChooserParams)
-    }
-  }
-
-  private fun showImageCapturePicker(filePathCallback: ValueCallback<Array<Uri?>?>): Boolean {
-    val takePictureIntent = Intent(MediaStore.ACTION_IMAGE_CAPTURE)
-    if (takePictureIntent.resolveActivity(activity.packageManager) == null) {
-      return false
-    }
-    val imageFileUri: Uri = try {
-      createImageFileUri()
-    } catch (ex: Exception) {
-      Logger.error("Unable to create temporary media capture file: " + ex.message)
-      return false
-    }
-    takePictureIntent.putExtra(MediaStore.EXTRA_OUTPUT, imageFileUri)
-    activityListener = object : ActivityResultListener {
-      override fun onActivityResult(result: ActivityResult?) {
-        var res: Array<Uri?>? = null
-        if (result?.resultCode == Activity.RESULT_OK) {
-          res = arrayOf(imageFileUri)
-        }
-        filePathCallback.onReceiveValue(res)
-      }
-    }
-    activityLauncher.launch(takePictureIntent)
-    return true
-  }
-
-  private fun showVideoCapturePicker(filePathCallback: ValueCallback<Array<Uri?>?>): Boolean {
-    val takeVideoIntent = Intent(MediaStore.ACTION_VIDEO_CAPTURE)
-    if (takeVideoIntent.resolveActivity(activity.packageManager) == null) {
-      return false
-    }
-    activityListener = object : ActivityResultListener {
-      override fun onActivityResult(result: ActivityResult?) {
-        var res: Array<Uri?>? = null
-        if (result?.resultCode == Activity.RESULT_OK) {
-          res = arrayOf(result.data!!.data)
-        }
-        filePathCallback.onReceiveValue(res)
-      }
-    }
-    activityLauncher.launch(takeVideoIntent)
-    return true
-  }
-
-  private fun showFilePicker(
-    filePathCallback: ValueCallback<Array<Uri?>?>,
-    fileChooserParams: FileChooserParams
-  ) {
-    val intent = fileChooserParams.createIntent()
-    if (fileChooserParams.mode == FileChooserParams.MODE_OPEN_MULTIPLE) {
-      intent.putExtra(Intent.EXTRA_ALLOW_MULTIPLE, true)
-    }
-    if (fileChooserParams.acceptTypes.size > 1 || intent.type!!.startsWith(".")) {
-      val validTypes = getValidTypes(fileChooserParams.acceptTypes)
-      intent.putExtra(Intent.EXTRA_MIME_TYPES, validTypes)
-      if (intent.type!!.startsWith(".")) {
-        intent.type = validTypes[0]
-      }
-    }
-    try {
-      activityListener = object : ActivityResultListener {
-        override fun onActivityResult(result: ActivityResult?) {
-          val res: Array<Uri?>?
-          val resultIntent = result?.data
-          if (result?.resultCode == Activity.RESULT_OK && resultIntent!!.clipData != null) {
-            val numFiles = resultIntent.clipData!!.itemCount
-            res = arrayOfNulls(numFiles)
-            for (i in 0 until numFiles) {
-              res[i] = resultIntent.clipData!!.getItemAt(i).uri
-            }
-          } else {
-            res = FileChooserParams.parseResult(
-              result?.resultCode ?: 0,
-              resultIntent
-            )
-          }
-          filePathCallback.onReceiveValue(res)
-        }
-      }
-      activityLauncher.launch(intent)
-    } catch (e: ActivityNotFoundException) {
-      filePathCallback.onReceiveValue(null)
-    }
-  }
-
-  private fun getValidTypes(currentTypes: Array<String>): Array<String> {
-    val validTypes: MutableList<String> = ArrayList()
-    val mtm = MimeTypeMap.getSingleton()
-    for (mime in currentTypes) {
-      if (mime.startsWith(".")) {
-        val extension = mime.substring(1)
-        val extensionMime = mtm.getMimeTypeFromExtension(extension)
-        if (extensionMime != null && !validTypes.contains(extensionMime)) {
-          validTypes.add(extensionMime)
-        }
-      } else if (!validTypes.contains(mime)) {
-        validTypes.add(mime)
-      }
-    }
-    val validObj: Array<Any> = validTypes.toTypedArray()
-    return Arrays.copyOf(
-      validObj, validObj.size,
-      Array<String>::class.java
-    )
-  }
-
-  override fun onConsoleMessage(consoleMessage: ConsoleMessage): Boolean {
-    val tag: String = Logger.tags("Console")
-    if (consoleMessage.message() != null && isValidMsg(consoleMessage.message())) {
-      val msg = String.format(
-        "File: %s - Line %d - Msg: %s",
-        consoleMessage.sourceId(),
-        consoleMessage.lineNumber(),
-        consoleMessage.message()
-      )
-      val level = consoleMessage.messageLevel().name
-      if ("ERROR".equals(level, ignoreCase = true)) {
-        Logger.error(tag, msg, null)
-      } else if ("WARNING".equals(level, ignoreCase = true)) {
-        Logger.warn(tag, msg)
-      } else if ("TIP".equals(level, ignoreCase = true)) {
-        Logger.debug(tag, msg)
-      } else {
-        Logger.info(tag, msg)
-      }
-    }
-    return true
-  }
-
-  private fun isValidMsg(msg: String): Boolean {
-    return !(msg.contains("%cresult %c") ||
-      msg.contains("%cnative %c") ||
-      msg.equals("[object Object]", ignoreCase = true) ||
-      msg.equals("console.groupEnd", ignoreCase = true))
-  }
-
-  @Throws(IOException::class)
-  private fun createImageFileUri(): Uri {
-    val photoFile = createImageFile(activity)
-    return FileProvider.getUriForFile(
-      activity,
-      activity.packageName.toString() + ".fileprovider",
-      photoFile
-    )
-  }
-
-  @Throws(IOException::class)
-  private fun createImageFile(activity: Activity): File {
-    // Create an image file name
-    val timeStamp = SimpleDateFormat("yyyyMMdd_HHmmss").format(Date())
-    val imageFileName = "JPEG_" + timeStamp + "_"
-    val storageDir = activity.getExternalFilesDir(Environment.DIRECTORY_PICTURES)
-    return File.createTempFile(imageFileName, ".jpg", storageDir)
-  }
-
-  override fun onReceivedTitle(
-      view: WebView,
-      title: String
-  ) {
-    handleReceivedTitle(view, title)
-  }
-
-  private external fun handleReceivedTitle(webview: WebView, title: String)
-}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/RustWebView.kt

@@ -1,101 +0,0 @@
-/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
-
-// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
-// SPDX-License-Identifier: Apache-2.0
-// SPDX-License-Identifier: MIT
-
-@file:Suppress("unused", "SetJavaScriptEnabled")
-
-package com.lenn.tauri_serial
-
-import android.annotation.SuppressLint
-import android.webkit.*
-import android.content.Context
-import androidx.webkit.WebViewCompat
-import androidx.webkit.WebViewFeature
-import kotlin.collections.Map
-
-@SuppressLint("RestrictedApi")
-class RustWebView(context: Context, val initScripts: Array<String>, val id: String): WebView(context) {
-    val isDocumentStartScriptEnabled: Boolean
-
-    init {
-        settings.javaScriptEnabled = true
-        settings.domStorageEnabled = true
-        settings.setGeolocationEnabled(true)
-        settings.databaseEnabled = true
-        settings.mediaPlaybackRequiresUserGesture = false
-        settings.javaScriptCanOpenWindowsAutomatically = true
-
-        if (WebViewFeature.isFeatureSupported(WebViewFeature.DOCUMENT_START_SCRIPT)) {
-            isDocumentStartScriptEnabled = true
-            for (script in initScripts) {
-                WebViewCompat.addDocumentStartJavaScript(this, script, setOf("*"));
-            }
-        } else {
-          isDocumentStartScriptEnabled = false
-        }
-
-        
-    }
-
-    fun loadUrlMainThread(url: String) {
-        post {
-          loadUrl(url)
-        }
-    }
-
-    fun loadUrlMainThread(url: String, additionalHttpHeaders: Map<String, String>) {
-        post {
-          loadUrl(url, additionalHttpHeaders)
-        }
-    }
-
-    override fun loadUrl(url: String) {
-        if (!shouldOverride(url)) {
-            super.loadUrl(url);
-        }
-    }
-
-    override fun loadUrl(url: String, additionalHttpHeaders: Map<String, String>) {
-        if (!shouldOverride(url)) {
-            super.loadUrl(url, additionalHttpHeaders);
-        }
-    }
-
-    fun loadHTMLMainThread(html: String) {
-        post {
-          super.loadData(html, "text/html", null)
-        }
-    }
-
-    fun evalScript(id: Int, script: String) {
-        post {
-            super.evaluateJavascript(script) { result ->
-                onEval(id, result)
-            }
-        }
-    }
-
-    fun clearAllBrowsingData() {
-        try {
-            super.getContext().deleteDatabase("webviewCache.db")
-            super.getContext().deleteDatabase("webview.db")
-            super.clearCache(true)
-            super.clearHistory()
-            super.clearFormData()
-        } catch (ex: Exception) {
-            Logger.error("Unable to create temporary media capture file: " + ex.message)
-        }
-    }
-
-    fun getCookies(url: String): String {
-        val cookieManager = CookieManager.getInstance()
-        return cookieManager.getCookie(url)
-    }
-
-    private external fun shouldOverride(url: String): Boolean
-    private external fun onEval(id: Int, result: String)
-
-    
-}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/RustWebViewClient.kt

@@ -1,107 +0,0 @@
-/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
-
-// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
-// SPDX-License-Identifier: Apache-2.0
-// SPDX-License-Identifier: MIT
-
-package com.lenn.tauri_serial
-
-import android.net.Uri
-import android.webkit.*
-import android.content.Context
-import android.graphics.Bitmap
-import android.os.Handler
-import android.os.Looper
-import androidx.webkit.WebViewAssetLoader
-
-class RustWebViewClient(context: Context): WebViewClient() {
-    private val interceptedState = mutableMapOf<String, Boolean>()
-    var currentUrl: String = "about:blank"
-    private var lastInterceptedUrl: Uri? = null
-    private var pendingUrlRedirect: String? = null
-
-    private val assetLoader = WebViewAssetLoader.Builder()
-        .setDomain(assetLoaderDomain())
-        .addPathHandler("/", WebViewAssetLoader.AssetsPathHandler(context))
-        .build()
-
-    override fun shouldInterceptRequest(
-        view: WebView,
-        request: WebResourceRequest
-    ): WebResourceResponse? {
-        pendingUrlRedirect?.let {
-            Handler(Looper.getMainLooper()).post {
-              view.loadUrl(it)
-            }
-            pendingUrlRedirect = null
-            return null
-        }
-
-        lastInterceptedUrl = request.url
-        return if (withAssetLoader()) {
-            assetLoader.shouldInterceptRequest(request.url)
-        } else {
-            val rustWebview = view as RustWebView;
-            val response = handleRequest(rustWebview.id, request, rustWebview.isDocumentStartScriptEnabled)
-            interceptedState[request.url.toString()] = response != null
-            return response
-        }
-    }
-
-    override fun shouldOverrideUrlLoading(
-        view: WebView,
-        request: WebResourceRequest
-    ): Boolean {
-        return shouldOverride(request.url.toString())
-    }
-
-    override fun onPageStarted(view: WebView, url: String, favicon: Bitmap?) {
-        currentUrl = url
-        if (interceptedState[url] == false) {
-            val webView = view as RustWebView
-            for (script in webView.initScripts) {
-                view.evaluateJavascript(script, null)
-            }
-        }
-        return onPageLoading(url)
-    }
-
-    override fun onPageFinished(view: WebView, url: String) {
-        onPageLoaded(url)
-    }
-
-    override fun onReceivedError(
-        view: WebView,
-        request: WebResourceRequest,
-        error: WebResourceError
-    ) {
-        // we get a net::ERR_CONNECTION_REFUSED when an external URL redirects to a custom protocol
-        // e.g. oauth flow, because shouldInterceptRequest is not called on redirects
-        // so we must force retry here with loadUrl() to get a chance of the custom protocol to kick in
-        if (error.errorCode == ERROR_CONNECT && request.isForMainFrame && request.url != lastInterceptedUrl) {
-            // prevent the default error page from showing
-            view.stopLoading()
-            // without this initial loadUrl the app is stuck
-            view.loadUrl(request.url.toString())
-            // ensure the URL is actually loaded - for some reason there's a race condition and we need to call loadUrl() again later
-            pendingUrlRedirect = request.url.toString()
-        } else {
-            super.onReceivedError(view, request, error)
-        }
-    }
-
-    companion object {
-        init {
-            System.loadLibrary("tauri_demo_lib")
-        }
-    }
-
-    private external fun assetLoaderDomain(): String
-    private external fun withAssetLoader(): Boolean
-    private external fun handleRequest(webviewId: String, request: WebResourceRequest, isDocumentStartScriptEnabled: Boolean): WebResourceResponse?
-    private external fun shouldOverride(url: String): Boolean
-    private external fun onPageLoading(url: String)
-    private external fun onPageLoaded(url: String)
-
-    
-}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/TauriActivity.kt

