From a8eaa4c367e855d113ced361afe9e02063984c28 Mon Sep 17 00:00:00 2001 From: lxp <2770281812@qq.com> Date: Fri, 18 Sep 2026 13:37:03 +0800 Subject: [PATCH] =?UTF-8?q?255=E6=BC=82=E7=A7=BB=E9=97=AE=E9=A2=98?= =?UTF-8?q?=E7=A8=B3=E5=AE=9A=E6=97=B6=E9=97=B4=E6=94=B930=E7=A7=92?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/linkerhand_range_calibration/README.md | 5 +- .../config/station.yaml | 3 +- .../core/engine.py | 27 +- .../linkerhand_range_calibration/profiles.py | 5 +- .../fixtures/group_upper_reference_drift.json | 1667 +++++++++++++++++ .../test/test_core.py | 3 +- .../test/test_observation_evidence.py | 4 +- .../test/test_sampling_diagnostics.py | 99 +- 8 files changed, 1798 insertions(+), 15 deletions(-) create mode 100644 src/linkerhand_range_calibration/test/fixtures/group_upper_reference_drift.json diff --git a/src/linkerhand_range_calibration/README.md b/src/linkerhand_range_calibration/README.md index e61a07b..e1fdcf2 100644 --- a/src/linkerhand_range_calibration/README.md +++ b/src/linkerhand_range_calibration/README.md @@ -205,8 +205,9 @@ SDK 自身的初始化检查和设备保护保持原样。标定仍要求 SDK 先按实际时间戳估计四角点的移动趋势，再用去除趋势后的 MAD 和相邻帧差分估计随机抖动。 全窗口及前、后半窗口分别检查趋势，避免缓慢往返运动在整个窗口中互相抵消；每个半窗口至少4帧。 持续漂移取各段 `max(0, 趋势累计位移 - 抖动裕量)` 的最大值，裕量由随机抖动、帧数和时间分布计算。 -两项门槛独立生效：随机抖动允许到0.5像素，低噪声条件下的持续漂移仍按0.1像素检查。任一项超限就保持当前指令继续等待，超过 `point_timeout` 仍不能稳定则暂停。 -`point_timeout` 默认6秒，给换向后的短时振动留出衰减时间；这是最长等待时间，达到稳定条件就立即采样推进。持续振动仍会暂停，不通过放宽噪声或漂移门槛获得结果。 +两项门槛独立生效：随机抖动允许到0.5像素，低噪声条件下的持续漂移仍按0.1像素检查。任一项超限就保持当前指令继续等待，到达该阶段的等待时限仍不能稳定则暂停。 +端点参考使用独立的 `reference_timeout`，默认30秒，给大幅定位后的缓慢位移留出稳定时间；普通逐点采样、准备和回位仍使用 `point_timeout`，默认6秒。等待从软件轨迹到达目标时开始，达到原有稳定条件就立即推进，不固定等满时限。端点参考超时会明确提示“端点参考未稳定”、保持目标的时长以及具体 Tag 的原因，日志同时保存 `elapsed_seconds` 和 `timeout_seconds`。扫描过程中丢失 Tag 导致轨迹暂停仍使用6秒时限。 +延长参考等待不会放宽噪声或漂移门槛；255的参考观测通过稳定检查后，才开始发送254。若30秒后仍不满足稳定条件，程序继续按超时暂停处理；需结合实机排查手指、Tag 粘贴和相机/手掌固定处。 这是对有限图像的估计，并非已完全静止的保证。高噪声会降低细小运动的可辨别性，实机准确性仍需复测；不根据四指一起变化自动扣除整体位移，以免消除四指真实的同步运动。 旧工位文件的 `stability_px` 仍可加载，仅作为随机抖动上限；新增配置优先，漂移上限默认0.1。建议自定义工位改用上述三个明确字段。 diff --git a/src/linkerhand_range_calibration/config/station.yaml b/src/linkerhand_range_calibration/config/station.yaml index 11d379e..6ae9fa3 100644 --- a/src/linkerhand_range_calibration/config/station.yaml +++ b/src/linkerhand_range_calibration/config/station.yaml @@ -21,7 +21,8 @@ scan: stable_seconds: 0.5 # 新图像必须覆盖连续静止时间，不能只凭几帧局部平稳。 reference_seconds: 1.5 # 每端开始前额外核对前、中、后三段参考位置一致。 motion_frames: 2 # 瞬时运动须超过参考和当前点的抖动包络；不看方向。 - point_timeout: 6 # 最长等待振动衰减时间；稳定后立即推进，不固定等满6秒。 + point_timeout: 6 # 普通逐点采样的最长等待；稳定后立即推进。 + reference_timeout: 30 # 到达端点后允许更长时间稳定；达标立即开始，不固定等满30秒。 freshness: 0.5 feedback_tolerance: 2 repeat_tolerance: 2 diff --git a/src/linkerhand_range_calibration/linkerhand_range_calibration/core/engine.py b/src/linkerhand_range_calibration/linkerhand_range_calibration/core/engine.py index 7d2e820..ab40469 100644 --- a/src/linkerhand_range_calibration/linkerhand_range_calibration/core/engine.py +++ b/src/linkerhand_range_calibration/linkerhand_range_calibration/core/engine.py @@ -232,8 +232,20 @@ class Engine: 'reason': reason}) return issues + @property + def collecting_reference(self): + return self.state == 'SCANNING' and any( + isinstance(window, ReferenceWindow) for window in self.windows.values()) + + @property + def waiting_timeout(self): + return (self.settings.reference_timeout if self.collecting_reference + else self.settings.point_timeout) + def _pause_sampling_timeout(self, now, moving=False): restoring = self.state == 'RESTORING' + limit = self.settings.point_timeout if moving else self.waiting_timeout + elapsed = now - (self.blocked_since if moving else self.arrived) issues = [] if restoring else self._visibility_issues(now) if