Fix dongle state, slot evidence, and motor telemetry panel

app/build.gradle.kts

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

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

@@ -2,12 +2,54 @@ 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()
@@ -29,6 +71,72 @@ 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()
@@ -37,28 +145,299 @@ class BridgeRepository {
     fun getLatestBodyPoseFrameJson(): String = KiwiiRuntimeClientBridge.getLatestBodyPoseFrameJson()
 
     fun getLeftHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getLeftHandleIMULatest()
+
     fun getLeftHandleIMUQueue(): Array<FloatArray> {
-        val latest = KiwiiRuntimeClientBridge.getLeftHandleIMULatest()
+        val queue = readHandleImuQueueCompat("getLeftHandleIMUQueue")
+        if (queue.isNotEmpty()) return queue
+        val latest = getLeftHandleIMULatest()
         return if (latest.isEmpty()) emptyArray() else arrayOf(latest)
     }
+
+    fun submitLeftStaticEffect(effectId: Int): String = KiwiiRuntimeClientBridge.submitLeftStaticEffect(effectId)
     fun submitLeftHeStream(streamId: Int, payload: String): String =
-        KiwiiRuntimeClientBridge.submitLeftHeStream(streamId, payload)
+        KiwiiRuntimeClientBridge.submitLeftHeStream(streamId, buildHeStreamPatternJson(streamId, payload))
 
     fun getRightHandleIMULatest(): FloatArray = KiwiiRuntimeClientBridge.getRightHandleIMULatest()
+
     fun getRightHandleIMUQueue(): Array<FloatArray> {
-        val latest = KiwiiRuntimeClientBridge.getRightHandleIMULatest()
+        val queue = readHandleImuQueueCompat("getRightHandleIMUQueue")
+        if (queue.isNotEmpty()) return queue
+        val latest = getRightHandleIMULatest()
         return if (latest.isEmpty()) emptyArray() else arrayOf(latest)
     }
-    fun submitRightHeStream(streamId: Int, payload: String): String =
-        KiwiiRuntimeClientBridge.submitRightHeStream(streamId, payload)
 
-    fun getHandleStateJson(): String = KiwiiRuntimeClientBridge.getHandleStateJson()
+    fun submitRightStaticEffect(effectId: Int): String = KiwiiRuntimeClientBridge.submitRightStaticEffect(effectId)
+    fun submitRightHeStream(streamId: Int, payload: String): String =
+        KiwiiRuntimeClientBridge.submitRightHeStream(streamId, buildHeStreamPatternJson(streamId, payload))
+
+    fun getHandleStateJson(): String {
+        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)
+    fun setMotorForceControlParamsJson(paramsJson: String): String {
+        return try {
+            val method = KiwiiRuntimeClientBridge::class.java.getMethod("setMotorForceControlParamsJson", String::class.java)
+            method.invoke(null, paramsJson) as? String ?: "{\"error\":\"setMotorForceControlParamsJson returned null\"}"
+        } catch (t: Throwable) {
+            "{\"error\":\"setMotorForceControlParamsJson unavailable: ${t.message}\"}"
+        }
+    }
     fun queryMotorTrainingMode(axis: Int): String = KiwiiRuntimeClientBridge.queryMotorTrainingMode(axis)
     fun getLatestMotorStateJson(): String = KiwiiRuntimeClientBridge.getLatestMotorStateJson()
     fun getMotorControlStateJson(): String = KiwiiRuntimeClientBridge.getMotorControlStateJson()
+    fun getMotorDisconnectDiagnosisJson(): String {
+        return try {
+            val method = KiwiiRuntimeClientBridge::class.java.getMethod("getMotorDisconnectDiagnosisJson")
+            method.invoke(null) as? String ?: "{\"error\":\"getMotorDisconnectDiagnosisJson returned null\"}"
+        } catch (t: Throwable) {
+            "{\"error\":\"getMotorDisconnectDiagnosisJson unavailable: ${t.message}\"}"
+        }
+    }
+    fun sendMotorHeartbeat(): String {
+        return try {
+            val method = KiwiiRuntimeClientBridge::class.java.getMethod("sendMotorHeartbeat")
+            method.invoke(null) as? String ?: "{\"error\":\"sendMotorHeartbeat returned null\"}"
+        } catch (t: Throwable) {
+            "{\"error\":\"sendMotorHeartbeat unavailable: ${t.message}\"}"
+        }
+    }
 