@@ -1,51 +0,0 @@
-// Copyright 2019-2024 Tauri Programme within The Commons Conservancy
-// SPDX-License-Identifier: Apache-2.0
-// SPDX-License-Identifier: MIT
-
-/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
-
-package com.lenn.tauri_serial
-
-import android.content.Intent
-import android.content.res.Configuration
-import app.tauri.plugin.PluginManager
-
-abstract class TauriActivity : WryActivity() {
-  var pluginManager: PluginManager = PluginManager(this)
-  override val handleBackNavigation: Boolean = false
-
-  override fun onNewIntent(intent: Intent) {
-    super.onNewIntent(intent)
-    pluginManager.onNewIntent(intent)
-  }
-
-  override fun onResume() {
-    super.onResume()
-    pluginManager.onResume()
-  }
-
-  override fun onPause() {
-    super.onPause()
-    pluginManager.onPause()
-  }
-
-  override fun onRestart() {
-    super.onRestart()
-    pluginManager.onRestart()
-  }
-
-  override fun onStop() {
-    super.onStop()
-    pluginManager.onStop()
-  }
-
-  override fun onDestroy() {
-    super.onDestroy()
-    pluginManager.onDestroy()
-  }
-
-  override fun onConfigurationChanged(newConfig: Configuration) {
-    super.onConfigurationChanged(newConfig)
-    pluginManager.onConfigurationChanged(newConfig)
-  }
-}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/WryActivity.kt

@@ -1,146 +0,0 @@
-/* THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!! */
-
-// Copyright 2020-2023 Tauri Programme within The Commons Conservancy
-// SPDX-License-Identifier: Apache-2.0
-// SPDX-License-Identifier: MIT
-
-package com.lenn.tauri_serial
-
-import com.lenn.tauri_serial.RustWebView
-import android.annotation.SuppressLint
-import android.os.Build
-import android.os.Bundle
-import android.webkit.WebView
-import android.view.KeyEvent
-import androidx.activity.OnBackPressedCallback
-import androidx.appcompat.app.AppCompatActivity
-
-abstract class WryActivity : AppCompatActivity() {
-    private lateinit var mWebView: RustWebView
-    open val handleBackNavigation: Boolean = true
-
-    open fun onWebViewCreate(webView: WebView) { }
-
-    fun setWebView(webView: RustWebView) {
-        mWebView = webView
-
-        if (handleBackNavigation) {
-            val callback = object : OnBackPressedCallback(true) {
-                override fun handleOnBackPressed() {
-                    if (this@WryActivity.mWebView.canGoBack()) {
-                        this@WryActivity.mWebView.goBack()
-                    } else {
-                        this.isEnabled = false
-                        this@WryActivity.onBackPressed()
-                        this.isEnabled = true
-                    }
-                }
-            }
-            onBackPressedDispatcher.addCallback(this, callback)
-        }
-
-        onWebViewCreate(webView)
-    }
-
-    val version: String
-        @SuppressLint("WebViewApiAvailability", "ObsoleteSdkInt")
-        get() {
-            // Check getCurrentWebViewPackage() directly if above Android 8
-            if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.O) {
-                return WebView.getCurrentWebViewPackage()?.versionName ?: ""
-            }
-
-            // Otherwise manually check WebView versions
-            var webViewPackage = "com.google.android.webview"
-            if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.N) {
-              webViewPackage = "com.android.chrome"
-            }
-            try {
-                @Suppress("DEPRECATION")
-                val info = packageManager.getPackageInfo(webViewPackage, 0)
-                return info.versionName.toString()
-            } catch (ex: Exception) {
-                Logger.warn("Unable to get package info for '$webViewPackage'$ex")
-            }
-
-            try {
-                @Suppress("DEPRECATION")
-                val info = packageManager.getPackageInfo("com.android.webview", 0)
-                return info.versionName.toString()
-            } catch (ex: Exception) {
-                Logger.warn("Unable to get package info for 'com.android.webview'$ex")
-            }
-
-            // Could not detect any webview, return empty string
-            return ""
-        }
-
-    override fun onCreate(savedInstanceState: Bundle?) {
-        super.onCreate(savedInstanceState)
-        create(this)
-    }
-
-    override fun onStart() {
-        super.onStart()
-        start()
-    }
-
-    override fun onResume() {
-        super.onResume()
-        resume()
-    }
-
-    override fun onPause() {
-        super.onPause()
-        pause()
-    }
-
-    override fun onStop() {
-        super.onStop()
-        stop()
-    }
-
-    override fun onWindowFocusChanged(hasFocus: Boolean) {
-        super.onWindowFocusChanged(hasFocus)
-        focus(hasFocus)
-    }
-
-    override fun onSaveInstanceState(outState: Bundle) {
-        super.onSaveInstanceState(outState)
-        save()
-    }
-
-    override fun onDestroy() {
-        super.onDestroy()
-        destroy()
-        onActivityDestroy()
-    }
-
-    override fun onLowMemory() {
-        super.onLowMemory()
-        memory()
-    }
-
-    fun getAppClass(name: String): Class<*> {
-        return Class.forName(name)
-    }
-
-    companion object {
-        init {
-            System.loadLibrary("tauri_demo_lib")
-        }
-    }
-
-    private external fun create(activity: WryActivity)
-    private external fun start()
-    private external fun resume()
-    private external fun pause()
-    private external fun stop()
-    private external fun save()
-    private external fun destroy()
-    private external fun onActivityDestroy()
-    private external fun memory()
-    private external fun focus(focus: Boolean)
-
-    
-}

src-tauri/gen/android/app/src/main/java/com/lenn/tauri_serial/generated/proguard-wry.pro

@@ -1,35 +0,0 @@
-# THIS FILE IS AUTO-GENERATED. DO NOT MODIFY!!
-
-# Copyright 2020-2023 Tauri Programme within The Commons Conservancy
-# SPDX-License-Identifier: Apache-2.0
-# SPDX-License-Identifier: MIT
-
--keep class com.lenn.tauri_serial.* {
-  native <methods>;
-}
-
--keep class com.lenn.tauri_serial.WryActivity {
-  public <init>(...);
-
-  void setWebView(com.lenn.tauri_serial.RustWebView);
-  java.lang.Class getAppClass(...);
-  java.lang.String getVersion();
-}
-
--keep class com.lenn.tauri_serial.Ipc {
-  public <init>(...);
-
-  @android.webkit.JavascriptInterface public <methods>;
-}
-
--keep class com.lenn.tauri_serial.RustWebView {
-  public <init>(...);
-
-  void loadUrlMainThread(...);
-  void loadHTMLMainThread(...);
-  void evalScript(...);
-}
-
--keep class com.lenn.tauri_serial.RustWebChromeClient,com.lenn.tauri_serial.RustWebViewClient {
-  public <init>(...);
-}

src-tauri/gen/android/app/src/main/jniLibs/arm64-v8a/libtauri_demo_lib.so

@@ -1 +0,0 @@
-/home/lenn/Workspace/JE-Skin/src-tauri/target/aarch64-linux-android/release/libtauri_demo_lib.so

src-tauri/gen/android/app/src/main/jniLibs/armeabi-v7a/libtauri_demo_lib.so

@@ -1 +0,0 @@
-/home/lenn/Workspace/JE-Skin/src-tauri/target/armv7-linux-androideabi/release/libtauri_demo_lib.so

src-tauri/gen/android/app/src/main/jniLibs/x86/libtauri_demo_lib.so

@@ -1 +0,0 @@
-/home/lenn/Workspace/JE-Skin/src-tauri/target/i686-linux-android/release/libtauri_demo_lib.so

src-tauri/gen/android/app/src/main/jniLibs/x86_64/libtauri_demo_lib.so

@@ -1 +0,0 @@
-/home/lenn/Workspace/JE-Skin/src-tauri/target/x86_64-linux-android/release/libtauri_demo_lib.so

src-tauri/gen/android/app/tauri.build.gradle.kts

@@ -1,6 +0,0 @@
-// THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
-val implementation by configurations
-dependencies {
-  implementation(project(":tauri-android"))
-  implementation(project(":tauri-plugin-opener"))
-}

src-tauri/gen/android/app/tauri.properties

@@ -1,3 +0,0 @@
-// THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
-tauri.android.versionName=0.4.0
-tauri.android.versionCode=4000

src-tauri/gen/android/tauri.settings.gradle

@@ -1,5 +0,0 @@
-// THIS IS AN AUTOGENERATED FILE. DO NOT EDIT THIS FILE DIRECTLY.
-include ':tauri-android'
-project(':tauri-android').projectDir = new File("/home/lenn/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/tauri-2.10.3/mobile/android")
-include ':tauri-plugin-opener'
-project(':tauri-plugin-opener').projectDir = new File("/home/lenn/.cargo/registry/src/index.crates.io-1949cf8c6b5b557f/tauri-plugin-opener-2.5.3/android")

src-tauri/proto/sensor_stream.proto

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

src-tauri/src/ad_solver.rs

@@ -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/devkit/client.rs

@@ -278,16 +278,10 @@ async fn run_grpc_upload(
                 angle: message.angle,
             };
             ::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}",
-                message.angle,
+                message.seq,
-                message.magnitude,
+                message.dts_ms,
-                message.state,
+                message.angle
-                message.cop_x,
-                message.cop_y,
-                message.base_x,
-                message.base_y,
-                message.total_press,
-                message.threshold
             );
             app.emit("devkit_pzt_angle", payload)?;
         } else {

src-tauri/src/lib.rs

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

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

src-tauri/src/serial_core/model.rs

@@ -13,7 +13,6 @@ pub struct HudPacket {
     pub panels: Vec<HudSignalPanel>,
     pub summary: HudSummary,
     pub pressure_matrix: Option<Vec<f32>>,
-    pub spatial_force: Option<HudSpatialForce>,
 }
 
