feat: 中英文切换

backend/config/settings.py

@@ -91,6 +91,12 @@ USE_TZ = True
 
 STATIC_URL = 'static/'
 CORS_ALLOW_ALL_ORIGINS = True
+CORS_EXPOSE_HEADERS = [
+    'X-Blitz-Frame-Seq',
+    'X-Blitz-Backend-Received-Unix-Ns',
+    'X-Blitz-Frame-Hash',
+    'X-Blitz-BSide-Capture-To-Send-Ms',
+]
 
 DEFAULT_AUTO_FIELD = 'django.db.models.BigAutoField'
 

backend/monitoring/common.py

@@ -1,9 +1,12 @@
 from __future__ import annotations
 
 import os
+import json
 import struct
 from datetime import datetime, timezone
 from pathlib import Path
+import threading
+import time
 from typing import Any
 
 
@@ -19,8 +22,10 @@ VIDEO_TRAILER_ENDIANNESS = "little"
 VIDEO_TRAILER_TIMESTAMP_UNIT = "ms"
 VIDEO_TRAILER_TIMESTAMP_MULTIPLIER_NS = 1_000_000
 VIDEO_TRAILER_TIMESTAMP_MAX_SKEW_NS = 7 * 24 * 60 * 60 * 1_000_000_000
-VIDEO_TRAILER_COORDINATE_FORMAT = "float32 little-endian"
-VIDEO_TRAILER_STRUCT = struct.Struct("<Qff")
+VIDEO_TRAILER_COORDINATE_FORMAT = (
+    "uint64 timestamp_ms + float64 latitude + float64 longitude + uint32 capture_to_send_ms (little-endian)"
+)
+VIDEO_TRAILER_STRUCT = struct.Struct("<QddI")
 VIDEO_TRAILER_BYTES = VIDEO_TRAILER_STRUCT.size
 
 CONTROL_PACKET = struct.Struct("<6f")
@@ -29,6 +34,9 @@ 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)
+BLITZ_RUN_DIR_RAW = os.getenv("BLITZ_RUN_DIR", "").strip()
+BLITZ_RUN_DIR = Path(BLITZ_RUN_DIR_RAW).expanduser() if BLITZ_RUN_DIR_RAW else None
+BLITZ_INSTANCE_ID = os.getenv("BLITZ_INSTANCE_ID", "").strip() or f"backend-{os.getpid()}"
 
 
 def utc_iso_now() -> str:
@@ -96,6 +104,7 @@ def load_omnisocket_config() -> dict[str, Any]:
     transport_cfg = dict(config.get("transport", {}))
     video_receiver_cfg = dict(config.get("video_receiver", {}))
     control_sender_cfg = dict(config.get("control_sender", {}))
+    control_ack_receiver_cfg = dict(config.get("control_ack_receiver", {}))
     control_ingress_cfg = dict(config.get("control_ingress", {}))
     video_sender_cfg = dict(config.get("video_sender", {}))
     telemetry_receiver_cfg = dict(config.get("telemetry_receiver", {}))
@@ -137,6 +146,15 @@ def load_omnisocket_config() -> dict[str, Any]:
         str(control_sender_cfg.get("target_peer", "peer-b-ctrl")),
     )
 
+    control_ack_receiver_cfg["peer_id"] = os.getenv(
+        "OMNISOCKET_CONTROL_ACK_RECEIVER_PEER_ID",
+        str(control_ack_receiver_cfg.get("peer_id", "peer-a-ctrl-ack")),
+    )
+    control_ack_receiver_cfg["expected_sender"] = os.getenv(
+        "OMNISOCKET_CONTROL_ACK_EXPECTED_SENDER",
+        str(control_ack_receiver_cfg.get("expected_sender", "peer-b-ctrl-ack")),
+    )
+
     video_sender_cfg["peer_id"] = os.getenv(
         "OMNISOCKET_VIDEO_SENDER_PEER_ID",
         str(video_sender_cfg.get("peer_id", "peer-b-video")),
@@ -190,12 +208,131 @@ def load_omnisocket_config() -> dict[str, Any]:
         "transport": transport_cfg,
         "video_receiver": video_receiver_cfg,
         "control_sender": control_sender_cfg,
+        "control_ack_receiver": control_ack_receiver_cfg,
         "control_ingress": control_ingress_cfg,
         "video_sender": video_sender_cfg,
         "telemetry_receiver": telemetry_receiver_cfg,
     }
 
 
+class JsonlRunLogger:
+    def __init__(self, stem_env: str, default_stem: str) -> None:
+        explicit_path = os.getenv(stem_env, "").strip()
+        self._path = Path(explicit_path) if explicit_path else (
+            BLITZ_RUN_DIR / f"{default_stem}.{BLITZ_INSTANCE_ID}.jsonl" if BLITZ_RUN_DIR is not None else None
+        )
+        self._lock = threading.Lock()
+        self._file = None
+        self._buffered_bytes = 0
+        self._current_bytes = 0
+        self._flush_bytes = self._positive_int_env("BLITZ_JSONL_FLUSH_BYTES", 262144)
+        self._flush_interval_ms = self._positive_int_env("BLITZ_JSONL_FLUSH_INTERVAL_MS", 1000)
+        self._max_bytes = self._positive_int_env("BLITZ_JSONL_ROTATE_BYTES", 134217728)
+        self._max_files = self._positive_int_env("BLITZ_JSONL_ROTATE_FILES", 8)
+        self._last_flush_monotonic_ms = self._now_ms()
+
+        if self._path is not None:
+            try:
+                self._path.parent.mkdir(parents=True, exist_ok=True)
+                self._file = self._path.open("a", encoding="utf-8")
+                self._current_bytes = self._path.stat().st_size if self._path.exists() else 0
+            except OSError:
+                self._file = None
+
+    @property
+    def path(self) -> str | None:
+        return str(self._path) if self._path is not None else None
+
+    @property
+    def enabled(self) -> bool:
+        return self._file is not None
+
+    def write(self, payload: dict[str, Any]) -> None:
+        if self._file is None:
+            return
+        line = json.dumps(payload, ensure_ascii=False, separators=(",", ":"))
+        line_bytes = len(line.encode("utf-8")) + 1
+        with self._lock:
+            if self._file is None:
+                return
+            try:
+                self._file.write(line)
+                self._file.write("\n")
+                self._buffered_bytes += line_bytes
+                self._current_bytes += line_bytes
+                now_ms = self._now_ms()
+                if (
+                    self._buffered_bytes >= self._flush_bytes
+                    or (self._flush_interval_ms > 0 and now_ms - self._last_flush_monotonic_ms >= self._flush_interval_ms)
+                ):
+                    self._flush_locked(now_ms)
+                if self._max_bytes > 0 and self._max_files > 0 and self._current_bytes >= self._max_bytes:
+                    self._rotate_locked()
+            except OSError:
+                if self._file is not None:
+                    try:
+                        self._file.close()
+                    except OSError:
+                        pass
+                    self._file = None
+
+    def close(self) -> None:
+        with self._lock:
+            if self._file is not None:
+                try:
+                    self._flush_locked(self._now_ms())
+                except OSError:
+                    pass
+                self._file.close()
+                self._file = None
+
+    def _flush_locked(self, now_ms: int) -> None:
+        if self._file is None:
+            return
+        self._file.flush()
+        self._buffered_bytes = 0
+        self._last_flush_monotonic_ms = now_ms
+
+    def _rotate_locked(self) -> None:
+        if self._path is None or self._file is None or self._max_files <= 0:
+            return
+        self._flush_locked(self._now_ms())
+        self._file.close()
+        self._file = None
+
+        oldest = self._path.with_name(f"{self._path.name}.{self._max_files}")
+        if oldest.exists():
+            oldest.unlink()
+
+        for index in range(self._max_files - 1, 0, -1):
+            src = self._path.with_name(f"{self._path.name}.{index}")
+            if src.exists():
+                dst = self._path.with_name(f"{self._path.name}.{index + 1}")
+                src.replace(dst)
+
+        if self._path.exists():
+            rotated = self._path.with_name(f"{self._path.name}.1")
+            self._path.replace(rotated)
+
+        self._file = self._path.open("a", encoding="utf-8")
+        self._buffered_bytes = 0
+        self._current_bytes = self._path.stat().st_size if self._path.exists() else 0
+        self._last_flush_monotonic_ms = self._now_ms()
+
+    @staticmethod
+    def _now_ms() -> int:
+        return int(time.monotonic() * 1000)
+
+    @staticmethod
+    def _positive_int_env(name: str, default: int) -> int:
+        raw = os.getenv(name, "").strip()
+        try:
+            value = int(raw)
+        except ValueError:
+            return default
+        return value if value > 0 else default
+
+
 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"

backend/monitoring/control.py

@@ -1,5 +1,6 @@
 from __future__ import annotations
 
+import json
 import socket
 import sys
 import threading
@@ -10,6 +11,7 @@ from .common import (
     CONTROL_PACKET_SIZE,
     CONTROL_SOURCE_NATIVE_UDP,
     CONTROL_SOURCE_PRIORITY,
+    JsonlRunLogger,
     ZERO_CONTROL_PAYLOAD,
     WORKSPACE_ROOT,
     load_omnisocket_config,
@@ -18,9 +20,139 @@ from .common import (
 from .video import safe_kcp_stats
 
 
-class OmniSocketControlSender:
+def _payload_preview(payload: bytes, limit: int = 160) -> str:
+    if not payload:
+        return ""
+    preview = payload[:limit].decode("utf-8", errors="replace")
+    if len(payload) > limit:
+        return f"{preview}..."
+    return preview
+
+
+class ControlAckTracker:
     def __init__(self) -> None:
         self._lock = threading.Lock()
+        self._event_logger = JsonlRunLogger("BLITZ_A_CONTROL_EVENTS_LOG_PATH", "a-control-events")
+        self._ack_logger = JsonlRunLogger("BLITZ_A_CONTROL_ACKS_LOG_PATH", "a-control-acks")
+        self._pending: dict[int, dict[str, Any]] = {}
+        self._latest_estimate: dict[str, Any] = {
+            "ack_available": False,
+            "updated_at": None,
+            "received_mono_ns": 0,
+            "control_loop_rtt_ms": None,
+            "b_recv_to_persist_ms": None,
+            "control_oneway_network_est_ms": None,
+            "control_to_persist_est_ms": None,
+            "sample_reason": None,
+        }
+
+    def register_send(
+        self,
+        *,
+        message_id: int,
+        issued_at_unix_ns: int,
+        issued_at_mono_ns: int,
+        source: str,
+        payload: bytes,
+        send_call_latency_us: int,
+    ) -> None:
+        event = {
+            "ts_unix_nano": issued_at_unix_ns,
+            "message_id": message_id,
+            "issued_at_unix_ns": issued_at_unix_ns,
+            "issued_at_mono_ns": issued_at_mono_ns,
+            "source": source,
+            "command_signature": payload.hex(),
+            "payload_size": len(payload),
+            "send_call_latency_us": send_call_latency_us,
+        }
+        with self._lock:
+            self._pending[message_id] = event
+            self._prune_locked(issued_at_mono_ns)
+        self._event_logger.write(event)
+
+    def handle_ack(self, ack_payload: dict[str, Any], received_unix_ns: int, received_mono_ns: int) -> str:
+        try:
+            message_id = int(ack_payload["message_id"])
+        except (KeyError, TypeError, ValueError):
+            return "invalid_message_id"
+
+        with self._lock:
+            event = self._pending.pop(message_id, None)
+            self._prune_locked(received_mono_ns)
+
+        if event is None:
+            return "pending_missing"
+
+        try:
+            control_loop_rtt_ms = round((received_unix_ns - int(event["issued_at_unix_ns"])) / 1_000_000.0, 3)
+            b_recv_to_persist_ms = round(float(ack_payload.get("b_recv_to_persist_us", 0)) / 1000.0, 3)
+        except (TypeError, ValueError):
+            return "invalid_timing"
+
+        control_oneway_network_est_ms = round(max(0.0, (control_loop_rtt_ms - b_recv_to_persist_ms) / 2.0), 3)
+        control_to_persist_est_ms = round(control_oneway_network_est_ms + b_recv_to_persist_ms, 3)
+        ack_record = {
+            "ts_unix_nano": received_unix_ns,
+            "received_unix_ns": received_unix_ns,
+            "received_mono_ns": received_mono_ns,
+            "message_id": message_id,
+            "ack_phase": str(ack_payload.get("ack_phase") or "persist_end"),
+            "sample_reason": str(ack_payload.get("sample_reason") or ""),
+            "b_recv_to_persist_us": ack_payload.get("b_recv_to_persist_us"),
+            "unix_send_ok": bool(ack_payload.get("unix_send_ok", False)),
+            "issued_at_unix_ns": event["issued_at_unix_ns"],
+            "source": event["source"],
+            "control_loop_rtt_ms": control_loop_rtt_ms,
+            "b_recv_to_persist_ms": b_recv_to_persist_ms,
+            "control_oneway_network_est_ms": control_oneway_network_est_ms,
+            "control_to_persist_est_ms": control_to_persist_est_ms,
+        }
+        self._ack_logger.write(ack_record)
+        with self._lock:
+            self._latest_estimate = {
+                "ack_available": True,
+                "updated_at": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime(received_unix_ns / 1_000_000_000)),
+                "received_mono_ns": received_mono_ns,
+                "control_loop_rtt_ms": control_loop_rtt_ms,
+                "b_recv_to_persist_ms": b_recv_to_persist_ms,
+                "control_oneway_network_est_ms": control_oneway_network_est_ms,
+                "control_to_persist_est_ms": control_to_persist_est_ms,
+                "sample_reason": ack_record["sample_reason"],
+            }
+        return "accepted"
+
+    def get_latest_estimate(self) -> dict[str, Any]:
+        with self._lock:
+            estimate = dict(self._latest_estimate)
+        if int(estimate.get("received_mono_ns", 0) or 0) > 0 and time.monotonic_ns() - int(estimate["received_mono_ns"]) > 10_000_000_000:
+            estimate["ack_available"] = False
+            estimate["control_loop_rtt_ms"] = None
+            estimate["b_recv_to_persist_ms"] = None
+            estimate["control_oneway_network_est_ms"] = None
+            estimate["control_to_persist_est_ms"] = None
+            estimate["sample_reason"] = None
+        estimate.pop("received_mono_ns", None)
+        return estimate
+
+    def close(self) -> None:
+        self._event_logger.close()
+        self._ack_logger.close()
+
+    def _prune_locked(self, now_mono_ns: int) -> None:
+        stale_ids = [
+            message_id
+            for message_id, event in self._pending.items()
+            if now_mono_ns - int(event.get("issued_at_mono_ns", 0)) > 60_000_000_000
+        ]
+        for message_id in stale_ids:
+            self._pending.pop(message_id, None)
+
+
+class OmniSocketControlSender:
+    def __init__(self, ack_tracker: ControlAckTracker) -> None:
+        self._lock = threading.Lock()
+        self._ack_tracker = ack_tracker
         self._session = None
         self._session_cls = None
         self._msg_type_error = None
@@ -36,6 +168,7 @@ class OmniSocketControlSender:
         self._reconnect_count = 0
         self._ever_connected = False
         self._registered = False
+        self._supports_send_with_id = False
         self._load_backend()
 
     def _load_backend(self) -> None:
@@ -92,6 +225,7 @@ class OmniSocketControlSender:
             self._started = True
             self._last_error = ""
             self._registered = bool(dict(session.stats()).get("registered", 0))
+            self._supports_send_with_id = hasattr(session, "send_with_id")
             if self._ever_connected:
                 self._reconnect_count += 1
             else:
@@ -111,25 +245,35 @@ class OmniSocketControlSender:
             self._session = None
             self._started = False
             self._registered = False
+            self._supports_send_with_id = False
         if current is not None:
             try:
                 current.close()
             except Exception:
                 pass
 
-    def send_payload(self, payload: bytes) -> None:
+    def send_payload(self, payload: bytes, *, source: str) -> 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
+            supports_send_with_id = self._supports_send_with_id
 
         if session is None:
             raise RuntimeError("control session is not available")
 
         try:
-            session.send(to=target_peer, data=payload)
+            issued_at_unix_ns = time.time_ns()
+            issued_at_mono_ns = time.monotonic_ns()
+            send_started_ns = time.perf_counter_ns()
+            message_id: int | None = None
+            if supports_send_with_id:
+                message_id = int(session.send_with_id(to=target_peer, data=payload))
+            else:
+                session.send(to=target_peer, data=payload)
+            send_call_latency_us = max(0, int((time.perf_counter_ns() - send_started_ns) / 1000))
         except Exception as error:
             with self._lock:
                 self._send_errors += 1
@@ -137,13 +281,22 @@ class OmniSocketControlSender:
             self._reset_session(session)
             raise
 
+        if message_id is not None:
+            self._ack_tracker.register_send(
+                message_id=message_id,
+                issued_at_unix_ns=issued_at_unix_ns,
+                issued_at_mono_ns=issued_at_mono_ns,
+                source=source,
+                payload=payload,
+                send_call_latency_us=send_call_latency_us,
+            )
         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)
+                self.send_payload(ZERO_CONTROL_PAYLOAD, source="zero_burst")
             except Exception:
                 return
 
@@ -236,6 +389,250 @@ class OmniSocketControlSender:
             drain_thread.join(timeout=0.5)
 
 
+class OmniSocketControlAckReceiver:
+    def __init__(self, ack_tracker: ControlAckTracker) -> None:
+        self._ack_tracker = ack_tracker
+        self._lock = threading.Lock()
+        self._thread: threading.Thread | None = None
+        self._started = False
+        self._session = None
+        self._session_cls = None
+        self._msg_type_text = None
+        self._msg_type_error = None
+        self._control_defaults: dict[str, Any] = {}
+        self._closing = threading.Event()
+        self._last_error = ""
+        self._last_server_error = ""
+        self._registered = False
+        self._reconnect_count = 0
+        self._ever_connected = False
+        self._received_messages = 0
+        self._received_bytes = 0
+        self._accepted_count = 0
+        self._pending_missing_count = 0
+        self._invalid_message_id_count = 0
+        self._invalid_timing_count = 0
+        self._unexpected_message_type_count = 0
+        self._unexpected_sender_count = 0
+        self._sender_mismatch_accepted_count = 0
+        self._payload_decode_errors = 0
+        self._last_msg_type: int | None = None
+        self._last_from_peer = ""
+        self._last_payload_preview = ""
+        self._last_ack_result = ""
+        self._load_backend()
+
+    def _load_backend(self) -> None:
+        try:
+            self._import_backend()
+        except Exception as error:  # pragma: no cover
+            self._last_error = f"omnisocket import failed: {error}"
+
+    def _import_backend(self) -> None:
+        try:
+            from omnisocket import CONTROL_DEFAULTS, MSG_TYPE_ERROR, MSG_TYPE_TEXT, 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, MSG_TYPE_TEXT, Session  # type: ignore
+
+        self._session_cls = Session
+        self._msg_type_text = MSG_TYPE_TEXT
+        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", {})
+        ack_cfg = config.get("control_ack_receiver", {})
+
+        session = self._session_cls()
+        session.connect(
+            server_addr=str(transport_cfg.get("server_addr", "127.0.0.1:10909")),
+            peer_id=str(ack_cfg.get("peer_id", "peer-a-ctrl-ack")),
+            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,
+        )
+        return session, str(ack_cfg.get("expected_sender", "peer-b-ctrl-ack"))
+
+    def ensure_started(self) -> None:
+        if self._session_cls is None:
+            return
+        with self._lock:
+            if self._started or self._closing.is_set():
+                return
+            self._started = True
+            self._thread = threading.Thread(target=self._run, name="omnisocket-control-ack", daemon=True)
+            self._thread.start()
+
+    @staticmethod
+    def _looks_like_control_ack(ack_payload: Any) -> bool:
+        if not isinstance(ack_payload, dict):
+            return False
+        if "message_id" not in ack_payload:
+            return False
+        return any(field in ack_payload for field in ("ack_phase", "b_recv_to_persist_us", "unix_send_ok", "sample_reason"))
+
+    @staticmethod
+    def _sender_matches(expected_sender: str, from_peer: str) -> bool:
+        normalized_expected = expected_sender.strip()
+        normalized_from = from_peer.strip()
+        if not normalized_expected:
+            return True
+        return normalized_from == normalized_expected
+
+    def _run(self) -> None:
+        while not self._closing.is_set():
+            expected_sender = ""
+            try:
+                session, expected_sender = self._connect_session()
+                with self._lock:
+                    self._session = session
+                    self._last_error = ""
+                    if self._ever_connected:
+                        self._reconnect_count += 1
+                    else:
+                        self._ever_connected = True
+
+                while not self._closing.is_set():
+                    result = session.recv(timeout_ms=1000)
+                    if result is None:
+                        try:
+                            session_stats = dict(session.stats())
+                        except Exception:
+                            session_stats = {}
+                        with self._lock:
+                            self._registered = bool(session_stats.get("registered", 0))
+                            self._last_server_error = str(session_stats.get("last_server_error", "") or "")
+                        continue
+                    from_peer, msg_type, payload = result
+                    with self._lock:
+                        self._received_messages += 1
+                        self._received_bytes += len(payload)
+                        self._last_from_peer = str(from_peer or "")
+                        self._last_msg_type = int(msg_type)
+                        self._last_payload_preview = _payload_preview(payload)
+                        try:
+                            session_stats = dict(session.stats())
+                        except Exception:
+                            session_stats = {}
+                        self._registered = bool(session_stats.get("registered", 0))
+                        self._last_server_error = str(session_stats.get("last_server_error", "") or "")
+                    if msg_type == self._msg_type_error:
+                        with self._lock:
+                            self._last_error = f"ack session error from {from_peer}: {payload.decode('utf-8', errors='replace')}"
+                            self._last_ack_result = "server_error"
+                        continue
+                    if msg_type != self._msg_type_text:
+                        with self._lock:
+                            self._unexpected_message_type_count += 1
+                            self._last_ack_result = "unexpected_message_type"
+                        continue
+                    try:
+                        ack_payload = json.loads(payload.decode("utf-8"))
+                    except (UnicodeDecodeError, json.JSONDecodeError):
+                        with self._lock:
+                            self._payload_decode_errors += 1
+                            self._last_ack_result = "payload_decode_error"
+                        continue
+                    sender_matches = self._sender_matches(expected_sender, from_peer)
+                    if not sender_matches:
+                        with self._lock:
+                            self._unexpected_sender_count += 1
+                        if not self._looks_like_control_ack(ack_payload):
+                            with self._lock:
+                                self._last_ack_result = "unexpected_sender"
+                            continue
+                    ack_result = self._ack_tracker.handle_ack(ack_payload, time.time_ns(), time.monotonic_ns())
+                    with self._lock:
+                        self._last_ack_result = ack_result
+                        if ack_result == "accepted":
+                            self._accepted_count += 1
+                            if not sender_matches:
+                                self._sender_mismatch_accepted_count += 1
+                        elif ack_result == "pending_missing":
+                            self._pending_missing_count += 1
+                        elif ack_result == "invalid_message_id":
+                            self._invalid_message_id_count += 1
+                        elif ack_result == "invalid_timing":
+                            self._invalid_timing_count += 1
+            except Exception as error:  # pragma: no cover
+                if not self._closing.is_set():
+                    with self._lock:
+                        self._last_error = str(error)
+                    time.sleep(2)
+            finally:
+                if self._session is not None:
+                    try:
+                        self._session.close()
+                    except Exception:
+                        pass
+                with self._lock:
+                    self._session = None
+                    if self._closing.is_set():
+                        self._started = False
+
+    def get_status(self) -> dict[str, Any]:
+        config = load_omnisocket_config().get("control_ack_receiver", {})
+        with self._lock:
+            session = self._session
+        if session is not None:
+            try:
+                session_stats = dict(session.stats())
+            except Exception:
+                session_stats = {}
+        else:
+            session_stats = {}
+        with self._lock:
+            return {
+                "backend_ready": self._session_cls is not None,
+                "started": self._started,
+                "connected": self._session is not None,
+                "registered": bool(session_stats.get("registered", 0) or self._registered),
+                "peer_id": str(config.get("peer_id", "")),
+                "expected_sender": str(config.get("expected_sender", "")),
+                "recv_calls": int(session_stats.get("recv_calls", 0)),
+                "recv_bytes": int(session_stats.get("recv_bytes", 0)),
+                "recv_timeouts": int(session_stats.get("recv_timeouts", 0)),
+                "recv_errors": int(session_stats.get("recv_errors", 0)),
+                "received_messages": self._received_messages,
+                "received_bytes": self._received_bytes,
+                "accepted_count": self._accepted_count,
+                "pending_missing_count": self._pending_missing_count,
+                "invalid_message_id_count": self._invalid_message_id_count,
+                "invalid_timing_count": self._invalid_timing_count,
+                "unexpected_message_type_count": self._unexpected_message_type_count,
+                "unexpected_sender_count": self._unexpected_sender_count,
+                "sender_mismatch_accepted_count": self._sender_mismatch_accepted_count,
+                "payload_decode_errors": self._payload_decode_errors,
+                "last_msg_type": self._last_msg_type,
+                "last_from_peer": self._last_from_peer,
+                "last_payload_preview": self._last_payload_preview,
+                "last_ack_result": self._last_ack_result,
+                "reconnect_count": self._reconnect_count,
+                "last_server_error": str(session_stats.get("last_server_error", "") or self._last_server_error),
+                "last_error": self._last_error,
+            }
+
+    def close(self) -> None:
+        self._closing.set()
+        with self._lock:
+            session = self._session
+        if session is not None:
+            try:
+                session.close()
+            except Exception:
+                pass
+        thread = self._thread
+        if thread is not None and thread.is_alive():
+            thread.join(timeout=0.5)
+
+
 class ControlArbiter:
     def __init__(self, sender: OmniSocketControlSender) -> None:
         self._sender = sender
@@ -325,7 +722,7 @@ class ControlArbiter:
                         self._last_error = str(error)
             elif active_source is not None:
                 try:
-                    self._sender.send_payload(payload)
+                    self._sender.send_payload(payload, source=active_source)
                     with self._lock:
                         self._last_sent_at = time.monotonic()
                         self._last_error = ""

backend/monitoring/services.py

@@ -2,26 +2,32 @@ from __future__ import annotations
 
 import atexit
 
-from .control import ControlArbiter, NativeUdpControlIngress, OmniSocketControlSender
+from .control import ControlAckTracker, ControlArbiter, NativeUdpControlIngress, OmniSocketControlAckReceiver, OmniSocketControlSender
 from .telemetry import GpsDataService, HubTelemetryReceiver, NetworkTelemetryService
-from .video import OmniSocketVideoReceiver, VideoFrameService
+from .video import OmniSocketVideoReceiver, VideoDisplayProbeStore, VideoFrameService
 
