Improve SDK panel dongle state diagnostics

2026-06-13 18:00:30 +08:00
parent 80452a7a7d
commit 6500e0108f
11 changed files with 1022 additions and 197 deletions
@@ -5,6 +5,8 @@ import com.kiwii.bridge.KiwiiRuntimeClientBridge
 import com.kiwii.controlpanel.model.OperationResult
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.withContext
+import org.json.JSONArray
+import org.json.JSONObject

 class BridgeRepository {

@@ -29,6 +31,72 @@ class BridgeRepository {
    fun requestRuntimeWarmStart(reason: String = ""): String = KiwiiRuntimeClientBridge.requestRuntimeWarmStart(reason)

    fun getCameraStateJson(): String = KiwiiRuntimeClientBridge.getCameraStateJson()
+    /**
+     * Phase4B-v11.2 compile fix: keep the Phase4B camera observation API that CameraOps
+     * and RuntimeStateSource already depend on. v11 overwrote BridgeRepository while adding
+     * Dongle detail-state fusion and accidentally dropped this method.
+     */
+    fun getCameraObservationStateJson(): String {
+        return try {
+            val method = KiwiiRuntimeClientBridge::class.java.getMethod("getCameraObservationStateJson")
+            method.invoke(null) as? String ?: getCameraStateJson()
+        } catch (_: Throwable) {
+            try {
+                val out = JSONObject()
+                val camera = parseJsonOrEmpty(getCameraStateJson())
+                val health = parseJsonOrEmpty(getHealthStateJson())
+                val debug = runCatching { parseJsonOrEmpty(getDebugSnapshotJson()) }.getOrDefault(JSONObject())
+                val latestPose2D = runCatching { getLatestPose2D() }.getOrDefault(FloatArray(0))
+                val latestPose3D = runCatching { getLatestPose3D() }.getOrDefault(FloatArray(0))
+                val runtimeStats = runCatching { getLatestRuntimeStats() }.getOrDefault(FloatArray(0))
+                val statsActive = runtimeStats.any { value -> !value.isNaN() && !value.isInfinite() && value > 0.1f }
+
+                val pipeline = health.optJSONObject("realInternalCameraPipeline")
+                    ?: camera.optJSONObject("realInternalCameraPipeline")
+                    ?: debug.optJSONObject("realInternalCameraPipeline")
+                    ?: JSONObject()
+                val pose2DState = health.optJSONObject("pose2DState")
+                    ?: camera.optJSONObject("pose2DState")
+                    ?: debug.optJSONObject("pose2DState")
+                    ?: JSONObject()
+                val pose3DState = health.optJSONObject("pose3DState")
+                    ?: camera.optJSONObject("pose3DState")
+                    ?: debug.optJSONObject("pose3DState")
+                    ?: JSONObject()
+
+                out.put("contractVersion", "kiwii.sdk-panel.camera-observation-display.v11.2")
+                out.put("source", "SDK_Panel.camera-observation-compat")
+                out.put("pipeline", JSONObject()
+                    .put("state", if (statsActive || latestPose2D.isNotEmpty() || latestPose3D.isNotEmpty()) "RUNNING" else "STARTING")
+                    .put("imx415OpenSucceeded", pipeline.optBoolean("imx415OpenSucceeded", health.optBoolean("imx415OpenSucceeded", false)))
+                    .put("rgaEnabled", pipeline.optBoolean("rgaEnabled", health.optBoolean("rgaEnabled", false)))
+                    .put("rknnYoloEnabled", pipeline.optBoolean("rknnYoloEnabled", health.optBoolean("rknnYoloEnabled", false)))
+                    .put("onnxInferenceEnabled", pipeline.optBoolean("onnxInferenceEnabled", health.optBoolean("onnxInferenceEnabled", false)))
+                    .put("videoPose3DEnabled", pipeline.optBoolean("videoPose3DEnabled", health.optBoolean("videoPose3DEnabled", false)))
+                )
+                out.put("pose2DLatest", JSONObject()
+                    .put("available", pose2DState.optBoolean("available", latestPose2D.isNotEmpty()))
+                    .put("sequenceId", pose2DState.optLong("pose2DSequenceId", 0L))
+                    .put("arrayLength", latestPose2D.size)
+                )
+                out.put("pose3DLatest", JSONObject()
+                    .put("available", pose3DState.optBoolean("available", latestPose3D.isNotEmpty()))
+                    .put("sequenceId", pose3DState.optLong("pose3DSequenceId", 0L))
+                    .put("arrayLength", latestPose3D.size)
+                    .put("pose3DModelFrames", pose3DState.optInt("pose3DModelFrames", pipeline.optInt("pose3DModelFrames", health.optInt("pose3DModelFrames", 27))))
+                )
+                out.put("runtimeStatsActive", statsActive)
+                out.put("rawCameraState", camera)
+                out.toString()
+            } catch (t: Throwable) {
+                JSONObject()
+                    .put("contractVersion", "kiwii.sdk-panel.camera-observation-display.v11.2")
+                    .put("error", t.javaClass.simpleName + ": " + (t.message ?: "unknown"))
+                    .toString()
+            }
+        }
+    }
+
    fun getPerceptionStateJson(): String = KiwiiRuntimeClientBridge.getPerceptionStateJson()
    fun getLatestPose2D(): FloatArray = KiwiiRuntimeClientBridge.getLatestPose2D()
    fun getLatestPose3D(): FloatArray = KiwiiRuntimeClientBridge.getLatestPose3D()
@@ -100,6 +168,221 @@ class BridgeRepository {
    fun submitDeviceCommandDryRun(command: String): String = KiwiiRuntimeClientBridge.submitDeviceCommandDryRun(command)
    fun getDeviceCommandStateJson(): String = KiwiiRuntimeClientBridge.getDeviceCommandStateJson()

