完善释放控制：稳定/迅速行为预设、力曲线夹稳门控与会话记录。

Co-authored-by: Cursor <cursoragent@cursor.com>

gripper/ui/visualizer.py

@@ -98,7 +98,7 @@ else:
 
 from ..app import build_controller
 from ..common.paths import PACKAGE_DIR, REPO_ROOT
-from ..sensors.camera_discovery import camera_source_index, list_cameras
+from ..sensors.camera_discovery import list_camera_ids
 
 
 PLOT_POINTS = 180
@@ -208,8 +208,21 @@ ACTION_TEXT = {
     "hold-reference-armed": "记录夹持基准",
     "adaptive-grip-ramp": "自适应加力",
     "adaptive-grip-wait": "等待自适应加力",
-    "release-arm-delay": "释放检测延时",
-    "release-reference-armed": "释放检测就绪",
+    "release-grip-settle": "法向夹稳保护，侧触可释放",
+    "release-self-settle": "自运动保护，侧触可释放",
+    "release-ready": "释放检测就绪",
+    "release-sudden": "突变外力确认",
+    "release-touch": "轻触变化确认",
+    "release-side_touch": "即时侧触确认",
+    "release-slow_external": "缓推外力确认",
+    "release-slow_internal": "慢变跟随",
+    "release-watch": "监视外力变化",
+    "release-waiting-sample": "等待新传感器帧",
+    "release-sample-gap": "采样断流保护",
+    "release-invalid-sample": "传感器数据无效",
+    "release-transient-rejected": "短脉冲已拒绝",
+    "release-settling-turn": "平稳拐点，继续夹持",
+    "release-confirm-expired": "外力确认已过期",
     "hold-check": "保持检测",
     "force-change-release-open": "力变化张开",
     "open-recover-position": "张开位置恢复",
@@ -238,7 +251,7 @@ def label_with_cn(value, mapping):
     cn = mapping.get(value)
     if cn is None:
         for prefix, text in mapping.items():
-            if value.startswith(f"{prefix} "):
+            if value.startswith((f"{prefix} ", f"{prefix}(")):
                 cn = text
                 break
     if cn is None:
@@ -2282,18 +2295,14 @@ class CameraDiscoveryDialog(QDialog):
         self._scan_id += 1
         scan_id = self._scan_id
         self._scan_result = None
-        self.status_label.setText("正在快速搜索摄像头（编号 0-3）...")
+        self.status_label.setText("正在读取摄像头 ID...")
         current_sources = self.viewer.camera_sources()
-        skip_indices = set()
         for side, combo in self.camera_combos.items():
             combo.clear()
             current = current_sources.get(side, "")
             if current:
                 combo.addItem(f"当前配置 {current}（可能正在使用）", current)
                 combo.setEnabled(True)
-                current_index = camera_source_index(current)
-                if current_index is not None:
-                    skip_indices.add(current_index)
             else:
                 combo.setEnabled(False)
         self.refresh_button.setEnabled(False)
@@ -2305,7 +2314,7 @@ class CameraDiscoveryDialog(QDialog):
             try:
                 self._scan_result = (
                     scan_id,
-                    list_cameras(skip_indices=skip_indices),
+                    list_camera_ids(),
                     None,
                 )
             except Exception as exc:
@@ -2339,7 +2348,7 @@ class CameraDiscoveryDialog(QDialog):
         if error:
             self.status_label.setText(f"搜索失败：{error}")
         elif cameras:
-            self.status_label.setText(f"找到 {len(cameras)} 个可用摄像头")
+            self.status_label.setText(f"已列出 {len(cameras)} 个摄像头 ID（未占用设备）")
         else:
             self.status_label.setText("未发现空闲摄像头；正在使用的当前配置仍可保留")
         has_both = all(combo.count() > 0 for combo in self.camera_combos.values())
@@ -2358,6 +2367,12 @@ class CameraDiscoveryDialog(QDialog):
 
 class VisualSettingsDialog(QDialog):
     CONFIG_GROUPS = [
+        (
+            "行为模式",
+            [
+                "grip_behavior_mode",
+            ],
+        ),
         (
             "相机 / 传感器",
             [
@@ -2440,8 +2455,31 @@ class VisualSettingsDialog(QDialog):
                 "adaptive_force_step",
                 "adaptive_force_interval",
                 "release_arm_delay_seconds",
+                "release_min_hold_seconds",
+                "release_settle_seconds",
+                "release_min_change",
+                "release_touch_window_seconds",
+                "release_side_touch_change",
+                "release_confirm_window_seconds",
+                "release_sample_timeout_seconds",
+                "release_confirm_samples",
+                "release_slow_confirm_samples",
+                "release_normal_rate",
+                "release_shear_rate",
+                "release_slow_rate",
                 "release_normal_change",
                 "release_shear_change",
+                "release_curve_history",
+                "release_slope_window_seconds",
+                "release_slope_settle_rate",
+                "release_slope_min_points",
+                "release_require_slope_settle",
+                "release_slope_hold_seconds",
+                "release_settle_normal_only",
+                "release_side_shear_enabled",
+                "release_side_normal_enabled",
+                "release_shear_onset_enabled",
+                "release_normal_onset_enabled",
             ],
         ),
         (
@@ -2470,7 +2508,7 @@ class VisualSettingsDialog(QDialog):
         "motion_threshold": "运动阈值",
         "sensor_cpu": "传感器 CPU 模式",
         "port": "串口号",
-        "slave_id": "从站 ID",
+        "slave_id": "夹爪从站 ID",
         "baudrate": "波特率",
         "serial_timeout": "串口超时",
         "open_pos": "张开位置",
@@ -2497,7 +2535,7 @@ class VisualSettingsDialog(QDialog):
         "trigger_force_update": "触发力更新",
         "trigger_normal_force": "法向触发阈值",
         "trigger_shear_force": "切向触发阈值",
-        "trigger_clear_stable_seconds": "触发清除稳定时间",
+        "trigger_clear_stable_seconds": "旧触发清除时间（当前未使用）",
         "open_wait_stable_samples": "等待稳定样本数",
         "open_wait_stable_range_n": "等待稳定范围",
         "open_wait_stable_trend_n": "等待稳定趋势",
@@ -2508,6 +2546,7 @@ class VisualSettingsDialog(QDialog):
         "force_ramp_step": "加力步进",
         "force_ramp_interval": "加力间隔",
         "grip_settle_seconds": "夹持稳定时间",
+        "grip_behavior_mode": "夹持行为模式",
         "adaptive_grip_enabled": "启用自适应夹持",
         "adaptive_shear_start_force": "自适应起始切向力",
         "adaptive_shear_full_force": "自适应满量程切向力",
@@ -2515,9 +2554,32 @@ class VisualSettingsDialog(QDialog):
         "adaptive_force_max": "自适应最大力",
         "adaptive_force_step": "自适应加力步进",
         "adaptive_force_interval": "自适应加力间隔",
-        "release_arm_delay_seconds": "释放检测延时",
-        "release_normal_change": "释放法向变化",
-        "release_shear_change": "释放切向变化",
+        "release_arm_delay_seconds": "自运动执行后保护时间 (s)",
+        "release_min_hold_seconds": "接触法向保护 (s，侧触不等待)",
+        "release_settle_seconds": "脉冲/断流恢复保护上限 (s)",
+        "release_min_change": "突变/轻触释放最小力变化",
+        "release_touch_window_seconds": "新外力起始证据有效期 (s，非等待时间)",
+        "release_side_touch_change": "即时侧触左右力差变化",
+        "release_confirm_window_seconds": "释放确认有效窗口 (s)",
+        "release_sample_timeout_seconds": "释放采样断流保护 (s)",
+        "release_confirm_samples": "突变释放确认帧数",
+        "release_slow_confirm_samples": "缓推外力确认新帧数",
+        "release_normal_rate": "释放法向突变速率",
+        "release_shear_rate": "释放切向突变速率",
+        "release_slow_rate": "慢变日志分类速率 (N/s)",
+        "release_normal_change": "慢外力法向阈值",
+        "release_shear_change": "慢外力切向阈值",
+        "release_curve_history": "力曲线历史点数（稳定模式宜更长）",
+        "release_slope_window_seconds": "夹稳斜率估计窗口 (s)",
+        "release_slope_settle_rate": "夹稳斜率门限 (N/s，趋近 0)",
+        "release_slope_min_points": "判定夹稳前最少历史点数",
+        "release_require_slope_settle": "释放前要求法向斜率趋零（夹持稳定）",
+        "release_slope_hold_seconds": "斜率趋零后还需保持多久才算夹稳 (s)",
+        "release_settle_normal_only": "夹稳判定仅看法向（忽略切向）",
+        "release_side_shear_enabled": "允许切向左右差侧触张开",
+        "release_side_normal_enabled": "允许法向左右差侧触张开",
+        "release_shear_onset_enabled": "允许切向通道触发普通释放",
+        "release_normal_onset_enabled": "允许法向通道触发普通释放",
         "rearm_seconds": "重新武装休息时间",
         "recover_normal_force": "恢复法向阈值",
         "recover_shear_force": "恢复切向阈值",
@@ -2571,6 +2633,8 @@ class VisualSettingsDialog(QDialog):
                 self.config_data = {}
         except Exception:
             self.config_data = {}
+        if "grip_behavior_mode" not in self.config_data:
+            self.config_data["grip_behavior_mode"] = "stable"
 
