From c2e8283f52934144e00c7a12966769c010ae01ca Mon Sep 17 00:00:00 2001
From: boringethan <ethan@openwater.cc>
Date: Tue, 21 Apr 2026 17:53:48 -0700
Subject: [PATCH 1/4] feat: migrate to MotionInterface stable-handle API

Pairs with openmotion-sdk feature/connection-redesign.

motion_connector.py:
- on_connected/on_disconnected/on_data_received collapsed into a single
  _on_handle_state_changed(handle, old, new, reason) wired to each of
  the three stable handles (console/left/right). Branches on handle.name.
- All `motion_interface.console_module` -> `motion_interface.console`.
- All `motion_interface.sensors[X]` and `.sensors.get(X)` patterns ->
  `motion_interface.left` / `motion_interface.right` directly, or
  `getattr(motion_interface, side, None)` where side is dynamic.
- Console-status thread teardown moved into the new state handler's
  DISCONNECTED branch.

motion_singleton.py:
- Drop acquire_motion_interface() (removed from SDK). Just construct
  MotionInterface(); main.py calls .start() once at startup.

main.py:
- Drop qasync QEventLoop + asyncio glue. Call motion_interface.start()
  before app.exec() and motion_interface.stop() in handle_exit. The
  SDK's daemon monitor thread runs alongside the Qt event loop; no
  bridging needed.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
---
 main.py             |  56 +++-------
 motion_connector.py | 249 ++++++++++++++++++++++----------------------
 motion_singleton.py |  10 +-
 3 files changed, 146 insertions(+), 169 deletions(-)

diff --git a/main.py b/main.py
index 12bfde0..3d2ce3d 100644
--- a/main.py
+++ b/main.py
@@ -1,14 +1,13 @@
 import sys
 import os
-import asyncio
 import warnings
 import logging
 import argparse
 from PyQt6.QtGui import QGuiApplication, QIcon
 from PyQt6.QtQml import QQmlApplicationEngine, qmlRegisterSingletonInstance
-from qasync import QEventLoop
 
 from motion_connector import MOTIONConnector
+from motion_singleton import motion_interface
 from version import get_version
 
 # set PYTHONPATH=%cd%\..\OpenMOTION-PyLib;%PYTHONPATH%
@@ -93,56 +92,27 @@ def main():
         print("Error: Failed to load QML file")
         sys.exit(-1)
 
-    loop = QEventLoop(app)
-    asyncio.set_event_loop(loop)
-
-    async def main_async():
-        """Start MOTION monitoring before event loop runs."""
-        logger.info("Starting MOTION monitoring...")
-        await connector._interface.start_monitoring()
-
-    async def shutdown():
-        """Ensure MOTIONConnector stops monitoring before closing."""
-        logger.info("Shutting down MOTION monitoring...")
-        connector._interface.stop_monitoring()
-
-        pending_tasks = [t for t in asyncio.all_tasks() if not t.done()]
-        if pending_tasks:
-            logger.info(f"Cancelling {len(pending_tasks)} pending tasks...")
-            for task in pending_tasks:
-                task.cancel()
-            await asyncio.gather(*pending_tasks, return_exceptions=True)
-
-        logger.info("LIFU monitoring stopped. Application shutting down.")
+    # The SDK now owns its own daemon connection-monitor thread; no
+    # asyncio loop required. start() returns once any already-attached
+    # devices have completed their CONNECTING transition (or wait_timeout).
+    logger.info("Starting MOTION monitoring...")
+    motion_interface.start(wait=True, wait_timeout=2.0)
 
     def handle_exit():
-        """Ensure QML cleans up before Python exit without blocking."""
+        """Stop the monitor cleanly before Qt tears down."""
         logger.info("Application closing...")
+        try:
+            motion_interface.stop()
+        except Exception as e:
+            logger.warning("Error stopping MotionInterface: %s", e)
+        engine.deleteLater()
 
-        # Schedule shutdown but do NOT block the loop
-        asyncio.ensure_future(shutdown()).add_done_callback(lambda _: loop.stop())
-
-        engine.deleteLater()  # Ensure QML engine is destroyed
-
-    # Connect shutdown process to app quit event
     app.aboutToQuit.connect(handle_exit)
 
     try:
-        with loop:
-            loop.run_until_complete(main_async())
-            loop.run_forever()
-    except RuntimeError as e:
-        if "Event loop stopped before Future completed" in str(e):
-            # Graceful shutdown — expected if closing while a future is active
-            logger.warning(
-                "App closed while a Future was still running (safe to ignore)"
-            )
-        else:
-            logger.error(f"Runtime error: {e}")
+        sys.exit(app.exec())
     except KeyboardInterrupt:
         logger.info("Application interrupted by user.")
-    finally:
-        loop.close()
 
 
 if __name__ == "__main__":
diff --git a/motion_connector.py b/motion_connector.py
index 8f57c94..2f572c5 100644
--- a/motion_connector.py
+++ b/motion_connector.py
@@ -326,7 +326,7 @@ def run(self):
             self.progress.emit(-1, "Requesting DFU mode…")
             self._connector._console_mutex.lock()
             try:
-                ok = motion_interface.console_module.enter_dfu()
+                ok = motion_interface.console.enter_dfu()
             finally:
                 self._connector._console_mutex.unlock()
 
@@ -410,7 +410,7 @@ def run(self):
             if self._target == "CONSOLE":
                 self._connector._console_mutex.lock()
                 try:
-                    ok = motion_interface.console_module.enter_dfu()
+                    ok = motion_interface.console.enter_dfu()
                 finally:
                     self._connector._console_mutex.unlock()
             else:
@@ -419,7 +419,7 @@ def run(self):
                 sensor_tag = "left" if self._target == "SENSOR_LEFT" else "right"
                 sensor_mutex.lock()
                 try:
-                    ok = motion_interface.sensors[sensor_tag].enter_dfu()
+                    ok = getattr(motion_interface, sensor_tag).enter_dfu()
                 finally:
                     sensor_mutex.unlock()
 
@@ -593,7 +593,7 @@ def _download_jed_from_github(self) -> Path:
 
     def _program_jed(self, jed_path: Path, channels: list) -> None:
         programmer = FpgaPageProgrammer(
-            motion_interface.console_module,
+            motion_interface.console,
             verify=self._verify,
             erase_timeout=35.0,
             refresh_timeout=10.0,
@@ -647,7 +647,7 @@ def run(self):
             CAMERA_MASK = 0xFF  # All cameras
         else:
             CAMERA_MASK = 1 << (self.camera_index - 1)
-        status_map = motion_interface.sensors["left"].get_camera_status(CAMERA_MASK)
+        status_map = motion_interface.left.get_camera_status(CAMERA_MASK)
         if not status_map:
             logger.error("Failed to get camera status map.")
             return None
@@ -668,7 +668,7 @@ def run(self):
                     logger.debug(f"FPGA configuration started for camera {cam_idx + 1}")
                     start_time = time.time()
 
-                    if not motion_interface.sensors["left"].program_fpga(
+                    if not motion_interface.left.program_fpga(
                         camera_position=(1 << cam_idx), manual_process=False
                     ):
                         logger.error(f"Failed to program FPGA for camera {cam_idx + 1}")
@@ -680,7 +680,7 @@ def run(self):
                 if not (status & (1 << 1) and status & (1 << 3)):  # Not configured
                     self.update_status.emit(f"conf {cam_idx + 1}")
                     logger.debug(f"Configuring registers for camera {cam_idx + 1}")
-                    if not motion_interface.sensors["left"].camera_configure_registers(
+                    if not motion_interface.left.camera_configure_registers(
                         1 << cam_idx
                     ):
                         logger.error(
@@ -690,14 +690,14 @@ def run(self):
 
         logger.debug("Setting test pattern...")
         self.update_status.emit("set live")
-        if not motion_interface.sensors["left"].camera_configure_test_pattern(
+        if not motion_interface.left.camera_configure_test_pattern(
             CAMERA_MASK, 0x04
         ):
             logger.error("Failed to set test pattern.")
             return None
 
         # Get status
-        status_map = motion_interface.sensors["left"].get_camera_status(CAMERA_MASK)
+        status_map = motion_interface.left.get_camera_status(CAMERA_MASK)
         if not status_map:
             logger.error("Failed to get camera status.")
             return None
@@ -710,7 +710,7 @@ def run(self):
                     logger.error(f"Camera {cam_idx + 1} missing in status map.")
                     return None
                 logger.debug(
-                    f"Camera {self.camera_index} status: 0x{status:02X} - {motion_interface.sensors['left'].decode_camera_status(status)}"
+                    f"Camera {self.camera_index} status: 0x{status:02X} - {motion_interface.left.decode_camera_status(status)}"
                 )
 
                 if not (
@@ -724,14 +724,14 @@ def run(self):
             start_time = time.time()
             try:
                 logger.debug("Capturing histogram...")
-                if not motion_interface.sensors["left"].camera_capture_histogram(
+                if not motion_interface.left.camera_capture_histogram(
                     CAMERA_MASK
                 ):
                     logger.error("Capture failed.")
                 else:
                     logger.debug("Capture successful, retrieving histogram...")
                     time.sleep(0.005)  # Wait for capture to complete
-                    histogram = motion_interface.sensors["left"].camera_get_histogram(
+                    histogram = motion_interface.left.camera_get_histogram(
                         CAMERA_MASK
                     )
                     if histogram is None:
@@ -1271,10 +1271,13 @@ def _load_laser_params(self, config_dir):
             return []
 
     def connect_signals(self):
-        """Connect LIFUInterface signals to QML."""
-        motion_interface.signal_connect.connect(self.on_connected)
-        motion_interface.signal_disconnect.connect(self.on_disconnected)
-        motion_interface.signal_data_received.connect(self.on_data_received)
+        """Subscribe to per-handle state changes on the SDK interface."""
+        for handle in (
+            motion_interface.console,
+            motion_interface.left,
+            motion_interface.right,
+        ):
+            handle.signal_state_changed.connect(self._on_handle_state_changed)
 
     def _get_fpga_scale(self, label: str, name: str):
         """Retrieve the scale factor for a given `label` and function `name` from models/FpgaModel.js.
@@ -1514,7 +1517,7 @@ def _start_runlog(self):
             # _console_mutex is a QRecursiveMutex so re-locking is safe if we're already in startTrigger
             self._console_mutex.lock()
             try:
-                fw_ver = motion_interface.console_module.get_version()
+                fw_ver = motion_interface.console.get_version()
             finally:
                 self._console_mutex.unlock()
         except Exception as e:
@@ -1583,7 +1586,7 @@ def set_laser_power_from_config(self, interface):
         # ------------------------------------------------------------------
         user_cfg: dict = {}
         try:
-            cfg_obj = interface.console_module.read_config()
+            cfg_obj = interface.console.read_config()
             if cfg_obj is not None:
                 user_cfg = cfg_obj.json_data or {}
                 print(user_cfg)
@@ -1667,7 +1670,7 @@ def set_laser_power_from_config(self, interface):
                     f"data={[f'0x{b:02X}' for b in dataToSend]}"
                 )
 
