fix: UX feedback + BV ellipse outlier (#22) + README v3 update

- #1 배터리 최적화 페이지 이동 제거 (ForegroundService+WakeLock만) - #2 Auto 첫 측정 대기 시 "Measuring... (n/5)" loading 표시 - #3 Placement 멘트 정리 — 방향만 남기기 (CH 언급 제거) - #4 CH0~CH5 dot row 개발자 모드 전용 - #5 Spot 재시도 로직 (최대 6회, 유효 3개 목표, 300ms 간격) - LR 좌우 조건 완화: ±8mm, symmetry≥0.5, lrDev≤0.35 - |len4-len5|≤10 → LATERAL 건너뛰고 바로 GREEN - GREEN 미달 시 CV만 간당간당하면 GREEN 유지 ("Almost there...") - CV 기본 임계 0.08→0.12, 디바운스 3초→1.5초 - BV 타원 피팅 outlier 반복 제거 (appshare #22) - README v3 업데이트 (3모드 placement, BV 파이프라인, 상태표) Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
2026-05-07 15:36:14 +09:00
parent 139ebcbbb1
commit b73921eb2b
5 changed files with 367 additions and 278 deletions
@@ -504,31 +504,69 @@ fun estimateBladderVolume(
    val aCapS = DoubleArray(order.size) { aCap[order[it]] }
    val sortedCh = order.map { validChannels[it] }

-    // 7) y-z 평면 타원 피팅 → cap 높이 추정 (#21 merge)
-    val yw = DoubleArray(2 * n) { i -> if (i < n) yWallAnt[i] else yWallPost[i - n] }
-    val zw = DoubleArray(2 * n) { i -> if (i < n) zWallAnt[i] else zWallPost[i - n] }
-    val nPts = yw.size
+    // 7) y-z 평면 타원 피팅 + 반복 outlier 제거 (#22 merge)
+    val allYw = DoubleArray(2 * n) { i -> if (i < n) yWallAnt[i] else yWallPost[i - n] }
+    val allZw = DoubleArray(2 * n) { i -> if (i < n) zWallAnt[i] else zWallPost[i - n] }
+    val nPts = allYw.size
    var capKind = "fallback"
    var z0Ellipse: Double? = null
    var hCapBot = aCapS[0]
    var hCapTop = aCapS[n - 1]
+    val ellipseCostThr = 0.5  // 점당 평균 잔차 임계

-    if (nPts >= 4) {
-        val ym = yw.average(); val ysStd = std(yw) + 1e-12
-        val zm = zw.average(); val zsStd = std(zw) + 1e-12
-        val yn = DoubleArray(nPts) { (yw[it] - ym) / ysStd }
-        val zn = DoubleArray(nPts) { (zw[it] - zm) / zsStd }
+    // 타원 피팅 helper: 성공 시 (y0, z0, bSi, aAp, residuals) 반환
+    fun fitEllipsePts(ywF: DoubleArray, zwF: DoubleArray): Array<Any>? {
+        val cnt = ywF.size
+        val ym = ywF.average(); val ysS = std(ywF) + 1e-12
+        val zm = zwF.average(); val zsS = std(zwF) + 1e-12
+        val yn = DoubleArray(cnt) { (ywF[it] - ym) / ysS }
+        val zn = DoubleArray(cnt) { (zwF[it] - zm) / zsS }
+        val sol = solveEllipseLSQ(yn, zn, cnt) ?: return null
+        if (sol[0] <= 1e-12 || sol[1] <= 1e-12) return null
+        val rr = 1.0 + sol[2] * sol[2] / (4.0 * sol[0]) + sol[3] * sol[3] / (4.0 * sol[1])
+        if (rr <= 0) return null
+        val y0 = (-sol[2] / (2.0 * sol[0])) * ysS + ym
+        val z0 = (-sol[3] / (2.0 * sol[1])) * zsS + zm
+        val bSi = sqrt(rr / sol[0]) * ysS
+        val aAp = sqrt(rr / sol[1]) * zsS
+        val resid = DoubleArray(cnt) {
+            abs(((ywF[it] - y0) / bSi) * ((ywF[it] - y0) / bSi) +
+                ((zwF[it] - z0) / aAp) * ((zwF[it] - z0) / aAp) - 1.0)
+        }
+        return arrayOf(y0, z0, bSi, aAp, resid)
+    }

