Public Member Functions
	__init__ (self, Optional[List[str]] sensor_names=None)
	start_receiver (self)
	stop (self)
	run_phase1 (self)
	run_phase2 (self)
	run_phase2_background (self)
	clear_calibration (self)
	propagate_zero_point (self, Tuple[str, int] calibrated_key, str stype)
	load_existing (self)

Public Attributes
dict	sensor_types = {}
dict	active_connectors = {}
dict	board_ip_to_type = {}
dict	ip_to_board_id = {}
dict	robust = {}
tuple	channel_to_board_ip
	engine
Dict[Tuple[str, int], deque]	live_adc
dict	ip_to_type = {}
dict	references = {}
	env_state = EnvironmentalState()
	receiver = UDPSensorReceiver(port)
	min_points = int(orch_cfg.get("min_points", 5))
	target_points = int(orch_cfg.get("target_points", 15))
	max_points = int(orch_cfg.get("max_points", 30))
	target_r2 = float(orch_cfg.get("target_r_squared", 0.99))
	min_r2 = float(orch_cfg.get("min_r_squared", 0.95))
	glr_threshold = float(orch_cfg.get("drift_glr_threshold", 2.0))
	consensus_enabled = bool(orch_cfg.get("consensus_enabled", True))
	consensus_threshold = float(phase2.get("consensus_threshold_psi", 1.0))
	min_consensus_sensors = int(env_cal.get("min_consensus_sensors", 2))
	self_cal_alpha_threshold
	agreement_threshold = float(orch_cfg.get("agreement_threshold", 0.6))
dict	latest_predictions = {}
bool	running = False
bool	collecting = False
str	phase = "IDLE"
Optional[threading.Thread]	monitor_thread = None
list	pending_alerts = []
int	pending_alerts_max = 50
	actuator_comm = None
dict	stats
	robustness_manager = None
dict	actuator_statuses = {}

Protected Member Functions
	_drain_queue (self)
	_parse_actuator_status (self)
	_print_actuator_status (self)
float	_adc_uncertainty (self, key)
	_online_update (self, Tuple[str, int] key, float adc_code)
	_collect (self, float dur)
	_tls_bayesian_fit_all (self)
	_print_alerts (self)
	_run_consensus_and_self_cal (self)
	_save_all (self)
	_save_prior (self)
	_load_prior_from_polynomial_calibration (self)
	_print_status (self)
	_print_live (self)

Protected Attributes
dict	_idx_to_key = {}
dict	_key_to_idx = {}
	_save_interval = float(orch_cfg.get("auto_save_interval_sec", 300))
	_status_interval = float(orch_cfg.get("status_interval_sec", 30))
	_actuator_raw_samples = deque(maxlen=100)

Detailed Description

Two-phase calibration lifecycle backed by the paper's full math:
  • RobustCalibrationFramework per channel  (TLS, Bayesian, GLR, RLS)
  • AutonomousCalibrationEngine for cross-sensor empirical Bayes +
    active learning

Definition at line 282 of file calibration_orchestrator.py.

Constructor & Destructor Documentation

◆ init()

calibration_orchestrator.CalibrationOrchestrator.__init__	(		self,
		Optional[List[str]]	sensor_names = None )

Definition at line 290 of file calibration_orchestrator.py.

Member Function Documentation

◆ _adc_uncertainty()

float calibration_orchestrator.CalibrationOrchestrator._adc_uncertainty	(		self,
			key )

protected

Compute measurement uncertainty from ADC noise.

Definition at line 657 of file calibration_orchestrator.py.

References calibration_orchestrator.adc_to_voltage(), autonomous_lc_calibration.AutonomousLCCalibrator.live_adc, autonomous_pt_calibration.AutonomousPTCalibrator.live_adc, autonomous_rtd_calibration.AutonomousRTDCalibrator.live_adc, autonomous_tc_calibration.AutonomousTCCalibrator.live_adc, live_adc, and max.

Referenced by _online_update().

◆ _collect()

calibration_orchestrator.CalibrationOrchestrator._collect	(		self,
		float	dur )

protected

Definition at line 836 of file calibration_orchestrator.py.

Referenced by run_phase1().

