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Author SHA1 Message Date
ykcheungab b8dc5e925b docs: repoint architecture docs at the workspace docs tree; ignore .scratch/ 
The workspace-root scratch cleanup (2026-09-27) deleted .repro/, the _review_*/
probe bundles and _probe_dataarea/. These tracked documents cited files inside
those directories, so their references are now explicitly marked as historical
and, where the evidence survived, repointed:

- record-channel.md section 7: the ten reproduction conditions are recorded in the
  archived review (docs/archive/reviews/phase12-review.md); reproduce.py is gone.
- studio-3d-stages.md: the _review_scene3d_20260914 review is archived under
  docs/archive/reviews/; the probe_stage6_* scripts and the .repro/ scan scripts
  are marked deleted. The perf report's stale .repro package path is explained in
  a note instead of editing the committed probe report, which feeds
  compile_scene.py --lock-from-probe.
- studio-architecture.md: the scan scripts that generated the diagrams are gone;
  the committed .svg/.png remain the surviving artefacts.

Also ignore .scratch/, the new per-task scratch directory (see
D:\orisys_ws\AGENTS.md). No source file is touched by this commit.
 2026-09-27 21:14:20 +08:00
ykcheungab 8d374e5850 refactor(studio): 回放引擎改名 ReplayEngine —— 把「引擎」与「窗口级控制器」的名字分开 
- What: `apps/studio/src/orisys_studio/replay.py` 的 `ReplayController` 改名为 `ReplayEngine`
  （引用只有 4 处：`app_window.py` 的 import 与构造、`ui_check.py` 的一处 import、模块内定义）；
  模块 docstring 写明它为什么叫 engine（只回答"t 时刻是什么"，不知道传输策略、不知道控件），
  并指路即将落地的窗口级 `ReplayController`；`app_window.replay` 这个属性名**不动**（36 处使用）。
  同步更新两份既有文档里的类名（`apps/studio/docs/shell-lifecycle.md`、`record-channel.md`、
  `docs/architecture/studio-architecture.md` 的框图标签）。
- Why: 用户已同意分拆 `app_window.py`，并选定"引擎改名 ReplayEngine + 新类叫 ReplayController"
  这一方案（另一方案是让两个名字 `ReplayController`/`ReplayCoordinator` 并存，容易进错门）。
  这一步是后续把窗口里那 30 个回放方法搬进 `ReplayController` 的前提：先把名字腾出来，
  否则搬迁时无法区分"引擎"与"控制器"。
- Verification: shared+apps 同一次运行 **588 项 0 失败 15 跳过**；`ui_check` 587 项 0 失败；
  全仓 `grep ReplayController` 只剩两处有意保留的提及（`replay.py` docstring 里指路、
  `app_window.py` 注释里指路），没有悬空引用。
- Not in this change: 不搬运任何方法、不改行为——`app_window.py` 仍是 3043 行；`SessionController`、
  `ReplayController`、`ViewLayoutController`、`DisplayPrefsController` 四个模块的搬迁尚未开始
  （顺序与契约见 docs/architecture/studio-architecture.md 建议 1）。
 2026-09-15 08:41:44 +08:00
