fix: 修正ACT相机采样质量判定

xr_rm_teleop/test/test_act_episode_recorder.py

@@ -1,5 +1,6 @@
 import queue
 import threading
+import time
 from types import SimpleNamespace
 
 import numpy as np
@@ -29,6 +30,7 @@ from xr_rm_teleop.act_episode_recorder import (
     next_episode_index,
     publish_without_overwrite,
     recover_partial_files,
+    sample_frame_metrics,
     select_camera_pair,
     select_frame,
     validate_episode,
@@ -296,6 +298,34 @@ def test_camera_buffer_is_bounded_and_counts_dropped_frames():
     assert stats.fps == pytest.approx(800.0)
 
 
+def test_camera_buffer_counts_frame_number_regressions():
+    buffer = CameraBuffer(maxlen=4)
+    for frame_number in (100, 101, 1, 2):
+        buffer.push(
+            CameraFrame(
+                _image(frame_number),
+                frame_number,
+                float(frame_number),
+                time.monotonic_ns(),
+            )
+        )
+
+    stats = buffer.stats()
+
+    assert stats.frame_number_regression_count == 1
+    assert stats.dropped_frames == 0
+
+
+def test_sample_frame_metrics_separate_repeats_skips_and_regressions():
+    repeat, skip, regression = sample_frame_metrics(
+        np.asarray((986, 986, 988), dtype=np.uint64)
+    )
+
+    assert repeat == pytest.approx(0.5)
+    assert skip == pytest.approx(0.5)
+    assert regression == 0
+
+
 requires_h5py = pytest.mark.skipif(
     h5py is None,
     reason="h5py is not installed",
@@ -506,6 +536,8 @@ def _valid_episode(tmp_path):
         root.attrs["camera_right_wrist_fps"] = 30.0
         root.attrs["camera_high_drop_ratio"] = 0.0
         root.attrs["camera_right_wrist_drop_ratio"] = 0.0
+        root.attrs["camera_high_frame_number_regression_count"] = 0
+        root.attrs["camera_right_wrist_frame_number_regression_count"] = 0
     return path
 
 
@@ -518,6 +550,19 @@ def test_validate_episode_accepts_valid_file(tmp_path):
     assert report.metrics["control_hz"] == pytest.approx(30.0, rel=1e-5)
 
 
+@requires_h5py
+def test_validate_episode_accepts_async_camera_phase_drift(tmp_path):
+    path = _valid_episode(tmp_path)
+    with h5py.File(path, "r+") as root:
+        root["debug/cameras/cam_high_frame_number"][:] = (986, 986, 988)
+
+    report = validate_episode(path, _quality_limits())
+
+    assert report.accepted
+    assert report.metrics["cam_high_sample_repeat_ratio"] == pytest.approx(0.5)
+    assert report.metrics["cam_high_sample_skip_ratio"] == pytest.approx(0.5)
+
+
 def _mutate_episode(path, mutation):
     with h5py.File(path, "r+") as root:
         if mutation == "short_episode":
@@ -547,6 +592,8 @@ def _mutate_episode(path, mutation):
             root.attrs["camera_high_fps"] = 20.0
         elif mutation == "camera_drop":
             root.attrs["camera_right_wrist_drop_ratio"] = 0.02
+        elif mutation == "camera_frame_regression":
+            root.attrs["camera_high_frame_number_regression_count"] = 1
         elif mutation == "camera_age":
             root["debug/timestamps/cam_high_age_ms"][1] = 60.0
         elif mutation == "camera_skew":
@@ -571,6 +618,7 @@ def _mutate_episode(path, mutation):
         ("control_fault", "control_fault"),
         ("camera_fps", "camera_fps"),
         ("camera_drop", "camera_drop_ratio"),
+        ("camera_frame_regression", "camera_frame_number_regression"),
         ("camera_age", "camera_frame_too_old"),
         ("camera_skew", "camera_skew"),
         ("final_gripper_closed", "final_gripper_not_open"),