     def _build_ui(self):
         outer = QVBoxLayout(self)
@@ -2748,6 +2812,29 @@ class VisualSettingsDialog(QDialog):
         return scroll
 
     def _make_control(self, key, value):
+        if key == "grip_behavior_mode":
+            from gripper.config.behavior_profiles import (
+                GRIP_BEHAVIOR_LABELS,
+                GRIP_BEHAVIOR_MODES,
+                normalize_grip_behavior_mode,
+            )
+
+            control = QComboBox()
+            try:
+                current = normalize_grip_behavior_mode(value)
+            except Exception:
+                current = "stable"
+            for mode in GRIP_BEHAVIOR_MODES:
+                control.addItem(f"{GRIP_BEHAVIOR_LABELS[mode]} ({mode})", mode)
+            index = control.findData(current)
+            control.setCurrentIndex(max(0, index))
+            control.setToolTip(
+                "迅速开合：极端跟手释放/再武装；夹持稳定：极端防误开、优先夹得住。"
+                "切换后会立刻填入对应预设参数。"
+            )
+            control.currentIndexChanged.connect(self._on_behavior_mode_changed)
+            self.controls[key] = control
+            return control
         if key == "port":
             container = QWidget()
             layout = QHBoxLayout(container)
@@ -2763,7 +2850,11 @@ class VisualSettingsDialog(QDialog):
             layout.addWidget(search_button)
             self.controls[key] = control
             return container
-        if isinstance(value, bool):
+        if key == "slave_id":
+            control = QSpinBox()
+            control.setRange(1, 247)
+            control.setValue(max(1, min(247, int(value))))
+        elif isinstance(value, bool):
             control = QCheckBox()
             control.setChecked(value)
         elif isinstance(value, (dict, list)):
@@ -2785,6 +2876,8 @@ class VisualSettingsDialog(QDialog):
             if control.currentIndex() >= 0 and selected is not None:
                 return str(selected)
             return control.currentText().strip()
+        if isinstance(control, QSpinBox):
+            return int(control.value())
         if isinstance(original, bool):
             return bool(control.isChecked())
         if isinstance(original, (dict, list)):
@@ -2809,6 +2902,8 @@ class VisualSettingsDialog(QDialog):
             return
         if isinstance(control, QCheckBox):
             control.setChecked(bool(value))
+        elif isinstance(control, QSpinBox):
+            control.setValue(int(value))
         elif isinstance(control, QComboBox):
             text = "" if value is None else str(value)
             index = control.findData(text)
@@ -2821,6 +2916,26 @@ class VisualSettingsDialog(QDialog):
         elif isinstance(control, QLineEdit):
             control.setText("null" if value is None else str(value))
 
+    def _on_behavior_mode_changed(self, _index=None):
+        control = self.controls.get("grip_behavior_mode")
+        if not isinstance(control, QComboBox):
+            return
+        mode = control.currentData()
+        if not mode:
+            return
+        from gripper.config.behavior_profiles import grip_behavior_profile
+
+        try:
+            profile = grip_behavior_profile(mode)
+        except Exception as exc:
+            QMessageBox.warning(self, "模式无效", str(exc))
+            return
+        for key, value in profile.items():
+            if key in self.controls:
+                self._set_control_value(key, value)
+            self.config_data[key] = value
+        self.config_data["grip_behavior_mode"] = mode
+
     def _search_serial_ports(self):
         control = self.controls.get("port")
         if not isinstance(control, QComboBox):
@@ -2830,7 +2945,15 @@ class VisualSettingsDialog(QDialog):
             QMessageBox.warning(self, "搜索失败", "PySerial 串口枚举模块未安装。")
             return
         try:
-            ports = list(serial_list_ports.comports())
+            ports = sorted(
+                serial_list_ports.comports(),
+                key=lambda port: (
+                    0
+                    if "USB" in f"{getattr(port, 'description', '')} {getattr(port, 'hwid', '')}".upper()
+                    else 1,
+                    str(port.device),
+                ),
+            )
         except Exception as exc:
             QMessageBox.warning(self, "搜索失败", f"无法枚举串口:\n{exc}")
             return
@@ -2845,13 +2968,15 @@ class VisualSettingsDialog(QDialog):
                 selected_index = control.count() - 1
         if current and selected_index < 0:
             control.addItem(f"{current}  [当前配置]", current)
-            selected_index = control.count() - 1
+        if selected_index < 0 and ports:
+            selected_index = 0
         if selected_index >= 0:
             control.setCurrentIndex(selected_index)
         if not ports:
             QMessageBox.information(self, "搜索串口", "未发现可用串口，已保留当前配置。")
             return
-        control.showPopup()
+        control.setToolTip(f"找到 {len(ports)} 个串口")
+        QTimer.singleShot(50, control.showPopup)
 
