initial commit, functinal software

shared/src/orisys_app_shared/__init__.py

@@ -0,0 +1,4 @@
+"""Shared package for orisys-app desktop products."""
+
+__version__ = "0.1.0"
+API_VERSION = "0.1"

shared/src/orisys_app_shared/acquisition/__init__.py

@@ -0,0 +1,45 @@
+"""Acquisition helpers."""
+
+from orisys_app_shared.acquisition.constants import (
+    FORCE_SAMPLE_RATE_HZ,
+    LOWPASS_CUTOFF_HZ,
+)
+
+__all__ = [
+    "FORCE_SAMPLE_RATE_HZ",
+    "LOWPASS_CUTOFF_HZ",
+    "FingerAcquisitionWorker",
+    "SdkAcquisitionWorker",
+    "SdkPacket",
+    "depth_map_to_bgr",
+    "draw_arrow_display",
+    "hex_to_bgr",
+    "load_fixed_mode",
+    "orisys_importable",
+    "resolve_finger_export_dir",
+]
+
+_LAZY_ATTRS = {
+    "FingerAcquisitionWorker": ("orisys_app_shared.acquisition.finger_worker", "FingerAcquisitionWorker"),
+    "resolve_finger_export_dir": ("orisys_app_shared.acquisition.finger_worker", "resolve_finger_export_dir"),
+    "SdkAcquisitionWorker": ("orisys_app_shared.acquisition.sdk_worker", "SdkAcquisitionWorker"),
+    "SdkPacket": ("orisys_app_shared.acquisition.sdk_worker", "SdkPacket"),
+    "load_fixed_mode": ("orisys_app_shared.acquisition.sdk_worker", "load_fixed_mode"),
+    "orisys_importable": ("orisys_app_shared.acquisition.sdk_worker", "orisys_importable"),
+    "depth_map_to_bgr": ("orisys_app_shared.acquisition.arrows", "depth_map_to_bgr"),
+    "draw_arrow_display": ("orisys_app_shared.acquisition.arrows", "draw_arrow_display"),
+    "hex_to_bgr": ("orisys_app_shared.acquisition.arrows", "hex_to_bgr"),
+}
+
+
+def __getattr__(name: str):
+    target = _LAZY_ATTRS.get(name)
+    if target is None:
+        raise AttributeError(f"module {__name__!r} has no attribute {name!r}")
+    module_name, attr = target
+    import importlib
+
+    module = importlib.import_module(module_name)
+    value = getattr(module, attr)
+    globals()[name] = value
+    return value

shared/src/orisys_app_shared/acquisition/arrows.py

@@ -0,0 +1,93 @@
+"""Arrow overlay helpers for processed tactile frames."""
+
+from __future__ import annotations
+
+from typing import Optional, Sequence
+
+import cv2
+import numpy as np
+
+ARROW_BG_BGR = (0x16, 0x13, 0x12)
+_ARROW_DRAW_KW = dict(
+    threshold=2,
+    grid_spacing=20,
+    arrow_scale=0.5,
+    below_threshold_color=(160, 160, 160),
+)
+_FINGER_ARROW_DRAW_KW = dict(
+    threshold=0.4,
+    grid_spacing=10,
+    arrow_scale=1.0,
+    below_threshold_color=(160, 160, 160),
+)
+
+
+def hex_to_bgr(hex_color: str, fallback: tuple[int, int, int] = ARROW_BG_BGR) -> tuple[int, int, int]:
+    text = str(hex_color or "").strip().lstrip("#")
+    if len(text) != 6:
+        return fallback
+    try:
+        r = int(text[0:2], 16)
+        g = int(text[2:4], 16)
+        b = int(text[4:6], 16)
+    except ValueError:
+        return fallback
+    return (b, g, r)
+
+
+def _ensure_bgr(img: np.ndarray) -> np.ndarray:
+    if img.ndim == 2:
+        return cv2.cvtColor(img, cv2.COLOR_GRAY2BGR)
+    if img.ndim == 3 and img.shape[2] == 1:
+        return cv2.cvtColor(img[:, :, 0], cv2.COLOR_GRAY2BGR)
+    if img.ndim == 3 and img.shape[2] == 4:
+        return cv2.cvtColor(img, cv2.COLOR_BGRA2BGR)
+    return img
+
+
+def draw_arrow_display(
+    processed_frame: np.ndarray,
+    flow: Optional[np.ndarray],
+    *,
+    background: str = "pure_color",
+    canvas_bgr: Sequence[int] | None = None,
+    draw_style: str = "box",
+    valid_mask: Optional[np.ndarray] = None,
+) -> np.ndarray:
+    """Draw flow arrows on a solid canvas or over the processed frame."""
+    base = _ensure_bgr(processed_frame)
+    if flow is None:
+        return base
+    draw_kw = _FINGER_ARROW_DRAW_KW if str(draw_style).lower().startswith("f") else _ARROW_DRAW_KW
+    try:
+        import orisys
+
+        if background == "pure_color":
+            canvas = np.empty_like(base)
+            color = ARROW_BG_BGR if canvas_bgr is None else tuple(int(v) for v in canvas_bgr)
+            canvas[:, :] = color
+            return orisys.util.draw_arrows(
+                canvas, flow, valid_mask=valid_mask, **draw_kw
+            )
+        return orisys.util.draw_arrows(base, flow, valid_mask=valid_mask, **draw_kw)
+    except Exception:
+        return base
+
+
+def depth_map_to_bgr(depth: Optional[np.ndarray]) -> Optional[np.ndarray]:
+    """Convert a float depth/divergence map to a JET colormap BGR image."""
+    if depth is None:
+        return None
+    arr = np.asarray(depth, dtype=np.float64)
+    if arr.size == 0 or arr.ndim < 2:
+        return None
+    finite = np.isfinite(arr)
+    if not np.any(finite):
+        return None
+    lo = float(np.nanmin(arr[finite]))
+    hi = float(np.nanmax(arr[finite]))
+    if hi > lo:
+        normalized = ((arr - lo) / (hi - lo) * 255.0).astype(np.uint8)
+    else:
+        normalized = np.zeros(arr.shape, dtype=np.uint8)
+    return cv2.applyColorMap(normalized, cv2.COLORMAP_JET)

shared/src/orisys_app_shared/acquisition/constants.py

@@ -0,0 +1,4 @@
+"""Shared acquisition constants (no heavy imports)."""
+
+LOWPASS_CUTOFF_HZ = 10.0
+FORCE_SAMPLE_RATE_HZ = 30.0

