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update pip install .copy manifest for developments

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This commit is contained in:
ykcheungab
2026-08-26 20:04:40 +08:00
parent 32d4164471
commit 577e3fe528
10 changed files with 272 additions and 33 deletions
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tests/test_signal_processing.py
+62 -3
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@@ -129,7 +129,16 @@ def test_configure_lowpass_filters_read_info_and_keeps_raw():
sensor.info.FSHEARX,
sensor.info.FSHEARY,
)
assert (fn, fx, fy) == pytest.approx((1000.0, -200.0, 50.0))
fn_raw, fx_raw, fy_raw = sensor.read_info(
sensor.info.FNORMAL_RAW,
sensor.info.FSHEARX_RAW,
sensor.info.FSHEARY_RAW,
)
assert (fn_raw, fx_raw, fy_raw) == pytest.approx((1000.0, -200.0, 50.0))
assert fn == pytest.approx(calibrate_normal_force(1000.0, sensor_name="box"))
assert (fx, fy) == pytest.approx(
calibrate_shear_components(-200.0, 50.0, sensor_name="box")
)
sensor.configure(lowpass_cutoff_hz=5.0, lowpass_sample_rate_hz=30.0)
noisy = [(1000.0 + (200.0 if i % 2 else -200.0), -200.0, 50.0) for i in range(40)]
@@ -166,7 +175,10 @@ def test_configure_lowpass_disabled_or_zero_cutoff_returns_raw():
sensor.info.FSHEARX,
sensor.info.FSHEARY,
)
assert (fn, fx, fy) == pytest.approx((111.0, 222.0, 333.0))
assert fn == pytest.approx(calibrate_normal_force(111.0, sensor_name="box"))
assert (fx, fy) == pytest.approx(
calibrate_shear_components(222.0, 333.0, sensor_name="box")
)
sensor.configure(lowpass_cutoff_hz=5.0, lowpass_enabled=False)
sensor._force_raw = (7.0, 8.0, 9.0)
@@ -177,12 +189,59 @@ def test_configure_lowpass_disabled_or_zero_cutoff_returns_raw():
sensor.info.FSHEARY,
)
fn_raw = sensor.read_info(sensor.info.FNORMAL_RAW)[0]
assert (fn, fx, fy) == pytest.approx((7.0, 8.0, 9.0))
assert fn == pytest.approx(calibrate_normal_force(7.0, sensor_name="box"))
assert (fx, fy) == pytest.approx(
calibrate_shear_components(8.0, 9.0, sensor_name="box")
)
assert fn_raw == pytest.approx(7.0)
finally:
sensor.disconnect()
def test_box_read_info_applies_force_calibration_json():
sensor = _external_sensor()
try:
assert sensor._force_cal_sensor_name == "box"
sensor._force_raw = (10000.0, 36000.0, -36000.0)
sensor._apply_force_filter()
fn, fx, fy = sensor.read_info(
sensor.info.FNORMAL,
sensor.info.FSHEARX,
sensor.info.FSHEARY,
)
fn_raw, fx_raw, fy_raw = sensor.read_info(
sensor.info.FNORMAL_RAW,
sensor.info.FSHEARX_RAW,
sensor.info.FSHEARY_RAW,
)
assert (fn_raw, fx_raw, fy_raw) == pytest.approx((10000.0, 36000.0, -36000.0))
assert fn == pytest.approx(0.377)
assert fx == pytest.approx(1.19)
assert fy == pytest.approx(-1.19)
finally:
sensor.disconnect()
def test_read_info_force_stays_raw_without_calibration_json(monkeypatch):
monkeypatch.setattr(
"orisys.sensor.configs.load_force_calibration",
lambda _name: None,
)
sensor = Sensor("external", config_name="box", verbose=False, backend="cpu")
try:
assert sensor._force_cal_sensor_name is None
sensor._force_raw = (111.0, -22.0, 33.0)
sensor._apply_force_filter()
fn, fx, fy = sensor.read_info(
sensor.info.FNORMAL,
sensor.info.FSHEARX,
sensor.info.FSHEARY,
)
assert (fn, fx, fy) == pytest.approx((111.0, -22.0, 33.0))
finally:
sensor.disconnect()
def test_configure_hhd_downsample_invalidates_solver_cache():
sensor = _external_sensor()
try: