feat: 视频与控制程序合并

2026-04-04 23:25:52 +08:00
parent 1a41905d4c
commit b0dcf7b571
17 changed files with 1674 additions and 554 deletions
--- a/backend/config/asgi.py
+++ b/backend/config/asgi.py
@@ -9,8 +9,23 @@ https://docs.djangoproject.com/en/5.2/howto/deployment/asgi/

 import os

+from channels.auth import AuthMiddlewareStack
+from channels.routing import ProtocolTypeRouter, URLRouter
+from channels.security.websocket import OriginValidator
+from django.conf import settings
 from django.core.asgi import get_asgi_application

 os.environ.setdefault('DJANGO_SETTINGS_MODULE', 'config.settings')

-application = get_asgi_application()
+django_asgi_app = get_asgi_application()
+
+from monitoring.routing import websocket_urlpatterns
+
+
+application = ProtocolTypeRouter({
+    "http": django_asgi_app,
+    "websocket": OriginValidator(
+        AuthMiddlewareStack(URLRouter(websocket_urlpatterns)),
+        settings.CONTROL_WS_ALLOWED_ORIGINS,
+    ),
+})
--- a/backend/config/settings.py
+++ b/backend/config/settings.py
@@ -1,7 +1,13 @@
+import os
 from pathlib import Path

 BASE_DIR = Path(__file__).resolve().parent.parent

+
+def _split_csv_env(name: str) -> list[str]:
+    value = os.getenv(name, "")
+    return [item.strip().rstrip("/") for item in value.split(",") if item.strip()]
+
 SECRET_KEY = 'django-insecure-pk4scm@ifo%mao6l=j0@-$_v+pg-43^hj4a!199^)zivz-_8xu'
 DEBUG = True
 ALLOWED_HOSTS = ["*"]
@@ -87,3 +93,16 @@ STATIC_URL = 'static/'
 CORS_ALLOW_ALL_ORIGINS = True

