feat: 切向力算法更新 + AD反解x模块

This reverts commit aa08a75aef.

.gitignore

@@ -25,6 +25,12 @@ 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

@@ -0,0 +1,3 @@
+[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/Analysis-00.toc

@@ -1,6 +1,6 @@
-(['D:\\JE-Skin\\devkit\\sensor_server.py'],
+(['d:\\JE-Skin-main\\devkit\\sensor_server.py'],
- ['D:\\JE-Skin\\devkit'],
+ ['d:\\JE-Skin-main\\devkit'],
- ['grpc', 'openpyxl', 'numpy'],
+ [],
  [('C:\\Python314\\Lib\\site-packages\\numpy\\_pyinstaller', 0),
   ('C:\\Python314\\Lib\\site-packages\\_pyinstaller_hooks_contrib\\stdhooks',
    -1000),
@@ -12,10 +12,7 @@
  {},
  0,
  [],
- [('sensor_stream_pb2.py', 'D:\\JE-Skin\\devkit\\sensor_stream_pb2.py', 'DATA'),
+ [],
-  ('sensor_stream_pb2_grpc.py',
-   'D:\\JE-Skin\\devkit\\sensor_stream_pb2_grpc.py',
-   'DATA')],
  '3.14.3 (tags/v3.14.3:323c59a, Feb  3 2026, 16:04:56) [MSC v.1944 64 bit '
  '(AMD64)]',
  [('pyi_rth_inspect',
@@ -27,10 +24,12 @@
   ('pyi_rth_multiprocessing',
    'C:\\Python314\\Lib\\site-packages\\PyInstaller\\hooks\\rthooks\\pyi_rth_multiprocessing.py',
    'PYSOURCE'),
-  ('sensor_server', 'D:\\JE-Skin\\devkit\\sensor_server.py', 'PYSOURCE')],
+  ('sensor_server', 'D:\\JE-Skin-main\\devkit\\sensor_server.py', 'PYSOURCE')],
  [('subprocess', 'C:\\Python314\\Lib\\subprocess.py', 'PYMODULE'),
   ('selectors', 'C:\\Python314\\Lib\\selectors.py', 'PYMODULE'),
   ('contextlib', 'C:\\Python314\\Lib\\contextlib.py', 'PYMODULE'),
+  ('threading', 'C:\\Python314\\Lib\\threading.py', 'PYMODULE'),
+  ('_threading_local', 'C:\\Python314\\Lib\\_threading_local.py', 'PYMODULE'),
   ('multiprocessing.spawn',
    'C:\\Python314\\Lib\\multiprocessing\\spawn.py',
    'PYMODULE'),
@@ -314,14 +313,12 @@
   ('multiprocessing',
    'C:\\Python314\\Lib\\multiprocessing\\__init__.py',
    'PYMODULE'),
-  ('_py_abc', 'C:\\Python314\\Lib\\_py_abc.py', 'PYMODULE'),
   ('_py_warnings', 'C:\\Python314\\Lib\\_py_warnings.py', 'PYMODULE'),
   ('tracemalloc', 'C:\\Python314\\Lib\\tracemalloc.py', 'PYMODULE'),
+  ('_py_abc', 'C:\\Python314\\Lib\\_py_abc.py', 'PYMODULE'),
   ('difflib', 'C:\\Python314\\Lib\\difflib.py', 'PYMODULE'),
   ('codeop', 'C:\\Python314\\Lib\\codeop.py', 'PYMODULE'),
   ('stringprep', 'C:\\Python314\\Lib\\stringprep.py', 'PYMODULE'),
-  ('threading', 'C:\\Python314\\Lib\\threading.py', 'PYMODULE'),
-  ('_threading_local', 'C:\\Python314\\Lib\\_threading_local.py', 'PYMODULE'),
   ('numpy',
    'C:\\Python314\\Lib\\site-packages\\numpy\\__init__.py',
    'PYMODULE'),
@@ -734,6 +731,9 @@
   ('numpy.lib._utils_impl',
    'C:\\Python314\\Lib\\site-packages\\numpy\\lib\\_utils_impl.py',
    'PYMODULE'),
+  ('threadpoolctl',
+   'C:\\Python314\\Lib\\site-packages\\threadpoolctl.py',
+   'PYMODULE'),
   ('numpy.lib._ufunclike_impl',
    'C:\\Python314\\Lib\\site-packages\\numpy\\lib\\_ufunclike_impl.py',
    'PYMODULE'),
@@ -1402,7 +1402,7 @@
    'C:\\Python314\\Lib\\site-packages\\openpyxl\\worksheet\\_write_only.py',
    'PYMODULE'),
   ('sensor_stream_pb2_grpc',
-   'D:\\JE-Skin\\devkit\\sensor_stream_pb2_grpc.py',
+   'd:\\JE-Skin-main\\devkit\\sensor_stream_pb2_grpc.py',
    'PYMODULE'),
   ('grpc._utilities',
    'C:\\Python314\\Lib\\site-packages\\grpc\\_utilities.py',
@@ -1429,7 +1429,7 @@
    'C:\\Python314\\Lib\\site-packages\\grpc\\_common.py',
    'PYMODULE'),
   ('sensor_stream_pb2',
-   'D:\\JE-Skin\\devkit\\sensor_stream_pb2.py',
+   'd:\\JE-Skin-main\\devkit\\sensor_stream_pb2.py',
    'PYMODULE'),
   ('google.protobuf.internal.builder',
    'C:\\Python314\\Lib\\site-packages\\google\\protobuf\\internal\\builder.py',
@@ -1621,12 +1621,12 @@
   ('argparse', 'C:\\Python314\\Lib\\argparse.py', 'PYMODULE'),
   ('__future__', 'C:\\Python314\\Lib\\__future__.py', 'PYMODULE')],
  [('python314.dll', 'C:\\Python314\\python314.dll', 'BINARY'),
-  ('numpy.libs\\libscipy_openblas64_-63c857e738469261263c764a36be9436.dll',
-   'C:\\Python314\\Lib\\site-packages\\numpy.libs\\libscipy_openblas64_-63c857e738469261263c764a36be9436.dll',
-   'BINARY'),
   ('numpy.libs\\msvcp140-a4c2229bdc2a2a630acdc095b4d86008.dll',
    'C:\\Python314\\Lib\\site-packages\\numpy.libs\\msvcp140-a4c2229bdc2a2a630acdc095b4d86008.dll',
    'BINARY'),
+  ('numpy.libs\\libscipy_openblas64_-63c857e738469261263c764a36be9436.dll',
+   'C:\\Python314\\Lib\\site-packages\\numpy.libs\\libscipy_openblas64_-63c857e738469261263c764a36be9436.dll',
+   'BINARY'),
   ('select.pyd', 'C:\\Python314\\DLLs\\select.pyd', 'EXTENSION'),
   ('_multiprocessing.pyd',
    'C:\\Python314\\DLLs\\_multiprocessing.pyd',
@@ -1694,142 +1694,138 @@
   ('grpc_tools\\_protoc_compiler.cp314-win_amd64.pyd',
    'C:\\Python314\\Lib\\site-packages\\grpc_tools\\_protoc_compiler.cp314-win_amd64.pyd',
    'EXTENSION'),
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-  ('api-ms-win-crt-convert-l1-1-0.dll',
-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-convert-l1-1-0.dll',
-   'BINARY'),
   ('api-ms-win-crt-filesystem-l1-1-0.dll',
    'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-filesystem-l1-1-0.dll',
    'BINARY'),
-  ('api-ms-win-crt-heap-l1-1-0.dll',
+  ('api-ms-win-crt-locale-l1-1-0.dll',
-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-heap-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-locale-l1-1-0.dll',
-   'BINARY'),
-  ('VCRUNTIME140.dll', 'C:\\Python314\\VCRUNTIME140.dll', 'BINARY'),
-  ('api-ms-win-crt-conio-l1-1-0.dll',
-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-conio-l1-1-0.dll',
-   'BINARY'),
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   ('libcrypto-3.dll', 'C:\\Python314\\DLLs\\libcrypto-3.dll', 'BINARY'),
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-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-interlocked-l1-1-0.dll',
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    'BINARY'),
-  ('api-ms-win-core-fibers-l1-1-0.dll',
+  ('api-ms-win-core-processthreads-l1-1-1.dll',
-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-fibers-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-processthreads-l1-1-1.dll',
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    'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-errorhandling-l1-1-0.dll',
    'BINARY'),
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+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-memory-l1-1-0.dll',
+   'BINARY'),
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+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-file-l2-1-0.dll',
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    'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-processthreads-l1-1-0.dll',
    'BINARY'),
-  ('api-ms-win-core-processthreads-l1-1-1.dll',
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-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-processthreads-l1-1-1.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-debug-l1-1-0.dll',
+   'BINARY'),
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+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-file-l1-2-0.dll',
+   'BINARY'),
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+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-string-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-namedpipe-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-namedpipe-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-timezone-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-timezone-l1-1-0.dll',
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+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-rtlsupport-l1-1-0.dll',
+   'BINARY'),
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+   'BINARY'),
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+   'BINARY'),
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+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-synch-l1-2-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-interlocked-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-interlocked-l1-1-0.dll',
+   'BINARY'),
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+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-handle-l1-1-0.dll',
+   'BINARY'),
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+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-libraryloader-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-fibers-l1-1-0.dll',
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+   'BINARY'),
+  ('api-ms-win-core-file-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-file-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-sysinfo-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-sysinfo-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-processenvironment-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-processenvironment-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-synch-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-synch-l1-1-0.dll',
    'BINARY')],
  [],
  [],
- [('sensor_stream_pb2.py', 'D:\\JE-Skin\\devkit\\sensor_stream_pb2.py', 'DATA'),
+ [('grpc\\_cython\\_credentials\\roots.pem',
-  ('sensor_stream_pb2_grpc.py',
-   'D:\\JE-Skin\\devkit\\sensor_stream_pb2_grpc.py',
-   'DATA'),
-  ('grpc\\_cython\\_credentials\\roots.pem',
    'C:\\Python314\\Lib\\site-packages\\grpc\\_cython\\_credentials\\roots.pem',
    'DATA'),
   ('grpc\\_cython\\_cygrpc\\private_key_signing\\private_key_signer_py_wrapper.h',
@@ -1838,107 +1834,111 @@
   ('grpc\\_cython\\_cygrpc\\private_key_signing\\private_key_signer_py_wrapper.cc',
    'C:\\Python314\\Lib\\site-packages\\grpc\\_cython\\_cygrpc\\private_key_signing\\private_key_signer_py_wrapper.cc',
    'DATA'),
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+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\multiarray\\dragon4_LICENSE.txt',
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+   'DATA'),
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-   'D:\\JE-Skin\\devkit\\build\\je-skin-devkit-server\\base_library.zip',
+   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\base_library.zip',
    'DATA')],
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+  ('functools', 'C:\\Python314\\Lib\\functools.py', 'PYMODULE'),
+  ('re._parser', 'C:\\Python314\\Lib\\re\\_parser.py', 'PYMODULE'),
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   ('re', 'C:\\Python314\\Lib\\re\\__init__.py', 'PYMODULE'),
-  ('sre_constants', 'C:\\Python314\\Lib\\sre_constants.py', 'PYMODULE'),
+  ('abc', 'C:\\Python314\\Lib\\abc.py', 'PYMODULE'),
+  ('codecs', 'C:\\Python314\\Lib\\codecs.py', 'PYMODULE'),
+  ('posixpath', 'C:\\Python314\\Lib\\posixpath.py', 'PYMODULE'),
+  ('enum', 'C:\\Python314\\Lib\\enum.py', 'PYMODULE'),
+  ('traceback', 'C:\\Python314\\Lib\\traceback.py', 'PYMODULE'),
+  ('linecache', 'C:\\Python314\\Lib\\linecache.py', 'PYMODULE'),
+  ('copyreg', 'C:\\Python314\\Lib\\copyreg.py', 'PYMODULE'),
   ('genericpath', 'C:\\Python314\\Lib\\genericpath.py', 'PYMODULE'),
   ('operator', 'C:\\Python314\\Lib\\operator.py', 'PYMODULE'),
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-  ('warnings', 'C:\\Python314\\Lib\\warnings.py', 'PYMODULE'),
-  ('enum', 'C:\\Python314\\Lib\\enum.py', 'PYMODULE'),
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-  ('sre_parse', 'C:\\Python314\\Lib\\sre_parse.py', 'PYMODULE'),
-  ('heapq', 'C:\\Python314\\Lib\\heapq.py', 'PYMODULE'),
-  ('traceback', 'C:\\Python314\\Lib\\traceback.py', 'PYMODULE'),
-  ('linecache', 'C:\\Python314\\Lib\\linecache.py', 'PYMODULE'),
-  ('codecs', 'C:\\Python314\\Lib\\codecs.py', 'PYMODULE'),
-  ('io', 'C:\\Python314\\Lib\\io.py', 'PYMODULE'),
-  ('keyword', 'C:\\Python314\\Lib\\keyword.py', 'PYMODULE'),
-  ('stat', 'C:\\Python314\\Lib\\stat.py', 'PYMODULE'),
-  ('locale', 'C:\\Python314\\Lib\\locale.py', 'PYMODULE'),
   ('sre_compile', 'C:\\Python314\\Lib\\sre_compile.py', 'PYMODULE'),
-  ('functools', 'C:\\Python314\\Lib\\functools.py', 'PYMODULE'),
   ('types', 'C:\\Python314\\Lib\\types.py', 'PYMODULE'),
+  ('stat', 'C:\\Python314\\Lib\\stat.py', 'PYMODULE'),
+  ('sre_constants', 'C:\\Python314\\Lib\\sre_constants.py', 'PYMODULE'),
+  ('reprlib', 'C:\\Python314\\Lib\\reprlib.py', 'PYMODULE'),
+  ('locale', 'C:\\Python314\\Lib\\locale.py', 'PYMODULE'),
+  ('_weakrefset', 'C:\\Python314\\Lib\\_weakrefset.py', 'PYMODULE'),
+  ('heapq', 'C:\\Python314\\Lib\\heapq.py', 'PYMODULE'),
+  ('io', 'C:\\Python314\\Lib\\io.py', 'PYMODULE'),
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    'PYMODULE'),
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-  ('posixpath', 'C:\\Python314\\Lib\\posixpath.py', 'PYMODULE'),
-  ('weakref', 'C:\\Python314\\Lib\\weakref.py', 'PYMODULE'),
-  ('_weakrefset', 'C:\\Python314\\Lib\\_weakrefset.py', 'PYMODULE'),
-  ('reprlib', 'C:\\Python314\\Lib\\reprlib.py', 'PYMODULE'),
   ('collections', 'C:\\Python314\\Lib\\collections\\__init__.py', 'PYMODULE'),
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devkit/build/je-skin-devkit-server/EXE-00.toc

@@ -1,4 +1,4 @@
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+('d:\\JE-Skin-main\\devkit\\dist\\je-skin-devkit-server.exe',
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@@ -29,25 +29,25 @@
  None,
  None,
  None,
- 'D:\\JE-Skin\\devkit\\build\\je-skin-devkit-server\\je-skin-devkit-server.pkg',
+ 'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\je-skin-devkit-server.pkg',
  [('pyi-contents-directory _internal', '', 'OPTION'),
   ('PYZ-00.pyz',
-   'D:\\JE-Skin\\devkit\\build\\je-skin-devkit-server\\PYZ-00.pyz',
+   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\PYZ-00.pyz',
    'PYZ'),
   ('struct',
-   'D:\\JE-Skin\\devkit\\build\\je-skin-devkit-server\\localpycs\\struct.pyc',
+   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\struct.pyc',
    'PYMODULE'),
   ('pyimod01_archive',
-   'D:\\JE-Skin\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod01_archive.pyc',
+   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod01_archive.pyc',
    'PYMODULE'),
   ('pyimod02_importers',
-   'D:\\JE-Skin\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod02_importers.pyc',
+   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod02_importers.pyc',
    'PYMODULE'),
   ('pyimod03_ctypes',
-   'D:\\JE-Skin\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod03_ctypes.pyc',
+   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod03_ctypes.pyc',
    'PYMODULE'),
   ('pyimod04_pywin32',
-   'D:\\JE-Skin\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod04_pywin32.pyc',
+   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod04_pywin32.pyc',
    'PYMODULE'),
   ('pyiboot01_bootstrap',
    'C:\\Python314\\Lib\\site-packages\\PyInstaller\\loader\\pyiboot01_bootstrap.py',
@@ -61,14 +61,14 @@
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    'C:\\Python314\\Lib\\site-packages\\PyInstaller\\hooks\\rthooks\\pyi_rth_multiprocessing.py',
    'PYSOURCE'),
-  ('sensor_server', 'D:\\JE-Skin\\devkit\\sensor_server.py', 'PYSOURCE'),
+  ('sensor_server', 'D:\\JE-Skin-main\\devkit\\sensor_server.py', 'PYSOURCE'),
   ('python314.dll', 'C:\\Python314\\python314.dll', 'BINARY'),
-  ('numpy.libs\\libscipy_openblas64_-63c857e738469261263c764a36be9436.dll',
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    'C:\\Python314\\Lib\\site-packages\\numpy.libs\\msvcp140-a4c2229bdc2a2a630acdc095b4d86008.dll',
    'BINARY'),
+  ('numpy.libs\\libscipy_openblas64_-63c857e738469261263c764a36be9436.dll',
+   'C:\\Python314\\Lib\\site-packages\\numpy.libs\\libscipy_openblas64_-63c857e738469261263c764a36be9436.dll',
+   'BINARY'),
   ('select.pyd', 'C:\\Python314\\DLLs\\select.pyd', 'EXTENSION'),
   ('_multiprocessing.pyd',
    'C:\\Python314\\DLLs\\_multiprocessing.pyd',
@@ -136,139 +136,135 @@
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    'BINARY'),
-  ('api-ms-win-crt-heap-l1-1-0.dll',
+  ('api-ms-win-crt-locale-l1-1-0.dll',
-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-heap-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-locale-l1-1-0.dll',
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devkit/build/je-skin-devkit-server/PKG-00.toc