+
+    /**
+     * Phase4B-v11.5 SDK Panel safe detail-state view for Dongle.
+     *
+     * Important design decision: this UI path must NOT call raw getDongleStateJson().
+     * On current RuntimeHost builds that raw dongle query can block behind debug/global
+     * state paths, causing the Dongle detail State panel to disappear and readDongleState
+     * to return only a timeout.
+     *
+     * For the detail page we therefore use the non-blocking HandleState contract as the
+     * operational evidence source and explicitly mark raw dongle slot/transport report as
+     * not queried on this safe UI path. RuntimeHost/SmartBase transport health is still
+     * validated by the home-card availability poll and logcat; this page is a per-component
+     * diagnostic view and must remain responsive.
+     */
+    fun getDongleDetailStateJson(): String {
+        val handleRaw = try {
+            getHandleStateJson()
+        } catch (t: Throwable) {
+            JSONObject()
+                .put("error", "getHandleStateJson failed: ${escapeJson(t.message ?: t.javaClass.simpleName)}")
+                .toString()
+        }
+        return buildDongleDetailStateJson(buildSafeDonglePlaceholderJson(), handleRaw)
+    }
+
+    private fun buildSafeDonglePlaceholderJson(): String {
+        return JSONObject()
+            .put("contractVersion", "kiwii.sdk-panel.dongle-safe-placeholder.v11.5")
+            .put("source", "SDK_Panel.non-blocking-dongle-detail")
+            .put("rawDongleQuery", "disabled-on-detail-ui-path")
+            .put("transport", JSONObject()
+                .put("state", "NOT_QUERIED")
+                .put("rawDongleQuery", "disabled-on-detail-ui-path")
+                .put("detail", "Raw transport query skipped on safe detail path."))
+            .toString()
+    }
+
+    private fun buildDongleDetailStateJson(dongleRaw: String, handleRaw: String): String {
+        val dongle = parseJsonOrEmpty(dongleRaw)
+        val handle = parseJsonOrEmpty(handleRaw)
+        val out = JSONObject()
+        out.put("contractVersion", "kiwii.sdk-panel.dongle-detail-state.v11.5")
+        out.put("source", "SDK_Panel.safe-handle-state-dongle-detail")
+        out.put("diagnosticSemantics", "operational-state-first; raw-dongle-query-disabled-on-safe-ui-path; raw-slot-report-secondary")
+        out.put("generatedAtMs", System.currentTimeMillis())
+        out.put("dongle", dongle)
+        out.put("handleState", handle)
+
+        val transport = dongle.optJSONObject("transport") ?: JSONObject()
+        out.put("transport", transport)
+        out.put("slots", buildSdkPanelSlots(dongle, handle))
+
+        val evidenceNote = buildSlotEvidenceNote(dongle, handle)
+        if (evidenceNote.isNotBlank()) out.put("slotEvidenceNote", evidenceNote)
+        return out.toString()
+    }
+
+    private fun buildSdkPanelSlots(dongle: JSONObject, handle: JSONObject): JSONArray {
+        val sourceSlots = firstSlotArray(dongle)
+        val slots = JSONArray()
+        val left = handle.optJSONObject("left") ?: JSONObject()
+        val right = handle.optJSONObject("right") ?: JSONObject()
+
+        for (slotIndex in 0..3) {
+            val reported = findSlotObject(slotIndex, sourceSlots)
+            val slot = JSONObject()
+            slot.put("slot", slotIndex)
+
+            val inferredHandle = when (slotIndex) {
+                0 -> if (isFreshHandle(left)) "LEFT_HANDLE" else ""
+                1 -> if (isFreshHandle(right)) "RIGHT_HANDLE" else ""
+                else -> ""
+            }
+
+            if (inferredHandle.isNotBlank()) {
+                val handleObj = if (slotIndex == 0) left else right
+                slot.put("state", "CONNECTED")
+                slot.put("connected", true)
+                slot.put("device", inferredHandle)
+                slot.put("source", "handle-state-inferred")
+                slot.put("inferred", true)
+                slot.put("sequenceId", handleObj.optLong("sequenceId", handleObj.optLong("seq", 0L)))
+                slot.put("dataAgeMs", handleObj.optLong("dataAgeMs", -1L))
+                slot.put("queueSize", handleObj.optInt("queueSize", 0))
+                val reportedState = reported?.optString("state", reported.optString("status", "")) ?: ""
+                val rawSlotReport = when {
+                    reported == null -> if (dongle.optString("rawDongleQuery", "") == "disabled-on-detail-ui-path") "not-queried" else "missing"
+                    reportedState.isBlank() -> "present-without-state"
+                    reportedState.equals("CONNECTED", ignoreCase = true) -> "connected"
+                    else -> reportedState.lowercase()
+                }
+                slot.put("rawSlotReport", rawSlotReport)
+                if (reportedState.isNotBlank() && !reportedState.equals("CONNECTED", ignoreCase = true)) {
+                    slot.put("detail", "Connected via handle-state; rawSlot=$rawSlotReport")
+                } else if (reported == null) {
+                    slot.put("detail", "Connected via handle-state; rawSlot=$rawSlotReport")
+                } else {
+                    slot.put("detail", "Connected via handle-state")
+                }
+            } else if (reported != null) {
+                val connected = reported.optBooleanFlexible("connected") ||
+                    reported.optBooleanFlexible("available") ||
+                    reported.optBooleanFlexible("active")
+                val state = firstNonBlank(
+                    reported.optString("state", ""),
+                    reported.optString("status", ""),
+                    if (connected) "CONNECTED" else "DISCONNECTED"
+                )
+                slot.put("state", state)
+                slot.put("connected", connected)
+                slot.put("source", "dongle-slot-report")
+                slot.put("inferred", false)
+                copyIfPresent(reported, slot, "dev")
+                copyIfPresent(reported, slot, "device")
+                copyIfPresent(reported, slot, "deviceType")
+                copyIfPresent(reported, slot, "deviceId")
+                copyIfPresent(reported, slot, "sequenceId")
+                copyIfPresent(reported, slot, "seq")
+                copyIfPresent(reported, slot, "dataAgeMs")
+                copyIfPresent(reported, slot, "ageMs")
+                slot.put("detail", "Reported by dongle JSON")
+            } else {
+                slot.put("state", "UNKNOWN")
+                slot.put("connected", false)
+                slot.put("source", "missing-slot-report")
+                slot.put("inferred", false)
+                slot.put("detail", if (dongle.optString("rawDongleQuery", "") == "disabled-on-detail-ui-path") "Raw slot not queried" else "No raw slot report")
+            }
+
+            slots.put(slot)
+        }
+        return slots
+    }
+
+    private fun buildSlotEvidenceNote(dongle: JSONObject, handle: JSONObject): String {
+        val sourceSlots = firstSlotArray(dongle)
+        val right = handle.optJSONObject("right") ?: JSONObject()
+        val rightFresh = isFreshHandle(right)
+        val reportedSlot1 = findSlotObject(1, sourceSlots)
+        val reportedSlot1Connected = reportedSlot1?.let {
+            it.optBooleanFlexible("connected") || it.optBooleanFlexible("available") || it.optBooleanFlexible("active") ||
+                it.optString("state", "").equals("CONNECTED", ignoreCase = true) ||
+                it.optString("status", "").equals("CONNECTED", ignoreCase = true)
+        } ?: false
+        return if (rightFresh && !reportedSlot1Connected) {
+            "Slot 1 inferred from Right Handle IMU; raw slot not queried."
+        } else {
+            ""
+        }
+    }
+
+    private fun firstSlotArray(obj: JSONObject): JSONArray? {
+        obj.optJSONArray("slots")?.let { return it }
+        obj.optJSONArray("slotStatus")?.let { return it }
+        obj.optJSONArray("slotStates")?.let { return it }
+        obj.optJSONObject("dongle")?.optJSONArray("slots")?.let { return it }
+        obj.optJSONObject("status")?.optJSONArray("slots")?.let { return it }
+        return null
+    }
+
+    private fun findSlotObject(slotIndex: Int, slots: JSONArray?): JSONObject? {
+        if (slots == null) return null
+        for (i in 0 until slots.length()) {
+            val obj = slots.optJSONObject(i) ?: continue
+            val reportedIndex = obj.optIntOrNull("slot") ?: obj.optIntOrNull("slotId") ?: obj.optIntOrNull("index")
+            if (reportedIndex == slotIndex) return obj
+        }
+        return slots.optJSONObject(slotIndex)
+    }
+
+    private fun isFreshHandle(handle: JSONObject): Boolean {
+        val available = handle.optBooleanFlexible("available")
+        val connected = handle.optBooleanFlexible("connected")
+        val streaming = handle.optBooleanFlexible("streaming")
+        val seq = handle.optLong("sequenceId", handle.optLong("seq", 0L))
+        val queueSize = handle.optInt("queueSize", 0)
+        val age = handle.optLong("dataAgeMs", -1L)
+        val ageFresh = age in 0..2500
+        return (available || connected || streaming) && (ageFresh || (seq > 0L && queueSize > 0))
+    }
+
+    private fun parseJsonOrEmpty(raw: String): JSONObject {
+        return try {
+            JSONObject(raw)
+        } catch (_: Throwable) {
+            JSONObject().put("raw", raw.take(500))
+        }
+    }
+
+    private fun copyIfPresent(src: JSONObject, dst: JSONObject, key: String) {
+        if (src.has(key)) dst.put(key, src.opt(key))
+    }
+
+    private fun JSONObject.optBooleanFlexible(key: String): Boolean {
+        if (!has(key)) return false
+        val raw = opt(key) ?: return false
+        return when (raw) {
+            is Boolean -> raw
+            is Number -> raw.toInt() != 0
+            is String -> raw.equals("true", ignoreCase = true) || raw == "1" || raw.equals("yes", ignoreCase = true) || raw.equals("connected", ignoreCase = true) || raw.equals("active", ignoreCase = true) || raw.equals("running", ignoreCase = true)
+            else -> false
+        }
+    }
+
+    private fun JSONObject.optIntOrNull(key: String): Int? {
+        if (!has(key)) return null
+        return try { optInt(key) } catch (_: Throwable) { null }
+    }
+
+    private fun firstNonBlank(vararg values: String): String = values.firstOrNull { it.isNotBlank() } ?: ""
+
+    private fun escapeJson(value: String): String = value.replace("\\", "\\\\").replace("\"", "\\\"")
+
+
    private fun readHandleImuQueueCompat(methodName: String): Array<FloatArray> {
        return try {
            val method = KiwiiRuntimeClientBridge::class.java.getMethod(methodName)
@@ -26,20 +26,72 @@ class ComponentRegistry(
    private var previousStates = emptyMap<ComponentType, ComponentState>()

    private companion object {
-        const val MOTOR_TELEMETRY_FRESH_TIMEOUT_MS = 5000L
+        const val TAG = "KiwiiSDKPanelState"
+        const val HANDLE_DATA_AGE_FRESH_TIMEOUT_MS = 1500L
+        const val HANDLE_SEQUENCE_PROGRESS_TIMEOUT_MS = 2500L
+        const val DONGLE_SEQUENCE_PROGRESS_TIMEOUT_MS = 2500L
+        const val DONGLE_RULE = "USB_TRANSPORT_ACTIVE_OR_RECENT_HANDLE_PROGRESS"
    }

-    // Motor is physically downstream of the SmartBase Dongle.
-    // Keep the latest Dongle card decision from the same detection loop so Motor cannot remain green
-    // after the Dongle transport is disconnected, while preserving v4 Dongle detection behavior.
+    private data class HandleSignal(
+        val side: String,
+        val available: Boolean = false,
+        val connected: Boolean = false,
+        val streaming: Boolean = false,
+        val sequenceId: Long = 0L,
+        val dataAgeMs: Long = -1L,
+        val queueSize: Int = 0,
+        val health: String = "",
+        val source: String = ""
+    )
+
+    private data class DongleSignal(
+        val valid: Boolean = false,
+        val active: Boolean = false,
+        val usbPresent: Boolean = false,
+        val usbBridgeRegistered: Boolean = false,
+        val readLoopRunning: Boolean = false,
+        val state: String = "",
+        val source: String = "",
+        val evidence: String = ""
+    )
+
+    private data class HandleDashboardSignal(
+        val valid: Boolean,
+        val left: HandleSignal = HandleSignal("left"),
+        val right: HandleSignal = HandleSignal("right"),
+        val dongleStateLocated: Boolean = false,
+        val observationBufferLocated: Boolean = false,
+        val dongle: DongleSignal = DongleSignal(),
+        val leftProgressAgeMs: Long = Long.MAX_VALUE,
+        val rightProgressAgeMs: Long = Long.MAX_VALUE,
+        val dongleProgressAgeMs: Long = Long.MAX_VALUE
+    )
+
    @Volatile
    private var latestDongleCardStateForMotorGate: ComponentState = ComponentState.GREY