 DEFAULT_AUTO_FIELD = 'django.db.models.BigAutoField'
+
+CONTROL_WS_ALLOWED_ORIGINS = _split_csv_env('CONTROL_WS_ALLOWED_ORIGINS') or [
+    'http://127.0.0.1',
+    'http://127.0.0.1:5173',
+    'http://127.0.0.1:4173',
+    'http://127.0.0.1:8001',
+    'https://127.0.0.1',
+    'http://localhost:5173',
+    'http://localhost:4173',
+    'http://localhost',
+    'http://localhost:8001',
+    'https://localhost',
+]
--- a/backend/monitoring/common.py
+++ b/backend/monitoring/common.py
@@ -0,0 +1,176 @@
+from __future__ import annotations
+
+import os
+import struct
+from datetime import UTC, datetime
+from pathlib import Path
+from typing import Any
+
+
+PROJECT_ROOT = Path(__file__).resolve().parents[2]
+WORKSPACE_ROOT = PROJECT_ROOT.parent
+JPEG_FRAME_DIR = WORKSPACE_ROOT / "RobotDataShow" / "jpeg-frames"
+GEOSTREAM_JSON_PATH = WORKSPACE_ROOT / "GeoStream" / "gps_latest.json"
+GEOSTREAM_STALE_SECONDS = 15
+OMNISOCKET_CONFIG_PATH = PROJECT_ROOT / "config" / "omnisocket_demo.yaml"
+
+VIDEO_SOURCE_MODE = os.getenv("VIDEO_SOURCE_MODE", "auto").strip().lower()
+OMNISOCKET_FRAME_FRESH_SECONDS = 2.0
+VIDEO_TIMESTAMP_SAMPLE_SIZE = 10
+VIDEO_TIMESTAMP_TRAILER_BYTES = 8
+VIDEO_TIMESTAMP_ENDIANNESS = "little"
+VIDEO_TIMESTAMP_UNIT = "ms"
+VIDEO_TIMESTAMP_MULTIPLIER_NS = 1_000_000
+VIDEO_TIMESTAMP_MAX_SKEW_NS = 7 * 24 * 60 * 60 * 1_000_000_000
+
+CONTROL_PACKET = struct.Struct("<6f")
+CONTROL_PACKET_SIZE = CONTROL_PACKET.size
+CONTROL_SOURCE_NATIVE_UDP = "native_udp"
+CONTROL_SOURCE_WEB = "web"
+CONTROL_SOURCE_PRIORITY = (CONTROL_SOURCE_NATIVE_UDP, CONTROL_SOURCE_WEB)
+ZERO_CONTROL_PAYLOAD = CONTROL_PACKET.pack(0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+
+
+def utc_iso_now() -> str:
+    return datetime.now(UTC).isoformat(timespec="seconds").replace("+00:00", "Z")
+
+
+def parse_simple_yaml_scalar(value: str) -> Any:
+    if value in {'""', "''"}:
+        return ""
+    if len(value) >= 2 and value[0] == value[-1] and value[0] in {'"', "'"}:
+        return value[1:-1]
+    if value.lower() == "true":
+        return True
+    if value.lower() == "false":
+        return False
+    if value and value.lstrip("-").isdigit():
+        return int(value)
+    return value
+
+
+def load_simple_yaml_config(path: Path) -> dict[str, Any]:
+    parsed: dict[str, Any] = {}
+    current_section: str | None = None
+
+    with path.open("r", encoding="utf-8") as file:
+        for raw_line in file:
+            line = raw_line.split("#", 1)[0].rstrip()
+            if not line.strip():
+                continue
+
+            if not line.startswith(" "):
+                if not line.endswith(":"):
+                    raise ValueError(f"invalid top-level yaml line: {raw_line.strip()}")
+                current_section = line[:-1].strip()
+                parsed[current_section] = {}
+                continue
+
+            if current_section is None:
+                raise ValueError(f"yaml key outside section: {raw_line.strip()}")
+
+            stripped = line.strip()
+            if ":" not in stripped:
+                raise ValueError(f"invalid yaml key line: {raw_line.strip()}")
+
+            key, value = stripped.split(":", 1)
+            parsed[current_section][key.strip()] = parse_simple_yaml_scalar(value.strip())
+
+    return parsed
+
+
+def load_omnisocket_config() -> dict[str, Any]:
+    config: dict[str, Any] = {}
+    if OMNISOCKET_CONFIG_PATH.exists():
+        try:
+            try:
+                import yaml  # type: ignore
+
+                with OMNISOCKET_CONFIG_PATH.open("r", encoding="utf-8") as file:
+                    config = yaml.safe_load(file) or {}
+            except ImportError:
+                config = load_simple_yaml_config(OMNISOCKET_CONFIG_PATH)
+        except Exception:
+            config = {}
+
+    transport_cfg = dict(config.get("transport", {}))
+    video_receiver_cfg = dict(config.get("video_receiver", {}))
+    control_sender_cfg = dict(config.get("control_sender", {}))
+    control_ingress_cfg = dict(config.get("control_ingress", {}))
+
+    transport_cfg["server_addr"] = os.getenv(
+        "OMNISOCKET_SERVER_ADDR",
+        str(transport_cfg.get("server_addr", "127.0.0.1:10909")),
+    )
+    transport_cfg["relay_via"] = os.getenv(
+        "OMNISOCKET_RELAY_VIA",
+        str(transport_cfg.get("relay_via", "")),
+    )
+    transport_cfg["bind_ip"] = os.getenv(
+        "OMNISOCKET_BIND_IP",
+        str(transport_cfg.get("bind_ip", "")),
+    )
+    transport_cfg["bind_device"] = os.getenv(
+        "OMNISOCKET_BIND_DEVICE",
+        str(transport_cfg.get("bind_device", "")),
+    )
+
+    video_receiver_cfg["peer_id"] = os.getenv(
+        "OMNISOCKET_VIDEO_PEER_ID",
+        str(video_receiver_cfg.get("peer_id", "peer-a-video")),
+    )
+    video_receiver_cfg["buffer_bytes"] = int(
+        os.getenv(
+            "OMNISOCKET_BUFFER_BYTES",
+            str(video_receiver_cfg.get("buffer_bytes", 1024 * 1024)),
+        )
+    )
+
+    control_sender_cfg["peer_id"] = os.getenv(
+        "OMNISOCKET_CONTROL_PEER_ID",
+        str(control_sender_cfg.get("peer_id", "peer-a-ctrl")),
+    )
+    control_sender_cfg["target_peer"] = os.getenv(
+        "OMNISOCKET_CONTROL_TARGET_PEER",
+        str(control_sender_cfg.get("target_peer", "peer-b-ctrl")),
+    )
+
+    control_ingress_cfg["native_udp_bind"] = os.getenv(
+        "OMNISOCKET_CONTROL_NATIVE_UDP_BIND",
+        str(control_ingress_cfg.get("native_udp_bind", "127.0.0.1:10921")),
+    )
+    control_ingress_cfg["source_lease_ms"] = int(
+        os.getenv(
+            "OMNISOCKET_CONTROL_SOURCE_LEASE_MS",
+            str(control_ingress_cfg.get("source_lease_ms", 300)),
+        )
+    )
+    control_ingress_cfg["send_rate_hz"] = float(
+        os.getenv(
+            "OMNISOCKET_CONTROL_SEND_RATE_HZ",
+            str(control_ingress_cfg.get("send_rate_hz", 20.0)),
+        )
+    )
+    control_ingress_cfg["zero_burst_packets"] = int(
+        os.getenv(
+            "OMNISOCKET_CONTROL_ZERO_BURST_PACKETS",
+            str(control_ingress_cfg.get("zero_burst_packets", 3)),
+        )
+    )
+
+    return {
+        "transport": transport_cfg,
+        "video_receiver": video_receiver_cfg,
+        "control_sender": control_sender_cfg,
+        "control_ingress": control_ingress_cfg,
+    }
+
+
+def parse_host_port(bind_addr: str) -> tuple[str, int]:
+    host, port_text = bind_addr.rsplit(":", 1)
+    host = host.strip() or "127.0.0.1"
+    port = int(port_text)
+    if port <= 0 or port > 65535:
+        raise ValueError(f"invalid port in bind address: {bind_addr}")
+    return host, port
+
--- a/backend/monitoring/consumers.py
+++ b/backend/monitoring/consumers.py
@@ -0,0 +1,42 @@
+from __future__ import annotations
+
+import json
+
+from channels.generic.websocket import WebsocketConsumer
+
+from .common import CONTROL_PACKET_SIZE, CONTROL_SOURCE_WEB
+from .services import control_arbiter, native_control_ingress
+
+
+class ControlConsumer(WebsocketConsumer):
+    def connect(self) -> None:
+        control_arbiter.ensure_started()
+        native_control_ingress.ensure_started()
+        self.accept()
+        self.send(
+            text_data=json.dumps(
+                {
+                    "type": "ready",
+                    "packet_bytes": CONTROL_PACKET_SIZE,
+                }
+            )
+        )
+
+    def receive(self, text_data: str | None = None, bytes_data: bytes | None = None) -> None:
+        if bytes_data is None:
+            self.send(text_data=json.dumps({"type": "error", "detail": "binary control payload required"}))
+            return
+
+        if len(bytes_data) != CONTROL_PACKET_SIZE:
+            self.send(
+                text_data=json.dumps(
+                    {
+                        "type": "error",
+                        "detail": f"expected {CONTROL_PACKET_SIZE} bytes, got {len(bytes_data)}",
+                    }
+                )
+            )
+            return
+
+        control_arbiter.ingest_command(CONTROL_SOURCE_WEB, bytes_data)
+
--- a/backend/monitoring/control.py
+++ b/backend/monitoring/control.py
@@ -0,0 +1,423 @@
+from __future__ import annotations
+
+import socket
+import sys
+import threading
+import time
+from typing import Any
+
+from .common import (
+    CONTROL_PACKET_SIZE,
+    CONTROL_SOURCE_NATIVE_UDP,
+    CONTROL_SOURCE_PRIORITY,
+    ZERO_CONTROL_PAYLOAD,
+    WORKSPACE_ROOT,
+    load_omnisocket_config,
+    parse_host_port,
+)
+from .video import safe_kcp_stats
+
+
+class OmniSocketControlSender:
+    def __init__(self) -> None:
+        self._lock = threading.Lock()
+        self._session = None
+        self._session_cls = None
+        self._msg_type_error = None
+        self._control_defaults: dict[str, Any] = {}
+        self._started = False
+        self._drain_thread: threading.Thread | None = None
+        self._closing = threading.Event()
+        self._target_peer = ""
+        self._send_count = 0
+        self._send_errors = 0
+        self._drain_errors = 0
+        self._last_error = ""
+        self._load_backend()
+
+    def _load_backend(self) -> None:
+        try:
+            self._import_backend()
+        except Exception as error:  # pragma: no cover - optional runtime dependency
+            self._last_error = f"omnisocket import failed: {error}"
+
+    def _import_backend(self) -> None:
+        try:
+            from omnisocket import CONTROL_DEFAULTS, MSG_TYPE_ERROR, Session  # type: ignore
+        except ImportError:
+            python_dir = WORKSPACE_ROOT / "OmniSocketGo" / "python"
+            if python_dir.exists():
+                sys.path.insert(0, str(python_dir))
+            from omnisocket import CONTROL_DEFAULTS, MSG_TYPE_ERROR, Session  # type: ignore
+
+        self._session_cls = Session
+        self._msg_type_error = MSG_TYPE_ERROR
+        self._control_defaults = dict(CONTROL_DEFAULTS)
+
+    def _connect_session(self):
+        assert self._session_cls is not None
+
+        config = load_omnisocket_config()
+        transport_cfg = config.get("transport", {})
+        control_cfg = config.get("control_sender", {})
+
+        session = self._session_cls()
+        session.connect(
+            server_addr=str(transport_cfg.get("server_addr", "127.0.0.1:10909")),
+            peer_id=str(control_cfg.get("peer_id", "peer-a-ctrl")),
+            relay_via=str(transport_cfg.get("relay_via", "")),
+            bind_ip=str(transport_cfg.get("bind_ip", "")),
+            bind_device=str(transport_cfg.get("bind_device", "")),
+            **self._control_defaults,
+        )
+        target_peer = str(control_cfg.get("target_peer", "peer-b-ctrl"))
+        return session, target_peer
+
+    def ensure_started(self) -> None:
+        if self._session_cls is None:
+            return
+
+        with self._lock:
+            if self._started and self._session is not None:
+                return
+            session, target_peer = self._connect_session()
+            self._session = session
+            self._target_peer = target_peer
+            self._closing.clear()
+            self._started = True
+            self._last_error = ""
+            self._drain_thread = threading.Thread(
+                target=self._drain_loop,
+                name="omnisocket-control-drain",
+                daemon=True,
+            )
+            self._drain_thread.start()
+
+    def _reset_session(self, session: Any | None) -> None:
+        with self._lock:
+            if session is not None and session is not self._session:
+                return
+            current = self._session
+            self._session = None
+            self._started = False
+        if current is not None:
+            try:
+                current.close()
+            except Exception:
+                pass
+
+    def send_payload(self, payload: bytes) -> None:
+        if len(payload) != CONTROL_PACKET_SIZE:
+            raise ValueError(f"expected {CONTROL_PACKET_SIZE} bytes, got {len(payload)}")
+        self.ensure_started()
+        with self._lock:
+            session = self._session
+            target_peer = self._target_peer
+
+        if session is None:
+            raise RuntimeError("control session is not available")
+
+        try:
+            session.send(to=target_peer, data=payload)
+        except Exception as error:
+            with self._lock:
+                self._send_errors += 1
+                self._last_error = str(error)
+            self._reset_session(session)
+            raise
+
+        with self._lock:
+            self._send_count += 1
+
+    def send_zero_burst(self, count: int) -> None:
+        for _ in range(max(0, count)):
+            try:
+                self.send_payload(ZERO_CONTROL_PAYLOAD)
+            except Exception:
+                return
+
+    def _drain_loop(self) -> None:
+        while not self._closing.is_set():
+            with self._lock:
+                session = self._session
+            if session is None:
+                return
+
+            try:
+                result = session.recv(timeout_ms=100)
+            except Exception as error:
+                with self._lock:
+                    self._drain_errors += 1
+                    self._last_error = str(error)
+                if not self._closing.is_set():
+                    self._reset_session(session)
+                return
+
+            if result is None:
+                continue
+
+            from_peer, msg_type, payload = result
+            if msg_type == self._msg_type_error:
+                text = payload.decode("utf-8", errors="replace")
+                with self._lock:
+                    self._last_error = f"server error from {from_peer}: {text}"
+
+    def session_stats(self) -> dict[str, Any]:
+        with self._lock:
+            session = self._session
+        if session is None:
+            return {"connected": 0}
+        try:
+            return dict(session.stats())
+        except Exception:
+            return {"connected": 0}
+
+    def session_kcp_stats(self) -> dict[str, Any]:
+        with self._lock:
+            session = self._session
+        return safe_kcp_stats(session)
+
+    def get_status(self) -> dict[str, Any]:
+        config = load_omnisocket_config()
+        control_cfg = config.get("control_sender", {})
+        with self._lock:
+            return {
+                "backend_ready": self._session_cls is not None,
+                "started": self._started,
+                "connected": self._session is not None,
+                "peer_id": str(control_cfg.get("peer_id", "")),
+                "target_peer": str(control_cfg.get("target_peer", "")),
+                "send_count": self._send_count,
+                "send_errors": self._send_errors,
+                "drain_errors": self._drain_errors,
+                "last_error": self._last_error,
+            }
+
+    def close(self) -> None:
+        self._closing.set()
+        self.send_zero_burst(1)
+        self._reset_session(None)
+        drain_thread = self._drain_thread
+        if drain_thread is not None and drain_thread.is_alive():
+            drain_thread.join(timeout=0.5)
+
+
+class ControlArbiter:
+    def __init__(self, sender: OmniSocketControlSender) -> None:
+        self._sender = sender
+        self._lock = threading.Lock()
+        self._thread: threading.Thread | None = None
+        self._closing = threading.Event()
+        self._started = False
+        self._source_lease_ms = 300
+        self._send_rate_hz = 20.0
+        self._zero_burst_packets = 3
+        self._latest_by_source: dict[str, tuple[bytes, float]] = {}
+        self._packet_counts = {source: 0 for source in CONTROL_SOURCE_PRIORITY}
+        self._last_payload = ZERO_CONTROL_PAYLOAD
+        self._last_sent_at = 0.0
+        self._active_source: str | None = None
+        self._last_error = ""
+
+    def _load_config(self) -> None:
+        cfg = load_omnisocket_config().get("control_ingress", {})
+        self._source_lease_ms = max(50, int(cfg.get("source_lease_ms", 300)))
+        self._send_rate_hz = max(1.0, float(cfg.get("send_rate_hz", 20.0)))
+        self._zero_burst_packets = max(1, int(cfg.get("zero_burst_packets", 3)))
+
+    def ensure_started(self) -> None:
+        self._load_config()
+        with self._lock:
+            if self._started:
+                return
+            self._started = True
+            self._thread = threading.Thread(
+                target=self._send_loop,
+                name="control-arbiter",
+                daemon=True,
+            )
+            self._thread.start()
+
+    def ingest_command(self, source: str, payload: bytes) -> None:
+        if source not in CONTROL_SOURCE_PRIORITY:
+            raise ValueError(f"unsupported control source: {source}")
+        if len(payload) != CONTROL_PACKET_SIZE:
+            raise ValueError(f"expected {CONTROL_PACKET_SIZE} bytes, got {len(payload)}")
+
+        self.ensure_started()
+        now = time.monotonic()
+        with self._lock:
+            self._latest_by_source[source] = (payload, now)
+            self._packet_counts[source] += 1
+
+    def _resolve_active_locked(self, now: float) -> tuple[str | None, bytes, int]:
+        lease_seconds = self._source_lease_ms / 1000.0
+        expired_sources = [
+            source
+            for source, (_, updated_at) in self._latest_by_source.items()
+            if (now - updated_at) > lease_seconds
+        ]
+        for source in expired_sources:
+            self._latest_by_source.pop(source, None)
+
+        for source in CONTROL_SOURCE_PRIORITY:
+            entry = self._latest_by_source.get(source)
+            if entry is None:
+                continue
+            payload, updated_at = entry
+            remaining_ms = max(0, int((lease_seconds - (now - updated_at)) * 1000))
+            return source, payload, remaining_ms
+
+        return None, ZERO_CONTROL_PAYLOAD, 0
+
+    def _send_loop(self) -> None:
+        interval = 1.0 / max(self._send_rate_hz, 1.0)
+        previous_active: str | None = None
+
+        while not self._closing.is_set():
+            now = time.monotonic()
+            with self._lock:
+                active_source, payload, _lease_ms = self._resolve_active_locked(now)
+                self._active_source = active_source
+                self._last_payload = payload
+
+            if previous_active is not None and active_source is None:
+                try:
+                    self._sender.send_zero_burst(self._zero_burst_packets)
+                except Exception as error:
+                    with self._lock:
+                        self._last_error = str(error)
+            elif active_source is not None:
+                try:
+                    self._sender.send_payload(payload)
+                    with self._lock:
+                        self._last_sent_at = time.monotonic()
+                        self._last_error = ""
+                except Exception as error:
+                    with self._lock:
+                        self._last_error = str(error)
+
+            previous_active = active_source
+            self._closing.wait(interval)
+
+        try:
+            self._sender.send_zero_burst(self._zero_burst_packets)
+        except Exception:
+            pass
+
+    def get_status(self) -> dict[str, Any]:
+        self.ensure_started()
+        now = time.monotonic()
+        with self._lock:
+            active_source, _payload, lease_ms = self._resolve_active_locked(now)
+            return {
+                "active_source": active_source,
+                "control_lease_remaining_ms": lease_ms,
+                "packet_counts": dict(self._packet_counts),
+                "send_rate_hz": self._send_rate_hz,
+                "source_lease_ms": self._source_lease_ms,
+                "zero_burst_packets": self._zero_burst_packets,
+                "last_error": self._last_error,
+                "last_sent_at_monotonic": self._last_sent_at,
+            }
+
+    def close(self) -> None:
+        self._closing.set()
+        thread = self._thread
+        if thread is not None and thread.is_alive():
+            thread.join(timeout=0.5)
+
+
+class NativeUdpControlIngress:
+    def __init__(self, arbiter: ControlArbiter) -> None:
+        self._arbiter = arbiter
+        self._lock = threading.Lock()
+        self._thread: threading.Thread | None = None
+        self._closing = threading.Event()
+        self._started = False
+        self._bind_addr = "127.0.0.1:10921"
+        self._packets_received = 0
+        self._invalid_packets = 0
+        self._last_sender = ""
+        self._last_error = ""
+
+    def ensure_started(self) -> None:
+        bind_addr = str(load_omnisocket_config().get("control_ingress", {}).get("native_udp_bind", "127.0.0.1:10921"))
+        with self._lock:
+            self._bind_addr = bind_addr
+            if self._closing.is_set():
+                return
+            if self._thread is not None and self._thread.is_alive():
+                return
+            self._started = True
+            self._thread = threading.Thread(
+                target=self._run,
+                name="native-udp-control-ingress",
+                daemon=True,
+            )
+            self._thread.start()
+
+    def _run(self) -> None:
+        try:
+            try:
+                host, port = parse_host_port(self._bind_addr)
+                sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+                sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+                sock.bind((host, port))
+                sock.settimeout(0.1)
+            except Exception as error:
+                with self._lock:
+                    self._last_error = str(error)
+                return
+
+            with sock:
+                while not self._closing.is_set():
+                    try:
+                        payload, sender_addr = sock.recvfrom(CONTROL_PACKET_SIZE + 64)
+                    except socket.timeout:
+                        continue
+                    except OSError as error:
+                        with self._lock:
+                            if not self._closing.is_set():
+                                self._last_error = str(error)
+                        return
+
+                    with self._lock:
+                        self._last_sender = f"{sender_addr[0]}:{sender_addr[1]}"
+
+                    if len(payload) != CONTROL_PACKET_SIZE:
+                        with self._lock:
+                            self._invalid_packets += 1
+                        continue
+
+                    try:
+                        self._arbiter.ingest_command(CONTROL_SOURCE_NATIVE_UDP, payload)
+                    except Exception as error:
+                        with self._lock:
+                            self._last_error = str(error)
+                        continue
+
+                    with self._lock:
+                        self._packets_received += 1
+        finally:
+            with self._lock:
+                self._started = False
+                self._thread = None
+
+    def get_status(self) -> dict[str, Any]:
+        self.ensure_started()
+        with self._lock:
+            return {
+                "started": self._started,
+                "bind_addr": self._bind_addr,
+                "packets_received": self._packets_received,
+                "invalid_packets": self._invalid_packets,
+                "last_sender": self._last_sender,
+                "last_error": self._last_error,
+            }
+
+    def close(self) -> None:
+        self._closing.set()
+        thread = self._thread
+        if thread is not None and thread.is_alive():
+            thread.join(timeout=0.5)
--- a/backend/monitoring/routing.py
+++ b/backend/monitoring/routing.py
@@ -0,0 +1,9 @@
+from django.urls import re_path
+
+from .consumers import ControlConsumer
+
+
+websocket_urlpatterns = [
+    re_path(r"^ws/control/$", ControlConsumer.as_asgi()),
+]
+
--- a/backend/monitoring/services.py
+++ b/backend/monitoring/services.py
@@ -1,523 +1,22 @@
 from __future__ import annotations