     fun getTelemetryStateJson(): String = KiwiiRuntimeClientBridge.getTelemetryStateJson()
     fun getSafetyStateJson(): String = KiwiiRuntimeClientBridge.getSafetyStateJson()
@@ -66,6 +445,290 @@ 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)
+            when (val value = method.invoke(null)) {
+                is Array<*> -> {
+                    @Suppress("UNCHECKED_CAST")
+                    value.filterIsInstance<FloatArray>().toTypedArray()
+                }
+                is FloatArray -> splitFlatImuQueue(value)
+                else -> emptyArray()
+            }
+        } catch (_: Throwable) {
+            emptyArray()
+        }
+    }
+
+    private fun splitFlatImuQueue(flat: FloatArray): Array<FloatArray> {
+        if (flat.isEmpty()) return emptyArray()
+        val sampleSize = when {
+            flat.size % 10 == 0 -> 10
+            flat.size % 9 == 0 -> 9
+            flat.size % 7 == 0 -> 7
+            else -> flat.size
+        }
+        if (sampleSize <= 0) return emptyArray()
+        val out = ArrayList<FloatArray>()
+        var offset = 0
+        while (offset < flat.size) {
+            val end = minOf(offset + sampleSize, flat.size)
+            out.add(flat.copyOfRange(offset, end))
+            offset = end
+        }
+        return out.toTypedArray()
+    }
+
+    private fun buildHeStreamPatternJson(streamId: Int, payload: String): String {
+        val trimmed = payload.trim()
+        if (trimmed.startsWith("{")) return trimmed
+        val escaped = payload.replace("\\", "\\\\").replace("\"", "\\\"")
+        return "{\"streamId\":$streamId,\"payload\":\"$escaped\"}"
+    }
+
     suspend fun <T> callAsync(block: () -> T): OperationResult<T> = withContext(Dispatchers.IO) {
         try {
             val result = block()

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

@@ -6,6 +6,7 @@ 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
@@ -26,20 +27,106 @@ class ComponentRegistry(
     private var previousStates = emptyMap<ComponentType, ComponentState>()
 
     private companion object {
-        const val MOTOR_TELEMETRY_FRESH_TIMEOUT_MS = 5000L
+        const val TAG = "KiwiiSDKPanelState"
+        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"
     }
 
-    // Motor is physically downstream of the SmartBase Dongle.
+    private data class SlotSignal(
-    // Keep the latest Dongle card decision from the same detection loop so Motor cannot remain green
+        val slot: Int = -1,
-    // after the Dongle transport is disconnected, while preserving v4 Dongle detection behavior.
+        val dev: Int = 0,
+        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 result = ComponentType.entries.associateWith { checkAvailability(it) }
+                val bound = repo.isBound()
-                // 检测状态变化，记录日志
+                if (bound) {
+                    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
@@ -48,6 +135,292 @@ 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>
@@ -64,168 +437,164 @@ 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(type: ComponentType): ComponentState {
+    private fun checkAvailability(
-        dumpDebugOnce()
+        type: ComponentType,
+        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)
+            ComponentCategory.RUNTIME_HOST -> checkRuntimeHostComponent(type, bound, runtimeStats, cameraJson)
-            ComponentCategory.PERIPHERAL -> checkPeripheral(type)
+            ComponentCategory.PERIPHERAL -> checkPeripheral(type, bound, handleJson, handles)
         }
     }
 
