refactor: 深度重構 state 與 hardware controller#12

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Weiyu1105 wants to merge 18 commits intomainfrom

codex/apply-deep-refactoring-with-detailed-comments

Commits on Aug 4, 2025

refactor: 深度重構 state 與 hardware controller
Weiyu1105
committed
fix: 加回 terrain 狀態 to avoid crash
Weiyu1105
committed
feat: 加回 SimulationState 便利方法並同步 UI mode 切換
 Weiyu1105
committed
fix: update sim controller for new modes\n\n- migrate to OperatingMode/ControlSubMode 架構, 移除舊 control_mode 依賴\n- add legacy control_mode property to SimulationState 以相容舊模組
 Weiyu1105
committed
fix(ui): prevent NoneType slider error / 修正關節滑桿空值
 Weiyu1105
committed
refactor: 整合 cascade config 與動態 control dt
Weiyu1105
committed
fix: 修正 quaternion 預設與 ONNX 輸入警告
 Weiyu1105
committed
fix: 補齊硬體觀測與串列接管
 Weiyu1105
committed
feat: 支援42欄位CSV與CRC8 (42-field CSV with CRC8)
Weiyu1105
committed
fix: 強化 CRC8 parser 與 serial 管理
 Weiyu1105
committed
feat: add crc debug script\n\n提供 CRC-8 測試向量, 方便與 Teensy 韌體互相比對
 Weiyu1105
committed
fix: move crc debug to root and tweak import path\n\n將 CRC 除錯工具移到專案根目錄並加入搜尋路徑設定，避免 ModuleNotFoundError.
Weiyu1105
committed
fix(hw ctrl): 適配34維資料流 align with 34-field stream
Weiyu1105
committed
fix(hardware): use UTF-8 for bad_lines log & log CRC mismatches
Weiyu1105
committed
chore: remove legacy main & pyserial scripts\n\n刪除過時的 main.py 與 pyserial.py
Weiyu1105
committed
fix: 強化 hardware CSV parser w/ CRC8
Weiyu1105
committed
fix: 同步硬體觀測與模擬重置流程 (hardware obs sync & reset stabilization)
Weiyu1105
committed
fix: 延後序列接管 keep Teensy stream active
Weiyu1105
committed

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refactor: 深度重構 state 與 hardware controller#12

refactor: 深度重構 state 與 hardware controller#12
Weiyu1105 wants to merge 18 commits intomainfrom
codex/apply-deep-refactoring-with-detailed-comments

Commits on Aug 4, 2025

refactor: 深度重構 state 與 hardware controller

fix: 加回 terrain 狀態 to avoid crash

feat: 加回 SimulationState 便利方法並同步 UI mode 切換

fix: update sim controller for new modes\n\n- migrate to OperatingMode/ControlSubMode 架構, 移除舊 control_mode 依賴\n- add legacy control_mode property to SimulationState 以相容舊模組

fix(ui): prevent NoneType slider error / 修正關節滑桿空值

refactor: 整合 cascade config 與動態 control dt

fix: 修正 quaternion 預設與 ONNX 輸入警告

fix: 補齊硬體觀測與串列接管

feat: 支援42欄位CSV與CRC8 (42-field CSV with CRC8)

fix: 強化 CRC8 parser 與 serial 管理

feat: add crc debug script\n\n提供 CRC-8 測試向量, 方便與 Teensy 韌體互相比對

fix: move crc debug to root and tweak import path\n\n將 CRC 除錯工具移到專案根目錄並加入搜尋路徑設定，避免 ModuleNotFoundError.

fix(hw ctrl): 適配34維資料流 align with 34-field stream

fix(hardware): use UTF-8 for bad_lines log & log CRC mismatches

chore: remove legacy main & pyserial scripts\n\n刪除過時的 main.py 與 pyserial.py

fix: 強化 hardware CSV parser w/ CRC8

fix: 同步硬體觀測與模擬重置流程 (hardware obs sync & reset stabilization)

fix: 延後序列接管 keep Teensy stream active