Fix SDK panel bridge compatibility after runtime merge

app/src/main/java/com/kiwii/controlpanel/data/BridgeRepository.kt

@@ -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)
 
@@ -28,22 +37,62 @@ class BridgeRepository {
     fun getLatestBodyPoseFrameJson(): String = KiwiiRuntimeClientBridge.getLatestBodyPoseFrameJson()
 
     fun getLeftHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLeftHandleIMULatest()
-    fun getLeftHandleIMUQueue(): Array<FloatArray> = KiwiiRuntimeClientBridge.getLeftHandleIMUQueue()
+
+    fun getLeftHandleIMUQueue(): Array<FloatArray> {
+        val queue = readHandleImuQueueCompat("getLeftHandleIMUQueue")
+        if (queue.isNotEmpty()) return queue
+        val latest = getLeftHandleIMULatest()
+        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(streamId, buildHeStreamPatternJson(streamId, payload))
 
     fun getRightHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getRightHandleIMULatest()
-    fun getRightHandleIMUQueue(): Array<FloatArray> = KiwiiRuntimeClientBridge.getRightHandleIMUQueue()
+
+    fun getRightHandleIMUQueue(): Array<FloatArray> {
+        val queue = readHandleImuQueueCompat("getRightHandleIMUQueue")
+        if (queue.isNotEmpty()) return queue
+        val latest = getRightHandleIMULatest()
+        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(streamId, buildHeStreamPatternJson(streamId, payload))
 
     fun getHandleStateJson(): String = KiwiiRuntimeClientBridge.getHandleStateJson()
 
     fun setMotorWeightKg(weight: Float): com.kiwii.bridge.MotorCommandResult = KiwiiRuntimeClientBridge.setMotorWeightKg(weight)
     fun setMotorTrainingMode(mode: Int, param: Float): String = KiwiiRuntimeClientBridge.setMotorTrainingMode(mode, param)
+    fun setMotorForceControlParamsJson(paramsJson: String): String {
+        return try {
+            val method = KiwiiRuntimeClientBridge::class.java.getMethod("setMotorForceControlParamsJson", String::class.java)
+            method.invoke(null, paramsJson) as? String ?: "{\"error\":\"setMotorForceControlParamsJson returned null\"}"
+        } catch (t: Throwable) {
+            "{\"error\":\"setMotorForceControlParamsJson unavailable: ${t.message}\"}"
+        }
+    }
     fun queryMotorTrainingMode(axis: Int): String = KiwiiRuntimeClientBridge.queryMotorTrainingMode(axis)
     fun getLatestMotorStateJson(): String = KiwiiRuntimeClientBridge.getLatestMotorStateJson()
     fun getMotorControlStateJson(): String = KiwiiRuntimeClientBridge.getMotorControlStateJson()
+    fun getMotorDisconnectDiagnosisJson(): String {
+        return try {
+            val method = KiwiiRuntimeClientBridge::class.java.getMethod("getMotorDisconnectDiagnosisJson")
+            method.invoke(null) as? String ?: "{\"error\":\"getMotorDisconnectDiagnosisJson returned null\"}"
+        } catch (t: Throwable) {
+            "{\"error\":\"getMotorDisconnectDiagnosisJson unavailable: ${t.message}\"}"
+        }
+    }
+    fun sendMotorHeartbeat(): String {
+        return try {
+            val method = KiwiiRuntimeClientBridge::class.java.getMethod("sendMotorHeartbeat")
+            method.invoke(null) as? String ?: "{\"error\":\"sendMotorHeartbeat returned null\"}"
+        } catch (t: Throwable) {
+            "{\"error\":\"sendMotorHeartbeat unavailable: ${t.message}\"}"
+        }
+    }
 
     fun getTelemetryStateJson(): String = KiwiiRuntimeClientBridge.getTelemetryStateJson()
     fun getSafetyStateJson(): String = KiwiiRuntimeClientBridge.getSafetyStateJson()
@@ -51,6 +100,48 @@ class BridgeRepository {
     fun submitDeviceCommandDryRun(command: String): String = KiwiiRuntimeClientBridge.submitDeviceCommandDryRun(command)
     fun getDeviceCommandStateJson(): String = KiwiiRuntimeClientBridge.getDeviceCommandStateJson()
 
+    private fun readHandleImuQueueCompat(methodName: String): Array<FloatArray> {
+        return try {
+            val method = KiwiiRuntimeClientBridge::class.java.getMethod(methodName)
+            when (val value = method.invoke(null)) {
+                is Array<*> -> {
+                    @Suppress("UNCHECKED_CAST")
+                    value.filterIsInstance<FloatArray>().toTypedArray()
+                }
+                is FloatArray -> splitFlatImuQueue(value)
+                else -> emptyArray()
+            }
+        } catch (_: Throwable) {
+            emptyArray()
+        }
+    }
+
+    private fun splitFlatImuQueue(flat: FloatArray): Array<FloatArray> {
+        if (flat.isEmpty()) return emptyArray()
+        val sampleSize = when {
+            flat.size % 10 == 0 -> 10
+            flat.size % 9 == 0 -> 9
+            flat.size % 7 == 0 -> 7
+            else -> flat.size
+        }
+        if (sampleSize <= 0) return emptyArray()
+        val out = ArrayList<FloatArray>()
+        var offset = 0
+        while (offset < flat.size) {
+            val end = minOf(offset + sampleSize, flat.size)
+            out.add(flat.copyOfRange(offset, end))
+            offset = end
+        }
+        return out.toTypedArray()
+    }
+
+    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()

app/src/main/java/com/kiwii/controlpanel/data/ComponentRegistry.kt

@@ -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
         }

app/src/main/java/com/kiwii/controlpanel/data/RuntimeStateSource.kt

@@ -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 -> "{}"
     }

app/src/main/java/com/kiwii/controlpanel/ui/components/DongleOps.kt

@@ -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
     }
 }

app/src/main/java/com/kiwii/controlpanel/ui/components/MotorOps.kt

@@ -1,63 +1,208 @@
 package com.kiwii.controlpanel.ui.components
 
 import android.content.Context
+import android.graphics.Color
+import android.graphics.Typeface
+import android.text.InputType
+import android.view.Gravity
 import android.view.View
+import android.widget.AdapterView
 import android.widget.ArrayAdapter
+import android.widget.EditText
+import android.widget.LinearLayout
 import android.widget.Spinner
+import android.widget.TextView
 import com.kiwii.controlpanel.model.ComponentType
 import com.kiwii.controlpanel.ui.detail.ComponentDetailViewModel
+import org.json.JSONObject
 
 class MotorOps(
     context: Context,
     private val viewModel: ComponentDetailViewModel
 ) : BaseOps(context) {
 
