删除深度重算引擎；修好回放视频每帧重开文件导致的无法播放，运输控制改到状态轨主按钮 - What: 1) 彻底删除深度重算引擎：shared/.../record/depth.py（DepthRecomputer/DepthResult）与 depth_backends.py（BoxReplay/FingerReplay）、其专属测试 test_depth_replay.py，record/__init__ 不再导出，playback.py::replay_warnings 不再报 depth_recomputed；apps/studio/replay.py 由 515 行瘦身为只做读盘+游标+视频帧+提示，回放视图的 2D 面板只提供「原始图像」；session.json 的 depth.replay 由 recompute 改为 none；删除 31 个只剩深度使用的文案键（depth_*/warn_state_*/warn_reset_*），warn_config_changed 与 warn_sdk_changed 改为描述"由视频重算"；ui_check 深度段、studio 两个深度用例、test_playback 三例、drive_shared 的 test_depth_replay 与 reproduce.py 的深度段一并清理（shared 套件 150→134 项）。2) 无法播放的根因是 RecordingReader.video_frame_at 每帧都 cv2.VideoCapture 重开并 seek：小片段已 ~10 ms/帧，1080p H.264 每次 seek 需从关键帧解码（上百 ms），而播放每 33 ms 要一帧且全在 UI 线程上，视频因此看着不动；改为按分段缓存解码器、顺序帧用 read() 步进（实测 10 ms → 0.5 ms/帧）、跳转才 seek，新增 RecordingReader.close() 释放。运输控制按用户建议上移到状态轨主按钮：toolbar.set_run_role("playback") 使回放视图的主按钮变成「▶ 回放」/「⏸ 暂停」（实时视图仍是「▶ 运行」），点按以 1× 推进游标（墙钟计时，漏拍不变慢）、到末尾自动停，拖动游标/框选/滚轮/拖总览条经 ForcePlotsPanel.timeline_taken_over 自动暂停，空格键同效；曲线表头不再放第二个播放按钮；按钮样式在回放角色下不再套用"停止"的红色语义。 - Why: 用户要求先清掉深度重算引擎、并反馈"现在无法播放视频"，建议把上方播放按钮在历史回放形式下改为回放。 - Verification: ui_check.py 554 项 0 失败（新增 seek<250ms/步进<60ms 的解码预算、回放按钮文字随播放/暂停切换、手动拖游标即暂停、切回实时视图按钮恢复运行、按深度视图已移除）；test_ui_smoke.py 71 项 0 失败；drive_shared.py 134 项 0 失败（深度引擎用例随代码删除）；locale_studio.py 262 键齐全、zh==en；reproduce.py 退出 0；.repro/probe_play.py 实测按「回放」后 0.75 s 内游标推进 0.689 s、面板 12/12 帧都在更新；两张复核图（回放视图的「▶ 回放」、实时视图的「▶ 运行」）。 - Not in this change: 录制文件格式与 CSV 列序不变（raw_*.mp4 与 forces.csv 继续一起写）；「由视频重算」复核模式保留（它复用实时管线，是有状态、只能顺序前进的一遍）。
This commit is contained in:
ykcheungab
@@ -848,109 +848,6 @@ def test_a_failed_recording_is_consumed_even_when_it_is_not_running(make_window)
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_finish(window, stuck)
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def test_the_depth_request_belongs_to_the_recording_it_started_in(make_window, record_root):
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"""Opening another recording must invalidate the request still running."""
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import threading as _threading
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import time as _time
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from PyQt5.QtWidgets import QApplication
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from orisys_app_shared.record.depth import DepthResult
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from orisys_studio.replay import ReplayController
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window = _show(make_window(), (1200, 700))
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replay = ReplayController()
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replay.open_recording(Path(record_root))
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first_serial = replay._record_serial
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started = _threading.Event()
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release = _threading.Event()
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closed: list[str] = []
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class _Blocking:
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def preflight(self) -> str:
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return ""
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def depth_at(self, _position, **_kwargs):
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started.set()
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release.wait(10.0)
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return DepthResult(
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depth=np.ones((2, 2)), frame_id=0, t_rel_s=0.0, record_id="old"
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)
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def close(self) -> None:
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closed.append("closed")
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blocking = _Blocking()
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replay._recomputer = blocking
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replay.request_depth()
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assert started.wait(5.0), "the depth request never started"
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# Another recording is opened while the request is in flight.
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replay.open_recording(Path(record_root))
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assert replay._record_serial == first_serial + 1
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assert replay._recomputer is not blocking, "the processor was not replaced"
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assert closed == [], "the UI thread closed a processor a worker was reading"
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release.set()
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deadline = _time.monotonic() + 10.0
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while not closed and _time.monotonic() < deadline:
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QApplication.processEvents()
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_time.sleep(0.01)
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assert closed == ["closed"], "the retired processor was never closed"
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assert replay._depth_thread is not None and not replay._depth_thread.is_alive()
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# The answer belongs to the previous recording, so it is dropped, not drawn.
