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orisys-sdk/tests/test_signal_processing.py
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ykcheungab 2e7b65298b fixed test_signal_processing error
2026-09-20 11:36:30 +08:00

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"""Tests for SDK signal helpers and Sensor.configure runtime settings."""
from __future__ import annotations
import json
from pathlib import Path
import numpy as np
import pytest
from scipy.signal import butter, filtfilt
from orisys import Sensor, configs
from orisys.signal_processing import (
NORMAL_FORCE_CAL_OFFSET,
NORMAL_FORCE_CAL_SLOPE,
LowpassFilter,
calibrate_normal_force,
calibrate_shear_components,
calibrate_shear_force,
lowpass_filter,
)
def _legacy_viewer_lowpass(data, cutoff_hz, sample_rate_hz=30.0, order=2):
"""Reference copy of the previous viewer2d Butterworth + filtfilt path."""
y = np.asarray(data, dtype=np.float64)
if cutoff_hz == 0:
return y.copy()
if y.size == 0:
return y
nyquist = 0.5 * sample_rate_hz
b, a = butter(order, cutoff_hz / nyquist, btype="low")
padlen = 3 * (max(len(b), len(a)) - 1)
if y.size <= padlen:
return y.copy()
return filtfilt(b, a, y)
def test_batch_lowpass_matches_legacy_viewer_filter():
rng = np.random.default_rng(0)
t = np.arange(180, dtype=np.float64) / 30.0
signal = np.sin(2 * np.pi * 1.0 * t) + 0.4 * rng.normal(size=t.size)
cutoff = 5.0
actual = lowpass_filter(signal, cutoff_hz=cutoff, sample_rate_hz=30.0, order=2)
expected = _legacy_viewer_lowpass(signal, cutoff_hz=cutoff, sample_rate_hz=30.0, order=2)
np.testing.assert_allclose(actual, expected, rtol=1e-10, atol=1e-10)
def test_batch_lowpass_cutoff_zero_is_noop():
data = np.array([1.0, 2.0, 3.0])
out = lowpass_filter(data, cutoff_hz=0)
np.testing.assert_array_equal(out, data)
assert out is not data
def test_stateful_lowpass_reduces_high_frequency_noise():
rng = np.random.default_rng(1)
n = 240
t = np.arange(n, dtype=np.float64) / 30.0
clean = np.sin(2 * np.pi * 0.5 * t)
noisy = clean + 0.8 * rng.normal(size=n)
filt = LowpassFilter(cutoff_hz=3.0, sample_rate_hz=30.0, order=2, n_channels=1)
filtered = np.array([float(filt.process([v])[0]) for v in noisy])
assert np.isfinite(filtered).all()
noisy_hf = float(np.std(np.diff(noisy)))
filtered_hf = float(np.std(np.diff(filtered)))
assert filtered_hf < 0.5 * noisy_hf
# Steady-state init on the first sample should not start at zero.
assert filtered[0] == pytest.approx(noisy[0])
def test_calibrate_normal_force_preserves_linear_curve():
raw = 12345.0
expected = NORMAL_FORCE_CAL_SLOPE * raw + NORMAL_FORCE_CAL_OFFSET
assert calibrate_normal_force(raw) == pytest.approx(expected)
assert calibrate_normal_force(0.0) == pytest.approx(NORMAL_FORCE_CAL_OFFSET)
def test_calibrate_normal_force_mini_uses_legacy_linear_file():
raw = 10000.0
expected = NORMAL_FORCE_CAL_SLOPE * raw + NORMAL_FORCE_CAL_OFFSET
assert calibrate_normal_force(raw, sensor_name="mini") == pytest.approx(expected)
def test_calibrate_normal_force_box_uses_piecewise_curve():
assert calibrate_normal_force(10000.0, sensor_name="box") == pytest.approx(0.377)
assert calibrate_normal_force(30000.0, sensor_name="box") == pytest.approx(1.377)
# Mid-segment interpolation between 10000→0.377 and 30000→1.377
mid = calibrate_normal_force(20000.0, sensor_name="box")
assert mid == pytest.approx(0.877)
# Below first breakpoint with extrapolate=true
assert calibrate_normal_force(0.0, sensor_name="box") == pytest.approx(0.0)
def test_calibrate_shear_force_box_piecewise():
assert calibrate_shear_force(1000.0, sensor_name="box") == pytest.approx(0.0)
assert calibrate_shear_force(36000.0, sensor_name="box") == pytest.approx(1.19)
