diff --git a/.idea/deploymentTargetSelector.xml b/.idea/deploymentTargetSelector.xml
index 25edb41..32b0020 100644
--- a/.idea/deploymentTargetSelector.xml
+++ b/.idea/deploymentTargetSelector.xml
@@ -4,7 +4,7 @@
     <selectionStates>
       <SelectionState runConfigName="app">
         <option name="selectionMode" value="DROPDOWN" />
-        <DropdownSelection timestamp="2026-07-17T12:57:33.559741200Z">
+        <DropdownSelection timestamp="2026-07-17T16:06:27.410601800Z">
           <Target type="DEFAULT_BOOT">
             <handle>
               <DeviceId pluginId="LocalEmulator" identifier="path=C:\Users\evan\.android\avd\Medium_Phone.avd" />
diff --git a/AGENTS.md b/AGENTS.md
index c3c53e0..71ddc60 100644
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -193,10 +193,10 @@ val y = power / 100.0 * sin(angle)   // 水平分量
 - [x] 状态机修复：趴下状态下允许切换站立状态（机器人站立后自动进入 RL 控制，无需 App 下发）
 - [x] UI 布局：增加 bg1.png 作为底图，无视频流时显示（视频流播放时覆盖底图）
 - [x] UI 布局：开关灯合并为前灯/后灯两个按键，通过颜色（琥珀色=开/暗色=关）表示置位状态，配合机器人回报状态同步
+- [x] 状态栏：ICMP 延迟测量 + WiFi 信号强度图标显示，放置于连接状态文字右侧，延迟独立于连接生命周期
 
 ### 待办
 
 - [ ] UI 布局：header 部分虽已避开状态栏，但底色与屏幕顶端视觉不吸附，需优化视觉传达效果
 - [ ] UI 布局：功能按钮均布在四周，充分利用屏幕空间，优化单手操作体验
-- [ ] 状态栏：增加 ICMP 延迟测量显示，显示当前 WiFi 强度和延迟 ms
 - [ ] 视频进一步延迟优化：探索更激进的低延迟策略（如降低帧率、缩小分辨率、调整 ExoPlayer 缓冲策略等）
diff --git a/app/src/main/AndroidManifest.xml b/app/src/main/AndroidManifest.xml
index 6409ab8..1dcab47 100644
--- a/app/src/main/AndroidManifest.xml
+++ b/app/src/main/AndroidManifest.xml
@@ -4,6 +4,7 @@
 
     <uses-permission android:name="android.permission.INTERNET" />
     <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
+    <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
 