-    private val trainingModes = arrayOf(
-        "NONE (0)", "FREE_WEIGHT (1)", "ECCENTRIC_OVERLOAD (2)",
-        "VISCOUS (3)", "ELASTIC (4)", "ISOKINETIC_SPOTTING (5)", "SPOTTER (6)"
+    private data class ParamDef(
+        val key: String,
+        val label: String,
+        val defaultValue: String,
+        val unit: String = "",
+        val definition: String = ""
     )
 
+    private data class ModeDef(
+        val mode: Int,
+        val name: String,
+        val description: String,
+        val params: List<ParamDef>
+    ) {
+        override fun toString(): String = "$name ($mode)"
+    }
+
+    private val spotterParams = listOf(
+        ParamDef("fm_sp_v", "Spotter velocity threshold", "0.1", "m/s", "Spotter 触发速度阈值；低于该速度并满足时间/位置条件时进入保护减重逻辑。"),
+        ParamDef("fm_sp_t", "Spotter trigger time", "5.0", "s", "Spotter 触发时间阈值；持续满足触发条件超过该时间后启动保护。"),
+        ParamDef("fm_sp_d", "Spotter decay duration", "5.0", "s", "Spotter 减重衰减时长；保护模式下降低负重的时间尺度。"),
+        ParamDef("fm_sp_home", "Spotter home", "0.0", "m", "Spotter 参考初始位置；用于判断用户是否离开安全范围。"),
+        ParamDef("fm_sp_rng", "Spotter load range", "-0.10", "m", "Spotter 负重判定位置阈值；通常为负值，表示相对 home 的保护触发位置范围。"),
+        ParamDef("fm_sp_rec", "Spotter recovery", "1.0", "s", "Spotter 恢复时长；保护结束后恢复到目标负重的时间尺度。")
+    )
+
+    private val pulleyParam = ParamDef("fm_rad", "Pulley radius", "0.04", "m", "滑轮/卷筒有效半径；输出扭矩 = 输出力 × fm_rad。该值直接影响力和绳长估算。")
+
+    private val modes = listOf(
+        ModeDef(0, "None", "Output force is zero.", emptyList()),
+        ModeDef(1, "FreeWeight", "Free weight / inertia compensation.", listOf(
+            ParamDef("fm_mset", "Weight", "5.0", "kg", "用户设定重量/目标虚拟负重；FreeWeight 下相当于目标训练重量，不等于独立拉力传感器测得值。"),
+            ParamDef("fm_kin", "Inertia ratio", "0.0", "", "惯性比例系数；虚拟质量 = fm_kin × fm_mset，用于惯性补偿。"),
+            ParamDef("fm_bfr", "Linear friction", "0.0", "N/(m/s)", "线性摩擦/阻尼系数；按绳速产生附加阻尼力。"),
+            pulleyParam
+        )),
+        ModeDef(2, "EccentricOverload", "Eccentric overload with smooth concentric/eccentric switching.", listOf(
+            ParamDef("fm_mset", "Weight", "5.0", "kg", "用户设定重量/目标虚拟负重；EccentricOverload 下作为向心阶段基准目标负重。"),
+            ParamDef("fm_kin", "Inertia ratio", "1.0", "", "惯性比例系数；虚拟质量 = fm_kin × fm_mset，用于惯性补偿。"),
+            ParamDef("fm_bfr", "Linear friction", "0.05", "N/(m/s)", "线性摩擦/阻尼系数；按绳速产生附加阻尼力。"),
+            ParamDef("fm_kecc", "Eccentric multiplier", "1.5", "", "离心倍率；离心阶段目标力 = fm_kecc × 向心阶段目标力。"),
+            ParamDef("fm_vth", "Velocity threshold", "0.3", "m/s", "离心/向心平滑切换速度阈值；用于避免速度方向切换时力突变。"),
+            pulleyParam
+        ) + spotterParams),
+        ModeDef(3, "Viscous", "Viscous / fluid resistance.", listOf(
+            ParamDef("fm_cdrv", "Drive damping", "0.1", "N/(m/s)^2", "粘滞拉出方向平方阻尼系数；拉出速度越大阻尼增长越快。"),
+            ParamDef("fm_crec", "Recovery damping", "0.1", "N/(m/s)", "粘滞回收方向线性阻尼系数；回收阶段按速度线性给阻尼。"),
+            pulleyParam
+        )),
+        ModeDef(4, "Elastic", "Elastic spring mode.", listOf(
+            ParamDef("fm_k", "Spring stiffness", "0.0", "N/m", "弹性刚度；输出力随位置偏移按弹簧模型变化。"),
+            ParamDef("fm_x0", "Zero position", "0.0", "m", "弹性零点位置；rope length 与该位置的差决定弹性力。"),
+            pulleyParam
+        )),
+        ModeDef(5, "IsokineticSpotting", "Isokinetic velocity wall plus spotting.", listOf(
+            ParamDef("fm_mset", "Weight", "5.0", "kg", "用户设定重量/目标虚拟负重；作为等速保护和速度墙前的基础阻力。"),
+            ParamDef("fm_vmax", "Max velocity", "1.0", "m/s", "等速模式最大速度；超过该速度时由速度墙施加额外阻力。"),
+            ParamDef("fm_gwall", "Velocity wall gain", "0.0", "N/(m/s)", "等速速度墙增益；超出 fm_vmax 后按速度误差增加阻力。"),
+            pulleyParam
+        ) + spotterParams),
+        ModeDef(6, "Spotter", "Spotter protection mode.", listOf(
+            ParamDef("fm_mset", "Weight", "5.0", "kg", "用户设定重量/目标虚拟负重；Spotter 模式下作为保护逻辑的基础负重。"),
+            ParamDef("fm_kin", "Inertia ratio", "0.0", "", "惯性比例系数；虚拟质量 = fm_kin × fm_mset，用于惯性补偿。"),
+            ParamDef("fm_bfr", "Linear friction", "0.0", "N/(m/s)", "线性摩擦/阻尼系数；按绳速产生附加阻尼力。"),
+            pulleyParam
+        ) + spotterParams)
+    )
+
+    private val signedDecimalInputType = InputType.TYPE_CLASS_NUMBER or
+        InputType.TYPE_NUMBER_FLAG_DECIMAL or
+        InputType.TYPE_NUMBER_FLAG_SIGNED
+
     override fun createView(): View {
         val layout = verticalLayout()
 
