subject: fix calibration cancel, unit mixing, FN clamping, export/apply and depth scale

README.md

@@ -74,6 +74,11 @@ ramp monotonicity) that guard the brand tokens; see
 colour system, its relationship to the UI design spec, and every deliberate
 deviation from it.
 
+`ui_check.py` includes a `record channel` section as well; see
+[`apps/studio/docs/record-channel.md`](apps/studio/docs/record-channel.md) for
+why recording and calibration sampling no longer hang off the UI refresh timer,
+and for the data-reliability fixes that came with it.
+
 ## Branding
 
 Window / EXE icon: `shared/resources/branding/logo.png`  

apps/studio/config/locales/en_US.json

@@ -89,6 +89,9 @@
     "view_mode_tip": "Image display mode while running",
     "arrow_empty": "No image yet\nPick a video or camera, then press Run",
     "arrow_empty_tip": "The deformation arrow image appears here while running or previewing",
+    "depth_unavailable": "No depth data for this frame\n(not a depth of zero, and no silent fallback to the processed image)",
+    "depth_scale": "Depth scale {low} – {high}",
+    "depth_scale_tip": "Fixed for this session: the range is latched to the first frame that carried depth so frames stay comparable. Grey marks samples with no depth.",
     "plots": "Force Charts",
     "cal": "Calibration",
     "mesh3d": "3D mesh",
@@ -122,12 +125,18 @@
     "col_std": "σ",
     "col_actions": "",
     "recording": "Recording calibration samples…",
+    "recording_stop_tip": "Click to cancel this calibration recording (always available)",
     "record_ok": "Recorded weight={weight} raw={raw}",
     "record_failed_few": "Recording failed — too few samples",
     "export_ok": "Exported {path}",
     "export_local": "Also wrote {path}",
     "export_warnings": "Skipped: {detail}",
-    "export_failed": "Export failed: {error}"
+    "export_failed": "Export failed: {error}",
+    "apply_title": "Apply calibration",
+    "apply_confirm": "Apply the calibration just exported to the current device?\n\nSensor type: {sensor_type}\nConfig: {config}\n\nChoosing No keeps the exported file and leaves the running device untouched.",
+    "apply_skipped": "Exported; not applied to the device",
+    "apply_done": "Calibration applied to {sensor_type}",
+    "apply_no_target": "No device to apply to (run an acquisition first)"
   },
   "status": {
     "ready": "Ready",
@@ -146,6 +155,8 @@
     "run_stopped": "Stopped",
     "run_stopping": "Stopping… (releasing the device)",
     "run_stopping_cancelled": "Connection cancelled (releasing the device)",
+    "sample_invalid": "Invalid sample (#{count}): {reason} — marked invalid and excluded from the curves and from calibration",
+    "samples_dropped": "Record buffer is full; the oldest {count} samples were released (the full session is no longer complete)",
     "run_failed": "Run failed: {error}",
     "video_ended": "Video ended",
     "camera_disconnected": "Camera disconnected",

apps/studio/config/locales/zh_CN.json

@@ -89,6 +89,9 @@
     "view_mode_tip": "运行时的图像显示模式",
     "arrow_empty": "尚未采集图像\n请选择视频或摄像机后点击「运行」",
     "arrow_empty_tip": "运行或预览后在此显示形变箭头图",
+    "depth_unavailable": "本帧没有深度数据\n（不是深度为零，也未回退显示普通形变图）",
+    "depth_scale": "深度色标 {low} – {high}",
+    "depth_scale_tip": "本会话固定色标：色标范围锁定在首个有效深度帧，便于跨帧比较；灰色区域表示无深度数据",
     "plots": "力曲线图",
     "cal": "标定",
     "mesh3d": "三维网格",
@@ -123,12 +126,18 @@
     "col_std": "σ",
     "col_actions": "",
     "recording": "正在采集标定样本…",
+    "recording_stop_tip": "点击可取消本次标定采集（随时可用）",
     "record_ok": "已记录 weight={weight} raw={raw}",
     "record_failed_few": "采集失败 — 样本过少",
     "export_ok": "已导出 {path}",
     "export_local": "同时写入 {path}",
     "export_warnings": "跳过: {detail}",
-    "export_failed": "导出失败: {error}"
+    "export_failed": "导出失败: {error}",
+    "apply_title": "应用标定",
+    "apply_confirm": "将刚导出的标定应用到当前设备？\n\n设备类型: {sensor_type}\n配置: {config}\n\n选择「否」只保留导出文件，不改动运行中的设备。",
+    "apply_skipped": "已导出，未应用到设备",
+    "apply_done": "标定已应用到 {sensor_type}",
+    "apply_no_target": "没有可应用的设备（请先运行一次采集）"
   },
   "status": {
     "ready": "就绪",
@@ -147,6 +156,8 @@
     "run_stopped": "已停止",
     "run_stopping": "正在停止…（正在释放设备）",
     "run_stopping_cancelled": "已取消连接（正在释放设备）",
+    "sample_invalid": "采样无效（第 {count} 次）：{reason} — 该样本已标记无效，未计入曲线与标定",
+    "samples_dropped": "记录缓冲已达上限，最早的 {count} 个样本已被释放（全程记录不再完整）",
     "run_failed": "启动失败: {error}",
     "video_ended": "视频已结束",
     "camera_disconnected": "摄像机已断开",

