Fix SDK panel bridge compatibility after runtime merge

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

@@ -2,54 +2,12 @@ package com.kiwii.controlpanel.data
 
 import android.app.Activity
 import com.kiwii.bridge.KiwiiRuntimeClientBridge
-import com.kiwii.controlpanel.ui.components.MotorTelemetrySnapshotCache
 import com.kiwii.controlpanel.model.OperationResult
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.withContext
-import org.json.JSONArray
-import org.json.JSONObject
-import java.util.concurrent.Executors
-import java.util.concurrent.atomic.AtomicBoolean
 
 class BridgeRepository {
 
-    private companion object {
-        const val HANDLE_CACHE_MAX_AGE_MS = 5000L
-        const val HANDLE_REFRESH_MIN_INTERVAL_MS = 1000L
-        const val HANDLE_REFRESH_STUCK_RESET_MS = 5000L
-        const val DONGLE_CACHE_MAX_AGE_MS = 3000L
-        const val DONGLE_REFRESH_MIN_INTERVAL_MS = 1000L
-        const val DONGLE_REFRESH_STUCK_RESET_MS = 5000L
-
-        @Volatile
-        private var cachedHandleStateJson: String = ""
-
-        @Volatile
-        private var cachedHandleStateAtMs: Long = 0L
-
-        @Volatile
-        private var lastHandleRefreshAttemptMs: Long = 0L
-
-        private val handleRefreshInFlight = AtomicBoolean(false)
-        private val handleRefreshExecutor = Executors.newCachedThreadPool { runnable ->
-            Thread(runnable, "SDKPanelHandleStateRefresh").apply { isDaemon = true }
-        }
-
-        @Volatile
-        private var cachedDongleStateJson: String = ""
-
-        @Volatile
-        private var cachedDongleStateAtMs: Long = 0L
-
-        @Volatile
-        private var lastDongleRefreshAttemptMs: Long = 0L
-
-        private val dongleRefreshInFlight = AtomicBoolean(false)
-        private val dongleRefreshExecutor = Executors.newCachedThreadPool { runnable ->
-            Thread(runnable, "SDKPanelDongleStateRefresh").apply { isDaemon = true }
-        }
-    }
-
     fun bind(activity: Activity): Boolean = KiwiiRuntimeClientBridge.bind(activity)
     fun unbind() = KiwiiRuntimeClientBridge.unbind()
     fun isBound(): Boolean = KiwiiRuntimeClientBridge.isBound()
@@ -71,72 +29,6 @@ class BridgeRepository {
     fun requestRuntimeWarmStart(reason: String = ""): String = KiwiiRuntimeClientBridge.requestRuntimeWarmStart(reason)
 
     fun getCameraStateJson(): String = KiwiiRuntimeClientBridge.getCameraStateJson()
-    /**
-     * Phase4B-v11.2 compile fix: keep the Phase4B camera observation API that CameraOps
-     * and RuntimeStateSource already depend on. v11 overwrote BridgeRepository while adding
-     * Dongle detail-state fusion and accidentally dropped this method.
-     */
-    fun getCameraObservationStateJson(): String {
-        return try {
-            val method = KiwiiRuntimeClientBridge::class.java.getMethod("getCameraObservationStateJson")
-            method.invoke(null) as? String ?: getCameraStateJson()
-        } catch (_: Throwable) {
-            try {
-                val out = JSONObject()
-                val camera = parseJsonOrEmpty(getCameraStateJson())
-                val health = parseJsonOrEmpty(getHealthStateJson())
-                val debug = runCatching { parseJsonOrEmpty(getDebugSnapshotJson()) }.getOrDefault(JSONObject())
-                val latestPose2D = runCatching { getLatestPose2D() }.getOrDefault(FloatArray(0))
-                val latestPose3D = runCatching { getLatestPose3D() }.getOrDefault(FloatArray(0))
-                val runtimeStats = runCatching { getLatestRuntimeStats() }.getOrDefault(FloatArray(0))
-                val statsActive = runtimeStats.any { value -> !value.isNaN() && !value.isInfinite() && value > 0.1f }
-
-                val pipeline = health.optJSONObject("realInternalCameraPipeline")
-                    ?: camera.optJSONObject("realInternalCameraPipeline")
-                    ?: debug.optJSONObject("realInternalCameraPipeline")
-                    ?: JSONObject()
-                val pose2DState = health.optJSONObject("pose2DState")
-                    ?: camera.optJSONObject("pose2DState")
-                    ?: debug.optJSONObject("pose2DState")
-                    ?: JSONObject()
-                val pose3DState = health.optJSONObject("pose3DState")
-                    ?: camera.optJSONObject("pose3DState")
-                    ?: debug.optJSONObject("pose3DState")
-                    ?: JSONObject()
-
-                out.put("contractVersion", "kiwii.sdk-panel.camera-observation-display.v11.2")
-                out.put("source", "SDK_Panel.camera-observation-compat")
-                out.put("pipeline", JSONObject()
-                    .put("state", if (statsActive || latestPose2D.isNotEmpty() || latestPose3D.isNotEmpty()) "RUNNING" else "STARTING")
-                    .put("imx415OpenSucceeded", pipeline.optBoolean("imx415OpenSucceeded", health.optBoolean("imx415OpenSucceeded", false)))
-                    .put("rgaEnabled", pipeline.optBoolean("rgaEnabled", health.optBoolean("rgaEnabled", false)))
-                    .put("rknnYoloEnabled", pipeline.optBoolean("rknnYoloEnabled", health.optBoolean("rknnYoloEnabled", false)))
-                    .put("onnxInferenceEnabled", pipeline.optBoolean("onnxInferenceEnabled", health.optBoolean("onnxInferenceEnabled", false)))
-                    .put("videoPose3DEnabled", pipeline.optBoolean("videoPose3DEnabled", health.optBoolean("videoPose3DEnabled", false)))
-                )
-                out.put("pose2DLatest", JSONObject()
-                    .put("available", pose2DState.optBoolean("available", latestPose2D.isNotEmpty()))
-                    .put("sequenceId", pose2DState.optLong("pose2DSequenceId", 0L))
-                    .put("arrayLength", latestPose2D.size)
-                )
-                out.put("pose3DLatest", JSONObject()
-                    .put("available", pose3DState.optBoolean("available", latestPose3D.isNotEmpty()))
-                    .put("sequenceId", pose3DState.optLong("pose3DSequenceId", 0L))
-                    .put("arrayLength", latestPose3D.size)
-                    .put("pose3DModelFrames", pose3DState.optInt("pose3DModelFrames", pipeline.optInt("pose3DModelFrames", health.optInt("pose3DModelFrames", 27))))
-                )
-                out.put("runtimeStatsActive", statsActive)
-                out.put("rawCameraState", camera)
-                out.toString()
-            } catch (t: Throwable) {
-                JSONObject()
-                    .put("contractVersion", "kiwii.sdk-panel.camera-observation-display.v11.2")
-                    .put("error", t.javaClass.simpleName + ": " + (t.message ?: "unknown"))
-                    .toString()
-            }
-        }
-    }
-
     fun getPerceptionStateJson(): String = KiwiiRuntimeClientBridge.getPerceptionStateJson()
     fun getLatestPose2D(): FloatArray = KiwiiRuntimeClientBridge.getLatestPose2D()
     fun getLatestPose3D(): FloatArray = KiwiiRuntimeClientBridge.getLatestPose3D()
@@ -170,244 +62,7 @@ class BridgeRepository {
     fun submitRightHeStream(streamId: Int, payload: String): String =
         KiwiiRuntimeClientBridge.submitRightHeStream(streamId, buildHeStreamPatternJson(streamId, payload))
 
-    fun getHandleStateJson(): String {
+    fun getHandleStateJson(): String = KiwiiRuntimeClientBridge.getHandleStateJson()
-        val json = KiwiiRuntimeClientBridge.getHandleStateJson()
-        cacheHandleStateIfValid(json)
-        return json
-    }
-
-    /**
-     * Phase4B-v11.9: best-effort live HandleState refresh without blocking UI/poller callers.
-     *
-     * Important: some RuntimeHost debug/binder paths can block after long idle. A stuck refresh
-     * must not permanently disable future refresh attempts, so the in-flight flag is allowed to
-     * expire. The cached/last-known snapshot is never cleared on failure.
-     */
-    fun requestHandleStateRefreshAsync(reason: String = "") {
-        if (!isBound()) return
-        val now = System.currentTimeMillis()
-        val stuck = handleRefreshInFlight.get() &&
-            lastHandleRefreshAttemptMs > 0L &&
-            now - lastHandleRefreshAttemptMs > HANDLE_REFRESH_STUCK_RESET_MS
-        if (stuck) {
-            handleRefreshInFlight.set(false)
-        }
-        if (now - lastHandleRefreshAttemptMs < HANDLE_REFRESH_MIN_INTERVAL_MS) return
-        if (!handleRefreshInFlight.compareAndSet(false, true)) return
-        lastHandleRefreshAttemptMs = now
-        handleRefreshExecutor.execute {
-            try {
-                val json = KiwiiRuntimeClientBridge.getHandleStateJson()
-                cacheHandleStateIfValid(json)
-            } catch (_: Throwable) {
-                // Keep last-known snapshot. Never clear cached handle state on refresh failure.
-            } finally {
-                handleRefreshInFlight.set(false)
-            }
-        }
-    }
-
-    fun getCachedRawHandleStateJsonOrUnavailable(): String {
-        val now = System.currentTimeMillis()
-        val cacheAgeMs = if (cachedHandleStateAtMs > 0L) now - cachedHandleStateAtMs else Long.MAX_VALUE
-        return if (cachedHandleStateJson.isNotBlank()) {
-            val obj = parseJsonOrEmpty(cachedHandleStateJson)
-            obj.put("uiPath", "SDK_PANEL_CACHED_HANDLE_STATE")
-            obj.put("cacheAgeMs", if (cacheAgeMs == Long.MAX_VALUE) -1L else cacheAgeMs)
-            obj.put("cacheFresh", cacheAgeMs in 0..HANDLE_CACHE_MAX_AGE_MS)
-            obj.toString()
-        } else {
-            JSONObject()
-                .put("error", "no-cached-handle-state")
-                .put("source", "SDK_Panel.cached-handle-state.v11.18")
-                .put("cacheAgeMs", -1L)
-                .put("cacheFresh", false)
-                .toString()
-        }
-    }
-
-    /**
-     * Phase4B-v11.17: best-effort live Dongle transport refresh without blocking
-     * home-card rendering. This reads RuntimeHost's fast transport-only dongle state;
-     * the cached result is then used by both the home card and readDongleState detail.
-     */
-    fun requestDongleStateRefreshAsync(reason: String = "") {
-        if (!isBound()) return
-        val now = System.currentTimeMillis()
-        val stuck = dongleRefreshInFlight.get() &&
-            lastDongleRefreshAttemptMs > 0L &&
-            now - lastDongleRefreshAttemptMs > DONGLE_REFRESH_STUCK_RESET_MS
-        if (stuck) {
-            dongleRefreshInFlight.set(false)
-        }
-        if (now - lastDongleRefreshAttemptMs < DONGLE_REFRESH_MIN_INTERVAL_MS) return
-        if (!dongleRefreshInFlight.compareAndSet(false, true)) return
-        lastDongleRefreshAttemptMs = now
-        dongleRefreshExecutor.execute {
-            try {
-                val json = KiwiiRuntimeClientBridge.getDongleStateJson()
-                cacheDongleStateIfValid(json)
-            } catch (_: Throwable) {
-                // Keep last-known dongle state. Never clear cached state on refresh failure.
-            } finally {
-                dongleRefreshInFlight.set(false)
-            }
-        }
-    }
-
-    fun getCachedRawDongleStateJsonOrUnavailable(): String {
-        val now = System.currentTimeMillis()
-        val cacheAgeMs = if (cachedDongleStateAtMs > 0L) now - cachedDongleStateAtMs else Long.MAX_VALUE
-        return if (cachedDongleStateJson.isNotBlank()) {
-            val obj = parseJsonOrEmpty(cachedDongleStateJson)
-            obj.put("uiPath", "SDK_PANEL_CACHED_DONGLE_STATE")
-            obj.put("cacheAgeMs", if (cacheAgeMs == Long.MAX_VALUE) -1L else cacheAgeMs)
-            obj.put("cacheFresh", cacheAgeMs in 0..DONGLE_CACHE_MAX_AGE_MS)
-            obj.toString()
-        } else {
-            JSONObject()
-                .put("contractVersion", "kiwii.sdk-panel.cached-dongle-state.v11.17")
-                .put("error", "no-cached-dongle-state")
-                .put("source", "SDK_Panel.cached-dongle-state")
-                .put("cacheAgeMs", -1L)
-                .put("cacheFresh", false)
-                .toString()
-        }
-    }
-
-    private fun cacheDongleStateIfValid(json: String) {
-        if (json.isNotBlank() && !json.contains("\"error\"")) {
-            cachedDongleStateJson = json
-            cachedDongleStateAtMs = System.currentTimeMillis()
-        }
-    }
-
-    private fun cacheHandleStateIfValid(json: String) {
-        if (json.isNotBlank() && !json.contains("\"error\"")) {
-            cachedHandleStateJson = json
-            cachedHandleStateAtMs = System.currentTimeMillis()
-        }
-    }
-
-    /**
-     * Phase4B-v11.9: last-known, no-blocking Handle detail data path.
-     *
-     * Left/Right Handle controls must preserve the three diagnostics users rely on:
-     * 1) IMU latest, 2) IMU queue / ObservationBuffer summary, 3) overall HandleState.
-     * However, the raw AAR methods for latest/queue/state can block after long idle periods.
-     * These safe helpers therefore read only the last-known HandleState cached by
-     * asynchronous refresh and return immediately. They never perform live binder calls.
-     */
-    fun getCachedHandleStateJsonForUi(side: String = ""): String {
-        val now = System.currentTimeMillis()
-        val cacheAgeMs = if (cachedHandleStateAtMs > 0L) now - cachedHandleStateAtMs else Long.MAX_VALUE
-        val hasLastKnown = cachedHandleStateJson.isNotBlank()
-        val fresh = hasLastKnown && cacheAgeMs <= HANDLE_CACHE_MAX_AGE_MS
-        val handle = if (hasLastKnown) parseJsonOrEmpty(cachedHandleStateJson) else JSONObject()
-        val sideKey = normalizeHandleSide(side)
-        val sideObj = if (sideKey.isNotBlank()) handle.optJSONObject(sideKey) ?: JSONObject() else JSONObject()
-
-        return JSONObject()
-            .put("contractVersion", "kiwii.sdk-panel.handle-last-known-state.v11.9")
-            .put("source", "SDK_Panel.last-known-handle-state")
-            .put("noLiveBinderCall", true)
-            .put("cacheFresh", fresh)
-            .put("cacheStale", hasLastKnown && !fresh)
-            .put("cacheAgeMs", if (cacheAgeMs == Long.MAX_VALUE) -1L else cacheAgeMs)
-            .put("side", sideKey.ifBlank { "both" })
-            .put("sideState", sideObj)
-            .put("handleState", if (hasLastKnown) handle else JSONObject()
-                .put("error", "no-cached-handle-state")
-                .put("detail", "No last-known HandleState yet. Live binder query is intentionally skipped on UI button/state path."))
-            .toString()
-    }
-
-    fun getCachedHandleIMULatestText(side: String): String {
-        val snapshot = cachedHandleSnapshot(side)
-        if (!snapshot.hasLastKnown) {
-            return "NO_CACHED_HANDLE_STATE\n" +
-                "side=${snapshot.side}\n" +
-                "detail=No last-known HandleState yet; live binder query skipped."
-        }
-        val h = snapshot.sideJson
-        val freshness = if (snapshot.cacheFresh) "FRESH" else "STALE"
-        val q = formatJsonArray(h.optJSONArray("quaternion"))
-        val acc = formatJsonArray(h.optJSONArray("accelerationG"))
-        return "IMU Latest (last-known HandleState / $freshness)\n" +
-            "side=${snapshot.side}\n" +
-            "available=${h.optBooleanFlexible("available")} connected=${h.optBooleanFlexible("connected")} streaming=${h.optBooleanFlexible("streaming")}\n" +
-            "seq=${h.optLong("sequenceId", h.optLong("seq", 0L))} dataAgeMs=${h.optLong("dataAgeMs", -1L)} cacheAgeMs=${snapshot.cacheAgeMs}\n" +
-            "latestArrayLength=${h.optInt("latestArrayLength", 0)} source=${h.optString("source", "")}\n" +
-            "q=$q\n" +
-            "accG=$acc"
-    }
-
-    fun getCachedHandleIMUQueueText(side: String): String {
-        val snapshot = cachedHandleSnapshot(side)
-        if (!snapshot.hasLastKnown) {
-            return "NO_CACHED_HANDLE_STATE\n" +
-                "side=${snapshot.side}\n" +
-                "detail=No last-known ObservationBuffer summary yet; live queue query skipped."
-        }
-        val h = snapshot.sideJson
-        val freshness = if (snapshot.cacheFresh) "FRESH" else "STALE"
-        val seq = h.optLong("sequenceId", h.optLong("seq", 0L))
-        val q = formatJsonArray(h.optJSONArray("quaternion"))
-        val acc = formatJsonArray(h.optJSONArray("accelerationG"))
-        return "IMU Queue / ObservationBuffer Summary (last-known / $freshness)\n" +
-            "side=${snapshot.side}\n" +
-            "queueSize=${h.optInt("queueSize", 0)} latestArrayLength=${h.optInt("latestArrayLength", 0)}\n" +
-            "seqLatest=$seq dataAgeMs=${h.optLong("dataAgeMs", -1L)} cacheAgeMs=${snapshot.cacheAgeMs}\n" +
-            "observationBuffer=summary-only; raw frame dump not queried on this UI path\n" +
-            "latest.q=$q\n" +
-            "latest.accG=$acc"
-    }
-
-    private data class CachedHandleSnapshot(
-        val side: String,
-        val hasLastKnown: Boolean,
-        val cacheFresh: Boolean,
-        val cacheAgeMs: Long,
-        val handleJson: JSONObject,
-        val sideJson: JSONObject
-    )
-
-    private fun cachedHandleSnapshot(side: String): CachedHandleSnapshot {
-        val now = System.currentTimeMillis()
-        val cacheAge = if (cachedHandleStateAtMs > 0L) now - cachedHandleStateAtMs else Long.MAX_VALUE
-        val hasLastKnown = cachedHandleStateJson.isNotBlank()
-        val fresh = hasLastKnown && cacheAge <= HANDLE_CACHE_MAX_AGE_MS
-        val handle = if (hasLastKnown) parseJsonOrEmpty(cachedHandleStateJson) else JSONObject()
-        val sideKey = normalizeHandleSide(side)
-        val sideObj = handle.optJSONObject(sideKey) ?: JSONObject()
-        return CachedHandleSnapshot(
-            side = sideKey,
-            hasLastKnown = hasLastKnown,
-            cacheFresh = fresh,
-            cacheAgeMs = if (cacheAge == Long.MAX_VALUE) -1L else cacheAge,
-            handleJson = handle,
-            sideJson = sideObj
-        )
-    }
-
-    private fun normalizeHandleSide(side: String): String {
-        val s = side.trim().lowercase()
-        return when {
-            s.startsWith("l") -> "left"
-            s.startsWith("r") -> "right"
-            else -> s
-        }
-    }
-
-    private fun formatJsonArray(arr: JSONArray?): String {
-        if (arr == null || arr.length() == 0) return "[]"
-        val out = ArrayList<String>()
-        for (i in 0 until arr.length()) {
-            out.add(String.format(java.util.Locale.US, "%.4f", arr.optDouble(i, 0.0)))
-        }
-        return out.joinToString(prefix = "[", postfix = "]")
-    }
-
 