ykcheungab da8165cf03 删除深度重算引擎；修好回放视频每帧重开文件导致的无法播放，运输控制改到状态轨主按钮 - What: 1) 彻底删除深度重算引擎：shared/.../record/depth.py（DepthRecomputer/DepthResult）与 depth_backends.py（BoxReplay/FingerReplay）、其专属测试 test_depth_replay.py，record/__init__ 不再导出，playback.py::replay_warnings 不再报 depth_recomputed；apps/studio/replay.py 由 515 行瘦身为只做读盘+游标+视频帧+提示，回放视图的 2D 面板只提供「原始图像」；session.json 的 depth.replay 由 recompute 改为 none；删除 31 个只剩深度使用的文案键（depth_*/warn_state_*/warn_reset_*），warn_config_changed 与 warn_sdk_changed 改为描述"由视频重算"；ui_check 深度段、studio 两个深度用例、test_playback 三例、drive_shared 的 test_depth_replay 与 reproduce.py 的深度段一并清理（shared 套件 150→134 项）。2) 无法播放的根因是 RecordingReader.video_frame_at 每帧都 cv2.VideoCapture 重开并 seek：小片段已 ~10 ms/帧，1080p H.264 每次 seek 需从关键帧解码（上百 ms），而播放每 33 ms 要一帧且全在 UI 线程上，视频因此看着不动；改为按分段缓存解码器、顺序帧用 read() 步进（实测 10 ms → 0.5 ms/帧）、跳转才 seek，新增 RecordingReader.close() 释放。运输控制按用户建议上移到状态轨主按钮：toolbar.set_run_role("playback") 使回放视图的主按钮变成「▶ 回放」/「⏸ 暂停」（实时视图仍是「▶ 运行」），点按以 1× 推进游标（墙钟计时，漏拍不变慢）、到末尾自动停，拖动游标/框选/滚轮/拖总览条经 ForcePlotsPanel.timeline_taken_over 自动暂停，空格键同效；曲线表头不再放第二个播放按钮；按钮样式在回放角色下不再套用"停止"的红色语义。 - Why: 用户要求先清掉深度重算引擎、并反馈"现在无法播放视频"，建议把上方播放按钮在历史回放形式下改为回放。 - Verification: ui_check.py 554 项 0 失败（新增 seek<250ms/步进<60ms 的解码预算、回放按钮文字随播放/暂停切换、手动拖游标即暂停、切回实时视图按钮恢复运行、按深度视图已移除）；test_ui_smoke.py 71 项 0 失败；drive_shared.py 134 项 0 失败（深度引擎用例随代码删除）；locale_studio.py 262 键齐全、zh==en；reproduce.py 退出 0；.repro/probe_play.py 实测按「回放」后 0.75 s 内游标推进 0.689 s、面板 12/12 帧都在更新；两张复核图（回放视图的「▶ 回放」、实时视图的「▶ 运行」）。 - Not in this change: 录制文件格式与 CSV 列序不变（raw_*.mp4 与 forces.csv 继续一起写）；「由视频重算」复核模式保留（它复用实时管线，是有状态、只能顺序前进的一遍）。 2026-09-14 09:31:21 +08:00
ykcheungab 9b3c5fe46c 回放与实时统一为一套界面；修复 30 fps 设备被以 16.7 fps 消费的计时器缺陷 - What: 1) 删除 ui/replay_bar.py（进度条、录制目录选择、重算深度按钮、提示行）与回放条的全部接线：历史回放现在与实时监测同布局（分割比例同为 0,360,1080,0）、同一条状态轨、同一套曲线手势，唯一差别是来源槽——实时是摄像机，回放是「选择录制视频…」（toolbar.btn_replay_video，与文件菜单「打开视频…」同一条 _load_replay_video 路径：视频所在目录即录制目录，曲线自动配对同目录 forces.csv）。时间轴改为曲线游标本身：表头新增播放/暂停图标按钮（icons.play/pause，空格键同效）以 1× 推进（按墙钟计时，漏拍不变慢），到末尾自动停；拖动游标、框选、滚轮平移或拖总览条一律自动暂停（ForcePlotsPanel.pause_playback）。回放的降采样/跨版本提示移入来源摘要 tooltip，打开录制时另发一条 6 秒通知。修复视频文件名残留在实时视图的问题：_refresh_status_rail 只在 _view_preset == "replay" 时写视频名。2) 录制格式不变：raw_*.mp4 与 forces.csv/frames.csv/session.json 继续一起写。按「两者都要」新增 视图 → 由视频重算力值（act_recompute）：默认曲线读录制的 CSV，打开后把录制视频重新跑一遍视觉管线（进 SessionStore、2D 面板交给管线绘制、只能顺序前进，播放按钮即开始/暂停，关闭即挂回 CSV），启动路径唯一（set_playing → _on_chart_play_toggled → _start_run），并让文件源的时间轴改为视频自身时间（mono_t = 帧号 × 1/fps），否则重算结果会落在与 CSV 不同的横轴上。回放 2D 面板不再提供深度视图（REPLAY_VIEW_MODES=("recorded",)），离线深度重算引擎保留但无界面入口。3) 采集只有 16.67 fps 的根因是上一轮引入的等待：Windows 默认计时器分辨率 15.6 ms，time.sleep(0.002) 实测睡 15.5 ms，重复帧等两拍即跨过 30 fps 的 33 ms 周期，30 fps 设备被以 ~16.7 fps 消费并隔帧丢弃（配置本身正确：mini/sensor.json 写 camera.fps=30；离线实测整套管线 15.2 ms/帧≈66 fps，余量充足）。