From dd299043c05405515d9e48d98371f0de156acc59 Mon Sep 17 00:00:00 2001 From: Beomsoo Son Date: Sun, 9 Aug 2026 17:50:57 +0900 Subject: [PATCH 1/3] feat: add owner-facing glove acceptance runner --- .gitignore | 1 + docs/07_acceptance.md | 131 ++++ src/oglo/acceptance.py | 1150 +++++++++++++++++++++++++++++++++ src/oglo/cli.py | 101 ++- tests/test_acceptance.py | 266 ++++++++ uv.lock | 1308 ++++++++++++++++++++++++++++++++++++++ 6 files changed, 2954 insertions(+), 3 deletions(-) create mode 100644 docs/07_acceptance.md create mode 100644 src/oglo/acceptance.py create mode 100644 tests/test_acceptance.py create mode 100644 uv.lock diff --git a/.gitignore b/.gitignore index f8c5230..69a01d5 100644 --- a/.gitignore +++ b/.gitignore @@ -9,3 +9,4 @@ dist/ build/ *.egg-info/ .venv/ +acceptance-results/ diff --git a/docs/07_acceptance.md b/docs/07_acceptance.md new file mode 100644 index 0000000..caf7eaa --- /dev/null +++ b/docs/07_acceptance.md @@ -0,0 +1,131 @@ +# Test your own glove pair + +`oglo acceptance` is the owner-facing test for one physical left/right USB pair. +Unlike the developer pytest suite, it uses only the installed SDK's public API, +guides optional physical actions, and writes a durable Markdown and JSON report. + +## Safe default + +Connect exactly two gloves and run: + +```bash +oglo acceptance +``` + +The default run does **not** change zero, threshold, RAW/CLEAN mode, or stream rates. +It checks: + +- one left and one right glove with distinct logical serials +- firmware 0.9.10, CONFIG schema 6, USB transport, dimensions, and finger order +- sensor health and existing zero state +- public tactile, IMU, magnetometer, `stop()`, `start()`, and `read_batch()` paths +- simultaneous two-hand rate, timestamps, sequence gaps, malformed data, and overflow +- a short simultaneous recording and replay +- logical-serial reconnect after both original connections close + +## Reports + +Every run creates a new directory instead of overwriting evidence: + +```text +acceptance-results/ + run-20260809-170000/ + acceptance-report.md + acceptance-report.json + recordings/ + left/ep_0001/ + right/ep_0001/ +``` + +Each check is `PASS`, `WARN`, `FAIL`, or `SKIP` and includes the measured rates and +counters where useful. A failed run exits with status 2. Optional checks that were not +requested are `SKIP` and do not turn a healthy read-only run into a failure. + +Use a different result root with `--output PATH`. Skip the short recording with +`--no-record`, or change its duration with `--record 10s`. + +## Press every finger and move the IMU + +```bash +oglo acceptance --interactive +``` + +The runner asks for each finger on each hand. It captures a released baseline, then +measures the press and verifies that the requested name is the strongest responding +4x4 region according to that device's `info.channels`. It also compares a still wrist +with a deliberate rotation. + +This proves dynamic response and labeling, not force calibration. Press one sensing +area at a time; bending the whole hand can legitimately compress several fingers and +make the selected finger lose the "strongest" check. The default minimum response is +25 ADC counts and can be changed with `--taxel-delta`. + +The magnetometer motion result only checks that values change. It does not validate +the magnetometer axes or prove a trustworthy heading. + +## Reversible setting checks + +```bash +oglo acceptance --mutations +``` + +This explicitly enables state-changing checks: + +- switch to RAW and prove `Frame.residual` refuses raw data +- switch to CLEAN with a temporary threshold and verify the clean result +- change tactile rate and, when the measured starting IMU cadence is the known 500 + packets/s value, change IMU rate +- restore the observed tactile rate, RAW/CLEAN mode, threshold, and known IMU default +- read back the restored state + +Restoration is attempted in `finally` even when an intermediate check fails. A +restoration failure is a `FAIL` and is printed prominently; do not continue collecting +customer data until the settings have been inspected manually. + +## Replace the stored zero + +```bash +oglo acceptance --zero +``` + +This is deliberately separate because it overwrites the only stored calibration. +For each glove the runner prints the serial and requires typing `ZERO `. Wear +that glove, touch nothing, and repeatedly open and close the hand during the sweep. + +The SDK validates the completion recipe, all 80 baseline/noise entries, `GET ZERO`, +and CONFIG `zero_valid`. Firmware 0.9.10 cannot prove that flash survived a power +cycle, so the report leaves that gate as `SKIP`. Unplug/replug the glove and run the +safe default again to provide separate read-back evidence. + +`--zero --yes` bypasses the typed phrase and is intended only for a deliberately +controlled station. `--yes` by itself does nothing. + +## Long two-hand soak + +The device `t_us` counter wraps after roughly 71 minutes 35 seconds. Qualify that +boundary and the actual destination disk with: + +```bash +oglo acceptance --soak 75m --output /path/on/the/target/disk +``` + +The short checks run first, then both hands record concurrently for 75 minutes. The +episodes are replayed and must be complete, correctly identified, non-empty in every +fitted modality, and free of recorded sequence gaps. + +A successful soak is evidence for the machine, cables, hubs, gloves, duration, and +storage named in that report. It is not a permanent guarantee for every host. + +## Deliberate scope + +This command is USB-only. BLE remains experimental and must be qualified separately. +It does not claim: + +- hardware synchronisation between the two gloves +- Newton/force calibration +- fused orientation or validated magnetometer axes +- payload integrity beyond what firmware 0.9.10 exposes +- power-cycle zero persistence unless that physical cycle was separately performed + +Run the default acceptance check before an important capture and attach its JSON +report to the dataset or deployment record. diff --git a/src/oglo/acceptance.py b/src/oglo/acceptance.py new file mode 100644 index 0000000..82d7be6 --- /dev/null +++ b/src/oglo/acceptance.py @@ -0,0 +1,1150 @@ +"""User-run acceptance checks for a physical OGLO USB pair. + +This is intentionally different from the pytest hardware suite. Pytest proves +implementation contracts for developers; this runner walks an owner through a real +pair and leaves a JSON/Markdown record of what was measured. The default path is +read-only with respect to device state. Calibration and reversible setting changes +require explicit flags. + +Only public SDK objects are used: ``connect``, ``connect_pair``, ``record``, +``replay`` and public ``Glove``/sample members. That makes this a customer-view test +of the installed SDK rather than a privileged probe that can pass around a broken +public API. +""" + +from __future__ import annotations + +import json +import math +import platform +import sys +import time +from concurrent.futures import ThreadPoolExecutor +from dataclasses import asdict, dataclass, field +from datetime import datetime, timezone +from pathlib import Path +from typing import Any, Callable, Dict, List, Mapping, Optional, Sequence, TextIO + +import numpy as np + + +PASS, WARN, FAIL, SKIP = "pass", "warn", "fail", "skip" +_VERDICT_ORDER = {PASS: 0, SKIP: 1, WARN: 2, FAIL: 3} +_FINGERS = ("thumb", "index", "middle", "ring", "pinky") +_STRICT_LOSS_PREFIXES = ( + "wire_", + "overflow_", + "transport_", + "duplicate_", + "backward_", +) + + +@dataclass(frozen=True) +class AcceptanceConfig: + output_root: Path = Path("acceptance-results") + stream_seconds: float = 5.0 + record_seconds: float = 2.0 + soak_seconds: Optional[float] = None + mutations: bool = False + zero: bool = False + zero_sweep_seconds: int = 5 + interactive: bool = False + interactive_seconds: float = 1.5 + taxel_delta: float = 25.0 + assume_yes: bool = False + + +@dataclass +class CheckResult: + name: str + verdict: str + detail: str = "" + measurements: Dict[str, Any] = field(default_factory=dict) + + +@dataclass +class AcceptanceReport: + run_dir: Path + config: AcceptanceConfig + sdk_version: str + started_at: str = field( + default_factory=lambda: datetime.now(timezone.utc).isoformat() + ) + finished_at: Optional[str] = None + checks: List[CheckResult] = field(default_factory=list) + devices: List[Dict[str, Any]] = field(default_factory=list) + sink: Optional[TextIO] = field(default=None, repr=False) + + def add( + self, + name: str, + verdict: str, + detail: str = "", + measurements: Optional[Mapping[str, Any]] = None, + ) -> CheckResult: + if verdict not in _VERDICT_ORDER: + raise ValueError(f"unknown acceptance verdict {verdict!r}") + check = CheckResult( + name=name, + verdict=verdict, + detail=detail, + measurements=_jsonable(dict(measurements or {})), + ) + self.checks.append(check) + if self.sink is not None: + mark = {PASS: "PASS", WARN: "WARN", FAIL: "FAIL", SKIP: "SKIP"}[verdict] + print(f"[{mark}] {name}" + (f" — {detail}" if detail else ""), file=self.sink) + self.sink.flush() + return check + + @property + def worst(self) -> str: + if not self.checks: + return FAIL + if any(c.verdict == FAIL for c in self.checks): + return FAIL + if any(c.verdict == WARN for c in self.checks): + return WARN + if any(c.verdict == PASS for c in self.checks): + return PASS + return SKIP + + @property + def failed(self) -> bool: + return any(c.verdict == FAIL for c in self.checks) + + def finish(self) -> None: + self.finished_at = datetime.now(timezone.utc).isoformat() + self.write() + + def as_dict(self) -> Dict[str, Any]: + cfg = asdict(self.config) + cfg["output_root"] = str(self.config.output_root) + return { + "schema": 1, + "started_at": self.started_at, + "finished_at": self.finished_at, + "sdk_version": self.sdk_version, + "python": platform.python_version(), + "platform": platform.platform(), + "result": FAIL if self.failed else self.worst, + "config": _jsonable(cfg), + "devices": _jsonable(self.devices), + "checks": [_jsonable(asdict(c)) for c in self.checks], + } + + def write(self) -> None: + self.run_dir.mkdir(parents=True, exist_ok=True) + data = self.as_dict() + (self.run_dir / "acceptance-report.json").write_text( + json.dumps(data, indent=2, sort_keys=True) + "\n", encoding="utf-8" + ) + (self.run_dir / "acceptance-report.md").write_text( + _markdown_report(data), encoding="utf-8" + ) + + +def parse_duration(value: str) -> float: + """Parse seconds or a compact duration such as ``75m`` or ``1.5h``.""" + text = str(value).strip().lower() + multiplier = 1.0 + for suffix, factor in (("ms", 0.001), ("s", 1.0), ("m", 60.0), ("h", 3600.0)): + if text.endswith(suffix): + multiplier = factor + text = text[: -len(suffix)] + break + try: + result = float(text) * multiplier + except ValueError as exc: + raise ValueError(f"invalid duration {value!r}; use seconds, 75m, or 1.5h") from exc + if not math.isfinite(result) or result <= 0: + raise ValueError("duration must be finite and greater than zero") + return result + + +def run_acceptance( + config: AcceptanceConfig, + *, + sdk: Optional[Any] = None, + input_fn: Callable[[str], str] = input, + sink: Optional[TextIO] = None, +) -> AcceptanceReport: + """Run the requested acceptance checks and always leave a report. + + ``sdk`` and ``input_fn`` are injectable so the orchestration and refusal paths + can be tested without opening hardware or waiting for a person. + """ + _validate_config(config) + if sdk is None: + import oglo as sdk # public package, deliberately not private transports + + if sink is None: + sink = sys.stdout + run_dir = _new_run_dir(Path(config.output_root)) + report = AcceptanceReport( + run_dir=run_dir, + config=config, + sdk_version=str(getattr(sdk, "__version__", "unknown")), + sink=sink, + ) + print(f"Acceptance artifacts: {run_dir}", file=sink) + print("Default checks do not change calibration or stream settings.", file=sink) + if config.mutations: + print("Reversible RAW/CLEAN/rate changes are ENABLED.", file=sink) + if config.zero: + print("ZERO REPLACEMENT is ENABLED and cannot be automatically restored.", file=sink) + + gloves: List[Any] = [] + serials: List[str] = [] + stream_stats: Dict[str, Dict[str, float]] = {} + try: + try: + left, right = sdk.connect_pair() + gloves = [left, right] + except Exception as exc: + report.add( + "connect left/right USB pair", + FAIL, + f"{type(exc).__name__}: {exc}", + ) + return report + + gloves.sort(key=lambda g: g.info.side) + serials = [str(g.info.serial) for g in gloves] + report.devices = [_device_dict(g.info) for g in gloves] + _check_pair(report, gloves) + _check_public_iterators(report, gloves, sdk) + stream_stats = _check_streams(report, gloves, config.stream_seconds, sdk) + + if config.interactive: + _interactive_checks(report, gloves, config, input_fn) + else: + report.add( + "human tactile/IMU interaction", + SKIP, + "pass --interactive to test finger labels and motion response", + ) + + if config.mutations: + _mutation_checks(report, gloves, stream_stats, sdk) + else: + report.add( + "reversible RAW/CLEAN/rate mutations", + SKIP, + "pass --mutations to enable state-changing checks", + ) + + if config.zero: + _zero_checks(report, gloves, config, input_fn) + else: + report.add( + "zero sweep replacement", + SKIP, + "pass --zero only while wearing and moving the glove; this overwrites calibration", + ) + + if config.record_seconds > 0: + _record_replay_pair( + report, + gloves, + config.record_seconds, + report.run_dir / "recordings", + sdk, + label="short record/replay", + ) + + if config.soak_seconds is not None: + _record_replay_pair( + report, + gloves, + config.soak_seconds, + report.run_dir / "soak", + sdk, + label="long two-hand soak", + ) + else: + report.add( + "72+ minute clock-rollover soak", + SKIP, + "pass --soak 75m to qualify rollover and target storage", + ) + except KeyboardInterrupt: + report.add("acceptance run completed", FAIL, "cancelled by user") + raise + except Exception as exc: + report.add( + "acceptance runner", + FAIL, + f"unexpected {type(exc).__name__}: {exc}", + ) + finally: + for glove in gloves: + try: + glove.close() + except Exception as exc: + report.add( + f"close {getattr(getattr(glove, 'info', None), 'serial', '?')}", + FAIL, + f"{type(exc).__name__}: {exc}", + ) + + if serials: + _check_logical_reconnect(report, serials, sdk) + report.finish() + print( + f"Result: {'FAIL' if report.failed else report.worst.upper()} — " + f"{report.run_dir / 'acceptance-report.md'}", + file=sink, + ) + return report + + +def _check_pair(report: AcceptanceReport, gloves: Sequence[Any]) -> None: + infos = [g.info for g in gloves] + sides = {i.side for i in infos} + report.add( + "one left and one right glove", + PASS if sides == {"left", "right"} else FAIL, + ", ".join(f"{i.serial}={i.side}" for i in infos), + ) + unique = len({str(i.serial).casefold() for i in infos}) == 2 + report.add( + "distinct logical serials", + PASS if unique else FAIL, + ", ".join(i.serial for i in infos), + ) + + for info in infos: + raw = dict(getattr(info, "raw", {}) or {}) + fw = _version_tuple(str(info.fw_rev)) + report.add( + f"{info.serial}: firmware 0.9.10", + PASS if fw == (0, 9, 10) else FAIL, + f"reported {info.fw_rev}", + ) + report.add( + f"{info.serial}: CONFIG schema 6", + PASS if raw.get("schema_ver") == 6 else FAIL, + f"reported {raw.get('schema_ver')!r}", + ) + contract_ok = ( + info.transport == "usb" + and raw.get("values_per_sample") == 80 + and raw.get("sample_shape") == [5, 4, 4] + and raw.get("imu_len") == 25 + and set(info.channels) == set(_FINGERS) + ) + report.add( + f"{info.serial}: USB data contract", + PASS if contract_ok else FAIL, + f"transport={info.transport}, shape={raw.get('sample_shape')}, " + f"imu_len={raw.get('imu_len')}, channels={info.channels}", + ) + expected = ( + ["pinky", "ring", "middle", "index", "thumb"] + if info.side == "left" + else ["thumb", "index", "middle", "ring", "pinky"] + ) + report.add( + f"{info.serial}: finger order", + PASS if list(info.channels) == expected else FAIL, + ", ".join(info.channels), + ) + report.add( + f"{info.serial}: zero available", + PASS if info.zero_valid else WARN, + ( + "captured" + if info.zero_valid + else "missing; raw ADC still works but clean data is unavailable" + ), + ) + try: + glove = next(g for g in gloves if g.info is info) + status = glove.status() + healthy = bool(status.healthy) + report.add( + f"{info.serial}: sensor health", + PASS if healthy else FAIL, + f"imu_ok={status.imu_ok}, mag_ok={status.mag_ok}, " + f"sensor_ok={status.sensor_ok}, error_flags={status.error_flags}", + _status_dict(status), + ) + except Exception as exc: + report.add( + f"{info.serial}: sensor health", + FAIL, + f"{type(exc).__name__}: {exc}", + ) + if info.zero_valid: + try: + line = glove.send("GET ZERO", expect="#TZERO ", timeout=5.0) + recipe = json.loads(line.removeprefix("#TZERO ")) + recipe_ok = ( + recipe.get("valid") is True + and recipe.get("count") == 80 + and len(recipe.get("baseline", [])) == 80 + and len(recipe.get("noise", [])) == 80 + and recipe.get("thr") == info.stream_thr + and recipe.get("clean") is info.stream_clean + ) + report.add( + f"{info.serial}: public send(GET ZERO)", + PASS if recipe_ok else FAIL, + "80-taxel recipe agrees with CONFIG" if recipe_ok else "recipe mismatch", + { + "count": recipe.get("count"), + "threshold": recipe.get("thr"), + "clean": recipe.get("clean"), + "locked": recipe.get("locked"), + }, + ) + except Exception as exc: + report.add( + f"{info.serial}: public send(GET ZERO)", + FAIL, + f"{type(exc).__name__}: {exc}", + ) + else: + report.add(f"{info.serial}: public send(GET ZERO)", SKIP, "zero_valid=false") + + +def _check_public_iterators(report: AcceptanceReport, gloves: Sequence[Any], sdk: Any) -> None: + for glove in gloves: + serial = glove.info.serial + for name in ("tactile", "imu", "mag"): + if name == "mag" and not glove.info.has_mag: + report.add(f"{serial}: {name} iterator", SKIP, "has_mag=false") + continue + try: + glove.stop() + sample = next(getattr(glove, name)(timeout=2.0)) + type_name = {"tactile": "Frame", "imu": "ImuSample", "mag": "MagSample"}[name] + expected = getattr(sdk, type_name) + report.add( + f"{serial}: {name} iterator", + PASS if isinstance(sample, expected) else FAIL, + type(sample).__name__, + ) + except Exception as exc: + report.add( + f"{serial}: {name} iterator", + FAIL, + f"{type(exc).__name__}: {exc}", + ) + try: + glove.stop() + glove.start() + batch = glove.read_batch(timeout=2.0) + report.add( + f"{serial}: stop/start/read_batch", + PASS if bool(batch) else FAIL, + "stream resumed" if batch else "no sample after restart", + ) + glove.stop() + except Exception as exc: + report.add( + f"{serial}: stop/start/read_batch", + FAIL, + f"{type(exc).__name__}: {exc}", + ) + + +def _check_streams( + report: AcceptanceReport, + gloves: Sequence[Any], + seconds: float, + sdk: Any, +) -> Dict[str, Dict[str, float]]: + before: Dict[str, Any] = {} + for glove in gloves: + glove.stop() + try: + before[glove.info.side] = glove.status() + except Exception as exc: + report.add( + f"{glove.info.serial}: pre-stream status", + FAIL, + f"{type(exc).__name__}: {exc}", + ) + + with ThreadPoolExecutor(max_workers=2) as pool: + futures = {g.info.side: pool.submit(_collect, g, seconds) for g in gloves} + collected = {side: future.result() for side, future in futures.items()} + + stats: Dict[str, Dict[str, float]] = {} + for glove in gloves: + side = glove.info.side + samples = collected[side] + stats[side] = _sample_stats(samples) + _report_sample_contract(report, glove, samples, stats[side], sdk) + public_rates = dict(glove.rates_seen) + rates_seen_ok = all( + float(public_rates.get(name, 0.0)) > 0 + for name in ("tactile", "imu") + (("mag",) if glove.info.has_mag else ()) + ) + report.add( + f"{glove.info.serial}: public rates_seen", + PASS if rates_seen_ok else FAIL, + ", ".join(f"{name}={hz:.1f}" for name, hz in public_rates.items()), + public_rates, + ) + _report_loss(report, glove) + try: + after = glove.status() + start = before.get(side) + if start is None: + continue + deltas = { + "tag_dropped": after.tag_dropped - start.tag_dropped, + "tag_short_writes": after.tag_short_writes - start.tag_short_writes, + "deadline_misses": after.deadline_misses - start.deadline_misses, + } + healthy = ( + after.healthy + and after.uptime_ms >= start.uptime_ms + and all(v == 0 for v in deltas.values()) + ) + report.add( + f"{glove.info.serial}: device health during stream", + PASS if healthy else FAIL, + f"healthy={after.healthy}, uptime " + f"{start.uptime_ms}->{after.uptime_ms}, deltas={deltas}", + deltas, + ) + except Exception as exc: + report.add( + f"{glove.info.serial}: post-stream status", + FAIL, + f"{type(exc).