-    private fun checkRuntimeHostComponent(type: ComponentType): ComponentState {
+    private fun checkRuntimeHostComponent(
-        // RuntimeHostStatus 始终可交互（Bind 按钮需在未绑定时可用）
+        type: ComponentType,
+        bound: Boolean,
+        runtimeStats: FloatArray,
+        cameraJson: String
+    ): ComponentState {
         if (type == ComponentType.RUNTIME_HOST_STATUS) return ComponentState.ACTIVE
-        if (!repo.isBound()) return ComponentState.GREY
+        if (!bound) return ComponentState.GREY
         return when (type) {
-            ComponentType.CAMERA -> checkCamera()
+            // Phase4B-v11.9: do not let camera/home-card availability depend on a live camera
+            // 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(type: ComponentType): ComponentState {
+    private fun checkPeripheral(
-        if (!repo.isBound()) return ComponentState.GREY
+        type: ComponentType,
+        bound: Boolean,
+        handleJson: String,
+        handles: HandleDashboardSignal
+    ): ComponentState {
+        if (!bound) return ComponentState.GREY
         return when (type) {
-            ComponentType.LEFT_HANDLE -> checkHandle("left")
+            ComponentType.LEFT_HANDLE -> checkHandle(handles.left, handles.leftProgressAgeMs)
-            ComponentType.RIGHT_HANDLE -> checkHandle("right")
+            ComponentType.RIGHT_HANDLE -> checkHandle(handles.right, handles.rightProgressAgeMs)
-            ComponentType.BALANCE_BOARD -> checkBalanceBoard()
+            ComponentType.BALANCE_BOARD -> ComponentState.GREY // CoP not integrated yet.
-            ComponentType.DONGLE -> checkDongle()
+            ComponentType.DONGLE -> checkDongle(handles)
             ComponentType.MOTOR -> checkMotor()
             else -> ComponentState.GREY
         }
     }
 