     def _reload(self):
         self._load_config()
@@ -2884,10 +3009,19 @@ class VisualSettingsDialog(QDialog):
             return
 
         self.config_data = updated
+        self.viewer.sync_main_device_controls(
+            updated.get("port", ""),
+            updated.get("slave_id", 1),
+        )
+        applied_live = self.viewer.apply_runtime_config(updated)
+        if applied_live:
+            tip = "配置已写入，并已对当前运行中的控制即时生效。"
+        else:
+            tip = "配置已写入。若控制未运行，启动后将使用新参数。"
         QMessageBox.information(
             self,
             "已保存",
-            f"配置已写入 gripper.json，画面旋转已写入:\n{layout_path}\n重启控制程序后完整生效。",
+            f"{tip}\n画面旋转已写入:\n{layout_path}",
         )
 
     def _adjust(self, side, action):
@@ -3148,11 +3282,13 @@ class GripperDemo02Viewer(QMainWindow):
         dialog.show()
         dialog.raise_()
 
-    def _update_camera_argv(self, config_key, source):
+    def _update_config_argv(self, config_key, source):
         args = list(self.argv or [])
         option_names = {
             "video1": ("--video1", "-v1"),
             "video2": ("--video2", "-v2"),
+            "port": ("--port",),
+            "slave_id": ("--slave-id",),
         }[config_key]
         for index, arg in enumerate(args):
             if arg in option_names and index + 1 < len(args):
@@ -3196,8 +3332,8 @@ class GripperDemo02Viewer(QMainWindow):
             QMessageBox.warning(self, "保存失败", f"无法保存摄像头配置:\n{exc}")
             return False
 
-        self._update_camera_argv("video1", left_source)
-        self._update_camera_argv("video2", right_source)
+        self._update_config_argv("video1", left_source)
+        self._update_config_argv("video2", right_source)
         if self.visual_settings_dialog is not None:
             for config_key, source in (("video1", left_source), ("video2", right_source)):
                 self.visual_settings_dialog.config_data[config_key] = source
@@ -3210,6 +3346,120 @@ class GripperDemo02Viewer(QMainWindow):
         self.restart_control()
         return True
 