 #[derive(serde::Serialize, Clone)]
@@ -75,14 +74,6 @@ pub struct HudSignalIcon {
     pub tone: HudTone,
 }
 
-#[derive(serde::Serialize, Clone)]
-#[serde(rename_all = "camelCase")]
-pub struct HudSpatialForce {
-    pub angle_deg: f32,
-    pub magnitude: f32,
-    pub confidence: f32,
-}
-
 struct HudPanelUpdate {
     source_id: String,
     values: Vec<f32>,
@@ -98,7 +89,6 @@ pub struct HudChartState {
     order: Vec<String>,
     summary_points: Vec<f32>,
     pressure_matrix: Option<Vec<f32>>,
-    spatial_force: Option<HudSpatialForce>,
     last_frame_seen: Option<Instant>,
 }
 
@@ -109,7 +99,6 @@ impl HudChartState {
             order: Vec::new(),
             summary_points: Vec::new(),
             pressure_matrix: None,
-            spatial_force: None,
             last_frame_seen: None,
         }
     }
@@ -126,10 +115,6 @@ impl HudChartState {
         self.pressure_matrix = Some(values.iter().map(|value| *value as f32).collect());
     }
 
-    pub fn record_spatial_force(&mut self, spatial_force: Option<HudSpatialForce>) {
-        self.spatial_force = spatial_force;
-    }
-
     pub fn apply_frame(&mut self, frame: &TestFrame, decoded_values: Option<&[i32]>) -> HudPacket {
         let now = Instant::now();
         self.last_frame_seen = Some(now);
@@ -145,15 +130,9 @@ impl HudChartState {
     pub fn prune_stale(&mut self) -> Option<HudPacket> {
         let before = self.panels.len();
         let summary_points_before = self.summary_points.len();
-        let had_pressure_matrix = self.pressure_matrix.is_some();
-        let had_spatial_force = self.spatial_force.is_some();
         self.prune_stale_at(Instant::now());
 
-        if before == self.panels.len()
+        if before == self.panels.len() && summary_points_before == self.summary_points.len() {
-            && summary_points_before == self.summary_points.len()
-            && had_pressure_matrix == self.pressure_matrix.is_some()
-            && had_spatial_force == self.spatial_force.is_some()
-        {
             return None;
         }
 
@@ -208,7 +187,6 @@ impl HudChartState {
         if summary_stale {
             self.summary_points.clear();
             self.pressure_matrix = None;
-            self.spatial_force = None;
             self.last_frame_seen = None;
         }
     }
@@ -227,7 +205,6 @@ impl HudChartState {
             panels,
             summary: build_summary(&self.summary_points),
             pressure_matrix: self.pressure_matrix.clone(),
-            spatial_force: self.spatial_force.clone(),
         }
     }
 

src-tauri/src/serial_core/multi_dim_force.rs

@@ -1,527 +1,122 @@
+use ndarray::Array2;
+
+const TOTAL_PRESSURE_LOW_THRESHOLD: usize = 500;
+const COP_STABILITY_FRAMES_REQUIRED: usize = 5;
 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;
-
-#[derive(Debug, Clone, Copy)]
-pub struct PztSpatialAnalysis {
-    pub angle_deg: f32,
-    pub magnitude: f32,
-    pub planar_x: f32,
-    pub planar_y: f32,
-    pub confidence: f32,
-    pub contact_active: bool,
-    pub reportable: bool,
-}
 
 pub struct PztProcessor {
-    baseline_frame: Option<Vec<f32>>,
+    first_frame: Option<Vec<f32>>,
-    contact_active: bool,
+    first_contact_cop_x: Option<f32>,
-    contact_enter_counter: usize,
+    first_contact_cop_y: Option<f32>,
-    contact_exit_counter: usize,
+    contact_initialized: bool,
-    anchor_cop_x: Option<f32>,
+    total_pressure_low_counter: usize,
-    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)]
-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,
 }
 
 impl PztProcessor {
     pub fn new() -> Self {
         Self {
-            baseline_frame: None,
+            first_frame: None,
-            contact_active: false,
+            first_contact_cop_x: None,
-            contact_enter_counter: 0,
+            first_contact_cop_y: None,
-            contact_exit_counter: 0,
+            contact_initialized: false,
-            anchor_cop_x: None,
+            total_pressure_low_counter: 0,
-            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,
         }
     }
 
-    fn reset_tracking_state(&mut self) {
+    fn subtract_baseline(&mut self, current_frame: &[f32]) -> Vec<f32> {
-        self.contact_active = false;
+        if self.first_frame.is_none() {
-        self.contact_enter_counter = 0;
+            self.first_frame = Some(current_frame.to_vec());
-        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_report_state(&mut self) {
-        self.report_active = false;
-        self.report_hold_counter = 0;
-        self.held_report = 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());
-            }
-        }
-    }
-
-    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 baseline = self
+        let baseline = self.first_frame.as_ref().unwrap();
-            .baseline_frame
+        current_frame
-            .as_ref()
-            .expect("baseline should exist after bootstrap");
-
-        raw_frame
             .iter()
             .zip(baseline.iter())
-            .map(|(raw, base)| (raw - base - BASELINE_NOISE_FLOOR).max(0.0))
+            .map(|(c, b)| (c - b).max(0.0))
             .collect()
     }
 
-    fn pressure_metrics(frame: &[f32]) -> (f32, f32) {
+    fn reset_cop_state(&mut self) {
-        let total = frame.iter().sum::<f32>();
+        self.first_contact_cop_x = None;
-        let peak = frame.iter().copied().fold(0.0, f32::max);
+        self.first_contact_cop_y = None;
-        (total, peak)
+        self.contact_initialized = false;
+        self.total_pressure_low_counter = 0;
     }
 
-    fn is_contact_enter_frame(frame: &[f32]) -> bool {
+    fn compute_pressure_direction(&mut self, frame: &[f32]) -> (f32, f32) {
-        let (total, peak) = Self::pressure_metrics(frame);
+        let frame2d = Array2::from_shape_vec((SENSOR_ROWS, SENSOR_COLS), frame.to_vec()).unwrap();
-        total >= CONTACT_ENTER_TOTAL_THRESHOLD && peak >= CONTACT_ENTER_PEAK_THRESHOLD
+        let total_pressure: f32 = frame2d.sum();
-    }
+        if total_pressure < TOTAL_PRESSURE_LOW_THRESHOLD as f32 {
-
+            self.total_pressure_low_counter += 1;
-    fn is_contact_exit_frame(frame: &[f32]) -> bool {
+        } else {
-        let (total, peak) = Self::pressure_metrics(frame);
+            self.total_pressure_low_counter = 0;
-        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 self.total_pressure_low_counter >= COP_STABILITY_FRAMES_REQUIRED {
-        if peak <= 0.0 {
+            self.reset_cop_state();
-            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,
-        })
-    }
-
-    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 total_pressure == 0.0 {
+            return (0.0, 0.0);
+        }
+
+        let mut sum_x = 0.0;
+        let mut sum_y = 0.0;
+
+        for r in 0..SENSOR_ROWS {
+            for c in 0..SENSOR_COLS {
+                let val = frame2d[(r, c)];
+                sum_x += val * c as f32;
+                sum_y += val * r as f32;
+            }
+        }
+
+        let cop_x = sum_x / total_pressure;
+        let cop_y = sum_y / total_pressure;
+
+        if !self.contact_initialized {
+            self.first_contact_cop_x = Some(cop_x);
+            self.first_contact_cop_y = Some(cop_y);
+            self.contact_initialized = true;
+            return (0.0, 0.0);
+        }
+
+        let dx = cop_x - self.first_contact_cop_x.unwrap();
+        let dy = cop_y - self.first_contact_cop_y.unwrap();
+
+        (dx, dy)
+    }
+
+    fn compute_vector_angle(x: f32, y: f32) -> (f32, f32) {
+        let epsilon = 1e-8;
+        let mag = (x * x + y * y).sqrt();
+        let mut angle = (y).atan2(x + epsilon).to_degrees();
         if angle < 0.0 {
             angle += 360.0;
         }
-
+        (angle, mag)
-        (angle, magnitude)
     }
 
-    fn update_contact_state(&mut self, raw_frame: &[f32], frame: &[f32]) -> bool {
+    fn compute_pzt_angle(px: f32, py: f32) -> (f32, f32) {
-        if self.contact_active {
+        Self::compute_vector_angle(px, -py)
-            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,
-        }))
     }
 
     pub fn get_pzt_angle(&mut self, adc_data: &[f32]) -> Result<f32, &'static str> {
-        Ok(self.get_pzt_analysis(adc_data)?.angle_deg)
+        if adc_data.len() != 84 {
-    }
+            return Err("ADC data length must be 84");
+        }
 
-    pub fn should_report(analysis: &PztSpatialAnalysis) -> bool {
+        let baseline = self.subtract_baseline(adc_data);
-        analysis.reportable
+        let (dx, dy) = self.compute_pressure_direction(&baseline);
+        let (angle, _) = Self::compute_pzt_angle(dx, dy);
+
+        Ok(angle)
     }
 
     pub fn reset_baseline(&mut self) {
-        self.baseline_frame = None;
+        self.first_frame = None;
-        self.reset_tracking_state();
+        self.reset_cop_state();
-        self.reset_report_state();
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::{PztProcessor, SENSOR_COLS, SENSOR_ROWS};
-
-    fn index(row: usize, col: usize) -> usize {
-        row * SENSOR_COLS + col
-    }
-
-    fn make_frame(active: &[(usize, usize, f32)]) -> [f32; SENSOR_ROWS * SENSOR_COLS] {
-        let mut frame = [0.0; SENSOR_ROWS * SENSOR_COLS];
-        for (row, col, value) in active {
-            frame[index(*row, *col)] = *value;
-        }
-        frame
-    }
-
-    #[test]
-    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();
-        assert!(!analysis.contact_active);
-        assert!(!analysis.reportable);
-        assert_eq!(analysis.magnitude, 0.0);
-    }
-
-    #[test]
-    fn right_heavy_contact_reports_rightward_angle_after_confirmation() {
-        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 _ = 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();
-        }
-
-        assert!(analysis.contact_active);
-        assert!(analysis.reportable);
-        assert!(analysis.magnitude > 0.0);
-        assert!(analysis.angle_deg <= 45.0 || analysis.angle_deg >= 315.0);
-    }
-
-    #[test]
-    fn report_stays_active_through_short_weak_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 analysis = processor.get_pzt_analysis(&weak).unwrap();
-        assert!(analysis.reportable);
     }
 }

src-tauri/src/serial_core/serial.rs

@@ -1,13 +1,13 @@
-#[cfg(feature = "devkit")]
-use crate::devkit::{proto::SensorFrame, DevKitState};
 use crate::serial_core::codec::Codec;
 use crate::serial_core::codecs::tactile_a::TactileACodec;
 use crate::serial_core::frame::{FrameHandler, TactileAFrame, TestFrame};
-use crate::serial_core::model::{HudChartState, HudPacket, HudSpatialForce};
+use crate::serial_core::model::{HudChartState, HudPacket};
 #[cfg(feature = "multi-dim")]
 use crate::serial_core::multi_dim_force::PztProcessor;
 use crate::serial_core::record::Recording;
 use crate::serial_core::record::{FrameTiming, RecordedFrame};
+#[cfg(feature = "devkit")]
+use crate::devkit::{proto::SensorFrame, DevKitState};
 use anyhow::Result;
 use log::debug;
 use std::future::pending;
@@ -15,14 +15,14 @@ use std::future::pending;
 use std::sync::atomic::Ordering;
 use std::sync::{Arc, Mutex};
 use std::time::Instant;
+use tauri::{AppHandle, Emitter};
 #[cfg(feature = "devkit")]
 use tauri::Manager;
-use tauri::{AppHandle, Emitter};
 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> {
@@ -33,7 +33,6 @@ pub enum PollMode<F> {
 struct PendingSubFrame<F> {
     frame: F,
     values: Vec<i32>,
-    spatial_force: Option<HudSpatialForce>,
 }
 