新增 _high_resolution_timer() 在会话期间把分辨率提到 1 ms（结束还原），并把重复帧等待改为 min(距下一帧时间, 半个周期)、到期只 sleep(0)。 - Why: 用户评审 3 点——回放界面与实时不一致且拖拽条效果一般、不想为回放录制深度信息、想同时保留视频与 CSV 记录、以及采集帧率只有 16.67 fps（应为 30）。 - Verification: ui_check.py 562 项 0 失败（新增两视图同布局/无 bar、来源槽随视图切换且无残留、播放暂停与手动手势暂停、重算模式切换与视频源、回放提示在 tooltip）；test_ui_smoke.py 73 项 0 失败（新增视图统一、传输控制、重算模式）；drive_shared.py 150 项 0 失败（新增 shared/tests/test_worker_frame_rate.py::test_a_file_source_runs_on_the_video_s_own_timeline，并把 30 fps 用例改成必须落在 27–31.5 fps；同文件实测无 1 ms 计时器 21.6 fps、有则 30.0 fps，同一帧返回 3 次时 11317:39）；locale_studio.py 266 键齐全、zh==en；reproduce.py 退出 0；ui_snapshot.py 三张复核图（统一后的回放、实时、选区中英）。 - Not in this change: 录制文件格式与 CSV 列序不变；离线深度重算引擎（ReplayController.request_depth / DepthRecomputer）保留并有独立测试，但界面已无入口，可下一步删除；重算模式用有损 mp4，数值与原 CSV 会有差异（这正是它要显式呈现的）。 2026-09-13 22:04:01 +08:00
ykcheungab e6a1e77a5b 采集循环只认新帧，选区统计移到数值卡，状态栏改为会过期的通知行 - What: 1) 选区统计不再挤在曲线下方（中文长句会顶出面板右边界）——框选后三个数值卡的大号数字变成该窗口的峰值、下方小字为该窗口的均值·σ（chart.selection_detail），峰值语义放在卡片 tooltip；曲线下方只保留「选区 4.00s / 121 点」（完整一行留在它的 tooltip 里）。「全程总览」不算选区（那是默认适配），此时卡片回到"游标处样本"；切换单位/换数据源/返回最新都会正确切回。2) 上方的 63.0 FPS 是采集循环自己的轮询速率，根因是同一帧被反复当成新样本：CaptureSource.read_latest 返回后台线程的最新帧，没有新帧时把同一帧再给一次，循环未做判断，于是 30 fps 的设备录出约 63 行/秒（frame_id 还各不相同）。新增 _capture_sequence()：读 capture_source.status.last_seq，计数未变即"还没有新帧"，睡 2 ms 重试、不进处理链、不发 packet；只有带后台读取线程的实时相机有该标记，视频文件是同步解码、每次都取下一帧，因此忽略（行为不变）。packet.fps 改为速率 (窗口帧数-1)/(首末到达差)，窗口 1 s——按"1 秒内到达几帧"数数会系统性偏大。容器速率仍取传感器配置值，与此层无关。3) 底部状态栏只留一次性通知：删除右下角常驻「配置 sensor.json」（顶栏摘要按钮已写明），删除与顶栏重复的 status.run_started（运行中（0））与 status.connecting（正在连接…）；QStatusBar 换成 _NoticeBar——Qt 的 showMessage(text) 默认 msecs=0 表示永不消失，这正是那句「运行中（0）」一直挂到底部的原因，子类统一补 6 秒超时；status.units_raw_fallback 之前每帧都发（等于永久占住通知行），改为每次运行只提示一次。附带修复：英文下表头模式名被截断（长句移入 tooltip，标签只留模式名 chart.mode_*_tip）；数据源切换后曲线下方的选区文案会残留，改为在 _on_source_changed 里清零。 - Why: 用户评审 3 点——选区统计显示不全、顶部 fps 应受硬件限制最大 30、右下角配置文件名与左下角「运行中（0）」和顶栏信息重复。第 2 点查出根因是重复采样（数据缺陷，不只是显示问题），修掉后设备速率与记录行数才真正一致。 - Verification: ui_check.py 546 项 0 失败（新增：选区统计在卡片、卡片小字不裁切、状态栏无常驻标签且消息过期、顶栏 FPS 即 packet 交付速率、表头模式名中英不裁切）；test_ui_smoke.py 71 项 0 失败（新增选区读数与通知行过期两例）；drive_shared.py 148 项 0 失败（新增 shared/tests/test_worker_frame_rate.py：同一帧返回 3 次时 packet 数≈交付帧数，去掉判据为 11317:39，且 fps 与交付速率一致）；locale_studio.py 267 键齐全、zh==en、prefs 对齐；reproduce.py 退出 0；ui_snapshot.py 新增 --select A,B，六张复核图（选区中英、实时、录制中、回放、标定 1280x720）。 - Not in this change: 录制文件格式与 CSV 列序不变；去重只影响"哪些帧算一帧"，视频文件源行为不变；曲线下方不再显示三通道峰/均/σ（数值在卡片上，完整一行在 tooltip 里）。 2026-09-13 21:19:23 +08:00