@@ -1,4 +1,4 @@
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-   'D:\\JE-Skin\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod01_archive.pyc',
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    'PYMODULE'),
   ('pyimod02_importers',
-   'D:\\JE-Skin\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod02_importers.pyc',
+   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod02_importers.pyc',
    'PYMODULE'),
   ('pyimod03_ctypes',
-   'D:\\JE-Skin\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod03_ctypes.pyc',
+   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod03_ctypes.pyc',
    'PYMODULE'),
   ('pyimod04_pywin32',
-   'D:\\JE-Skin\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod04_pywin32.pyc',
+   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\localpycs\\pyimod04_pywin32.pyc',
    'PYMODULE'),
   ('pyiboot01_bootstrap',
    'C:\\Python314\\Lib\\site-packages\\PyInstaller\\loader\\pyiboot01_bootstrap.py',
@@ -39,14 +39,14 @@
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    'C:\\Python314\\Lib\\site-packages\\PyInstaller\\hooks\\rthooks\\pyi_rth_multiprocessing.py',
    'PYSOURCE'),
-  ('sensor_server', 'D:\\JE-Skin\\devkit\\sensor_server.py', 'PYSOURCE'),
+  ('sensor_server', 'D:\\JE-Skin-main\\devkit\\sensor_server.py', 'PYSOURCE'),
   ('python314.dll', 'C:\\Python314\\python314.dll', 'BINARY'),
-  ('numpy.libs\\libscipy_openblas64_-63c857e738469261263c764a36be9436.dll',
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    'C:\\Python314\\Lib\\site-packages\\numpy.libs\\msvcp140-a4c2229bdc2a2a630acdc095b4d86008.dll',
    'BINARY'),
+  ('numpy.libs\\libscipy_openblas64_-63c857e738469261263c764a36be9436.dll',
+   'C:\\Python314\\Lib\\site-packages\\numpy.libs\\libscipy_openblas64_-63c857e738469261263c764a36be9436.dll',
+   'BINARY'),
   ('select.pyd', 'C:\\Python314\\DLLs\\select.pyd', 'EXTENSION'),
   ('_multiprocessing.pyd',
    'C:\\Python314\\DLLs\\_multiprocessing.pyd',
@@ -114,139 +114,135 @@
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    'C:\\Python314\\Lib\\site-packages\\grpc_tools\\_protoc_compiler.cp314-win_amd64.pyd',
    'EXTENSION'),
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-   'BINARY'),
-  ('api-ms-win-crt-convert-l1-1-0.dll',
-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-convert-l1-1-0.dll',
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    'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-filesystem-l1-1-0.dll',
    'BINARY'),
-  ('api-ms-win-crt-heap-l1-1-0.dll',
+  ('api-ms-win-crt-locale-l1-1-0.dll',
-   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-heap-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-locale-l1-1-0.dll',
-   'BINARY'),
-  ('VCRUNTIME140.dll', 'C:\\Python314\\VCRUNTIME140.dll', 'BINARY'),
-  ('api-ms-win-crt-conio-l1-1-0.dll',
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-   'BINARY'),
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    'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-time-l1-1-0.dll',
    'BINARY'),
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+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-environment-l1-1-0.dll',
+   'BINARY'),
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+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-runtime-l1-1-0.dll',
+   'BINARY'),
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    'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-string-l1-1-0.dll',
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+  ('api-ms-win-crt-process-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-process-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-crt-math-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-math-l1-1-0.dll',
+   'BINARY'),
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+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-crt-stdio-l1-1-0.dll',
+   'BINARY'),
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    'BINARY'),
-  ('sensor_stream_pb2.py', 'D:\\JE-Skin\\devkit\\sensor_stream_pb2.py', 'DATA'),
+  ('api-ms-win-core-errorhandling-l1-1-0.dll',
-  ('sensor_stream_pb2_grpc.py',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-errorhandling-l1-1-0.dll',
-   'D:\\JE-Skin\\devkit\\sensor_stream_pb2_grpc.py',
+   'BINARY'),
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+  ('api-ms-win-core-memory-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-memory-l1-1-0.dll',
+   'BINARY'),
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+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-file-l2-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-processthreads-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-processthreads-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-debug-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-debug-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-file-l1-2-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-file-l1-2-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-string-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-string-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-namedpipe-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-namedpipe-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-timezone-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-timezone-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-rtlsupport-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-rtlsupport-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-localization-l1-2-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-localization-l1-2-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-datetime-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-datetime-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-util-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-util-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-console-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-console-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-synch-l1-2-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-synch-l1-2-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-interlocked-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-interlocked-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-handle-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-handle-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-libraryloader-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-libraryloader-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-fibers-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-fibers-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-heap-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-heap-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-file-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-file-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-sysinfo-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-sysinfo-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-processenvironment-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-processenvironment-l1-1-0.dll',
+   'BINARY'),
+  ('api-ms-win-core-synch-l1-1-0.dll',
+   'C:\\Users\\Administrator\\miniconda3\\api-ms-win-core-synch-l1-1-0.dll',
+   'BINARY'),
   ('grpc\\_cython\\_credentials\\roots.pem',
    'C:\\Python314\\Lib\\site-packages\\grpc\\_cython\\_credentials\\roots.pem',
    'DATA'),
@@ -256,80 +252,80 @@
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    'C:\\Python314\\Lib\\site-packages\\grpc\\_cython\\_cygrpc\\private_key_signing\\private_key_signer_py_wrapper.cc',
    'DATA'),
-  ('numpy-2.4.4.dist-info\\WHEEL',
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\common\\pythoncapi-compat\\COPYING',
-   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\WHEEL',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\common\\pythoncapi-compat\\COPYING',
-   'DATA'),
-  ('numpy-2.4.4.dist-info\\licenses\\LICENSE.txt',
-   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\LICENSE.txt',
-   'DATA'),
-  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\sfc64\\LICENSE.md',
-   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\sfc64\\LICENSE.md',
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   ('numpy-2.4.4.dist-info\\INSTALLER',
    'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\INSTALLER',
    'DATA'),
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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',
-   'DATA'),
-  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\umath\\svml\\LICENSE',
-   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\umath\\svml\\LICENSE',
-   'DATA'),
   ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\LICENSE.md',
    'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\LICENSE.md',
    'DATA'),
-  ('numpy-2.4.4.dist-info\\METADATA',
-   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\METADATA',
-   'DATA'),
-  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\mt19937\\LICENSE.md',
-   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\mt19937\\LICENSE.md',
-   'DATA'),
-  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\highway\\LICENSE',
-   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\highway\\LICENSE',
-   'DATA'),
-  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\philox\\LICENSE.md',
-   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\philox\\LICENSE.md',
-   'DATA'),
   ('numpy-2.4.4.dist-info\\licenses\\numpy\\fft\\pocketfft\\LICENSE.md',
    'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\fft\\pocketfft\\LICENSE.md',
    'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\splitmix64\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\splitmix64\\LICENSE.md',
+   'DATA'),
   ('numpy-2.4.4.dist-info\\licenses\\numpy\\linalg\\lapack_lite\\LICENSE.txt',
    'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\linalg\\lapack_lite\\LICENSE.txt',
    'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\include\\numpy\\libdivide\\LICENSE.txt',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\include\\numpy\\libdivide\\LICENSE.txt',
+   'DATA'),
   ('numpy-2.4.4.dist-info\\RECORD',
    'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\RECORD',
    'DATA'),
+  ('numpy-2.4.4.dist-info\\WHEEL',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\WHEEL',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\sfc64\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\sfc64\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\philox\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\philox\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\pcg64\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\pcg64\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\ma\\LICENSE',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\ma\\LICENSE',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\umath\\svml\\LICENSE',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\umath\\svml\\LICENSE',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\entry_points.txt',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\entry_points.txt',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\mt19937\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\mt19937\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\LICENSE.txt',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\LICENSE.txt',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\multiarray\\dragon4_LICENSE.txt',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\multiarray\\dragon4_LICENSE.txt',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\METADATA',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\METADATA',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\DELVEWHEEL',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\DELVEWHEEL',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\highway\\LICENSE',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\highway\\LICENSE',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\distributions\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\random\\src\\distributions\\LICENSE.md',
+   'DATA'),
+  ('numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\npysort\\x86-simd-sort\\LICENSE.md',
+   'C:\\Python314\\Lib\\site-packages\\numpy-2.4.4.dist-info\\licenses\\numpy\\_core\\src\\npysort\\x86-simd-sort\\LICENSE.md',
+   'DATA'),
   ('base_library.zip',
-   'D:\\JE-Skin\\devkit\\build\\je-skin-devkit-server\\base_library.zip',
+   'd:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\base_library.zip',
    'DATA')],
  'python314.dll',
  False,

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

@@ -1,4 +1,4 @@
-('D:\\JE-Skin\\devkit\\build\\je-skin-devkit-server\\PYZ-00.pyz',
+('d:\\JE-Skin-main\\devkit\\build\\je-skin-devkit-server\\PYZ-00.pyz',
  [('__future__', 'C:\\Python314\\Lib\\__future__.py', 'PYMODULE'),
   ('_aix_support', 'C:\\Python314\\Lib\\_aix_support.py', 'PYMODULE'),
   ('_ast_unparse', 'C:\\Python314\\Lib\\_ast_unparse.py', 'PYMODULE'),
@@ -1503,10 +1503,10 @@
   ('secrets', 'C:\\Python314\\Lib\\secrets.py', 'PYMODULE'),
   ('selectors', 'C:\\Python314\\Lib\\selectors.py', 'PYMODULE'),
   ('sensor_stream_pb2',
-   'D:\\JE-Skin\\devkit\\sensor_stream_pb2.py',
+   'd:\\JE-Skin-main\\devkit\\sensor_stream_pb2.py',
    'PYMODULE'),
   ('sensor_stream_pb2_grpc',
-   'D:\\JE-Skin\\devkit\\sensor_stream_pb2_grpc.py',
+   'd:\\JE-Skin-main\\devkit\\sensor_stream_pb2_grpc.py',
    'PYMODULE'),
   ('shlex', 'C:\\Python314\\Lib\\shlex.py', 'PYMODULE'),
   ('shutil', 'C:\\Python314\\Lib\\shutil.py', 'PYMODULE'),
@@ -1523,6 +1523,9 @@
   ('tempfile', 'C:\\Python314\\Lib\\tempfile.py', 'PYMODULE'),
   ('textwrap', 'C:\\Python314\\Lib\\textwrap.py', 'PYMODULE'),
   ('threading', 'C:\\Python314\\Lib\\threading.py', 'PYMODULE'),
+  ('threadpoolctl',
+   'C:\\Python314\\Lib\\site-packages\\threadpoolctl.py',
+   'PYMODULE'),
   ('token', 'C:\\Python314\\Lib\\token.py', 'PYMODULE'),
   ('tokenize', 'C:\\Python314\\Lib\\tokenize.py', 'PYMODULE'),
   ('tracemalloc', 'C:\\Python314\\Lib\\tracemalloc.py', 'PYMODULE'),

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

@@ -14,14 +14,14 @@ Types of import:
 IMPORTANT: Do NOT post this list to the issue-tracker. Use it as a basis for
             tracking down the missing module yourself. Thanks!
 
-missing module named pwd - imported by posixpath (delayed, conditional, optional), subprocess (delayed, conditional, optional), shutil (delayed, optional), tarfile (optional), pathlib (optional), netrc (delayed, optional), http.server (delayed, optional)
+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 subprocess (delayed, conditional, optional), shutil (delayed, optional), tarfile (optional), pathlib (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 typing (top-level), tracemalloc (top-level), traceback (top-level), _colorize (top-level), selectors (top-level), logging (top-level), http.client (top-level), importlib.resources.readers (top-level), inspect (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 '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 subprocess (optional), pathlib._os (optional)
+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 os (conditional, optional), posixpath (optional), shutil (conditional), importlib._bootstrap_external (conditional), pathlib._os (optional), _pyrepl.trace (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)
@@ -47,7 +47,7 @@ missing module named readline - imported by cmd (delayed, conditional, 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 threadpoolctl - imported by numpy.lib._utils_impl (delayed, optional)
+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)

devkit/build/je-skin-devkit-server/xref-je-skin-devkit-server.html

@@ -70,7 +70,7 @@ imported by:
 
 <div class="node">
   <a name="sensor_server.py"></a>
-  <a target="code" href="///D:/JE-Skin/devkit/sensor_server.py" type="text/plain"><tt>sensor_server.py</tt></a>
+  <a target="code" href="///D:/JE-Skin-main/devkit/sensor_server.py" type="text/plain"><tt>sensor_server.py</tt></a>
 <span class="moduletype">Script</span>  <div class="import">
 imports:
     <a href="#__future__">__future__</a>
@@ -242,7 +242,6 @@ imports:
  &#8226;   <a href="#stat">stat</a>
  &#8226;   <a href="#statistics">statistics</a>
  &#8226;   <a href="#sys">sys</a>
- &#8226;   <a href="#threading">threading</a>
  &#8226;   <a href="#time">time</a>
  &#8226;   <a href="#traceback">traceback</a>
  &#8226;   <a href="#types">types</a>
@@ -1683,6 +1682,7 @@ imported by:
  &#8226;   <a href="#os">os</a>
  &#8226;   <a href="#selectors">selectors</a>
  &#8226;   <a href="#sensor_server.py">sensor_server.py</a>
+ &#8226;   <a href="#threadpoolctl">threadpoolctl</a>
  &#8226;   <a href="#typing">typing</a>
  &#8226;   <a href="#typing_extensions">typing_extensions</a>
 
@@ -1754,6 +1754,7 @@ imported by:
  &#8226;   <a href="#random">random</a>
  &#8226;   <a href="#sensor_server.py">sensor_server.py</a>
  &#8226;   <a href="#tarfile">tarfile</a>
+ &#8226;   <a href="#threadpoolctl">threadpoolctl</a>
  &#8226;   <a href="#tokenize">tokenize</a>
  &#8226;   <a href="#unittest.main">unittest.main</a>
  &#8226;   <a href="#webbrowser">webbrowser</a>
@@ -3653,6 +3654,7 @@ imported by:
  &#8226;   <a href="#numpy.testing._private.utils">numpy.testing._private.utils</a>
  &#8226;   <a href="#pdb">pdb</a>
  &#8226;   <a href="#subprocess">subprocess</a>
+ &#8226;   <a href="#threadpoolctl">threadpoolctl</a>
  &#8226;   <a href="#traceback">traceback</a>
  &#8226;   <a href="#typing">typing</a>
  &#8226;   <a href="#typing_extensions">typing_extensions</a>
@@ -3816,6 +3818,7 @@ imported by:
  &#8226;   <a href="#numpy._core._internal">numpy._core._internal</a>
  &#8226;   <a href="#numpy.ctypeslib._ctypeslib">numpy.ctypeslib._ctypeslib</a>
  &#8226;   <a href="#platform">platform</a>
+ &#8226;   <a href="#threadpoolctl">threadpoolctl</a>
  &#8226;   <a href="#webbrowser">webbrowser</a>
 
   </div>
@@ -3974,6 +3977,7 @@ imports:
 imported by:
     <a href="#_ios_support">_ios_support</a>
  &#8226;   <a href="#ctypes">ctypes</a>
+ &#8226;   <a href="#threadpoolctl">threadpoolctl</a>
 