-                if not interface.console_module.write_i2c_packet(
+                if not interface.console.write_i2c_packet(
                     mux_index=muxIdx,
                     channel=channel,
                     device_addr=i2cAddr,
@@ -1701,7 +1704,7 @@ def _write_drive_cl(ch: int, thresh, gain: float, label: str) -> bool:
                     f"[Connector] Writing user-config {label} DRIVE CL: "
                     f"raw={raw}, gain={gain_f} → {[f'0x{b:02X}' for b in data]}"                    
                 )
-                return interface.console_module.write_i2c_packet(
+                return interface.console.write_i2c_packet(
                     mux_index=1, channel=ch, device_addr=0x41, reg_addr=0x10, data=data
                 )
 
@@ -1725,7 +1728,7 @@ def getUserConfigJson(self) -> str:
         editor. Returns '{}' on error or when no config is available.
         """
         try:
-            cfg = motion_interface.console_module.read_config()
+            cfg = motion_interface.console.read_config()
             if cfg is None:
                 return "{}"
             # cfg.json_data expected to be a dict-like object
@@ -1763,7 +1766,7 @@ def _worker(text):
                     self.userConfigError.emit(msg)
                     return
 
-                cfg = motion_interface.console_module.read_config()
+                cfg = motion_interface.console.read_config()
                 if cfg is None:
                     msg = "Failed to read existing user config from device"
                     logger.error(msg)
@@ -1772,7 +1775,7 @@ def _worker(text):
 
                 cfg.json_data = parsed
 
-                updated = motion_interface.console_module.write_config(cfg)
+                updated = motion_interface.console.write_config(cfg)
                 if updated is None:
                     msg = "Failed to write user configuration to device"
                     logger.error(msg)
@@ -1942,7 +1945,7 @@ def powerCamerasOn(self, target: str):
                 f"Enabling camera power mask=0x{MASK_ALL:02X} on {target.capitalize()}"
             )
 
-            ok = motion_interface.sensors[target].enable_camera_power(MASK_ALL)
+            ok = getattr(motion_interface, target).enable_camera_power(MASK_ALL)
             if ok:
                 logger.info(f"{target.capitalize()}: Power enabled")
             else:
@@ -1959,7 +1962,7 @@ def powerCamerasOff(self, target: str):
                 f"Disabling camera power mask=0x{MASK_ALL:02X} on {target.capitalize()}"
             )
 
-            ok = motion_interface.sensors[target].disable_camera_power(MASK_ALL)
+            ok = getattr(motion_interface, target).disable_camera_power(MASK_ALL)
             if ok:
                 logger.info(f"{target.capitalize()}: Power disabled")
             else:
@@ -1987,8 +1990,8 @@ def captureHistogramToCSV(
                     f"Capturing {capture_type} for {sensor_side} camera {camera_index} with SN {serial_number}"
                 )
 
-                sensor = self._interface.sensors.get(sensor_side)
-                if sensor is None:
+                sensor = getattr(self._interface, sensor_side, None)
+                if sensor is None or not sensor.is_connected():
                     logger.error("%s sensor not connected.", sensor_side.capitalize())
                     return
 
@@ -2016,9 +2019,9 @@ def captureHistogramToCSV(
 
                     # Get camera temperature
                     try:
-                        temperature = self._interface.sensors[
-                            sensor_side
-                        ].imu_get_temperature()
+                        temperature = getattr(
+                            self._interface, sensor_side
+                        ).imu_get_temperature()
                         logger.info(f"Camera temperature: {temperature}°C")
                     except Exception as e:
                         logger.error(f"Failed to get camera temperature: {e}")
@@ -2229,46 +2232,48 @@ def _calculate_weighted_mean_std_dev(self, histogram_data):
             logger.error(f"Error calculating weighted mean: {e}")
             return 0.0, 0.0
 
-    @pyqtSlot(str, str)
-    def on_connected(self, descriptor, port):
-        """Handle device connection."""
-        print(f"Device connected: {descriptor} on port {port}")
-        if descriptor.upper() == "SENSOR_LEFT":
-            self._leftSensorConnected = True
-        if descriptor.upper() == "SENSOR_RIGHT":
-            self._rightSensorConnected = True
-        elif descriptor.upper() == "CONSOLE":
-            self._consoleConnected = True
-
-        self.signalConnected.emit(descriptor, port)
-        self.connectionStatusChanged.emit()
-        self.update_state()
+    def _on_handle_state_changed(self, handle, old, new, reason):
+        """Single state-change handler wired to console/left/right.
 
-    @pyqtSlot(str, str)
-    def on_disconnected(self, descriptor, port):
-        """Handle device disconnection."""
-        if descriptor.upper() == "SENSOR_LEFT":
-            self._leftSensorConnected = False
-        elif descriptor.upper() == "SENSOR_RIGHT":
-            self._rightSensorConnected = False
-        elif descriptor.upper() == "CONSOLE":
-            self._consoleConnected = False
-
-            # Stop status thread
-            if self._console_status_thread:
-                self._console_status_thread.stop()
-                self._console_status_thread = None
+        Replaces the old signal_connect/signal_disconnect pair. ``handle``
+        is the stable MotionConsole/MotionSensor instance; ``new`` is a
+        ConnectionState enum.
+        """
+        from omotion import ConnectionState
+
+        is_now_connected = (new == ConnectionState.CONNECTED)
+        is_now_lost = (new == ConnectionState.DISCONNECTED)
+        name = handle.name
+
+        if name == "left":
+            if is_now_connected:
+                self._leftSensorConnected = True
+            elif is_now_lost:
+                self._leftSensorConnected = False
+        elif name == "right":
+            if is_now_connected:
+                self._rightSensorConnected = True
+            elif is_now_lost:
+                self._rightSensorConnected = False
+        elif name == "console":
+            if is_now_connected:
+                self._consoleConnected = True
+            elif is_now_lost:
+                self._consoleConnected = False
+                if self._console_status_thread:
+                    self._console_status_thread.stop()
+                    self._console_status_thread = None
+
+        if is_now_connected:
+            self.signalConnected.emit(name, "")
+        elif is_now_lost:
+            self.signalDisconnected.emit(name, "")
+        # CONNECTING/DISCONNECTING are intermediate; UI doesn't need a
+        # legacy connect/disconnect emission for them.
 
-        self.signalDisconnected.emit(descriptor, port)
         self.connectionStatusChanged.emit()
         self.update_state()
 
-    @pyqtSlot(str, str)
-    def on_data_received(self, descriptor, message):
-        """Handle incoming data from the MOTION device."""
-        logger.info(f"Data received from {descriptor}: {message}")
-        self.signalDataReceived.emit(descriptor, message)
-
     @pyqtSlot(str)
     def querySensorInfo(self, target: str):
         """Fetch and emit device information with mutex protection and event-based UI updates."""
@@ -2279,9 +2284,9 @@ def querySensorInfo(self, target: str):
 
                 mutex.lock()
                 try:
-                    fw_version = motion_interface.sensors[sensor_tag].get_version()
+                    fw_version = getattr(motion_interface, sensor_tag).get_version()
                     logger.info(f"Version: {fw_version}")
-                    hw_id = motion_interface.sensors[sensor_tag].get_hardware_id()
+                    hw_id = getattr(motion_interface, sensor_tag).get_hardware_id()
                     device_id = base58.b58encode(bytes.fromhex(hw_id)).decode()
                     # Emit signal for async UI update
                     self.sensorDeviceInfoReceived.emit(fw_version, device_id)
@@ -2302,11 +2307,11 @@ def queryConsoleInfo(self):
         """Fetch and emit device information."""
         self._console_mutex.lock()
         try:
-            fw_version = motion_interface.console_module.get_version()
+            fw_version = motion_interface.console.get_version()
             logger.info(f"Version: {fw_version}")
-            hw_id = motion_interface.console_module.get_hardware_id()
+            hw_id = motion_interface.console.get_hardware_id()
             device_id = base58.b58encode(bytes.fromhex(hw_id)).decode()
-            board_id = motion_interface.console_module.read_board_id()
+            board_id = motion_interface.console.read_board_id()
             self.consoleDeviceInfoReceived.emit(fw_version, device_id, str(board_id))
             logger.info(
                 f"Console Device Info - Firmware: {fw_version}, Device ID: {device_id}, Board ID: {board_id}"
@@ -2324,7 +2329,7 @@ def queryConsoleLatestVersionInfo(self):
             return
         self._console_mutex.lock()
         try:
-            info = motion_interface.console_module.get_latest_version_info()
+            info = motion_interface.console.get_latest_version_info()
             logger.info(f"Latest version info: {info}")
             # Emit whatever structure the console module returns (QVariant-compatible)
             self.latestVersionInfoReceived.emit(info)
@@ -2352,7 +2357,7 @@ def querySensorLatestVersionInfo(self, target: str):
             mutex.lock()
             try:
                 # sensor modules may expose get_latest_version_info similar to console
-                info = motion_interface.sensors[sensor_tag].get_latest_version_info()
+                info = getattr(motion_interface, sensor_tag).get_latest_version_info()
                 logger.info(f"Latest sensor ({sensor_tag}) version info: {info}")
                 self.latestSensorVersionInfoReceived.emit(target, info)
             finally:
@@ -2577,7 +2582,7 @@ def queryConsoleTemperature(self):
         """Fetch and emit Console Temperature data."""
         self._console_mutex.lock()
         try:
-            temp1, temp2, temp3 = motion_interface.console_module.get_temperatures()
+            temp1, temp2, temp3 = motion_interface.console.get_temperatures()
             logger.info(
                 f"Console Temperature Data - Temp1: {temp1}, Temp2: {temp2}, Temp3: {temp3}"
             )
@@ -2597,9 +2602,9 @@ def querySensorTemperature(self, target: str):
 
                 mutex.lock()
                 try:
-                    imu_temp = motion_interface.sensors[
-                        sensor_tag
-                    ].imu_get_temperature()
+                    imu_temp = getattr(
+                        motion_interface, sensor_tag
+                    ).imu_get_temperature()
                     logger.info(f"Temperature Data - IMU Temp: {imu_temp}")
                     # Emit signal for async UI update
                     self.temperatureSensorUpdated.emit(imu_temp)
@@ -2621,7 +2626,7 @@ def setRGBState(self, state):
                 logger.error(f"Invalid RGB state value: {state}")
                 return
 