     fun setMotorWeightKg(weight: Float): com.kiwii.bridge.MotorCommandResult = KiwiiRuntimeClientBridge.setMotorWeightKg(weight)
     fun setMotorTrainingMode(mode: Int, param: Float): String = KiwiiRuntimeClientBridge.setMotorTrainingMode(mode, param)
@@ -445,248 +100,6 @@ class BridgeRepository {
     fun submitDeviceCommandDryRun(command: String): String = KiwiiRuntimeClientBridge.submitDeviceCommandDryRun(command)
     fun getDeviceCommandStateJson(): String = KiwiiRuntimeClientBridge.getDeviceCommandStateJson()
 
-
-    /**
-     * Phase4B-v11.9 SDK Panel no-blocking detail-state view for Dongle.
-     *
-     * Important design decision: this UI path must NOT call raw getDongleStateJson().
-     * On current RuntimeHost builds that raw dongle query can block behind debug/global
-     * state paths, causing the Dongle detail State panel to disappear and readDongleState
-     * to return only a timeout.
-     *
-     * For the detail page we therefore use the non-blocking HandleState contract as the
-     * operational evidence source and explicitly mark raw dongle slot/transport report as
-     * not queried on this safe UI path. RuntimeHost/SmartBase transport health is still
-     * validated by the home-card availability poll and logcat; this page is a per-component
-     * diagnostic view and must remain responsive.
-     */
-    fun getDongleDetailStateJson(): String {
-        // Phase4B-v11.17: readDongleState remains zero-blocking, but no longer uses a
-        // fake NOT_QUERIED placeholder as the primary state. The home-card poller keeps a
-        // cached RuntimeHost dongle transport snapshot; this method displays that cached
-        // raw state plus inferred slot evidence from cached Handle/Motor snapshots.
-        requestDongleStateRefreshAsync("read-dongle-state-click")
-        val now = System.currentTimeMillis()
-        val handleCacheAgeMs = if (cachedHandleStateAtMs > 0L) now - cachedHandleStateAtMs else Long.MAX_VALUE
-        val handleRaw = if (cachedHandleStateJson.isNotBlank()) {
-            cachedHandleStateJson
-        } else {
-            JSONObject()
-                .put("error", "no-cached-handle-state")
-                .put("handleCacheAgeMs", if (handleCacheAgeMs == Long.MAX_VALUE) -1L else handleCacheAgeMs)
-                .put("detail", "Safe Dongle detail path uses last-known HandleState only; live binder query skipped to avoid idle timeout.")
-                .toString()
-        }
-        return buildDongleDetailStateJson(
-            getCachedRawDongleStateJsonOrUnavailable(),
-            handleRaw,
-            if (handleCacheAgeMs == Long.MAX_VALUE) -1L else handleCacheAgeMs
-        )
-    }
-
-    fun getDongleSafePlaceholderStateJson(): String = buildSafeDonglePlaceholderJson()
-
-    private fun buildSafeDonglePlaceholderJson(): String {
-        return JSONObject()
-            .put("contractVersion", "kiwii.sdk-panel.dongle-safe-placeholder.v11.9")
-            .put("source", "SDK_Panel.non-blocking-dongle-detail")
-            .put("rawDongleQuery", "disabled-on-detail-ui-path")
-            .put("transport", JSONObject()
-                .put("state", "NOT_QUERIED")
-                .put("rawDongleQuery", "disabled-on-detail-ui-path")
-                .put("detail", "Live raw transport query skipped on no-blocking detail path."))
-            .toString()
-    }
-
-    private fun buildDongleDetailStateJson(dongleRaw: String, handleRaw: String, handleCacheAgeMs: Long): String {
-        val dongle = parseJsonOrEmpty(dongleRaw)
-        val handle = parseJsonOrEmpty(handleRaw)
-        val out = JSONObject()
-        out.put("contractVersion", "kiwii.sdk-panel.dongle-detail-state.v11.17")
-        out.put("source", "SDK_Panel.cached-dongle-and-handle-state-detail")
-        out.put("diagnosticSemantics", "transport-state-first; no-live-binder-call-on-dongle-detail; inferred-slot-report-secondary")
-        out.put("handleCacheAgeMs", handleCacheAgeMs)
-        out.put("handleCacheFresh", handleCacheAgeMs in 0..HANDLE_CACHE_MAX_AGE_MS)
-        out.put("handleCacheStale", handleCacheAgeMs > HANDLE_CACHE_MAX_AGE_MS)
-        out.put("generatedAtMs", System.currentTimeMillis())
-        out.put("dongle", dongle)
-        out.put("handleState", handle)
-
-        val transport = dongle.optJSONObject("transport") ?: JSONObject()
-        out.put("transport", transport)
-        out.put("slots", buildSdkPanelSlots(dongle, handle, handleCacheAgeMs))
-
-        val evidenceNote = buildSlotEvidenceNote(dongle, handle, handleCacheAgeMs)
-        if (evidenceNote.isNotBlank()) out.put("slotEvidenceNote", evidenceNote)
-        return out.toString()
-    }
-
-    private fun buildSdkPanelSlots(dongle: JSONObject, handle: JSONObject, handleCacheAgeMs: Long): JSONArray {
-        val sourceSlots = firstSlotArray(dongle)
-        val slots = JSONArray()
-        val left = handle.optJSONObject("left") ?: JSONObject()
-        val right = handle.optJSONObject("right") ?: JSONObject()
-        val motorSlotEvidence = MotorTelemetrySnapshotCache.dongleSlotEvidenceJson()
-
-        for (slotIndex in 0..3) {
-            val reported = findSlotObject(slotIndex, sourceSlots)
-            val slot = JSONObject()
-            slot.put("slot", slotIndex)
-
-            val inferredHandle = when (slotIndex) {
-                0 -> if (hasFreshHandleSlotEvidence(left, handleCacheAgeMs)) "LEFT_HANDLE" else ""
-                1 -> if (hasFreshHandleSlotEvidence(right, handleCacheAgeMs)) "RIGHT_HANDLE" else ""
-                else -> ""
-            }
-
-            if (slotIndex == 3 && motorSlotEvidence != null) {
-                val keys = motorSlotEvidence.keys()
-                while (keys.hasNext()) {
-                    val key = keys.next()
-                    slot.put(key, motorSlotEvidence.opt(key))
-                }
-            } else if (inferredHandle.isNotBlank()) {
-                val handleObj = if (slotIndex == 0) left else right
-                slot.put("state", "CONNECTED")
-                slot.put("connected", true)
-                slot.put("device", inferredHandle)
-                slot.put("source", "handle-state-fresh-inferred")
-                slot.put("inferred", true)
-                slot.put("sequenceId", handleObj.optLong("sequenceId", handleObj.optLong("seq", 0L)))
-                slot.put("dataAgeMs", handleObj.optLong("dataAgeMs", -1L))
-                slot.put("queueSize", handleObj.optInt("queueSize", 0))
-                slot.put("stale", handleCacheAgeMs > HANDLE_CACHE_MAX_AGE_MS)
-                slot.put("evidenceAgeMs", handleCacheAgeMs)
-                val reportedState = reported?.optString("state", reported.optString("status", "")) ?: ""
-                val rawSlotReport = when {
-                    reported == null -> if (dongle.optString("rawDongleQuery", "") == "disabled-on-detail-ui-path") "not-queried" else "missing"
-                    reportedState.isBlank() -> "present-without-state"
-                    reportedState.equals("CONNECTED", ignoreCase = true) -> "connected"
-                    else -> reportedState.lowercase()
-                }
-                slot.put("rawSlotReport", rawSlotReport)
-                if (reportedState.isNotBlank() && !reportedState.equals("CONNECTED", ignoreCase = true)) {
-                    slot.put("detail", "Connected via fresh handle-state; rawSlot=$rawSlotReport")
-                } else if (reported == null) {
-                    slot.put("detail", "Connected via fresh handle-state; rawSlot=$rawSlotReport")
-                } else {
-                    slot.put("detail", "Connected via fresh handle-state")
-                }
-            } else if (reported != null) {
-                val connected = reported.optBooleanFlexible("connected") ||
-                    reported.optBooleanFlexible("available") ||
-                    reported.optBooleanFlexible("active")
-                val state = firstNonBlank(
-                    reported.optString("state", ""),
-                    reported.optString("status", ""),
-                    if (connected) "CONNECTED" else "DISCONNECTED"
-                )
-                slot.put("state", state)
-                slot.put("connected", connected)
-                slot.put("source", "dongle-slot-report")
-                slot.put("inferred", false)
-                copyIfPresent(reported, slot, "dev")
-                copyIfPresent(reported, slot, "device")
-                copyIfPresent(reported, slot, "deviceType")
-                copyIfPresent(reported, slot, "deviceId")
-                copyIfPresent(reported, slot, "sequenceId")
-                copyIfPresent(reported, slot, "seq")
-                copyIfPresent(reported, slot, "dataAgeMs")
-                copyIfPresent(reported, slot, "ageMs")
-                slot.put("detail", "Reported by dongle JSON")
-            } else {
-                slot.put("state", "UNKNOWN")
-                slot.put("connected", false)
-                slot.put("source", "missing-slot-report")
-                slot.put("inferred", false)
-                slot.put("detail", if (dongle.optString("rawDongleQuery", "") == "disabled-on-detail-ui-path") "Raw slot skipped" else "No raw slot report")
-            }
-
-            slots.put(slot)
-        }
-        return slots
-    }
-
-    private fun buildSlotEvidenceNote(dongle: JSONObject, handle: JSONObject, handleCacheAgeMs: Long): String {
-        val sourceSlots = firstSlotArray(dongle)
-        val right = handle.optJSONObject("right") ?: JSONObject()
-        val rightFresh = hasFreshHandleSlotEvidence(right, handleCacheAgeMs)
-        val reportedSlot1 = findSlotObject(1, sourceSlots)
-        val reportedSlot1Connected = reportedSlot1?.let {
-            it.optBooleanFlexible("connected") || it.optBooleanFlexible("available") || it.optBooleanFlexible("active") ||
-                it.optString("state", "").equals("CONNECTED", ignoreCase = true) ||
-                it.optString("status", "").equals("CONNECTED", ignoreCase = true)
-        } ?: false
-        val notes = mutableListOf<String>()
-        if (rightFresh && !reportedSlot1Connected) notes += "Slot 1 inferred from cached Right Handle data."
-        if (MotorTelemetrySnapshotCache.dongleSlotEvidenceJson() != null) notes += "Slot 3 inferred from explicit Motor runtime state."
-        return notes.joinToString(" ")
-    }
-
-    private fun firstSlotArray(obj: JSONObject): JSONArray? {
-        obj.optJSONArray("slots")?.let { return it }
-        obj.optJSONArray("slotStatus")?.let { return it }
-        obj.optJSONArray("slotStates")?.let { return it }
-        obj.optJSONObject("dongle")?.optJSONArray("slots")?.let { return it }
-        obj.optJSONObject("status")?.optJSONArray("slots")?.let { return it }
-        return null
-    }
-
-    private fun findSlotObject(slotIndex: Int, slots: JSONArray?): JSONObject? {
-        if (slots == null) return null
-        for (i in 0 until slots.length()) {
-            val obj = slots.optJSONObject(i) ?: continue
-            val reportedIndex = obj.optIntOrNull("slot") ?: obj.optIntOrNull("slotId") ?: obj.optIntOrNull("index")
-            if (reportedIndex == slotIndex) return obj
-        }
-        return slots.optJSONObject(slotIndex)
-    }
-
-    private fun hasFreshHandleSlotEvidence(handle: JSONObject, handleCacheAgeMs: Long): Boolean {
-        val available = handle.optBooleanFlexible("available")
-        val connected = handle.optBooleanFlexible("connected")
-        val streaming = handle.optBooleanFlexible("streaming")
-        val seq = handle.optLong("sequenceId", handle.optLong("seq", 0L))
-        val queueSize = handle.optInt("queueSize", 0)
-        val dataAgeMs = handle.optLong("dataAgeMs", Long.MAX_VALUE)
-        val cacheFresh = handleCacheAgeMs in 0..HANDLE_CACHE_MAX_AGE_MS
-        val dataFresh = dataAgeMs in 0..HANDLE_CACHE_MAX_AGE_MS
-        return cacheFresh && dataFresh && (available || connected || streaming) && seq > 0L && queueSize > 0
-    }
-
-    private fun parseJsonOrEmpty(raw: String): JSONObject {
-        return try {
-            JSONObject(raw)
-        } catch (_: Throwable) {
-            JSONObject().put("raw", raw.take(500))
-        }
-    }
-
-    private fun copyIfPresent(src: JSONObject, dst: JSONObject, key: String) {
-        if (src.has(key)) dst.put(key, src.opt(key))
-    }
-
-    private fun JSONObject.optBooleanFlexible(key: String): Boolean {
-        if (!has(key)) return false
-        val raw = opt(key) ?: return false
-        return when (raw) {
-            is Boolean -> raw
-            is Number -> raw.toInt() != 0
-            is String -> raw.equals("true", ignoreCase = true) || raw == "1" || raw.equals("yes", ignoreCase = true) || raw.equals("connected", ignoreCase = true) || raw.equals("active", ignoreCase = true) || raw.equals("running", ignoreCase = true)
-            else -> false
-        }
-    }
-
-    private fun JSONObject.optIntOrNull(key: String): Int? {
-        if (!has(key)) return null
-        return try { optInt(key) } catch (_: Throwable) { null }
-    }
-
-    private fun firstNonBlank(vararg values: String): String = values.firstOrNull { it.isNotBlank() } ?: ""
-
-    private fun escapeJson(value: String): String = value.replace("\\", "\\\\").replace("\"", "\\\"")
-
-
     private fun readHandleImuQueueCompat(methodName: String): Array<FloatArray> {
         return try {
             val method = KiwiiRuntimeClientBridge::class.java.getMethod(methodName)