-    private var debugDumped = false
+    private fun checkCamera(runtimeStats: FloatArray, cameraJson: String): ComponentState {
-
+        // Home card means pipeline alive, not necessarily human detected.
-    private fun dumpDebugOnce() {
+        val statsActive = runtimeStats.any { !it.isNaN() && !it.isInfinite() && it > 0.1f }
-        if (debugDumped || !repo.isBound()) return
+        if (statsActive) return ComponentState.ACTIVE
-        debugDumped = true
+        if (isUnavailable(cameraJson)) return ComponentState.GREY
-        // 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 json = repo.getCameraStateJson()
+            val obj = JSONObject(cameraJson)
-            if (isUnavailable(json)) ComponentState.GREY else ComponentState.ACTIVE
+            val pipeline = obj.optJSONObject("realInternalCameraPipeline")
-        } catch (_: Exception) {
+            val pose2D = obj.optJSONObject("pose2DState")
-            ComponentState.GREY
+            val pose3D = obj.optJSONObject("pose3DState")
-        }
+            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
-    private fun checkHandle(side: String): ComponentState {
+            val rknn = obj.optBoolean("rknnYoloEnabled", false) || pipeline?.optBoolean("rknnYoloEnabled", false) == true
-        return try {
+            val videoPose3D = obj.optBoolean("videoPose3DEnabled", false) || pipeline?.optBoolean("videoPose3DEnabled", false) == true
-            val json = repo.getHandleStateJson()
+            val pose2DAvailable = pose2D?.optBoolean("available", false) == true
-            val obj = JSONObject(json)
+            val pose3DAvailable = pose3D?.optBoolean("available", false) == true
-            val sideObj = obj.optJSONObject(side) ?: return ComponentState.GREY
+            if (running || imx415Open || (rga && rknn) || videoPose3D || pose2DAvailable || pose3DAvailable) {
-            // 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 (_: Exception) {
+        } catch (t: Throwable) {
+            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 {
-        return try {
+        // Phase4B-v11.14: Motor home-card state comes from explicit motor runtime-state
-            // Motor is physically downstream of the SmartBase Dongle.
+        // refreshed on a background thread, not from scatter-chart visibility. This remains
-            // V7 requires fresh motor telemetry; stale cached telemetry after Dongle re-plug must not turn Motor green.
+        // no-blocking and can become ACTIVE before the user opens the Motor detail page.
-            if (latestDongleCardStateForMotorGate != ComponentState.ACTIVE) return ComponentState.GREY
+        val dongleActive = latestDongleCardStateForMotorGate == ComponentState.ACTIVE
-
+        val motor = MotorTelemetrySnapshotCache.homeCardRuntimeStatus(MOTOR_STATUS_FRESH_TIMEOUT_MS)
-            val json = repo.getLatestMotorStateJson()
+        val motorSlotConnectedFresh = latestHandleSignalsForMotorSlot?.freshConnected ?: false
-            if (isUnavailable(json)) return ComponentState.GREY
+        val active = dongleActive && (motor.active || motorSlotConnectedFresh)
-
+        val state = if (active) ComponentState.ACTIVE else ComponentState.GREY
-            val obj = JSONObject(json)
+        Log.i(
-            if (obj.optString("contractVersion", "") != "kiwii.motor-runtime-state.v1") return ComponentState.GREY
+            TAG,
-            if (obj.optBoolean("blockedByDongleTransport", false)) return ComponentState.GREY
+            "Phase4B-v11.14 checkMotor; dongleActive=$dongleActive; " +
-            if (obj.optBoolean("blockedByMotorTelemetry", false)) return ComponentState.GREY
+                "contractOk=${motor.contractOk}; available=${motor.available}; connected=${motor.connected}; state=${motor.state}; " +
-            if (!obj.optBoolean("available", false)) return ComponentState.GREY
+                "slotState=${latestHandleSignalsForMotorSlot?.state ?: ""}; slotConnected=${latestHandleSignalsForMotorSlot?.connected ?: false}; slotAgeMs=${printAge(latestHandleSignalsForMotorSlot?.lastSeenAgeMs ?: Long.MAX_VALUE)}; " +
-
+                "blockedByDongleTransport=${motor.blockedByDongleTransport}; blockedByMotorTelemetry=${motor.blockedByMotorTelemetry}; " +
-            val dataAgeMs = obj.optLong("dataAgeMs", Long.MAX_VALUE)
+                "dataAgeMs=${printAge(motor.dataAgeMs)}; snapshotAgeMs=${printAge(motor.snapshotAgeMs)}; " +
-            if (dataAgeMs < 0L || dataAgeMs > MOTOR_TELEMETRY_FRESH_TIMEOUT_MS) return ComponentState.GREY
+                "reason=${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"
-
+        )
-            ComponentState.ACTIVE
+        return state
-        } 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

@@ -14,8 +14,10 @@ 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 -> bridge.getDebugSnapshotJson()
+        ComponentType.BALANCE_BOARD -> "{\"contractVersion\":\"kiwii.sdk-panel.balance-placeholder.v1\",\"available\":false,\"reason\":\"Balance Board detail state is not wired yet\"}"
-        ComponentType.DONGLE -> bridge.getDongleStateJson()
+        // Phase4B-v11: Dongle detail state must include transport + slot0..3 + handle-state inference.
+        // 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

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

@@ -1,5 +1,6 @@
 package com.kiwii.controlpanel.ui.adapter
 
+import android.util.Log
 import android.view.LayoutInflater
 import android.view.ViewGroup
 import androidx.core.content.ContextCompat
@@ -32,6 +33,7 @@ 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