-            if motion_interface.console_module.set_rgb_led(state) == state:
+            if motion_interface.console.set_rgb_led(state) == state:
                 logger.info(f"RGB state set to: {state}")
             else:
                 logger.error(f"Failed to set RGB state to: {state}")
@@ -2635,7 +2640,7 @@ def queryRGBState(self):
         """Fetch and emit RGB state."""
         self._console_mutex.lock()
         try:
-            state = motion_interface.console_module.get_rgb_led()
+            state = motion_interface.console.get_rgb_led()
             state_text = {0: "Off", 1: "IND1", 2: "IND2", 3: "IND3"}.get(
                 state, "Unknown"
             )
@@ -2671,7 +2676,7 @@ def queryFpgaVersions(self):
         try:
             for name, mux_idx, channel, i2c_addr, reg_addr in FPGAS:
                 try:
-                    data, data_len = motion_interface.console_module.read_i2c_packet(
+                    data, data_len = motion_interface.console.read_i2c_packet(
                         mux_index=mux_idx,
                         channel=channel,
                         device_addr=i2c_addr,
@@ -2699,7 +2704,7 @@ def queryFpgaVersions(self):
     def queryTriggerConfig(self):
         self._console_mutex.lock()
         try:
-            trigger_setting = motion_interface.console_module.get_trigger_json()
+            trigger_setting = motion_interface.console.get_trigger_json()
             if trigger_setting:
                 if isinstance(trigger_setting, str):
                     updateTrigger = json.loads(trigger_setting)
@@ -2725,7 +2730,7 @@ def setTrigger(self, triggerjson):
         try:
             json_trigger_data = json.loads(triggerjson)
 
-            trigger_setting = motion_interface.console_module.set_trigger_json(
+            trigger_setting = motion_interface.console.set_trigger_json(
                 data=json_trigger_data
             )
             if trigger_setting:
@@ -2757,7 +2762,7 @@ def startTrigger(self, triggerjson=None):
             if triggerjson:
                 json_trigger_data = json.loads(triggerjson)
 
-                trigger_setting = motion_interface.console_module.set_trigger_json(
+                trigger_setting = motion_interface.console.set_trigger_json(
                     data=json_trigger_data
                 )
                 if not trigger_setting:
@@ -2766,7 +2771,7 @@ def startTrigger(self, triggerjson=None):
 
                 logger.info(f"Trigger Setting: {trigger_setting}")
 
-            success = motion_interface.console_module.start_trigger()
+            success = motion_interface.console.start_trigger()
             if success:
                 # Start the per-run log now
                 self._start_runlog()
@@ -2819,7 +2824,7 @@ def stopTrigger(self):
             # (4) Tell console to stop firing
             self._console_mutex.lock()
             try:
-                motion_interface.console_module.stop_trigger()
+                motion_interface.console.stop_trigger()
             finally:
                 self._console_mutex.unlock()
 
@@ -2843,7 +2848,7 @@ def querySensorAccelerometer(self, target: str):
 
                 mutex.lock()
                 try:
-                    accel = motion_interface.sensors[sensor_tag].imu_get_accelerometer()
+                    accel = getattr(motion_interface, sensor_tag).imu_get_accelerometer()
                     logger.info(
                         f"Accel (raw): X={accel[0]}, Y={accel[1]}, Z={accel[2]}"
                     )
@@ -2861,7 +2866,7 @@ def querySensorAccelerometer(self, target: str):
     def querySensorGyroscope(self):
         """Fetch and emit Gyroscope data."""
         try:
-            gyro = motion_interface.sensors["left"].imu_get_gyroscope()
+            gyro = motion_interface.left.imu_get_gyroscope()
             logger.info(f"Gyro  (raw): X={gyro[0]}, Y={gyro[1]}, Z={gyro[2]}")
             self.gyroscopeSensorUpdated.emit(gyro[0], gyro[1], gyro[2])
         except Exception as e:
@@ -2882,7 +2887,7 @@ def configureCamera(self, target: str, cam_mask: int):
                     # firmware ACKs OW_FPGA_PROG_SRAM before the FPGA is actually
                     # usable, so an immediate camera_configure_registers races the
                     # FPGA bringup and intermittently fails.
-                    sensor = motion_interface.sensors[sensor_tag]
+                    sensor = getattr(motion_interface, sensor_tag)
                     cam_pos = cam_mask.bit_length() - 1
 
                     status_map = sensor.get_camera_status(cam_mask)
@@ -2912,17 +2917,17 @@ def configureCamera(self, target: str, cam_mask: int):
                     exposure = 600
                     print(f"Switching camera to {cam_mask}")
                     cam_position = cam_mask.bit_length() - 1
-                    passed_sw = motion_interface.sensors[sensor_tag].switch_camera(
+                    passed_sw = getattr(motion_interface, sensor_tag).switch_camera(
                         cam_position
                     )
                     print(f"Setting gain to {gain}")
-                    passed_gain = motion_interface.sensors[sensor_tag].camera_set_gain(
+                    passed_gain = getattr(motion_interface, sensor_tag).camera_set_gain(
                         gain
                     )
                     print(f"Setting exposure to {exposure}")
-                    passed_exposure = motion_interface.sensors[
-                        sensor_tag
-                    ].camera_set_exposure(0, us=exposure)
+                    passed_exposure = getattr(
+                        motion_interface, sensor_tag
+                    ).camera_set_exposure(0, us=exposure)
                     print(
                         f"Camera {sensor_tag} with mask {cam_mask} configured with gain {gain} and exposure {exposure}"
                     )
@@ -2955,7 +2960,7 @@ def sendPingCommand(self, target: str):
         try:
             if target == "CONSOLE":
                 self._console_mutex.lock()
-                if motion_interface.console_module.ping():
+                if motion_interface.console.ping():
                     logger.info("Ping command sent successfully")
                     return True
                 else:
@@ -2963,7 +2968,7 @@ def sendPingCommand(self, target: str):
                     return False
             elif target == "SENSOR_LEFT" or target == "SENSOR_RIGHT":
                 sensor_tag = "left" if target == "SENSOR_LEFT" else "right"
-                if motion_interface.sensors[sensor_tag].ping():
+                if getattr(motion_interface, sensor_tag).ping():
                     logger.info("Ping command sent successfully")
                     return True
                 else:
@@ -2986,7 +2991,7 @@ def sendLedToggleCommand(self, target: str):
             if target == "CONSOLE":
                 self._console_mutex.lock()
                 try:
-                    if motion_interface.console_module.toggle_led():
+                    if motion_interface.console.toggle_led():
                         logger.info("Toggle command sent successfully")
                         return True
                     else:
@@ -3000,7 +3005,7 @@ def sendLedToggleCommand(self, target: str):
 
                 mutex.lock()
                 try:
-                    if motion_interface.sensors[sensor_tag].toggle_led():
+                    if getattr(motion_interface, sensor_tag).toggle_led():
                         logger.info("Toggle command sent successfully")
                         return True
                     else:
@@ -3022,12 +3027,12 @@ def sendEchoCommand(self, target: str):
             expected_data = b"Hello FROM Test Application!"
             if target == "CONSOLE":
                 self._console_mutex.lock()
-                echoed_data, data_len = motion_interface.console_module.echo(
+                echoed_data, data_len = motion_interface.console.echo(
                     echo_data=expected_data
                 )
             elif target == "SENSOR_LEFT" or target == "SENSOR_RIGHT":
                 sensor_tag = "left" if target == "SENSOR_LEFT" else "right"
-                echoed_data, data_len = motion_interface.sensors[sensor_tag].echo(
+                echoed_data, data_len = getattr(motion_interface, sensor_tag).echo(
                     echo_data=expected_data
                 )
             else:
@@ -3053,7 +3058,7 @@ def getFsyncCount(self):
         """Get the Fsync count from the console."""
         self._console_mutex.lock()
         try:
-            fsync_count = motion_interface.console_module.get_fsync_pulsecount()
+            fsync_count = motion_interface.console.get_fsync_pulsecount()
             logger.info(f"Fsync Count: {fsync_count}")
             return fsync_count
         except Exception as e:
@@ -3067,7 +3072,7 @@ def getLsyncCount(self):
         """Get the Fsync count from the console."""
         self._console_mutex.lock()
         try:
-            lsync_count = motion_interface.console_module.get_lsync_pulsecount()
+            lsync_count = motion_interface.console.get_lsync_pulsecount()
             logger.debug(f"Lsync Count: {lsync_count}")
             return lsync_count
         except Exception as e:
@@ -3096,7 +3101,7 @@ def i2cReadBytes(
             if target == "CONSOLE":
                 self._console_mutex.lock()
                 fpga_data, fpga_data_len = (
-                    motion_interface.console_module.read_i2c_packet(
+                    motion_interface.console.read_i2c_packet(
                         mux_index=mux_idx,
                         channel=channel,
                         device_addr=i2c_addr,
@@ -3155,7 +3160,7 @@ def i2cWriteBytes(
 
