Motion capture: profile support, FPS config, persistent tracking, window state

Profile integration:
- CameraDevice.get_save_config() serialises camera_index, simulate,
  resolution, fps — cameras now persist in .labdaq profiles
- ProfileManager.register/unregister_device_factory() lets plugins
  register their device classes for profile restoration without
  core → plugin dependency
- MotionCapturePlugin registers CameraDevice factory on load/unload

Camera configuration:
- Add Frame Rate combo to CameraPanel (Default/15/24/30/60/120 fps)
  defaults to 30 fps; flows through to CAP_PROP_FPS on connect
- tracker.start() accepts fps param alongside existing resolution

Tracking persistence:
- CameraTracker.is_running() — checks thread alive state
- MotionCaptureWindow initialises _connected from tracker.is_running()
  so reopening the window resumes the live feed without restarting
  the camera or losing the active tracking state

Window state:
- Plugin saves px_per_mm + camera_idx when window closes
- Reopened window restores saved values and syncs mode/shape UI
  from tracker state via restore_ui_state() (signals blocked to
  avoid resetting tracker)
- Window type changed to Qt.WindowType.Window for independent
  close button on all Linux WMs

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

6 files changed, 102 insertions, 11 deletions

diff --git a/core/profile.py b/core/profile.py
index fdd3a48..39cb3ca 100644
--- a/core/profile.py
+++ b/core/profile.py
@@ -131,6 +131,18 @@ class ProfileManager:
         ProfileManager.apply(profile, registry, processor, ...)
     """
 
+    # Plugin device factories registered at runtime (device_type → class)
+    _extra_factories: dict = {}
+
+    @staticmethod
+    def register_device_factory(device_type: str, factory):
+        """Register a plugin device class so it can be restored from profiles."""
+        ProfileManager._extra_factories[device_type] = factory
+
+    @staticmethod
+    def unregister_device_factory(device_type: str):
+        ProfileManager._extra_factories.pop(device_type, None)
+
     # ── Capture ──────────────────────────────────────────────────────────────
 
     @staticmethod
@@ -234,7 +246,7 @@ class ProfileManager:
         )
 
         # ── Devices ──────────────────────────────────────────────────────
-        _DEVICE_FACTORIES = {}
+        _DEVICE_FACTORIES = dict(ProfileManager._extra_factories)
         try:
             from devices.arduino_device import ArduinoDevice
             _DEVICE_FACTORIES["arduino"] = ArduinoDevice
diff --git a/plugins/motion_capture/camera_panel.py b/plugins/motion_capture/camera_panel.py
index 5e25f7f..279945e 100644
--- a/plugins/motion_capture/camera_panel.py
+++ b/plugins/motion_capture/camera_panel.py
@@ -21,6 +21,15 @@ _RESOLUTIONS = {
     "2560 × 1440": (2560, 1440),
 }
 
+_FPS = {
+    "Default": None,
+    "15 fps":  15,
+    "24 fps":  24,
+    "30 fps":  30,
+    "60 fps":  60,
+    "120 fps": 120,
+}
+
 
 class CameraScanThread(QThread):
     cameras_found = pyqtSignal(list)   # list of (index: int, label: str)
@@ -64,7 +73,14 @@ class CameraPanel(QWidget):
         form.setContentsMargins(0, 0, 0, 0)
         self.res_cb = QComboBox()
         self.res_cb.addItems(list(_RESOLUTIONS.keys()))
+        self.res_cb.setCurrentText("1280 × 720")
         form.addRow("Resolution:", self.res_cb)
+
+        self.fps_cb = QComboBox()
+        self.fps_cb.addItems(list(_FPS.keys()))
+        self.fps_cb.setCurrentText("30 fps")
+        form.addRow("Frame Rate:", self.fps_cb)
+
         lay.addLayout(form)
 
         note = QLabel(
@@ -91,9 +107,11 @@ class CameraPanel(QWidget):
         resolution: Optional[Tuple[int, int]] = _RESOLUTIONS.get(
             self.res_cb.currentText()
         )
+        fps: Optional[int] = _FPS.get(self.fps_cb.currentText())
         return CameraDevice(
             device_id=device_id,
             camera_index=self._selected_index,
             simulate=self._simulate,
             resolution=resolution,
+            fps=fps,
         )
diff --git a/plugins/motion_capture/device.py b/plugins/motion_capture/device.py
index 8eb1591..58f89ce 100644
--- a/plugins/motion_capture/device.py
+++ b/plugins/motion_capture/device.py
@@ -24,10 +24,13 @@ from devices.base_device import (
 
 class CameraDevice(BaseDevice):
 
