ykcheungab
88 lines
2.8 KiB
Python
88 lines
2.8 KiB
Python
"""Display-only force baseline / deadband (value cards)."""
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from __future__ import annotations
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import numpy as np
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from orisys_app_shared.force.presentation import ForcePresentation, ZeroEstimate
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def test_fit_zero_rejects_insufficient_samples() -> None:
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presentation = ForcePresentation(enabled=True, min_samples=30)
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estimate = presentation.fit_zero([(1.0, 2.0, 3.0), (1.1, 2.1, 3.1)])
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assert estimate.quality == "insufficient"
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def test_fit_zero_and_accept_deadband() -> None:
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rng = np.random.default_rng(0)
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bias = np.array([1262.0, -11.0, -353.0])
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noise = rng.normal(0.0, 20.0, size=(80, 3))
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samples = (bias + noise).tolist()
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presentation = ForcePresentation(
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enabled=True,
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min_samples=30,
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baseline_seconds=0.0,
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min_deadband=50.0,
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deadband_percentile=99.0,
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)
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estimate = presentation.fit_zero(samples)
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assert estimate.quality == "ok"
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presentation.apply_estimate(estimate)
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idle = presentation.accept(tuple(bias), unit="raw")
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assert idle.zero_zone
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assert idle.values == (0.0, 0.0, 0.0)
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# Curves / CSV keep the measurement: accept never mutates the input tuple.
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measured = (1262.0, -11.0, -353.0)
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presentation.accept(measured, unit="raw")
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assert measured == (1262.0, -11.0, -353.0)
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def test_observe_skips_contact_contamination() -> None:
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presentation = ForcePresentation(
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enabled=True,
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min_samples=5,
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baseline_seconds=0.1,
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require_no_contact=True,
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)
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for i in range(10):
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out = presentation.observe(
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(1000.0, 0.0, 0.0),
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t_rel_s=i * 0.05,
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contact_found=True,
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flow_p95=0.1,
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)
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assert out is None
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assert not presentation.ready
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def test_observe_freezes_after_quiet_window() -> None:
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presentation = ForcePresentation(
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enabled=True,
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min_samples=10,
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baseline_seconds=0.5,
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min_deadband=10.0,
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)
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estimate: ZeroEstimate | None = None
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for i in range(40):
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estimate = presentation.observe(
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(100.0 + (i % 3), -5.0, 2.0),
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t_rel_s=i * 0.02,
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flow_p95=0.1,
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contact_found=False,
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)
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if estimate is not None:
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break
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assert estimate is not None
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assert estimate.quality == "ok"
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assert presentation.ready
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# Further observes do not chase a new zero once frozen.
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later = presentation.observe((5000.0, 0.0, 0.0), t_rel_s=10.0, flow_p95=0.0)
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assert later is None
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def test_format_force_stable_digits() -> None:
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presentation = ForcePresentation(enabled=True)
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assert presentation.format_force(0.0, unit="raw") == "0"
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assert presentation.format_force(1262.4, unit="raw") == "1262"
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assert presentation.format_force(1.2345, unit="N") == "1.234"
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