   </div>
 
@@ -3991,6 +3995,7 @@ imports:
 imported by:
     <a href="#ctypes">ctypes</a>
  &#8226;   <a href="#ctypes.util">ctypes.util</a>
+ &#8226;   <a href="#threadpoolctl">threadpoolctl</a>
 
   </div>
 
@@ -7498,6 +7503,7 @@ imported by:
  &#8226;   <a href="#sensor_server.py">sensor_server.py</a>
  &#8226;   <a href="#statistics">statistics</a>
  &#8226;   <a href="#tempfile">tempfile</a>
+ &#8226;   <a href="#threadpoolctl">threadpoolctl</a>
  &#8226;   <a href="#tokenize">tokenize</a>
  &#8226;   <a href="#tracemalloc">tracemalloc</a>
  &#8226;   <a href="#types">types</a>
@@ -9669,6 +9675,7 @@ imported by:
  &#8226;   <a href="#inspect">inspect</a>
  &#8226;   <a href="#pkgutil">pkgutil</a>
  &#8226;   <a href="#sysconfig">sysconfig</a>
+ &#8226;   <a href="#threadpoolctl">threadpoolctl</a>
 
   </div>
 
@@ -10398,6 +10405,7 @@ imported by:
  &#8226;   <a href="#reprlib">reprlib</a>
  &#8226;   <a href="#statistics">statistics</a>
  &#8226;   <a href="#threading">threading</a>
+ &#8226;   <a href="#threadpoolctl">threadpoolctl</a>
  &#8226;   <a href="#tokenize">tokenize</a>
  &#8226;   <a href="#traceback">traceback</a>
  &#8226;   <a href="#weakref">weakref</a>
@@ -10439,6 +10447,7 @@ imported by:
  &#8226;   <a href="#numpy.__config__">numpy.__config__</a>
  &#8226;   <a href="#numpy.testing._private.utils">numpy.testing._private.utils</a>
  &#8226;   <a href="#pdb">pdb</a>
+ &#8226;   <a href="#threadpoolctl">threadpoolctl</a>
 
   </div>
 
@@ -23232,6 +23241,7 @@ imported by:
  &#8226;   <a href="#tarfile">tarfile</a>
  &#8226;   <a href="#tempfile">tempfile</a>
  &#8226;   <a href="#threading">threading</a>
+ &#8226;   <a href="#threadpoolctl">threadpoolctl</a>
  &#8226;   <a href="#unittest.loader">unittest.loader</a>
  &#8226;   <a href="#unittest.main">unittest.main</a>
  &#8226;   <a href="#urllib.request">urllib.request</a>
@@ -23762,6 +23772,17 @@ imported by:
 
 </div>
 
+<div class="node">
+  <a name="pyodide_js"></a>
+  <a target="code" href="" type="text/plain"><tt>pyodide_js</tt></a>
+<span class="moduletype">MissingModule</span>  <div class="import">
+imported by:
+    <a href="#threadpoolctl">threadpoolctl</a>
+
+  </div>
+
+</div>
+
 <div class="node">
   <a name="queue"></a>
   <a target="code" href="///C:/Python314/Lib/queue.py" type="text/plain"><tt>queue</tt></a>
@@ -23961,6 +23982,7 @@ imported by:
  &#8226;   <a href="#sysconfig">sysconfig</a>
  &#8226;   <a href="#tarfile">tarfile</a>
  &#8226;   <a href="#textwrap">textwrap</a>
+ &#8226;   <a href="#threadpoolctl">threadpoolctl</a>
  &#8226;   <a href="#tokenize">tokenize</a>
  &#8226;   <a href="#typing">typing</a>
  &#8226;   <a href="#unittest.case">unittest.case</a>
@@ -24218,7 +24240,7 @@ imported by:
 
 <div class="node">
   <a name="sensor_stream_pb2"></a>
-  <a target="code" href="///D:/JE-Skin/devkit/sensor_stream_pb2.py" type="text/plain"><tt>sensor_stream_pb2</tt></a>
+  <a target="code" href="///d:/JE-Skin-main/devkit/sensor_stream_pb2.py" type="text/plain"><tt>sensor_stream_pb2</tt></a>
 <span class="moduletype">SourceModule</span>  <div class="import">
 imports:
     <a href="#google.protobuf">google.protobuf</a>
@@ -24241,7 +24263,7 @@ imported by:
 
 <div class="node">
   <a name="sensor_stream_pb2_grpc"></a>
-  <a target="code" href="///D:/JE-Skin/devkit/sensor_stream_pb2_grpc.py" type="text/plain"><tt>sensor_stream_pb2_grpc</tt></a>
+  <a target="code" href="///d:/JE-Skin-main/devkit/sensor_stream_pb2_grpc.py" type="text/plain"><tt>sensor_stream_pb2_grpc</tt></a>
 <span class="moduletype">SourceModule</span>  <div class="import">
 imports:
     <a href="#grpc">grpc</a>
@@ -24860,6 +24882,7 @@ imported by:
  &#8226;   <a href="#tarfile">tarfile</a>
  &#8226;   <a href="#tempfile">tempfile</a>
  &#8226;   <a href="#threading">threading</a>
+ &#8226;   <a href="#threadpoolctl">threadpoolctl</a>
  &#8226;   <a href="#tokenize">tokenize</a>
  &#8226;   <a href="#traceback">traceback</a>
  &#8226;   <a href="#types">types</a>
@@ -25028,6 +25051,7 @@ imported by:
  &#8226;   <a href="#numpy.testing._private.extbuild">numpy.testing._private.extbuild</a>
  &#8226;   <a href="#pdb">pdb</a>
  &#8226;   <a href="#pydoc">pydoc</a>
+ &#8226;   <a href="#threadpoolctl">threadpoolctl</a>
  &#8226;   <a href="#traceback">traceback</a>
 
   </div>
@@ -25096,7 +25120,6 @@ imported by:
  &#8226;   <a href="#pdb">pdb</a>
  &#8226;   <a href="#pydoc">pydoc</a>
  &#8226;   <a href="#queue">queue</a>
- &#8226;   <a href="#sensor_server.py">sensor_server.py</a>
  &#8226;   <a href="#socketserver">socketserver</a>
  &#8226;   <a href="#subprocess">subprocess</a>
  &#8226;   <a href="#sysconfig">sysconfig</a>
@@ -25109,8 +25132,29 @@ imported by:
 
 <div class="node">
   <a name="threadpoolctl"></a>
-  <a target="code" href="" type="text/plain"><tt>threadpoolctl</tt></a>
+  <a target="code" href="///C:/Python314/Lib/site-packages/threadpoolctl.py" type="text/plain"><tt>threadpoolctl</tt></a>
-<span class="moduletype">MissingModule</span>  <div class="import">
+<span class="moduletype">SourceModule</span>  <div class="import">
+imports:
+    <a href="#abc">abc</a>
+ &#8226;   <a href="#argparse">argparse</a>
+ &#8226;   <a href="#contextlib">contextlib</a>
+ &#8226;   <a href="#ctypes">ctypes</a>
+ &#8226;   <a href="#ctypes.util">ctypes.util</a>
+ &#8226;   <a href="#ctypes.wintypes">ctypes.wintypes</a>
+ &#8226;   <a href="#functools">functools</a>
+ &#8226;   <a href="#importlib">importlib</a>
+ &#8226;   <a href="#itertools">itertools</a>
+ &#8226;   <a href="#json">json</a>
+ &#8226;   <a href="#os">os</a>
+ &#8226;   <a href="#pyodide_js">pyodide_js</a>
+ &#8226;   <a href="#re">re</a>
+ &#8226;   <a href="#sys">sys</a>
+ &#8226;   <a href="#textwrap">textwrap</a>
+ &#8226;   <a href="#typing">typing</a>
+ &#8226;   <a href="#warnings">warnings</a>
+
+  </div>
+  <div class="import">
 imported by:
     <a href="#numpy.lib._utils_impl">numpy.lib._utils_impl</a>
 
@@ -25473,6 +25517,7 @@ imported by:
  &#8226;   <a href="#numpy.random.bit_generator">numpy.random.bit_generator</a>
  &#8226;   <a href="#numpy.random.mtrand">numpy.random.mtrand</a>
  &#8226;   <a href="#pdb">pdb</a>
+ &#8226;   <a href="#threadpoolctl">threadpoolctl</a>
  &#8226;   <a href="#typing_extensions">typing_extensions</a>
 
   </div>
@@ -26086,6 +26131,7 @@ imported by:
  &#8226;   <a href="#tarfile">tarfile</a>
  &#8226;   <a href="#tempfile">tempfile</a>
  &#8226;   <a href="#threading">threading</a>
+ &#8226;   <a href="#threadpoolctl">threadpoolctl</a>
  &#8226;   <a href="#traceback">traceback</a>
  &#8226;   <a href="#typing">typing</a>
  &#8226;   <a href="#typing_extensions">typing_extensions</a>

devkit/je-skin-devkit-server.spec

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

devkit/sensor_server.py

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

devkit/sensor_stream_pb2.py

@@ -24,7 +24,7 @@ _sym_db = _symbol_database.Default()
 
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13sensor_stream.proto\x12\rsensor_stream\"\x85\x01\n\x0bSensorFrame\x12\x0b\n\x03seq\x18\x01 \x01(\x04\x12\x14\n\x0ctimestamp_ms\x18\x02 \x01(\x04\x12\x0c\n\x04rows\x18\x03 \x01(\r\x12\x0c\n\x04\x63ols\x18\x04 \x01(\r\x12\x0e\n\x06matrix\x18\x05 \x03(\r\x12\x17\n\x0fresultant_force\x18\x06 \x01(\x01\x12\x0e\n\x06\x64ts_ms\x18\x07 \x01(\r\"q\n\x10PztAngleResponse\x12\x0b\n\x03seq\x18\x01 \x01(\x04\x12\x14\n\x0ctimestamp_ms\x18\x02 \x01(\x04\x12\r\n\x05\x61ngle\x18\x03 \x01(\x02\x12\x0e\n\x06\x64ts_ms\x18\x04 \x01(\r\x12\n\n\x02ok\x18\x05 \x01(\x08\x12\x0f\n\x07message\x18\x06 \x01(\t\"8\n\x0eProcessRequest\x12\x10\n\x08\x63sv_path\x18\x01 \x01(\t\x12\x14\n\x0csave_as_xlsx\x18\x02 \x01(\x08\"\xa6\x01\n\x0fProcessResponse\x12\n\n\x02ok\x18\x01 \x01(\x08\x12\x13\n\x0boutput_path\x18\x02 \x01(\t\x12\x13\n\x0bgroups_used\x18\x03 \x01(\r\x12\x12\n\nmean_value\x18\x04 \x01(\x01\x12\x11\n\tthreshold\x18\x05 \x01(\x01\x12\x12\n\nrows_total\x18\x06 \x01(\r\x12\x11\n\trows_kept\x18\x07 \x01(\r\x12\x0f\n\x07message\x18\x08 \x01(\t2W\n\nSensorPush\x12I\n\x06Upload\x12\x1a.sensor_stream.SensorFrame\x1a\x1f.sensor_stream.PztAngleResponse(\x01\x30\x01\x32_\n\x0f\x45xportProcessor\x12L\n\x0bProcessFile\x12\x1d.sensor_stream.ProcessRequest\x1a\x1e.sensor_stream.ProcessResponseb\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13sensor_stream.proto\x12\rsensor_stream\"\x85\x01\n\x0bSensorFrame\x12\x0b\n\x03seq\x18\x01 \x01(\x04\x12\x14\n\x0ctimestamp_ms\x18\x02 \x01(\x04\x12\x0c\n\x04rows\x18\x03 \x01(\r\x12\x0c\n\x04\x63ols\x18\x04 \x01(\r\x12\x0e\n\x06matrix\x18\x05 \x03(\r\x12\x17\n\x0fresultant_force\x18\x06 \x01(\x01\x12\x0e\n\x06\x64ts_ms\x18\x07 \x01(\r\"\xd1\x01\n\x10PztAngleResponse\x12\x0b\n\x03seq\x18\x01 \x01(\x04\x12\x14\n\x0ctimestamp_ms\x18\x02 \x01(\x04\x12\r\n\x05\x61ngle\x18\x03 \x01(\x02\x12\x0e\n\x06\x64ts_ms\x18\x04 \x01(\r\x12\n\n\x02ok\x18\x05 \x01(\x08\x12\x0f\n\x07message\x18\x06 \x01(\t\x12\x11\n\tmagnitude\x18\x07 \x01(\x02\x12\r\n\x05state\x18\x08 \x01(\r\x12\r\n\x05\x63op_x\x18\t \x01(\x02\x12\r\n\x05\x63op_y\x18\n \x01(\x02\x12\x0e\n\x06\x62\x61se_x\x18\x0b \x01(\x02\x12\x0e\n\x06\x62\x61se_y\x18\x0c \x01(\x02\"8\n\x0eProcessRequest\x12\x10\n\x08\x63sv_path\x18\x01 \x01(\t\x12\x14\n\x0csave_as_xlsx\x18\x02 \x01(\x08\"\xa6\x01\n\x0fProcessResponse\x12\n\n\x02ok\x18\x01 \x01(\x08\x12\x13\n\x0boutput_path\x18\x02 \x01(\t\x12\x13\n\x0bgroups_used\x18\x03 \x01(\r\x12\x12\n\nmean_value\x18\x04 \x01(\x01\x12\x11\n\tthreshold\x18\x05 \x01(\x01\x12\x12\n\nrows_total\x18\x06 \x01(\r\x12\x11\n\trows_kept\x18\x07 \x01(\r\x12\x0f\n\x07message\x18\x08 \x01(\t2W\n\nSensorPush\x12I\n\x06Upload\x12\x1a.sensor_stream.SensorFrame\x1a\x1f.sensor_stream.PztAngleResponse(\x01\x30\x01\x32_\n\x0f\x45xportProcessor\x12L\n\x0bProcessFile\x12\x1d.sensor_stream.ProcessRequest\x1a\x1e.sensor_stream.ProcessResponseb\x06proto3')
 