-        layout.addView(createSection("Weight"))
-        val weightInput = createParameterInput(
-            "Weight (kg)",
-            android.text.InputType.TYPE_CLASS_NUMBER or android.text.InputType.TYPE_NUMBER_FLAG_DECIMAL
-        )
-        val weightAction = createButton("setMotorWeightKg") {
-            val weight = weightInput.text.toString().toFloatOrNull() ?: 0f
-            viewModel.executeOperation(ComponentType.MOTOR, "setMotorWeightKg", "weight=$weight") {
-                viewModel.bridgeRepo.setMotorWeightKg(weight)
-            }
-        }
-        layout.addView(createParameterActionRow(weightAction, weightInput))
+        layout.addView(createSection("Realtime Telemetry"))
+        layout.addView(MotorRealtimeTelemetryPanel(context, viewModel.bridgeRepo))
 
-        layout.addView(createSection("Training Mode"))
+        layout.addView(createSection("Force Control Parameters"))
         val modeSpinner = Spinner(context).apply {
-            adapter = ArrayAdapter(context, android.R.layout.simple_spinner_dropdown_item, trainingModes)
+            adapter = ArrayAdapter(context, android.R.layout.simple_spinner_dropdown_item, modes)
         }
-        val paramInput = createParameterInput(
-            "Param (float)",
-            android.text.InputType.TYPE_CLASS_NUMBER or android.text.InputType.TYPE_NUMBER_FLAG_DECIMAL
-        )
-        val trainingModeAction = createButton("setMotorTrainingMode") {
-            val mode = modeSpinner.selectedItemPosition
-            val param = paramInput.text.toString().toFloatOrNull() ?: 0f
-            viewModel.executeOperation(ComponentType.MOTOR, "setMotorTrainingMode", "mode=$mode,param=$param") {
-                viewModel.bridgeRepo.setMotorTrainingMode(mode, param)
-            }
-        }
-        layout.addView(createParameterActionRow(trainingModeAction, modeSpinner, paramInput))
+        layout.addView(modeSpinner)
 
-        val axisInput = createParameterInput("Axis (int)", android.text.InputType.TYPE_CLASS_NUMBER)
-        val queryModeAction = createButton("queryMotorTrainingMode") {
-            val axis = axisInput.text.toString().toIntOrNull() ?: 0
-            viewModel.executeOperation(ComponentType.MOTOR, "queryMotorTrainingMode", "axis=$axis") {
-                viewModel.bridgeRepo.queryMotorTrainingMode(axis)
+        val description = TextView(context).apply {
+            textSize = 10f
+            setPadding(6.dp(), 4.dp(), 6.dp(), 4.dp())
+        }
+        layout.addView(description)
+
+        val paramContainer = LinearLayout(context).apply {
+            orientation = LinearLayout.VERTICAL
+        }
+        layout.addView(paramContainer)
+
+        val definitionText = TextView(context).apply {
+            textSize = 9.5f
+            setPadding(6.dp(), 4.dp(), 6.dp(), 8.dp())
+        }
+        layout.addView(definitionText)
+
+        val editTexts = LinkedHashMap<String, EditText>()
+        fun rebuildParamForm(mode: ModeDef) {
+            description.text = "Mode ${mode.mode}: ${mode.description}"
+            paramContainer.removeAllViews()
+            editTexts.clear()
+
+            if (mode.params.isEmpty()) {
+                val noneText = TextView(context).apply {
+                    text = "fm_mode = 0. No extra parameters. Applying this mode sends {\"fm_mode\":0}."
+                    textSize = 10f
+                    typeface = Typeface.MONOSPACE
+                    setPadding(6.dp(), 4.dp(), 6.dp(), 4.dp())
+                }
+                paramContainer.addView(noneText)
+                definitionText.text = "fm_mode: 力控模式。None = 0，输出力为 0。"
+                return
+            }
+
+            mode.params.chunked(2).forEach { rowParams ->
+                val rowViews = rowParams.map { param ->
+                    createLabeledParameterInput(param).also { labeled ->
+                        val editText = labeled.findViewWithTag<EditText>("input:${param.key}")
+                        editTexts[param.key] = editText
+                    }
+                }
+                paramContainer.addView(createParameterRow(*rowViews.toTypedArray()))
+            }
+            definitionText.text = buildString {
+                append("Parameter definitions:\n")
+                append("fm_mode: 力控模式，当前选择 ${mode.name} (${mode.mode})。\n")
+                mode.params.forEach { param ->
+                    append(param.key)
+                    append(": ")
+                    append(if (param.definition.isNotBlank()) param.definition else param.label)
+                    if (param.unit.isNotBlank()) {
+                        append(" [")
+                        append(param.unit)
+                        append("]")
+                    }
+                    append('\n')
+                }
+                append("\nNote: fm_mset 是目标虚拟负重；实时 Force kgf 是由电机电流/扭矩估算的张力等效重量，不是第三方拉力传感器读数。")
+            }.trim()
+        }
+
+        modeSpinner.onItemSelectedListener = object : AdapterView.OnItemSelectedListener {
+            override fun onItemSelected(parent: AdapterView<*>?, view: View?, position: Int, id: Long) {
+                rebuildParamForm(modes[position])
+            }
+            override fun onNothingSelected(parent: AdapterView<*>?) = Unit
+        }
+        rebuildParamForm(modes.first())
+
+        val applyAction = createButton("setMotorForceControlParamsJson") {
+            val mode = modes[modeSpinner.selectedItemPosition]
+            val payload = JSONObject().apply {
+                put("fm_mode", mode.mode)
+                for ((key, editText) in editTexts) {
+                    val value = editText.text.toString().trim().toDoubleOrNull()
+                    if (value != null) put(key, value)
+                }
+            }.toString()
+            viewModel.executeOperation(ComponentType.MOTOR, "setMotorForceControlParamsJson", payload) {
+                viewModel.bridgeRepo.setMotorForceControlParamsJson(payload)
             }
         }
-        layout.addView(createParameterActionRow(queryModeAction, axisInput))
+        layout.addView(applyAction)
+
+        val queryCurrentAction = createButton("queryMotorTrainingMode current") {
+            viewModel.executeOperation(ComponentType.MOTOR, "queryMotorTrainingMode", "mode=-1") {
+                viewModel.bridgeRepo.queryMotorTrainingMode(-1)
+            }
+        }
+        val querySelectedAction = createButton("queryMotorTrainingMode selected") {
+            val mode = modes[modeSpinner.selectedItemPosition]
+            viewModel.executeOperation(ComponentType.MOTOR, "queryMotorTrainingMode", "mode=${mode.mode}") {
+                viewModel.bridgeRepo.queryMotorTrainingMode(mode.mode)
+            }
+        }
+        layout.addView(queryCurrentAction)
+        layout.addView(querySelectedAction)
 