+    private var lastLeftSequenceId: Long = 0L
+    private var lastRightSequenceId: Long = 0L
+    private var lastLeftSequenceProgressWallMs: Long = 0L
+    private var lastRightSequenceProgressWallMs: Long = 0L
+    private var lastDongleSequenceProgressWallMs: Long = 0L
+
    fun startDetection() {
        scope.launch(Dispatchers.IO) {
            while (isActive) {
-                val result = ComponentType.entries.associateWith { checkAvailability(it) }
-                // 检测状态变化，记录日志
+                val bound = repo.isBound()
+                val handleJson = if (bound) runCatching { repo.getHandleStateJson() }.getOrDefault("{\"error\":\"handle_state_exception\"}") else "{\"error\":\"NOT_BOUND\"}"
+                val runtimeStats = if (bound) runCatching { repo.getLatestRuntimeStats() }.getOrDefault(FloatArray(0)) else FloatArray(0)
+                val cameraJson = if (bound) runCatching { repo.getCameraStateJson() }.getOrDefault("{\"error\":\"camera_state_exception\"}") else "{\"error\":\"NOT_BOUND\"}"
+                val dongleJson = if (bound) runCatching { repo.getDongleStateJson() }.getOrDefault("{\"error\":\"dongle_state_exception\"}") else "{\"error\":\"NOT_BOUND\"}"
+                val handleSignals = updateHandleSignals(bound, handleJson, dongleJson)
+
+                val result = ComponentType.entries.associateWith { type ->
+                    checkAvailability(type, bound, handleJson, runtimeStats, cameraJson, handleSignals)
+                }
+
+                logDashboardSummary(bound, result, handleSignals, runtimeStats, cameraJson)
                logStateChanges(previousStates, result)
                previousStates = result
                _availability.value = result
@@ -48,6 +100,210 @@ class ComponentRegistry(
        }
    }

+    private fun updateHandleSignals(bound: Boolean, handleJson: String, dongleJson: String): HandleDashboardSignal {
+        val now = System.currentTimeMillis()
+        val dongle = parseDongleSignal(bound, dongleJson)
+        if (!bound || isUnavailable(handleJson)) {
+            return HandleDashboardSignal(
+                valid = false,
+                dongle = dongle,
+                leftProgressAgeMs = ageSince(now, lastLeftSequenceProgressWallMs),
+                rightProgressAgeMs = ageSince(now, lastRightSequenceProgressWallMs),
+                dongleProgressAgeMs = ageSince(now, lastDongleSequenceProgressWallMs)
+            )
+        }
+        return try {
+            val obj = JSONObject(handleJson)
+            val left = parseHandleSignal("left", obj.optJSONObject("left"))
+            val right = parseHandleSignal("right", obj.optJSONObject("right"))
+
+            val leftProgress = updateSequenceProgress(
+                side = "left",
+                sequenceId = left.sequenceId,
+                hasLiveFlags = left.available || left.connected || left.streaming,
+                now = now
+            )
+            val rightProgress = updateSequenceProgress(
+                side = "right",
+                sequenceId = right.sequenceId,
+                hasLiveFlags = right.available || right.connected || right.streaming,
+                now = now
+            )
+            if (leftProgress || rightProgress) {
+                lastDongleSequenceProgressWallMs = now
+            }
+
+            HandleDashboardSignal(
+                valid = true,
+                left = left,
+                right = right,
+                dongleStateLocated = obj.optBoolean("dongleStateLocated", false),
+                observationBufferLocated = obj.optBoolean("observationBufferLocated", false),
+                dongle = dongle,
+                leftProgressAgeMs = ageSince(now, lastLeftSequenceProgressWallMs),
+                rightProgressAgeMs = ageSince(now, lastRightSequenceProgressWallMs),
+                dongleProgressAgeMs = ageSince(now, lastDongleSequenceProgressWallMs)
+            )
+        } catch (t: Throwable) {
+            Log.w(TAG, "updateHandleSignals exception: ${t.message}")
+            HandleDashboardSignal(
+                valid = false,
+                dongle = dongle,
+                leftProgressAgeMs = ageSince(now, lastLeftSequenceProgressWallMs),
+                rightProgressAgeMs = ageSince(now, lastRightSequenceProgressWallMs),
+                dongleProgressAgeMs = ageSince(now, lastDongleSequenceProgressWallMs)
+            )
+        }
+    }
+
+    private fun parseHandleSignal(side: String, obj: JSONObject?): HandleSignal {
+        if (obj == null) return HandleSignal(side)
+        return HandleSignal(
+            side = side,
+            available = obj.optBoolean("available", false),
+            connected = obj.optBoolean("connected", false),
+            streaming = obj.optBoolean("streaming", false),
+            sequenceId = obj.optLong("sequenceId", 0L),
+            dataAgeMs = obj.optLong("dataAgeMs", -1L),
+            queueSize = obj.optInt("queueSize", 0),
+            health = obj.optString("health", ""),
+            source = obj.optString("source", "")
+        )
+    }
+
+
+
+    private fun parseDongleSignal(bound: Boolean, json: String): DongleSignal {
+        if (!bound || isUnavailable(json)) {
+            return DongleSignal(valid = false, source = "unavailable")
+        }
+        return try {
+            val obj = JSONObject(json)
+            val transport = obj.optJSONObject("transport") ?: obj
+            val state = firstNonBlank(
+                transport.optString("state", ""),
+                obj.optString("state", ""),
+                obj.optString("transportState", "")
+            )
+            val usbPresent = boolAny(
+                transport.optBoolean("usbPresent", false),
+                transport.optBoolean("devicePresent", false),
+                transport.optBoolean("attached", false),
+                obj.optBoolean("usbPresent", false),
+                obj.optBoolean("devicePresent", false),
+                obj.optBoolean("attached", false)
+            )
+            val usbBridgeRegistered = boolAny(
+                transport.optBoolean("usbBridgeRegistered", false),
+                transport.optBoolean("bridgeRegistered", false),
+                obj.optBoolean("usbBridgeRegistered", false),
+                obj.optBoolean("bridgeRegistered", false)
+            )
+            val readLoopRunning = boolAny(
+                transport.optBoolean("readLoopRunning", false),
+                transport.optBoolean("bulkInRunning", false),
+                transport.optBoolean("running", false),
+                obj.optBoolean("readLoopRunning", false)
+            )
+            val activeFlags = boolAny(
+                obj.optBoolean("active", false),
+                obj.optBoolean("available", false),
+                obj.optBoolean("connected", false),
+                transport.optBoolean("active", false),
+                transport.optBoolean("available", false),
+                transport.optBoolean("connected", false),
+                transport.optBoolean("usbConnected", false),
+                transport.optBoolean("opened", false),
+                transport.optBoolean("open", false),
+                transport.optBoolean("isOpen", false)
+            )
+            val stateActive = state.equals("CONNECTED", ignoreCase = true) ||
+                state.equals("RUNNING", ignoreCase = true) ||
+                state.equals("OPEN", ignoreCase = true) ||
+                state.equals("OPENED", ignoreCase = true) ||
+                state.equals("ACTIVE", ignoreCase = true) ||
+                state.equals("READY", ignoreCase = true)
+
+            val active = usbPresent && usbBridgeRegistered && readLoopRunning && (activeFlags || stateActive)
+            DongleSignal(
+                valid = true,
+                active = active,
+                usbPresent = usbPresent,
+                usbBridgeRegistered = usbBridgeRegistered,
+                readLoopRunning = readLoopRunning,
+                state = state,
+                source = obj.optString("source", "getDongleStateJson"),
+                evidence = "usbPresent=$usbPresent bridge=$usbBridgeRegistered readLoop=$readLoopRunning activeFlags=$activeFlags state=$state"
+            )
+        } catch (t: Throwable) {
+            Log.w(TAG, "parseDongleSignal exception: ${t.message}")
+            DongleSignal(valid = false, source = "parse-exception", evidence = t.message ?: "unknown")
+        }
+    }
+
+    private fun boolAny(vararg values: Boolean?): Boolean = values.any { it == true }
+
+    private fun firstNonBlank(vararg values: String?): String {
+        return values.firstOrNull { !it.isNullOrBlank() } ?: ""
+    }
+
+    private fun updateSequenceProgress(side: String, sequenceId: Long, hasLiveFlags: Boolean, now: Long): Boolean {
+        if (!hasLiveFlags || sequenceId <= 0L) return false
+        return when (side) {
+            "left" -> {
+                val changed = sequenceId != lastLeftSequenceId
+                if (changed) {
+                    lastLeftSequenceId = sequenceId
+                    lastLeftSequenceProgressWallMs = now
+                }
+                changed
+            }
+            "right" -> {
+                val changed = sequenceId != lastRightSequenceId
+                if (changed) {
+                    lastRightSequenceId = sequenceId
+                    lastRightSequenceProgressWallMs = now
+                }
+                changed
+            }
+            else -> false
+        }
+    }
+
+    private fun ageSince(now: Long, last: Long): Long {
+        return if (last <= 0L) Long.MAX_VALUE else now - last
+    }
+
+    private fun logDashboardSummary(
+        bound: Boolean,
+        states: Map<ComponentType, ComponentState>,
+        handles: HandleDashboardSignal,
+        runtimeStats: FloatArray,
+        cameraJson: String
+    ) {
+        val statsActive = runtimeStats.any { !it.isNaN() && !it.isInfinite() && it > 0.1f }
+        val camera = runCatching { JSONObject(cameraJson) }.getOrNull()
+        val cameraRunning = camera?.optBoolean("running", false) == true || camera?.optString("state", "") == "RUNNING"
+        val imxOpen = camera?.optBoolean("imx415OpenSucceeded", false) == true ||
+            camera?.optJSONObject("realInternalCameraPipeline")?.optBoolean("imx415OpenSucceeded", false) == true
+
+        Log.i(
+            TAG,
+            "Phase4B-v6 dashboard availability; bound=$bound; " +
+                "camera=${states[ComponentType.CAMERA]}; right=${states[ComponentType.RIGHT_HANDLE]}; " +
+                "dongle=${states[ComponentType.DONGLE]}; telemetry=${states[ComponentType.TELEMETRY_SAFETY]}; motor=${states[ComponentType.MOTOR]}; " +
+                "right.available=${handles.right.available}; right.connected=${handles.right.connected}; right.streaming=${handles.right.streaming}; " +
+                "right.seq=${handles.right.sequenceId}; right.dataAgeMs=${handles.right.dataAgeMs}; right.progressAgeMs=${printAge(handles.rightProgressAgeMs)}; " +
+                "dongleStateLocated=${handles.dongleStateLocated}; observationBufferLocated=${handles.observationBufferLocated}; dongle.progressAgeMs=${printAge(handles.dongleProgressAgeMs)}; " +
+                "dongle.usbActive=${handles.dongle.active}; dongle.usbPresent=${handles.dongle.usbPresent}; dongle.bridge=${handles.dongle.usbBridgeRegistered}; dongle.readLoop=${handles.dongle.readLoopRunning}; dongle.transportState=${handles.dongle.state}; " +
+                "statsActive=$statsActive; cameraRunning=$cameraRunning; imx415OpenSucceeded=$imxOpen; rule=$DONGLE_RULE"
+        )
+    }
+
+    private fun printAge(age: Long): String {
+        return if (age == Long.MAX_VALUE) "NA" else age.toString()
+    }
+
    private fun logStateChanges(
        old: Map<ComponentType, ComponentState>,
        new: Map<ComponentType, ComponentState>
@@ -64,168 +320,138 @@ class ComponentRegistry(
                    result = "${oldState.name} -> ${newState.name}",
                    isStateChange = true
                ))
+                Log.i(TAG, "Phase4B-v6 availability_change; component=${type.name}; ${oldState.name}->${newState.name}")
            }
        }
    }