     <application
         android:name=".M20App"
diff --git a/app/src/main/java/com/example/m20_gamepad/service/PingMonitor.kt b/app/src/main/java/com/example/m20_gamepad/service/PingMonitor.kt
new file mode 100644
index 0000000..867595b
--- /dev/null
+++ b/app/src/main/java/com/example/m20_gamepad/service/PingMonitor.kt
@@ -0,0 +1,68 @@
+package com.example.m20_gamepad.service
+
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.flow.MutableStateFlow
+import kotlinx.coroutines.flow.StateFlow
+import kotlinx.coroutines.flow.asStateFlow
+import kotlinx.coroutines.isActive
+import kotlinx.coroutines.launch
+import java.io.BufferedReader
+import java.io.InputStreamReader
+
+/**
+ * ICMP 延迟监测器。使用系统 ping 命令测量到目标主机的往返延迟。
+ *
+ * @param host 目标主机 IP
+ * @param intervalMs 测量间隔（毫秒）
+ * @param scope 协程作用域
+ */
+class PingMonitor(
+    private val host: String,
+    private val intervalMs: Long = 3000L,
+    private val scope: CoroutineScope
+) {
+    private val _latencyMs = MutableStateFlow<Long?>(null)
+    val latencyMs: StateFlow<Long?> = _latencyMs.asStateFlow()
+
+    private var job: Job? = null
+
+    fun start() {
+        stop()
+        job = scope.launch {
+            while (isActive) {
+                _latencyMs.value = ping()
+                delay(intervalMs)
+            }
+        }
+    }
+
+    fun stop() {
+        job?.cancel()
+        job = null
+        _latencyMs.value = null
+    }
+
+    /**
+     * 执行一次 ICMP ping，返回延迟毫秒数；失败返回 null。
+     */
+    private fun ping(): Long? {
+        return try {
+            val process = ProcessBuilder(
+                "ping", "-c", "1", "-W", "2", host
+            ).redirectErrorStream(true).start()
+
+            val reader = BufferedReader(InputStreamReader(process.inputStream))
+            val output = reader.readText()
+            process.waitFor()
+
+            // 解析 "time=12.3 ms" 格式
+            val regex = Regex("time=(\\d+(?:\\.\\d+)?)\\s*ms")
+            val match = regex.find(output)
+            match?.groupValues?.get(1)?.toDouble()?.toLong()
+        } catch (_: Exception) {
+            null
+        }
+    }
+}
diff --git a/app/src/main/java/com/example/m20_gamepad/ui/MainScreen.kt b/app/src/main/java/com/example/m20_gamepad/ui/MainScreen.kt
index bd8b52c..51a9a79 100644
--- a/app/src/main/java/com/example/m20_gamepad/ui/MainScreen.kt
+++ b/app/src/main/java/com/example/m20_gamepad/ui/MainScreen.kt
@@ -42,6 +42,7 @@ import androidx.compose.ui.Alignment
 import androidx.compose.ui.Modifier
 import androidx.compose.ui.graphics.Color
 import androidx.compose.ui.layout.ContentScale
+import androidx.compose.ui.platform.LocalContext
 import androidx.compose.ui.res.painterResource
 import androidx.compose.ui.text.font.FontWeight
 import androidx.compose.ui.unit.dp
@@ -52,6 +53,7 @@ import androidx.lifecycle.viewmodel.initializer
 import androidx.lifecycle.viewmodel.viewModelFactory
 import com.erz.joysticklibrary.Joystick
 import com.erz.joysticklibrary.JoystickType
+import com.example.m20_gamepad.M20App
 import com.example.m20_gamepad.R
 import com.example.m20_gamepad.data.SettingsRepository
 import com.example.m20_gamepad.network.ProtocolClient
@@ -73,13 +75,14 @@ private val OverlayText = Color.White
 @Composable
 fun MainScreen(
     repository: SettingsRepository,
-    onSettingsClick: () -> Unit,
-    viewModel: MainViewModel = viewModel(
+    onSettingsClick: () -> Unit
+) {
+    val app = LocalContext.current.applicationContext as M20App
+    val viewModel: MainViewModel = viewModel(
         factory = viewModelFactory {
-            initializer { MainViewModel(repository) }
+            initializer { MainViewModel(repository, app) }
         }
     )
-) {
     val connectionState by viewModel.connectionState.collectAsStateWithLifecycle()
     val status by viewModel.latestStatus.collectAsStateWithLifecycle()
     val settings by viewModel.settings.collectAsStateWithLifecycle()
@@ -91,6 +94,8 @@ fun MainScreen(
     val ledStatus by viewModel.ledStatus.collectAsStateWithLifecycle()
     val lastUpdate by viewModel.lastUpdate.collectAsStateWithLifecycle()
     val actionFeedback by viewModel.actionFeedback.collectAsStateWithLifecycle()
+    val pingLatencyMs by viewModel.pingLatencyMs.collectAsStateWithLifecycle()
+    val wifiSignalLevel by viewModel.wifiSignalLevel.collectAsStateWithLifecycle()
 