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

@@ -43,6 +43,11 @@ class ArrowPanel(QFrame):
         self.fps_label = QLabel()
         self.fps_label.setObjectName("panelMeta")
         self.fps_label.setVisible(False)
+        # Shows the fixed depth colour-scale range, so two frames can be
+        # compared instead of the scale silently re-fitting every frame.
+        self.depth_scale_label = QLabel()
+        self.depth_scale_label.setObjectName("panelMeta")
+        self.depth_scale_label.setVisible(False)
         self._fps_visible = False
         self._fps_value: float | None = None
         self._rotation_deg = 90
@@ -53,6 +58,7 @@ class ArrowPanel(QFrame):
         self.view_combo.currentIndexChanged.connect(self._on_view_index_changed)
         header.addWidget(self.title)
         header.addStretch(1)
+        header.addWidget(self.depth_scale_label)
         header.addWidget(self.fps_label)
         header.addWidget(self.view_combo)
         layout.addLayout(header)
@@ -111,6 +117,16 @@ class ArrowPanel(QFrame):
         self._fps_value = None if fps is None else float(fps)
         self._refresh_fps_label()
 
+    def set_depth_scale(self, text: str | None) -> None:
+        """Show the fixed depth colour-scale range (``None`` hides it)."""
+        if not text:
+            self.depth_scale_label.clear()
+            self.depth_scale_label.setVisible(False)
+            return
+        self.depth_scale_label.setText(str(text))
+        self.depth_scale_label.setToolTip(t("panels.depth_scale_tip"))
+        self.depth_scale_label.setVisible(True)
+
     def _refresh_fps_label(self) -> None:
         if not self._fps_visible or self._fps_value is None:
             self.fps_label.clear()

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

@@ -2,9 +2,6 @@
 
 from __future__ import annotations
 
-import math
-import time
-
 from PyQt5.QtCore import Qt, pyqtSignal
 from PyQt5.QtGui import QFont, QFontDatabase
 from PyQt5.QtWidgets import (
@@ -35,7 +32,7 @@ from orisys_app_shared.force.calibration_io import (
     meta_from_sensor_json,
 )
 from orisys_app_shared.i18n import t
-from orisys_app_shared.paths import calibration_export_dir, sensors_dir
+from orisys_app_shared.paths import calibration_export_dir
 from orisys_app_shared.theme import color
 
 CHANNEL_LABELS = ("fn", "fx", "fy")
@@ -51,7 +48,8 @@ def _mono_font() -> str:
 
 class CalPanel(QFrame):
     status_message = pyqtSignal(str)
-    calibration_exported = pyqtSignal(str)  # path applied to running sensor
+    #: Coefficients were written; the window asks the user before applying them.
+    calibration_exported = pyqtSignal(str)
 
     def __init__(self, parent=None, *, theme: str = "dark") -> None:
         super().__init__(parent)
@@ -60,16 +58,14 @@ class CalPanel(QFrame):
         self._store = CalSessionStore()
         self._channel: ChannelKey = "fn"
         self._running = False
-        self._recording = False
-        self._record_deadline = 0.0
-        self._record_started = 0.0
-        self._record_samples: list[float] = []
+        #: Set by :meth:`bind_recorder`. Sampling lives there, not here, so the
+        #: lifecycle no longer depends on this panel being visible.
+        self._recorder = None
         self._live_fn = 0.0
         self._live_fx = 0.0
         self._live_fy = 0.0
         self._sensor_type = "box"
         self._config_ref: str | None = None
-        self._record_duration_s = 7.0
         self._mono = _mono_font()
         self._mono_font = QFont(self._mono, 10)
 
@@ -201,32 +197,58 @@ class CalPanel(QFrame):
         self._theme = theme
         self._render_live_label()
 
+    # --------------------------------------------------------- recorder link
+    def bind_recorder(self, recorder) -> None:
+        """Attach the sampling state machine that owns the recording lifecycle."""
+        self._recorder = recorder
+
+    @property
+    def _recording(self) -> bool:
+        return bool(self._recorder is not None and self._recorder.is_recording)
+
     def set_running(self, running: bool) -> None:
         self._running = bool(running)
         if not self._running and self._recording:
-            self._cancel_recording()
+            self._recorder.cancel()
         self._refresh_enabled()
 
     def set_meta_context(self, *, sensor_type: str, config_ref: str | None) -> None:
         self._sensor_type = str(sensor_type or "box")
         self._config_ref = config_ref
 
-    def push_raw(self, fn: float, fx: float, fy: float, _timestamp: float | None = None) -> None:
+    def set_live(self, fn: float, fx: float, fy: float) -> None:
+        """Update the live readout. Sampling is handled by the recorder."""
         self._live_fn = float(fn)
         self._live_fx = float(fx)
         self._live_fy = float(fy)
         self._render_live_label()
-        if not self._recording:
+
+    def set_progress(self, fraction: float, elapsed_s: float, total_s: float) -> None:
+        self.progress.setVisible(True)
+        self.progress.setValue(max(0, min(1000, int(fraction * 1000))))
+        self.progress.setFormat(f"{elapsed_s:.1f} / {total_s:.1f} s")
+
+    def add_point(self, point) -> None:
+        """Record a finished calibration point (three axes captured)."""
+        stats = point.loaded_stats()
+        sample = CalSample(
+            weight_n=float(point.reference_load_n),
+            raw_mean=float(stats.mean),
+            n=int(stats.n),
+            std=float(stats.std),
+        )
+        self._store.upsert(point.channel, sample)
+        self._refresh_table()
+        if point.status == "few_samples":
+            self.status_message.emit(t("cal.record_failed_few"))
             return
-        now = time.perf_counter()
-        value = {"fn": self._live_fn, "fx": self._live_fx, "fy": self._live_fy}[self._channel]
-        self._record_samples.append(float(value))
-        span = max(1e-6, self._record_deadline - self._record_started)
-        frac = min(1.0, max(0.0, (now - self._record_started) / span))
-        self.progress.setValue(int(frac * 1000))
-        self.progress.setFormat(f"{now - self._record_started:.1f} / {span:.1f} s")
-        if now >= self._record_deadline:
-            self._finish_recording()
+        self.status_message.emit(
+            t("cal.record_ok", weight=f"{sample.weight_n:g}", raw=f"{sample.raw_mean:.3f}")
+        )
+
+    def push_raw(self, fn: float, fx: float, fy: float, _timestamp: float | None = None) -> None:
+        """Back-compat shim: live readout only, sampling lives in the recorder."""
+        self.set_live(fn, fx, fy)
 
