采集端统一由 SDK 滤波、显示端不再二次滤波，session.json 记录生效值 - What: sdk_worker/finger_worker 删除硬编码的 sensor.configure(lowpass_cutoff_hz=LOWPASS_CUTOFF_HZ, lowpass_sample_rate_hz=...) —— 它会让界面上的曲线与 CSV 走两条不同的滤波路径；改为在会话打开设备后调用 FilterSettings.apply_to(sensor)，并把两件事分别记下来：self._filter_state = effective_filters(sensor)（设备报的**实际**生效值，供界面与记录使用）与 self._filters_unsupported（该 SDK 应用不了的键，老 SDK 必须被看见而不是被吞掉）；新增 worker 的 set_filter_settings()/filter_settings()/filter_state()/filters_unsupported() 访问器，start() 时清空上一会话的 filter_state（与 _calibration_version 同样的理由：新会话不能继承旧会话的说法）。finger_worker 保留原有的"runtime 可能拒绝 configure"的容错，但改成记日志并把全部键标为未应用。app_window 新增 _filter_settings()（从 preferences 的 plot_* 键读，空/坏值即"什么都不滤"）与 _filter_metadata()（向**正在跑的** worker 要设备实际状态，写成 session.json 的 filters 块：measurement/readout/describe/source，SDK 缺键时附 unsupported_by_sdk）；_start_session 在 start() 之前把设置交给 worker。ui/force_plots.py 把 MetricHistory 的 lowpass_cutoff_hz 从 LOWPASS_CUTOFF_HZ 改成 0.0：SDK 已经滤过一遍，且这个 buffer 就是进记录的那个，显示端再滤会让曲线画出 CSV 里根本没有的数据（原来用的还是零相位 filtfilt，非因果）。acquisition/constants.py 删掉 LOWPASS_CUTOFF_HZ（"app 在 10 Hz 滤波"这件事不存在了），FORCE_SAMPLE_RATE_HZ 保留。tests/test_force_filters.py 增 3 项：worker 未开设备时 filter_state() 为 {}（"没问过"不等于"没在滤"）、effective_filters() 对没有 filters_state() 的 SDK 返回 {}、以及对着真实 SDK 的端到端断言（external-frame 构造 box Sensor → apply_to → filters_state 回报 flowEMA(0.5)+median(3)+lowpass(10Hz,order2) → force_triplets 两个 buffer 都在 → 全关也可表达）。apps/studio/tools/ui_check.py 的 _StuckWorker 补上新合约方法（set_filter_settings/filter_settings/filter_state/filters_unsupported），否则窗口一启动就 AttributeError。 - Why: 用户的核心要求是"显示的和记录的必须一致，包括所有滤波"，并决定整条链留在 SDK、app 只通过 Sensor.configure 驱动。此前 app 硬编码 10 Hz 低通（SDK 侧）**加上**显示端 filtfilt（app 侧），同一次采集的两份数据经过两条不同的滤波路径；session.json 里的 filter 块也只是照抄常量，说的不是设备在做的事。 - Verification: shared 全量 156 passed（含新增的真实 SDK 端到端断言）；studio 85 项测试通过（修好 _StuckWorker 合约后）；ui_check 554 项检查、4 个场景 0 失败；编译通过。 - Not in this change: 曲线表头的齿轮按钮与滤波设置对话框（因此现在还只能改 preferences.json 的 plot_* 键来换滤波）、CSV 的 17 列与未滤波第二 buffer、回放界面显示滤波前曲线、发布说明里"默认不再滤波"的措辞。

apps/studio/src/orisys_studio/app_window.py

@@ -28,12 +28,10 @@ from PyQt5.QtWidgets import (
     QWidget,
 )
 
-from orisys_app_shared.acquisition.constants import (
-    FORCE_SAMPLE_RATE_HZ,
-    LOWPASS_CUTOFF_HZ,
-)
+from orisys_app_shared.acquisition.constants import FORCE_SAMPLE_RATE_HZ
 from orisys_app_shared.force import select_display_forces
 from orisys_app_shared.force.calibration_recorder import CalibrationRecorder
+from orisys_app_shared.force.filters import FilterSettings, settings_from_mapping
 from orisys_app_shared.force.session import SessionStore
 from orisys_app_shared.paths import recordings_dir
 from orisys_app_shared.record import RecordConfig
@@ -547,10 +545,7 @@ class StudioMainWindow(QMainWindow):
                 ),
                 "frame_id": "monotonic per acquisition session",
             },
-            "filter": {
-                "lowpass_cutoff_hz": float(LOWPASS_CUTOFF_HZ),
-                "sample_rate_hz": float(FORCE_SAMPLE_RATE_HZ),
-            },
+            "filter": self._filter_metadata(),
             "recording_mode": self.toolbar.record_mode(),
             "video_config": config.as_dict(),
         }
@@ -577,6 +572,61 @@ class StudioMainWindow(QMainWindow):
         except Exception:  # noqa: BLE001
             return "unavailable"
 