assert calibrate_shear_force(68000.0, sensor_name="box") == pytest.approx(2.06)
def test_calibrate_shear_components_box_signed():
sx, sy = calibrate_shear_components(36000.0, -36000.0, sensor_name="box")
assert sx == pytest.approx(1.19)
assert sy == pytest.approx(-1.19)
def test_calibrate_shear_missing_file_returns_raw():
assert calibrate_shear_force(1234.5, sensor_name="no-such-sensor") == pytest.approx(1234.5)
sx, sy = calibrate_shear_components(1.0, -2.0, sensor_name="no-such-sensor")
assert (sx, sy) == pytest.approx((1.0, -2.0))
def test_calibrate_normal_force_unknown_sensor_falls_back_to_defaults():
raw = 5000.0
expected = NORMAL_FORCE_CAL_SLOPE * raw + NORMAL_FORCE_CAL_OFFSET
assert calibrate_normal_force(raw, sensor_name="no-such-sensor") == pytest.approx(expected)
def _external_sensor():
return Sensor("external", config_name="box", verbose=False, backend="cpu")
def test_configure_lowpass_filters_read_info_and_keeps_raw():
sensor = _external_sensor()
try:
sensor._force_raw = (1000.0, -200.0, 50.0)
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((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)]
filtered_fn = []
raw_fn = []
for sample in noisy:
sensor._force_raw = sample
sensor._apply_force_filter()
filtered_fn.append(sensor.read_info(sensor.info.FNORMAL)[0])
raw_fn.append(sensor.read_info(sensor.info.FNORMAL_RAW)[0])
assert raw_fn[-1] == pytest.approx(noisy[-1][0])
assert filtered_fn[-1] != pytest.approx(raw_fn[-1])
assert float(np.std(np.diff(filtered_fn))) < float(np.std(np.diff(raw_fn)))
fx_raw, fy_raw = sensor.read_info(sensor.info.FSHEARX_RAW, sensor.info.FSHEARY_RAW)
assert fx_raw == pytest.approx(-200.0)
assert fy_raw == pytest.approx(50.0)
finally:
sensor.disconnect()
def test_configure_lowpass_disabled_or_zero_cutoff_returns_raw():
sensor = _external_sensor()
try:
sensor.configure(lowpass_cutoff_hz=5.0)
sensor._force_raw = (10.0, 20.0, 30.0)
sensor._apply_force_filter()
sensor.configure(lowpass_cutoff_hz=0)
sensor._force_raw = (111.0, 222.0, 333.0)
sensor._apply_force_filter()
fn, fx, fy = sensor.read_info(
sensor.info.FNORMAL,
sensor.info.FSHEARX,
sensor.info.FSHEARY,
)
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)
sensor._apply_force_filter()
fn, fx, fy = sensor.read_info(
sensor.info.FNORMAL,
sensor.info.FSHEARX,
sensor.info.FSHEARY,
)
fn_raw = sensor.read_info(sensor.info.FNORMAL_RAW)[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.calibration.load",
lambda *args, **kwargs: None,
)
sensor = Sensor("external", config_name="box", verbose=False, backend="cpu")
try:
assert sensor._force_cal_sensor_name is None
assert sensor.calibration 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:
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")
finally:
sensor.disconnect()
# ------------------------------------------------- bundle resolution anchors
#
# The bundle is chosen by the *running* root's folder layout, not by the root's
# name and not by whichever checkout happens to be importable. These build small
# real trees, because ``_runtime_roots`` asks the filesystem whether a directory
# carries ``examples/`` beside ``sensors/``.
_CAL_DOC = {
"schema_version": 2,
"unit": "N",
"channels": {
"normal": {"method": "piecewise_linear", "points": [[0.0, 0.0], [1000.0, 1.0]]},
"shear_x": {
"method": "piecewise_linear",
"signed": True,
"points": [[0.0, 0.0], [500.0, 2.0]],
},
"shear_y": {
"method": "piecewise_linear",
"signed": True,
"points": [[0.0, 0.0], [500.0, 3.0]],
},
},
}
def _make_root(base, *, name="anything", sensor_json=True, calibration=True):
"""A runnable SDK root: ``examples/`` beside ``sensors/<name>/``.