-        val sol = solveEllipseLSQ(yn, zn, nPts)
-        if (sol != null && sol[0] > 1e-12 && sol[1] > 1e-12) {
-            val y0n = -sol[2] / (2.0 * sol[0])
-            val z0n = -sol[3] / (2.0 * sol[1])
-            val rVal = 1.0 + sol[2] * sol[2] / (4.0 * sol[0]) + sol[3] * sol[3] / (4.0 * sol[1])
-            if (rVal > 0) {
-                val bSiN = sqrt(rVal / sol[0])
-                val y0 = y0n * ysStd + ym
-                z0Ellipse = z0n * zsStd + zm
-                val bSi = bSiN * ysStd
+    if (nPts >= 5) {
+        val keep = BooleanArray(nPts) { true }
+        var fit = fitEllipsePts(allYw, allZw)
+
+        if (fit != null) {
+            var y0 = fit[0] as Double; var z0 = fit[1] as Double
+            var bSi = fit[2] as Double; var aAp = fit[3] as Double
+            var resid = fit[4] as DoubleArray
+            var meanRes = resid.average()
+
+            // 반복 outlier 제거: worst 점 하나씩, 최소 5점 유지
+            while (meanRes > ellipseCostThr && keep.count { it } > 5) {
+                val worstLocal = resid.indices.maxByOrNull { resid[it] } ?: break
+                val activeIndices = keep.indices.filter { keep[it] }
+                keep[activeIndices[worstLocal]] = false
+                val keptY = keep.indices.filter { keep[it] }.map { allYw[it] }.toDoubleArray()
+                val keptZ = keep.indices.filter { keep[it] }.map { allZw[it] }.toDoubleArray()
+                val fit2 = fitEllipsePts(keptY, keptZ) ?: break
+                val meanRes2 = (fit2[4] as DoubleArray).average()
+                if (meanRes2 < meanRes) {
+                    y0 = fit2[0] as Double; z0 = fit2[1] as Double
+                    bSi = fit2[2] as Double; aAp = fit2[3] as Double
+                    resid = fit2[4] as DoubleArray; meanRes = meanRes2
+                } else break
+            }
+
+            // 품질 판정: 평균 잔차 ≤ threshold
+            if (meanRes <= ellipseCostThr) {
+                z0Ellipse = z0
+                // b_si 상한: a_ap × 1.3 (해부학적 SI/AP 비율 제한)
+                if (bSi > aAp * 1.3) bSi = aAp * 1.3
                hCapBot = max(0.0, yS[0] - (y0 - bSi))
                hCapTop = max(0.0, (y0 + bSi) - yS[n - 1])
                hCapBot = min(hCapBot, aCapS[0])
@@ -29,8 +29,8 @@ class BleForegroundService : Service() {
        const val ACTION_STOP = "com.example.medilightv2android.BLE_STOP"

        fun start(context: Context) {
-            // 배터리 최적화 제외 요청 (Doze 면제)
-            requestBatteryOptimizationExemption(context)
+            // 배터리 최적화 제외 요청 제거 — 다른 페이지로 이동되는 UX 문제
+            // Foreground Service + PARTIAL_WAKE_LOCK만으로 Doze 대응

