ykcheungab
421 lines
16 KiB
Python
421 lines
16 KiB
Python
"""Tests for SDK signal helpers and Sensor.configure runtime settings."""
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from __future__ import annotations
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import json
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import numpy as np
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import pytest
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from scipy.signal import butter, filtfilt
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from orisys import Sensor, configs
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from orisys.signal_processing import (
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NORMAL_FORCE_CAL_OFFSET,
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NORMAL_FORCE_CAL_SLOPE,
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LowpassFilter,
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calibrate_normal_force,
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calibrate_shear_components,
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calibrate_shear_force,
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lowpass_filter,
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)
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def _legacy_viewer_lowpass(data, cutoff_hz, sample_rate_hz=30.0, order=2):
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"""Reference copy of the previous viewer2d Butterworth + filtfilt path."""
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y = np.asarray(data, dtype=np.float64)
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if cutoff_hz == 0:
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return y.copy()
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if y.size == 0:
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return y
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nyquist = 0.5 * sample_rate_hz
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b, a = butter(order, cutoff_hz / nyquist, btype="low")
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padlen = 3 * (max(len(b), len(a)) - 1)
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if y.size <= padlen:
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return y.copy()
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return filtfilt(b, a, y)
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def test_batch_lowpass_matches_legacy_viewer_filter():
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rng = np.random.default_rng(0)
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t = np.arange(180, dtype=np.float64) / 30.0
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signal = np.sin(2 * np.pi * 1.0 * t) + 0.4 * rng.normal(size=t.size)
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cutoff = 5.0
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actual = lowpass_filter(signal, cutoff_hz=cutoff, sample_rate_hz=30.0, order=2)
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expected = _legacy_viewer_lowpass(signal, cutoff_hz=cutoff, sample_rate_hz=30.0, order=2)
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np.testing.assert_allclose(actual, expected, rtol=1e-10, atol=1e-10)
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def test_batch_lowpass_cutoff_zero_is_noop():
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data = np.array([1.0, 2.0, 3.0])
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out = lowpass_filter(data, cutoff_hz=0)
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np.testing.assert_array_equal(out, data)
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assert out is not data
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def test_stateful_lowpass_reduces_high_frequency_noise():
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rng = np.random.default_rng(1)
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n = 240
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t = np.arange(n, dtype=np.float64) / 30.0
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clean = np.sin(2 * np.pi * 0.5 * t)
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noisy = clean + 0.8 * rng.normal(size=n)
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filt = LowpassFilter(cutoff_hz=3.0, sample_rate_hz=30.0, order=2, n_channels=1)
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filtered = np.array([float(filt.process([v])[0]) for v in noisy])
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assert np.isfinite(filtered).all()
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noisy_hf = float(np.std(np.diff(noisy)))
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filtered_hf = float(np.std(np.diff(filtered)))
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assert filtered_hf < 0.5 * noisy_hf
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# Steady-state init on the first sample should not start at zero.
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assert filtered[0] == pytest.approx(noisy[0])
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def test_calibrate_normal_force_preserves_linear_curve():
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raw = 12345.0
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expected = NORMAL_FORCE_CAL_SLOPE * raw + NORMAL_FORCE_CAL_OFFSET
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assert calibrate_normal_force(raw) == pytest.approx(expected)
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assert calibrate_normal_force(0.0) == pytest.approx(NORMAL_FORCE_CAL_OFFSET)
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def test_calibrate_normal_force_mini_uses_legacy_linear_file():
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raw = 10000.0
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expected = NORMAL_FORCE_CAL_SLOPE * raw + NORMAL_FORCE_CAL_OFFSET
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assert calibrate_normal_force(raw, sensor_name="mini") == pytest.approx(expected)
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def test_calibrate_normal_force_box_uses_piecewise_curve():
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assert calibrate_normal_force(10000.0, sensor_name="box") == pytest.approx(0.377)
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assert calibrate_normal_force(30000.0, sensor_name="box") == pytest.approx(1.377)
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# Mid-segment interpolation between 10000→0.377 and 30000→1.377
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mid = calibrate_normal_force(20000.0, sensor_name="box")
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assert mid == pytest.approx(0.877)
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# Below first breakpoint with extrapolate=true
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assert calibrate_normal_force(0.0, sensor_name="box") == pytest.approx(0.0)
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def test_calibrate_shear_force_box_piecewise():
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assert calibrate_shear_force(1000.0, sensor_name="box") == pytest.approx(0.0)
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assert calibrate_shear_force(36000.0, sensor_name="box") == pytest.approx(1.19)
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assert calibrate_shear_force(68000.0, sensor_name="box") == pytest.approx(2.06)
