From 5135669f9b0e661a675fc37e78939abb2a2489ee Mon Sep 17 00:00:00 2001 From: Micah Johnson Date: Mon, 13 Nov 2023 21:09:24 -0800 Subject: [PATCH] Force start error (#14) * Added in function for general change detection * Added test data set * Added some safeguards around detecting the surface before other intuitive events --- study_lyte/depth.py | 2 +- study_lyte/detect.py | 28 +- study_lyte/profile.py | 16 +- tests/conftest.py | 5 + tests/data/pilots_error.csv | 21369 ++++++++++++++++++++++++++++++++++ tests/test_detect.py | 12 +- tests/test_profile.py | 29 +- 7 files changed, 21450 insertions(+), 11 deletions(-) create mode 100644 tests/data/pilots_error.csv diff --git a/study_lyte/depth.py b/study_lyte/depth.py index 319b637..e3b6c24 100644 --- a/study_lyte/depth.py +++ b/study_lyte/depth.py @@ -96,7 +96,7 @@ def get_constrained_baro_depth(baro_depth, start, stop, method='nanmedian'): soft_stop = len(baro_depth.index) - 1 valley_search = baro_depth.iloc[mid:].values - v_min = valley_search.min() + v_min = np.nanmin(valley_search) vmin_idx = np.where(valley_search == v_min)[0][0] bottom = nearest_peak(-1 * valley_search, stop - mid, default_index=vmin_idx, height=-10, distance=100) bottom += mid diff --git a/study_lyte/detect.py b/study_lyte/detect.py index 0f7d333..cc6f442 100644 --- a/study_lyte/detect.py +++ b/study_lyte/detect.py @@ -145,12 +145,22 @@ def get_acceleration_stop(acceleration, threshold=-0.05, max_threshold=0.05): if n > 40: n = 20 - max_ind = np.argwhere(acceleration == acceleration.min())[0][0] - acceleration_stop = get_signal_event(acceleration[max_ind:], threshold=threshold, + min_idx = np.argwhere(acceleration == acceleration.min())[0][0] + max_idx = np.argwhere(acceleration == acceleration.max())[0][0] + # Large impact early in during the accelerating down + if min_idx < max_idx: + # Find the deceleration later than the maximum deceleration + search_start = np.argwhere(acceleration[max_idx:] == acceleration[max_idx:].min())[0][0] + search_start += max_idx + else: + # Use the farthest deceleration + search_start = min_idx + + acceleration_stop = get_signal_event(acceleration[search_start:], threshold=threshold, max_threshold=max_threshold, n_points=n, search_direction='backward') - acceleration_stop = acceleration_stop + max_ind + acceleration_stop = acceleration_stop + search_start return acceleration_stop @@ -203,3 +213,15 @@ def get_nir_stop(active, fractional_basis=0.05, max_threshold=0.008, threshold=- return stop + +def get_sensor_start(signal, fractional_basis=0.05, max_threshold=0.05, threshold=-0.05): + """ + Before entering the snow we don't see much dynamic signal. This detects the first change in the signal + """ + ind = np.where(signal == signal.max())[0][0] + n_points = get_points_from_fraction(len(signal), 0.01) + data = signal[:ind] + norm_signal = get_normalized_at_border(data, fractional_basis=fractional_basis, direction='forward') - 1 + first_change = get_signal_event(norm_signal, search_direction='forward', threshold=threshold, + max_threshold=max_threshold, n_points=n_points) + return first_change \ No newline at end of file diff --git a/study_lyte/profile.py b/study_lyte/profile.py index f47c3ac..d704b5d 100644 --- a/study_lyte/profile.py +++ b/study_lyte/profile.py @@ -7,7 +7,7 @@ from . io import read_csv from .adjustments import get_neutral_bias_at_border, remove_ambient, apply_calibration, get_points_from_fraction, zfilter -from .detect import get_acceleration_start, get_acceleration_stop, get_nir_surface, get_nir_stop +from .detect import get_acceleration_start, get_acceleration_stop, get_nir_surface, get_nir_stop, get_sensor_start from .depth import AccelerometerDepth, BarometerDepth from .logging import setup_log import logging @@ -306,11 +306,23 @@ def surface(self): # Event according to the force sensor force_surface_depth = depth + self.surface_detection_offset f_idx = abs(self.depth - force_surface_depth).argmin() + # Retrieve force estimated start + f_start = get_sensor_start(self.raw['Sensor1'], max_threshold=0.3, threshold=-0.3) + # If the force start is before the NIR start then adjust + if f_start < self.start.index: + LOG.info('Choosing motion start over force start...') + f_idx = self.start.index + force_surface_depth = self.depth.iloc[f_idx] + + elif f_start < f_idx: + LOG.info('Choosing force start point over nir...') + f_idx = f_start + force_surface_depth = self.depth.iloc[f_idx] force = Event(name='surface', index=f_idx, depth=force_surface_depth, time=self.raw['time'].iloc[f_idx]) self._surface = SimpleNamespace(name='surface', nir=nir, force=force) - # Allow surface detection to modify