            val intent = Intent(context, BleForegroundService::class.java).apply {
                action = ACTION_START
@@ -771,17 +771,38 @@ fun PiezoMonitoringView(appState: AppState) {
                Column(horizontalAlignment = Alignment.CenterHorizontally) {
                    BladdyRiveView(urgency = urgency, size = if (isCompact) 80.dp else 110.dp)
                    Spacer(modifier = Modifier.height(4.dp))
-                    Text(
-                        if (maxVolumeMl > 0) "${"%.0f".format(maxVolumeMl)} ml" else "${appState.estimatedVolume} ml",
-                        fontSize = 18.sp,
-                        fontWeight = FontWeight.Bold,
-                        color = urgency.accentColor,
-                        modifier = Modifier
-                            .clip(RoundedCornerShape(12.dp))
-                            .background(MlCardBackground)
-                            .shadow(4.dp, RoundedCornerShape(12.dp), spotColor = Color.Black.copy(alpha = 0.08f))
-                            .padding(horizontal = 14.dp, vertical = 6.dp)
-                    )
+                    if (isAutoMeasuring && autoVolumeWindow.size < 5 && lastVolumeMl <= 0) {
+                        // Auto 측정 대기 중 — trimmed mean 산출 전
+                        Row(
+                            verticalAlignment = Alignment.CenterVertically,
+                            modifier = Modifier
+                                .clip(RoundedCornerShape(12.dp))
+                                .background(MlCardBackground)
+                                .padding(horizontal = 14.dp, vertical = 6.dp)
+                        ) {
+                            CircularProgressIndicator(
+                                color = Color(0xFFFF9800),
+                                modifier = Modifier.size(16.dp),
+                                strokeWidth = 2.dp
+                            )
+                            Spacer(modifier = Modifier.width(8.dp))
+                            Text("Measuring... (${autoVolumeWindow.size}/5)",
+                                fontSize = 14.sp, fontWeight = FontWeight.SemiBold,
+                                color = Color(0xFFFF9800))
+                        }
+                    } else {
+                        Text(
+                            if (maxVolumeMl > 0) "${"%.0f".format(maxVolumeMl)} ml" else "${appState.estimatedVolume} ml",
+                            fontSize = 18.sp,
+                            fontWeight = FontWeight.Bold,
+                            color = urgency.accentColor,
+                            modifier = Modifier
+                                .clip(RoundedCornerShape(12.dp))
+                                .background(MlCardBackground)
+                                .shadow(4.dp, RoundedCornerShape(12.dp), spotColor = Color.Black.copy(alpha = 0.08f))
+                                .padding(horizontal = 14.dp, vertical = 6.dp)
+                        )
+                    }
                }
            }

@@ -839,11 +860,17 @@ fun PiezoMonitoringView(appState: AppState) {
                            spotCooldown = true
                            spotVolumes.clear()
                            spotScope.launch {
-                                repeat(3) {
+                                // 최대 6회 시도, 유효값 3개 수집 목표
+                                val maxAttempts = 6
+                                val targetCount = 3
+                                var attempts = 0
+                                while (spotVolumes.size < targetCount && attempts < maxAttempts) {
+                                    attempts++
                                    measure()
                                    while (isMeasuring) { kotlinx.coroutines.delay(100) }
-                                    kotlinx.coroutines.delay(200)
+                                    kotlinx.coroutines.delay(300) // 간격 여유 (BLE 겹침 방지)
                                }
+                                Log.d("PiezoMonitor", "SPOT attempts=$attempts results=${spotVolumes.size}")
                                // 콜백에서 spotVolumes에 수집됨 (화면 갱신 없이)
                                if (spotVolumes.size >= 2) {
                                    spotVolumes.sort()
@@ -62,7 +62,12 @@ fun PlacementGuideView(appState: AppState) {
    var isContinuousMode by remember { mutableStateOf(true) }
    val channelDetected = remember { mutableStateListOf(false, false, false, false, false, false) }
    val channelUrineLen = remember { mutableStateListOf(0, 0, 0, 0, 0, 0) }
-    var directionHint by remember { mutableStateOf("Place the sensor just above the pubic bone") }
+    val isSweepMode = com.example.medilightv2android.managers.GreenZoneConstants.placementGuideMode ==
+        com.example.medilightv2android.managers.PlacementGuideMode.SWEEP
+    var directionHint by remember { mutableStateOf(
+        if (isSweepMode) "Place sensor near navel, slide down ↓"
+        else "Place the sensor just above the pubic bone"
+    ) }
    var directionIcon by remember { mutableStateOf("") }
    var placementScore by remember { mutableIntStateOf(0) }
    var scanCount by remember { mutableIntStateOf(0) }
@@ -98,7 +103,8 @@ fun PlacementGuideView(appState: AppState) {
        isLocked = false
        scanCount = 0
        placementScore = 0
-        directionHint = "Place the sensor just above the pubic bone"
+        directionHint = if (isSweepMode) "Place sensor near navel, slide down ↓"
+            else "Place the sensor just above the pubic bone"
        directionIcon = ""
        for (i in 0 until 6) { channelDetected[i] = false; channelUrineLen[i] = 0 }
        rTracker.reset()
@@ -330,7 +336,7 @@ fun PlacementGuideView(appState: AppState) {
                    alpha = if (isGreenZone) 0.7f else 0.95f
                )

