Gate motor status on dongle and fresh telemetry

2026-06-10 23:46:37 +08:00
parent 8a90d29b2a
commit a3fc108156
5 changed files with 117 additions and 26 deletions
@@ -16,6 +16,15 @@ class BridgeRepository {
    fun getRuntimeStateJson(): String = KiwiiRuntimeClientBridge.getRuntimeStateJson()
    fun getHealthStateJson(): String = KiwiiRuntimeClientBridge.getHealthStateJson()
    fun getDebugSnapshotJson(): String = KiwiiRuntimeClientBridge.getDebugSnapshotJson()
+    fun getDongleStateJson(): String {
+        return try {
+            val method = KiwiiRuntimeClientBridge::class.java.getMethod("getDongleStateJson")
+            method.invoke(null) as? String ?: getDebugSnapshotJson()
+        } catch (_: Throwable) {
+            // Backward-compatible fallback for old unity-bridge.aar builds.
+            getDebugSnapshotJson()
+        }
+    }
    fun getRuntimeLifecycleStateJson(): String = KiwiiRuntimeClientBridge.getRuntimeLifecycleStateJson()
    fun requestRuntimeWarmStart(reason: String = ""): String = KiwiiRuntimeClientBridge.requestRuntimeWarmStart(reason)

@@ -27,15 +36,23 @@ class BridgeRepository {
    fun getLatestPoseFrameJson(): String = KiwiiRuntimeClientBridge.getLatestPoseFrameJson()
    fun getLatestBodyPoseFrameJson(): String = KiwiiRuntimeClientBridge.getLatestBodyPoseFrameJson()

-    fun getLeftHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLeftHandleIMULatest()
-    fun getLeftHandleIMUQueue(): Array<FloatArray> = KiwiiRuntimeClientBridge.getLeftHandleIMUQueue()
+    fun getLeftHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLatestLeftHandleIMU()
+    fun getLeftHandleIMUQueue(): Array<FloatArray> {
+        val latest = KiwiiRuntimeClientBridge.getLatestLeftHandleIMU()
+        return if (latest.isEmpty()) emptyArray() else arrayOf(latest)
+    }
    fun submitLeftStaticEffect(effectId: Int): String = KiwiiRuntimeClientBridge.submitLeftStaticEffect(effectId)
-    fun submitLeftHeStream(streamId: Int, payload: String): String = KiwiiRuntimeClientBridge.submitLeftHeStream(streamId, payload)
+    fun submitLeftHeStream(streamId: Int, payload: String): String =
+        KiwiiRuntimeClientBridge.submitLeftHeStream(buildHeStreamPatternJson(streamId, payload))

-    fun getRightHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getRightHandleIMULatest()
-    fun getRightHandleIMUQueue(): Array<FloatArray> = KiwiiRuntimeClientBridge.getRightHandleIMUQueue()
+    fun getRightHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLatestRightHandleIMU()
+    fun getRightHandleIMUQueue(): Array<FloatArray> {
+        val latest = KiwiiRuntimeClientBridge.getLatestRightHandleIMU()
+        return if (latest.isEmpty()) emptyArray() else arrayOf(latest)
+    }
    fun submitRightStaticEffect(effectId: Int): String = KiwiiRuntimeClientBridge.submitRightStaticEffect(effectId)
-    fun submitRightHeStream(streamId: Int, payload: String): String = KiwiiRuntimeClientBridge.submitRightHeStream(streamId, payload)
+    fun submitRightHeStream(streamId: Int, payload: String): String =
+        KiwiiRuntimeClientBridge.submitRightHeStream(buildHeStreamPatternJson(streamId, payload))

    fun getHandleStateJson(): String = KiwiiRuntimeClientBridge.getHandleStateJson()

@@ -51,6 +68,13 @@ class BridgeRepository {
    fun submitDeviceCommandDryRun(command: String): String = KiwiiRuntimeClientBridge.submitDeviceCommandDryRun(command)
    fun getDeviceCommandStateJson(): String = KiwiiRuntimeClientBridge.getDeviceCommandStateJson()

+    private fun buildHeStreamPatternJson(streamId: Int, payload: String): String {
+        val trimmed = payload.trim()
+        if (trimmed.startsWith("{")) return trimmed
+        val escaped = payload.replace("\\", "\\\\").replace("\"", "\\\"")
+        return "{\"streamId\":$streamId,\"payload\":\"$escaped\"}"
+    }
+
    suspend fun <T> callAsync(block: () -> T): OperationResult<T> = withContext(Dispatchers.IO) {
        try {
            val result = block()
@@ -25,6 +25,16 @@ class ComponentRegistry(

    private var previousStates = emptyMap<ComponentType, ComponentState>()