ykcheungab 824544fc7a 回放并入主窗口，并修掉开场尖峰 / 录制时长 / 录制帧率 / 回放被摄像头覆盖等 9 项评审问题 - What: 回放不再是独立窗口——删除 PlaybackDialog，拆成 replay.py::ReplayController（读盘、游标、深度重算，只发信号）与 ui/replay_bar.py（录制选择、可拖拽进度条、单位、重算深度、提示行），品牌轨「历史回放」直接换主窗口布局，文件菜单两条入口都切到该视图，曲线改读 RecordingCurveSource（区间按需读盘 + 缓存包络），2D 面板切「原始图像 / 深度图」；传感器与标定合并到 SensorDialog（类型/配置下拉 + 当前生效标定 + 最近导出系数），标定面板加纵向滚动区、九按钮两行、六列表头 ResizeToContents。评审 9 项：1) 开场尖峰两个根因——push() 遇单位变化只记 _unit 而保留旧单位样本（raw 计数被画在牛顿轴上），改为「切换即换单位」：清缓冲按新单位重建、触发切换的那一帧仍刷数值卡；_start_run 先 session_store.reset() 再 set_store()，新会话不再带上次的尾巴（复现脚本 .repro/probe_item1.py：旧 39 样本峰值 9.841 → 新 37 样本峰值 2.390）。2) 箭头页脚改为「箭头按位移放大 ×{factor}」。3) 表头单位芯片由只读 QLabel 改为可点按钮，一次点击同时改曲线、数值卡与设置区下拉。4-6) 全程总览/框选/返回最新 改为 ui/icons.py 按主题令牌运行时绘制的图标，tooltip 与 accessibleName 保留文字，全程总览区域名仍是文字。7) stats() 在录制进行中即返回 _last_t - _t0，记录条开始计时（此前只在 _finalise 写、整场停在 00:00.0）。8) 容器 fps 改用传感器配置的速率（packet.fps 是"每秒完成多少帧"的计数器，突发/文件源会读到 48），视频按 1/fps 节流并把超前的帧计入 resampled_video（frames.csv/forces.csv 一行不少，报告写明原因），session.json 同时记 fps 与 measured_fps。9) _replay_owns_image() 让回放视图独占 2D 面板，实时帧不再覆盖；push() 在录制源挂载时连单位都不切，曲线/数值卡/单位一并归录制。附带：数值卡改读游标处样本（_readout_at_cursor）、回放按录制实际有的单位打开（_replay_unit_for + ReplayController.set_unit，避免 raw-only 录制在 newton 偏好下画三张空图）、视频速率下限。 - Why: 用户评审 9 点，其中 1/7/8/9 是代码缺陷（开场尖峰、录制时长不更新、录制 48fps 与实际 30fps 不符、回放时 2D 面板仍被摄像头刷新），2-6 是可读性问题（×2 含义不明、单位与视图控制应可点/应符号化）。 - Verification: ui_check.py 524 项 0 失败（新增 chart header and unit chip / acquisition correctness / replay owns the 2D pane 三段）、test_ui_smoke.py 69 项 0 失败（新增 7 个回归用例：单位切换不混单位、单位芯片、图标语义、录制中时长、传感器帧率+节流、回放独占面板、回放游标读数与单位回退）、drive_shared.py 146 项 0 失败、locale_studio.py（268 键齐全、zh==en、prefs 对齐）、reproduce.py、ui_snapshot.py 四张复核图（深色实时/回放、浅色 1280x720 实时与标定）。 - Not in this change: 录制文件格式（forces.csv 列序、frames.csv、session.json 路径与分段规则）不变，节流只影响"哪些帧进视频"，并显式计数上报；三维面板仍是占位符。 2026-09-13 20:46:27 +08:00
ykcheungab 35e86ec1f7 界面改用「精密仪器工作台」布局：顶栏压缩、视图切布局、标定与回放面板不再裁切 
- What: 品牌条 40→28px 并加 实时监测/历史回放/标定 导航；导航改为切换主界面三套布局（实时=2D图像+曲线、回放=自动全程浏览、标定=标定面板 880px+曲线，2D 图像整体缩小）；传感器选择（传感器 / 传感器配置 两个带 tooltip 的下拉 + 产品徽标）移到状态轨最左侧，记录模式移入设置区；新增 RecordStatusChip（记录中时长、丢帧、写入异常）与「同一时刻只有一个实心按钮」（新增 dangerOutline 描边危险样式）；三轴读数移到曲线上方（16pt 等宽）、只保留最下方时间轴、网格淡化、全程浏览条可拖动；三轴配色统一为蓝/橙/绿并把语义色对比度审计扩展到 toolbar_bg；箭头页脚显示放大倍率与有效区域，深度模式才显示色条与范围；左侧面板改名「2D 图像」且固定显示图像宽高比；标定面板加纵向滚动区、九按钮分两行、六列表头 ResizeToContents；PlaybackDialog 补上从未调用的 retranslate；main() 在事件循环结束后 flush 日志并 os._exit，避免设备 SDK 原生线程把进程挂在解释器收尾。
- Why: 评审提出的 7 点：顶部占高与装饰过多、记录状态不突出、配置切换看不懂且藏得太深、切视图应换主界面布局、标定与回放面板文字被裁、关窗后命令行不退出、2D 图像无固定宽高比且名字不符。