-                // Score + 감지수 (우측 상단)
+                // Score + 감지수 + R-fit (우측 상단)
                Column(
                    modifier = Modifier
                        .align(Alignment.TopEnd)
@@ -347,6 +353,25 @@ fun PlacementGuideView(appState: AppState) {
                                else -> Color.Red
                            })
                    }
+                    // SWEEP 모드: R-fit + argmax 표시
+                    if (isSweepMode && currentRMm != null) {
+                        val rColor = when {
+                            bestRMm > 0 && (bestRMm - currentRMm!!) < 1.5 -> Color(0xFF4CAF50) // PEAK
+                            currentRMm!! > (bestRMm * 0.8) -> Color(0xFF7C3AED) // RISING
+                            else -> Color(0xFFFF9800) // FALLING/NOISE
+                        }
+                        Text("R=${"%.0f".format(currentRMm)}mm", fontSize = 12.sp,
+                            fontWeight = FontWeight.Bold, color = rColor)
+                        if (bestRMm > 0) {
+                            Text("best=${"%.0f".format(bestRMm)}", fontSize = 10.sp,
+                                color = Color(0xFF4CAF50).copy(alpha = 0.7f))
+                        }
+                        sagittalArgMaxCh?.let { arg ->
+                            Text("argmax=CH$arg", fontSize = 10.sp,
+                                fontWeight = FontWeight.Bold,
+                                color = if (arg == 0) Color(0xFF4CAF50) else Color(0xFFFF9800))
+                        }
+                    }
                }

            }
@@ -371,33 +396,51 @@ fun PlacementGuideView(appState: AppState) {

            Spacer(modifier = Modifier.height(8.dp))

-            // 채널 dot row
-            Row(
-                modifier = Modifier.fillMaxWidth(),
-                horizontalArrangement = Arrangement.SpaceEvenly,
-                verticalAlignment = Alignment.CenterVertically
-            ) {
-                for (i in 0 until 6) {
-                    Column(horizontalAlignment = Alignment.CenterHorizontally, verticalArrangement = Arrangement.spacedBy(2.dp)) {
-                        Box(modifier = Modifier.size(10.dp).clip(CircleShape).background(
-                            if (channelDetected[i]) Color(0xFF4CAF50) else Color.Red.copy(alpha = 0.35f)
-                        ))
-                        Text("CH$i", fontSize = 8.sp, color = MlSecondaryText)
+            // 채널 dot row (개발자 모드에서만 표시)
+            if (appState.isDevMode) {
+                Row(
+                    modifier = Modifier.fillMaxWidth(),
+                    horizontalArrangement = Arrangement.SpaceEvenly,
+                    verticalAlignment = Alignment.CenterVertically
+                ) {
+                    for (i in 0 until 6) {
+                        Column(horizontalAlignment = Alignment.CenterHorizontally, verticalArrangement = Arrangement.spacedBy(2.dp)) {
+                            Box(modifier = Modifier.size(10.dp).clip(CircleShape).background(
+                                if (channelDetected[i]) Color(0xFF4CAF50) else Color.Red.copy(alpha = 0.35f)
+                            ))
+                            Text("CH$i", fontSize = 8.sp, color = MlSecondaryText)
+                        }
                    }
                }
            }

            Spacer(modifier = Modifier.height(4.dp))

-            // Step indicator
-            Text(
-                text = when (placementPhase) {
-                    PlacementPhase.VERTICAL -> "Step 1/3"
-                    PlacementPhase.LATERAL -> "Step 2/3"
-                    PlacementPhase.GREEN -> "Step 3/3"
-                },
-                fontSize = 11.sp, color = MlSecondaryText
-            )
+            // Step indicator + mode badge
+            Row(
+                verticalAlignment = Alignment.CenterVertically,
+                horizontalArrangement = Arrangement.spacedBy(8.dp)
+            ) {
+                Text(
+                    text = when (placementPhase) {
+                        PlacementPhase.VERTICAL -> "Step 1/3"
+                        PlacementPhase.LATERAL -> "Step 2/3"
+                        PlacementPhase.GREEN -> "Step 3/3"
+                    },
+                    fontSize = 11.sp, color = MlSecondaryText
+                )
+                if (isSweepMode) {
+                    Text(
+                        "SWEEP",
+                        fontSize = 10.sp,
+                        fontWeight = FontWeight.Bold,
+                        color = Color.White,
+                        modifier = Modifier
+                            .background(Color(0xFF7C3AED), RoundedCornerShape(4.dp))
+                            .padding(horizontal = 6.dp, vertical = 1.dp)
+                    )
+                }
+            }