         layout.addView(createSection("State Queries"))
         layout.addView(createButton("getLatestMotorStateJson") {
@@ -70,7 +215,47 @@ class MotorOps(
                 viewModel.bridgeRepo.getMotorControlStateJson()
             }
         })
+        layout.addView(createButton("getMotorDisconnectDiagnosisJson") {
+            viewModel.executeOperation(ComponentType.MOTOR, "getMotorDisconnectDiagnosisJson") {
+                viewModel.bridgeRepo.getMotorDisconnectDiagnosisJson()
+            }
+        })
+        layout.addView(createButton("sendMotorHeartbeat") {
+            viewModel.executeOperation(ComponentType.MOTOR, "sendMotorHeartbeat") {
+                viewModel.bridgeRepo.sendMotorHeartbeat()
+            }
+        })
 
         return layout
     }
+
+    private fun createLabeledParameterInput(param: ParamDef): LinearLayout {
+        return LinearLayout(context).apply {
+            orientation = LinearLayout.HORIZONTAL
+            gravity = Gravity.CENTER_VERTICAL
+            setPadding(2.dp(), 0, 2.dp(), 0)
+
+            addView(TextView(context).apply {
+                text = "${param.key} ="
+                textSize = 10.5f
+                typeface = Typeface.MONOSPACE
+                setTextColor(Color.rgb(38, 50, 56))
+                gravity = Gravity.CENTER_VERTICAL
+            }, LinearLayout.LayoutParams(0, LinearLayout.LayoutParams.MATCH_PARENT, 0.95f))
+
+            addView(EditText(context).apply {
+                tag = "input:${param.key}"
+                inputType = signedDecimalInputType
+                setSingleLine(true)
+                setText(param.defaultValue)
+                hint = param.unit.ifBlank { param.label }
+                textSize = 11f
+                typeface = Typeface.MONOSPACE
+                setPadding(4.dp(), 0, 4.dp(), 0)
+                minHeight = 34.dp()
+            }, LinearLayout.LayoutParams(0, LinearLayout.LayoutParams.MATCH_PARENT, 1.05f))
+        }
+    }
+
+    private fun Int.dp(): Int = (this * context.resources.displayMetrics.density).toInt()
 }

app/src/main/java/com/kiwii/controlpanel/ui/components/MotorRealtimeTelemetryPanel.kt

@@ -0,0 +1,146 @@
+package com.kiwii.controlpanel.ui.components
+
+import android.content.Context
+import android.graphics.Color
+import android.graphics.Typeface
+import android.os.Handler
+import android.os.Looper
+import android.view.Gravity
+import android.view.View
+import android.widget.LinearLayout
+import android.widget.TextView
+import com.kiwii.controlpanel.R
+import com.kiwii.controlpanel.data.BridgeRepository
+import java.util.concurrent.Executors
+import java.util.concurrent.ScheduledExecutorService
+import java.util.concurrent.TimeUnit
+
+internal class MotorRealtimeTelemetryPanel(
+    context: Context,
+    private val repo: BridgeRepository
+) : LinearLayout(context) {
+
+    private val mainHandler = Handler(Looper.getMainLooper())
+    private val chartView = MotorTelemetryScatterChartView(context)
+    private val headline = TextView(context)
+    private val temperatureLine = TextView(context)
+    private val subline = TextView(context)
+    private var executor: ScheduledExecutorService? = null
+
+    init {
+        orientation = VERTICAL
+        setBackgroundResource(R.drawable.bg_rhs_log_area)
+        setPadding(8.dp(), 8.dp(), 8.dp(), 8.dp())
+
+        addView(TextView(context).apply {
+            text = "Realtime force / rope length / temperature"
+            textSize = 12f
+            typeface = Typeface.DEFAULT_BOLD
+            setTextColor(Color.rgb(38, 50, 56))
+        }, LayoutParams(LayoutParams.MATCH_PARENT, LayoutParams.WRAP_CONTENT))
+
+        addView(headline.apply {
+            text = "Force: — kgf   Rope: — cm"
+            textSize = 13f
+            typeface = Typeface.MONOSPACE
+            setTextColor(Color.rgb(20, 32, 40))
+            setPadding(0, 6.dp(), 0, 0)
+        }, LayoutParams(LayoutParams.MATCH_PARENT, LayoutParams.WRAP_CONTENT))
+
+        addView(temperatureLine.apply {
+            text = "Temp: — °C"
+            textSize = 12f
+            typeface = Typeface.DEFAULT_BOLD
+            setTextColor(Color.rgb(20, 32, 40))
+            setPadding(0, 3.dp(), 0, 0)
+        }, LayoutParams(LayoutParams.MATCH_PARENT, LayoutParams.WRAP_CONTENT))
+
+        addView(subline.apply {
+            text = "Polling RuntimeHost getLatestMotorStateJson() at 5 Hz"
+            textSize = 10f
+            setTextColor(Color.rgb(96, 111, 123))
+            setPadding(0, 2.dp(), 0, 6.dp())
+        }, LayoutParams(LayoutParams.MATCH_PARENT, LayoutParams.WRAP_CONTENT))
+
+        addView(chartView, LayoutParams(LayoutParams.MATCH_PARENT, 320.dp()))
+
+        addView(TextView(context).apply {
+            text = "Display convention: force is shown as positive kgf resistance/tension. This is motor-side telemetry derived from current/torque and fm_rad, not a calibrated external load-cell reading. RuntimeHost keeps rawForceN for native-sign debugging. Rope length uses extensionM, or -positionRad × fm_rad fallback."
+            textSize = 9.5f
+            setTextColor(Color.rgb(96, 111, 123))
+            gravity = Gravity.START
+            setPadding(0, 6.dp(), 0, 0)
+        }, LayoutParams(LayoutParams.MATCH_PARENT, LayoutParams.WRAP_CONTENT))
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        startPolling()
+    }
+
+    override fun onDetachedFromWindow() {
+        stopPolling()
+        super.onDetachedFromWindow()
+    }
+
+    private fun startPolling() {
+        if (executor != null) return
+        executor = Executors.newSingleThreadScheduledExecutor { runnable ->
+            Thread(runnable, "kiwii-motor-telemetry-panel").apply { isDaemon = true }
+        }.also { exec ->
+            exec.scheduleAtFixedRate({ pollOnce() }, 0L, 200L, TimeUnit.MILLISECONDS)
+        }
+    }
+
+    private fun stopPolling() {
+        executor?.shutdownNow()
+        executor = null
+        mainHandler.removeCallbacksAndMessages(null)
+    }
+
+    private fun pollOnce() {
+        if (!repo.isBound()) {
+            mainHandler.post { setUnavailable("RuntimeHost not bound") }
+            return
+        }
+        val json = try {
+            repo.getLatestMotorStateJson()
+        } catch (t: Throwable) {
+            mainHandler.post { setUnavailable(t.message ?: t.javaClass.simpleName) }
+            return
+        }
+        val sample = MotorTelemetryParser.parse(json)
+        mainHandler.post {
+            if (sample == null) {
+                setUnavailable("No fresh motor telemetry")
+            } else {
+                updateSample(sample)
+            }
+        }
+    }
+
+    private fun updateSample(sample: MotorTelemetrySample) {
+        headline.text = "Force: ${fmt(sample.forceKg)} kgf   Rope: ${fmt(sample.ropeLengthM * 100.0)} cm"
+        temperatureLine.text = "Temp: ${fmt(sample.tempC)} °C"
+        subline.text = "Force=${fmt(sample.forceN)} N   I=${fmt(sample.currentA)} A   V=${fmt(sample.voltageV)} V   age=${sample.dataAgeMs} ms"
+        chartView.addSample(sample)
+    }
+
+    private fun setUnavailable(reason: String) {
+        headline.text = "Force: — kgf   Rope: — cm"
+        temperatureLine.text = "Temp: — °C"
+        subline.text = reason
+    }
+
+    private fun fmt(value: Double): String {
+        if (!value.isFinite()) return "—"
+        val absValue = kotlin.math.abs(value)
+        return when {
+            absValue >= 100.0 -> String.format("%.0f", value)
+            absValue >= 10.0 -> String.format("%.1f", value)
+            else -> String.format("%.2f", value)
+        }
+    }
+
+    private fun Int.dp(): Int = (this * resources.displayMetrics.density).toInt()
+}

