把 FN/FX/FY 力读出抽到 ForceReadout。

滤波预设、EMA、中值、低通与标定换算离开 Sensor；对外 configure / filters_state 不变。已有 signal_processing、filter_presets、calibration 测试通过。

src/orisys/force_readout.py

@@ -0,0 +1,394 @@
+"""Force readout for FN/FX/FY: EMA, median, low-pass, and optional convert.
+
+Any sensor that produces a raw (fn, fx, fy) triple can use this. Calibration
+coefficients stay outside: pass ``convert`` into :meth:`ForceReadout.apply`.
+"""
+
+from __future__ import annotations
+
+from collections.abc import Callable
+
+import numpy as np
+
+from .signal_processing import (
+    DEFAULT_SAMPLE_RATE_HZ,
+    CausalMedianFilter,
+    LowpassFilter,
+    SampleRateEstimator,
+)
+
+# Default signal-conditioning settings (config: top-level "filters" block).
+#
+# A key a config does not state is **off**, not "whatever we thought was
+# sensible": the file has to name what runs, or a device can be filtering a
+# measurement nobody asked it to filter and no reader of the file could tell.
+# The shipped bundles state all three values explicitly, so they are unaffected
+# by these defaults; a config with no "filters" block at all filters nothing.
+#
+# Which settings are worth asking for is measured, not guessed. On dd02-0703 at
+# 280x300 (see the noise analysis in the perf notes) flow EMA 0.5 + median 3
+# costs ~2 frames at 30 fps and cuts steady-press force jitter by roughly half
+# while also stabilising vnormal/contact (which a force-level filter cannot do);
+# that combination is the "balanced" preset. The force low-pass stays off there
+# too: on top of the EMA it added no measurable noise benefit at the same
+# latency, so it is an opt-in stage for sites with different noise
+# characteristics (the "low_noise" preset).
+DEFAULT_FORCE_LOWPASS_HZ = 0.0
+DEFAULT_FORCE_MEDIAN_WINDOW = 1
+DEFAULT_FLOW_EMA_ALPHA = 1.0
+
+#: Named filter presets, so a recommendation is *executable* instead of a
+#: comment in a JSON file (``json.load`` cannot carry comments). A config may
+#: write ``"filters": {"preset": "balanced"}`` and override any single key on
+#: top of it; the resolved values are what ``Sensor.filters_state()`` reports.
+#: The latency/noise trade-offs behind these numbers are measured in
+#: ``docs/performance/perf-measurements/`` (moved out of the once-gitignored
+#: ``orisys-sdk/_perf/`` on 2026-09-27) and tabulated in ``docs/filters.md``.
+FILTER_PRESETS = {
+    # Everything off: the file says what runs, and the raw reading is the record.
+    "off": {
+        "flow_ema_alpha": 1.0,
+        "force_median_window": 1,
+        "force_lowpass_cutoff_hz": 0.0,
+    },
+    # One frame of latency @30 fps: median only. The EMA changes the
+    # measurement, so it stays off when latency matters more than jitter.
+    "low_latency": {
+        "flow_ema_alpha": 1.0,
+        "force_median_window": 3,
+        "force_lowpass_cutoff_hz": 0.0,
+    },
+    # Two frames @30 fps: the EMA removes the spatially-coherent flow jitter
+    # that no force-level filter can reach, the median removes its spikes.
+    "balanced": {
+        "flow_ema_alpha": 0.5,
+        "force_median_window": 3,
+        "force_lowpass_cutoff_hz": 0.0,
+    },
+    # Three frames @30 fps and the quietest readout: as ``balanced`` plus the
+    # force low-pass on top of the median.
+    "low_noise": {
+        "flow_ema_alpha": 0.3,
+        "force_median_window": 3,
+        "force_lowpass_cutoff_hz": 10.0,
+    },
+}
+
+
+def available_filter_presets() -> dict:
+    """The presets, for UIs that want to offer them (the studio's gear dialog)."""
+    return {name: dict(values) for name, values in FILTER_PRESETS.items()}
+
+
+ConvertFn = Callable[[float, float, float], tuple[float, float, float]]
+
+
+class ForceReadout:
+    """Median → low-pass → convert for a three-channel force triple."""
+
+    def __init__(
+        self,
+        filters_cfg: dict | None = None,
+        *,
+        config_fps: float = DEFAULT_SAMPLE_RATE_HZ,
+        verbose: bool = False,
+    ) -> None:
+        # These settings change the reported force values, so they are part of
+        # the measurement-pipeline identity and are recorded in the calibration
+        # metadata / mismatch check alongside dis_mode and hhd_downsample.
+        #
+        # Every stage is switched by its **own value**, so the config states what
+        # runs: ``flow_ema_alpha >= 1``, ``force_median_window <= 1`` and
+        # ``force_lowpass_cutoff_hz <= 0`` each mean "stage off". Values are never
+        # overridden: there is no master switch that could make the file say 0.5
+        # while the device runs 1.0. An invalid value falls back to **off**, never
+        # to a default that filters. ``enabled`` is kept only as a deprecated
+        # alias for "turn every stage off" and is honoured when it is explicitly
+        # false. ``state()`` reports what actually took effect.
+        if not isinstance(filters_cfg, dict):
+            filters_cfg = {}
+        legacy_off = filters_cfg.get("enabled", None) is False
+        preset_name = filters_cfg.get("preset", None)
+        preset_values = FILTER_PRESETS.get(str(preset_name), {}) if preset_name else {}
+        self.preset = str(preset_name) if preset_name in FILTER_PRESETS else None
+
+        def _cfg(key, default):
+            if legacy_off:
+                return default
+            value = filters_cfg.get(key, None)
+            if value is None:
+                value = preset_values.get(key, None)
+            return default if value is None else value
+
+        try:
+            self.config_fps = float(config_fps or 0.0)