+    def _filter_settings(self) -> FilterSettings:
+        """The filters the operator asked for, from the preferences file.
+
+        One place reads them, so the dialog that writes them and the session that
+        runs them cannot drift apart. An empty or unreadable preference is
+        "nothing filters" — the same default the shipped sensor configs state.
+        """
+        keys = (
+            "flow_ema_alpha",
+            "force_median_window",
+            "force_lowpass_cutoff_hz",
+            "force_lowpass_order",
+            "force_lowpass_sample_rate_hz",
+            "show_unfiltered",
+            "preset",
+        )
+        stored = {}
+        for key in keys:
+            try:
+                value = self.prefs.get(f"plot_{key}")
+            except Exception:  # noqa: BLE001 - a broken preference is not fatal
+                value = None
+            if value is not None:
+                stored[key] = value
+        return settings_from_mapping(stored)
+
+    def _filter_metadata(self) -> dict:
+        """The filters this session actually ran, for ``session.json``.
+
+        Read from the worker that is running the device, not from the settings
+        the operator chose: those are two different things whenever the SDK is
+        older than the request, and the record has to describe the data it holds.
+        Never raises — a record that cannot name its filters is still a record.
+        """
+        try:
+            worker = self._active_worker
+            if worker is None:
+                worker = self._worker_for(self.sensor_picker.sensor_type())
+        except Exception:  # noqa: BLE001
+            logger.exception("Could not find the worker to ask about the filters")
+            return FilterSettings().metadata()
+        try:
+            state = worker.filter_state() if worker is not None else {}
+            settings = worker.filter_settings() if worker is not None else None
+            unsupported = tuple(worker.filters_unsupported()) if worker is not None else ()
+        except Exception:  # noqa: BLE001
+            logger.exception("Could not read the filter state for the record")
+            state, settings, unsupported = {}, None, ()
+        block = (settings or FilterSettings()).metadata(state or None)
+        if unsupported:
+            # Named, not hidden: the record says which settings the installed SDK
+            # could not apply, so the numbers can be read for what they are.
+            block["unsupported_by_sdk"] = list(unsupported)
+        return block
+
     # ------------------------------------------------------- record channel
     def _on_packet_recorded(self, packet) -> None:
         """Runs on the **acquisition thread**. Must stay cheap and Qt-free.
@@ -2047,6 +2097,10 @@ class StudioMainWindow(QMainWindow):
         # it is wired even if the worker was installed by something other than
         # ``_ensure_workers`` (``add_sink`` is idempotent).
         self._active_worker.add_sink(self._on_packet_recorded)
+        # The filters for this session, before it opens the device: the chain runs
+        # in the SDK, so this is the one moment the choice can be handed over.
+        # The acquisition thread applies it and records what the device reports.
+        self._active_worker.set_filter_settings(self._filter_settings())
         try:
             self._active_worker.start(source, config_ref=config_ref)
         except Exception as exc:

apps/studio/src/orisys_studio/ui/force_plots.py

@@ -15,7 +15,7 @@ from PyQt5.QtWidgets import (
     QVBoxLayout,
 )
 
-from orisys_app_shared.acquisition.constants import FORCE_SAMPLE_RATE_HZ, LOWPASS_CUTOFF_HZ
+from orisys_app_shared.acquisition.constants import FORCE_SAMPLE_RATE_HZ
 from orisys_app_shared.force import MetricHistory
 from orisys_app_shared.force.history import DEFAULT_MAX_FPS
 from orisys_app_shared.force.source import StoreCurveSource
@@ -158,7 +158,12 @@ class ForcePlotsPanel(QFrame):
             channels=3,
             window_sec=4.0,
             sample_rate_hz=FORCE_SAMPLE_RATE_HZ,
-            lowpass_cutoff_hz=LOWPASS_CUTOFF_HZ,
+            # No filtering here: the SDK already filtered these readings (median,
+            # low-pass, flow EMA — whatever the session was configured with) and
+            # this is the same buffer that goes into record/forces.csv. Filtering
+            # again would draw a curve the file does not contain, and the
+            # zero-phase filtfilt this used to do is not even causal.
+            lowpass_cutoff_hz=0.0,
             y_axis_min_span=0.5,
             max_fps=DEFAULT_MAX_FPS,
         )

apps/studio/tools/ui_check.py

@@ -32,6 +32,7 @@ if sys.platform == "win32" and "QT_QPA_FONTDIR" not in os.environ:
 os.chdir(APP_ROOT)
 
 from orisys_app_shared.acquisition.sinks import RecordSinkMixin  # noqa: E402
+from orisys_app_shared.force.filters import FilterSettings  # noqa: E402
 from orisys_app_shared.record import FORCES_HEADER  # noqa: E402
 
 FAILURES: list[str] = []
@@ -237,6 +238,22 @@ class _StuckWorker(RecordSinkMixin):
         #: Zeroing requests, and the confirmation callback the window installs.
         self.reset_requests = 0
         self.on_reset_applied = None
+        #: Filters handed over before a session, and what the fake device reports
+        #: as in effect (this stub has no ``configure``, so it reports nothing).
+        self.filter_settings_value = FilterSettings()
+        self.filter_state_value: dict = {}
+
+    def set_filter_settings(self, settings) -> None:
+        self.filter_settings_value = settings
+
+    def filter_settings(self):
+        return self.filter_settings_value
+
+    def filter_state(self) -> dict:
+        return dict(self.filter_state_value)
+
+    def filters_unsupported(self) -> tuple[str, ...]:
+        return ()
 
     def set_pending_calibration(self, path) -> None:
         self.calibration_requests.append(str(path))