-from collections import deque
-import json
-import math
-import os
-import sys
-import threading
-import time
-from datetime import UTC, datetime
-from pathlib import Path
-from typing import Any, Iterator
+from .control import ControlArbiter, NativeUdpControlIngress, OmniSocketControlSender
+from .telemetry import GpsDataService, NetworkTelemetryService
+from .video import OmniSocketVideoReceiver, VideoFrameService


-PROJECT_ROOT = Path(__file__).resolve().parents[2]
-WORKSPACE_ROOT = PROJECT_ROOT.parent
-JPEG_FRAME_DIR = WORKSPACE_ROOT / "RobotDataShow" / "jpeg-frames"
-# GPS 数据 JSON 文件路径
-GEOSTREAM_JSON_PATH = WORKSPACE_ROOT / "GeoStream" / "gps_latest.json"
-GEOSTREAM_STALE_SECONDS = 15
-OMNISOCKET_CONFIG_PATH = PROJECT_ROOT / "config" / "omnisocket_demo.yaml"
-VIDEO_SOURCE_MODE = os.getenv("VIDEO_SOURCE_MODE", "auto").strip().lower()
-OMNISOCKET_FRAME_FRESH_SECONDS = 2.0
-VIDEO_TIMESTAMP_SAMPLE_SIZE = 10
-VIDEO_TIMESTAMP_TRAILER_BYTES = 8
-VIDEO_TIMESTAMP_ENDIANNESS = "little"
-VIDEO_TIMESTAMP_UNIT = "ms"
-VIDEO_TIMESTAMP_MULTIPLIER_NS = 1_000_000
-VIDEO_TIMESTAMP_MAX_SKEW_NS = 7 * 24 * 60 * 60 * 1_000_000_000
+_video_receiver = OmniSocketVideoReceiver()
+_control_sender = OmniSocketControlSender()

+control_arbiter = ControlArbiter(_control_sender)
+native_control_ingress = NativeUdpControlIngress(control_arbiter)

