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。

docs/api.md

@@ -205,7 +205,6 @@ sensor.configure(lowpass_cutoff_hz=5.0, lowpass_sample_rate_hz=30.0)
 * **lowpass_sample_rate_hz** (`float`，可选): 力信号采样率，默认 `30.0`。
 * **lowpass_order** (`int`，可选): Butterworth 滤波器阶数，默认 `2`。
 * **lowpass_enabled** (`bool`，可选): 显式开启或关闭低通滤波。
-* **hhd_downsample** (`int`，可选): HHD 解算下采样倍数，需为 `>= 1` 的整数，配置默认 `3`。
 
 #### 读取结果
 

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": {

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
+        configured = sensor._config["tracker"]["hhd_downsample"]
-        sensor._Sensor__hhd = object()
+        assert sensor._hhd_downsample == configured
-        sensor._hhd_grid_shape = (40, 40)
+        sensor.configure(force_median_window=3)
-        sensor.valid_mask = np.ones((90, 90), dtype=bool)
+        assert sensor._hhd_downsample == configured
-        sensor.valid_mask_hhd = sensor.valid_mask
+        assert "hhd_downsample" not in sensor.filters_state()["measurement"]
-
+        with pytest.raises(TypeError):
-        sensor.configure(hhd_downsample=3)
+            sensor.configure(hhd_downsample=1)
-        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")
     finally:
         sensor.disconnect()