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

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

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

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

@@ -0,0 +1,224 @@
+package com.kiwii.controlpanel.ui.components
+
+import android.content.Context
+import android.graphics.Color
+import android.graphics.Typeface
+import android.os.Handler
+import android.os.Looper
+import android.util.Log
+import android.view.Gravity
+import android.widget.LinearLayout
+import android.widget.TextView
+import com.kiwii.controlpanel.R
+import com.kiwii.controlpanel.data.BridgeRepository
+import java.util.concurrent.Executors
+import java.util.concurrent.ScheduledExecutorService
+import java.util.concurrent.TimeUnit
+
+/**
+ * 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
+) : LinearLayout(context) {
+
+    private val mainHandler = Handler(Looper.getMainLooper())
+    private val chartView = MotorTelemetryScatterChartView(context)
+    private val headline = TextView(context)
+    private val temperatureLine = TextView(context)
+    private val subline = TextView(context)
+
+    @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)
+        setPadding(8.dp(), 8.dp(), 8.dp(), 8.dp())
+
+        addView(TextView(context).apply {
+            text = "Realtime force / rope length / temperature"
+            textSize = 12f
+            typeface = Typeface.DEFAULT_BOLD
+            setTextColor(Color.rgb(38, 50, 56))
+        }, LayoutParams(LayoutParams.MATCH_PARENT, LayoutParams.WRAP_CONTENT))
+
+        addView(headline.apply {
+            text = "Force: — kgf   Rope: — cm"
+            textSize = 13f
+            typeface = Typeface.MONOSPACE
+            setTextColor(Color.rgb(20, 32, 40))
+            setPadding(0, 6.dp(), 0, 0)
+        }, LayoutParams(LayoutParams.MATCH_PARENT, LayoutParams.WRAP_CONTENT))
+
+        addView(temperatureLine.apply {
+            text = "Temp: — °C"
+            textSize = 12f
+            typeface = Typeface.DEFAULT_BOLD
+            setTextColor(Color.rgb(20, 32, 40))
+            setPadding(0, 3.dp(), 0, 0)
+        }, LayoutParams(LayoutParams.MATCH_PARENT, LayoutParams.WRAP_CONTENT))
+
+        addView(subline.apply {
+            text = "Phase4B-v11.17 cached telemetry poll; buttons use last-known snapshot"
+            textSize = 10f
+            setTextColor(Color.rgb(96, 111, 123))
+            setPadding(0, 2.dp(), 0, 6.dp())
+        }, LayoutParams(LayoutParams.MATCH_PARENT, LayoutParams.WRAP_CONTENT))
+
+        addView(chartView, LayoutParams(LayoutParams.MATCH_PARENT, 320.dp()))
+
+        addView(TextView(context).apply {
+            text = "Display convention: force is shown as positive kgf resistance/tension. This is motor-side telemetry derived from current/torque and fm_rad, not a calibrated external load-cell reading. RuntimeHost keeps rawForceN for native-sign debugging. Rope length uses extensionM, or -positionRad × fm_rad fallback."
+            textSize = 9.5f
+            setTextColor(Color.rgb(96, 111, 123))
+            gravity = Gravity.START
+            setPadding(0, 6.dp(), 0, 0)
+        }, LayoutParams(LayoutParams.MATCH_PARENT, LayoutParams.WRAP_CONTENT))
+    }
+
+    override fun onAttachedToWindow() {
+        super.onAttachedToWindow()
+        attached = true
+        startPolling()
+    }
+
+    override fun onDetachedFromWindow() {
+        attached = false
