Add object calibration
This commit is contained in:
Ayzen
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"""Object correction persistence, runtime export and capture lifecycle regressions."""
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from __future__ import annotations
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from copy import deepcopy
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from dataclasses import asdict
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import os
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from pathlib import Path
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import tempfile
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from types import SimpleNamespace
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import unittest
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from unittest import mock
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import numpy as np
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os.environ.setdefault("QT_QPA_PLATFORM", "offscreen")
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from PyQt6.QtWidgets import QApplication, QDialog # noqa: E402
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from python_app.gui.controllers.object_calibration_capture import ObjectSweepCapture # noqa: E402
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from python_app.gui.controllers.app_window_config.live_processing_mixin import AppWindowLiveProcessingMixin # noqa: E402
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from python_app.gui.runtime.history import build_processor_run_signature, build_run_history_signature # noqa: E402
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from python_app.models.dataset_model import ComboKey, SweepCollection, TraceData # noqa: E402
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from python_app.models.run_config_model import ( # noqa: E402
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ComboModel, GprRxGeometryModel, GprTxGeometryModel, RunConfigModel,
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)
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from python_app.orchestration.config_writer import ConfigWriter # noqa: E402
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from python_app.orchestration.preprocess_assets import runtime_preprocess_asset_keys # noqa: E402
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from python_app.orchestration.shm.decoder import decode_trace_collection # noqa: E402
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from python_app.storage.npz.store import NpzStore # noqa: E402
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from python_app.storage.npz.serialize import RAW_MAGIC # noqa: E402
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from python_app.workflows.mimo_calibration import C_LIGHT, calibration_on_grid # noqa: E402
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def setUpModule() -> None:
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global _app
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_app = QApplication.instance() or QApplication([])
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def _config() -> RunConfigModel:
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config = RunConfigModel()
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config.input_switch.positions = 3
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config.output_switch.positions = 4
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config.combos = [ComboModel(0, 1), ComboModel(2, 3)]
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config.gpr.tx_geometry = [GprTxGeometryModel(1, -.4), GprTxGeometryModel(3, .4)]
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config.gpr.rx_geometry = [GprRxGeometryModel(0, -.2), GprRxGeometryModel(2, .2)]
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config.preprocess.s21.calibration.set_name = "through"
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config.preprocess.s21.reference.set_name = "empty"
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return config
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def _calibration(config: RunConfigModel) -> dict:
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frequency = np.array([1e8, 2e8, 3e8])
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parameters = np.array([[.3, .02, 0], [-.8, -.01, 0], [.4, .03, 0], [-.1, -.02, 0]])
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corrections = np.exp(-1j * (parameters[:, 0, None] - 2 * np.pi * frequency * parameters[:, 1, None] / C_LIGHT))
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return dict(
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freq_hz=frequency, tx=corrections[:2], rx=corrections[2:],
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pair=corrections[:2, None] * corrections[None, 2:], valid=np.ones(3, bool),
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tx_output_pos=np.array([1, 3], np.int32), rx_input_pos=np.array([0, 2], np.int32),
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antenna_params=parameters, dir=None,
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meta={"geometry": {
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"tx_xyz_m": [[entry.x_m, entry.y_m, entry.z_m] for entry in config.gpr.tx_geometry],
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"rx_xyz_m": [[entry.x_m, entry.y_m, entry.z_m] for entry in config.gpr.rx_geometry],
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}},
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)
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class ObjectCalibrationStoreTest(unittest.TestCase):
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def setUp(self) -> None:
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temporary = tempfile.TemporaryDirectory()
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self.addCleanup(temporary.cleanup)
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self.root = Path(temporary.name)
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self.store = NpzStore(self.root / "sets")
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self.config = _config()
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self.calibration = _calibration(self.config)
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traces = [
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TraceData(ComboKey(0, 1), np.array([1e8, 2e8, 3e8], np.float32), np.ones(3), np.ones(3)),
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TraceData(ComboKey(2, 3), np.array([1.2e8, 1.8e8, 2.6e8], np.float32), np.ones(3), np.ones(3)),
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]
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for kind, name in (("s21_calibration", "through"), ("s21_reference", "empty")):
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self.store.save_set(kind, "radar", name, SweepCollection(1, 10, traces))
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def test_default_disabled_and_legacy_config_round_trip(self) -> None:
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payload = self.config.to_dict()
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del payload["preprocess"]["s21"]["object_calibration"]