+    private companion object {
+        const val MOTOR_TELEMETRY_FRESH_TIMEOUT_MS = 5000L
+    }
+
+    // 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.
+    @Volatile
+    private var latestDongleCardStateForMotorGate: ComponentState = ComponentState.GREY
+
    fun startDetection() {
        scope.launch(Dispatchers.IO) {
            while (isActive) {
@@ -95,11 +105,12 @@ class ComponentRegistry(
    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(
-            "getCameraStateJson" to runCatching { repo.getCameraStateJson() }.getOrDefault("EXCEPTION"),
-            "getLatestMotorStateJson" to runCatching { repo.getLatestMotorStateJson() }.getOrDefault("EXCEPTION"),
-            "getDebugSnapshotJson(first200)" to runCatching { repo.getDebugSnapshotJson().take(200) }.getOrDefault("EXCEPTION"),
-            "getHandleStateJson" to runCatching { repo.getHandleStateJson() }.getOrDefault("EXCEPTION"),
+            "isBound" to repo.isBound().toString(),
+            "getDongleStateJson(first400)" to runCatching { repo.getDongleStateJson().take(400) }.getOrDefault("EXCEPTION")
        )
        for ((name, value) in apis) {
            logger.log(LogEntry(
@@ -153,12 +164,32 @@ class ComponentRegistry(
    }

    private fun checkDongle(): ComponentState {
+        val state = computeDongleState()
+        latestDongleCardStateForMotorGate = state
+        return state
+    }
+
+    private fun computeDongleState(): ComponentState {
        return try {
-            // Dongle 是 USB 外设，状态在 getDebugSnapshotJson 的全量数据中
-            val json = repo.getDebugSnapshotJson()
+            val json = repo.getDongleStateJson()
            if (isUnavailable(json)) return ComponentState.GREY
-            // dongleState 字段存在说明 Dongle USB 已连接并被 RuntimeHost 识别
-            if (json.contains("\"dongleState\"")) {
+            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
+            ) {
                ComponentState.ACTIVE
            } else {
                ComponentState.GREY
@@ -170,11 +201,23 @@ class ComponentRegistry(

    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.
+            if (latestDongleCardStateForMotorGate != ComponentState.ACTIVE) return ComponentState.GREY
+
            val json = repo.getLatestMotorStateJson()
            if (isUnavailable(json)) return ComponentState.GREY
-            // motor-runtime-state.v1 has top-level "available" field
+
            val obj = JSONObject(json)
-            if (obj.optBoolean("available", false)) ComponentState.ACTIVE else ComponentState.GREY
+            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
        }
@@ -15,7 +15,7 @@ class AarProxyStateSource(private val bridge: BridgeRepository) : RuntimeStateSo
        ComponentType.LEFT_HANDLE, ComponentType.RIGHT_HANDLE -> bridge.getHandleStateJson()
        ComponentType.MOTOR -> bridge.getLatestMotorStateJson()
        ComponentType.BALANCE_BOARD -> bridge.getDebugSnapshotJson()
-        ComponentType.DONGLE -> bridge.getDebugSnapshotJson()
+        ComponentType.DONGLE -> bridge.getDongleStateJson()
        ComponentType.TELEMETRY_SAFETY -> bridge.getTelemetryStateJson()
        ComponentType.SESSION_LOG -> "{}"
    }
@@ -2,20 +2,44 @@ package com.kiwii.controlpanel.ui.components

 import android.content.Context
 import android.view.View
-import android.widget.TextView
-import androidx.core.content.ContextCompat
-import com.kiwii.controlpanel.R
+import com.kiwii.controlpanel.model.ComponentType
+import com.kiwii.controlpanel.ui.detail.ComponentDetailViewModel

-class DongleOps(context: Context) : BaseOps(context) {
+class DongleOps(
+    context: Context,
+    private val viewModel: ComponentDetailViewModel
+) : BaseOps(context) {

    override fun createView(): View {
        val layout = verticalLayout()
-        layout.addView(TextView(context).apply {
-            text = "暂无 SDK API"
-            textSize = 12f
-            setTextColor(ContextCompat.getColor(context, R.color.rhs_subtitle))
-            setPadding(0, 32, 0, 32)
+
+        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()
+            }
+        })
+
        return layout
    }
 }