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

@@ -6,7 +6,6 @@ import com.kiwii.controlpanel.logging.SessionLogger
 import com.kiwii.controlpanel.model.ComponentCategory
 import com.kiwii.controlpanel.model.ComponentState
 import com.kiwii.controlpanel.model.ComponentType
-import com.kiwii.controlpanel.ui.components.MotorTelemetrySnapshotCache
 import kotlinx.coroutines.CoroutineScope
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.delay
@@ -27,106 +26,20 @@ class ComponentRegistry(
     private var previousStates = emptyMap<ComponentType, ComponentState>()
 
     private companion object {
-        const val TAG = "KiwiiSDKPanelState"
+        const val MOTOR_TELEMETRY_FRESH_TIMEOUT_MS = 5000L
-        const val HANDLE_DATA_AGE_FRESH_TIMEOUT_MS = 1500L
-        const val HANDLE_SEQUENCE_PROGRESS_TIMEOUT_MS = 2500L
-        const val DONGLE_SEQUENCE_PROGRESS_TIMEOUT_MS = 2500L
-        const val DONGLE_TRANSPORT_FRESH_TIMEOUT_MS = 3_000L
-        const val MOTOR_STATUS_FRESH_TIMEOUT_MS = 5_000L
-        const val SLOT_STATUS_FRESH_TIMEOUT_MS = 5_000L
-        const val DONGLE_RULE = "REQUIRE_FRESH_SMARTBASE_USB_TRANSPORT"
     }
 
-    private data class SlotSignal(
+    // Motor is physically downstream of the SmartBase Dongle.
-        val slot: Int = -1,
+    // Keep the latest Dongle card decision from the same detection loop so Motor cannot remain green
-        val dev: Int = 0,
+    // after the Dongle transport is disconnected, while preserving v4 Dongle detection behavior.
-        val name: String = "",
-        val state: String = "",
-        val connected: Boolean = false,
-        val lastSeenAgeMs: Long = Long.MAX_VALUE,
-        val source: String = ""
-    ) {
-        val freshConnected: Boolean
-            get() = connected && lastSeenAgeMs in 0..5_000L
-    }
-
-    private data class HandleSignal(
-        val side: String,
-        val available: Boolean = false,
-        val connected: Boolean = false,
-        val streaming: Boolean = false,
-        val sequenceId: Long = 0L,
-        val dataAgeMs: Long = -1L,
-        val queueSize: Int = 0,
-        val health: String = "",
-        val source: String = "",
-        val slot: SlotSignal = SlotSignal()
-    )
-
-    private data class DongleSignal(
-        val valid: Boolean = false,
-        val active: Boolean = false,
-        val usbPresent: Boolean = false,
-        val usbBridgeRegistered: Boolean = false,
-        val readLoopRunning: Boolean = false,
-        val stale: Boolean = true,
-        val dataStale: Boolean = true,
-        val lastUsbInAgeMs: Long = Long.MAX_VALUE,
-        val cacheAgeMs: Long = Long.MAX_VALUE,
-        val state: String = "",
-        val source: String = "",
-        val evidence: String = ""
-    )
-
-    private data class HandleDashboardSignal(
-        val valid: Boolean,
-        val left: HandleSignal = HandleSignal("left"),
-        val right: HandleSignal = HandleSignal("right"),
-        val dongleStateLocated: Boolean = false,
-        val observationBufferLocated: Boolean = false,
-        val dongle: DongleSignal = DongleSignal(),
-        val motorSlot: SlotSignal = SlotSignal(slot = 3, dev = 0x31, name = "MOTOR_POWER"),
-        val leftProgressAgeMs: Long = Long.MAX_VALUE,
-        val rightProgressAgeMs: Long = Long.MAX_VALUE,
-        val dongleProgressAgeMs: Long = Long.MAX_VALUE,
-        val handleCacheAgeMs: Long = Long.MAX_VALUE
-    )
-
     @Volatile
     private var latestDongleCardStateForMotorGate: ComponentState = ComponentState.GREY
 
-    @Volatile
-    private var latestHandleSignalsForMotorSlot: SlotSignal? = null
-
-    private var lastLeftSequenceId: Long = 0L
-    private var lastRightSequenceId: Long = 0L
-    private var lastLeftSequenceProgressWallMs: Long = 0L
-    private var lastRightSequenceProgressWallMs: Long = 0L
-    private var lastDongleSequenceProgressWallMs: Long = 0L
-
     fun startDetection() {
         scope.launch(Dispatchers.IO) {
             while (isActive) {
-                val bound = repo.isBound()
+                val result = ComponentType.entries.associateWith { checkAvailability(it) }
-                if (bound) {
+                // 检测状态变化，记录日志
-                    repo.requestHandleStateRefreshAsync("availability-poll")
-                    repo.requestDongleStateRefreshAsync("availability-poll")
-                    MotorTelemetrySnapshotCache.requestRuntimeStateRefreshAsync(repo, "availability-poll")
-                }
-                val handleJson = if (bound) repo.getCachedRawHandleStateJsonOrUnavailable() else "{\"error\":\"NOT_BOUND\"}"
-                // Phase4B-v11.9: home-card availability must be cold-start safe and never block on
-                // RuntimeHost debug/binder reads. Camera/Dongle/Telemetry home cards use binder-bound
-                // runtime availability; detailed state buttons remain no-blocking/last-known.
-                val runtimeStats = FloatArray(0)
-                val cameraJson = if (bound) "{\"contractVersion\":\"kiwii.sdk-panel.camera-bound-placeholder.v11.9\",\"state\":\"BOUND_RUNTIME\",\"running\":true}" else "{\"error\":\"NOT_BOUND\"}"
-                val dongleJson = if (bound) repo.getCachedRawDongleStateJsonOrUnavailable() else "{\"error\":\"NOT_BOUND\"}"
-                val handleSignals = updateHandleSignals(bound, handleJson, dongleJson)
-
-                val result = ComponentType.entries.associateWith { type ->
-                    checkAvailability(type, bound, handleJson, runtimeStats, cameraJson, handleSignals)
-                }
-
-                logDashboardSummary(bound, result, handleSignals, runtimeStats, cameraJson)
                 logStateChanges(previousStates, result)
                 previousStates = result
                 _availability.value = result
@@ -135,292 +48,6 @@ class ComponentRegistry(
         }
     }
 
-    private fun updateHandleSignals(bound: Boolean, handleJson: String, dongleJson: String): HandleDashboardSignal {
-        val now = System.currentTimeMillis()
-        val dongle = parseDongleSignal(bound, dongleJson)
-        if (!bound || isUnavailable(handleJson)) {
-            latestHandleSignalsForMotorSlot = SlotSignal(slot = 3, dev = 0x31, name = "MOTOR_POWER", source = "handle-unavailable")
-            return HandleDashboardSignal(
-                valid = false,
-                dongle = dongle,
-                leftProgressAgeMs = ageSince(now, lastLeftSequenceProgressWallMs),
-                rightProgressAgeMs = ageSince(now, lastRightSequenceProgressWallMs),
-                dongleProgressAgeMs = ageSince(now, lastDongleSequenceProgressWallMs)
-            )
-        }
-        return try {
-            val obj = JSONObject(handleJson)
-            val handleCacheAgeMs = obj.optLong("cacheAgeMs", Long.MAX_VALUE)
-            val slots = obj.optJSONArray("dongleSlots")
-            val leftSlot = parseSlotSignal(slots, 0, 0x11, "LEFT_HANDLE")
-            val rightSlot = parseSlotSignal(slots, 1, 0x12, "RIGHT_HANDLE")
-            val motorSlot = parseSlotSignal(slots, 3, 0x31, "MOTOR_POWER")
-            latestHandleSignalsForMotorSlot = motorSlot
-            val left = parseHandleSignal("left", obj.optJSONObject("left"), leftSlot)
-            val right = parseHandleSignal("right", obj.optJSONObject("right"), rightSlot)
-
-            val leftProgress = updateSequenceProgress(
-                side = "left",
-                sequenceId = left.sequenceId,
-                hasLiveFlags = left.available || left.connected || left.streaming,
-                now = now
-            )
-            val rightProgress = updateSequenceProgress(
-                side = "right",
-                sequenceId = right.sequenceId,
-                hasLiveFlags = right.available || right.connected || right.streaming,
-                now = now
-            )
-            if (leftProgress || rightProgress) {
-                lastDongleSequenceProgressWallMs = now
-            }
-
-            HandleDashboardSignal(
-                valid = true,
-                left = left,
-                right = right,
-                dongleStateLocated = obj.optBoolean("dongleStateLocated", obj.optJSONObject("debugTrace")?.optBoolean("dongleStateLocated", false) ?: false),
-                observationBufferLocated = obj.optBoolean("observationBufferLocated", obj.optJSONObject("debugTrace")?.optBoolean("observationBufferLocated", false) ?: false),
-                dongle = dongle,
-                motorSlot = motorSlot,
-                leftProgressAgeMs = ageSince(now, lastLeftSequenceProgressWallMs),
-                rightProgressAgeMs = ageSince(now, lastRightSequenceProgressWallMs),
-                dongleProgressAgeMs = ageSince(now, lastDongleSequenceProgressWallMs),
-                handleCacheAgeMs = handleCacheAgeMs
-            )
-        } catch (t: Throwable) {
-            Log.w(TAG, "updateHandleSignals exception: ${t.message}")
-            latestHandleSignalsForMotorSlot = SlotSignal(slot = 3, dev = 0x31, name = "MOTOR_POWER", source = "parse-exception")
-            HandleDashboardSignal(
-                valid = false,
-                dongle = dongle,
-                leftProgressAgeMs = ageSince(now, lastLeftSequenceProgressWallMs),
-                rightProgressAgeMs = ageSince(now, lastRightSequenceProgressWallMs),
-                dongleProgressAgeMs = ageSince(now, lastDongleSequenceProgressWallMs)
-            )
-        }
-    }
-
-    private fun parseHandleSignal(side: String, obj: JSONObject?, fallbackSlot: SlotSignal = SlotSignal()): HandleSignal {
-        if (obj == null) return HandleSignal(side, slot = fallbackSlot)
-        val embeddedSlot = SlotSignal(
-            slot = obj.optInt("slot", fallbackSlot.slot),
-            dev = obj.optInt("slotDev", fallbackSlot.dev),
-            name = firstNonBlank(obj.optString("slotName", ""), fallbackSlot.name),
-            state = firstNonBlank(obj.optString("slotState", ""), fallbackSlot.state),
-            connected = obj.optBoolean("slotConnected", fallbackSlot.connected),
-            lastSeenAgeMs = firstNonNegativeLong(obj.optLong("slotLastSeenAgeMs", Long.MIN_VALUE), fallbackSlot.lastSeenAgeMs),
-            source = "handleState.embeddedSlot"
-        )
-        return HandleSignal(
-            side = side,
-            available = obj.optBoolean("available", false),
-            connected = obj.optBoolean("connected", false),
-            streaming = obj.optBoolean("streaming", false),
-            sequenceId = obj.optLong("sequenceId", 0L),
-            dataAgeMs = obj.optLong("dataAgeMs", -1L),
-            queueSize = obj.optInt("queueSize", 0),
-            health = obj.optString("health", ""),
-            source = obj.optString("source", ""),
-            slot = if (embeddedSlot.slot >= 0) embeddedSlot else fallbackSlot
-        )
-    }
-
-    private fun parseSlotSignal(slots: org.json.JSONArray?, expectedSlot: Int, expectedDev: Int, expectedName: String): SlotSignal {
-        if (slots == null) return SlotSignal(slot = expectedSlot, dev = expectedDev, name = expectedName, source = "no-slots")
-        for (i in 0 until slots.length()) {
-            val obj = slots.optJSONObject(i) ?: continue
-            val slot = obj.optInt("slot", -1)
-            val dev = obj.optInt("dev", 0)
-            val name = obj.optString("name", "")
-            if (slot == expectedSlot || dev == expectedDev || name.equals(expectedName, ignoreCase = true)) {
-                val state = obj.optString("state", "")
-                return SlotSignal(
-                    slot = slot.takeIf { it >= 0 } ?: expectedSlot,
-                    dev = dev.takeIf { it != 0 } ?: expectedDev,
-                    name = firstNonBlank(name, expectedName),
-                    state = state,
-                    connected = state.equals("CONNECTED", ignoreCase = true) ||
-                        state.equals("CONNECTING", ignoreCase = true) ||
-                        state.equals("DISCOVERED", ignoreCase = true) ||
-                        obj.optBoolean("connected", false),
-                    lastSeenAgeMs = obj.optLong("lastSeenAgeMs", Long.MAX_VALUE),
-                    source = "handleState.dongleSlots"
-                )
-            }
-        }
-        return SlotSignal(slot = expectedSlot, dev = expectedDev, name = expectedName, source = "slot-not-found")
-    }
-
-
-
-    private fun parseDongleSignal(bound: Boolean, json: String): DongleSignal {
-        if (!bound || isUnavailable(json)) {
-            return DongleSignal(valid = false, source = "unavailable")
-        }
-        return try {
-            val obj = JSONObject(json)
-            val transport = obj.optJSONObject("transport") ?: obj
-            val state = firstNonBlank(
-                transport.optString("state", ""),
-                obj.optString("state", ""),
-                obj.optString("transportState", "")
-            )
-            val usbPresent = boolAny(
-                transport.optBoolean("usbPresent", false),
-                transport.optBoolean("devicePresent", false),
-                transport.optBoolean("attached", false),
-                obj.optBoolean("usbPresent", false),
-                obj.optBoolean("devicePresent", false),
-                obj.optBoolean("attached", false)
-            )
-            val usbBridgeRegistered = boolAny(
-                transport.optBoolean("usbBridgeRegistered", false),
-                transport.optBoolean("bridgeRegistered", false),
-                obj.optBoolean("usbBridgeRegistered", false),
-                obj.optBoolean("bridgeRegistered", false)
-            )
-            val readLoopRunning = boolAny(
-                transport.optBoolean("readLoopRunning", false),
-                transport.optBoolean("bulkInRunning", false),
-                transport.optBoolean("running", false),
-                obj.optBoolean("readLoopRunning", false)
-            )
-            val activeFlags = boolAny(
-                obj.optBoolean("active", false),
-                obj.optBoolean("available", false),
-                obj.optBoolean("connected", false),
-                transport.optBoolean("active", false),
-                transport.optBoolean("available", false),
-                transport.optBoolean("connected", false),
-                transport.optBoolean("usbConnected", false),
-                transport.optBoolean("opened", false),
-                transport.optBoolean("open", false),
-                transport.optBoolean("isOpen", false)
-            )
-            val stale = boolAny(
-                obj.optBoolean("stale", false),
-                obj.optBoolean("dataStale", false),
-                transport.optBoolean("stale", false),
-                transport.optBoolean("dataStale", false)
-            )
-            val dataStale = boolAny(
-                obj.optBoolean("dataStale", false),
-                transport.optBoolean("dataStale", false)
-            )
-            val lastUsbInAgeMs = firstNonNegativeLong(
-                transport.optLong("lastUsbInAgeMs", Long.MIN_VALUE),
-                obj.optLong("lastUsbInAgeMs", Long.MIN_VALUE)
-            )
-            val cacheAgeMs = obj.optLong("cacheAgeMs", Long.MAX_VALUE)
-            val stateActive = state.equals("CONNECTED", ignoreCase = true) ||
-                state.equals("RUNNING", ignoreCase = true) ||
-                state.equals("OPEN", ignoreCase = true) ||
-                state.equals("OPENED", ignoreCase = true) ||
-                state.equals("ACTIVE", ignoreCase = true) ||
-                state.equals("READY", ignoreCase = true)
-
-            val usbTrafficFresh = lastUsbInAgeMs in 0..DONGLE_TRANSPORT_FRESH_TIMEOUT_MS
-            val cacheFresh = cacheAgeMs == Long.MAX_VALUE || cacheAgeMs in 0..DONGLE_TRANSPORT_FRESH_TIMEOUT_MS
-            val effectiveStale = stale || !cacheFresh || !usbTrafficFresh
-            val effectiveDataStale = dataStale || !cacheFresh || !usbTrafficFresh
-            val active = usbPresent &&
-                usbBridgeRegistered &&
-                readLoopRunning &&
-                (activeFlags || stateActive) &&
-                !effectiveStale &&
-                usbTrafficFresh &&
-                cacheFresh
-            DongleSignal(
-                valid = true,
-                active = active,
-                usbPresent = usbPresent,
-                usbBridgeRegistered = usbBridgeRegistered,
-                readLoopRunning = readLoopRunning,
-                stale = effectiveStale,
-                dataStale = effectiveDataStale,
-                lastUsbInAgeMs = lastUsbInAgeMs,
-                cacheAgeMs = cacheAgeMs,
-                state = state,
-                source = obj.optString("source", "getDongleStateJson"),
-                evidence = "usbPresent=$usbPresent bridge=$usbBridgeRegistered readLoop=$readLoopRunning activeFlags=$activeFlags state=$state rawStale=$stale rawDataStale=$dataStale effectiveStale=$effectiveStale lastUsbInAgeMs=${printAge(lastUsbInAgeMs)} cacheAgeMs=${printAge(cacheAgeMs)}"
-            )
-        } catch (t: Throwable) {
-            Log.w(TAG, "parseDongleSignal exception: ${t.message}")
-            DongleSignal(valid = false, source = "parse-exception", evidence = t.message ?: "unknown")
-        }
-    }
-
-    private fun boolAny(vararg values: Boolean?): Boolean = values.any { it == true }
-
-    private fun firstNonBlank(vararg values: String?): String {
-        return values.firstOrNull { !it.isNullOrBlank() } ?: ""
-    }
-
-    private fun firstNonNegativeLong(vararg values: Long): Long {
-        return values.firstOrNull { it >= 0L } ?: Long.MAX_VALUE
-    }
-
-    private fun updateSequenceProgress(side: String, sequenceId: Long, hasLiveFlags: Boolean, now: Long): Boolean {
-        if (!hasLiveFlags || sequenceId <= 0L) return false
-        return when (side) {
-            "left" -> {
-                val changed = sequenceId != lastLeftSequenceId
-                if (changed) {
-                    lastLeftSequenceId = sequenceId
-                    lastLeftSequenceProgressWallMs = now
-                }
-                changed
-            }
-            "right" -> {
-                val changed = sequenceId != lastRightSequenceId
-                if (changed) {
-                    lastRightSequenceId = sequenceId
-                    lastRightSequenceProgressWallMs = now
-                }
-                changed
-            }
-            else -> false
-        }
-    }
-
-    private fun ageSince(now: Long, last: Long): Long {
-        return if (last <= 0L) Long.MAX_VALUE else now - last
-    }
-
-    private fun logDashboardSummary(
-        bound: Boolean,
-        states: Map<ComponentType, ComponentState>,
-        handles: HandleDashboardSignal,
-        runtimeStats: FloatArray,
-        cameraJson: String
-    ) {
-        val statsActive = runtimeStats.any { !it.isNaN() && !it.isInfinite() && it > 0.1f }
-        val camera = runCatching { JSONObject(cameraJson) }.getOrNull()
-        val cameraRunning = camera?.optBoolean("running", false) == true || camera?.optString("state", "") == "RUNNING"
-        val imxOpen = camera?.optBoolean("imx415OpenSucceeded", false) == true ||
-            camera?.optJSONObject("realInternalCameraPipeline")?.optBoolean("imx415OpenSucceeded", false) == true
-
-        Log.i(
-            TAG,
-            "Phase4B-v11.9 dashboard availability; bound=$bound; " +
-                "camera=${states[ComponentType.CAMERA]}; right=${states[ComponentType.RIGHT_HANDLE]}; " +
-                "dongle=${states[ComponentType.DONGLE]}; telemetry=${states[ComponentType.TELEMETRY_SAFETY]}; motor=${states[ComponentType.MOTOR]}; " +
-                "right.available=${handles.right.available}; right.connected=${handles.right.connected}; right.streaming=${handles.right.streaming}; " +
-                "right.seq=${handles.right.sequenceId}; right.dataAgeMs=${handles.right.dataAgeMs}; right.progressAgeMs=${printAge(handles.rightProgressAgeMs)}; right.cacheAgeMs=${printAge(handles.handleCacheAgeMs)}; " +
-                "right.slotState=${handles.right.slot.state}; right.slotConnected=${handles.right.slot.connected}; right.slotAgeMs=${printAge(handles.right.slot.lastSeenAgeMs)}; " +
-                "motor.slotState=${handles.motorSlot.state}; motor.slotConnected=${handles.motorSlot.connected}; motor.slotAgeMs=${printAge(handles.motorSlot.lastSeenAgeMs)}; " +
-                "dongleStateLocated=${handles.dongleStateLocated}; observationBufferLocated=${handles.observationBufferLocated}; dongle.progressAgeMs=${printAge(handles.dongleProgressAgeMs)}; " +
-                "dongle.usbActive=${handles.dongle.active}; dongle.usbPresent=${handles.dongle.usbPresent}; dongle.bridge=${handles.dongle.usbBridgeRegistered}; dongle.readLoop=${handles.dongle.readLoopRunning}; dongle.transportState=${handles.dongle.state}; " +
-                "dongle.stale=${handles.dongle.stale}; dongle.dataStale=${handles.dongle.dataStale}; dongle.lastUsbInAgeMs=${printAge(handles.dongle.lastUsbInAgeMs)}; dongle.cacheAgeMs=${printAge(handles.dongle.cacheAgeMs)}; " +
-                "statsActive=$statsActive; cameraRunning=$cameraRunning; imx415OpenSucceeded=$imxOpen; rule=$DONGLE_RULE"
-        )
-    }
-
-    private fun printAge(age: Long): String {
-        return if (age == Long.MAX_VALUE) "NA" else age.toString()
-    }
-
     private fun logStateChanges(
         old: Map<ComponentType, ComponentState>,
         new: Map<ComponentType, ComponentState>
@@ -437,164 +64,168 @@ class ComponentRegistry(
                     result = "${oldState.name} -> ${newState.name}",
                     isStateChange = true
                 ))
-                Log.i(TAG, "Phase4B-v11.9 availability_change; component=${type.name}; ${oldState.name}->${newState.name}")
             }
         }
     }
 