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config = RunConfigModel.from_dict(payload)
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self.assertEqual(config.preprocess.s21.object_calibration.set_name, "")
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self.assertNotIn("s21_object_calibration", runtime_preprocess_asset_keys(config))
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original_run = build_run_history_signature(config)
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original_processor = build_processor_run_signature(config)
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config.preprocess.s21.object_calibration.set_name = "object"
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self.assertEqual(config.clone().preprocess.s21.object_calibration.set_name, "object")
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self.assertIn("s21_object_calibration", runtime_preprocess_asset_keys(config))
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self.assertNotEqual(original_run, build_run_history_signature(config))
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self.assertEqual(original_processor, build_processor_run_signature(config))
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def test_saved_set_retains_coefficients_and_refuses_overwrite(self) -> None:
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self.store.save_object_calibration("radar", "object", self.calibration)
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self.assertEqual(self.store.list_sets("s21_object_calibration", "radar"), ["object"])
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loaded = self.store.load_object_calibration("radar", "object")
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np.testing.assert_array_equal(loaded["pair"], self.calibration["pair"])
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with self.assertRaises(FileExistsError):
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self.store.save_object_calibration("radar", "object", self.calibration)
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self.assertTrue(self.store.has_combo_coverage("s21_object_calibration", "radar", "object", [ComboKey(2, 3)]))
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self.assertFalse(self.store.has_combo_coverage("s21_object_calibration", "radar", "object", [ComboKey(1, 3)]))
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with self.assertRaises(ValueError):
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self.store.load_object_calibration("radar", "../object")
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def test_writer_exports_physical_pair_factors_on_each_runtime_grid(self) -> None:
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self.store.save_object_calibration("radar", "object", self.calibration)
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self.config.preprocess.s21.object_calibration.set_name = "object"
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ConfigWriter(self.root / "runtime").prepare_preprocess_bundles(self.store, "radar", self.config)
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bundle = Path(self.config.preprocess.s21.object_calibration.bundle_path)
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collection = decode_trace_collection(bundle.read_bytes(), RAW_MAGIC)
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self.assertEqual([trace.combo for trace in collection.traces], [ComboKey(0, 1), ComboKey(2, 3)])
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for index, trace in enumerate(collection.traces):
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np.testing.assert_allclose(trace.s21, calibration_on_grid(self.calibration, trace.frequency_hz)[index, index], rtol=1e-6)
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np.testing.assert_array_equal(trace.s11, np.zeros(3))
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self.config.preprocess.s21.object_calibration.set_name = ""
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ConfigWriter(self.root / "runtime").prepare_preprocess_bundles(self.store, "radar", self.config)
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self.assertEqual(self.config.preprocess.s21.object_calibration.bundle_path, "")
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def test_invalid_geometry_or_correction_keeps_previous_export(self) -> None:
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self.store.save_object_calibration("radar", "object", self.calibration)
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destination = self.root / "factors.bin"
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destination.write_bytes(b"previous bundle")
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self.config.gpr.tx_geometry[0].z_m = .1
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with self.assertRaisesRegex(ValueError, "geometry"):
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self.store.export_object_calibration_bundle("radar", "object", destination, self.config)
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self.assertEqual(destination.read_bytes(), b"previous bundle")
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broken = deepcopy(self.calibration)
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broken["pair"][0, 0, 0] = np.nan
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with self.assertRaises(ValueError):
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self.store.save_object_calibration("radar", "bad", broken)
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self.assertEqual(self.store.list_sets("s21_object_calibration", "radar"), ["object"])
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class ObjectCaptureLifecycleTest(unittest.TestCase):
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def setUp(self) -> None:
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self.dialog = mock.Mock()
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self.owner = SimpleNamespace(
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_stop_request_seq=0, _capture_session=None, _preprocess_capture_busy=False,
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_single_capture_active=False, _recording_active=False, _closing=False,
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_build_config=lambda: _config(), _pre_history=[], _SINGLE_CAPTURE_TIMEOUT_S=300,
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_ensure_preprocess_dialog=lambda: SimpleNamespace(median_sweep_count=lambda: 2),
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_supervisor=SimpleNamespace(is_running=lambda: self.running),
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)
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self.running = False
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self.owner._pipeline_resume_allowed = lambda seq: not self.owner._closing and seq == self.owner._stop_request_seq
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self.owner._stop_run = mock.Mock(side_effect=self._stop)
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self.owner._start_run = mock.Mock(side_effect=self._start)
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def _stop(self) -> None:
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self.running = False
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self.owner._stop_request_seq += 1