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def test_calibrate_shear_components_box_signed():
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sx, sy = calibrate_shear_components(36000.0, -36000.0, sensor_name="box")
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assert sx == pytest.approx(1.19)
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assert sy == pytest.approx(-1.19)
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def test_calibrate_shear_missing_file_returns_raw():
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assert calibrate_shear_force(1234.5, sensor_name="no-such-sensor") == pytest.approx(1234.5)
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sx, sy = calibrate_shear_components(1.0, -2.0, sensor_name="no-such-sensor")
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assert (sx, sy) == pytest.approx((1.0, -2.0))
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def test_calibrate_normal_force_unknown_sensor_falls_back_to_defaults():
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raw = 5000.0
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expected = NORMAL_FORCE_CAL_SLOPE * raw + NORMAL_FORCE_CAL_OFFSET
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assert calibrate_normal_force(raw, sensor_name="no-such-sensor") == pytest.approx(expected)
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def _external_sensor():
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return Sensor("external", config_name="box", verbose=False, backend="cpu")
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def test_configure_lowpass_filters_read_info_and_keeps_raw():
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sensor = _external_sensor()
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try:
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sensor._force_raw = (1000.0, -200.0, 50.0)
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sensor._apply_force_filter()
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fn, fx, fy = sensor.read_info(
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sensor.info.FNORMAL,
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sensor.info.FSHEARX,
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sensor.info.FSHEARY,
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)
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fn_raw, fx_raw, fy_raw = sensor.read_info(
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sensor.info.FNORMAL_RAW,
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sensor.info.FSHEARX_RAW,
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sensor.info.FSHEARY_RAW,
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)
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assert (fn_raw, fx_raw, fy_raw) == pytest.approx((1000.0, -200.0, 50.0))
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assert fn == pytest.approx(calibrate_normal_force(1000.0, sensor_name="box"))
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assert (fx, fy) == pytest.approx(
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calibrate_shear_components(-200.0, 50.0, sensor_name="box")
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)
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sensor.configure(lowpass_cutoff_hz=5.0, lowpass_sample_rate_hz=30.0)
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noisy = [(1000.0 + (200.0 if i % 2 else -200.0), -200.0, 50.0) for i in range(40)]
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filtered_fn = []
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raw_fn = []
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for sample in noisy:
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sensor._force_raw = sample
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sensor._apply_force_filter()
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filtered_fn.append(sensor.read_info(sensor.info.FNORMAL)[0])
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raw_fn.append(sensor.read_info(sensor.info.FNORMAL_RAW)[0])
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assert raw_fn[-1] == pytest.approx(noisy[-1][0])
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assert filtered_fn[-1] != pytest.approx(raw_fn[-1])
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assert float(np.std(np.diff(filtered_fn))) < float(np.std(np.diff(raw_fn)))
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fx_raw, fy_raw = sensor.read_info(sensor.info.FSHEARX_RAW, sensor.info.FSHEARY_RAW)
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assert fx_raw == pytest.approx(-200.0)
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assert fy_raw == pytest.approx(50.0)
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finally:
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sensor.disconnect()
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def test_configure_lowpass_disabled_or_zero_cutoff_returns_raw():
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sensor = _external_sensor()
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try:
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sensor.configure(lowpass_cutoff_hz=5.0)
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sensor._force_raw = (10.0, 20.0, 30.0)
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sensor._apply_force_filter()
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sensor.configure(lowpass_cutoff_hz=0)
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sensor._force_raw = (111.0, 222.0, 333.0)
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sensor._apply_force_filter()
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fn, fx, fy = sensor.read_info(
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sensor.info.FNORMAL,
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sensor.info.FSHEARX,
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sensor.info.FSHEARY,
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)
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assert fn == pytest.approx(calibrate_normal_force(111.0, sensor_name="box"))
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assert (fx, fy) == pytest.approx(
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calibrate_shear_components(222.0, 333.0, sensor_name="box")
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)
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sensor.configure(lowpass_cutoff_hz=5.0, lowpass_enabled=False)
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sensor._force_raw = (7.0, 8.0, 9.0)
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sensor._apply_force_filter()
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fn, fx, fy = sensor.read_info(
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sensor.info.FNORMAL,
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sensor.info.FSHEARX,
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sensor.info.FSHEARY,
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)
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fn_raw = sensor.read_info(sensor.info.FNORMAL_RAW)[0]
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assert fn == pytest.approx(calibrate_normal_force(7.0, sensor_name="box"))
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assert (fx, fy) == pytest.approx(
