Treat tiny signed speed noise as stopped during motion presentation

roadscore/prototype/motion_presentation.py

@@ -12,8 +12,9 @@ class MotionPresentation:
 
   def process(self, pcm, *, speed, source_fresh, engagement_open_mix=1.):
     dt=len(pcm)/self.rate
-    self.fresh=bool(source_fresh and math.isfinite(speed) and speed>=0.)
+    self.fresh=bool(source_fresh and math.isfinite(speed) and speed>=-.05)
     if self.fresh:
+      speed=max(0.,speed)
       self.stop_seconds=self.stop_seconds+dt if speed<=.25 else 0.
       self.move_seconds=self.move_seconds+dt if speed>=.8 else 0.
       if self.stop_seconds>=.4:self.stopped=True
@@ -30,5 +31,5 @@ class MotionPresentation:
                 target_open_mix=self.target,rendered_open_mix=self.dsp.mix,cutoff_hz=900.,
                 lift_ms=self.config.attack_ms,contain_ms=self.config.release_ms,
                 stop_threshold_mps=.25,move_threshold_mps=.8,stop_dwell_seconds=.4,move_dwell_seconds=.15,
-                gain=1.,width=1.,added_delay_samples=0,unknown_policy='smooth bypass',
+                gain=1.,width=1.,negative_speed_tolerance_mps=.05,added_delay_samples=0,unknown_policy='smooth bypass',
                 source='fresh current carState.vEgo; no future data')}

roadscore/prototype/review_motion_presentation.py

@@ -34,7 +34,7 @@ def render(locked,out):
       before=time.perf_counter()
       y=dsp.process(pcm,speed=row.get('speed',0.),source_fresh=fresh,engagement_open_mix=open_mix)
       times.append(time.perf_counter()-before);dst.write(y)
-      states.append(dict(audio_s=start/rate,steering=row.get('steering'),speed=row.get('speed'),fresh=fresh,**dsp.snapshot()['motion_presentation']))
+      states.append(dict(audio_s=start/rate,route_t=row.get('route_t'),source_age_seconds=block['callback_wall']-row.get('command_wall',block['callback_wall']),signal_fresh=block.get('signal_fresh'),steering=row.get('steering'),speed=row.get('speed'),fresh=fresh,**dsp.snapshot()['motion_presentation']))
   transitions=[state for previous,state in zip(states,states[1:]) if previous['stopped'] and not state['stopped'] and state['fresh'] and state.get('speed',0)>=.8]
   event=transitions[0] if transitions else min(states,key=lambda x:x['rendered_open_mix'])
   start=max(0.,min(info.duration-45,event['audio_s']-15));end=min(info.duration,start+45)
@@ -52,7 +52,7 @@ def render(locked,out):
               physical_bluetooth_latency='Not measured; these files compare musical processing, not speaker/video synchronization',
               settings=dsp.snapshot(),sample_frames=info.frames)
   (out/'report.json').write_text(json.dumps(report,indent=2));(out/'motion_states.json').write_text(json.dumps(states))
-  (out/'index.html').write_text('''<!doctype html><meta name="viewport" content="width=device-width,initial-scale=1"><title>RoadScore motion A/B</title><style>body{background:#101016;color:#eee;font:18px system-ui;max-width:760px;margin:40px auto;padding:20px}audio{width:100%;margin:12px 0}p{line-height:1.5;color:#bbb}</style><h1>Curve presentation A/B</h1><p>Same accepted recording and same 45-second excerpt. B uses a strong 900 Hz low-pass while stopped and opens as the car starts moving. No regeneration, new melody, gain normalization or event samples.</p><h2>A · Locked baseline</h2><audio controls src="A_baseline.wav"></audio><h2>B · Optional motion containment</h2><audio controls src="B_motion.wav"></audio><p>Default remains off. This is a musical comparison, not Bluetooth/video synchronization. Existing engagement processing remains intact. This cannot isolate a lead instrument from a stereo mix.</p>''')
+  (out/'index.html').write_text('''<!doctype html><meta name="viewport" content="width=device-width,initial-scale=1"><title>RoadScore motion A/B</title><style>body{background:#101016;color:#eee;font:18px system-ui;max-width:760px;margin:40px auto;padding:20px}audio{width:100%;margin:12px 0}p{line-height:1.5;color:#bbb}</style><h1>Stop / pullaway presentation A/B</h1><p>Same accepted recording and same 45-second excerpt. B uses a strong 900 Hz low-pass while stopped and opens as the car starts moving. No regeneration, new melody, gain normalization or event samples.</p><h2>A · Locked baseline</h2><audio controls src="A_baseline.wav"></audio><h2>B · Optional motion containment</h2><audio controls src="B_motion.wav"></audio><p>Default remains off. This is a musical comparison, not Bluetooth/video synchronization. Existing engagement processing remains intact. This cannot isolate a lead instrument from a stereo mix.</p>''')
   return report
 
 if __name__=='__main__':

roadscore/prototype/test_motion_presentation.py

@@ -32,6 +32,18 @@ class MotionTests(unittest.TestCase):
     y=self.run_blocks(dsp,speed=float('nan'),source_fresh=False)
     self.assertTrue(np.array_equal(y,self.pcm));self.assertFalse(dsp.stopped)
 
+  def test_near_zero_signed_noise_does_not_reset_stop_dwell(self):
+    dsp=MotionPresentation(enabled=True)
+    for i in range(25):
+      y=dsp.process(self.pcm,speed=(-1 if i%2 else 1)*1e-25,source_fresh=True)
+    self.assertTrue(dsp.stopped);self.assertTrue(dsp.fresh)
+    self.assertLess(np.std(y)/np.std(self.pcm),.05)
+    self.assertTrue(np.array_equal(self.run_blocks(dsp,speed=1.,source_fresh=True),self.pcm))
+    for invalid in (float('nan'),float('inf'),-.06):
+      y=self.run_blocks(dsp,speed=invalid,source_fresh=True)
+      self.assertFalse(dsp.fresh);self.assertFalse(dsp.stopped)
+      self.assertTrue(np.array_equal(y,self.pcm))
+
   def test_engagement_owns_inactive_presentation(self):
     dsp=MotionPresentation(enabled=True);eng=EngagementPresentation();config=PresentationConfig(enabled=True)
     y=self.run_blocks(dsp,speed=0.,source_fresh=True,engagement_open_mix=0.)