not moving: indices = self.active_indices if self.state == 'SCANNING' else None @@ -248,8 +260,14 @@ class Engine: view, tag_id = self.keys[name] issues.append({'source': 'tag', 'joint': name, 'view': view, 'tag_id': tag_id, 'window_samples': window.snapshot(), **problem}) - prefix = ('目标 Tag 持续不可见或观测过期' if moving else - '测后回位稳定超时' if restoring else '单点稳定采样超时') + if moving: + prefix = '目标 Tag 持续不可见或观测过期' + elif restoring: + prefix = '测后回位稳定超时' + elif self.collecting_reference: + prefix = f'端点参考未稳定：等待超时（已保持目标 {elapsed:.1f} 秒，上限 {limit:g} 秒）' + else: + prefix = '单点稳定采样超时' details = '\n'.join(describe_issue(issue) for issue in issues) shared_motion = shared_translation(issues) if shared_motion: @@ -258,9 +276,10 @@ class Engine: # Conditions can recover on the tick that crosses the deadline. context = self.restoring_joint if restoring else '、'.join( tag_label(view, tag_id, name) for name, (view, tag_id) in self.keys.items()) - details = f'{context}：条件刚恢复，但已超过 {self.settings.point_timeout:g} 秒等待时限' + details = f'{context}：条件刚恢复，但已超过 {limit:g} 秒等待时限' self._record('sampling_timeout', time=now, task=self.task.name, stage=self.stage, direction=self.direction, repeat=self.repeat, target=list(self.command), + elapsed_seconds=elapsed, timeout_seconds=limit, issues=issues, shared_motion=shared_motion, reason=details) self.pause(prefix + '\n' + details) @@ -308,7 +327,7 @@ class Engine: for window in self.windows.values(): window.clear() return - if now-self.arrived > self.settings.point_timeout: + if now-self.arrived > self.waiting_timeout: self._pause_sampling_timeout(now) return if self.state == 'RESTORING': diff --git a/src/linkerhand_range_calibration/linkerhand_range_calibration/profiles.py b/src/linkerhand_range_calibration/linkerhand_range_calibration/profiles.py index 2a8efd8..4f8eb0c 100644 --- a/src/linkerhand_range_calibration/linkerhand_range_calibration/profiles.py +++ b/src/linkerhand_range_calibration/linkerhand_range_calibration/profiles.py @@ -97,6 +97,7 @@ class Settings: reference_seconds: float = 1.5 # Verify the endpoint across independent time blocks. motion_frames: int = 2 # Consecutive valid frames at this command, independent of direction. point_timeout: float = 6 + reference_timeout: float = 30 # Endpoint positioning can settle slower than a one-unit step. freshness: float = 0.5 feedback_tolerance: float = 2 non_target_tolerance: float = 3 # Legacy configuration only; unrelated motion does not gate scans. @@ -141,8 +142,8 @@ class Settings: raise ValueError('单点超时必须大于最短等待与稳定观察时长之和') if result.reference_seconds < result.stable_seconds: raise ValueError('端点参考观察时长不能短于普通稳定观察时长') - if result.point_timeout <= result.settle_seconds + result.reference_seconds: - raise ValueError('单点超时必须大于最短等待与端点参考观察时长之和') + if result.reference_timeout <= result.settle_seconds + result.reference_seconds: + raise ValueError('端点参考超时必须大于最短等待与端点参考观察时长之和') return result diff --git a/src/linkerhand_range_calibration/test/fixtures/group_upper_reference_drift.json b/src/linkerhand_range_calibration/test/fixtures/group_upper_reference_drift.json new file mode 100644 index 0000000..e45653c --- /dev/null +++ b/src/linkerhand_range_calibration/test/fixtures/group_upper_reference_drift.json @@ -0,0 +1,1667 @@ +{ + "source_session": "20260917_195710_953214", + "description": "Four-finger upper reference remained in smooth drift after holding 255 for six seconds. 