-    private fun checkAvailability(type: ComponentType): ComponentState {
-        dumpDebugOnce()
+    private fun checkAvailability(
+        type: ComponentType,
+        bound: Boolean,
+        handleJson: String,
+        runtimeStats: FloatArray,
+        cameraJson: String,
+        handles: HandleDashboardSignal
+    ): ComponentState {
        return when (type.category) {
            ComponentCategory.ALWAYS_READY -> ComponentState.ACTIVE
-            ComponentCategory.RUNTIME_HOST -> checkRuntimeHostComponent(type)
-            ComponentCategory.PERIPHERAL -> checkPeripheral(type)
+            ComponentCategory.RUNTIME_HOST -> checkRuntimeHostComponent(type, bound, runtimeStats, cameraJson)
+            ComponentCategory.PERIPHERAL -> checkPeripheral(type, bound, handleJson, handles)
        }
    }

-    private fun checkRuntimeHostComponent(type: ComponentType): ComponentState {
-        // RuntimeHostStatus 始终可交互（Bind 按钮需在未绑定时可用）
+    private fun checkRuntimeHostComponent(
+        type: ComponentType,
+        bound: Boolean,
+        runtimeStats: FloatArray,
+        cameraJson: String
+    ): ComponentState {
        if (type == ComponentType.RUNTIME_HOST_STATUS) return ComponentState.ACTIVE
-        if (!repo.isBound()) return ComponentState.GREY
+        if (!bound) return ComponentState.GREY
        return when (type) {
-            ComponentType.CAMERA -> checkCamera()
+            ComponentType.CAMERA -> checkCamera(runtimeStats, cameraJson)
            ComponentType.TELEMETRY_SAFETY -> ComponentState.ACTIVE
            else -> ComponentState.ACTIVE
        }
    }

-    private fun checkPeripheral(type: ComponentType): ComponentState {
-        if (!repo.isBound()) return ComponentState.GREY
+    private fun checkPeripheral(
+        type: ComponentType,
+        bound: Boolean,
+        handleJson: String,
+        handles: HandleDashboardSignal
+    ): ComponentState {
+        if (!bound) return ComponentState.GREY
        return when (type) {
-            ComponentType.LEFT_HANDLE -> checkHandle("left")
-            ComponentType.RIGHT_HANDLE -> checkHandle("right")
-            ComponentType.BALANCE_BOARD -> checkBalanceBoard()
-            ComponentType.DONGLE -> checkDongle()
+            ComponentType.LEFT_HANDLE -> checkHandle(handles.left, handles.leftProgressAgeMs)
+            ComponentType.RIGHT_HANDLE -> checkHandle(handles.right, handles.rightProgressAgeMs)
+            ComponentType.BALANCE_BOARD -> ComponentState.GREY // CoP not integrated yet.
+            ComponentType.DONGLE -> checkDongle(handles)
            ComponentType.MOTOR -> checkMotor()
            else -> ComponentState.GREY
        }
    }

-    private var debugDumped = false
-
-    private fun dumpDebugOnce() {
-        if (debugDumped || !repo.isBound()) return
-        debugDumped = true
-        // 首页首次检测不要调用 getDebugSnapshotJson / camera / motor 等重 API。
-        // 这些 API 会触发 native snapshot 或 camera state 路径；RuntimeHost 刚启动时容易与
-        // native init/camera warm-start 形成 Binder 等待，导致 NOT_BOUND 或 service ANR。
-        val apis = mapOf(
-            "isBound" to repo.isBound().toString(),
-            "getDongleStateJson(first400)" to runCatching { repo.getDongleStateJson().take(400) }.getOrDefault("EXCEPTION")
-        )
-        for ((name, value) in apis) {
-            logger.log(LogEntry(
-                timestamp = System.currentTimeMillis(),
-                component = null,
-                action = "DEBUG_DUMP",
-                params = name,
-                result = value,
-                isStateChange = false
-            ))
-        }
-    }
-
-    private fun checkCamera(): ComponentState {
+    private fun checkCamera(runtimeStats: FloatArray, cameraJson: String): ComponentState {
+        // Home card means pipeline alive, not necessarily human detected.
+        val statsActive = runtimeStats.any { !it.isNaN() && !it.isInfinite() && it > 0.1f }
+        if (statsActive) return ComponentState.ACTIVE
+        if (isUnavailable(cameraJson)) return ComponentState.GREY
        return try {
-            val json = repo.getCameraStateJson()
-            if (isUnavailable(json)) ComponentState.GREY else ComponentState.ACTIVE
-        } catch (_: Exception) {
-            ComponentState.GREY
-        }
-    }
-
-    private fun checkHandle(side: String): ComponentState {
-        return try {
-            val json = repo.getHandleStateJson()
-            val obj = JSONObject(json)
-            val sideObj = obj.optJSONObject(side) ?: return ComponentState.GREY
-            // handle-state.v1: check available AND connected
-            val available = sideObj.optBoolean("available", false)
-            val connected = sideObj.optBoolean("connected", false)
-            if (available || connected) ComponentState.ACTIVE else ComponentState.GREY
-        } catch (_: Exception) {
-            ComponentState.GREY
-        }
-    }
-
-    private fun checkBalanceBoard(): ComponentState {
-        // BalanceBoard 没有专用 API，暂时用 debugSnapshot 判断
-        // TODO: 确认 RuntimeHost debug snapshot 中 balance board 状态字段
-        return try {
-            val json = repo.getDebugSnapshotJson()
-            if (isUnavailable(json)) return ComponentState.GREY
-            val obj = JSONObject(json)
-            val bb = obj.optJSONObject("balanceBoard") ?: obj.optJSONObject("balance_board")
-            if (bb == null) ComponentState.GREY
-            else if (bb.optBoolean("available", false) || bb.optBoolean("connected", false)) ComponentState.ACTIVE
-            else ComponentState.GREY
-        } catch (_: Exception) {
-            ComponentState.GREY
-        }
-    }
-
-    private fun checkDongle(): ComponentState {
-        val state = computeDongleState()
-        latestDongleCardStateForMotorGate = state
-        return state
-    }
-
-    private fun computeDongleState(): ComponentState {
-        return try {
-            val json = repo.getDongleStateJson()
-            if (isUnavailable(json)) return ComponentState.GREY
-            val obj = JSONObject(json)
-            val transport = obj.optJSONObject("transport") ?: return ComponentState.GREY
-
-            val active = obj.optBoolean("active", false) || obj.optBoolean("available", false) || obj.optBoolean("connected", false)
-            val transportActive = transport.optBoolean("active", false) || transport.optBoolean("connected", false)
-            val usbBridgeRegistered = transport.optBoolean("usbBridgeRegistered", false)
-            val readLoopRunning = transport.optBoolean("readLoopRunning", false)
-            val usbPresent = transport.optBoolean("usbPresent", false)
-            val state = transport.optString("state", "")
-
-            // Dongle 首页卡片表达“USB transport 已经被 RuntimeHost 打开并注册”，
-            // 不要求 lastUsbInAgeMs < 3s。是否有上行数据滞后由 detail page 的 dataStale/lastUsbInAgeMs 显示。
-            if ((active || transportActive || state == "CONNECTED") &&
-                usbPresent &&
-                usbBridgeRegistered &&
-                readLoopRunning
-            ) {
+            val obj = JSONObject(cameraJson)
+            val pipeline = obj.optJSONObject("realInternalCameraPipeline")
+            val pose2D = obj.optJSONObject("pose2DState")
+            val pose3D = obj.optJSONObject("pose3DState")
+            val running = obj.optBoolean("running", false) || obj.optString("state", "") == "RUNNING"
+            val imx415Open = obj.optBoolean("imx415OpenSucceeded", false) || pipeline?.optBoolean("imx415OpenSucceeded", false) == true
+            val rga = obj.optBoolean("rgaEnabled", false) || pipeline?.optBoolean("rgaEnabled", false) == true
+            val rknn = obj.optBoolean("rknnYoloEnabled", false) || pipeline?.optBoolean("rknnYoloEnabled", false) == true
+            val videoPose3D = obj.optBoolean("videoPose3DEnabled", false) || pipeline?.optBoolean("videoPose3DEnabled", false) == true
+            val pose2DAvailable = pose2D?.optBoolean("available", false) == true
+            val pose3DAvailable = pose3D?.optBoolean("available", false) == true
+            if (running || imx415Open || (rga && rknn) || videoPose3D || pose2DAvailable || pose3DAvailable) {
                ComponentState.ACTIVE
            } else {
                ComponentState.GREY
            }
-        } catch (_: Exception) {
+        } catch (t: Throwable) {
+            Log.w(TAG, "checkCamera exception: ${t.message}")
            ComponentState.GREY
        }
    }

