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

@@ -37,62 +37,28 @@ class BridgeRepository {
     fun getLatestBodyPoseFrameJson(): String = KiwiiRuntimeClientBridge.getLatestBodyPoseFrameJson()
 
     fun getLeftHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLeftHandleIMULatest()
-
     fun getLeftHandleIMUQueue(): Array<FloatArray> {
-        val queue = readHandleImuQueueCompat("getLeftHandleIMUQueue")
-        if (queue.isNotEmpty()) return queue
-        val latest = getLeftHandleIMULatest()
+        val latest = KiwiiRuntimeClientBridge.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, buildHeStreamPatternJson(streamId, payload))
+        KiwiiRuntimeClientBridge.submitLeftHeStream(streamId, payload)
 
     fun getRightHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getRightHandleIMULatest()
-
     fun getRightHandleIMUQueue(): Array<FloatArray> {
-        val queue = readHandleImuQueueCompat("getRightHandleIMUQueue")
-        if (queue.isNotEmpty()) return queue
-        val latest = getRightHandleIMULatest()
+        val latest = KiwiiRuntimeClientBridge.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, buildHeStreamPatternJson(streamId, payload))
+        KiwiiRuntimeClientBridge.submitRightHeStream(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()
@@ -100,48 +66,6 @@ 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/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/MotorOps.kt

@@ -1,208 +1,63 @@
 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 data class ParamDef(
-        val key: String,
-        val label: String,
-        val defaultValue: String,
-        val unit: String = "",
-        val definition: String = ""
+    private val trainingModes = arrayOf(
+        "NONE (0)", "FREE_WEIGHT (1)", "ECCENTRIC_OVERLOAD (2)",
+        "VISCOUS (3)", "ELASTIC (4)", "ISOKINETIC_SPOTTING (5)", "SPOTTER (6)"
     )
 
-    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("Realtime Telemetry"))
-        layout.addView(MotorRealtimeTelemetryPanel(context, viewModel.bridgeRepo))
+        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("Force Control Parameters"))
+        layout.addView(createSection("Training Mode"))
         val modeSpinner = Spinner(context).apply {
-            adapter = ArrayAdapter(context, android.R.layout.simple_spinner_dropdown_item, modes)
+            adapter = ArrayAdapter(context, android.R.layout.simple_spinner_dropdown_item, trainingModes)
         }
-        layout.addView(modeSpinner)
-
-        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)
+        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(applyAction)
+        layout.addView(createParameterActionRow(trainingModeAction, modeSpinner, paramInput))
 
-        val queryCurrentAction = createButton("queryMotorTrainingMode current") {
-            viewModel.executeOperation(ComponentType.MOTOR, "queryMotorTrainingMode", "mode=-1") {
-                viewModel.bridgeRepo.queryMotorTrainingMode(-1)
+        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=$axis") {
+                viewModel.bridgeRepo.queryMotorTrainingMode(axis)
             }
         }
-        val querySelectedAction = createButton("queryMotorTrainingMode selected") {
-            val mode = modes[modeSpinner.selectedItemPosition]
-            viewModel.executeOperation(ComponentType.MOTOR, "queryMotorTrainingMode", "mode=${mode.mode}") {
-                viewModel.bridgeRepo.queryMotorTrainingMode(mode.mode)
-            }
-        }
-        layout.addView(queryCurrentAction)
-        layout.addView(querySelectedAction)
+        layout.addView(createParameterActionRow(queryModeAction, axisInput))
 
         layout.addView(createSection("State Queries"))
         layout.addView(createButton("getLatestMotorStateJson") {
@@ -215,47 +70,7 @@ 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

@@ -1,146 +0,0 @@
-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

@@ -1,83 +0,0 @@
-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

@@ -1,161 +0,0 @@
-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/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

@@ -8,12 +8,8 @@ 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
@@ -30,9 +26,7 @@ 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
@@ -47,14 +41,7 @@ class ComponentDetailFragment : Fragment() {
     private lateinit var stateAdapter: StatAdapter
     private lateinit var logAdapter: LogAdapter
     private var latestStateText: String = "No state data"
-    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
+    private var latestResultText: String = "—"
 
     override fun onCreate(savedInstanceState: Bundle?) {
         super.onCreate(savedInstanceState)
@@ -76,8 +63,6 @@ class ComponentDetailFragment : Fragment() {
 
         setupMenu()
         setupStateAndLog()
-        ensureStateQueryResultsPanel()
-        updateOperationResultText(latestResultText)
         loadOpsView()
         observeViewModel()
     }
@@ -121,21 +106,6 @@ 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)
@@ -173,7 +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())
@@ -203,10 +173,19 @@ class ComponentDetailFragment : Fragment() {
                     latestResultText = "No Data"
                 }
                 null -> {
-                    // Keep the initial guidance text visible until the first explicit State Query result arrives.
+                    latestResultText = "—"
                 }
             }
-            updateOperationResultText(latestResultText)
+        }
+    }
+
+    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())
         }
     }
 
@@ -226,34 +205,9 @@ 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)
@@ -276,12 +230,6 @@ 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/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/main/res/layout/fragment_component_detail.xml

@@ -7,139 +7,90 @@
     android:background="@drawable/bg_rhs_card"
     android:padding="8dp">
 
-    <!-- Left: scrollable State + State Query Results + Session Log -->
-    <ScrollView
+    <!-- Left: State + Log -->
+    <LinearLayout
         android:layout_width="0dp"
         android:layout_height="match_parent"
         android:layout_weight="45"
-        android:layout_marginEnd="6dp"
-        android:fillViewport="true"
-        android:overScrollMode="ifContentScrolls">
+        android:orientation="vertical"
+        android:layout_marginEnd="6dp">
 
+        <!-- State Card -->
         <LinearLayout
-            android:id="@+id/left_scroll_content"
             android:layout_width="match_parent"
             android:layout_height="wrap_content"
-            android:orientation="vertical">
+            android:orientation="vertical"
+            android:background="@drawable/bg_rhs_status_inner"
+            android:padding="8dp">
 
-            <!-- State Card -->
-            <LinearLayout
+            <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: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:minHeight="360dp">
+                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">
 
                 <TextView
                     android:layout_width="wrap_content"
                     android:layout_height="wrap_content"
-                    android:text="State Query Results / Disconnect Diagnosis"
+                    android:layout_alignParentStart="true"
+                    android:layout_centerVertical="true"
+                    android:text="Session Log"
                     android:textSize="11sp"
                     android:textStyle="bold"
-                    android:textColor="@color/rhs_title"
-                    android:layout_marginBottom="4dp" />
+                    android:textColor="@color/rhs_title" />
+            </RelativeLayout>
 
-                <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
+            <androidx.recyclerview.widget.RecyclerView
+                android:id="@+id/rv_log_entries"
                 android:layout_width="match_parent"
-                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>
+                android:layout_height="0dp"
+                android:layout_weight="1"
+                android:overScrollMode="never" />
         </LinearLayout>
-    </ScrollView>
+    </LinearLayout>
 
     <!-- Right: Controls -->
     <LinearLayout

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" })
+    }
+}