             if target == "CONSOLE":
                 self._console_mutex.lock()
-                if motion_interface.console_module.write_i2c_packet(
+                if motion_interface.console.write_i2c_packet(
                     mux_index=mux_idx,
                     channel=channel,
                     device_addr=i2c_addr,
@@ -3183,13 +3188,13 @@ def softResetSensor(self, target: str):
         self._console_mutex.lock()
         try:
             if target == "CONSOLE":
-                if motion_interface.console_module.soft_reset():
+                if motion_interface.console.soft_reset():
                     logger.info("Software Reset Sent")
                 else:
                     logger.error("Failed to send Software Reset")
             elif target == "SENSOR_LEFT" or target == "SENSOR_RIGHT":
                 sensor_tag = "left" if target == "SENSOR_LEFT" else "right"
-                if motion_interface.sensors[sensor_tag].soft_reset():
+                if getattr(motion_interface, sensor_tag).soft_reset():
                     logger.info("Software Reset Sent")
                 else:
                     logger.error("Failed to send Software Reset")
@@ -3202,7 +3207,7 @@ def softResetSensor(self, target: str):
     def scanI2C(self, mux: int, chan: int) -> list[str]:
         self._console_mutex.lock()
         try:
-            addresses = motion_interface.console_module.scan_i2c_mux_channel(mux, chan)
+            addresses = motion_interface.console.scan_i2c_mux_channel(mux, chan)
             hex_addresses = [hex(addr) for addr in addresses]
             logger.info(f"Devices found on MUX {mux} channel {chan}: {hex_addresses}")
             return hex_addresses
@@ -3215,7 +3220,7 @@ def scanI2C(self, mux: int, chan: int) -> list[str]:
     def getTecEnabled(self) -> bool:
         self._console_mutex.lock()
         try:
-            self._tec_dac = motion_interface.console_module.tec_voltage()
+            self._tec_dac = motion_interface.console.tec_voltage()
             logger.info(f"TEC DAC Setting: {self._tec_dac}")
             self.tecDacChanged.emit()
             return True
@@ -3230,7 +3235,7 @@ def setFanLevel(self, speed: int) -> bool:
         """Set console fan PWM level (0..100)."""
         self._console_mutex.lock()
         try:
-            if motion_interface.console_module.set_fan_speed(fan_speed=speed) == speed:
+            if motion_interface.console.set_fan_speed(fan_speed=speed) == speed:
                 logger.info(f"Fan set to {speed}%")
                 return True
             logger.error("Failed to set Fan Speed")
@@ -3254,7 +3259,7 @@ def readFanFeedback(self):
             rpms = []
             for fan_idx in range(1, 4):
                 try:
-                    rpm = motion_interface.console_module.get_fan_rpm(fan_index=fan_idx)
+                    rpm = motion_interface.console.get_fan_rpm(fan_index=fan_idx)
                     rpms.append(int(rpm) if rpm is not None and rpm >= 0 else -1)
                 except Exception as e:
                     logger.error(f"Error reading fan {fan_idx} RPM: {e}")
@@ -3297,7 +3302,7 @@ def setTecTrip(self, res: int) -> bool:
         self._console_mutex.lock()
         try:
             # Delegate to console module
-            result = motion_interface.console_module.set_ta_gain_resistor(res)
+            result = motion_interface.console.set_ta_gain_resistor(res)
             if result:
                 logger.info(f"TA gain resistor set to {res} ohms")
                 return True
@@ -3330,7 +3335,7 @@ def readUserConfig(self):
     def _do_read_user_config(self):
         self._console_mutex.lock()
         try:
-            config = motion_interface.console_module.read_config()
+            config = motion_interface.console.read_config()
             if config is None:
                 msg = "Failed to read user configuration from device"
                 logger.error(msg)
@@ -3382,7 +3387,7 @@ def setUserConfig(
     def _do_write_user_config(self, tec_trip, opt_gain, opt_thresh, ee_gain, ee_thresh):
         self._console_mutex.lock()
         try:
-            config = motion_interface.console_module.read_config()
+            config = motion_interface.console.read_config()
             if config is None:
                 msg = "Failed to read user configuration before writing"
                 logger.error(msg)
@@ -3407,7 +3412,7 @@ def _do_write_user_config(self, tec_trip, opt_gain, opt_thresh, ee_gain, ee_thre
                 config.set("EE_GAIN", ee_gain)
                 config.set("EE_THRESH", ee_thresh)
 
-            updated = motion_interface.console_module.write_config(config)
+            updated = motion_interface.console.write_config(config)
             if updated is None:
                 msg = "Failed to write user configuration to device"
                 logger.error(msg)
@@ -3486,8 +3491,8 @@ def getCameraHistogram(
         self, target: str, camera_index: int, test_pattern_id: int = 4
     ):
         logger.info(f"Getting histogram for camera {camera_index + 1}")
-        sensor = motion_interface.sensors.get(target)
-        if sensor is None:
+        sensor = getattr(motion_interface, target, None)
+        if sensor is None or not sensor.is_connected():
             logger.error("%s sensor not connected.", target.capitalize())
             self.histogramReady.emit([])
             return
@@ -3568,7 +3573,7 @@ def queryCameraPowerStatus(self, target: str):
                     logger.info(f"Querying camera power status for {sensor_tag} sensor")
 
                     # Query power status for all cameras
-                    sensor = motion_interface.sensors[sensor_tag]
+                    sensor = getattr(motion_interface, sensor_tag)
                     power_status = sensor.get_camera_power_status()
 
                     if power_status is not None:
@@ -3612,7 +3617,7 @@ def setFanControl(self, target: str, fan_on: bool):
                     )
 
                     # Set fan control state
-                    sensor = motion_interface.sensors[sensor_tag]
+                    sensor = getattr(motion_interface, sensor_tag)
                     result = sensor.set_fan_control(fan_on)
 
                     if result:
@@ -3646,7 +3651,7 @@ def getFanControlStatus(self, target: str):
                 mutex.lock()
                 try:
                     # Get fan control status
-                    sensor = motion_interface.sensors[sensor_tag]
+                    sensor = getattr(motion_interface, sensor_tag)
                     status = sensor.get_fan_control_status()
 
                     return status
@@ -3667,7 +3672,7 @@ def tec_voltage(self, value=None):
         try:
             if value is None:
                 # GET operation
-                self._tec_dac = motion_interface.console_module.tec_voltage()
+                self._tec_dac = motion_interface.console.tec_voltage()
                 logger.debug(f"TEC DAC Setting: {self._tec_dac}")
                 run_logger.info(
                     "TEC Setpoint Voltage - volt: %.6f ", float(self._tec_dac)
@@ -3675,7 +3680,7 @@ def tec_voltage(self, value=None):
 
             else:
                 # SET operation
-                motion_interface.console_module.tec_voltage(value)
+                motion_interface.console.tec_voltage(value)
                 logger.debug(f"TEC voltage set to: {value}")
                 self._tec_dac = value
                 run_logger.info(
@@ -3699,7 +3704,7 @@ def tec_status(self):
 
         self._console_mutex.lock()
         try:
-            v, i, p, t, ok = motion_interface.console_module.tec_status()
+            v, i, p, t, ok = motion_interface.console.tec_status()
 
             R_TH = (
                 1 / ((float(v) / (V_REF / 2 * R_3)) - 1 / R_3 + 1 / R_1) - R_2
@@ -3761,12 +3766,12 @@ def pdu_mon(self):
         """
         self._console_mutex.lock()
         try:
-            pdu = motion_interface.console_module.read_pdu_mon()
+            pdu = motion_interface.console.read_pdu_mon()
             if pdu is None:
                 logger.error("PDU MON: no data")
                 return {"ok": False, "error": "no data"}
 
-            temp1, temp2, temp3 = motion_interface.console_module.get_temperatures()
+            temp1, temp2, temp3 = motion_interface.console.get_temperatures()
 
             # Cache for QML bindings
             self._pdu_raws = list(pdu.raws)
diff --git a/motion_singleton.py b/motion_singleton.py
index 526aa65..19823e7 100644
--- a/motion_singleton.py
+++ b/motion_singleton.py
@@ -1,6 +1,8 @@
 # motion_singleton.py
-from omotion.Interface import MOTIONInterface
+#
+# Single shared MotionInterface for the test app. The interface owns its
+# own connection-monitor daemon thread; ``main.py`` calls
+# ``motion_interface.start()`` once after the QML engine is loaded.
+from omotion import MotionInterface
 
-motion_interface, console_connected, left_sensor, right_sensor = (
-    MOTIONInterface.acquire_motion_interface()
-)
+motion_interface = MotionInterface()

From 85a5978badba933ad210ba665393c38d38cce13e Mon Sep 17 00:00:00 2001
From: boringethan <ethan@openwater.cc>
Date: Tue, 21 Apr 2026 18:08:44 -0700
Subject: [PATCH 2/4] fix: align test-app to new descriptor naming (lowercase
 handle.name)

The SDK now emits "left"/"right"/"console" via signal_state_changed and
expects matching strings as method arguments. The previous "SENSOR_LEFT",
"SENSOR_RIGHT", and "CONSOLE" tags were the old descriptor format.

- pages/{Sensor,Settings,Console,Demo}.qml: every quoted device tag
  ("SENSOR_LEFT" -> "left", "SENSOR_RIGHT" -> "right", "CONSOLE" ->
  "console"), 71 sites total. Comments updated where they reference the
  old constants.
- motion_connector.py: same string substitution (75 sites). Removed the
  now-redundant `sensor_tag = "left" if target == "SENSOR_LEFT" else
  "right"` re-derivation in the DFU enter path; the target IS the tag.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
---
 motion_connector.py | 119 ++++++++++++++++++++++----------------------
 pages/Console.qml   |  12 ++---
 pages/Demo.qml      |   4 +-
 pages/Sensor.qml    |  36 +++++++-------
 pages/Settings.qml  |  44 ++++++++--------
 5 files changed, 107 insertions(+), 108 deletions(-)

diff --git a/motion_connector.py b/motion_connector.py
index 2f572c5..9c238ed 100644
--- a/motion_connector.py
+++ b/motion_connector.py
@@ -209,7 +209,7 @@ def __init__(
         connector: "MOTIONConnector",
         tag: str,
         filename: str,
-        target: str = "CONSOLE",
+        target: str = "console",
     ):
         super().__init__()
         self._connector = connector
@@ -251,7 +251,7 @@ def run(self):
 
             repo_name = (
                 _CONSOLE_FW_REPO_NAME
-                if self._target == "CONSOLE"
+                if self._target == "console"
                 else _SENSOR_FW_REPO_NAME
             )
             gh = GitHubReleases(_CONSOLE_FW_REPO_OWNER, repo_name, timeout=30)
@@ -407,19 +407,18 @@ def run(self):
             self.progress.emit(-1, "Requesting DFU mode…")
 