◆ _drain_queue()

calibration_orchestrator.CalibrationOrchestrator._drain_queue ( self )

protected

Definition at line 541 of file calibration_orchestrator.py.

References actuator_comm, ip_to_type, actuator_testing_gui.ActuatorTestingWindow.receiver, anonymous_namespace{idle_e2e.cpp}::World.receiver, receiver, combined_gui.ActuatorControlWidget.receiver, combined_gui.SensorPlotWidget.receiver, lc_calibration_gui.LCPlotWindow.receiver, pt_multi_gui.PTPlotWindow.receiver, sense_testing_gui.SenseTestingGUIWindow.receiver, and solenoid_characterization_gui.SolenoidCharacterizationWindow.receiver.

Referenced by _collect(), _print_live(), and run_phase1().

◆ _load_prior_from_polynomial_calibration()

calibration_orchestrator.CalibrationOrchestrator._load_prior_from_polynomial_calibration ( self )

protected

Load polynomial calibration (calibration_poly_coeffs + adc_norm_min/scale)
from calibration/ or calibration_backups/ and use as initial theta for RCFs.
Fixes 150 PSI reading as 56.8 — the default prior theta[1]=200 has wrong slope.

Definition at line 1198 of file calibration_orchestrator.py.

References robust.

Referenced by load_existing().

◆ _online_update()

calibration_orchestrator.CalibrationOrchestrator._online_update	(		self,
		Tuple[str, int]	key,
		float	adc_code )

protected

Phase 2 per-sample update:
  1. RLS update (if reference available)
  2. Prediction + uncertainty for active-learning check
  3. GLR drift detection → full Bayesian recal if triggered
  4. Store for consensus (live_adc, latest_predictions)

Definition at line 667 of file calibration_orchestrator.py.

◆ _parse_actuator_status()

calibration_orchestrator.CalibrationOrchestrator._parse_actuator_status ( self )

protected

Parse actuator current sense data from raw samples

Definition at line 619 of file calibration_orchestrator.py.

References _actuator_raw_samples.

◆ _print_actuator_status()

calibration_orchestrator.CalibrationOrchestrator._print_actuator_status ( self )

protected

Print actuator current sense status

Definition at line 641 of file calibration_orchestrator.py.

References actuator_statuses, and time.time().

◆ _print_alerts()

calibration_orchestrator.CalibrationOrchestrator._print_alerts ( self )

protected

Definition at line 933 of file calibration_orchestrator.py.

References _idx_to_key, and pending_alerts.

Referenced by run_phase2().

◆ _print_live()

calibration_orchestrator.CalibrationOrchestrator._print_live ( self )

protected

Definition at line 1474 of file calibration_orchestrator.py.

References _drain_queue(), calibration_orchestrator.adc_to_voltage(), autonomous_lc_calibration.AutonomousLCCalibrator.live_adc, autonomous_pt_calibration.AutonomousPTCalibrator.live_adc, autonomous_rtd_calibration.AutonomousRTDCalibrator.live_adc, autonomous_tc_calibration.AutonomousTCCalibrator.live_adc, and live_adc.

Referenced by run_phase1().

◆ _print_status()

calibration_orchestrator.CalibrationOrchestrator._print_status ( self )

protected

Definition at line 1405 of file calibration_orchestrator.py.

Referenced by run_phase1(), and run_phase2().

◆ _run_consensus_and_self_cal()

calibration_orchestrator.CalibrationOrchestrator._run_consensus_and_self_cal ( self )

protected

Paper Section 6: consensus + agreement + self-cal when α≥0.6, agreement>0.6.

Definition at line 960 of file calibration_orchestrator.py.

Referenced by run_phase2().

◆ _save_all()

calibration_orchestrator.CalibrationOrchestrator._save_all ( self )

protected

Save calibration constants to JSON (and CSV) in config calibration path.

Definition at line 1066 of file calibration_orchestrator.py.

References _save_prior(), engine, feedtwin.session.model.AssemblyReport.engine, feedtwin.session.model.Model.engine, min_points, phase, feedtwin.solve.network.Node.phase, robust, robustness_manager, sensor_types, autonomous_lc_calibration.AutonomousLCCalibrator.stats, autonomous_pt_calibration.AutonomousPTCalibrator.stats, autonomous_rtd_calibration.AutonomousRTDCalibrator.stats, autonomous_tc_calibration.AutonomousTCCalibrator.stats, stats, calibration_orchestrator.UDPSensorReceiver.stats, emmc_log_t.stats, and fsw::time::BoardClockSync::BoardState.stats.