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100644 --- a/src/linkerhand_range_calibration/test/test_core.py +++ b/src/linkerhand_range_calibration/test/test_core.py @@ -618,7 +618,8 @@ def test_pinky_pip_uses_its_own_tag_and_feedback_despite_coupled_motion(scenario for event in commands) if scenario in ('missing_side', 'moving_active_feedback'): assert engine.state == 'PAUSED' - assert ('Tag' if scenario == 'missing_side' else '稳定采样超时') in engine.reason + assert ('侧面 Tag ID5' if scenario == 'missing_side' + else '关节 pinky_pip：反馈未稳定') in engine.reason assert not engine.samples else: assert engine.state == 'COMPLETED', engine.reason diff --git a/src/linkerhand_range_calibration/test/test_observation_evidence.py b/src/linkerhand_range_calibration/test/test_observation_evidence.py index a182922..a7df252 100644 --- a/src/linkerhand_range_calibration/test/test_observation_evidence.py +++ b/src/linkerhand_range_calibration/test/test_observation_evidence.py @@ -208,6 +208,8 @@ def test_one_pass_four_fingers_with_late_settling_noise_and_replay(tmp_path, see def test_reference_duration_and_timeout_configuration_are_validated(): - for change in ({'reference_seconds': .1}, {'point_timeout': 1}): + for change in ({'reference_seconds': .1}, {'reference_timeout': 1}): with pytest.raises(ValueError, match='参考观察时长'): Settings.from_dict(change) + # Each deadline validates only the observation window it actually governs. + assert Settings.from_dict({'point_timeout': 1}).reference_timeout == 30 diff --git a/src/linkerhand_range_calibration/test/test_sampling_diagnostics.py b/src/linkerhand_range_calibration/test/test_sampling_diagnostics.py index 4b5e637..2653c19 100644 --- a/src/linkerhand_range_calibration/test/test_sampling_diagnostics.py +++ b/src/linkerhand_range_calibration/test/test_sampling_diagnostics.py @@ -1,5 +1,7 @@ """Timeout explanations must identify actual blockers before windows are cleared.""" from dataclasses import replace +import json +from pathlib import Path import numpy as np import pytest @@ -14,10 +16,10 @@ from linkerhand_range_calibration.vision.reference import ReferenceWindow class SamplingRun: - def __init__(self, task='thumb_cmc_roll', phase='waiting'): + def __init__(self, task='thumb_cmc_roll', phase='waiting', settings=None): profile = load_profile() - settings = Settings(rate=1000, stable_frames=4, stable_seconds=.15, reference_seconds=.45, - settle_seconds=.05, point_timeout=.8) + settings = settings or Settings(rate=1000, stable_frames=4, stable_seconds=.15, reference_seconds=.45, + settle_seconds=.05, point_timeout=.8, reference_timeout=.8) self.adapter = FakeAdapter(profile) self.events, self.now = [], 1.0 self.engine = Engine(profile, settings, self.adapter, self.events.append) @@ -106,7 +108,7 @@ def test_four_finger_sampling_advances_with_random_jitter_above_old_limit(): @pytest.mark.parametrize('deadline,settles_at', [(3, 4), (6, 4), (6, 0), (6, None)]) def test_waits_for_transient_vibration_without_advancing_or_relaxing_limits(deadline, settles_at): run = SamplingRun('four_finger_roll') - run.engine.settings = replace(run.engine.settings, point_timeout=deadline) + run.engine.settings = replace(run.engine.settings, reference_timeout=deadline) started, sent = run.now, len(run.adapter.sent) def shake(frames, rejected): @@ -136,6 +138,95 @@ def test_waits_for_transient_vibration_without_advancing_or_relaxing_limits(dead assert observation['jitter_px'] <= .5 and observation['drift_px'] <= .1 +def test_recorded_upper_reference_drift_is_still_rejected(): + path = Path(__file__).parent / 'fixtures' / 'group_upper_reference_drift.json' + recorded = json.loads(path.read_text()) + settings = Settings() + assert recorded['target'] == [255] * 4 + assert settings.point_timeout < recorded['held_seconds'] < settings.reference_timeout + assert {issue['tag_id'] for issue in recorded['issues']} == {2, 3} + for issue in recorded['issues']: + window = ReferenceWindow(settings) + for