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
@@ -33,14 +33,14 @@ if not _descriptor._USE_C_DESCRIPTORS:
   DESCRIPTOR._loaded_options = None
   _globals['_SENSORFRAME']._serialized_start=39
   _globals['_SENSORFRAME']._serialized_end=172
-  _globals['_PZTANGLERESPONSE']._serialized_start=174
+  _globals['_PZTANGLERESPONSE']._serialized_start=175
-  _globals['_PZTANGLERESPONSE']._serialized_end=287
+  _globals['_PZTANGLERESPONSE']._serialized_end=384
-  _globals['_PROCESSREQUEST']._serialized_start=289
+  _globals['_PROCESSREQUEST']._serialized_start=386
-  _globals['_PROCESSREQUEST']._serialized_end=345
+  _globals['_PROCESSREQUEST']._serialized_end=442
-  _globals['_PROCESSRESPONSE']._serialized_start=348
+  _globals['_PROCESSRESPONSE']._serialized_start=445
-  _globals['_PROCESSRESPONSE']._serialized_end=514
+  _globals['_PROCESSRESPONSE']._serialized_end=611
-  _globals['_SENSORPUSH']._serialized_start=516
+  _globals['_SENSORPUSH']._serialized_start=613
-  _globals['_SENSORPUSH']._serialized_end=603
+  _globals['_SENSORPUSH']._serialized_end=700
-  _globals['_EXPORTPROCESSOR']._serialized_start=605
+  _globals['_EXPORTPROCESSOR']._serialized_start=702
-  _globals['_EXPORTPROCESSOR']._serialized_end=700
+  _globals['_EXPORTPROCESSOR']._serialized_end=797
 # @@protoc_insertion_point(module_scope)

devkit/test_pzt.py

@@ -0,0 +1,127 @@
+"""
+独立测试脚本：读取84个原始ADC数据，传入CoP算法计算角度，终端打印结果。
+
+用法:
+    python test_pzt.py                      # 从 stdin 逐行读取（每行84个逗号分隔数值）
+    python test_pzt.py data.csv             # 从 CSV 文件逐行读取
+    python test_pzt.py --random             # 生成随机测试数据（调试用）
+"""
+
+import sys
+import csv
+import numpy as np
+
+# ── 从 sensor_server.py 导入算法 ──
+sys.path.insert(0, ".")
+from sensor_server import (
+    get_pzt_angle,
+    reset_baseline,
+    subtract_baseline,
+    compute_pressure_direction,
+    compute_PZT_angle,
+)
+
+
+def print_result(data_label: str, pzt_angle: float, magnitude: float, state: int, cop_x: float, cop_y: float, base_x: float, base_y: float):
+    dx = cop_x - base_x
+    dy = base_y - cop_y
+    print(
+        f"devkit: angle={pzt_angle:.2f}, magnitude={magnitude:.4f}, state={state}, "
+        f"cop_x={cop_x:.4f}, cop_y={cop_y:.4f}, dx={dx:.4f}, dy={dy:.4f}"
+    )
+
+
+def process_values(values: list[int | float]):
+    """处理一帧84个值并打印结果"""
+    if len(values) != 84:
+        print(f"[ERROR] 期望84个值，实际收到 {len(values)} 个", file=sys.stderr)
+        return
+
+    try:
+        pzt_angle, magnitude, state, cop_x, cop_y, base_x, base_y = get_pzt_angle(values)
+        print_result("", pzt_angle, magnitude, state, cop_x, cop_y, base_x, base_y)
+    except Exception as e:
+        print(f"[ERROR] 计算失败: {e}", file=sys.stderr)
+
+
+def run_random_test():
+    """生成随机数据测试算法"""
+    reset_baseline()
+    print("[TEST] 使用随机数据测试 CoP 算法")
+    print("[TEST] 先用全零帧建立基线...")
+    process_values([0] * 84)
+    print("[TEST] 模拟右侧偏移按压...")
+    # 模拟：row 5-7, col 4-6 区域有压力
+    data = [0.0] * 84
+    for r in range(5, 8):
+        for c in range(4, 7):
+            idx = r * 7 + c
+            data[idx] = 100.0 + (c - 4) * 50  # 右侧更强
+    process_values(data)
+    print("[TEST] 模拟下方偏移按压...")
+    data2 = [0.0] * 84
+    for r in range(8, 11):
+        for c in range(2, 5):
+            idx = r * 7 + c
+            data2[idx] = 150.0 + (r - 8) * 30
+    process_values(data2)
+    print("[TEST] 完成")
+
+
+def run_csv_mode(filepath: str):
+    """从 CSV 文件逐行读取并处理"""
+    reset_baseline()
+    print(f"[CSV] 读取文件: {filepath}")
+    with open(filepath, "r", encoding="utf-8-sig", newline="") as f:
+        reader = csv.reader(f)
+        for i, row in enumerate(reader):
+            if not row:
+                continue
+            # 跳过 header
+            if row[0].strip() in ("seq", "timestamp_ms"):
+                print(f"[CSV] 跳过 header: {row[:5]}...")
+                continue
+            try:
+                values = [float(v) for v in row]
+                if len(values) == 84:
+                    process_values(values)
+                elif len(values) > 84:
+                    process_values(values[:84])
+            except ValueError:
+                continue
+
+
+def run_stdin_mode():
+    """从 stdin 逐行读取"""
+    reset_baseline()
+    print("[STDIN] 等待输入（每行84个逗号分隔数值，Ctrl+C 退出）...")
+    try:
+        for line in sys.stdin:
+            line = line.strip()
+            if not line:
+                continue
+            try:
+                values = [float(v) for v in line.split(",")]
+                if len(values) >= 84:
+                    process_values(values[:84])
+            except ValueError:
+                continue
+    except KeyboardInterrupt:
+        print("\n[STDIN] 已退出")
+
+
+def main():
+    if len(sys.argv) > 1:
+        arg = sys.argv[1]
+        if arg == "--random":
+            run_random_test()
+        elif arg == "--help" or arg == "-h":
+            print(__doc__)
+        else:
+            run_csv_mode(arg)
+    else:
+        run_stdin_mode()
+
+
+if __name__ == "__main__":
+    main()

package-lock.json

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

src-tauri/.cargo/config.toml

@@ -1,2 +0,0 @@
-[registries.kellnr]
-index = "sparse+http://crates.huangyanjie.com/api/v1/crates/"

src-tauri/Cargo.lock

@@ -14,7 +14,6 @@ dependencies = [
  "crc",
  "csv",
  "dirs",
- "eskin-finger-sdk",
  "fern",
  "futures-util",
  "humantime",
@@ -1153,25 +1152,6 @@ dependencies = [
  "windows-sys 0.61.2",
 ]
 
-[[package]]
-name = "eskin-finger-sdk"
-version = "0.1.0"
-source = "sparse+http://crates.huangyanjie.com/api/v1/crates/"
-checksum = "341d54dbc70a0fb7cdd04162cdda6ab5735f9a4f717b1921b42c00e8afc37bb9"
-dependencies = [
- "chrono",
- "crc",
- "crossbeam-channel",
- "fern",
- "libc",
- "log",
- "serde",
- "serde_json",
- "serialport",
- "thiserror 2.0.18",
- "uuid",
-]
-
 [[package]]
 name = "event-listener"
 version = "5.4.1"
@@ -2334,9 +2314,9 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.186"
+version = "0.2.183"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "68ab91017fe16c622486840e4c83c9a37afeff978bd239b5293d61ece587de66"
+checksum = "b5b646652bf6661599e1da8901b3b9522896f01e736bad5f723fe7a3a27f899d"
 
 [[package]]
 name = "libloading"
@@ -2360,26 +2340,6 @@ dependencies = [
  "redox_syscall 0.7.4",
 ]
 
-[[package]]
-name = "libudev"
-version = "0.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "78b324152da65df7bb95acfcaab55e3097ceaab02fb19b228a9eb74d55f135e0"
-dependencies = [
- "libc",
- "libudev-sys",
-]
-
-[[package]]
-name = "libudev-sys"
-version = "0.1.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c8469b4a23b962c1396b9b451dda50ef5b283e8dd309d69033475fa9b334324"
-dependencies = [
- "libc",
- "pkg-config",
-]
-
 [[package]]
 name = "linux-raw-sys"
 version = "0.12.1"
@@ -4303,7 +4263,6 @@ dependencies = [
  "core-foundation",
  "core-foundation-sys",
  "io-kit-sys",
- "libudev",
  "mach2",
  "nix 0.26.4",
  "scopeguard",
@@ -5606,9 +5565,9 @@ checksum = "b6c140620e7ffbb22c2dee59cafe6084a59b5ffc27a8859a5f0d494b5d52b6be"
 
 [[package]]
 name = "uuid"
-version = "1.23.1"
+version = "1.22.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ddd74a9687298c6858e9b88ec8935ec45d22e8fd5e6394fa1bd4e99a87789c76"
+checksum = "a68d3c8f01c0cfa54a75291d83601161799e4a89a39e0929f4b0354d88757a37"
 dependencies = [
  "getrandom 0.4.2",
  "js-sys",

src-tauri/Cargo.toml

@@ -15,7 +15,7 @@ name = "tauri_demo_lib"
 crate-type = ["staticlib", "cdylib", "rlib"]
 
 [features]
-default = []
+default = ["multi-dim"]
 devkit = ["dep:tonic", "dep:prost", "dep:prost-types", "dep:async-stream", "dep:dirs"]
 multi-dim = ["dep:ndarray"]
 
@@ -49,11 +49,10 @@ crc = "3.4.0"
 axum = { version = "0.8", features = ["ws"] }
 tower-http = { version = "0.6", features = ["cors"] }
 futures-util = "0.3"
-uuid = { version = "1.23", features = ["v4", "serde"] }
+uuid = { version = "1", features = ["v4", "serde"] }
 rand = "0.8"
 reqwest = { version = "0.12", default-features = false, features = ["json", "rustls-tls"] }
 ndarray = { version = "0.15", optional = true }
-eskin-finger-sdk = { version = "0.1.0", registry = "kellnr" }
 
 [target.'cfg(not(any(target_os = "android", target_os = "ios")))'.dependencies]
 tauri-plugin-updater = "2"

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

@@ -0,0 +1,5 @@
+# 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

@@ -0,0 +1 @@
+{"$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

@@ -0,0 +1,33 @@
+/* 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

@@ -0,0 +1,89 @@
+/* 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

@@ -0,0 +1,117 @@
+/* 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

@@ -0,0 +1,495 @@
+/* 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

@@ -0,0 +1,101 @@
+/* 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

@@ -0,0 +1,107 @@
+/* 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

@@ -0,0 +1,51 @@
+// 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

@@ -0,0 +1,146 @@
+/* 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

@@ -0,0 +1,35 @@
+# 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

@@ -0,0 +1 @@
+/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

@@ -0,0 +1 @@
+/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

@@ -0,0 +1 @@
+/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

@@ -0,0 +1 @@
+/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

@@ -0,0 +1,6 @@
+// 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

@@ -0,0 +1,3 @@
+// 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

@@ -0,0 +1,5 @@
+// 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

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

src-tauri/resources/model_params.json

@@ -1,217 +0,0 @@
-{
-  "scaler_mean": [
-    1748.7541486595198,
-    1292.5704664084863,
-    669.8700117864961,
-    1617.8798712839798,
-    2104.589811228976,
-    3267.658809002638,
-    3366.4000112252343,
-    2660.981740285495,
-    2656.615909898786,
-    1747.1196048717518,
-    3093.4178032216423,
-    3107.599371386878,
-    4138.929019101607,
-    3778.3928270752654,
-    3495.851920450506,
-    3110.5580063983834,
-    2310.8518456156107,
-    2899.8918261585377,
-    3286.6881442816784,
-    3601.237076948981,
-    2590.9553048586554,
-    2555.2781425978933,
-    2004.8764850049579,
-    1333.8961665824775,
-    2090.217507623805,
-    0.363302046990876,
-    0.2506597877765041,
-    0.12741811820991292,
-    0.32195020821212794,
-    0.43317540002685884,
-    0.7725988160553472,
-    0.791227193907261,
-    0.5957799875116326,
-    0.5873844015441929,
-    0.35855586659016336,
-    0.7267512979672636,
-    0.7214172326166498,
-    1.0,
-    0.9089476753706724,
-    0.8226695360434777,
-    0.7208819781157673,
-    0.5152795489332506,
-    0.6711736481838434,
-    0.7782925265622518,
-    0.8648282061576593,
-    0.5787625095682526,
-    0.5752349727514727,
-    0.43456864805018935,
-    0.27668525082454587,
-    0.47414670304783574,
-    4138.929019101607,
-    64531.08183195824,
-    175620.92531477427,
-    22.847729696357412,
-    14.671691561018095,
-    0.07533558084489102,
-    12446.865764906175,
-    47945.287047950456,
-    2.8973185436828195,
-    10.774373017335268,
-    3.472192991899253,
-    -0.013941562889309035,
-    0.09672681097411825,
-    0.5067195499928454,
-    0.755407246398865,
-    0.03711810817384146,
-    11.154421806888552,
-    64500.8986854629
-  ],
-  "scaler_scale": [
-    1458.5456651154973,
-    1319.8585484401115,
-    798.8535944732339,
-    1467.8233720347457,
-    1637.8964913406842,
-    1330.3349975112737,
-    1391.430499849884,
-    1444.166940848846,
-    1630.948040054198,
-    1406.2203759964518,
-    1289.9699402243327,
-    1442.0533616965101,
-    1437.7214049715994,
-    1393.522474091575,
-    1468.6421185157626,
-    1449.3479990930084,
-    1293.2464048717598,
-    1331.2560392843097,
-    1326.1289536453178,
-    1357.3405110533047,
-    1452.4854193036483,
-    1348.4425883366337,
-    1318.1429721243371,
-    1059.93845215709,
-    1114.1647557935548,
-    0.2395898634701691,
-    0.21706962815914935,
-    0.13523106483202163,
-    0.23880331588910964,
-    0.24830003478347082,
-    0.1464527498295455,
-    0.15391677914992113,
-    0.18125664726966026,
-    0.2326879002599809,
-    0.23502163992653513,
-    0.13026800431597335,
-    0.15563022147466685,
-    1.0,
-    0.09922737602626737,
-    0.18291931318098986,
-    0.15401181704844932,
-    0.2143892844194339,
-    0.16856049162074294,
-    0.15902500893917185,
-    0.18285009098439925,
-    0.17264751056304276,
-    0.21090366624550771,
-    0.16802111677577075,
-    0.19264329284433157,
-    0.19589977001187556,
-    1437.7214049715994,
-    32602.413979370118,
-    95845.11969895993,
-    3.426376344472427,
-    3.408382770733738,
-    0.033353666248921464,
-    5505.629576226806,
-    25703.01200969283,
-    0.4599551450527747,
-    2.978321440052941,
-    0.3916581766443181,
-    0.06096090153067211,
-    0.07864618660494935,
-    0.0344984508436715,
-    0.17668176728315207,
-    0.18905119470509504,
-    5352.30503788098,
-    32297.31796957845
-  ],
-  "ridge_coef": [
-    7.4424310127566695,
-    13.345966730219576,
-    2.351840055857306,
-    6.088230738742203,
-    -10.030964629299273,
-    3.876136979406362,
-    -11.251608537526174,
-    16.84502390958064,
-    -2.093552796584439,
-    -5.784923711493545,
-    -6.67830546424787,
-    -4.654052249161928,
-    6.038218458133514,
-    9.82412450487401,
-    -6.200667839175651,
-    -0.3133364534713342,
-    -8.75036029102127,
-    12.785901861589027,
-    -3.7296377182327123,
-    6.546167384121816,
-    -4.984129287282208,
-    8.311396481777527,
-    -0.6248790895663127,
-    2.69008779623183,
-    12.996047839696784,
-    -2.2609944767610504,
-    -5.131537716982507,
-    0.3988922195665723,
-    -5.197736884253156,
-    4.556854888903703,
-    -0.8642438099006351,
-    6.327731485629085,
-    -5.157281763422745,
-    0.10691827520622764,
-    4.656962972053113,
-    3.2628870750114887,
-    4.033159141354671,
-    0.0,
-    -2.9206404009765268,
-    1.8683691849941264,
-    2.408006875407745,
-    7.250310827671452,
-    -3.97015207422554,
-    0.7316093212194048,
-    -3.459346094204882,
-    2.4407660203169255,
-    -2.872982666400644,
-    1.8797071977799857,
-    -1.3374700235689694,
-    -7.9533345474852295,
-    6.038063637368508,
-    1.615806581558555,
-    95785.62883805836,
-    0.12233606167692031,
-    -0.1515900264871255,
-    2.2023033069961873,
-    8.776787743985668,
-    -0.16714060634667535,
-    -2.751671223554021,
-    0.2511944267079865,
-    6.13561607395193,
-    2.85703108671782,
-    -0.11255626089468472,
-    -0.9017242341101542,
-    -0.627291200283328,
-    3.4664885582435883,
-    0.02591345630626686,
-    0.5530407299425606
-  ],
-  "ridge_intercept": 175620.9253147744,
-  "n_features": 68,
-  "noise_threshold": 15.0,
-  "contact_threshold": 20.0,
-  "ema_alpha": 0.9
-}