__name__}: {exc}", + ) + return stats + + +def _report_sample_contract( + report: AcceptanceReport, + glove: Any, + samples: Mapping[str, Sequence[Any]], + stats: Mapping[str, float], + sdk: Any, +) -> None: + serial = glove.info.serial + for name in ("tactile", "imu", "mag"): + values = list(samples[name]) + if name == "mag" and not glove.info.has_mag: + report.add(f"{serial}: {name} samples", SKIP, "has_mag=false") + continue + monotonic = bool(values) and all( + b.device_time_us >= a.device_time_us + and b.host_t_ns >= a.host_t_ns + and b.host_received_ns == b.host_t_ns + and b.dropped == 0 + for a, b in zip(values, values[1:]) + ) and all(v.host_received_ns == v.host_t_ns and v.dropped == 0 for v in values) + report.add( + f"{serial}: {name} timestamps/sequences", + PASS if monotonic else FAIL, + f"{len(values)} samples", + ) + + tactile = list(samples["tactile"]) + tactile_ok = bool(tactile) and all( + isinstance(f, sdk.Frame) + and f.counts.shape == (5, 4, 4) + and f.counts.dtype == np.uint16 + and 0 <= int(f.counts.min()) <= int(f.counts.max()) <= 4095 + and f.finger(0).shape == (4, 4) + and f.device_time_ns == f.device_time_us * 1000 + for f in tactile + ) + if tactile: + try: + if glove.info.stream_clean: + residual_ok = np.array_equal( + tactile[0].residual, tactile[0].counts.astype(np.float32) + ) + else: + try: + _ = tactile[0].residual + residual_ok = False + except sdk.CleanStreamError: + residual_ok = True + except Exception: + residual_ok = False + else: + residual_ok = False + orientation_refused = False + if tactile: + try: + _ = tactile[0].orientation + except NotImplementedError: + orientation_refused = True + report.add( + f"{serial}: tactile values and RAW/CLEAN semantics", + PASS if tactile_ok and residual_ok and orientation_refused else FAIL, + f"shape/dtype/range={tactile_ok}, residual={residual_ok}, " + f"orientation_refused={orientation_refused}", + ) + + imu = list(samples["imu"]) + imu_ok = bool(imu) and all( + isinstance(s, sdk.ImuSample) + and len(s.accel) == len(s.gyro) == 3 + and s.device_time_ns == s.device_time_us * 1000 + and all(math.isfinite(v) for v in (*s.accel, *s.gyro, *s.accel_frame, *s.gyro_frame)) + for s in imu + ) + imu_orientation_refused = False + if imu: + try: + _ = imu[0].orientation + except NotImplementedError: + imu_orientation_refused = True + report.add( + f"{serial}: IMU values", + PASS if imu_ok and imu_orientation_refused else FAIL, + f"{len(imu)} finite samples, orientation_refused={imu_orientation_refused}", + ) + + mag = list(samples["mag"]) + if glove.info.has_mag: + mag_ok = bool(mag) and all( + isinstance(s, sdk.MagSample) + and len(s.field) == 3 + and all(math.isfinite(v) for v in s.field) + and math.isfinite(s.magnitude) + for s in mag + ) + report.add( + f"{serial}: magnetometer values", + PASS if mag_ok else FAIL, + f"{len(mag)} finite samples", + ) + + expected = { + "tactile": (0.90 * glove.info.rate_hz, 1.10 * glove.info.rate_hz), + "imu": (450.0, 550.0), + "mag": (105.0, 145.0), + } + for name, (low, high) in expected.items(): + if name == "mag" and not glove.info.has_mag: + continue + hz = float(stats.get(f"{name}_hz", 0.0)) + report.add( + f"{serial}: {name} rate", + PASS if low <= hz <= high else FAIL, + f"{hz:.1f} packets/s; expected {low:.1f}..{high:.1f}", + {"delivered_hz": hz, "expected_min_hz": low, "expected_max_hz": high}, + ) + + +def _report_loss(report: AcceptanceReport, glove: Any) -> None: + counters = dict(glove.dropped) + strict = { + name: int(value) + for name, value in counters.items() + if name == "unrouted_packets" or name.startswith(_STRICT_LOSS_PREFIXES) + } + ok = bool(strict) and all(value == 0 for value in strict.values()) + report.add( + f"{glove.info.serial}: host/wire loss counters", + PASS if ok else FAIL, + "all zero" if ok else str({k: v for k, v in strict.items() if v}), + strict, + ) + + +def _mutation_checks( + report: AcceptanceReport, + gloves: Sequence[Any], + stream_stats: Mapping[str, Mapping[str, float]], + sdk: Any, +) -> None: + for glove in gloves: + glove.stop() + for glove in gloves: + for other in gloves: + other.stop() + serial = glove.info.serial + original_rate = int(glove.info.rate_hz) + original_clean = bool(glove.info.stream_clean) + original_threshold = int(glove.info.stream_thr) + baseline_imu = float(stream_stats.get(glove.info.side, {}).get("imu_hz", 0.0)) + restore_imu = 500 if 450.0 <= baseline_imu <= 550.0 else None + changed_ok = True + detail: List[str] = [] + try: + glove.stop() + glove.raw() + frame = next(glove.tactile(timeout=2.0)) + try: + _ = frame.residual + changed_ok = False + detail.append("raw residual did not raise") + except sdk.CleanStreamError: + pass + + if not glove.info.zero_valid: + changed_ok = False + detail.append("zero_valid=false prevents CLEAN test") + else: + alternate_threshold = original_threshold + 1 if original_threshold < 4095 else 4094 + glove.clean(threshold=alternate_threshold) + clean = next(glove.tactile(timeout=2.0)) + if not np.array_equal(clean.residual, clean.counts.astype(np.float32)): + changed_ok = False + detail.append("clean residual mismatch") + + alternate_rate = 200 if original_rate != 200 else 250 + kwargs: Dict[str, int] = {"tactile": alternate_rate} + if restore_imu is not None: + kwargs["imu"] = 250 + glove.rates(**kwargs) + changed = _collect(glove, 1.5) + changed_stats = _sample_stats(changed) + if not 0.88 * alternate_rate <= changed_stats["tactile_hz"] <= 1.12 * alternate_rate: + changed_ok = False + detail.append(f"tactile rate {changed_stats['tactile_hz']:.1f}") + if restore_imu is not None and not 220.0 <= changed_stats["imu_hz"] <= 280.0: + changed_ok = False + detail.append(f"IMU rate {changed_stats['imu_hz']:.1f}") + except Exception as exc: + changed_ok = False + detail.append(f"{type(exc).__name__}: {exc}") + finally: + restored = True + try: + restore: Dict[str, int] = {"tactile": original_rate} + if restore_imu is not None: + restore["imu"] = restore_imu + glove.rates(**restore) + if original_clean: + glove.clean(threshold=original_threshold) + else: + if glove.info.zero_valid and glove.info.stream_thr != original_threshold: + glove.clean(threshold=original_threshold) + glove.raw() + restored = ( + glove.info.rate_hz == original_rate + and glove.info.stream_clean is original_clean + and glove.info.stream_thr == original_threshold + ) + except Exception as exc: + restored = False + detail.append(f"RESTORE {type(exc).__name__}: {exc}") + report.add( + f"{serial}: reversible RAW/CLEAN/rate mutations", + PASS if changed_ok and restored else FAIL, + ( + "; ".join(detail) + if detail + else "changed, read back, and restored original settings" + ), + { + "original_tactile_hz": original_rate, + "original_imu_measured_hz": baseline_imu, + "original_clean": original_clean, + "original_threshold": original_threshold, + "restored": restored, + }, + ) + + +def _interactive_checks( + report: AcceptanceReport, + gloves: Sequence[Any], + config: AcceptanceConfig, + input_fn: Callable[[str], str], +) -> None: + for glove in gloves: + for other in gloves: + other.stop() + serial = glove.info.serial + channels = list(glove.info.channels) + for finger in _FINGERS: + reply = input_fn( + f"\n{serial} ({glove.info.side}) {finger}: release the hand, then press Enter " + "(or type s to skip): " + ).strip().lower() + if reply == "s": + report.add(f"{serial}: physical {finger} mapping", SKIP, "skipped by user") + continue + glove.stop() + baseline = _collect(glove, 0.6)["tactile"] + glove.stop() + input_fn(f"Get ready to press only the {finger} sensing area, then press Enter: ") + print( + f"Press {finger} now and hold for {config.interactive_seconds:.1f}s.", + file=report.sink, + ) + time.sleep(0.5) + active = _collect(glove, config.interactive_seconds)["tactile"] + glove.stop() + scores = _finger_scores(baseline, active, channels) + strongest = max(scores, key=scores.get) if scores else "none" + selected = float(scores.get(finger, 0.0)) + ok = selected >= config.taxel_delta and strongest == finger + report.add( + f"{serial}: physical {finger} mapping", + PASS if ok else FAIL, + f"strongest={strongest}, selected delta={selected:.1f} counts", + {"finger_delta_counts": scores, "required_delta": config.taxel_delta}, + ) + + input_fn(f"\n{serial}: hold the glove still and press Enter: ") + glove.stop() + still = _collect(glove, 0.8) + glove.stop() + input_fn(f"Get ready to rotate {serial}, then press Enter: ") + print(f"Rotate now for {config.interactive_seconds:.1f}s.", file=report.sink) + time.sleep(0.5) + moving = _collect(glove, config.interactive_seconds) + glove.stop() + still_gyro = _max_gyro(still["imu"]) + moving_gyro = _max_gyro(moving["imu"]) + motion_ok = moving_gyro >= max(20.0, still_gyro * 1.5) + report.add( + f"{serial}: physical IMU motion response", + PASS if motion_ok else FAIL, + f"still max={still_gyro:.1f}, moving max={moving_gyro:.1f} deg/s", + {"still_max_dps": still_gyro, "moving_max_dps": moving_gyro}, + ) + if glove.info.has_mag: + mag_span = _mag_span(moving["mag"]) + report.add( + f"{serial}: magnetometer changes while moved", + PASS if mag_span >= 0.02 else WARN, + f"max vector span={mag_span:.3f} G; this checks response, not axis calibration", + {"max_vector_span_gauss": mag_span}, + ) + + +def _zero_checks( + report: AcceptanceReport, + gloves: Sequence[Any], + config: AcceptanceConfig, + input_fn: Callable[[str], str], +) -> None: + for glove in gloves: + serial = glove.info.serial + for other in gloves: + other.stop() + if not config.assume_yes: + phrase = f"ZERO {serial}" + answer = input_fn( + f"\nThis replaces calibration on {serial}. Wear it, touch nothing, and open/close " + f"the hand during the sweep. Type exactly '{phrase}' to continue: " + ) + if answer.strip() != phrase: + report.add(f"{serial}: zero sweep", SKIP, "confirmation phrase did not match") + continue + print( + f"Starting {config.zero_sweep_seconds}s zero on {serial}; open and close the hand now.", + file=report.sink, + ) + try: + recipe = glove.zero(sweep=config.zero_sweep_seconds) + ok = ( + recipe.get("valid") is True + and recipe.get("count") == 80 + and len(recipe.get("baseline", [])) == 80 + and len(recipe.get("noise", [])) == 80 + and glove.info.zero_valid + ) + report.add( + f"{serial}: zero sweep", + PASS if ok else FAIL, + "recipe and CONFIG read-back agree" if ok else "invalid recipe/read-back", + { + "frames": recipe.get("frames"), + "threshold": recipe.get("thr"), + "locked": recipe.get("locked"), + }, + ) + report.add( + f"{serial}: zero survives power cycle", + SKIP, + "unplug/replug and rerun read-only acceptance; firmware cannot prove " + "flash persistence itself", + ) + except Exception as exc: + report.add(f"{serial}: zero sweep", FAIL, f"{type(exc).