feat(pose): pinch engage debounce

data_only_viz/finger_strike.py

@@ -133,11 +133,12 @@ class PinchEvent:
 
 
 class _PinchState:
-    __slots__ = ("engaged", "last_t")
+    __slots__ = ("engaged", "last_t", "qual")
 
     def __init__(self) -> None:
         self.engaged: bool = False
         self.last_t: float = -1e9
+        self.qual: int = 0        # consecutive qualifying frames (debounce)
 
 
 class PinchDetector:
@@ -217,13 +218,22 @@ class PinchDetector:
                         st.engaged = False
                         events.append(PinchEvent(hand=slot, finger=i + 1, state=0))
                 elif i == winner and (t_now - st.last_t) >= self.refractory_s:
-                    st.engaged = True
-                    st.last_t = t_now
-                    events.append(PinchEvent(hand=slot, finger=i + 1, state=1))
+                    # engage only after debounce_frames consecutive qualifying
+                    # frames; release below stays edge-immediate.
+                    st.qual += 1
+                    if st.qual >= self.debounce_frames:
+                        st.engaged = True
+                        st.last_t = t_now
+                        st.qual = 0
+                        events.append(PinchEvent(hand=slot, finger=i + 1, state=1))
+                else:
+                    st.qual = 0
         for slot in range(len(self._state)):
             if slot not in present:
                 for i in range(4):
-                    if self._state[slot][i].engaged:
-                        self._state[slot][i].engaged = False
+                    st = self._state[slot][i]
+                    st.qual = 0
+                    if st.engaged:
+                        st.engaged = False
                         events.append(PinchEvent(hand=slot, finger=i + 1, state=0))
         return events

data_only_viz/tests/test_finger_strike.py

@@ -221,3 +221,36 @@ def test_extension_gate_defeat_reproduces_old_behavior():
                         ext_min=0)
     ev = det.step([_relaxed_hand()], 0.1)
     assert len(ev) == 1 and ev[0].state == 1
+
+
+def test_debounce_delays_engage_to_nth_frame():
+    det = PinchDetector(ratio_on=0.45, ratio_off=0.65, refractory_ms=0,
+                        debounce_frames=3)
+    det.step([_pinch_hand(*_OPEN)], 0.00)
+    a = det.step([_pinch_hand(*_PINCH)], 0.10)   # qualifying 1
+    b = det.step([_pinch_hand(*_PINCH)], 0.13)   # qualifying 2
+    c = det.step([_pinch_hand(*_PINCH)], 0.16)   # qualifying 3 -> engage
+    assert a == [] and b == []
+    assert len(c) == 1 and c[0].state == 1 and c[0].finger == 1
+
+
+def test_debounce_jitter_resets_counter():
+    det = PinchDetector(ratio_on=0.45, ratio_off=0.65, refractory_ms=0,
+                        debounce_frames=3)
+    det.step([_pinch_hand(*_PINCH)], 0.00)       # qualifying 1
+    det.step([_pinch_hand(*_PINCH)], 0.03)       # qualifying 2
+    det.step([_pinch_hand(*_OPEN)], 0.06)        # jitter -> counter resets
+    a = det.step([_pinch_hand(*_PINCH)], 0.09)   # qualifying 1 again
+    b = det.step([_pinch_hand(*_PINCH)], 0.12)   # qualifying 2
+    assert a == [] and b == []
+
+
+def test_release_immediate_after_debounced_engage():
+    det = PinchDetector(ratio_on=0.45, ratio_off=0.65, refractory_ms=0,
+                        debounce_frames=3)
+    det.step([_pinch_hand(*_PINCH)], 0.00)
+    det.step([_pinch_hand(*_PINCH)], 0.03)
+    eng = det.step([_pinch_hand(*_PINCH)], 0.06)  # 3rd frame -> engage
+    rel = det.step([_pinch_hand(*_OPEN)], 0.09)   # very next frame
+    assert len(eng) == 1 and eng[0].state == 1
+    assert len(rel) == 1 and rel[0].state == 0