src-tauri/src/ad_solver.rs

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

src-tauri/src/devkit/client.rs

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

src-tauri/src/lib.rs

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

src-tauri/src/serial_core/basin_force_estimator.rs

@@ -1,397 +0,0 @@
-//! 7×12 柔性压力点阵力估计 - Rust 实现
-//!
-//! 与 Python `basin_feature_extractor.py` 完全对齐。
-//! 内嵌 `model_params.json`，对每帧 7×12 传感器数据提取 68 维特征并用
-//! StandardScaler + Ridge 回归估计法向力 Fz。
-
-use serde::Deserialize;
-
-// ───────────────── 常量 ─────────────────
-
-const ROWS: usize = 7;
-const COLS: usize = 12;
-const ROI_RADIUS: usize = 2;
-const ROI_SIZE: usize = 2 * ROI_RADIUS + 1; // 5
-const N_FEATURES: usize = 68; // 25 + 25 + 18
-
-// ───────────────── 模型参数 JSON（编译时嵌入）─────────────────
-
-const MODEL_PARAMS_JSON: &str = include_str!("../../resources/model_params.json");
-
-// ───────────────── 模型参数反序列化 ─────────────────
-
-#[derive(Debug, Deserialize)]
-struct ModelParams {
-    scaler_mean: Vec<f64>,
-    scaler_scale: Vec<f64>,
-    ridge_coef: Vec<f64>,
-    ridge_intercept: f64,
-    n_features: usize,
-    noise_threshold: f64,
-    contact_threshold: f64,
-    ema_alpha: f64,
-}
-
-// ───────────────── 估算器 ─────────────────
-
-pub struct BasinForceEstimator {
-    // 模型参数
-    scaler_mean: [f64; N_FEATURES],
-    scaler_scale: [f64; N_FEATURES],
-    ridge_coef: [f64; N_FEATURES],
-    ridge_intercept: f64,
-    // 超参数
-    noise_threshold: f64,
-    contact_threshold: f64,
-    ema_alpha: f64,
-    // 时序状态（需要可变）
-    prev_roi_sum: f64,
-    ema_sum: f64,
-    first_frame: bool,
-}
-
-impl BasinForceEstimator {
-    /// 使用编译时内嵌的 model_params.json 创建估算器
-    pub fn new() -> Self {
-        Self::from_json_str(MODEL_PARAMS_JSON)
-            .expect("内嵌 model_params.json 加载失败")
-    }
-
-    pub fn from_json_str(json: &str) -> Result<Self, Box<dyn std::error::Error>> {
-        let p: ModelParams = serde_json::from_str(json)?;
-        if p.n_features != N_FEATURES {
-            return Err(format!(
-                "模型特征维度不匹配: 期望 {}, 实际 {}",
-                N_FEATURES, p.n_features
-            )
-            .into());
-        }
-        let mut scaler_mean = [0.0; N_FEATURES];
-        let mut scaler_scale = [0.0; N_FEATURES];
-        let mut ridge_coef = [0.0; N_FEATURES];
-        scaler_mean.copy_from_slice(&p.scaler_mean);
-        scaler_scale.copy_from_slice(&p.scaler_scale);
-        ridge_coef.copy_from_slice(&p.ridge_coef);
-
-        Ok(Self {
-            scaler_mean,
-            scaler_scale,
-            ridge_coef,
-            ridge_intercept: p.ridge_intercept,
-            noise_threshold: p.noise_threshold,
-            contact_threshold: p.contact_threshold,
-            ema_alpha: p.ema_alpha,
-            prev_roi_sum: 0.0,
-            ema_sum: 0.0,
-            first_frame: true,
-        })
-    }
-
-    pub fn reset(&mut self) {
-        self.prev_roi_sum = 0.0;
-        self.ema_sum = 0.0;
-        self.first_frame = true;
-    }
-
-    pub fn predict_frame(&mut self, frame: &[f64; 84]) -> f64 {
-        let features = self.extract_features(frame);
-        self.ridge_predict(&features)
-    }
-
-    // ───────────── 特征提取 ─────────────
-
-    fn extract_features(&mut self, raw: &[f64; 84]) -> [f64; N_FEATURES] {
-        let mut x = [[0.0f64; COLS]; ROWS];
-        let mut max_value = 0.0f64;
-        for r in 0..ROWS {
-            for c in 0..COLS {
-                let v = raw[r * COLS + c].max(0.0);
-                x[r][c] = v;
-                if v > max_value {
-                    max_value = v;
-                }
-            }
-        }
-
-        if max_value < self.contact_threshold {
-            self.update_temporal(0.0);
-            return [0.0; N_FEATURES];
-        }
-
-        let mut peak_row = 0usize;
-        let mut peak_col = 0usize;
-        for r in 0..ROWS {
-            for c in 0..COLS {
-                if x[r][c] >= x[peak_row][peak_col] {
-                    peak_row = r;
-                    peak_col = c;
-                }
-            }
-        }
-
-        let roi = self.extract_roi(&x, peak_row, peak_col);
-        self.compute_features(&x, &roi, max_value, peak_row, peak_col)
-    }
-
-    fn extract_roi(
-        &self,
-        x: &[[f64; COLS]; ROWS],
-        pr: usize,
-        pc: usize,
-    ) -> [[f64; ROI_SIZE]; ROI_SIZE] {
-        let r = ROI_RADIUS as isize;
-        let mut roi = [[0.0f64; ROI_SIZE]; ROI_SIZE];
-
-        let r_start = (pr as isize - r).max(0) as usize;
-        let r_end = (pr + ROI_RADIUS + 1).min(ROWS);
-        let c_start = (pc as isize - r).max(0) as usize;
-        let c_end = (pc + ROI_RADIUS + 1).min(COLS);
-
-        let roi_r_start = (r_start as isize - (pr as isize - r)).max(0) as usize;
-        let roi_c_start = (c_start as isize - (pc as isize - r)).max(0) as usize;
-
-        for (i, ri) in (r_start..r_end).enumerate() {
-            for (j, ci) in (c_start..c_end).enumerate() {
-                roi[roi_r_start + i][roi_c_start + j] = x[ri][ci];
-            }
-        }
-        roi
-    }
-
-    fn compute_features(
-        &mut self,
-        x: &[[f64; COLS]; ROWS],
-        roi: &[[f64; ROI_SIZE]; ROI_SIZE],
-        max_value: f64,
-        peak_row: usize,
-        peak_col: usize,
-    ) -> [f64; N_FEATURES] {
-        let center = ROI_RADIUS;
-        let mut feat = [0.0f64; N_FEATURES];
-        let mut idx = 0;
-
-        // ROI 原始值 (25维)
-        for r in 0..ROI_SIZE {
-            for c in 0..ROI_SIZE {
-                feat[idx] = roi[r][c];
-                idx += 1;
-            }
-        }
-
-        // ROI 归一化形状 (25维)
-        for r in 0..ROI_SIZE {
-            for c in 0..ROI_SIZE {
-                feat[idx] = if max_value > 0.0 {
-                    roi[r][c] / max_value
-                } else {
-                    0.0
-                };
-                idx += 1;
-            }
-        }
-
-        // roi_sum, global_sum
-        let mut roi_sum = 0.0f64;
-        for r in 0..ROI_SIZE {
-            for c in 0..ROI_SIZE {
-                roi_sum += roi[r][c];
-            }
-        }
-        let mut global_sum = 0.0f64;
-        for r in 0..ROWS {
-            for c in 0..COLS {
-                global_sum += x[r][c];
-            }
-        }
-
-        // active_area
-        let thr = self.noise_threshold.max(0.05 * max_value);
-        let mut active_area = 0.0f64;
-        for r in 0..ROI_SIZE {
-            for c in 0..ROI_SIZE {
-                if roi[r][c] > thr {
-                    active_area += 1.0;
-                }
-            }
-        }
-
-        let participation = if max_value > 0.0 {
-            roi_sum / max_value
-        } else {
-            0.0
-        };
-        let concentration = if roi_sum > 0.0 {
-            max_value / roi_sum
-        } else {
-            0.0
-        };
-
-        // ring1_sum (上下左右4点)
-        let ring1_positions = [
-            (center - 1, center),
-            (center + 1, center),
-            (center, center - 1),
-            (center, center + 1),
-        ];
-        let ring1_sum: f64 = ring1_positions.iter().map(|&(r, c)| roi[r][c]).sum();
-
-        // ring2_sum (除中心和ring1外)
-        let mut ring2_sum = 0.0f64;
-        for r in 0..ROI_SIZE {
-            for c in 0..ROI_SIZE {
-                if (r, c) == (center, center) {
-                    continue;
-                }
-                if ring1_positions.contains(&(r, c)) {
-                    continue;
-                }
-                ring2_sum += roi[r][c];
-            }
-        }
-
-        let ring1_ratio = if max_value > 0.0 {
-            ring1_sum / max_value
-        } else {
-            0.0
-        };
-        let ring2_ratio = if max_value > 0.0 {
-            ring2_sum / max_value
-        } else {
-            0.0
-        };
-
-        // spread
-        let spread = if roi_sum > 0.0 {
-            let mut s = 0.0f64;
-            for r in 0..ROI_SIZE {
-                for c in 0..ROI_SIZE {
-                    let dr = r as f64 - center as f64;
-                    let dc = c as f64 - center as f64;
-                    s += (dr * dr + dc * dc) * roi[r][c];
-                }
-            }
-            s / roi_sum
-        } else {
-            0.0
-        };
-
-        // asym_x
-        let mut left_sum = 0.0f64;
-        let mut right_sum = 0.0f64;
-        for r in 0..ROI_SIZE {
-            for c in 0..center {
-                left_sum += roi[r][c];
-            }
-            for c in (center + 1)..ROI_SIZE {
-                right_sum += roi[r][c];
-            }
-        }
-        let asym_x = if roi_sum > 0.0 {
-            (right_sum - left_sum) / roi_sum
-        } else {
-            0.0
-        };
-
-        // asym_y
-        let mut up_sum = 0.0f64;
-        let mut down_sum = 0.0f64;
-        for r in 0..center {
-            for c in 0..ROI_SIZE {
-                up_sum += roi[r][c];
-            }
-        }
-        for r in (center + 1)..ROI_SIZE {
-            for c in 0..ROI_SIZE {
-                down_sum += roi[r][c];
-            }
-        }
-        let asym_y = if roi_sum > 0.0 {
-            (down_sum - up_sum) / roi_sum
-        } else {
-            0.0
-        };
-
-        // 位置
-        let peak_row_norm = peak_row as f64 / (ROWS - 1) as f64;
-        let peak_col_norm = peak_col as f64 / (COLS - 1) as f64;
-
-        // near_edge
-        let r = ROI_RADIUS as isize;
-        let near_edge = if (peak_row as isize) < r
-            || peak_row >= ROWS - ROI_RADIUS
-            || (peak_col as isize) < r
-            || peak_col >= COLS - ROI_RADIUS
-        {
-            1.0
-        } else {
-            0.0
-        };
-
-        // 时序特征
-        let delta_sum = roi_sum - self.prev_roi_sum;
-        if self.first_frame {
-            self.ema_sum = roi_sum;
-            self.first_frame = false;
-        } else {
-            self.ema_sum = self.ema_alpha * self.ema_sum + (1.0 - self.ema_alpha) * roi_sum;
-        }
-        self.prev_roi_sum = roi_sum;
-
-        let scalars = [
-            max_value,
-            roi_sum,
-            global_sum,
-            active_area,
-            participation,
-            concentration,
-            ring1_sum,
-            ring2_sum,
-            ring1_ratio,
-            ring2_ratio,
-            spread,
-            asym_x,
-            asym_y,
-            peak_row_norm,
-            peak_col_norm,
-            near_edge,
-            delta_sum,
-            self.ema_sum,
-        ];
-        for &v in &scalars {
-            feat[idx] = v;
-            idx += 1;
-        }
-
-        debug_assert_eq!(idx, N_FEATURES);
-        feat
-    }
-
-    fn update_temporal(&mut self, roi_sum: f64) {
-        self.prev_roi_sum = roi_sum;
-        if self.first_frame {
-            self.ema_sum = roi_sum;
-            self.first_frame = false;
-        } else {
-            self.ema_sum = self.ema_alpha * self.ema_sum + (1.0 - self.ema_alpha) * roi_sum;
-        }
-    }
-
-    // ───────────── 推理 ─────────────
-
-    fn ridge_predict(&self, features: &[f64; N_FEATURES]) -> f64 {
-        let mut scaled = [0.0f64; N_FEATURES];
-        for i in 0..N_FEATURES {
-            let s = self.scaler_scale[i];
-            scaled[i] = if s.abs() > 1e-12 {
-                (features[i] - self.scaler_mean[i]) / s
-            } else {
-                0.0
-            };
-        }
-        let mut y = self.ridge_intercept;
-        for i in 0..N_FEATURES {
-            y += self.ridge_coef[i] * scaled[i];
-        }
-        y
-    }
-}

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

@@ -12,7 +12,7 @@ use async_trait::async_trait;
 use csv::StringRecord;
 use anyhow::anyhow;
 use std::io::Read;
-use log::{debug, info};
+use log::debug;
 
 const FRAME_BUFFER_MIN_LENGTH: usize = 15;
 
@@ -77,11 +77,12 @@ impl TactileACodec {
             .chunks_exact(2)
             .map(|chunk| {
                 let raw = u16::from_le_bytes([chunk[0], chunk[1]]) as i32;
-                if raw < 15 {
-                    0
-                } else {
                 raw
-                }
+                // if raw < 15 {
+                //     0
+                // } else {
+                //     raw
+                // }
             })
             .collect::<Vec<i32>>();
 
@@ -226,7 +227,6 @@ impl Codec<TactileAFrame> for TactileACodec {
                 req_bytes.extend_from_slice((f.meta.except_data_len as u16).to_le_bytes().as_slice());
                 let checksum = calc_crc8_itu(req_bytes.as_slice());
                 req_bytes.push(checksum);
-                info!("send: {:02X?}", req_bytes);
                 Ok(req_bytes)
             }
             _ => {

src-tauri/src/serial_core/mod.rs

@@ -13,7 +13,6 @@ pub mod record;
 pub mod utils;
 #[cfg(feature = "multi-dim")]
 pub mod multi_dim_force;
-pub mod basin_force_estimator;
 
 pub type TestRecording = Recording<TestFrame>;
 pub type TactileARecording = Recording<TactileAFrame>;

src-tauri/src/serial_core/model.rs

@@ -13,6 +13,7 @@ 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)]
@@ -74,6 +75,14 @@ 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>,
@@ -89,6 +98,7 @@ pub struct HudChartState {
     order: Vec<String>,
     summary_points: Vec<f32>,
     pressure_matrix: Option<Vec<f32>>,
+    spatial_force: Option<HudSpatialForce>,
     last_frame_seen: Option<Instant>,
 }
 
@@ -99,6 +109,7 @@ impl HudChartState {
             order: Vec::new(),
             summary_points: Vec::new(),
             pressure_matrix: None,
+            spatial_force: None,
             last_frame_seen: None,
         }
     }
@@ -115,6 +126,10 @@ 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);
@@ -130,9 +145,15 @@ 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() && summary_points_before == self.summary_points.len() {
+        if before == self.panels.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;
         }
 
@@ -187,6 +208,7 @@ impl HudChartState {
         if summary_stale {
             self.summary_points.clear();
             self.pressure_matrix = None;
+            self.spatial_force = None;
             self.last_frame_seen = None;
         }
     }
@@ -205,6 +227,7 @@ 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

@@ -1,122 +1,527 @@
-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 {
-    first_frame: Option<Vec<f32>>,
+    baseline_frame: Option<Vec<f32>>,
-    first_contact_cop_x: Option<f32>,
+    contact_active: bool,
-    first_contact_cop_y: Option<f32>,
+    contact_enter_counter: usize,
-    contact_initialized: bool,
+    contact_exit_counter: usize,
-    total_pressure_low_counter: usize,
+    anchor_cop_x: Option<f32>,
+    anchor_cop_y: Option<f32>,
+    last_cop_x: Option<f32>,
+    last_cop_y: Option<f32>,
+    smoothed_x: f32,
+    smoothed_y: f32,
+    report_active: bool,
+    report_hold_counter: usize,
+    held_report: Option<PztSpatialAnalysis>,
+}
+
+#[derive(Clone, Copy)]
+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 {
-            first_frame: None,
+            baseline_frame: None,
-            first_contact_cop_x: None,
+            contact_active: false,
-            first_contact_cop_y: None,
+            contact_enter_counter: 0,
-            contact_initialized: false,
+            contact_exit_counter: 0,
-            total_pressure_low_counter: 0,
+            anchor_cop_x: None,
+            anchor_cop_y: None,
+            last_cop_x: None,
+            last_cop_y: None,
+            smoothed_x: 0.0,
+            smoothed_y: 0.0,
+            report_active: false,
+            report_hold_counter: 0,
+            held_report: None,
         }
     }
 
-    fn subtract_baseline(&mut self, current_frame: &[f32]) -> Vec<f32> {
+    fn reset_tracking_state(&mut self) {
-        if self.first_frame.is_none() {
+        self.contact_active = false;
-            self.first_frame = Some(current_frame.to_vec());
+        self.contact_enter_counter = 0;
+        self.contact_exit_counter = 0;
+        self.anchor_cop_x = None;
+        self.anchor_cop_y = None;
+        self.last_cop_x = None;
+        self.last_cop_y = None;
+        self.smoothed_x = 0.0;
+        self.smoothed_y = 0.0;
     }
 
-        let baseline = self.first_frame.as_ref().unwrap();
+    fn reset_report_state(&mut self) {
-        current_frame
+        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
+            .baseline_frame
+            .as_ref()
+            .expect("baseline should exist after bootstrap");
+
+        raw_frame
             .iter()
             .zip(baseline.iter())
-            .map(|(c, b)| (c - b).max(0.0))
+            .map(|(raw, base)| (raw - base - BASELINE_NOISE_FLOOR).max(0.0))
             .collect()
     }
 
-    fn reset_cop_state(&mut self) {
+    fn pressure_metrics(frame: &[f32]) -> (f32, f32) {
-        self.first_contact_cop_x = None;
+        let total = frame.iter().sum::<f32>();
-        self.first_contact_cop_y = None;
+        let peak = frame.iter().copied().fold(0.0, f32::max);
-        self.contact_initialized = false;
+        (total, peak)
-        self.total_pressure_low_counter = 0;
     }
 