+    private fun checkHandle(signal: HandleSignal, progressAgeMs: Long): ComponentState {
+        if (signal.side.isBlank()) return ComponentState.GREY
+        val liveFlags = signal.available || signal.connected || signal.streaming
+        val dataFresh = signal.dataAgeMs in 0..HANDLE_DATA_AGE_FRESH_TIMEOUT_MS
+        val sequenceProgressFresh = progressAgeMs <= HANDLE_SEQUENCE_PROGRESS_TIMEOUT_MS
+        val hasPayload = signal.sequenceId > 0L && signal.queueSize > 0
+        val active = liveFlags && dataFresh && sequenceProgressFresh && hasPayload
+        Log.i(
+            TAG,
+            "Phase4B-v6 checkHandle; side=${signal.side}; available=${signal.available}; connected=${signal.connected}; streaming=${signal.streaming}; " +
+                "sequenceId=${signal.sequenceId}; queueSize=${signal.queueSize}; dataAgeMs=${signal.dataAgeMs}; progressAgeMs=${printAge(progressAgeMs)}; " +
+                "dataFresh=$dataFresh; sequenceProgressFresh=$sequenceProgressFresh; decision=${if (active) "ACTIVE" else "GREY"}; rule=REQUIRE_FRESH_DATA_AND_SEQUENCE_PROGRESS"
+        )
+        return if (active) ComponentState.ACTIVE else ComponentState.GREY
+    }
+
+    private fun checkDongle(handles: HandleDashboardSignal): ComponentState {
+        val rightFresh = isHandleFreshForDongle(handles.right, handles.rightProgressAgeMs)
+        val leftFresh = isHandleFreshForDongle(handles.left, handles.leftProgressAgeMs)
+        val dongleProgressFresh = handles.dongleProgressAgeMs <= DONGLE_SEQUENCE_PROGRESS_TIMEOUT_MS
+        val recentHandleProgress = dongleProgressFresh && (rightFresh || leftFresh)
+
+        // Dongle card means SmartBase USB/CDC transport is alive. It must not require
+        // Right Handle IMU streaming; handles can be disconnected until a button wakes them.
+        // Right Handle freshness is kept only as a fallback and disconnect invalidator.
+        val transportActive = handles.dongle.valid && handles.dongle.active
+        val active = handles.valid && (transportActive || recentHandleProgress)
+        val state = if (active) ComponentState.ACTIVE else ComponentState.GREY
+        latestDongleCardStateForMotorGate = state
+        Log.i(
+            TAG,
+            "Phase4B-v6 checkDongle; valid=${handles.valid}; dongleStateLocated=${handles.dongleStateLocated}; observationBufferLocated=${handles.observationBufferLocated}; " +
+                "transportActive=$transportActive; usbPresent=${handles.dongle.usbPresent}; bridge=${handles.dongle.usbBridgeRegistered}; readLoop=${handles.dongle.readLoopRunning}; transportState=${handles.dongle.state}; " +
+                "rightFresh=$rightFresh; leftFresh=$leftFresh; recentHandleProgress=$recentHandleProgress; dongleProgressAgeMs=${printAge(handles.dongleProgressAgeMs)}; decision=${state.name}; " +
+                "rule=$DONGLE_RULE; evidence=${handles.dongle.evidence}"
+        )
+        return state
+    }
+
+    private fun isHandleFreshForDongle(signal: HandleSignal, progressAgeMs: Long): Boolean {
+        val liveFlags = signal.available || signal.connected || signal.streaming
+        val dataFresh = signal.dataAgeMs in 0..HANDLE_DATA_AGE_FRESH_TIMEOUT_MS
+        val sequenceProgressFresh = progressAgeMs <= HANDLE_SEQUENCE_PROGRESS_TIMEOUT_MS
+        return liveFlags && dataFresh && sequenceProgressFresh && signal.sequenceId > 0L
+    }
+
    private fun checkMotor(): ComponentState {
-        return try {
-            // Motor is physically downstream of the SmartBase Dongle.
-            // V7 requires fresh motor telemetry; stale cached telemetry after Dongle re-plug must not turn Motor green.
+        // Keep strict for now: Motor is not considered green until telemetry path is verified.
        if (latestDongleCardStateForMotorGate != ComponentState.ACTIVE) return ComponentState.GREY
-
-            val json = repo.getLatestMotorStateJson()
-            if (isUnavailable(json)) return ComponentState.GREY
-
-            val obj = JSONObject(json)
-            if (obj.optString("contractVersion", "") != "kiwii.motor-runtime-state.v1") return ComponentState.GREY
-            if (obj.optBoolean("blockedByDongleTransport", false)) return ComponentState.GREY
-            if (obj.optBoolean("blockedByMotorTelemetry", false)) return ComponentState.GREY
-            if (!obj.optBoolean("available", false)) return ComponentState.GREY
-
-            val dataAgeMs = obj.optLong("dataAgeMs", Long.MAX_VALUE)
-            if (dataAgeMs < 0L || dataAgeMs > MOTOR_TELEMETRY_FRESH_TIMEOUT_MS) return ComponentState.GREY
-
-            ComponentState.ACTIVE
-        } catch (_: Exception) {
-            ComponentState.GREY
-        }
+        return ComponentState.GREY
    }

-    /**
-     * 通用不可用判断：含 error 字段、空 JSON、或 NOT_BOUND
-     */
    private fun isUnavailable(json: String): Boolean {
        if (json.isBlank() || json == "{}") return true
        if (json.contains("\"error\"")) return true
@@ -14,8 +14,10 @@ class AarProxyStateSource(private val bridge: BridgeRepository) : RuntimeStateSo
        ComponentType.CAMERA -> bridge.getCameraStateJson()
        ComponentType.LEFT_HANDLE, ComponentType.RIGHT_HANDLE -> bridge.getHandleStateJson()
        ComponentType.MOTOR -> bridge.getLatestMotorStateJson()
-        ComponentType.BALANCE_BOARD -> bridge.getDebugSnapshotJson()
-        ComponentType.DONGLE -> bridge.getDongleStateJson()
+        ComponentType.BALANCE_BOARD -> "{\"contractVersion\":\"kiwii.sdk-panel.balance-placeholder.v1\",\"available\":false,\"reason\":\"Balance Board detail state is not wired yet\"}"
+        // Phase4B-v11: Dongle detail state must include transport + slot0..3 + handle-state inference.
+        // Do not use raw getDongleStateJson() directly for the detail State panel because slot cache can be empty/stale.
+        ComponentType.DONGLE -> bridge.getDongleDetailStateJson()
        ComponentType.TELEMETRY_SAFETY -> bridge.getTelemetryStateJson()
        ComponentType.SESSION_LOG -> "{}"
    }
@@ -26,6 +26,13 @@ class StatePoller(
    private val pollIntervalMs = 1000L
    private var wasBound = false

+    @Volatile
+    private var focusedComponent: ComponentType = ComponentType.RUNTIME_HOST_STATUS
+
+    fun setFocusedComponent(type: ComponentType) {
+        focusedComponent = type
+    }
+
    fun startPolling() {
        scope.launch {
            while (isActive) {
@@ -41,7 +48,7 @@ class StatePoller(
                            isStateChange = true
                        ))
                    }
-                    val snapshot = pollAllStates()
+                    val snapshot = pollFocusedStates()
                    _states.value = snapshot
                } else {
                    if (wasBound) {
@@ -62,19 +69,17 @@ class StatePoller(
        }
    }