+        except (TypeError, ValueError):
+            self.config_fps = 0.0
+        if self.config_fps <= 0:
+            self.config_fps = float(DEFAULT_SAMPLE_RATE_HZ)
+
+        self.lowpass_order = 2
+        self.lowpass_sample_rate_hz = self.config_fps
+        self.lowpass_cutoff_hz = 0.0
+        self.lowpass_rate_auto = True
+        try:
+            self.lowpass_order = max(1, int(_cfg("force_lowpass_order", 2)))
+        except (TypeError, ValueError):
+            self.lowpass_order = 2
+        rate_cfg = _cfg("force_lowpass_sample_rate_hz", "auto")
+        if isinstance(rate_cfg, str):
+            self.lowpass_rate_auto = rate_cfg.strip().lower() in ("auto", "", "measured")
+        else:
+            try:
+                rate = float(rate_cfg)
+            except (TypeError, ValueError):
+                rate = 0.0
+            self.lowpass_rate_auto = rate <= 0.0
+            if not self.lowpass_rate_auto:
+                self.lowpass_sample_rate_hz = rate
+        try:
+            self.lowpass_cutoff_hz = float(
+                _cfg("force_lowpass_cutoff_hz", DEFAULT_FORCE_LOWPASS_HZ)
+            )
+        except (TypeError, ValueError):
+            self.lowpass_cutoff_hz = 0.0
+        if self.lowpass_sample_rate_hz <= 0:
+            self.lowpass_sample_rate_hz = self.config_fps
+        # An unusable cutoff is "off", never a silent jump to the default.
+        if not (0.0 <= self.lowpass_cutoff_hz < 0.5 * self.lowpass_sample_rate_hz):
+            self.lowpass_cutoff_hz = 0.0
+        self.lowpass_enabled = self.lowpass_cutoff_hz > 0
+        self._force_filter = LowpassFilter(
+            cutoff_hz=self.lowpass_cutoff_hz,
+            sample_rate_hz=self.lowpass_sample_rate_hz,
+            order=self.lowpass_order,
+            n_channels=3,
+        )
+        self._force_rate = SampleRateEstimator(initial_hz=self.config_fps)
+        self.sample_rate_source = "config"
+
+        try:
+            self.force_median_window = max(
+                1, int(_cfg("force_median_window", DEFAULT_FORCE_MEDIAN_WINDOW))
+            )
+        except (TypeError, ValueError):
+            self.force_median_window = 1
+        self._force_median = CausalMedianFilter(
+            window=self.force_median_window, n_channels=3
+        )
+
+        self.flow_ema_alpha = 1.0
+        try:
+            alpha = float(_cfg("flow_ema_alpha", DEFAULT_FLOW_EMA_ALPHA))
+        except (TypeError, ValueError):
+            alpha = 1.0
+        if 0.0 < alpha < 1.0:
+            self.flow_ema_alpha = alpha
+        self._ema_flow = None
+        if legacy_off and verbose:
+            print(
+                "Note: filters.enabled is deprecated and means 'all stages off'; "
+                "remove it and switch each stage by its own value "
+                "(flow_ema_alpha=1, force_median_window=1, force_lowpass_cutoff_hz=0)."
+            )
+        self.any_stage_applied = bool(
+            self.flow_ema_alpha < 1.0
+            or self.force_median_window > 1
+            or self.lowpass_enabled
+        )
+        self.filtered_raw: tuple[float, float, float] | None = None
+        self.raw_unfiltered: tuple[float, float, float] | None = None
+        self.unfiltered_newton: tuple[float, float, float] | None = None
+
+    @property
+    def sample_rate_hz(self) -> float:
+        return float(self.lowpass_sample_rate_hz)
+
+    def pin_file_rate(self) -> None:
+        """Wall-clock cadence is not signal time (video file / offline replay)."""
+        self.lowpass_rate_auto = False
+        self.sample_rate_source = "config (file)"
+        self.lowpass_sample_rate_hz = self.config_fps
+        self._force_rate.reset(self.config_fps)
+
+    def apply_flow_ema(self, flow):
+        """Temporally smooth the optical-flow field before HHD.
+
+        The frame-to-frame jitter of the estimated flow is spatially coherent
+        (a near-global shift: it survives ~40x less averaging than per-pixel
+        noise would, see the noise analysis), so it cannot be removed by
+        spatial smoothing, a coarser HHD grid or a different DIS setting - only
+        by averaging along time. Applying it here also stabilises
+        ``vnormal``/contact, which a force-level filter cannot reach.
+
+        ``flow_ema_alpha >= 1`` disables the stage.
+        """
+        alpha = self.flow_ema_alpha
+        if flow is None or alpha >= 1.0:
+            return flow
+        prev = self._ema_flow
+        if prev is None or prev.shape != flow.shape or prev.dtype != flow.dtype:
+            self._ema_flow = np.array(flow, copy=True)
+            return flow
+        prev += alpha * (flow - prev)
+        return prev
+
+    def update_sample_rate(self) -> None:
+        """Track the achieved force update rate for the low-pass design."""
+        if not self.lowpass_rate_auto:
+            return
+        hz = self._force_rate.tick()
+        if not (1.0 <= hz <= 240.0):
+            return
+        self.sample_rate_source = "measured"
+        used = self.lowpass_sample_rate_hz
+        if used > 0 and abs(hz - used) <= 0.1 * used:
+            return
+        self.lowpass_sample_rate_hz = hz
+        if self.lowpass_enabled:
+            self._force_filter.configure(
+                cutoff_hz=self.lowpass_cutoff_hz,
+                sample_rate_hz=hz,
+                order=self.lowpass_order,
+            )
+
+    def apply(
+        self,
+        raw,
+        convert: ConvertFn | None = None,
+    ) -> tuple[float, float, float]:
+        """Median → low-pass → optional convert. Returns filtered newton triple."""