__name__}: {exc}") + + +def _record_replay_pair( + report: AcceptanceReport, + gloves: Sequence[Any], + seconds: float, + root: Path, + sdk: Any, + *, + label: str, +) -> None: + root.mkdir(parents=True, exist_ok=True) + for glove in gloves: + glove.stop() + paths: Dict[str, Path] = {} + try: + with ThreadPoolExecutor(max_workers=2) as pool: + futures = { + g.info.side: pool.submit(sdk.record, root / g.info.side, seconds, glove=g) + for g in gloves + } + for side, future in futures.items(): + paths[side] = Path(future.result()) + except Exception as exc: + partial = getattr(exc, "partial_episode", None) + report.add( + label, + FAIL, + f"{type(exc).__name__}: {exc}" + (f"; partial={partial}" if partial else ""), + ) + return + + all_ok = True + measurements: Dict[str, Any] = {"seconds_requested": seconds, "episodes": {}} + details: List[str] = [] + for glove in gloves: + side = glove.info.side + try: + episode = sdk.replay(paths[side]) + summary = episode.summary() + required = ("tactile", "imu") + (("mag",) if glove.info.has_mag else ()) + ok = ( + summary.get("complete") is True + and summary.get("serial") == glove.info.serial + and summary.get("side") == side + and all(summary.get(name, {}).get("n", 0) >= 2 for name in required) + and all(summary.get(name, {}).get("dropped", 0) == 0 for name in required) + and len(episode) == summary["tactile"]["n"] + and episode.info.serial == glove.info.serial + ) + first = next(iter(episode), None) + ok = ok and isinstance(first, sdk.Frame) + iterator_types = { + "tactile": sdk.Frame, + "imu": sdk.ImuSample, + "mag": sdk.MagSample, + } + for name in required: + arrays = episode.arrays(name) + ok = ok and len(arrays["seq"]) == summary[name]["n"] + sample = next(getattr(episode, name)(), None) + ok = ok and isinstance(sample, iterator_types[name]) + all_ok = all_ok and ok + measurements["episodes"][side] = {"path": str(paths[side]), "summary": summary} + details.append(f"{side}={paths[side].name}:{'ok' if ok else 'bad'}") + except Exception as exc: + all_ok = False + details.append(f"{side}={type(exc).__name__}:{exc}") + report.add(label, PASS if all_ok else FAIL, ", ".join(details), measurements) + + +def _check_logical_reconnect(report: AcceptanceReport, serials: Sequence[str], sdk: Any) -> None: + for serial in serials: + glove = None + try: + glove = sdk.connect(serial=serial, transport="usb", timeout=10.0) + ok = glove.info.serial == serial + report.add( + f"logical reconnect {serial}", + PASS if ok else FAIL, + f"returned {glove.info.serial}", + ) + except Exception as exc: + report.add( + f"logical reconnect {serial}", + FAIL, + f"{type(exc).__name__}: {exc}", + ) + finally: + if glove is not None: + try: + glove.close() + except Exception: + pass + + +def _collect(glove: Any, seconds: float) -> Dict[str, List[Any]]: + out: Dict[str, List[Any]] = {"tactile": [], "imu": [], "mag": []} + deadline = time.monotonic() + seconds + while time.monotonic() < deadline: + remaining = max(0.0, deadline - time.monotonic()) + batch = glove.read_batch(timeout=min(0.2, remaining)) + for name, values in batch.as_dict().items(): + out[name].extend(values) + return out + + +def _sample_stats(samples: Mapping[str, Sequence[Any]]) -> Dict[str, float]: + return {f"{name}_hz": _rate(values) for name, values in samples.items()} + + +def _rate(samples: Sequence[Any]) -> float: + if len(samples) < 2: + return 0.0 + span = float(samples[-1].host_t) - float(samples[0].host_t) + return (len(samples) - 1) / span if span > 0 else 0.0 + + +def _finger_scores( + baseline: Sequence[Any], active: Sequence[Any], channels: Sequence[str] +) -> Dict[str, float]: + if not baseline or not active: + return {} + base = np.median(np.stack([f.counts for f in baseline]).astype(np.float32), axis=0) + observed = np.stack([f.counts for f in active]).astype(np.float32) + delta = np.max(np.abs(observed - base), axis=0) + return {str(name): float(delta[index].max()) for index, name in enumerate(channels)} + + +def _max_gyro(samples: Sequence[Any]) -> float: + return max( + (math.sqrt(sum(float(v) ** 2 for v in sample.gyro)) for sample in samples), + default=0.0, + ) + + +def _mag_span(samples: Sequence[Any]) -> float: + if len(samples) < 2: + return 0.0 + values = np.asarray([sample.field for sample in samples], dtype=np.float64) + return float(np.linalg.norm(values.max(axis=0) - values.min(axis=0))) + + +def _status_dict(status: Any) -> Dict[str, Any]: + return { + "uptime_ms": status.uptime_ms, + "imu_ok": status.imu_ok, + "mag_ok": status.mag_ok, + "sensor_ok": status.sensor_ok, + "error_flags": status.error_flags, + "deadline_misses": status.deadline_misses, + "tag_dropped": status.tag_dropped, + "tag_short_writes": status.tag_short_writes, + } + + +def _device_dict(info: Any) -> Dict[str, Any]: + return { + "serial": info.serial, + "side": info.side, + "hardware": info.hw_rev, + "firmware": info.fw_rev, + "transport": info.transport, + "channels": list(info.channels), + "zero_valid": info.zero_valid, + "stream_clean": info.stream_clean, + "stream_threshold": info.stream_thr, + "config_schema": dict(getattr(info, "raw", {}) or {}).get("schema_ver"), + } + + +def _version_tuple(value: str) -> Optional[tuple[int, int, int]]: + parts: List[int] = [] + for chunk in value.split(".")[:3]: + digits = "" + for char in chunk: + if not char.isdigit(): + break + digits += char + if not digits: + return None + parts.append(int(digits)) + if len(parts) != 3: + return None + return tuple(parts) # type: ignore[return-value] + + +def _validate_config(config: AcceptanceConfig) -> None: + for name in ("stream_seconds", "interactive_seconds"): + value = float(getattr(config, name)) + if not math.isfinite(value) or value <= 0: + raise ValueError(f"{name} must be finite and greater than zero") + if not math.isfinite(float(config.record_seconds)) or config.record_seconds < 0: + raise ValueError("record_seconds must be finite and non-negative") + if config.soak_seconds is not None and ( + not math.isfinite(float(config.soak_seconds)) or config.soak_seconds <= 0 + ): + raise ValueError("soak_seconds must be finite and greater than zero") + if not 1 <= int(config.zero_sweep_seconds) <= 30: + raise ValueError("zero_sweep_seconds must be 1..30") + if not math.isfinite(float(config.taxel_delta)) or config.taxel_delta <= 0: + raise ValueError("taxel_delta must be finite and greater than zero") + + +def _new_run_dir(root: Path) -> Path: + root.mkdir(parents=True, exist_ok=True) + stamp = datetime.now().strftime("run-%Y%m%d-%H%M%S") + candidate = root / stamp + suffix = 1 + while candidate.exists(): + candidate = root / f"{stamp}-{suffix}" + suffix += 1 + candidate.mkdir() + return candidate + + +def _jsonable(value: Any) -> Any: + if isinstance(value, Path): + return str(value) + if isinstance(value, np.generic): + return value.item() + if isinstance(value, Mapping): + return {str(k): _jsonable(v) for k, v in value.items()} + if isinstance(value, (list, tuple)): + return [_jsonable(v) for v in value] + return value + + +def _markdown_report(data: Mapping[str, Any]) -> str: + lines = [ + "# OGLO acceptance report", + "", + f"- Result: **{str(data['result']).upper()}**", + f"- SDK: `{data['sdk_version']}`", + f"- Started: `{data['started_at']}`", + f"- Finished: `{data.get('finished_at')}`", + f"- Python: `{data['python']}`", + f"- Platform: `{data['platform']}`", + "", + "## Devices", + "", + ] + for device in data.get("devices", []): + lines.append( + f"- `{device['serial']}` — {device['side']}, firmware {device['firmware']}, " + f"schema {device['config_schema']}" + ) + lines.extend(["", "## Checks", "", "| Result | Check | Detail |", "| --- | --- | --- |"]) + for check in data.get("checks", []): + detail = str(check.get("detail", "")).replace("|", "\\|").replace("\n", " ") + lines.append( + f"| **{str(check['verdict']).upper()}** | {check['name']} | {detail} |" + ) + lines.extend( + [ + "", + "## Scope warning", + "", + "A PASS proves only the checks and duration listed above. It is not proof of " + "hardware synchronisation, Newton calibration, BLE qualification, or payload " + "integrity beyond what firmware 0.9.10 exposes.", + "", + ] + ) + return "\n".join(lines) + + +__all__ = [ + "AcceptanceConfig", + "AcceptanceReport", + "CheckResult", + "FAIL", + "PASS", + "SKIP", + "WARN", + "parse_duration", + "run_acceptance", +] diff --git a/src/oglo/cli.py b/src/oglo/cli.py index 318553c..fafdddd 100644 --- a/src/oglo/cli.py +++ b/src/oglo/cli.py @@ -1,8 +1,7 @@ """`oglo` on the command line. -Four verbs, matching the four functions. The point of a CLI here is that the first -thing anyone does with new hardware is check whether it works at all, and that should -not require writing Python. +The point of a CLI here is that the first thing anyone does with new hardware is +check whether it works at all, and that should not require writing Python. """ from __future__ import annotations @@ -95,6 +94,32 @@ def _cmd_replay(args: argparse.Namespace) -> int: return 0 if s["complete"] else 2 +def _cmd_acceptance(args: argparse.Namespace) -> int: + from pathlib import Path + + from .acceptance import AcceptanceConfig, run_acceptance + + if args.interactive and not sys.stdin.isatty(): + raise ValueError("--interactive needs a real terminal for the finger/motion prompts") + if args.zero and not args.yes and not sys.stdin.isatty(): + raise ValueError("--zero needs a real terminal confirmation, or explicit --yes") + config = AcceptanceConfig( + output_root=Path(args.output), + stream_seconds=args.seconds, + record_seconds=0.0 if args.no_record else args.record, + soak_seconds=args.soak, + mutations=args.mutations, + zero=args.zero, + zero_sweep_seconds=args.zero_sweep, + interactive=args.interactive, + interactive_seconds=args.interactive_seconds, + taxel_delta=args.taxel_delta, + assume_yes=args.yes, + ) + report = run_acceptance(config) + return 2 if report.failed else 0 + + def main(argv: Optional[List[str]] = None) -> int: p = argparse.ArgumentParser(prog="oglo", description="OGLO tactile glove") sub = p.add_subparsers(dest="cmd", required=True) @@ -118,6 +143,76 @@ def main(argv: Optional[List[str]] = None) -> int: q.add_argument("--json", action="store_true") q.set_defaults(func=_cmd_replay) + from .acceptance import parse_duration + + a = sub.add_parser( + "acceptance", + help="test a physical left/right USB