 
 _video_receiver = OmniSocketVideoReceiver()
-_control_sender = OmniSocketControlSender()
+_control_ack_tracker = ControlAckTracker()
+_control_sender = OmniSocketControlSender(_control_ack_tracker)
+_control_ack_receiver = OmniSocketControlAckReceiver(_control_ack_tracker)
 _hub_telemetry_receiver = HubTelemetryReceiver()
+_video_display_probe_store = VideoDisplayProbeStore()
 
 control_arbiter = ControlArbiter(_control_sender)
 native_control_ingress = NativeUdpControlIngress(control_arbiter)
 
-video_service = VideoFrameService(_video_receiver)
+video_service = VideoFrameService(_video_receiver, _video_display_probe_store)
 gps_service = GpsDataService(_video_receiver)
 network_service = NetworkTelemetryService(
     _video_receiver,
     _control_sender,
+    _control_ack_tracker,
+    _control_ack_receiver,
     control_arbiter,
     native_control_ingress,
     _hub_telemetry_receiver,
+    _video_display_probe_store,
 )
 
 
@@ -30,7 +36,10 @@ def shutdown_monitoring_services() -> None:
         network_service.close,
         native_control_ingress.close,
         control_arbiter.close,
+        _control_ack_receiver.close,
+        _control_ack_tracker.close,
         _hub_telemetry_receiver.close,
+        _video_display_probe_store.close,
         _video_receiver.close,
         _control_sender.close,
     ):

backend/monitoring/telemetry.py

@@ -2,10 +2,12 @@ from __future__ import annotations
 
 from collections import deque
 import json
+import os
 import sys
 import threading
 import time
 from datetime import datetime, timezone
+from pathlib import Path
 from typing import Any
 
 from .common import (
@@ -14,13 +16,30 @@ from .common import (
     load_omnisocket_config,
     utc_iso_now,
 )
-from .control import ControlArbiter, NativeUdpControlIngress, OmniSocketControlSender
-from .video import FrameTrailerMetadata, OmniSocketVideoReceiver
+from .control import ControlAckTracker, ControlArbiter, NativeUdpControlIngress, OmniSocketControlAckReceiver, OmniSocketControlSender
+from .video import FrameTrailerMetadata, OmniSocketVideoReceiver, VideoDisplayProbeStore
 
 
 LOCAL_SAMPLE_INTERVAL_MS = 500
 TREND_HISTORY_SIZE = 10
 TREND_WINDOW_SIZE = 5
+BLITZ_RUNTIME_DIR = Path(os.getenv("BLITZ_RUNTIME_DIR", "/run/blitz-robot"))
+WATCHDOG_STATUS_PATH = BLITZ_RUNTIME_DIR / "watchdog.status.json"
+WATCHDOG_STATUS_STALE_MS = max(int(os.getenv("BLITZ_HEALTH_STALE_SEC", "15")), 1) * 1000
+WATCHDOG_FAULT_REASON_MAP: dict[str, tuple[str, str | None]] = {
+    "": ("none", None),
+    "none": ("none", None),
+    "camera_missing": ("video_pipeline_stalled", "degraded"),
+    "camera_recovered": ("video_session_recovering", "recovering"),
+    "camera-reappeared-escalated": ("video_session_recovering", "recovering"),
+    "bside_status_stale": ("video_session_recovering", "recovering"),
+    "bside-unhealthy-escalated": ("video_session_recovering", "recovering"),
+    "ros_receiver_unhealthy": ("control_session_recovering", "recovering"),
+    "ros-unhealthy": ("control_session_recovering", "recovering"),
+    "network_or_robot_unreachable": ("network_or_robot_unreachable", "recovering"),
+    "network-recovered-ros-unhealthy": ("control_session_recovering", "recovering"),
+    "network-recovered-escalated": ("network_or_robot_unreachable", "recovering"),
+}
 
 
 def _utc_from_epoch(epoch_seconds: float | None) -> str | None:
@@ -47,6 +66,19 @@ def _coerce_float(value: Any, default: float = 0.0) -> float:
         return default
 
 
+def _load_optional_json(path: Path) -> dict[str, Any] | None:
+    try:
+        if not path.exists():
+            return None
+        with path.open("r", encoding="utf-8") as file:
+            payload = json.load(file)
+        if isinstance(payload, dict):
+            return payload
+    except Exception:
+        return None
+    return None
+
+
 class GpsDataService:
     def __init__(self, receiver: OmniSocketVideoReceiver) -> None:
         self._receiver = receiver
@@ -73,13 +105,32 @@ class GpsDataService:
         }
 
     def _build_payload_from_metadata(self, metadata: FrameTrailerMetadata) -> dict[str, Any]:
-        timestamp_seconds = metadata.timestamp_ns / 1_000_000_000
         updated_at = _utc_from_epoch(metadata.received_at) or ""
+        if not metadata.has_gps_fix:
+            return {
+                "has_fix": False,
+                "utc_time": "--:--:--",
+                "latitude": None,
+                "longitude": None,
+                "raw_latitude_hex": f"0x{metadata.raw_latitude_hex}",
+                "raw_longitude_hex": f"0x{metadata.raw_longitude_hex}",
+                "satellites": None,
+                "altitude_m": None,
+                "coordinate_system": "WGS84",
+                "source_sentence": "VIDEO_TRAILER",
+                "raw_coordinate_format": VIDEO_TRAILER_COORDINATE_FORMAT,
+                "source_mode": "video-frame-trailer-no-fix",
+                "updated_at": updated_at,
+            }
+
+        timestamp_seconds = metadata.timestamp_ns / 1_000_000_000
         return {
             "has_fix": True,
             "utc_time": datetime.fromtimestamp(timestamp_seconds, timezone.utc).strftime("%H:%M:%S"),
-            "latitude": round(metadata.latitude, 6),
-            "longitude": round(metadata.longitude, 6),
+            "latitude": round(metadata.latitude, 6) if metadata.latitude is not None else None,
+            "longitude": round(metadata.longitude, 6) if metadata.longitude is not None else None,
+            "raw_latitude_hex": f"0x{metadata.raw_latitude_hex}",
+            "raw_longitude_hex": f"0x{metadata.raw_longitude_hex}",
             "satellites": None,
             "altitude_m": None,
             "coordinate_system": "WGS84",
@@ -106,7 +157,9 @@ class KcpTrendTracker:
             "conv": _coerce_int(raw.get("conv")),
             "rto_ms": _coerce_int(raw.get("rto_ms")),
             "srtt_ms": _coerce_int(raw.get("srtt_ms")),
+            "min_srtt_ms": _coerce_int(raw.get("min_srtt_ms")),
             "srttvar_ms": _coerce_int(raw.get("srttvar_ms")),
+            "last_feedback_age_ms": _coerce_int(raw.get("last_feedback_age_ms")),
             "snd_wnd": snd_wnd,
             "rmt_wnd": rmt_wnd,
             "inflight": inflight,
@@ -385,15 +438,21 @@ class NetworkTelemetryService:
         self,
         video_receiver: OmniSocketVideoReceiver,
         control_sender: OmniSocketControlSender,
+        control_ack_tracker: ControlAckTracker,
+        control_ack_receiver: OmniSocketControlAckReceiver,
         control_arbiter: ControlArbiter,
         native_ingress: NativeUdpControlIngress,
         hub_receiver: HubTelemetryReceiver,
+        video_display_probe_store: VideoDisplayProbeStore,
     ) -> None:
         self._video_receiver = video_receiver
         self._control_sender = control_sender
+        self._control_ack_tracker = control_ack_tracker
+        self._control_ack_receiver = control_ack_receiver
         self._control_arbiter = control_arbiter
         self._native_ingress = native_ingress
         self._hub_receiver = hub_receiver
+        self._video_display_probe_store = video_display_probe_store
         self._trend_tracker = KcpTrendTracker()
         self._rate_lock = threading.Lock()
         self._last_rate_sample: tuple[float, int, int] | None = None
@@ -405,6 +464,7 @@ class NetworkTelemetryService:
     def _ensure_started(self) -> None:
         self._video_receiver.ensure_started()
         self._control_arbiter.ensure_started()
+        self._control_ack_receiver.ensure_started()
         self._native_ingress.ensure_started()
         self._hub_receiver.ensure_started()
         with self._rate_lock:
@@ -521,6 +581,148 @@ class NetworkTelemetryService:
                 return session
         return None
 
+    def _derive_robot_health(
+        self,
+        *,
+        video_receiver_status: dict[str, Any],
+        local_control_registered: bool,
+        remote_control_fresh: bool,
+        remote_video_fresh: bool,
+        telemetry_state: dict[str, Any],
+        watchdog_status: dict[str, Any] | None,
+    ) -> dict[str, Any]:
+        if watchdog_status is not None:
+            explicit_health = self._derive_robot_health_from_watchdog(watchdog_status)
+            if explicit_health is not None:
+                return explicit_health
+
+        has_recent_frame = bool(video_receiver_status.get("has_recent_frame"))
+        telemetry_connected = bool(telemetry_state.get("connected"))
+        telemetry_stale = bool(telemetry_state.get("stale", True))
+
+        if has_recent_frame and remote_control_fresh and remote_video_fresh:
+            fault_reason = "none"
+            recovery_state = "ok"
+        elif not remote_control_fresh and not remote_video_fresh and not has_recent_frame:
+            fault_reason = "network_or_robot_unreachable"
+            recovery_state = "recovering" if telemetry_connected and not telemetry_stale else "degraded"
+        elif remote_control_fresh and not remote_video_fresh:
+            fault_reason = "video_session_recovering"
+            recovery_state = "recovering"
+        elif not remote_control_fresh and local_control_registered:
+            fault_reason = "control_session_recovering"
+            recovery_state = "recovering"
+        elif remote_control_fresh and not has_recent_frame:
+            fault_reason = "video_pipeline_stalled"
+            recovery_state = "degraded"
+        else:
+            fault_reason = "unknown"
+            recovery_state = "degraded"
+
+        return {
+            "fault_reason": fault_reason,
+            "recovery_state": recovery_state,
+            "confidence": "derived",
+            "updated_at": utc_iso_now(),
+        }
+
+    def _derive_robot_health_from_watchdog(self, watchdog_status: dict[str, Any]) -> dict[str, Any] | None:
+        updated_at_epoch_ms = _coerce_int(watchdog_status.get("updated_at_epoch_ms"))
+        if updated_at_epoch_ms <= 0:
+            return None
+
+        now_epoch_ms = int(time.time() * 1000)
+        if now_epoch_ms - updated_at_epoch_ms > WATCHDOG_STATUS_STALE_MS:
+            return None
+
+        raw_fault_reason = str(watchdog_status.get("fault_reason", "") or "")
+        raw_recovery_state = str(watchdog_status.get("recovery_state", "") or "")
+        normalized_fault_reason = "unknown"
+        normalized_recovery_state = raw_recovery_state or "degraded"
+        mapped_health = WATCHDOG_FAULT_REASON_MAP.get(raw_fault_reason)
+
+        if mapped_health is not None:
+            normalized_fault_reason, recovery_override = mapped_health
+            if recovery_override is not None:
+                normalized_recovery_state = recovery_override
+        if raw_recovery_state == "backoff":
+            normalized_recovery_state = "backoff"
+
+        return {
+            "fault_reason": normalized_fault_reason,
+            "recovery_state": normalized_recovery_state,
+            "confidence": "derived",
+            "updated_at": _utc_from_epoch(updated_at_epoch_ms / 1000.0) or utc_iso_now(),
+        }
+
+    def _derive_latency_estimate(
+        self,
+        *,
+        links: dict[str, dict[str, Any]],
+        video_receiver_status: dict[str, Any],
+        display_probe_status: dict[str, Any],
+    ) -> dict[str, Any]:
+        a_to_d_control_raw = links["a_to_d"]["sessions"]["control"]["kcp"].get("srtt_ms")
+        d_to_b_control_raw = links["d_to_b"]["sessions"]["control"]["kcp"].get("srtt_ms")
+        a_to_d_control_min_raw = links["a_to_d"]["sessions"]["control"]["kcp"].get("min_srtt_ms")
+        d_to_b_control_min_raw = links["d_to_b"]["sessions"]["control"]["kcp"].get("min_srtt_ms")
+        a_to_d_video_raw = links["a_to_d"]["sessions"]["video"]["kcp"].get("srtt_ms")
+        d_to_b_video_raw = links["d_to_b"]["sessions"]["video"]["kcp"].get("srtt_ms")
+
+        a_to_d_control = _coerce_float(a_to_d_control_raw) if a_to_d_control_raw is not None else None
+        d_to_b_control = _coerce_float(d_to_b_control_raw) if d_to_b_control_raw is not None else None
+        a_to_d_control_min = _coerce_float(a_to_d_control_min_raw) if a_to_d_control_min_raw is not None else None
+        d_to_b_control_min = _coerce_float(d_to_b_control_min_raw) if d_to_b_control_min_raw is not None else None
+        a_to_d_video = _coerce_float(a_to_d_video_raw) if a_to_d_video_raw is not None else None
+        d_to_b_video = _coerce_float(d_to_b_video_raw) if d_to_b_video_raw is not None else None
+        ack_estimate = self._control_ack_tracker.get_latest_estimate()
+        capture_to_send_raw = video_receiver_status.get("latest_capture_to_send_ms")
+        request_to_paint_raw = display_probe_status.get("request_to_paint_ms")
+        capture_to_send_ms = _coerce_float(capture_to_send_raw) if capture_to_send_raw is not None else None
+        request_to_paint_ms = _coerce_float(request_to_paint_raw) if request_to_paint_raw is not None else None
+        video_network_oneway_est_ms = (
+            round((a_to_d_video + d_to_b_video) / 2.0, 3)
+            if a_to_d_video is not None and d_to_b_video is not None
+            else None
+        )
+        video_partial_est_ms = None
+        if capture_to_send_ms is not None and video_network_oneway_est_ms is not None:
+            video_partial_est_ms = round(capture_to_send_ms + video_network_oneway_est_ms, 3)
+        video_e2e_est_ms = None
+        if video_partial_est_ms is not None and request_to_paint_ms is not None:
+            video_e2e_est_ms = round(video_partial_est_ms + request_to_paint_ms, 3)
+
+        return {
+            "control_loop_rtt_ms": ack_estimate.get("control_loop_rtt_ms"),
+            "control_to_persist_est_ms": ack_estimate.get("control_to_persist_est_ms"),
+            "control_oneway_srtt_est_ms": (
+                round((a_to_d_control + d_to_b_control) / 2.0, 3)
+                if a_to_d_control is not None and d_to_b_control is not None
+                else None
+            ),
+            "control_oneway_bestcase_est_ms": (
+                round((a_to_d_control_min + d_to_b_control_min) / 2.0, 3)
+                if a_to_d_control_min is not None and d_to_b_control_min is not None
+                else None
+            ),
+            "video_network_oneway_est_ms": video_network_oneway_est_ms,
+            "video_partial_est_ms": video_partial_est_ms,
+            "video_e2e_est_ms": video_e2e_est_ms,
+            "estimate_method": {
+                "control": "ack_loop" if ack_estimate.get("ack_available") else "srtt_fallback",
+                "video": "capture_to_send+srtt/2+request_to_paint" if video_e2e_est_ms is not None else "capture_to_send+srtt/2",
+            },
+            "clock_sync_required": False,
+            "assumptions": [
+                "control one-way estimate uses ACK loop when available",
+                "video one-way estimate uses per-leg SRTT and local paint timing",
+            ],
+            "confidence": {
+                "control": "derived_ack" if ack_estimate.get("ack_available") else "fallback_srtt",
+                "video": "derived_local_probe" if video_e2e_est_ms is not None else "partial_without_probe",
+            },
+        }
+
     def get_latest(self) -> dict[str, Any]:
         self._ensure_started()
 
@@ -533,10 +735,14 @@ class NetworkTelemetryService:
         control_app = self._control_sender.session_stats()
         video_kcp = self._video_receiver.session_kcp_stats()
         control_kcp = self._control_sender.session_kcp_stats()
+        video_receiver_status = self._video_receiver.get_status()
         arbiter_status = self._control_arbiter.get_status()
         ingress_status = self._native_ingress.get_status()
         sender_status = self._control_sender.get_status()
+        ack_receiver_status = self._control_ack_receiver.get_status()
+        ack_status = self._control_ack_tracker.get_latest_estimate()
         telemetry_state = self._hub_receiver.get_snapshot()
+        display_probe_status = self._video_display_probe_store.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))
@@ -588,6 +794,9 @@ class NetworkTelemetryService:
                 remote_stale,
             ),
         }
+        self._video_receiver.update_remote_video_srtt(
+            _coerce_int(remote_sessions["video"]["kcp"].get("srtt_ms")) if remote_sessions["video"]["kcp"].get("srtt_ms") is not None else None
+        )
 
         links = {
             "a_to_d": self._build_link("local-a-side", local_updated_at, False, local_sessions),
@@ -605,6 +814,21 @@ class NetworkTelemetryService:
         jitter_ms = primary_kcp.get("srttvar_ms") if primary_session is not None else None
         local_control_registered = bool(control_app.get("registered", 0))
         remote_control_fresh = bool(remote_sessions["control"].get("connected")) and not bool(remote_sessions["control"].get("stale"))
+        remote_video_fresh = bool(remote_sessions["video"].get("connected")) and not bool(remote_sessions["video"].get("stale"))
+        watchdog_status = _load_optional_json(WATCHDOG_STATUS_PATH)
+        robot_health = self._derive_robot_health(
+            video_receiver_status=video_receiver_status,
+            local_control_registered=local_control_registered,
+            remote_control_fresh=remote_control_fresh,
+            remote_video_fresh=remote_video_fresh,
+            telemetry_state=telemetry_state,
+            watchdog_status=watchdog_status,
+        )
+        latency_estimate = self._derive_latency_estimate(
+            links=links,
+            video_receiver_status=video_receiver_status,
+            display_probe_status=display_probe_status,
+        )
 
         if local_control_registered and remote_control_fresh:
             peer_status = "online"
@@ -645,6 +869,12 @@ class NetworkTelemetryService:
                 },
             },
             "links": links,
+            "latency_estimate": latency_estimate,
+            "video_freshness": video_receiver_status.get("freshness", {}),
+            "control_ack_status": {
+                **ack_status,
+                "receiver": ack_receiver_status,
+            },
             "telemetry_receiver": {
                 "hub_connected": bool(telemetry_state.get("connected")),
                 "hub_updated_at": telemetry_state.get("updated_at"),
@@ -655,12 +885,14 @@ class NetworkTelemetryService:
                 "last_server_error": str(telemetry_state.get("last_server_error", "") or ""),
                 "reconnect_count": int(telemetry_state.get("reconnect_count", 0)),
             },
+            "robot_health": robot_health,
             "ingress": {
                 "native_udp": ingress_status,
             },
             "control": {
                 "arbiter": arbiter_status,
                 "sender": sender_status,
+                "ack_receiver": ack_receiver_status,
             },
         }
 

backend/monitoring/urls.py

@@ -7,7 +7,9 @@ urlpatterns = [
     path("dashboard/", views.dashboard_snapshot, name="dashboard-snapshot"),
     path("gps/latest/", views.gps_latest, name="gps-latest"),
     path("network/latest/", views.network_latest, name="network-latest"),
+    path("clock/calibrate/", views.clock_calibration, name="clock-calibration"),
     path("video/status/", views.video_status, name="video-status"),
     path("video/frame/", views.video_frame, name="video-frame"),
+    path("video/display-probe/", views.video_display_probe, name="video-display-probe"),
     path("video/stream/", views.video_stream, name="video-stream"),
 ]

backend/monitoring/video.py

@@ -2,6 +2,7 @@ from __future__ import annotations
 
 from collections import deque
 from dataclasses import dataclass
+import hashlib
 import math
 import struct
 import sys
@@ -13,6 +14,7 @@ from .common import (
     JPEG_FRAME_DIR,
     OMNISOCKET_CONFIG_PATH,
     OMNISOCKET_FRAME_FRESH_SECONDS,
+    JsonlRunLogger,
     VIDEO_SOURCE_MODE,
     VIDEO_TIMESTAMP_SAMPLE_SIZE,
     VIDEO_TRAILER_BYTES,
@@ -35,13 +37,190 @@ def safe_kcp_stats(session: Any) -> dict[str, Any]:
         return {}
 
 
+class VideoDisplayProbeStore:
+    def __init__(self) -> None:
+        self._lock = threading.Lock()
+        self._logger = JsonlRunLogger("BLITZ_A_VIDEO_DISPLAY_PROBE_LOG_PATH", "a-video-display-probe")
+        self._latest: VideoDisplayProbeStatus = VideoDisplayProbeStatus(
+            updated_at=None,
+            frame_seq=None,
+            frame_hash="",
+            input_to_next_fresh_frame_ms=None,
+            input_to_next_changed_frame_ms=None,
+            input_to_next_paint_ms=None,
+            request_to_paint_ms=None,
+            response_to_paint_ms=None,
+            backend_to_request_ms=None,
+            backend_to_request_ms_raw=None,
+            backend_to_paint_ms=None,
+            backend_to_paint_ms_raw=None,
+            browser_backend_clock_offset_ms=None,
+            browser_backend_clock_rtt_ms=None,
+            browser_backend_clock_sample_count=0,
+            browser_backend_clock_calibrated_at=None,
+        )
+
+    def record_event(self, payload: dict[str, Any]) -> None:
+        backend_received_unix_ns = payload.get("backend_received_unix_ns")
+        request_started_unix_ms = payload.get("request_started_unix_ms")
+        response_received_unix_ms = payload.get("response_received_unix_ms")
+        paint_unix_ms = payload.get("paint_unix_ms")
+        browser_backend_clock_offset_ms = self._coerce_float(payload.get("browser_backend_clock_offset_ms"))
+        browser_backend_clock_rtt_ms = self._coerce_float(payload.get("browser_backend_clock_rtt_ms"))
+        browser_backend_clock_sample_count = self._coerce_int(payload.get("browser_backend_clock_sample_count"))
+        browser_backend_clock_calibrated_at = self._coerce_text(payload.get("browser_backend_clock_calibrated_at"))
+        request_to_paint_ms = self._duration_ms(paint_unix_ms, request_started_unix_ms, clamp_floor_zero=True)
+        response_to_paint_ms = self._duration_ms(paint_unix_ms, response_received_unix_ms, clamp_floor_zero=True)
+        backend_received_unix_ms = None
+        try:
+            if backend_received_unix_ns is not None:
+                backend_received_unix_ms = int(backend_received_unix_ns) / 1_000_000.0
+        except (TypeError, ValueError):
+            backend_received_unix_ms = None
+        backend_received_browser_unix_ms = None
+        if backend_received_unix_ms is not None and browser_backend_clock_offset_ms is not None:
+            backend_received_browser_unix_ms = round(backend_received_unix_ms + browser_backend_clock_offset_ms, 3)
+        backend_to_request_ms_raw = self._duration_ms(request_started_unix_ms, backend_received_unix_ms, clamp_floor_zero=False)
+        backend_to_paint_ms_raw = self._duration_ms(paint_unix_ms, backend_received_unix_ms, clamp_floor_zero=False)
+        backend_to_request_ms = self._duration_ms(
+            request_started_unix_ms,
+            backend_received_browser_unix_ms,
+            clamp_floor_zero=True,
+        )
+        backend_to_paint_ms = self._duration_ms(
+            paint_unix_ms,
+            backend_received_browser_unix_ms,
+            clamp_floor_zero=True,
+        )
+
+        status = VideoDisplayProbeStatus(
+            updated_at=self._coerce_text(payload.get("updated_at")),
+            frame_seq=int(payload["frame_seq"]) if payload.get("frame_seq") is not None else None,
+            frame_hash=str(payload.get("frame_hash") or ""),
+            input_to_next_fresh_frame_ms=self._coerce_float(payload.get("input_to_next_fresh_frame_ms")),
+            input_to_next_changed_frame_ms=self._coerce_float(payload.get("input_to_next_changed_frame_ms")),
+            input_to_next_paint_ms=self._coerce_float(payload.get("input_to_next_paint_ms")),
+            request_to_paint_ms=request_to_paint_ms,
+            response_to_paint_ms=response_to_paint_ms,
+            backend_to_request_ms=backend_to_request_ms,
+            backend_to_request_ms_raw=backend_to_request_ms_raw,
+            backend_to_paint_ms=backend_to_paint_ms,
+            backend_to_paint_ms_raw=backend_to_paint_ms_raw,
+            browser_backend_clock_offset_ms=browser_backend_clock_offset_ms,
+            browser_backend_clock_rtt_ms=browser_backend_clock_rtt_ms,
+            browser_backend_clock_sample_count=browser_backend_clock_sample_count,
+            browser_backend_clock_calibrated_at=browser_backend_clock_calibrated_at,
+        )
+        logged_payload = dict(payload)
+        logged_payload.update(
+            {
+                "request_to_paint_ms": request_to_paint_ms,
+                "response_to_paint_ms": response_to_paint_ms,
+                "backend_received_browser_unix_ms": backend_received_browser_unix_ms,
+                "backend_to_request_ms": backend_to_request_ms,
+                "backend_to_request_ms_raw": backend_to_request_ms_raw,
+                "backend_to_paint_ms": backend_to_paint_ms,
+                "backend_to_paint_ms_raw": backend_to_paint_ms_raw,
+            }
+        )
+        with self._lock:
+            self._latest = status
+        self._logger.write(logged_payload)
+
+    def get_status(self) -> dict[str, Any]:
+        with self._lock:
+            latest = self._latest
+        return {
+            "updated_at": latest.updated_at,
+            "frame_seq": latest.frame_seq,
+            "frame_hash": latest.frame_hash,
+            "input_to_next_fresh_frame_ms": latest.input_to_next_fresh_frame_ms,
+            "input_to_next_changed_frame_ms": latest.input_to_next_changed_frame_ms,
+            "input_to_next_paint_ms": latest.input_to_next_paint_ms,
+            "request_to_paint_ms": latest.request_to_paint_ms,
+            "response_to_paint_ms": latest.response_to_paint_ms,
+            "backend_to_request_ms": latest.backend_to_request_ms,
+            "backend_to_request_ms_raw": latest.backend_to_request_ms_raw,
+            "backend_to_paint_ms": latest.backend_to_paint_ms,
+            "backend_to_paint_ms_raw": latest.backend_to_paint_ms_raw,
+            "browser_backend_clock_offset_ms": latest.browser_backend_clock_offset_ms,
+            "browser_backend_clock_rtt_ms": latest.browser_backend_clock_rtt_ms,
+            "browser_backend_clock_sample_count": latest.browser_backend_clock_sample_count,
+            "browser_backend_clock_calibrated_at": latest.browser_backend_clock_calibrated_at,
+        }
+
+    def close(self) -> None:
+        self._logger.close()
+
+    @staticmethod
+    def _coerce_float(value: Any) -> float | None:
+        try:
+            if value is None:
+                return None
+            return round(float(value), 3)
+        except (TypeError, ValueError):
+            return None
+
+    @staticmethod
+    def _coerce_int(value: Any) -> int:
+        try:
+            if value is None:
+                return 0
+            return int(value)
+        except (TypeError, ValueError):
+            return 0
+
+    @staticmethod
+    def _coerce_text(value: Any) -> str | None:
+        text = str(value or "").strip()
+        return text or None
+
+    @classmethod
+    def _duration_ms(cls, end_ms: Any, start_ms: Any, *, clamp_floor_zero: bool) -> float | None:
+        end_value = cls._coerce_float(end_ms)
+        start_value = cls._coerce_float(start_ms)
+        if end_value is None or start_value is None:
+            return None
+        delta = round(end_value - start_value, 3)
+        if clamp_floor_zero:
+            delta = max(0.0, delta)
+        return delta
+
+
 @dataclass(frozen=True)
 class FrameTrailerMetadata:
     timestamp_ns: int
-    latitude: float
-    longitude: float
+    latitude: float | None
+    longitude: float | None
+    capture_to_send_ms: int
+    raw_latitude_hex: str
+    raw_longitude_hex: str
     received_at: float
 