     var statusPanelVisible by remember { mutableStateOf(false) }
     val snackbarHostState = remember { SnackbarHostState() }
@@ -125,6 +130,8 @@ fun MainScreen(
         StatusBar(
             connectionState = connectionState,
             status = status,
+            pingLatencyMs = pingLatencyMs,
+            wifiSignalLevel = wifiSignalLevel,
             onStatusClick = { statusPanelVisible = true },
             onSettingsClick = onSettingsClick,
             modifier = Modifier
@@ -169,6 +176,8 @@ fun MainScreen(
 private fun StatusBar(
     connectionState: ProtocolClient.State,
     status: com.example.m20_gamepad.network.models.StatusReport?,
+    pingLatencyMs: Long?,
+    wifiSignalLevel: Int,
     onStatusClick: () -> Unit,
     onSettingsClick: () -> Unit,
     modifier: Modifier = Modifier
@@ -181,8 +190,14 @@ private fun StatusBar(
         verticalAlignment = Alignment.CenterVertically,
         horizontalArrangement = Arrangement.SpaceBetween
     ) {
-        // 连接状态指示
-        ConnectionIndicator(connectionState)
+        // 连接状态 + WiFi 信号 + Ping 延迟
+        Row(verticalAlignment = Alignment.CenterVertically) {
+            ConnectionIndicator(connectionState)
+            Spacer(Modifier.width(12.dp))
+            WifiSignalIcon(level = wifiSignalLevel)
+            Spacer(Modifier.width(12.dp))
+            PingIndicator(pingLatencyMs)
+        }
 
         // 电量 / 运动状态
         Row(
@@ -238,6 +253,46 @@ private fun ConnectionIndicator(state: ProtocolClient.State) {
     }
 }
 
+/** WiFi 信号强度图标（0-5 格信号柱），白色填充、灰色未填充。 */
+@Composable
+private fun WifiSignalIcon(level: Int) {
+    val activeColor = OverlayText
+    val inactiveColor = Color(0x66FFFFFF)
+    val clamped = level.coerceIn(0, 5)
+
+    Row(
+        verticalAlignment = Alignment.Bottom,
+        horizontalArrangement = Arrangement.spacedBy(2.dp)
+    ) {
+        // 5 根信号柱，从低到高
+        val barHeights = intArrayOf(6, 10, 14, 18, 22)
+        for (i in 0 until 5) {
+            val isActive = i < clamped
+            Box(
+                modifier = Modifier
+                    .width(4.dp)
+                    .height(barHeights[i].dp)
+                    .background(if (isActive) activeColor else inactiveColor, RoundedCornerShape(1.dp))
+            )
+        }
+    }
+}
+
+@Composable
+private fun PingIndicator(latencyMs: Long?) {
+    if (latencyMs == null) {
+        Text("- -", color = Color(0xFF9E9E9E), fontSize = 13.sp)
+    } else {
+        val color = when {
+            latencyMs < 50 -> Color(0xFF4CAF50)  // 绿色 — 良好
+            latencyMs < 150 -> Color(0xFFFFC107) // 黄色 — 一般
+            latencyMs < 300 -> Color(0xFFFF9800) // 橙色 — 较差
+            else -> Color(0xFFF44336)            // 红色 — 很差
+        }
+        Text("${latencyMs}ms", color = color, fontSize = 13.sp)
+    }
+}
+
 @Composable
 private fun StatusChip(text: String) {
     Surface(
diff --git a/app/src/main/java/com/example/m20_gamepad/ui/MainViewModel.kt b/app/src/main/java/com/example/m20_gamepad/ui/MainViewModel.kt
index 3b2b1bf..440b908 100644
--- a/app/src/main/java/com/example/m20_gamepad/ui/MainViewModel.kt
+++ b/app/src/main/java/com/example/m20_gamepad/ui/MainViewModel.kt
@@ -1,5 +1,8 @@
 package com.example.m20_gamepad.ui
 