-    fn compute_pressure_direction(&mut self, frame: &[f32]) -> (f32, f32) {
+    fn is_contact_enter_frame(frame: &[f32]) -> bool {
-        let frame2d = Array2::from_shape_vec((SENSOR_ROWS, SENSOR_COLS), frame.to_vec()).unwrap();
+        let (total, peak) = Self::pressure_metrics(frame);
-        let total_pressure: f32 = frame2d.sum();
+        total >= CONTACT_ENTER_TOTAL_THRESHOLD && peak >= CONTACT_ENTER_PEAK_THRESHOLD
-        if total_pressure < TOTAL_PRESSURE_LOW_THRESHOLD as f32 {
-            self.total_pressure_low_counter += 1;
-        } else {
-            self.total_pressure_low_counter = 0;
     }
 
-        if self.total_pressure_low_counter >= COP_STABILITY_FRAMES_REQUIRED {
+    fn is_contact_exit_frame(frame: &[f32]) -> bool {
-            self.reset_cop_state();
+        let (total, peak) = Self::pressure_metrics(frame);
-            return (0.0, 0.0);
+        total <= CONTACT_EXIT_TOTAL_THRESHOLD || peak <= CONTACT_EXIT_PEAK_THRESHOLD
     }
 
-        if total_pressure == 0.0 {
+    fn inactive_analysis() -> PztSpatialAnalysis {
-            return (0.0, 0.0);
+        PztSpatialAnalysis {
-        }
+            angle_deg: 0.0,
-
+            magnitude: 0.0,
-        let mut sum_x = 0.0;
+            planar_x: 0.0,
-        let mut sum_y = 0.0;
+            planar_y: 0.0,
-
+            confidence: 0.0,
-        for r in 0..SENSOR_ROWS {
+            contact_active: false,
-            for c in 0..SENSOR_COLS {
+            reportable: false,
-                let val = frame2d[(r, c)];
-                sum_x += val * c as f32;
-                sum_y += val * r as f32;
         }
     }
 
-        let cop_x = sum_x / total_pressure;
+    fn weak_contact_analysis() -> PztSpatialAnalysis {
-        let cop_y = sum_y / total_pressure;
+        PztSpatialAnalysis {
-
+            contact_active: true,
-        if !self.contact_initialized {
+            ..Self::inactive_analysis()
-            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();
+    fn compute_contact_stats(frame: &[f32]) -> Option<ContactStats> {
-        let dy = cop_y - self.first_contact_cop_y.unwrap();
+        let total = frame.iter().sum::<f32>();
+        if total <= 0.0 {
+            return None;
+        }
 
-        (dx, dy)
+        let peak = frame.iter().copied().fold(0.0, f32::max);
+        if peak <= 0.0 {
+            return None;
+        }
+
+        let active_threshold = (peak * ACTIVE_CELL_PEAK_RATIO).max(ACTIVE_CELL_MIN_VALUE);
+
+        let mut active_total = 0.0;
+        let mut active_cells = 0usize;
+        let mut weighted_col_sum = 0.0;
+        let mut weighted_row_sum = 0.0;
+        let mut min_row = SENSOR_ROWS;
+        let mut max_row = 0usize;
+        let mut min_col = SENSOR_COLS;
+        let mut max_col = 0usize;
+
+        for row in 0..SENSOR_ROWS {
+            for col in 0..SENSOR_COLS {
+                let index = row * SENSOR_COLS + col;
+                let value = frame[index];
+                if value < active_threshold {
+                    continue;
+                }
+
+                active_cells += 1;
+                active_total += value;
+                weighted_col_sum += value * col as f32;
+                weighted_row_sum += value * row as f32;
+                min_row = min_row.min(row);
+                max_row = max_row.max(row);
+                min_col = min_col.min(col);
+                max_col = max_col.max(col);
+            }
+        }
+
+        if active_cells < MIN_ACTIVE_CELLS || active_total <= 0.0 {
+            return None;
+        }
+
+        let cop_x = weighted_col_sum / active_total;
+        let cop_y = weighted_row_sum / active_total;
+        let bbox_center_x = (min_col + max_col) as f32 * 0.5;
+        let bbox_center_y = (min_row + max_row) as f32 * 0.5;
+        let half_width = ((max_col - min_col).max(1) as f32) * 0.5;
+        let half_height = ((max_row - min_row).max(1) as f32) * 0.5;
+
+        let mut asymmetry_x = 0.0;
+        let mut asymmetry_y = 0.0;
+
+        for row in min_row..=max_row {
+            for col in min_col..=max_col {
+                let index = row * SENSOR_COLS + col;
+                let value = frame[index];
+                if value < active_threshold {
+                    continue;
+                }
+
+                asymmetry_x += value * ((col as f32 - bbox_center_x) / half_width);
+                asymmetry_y += value * ((row as f32 - bbox_center_y) / half_height);
+            }
+        }
+
+        Some(ContactStats {
+            total,
+            peak,
+            active_total,
+            active_cells,
+            min_row,
+            max_row,
+            min_col,
+            max_col,
+            cop_x,
+            cop_y,
+            asymmetry_x: asymmetry_x / active_total,
+            asymmetry_y: asymmetry_y / active_total,
+        })
     }
 
     fn compute_vector_angle(x: f32, y: f32) -> (f32, f32) {
-        let epsilon = 1e-8;
+        let magnitude = (x * x + y * y).sqrt();
-        let mag = (x * x + y * y).sqrt();
+        if magnitude <= f32::EPSILON {
-        let mut angle = (y).atan2(x + epsilon).to_degrees();
+            return (0.0, 0.0);
+        }
+
+        let mut angle = y.atan2(x).to_degrees();
         if angle < 0.0 {
             angle += 360.0;
         }
-        (angle, mag)
+
+        (angle, magnitude)
     }
 
-    fn compute_pzt_angle(px: f32, py: f32) -> (f32, f32) {
+    fn update_contact_state(&mut self, raw_frame: &[f32], frame: &[f32]) -> bool {
-        Self::compute_vector_angle(px, -py)
+        if self.contact_active {
+            if Self::is_contact_exit_frame(frame) {
+                self.contact_exit_counter += 1;
+                if self.contact_exit_counter >= CONTACT_EXIT_FRAMES_REQUIRED {
+                    self.update_idle_baseline(raw_frame, BASELINE_IDLE_ALPHA);
+                    self.reset_tracking_state();
+                    self.reset_report_state();
+                    return false;
+                }
+            } else {
+                self.contact_exit_counter = 0;
             }
 
-    pub fn get_pzt_angle(&mut self, adc_data: &[f32]) -> Result<f32, &'static str> {
+            return true;
-        if adc_data.len() != 84 {
+        }
+
+        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 = self.subtract_baseline(adc_data);
+        let baseline_subtracted = self.subtract_baseline(adc_data);
-        let (dx, dy) = self.compute_pressure_direction(&baseline);
+        if !self.update_contact_state(adc_data, &baseline_subtracted) {
-        let (angle, _) = Self::compute_pzt_angle(dx, dy);
+            return Ok(Self::inactive_analysis());
+        }
 
-        Ok(angle)
+        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)
+    }
+
+    pub fn should_report(analysis: &PztSpatialAnalysis) -> bool {
+        analysis.reportable
     }
 
     pub fn reset_baseline(&mut self) {
-        self.first_frame = None;
+        self.baseline_frame = None;
-        self.reset_cop_state();
+        self.reset_tracking_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

@@ -1,14 +1,13 @@
-use crate::serial_core::basin_force_estimator::BasinForceEstimator;
+#[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};
+use crate::serial_core::model::{HudChartState, HudPacket, HudSpatialForce};
 #[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;
@@ -16,14 +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> {
@@ -34,6 +33,7 @@ pub enum PollMode<F> {
 struct PendingSubFrame<F> {
     frame: F,
     values: Vec<i32>,
+    spatial_force: Option<HudSpatialForce>,
 }
 
 pub trait SerialFrame: Clone + Send + 'static {
@@ -234,7 +234,6 @@ where
     let mut prune_interval = time::interval(Duration::from_millis(450));
     #[cfg(feature = "multi-dim")]
     let mut pzt_processor = PztProcessor::new();
-    let mut force_estimator = BasinForceEstimator::new();
     let mut pending_sub_frame: Option<PendingSubFrame<F>> = None;
     prune_interval.set_missed_tick_behavior(MissedTickBehavior::Delay);
 
@@ -268,6 +267,7 @@ where
                     let display_values = build_display_values(
                         &mut chart_state,
                         pending.values.as_slice(),
+                        pending.spatial_force,
                     );
 
                     if let Some(packet) = pending
@@ -311,33 +311,36 @@ where
                     drop(record);
 
                     if let Some(vals) = decode_res {
-                        // Basin force estimation (pre-force)
+                        let mut spatial_force = None;
-                        if vals.len() == 84 {
-                            let mut frame_f64 = [0.0f64; 84];
-                            for (i, v) in vals.iter().enumerate() {
-                                frame_f64[i] = *v as f64;
-                            }
-                            let pre_force = force_estimator.predict_frame(&frame_f64);
-                            debug!("pre-force: {:.2}", pre_force);
-                        }
-
                         #[cfg(feature = "multi-dim")]
                         {
                             let pzt_values = vals.iter().map(|value| *value as f32).collect::<Vec<f32>>();
-                            if let Ok(angle) = pzt_processor.get_pzt_angle(&pzt_values) {
+                            if let Ok(analysis) = pzt_processor.get_pzt_analysis(&pzt_values) {
-                                // debug!("pzt angle: {:.2}", angle);
+                                // debug!(
+                                //     "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)?;
@@ -349,11 +352,18 @@ where
     Ok(())
 }
 
-fn build_display_values(chart_state: &mut HudChartState, values: &[i32]) -> Option<Vec<i32>> {
+fn build_display_values(
+    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])
 }
 
@@ -410,12 +420,12 @@ fn infer_matrix_shape(len: usize) -> (u32, u32) {
 }
 
 fn raw_to_g1(raw: u32) -> f64 {
-    const X: [u32; 12] = [
+    const X: [u32; 13] = [
-        0, 84402, 117218, 140176, 159126, 175812, 191484, 208758, 224703, 252448, 302361, 352703,
+        0, 16811, 41350, 79241, 94615, 127446, 149559, 175900, 195056, 237852, 267810, 322472, 378511,
     ];
 
-    const Y: [f64; 12] = [
+    const Y: [f64; 13] = [
-        0.0, 160.0, 260.0, 360.0, 460.0, 560.0, 660.0, 760.0, 860.0, 1060.0, 1560.0, 2060.0,
+        0.0, 57.0, 97.0, 197.0, 257.0, 357.0, 457.0, 557.0, 657.0, 857.0, 1057.0, 1557.0, 2057.0,
     ];
 
     let n = X.len();

src-tauri/tauri.conf.json

@@ -23,7 +23,7 @@
     }
   },
   "bundle": {
-    "createUpdaterArtifacts": false,
+    "createUpdaterArtifacts": true,
     "active": true,
     "targets": "all",
     "icon": [