Referenced by run_phase1(), and run_phase2().

◆ _save_prior()

calibration_orchestrator.CalibrationOrchestrator._save_prior ( self )

protected

Save the learned population prior for warm-starting future sessions.

Definition at line 1176 of file calibration_orchestrator.py.

References engine, feedtwin.session.model.AssemblyReport.engine, and feedtwin.session.model.Model.engine.

Referenced by _save_all().

◆ _tls_bayesian_fit_all()

calibration_orchestrator.CalibrationOrchestrator._tls_bayesian_fit_all ( self )

protected

Run TLS + Bayesian update for all channels with enough data.

Definition at line 861 of file calibration_orchestrator.py.

References min_points, robust, autonomous_lc_calibration.AutonomousLCCalibrator.stats, autonomous_pt_calibration.AutonomousPTCalibrator.stats, autonomous_rtd_calibration.AutonomousRTDCalibrator.stats, autonomous_tc_calibration.AutonomousTCCalibrator.stats, stats, calibration_orchestrator.UDPSensorReceiver.stats, emmc_log_t.stats, and fsw::time::BoardClockSync::BoardState.stats.

Referenced by run_phase1().

◆ clear_calibration()

calibration_orchestrator.CalibrationOrchestrator.clear_calibration ( self )

Clear all references and per-channel calibration data. User can start fresh.

Definition at line 947 of file calibration_orchestrator.py.

References references, and robust.

◆ load_existing()

calibration_orchestrator.CalibrationOrchestrator.load_existing ( self )

Load latest calibrations + learned prior for cold-start Phase 2.

Definition at line 1276 of file calibration_orchestrator.py.

References _load_prior_from_polynomial_calibration(), engine, feedtwin.session.model.AssemblyReport.engine, feedtwin.session.model.Model.engine, robust, and sensor_types.

◆ propagate_zero_point()

calibration_orchestrator.CalibrationOrchestrator.propagate_zero_point	(		self,
		Tuple[str, int]	calibrated_key,
		str	stype )

When human provides zero for one PT, add (v_k, 0, 0.01) for all other PTs of same type.

Definition at line 1045 of file calibration_orchestrator.py.

References env_state, autonomous_lc_calibration.AutonomousLCCalibrator.live_adc, autonomous_pt_calibration.AutonomousPTCalibrator.live_adc, autonomous_rtd_calibration.AutonomousRTDCalibrator.live_adc, autonomous_tc_calibration.AutonomousTCCalibrator.live_adc, live_adc, robust, and time.time().

◆ run_phase1()

calibration_orchestrator.CalibrationOrchestrator.run_phase1 ( self )

◆ run_phase2()

calibration_orchestrator.CalibrationOrchestrator.run_phase2 ( self )

Definition at line 889 of file calibration_orchestrator.py.

References _print_alerts(), _print_status(), _run_consensus_and_self_cal(), _save_all(), _save_interval, _status_interval, actuator_comm, phase, feedtwin.solve.network.Node.phase, autonomous_lc_calibration.AutonomousLCCalibrator.running, autonomous_pt_calibration.AutonomousPTCalibrator.running, autonomous_rtd_calibration.AutonomousRTDCalibrator.running, autonomous_tc_calibration.AutonomousTCCalibrator.running, board_simulator.SimulatedBoard.running, running, and time.time().

Referenced by run_phase2_background().

◆ run_phase2_background()

calibration_orchestrator.CalibrationOrchestrator.run_phase2_background ( self )

Definition at line 928 of file calibration_orchestrator.py.

References monitor_thread, phase, feedtwin.solve.network.Node.phase, run_phase2(), and start().

◆ start_receiver()

calibration_orchestrator.CalibrationOrchestrator.start_receiver ( self )

Definition at line 516 of file calibration_orchestrator.py.