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def _start(self, **_kwargs) -> None:
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self.running = True
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def _capture(self) -> ObjectSweepCapture:
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with mock.patch("python_app.gui.controllers.object_calibration_capture.QTimer.singleShot"):
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view = QDialog()
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view.add_capture = self.dialog.add_capture
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view.set_status = self.dialog.set_status
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view.set_capture_pending = self.dialog.set_capture_pending
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self.addCleanup(view.close)
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self.view = view
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return ObjectSweepCapture(self.owner, view)
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def test_captures_fresh_preprocessed_matrix_without_changing_selected_object(self) -> None:
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config = _config()
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config.preprocess.s21.object_calibration.set_name = "existing"
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self.owner._build_config = lambda: config.clone()
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self.running = True
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capture = self._capture()
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capture._start()
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override = self.owner._start_run.call_args.kwargs["config_override"]
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self.assertEqual(override.preprocess.s21.object_calibration.set_name, "")
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self.assertEqual(len(override.combos), 4)
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self.assertEqual(config.preprocess.s21.object_calibration.set_name, "existing")
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stale = SweepCollection(1, capture._start_ns - 1)
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first, second = SweepCollection(2, capture._start_ns + 1), SweepCollection(3, capture._start_ns + 2)
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self.owner._pre_history = [stale, first, first, second]
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capture._poll()
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self.dialog.add_capture.assert_called_once()
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self.assertEqual([c.collection_id for c in self.dialog.add_capture.call_args.args[0]], [2, 3])
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self.assertEqual(self.owner._start_run.call_count, 2)
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self.assertEqual(self.owner._start_run.call_args.kwargs, {})
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capture.cancel()
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self.assertEqual(self.owner._stop_run.call_count, 2)
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def test_stop_cancels_capture_and_prevents_automatic_resume(self) -> None:
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self.running = True
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capture = self._capture()
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capture._start()
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self.owner._stop_run()
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capture._poll()
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self.dialog.add_capture.assert_not_called()
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self.assertEqual(self.owner._start_run.call_count, 1)
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self.assertFalse(self.running)
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def test_recording_is_not_interrupted(self) -> None:
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self.owner._recording_active = True
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capture = self._capture()
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capture._start()
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self.owner._start_run.assert_not_called()
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self.owner._stop_run.assert_not_called()
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self.dialog.add_capture.assert_not_called()
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self.dialog.set_capture_pending.assert_called_once_with(False)
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def test_stop_before_queued_start_never_opens_acquisition(self) -> None:
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capture = self._capture()
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self.owner._stop_run()
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capture._start()
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self.owner._start_run.assert_not_called()
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self.assertIsNone(self.owner._object_capture_job)
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def test_stale_capture_does_not_stop_a_new_run_after_explicit_stop(self) -> None:
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capture = self._capture()
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capture._start()
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self.owner._stop_run()
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self.owner._start_run()
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capture._poll()
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self.assertEqual(self.owner._stop_run.call_count, 1)
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self.assertTrue(self.running)
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self.dialog.add_capture.assert_not_called()
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def test_second_capture_is_rejected_without_mutating_first(self) -> None:
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first = self._capture()
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with self.assertRaisesRegex(RuntimeError, "already in progress"):
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self._capture()
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self.assertIs(self.owner._object_capture_job, first)
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first.cancel()
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def test_rejected_data_still_restores_original_running_pipeline(self) -> None:
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self.running = True
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self.dialog.add_capture.side_effect = ValueError("configuration changed")
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capture = self._capture()
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capture._start()
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self.owner._pre_history = [SweepCollection(2, capture._start_ns + 1), SweepCollection(3, capture._start_ns + 2)]
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capture._poll()