``sensor.json`` is copied from the shipped bundle because it is a *sensor
config*: a stub document would make ``_load_config`` depend on whichever
config the machine happens to resolve, which is not what these tests are
about.
"""
root = base / name
(root / "examples").mkdir(parents=True, exist_ok=True)
(root / "examples" / "basic_pipeline.py").write_text("# demo\n", encoding="utf-8")
bundle = root / "sensors" / "mini"
bundle.mkdir(parents=True, exist_ok=True)
if sensor_json:
shipped = Path(__file__).resolve().parents[1] / "sensors" / "mini" / "sensor.json"
(bundle / "sensor.json").write_text(
shipped.read_text(encoding="utf-8"), encoding="utf-8"
)
if calibration:
(bundle / "force_calibration.json").write_text(
json.dumps(_CAL_DOC), encoding="utf-8"
)
return root
def _bare_sensor(**attrs):
"""A Sensor instance without running ``__init__``/``_load_config``.
The note-formatting helpers touch no sensor state, so a whole sensor (and
therefore a whole machine config) is not needed to test them.
"""
sensor = object.__new__(Sensor)
for key, value in attrs.items():
setattr(sensor, key, value)
return sensor
def test_runtime_root_anchor_keys_on_layout_not_on_the_folder_name(tmp_path):
named = _make_root(tmp_path, name="some-random-name")
assert configs._is_sdk_runtime_root(named) is True
no_examples = tmp_path / "dist-like"
(no_examples / "sensors" / "mini").mkdir(parents=True)
assert configs._is_sdk_runtime_root(no_examples) is False
neither = tmp_path / "plain"
neither.mkdir()
assert configs._is_sdk_runtime_root(neither) is False
def test_runtime_roots_walk_up_from_a_subdirectory(tmp_path, monkeypatch):
"""Launching from ``<root>/examples`` still finds ``<root>``.
Regression: the ancestor filter used to compare against *every* anchor, so a
platform ancestor such as ``D:\\`` disqualified every root and this list came
back empty.
"""
root = _make_root(tmp_path, name="renamed-release")
subdir = root / "examples"
monkeypatch.setattr(configs.Path, "cwd", classmethod(lambda cls: subdir))
roots = [str(path) for path in configs._runtime_roots()]
assert str(root) in roots, roots
# The point of the regression: every returned entry is a genuine runnable
# root, never a bare platform ancestor that merely sat above the launcher.
for entry in roots:
assert configs._is_sdk_runtime_root(Path(entry)), entry
assert str(root.parent) not in roots
assert str(root.drive + "\\") not in roots
def test_a_parent_root_never_outranks_the_root_below_it(tmp_path, monkeypatch):
"""Walking up must not let a parent's bundle shadow the real run root.
A parent that itself looks runnable (``examples/`` *and* ``sensors/``) must
not outrank the root below it, or its bundle would shadow the one the
operator is actually running from.
"""
parent = tmp_path / "workspace"
inner = _make_root(parent, name="inner-release")
# Give the PARENT its own bundle. ``_make_root(parent, name=…)`` would put
# examples/ and sensors/ inside that named child, leaving the parent itself
# not runnable -- which is what made this assertion fail twice.
(parent / "examples").mkdir(parents=True, exist_ok=True)
(parent / "sensors" / "mini").mkdir(parents=True, exist_ok=True)
(parent / "sensors" / "mini" / "sensor.json").write_text(
"{}", encoding="utf-8"
)
assert configs._is_sdk_runtime_root(parent) is True
assert configs._is_sdk_runtime_root(inner) is True
monkeypatch.setattr(configs.Path, "cwd", classmethod(lambda cls: inner))
roots = [str(path) for path in configs._runtime_roots()]
assert str(inner) in roots, roots
assert str(parent) not in roots, roots
# Nothing nested below the launcher's root may appear either.
assert not any(
Path(entry).is_relative_to(inner) and entry != str(inner) for entry in roots
)
def test_the_running_root_bundle_beats_a_calibration_less_checkout(
tmp_path, monkeypatch
):
"""The reported bug: a nearer bundle without coefficients must not win."""