app/src/main/java/com/kiwii/controlpanel/ui/components/MotorTelemetryModels.kt

@@ -0,0 +1,83 @@
+package com.kiwii.controlpanel.ui.components
+
+import org.json.JSONObject
+import kotlin.math.abs
+
+internal data class MotorTelemetrySample(
+    val wallTimeMs: Long,
+    val motorRuntimeSec: Double,
+    val forceN: Double,
+    val forceKg: Double,
+    val ropeLengthM: Double,
+    val currentA: Double,
+    val voltageV: Double,
+    val tempC: Double,
+    val dataAgeMs: Long,
+    val available: Boolean,
+    val rawJson: String
+)
+
+internal object MotorTelemetryParser {
+    private const val STANDARD_GRAVITY_MPS2 = 9.80665
+    private const val DEFAULT_PULLEY_RADIUS_M = 0.04
+    private const val DEFAULT_MOTOR_KT_NM_PER_A = 1.0
+
+    fun parse(json: String, nowMs: Long = System.currentTimeMillis()): MotorTelemetrySample? {
+        if (json.isBlank() || json.contains("NOT_BOUND")) return null
+        val obj = runCatching { JSONObject(json) }.getOrNull() ?: return null
+        if (obj.optString("contractVersion", "") != "kiwii.motor-runtime-state.v1") return null
+
+        val available = obj.optBoolean("available", false)
+        val dataAgeMs = obj.optLong("dataAgeMs", Long.MAX_VALUE)
+        if (!available || dataAgeMs < 0L || dataAgeMs > 2_000L) return null
+
+        val pulleyRadiusM = obj.firstFinite(
+            DEFAULT_PULLEY_RADIUS_M,
+            "pulleyRadiusM", "fm_rad", "fmRad", "radiusM"
+        ).takeIf { abs(it) > 1e-6 } ?: DEFAULT_PULLEY_RADIUS_M
+        val motorKt = obj.firstFinite(DEFAULT_MOTOR_KT_NM_PER_A, "motorKtNmPerA", "ktNmPerA")
+
+        val currentA = obj.firstFinite(0.0, "currentA", "cur", "iqA", "iq")
+        val torqueNm = obj.firstFinite(Double.NaN, "torqueNm", "estimatedTorqueNm")
+        val signedForceN = obj.firstFinite(Double.NaN, "forceN", "outputForceN", "estimatedForceN")
+            .takeIf { it.isFinite() }
+            ?: run {
+                val rawForceN = if (torqueNm.isFinite()) torqueNm / pulleyRadiusM else currentA * motorKt / pulleyRadiusM
+                -rawForceN
+            }
+        val forceN = abs(signedForceN)
+        val forceKg = obj.firstFinite(Double.NaN, "forceKg", "forceKgEquivalent")
+            .takeIf { it.isFinite() }
+            ?.let { abs(it) }
+            ?: forceN / STANDARD_GRAVITY_MPS2
+
+        val positionRad = obj.firstFinite(Double.NaN, "positionRad", "pos")
+        val ropeLengthM = obj.firstFinite(Double.NaN, "ropeLengthM", "extensionM", "cableLengthM")
+            .takeIf { it.isFinite() }
+            ?: if (positionRad.isFinite()) -positionRad * pulleyRadiusM else Double.NaN
+        if (!forceKg.isFinite() || !ropeLengthM.isFinite()) return null
+
+        return MotorTelemetrySample(
+            wallTimeMs = nowMs,
+            motorRuntimeSec = obj.firstFinite(Double.NaN, "runtimeSec", "t"),
+            forceN = forceN,
+            forceKg = forceKg,
+            ropeLengthM = ropeLengthM,
+            currentA = currentA,
+            voltageV = obj.firstFinite(Double.NaN, "voltageV", "volt"),
+            tempC = obj.firstFinite(Double.NaN, "tempC", "temp"),
+            dataAgeMs = dataAgeMs,
+            available = available,
+            rawJson = json
+        )
+    }
+
+    private fun JSONObject.firstFinite(fallback: Double, vararg keys: String): Double {
+        for (key in keys) {
+            if (!has(key) || isNull(key)) continue
+            val value = optDouble(key, Double.NaN)
+            if (value.isFinite()) return value
+        }
+        return fallback
+    }
+}

app/src/main/java/com/kiwii/controlpanel/ui/components/MotorTelemetryScatterChartView.kt