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self.assertTrue(self.running)
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self.assertEqual(self.owner._start_run.call_count, 2)
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self.assertIsNone(self.owner._object_capture_job)
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def test_capture_lock_is_held_while_stop_drains_events(self) -> None:
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capture = self._capture()
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capture._start()
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locks = []
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original_stop = self.owner._stop_run.side_effect
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self.owner._stop_run.side_effect = lambda: (locks.append(self.owner._object_capture_job), original_stop())
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capture.cancel()
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self.assertEqual(locks, [capture])
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self.assertIsNone(self.owner._object_capture_job)
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def test_old_acquisition_with_new_preprocessing_timestamp_is_not_captured(self) -> None:
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capture = self._capture()
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capture._start()
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stale = SweepCollection(1, capture._start_ns + 100, capture_start_ns=capture._start_ns - 100)
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self.owner._pre_history = [stale]
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capture._poll()
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self.assertEqual(capture._collections, [])
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capture.cancel()
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def test_replay_is_rejected_before_acquisition(self) -> None:
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config = _config()
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config.radar.replay.dataset_dir = "saved_scene"
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self.owner._build_config = lambda: config
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capture = self._capture()
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capture._start()
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self.owner._start_run.assert_not_called()
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class ObjectGeometryLifecycleTest(unittest.TestCase):
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def setUp(self) -> None:
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config = _config()
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config.preprocess.s21.object_calibration.set_name = "object"
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self.tx, self.rx = [asdict(entry) for entry in config.gpr.tx_geometry], [asdict(entry) for entry in config.gpr.rx_geometry]
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self.owner = SimpleNamespace(
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_selected_preprocess_sets={"s21_object_calibration": "object"}, _selected_preprocess_radar_key="radar",
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_store=SimpleNamespace(load_object_calibration=mock.Mock(return_value=_calibration(config))),
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_gpr_tx_geometry_input=SimpleNamespace(records=lambda: self.tx),
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_gpr_rx_geometry_input=SimpleNamespace(records=lambda: self.rx),
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_supervisor=SimpleNamespace(is_running=lambda: True), _preprocess_dialog=mock.Mock(),
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_stop_request_seq=0, _refresh_preprocess_summary_labels=mock.Mock(), _start_run=mock.Mock(), _log_warning=mock.Mock(),
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_active_run_config=config, _radar_key=lambda _config: "radar",
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)
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self.owner._pipeline_resume_allowed = lambda seq: seq == self.owner._stop_request_seq
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self.owner._stop_run = mock.Mock(side_effect=lambda: setattr(self.owner, "_stop_request_seq", self.owner._stop_request_seq + 1))
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def test_same_geometry_retains_object_correction_without_restart(self) -> None:
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AppWindowLiveProcessingMixin._invalidate_object_calibration_after_geometry_change(self.owner)
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self.assertEqual(self.owner._selected_preprocess_sets["s21_object_calibration"], "object")
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self.owner._stop_run.assert_not_called()
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self.owner._start_run.assert_not_called()
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def test_changed_geometry_disables_correction_and_reloads_acquisition(self) -> None:
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self.tx[0]["z_m"] = .1
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AppWindowLiveProcessingMixin._invalidate_object_calibration_after_geometry_change(self.owner)
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self.assertEqual(self.owner._selected_preprocess_sets["s21_object_calibration"], "")
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self.owner._stop_run.assert_called_once()
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self.owner._start_run.assert_called_once()
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self.owner._log_warning.assert_called_once()
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def test_explicit_stop_during_geometry_change_prevents_resume(self) -> None:
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self.tx[0]["z_m"] = .1
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self.owner._stop_run.side_effect = lambda: setattr(self.owner, "_stop_request_seq", self.owner._stop_request_seq + 2)
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AppWindowLiveProcessingMixin._invalidate_object_calibration_after_geometry_change(self.owner)
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self.owner._start_run.assert_not_called()
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def test_pending_off_selection_still_reloads_an_incompatible_active_correction(self) -> None:
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self.owner._selected_preprocess_sets["s21_object_calibration"] = ""
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self.tx[0]["z_m"] = .1
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AppWindowLiveProcessingMixin._invalidate_object_calibration_after_geometry_change(self.owner)
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self.owner._stop_run.assert_called_once()
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self.owner._start_run.assert_called_once()
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if __name__ == "__main__":
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unittest.main()
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