ykcheungab
293 lines
10 KiB
Python
293 lines
10 KiB
Python
"""Replay of a recording: the reader, and the depth replay policy.
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Depth is not stored with a recording (team decision): replay recomputes it from
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``raw_*.mp4`` and the recorded config. These tests cover the reader contract and
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that the policy's risks are reported instead of discovered later.
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"""
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from __future__ import annotations
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import csv
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import json
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import shutil
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import sys
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import types
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from pathlib import Path
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import numpy as np
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import pytest
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from orisys_app_shared.acquisition.sdk_worker import SdkPacket
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from orisys_app_shared.record import (
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ExperimentRecorder,
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RecordConfig,
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RecordingReader,
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list_recordings,
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)
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SCRATCH = Path(__file__).resolve().parent / "_scratch_playback"
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def _packet(index: int, *, valid: bool = True) -> SdkPacket:
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nan = float("nan")
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frame = np.full((24, 32, 3), (index * 5) % 255, np.uint8)
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return SdkPacket(
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raw_frame=frame,
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processed_frame=frame,
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timestamp=1000.0 + index / 30.0,
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fps=30.0,
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process_ms=1.0,
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normal_force=2.0 if valid else nan,
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shear_x=0.5 if valid else nan,
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shear_y=-0.5 if valid else nan,
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normal_force_raw=(9.0 + index * 0.1) if valid else nan,
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shear_x_raw=0.4 if valid else nan,
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shear_y_raw=-0.4 if valid else nan,
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force_unit="N",
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force_calibrated=True,
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session_id=1,
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frame_id=index,
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valid=valid,
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invalid_reason="" if valid else "read failed",
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raw_available=True,
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)
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@pytest.fixture
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def recording():
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shutil.rmtree(SCRATCH, ignore_errors=True)
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SCRATCH.mkdir(parents=True, exist_ok=True)
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recorder = ExperimentRecorder(RecordConfig(video=True, fps=30.0, segment_seconds=0.4))
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directory = recorder.start(
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root=SCRATCH,
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session_id=3,
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calibration_id="/cfg/sensor.json",
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metadata={
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"device": {
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"sensor_type": "box",
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"config_ref": str(SCRATCH / "sensor.json"),
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"config_sha256": "recorded-hash",
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},
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"versions": {"sdk": "0.5.1"},
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"depth": {"stored": False, "replay": "recompute"},
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},
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)
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(SCRATCH / "sensor.json").write_text('{"camera": {}}\n', encoding="utf-8")
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for index in range(60):
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recorder.on_packet(_packet(index))
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recorder.on_packet(_packet(90, valid=False))
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recorder.stop()
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yield directory
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shutil.rmtree(SCRATCH, ignore_errors=True)
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def test_reader_reports_the_recording_shape(recording):
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reader = RecordingReader(recording)
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info = reader.info()
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assert len(info.frames) == 61
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assert info.times.size == 61
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assert info.duration_s == pytest.approx(3.0, abs=0.05)
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assert int(info.valid.sum()) == 60, "the failed readout should be marked invalid"
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def test_reader_keeps_unavailable_values_empty(recording):
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reader = RecordingReader(recording)
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info = reader.info()
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assert np.isnan(info.raw[-1]).all(), "an empty CSV cell must not read back as 0"
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assert np.isfinite(info.raw[0]).all()
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def test_reader_maps_time_to_the_video_segment(recording):
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reader = RecordingReader(recording)
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frame = reader.frame_at(1.0)
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assert frame is not None
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assert frame.frame_id == 30
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assert frame.t_rel_s == pytest.approx(1.0, abs=0.02)
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assert frame.in_video
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assert frame.segment >= 1
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assert reader.segment_path(frame.segment) is not None
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# Before the start and past the end clamp instead of raising.
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assert reader.frame_at(-5.0).frame_id == 0
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assert reader.frame_at(500.0).frame_id == 90
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def test_reader_decodes_the_video_frame(recording):
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import cv2
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if not hasattr(cv2, "VideoCapture"): # pragma: no cover
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pytest.skip("no video backend")
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reader = RecordingReader(recording)
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image, frame = reader.video_frame_at(1.0)
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assert frame is not None and frame.in_video
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assert image is not None, "the frame index and the video disagreed"
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assert image.shape[:2] == (24, 32)
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def test_reader_window_and_streaming_agree(recording):
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reader = RecordingReader(recording)
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times, values = reader.forces_window(0.5, 1.0)
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assert len(times) == 16
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assert values.shape == (16, 3)
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streamed = sum(len(batch_times) for batch_times, _ in reader.iter_forces(batch=25))
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assert streamed == 61, "streaming must see every row"
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def test_an_empty_recording_directory_is_readable():
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"""A folder with no CSVs must open (empty), not raise an unpack error."""
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shutil.rmtree(SCRATCH, ignore_errors=True)
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SCRATCH.mkdir(parents=True, exist_ok=True)
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try:
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reader = RecordingReader(SCRATCH)
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info = reader.info()
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assert info.frames == []
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assert info.times.size == 0
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assert info.duration_s == 0.0
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assert reader.frame_at(1.0) is None
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assert reader.replay_warnings(sdk_version="0.5.1")
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finally:
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shutil.rmtree(SCRATCH, ignore_errors=True)
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def test_a_new_recording_is_reported_as_time_ordered(recording):
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info = RecordingReader(recording).info()
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assert info.frames_out_of_order, "the writer no longer produces ordered rows"
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assert info.forces_out_of_order
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codes = RecordingReader(recording).replay_warnings(sdk_version="0.5.1")
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assert "out_of_order" not in codes
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def test_an_old_out_of_order_recording_is_re_sorted_and_reported():
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"""Rows written by the pre-fix writer are not in time order.