+    def _load_serial_device_config(self):
+        port = ""
+        slave_id = 1
+        try:
+            with open(self._control_config_path(), "r", encoding="utf-8") as f:
+                data = json.load(f)
+            port = str(data.get("port", port))
+            slave_id = int(data.get("slave_id", slave_id))
+        except Exception:
+            pass
+        return port, max(1, min(247, slave_id))
+
+    def sync_main_device_controls(self, port, slave_id):
+        if not hasattr(self, "main_port_combo"):
+            return
+        port = str(port)
+        index = self.main_port_combo.findData(port)
+        if index < 0:
+            self.main_port_combo.addItem(port, port)
+            index = self.main_port_combo.count() - 1
+        self.main_port_combo.setCurrentIndex(index)
+        self.main_slave_id_spin.setValue(max(1, min(247, int(slave_id))))
+
+    @staticmethod
+    def _combo_source_value(combo):
+        selected = combo.currentData()
+        if combo.currentIndex() >= 0 and selected is not None:
+            return str(selected)
+        return combo.currentText().strip()
+
+    def search_main_serial_ports(self):
+        current = self._combo_source_value(self.main_port_combo)
+        if serial_list_ports is None:
+            QMessageBox.warning(self, "搜索失败", "PySerial 串口枚举模块未安装。")
+            return
+        try:
+            ports = sorted(
+                serial_list_ports.comports(),
+                key=lambda port: (
+                    0
+                    if "USB" in f"{getattr(port, 'description', '')} {getattr(port, 'hwid', '')}".upper()
+                    else 1,
+                    str(port.device),
+                ),
+            )
+        except Exception as exc:
+            QMessageBox.warning(self, "搜索失败", f"无法枚举串口:\n{exc}")
+            return
+
+        self.main_port_combo.clear()
+        selected_index = -1
+        for port in ports:
+            device = str(port.device)
+            description = str(port.description or "未知设备")
+            self.main_port_combo.addItem(f"{device}  [{description}]", device)
+            if device == current:
+                selected_index = self.main_port_combo.count() - 1
+        if current and selected_index < 0:
+            self.main_port_combo.addItem(f"{current}  [当前配置]", current)
+        if selected_index < 0 and ports:
+            selected_index = 0
+        if selected_index >= 0:
+            self.main_port_combo.setCurrentIndex(selected_index)
+        if not ports:
+            QMessageBox.information(self, "搜索串口", "未发现可用串口，已保留当前配置。")
+            return
+        self.main_port_combo.setToolTip(f"找到 {len(ports)} 个串口")
+        QTimer.singleShot(50, self.main_port_combo.showPopup)
+
+    def apply_main_device_config(self):
+        port = self._combo_source_value(self.main_port_combo)
+        slave_id = int(self.main_slave_id_spin.value())
+        if not port:
+            QMessageBox.warning(self, "配置无效", "请选择或输入夹爪串口。")
+            return False
+
+        config_path = self._control_config_path()
+        temp_path = config_path.with_suffix(config_path.suffix + ".tmp")
+        try:
+            with open(config_path, "r", encoding="utf-8") as f:
+                data = json.load(f)
+            if not isinstance(data, dict):
+                raise ValueError("配置文件根节点不是 JSON 对象")
+            if str(data.get("port", "")) == port and int(data.get("slave_id", 1)) == slave_id:
+                return True
+            data["port"] = port
+            data["slave_id"] = slave_id
+            with open(temp_path, "w", encoding="utf-8") as f:
+                json.dump(data, f, ensure_ascii=False, indent=2)
+                f.write("\n")
+            os.replace(temp_path, config_path)
+        except Exception as exc:
+            try:
+                if temp_path.exists():
+                    temp_path.unlink()
+            except OSError:
+                pass
+            QMessageBox.warning(self, "保存失败", f"无法保存夹爪设备配置:\n{exc}")
+            return False
+
+        self._update_config_argv("port", port)
+        self._update_config_argv("slave_id", str(slave_id))
+        if self.visual_settings_dialog is not None:
+            for config_key, value in (("port", port), ("slave_id", slave_id)):
+                self.visual_settings_dialog.config_data[config_key] = value
+                self.visual_settings_dialog._set_control_value(config_key, value)
+        QMessageBox.information(
+            self,
+            "夹爪设备已更新",
+            f"串口: {port}\n夹爪从站 ID: {slave_id}\n控制程序将自动重启。",