            // Per-channel echo graphs (개발자 모드에서만 표시)
            if (appState.isDevMode && lastChannelData.isNotEmpty()) {
@@ -554,7 +597,8 @@ fun PlacementGuideView(appState: AppState) {
                    val detachResult = if (fullCh.size >= 6) DetachmentDetection.detect(buffers) else null

                    if (detachResult != null && detachResult.isDetached) {
-                        directionHint = "Sensor detached. Place it just above the pubic bone"
+                        directionHint = if (isSweepMode) "Sensor detached. Place near navel"
+                            else "Sensor detached. Place above pubic bone"
                        directionIcon = "exclamationmark.triangle"
                        placementScore = 0
                        if (lastLedMode != 4) { bleManager.sendLedMode(4); lastLedMode = 4 }
@@ -599,11 +643,12 @@ fun PlacementGuideView(appState: AppState) {

                        val now = System.currentTimeMillis()
                        val elapsed = now - lastHintChangeMs
-                        // GREEN 진입/이탈은 즉시, 일반 힌트는 디바운스
+                        // GREEN 진입/이탈 및 phase 전환은 즉시, 같은 phase 내 힌트만 디바운스 (1.5초)
                        val wasGreen = isLocked
                        val isNowGreen = guideResult.isPass
                        val greenChanged = wasGreen != isNowGreen
-                        if (greenChanged || (debounceCount >= 2 && elapsed >= 3000)) {
+                        val phaseChanged = guideResult.nextPhase != placementPhase
+                        if (greenChanged || phaseChanged || (debounceCount >= 2 && elapsed >= 1500)) {
                            directionHint = guideResult.hint
                            directionIcon = guideResult.icon
                            placementScore = guideResult.score
@@ -983,8 +1028,8 @@ data class PlacementGuideResult(
    val nextPhase: PlacementPhase = PlacementPhase.VERTICAL
 )

-private const val DEFAULT_CV_THR = 0.08
-private const val DEFAULT_LR_DEV_THR = 0.25
+private const val DEFAULT_CV_THR = 0.12
+private const val DEFAULT_LR_DEV_THR = 0.35

 /**
 * Gradient 기반 Placement Guide
@@ -1036,7 +1081,7 @@ private fun computePlacementGuide(
    val detectedCount = detected.count { it }

    if (detectedCount == 0) {
-        return PlacementGuideResult("Bladder not found. Gradually raise the sensor ↑", "arrow.up", 0,
+        return PlacementGuideResult("Raise the sensor ↑", "arrow.up", 0,
            phase = PlacementPhase.VERTICAL, nextPhase = PlacementPhase.VERTICAL)
    }