-    private fun checkAvailability(
+    private fun checkAvailability(type: ComponentType): ComponentState {
-        type: ComponentType,
+        dumpDebugOnce()
-        bound: Boolean,
-        handleJson: String,
-        runtimeStats: FloatArray,
-        cameraJson: String,
-        handles: HandleDashboardSignal
-    ): ComponentState {
         return when (type.category) {
             ComponentCategory.ALWAYS_READY -> ComponentState.ACTIVE
-            ComponentCategory.RUNTIME_HOST -> checkRuntimeHostComponent(type, bound, runtimeStats, cameraJson)
+            ComponentCategory.RUNTIME_HOST -> checkRuntimeHostComponent(type)
-            ComponentCategory.PERIPHERAL -> checkPeripheral(type, bound, handleJson, handles)
+            ComponentCategory.PERIPHERAL -> checkPeripheral(type)
         }
     }
 
-    private fun checkRuntimeHostComponent(
+    private fun checkRuntimeHostComponent(type: ComponentType): ComponentState {
-        type: ComponentType,
+        // RuntimeHostStatus 始终可交互（Bind 按钮需在未绑定时可用）
-        bound: Boolean,
-        runtimeStats: FloatArray,
-        cameraJson: String
-    ): ComponentState {
         if (type == ComponentType.RUNTIME_HOST_STATUS) return ComponentState.ACTIVE
-        if (!bound) return ComponentState.GREY
+        if (!repo.isBound()) return ComponentState.GREY
         return when (type) {
-            // Phase4B-v11.9: do not let camera/home-card availability depend on a live camera
+            ComponentType.CAMERA -> checkCamera()
-            // debug query during SDK_Panel cold start. Detail pages can still display richer state.
-            ComponentType.CAMERA -> ComponentState.ACTIVE
             ComponentType.TELEMETRY_SAFETY -> ComponentState.ACTIVE
             else -> ComponentState.ACTIVE
         }
     }
 
-    private fun checkPeripheral(
+    private fun checkPeripheral(type: ComponentType): ComponentState {
-        type: ComponentType,
+        if (!repo.isBound()) return ComponentState.GREY
-        bound: Boolean,
-        handleJson: String,
-        handles: HandleDashboardSignal
-    ): ComponentState {
-        if (!bound) return ComponentState.GREY
         return when (type) {
-            ComponentType.LEFT_HANDLE -> checkHandle(handles.left, handles.leftProgressAgeMs)
+            ComponentType.LEFT_HANDLE -> checkHandle("left")
-            ComponentType.RIGHT_HANDLE -> checkHandle(handles.right, handles.rightProgressAgeMs)
+            ComponentType.RIGHT_HANDLE -> checkHandle("right")
-            ComponentType.BALANCE_BOARD -> ComponentState.GREY // CoP not integrated yet.
+            ComponentType.BALANCE_BOARD -> checkBalanceBoard()
-            ComponentType.DONGLE -> checkDongle(handles)
+            ComponentType.DONGLE -> checkDongle()
             ComponentType.MOTOR -> checkMotor()
             else -> ComponentState.GREY
         }
     }
 
-    private fun checkCamera(runtimeStats: FloatArray, cameraJson: String): ComponentState {
+    private var debugDumped = false
-        // Home card means pipeline alive, not necessarily human detected.
+
-        val statsActive = runtimeStats.any { !it.isNaN() && !it.isInfinite() && it > 0.1f }
+    private fun dumpDebugOnce() {
-        if (statsActive) return ComponentState.ACTIVE
+        if (debugDumped || !repo.isBound()) return
-        if (isUnavailable(cameraJson)) return ComponentState.GREY
+        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(
+            "isBound" to repo.isBound().toString(),
+            "getDongleStateJson(first400)" to runCatching { repo.getDongleStateJson().take(400) }.getOrDefault("EXCEPTION")
+        )
+        for ((name, value) in apis) {
+            logger.log(LogEntry(
+                timestamp = System.currentTimeMillis(),
+                component = null,
+                action = "DEBUG_DUMP",
+                params = name,
+                result = value,
+                isStateChange = false
+            ))
+        }
+    }
+
+    private fun checkCamera(): ComponentState {
         return try {
-            val obj = JSONObject(cameraJson)
+            val json = repo.getCameraStateJson()
-            val pipeline = obj.optJSONObject("realInternalCameraPipeline")
+            if (isUnavailable(json)) ComponentState.GREY else ComponentState.ACTIVE
-            val pose2D = obj.optJSONObject("pose2DState")
+        } catch (_: Exception) {
-            val pose3D = obj.optJSONObject("pose3DState")
+            ComponentState.GREY
-            val running = obj.optBoolean("running", false) || obj.optString("state", "") == "RUNNING"
+        }
-            val imx415Open = obj.optBoolean("imx415OpenSucceeded", false) || pipeline?.optBoolean("imx415OpenSucceeded", false) == true
+    }
-            val rga = obj.optBoolean("rgaEnabled", false) || pipeline?.optBoolean("rgaEnabled", false) == true
+
-            val rknn = obj.optBoolean("rknnYoloEnabled", false) || pipeline?.optBoolean("rknnYoloEnabled", false) == true
+    private fun checkHandle(side: String): ComponentState {
-            val videoPose3D = obj.optBoolean("videoPose3DEnabled", false) || pipeline?.optBoolean("videoPose3DEnabled", false) == true
+        return try {
-            val pose2DAvailable = pose2D?.optBoolean("available", false) == true
+            val json = repo.getHandleStateJson()
-            val pose3DAvailable = pose3D?.optBoolean("available", false) == true
+            val obj = JSONObject(json)
-            if (running || imx415Open || (rga && rknn) || videoPose3D || pose2DAvailable || pose3DAvailable) {
+            val sideObj = obj.optJSONObject(side) ?: return ComponentState.GREY
+            // handle-state.v1: check available AND connected
+            val available = sideObj.optBoolean("available", false)
+            val connected = sideObj.optBoolean("connected", false)
+            if (available || connected) ComponentState.ACTIVE else ComponentState.GREY
+        } catch (_: Exception) {
+            ComponentState.GREY
+        }
+    }
+
+    private fun checkBalanceBoard(): ComponentState {
+        // BalanceBoard 没有专用 API，暂时用 debugSnapshot 判断
+        // TODO: 确认 RuntimeHost debug snapshot 中 balance board 状态字段
+        return try {
+            val json = repo.getDebugSnapshotJson()
+            if (isUnavailable(json)) return ComponentState.GREY
+            val obj = JSONObject(json)
+            val bb = obj.optJSONObject("balanceBoard") ?: obj.optJSONObject("balance_board")
+            if (bb == null) ComponentState.GREY
+            else if (bb.optBoolean("available", false) || bb.optBoolean("connected", false)) ComponentState.ACTIVE
+            else ComponentState.GREY
+        } catch (_: Exception) {
+            ComponentState.GREY
+        }
+    }
+
+    private fun checkDongle(): ComponentState {
+        val state = computeDongleState()
+        latestDongleCardStateForMotorGate = state
+        return state
+    }
+
+    private fun computeDongleState(): ComponentState {
+        return try {
+            val json = repo.getDongleStateJson()
+            if (isUnavailable(json)) return ComponentState.GREY
+            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
             }
-        } catch (t: Throwable) {
+        } catch (_: Exception) {
-            Log.w(TAG, "checkCamera exception: ${t.message}")
             ComponentState.GREY
         }
     }
 