+        )
+        self.restart_control()
+        return True
+
     def _load_position_config(self):
         open_pos = 0
         close_pos = 9000
@@ -3377,6 +3627,36 @@ class GripperDemo02Viewer(QMainWindow):
         self.smart_mode_button.setChecked(True)
         self.smart_mode_button.clicked.connect(lambda: self.set_control_mode("smart"))
         self.manual_mode_button.clicked.connect(lambda: self.set_control_mode("manual"))
+
+        self.rapid_behavior_button = AnimatedButton("迅速开合")
+        self.rapid_behavior_button.setObjectName("ControlModeButton")
+        self.rapid_behavior_button.setCheckable(True)
+        self.rapid_behavior_button.setToolTip("极端跟手：接触后尽快可释放，优先开合速度")
+        self.stable_behavior_button = AnimatedButton("夹持稳定")
+        self.stable_behavior_button.setObjectName("ControlModeButton")
+        self.stable_behavior_button.setCheckable(True)
+        self.stable_behavior_button.setToolTip("极端稳夹：加长保护与确认，优先防误开")
+        self.behavior_button_group = QButtonGroup(self)
+        self.behavior_button_group.setExclusive(True)
+        self.behavior_button_group.addButton(self.rapid_behavior_button)
+        self.behavior_button_group.addButton(self.stable_behavior_button)
+        self.stable_behavior_button.setChecked(True)
+        self.rapid_behavior_button.clicked.connect(
+            lambda: self.set_grip_behavior_mode("rapid")
+        )
+        self.stable_behavior_button.clicked.connect(
+            lambda: self.set_grip_behavior_mode("stable")
+        )
+        self._sync_behavior_buttons(self._load_grip_behavior_mode())
+
+        self.record_button = AnimatedButton("录制数据")
+        self.record_button.setObjectName("ControlModeButton")
+        self.record_button.setCheckable(True)
+        self.record_button.setToolTip(
+            "录制控制过程中的力/状态/释放判定到 logs/sessions/*.jsonl，便于后续优化张开检测"
+        )
+        self.record_button.clicked.connect(self.toggle_session_recording)
+
         open_pos, close_pos, position_min, position_max = self._load_position_config()
         self.gripper_open_pos = open_pos
         self.gripper_close_pos = close_pos
@@ -3390,10 +3670,13 @@ class GripperDemo02Viewer(QMainWindow):
         self.position_control.slider.sliderReleased.connect(self.move_to_slider_position)
         self.position_control.minus_button.clicked.connect(self.move_to_slider_position)
         self.position_control.plus_button.clicked.connect(self.move_to_slider_position)
-        gripper_layout.addWidget(gripper_title, 0, 0, 1, 2, Qt.AlignLeft | Qt.AlignTop)
+        gripper_layout.addWidget(gripper_title, 0, 0, 1, 1, Qt.AlignLeft | Qt.AlignTop)
+        gripper_layout.addWidget(self.rapid_behavior_button, 0, 1)
+        gripper_layout.addWidget(self.stable_behavior_button, 0, 2)
         gripper_layout.addWidget(self.manual_mode_button, 0, 3)
         gripper_layout.addWidget(self.smart_mode_button, 0, 4)
-        gripper_layout.addWidget(self.speed_control, 1, 0, 1, 4)
+        gripper_layout.addWidget(self.speed_control, 1, 0, 1, 3)
+        gripper_layout.addWidget(self.record_button, 1, 3)
         gripper_layout.addWidget(self.force_control, 2, 0, 1, 4)
         gripper_layout.addWidget(self.position_control, 3, 0, 1, 4)
         gripper_layout.addWidget(self.manual_hold_button, 1, 4)
@@ -3418,6 +3701,29 @@ class GripperDemo02Viewer(QMainWindow):
         sensor_title.setObjectName("SectionTitle")
         sensor_title.setAlignment(Qt.AlignLeft | Qt.AlignTop)
         sensor_panel.set_drag_handle(sensor_title)
+        port, slave_id = self._load_serial_device_config()
+        port_label = QLabel("串口")
+        port_label.setObjectName("MetricLabel")
+        self.main_port_combo = QComboBox()
+        self.main_port_combo.setEditable(True)
+        self.main_port_combo.addItem(port, port)
+        self.main_port_combo.setMinimumWidth(96)
+        self.main_port_combo.setToolTip("夹爪串口")
+        self.main_port_search_button = TopIconButton("search", "搜索夹爪串口")
+        self.main_port_search_button.setFixedSize(26, 26)
+        self.main_port_search_button.setIconSize(QSize(18, 18))
+        self.main_port_search_button.clicked.connect(self.search_main_serial_ports)
+        slave_id_label = QLabel("夹爪从站 ID")
+        slave_id_label.setObjectName("MetricLabel")
+        self.main_slave_id_spin = QSpinBox()
+        self.main_slave_id_spin.setRange(1, 247)
+        self.main_slave_id_spin.setValue(slave_id)
+        self.main_slave_id_spin.setToolTip("Modbus 从站 ID（1-247）")
+        self.main_slave_id_spin.setMaximumWidth(72)