             # Request DFU mode on the correct module with appropriate mutex
-            if self._target == "CONSOLE":
+            if self._target == "console":
                 self._connector._console_mutex.lock()
                 try:
                     ok = motion_interface.console.enter_dfu()
                 finally:
                     self._connector._console_mutex.unlock()
             else:
-                # SENSOR_LEFT or SENSOR_RIGHT
+                # left or right
                 sensor_mutex = self._connector._get_sensor_mutex(self._target)
-                sensor_tag = "left" if self._target == "SENSOR_LEFT" else "right"
                 sensor_mutex.lock()
                 try:
-                    ok = getattr(motion_interface, sensor_tag).enter_dfu()
+                    ok = getattr(motion_interface, self._target).enter_dfu()
                 finally:
                     sensor_mutex.unlock()
 
@@ -991,7 +990,7 @@ def _cleanup_fw_token(self, token: str) -> None:
     def beginConsoleFirmwareDownload(self, tag: str) -> None:
         """Download motion-console-fw.bin for the selected release tag into a temp location."""
         logger.info(f"beginConsoleFirmwareDownload {tag}")
-        target = "CONSOLE"
+        target = "console"
         if not tag or tag == "N/A":
             self.consoleFirmwareUpdateError.emit(target, "No release tag selected.")
             return
@@ -1023,9 +1022,9 @@ def beginConsoleFirmwareDownload(self, tag: str) -> None:
 
     @pyqtSlot(str, str)
     def beginDeviceFirmwareDownload(self, target: str, tag: str) -> None:
-        """Generic: download firmware binary for a device target (CONSOLE, SENSOR_LEFT, SENSOR_RIGHT)."""
+        """Generic: download firmware binary for a device target ("console", "left", "right")."""
         logger.info(f"beginDeviceFirmwareDownload target={target} tag={tag}")
-        if target not in ("CONSOLE", "SENSOR_LEFT", "SENSOR_RIGHT"):
+        if target not in ("console", "left", "right"):
             self.consoleFirmwareUpdateError.emit(target, "Invalid update target.")
             return
         if not tag or tag == "N/A":
@@ -1039,7 +1038,7 @@ def beginDeviceFirmwareDownload(self, target: str, tag: str) -> None:
 
         self._set_console_fw_busy(True)
         filename = (
-            "motion-console-fw.bin" if target == "CONSOLE" else "motion-sensor-fw.bin"
+            "motion-console-fw.bin" if target == "console" else "motion-sensor-fw.bin"
         )
 
         self._fw_download_thread = _ConsoleFirmwareDownloadThread(
@@ -1066,7 +1065,7 @@ def beginDeviceFirmwareFromLocal(self, target: str, local_path: str) -> None:
         The QML side will receive the same ready signal and show the confirm dialog.
         """
         logger.info(f"beginDeviceFirmwareFromLocal target={target} path={local_path}")
-        if target not in ("CONSOLE", "SENSOR_LEFT", "SENSOR_RIGHT"):
+        if target not in ("console", "left", "right"):
             self.consoleFirmwareUpdateError.emit(target, "Invalid update target.")
             return
         try:
@@ -1078,7 +1077,7 @@ def beginDeviceFirmwareFromLocal(self, target: str, local_path: str) -> None:
                 return
             fname = p.name
             # Validate filename
-            if target == "CONSOLE":
+            if target == "console":
                 if fname != "motion-console-fw.bin":
                     self.consoleFirmwareUpdateError.emit(
                         target, "Filename must be motion-console-fw.bin"
@@ -1113,7 +1112,7 @@ def _on_console_fw_download_ready(
     ) -> None:
         self.consoleFirmwareDownloadReady.emit(token, tag, filename, target)
 
-    def _on_console_fw_failed(self, message: str, target: str = "CONSOLE") -> None:
+    def _on_console_fw_failed(self, message: str, target: str = "console") -> None:
         self.consoleFirmwareUpdateError.emit(target, message)
         self._set_console_fw_busy(False)
 
@@ -1128,13 +1127,13 @@ def startConsoleFirmwareUpdate(self, token: str) -> None:
         """Flash the previously-downloaded firmware using DFU."""
         if not token or token not in self._fw_temp_files:
             self.consoleFirmwareUpdateError.emit(
-                "CONSOLE", "Firmware download token is missing/invalid."
+                "console", "Firmware download token is missing/invalid."
             )
             self._set_console_fw_busy(False)
             return
         if self._fw_flash_thread is not None:
             self.consoleFirmwareUpdateError.emit(
-                "CONSOLE", "Firmware flashing is already in progress."
+                "console", "Firmware flashing is already in progress."
             )
             return
         _, bin_path, _, target = self._fw_temp_files[token]
@@ -1165,7 +1164,7 @@ def startConsoleFirmwareUpdate(self, token: str) -> None:
         self._fw_flash_thread.start()
 
     def _on_console_fw_finished(
-        self, token: str, success: bool, message: str, target: str = "CONSOLE"
+        self, token: str, success: bool, message: str, target: str = "console"
     ) -> None:
         self._cleanup_fw_token(token)
         self.consoleFirmwareUpdateFinished.emit(target, bool(success), str(message))
@@ -1444,18 +1443,18 @@ def setScaleOverride(self, label: str, name: str, scale: float) -> None:
 
     def _get_sensor_mutex(self, sensor_tag: str) -> QRecursiveMutex:
         """Get the appropriate mutex for the given sensor."""
-        if sensor_tag == "SENSOR_LEFT":
+        if sensor_tag == "left":
             return self._left_sensor_mutex
-        elif sensor_tag == "SENSOR_RIGHT":
+        elif sensor_tag == "right":
             return self._right_sensor_mutex
         else:
             raise ValueError(f"Invalid sensor tag: {sensor_tag}")
 
     def _get_sensor_side(self, sensor_tag: str) -> str:
         """Convert sensor tag to sensor side string."""
-        if sensor_tag == "SENSOR_LEFT":
+        if sensor_tag == "left":
             return "left"
-        elif sensor_tag == "SENSOR_RIGHT":
+        elif sensor_tag == "right":
             return "right"
         else:
             raise ValueError(f"Invalid sensor tag: {sensor_tag}")
@@ -2278,8 +2277,8 @@ def _on_handle_state_changed(self, handle, old, new, reason):
     def querySensorInfo(self, target: str):
         """Fetch and emit device information with mutex protection and event-based UI updates."""
         try:
-            if target == "SENSOR_LEFT" or target == "SENSOR_RIGHT":
-                sensor_tag = "left" if target == "SENSOR_LEFT" else "right"
+            if target == "left" or target == "right":
+                sensor_tag = "left" if target == "left" else "right"
                 mutex = self._get_sensor_mutex(target)
 
                 mutex.lock()
@@ -2345,13 +2344,13 @@ def querySensorLatestVersionInfo(self, target: str):
             logger.info(f"querySensorLatestVersionInfo({target}): GitHub disabled, skipping.")
             return
         try:
-            if target != "SENSOR_LEFT" and target != "SENSOR_RIGHT":
+            if target != "left" and target != "right":
                 logger.error(
                     f"Invalid target for sensor latest version query: {target}"
                 )
                 return
 
-            sensor_tag = "left" if target == "SENSOR_LEFT" else "right"
+            sensor_tag = "left" if target == "left" else "right"
             mutex = self._get_sensor_mutex(target)
 
             mutex.lock()
@@ -2596,8 +2595,8 @@ def queryConsoleTemperature(self):
     def querySensorTemperature(self, target: str):
         """Fetch and emit Temperature data with mutex protection and event-based UI updates."""
         try:
-            if target == "SENSOR_LEFT" or target == "SENSOR_RIGHT":
-                sensor_tag = "left" if target == "SENSOR_LEFT" else "right"
+            if target == "left" or target == "right":
+                sensor_tag = "left" if target == "left" else "right"
                 mutex = self._get_sensor_mutex(target)
 
                 mutex.lock()
@@ -2842,8 +2841,8 @@ def stopTrigger(self):
     def querySensorAccelerometer(self, target: str):
         """Fetch and emit Accelerometer data with mutex protection and event-based UI updates."""
         try:
-            if target == "SENSOR_LEFT" or target == "SENSOR_RIGHT":
-                sensor_tag = "left" if target == "SENSOR_LEFT" else "right"
+            if target == "left" or target == "right":
+                sensor_tag = "left" if target == "left" else "right"
                 mutex = self._get_sensor_mutex(target)
 
                 mutex.lock()
@@ -2876,8 +2875,8 @@ def querySensorGyroscope(self):
     def configureCamera(self, target: str, cam_mask: int):
         """Configure camera with mutex protection and event-based UI updates."""
         try:
-            if target == "SENSOR_LEFT" or target == "SENSOR_RIGHT":
-                sensor_tag = "left" if target == "SENSOR_LEFT" else "right"
+            if target == "left" or target == "right":
+                sensor_tag = "left" if target == "left" else "right"
                 mutex = self._get_sensor_mutex(target)
 
                 mutex.lock()
@@ -2958,7 +2957,7 @@ def configureAllCameras(self, target: str):
     def sendPingCommand(self, target: str):
         """Send a ping command to HV device."""
         try:
-            if target == "CONSOLE":
+            if target == "console":
                 self._console_mutex.lock()
                 if motion_interface.console.ping():
                     logger.info("Ping command sent successfully")
@@ -2966,8 +2965,8 @@ def sendPingCommand(self, target: str):
                 else:
                     logger.error("Failed to send ping command")
                     return False
-            elif target == "SENSOR_LEFT" or target == "SENSOR_RIGHT":
-                sensor_tag = "left" if target == "SENSOR_LEFT" else "right"
+            elif target == "left" or target == "right":
+                sensor_tag = "left" if target == "left" else "right"
                 if getattr(motion_interface, sensor_tag).ping():
                     logger.info("Ping command sent successfully")
                     return True
@@ -2981,14 +2980,14 @@ def sendPingCommand(self, target: str):
             logger.error(f"Error sending ping command: {e}")
             return False
         finally:
-            if target == "CONSOLE":
+            if target == "console":
                 self._console_mutex.unlock()
 