-    private fun pollAllStates(): Map<ComponentType, StateSnapshot> {
+    private fun pollFocusedStates(): Map<ComponentType, StateSnapshot> {
        val now = System.currentTimeMillis()
-        val polledTypes = listOf(
-            ComponentType.RUNTIME_HOST_STATUS,
-            ComponentType.CAMERA,
-            ComponentType.LEFT_HANDLE,
-            ComponentType.RIGHT_HANDLE,
-            ComponentType.BALANCE_BOARD,
-            ComponentType.DONGLE,
-            ComponentType.MOTOR,
-            ComponentType.TELEMETRY_SAFETY
-        )
-        return polledTypes.mapNotNull { type ->
+        // Phase4B-v11: detail pages must not poll every component. The previous all-component
+        // loop called heavy/global APIs such as getDebugSnapshotJson and could starve/hang the
+        // current page after back/re-enter. Poll RuntimeHost + the currently visible component only.
+        val types = linkedSetOf(ComponentType.RUNTIME_HOST_STATUS)
+        if (focusedComponent != ComponentType.RUNTIME_HOST_STATUS && focusedComponent != ComponentType.SESSION_LOG) {
+            types += focusedComponent
+        }
+
+        return types.mapNotNull { type ->
            try {
                type to StateSnapshot(
                    data = runtimeStateRepo.getComponentState(type),
@@ -82,7 +87,6 @@ class StatePoller(
                    isDebugChannel = runtimeStateRepo.isUsingDebugChannel()
                )
            } catch (e: Exception) {
-                // 异常必记
                logger.log(LogEntry(
                    timestamp = now,
                    component = type,
@@ -92,7 +96,7 @@ class StatePoller(
                    isStateChange = false
                ))
                type to StateSnapshot(
-                    data = "{\"error\":\"${e.message}\"}",
+                    data = "{\"error\":\"${escapeJson(e.message ?: e.javaClass.simpleName)}\"}",
                    updatedAt = now,
                    isDebugChannel = runtimeStateRepo.isUsingDebugChannel(),
                    hasError = true
@@ -101,6 +105,8 @@ class StatePoller(
        }.toMap()
    }

+    private fun escapeJson(value: String): String = value.replace("\\", "\\\\").replace("\"", "\\\"")
+
    fun stopPolling() {
        scope.cancel()
    }
@@ -1,5 +1,6 @@
 package com.kiwii.controlpanel.ui.adapter

+import android.util.Log
 import android.view.LayoutInflater
 import android.view.ViewGroup
 import androidx.core.content.ContextCompat
@@ -32,6 +33,7 @@ class ComponentCardAdapter(
        RecyclerView.ViewHolder(binding.root) {

        fun bind(type: ComponentType, state: ComponentState) {
+            Log.i("KiwiiSDKPanelUI", "Phase4B-v6 bind home card; component=${type.name}; state=${state.name}")
            binding.tvComponentName.text = type.displayName
            binding.tvStatusSummary.text = when (state) {
                ComponentState.ACTIVE -> "Available"
@@ -16,25 +16,31 @@ class CameraOps(
    override fun createView(): View {
        val layout = verticalLayout()

-        // 预览占位
        layout.addView(TextView(context).apply {
-            text = "Preview: Pending RuntimeHost debug channel"
+            text = "Phase 4A Camera Observation\n2D/3D are split into LatestFastState + ObservationBuffer. 3D uses VideoPose3D 27F. Timestamps use hostArrivalNs / hostEstimatedSampleTimeNs."
            textSize = 12f
            setTextColor(ContextCompat.getColor(context, R.color.rhs_subtitle))
            setPadding(0, 0, 0, 16)
        })

-        layout.addView(createSection("SDK Operations"))
+        layout.addView(createSection("Camera Observation Display"))
+        layout.addView(createButton("getCameraObservationStateJson") {
+            viewModel.executeOperation(ComponentType.CAMERA, "getCameraObservationStateJson") {
+                viewModel.bridgeRepo.getCameraObservationStateJson()
+            }
+        })
        layout.addView(createButton("getCameraStateJson") {
            viewModel.executeOperation(ComponentType.CAMERA, "getCameraStateJson") {
                viewModel.bridgeRepo.getCameraStateJson()
            }
        })
-        layout.addView(createButton("getPerceptionStateJson") {
-            viewModel.executeOperation(ComponentType.CAMERA, "getPerceptionStateJson") {
-                viewModel.bridgeRepo.getPerceptionStateJson()
+        layout.addView(createButton("getHealthStateJson") {
+            viewModel.executeOperation(ComponentType.CAMERA, "getHealthStateJson") {
+                viewModel.bridgeRepo.getHealthStateJson()
            }
        })
+
+        layout.addView(createSection("Pose Payloads"))
        layout.addView(createButton("getLatestPose2D") {
            viewModel.executeOperation(ComponentType.CAMERA, "getLatestPose2D") {
                viewModel.bridgeRepo.getLatestPose2D()
@@ -50,6 +56,13 @@ class CameraOps(
                viewModel.bridgeRepo.getLatestRuntimeStats()
            }
        })
+
+        layout.addView(createSection("Raw Runtime Queries"))
+        layout.addView(createButton("getPerceptionStateJson") {
+            viewModel.executeOperation(ComponentType.CAMERA, "getPerceptionStateJson") {
+                viewModel.bridgeRepo.getPerceptionStateJson()
+            }
+        })
        layout.addView(createButton("getLatestPoseFrameJson") {
            viewModel.executeOperation(ComponentType.CAMERA, "getLatestPoseFrameJson") {
                viewModel.bridgeRepo.getLatestPoseFrameJson()
@@ -13,30 +13,12 @@ class DongleOps(
    override fun createView(): View {
        val layout = verticalLayout()

-        layout.addView(createSection("Dongle Transport"))
-        layout.addView(createButton("getDongleStateJson") {
-            viewModel.executeOperation(ComponentType.DONGLE, "getDongleStateJson") {
-                viewModel.bridgeRepo.getDongleStateJson()
-            }
-        })
-
-        layout.addView(createButton("getDebugSnapshotJson") {
-            viewModel.executeOperation(ComponentType.DONGLE, "getDebugSnapshotJson") {
-                viewModel.bridgeRepo.getDebugSnapshotJson()
-            }
-        })
-
-        layout.addView(createSection("Transport Probe"))
-        layout.addView(createButton("queryMotorTrainingMode") {
-            viewModel.executeOperation(ComponentType.DONGLE, "queryMotorTrainingMode", "axis=0") {
-                viewModel.bridgeRepo.queryMotorTrainingMode(0)
-            }
-        })
-
-        layout.addView(createSection("Expected fields"))
-        layout.addView(createButton("Inspect transport + slots") {
-            viewModel.executeOperation(ComponentType.DONGLE, "inspectDongleDiagnostics") {
-                viewModel.bridgeRepo.getDongleStateJson()
+        // Phase4B-v11: one action only. It reads the SDK Panel detail-state JSON and updates
+        // both State panel and Session Log. It does not mutate RuntimeHost state.
+        layout.addView(createSection("Dongle Diagnostics"))
+        layout.addView(createButton("readDongleState") {
+            viewModel.executeOperation(ComponentType.DONGLE, "readDongleState") {
+                viewModel.bridgeRepo.getDongleDetailStateJson()
            }
        })

@@ -2,6 +2,9 @@ package com.kiwii.controlpanel.ui.components

 import android.content.Context
 import android.content.Intent
+import android.os.Handler
+import android.os.Looper
+import android.util.Log
 import android.view.View
 import android.widget.TextView
 import android.widget.Toast
@@ -16,6 +19,7 @@ class SessionLogOps(context: Context) : BaseOps(context) {

    override fun createView(): View {
        val layout = verticalLayout()
+        val handler = Handler(Looper.getMainLooper())

        val logView = TextView(context).apply {
            textSize = 11f
@@ -30,10 +34,30 @@ class SessionLogOps(context: Context) : BaseOps(context) {
            logView.text = entries.joinToString("\n") { entry ->
                val time = sdf.format(Date(entry.timestamp))
                val comp = entry.component?.displayName ?: "GLOBAL"
-                "$time [$comp] ${entry.action}: ${entry.result?.take(60) ?: ""}"
+                val params = entry.params?.let { " [$it]" } ?: ""
+                "$time [$comp] ${entry.action}$params: ${entry.result?.take(120) ?: ""}"
            }.ifEmpty { "No logs" }
+            Log.i(TAG_SESSION, "Phase4B-v7 session log refreshed; entries=${entries.size}")
        }

+        val refreshRunnable = object : Runnable {
+            override fun run() {
+                refreshLog()
+                handler.postDelayed(this, 1000L)
+            }
+        }
+
+        layout.addOnAttachStateChangeListener(object : View.OnAttachStateChangeListener {
+            override fun onViewAttachedToWindow(v: View) {
+                handler.removeCallbacks(refreshRunnable)
+                handler.post(refreshRunnable)
+            }
+
+            override fun onViewDetachedFromWindow(v: View) {
+                handler.removeCallbacks(refreshRunnable)
+            }
+        })
+
        layout.addView(createButton("Refresh") { refreshLog() })
        layout.addView(createButton("Export") {
            val uri = SessionLogger.export(context)
@@ -58,4 +82,8 @@ class SessionLogOps(context: Context) : BaseOps(context) {

        return layout
    }
+
+    companion object {
+        private const val TAG_SESSION = "KiwiiSDKPanelSession"
+    }
 }
@@ -1,5 +1,6 @@
 package com.kiwii.controlpanel.ui.detail