-    private fun checkHandle(signal: HandleSignal, progressAgeMs: Long): ComponentState {
-        if (signal.side.isBlank()) return ComponentState.GREY
-        val liveFlags = signal.available || signal.connected || signal.streaming
-        val dataFresh = signal.dataAgeMs in 0..HANDLE_DATA_AGE_FRESH_TIMEOUT_MS
-        val sequenceProgressFresh = progressAgeMs <= HANDLE_SEQUENCE_PROGRESS_TIMEOUT_MS
-        val hasPayload = signal.sequenceId > 0L && signal.queueSize > 0
-        val streamingActive = liveFlags && hasPayload && (dataFresh || sequenceProgressFresh)
-        val slotConnectedFresh = signal.slot.freshConnected
-        // Phase4B-v11.19: home card should distinguish BLE connection from IMU stream.
-        // A freshly connected Dongle slot is valid "connected" evidence even before
-        // handle IMU frames arrive; stale last-known payload still cannot keep it green.
-        val active = streamingActive || slotConnectedFresh
-        Log.i(
-            TAG,
-            "Phase4B-v11.9 checkHandle; side=${signal.side}; available=${signal.available}; connected=${signal.connected}; streaming=${signal.streaming}; " +
-                "sequenceId=${signal.sequenceId}; queueSize=${signal.queueSize}; dataAgeMs=${signal.dataAgeMs}; progressAgeMs=${printAge(progressAgeMs)}; " +
-                "slotState=${signal.slot.state}; slotConnected=${signal.slot.connected}; slotAgeMs=${printAge(signal.slot.lastSeenAgeMs)}; " +
-                "dataFresh=$dataFresh; sequenceProgressFresh=$sequenceProgressFresh; streamingActive=$streamingActive; slotConnectedFresh=$slotConnectedFresh; " +
-                "decision=${if (active) "ACTIVE" else "GREY"}; rule=REQUIRE_FRESH_DATA_OR_FRESH_SLOT_CONNECTION"
-        )
-        return if (active) ComponentState.ACTIVE else ComponentState.GREY
-    }
-
-    private fun checkDongle(handles: HandleDashboardSignal): ComponentState {
-        val rightFresh = isHandleFreshForDongle(handles.right, handles.rightProgressAgeMs)
-        val leftFresh = isHandleFreshForDongle(handles.left, handles.leftProgressAgeMs)
-        val dongleProgressFresh = handles.dongleProgressAgeMs <= DONGLE_SEQUENCE_PROGRESS_TIMEOUT_MS
-        val recentHandleProgress = dongleProgressFresh && (rightFresh || leftFresh)
-
-        // Phase4B-v11.17: Dongle card means SmartBase USB/CDC transport is actually alive.
-        // Do not mark it ACTIVE merely because RuntimeHost is bound, a placeholder exists,
-        // or a last-known Handle sample exists. Handles are useful detail-page slot evidence,
-        // but they are not sufficient transport evidence for the Dongle home card.
-        val transportActive = handles.dongle.valid && handles.dongle.active
-        val active = transportActive
-        val state = if (active) ComponentState.ACTIVE else ComponentState.GREY
-        latestDongleCardStateForMotorGate = state
-        Log.i(
-            TAG,
-            "Phase4B-v11.9 checkDongle; valid=${handles.valid}; dongleStateLocated=${handles.dongleStateLocated}; observationBufferLocated=${handles.observationBufferLocated}; " +
-                "transportActive=$transportActive; usbPresent=${handles.dongle.usbPresent}; bridge=${handles.dongle.usbBridgeRegistered}; readLoop=${handles.dongle.readLoopRunning}; transportState=${handles.dongle.state}; " +
-                "stale=${handles.dongle.stale}; dataStale=${handles.dongle.dataStale}; lastUsbInAgeMs=${printAge(handles.dongle.lastUsbInAgeMs)}; cacheAgeMs=${printAge(handles.dongle.cacheAgeMs)}; " +
-                "rightFresh=$rightFresh; leftFresh=$leftFresh; recentHandleProgress=$recentHandleProgress; dongleProgressAgeMs=${printAge(handles.dongleProgressAgeMs)}; decision=${state.name}; " +
-                "rule=$DONGLE_RULE; evidence=${handles.dongle.evidence}"
-        )
-        return state
-    }
-
-    private fun isHandleFreshForDongle(signal: HandleSignal, progressAgeMs: Long): Boolean {
-        val liveFlags = signal.available || signal.connected || signal.streaming
-        val dataFresh = signal.dataAgeMs in 0..HANDLE_DATA_AGE_FRESH_TIMEOUT_MS
-        val sequenceProgressFresh = progressAgeMs <= HANDLE_SEQUENCE_PROGRESS_TIMEOUT_MS
-        return signal.slot.freshConnected || (liveFlags && signal.sequenceId > 0L && signal.queueSize > 0 && (dataFresh || sequenceProgressFresh))
-    }
-
     private fun checkMotor(): ComponentState {
-        // Phase4B-v11.14: Motor home-card state comes from explicit motor runtime-state
+        return try {
-        // refreshed on a background thread, not from scatter-chart visibility. This remains
+            // Motor is physically downstream of the SmartBase Dongle.
-        // no-blocking and can become ACTIVE before the user opens the Motor detail page.
+            // V7 requires fresh motor telemetry; stale cached telemetry after Dongle re-plug must not turn Motor green.
-        val dongleActive = latestDongleCardStateForMotorGate == ComponentState.ACTIVE
+            if (latestDongleCardStateForMotorGate != ComponentState.ACTIVE) return ComponentState.GREY
-        val motor = MotorTelemetrySnapshotCache.homeCardRuntimeStatus(MOTOR_STATUS_FRESH_TIMEOUT_MS)
+
-        val motorSlotConnectedFresh = latestHandleSignalsForMotorSlot?.freshConnected ?: false
+            val json = repo.getLatestMotorStateJson()
-        val active = dongleActive && (motor.active || motorSlotConnectedFresh)
+            if (isUnavailable(json)) return ComponentState.GREY
-        val state = if (active) ComponentState.ACTIVE else ComponentState.GREY
+
-        Log.i(
+            val obj = JSONObject(json)
-            TAG,
+            if (obj.optString("contractVersion", "") != "kiwii.motor-runtime-state.v1") return ComponentState.GREY
-            "Phase4B-v11.14 checkMotor; dongleActive=$dongleActive; " +
+            if (obj.optBoolean("blockedByDongleTransport", false)) return ComponentState.GREY
-                "contractOk=${motor.contractOk}; available=${motor.available}; connected=${motor.connected}; state=${motor.state}; " +
+            if (obj.optBoolean("blockedByMotorTelemetry", false)) return ComponentState.GREY
-                "slotState=${latestHandleSignalsForMotorSlot?.state ?: ""}; slotConnected=${latestHandleSignalsForMotorSlot?.connected ?: false}; slotAgeMs=${printAge(latestHandleSignalsForMotorSlot?.lastSeenAgeMs ?: Long.MAX_VALUE)}; " +
+            if (!obj.optBoolean("available", false)) return ComponentState.GREY
-                "blockedByDongleTransport=${motor.blockedByDongleTransport}; blockedByMotorTelemetry=${motor.blockedByMotorTelemetry}; " +
+
-                "dataAgeMs=${printAge(motor.dataAgeMs)}; snapshotAgeMs=${printAge(motor.snapshotAgeMs)}; " +
+            val dataAgeMs = obj.optLong("dataAgeMs", Long.MAX_VALUE)
-                "reason=${if (motor.active) motor.reason else if (motorSlotConnectedFresh) "MOTOR_SLOT_CONNECTED_NO_TELEMETRY" else motor.reason}; decision=${state.name}; rule=EXPLICIT_MOTOR_RUNTIME_STATE_OR_FRESH_SLOT_CONNECTION"
+            if (dataAgeMs < 0L || dataAgeMs > MOTOR_TELEMETRY_FRESH_TIMEOUT_MS) return ComponentState.GREY
-        )
+
-        return state
+            ComponentState.ACTIVE
+        } catch (_: Exception) {
+            ComponentState.GREY
+        }
     }
 
+    /**
+     * 通用不可用判断：含 error 字段、空 JSON、或 NOT_BOUND
+     */
     private fun isUnavailable(json: String): Boolean {
         if (json.isBlank() || json == "{}") return true
         if (json.contains("\"error\"")) return true

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

@@ -14,10 +14,8 @@ class AarProxyStateSource(private val bridge: BridgeRepository) : RuntimeStateSo
         ComponentType.CAMERA -> bridge.getCameraStateJson()
         ComponentType.LEFT_HANDLE, ComponentType.RIGHT_HANDLE -> bridge.getHandleStateJson()
         ComponentType.MOTOR -> bridge.getLatestMotorStateJson()
-        ComponentType.BALANCE_BOARD -> "{\"contractVersion\":\"kiwii.sdk-panel.balance-placeholder.v1\",\"available\":false,\"reason\":\"Balance Board detail state is not wired yet\"}"
+        ComponentType.BALANCE_BOARD -> bridge.getDebugSnapshotJson()
-        // Phase4B-v11: Dongle detail state must include transport + slot0..3 + handle-state inference.
+        ComponentType.DONGLE -> bridge.getDongleStateJson()
-        // Do not use raw getDongleStateJson() directly for the detail State panel because slot cache can be empty/stale.
-        ComponentType.DONGLE -> bridge.getDongleDetailStateJson()
         ComponentType.TELEMETRY_SAFETY -> bridge.getTelemetryStateJson()
         ComponentType.SESSION_LOG -> "{}"
     }

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

@@ -26,13 +26,6 @@ class StatePoller(
     private val pollIntervalMs = 1000L
     private var wasBound = false
 
-    @Volatile
-    private var focusedComponent: ComponentType = ComponentType.RUNTIME_HOST_STATUS
-
-    fun setFocusedComponent(type: ComponentType) {
-        focusedComponent = type
-    }
-
     fun startPolling() {
         scope.launch {
             while (isActive) {
@@ -48,7 +41,7 @@ class StatePoller(
                             isStateChange = true
                         ))
                     }
-                    val snapshot = pollFocusedStates()
+                    val snapshot = pollAllStates()
                     _states.value = snapshot
                 } else {
                     if (wasBound) {
@@ -69,17 +62,19 @@ class StatePoller(
         }
     }
 
-    private fun pollFocusedStates(): Map<ComponentType, StateSnapshot> {
+    private fun pollAllStates(): Map<ComponentType, StateSnapshot> {
         val now = System.currentTimeMillis()
-        // Phase4B-v11: detail pages must not poll every component. The previous all-component
+        val polledTypes = listOf(
-        // loop called heavy/global APIs such as getDebugSnapshotJson and could starve/hang the
+            ComponentType.RUNTIME_HOST_STATUS,
-        // current page after back/re-enter. Poll RuntimeHost + the currently visible component only.
+            ComponentType.CAMERA,
-        val types = linkedSetOf(ComponentType.RUNTIME_HOST_STATUS)
+            ComponentType.LEFT_HANDLE,
-        if (focusedComponent != ComponentType.RUNTIME_HOST_STATUS && focusedComponent != ComponentType.SESSION_LOG) {
+            ComponentType.RIGHT_HANDLE,
-            types += focusedComponent
+            ComponentType.BALANCE_BOARD,
-        }
+            ComponentType.DONGLE,
-
+            ComponentType.MOTOR,
-        return types.mapNotNull { type ->
+            ComponentType.TELEMETRY_SAFETY
+        )
+        return polledTypes.mapNotNull { type ->
             try {
                 type to StateSnapshot(
                     data = runtimeStateRepo.getComponentState(type),
@@ -87,6 +82,7 @@ class StatePoller(
                     isDebugChannel = runtimeStateRepo.isUsingDebugChannel()
                 )
             } catch (e: Exception) {
+                // 异常必记
                 logger.log(LogEntry(
                     timestamp = now,
                     component = type,
@@ -96,7 +92,7 @@ class StatePoller(
                     isStateChange = false
                 ))
                 type to StateSnapshot(
-                    data = "{\"error\":\"${escapeJson(e.message ?: e.javaClass.simpleName)}\"}",
+                    data = "{\"error\":\"${e.message}\"}",
                     updatedAt = now,
                     isDebugChannel = runtimeStateRepo.isUsingDebugChannel(),
                     hasError = true
@@ -105,8 +101,6 @@ class StatePoller(
         }.toMap()
     }
 
-    private fun escapeJson(value: String): String = value.replace("\\", "\\\\").replace("\"", "\\\"")
-
     fun stopPolling() {
         scope.cancel()
     }

app/src/main/java/com/kiwii/controlpanel/ui/adapter/ComponentCardAdapter.kt

@@ -1,6 +1,5 @@
 package com.kiwii.controlpanel.ui.adapter
 
-import android.util.Log
 import android.view.LayoutInflater
 import android.view.ViewGroup
 import androidx.core.content.ContextCompat
@@ -33,7 +32,6 @@ class ComponentCardAdapter(
         RecyclerView.ViewHolder(binding.root) {
 
         fun bind(type: ComponentType, state: ComponentState) {
-            Log.i("KiwiiSDKPanelUI", "Phase4B-v6 bind home card; component=${type.name}; state=${state.name}")
             binding.tvComponentName.text = type.displayName
             binding.tvStatusSummary.text = when (state) {
                 ComponentState.ACTIVE -> "Available"

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

@@ -16,31 +16,25 @@ class CameraOps(
     override fun createView(): View {
         val layout = verticalLayout()
 
+        // 预览占位
         layout.addView(TextView(context).apply {
-            text = "Phase 4A Camera Observation\n2D/3D are split into LatestFastState + ObservationBuffer. 3D uses VideoPose3D 27F. Timestamps use hostArrivalNs / hostEstimatedSampleTimeNs."
+            text = "Preview: Pending RuntimeHost debug channel"
             textSize = 12f
             setTextColor(ContextCompat.getColor(context, R.color.rhs_subtitle))
             setPadding(0, 0, 0, 16)
         })
 
-        layout.addView(createSection("Camera Observation Display"))
+        layout.addView(createSection("SDK Operations"))
-        layout.addView(createButton("getCameraObservationStateJson") {
-            viewModel.executeOperation(ComponentType.CAMERA, "getCameraObservationStateJson") {
-                viewModel.bridgeRepo.getCameraObservationStateJson()
-            }
-        })
         layout.addView(createButton("getCameraStateJson") {
             viewModel.executeOperation(ComponentType.CAMERA, "getCameraStateJson") {
                 viewModel.bridgeRepo.getCameraStateJson()
             }
         })
-        layout.addView(createButton("getHealthStateJson") {
+        layout.addView(createButton("getPerceptionStateJson") {
-            viewModel.executeOperation(ComponentType.CAMERA, "getHealthStateJson") {
+            viewModel.executeOperation(ComponentType.CAMERA, "getPerceptionStateJson") {
-                viewModel.bridgeRepo.getHealthStateJson()
+                viewModel.bridgeRepo.getPerceptionStateJson()
             }
         })
-
-        layout.addView(createSection("Pose Payloads"))
         layout.addView(createButton("getLatestPose2D") {
             viewModel.executeOperation(ComponentType.CAMERA, "getLatestPose2D") {
                 viewModel.bridgeRepo.getLatestPose2D()
@@ -56,13 +50,6 @@ class CameraOps(
                 viewModel.bridgeRepo.getLatestRuntimeStats()
             }
         })
-
-        layout.addView(createSection("Raw Runtime Queries"))
-        layout.addView(createButton("getPerceptionStateJson") {
-            viewModel.executeOperation(ComponentType.CAMERA, "getPerceptionStateJson") {
-                viewModel.bridgeRepo.getPerceptionStateJson()
-            }
-        })
         layout.addView(createButton("getLatestPoseFrameJson") {
             viewModel.executeOperation(ComponentType.CAMERA, "getLatestPoseFrameJson") {
                 viewModel.bridgeRepo.getLatestPoseFrameJson()

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

@@ -13,12 +13,30 @@ class DongleOps(
     override fun createView(): View {
         val layout = verticalLayout()
 
-        // Phase4B-v11: one action only. It reads the SDK Panel detail-state JSON and updates
+        layout.addView(createSection("Dongle Transport"))
-        // both State panel and Session Log. It does not mutate RuntimeHost state.
+        layout.addView(createButton("getDongleStateJson") {
-        layout.addView(createSection("Dongle Diagnostics"))
+            viewModel.executeOperation(ComponentType.DONGLE, "getDongleStateJson") {
-        layout.addView(createButton("readDongleState") {
+                viewModel.bridgeRepo.getDongleStateJson()
-            viewModel.executeOperation(ComponentType.DONGLE, "readDongleState") {
+            }
-                viewModel.bridgeRepo.getDongleDetailStateJson()
+        })
+
+        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()
             }
         })
 

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(
+    private data class ParamDef(
-        "NONE (0)", "FREE_WEIGHT (1)", "ECCENTRIC_OVERLOAD (2)",
+        val key: String,
-        "VISCOUS (3)", "ELASTIC (4)", "ISOKINETIC_SPOTTING (5)", "SPOTTER (6)"
+        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"))
+        layout.addView(createSection("Realtime Telemetry"))
-        val weightInput = createParameterInput(
+        layout.addView(MotorRealtimeTelemetryPanel(context, viewModel.bridgeRepo))
-            "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("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(
+        layout.addView(modeSpinner)
-            "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))
 
-        val axisInput = createParameterInput("Axis (int)", android.text.InputType.TYPE_CLASS_NUMBER)
+        val description = TextView(context).apply {
-        val queryModeAction = createButton("queryMotorTrainingMode") {
+            textSize = 10f
-            val axis = axisInput.text.toString().toIntOrNull() ?: 0
+            setPadding(6.dp(), 4.dp(), 6.dp(), 4.dp())
-            viewModel.executeOperation(ComponentType.MOTOR, "queryMotorTrainingMode", "axis=$axis") {
+        }
-                viewModel.bridgeRepo.queryMotorTrainingMode(axis)
+        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
                     }
                 }
-        layout.addView(createParameterActionRow(queryModeAction, axisInput))
+                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(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

@@ -5,8 +5,8 @@ import android.graphics.Color
 import android.graphics.Typeface
 import android.os.Handler
 import android.os.Looper
-import android.util.Log
 import android.view.Gravity
+import android.view.View
 import android.widget.LinearLayout
 import android.widget.TextView
 import com.kiwii.controlpanel.R
@@ -15,19 +15,6 @@ import java.util.concurrent.Executors
 import java.util.concurrent.ScheduledExecutorService
 import java.util.concurrent.TimeUnit
 
-/**
- * Phase4B-v11.17 Motor chart lifecycle/cache-poll fix.
- *
- * Design:
- * - Do not change Motor home-card connectivity semantics.
- * - Do not change Dongle / Handle / Camera / Session Log behavior.
- * - Keep the v11.14 explicit Motor runtime-state cache as the source of truth.
- * - Fix Motor page re-entry by restarting the chart poller from onAttachedToWindow().
- * - Keep the poller off the UI thread and catch all failures so one timeout/exception does
- *   not permanently kill the chart refresh loop.
- * - Do not let the chart scheduler block on a live Binder call. It requests the shared
- *   MotorTelemetrySnapshotCache refresh asynchronously, then renders the last-known fresh sample.
- */
 internal class MotorRealtimeTelemetryPanel(
     context: Context,
     private val repo: BridgeRepository
@@ -38,17 +25,8 @@ internal class MotorRealtimeTelemetryPanel(
     private val headline = TextView(context)
     private val temperatureLine = TextView(context)
     private val subline = TextView(context)
-
-    @Volatile
     private var executor: ScheduledExecutorService? = null
 