-def utc_iso_now() -> str:
-    return datetime.now(UTC).isoformat(timespec="seconds").replace("+00:00", "Z")
-
-
-class OmniSocketVideoReceiver:
-    def __init__(self) -> None:
-        self._lock = threading.Lock()
-        self._thread: threading.Thread | None = None
-        self._started = False
-        self._session = None
-        self._session_cls = None
-        self._binary_msg_type = None
-        self._video_defaults: dict[str, Any] = {}
-        self._latest_frame: bytes | None = None
-        self._latest_received_at = 0.0
-        self._latest_sequence: int | None = None
-        self._latest_latency_ms: float | None = None
-        self._latest_timestamp_unit: str | None = None
-        self._latest_timestamp_endianness: str | None = None
-        self._latency_samples_ms: deque[float] = deque(maxlen=VIDEO_TIMESTAMP_SAMPLE_SIZE)
-        self._frames_received = 0
-        self._last_error = ""
-        self._load_backend()
-
-    def _load_backend(self) -> None:
-        # 服务启动时先尝试导入一次 Python/C 扩展。
-        try:
-            self._import_backend()
-        except Exception as error:  # pragma: no cover - 可选的运行时依赖
-            self._last_error = f"omnisocket import failed: {error}"
-
-    def _import_backend(self) -> None:
-        # 优先使用已经安装到当前 Python 环境里的 omnisocket。
-        # 如果导入失败，再尝试样例目录下的本地 python 路径。
-        try:
-            from omnisocket import MSG_TYPE_BINARY, Session, VIDEO_DEFAULTS  # type: ignore
-        except ImportError:
-            python_dir = WORKSPACE_ROOT / "OmniSocketGo" / "python"
-            if python_dir.exists():
-                sys.path.insert(0, str(python_dir))
-            from omnisocket import MSG_TYPE_BINARY, Session, VIDEO_DEFAULTS  # type: ignore
-
-        self._binary_msg_type = MSG_TYPE_BINARY
-        self._session_cls = Session
-        self._video_defaults = dict(VIDEO_DEFAULTS)
-
-    def ensure_started(self) -> None:
-        # 当第一次请求帧或状态时，再懒启动后台接收线程。
-        if self._session_cls is None or self._binary_msg_type is None:
-            return
-
-        with self._lock:
-            if self._started:
-                return
-            self._started = True
-            self._thread = threading.Thread(
-                target=self._run,
-                name="omnisocket-video-receiver",
-                daemon=True,
-            )
-            self._thread.start()
-
-    def _load_config(self) -> dict[str, Any]:
-        # 这里保持和 SampleCData/omnisocket_video_receiver.py 一样的配置结构：
-        # transport + video_receiver。
-        # 即使配置文件不存在，也允许回退到默认值继续运行。
-        config: dict[str, Any] = {}
-        if OMNISOCKET_CONFIG_PATH.exists():
-            try:
-                try:
-                    import yaml  # type: ignore
-
-                    with OMNISOCKET_CONFIG_PATH.open("r", encoding="utf-8") as file:
-                        config = yaml.safe_load(file) or {}
-                except ImportError:
-                    # 当前配置文件结构非常简单，缺少 PyYAML 时用简化解析器兜底。
-                    config = self._load_simple_yaml_config(OMNISOCKET_CONFIG_PATH)
-            except Exception as error:  # pragma: no cover - 可选依赖
-                self._last_error = f"config load failed: {error}"
-
-        transport_cfg = dict(config.get("transport", {}))
-        video_cfg = dict(config.get("video_receiver", {}))
-
-        transport_cfg["server_addr"] = os.getenv(
-            "OMNISOCKET_SERVER_ADDR",
-            str(transport_cfg.get("server_addr", "127.0.0.1:10909")),
-        )
-        transport_cfg["relay_via"] = os.getenv(
-            "OMNISOCKET_RELAY_VIA",
-            str(transport_cfg.get("relay_via", "")),
-        )
-        transport_cfg["bind_ip"] = os.getenv(
-            "OMNISOCKET_BIND_IP",
-            str(transport_cfg.get("bind_ip", "")),
-        )
-        transport_cfg["bind_device"] = os.getenv(
-            "OMNISOCKET_BIND_DEVICE",
-            str(transport_cfg.get("bind_device", "")),
-        )
-        video_cfg["peer_id"] = os.getenv(
-            "OMNISOCKET_VIDEO_PEER_ID",
-            str(video_cfg.get("peer_id", "peer-a-video")),
-        )
-        video_cfg["buffer_bytes"] = int(
-            os.getenv(
-                "OMNISOCKET_BUFFER_BYTES",
-                str(video_cfg.get("buffer_bytes", 1024 * 1024)),
-            )
-        )
-
-        return {
-            "transport": transport_cfg,
-            "video_receiver": video_cfg,
-        }
-
-    def _load_simple_yaml_config(self, path: Path) -> dict[str, Any]:
-        parsed: dict[str, Any] = {}
-        current_section: str | None = None
-
-        with path.open("r", encoding="utf-8") as file:
-            for raw_line in file:
-                line = raw_line.split("#", 1)[0].rstrip()
-                if not line.strip():
-                    continue
-
-                if not line.startswith(" "):
-                    if not line.endswith(":"):
-                        raise ValueError(f"invalid top-level yaml line: {raw_line.strip()}")
-                    current_section = line[:-1].strip()
-                    parsed[current_section] = {}
-                    continue
-
-                if current_section is None:
-                    raise ValueError(f"yaml key outside section: {raw_line.strip()}")
-
-                stripped = line.strip()
-                if ":" not in stripped:
-                    raise ValueError(f"invalid yaml key line: {raw_line.strip()}")
-
-                key, value = stripped.split(":", 1)
-                parsed[current_section][key.strip()] = self._parse_simple_yaml_scalar(value.strip())
-
-        return parsed
-
-    def _parse_simple_yaml_scalar(self, value: str) -> Any:
-        if value in {'""', "''"}:
-            return ""
-        if len(value) >= 2 and value[0] == value[-1] and value[0] in {'"', "'"}:
-            return value[1:-1]
-        if value.lower() == "true":
-            return True
-        if value.lower() == "false":
-            return False
-        if value and value.lstrip("-").isdigit():
-            return int(value)
-        return value
-
-    def _connect_session(self):
-        # 这里和样例接收器一致：创建 Session()，然后使用 transport/video 配置建立连接。
-        assert self._session_cls is not None
-
-        config = self._load_config()
-        transport_cfg = config.get("transport", {})
-        video_cfg = config.get("video_receiver", {})
-
-        session = self._session_cls()
-        session.connect(
-            server_addr=str(transport_cfg.get("server_addr", "127.0.0.1:10909")),
-            peer_id=str(video_cfg.get("peer_id", "peer-a-video")),
-            relay_via=str(transport_cfg.get("relay_via", "")),
-            bind_ip=str(transport_cfg.get("bind_ip", "")),
-            bind_device=str(transport_cfg.get("bind_device", "")),
-            **self._video_defaults,
-        )
-        return session, int(video_cfg.get("buffer_bytes", 1024 * 1024))
-
-    def _extract_jpeg_payload(self, frame: bytes) -> bytes | None:
-        # 同时兼容两种帧格式：
-        # 1. 纯 JPEG 二进制
-        # 2. 前 8 字节是序号，后面才是真正的 JPEG 数据
-        if frame.startswith(b"\xff\xd8"):
-            return frame
-        if len(frame) > 8 and frame[8:10] == b"\xff\xd8":
-            return frame[8:]
-        return None
-
-    def _split_jpeg_frame_and_trailer(self, frame: bytes) -> tuple[bytes, bytes] | None:
-        jpeg_payload = self._extract_jpeg_payload(frame)
-        if jpeg_payload is None:
-            return None
-
-        # 当前发送端协议是 JPEG 末尾固定追加 8 字节 little-endian 毫秒时间戳。
-        if jpeg_payload.endswith(b"\xff\xd9"):
-            return jpeg_payload, b""
-
-        if (
-            len(jpeg_payload) >= VIDEO_TIMESTAMP_TRAILER_BYTES + 2
-            and jpeg_payload[-(VIDEO_TIMESTAMP_TRAILER_BYTES + 2) : -VIDEO_TIMESTAMP_TRAILER_BYTES] == b"\xff\xd9"
-        ):
-            return jpeg_payload[:-VIDEO_TIMESTAMP_TRAILER_BYTES], jpeg_payload[-VIDEO_TIMESTAMP_TRAILER_BYTES:]
-
-        # 兜底兼容旧格式，避免直接丢帧。
-        eoi_index = jpeg_payload.rfind(b"\xff\xd9")
-        if eoi_index < 0:
-            return jpeg_payload, b""
-
-        trailer_start = eoi_index + 2
-        return jpeg_payload[:trailer_start], jpeg_payload[trailer_start:]
-
-    def _extract_jpeg_frame(self, frame: bytes) -> bytes | None:
-        split_payload = self._split_jpeg_frame_and_trailer(frame)
-        if split_payload is None:
-            return None
-        jpeg_frame, _ = split_payload
-        return jpeg_frame
-
-    def _extract_sequence(self, frame: bytes) -> int | None:
-        if len(frame) >= 8 and not frame.startswith(b"\xff\xd8"):
-            return int.from_bytes(frame[:8], "big")
-        return None
-
-    def _extract_frame_tail(self, frame: bytes) -> bytes:
-        split_payload = self._split_jpeg_frame_and_trailer(frame)
-        if split_payload is None:
-            return b""
-        _, trailer = split_payload
-        return trailer
-
-    def _extract_frame_timestamp(self, frame: bytes) -> tuple[int, str, str] | None:
-        trailer = self._extract_frame_tail(frame)
-        if len(trailer) != VIDEO_TIMESTAMP_TRAILER_BYTES:
-            return None
-
-        value = int.from_bytes(trailer, VIDEO_TIMESTAMP_ENDIANNESS, signed=False)
-        if value <= 0:
-            return None
-
-        timestamp_ns = value * VIDEO_TIMESTAMP_MULTIPLIER_NS
-        if abs(time.time_ns() - timestamp_ns) > VIDEO_TIMESTAMP_MAX_SKEW_NS:
-            return None
-
-        return timestamp_ns, VIDEO_TIMESTAMP_UNIT, VIDEO_TIMESTAMP_ENDIANNESS
-
-    def _run(self) -> None:
-        # 后台持续接收循环：
-        # connect -> recv_into(buffer) -> 按 body_len 截出有效内容 -> 把最新 JPEG 帧缓存在内存里
-        while True:
-            try:
-                session, buffer_bytes = self._connect_session()
-                self._session = session
-                self._last_error = ""
-                buffer = bytearray(buffer_bytes)
-
-                while True:
-                    # 从 OmniSocket / C 侧收一帧原始二进制数据到缓冲区
-                    meta = session.recv_into(buffer, timeout_ms=1000)
-                    if meta is None:
-                        continue
-                    if meta.get("msg_type") != self._binary_msg_type:
-                        continue
-
-                    # 真正收到的有效部分切出来，形成当前这一帧
-                    frame = bytes(buffer[: meta["body_len"]])
-                    jpeg_frame = self._extract_jpeg_frame(frame)
-                    if jpeg_frame is None:
-                        self._last_error = "received non-JPEG binary frame"
-                        continue
-
-                    timestamp_meta = self._extract_frame_timestamp(frame)
-                    latency_ms = None
-                    if timestamp_meta is not None:
-                        timestamp_ns, unit, endianness = timestamp_meta
-                        latency_ms = round((time.time_ns() - timestamp_ns) / 1_000_000, 3)
-                    else:
-                        unit = None
-                        endianness = None
-
-                    with self._lock:
-                        # 缓存：这里只保留最新的一张 JPEG 帧，供 Web 接口直接返回给前端。
-                        self._latest_frame = jpeg_frame
-                        self._latest_received_at = time.time()
-                        self._latest_sequence = self._extract_sequence(frame)
-                        self._latest_latency_ms = latency_ms
-                        self._latest_timestamp_unit = unit
-                        self._latest_timestamp_endianness = endianness
-                        if latency_ms is not None:
-                            self._latency_samples_ms.append(latency_ms)
-                        self._frames_received += 1
-            except Exception as error:  # pragma: no cover - 运行时集成路径
-                self._last_error = str(error)
-                time.sleep(2)
-            finally:
-                if self._session is not None:
-                    try:
-                        self._session.close()
-                    except Exception:
-                        pass
-                    self._session = None
-
-    def get_latest_frame(self) -> bytes | None:
-        # 把内存里最新的一张真实 JPEG 帧暴露给 Django 视图层。
-        # 如果这张帧已经过旧，就返回 None，让上层回退到本地模拟帧。
-        self.ensure_started()
-        with self._lock:
-            if self._latest_frame is None:
-                return None
-            if time.time() - self._latest_received_at > OMNISOCKET_FRAME_FRESH_SECONDS:
-                return None
-            return self._latest_frame
-
-    def get_status(self) -> dict[str, Any]:
-        self.ensure_started()
-        config = self._load_config()
-        transport_cfg = config.get("transport", {})
-        video_cfg = config.get("video_receiver", {})
-        with self._lock:
-            has_recent_frame = self._latest_frame is not None and (
-                time.time() - self._latest_received_at <= OMNISOCKET_FRAME_FRESH_SECONDS
-            )
-            if has_recent_frame and self._latest_latency_ms is not None:
-                timing_status = {
-                    "available": True,
-                    "latest_delta_ms": self._latest_latency_ms,
-                    "delta_samples_ms": list(reversed(self._latency_samples_ms)),
-                    "sample_count": len(self._latency_samples_ms),
-                    "sample_window_size": VIDEO_TIMESTAMP_SAMPLE_SIZE,
-                    "timestamp_unit": self._latest_timestamp_unit,