@@ -0,0 +1,161 @@
+package com.kiwii.controlpanel.ui.components
+
+import android.content.Context
+import android.graphics.Canvas
+import android.graphics.Color
+import android.graphics.Paint
+import android.graphics.RectF
+import android.util.AttributeSet
+import android.view.View
+import java.util.ArrayDeque
+import kotlin.math.max
+
+internal class MotorTelemetryScatterChartView @JvmOverloads constructor(
+    context: Context,
+    attrs: AttributeSet? = null
+) : View(context, attrs) {
+
+    private val samples = ArrayDeque<MotorTelemetrySample>()
+    private val forcePaint = Paint(Paint.ANTI_ALIAS_FLAG).apply {
+        color = Color.rgb(245, 124, 0)
+        style = Paint.Style.FILL
+    }
+    private val lengthPaint = Paint(Paint.ANTI_ALIAS_FLAG).apply {
+        color = Color.rgb(25, 118, 210)
+        style = Paint.Style.FILL
+    }
+    private val tempPaint = Paint(Paint.ANTI_ALIAS_FLAG).apply {
+        color = Color.rgb(198, 40, 40)
+        style = Paint.Style.FILL
+    }
+    private val axisPaint = Paint(Paint.ANTI_ALIAS_FLAG).apply {
+        color = Color.rgb(130, 145, 160)
+        strokeWidth = 1f.dp()
+        style = Paint.Style.STROKE
+    }
+    private val gridPaint = Paint(Paint.ANTI_ALIAS_FLAG).apply {
+        color = Color.argb(70, 130, 145, 160)
+        strokeWidth = 1f.dp()
+        style = Paint.Style.STROKE
+    }
+    private val textPaint = Paint(Paint.ANTI_ALIAS_FLAG).apply {
+        color = Color.rgb(38, 50, 56)
+        textSize = 10f.sp()
+    }
+    private val titlePaint = Paint(Paint.ANTI_ALIAS_FLAG).apply {
+        color = Color.rgb(38, 50, 56)
+        textSize = 11f.sp()
+        isFakeBoldText = true
+    }
+
+    private val forceArea = RectF()
+    private val lengthArea = RectF()
+    private val tempArea = RectF()
+    private val visibleWindowMs = 30_000L
+
+    fun addSample(sample: MotorTelemetrySample) {
+        samples.addLast(sample)
+        val minTime = sample.wallTimeMs - visibleWindowMs
+        while (!samples.isEmpty() && samples.first.wallTimeMs < minTime) {
+            samples.removeFirst()
+        }
+        invalidate()
+    }
+
+    fun clear() {
+        samples.clear()
+        invalidate()
+    }
+
+    override fun onDraw(canvas: Canvas) {
+        super.onDraw(canvas)
+        val w = width.toFloat()
+        val h = height.toFloat()
+        if (w <= 0f || h <= 0f) return
+
+        val padL = 44f.dp()
+        val padR = 10f.dp()
+        val padT = 22f.dp()
+        val gap = 22f.dp()
+        val padB = 18f.dp()
+        val chartH = (h - padT - gap * 2f - padB) / 3f
+        forceArea.set(padL, padT, w - padR, padT + chartH)
+        lengthArea.set(padL, padT + chartH + gap, w - padR, padT + chartH + gap + chartH)
+        tempArea.set(padL, padT + chartH * 2f + gap * 2f, w - padR, padT + chartH * 2f + gap * 2f + chartH)
+
+        if (samples.isEmpty()) {
+            canvas.drawText("Waiting for fresh motor telemetry", padL, h / 2f, titlePaint)
+            return
+        }
+
+        val now = samples.last.wallTimeMs
+        val minT = now - visibleWindowMs
+        val forceMinMax = minMax(samples.map { it.forceKg })
+        val lengthMinMax = minMax(samples.map { it.ropeLengthM * 100.0 })
+        val tempMinMax = minMax(samples.map { it.tempC })
+
+        drawPanel(canvas, forceArea, "Force kgf", forceMinMax.first, forceMinMax.second)
+        drawPanel(canvas, lengthArea, "Rope length cm", lengthMinMax.first, lengthMinMax.second)
+        drawPanel(canvas, tempArea, "Temperature °C", tempMinMax.first, tempMinMax.second)
+
+        for (sample in samples) {
+            val x = xOf(sample.wallTimeMs, minT, now, forceArea)
+            canvas.drawCircle(x, yOf(sample.forceKg, forceMinMax.first, forceMinMax.second, forceArea), 2.1f.dp(), forcePaint)
+            canvas.drawCircle(x, yOf(sample.ropeLengthM * 100.0, lengthMinMax.first, lengthMinMax.second, lengthArea), 2.1f.dp(), lengthPaint)
+            canvas.drawCircle(x, yOf(sample.tempC, tempMinMax.first, tempMinMax.second, tempArea), 2.1f.dp(), tempPaint)
+        }
+
+        canvas.drawText("last 30 s", tempArea.right - 52f.dp(), h - 5f.dp(), textPaint)
+    }
+
+    private fun drawPanel(canvas: Canvas, area: RectF, label: String, minValue: Double, maxValue: Double) {
+        canvas.drawRect(area, axisPaint)
+        canvas.drawText(label, area.left, area.top - 6f.dp(), titlePaint)
+        val mid = area.top + area.height() / 2f
+        canvas.drawLine(area.left, mid, area.right, mid, gridPaint)
+        canvas.drawText(formatNumber(maxValue), 4f.dp(), area.top + 10f.dp(), textPaint)
+        canvas.drawText(formatNumber((minValue + maxValue) / 2.0), 4f.dp(), mid + 4f.dp(), textPaint)
+        canvas.drawText(formatNumber(minValue), 4f.dp(), area.bottom, textPaint)
+    }
+
+    private fun xOf(timeMs: Long, minT: Long, maxT: Long, area: RectF): Float {
+        val denom = max(1L, maxT - minT).toDouble()
+        val f = ((timeMs - minT).toDouble() / denom).coerceIn(0.0, 1.0)
+        return area.left + (area.width() * f).toFloat()
+    }
+
+    private fun yOf(value: Double, minValue: Double, maxValue: Double, area: RectF): Float {
+        val denom = max(1e-6, maxValue - minValue)
+        val f = ((value - minValue) / denom).coerceIn(0.0, 1.0)
+        return area.bottom - (area.height() * f).toFloat()
+    }
+
+    private fun minMax(values: List<Double>): Pair<Double, Double> {
+        val finite = values.filter { it.isFinite() }
+        if (finite.isEmpty()) return 0.0 to 1.0
+        var mn = finite.minOrNull() ?: 0.0
+        var mx = finite.maxOrNull() ?: 1.0
+        if (mx - mn < 1e-6) {
+            val base = max(1.0, kotlin.math.abs(mx))
+            mn -= base * 0.05
+            mx += base * 0.05
+        }
+        val span = mx - mn
+        mn -= span * 0.08
+        mx += span * 0.08
+        return mn to mx
+    }
+
+    private fun formatNumber(value: Double): String {
+        if (!value.isFinite()) return "—"
+        val absValue = kotlin.math.abs(value)
+        return when {
+            absValue >= 100.0 -> value.toInt().toString()
+            absValue >= 10.0 -> String.format("%.1f", value)
+            else -> String.format("%.2f", value)
+        }
+    }
+
+    private fun Float.dp(): Float = this * resources.displayMetrics.density
+    private fun Float.sp(): Float = this * resources.displayMetrics.scaledDensity
+}