pair and write JSON/Markdown evidence", + ) + a.add_argument( + "--output", + default="acceptance-results", + help="root directory for a new timestamped report (default: acceptance-results)", + ) + a.add_argument( + "--seconds", + type=parse_duration, + default=5.0, + help="two-hand stream measurement duration: seconds, 75m, 1.5h (default: 5s)", + ) + a.add_argument( + "--record", + type=parse_duration, + default=2.0, + help="short simultaneous record/replay duration (default: 2s)", + ) + a.add_argument("--no-record", action="store_true", help="skip the short record/replay") + a.add_argument( + "--soak", + type=parse_duration, + default=None, + help="also record/replay both hands for a long duration, e.g. 75m", + ) + a.add_argument( + "--interactive", + action="store_true", + help="prompt for every finger press and a wrist-motion response", + ) + a.add_argument( + "--interactive-seconds", + type=parse_duration, + default=1.5, + help="capture window for each prompted action (default: 1.5s)", + ) + a.add_argument( + "--taxel-delta", + type=float, + default=25.0, + help="minimum selected-finger response in ADC counts (default: 25)", + ) + a.add_argument( + "--mutations", + action="store_true", + help="exercise RAW/CLEAN/threshold/rates, then restore observed settings", + ) + a.add_argument( + "--zero", + action="store_true", + help="DESTRUCTIVE: replace each glove's stored zero after confirmation", + ) + a.add_argument( + "--zero-sweep", + type=int, + default=5, + help="zero sweep duration, 1..30 seconds (default: 5)", + ) + a.add_argument( + "--yes", + action="store_true", + help="with --zero, bypass the typed confirmation (still requires explicit --zero)", + ) + a.set_defaults(func=_cmd_acceptance) + args = p.parse_args(argv) try: return args.func(args) diff --git a/tests/test_acceptance.py b/tests/test_acceptance.py new file mode 100644 index 0000000..f8bb6e6 --- /dev/null +++ b/tests/test_acceptance.py @@ -0,0 +1,266 @@ +"""The owner-facing acceptance runner must be safe and reportable without hardware.""" + +from __future__ import annotations + +import json +from dataclasses import replace +from io import StringIO +from types import SimpleNamespace + +import numpy as np +import pytest + +import oglo +from oglo import cli +from oglo.acceptance import ( + FAIL, + PASS, + SKIP, + AcceptanceConfig, + AcceptanceReport, + _finger_scores, + _new_run_dir, + _sample_stats, + _version_tuple, + parse_duration, + run_acceptance, +) + +from fake_serial import CFG_V6 +from oglo._config import parse_config + + +@pytest.mark.parametrize( + ("text", "seconds"), + [("2", 2.0), ("500ms", 0.5), ("5s", 5.0), ("75m", 4500.0), ("1.5h", 5400.0)], +) +def test_human_durations_are_unambiguous(text, seconds): + assert parse_duration(text) == seconds + + +@pytest.mark.parametrize("text", ["", "nope", "0", "-1s", "nanh", "inf"]) +def test_bad_durations_fail_before_hardware_is_touched(text): + with pytest.raises(ValueError): + parse_duration(text) + + +def test_report_treats_optional_skips_as_a_pass_and_writes_both_formats(tmp_path): + run_dir = _new_run_dir(tmp_path) + report = AcceptanceReport( + run_dir=run_dir, + config=AcceptanceConfig(output_root=tmp_path), + sdk_version="0.1.test", + ) + report.add("read-only", PASS, "worked", {"rate": np.float32(250.0)}) + report.add("zero", SKIP, "not requested") + report.finish() + + assert report.worst == PASS and not report.failed + raw = json.loads((run_dir / "acceptance-report.json").read_text()) + assert raw["result"] == PASS + assert raw["checks"][0]["measurements"]["rate"] == 250.0 + markdown = (run_dir / "acceptance-report.md").read_text() + assert "**PASS**" in markdown and "zero" in markdown + + +def test_new_runs_never_overwrite_an_existing_report_directory(tmp_path): + first = _new_run_dir(tmp_path) + second = _new_run_dir(tmp_path) + assert first != second and first.exists() and second.exists() + + +def _frames(values, *, channels): + return [ + oglo.Frame( + seq=index, + t_us=index * 4_000, + host_t=index / 250.0, + counts=array, + _stream_clean=True, + ) + for index, array in enumerate(values) + ], channels + + +def test_physical_finger_scoring_uses_the_device_channel_order(): + channels = ["pinky", "ring", "middle", "index", "thumb"] + base = np.zeros((5, 4, 4), dtype=np.uint16) + pressed = base.copy() + pressed[3, 2, 1] = 180 # index is wire slot 3 on the left hand + baseline, _ = _frames([base, base], channels=channels) + active, _ = _frames([base, pressed], channels=channels) + + scores = _finger_scores(baseline, active, channels) + assert scores["index"] == 180.0 + assert max(scores, key=scores.get) == "index" + + +def test_sample_stats_use_observed_host_timestamps_not_requested_rates(): + counts = np.zeros((5, 4, 4), dtype=np.uint16) + tactile = [ + oglo.Frame(seq=i, t_us=i * 4_000, host_t=i * 0.004, counts=counts) + for i in range(11) + ] + stats = _sample_stats({"tactile": tactile, "imu": [], "mag": []}) + assert stats["tactile_hz"] == pytest.approx(250.0) + assert stats["imu_hz"] == 0.0 + + +@pytest.mark.parametrize( + ("text", "value"), + [("0.9.10", (0, 9, 10)), ("0.9.10-release", (0, 9, 10)), ("0.9", None), ("x", None)], +) +def test_live_firmware_comparison_is_numeric_and_exact(text, value): + assert _version_tuple(text) == value + + +def test_connection_failure_still_leaves_a_machine_readable_report(tmp_path): + class BrokenSdk: + __version__ = "test" + + @staticmethod + def connect_pair(): + raise RuntimeError("no gloves") + + report = run_acceptance( + AcceptanceConfig(output_root=tmp_path, stream_seconds=0.01, record_seconds=0), + sdk=BrokenSdk, + sink=StringIO(), + ) + assert report.failed + assert any(c.name == "connect left/right USB pair" and c.verdict == FAIL for c in report.checks) + data = json.loads((report.run_dir / "acceptance-report.json").read_text()) + assert data["result"] == FAIL + + +def test_pair_contract_accepts_only_current_firmware_schema_and_usb(tmp_path): + from oglo.acceptance import _check_pair + + cfg = {**CFG_V6, "fw_rev": "0.9.10"} + left_info, _ = parse_config(cfg) + right_info = replace( + left_info, + serial="OGLO-R-TEST02", + side="right", + channels=["thumb", "index", "middle", "ring", "pinky"], + raw={ + **left_info.raw, + "serial": "OGLO-R-TEST02", + "side": "right", + "channels": ["thumb", "index", "middle", "ring", "pinky"], + }, + ) + status = SimpleNamespace( + healthy=True, + uptime_ms=1, + imu_ok=True, + mag_ok=True, + sensor_ok=True, + error_flags=0, + deadline_misses=0, + tag_dropped=0, + tag_short_writes=0, + ) + + class Glove: + def __init__(self, info): + self.info = info + + def status(self): + return status + + def send(self, command, *, expect=None, timeout=2.0): + assert command == "GET ZERO" + return "#TZERO " + json.dumps( + { + "valid": True, + "count": 80, + "baseline": [550] * 80, + "noise": [2] * 80, + "thr": self.info.stream_thr, + "clean": self.info.stream_clean, + "locked": False, + } + ) + + report = AcceptanceReport( + run_dir=tmp_path / "report", + config=AcceptanceConfig(output_root=tmp_path), + sdk_version="test", + ) + _check_pair(report, [Glove(left_info), Glove(right_info)]) + assert report.checks + assert all(check.verdict == PASS for check in report.checks) + + +def test_mutation_check_restores_threshold_even_when_original_mode_was_raw(tmp_path, monkeypatch): + import oglo.acceptance as acceptance + + class Glove: + def __init__(self): + self.info = SimpleNamespace( + serial="OGLO-L-TEST01", + side="left", + rate_hz=250, + stream_clean=False, + stream_thr=80, + zero_valid=True, + ) + self.imu_hz = 500 + + def stop(self): + pass + + def raw(self): + self.info.stream_clean = False + + def clean(self, threshold=0): + self.info.stream_clean = True + self.info.stream_thr = threshold + + def rates(self, *, tactile=None, imu=None, mag=None): + if tactile is not None: + self.info.rate_hz = tactile + if imu is not None: + self.imu_hz = imu + + def tactile(self, timeout=None): + yield oglo.Frame( + seq=1, + t_us=1, + host_t=1.0, + counts=np.zeros((5, 4, 4), dtype=np.uint16), + _stream_clean=self.info.stream_clean, + ) + + def samples(rate): + return [SimpleNamespace(host_t=i / rate) for i in range(5)] + + glove = Glove() + monkeypatch.setattr( + acceptance, + "_collect", + lambda g, seconds: { + "tactile": samples(g.info.rate_hz), + "imu": samples(g.imu_hz), + "mag": [], + }, + ) + report = AcceptanceReport( + run_dir=tmp_path / "report", + config=AcceptanceConfig(output_root=tmp_path), + 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identity from SDK contract --- examples/04_two_hands.py | 6 ++---- src/oglo/__init__.py | 19 +++--------------- src/oglo/_config.py | 2 -- src/oglo/_record.py | 1 - src/oglo/_replay.py | 3 --- tests/fake_serial.py | 2 +- tests/test_config.py | 3 +-- tests/test_connect.py | 34 +-------------------------------- tests/test_hardware.py | 19 ++++-------------- tests/test_replay_corruption.py | 2 -- 10 files changed, 12 insertions(+), 79 deletions(-) diff --git a/examples/04_two_hands.py b/examples/04_two_hands.py index 6b792ea..7c47948 100644 --- a/examples/04_two_hands.py +++ b/examples/04_two_hands.py @@ -21,11 +21,9 @@ import oglo -# Production/default: one left, one right, and the same non-empty pair_id. -# For two deliberately unprovisioned bench units only, pass allow_unpaired=True. left, right = oglo.connect_pair() -print(f"left {left.info.serial} pair {left.info.pair_id} fingers {left.info.channels}") -print(f"right {right.info.serial} pair {right.info.pair_id} fingers {right.info.channels}") +print(f"left {left.info.serial} fingers {left.info.channels}") +print(f"right {right.info.serial} fingers {right.info.channels}") try: with ThreadPoolExecutor(max_workers=2) as pool: diff --git a/src/oglo/__init__.py b/src/oglo/__init__.py index 18f5a8a..25ae8d4 100644 --- a/src/oglo/__init__.py +++ b/src/oglo/__init__.py @@ -162,14 +162,12 @@ def _connect_usb_port(device: str, *, timeout: float) -> Glove: return Glove(t, info, caps) -def connect_pair(*, timeout: float = 10.0, allow_unpaired: bool = False) -> Tuple[Glove, Glove]: +def connect_pair(*, timeout: float = 10.0) -> Tuple[Glove, Glove]: """Open both hands and return them as `(left, right)`. Which glove is which comes from the side stored on the device, never from the - order the ports enumerated, so swapping cables cannot mislabel a hand. By default - both devices must also report the same non-empty ``pair_id``. The explicit - ``allow_unpaired=True`` escape is for a two-device bench before