+        pre_filter = np.asarray(raw, dtype=np.float64)
+        values = pre_filter
+        # Median first: it deletes the heavy-tailed spikes that the flow chain
+        # produces, so the low-pass does not have to spread them over time.
+        if self._force_median.enabled:
+            values = self._force_median.process(values)
+        if self.lowpass_enabled and self.lowpass_cutoff_hz > 0:
+            values = self._force_filter.process(values)
+        self.filtered_raw = (float(values[0]), float(values[1]), float(values[2]))
+        fn, fx, fy = self.filtered_raw
+        if convert is not None:
+            fn, fx, fy = convert(fn, fx, fy)
+            fn, fx, fy = float(fn), float(fx), float(fy)
+
+        ufn, ufx, ufy = (
+            float(pre_filter[0]),
+            float(pre_filter[1]),
+            float(pre_filter[2]),
+        )
+        self.raw_unfiltered = (ufn, ufx, ufy)
+        if convert is not None:
+            ufn, ufx, ufy = convert(ufn, ufx, ufy)
+            ufn, ufx, ufy = float(ufn), float(ufx), float(ufy)
+        self.unfiltered_newton = (ufn, ufx, ufy)
+        return fn, fx, fy
+
+    def configure(
+        self,
+        *,
+        lowpass_cutoff_hz=None,
+        lowpass_sample_rate_hz=None,
+        lowpass_order=None,
+        lowpass_enabled=None,
+        flow_ema_alpha=None,
+        force_median_window=None,
+    ) -> bool:
+        """Update filter settings. Returns True when the force filter changed."""
+        filter_changed = False
+        if lowpass_cutoff_hz is not None:
+            self.lowpass_cutoff_hz = float(lowpass_cutoff_hz)
+            filter_changed = True
+            if lowpass_enabled is None:
+                self.lowpass_enabled = self.lowpass_cutoff_hz > 0
+        if lowpass_sample_rate_hz is not None:
+            # Accept a positive number to pin the rate, or "auto"/<=0 to track
+            # the measured output rate (see update_sample_rate).
+            auto = False
+            rate = 0.0
+            if isinstance(lowpass_sample_rate_hz, str):
+                auto = lowpass_sample_rate_hz.strip().lower() in ("auto", "", "measured")
+            else:
+                try:
+                    rate = float(lowpass_sample_rate_hz)
+                except (TypeError, ValueError):
+                    auto = True
+                else:
+                    auto = rate <= 0.0
+            self.lowpass_rate_auto = auto
+            if not auto:
+                self.lowpass_sample_rate_hz = rate
+            elif self.lowpass_sample_rate_hz <= 0:
+                self.lowpass_sample_rate_hz = self.config_fps
+            self._force_rate.reset(self.config_fps)
+            filter_changed = True
+        if lowpass_order is not None:
+            order = int(lowpass_order)
+            if order < 1:
+                raise ValueError("lowpass_order must be >= 1")
+            self.lowpass_order = order
+            filter_changed = True
+        if lowpass_enabled is not None:
+            self.lowpass_enabled = bool(lowpass_enabled)
+            filter_changed = True
+
+        if flow_ema_alpha is not None:
+            alpha = float(flow_ema_alpha)
+            if not (0.0 < alpha <= 1.0):
+                raise ValueError("flow_ema_alpha must be in (0, 1]")
+            self.flow_ema_alpha = alpha
+            self._ema_flow = None
+
+        if force_median_window is not None:
+            try:
+                window = max(1, int(force_median_window))
+            except (TypeError, ValueError) as exc:
+                raise ValueError("force_median_window must be an integer >= 1") from exc
+            self.force_median_window = window
+            self._force_median.configure(window)
+            filter_changed = True
+
+        if filter_changed:
+            cutoff = self.lowpass_cutoff_hz if self.lowpass_enabled else 0.0
+            self._force_filter.configure(
+                cutoff_hz=cutoff,
+                sample_rate_hz=self.lowpass_sample_rate_hz,
+                order=self.lowpass_order,
+            )
+        self.any_stage_applied = bool(
+            self.flow_ema_alpha < 1.0
+            or self.force_median_window > 1
+            or self.lowpass_enabled
+        )
+        return filter_changed
+
+    def reset(self) -> None:
+        self._force_filter.reset()
+        self._force_median.reset()
+        self._ema_flow = None
+        self.filtered_raw = None
+        self.raw_unfiltered = None
+        self.unfiltered_newton = None
+
+    def state(self, *, dis_mode=None) -> dict:
+        """Effective filter chain, for records and audits."""
+        return {
+            "preset": self.preset,
+            "measurement": {
+                "flow_ema_alpha": float(self.flow_ema_alpha),
+                "flow_ema_applied": bool(self.flow_ema_alpha < 1.0),
+                "dis_mode": dis_mode,
+            },
+            "readout": {
+                "force_median_window": int(self.force_median_window),
+                "force_median_applied": bool(self._force_median.enabled),
+                "force_lowpass_cutoff_hz": float(self.lowpass_cutoff_hz),
+                "force_lowpass_order": int(self.lowpass_order),
+                "force_lowpass_sample_rate_hz": float(self.lowpass_sample_rate_hz),
+                "force_lowpass_rate_auto": bool(self.lowpass_rate_auto),
+                "force_lowpass_applied": bool(self.lowpass_enabled),
+                "sample_rate_source": str(self.sample_rate_source),
+            },
+            "any_stage_applied": bool(self.any_stage_applied),
+            "unfiltered_available": True,
+        }

