organize settings to dedicated sensors folder, json + assets

src/orisys/signal_processing.py

@@ -10,6 +10,7 @@ import numpy as np
 from scipy.signal import butter, filtfilt, sosfilt, sosfilt_zi
 
 # Linear calibration from raw normal-force units to Newtons (ORY-BOX / ORY-MINI).
+# Prefer sensors/<name>/force_calibration.json when available.
 NORMAL_FORCE_CAL_SLOPE = 3.92685554668795e-05
 NORMAL_FORCE_CAL_OFFSET = 0.0217596967278535
 
@@ -17,9 +18,28 @@ DEFAULT_SAMPLE_RATE_HZ = 30.0
 DEFAULT_LOWPASS_ORDER = 2
 
 
-def calibrate_normal_force(raw_value: float) -> float:
+def _load_normal_force_coeffs(sensor_name: str | None = None) -> tuple[float, float]:
+    if sensor_name:
+        try:
+            from .configs import load_force_calibration
+
+            data = load_force_calibration(sensor_name)
+        except Exception:
+            data = None
+        if isinstance(data, dict):
+            block = data.get("normal_force", data)
+            if isinstance(block, dict):
+                slope = block.get("slope")
+                offset = block.get("offset")
+                if slope is not None and offset is not None:
+                    return float(slope), float(offset)
+    return NORMAL_FORCE_CAL_SLOPE, NORMAL_FORCE_CAL_OFFSET
+
+
+def calibrate_normal_force(raw_value: float, *, sensor_name: str | None = None) -> float:
     """Convert a raw normal-force reading to Newtons using y = mx + c."""
-    return NORMAL_FORCE_CAL_SLOPE * float(raw_value) + NORMAL_FORCE_CAL_OFFSET
+    slope, offset = _load_normal_force_coeffs(sensor_name)
+    return slope * float(raw_value) + offset
 
 
 def _nyquist_hz(sample_rate_hz: float) -> float: