feat(yrobot-panel): 实现电机控制上位机

完成 Rust/egui 上位机主流程：BLE/USB 传输、协议编解码、控制/实时/统计/CSV、UI 与验证脚本。\n\n保留真实设备联调和长稳实测清单，避免把未验证的硬件结果当成交付完成。
2026-06-12 17:46:29 +08:00
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+# Hardware Validation Checklist
+
+Use this checklist with a real YRobot motor and USB Dongle before marking the project fully complete.
+
+## Environment
+
+- Windows 10+ machine.
+- Built executable: `target/x86_64-pc-windows-gnu/release/yrobot-motor-control-panel.exe`.
+- One YRobot BLE motor.
+- One USB Dongle and matching serial driver, if USB mode is being validated.
+
+Record:
+
+- App version/build time:
+- Windows version:
+- Motor identifier:
+- USB Dongle port:
+- Tester:
+- Date/time:
+
+## BLE Direct Mode
+
+1. Start the app and select `BLE`.
+2. Select `Left`, `Right`, or `Neutral`.
+3. Click `Scan / Refresh`.
+4. Confirm target device appears with name/ref/RSSI and preferred marker when applicable.
+5. Click `Stop Scan` and confirm discovery stops.
+6. Select the device and click `Connect BLE`.
+7. Confirm status becomes `Connected` only after BLE notify is ready.
+8. Keep the session open for at least 30 seconds and confirm no heartbeat error appears.
+9. Send:
+   - Query Current
+   - Query Mode
+   - Set Params
+   - Enable Realtime
+   - Disable Realtime
+10. Confirm TX events and RX events appear in the event log.
+11. Confirm realtime samples appear in chart/status when debug stream is enabled.
+12. Click `Disconnect` and confirm connection closes and heartbeat stops.
+
+Pass criteria:
+
+- No app crash.
+- No stale scanning after stop/disconnect.
+- Commands are logged.
+- Realtime data parses without blocking valid fields.
+- Latest error is empty or explains any hardware/protocol issue.
+
+## USB Dongle Mode
+
+1. Start the app and select `USB Dongle`.
+2. Refresh ports and select the Dongle serial port.
+3. Click `Open USB`.
+4. Confirm status becomes `Connected` with `115200 8N1`.
+5. Keep the session open for at least 30 seconds and confirm heartbeat starts only after serial open.
+6. Send:
+   - Query Current
+   - Query Mode
+   - Set Params
+   - Enable Realtime
+   - Disable Realtime
+7. Confirm USB RX events include `DEV`, `LEN`, `seq_id`, and `dt_ms`.
+8. Confirm USB statistics show:
+   - seq gaps
+   - out-of-order count
+   - USB dt avg/max
+   - host interval avg/max
+9. Disconnect and confirm serial resources are released.
+
+Pass criteria:
+
+- No app crash.
+- Serial open failure is shown as a recoverable error.
+- Downlink uses `DEV=0x31`.
+- Uplink strips `seq_id`/`dt_ms` before motor parser.
+- USB metadata is visible in event log/status/CSV.
+
+## CSV Recording
+
+1. Connect through BLE or USB.
+2. Set a writable CSV path.
+3. Start recording.
+4. Enable realtime debug and collect at least 100 samples.
+5. Stop recording.
+6. Open the CSV and confirm it contains:
+   - timestamp
+   - connection mode
+   - target id
+   - side
+   - raw debug string
+   - parsed current/velocity/position/voltage/temperature
+   - USB `seq_id`/`dt_ms` for USB mode
+7. Repeat with recording active, then disconnect. Confirm CSV is flushed and readable.
+
+Pass criteria:
+
+- CSV is not created before recording starts.
+- CSV write errors are shown and recording stops.
+- Session end closes the file cleanly.
+
+## Stability
+
+Run one session for at least 1 hour before release, and 8 hours for final acceptance.
+
+Record every 15 minutes:
+
+- sample count
+- app memory usage
+- latest error
+- drop rate
+- USB seq gaps/out-of-order, if USB mode
+
+Pass criteria:
+
+- UI remains responsive.
+- Control, display, CSV, and statistics work concurrently.
+- No obvious memory growth above 100 MB over the acceptance run.
+- Disconnect closes scan/session/CSV resources.
+
+## Result
+
+- BLE Direct: Pass / Fail
+- USB Dongle: Pass / Fail
+- CSV Recording: Pass / Fail
+- Stability: Pass / Fail
+
+Notes:
+