src/orisys/sensor.py

@@ -17,83 +17,19 @@ import numpy as np
 from . import calibration as cal_mod
 from . import configs
 from .backend_availability import check_cupy_available, check_opencl_available
+from .force_readout import (
+    FILTER_PRESETS,
+    ForceReadout,
+    available_filter_presets,
+)
 from .frame_processors import create_frame_processor
 from .get_depth import Contact3D
 from .hhd import nHHD
-from .signal_processing import (
-    DEFAULT_SAMPLE_RATE_HZ,
-    CausalMedianFilter,
-    LowpassFilter,
-    SampleRateEstimator,
-)
 
 # from threading import Thread, Event
 # from queue import Queue, Empty
 from .Stitcher import Stitcher
 from .tracker import Tracker
-
-# Default signal-conditioning settings (config: top-level "filters" block).
-#
-# A key a config does not state is **off**, not "whatever we thought was
-# sensible": the file has to name what runs, or a device can be filtering a
-# measurement nobody asked it to filter and no reader of the file could tell.
-# The shipped bundles state all three values explicitly, so they are unaffected
-# by these defaults; a config with no "filters" block at all filters nothing.
-#
-# Which settings are worth asking for is measured, not guessed. On dd02-0703 at
-# 280x300 (see the noise analysis in the perf notes) flow EMA 0.5 + median 3
-# costs ~2 frames at 30 fps and cuts steady-press force jitter by roughly half
-# while also stabilising vnormal/contact (which a force-level filter cannot do);
-# that combination is the "balanced" preset. The force low-pass stays off there
-# too: on top of the EMA it added no measurable noise benefit at the same
-# latency, so it is an opt-in stage for sites with different noise
-# characteristics (the "low_noise" preset).
-DEFAULT_FORCE_LOWPASS_HZ = 0.0
-DEFAULT_FORCE_MEDIAN_WINDOW = 1
-DEFAULT_FLOW_EMA_ALPHA = 1.0
-
-#: Named filter presets, so a recommendation is *executable* instead of a
-#: comment in a JSON file (``json.load`` cannot carry comments). A config may
-#: write ``"filters": {"preset": "balanced"}`` and override any single key on
-#: top of it; the resolved values are what ``Sensor.filters_state()`` reports.
-#: The latency/noise trade-offs behind these numbers are measured in
-#: ``docs/performance/perf-measurements/`` (moved out of the once-gitignored
-#: ``orisys-sdk/_perf/`` on 2026-09-27) and tabulated in ``docs/filters.md``.
-FILTER_PRESETS = {
-    # Everything off: the file says what runs, and the raw reading is the record.
-    "off": {
-        "flow_ema_alpha": 1.0,
-        "force_median_window": 1,
-        "force_lowpass_cutoff_hz": 0.0,
-    },
-    # One frame of latency @30 fps: median only. The EMA changes the
-    # measurement, so it stays off when latency matters more than jitter.
-    "low_latency": {
-        "flow_ema_alpha": 1.0,
-        "force_median_window": 3,
-        "force_lowpass_cutoff_hz": 0.0,
-    },
-    # Two frames @30 fps: the EMA removes the spatially-coherent flow jitter
-    # that no force-level filter can reach, the median removes its spikes.
-    "balanced": {
-        "flow_ema_alpha": 0.5,
-        "force_median_window": 3,
-        "force_lowpass_cutoff_hz": 0.0,
-    },
-    # Three frames @30 fps and the quietest readout: as ``balanced`` plus the
-    # force low-pass on top of the median.
-    "low_noise": {
-        "flow_ema_alpha": 0.3,
-        "force_median_window": 3,
-        "force_lowpass_cutoff_hz": 10.0,
-    },
-}
-
-
-def available_filter_presets() -> dict:
-    """The presets, for UIs that want to offer them (the studio's gear dialog)."""
-    return {name: dict(values) for name, values in FILTER_PRESETS.items()}
-
 from .capture import (
     CaptureConfig,
     CaptureSource,
@@ -237,112 +173,14 @@ class Sensor:
         self._force_cal_attempts: list[dict] | None = None
         self._init_force_calibration()
 