+    @property
+    def has_gps_fix(self) -> bool:
+        return self.latitude is not None and self.longitude is not None
+
+
+@dataclass(frozen=True)
+class VideoDisplayProbeStatus:
+    updated_at: str | None
+    frame_seq: int | None
+    frame_hash: str
+    input_to_next_fresh_frame_ms: float | None
+    input_to_next_changed_frame_ms: float | None
+    input_to_next_paint_ms: float | None
+    request_to_paint_ms: float | None
+    response_to_paint_ms: float | None
+    backend_to_request_ms: float | None
+    backend_to_request_ms_raw: float | None
+    backend_to_paint_ms: float | None
+    backend_to_paint_ms_raw: float | None
+    browser_backend_clock_offset_ms: float | None
+    browser_backend_clock_rtt_ms: float | None
+    browser_backend_clock_sample_count: int
+    browser_backend_clock_calibrated_at: str | None
+
 
 class OmniSocketVideoReceiver:
     def __init__(self) -> None:
@@ -54,17 +233,31 @@ class OmniSocketVideoReceiver:
         self._video_defaults: dict[str, Any] = {}
         self._latest_frame: bytes | None = None
         self._latest_received_at = 0.0
+        self._latest_backend_received_unix_ns = 0
+        self._latest_backend_received_mono_ns = 0
         self._latest_sequence: int | None = None
         self._latest_metadata: FrameTrailerMetadata | None = None
-        self._latest_latency_ms: float | None = None
+        self._latest_sender_clock_delta_ms_raw: 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._sender_clock_delta_samples_ms_raw: deque[float] = deque(maxlen=VIDEO_TIMESTAMP_SAMPLE_SIZE)
+        self._latest_frame_hash = ""
+        self._latest_frame_bytes = 0
+        self._last_frame_hash = ""
+        self._last_sequence: int | None = None
+        self._last_backend_received_mono_ns = 0
+        self._interarrival_ms_samples: deque[float] = deque(maxlen=120)
+        self._repeat_samples: deque[int] = deque(maxlen=120)
+        self._skip_samples: deque[int] = deque(maxlen=120)
+        self._freeze_samples_ms: deque[float] = deque(maxlen=120)
+        self._current_stale_frame_run_length = 0
+        self._latest_remote_video_srtt_ms: int | None = None
         self._frames_received = 0
         self._last_error = ""
         self._reconnect_count = 0
         self._ever_connected = False
         self._closing = threading.Event()
+        self._frame_recv_logger = JsonlRunLogger("BLITZ_A_VIDEO_FRAME_RECV_LOG_PATH", "a-video-frame-recv")
         self._load_backend()
 
     def _load_backend(self) -> None:
@@ -172,25 +365,32 @@ class OmniSocketVideoReceiver:
             return None
 
         try:
-            timestamp_ms, latitude, longitude = VIDEO_TRAILER_STRUCT.unpack(trailer)
+            timestamp_ms, latitude, longitude, capture_to_send_ms = VIDEO_TRAILER_STRUCT.unpack(trailer)
         except struct.error:
             return None
 
         if timestamp_ms <= 0:
             return None
-        if not math.isfinite(latitude) or not math.isfinite(longitude):
-            return None
-        if not (-90.0 <= latitude <= 90.0) or not (-180.0 <= longitude <= 180.0):
-            return None
 
         timestamp_ns = timestamp_ms * VIDEO_TRAILER_TIMESTAMP_MULTIPLIER_NS
         if abs(time.time_ns() - timestamp_ns) > VIDEO_TRAILER_TIMESTAMP_MAX_SKEW_NS:
             return None
 
+        gps_fix_available = (
+            math.isfinite(latitude)
+            and math.isfinite(longitude)
+            and (-90.0 <= latitude <= 90.0)
+            and (-180.0 <= longitude <= 180.0)
+            and not (abs(latitude) < 1e-9 and abs(longitude) < 1e-9)
+        )
+
         return FrameTrailerMetadata(
             timestamp_ns=timestamp_ns,
-            latitude=latitude,
-            longitude=longitude,
+            latitude=latitude if gps_fix_available else None,
+            longitude=longitude if gps_fix_available else None,
+            capture_to_send_ms=int(capture_to_send_ms),
+            raw_latitude_hex=trailer[8:16].hex(),
+            raw_longitude_hex=trailer[16:24].hex(),
             received_at=received_at if received_at is not None else time.time(),
         )
 
@@ -199,6 +399,56 @@ class OmniSocketVideoReceiver:
             time.time() - self._latest_received_at <= OMNISOCKET_FRAME_FRESH_SECONDS
         )
 
+    def update_remote_video_srtt(self, srtt_ms: int | None) -> None:
+        with self._lock:
+            self._latest_remote_video_srtt_ms = srtt_ms
+
+    def _freshness_payload_locked(self) -> dict[str, Any]:
+        interarrival_samples = list(self._interarrival_ms_samples)
+        repeat_samples = list(self._repeat_samples)
+        skip_samples = list(self._skip_samples)
+        freeze_samples_ms = list(self._freeze_samples_ms)
+
+        inter_frame_avg_ms = round(sum(interarrival_samples) / len(interarrival_samples), 3) if interarrival_samples else None
+        if interarrival_samples:
+            ordered = sorted(interarrival_samples)
+            p95_index = min(len(ordered) - 1, max(0, math.ceil(len(ordered) * 0.95) - 1))
+            inter_frame_p95_ms = round(ordered[p95_index], 3)
+        else:
+            inter_frame_p95_ms = None
+
+        repeated_frame_ratio = round(sum(repeat_samples) / len(repeat_samples), 4) if repeat_samples else 0.0
+        total_skip = sum(skip_samples)
+        expected_frames = len(skip_samples) + total_skip
+        skip_ratio = round(total_skip / expected_frames, 4) if expected_frames > 0 else 0.0
+        longest_freeze_ms = round(max(freeze_samples_ms), 3) if freeze_samples_ms else 0.0
+        return {
+            "inter_frame_avg_ms": inter_frame_avg_ms,
+            "inter_frame_p95_ms": inter_frame_p95_ms,
+            "repeated_frame_ratio": repeated_frame_ratio,
+            "skip_ratio": skip_ratio,
+            "longest_freeze_ms": longest_freeze_ms,
+            "stale_frame_run_length": self._current_stale_frame_run_length,
+            "relative_freshness_lag_frames": self._current_stale_frame_run_length + (skip_samples[-1] if skip_samples else 0),
+        }
+
+    def _frame_headers_locked(self) -> dict[str, str]:
+        capture_to_send_ms = self._latest_metadata.capture_to_send_ms if self._latest_metadata is not None else None
+        headers: dict[str, str] = {}
+        if self._latest_sequence is not None:
+            headers["X-Blitz-Frame-Seq"] = str(self._latest_sequence)
+        if self._latest_backend_received_unix_ns > 0:
+            headers["X-Blitz-Backend-Received-Unix-Ns"] = str(self._latest_backend_received_unix_ns)
+        if self._latest_frame_hash:
+            headers["X-Blitz-Frame-Hash"] = self._latest_frame_hash
+        if capture_to_send_ms is not None:
+            headers["X-Blitz-BSide-Capture-To-Send-Ms"] = str(capture_to_send_ms)
+        return headers
+
+    def get_latest_frame_headers(self) -> dict[str, str]:
+        snapshot = self.get_latest_frame_snapshot()
+        return snapshot[1] if snapshot is not None else {}
+
     def _run(self) -> None:
         while not self._closing.is_set():
             try:
@@ -226,27 +476,81 @@ class OmniSocketVideoReceiver:
                         continue
 
                     received_at = time.time()
+                    received_unix_ns = time.time_ns()
+                    received_mono_ns = time.monotonic_ns()
                     frame_metadata = self._extract_frame_metadata(frame, received_at=received_at)
-                    latency_ms = None
+                    sender_clock_delta_ms_raw = None
                     if frame_metadata is not None:
-                        latency_ms = round((time.time_ns() - frame_metadata.timestamp_ns) / 1_000_000, 3)
+                        sender_clock_delta_ms_raw = round((received_unix_ns - frame_metadata.timestamp_ns) / 1_000_000, 3)
                         unit = VIDEO_TRAILER_TIMESTAMP_UNIT
                         endianness = VIDEO_TRAILER_ENDIANNESS
                     else:
                         unit = None
                         endianness = None
+                    frame_sequence = self._extract_sequence(frame)
+                    frame_hash = hashlib.blake2s(jpeg_frame, digest_size=8).hexdigest()
+                    local_kcp = safe_kcp_stats(session) if self._frame_recv_logger.enabled else {}
+                    frame_log_record: dict[str, Any] | None = None
 
                     with self._lock:
+                        interarrival_ms = None
+                        if self._last_backend_received_mono_ns > 0:
+                            interarrival_ms = round((received_mono_ns - self._last_backend_received_mono_ns) / 1_000_000, 3)
+                            self._interarrival_ms_samples.append(interarrival_ms)
+
+                        sequence_gap = 0
+                        if frame_sequence is not None and self._last_sequence is not None and frame_sequence > self._last_sequence:
+                            sequence_gap = max(0, frame_sequence - self._last_sequence - 1)
+
+                        repeat_flag = bool(self._last_frame_hash) and frame_hash == self._last_frame_hash
+                        self._repeat_samples.append(1 if repeat_flag else 0)
+                        self._skip_samples.append(sequence_gap)
+                        if repeat_flag:
+                            self._current_stale_frame_run_length += 1
+                        else:
+                            self._current_stale_frame_run_length = 0
+                        if interarrival_ms is not None and repeat_flag:
+                            self._freeze_samples_ms.append(interarrival_ms)
+                        elif interarrival_ms is not None:
+                            self._freeze_samples_ms.append(0.0)
+
                         self._latest_frame = jpeg_frame
                         self._latest_received_at = received_at
-                        self._latest_sequence = self._extract_sequence(frame)
+                        self._latest_backend_received_unix_ns = received_unix_ns
+                        self._latest_backend_received_mono_ns = received_mono_ns
+                        self._latest_sequence = frame_sequence
+                        self._last_sequence = frame_sequence
                         self._latest_metadata = frame_metadata
-                        self._latest_latency_ms = latency_ms
+                        self._latest_sender_clock_delta_ms_raw = sender_clock_delta_ms_raw
                         self._latest_timestamp_unit = unit
                         self._latest_timestamp_endianness = endianness
-                        if latency_ms is not None:
-                            self._latency_samples_ms.append(latency_ms)
+                        self._latest_frame_hash = frame_hash
+                        self._latest_frame_bytes = len(jpeg_frame)
+                        self._last_frame_hash = frame_hash
+                        self._last_backend_received_mono_ns = received_mono_ns
+                        if sender_clock_delta_ms_raw is not None:
+                            self._sender_clock_delta_samples_ms_raw.append(sender_clock_delta_ms_raw)
                         self._frames_received += 1
+
+                        if self._frame_recv_logger.enabled:
+                            frame_log_record = {
+                                "ts_unix_nano": received_unix_ns,
+                                "frame_seq": frame_sequence,
+                                "backend_received_unix_ns": received_unix_ns,
+                                "backend_received_mono_ns": received_mono_ns,
+                                "jpeg_bytes": len(jpeg_frame),
+                                "interarrival_ms": interarrival_ms,
+                                "sequence_gap": sequence_gap,
+                                "repeat_flag": repeat_flag,
+                                "skip_count": sequence_gap,
+                                "frame_hash": frame_hash,
+                                "a_to_d_video_srtt_ms": local_kcp.get("srtt_ms"),
+                                "d_to_b_video_srtt_ms": self._latest_remote_video_srtt_ms,
+                                "b_side_capture_to_send_ms": frame_metadata.capture_to_send_ms if frame_metadata is not None else None,
+                                "sender_clock_delta_ms_raw": sender_clock_delta_ms_raw,
+                            }
+                    if frame_log_record is not None:
+                        self._frame_recv_logger.write(frame_log_record)
             except Exception as error:  # pragma: no cover - runtime integration path
                 if not self._closing.is_set():
                     session_error = ""
@@ -269,11 +573,17 @@ class OmniSocketVideoReceiver:
                         self._started = False
 
     def get_latest_frame(self) -> bytes | None:
+        snapshot = self.get_latest_frame_snapshot()
+        return snapshot[0] if snapshot is not None else None
+
+    def get_latest_frame_snapshot(self) -> tuple[bytes, dict[str, str]] | None:
         self.ensure_started()
         with self._lock:
             if not self._has_fresh_frame_locked():
                 return None
-            return self._latest_frame
+            if self._latest_frame is None:
+                return None
+            return self._latest_frame, self._frame_headers_locked()
 
     def get_latest_frame_metadata(self) -> FrameTrailerMetadata | None:
         self.ensure_started()
@@ -307,25 +617,28 @@ class OmniSocketVideoReceiver:
         session_stats = self.session_stats()
         with self._lock:
             has_recent_frame = self._has_fresh_frame_locked()
-            if has_recent_frame and self._latest_latency_ms is not None:
+            freshness_status = self._freshness_payload_locked()
+            if has_recent_frame and self._latest_sender_clock_delta_ms_raw 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),
+                    "sender_clock_delta_ms_raw": self._latest_sender_clock_delta_ms_raw,
+                    "sender_clock_delta_samples_ms_raw": list(reversed(self._sender_clock_delta_samples_ms_raw)),
+                    "sample_count": len(self._sender_clock_delta_samples_ms_raw),
                     "sample_window_size": VIDEO_TIMESTAMP_SAMPLE_SIZE,
                     "timestamp_unit": self._latest_timestamp_unit,
                     "timestamp_endianness": self._latest_timestamp_endianness,
+                    "unsynced_clock": True,
                 }
             else:
                 timing_status = {
                     "available": False,
-                    "latest_delta_ms": None,
-                    "delta_samples_ms": [],
+                    "sender_clock_delta_ms_raw": None,
+                    "sender_clock_delta_samples_ms_raw": [],
                     "sample_count": 0,
                     "sample_window_size": VIDEO_TIMESTAMP_SAMPLE_SIZE,
                     "timestamp_unit": None,
                     "timestamp_endianness": None,
+                    "unsynced_clock": True,
                 }
             return {
                 "backend_ready": self._session_cls is not None,
@@ -335,6 +648,11 @@ class OmniSocketVideoReceiver:
                 "has_recent_frame": has_recent_frame,
                 "frames_received": self._frames_received,
                 "latest_sequence": self._latest_sequence,
+                "latest_frame_hash": self._latest_frame_hash,
+                "latest_backend_received_unix_ns": self._latest_backend_received_unix_ns or None,
+                "latest_backend_received_mono_ns": self._latest_backend_received_mono_ns or None,
+                "latest_frame_bytes": self._latest_frame_bytes,
+                "latest_capture_to_send_ms": self._latest_metadata.capture_to_send_ms if self._latest_metadata is not None else None,
                 "reconnect_count": self._reconnect_count,
                 "last_server_error": str(session_stats.get("last_server_error", "") or ""),
                 "last_error": self._last_error,
@@ -344,6 +662,7 @@ class OmniSocketVideoReceiver:
                 "peer_id": str(video_cfg.get("peer_id", "")),
                 "buffer_bytes": int(video_cfg.get("buffer_bytes", 0)),
                 "timing": timing_status,
+                "freshness": freshness_status,
             }
 
     def close(self) -> None:
@@ -358,15 +677,18 @@ class OmniSocketVideoReceiver:
         thread = self._thread
         if thread is not None and thread.is_alive():
             thread.join(timeout=0.5)
+        self._frame_recv_logger.close()
 
 
 class VideoFrameService:
-    def __init__(self, receiver: OmniSocketVideoReceiver) -> None:
+    def __init__(self, receiver: OmniSocketVideoReceiver, display_probe_store: VideoDisplayProbeStore) -> None:
         self._receiver = receiver
+        self._display_probe_store = display_probe_store
 
     def get_status(self) -> dict[str, Any]:
         receiver_status = self._receiver.get_status()
         receiver_frame = self._receiver.get_latest_frame()
+        display_probe_status = self._display_probe_store.get_status()
 
         if receiver_frame is not None:
             return {
@@ -378,6 +700,8 @@ class VideoFrameService:
                 "source_detail": f"peer stream active, frames={receiver_status['frames_received']}",
                 "receiver": receiver_status,
                 "timing": receiver_status["timing"],
+                "freshness": receiver_status.get("freshness", {}),
+                "display_probe": display_probe_status,
             }
 
         wait_detail = receiver_status["last_error"] or (
@@ -392,6 +716,8 @@ class VideoFrameService:
             "source_detail": wait_detail,
             "receiver": receiver_status,
             "timing": receiver_status["timing"],
+            "freshness": receiver_status.get("freshness", {}),
+            "display_probe": display_probe_status,
         }
 
     def get_next_frame(self) -> bytes:
@@ -400,6 +726,18 @@ class VideoFrameService:
             return receiver_frame
         raise RuntimeError("no live OmniSocket JPEG frame is currently available")
 
+    def get_next_frame_with_headers(self) -> tuple[bytes, dict[str, str]]:
+        snapshot = self._receiver.get_latest_frame_snapshot()
+        if snapshot is not None:
+            return snapshot
+        raise RuntimeError("no live OmniSocket JPEG frame is currently available")
+
+    def get_latest_frame_headers(self) -> dict[str, str]:
+        return self._receiver.get_latest_frame_headers()
+
+    def record_display_probe(self, payload: dict[str, Any]) -> None:
+        self._display_probe_store.record_event(payload)
+
     def iter_mjpeg(self, fps: float = 6.0) -> Iterator[bytes]:
         frame_interval = 1.0 / max(1.0, min(fps, 30.0))
         while True:

backend/monitoring/views.py

@@ -1,5 +1,9 @@
 from __future__ import annotations
 
+import json
+import time
+
+from django.views.decorators.csrf import csrf_exempt
 from django.http import HttpResponse, StreamingHttpResponse
 from rest_framework.decorators import api_view
 from rest_framework.response import Response
@@ -28,31 +32,40 @@ def network_latest(request):
     return Response(network_service.get_latest())
 
 
+@api_view(["GET"])
+def clock_calibration(request):
+    server_received_unix_ns = time.time_ns()
+    server_sent_unix_ns = time.time_ns()
+    response = Response(
+        {
+            "server_received_unix_ms": round(server_received_unix_ns / 1_000_000.0, 3),
+            "server_sent_unix_ms": round(server_sent_unix_ns / 1_000_000.0, 3),
+        }
+    )
+    response["Cache-Control"] = "no-store, no-cache, must-revalidate, max-age=0"
+    return response
+
+
 @api_view(["GET"])
 def video_status(request):
     return Response(video_service.get_status())
 
 
 def video_frame(request):
-    status = video_service.get_status()
-    if not status["available"]:
-        return HttpResponse(
-            status.get("source_detail") or f"JPEG frame directory not found: {status['frame_dir']}",
-            status=503,
-            content_type="text/plain; charset=utf-8",
-        )
-
     try:
-        frame = video_service.get_next_frame()
+        frame, headers = video_service.get_next_frame_with_headers()
     except (FileNotFoundError, RuntimeError) as error:
+        status = video_service.get_status()
         return HttpResponse(
-            str(error),
+            status.get("source_detail") or str(error),
             status=503,
             content_type="text/plain; charset=utf-8",
         )
 
     response = HttpResponse(frame, content_type="image/jpeg")
     response["Cache-Control"] = "no-store, no-cache, must-revalidate, max-age=0"
+    for key, value in headers.items():
+        response[key] = value
     return response
 
 
@@ -76,3 +89,18 @@ def video_stream(request):
     )
     response["Cache-Control"] = "no-store, no-cache, must-revalidate, max-age=0"
     return response
+
+
+@csrf_exempt
+@api_view(["POST"])
+def video_display_probe(request):
+    try:
+        payload = json.loads(request.body.decode("utf-8"))
+    except (UnicodeDecodeError, json.JSONDecodeError):
+        return Response({"detail": "invalid json"}, status=400)
+
+    if not isinstance(payload, dict):
+        return Response({"detail": "expected json object"}, status=400)
+
+    video_service.record_display_probe(payload)
+    return Response({"ok": True})

config/omnisocket_demo.yaml

@@ -12,6 +12,10 @@ control_sender:
   peer_id: "peer-a-ctrl"
   target_peer: "peer-b-ctrl"
 
+control_ack_receiver:
+  peer_id: "peer-a-ctrl-ack"
+  expected_sender: "peer-b-ctrl-ack"
+
 control_ingress:
   native_udp_bind: "127.0.0.1:10921"
   source_lease_ms: 300

frontend/src/App.vue

@@ -1,12 +1,17 @@
 <script setup lang="ts">
+import { computed } from 'vue'
 import { RouterLink, RouterView } from 'vue-router'
 
-const navItems = [
-  { to: '/', label: '总览' },
-  { to: '/video', label: '视频流' },
-  { to: '/map', label: '地图定位' },
-  { to: '/network', label: '网络状态' },
-]
+import { useLocale } from '@/lib/locale'
+
+const { t, toggleLocale, nextLocaleLabel } = useLocale()
+
+const navItems = computed(() => [
+  { to: '/', label: t('app.nav.overview') },
+  { to: '/video', label: t('app.nav.video') },
+  { to: '/map', label: t('app.nav.map') },
+  { to: '/network', label: t('app.nav.network') },
+])
 </script>
 
 <template>
@@ -15,21 +20,27 @@ const navItems = [
       <div class="brand">
         <p class="brand-mark">RCC</p>
         <div>
-          <strong>Robot Command Center</strong>
-          <span>机器人竞赛指挥台</span>
+          <strong>{{ t('app.brandTitle') }}</strong>
+          <span>{{ t('app.brandSubtitle') }}</span>
         </div>
       </div>
 