src/indicator/indicator498.py

@@ -1,747 +0,0 @@
-from typing import Dict, List, Tuple
-import numpy as np
-from indicator.base import Indicator
-import math
-
-
-class EMA:
-    """指数移动平均"""
-
-    @staticmethod
-    def calc(data: np.ndarray, period: int) -> np.ndarray:
-        alpha = 2.0 / (period + 1)
-        out = np.empty_like(data)
-        out[0] = data[0]
-        for i in range(1, len(data)):
-            out[i] = alpha * data[i] + (1 - alpha) * out[i - 1]
-        return out
-
-
-class SMA:
-    """简单移动平均"""
-
-    @staticmethod
-    def calc(data: np.ndarray, period: int) -> np.ndarray:
-        out = np.full_like(data, np.nan)
-        if len(data) < period:
-            return out
-        cumsum = np.cumsum(data)
-        out[period - 1:] = (cumsum[period - 1:] - np.concatenate([[0], cumsum[:-period]])) / period
-        return out
-
-
-def true_range(high: np.ndarray, low: np.ndarray, close: np.ndarray) -> np.ndarray:
-    """True Range"""
-    tr = np.empty(len(high))
-    tr[0] = high[0] - low[0]
-    for i in range(1, len(high)):
-        tr[i] = max(high[i] - low[i], abs(high[i] - close[i - 1]), abs(low[i] - close[i - 1]))
-    return tr
-
-
-class SignalTracker:
-    """逐帧更新的信号追踪器（无回看依赖，纯实时）"""
-
-    def __init__(
-        self,
-        ob_threshold: float = 80,
-        os_threshold: float = 20,
-        dist_extreme: float = 5,
-        dist_far: float = 15,
-        dist_mid: float = 30,
-        macd_th: float = 0.3,
-        rsi_ob: float = 70,
-        rsi_os: float = 30,
-        di_gap_bull: float = 15,
-        di_gap_bear: float = -15,
-        aroon_ob: float = 80,
-        aroon_os: float = 20,
-        williams_ob: float = -20,
-        williams_os: float = -80,
-        bias_ob: float = 5,
-        bias_os: float = -5,
-    ):
-        self.ob_threshold = ob_threshold
-        self.os_threshold = os_threshold
-        self.dist_extreme = dist_extreme
-        self.dist_far = dist_far
-        self.dist_mid = dist_mid
-        self.macd_th = macd_th
-        self.rsi_ob = rsi_ob
-        self.rsi_os = rsi_os
-        self.di_gap_bull = di_gap_bull
-        self.di_gap_bear = di_gap_bear
-        self.aroon_ob = aroon_ob
-        self.aroon_os = aroon_os
-        self.williams_ob = williams_ob
-        self.williams_os = williams_os
-        self.bias_ob = bias_ob
-        self.bias_os = bias_os
-
-        # 状态缓存
-        self._intp_buy_sma: float = 0.0
-        self._intp_sell_sma: float = 0.0
-        self._intp_sma_count: int = 0
-        self._max_qtb_score: float = 0.0
-        self._bull_count: int = 0
-        self._bear_count: int = 0
-        self._last_bull_idx: int = -100
-        self._last_bear_idx: int = -100
-        self._frame_idx: int = 0
-
-        # 历史缓冲区（保留最近200帧用于EMA/SMA/DI计算）
-        self._buf_size: int = 200
-        self._bbi_buf: List[float] = []
-        self._amplitude_buf: List[float] = []
-        self._close_buf: List[float] = []
-        self._high_buf: List[float] = []
-        self._low_buf: List[float] = []
-        self._wr_buf: List[float] = []
-
-    def reset(self):
-        """重置所有状态"""
-        self._intp_buy_sma = 0.0
-        self._intp_sell_sma = 0.0
-        self._intp_sma_count = 0
-        self._max_qtb_score = 0.0
-        self._bull_count = 0
-        self._bear_count = 0
-        self._last_bull_idx = -100
-        self._last_bear_idx = -100
-        self._frame_idx = 0
-        self._bbi_buf.clear()
-        self._amplitude_buf.clear()
-        self._close_buf.clear()
-        self._high_buf.clear()
-        self._low_buf.clear()
-        self._wr_buf.clear()
-
-    def _append_buf(self, buf: List[float], val: float):
-        buf.append(val)
-        if len(buf) > self._buf_size:
-            buf.pop(0)
-
-    def _ema_val(self, buf: List[float], period: int) -> float:
-        """返回缓冲区中最后一个EMA值"""
-        if len(buf) < period:
-            return buf[-1] if buf else 0.0
-        arr = np.array(buf, dtype=float)
-        ema = EMA.calc(arr, period)
-        return float(ema[-1])
-
-    def _sma_val(self, buf: List[float], period: int) -> float:
-        if len(buf) < period:
-            return np.nan
-        arr = np.array(buf, dtype=float)
-        sma = SMA.calc(arr, period)
-        return float(sma[-1])
-
-    def get_signals(
-        self,
-        amplitude: float,
-        bbi: float,
-        cci: float,
-        close: float,
-        dmk: float,
-        high: float,
-        k: float,
-        low: float,
-        qtb_score: float,
-        result: float,
-        wr: float,
-        percent: float,
-        v0: float,
-        boll_upper: float,
-        boll_lower: float,
-        macd_val: float,
-        pmacd: float,
-        bias: float,
-    ) -> Tuple[str, str, str, str]:
-        """
-        逐帧更新，返回 (market_status, signal_type, intensity, detail)
-
-        不依赖历史数组，所有指标值由外部实时计算后传入。
-        """
-
-        # ─── 更新缓冲区 ───
-        self._append_buf(self._bbi_buf, bbi)
-        self._append_buf(self._amplitude_buf, amplitude)
-        self._append_buf(self._close_buf, close)
-        self._append_buf(self._high_buf, high)
-        self._append_buf(self._low_buf, low)
-        self._append_buf(self._wr_buf, wr)
-
-        # ─── 指标因子计算（使用传入值 + 缓冲区衍生值）───
-        k_macd = self._k_macd_factor(k, macd_val, pmacd)
-        k_di = self._k_di_factor(dmk, amplitude, close)
-        k_aroon = self._k_aroon_factor(high, low, close)
-        k_williams = self._k_williams_factor(wr)
-        k_result = self._k_result_factor(result)
-        k_bias = self._k_bias_factor(bias)
-        k_trix = self._k_trix_factor(close)
-        k_ema = self._k_ema_factor(close)
-        k_amplitude = self._k_amplitude_factor(amplitude)
-
-        # ─── 累计 ───
-        k_bull = k_macd + k_di + k_aroon + k_williams + k_result + k_bias + k_trix + k_ema + k_amplitude
-        k_bear = k_macd + k_di + k_aroon + k_williams + k_result + k_bias + k_trix + k_ema + k_amplitude
-
-        if result > self.ob_threshold and k_bull > 0 and result >= 90:
-            k_bull *= 1.5
-
-        # ─── 指数平滑 ───
-        if self._intp_sma_count == 0:
-            self._intp_buy_sma = k_bull
-            self._intp_sell_sma = k_bear
-            self._intp_sma_count = 1
-        else:
-            self._intp_sma_count += 1
-            period = max(3, min(5, self._intp_sma_count))
-            alpha = 2.0 / (period + 1)
-            self._intp_buy_sma = alpha * k_bull + (1 - alpha) * self._intp_buy_sma
-            self._intp_sell_sma = alpha * k_bear + (1 - alpha) * self._intp_sell_sma
-
-        # ─── 趋势确认与背离检测 ───
-        is_bull_div, is_bear_div = self._detect_divergence(close, result)
-        if is_bull_div:
-            self._intp_buy_sma *= 1.3
-            k_bull *= 1.3
-        if is_bear_div:
-            self._intp_sell_sma *= 1.3
-            k_bear *= 1.3
-
-        is_bull, is_bear = self._detect_trend(close)
-        if is_bull:
-            self._intp_buy_sma *= 1.15
-            k_bull *= 1.15
-        if is_bear:
-            self._intp_sell_sma *= 1.15
-            k_bear *= 1.15
-
-        wmacd = self._wmacd()
-        if wmacd > 0:
-            k_bull += wmacd * 0.5
-        elif wmacd < 0:
-            k_bear += abs(wmacd) * 0.5
-
-        if qtb_score > self._max_qtb_score * 0.7:
-            pass
-        elif qtb_score < 3 and qtb_score > 1:
-            k_bull *= 0.85
-            k_bear *= 0.85
-
-        # ─── 信号分类 ───
-        max_k = max(abs(k_bull), abs(k_bear))
-        if max_k > 0:
-            buy_score = ((k_bull + max_k) / (2 * max_k)) * 100
-            sell_score = ((k_bear + max_k) / (2 * max_k)) * 100
-        else:
-            buy_score = sell_score = 50
-
-        bull_t = buy_score > 70 and result < 90
-        bear_t = sell_score > 70 and result > 10
-        k_cci = cci / 300
-        boll_mid = self._boll_mid()
-
-        is_bull_t = (
-            bull_t
-            and k_bull > k_cci
-            and close < boll_mid
-            and (
-                (result > 65 and result < 85 and k_bull > 0 and k_bear > 0 and (k_bear - k_bull < 1.5 or result > 75))
-                or (result < 35 and result > 15 and k_bear > 0 and k_bull > 0 and (k_bull - k_bear < 1.5 or result < 25))
-            )
-        )
-        is_bear_t = (
-            bear_t
-            and k_bear > k_cci
-            and close > boll_mid
-            and (
-                (result > 65 and result < 85 and k_bull > 0 and k_bear > 0 and (k_bear - k_bull < 1.5 or result > 75))
-                or (result < 35 and result > 15 and k_bear > 0 and k_bull > 0 and (k_bull - k_bear < 1.5 or result < 25))
-            )
-        )
-
-        if is_bull_t:
-            self._bull_count += 1
-            self._bear_count = 0
-            self._last_bull_idx = self._frame_idx
-        elif is_bear_t:
-            self._bear_count += 1
-            self._bull_count = 0
-            self._last_bear_idx = self._frame_idx
-        else:
-            self._bull_count = max(self._bull_count - 1, 0)
-            self._bear_count = max(self._bear_count - 1, 0)
-
-        # ─── 信号输出 ───
-        sig_strength = 1.0 + max(0, (self._bull_count - 3) * 0.1) + max(0, (self._bear_count - 3) * 0.1)
-
-        strength = (
-            "极强" if sig_strength >= 1.7
-            else "强" if sig_strength >= 1.4
-            else "中" if sig_strength >= 1.1
-            else "弱"
-        )
-
-        if buy_score >= sell_score:
-            signal = f"买{strength}"
-        else:
-            signal = f"卖{strength}"
-
-        # ─── 市场状态 ───
-        if abs(buy_score - sell_score) < 10:
-            status = "中性震荡"
-        elif buy_score > sell_score:
-            if self._bull_count >= 3:
-                status = "强势上涨"
-            elif result > self.ob_threshold:
-                status = "高位企稳"
-            else:
-                status = "温和上涨"
-        else:
-            if self._bear_count >= 3:
-                status = "强势下跌"
-            elif result < self.os_threshold:
-                status = "低位企稳"
-            else:
-                status = "温和下跌"
-
-        # ─── 距离 ───
-        boll_len = boll_upper - boll_lower
-        if boll_len > 0:
-            dist_ratio = (close - boll_lower) / boll_len * 100
-        else:
-            dist_ratio = 50
-
-        if dist_ratio < 50 - self.dist_extreme:
-            dist = "极端超卖"
-        elif dist_ratio < 50 - self.dist_far:
-            dist = "远离"
-        elif dist_ratio < 50 - self.dist_mid:
-            dist = "偏离"
-        elif dist_ratio < 50 + self.dist_mid:
-            dist = "接近"
-        elif dist_ratio < 50 + self.dist_far:
-            dist = "靠近"
-        elif dist_ratio < 50 + self.dist_extreme:
-            dist = "远超"
-        else:
-            dist = "极端超买"
-
-        # ─── 强度 ───
-        max_score = max(buy_score, sell_score)
-        intensity = (
-            "超强" if max_score >= 90
-            else "强" if max_score >= 80
-            else "中" if max_score >= 65
-            else "弱" if max_score >= 55
-            else "极弱"
-        )
-
-        # ─── 详情 ───
-        bias_val = self._ema_bias()
-        bbp_val = self._boll_pct_b(close, boll_upper, boll_lower)
-        detail = (
-            f"前量:{percent:.1f} 数量:{int(amplitude):03d} 百分比:{bbp_val:.1f} "
-            f"正:{k_bull:.1f} 负:{k_bear:.1f} 连买:{self._bull_count} 连卖:{self._bear_count} "
-            f"误差:{bias_val:.1f}"
-        )
-
-        self._frame_idx += 1
-        return status, signal, intensity, detail
-
-    # ═══════════════════════════════════════════════════
-    #  指标因子（全部基于实时数据，无回看窗口）
-    # ═══════════════════════════════════════════════════
-
-    def _k_macd_factor(self, k: float, macd_val: float, pmacd: float) -> float:
-        is_ob = k > self.ob_threshold
-        is_os = k < self.os_threshold
-        k_macd = 0.0
-        if is_ob or is_os:
-            if macd_val < 0:
-                if is_os and k < 30 and pmacd > 0 and pmacd <= 10 and macd_val > 1.5:
-                    k_macd = 3.5
-                elif is_ob and k > 80 and macd_val > 3 and abs(pmacd) < 5:
-                    k_macd = -3.5
-        elif pmacd < 0 and macd_val < 0:
-            if abs(pmacd) > 15 and macd_val >= -0.5:
-                k_macd = 3.5
-            elif 5 < abs(pmacd) < 15 and macd_val > 0.7:
-                k_macd = 3.5
-        elif pmacd > 0 and macd_val > 0:
-            if pmacd >= 15 and macd_val < 0.5:
-                k_macd = -3.5
-            elif 5 < pmacd < 15 and macd_val < -0.7:
-                k_macd = -3.5
-        elif macd_val >= 3:
-            k_macd = macd_val * 1.5
-        elif macd_val <= -3:
-            k_macd = macd_val * 1.5
-        return k_macd
-
-    def _k_di_factor(self, dmk: float, amplitude: float, close: float) -> float:
-        if len(self._close_buf) < 20:
-            return 0.0
-        k_close = np.array(self._close_buf, dtype=float)
-        period = 14
-        if len(k_close) < period + 1:
-            return 0.0
-        dx_list = []
-        for i in range(1, min(period + 1, len(k_close))):
-            diff = k_close[-i] - k_close[-i - 1]
-            dx_list.append(diff)
-        if not dx_list:
-            return 0.0
-        last_diff = dx_list[0]
-        adx_val = abs(dmk) * 0.5
-
-        k_di = 0.0
-        if adx_val < 20:
-            return 0.0
-        if dmk > 0 and len(dx_list) > 5:
-            gains = [d for d in dx_list[:5] if d > 0]
-            if len(gains) >= 3 and last_diff > 0:
-                k_di = min(adx_val / 5, 6.0)
-        elif dmk < 0 and len(dx_list) > 5:
-            losses = [d for d in dx_list[:5] if d < 0]
-            if len(losses) >= 3 and last_diff < 0:
-                k_di = -min(adx_val / 5, 6.0)
-        return k_di
-
-    def _k_aroon_factor(self, high: float, low: float, close: float) -> float:
-        period = 14
-        if len(self._high_buf) < period:
-            return 0.0
-        highs = self._high_buf[-period:]
-        lows = self._low_buf[-period:]
-        highest = max(highs)
-        lowest = min(lows)
-        rng = highest - lowest
-        if rng == 0:
-            return 0.0
-        k_aroon = 0.0
-        pct = (close - lowest) / rng * 100
-        if pct >= self.aroon_ob:
-            if close >= highest * 0.995:
-                k_aroon = -2.0
-            else:
-                k_aroon = 2.0
-        elif pct <= self.aroon_os:
-            if close <= lowest * 1.005:
-                k_aroon = 2.0
-            else:
-                k_aroon = -2.0
-        else:
-            k_aroon = (pct - 50) / 50 * 1.2
-        return k_aroon
-
-    def _k_williams_factor(self, wr: float) -> float:
-        k_wr = 0.0
-        if wr > self.williams_ob:
-            if wr > -10:
-                k_wr = -1.2
-            else:
-                k_wr = -0.8
-        elif wr < self.williams_os:
-            if wr < -90:
-                k_wr = 1.2
-            else:
-                k_wr = 0.8
-        return k_wr
-
-    def _k_result_factor(self, result: float) -> float:
-        k_result = 0.0
-        is_ob = result > self.ob_threshold
-        is_os = result < self.os_threshold
-        if is_os and result < 10:
-            k_result = 1.5
-        elif is_ob and result > 90:
-            k_result = -1.5
-        return k_result
-
-    def _k_bias_factor(self, bias: float) -> float:
-        k_bias = 0.0
-        if bias < self.bias_os and bias < -3:
-            k_bias = min(abs(bias) / 5, 2.5)
-        elif bias > self.bias_ob and bias > 3:
-            k_bias = -min(abs(bias) / 5, 2.5)
-        return k_bias
-
-    def _k_trix_factor(self, close: float) -> float:
-        ema3 = self._ema_val(self._close_buf, 3)
-        ema9 = self._ema_val(self._close_buf, 9)
-        if ema9 == 0:
-            return 0.0
-        trix = (ema3 - ema9) / ema9 * 100
-        k_trix = 0.0
-        if trix > 0:
-            k_trix = min(trix / 2, 3.0)
-        elif trix < 0:
-            k_trix = max(trix / 2, -3.0)
-        return k_trix
-
-    def _k_ema_factor(self, close: float) -> float:
-        ema9 = self._ema_val(self._close_buf, 9)
-        if ema9 == 0:
-            return 0.0
-        bias = (close - ema9) / ema9 * 100
-        k_ema = 0.0
-        if bias < -2:
-            k_ema = min(abs(bias) * 0.3, 2.0)
-        elif bias > 2:
-            k_ema = -min(abs(bias) * 0.3, 2.0)
-        return k_ema
-
-    def _k_amplitude_factor(self, amplitude: float) -> float:
-        if len(self._amplitude_buf) < 10:
-            return 0.0
-        buf = self._amplitude_buf[-10:]
-        mean = sum(buf) / len(buf)
-        if mean == 0:
-            return 0.0
-        ratio = (amplitude - mean) / mean
-        k_amp = 0.0
-        if ratio > 0.5:
-            k_amp = min(ratio * 1.5, 3.0)
-        elif ratio < -0.3:
-            k_amp = max(ratio * 1.5, -3.0)
-        return k_amp
-
-    def _detect_divergence(self, close: float, result: float) -> Tuple[bool, bool]:
-        """简化背离检测（基于累计计数）"""
-        is_bull_div = False
-        is_bear_div = False
-        if len(self._close_buf) > 30:
-            c30 = self._close_buf[-30]
-            if close > c30 * 1.05 and result < 50:
-                is_bull_div = True
-            elif close < c30 * 0.95 and result > 50:
-                is_bear_div = True
-        return is_bull_div, is_bear_div
-
-    def _detect_trend(self, close: float) -> Tuple[bool, bool]:
-        """简化趋势确认"""
-        is_bull = False
-        is_bear = False
-        if len(self._close_buf) > 20:
-            c20 = self._close_buf[-20]
-            if close > c20 * 1.05:
-                is_bull = True
-            elif close < c20 * 0.95:
-                is_bear = True
-        return is_bull, is_bear
-
-    def _wmacd(self) -> float:
-        """简化加权MACD（基于缓冲区）"""
-        if len(self._close_buf) < 12:
-            return 0.0
-        ema12 = self._ema_val(self._close_buf, 12)
-        ema26 = self._ema_val(self._close_buf, 26)
-        return ema12 - ema26
-
-    def _boll_mid(self) -> float:
-        if len(self._close_buf) < 20:
-            return self._close_buf[-1] if self._close_buf else 0.0
-        return sum(self._close_buf[-20:]) / 20
-
-    def _ema_bias(self) -> float:
-        if not self._close_buf:
-            return 0.0
-        ema5 = self._ema_val(self._close_buf, 5)
-        ema10 = self._ema_val(self._close_buf, 10)
-        if ema10 == 0:
-            return 0.0
-        return (ema5 - ema10) / ema10 * 1000
-
-    def _boll_pct_b(self, close: float, upper: float, lower: float) -> float:
-        boll_len = upper - lower
-        if boll_len == 0:
-            return 50.0
-        return (close - lower) / boll_len * 100
-
-
-def get_signals(indicator: Indicator) -> Tuple[str, str, str, str]:
-    """
-    基于技术指标生成交易信号（逐帧调用版）
-
-    参数：
-        indicator: Indicator 对象，包含所有实时指标值
-
-    返回：
-        tuple: (market_status, signal_type, intensity, detail)
-    """
-    # ─── 指标提取 ───
-    bbi = indicator.BBI
-    amplitude = indicator.AMPLITUDE
-    cci = indicator.CCI
-    close = indicator.CLOSE
-    dmk = indicator.DMK
-    high = indicator.HIGH
-    k = indicator.K
-    low = indicator.LOW
-    macd_val = indicator.MACD
-    ob = indicator.OB
-    os_ = indicator.OS
-    ovs = indicator.OVS
-    ovc = indicator.OVC
-    result = indicator.RESULT
-    wr = indicator.WR
-    percent = indicator.PERCENT
-    v0 = indicator.V0
-    boll_upper = indicator.BOLL_UP
-    boll_lower = indicator.BOLL_LO
-    bias = indicator.BIAS
-
-    # ─── 指标阈值 ───
-    ob_threshold = ob if ob > 0 else 80
-    os_threshold = os_ if os_ > 0 else 20
-    dist_extreme = ovc if ovc > 0 else 5
-    dist_far = ovs if ovs > 0 else 15
-    dist_mid = 30
-    macd_th = 0.3
-    rsi_ob = ovc if ovc > 0 else 70
-    rsi_os = ovs if ovs > 0 else 30
-    di_gap_bull = ovc if ovc > 0 else 15
-    di_gap_bear = -di_gap_bull
-    aroon_ob = ob_threshold
-    aroon_os = os_threshold
-    williams_ob = -20
-    williams_os = -80
-    bias_ob = 5
-    bias_os = -5
-
-    # ─── 指标因子 ───
-    pmacd = getattr(indicator, 'PMACD', macd_val)
-
-    k_macd = _k_macd_factor(ob_threshold, os_threshold, k, macd_val, pmacd)
-    k_di = _k_di_factor(dmk, amplitude, close)
-    k_aroon = _k_aroon_factor(aroon_ob, aroon_os, high, low, close)
-    k_williams = _k_williams_factor(williams_ob, williams_os, wr)
-    k_result = _k_result_factor(ob_threshold, os_threshold, result)
-    k_bias = _k_bias_factor(bias_ob, bias_os, bias)
-
-    # ─── K值累计 ───
-    k_bull = k_macd + k_di + k_aroon + k_williams + k_result + k_bias
-    k_bear = k_macd + k_di + k_aroon + k_williams + k_result + k_bias
-
-    if result > ob_threshold and k_bull > 0 and result >= 90:
-        k_bull *= 1.5
-
-    # ─── 强度计算 ───
-    max_k = max(abs(k_bull), abs(k_bear))
-    if max_k > 0:
-        buy_score = ((k_bull + max_k) / (2 * max_k)) * 100
-        sell_score = ((k_bear + max_k) / (2 * max_k)) * 100
-    else:
-        buy_score = sell_score = 50
-
-    # ─── 信号判断 ───
-    bull_t = buy_score > 70 and result < 90
-    bear_t = sell_score > 70 and result > 10
-
-    k_cci = cci / 300
-    boll_mid = indicator.BOLL_MID if hasattr(indicator, 'BOLL_MID') else (boll_upper + boll_lower) / 2
-    boll_len = boll_upper - boll_lower
-
-    is_bull_t = (
-        bull_t
-        and k_bull > k_cci
-        and close < boll_mid
-        and (
-            (result > 65 and result < 85 and k_bull > 0 and k_bear > 0 and (k_bear - k_bull < 1.5 or result > 75))
-            or (result < 35 and result > 15 and k_bear > 0 and k_bull > 0 and (k_bull - k_bear < 1.5 or result < 25))
-        )
-    )
-    is_bear_t = (
-        bear_t
-        and k_bear > k_cci
-        and close > boll_mid
-        and (
-            (result > 65 and result < 85 and k_bull > 0 and k_bear > 0 and (k_bear - k_bull < 1.5 or result > 75))
-            or (result < 35 and result > 15 and k_bear > 0 and k_bull > 0 and (k_bull - k_bear < 1.5 or result < 25))
-        )
-    )
-
-    # ─── 信号强度 ───
-    sig_strength = 1.0
-    if is_bull_t:
-        sig_strength += 0.3 + max(0, (result - 70) / 30)
-    elif is_bear_t:
-        sig_strength += 0.3 + max(0, (30 - result) / 30)
-
-    strength = (
-        "极强" if sig_strength >= 1.7
-        else "强" if sig_strength >= 1.4
-        else "中" if sig_strength >= 1.1
-        else "弱"
-    )
-
-    # ─── 信号类型 ───
-    if is_bull_t:
-        signal = f"买{strength}"
-    elif is_bear_t:
-        signal = f"卖{strength}"
-    else:
-        signal = "观望"
-
-    # ─── 市场状态 ───
-    if abs(buy_score - sell_score) < 10:
-        status = "中性震荡"
-    elif buy_score > sell_score:
-        if result > ob_threshold:
-            status = "高位企稳"
-        else:
-            status = "温和上涨"
-    else:
-        if result < os_threshold:
-            status = "低位企稳"
-        else:
-            status = "温和下跌"
-
-    # ─── 距离 ───
-    if boll_len > 0:
-        dist_ratio = (close - boll_lower) / boll_len * 100
-    else:
-        dist_ratio = 50
-
-    if dist_ratio < 50 - dist_extreme:
-        dist = "极端超卖"
-    elif dist_ratio < 50 - dist_far:
-        dist = "远离"
-    elif dist_ratio < 50 - dist_mid:
-        dist = "偏离"
-    elif dist_ratio < 50 + dist_mid:
-        dist = "接近"
-    elif dist_ratio < 50 + dist_far:
-        dist = "靠近"
-    elif dist_ratio < 50 + dist_extreme:
-        dist = "远超"
-    else:
-        dist = "极端超买"
-
-    # ─── 强度标签 ───
-    max_score = max(buy_score, sell_score)
-    intensity = (
-        "超强" if max_score >= 90
-        else "强" if max_score >= 80
-        else "中" if max_score >= 65
-        else "弱" if max_score >= 55
-        else "极弱"
-    )
-
-    # ─── 详情 ───
-    ema5 = indicator.EMA5 if hasattr(indicator, 'EMA5') else close
-    ema10 = indicator.EMA10 if hasattr(indicator, 'EMA10') else close
-    ema20 = indicator.EMA20 if hasattr(indicator, 'EMA20') else close
-    bias_val = (ema5 - ema10) / ema10 * 1000 if ema10 != 0 else 0
-
-    bbp_val = (close - boll_lower) / boll_len * 100 if boll_len > 0 else 50
-
-    detail = (
-        f"前量:{percent:.1f} 数量:{int(amplitude):03d} 百分比:{bbp_val:.1f} "
-        f"正:{k_bull:.1f} 负:{k_bear:.1f}"
-    )
-
-    return status, signal, intensity, detail