+    DEVICE_TYPE = "camera"
+
     def __init__(self, device_id: str = "cam_0",
                  camera_index: int = 0,
                  simulate: bool = False,
-                 resolution=None):
+                 resolution=None,
+                 fps=None):
         name = "Camera (Sim)" if simulate else f"Camera {camera_index}"
         super().__init__(DeviceInfo(
             device_id   = device_id,
@@ -57,6 +60,7 @@ class CameraDevice(BaseDevice):
         self._camera_index           = camera_index
         self._simulate               = simulate
         self._resolution             = resolution
+        self._fps                    = fps
         self._tracker: Optional[Any] = None
         self._tracking_win           = None
 
@@ -68,6 +72,7 @@ class CameraDevice(BaseDevice):
         self._tracker.start(
             -1 if self._simulate else self._camera_index,
             resolution=self._resolution,
+            fps=self._fps,
         )
         if self._tracker.simulated:
             self.status = DeviceStatus.SIMULATED
@@ -93,6 +98,16 @@ class CameraDevice(BaseDevice):
         x, y = pos
         return {"x_pos": float(x), "y_pos": float(y)}
 
+    def get_save_config(self) -> dict:
+        return {
+            "device_type":  self.DEVICE_TYPE,
+            "device_id":    self.info.device_id,
+            "camera_index": self._camera_index,
+            "simulate":     self._simulate,
+            "resolution":   list(self._resolution) if self._resolution else None,
+            "fps":          self._fps,
+        }
+
     def write_channel(self, channel_id: str, value: Any) -> bool:
         return False
 
diff --git a/plugins/motion_capture/plugin.py b/plugins/motion_capture/plugin.py
index 0b44cb4..9cf9557 100644
--- a/plugins/motion_capture/plugin.py
+++ b/plugins/motion_capture/plugin.py
@@ -49,12 +49,16 @@ class MotionCapturePlugin(LabPlugin):
     # ── Lifecycle ─────────────────────────────────────────────────────────
 
     def on_load(self, context: PluginContext) -> None:
-        self._ctx     = context
-        self._btn     = None          # toolbar button reference
-        self._windows: dict = {}      # device_id → MotionCaptureWindow
+        self._ctx          = context
+        self._btn          = None     # toolbar button reference
+        self._windows: dict      = {}  # device_id → MotionCaptureWindow
+        self._window_state: dict = {}  # device_id → {px_per_mm, camera_idx}
         from ui.add_device_dialog import _PANELS
         from camera_panel import CameraPanel
         _PANELS["Camera"] = (CameraPanel, "cam")
+        from core.profile import ProfileManager
+        from device import CameraDevice
+        ProfileManager.register_device_factory(CameraDevice.DEVICE_TYPE, CameraDevice)
 
     def on_unload(self) -> None:
         for win in list(self._windows.values()):
@@ -62,6 +66,9 @@ class MotionCapturePlugin(LabPlugin):
         self._windows.clear()
         from ui.add_device_dialog import _PANELS
         _PANELS.pop("Camera", None)
+        from core.profile import ProfileManager
+        from device import CameraDevice
+        ProfileManager.unregister_device_factory(CameraDevice.DEVICE_TYPE)
 
     # ── Integration hooks ─────────────────────────────────────────────────
 
@@ -133,11 +140,27 @@ class MotionCapturePlugin(LabPlugin):
                 self._btn.setChecked(False)
             return
         win = MotionCaptureWindow(device._tracker)
-        win.closed.connect(lambda: self._close_window(dev_id))
+
+        # Restore mode/shape from live tracker state
+        win.restore_ui_state(
+            mode=device._tracker.track_mode,
+            shape=device._tracker.template_shape,
+        )
+        # Restore px/mm and camera index from last session
+        if dev_id in self._window_state:
+            state = self._window_state[dev_id]
+            win.set_px_per_mm(state["px_per_mm"])
+            win.set_camera_index(state["camera_idx"])
+
+        win.closed.connect(lambda d=dev_id, w=win: self._on_window_closed(d, w))
         self._windows[dev_id] = win
         win.show()
 