pair identity has - been provisioned. + order the ports enumerated, so swapping cables cannot mislabel a hand. The two + devices must report opposite sides and distinct logical serials. """ cands = list_candidates() if len(cands) < 2: @@ -199,17 +197,6 @@ def connect_pair(*, timeout: float = 10.0, allow_unpaired: bool = False) -> Tupl ) if len({g.info.serial.casefold() for g in gloves}) != 2: raise UsbError("the two devices report the same logical serial; fix SET SERIAL first") - pair_ids = {g.info.pair_id for g in gloves} - if len(pair_ids) != 1: - raise UsbError( - "the two gloves have different pair_id values; refusing to combine unrelated " - "devices. Set the same value on both with SET PAIR." - ) - if pair_ids == {""} and not allow_unpaired: - raise UsbError( - "both gloves have an empty pair_id. Set the same non-empty SET PAIR value on " - "both, or pass allow_unpaired=True explicitly for a bench-only pairing." - ) return by_side["left"], by_side["right"] except BaseException: for g in gloves: diff --git a/src/oglo/_config.py b/src/oglo/_config.py index 122fc07..e92bb12 100644 --- a/src/oglo/_config.py +++ b/src/oglo/_config.py @@ -37,7 +37,6 @@ class Info: #: a part is fitted, nor a runtime freshness/health counter. has_mag: bool transport: str # "usb" | "ble" - pair_id: str # Calibration state, as the device reports it. zero_valid: bool @@ -163,7 +162,6 @@ def parse_config(cfg: Dict[str, Any], *, transport: str = "usb") -> Tuple[Info, channels=channel_names, has_mag=_config_bool(cfg, "has_mag"), transport=transport, - pair_id=_config_string(cfg, "pair_id", allow_empty=True), zero_valid=zero_valid, stream_clean=stream_clean, stream_thr=stream_thr, diff --git a/src/oglo/_record.py b/src/oglo/_record.py index 40bba5e..2bbffc6 100644 --- a/src/oglo/_record.py +++ b/src/oglo/_record.py @@ -428,7 +428,6 @@ def delta(name: str) -> Optional[int]: "side": info.side, "hw_rev": info.hw_rev, "fw_rev": info.fw_rev, - "pair_id": info.pair_id, "channels": list(info.channels), "has_mag": info.has_mag, "transport": info.transport, diff --git a/src/oglo/_replay.py b/src/oglo/_replay.py index d7cf250..cea608a 100644 --- a/src/oglo/_replay.py +++ b/src/oglo/_replay.py @@ -251,7 +251,6 @@ def _schema2_info(meta: Dict[str, Any]) -> Info: if not _fw_at_least(fw_rev, MIN_FIRMWARE): floor = ".".join(str(part) for part in MIN_FIRMWARE) raise ReplayError(f"meta.json fw_rev must be firmware {floor} or newer") - pair_id = _json_string(meta, "pair_id", allow_empty=True) transport = _json_string(meta, "transport") if transport not in ("usb", "ble"): raise ReplayError("meta.json transport must be 'usb' or 'ble'") @@ -306,7 +305,6 @@ def _schema2_info(meta: Dict[str, Any]) -> Info: channels=list(channels), has_mag=has_mag, transport="replay", - pair_id=pair_id, zero_valid=zero_valid, stream_clean=stream_clean, stream_thr=stream_thr, @@ -330,7 +328,6 @@ def _schema1_info(meta: Dict[str, Any]) -> Info: channels=list(meta.get("channels", [])), has_mag=bool(meta.get("has_mag", False)), transport="replay", - pair_id=str(meta.get("pair_id", "") or ""), zero_valid=bool(meta.get("zero_valid", False)), stream_clean=bool(meta.get("stream_clean", False)), stream_thr=int(meta.get("stream_thr", 0) or 0), diff --git a/tests/fake_serial.py b/tests/fake_serial.py index 8601915..f3382e0 100644 --- a/tests/fake_serial.py +++ b/tests/fake_serial.py @@ -21,7 +21,7 @@ "samples_per_packet": 3, "imu_len": 25, "has_mag": True, "values_per_sample": 80, "sample_shape": [5, 4, 4], "channels": ["pinky", "ring", "middle", "index", "thumb"], - "device_id": "oglo-test-device-01", "pair_id": "", "batch": "", + "device_id": "oglo-test-device-01", "batch": "", "factory_passed": True, "stream_clean": True, "stream_thr": 80, "zero_valid": True, "cal_lock": False, } diff --git a/tests/test_config.py b/tests/test_config.py index d0916a4..72cbf12 100644 --- a/tests/test_config.py +++ b/tests/test_config.py @@ -22,7 +22,7 @@ '"hw_rev":"RDR02_FLEX5_REV_D_TIA","fw_rev":"0.9.9","rate_hz":250,' '"samples_per_packet":3,"imu_len":25,"has_mag":true,"values_per_sample":80,' '"sample_shape":[5,4,4],"channels":["pinky","ring","middle","index","thumb"],' - '"device_id":"oglo-test-device-01","pair_id":"","batch":"","factory_passed":true,' + '"device_id":"oglo-test-device-01","batch":"","factory_passed":true,' '"stream_clean":true,"stream_thr":80,"zero_valid":true,"cal_lock":false}' ) @@ -75,7 +75,6 @@ def test_an_unknown_finger_name_says_what_the_board_actually_has(): ({**CFG_V6, "has_mag": "false"}, "has_mag must be a JSON boolean"), ({**CFG_V6, "zero_valid": 1}, "zero_valid must be a JSON boolean"), ({**CFG_V6, "samples_per_packet": 4}, "samples_per_packet"), - ({**CFG_V6, "pair_id": 42}, "pair_id must be a JSON string"), ], ) def test_configs_the_sdk_cannot_work_with_are_rejected_clearly(cfg, msg): diff --git a/tests/test_connect.py b/tests/test_connect.py index b57c794..6ee7b8d 100644 --- a/tests/test_connect.py +++ b/tests/test_connect.py @@ -175,7 +175,7 @@ def test_pair_returns_left_then_right_regardless_of_port_order(monkeypatch): def opener(device, *a, **kw): # port 1 is the RIGHT hand, port 2 the LEFT: deliberately not port order side = "right" if device.endswith("1") else "left" - return FakeSerial(dict(CFG_V6, side=side, serial=f"OGLO-{side}", pair_id="PAIR-1"), + return FakeSerial(dict(CFG_V6, side=side, serial=f"OGLO-{side}"), stream=tagged_burst(4), hz=250.0) monkeypatch.setattr(_usb, "open_serial", opener) @@ -195,38 +195,6 @@ def test_pair_of_the_same_side_is_refused_with_the_fix(monkeypatch): oglo.connect_pair() -def test_pair_refuses_different_pair_ids(monkeypatch): - _ports(monkeypatch, [port("/dev/cu.usbmodem1", "SN1"), port("/dev/cu.usbmodem2", "SN2")]) - - def opener(device, *a, **kw): - side = "left" if device.endswith("1") else "right" - return FakeSerial(dict( - CFG_V6, - side=side, - serial=f"OGLO-{side}", - pair_id=f"PAIR-{device[-1]}", - )) - - monkeypatch.setattr(oglo, "open_serial", opener) - with pytest.raises(UsbError, match="different pair_id"): - oglo.connect_pair() - - -def test_pair_requires_explicit_opt_in_when_both_pair_ids_are_blank(monkeypatch): - _ports(monkeypatch, [port("/dev/cu.usbmodem1", "SN1"), port("/dev/cu.usbmodem2", "SN2")]) - - def opener(device, *a, **kw): - side = "left" if device.endswith("1") else "right" - return FakeSerial(dict(CFG_V6, side=side, serial=f"OGLO-{side}", pair_id="")) - - monkeypatch.setattr(oglo, "open_serial", opener) - with pytest.raises(UsbError, match="empty pair_id"): - oglo.connect_pair() - - left, right = oglo.connect_pair(allow_unpaired=True) - left.close(); right.close() - - def test_pair_closes_the_first_glove_when_the_second_fails(monkeypatch): """Otherwise a failed pair leaks a held port, and the next attempt hits PortBusyError against your own process.""" diff --git a/tests/test_hardware.py b/tests/test_hardware.py index 757bd87..34647c0 100644 --- a/tests/test_hardware.py +++ b/tests/test_hardware.py @@ -42,7 +42,6 @@ class AttachedGlove: port: PortCandidate serial: str side: str - pair_id: str @pytest.fixture(scope="module") @@ -60,7 +59,6 @@ def attached_pair() -> Sequence[AttachedGlove]: port=candidate, serial=glove.info.serial, side=glove.info.side, - pair_id=glove.info.pair_id, ) ) assert {item.side for item in found} == {"left", "right"} @@ -174,15 +172,8 @@ def test_logical_serial_selection_never_returns_the_other_hand(attached_pair): assert glove.info.side == item.side -def test_pair_gate_and_explicit_unprovisioned_bench_pair(attached_pair): - pair_ids = {item.pair_id for item in attached_pair} - assert len(pair_ids) == 1, f"attached left/right devices have different pair IDs: {pair_ids}" - if pair_ids == {""}: - with pytest.raises(oglo.UsbError, match="empty pair_id"): - oglo.connect_pair() - left, right = oglo.connect_pair(allow_unpaired=True) - else: - left, right = oglo.connect_pair() +def test_pair_connects_one_left_and_one_right(attached_pair): + left, right = oglo.connect_pair() try: assert (left.info.side, right.info.side) == ("left", "right") assert left.info.serial != right.info.serial @@ -241,8 +232,7 @@ def test_repeated_streaming_context_close_does_not_reboot_a_glove(attached_pair) def test_two_hands_stream_concurrently_without_cross_throttling(attached_pair, hardware_seconds): - allow_unpaired = {item.pair_id for item in attached_pair} == {""} - left, right = oglo.connect_pair(allow_unpaired=allow_unpaired) + left, right = oglo.connect_pair() try: with ThreadPoolExecutor(max_workers=2) as pool: futures = { @@ -281,8 +271,7 @@ def _assert_episode(path: Path, *, serial: str, side: str) -> None: def test_two_hand_record_replay_round_trip(attached_pair, tmp_path): - allow_unpaired = {item.pair_id for item in attached_pair} == {""} - left, right = oglo.connect_pair(allow_unpaired=allow_unpaired) + left, right = oglo.connect_pair() try: with ThreadPoolExecutor(max_workers=2) as pool: futures = { diff --git a/tests/test_replay_corruption.py b/tests/test_replay_corruption.py index d54e725..efcbe54 100644 --- a/tests/test_replay_corruption.py +++ b/tests/test_replay_corruption.py @@ -48,7 +48,6 @@ def _meta(counts=None): "sdk_version": "0.1.0rc1", "serial": "OGLO-L-TEST01", "side": "left", - "pair_id": "PAIR-1", "hw_rev": "RDR02_FLEX5_REV_D_TIA", "fw_rev": "0.9.9", "transport": "usb", @@ -225,7 +224,6 @@ def test_malformed_meta_json_and_noninteger_counts_are_replay_errors(tmp_path): ("hw_rev", 4, "hw_rev.*non-empty JSON string"), ("fw_rev", "", "fw_rev.*non-empty JSON string"), ("fw_rev", "0.9.8", "firmware 0.9.9 or newer"), - ("pair_id", 7, "pair_id.*JSON string"), ("transport", "replay", "transport must be 'usb' or 'ble'"), ("rate_hz", "250", "rate_hz.*JSON integer"), ("rate_hz", 0, "rate_hz.