Release 2.1.9

[liangshaoteng]

This release centers on the new web teach-pendant tooling, lower-level protocol compatibility improvements, and key stability fixes.

[Web Teach Pendant]

• Brand-new pure-Python, dependency-free web teach pendant, with a web_bridge bridging example for easy debugging.
• Reworked settings panel: left-side tabs (Connection / Frequency / About) with instant Chinese/English UI switching.
• Enhanced live connection management: switch hand model and communication type, with hot-reconnect and disconnect support.
• Full device-info display: all fields shown, serial number pinned to the top, with automatic re-fetch of late-arriving data.
• UI consolidation: joint monitoring merged with control, tactile matrix centered, layout better suited to real operation.
• Waveform chart adds a palm force-sum curve, auto-hidden when no data to avoid clutter.
• Joints deviating from their target are flagged orange, with synced EN/CN text for quick deviation spotting.
• Adjustable data-refresh rate; the About tab links to the official website for more resources.

[Driver & Protocol Enhancements]

• L6 / O6 / G20: new full-palm tactile interface with structured SN parsing.
• L10: support for the new device-info protocol (C0/C1/C2/C4), correctly reading the serial number and hardware/software/mechanical versions.
• G20: adapt TSSP_HWK / TSSP_JZG tactile protocols by 0xB0 type.
• O6: drive tactile and palm request handling automatically based on SN parsing.
• O20: SocketCAN CAN-FD backend (CommFactory::createCanFDSocket + CanFDSocket); added dual-side probing and automatic device_id correction.

[Key Fixes]

• Fix L7 getForce double-locking deadlock that left the web pendant with no control and no feedback.
• Fix empty L6 device info (no placeholder emitted before the serial is ready; request is resent on query).
• Fix G20 getVersion to wait for all SN frames, resolving "Unknown" Device Serial.
• Fix auto-probe channel cold-start warm-up failure.
• Fix O20 device-info byte-offset alignment to the firmware protocol; handle incomplete tactile data across different L10 versions.
• Fix log noise: Modbus write-response CRC warning flooding and web-disconnect flooding.

[Public API & Examples]

• New full-palm tactile APIs in public headers: getPalmForce / getFingerForceSum / getPalmForceSum.
• New examples test_l6_can_0, test_o20_canfd_double, test_o20_canfd_socket_0; linker_hand_example / test_g20_can_1 now demonstrate palm-matrix and force-sum reads.
• Example build now includes web_bridge, the new examples, and a Linux-only SocketCAN CAN-FD group.
• Add can-autocfg.sh: CAN channel auto-configuration script.

[Build & Docs]

• Build-tree .so switched to relocatable rpath, fixing libcanbus resolution.
• Prebuilt libraries refreshed: linux x86_64/arm64 bumped to .so.2.1.9 (2.0.0 removed), win64 mingw/msvc dll/lib updated in sync.
• Updated docs for the full-palm tactile API, O20 CAN-FD usage, and Modbus serial authorization; README now embeds light/dark webui screenshots.