From cc848a273de8bc59c2a8d91f64c44899ecc78448 Mon Sep 17 00:00:00 2001
From: ykcheungab <ykcheungab@connect.ust.hk>
Date: Wed, 7 Oct 2026 12:26:52 +0800
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---
 .../tests/test_force_output_pipeline.py       | 52 +++++++++++++++++++
 1 file changed, 52 insertions(+)
 create mode 100644 apps/studio/tests/test_force_output_pipeline.py

diff --git a/apps/studio/tests/test_force_output_pipeline.py b/apps/studio/tests/test_force_output_pipeline.py
new file mode 100644
index 0000000..e0aa2e5
--- /dev/null
+++ b/apps/studio/tests/test_force_output_pipeline.py
@@ -0,0 +1,52 @@
+"""One thresholded record fans out without changing calibration inputs."""
+
+from types import SimpleNamespace
+
+import numpy as np
+
+from orisys_app_shared.force.session import SessionStore
+from orisys_studio.recording import RecordingCoordinator
+
+
+class _Capture:
+    is_recording = False
+
+    def set_alarm_handler(self, handler):
+        self.alarm_handler = handler
+
+    def on_packet(self, packet, *, sample):
+        self.sample = sample
+
+
+class _Calibration:
+    def feed(self, sample):
+        self.sample = sample
+
+
+def test_output_and_originals_share_frame_across_consumers():
+    store = SessionStore()
+    calibration = _Calibration()
+    recording = _Capture()
+    coordinator = RecordingCoordinator(
+        session_store=store, cal_recorder=calibration, recorder=recording
+    )
+    coordinator.set_force_thresholds(raw=50, newton=0.5)
+    packet = SimpleNamespace(
+        frame_id=7, mono_t=7.0, wall_t=1007.0, valid=True,
+        raw_available=True, force_calibrated=True,
+        calibrated_axes=("fn", "fx", "fy"),
+        normal_force_raw=49.0, shear_x_raw=-51.0, shear_y_raw=20.0,
+        normal_force=0.4, shear_x=-0.6, shear_y=0.1,
+    )
+    output = coordinator.on_packet(packet)
+
+    assert output is recording.sample
+    assert output.raw_triplet() == (49.0, -51.0, 20.0)
+    assert output.processed_triplet("raw") == (0.0, -51.0, 0.0)
+    assert output.processed_triplet("N") == (0.0, -0.6, 0.0)
+    assert calibration.sample.raw_triplet() == output.raw_triplet()
+    stored = store.data()
+    assert stored.frame_ids.tolist() == [7]
+    assert stored.raw[0].tolist() == [49.0, -51.0, 20.0]
+    assert stored.output_raw[0].tolist() == [0.0, -51.0, 0.0]
+    assert np.allclose(stored.output_newtons[0], [0.0, -0.6, 0.0])