-    def _close_window(self, dev_id: str) -> None:
+    def _on_window_closed(self, dev_id: str, win) -> None:
+        self._window_state[dev_id] = {
+            "px_per_mm":  win.get_px_per_mm(),
+            "camera_idx": win.get_camera_index(),
+        }
         self._windows.pop(dev_id, None)
         if not self._windows and self._btn is not None:
             self._btn.setChecked(False)
diff --git a/plugins/motion_capture/tracker.py b/plugins/motion_capture/tracker.py
index ffc9f25..8dc89f1 100644
--- a/plugins/motion_capture/tracker.py
+++ b/plugins/motion_capture/tracker.py
@@ -128,7 +128,8 @@ class CameraTracker:
     # ── Start / stop ──────────────────────────────────────────────────────
 
     def start(self, camera_index: int = 0,
-              resolution: Optional[Tuple[int, int]] = None) -> bool:
+              resolution: Optional[Tuple[int, int]] = None,
+              fps: Optional[int] = None) -> bool:
         self.stop()
         self._running = True
 
@@ -145,6 +146,8 @@ class CameraTracker:
             if resolution:
                 cap.set(cv2.CAP_PROP_FRAME_WIDTH,  resolution[0])
                 cap.set(cv2.CAP_PROP_FRAME_HEIGHT, resolution[1])
+            if fps:
+                cap.set(cv2.CAP_PROP_FPS, fps)
             if cap.isOpened():
                 with self._lock:
                     self._cap           = cap
@@ -271,6 +274,9 @@ class CameraTracker:
         with self._lock:
             return self._lost
 
+    def is_running(self) -> bool:
+        return self._running and self._thread is not None and self._thread.is_alive()
+
     @property
     def fps(self) -> float:
         return self._fps
diff --git a/plugins/motion_capture/window.py b/plugins/motion_capture/window.py
index bc9a0de..46b8850 100644
--- a/plugins/motion_capture/window.py
+++ b/plugins/motion_capture/window.py
@@ -245,10 +245,9 @@ class MotionCaptureWindow(QWidget):
     closed = pyqtSignal()
 
     def __init__(self, tracker, parent=None):
-        super().__init__(parent, Qt.WindowType.Window | Qt.WindowType.Tool)
+        super().__init__(parent, Qt.WindowType.Window)
         self._tracker   = tracker
-        self._connected = False
-        self._selecting = False   # True while frame is frozen for selection
+        self._selecting = False
 
         self.setWindowTitle("Motion Capture")
         self.setMinimumSize(680, 560)
@@ -256,6 +255,11 @@ class MotionCaptureWindow(QWidget):
 
         self._build()
 
+        # Reflect tracker's actual state — it may already be running
+        self._connected = tracker.is_running()
+        self._sim_badge.setVisible(self._connected and tracker.simulated)
+        self._sync_controls()
+
         self._refresh = QTimer(self)
         self._refresh.timeout.connect(self._update)
         self._refresh.start(33)
@@ -500,6 +504,19 @@ class MotionCaptureWindow(QWidget):
 
     # ── State accessors ────────────────────────────────────────────────────
 
+    def restore_ui_state(self, mode: str, shape: str):
+        """Sync mode/shape UI to tracker state without triggering tracker resets."""
+        self._mode_cb.blockSignals(True)
+        self._shape_cb.blockSignals(True)
+        self._mode_cb.setCurrentIndex(1 if mode == "csrt" else 0)
+        self._shape_cb.setCurrentIndex(1 if shape == "circle" else 0)
+        is_template = mode == "template"
+        self._shape_lbl.setVisible(is_template)
+        self._shape_cb.setVisible(is_template)
+        self._mode_cb.blockSignals(False)
+        self._shape_cb.blockSignals(False)
+        self._feed.set_shape(shape)
+
     def get_camera_index(self) -> int:
         i = self._cam_combo.currentIndex()
         cameras = getattr(self, "_cameras", [])