-        # ---------------------------------------------------------------
-        # Signal conditioning (config: top-level "filters" block)
-        # ---------------------------------------------------------------
-        # These settings change the reported force values, so they are part of
-        # the measurement-pipeline identity and are recorded in the calibration
-        # metadata / mismatch check alongside dis_mode and hhd_downsample.
-        #
-        # Every stage is switched by its **own value**, so the config states what
-        # runs: ``flow_ema_alpha >= 1``, ``force_median_window <= 1`` and
-        # ``force_lowpass_cutoff_hz <= 0`` each mean "stage off". Values are never
-        # overridden: there is no master switch that could make the file say 0.5
-        # while the device runs 1.0. An invalid value falls back to **off**, never
-        # to a default that filters. ``enabled`` is kept only as a deprecated
-        # alias for "turn every stage off" and is honoured when it is explicitly
-        # false. ``Sensor.filters_state()`` reports what actually took effect.
-        filters_cfg = self._config.get("filters")
-        if not isinstance(filters_cfg, dict):
-            filters_cfg = {}
-        legacy_off = filters_cfg.get("enabled", None) is False
-        preset_name = filters_cfg.get("preset", None)
-        preset_values = FILTER_PRESETS.get(str(preset_name), {}) if preset_name else {}
-        self._filter_preset = str(preset_name) if preset_name in FILTER_PRESETS else None
-
-        def _cfg(key, default):
-            """The configured value: an explicit key, else the preset, else default."""
-            if legacy_off:
-                return default
-            value = filters_cfg.get(key, None)
-            if value is None:
-                value = preset_values.get(key, None)
-            return default if value is None else value
-
-        self._lowpass_order = 2
-        self._lowpass_sample_rate_hz = float(DEFAULT_SAMPLE_RATE_HZ)
-        self._lowpass_cutoff_hz = 0.0
-        self._lowpass_rate_auto = True
-        self._config_fps = 0.0
         try:
-            self._config_fps = float(self.__config_cam.get("fps", 0.0) or 0.0)
+            config_fps = float(self.__config_cam.get("fps", 0.0) or 0.0)
         except (TypeError, ValueError):
-            self._config_fps = 0.0
+            config_fps = 0.0
-        if self._config_fps <= 0:
+        self._force_readout = ForceReadout(
-            self._config_fps = float(DEFAULT_SAMPLE_RATE_HZ)
+            self._config.get("filters"),
-        self._lowpass_sample_rate_hz = self._config_fps
+            config_fps=config_fps,
-        try:
+            verbose=self.verbose,
-            self._lowpass_order = max(1, int(_cfg("force_lowpass_order", 2)))
-        except (TypeError, ValueError):
-            self._lowpass_order = 2
-        rate_cfg = _cfg("force_lowpass_sample_rate_hz", "auto")
-        if isinstance(rate_cfg, str):
-            self._lowpass_rate_auto = rate_cfg.strip().lower() in ("auto", "", "measured")
-        else:
-            try:
-                rate = float(rate_cfg)
-            except (TypeError, ValueError):
-                rate = 0.0
-            self._lowpass_rate_auto = rate <= 0.0
-            if not self._lowpass_rate_auto:
-                self._lowpass_sample_rate_hz = rate
-        try:
-            self._lowpass_cutoff_hz = float(
-                _cfg("force_lowpass_cutoff_hz", DEFAULT_FORCE_LOWPASS_HZ)
-            )
-        except (TypeError, ValueError):
-            self._lowpass_cutoff_hz = 0.0
-        if self._lowpass_sample_rate_hz <= 0:
-            self._lowpass_sample_rate_hz = self._config_fps
-        # An unusable cutoff is "off", never a silent jump to the default.
-        if not (0.0 <= self._lowpass_cutoff_hz < 0.5 * self._lowpass_sample_rate_hz):
-            self._lowpass_cutoff_hz = 0.0
-        self._lowpass_enabled = self._lowpass_cutoff_hz > 0
-        self._force_filter = LowpassFilter(
-            cutoff_hz=self._lowpass_cutoff_hz,
-            sample_rate_hz=self._lowpass_sample_rate_hz,
-            order=self._lowpass_order,
-            n_channels=3,
-        )
-        # Rate tracking: only meaningful while the force low-pass is in use.
-        self._force_rate = SampleRateEstimator(initial_hz=self._config_fps)
-        self._force_rate_source = "config"
-
-        try:
-            self._force_median_window = max(1, int(_cfg("force_median_window", DEFAULT_FORCE_MEDIAN_WINDOW)))
-        except (TypeError, ValueError):
-            self._force_median_window = 1
-        self._force_median = CausalMedianFilter(window=self._force_median_window, n_channels=3)
-
-        self._flow_ema_alpha = 1.0
-        try:
-            alpha = float(_cfg("flow_ema_alpha", DEFAULT_FLOW_EMA_ALPHA))
-        except (TypeError, ValueError):
-            alpha = 1.0
-        if 0.0 < alpha < 1.0:
-            self._flow_ema_alpha = alpha
-        self._ema_flow = None
-        if legacy_off and self.verbose:
-            print(
-                "Note: filters.enabled is deprecated and means 'all stages off'; "
-                "remove it and switch each stage by its own value "
-                "(flow_ema_alpha=1, force_median_window=1, force_lowpass_cutoff_hz=0)."
-            )
-        # Derived, for callers that ask "is any stage filtering?".
-        self._filters_enabled = bool(
-            self._flow_ema_alpha < 1.0
-            or self._force_median_window > 1
-            or self._lowpass_enabled
         )
 
