build(kiwii): 适配最新 AAR v1.3.0 接口

app/build.gradle.kts

@@ -38,7 +38,7 @@ android {
 }
 
 dependencies {
-    implementation(files("libs/unity-bridge.aar"))
+    implementation(files("libs/unity-bridge-aar-debug-v1.3.0.aar"))
     implementation("androidx.core:core-ktx:1.12.0")
     implementation("androidx.appcompat:appcompat:1.6.1")
     implementation("androidx.fragment:fragment-ktx:1.6.2")

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)
 
@@ -28,14 +37,20 @@ class BridgeRepository {
     fun getLatestBodyPoseFrameJson(): String = KiwiiRuntimeClientBridge.getLatestBodyPoseFrameJson()
 
     fun getLeftHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLeftHandleIMULatest()
-    fun getLeftHandleIMUQueue(): Array<FloatArray> = KiwiiRuntimeClientBridge.getLeftHandleIMUQueue()
-    fun submitLeftStaticEffect(effectId: Int): String = KiwiiRuntimeClientBridge.submitLeftStaticEffect(effectId)
-    fun submitLeftHeStream(streamId: Int, payload: String): String = KiwiiRuntimeClientBridge.submitLeftHeStream(streamId, payload)
+    fun getLeftHandleIMUQueue(): Array<FloatArray> {
+        val latest = KiwiiRuntimeClientBridge.getLeftHandleIMULatest()
+        return if (latest.isEmpty()) emptyArray() else arrayOf(latest)
+    }
+    fun submitLeftHeStream(streamId: Int, payload: String): String =
+        KiwiiRuntimeClientBridge.submitLeftHeStream(streamId, payload)
 
     fun getRightHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getRightHandleIMULatest()
-    fun getRightHandleIMUQueue(): Array<FloatArray> = KiwiiRuntimeClientBridge.getRightHandleIMUQueue()
-    fun submitRightStaticEffect(effectId: Int): String = KiwiiRuntimeClientBridge.submitRightStaticEffect(effectId)
-    fun submitRightHeStream(streamId: Int, payload: String): String = KiwiiRuntimeClientBridge.submitRightHeStream(streamId, payload)
+    fun getRightHandleIMUQueue(): Array<FloatArray> {
+        val latest = KiwiiRuntimeClientBridge.getRightHandleIMULatest()
+        return if (latest.isEmpty()) emptyArray() else arrayOf(latest)
+    }
+    fun submitRightHeStream(streamId: Int, payload: String): String =
+        KiwiiRuntimeClientBridge.submitRightHeStream(streamId, payload)
 
     fun getHandleStateJson(): String = KiwiiRuntimeClientBridge.getHandleStateJson()
 

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/LeftHandleOps.kt

@@ -30,16 +30,6 @@ class LeftHandleOps(
             }
         })
 
-        layout.addView(createSection("Haptics"))
-        val effectInput = createParameterInput("Effect ID (int)", android.text.InputType.TYPE_CLASS_NUMBER)
-        val staticEffectAction = createButton("submitLeftStaticEffect") {
-            val id = effectInput.text.toString().toIntOrNull() ?: 0
-            viewModel.executeOperation(ComponentType.LEFT_HANDLE, "submitLeftStaticEffect", "effectId=$id") {
-                viewModel.bridgeRepo.submitLeftStaticEffect(id)
-            }
-        }
-        layout.addView(createParameterActionRow(staticEffectAction, effectInput))
-
         val streamIdInput = createParameterInput("Stream ID (int)", android.text.InputType.TYPE_CLASS_NUMBER)
         val payloadInput = createParameterInput("Payload (String)", android.text.InputType.TYPE_CLASS_TEXT)
         val heStreamAction = createButton("submitLeftHeStream") {

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

@@ -30,16 +30,6 @@ class RightHandleOps(
             }
         })
 
-        layout.addView(createSection("Haptics"))
-        val effectInput = createParameterInput("Effect ID (int)", android.text.InputType.TYPE_CLASS_NUMBER)
-        val staticEffectAction = createButton("submitRightStaticEffect") {
-            val id = effectInput.text.toString().toIntOrNull() ?: 0
-            viewModel.executeOperation(ComponentType.RIGHT_HANDLE, "submitRightStaticEffect", "effectId=$id") {
-                viewModel.bridgeRepo.submitRightStaticEffect(id)
-            }
-        }
-        layout.addView(createParameterActionRow(staticEffectAction, effectInput))
-
         val streamIdInput = createParameterInput("Stream ID (int)", android.text.InputType.TYPE_CLASS_NUMBER)
         val payloadInput = createParameterInput("Payload (String)", android.text.InputType.TYPE_CLASS_TEXT)
         val heStreamAction = createButton("submitRightHeStream") {

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

@@ -113,7 +113,7 @@ 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())
@@ -143,7 +143,7 @@ class ComponentDetailFragment : Fragment() {
         viewModel.stateSnapshot.collect { snapshot ->
             if (snapshot != null) {
                 latestStateText = JsonFormatter.format(snapshot.data)
-                val items = RuntimeHostStatusParser.parse(snapshot.data, viewModel.bridgeRepo.isBound())
+                val items = parseStateItems(snapshot.data)
                     .ifEmpty { listOf(StatItem("State", "Updated")) }
                 stateAdapter.submitList(items)
                 val sdf = SimpleDateFormat("HH:mm:ss", Locale.getDefault())
@@ -179,6 +179,16 @@ class ComponentDetailFragment : Fragment() {
         }
     }
 