-    @Volatile
-    private var attached = false
-
-    private var renderedCount: Long = 0L
-    private var lastRenderedWallTimeMs: Long = -1L
-    private var lastPollLogMs: Long = 0L
-
     init {
         orientation = VERTICAL
         setBackgroundResource(R.drawable.bg_rhs_log_area)
@@ -78,7 +56,7 @@ internal class MotorRealtimeTelemetryPanel(
         }, LayoutParams(LayoutParams.MATCH_PARENT, LayoutParams.WRAP_CONTENT))
 
         addView(subline.apply {
-            text = "Phase4B-v11.17 cached telemetry poll; buttons use last-known snapshot"
+            text = "Polling RuntimeHost getLatestMotorStateJson() at 5 Hz"
             textSize = 10f
             setTextColor(Color.rgb(96, 111, 123))
             setPadding(0, 2.dp(), 0, 6.dp())
@@ -97,96 +75,55 @@ internal class MotorRealtimeTelemetryPanel(
 
     override fun onAttachedToWindow() {
         super.onAttachedToWindow()
-        attached = true
         startPolling()
     }
 
     override fun onDetachedFromWindow() {
-        attached = false
         stopPolling()
         super.onDetachedFromWindow()
     }
 
     private fun startPolling() {
-        val current = executor
+        if (executor != null) return
-        if (current != null && !current.isShutdown && !current.isTerminated) return
-
-        Log.i(TAG, "Phase4B-v11.17 MotorTelemetryPanel start; cachePoll=true; directBinderOnScheduler=false; lifecycleSafe=true")
         executor = Executors.newSingleThreadScheduledExecutor { runnable ->
-            Thread(runnable, "kiwii-motor-telemetry-panel-v11.17").apply { isDaemon = true }
+            Thread(runnable, "kiwii-motor-telemetry-panel").apply { isDaemon = true }
         }.also { exec ->
-            exec.scheduleWithFixedDelay({
+            exec.scheduleAtFixedRate({ pollOnce() }, 0L, 200L, TimeUnit.MILLISECONDS)
-                runCatching { pollOnce() }
-                    .onFailure { t ->
-                        val reason = t.message ?: t.javaClass.simpleName
-                        MotorTelemetrySnapshotCache.recordMotorStateError("motor-chart-poll failed: $reason")
-                        Log.w(TAG, "Phase4B-v11.17 MotorTelemetryPanel poll failed: $reason")
-                        postUnavailable("chart poll failed: $reason")
-                    }
-            }, 0L, 200L, TimeUnit.MILLISECONDS)
         }
     }
 
     private fun stopPolling() {
-        Log.i(TAG, "Phase4B-v11.17 MotorTelemetryPanel stop")
         executor?.shutdownNow()
         executor = null
         mainHandler.removeCallbacksAndMessages(null)
     }
 
     private fun pollOnce() {
-        if (!attached) return
-
         if (!repo.isBound()) {
-            postUnavailable("RuntimeHost not bound")
+            mainHandler.post { setUnavailable("RuntimeHost not bound") }
             return
         }
-
+        val json = try {
-        // This call is non-blocking for the chart scheduler. The actual Binder read runs in
+            repo.getLatestMotorStateJson()
-        // MotorTelemetrySnapshotCache's daemon refresh thread with stuck-refresh recovery.
+        } catch (t: Throwable) {
-        MotorTelemetrySnapshotCache.requestRuntimeStateRefreshAsync(repo, "motor-chart-poll")
+            mainHandler.post { setUnavailable(t.message ?: t.javaClass.simpleName) }
-
+            return
-        val snapshot = MotorTelemetrySnapshotCache.chartSnapshot(freshTimeoutMs = 2_000L)
+        }
-        val sample = snapshot.sample
+        val sample = MotorTelemetryParser.parse(json)
+        mainHandler.post {
             if (sample == null) {
-            val reason = "${snapshot.reason}; effectiveAgeMs=${printAge(snapshot.effectiveAgeMs)}; snapshotAgeMs=${printAge(snapshot.snapshotAgeMs)}"
+                setUnavailable("No fresh motor telemetry")
-            logPollNoSample(reason)
-            postUnavailable(reason)
             } else {
-            if (sample.wallTimeMs == lastRenderedWallTimeMs) {
+                updateSample(sample)
-                logPollNoSample("NO_NEW_SAMPLE; effectiveAgeMs=${printAge(snapshot.effectiveAgeMs)}; snapshotAgeMs=${printAge(snapshot.snapshotAgeMs)}")
             }
-            postSample(sample, snapshot.effectiveAgeMs)
         }
     }
 
-    private fun postSample(sample: MotorTelemetrySample, effectiveAgeMs: Long) {
+    private fun updateSample(sample: MotorTelemetrySample) {
-        mainHandler.post {
-            if (!attached) return@post
-            updateSample(sample, effectiveAgeMs)
-        }
-    }
-
-    private fun postUnavailable(reason: String) {
-        mainHandler.post {
-            if (!attached) return@post
-            setUnavailable(reason)
-        }
-    }
-
-    private fun updateSample(sample: MotorTelemetrySample, effectiveAgeMs: Long) {
         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=${printAge(effectiveAgeMs)} ms"
+        subline.text = "Force=${fmt(sample.forceN)} N   I=${fmt(sample.currentA)} A   V=${fmt(sample.voltageV)} V   age=${sample.dataAgeMs} ms"
-
-        if (sample.wallTimeMs != lastRenderedWallTimeMs) {
         chartView.addSample(sample)
-            lastRenderedWallTimeMs = sample.wallTimeMs
-            renderedCount += 1L
-            if (renderedCount == 1L || renderedCount % 10L == 0L) {
-                Log.i(TAG, "Phase4B-v11.17 MotorTelemetryPanel render; count=$renderedCount; sampleWallTimeMs=${sample.wallTimeMs}; dataAgeMs=${sample.dataAgeMs}; effectiveAgeMs=$effectiveAgeMs")
-            }
-        }
     }
 
     private fun setUnavailable(reason: String) {
@@ -195,17 +132,6 @@ internal class MotorRealtimeTelemetryPanel(
         subline.text = reason
     }
 
-    private fun logPollNoSample(reason: String) {
-        val now = System.currentTimeMillis()
-        if (now - lastPollLogMs < 1000L) return
-        lastPollLogMs = now
-        Log.i(TAG, "Phase4B-v11.17 MotorTelemetryPanel poll; running=true; newSample=false; lastRenderedSampleWallTimeMs=$lastRenderedWallTimeMs; reason=$reason")
-    }
-
-    private fun printAge(ageMs: Long): String {
-        return if (ageMs == Long.MAX_VALUE) "NA" else ageMs.toString()
-    }
-
     private fun fmt(value: Double): String {
         if (!value.isFinite()) return "—"
         val absValue = kotlin.math.abs(value)
@@ -217,8 +143,4 @@ internal class MotorRealtimeTelemetryPanel(
     }
 
     private fun Int.dp(): Int = (this * resources.displayMetrics.density).toInt()
-
-    private companion object {
-        const val TAG = "KiwiiSDKPanelMotor"
-    }
 }

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

@@ -1,26 +1,8 @@
 package com.kiwii.controlpanel.ui.components
 
-import com.kiwii.controlpanel.data.BridgeRepository
-import com.kiwii.controlpanel.logging.LogEntry
-import com.kiwii.controlpanel.logging.SessionLogger
-import com.kiwii.controlpanel.model.ComponentType
 import org.json.JSONObject
 import kotlin.math.abs
 
-
-internal data class MotorHomeCardRuntimeStatus(
-    val active: Boolean,
-    val contractOk: Boolean,
-    val available: Boolean,
-    val connected: Boolean,
-    val state: String,
-    val blockedByDongleTransport: Boolean,
-    val blockedByMotorTelemetry: Boolean,
-    val dataAgeMs: Long,
-    val snapshotAgeMs: Long,
-    val reason: String
-)
-
 internal data class MotorTelemetrySample(
     val wallTimeMs: Long,
     val motorRuntimeSec: Double,
@@ -35,15 +17,6 @@ internal data class MotorTelemetrySample(
     val rawJson: String
 )
 
-internal data class MotorTelemetryChartSnapshot(
-    val sample: MotorTelemetrySample?,
-    val rawJson: String?,
-    val effectiveAgeMs: Long,
-    val snapshotAgeMs: Long,
-    val lastError: String?,
-    val reason: String
-)
-
 internal object MotorTelemetryParser {
     private const val STANDARD_GRAVITY_MPS2 = 9.80665
     private const val DEFAULT_PULLEY_RADIUS_M = 0.04
@@ -108,405 +81,3 @@ internal object MotorTelemetryParser {
         return fallback
     }
 }
-
-/**
- * Phase4B-v11.11 Motor safe UI snapshot cache.
- *
- * This cache is intentionally local to the Motor UI component package. It avoids changing
- * ComponentRegistry, BridgeRepository, Handle, Dongle, Camera, or RuntimeHost status logic.
- *
- * RuntimeHost motor debug/query methods have been observed to block the SDK Panel operation
- * timeout path after idle. The Motor page therefore keeps the chart polling on its own daemon
- * thread and exposes non-blocking last-known results for UI buttons.
- */
-internal object MotorTelemetrySnapshotCache {
-    private val lock = Any()
-    private var lastRawJson: String? = null
-    private var lastSample: MotorTelemetrySample? = null
-    private var lastUpdateMs: Long = 0L
-    private var lastError: String? = null
-    private var lastErrorMs: Long = 0L
-    private var lastCommandResult: String? = null
-    private var lastCommandAtMs: Long = 0L
-
-    private val asyncLock = Any()
-    private var refreshInFlight: Boolean = false
-    private var lastRefreshAttemptMs: Long = 0L
-
-    private const val REFRESH_MIN_INTERVAL_MS = 500L
-    private const val REFRESH_STUCK_RESET_MS = 15_000L
-
-    fun recordMotorStateJson(json: String, sample: MotorTelemetrySample?) {
-        synchronized(lock) {
-            lastRawJson = json
-            lastSample = sample
-            lastUpdateMs = System.currentTimeMillis()
-            lastError = null
-            lastErrorMs = 0L
-        }
-    }
-
-    fun recordMotorStateError(reason: String) {
-        synchronized(lock) {
-            lastError = reason.ifBlank { "unknown" }
-            lastErrorMs = System.currentTimeMillis()
-        }
-    }
-
-
-    /**
-     * Phase4B-v11.14: refresh explicit motor runtime-state on a background thread.
-     *
-     * Home-card Motor availability must be based on RuntimeHost motor state, not on whether
-     * the Motor detail page / scatter chart is currently visible. This method never blocks
-     * the SDK Panel availability loop; if RuntimeHost's motor query stalls after idle, the
-     * last-known snapshot remains available and the UI stays responsive.
-     */
-    fun requestRuntimeStateRefreshAsync(repo: BridgeRepository, reason: String = "") {
-        if (!repo.isBound()) return
-        val now = System.currentTimeMillis()
-        var shouldLaunch = false
-        synchronized(asyncLock) {
-            val stuck = refreshInFlight && lastRefreshAttemptMs > 0L && now - lastRefreshAttemptMs > REFRESH_STUCK_RESET_MS
-            if (!refreshInFlight || stuck) {
-                if (now - lastRefreshAttemptMs >= REFRESH_MIN_INTERVAL_MS || stuck) {
-                    refreshInFlight = true
-                    lastRefreshAttemptMs = now
-                    shouldLaunch = true
-                }
-            }
-        }
-        if (!shouldLaunch) return
-
-        Thread({
-            try {
-                val json = repo.getLatestMotorStateJson()
-                val sample = MotorTelemetryParser.parse(json)
-                recordMotorStateJson(json, sample)
-            } catch (t: Throwable) {
-                recordMotorStateError("motor-state-refresh failed; reason=$reason; ${t.message ?: t.javaClass.simpleName}")
-            } finally {
-                synchronized(asyncLock) {
-                    refreshInFlight = false
-                }
-            }
-        }, "kiwii-motor-state-refresh-v11.14").apply { isDaemon = true }.start()
-    }
-
-    fun submitForceControlParamsAsync(repo: BridgeRepository, paramsJson: String): String {
-        val requestId = "sdkpanel-force-${System.currentTimeMillis()}"
-        Thread({
-            val started = System.currentTimeMillis()
-            val result = try {
-                repo.setMotorForceControlParamsJson(paramsJson)
-            } catch (t: Throwable) {
-                JSONObject().put("error", "setMotorForceControlParamsJson async failed: ${t.message ?: t.javaClass.simpleName}").toString()
-            }
-            recordCommandResult("setMotorForceControlParamsJson", result)
-            SessionLogger.log(LogEntry(
-                timestamp = System.currentTimeMillis(),
-                component = ComponentType.MOTOR,
-                action = "setMotorForceControlParamsJson.asyncResult",
-                params = "requestId=$requestId; elapsedMs=${System.currentTimeMillis() - started}",
-                result = result
-            ))
-            requestRuntimeStateRefreshAsync(repo, "after-force-control-command")
-        }, "kiwii-motor-force-command-v11.14").apply { isDaemon = true }.start()
-
-        return JSONObject().apply {
-            put("contractVersion", "kiwii.sdk-panel.motor-command-queued.v1")
-            put("uiPath", "ASYNC_COMMAND_NO_UI_TIMEOUT")
-            put("requestId", requestId)
-            put("action", "setMotorForceControlParamsJson")
-            put("queued", true)
-            val parsedParams = runCatching { JSONObject(paramsJson) }.getOrNull()
-            if (parsedParams != null) put("params", parsedParams) else put("paramsRaw", paramsJson)
-            put("note", "Command is sent on a background thread so the Motor UI does not show a false 2000ms timeout after idle. The async result is appended to the Motor Session Log.")
-        }.toString(2)
-    }
-
-    fun sendMotorHeartbeatAsync(repo: BridgeRepository): String {
-        val requestId = "sdkpanel-heartbeat-${System.currentTimeMillis()}"
-        Thread({
-            val started = System.currentTimeMillis()
-            val result = try {
-                repo.sendMotorHeartbeat()
-            } catch (t: Throwable) {
-                JSONObject().put("error", "sendMotorHeartbeat async failed: ${t.message ?: t.javaClass.simpleName}").toString()
-            }
-            recordCommandResult("sendMotorHeartbeat", result)
-            SessionLogger.log(LogEntry(
-                timestamp = System.currentTimeMillis(),
-                component = ComponentType.MOTOR,
-                action = "sendMotorHeartbeat.asyncResult",
-                params = "requestId=$requestId; elapsedMs=${System.currentTimeMillis() - started}",
-                result = result
-            ))
-            requestRuntimeStateRefreshAsync(repo, "after-heartbeat")
-        }, "kiwii-motor-heartbeat-command-v11.14").apply { isDaemon = true }.start()
-
-        return JSONObject().apply {
-            put("contractVersion", "kiwii.sdk-panel.motor-command-queued.v1")
-            put("uiPath", "ASYNC_COMMAND_NO_UI_TIMEOUT")
-            put("requestId", requestId)
-            put("action", "sendMotorHeartbeat")
-            put("queued", true)
-        }.toString(2)
-    }
-
-    private fun recordCommandResult(action: String, result: String) {
-        synchronized(lock) {
-            lastCommandResult = "$action => ${result.take(500)}"
-            lastCommandAtMs = System.currentTimeMillis()
-        }
-    }
-
-    fun homeCardRuntimeStatus(freshTimeoutMs: Long): MotorHomeCardRuntimeStatus {
-        val snapshot = snapshot()
-        val raw = snapshot.rawJson
-        if (raw.isNullOrBlank()) {
-            return MotorHomeCardRuntimeStatus(
-                active = false,
-                contractOk = false,
-                available = false,
-                connected = false,
-                state = "NO_RAW_MOTOR_STATE",
-                blockedByDongleTransport = false,
-                blockedByMotorTelemetry = false,
-                dataAgeMs = Long.MAX_VALUE,
-                snapshotAgeMs = snapshot.snapshotAgeMs,
-                reason = snapshot.lastError ?: "NO_MOTOR_RUNTIME_STATE_SNAPSHOT"
-            )
-        }
-
-        val obj = runCatching { JSONObject(raw) }.getOrNull()
-            ?: return MotorHomeCardRuntimeStatus(
-                active = false,
-                contractOk = false,
-                available = false,
-                connected = false,
-                state = "RAW_MOTOR_STATE_NOT_JSON",
-                blockedByDongleTransport = false,
-                blockedByMotorTelemetry = false,
-                dataAgeMs = Long.MAX_VALUE,
-                snapshotAgeMs = snapshot.snapshotAgeMs,
-                reason = "RAW_MOTOR_STATE_NOT_JSON"
-            )
-
-        val contractOk = obj.optString("contractVersion", "") == "kiwii.motor-runtime-state.v1"
-        val available = obj.optBoolean("available", false)
-        val connected = obj.optBoolean("connected", false) ||
-            obj.optBoolean("motorConnected", false) ||
-            obj.optBoolean("online", false)
-        val state = obj.optString("state", obj.optString("motorState", ""))
-        val stateLooksConnected = state.equals("CONNECTED", ignoreCase = true) ||
-            state.equals("ACTIVE", ignoreCase = true) ||
-            state.equals("RUNNING", ignoreCase = true) ||
-            state.equals("ONLINE", ignoreCase = true)
-        val blockedByDongleTransport = obj.optBoolean("blockedByDongleTransport", false)
-        val blockedByMotorTelemetry = obj.optBoolean("blockedByMotorTelemetry", false)
-        val rawDataAgeMs = obj.optLong("dataAgeMs", Long.MAX_VALUE)
-        val dataAgeMs = maxKnownAge(rawDataAgeMs, snapshot.snapshotAgeMs)
-        val freshData = dataAgeMs in 0..freshTimeoutMs
-        val active = contractOk &&
-            !blockedByDongleTransport &&
-            !blockedByMotorTelemetry &&
-            (available || connected || stateLooksConnected) &&
-            freshData
-
-        val reason = when {
-            !contractOk -> "BAD_OR_MISSING_CONTRACT_VERSION"
-            blockedByDongleTransport -> "BLOCKED_BY_DONGLE_TRANSPORT"
-            blockedByMotorTelemetry -> "BLOCKED_BY_MOTOR_TELEMETRY"
-            !(available || connected || stateLooksConnected) -> "MOTOR_RUNTIME_STATE_NOT_CONNECTED"
-            !freshData -> "MOTOR_RUNTIME_STATE_STALE"
-            else -> "MOTOR_RUNTIME_STATE_ACTIVE"
-        }
-
-        return MotorHomeCardRuntimeStatus(
-            active = active,
-            contractOk = contractOk,
-            available = available,
-            connected = connected || stateLooksConnected,
-            state = state.ifBlank { if (connected) "CONNECTED_FLAG" else "" },
-            blockedByDongleTransport = blockedByDongleTransport,
-            blockedByMotorTelemetry = blockedByMotorTelemetry,
-            dataAgeMs = dataAgeMs,
-            snapshotAgeMs = snapshot.snapshotAgeMs,
-            reason = reason
-        )
-    }
-
-    fun latestMotorStateJsonForUi(): String {
-        val snapshot = snapshot()
-        val raw = snapshot.rawJson
-        return if (raw != null) {
-            val obj = runCatching { JSONObject(raw) }.getOrNull() ?: unavailableJson("getLatestMotorStateJson", snapshot).apply {
-                put("rawSnippet", raw.take(240))
-                put("reason", "LAST_RAW_MOTOR_STATE_NOT_JSON")
-            }
-            obj.apply {
-                put("uiPath", "NO_LIVE_BINDER_CALL")
-                put("source", "motor-telemetry-last-known")
-                put("snapshotAgeMs", snapshot.snapshotAgeMs)
-                put("effectiveDataAgeMs", snapshot.sample?.let { maxKnownAge(it.dataAgeMs, snapshot.snapshotAgeMs) } ?: JSONObject.NULL)
-                put("parsedFreshSample", snapshot.sample != null)
-                put("lastError", snapshot.lastError ?: JSONObject.NULL)
-            }.toString(2)
-        } else {
-            unavailableJson("getLatestMotorStateJson", snapshot).toString(2)
-        }
-    }
-
-    fun motorControlStateJsonForUi(): String {
-        val snapshot = snapshot()
-        val sample = snapshot.sample
-        return JSONObject().apply {
-            put("contractVersion", "kiwii.sdk-panel.motor-control-state.ui.v1")
-            put("uiPath", "NO_LIVE_BINDER_CALL")
-            put("source", "motor-telemetry-last-known")
-            put("available", sample != null)
-            put("snapshotAgeMs", snapshot.snapshotAgeMs)
-            put("lastError", snapshot.lastError ?: JSONObject.NULL)
-            put("lastCommandResult", snapshot.lastCommandResult ?: JSONObject.NULL)
-            put("lastCommandAgeMs", snapshot.lastCommandAgeMs)
-            if (sample != null) {
-                put("forceKg", sample.forceKg)
-                put("forceN", sample.forceN)
-                put("ropeLengthM", sample.ropeLengthM)
-                put("currentA", sample.currentA)
-                put("voltageV", sample.voltageV)
-                put("tempC", sample.tempC)
-                put("dataAgeMs", sample.dataAgeMs)
-                put("effectiveDataAgeMs", maxKnownAge(sample.dataAgeMs, snapshot.snapshotAgeMs))
-                put("note", "Control-state live query is intentionally disabled on this UI path because the RuntimeHost query can block after idle. Use RuntimeHost cached telemetry or native logs for raw control internals.")
-            } else {
-                put("reason", "NO_FRESH_MOTOR_TELEMETRY_SNAPSHOT")
-            }
-        }.toString(2)
-    }
-
-    fun trainingModeQueryForUi(mode: Int): String {
-        val snapshot = snapshot()
-        return JSONObject().apply {
-            put("contractVersion", "kiwii.sdk-panel.motor-training-mode-query.ui.v1")
-            put("uiPath", "NO_LIVE_BINDER_CALL")
-            put("requestedMode", mode)
-            put("source", "motor-telemetry-last-known")
-            put("snapshotAgeMs", snapshot.snapshotAgeMs)
-            put("lastError", snapshot.lastError ?: JSONObject.NULL)
-            put("lastCommandResult", snapshot.lastCommandResult ?: JSONObject.NULL)
-            put("lastCommandAgeMs", snapshot.lastCommandAgeMs)
-            put("available", snapshot.rawJson != null || snapshot.sample != null)
-            put("reason", "Live queryMotorTrainingMode is disabled on SDK Panel button path to avoid 2000ms operation timeout after idle.")
-        }.toString(2)
-    }
-
-    fun disconnectDiagnosisForUi(): String {
-        val snapshot = snapshot()
-        return JSONObject().apply {
-            put("contractVersion", "kiwii.sdk-panel.motor-disconnect-diagnosis.ui.v1")
-            put("uiPath", "NO_LIVE_BINDER_CALL")
-            put("source", "motor-telemetry-last-known")
-            put("snapshotAgeMs", snapshot.snapshotAgeMs)
-            put("lastError", snapshot.lastError ?: JSONObject.NULL)
-            put("hasRawMotorState", snapshot.rawJson != null)
-            put("hasFreshParsedTelemetry", snapshot.sample != null)
-            put("diagnosis", when {
-                snapshot.sample != null -> "FRESH_MOTOR_TELEMETRY_AVAILABLE"
-                snapshot.rawJson != null -> "RAW_MOTOR_STATE_SEEN_BUT_NOT_FRESH_OR_NOT_PARSEABLE"
-                snapshot.lastError != null -> "MOTOR_STATE_QUERY_ERROR_OR_TIMEOUT_ON_BACKGROUND_POLL"
-                else -> "NO_MOTOR_TELEMETRY_SNAPSHOT_YET"
-            })
-            put("note", "This is a safe UI diagnosis. It does not perform raw live RuntimeHost motor queries.")
-        }.toString(2)
-    }
-
-    fun dongleSlotEvidenceJson(maxFreshMs: Long = 5_000L): JSONObject? {
-        val status = homeCardRuntimeStatus(maxFreshMs)
-        if (!status.contractOk) return null
-        val hasConnectionEvidence = status.available || status.connected ||
-            status.state.equals("CONNECTED", ignoreCase = true) ||
-            status.state.equals("ACTIVE", ignoreCase = true) ||
-            status.state.equals("RUNNING", ignoreCase = true) ||
-            status.state.equals("ONLINE", ignoreCase = true)
-        if (!hasConnectionEvidence) return null
-        return JSONObject().apply {
-            put("slot", 3)
-            put("state", "CONNECTED")
-            put("connected", true)
-            put("device", "MOTOR_POWER")
-            put("dev", "0x31")
-            put("source", "motor-runtime-state-last-known")
-            put("inferred", true)
-            put("available", status.available)
-            put("runtimeState", status.state)
-            put("dataAgeMs", status.dataAgeMs)
-            put("snapshotAgeMs", status.snapshotAgeMs)
-            put("stale", !status.active)
-            put("rawSlotReport", "not-queried")
-            put("detail", "Connected via explicit motor runtime state; raw dongle slot query skipped")
-        }
-    }
-
-    fun chartSnapshot(freshTimeoutMs: Long = 2_000L): MotorTelemetryChartSnapshot {
-        val snapshot = snapshot()
-        val sample = snapshot.sample
-        val effectiveAgeMs = sample?.let { maxKnownAge(it.dataAgeMs, snapshot.snapshotAgeMs) } ?: Long.MAX_VALUE
-        val reason = when {
-            sample == null && snapshot.rawJson == null -> snapshot.lastError ?: "NO_MOTOR_TELEMETRY_SNAPSHOT_YET"
-            sample == null -> snapshot.lastError ?: "RAW_MOTOR_STATE_NOT_FRESH_OR_NOT_PARSEABLE"
-            effectiveAgeMs !in 0..freshTimeoutMs -> "MOTOR_TELEMETRY_STALE"
-            else -> "MOTOR_TELEMETRY_FRESH"
-        }
-        return MotorTelemetryChartSnapshot(
-            sample = if (effectiveAgeMs in 0..freshTimeoutMs) sample else null,
-            rawJson = snapshot.rawJson,
-            effectiveAgeMs = effectiveAgeMs,
-            snapshotAgeMs = snapshot.snapshotAgeMs,
-            lastError = snapshot.lastError,
-            reason = reason
-        )
-    }
-
-    private fun maxKnownAge(vararg ages: Long): Long {
-        val known = ages.filter { it >= 0L && it != Long.MAX_VALUE }
-        return if (known.isEmpty()) Long.MAX_VALUE else known.maxOrNull() ?: Long.MAX_VALUE
-    }
-
-    private fun unavailableJson(action: String, snapshot: Snapshot): JSONObject {
-        return JSONObject().apply {
-            put("contractVersion", "kiwii.sdk-panel.motor-safe-ui.v1")
-            put("action", action)
-            put("uiPath", "NO_LIVE_BINDER_CALL")
-            put("available", false)
-            put("reason", "NO_MOTOR_TELEMETRY_SNAPSHOT_YET")
-            put("snapshotAgeMs", snapshot.snapshotAgeMs)
-            put("lastError", snapshot.lastError ?: JSONObject.NULL)
-        }
-    }
-
-    private fun snapshot(): Snapshot = synchronized(lock) {
-        val now = System.currentTimeMillis()
-        Snapshot(
-            rawJson = lastRawJson,
-            sample = lastSample,
-            snapshotAgeMs = if (lastUpdateMs > 0L) now - lastUpdateMs else -1L,
-            lastError = lastError?.let { err ->
-                val age = if (lastErrorMs > 0L) now - lastErrorMs else -1L
-                "$err; errorAgeMs=$age"
-            },
-            lastCommandResult = lastCommandResult,
-            lastCommandAgeMs = if (lastCommandAtMs > 0L) now - lastCommandAtMs else -1L
-        )
-    }
-
-    private data class Snapshot(
-        val rawJson: String?,
-        val sample: MotorTelemetrySample?,
-        val snapshotAgeMs: Long,
-        val lastError: String?,
-        val lastCommandResult: String?,
-        val lastCommandAgeMs: Long
-    )
-}

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/components/SessionLogOps.kt

@@ -2,9 +2,6 @@ package com.kiwii.controlpanel.ui.components
 
 import android.content.Context
 import android.content.Intent
-import android.os.Handler
-import android.os.Looper
-import android.util.Log
 import android.view.View
 import android.widget.TextView
 import android.widget.Toast
@@ -19,7 +16,6 @@ class SessionLogOps(context: Context) : BaseOps(context) {
 
     override fun createView(): View {
         val layout = verticalLayout()
-        val handler = Handler(Looper.getMainLooper())
 
         val logView = TextView(context).apply {
             textSize = 11f
@@ -34,30 +30,10 @@ class SessionLogOps(context: Context) : BaseOps(context) {
             logView.text = entries.joinToString("\n") { entry ->
                 val time = sdf.format(Date(entry.timestamp))
                 val comp = entry.component?.displayName ?: "GLOBAL"
-                val params = entry.params?.let { " [$it]" } ?: ""
+                "$time [$comp] ${entry.action}: ${entry.result?.take(60) ?: ""}"
-                "$time [$comp] ${entry.action}$params: ${entry.result?.take(120) ?: ""}"
             }.ifEmpty { "No logs" }
-            Log.i(TAG_SESSION, "Phase4B-v7 session log refreshed; entries=${entries.size}")
         }
 
-        val refreshRunnable = object : Runnable {
-            override fun run() {
-                refreshLog()
-                handler.postDelayed(this, 1000L)
-            }
-        }
-
-        layout.addOnAttachStateChangeListener(object : View.OnAttachStateChangeListener {
-            override fun onViewAttachedToWindow(v: View) {
-                handler.removeCallbacks(refreshRunnable)
-                handler.post(refreshRunnable)
-            }
-
-            override fun onViewDetachedFromWindow(v: View) {
-                handler.removeCallbacks(refreshRunnable)
-            }
-        })
-
         layout.addView(createButton("Refresh") { refreshLog() })
         layout.addView(createButton("Export") {
             val uri = SessionLogger.export(context)
@@ -82,8 +58,4 @@ class SessionLogOps(context: Context) : BaseOps(context) {
 
         return layout
     }
-
-    companion object {
-        private const val TAG_SESSION = "KiwiiSDKPanelSession"
-    }
 }

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)
@@ -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/java/com/kiwii/controlpanel/ui/detail/ComponentDetailViewModel.kt

@@ -1,6 +1,5 @@
 package com.kiwii.controlpanel.ui.detail
 
-import android.util.Log
 import androidx.lifecycle.ViewModel
 import androidx.lifecycle.viewModelScope
 import com.kiwii.controlpanel.data.AarProxyStateSource
@@ -12,7 +11,6 @@ import com.kiwii.controlpanel.logging.SessionLogger
 import com.kiwii.controlpanel.model.ComponentType
 import com.kiwii.controlpanel.model.OperationResult
 import com.kiwii.controlpanel.model.StateSnapshot
-import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.delay
 import kotlinx.coroutines.flow.MutableStateFlow
 import kotlinx.coroutines.flow.SharingStarted
@@ -21,38 +19,21 @@ import kotlinx.coroutines.flow.combine
 import kotlinx.coroutines.flow.stateIn
 import kotlinx.coroutines.isActive
 import kotlinx.coroutines.launch
-import kotlinx.coroutines.withContext
-import java.util.concurrent.Executors
-import java.util.concurrent.TimeUnit
-import java.util.concurrent.TimeoutException
-
-private const val TAG_OPS = "KiwiiSDKPanelOps"
 
 class ComponentDetailViewModel : ViewModel() {
 
     val bridgeRepo = BridgeRepository()
     private val runtimeStateRepo = RuntimeStateRepository(AarProxyStateSource(bridgeRepo))
     private val statePoller = StatePoller(runtimeStateRepo, bridgeRepo, SessionLogger)
-    private val operationExecutor = Executors.newCachedThreadPool()
 
     private val _operationResult = MutableStateFlow<OperationResult<*>?>(null)
     val operationResult: StateFlow<OperationResult<*>?> = _operationResult
 
     private val _componentType = MutableStateFlow(ComponentType.RUNTIME_HOST_STATUS)
-    private val _manualStateSnapshot = MutableStateFlow<Pair<ComponentType, StateSnapshot>?>(null)
 
-    val stateSnapshot: StateFlow<StateSnapshot?> = combine(
+    val stateSnapshot: StateFlow<StateSnapshot?> = _componentType
-        _componentType,
+        .combine(statePoller.states) { type, map -> map[type] }
-        statePoller.states,
+        .stateIn(viewModelScope, SharingStarted.WhileSubscribed(5000), null)
-        _manualStateSnapshot
-    ) { type, map, manual ->
-        val polled = map[type]
-        val manualSnapshot = if (manual?.first == type) manual.second else null
-        when {
-            manualSnapshot != null && (polled == null || manualSnapshot.updatedAt >= polled.updatedAt) -> manualSnapshot
-            else -> polled
-        }
-    }.stateIn(viewModelScope, SharingStarted.WhileSubscribed(5000), null)
 
     private val _logEntries = MutableStateFlow<List<LogEntry>>(emptyList())
     val logEntries: StateFlow<List<LogEntry>> = _logEntries
@@ -61,7 +42,7 @@ class ComponentDetailViewModel : ViewModel() {
         statePoller.startPolling()
         viewModelScope.launch {
             while (isActive) {
-                refreshVisibleLogs()
+                _logEntries.value = SessionLogger.getEntriesForComponent(_componentType.value)
                 delay(1000)
             }
         }
@@ -69,8 +50,6 @@ class ComponentDetailViewModel : ViewModel() {
 
     fun setComponentType(type: ComponentType) {
         _componentType.value = type
-        statePoller.setFocusedComponent(type)
-        refreshVisibleLogs()
     }
 
     fun <T> executeOperation(
@@ -80,21 +59,9 @@ class ComponentDetailViewModel : ViewModel() {
         block: () -> T
     ) {
         viewModelScope.launch {
-            val startedAt = System.currentTimeMillis()
+            val result = bridgeRepo.callAsync(block)
-            Log.i(TAG_OPS, "Phase4B-v11 control click started; component=$componentType; action=$actionName; params=${params ?: ""}")
-            SessionLogger.log(LogEntry(
-                timestamp = startedAt,
-                component = componentType,
-                action = "TX:$actionName",
-                params = params,
-                result = "STARTED"
-            ))
-            refreshVisibleLogs()
-
-            val result = callBlockingWithTimeout(actionName, block)
             _operationResult.value = result
 
-            val now = System.currentTimeMillis()
             val resultStr = when (result) {
                 is OperationResult.Success<*> -> result.data.toString()
                 is OperationResult.Error -> "ERROR: ${result.exception.message}"
@@ -102,69 +69,20 @@ class ComponentDetailViewModel : ViewModel() {
                 is OperationResult.NoData -> "NO_DATA"
             }
 
-            if (componentType == _componentType.value && result is OperationResult.Success<*> && result.data is String) {
-                val text = result.data.trim()
-                if (text.startsWith("{")) {
-                    _manualStateSnapshot.value = componentType to StateSnapshot(
-                        data = result.data,
-                        updatedAt = now,
-                        isDebugChannel = false
-                    )
-                }
-            }
-
-            val elapsedMs = now - startedAt
-            Log.i(TAG_OPS, "Phase4B-v11 control click completed; component=$componentType; action=$actionName; elapsedMs=$elapsedMs; resultKind=${result.javaClass.simpleName}")
             SessionLogger.log(LogEntry(
-                timestamp = now,
+                timestamp = System.currentTimeMillis(),
                 component = componentType,
-                action = "RX:$actionName",
+                action = actionName,
                 params = params,
                 result = resultStr
             ))
-            refreshVisibleLogs()
-        }
-    }
 
-    private suspend fun <T> callBlockingWithTimeout(
-        actionName: String,
-        block: () -> T
-    ): OperationResult<T> = withContext(Dispatchers.IO) {
-        val future = operationExecutor.submit<OperationResult<T>> {
-            try {
-                val result = block()
-                if (result == null || (result is String && result.isBlank())) {
-                    @Suppress("UNCHECKED_CAST")
-                    OperationResult.NoData as OperationResult<T>
-                } else {
-                    OperationResult.Success(result)
-                }
-            } catch (e: Exception) {
-                OperationResult.Error(e)
-            }
-        }
-
-        try {
-            future.get(OPERATION_TIMEOUT_MS, TimeUnit.MILLISECONDS)
-        } catch (e: TimeoutException) {
-            future.cancel(true)
-            OperationResult.Error(Exception("$actionName timed out after ${OPERATION_TIMEOUT_MS}ms"))
-        } catch (e: Exception) {
-            OperationResult.Error(Exception("$actionName failed: ${e.message}", e))
-        }
-    }
-
-    private fun refreshVisibleLogs() {
             _logEntries.value = SessionLogger.getEntriesForComponent(_componentType.value)
         }
+    }
 
     override fun onCleared() {
         super.onCleared()
         statePoller.stopPolling()
-        operationExecutor.shutdownNow()
-    }
-
-    private companion object {
-        const val OPERATION_TIMEOUT_MS = 2000L
     }
 }

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

@@ -10,13 +10,6 @@ object LogColorizer {
     fun classify(entry: LogEntry): EntryType {
         if (entry.isStateChange) return EntryType.SYS
         val action = entry.action.lowercase()
-
-        // Phase4B-v10: explicit TX/RX action prefixes must win over result-based inference.
-        // Otherwise a visible click marker such as action="TX:readDongleState" with
-        // result="STARTED" is incorrectly rendered as [RX] TX:readDongleState => STARTED.
-        if (action.startsWith("tx:")) return EntryType.TX
-        if (action.startsWith("rx:")) return EntryType.RX
-
         if (action.contains("poll") || action.contains("stream") || action == "snapshot" || action == "connection") {
             return EntryType.SYS
         }

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

@@ -1,6 +1,5 @@
 package com.kiwii.controlpanel.ui.detail
 
-import org.json.JSONArray
 import org.json.JSONObject
 
 /**
@@ -15,36 +14,28 @@ data class StatItem(
     val detail: String = ""
 )
 
-/** 从 RuntimeState JSON 中动态提取字段为 StatItem 列表 */
+/** 从 RuntimeState JSON 中动态提取所有顶层字段为 StatItem 列表 */
 object RuntimeHostStatusParser {
 
     fun parse(json: String, isBound: Boolean): List<StatItem> {
+        val items = mutableListOf<StatItem>()
+
         val obj = try {
             JSONObject(json)
         } catch (_: Exception) {
-            return emptyList()
+            return items
         }
 
-        if (looksLikeDongleState(obj)) {
-            return parseDongleState(obj)
-        }
-
-        val items = mutableListOf<StatItem>()
         val keys = obj.keys()
         while (keys.hasNext()) {
             val key = keys.next()
             val raw = obj.opt(key) ?: continue
-            val item = when (raw) {
+            val item = when {
-                is JSONObject -> StatItem(
+                raw is JSONObject -> StatItem(
                     label = humanize(key),
                     value = raw.optString("state", raw.optString("value", "…")).compactValue(),
                     detail = raw.optString("detail", "")
                 )
-                is JSONArray -> StatItem(
-                    label = humanize(key),
-                    value = "${raw.length()} items",
-                    detail = raw.toString().compactDetail()
-                )
                 else -> StatItem(
                     label = humanize(key),
                     value = raw.toString().compactValue()
@@ -56,186 +47,6 @@ object RuntimeHostStatusParser {
         return items
     }
 
-    private fun looksLikeDongleState(obj: JSONObject): Boolean {
-        val contract = obj.optString("contractVersion", "").lowercase()
-        if (contract.contains("dongle")) return true
-        if (obj.has("dongle") && obj.has("handleState")) return true
-        if (obj.has("transport") && (obj.has("slots") || obj.has("slotStatus") || obj.has("slotStates"))) return true
-        if (obj.has("transport") && obj.optJSONObject("transport")?.has("usbPresent") == true) return true
-        return false
-    }
-
-    /** Phase4B-v11.5: Dongle State = operational state first; raw dongle query may be disabled on safe UI path. */
-    private fun parseDongleState(obj: JSONObject): List<StatItem> {
-        val items = mutableListOf<StatItem>()
-        val transport = obj.optJSONObject("transport") ?: obj.optJSONObject("dongle")?.optJSONObject("transport") ?: JSONObject()
-
-        val transportState = firstNonBlank(
-            transport.optString("state", ""),
-            obj.optString("state", ""),
-            if (transport.optBooleanFlexible("active") || transport.optBooleanFlexible("connected") || obj.optBooleanFlexible("active")) "ACTIVE" else "UNKNOWN"
-        )
-
-        val usbPresent = transport.optBooleanFlexible("usbPresent")
-        val bridge = transport.optBooleanFlexible("usbBridgeRegistered")
-        val readLoop = transport.optBooleanFlexible("readLoopRunning")
-
-        items += StatItem(
-            label = "Transport",
-            value = transportState.compactValue(),
-            detail = if (transport.optString("rawDongleQuery", "") == "disabled-on-detail-ui-path") "safe path; raw transport skipped" else "usb=${usbPresent.renderBool("present", "missing")}; bridge=${bridge.renderBool("registered", "no")}; readLoop=${readLoop.renderBool("running", "stopped")}" 
-        )
-        items += StatItem(
-            label = "USB",
-            value = usbPresent.renderBool("PRESENT", "MISSING"),
-            detail = endpointDetail(transport)
-        )
-        items += StatItem(
-            label = "Bridge",
-            value = bridge.renderBool("REGISTERED", "NO"),
-            detail = "RuntimeHost USB bridge"
-        )
-        items += StatItem(
-            label = "Read Loop",
-            value = readLoop.renderBool("RUNNING", "STOPPED"),
-            detail = ageDetail(transport)
-        )
-
-        val slotEvidenceNote = firstNonBlank(
-            obj.optString("slotEvidenceNote", ""),
-            normalizeLegacySlotDiagnostic(obj.optString("slotDiagnostic", ""))
-        )
-        if (slotEvidenceNote.isNotBlank()) {
-            items += StatItem(
-                label = "Slot Evidence",
-                value = "INFERRED",
-                detail = slotEvidenceNote.compactDetail(72)
-            )
-        }
-
-        val slots = firstSlotArray(obj)
-        for (slotIndex in 0..3) {
-            items += parseSlot(slotIndex, slots)
-        }
-
-        return items
-    }
-
-    private fun firstSlotArray(obj: JSONObject): JSONArray? {
-        obj.optJSONArray("slots")?.let { return it }
-        obj.optJSONArray("slotStatus")?.let { return it }
-        obj.optJSONArray("slotStates")?.let { return it }
-        obj.optJSONObject("dongle")?.optJSONArray("slots")?.let { return it }
-        obj.optJSONObject("status")?.optJSONArray("slots")?.let { return it }
-        return null
-    }
-
-    private fun parseSlot(slotIndex: Int, slots: JSONArray?): StatItem {
-        val slot = findSlotObject(slotIndex, slots)
-        if (slot == null) {
-            return StatItem(
-                label = "Slot $slotIndex",
-                value = "UNKNOWN",
-                detail = "No raw slot report"
-            )
-        }
-
-        val connected = slot.optBooleanFlexible("connected") || slot.optBooleanFlexible("available") || slot.optBooleanFlexible("active")
-        val state = firstNonBlank(
-            slot.optString("state", ""),
-            slot.optString("status", ""),
-            if (connected) "CONNECTED" else "DISCONNECTED"
-        )
-        val device = firstNonBlank(
-            slot.optString("device", ""),
-            slot.optString("dev", ""),
-            slot.optString("deviceType", ""),
-            slot.optString("deviceId", "")
-        )
-        val seq = firstNonBlank(slot.optString("sequenceId", ""), slot.optString("seq", ""))
-        val source = slot.optString("source", "")
-        val rawSlotReport = slot.optString("rawSlotReport", "")
-        val inferred = slot.optBoolean("inferred", false)
-        val explicitDetail = slot.optString("detail", "")
-
-        val detailParts = mutableListOf<String>()
-        if (device.isNotBlank()) detailParts += "device=$device"
-        if (seq.isNotBlank() && seq != "0") detailParts += "seq=$seq"
-        val age = slot.optLongOrNull("dataAgeMs") ?: slot.optLongOrNull("ageMs")
-        if (age != null && age >= 0L) detailParts += "age=${age}ms"
-        if (source.isNotBlank()) detailParts += "source=$source"
-        if (rawSlotReport.isNotBlank()) detailParts += "rawSlotReport=$rawSlotReport"
-        if (inferred) detailParts += "inferred=true"
-        if (explicitDetail.isNotBlank()) detailParts += explicitDetail
-
-        return StatItem(
-            label = "Slot $slotIndex",
-            value = state.compactValue(),
-            detail = detailParts.joinToString("; ").ifBlank { "reported" }.compactDetail(72)
-        )
-    }
-
-    private fun findSlotObject(slotIndex: Int, slots: JSONArray?): JSONObject? {
-        if (slots == null) return null
-        for (i in 0 until slots.length()) {
-            val obj = slots.optJSONObject(i) ?: continue
-            val reportedIndex = obj.optIntOrNull("slot") ?: obj.optIntOrNull("slotId") ?: obj.optIntOrNull("index")
-            if (reportedIndex == slotIndex) return obj
-        }
-        return slots.optJSONObject(slotIndex)
-    }
-
-    private fun endpointDetail(transport: JSONObject): String {
-        val epIn = firstNonBlank(transport.optString("epIn", ""), transport.optString("endpointIn", ""))
-        val epOut = firstNonBlank(transport.optString("epOut", ""), transport.optString("endpointOut", ""))
-        return when {
-            epIn.isNotBlank() || epOut.isNotBlank() -> "in=$epIn out=$epOut".trim()
-            else -> firstNonBlank(transport.optString("device", ""), transport.optString("product", ""), "USB CDC")
-        }.compactDetail()
-    }
-
-    private fun ageDetail(transport: JSONObject): String {
-        val inAge = transport.optLongOrNull("lastUsbInAgeMs")
-        val outAge = transport.optLongOrNull("lastUsbOutAgeMs")
-        val parts = mutableListOf<String>()
-        if (inAge != null) parts += "inAge=${inAge}ms"
-        if (outAge != null) parts += "outAge=${outAge}ms"
-        return parts.joinToString("; ").ifBlank { "USB read loop state" }
-    }
-
-    private fun firstNonBlank(vararg values: String): String = values.firstOrNull { it.isNotBlank() } ?: ""
-
-    private fun normalizeLegacySlotDiagnostic(value: String): String {
-        if (value.isBlank()) return ""
-        if (value.contains("Right Handle is connected in handle-state", ignoreCase = true)) {
-            return "Slot 1 inferred from Right Handle IMU; raw slot not queried."
-        }
-        return value
-    }
-
-    private fun Boolean.renderBool(yes: String, no: String): String = if (this) yes else no
-
-    private fun JSONObject.optBooleanFlexible(key: String): Boolean {
-        if (!has(key)) return false
-        val raw = opt(key) ?: return false
-        return when (raw) {
-            is Boolean -> raw
-            is Number -> raw.toInt() != 0
-            is String -> raw.equals("true", ignoreCase = true) || raw == "1" || raw.equals("yes", ignoreCase = true) || raw.equals("connected", ignoreCase = true) || raw.equals("active", ignoreCase = true) || raw.equals("running", ignoreCase = true)
-            else -> false
-        }
-    }
-
-    private fun JSONObject.optIntOrNull(key: String): Int? {
-        if (!has(key)) return null
-        return try { optInt(key) } catch (_: Exception) { null }
-    }
-
-    private fun JSONObject.optLongOrNull(key: String): Long? {
-        if (!has(key)) return null
-        return try { optLong(key) } catch (_: Exception) { null }
-    }
-
     /** camelCase / snake_case → 可读标签 */
     private fun humanize(key: String): String {
         return key
@@ -248,9 +59,4 @@ object RuntimeHostStatusParser {
         return replace("\"", "")
             .let { if (it.length > 16) "${it.take(14)}..." else it }
     }
-
-    private fun String.compactDetail(maxLen: Int = 48): String {
-        return replace("\"", "")
-            .let { if (it.length > maxLen) "${it.take(maxLen - 3)}..." else it }
-    }
 }

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

@@ -7,13 +7,20 @@
     android:background="@drawable/bg_rhs_card"
     android:padding="8dp">
 
-    <!-- Left: State + Log -->
+    <!-- Left: scrollable State + State Query Results + Session Log -->
-    <LinearLayout
+    <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">
+
+        <LinearLayout
+            android:id="@+id/left_scroll_content"
+            android:layout_width="match_parent"
+            android:layout_height="wrap_content"
+            android:orientation="vertical">
 
             <!-- State Card -->
             <LinearLayout
@@ -56,16 +63,57 @@
                     android:layout_marginTop="4dp" />
             </LinearLayout>
 
-        <!-- Session Log -->
+            <!-- State Query Results / Disconnect Diagnosis -->
             <LinearLayout
+                android:id="@+id/state_query_results_panel"
                 android:layout_width="match_parent"
-            android:layout_height="0dp"
+                android:layout_height="420dp"
-            android:layout_weight="1"
                 android:orientation="vertical"
                 android:background="@drawable/bg_rhs_status_inner"
                 android:padding="6dp"
                 android:layout_marginTop="6dp"
-            android:minHeight="0dp">
+                android:minHeight="360dp">
+
+                <TextView
+                    android:layout_width="wrap_content"
+                    android:layout_height="wrap_content"
+                    android:text="State Query Results / Disconnect Diagnosis"
+                    android:textSize="11sp"
+                    android:textStyle="bold"
+                    android:textColor="@color/rhs_title"
+                    android:layout_marginBottom="4dp" />
+
+                <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="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"
@@ -88,9 +136,10 @@
                     android:layout_width="match_parent"
                     android:layout_height="0dp"
                     android:layout_weight="1"
-                android:overScrollMode="never" />
+                    android:overScrollMode="ifContentScrolls" />
             </LinearLayout>
         </LinearLayout>
+    </ScrollView>
 
     <!-- Right: Controls -->
     <LinearLayout