@@ -1080,35 +1125,44 @@ private fun computePlacementGuide(
            if (centerDetected == 4) {
                return when (sagittalArgMaxCh) {
                    0 -> {
-                        // Centred! advance to LATERAL
+                        // Centred! 좌우 확인
                        val l4 = urineLens.getOrElse(4) { 0 }
                        val l5 = urineLens.getOrElse(5) { 0 }
-                        val lrHint = when {
-                            l4 > 0 && l5 > 0 && l4 > l5 -> "Centred! Move right →"
-                            l4 > 0 && l5 > 0 && l5 > l4 -> "Centred! Move left ←"
-                            else -> "Centred! Checking lateral..."
+                        val ch4ok = detected.getOrElse(4) { false }
+                        val ch5ok = detected.getOrElse(5) { false }
+                        // 좌우도 이미 균등하면 바로 GREEN
+                        if (ch4ok && ch5ok && kotlin.math.abs(l4 - l5) <= 10) {
+                            PlacementGuideResult("Position OK! Final check...",
+                                "checkmark.circle", 90,
+                                phase = PlacementPhase.VERTICAL, nextPhase = PlacementPhase.GREEN)
+                        } else {
+                            val lrHint = when {
+                                l4 > 0 && l5 > 0 && l4 > l5 -> "Move right →"
+                                l4 > 0 && l5 > 0 && l5 > l4 -> "Move left ←"
+                                else -> "Checking lateral..."
+                            }
+                            val lrIcon = when {
+                                l4 > 0 && l5 > 0 && l4 > l5 -> "arrow.right"
+                                l4 > 0 && l5 > 0 && l5 > l4 -> "arrow.left"
+                                else -> "checkmark.circle"
+                            }
+                            PlacementGuideResult(lrHint, lrIcon, 90,
+                                phase = PlacementPhase.VERTICAL, nextPhase = PlacementPhase.LATERAL)
                        }
-                        val lrIcon = when {
-                            l4 > 0 && l5 > 0 && l4 > l5 -> "arrow.right"
-                            l4 > 0 && l5 > 0 && l5 > l4 -> "arrow.left"
-                            else -> "checkmark.circle"
-                        }
-                        PlacementGuideResult(lrHint, lrIcon, 90,
-                            phase = PlacementPhase.VERTICAL, nextPhase = PlacementPhase.LATERAL)
                    }
-                    1 -> PlacementGuideResult("All 4 — Ch1 peak, slide down slightly ↓", "arrow.down", 75,
+                    1 -> PlacementGuideResult("Slide down slightly ↓", "arrow.down", 75,
                        phase = PlacementPhase.VERTICAL, nextPhase = PlacementPhase.VERTICAL)
-                    2 -> PlacementGuideResult("All 4 — Ch2 peak, slide down ↓", "arrow.down", 70,
+                    2 -> PlacementGuideResult("Slide down ↓", "arrow.down", 70,
                        phase = PlacementPhase.VERTICAL, nextPhase = PlacementPhase.VERTICAL)
-                    3 -> PlacementGuideResult("All 4 — Ch3 peak, slide further down ↓", "arrow.down", 65,
+                    3 -> PlacementGuideResult("Slide further down ↓", "arrow.down", 65,
                        phase = PlacementPhase.VERTICAL, nextPhase = PlacementPhase.VERTICAL)
-                    else -> PlacementGuideResult("All 4 detected — hold still", "checkmark.circle", 80,
+                    else -> PlacementGuideResult("Hold still", "checkmark.circle", 80,
                        phase = PlacementPhase.VERTICAL, nextPhase = PlacementPhase.VERTICAL)
                }
            }

            // Phase 2: channels coming online (1..3)
-            return PlacementGuideResult("Keep sliding down ↓ ($centerDetected/4 detected)", "arrow.down",
+            return PlacementGuideResult("Slide down ↓", "arrow.down",
                20 + centerDetected * 10,
                phase = PlacementPhase.VERTICAL, nextPhase = PlacementPhase.VERTICAL)
        }
@@ -1120,24 +1174,14 @@ private fun computePlacementGuide(
        if (centerDetected <= 1) {
            val hint: String; val icon: String
            when {
-                // ch0만 잡힘 → 방광이 위쪽에 걸림 → 위로 올려야
-                ch0det && !ch1det && !ch2det && !ch3det -> {
-                    hint = "Signal at CH0. Raise the sensor ↑"; icon = "arrow.up"
-                }
-                // ch0 또는 ch1만 → 방광이 위쪽 → 위로
                (ch0det || ch1det) && !ch2det && !ch3det -> {
-                    hint = "Gradually raise the sensor ↑"; icon = "arrow.up"
+                    hint = "Raise the sensor ↑"; icon = "arrow.up"
                }
-                // ch3만 잡힘 → 방광이 아래쪽에 걸림 → 아래로 내려야
-                ch3det && !ch2det && !ch1det && !ch0det -> {
-                    hint = "Signal at CH3. Lower the sensor ↓"; icon = "arrow.down"
-                }
-                // ch2 또는 ch3만 → 방광이 아래쪽 → 아래로
                (ch3det || ch2det) && !ch0det && !ch1det -> {
-                    hint = "Gradually lower the sensor ↓"; icon = "arrow.down"
+                    hint = "Lower the sensor ↓"; icon = "arrow.down"
                }
                else -> {
-                    hint = "Gradually raise the sensor ↑"; icon = "arrow.up"
+                    hint = "Raise the sensor ↑"; icon = "arrow.up"
                }
            }
            return PlacementGuideResult(hint, icon, centerDetected * 10,
@@ -1175,13 +1219,23 @@ private fun computePlacementGuide(
                .format(gradient, weightedCenter, lenVariation))