- Verification: ui_check.py（430 项，新增 top area / instrument panels / clean shutdown 段，含中英×1280/1440 的轨不挤压检查）、test_ui_smoke.py（57 项，新增视图切换、标定不裁切、2D 宽高比、回放按钮文字、传感器选择器等用例）、drive_shared.py（146 项）、locale_studio.py（261 键齐全、zh==en、prefs 对齐）、reproduce.py、ui_snapshot.py 四张复核图。
- Not in this change: 录制文件格式、CSV/MP4 写入路径与记录通道数据流不变；三维面板仍是占位符；回放对话框（含离线深度重算）本身只修了按钮文字。
 2026-09-13 18:54:31 +08:00
ykcheungab 73592f085f Browse a long recording from disk instead of loading it into memory 
What
- record/index.py: RecordingIndex streams forces.csv once and keeps only the
  small things — one time, one validity flag, one frame id per row plus a byte
  offset every 4096 rows (~6.5 MB per 500k rows). row_range() bisects the times,
  read_rows() seeks to the nearest checkpoint and scans forward, and overview()
  folds every row into its bucket during the same pass to build a per-axis
  min/max envelope.
- read_rows(max_points, unit) decimates **while streaming**: each bucket keeps
  the extreme row of every axis in the requested unit, so a long interval never
  has to exist in memory in full and a shear spike survives a flat normal channel.
- RecordingReader: info() decimates above max_rows (default 200k) and marks
  itself decimated, with total_rows and a duration taken from the frame index
  rather than from the view; window()/window_all()/overview()/statistics() read
  the interval being asked about. list/window semantics unchanged for small
  recordings.
- force/source.py: StoreCurveSource (live memory) and RecordingCurveSource (disk
  interval + cached envelope) implement one interface — extent, window,
  envelope, statistics, duration_s — so ForcePlotsPanel asks a *source* instead
  of knowing where the data lives.
- force_plots: reads through the source (window, envelope, statistics, extent),
  which also replaces its last direct store accesses.
- playback_dialog: draws the whole-session view through window_all() in the unit
  being shown (bounded by CHART_MAX_POINTS), and says so when the view is
  decimated ("显示 N / 共 M 行") instead of letting the operator count points.
- experiment._run: a failure that lands while the files are opening can no longer
  be overwritten by the writer's own transition to "recording" (found by a flaky
  test; the state check now covers STATE_FAILED).

Why
The store releases old blocks above ~4.6 h and the replay loaded every CSV row
into Python lists before drawing anything, so neither the live browser nor the
replay could show an earlier interval of a long recording. The index makes the
disk the data source and memory a cache of what is on screen.