+    private fun parseStateItems(json: String): List<StatItem> {
+        return if (componentType == ComponentType.MOTOR) {
+            MotorRuntimeStateParser.parse(json).ifEmpty {
+                RuntimeHostStatusParser.parse(json, viewModel.bridgeRepo.isBound())
+            }
+        } else {
+            RuntimeHostStatusParser.parse(json, viewModel.bridgeRepo.isBound())
+        }
+    }
+
     private suspend fun observeLogs() {
         viewModel.logEntries.collect { entries ->
             val visibleEntries = entries.takeLast(80).ifEmpty {

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

@@ -0,0 +1,48 @@
+package com.kiwii.controlpanel.ui.detail
+
+import com.kiwii.bridge.MotorRuntimeState
+import java.util.Locale
+
+/** 将 AAR 的 MotorRuntimeState 映射成详情页状态卡片。 */
+object MotorRuntimeStateParser {
+
+    fun parse(json: String): List<StatItem> {
+        val state = try {
+            MotorRuntimeState.fromJson(json)
+        } catch (_: Throwable) {
+            return emptyList()
+        }
+
+        return listOf(
+            StatItem("Available", state.available.toString()),
+            StatItem("Last Key", formatKey(state.lastKey), "motor uplink key"),
+            StatItem("Runtime", formatFloat(state.runtimeSec), "s"),
+            StatItem("Current", formatFloat(state.currentA), "A"),
+            StatItem("Torque", formatFloat(state.torqueNm), "N.m"),
+            StatItem("Velocity Rad", formatFloat(state.velocityRadps), "rad/s"),
+            StatItem("Velocity", formatFloat(state.velocityMps), "m/s"),
+            StatItem("Position", formatFloat(state.positionRad), "rad"),
+            StatItem("Extension", formatFloat(state.extensionM), "m"),
+            StatItem("Voltage", formatFloat(state.voltageV), "V"),
+            StatItem("Temperature", formatFloat(state.tempC), "C"),
+            StatItem("Sys", state.sys.toString()),
+            StatItem("Merr", state.merr.toString()),
+            StatItem("OBD", state.obd.toString()),
+            StatItem("Seq ID", state.seqId.toString()),
+            StatItem("T Data", state.tDataUnixMs.toString(), "Unix ms"),
+            StatItem("Fault", state.faultSummary.ifBlank { "none" }),
+            StatItem("Host Arrival", state.hostArrivalNs.toString(), "ns"),
+            StatItem("Last Upload", state.lastUploadNs.toString(), "ns"),
+            StatItem("Data Age", state.dataAgeMs.toString(), "ms"),
+            StatItem("Raw Line", state.rawLine.compact(), "raw debug")
+        )
+    }
+
+    private fun formatKey(key: Int): String = String.format(Locale.US, "0x%02X (%d)", key, key)
+
+    private fun formatFloat(value: Float): String = String.format(Locale.US, "%.4f", value)
+
+    private fun String.compact(): String {
+        return if (length > 48) "${take(45)}..." else this
+    }
+}

app/src/test/java/com/kiwii/controlpanel/MotorRuntimeStateParserTest.kt

@@ -0,0 +1,49 @@
+package com.kiwii.controlpanel
+
+import com.kiwii.controlpanel.ui.detail.MotorRuntimeStateParser
+import org.junit.Assert.assertEquals
+import org.junit.Assert.assertTrue
+import org.junit.Test
+
+class MotorRuntimeStateParserTest {
+
+    @Test
+    fun `parse maps new motor runtime fields`() {
+        val json = """
+            {
+              "contractVersion": "kiwii.motor-runtime-state.v1",
+              "available": true,
+              "lastKey": 175,
+              "runtimeSec": 12.5,
+              "currentA": 1.25,
+              "torqueNm": 2.5,
+              "velocityRadps": 3.5,
+              "velocityMps": 4.5,
+              "positionRad": 5.5,
+              "extensionM": 0.25,
+              "voltageV": 24.0,
+              "tempC": 36.5,
+              "sys": 7,
+              "merr": 8,
+              "obd": 9,
+              "seqId": 10,
+              "tDataUnixMs": 1710000000000,
+              "faultSummary": "ok",
+              "hostArrivalNs": 111,
+              "lastUploadNs": 222,
+              "dataAgeMs": 333,
+              "rawLine": "motor raw debug line",
+              "rawJson": "{\"available\":true}"
+            }
+        """.trimIndent()
+
+        val items = MotorRuntimeStateParser.parse(json)
+
+        assertEquals("true", items.first { it.label == "Available" }.value)
+        assertEquals("0xAF (175)", items.first { it.label == "Last Key" }.value)
+        assertEquals("12.5000", items.first { it.label == "Runtime" }.value)
+        assertEquals("ms", items.first { it.label == "Data Age" }.detail)
+        assertEquals("motor raw debug line", items.first { it.label == "Raw Line" }.value)
+        assertTrue(items.none { it.label == "Raw Json" })
+    }
+}