-      <nav class="nav">
-        <RouterLink
-          v-for="item in navItems"
-          :key="item.to"
-          :to="item.to"
-          class="nav-link"
-        >
-          {{ item.label }}
-        </RouterLink>
-      </nav>
+      <div class="topbar-actions">
+        <nav class="nav">
+          <RouterLink
+            v-for="item in navItems"
+            :key="item.to"
+            :to="item.to"
+            class="nav-link"
+          >
+            {{ item.label }}
+          </RouterLink>
+        </nav>
+
+        <button type="button" class="locale-button" @click="toggleLocale">
+          {{ nextLocaleLabel }}
+        </button>
+      </div>
     </header>
 
     <main class="page-body">
@@ -128,6 +139,14 @@ const navItems = [
   font-size: 13px;
 }
 
+.topbar-actions {
+  display: flex;
+  align-items: center;
+  gap: 12px;
+  flex-wrap: wrap;
+  justify-content: flex-end;
+}
+
 .nav {
   display: flex;
   gap: 10px;
@@ -135,7 +154,8 @@ const navItems = [
   justify-content: flex-end;
 }
 
-.nav-link {
+.nav-link,
+.locale-button {
   padding: 10px 14px;
   border-radius: 999px;
   border: 1px solid rgba(133, 147, 169, 0.18);
@@ -148,7 +168,8 @@ const navItems = [
     border-color 0.2s ease;
 }
 
-.nav-link:hover {
+.nav-link:hover,
+.locale-button:hover {
   transform: translateY(-1px);
   background: rgba(25, 38, 66, 0.9);
 }
@@ -160,6 +181,13 @@ const navItems = [
   font-weight: 700;
 }
 
+.locale-button {
+  cursor: pointer;
+  font: inherit;
+  font-weight: 700;
+  white-space: nowrap;
+}
+
 .page-body {
   display: grid;
 }
@@ -170,6 +198,7 @@ const navItems = [
     align-items: stretch;
   }
 
+  .topbar-actions,
   .nav {
     justify-content: flex-start;
   }
@@ -180,6 +209,7 @@ const navItems = [
     width: min(100%, calc(100% - 20px));
   }
 
+  .topbar-actions,
   .nav {
     display: grid;
     grid-template-columns: 1fr;

frontend/src/components/ControlFeedback.vue

@@ -2,6 +2,7 @@
 import { computed } from 'vue'
 
 import { useControlInterface } from '@/composables/useControlInterface'
+import { t } from '@/lib/locale'
 
 const props = withDefaults(defineProps<{
   compact?: boolean
@@ -51,22 +52,43 @@ const keyClusters = computed(() => {
 
 const commandBars = computed(() => [
   {
-    label: 'Forward',
+    label: t('controlFeedback.forward'),
     value: commandValues.value.lx,
     max: controlLimits.value.forward,
   },
   {
-    label: 'Strafe',
+    label: t('controlFeedback.strafe'),
     value: commandValues.value.ly,
     max: controlLimits.value.strafe,
   },
   {
-    label: 'Turn',
+    label: t('controlFeedback.turn'),
     value: commandValues.value.az,
     max: controlLimits.value.turn,
   },
 ])
 
+const tuningSummary = computed(() =>
+  t('controlFeedback.tuningSummary', {
+    forward: controlTuning.value.forward.toFixed(2),
+    strafe: controlTuning.value.strafe.toFixed(2),
+    turn: controlTuning.value.turn.toFixed(2),
+    turbo: controlTuning.value.turbo.toFixed(2),
+  }),
+)
+
+const gamepadMeta = computed(() => {
+  if (!gamepadConnected.value) {
+    return t('controlFeedback.gamepadHint')
+  }
+  return t('controlFeedback.gamepadMeta', {
+    index: gamepadIndex.value ?? '--',
+    mapping: gamepadMapping.value || t('control.gamepad.unknownMapping'),
+  })
+})
+
+const outgoingCommandText = computed(() => t('controlFeedback.outgoingCommand', { command: commandLabel.value }))
+
 function meterPosition(value: number, max: number) {
   const normalized = Math.max(-1, Math.min(1, value / max))
   return `${50 + normalized * 45}%`
@@ -85,7 +107,7 @@ function stickOffset(value: number) {
           {{ activeSourceLabel }}
         </div>
         <div class="input-chip">
-          {{ controlInputModeLabel }} mode
+          {{ t('controlFeedback.modeChip', { mode: controlInputModeLabel }) }}
         </div>
       </div>
       <div class="status-stack">
@@ -112,19 +134,18 @@ function stickOffset(value: number) {
     </div>
 
     <p class="summary">
-      Tuning: fwd {{ controlTuning.forward.toFixed(2) }} m/s, strafe {{ controlTuning.strafe.toFixed(2) }} m/s,
-      turn {{ controlTuning.turn.toFixed(2) }} rad/s, turbo x{{ controlTuning.turbo.toFixed(2) }}
+      {{ tuningSummary }}
     </p>
 
     <div class="feedback-grid" :class="{ compact }">
       <section class="feedback-card">
         <div class="card-head">
           <div>
-            <p class="label">Keyboard</p>
+            <p class="label">{{ t('controlFeedback.keyboard') }}</p>
             <strong>{{ pressedKeysLabel }}</strong>
           </div>
           <span class="mode-chip" :class="{ hot: controlInputMode === 'keyboard' && keyboardActive }">
-            {{ controlInputMode === 'keyboard' ? (keyboardTurbo ? 'Turbo' : 'Selected') : 'Standby' }}
+            {{ controlInputMode === 'keyboard' ? (keyboardTurbo ? t('common.turbo') : t('common.selected')) : t('common.standby') }}
           </span>
         </div>
 
@@ -143,31 +164,27 @@ function stickOffset(value: number) {
       <section class="feedback-card">
         <div class="card-head">
           <div>
-            <p class="label">Gamepad</p>
-            <strong>{{ gamepadConnected ? gamepadName : 'Waiting for controller' }}</strong>
+            <p class="label">{{ t('controlFeedback.gamepad') }}</p>
+            <strong>{{ gamepadConnected ? gamepadName : t('controlFeedback.waitingForController') }}</strong>
           </div>
           <span class="mode-chip" :class="{ hot: controlInputMode === 'gamepad' && gamepadActive }">
             {{
               gamepadConnected
                 ? controlInputMode === 'gamepad'
-                  ? 'Selected'
-                  : 'Standby'
-                : 'Offline'
+                  ? t('common.selected')
+                  : t('common.standby')
+                : t('common.offline')
             }}
           </span>
         </div>
 
         <p class="subtle">
-          {{
-            gamepadConnected
-              ? `#${gamepadIndex} / mapping=${gamepadMapping || 'unknown'}`
-              : 'Left stick drives, right stick turns, RB boosts, A stops.'
-          }}
+          {{ gamepadMeta }}
         </p>
 
         <div class="sticks">
           <div class="stick-card">
-            <span>Left stick</span>
+            <span>{{ t('controlFeedback.leftStick') }}</span>
             <div class="stick-pad">
               <span class="crosshair crosshair-x" />
               <span class="crosshair crosshair-y" />
@@ -181,7 +198,7 @@ function stickOffset(value: number) {
           </div>
 
           <div class="stick-card">
-            <span>Right stick</span>
+            <span>{{ t('controlFeedback.rightStick') }}</span>
             <div class="stick-pad">
               <span class="crosshair crosshair-x" />
               <span class="crosshair crosshair-y" />
@@ -209,7 +226,7 @@ function stickOffset(value: number) {
     </div>
 
     <p v-if="!compact" class="summary accent">
-      Outgoing command: {{ commandLabel }}
+      {{ outgoingCommandText }}
     </p>
   </section>
 </template>

frontend/src/components/ControlPanel.vue

@@ -3,14 +3,16 @@ import { computed } from 'vue'
 
 import ControlFeedback from '@/components/ControlFeedback.vue'
 import { useControlInterface } from '@/composables/useControlInterface'
+import { useLocale } from '@/lib/locale'
 
 const { controlInputMode, controlInputModeLabel, controlTuning, resetControlTuning, setControlInputMode, setControlTuning } =
   useControlInterface()
+const { t } = useLocale()
 
-const inputModes = [
-  { id: 'keyboard', label: 'Keyboard', detail: 'Use W/S, A/D, Q/E, Shift, and Space.' },
-  { id: 'gamepad', label: 'Gamepad', detail: 'Use the browser-detected controller only.' },
-] as const
+const inputModes = computed(() => [
+  { id: 'keyboard', label: t('common.keyboard'), detail: t('controlPanel.keyboardDetail') },
+  { id: 'gamepad', label: t('common.gamepad'), detail: t('controlPanel.gamepadDetail') },
+] as const)
 
 const forwardSpeed = computed({
   get: () => controlTuning.value.forward,
@@ -37,24 +39,24 @@ const turboMultiplier = computed({
   <section class="panel control-panel">
     <div class="panel-head">
       <div>
-        <p class="eyebrow">Control</p>
-        <h2>Control Feedback</h2>
+        <p class="eyebrow">{{ t('controlPanel.eyebrow') }}</p>
+        <h2>{{ t('controlPanel.title') }}</h2>
       </div>
       <button type="button" class="reset-button" @click="resetControlTuning">
-        Reset Defaults
+        {{ t('controlPanel.resetDefaults') }}
       </button>
     </div>
 
     <section class="mode-panel">
       <div class="mode-panel-head">
         <div>
-          <p class="mode-eyebrow">Input Mode</p>
-          <p class="mode-copy">Only one local input mode can control the page at a time.</p>
+          <p class="mode-eyebrow">{{ t('controlPanel.inputModeEyebrow') }}</p>
+          <p class="mode-copy">{{ t('controlPanel.inputModeCopy') }}</p>
         </div>
         <strong class="mode-current">{{ controlInputModeLabel }}</strong>
       </div>
 
-      <div class="mode-toggle" role="radiogroup" aria-label="Control input mode">
+      <div class="mode-toggle" role="radiogroup" :aria-label="t('controlPanel.inputModeEyebrow')">
         <button
           v-for="mode in inputModes"
           :key="mode.id"
@@ -72,25 +74,25 @@ const turboMultiplier = computed({
 
     <div class="tuning-grid">
       <label class="tuning-field">
-        <span>Forward</span>
+        <span>{{ t('controlPanel.forward') }}</span>
         <input v-model.number="forwardSpeed" type="number" min="0.05" max="3" step="0.05" />
         <small>m/s</small>
       </label>
 
       <label class="tuning-field">
-        <span>Strafe</span>
+        <span>{{ t('controlPanel.strafe') }}</span>
         <input v-model.number="strafeSpeed" type="number" min="0.05" max="3" step="0.05" />
         <small>m/s</small>
       </label>
 
       <label class="tuning-field">
-        <span>Turn</span>
+        <span>{{ t('controlPanel.turn') }}</span>
         <input v-model.number="turnSpeed" type="number" min="0.05" max="3" step="0.05" />
         <small>rad/s</small>
       </label>
 
       <label class="tuning-field">
-        <span>Turbo</span>
+        <span>{{ t('controlPanel.turbo') }}</span>
         <input v-model.number="turboMultiplier" type="number" min="1" max="3" step="0.1" />
         <small>x</small>
       </label>
@@ -99,15 +101,13 @@ const turboMultiplier = computed({
     <ControlFeedback />
 
     <p class="hint">
-      Keyboard mapping: <code>W/S</code> forward-back, <code>A/D</code> strafe, <code>Q/E</code> turn,
-      <code>Shift</code> turbo, <code>Space</code> stop.
+      {{ t('controlPanel.keyboardHint') }}
     </p>
     <p class="hint subtle">
-      Speed tuning is shared by both local input modes and is saved in this browser.
+      {{ t('controlPanel.tuningHint') }}
     </p>
     <p class="hint subtle">
-      Browser gamepad mode uses the left stick to drive, the right stick to turn,
-      <code>RB</code> to boost, and <code>A</code> to send stop.
+      {{ t('controlPanel.gamepadHint') }}
     </p>
   </section>
 </template>

frontend/src/components/GpsMapPanel.vue

@@ -1,6 +1,7 @@
 <script setup lang="ts">
 import { computed, onMounted, ref, watch } from 'vue'
 
+import { formatDateTime, useLocale, type MessageKey } from '@/lib/locale'
 import type { GpsTelemetry } from '@/types'
 
 declare global {
@@ -16,12 +17,19 @@ const props = defineProps<{
   gps: GpsTelemetry | null
 }>()
 
+const { locale, t } = useLocale()
+
 const STORAGE_KEY = 'robot_command_center_amap'
 
+type StatusState = {
+  key: MessageKey
+  params?: Record<string, string | number | null | undefined>
+}
+
 const keyInput = ref('')
 const securityCodeInput = ref('')
-const statusText = ref('等待加载高德地图。')
-const amapCoordinateText = ref('暂无')
+const statusState = ref<StatusState>({ key: 'gpsMap.status.waitingInit' })
+const amapCoordinateRaw = ref('')
 const mapElement = ref<HTMLDivElement | null>(null)
 const mapRunning = ref(false)
 
@@ -30,6 +38,12 @@ let mapInstance: any = null
 let marker: any = null
 let infoWindow: any = null
 
+function setStatus(key: MessageKey, params?: Record<string, string | number | null | undefined>) {
+  statusState.value = { key, params }
+}
+
+const statusText = computed(() => t(statusState.value.key, statusState.value.params))
+
 function readSavedCredentials() {
   try {
     const raw = localStorage.getItem(STORAGE_KEY)
@@ -53,6 +67,10 @@ function formatNumber(value: number) {
   return value.toFixed(6)
 }
 
+function formatHexText(value: string | null | undefined) {
+  return value || t('gpsMap.noValue')
+}
+
 async function loadAmapScript(key: string, securityJsCode: string) {
   if (window.AMap) {
     return window.AMap
@@ -69,7 +87,7 @@ async function loadAmapScript(key: string, securityJsCode: string) {
     script.src = `https://webapi.amap.com/maps?v=2.0&key=${encodeURIComponent(key)}`
     script.async = true
     script.onload = () => resolve(window.AMap)
-    script.onerror = () => reject(new Error('高德地图脚本加载失败，请检查 Key / jscode 和网络。'))
+    script.onerror = () => reject(new Error(t('gpsMap.status.loadFailed')))
     document.head.appendChild(script)
   })
 
@@ -90,7 +108,7 @@ function ensureMap() {
 
   marker = new window.AMap.Marker({
     anchor: 'bottom-center',
-    title: 'Robot GPS',
+    title: t('gpsMap.infoTitle'),
   })
 
   infoWindow = new window.AMap.InfoWindow({
@@ -100,7 +118,7 @@ function ensureMap() {
 
 function stopMap() {
   mapRunning.value = false
-  amapCoordinateText.value = '已停止'
+  amapCoordinateRaw.value = ''
 
   if (infoWindow) {
     infoWindow.close()
@@ -124,7 +142,23 @@ function stopMap() {
     mapElement.value.innerHTML = ''
   }
 
-  statusText.value = '已停止高德地图加载与坐标转换。需要时再点击“加载地图”即可。'
+  setStatus('gpsMap.status.stopped')
+}
+
+function buildInfoWindowContent(gps: GpsTelemetry, lat: number, lng: number) {
+  const altitudeText = gps.altitude_m == null ? t('common.unknown') : `${gps.altitude_m} m`
+  return [
+    '<div style="min-width: 240px; padding: 6px 2px; line-height: 1.75; font-size: 13px; color: #152033;">',
+    `<div style="margin-bottom: 8px; font-size: 14px; font-weight: 700; color: #0f172a;">${t('gpsMap.infoTitle')}</div>`,
+    `<div><span style="color: #667085;">${t('gpsMap.wgs84')}:</span> <strong style="color: #0f172a;">${formatNumber(gps.latitude!)}, ${formatNumber(gps.longitude!)}</strong></div>`,
+    `<div><span style="color: #667085;">${t('gpsMap.gcj02')}:</span> <strong style="color: #0f172a;">${formatNumber(lat)}, ${formatNumber(lng)}</strong></div>`,
+    `<div><span style="color: #667085;">${t('gpsMap.rawLatHex')}:</span> <strong style="color: #0f172a;">${formatHexText(gps.raw_latitude_hex)}</strong></div>`,
+    `<div><span style="color: #667085;">${t('gpsMap.rawLonHex')}:</span> <strong style="color: #0f172a;">${formatHexText(gps.raw_longitude_hex)}</strong></div>`,
+    `<div><span style="color: #667085;">${t('gpsMap.utcTime')}:</span> <strong style="color: #0f172a;">${gps.utc_time || '--:--:--'}</strong></div>`,
+    `<div><span style="color: #667085;">${t('gpsMap.infoSatellites')}:</span> <strong style="color: #0f172a;">${gps.satellites ?? t('common.unknown')}</strong></div>`,
+    `<div><span style="color: #667085;">${t('gpsMap.infoAltitude')}:</span> <strong style="color: #0f172a;">${altitudeText}</strong></div>`,
+    '</div>',
+  ].join('')
 }
 
 function updateMap(gps: GpsTelemetry | null) {
@@ -133,10 +167,10 @@ function updateMap(gps: GpsTelemetry | null) {
   }
 
   if (!gps?.has_fix || gps.latitude == null || gps.longitude == null) {
-    amapCoordinateText.value = '暂无'
+    amapCoordinateRaw.value = ''
     marker?.setMap(null)
     infoWindow?.close()
-    statusText.value = gps ? 'GPS 在线，但当前还没有有效定位。' : '等待 GPS 数据。'
+    setStatus(gps ? 'gpsMap.status.noFix' : 'gpsMap.status.waitingGps')
     return
   }
 
@@ -145,7 +179,7 @@ function updateMap(gps: GpsTelemetry | null) {
 
   window.AMap.convertFrom([rawLongitude, rawLatitude], 'gps', (status: string, result: any) => {
     if (status !== 'complete' || !result?.locations?.length) {
-      statusText.value = 'GPS 坐标转换失败。'
+      setStatus('gpsMap.status.convertFailed')
       return
     }
 
@@ -153,25 +187,14 @@ function updateMap(gps: GpsTelemetry | null) {
     const lng = typeof point.getLng === 'function' ? point.getLng() : point.lng
     const lat = typeof point.getLat === 'function' ? point.getLat() : point.lat
 
-    amapCoordinateText.value = `${formatNumber(lat)}, ${formatNumber(lng)}`
+    amapCoordinateRaw.value = `${formatNumber(lat)}, ${formatNumber(lng)}`
     marker.setPosition([lng, lat])
     marker.setMap(mapInstance)
 
-    infoWindow.setContent(
-      [
-        '<div style="min-width: 240px; padding: 6px 2px; line-height: 1.75; font-size: 13px; color: #152033;">',
-        '<div style="margin-bottom: 8px; font-size: 14px; font-weight: 700; color: #0f172a;">Robot GPS 定位</div>',
-        `<div><span style="color: #667085;">原始 WGS84:</span> <strong style="color: #0f172a;">${formatNumber(rawLatitude)}, ${formatNumber(rawLongitude)}</strong></div>`,
-        `<div><span style="color: #667085;">高德 GCJ-02:</span> <strong style="color: #0f172a;">${formatNumber(lat)}, ${formatNumber(lng)}</strong></div>`,
-        `<div><span style="color: #667085;">UTC 时间:</span> <strong style="color: #0f172a;">${gps.utc_time || '--:--:--'}</strong></div>`,
-        `<div><span style="color: #667085;">卫星数:</span> <strong style="color: #0f172a;">${gps.satellites ?? '未知'}</strong></div>`,
-        `<div><span style="color: #667085;">海拔:</span> <strong style="color: #0f172a;">${gps.altitude_m ?? '未知'} m</strong></div>`,
-        '</div>',
-      ].join(''),
-    )
+    infoWindow.setContent(buildInfoWindowContent(gps, lat, lng))
     infoWindow.open(mapInstance, [lng, lat])
     mapInstance.setZoomAndCenter(17, [lng, lat])
-    statusText.value = `地图已刷新，数据源：${gps.source_mode}`
+    setStatus('gpsMap.status.refreshedSource', { source: gps.source_mode })
   })
 }
 
@@ -180,47 +203,55 @@ async function startMap() {
   const securityJsCode = securityCodeInput.value.trim()
 
   if (!key || !securityJsCode) {
-    statusText.value = '请先填写高德 Key 和安全密钥 jscode。'
+    setStatus('gpsMap.status.fillCredentials')
     return
   }
 
-  statusText.value = '正在加载高德地图...'
+  setStatus('gpsMap.status.loading')
 
   try {
     await loadAmapScript(key, securityJsCode)
     ensureMap()
     saveCredentials()
     mapRunning.value = true
-    statusText.value = '地图已加载。'
+    setStatus('gpsMap.status.loaded')
     updateMap(props.gps)
   } catch (error) {
-    statusText.value = error instanceof Error ? error.message : '地图加载失败。'
+    setStatus('gpsMap.status.loadFailed')
+    if (error instanceof Error && error.message) {
+      statusState.value = { key: 'gpsMap.status.loadFailed', params: { message: error.message } }
+    }
   }
 }
 
 const rawCoordinateText = computed(() => {
   if (!props.gps?.has_fix || props.gps.latitude == null || props.gps.longitude == null) {
-    return '暂无有效定位'
+    return t('gpsMap.noValidFix')
   }
-
   return `${formatNumber(props.gps.latitude)}, ${formatNumber(props.gps.longitude)}`
 })
 
+const amapCoordinateText = computed(() => amapCoordinateRaw.value || t('gpsMap.noValue'))
+const rawLatitudeHexText = computed(() => formatHexText(props.gps?.raw_latitude_hex))
+const rawLongitudeHexText = computed(() => formatHexText(props.gps?.raw_longitude_hex))
+
+const coordinateMetaText = computed(() => {
+  if (!props.gps) {
+    return t('gpsMap.noValue')
+  }
+  return `${props.gps.coordinate_system} / ${props.gps.raw_coordinate_format}`
+})
+
 const metaText = computed(() => {
   if (!props.gps) {
-    return '暂无'
+    return t('gpsMap.noValue')
   }
-  const satellites = props.gps.satellites ?? '未知'
-  const altitude = props.gps.altitude_m == null ? '未知' : `${props.gps.altitude_m} m`
-  return `${satellites} 颗 / ${altitude}`
+  const satellites = props.gps.satellites ?? t('common.unknown')
+  const altitude = props.gps.altitude_m == null ? t('common.unknown') : `${props.gps.altitude_m} m`
+  return `${satellites} / ${altitude}`
 })
 
-const updatedAtText = computed(() => {
-  if (!props.gps?.updated_at) {
-    return '暂无'
-  }
-  return new Date(props.gps.updated_at).toLocaleString('zh-CN', { hour12: false })
-})
+const updatedAtText = computed(() => formatDateTime(props.gps?.updated_at))
 
 onMounted(() => {
   const saved = readSavedCredentials()
@@ -228,7 +259,7 @@ onMounted(() => {
     keyInput.value = saved.key ?? ''
     securityCodeInput.value = saved.securityJsCode ?? ''
     if (keyInput.value && securityCodeInput.value) {
-      statusText.value = '已恢复高德配置。高德地图不会自动加载，请按需点击“加载地图”。'
+      setStatus('gpsMap.status.restoredConfig')
     }
   }
 })
@@ -240,62 +271,76 @@ watch(
   },
   { deep: true },
 )
+
+watch(
+  () => locale.value,
+  () => {
+    if (mapRunning.value) {
+      updateMap(props.gps)
+    }
+  },
+)
 </script>
 
 <template>
   <section class="panel map-panel">
     <div class="panel-head">
       <div>
-        <p class="eyebrow">GPS</p>
-        <h2>地图定位</h2>
+        <p class="eyebrow">{{ t('gpsMap.eyebrow') }}</p>
+        <h2>{{ t('gpsMap.title') }}</h2>
       </div>
-      <span class="badge">{{ gps?.source_mode ?? 'loading' }}</span>
+      <span class="badge">{{ gps?.source_mode ?? t('common.loading') }}</span>
     </div>
 
-    <p class="intro">
-      这里复用了你原来 `GeoStream/gps_map.html` 的高德地图思路。后端优先读取
-      `GeoStream/gps_latest.json`，所以你运行 `parse_gps.c` 生成数据后，这里会直接接上。
-    </p>
+    <p class="intro">{{ t('gpsMap.intro') }}</p>
 
     <div class="credentials">
-      <input v-model="keyInput" type="text" placeholder="高德 Web 端 Key" />
-      <input v-model="securityCodeInput" type="text" placeholder="安全密钥 jscode" />
-      <button type="button" @click="startMap">加载地图</button>
-      <button type="button" class="secondary" @click="stopMap">停止加载</button>
+      <input v-model="keyInput" type="text" :placeholder="t('gpsMap.keyPlaceholder')" />
+      <input v-model="securityCodeInput" type="text" :placeholder="t('gpsMap.jscodePlaceholder')" />
+      <button type="button" @click="startMap">{{ t('gpsMap.loadMap') }}</button>
+      <button type="button" class="secondary" @click="stopMap">{{ t('gpsMap.stopMap') }}</button>
     </div>
 
