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

@@ -36,23 +36,21 @@ class BridgeRepository {
     fun getLatestPoseFrameJson(): String = KiwiiRuntimeClientBridge.getLatestPoseFrameJson()
     fun getLatestBodyPoseFrameJson(): String = KiwiiRuntimeClientBridge.getLatestBodyPoseFrameJson()
 
-    fun getLeftHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLatestLeftHandleIMU()
+    fun getLeftHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLeftHandleIMULatest()
     fun getLeftHandleIMUQueue(): Array<FloatArray> {
-        val latest = KiwiiRuntimeClientBridge.getLatestLeftHandleIMU()
+        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(buildHeStreamPatternJson(streamId, payload))
+        KiwiiRuntimeClientBridge.submitLeftHeStream(streamId, payload)
 
-    fun getRightHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLatestRightHandleIMU()
+    fun getRightHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getRightHandleIMULatest()
     fun getRightHandleIMUQueue(): Array<FloatArray> {
-        val latest = KiwiiRuntimeClientBridge.getLatestRightHandleIMU()
+        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(buildHeStreamPatternJson(streamId, payload))
+        KiwiiRuntimeClientBridge.submitRightHeStream(streamId, payload)
 
     fun getHandleStateJson(): String = KiwiiRuntimeClientBridge.getHandleStateJson()
 
@@ -68,13 +66,6 @@ class BridgeRepository {
     fun submitDeviceCommandDryRun(command: String): String = KiwiiRuntimeClientBridge.submitDeviceCommandDryRun(command)
     fun getDeviceCommandStateJson(): String = KiwiiRuntimeClientBridge.getDeviceCommandStateJson()
 
-    private fun buildHeStreamPatternJson(streamId: Int, payload: String): String {
-        val trimmed = payload.trim()
-        if (trimmed.startsWith("{")) return trimmed
-        val escaped = payload.replace("\\", "\\\\").replace("\"", "\\\"")
-        return "{\"streamId\":$streamId,\"payload\":\"$escaped\"}"
-    }
-
     suspend fun <T> callAsync(block: () -> T): OperationResult<T> = withContext(Dispatchers.IO) {
         try {
             val result = block()

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

@@ -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" })
+    }
+}