 pub trait SerialFrame: Clone + Send + 'static {
@@ -267,7 +266,6 @@ where
                     let display_values = build_display_values(
                         &mut chart_state,
                         pending.values.as_slice(),
-                        pending.spatial_force,
                     );
 
                     if let Some(packet) = pending
@@ -311,36 +309,22 @@ where
                     drop(record);
 
                     if let Some(vals) = decode_res {
-                        let mut 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) {
+                            if let Ok(angle) = pzt_processor.get_pzt_angle(&pzt_values) {
-                                // debug!(
+                                // debug!("pzt angle: {:.2}", angle);
-                                //     "spatial force: angle={:.2}°, magnitude={:.2}, dx={:.2}, dy={:.2}",
-                                //     analysis.angle_deg, analysis.magnitude, analysis.planar_x, analysis.planar_y
-                                // );
-                                if PztProcessor::should_report(&analysis) {
-                                    spatial_force = Some(HudSpatialForce {
-                                        angle_deg: analysis.angle_deg,
-                                        magnitude: analysis.magnitude,
-                                        confidence: analysis.confidence,
-                                    });
-                                }
                             }
                         }
                         #[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);
                         }
-
                         pending_sub_frame = Some(PendingSubFrame {
                             frame: frame.clone(),
                             values: vals,
-                            spatial_force,
                         });
                     } else if let Some(packet) = frame.to_hud_packet(&mut chart_state, None) {
                         app.emit("hud_stream", packet)?;
@@ -352,18 +336,11 @@ where
     Ok(())
 }
 
-fn build_display_values(
+fn build_display_values(chart_state: &mut HudChartState, values: &[i32]) -> Option<Vec<i32>> {
-    chart_state: &mut HudChartState,
-    values: &[i32],
-    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])
 }
 
@@ -420,12 +397,12 @@ fn infer_matrix_shape(len: usize) -> (u32, u32) {
 }
 
 fn raw_to_g1(raw: u32) -> f64 {
-    const X: [u32; 13] = [
+    const X: [u32; 11] = [
-        0, 16811, 41350, 79241, 94615, 127446, 149559, 175900, 195056, 237852, 267810, 322472, 378511,
+        0, 75507, 93732, 122031, 145263, 168630, 189980, 226021, 253636, 307140, 361368,
     ];
 
-    const Y: [f64; 13] = [
+    const Y: [f64; 11] = [
-        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,
+        0.0, 197.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0,
     ];
 
     let n = X.len();

src/lib/components/CenterStage.svelte

@@ -6,21 +6,17 @@
   import { fly } from "svelte/transition";
   import { DEFAULT_PRESSURE_RANGE_MAX, DEFAULT_PRESSURE_RANGE_MIN } from "$lib/config/pressure-range";
   import ConfigPanel from "$lib/components/ConfigPanel.svelte";
-  import ModelStage from "$lib/components/ModelStage.svelte";
   import NeonBreakoutArena from "$lib/components/NeonBreakoutArena.svelte";
   import PressureMatrixViewer from "$lib/components/PressureMatrixViewer.svelte";
   import SignalChart from "$lib/components/SignalChart.svelte";
-  import SpatialForcePanel from "$lib/components/SpatialForcePanel.svelte";
   import SummaryCurve from "$lib/components/SummaryCurve.svelte";
   import type {
     HudColorMapOption,
     HudSignalPanel,
-    HudSpatialForce,
     HudSummary,
     LocaleCode,
     MatrixDisplayMode,
-    PressureColorMapPreset,
+    PressureColorMapPreset
-    StageViewMode
   } from "$lib/types/hud";
 
   export let locale: LocaleCode = "zh-CN";
@@ -28,8 +24,6 @@
   export let rightPanels: HudSignalPanel[] = [];
   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 = "";
@@ -47,8 +41,6 @@
   export let rangeMax = DEFAULT_PRESSURE_RANGE_MAX;
   export let colorMapPreset: PressureColorMapPreset = "emerald";
   export let matrixDisplayMode: MatrixDisplayMode = "dots";
-  export let stageViewMode: StageViewMode = "webgl";
-  export let modelUrl = "/models/je-skin-model.glb";
   export let replaySectionLabel = "";
   export let replayPlayLabel = "";
   export let replayPauseLabel = "";
@@ -76,6 +68,7 @@
   let replaySide: "left" | "right" = "right";
 
   const minRailScale = 0.2;
+  const resultantForceZeroThreshold = 0.1;
   const dispatch = createEventDispatcher<{
     configclose: void;
     replaytoggle: void;
@@ -89,10 +82,10 @@
   $: 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);
+  $: summaryCurveVisible =
+    summary.latest != null && Number.isFinite(summary.latest) && summary.latest > resultantForceZeroThreshold;
   $: 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";
-  $: isModelStage = stageViewMode === "model3d";
 
   function toPxNumber(rawValue: string): number {
     const value = Number.parseFloat(rawValue);
@@ -185,13 +178,7 @@
       bind:this={stagePlaneEl}
       style="--panel-zone-top-dyn: {panelZoneTopPx}px; --rail-scale-left: {leftRailScale}; --rail-scale-right: {rightRailScale};"
     >
-      {#if isModelStage}
+      {#if showPrecisionTestPanel}
-        <div class="canvas-wrap">
-          {#key modelUrl}
-            <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">
@@ -247,7 +234,7 @@
         </div>
       {/if}
 
-      {#if showConfigPanel && !showPrecisionTestPanel && !isModelStage}
+      {#if showConfigPanel && !showPrecisionTestPanel}
         <div class="config-panel-wrap">
           <ConfigPanel
             bind:matrixRows
@@ -269,7 +256,7 @@
         </div>
       {/if}
 
-      {#if !showPrecisionTestPanel && !isModelStage}
+      {#if !showPrecisionTestPanel}
         <div class="panel-zone" bind:this={panelZoneEl}>
           <aside class="side-rail left-rail">
             <div class="rail-stack" bind:this={leftStackEl}>
@@ -318,42 +305,6 @@
                 </div>
               {/each}
 
-              <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}
-                  {locale}
-                  side="right"
-                  panelIndex={rightPanels.length}
-                  panelCode="ALG"
-                  panelTitle={locale === "zh-CN" ? "本地切向力" : "Local Tangential"}
-                  badgeLabel={locale === "zh-CN" ? "算法" : "ALGO"}
-                />
-              </div>
-
-              <div
-                class="panel-motion-shell"
-                in:fly={{ x: 180, duration: 340, opacity: 0.08, easing: cubicOut }}
-                out:fly={{ x: 180, duration: 280, opacity: 0.06, easing: cubicIn }}
-              >
-                <SpatialForcePanel
-                  spatialForce={devkitSpatialForce}
-                  {locale}
-                  side="right"
-                  panelIndex={rightPanels.length + 1}
-                  panelCode="DKT"
-                  panelTitle={locale === "zh-CN" ? "DevKit 切向力" : "DevKit Tangential"}
-                  badgeLabel="DEVKIT"
-                  badgeTone="lime"
-                  showMetrics={false}
-                  requireMagnitude={false}
-                  compactMetaText={locale === "zh-CN" ? "等待 DevKit 角度流" : "Waiting for DevKit angle"}
-                />
-              </div>
-
               {#if summaryCurveVisible && summarySide === "right"}
                 <div
                   class="panel-motion-shell"
@@ -377,7 +328,7 @@
         </div>
       {/if}
 
-      {#if replayHasData && !showPrecisionTestPanel && !isModelStage}
+      {#if replayHasData && !showPrecisionTestPanel}
         <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 +366,7 @@
         </aside>
       {/if}
 
-      {#if !showPrecisionTestPanel && !isModelStage}
+      {#if !showPrecisionTestPanel}
         <div class="stage-bottom-overlay">
           <slot />
         </div>

src/lib/components/HudPanel.svelte

@@ -6,7 +6,6 @@
     HudNoticeTone,
     LocaleCode,
     MatrixDisplayMode,
-    StageViewMode,
     WindowControlAction
   } from "$lib/types/hud";
 
@@ -35,10 +34,6 @@
   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 = "";
   export let exportActionLabel = "";
@@ -61,7 +56,6 @@
     localechange: LocaleCode;
     configlink: string;
     matrixdisplaytoggle: boolean;
-    stagemodechange: StageViewMode;
     portchange: string;
     serialrefresh: void;
     serialconnect: string;
@@ -111,10 +105,6 @@
     dispatch("matrixdisplaytoggle", matrixDisplayMode !== "dots");
   }
 
-  function emitStageModeChange(nextMode: StageViewMode): void {
-    dispatch("stagemodechange", nextMode);
-  }
-
   function emitPortChange(event: Event): void {
     const target = event.currentTarget as HTMLSelectElement;
     dispatch("portchange", target.value);
@@ -227,28 +217,6 @@
         </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>
@@ -517,8 +485,7 @@
     background: var(--panel-surface);
   }
 
-  .matrix-switch-wrap,
+  .matrix-switch-wrap {
-  .stage-mode-switch {
     display: inline-flex;
     align-items: center;
     gap: 0.4rem;
@@ -529,8 +496,7 @@
     background: var(--panel-surface);
   }
 
-  .matrix-switch-label,
+  .matrix-switch-label {
-  .stage-mode-label {
     color: var(--panel-text-dim);
     font-size: 0.66rem;
     letter-spacing: 0.08em;
@@ -621,45 +587,6 @@
     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;