     def retranslate(self) -> None:
         self.title.setText(t("panels.cal"))
@@ -277,14 +299,19 @@ class CalPanel(QFrame):
         if key is None:
             return
         if self._recording:
-            self._cancel_recording()
+            self._recorder.cancel()
         self._channel = key  # type: ignore[assignment]
         self._refresh_channel_badge()
         self._refresh_table()
 
     def _refresh_enabled(self) -> None:
-        can_record = self._running and not self._recording
+        # While recording the button must stay **enabled**: it is the cancel
+        # affordance. Disabling it here was why a recording could not be stopped.
+        can_record = self._running
         self.btn_record.setEnabled(can_record)
+        self.btn_record.setText(
+            t("cal.recording_stop") if self._recording else t("cal.record")
+        )
         self.btn_record.setObjectName("dangerButton" if self._recording else "primaryButton")
         self.btn_record.style().unpolish(self.btn_record)
         self.btn_record.style().polish(self.btn_record)
@@ -298,6 +325,8 @@ class CalPanel(QFrame):
         record_hint = t("cal.record_disabled") if not self._running else ""
         if not self._recording:
             self.btn_record.setToolTip(record_hint)
+        else:
+            self.btn_record.setToolTip(t("cal.recording_stop_tip"))
 
     def _render_live_label(self) -> None:
         colors = {
@@ -321,53 +350,47 @@ class CalPanel(QFrame):
         )
 
     def _on_record_clicked(self) -> None:
+        if self._recorder is None:
+            return
         if self._recording:
-            self._cancel_recording()
-            self.status_message.emit(t("cal.record_cancelled"))
+            self._recorder.cancel()
             return
         if not self._running:
             return
-        self._recording = True
-        self._record_samples = []
-        self._record_duration_s = float(self.duration_spin.value())
-        self._record_started = time.perf_counter()
-        self._record_deadline = self._record_started + self._record_duration_s
+        duration = float(self.duration_spin.value())
+        self._recorder.start(
+            channel=self._channel,
+            reference_load_n=float(self.weight_spin.value()),
+            duration_s=duration,
+            direction="load",
+        )
         self.progress.setVisible(True)
         self.progress.setValue(0)
-        self.progress.setFormat(f"0.0 / {self._record_duration_s:.1f} s")
+        self.progress.setFormat(f"0.0 / {duration:.1f} s")
         self._refresh_enabled()
         self.status_message.emit(t("cal.recording"))
 
-    def _cancel_recording(self) -> None:
-        self._recording = False
-        self._record_samples = []
+    def on_record_cancelled(self) -> None:
+        """Called by the window when the recorder was cancelled."""
         self.progress.setValue(0)
         self.progress.setFormat("")
         self._refresh_enabled()
+        self.status_message.emit(t("cal.record_cancelled"))
 
-    def _finish_recording(self) -> None:
-        samples = list(self._record_samples)
-        self._recording = False
-        self._record_samples = []
+    def on_record_finished(self, point) -> None:
         self.progress.setValue(1000)
         self.progress.setFormat("")
         self._refresh_enabled()
-        if len(samples) < 2:
-            self.status_message.emit(t("cal.record_failed_few"))
+        self.add_point(point)
+
+    def poll_recorder(self) -> None:
+        """Mirror the recorder's progress; the recorder owns the deadline."""
+        if not self._recording:
             return
-        mean = sum(samples) / len(samples)
-        var = sum((x - mean) ** 2 for x in samples) / len(samples)
-        std = math.sqrt(var)
-        sample = CalSample(
-            weight_n=float(self.weight_spin.value()),
-            raw_mean=mean,
-            n=len(samples),
-            std=std,
-        )
-        self._store.upsert(self._channel, sample)
-        self._refresh_table()
-        self.status_message.emit(
-            t("cal.record_ok", weight=f"{sample.weight_n:g}", raw=f"{sample.raw_mean:.3f}")
+        self.set_progress(
+            self._recorder.progress(),
+            self._recorder.elapsed_s(),
+            self._recorder.requested_duration_s,
         )
 