Verification
- shared/tests/test_history_source.py (new, 8 cases) over a 12 000-row recording:
  the index reports its rows and reads a bounded interval; a large recording is
  marked decimated with its true duration and total rows; a small one is not; an
  interval read sees the exact rows including a single peak; a decimated window
  keeps the peak; the envelope fits the whole session in ≤200 points, keeps the
  spike and is cached; the disk and memory sources agree on extent, values and
  statistics; the whole session can be read without holding it all. Shared
  suites: 146 tests, 0 failures (three consecutive runs).
- apps/studio/tools/ui_check.py: the replay section now checks the index row
  count, that an interval read spans only the interval, the envelope size and
  total_rows. 324 checks, 0 failures.
- apps/studio/tests/test_ui_smoke.py: 43 tests, 36 pass; the 7 failures are the
  unchanged sandbox/harness artifacts.
- D:/orisys_ws/_review_phase12/reproduce.py: all ten lines unchanged;
  compileall, locale and prefs parity clean.
- apps/studio/docs/record-channel.md §8 documents the index, the reader API and
  the unified source, and lists what is still hardware work.

Not in this change
- Maximum RSS / backlog / loss measurements at real resolution on the target ARM
  board (needs the hardware), and range CSV export.
 2026-09-13 16:54:26 +08:00
ykcheungab 22cc59c402 Fix the phase-1/2 review findings in recording, calibration and depth replay 
What
- record: one packet->row conversion (record/sample.py). A failed compute chain
  records no force value at all, a newton value is written only for an axis that
  really has a calibration curve, and mono_t (not the wall clock) orders history
  with a per-row calibration hash.
- record lifecycle: explicit starting/recording/stopping/stopped/failed states
  owned by the writer thread; stop() reports completed=False on timeout and does
  not write ended_at; consecutive write failures stop acceptance immediately.
- record capacity: byte budget for the video queue (512 MiB default); a full
  queue sheds the *frame* and parks the tiny data row, so a video overflow no
  longer deletes CSV rows. Lost rows leave a dropped=1 index row and are counted
  as dropped_gaps / unrecorded_gaps.
- calibration identity: sha256 content hash instead of a path, minted from the
  calibration the sensor actually loaded (reported before the first frame) and
  confirmed by the acquisition thread; events are timestamped when they happen.
- calibration diagnostics: the fit summary, residual and validation error now
  come from the model that export/apply would use (piecewise_linear); validation
  points are held out of the build; repeated reference loads are merged with an
  n-weighted mean and pooled std.
- calibration record: every point keeps its full three-axis sample series
  (frame id, time, raw, newtons, valid) plus diagnostics, written to an
  independent calibration_session_*.json that can be reopened for inspection;
  save record / export coefficients / apply to device are three separate actions.
- depth replay: the cursor's frame is bound to the depth result by request
  sequence and frame id, so a moved cursor never shows another frame's map; the
  SDK is stepped from its current position instead of re-reading from the start;
  the live chain (box deformation+contact, finger unroll+tactile) is replayed
  with the exact resolved config path; algorithm state is rebuilt from a reset
  marker or from the recorded pre-roll, and says so when it cannot be.

Why
The review (D:/orisys_ws/_review_phase12/review.md) showed the app writing raw
counts into the newton columns, recording a stale value after a failed compute,
losing CSV rows when the video queue filled, reporting success while a writer was
still running, diagnosing a model nobody applies, applying a calibration before
the device confirmed it, dropping the samples behind a calibration point, showing
a stale depth map under a moved cursor and recomputing depth of the wrong frame.

Verification
- D:/orisys_ws/_review_phase12/reproduce.py: all ten acceptance lines flipped
  (log saved as _review_phase12/reproduce_after.log). Including 25/25 rows kept
  with 8 video frames shed, frames [2]->[3], depth 8.0/8.0, fit 2/2 points.
- apps/studio/tools/ui_check.py: 249 checks, 0 failures (twice).
- shared suites: 91 tests, 0 failures (new: test_record_semantics,
  test_record_lifecycle, test_calibration_model, test_calibration_record,
  test_depth_replay).
- apps/studio/tests/test_ui_smoke.py: 23/30; the 7 remaining are harness
  artifacts of the sandbox (4 tmp_path PermissionError, 3 parametrized tests the
  shim cannot drive), unchanged from before this change.
- compileall clean; locale parity zh/en + t() key coverage: 0 failures.