shared/src/orisys_app_shared/acquisition/finger_worker.py

@@ -0,0 +1,296 @@
+"""Orisys finger acquisition worker (FingerRuntime → SdkPacket)."""
+
+from __future__ import annotations
+
+import threading
+import time
+from pathlib import Path
+from typing import Callable, Optional
+
+import numpy as np
+
+from orisys_app_shared.acquisition.constants import (
+    FORCE_SAMPLE_RATE_HZ,
+    LOWPASS_CUTOFF_HZ,
+)
+from orisys_app_shared.acquisition.sdk_worker import (
+    CAMERA_DISCONNECT_TIMEOUT_S,
+    VIDEO_EOF_TIMEOUT_S,
+    FixedCameraMode,
+    SdkPacket,
+    _ensure_bgr,
+    _is_file_source,
+    load_fixed_mode,
+    orisys_importable,
+    read_forces_from_sensor,
+)
+
+_EXPORT_REQUIRED = ("mesh.npz", "camera_intrinsics.npz", "world_to_cam.npy")
+
+
+def resolve_finger_export_dir(config_ref: str | Path) -> Path | None:
+    """Return local ``assets/30fps-0703`` when present and complete.
+
+    Missing folder → ``None`` (SDK default export). Incomplete folder → error
+    so Run does not silently fall back to bundled assets.
+    """
+    path = Path(str(config_ref))
+    if path.is_file() and path.name.lower() == "sensor.json":
+        candidate = path.parent / "assets" / "30fps-0703"
+    elif path.is_dir():
+        candidate = path / "assets" / "30fps-0703"
+    else:
+        return None
+    if not candidate.is_dir():
+        return None
+    missing = [name for name in _EXPORT_REQUIRED if not (candidate / name).is_file()]
+    if missing:
+        raise FileNotFoundError(
+            f"Incomplete finger export at {candidate}: missing {', '.join(missing)}"
+        )
+    return candidate.resolve()
+
+
+class FingerAcquisitionWorker:
+    """Background loop: FingerRuntime grab/unroll + deformation + force readout."""
+
+    def __init__(
+        self,
+        *,
+        on_error: Optional[Callable[[str], None]] = None,
+        on_status: Optional[Callable[[str], None]] = None,
+    ):
+        self._on_error = on_error
+        self._on_status = on_status
+        self._thread: Optional[threading.Thread] = None
+        self._stop = threading.Event()
+        self._lock = threading.Lock()
+        self._latest: Optional[SdkPacket] = None
+        self._session_id = 0
+        self._runtime = None
+        self._mode: Optional[FixedCameraMode] = None
+        self._video_source: Optional[str | int] = None
+        self._export_dir: Optional[Path] = None
+        self._end_reason: Optional[str] = None
+        self._phase: str = "idle"
+
+    @property
+    def is_running(self) -> bool:
+        return self._thread is not None and self._thread.is_alive()
+
+    @property
+    def phase(self) -> str:
+        with self._lock:
+            return self._phase
+
+    def latest(self) -> Optional[SdkPacket]:
+        with self._lock:
+            return self._latest
+
+    def consume_end_reason(self) -> Optional[str]:
+        with self._lock:
+            reason = self._end_reason
+            self._end_reason = None
+            return reason
+
+    def start(
+        self,
+        video_source: str | int,
+        *,
+        config_ref: str | Path,
+    ) -> FixedCameraMode:
+        self.stop()
+        ok, detail = orisys_importable()
+        if not ok:
+            raise RuntimeError(f"orisys SDK is not importable: {detail}")
+        mode = load_fixed_mode(config_ref)
+        self._mode = mode
+        self._video_source = video_source
+        self._export_dir = resolve_finger_export_dir(config_ref)
+        with self._lock:
+            self._latest = None
+            self._end_reason = None
+            self._phase = "connecting"
+        self._session_id += 1
+        session = self._session_id
+        self._stop.clear()
+        self._thread = threading.Thread(
+            target=self._run,
+            name=f"FingerAcquisition-{session}",
+            daemon=True,
+            args=(session,),
+        )
+        self._thread.start()
+        return mode
+
+    def stop(self) -> None:
+        self._set_end_reason("stopped")
+        self._stop.set()
+        thread = self._thread
+        if thread is not None and thread.is_alive():
+            thread.join(timeout=8.0)
+        self._thread = None
+        self._close_runtime()
+        with self._lock:
+            self._latest = None
+            self._phase = "idle"
+
+    def reset(self) -> None:
+        with self._lock:
+            runtime = self._runtime
+        if runtime is None:
+            raise RuntimeError("Finger runtime is not running")
+        runtime.tactile.reset()
+
+    def _set_end_reason(self, reason: str) -> None:
+        with self._lock:
+            if self._end_reason is None:
+                self._end_reason = reason
+
+    def _set_phase(self, phase: str) -> None:
+        with self._lock:
+            self._phase = phase
+
+    def _close_runtime(self) -> None:
+        runtime = self._runtime
+        self._runtime = None
+        if runtime is None:
+            return
+        try:
+            runtime.close()
+        except Exception:
+            pass
+
+    def _status(self, message: str) -> None:
+        if self._on_status is not None:
+            self._on_status(message)
+
+    def _run(self, session: int) -> None:
+        from orisys.finger import FingerRuntime
+
+        mode = self._mode
+        source = self._video_source
+        if mode is None or source is None:
+            return
+        is_file = _is_file_source(source)
+        try:
+            self._status(f"Opening FingerRuntime ({mode.label()})…")
+            open_kw: dict = {
+                "config": mode.config_ref,
+                "video": source,
+                "verbose": False,
+            }
+            if self._export_dir is not None:
+                open_kw["export_dir"] = str(self._export_dir)
+            self._runtime = FingerRuntime.open(**open_kw)
+            if self._stop.is_set() or session != self._session_id:
+                self._close_runtime()
+                return
+            self._runtime.warmup(color=False)
+            if self._stop.is_set() or session != self._session_id:
+                self._close_runtime()
+                return
+            raw_sensor = getattr(self._runtime.tactile, "raw_sensor", None)
+            if raw_sensor is not None and hasattr(raw_sensor, "configure"):
+                try:
+                    raw_sensor.configure(
+                        lowpass_cutoff_hz=LOWPASS_CUTOFF_HZ,
+                        lowpass_sample_rate_hz=FORCE_SAMPLE_RATE_HZ,
+                    )
+                except Exception:
+                    pass
+            self._status(f"Streaming finger {mode.label()}")
+        except Exception as exc:
+            self._set_end_reason("error")
+            if self._on_error is not None and session == self._session_id:
+                self._on_error(str(exc))
+            self._set_phase("idle")
+            return
+
+        frame_times: list[float] = []
+        saw_frame = False
+        last_frame_mono = 0.0
+        none_streak_start: Optional[float] = None
+        runtime = self._runtime
+
+        while not self._stop.is_set() and session == self._session_id and runtime is not None:
+            try:
+                now = time.perf_counter()
+                if saw_frame:
+                    if is_file:
+                        if none_streak_start is not None and (
+                            now - none_streak_start
+                        ) >= VIDEO_EOF_TIMEOUT_S:
+                            self._set_end_reason("ended")
+                            break
+                    else:
+                        if (now - last_frame_mono) >= CAMERA_DISCONNECT_TIMEOUT_S:
+                            self._set_end_reason("disconnected")
+                            break
+
+                t0 = time.perf_counter()
+                ok, source_frame = runtime.read_source()
+                if not ok or source_frame is None:
+                    if saw_frame and is_file and none_streak_start is None:
+                        none_streak_start = time.perf_counter()
+                    time.sleep(0.005)
+                    continue
+
+                unrolled = runtime.process_frame(source_frame, color=False)
+                if unrolled is None:
+                    if saw_frame and is_file and none_streak_start is None:
+                        none_streak_start = time.perf_counter()
+                    time.sleep(0.005)
+                    continue
+
+                none_streak_start = None
+                tactile = runtime.tactile
+                try:
+                    tactile.compute_deformation(decompose=True, check_motion=False)
+                    tactile.compute_contact()
+                except Exception:
+                    pass
+                t1 = time.perf_counter()
+                frame_times.append(t1)
+                cutoff = t1 - 1.0
+                frame_times = [t for t in frame_times if t >= cutoff]
+                fps = float(len(frame_times)) if frame_times else 0.0
+                forces = read_forces_from_sensor(
+                    tactile,
+                    config_ref=mode.config_ref,
+                )
+                packet = SdkPacket(
+                    raw_frame=_ensure_bgr(source_frame),
+                    processed_frame=_ensure_bgr(unrolled),
+                    timestamp=time.time(),
+                    fps=fps,
+                    process_ms=(t1 - t0) * 1000.0,
+                    normal_force=forces["normal_force"],
+                    shear_x=forces["shear_x"],
+                    shear_y=forces["shear_y"],
+                    normal_force_raw=forces["normal_force_raw"],
+                    shear_x_raw=forces["shear_x_raw"],
+                    shear_y_raw=forces["shear_y_raw"],
+                    force_unit=forces["force_unit"],
+                    force_calibrated=forces["force_calibrated"],
+                    session_id=session,
+                    flow=forces["flow"],
+                    depth=forces.get("depth"),
+                    valid_mask=runtime.valid_mask,
+                )
+                with self._lock:
+                    self._latest = packet
+                    self._phase = "running"
+                saw_frame = True
+                last_frame_mono = t1
+            except Exception as exc:
+                self._set_end_reason("error")
+                if self._on_error is not None and session == self._session_id:
+                    self._on_error(str(exc))
+                break
+
+        self._close_runtime()
+        self._set_phase("idle")
+        if self._stop.is_set():
+            self._set_end_reason("stopped")
+        self._status("Finger acquisition stopped")