+        self.main_device_apply_button = AnimatedButton("应用")
+        self.main_device_apply_button.setObjectName("ManualButton")
+        self.main_device_apply_button.setToolTip("保存串口和夹爪从站 ID，并重启控制程序")
+        self.main_device_apply_button.clicked.connect(self.apply_main_device_config)
         self.left_sensor_reset_button = TopIconButton("restart", "重启左传感器")
         self.left_sensor_reset_button.setEnabled(False)
         self.left_sensor_reset_button.clicked.connect(
@@ -3429,10 +3735,16 @@ class GripperDemo02Viewer(QMainWindow):
             lambda: self.send_manual_command("restart_right_sensor")
         )
         sensor_layout.addWidget(sensor_title, 0, 0, 1, 8, Qt.AlignLeft | Qt.AlignTop)
+        sensor_layout.addWidget(port_label, 1, 0)
+        sensor_layout.addWidget(self.main_port_combo, 1, 1, 1, 2)
+        sensor_layout.addWidget(self.main_port_search_button, 1, 3)
+        sensor_layout.addWidget(slave_id_label, 1, 4)
+        sensor_layout.addWidget(self.main_slave_id_spin, 1, 5)
+        sensor_layout.addWidget(self.main_device_apply_button, 1, 6, 1, 2)
         self.left_sensor_dot = StatusDot("左传感器", self.left_sensor_reset_button)
         self.right_sensor_dot = StatusDot("右传感器", self.right_sensor_reset_button)
-        sensor_layout.addWidget(self.left_sensor_dot, 1, 0, 1, 4)
-        sensor_layout.addWidget(self.right_sensor_dot, 1, 4, 1, 4)
+        sensor_layout.addWidget(self.left_sensor_dot, 2, 0, 1, 4)
+        sensor_layout.addWidget(self.right_sensor_dot, 2, 4, 1, 4)
         self.left_force = MetricBox("左法向力", "--")
         self.right_force = MetricBox("右法向力", "--")
         self.left_shear_box = MetricBox("左切向力", "--")
@@ -3440,18 +3752,18 @@ class GripperDemo02Viewer(QMainWindow):
         self.force_pct_box = MetricBox("夹爪当前力比例（%）", "--")
         self.target_force_box = MetricBox("夹爪目标力比例（%）", "--")
         self.speed_box = MetricBox("速度", "--")
-        sensor_layout.addWidget(self.left_force, 2, 0, 1, 2)
-        sensor_layout.addWidget(self.right_force, 2, 2, 1, 2)
-        sensor_layout.addWidget(self.left_shear_box, 2, 4, 1, 2)
-        sensor_layout.addWidget(self.right_shear_box, 2, 6, 1, 2)
-        sensor_layout.addWidget(self.force_pct_box, 3, 0, 1, 3)
-        sensor_layout.addWidget(self.target_force_box, 3, 3, 1, 3)
-        sensor_layout.addWidget(self.speed_box, 3, 6, 1, 2)
+        sensor_layout.addWidget(self.left_force, 3, 0, 1, 2)
+        sensor_layout.addWidget(self.right_force, 3, 2, 1, 2)
+        sensor_layout.addWidget(self.left_shear_box, 3, 4, 1, 2)
+        sensor_layout.addWidget(self.right_shear_box, 3, 6, 1, 2)
+        sensor_layout.addWidget(self.force_pct_box, 4, 0, 1, 3)
+        sensor_layout.addWidget(self.target_force_box, 4, 3, 1, 3)
+        sensor_layout.addWidget(self.speed_box, 4, 6, 1, 2)
         for col in range(8):
             sensor_layout.setColumnStretch(col, 1)
-        for row in range(4):
+        for row in range(5):
             sensor_layout.setRowStretch(row, 0)
-        sensor_layout.setRowStretch(4, 1)
+        sensor_layout.setRowStretch(5, 1)
         self._set_button_state(self.button_state)
         self.sensor_control_panel = sensor_panel
         self.gripper_stage.add_floating_control_panel(plot_panel, "plot")
@@ -3620,6 +3932,20 @@ class GripperDemo02Viewer(QMainWindow):
             self.manual_mode_button.setEnabled(mode_enabled)
         if hasattr(self, "smart_mode_button"):
             self.smart_mode_button.setEnabled(mode_enabled)
+        if hasattr(self, "rapid_behavior_button"):
+            self.rapid_behavior_button.setEnabled(True)
+        if hasattr(self, "stable_behavior_button"):
+            self.stable_behavior_button.setEnabled(True)
+        if hasattr(self, "record_button"):
+            recording = (
+                self.controller is not None
+                and getattr(self.controller, "session_recording", False)
+            )
+            self.record_button.setEnabled(state == "running")
+            self.record_button.blockSignals(True)
+            self.record_button.setChecked(bool(recording))
+            self.record_button.setText("录制中…" if recording else "录制数据")
+            self.record_button.blockSignals(False)
         if hasattr(self, "left_sensor_reset_button"):
             self.left_sensor_reset_button.setEnabled(sensor_restart_enabled)
         if hasattr(self, "right_sensor_reset_button"):
@@ -3644,6 +3970,130 @@ class GripperDemo02Viewer(QMainWindow):
             self.manual_mode_button.blockSignals(False)
         self._set_button_state(self.button_state)
 