src/lib/components/ModelStage.svelte

@@ -1,469 +0,0 @@
-<script lang="ts">
-  import { onMount } from "svelte";
-  import * as THREE from "three";
-  import { OrbitControls } from "three/examples/jsm/controls/OrbitControls.js";
-  import { GLTFLoader } from "three/examples/jsm/loaders/GLTFLoader.js";
-  import type { GLTF } from "three/examples/jsm/loaders/GLTFLoader.js";
-  import type { LocaleCode } from "$lib/types/hud";
-
-  type ModelLoadState = "loading" | "ready" | "missing" | "error";
-
-  export let locale: LocaleCode = "zh-CN";
-  export let modelUrl = "/models/je-skin-model.glb";
-
-  let rootEl: HTMLDivElement | undefined;
-  let canvasEl: HTMLCanvasElement | undefined;
-  let loadState: ModelLoadState = "loading";
-  let loadProgress = 0;
-  let loadError = "";
-
-  const FLOOR_Y = -1.15;
-  const MODEL_FLOOR_CLEARANCE = 0.035;
-  const MODEL_TARGET_HEIGHT = 8.4;
-  const MODEL_MIN_SCALE = 0.02;
-  const MODEL_MAX_SCALE = 80;
-  const CAMERA_DISTANCE_FACTOR = 1.35;
-  const CAMERA_DISTANCE_MIN = 7.5;
-  const CAMERA_DISTANCE_MAX = 24;
-
-  $: copy =
-    locale === "zh-CN"
-      ? {
-          title: "3D 模型舱",
-          subtitle: "Dark Grid / Future Lab",
-          loading: "正在加载模型",
-          ready: "模型已载入",
-          missing: "等待模型文件",
-          error: "模型加载失败",
-          modelPath: "模型路径",
-          hint: "请使用 glTF 2.0 的 .glb/.gltf；旧版 glTF 1.0 需要先转换"
-        }
-      : {
-          title: "3D Model Bay",
-          subtitle: "Dark Grid / Future Lab",
-          loading: "Loading model",
-          ready: "Model loaded",
-          missing: "Waiting for model file",
-          error: "Model load failed",
-          modelPath: "Model path",
-          hint: "Use glTF 2.0 .glb/.gltf assets; older glTF 1.0 files need conversion first"
-        };
-  $: statusText =
-    loadState === "ready"
-      ? copy.ready
-      : loadState === "missing"
-        ? copy.missing
-        : loadState === "error"
-          ? copy.error
-          : `${copy.loading} ${Math.round(loadProgress)}%`;
-
-  function disposeObject3D(object: THREE.Object3D): void {
-    object.traverse((child) => {
-      const mesh = child as THREE.Mesh;
-      if (mesh.geometry) {
-        mesh.geometry.dispose();
-      }
-
-      const material = mesh.material;
-      if (Array.isArray(material)) {
-        for (const item of material) {
-          item.dispose();
-        }
-      } else if (material) {
-        material.dispose();
-      }
-    });
-  }
-
-  function buildPlaceholderModel(): THREE.Group {
-    const group = new THREE.Group();
-    const cyan = new THREE.Color(0x5ee7ff);
-    const lime = new THREE.Color(0xa6ff7a);
-
-    const platform = new THREE.Mesh(
-      new THREE.CylinderGeometry(5.8, 6.7, 0.36, 96),
-      new THREE.MeshStandardMaterial({
-        color: 0x0c1824,
-        emissive: 0x07131f,
-        metalness: 0.62,
-        roughness: 0.34
-      })
-    );
-    platform.position.y = 0.18;
-    group.add(platform);
-
-    const ringGeometry = new THREE.TorusGeometry(4.35, 0.035, 10, 128);
-    const ringMaterial = new THREE.MeshBasicMaterial({ color: cyan, transparent: true, opacity: 0.78 });
-    for (let index = 0; index < 3; index += 1) {
-      const ring = new THREE.Mesh(ringGeometry, ringMaterial);
-      ring.position.y = 0.52 + index * 0.52;
-      ring.rotation.x = Math.PI / 2;
-      group.add(ring);
-    }
-
-    const coreMaterial = new THREE.MeshStandardMaterial({
-      color: 0x1b2a38,
-      emissive: 0x0a2632,
-      metalness: 0.48,
-      roughness: 0.42,
-      transparent: true,
-      opacity: 0.72
-    });
-    const core = new THREE.Mesh(new THREE.BoxGeometry(2.2, 3.4, 1.1), coreMaterial);
-    core.position.y = 2.4;
-    core.rotation.y = -0.36;
-    group.add(core);
-
-    const sensorMaterial = new THREE.MeshBasicMaterial({ color: lime, transparent: true, opacity: 0.88 });
-    for (let index = 0; index < 7; index += 1) {
-      const bead = new THREE.Mesh(new THREE.SphereGeometry(0.13, 18, 18), sensorMaterial);
-      bead.position.set(-0.72 + index * 0.24, 3.18 + Math.sin(index * 0.72) * 0.18, 0.6);
-      group.add(bead);
-    }
-
-    return group;
-  }
-
-  function clamp(value: number, min: number, max: number): number {
-    return Math.min(max, Math.max(min, value));
-  }
-
-  function normalizeObjectToStage(object: THREE.Object3D): THREE.Box3 {
-    object.updateMatrixWorld(true);
-    let bounds = new THREE.Box3().setFromObject(object);
-    const size = bounds.getSize(new THREE.Vector3());
-    const currentHeight = Math.max(size.y, 0.001);
-    const scale = clamp(MODEL_TARGET_HEIGHT / currentHeight, MODEL_MIN_SCALE, MODEL_MAX_SCALE);
-
-    object.scale.multiplyScalar(scale);
-    object.updateMatrixWorld(true);
-
-    bounds = new THREE.Box3().setFromObject(object);
-    const center = bounds.getCenter(new THREE.Vector3());
-    object.position.x -= center.x;
-    object.position.z -= center.z;
-    object.position.y += FLOOR_Y + MODEL_FLOOR_CLEARANCE - bounds.min.y;
-    object.updateMatrixWorld(true);
-
-    return new THREE.Box3().setFromObject(object);
-  }
-
-  function frameObject(object: THREE.Object3D, camera: THREE.PerspectiveCamera, controls: OrbitControls): void {
-    const bounds = normalizeObjectToStage(object);
-    const size = bounds.getSize(new THREE.Vector3());
-    const maxAxis = Math.max(size.x, size.y, size.z, 1);
-    const distance = clamp(maxAxis * CAMERA_DISTANCE_FACTOR, CAMERA_DISTANCE_MIN, CAMERA_DISTANCE_MAX);
-    const targetY = FLOOR_Y + Math.max(size.y * 0.46, 1.4);
-
-    camera.position.set(distance * 0.48, targetY + distance * 0.24, distance * 0.68);
-    camera.near = Math.max(distance / 80, 0.01);
-    camera.far = distance * 24;
-    camera.updateProjectionMatrix();
-    controls.target.set(0, targetY, 0);
-    controls.minDistance = Math.max(distance * 0.32, 2);
-    controls.maxDistance = Math.max(distance * 2.5, 12);
-    controls.update();
-  }
-
-  onMount(() => {
-    if (!rootEl || !canvasEl) {
-      return;
-    }
-
-    const renderer = new THREE.WebGLRenderer({
-      canvas: canvasEl,
-      antialias: true,
-      alpha: true,
-      powerPreference: "high-performance"
-    });
-    renderer.setPixelRatio(Math.min(window.devicePixelRatio || 1, 2));
-    renderer.setClearColor(0x03070d, 1);
-    renderer.outputColorSpace = THREE.SRGBColorSpace;
-    renderer.toneMapping = THREE.ACESFilmicToneMapping;
-    renderer.toneMappingExposure = 1.08;
-
-    const scene = new THREE.Scene();
-    scene.fog = new THREE.FogExp2(0x03070d, 0.028);
-
-    const camera = new THREE.PerspectiveCamera(38, 1, 0.05, 600);
-    camera.position.set(8, 6, 9);
-
-    const controls = new OrbitControls(camera, canvasEl);
-    controls.enableDamping = true;
-    controls.dampingFactor = 0.08;
-    controls.minDistance = 2.4;
-    controls.maxDistance = 32;
-    controls.target.set(0, FLOOR_Y + 3.2, 0);
-
-    const labGroup = new THREE.Group();
-    scene.add(labGroup);
-
-    const grid = new THREE.GridHelper(42, 42, 0x63e6ff, 0x123047);
-    grid.position.y = FLOOR_Y;
-    const gridMaterial = grid.material;
-    if (Array.isArray(gridMaterial)) {
-      for (const material of gridMaterial) {
-        material.transparent = true;
-        material.opacity = 0.28;
-      }
-    } else {
-      gridMaterial.transparent = true;
-      gridMaterial.opacity = 0.28;
-    }
-    labGroup.add(grid);
-
-    const backGrid = new THREE.GridHelper(42, 42, 0x5ee7ff, 0x0c2436);
-    backGrid.position.set(0, 9.5, -17);
-    backGrid.rotation.x = Math.PI / 2;
-    const backGridMaterial = backGrid.material;
-    if (Array.isArray(backGridMaterial)) {
-      for (const material of backGridMaterial) {
-        material.transparent = true;
-        material.opacity = 0.12;
-      }
-    } else {
-      backGridMaterial.transparent = true;
-      backGridMaterial.opacity = 0.12;
-    }
-    labGroup.add(backGrid);
-
-    const floor = new THREE.Mesh(
-      new THREE.PlaneGeometry(42, 42),
-      new THREE.MeshStandardMaterial({
-        color: 0x050c14,
-        metalness: 0.28,
-        roughness: 0.64,
-        transparent: true,
-        opacity: 0.72
-      })
-    );
-    floor.rotation.x = -Math.PI / 2;
-    floor.position.y = FLOOR_Y - 0.018;
-    labGroup.add(floor);
-
-    const ambient = new THREE.AmbientLight(0x9fb8d0, 0.22);
-    const keyLight = new THREE.DirectionalLight(0x7be7ff, 1.5);
-    keyLight.position.set(8, 12, 8);
-    const rimLight = new THREE.PointLight(0xa6ff7a, 26, 24, 2.1);
-    rimLight.position.set(-4.5, 4.8, -3.6);
-    const sideLight = new THREE.PointLight(0x5c8cff, 15, 28, 1.7);
-    sideLight.position.set(5.8, 3.2, -5.4);
-    scene.add(ambient, keyLight, rimLight, sideLight);
-
-    let activeModel: THREE.Object3D = buildPlaceholderModel();
-    scene.add(activeModel);
-    frameObject(activeModel, camera, controls);
-
-    const loader = new GLTFLoader();
-    loader.load(
-      modelUrl,
-      (gltf: GLTF) => {
-        scene.remove(activeModel);
-        disposeObject3D(activeModel);
-        activeModel = gltf.scene;
-        activeModel.traverse((child) => {
-          const mesh = child as THREE.Mesh;
-          if (mesh.isMesh) {
-            mesh.castShadow = true;
-            mesh.receiveShadow = true;
-          }
-        });
-        scene.add(activeModel);
-        frameObject(activeModel, camera, controls);
-        loadState = "ready";
-        loadProgress = 100;
-      },
-      (event) => {
-        if (event.total > 0) {
-          loadProgress = (event.loaded / event.total) * 100;
-        } else {
-          loadProgress = 12;
-        }
-      },
-      (error) => {
-        const message = error instanceof Error ? error.message : String(error);
-        loadError = message || "Unknown model loader error";
-        loadState = message.toLowerCase().includes("404") ? "missing" : "error";
-        loadProgress = 0;
-      }
-    );
-
-    const resize = () => {
-      if (!rootEl) {
-        return;
-      }
-
-      const width = rootEl.clientWidth;
-      const height = rootEl.clientHeight;
-      if (width <= 0 || height <= 0) {
-        return;
-      }
-
-      renderer.setSize(width, height, false);
-      camera.aspect = width / height;
-      camera.updateProjectionMatrix();
-    };
-
-    resize();
-    const resizeObserver = new ResizeObserver(resize);
-    resizeObserver.observe(rootEl);
-
-    renderer.setAnimationLoop((timestamp) => {
-      const seconds = timestamp / 1000;
-      labGroup.position.y = Math.sin(seconds * 0.75) * 0.015;
-      if (loadState !== "ready") {
-        activeModel.rotation.y = seconds * 0.32;
-      }
-      controls.update();
-      renderer.render(scene, camera);
-    });
-
-    return () => {
-      resizeObserver.disconnect();
-      renderer.setAnimationLoop(null);
-      controls.dispose();
-      disposeObject3D(activeModel);
-      disposeObject3D(labGroup);
-      renderer.dispose();
-    };
-  });
-</script>
-
-<div class="model-stage" bind:this={rootEl}>
-  <canvas class="model-canvas" bind:this={canvasEl} aria-label={copy.title}></canvas>
-  <div class="model-vignette" aria-hidden="true"></div>
-  <div class="model-scanlines" aria-hidden="true"></div>
-
-  <section class="model-hud" aria-label={copy.title}>
-    <p class="model-kicker">{copy.subtitle}</p>
-    <h2>{copy.title}</h2>
-    <div class="model-status-row">
-      <span class="status-light" class:is-ready={loadState === "ready"}></span>
-      <span>{statusText}</span>
-    </div>
-    <p class="model-path">{copy.modelPath}: {modelUrl}</p>
-    <p class="model-hint">{loadError || copy.hint}</p>
-  </section>
-</div>
-
-<style>
-  .model-stage {
-    position: absolute;
-    inset: 0;
-    overflow: hidden;
-    background:
-      radial-gradient(circle at 52% 62%, rgb(94 231 255 / 0.12), transparent 26%),
-      radial-gradient(circle at 24% 18%, rgb(166 255 122 / 0.07), transparent 24%),
-      linear-gradient(180deg, #03070d 0%, #07111b 48%, #02050a 100%);
-  }
-
-  .model-canvas,
-  .model-vignette,
-  .model-scanlines {
-    position: absolute;
-    inset: 0;
-    inline-size: 100%;
-    block-size: 100%;
-  }
-
-  .model-canvas {
-    display: block;
-  }
-
-  .model-vignette,
-  .model-scanlines {
-    pointer-events: none;
-  }
-
-  .model-vignette {
-    background:
-      linear-gradient(90deg, rgb(0 0 0 / 0.36), transparent 22%, transparent 78%, rgb(0 0 0 / 0.34)),
-      radial-gradient(circle at center, transparent 48%, rgb(0 0 0 / 0.58) 100%);
-  }
-
-  .model-scanlines {
-    opacity: 0.32;
-    background:
-      repeating-linear-gradient(180deg, rgb(94 231 255 / 0.045) 0, rgb(94 231 255 / 0.045) 1px, transparent 1px, transparent 4px);
-    mix-blend-mode: screen;
-  }
-
-  .model-hud {
-    position: absolute;
-    top: clamp(1.2rem, 2.8vw, 2.2rem);
-    left: clamp(1.2rem, 2.8vw, 2.4rem);
-    z-index: 2;
-    display: grid;
-    gap: 0.42rem;
-    max-inline-size: min(22rem, 42vw);
-    padding: 0.9rem 1rem 1rem;
-    border: 1px solid rgb(94 231 255 / 0.24);
-    border-radius: 0.7rem;
-    background:
-      linear-gradient(180deg, rgb(8 18 28 / 0.82), rgb(3 9 15 / 0.72)),
-      radial-gradient(circle at 0 0, rgb(94 231 255 / 0.1), transparent 44%);
-    box-shadow:
-      inset 0 1px 0 rgb(255 255 255 / 0.06),
-      0 0 28px rgb(94 231 255 / 0.08);
-    backdrop-filter: blur(10px);
-  }
-
-  .model-kicker,
-  .model-path,
-  .model-hint {
-    margin: 0;
-    color: rgb(198 226 239 / 0.72);
-    font-size: 0.6rem;
-    letter-spacing: 0.1em;
-    text-transform: uppercase;
-    line-height: 1.35;
-  }
-
-  h2 {
-    margin: 0;
-    color: rgb(241 251 255 / 0.96);
-    font-size: clamp(1.15rem, 1.1vw + 0.88rem, 1.72rem);
-    line-height: 1.05;
-    font-weight: 650;
-  }
-
-  .model-status-row {
-    display: inline-flex;
-    align-items: center;
-    gap: 0.44rem;
-    color: rgb(229 249 255 / 0.94);
-    font-size: 0.78rem;
-    letter-spacing: 0.04em;
-  }
-
-  .status-light {
-    inline-size: 0.58rem;
-    block-size: 0.58rem;
-    border-radius: 50%;
-    background: rgb(255 188 92 / 0.95);
-    box-shadow: 0 0 0 2px rgb(255 188 92 / 0.16), 0 0 12px rgb(255 188 92 / 0.18);
-  }
-
-  .status-light.is-ready {
-    background: rgb(166 255 122 / 0.95);
-    box-shadow: 0 0 0 2px rgb(166 255 122 / 0.16), 0 0 14px rgb(166 255 122 / 0.22);
-  }
-
-  .model-path {
-    color: rgb(94 231 255 / 0.78);
-    text-transform: none;
-    word-break: break-word;
-  }
-
-  .model-hint {
-    color: rgb(198 226 239 / 0.66);
-    text-transform: none;
-    letter-spacing: 0.04em;
-  }
-
-  @media (max-width: 960px) {
-    .model-hud {
-      max-inline-size: min(20rem, calc(100% - 2.4rem));
-    }
-  }
-</style>