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replay._poll_depth()
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QApplication.processEvents()
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assert replay._depth_ok is False
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assert replay.depth_image() is None, "an answer for another recording was drawn"
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replay.close()
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window.close()
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def test_a_busy_depth_processor_is_not_closed_by_the_ui_thread(make_window, record_root):
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import threading as _threading
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import time as _time
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from PyQt5.QtWidgets import QApplication
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from orisys_app_shared.record.depth import DepthResult
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from orisys_studio.replay import ReplayController
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window = _show(make_window(), (1200, 700))
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replay = ReplayController()
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replay.open_recording(Path(record_root))
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started = _threading.Event()
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release = _threading.Event()
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closed: list[str] = []
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class _Blocking:
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def preflight(self) -> str:
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return ""
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def depth_at(self, _position, **_kwargs):
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started.set()
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release.wait(10.0)
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return DepthResult(depth=np.ones((2, 2)), frame_id=0, t_rel_s=0.0)
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def close(self) -> None:
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closed.append("closed")
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replay._recomputer = _Blocking()
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replay.request_depth()
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assert started.wait(5.0)
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replay.close() # closing must not free a processor in use
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QApplication.processEvents()
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assert closed == [], "the controller closed a processor that was still reading"
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release.set()
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deadline = _time.monotonic() + 10.0
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while not closed and _time.monotonic() < deadline:
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QApplication.processEvents()
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_time.sleep(0.01)
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assert closed == ["closed"], "the owning thread never closed the processor"
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window.close()
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def test_a_confirmed_calibration_is_snapshotted_into_the_recording(make_window, record_root):
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"""The recording keeps the coefficients themselves, not only their hash."""
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@@ -1691,8 +1588,10 @@ def test_the_replay_view_loads_a_recording_and_scrubs_it(make_window, replay_rec
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assert window.arrow_panel.view_modes() == ("recorded",)
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assert window.replay.video_image() is not None, "no frame at the cursor"
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assert panel.btn_play.isEnabled(), "the replay has no transport"
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assert not panel.btn_play.isChecked(), "the replay starts out playing"
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assert window.toolbar.run_role() == "playback", "the rail lost the transport"
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assert window.toolbar.btn_run.isEnabled(), "the replay has no transport"
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assert not window.toolbar.btn_run.isChecked(), "the replay starts out playing"
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assert window.toolbar.btn_run.text() == t("toolbar.playback")
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# The cursor is the playhead: setting it moves the video.
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window.replay.set_position(window.replay.duration_s() / 2)
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@@ -1701,19 +1600,21 @@ def test_the_replay_view_loads_a_recording_and_scrubs_it(make_window, replay_rec
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assert abs(panel.cursors[0].value() - window.replay.position()) < 0.05
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# Dragging the chart cursor scrubs the recording too, and pauses it.
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panel.btn_play.setChecked(True)
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window.toolbar.btn_run.setChecked(True)
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QApplication.processEvents()
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assert window.toolbar.btn_run.text() == t("toolbar.playback_pause")
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panel.cursors[0].setValue(0.25)
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QApplication.processEvents()
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assert abs(window.replay.position() - 0.25) < 0.05
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assert not panel.btn_play.isChecked(), "dragging the cursor did not pause playback"
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assert not window.toolbar.btn_run.isChecked(), "dragging the cursor did not pause playback"
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# Leaving the view returns the charts to the live session.
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window.brand_bar.btn_live.click()
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QApplication.processEvents()
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assert not panel.is_recording_source()
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assert panel.mode() == "follow"
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assert not panel.btn_play.isEnabled(), "the live view still offers the transport"
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assert window.toolbar.run_role() == "acquire", "the rail kept the transport"
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assert window.toolbar.btn_run.text() == t("toolbar.run_label")
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assert window.arrow_panel.view_modes() == ("arrows_pure", "arrows_stitched", "depth")
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assert "raw_0001" not in window.toolbar.source_summary.text(), (
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"the replay's video is still named in the live view"
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@@ -2027,8 +1928,8 @@ def test_the_replay_transport_plays_and_pauses(make_window, replay_recording):
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QApplication.processEvents()
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panel = window.force_plots
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assert panel.btn_play.isEnabled() and not panel.btn_play.isChecked()
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panel.btn_play.setChecked(True)
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assert window.toolbar.btn_run.isEnabled() and not window.toolbar.btn_run.isChecked()
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window.toolbar.btn_run.setChecked(True)
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started = time.perf_counter()
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for _ in range(10):
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QApplication.processEvents()
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@@ -2045,7 +1946,7 @@ def test_the_replay_transport_plays_and_pauses(make_window, replay_recording):
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# Dragging the cursor is a manual gesture: playback pauses where it is.
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panel.cursors[0].setValue(0.2)
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QApplication.processEvents()
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assert not panel.btn_play.isChecked(), "dragging the cursor did not pause"
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assert not window.toolbar.btn_run.isChecked(), "dragging the cursor did not pause"
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assert abs(window.replay.position() - 0.2) < 0.05
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parked = window.replay.position()
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for _ in range(6):
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@@ -2082,13 +1983,15 @@ def test_the_recompute_mode_reruns_the_pipeline_over_the_video(
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assert not panel.is_recording_source(), "the charts still read the CSV"
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assert window.toolbar.source_mode() == "video"
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assert window.toolbar.video_path().endswith(".mp4"), window.toolbar.video_path()
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assert panel.btn_play.isChecked(), "the transport does not show the pass as running"
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assert window.toolbar.btn_run.isChecked(), (
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"the transport does not show the pass as running"
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)
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window._recompute_running = True
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window.act_recompute.setChecked(False)
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QApplication.processEvents()
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assert panel.is_recording_source(), "turning the recompute off did not restore the CSV"
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assert not panel.btn_play.isChecked(), "the transport stayed checked"
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assert not window.toolbar.btn_run.isChecked(), "the transport stayed checked"
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# ------------------------------------------- selection readout and notices
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