References actuator_comm, actuator_testing_gui.ActuatorTestingWindow.receiver, anonymous_namespace{idle_e2e.cpp}::World.receiver, receiver, combined_gui.ActuatorControlWidget.receiver, combined_gui.SensorPlotWidget.receiver, lc_calibration_gui.LCPlotWindow.receiver, pt_multi_gui.PTPlotWindow.receiver, sense_testing_gui.SenseTestingGUIWindow.receiver, solenoid_characterization_gui.SolenoidCharacterizationWindow.receiver, autonomous_lc_calibration.AutonomousLCCalibrator.running, autonomous_pt_calibration.AutonomousPTCalibrator.running, autonomous_rtd_calibration.AutonomousRTDCalibrator.running, autonomous_tc_calibration.AutonomousTCCalibrator.running, board_simulator.SimulatedBoard.running, running, and start().

◆ stop()

calibration_orchestrator.CalibrationOrchestrator.stop ( self )

Member Data Documentation

◆ _actuator_raw_samples

calibration_orchestrator.CalibrationOrchestrator._actuator_raw_samples = deque(maxlen=100)

protected

Definition at line 557 of file calibration_orchestrator.py.

Referenced by _parse_actuator_status().

◆ _idx_to_key

dict calibration_orchestrator.CalibrationOrchestrator._idx_to_key = {}

protected

Definition at line 391 of file calibration_orchestrator.py.

Referenced by _print_alerts().

◆ _key_to_idx

dict calibration_orchestrator.CalibrationOrchestrator._key_to_idx = {}

protected

Definition at line 392 of file calibration_orchestrator.py.

Referenced by _online_update(), and _run_consensus_and_self_cal().

◆ _save_interval

calibration_orchestrator.CalibrationOrchestrator._save_interval = float(orch_cfg.get("auto_save_interval_sec", 300))

protected

Definition at line 431 of file calibration_orchestrator.py.

Referenced by run_phase2().

◆ _status_interval

calibration_orchestrator.CalibrationOrchestrator._status_interval = float(orch_cfg.get("status_interval_sec", 30))

protected

Definition at line 432 of file calibration_orchestrator.py.

Referenced by run_phase2().

◆ active_connectors

dict calibration_orchestrator.CalibrationOrchestrator.active_connectors = {}

Definition at line 301 of file calibration_orchestrator.py.

◆ actuator_comm

calibration_orchestrator.CalibrationOrchestrator.actuator_comm = None

Definition at line 467 of file calibration_orchestrator.py.

Referenced by _drain_queue(), run_phase1(), run_phase2(), start_receiver(), and stop().

◆ actuator_statuses

dict calibration_orchestrator.CalibrationOrchestrator.actuator_statuses = {}

Definition at line 632 of file calibration_orchestrator.py.

Referenced by _print_actuator_status().

◆ agreement_threshold

calibration_orchestrator.CalibrationOrchestrator.agreement_threshold = float(orch_cfg.get("agreement_threshold", 0.6))

Definition at line 446 of file calibration_orchestrator.py.

Referenced by _run_consensus_and_self_cal().

◆ board_ip_to_type

dict calibration_orchestrator.CalibrationOrchestrator.board_ip_to_type = {}

Definition at line 302 of file calibration_orchestrator.py.

◆ channel_to_board_ip

tuple calibration_orchestrator.CalibrationOrchestrator.channel_to_board_ip

Initial value:

=  (
            {}
        )

Definition at line 358 of file calibration_orchestrator.py.

◆ collecting

bool calibration_orchestrator.CalibrationOrchestrator.collecting = False

Definition at line 458 of file calibration_orchestrator.py.

Referenced by _collect().

◆ consensus_enabled

calibration_orchestrator.CalibrationOrchestrator.consensus_enabled = bool(orch_cfg.get("consensus_enabled", True))

Definition at line 434 of file calibration_orchestrator.py.

Referenced by _run_consensus_and_self_cal().

◆ consensus_threshold

calibration_orchestrator.CalibrationOrchestrator.consensus_threshold = float(phase2.get("consensus_threshold_psi", 1.0))

Definition at line 441 of file calibration_orchestrator.py.

◆ engine

calibration_orchestrator.CalibrationOrchestrator.engine

Initial value:

=  AutonomousCalibrationEngine(
            n_sensors=total_channels,
            n_params=N_PARAMS,
            forgetting_factor=forgetting,
        )

Definition at line 384 of file calibration_orchestrator.py.