-                    "timestamp_endianness": self._latest_timestamp_endianness,
-                }
-            else:
-                timing_status = {
-                    "available": False,
-                    "latest_delta_ms": None,
-                    "delta_samples_ms": [],
-                    "sample_count": 0,
-                    "sample_window_size": VIDEO_TIMESTAMP_SAMPLE_SIZE,
-                    "timestamp_unit": None,
-                    "timestamp_endianness": None,
-                }
-            return {
-                "backend_ready": self._session_cls is not None,
-                "mode": VIDEO_SOURCE_MODE,
-                "connected": self._session is not None,
-                "has_recent_frame": has_recent_frame,
-                "frames_received": self._frames_received,
-                "latest_sequence": self._latest_sequence,
-                "last_error": self._last_error,
-                "config_path": str(OMNISOCKET_CONFIG_PATH),
-                "server_addr": str(transport_cfg.get("server_addr", "")),
-                "relay_via": str(transport_cfg.get("relay_via", "")),
-                "peer_id": str(video_cfg.get("peer_id", "")),
-                "buffer_bytes": int(video_cfg.get("buffer_bytes", 0)),
-                "timing": timing_status,
-            }
-
-
-class VideoFrameService:
-    def __init__(self) -> None:
-        self._receiver = OmniSocketVideoReceiver()
-
-    def get_status(self) -> dict[str, Any]:
-        receiver_status = self._receiver.get_status()
-        receiver_frame = self._receiver.get_latest_frame()
-
-        # 如果已经收到了真实视频帧，就把当前状态标记为实时模式，给前端显示。
-        if receiver_frame is not None:
-            return {
-                "available": True,
-                "source_mode": "omnisocket-jpeg-live",
-                "frame_count": receiver_status["frames_received"],
-                "fps": 30,
-                "frame_dir": str(JPEG_FRAME_DIR),
-                "source_detail": f"peer stream active, frames={receiver_status['frames_received']}",
-                "receiver": receiver_status,
-                "timing": receiver_status["timing"],
-            }
-
-        wait_detail = receiver_status["last_error"] or (
-            "未实时获取真实值，请检查 OmniSocket 服务、视频发送端和接收配置。"
-        )
-        return {
-            "available": False,
-            "source_mode": "omnisocket-waiting",
-            "frame_count": receiver_status["frames_received"],
-            "fps": 30,
-            "frame_dir": str(JPEG_FRAME_DIR),
-            "source_detail": wait_detail,
-            "receiver": receiver_status,
-            "timing": receiver_status["timing"],
-        }
-
-    def get_next_frame(self) -> bytes:
-        # 优先返回从 Python/C 视频接收器拿到的最新真实 JPEG 帧。
-        receiver_frame = self._receiver.get_latest_frame()
-        if receiver_frame is not None:
-            return receiver_frame
-
-        raise RuntimeError("未实时获取真实值，当前没有可用的真实 JPEG 帧。")
-
-    def iter_mjpeg(self, fps: float = 6.0) -> Iterator[bytes]:
-        frame_interval = 1.0 / max(1.0, min(fps, 30.0))
-
-        while True:
-            frame = self.get_next_frame()
-            header = (
-                b"--frame\r\n"
-                b"Content-Type: image/jpeg\r\n"
-                + f"Content-Length: {len(frame)}\r\n\r\n".encode("ascii")
-            )
-            yield header + frame + b"\r\n"
-            time.sleep(frame_interval)
-
-
-class GpsDataService:
-    def get_latest(self) -> dict[str, Any]:
-        # 优先使用由 GeoStream C 解析器生成的最新数据包。
-        payload = self._read_geostream_payload()
-        if payload is not None:
-            payload["source_mode"] = "geostream-json"
-            payload["updated_at"] = utc_iso_now()
-            return payload
-
-        # 当没有最新的 GPS 文件可用时，退回到使用一个移动的演示点位。
-        return self._build_simulated_payload()
-
-    def _read_geostream_payload(self) -> dict[str, Any] | None:
-        # Django 后端目前还不直接解析串口数据流。
-        # 它只读取由 GeoStream/parse_gps.c 生成的 JSON 文件。
-        if not GEOSTREAM_JSON_PATH.exists():
-            return None
-
-        # 忽略过期的文件，以便 UI 可以退回到使用模拟数据，
-        # 而不是把旧位置当作实时位置来显示。
-        age_seconds = time.time() - GEOSTREAM_JSON_PATH.stat().st_mtime
-        if age_seconds > GEOSTREAM_STALE_SECONDS:
-            return None
-
-        try:
-            with GEOSTREAM_JSON_PATH.open("r", encoding="utf-8") as file:
-                return json.load(file)
-        except (OSError, json.JSONDecodeError):
-            return None
-
-    def _build_simulated_payload(self) -> dict[str, Any]:
-        # 为本地 UI 开发构建一个平滑的伪造轨迹。
-        tick = time.time() / 12.0
-        latitude = 31.2304 + math.sin(tick) * 0.0014
-        longitude = 121.4737 + math.cos(tick) * 0.0018
-
-        return {
-            "has_fix": True,
-            "utc_time": datetime.now(UTC).strftime("%H:%M:%S"),
-            "latitude": round(latitude, 6),
-            "longitude": round(longitude, 6),
-            "satellites": 14 + int((math.sin(tick * 0.7) + 1.0) * 2),
-            "altitude_m": round(6.5 + math.cos(tick * 0.5) * 1.2, 2),
-            "coordinate_system": "WGS84",
-            "source_sentence": "SIMULATED",
-            "raw_coordinate_format": "decimal degrees",
-            "source_mode": "simulated",
-            "updated_at": utc_iso_now(),
-        }
-
-
-class NetworkTelemetryService:
-    def get_latest(self) -> dict[str, Any]:
-        tick = time.time()
-
-        latency_ms = 28 + math.sin(tick / 4.0) * 6
-        jitter_ms = 3 + math.cos(tick / 5.0) * 1.4
-        tx_kbps = 780 + math.sin(tick / 6.0) * 160
-        rx_kbps = 720 + math.cos(tick / 7.0) * 140
-        packet_loss_pct = max(0.0, 0.35 + math.sin(tick / 9.0) * 0.25)
-        signal_dbm = -53 - abs(math.sin(tick / 8.0) * 7)
-
-        return {
-            "peer_status": "online",
-            "latency_ms": round(latency_ms, 1),
-            "jitter_ms": round(jitter_ms, 1),
-            "packet_loss_pct": round(packet_loss_pct, 2),
-            "tx_kbps": int(tx_kbps),
-            "rx_kbps": int(rx_kbps),
-            "signal_dbm": round(signal_dbm, 1),
-            "transport": "OmniSocket / simulated",
-            "source_mode": "simulated",
-            "updated_at": utc_iso_now(),
-        }
-
-
-video_service = VideoFrameService()
+video_service = VideoFrameService(_video_receiver)
 gps_service = GpsDataService()
-network_service = NetworkTelemetryService()
+network_service = NetworkTelemetryService(
+    _video_receiver,
+    _control_sender,
+    control_arbiter,
+    native_control_ingress,
+)
+
--- a/backend/monitoring/telemetry.py
+++ b/backend/monitoring/telemetry.py
@@ -0,0 +1,161 @@
+from __future__ import annotations
+
+import json
+import math
+import threading
+import time
+from datetime import UTC, datetime
+from typing import Any
+
+from .common import GEOSTREAM_JSON_PATH, GEOSTREAM_STALE_SECONDS, utc_iso_now
+from .control import ControlArbiter, NativeUdpControlIngress, OmniSocketControlSender
+from .video import OmniSocketVideoReceiver
+
+
+class GpsDataService:
+    def get_latest(self) -> dict[str, Any]:
+        payload = self._read_geostream_payload()
+        if payload is not None:
+            payload["source_mode"] = "geostream-json"
+            payload["updated_at"] = utc_iso_now()
+            return payload
+
+        return self._build_simulated_payload()
+
+    def _read_geostream_payload(self) -> dict[str, Any] | None:
+        if not GEOSTREAM_JSON_PATH.exists():
+            return None
+
+        age_seconds = time.time() - GEOSTREAM_JSON_PATH.stat().st_mtime
+        if age_seconds > GEOSTREAM_STALE_SECONDS:
+            return None
+
+        try:
+            with GEOSTREAM_JSON_PATH.open("r", encoding="utf-8") as file:
+                return json.load(file)
+        except (OSError, json.JSONDecodeError):
+            return None
+
+    def _build_simulated_payload(self) -> dict[str, Any]:
+        tick = time.time() / 12.0
+        latitude = 31.2304 + math.sin(tick) * 0.0014
+        longitude = 121.4737 + math.cos(tick) * 0.0018
+
+        return {
+            "has_fix": True,
+            "utc_time": datetime.now(UTC).strftime("%H:%M:%S"),
+            "latitude": round(latitude, 6),
+            "longitude": round(longitude, 6),
+            "satellites": 14 + int((math.sin(tick * 0.7) + 1.0) * 2),
+            "altitude_m": round(6.5 + math.cos(tick * 0.5) * 1.2, 2),
+            "coordinate_system": "WGS84",
+            "source_sentence": "SIMULATED",
+            "raw_coordinate_format": "decimal degrees",
+            "source_mode": "simulated",
+            "updated_at": utc_iso_now(),
+        }
+
+
+class NetworkTelemetryService:
+    def __init__(
+        self,
+        video_receiver: OmniSocketVideoReceiver,
+        control_sender: OmniSocketControlSender,
+        control_arbiter: ControlArbiter,
+        native_ingress: NativeUdpControlIngress,
+    ) -> None:
+        self._video_receiver = video_receiver
+        self._control_sender = control_sender
+        self._control_arbiter = control_arbiter
+        self._native_ingress = native_ingress
+        self._rate_lock = threading.Lock()
+        self._last_rate_sample: tuple[float, int, int] | None = None
+
+    def _compute_rates(self, send_bytes: int, recv_bytes: int) -> tuple[float, float]:
+        now = time.monotonic()
+        with self._rate_lock:
+            previous = self._last_rate_sample
+            self._last_rate_sample = (now, send_bytes, recv_bytes)
+
+        if previous is None:
+            return 0.0, 0.0
+
+        prev_time, prev_send, prev_recv = previous
+        elapsed = now - prev_time
+        if elapsed <= 0.0:
+            return 0.0, 0.0
+
+        tx_kbps = max(0.0, ((send_bytes - prev_send) * 8.0) / elapsed / 1000.0)
+        rx_kbps = max(0.0, ((recv_bytes - prev_recv) * 8.0) / elapsed / 1000.0)
+        return tx_kbps, rx_kbps
+
+    def get_latest(self) -> dict[str, Any]:
+        self._video_receiver.ensure_started()
+        self._control_arbiter.ensure_started()
+        self._native_ingress.ensure_started()
+
+        video_app = self._video_receiver.session_stats()
+        control_app = self._control_sender.session_stats()
+        video_kcp = self._video_receiver.session_kcp_stats()
+        control_kcp = self._control_sender.session_kcp_stats()
+        arbiter_status = self._control_arbiter.get_status()
+        ingress_status = self._native_ingress.get_status()
+        sender_status = self._control_sender.get_status()
+
+        total_send_bytes = int(video_app.get("send_bytes", 0)) + int(control_app.get("send_bytes", 0))
+        total_recv_bytes = int(video_app.get("recv_bytes", 0)) + int(control_app.get("recv_bytes", 0))
+        tx_kbps, rx_kbps = self._compute_rates(total_send_bytes, total_recv_bytes)
+
+        video_connected = int(video_app.get("connected", 0))
+        control_connected = int(control_app.get("connected", 0))
+        connected_sessions = video_connected + control_connected
+
+        primary_kcp = control_kcp if control_connected else video_kcp
+        latency_ms = primary_kcp.get("srtt_ms")
+        jitter_ms = primary_kcp.get("srttvar_ms")
+
+        if connected_sessions > 0:
+            peer_status = "online"
+        elif sender_status.get("backend_ready"):
+            peer_status = "idle"
+        else:
+            peer_status = "backend-unavailable"
+
+        return {
+            "peer_status": peer_status,
+            "latency_ms": latency_ms,
+            "jitter_ms": jitter_ms,
+            "packet_loss_pct": None,
+            "tx_kbps": round(tx_kbps, 3),
+            "rx_kbps": round(rx_kbps, 3),
+            "transport": "OmniSocket / kcp",
+            "source_mode": "omnisocket-live" if connected_sessions > 0 else "omnisocket-idle",
+            "updated_at": utc_iso_now(),
+            "active_control_source": arbiter_status["active_source"],
+            "control_lease_remaining_ms": arbiter_status["control_lease_remaining_ms"],
+            "combined": {
+                "connected_sessions": connected_sessions,
+                "send_bytes": total_send_bytes,
+                "recv_bytes": total_recv_bytes,
+                "tx_kbps": round(tx_kbps, 3),
+                "rx_kbps": round(rx_kbps, 3),
+            },
+            "sessions": {
+                "video": {
+                    "app": video_app,
+                    "kcp": video_kcp,
+                },
+                "control": {
+                    "app": control_app,
+                    "kcp": control_kcp,
+                },
+            },
+            "ingress": {
+                "native_udp": ingress_status,
+            },
+            "control": {
+                "arbiter": arbiter_status,
+                "sender": sender_status,
+            },
+        }
+
--- a/backend/monitoring/video.py
+++ b/backend/monitoring/video.py
@@ -0,0 +1,343 @@
+from __future__ import annotations
+
+from collections import deque
+import sys
+import threading
+import time
+from typing import Any, Iterator
+
+from .common import (
+    JPEG_FRAME_DIR,
+    OMNISOCKET_CONFIG_PATH,
+    OMNISOCKET_FRAME_FRESH_SECONDS,
+    PROJECT_ROOT,
+    VIDEO_SOURCE_MODE,
+    VIDEO_TIMESTAMP_ENDIANNESS,
+    VIDEO_TIMESTAMP_MAX_SKEW_NS,
+    VIDEO_TIMESTAMP_MULTIPLIER_NS,