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calibrate_shear_components(8.0, 9.0, sensor_name="box")
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)
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assert fn_raw == pytest.approx(7.0)
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finally:
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sensor.disconnect()
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def test_box_read_info_applies_force_calibration_json():
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sensor = _external_sensor()
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try:
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assert sensor._force_cal_sensor_name == "box"
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sensor._force_raw = (10000.0, 36000.0, -36000.0)
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sensor._apply_force_filter()
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fn, fx, fy = sensor.read_info(
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sensor.info.FNORMAL,
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sensor.info.FSHEARX,
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sensor.info.FSHEARY,
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)
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fn_raw, fx_raw, fy_raw = sensor.read_info(
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sensor.info.FNORMAL_RAW,
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sensor.info.FSHEARX_RAW,
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sensor.info.FSHEARY_RAW,
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)
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assert (fn_raw, fx_raw, fy_raw) == pytest.approx((10000.0, 36000.0, -36000.0))
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assert fn == pytest.approx(0.377)
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assert fx == pytest.approx(1.19)
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assert fy == pytest.approx(-1.19)
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finally:
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sensor.disconnect()
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def test_read_info_force_stays_raw_without_calibration_json(monkeypatch):
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monkeypatch.setattr(
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"orisys.calibration.load",
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lambda *args, **kwargs: None,
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)
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sensor = Sensor("external", config_name="box", verbose=False, backend="cpu")
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try:
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assert sensor._force_cal_sensor_name is None
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assert sensor.calibration is None
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sensor._force_raw = (111.0, -22.0, 33.0)
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sensor._apply_force_filter()
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fn, fx, fy = sensor.read_info(
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sensor.info.FNORMAL,
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sensor.info.FSHEARX,
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sensor.info.FSHEARY,
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)
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assert (fn, fx, fy) == pytest.approx((111.0, -22.0, 33.0))
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finally:
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sensor.disconnect()
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def test_configure_hhd_downsample_invalidates_solver_cache():
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sensor = _external_sensor()
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try:
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sensor._hhd_downsample = 1
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sensor._Sensor__hhd = object()
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sensor._hhd_grid_shape = (40, 40)
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sensor.valid_mask = np.ones((90, 90), dtype=bool)
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sensor.valid_mask_hhd = sensor.valid_mask
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sensor.configure(hhd_downsample=3)
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assert sensor._hhd_downsample == 3
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assert sensor._Sensor__hhd is None
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assert sensor._hhd_grid_shape is None
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assert sensor.valid_mask_hhd is not None
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assert sensor.valid_mask_hhd.shape == (30, 30)
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with pytest.raises(ValueError):
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sensor.configure(hhd_downsample="nope")
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finally:
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sensor.disconnect()
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# ------------------------------------------------- bundle resolution anchors
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#
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# The bundle is chosen by the *running* root's folder layout, not by the root's
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# name and not by whichever checkout happens to be importable. These build small
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# real trees, because ``_runtime_roots`` asks the filesystem whether a directory
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# carries ``examples/`` beside ``sensors/``.
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_CAL_DOC = {
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"schema_version": 2,
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"unit": "N",
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"channels": {
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"normal": {"method": "piecewise_linear", "points": [[0.0, 0.0], [1000.0, 1.0]]},
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"shear_x": {
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"method": "piecewise_linear",
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"signed": True,
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"points": [[0.0, 0.0], [500.0, 2.0]],
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},
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"shear_y": {
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"method": "piecewise_linear",
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"signed": True,
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"points": [[0.0, 0.0], [500.0, 3.0]],
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},
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},
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}
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def _make_root(base, *, name="anything", sensor_json=True, calibration=True):
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"""A runnable SDK root: ``examples/`` beside ``sensors/<name>/``."""