+        stopPolling()
+        super.onDetachedFromWindow()
+    }
+
+    private fun startPolling() {
+        val current = executor
+        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 }
+        }.also { exec ->
+            exec.scheduleWithFixedDelay({
+                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: $reason")
+                    }
+            }, 0L, 200L, TimeUnit.MILLISECONDS)
+        }
+    }
+
+    private fun stopPolling() {
+        Log.i(TAG, "Phase4B-v11.17 MotorTelemetryPanel stop")
+        executor?.shutdownNow()
+        executor = null
+        mainHandler.removeCallbacksAndMessages(null)
+    }
+
+    private fun pollOnce() {
+        if (!attached) return
+
+        if (!repo.isBound()) {
+            postUnavailable("RuntimeHost not bound")
+            return
+        }
+
+        // This call is non-blocking for the chart scheduler. The actual Binder read runs in
+        // MotorTelemetrySnapshotCache's daemon refresh thread with stuck-refresh recovery.
+        MotorTelemetrySnapshotCache.requestRuntimeStateRefreshAsync(repo, "motor-chart-poll")
+
+        val snapshot = MotorTelemetrySnapshotCache.chartSnapshot(freshTimeoutMs = 2_000L)
+        val sample = snapshot.sample
+        if (sample == null) {
+            val reason = "${snapshot.reason}; effectiveAgeMs=${printAge(snapshot.effectiveAgeMs)}; snapshotAgeMs=${printAge(snapshot.snapshotAgeMs)}"
+            logPollNoSample(reason)
+            postUnavailable(reason)
+        } else {
+            if (sample.wallTimeMs == lastRenderedWallTimeMs) {
+                logPollNoSample("NO_NEW_SAMPLE; effectiveAgeMs=${printAge(snapshot.effectiveAgeMs)}; snapshotAgeMs=${printAge(snapshot.snapshotAgeMs)}")
+            }
+            postSample(sample, snapshot.effectiveAgeMs)
+        }
+    }
+
+    private fun postSample(sample: MotorTelemetrySample, effectiveAgeMs: Long) {
+        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=${printAge(effectiveAgeMs)} ms"
+
+        if (sample.wallTimeMs != lastRenderedWallTimeMs) {
+            chartView.addSample(sample)
+            lastRenderedWallTimeMs = sample.wallTimeMs
+            renderedCount += 1L
+            if (renderedCount == 1L || renderedCount % 10L == 0L) {
+                Log.i(TAG, "Phase4B-v11.17 MotorTelemetryPanel render; count=$renderedCount; sampleWallTimeMs=${sample.wallTimeMs}; dataAgeMs=${sample.dataAgeMs}; effectiveAgeMs=$effectiveAgeMs")
+            }
+        }
+    }
+
+    private fun setUnavailable(reason: String) {
+        headline.text = "Force: — kgf   Rope: — cm"
+        temperatureLine.text = "Temp: — °C"
+        subline.text = reason
+    }
+
+    private fun logPollNoSample(reason: String) {
+        val now = System.currentTimeMillis()
+        if (now - lastPollLogMs < 1000L) return
+        lastPollLogMs = now
+        Log.i(TAG, "Phase4B-v11.17 MotorTelemetryPanel poll; running=true; newSample=false; lastRenderedSampleWallTimeMs=$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)
+        return when {
+            absValue >= 100.0 -> String.format("%.0f", value)
+            absValue >= 10.0 -> String.format("%.1f", value)
+            else -> String.format("%.2f", value)
+        }
+    }
+
+    private fun Int.dp(): Int = (this * resources.displayMetrics.density).toInt()
+
+    private companion object {
+        const val TAG = "KiwiiSDKPanelMotor"
+    }
+}