     def _refresh_table(self) -> None:
@@ -410,16 +433,17 @@ class CalPanel(QFrame):
         meta["sensor_type"] = self._sensor_type
         meta["sn"] = self.sn_edit.text().strip()
         meta["record_duration_s"] = float(self.duration_spin.value())
-        local_bundle = sensors_dir() / self._sensor_type
-        if not local_bundle.is_dir():
-            local_bundle = None
         try:
-            primary, local_path, warnings = export_force_calibration_v2(
+            # Write into the user's calibration directory only. Overwriting the
+            # device bundle under config/sensors/<type>/ is now an explicit,
+            # separate step so that exporting cannot silently change what the
+            # next Sensor() will load.
+            primary, _local_path, warnings = export_force_calibration_v2(
                 self._store,
                 export_dir=calibration_export_dir(),
                 sensor_type=self._sensor_type,
                 meta=meta,
-                local_bundle_dir=local_bundle,
+                local_bundle_dir=None,
             )
         except ValueError as exc:
             QMessageBox.warning(self, t("panels.cal"), str(exc))
@@ -429,12 +453,9 @@ class CalPanel(QFrame):
             return
 
         msg = t("cal.export_ok", path=str(primary))
-        if local_path is not None:
-            msg += "\n" + t("cal.export_local", path=str(local_path))
         if warnings:
             msg += "\n" + t("cal.export_warnings", detail="; ".join(warnings))
         self.status_message.emit(msg)
-        # Prefer the bundle file for live apply so the next Sensor() also sees it.
-        apply_path = local_path if local_path is not None else primary
-        self.calibration_exported.emit(str(apply_path))
+        # Ask the window to confirm the target device before applying.
+        self.calibration_exported.emit(str(primary))
         QMessageBox.information(self, t("panels.cal"), msg)

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

@@ -235,18 +235,22 @@ class ForcePlotsPanel(QFrame):
         *,
         unit: str = "raw",
     ) -> None:
-        self._unit = unit
+        if unit != self._unit:
+            # Never mix units in one buffer. Callers switch units through
+            # ``set_units``/``set_fixed_newton`` which rebuild from the session
+            # store; a bare change here would silently reinterpret old samples.
+            self._unit = unit
         self._last_values = (float(fn), float(fx), float(fy))
         use_fixed = self._uses_fixed_y()
-        plot_fn = max(0.0, float(fn)) if use_fixed else float(fn)
-        self.history.push(timestamp, plot_fn, float(fx), float(fy))
+        # Store the true value. Clamping here (the old ``max(0.0, fn)``) erased
+        # negative FN from the buffer and hid zero drift; out-of-range values are
+        # now handled by the axis range, which only affects what is drawn.
+        self.history.push(timestamp, float(fn), float(fx), float(fy))
         self._render_value_cards()
         state = self.history.state()
         if state is None:
             return
         values = state.values.copy()
-        if use_fixed:
-            values[:, 0] = np.maximum(values[:, 0], 0.0)
         for i, curve in enumerate(self.curves):
             curve.setData(state.times, values[:, i])
             self.plots[i].setXRange(*state.x_range, padding=0.0)
@@ -258,6 +262,50 @@ class ForcePlotsPanel(QFrame):
                 self.plots[i].getAxis("left").setTicks(None)
                 self.plots[i].setYRange(*state.y_ranges[i], padding=0.0)
 
+    def set_units(self, unit: str, store=None) -> None:
+        """Switch display units without mixing units in the curve buffer.
+
+        When a session store is supplied the visible window is rebuilt from it,
+        because it keeps both the raw and the calibrated triplet for every
+        sample. Otherwise the buffer is cleared rather than reinterpreted.
+        """
+        unit = "N" if str(unit).upper().startswith("N") else "raw"
+        if unit == self._unit and store is None:
+            return
+        self._unit = unit
+        self.history.clear()
+        self._clear_curves()
+        if store is not None:
+            self._reload_from_store(store)
+        self._render_value_cards()
+        self._apply_axis_mode()
+
+    def _reload_from_store(self, store) -> None:
+        """Re-populate the visible buffer from the whole-session store."""
+        window = self.history.window_sec
+        slice_ = store.tail(window) if window > 0 else store.data()
+        if len(slice_) == 0:
+            return
+        values = slice_.value_for_unit(self._unit)
+        for index in range(len(slice_)):
+            if not bool(slice_.valid[index]):
+                continue
+            row = values[index]
+            if not all(np.isfinite(v) for v in row):
+                continue
+            self.history.push(
+                float(slice_.times[index]),
+                float(row[0]),
+                float(row[1]),
+                float(row[2]),
+            )
+        state = self.history.state()
+        if state is None:
+            return
+        for i, curve in enumerate(self.curves):
+            curve.setData(state.times, state.values[:, i])
+            self.plots[i].setXRange(*state.x_range, padding=0.0)
+
     def _uses_fixed_y(self) -> bool:
         """Fixed Y whenever we have limits for the active unit.
 

apps/studio/tests/test_ui_smoke.py

@@ -4,6 +4,7 @@ from __future__ import annotations
 
 import pytest
 
+import ui_check
 from tests.conftest import visible_descendants
 
 RESOLUTIONS = ((1280, 720), (1600, 900), (1920, 1080))
@@ -196,7 +197,7 @@ def test_toolbar_run_button_is_labelled(make_window):
     window = _show(make_window(), (1400, 880))
     label = window.toolbar.btn_run.text()
     assert label.strip()
-    assert label != "▶"
+    assert label != "â–¶"
     window.toolbar.set_run_checked(True)
     assert window.toolbar.btn_run.text() != label
 