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root = base / name
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(root / "examples").mkdir(parents=True, exist_ok=True)
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if sensor_json:
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(root / "examples" / "basic_pipeline.py").write_text("# demo\n", encoding="utf-8")
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bundle = root / "sensors" / "mini"
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bundle.mkdir(parents=True, exist_ok=True)
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if sensor_json:
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(bundle / "sensor.json").write_text(
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json.dumps({"name": "prototype"}), encoding="utf-8"
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)
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if calibration:
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(bundle / "force_calibration.json").write_text(
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json.dumps(_CAL_DOC), encoding="utf-8"
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)
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return root
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def test_runtime_root_anchor_keys_on_layout_not_on_the_folder_name(tmp_path):
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named = _make_root(tmp_path, name="some-random-name")
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assert configs._is_sdk_runtime_root(named) is True
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no_examples = tmp_path / "dist-like"
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(no_examples / "sensors" / "mini").mkdir(parents=True)
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assert configs._is_sdk_runtime_root(no_examples) is False
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neither = tmp_path / "plain"
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neither.mkdir()
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assert configs._is_sdk_runtime_root(neither) is False
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def test_runtime_roots_walk_up_from_a_subdirectory(tmp_path, monkeypatch):
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root = _make_root(tmp_path, name="renamed-release")
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subdir = root / "examples"
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monkeypatch.setattr(configs.Path, "cwd", classmethod(lambda cls: subdir))
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roots = [str(path) for path in configs._runtime_roots()]
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assert str(root) in roots
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def test_the_running_root_bundle_beats_a_calibration_less_checkout(
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tmp_path, monkeypatch
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):
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"""The reported bug: a nearer bundle without coefficients must not win."""
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running = _make_root(tmp_path, name="running-root")
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checkout = _make_root(tmp_path, name="importable-checkout", calibration=False)
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monkeypatch.setattr(configs, "_runtime_roots", lambda: [running, checkout])
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bundle = configs.resolve_sensor_bundle("mini")
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assert bundle is not None
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assert bundle.root == (running / "sensors" / "mini").resolve()
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assert bundle.force_calibration_json == (
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running / "sensors" / "mini" / "force_calibration.json"
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).resolve()
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# The whole point: the running root's document is the one that reaches the
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# sensor, split shear and all.
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sensor = Sensor("external", config_name="mini", verbose=False, backend="cpu")
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try:
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assert sensor.force_calibrated is True
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assert sensor.force_unit == "N"
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assert sensor.calibration.source_path == (
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running / "sensors" / "mini" / "force_calibration.json"
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).resolve()
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finally:
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sensor.disconnect()
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def test_a_nearer_bundle_wins_even_without_coefficients(tmp_path, monkeypatch):
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"""Nearest bundle wins, so a calibration-less nearer one hides a farther one.
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That is the chosen precedence (the running root is authoritative), and the
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diagnostic exists precisely so this stops being silent: this is the shape of
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the original report, where a checkout's ``mini`` has only ``sensor.json``.
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"""
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checkout = _make_root(tmp_path, name="checkout", calibration=False)
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running = _make_root(tmp_path, name="run-root")
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monkeypatch.setattr(configs, "_runtime_roots", lambda: [checkout, running])
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bundle = configs.resolve_sensor_bundle("mini")
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assert bundle is not None
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assert bundle.root == (checkout / "sensors" / "mini").resolve()
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assert bundle.force_calibration_json is None
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info = configs.describe_bundle_resolution("mini")
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assert info["found_root"] == (checkout / "sensors" / "mini").resolve()
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assert info["force_calibration_json"] is False
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def test_describe_bundle_resolution_names_the_bundle_and_the_searched_roots(
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tmp_path, monkeypatch
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):
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checkout = _make_root(tmp_path, name="checkout", calibration=False)
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running = _make_root(tmp_path, name="run-root")
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roots = [checkout / "sensors", running / "sensors"]
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# Patched at the root list, so no real bundle on this machine can satisfy
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# the lookup while the "nothing found" case is being asserted.
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monkeypatch.setattr(configs, "_candidate_sensor_roots", lambda: list(roots))
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info = configs.describe_bundle_resolution("mini")
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assert info["found_root"] == (checkout / "sensors" / "mini").resolve()
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assert info["force_calibration_json"] is False
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assert [str(path) for path in info["searched"]] == [str(p) for p in roots]
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(checkout / "sensors" / "mini" / "sensor.json").unlink()
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(running / "sensors" / "mini" / "sensor.json").unlink()
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missing = configs.describe_bundle_resolution("mini")
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assert missing["found_root"] is None
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assert missing["sensor_json"] is None
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assert missing["force_calibration_json"] is False
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def test_the_calibration_note_names_the_bundle_that_was_found(
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tmp_path, monkeypatch
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):
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checkout = _make_root(tmp_path, name="checkout", calibration=False)
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monkeypatch.setattr(configs, "_runtime_roots", lambda: [checkout])
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sensor = Sensor("external", config_name="mini", verbose=False, backend="cpu")
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try:
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assert sensor.calibration is None
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# Still None: callers read a non-None value here as "calibrated".
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assert sensor._force_cal_sensor_name is None
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note = sensor._force_calibration_note()
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assert "has no force_calibration.json" in note
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assert str((checkout / "sensors" / "mini").resolve()) in note
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assert "roots searched" in note
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finally:
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sensor.disconnect()
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