        if (kotlin.math.abs(gradient) < gradientThr && lenVariation < 0.5) {
-            // 상하 OK → 좌우 탐색으로
+            // 상하 OK → 좌우 확인
            val l4 = urineLens.getOrElse(4) { 0 }
            val l5 = urineLens.getOrElse(5) { 0 }
+            val ch4ok = detected.getOrElse(4) { false }
+            val ch5ok = detected.getOrElse(5) { false }
+
+            // 좌우도 이미 균등하면 LATERAL 건너뛰고 바로 GREEN
+            if (ch4ok && ch5ok && kotlin.math.abs(l4 - l5) <= 10) {
+                return PlacementGuideResult("Position OK! Final check...",
+                    "checkmark.circle", 65,
+                    phase = PlacementPhase.VERTICAL, nextPhase = PlacementPhase.GREEN)
+            }
+
            val lrHint = when {
-                l4 > 0 && l5 > 0 && l4 > l5 -> "Vertical OK! Move right →"
-                l4 > 0 && l5 > 0 && l5 > l4 -> "Vertical OK! Move left ←"
-                else -> "Vertical OK! Checking lateral..."
+                l4 > 0 && l5 > 0 && l4 > l5 -> "Move right →"
+                l4 > 0 && l5 > 0 && l5 > l4 -> "Move left ←"
+                else -> "Checking lateral..."
            }
            val lrIcon = when {
                l4 > 0 && l5 > 0 && l4 > l5 -> "arrow.right"
@@ -1197,12 +1251,12 @@ private fun computePlacementGuide(
        // gradient 기반 방향 안내
        // ch0=위, ch3=아래. gradient>0 = ch3쪽 길다 = 방광 중심이 아래 = 내려야
        if (gradient > 0) {
-            val intensity = if (gradient > 0.8) "Lower the sensor ↓" else "Lower the sensor slightly ↓"
+            val intensity = if (gradient > 0.8) "Lower ↓" else "Lower slightly ↓"
            return PlacementGuideResult(intensity, "arrow.down",
                (20 + centerDetected * 5).coerceAtMost(35),
                phase = PlacementPhase.VERTICAL, nextPhase = PlacementPhase.VERTICAL)
        } else {
-            val intensity = if (gradient < -0.8) "Raise the sensor ↑" else "Raise the sensor slightly ↑"
+            val intensity = if (gradient < -0.8) "Raise ↑" else "Raise slightly ↑"
            return PlacementGuideResult(intensity, "arrow.up",
                (20 + centerDetected * 5).coerceAtMost(35),
                phase = PlacementPhase.VERTICAL, nextPhase = PlacementPhase.VERTICAL)
@@ -1218,14 +1272,22 @@ private fun computePlacementGuide(

        // 상하 유지 확인 — gradient 재계산
        if (centerDetected < 2) {
-            return PlacementGuideResult("Position lost — readjust vertically", "arrow.up", 20,
+            return PlacementGuideResult("Readjust vertically", "arrow.up", 20,
                phase = PlacementPhase.LATERAL, nextPhase = PlacementPhase.VERTICAL)
        }

+        // 절대 차이 10 sample 이하 → 좌우 충분히 균등, 바로 GREEN
+        if (ch4det && ch5det && kotlin.math.abs(len4 - len5) <= 10) {
+            return PlacementGuideResult(
+                "LR balanced. Final check...",
+                "checkmark.circle", 60,
+                phase = PlacementPhase.LATERAL, nextPhase = PlacementPhase.GREEN)
+        }
+
        // SWEEP 모드 + lateralOffsetMm 있을 때: mm 기반 정밀 안내
        if (lateralOffsetMm != null) {
            val absOff = kotlin.math.abs(lateralOffsetMm)
-            if (absOff <= 5.0) {
+            if (absOff <= 8.0) {
                return PlacementGuideResult(
                    "LR centred (${"%.0f".format(absOff)}mm). Final check...",
                    "checkmark.circle", 60,
@@ -1242,15 +1304,15 @@ private fun computePlacementGuide(