@@ -279,3 +280,152 @@ def test_force_plots_render_demo_data(make_window):
     QApplication.processEvents()
     assert window.force_plots.history.sample_count > 0
     assert all(label.text() for label in window.force_plots.value_labels)
+
+
+# --------------------------------------------------------------- record channel
+
+
+def _running_window(make_window):
+    """A window in the ``running`` phase whose worker never opens a device.
+
+    The Qt timer is stopped deliberately: these tests drive the display path by
+    calling ``_on_run_tick`` themselves, and a concurrent 16 ms timer would race
+    the assertions (and outlive the window on teardown).
+    """
+    window = _show(make_window(sensor_type="box", source_mode="camera"), (1440, 880))
+    stuck = ui_check._StuckWorker()
+    window._ensure_workers = lambda: None
+    window._box_worker = stuck
+    window._finger_worker = stuck
+    window._start_run()
+    window._run_timer.stop()
+    window._set_phase("running")
+    return window, stuck
+
+
+def _finish(window, stuck):
+    window._stop_run(reason="user_stop")
+    stuck.release()
+
+
+def test_record_channel_does_not_depend_on_the_ui_timer(make_window):
+    window, stuck = _running_window(make_window)
+    for index in range(90):
+        stuck.emit(ui_check._fake_packet(index))
+
+    assert window.session_store.count == 90, "samples were lost without a UI tick"
+    _finish(window, stuck)
+
+
+def test_invalid_samples_are_excluded_not_zeroed(make_window):
+    import math
+
+    window, stuck = _running_window(make_window)
+    for index in range(9):
+        stuck.emit(ui_check._fake_packet(index))
+    stuck.emit(ui_check._fake_packet(99, valid=False, reason="read failed"))
+
+    slice_ = window.session_store.data()
+    assert slice_.valid.tolist()[-1] is False
+    assert math.isnan(slice_.raw[-1][0]), "a failed readout became a number"
+    assert sum(1 for _ in window.session_store.iter_valid("raw")) == 9
+    _finish(window, stuck)
+
+
+def test_calibration_sampling_survives_a_hidden_panel(make_window):
+    window, stuck = _running_window(make_window)
+    window._show_cal = False
+    window._apply_panel_visibility()
+    assert not window.cal_panel.isVisible()
+
+    window.cal_recorder.start(channel="fn", reference_load_n=2.0, duration_s=1.0)
+    for index in range(40):
+        stuck.emit(ui_check._fake_packet(index))
+    point = window.cal_recorder.finish_now()
+
+    assert point is not None
+    assert point.n_valid == 40, "hiding the panel stopped the sampling"
+    assert point.status == "ok"
+    _finish(window, stuck)
+
+
+def test_record_button_stays_a_cancel_affordance(make_window):
+    from orisys_app_shared.i18n import t
+
+    window, stuck = _running_window(make_window)
+    window.cal_panel.set_running(True)
+    window.cal_panel._on_record_clicked()
+
+    assert window.cal_panel._recording
+    assert window.cal_panel.btn_record.isEnabled(), "the recording cannot be stopped"
+    assert window.cal_panel.btn_record.text() == t("cal.recording_stop")
+
+    window.cal_panel._on_record_clicked()
+    assert not window.cal_panel._recording
+    _finish(window, stuck)
+
+
+def test_unit_switch_rebuilds_from_the_session_store(make_window):
+    import math
+
+    window, stuck = _running_window(make_window)
+    window.toolbar.units_combo.setCurrentIndex(1)  # raw
+    window.force_plots.reset()
+    for index in range(60):
+        stuck.emit(ui_check._fake_packet(index))
+        window._on_run_tick()
+
+    state = window.force_plots.history.state()
+    assert float(state.values[:, 0].max()) > 5.0, "raw values were not plotted"
+
+    window.toolbar.units_combo.setCurrentIndex(0)  # newton
+    assert window.force_plots._unit == "N"
+    newtons = window.force_plots.history.state().values[:, 0]
+    finite = [v for v in newtons if math.isfinite(v)]
+    assert finite and max(finite) < 5.0, "the buffer still held raw values in N mode"
+    _finish(window, stuck)
+
+
+def test_history_keeps_negative_fn(make_window):
+    window, stuck = _running_window(make_window)
+    window.force_plots.set_fixed_newton(True)
+    for index in range(20):
+        window.force_plots.push(index / 30.0, -2.5, 0.0, 0.0, unit="N")
+    window.force_plots.push(1.0, -3.0, 0.0, 0.0, unit="N")
+
+    state = window.force_plots.history.state()
+    assert float(state.values[:, 0].min()) < 0.0, (
+        "negative FN was clamped before entering the buffer"
+    )
+    _finish(window, stuck)
+
+
+def test_depth_view_reports_missing_data_and_fixes_its_scale(make_window):
+    import numpy as np
+
+    window, stuck = _running_window(make_window)
+    window.arrow_panel.set_view_mode("depth")
+
+    window._last_rendered_view_mode = None
+    stuck.emit(ui_check._fake_packet(0, depth=None))
+    window._on_run_tick()
+    from orisys_app_shared.i18n import t
+
+    assert window.arrow_panel.image_label.text() == t("panels.depth_unavailable"), (
+        "a missing depth map silently fell back to the processed frame"
+    )
+
+    window._last_rendered_view_mode = None
+    stuck.emit(ui_check._fake_packet(1, depth=np.linspace(0.0, 1.0, 64).reshape(8, 8)))
+    window._on_run_tick()
+    latched = window.arrow_panel.depth_scale_label.text()
+    assert latched
+
+    window._last_rendered_view_mode = None
+    stuck.emit(ui_check._fake_packet(2, depth=np.linspace(0.0, 9.0, 64).reshape(8, 8)))
+    window._on_run_tick()
+    assert window.arrow_panel.depth_scale_label.text() == latched, (
+        "the depth colour scale re-fitted on every frame"
+    )
+    _finish(window, stuck)
+

apps/studio/tools/ui_check.py

@@ -18,7 +18,6 @@ import sys
 import threading
 import time
 from pathlib import Path
-
 APP_ROOT = Path(__file__).resolve().parents[1]
 REPO_ROOT = APP_ROOT.parents[1]
 for _path in (APP_ROOT / "src", REPO_ROOT / "shared" / "src"):
@@ -32,6 +31,8 @@ if sys.platform == "win32" and "QT_QPA_FONTDIR" not in os.environ:
         os.environ["QT_QPA_FONTDIR"] = str(_fonts)
 os.chdir(APP_ROOT)
 