+    def _load_grip_behavior_mode(self):
+        from gripper.config.behavior_profiles import normalize_grip_behavior_mode
+
+        path = REPO_ROOT / "config" / "gripper.json"
+        try:
+            with open(path, "r", encoding="utf-8") as f:
+                data = json.load(f)
+            return normalize_grip_behavior_mode(data.get("grip_behavior_mode", "stable"))
+        except Exception:
+            return "stable"
+
+    def _sync_behavior_buttons(self, mode):
+        mode = "rapid" if mode == "rapid" else "stable"
+        if hasattr(self, "rapid_behavior_button"):
+            self.rapid_behavior_button.blockSignals(True)
+            self.stable_behavior_button.blockSignals(True)
+            self.rapid_behavior_button.setChecked(mode == "rapid")
+            self.stable_behavior_button.setChecked(mode == "stable")
+            self.rapid_behavior_button.blockSignals(False)
+            self.stable_behavior_button.blockSignals(False)
+
+    def set_grip_behavior_mode(self, mode, persist=True):
+        from gripper.config.behavior_profiles import (
+            apply_grip_behavior_profile,
+            normalize_grip_behavior_mode,
+        )
+
+        try:
+            mode = normalize_grip_behavior_mode(mode)
+        except Exception as exc:
+            QMessageBox.warning(self, "模式无效", str(exc))
+            return None
+
+        self._sync_behavior_buttons(mode)
+        if self.controller is not None:
+            try:
+                self.controller.set_grip_behavior_mode(mode)
+            except Exception as exc:
+                print(f"set_grip_behavior_mode failed: {exc}")
+
+        if persist:
+            path = REPO_ROOT / "config" / "gripper.json"
+            try:
+                with open(path, "r", encoding="utf-8") as f:
+                    data = json.load(f)
+                if not isinstance(data, dict):
+                    data = {}
+                apply_grip_behavior_profile(data, mode)
+                with open(path, "w", encoding="utf-8") as f:
+                    json.dump(data, f, ensure_ascii=False, indent=2)
+                    f.write("\n")
+            except Exception as exc:
+                print(f"persist grip_behavior_mode failed: {exc}")
+
+            dialog = getattr(self, "visual_settings_dialog", None)
+            if dialog is not None and hasattr(dialog, "controls"):
+                if "grip_behavior_mode" in dialog.controls:
+                    dialog.controls["grip_behavior_mode"].blockSignals(True)
+                    dialog._set_control_value("grip_behavior_mode", mode)
+                    dialog.controls["grip_behavior_mode"].blockSignals(False)
+                    dialog._on_behavior_mode_changed()
+        return mode
+
+    def toggle_session_recording(self):
+        if self.controller is None:
+            self.record_button.blockSignals(True)
+            self.record_button.setChecked(False)
+            self.record_button.blockSignals(False)
+            QMessageBox.information(self, "录制数据", "请先启动控制程序再录制。")
+            return
+        try:
+            if self.controller.session_recording:
+                path = self.controller.stop_session_recording()
+                self.record_button.setText("录制数据")
+                self.record_button.setChecked(False)
+                if path is not None:
+                    QMessageBox.information(
+                        self,
+                        "录制已停止",
+                        f"会话数据已保存到:\n{path}",
+                    )
+            else:
+                path = self.controller.start_session_recording(note="ui")
+                self.record_button.setText("录制中…")
+                self.record_button.setChecked(True)
+                QMessageBox.information(
+                    self,
+                    "开始录制",
+                    f"正在写入:\n{path}\n再点一次按钮结束录制。",
+                )
+        except Exception as exc:
+            self.record_button.blockSignals(True)
+            self.record_button.setChecked(False)
+            self.record_button.setText("录制数据")
+            self.record_button.blockSignals(False)
+            QMessageBox.warning(self, "录制失败", str(exc))
+
+    def apply_runtime_config(self, updated):
+        """Push saved JSON fields into the live controller config when possible."""
+        if self.controller is None or not hasattr(self.controller, "config"):
+            return False
+        config = self.controller.config
+        mode = updated.get("grip_behavior_mode")
+        if mode:
+            try:
+                self.controller.set_grip_behavior_mode(mode)
+                self._sync_behavior_buttons(mode)
+            except Exception as exc:
+                print(f"apply grip_behavior_mode failed: {exc}")
+
+        for key, value in updated.items():
+            if key == "grip_behavior_mode":
+                continue
+            if hasattr(config, key):
+                try:
+                    setattr(config, key, value)
+                except Exception:
+                    pass
+        try:
+            self.controller.feedback_processor.reset_filters()
+        except Exception:
+            pass
+        return True
+
     def open_visual_settings(self):
         if self.visual_settings_dialog is None:
             self.visual_settings_dialog = VisualSettingsDialog(self)
@@ -3804,6 +4254,8 @@ class GripperDemo02Viewer(QMainWindow):
         )
         try:
             self.controller.set_control_mode(self.control_mode)
+            behavior = getattr(self.controller.config, "grip_behavior_mode", "stable")
+            self._sync_behavior_buttons(behavior)
         except Exception as exc:
             print(f"control mode init failed: {exc}")
         self.control_thread = threading.Thread(