running = _make_root(tmp_path, name="running-root")
checkout = _make_root(tmp_path, name="importable-checkout", calibration=False)
monkeypatch.setattr(configs, "_runtime_roots", lambda: [running, checkout])
# Pinned to real directories, so a leftover or unrelated bundle elsewhere on
# the machine cannot decide the outcome.
monkeypatch.setattr(
configs,
"_candidate_sensor_roots",
lambda: [running / "sensors", checkout / "sensors"],
)
bundle = configs.resolve_sensor_bundle("mini")
assert bundle is not None
assert bundle.root == (running / "sensors" / "mini").resolve()
assert bundle.force_calibration_json == (
running / "sensors" / "mini" / "force_calibration.json"
).resolve()
# The whole point: the running root's document is the one the SDK loads.
from orisys.calibration import load as load_calibration
cal = load_calibration(sensor_type="mini")
assert cal is not None
assert cal.schema_version == 2
assert sorted(cal.channels) == ["fn", "fx", "fy"]
assert cal.source_path == (
running / "sensors" / "mini" / "force_calibration.json"
).resolve()
def test_a_nearer_bundle_wins_even_without_coefficients(tmp_path, monkeypatch):
"""Nearest bundle wins, so a calibration-less nearer one hides a farther one.
That is the chosen precedence (the running root is authoritative), and the
diagnostic exists precisely so this stops being silent: this is the shape of
the original report, where a checkout's ``mini`` has only ``sensor.json``.
"""
checkout = _make_root(tmp_path, name="checkout", calibration=False)
running = _make_root(tmp_path, name="run-root")
monkeypatch.setattr(configs, "_runtime_roots", lambda: [checkout, running])
monkeypatch.setattr(
configs,
"_candidate_sensor_roots",
lambda: [checkout / "sensors", running / "sensors"],
)
bundle = configs.resolve_sensor_bundle("mini")
assert bundle is not None
assert bundle.root == (checkout / "sensors" / "mini").resolve()
assert bundle.force_calibration_json is None
info = configs.describe_bundle_resolution("mini")
assert info["found_root"] == (checkout / "sensors" / "mini").resolve()
assert info["force_calibration_json"] is False
def test_describe_bundle_resolution_names_the_bundle_and_the_searched_roots(
tmp_path, monkeypatch
):
checkout = _make_root(tmp_path, name="checkout", calibration=False)
running = _make_root(tmp_path, name="run-root")
roots = [checkout / "sensors", running / "sensors"]
# Patched at the root list, so no real bundle on this machine can satisfy
# the lookup while the "nothing found" case is being asserted.
monkeypatch.setattr(configs, "_candidate_sensor_roots", lambda: list(roots))
info = configs.describe_bundle_resolution("mini")
assert info["found_root"] == (checkout / "sensors" / "mini").resolve()
assert info["force_calibration_json"] is False
assert [str(path) for path in info["searched"]] == [str(p) for p in roots]
(checkout / "sensors" / "mini" / "sensor.json").unlink()
(running / "sensors" / "mini" / "sensor.json").unlink()
missing = configs.describe_bundle_resolution("mini")
assert missing["found_root"] is None
assert missing["sensor_json"] is None
assert missing["force_calibration_json"] is False
def test_the_calibration_note_names_the_bundle_that_was_found(tmp_path, monkeypatch):
"""The note explains a bundle with no coefficients, not a "missing file"."""
checkout = _make_root(tmp_path, name="checkout", calibration=False)
roots = [checkout / "sensors"]
monkeypatch.setattr(configs, "_candidate_sensor_roots", lambda: list(roots))
# Composed via _bare_sensor: the note reads only _force_cal_attempts, so this
# needs no machine config and cannot fail on config resolution.
sensor = _bare_sensor(
_force_cal_attempts=[configs.describe_bundle_resolution("mini")],
_force_cal_sensor_name=None,
)
note = sensor._force_calibration_note()
assert "has no force_calibration.json" in note
assert str((checkout / "sensors" / "mini").resolve()) in note
assert "roots searched" in note
# No bundle anywhere: say that instead of naming a root.
(checkout / "sensors" / "mini" / "sensor.json").unlink()
sensor = _bare_sensor(
_force_cal_attempts=[configs.describe_bundle_resolution("mini")],
_force_cal_sensor_name=None,
)
note = sensor._force_calibration_note()
assert "no sensor bundle resolved" in note
# A dict always keys ``found_root``, so guard its value: an unguarded copy of
# this branch prints "bundle found at None".
assert "None" not in note
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