     <div class="status">{{ statusText }}</div>
 
     <div class="details">
       <div class="detail-card">
-        <span>原始 WGS84</span>
+        <span>{{ t('gpsMap.wgs84') }}</span>
         <strong>{{ rawCoordinateText }}</strong>
       </div>
       <div class="detail-card">
-        <span>高德 GCJ-02</span>
+        <span>{{ t('gpsMap.gcj02') }}</span>
         <strong>{{ amapCoordinateText }}</strong>
       </div>
       <div class="detail-card">
-        <span>UTC 时间</span>
+        <span>{{ t('gpsMap.rawLatHex') }}</span>
+        <strong class="mono">{{ rawLatitudeHexText }}</strong>
+      </div>
+      <div class="detail-card">
+        <span>{{ t('gpsMap.rawLonHex') }}</span>
+        <strong class="mono">{{ rawLongitudeHexText }}</strong>
+      </div>
+      <div class="detail-card">
+        <span>{{ t('gpsMap.utcTime') }}</span>
         <strong>{{ gps?.utc_time ?? '--:--:--' }}</strong>
       </div>
       <div class="detail-card">
-        <span>卫星 / 海拔</span>
+        <span>{{ t('gpsMap.satAltitude') }}</span>
         <strong>{{ metaText }}</strong>
       </div>
       <div class="detail-card">
-        <span>坐标系</span>
-        <strong>{{ gps?.coordinate_system ?? 'WGS84' }}</strong>
+        <span>{{ t('gpsMap.coordMeta') }}</span>
+        <strong>{{ coordinateMetaText }}</strong>
       </div>
       <div class="detail-card">
-        <span>最近刷新</span>
+        <span>{{ t('gpsMap.lastUpdated') }}</span>
         <strong>{{ updatedAtText }}</strong>
       </div>
     </div>
 
     <div ref="mapElement" class="map-canvas" :class="{ stopped: !mapRunning }">
       <div v-if="!mapRunning" class="map-placeholder">
-        高德地图当前未加载。点击上方“加载地图”后才会开始请求地图与坐标转换服务。
+        {{ t('gpsMap.mapPlaceholder') }}
       </div>
     </div>
   </section>
@@ -397,6 +442,11 @@ h2 {
   word-break: break-word;
 }
 
+.detail-card strong.mono {
+  font-family: 'JetBrains Mono', 'SFMono-Regular', monospace;
+  font-size: 14px;
+}
+
 .map-canvas {
   position: relative;
   min-height: 420px;

frontend/src/components/NetworkPanel.vue

@@ -1,6 +1,7 @@
 <script setup lang="ts">
 import { computed } from 'vue'
 
+import { formatDateTime, t } from '@/lib/locale'
 import type { LinkSessionTelemetry, LinkTelemetry, NetworkTelemetry } from '@/types'
 
 const props = defineProps<{
@@ -20,19 +21,19 @@ const legCards = computed(() => [
   },
 ])
 
-const activeSource = computed(() => props.network?.active_control_source ?? 'none')
+const activeSource = computed(() => formatControlSource(props.network?.active_control_source))
 
 function formatTime(value?: string | null) {
-  if (!value) {
-    return 'unavailable'
-  }
-  return new Date(value).toLocaleString('zh-CN', { hour12: false })
+  return formatDateTime(value)
 }
 
 function formatScalar(value?: number | string | null, suffix = '') {
   if (value === null || value === undefined || value === '') {
     return '--'
   }
+  if (typeof value === 'number') {
+    return `${value.toFixed(1)}${suffix}`
+  }
   return `${value}${suffix}`
 }
 
@@ -42,56 +43,105 @@ function legSessions(link: LinkTelemetry | null): Array<{ name: string; data: Li
     { name: 'video', data: link?.sessions?.video ?? null },
   ]
 }
+
+function formatControlSource(source?: string | null) {
+  if (source === 'keyboard') return t('common.keyboard')
+  if (source === 'gamepad') return t('common.gamepad')
+  return t('common.none')
+}
+
+function formatBoolean(value?: boolean | number | null) {
+  if (value === null || value === undefined) {
+    return t('common.na')
+  }
+  return value ? t('common.yes') : t('common.no')
+}
+
+function formatAckMode(ackAvailable?: boolean) {
+  return ackAvailable ? t('common.ackLoop') : t('common.srttFallback')
+}
+
+function formatStale(stale?: boolean | null) {
+  if (stale == null) {
+    return t('common.na')
+  }
+  return stale ? t('common.stale') : t('common.fresh')
+}
+
+function formatOnline(online?: boolean | null) {
+  if (online == null) {
+    return t('common.na')
+  }
+  return online ? t('common.online') : t('common.idle')
+}
+
+function formatSessionName(name: string) {
+  return name === 'control' ? t('common.control') : t('common.video')
+}
+
+function formatTrend(value?: string | null) {
+  if (value === 'rising') return t('common.rising')
+  if (value === 'falling') return t('common.falling')
+  return t('common.stable')
+}
 </script>
 
 <template>
   <section class="panel network-panel">
     <div class="panel-head">
       <div>
-        <p class="eyebrow">Network</p>
-        <h2>Dual-Leg Telemetry</h2>
+        <p class="eyebrow">{{ t('networkPanel.eyebrow') }}</p>
+        <h2>{{ t('networkPanel.title') }}</h2>
       </div>
       <span class="badge" :class="{ stale: network?.telemetry_receiver?.hub_stale }">
-        {{ network?.peer_status ?? 'loading' }}
+        {{ network?.peer_status ?? t('networkPanel.loadingPeer') }}
       </span>
     </div>
 
     <div class="stats">
       <div class="stat-card">
-        <span>Latency</span>
-        <strong>{{ formatScalar(network?.latency_ms, ' ms') }}</strong>
+        <span>{{ t('networkPanel.controlLoopRtt') }}</span>
+        <strong>{{ formatScalar(network?.latency_estimate?.control_loop_rtt_ms, ' ms') }}</strong>
       </div>
       <div class="stat-card">
-        <span>Jitter</span>
-        <strong>{{ formatScalar(network?.jitter_ms, ' ms') }}</strong>
+        <span>{{ t('networkPanel.controlToPersist') }}</span>
+        <strong>{{ formatScalar(network?.latency_estimate?.control_to_persist_est_ms, ' ms') }}</strong>
       </div>
       <div class="stat-card">
-        <span>Active Control</span>
-        <strong>{{ activeSource }}</strong>
+        <span>{{ t('networkPanel.controlSrttOneWay') }}</span>
+        <strong>{{ formatScalar(network?.latency_estimate?.control_oneway_srtt_est_ms, ' ms') }}</strong>
       </div>
       <div class="stat-card">
-        <span>Lease</span>
-        <strong>{{ formatScalar(network?.control_lease_remaining_ms, ' ms') }}</strong>
+        <span>{{ t('networkPanel.videoOneWayEst') }}</span>
+        <strong>{{ formatScalar(network?.latency_estimate?.video_network_oneway_est_ms, ' ms') }}</strong>
       </div>
       <div class="stat-card">
-        <span>TX Rate</span>
+        <span>{{ t('networkPanel.txRate') }}</span>
         <strong>{{ formatScalar(network?.tx_kbps, ' kbps') }}</strong>
       </div>
       <div class="stat-card">
-        <span>RX Rate</span>
+        <span>{{ t('networkPanel.rxRate') }}</span>
         <strong>{{ formatScalar(network?.rx_kbps, ' kbps') }}</strong>
       </div>
     </div>
 
     <div class="summary telemetry-strip">
-      <p><strong>Transport:</strong> {{ network?.transport ?? 'n/a' }} / {{ network?.source_mode ?? 'n/a' }}</p>
-      <p><strong>Telemetry Peer:</strong> {{ network?.telemetry_receiver?.peer_id ?? 'n/a' }}</p>
-      <p><strong>Telemetry Registered:</strong> {{ network?.telemetry_receiver?.registered ? 'yes' : 'no' }}</p>
-      <p><strong>Hub Freshness:</strong> {{ formatTime(network?.telemetry_receiver?.hub_updated_at) }}</p>
-      <p><strong>Hub State:</strong> {{ network?.telemetry_receiver?.hub_stale ? 'stale' : 'fresh' }}</p>
-      <p><strong>Telemetry Reconnects:</strong> {{ network?.telemetry_receiver?.reconnect_count ?? 0 }}</p>
-      <p v-if="network?.telemetry_receiver?.last_error"><strong>Hub Error:</strong> {{ network?.telemetry_receiver?.last_error }}</p>
-      <p v-if="network?.telemetry_receiver?.last_server_error"><strong>Telemetry Session Error:</strong> {{ network?.telemetry_receiver?.last_server_error }}</p>
+      <p><strong>{{ t('networkPanel.robotFault') }}:</strong> {{ network?.robot_health?.fault_reason ?? t('common.na') }}</p>
+      <p><strong>{{ t('networkPanel.recoveryState') }}:</strong> {{ network?.robot_health?.recovery_state ?? t('common.na') }}</p>
+      <p><strong>{{ t('networkPanel.healthConfidence') }}:</strong> {{ network?.robot_health?.confidence ?? t('common.na') }}</p>
+      <p><strong>{{ t('networkPanel.healthUpdated') }}:</strong> {{ formatTime(network?.robot_health?.updated_at) }}</p>
+      <p><strong>{{ t('networkPanel.transport') }}:</strong> {{ network?.transport ?? t('common.na') }} / {{ network?.source_mode ?? t('common.na') }}</p>
+      <p><strong>{{ t('networkPanel.activeControl') }}:</strong> {{ activeSource }}</p>
+      <p><strong>{{ t('networkPanel.lease') }}:</strong> {{ formatScalar(network?.control_lease_remaining_ms, ' ms') }}</p>
+      <p><strong>{{ t('networkPanel.ackMode') }}:</strong> {{ formatAckMode(network?.control_ack_status?.ack_available) }}</p>
+      <p><strong>{{ t('networkPanel.ackUpdated') }}:</strong> {{ formatTime(network?.control_ack_status?.updated_at) }}</p>
+      <p><strong>{{ t('networkPanel.telemetryPeer') }}:</strong> {{ network?.telemetry_receiver?.peer_id ?? t('common.na') }}</p>
+      <p><strong>{{ t('networkPanel.telemetryRegistered') }}:</strong> {{ formatBoolean(network?.telemetry_receiver?.registered) }}</p>
+      <p><strong>{{ t('networkPanel.hubFreshness') }}:</strong> {{ formatTime(network?.telemetry_receiver?.hub_updated_at) }}</p>
+      <p><strong>{{ t('networkPanel.hubState') }}:</strong> {{ formatStale(network?.telemetry_receiver?.hub_stale) }}</p>
+      <p><strong>{{ t('networkPanel.telemetryReconnects') }}:</strong> {{ network?.telemetry_receiver?.reconnect_count ?? 0 }}</p>
+      <p v-if="network?.telemetry_receiver?.last_error"><strong>{{ t('networkPanel.hubError') }}:</strong> {{ network?.telemetry_receiver?.last_error }}</p>
+      <p v-if="network?.telemetry_receiver?.last_server_error"><strong>{{ t('networkPanel.telemetrySessionError') }}:</strong> {{ network?.telemetry_receiver?.last_server_error }}</p>
     </div>
 
     <div class="leg-grid">
@@ -99,11 +149,11 @@ function legSessions(link: LinkTelemetry | null): Array<{ name: string; data: Li
         <div class="leg-head">
           <div>
             <p class="leg-label">{{ leg.label }}</p>
-            <h3>{{ leg.data?.source ?? 'waiting' }}</h3>
+            <h3>{{ leg.data?.source ?? t('common.waiting') }}</h3>
           </div>
           <div class="leg-meta">
             <span class="mini-badge" :class="{ stale: leg.data?.stale }">
-              {{ leg.data?.stale ? 'stale' : 'fresh' }}
+              {{ formatStale(leg.data?.stale) }}
             </span>
             <span class="mini-time">{{ formatTime(leg.data?.updated_at) }}</span>
           </div>
@@ -111,27 +161,27 @@ function legSessions(link: LinkTelemetry | null): Array<{ name: string; data: Li
 
         <div class="aggregate-grid">
           <div>
-            <span>Online</span>
+            <span>{{ t('networkPanel.online') }}</span>
             <strong>{{ leg.data?.aggregate?.online_sessions ?? 0 }}</strong>
           </div>
           <div>
-            <span>Max Pressure</span>
+            <span>{{ t('networkPanel.maxPressure') }}</span>
             <strong>{{ formatScalar(leg.data?.aggregate?.max_window_pressure_pct, '%') }}</strong>
           </div>
           <div>
-            <span>Queued</span>
+            <span>{{ t('networkPanel.queued') }}</span>
             <strong>{{ leg.data?.aggregate?.sum_snd_queue ?? 0 }}</strong>
           </div>
           <div>
-            <span>In Flight Buffer</span>
+            <span>{{ t('networkPanel.inFlightBuffer') }}</span>
             <strong>{{ leg.data?.aggregate?.sum_snd_buffer ?? 0 }}</strong>
           </div>
           <div>
-            <span>Retrans Delta</span>
+            <span>{{ t('networkPanel.retransDelta') }}</span>
             <strong>{{ leg.data?.aggregate?.sum_retrans_delta ?? 0 }}</strong>
           </div>
           <div>
-            <span>Repair Rate</span>
+            <span>{{ t('networkPanel.repairRate') }}</span>
             <strong>{{ formatScalar(leg.data?.aggregate?.repair_rate_pct, '%') }}</strong>
           </div>
         </div>
@@ -140,36 +190,36 @@ function legSessions(link: LinkTelemetry | null): Array<{ name: string; data: Li
           <section v-for="session in legSessions(leg.data)" :key="session.name" class="session-card">
             <div class="session-head">
               <div>
-                <p class="session-label">{{ session.name }}</p>
-                <h4>{{ session.data?.peer_id ?? 'unassigned' }}</h4>
+                <p class="session-label">{{ formatSessionName(session.name) }}</p>
+                <h4>{{ session.data?.peer_id ?? t('networkPanel.unassigned') }}</h4>
               </div>
               <span class="mini-badge" :class="{ stale: session.data?.stale, active: session.data?.connected }">
-                {{ session.data?.connected ? 'online' : 'idle' }}
+                {{ formatOnline(session.data?.connected) }}
               </span>
             </div>
 
             <div class="kv-grid">
-              <p><strong>Updated:</strong> {{ formatTime(session.data?.updated_at) }}</p>
-              <p><strong>SRTT:</strong> {{ formatScalar(session.data?.kcp?.srtt_ms, ' ms') }}</p>
-              <p><strong>RTTVAR:</strong> {{ formatScalar(session.data?.kcp?.srttvar_ms, ' ms') }}</p>
-              <p><strong>RTO:</strong> {{ formatScalar(session.data?.kcp?.rto_ms, ' ms') }}</p>
-              <p><strong>SND WND:</strong> {{ formatScalar(session.data?.kcp?.snd_wnd) }}</p>
-              <p><strong>RMT WND:</strong> {{ formatScalar(session.data?.kcp?.rmt_wnd) }}</p>
-              <p><strong>Inflight:</strong> {{ formatScalar(session.data?.kcp?.inflight) }}</p>
-              <p><strong>Window Limit:</strong> {{ formatScalar(session.data?.kcp?.window_limit) }}</p>
-              <p><strong>Pressure:</strong> {{ formatScalar(session.data?.kcp?.window_pressure_pct, '%') }}</p>
-              <p><strong>SND Queue:</strong> {{ formatScalar(session.data?.kcp?.snd_queue) }} / {{ session.data?.trend?.snd_queue_trend ?? 'stable' }}</p>
-              <p><strong>SND Buffer:</strong> {{ formatScalar(session.data?.kcp?.snd_buffer) }} / {{ session.data?.trend?.snd_buffer_trend ?? 'stable' }}</p>
-              <p><strong>Queue Delta:</strong> {{ formatScalar(session.data?.trend?.snd_queue_delta) }}</p>
-              <p><strong>Buffer Delta:</strong> {{ formatScalar(session.data?.trend?.snd_buffer_delta) }}</p>
-              <p><strong>Retrans:</strong> {{ formatScalar(session.data?.trend?.retrans_delta) }}</p>
-              <p><strong>Fast Retrans:</strong> {{ formatScalar(session.data?.trend?.fast_retrans_delta) }}</p>
-              <p><strong>Lost:</strong> {{ formatScalar(session.data?.trend?.lost_delta) }}</p>
-              <p><strong>Repeat:</strong> {{ formatScalar(session.data?.trend?.repeat_delta) }}</p>
-              <p><strong>Repair Rate:</strong> {{ formatScalar(session.data?.trend?.repair_rate_pct, '%') }}</p>
-              <p v-if="session.data?.app"><strong>App Bytes:</strong> tx={{ session.data.app.send_bytes ?? 0 }} / rx={{ session.data.app.recv_bytes ?? 0 }}</p>
-              <p v-if="session.data?.app"><strong>Registered:</strong> {{ session.data.app.registered ? 'yes' : 'no' }}</p>
-              <p v-if="session.data?.app?.last_server_error"><strong>Server Error:</strong> {{ session.data.app.last_server_error }}</p>
+              <p><strong>{{ t('networkPanel.updated') }}:</strong> {{ formatTime(session.data?.updated_at) }}</p>
+              <p><strong>{{ t('networkPanel.srtt') }}:</strong> {{ formatScalar(session.data?.kcp?.srtt_ms, ' ms') }}</p>
+              <p><strong>{{ t('networkPanel.rttvar') }}:</strong> {{ formatScalar(session.data?.kcp?.srttvar_ms, ' ms') }}</p>
+              <p><strong>{{ t('networkPanel.rto') }}:</strong> {{ formatScalar(session.data?.kcp?.rto_ms, ' ms') }}</p>
+              <p><strong>{{ t('networkPanel.sndWnd') }}:</strong> {{ formatScalar(session.data?.kcp?.snd_wnd) }}</p>
+              <p><strong>{{ t('networkPanel.rmtWnd') }}:</strong> {{ formatScalar(session.data?.kcp?.rmt_wnd) }}</p>
+              <p><strong>{{ t('networkPanel.inflight') }}:</strong> {{ formatScalar(session.data?.kcp?.inflight) }}</p>
+              <p><strong>{{ t('networkPanel.windowLimit') }}:</strong> {{ formatScalar(session.data?.kcp?.window_limit) }}</p>
+              <p><strong>{{ t('networkPanel.pressure') }}:</strong> {{ formatScalar(session.data?.kcp?.window_pressure_pct, '%') }}</p>
+              <p><strong>{{ t('networkPanel.sndQueue') }}:</strong> {{ formatScalar(session.data?.kcp?.snd_queue) }} / {{ formatTrend(session.data?.trend?.snd_queue_trend) }}</p>
+              <p><strong>{{ t('networkPanel.sndBuffer') }}:</strong> {{ formatScalar(session.data?.kcp?.snd_buffer) }} / {{ formatTrend(session.data?.trend?.snd_buffer_trend) }}</p>
+              <p><strong>{{ t('networkPanel.queueDelta') }}:</strong> {{ formatScalar(session.data?.trend?.snd_queue_delta) }}</p>
+              <p><strong>{{ t('networkPanel.bufferDelta') }}:</strong> {{ formatScalar(session.data?.trend?.snd_buffer_delta) }}</p>
+              <p><strong>{{ t('networkPanel.retrans') }}:</strong> {{ formatScalar(session.data?.trend?.retrans_delta) }}</p>
+              <p><strong>{{ t('networkPanel.fastRetrans') }}:</strong> {{ formatScalar(session.data?.trend?.fast_retrans_delta) }}</p>
+              <p><strong>{{ t('networkPanel.lost') }}:</strong> {{ formatScalar(session.data?.trend?.lost_delta) }}</p>
+              <p><strong>{{ t('networkPanel.repeat') }}:</strong> {{ formatScalar(session.data?.trend?.repeat_delta) }}</p>
+              <p><strong>{{ t('networkPanel.repairRate') }}:</strong> {{ formatScalar(session.data?.trend?.repair_rate_pct, '%') }}</p>
+              <p v-if="session.data?.app"><strong>{{ t('networkPanel.appBytes') }}:</strong> tx={{ session.data.app.send_bytes ?? 0 }} / rx={{ session.data.app.recv_bytes ?? 0 }}</p>
+              <p v-if="session.data?.app"><strong>{{ t('networkPanel.registered') }}:</strong> {{ formatBoolean(session.data.app.registered) }}</p>
+              <p v-if="session.data?.app?.last_server_error"><strong>{{ t('networkPanel.serverError') }}:</strong> {{ session.data.app.last_server_error }}</p>
             </div>
           </section>
         </div>
@@ -177,11 +227,15 @@ function legSessions(link: LinkTelemetry | null): Array<{ name: string; data: Li
     </div>
 
     <div class="summary">
-      <p><strong>Combined:</strong> sessions={{ network?.combined?.connected_sessions ?? 0 }} send={{ network?.combined?.send_bytes ?? 0 }}B recv={{ network?.combined?.recv_bytes ?? 0 }}B</p>
-      <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 }} registered={{ network?.control?.sender?.registered ? 'yes' : 'no' }}</p>
-      <p><strong>Control Reconnects:</strong> {{ network?.control?.sender?.reconnect_count ?? 0 }}</p>
-      <p v-if="network?.control?.sender?.last_server_error"><strong>Control Session Error:</strong> {{ network?.control?.sender?.last_server_error }}</p>
+      <p><strong>{{ t('networkPanel.combined') }}:</strong> sessions={{ network?.combined?.connected_sessions ?? 0 }} send={{ network?.combined?.send_bytes ?? 0 }}B recv={{ network?.combined?.recv_bytes ?? 0 }}B</p>
+      <p><strong>{{ t('networkPanel.videoE2E') }}:</strong> {{ formatScalar(network?.latency_estimate?.video_e2e_est_ms, ' ms') }} / confidence={{ network?.latency_estimate?.confidence?.video ?? t('common.na') }}</p>
+      <p><strong>{{ t('networkPanel.controlEstimateConfidence') }}:</strong> {{ network?.latency_estimate?.confidence?.control ?? t('common.na') }}</p>
+      <p><strong>{{ t('networkPanel.videoFreshness') }}:</strong> {{ t('networkPanel.videoFreshnessRepeat') }}={{ formatScalar((network?.video_freshness?.repeated_frame_ratio ?? 0) * 100, '%') }} {{ t('networkPanel.videoFreshnessSkip') }}={{ formatScalar((network?.video_freshness?.skip_ratio ?? 0) * 100, '%') }} {{ t('networkPanel.videoFreshnessFreeze') }}={{ formatScalar(network?.video_freshness?.longest_freeze_ms, ' ms') }}</p>
+      <p><strong>{{ t('networkPanel.nativeUdp') }}:</strong> {{ network?.ingress?.native_udp?.bind_addr ?? t('common.na') }} packets={{ network?.ingress?.native_udp?.packets_received ?? 0 }} invalid={{ network?.ingress?.native_udp?.invalid_packets ?? 0 }}</p>
+      <p><strong>{{ t('networkPanel.controlSender') }}:</strong> {{ network?.control?.sender?.peer_id ?? t('common.na') }} -> {{ network?.control?.sender?.target_peer ?? t('common.na') }} sends={{ network?.control?.sender?.send_count ?? 0 }} registered={{ formatBoolean(network?.control?.sender?.registered) }}</p>
+      <p><strong>{{ t('networkPanel.ackReceiver') }}:</strong> {{ network?.control?.ack_receiver?.peer_id ?? t('common.na') }} reconnects={{ network?.control?.ack_receiver?.reconnect_count ?? 0 }}</p>
+      <p><strong>{{ t('networkPanel.controlReconnects') }}:</strong> {{ network?.control?.sender?.reconnect_count ?? 0 }}</p>
+      <p v-if="network?.control?.sender?.last_server_error"><strong>{{ t('networkPanel.controlSessionError') }}:</strong> {{ network?.control?.sender?.last_server_error }}</p>
     </div>
   </section>
 </template>

frontend/src/components/VideoPanel.vue

@@ -1,82 +1,220 @@
 <script setup lang="ts">
 import { computed, onMounted, onUnmounted, ref, watch } from 'vue'
-import { buildVideoFrameUrl, fetchVideoStatus } from '@/lib/api'
-import type { VideoStatus } from '@/types'
+
+import { buildVideoFrameUrl, fetchClockCalibrationSample, fetchVideoStatus, postVideoDisplayProbe } from '@/lib/api'
+import { t } from '@/lib/locale'
+import { useOperatorInputTelemetry } from '@/composables/useControlInterface'
+import type { NetworkTelemetry, VideoStatus } from '@/types'
 
 const props = defineProps<{
   video: VideoStatus | null
+  network?: NetworkTelemetry | null
 }>()
 
 const STATUS_REFRESH_MS = 300
+const DISPLAY_PROBE_INTERVAL_MS = 200
+const CLOCK_CALIBRATION_INTERVAL_MS = 1000
+const CLOCK_CALIBRATION_SAMPLE_WINDOW = 9
+const CLOCK_CALIBRATION_STALE_MS = CLOCK_CALIBRATION_INTERVAL_MS * 3
+
+type PendingInputProbe = {
+  token: number
+  triggeredPerfMs: number
+  baselineFrameSeq: number | null
+  baselineFrameHash: string
+  freshResolved: boolean
+  changedResolved: boolean
+  paintResolved: boolean
+}
+
+type ClockCalibrationSnapshot = {
+  offsetMs: number | null
+  rttMs: number | null
+  sampleCount: number
+  updatedAt: string | null
+}
 
 const liveVideo = ref<VideoStatus | null>(props.video)
 const frameUrl = ref(buildVideoFrameUrl(0))
 const displayVideo = computed(() => liveVideo.value ?? props.video)
-const currentFps = computed(() => displayVideo.value?.fps ?? 30)
 const canRequestFrames = computed(() => displayVideo.value?.available === true)
+const currentFps = computed(() => displayVideo.value?.fps ?? 30)
+const operatorMetrics = ref({
+  input_to_next_fresh_frame_ms: null as number | null,
+  input_to_next_changed_frame_ms: null as number | null,
+  input_to_next_paint_ms: null as number | null,
+})
+
+const {
+  operatorInputSequence,
+  lastOperatorInputPerfMs,
+} = useOperatorInputTelemetry()
+
+const freshness = computed(() => displayVideo.value?.freshness)
+const networkEstimate = computed(() => props.network?.latency_estimate ?? null)
+const senderClockDebug = computed(() => displayVideo.value?.timing ?? null)
+const EMPTY_CLOCK_CALIBRATION: ClockCalibrationSnapshot = {
+  offsetMs: null,
+  rttMs: null,
+  sampleCount: 0,
+  updatedAt: null,
+}
+const clockCalibration = ref<ClockCalibrationSnapshot>({ ...EMPTY_CLOCK_CALIBRATION })
+
 const modeLabel = computed(() => {
   if (!displayVideo.value) {
-    return '正在获取视频状态'
+    return t('videoPanel.mode.loading')
   }
   if (displayVideo.value.source_mode === 'omnisocket-jpeg-live') {
-    return `${displayVideo.value.fps} FPS 实时接收`
+    return t('videoPanel.mode.live', { fps: displayVideo.value.fps })
   }
-  if (displayVideo.value.source_mode === 'omnisocket-waiting') {
-    return '未实时获取真实值'
-  }
-  return `${displayVideo.value.fps} FPS`
+  return displayVideo.value.source_mode
 })
-const placeholderText = computed(() => {
-  if (!displayVideo.value) {
-    return '正在获取视频状态...'
-  }
-  return '未实时获取真实值'
-})
-const latencyLabels = computed(() => {
-  const sampleWindowSize = displayVideo.value?.timing?.sample_window_size ?? 10
-  const samples = displayVideo.value?.timing?.delta_samples_ms ?? []
-  return Array.from({ length: sampleWindowSize }, (_, index) => samples[index] ?? null)
-})
-const timingHeadline = computed(() => {
-  const latest = displayVideo.value?.timing?.latest_delta_ms
-  if (latest == null) {
-    return '等待帧尾时间'
-  }
-  return `最新 ${latest.toFixed(1)} ms`
-})
-const timingHint = computed(() => {
-  const timing = displayVideo.value?.timing
-  if (!timing?.available) {
-    return '当前还没有从 JPEG 结尾后的尾字节里解析到时间戳，标签会在收到有效帧尾时间后自动填充。'
-  }
 