shared/src/orisys_app_shared/acquisition/sdk_worker.py

@@ -0,0 +1,430 @@
+"""Orisys SDK acquisition worker for box/mini-style sensors."""
+
+from __future__ import annotations
+
+import json
+import threading
+import time
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Callable, Optional
+
+import cv2
+import numpy as np
+
+from orisys_app_shared.acquisition.constants import (
+    FORCE_SAMPLE_RATE_HZ,
+    LOWPASS_CUTOFF_HZ,
+)
+
+VIDEO_EOF_TIMEOUT_S = 0.5
+CAMERA_DISCONNECT_TIMEOUT_S = 1.5
+
+
+@dataclass(frozen=True)
+class FixedCameraMode:
+    width: int
+    height: int
+    fps: float
+    config_ref: str
+
+    def label(self) -> str:
+        return f"{self.width}x{self.height} @{self.fps:g}"
+
+
+@dataclass
+class SdkPacket:
+    raw_frame: np.ndarray
+    processed_frame: np.ndarray
+    timestamp: float
+    fps: float
+    process_ms: float
+    normal_force: float = 0.0
+    shear_x: float = 0.0
+    shear_y: float = 0.0
+    normal_force_raw: float = 0.0
+    shear_x_raw: float = 0.0
+    shear_y_raw: float = 0.0
+    force_unit: str = "raw"
+    force_calibrated: bool = False
+    session_id: int = 0
+    flow: Optional[np.ndarray] = None
+    depth: Optional[np.ndarray] = None
+    valid_mask: Optional[np.ndarray] = None
+
+
+def orisys_importable() -> tuple[bool, str]:
+    try:
+        import orisys  # noqa: F401
+
+        return True, getattr(__import__("orisys"), "__version__", "unknown")
+    except Exception as exc:  # noqa: BLE001
+        return False, str(exc)
+
+
+def load_fixed_mode(config_ref: str | Path) -> FixedCameraMode:
+    ref = str(config_ref).strip()
+    path = Path(ref)
+    if path.is_file():
+        data = json.loads(path.read_text(encoding="utf-8"))
+        resolved = str(path.resolve())
+    else:
+        import orisys
+
+        data = orisys.configs.load_config(ref)
+        resolved = ref
+    camera = data.get("camera") or {}
+    raw = camera.get("resolution_raw") or [1920, 1080]
+    fps = float(camera.get("fps") or 30.0)
+    return FixedCameraMode(
+        width=int(raw[0]),
+        height=int(raw[1]),
+        fps=fps,
+        config_ref=resolved,
+    )
+
+
+def _ensure_bgr(img: np.ndarray) -> np.ndarray:
+    if img.ndim == 2:
+        return cv2.cvtColor(img, cv2.COLOR_GRAY2BGR)
+    if img.ndim == 3 and img.shape[2] == 1:
+        return cv2.cvtColor(img[:, :, 0], cv2.COLOR_GRAY2BGR)
+    if img.ndim == 3 and img.shape[2] == 4:
+        return cv2.cvtColor(img, cv2.COLOR_BGRA2BGR)
+    return img
+
+
+def _sensor_force_calibrated(sensor, *, config_ref: str | Path | None = None) -> bool:
+    if getattr(sensor, "_force_cal_sensor_name", None) is not None:
+        return True
+    if config_ref is None:
+        return False
+    try:
+        import orisys
+
+        path = Path(str(config_ref))
+        name = path.parent.name if path.name == "sensor.json" else path.stem
+        return orisys.configs.load_force_calibration(name) is not None
+    except Exception:
+        return False
+
+
+def read_forces_from_sensor(sensor, *, config_ref: str | Path | None = None):
+    info = sensor.info
+    fn = fx = fy = 0.0
+    fn_raw = fx_raw = fy_raw = 0.0
+    flow = None
+    depth = None
+    read_raw = all(
+        hasattr(info, name)
+        for name in ("FNORMAL_RAW", "FSHEARX_RAW", "FSHEARY_RAW")
+    )
+    has_flow = hasattr(info, "VRAW")
+    has_depth = hasattr(info, "DEPTH")
+    try:
+        if read_raw and has_flow and has_depth:
+            fn, fx, fy, fn_raw, fx_raw, fy_raw, flow, depth = sensor.read_info(
+                info.FNORMAL,
+                info.FSHEARX,
+                info.FSHEARY,
+                info.FNORMAL_RAW,
+                info.FSHEARX_RAW,
+                info.FSHEARY_RAW,
+                info.VRAW,
+                info.DEPTH,
+            )
+        elif read_raw and has_flow:
+            fn, fx, fy, fn_raw, fx_raw, fy_raw, flow = sensor.read_info(
+                info.FNORMAL,
+                info.FSHEARX,
+                info.FSHEARY,
+                info.FNORMAL_RAW,
+                info.FSHEARX_RAW,
+                info.FSHEARY_RAW,
+                info.VRAW,
+            )
+        elif read_raw and has_depth:
+            fn, fx, fy, fn_raw, fx_raw, fy_raw, depth = sensor.read_info(
+                info.FNORMAL,
+                info.FSHEARX,
+                info.FSHEARY,
+                info.FNORMAL_RAW,
+                info.FSHEARX_RAW,
+                info.FSHEARY_RAW,
+                info.DEPTH,
+            )
+        elif read_raw:
+            fn, fx, fy, fn_raw, fx_raw, fy_raw = sensor.read_info(
+                info.FNORMAL,
+                info.FSHEARX,
+                info.FSHEARY,
+                info.FNORMAL_RAW,
+                info.FSHEARX_RAW,
+                info.FSHEARY_RAW,
+            )
+        elif has_flow and has_depth:
+            fn, fx, fy, flow, depth = sensor.read_info(
+                info.FNORMAL, info.FSHEARX, info.FSHEARY, info.VRAW, info.DEPTH
+            )
+            fn_raw, fx_raw, fy_raw = fn, fx, fy
+        elif has_flow:
+            fn, fx, fy, flow = sensor.read_info(
+                info.FNORMAL, info.FSHEARX, info.FSHEARY, info.VRAW
+            )
+            fn_raw, fx_raw, fy_raw = fn, fx, fy
+        elif has_depth:
+            fn, fx, fy, depth = sensor.read_info(
+                info.FNORMAL, info.FSHEARX, info.FSHEARY, info.DEPTH
+            )
+            fn_raw, fx_raw, fy_raw = fn, fx, fy
+        else:
+            fn, fx, fy = sensor.read_info(info.FNORMAL, info.FSHEARX, info.FSHEARY)
+            fn_raw, fx_raw, fy_raw = fn, fx, fy
+    except Exception:
+        pass
+    if depth is not None:
+        arr = np.asarray(depth)
+        if arr.size == 0:
+            depth = None
+    calibrated = _sensor_force_calibrated(sensor, config_ref=config_ref)
+    return {
+        "normal_force": float(fn),
+        "shear_x": float(fx),
+        "shear_y": float(fy),
+        "normal_force_raw": float(fn_raw),
+        "shear_x_raw": float(fx_raw),
+        "shear_y_raw": float(fy_raw),
+        "force_calibrated": calibrated,
+        "force_unit": "N" if calibrated else "raw",
+        "flow": flow,
+        "depth": depth,
+    }
+
+
+def _is_file_source(video_source: str | int) -> bool:
+    return isinstance(video_source, str)
+
+
+class SdkAcquisitionWorker:
+    """Background loop: Sensor.get_img + deformation + force readout."""
+
+    def __init__(
+        self,
+        *,
+        on_error: Optional[Callable[[str], None]] = None,
+        on_status: Optional[Callable[[str], None]] = None,
+    ):
+        self._on_error = on_error
+        self._on_status = on_status
+        self._thread: Optional[threading.Thread] = None
+        self._stop = threading.Event()
+        self._lock = threading.Lock()
+        self._latest: Optional[SdkPacket] = None
+        self._session_id = 0
+        self._sensor = None
+        self._mode: Optional[FixedCameraMode] = None
+        self._video_source: Optional[str | int] = None
+        self._end_reason: Optional[str] = None
+        self._phase: str = "idle"
+
+    @property
+    def is_running(self) -> bool:
+        return self._thread is not None and self._thread.is_alive()
+
+    @property
+    def phase(self) -> str:
+        with self._lock:
+            return self._phase
+
+    def latest(self) -> Optional[SdkPacket]:
+        with self._lock:
+            return self._latest
+
+    def consume_end_reason(self) -> Optional[str]:
+        with self._lock:
+            reason = self._end_reason
+            self._end_reason = None
+            return reason
+
+    def start(
+        self,
+        video_source: str | int,
+        *,
+        config_ref: str | Path,
+    ) -> FixedCameraMode:
+        self.stop()
+        ok, detail = orisys_importable()
+        if not ok:
+            raise RuntimeError(f"orisys SDK is not importable: {detail}")
+        mode = load_fixed_mode(config_ref)
+        self._mode = mode
+        self._video_source = video_source
+        with self._lock:
+            self._latest = None
+            self._end_reason = None
+            self._phase = "connecting"
+        self._session_id += 1
+        session = self._session_id
+        self._stop.clear()
+        self._thread = threading.Thread(
+            target=self._run,
+            name=f"SdkAcquisition-{session}",
+            daemon=True,
+            args=(session,),
+        )
+        self._thread.start()
+        return mode
+
+    def stop(self) -> None:
+        self._set_end_reason("stopped")
+        self._stop.set()
+        thread = self._thread
+        if thread is not None and thread.is_alive():
+            thread.join(timeout=5.0)
+        self._thread = None
+        self._close_sensor()
+        with self._lock:
+            self._latest = None
+            self._phase = "idle"
+
+    def reset(self) -> None:
+        with self._lock:
+            sensor = self._sensor
+        if sensor is None:
+            raise RuntimeError("Sensor is not running")
+        sensor.reset()
+
+    def _set_end_reason(self, reason: str) -> None:
+        with self._lock:
+            if self._end_reason is None:
+                self._end_reason = reason
+
+    def _set_phase(self, phase: str) -> None:
+        with self._lock:
+            self._phase = phase
+
+    def _close_sensor(self) -> None:
+        sensor = self._sensor
+        self._sensor = None
+        if sensor is None:
+            return
+        try:
+            sensor.disconnect()
+        except Exception:
+            pass
+
+    def _status(self, message: str) -> None:
+        if self._on_status is not None:
+            self._on_status(message)
+
+    def _run(self, session: int) -> None:
+        import orisys
+
+        mode = self._mode
+        source = self._video_source
+        if mode is None or source is None:
+            return
+        is_file = _is_file_source(source)
+        try:
+            self._status(f"Opening Orisys Sensor ({mode.label()})…")
+            self._sensor = orisys.Sensor(
+                source,
+                config_name=mode.config_ref,
+                verbose=False,
+                backend="auto",
+            )
+            if self._stop.is_set() or session != self._session_id:
+                self._close_sensor()
+                return
+            self._sensor.configure(
+                lowpass_cutoff_hz=LOWPASS_CUTOFF_HZ,
+                lowpass_sample_rate_hz=FORCE_SAMPLE_RATE_HZ,
+            )
+            self._status(f"Streaming {mode.label()}")
+        except Exception as exc:
+            self._set_end_reason("error")
+            if self._on_error is not None and session == self._session_id:
+                self._on_error(str(exc))
+            self._set_phase("idle")
+            return
+
+        frame_times: list[float] = []
+        saw_frame = False
+        last_frame_mono = 0.0
+        none_streak_start: Optional[float] = None
+
+        while not self._stop.is_set() and session == self._session_id:
+            try:
+                now = time.perf_counter()
+                if saw_frame:
+                    if is_file:
+                        if none_streak_start is not None and (
+                            now - none_streak_start
+                        ) >= VIDEO_EOF_TIMEOUT_S:
+                            self._set_end_reason("ended")
+                            break
+                    else:
+                        if (now - last_frame_mono) >= CAMERA_DISCONNECT_TIMEOUT_S:
+                            self._set_end_reason("disconnected")
+                            break
+
+                t0 = time.perf_counter()
+                processed = self._sensor.get_img()
+                if processed is None:
+                    if saw_frame and is_file and none_streak_start is None:
+                        none_streak_start = time.perf_counter()
+                    time.sleep(0.005)
+                    continue
+                raw = getattr(self._sensor, "frame", None)
+                if raw is None:
+                    if saw_frame and is_file and none_streak_start is None:
+                        none_streak_start = time.perf_counter()
+                    time.sleep(0.005)
+                    continue
+
+                none_streak_start = None
+                try:
+                    self._sensor.compute_deformation(decompose=True, check_motion=False)
+                    self._sensor.compute_contact()
+                except Exception:
+                    pass
+                t1 = time.perf_counter()
+                frame_times.append(t1)
+                cutoff = t1 - 1.0
+                frame_times = [t for t in frame_times if t >= cutoff]
+                fps = float(len(frame_times)) if frame_times else 0.0
+                forces = read_forces_from_sensor(self._sensor, config_ref=mode.config_ref)
+                packet = SdkPacket(
+                    raw_frame=_ensure_bgr(raw),
+                    processed_frame=_ensure_bgr(processed),
+                    timestamp=time.time(),
+                    fps=fps,
+                    process_ms=(t1 - t0) * 1000.0,
+                    normal_force=forces["normal_force"],
+                    shear_x=forces["shear_x"],
+                    shear_y=forces["shear_y"],
+                    normal_force_raw=forces["normal_force_raw"],
+                    shear_x_raw=forces["shear_x_raw"],
+                    shear_y_raw=forces["shear_y_raw"],
+                    force_unit=forces["force_unit"],
+                    force_calibrated=forces["force_calibrated"],
+                    session_id=session,
+                    flow=forces["flow"],
+                    depth=forces.get("depth"),
+                )
+                with self._lock:
+                    self._latest = packet
+                    self._phase = "running"
+                saw_frame = True
+                last_frame_mono = t1
+            except Exception as exc:
+                self._set_end_reason("error")
+                if self._on_error is not None and session == self._session_id:
+                    self._on_error(str(exc))
+                break
+
+        self._close_sensor()
+        self._set_phase("idle")
+        if self._stop.is_set():
+            self._set_end_reason("stopped")
+        self._status("Acquisition stopped")