     @pyqtSlot(str, result=bool)
     def sendLedToggleCommand(self, target: str):
         """Send a LED Toggle command to device with mutex protection."""
         try:
-            if target == "CONSOLE":
+            if target == "console":
                 self._console_mutex.lock()
                 try:
                     if motion_interface.console.toggle_led():
@@ -2999,8 +2998,8 @@ def sendLedToggleCommand(self, target: str):
                         return False
                 finally:
                     self._console_mutex.unlock()
-            elif target == "SENSOR_LEFT" or target == "SENSOR_RIGHT":
-                sensor_tag = "left" if target == "SENSOR_LEFT" else "right"
+            elif target == "left" or target == "right":
+                sensor_tag = "left" if target == "left" else "right"
                 mutex = self._get_sensor_mutex(target)
 
                 mutex.lock()
@@ -3025,13 +3024,13 @@ def sendEchoCommand(self, target: str):
         """Send Echo command to device."""
         try:
             expected_data = b"Hello FROM Test Application!"
-            if target == "CONSOLE":
+            if target == "console":
                 self._console_mutex.lock()
                 echoed_data, data_len = motion_interface.console.echo(
                     echo_data=expected_data
                 )
-            elif target == "SENSOR_LEFT" or target == "SENSOR_RIGHT":
-                sensor_tag = "left" if target == "SENSOR_LEFT" else "right"
+            elif target == "left" or target == "right":
+                sensor_tag = "left" if target == "left" else "right"
                 echoed_data, data_len = getattr(motion_interface, sensor_tag).echo(
                     echo_data=expected_data
                 )
@@ -3050,7 +3049,7 @@ def sendEchoCommand(self, target: str):
             logger.error(f"Error sending Echo command: {e}")
             return False
         finally:
-            if target == "CONSOLE":
+            if target == "console":
                 self._console_mutex.unlock()
 
     @pyqtSlot(result=int)
@@ -3098,7 +3097,7 @@ def i2cReadBytes(
                 f"i2c_addr=0x{int(i2c_addr):02X}, offset=0x{int(offset):02X}, read_len={int(data_len)}"
             )
 
-            if target == "CONSOLE":
+            if target == "console":
                 self._console_mutex.lock()
                 fpga_data, fpga_data_len = (
                     motion_interface.console.read_i2c_packet(
@@ -3119,14 +3118,14 @@ def i2cReadBytes(
                     )  # Print as hex bytes separated by spaces
                     return list(fpga_data[:fpga_data_len])
 
-            elif target == "SENSOR_LEFT" or target == "SENSOR_RIGHT":
+            elif target == "left" or target == "right":
                 logger.error("I2C Read Not Implemented")
                 return []
         except Exception as e:
             logger.error(f"Error sending i2c read command: {e}")
             return []
         finally:
-            if target == "CONSOLE":
+            if target == "console":
                 self._console_mutex.unlock()
 
     @pyqtSlot(str, int, int, int, int, list, result=bool)
@@ -3158,7 +3157,7 @@ def i2cWriteBytes(
 
             byte_data = bytes(sanitized_data)
 
-            if target == "CONSOLE":
+            if target == "console":
                 self._console_mutex.lock()
                 if motion_interface.console.write_i2c_packet(
                     mux_index=mux_idx,
@@ -3172,14 +3171,14 @@ def i2cWriteBytes(
                 else:
                     logger.error("Write I2C Failed")
                     return False
-            elif target == "SENSOR_LEFT" or target == "SENSOR_RIGHT":
+            elif target == "left" or target == "right":
                 logger.debug("I2C Write Not Implemented")
                 return True
         except Exception as e:
             logger.error(f"Error sending i2c write command: {e}")
             return False
         finally:
-            if target == "CONSOLE":
+            if target == "console":
                 self._console_mutex.unlock()
 
     @pyqtSlot(str)
@@ -3187,13 +3186,13 @@ def softResetSensor(self, target: str):
         """reset hardware Sensor device."""
         self._console_mutex.lock()
         try:
-            if target == "CONSOLE":
+            if target == "console":
                 if motion_interface.console.soft_reset():
                     logger.info("Software Reset Sent")
                 else:
                     logger.error("Failed to send Software Reset")
-            elif target == "SENSOR_LEFT" or target == "SENSOR_RIGHT":
-                sensor_tag = "left" if target == "SENSOR_LEFT" else "right"
+            elif target == "left" or target == "right":
+                sensor_tag = "left" if target == "left" else "right"
                 if getattr(motion_interface, sensor_tag).soft_reset():
                     logger.info("Software Reset Sent")
                 else:
@@ -3530,7 +3529,7 @@ def readSafetyStatus(self):
 
             for label, channel in channels.items():
                 status = self.i2cReadBytes(
-                    "CONSOLE", muxIdx, channel, i2cAddr, offset, data_len
+                    "console", muxIdx, channel, i2cAddr, offset, data_len
                 )
                 if status:
                     statuses[label] = status[0]
@@ -3564,8 +3563,8 @@ def readSafetyStatus(self):
     def queryCameraPowerStatus(self, target: str):
         """Query camera power status for all cameras on the specified sensor with mutex protection."""
         try:
-            if target == "SENSOR_LEFT" or target == "SENSOR_RIGHT":
-                sensor_tag = "left" if target == "SENSOR_LEFT" else "right"
+            if target == "left" or target == "right":
+                sensor_tag = "left" if target == "left" else "right"
                 mutex = self._get_sensor_mutex(target)
 
                 mutex.lock()
@@ -3606,8 +3605,8 @@ def queryCameraPowerStatus(self, target: str):
     def setFanControl(self, target: str, fan_on: bool):
         """Set fan control state on the specified sensor with mutex protection."""
         try:
-            if target == "SENSOR_LEFT" or target == "SENSOR_RIGHT":
-                sensor_tag = "left" if target == "SENSOR_LEFT" else "right"
+            if target == "left" or target == "right":
+                sensor_tag = "left" if target == "left" else "right"
                 mutex = self._get_sensor_mutex(target)
 
                 mutex.lock()
@@ -3644,8 +3643,8 @@ def setFanControl(self, target: str, fan_on: bool):
     def getFanControlStatus(self, target: str):
         """Get fan control status from the specified sensor with mutex protection."""
         try:
-            if target == "SENSOR_LEFT" or target == "SENSOR_RIGHT":
-                sensor_tag = "left" if target == "SENSOR_LEFT" else "right"
+            if target == "left" or target == "right":
+                sensor_tag = "left" if target == "left" else "right"
                 mutex = self._get_sensor_mutex(target)
 
                 mutex.lock()
@@ -3875,7 +3874,7 @@ def run(self):
 
                     for label, channel in channels.items():
                         status = self.connector.i2cReadBytes(
-                            "CONSOLE", muxIdx, channel, i2cAddr, offset, data_len
+                            "console", muxIdx, channel, i2cAddr, offset, data_len
                         )
                         if status:
                             statuses[label] = status[0]
@@ -3912,10 +3911,10 @@ def run(self):
                     #
                     tcm_raw = self.connector.getLsyncCount()
                     tcl_raw = self.connector.i2cReadBytes(
-                        "CONSOLE", muxIdx, 4, i2cAddr, 0x10, 4
+                        "console", muxIdx, 4, i2cAddr, 0x10, 4
                     )
                     pdc_raw = self.connector.i2cReadBytes(
-                        "CONSOLE", muxIdx, 7, i2cAddr, 0x1C, 2
+                        "console", muxIdx, 7, i2cAddr, 0x1C, 2
                     )
 
                     # Represent raw byte arrays as hex for easier reading
diff --git a/pages/Console.qml b/pages/Console.qml
index bd7e38c..83faa25 100644
--- a/pages/Console.qml
+++ b/pages/Console.qml
@@ -284,7 +284,7 @@ Rectangle {
                                 }
 
                                 onClicked: {
-                                    if(MOTIONInterface.sendPingCommand("CONSOLE")){                                        
+                                    if(MOTIONInterface.sendPingCommand("console")){                                        
                                         pingResult.text = "Ping SUCCESS"
                                         pingResult.color = "green"
                                     }else{
@@ -338,7 +338,7 @@ Rectangle {
                                 }
 
                                 onClicked: {
-                                    if(MOTIONInterface.sendLedToggleCommand("CONSOLE"))
+                                    if(MOTIONInterface.sendLedToggleCommand("console"))
                                     {
                                         toggleLedResult.text = "LED Toggled"
                                         toggleLedResult.color = "green"
@@ -392,7 +392,7 @@ Rectangle {
 
                                 onClicked: {
 
-                                    if(MOTIONInterface.sendEchoCommand("CONSOLE"))
+                                    if(MOTIONInterface.sendEchoCommand("console"))
                                     {
                                         echoResult.text = "Echo SUCCESS"
                                         echoResult.color = "green"
@@ -904,7 +904,7 @@ Rectangle {
 
                                         if (dir === "Read") {
                                             // console.log(`READ from ${fpga.label} @ 0x${offset.toString(16)}`);
-                                            let result = MOTIONInterface.i2cReadBytes("CONSOLE", muxIdx, channel, i2cAddr, offset, length);
+                                            let result = MOTIONInterface.i2cReadBytes("console", muxIdx, channel, i2cAddr, offset, length);
 
                                             if (result.length === 0) {
                                                 console.error("Read failed or returned empty array.");
@@ -983,7 +983,7 @@ Rectangle {
 
                                             // console.log("Data to send:", dataToSend.map(b => "0x" + b.toString(16).padStart(2, "0")).join(" "));
 
-                                            let success = MOTIONInterface.i2cWriteBytes("CONSOLE", muxIdx, channel, i2cAddr, offset, dataToSend);
+                                            let success = MOTIONInterface.i2cWriteBytes("console", muxIdx, channel, i2cAddr, offset, dataToSend);
 
                                             if (success) {
                                                 // console.log("Write successful.");
@@ -1387,7 +1387,7 @@ Rectangle {
                                 enabled: parent.enabled  // Disable MouseArea when the button is disabled
                                 onClicked: {
                                     // console.log("Soft Reset Triggered")
-                                    MOTIONInterface.softResetSensor("CONSOLE")
+                                    MOTIONInterface.softResetSensor("console")
                                 }
 
                                 onEntered: {
diff --git a/pages/Demo.qml b/pages/Demo.qml
index cf82d3e..376a0e7 100644
--- a/pages/Demo.qml
+++ b/pages/Demo.qml
@@ -157,7 +157,7 @@ Rectangle {
 
         // console.log("Data to send:", dataToSend.map(b => "0x" + b.toString(16).padStart(2, "0")).join(" "));
 
-        let success = MOTIONInterface.i2cWriteBytes("CONSOLE", muxIdx, channel, i2cAddr, offset, dataToSend);
+        let success = MOTIONInterface.i2cWriteBytes("console", muxIdx, channel, i2cAddr, offset, dataToSend);
 
         if (success) {
             // console.log("Write successful.");
@@ -195,7 +195,7 @@ Rectangle {
         const data_len = parseInt(myFn.data_size.replace("B", "")) / 8;
 