app/src/main/java/com/kiwii/controlpanel/ui/detail/ComponentDetailFragment.kt

@@ -8,8 +8,12 @@ import android.view.MenuItem
 import android.view.View
 import android.view.ViewGroup
 import android.widget.FrameLayout
+import android.widget.LinearLayout
+import android.widget.ScrollView
+import android.widget.TextView
 import android.widget.Toast
 import androidx.appcompat.app.AppCompatActivity
+import androidx.core.content.ContextCompat
 import androidx.core.view.MenuProvider
 import androidx.fragment.app.Fragment
 import androidx.fragment.app.viewModels
@@ -26,7 +30,9 @@ import com.kiwii.controlpanel.model.ComponentType
 import com.kiwii.controlpanel.model.OperationResult
 import com.kiwii.controlpanel.ui.components.*
 import com.kiwii.controlpanel.util.JsonFormatter
+import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.launch
+import kotlinx.coroutines.withContext
 import java.text.SimpleDateFormat
 import java.util.Date
 import java.util.Locale
@@ -41,7 +47,14 @@ class ComponentDetailFragment : Fragment() {
     private lateinit var stateAdapter: StatAdapter
     private lateinit var logAdapter: LogAdapter
     private var latestStateText: String = "No state data"
-    private var latestResultText: String = "—"
+    private var latestResultText: String = """
+        State Query Results will appear here.
+        For Motor, use getLatestMotorStateJson / getMotorDisconnectDiagnosisJson, or wait for auto disconnect diagnosis.
+
+        Left column is scrollable; scroll down to see the full result and Session Log.
+    """.trimIndent()
+    private var operationResultTextView: TextView? = null
+    private var lastAutoDisconnectDiagnosisTimestamp: Long = 0L
 
     override fun onCreate(savedInstanceState: Bundle?) {
         super.onCreate(savedInstanceState)
@@ -63,6 +76,8 @@ class ComponentDetailFragment : Fragment() {
 
         setupMenu()
         setupStateAndLog()
+        ensureStateQueryResultsPanel()
+        updateOperationResultText(latestResultText)
         loadOpsView()
         observeViewModel()
     }
@@ -106,6 +121,21 @@ class ComponentDetailFragment : Fragment() {
         binding.rvLogEntries.adapter = logAdapter
     }
 
+    private fun ensureStateQueryResultsPanel() {
+        // v17 uses a static XML panel inside the left ScrollView. The left column is now
+        // scrollable like the right Controls column, and the State Query Results area has
+        // a large reserved height so long JSON / disconnect diagnosis remains visible.
+        operationResultTextView = binding.tvOperationResult
+    }
+
+    private fun updateOperationResultText(text: String) {
+        operationResultTextView?.text = text
+    }
+
+    private fun dp(value: Int): Int {
+        return (value * resources.displayMetrics.density + 0.5f).toInt()
+    }
+
     private fun loadOpsView() {
         val opsView = when (componentType) {
             ComponentType.RUNTIME_HOST_STATUS -> RuntimeHostStatusOps(requireContext(), viewModel)
@@ -113,7 +143,7 @@ class ComponentDetailFragment : Fragment() {
             ComponentType.LEFT_HANDLE -> LeftHandleOps(requireContext(), viewModel)
             ComponentType.RIGHT_HANDLE -> RightHandleOps(requireContext(), viewModel)
             ComponentType.BALANCE_BOARD -> BalanceBoardOps(requireContext())
-            ComponentType.DONGLE -> DongleOps(requireContext())
+            ComponentType.DONGLE -> DongleOps(requireContext(), viewModel)
             ComponentType.MOTOR -> MotorOps(requireContext(), viewModel)
             ComponentType.TELEMETRY_SAFETY -> TelemetrySafetyOps(requireContext(), viewModel)
             ComponentType.SESSION_LOG -> SessionLogOps(requireContext())
@@ -173,9 +203,10 @@ class ComponentDetailFragment : Fragment() {
                     latestResultText = "No Data"
                 }
                 null -> {
-                    latestResultText = "—"
+                    // Keep the initial guidance text visible until the first explicit State Query result arrives.
                 }
             }
+            updateOperationResultText(latestResultText)
         }
     }
 
@@ -195,9 +226,34 @@ class ComponentDetailFragment : Fragment() {
                     binding.rvLogEntries.scrollToPosition(visibleEntries.size - 1)
                 }
             }
+            maybeAutoShowMotorDisconnectDiagnosis(visibleEntries)
         }
     }
 
+    private suspend fun maybeAutoShowMotorDisconnectDiagnosis(entries: List<LogEntry>) {
+        if (componentType != ComponentType.MOTOR) return
+        val event = entries.lastOrNull { entry ->
+            entry.component == ComponentType.MOTOR &&
+                entry.action == "availability_change" &&
+                (entry.result ?: "").contains("ACTIVE -> GREY")
+        } ?: return
+        if (event.timestamp <= lastAutoDisconnectDiagnosisTimestamp) return
+
+        lastAutoDisconnectDiagnosisTimestamp = event.timestamp
+        val diagnosis = withContext(Dispatchers.IO) {
+            viewModel.bridgeRepo.getMotorDisconnectDiagnosisJson()
+        }
+        latestResultText = JsonFormatter.format(diagnosis)
+        updateOperationResultText(latestResultText)
+        SessionLogger.log(LogEntry(
+            timestamp = System.currentTimeMillis(),
+            component = ComponentType.MOTOR,
+            action = "autoDisconnectDiagnosis",
+            params = "trigger=${event.result}",
+            result = diagnosis
+        ))
+    }
+
     private fun formatResultData(data: Any?): String {
         return when (data) {
             is String -> JsonFormatter.format(data)
@@ -220,6 +276,12 @@ class ComponentDetailFragment : Fragment() {
 
     override fun onDestroyView() {
         super.onDestroyView()
+        operationResultTextView = null
         _binding = null
     }
+
+    companion object {
+        private const val STATE_QUERY_PANEL_TAG = "state_query_results_panel_v15"
+        private const val STATE_QUERY_TEXT_TAG = "state_query_results_text_v15"
+    }
 }

app/src/main/res/layout/fragment_component_detail.xml

@@ -7,90 +7,139 @@
     android:background="@drawable/bg_rhs_card"
     android:padding="8dp">
 