Referenced by _online_update(), _print_status(), _run_consensus_and_self_cal(), _save_all(), _save_prior(), and load_existing().

◆ env_state

calibration_orchestrator.CalibrationOrchestrator.env_state = EnvironmentalState()

Definition at line 414 of file calibration_orchestrator.py.

Referenced by _online_update(), _print_status(), _run_consensus_and_self_cal(), and propagate_zero_point().

◆ glr_threshold

calibration_orchestrator.CalibrationOrchestrator.glr_threshold = float(orch_cfg.get("drift_glr_threshold", 2.0))

Definition at line 430 of file calibration_orchestrator.py.

Referenced by robust_calibration.RobustCalibrationFramework.generalized_likelihood_ratio_test(), and robust_calibration.RobustCalibrationFramework.get_calibration_summary().

◆ ip_to_board_id

dict calibration_orchestrator.CalibrationOrchestrator.ip_to_board_id = {}

Definition at line 347 of file calibration_orchestrator.py.

◆ ip_to_type

dict calibration_orchestrator.CalibrationOrchestrator.ip_to_type = {}

Definition at line 405 of file calibration_orchestrator.py.

Referenced by _drain_queue().

◆ latest_predictions

dict calibration_orchestrator.CalibrationOrchestrator.latest_predictions = {}

Definition at line 449 of file calibration_orchestrator.py.

Referenced by _online_update(), and _run_consensus_and_self_cal().

◆ live_adc

Dict[Tuple[str, int], deque] calibration_orchestrator.CalibrationOrchestrator.live_adc

Initial value:

=  defaultdict(
            lambda: deque(maxlen=200)
        )

Definition at line 400 of file calibration_orchestrator.py.

Referenced by _adc_uncertainty(), _online_update(), _print_live(), _print_status(), _run_consensus_and_self_cal(), and propagate_zero_point().

◆ max_points

calibration_orchestrator.CalibrationOrchestrator.max_points = int(orch_cfg.get("max_points", 30))

Definition at line 427 of file calibration_orchestrator.py.

◆ min_consensus_sensors

calibration_orchestrator.CalibrationOrchestrator.min_consensus_sensors = int(env_cal.get("min_consensus_sensors", 2))

Definition at line 442 of file calibration_orchestrator.py.

Referenced by _run_consensus_and_self_cal().

◆ min_points

calibration_orchestrator.CalibrationOrchestrator.min_points = int(orch_cfg.get("min_points", 5))

Definition at line 425 of file calibration_orchestrator.py.

Referenced by _save_all(), and _tls_bayesian_fit_all().

◆ min_r2

calibration_orchestrator.CalibrationOrchestrator.min_r2 = float(orch_cfg.get("min_r_squared", 0.95))

Definition at line 429 of file calibration_orchestrator.py.

◆ monitor_thread

Optional[threading.Thread] calibration_orchestrator.CalibrationOrchestrator.monitor_thread = None

Definition at line 460 of file calibration_orchestrator.py.

Referenced by run_phase2_background(), and stop().

◆ pending_alerts

calibration_orchestrator.CalibrationOrchestrator.pending_alerts = []

Definition at line 463 of file calibration_orchestrator.py.

Referenced by _online_update(), and _print_alerts().

◆ pending_alerts_max

int calibration_orchestrator.CalibrationOrchestrator.pending_alerts_max = 50

Definition at line 464 of file calibration_orchestrator.py.

Referenced by _online_update().

◆ phase

str calibration_orchestrator.CalibrationOrchestrator.phase = "IDLE"

Definition at line 459 of file calibration_orchestrator.py.

Referenced by _run_consensus_and_self_cal(), _save_all(), run_phase1(), run_phase2(), and run_phase2_background().

◆ receiver

calibration_orchestrator.CalibrationOrchestrator.receiver = UDPSensorReceiver(port)

Definition at line 422 of file calibration_orchestrator.py.

Referenced by _drain_queue(), start_receiver(), and stop().

◆ references

dict calibration_orchestrator.CalibrationOrchestrator.references = {}

Definition at line 411 of file calibration_orchestrator.py.

