Create test_tactile.py

Author: BryceWDesign

tests/test_tactile.py

@@ -0,0 +1,303 @@
+"""
+IX-HapticSight — Tests for normalized tactile interface models.
+
+These tests verify that the backend-agnostic tactile layer can:
+- normalize tactile patches safely
+- compute patch, area, pressure, and shear summaries
+- expose freshness/health usability checks
+- derive compact tactile contact assessments
+"""
+
+import math
+import os
+import sys
+
+# Make project packages importable without packaging/install
+sys.path.insert(0, os.path.abspath("src"))
+
+from ohip_interfaces.signal_health import (  # noqa: E402
+    FreshnessPolicy,
+    SignalHealth,
+    SignalQuality,
+    SignalSourceMode,
+)
+from ohip_interfaces.tactile import (  # noqa: E402
+    TactileFrame,
+    assess_tactile_contact,
+    make_tactile_patch,
+)
+
+
+def make_quality(*, sample_t: float = 100.0, received_t: float = 100.01) -> SignalQuality:
+    return SignalQuality(
+        source_mode=SignalSourceMode.LIVE,
+        health=SignalHealth.NOMINAL,
+        sample_timestamp_utc_s=sample_t,
+        received_timestamp_utc_s=received_t,
+        sequence_id=21,
+        source_name="forearm_tactile",
+        frame="forearm_link",
+    )
+
+
+def test_make_tactile_patch_normalizes_values():
+    patch = make_tactile_patch(
+        patch_id="p1",
+        location_xyz=[0.01, 0.02, 0.03],
+        normal_xyz=[0.0, 0.0, 1.0],
+        area_mm2=15.5,
+        pressure_kpa=2.2,
+        shear_xy_kpa=[0.5, 0.25],
+    )
+
+    assert patch.patch_id == "p1"
+    assert patch.location_xyz.x == 0.01
+    assert patch.location_xyz.y == 0.02
+    assert patch.location_xyz.z == 0.03
+    assert patch.normal_xyz.z == 1.0
+    assert patch.area_mm2 == 15.5
+    assert patch.pressure_kpa == 2.2
+    assert patch.shear_xy_kpa == (0.5, 0.25)
+
+
+def test_tactile_patch_shear_magnitude_is_computed_correctly():
+    patch = make_tactile_patch(
+        patch_id="p2",
+        location_xyz=[0.0, 0.0, 0.0],
+        normal_xyz=[0.0, 1.0, 0.0],
+        area_mm2=10.0,
+        pressure_kpa=1.0,
+        shear_xy_kpa=[3.0, 4.0],
+    )
+
+    assert math.isclose(patch.shear_magnitude_kpa(), 5.0, rel_tol=0.0, abs_tol=1e-12)
+
+
+def test_tactile_frame_summaries_work_for_multiple_patches():
+    patch_a = make_tactile_patch(
+        patch_id="a",
+        location_xyz=[0.01, 0.01, 0.00],
+        normal_xyz=[0.0, 0.0, 1.0],
+        area_mm2=12.0,
+        pressure_kpa=2.0,
+        shear_xy_kpa=[0.3, 0.4],
+    )
+    patch_b = make_tactile_patch(
+        patch_id="b",
+        location_xyz=[0.02, 0.02, 0.00],
+        normal_xyz=[0.0, 0.0, 1.0],
+        area_mm2=18.0,
+        pressure_kpa=4.5,
+        shear_xy_kpa=[0.0, 1.2],
+    )
+
+    frame = TactileFrame(
+        surface_name="forearm_pad",
+        frame="forearm_link",
+        quality=make_quality(),
+        patches=(patch_a, patch_b),
+    )
+
+    assert frame.patch_count() == 2
+    assert frame.has_contact() is True
+    assert frame.total_area_mm2() == 30.0
+    assert frame.max_pressure_kpa() == 4.5
+    assert frame.max_shear_kpa() == 1.2
+
+
+def test_tactile_frame_respects_freshness_and_usability():
+    policy = FreshnessPolicy(max_age_ms=250, required=True)
+
+    frame = TactileFrame(
+        surface_name="palm_pad",
+        frame="palm_link",
+        quality=make_quality(sample_t=50.0, received_t=50.002),
+        patches=(),
+    )
+
+    assert frame.is_fresh(policy, now_utc_s=50.20) is True
+    assert frame.is_usable(policy, now_utc_s=50.20) is True
+    assert frame.is_fresh(policy, now_utc_s=50.30) is False
+    assert frame.is_usable(policy, now_utc_s=50.30) is False
+
+
+def test_assess_tactile_contact_detects_contact_and_excessive_values():
+    patch_a = make_tactile_patch(
+        patch_id="a",
+        location_xyz=[0.0, 0.0, 0.0],
+        normal_xyz=[0.0, 0.0, 1.0],
+        area_mm2=20.0,
+        pressure_kpa=6.0,
+        shear_xy_kpa=[1.0, 1.0],
+    )
+    patch_b = make_tactile_patch(
+        patch_id="b",
+        location_xyz=[0.0, 0.0, 0.0],
+        normal_xyz=[0.0, 0.0, 1.0],
+        area_mm2=10.0,
+        pressure_kpa=12.0,
+        shear_xy_kpa=[4.0, 4.0],
+    )
+
+    frame = TactileFrame(
+        surface_name="forearm_pad",
+        frame="forearm_link",
+        quality=make_quality(),
+        patches=(patch_a, patch_b),
+    )
+
+    assessment = assess_tactile_contact(