+    VIDEO_TIMESTAMP_SAMPLE_SIZE,
+    VIDEO_TIMESTAMP_TRAILER_BYTES,
+    VIDEO_TIMESTAMP_UNIT,
+    WORKSPACE_ROOT,
+    load_omnisocket_config,
+)
+
+
+def safe_kcp_stats(session: Any) -> dict[str, Any]:
+    if session is None or not hasattr(session, "kcp_stats"):
+        return {}
+    try:
+        return dict(session.kcp_stats())
+    except Exception:
+        return {}
+
+
+class OmniSocketVideoReceiver:
+    def __init__(self) -> None:
+        self._lock = threading.Lock()
+        self._thread: threading.Thread | None = None
+        self._started = False
+        self._session = None
+        self._session_cls = None
+        self._binary_msg_type = None
+        self._video_defaults: dict[str, Any] = {}
+        self._latest_frame: bytes | None = None
+        self._latest_received_at = 0.0
+        self._latest_sequence: int | None = None
+        self._latest_latency_ms: float | None = None
+        self._latest_timestamp_unit: str | None = None
+        self._latest_timestamp_endianness: str | None = None
+        self._latency_samples_ms: deque[float] = deque(maxlen=VIDEO_TIMESTAMP_SAMPLE_SIZE)
+        self._frames_received = 0
+        self._last_error = ""
+        self._load_backend()
+
+    def _load_backend(self) -> None:
+        try:
+            self._import_backend()
+        except Exception as error:  # pragma: no cover - optional runtime dependency
+            self._last_error = f"omnisocket import failed: {error}"
+
+    def _import_backend(self) -> None:
+        try:
+            from omnisocket import MSG_TYPE_BINARY, Session, VIDEO_DEFAULTS  # type: ignore
+        except ImportError:
+            python_dir = WORKSPACE_ROOT / "OmniSocketGo" / "python"
+            if python_dir.exists():
+                sys.path.insert(0, str(python_dir))
+            from omnisocket import MSG_TYPE_BINARY, Session, VIDEO_DEFAULTS  # type: ignore
+
+        self._binary_msg_type = MSG_TYPE_BINARY
+        self._session_cls = Session
+        self._video_defaults = dict(VIDEO_DEFAULTS)
+
+    def ensure_started(self) -> None:
+        if self._session_cls is None or self._binary_msg_type is None:
+            return
+
+        with self._lock:
+            if self._started:
+                return
+            self._started = True
+            self._thread = threading.Thread(
+                target=self._run,
+                name="omnisocket-video-receiver",
+                daemon=True,
+            )
+            self._thread.start()
+
+    def _connect_session(self):
+        assert self._session_cls is not None
+
+        config = load_omnisocket_config()
+        transport_cfg = config.get("transport", {})
+        video_cfg = config.get("video_receiver", {})
+
+        session = self._session_cls()
+        session.connect(
+            server_addr=str(transport_cfg.get("server_addr", "127.0.0.1:10909")),
+            peer_id=str(video_cfg.get("peer_id", "peer-a-video")),
+            relay_via=str(transport_cfg.get("relay_via", "")),
+            bind_ip=str(transport_cfg.get("bind_ip", "")),
+            bind_device=str(transport_cfg.get("bind_device", "")),
+            **self._video_defaults,
+        )
+        return session, int(video_cfg.get("buffer_bytes", 1024 * 1024))
+
+    def _extract_jpeg_payload(self, frame: bytes) -> bytes | None:
+        if frame.startswith(b"\xff\xd8"):
+            return frame
+        if len(frame) > 8 and frame[8:10] == b"\xff\xd8":
+            return frame[8:]
+        return None
+
+    def _split_jpeg_frame_and_trailer(self, frame: bytes) -> tuple[bytes, bytes] | None:
+        jpeg_payload = self._extract_jpeg_payload(frame)
+        if jpeg_payload is None:
+            return None
+
+        if jpeg_payload.endswith(b"\xff\xd9"):
+            return jpeg_payload, b""
+
+        if (
+            len(jpeg_payload) >= VIDEO_TIMESTAMP_TRAILER_BYTES + 2
+            and jpeg_payload[-(VIDEO_TIMESTAMP_TRAILER_BYTES + 2) : -VIDEO_TIMESTAMP_TRAILER_BYTES] == b"\xff\xd9"
+        ):
+            return jpeg_payload[:-VIDEO_TIMESTAMP_TRAILER_BYTES], jpeg_payload[-VIDEO_TIMESTAMP_TRAILER_BYTES:]
+
+        eoi_index = jpeg_payload.rfind(b"\xff\xd9")
+        if eoi_index < 0:
+            return jpeg_payload, b""
+
+        trailer_start = eoi_index + 2
+        return jpeg_payload[:trailer_start], jpeg_payload[trailer_start:]
+
+    def _extract_jpeg_frame(self, frame: bytes) -> bytes | None:
+        split_payload = self._split_jpeg_frame_and_trailer(frame)
+        if split_payload is None:
+            return None
+        jpeg_frame, _ = split_payload
+        return jpeg_frame
+
+    def _extract_sequence(self, frame: bytes) -> int | None:
+        if len(frame) >= 8 and not frame.startswith(b"\xff\xd8"):
+            return int.from_bytes(frame[:8], "big")
+        return None
+
+    def _extract_frame_tail(self, frame: bytes) -> bytes:
+        split_payload = self._split_jpeg_frame_and_trailer(frame)
+        if split_payload is None:
+            return b""
+        _, trailer = split_payload
+        return trailer
+
+    def _extract_frame_timestamp(self, frame: bytes) -> tuple[int, str, str] | None:
+        trailer = self._extract_frame_tail(frame)
+        if len(trailer) != VIDEO_TIMESTAMP_TRAILER_BYTES:
+            return None
+
+        value = int.from_bytes(trailer, VIDEO_TIMESTAMP_ENDIANNESS, signed=False)
+        if value <= 0:
+            return None
+
+        timestamp_ns = value * VIDEO_TIMESTAMP_MULTIPLIER_NS
+        if abs(time.time_ns() - timestamp_ns) > VIDEO_TIMESTAMP_MAX_SKEW_NS:
+            return None
+
+        return timestamp_ns, VIDEO_TIMESTAMP_UNIT, VIDEO_TIMESTAMP_ENDIANNESS
+
+    def _run(self) -> None:
+        while True:
+            try:
+                session, buffer_bytes = self._connect_session()
+                self._session = session
+                self._last_error = ""
+                buffer = bytearray(buffer_bytes)
+
+                while True:
+                    meta = session.recv_into(buffer, timeout_ms=1000)
+                    if meta is None:
+                        continue
+                    if meta.get("msg_type") != self._binary_msg_type:
+                        continue
+
+                    frame = bytes(buffer[: meta["body_len"]])
+                    jpeg_frame = self._extract_jpeg_frame(frame)
+                    if jpeg_frame is None:
+                        self._last_error = "received non-JPEG binary frame"
+                        continue
+
+                    timestamp_meta = self._extract_frame_timestamp(frame)
+                    latency_ms = None
+                    if timestamp_meta is not None:
+                        timestamp_ns, unit, endianness = timestamp_meta
+                        latency_ms = round((time.time_ns() - timestamp_ns) / 1_000_000, 3)
+                    else:
+                        unit = None
+                        endianness = None
+
+                    with self._lock:
+                        self._latest_frame = jpeg_frame
+                        self._latest_received_at = time.time()
+                        self._latest_sequence = self._extract_sequence(frame)
+                        self._latest_latency_ms = latency_ms
+                        self._latest_timestamp_unit = unit
+                        self._latest_timestamp_endianness = endianness
+                        if latency_ms is not None:
+                            self._latency_samples_ms.append(latency_ms)
+                        self._frames_received += 1
+            except Exception as error:  # pragma: no cover - runtime integration path
+                self._last_error = str(error)
+                time.sleep(2)
+            finally:
+                if self._session is not None:
+                    try:
+                        self._session.close()
+                    except Exception:
+                        pass
+                    self._session = None
+
+    def get_latest_frame(self) -> bytes | None:
+        self.ensure_started()
+        with self._lock:
+            if self._latest_frame is None:
+                return None
+            if time.time() - self._latest_received_at > OMNISOCKET_FRAME_FRESH_SECONDS:
+                return None
+            return self._latest_frame
+
+    def session_stats(self) -> dict[str, Any]:
+        self.ensure_started()
+        with self._lock:
+            session = self._session
+        if session is None:
+            return {"connected": 0}
+        try:
+            return dict(session.stats())
+        except Exception:
+            return {"connected": 0}
+
+    def session_kcp_stats(self) -> dict[str, Any]:
+        self.ensure_started()
+        with self._lock:
+            session = self._session
+        return safe_kcp_stats(session)
+
+    def get_status(self) -> dict[str, Any]:
+        self.ensure_started()
+        config = load_omnisocket_config()
+        transport_cfg = config.get("transport", {})
+        video_cfg = config.get("video_receiver", {})
+        with self._lock:
+            has_recent_frame = self._latest_frame is not None and (
+                time.time() - self._latest_received_at <= OMNISOCKET_FRAME_FRESH_SECONDS
+            )
+            if has_recent_frame and self._latest_latency_ms is not None:
+                timing_status = {
+                    "available": True,
+                    "latest_delta_ms": self._latest_latency_ms,
+                    "delta_samples_ms": list(reversed(self._latency_samples_ms)),
+                    "sample_count": len(self._latency_samples_ms),
+                    "sample_window_size": VIDEO_TIMESTAMP_SAMPLE_SIZE,
+                    "timestamp_unit": self._latest_timestamp_unit,
+                    "timestamp_endianness": self._latest_timestamp_endianness,
+                }
+            else:
+                timing_status = {
+                    "available": False,
+                    "latest_delta_ms": None,
+                    "delta_samples_ms": [],
+                    "sample_count": 0,
+                    "sample_window_size": VIDEO_TIMESTAMP_SAMPLE_SIZE,
+                    "timestamp_unit": None,
+                    "timestamp_endianness": None,
+                }
+            return {
+                "backend_ready": self._session_cls is not None,
+                "mode": VIDEO_SOURCE_MODE,
+                "connected": self._session is not None,
+                "has_recent_frame": has_recent_frame,
+                "frames_received": self._frames_received,
+                "latest_sequence": self._latest_sequence,
+                "last_error": self._last_error,
+                "config_path": str(OMNISOCKET_CONFIG_PATH),
+                "server_addr": str(transport_cfg.get("server_addr", "")),
+                "relay_via": str(transport_cfg.get("relay_via", "")),
+                "peer_id": str(video_cfg.get("peer_id", "")),
+                "buffer_bytes": int(video_cfg.get("buffer_bytes", 0)),
+                "timing": timing_status,
+            }
+
+
+class VideoFrameService:
+    def __init__(self, receiver: OmniSocketVideoReceiver) -> None:
+        self._receiver = receiver
+
+    def get_status(self) -> dict[str, Any]:
+        receiver_status = self._receiver.get_status()
+        receiver_frame = self._receiver.get_latest_frame()
+
+        if receiver_frame is not None:
+            return {
+                "available": True,
+                "source_mode": "omnisocket-jpeg-live",
+                "frame_count": receiver_status["frames_received"],
+                "fps": 30,
+                "frame_dir": str(JPEG_FRAME_DIR),
+                "source_detail": f"peer stream active, frames={receiver_status['frames_received']}",
+                "receiver": receiver_status,
+                "timing": receiver_status["timing"],
+            }
+
+        wait_detail = receiver_status["last_error"] or (
+            "waiting for live OmniSocket JPEG frames; check the hub, sender, and receiver configuration"
+        )
+        return {
+            "available": False,
+            "source_mode": "omnisocket-waiting",
+            "frame_count": receiver_status["frames_received"],
+            "fps": 30,
+            "frame_dir": str(JPEG_FRAME_DIR),
+            "source_detail": wait_detail,
+            "receiver": receiver_status,
+            "timing": receiver_status["timing"],
+        }
+
+    def get_next_frame(self) -> bytes:
+        receiver_frame = self._receiver.get_latest_frame()
+        if receiver_frame is not None:
+            return receiver_frame
+        raise RuntimeError("no live OmniSocket JPEG frame is currently available")
+
+    def iter_mjpeg(self, fps: float = 6.0) -> Iterator[bytes]:
+        frame_interval = 1.0 / max(1.0, min(fps, 30.0))
+        while True:
+            frame = self.get_next_frame()
+            header = (
+                b"--frame\r\n"
+                b"Content-Type: image/jpeg\r\n"
+                + f"Content-Length: {len(frame)}\r\n\r\n".encode("ascii")
+            )
+            yield header + frame + b"\r\n"
+            time.sleep(frame_interval)
+
--- a/config/omnisocket_demo.yaml
+++ b/config/omnisocket_demo.yaml
@@ -8,6 +8,16 @@ video_receiver:
  peer_id: "peer-a-video"
  buffer_bytes: 1048576

