kyleandClaude Sonnet 5.5
f8525c5526
hermes_face now subscribes to /vision/faces and glances toward the best face (a recognised one first, then the biggest), smoothed, holding 2.5 s and drifting back to centre when none is seen. Sleeping ignores gaze. Image x flips on the display: the camera looks the way the robot faces, so a person on the image's right is on the robot's right, the viewer's left. Fix the pan sign carried over from the prototype: positive pan is the robot's left (the MCP contract), which is the viewer's right on the display. robot-face.service starts the face at boot and restarts it on failure, with a private working directory because lgpio drops a notification pipe in its cwd and systemd's default / is not writable. robot-cpu-performance.service holds the CPU at full clock, which halves the face's CPU cost. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
147 lines
4.7 KiB
Python
147 lines
4.7 KiB
Python
import numpy as np
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import pytest
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from hermes_face.render import H, STATES, W, FaceRenderer, box_blur
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def run(r, seconds, t0=0.0, fps=30):
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t, frame = t0, None
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for _ in range(int(seconds * fps)):
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t += 1 / fps
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frame = r.frame(t, 1 / fps)
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return frame, t
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def brightness(frame):
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return float(frame.astype(np.float32).mean())
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@pytest.mark.parametrize('state', STATES)
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@pytest.mark.parametrize('style', ['phosphor', 'vector'])
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def test_every_state_draws_something(state, style):
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frame, _ = run(FaceRenderer(style=style, state=state, seed=0), 3)
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assert frame.shape == (H, W, 3) and frame.dtype == np.uint8
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assert frame.max() > 100
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def test_sleeping_is_dimmer_than_idle():
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idle, _ = run(FaceRenderer(state='idle', seed=0), 4)
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asleep, _ = run(FaceRenderer(state='sleeping', seed=0), 4)
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assert brightness(asleep) < 0.8 * brightness(idle)
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def test_wakes_up():
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r = FaceRenderer(state='sleeping', seed=0)
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_, t = run(r, 2)
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r.set_state('idle', t)
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frame, _ = run(r, 3, t)
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idle, _ = run(FaceRenderer(state='idle', seed=0), 3)
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assert r.a['open'] > 0.9 and abs(brightness(frame) - brightness(idle)) < 0.2 * brightness(idle)
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def test_looking_returns_to_the_state_it_interrupted():
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r = FaceRenderer(state='thinking', seed=0)
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_, t = run(r, 1)
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r.set_state('looking', t)
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assert r.state == 'looking'
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run(r, 2, t)
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assert r.state == 'thinking'
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def test_unknown_state_rejected():
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with pytest.raises(ValueError):
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FaceRenderer().set_state('dancing', 0.0)
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def test_pan_moves_the_eyes():
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def centroid_x(pan):
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r = FaceRenderer(state='idle', seed=0, jitter=0)
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r.set_pose(pan, 0)
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frame, _ = run(r, 2)
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lum = frame.astype(np.float32).sum(axis=(0, 2))
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return float((lum * np.arange(W)).sum() / lum.sum())
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assert centroid_x(60) > centroid_x(0) > centroid_x(-60) # +pan = robot's left = viewer's right
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def test_box_blur_conserves_energy():
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b = np.zeros((H, W), np.float32)
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b[120, 120] = 1.0
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out = box_blur(b, 2)
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assert abs(out.sum() - 1.0) < 1e-3
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assert np.allclose(out[118:123, 118:123], 1 / 25, atol=1e-5)
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def test_rgb565_frame_matches_rgb_frame():
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a = FaceRenderer(state='idle', seed=3)
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b = FaceRenderer(state='idle', seed=3)
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rgb, raw = None, None
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for i in range(1, 40):
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rgb = a.frame(i / 30, 1 / 30)
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raw = b.frame(i / 30, 1 / 30, 'rgb565')
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assert len(raw) == H * W * 2
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px = np.frombuffer(raw, '>u2').reshape(H, W)
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assert np.array_equal(px >> 11, rgb[..., 0] >> 3)
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assert np.array_equal((px >> 5) & 0x3F, rgb[..., 1] >> 2)
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assert np.array_equal(px & 0x1F, rgb[..., 2] >> 3)
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@pytest.mark.parametrize('rotation', [90, 180, 270])
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def test_rotation_turns_the_frame_counter_clockwise(rotation):
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base = FaceRenderer(state='idle', seed=5, rotation=0)
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turned = FaceRenderer(state='idle', seed=5, rotation=rotation)
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a = b = None
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for i in range(1, 30):
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a = base.frame(i / 30, 1 / 30)
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b = turned.frame(i / 30, 1 / 30)
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assert np.array_equal(b, np.rot90(a, rotation // 90))
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def test_bad_rotation_rejected():
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with pytest.raises(ValueError):
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FaceRenderer(rotation=45)
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def test_wild_parameters_are_clamped():
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r = FaceRenderer(focus=1e9, persist_ms=0, intensity=-3, jitter=1e6, seed=0)
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assert (r.focus, r.persist_ms, r.intensity, r.jitter) == (1.0, 5.0, 0.0, 5.0)
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assert run(r, 1)[0].shape == (H, W, 3)
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def test_unknown_phosphor_rejected():
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with pytest.raises(ValueError):
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FaceRenderer(phosphor='P99')
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def eye_centroid(r, seconds, t0=0.0):
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frame, t = run(r, seconds, t0)
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lum = frame[:130].astype(np.float32).sum(axis=(0, 2)) # the eyes live in the top half
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rows = frame[:130].astype(np.float32).sum(axis=(1, 2))
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return float((lum * np.arange(W)).sum() / lum.sum()), float((rows * np.arange(130)).sum() / rows.sum()), t
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def test_gaze_moves_the_eyes_toward_the_person_and_drifts_back():
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r = FaceRenderer(state='idle', seed=0, jitter=0)
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cx0, cy0, t = eye_centroid(r, 2)
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r.set_gaze(1.0, 0.0, t)
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cx1, _, t = eye_centroid(r, 1, t) # held, so still glancing
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assert cx1 > cx0 + 5
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r.set_gaze(0.0, -1.0, t)
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_, cy2, t = eye_centroid(r, 1, t)
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assert cy2 < cy0 - 3 # up on the display
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cx3, cy3, _ = eye_centroid(r, 8, t) # no refresh: hold expires, eyes return
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assert abs(cx3 - cx0) < 2 and abs(cy3 - cy0) < 2
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def test_sleeping_ignores_gaze():
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r = FaceRenderer(state='sleeping', seed=0, jitter=0)
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cx0, _, t = eye_centroid(r, 4)
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r.set_gaze(1.0, 0.0, t)
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cx1, _, _ = eye_centroid(r, 2, t)
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assert abs(cx1 - cx0) < 1.5
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def test_gaze_is_clamped():
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r = FaceRenderer(seed=0)
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r.set_gaze(50, -50, 0.0)
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assert r._gaze == (1.0, -1.0)
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