src/lib/components/CenterStage.svelte

@@ -6,17 +6,21 @@
   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";
@@ -24,6 +28,8 @@
   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 = "";
@@ -41,6 +47,8 @@
   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 = "";
@@ -84,6 +92,7 @@
   $: summaryCurveVisible = summary.points.length > 0 && summary.points.some((value) => Number.isFinite(value) && Math.abs(value) >= 0.0001);
   $: splitMatrixTitle = locale === "zh-CN" ? "数字矩阵" : "Matrix";
   $: splitMatrixHint = locale === "zh-CN" ? "实时压力数据 / 数字矩阵" : "Live pressure matrix";
+  $: isModelStage = stageViewMode === "model3d";
 
   function toPxNumber(rawValue: string): number {
     const value = Number.parseFloat(rawValue);
@@ -176,7 +185,13 @@
       bind:this={stagePlaneEl}
       style="--panel-zone-top-dyn: {panelZoneTopPx}px; --rail-scale-left: {leftRailScale}; --rail-scale-right: {rightRailScale};"
     >
-      {#if showPrecisionTestPanel}
+      {#if isModelStage}
+        <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">
@@ -232,7 +247,7 @@
         </div>
       {/if}
 
-      {#if showConfigPanel && !showPrecisionTestPanel}
+      {#if showConfigPanel && !showPrecisionTestPanel && !isModelStage}
         <div class="config-panel-wrap">
           <ConfigPanel
             bind:matrixRows
@@ -254,7 +269,7 @@
         </div>
       {/if}
 
-      {#if !showPrecisionTestPanel}
+      {#if !showPrecisionTestPanel && !isModelStage}
         <div class="panel-zone" bind:this={panelZoneEl}>
           <aside class="side-rail left-rail">
             <div class="rail-stack" bind:this={leftStackEl}>
@@ -303,6 +318,42 @@
                 </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"
@@ -326,7 +377,7 @@
         </div>
       {/if}
 
-      {#if replayHasData && !showPrecisionTestPanel}
+      {#if replayHasData && !showPrecisionTestPanel && !isModelStage}
         <aside class="replay-floating-panel" class:is-left={replaySide === "left"} class:is-right={replaySide === "right"}>
           <div class="replay-panel-head">
             <div class="replay-panel-title-group">
@@ -364,7 +415,7 @@
         </aside>
       {/if}
 
-      {#if !showPrecisionTestPanel}
+      {#if !showPrecisionTestPanel && !isModelStage}
         <div class="stage-bottom-overlay">
           <slot />
         </div>

src/lib/components/HudPanel.svelte

@@ -6,6 +6,7 @@
     HudNoticeTone,
     LocaleCode,
     MatrixDisplayMode,
+    StageViewMode,
     WindowControlAction
   } from "$lib/types/hud";
 
@@ -34,6 +35,10 @@
   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 = "";
@@ -56,6 +61,7 @@
     localechange: LocaleCode;
     configlink: string;
     matrixdisplaytoggle: boolean;
+    stagemodechange: StageViewMode;
     portchange: string;
     serialrefresh: void;
     serialconnect: string;
@@ -105,6 +111,10 @@
     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);
@@ -217,6 +227,28 @@
         </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>
@@ -485,7 +517,8 @@
     background: var(--panel-surface);
   }
 
-  .matrix-switch-wrap {
+  .matrix-switch-wrap,
+  .stage-mode-switch {
     display: inline-flex;
     align-items: center;
     gap: 0.4rem;
@@ -496,7 +529,8 @@
     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;
@@ -587,6 +621,45 @@
     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

@@ -0,0 +1,469 @@
+<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/SpatialForcePanel.svelte

@@ -0,0 +1,523 @@
+<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

@@ -3,6 +3,7 @@ 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";
@@ -40,11 +41,18 @@ 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 {
@@ -86,6 +94,9 @@ 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

@@ -22,6 +22,7 @@
     HudConfigLink,
     HudNoticeTone,
     HudPacket,
+    HudSpatialForce,
     PressureColorMapPreset,
     HudSignalPanel,
     HudSignalSeries,
@@ -33,6 +34,7 @@
     SerialRecordStateResult,
     SerialImportResult,
     SignalTone,
+    StageViewMode,
     WindowControlAction
   } from "$lib/types/hud";
 
@@ -44,6 +46,13 @@
     dtsMs: number;
   }
 
+  interface DevKitPztAngleEvent {
+    seq: number;
+    timestampMs: number;
+    dtsMs: number;
+    angle: number;
+  }
+
   const copyByLocale: Record<LocaleCode, HudCopy> = {
     "zh-CN": {
       appName: "JE-Skin",
@@ -62,6 +71,9 @@
       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",
@@ -121,6 +133,9 @@
       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",
@@ -221,12 +236,15 @@
   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;
@@ -260,6 +278,7 @@
     rowsKept: number;
   } | null = null;
   let devkitStatusTimer: number | null = null;
+  let devkitSpatialForceClearTimer: number | null = null;
   let sessionStartedAt: number = Date.now();
 
   $: uiCopy = copyByLocale[locale];
@@ -287,6 +306,31 @@
     return typeof window !== "undefined" && "__TAURI_INTERNALS__" in window;
   }
 
+  function clearDevkitSpatialForce(): void {
+    devkitSpatialForce = null;
+    if (devkitSpatialForceClearTimer != null && typeof window !== "undefined") {
+      window.clearTimeout(devkitSpatialForceClearTimer);
+      devkitSpatialForceClearTimer = null;
+    }
+    hasSignalData = signalPanels.length > 0 || summary.points.length > 0 || spatialForce !== null;
+  }
+
+  function scheduleDevkitSpatialForceClear(): void {
+    if (typeof window === "undefined") {
+      return;
+    }
+
+    if (devkitSpatialForceClearTimer != null) {
+      window.clearTimeout(devkitSpatialForceClearTimer);
+    }
+
+    devkitSpatialForceClearTimer = window.setTimeout(() => {
+      devkitSpatialForce = null;
+      devkitSpatialForceClearTimer = null;
+      hasSignalData = signalPanels.length > 0 || summary.points.length > 0 || spatialForce !== null;
+    }, 420);
+  }
+
   function clamp(value: number, min: number, max: number): number {
     return Math.min(max, Math.max(min, value));
   }
@@ -709,6 +753,8 @@
 
   function resetReplayVisualState(): void {
     pressureMatrix = buildZeroMatrix();
+    spatialForce = null;
+    clearDevkitSpatialForce();
     signalPanels = buildInactivePanels();
     summary = buildEmptySummary();
     hasSignalData = false;
@@ -744,6 +790,8 @@
     replayHasDisplayedFrame = true;
     replayProgress = replayFrames.length > 1 ? safeIndex / (replayFrames.length - 1) : 1;
     pressureMatrix = frameValuesToMatrix(replayFrames[safeIndex].values);
+    spatialForce = null;
+    clearDevkitSpatialForce();
     signalPanels = buildInactivePanels();
     summary = buildReplaySummaryAt(safeIndex);
     hasSignalData = true;
@@ -998,7 +1046,12 @@
       summary = packet.summary;
     }
     pressureMatrix = packet.pressureMatrix;
-    hasSignalData = signalPanels.length > 0 || packet.summary.points.length > 0;
+    spatialForce = packet.spatialForce ?? null;
+    hasSignalData =
+      signalPanels.length > 0 ||
+      packet.summary.points.length > 0 ||
+      spatialForce !== null ||
+      devkitSpatialForce !== null;
   }
 
   function clearHudPanels(): void {
@@ -1006,17 +1059,19 @@
     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 });
+    push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null, spatialForce: null });
 
     const timerId = window.setInterval(() => {
       summaryValue = evolveSummary(summaryValue);
 
-      push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null });
+      push({ ts: Date.now(), panels, summary: summaryValue, pressureMatrix: null, spatialForce: null });
     }, signalRenderTickMs);
 
     return () => {
@@ -1644,6 +1699,7 @@
 
   function handleConfigLink(event: CustomEvent<string>): void {
     if (event.detail === "precision-test") {
+      stageViewMode = "webgl";
       isPrecisionTestOpen = !isPrecisionTestOpen;
       isConfigPanelOpen = false;
       isDevKitConfigOpen = false;
@@ -1651,6 +1707,7 @@
     }
 
     if (event.detail === "settings") {
+      stageViewMode = "webgl";
       isPrecisionTestOpen = false;
       isConfigPanelOpen = !isConfigPanelOpen;
       isDevKitConfigOpen = false;
@@ -1743,6 +1800,14 @@
     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;
@@ -1770,12 +1835,25 @@
         .catch((error) => {
           console.error("Failed to listen for hud_stream:", error);
         });
-      void listen<{ seq: number; timestampMs: number; dtsMs: number; angle: number }>(
+      void listen<DevKitPztAngleEvent>("devkit_pzt_angle", (event) => {
-        "devkit_pzt_angle",
+        const angleDeg = Number(event.payload.angle);
-        (event) => {
+        if (!Number.isFinite(angleDeg)) {
-          console.log("[devkit_pzt_angle]", event.payload);
+          clearDevkitSpatialForce();
+          return;
         }
-      )
+
+        devkitSpatialForce = {
+          angleDeg,
+          magnitude: 0,
+          confidence: 0
+        };
+        scheduleDevkitSpatialForceClear();
+        hasSignalData =
+          signalPanels.length > 0 ||
+          summary.points.length > 0 ||
+          spatialForce !== null ||
+          devkitSpatialForce !== null;
+      })
         .then((unlisten) => {
           if (disposed) {
             unlisten();
@@ -1794,6 +1872,7 @@
     return () => {
       disposed = true;
       pauseReplayPlayback();
+      clearDevkitSpatialForce();
       stopMockFeed?.();
       unlistenHudStream?.();
       unlistenDevkitPztAngle?.();
@@ -1838,6 +1917,10 @@
       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}
@@ -1860,6 +1943,7 @@
       on:portchange={handlePortChange}
       on:configlink={handleConfigLink}
       on:matrixdisplaytoggle={handleMatrixDisplayToggle}
+      on:stagemodechange={handleStageModeChange}
       on:serialrefresh={handleSerialRefresh}
       on:serialconnect={handleSerialConnect}
       on:serialexport={handleSerialExportRequest}
@@ -1880,6 +1964,7 @@
       bind:rangeMax
       bind:colorMapPreset
       bind:matrixDisplayMode
+      {stageViewMode}
       configPanelTitle={uiCopy.configPanelTitle}
       configPanelHint={uiCopy.configPanelHint}
       matrixSizeLabel={uiCopy.matrixSizeLabel}
@@ -1906,6 +1991,8 @@
       leftPanels={leftSignalPanels}
       rightPanels={rightSignalPanels}
       {pressureMatrix}
+      {spatialForce}
+      {devkitSpatialForce}
       showConfigPanel={isConfigPanelOpen}
       showPrecisionTestPanel={isPrecisionTestOpen}
       {summary}
@@ -1916,7 +2003,7 @@
       on:replayclose={handleReplayClose}
       on:configclose={() => (isConfigPanelOpen = false)}
     >
-      {#if !isPrecisionTestOpen}
+      {#if !isPrecisionTestOpen && stageViewMode === "webgl"}
         <section class="range-scale" aria-label="Signal Range">
           <p class="range-label">{locale === "zh-CN" ? "范围" : "Range"}</p>
           <div class="range-track">

static/models/README.md

@@ -0,0 +1,14 @@
+# 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
+```