         if self.verbose:
@@ -444,13 +282,10 @@ class Sensor:
                 # A file source is replayed at whatever speed the CPU manages,
                 # so wall-clock intervals do not reflect signal time: keep the
                 # configured camera fps for the force low-pass design.
-                self._lowpass_rate_auto = False
+                self._force_readout.pin_file_rate()
-                self._force_rate_source = "config (file)"
-                self._lowpass_sample_rate_hz = self._config_fps
-                if getattr(self, "_force_rate", None) is not None:
-                    self._force_rate.reset(self._config_fps)
 
         if self.verbose:
+            readout = self._force_readout
             print(f"  Video source: {vid_src}")
             print(f"  Stitch mode: {self.stitch_valid}")
             print(f"  Optical flow algorithm: {self.__config_tracker['algorithm']}")
@@ -460,11 +295,11 @@ class Sensor:
             print(f"  OpenCL available: {self.OPENCL_AVAILABLE}")
             print(
                 "  Signal filters: "
-                f"ema_alpha={self._flow_ema_alpha} "
+                f"ema_alpha={readout.flow_ema_alpha} "
-                f"median={self._force_median_window} "
+                f"median={readout.force_median_window} "
-                f"lowpass={self._lowpass_cutoff_hz}Hz@"
+                f"lowpass={readout.lowpass_cutoff_hz}Hz@"
-                f"{self._lowpass_sample_rate_hz:.1f}Hz "
+                f"{readout.lowpass_sample_rate_hz:.1f}Hz "
-                f"({self.force_sample_rate_source})"
+                f"({readout.sample_rate_source})"
             )
             
             
@@ -797,72 +632,19 @@ class Sensor:
         # flow = self.__tracker.track_raft(self.img)
         if hasattr(flow, 'download'):
             flow = flow.download()
-        flow = self._apply_flow_ema(flow)
+        flow = self._force_readout.apply_flow_ema(flow)
         self.flow = flow
         self._compute_flow_means(self.flow)
 
-    def _apply_flow_ema(self, flow):
-        """Temporally smooth the optical-flow field before HHD.
-
-        The frame-to-frame jitter of the estimated flow is spatially coherent
-        (a near-global shift: it survives ~40x less averaging than per-pixel
-        noise would, see the noise analysis), so it cannot be removed by
-        spatial smoothing, a coarser HHD grid or a different DIS setting - only
-        by averaging along time. Applying it here also stabilises
-        ``vnormal``/contact, which a force-level filter cannot reach.
-
-        ``flow_ema_alpha >= 1`` disables the stage.
-        """
-        alpha = getattr(self, "_flow_ema_alpha", 1.0)
-        if flow is None or alpha >= 1.0:
-            return flow
-        prev = self._ema_flow
-        if prev is None or prev.shape != flow.shape or prev.dtype != flow.dtype:
-            self._ema_flow = np.array(flow, copy=True)
-            return flow
-        prev += alpha * (flow - prev)
-        return prev
-
-    def _update_force_sample_rate(self):
-        """Track the achieved force update rate for the low-pass design.
-
-        A Butterworth designed for 30 Hz stops meaning the same thing at 60 Hz,
-        so when ``force_lowpass_sample_rate_hz`` is ``"auto"`` the rate actually
-        achieved is used. For sources whose wall-clock cadence does not equal
-        signal time (video files, offline replay) ``_lowpass_rate_auto`` is
-        turned off by whoever knows the source - ``__init__`` for a capture the
-        Sensor opened itself, and ``FingerRuntime.open`` for external frames -
-        and the configured camera fps is used instead.
-        """
-        if not getattr(self, "_lowpass_rate_auto", False):
-            return
-        estimator = getattr(self, "_force_rate", None)
-        if estimator is None:
-            return
-        hz = estimator.tick()
-        if not (1.0 <= hz <= 240.0):
-            return
-        self._force_rate_source = "measured"
-        used = self._lowpass_sample_rate_hz
-        if used > 0 and abs(hz - used) <= 0.1 * used:
-            return
-        self._lowpass_sample_rate_hz = hz
-        if self._lowpass_enabled:
-            self._force_filter.configure(
-                cutoff_hz=self._lowpass_cutoff_hz,
-                sample_rate_hz=hz,
-                order=self._lowpass_order,
-            )
-
     @property
     def force_sample_rate_hz(self) -> float:
         """Sample rate currently used to design the force low-pass (Hz)."""
-        return float(self._lowpass_sample_rate_hz)
+        return self._force_readout.sample_rate_hz
 