sample in issue['window_samples']: + window.add(Observation(sample['stamp_ns'], 0, sample['corners'])) + problem = window.problem(settings.stability_noise_px, settings.stability_drift_px) + assert problem['drift_px'] == pytest.approx(issue['drift_px']) + assert problem['jitter_px'] < .02 + assert '持续漂移' in problem['reason'] + # The real recording ends at the timeout. Recovery below is synthetic; + # it tests scheduling without claiming the real hardware settled later. + + +@pytest.mark.parametrize('direction', ['up', 'down']) +@pytest.mark.parametrize('settles_at', [0, 8, 18, None]) +def test_endpoint_holds_until_stable_or_reference_deadline(direction, settles_at): + settings = Settings(rate=10000, stable_frames=4, settle_seconds=.05) + run = SamplingRun('four_finger_roll', settings=settings) + for _ in range(2000): + if (run.engine.direction == direction and run.engine.collecting_reference + and run.engine.phase == 'waiting'): + break + run.step() + else: + pytest.fail('未到达端点参考采样阶段') + started = run.engine.arrived + sent, events_before = len(run.adapter.sent), len(run.events) + target = run.engine.command + + def slow_settling(frames, rejected): + elapsed = run.now - started + # Middle/ring drift independently of stable encoder feedback. + travel = elapsed if settles_at is None else min(elapsed, settles_at) + for tag, rate in [(3, .3), (2, .6)]: + frames['front'][tag] = (np.asarray(frames['front'][tag]) + [travel * rate, 0]).tolist() + + for _ in range(round((settings.reference_timeout + 1) / .05)): + run.step(slow_settling) + samples = [event for event in run.events[events_before:] if event['kind'] == 'sample'] + assert len(run.adapter.sent) == sent and run.engine.command == target + if samples or run.engine.state == 'PAUSED': + break + if settles_at is None: + assert not samples and run.engine.state == 'PAUSED' + assert '端点参考未稳定' in run.engine.reason + timeout = run.events[-2] + assert timeout['kind'] == 'sampling_timeout' + assert timeout['timeout_seconds'] == settings.reference_timeout + assert settings.reference_timeout < timeout['elapsed_seconds'] <= settings.reference_timeout + .1 + assert {issue['tag_id'] for issue in timeout['issues']} == {2, 3} + else: + assert len(samples) == 1 and run.engine.state == 'SCANNING' + assert settles_at <= run.now - started < settles_at + 2 + for observation in samples[0]['observations'].values(): + assert observation['drift_px'] <= .1 and observation['jitter_px'] <= .5 + if settles_at: + assert run.now - started > settings.point_timeout + assert all(search.boundary is None for search in run.engine.searches.values()) + + +def test_ordinary_command_does_not_inherit_reference_deadline(): + run = SamplingRun('four_finger_roll', settings=Settings(rate=10000, stable_frames=4, settle_seconds=.05)) + for _ in range(300): + run.step() + if run.engine.stage == 'search' and run.engine.phase == 'waiting': + break + assert run.engine.stage == 'search' and not run.engine.collecting_reference + started, sent = run.engine.arrived, len(run.adapter.sent) + + def creep(frames, rejected): + frames['front'][2] = (np.asarray(frames['front'][2]) + [run.now - started, 0]).tolist() + + for _ in range(130): + run.step(creep) + if run.engine.state == 'PAUSED': + break + assert run.engine.state == 'PAUSED' and '单点稳定采样超时' in run.engine.reason + assert len(run.adapter.sent) == sent + timeout = run.events[-2] + assert timeout['timeout_seconds'] == 6 + assert 6 < timeout['elapsed_seconds'] <= 6.1 + + @pytest.mark.parametrize('phase', ['moving', 'waiting']) @pytest.mark.parametrize('reason', [None, 'Tag 像素尺寸不足']) def test_missing_or_rejected_tag_does_not_blame_other_group_tags(phase, reason):