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``frame_at`` binary-searches these times, so an unsorted file would answer
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with the wrong frame; the reader sorts and says so instead.
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"""
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shutil.rmtree(SCRATCH, ignore_errors=True)
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SCRATCH.mkdir(parents=True, exist_ok=True)
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(SCRATCH / "forces.csv").write_text(
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"session_id,frame_id,t_rel_s,FN_raw,FX_raw,FY_raw,FN_N,FX_N,FY_N,valid,calibration_id\n"
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"1,0,0.0,1.0,0.1,0.1,2.0,0.1,0.1,1,h\n"
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"1,2,0.066,3.0,0.1,0.1,6.0,0.1,0.1,1,h\n" # written before frame 1
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"1,1,0.033,2.0,0.1,0.1,4.0,0.1,0.1,1,h\n",
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encoding="utf-8",
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)
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(SCRATCH / "frames.csv").write_text(
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"frame_id,t_rel_s,acquired_at,segment,segment_frame,in_video,dropped\n"
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"0,0.0,2026-01-01T00:00:00.000Z,1,1,1,0\n"
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"2,0.066,2026-01-01T00:00:00.066Z,1,3,1,0\n"
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"1,0.033,2026-01-01T00:00:00.033Z,1,2,1,0\n",
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encoding="utf-8",
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)
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(SCRATCH / "session.json").write_text(
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json.dumps(
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{
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"format_version": "1.1",
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"device": {"sensor_type": "box", "config_ref": "/cfg/sensor.json"},
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"versions": {"sdk": "0.5.1"},
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"depth": {"stored": False},
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}
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),
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encoding="utf-8",
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)
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try:
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reader = RecordingReader(SCRATCH)
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info = reader.info()
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assert not info.frames_out_of_order
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assert not info.forces_out_of_order
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assert [frame.frame_id for frame in info.frames] == [0, 1, 2]
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assert info.times.tolist() == pytest.approx([0.0, 0.033, 0.066])
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# The binary search is only valid because the rows were sorted.
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assert reader.frame_at(0.05).frame_id == 1
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assert reader.frame_at(0.07).frame_id == 2
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assert "out_of_order" in reader.replay_warnings(sdk_version="0.5.1")
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finally:
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shutil.rmtree(SCRATCH, ignore_errors=True)
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def test_depth_policy_says_recompute_and_warns_about_drift(recording):
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reader = RecordingReader(recording)
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assert reader.depth_is_stored() is False
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assert reader.depth_policy().get("replay") == "recompute"
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assert reader.recorded_config_ref() == str(SCRATCH / "sensor.json")
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# The config file on disk no longer matches what was recorded.
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codes = reader.replay_warnings(sdk_version="0.5.1")
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assert "config_changed" in codes
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# Same SDK: no version warning.
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assert "sdk_changed" not in codes
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assert "sdk_changed" in reader.replay_warnings(sdk_version="9.9.9")
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def test_list_recordings_finds_directories_newest_first(recording):
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second = SCRATCH / "zzz_later"
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second.mkdir()
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(second / "forces.csv").write_text("", encoding="utf-8")
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found = list_recordings(SCRATCH)
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assert found[0].name == "zzz_later", "recordings should be newest first"
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assert recording in found
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if __name__ == "__main__": # pragma: no cover - manual runner
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import shutil as _shutil
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failures = 0
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for name, function in sorted(globals().items()):
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if not name.startswith("test_") or not callable(function):
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continue
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try:
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if name == "test_list_recordings_finds_directories_newest_first":
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_shutil.rmtree(SCRATCH, ignore_errors=True)
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SCRATCH.mkdir(parents=True, exist_ok=True)
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recorder = ExperimentRecorder(RecordConfig(video=False))
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directory = recorder.start(
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root=SCRATCH, session_id=1, metadata={"depth": {"stored": False}}
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)
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recorder.on_packet(_packet(0))
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recorder.stop()
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try:
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function(directory)
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finally:
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_shutil.rmtree(SCRATCH, ignore_errors=True)
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print(f" ok {name}")
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continue
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_shutil.rmtree(SCRATCH, ignore_errors=True)
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SCRATCH.mkdir(parents=True, exist_ok=True)
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recorder = ExperimentRecorder(RecordConfig(video=True, fps=30.0, segment_seconds=0.4))
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directory = recorder.start(
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root=SCRATCH,
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session_id=3,
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calibration_id="/cfg/sensor.json",
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metadata={
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"device": {
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"sensor_type": "box",
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"config_ref": str(SCRATCH / "sensor.json"),
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"config_sha256": "recorded-hash",
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},
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"versions": {"sdk": "0.5.1"},
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"depth": {"stored": False, "replay": "recompute"},
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},
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)
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(SCRATCH / "sensor.json").write_text('{"camera": {}}\n', encoding="utf-8")
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for index in range(60):
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recorder.on_packet(_packet(index))
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recorder.on_packet(_packet(90, valid=False))
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recorder.stop()
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try:
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function(directory)
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finally:
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_shutil.rmtree(SCRATCH, ignore_errors=True)
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print(f" ok {name}")
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except Exception as exc: # noqa: BLE001
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failures += 1
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print(f" FAIL {name}: {type(exc).__name__}: {exc}")
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print(f"failures: {failures}")
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raise SystemExit(1 if failures else 0)
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