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。

tests/test_calibration.py

@@ -319,6 +319,40 @@ def test_device_calibration_rejects_partial_axes_and_unsafe_id(tmp_path: Path):
         load_for_device(root, "box", "../BOX-001")
 
 
+def test_force_units_report_partial_calibration_without_changing_triplets(tmp_path: Path):
+    path = tmp_path / "partial.json"
+    doc = json.loads(_box_cal_path().read_text(encoding="utf-8"))
+    doc["channels"] = {"normal": doc["channels"]["normal"]}
+    path.write_text(json.dumps(doc), encoding="utf-8")
+    sensor = Sensor("external", config_name="box", cal_path=path, verbose=False, backend="cpu")
+    try:
+        assert sensor.calibrated_axes == ("fn",)
+        assert sensor.force_units == ("N", "raw", "raw")
+        assert set(sensor.force_triplets()) == {"filtered", "unfiltered"}
+        sensor.set_calibration(None)
+        assert sensor.calibrated_axes == ()
+        assert sensor.force_units == ("raw", "raw", "raw")
+    finally:
+        sensor.disconnect()
+
+
+def test_measurement_filter_change_refuses_incompatible_calibration(tmp_path: Path):
+    path = tmp_path / "filtered.json"
+    doc = json.loads(_box_cal_path().read_text(encoding="utf-8"))
+    doc["pipeline"] = {"filters": {"measurement": {"flow_ema_alpha": 1.0}}}
+    path.write_text(json.dumps(doc), encoding="utf-8")
+    sensor = Sensor("external", config_name="box", cal_path=path, verbose=False, backend="cpu")
+    try:
+        sensor.configure(force_median_window=3)
+        assert sensor.filters_state()["readout"]["force_median_window"] == 3
+        with pytest.raises(CalibrationError, match="flow_ema_alpha"):
+            sensor.configure(flow_ema_alpha=0.5, force_median_window=5)
+        assert sensor.filters_state()["measurement"]["flow_ema_alpha"] == 1.0
+        assert sensor.filters_state()["readout"]["force_median_window"] == 3
+    finally:
+        sensor.disconnect()
+
+
 def test_parse_shipped_box_file_directly():
     cal = parse(json.loads(_box_cal_path().read_text(encoding="utf-8")), source_path=_box_cal_path())
     assert cal.schema_version == 2

tests/test_signal_processing.py

@@ -246,24 +246,16 @@ def test_read_info_force_stays_raw_without_calibration_json(monkeypatch):
         sensor.disconnect()
 
 
-def test_configure_hhd_downsample_invalidates_solver_cache():
+def test_hhd_downsample_is_fixed_by_sensor_config():
     sensor = _external_sensor()
     try:
-        sensor._hhd_downsample = 1
-        sensor._Sensor__hhd = object()
-        sensor._hhd_grid_shape = (40, 40)
-        sensor.valid_mask = np.ones((90, 90), dtype=bool)
-        sensor.valid_mask_hhd = sensor.valid_mask
-
-        sensor.configure(hhd_downsample=3)
-        assert sensor._hhd_downsample == 3
-        assert sensor._Sensor__hhd is None
-        assert sensor._hhd_grid_shape is None
-        assert sensor.valid_mask_hhd is not None
-        assert sensor.valid_mask_hhd.shape == (30, 30)
-
-        with pytest.raises(ValueError):
-            sensor.configure(hhd_downsample="nope")
+        configured = sensor._config["tracker"]["hhd_downsample"]
+        assert sensor._hhd_downsample == configured
+        sensor.configure(force_median_window=3)
+        assert sensor._hhd_downsample == configured
+        assert "hhd_downsample" not in sensor.filters_state()["measurement"]
+        with pytest.raises(TypeError):
+            sensor.configure(hhd_downsample=1)
     finally:
         sensor.disconnect()