shared/src/orisys_app_shared/camera/__init__.py

@@ -0,0 +1,11 @@
+"""Camera discovery and raw preview helpers."""
+
+from orisys_app_shared.camera.discovery import CameraInfo, list_cameras, pick_default_camera
+from orisys_app_shared.camera.preview import RawPreviewSession
+
+__all__ = [
+    "CameraInfo",
+    "RawPreviewSession",
+    "list_cameras",
+    "pick_default_camera",
+]

shared/src/orisys_app_shared/camera/discovery.py

@@ -0,0 +1,138 @@
+"""USB camera discovery for orisys-app (Windows DSHOW/MSMF, Linux V4L2)."""
+
+from __future__ import annotations
+
+import contextlib
+import os
+import sys
+from dataclasses import dataclass
+
+import cv2
+
+DEFAULT_MAX_CAMERA_INDEX = 10
+
+
+@dataclass(frozen=True)
+class CameraInfo:
+    index: int
+    backend_name: str
+    backend_api: int
+    width: int
+    height: int
+
+    @property
+    def source(self) -> str:
+        return str(self.index)
+
+    def label(self) -> str:
+        return f"{self.index} ({self.width}x{self.height}) [{self.backend_name}]"
+
+
+@contextlib.contextmanager
+def _suppress_opencv_noise():
+    """Hide OpenCV VideoCapture probe warnings (stderr + OpenCV log)."""
+    prev_level = None
+    set_level = None
+    try:
+        cv_logging = getattr(getattr(cv2, "utils", None), "logging", None)
+        if cv_logging is not None:
+            set_level = getattr(cv_logging, "setLogLevel", None)
+            get_level = getattr(cv_logging, "getLogLevel", None)
+            silent = getattr(cv_logging, "LOG_LEVEL_SILENT", 0)
+            if set_level is not None:
+                if get_level is not None:
+                    prev_level = get_level()
+                set_level(silent)
+    except Exception:
+        prev_level = None
+
+    devnull = open(os.devnull, "w")
+    try:
+        with contextlib.redirect_stderr(devnull):
+            stderr_fd = sys.stderr.fileno()
+            saved_fd = os.dup(stderr_fd)
+            try:
+                os.dup2(devnull.fileno(), stderr_fd)
+                yield
+            finally:
+                os.dup2(saved_fd, stderr_fd)
+                os.close(saved_fd)
+    finally:
+        devnull.close()
+        if set_level is not None and prev_level is not None:
+            try:
+                set_level(prev_level)
+            except Exception:
+                pass
+
+
+def _backend_candidates() -> list[tuple[str, int]]:
+    candidates: list[tuple[str, int]] = []
+    if sys.platform == "win32":
+        if hasattr(cv2, "CAP_DSHOW"):
+            candidates.append(("DSHOW", cv2.CAP_DSHOW))
+        if hasattr(cv2, "CAP_MSMF"):
+            candidates.append(("MSMF", cv2.CAP_MSMF))
+    elif sys.platform.startswith("linux"):
+        if hasattr(cv2, "CAP_V4L2"):
+            candidates.append(("V4L2", cv2.CAP_V4L2))
+    if not candidates:
+        candidates.append(("ANY", cv2.CAP_ANY))
+    return candidates
+
+
+def _try_open(index: int, backend_name: str, backend_api: int) -> CameraInfo | None:
+    cap = cv2.VideoCapture(index, backend_api)
+    if not cap.isOpened():
+        cap.release()
+        return None
+    ok, frame = cap.read()
+    width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH) or 0)
+    height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT) or 0)
+    if not ok or frame is None:
+        if width <= 0 or height <= 0:
+            cap.release()
+            return None
+    else:
+        h, w = frame.shape[:2]
+        width = width or int(w)
+        height = height or int(h)
+    cap.release()
+    return CameraInfo(
+        index=index,
+        backend_name=backend_name,
+        backend_api=backend_api,
+        width=width,
+        height=height,
+    )
+
+
+def list_cameras(max_index: int = DEFAULT_MAX_CAMERA_INDEX) -> list[CameraInfo]:
+    """Probe indices ``0 .. max_index`` and return working cameras."""
+    found: list[CameraInfo] = []
+    seen_indices: set[int] = set()
+    backends = _backend_candidates()
+
+    with _suppress_opencv_noise():
+        for index in range(0, max_index + 1):
+            for backend_name, backend_api in backends:
+                info = _try_open(index, backend_name, backend_api)
+                if info is None:
+                    continue
+                if index in seen_indices:
+                    break
+                found.append(info)
+                seen_indices.add(index)
+                break
+    return found
+
+
+def pick_default_camera(cameras: list[CameraInfo], preferred: str | None = None) -> str | None:
+    if not cameras:
+        return None
+    preferred = (preferred or "").strip()
+    if preferred:
+        for cam in cameras:
+            if cam.source == preferred:
+                return cam.source
+    return cameras[0].source

shared/src/orisys_app_shared/camera/preview.py

@@ -0,0 +1,72 @@
+"""Raw OpenCV camera preview session."""
+
+from __future__ import annotations
+
+import os
+from typing import Any
+
+# Must be set before importing cv2 on Windows MSMF builds.
+os.environ.setdefault("OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS", "0")
+
+import cv2
+import numpy as np
+
+from orisys_app_shared.camera.discovery import _backend_candidates
+
+
+class RawPreviewSession:
+    """Open a camera index and read BGR frames for UI preview."""
+
+    def __init__(self) -> None:
+        self._cap: Any = None
+        self._index: int | None = None
+        self._backend_name: str = ""
+
+    @property
+    def is_open(self) -> bool:
+        return self._cap is not None and bool(self._cap.isOpened())
+
+    @property
+    def index(self) -> int | None:
+        return self._index
+
+    @property
+    def backend_name(self) -> str:
+        return self._backend_name
+
+    def open(self, index: int) -> None:
+        self.close()
+        last_error = f"Camera {index} failed to open"
+        for backend_name, backend_api in _backend_candidates():
+            cap = cv2.VideoCapture(int(index), backend_api)
+            if not cap.isOpened():
+                cap.release()
+                continue
+            ok, frame = cap.read()
+            if not ok or frame is None:
+                cap.release()
+                last_error = f"Camera {index} opened via {backend_name} but returned no frame"
+                continue
+            self._cap = cap
+            self._index = int(index)
+            self._backend_name = backend_name
+            return
+        raise RuntimeError(last_error)
+
+    def read(self) -> np.ndarray | None:
+        if not self.is_open:
+            return None
+        ok, frame = self._cap.read()
+        if not ok or frame is None:
+            return None
+        return frame
+
+    def close(self) -> None:
+        if self._cap is not None:
+            try:
+                self._cap.release()
+            except Exception:
+                pass
+        self._cap = None
+        self._index = None
+        self._backend_name = ""

shared/src/orisys_app_shared/compat.py

@@ -0,0 +1,24 @@
+"""Shared API compatibility helpers."""
+
+from __future__ import annotations
+
+import logging
+
+from orisys_app_shared import API_VERSION, __version__ as shared_version
+
+logger = logging.getLogger(__name__)
+
+
+def check_shared_compat(required_api: str) -> bool:
+    """Return True if shared API matches the app requirement; log a warning otherwise."""
+    required = str(required_api or "").strip()
+    current = str(API_VERSION).strip()
+    ok = required == current
+    if not ok:
+        logger.warning(
+            "Shared API mismatch: app requires %s, shared provides %s (shared package %s)",
+            required,
+            current,
+            shared_version,
+        )
+    return ok

shared/src/orisys_app_shared/force/__init__.py

@@ -0,0 +1,26 @@
+"""Force history and unit helpers."""
+
+from orisys_app_shared.force.calibration_io import (
+    CHANNEL_KEYS,
+    CalSample,
+    CalSessionStore,
+    build_force_calibration_v2,
+    export_force_calibration_v2,
+    meta_from_sensor_json,
+)
+from orisys_app_shared.force.history import MetricHistory, PlotState, lowpass_filter
+from orisys_app_shared.force.units import DisplayForces, select_display_forces
+
+__all__ = [
+    "CHANNEL_KEYS",
+    "CalSample",
+    "CalSessionStore",
+    "DisplayForces",
+    "MetricHistory",
+    "PlotState",
+    "build_force_calibration_v2",
+    "export_force_calibration_v2",
+    "lowpass_filter",
+    "meta_from_sensor_json",
+    "select_display_forces",
+]

shared/src/orisys_app_shared/force/calibration_io.py

@@ -0,0 +1,235 @@
+"""Build and write schema_version-2 force_calibration.json files."""
+
+from __future__ import annotations
+
+import json
+from copy import deepcopy
+from dataclasses import asdict, dataclass, field
+from datetime import datetime, timezone
+from pathlib import Path
+from typing import Any, Iterable, Literal
+
+ChannelKey = Literal["fn", "fx", "fy"]
+CHANNEL_KEYS: tuple[ChannelKey, ...] = ("fn", "fx", "fy")
+
+_CHANNEL_TO_JSON = {
+    "fn": "normal",
+    "fx": "shear_x",
+    "fy": "shear_y",
+}
+_JSON_RAW_KEY = {
+    "normal": "fnormal",
+    "shear_x": "fshearx",
+    "shear_y": "fsheary",
+}
+
+WEIGHT_EPS = 1e-6
+
+
+@dataclass
+class CalSample:
+    weight_n: float
+    raw_mean: float
+    n: int
+    std: float = 0.0
+
+
+@dataclass
+class CalSessionStore:
+    """In-memory calibration points for FN / FX / FY."""
+
+    fn: list[CalSample] = field(default_factory=list)
+    fx: list[CalSample] = field(default_factory=list)
+    fy: list[CalSample] = field(default_factory=list)
+
+    def channel(self, key: ChannelKey) -> list[CalSample]:
+        return getattr(self, key)
+
+    def set_channel(self, key: ChannelKey, samples: list[CalSample]) -> None:
+        setattr(self, key, list(samples))
+
+    def clear(self, key: ChannelKey | None = None) -> None:
+        if key is None:
+            self.fn.clear()
+            self.fx.clear()
+            self.fy.clear()
+            return
+        self.channel(key).clear()
+
+    def upsert(self, key: ChannelKey, sample: CalSample) -> None:
+        rows = self.channel(key)
+        for i, existing in enumerate(rows):
+            if abs(existing.weight_n - sample.weight_n) <= WEIGHT_EPS:
+                rows[i] = sample
+                break
+        else:
+            rows.append(sample)
+        rows.sort(key=lambda s: s.weight_n)
+        self.set_channel(key, rows)
+
+    def remove_at(self, key: ChannelKey, index: int) -> None:
+        rows = self.channel(key)
+        if 0 <= index < len(rows):
+            rows.pop(index)
+
+    def to_audit_dict(self) -> dict[str, list[dict[str, float | int]]]:
+        out: dict[str, list[dict[str, float | int]]] = {}
+        for key in CHANNEL_KEYS:
+            out[key] = [asdict(s) for s in self.channel(key)]
+        return out
+
+
+def meta_from_sensor_json(path: str | Path | None) -> dict[str, Any]:
+    """Pull stitch / tracker fields from a sensor.json for export meta."""
+    meta: dict[str, Any] = {
+        "stitch_resolution": None,
+        "dis_mode": None,
+        "hhd_downsample": None,
+        "config_ref": None,
+    }
+    if path is None:
+        return meta
+    p = Path(path)
+    meta["config_ref"] = str(p)
+    if not p.is_file():
+        return meta
+    try:
+        data = json.loads(p.read_text(encoding="utf-8"))
+    except Exception:
+        return meta
+    if not isinstance(data, dict):
+        return meta
+    camera = data.get("camera") if isinstance(data.get("camera"), dict) else {}
+    tracker = data.get("tracker") if isinstance(data.get("tracker"), dict) else {}
+    stitch = camera.get("resolution_stitch")
+    if isinstance(stitch, (list, tuple)) and len(stitch) >= 2:
+        meta["stitch_resolution"] = [int(stitch[0]), int(stitch[1])]
+    if "dis_mode" in tracker:
+        try:
+            meta["dis_mode"] = int(tracker["dis_mode"])
+        except (TypeError, ValueError):
+            meta["dis_mode"] = tracker.get("dis_mode")
+    if "hhd_downsample" in tracker:
+        try:
+            meta["hhd_downsample"] = int(tracker["hhd_downsample"])
+        except (TypeError, ValueError):
+            meta["hhd_downsample"] = tracker.get("hhd_downsample")
+    return meta
+
+
+def _piecewise_channel(
+    *,
+    json_name: str,
+    samples: Iterable[CalSample],
+    signed: bool,
+) -> dict[str, Any] | None:
+    rows = sorted(samples, key=lambda s: abs(float(s.raw_mean)))
+    if len(rows) < 2:
+        return None
+    points = [[abs(float(s.raw_mean)), float(s.weight_n)] for s in rows]
+    block: dict[str, Any] = {
+        "method": "piecewise_linear",
+        "raw_key": _JSON_RAW_KEY[json_name],
+        "extrapolate": True,
+        "clamp_output_min": 0.0,
+        "points": points,
+    }
+    if signed:
+        block["signed"] = True
+    return block
+
+
+def build_force_calibration_v2(
+    store: CalSessionStore,
+    *,
+    meta: dict[str, Any] | None = None,
+) -> tuple[dict[str, Any], list[str]]:
+    """Build schema v2 JSON. Returns (document, skipped_channel_warnings)."""
+    warnings: list[str] = []
+    channels: dict[str, Any] = {}
+    for key, json_name in _CHANNEL_TO_JSON.items():
+        signed = key in ("fx", "fy")
+        block = _piecewise_channel(
+            json_name=json_name,
+            samples=store.channel(key),
+            signed=signed,
+        )
+        if block is None:
+            if store.channel(key):
+                warnings.append(
+                    f"{key}: need at least 2 points (have {len(store.channel(key))})"
+                )
+            else:
+                warnings.append(f"{key}: no samples")
+            continue
+        channels[json_name] = block
+
+    base_meta = {
+        "date": datetime.now(timezone.utc).astimezone().isoformat(timespec="seconds"),
+        "sensor_type": "",
+        "sn": "",
+        "stitch_resolution": None,
+        "dis_mode": None,
+        "hhd_downsample": None,
+        "record_duration_s": None,
+        "config_ref": None,
+        "samples": store.to_audit_dict(),
+    }
+    if meta:
+        for k, v in meta.items():
+            if k == "samples":
+                continue
+            base_meta[k] = v
+        if "samples" in meta and meta["samples"] is not None:
+            base_meta["samples"] = meta["samples"]
+
+    doc = {
+        "schema_version": 2,
+        "unit": "N",
+        "channels": channels,
+        "meta": base_meta,
+    }
+    return doc, warnings
+
+
+def write_force_calibration(
+    doc: dict[str, Any],
+    path: str | Path,
+) -> Path:
+    path = Path(path)
+    path.parent.mkdir(parents=True, exist_ok=True)
+    path.write_text(
+        json.dumps(doc, indent=2, ensure_ascii=False) + "\n",
+        encoding="utf-8",
+    )
+    return path.resolve()
+
+
+def export_force_calibration_v2(
+    store: CalSessionStore,
+    *,
+    export_dir: str | Path,
+    sensor_type: str,
+    meta: dict[str, Any] | None = None,
+    local_bundle_dir: str | Path | None = None,
+) -> tuple[Path, Path | None, list[str]]:
+    """Write timestamped export and optional local bundle force_calibration.json."""
+    doc, warnings = build_force_calibration_v2(store, meta=meta)
+    if not doc.get("channels"):
+        raise ValueError(
+            "No complete channels to export (each needs ≥2 points). "
+            + "; ".join(warnings)
+        )
+    stamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+    export_path = Path(export_dir) / f"force_calibration_{sensor_type}_{stamp}.json"
+    primary = write_force_calibration(doc, export_path)
+
+    local_path: Path | None = None
+    if local_bundle_dir is not None:
+        bundle = Path(local_bundle_dir)
+        if bundle.is_dir():
+            local_path = write_force_calibration(
+                deepcopy(doc),
+                bundle / "force_calibration.json",
+            )
+    return primary, local_path, warnings