-  const unitText = timing.timestamp_unit ? `，单位按 ${timing.timestamp_unit}` : ''
-  const endiannessText = timing.timestamp_endianness
-    ? `，字节序按 ${timing.timestamp_endianness}`
-    : ''
-  return `最近 ${timing.sample_window_size} 个差值样本，面板按 ${STATUS_REFRESH_MS} ms 刷新一组${unitText}${endiannessText}。`
+const timingHeadline = computed(() => {
+  const latest = senderClockDebug.value?.sender_clock_delta_ms_raw
+  if (latest == null) {
+    return t('videoPanel.timing.waiting')
+  }
+  return `${latest.toFixed(1)} ms`
 })
 
+const timingHint = computed(() => {
+  const timing = senderClockDebug.value
+  if (!timing?.available) {
+    return t('videoPanel.timing.noTrailer')
+  }
+  return t('videoPanel.timing.rawHint')
+})
+
+function formatNumber(value: number | null | undefined, suffix = '') {
+  if (value == null || Number.isNaN(value)) {
+    return '--'
+  }
+  return `${value.toFixed(1)}${suffix}`
+}
+
+function wallClockNowMs() {
+  return Date.now()
+}
+
 let frameTimer: number | null = null
 let statusTimer: number | null = null
+let probeTimer: number | null = null
+let calibrationTimer: number | null = null
 let frameKey = 0
+let probeKey = 0
 let statusRequestPending = false
+let probeRequestPending = false
+let calibrationRequestPending = false
+let lastObservedFrameSeq: number | null = null
+let lastObservedFrameHash = ''
+let pendingInputProbe: PendingInputProbe | null = null
+let clockOffsetSamples: number[] = []
+let clockRttSamples: number[] = []
+
+function boundedMedian(samples: number[]) {
+  if (samples.length === 0) {
+    return null
+  }
+  const sorted = [...samples].sort((left, right) => left - right)
+  const middle = Math.floor(sorted.length / 2)
+  if (sorted.length % 2 === 1) {
+    return sorted[middle] ?? null
+  }
+  const left = sorted[middle - 1]
+  const right = sorted[middle]
+  if (left == null || right == null) {
+    return null
+  }
+  return (left + right) / 2
+}
+
+function clearClockCalibration() {
+  clockOffsetSamples = []
+  clockRttSamples = []
+  clockCalibration.value = { ...EMPTY_CLOCK_CALIBRATION }
+}
+
+function isClockCalibrationFresh(snapshot: ClockCalibrationSnapshot, nowMs = wallClockNowMs()) {
+  if (snapshot.offsetMs == null || snapshot.rttMs == null || !snapshot.updatedAt) {
+    return false
+  }
+  const updatedAtMs = Date.parse(snapshot.updatedAt)
+  if (!Number.isFinite(updatedAtMs)) {
+    return false
+  }
+  return nowMs - updatedAtMs <= CLOCK_CALIBRATION_STALE_MS
+}
+
+function expireClockCalibrationIfStale(nowMs = wallClockNowMs()) {
+  if (clockCalibration.value.sampleCount > 0 && !isClockCalibrationFresh(clockCalibration.value, nowMs)) {
+    clearClockCalibration()
+  }
+}
+
+function currentClockCalibration(nowMs = wallClockNowMs()) {
+  expireClockCalibrationIfStale(nowMs)
+  return clockCalibration.value
+}
+
+function updateClockCalibration(offsetMs: number, rttMs: number) {
+  clockOffsetSamples.push(offsetMs)
+  clockRttSamples.push(rttMs)
+  if (clockOffsetSamples.length > CLOCK_CALIBRATION_SAMPLE_WINDOW) {
+    clockOffsetSamples = clockOffsetSamples.slice(-CLOCK_CALIBRATION_SAMPLE_WINDOW)
+  }
+  if (clockRttSamples.length > CLOCK_CALIBRATION_SAMPLE_WINDOW) {
+    clockRttSamples = clockRttSamples.slice(-CLOCK_CALIBRATION_SAMPLE_WINDOW)
+  }
+  const medianOffset = boundedMedian(clockOffsetSamples)
+  const medianRtt = boundedMedian(clockRttSamples)
+  clockCalibration.value = {
+    offsetMs: medianOffset == null ? null : Number(medianOffset.toFixed(3)),
+    rttMs: medianRtt == null ? null : Number(medianRtt.toFixed(3)),
+    sampleCount: clockOffsetSamples.length,
+    updatedAt: new Date().toISOString(),
+  }
+}
 
 async function refreshStatus() {
   if (statusRequestPending) {
     return
   }
-
   statusRequestPending = true
   try {
     liveVideo.value = await fetchVideoStatus()
   } catch {
-    // 保持当前已显示状态，避免短暂请求失败把面板内容清空。
+    // Keep the last good state.
   } finally {
     statusRequestPending = false
   }
 }
 
+async function runClockCalibration() {
+  if (calibrationRequestPending) {
+    return
+  }
+  calibrationRequestPending = true
+  const clientSendUnixMs = wallClockNowMs()
+  expireClockCalibrationIfStale(clientSendUnixMs)
+  try {
+    const sample = await fetchClockCalibrationSample()
+    const clientRecvUnixMs = wallClockNowMs()
+    if (!Number.isFinite(sample.server_received_unix_ms) || !Number.isFinite(sample.server_sent_unix_ms)) {
+      return
+    }
+    const offsetMs = ((clientSendUnixMs - sample.server_received_unix_ms) + (clientRecvUnixMs - sample.server_sent_unix_ms)) / 2
+    const rawRttMs = (clientRecvUnixMs - clientSendUnixMs) - (sample.server_sent_unix_ms - sample.server_received_unix_ms)
+    updateClockCalibration(Number(offsetMs.toFixed(3)), Number(Math.max(0, rawRttMs).toFixed(3)))
+  } catch {
+    // Calibration is best-effort only.
+  } finally {
+    expireClockCalibrationIfStale()
+    calibrationRequestPending = false
+  }
+}
+
 function refreshFrame() {
   if (!canRequestFrames.value) {
     return
@@ -90,16 +228,12 @@ function startFrameLoop() {
     window.clearInterval(frameTimer)
     frameTimer = null
   }
-
   if (!canRequestFrames.value) {
     return
   }
-
   refreshFrame()
   const intervalMs = Math.max(33, Math.round(1000 / currentFps.value))
-  frameTimer = window.setInterval(() => {
-    refreshFrame()
-  }, intervalMs)
+  frameTimer = window.setInterval(refreshFrame, intervalMs)
 }
 
 function startStatusLoop() {
@@ -107,16 +241,161 @@ function startStatusLoop() {
     window.clearInterval(statusTimer)
     statusTimer = null
   }
-
   void refreshStatus()
   statusTimer = window.setInterval(() => {
     void refreshStatus()
   }, STATUS_REFRESH_MS)
 }
 
+function startClockCalibrationLoop() {
+  if (calibrationTimer != null) {
+    window.clearInterval(calibrationTimer)
+    calibrationTimer = null
+  }
+  void runClockCalibration()
+  calibrationTimer = window.setInterval(() => {
+    void runClockCalibration()
+  }, CLOCK_CALIBRATION_INTERVAL_MS)
+}
+
+function maybeTrackOperatorInput() {
+  pendingInputProbe = {
+    token: operatorInputSequence.value,
+    triggeredPerfMs: lastOperatorInputPerfMs.value,
+    baselineFrameSeq: lastObservedFrameSeq,
+    baselineFrameHash: lastObservedFrameHash,
+    freshResolved: false,
+    changedResolved: false,
+    paintResolved: false,
+  }
+}
+
+async function runDisplayProbe() {
+  if (probeRequestPending || !canRequestFrames.value) {
+    return
+  }
+
+  probeRequestPending = true
+  const requestStartedUnixMs = wallClockNowMs()
+
+  try {
+    probeKey += 1
+    const response = await fetch(buildVideoFrameUrl(probeKey), {
+      cache: 'no-store',
+    })
+    if (!response.ok) {
+      return
+    }
+
+    const frameSeqHeader = response.headers.get('X-Blitz-Frame-Seq')
+    const backendReceivedHeader = response.headers.get('X-Blitz-Backend-Received-Unix-Ns')
+    const frameHashHeader = response.headers.get('X-Blitz-Frame-Hash') ?? ''
+    const frameSeq = frameSeqHeader ? Number(frameSeqHeader) : null
+    const backendReceivedUnixNs = backendReceivedHeader ? Number(backendReceivedHeader) : null
+    const responseReceivedUnixMs = wallClockNowMs()
+    const blob = await response.blob()
+    const objectUrl = URL.createObjectURL(blob)
+
+    try {
+      const probeImage = new Image()
+      probeImage.src = objectUrl
+      await probeImage.decode()
+      const decodedUnixMs = wallClockNowMs()
+      await new Promise<void>((resolve) => {
+        requestAnimationFrame(() => resolve())
+      })
+      const paintUnixMs = wallClockNowMs()
+
+      let inputToNextFreshFrameMs: number | null = null
+      let inputToNextChangedFrameMs: number | null = null
+      let inputToNextPaintMs: number | null = null
+
+      if (pendingInputProbe != null) {
+        if (
+          !pendingInputProbe.freshResolved &&
+          frameSeq != null &&
+          (pendingInputProbe.baselineFrameSeq == null || frameSeq > pendingInputProbe.baselineFrameSeq)
+        ) {
+          inputToNextFreshFrameMs = Number((performance.now() - pendingInputProbe.triggeredPerfMs).toFixed(3))
+          pendingInputProbe.freshResolved = true
+          operatorMetrics.value.input_to_next_fresh_frame_ms = inputToNextFreshFrameMs
+        }
+
+        if (
+          !pendingInputProbe.changedResolved &&
+          frameHashHeader &&
+          frameHashHeader !== pendingInputProbe.baselineFrameHash
+        ) {
+          inputToNextChangedFrameMs = Number((performance.now() - pendingInputProbe.triggeredPerfMs).toFixed(3))
+          pendingInputProbe.changedResolved = true
+          operatorMetrics.value.input_to_next_changed_frame_ms = inputToNextChangedFrameMs
+        }
+
+        if (!pendingInputProbe.paintResolved) {
+          inputToNextPaintMs = Number((performance.now() - pendingInputProbe.triggeredPerfMs).toFixed(3))
+          pendingInputProbe.paintResolved = true
+          operatorMetrics.value.input_to_next_paint_ms = inputToNextPaintMs
+        }
+
+        if (
+          pendingInputProbe.freshResolved &&
+          pendingInputProbe.changedResolved &&
+          pendingInputProbe.paintResolved
+        ) {
+          pendingInputProbe = null
+        }
+      }
+
+      lastObservedFrameSeq = frameSeq
+      lastObservedFrameHash = frameHashHeader
+      const calibration = currentClockCalibration(paintUnixMs)
+
+      await postVideoDisplayProbe({
+        updated_at: new Date().toISOString(),
+        frame_seq: frameSeq,
+        backend_received_unix_ns: backendReceivedUnixNs,
+        frame_hash: frameHashHeader,
+        request_started_unix_ms: Number(requestStartedUnixMs.toFixed(3)),
+        response_received_unix_ms: Number(responseReceivedUnixMs.toFixed(3)),
+        image_decoded_unix_ms: Number(decodedUnixMs.toFixed(3)),
+        paint_unix_ms: Number(paintUnixMs.toFixed(3)),
+        input_to_next_fresh_frame_ms: inputToNextFreshFrameMs,
+        input_to_next_changed_frame_ms: inputToNextChangedFrameMs,
+        input_to_next_paint_ms: inputToNextPaintMs,
+        browser_backend_clock_offset_ms: calibration.offsetMs,
+        browser_backend_clock_rtt_ms: calibration.rttMs,
+        browser_backend_clock_sample_count: calibration.sampleCount,
+        browser_backend_clock_calibrated_at: calibration.updatedAt,
+      })
+    } finally {
+      URL.revokeObjectURL(objectUrl)
+    }
+  } catch {
+    // Probe is best-effort only.
+  } finally {
+    probeRequestPending = false
+  }
+}
+
+function startProbeLoop() {
+  if (probeTimer != null) {
+    window.clearInterval(probeTimer)
+    probeTimer = null
+  }
+  if (!canRequestFrames.value) {
+    return
+  }
+  void runDisplayProbe()
+  probeTimer = window.setInterval(() => {
+    void runDisplayProbe()
+  }, DISPLAY_PROBE_INTERVAL_MS)
+}
+
 onMounted(() => {
   startStatusLoop()
   startFrameLoop()
+  startProbeLoop()
+  startClockCalibrationLoop()
 })
 
 onUnmounted(() => {
@@ -126,6 +405,12 @@ onUnmounted(() => {
   if (statusTimer != null) {
     window.clearInterval(statusTimer)
   }
+  if (probeTimer != null) {
+    window.clearInterval(probeTimer)
+  }
+  if (calibrationTimer != null) {
+    window.clearInterval(calibrationTimer)
+  }
 })
 
 watch(
@@ -138,18 +423,26 @@ watch(
 
 watch([currentFps, canRequestFrames], () => {
   startFrameLoop()
+  startProbeLoop()
 })
+
+watch(
+  () => operatorInputSequence.value,
+  () => {
+    maybeTrackOperatorInput()
+  },
+)
 </script>
 
 <template>
   <section class="panel video-panel">
     <div class="panel-head">
       <div>
-        <p class="eyebrow">Video</p>
-        <h2>JPEG 视频流</h2>
+        <p class="eyebrow">{{ t('videoPanel.eyebrow') }}</p>
+        <h2>{{ t('videoPanel.title') }}</h2>
       </div>
       <span class="badge" :class="{ bad: !displayVideo?.available }">
-        {{ displayVideo?.source_mode ?? 'loading' }}
+        {{ modeLabel }}
       </span>
     </div>
 
@@ -158,37 +451,72 @@ watch([currentFps, canRequestFrames], () => {
         v-if="canRequestFrames"
         class="video-frame"
         :src="frameUrl"
-        alt="Robot jpeg frame stream"
+        :alt="t('videoPanel.frameAlt')"
       />
       <div v-else class="video-placeholder">
-        {{ placeholderText }}
+        {{ t('videoPanel.waitingFrames') }}
       </div>
     </div>
 
     <div class="stats">
       <div class="stat-card">
-        <span>帧源</span>
-        <strong>{{ displayVideo?.frame_count ?? '--' }} 张 JPEG</strong>
+        <span>{{ t('videoPanel.stats.frames') }}</span>
+        <strong>{{ displayVideo?.frame_count ?? 0 }}</strong>
       </div>
       <div class="stat-card">
-        <span>当前模式</span>
-        <strong>{{ modeLabel }}</strong>
+        <span>{{ t('videoPanel.stats.latestSeq') }}</span>
+        <strong>{{ displayVideo?.receiver?.latest_sequence ?? '--' }}</strong>
+      </div>
+      <div class="stat-card">
+        <span>{{ t('videoPanel.stats.videoE2E') }}</span>
+        <strong>{{ formatNumber(networkEstimate?.video_e2e_est_ms, ' ms') }}</strong>
+      </div>
+      <div class="stat-card">
+        <span>{{ t('videoPanel.stats.paintDelay') }}</span>
+        <strong>{{ formatNumber(displayVideo?.display_probe?.request_to_paint_ms, ' ms') }}</strong>
+      </div>
+    </div>
+
+    <div class="metric-grid">
+      <div class="metric-group">
+        <h3>{{ t('videoPanel.section.pipeline') }}</h3>
+        <p><strong>{{ t('videoPanel.captureToSend') }}:</strong> {{ formatNumber(displayVideo?.receiver?.latest_capture_to_send_ms, ' ms') }}</p>
+        <p><strong>{{ t('videoPanel.networkOneWay') }}:</strong> {{ formatNumber(networkEstimate?.video_network_oneway_est_ms, ' ms') }}</p>
+        <p><strong>{{ t('videoPanel.partialEstimate') }}:</strong> {{ formatNumber(networkEstimate?.video_partial_est_ms, ' ms') }}</p>
+        <p><strong>{{ t('videoPanel.endToEndEstimate') }}:</strong> {{ formatNumber(networkEstimate?.video_e2e_est_ms, ' ms') }}</p>
+      </div>
+
+      <div class="metric-group">
+        <h3>{{ t('videoPanel.section.freshness') }}</h3>
+        <p><strong>{{ t('videoPanel.interFrameAvg') }}:</strong> {{ formatNumber(freshness?.inter_frame_avg_ms, ' ms') }}</p>
+        <p><strong>{{ t('videoPanel.interFrameP95') }}:</strong> {{ formatNumber(freshness?.inter_frame_p95_ms, ' ms') }}</p>
+        <p><strong>{{ t('videoPanel.repeatedRatio') }}:</strong> {{ formatNumber((freshness?.repeated_frame_ratio ?? 0) * 100, ' %') }}</p>
+        <p><strong>{{ t('videoPanel.skipRatio') }}:</strong> {{ formatNumber((freshness?.skip_ratio ?? 0) * 100, ' %') }}</p>
+        <p><strong>{{ t('videoPanel.longestFreeze') }}:</strong> {{ formatNumber(freshness?.longest_freeze_ms, ' ms') }}</p>
+        <p><strong>{{ t('videoPanel.lagFrames') }}:</strong> {{ freshness?.relative_freshness_lag_frames ?? 0 }}</p>
+      </div>
+
+      <div class="metric-group">
+        <h3>{{ t('videoPanel.section.operator') }}</h3>
+        <p><strong>{{ t('videoPanel.inputToNextSeq') }}:</strong> {{ formatNumber(operatorMetrics.input_to_next_fresh_frame_ms, ' ms') }}</p>
+        <p><strong>{{ t('videoPanel.inputToChangedFrame') }}:</strong> {{ formatNumber(operatorMetrics.input_to_next_changed_frame_ms, ' ms') }}</p>
+        <p><strong>{{ t('videoPanel.inputToPaint') }}:</strong> {{ formatNumber(operatorMetrics.input_to_next_paint_ms, ' ms') }}</p>
+        <p><strong>{{ t('videoPanel.displayProbeRequestToPaint') }}:</strong> {{ formatNumber(displayVideo?.display_probe?.request_to_paint_ms, ' ms') }}</p>
       </div>
     </div>
 
     <div class="timing-panel">
       <div class="timing-head">
-        <span>帧尾时间差</span>
+        <span>{{ t('videoPanel.senderClockDelta') }}</span>
         <strong>{{ timingHeadline }}</strong>
       </div>
       <div class="timing-grid">
         <span
-          v-for="(sample, index) in latencyLabels"
+          v-for="(sample, index) in (senderClockDebug?.sender_clock_delta_samples_ms_raw ?? [])"
           :key="index"
           class="timing-label"
-          :class="{ empty: sample == null }"
         >
-          {{ sample == null ? '--' : `${sample.toFixed(1)} ms` }}
+          {{ `${sample.toFixed(1)} ms` }}
         </span>
       </div>
       <p class="hint subtle">
@@ -197,12 +525,7 @@ watch([currentFps, canRequestFrames], () => {
     </div>
 
     <p class="hint">
-      这里只有在后端已经收到 OmniSocket 的真实 JPEG 帧时，才会开始逐帧请求并显示画面。
-      如果当前没有真实帧，页面会保持占位提示，不再回退测试视频流。
-    </p>
-
-    <p class="hint subtle">
-      当前帧源状态：{{ displayVideo?.source_detail ?? '暂无' }}
+      {{ displayVideo?.source_detail ?? t('videoPanel.noSourceDetail') }}
     </p>
   </section>
 </template>
@@ -224,16 +547,24 @@ watch([currentFps, canRequestFrames], () => {
   margin: 0 0 4px;
   color: #5b7aff;
   text-transform: uppercase;
-  letter-spacing: 0.12em;
+  letter-spacing: 0.08em;
   font-size: 12px;
   font-weight: 700;
 }
 
-h2 {
+h2,
+h3 {
   margin: 0;
+}
+
+h2 {
   font-size: 24px;
 }
 
+h3 {
+  font-size: 16px;
+}
+
 .badge {
   padding: 8px 12px;
   border-radius: 999px;
@@ -249,11 +580,10 @@ h2 {
 }
 
 .video-shell {
-  position: relative;
   overflow: hidden;
-  border-radius: 20px;
+  border-radius: 8px;
   border: 1px solid rgba(133, 147, 169, 0.28);
-  background: linear-gradient(180deg, #09111f 0%, #050812 100%);
+  background: #050812;
 }
 
 .video-frame {
@@ -261,115 +591,107 @@ h2 {
   width: 100%;
   aspect-ratio: 16 / 9;
   object-fit: cover;
-  background: #02050d;
 }
 
 .video-placeholder {
   display: grid;
   place-items: center;
-  width: 100%;
   aspect-ratio: 16 / 9;
-  padding: 24px;
-  color: #a8b4ce;
-  text-align: center;
-  line-height: 1.7;
-  background:
-    radial-gradient(circle at top, rgba(91, 122, 255, 0.14), transparent 42%),
-    #02050d;
+  color: #95a4c6;
+}
+
+.stats,
+.metric-grid {
+  display: grid;
+  gap: 10px;
 }
 
 .stats {
-  display: grid;
-  grid-template-columns: repeat(2, minmax(0, 1fr));
-  gap: 12px;
+  grid-template-columns: repeat(4, minmax(0, 1fr));
 }
 
-.stat-card {
-  padding: 14px;
-  border-radius: 16px;
-  background: rgba(7, 14, 26, 0.78);
-  border: 1px solid rgba(133, 147, 169, 0.2);
+.metric-grid {
+  grid-template-columns: repeat(3, minmax(0, 1fr));
+}
+
+.stat-card,
+.metric-group,
+.timing-panel {
+  padding: 12px;
+  border-radius: 8px;
+  border: 1px solid rgba(133, 147, 169, 0.18);
+  background: rgba(7, 14, 26, 0.86);
+}
+
+.stat-card span,
+.metric-group p,
+.hint {
+  color: #d5dbee;
 }
 
 .stat-card span {
   display: block;
-  margin-bottom: 8px;
-  color: #8d99b3;
+  margin-bottom: 6px;
   font-size: 12px;
+  color: #9aaccc;
+  text-transform: uppercase;
 }
 
 .stat-card strong {
   font-size: 18px;
 }
 
-.timing-panel {
+.metric-group {
   display: grid;
-  gap: 12px;
-  padding: 14px;
-  border-radius: 18px;
-  background: rgba(7, 14, 26, 0.88);
-  border: 1px solid rgba(133, 147, 169, 0.18);
+  gap: 8px;
+}
+
+.metric-group p {
+  margin: 0;
+  line-height: 1.6;
 }
 
 .timing-head {
   display: flex;
   justify-content: space-between;
   gap: 12px;
-  align-items: center;
-  color: #cfd7e6;
-}
-
-.timing-head span {
-  color: #8d99b3;
-  font-size: 12px;
-}
-
-.timing-head strong {
-  font-size: 16px;
+  margin-bottom: 10px;
 }
 
 .timing-grid {
-  display: grid;
-  grid-template-columns: repeat(5, minmax(0, 1fr));
+  display: flex;
+  flex-wrap: wrap;
   gap: 8px;
 }
 