+control_sender:
+  peer_id: "peer-a-ctrl"
+  target_peer: "peer-b-ctrl"
+
+control_ingress:
+  native_udp_bind: "127.0.0.1:10921"
+  source_lease_ms: 300
+  send_rate_hz: 20.0
+  zero_burst_packets: 3
+
 video_sender:
  peer_id: "peer-b-video"
  target_peer: "peer-a-video"
--- a/frontend/src/components/ControlPanel.vue
+++ b/frontend/src/components/ControlPanel.vue
@@ -0,0 +1,298 @@
+<script setup lang="ts">
+import { computed, onMounted, onUnmounted, ref } from 'vue'
+
+import { buildControlWebSocketUrl } from '@/lib/api'
+
+const TRACKED_KEYS = new Set(['KeyW', 'KeyS', 'KeyA', 'KeyD', 'KeyQ', 'KeyE', 'ShiftLeft', 'ShiftRight', 'Space'])
+
+const pressedKeys = ref<Set<string>>(new Set())
+const socketState = ref<'connecting' | 'open' | 'closed'>('connecting')
+const lastServerMessage = ref('waiting')
+
+let socket: WebSocket | null = null
+let sendTimer: number | null = null
+let reconnectTimer: number | null = null
+let manualClose = false
+
+function commandValues() {
+  const keys = pressedKeys.value
+  const turbo = keys.has('ShiftLeft') || keys.has('ShiftRight') ? 1.5 : 1.0
+
+  let lx = 0
+  let ly = 0
+  let az = 0
+
+  if (keys.has('KeyW')) lx += 0.2
+  if (keys.has('KeyS')) lx -= 0.2
+  if (keys.has('KeyA')) ly += 0.15
+  if (keys.has('KeyD')) ly -= 0.15
+  if (keys.has('KeyQ')) az += 0.4
+  if (keys.has('KeyE')) az -= 0.4
+
+  if (keys.has('Space')) {
+    lx = 0
+    ly = 0
+    az = 0
+  }
+
+  return [lx * turbo, ly * turbo, 0, 0, 0, az * turbo]
+}
+
+function packCommand(values: number[]) {
+  const buffer = new ArrayBuffer(24)
+  const view = new DataView(buffer)
+  values.forEach((value, index) => view.setFloat32(index * 4, value, true))
+  return buffer
+}
+
+function isZeroCommand(values: number[]) {
+  return values.every((value) => value === 0)
+}
+
+function sendCurrentCommand() {
+  if (socket == null || socket.readyState !== WebSocket.OPEN) {
+    return
+  }
+  socket.send(packCommand(commandValues()))
+}
+
+function stopSendLoop() {
+  if (sendTimer != null) {
+    window.clearInterval(sendTimer)
+    sendTimer = null
+  }
+}
+
+function refreshSendLoop() {
+  const values = commandValues()
+  stopSendLoop()
+  sendCurrentCommand()
+  if (isZeroCommand(values)) {
+    return
+  }
+  sendTimer = window.setInterval(() => {
+    sendCurrentCommand()
+  }, 50)
+}
+
+function clearCommands() {
+  pressedKeys.value = new Set()
+  refreshSendLoop()
+}
+
+function connectSocket() {
+  if (socket != null && (socket.readyState === WebSocket.OPEN || socket.readyState === WebSocket.CONNECTING)) {
+    return
+  }
+
+  manualClose = false
+  socketState.value = 'connecting'
+  socket = new WebSocket(buildControlWebSocketUrl())
+  socket.binaryType = 'arraybuffer'
+
+  socket.onopen = () => {
+    socketState.value = 'open'
+    lastServerMessage.value = 'connected'
+    refreshSendLoop()
+  }
+
+  socket.onmessage = (event) => {
+    if (typeof event.data === 'string') {
+      lastServerMessage.value = event.data
+    }
+  }
+
+  socket.onclose = () => {
+    socketState.value = 'closed'
+    stopSendLoop()
+    socket = null
+    if (manualClose) {
+      return
+    }
+    if (reconnectTimer != null) {
+      window.clearTimeout(reconnectTimer)
+    }
+    reconnectTimer = window.setTimeout(() => {
+      connectSocket()
+    }, 1000)
+  }
+}
+
+function disconnectSocket() {
+  manualClose = true
+  stopSendLoop()
+  if (reconnectTimer != null) {
+    window.clearTimeout(reconnectTimer)
+    reconnectTimer = null
+  }
+  socket?.close()
+  socket = null
+}
+
+function handleKeydown(event: KeyboardEvent) {
+  if (!TRACKED_KEYS.has(event.code)) {
+    return
+  }
+  if (event.target instanceof HTMLElement) {
+    const tag = event.target.tagName
+    if (tag === 'INPUT' || tag === 'TEXTAREA' || tag === 'SELECT') {
+      return
+    }
+  }
+
+  event.preventDefault()
+  const next = new Set(pressedKeys.value)
+  next.add(event.code)
+  pressedKeys.value = next
+  refreshSendLoop()
+}
+
+function handleKeyup(event: KeyboardEvent) {
+  if (!TRACKED_KEYS.has(event.code)) {
+    return
+  }
+
+  event.preventDefault()
+  const next = new Set(pressedKeys.value)
+  next.delete(event.code)
+  pressedKeys.value = next
+  refreshSendLoop()
+}
+
+const pressedKeyLabel = computed(() => Array.from(pressedKeys.value).sort().join(', ') || 'none')
+const socketLabel = computed(() => {
+  if (socketState.value === 'open') return 'ws open'
+  if (socketState.value === 'connecting') return 'connecting'
+  return 'reconnecting'
+})
+const commandLabel = computed(() => {
+  const [lx, ly, _lz, _ax, _ay, az] = commandValues()
+  return `lx=${lx.toFixed(2)} ly=${ly.toFixed(2)} az=${az.toFixed(2)}`
+})
+
+onMounted(() => {
+  connectSocket()
+  window.addEventListener('keydown', handleKeydown)
+  window.addEventListener('keyup', handleKeyup)
+  window.addEventListener('blur', clearCommands)
+})
+
+onUnmounted(() => {
+  window.removeEventListener('keydown', handleKeydown)
+  window.removeEventListener('keyup', handleKeyup)
+  window.removeEventListener('blur', clearCommands)
+  disconnectSocket()
+})
+</script>
+
+<template>
+  <section class="panel control-panel">
+    <div class="panel-head">
+      <div>
+        <p class="eyebrow">Control</p>
+        <h2>Web Control</h2>
+      </div>
+      <span class="badge" :class="{ warm: socketState !== 'open' }">{{ socketLabel }}</span>
+    </div>
+
+    <div class="grid">
+      <div class="stat-card">
+        <span>Pressed</span>
+        <strong>{{ pressedKeyLabel }}</strong>
+      </div>
+      <div class="stat-card">
+        <span>Command</span>
+        <strong>{{ commandLabel }}</strong>
+      </div>
+    </div>
+
+    <p class="hint">
+      Keyboard mapping: <code>W/S</code> forward-back, <code>A/D</code> lateral, <code>Q/E</code> turn,
+      <code>Shift</code> turbo, <code>Space</code> stop.
+    </p>
+    <p class="hint subtle">Server: {{ lastServerMessage }}</p>
+  </section>
+</template>
+
+<style scoped>
+.control-panel {
+  display: grid;
+  gap: 16px;
+}
+
+.panel-head {
+  display: flex;
+  justify-content: space-between;
+  gap: 12px;
+  align-items: start;
+}
+
+.eyebrow {
+  margin: 0 0 4px;
+  color: #ffb057;
+  text-transform: uppercase;
+  letter-spacing: 0.12em;
+  font-size: 12px;
+  font-weight: 700;
+}
+
+h2 {
+  margin: 0;
+  font-size: 24px;
+}
+
+.badge {
+  padding: 8px 12px;
+  border-radius: 999px;
+  background: rgba(40, 199, 111, 0.16);
+  color: #63e6a9;
+  font-size: 12px;
+  font-weight: 700;
+}
+
+.badge.warm {
+  background: rgba(255, 176, 87, 0.16);
+  color: #ffcf97;
+}
+
+.grid {
+  display: grid;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  gap: 12px;
+}
+
+.stat-card {
+  padding: 14px;
+  border-radius: 16px;
+  background: rgba(7, 14, 26, 0.78);
+  border: 1px solid rgba(133, 147, 169, 0.2);
+}
+
+.stat-card span {
+  display: block;
+  margin-bottom: 8px;
+  color: #8d99b3;
+  font-size: 12px;
+}
+
+.stat-card strong {
+  font-size: 18px;
+  word-break: break-word;
+}
+
+.hint {
+  margin: 0;
+  color: #d5dbee;
+  line-height: 1.7;
+}
+
+.hint.subtle {
+  color: #96a5c3;
+}
+
+@media (max-width: 640px) {
+  .grid {
+    grid-template-columns: 1fr;
+  }
+}
+</style>
--- a/frontend/src/components/NetworkPanel.vue
+++ b/frontend/src/components/NetworkPanel.vue
@@ -9,10 +9,12 @@ const props = defineProps<{