src/lib/components/PressureMatrixViewer.svelte

@@ -145,6 +145,10 @@
       return "--";
     }
 
+    if (value === 0) {
+      return "0";
+    }
+
     return value.toFixed(1);
   }
 

src/lib/components/SpatialForcePanel.svelte

@@ -1,523 +0,0 @@
-<script lang="ts">
-  import type { HudSpatialForce } from "$lib/types/hud";
-
-  export let spatialForce: HudSpatialForce | null = null;
-  export let side: "left" | "right" = "right";
-  export let panelIndex = 0;
-  export let locale: "zh-CN" | "en-US" = "zh-CN";
-  export let panelCode = "TAN";
-  export let panelTitle = "";
-  export let badgeLabel = "";
-  export let badgeTone: "cyan" | "lime" | "orange" = "cyan";
-  export let showMetrics = true;
-  export let requireMagnitude = true;
-  export let compactMetaText = "";
-
-  function formatValue(value: number | null, digits = 1): string {
-    if (value === null || !Number.isFinite(value)) {
-      return "--";
-    }
-
-    return value.toFixed(digits);
-  }
-
-  function normalizeAngle(value: number): number {
-    return ((value % 360) + 360) % 360;
-  }
-
-  function shortestAngleDelta(from: number, to: number): number {
-    const delta = ((to - from + 540) % 360) - 180;
-    return delta === -180 ? 180 : delta;
-  }
-
-  const jumpAngleThresholdDeg = 72;
-
-  let visualAngleDeg = 0;
-  let previousRawAngleDeg: number | null = null;
-  let snapVector = false;
-  let snapResetFrame: number | null = null;
-
-  function setSnapVector(): void {
-    snapVector = true;
-
-    if (typeof window === "undefined") {
-      return;
-    }
-
-    if (snapResetFrame !== null) {
-      window.cancelAnimationFrame(snapResetFrame);
-    }
-
-    snapResetFrame = window.requestAnimationFrame(() => {
-      snapVector = false;
-      snapResetFrame = null;
-    });
-  }
-
-  function updateVisualAngle(rawAngleDeg: number, active: boolean): void {
-    if (!active) {
-      previousRawAngleDeg = null;
-      visualAngleDeg = 0;
-      return;
-    }
-
-    if (previousRawAngleDeg === null) {
-      previousRawAngleDeg = rawAngleDeg;
-      visualAngleDeg = rawAngleDeg;
-      return;
-    }
-
-    const delta = shortestAngleDelta(previousRawAngleDeg, rawAngleDeg);
-    if (Math.abs(delta) < 0.001) {
-      return;
-    }
-
-    if (Math.abs(delta) >= jumpAngleThresholdDeg) {
-      setSnapVector();
-    }
-
-    visualAngleDeg += delta;
-    previousRawAngleDeg = rawAngleDeg;
-  }
-
-  $: i18n =
-    locale === "zh-CN"
-      ? {
-          title: "切向力方向",
-          waiting: "等待数据",
-          angle: "ANGLE",
-          heading: "方向角",
-          strength: "强度",
-          confidence: "置信度"
-        }
-      : {
-          title: "Tangential Direction",
-          waiting: "Waiting",
-          angle: "ANGLE",
-          heading: "Heading",
-          strength: "Strength",
-          confidence: "Confidence"
-        };
-  $: resolvedTitle = panelTitle || i18n.title;
-  $: resolvedBadgeLabel = badgeLabel || i18n.angle;
-  $: resolvedCompactMetaText =
-    compactMetaText || (locale === "zh-CN" ? "仅使用角度流" : "Angle stream only");
-
-  $: hasData =
-    spatialForce !== null &&
-    Number.isFinite(spatialForce.angleDeg) &&
-    (!requireMagnitude || Number.isFinite(spatialForce.magnitude));
-  $: angleDeg = hasData ? normalizeAngle(spatialForce?.angleDeg ?? 0) : 0;
-  $: updateVisualAngle(angleDeg, hasData);
-  $: magnitude = hasData ? spatialForce?.magnitude ?? 0 : null;
-  $: confidence = hasData ? (spatialForce?.confidence ?? 0) * 100 : null;
-</script>
-
-<article
-  class="signal-panel spatial-panel side-{side}"
-  class:is-empty={!hasData}
-  aria-hidden={false}
-  style="--panel-index: {panelIndex};"
->
-  <header class="panel-head">
-    <div class="head-text">
-      <p class="panel-code">{panelCode}</p>
-      <p class="panel-title">{resolvedTitle}</p>
-    </div>
-
-    <div class="icon-layer" aria-hidden="true">
-      <span class={`icon-chip tone-${badgeTone}`}>{resolvedBadgeLabel}</span>
-    </div>
-  </header>
-
-  <div class="panel-body">
-    <div class="compass-stage">
-      <div class="compass-core">
-        <div class="compass-ring compass-ring-outer"></div>
-        <div class="compass-ring compass-ring-inner"></div>
-        <div class="compass-axis axis-horizontal"></div>
-        <div class="compass-axis axis-vertical"></div>
-        {#if hasData}
-          <div
-            class="compass-vector"
-            class:is-snap={snapVector}
-            style="transform: translateY(-50%) rotate({-visualAngleDeg}deg);"
-          >
-            <span class="vector-shaft"></span>
-            <span class="vector-head"></span>
-          </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>
-      </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));
-    justify-self: start;
-    display: grid;
-    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);
-    border-radius: 0.92rem;
-    background:
-      linear-gradient(160deg, rgb(var(--hud-surface-alt-rgb) / 0.76) 0%, rgb(var(--hud-surface-rgb) / 0.62) 48%, rgb(var(--hud-surface-deep-rgb) / 0.76) 100%),
-      radial-gradient(circle at 12% 0, rgb(var(--hud-glow-rgb) / 0.1), transparent 40%);
-    box-shadow:
-      inset 0 0 0 1px rgb(var(--hud-border-strong-rgb) / 0.08),
-      inset 0 -24px 32px rgb(0 0 0 / 0.48),
-      0 0 14px rgb(var(--hud-glow-rgb) / 0.14);
-    opacity: 1;
-    transform: translateX(0) scale(1) rotate(0);
-    transition:
-      opacity var(--fade-ms) cubic-bezier(0.18, 0.88, 0.3, 1),
-      transform var(--enter-ms) cubic-bezier(0.2, 0.9, 0.28, 1),
-      border-color 460ms ease,
-      filter 760ms ease;
-    transition-delay: calc(var(--panel-index) * 140ms);
-  }
-
-  .signal-panel.side-left {
-    --offset-x: -132%;
-  }
-
-  .signal-panel.side-right {
-    --offset-x: 132%;
-    justify-self: end;
-  }
-
-  .spatial-panel.is-empty {
-    opacity: 0.82;
-  }
-
-  .panel-head {
-    display: flex;
-    justify-content: space-between;
-    align-items: flex-start;
-    gap: 0.4rem;
-    margin-block-end: 0;
-  }
-
-  .head-text {
-    min-width: 0;
-  }
-
-  .panel-code {
-    margin: 0;
-    font-size: 0.63rem;
-    color: rgb(var(--hud-text-dim-rgb) / 0.88);
-    letter-spacing: 0.12em;
-    text-transform: uppercase;
-  }
-
-  .panel-title {
-    margin: 0.12rem 0 0;
-    font-size: 1.08rem;
-    color: rgb(var(--hud-text-main-rgb) / 0.96);
-    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) / 0.54);
-  }
-
-  .icon-chip.tone-orange {
-    border-color: rgb(var(--hud-orange-rgb) / 0.54);
-  }
-
-  .panel-body {
-    display: grid;
-    grid-template-columns: minmax(0, 1.1fr) minmax(10rem, 0.9fr);
-    gap: 0.72rem;
-    block-size: clamp(12rem, 15.5vw, 15rem);
-    min-block-size: clamp(12rem, 15.5vw, 15rem);
-  }
-
-  .compass-stage {
-    position: relative;
-    min-block-size: 0;
-    overflow: hidden;
-    border: 1px solid rgb(var(--hud-border-strong-rgb) / 0.32);
-    border-radius: 0.62rem;
-    background:
-      linear-gradient(180deg, rgb(var(--hud-surface-alt-rgb) / 0.68), rgb(var(--hud-surface-deep-rgb) / 0.78)),
-      radial-gradient(circle at 50% 0, rgb(var(--hud-glow-rgb) / 0.09), transparent 45%);
-    display: grid;
-    place-items: center;
-  }
-
-  .compass-core {
-    position: relative;
-    inline-size: min(72%, 13rem);
-    aspect-ratio: 1;
-  }
-
-  .compass-ring,
-  .compass-axis,
-  .compass-center,
-  .compass-vector {
-    position: absolute;
-    top: 50%;
-    left: 50%;
-  }
-
-  .compass-ring {
-    border-radius: 50%;
-    transform: translate(-50%, -50%);
-  }
-
-  .compass-ring-outer {
-    inline-size: 100%;
-    block-size: 100%;
-    border: 1px solid rgb(var(--hud-cyan-rgb) / 0.28);
-    box-shadow: 0 0 18px rgb(var(--hud-glow-rgb) / 0.08);
-  }
-
-  .compass-ring-inner {
-    inline-size: 62%;
-    block-size: 62%;
-    border: 1px dashed rgb(var(--hud-border-strong-rgb) / 0.3);
-  }
-
-  .compass-axis {
-    background: rgb(var(--hud-border-strong-rgb) / 0.18);
-    transform: translate(-50%, -50%);
-  }
-
-  .axis-horizontal {
-    inline-size: 86%;
-    block-size: 1px;
-  }
-
-  .axis-vertical {
-    inline-size: 1px;
-    block-size: 86%;
-  }
-
-  .compass-vector {
-    inline-size: 42%;
-    block-size: 0.9rem;
-    transform-origin: 0 50%;
-    transition: transform 220ms ease;
-  }
-
-  .compass-vector.is-snap {
-    transition-duration: 0ms;
-  }
-
-  .vector-shaft {
-    position: absolute;
-    top: 50%;
-    left: 0;
-    right: 0.7rem;
-    block-size: 2px;
-    transform: translateY(-50%);
-    border-radius: 999px;
-    background: linear-gradient(90deg, rgb(var(--hud-cyan-rgb) / 0.18), rgb(var(--hud-cyan-rgb) / 0.96));
-    box-shadow: 0 0 14px rgb(var(--hud-cyan-rgb) / 0.2);
-  }
-
-  .vector-head {
-    position: absolute;
-    top: 50%;
-    right: 0;
-    inline-size: 0;
-    block-size: 0;
-    transform: translateY(-50%);
-    border-top: 0.36rem solid transparent;
-    border-bottom: 0.36rem solid transparent;
-    border-left: 0.7rem solid rgb(var(--hud-lime-rgb) / 0.96);
-    filter: drop-shadow(0 0 8px rgb(var(--hud-lime-rgb) / 0.24));
-  }
-
-  .compass-center {
-    inline-size: 0.56rem;
-    block-size: 0.56rem;
-    transform: translate(-50%, -50%);
-    border-radius: 50%;
-    background: rgb(var(--hud-text-main-rgb) / 0.92);
-    box-shadow: 0 0 10px rgb(var(--hud-text-main-rgb) / 0.12);
-  }
-
-  .compass-label {
-    position: absolute;
-    font-size: 0.58rem;
-    color: rgb(var(--hud-text-dim-rgb) / 0.8);
-    letter-spacing: 0.08em;
-  }
-
-  .label-top {
-    top: -0.9rem;
-    left: 50%;
-    transform: translateX(-50%);
-  }
-
-  .label-right {
-    top: 50%;
-    right: -1rem;
-    transform: translateY(-50%);
-  }
-
-  .label-bottom {
-    bottom: -0.9rem;
-    left: 50%;
-    transform: translateX(-50%);
-  }
-
-  .label-left {
-    top: 50%;
-    left: -1.35rem;
-    transform: translateY(-50%);
-  }
-
-  .empty-state {
-    position: absolute;
-    inset: 0;
-    display: flex;
-    align-items: center;
-    justify-content: center;
-    color: rgb(var(--hud-text-dim-rgb) / 0.76);
-    font-size: 0.66rem;
-    letter-spacing: 0.08em;
-    text-transform: uppercase;
-    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));
-    }
-  }
-
-  @media (max-height: 900px) {
-    .signal-panel {
-      inline-size: min(100%, clamp(28rem, 38vw, 36rem));
-      padding: 0.7rem 0.76rem 0.8rem;
-    }
-  }
-
-  @media (max-height: 760px) {
-    .signal-panel {
-      inline-size: 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);
-    }
-  }
-
-  @media (max-height: 680px) {
-    .signal-panel {
-      inline-size: min(100%, clamp(20rem, 28vw, 26rem));
-      padding: 0.52rem 0.58rem 0.6rem;
-      gap: 0.36rem;
-    }
-  }
-
-  @media (max-width: 900px) {
-    .signal-panel {
-      inline-size: 100%;
-    }
-
-    .panel-body {
-      grid-template-columns: 1fr;
-      block-size: auto;
-      min-block-size: auto;
-    }
-
-    .compass-core {
-      inline-size: min(58vw, 12rem);
-    }
-  }
-</style>