        // 한쪽만 detect → amplitude 기반 방향 안내
        if (ch4det && !ch5det) {
-            return PlacementGuideResult("CH4 only detected. Move right →", "arrow.right", 40,
+            return PlacementGuideResult("Move right →", "arrow.right", 40,
                phase = PlacementPhase.LATERAL, nextPhase = PlacementPhase.LATERAL)
        }
        if (ch5det && !ch4det) {
-            return PlacementGuideResult("CH5 only detected. Move left ←", "arrow.left", 40,
+            return PlacementGuideResult("Move left ←", "arrow.left", 40,
                phase = PlacementPhase.LATERAL, nextPhase = PlacementPhase.LATERAL)
        }
        if (!ch4det && !ch5det) {
-            return PlacementGuideResult("Lateral sensors not detected. Try moving left ←", "arrow.left", 35,
+            return PlacementGuideResult("Try moving left ←", "arrow.left", 35,
                phase = PlacementPhase.LATERAL, nextPhase = PlacementPhase.LATERAL)
        }

@@ -1263,7 +1325,7 @@ private fun computePlacementGuide(
            "LATERAL ch4=$ch4det(len=$len4) ch5=$ch5det(len=$len5) diff=%.2f sym=%.2f"
                .format(lrDiff, lrSymmetry))

-        if (lrSymmetry >= 0.7) {
+        if (lrSymmetry >= 0.5) {
            return PlacementGuideResult(
                "Symmetry OK! Final check...",
                "checkmark.circle", 60,
@@ -1297,7 +1359,7 @@ private fun computePlacementGuide(
    }

    if (depths.size < 2) {
-        return PlacementGuideResult("Position lost — readjust", "exclamationmark.triangle", 30,
+        return PlacementGuideResult("Readjust position", "exclamationmark.triangle", 30,
            phase = PlacementPhase.GREEN, nextPhase = PlacementPhase.VERTICAL)
    }

@@ -1342,22 +1404,28 @@ private fun computePlacementGuide(
        val weightedCenter = detectedLens.sumOf { (ch, len) -> ch.toDouble() * len } / totalLen
        val gradient = weightedCenter - 1.5

-        val adjustHint = when {
-            !lrPass && lrDev > DEFAULT_LR_DEV_THR -> "Adjust right → (CV=${"%.2f".format(cv)})"
-            !lrPass && lrDev < -DEFAULT_LR_DEV_THR -> "Adjust left ← (CV=${"%.2f".format(cv)})"
-            gradient > 0.3 -> "Adjust downward ↓ (CV=${"%.2f".format(cv)})"
-            gradient < -0.3 -> "Adjust upward ↑ (CV=${"%.2f".format(cv)})"
-            else -> "Almost there! Hold steady (CV=${"%.2f".format(cv)})"
-        }
-        val adjustIcon = when {
-            !lrPass && lrDev > DEFAULT_LR_DEV_THR -> "arrow.right"
-            !lrPass && lrDev < -DEFAULT_LR_DEV_THR -> "arrow.left"
-            gradient > 0.3 -> "arrow.down"
-            gradient < -0.3 -> "arrow.up"
-            else -> "checkmark.circle"
+        val adjustHint: String; val adjustIcon: String; val stayInGreen: Boolean
+        when {
+            !lrPass && lrDev > DEFAULT_LR_DEV_THR -> {
+                adjustHint = "Move right →"; adjustIcon = "arrow.right"; stayInGreen = false
+            }
+            !lrPass && lrDev < -DEFAULT_LR_DEV_THR -> {
+                adjustHint = "Move left ←"; adjustIcon = "arrow.left"; stayInGreen = false
+            }
+            gradient > 0.3 -> {
+                adjustHint = "Lower ↓"; adjustIcon = "arrow.down"; stayInGreen = false
+            }
+            gradient < -0.3 -> {
+                adjustHint = "Raise ↑"; adjustIcon = "arrow.up"; stayInGreen = false
+            }
+            else -> {
+                // CV만 간당간당 — GREEN에 머물며 재시도 (VERTICAL로 돌아가지 않음)
+                adjustHint = "Almost there..."; adjustIcon = "checkmark.circle"; stayInGreen = true
+            }
        }
+        val nextPh = if (stayInGreen) PlacementPhase.GREEN else PlacementPhase.VERTICAL
        return PlacementGuideResult(adjustHint, adjustIcon, 50, cv, false, lrDev, lrPass,
-            phase = PlacementPhase.GREEN, nextPhase = PlacementPhase.VERTICAL)
+            phase = PlacementPhase.GREEN, nextPhase = nextPh)
    }
 }