shared/src/orisys_app_shared/force/history.py

@@ -0,0 +1,150 @@
+"""Rolling force history with optional display low-pass."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from typing import Optional
+
+import numpy as np
+
+
+@dataclass
+class PlotState:
+    times: np.ndarray
+    values: np.ndarray
+    x_range: tuple[float, float]
+    y_ranges: tuple[tuple[float, float], ...]
+
+
+def lowpass_filter(
+    data,
+    cutoff_hz: float,
+    sample_rate_hz: float,
+    order: int = 2,
+) -> np.ndarray:
+    y = np.asarray(data, dtype=np.float64)
+    if cutoff_hz == 0 or y.size == 0:
+        return y.copy()
+    nyquist = 0.5 * sample_rate_hz
+    if cutoff_hz < 0 or cutoff_hz >= nyquist:
+        return y.copy()
+    from scipy.signal import butter, filtfilt
+
+    b, a = butter(order, cutoff_hz / nyquist, btype="low")
+    # filtfilt requires length strictly greater than padlen.
+    padlen = 3 * (max(len(b), len(a)) - 1)
+    if y.size <= padlen:
+        return y.copy()
+    try:
+        return filtfilt(b, a, y)
+    except ValueError:
+        return y.copy()
+
+
+def _npoints_for_window(window_sec: float, sample_rate_hz: float) -> int:
+    return max(2, int(round(float(window_sec) * float(sample_rate_hz))))
+
+
+class MetricHistory:
+    def __init__(
+        self,
+        npoints: int | None = None,
+        *,
+        channels: int = 3,
+        window_sec: float = 4.0,
+        sample_rate_hz: float | None = None,
+        lowpass_cutoff_hz: float = 0.0,
+        y_axis_min_span: float = 0.5,
+    ):
+        self.channels = int(channels)
+        self.window_sec = float(window_sec)
+        self.sample_rate_hz = (
+            float(sample_rate_hz)
+            if sample_rate_hz is not None
+            else (30.0 if self.window_sec <= 0 else 30.0)
+        )
+        if npoints is None:
+            self.npoints = _npoints_for_window(self.window_sec, self.sample_rate_hz)
+        else:
+            self.npoints = int(npoints)
+        self.lowpass_cutoff_hz = float(lowpass_cutoff_hz)
+        self.y_axis_min_span = float(y_axis_min_span)
+        self.reset()
+
+    def set_window_sec(self, window_sec: float) -> None:
+        self.window_sec = max(0.1, float(window_sec))
+        self.npoints = _npoints_for_window(self.window_sec, self.sample_rate_hz)
+        self.reset()
+
+    def reset(self) -> None:
+        self._data = np.full((self.npoints, 1 + self.channels), np.nan, dtype=np.float64)
+        self.sample_count = 0
+        self._t0: Optional[float] = None
+        self._y_range_smooth: list[Optional[tuple[float, float]]] = [
+            None for _ in range(self.channels)
+        ]
+
+    def push(self, timestamp: float, *values: float) -> None:
+        if len(values) != self.channels:
+            raise ValueError(f"Expected {self.channels} values, got {len(values)}")
+        if self._t0 is None:
+            self._t0 = float(timestamp)
+        t = float(timestamp) - self._t0
+        row = (t, *map(float, values))
+        if self.sample_count < self.npoints:
+            self._data[self.sample_count, :] = row
+            self.sample_count += 1
+            return
+        self._data[:-1, :] = self._data[1:, :]
+        self._data[-1, :] = row
+
+    def _smooth_y_range(self, channel: int, ymin: float, ymax: float) -> tuple[float, float]:
+        if self._y_range_smooth[channel] is None:
+            smoothed = (ymin, ymax)
+        else:
+            prev_min, prev_max = self._y_range_smooth[channel]
+            ymin = 0.5 * ymin + 0.5 * prev_min
+            ymax = 0.5 * ymax + 0.5 * prev_max
+            smoothed = (ymin, ymax)
+        span = smoothed[1] - smoothed[0]
+        if span < self.y_axis_min_span:
+            mid = 0.5 * (smoothed[0] + smoothed[1])
+            half = self.y_axis_min_span / 2.0
+            smoothed = (mid - half, mid + half)
+        self._y_range_smooth[channel] = smoothed
+        pad = max((smoothed[1] - smoothed[0]) * 0.12, 0.01)
+        return smoothed[0] - pad, smoothed[1] + pad
+
+    def state(self) -> Optional[PlotState]:
+        n = self.sample_count
+        if n == 0:
+            return None
+        block = self._data[:n]
+        times = block[:, 0].copy()
+        values = block[:, 1:].copy()
+        if self.lowpass_cutoff_hz > 0:
+            for i in range(self.channels):
+                values[:, i] = lowpass_filter(
+                    values[:, i],
+                    self.lowpass_cutoff_hz,
+                    sample_rate_hz=self.sample_rate_hz,
+                )
+        t_end = float(times[-1])
+        if t_end >= self.window_sec:
+            x_range = (t_end - self.window_sec, t_end)
+        else:
+            x_range = (0.0, self.window_sec)
+        y_ranges = []
+        for i in range(self.channels):
+            col = values[:, i]
+            ymin = float(np.nanmin(col))
+            ymax = float(np.nanmax(col))
+            if not np.isfinite(ymin) or not np.isfinite(ymax):
+                ymin, ymax = 0.0, 1.0
+            y_ranges.append(self._smooth_y_range(i, ymin, ymax))
+        return PlotState(
+            times=times,
+            values=values,
+            x_range=x_range,
+            y_ranges=tuple(y_ranges),
+        )

shared/src/orisys_app_shared/force/units.py

@@ -0,0 +1,46 @@
+"""Force unit selection for display."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+
+
+@dataclass(frozen=True)
+class DisplayForces:
+    fn: float
+    fx: float
+    fy: float
+    unit: str
+    using_raw_fallback: bool
+
+
+def select_display_forces(
+    *,
+    units_pref: str,
+    force_calibrated: bool,
+    fn: float,
+    fx: float,
+    fy: float,
+    fn_raw: float,
+    fx_raw: float,
+    fy_raw: float,
+) -> DisplayForces:
+    """Return values for plots/labels given newton/raw preference."""
+    want_newton = str(units_pref or "newton").lower().startswith("n")
+    if want_newton and force_calibrated:
+        return DisplayForces(fn=fn, fx=fx, fy=fy, unit="N", using_raw_fallback=False)
+    if want_newton and not force_calibrated:
+        return DisplayForces(
+            fn=fn_raw,
+            fx=fx_raw,
+            fy=fy_raw,
+            unit="raw",
+            using_raw_fallback=True,
+        )
+    return DisplayForces(
+        fn=fn_raw,
+        fx=fx_raw,
+        fy=fy_raw,
+        unit="raw",
+        using_raw_fallback=False,
+    )

shared/src/orisys_app_shared/i18n/__init__.py

@@ -0,0 +1,5 @@
+"""i18n helpers."""
+
+from orisys_app_shared.i18n.translator import Translator, get_translator, set_locale, t
+
+__all__ = ["Translator", "get_translator", "set_locale", "t"]

shared/src/orisys_app_shared/i18n/translator.py

@@ -0,0 +1,80 @@
+"""Simple JSON locale translator with en_US fallback."""
+
+from __future__ import annotations
+
+import json
+from pathlib import Path
+from typing import Any
+
+from orisys_app_shared.paths import locales_dir
+
+
+class Translator:
+    def __init__(self, locales_path: Path | None = None, locale: str = "zh_CN") -> None:
+        self._locales_path = locales_path or locales_dir()
+        self._locale = locale
+        self._strings: dict[str, Any] = {}
+        self._fallback: dict[str, Any] = {}
+        self.set_locale(locale)
+
+    @property
+    def locale(self) -> str:
+        return self._locale
+
+    def set_locale(self, locale: str) -> None:
+        self._locale = locale
+        self._fallback = self._load("en_US")
+        self._strings = self._load(locale)
+
+    def _load(self, locale: str) -> dict[str, Any]:
+        path = self._locales_path / f"{locale}.json"
+        if not path.is_file():
+            return {}
+        try:
+            data = json.loads(path.read_text(encoding="utf-8"))
+        except (OSError, json.JSONDecodeError):
+            return {}
+        return data if isinstance(data, dict) else {}
+
+    def t(self, key: str, **kwargs: Any) -> str:
+        value = self._lookup(self._strings, key)
+        if value is None:
+            value = self._lookup(self._fallback, key)
+        if value is None:
+            return key
+        text = str(value)
+        if kwargs:
+            try:
+                return text.format(**kwargs)
+            except (KeyError, ValueError):
+                return text
+        return text
+
+    @staticmethod
+    def _lookup(data: dict[str, Any], key: str) -> Any | None:
+        node: Any = data
+        for part in key.split("."):
+            if not isinstance(node, dict) or part not in node:
+                return None
+            node = node[part]
+        return node
+
+
+_translator: Translator | None = None
+
+
+def get_translator() -> Translator:
+    global _translator
+    if _translator is None:
+        _translator = Translator()
+    return _translator
+
+
+def t(key: str, **kwargs: Any) -> str:
+    return get_translator().t(key, **kwargs)
+
+
+def set_locale(locale: str) -> Translator:
+    tr = get_translator()
+    tr.set_locale(locale)
+    return tr

shared/src/orisys_app_shared/logging/__init__.py

@@ -0,0 +1,14 @@
+"""Logging helpers."""
+
+from orisys_app_shared.logging.errors import report_error, report_warning
+from orisys_app_shared.logging.excepthook import install_exception_hooks
+from orisys_app_shared.logging.qt_handler import QtLogHandler
+from orisys_app_shared.logging.setup import init_logging
+
+__all__ = [
+    "QtLogHandler",
+    "init_logging",
+    "install_exception_hooks",
+    "report_error",
+    "report_warning",
+]