     @property
     def force_sample_rate_source(self) -> str:
-        """``config``, ``measured`` or ``config (replay)``."""
+        """``config``, ``measured`` or ``config (file)``."""
-        return str(getattr(self, "_force_rate_source", "config"))
+        return self._force_readout.sample_rate_source
 
     def compute_hhd(self, flow=None):
         """Decompose the optical flow and update the force readout.
@@ -943,7 +725,7 @@ class Sensor:
         fn, fx, fy, ftor = forces
         self._force_raw = (float(fn), float(fx), float(fy))
         self.ftor = float(ftor)
-        self._update_force_sample_rate()
+        self._force_readout.update_sample_rate()
         self._apply_force_filter()
 
         vnormal_ds = self.__hhd.get_normal()
@@ -1084,10 +866,7 @@ class Sensor:
     def reset(self):
         """Reset optical flow tracker and force-filter state."""
         self.__tracker.reset()
-        self._force_filter.reset()
+        self._force_readout.reset()
-        if getattr(self, "_force_median", None) is not None:
-            self._force_median.reset()
-        self._ema_flow = None
         # The unfiltered pair belongs to the frame it was computed for: a new
         # session must not report the previous one's reading.
         self._force_unfiltered = None
@@ -1178,66 +957,16 @@ class Sensor:
                 )
                 if mismatches:
                     raise cal_mod.CalibrationError("; ".join(mismatches))
-        filter_changed = False
+        filter_changed = self._force_readout.configure(
-        if lowpass_cutoff_hz is not None:
+            lowpass_cutoff_hz=lowpass_cutoff_hz,
-            self._lowpass_cutoff_hz = float(lowpass_cutoff_hz)
+            lowpass_sample_rate_hz=lowpass_sample_rate_hz,
-            filter_changed = True
+            lowpass_order=lowpass_order,
-            if lowpass_enabled is None:
+            lowpass_enabled=lowpass_enabled,
-                self._lowpass_enabled = self._lowpass_cutoff_hz > 0
+            flow_ema_alpha=flow_ema_alpha,
-        if lowpass_sample_rate_hz is not None:
+            force_median_window=force_median_window,
-            # Accept a positive number to pin the rate, or "auto"/<=0 to track
+        )
-            # the measured output rate (see _update_force_sample_rate).
+        if filter_changed and self.compute_deformation_valid:
-            auto = False
+            self._apply_force_filter()
-            rate = 0.0
-            if isinstance(lowpass_sample_rate_hz, str):
-                auto = lowpass_sample_rate_hz.strip().lower() in ("auto", "", "measured")
-            else:
-                try:
-                    rate = float(lowpass_sample_rate_hz)
-                except (TypeError, ValueError):
-                    auto = True
-                else:
-                    auto = rate <= 0.0
-            self._lowpass_rate_auto = auto
-            if not auto:
-                self._lowpass_sample_rate_hz = rate
-            elif self._lowpass_sample_rate_hz <= 0:
-                self._lowpass_sample_rate_hz = self._config_fps
-            if getattr(self, "_force_rate", None) is not None:
-                self._force_rate.reset(self._config_fps)
-            filter_changed = True
-        if lowpass_order is not None:
-            order = int(lowpass_order)
-            if order < 1:
-                raise ValueError("lowpass_order must be >= 1")
-            self._lowpass_order = order
-            filter_changed = True
-        if lowpass_enabled is not None:
-            self._lowpass_enabled = bool(lowpass_enabled)
-            filter_changed = True
-
-        if flow_ema_alpha is not None:
-            self._flow_ema_alpha = alpha
-            self._ema_flow = None
-
-        if force_median_window is not None:
-            try:
-                window = max(1, int(force_median_window))
-            except (TypeError, ValueError) as exc:
-                raise ValueError("force_median_window must be an integer >= 1") from exc
-            self._force_median_window = window
-            self._force_median.configure(window)
-            filter_changed = True
-
-        if filter_changed:
-            cutoff = self._lowpass_cutoff_hz if self._lowpass_enabled else 0.0
-            self._force_filter.configure(
-                cutoff_hz=cutoff,
-                sample_rate_hz=self._lowpass_sample_rate_hz,
-                order=self._lowpass_order,
-            )
-            if self.compute_deformation_valid:
-                self._apply_force_filter()
 