+import android.util.Log
 import androidx.lifecycle.ViewModel
 import androidx.lifecycle.viewModelScope
 import com.kiwii.controlpanel.data.AarProxyStateSource
@@ -11,6 +12,7 @@ import com.kiwii.controlpanel.logging.SessionLogger
 import com.kiwii.controlpanel.model.ComponentType
 import com.kiwii.controlpanel.model.OperationResult
 import com.kiwii.controlpanel.model.StateSnapshot
+import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.delay
 import kotlinx.coroutines.flow.MutableStateFlow
 import kotlinx.coroutines.flow.SharingStarted
@@ -19,21 +21,38 @@ import kotlinx.coroutines.flow.combine
 import kotlinx.coroutines.flow.stateIn
 import kotlinx.coroutines.isActive
 import kotlinx.coroutines.launch
+import kotlinx.coroutines.withContext
+import java.util.concurrent.Executors
+import java.util.concurrent.TimeUnit
+import java.util.concurrent.TimeoutException
+
+private const val TAG_OPS = "KiwiiSDKPanelOps"

 class ComponentDetailViewModel : ViewModel() {

    val bridgeRepo = BridgeRepository()
    private val runtimeStateRepo = RuntimeStateRepository(AarProxyStateSource(bridgeRepo))
    private val statePoller = StatePoller(runtimeStateRepo, bridgeRepo, SessionLogger)
+    private val operationExecutor = Executors.newCachedThreadPool()

    private val _operationResult = MutableStateFlow<OperationResult<*>?>(null)
    val operationResult: StateFlow<OperationResult<*>?> = _operationResult

    private val _componentType = MutableStateFlow(ComponentType.RUNTIME_HOST_STATUS)
+    private val _manualStateSnapshot = MutableStateFlow<Pair<ComponentType, StateSnapshot>?>(null)

-    val stateSnapshot: StateFlow<StateSnapshot?> = _componentType
-        .combine(statePoller.states) { type, map -> map[type] }
-        .stateIn(viewModelScope, SharingStarted.WhileSubscribed(5000), null)
+    val stateSnapshot: StateFlow<StateSnapshot?> = combine(
+        _componentType,
+        statePoller.states,
+        _manualStateSnapshot
+    ) { type, map, manual ->
+        val polled = map[type]
+        val manualSnapshot = if (manual?.first == type) manual.second else null
+        when {
+            manualSnapshot != null && (polled == null || manualSnapshot.updatedAt >= polled.updatedAt) -> manualSnapshot
+            else -> polled
+        }
+    }.stateIn(viewModelScope, SharingStarted.WhileSubscribed(5000), null)

    private val _logEntries = MutableStateFlow<List<LogEntry>>(emptyList())
    val logEntries: StateFlow<List<LogEntry>> = _logEntries
@@ -42,7 +61,7 @@ class ComponentDetailViewModel : ViewModel() {
        statePoller.startPolling()
        viewModelScope.launch {
            while (isActive) {
-                _logEntries.value = SessionLogger.getEntriesForComponent(_componentType.value)
+                refreshVisibleLogs()
                delay(1000)
            }
        }
@@ -50,6 +69,8 @@ class ComponentDetailViewModel : ViewModel() {

    fun setComponentType(type: ComponentType) {
        _componentType.value = type
+        statePoller.setFocusedComponent(type)
+        refreshVisibleLogs()
    }

    fun <T> executeOperation(
@@ -59,9 +80,21 @@ class ComponentDetailViewModel : ViewModel() {
        block: () -> T
    ) {
        viewModelScope.launch {
-            val result = bridgeRepo.callAsync(block)
+            val startedAt = System.currentTimeMillis()
+            Log.i(TAG_OPS, "Phase4B-v11 control click started; component=$componentType; action=$actionName; params=${params ?: ""}")
+            SessionLogger.log(LogEntry(
+                timestamp = startedAt,
+                component = componentType,
+                action = "TX:$actionName",
+                params = params,
+                result = "STARTED"
+            ))
+            refreshVisibleLogs()
+
+            val result = callBlockingWithTimeout(actionName, block)
            _operationResult.value = result

+            val now = System.currentTimeMillis()
            val resultStr = when (result) {
                is OperationResult.Success<*> -> result.data.toString()
                is OperationResult.Error -> "ERROR: ${result.exception.message}"
@@ -69,20 +102,69 @@ class ComponentDetailViewModel : ViewModel() {
                is OperationResult.NoData -> "NO_DATA"
            }

+            if (componentType == _componentType.value && result is OperationResult.Success<*> && result.data is String) {
+                val text = result.data.trim()
+                if (text.startsWith("{")) {
+                    _manualStateSnapshot.value = componentType to StateSnapshot(
+                        data = result.data,
+                        updatedAt = now,
+                        isDebugChannel = false
+                    )
+                }
+            }
+
+            val elapsedMs = now - startedAt
+            Log.i(TAG_OPS, "Phase4B-v11 control click completed; component=$componentType; action=$actionName; elapsedMs=$elapsedMs; resultKind=${result.javaClass.simpleName}")
            SessionLogger.log(LogEntry(
-                timestamp = System.currentTimeMillis(),
+                timestamp = now,
                component = componentType,
-                action = actionName,
+                action = "RX:$actionName",
                params = params,
                result = resultStr
            ))
-
-            _logEntries.value = SessionLogger.getEntriesForComponent(_componentType.value)
+            refreshVisibleLogs()
        }
    }

+    private suspend fun <T> callBlockingWithTimeout(
+        actionName: String,
+        block: () -> T
+    ): OperationResult<T> = withContext(Dispatchers.IO) {
+        val future = operationExecutor.submit<OperationResult<T>> {
+            try {
+                val result = block()
+                if (result == null || (result is String && result.isBlank())) {
+                    @Suppress("UNCHECKED_CAST")
+                    OperationResult.NoData as OperationResult<T>
+                } else {
+                    OperationResult.Success(result)
+                }
+            } catch (e: Exception) {
+                OperationResult.Error(e)
+            }
+        }
+
+        try {
+            future.get(OPERATION_TIMEOUT_MS, TimeUnit.MILLISECONDS)
+        } catch (e: TimeoutException) {
+            future.cancel(true)
+            OperationResult.Error(Exception("$actionName timed out after ${OPERATION_TIMEOUT_MS}ms"))
+        } catch (e: Exception) {
+            OperationResult.Error(Exception("$actionName failed: ${e.message}", e))
+        }
+    }
+
+    private fun refreshVisibleLogs() {
+        _logEntries.value = SessionLogger.getEntriesForComponent(_componentType.value)
+    }
+
    override fun onCleared() {
        super.onCleared()
        statePoller.stopPolling()
+        operationExecutor.shutdownNow()
+    }
+
+    private companion object {
+        const val OPERATION_TIMEOUT_MS = 2000L
    }
 }
@@ -10,6 +10,13 @@ object LogColorizer {
    fun classify(entry: LogEntry): EntryType {
        if (entry.isStateChange) return EntryType.SYS
        val action = entry.action.lowercase()
+
+        // Phase4B-v10: explicit TX/RX action prefixes must win over result-based inference.
+        // Otherwise a visible click marker such as action="TX:readDongleState" with
+        // result="STARTED" is incorrectly rendered as [RX] TX:readDongleState => STARTED.
+        if (action.startsWith("tx:")) return EntryType.TX
+        if (action.startsWith("rx:")) return EntryType.RX
+
        if (action.contains("poll") || action.contains("stream") || action == "snapshot" || action == "connection") {
            return EntryType.SYS
        }
@@ -1,5 +1,6 @@
 package com.kiwii.controlpanel.ui.detail

+import org.json.JSONArray
 import org.json.JSONObject

 /**
@@ -14,28 +15,36 @@ data class StatItem(
    val detail: String = ""
 )

-/** 从 RuntimeState JSON 中动态提取所有顶层字段为 StatItem 列表 */
+/** 从 RuntimeState JSON 中动态提取字段为 StatItem 列表 */
 object RuntimeHostStatusParser {

    fun parse(json: String, isBound: Boolean): List<StatItem> {
-        val items = mutableListOf<StatItem>()
-
        val obj = try {
            JSONObject(json)
        } catch (_: Exception) {
-            return items
+            return emptyList()
        }

+        if (looksLikeDongleState(obj)) {
+            return parseDongleState(obj)
+        }
+
+        val items = mutableListOf<StatItem>()
        val keys = obj.keys()
        while (keys.hasNext()) {
            val key = keys.next()
            val raw = obj.opt(key) ?: continue
-            val item = when {
-                raw is JSONObject -> StatItem(
+            val item = when (raw) {
+                is JSONObject -> StatItem(
                    label = humanize(key),
                    value = raw.optString("state", raw.optString("value", "…")).compactValue(),
                    detail = raw.optString("detail", "")
                )
+                is JSONArray -> StatItem(
+                    label = humanize(key),
+                    value = "${raw.length()} items",
+                    detail = raw.toString().compactDetail()
+                )
                else -> StatItem(
                    label = humanize(key),
                    value = raw.toString().compactValue()
@@ -47,6 +56,186 @@ object RuntimeHostStatusParser {
        return items
    }