shared/src/orisys_app_shared/logging/errors.py

@@ -0,0 +1,29 @@
+"""User/developer error reporting helpers."""
+
+from __future__ import annotations
+
+import logging
+import traceback
+from typing import Any
+
+
+def report_error(
+    exc: BaseException | None = None,
+    *,
+    message: str = "",
+    logger_name: str = "orisys_app",
+) -> None:
+    """Log an error with optional exception traceback (dialog wiring later)."""
+    logger = logging.getLogger(logger_name)
+    if exc is not None:
+        logger.error(
+            "%s\n%s",
+            message or str(exc),
+            "".join(traceback.format_exception(type(exc), exc, exc.__traceback__)),
+        )
+    else:
+        logger.error("%s", message or "Unknown error")
+
+
+def report_warning(message: str, *, logger_name: str = "orisys_app", **_kwargs: Any) -> None:
+    logging.getLogger(logger_name).warning("%s", message)

shared/src/orisys_app_shared/logging/excepthook.py

@@ -0,0 +1,38 @@
+"""Install process-wide exception hooks that log tracebacks."""
+
+from __future__ import annotations
+
+import logging
+import sys
+import threading
+import traceback
+
+
+def install_exception_hooks() -> None:
+    logger = logging.getLogger("orisys_app_shared.excepthook")
+
+    def handle_exception(exc_type, exc_value, exc_traceback):
+        if issubclass(exc_type, KeyboardInterrupt):
+            sys.__excepthook__(exc_type, exc_value, exc_traceback)
+            return
+        logger.error(
+            "Unhandled exception\n%s",
+            "".join(traceback.format_exception(exc_type, exc_value, exc_traceback)),
+        )
+
+    sys.excepthook = handle_exception
+
+    if hasattr(threading, "excepthook"):
+
+        def thread_hook(args):
+            if args.exc_type is None:
+                return
+            if issubclass(args.exc_type, SystemExit):
+                return
+            logger.error(
+                "Unhandled thread exception in %s\n%s",
+                getattr(args.thread, "name", "?"),
+                "".join(traceback.format_exception(args.exc_type, args.exc_value, args.exc_traceback)),
+            )
+
+        threading.excepthook = thread_hook

shared/src/orisys_app_shared/logging/qt_handler.py

@@ -0,0 +1,25 @@
+"""Qt log handler stub for a future log dock."""
+
+from __future__ import annotations
+
+import logging
+from typing import Callable
+
+
+class QtLogHandler(logging.Handler):
+    """Forward log records to a callable (e.g. append to a QTextEdit)."""
+
+    def __init__(self, sink: Callable[[str], None] | None = None) -> None:
+        super().__init__()
+        self._sink = sink
+
+    def set_sink(self, sink: Callable[[str], None] | None) -> None:
+        self._sink = sink
+
+    def emit(self, record: logging.LogRecord) -> None:
+        if self._sink is None:
+            return
+        try:
+            self._sink(self.format(record))
+        except Exception:
+            self.handleError(record)

shared/src/orisys_app_shared/logging/setup.py

@@ -0,0 +1,42 @@
+"""Logging setup for orisys-app products."""
+
+from __future__ import annotations
+
+import logging
+from datetime import datetime
+from pathlib import Path
+
+from orisys_app_shared.paths import logs_dir
+
+_INITIALIZED = False
+
+
+def init_logging(app_name: str = "orisys-app", *, level: int = logging.INFO) -> Path:
+    """Configure root logger with console + session file under outputs/logs."""
+    global _INITIALIZED
+    log_path = logs_dir() / f"{app_name}_{datetime.now().strftime('%Y%m%d_%H%M%S')}.log"
+
+    root = logging.getLogger()
+    root.setLevel(level)
+    # Avoid duplicate handlers on repeated init (tests / re-entry).
+    if _INITIALIZED:
+        return log_path
+
+    formatter = logging.Formatter(
+        "%(asctime)s [%(levelname)s] %(name)s: %(message)s",
+        datefmt="%Y-%m-%d %H:%M:%S",
+    )
+
+    file_handler = logging.FileHandler(log_path, encoding="utf-8")
+    file_handler.setFormatter(formatter)
+    file_handler.setLevel(level)
+    root.addHandler(file_handler)
+
+    console = logging.StreamHandler()
+    console.setFormatter(formatter)
+    console.setLevel(level)
+    root.addHandler(console)
+
+    _INITIALIZED = True
+    logging.getLogger(__name__).info("Logging initialized: %s", log_path)
+    return log_path

shared/src/orisys_app_shared/paths.py

@@ -0,0 +1,152 @@
+"""Resolve app, config, and output paths for editable and frozen runs."""
+
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+
+
+def is_frozen() -> bool:
+    return bool(getattr(sys, "frozen", False))
+
+
+def _customer_root_from_shared() -> Path:
+    """Repo layout: shared/src/orisys_app_shared -> apps/customer."""
+    here = Path(__file__).resolve()
+    # .../orisys-app/shared/src/orisys_app_shared/paths.py
+    repo_root = here.parents[3]
+    return repo_root / "apps" / "customer"
+
+
+def app_root() -> Path:
+    """Return the customer app root (editable) or EXE directory (frozen)."""
+    if is_frozen():
+        return Path(sys.executable).resolve().parent
+    # Prefer cwd override when launched from apps/customer
+    cwd = Path.cwd().resolve()
+    if (cwd / "config").is_dir() and (cwd / "run.py").is_file():
+        return cwd
+    if (cwd / "apps" / "customer" / "config").is_dir():
+        return cwd / "apps" / "customer"
+    return _customer_root_from_shared()
+
+
+def config_dir() -> Path:
+    if is_frozen():
+        beside = app_root() / "config"
+        if beside.is_dir():
+            return beside
+        internal = app_root() / "_internal" / "config"
+        if internal.is_dir():
+            return internal
+    return app_root() / "config"
+
+
+def sensors_dir() -> Path:
+    return config_dir() / "sensors"
+
+
+def locales_dir() -> Path:
+    return config_dir() / "locales"
+
+
+def outputs_dir() -> Path:
+    path = app_root() / "outputs"
+    path.mkdir(parents=True, exist_ok=True)
+    return path
+
+
+def logs_dir() -> Path:
+    path = outputs_dir() / "logs"
+    path.mkdir(parents=True, exist_ok=True)
+    return path
+
+
+def calibration_export_dir() -> Path:
+    path = outputs_dir() / "calibration"
+    path.mkdir(parents=True, exist_ok=True)
+    return path
+
+
+def preference_path() -> Path:
+    return app_root() / "preference.json"
+
+
+def preferences_default_path() -> Path:
+    return config_dir() / "preferences.default.json"
+
+
+def branding_dir() -> Path:
+    """Branding assets shipped with the shared package."""
+    # editable: shared/resources/branding
+    # package: next to installed module via package resources fallback
+    here = Path(__file__).resolve()
+    candidates = [
+        here.parents[2] / "resources" / "branding",  # shared/resources/branding
+        here.parent / "resources" / "branding",
+    ]
+    if is_frozen():
+        candidates.insert(0, app_root() / "branding")
+        candidates.insert(0, app_root() / "_internal" / "branding")
+    for path in candidates:
+        if path.is_dir():
+            return path
+    return candidates[0]
+
+
+def logo_path() -> Path:
+    return branding_dir() / "logo.png"
+
+
+def logo_topbar_path() -> Path:
+    return branding_dir() / "logo_topbar.png"
+
+
+def sensor_json_path(sensor_type: str) -> Path | None:
+    """Return ``config/sensors/<type>/sensor.json`` when present."""
+    path = sensors_dir() / str(sensor_type) / "sensor.json"
+    return path if path.is_file() else None
+
+
+_PREFERRED_SENSOR_ROOT: Path | None = None
+
+
+def prefer_local_sensor_bundles(root: Path | None = None) -> Path | None:
+    """Prefer app ``config/sensors`` over packaged Orisys sensor bundles."""
+    global _PREFERRED_SENSOR_ROOT
+
+    if root is not None:
+        sensors = (Path(root) / "config" / "sensors").resolve()
+        if not sensors.is_dir():
+            sensors = Path(root).resolve()
+    else:
+        sensors = sensors_dir().resolve()
+    if not sensors.is_dir():
+        return None
+
+    if _PREFERRED_SENSOR_ROOT is not None and _PREFERRED_SENSOR_ROOT == sensors:
+        return sensors
+
+    try:
+        import orisys.configs as configs
+    except Exception:
+        return None
+
+    original = configs._candidate_sensor_roots
+    marker = str(sensors)
+    if getattr(original, "_orisys_app_local_pref", None) == marker:
+        _PREFERRED_SENSOR_ROOT = sensors
+        return sensors
+
+    def _candidate_sensor_roots_prefer_local() -> list[Path]:
+        roots = [sensors]
+        for candidate in original():
+            resolved = Path(candidate).resolve()
+            if resolved != sensors and resolved not in roots:
+                roots.append(resolved)
+        return roots
+
+    _candidate_sensor_roots_prefer_local._orisys_app_local_pref = marker  # type: ignore[attr-defined]
+    configs._candidate_sensor_roots = _candidate_sensor_roots_prefer_local
+    _PREFERRED_SENSOR_ROOT = sensors
+    return sensors

shared/src/orisys_app_shared/prefs/__init__.py

@@ -0,0 +1,17 @@
+"""Preference store re-exports."""
+
+from orisys_app_shared.prefs.store import (
+    default_preferences,
+    get_preference,
+    load_preferences,
+    save_preferences,
+    set_preference,
+)
+
+__all__ = [
+    "default_preferences",
+    "get_preference",
+    "load_preferences",
+    "save_preferences",
+    "set_preference",
+]