         // console.log(`READ from ${fModel.label} @ 0x${offset.toString(16)}`);
-        let result = MOTIONInterface.i2cReadBytes("CONSOLE", muxIdx, channel, i2cAddr, offset, data_len);
+        let result = MOTIONInterface.i2cReadBytes("console", muxIdx, channel, i2cAddr, offset, data_len);
 
         if (result.length === 0) {
             // console.log("Read failed or returned empty array.");
diff --git a/pages/Sensor.qml b/pages/Sensor.qml
index d3112c0..80cc9d4 100644
--- a/pages/Sensor.qml
+++ b/pages/Sensor.qml
@@ -72,7 +72,7 @@ Rectangle {
             return
         }
 
-        let sensor_tag = (sensorSelector.currentIndex === 0) ? "SENSOR_LEFT" : "SENSOR_RIGHT";
+        let sensor_tag = (sensorSelector.currentIndex === 0) ? "left" : "right";
         // console.log("Sensor Updating all states for", sensor_tag);
         
         MOTIONInterface.querySensorInfo(sensor_tag)
@@ -89,7 +89,7 @@ Rectangle {
             // console.log("Page Loaded - Sensor Already Connected. Fetching Info...");
             updateStates();
             // Also query camera power status for the selected sensor
-            let sensor_tag = (sensorSelector.currentIndex === 0) ? "SENSOR_LEFT" : "SENSOR_RIGHT";
+            let sensor_tag = (sensorSelector.currentIndex === 0) ? "left" : "right";
             MOTIONInterface.queryCameraPowerStatus(sensor_tag);
             // Start fan status polling
             fanStatusTimer.start();
@@ -112,7 +112,7 @@ Rectangle {
         running: false
         repeat: true
         onTriggered: {
-            let sensor_tag = (sensorSelector.currentIndex === 0) ? "SENSOR_LEFT" : "SENSOR_RIGHT";
+            let sensor_tag = (sensorSelector.currentIndex === 0) ? "left" : "right";
             let isConnected = (sensorSelector.currentIndex === 0)
                 ? MOTIONInterface.leftSensorConnected
                 : MOTIONInterface.rightSensorConnected;
@@ -135,7 +135,7 @@ Rectangle {
             if (MOTIONInterface.leftSensorConnected || MOTIONInterface.rightSensorConnected) {
                 infoTimer.start()          // One-time info fetch
                 // Automatically query camera power status when sensor connects
-                let sensor_tag = (sensorSelector.currentIndex === 0) ? "SENSOR_LEFT" : "SENSOR_RIGHT";
+                let sensor_tag = (sensorSelector.currentIndex === 0) ? "left" : "right";
                 MOTIONInterface.queryCameraPowerStatus(sensor_tag);
                 // Start fan status polling
                 fanStatusTimer.start();
@@ -436,7 +436,7 @@ Rectangle {
                                     }
 
                                     onClicked: {
-                                        let sensor_tag = (sensorSelector.currentIndex === 0) ? "SENSOR_LEFT" : "SENSOR_RIGHT";
+                                        let sensor_tag = (sensorSelector.currentIndex === 0) ? "left" : "right";
                                         if(MOTIONInterface.sendPingCommand(sensor_tag)){                                        
                                             pingResult.text = "Ping SUCCESS"
                                             pingResult.color = "green"
@@ -493,7 +493,7 @@ Rectangle {
                                     }
 
                                     onClicked: {
-                                        let sensor_tag = (sensorSelector.currentIndex === 0) ? "SENSOR_LEFT" : "SENSOR_RIGHT";
+                                        let sensor_tag = (sensorSelector.currentIndex === 0) ? "left" : "right";
                                         if(MOTIONInterface.sendEchoCommand(sensor_tag)) {
                                             echoResult.text = "Echo SUCCESS"
                                             echoResult.color = "green"
@@ -550,7 +550,7 @@ Rectangle {
                                     }
 
                                     onClicked: {
-                                        let sensor_tag = (sensorSelector.currentIndex === 0) ? "SENSOR_LEFT" : "SENSOR_RIGHT";
+                                        let sensor_tag = (sensorSelector.currentIndex === 0) ? "left" : "right";
                                         if(MOTIONInterface.sendLedToggleCommand(sensor_tag)) {
                                             toggleLedResult.text = "LED Toggled"
                                             toggleLedResult.color = "green"
@@ -611,7 +611,7 @@ Rectangle {
                                     }
 
                                     onClicked: {
-                                        let sensor_tag = (sensorSelector.currentIndex === 0) ? "SENSOR_LEFT" : "SENSOR_RIGHT";
+                                        let sensor_tag = (sensorSelector.currentIndex === 0) ? "left" : "right";
                                         let newFanState = !fanControlOn;
                                         
                                         if (MOTIONInterface.setFanControl(sensor_tag, newFanState)) {
@@ -993,8 +993,8 @@ Rectangle {
                                     if (selectedIndex === 8) {
                                         cameraMask = 0xFF;  // All Cameras
                                     }
-                                    let sensor_tag = "SENSOR_LEFT";
-                                    (sensorSelector.currentIndex === 0) ? sensor_tag = "SENSOR_LEFT": sensor_tag = "SENSOR_RIGHT";
+                                    let sensor_tag = "left";
+                                    (sensorSelector.currentIndex === 0) ? sensor_tag = "left": sensor_tag = "right";
                                     // console.log("Test Camera Mask: " + cameraMask.toString(16));
                                     if(cameraMask == 0xFF){
                                         MOTIONInterface.configureAllCameras(sensor_tag);
@@ -1045,8 +1045,8 @@ Rectangle {
                                         }
                                         onClicked: {
                                             let selectedIndex = cameraDropdown.currentIndex;
-                                            let sensor_tag = "SENSOR_LEFT";
-                                            (sensorSelector.currentIndex === 0) ? sensor_tag = "SENSOR_LEFT": sensor_tag = "SENSOR_RIGHT";
+                                            let sensor_tag = "left";
+                                            (sensorSelector.currentIndex === 0) ? sensor_tag = "left": sensor_tag = "right";
                                             
                                             if (selectedIndex < 8) {
                                                 // Single camera - get its serial number from the properties
@@ -1138,8 +1138,8 @@ Rectangle {
                                             }
                                             onClicked: {
                                                 let selectedIndex = cameraDropdown.currentIndex;
-                                                let sensor_tag = "SENSOR_LEFT";
-                                                (sensorSelector.currentIndex === 0) ? sensor_tag = "SENSOR_LEFT": sensor_tag = "SENSOR_RIGHT";
+                                                let sensor_tag = "left";
+                                                (sensorSelector.currentIndex === 0) ? sensor_tag = "left": sensor_tag = "right";
                                                 
                                                 if (selectedIndex < 8) {
                                                     // Single camera - get its serial number from the properties
@@ -1269,7 +1269,7 @@ Rectangle {
                                             MOTIONInterface.powerCamerasOn(target)
                                             
                                             // Automatically query power status after powering on
-                                            let sensor_tag = (sensorSelector.currentIndex === 0) ? "SENSOR_LEFT" : "SENSOR_RIGHT";
+                                            let sensor_tag = (sensorSelector.currentIndex === 0) ? "left" : "right";
                                             MOTIONInterface.queryCameraPowerStatus(sensor_tag)
                                         }
                                     }
@@ -1326,7 +1326,7 @@ Rectangle {
                                             MOTIONInterface.powerCamerasOff(target)
                                             
                                             // Automatically query power status after powering off
-                                            let sensor_tag = (sensorSelector.currentIndex === 0) ? "SENSOR_LEFT" : "SENSOR_RIGHT";
+                                            let sensor_tag = (sensorSelector.currentIndex === 0) ? "left" : "right";
                                             MOTIONInterface.queryCameraPowerStatus(sensor_tag)
                                         }
                                     }
@@ -1618,8 +1618,8 @@ Rectangle {
                                 anchors.fill: parent
                                 enabled: parent.enabled  // Disable MouseArea when the button is disabled
                                 onClicked: {
-                                    let sensor_tag = "SENSOR_LEFT";
-                                    (sensorSelector.currentIndex === 0) ? sensor_tag = "SENSOR_LEFT": sensor_tag = "SENSOR_RIGHT";
+                                    let sensor_tag = "left";
+                                    (sensorSelector.currentIndex === 0) ? sensor_tag = "left": sensor_tag = "right";
                                     // console.log("Soft Reset Triggered")
                                     MOTIONInterface.softResetSensor(sensor_tag)
                                 }
diff --git a/pages/Settings.qml b/pages/Settings.qml
index 74449d0..926e977 100644
--- a/pages/Settings.qml
+++ b/pages/Settings.qml
@@ -56,10 +56,10 @@ Rectangle {
     property string consoleFwStageText: ""
     property int consoleFwPercent: -1
     property string consoleFwMessage: ""
-    // Current firmware update target (CONSOLE, SENSOR_LEFT, SENSOR_RIGHT)
-    property string fwUpdateTarget: "CONSOLE"
+    // Current firmware update target ("console", "left", "right")
+    property string fwUpdateTarget: "console"
     // Target used when opening the upload dialog
-    property string fwUploadTarget: "CONSOLE"
+    property string fwUploadTarget: "console"
 
     // User configuration values (editable by user)
     property real userTecTrip: 0.00
@@ -137,11 +137,11 @@ Rectangle {
     }
 
     function refreshSensorInfo(target) {
-        if (target === "SENSOR_LEFT" && MOTIONInterface.leftSensorConnected) {
+        if (target === "left" && MOTIONInterface.leftSensorConnected) {
             MOTIONInterface.querySensorInfo(target)
             MOTIONInterface.querySensorLatestVersionInfo(target)
         }
-        if (target === "SENSOR_RIGHT" && MOTIONInterface.rightSensorConnected) {
+        if (target === "right" && MOTIONInterface.rightSensorConnected) {
             MOTIONInterface.querySensorInfo(target)
             MOTIONInterface.querySensorLatestVersionInfo(target)
         }
@@ -267,7 +267,7 @@ Rectangle {
                     return db - da
                 })
 