+    private fun looksLikeDongleState(obj: JSONObject): Boolean {
+        val contract = obj.optString("contractVersion", "").lowercase()
+        if (contract.contains("dongle")) return true
+        if (obj.has("dongle") && obj.has("handleState")) return true
+        if (obj.has("transport") && (obj.has("slots") || obj.has("slotStatus") || obj.has("slotStates"))) return true
+        if (obj.has("transport") && obj.optJSONObject("transport")?.has("usbPresent") == true) return true
+        return false
+    }
+
+    /** Phase4B-v11.5: Dongle State = operational state first; raw dongle query may be disabled on safe UI path. */
+    private fun parseDongleState(obj: JSONObject): List<StatItem> {
+        val items = mutableListOf<StatItem>()
+        val transport = obj.optJSONObject("transport") ?: obj.optJSONObject("dongle")?.optJSONObject("transport") ?: JSONObject()
+
+        val transportState = firstNonBlank(
+            transport.optString("state", ""),
+            obj.optString("state", ""),
+            if (transport.optBooleanFlexible("active") || transport.optBooleanFlexible("connected") || obj.optBooleanFlexible("active")) "ACTIVE" else "UNKNOWN"
+        )
+
+        val usbPresent = transport.optBooleanFlexible("usbPresent")
+        val bridge = transport.optBooleanFlexible("usbBridgeRegistered")
+        val readLoop = transport.optBooleanFlexible("readLoopRunning")
+
+        items += StatItem(
+            label = "Transport",
+            value = transportState.compactValue(),
+            detail = if (transport.optString("rawDongleQuery", "") == "disabled-on-detail-ui-path") "safe path; raw transport skipped" else "usb=${usbPresent.renderBool("present", "missing")}; bridge=${bridge.renderBool("registered", "no")}; readLoop=${readLoop.renderBool("running", "stopped")}" 
+        )
+        items += StatItem(
+            label = "USB",
+            value = usbPresent.renderBool("PRESENT", "MISSING"),
+            detail = endpointDetail(transport)
+        )
+        items += StatItem(
+            label = "Bridge",
+            value = bridge.renderBool("REGISTERED", "NO"),
+            detail = "RuntimeHost USB bridge"
+        )
+        items += StatItem(
+            label = "Read Loop",
+            value = readLoop.renderBool("RUNNING", "STOPPED"),
+            detail = ageDetail(transport)
+        )
+
+        val slotEvidenceNote = firstNonBlank(
+            obj.optString("slotEvidenceNote", ""),
+            normalizeLegacySlotDiagnostic(obj.optString("slotDiagnostic", ""))
+        )
+        if (slotEvidenceNote.isNotBlank()) {
+            items += StatItem(
+                label = "Slot Evidence",
+                value = "INFERRED",
+                detail = slotEvidenceNote.compactDetail(72)
+            )
+        }
+
+        val slots = firstSlotArray(obj)
+        for (slotIndex in 0..3) {
+            items += parseSlot(slotIndex, slots)
+        }
+
+        return items
+    }
+
+    private fun firstSlotArray(obj: JSONObject): JSONArray? {
+        obj.optJSONArray("slots")?.let { return it }
+        obj.optJSONArray("slotStatus")?.let { return it }
+        obj.optJSONArray("slotStates")?.let { return it }
+        obj.optJSONObject("dongle")?.optJSONArray("slots")?.let { return it }
+        obj.optJSONObject("status")?.optJSONArray("slots")?.let { return it }
+        return null
+    }
+
+    private fun parseSlot(slotIndex: Int, slots: JSONArray?): StatItem {
+        val slot = findSlotObject(slotIndex, slots)
+        if (slot == null) {
+            return StatItem(
+                label = "Slot $slotIndex",
+                value = "UNKNOWN",
+                detail = "No raw slot report"
+            )
+        }
+
+        val connected = slot.optBooleanFlexible("connected") || slot.optBooleanFlexible("available") || slot.optBooleanFlexible("active")
+        val state = firstNonBlank(
+            slot.optString("state", ""),
+            slot.optString("status", ""),
+            if (connected) "CONNECTED" else "DISCONNECTED"
+        )
+        val device = firstNonBlank(
+            slot.optString("device", ""),
+            slot.optString("dev", ""),
+            slot.optString("deviceType", ""),
+            slot.optString("deviceId", "")
+        )
+        val seq = firstNonBlank(slot.optString("sequenceId", ""), slot.optString("seq", ""))
+        val source = slot.optString("source", "")
+        val rawSlotReport = slot.optString("rawSlotReport", "")
+        val inferred = slot.optBoolean("inferred", false)
+        val explicitDetail = slot.optString("detail", "")
+
+        val detailParts = mutableListOf<String>()
+        if (device.isNotBlank()) detailParts += "device=$device"
+        if (seq.isNotBlank() && seq != "0") detailParts += "seq=$seq"
+        val age = slot.optLongOrNull("dataAgeMs") ?: slot.optLongOrNull("ageMs")
+        if (age != null && age >= 0L) detailParts += "age=${age}ms"
+        if (source.isNotBlank()) detailParts += "source=$source"
+        if (rawSlotReport.isNotBlank()) detailParts += "rawSlotReport=$rawSlotReport"
+        if (inferred) detailParts += "inferred=true"
+        if (explicitDetail.isNotBlank()) detailParts += explicitDetail
+
+        return StatItem(
+            label = "Slot $slotIndex",
+            value = state.compactValue(),
+            detail = detailParts.joinToString("; ").ifBlank { "reported" }.compactDetail(72)
+        )
+    }
+
+    private fun findSlotObject(slotIndex: Int, slots: JSONArray?): JSONObject? {
+        if (slots == null) return null
+        for (i in 0 until slots.length()) {
+            val obj = slots.optJSONObject(i) ?: continue
+            val reportedIndex = obj.optIntOrNull("slot") ?: obj.optIntOrNull("slotId") ?: obj.optIntOrNull("index")
+            if (reportedIndex == slotIndex) return obj
+        }
+        return slots.optJSONObject(slotIndex)
+    }
+
+    private fun endpointDetail(transport: JSONObject): String {
+        val epIn = firstNonBlank(transport.optString("epIn", ""), transport.optString("endpointIn", ""))
+        val epOut = firstNonBlank(transport.optString("epOut", ""), transport.optString("endpointOut", ""))
+        return when {
+            epIn.isNotBlank() || epOut.isNotBlank() -> "in=$epIn out=$epOut".trim()
+            else -> firstNonBlank(transport.optString("device", ""), transport.optString("product", ""), "USB CDC")
+        }.compactDetail()
+    }
+
+    private fun ageDetail(transport: JSONObject): String {
+        val inAge = transport.optLongOrNull("lastUsbInAgeMs")
+        val outAge = transport.optLongOrNull("lastUsbOutAgeMs")
+        val parts = mutableListOf<String>()
+        if (inAge != null) parts += "inAge=${inAge}ms"
+        if (outAge != null) parts += "outAge=${outAge}ms"
+        return parts.joinToString("; ").ifBlank { "USB read loop state" }
+    }
+
+    private fun firstNonBlank(vararg values: String): String = values.firstOrNull { it.isNotBlank() } ?: ""
+
+    private fun normalizeLegacySlotDiagnostic(value: String): String {
+        if (value.isBlank()) return ""
+        if (value.contains("Right Handle is connected in handle-state", ignoreCase = true)) {
+            return "Slot 1 inferred from Right Handle IMU; raw slot not queried."
+        }
+        return value
+    }
+
+    private fun Boolean.renderBool(yes: String, no: String): String = if (this) yes else no
+
+    private fun JSONObject.optBooleanFlexible(key: String): Boolean {
+        if (!has(key)) return false
+        val raw = opt(key) ?: return false
+        return when (raw) {
+            is Boolean -> raw
+            is Number -> raw.toInt() != 0
+            is String -> raw.equals("true", ignoreCase = true) || raw == "1" || raw.equals("yes", ignoreCase = true) || raw.equals("connected", ignoreCase = true) || raw.equals("active", ignoreCase = true) || raw.equals("running", ignoreCase = true)
+            else -> false
+        }
+    }
+
+    private fun JSONObject.optIntOrNull(key: String): Int? {
+        if (!has(key)) return null
+        return try { optInt(key) } catch (_: Exception) { null }
+    }
+
+    private fun JSONObject.optLongOrNull(key: String): Long? {
+        if (!has(key)) return null
+        return try { optLong(key) } catch (_: Exception) { null }
+    }
+
    /** camelCase / snake_case → 可读标签 */
    private fun humanize(key: String): String {
        return key
@@ -59,4 +248,9 @@ object RuntimeHostStatusParser {
        return replace("\"", "")
            .let { if (it.length > 16) "${it.take(14)}..." else it }
    }
+
+    private fun String.compactDetail(maxLen: Int = 48): String {
+        return replace("\"", "")
+            .let { if (it.length > maxLen) "${it.take(maxLen - 3)}..." else it }
+    }
 }