 .timing-label {
-  display: grid;
-  place-items: center;
-  min-height: 40px;
-  padding: 8px 10px;
-  border-radius: 12px;
+  padding: 6px 8px;
+  border-radius: 8px;
   background: rgba(91, 122, 255, 0.12);
-  border: 1px solid rgba(91, 122, 255, 0.28);
-  color: #dce4ff;
+  color: #dbe5ff;
   font-size: 12px;
-  font-weight: 700;
-}
-
-.timing-label.empty {
-  background: rgba(133, 147, 169, 0.08);
-  border-color: rgba(133, 147, 169, 0.18);
-  color: #7e8aa5;
 }
 
 .hint {
   margin: 0;
-  color: #8d99b3;
-  line-height: 1.65;
+  line-height: 1.7;
 }
 
 .hint.subtle {
-  font-size: 13px;
+  color: #96a5c3;
 }
 
-@media (max-width: 720px) {
-  .stats {
-    grid-template-columns: 1fr;
-  }
-
-  .timing-grid {
+@media (max-width: 1100px) {
+  .stats,
+  .metric-grid {
     grid-template-columns: repeat(2, minmax(0, 1fr));
   }
 }
+
+@media (max-width: 720px) {
+  .stats,
+  .metric-grid {
+    grid-template-columns: 1fr;
+  }
+}
 </style>

frontend/src/composables/useControlInterface.ts

@@ -1,6 +1,7 @@
 import { computed, onMounted, onUnmounted, ref } from 'vue'
 
 import { buildControlWebSocketUrl } from '@/lib/api'
+import { t } from '@/lib/locale'
 
 type SocketState = 'connecting' | 'open' | 'closed'
 type ControlInputMode = 'keyboard' | 'gamepad'
@@ -35,7 +36,7 @@ const KEY_LABELS: Record<string, string> = {
   KeyE: 'E',
   ShiftLeft: 'Shift',
   ShiftRight: 'Shift',
-  Space: 'Stop',
+  Space: 'Space',
 }
 const GAMEPAD_BUTTON_LABELS = ['A', 'B', 'X', 'Y', 'LB', 'RB', 'LT', 'RT', 'Back', 'Start', 'LS', 'RS']
 
@@ -57,15 +58,18 @@ const MAX_TURBO_MULTIPLIER = 3
 
 const pressedKeys = ref<Set<string>>(new Set())
 const socketState = ref<SocketState>('connecting')
-const lastServerMessage = ref('waiting')
+const lastServerMessageOverride = ref('')
+const lastServerMessagePreset = ref<'waiting' | 'live'>('waiting')
 const gamepadSupported = ref(false)
 const gamepadConnected = ref(false)
-const gamepadName = ref('No gamepad detected')
+const gamepadNameRaw = ref('')
 const gamepadIndex = ref<number | null>(null)
 const gamepadMapping = ref('')
 const gamepadAxes = ref<number[]>([0, 0, 0, 0])
 const gamepadButtonPressed = ref<boolean[]>(Array.from({ length: GAMEPAD_BUTTON_LABELS.length }, () => false))
 const activeSource = ref<ControlSource>('idle')
+const operatorInputSequence = ref(0)
+const lastOperatorInputPerfMs = ref(0)
 
 function clampValue(value: number, min: number, max: number) {
   return Math.min(max, Math.max(min, value))
@@ -152,6 +156,11 @@ let consumerCount = 0
 let lastGamepadSignature = ''
 let lastCommandSignature = ''
 
+function noteOperatorInput() {
+  operatorInputSequence.value += 1
+  lastOperatorInputPerfMs.value = performance.now()
+}
+
 function normalizeAxis(raw: number) {
   if (Math.abs(raw) < GAMEPAD_DEADZONE) {
     return 0
@@ -366,7 +375,7 @@ function sendCurrentCommand() {
   socket.send(packCommand(resolvedCommandValues()))
 }
 
-function refreshSendLoop(force = false) {
+function refreshSendLoop(force = false, noteInput = true) {
   const source = resolvedSource()
   const values = resolvedCommandValues()
   const signature = commandSignature(values, source)
@@ -375,6 +384,9 @@ function refreshSendLoop(force = false) {
     return
   }
   lastCommandSignature = signature
+  if (noteInput) {
+    noteOperatorInput()
+  }
 
   stopSendLoop()
   if (socket == null || socket.readyState !== WebSocket.OPEN) {
@@ -434,7 +446,7 @@ function handleKeyup(event: KeyboardEvent) {
 
 function resetGamepadState() {
   gamepadConnected.value = false
-  gamepadName.value = 'No gamepad detected'
+  gamepadNameRaw.value = ''
   gamepadIndex.value = null
   gamepadMapping.value = ''
   gamepadAxes.value = [0, 0, 0, 0]
@@ -474,9 +486,9 @@ function pollGamepadState() {
 
   lastGamepadSignature = signature
   gamepadConnected.value = true
-  gamepadName.value = pad.id || 'Unnamed gamepad'
+  gamepadNameRaw.value = pad.id || ''
   gamepadIndex.value = pad.index
-  gamepadMapping.value = pad.mapping || 'unknown'
+  gamepadMapping.value = pad.mapping || ''
   gamepadAxes.value = axes
   gamepadButtonPressed.value = buttons
   if (controlInputMode.value === 'gamepad') {
@@ -496,18 +508,21 @@ function connectSocket() {
 
   socket.onopen = () => {
     socketState.value = 'open'
-    lastServerMessage.value = 'control link live'
-    refreshSendLoop(true)
+    lastServerMessagePreset.value = 'live'
+    lastServerMessageOverride.value = ''
+    refreshSendLoop(true, false)
   }
 
   socket.onmessage = (event) => {
     if (typeof event.data === 'string') {
-      lastServerMessage.value = event.data
+      lastServerMessageOverride.value = event.data
     }
   }
 
   socket.onclose = () => {
     socketState.value = 'closed'
+    lastServerMessagePreset.value = 'waiting'
+    lastServerMessageOverride.value = ''
     stopSendLoop()
     socket = null
     if (manualClose) {
@@ -586,20 +601,27 @@ function unmountConsumer() {
 }
 
 const socketLabel = computed(() => {
-  if (socketState.value === 'open') return 'ws open'
-  if (socketState.value === 'connecting') return 'connecting'
-  return 'reconnecting'
+  if (socketState.value === 'open') return t('control.socket.open')
+  if (socketState.value === 'connecting') return t('control.socket.connecting')
+  return t('control.socket.reconnecting')
 })
 
 const activeSourceLabel = computed(() => {
-  if (activeSource.value === 'keyboard') return 'Keyboard'
-  if (activeSource.value === 'gamepad') return 'Gamepad'
-  return 'Idle'
+  if (activeSource.value === 'keyboard') return t('common.keyboard')
+  if (activeSource.value === 'gamepad') return t('common.gamepad')
+  return t('common.idle')
 })
 
 const controlInputModeLabel = computed(() => {
-  if (controlInputMode.value === 'gamepad') return 'Gamepad'
-  return 'Keyboard'
+  if (controlInputMode.value === 'gamepad') return t('common.gamepad')
+  return t('common.keyboard')
+})
+
+const lastServerMessage = computed(() => {
+  if (lastServerMessageOverride.value) {
+    return lastServerMessageOverride.value
+  }
+  return lastServerMessagePreset.value === 'live' ? t('control.server.live') : t('control.server.waiting')
 })
 
 const commandValues = computed(() => {
@@ -625,12 +647,12 @@ const commandMagnitude = computed(() => {
   )
 })
 
-const pressedKeysLabel = computed(() => Array.from(pressedKeys.value).sort().join(', ') || 'none')
+const pressedKeysLabel = computed(() => Array.from(pressedKeys.value).sort().join(', ') || t('common.none'))
 
 const keyboardKeys = computed<KeyFeedback[]>(() =>
   TRACKED_KEYS.map((code) => ({
     code,
-    label: KEY_LABELS[code] ?? code,
+    label: code === 'Space' ? t('control.key.stop') : (KEY_LABELS[code] ?? code),
     pressed: pressedKeys.value.has(code),
   })),
 )
@@ -657,6 +679,13 @@ const gamepadButtons = computed<ButtonFeedback[]>(() =>
   })),
 )
 
+const gamepadName = computed(() => {
+  if (!gamepadConnected.value) {
+    return t('control.gamepad.none')
+  }
+  return gamepadNameRaw.value || t('control.gamepad.unnamed')
+})
+
 const gamepadLeftStick = computed(() => ({
   x: gamepadAxes.value[0] ?? 0,
   y: gamepadAxes.value[1] ?? 0,
@@ -706,5 +735,14 @@ export function useControlInterface() {
     gamepadRightStick,
     gamepadAxes,
     gamepadActive: computed(() => gamepadActiveInternal()),
+    operatorInputSequence,
+    lastOperatorInputPerfMs,
+  }
+}
+
+export function useOperatorInputTelemetry() {
+  return {
+    operatorInputSequence,
+    lastOperatorInputPerfMs,
   }
 }

frontend/src/composables/useMonitoringData.ts

@@ -1,6 +1,7 @@
 import { computed, onMounted, onUnmounted, ref } from 'vue'
 
 import { fetchDashboardSnapshot } from '@/lib/api'
+import { t } from '@/lib/locale'
 import type { GpsTelemetry, NetworkTelemetry, VideoStatus } from '@/types'
 
 type UseMonitoringDataOptions = {
@@ -25,7 +26,7 @@ export function useMonitoringData(options: UseMonitoringDataOptions = {}) {
       video.value = snapshot.video
       errorMessage.value = ''
     } catch (error) {
-      errorMessage.value = error instanceof Error ? error.message : 'Failed to load monitoring data'
+      errorMessage.value = error instanceof Error ? error.message : t('common.requestFailed', { status: '-', statusText: '' })
     } finally {
       loading.value = false
     }
@@ -36,9 +37,9 @@ export function useMonitoringData(options: UseMonitoringDataOptions = {}) {
       return errorMessage.value
     }
     if (loading.value) {
-      return 'Connecting to the Django backend and loading live monitoring data...'
+      return t('monitoring.loading')
     }
-    return 'Dashboard connected. Video, GPS, and live session telemetry refresh continuously from the unified A-side daemon.'
+    return t('monitoring.connected')
   })
 
   onMounted(() => {

frontend/src/lib/api.ts

@@ -1,4 +1,5 @@
 import type { DashboardSnapshot, VideoStatus } from '@/types'
+import { t } from '@/lib/locale'
 
 const envBaseUrl = import.meta.env.VITE_API_BASE_URL as string | undefined
 
@@ -7,7 +8,7 @@ export const API_BASE = (envBaseUrl?.trim() || 'http://127.0.0.1:8001').replace(
 async function fetchJson<T>(path: string): Promise<T> {
   const response = await fetch(`${API_BASE}${path}`)
   if (!response.ok) {
-    throw new Error(`请求失败: ${response.status} ${response.statusText}`)
+    throw new Error(t('common.requestFailed', { status: response.status, statusText: response.statusText }))
   }
   return response.json() as Promise<T>
 }
@@ -20,10 +21,36 @@ export function fetchVideoStatus() {
   return fetchJson<VideoStatus>('/api/video/status/')
 }
 
+export async function fetchClockCalibrationSample() {
+  const response = await fetch(`${API_BASE}/api/clock/calibrate/`, {
+    cache: 'no-store',
+  })
+  if (!response.ok) {
+    throw new Error(`clock calibration failed: ${response.status} ${response.statusText}`)
+  }
+  return response.json() as Promise<{
+    server_received_unix_ms: number
+    server_sent_unix_ms: number
+  }>
+}
+
 export function buildVideoFrameUrl(frameKey: number) {
   return `${API_BASE}/api/video/frame/?frame=${frameKey}&t=${Date.now()}`
 }
 
+export async function postVideoDisplayProbe(payload: Record<string, unknown>) {
+  const response = await fetch(`${API_BASE}/api/video/display-probe/`, {
+    method: 'POST',
+    headers: {
+      'Content-Type': 'application/json',
+    },
+    body: JSON.stringify(payload),
+  })
+  if (!response.ok) {
+    throw new Error(`display probe post failed: ${response.status} ${response.statusText}`)
+  }
+}
+
 export function buildControlWebSocketUrl() {
   const url = new URL(API_BASE, window.location.origin)
   const basePath = url.pathname.replace(/\/$/, '')