Referenced by _collect(), _online_update(), _print_status(), clear_calibration(), and run_phase1().

◆ robust

dict calibration_orchestrator.CalibrationOrchestrator.robust = {}

Definition at line 357 of file calibration_orchestrator.py.

Referenced by _load_prior_from_polynomial_calibration(), _online_update(), _print_status(), _run_consensus_and_self_cal(), _save_all(), _tls_bayesian_fit_all(), clear_calibration(), load_existing(), and propagate_zero_point().

◆ robustness_manager

calibration_orchestrator.CalibrationOrchestrator.robustness_manager = None

Definition at line 497 of file calibration_orchestrator.py.

Referenced by _save_all().

◆ running

bool calibration_orchestrator.CalibrationOrchestrator.running = False

Definition at line 457 of file calibration_orchestrator.py.

Referenced by _collect(), imu_calibration_gui.UDPReceiver.run(), run_phase1(), run_phase2(), start_receiver(), and stop().

◆ self_cal_alpha_threshold

calibration_orchestrator.CalibrationOrchestrator.self_cal_alpha_threshold

Initial value:

=  float(
            orch_cfg.get("self_cal_alpha_threshold", 0.6)
        )

Definition at line 443 of file calibration_orchestrator.py.

Referenced by _run_consensus_and_self_cal().

◆ sensor_types

dict calibration_orchestrator.CalibrationOrchestrator.sensor_types = {}

Definition at line 292 of file calibration_orchestrator.py.

Referenced by _print_status(), _save_all(), load_existing(), and run_phase1().

◆ stats

dict calibration_orchestrator.CalibrationOrchestrator.stats

Initial value:

=  {
            "phase1_points": 0,
            "tls_fits": 0,
            "bayesian_updates": 0,
            "rls_updates": 0,
            "drifts_detected": 0,
            "recalibrations": 0,
            "active_learning_alerts": 0,
            "saves": 0,
            "start_time": time.time(),
        }

Definition at line 484 of file calibration_orchestrator.py.

Referenced by _collect(), _online_update(), _print_status(), _run_consensus_and_self_cal(), _save_all(), and _tls_bayesian_fit_all().

◆ target_points

calibration_orchestrator.CalibrationOrchestrator.target_points = int(orch_cfg.get("target_points", 15))

Definition at line 426 of file calibration_orchestrator.py.

◆ target_r2

calibration_orchestrator.CalibrationOrchestrator.target_r2 = float(orch_cfg.get("target_r_squared", 0.99))

Definition at line 428 of file calibration_orchestrator.py.

The documentation for this class was generated from the following file:

daq-server/tools/calibration/calibration_orchestrator.py

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ _adc_uncertainty()

◆ _collect()

◆ _drain_queue()

◆ _load_prior_from_polynomial_calibration()

◆ _online_update()

◆ _parse_actuator_status()

◆ _print_actuator_status()

◆ _print_alerts()

◆ _print_live()

◆ _print_status()

◆ _run_consensus_and_self_cal()

◆ _save_all()

◆ _save_prior()

◆ _tls_bayesian_fit_all()

◆ clear_calibration()

◆ load_existing()

◆ propagate_zero_point()

◆ run_phase1()

◆ run_phase2()

◆ run_phase2_background()

◆ start_receiver()

◆ stop()

Member Data Documentation

◆ _actuator_raw_samples

◆ _idx_to_key

◆ _key_to_idx

◆ _save_interval

◆ _status_interval

◆ active_connectors

◆ actuator_comm

◆ actuator_statuses

◆ agreement_threshold

◆ board_ip_to_type

◆ channel_to_board_ip

◆ collecting

◆ consensus_enabled

◆ consensus_threshold

◆ engine

◆ env_state

◆ glr_threshold

◆ ip_to_board_id

◆ ip_to_type

◆ latest_predictions

◆ live_adc

◆ max_points

◆ min_consensus_sensors

◆ min_points

◆ min_r2

◆ monitor_thread

◆ pending_alerts

◆ pending_alerts_max

◆ phase

◆ receiver

◆ references

◆ robust

◆ robustness_manager

◆ running

◆ self_cal_alpha_threshold

◆ sensor_types

◆ stats

◆ target_points

◆ target_r2

◆ init()