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

@@ -0,0 +1,512 @@
+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,
+    val forceN: Double,
+    val forceKg: Double,
+    val ropeLengthM: Double,
+    val currentA: Double,
+    val voltageV: Double,
+    val tempC: Double,
+    val dataAgeMs: Long,
+    val available: Boolean,
+    val rawJson: String
+)
+
+internal 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
+    private const val DEFAULT_MOTOR_KT_NM_PER_A = 1.0
+
+    fun parse(json: String, nowMs: Long = System.currentTimeMillis()): MotorTelemetrySample? {
+        if (json.isBlank() || json.contains("NOT_BOUND")) return null
+        val obj = runCatching { JSONObject(json) }.getOrNull() ?: return null
+        if (obj.optString("contractVersion", "") != "kiwii.motor-runtime-state.v1") return null
+
+        val available = obj.optBoolean("available", false)
+        val dataAgeMs = obj.optLong("dataAgeMs", Long.MAX_VALUE)
+        if (!available || dataAgeMs < 0L || dataAgeMs > 2_000L) return null
+
+        val pulleyRadiusM = obj.firstFinite(
+            DEFAULT_PULLEY_RADIUS_M,
+            "pulleyRadiusM", "fm_rad", "fmRad", "radiusM"
+        ).takeIf { abs(it) > 1e-6 } ?: DEFAULT_PULLEY_RADIUS_M
+        val motorKt = obj.firstFinite(DEFAULT_MOTOR_KT_NM_PER_A, "motorKtNmPerA", "ktNmPerA")
+
+        val currentA = obj.firstFinite(0.0, "currentA", "cur", "iqA", "iq")
+        val torqueNm = obj.firstFinite(Double.NaN, "torqueNm", "estimatedTorqueNm")
+        val signedForceN = obj.firstFinite(Double.NaN, "forceN", "outputForceN", "estimatedForceN")
+            .takeIf { it.isFinite() }
+            ?: run {
+                val rawForceN = if (torqueNm.isFinite()) torqueNm / pulleyRadiusM else currentA * motorKt / pulleyRadiusM
+                -rawForceN
+            }
+        val forceN = abs(signedForceN)
+        val forceKg = obj.firstFinite(Double.NaN, "forceKg", "forceKgEquivalent")
+            .takeIf { it.isFinite() }
+            ?.let { abs(it) }
+            ?: forceN / STANDARD_GRAVITY_MPS2
+
+        val positionRad = obj.firstFinite(Double.NaN, "positionRad", "pos")
+        val ropeLengthM = obj.firstFinite(Double.NaN, "ropeLengthM", "extensionM", "cableLengthM")
+            .takeIf { it.isFinite() }
+            ?: if (positionRad.isFinite()) -positionRad * pulleyRadiusM else Double.NaN
+        if (!forceKg.isFinite() || !ropeLengthM.isFinite()) return null
+
+        return MotorTelemetrySample(
+            wallTimeMs = nowMs,
+            motorRuntimeSec = obj.firstFinite(Double.NaN, "runtimeSec", "t"),
+            forceN = forceN,
+            forceKg = forceKg,
+            ropeLengthM = ropeLengthM,
+            currentA = currentA,
+            voltageV = obj.firstFinite(Double.NaN, "voltageV", "volt"),
+            tempC = obj.firstFinite(Double.NaN, "tempC", "temp"),
+            dataAgeMs = dataAgeMs,
+            available = available,
+            rawJson = json
+        )
+    }
+
+    private fun JSONObject.firstFinite(fallback: Double, vararg keys: String): Double {
+        for (key in keys) {
+            if (!has(key) || isNull(key)) continue
+            val value = optDouble(key, Double.NaN)
+            if (value.isFinite()) return value
+        }
+        return fallback
+    }
+}
+
+/**
+ * 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/RightHandleOps.kt

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

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

@@ -2,6 +2,9 @@ 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
@@ -16,6 +19,7 @@ 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
@@ -30,10 +34,30 @@ 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"
-                "$time [$comp] ${entry.action}: ${entry.result?.take(60) ?: ""}"
+                val params = entry.params?.let { " [$it]" } ?: ""
+                "$time [$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)
@@ -58,4 +82,8 @@ 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

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

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

@@ -1,5 +1,6 @@
 package com.kiwii.controlpanel.ui.detail
 
+import android.util.Log
 import androidx.lifecycle.ViewModel
 import androidx.lifecycle.viewModelScope
 import com.kiwii.controlpanel.data.AarProxyStateSource
@@ -11,6 +12,7 @@ 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
@@ -19,21 +21,38 @@ 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?> = _componentType
+    val stateSnapshot: StateFlow<StateSnapshot?> = combine(
-        .combine(statePoller.states) { type, map -> map[type] }
+        _componentType,
-        .stateIn(viewModelScope, SharingStarted.WhileSubscribed(5000), null)
+        statePoller.states,
+        _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
@@ -42,7 +61,7 @@ class ComponentDetailViewModel : ViewModel() {
         statePoller.startPolling()
         viewModelScope.launch {
             while (isActive) {
-                _logEntries.value = SessionLogger.getEntriesForComponent(_componentType.value)
+                refreshVisibleLogs()
                 delay(1000)
             }
         }
@@ -50,6 +69,8 @@ class ComponentDetailViewModel : ViewModel() {
 