frontend/src/lib/locale.ts

@@ -0,0 +1,512 @@
+import { computed, readonly, ref } from 'vue'
+
+export type Locale = 'zh-CN' | 'en-US'
+
+const LOCALE_STORAGE_KEY = 'robot-command-center.locale'
+const DEFAULT_LOCALE: Locale = 'zh-CN'
+
+const zhCNMessages = {
+  'common.loading': '加载中',
+  'common.waiting': '等待中',
+  'common.unavailable': '不可用',
+  'common.unknown': '未知',
+  'common.none': '无',
+  'common.na': 'n/a',
+  'common.yes': '是',
+  'common.no': '否',
+  'common.keyboard': '键盘',
+  'common.gamepad': '手柄',
+  'common.idle': '空闲',
+  'common.control': '控制',
+  'common.video': '视频',
+  'common.online': '在线',
+  'common.offline': '离线',
+  'common.fresh': '新鲜',
+  'common.stale': '过期',
+  'common.stable': '稳定',
+  'common.rising': '上升',
+  'common.falling': '下降',
+  'common.selected': '已选中',
+  'common.standby': '待命',
+  'common.turbo': '加速',
+  'common.ackLoop': 'ACK 闭环',
+  'common.srttFallback': 'SRTT 回退',
+  'common.requestFailed': '请求失败: {status} {statusText}',
+  'app.brandTitle': '机器人指挥中心',
+  'app.brandSubtitle': '远程机器人控制台',
+  'app.nav.overview': '概览',
+  'app.nav.video': '视频',
+  'app.nav.map': '地图定位',
+  'app.nav.network': '网络状态',
+  'app.localeToggle': 'English',
+  'dashboard.eyebrow': '概览',
+  'dashboard.title': '机器人指挥中心',
+  'dashboard.description': 'A 端统一后台进程持续刷新视频、控制仲裁和链路遥测。',
+  'networkView.eyebrow': '网络',
+  'networkView.title': '网络遥测',
+  'networkView.description': '查看 A <-> D 与 D <-> B 两段链路的实时队列、重传、窗口压力和延迟估计。',
+  'videoView.eyebrow': '视频',
+  'videoView.title': '视频监控',
+  'videoView.description': '查看机器人实时 JPEG 视频流、画面新鲜度和端到端延迟估计。',
+  'mapView.eyebrow': '地图',
+  'mapView.title': '地图定位',
+  'mapView.description': '查看机器人最新 GPS 数据，并按需使用高德地图做坐标转换和展示。',
+  'monitoring.loading': '正在连接 Django 后端并加载实时监控数据...',
+  'monitoring.connected': '仪表盘已连接。视频、GPS 和会话遥测正在持续刷新。',
+  'control.socket.open': 'WebSocket 已连接',
+  'control.socket.connecting': '连接中',
+  'control.socket.reconnecting': '重连中',
+  'control.server.waiting': '等待控制链路就绪',
+  'control.server.live': '控制链路已建立',
+  'control.gamepad.none': '未检测到手柄',
+  'control.gamepad.unnamed': '未命名手柄',
+  'control.gamepad.unknownMapping': '未知映射',
+  'control.key.stop': '停止',
+  'controlPanel.eyebrow': '控制',
+  'controlPanel.title': '控制反馈',
+  'controlPanel.resetDefaults': '恢复默认',
+  'controlPanel.inputModeEyebrow': '输入模式',
+  'controlPanel.inputModeCopy': '同一时刻只能有一种本地输入模式控制页面。',
+  'controlPanel.keyboardDetail': '使用 W/S、A/D、Q/E、Shift 和 Space。',
+  'controlPanel.gamepadDetail': '仅使用浏览器识别到的手柄。',
+  'controlPanel.forward': '前进',
+  'controlPanel.strafe': '横移',
+  'controlPanel.turn': '转向',
+  'controlPanel.turbo': '加速',
+  'controlPanel.keyboardHint': '键盘映射: W/S 前后, A/D 横移, Q/E 转向, Shift 加速, Space 停止。',
+  'controlPanel.tuningHint': '速度调节由两种本地输入模式共享，并保存在当前浏览器中。',
+  'controlPanel.gamepadHint': '手柄模式下左摇杆控制移动，右摇杆控制转向，RB 加速，A 发送停止。',
+  'controlFeedback.modeChip': '{mode} 模式',
+  'controlFeedback.forward': '前进',
+  'controlFeedback.strafe': '横移',
+  'controlFeedback.turn': '转向',
+  'controlFeedback.tuningSummary': '调参: 前进 {forward} m/s, 横移 {strafe} m/s, 转向 {turn} rad/s, 加速 x{turbo}',
+  'controlFeedback.keyboard': '键盘',
+  'controlFeedback.gamepad': '手柄',
+  'controlFeedback.waitingForController': '等待手柄接入',
+  'controlFeedback.gamepadMeta': '#{index} / 映射={mapping}',
+  'controlFeedback.gamepadHint': '左摇杆控制移动，右摇杆控制转向，RB 加速，A 停止。',
+  'controlFeedback.leftStick': '左摇杆',
+  'controlFeedback.rightStick': '右摇杆',
+  'controlFeedback.outgoingCommand': '当前发出命令: {command}',
+  'videoPanel.eyebrow': '视频',
+  'videoPanel.title': '实时视频',
+  'videoPanel.frameAlt': '机器人实时画面',
+  'videoPanel.waitingFrames': '等待实时视频帧',
+  'videoPanel.mode.loading': '加载中',
+  'videoPanel.mode.live': '{fps} FPS 实时',
+  'videoPanel.stats.frames': '帧数',
+  'videoPanel.stats.latestSeq': '最新序号',
+  'videoPanel.stats.videoE2E': '视频端到端估计',
+  'videoPanel.stats.paintDelay': '绘制延迟',
+  'videoPanel.section.pipeline': '流水线估计',
+  'videoPanel.section.freshness': '新鲜度',
+  'videoPanel.section.operator': '操作员闭环',
+  'videoPanel.captureToSend': '采集到发送',
+  'videoPanel.networkOneWay': '网络单程',
+  'videoPanel.partialEstimate': '部分估计',
+  'videoPanel.endToEndEstimate': '端到端估计',
+  'videoPanel.interFrameAvg': '帧间平均',
+  'videoPanel.interFrameP95': '帧间 p95',
+  'videoPanel.repeatedRatio': '重复比例',
+  'videoPanel.skipRatio': '跳帧比例',
+  'videoPanel.longestFreeze': '最长卡顿',
+  'videoPanel.lagFrames': '落后帧数',
+  'videoPanel.inputToNextSeq': '输入到下一新序号',
+  'videoPanel.inputToChangedFrame': '输入到下一变化帧',
+  'videoPanel.inputToPaint': '输入到下一次绘制',
+  'videoPanel.displayProbeRequestToPaint': '显示探针请求到绘制',
+  'videoPanel.senderClockDelta': '发送端时钟差',
+  'videoPanel.timing.waiting': '等待中',
+  'videoPanel.timing.noTrailer': '正在等待第一帧带有效 trailer 的视频数据',
+  'videoPanel.timing.rawHint': '这里只显示发送端原始时钟差，设备时钟未同步',
+  'videoPanel.noSourceDetail': '暂无实时视频详情',
+  'networkPanel.eyebrow': '网络',
+  'networkPanel.title': '双段链路遥测',
+  'networkPanel.controlLoopRtt': '控制闭环 RTT',
+  'networkPanel.controlToPersist': '控制到持久化',
+  'networkPanel.controlSrttOneWay': '控制单程 SRTT',
+  'networkPanel.videoOneWayEst': '视频单程估计',
+  'networkPanel.txRate': '发送速率',
+  'networkPanel.rxRate': '接收速率',
+  'networkPanel.robotFault': '机器人故障',
+  'networkPanel.recoveryState': '恢复状态',
+  'networkPanel.healthConfidence': '健康置信度',
+  'networkPanel.healthUpdated': '健康更新时间',
+  'networkPanel.transport': '传输',
+  'networkPanel.activeControl': '当前控制源',
+  'networkPanel.lease': '租约',
+  'networkPanel.ackMode': 'ACK 模式',
+  'networkPanel.ackUpdated': 'ACK 更新时间',
+  'networkPanel.telemetryPeer': '遥测 Peer',
+  'networkPanel.telemetryRegistered': '遥测已注册',
+  'networkPanel.hubFreshness': 'Hub 新鲜度',
+  'networkPanel.hubState': 'Hub 状态',
+  'networkPanel.telemetryReconnects': '遥测重连次数',
+  'networkPanel.hubError': 'Hub 错误',
+  'networkPanel.telemetrySessionError': '遥测会话错误',
+  'networkPanel.online': '在线',
+  'networkPanel.maxPressure': '最大压力',
+  'networkPanel.queued': '排队量',
+  'networkPanel.inFlightBuffer': '在途缓冲',
+  'networkPanel.retransDelta': '重传增量',
+  'networkPanel.repairRate': '修复率',
+  'networkPanel.updated': '更新时间',
+  'networkPanel.srtt': 'SRTT',
+  'networkPanel.rttvar': 'RTTVAR',
+  'networkPanel.rto': 'RTO',
+  'networkPanel.sndWnd': '发送窗口',
+  'networkPanel.rmtWnd': '远端窗口',
+  'networkPanel.inflight': '在途',
+  'networkPanel.windowLimit': '窗口上限',
+  'networkPanel.pressure': '压力',
+  'networkPanel.sndQueue': '发送队列',
+  'networkPanel.sndBuffer': '发送缓冲',
+  'networkPanel.queueDelta': '队列增量',
+  'networkPanel.bufferDelta': '缓冲增量',
+  'networkPanel.retrans': '重传',
+  'networkPanel.fastRetrans': '快速重传',
+  'networkPanel.lost': '丢失',
+  'networkPanel.repeat': '重复',
+  'networkPanel.appBytes': '应用字节',
+  'networkPanel.registered': '已注册',
+  'networkPanel.serverError': '服务端错误',
+  'networkPanel.combined': '总计',
+  'networkPanel.videoE2E': '视频端到端估计',
+  'networkPanel.controlEstimateConfidence': '控制估计置信度',
+  'networkPanel.videoFreshness': '视频新鲜度',
+  'networkPanel.videoFreshnessRepeat': '重复',
+  'networkPanel.videoFreshnessSkip': '跳帧',
+  'networkPanel.videoFreshnessFreeze': '卡顿',
+  'networkPanel.nativeUdp': '原生 UDP',
+  'networkPanel.controlSender': '控制发送端',
+  'networkPanel.ackReceiver': 'ACK 接收端',
+  'networkPanel.controlReconnects': '控制重连次数',
+  'networkPanel.controlSessionError': '控制会话错误',
+  'networkPanel.loadingPeer': '加载中',
+  'networkPanel.unassigned': '未分配',
+  'gpsMap.eyebrow': 'GPS',
+  'gpsMap.title': '地图定位',
+  'gpsMap.intro': '这里展示机器人最新的 GPS 定位，并在需要时调用高德地图做坐标转换。',
+  'gpsMap.keyPlaceholder': '高德 Web 端 Key',
+  'gpsMap.jscodePlaceholder': '安全密钥 jscode',
+  'gpsMap.loadMap': '加载地图',
+  'gpsMap.stopMap': '停止加载',
+  'gpsMap.status.waitingInit': '等待加载高德地图。',
+  'gpsMap.status.fillCredentials': '请先填写高德 Key 和安全密钥 jscode。',
+  'gpsMap.status.loading': '正在加载高德地图...',
+  'gpsMap.status.loaded': '地图已加载。',
+  'gpsMap.status.stopped': '已停止高德地图加载与坐标转换。需要时再点击“加载地图”即可。',
+  'gpsMap.status.waitingGps': '等待 GPS 数据。',
+  'gpsMap.status.noFix': 'GPS 在线，但当前还没有有效定位。',
+  'gpsMap.status.convertFailed': 'GPS 坐标转换失败。',
+  'gpsMap.status.refreshedSource': '地图已刷新，数据源: {source}',
+  'gpsMap.status.restoredConfig': '已恢复高德配置。地图不会自动加载，按需点击“加载地图”。',
+  'gpsMap.status.loadFailed': '地图加载失败。',
+  'gpsMap.mapPlaceholder': '高德地图当前未加载。点击上方“加载地图”后才会开始请求地图与坐标转换服务。',
+  'gpsMap.wgs84': 'WGS84 坐标',
+  'gpsMap.gcj02': '高德 GCJ-02',
+  'gpsMap.rawLatHex': '纬度原始 8 字节',
+  'gpsMap.rawLonHex': '经度原始 8 字节',
+  'gpsMap.utcTime': 'UTC 时间',
+  'gpsMap.satAltitude': '卫星 / 海拔',
+  'gpsMap.coordMeta': '坐标系 / 格式',
+  'gpsMap.lastUpdated': '最近刷新',
+  'gpsMap.noValue': '暂无',
+  'gpsMap.noValidFix': '暂无有效定位',
+  'gpsMap.infoTitle': '机器人 GPS 定位',
+  'gpsMap.infoSatellites': '卫星数',
+  'gpsMap.infoAltitude': '海拔',
+} as const
+
+export type MessageKey = keyof typeof zhCNMessages
+
+const enUSMessages: Record<MessageKey, string> = {
+  'common.loading': 'Loading',
+  'common.waiting': 'Waiting',
+  'common.unavailable': 'Unavailable',
+  'common.unknown': 'Unknown',
+  'common.none': 'None',
+  'common.na': 'n/a',
+  'common.yes': 'Yes',
+  'common.no': 'No',
+  'common.keyboard': 'Keyboard',
+  'common.gamepad': 'Gamepad',
+  'common.idle': 'Idle',
+  'common.control': 'Control',
+  'common.video': 'Video',
+  'common.online': 'Online',
+  'common.offline': 'Offline',
+  'common.fresh': 'Fresh',
+  'common.stale': 'Stale',
+  'common.stable': 'Stable',
+  'common.rising': 'Rising',
+  'common.falling': 'Falling',
+  'common.selected': 'Selected',
+  'common.standby': 'Standby',
+  'common.turbo': 'Turbo',
+  'common.ackLoop': 'ACK loop',
+  'common.srttFallback': 'SRTT fallback',
+  'common.requestFailed': 'Request failed: {status} {statusText}',
+  'app.brandTitle': 'Robot Command Center',
+  'app.brandSubtitle': 'Remote robot command console',
+  'app.nav.overview': 'Overview',
+  'app.nav.video': 'Video',
+  'app.nav.map': 'Map',
+  'app.nav.network': 'Network',
+  'app.localeToggle': '中文',
+  'dashboard.eyebrow': 'Overview',
+  'dashboard.title': 'Robot Command Center',
+  'dashboard.description': 'The A-side unified backend keeps video, control arbitration, and live transport telemetry refreshed.',
+  'networkView.eyebrow': 'Network',
+  'networkView.title': 'Network Telemetry',
+  'networkView.description': 'Inspect queueing, retransmissions, window pressure, and latency estimates for the A <-> D and D <-> B legs.',
+  'videoView.eyebrow': 'Video',
+  'videoView.title': 'Video Monitor',
+  'videoView.description': 'Inspect the live robot JPEG stream, freshness metrics, and end-to-end latency estimates.',
+  'mapView.eyebrow': 'Map',
+  'mapView.title': 'Map Positioning',
+  'mapView.description': 'Inspect the latest robot GPS fix and use AMap for coordinate conversion when needed.',
+  'monitoring.loading': 'Connecting to the Django backend and loading live monitoring data...',
+  'monitoring.connected': 'Dashboard connected. Video, GPS, and session telemetry are refreshing continuously.',
+  'control.socket.open': 'WebSocket open',
+  'control.socket.connecting': 'Connecting',
+  'control.socket.reconnecting': 'Reconnecting',
+  'control.server.waiting': 'Waiting for control link',
+  'control.server.live': 'Control link live',
+  'control.gamepad.none': 'No gamepad detected',
+  'control.gamepad.unnamed': 'Unnamed gamepad',
+  'control.gamepad.unknownMapping': 'unknown',
+  'control.key.stop': 'Stop',
+  'controlPanel.eyebrow': 'Control',
+  'controlPanel.title': 'Control Feedback',
+  'controlPanel.resetDefaults': 'Reset Defaults',
+  'controlPanel.inputModeEyebrow': 'Input Mode',
+  'controlPanel.inputModeCopy': 'Only one local input mode can control the page at a time.',
+  'controlPanel.keyboardDetail': 'Use W/S, A/D, Q/E, Shift, and Space.',
+  'controlPanel.gamepadDetail': 'Use the browser-detected controller only.',
+  'controlPanel.forward': 'Forward',
+  'controlPanel.strafe': 'Strafe',
+  'controlPanel.turn': 'Turn',
+  'controlPanel.turbo': 'Turbo',
+  'controlPanel.keyboardHint': 'Keyboard mapping: W/S forward-back, A/D strafe, Q/E turn, Shift turbo, Space stop.',
+  'controlPanel.tuningHint': 'Speed tuning is shared by both local input modes and saved in this browser.',
+  'controlPanel.gamepadHint': 'Gamepad mode uses the left stick to drive, the right stick to turn, RB to boost, and A to stop.',
+  'controlFeedback.modeChip': '{mode} mode',
+  'controlFeedback.forward': 'Forward',
+  'controlFeedback.strafe': 'Strafe',
+  'controlFeedback.turn': 'Turn',
+  'controlFeedback.tuningSummary': 'Tuning: fwd {forward} m/s, strafe {strafe} m/s, turn {turn} rad/s, turbo x{turbo}',
+  'controlFeedback.keyboard': 'Keyboard',
+  'controlFeedback.gamepad': 'Gamepad',
+  'controlFeedback.waitingForController': 'Waiting for controller',
+  'controlFeedback.gamepadMeta': '#{index} / mapping={mapping}',
+  'controlFeedback.gamepadHint': 'Left stick drives, right stick turns, RB boosts, A stops.',
+  'controlFeedback.leftStick': 'Left stick',
+  'controlFeedback.rightStick': 'Right stick',
+  'controlFeedback.outgoingCommand': 'Outgoing command: {command}',
+  'videoPanel.eyebrow': 'Video',
+  'videoPanel.title': 'Live Video',
+  'videoPanel.frameAlt': 'Robot live frame',
+  'videoPanel.waitingFrames': 'waiting for live video frames',
+  'videoPanel.mode.loading': 'loading',
+  'videoPanel.mode.live': '{fps} FPS live',
+  'videoPanel.stats.frames': 'Frames',
+  'videoPanel.stats.latestSeq': 'Latest Seq',
+  'videoPanel.stats.videoE2E': 'Video E2E Est.',
+  'videoPanel.stats.paintDelay': 'Paint Delay',
+  'videoPanel.section.pipeline': 'Pipeline Estimate',
+  'videoPanel.section.freshness': 'Freshness',
+  'videoPanel.section.operator': 'Operator Loop',
+  'videoPanel.captureToSend': 'Capture to send',
+  'videoPanel.networkOneWay': 'Network one-way',
+  'videoPanel.partialEstimate': 'Partial estimate',
+  'videoPanel.endToEndEstimate': 'End-to-end estimate',
+  'videoPanel.interFrameAvg': 'Inter-frame avg',
+  'videoPanel.interFrameP95': 'Inter-frame p95',
+  'videoPanel.repeatedRatio': 'Repeated ratio',
+  'videoPanel.skipRatio': 'Skip ratio',
+  'videoPanel.longestFreeze': 'Longest freeze',
+  'videoPanel.lagFrames': 'Lag frames',
+  'videoPanel.inputToNextSeq': 'Input to next seq',
+  'videoPanel.inputToChangedFrame': 'Input to changed frame',
+  'videoPanel.inputToPaint': 'Input to paint',
+  'videoPanel.displayProbeRequestToPaint': 'Display probe request-to-paint',
+  'videoPanel.senderClockDelta': 'Sender Clock Delta',
+  'videoPanel.timing.waiting': 'waiting',
+  'videoPanel.timing.noTrailer': 'waiting for the first valid video trailer',
+  'videoPanel.timing.rawHint': 'raw sender clock delta only, unsynced clocks',
+  'videoPanel.noSourceDetail': 'no live video detail available',
+  'networkPanel.eyebrow': 'Network',
+  'networkPanel.title': 'Dual-Leg Telemetry',
+  'networkPanel.controlLoopRtt': 'Control Loop RTT',
+  'networkPanel.controlToPersist': 'Control to Persist',
+  'networkPanel.controlSrttOneWay': 'Control SRTT One-way',
+  'networkPanel.videoOneWayEst': 'Video One-way Est.',
+  'networkPanel.txRate': 'TX Rate',
+  'networkPanel.rxRate': 'RX Rate',
+  'networkPanel.robotFault': 'Robot Fault',
+  'networkPanel.recoveryState': 'Recovery State',
+  'networkPanel.healthConfidence': 'Health Confidence',
+  'networkPanel.healthUpdated': 'Health Updated',
+  'networkPanel.transport': 'Transport',
+  'networkPanel.activeControl': 'Active Control',
+  'networkPanel.lease': 'Lease',
+  'networkPanel.ackMode': 'ACK Mode',
+  'networkPanel.ackUpdated': 'ACK Updated',
+  'networkPanel.telemetryPeer': 'Telemetry Peer',
+  'networkPanel.telemetryRegistered': 'Telemetry Registered',
+  'networkPanel.hubFreshness': 'Hub Freshness',
+  'networkPanel.hubState': 'Hub State',
+  'networkPanel.telemetryReconnects': 'Telemetry Reconnects',
+  'networkPanel.hubError': 'Hub Error',
+  'networkPanel.telemetrySessionError': 'Telemetry Session Error',
+  'networkPanel.online': 'Online',
+  'networkPanel.maxPressure': 'Max Pressure',
+  'networkPanel.queued': 'Queued',
+  'networkPanel.inFlightBuffer': 'In Flight Buffer',
+  'networkPanel.retransDelta': 'Retrans Delta',
+  'networkPanel.repairRate': 'Repair Rate',
+  'networkPanel.updated': 'Updated',
+  'networkPanel.srtt': 'SRTT',
+  'networkPanel.rttvar': 'RTTVAR',
+  'networkPanel.rto': 'RTO',
+  'networkPanel.sndWnd': 'SND WND',
+  'networkPanel.rmtWnd': 'RMT WND',
+  'networkPanel.inflight': 'Inflight',
+  'networkPanel.windowLimit': 'Window Limit',
+  'networkPanel.pressure': 'Pressure',
+  'networkPanel.sndQueue': 'SND Queue',
+  'networkPanel.sndBuffer': 'SND Buffer',
+  'networkPanel.queueDelta': 'Queue Delta',
+  'networkPanel.bufferDelta': 'Buffer Delta',
+  'networkPanel.retrans': 'Retrans',
+  'networkPanel.fastRetrans': 'Fast Retrans',
+  'networkPanel.lost': 'Lost',
+  'networkPanel.repeat': 'Repeat',
+  'networkPanel.appBytes': 'App Bytes',
+  'networkPanel.registered': 'Registered',
+  'networkPanel.serverError': 'Server Error',
+  'networkPanel.combined': 'Combined',
+  'networkPanel.videoE2E': 'Video E2E Est.',
+  'networkPanel.controlEstimateConfidence': 'Control Estimate Confidence',
+  'networkPanel.videoFreshness': 'Video Freshness',
+  'networkPanel.videoFreshnessRepeat': 'repeat',
+  'networkPanel.videoFreshnessSkip': 'skip',
+  'networkPanel.videoFreshnessFreeze': 'freeze',
+  'networkPanel.nativeUdp': 'Native UDP',
+  'networkPanel.controlSender': 'Control Sender',
+  'networkPanel.ackReceiver': 'ACK Receiver',
+  'networkPanel.controlReconnects': 'Control Reconnects',
+  'networkPanel.controlSessionError': 'Control Session Error',
+  'networkPanel.loadingPeer': 'loading',
+  'networkPanel.unassigned': 'unassigned',
+  'gpsMap.eyebrow': 'GPS',
+  'gpsMap.title': 'Map Positioning',
+  'gpsMap.intro': 'This panel displays the latest robot GPS fix and uses AMap for coordinate conversion when needed.',
+  'gpsMap.keyPlaceholder': 'AMap Web Key',
+  'gpsMap.jscodePlaceholder': 'Security jscode',
+  'gpsMap.loadMap': 'Load Map',
+  'gpsMap.stopMap': 'Stop Loading',
+  'gpsMap.status.waitingInit': 'Waiting to load AMap.',
+  'gpsMap.status.fillCredentials': 'Please enter the AMap key and security jscode first.',
+  'gpsMap.status.loading': 'Loading AMap...',
+  'gpsMap.status.loaded': 'Map loaded.',
+  'gpsMap.status.stopped': 'Stopped AMap loading and coordinate conversion. Click "Load Map" again when needed.',
+  'gpsMap.status.waitingGps': 'Waiting for GPS data.',
+  'gpsMap.status.noFix': 'GPS is online, but there is no valid fix yet.',
+  'gpsMap.status.convertFailed': 'GPS coordinate conversion failed.',
+  'gpsMap.status.refreshedSource': 'Map refreshed, source: {source}',
+  'gpsMap.status.restoredConfig': 'Recovered saved AMap config. The map will not auto-load; click "Load Map" when needed.',
+  'gpsMap.status.loadFailed': 'Map loading failed.',
+  'gpsMap.mapPlaceholder': 'AMap is not loaded right now. Click "Load Map" above before requesting map and coordinate conversion services.',
+  'gpsMap.wgs84': 'WGS84 Coordinates',
+  'gpsMap.gcj02': 'AMap GCJ-02',
+  'gpsMap.rawLatHex': 'Raw Latitude 8 Bytes',
+  'gpsMap.rawLonHex': 'Raw Longitude 8 Bytes',
+  'gpsMap.utcTime': 'UTC Time',
+  'gpsMap.satAltitude': 'Satellites / Altitude',
+  'gpsMap.coordMeta': 'Coordinate System / Format',
+  'gpsMap.lastUpdated': 'Last Updated',
+  'gpsMap.noValue': 'Unavailable',
+  'gpsMap.noValidFix': 'No valid fix',
+  'gpsMap.infoTitle': 'Robot GPS Position',
+  'gpsMap.infoSatellites': 'Satellites',
+  'gpsMap.infoAltitude': 'Altitude',
+}
+
+const messages: Record<Locale, Record<MessageKey, string>> = {
+  'zh-CN': zhCNMessages,
+  'en-US': enUSMessages,
+}
+
+function normalizeLocale(raw: unknown): Locale {
+  return raw === 'en-US' ? 'en-US' : DEFAULT_LOCALE
+}
+
+function loadStoredLocale(): Locale {
+  if (typeof window === 'undefined') {
+    return DEFAULT_LOCALE
+  }
+  try {
+    return normalizeLocale(window.localStorage.getItem(LOCALE_STORAGE_KEY))
+  } catch {
+    return DEFAULT_LOCALE
+  }
+}
+
+const localeState = ref<Locale>(loadStoredLocale())
+
+function storeLocale(locale: Locale) {
+  if (typeof window === 'undefined') {
+    return
+  }
+  try {
+    window.localStorage.setItem(LOCALE_STORAGE_KEY, locale)
+  } catch {
+    // Ignore storage failures; locale still works for current session.
+  }
+}
+
+function interpolate(template: string, params?: Record<string, string | number | null | undefined>) {
+  if (!params) {
+    return template
+  }
+  return template.replace(/\{(\w+)\}/g, (_, key: string) => String(params[key] ?? ''))
+}
+
+export function t(key: MessageKey, params?: Record<string, string | number | null | undefined>) {
+  const template = messages[localeState.value][key] ?? key
+  return interpolate(template, params)
+}
+
+export function formatDateTime(value?: string | null) {
+  if (!value) {
+    return t('common.unavailable')
+  }
+  return new Date(value).toLocaleString(localeState.value, { hour12: false })
+}
+
+export function setLocale(locale: Locale) {
+  const next = normalizeLocale(locale)
+  if (localeState.value === next) {
+    return
+  }
+  localeState.value = next
+  storeLocale(next)
+}
+
+export function toggleLocale() {
+  setLocale(localeState.value === 'zh-CN' ? 'en-US' : 'zh-CN')
+}
+
+export function useLocale() {
+  return {
+    locale: readonly(localeState),
+    setLocale,
+    toggleLocale,
+    t,
+    formatDateTime,
+    nextLocaleLabel: computed(() => t('app.localeToggle')),
+  }
+}

frontend/src/types.ts

@@ -3,6 +3,8 @@ export interface GpsTelemetry {
   utc_time: string
   latitude: number | null
   longitude: number | null
+  raw_latitude_hex?: string
+  raw_longitude_hex?: string
   satellites: number | null
   altitude_m: number | null
   coordinate_system: string
@@ -30,7 +32,9 @@ export interface SessionKcpStats {
   conv?: number
   rto_ms?: number
   srtt_ms?: number
+  min_srtt_ms?: number
   srttvar_ms?: number
+  last_feedback_age_ms?: number
   snd_wnd?: number
   rmt_wnd?: number
   inflight?: number
@@ -131,6 +135,16 @@ export interface ControlSenderStatus {
   last_error: string
 }
 
+export interface ControlAckReceiverStatus {
+  backend_ready: boolean
+  started: boolean
+  connected: boolean
+  peer_id: string
+  expected_sender: string
+  reconnect_count: number
+  last_error: string
+}
+
 export interface TelemetryReceiverStatus {
   hub_connected: boolean
   hub_updated_at: string | null
@@ -142,6 +156,54 @@ export interface TelemetryReceiverStatus {
   reconnect_count: number
 }
 
+export interface RobotHealthStatus {
+  fault_reason: string
+  recovery_state: string
+  confidence: string
+  updated_at: string
+}
+
+export interface VideoFreshnessStatus {
+  inter_frame_avg_ms: number | null
+  inter_frame_p95_ms: number | null
+  repeated_frame_ratio: number
+  skip_ratio: number
+  longest_freeze_ms: number
+  stale_frame_run_length: number
+  relative_freshness_lag_frames: number
+}
+
+export interface LatencyEstimateStatus {
+  control_loop_rtt_ms: number | null
+  control_to_persist_est_ms: number | null
+  control_oneway_srtt_est_ms: number | null
+  control_oneway_bestcase_est_ms: number | null
+  video_network_oneway_est_ms: number | null
+  video_partial_est_ms: number | null
+  video_e2e_est_ms: number | null
+  estimate_method: {
+    control: string
+    video: string
+  }
+  clock_sync_required: boolean
+  assumptions: string[]
+  confidence: {
+    control: string
+    video: string
+  }
+}
+
+export interface ControlAckStatus {
+  ack_available: boolean
+  updated_at: string | null
+  control_loop_rtt_ms: number | null
+  b_recv_to_persist_ms: number | null
+  control_oneway_network_est_ms: number | null
+  control_to_persist_est_ms: number | null
+  sample_reason: string | null
+  receiver: ControlAckReceiverStatus
+}
+
 export interface NetworkTelemetry {
   peer_status: string
   latency_ms: number | null
@@ -169,13 +231,18 @@ export interface NetworkTelemetry {
     a_to_d: LinkTelemetry
     d_to_b: LinkTelemetry
   }
+  latency_estimate: LatencyEstimateStatus
+  video_freshness: VideoFreshnessStatus
+  control_ack_status: ControlAckStatus
   telemetry_receiver: TelemetryReceiverStatus
+  robot_health: RobotHealthStatus
   ingress: {
     native_udp: NativeUdpIngress
   }
   control: {
     arbiter: ControlArbiterStatus
     sender: ControlSenderStatus
+    ack_receiver: ControlAckReceiverStatus
   }
 }
 
@@ -188,12 +255,32 @@ export interface VideoStatus {
   source_detail?: string
   timing?: {
     available: boolean
-    latest_delta_ms: number | null
-    delta_samples_ms: number[]
+    sender_clock_delta_ms_raw: number | null
+    sender_clock_delta_samples_ms_raw: number[]
     sample_count: number
     sample_window_size: number
     timestamp_unit: string | null
     timestamp_endianness: string | null
+    unsynced_clock: boolean
+  }
+  freshness?: VideoFreshnessStatus
+  display_probe?: {
+    updated_at: string | null
+    frame_seq: number | null
+    frame_hash: string
+    input_to_next_fresh_frame_ms: number | null
+    input_to_next_changed_frame_ms: number | null
+    input_to_next_paint_ms: number | null
+    request_to_paint_ms: number | null
+    response_to_paint_ms: number | null
+    backend_to_request_ms: number | null
+    backend_to_request_ms_raw: number | null
+    backend_to_paint_ms: number | null
+    backend_to_paint_ms_raw: number | null
+    browser_backend_clock_offset_ms: number | null
+    browser_backend_clock_rtt_ms: number | null
+    browser_backend_clock_sample_count: number
+    browser_backend_clock_calibrated_at: string | null
   }
   receiver?: {
     backend_ready: boolean
@@ -203,6 +290,11 @@ export interface VideoStatus {
     has_recent_frame: boolean
     frames_received: number
     latest_sequence: number | null
+    latest_frame_hash?: string
+    latest_backend_received_unix_ns?: number | null
+    latest_backend_received_mono_ns?: number | null
+    latest_frame_bytes?: number
+    latest_capture_to_send_ms?: number | null
     reconnect_count: number
     last_server_error: string
     last_error: string
@@ -213,13 +305,15 @@ export interface VideoStatus {
     buffer_bytes?: number
     timing?: {
       available: boolean
-      latest_delta_ms: number | null
-      delta_samples_ms: number[]
+      sender_clock_delta_ms_raw: number | null
+      sender_clock_delta_samples_ms_raw: number[]
       sample_count: number
       sample_window_size: number
       timestamp_unit: string | null
       timestamp_endianness: string | null
+      unsynced_clock: boolean
     }
+    freshness?: VideoFreshnessStatus
   }
 }
 

frontend/src/views/DashboardView.vue

@@ -3,6 +3,7 @@ import ControlPanel from '@/components/ControlPanel.vue'
 import GpsMapPanel from '@/components/GpsMapPanel.vue'
 import NetworkPanel from '@/components/NetworkPanel.vue'
 import VideoPanel from '@/components/VideoPanel.vue'
+import { t } from '@/lib/locale'
 import { useMonitoringData } from '@/composables/useMonitoringData'
 
 const { gps, network, video, errorMessage, headerStatus } = useMonitoringData()
@@ -12,13 +13,10 @@ const { gps, network, video, errorMessage, headerStatus } = useMonitoringData()
   <div class="page-shell">
     <header class="hero">
       <div>
-        <p class="eyebrow">Overview</p>
-        <h1>Robot Command Center</h1>
+        <p class="eyebrow">{{ t('dashboard.eyebrow') }}</p>
+        <h1>{{ t('dashboard.title') }}</h1>
       </div>
-      <p class="hero-text">
-        The A-side daemon now owns video receive, control ingress arbitration, and live session
-        telemetry in one backend process.
-      </p>
+      <p class="hero-text">{{ t('dashboard.description') }}</p>
     </header>
 
     <section class="banner" :class="{ error: !!errorMessage }">
@@ -27,7 +25,7 @@ const { gps, network, video, errorMessage, headerStatus } = useMonitoringData()
 
     <main class="layout">
       <section class="primary-grid">
-        <VideoPanel :video="video" />
+        <VideoPanel :video="video" :network="network" />
         <ControlPanel />
       </section>
 

frontend/src/views/MapView.vue

@@ -1,5 +1,6 @@
 <script setup lang="ts">
 import GpsMapPanel from '@/components/GpsMapPanel.vue'
+import { t } from '@/lib/locale'
 import { useMonitoringData } from '@/composables/useMonitoringData'
 
 const { gps, errorMessage, headerStatus } = useMonitoringData({
@@ -11,13 +12,10 @@ const { gps, errorMessage, headerStatus } = useMonitoringData({
   <div class="page-shell">
     <header class="page-header">
       <div>
-        <p class="eyebrow">Map</p>
-        <h1>地图定位页面</h1>
+        <p class="eyebrow">{{ t('mapView.eyebrow') }}</p>
+        <h1>{{ t('mapView.title') }}</h1>
       </div>
-      <p class="description">
-        这里整合了 `GeoStream` 的 GPS 展示逻辑。只要原来的 GPS 模块继续写
-        `gps_latest.json`，这个页面就能直接显示实时定位。
-      </p>
+      <p class="description">{{ t('mapView.description') }}</p>
     </header>
 
     <section class="banner" :class="{ error: !!errorMessage }">

frontend/src/views/NetworkView.vue

@@ -1,5 +1,6 @@
 <script setup lang="ts">
 import NetworkPanel from '@/components/NetworkPanel.vue'
+import { t } from '@/lib/locale'
 import { useMonitoringData } from '@/composables/useMonitoringData'
 
 const { network, errorMessage, headerStatus } = useMonitoringData({
@@ -11,14 +12,10 @@ const { network, errorMessage, headerStatus } = useMonitoringData({
   <div class="page-shell">
     <header class="page-header">
       <div>
-        <p class="eyebrow">Network</p>
-        <h1>Network Telemetry</h1>
+        <p class="eyebrow">{{ t('networkView.eyebrow') }}</p>
+        <h1>{{ t('networkView.title') }}</h1>
       </div>
-      <p class="description">
-        Live dual-leg OmniSocket telemetry from the A-side daemon, separating the local `A <-> D`
-        sessions from the hub-reported `D <-> B` leg with queue pressure, retransmission, and stale-link
-        visibility.
-      </p>
+      <p class="description">{{ t('networkView.description') }}</p>
     </header>
 
     <section class="banner" :class="{ error: !!errorMessage }">

frontend/src/views/VideoView.vue

@@ -1,25 +1,26 @@
 <script setup lang="ts">
 import VideoPanel from '@/components/VideoPanel.vue'
+import { t } from '@/lib/locale'
 import { useMonitoringData } from '@/composables/useMonitoringData'
 
-const { video, errorMessage, headerStatus } = useMonitoringData()
+const { video, network, errorMessage, headerStatus } = useMonitoringData()
 </script>
 
 <template>
   <div class="page-shell">
     <header class="page-header">
       <div>
-        <p class="eyebrow">Video</p>
-        <h1>视频流页面</h1>
+        <p class="eyebrow">{{ t('videoView.eyebrow') }}</p>
+        <h1>{{ t('videoView.title') }}</h1>
       </div>
-      <p class="description">这个页面专门用于看逐帧 JPEG 画面。前端会按固定频率请求单张 JPEG，后端每次返回一帧。</p>
+      <p class="description">{{ t('videoView.description') }}</p>
     </header>
 
     <section class="banner" :class="{ error: !!errorMessage }">
       {{ headerStatus }}
     </section>
 
-    <VideoPanel :video="video" />
+    <VideoPanel :video="video" :network="network" />
   </div>
 </template>