固定 HHD 下采样并标记三轴力单位

避免运行中改变 HHD 测量配置，并明确部分标定时各轴单位。已通过 SDK 与共享层测试。

src/orisys/sensor.py

@@ -1144,7 +1144,6 @@ class Sensor:
         lowpass_enabled=None,
         flow_ema_alpha=None,
         force_median_window=None,
-        hhd_downsample=None,
     ):
         """Update runtime-safe settings without reconnecting the camera.
 
@@ -1167,9 +1166,18 @@ class Sensor:
         force_median_window : int, optional
             Causal sliding-median width applied to the raw force triple before
             the low-pass. ``<= 1`` disables it; 3 is the default.
-        hhd_downsample : int, optional
-            Integer ``>= 1``. Rebuilds the HHD solver on the next frame.
         """
+        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]")
+            if self.calibration is not None:
+                mismatches, _ = cal_mod.filter_mismatches(
+                    self.calibration.pipeline.get("filters"),
+                    {"measurement": {"flow_ema_alpha": alpha}},
+                )
+                if mismatches:
+                    raise cal_mod.CalibrationError("; ".join(mismatches))
         filter_changed = False
         if lowpass_cutoff_hz is not None:
             self._lowpass_cutoff_hz = float(lowpass_cutoff_hz)
@@ -1209,9 +1217,6 @@ class Sensor:
             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
 
@@ -1234,17 +1239,6 @@ class Sensor:
             if self.compute_deformation_valid:
                 self._apply_force_filter()
 
-        if hhd_downsample is not None:
-            try:
-                k = max(1, int(hhd_downsample))
-            except (TypeError, ValueError) as exc:
-                raise ValueError("hhd_downsample must be an integer >= 1") from exc
-            if k != self._hhd_downsample:
-                self._hhd_downsample = k
-                self.__hhd = None
-                self._hhd_grid_shape = None
-                self._hhd_ref_shape = None
-                self._update_hhd_mask_cache()
         return self
 
     def _bundle_name_candidates(self) -> list[str]:
@@ -1381,7 +1375,11 @@ class Sensor:
             "stitch_resolution": camera.get("resolution_stitch"),
             "dis_mode": tracker.get("dis_mode"),
             "hhd_downsample": tracker.get("hhd_downsample"),
-            "filters": cal_mod.filters_fingerprint(self._config.get("filters")),
+            "filters": cal_mod.filters_fingerprint(
+                self.filters_state()
+                if hasattr(self, "_flow_ema_alpha")
+                else self._config.get("filters")
+            ),
         }
 
     @property
@@ -1393,6 +1391,22 @@ class Sensor:
     def force_unit(self) -> str:
         return "N" if self.force_calibrated else "raw"
 
+    @property
+    def calibrated_axes(self) -> tuple[str, ...]:
+        """Axes with a loaded force-calibration curve."""
+        channels = self.calibration.channels if self.calibration is not None else {}
+        return tuple(axis for axis in cal_mod.CHANNEL_IDS if axis in channels)
+
+    @property
+    def force_units(self) -> tuple[str, str, str]:
+        """Units of FN, FX and FY in that order."""
+        axes = self.calibrated_axes
+        return (
+            "N" if "fn" in axes else "raw",
+            "N" if "fx" in axes else "raw",
+            "N" if "fy" in axes else "raw",
+        )
+
     def set_calibration(
         self,
         cal: "cal_mod.Calibration | str | Path | None",
@@ -1481,7 +1495,6 @@ class Sensor:
             "measurement": {
                 "flow_ema_alpha": float(self._flow_ema_alpha),
                 "flow_ema_applied": bool(self._flow_ema_alpha < 1.0),
-                "hhd_downsample": int(getattr(self, "hhd_downsample", 0) or 0),
                 "dis_mode": tracker_cfg.get("dis_mode"),
             },
             "readout": {