src/lib/types/hud.ts

@@ -3,7 +3,6 @@ export type LocaleCode = "zh-CN" | "en-US";
 export type WindowControlAction = "minimize" | "toggle-maximize" | "close";
 
 export type ConnectionState = "online" | "connecting" | "offline";
-export type StageViewMode = "webgl" | "model3d";
 
 export type StageStatusTone = "ok" | "warn" | "idle";
 export type HudNoticeTone = "ok" | "warn" | "info";
@@ -41,18 +40,11 @@ export interface HudSignalPanel {
   max: number | null;
 }
 
-export interface HudSpatialForce {
-  angleDeg: number;
-  magnitude: number;
-  confidence: number;
-}
-
 export interface HudPacket {
   ts: number;
   panels: HudSignalPanel[];
   summary: HudSummary;
   pressureMatrix: number[] | null;
-  spatialForce: HudSpatialForce | null;
 }
 
 export interface HudSummary {
@@ -94,9 +86,6 @@ export interface HudCopy {
   matrixViewLabel: string;
   matrixViewNumericLabel: string;
   matrixViewDotsLabel: string;
-  stageModeLabel: string;
-  stageModeWebglLabel: string;
-  stageModeModelLabel: string;
   resetConfigLabel: string;
   applyLiveHint: string;
   runtimeReady: string;

src/routes/+page.svelte

@@ -22,7 +22,6 @@
     HudConfigLink,
     HudNoticeTone,
     HudPacket,
-    HudSpatialForce,
     PressureColorMapPreset,
     HudSignalPanel,
     HudSignalSeries,
@@ -34,7 +33,6 @@
     SerialRecordStateResult,
     SerialImportResult,
     SignalTone,
-    StageViewMode,
     WindowControlAction
   } from "$lib/types/hud";
 
@@ -46,13 +44,6 @@
     dtsMs: number;
   }
 
-  interface DevKitPztAngleEvent {
-    seq: number;
-    timestampMs: number;
-    dtsMs: number;
-    angle: number;
-  }
-
   const copyByLocale: Record<LocaleCode, HudCopy> = {
     "zh-CN": {
       appName: "JE-Skin",
@@ -71,9 +62,6 @@
       matrixViewLabel: "矩阵模式",
       matrixViewNumericLabel: "数字矩阵",
       matrixViewDotsLabel: "点矩阵",
-      stageModeLabel: "渲染模式",
-      stageModeWebglLabel: "WebGL",
-      stageModeModelLabel: "3D 模型",
       resetConfigLabel: "恢复默认",
       applyLiveHint: "实时生效 / 矩阵尺寸变更将重建 viewer",
       runtimeReady: "WEBGL2 READY",
@@ -133,9 +121,6 @@
       matrixViewLabel: "Matrix Mode",
       matrixViewNumericLabel: "Numeric",
       matrixViewDotsLabel: "Dots",
-      stageModeLabel: "Render Mode",
-      stageModeWebglLabel: "WebGL",
-      stageModeModelLabel: "3D Model",
       resetConfigLabel: "Reset",
       applyLiveHint: "Live apply / size changes recreate the viewer",
       runtimeReady: "WEBGL2 READY",
@@ -184,6 +169,7 @@
   const summaryPointsPerSeries = 42;
   const signalRenderTickMs = 1200;
   const replayDefaultFrameMs = 40;
+  const resultantForceZeroThreshold = 0.1;
   const showSignalPanels = false;
   const mockToneCycle: SignalTone[] = ["cyan", "lime", "orange", "violet", "gold", "rose"];
 
@@ -236,15 +222,12 @@
   let signalPanels: HudSignalPanel[] = buildInactivePanels();
   let summary: HudSummary = buildEmptySummary();
   let pressureMatrix: number[] | null = null;
-  let spatialForce: HudSpatialForce | null = null;
-  let devkitSpatialForce: HudSpatialForce | null = null;
   let matrixRows = 12;
   let matrixCols = 7;
   let rangeMin = DEFAULT_PRESSURE_RANGE_MIN;
   let rangeMax = DEFAULT_PRESSURE_RANGE_MAX;
   let colorMapPreset: PressureColorMapPreset = "emerald";
   let matrixDisplayMode: MatrixDisplayMode = "dots";
-  let stageViewMode: StageViewMode = "webgl";
   let replayFrames: ReplayFrame[] = [];
   let replayCurrentIndex = 0;
   let replayHasDisplayedFrame = false;
@@ -278,7 +261,6 @@
     rowsKept: number;
   } | null = null;
   let devkitStatusTimer: number | null = null;
-  let devkitSpatialForceClearTimer: number | null = null;
   let sessionStartedAt: number = Date.now();
 
   $: uiCopy = copyByLocale[locale];
@@ -306,31 +288,6 @@
     return typeof window !== "undefined" && "__TAURI_INTERNALS__" in window;
   }
 
-  function clearDevkitSpatialForce(): void {
-    devkitSpatialForce = null;
-    if (devkitSpatialForceClearTimer != null && typeof window !== "undefined") {
-      window.clearTimeout(devkitSpatialForceClearTimer);
-      devkitSpatialForceClearTimer = null;
-    }
-    hasSignalData = signalPanels.length > 0 || summary.points.length > 0 || spatialForce !== null;
-  }
-
-  function scheduleDevkitSpatialForceClear(): void {
-    if (typeof window === "undefined") {
-      return;
-    }
-
-    if (devkitSpatialForceClearTimer != null) {
-      window.clearTimeout(devkitSpatialForceClearTimer);
-    }
-
-    devkitSpatialForceClearTimer = window.setTimeout(() => {
-      devkitSpatialForce = null;
-      devkitSpatialForceClearTimer = null;
-      hasSignalData = signalPanels.length > 0 || summary.points.length > 0 || spatialForce !== null;
-    }, 420);
-  }
-
   function clamp(value: number, min: number, max: number): number {
     return Math.min(max, Math.max(min, value));
   }
@@ -751,10 +708,23 @@
     return new Array<number>(totalCells).fill(0);
   }
 
+  function shouldZeroPressureMatrix(summaryValue: HudSummary): boolean {
+    return summaryValue.latest != null && Number.isFinite(summaryValue.latest) && summaryValue.latest === 0;
+  }
+
+  function resolvePressureMatrixForSummary(
+    sourceMatrix: number[] | null,
+    summaryValue: HudSummary
+  ): number[] | null {
+    if (shouldZeroPressureMatrix(summaryValue)) {
+      return buildZeroMatrix();
+    }
+
+    return sourceMatrix;
+  }
+
   function resetReplayVisualState(): void {
     pressureMatrix = buildZeroMatrix();
-    spatialForce = null;
-    clearDevkitSpatialForce();
     signalPanels = buildInactivePanels();
     summary = buildEmptySummary();
     hasSignalData = false;
@@ -789,11 +759,10 @@
     replayCurrentIndex = safeIndex;
     replayHasDisplayedFrame = true;
     replayProgress = replayFrames.length > 1 ? safeIndex / (replayFrames.length - 1) : 1;
-    pressureMatrix = frameValuesToMatrix(replayFrames[safeIndex].values);
+    const nextSummary = buildReplaySummaryAt(safeIndex);
-    spatialForce = null;
+    pressureMatrix = resolvePressureMatrixForSummary(frameValuesToMatrix(replayFrames[safeIndex].values), nextSummary);
-    clearDevkitSpatialForce();
     signalPanels = buildInactivePanels();
-    summary = buildReplaySummaryAt(safeIndex);
+    summary = nextSummary;
     hasSignalData = true;
   }
 
@@ -959,16 +928,37 @@
     };
   }
 
-  function isZeroLikeValue(value: number): boolean {
+  function normalizeResultantForce(value: number): number {
-    return !Number.isFinite(value) || Math.abs(value) < 0.0001;
+    if (!Number.isFinite(value)) {
+      return 0;
+    }
+
+    return value <= resultantForceZeroThreshold ? 0 : value;
   }
 
-  function shouldHideSummary(points: number[]): boolean {
+  function normalizeNullableResultantForce(value: number | null): number | null {
-    return points.length === 0 || points.every((value) => isZeroLikeValue(value));
+    return value == null ? null : normalizeResultantForce(value);
   }
 
   function normalizeSummary(summaryValue: HudSummary): HudSummary {
-    return shouldHideSummary(summaryValue.points) ? buildEmptySummary() : summaryValue;
+    if (summaryValue.points.length === 0) {
+      return {
+        ...summaryValue,
+        latest: normalizeNullableResultantForce(summaryValue.latest),
+        min: normalizeNullableResultantForce(summaryValue.min),
+        max: normalizeNullableResultantForce(summaryValue.max)
+      };
+    }
+
+    const points = summaryValue.points.map(normalizeResultantForce);
+
+    return {
+      ...summaryValue,
+      points,
+      latest: points[points.length - 1],
+      min: Math.min(...points),
+      max: Math.max(...points)
+    };
   }
 
   function buildSummary(points: number[], xValues: number[] = []): HudSummary {
@@ -976,7 +966,8 @@
       return buildEmptySummary();
     }
 
-    const resolvedXValues = points.map((_, index) => {
+    const normalizedPoints = points.map(normalizeResultantForce);
+    const resolvedXValues = normalizedPoints.map((_, index) => {
       const x = xValues[index];
       return Number.isFinite(x) ? Number(x) : index + 1;
     });
@@ -984,10 +975,10 @@
     return {
       label: "Resultant Force",
       xValues: resolvedXValues,
-      points,
+      points: normalizedPoints,
-      latest: points[points.length - 1],
+      latest: normalizedPoints[normalizedPoints.length - 1],
-      min: Math.min(...points),
+      min: Math.min(...normalizedPoints),
-      max: Math.max(...points)
+      max: Math.max(...normalizedPoints)
     };
   }
 
@@ -1033,25 +1024,21 @@
     if (replayHasData) {
       return;
     }
+    const normalizedSummary = normalizeSummary(packet.summary);
     signalPanels = showSignalPanels ? packet.panels : buildInactivePanels();
-    if (packet.summary.points.length > 0) {
+    if (normalizedSummary.points.length > 0) {
       const nowSeconds = Math.round((Date.now() - sessionStartedAt) / 100) / 10;
-      const pointCount = packet.summary.points.length;
+      const pointCount = normalizedSummary.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);
+      const xValues = normalizedSummary.points.map((_, index) => Math.round((startX + index * spacing) * 10) / 10);
-      summary = { ...packet.summary, xValues };
+      summary = { ...normalizedSummary, xValues };
     } else {
-      summary = packet.summary;
+      summary = normalizedSummary;
     }
-    pressureMatrix = packet.pressureMatrix;
+    pressureMatrix = resolvePressureMatrixForSummary(packet.pressureMatrix, normalizedSummary);
-    spatialForce = packet.spatialForce ?? null;
+    hasSignalData = signalPanels.length > 0 || normalizedSummary.points.length > 0;
-    hasSignalData =
-      signalPanels.length > 0 ||
-      packet.summary.points.length > 0 ||
-      spatialForce !== null ||
-      devkitSpatialForce !== null;
   }
 
   function clearHudPanels(): void {
@@ -1059,19 +1046,17 @@
     signalPanels = buildInactivePanels();
     summary = buildEmptySummary();
     pressureMatrix = null;
-    spatialForce = null;
-    clearDevkitSpatialForce();
   }
 
   function startMockFeed(push: (packet: HudPacket) => void): () => void {
     let panels = buildInactivePanels();
     let summaryValue = buildSummary(createSummaryPoints(randomBetween(480, 1440)));
-    push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null, spatialForce: null });
+    push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null });
 
     const timerId = window.setInterval(() => {
       summaryValue = evolveSummary(summaryValue);
 
-      push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null, spatialForce: null });
+      push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null });
     }, signalRenderTickMs);
 
     return () => {
@@ -1699,7 +1684,6 @@
 
   function handleConfigLink(event: CustomEvent<string>): void {
     if (event.detail === "precision-test") {
-      stageViewMode = "webgl";
       isPrecisionTestOpen = !isPrecisionTestOpen;
       isConfigPanelOpen = false;
       isDevKitConfigOpen = false;
@@ -1707,7 +1691,6 @@
     }
 
     if (event.detail === "settings") {
-      stageViewMode = "webgl";
       isPrecisionTestOpen = false;
       isConfigPanelOpen = !isConfigPanelOpen;
       isDevKitConfigOpen = false;
@@ -1800,14 +1783,6 @@
     matrixDisplayMode = event.detail ? "dots" : "numeric";
   }
 
-  function handleStageModeChange(event: CustomEvent<StageViewMode>): void {
-    stageViewMode = event.detail;
-    if (stageViewMode === "model3d") {
-      isPrecisionTestOpen = false;
-      isConfigPanelOpen = false;
-    }
-  }
-
   onMount(() => {
     let disposed = false;
     let unlistenHudStream: UnlistenFn | null = null;
@@ -1835,25 +1810,12 @@
         .catch((error) => {
           console.error("Failed to listen for hud_stream:", error);
         });
-      void listen<DevKitPztAngleEvent>("devkit_pzt_angle", (event) => {
+      void listen<{ seq: number; timestampMs: number; dtsMs: number; angle: number }>(
-        const angleDeg = Number(event.payload.angle);
+        "devkit_pzt_angle",
-        if (!Number.isFinite(angleDeg)) {
+        (event) => {
-          clearDevkitSpatialForce();
+          console.log("[devkit_pzt_angle]", event.payload);
-          return;
         }
-
+      )
-        devkitSpatialForce = {
-          angleDeg,
-          magnitude: 0,
-          confidence: 0
-        };
-        scheduleDevkitSpatialForceClear();
-        hasSignalData =
-          signalPanels.length > 0 ||
-          summary.points.length > 0 ||
-          spatialForce !== null ||
-          devkitSpatialForce !== null;
-      })
         .then((unlisten) => {
           if (disposed) {
             unlisten();
@@ -1872,7 +1834,6 @@
     return () => {
       disposed = true;
       pauseReplayPlayback();
-      clearDevkitSpatialForce();
       stopMockFeed?.();
       unlistenHudStream?.();
       unlistenDevkitPztAngle?.();
@@ -1917,10 +1878,6 @@
       matrixViewNumericLabel={uiCopy.matrixViewNumericLabel}
       matrixViewDotsLabel={uiCopy.matrixViewDotsLabel}
       {matrixDisplayMode}
-      stageModeLabel={uiCopy.stageModeLabel}
-      stageModeWebglLabel={uiCopy.stageModeWebglLabel}
-      stageModeModelLabel={uiCopy.stageModeModelLabel}
-      {stageViewMode}
       connectActionLabel={uiCopy.connectActionLabel}
       disconnectActionLabel={uiCopy.disconnectActionLabel}
       exportActionLabel={uiCopy.exportActionLabel}
@@ -1943,7 +1900,6 @@
       on:portchange={handlePortChange}
       on:configlink={handleConfigLink}
       on:matrixdisplaytoggle={handleMatrixDisplayToggle}
-      on:stagemodechange={handleStageModeChange}
       on:serialrefresh={handleSerialRefresh}
       on:serialconnect={handleSerialConnect}
       on:serialexport={handleSerialExportRequest}
@@ -1964,7 +1920,6 @@
       bind:rangeMax
       bind:colorMapPreset
       bind:matrixDisplayMode
-      {stageViewMode}
       configPanelTitle={uiCopy.configPanelTitle}
       configPanelHint={uiCopy.configPanelHint}
       matrixSizeLabel={uiCopy.matrixSizeLabel}
@@ -1991,8 +1946,6 @@
       leftPanels={leftSignalPanels}
       rightPanels={rightSignalPanels}
       {pressureMatrix}
-      {spatialForce}
-      {devkitSpatialForce}
       showConfigPanel={isConfigPanelOpen}
       showPrecisionTestPanel={isPrecisionTestOpen}
       {summary}
@@ -2003,7 +1956,7 @@
       on:replayclose={handleReplayClose}
       on:configclose={() => (isConfigPanelOpen = false)}
     >
-      {#if !isPrecisionTestOpen && stageViewMode === "webgl"}
+      {#if !isPrecisionTestOpen}
         <section class="range-scale" aria-label="Signal Range">
           <p class="range-label">{locale === "zh-CN" ? "范围" : "Range"}</p>
           <div class="range-track">

static/models/README.md

@@ -1,14 +0,0 @@
-# 3D model assets
-
-Put the first pipeline model here:
-
-- Preferred: `static/models/je-skin-model.glb`
-- Format: glTF 2.0 `.glb`
-- Also supported after changing `modelUrl`: glTF 2.0 `.gltf` with its `.bin` and texture files in the same folder
-- Not supported directly: older glTF 1.0 assets. Convert them to glTF 2.0 first.
-
-Runtime URL used by the app:
-
-```text
-/models/je-skin-model.glb
-```