+from orisys_app_shared.acquisition.sinks import RecordSinkMixin  # noqa: E402
+
 FAILURES: list[str] = []
 CHECKS = 0
 
@@ -47,25 +48,79 @@ def section(name: str) -> None:
     print(f"\n== {name} ==")
 
 
-class _StuckWorker:
+def _fake_packet(
+    frame_id: int,
+    *,
+    valid: bool = True,
+    depth=None,
+    reason: str = "",
+):
+    """A packet shaped like the real worker's, for the record-channel checks."""
+    import numpy as np
+
+    from orisys_app_shared.acquisition.sdk_worker import SdkPacket
+
+    nan = float("nan")
+    blank = np.zeros((8, 8, 3), np.uint8)
+    return SdkPacket(
+        raw_frame=blank,
+        processed_frame=blank,
+        timestamp=1000.0 + frame_id / 30.0,
+        fps=30.0,
+        process_ms=1.0,
+        normal_force=(2.0 + frame_id * 0.01) if valid else nan,
+        shear_x=0.5 if valid else nan,
+        shear_y=-0.5 if valid else nan,
+        normal_force_raw=(9.0 + frame_id * 0.1) if valid else nan,
+        shear_x_raw=0.4 if valid else nan,
+        shear_y_raw=-0.4 if valid else nan,
+        force_unit="N",
+        force_calibrated=True,
+        session_id=1,
+        frame_id=frame_id,
+        valid=valid,
+        invalid_reason=reason,
+        raw_available=True,
+        depth=depth,
+    )
+
+
+class _StuckWorker(RecordSinkMixin):
     """A worker whose device open never returns.
 
-    Mirrors the real worker's non-blocking ``stop()`` contract so the window can
-    be exercised against the failure mode the Stop button exists to survive.
+    Mirrors the real worker contract — including the record-channel sink API —
+    so the window can be exercised against the failure mode the Stop button
+    exists to survive.
     """
 
     def __init__(self) -> None:
+        self._init_sinks()
         self._thread: threading.Thread | None = None
         self._end_reason: str | None = None
+        self._latest = None
         self.thread_still_owned = False
         self.stop_blocked_for = 0.0
+        #: Released by ``release()`` so daemon threads do not outlive the run.
+        self._release = threading.Event()
 
     def start(self, _source, *, config_ref=None) -> None:
+        self._release.clear()
         self._thread = threading.Thread(target=self._hang, daemon=True)
         self._thread.start()
 
     def _hang(self) -> None:
-        time.sleep(600.0)
+        self._release.wait(timeout=600.0)
+
+    def release(self) -> None:
+        """Let the stuck thread finish so the process can exit cleanly."""
+        self._release.set()
+        if self._thread is not None:
+            self._thread.join(timeout=5.0)
+
+    def emit(self, packet) -> None:
+        """Publish a packet exactly like the acquisition loop would."""
+        self._latest = packet
+        self._emit(packet)
 
     @property
     def is_running(self) -> bool:
@@ -76,7 +131,7 @@ class _StuckWorker:
         return "connecting"
 
     def latest(self):
-        return None
+        return self._latest
 
     def consume_end_reason(self):
         reason, self._end_reason = self._end_reason, None
@@ -559,6 +614,110 @@ def main() -> int:
     window.close()
     app.processEvents()
 
+    # Let the deliberately-stuck thread finish before the interpreter tears
+    # down Qt, otherwise it would outlive the widgets it can reach.
+    stuck.release()
+
+    section("record channel")
+    import numpy as np
+
+    stuck = _StuckWorker()
+    window = StudioMainWindow(
+        prefs={
+            "language": "zh_CN",
+            "theme": "dark",
+            "sensor_type": "box",
+            "source_mode": "camera",
+        }
+    )
+    window.resize(1440, 880)
+    window.show()
+    window._ensure_workers = lambda: None
+    window._box_worker = stuck
+    window._finger_worker = stuck
+    window.toolbar.btn_run.setChecked(True)
+    app.processEvents()
+
+    check(
+        window._on_packet_recorded in stuck.sinks(),
+        "the record channel is not attached to the running worker",
+    )
+
+    # The record channel must not depend on the UI refresh timer at all.
+    for index in range(90):
+        stuck.emit(_fake_packet(index))
+    check(
+        window.session_store.count == 90,
+        f"record channel dropped samples without a UI tick: {window.session_store.count}",
+    )
+
+    # Invalid readouts must never be averaged in as zeros.
+    for index in range(10):
+        stuck.emit(_fake_packet(200 + index, valid=False, reason="read failed"))
+    slice_ = window.session_store.data()
+    check(int(slice_.valid.sum()) == 90, "invalid samples were not marked invalid")
+    check(
+        not bool(slice_.valid[-1]) and slice_.raw[-1][0] != slice_.raw[-1][0],
+        "a failed readout was stored as a number instead of NaN",
+    )
+
+    # Calibration sampling must survive the panel being hidden.
+    window._show_cal = False
+    window._apply_panel_visibility()
+    check(not window.cal_panel.isVisible(), "the calibration panel is still visible")
+    window.cal_recorder.start(channel="fn", reference_load_n=2.0, duration_s=1.0)
+    for index in range(40):
+        stuck.emit(_fake_packet(300 + index))
+    point = window.cal_recorder.finish_now()
+    check(point is not None and point.n_valid == 40, "hidden panel stopped the sampling")
+    check(
+        point is not None and point.status == "ok",
+        f"calibration point was not usable: {getattr(point, 'status', None)}",
+    )
+
+    # While recording, the record button must stay enabled — it is the cancel.
+    window.cal_panel.set_running(True)
+    window.cal_panel._on_record_clicked()
+    app.processEvents()
+    check(window.cal_panel._recording, "recording did not start")
+    check(
+        window.cal_panel.btn_record.isEnabled(),
+        "the record button is disabled while recording, so it cannot cancel",
+    )
+    check(
+        window.cal_panel.btn_record.text() == t("cal.recording_stop"),
+        f"record button does not show the stop label: {window.cal_panel.btn_record.text()!r}",
+    )
+    window.cal_panel._on_record_clicked()
+    app.processEvents()
+    check(not window.cal_panel._recording, "the recording could not be cancelled")
+
+    # The depth view must not fall back to the processed frame.
+    window.arrow_panel.set_view_mode("depth")
+    window._last_rendered_view_mode = None
+    stuck.emit(_fake_packet(400, depth=None))
+    window._on_run_tick()
+    app.processEvents()
+    check(
+        window.arrow_panel.image_label.text() == t("panels.depth_unavailable"),
+        f"missing depth was not reported: {window.arrow_panel.image_label.text()!r}",
+    )
+    window._last_rendered_view_mode = None
+    stuck.emit(_fake_packet(401, depth=np.linspace(0.0, 1.0, 64).reshape(8, 8)))
+    window._on_run_tick()
+    first_scale = window.arrow_panel.depth_scale_label.text()
+    window._last_rendered_view_mode = None
+    stuck.emit(_fake_packet(402, depth=np.linspace(0.0, 9.0, 64).reshape(8, 8)))
+    window._on_run_tick()
+    check(
+        window.arrow_panel.depth_scale_label.text() == first_scale and first_scale != "",
+        "the depth colour scale re-fitted per frame instead of staying fixed",
+    )
+
+    window.close()
+    app.processEvents()
+    stuck.release()
+
     print(f"\nscenes: {scene_count}   checks: {CHECKS}   failures: {len(FAILURES)}")
     for failure in FAILURES:
         print(f"  FAIL: {failure}")