Not in this change
- P2#10 disk-based browsing of a long recording and range CSV export (next
  round, per your choice).
- Stability-triggered calibration sampling, replay fixed colour scale, PyOpenGL
  three-dimensional view.
- Hardware verification: no camera attached, so the SDK's real processing chain
  and the pre-roll's effect on a live tracker were exercised with fakes only.
 2026-09-13 14:55:53 +08:00
ykcheungab 9354d7be1a cd D:\orisys_ws\orisys-app 
git add apps/studio/config/locales/zh_CN.json `
        apps/studio/config/locales/en_US.json `
        apps/studio/tests/test_locales.py `
        apps/studio/tools/ui_check.py `
        apps/studio/tests/test_ui_smoke.py `
        apps/studio/src/orisys_studio/app_window.py `
        apps/studio/src/orisys_studio/ui/cal_panel.py `
        apps/studio/src/orisys_studio/ui/playback_dialog.py `
        apps/studio/src/orisys_studio/ui/force_plots.py `
        apps/studio/docs/record-channel.md `
        shared/src/orisys_app_shared/force/calibration_recorder.py `
        shared/src/orisys_app_shared/record/__init__.py `
        shared/src/orisys_app_shared/record/playback.py `
        shared/src/orisys_app_shared/record/depth.py `
        shared/tests/test_record_channel.py `
        shared/tests/test_playback.py
 2026-09-13 14:01:24 +08:00
ykcheungab 817f830565 record the full experiment: video, CSV and metadata 
Phase 1 of the review asked for one directory per experiment, a force CSV,
video of the pre-processing image, and metadata that ties them together. The
record channel from the previous change already kept the whole session; this
adds the on-disk format.

What
- Add record/experiment.py: ExperimentRecorder writes one directory per
  session containing session.json, forces.csv, frames.csv, events.csv,
  raw_NNNN.mp4 (segmented) and an optional lossless PNG sequence.
- forces.csv uses the reviewed column order
  (session_id, frame_id, t_rel_s, FN_raw, FX_raw, FY_raw, FN_N, FX_N, FY_N,
  valid, calibration_id) and leaves a cell empty when a value is unavailable:
  an uncalibrated newton value or a failed readout is never written as 0.
- frames.csv is the frame-index mapping: frame_id, t_rel_s, acquisition wall
  clock, segment, segment_frame, in_video. forces.csv and frames.csv share the
  packet frame_id and the same t_rel_s origin, so video and data can be
  aligned after dropped or segmented frames.
- session.json carries format version, session id, start/end time in UTC,
  device and config (with a sha256 of the config file), app/shared/SDK
  versions, calibration reference, axis convention, filter parameters, video
  codec and the lossy-MP4 caveat, plus the event log and end-of-run statistics.
  It is written once at start so a crash still leaves identifiable metadata.
- Add a record control to the toolbar: mode (video+data / data only) and a
  start/stop toggle that stays enabled while recording.
- Log zeroing, calibration application and session end as timestamped events.

Why
- The recorder is fed from the worker sink list on the acquisition thread and
  only appends to a bounded queue, so disk I/O can never stall acquisition.
- On_packet copies the raw frame instead of holding a reference: the packet
  frame may alias a buffer the SDK reuses between frames.
- A queue overflow is counted and alarmed (rate limited), and a write or encode
  failure is counted, reported and after 5 consecutive errors stops the
  recording with failed=true rather than silently losing data.

Verification
- shared/tests/test_experiment_recorder.py: 12 cases covering the directory
  layout, the CSV contract, frame-id/time-base agreement, segment rolling,
  data-only and lossless modes, queue overflow accounting, encoder failure,
  metadata fields, crash-before-stop, and that on_packet never blocks.
- tools/ui_check.py gains an "experiment record" section (169 checks, 0
  failures overall), driving a recording through the UI and asserting the
  layout, the empty-cell rule and the event sequence.
- apps/studio/tests/test_ui_smoke.py mirrors those invariants.
- docs/record-channel.md documents the format and the remaining phase-2 work.

Not in this change: CSV export of a selected time range, full-session curve
browsing, calibration diagnostics (outlier exclusion, fit residuals) and
PyOpenGL 3D.
 2026-09-13 13:14:10 +08:00
ykcheungab db228b6f57 subject: store the whole session and drive calibration from the acquisition stream 2026-09-13 12:34:47 +08:00