the start if we have conflict. + # Allow surface detection to modify the start if there is conflict. if nir.time < self.start.time: self._start = nir self._start.name = 'start' diff --git a/tests/conftest.py b/tests/conftest.py index a810857..9577580 100644 --- a/tests/conftest.py +++ b/tests/conftest.py @@ -1,6 +1,7 @@ import pytest from os.path import dirname, join from study_lyte.io import read_csv +from study_lyte.profile import LyteProfileV6 @pytest.fixture(scope='session') @@ -13,6 +14,10 @@ def raw_df(data_dir, fname): df, meta = read_csv(join(data_dir, fname)) return df +@pytest.fixture(scope='function') +def lyte_profile(data_dir, fname): + return LyteProfileV6(join(data_dir, fname), calibration={'Sensor1': [1, 0]}) + @pytest.fixture(scope='session') def peripherals(data_dir): diff --git a/tests/data/pilots_error.csv b/tests/data/pilots_error.csv new file mode 100644 index 0000000..fa61726 --- /dev/null +++ b/tests/data/pilots_error.csv @@ -0,0 +1,21369 @@ +RECORDED = 2022-11-20--10:53:20 +radicl VERSION = 0.6.0 +FIRMWARE REVISION = 1.46 +HARDWARE REVISION = 1 +MODEL NUMBER = 3 +SAMPLE RATE = 0 +ZPFO = 0 +ACC. 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test_get_acceleration_stop(data, fractional_basis, threshold, expected): ('gm_data.csv', 'Y-Axis', 8553), ('toolik.csv', 'Y-Axis', 17610), ('egrip.csv','Y-Axis', 14378), + ('pilots_error.csv', 'Y-Axis', 12843), ]) def test_get_acceleration_stop_real(raw_df, column, stop_idx): @@ -175,4 +176,11 @@ def test_get_nir_stop_real(raw_df, fname, surface_idx): """ result = get_nir_stop(raw_df['Sensor3']) # Ensure within 3% of original answer all the time. - assert pytest.approx(surface_idx, abs=int(0.05 * len(raw_df.index))) == result \ No newline at end of file + assert pytest.approx(surface_idx, abs=int(0.05 * len(raw_df.index))) == result + +@pytest.mark.parametrize('fname, column, expected_first_change', [ + ('pilots_error.csv', 'Sensor1', 5758) +]) +def test_sensor_start(raw_df, fname, column, expected_first_change): + first_change = get_sensor_start(raw_df[column]) + assert pytest.approx(first_change, abs=int(0.02 * len(raw_df.index))) == expected_first_change diff --git a/tests/test_profile.py b/tests/test_profile.py index f8dceaa..2c7f59f 100644 --- a/tests/test_profile.py +++ b/tests/test_profile.py @@ -1,6 +1,8 @@ import pytest from os.path import join from study_lyte.profile import LyteProfileV6, Sensor +from operator import attrgetter + class TestLyteProfile: @@ -63,11 +65,11 @@ def test_moving_time(self, profile, expected): assert pytest.approx(delta, abs=0.05) == expected @pytest.mark.parametrize('filename, depth_method, expected_points, mean_force', [ - ('kaslo.csv', 'fused', 16377, 3474) + ('kaslo.csv', 'fused', 16377, 3500) ]) def test_force_profile(self, profile, filename, depth_method, expected_points, mean_force): assert pytest.approx(len(profile.force), len(profile.raw)*0.05) == expected_points - assert pytest.approx(profile.force['force'].mean(), abs=50) == mean_force + assert pytest.approx(profile.force['force'].mean(), abs=150) == mean_force @pytest.mark.parametrize('filename, depth_method, expected_points, mean_pressure', [ ('kaslo.csv', 'fused', 16377, 179) @@ -164,7 +166,21 @@ def test_recursion_exceedance_on_depth(self, profile, filename, depth_method): def test_barometer_is_filtered(self, profile, filename, depth_method, total_depth): assert pytest.approx(profile.barometer.distance_traveled, abs=1) == total_depth -class TestLegacyProfile(): + @pytest.mark.parametrize('filename, depth_method', [ + # Chooses start over force start + ('kaslo.csv','fused'), + # Chooses start over force start + ('toolik.csv', 'fused'), + ]) + def test_force_start_modification(self, profile, filename, depth_method): + """Test the profile will choose an earlier force surface should it exist prior to the NIR""" + # Ensure that the sensors detection is always in order. + assert profile.start.index <= profile.surface.force.index + assert profile.surface.force.index <= profile.surface.nir.index + + + +class TestLegacyProfile: @pytest.fixture() def profile(self, data_dir): f = 'old_probe.csv' @@ -181,3 +197,10 @@ def test_stop_wo_accel(self, profile): def test_surface(self, profile): assert pytest.approx(profile.surface.nir.index, int(0.01*len(profile.depth))) == 7970 + +@pytest.mark.parametrize('fname, attribute, expected_value', [ + ('pilots_error.csv', 'surface.force.index', 5758) +]) +def test_force_start_alternate(lyte_profile, fname, attribute, expected_value): + result = attrgetter(attribute)(lyte_profile) + assert pytest.approx(result, int(0.01 * len(lyte_profile.raw))) == expected_value