*1..1000"), From a285197639cc42f50ef65d2be1e21f5b32899d4f Mon Sep 17 00:00:00 2001 From: Beomsoo Son Date: Sun, 9 Aug 2026 17:51:06 +0900 Subject: [PATCH 3/3] docs: align public SDK with the 0.9.10 release --- CHANGELOG.md | 14 ++++++++++++++ CONTRIBUTING.md | 8 +++++++- README.md | 39 ++++++++++++++++++++++++++++++-------- SECURITY.md | 7 +++++-- docs/01_quickstart.md | 17 ++++++++--------- docs/02_data_reference.md | 20 +++++++++---------- docs/03_calibration.md | 6 +++--- docs/04_recording.md | 16 ++++++++-------- docs/05_troubleshooting.md | 21 +++++++++----------- docs/06_compatibility.md | 12 ++++++++---- docs/README.md | 5 +++++ spec/vectors/README.md | 4 ++++ 12 files changed, 112 insertions(+), 57 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 3ee22ff..b09ef5f 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -6,6 +6,20 @@ All notable user-facing changes are recorded here. Versions follow ## [Unreleased] +### Added + +- `oglo acceptance`, an owner-facing USB pair test that uses public SDK APIs, + separates read-only, interactive, reversible mutation, zero, and long-soak gates, + and writes non-overwriting Markdown/JSON evidence bundles + +### Changed + +- consolidated development, issues, tags, and releases in the public + `OpenGraphLabs/oglo-python` repository; private and staging repositories are no + longer active upstreams +- documented firmware 0.9.10/schema 6 as the only supported live-glove baseline; + retained 0.9.9/schema-6 captures solely as historical decoder provenance + ## [0.1.0rc1] - 2026-08-07 First public release candidate. diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index 67f6c03..c58cef4 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -2,6 +2,10 @@ Thank you for improving the OGLO Python SDK. +[`OpenGraphLabs/oglo-python`](https://github.com/OpenGraphLabs/oglo-python) is the +sole canonical repository. Fork and branch from its `main`; do not use a private, +staging, or pre-public repository as an upstream. + ## Set up ```bash @@ -28,7 +32,9 @@ must not mutate attached devices. Hardware-specific changes should include the firmware revision, schema, host OS, test duration, and before/after loss counters. Do not present an automated test as -physical validation unless a physical glove was actually exercised. +physical validation unless a physical glove was actually exercised. New live-device +qualification targets firmware 0.9.10/schema 6. Historical 0.9.9 captures may remain +as decoder fixtures only and must be labelled as such. ## Hardware tests diff --git a/README.md b/README.md index fc25bfd..5ca502b 100644 --- a/README.md +++ b/README.md @@ -2,16 +2,22 @@ [![CI](https://github.com/OpenGraphLabs/oglo-python/actions/workflows/ci.yml/badge.svg)](https://github.com/OpenGraphLabs/oglo-python/actions/workflows/ci.yml) [![Python 3.10+](https://img.shields.io/badge/python-3.10%2B-3776AB.svg)](https://www.python.org/) -[![Firmware 0.9.9+](https://img.shields.io/badge/firmware-0.9.9%2B-5C2D91.svg)](docs/06_compatibility.md) +[![Firmware 0.9.10](https://img.shields.io/badge/firmware-0.9.10-5C2D91.svg)](docs/06_compatibility.md) [![License: Apache-2.0](https://img.shields.io/badge/license-Apache--2.0-blue.svg)](LICENSE) Python access to the OGLO five-finger tactile glove: 80 taxels per hand at a nominal 250 Hz over USB, plus accelerometer, gyroscope, and optional magnetometer streams. -> **Release candidate:** `0.1.0rc1` is a USB-first research SDK for firmware -> `0.9.9+`, schema 6. USB with firmware 0.9.10 is hardware-validated. BLE is -> available as an experimental transport and is not release-qualified. +> **Release candidate:** `0.1.0rc1` is a USB-first research SDK for the supported +> live-glove baseline, firmware 0.9.10/schema 6. The decoder retains historical +> 0.9.9/schema-6 vector compatibility, but 0.9.9 is not a deployment target. BLE +> is available as an experimental transport and is not release-qualified. + +This public repository is the sole canonical source for the SDK. Development, +issues, pull requests, tags, and releases all belong under +[`OpenGraphLabs/oglo-python`](https://github.com/OpenGraphLabs/oglo-python); no +private or staging repository is an active upstream. ## What is included @@ -50,7 +56,8 @@ oglo doctor `doctor` measures the attached device and host rather than assuming the nominal rates. Resolve any reported identity, firmware, loss, or throughput failure before -recording data. +recording data. Upgrade any live glove that does not report firmware 0.9.10 and +schema 6. ## Read one glove @@ -82,9 +89,9 @@ finally: right.close() ``` -The devices must report opposite sides, distinct logical serials, and the same -non-empty `pair_id`. Samples from two gloves are not hardware-synchronised; see the -[two-hand example](examples/04_two_hands.py) before aligning a dataset. +The devices must report opposite sides and distinct logical serials. Samples from +two gloves are not hardware-synchronised; see the [two-hand +example](examples/04_two_hands.py) before aligning a dataset. ## Calibration changes device state @@ -101,6 +108,22 @@ motion range before capturing a new zero. - [Calibration](docs/03_calibration.md) - [Recording and replay](docs/04_recording.md) - [Troubleshooting](docs/05_troubleshooting.md) +- [Test your own glove pair](docs/07_acceptance.md) + +## Test the complete physical pair + +The owner-facing acceptance runner exercises the installed SDK's public API and +writes a Markdown/JSON evidence bundle. Its default is read-only with respect to +device calibration and settings: + +```bash +oglo acceptance +``` + +Add `--interactive` for guided finger/IMU actions, `--mutations` for reversible +RAW/CLEAN/rate changes, `--zero` to deliberately replace calibration, or +`--soak 75m` for the two-hand device-clock rollover gate. See the +[acceptance guide](docs/07_acceptance.md) before enabling state-changing options. ## Development diff --git a/SECURITY.md b/SECURITY.md index ccc2a32..da2c22c 100644 --- a/SECURITY.md +++ b/SECURITY.md @@ -4,12 +4,15 @@ | Version | Security updates | | --- | --- | -| 0.1.x | Yes | +| 0.1.x with firmware 0.9.10/schema 6 | Yes | | development snapshots and older versions | No | +Historical 0.9.9 wire captures are retained for decoder regression tests; they do +not make a live 0.9.9 glove a supported deployment. + ## Reporting a vulnerability -Use GitHub's private vulnerability reporting for this repository: +Use GitHub's private vulnerability reporting for the sole canonical repository: diff --git a/docs/01_quickstart.md b/docs/01_quickstart.md index b78883a..553edc1 100644 --- a/docs/01_quickstart.md +++ b/docs/01_quickstart.md @@ -16,8 +16,9 @@ python3 -m pip install \ "oglo @ git+https://github.com/OpenGraphLabs/oglo-python.git@v0.1.0rc1" ``` -Python 3.10 or newer is required. The SDK accepts firmware 0.9.9 or newer with -schema 6 and rejects older or incompatible wire contracts at connection time. +Python 3.10 or newer is required. Supported live gloves run firmware 0.9.10 with +schema 6. `0.1.0rc1` can still parse historical 0.9.9/schema-6 captures, but that +parser tolerance is not deployment support; upgrade a live 0.9.9 glove before use. ## Diagnose before collecting data @@ -70,9 +71,9 @@ Wear the glove, open and close the hand through its full motion range for the fi seconds, and touch nothing. Bending a finger presses the sensor by itself, so a still-hand baseline creates false contacts during later motion. -The SDK verifies the active recipe immediately after capture. Firmware 0.9.9 and -0.9.10 do not expose enough information to prove that the flash write survived a -power cycle; reboot and read it back when persistence is a release or factory gate. +The SDK verifies the active recipe immediately after capture. Firmware 0.9.10 does +not expose enough information to prove that the flash write survived a power cycle; +reboot and read it back when persistence is a release or factory gate. See [Calibration](03_calibration.md) before changing an externally supplied glove. ## Two hands @@ -86,10 +87,8 @@ finally: right.close() ``` -Which device is left or right comes from CONFIG, not cable order. By default both -devices must also report the same non-empty `pair_id`; this prevents unrelated -gloves from being silently combined. For a deliberate unprovisioned bench setup, -opt in with `oglo.connect_pair(allow_unpaired=True)`. +Which device is left or right comes from CONFIG, not cable order. The devices must +report opposite sides and distinct logical serials. Relate two hands on `host_t`, never on `t_us`. Each glove has an independent device clock and there is no hardware synchronisation contract. Read each hand on its own diff --git a/docs/02_data_reference.md b/docs/02_data_reference.md index 882d10b..c6e19b8 100644 --- a/docs/02_data_reference.md +++ b/docs/02_data_reference.md @@ -21,23 +21,23 @@ The IMU packet cadence is not the physical sensor ODR. Firmware configures the accelerometer/gyroscope at 200 Hz but polls/emits its latest value on a nominal 2 ms schedule, so adjacent 500-packet/s records may contain the same physical measurement. -The SDK requires firmware 0.9.9 or newer and schema 6. It rejects any other wire contract at -connect time instead of guessing packet lengths or silently changing stream rates. +The supported live contract is firmware 0.9.10/schema 6. `0.1.0rc1` retains parser +tolerance for historical 0.9.9/schema-6 vectors and recordings, but live collection +must use 0.9.10. Other schemas and older firmware fail closed instead of inviting a +best-effort packet guess. -## Identity and pairing +## Identity and side `g.info.serial` is the logical glove serial reported by CONFIG. It is distinct from the USB chip/descriptor serial and from a BLE address or advertisement name. `oglo.connect(serial=...)` matches this logical value and verifies it after opening a specific `port=` or BLE address. -`g.info.side` chooses left versus right. `g.info.pair_id` names the intended two-glove -set. `connect_pair()` requires one left, one right, distinct logical serials and the -same non-empty pair ID. `allow_unpaired=True` bypasses only the empty-ID check for a -deliberate bench setup; it does not allow mismatched IDs or sides. +`g.info.side` chooses left versus right. `connect_pair()` requires one left glove, +one right glove, and distinct logical serials. `g.info.has_mag` means firmware successfully initialised the magnetometer at boot. -Firmware 0.9.9 cannot distinguish an intentionally absent part from one that failed +Firmware 0.9.10 cannot distinguish an intentionally absent part from one that failed boot detection, and it has no runtime read-failure/freshness counter. Therefore a clean status snapshot is not proof that every magnetometer value is fresh; applications that require heading-quality data need a firmware freshness flag and a physical field @@ -166,9 +166,9 @@ scheduling still contribute unknown delay. Recordings store both, plus a wall-clock anchor, because each answers a question the others cannot. -## Integrity limit of firmware 0.9.9 +## Integrity limit of firmware 0.9.10 -The 0.9.9 tagged USB frame has a magic and length but no checksum/CRC. The TinyUSB +The 0.9.10 tagged USB frame has a magic and length but no checksum/CRC. The TinyUSB whole-frame queue removes the known pre-0.9.9 truncation path, but the SDK cannot mathematically prove that every plausible payload bit is intact. A future protocol needs framed CRC protection for that guarantee. diff --git a/docs/03_calibration.md b/docs/03_calibration.md index 6a45783..9952e4b 100644 --- a/docs/03_calibration.md +++ b/docs/03_calibration.md @@ -67,7 +67,7 @@ capture path, carry it yourself. ## What is intended to survive a power cycle The firmware stores the zero and stream mode in device flash, and -`g.info.zero_valid` reports the active state after connection. Firmware 0.9.9 does +`g.info.zero_valid` reports the active state after connection. Firmware 0.9.10 does not report the flash-write result or perform a power-cycle readback, so the SDK alone cannot prove persistence. Reboot, reconnect and compare the recipe when that is a release or factory gate. @@ -77,7 +77,7 @@ release or factory gate. `clean()` and tactile-rate changes can be confirmed by re-reading config. Firmware does not expose the applied IMU period in BLE config, so `rates(imu=...)