+import android.app.Application
+import android.content.Context
+import android.net.wifi.WifiManager
 import androidx.lifecycle.ViewModel
 import androidx.lifecycle.viewModelScope
 import com.example.m20_gamepad.data.AppSettings
@@ -14,6 +17,7 @@ import com.example.m20_gamepad.network.models.MotionStatus
 import com.example.m20_gamepad.network.models.StatusReport
 import com.example.m20_gamepad.service.JoystickController
 import com.example.m20_gamepad.service.MotionTransitionResult
+import com.example.m20_gamepad.service.PingMonitor
 import com.example.m20_gamepad.service.RobotConnection
 import kotlinx.coroutines.Job
 import kotlinx.coroutines.delay
@@ -40,7 +44,8 @@ import kotlinx.coroutines.launch
  * @param repository 应用级设置仓库
  */
 class MainViewModel(
-    private val repository: SettingsRepository
+    private val repository: SettingsRepository,
+    private val application: Application
 ) : ViewModel() {
 
     companion object {
@@ -81,6 +86,18 @@ class MainViewModel(
     private val _actionFeedback = MutableStateFlow<String?>(null)
     val actionFeedback: StateFlow<String?> = _actionFeedback.asStateFlow()
 
+    /** ICMP 延迟（毫秒），null 表示无数据或未连接。 */
+    private val _pingLatencyMs = MutableStateFlow<Long?>(null)
+    val pingLatencyMs: StateFlow<Long?> = _pingLatencyMs.asStateFlow()
+
+    private var pingMonitor: PingMonitor? = null
+
+    /** WiFi 信号强度级别（0-5 格），0=无WiFi/无信号。 */
+    private val _wifiSignalLevel = MutableStateFlow(0)
+    val wifiSignalLevel: StateFlow<Int> = _wifiSignalLevel.asStateFlow()
+
+    private var wifiJob: Job? = null
+
     /** 当前设置快照（主界面用于驱动视频播放器地址/编码器） */
     val settings: StateFlow<AppSettings> = repository.settings.stateIn(
         scope = viewModelScope,
@@ -101,6 +118,17 @@ class MainViewModel(
     val isConnected: Boolean get() = robot.isConnected
 
     init {
+        // 启动 ICMP 延迟监测（独立于连接生命周期）
+        restartPingMonitor(settings.value.robotHost)
+        // 设置中 host 变更时重启 ping
+        viewModelScope.launch {
+            settings
+                .map { it.robotHost }
+                .distinctUntilChanged()
+                .collect { host -> restartPingMonitor(host) }
+        }
+        // 启动 WiFi 信号强度监测（独立于连接生命周期）
+        startWifiMonitoring()
         // 设置变更时断开当前连接，下次 connect 使用新参数
         settingsWatchJob = viewModelScope.launch {
             settings
@@ -110,6 +138,44 @@ class MainViewModel(
         }
     }
 
+    /** 启动 WiFi 信号强度周期性监测。 */
+    private fun startWifiMonitoring() {
+        wifiJob?.cancel()
+        wifiJob = viewModelScope.launch {
+            val wifiManager = application.getSystemService(Context.WIFI_SERVICE) as? WifiManager
+            if (wifiManager == null) {
+                _wifiSignalLevel.value = 0
+                return@launch
+            }
+            while (isActive) {
+                val info = wifiManager.connectionInfo
+                val rssi = info?.rssi ?: -127
+                _wifiSignalLevel.value = if (rssi == -127 || info == null) {
+                    0
+                } else {
+                    when {
+                        rssi >= -50 -> 5
+                        rssi >= -60 -> 4
+                        rssi >= -70 -> 3
+                        rssi >= -80 -> 2
+                        rssi >= -90 -> 1
+                        else -> 0
+                    }
+                }
+                delay(3000L)
+            }
+        }
+    }
+
+    /** 重启 PingMonitor（目标 host 变更时调用）。 */
+    private fun restartPingMonitor(host: String) {
+        pingMonitor?.stop()
+        pingMonitor = PingMonitor(host, scope = viewModelScope).also { it.start() }
+        viewModelScope.launch {
+            pingMonitor?.latencyMs?.collect { _pingLatencyMs.value = it }
+        }
+    }
+
     /**
      * 建立连接并启动轴指令循环。参数取自当前设置。
      *
@@ -266,6 +332,9 @@ class MainViewModel(
 
     override fun onCleared() {
         disconnect()
+        wifiJob?.cancel()
+        pingMonitor?.stop()
+        pingMonitor = null
         settingsWatchJob?.cancel()
         super.onCleared()
     }