     fun setComponentType(type: ComponentType) {
         _componentType.value = type
+        statePoller.setFocusedComponent(type)
+        refreshVisibleLogs()
     }
 
     fun <T> executeOperation(
@@ -59,9 +80,21 @@ class ComponentDetailViewModel : ViewModel() {
         block: () -> T
     ) {
         viewModelScope.launch {
-            val result = bridgeRepo.callAsync(block)
+            val startedAt = System.currentTimeMillis()
+            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}"
@@ -69,20 +102,69 @@ 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 = System.currentTimeMillis(),
+                timestamp = now,
                 component = componentType,
-                action = actionName,
+                action = "RX:$actionName",
                 params = params,
                 result = resultStr
             ))
-
+            refreshVisibleLogs()
-            _logEntries.value = SessionLogger.getEntriesForComponent(_componentType.value)
         }
     }
 
+    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

@@ -10,6 +10,13 @@ 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/MotorRuntimeStateParser.kt

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

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

@@ -1,5 +1,6 @@
 package com.kiwii.controlpanel.ui.detail
 
+import org.json.JSONArray
 import org.json.JSONObject
 
 /**
@@ -14,28 +15,36 @@ data class StatItem(
     val detail: String = ""
 )
 
-/** 从 RuntimeState JSON 中动态提取所有顶层字段为 StatItem 列表 */
+/** 从 RuntimeState JSON 中动态提取字段为 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 items
+            return emptyList()
         }
 
+        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 {
+            val item = when (raw) {
-                raw is JSONObject -> StatItem(
+                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()
@@ -47,6 +56,186 @@ 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=${outAge}ms"
+        return parts.joinToString("; ").ifBlank { "USB read loop state" }
+    }
+
+    private fun firstNonBlank(vararg values: String): String = values.firstOrNull { it.isNotBlank() } ?: ""
+
+    private fun normalizeLegacySlotDiagnostic(value: String): String {
+        if (value.isBlank()) return ""
+        if (value.contains("Right Handle is connected in handle-state", ignoreCase = true)) {
+            return "Slot 1 inferred from Right Handle IMU; raw slot not queried."
+        }
+        return value
+    }
+
+    private fun Boolean.renderBool(yes: String, no: String): String = if (this) yes else no
+
+    private fun JSONObject.optBooleanFlexible(key: String): Boolean {
+        if (!has(key)) return false
+        val raw = opt(key) ?: return false
+        return when (raw) {
+            is Boolean -> raw
+            is Number -> raw.toInt() != 0
+            is String -> raw.equals("true", ignoreCase = true) || raw == "1" || raw.equals("yes", ignoreCase = true) || raw.equals("connected", ignoreCase = true) || raw.equals("active", ignoreCase = true) || raw.equals("running", ignoreCase = true)
+            else -> false
+        }
+    }
+
+    private fun JSONObject.optIntOrNull(key: String): Int? {
+        if (!has(key)) return null
+        return try { optInt(key) } catch (_: Exception) { null }
+    }
+
+    private fun JSONObject.optLongOrNull(key: String): Long? {
+        if (!has(key)) return null
+        return try { optLong(key) } catch (_: Exception) { null }
+    }
+
     /** camelCase / snake_case → 可读标签 */
     private fun humanize(key: String): String {
         return key
@@ -59,4 +248,9 @@ object RuntimeHostStatusParser {
         return replace("\"", "")
             .let { if (it.length > 16) "${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/test/java/com/kiwii/controlpanel/MotorRuntimeStateParserTest.kt

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