shared/tests/test_record_channel.py

@@ -0,0 +1,226 @@
+"""Record-channel behaviour: full-session storage and calibration sampling.
+
+These cover the guarantees the architect's review asked for:
+
+* a failed readout is never averaged in as a zero,
+* the stored session is not limited to what the plots happened to show,
+* both raw and calibrated values are kept, so switching units cannot
+  reinterpret old data,
+* calibration sampling is driven by the acquisition stream rather than by any
+  widget being visible.
+"""
+
+from __future__ import annotations
+
+import math
+import threading
+import time
+
+import pytest
+
+from orisys_app_shared.force.calibration_recorder import (
+    STATUS_FEW_SAMPLES,
+    STATUS_OK,
+    CalibrationRecorder,
+)
+from orisys_app_shared.force.session import NA, SessionSample, SessionStore
+
+
+def _sample(index: int, *, valid: bool = True, rate: float = 30.0) -> SessionSample:
+    if not valid:
+        return SessionSample(frame_id=index, t_rel_s=index / rate, valid=False)
+    return SessionSample(
+        frame_id=index,
+        t_rel_s=index / rate,
+        fn_raw=float(index),
+        fx_raw=1.0,
+        fy_raw=-1.0,
+        fn_n=index / 10.0,
+        fx_n=0.1,
+        fy_n=-0.1,
+        valid=True,
+    )
+
+
+# --------------------------------------------------------------- SessionStore
+
+
+def test_store_keeps_whole_session_and_reports_evictions():
+    store = SessionStore(max_samples=100, block_size=16)
+    store.reset(session_id=3)
+    for index in range(250):
+        store.append(_sample(index))
+
+    assert store.session_id == 3
+    assert store.count <= 100
+    assert store.dropped > 0, "evictions must be visible instead of silent"
+    assert store.data().truncated is True
+
+
+def test_store_keeps_raw_and_newton_side_by_side():
+    store = SessionStore()
+    store.reset()
+    store.append(_sample(0))
+    store.append(_sample(1))
+
+    slice_ = store.data()
+    assert not (slice_.value_for_unit("N") == slice_.value_for_unit("raw")).all()
+    assert slice_.value_for_unit("raw")[1][0] == 1.0
+    assert slice_.value_for_unit("N")[1][0] == 0.1
+
+
+def test_invalid_samples_are_stored_as_invalid_not_zero():
+    store = SessionStore()
+    store.reset()
+    store.append(_sample(0))
+    store.append(_sample(1, valid=False))
+
+    slice_ = store.data()
+    assert slice_.valid.tolist() == [True, False]
+    assert math.isnan(slice_.raw[1][0]), "a failed readout must not become 0.0"
+    assert store.invalid == 1
+    # And it must not leak into anything that computes statistics.
+    assert [t for t, *_ in store.iter_valid("raw")] == [0.0]
+
+
+def test_store_window_queries_are_relative_to_the_first_sample():
+    store = SessionStore()
+    store.reset()
+    for index in range(120):
+        store.append(_sample(index))
+
+    tail = store.tail(1.0)
+    assert int(tail.frame_ids[-1]) == 119, "tail must end at the newest sample"
+    assert float(tail.times[-1]) - float(tail.times[0]) <= 1.0 + 1e-9
+    assert len(tail) == pytest.approx(30, abs=1)  # inclusive boundary
+
+    first_second = store.window(0.0, 1.0)
+    assert int(first_second.frame_ids[0]) == 0
+    assert float(first_second.times[-1]) <= 1.0 + 1e-9
+    assert float(first_second.times[0]) == 0.0
+
+
+# ------------------------------------------------------- CalibrationRecorder
+
+
+def _recorder(**kwargs) -> CalibrationRecorder:
+    return CalibrationRecorder(**kwargs)
+
+
+def test_recorder_excludes_failed_samples_from_the_statistics():
+    recorder = _recorder()
+    recorder.start(channel="fn", reference_load_n=2.0, duration_s=1.0)
+    for index in range(50):
+        recorder.feed(_sample(index))
+    for index in range(3):
+        recorder.feed(_sample(100 + index, valid=False))
+
+    point = recorder.finish_now()
+    assert point is not None
+    assert point.n_total == 53
+    assert point.n_valid == 50, "failed readouts must not be counted as samples"
+    assert point.status == STATUS_OK
+    # 9.7-style values are absent here; the mean must come only from 0..49.
+    assert point.loaded_stats().mean == pytest.approx(24.5, abs=0.01)
+
+
+def test_recorder_captures_all_three_axes_and_keeps_diagnostics():
+    recorder = _recorder()
+    recorder.start(channel="fn", reference_load_n=1.0, duration_s=1.0, direction="unload")
+    for index in range(10):
+        recorder.feed(_sample(index))
+    point = recorder.finish_now()
+
+    assert set(point.raw) == {"fn", "fx", "fy"}
+    assert point.raw["fx"].mean == pytest.approx(1.0)
+    assert point.raw["fy"].mean == pytest.approx(-1.0)
+    assert point.newtons["fn"].mean == pytest.approx(0.45, abs=0.01)
+    assert point.direction == "unload"
+    # Only the loaded axis has a known reference load.
+    assert point.reference_load_n == 1.0
+
+
+def test_recorder_marks_too_few_samples_instead_of_guessing():
+    recorder = _recorder()
+    recorder.start(channel="fx", reference_load_n=1.0, duration_s=1.0)
+    recorder.feed(_sample(0))
+    point = recorder.finish_now()
+    assert point.status == STATUS_FEW_SAMPLES
+
+
+def test_recorder_finishes_on_the_deadline_from_the_ui_thread():
+    clock = {"now": 0.0}
+    recorder = _recorder(clock=lambda: clock["now"])
+    recorder.start(channel="fn", reference_load_n=1.0, duration_s=1.0)
+    recorder.feed(_sample(0))
+    recorder.feed(_sample(1))
+
+    assert recorder.tick() is None, "must not finish before the deadline"
+    clock["now"] = 2.0
+    point = recorder.tick()
+    assert point is not None
+    assert recorder.is_recording is False
+    assert recorder.tick() is None
+
+
+def test_recorder_is_fed_from_a_foreign_thread():
+    """The acquisition thread feeds it; nothing here touches Qt."""
+    recorder = _recorder()
+    recorder.start(channel="fn", reference_load_n=1.0, duration_s=0.05)
+
+    def producer():
+        for index in range(5000):
+            recorder.feed(_sample(index))
+
+    thread = threading.Thread(target=producer)
+    thread.start()
+    thread.join()
+
+    time.sleep(0.06)
+    point = recorder.tick()
+    assert point is not None
+    assert point.n_valid == 5000
+
+
+def test_recorder_cancel_discards_the_point():
+    cancelled = []
+    recorder = _recorder(on_cancelled=lambda: cancelled.append(True))
+    recorder.start(channel="fy", reference_load_n=3.0, duration_s=5.0)
+    recorder.feed(_sample(0))
+    recorder.cancel()
+
+    assert recorder.is_recording is False
+    assert cancelled == [True]
+    assert recorder.tick() is None
+    assert recorder.points == []
+
+
+def test_recorder_round_index_advances_per_channel():
+    recorder = _recorder()
+    for _ in range(2):
+        recorder.start(channel="fn", reference_load_n=1.0, duration_s=1.0)
+        recorder.feed(_sample(0))
+        recorder.feed(_sample(1))
+        recorder.finish_now()
+    recorder.start(channel="fx", reference_load_n=1.0, duration_s=1.0)
+    recorder.feed(_sample(0))
+    recorder.feed(_sample(1))
+    point = recorder.finish_now()
+
+    assert [p.round_index for p in recorder.points] == [0, 1, 0]
+    assert point.channel == "fx"
+
+
+if __name__ == "__main__":  # pragma: no cover - manual runner
+    failures = 0
+    for name, function in sorted(globals().items()):
+        if not name.startswith("test_") or not callable(function):
+            continue
+        try:
+            function()
+            print(f"  ok   {name}")
+        except Exception as exc:  # noqa: BLE001
+            failures += 1
+            print(f"  FAIL {name}: {type(exc).__name__}: {exc}")
+    print(f"failures: {failures}")
+    raise SystemExit(1 if failures else 0)