 const updatedAt = computed(() => {
  if (!props.network?.updated_at) {
-    return '暂无'
+    return 'unavailable'
  }
  return new Date(props.network.updated_at).toLocaleString('zh-CN', { hour12: false })
 })
+
+const activeSource = computed(() => props.network?.active_control_source ?? 'none')
 </script>

 <template>
@@ -20,41 +22,64 @@ const updatedAt = computed(() => {
    <div class="panel-head">
      <div>
        <p class="eyebrow">Network</p>
-        <h2>链路状态</h2>
+        <h2>Session Telemetry</h2>
      </div>
      <span class="badge">{{ network?.peer_status ?? 'loading' }}</span>
    </div>

    <div class="stats">
      <div class="stat-card">
-        <span>延迟</span>
+        <span>Latency</span>
        <strong>{{ network?.latency_ms ?? '--' }} ms</strong>
      </div>
      <div class="stat-card">
-        <span>抖动</span>
+        <span>Jitter</span>
        <strong>{{ network?.jitter_ms ?? '--' }} ms</strong>
      </div>
      <div class="stat-card">
-        <span>丢包率</span>
-        <strong>{{ network?.packet_loss_pct ?? '--' }} %</strong>
+        <span>Active Control</span>
+        <strong>{{ activeSource }}</strong>
      </div>
      <div class="stat-card">
-        <span>信号强度</span>
-        <strong>{{ network?.signal_dbm ?? '--' }} dBm</strong>
+        <span>Lease</span>
+        <strong>{{ network?.control_lease_remaining_ms ?? '--' }} ms</strong>
      </div>
      <div class="stat-card">
-        <span>发送速率</span>
+        <span>TX Rate</span>
        <strong>{{ network?.tx_kbps ?? '--' }} kbps</strong>
      </div>
      <div class="stat-card">
-        <span>接收速率</span>
+        <span>RX Rate</span>
        <strong>{{ network?.rx_kbps ?? '--' }} kbps</strong>
      </div>
    </div>

    <div class="summary">
-      <p><strong>来源：</strong>{{ network?.transport ?? '暂无' }} / {{ network?.source_mode ?? '暂无' }}</p>
-      <p><strong>刷新：</strong>{{ updatedAt }}</p>
+      <p><strong>Transport:</strong> {{ network?.transport ?? 'n/a' }} / {{ network?.source_mode ?? 'n/a' }}</p>
+      <p><strong>Combined:</strong> sessions={{ network?.combined?.connected_sessions ?? '--' }} send={{ network?.combined?.send_bytes ?? '--' }}B recv={{ network?.combined?.recv_bytes ?? '--' }}B</p>
+      <p><strong>Refresh:</strong> {{ updatedAt }}</p>
+    </div>
+
+    <div class="session-grid">
+      <div class="session-card">
+        <h3>Video Session</h3>
+        <p>connected={{ network?.sessions?.video?.app?.connected ?? 0 }}</p>
+        <p>recv_bytes={{ network?.sessions?.video?.app?.recv_bytes ?? 0 }}</p>
+        <p>srtt={{ network?.sessions?.video?.kcp?.srtt_ms ?? '--' }} ms</p>
+        <p>snd_queue={{ network?.sessions?.video?.kcp?.snd_queue ?? '--' }}</p>
+      </div>
+      <div class="session-card">
+        <h3>Control Session</h3>
+        <p>connected={{ network?.sessions?.control?.app?.connected ?? 0 }}</p>
+        <p>send_bytes={{ network?.sessions?.control?.app?.send_bytes ?? 0 }}</p>
+        <p>srtt={{ network?.sessions?.control?.kcp?.srtt_ms ?? '--' }} ms</p>
+        <p>snd_queue={{ network?.sessions?.control?.kcp?.snd_queue ?? '--' }}</p>
+      </div>
+    </div>
+
+    <div class="summary">
+      <p><strong>Native UDP:</strong> {{ network?.ingress?.native_udp?.bind_addr ?? 'n/a' }} packets={{ network?.ingress?.native_udp?.packets_received ?? 0 }} invalid={{ network?.ingress?.native_udp?.invalid_packets ?? 0 }}</p>
+      <p><strong>Control Sender:</strong> {{ network?.control?.sender?.peer_id ?? 'n/a' }} -> {{ network?.control?.sender?.target_peer ?? 'n/a' }} sends={{ network?.control?.sender?.send_count ?? 0 }}</p>
    </div>
  </section>
 </template>
@@ -102,7 +127,9 @@ h2 {
  gap: 12px;
 }

-.stat-card {
+.stat-card,
+.summary,
+.session-card {
  padding: 14px;
  border-radius: 16px;
  background: rgba(7, 14, 26, 0.78);
@@ -120,32 +147,39 @@ h2 {
  font-size: 22px;
 }

-.summary {
-  padding: 14px;
-  border-radius: 16px;
-  background: rgba(7, 14, 26, 0.78);
-  border: 1px solid rgba(133, 147, 169, 0.2);
+.summary,
+.session-card {
  color: #d5dbee;
 }

-.summary p {
+.summary p,
+.session-card h3,
+.session-card p {
  margin: 0;
 }

-.summary p + p {
+.summary p + p,
+.session-card p + p {
  margin-top: 8px;
 }

+.session-grid {
+  display: grid;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  gap: 12px;
+}
+
@media (max-width: 960px) {
-  .stats {
+  .stats,
+  .session-grid {
    grid-template-columns: repeat(2, minmax(0, 1fr));
  }
 }

@media (max-width: 640px) {
-  .stats {
+  .stats,
+  .session-grid {
    grid-template-columns: 1fr;
  }
 }
 </style>
-
--- a/frontend/src/composables/useMonitoringData.ts
+++ b/frontend/src/composables/useMonitoringData.ts
@@ -25,7 +25,7 @@ export function useMonitoringData(options: UseMonitoringDataOptions = {}) {
      video.value = snapshot.video
      errorMessage.value = ''
    } catch (error) {
-      errorMessage.value = error instanceof Error ? error.message : '数据加载失败'
+      errorMessage.value = error instanceof Error ? error.message : 'Failed to load monitoring data'
    } finally {
      loading.value = false
    }
@@ -36,9 +36,9 @@ export function useMonitoringData(options: UseMonitoringDataOptions = {}) {
      return errorMessage.value
    }
    if (loading.value) {
-      return '正在连接 Django 后端并加载监控数据...'
+      return 'Connecting to the Django backend and loading live monitoring data...'
    }
-    return '页面已连接 Django 后端。GPS 与网络状态按当前页面策略轮询更新，视频区域单独按目标 30FPS 请求单帧 JPEG。'
+    return 'Dashboard connected. Video, GPS, and live session telemetry refresh continuously from the unified A-side daemon.'
  })

  onMounted(() => {
--- a/frontend/src/lib/api.ts
+++ b/frontend/src/lib/api.ts
@@ -23,3 +23,13 @@ export function fetchVideoStatus() {
 export function buildVideoFrameUrl(frameKey: number) {
  return `${API_BASE}/api/video/frame/?frame=${frameKey}&t=${Date.now()}`
 }
+
+export function buildControlWebSocketUrl() {
+  const url = new URL(API_BASE, window.location.origin)
+  const basePath = url.pathname.replace(/\/$/, '')
+  url.protocol = url.protocol === 'https:' ? 'wss:' : 'ws:'
+  url.pathname = `${basePath}/ws/control/`
+  url.search = ''
+  url.hash = ''
+  return url.toString()
+}
--- a/frontend/src/types.ts
+++ b/frontend/src/types.ts
@@ -12,17 +12,96 @@ export interface GpsTelemetry {
  updated_at: string
 }

+export interface SessionAppStats {
+  connected: number
+  send_calls?: number
+  send_bytes?: number
+  send_errors?: number
+  recv_calls?: number
+  recv_bytes?: number
+  recv_timeouts?: number
+  recv_errors?: number
+}
+
+export interface SessionKcpStats {
+  connected?: number
+  conv?: number
+  rto_ms?: number
+  srtt_ms?: number
+  srttvar_ms?: number
+  snd_queue?: number
+  rcv_queue?: number
+  snd_buffer?: number
+  xmit_total?: number
+}
+
+export interface SessionTelemetry {
+  app: SessionAppStats
+  kcp: SessionKcpStats
+}
+
+export interface NativeUdpIngress {
+  started: boolean
+  bind_addr: string
+  packets_received: number
+  invalid_packets: number
+  last_sender: string
+  last_error: string
+}
+
+export interface ControlArbiterStatus {
+  active_source: string | null
+  control_lease_remaining_ms: number
+  packet_counts: Record<string, number>
+  send_rate_hz: number
+  source_lease_ms: number
+  zero_burst_packets: number
+  last_error: string
+  last_sent_at_monotonic: number
+}
+
+export interface ControlSenderStatus {
+  backend_ready: boolean
+  started: boolean
+  connected: boolean
+  peer_id: string
+  target_peer: string
+  send_count: number
+  send_errors: number
+  drain_errors: number
+  last_error: string
+}
+
 export interface NetworkTelemetry {
  peer_status: string
-  latency_ms: number
-  jitter_ms: number
-  packet_loss_pct: number
+  latency_ms: number | null
+  jitter_ms: number | null
+  packet_loss_pct: number | null
  tx_kbps: number
  rx_kbps: number
-  signal_dbm: number
  transport: string
  source_mode: string
  updated_at: string
+  active_control_source: string | null
+  control_lease_remaining_ms: number
+  combined: {
+    connected_sessions: number
+    send_bytes: number
+    recv_bytes: number
+    tx_kbps: number
+    rx_kbps: number
+  }
+  sessions: {
+    video: SessionTelemetry
+    control: SessionTelemetry
+  }
+  ingress: {
+    native_udp: NativeUdpIngress
+  }
+  control: {
+    arbiter: ControlArbiterStatus
+    sender: ControlSenderStatus
+  }
 }

 export interface VideoStatus {
--- a/frontend/src/views/DashboardView.vue
+++ b/frontend/src/views/DashboardView.vue
@@ -1,4 +1,5 @@
 <script setup lang="ts">
+import ControlPanel from '@/components/ControlPanel.vue'
 import GpsMapPanel from '@/components/GpsMapPanel.vue'
 import NetworkPanel from '@/components/NetworkPanel.vue'
 import VideoPanel from '@/components/VideoPanel.vue'
@@ -12,11 +13,11 @@ const { gps, network, video, errorMessage, headerStatus } = useMonitoringData()
    <header class="hero">
      <div>
        <p class="eyebrow">Overview</p>
-        <h1>机器人竞赛指挥台</h1>
+        <h1>Robot Command Center</h1>
      </div>
      <p class="hero-text">
-        当前版本已经接通三块核心能力：JPEG 视频流、GPS 地图定位、网络状态展示。后面接真实
-        C 数据源时，前端页面不需要大改。
+        The A-side daemon now owns video receive, control ingress arbitration, and live session
+        telemetry in one backend process.
      </p>
    </header>

@@ -26,6 +27,7 @@ const { gps, network, video, errorMessage, headerStatus } = useMonitoringData()

    <main class="layout">
      <VideoPanel :video="video" />
+      <ControlPanel />
      <GpsMapPanel :gps="gps" />
      <NetworkPanel :network="network" />
    </main>
--- a/frontend/src/views/NetworkView.vue
+++ b/frontend/src/views/NetworkView.vue
@@ -10,10 +10,11 @@ const { network, errorMessage, headerStatus } = useMonitoringData()
    <header class="page-header">
      <div>
        <p class="eyebrow">Network</p>
-        <h1>网络状态页面</h1>
+        <h1>Network Telemetry</h1>
      </div>
      <p class="description">
-        当前先展示模拟网络遥测数据，后续只需要把后端采集函数替换成真实 C 输出，就能保留同样的渲染界面。
+        Live per-session OmniSocket telemetry from the unified A-side daemon, including active control
+        source and native UDP ingress status.
      </p>
    </header>

@@ -69,4 +70,3 @@ h1 {
  border-color: rgba(255, 107, 107, 0.28);
 }
 </style>
-