` is also USB-only rather than returning an unverified success. -`zero()` is deliberately USB-only: firmware 0.9.9 sends the start/completion lines +`zero()` is deliberately USB-only: firmware 0.9.10 sends the start/completion lines and full `GET ZERO` recipe only over serial. Without those, BLE can send the command but cannot prove capture or persistence completed, so the SDK fails immediately instead of waiting and then pretending success. @@ -86,7 +86,7 @@ Over USB, `zero()` requires the start acknowledgement, validates all 80 baseline noise values, re-reads them with `GET ZERO`, and finally verifies `zero_valid` in config before returning. -That proves the active firmware recipe is consistent. Firmware 0.9.9 does not report +That proves the active firmware recipe is consistent. Firmware 0.9.10 does not report the NVS write result or re-read flash before replying, so the SDK cannot prove power- cycle persistence without an actual reboot/reconnect check. Do that as a release or factory gate; do not interpret a successful call as an atomic-flash guarantee. diff --git a/docs/04_recording.md b/docs/04_recording.md index 8d43c83..c861654 100644 --- a/docs/04_recording.md +++ b/docs/04_recording.md @@ -104,7 +104,7 @@ This bounds SDK memory, but it is not proof of unlimited recording. A chunk flus a synchronous write and `fsync` on the same thread that drains USB; a slow Raspberry Pi SD-card stall can still cause receive loss. The SDK refuses to mark the episode complete when a sequence gap, overflow, malformed frame or -sustained freshness gap is observable. Firmware 0.9.9 has no end-to-end CRC or +sustained freshness gap is observable. Firmware 0.9.10 has no end-to-end CRC or read-failure counters, so that is not proof that every short tail loss is detectable; release qualification must measure it on the target storage. A hard process/power loss can also lose the not-yet-flushed RAM tail; there is not yet a recovery command @@ -118,15 +118,15 @@ for i in range(12): ``` The repository does not contain a raw current long-soak report, so unit tests are not -presented as proof of a 0.9.9 multi-hour hardware capture. Release qualification must +presented as proof of a 0.9.10 multi-hour hardware capture. Release qualification must include two hands for more than 72 minutes to cross the device-clock rollover, plus a slow-storage stress run. ## Metadata worth knowing about -`meta.json` carries the logical board serial, side, `pair_id`, hardware and firmware -revision, the finger order, **`stream_thr` and `stream_clean` as they were at capture -time**, both clocks, and the host loss counters. It also carries start/end `GET -STATUS`, device counter deltas, and `complete`/`error`. Without the threshold the -counts cannot be interpreted later, since the device's current value is not the one -the data was taken under. +`meta.json` carries the logical board serial, side, hardware and firmware revision, +the finger order, **`stream_thr` and `stream_clean` as they were at capture time**, +both clocks, and the host loss counters. It also carries start/end `GET STATUS`, +device counter deltas, and `complete`/`error`. Without the threshold the counts cannot +be interpreted later, since the device's current value is not the one the data was +taken under. diff --git a/docs/05_troubleshooting.md b/docs/05_troubleshooting.md index 9782b3e..350b4e1 100644 --- a/docs/05_troubleshooting.md +++ b/docs/05_troubleshooting.md @@ -36,11 +36,11 @@ In order of likelihood: 3. Something else already holds the port. `doctor` lists non-glove serial devices it saw and skipped, which is often the clue. -Firmware 0.9.9 still appears to the OS as `XIAO_ESP32S3` from `Espressif Systems`; -the `OGLO` / `OpenGraphLabs` USB strings begin at 0.9.10. Discovery therefore uses -the Seeed VID and then proves identity with `GET CONFIG`. Another XIAO board with the -same VID can briefly appear as a candidate, but it is rejected when that handshake -does not return the strict OGLO schema. +Supported firmware 0.9.10 appears to the OS as `OGLO` from `OpenGraphLabs`. A glove +that still appears as `XIAO_ESP32S3` from `Espressif Systems` is running an older +build and must be upgraded. Discovery still proves identity with `GET CONFIG`; a +different XIAO using the same VID can briefly appear as a candidate, but it is +rejected when the handshake does not return the strict OGLO schema. ## Port already held @@ -55,7 +55,7 @@ network device and serves several subscribers at once. ## The board answers nothing at all If you are writing your own serial code rather than using this SDK: **assert DTR.** -Firmware 0.9.9 uses TinyUSB, which will not transmit until the host raises DTR. +Firmware 0.9.10 uses TinyUSB, which will not transmit until the host raises DTR. With DTR low the board returns literally zero bytes and looks dead. It is not. Keep RTS low. The two together are what a USB-UART bridge decodes as a reset request. @@ -130,13 +130,10 @@ Side is stored on the device. Fix it there: g.send("SET SIDE left") ``` -## Two hands refuse to pair +## Two-hand connection is refused -`connect_pair()` also refuses duplicate logical serials, different `pair_id` values, -or two empty pair IDs. Provision the intended pair with the same non-empty `SET PAIR` -value on both gloves. For a deliberate internal bench test only, two empty IDs can be -opened with `connect_pair(allow_unpaired=True)`; different non-empty IDs are still -rejected. +`connect_pair()` refuses duplicate logical serials or two devices reporting the same +side. Correct `SET SERIAL` or `SET SIDE` on the affected glove before reconnecting. ## Something else diff --git a/docs/06_compatibility.md b/docs/06_compatibility.md index d91ab03..12053c0 100644 --- a/docs/06_compatibility.md +++ b/docs/06_compatibility.md @@ -8,15 +8,19 @@ physical gloves. They are different claims. | Component | Status in 0.1.0rc1 | | --- | --- | | Python | 3.10 or newer | -| Firmware | 0.9.9 or newer | +| Live-glove firmware | 0.9.10 | | CONFIG schema | exactly 6 | | USB tagged stream | supported and hardware-validated | | USB legacy interleaved frame | decoder and captured-vector compatibility | | BLE schema-6 notifications | experimental; parser-tested, not release-qualified | +| Firmware 0.9.9 | historical parser/vector compatibility only; upgrade before live use | | Firmware 0.9.8 and older | rejected | -Unknown schema versions and older firmware fail closed during connection. There is -no best-effort decoder that guesses packet lengths. +The `0.1.0rc1` parser floor remains 0.9.9 so historical schema-6 golden vectors and +recordings stay readable. That tolerance is not a live-device support claim. The +deployed fleet and physical release qualification use 0.9.10/schema 6; unknown +schemas and firmware older than 0.9.9 fail closed rather than selecting a +best-effort decoder. ## Physical validation for this release candidate @@ -50,7 +54,7 @@ mutation through `GET ZERO`. - The two gloves do not share a hardware clock or trigger. - A nominal 500 IMU packets/s is transport cadence, not proof of 500 fresh physical sensor measurements per second. -- Firmware 0.9.9/0.9.10 USB frames do not include an end-to-end payload CRC. +- Firmware 0.9.10 USB frames do not include an end-to-end payload CRC. - Multi-hour recording, slow-storage stress, and device-clock rollover remain target deployment qualification items. diff --git a/docs/README.md b/docs/README.md index ae8677a..6aa784e 100644 --- a/docs/README.md +++ b/docs/README.md @@ -1,11 +1,16 @@ # OGLO SDK documentation +This documentation belongs to the sole canonical SDK repository, +[`OpenGraphLabs/oglo-python`](https://github.com/OpenGraphLabs/oglo-python). All +issues, pull requests, tags, releases, and documentation updates belong there. + 1. [Quickstart](01_quickstart.md) - install, diagnose, and read the first frames 2. [Compatibility](06_compatibility.md) - supported and measured scope 3. [Data reference](02_data_reference.md) - streams, units, frames, taxel addressing 4. [Calibration](03_calibration.md) - the sweep, raw vs clean, the deadband 5. [Recording and replay](04_recording.md) - episode format, two hands 6. [Troubleshooting](05_troubleshooting.md) - start with `oglo doctor` +7. [Test your own glove pair](07_acceptance.md) - guided public-API acceptance and reports The public wire-level contract needed by SDK users is documented in the [data reference](02_data_reference.md) and locked by the captured vectors under diff --git a/spec/vectors/README.md b/spec/vectors/README.md index 6e34ccd..ca8abc6 100644 --- a/spec/vectors/README.md +++ b/spec/vectors/README.md @@ -11,6 +11,10 @@ frame, so it proves the real packet length/framing but does not independently ex every packed12 nibble. `tests/test_capture_vectors.py` therefore also pins a literal non-zero `0x123, 0xabc` pair through the independent reference decoder. +Firmware 0.9.9 is not a supported live-glove target. These immutable captures remain +only because they are physical provenance for the schema-6 decoder; supported live +devices run firmware 0.9.10/schema 6. + The capture tool requires tactile and IMU packets, plus magnetometer packets when the board reports `has_mag=true`. It writes nothing on an incomplete capture and removes obsolete `tag_*_b` variants only after the replacement set is ready.