         return self
 
@@ -1377,7 +1106,7 @@ class Sensor:
             "hhd_downsample": tracker.get("hhd_downsample"),
             "filters": cal_mod.filters_fingerprint(
                 self.filters_state()
-                if hasattr(self, "_flow_ema_alpha")
+                if hasattr(self, "_force_readout")
                 else self._config.get("filters")
             ),
         }
@@ -1432,45 +1161,13 @@ class Sensor:
         self._force_cal_attempts = None
 
     def _apply_force_filter(self):
-        pre_filter = np.asarray(self._force_raw, dtype=np.float64)
+        convert = self.calibration.convert if self.calibration is not None else None
-        raw = pre_filter
+        fn, fx, fy = self._force_readout.apply(self._force_raw, convert)
-        # Median first: it deletes the heavy-tailed spikes that the flow chain
+        readout = self._force_readout
-        # produces, so the low-pass does not have to spread them over time.
+        self._force_filtered_raw = readout.filtered_raw
-        median = getattr(self, "_force_median", None)
-        if median is not None and median.enabled:
-            raw = median.process(raw)
-        if self._lowpass_enabled and self._lowpass_cutoff_hz > 0:
-            raw = self._force_filter.process(raw)
-        # The chain's own output, before calibration: the "filtered raw counts".
-        # Without this the raw axis would have no filtered/unfiltered pair and
-        # ``force_triplets`` could only offer the device counts twice.
-        self._force_filtered_raw = (
-            float(raw[0]),
-            float(raw[1]),
-            float(raw[2]),
-        )
-        fn, fx, fy = self._force_filtered_raw
-
-        # Apply loaded force_calibration.json when present; otherwise keep raw.
-        if self.calibration is not None:
-            fn, fx, fy = self.calibration.convert(fn, fx, fy)
-            fx, fy = float(fx), float(fy)
-            fn = float(fn)
-
         self.fnormal, self.fshearx, self.fsheary = fn, fx, fy
-
+        self._force_raw_unfiltered = readout.raw_unfiltered
-        # The same reading with no readout filtering, so a caller can keep both
+        self._force_unfiltered = readout.unfiltered_newton
-        # (the app stores the filtered values as the record and the unfiltered
-        # ones beside them). Calibrated with the same coefficients, so the two
-        # only differ by the filter chain.
-        ufn, ufx, ufy = (float(pre_filter[0]), float(pre_filter[1]), float(pre_filter[2]))
-        if self.calibration is not None:
-            ufn, ufx, ufy = self.calibration.convert(ufn, ufx, ufy)
-            ufx, ufy, ufn = float(ufx), float(ufy), float(ufn)
-        self._force_raw_unfiltered = (
-            float(pre_filter[0]), float(pre_filter[1]), float(pre_filter[2])
-        )
-        self._force_unfiltered = (ufn, ufx, ufy)
 
     # ------------------------------------------------------- filter contract
     def filters_state(self) -> dict:
@@ -1488,29 +1185,10 @@ class Sensor:
           (median, low-pass): recorded, but they do not change the physical
           claim.
         """
-        median_applied = bool(getattr(self._force_median, "enabled", False))
         tracker_cfg = self._config.get("tracker") or {}
-        return {
+        state = self._force_readout.state(dis_mode=tracker_cfg.get("dis_mode"))
-            "preset": getattr(self, "_filter_preset", None),
+        state["source"] = "sensor.filters_state"
-            "measurement": {
+        return state
-                "flow_ema_alpha": float(self._flow_ema_alpha),
-                "flow_ema_applied": bool(self._flow_ema_alpha < 1.0),
-                "dis_mode": tracker_cfg.get("dis_mode"),
-            },
-            "readout": {
-                "force_median_window": int(self._force_median_window),
-                "force_median_applied": median_applied,
-                "force_lowpass_cutoff_hz": float(self._lowpass_cutoff_hz),
-                "force_lowpass_order": int(self._lowpass_order),
-                "force_lowpass_sample_rate_hz": float(self._lowpass_sample_rate_hz),
-                "force_lowpass_rate_auto": bool(self._lowpass_rate_auto),
-                "force_lowpass_applied": bool(self._lowpass_enabled),
-                "sample_rate_source": str(getattr(self, "_force_rate_source", "config")),
-            },
-            "any_stage_applied": bool(self._filters_enabled),
-            "unfiltered_available": True,
-            "source": "sensor.filters_state",
-        }
 
     def force_triplets(self) -> dict:
         """The filtered and unfiltered force triples of the current frame.