-                if (target === "SENSOR_LEFT") {
+                if (target === "left") {
                     if (info.latest && info.latest.tag_name) {
                         leftLatestFirmware = info.latest.tag_name
                         leftLatestFirmwareDate = info.latest.published_at || ""
@@ -278,7 +278,7 @@ Rectangle {
                     leftReleasesModel = names
                     var idxL = leftReleasesModel.indexOf(leftLatestFirmware)
                     leftLatestIndex = idxL >= 0 ? idxL : 0
-                } else if (target === "SENSOR_RIGHT") {
+                } else if (target === "right") {
                     if (info.latest && info.latest.tag_name) {
                         rightLatestFirmware = info.latest.tag_name
                         rightLatestFirmwareDate = info.latest.published_at || ""
@@ -297,10 +297,10 @@ Rectangle {
 
         // Newer signal (preferred): includes target so Settings can show both L/R.
         function onSensorDeviceInfoReceivedEx(target, fwVersion, devId) {
-            if (target === "SENSOR_LEFT") {
+            if (target === "left") {
                 leftSensorFirmwareVersion = fwVersion
                 leftSensorDeviceId = devId
-            } else if (target === "SENSOR_RIGHT") {
+            } else if (target === "right") {
                 rightSensorFirmwareVersion = fwVersion
                 rightSensorDeviceId = devId
             }
@@ -335,7 +335,7 @@ Rectangle {
             fwProgressDialog.close()
             consoleFwToken = ""
             fwResultDialog.title = success ? "Firmware Update Complete" : "Firmware Update Failed"
-            var prefix = (target === "CONSOLE") ? "Console: " : (target === "SENSOR_LEFT") ? "Left sensor: " : "Right sensor: "
+            var prefix = (target === "console") ? "Console: " : (target === "left") ? "Left sensor: " : "Right sensor: "
             fwResultDialog.message = prefix + message
             fwResultDialog.open()
         }
@@ -400,8 +400,8 @@ Rectangle {
         onTriggered: {
             refreshConsoleInfo()
             refreshFpgaInfo()
-            refreshSensorInfo("SENSOR_LEFT")
-            refreshSensorInfo("SENSOR_RIGHT")
+            refreshSensorInfo("left")
+            refreshSensorInfo("right")
             if (MOTIONInterface.consoleConnected)
                 MOTIONInterface.readUserConfig()
         }
@@ -554,12 +554,12 @@ Rectangle {
             if (idx < 0) idx = file.lastIndexOf("\\\\")
             var fname = idx >= 0 ? file.substring(idx + 1) : file
 
-            if (fwUploadTarget === "CONSOLE" && fname !== "motion-console-fw.bin") {
+            if (fwUploadTarget === "console" && fname !== "motion-console-fw.bin") {
                 fwErrorDialog.message = "Filename must be motion-console-fw.bin"
                 fwErrorDialog.open()
                 return
             }
-            if ((fwUploadTarget === "SENSOR_LEFT" || fwUploadTarget === "SENSOR_RIGHT") && fname !== "motion-sensor-fw.bin") {
+            if ((fwUploadTarget === "left" || fwUploadTarget === "right") && fname !== "motion-sensor-fw.bin") {
                 fwErrorDialog.message = "Filename must be motion-sensor-fw.bin"
                 fwErrorDialog.open()
                 return
@@ -765,7 +765,7 @@ Rectangle {
 
             Text {
                 text: {
-                    var label = (fwUpdateTarget === "CONSOLE") ? "console" : (fwUpdateTarget === "SENSOR_LEFT") ? "left sensor" : "right sensor"
+                    var label = (fwUpdateTarget === "console") ? "console" : (fwUpdateTarget === "left") ? "left sensor" : "right sensor"
                     return "Update " + label + " firmware to " + consoleFwSelectedTag + "?"
                 }
                 color: "white"
@@ -1657,7 +1657,7 @@ Rectangle {
                                         if (!tag || tag === "")
                                             tag = consoleLatestFirmware
                                         if (tag === "Upload File...") {
-                                            fwUploadTarget = "CONSOLE"
+                                            fwUploadTarget = "console"
                                             fwUploadDialog.open()
                                             return
                                         }
@@ -1727,7 +1727,7 @@ Rectangle {
                                         anchors.fill: parent
                                         enabled: parent.enabled
                                         hoverEnabled: true
-                                        onClicked: refreshSensorInfo("SENSOR_LEFT")
+                                        onClicked: refreshSensorInfo("left")
                                         onEntered: if (parent.enabled) parent.color = "#34495E"
                                         onExited: parent.color = parent.enabled ? "#2C3E50" : "#7F8C8D"
                                     }
@@ -1797,14 +1797,14 @@ Rectangle {
                                         if (!tag || tag === "")
                                             tag = leftLatestFirmware
                                         if (tag === "Upload File...") {
-                                            fwUploadTarget = "SENSOR_LEFT"
+                                            fwUploadTarget = "left"
                                             fwUploadDialog.open()
                                             return
                                         }
                                         consoleFwPercent = -1
                                         consoleFwMessage = ""
                                         consoleFwStageText = "Starting…"
-                                        MOTIONInterface.beginDeviceFirmwareDownload("SENSOR_LEFT", tag)
+                                        MOTIONInterface.beginDeviceFirmwareDownload("left", tag)
                                         fwProgressDialog.open()
                                     }
                                     onEntered: if (parent.enabled) parent.color = "#C0392B"
@@ -1867,7 +1867,7 @@ Rectangle {
                                         anchors.fill: parent
                                         enabled: parent.enabled
                                         hoverEnabled: true
-                                        onClicked: refreshSensorInfo("SENSOR_RIGHT")
+                                        onClicked: refreshSensorInfo("right")
                                         onEntered: if (parent.enabled) parent.color = "#34495E"
                                         onExited: parent.color = parent.enabled ? "#2C3E50" : "#7F8C8D"
                                     }
@@ -1937,14 +1937,14 @@ Rectangle {
                                         if (!tag || tag === "")
                                             tag = rightLatestFirmware
                                         if (tag === "Upload File...") {
-                                            fwUploadTarget = "SENSOR_RIGHT"
+                                            fwUploadTarget = "right"
                                             fwUploadDialog.open()
                                             return
                                         }
                                         consoleFwPercent = -1
                                         consoleFwMessage = ""
                                         consoleFwStageText = "Starting…"
-                                        MOTIONInterface.beginDeviceFirmwareDownload("SENSOR_RIGHT", tag)
+                                        MOTIONInterface.beginDeviceFirmwareDownload("right", tag)
                                         fwProgressDialog.open()
                                     }
                                     onEntered: if (parent.enabled) parent.color = "#C0392B"

From 8f9b5809fd86e33cebdcb192acd7cc89eca0bb76 Mon Sep 17 00:00:00 2001
From: George Vigelette <george@openwater.cc>
Date: Tue, 28 Apr 2026 19:44:11 -0400
Subject: [PATCH 3/4] update workflow to reflect naming convention

---
 .github/workflows/release-build.yml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/release-build.yml b/.github/workflows/release-build.yml
index bb6e88b..e4c152a 100644
--- a/.github/workflows/release-build.yml
+++ b/.github/workflows/release-build.yml
@@ -6,7 +6,7 @@ on:
     branches: [main, next]
     tags:
       - "[0-9]+.[0-9]+.[0-9]+"
-      - "pre-[0-9]+.[0-9]+.[0-9]+"
+      - "[0-9]+.[0-9]+.[0-9]+-rc.[0-9]+"
 permissions:
   contents: write
 
@@ -66,7 +66,7 @@ jobs:
         run: |
           if [[ "$GITHUB_REF" == refs/tags/* ]]; then
             TAG="${GITHUB_REF#refs/tags/}"
-            # Strip leading 'v' only; keep 'pre-' for pre-release versions
+            # Strip leading 'v' only; -rc.x suffix is preserved as-is
             VER="${TAG#v}"
           else
             VER=$(git describe --tags --dirty --always --long 2>/dev/null || echo "dev-${GITHUB_SHA::8}")
@@ -96,7 +96,7 @@ jobs:
           echo "ARTIFACT_ZIP=OpenMotion-TestApp-${TAG}.zip" >> "$GITHUB_OUTPUT"
 
           # pre-release flag
-          if [[ "$TAG" == pre-* ]]; then
+          if [[ "$TAG" == *-rc.* ]]; then
             echo "PRERELEASE=true" >> "$GITHUB_OUTPUT"
           else
             echo "PRERELEASE=false" >> "$GITHUB_OUTPUT"

From c542329294b87f46ff55bbb21732e7e97bec7364 Mon Sep 17 00:00:00 2001
From: boringethan <ethan@openwater.cc>
Date: Tue, 12 May 2026 16:22:37 -0700
Subject: [PATCH 4/4] feat(ui): float-precision trigger frequency (Demo trigger
 panel)

Cherry-picks the trigger-frequency precision change from 1e6576f without the
JSON camelCase key conversion or the temporary float-coercion shim. The
DoubleValidator (1.00-100.00, 2 decimals) and parseFloat now match the
firmware's float frequencyHz; PascalCase JSON keys stay consistent with the
rest of the trigger config and the firmware's GET response.
---
 pages/Demo.qml | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/pages/Demo.qml b/pages/Demo.qml
index 376a0e7..3c8da5f 100644
--- a/pages/Demo.qml
+++ b/pages/Demo.qml
@@ -1620,8 +1620,12 @@ Rectangle {
                                     Layout.preferredHeight: 32
                                     enabled: MOTIONInterface.consoleConnected
                                     font.pixelSize: 12
-                                    text: "40"
-                                    validator: IntValidator { bottom: 1; top: 100 }
+                                    text: "40.00"
+                                    validator: DoubleValidator { bottom: 1.0; top: 100.0; decimals: 2; notation: DoubleValidator.StandardNotation }
+                                    onEditingFinished: {
+                                        var val = parseFloat(text)
+                                        if (!isNaN(val)) text = val.toFixed(2)
+                                    }
                                     background: Rectangle {
                                         radius: 6
                                         color: "#2B2B2E"
@@ -1741,7 +1745,7 @@ Rectangle {
                                     page1.pdcMax = NaN;
 
                                     var json_trigger_data = {
-                                        "TriggerFrequencyHz": parseInt(fsFrequency.text),
+                                        "TriggerFrequencyHz": parseFloat(fsFrequency.text),
                                         "TriggerPulseWidthUsec": parseInt(fsPulseWidth.text),
                                         "LaserPulseDelayUsec": parseInt(lsDelay.text),
                                         "LaserPulseWidthUsec": parseInt(lsPulseWidth.text),