-    <!-- Left: State + Log -->
-    <LinearLayout
+    <!-- Left: scrollable State + State Query Results + Session Log -->
+    <ScrollView
         android:layout_width="0dp"
         android:layout_height="match_parent"
         android:layout_weight="45"
-        android:orientation="vertical"
-        android:layout_marginEnd="6dp">
+        android:layout_marginEnd="6dp"
+        android:fillViewport="true"
+        android:overScrollMode="ifContentScrolls">
 
-        <!-- State Card -->
         <LinearLayout
+            android:id="@+id/left_scroll_content"
             android:layout_width="match_parent"
             android:layout_height="wrap_content"
-            android:orientation="vertical"
-            android:background="@drawable/bg_rhs_status_inner"
-            android:padding="8dp">
+            android:orientation="vertical">
 
-            <RelativeLayout
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content">
-
-                <TextView
-                    android:id="@+id/tv_state_title"
-                    android:layout_width="wrap_content"
-                    android:layout_height="wrap_content"
-                    android:layout_alignParentStart="true"
-                    android:layout_centerVertical="true"
-                    android:text="State"
-                    android:textSize="12sp"
-                    android:textStyle="bold"
-                    android:textColor="@color/rhs_title" />
-            </RelativeLayout>
-
-            <androidx.recyclerview.widget.RecyclerView
-                android:id="@+id/rv_state_stats"
+            <!-- State Card -->
+            <LinearLayout
                 android:layout_width="match_parent"
                 android:layout_height="wrap_content"
+                android:orientation="vertical"
+                android:background="@drawable/bg_rhs_status_inner"
+                android:padding="8dp">
+
+                <RelativeLayout
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content">
+
+                    <TextView
+                        android:id="@+id/tv_state_title"
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_alignParentStart="true"
+                        android:layout_centerVertical="true"
+                        android:text="State"
+                        android:textSize="12sp"
+                        android:textStyle="bold"
+                        android:textColor="@color/rhs_title" />
+                </RelativeLayout>
+
+                <androidx.recyclerview.widget.RecyclerView
+                    android:id="@+id/rv_state_stats"
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:layout_marginTop="6dp"
+                    android:overScrollMode="never" />
+
+                <TextView
+                    android:id="@+id/tv_state_updated_at"
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:textSize="9sp"
+                    android:fontFamily="monospace"
+                    android:textColor="@color/rhs_timestamp"
+                    android:layout_marginTop="4dp" />
+            </LinearLayout>
+
+            <!-- State Query Results / Disconnect Diagnosis -->
+            <LinearLayout
+                android:id="@+id/state_query_results_panel"
+                android:layout_width="match_parent"
+                android:layout_height="420dp"
+                android:orientation="vertical"
+                android:background="@drawable/bg_rhs_status_inner"
+                android:padding="6dp"
                 android:layout_marginTop="6dp"
-                android:overScrollMode="never" />
-
-            <TextView
-                android:id="@+id/tv_state_updated_at"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:textSize="9sp"
-                android:fontFamily="monospace"
-                android:textColor="@color/rhs_timestamp"
-                android:layout_marginTop="4dp" />
-        </LinearLayout>
-
-        <!-- Session Log -->
-        <LinearLayout
-            android:layout_width="match_parent"
-            android:layout_height="0dp"
-            android:layout_weight="1"
-            android:orientation="vertical"
-            android:background="@drawable/bg_rhs_status_inner"
-            android:padding="6dp"
-            android:layout_marginTop="6dp"
-            android:minHeight="0dp">
-
-            <RelativeLayout
-                android:layout_width="match_parent"
-                android:layout_height="wrap_content"
-                android:layout_marginBottom="4dp">
+                android:minHeight="360dp">
 
                 <TextView
                     android:layout_width="wrap_content"
                     android:layout_height="wrap_content"
-                    android:layout_alignParentStart="true"
-                    android:layout_centerVertical="true"
-                    android:text="Session Log"
+                    android:text="State Query Results / Disconnect Diagnosis"
                     android:textSize="11sp"
                     android:textStyle="bold"
-                    android:textColor="@color/rhs_title" />
-            </RelativeLayout>
+                    android:textColor="@color/rhs_title"
+                    android:layout_marginBottom="4dp" />
 
-            <androidx.recyclerview.widget.RecyclerView
-                android:id="@+id/rv_log_entries"
+                <ScrollView
+                    android:id="@+id/operation_result_scroll"
+                    android:layout_width="match_parent"
+                    android:layout_height="0dp"
+                    android:layout_weight="1"
+                    android:background="@drawable/bg_rhs_log_area"
+                    android:fillViewport="true"
+                    android:overScrollMode="ifContentScrolls"
+                    android:padding="6dp">
+
+                    <TextView
+                        android:id="@+id/tv_operation_result"
+                        android:layout_width="match_parent"
+                        android:layout_height="wrap_content"
+                        android:text="State Query Results will appear here. For Motor, use getLatestMotorStateJson / getMotorDisconnectDiagnosisJson, or wait for auto disconnect diagnosis."
+                        android:textSize="10sp"
+                        android:fontFamily="monospace"
+                        android:textColor="@color/rhs_stat_value"
+                        android:textIsSelectable="true" />
+                </ScrollView>
+            </LinearLayout>
+
+            <!-- Session Log -->
+            <LinearLayout
                 android:layout_width="match_parent"
-                android:layout_height="0dp"
-                android:layout_weight="1"
-                android:overScrollMode="never" />
+                android:layout_height="260dp"
+                android:orientation="vertical"
+                android:background="@drawable/bg_rhs_status_inner"
+                android:padding="6dp"
+                android:layout_marginTop="6dp"
+                android:minHeight="180dp">
+
+                <RelativeLayout
+                    android:layout_width="match_parent"
+                    android:layout_height="wrap_content"
+                    android:layout_marginBottom="4dp">
+
+                    <TextView
+                        android:layout_width="wrap_content"
+                        android:layout_height="wrap_content"
+                        android:layout_alignParentStart="true"
+                        android:layout_centerVertical="true"
+                        android:text="Session Log"
+                        android:textSize="11sp"
+                        android:textStyle="bold"
+                        android:textColor="@color/rhs_title" />
+                </RelativeLayout>
+
+                <androidx.recyclerview.widget.RecyclerView
+                    android:id="@+id/rv_log_entries"
+                    android:layout_width="match_parent"
+                    android:layout_height="0dp"
+                    android:layout_weight="1"
+                    android:overScrollMode="ifContentScrolls" />
+            </LinearLayout>
         </LinearLayout>
-    </LinearLayout>
+    </ScrollView>
 
     <!-- Right: Controls -->
     <LinearLayout