shared/src/orisys_app_shared/prefs/store.py

@@ -0,0 +1,70 @@
+"""Load/save preference.json with defaults merge."""
+
+from __future__ import annotations
+
+import json
+from copy import deepcopy
+from pathlib import Path
+from typing import Any
+
+from orisys_app_shared.paths import preference_path, preferences_default_path
+
+_DEFAULTS: dict[str, Any] = {
+    "language": "zh_CN",
+    "theme": "dark",
+    "window_geometry": None,
+    "camera_id": "0",
+    "source_mode": "camera",
+    "video_path": "",
+    "show_cal_panel": False,
+    "show_finger_3d": True,
+    "sensor_type": "box",
+    "config_name": "",
+    "units": "newton",
+    "plot_window_sec": 4.0,
+    "plot_fn_max": 20.0,
+    "plot_shear_max": 20.0,
+    "image_view_mode": "arrows_pure",
+}
+
+
+def _load_json(path: Path) -> dict[str, Any]:
+    if not path.is_file():
+        return {}
+    try:
+        data = json.loads(path.read_text(encoding="utf-8"))
+    except (OSError, json.JSONDecodeError):
+        return {}
+    return data if isinstance(data, dict) else {}
+
+
+def default_preferences() -> dict[str, Any]:
+    merged = deepcopy(_DEFAULTS)
+    merged.update(_load_json(preferences_default_path()))
+    return merged
+
+
+def load_preferences() -> dict[str, Any]:
+    prefs = default_preferences()
+    prefs.update(_load_json(preference_path()))
+    return prefs
+
+
+def save_preferences(prefs: dict[str, Any]) -> Path:
+    path = preference_path()
+    path.parent.mkdir(parents=True, exist_ok=True)
+    payload = default_preferences()
+    payload.update(prefs)
+    path.write_text(json.dumps(payload, indent=2, ensure_ascii=False) + "\n", encoding="utf-8")
+    return path
+
+
+def get_preference(key: str, default: Any = None) -> Any:
+    return load_preferences().get(key, default)
+
+
+def set_preference(key: str, value: Any) -> dict[str, Any]:
+    prefs = load_preferences()
+    prefs[key] = value
+    save_preferences(prefs)
+    return prefs

shared/src/orisys_app_shared/sensors/__init__.py

@@ -0,0 +1,5 @@
+"""Sensor catalog helpers."""
+
+from orisys_app_shared.sensors.catalog import list_configs_for_type, list_sensor_types
+
+__all__ = ["list_configs_for_type", "list_sensor_types"]

shared/src/orisys_app_shared/sensors/catalog.py

@@ -0,0 +1,33 @@
+"""List local editable sensor bundles under config/sensors."""
+
+from __future__ import annotations
+
+from pathlib import Path
+
+from orisys_app_shared.paths import sensors_dir
+
+PRODUCT_TYPES = ("box", "mini", "finger")
+
+
+def list_sensor_types() -> list[str]:
+    return list(PRODUCT_TYPES)
+
+
+def list_configs_for_type(sensor_type: str) -> list[tuple[str, str]]:
+    """Return ``(display_name, config_key)`` entries for one sensor type.
+
+    Prefers ``config/sensors/<type>/sensor.json`` when present; otherwise a
+    single default entry named after the type (for prefs / future Run).
+    """
+    name = str(sensor_type or "").strip()
+    if not name:
+        return []
+    root = sensors_dir() / name
+    sensor_json = root / "sensor.json"
+    if sensor_json.is_file():
+        return [(f"{name}/sensor.json", str(sensor_json))]
+    # Also accept extra *.json next to sensor.json later; for now only sensor.json.
+    extras = sorted(p for p in root.glob("*.json") if p.name != "manifest.json")
+    if extras:
+        return [(f"{name}/{p.name}", str(p)) for p in extras]
+    return [(name, name)]

shared/src/orisys_app_shared/theme/__init__.py

@@ -0,0 +1,5 @@
+"""Theme helpers."""
+
+from orisys_app_shared.theme.qss import build_qss, clear_theme_cache, color, load_colors
+
+__all__ = ["build_qss", "clear_theme_cache", "color", "load_colors"]

shared/src/orisys_app_shared/theme/colors_dark.json

@@ -0,0 +1,23 @@
+{
+  "window_bg": "#121316",
+  "panel_bg": "#1a1c20",
+  "panel_border": "#2a2d33",
+  "text_primary": "#e8eaed",
+  "text_secondary": "#9aa0a6",
+  "accent": "#536dce",
+  "accent_hover": "#6b82d9",
+  "button_bg": "#2a2d33",
+  "button_hover": "#3a3f47",
+  "input_bg": "#0f1012",
+  "input_border": "#3a3f47",
+  "menu_bg": "#1a1c20",
+  "menu_hover": "#2a2d33",
+  "plot_fn": "#8ab4f8",
+  "plot_fx": "#34a853",
+  "plot_fy": "#fbbc04",
+  "plot_bg": "#121316",
+  "plot_grid": "#2a2d33",
+  "arrow_canvas": "#121316",
+  "danger": "#ea4335",
+  "success": "#34a853"
+}

shared/src/orisys_app_shared/theme/colors_light.json

@@ -0,0 +1,23 @@
+{
+  "window_bg": "#f5f6f8",
+  "panel_bg": "#ffffff",
+  "panel_border": "#d0d4dc",
+  "text_primary": "#1a1c20",
+  "text_secondary": "#5f6368",
+  "accent": "#536dce",
+  "accent_hover": "#3f56b5",
+  "button_bg": "#e8eaed",
+  "button_hover": "#d0d4dc",
+  "input_bg": "#ffffff",
+  "input_border": "#c0c4cc",
+  "menu_bg": "#ffffff",
+  "menu_hover": "#e8eaed",
+  "plot_fn": "#1a73e8",
+  "plot_fx": "#188038",
+  "plot_fy": "#f9ab00",
+  "plot_bg": "#ffffff",
+  "plot_grid": "#e0e3e8",
+  "arrow_canvas": "#eef0f3",
+  "danger": "#d93025",
+  "success": "#188038"
+}

shared/src/orisys_app_shared/theme/qss.py

@@ -0,0 +1,105 @@
+"""Build Qt stylesheets from theme color token JSON (no hex in widgets)."""
+
+from __future__ import annotations
+
+import json
+from functools import lru_cache
+from pathlib import Path
+
+
+def _theme_dir() -> Path:
+    return Path(__file__).resolve().parent
+
+
+@lru_cache(maxsize=4)
+def load_colors(theme: str = "dark") -> dict[str, str]:
+    name = "colors_dark.json" if theme != "light" else "colors_light.json"
+    path = _theme_dir() / name
+    data = json.loads(path.read_text(encoding="utf-8"))
+    if not isinstance(data, dict):
+        raise ValueError(f"Invalid theme file: {path}")
+    return {str(k): str(v) for k, v in data.items()}
+
+
+def build_qss(theme: str = "dark") -> str:
+    c = load_colors(theme)
+    return f"""
+QWidget {{
+    background-color: {c['window_bg']};
+    color: {c['text_primary']};
+    font-family: "Microsoft YaHei", "Segoe UI", sans-serif;
+    font-size: 13px;
+}}
+QMainWindow, QDialog {{
+    background-color: {c['window_bg']};
+}}
+QMenuBar {{
+    background-color: {c['menu_bg']};
+    color: {c['text_primary']};
+    border-bottom: 1px solid {c['panel_border']};
+}}
+QMenuBar::item:selected {{
+    background-color: {c['menu_hover']};
+}}
+QMenu {{
+    background-color: {c['menu_bg']};
+    color: {c['text_primary']};
+    border: 1px solid {c['panel_border']};
+}}
+QMenu::item:selected {{
+    background-color: {c['menu_hover']};
+}}
+QToolBar {{
+    background-color: {c['panel_bg']};
+    border-bottom: 1px solid {c['panel_border']};
+    spacing: 8px;
+    padding: 4px;
+}}
+QPushButton {{
+    background-color: {c['button_bg']};
+    color: {c['text_primary']};
+    border: 1px solid {c['panel_border']};
+    border-radius: 4px;
+    padding: 6px 12px;
+}}
+QPushButton:hover {{
+    background-color: {c['button_hover']};
+}}
+QPushButton:disabled {{
+    color: {c['text_secondary']};
+}}
+QComboBox, QLineEdit, QSpinBox {{
+    background-color: {c['input_bg']};
+    color: {c['text_primary']};
+    border: 1px solid {c['input_border']};
+    border-radius: 4px;
+    padding: 4px 8px;
+    min-height: 24px;
+}}
+QLabel#panelTitle {{
+    color: {c['text_secondary']};
+    font-weight: 600;
+}}
+QLabel#panelMeta {{
+    color: {c['text_secondary']};
+    font-weight: 500;
+    padding-right: 8px;
+}}
+QFrame#contentPanel {{
+    background-color: {c['panel_bg']};
+    border: 1px solid {c['panel_border']};
+    border-radius: 6px;
+}}
+QStatusBar {{
+    background-color: {c['panel_bg']};
+    color: {c['text_secondary']};
+}}
+"""
+
+
+def color(theme: str, key: str, default: str = "#888888") -> str:
+    return load_colors(theme).get(key, default)
+
+
+def clear_theme_cache() -> None:
+    load_colors.cache_clear()