+        frame,
+        pressure_threshold_kpa=0.5,
+        excessive_pressure_threshold_kpa=10.0,
+        excessive_shear_threshold_kpa=5.0,
+    )
+
+    assert assessment.contact_detected is True
+    assert assessment.multi_patch_contact is True
+    assert assessment.patch_count == 2
+    assert assessment.total_area_mm2 == 30.0
+    assert assessment.max_pressure_kpa == 12.0
+    assert math.isclose(assessment.max_shear_kpa, math.sqrt(32.0), rel_tol=0.0, abs_tol=1e-12)
+    assert assessment.excessive_pressure is True
+    assert assessment.excessive_shear is True
+
+
+def test_assess_tactile_contact_can_report_no_contact():
+    frame = TactileFrame(
+        surface_name="palm_pad",
+        frame="palm_link",
+        quality=make_quality(),
+        patches=(),
+    )
+
+    assessment = assess_tactile_contact(
+        frame,
+        pressure_threshold_kpa=0.5,
+        excessive_pressure_threshold_kpa=10.0,
+        excessive_shear_threshold_kpa=5.0,
+    )
+
+    assert assessment.contact_detected is False
+    assert assessment.multi_patch_contact is False
+    assert assessment.patch_count == 0
+    assert assessment.total_area_mm2 == 0.0
+    assert assessment.max_pressure_kpa == 0.0
+    assert assessment.max_shear_kpa == 0.0
+    assert assessment.excessive_pressure is False
+    assert assessment.excessive_shear is False
+
+
+def test_make_tactile_patch_rejects_invalid_inputs():
+    try:
+        make_tactile_patch(
+            patch_id="bad-loc",
+            location_xyz=[0.0, 0.0],
+            normal_xyz=[0.0, 0.0, 1.0],
+            area_mm2=1.0,
+            pressure_kpa=1.0,
+        )
+        bad_loc = False
+    except ValueError:
+        bad_loc = True
+
+    try:
+        make_tactile_patch(
+            patch_id="bad-normal",
+            location_xyz=[0.0, 0.0, 0.0],
+            normal_xyz=[0.0, 1.0],
+            area_mm2=1.0,
+            pressure_kpa=1.0,
+        )
+        bad_normal = False
+    except ValueError:
+        bad_normal = True
+
+    try:
+        make_tactile_patch(
+            patch_id="bad-shear",
+            location_xyz=[0.0, 0.0, 0.0],
+            normal_xyz=[0.0, 0.0, 1.0],
+            area_mm2=1.0,
+            pressure_kpa=1.0,
+            shear_xy_kpa=[1.0],
+        )
+        bad_shear = False
+    except ValueError:
+        bad_shear = True
+
+    try:
+        make_tactile_patch(
+            patch_id="bad-area",
+            location_xyz=[0.0, 0.0, 0.0],
+            normal_xyz=[0.0, 0.0, 1.0],
+            area_mm2=-1.0,
+            pressure_kpa=1.0,
+        )
+        bad_area = False
+    except ValueError:
+        bad_area = True
+
+    try:
+        make_tactile_patch(
+            patch_id="bad-pressure",
+            location_xyz=[0.0, 0.0, 0.0],
+            normal_xyz=[0.0, 0.0, 1.0],
+            area_mm2=1.0,
+            pressure_kpa=-0.1,
+        )
+        bad_pressure = False
+    except ValueError:
+        bad_pressure = True
+
+    assert bad_loc is True
+    assert bad_normal is True
+    assert bad_shear is True
+    assert bad_area is True
+    assert bad_pressure is True
+
+
+def test_assess_tactile_contact_rejects_invalid_thresholds():
+    frame = TactileFrame(
+        surface_name="pad",
+        frame="pad_link",
+        quality=make_quality(),
+        patches=(),
+    )
+
+    try:
+        assess_tactile_contact(
+            frame,
+            pressure_threshold_kpa=-0.1,
+            excessive_pressure_threshold_kpa=10.0,
+            excessive_shear_threshold_kpa=5.0,
+        )
+        bad_pressure_threshold = False
+    except ValueError:
+        bad_pressure_threshold = True
+
+    try:
+        assess_tactile_contact(
+            frame,
+            pressure_threshold_kpa=1.0,
+            excessive_pressure_threshold_kpa=0.5,
+            excessive_shear_threshold_kpa=5.0,
+        )
+        bad_excessive_pressure = False
+    except ValueError:
+        bad_excessive_pressure = True
+
+    try:
+        assess_tactile_contact(
+            frame,
+            pressure_threshold_kpa=0.5,
+            excessive_pressure_threshold_kpa=10.0,
+            excessive_shear_threshold_kpa=-1.0,
+        )
+        bad_shear_threshold = False
+    except ValueError:
+        bad_shear_threshold = True
+
+    assert bad_pressure_threshold is True
+    assert bad_excessive_pressure is True
+    assert bad_shear_threshold is True