支持 HI13/H32 主机 UTC 桥接对齐、多会话联合标定与 CAD 平移先验。

Co-authored-by: Cursor <cursoragent@cursor.com>

tests/test_h32_dlog_export.py

@@ -8,7 +8,8 @@ from pathlib import Path
 import numpy as np
 
 from tools.h32_dlog.difop import CHANNELS, HORIZONTAL_START, VERTICAL_START, parse_difop_angles
-from tools.h32_dlog.dobject import discover_records, iter_payloads, resolve_dlog_root
+from tools.h32_dlog.dobject import RECORD_RE, discover_records, iter_payloads, resolve_dlog_root
+from tools.h32_dlog.timeutil import local_wall_to_dotnet_ticks
 from tools.h32_dlog.load_session import load_h32_dlog_lidar
 from tools.h32_dlog.payload_v1 import (
     MsopPacketItem,
@@ -90,6 +91,19 @@ def _write_dorec_record(
     return start
 
 
+def test_recovered_index_line_and_local_ticks():
+    line = (
+        ">DObject `frontlidar-msop-raw` post len=15532B, id:9CF1, "
+        "tic:639218060782100466, @data.bin:0"
+    )
+    match = RECORD_RE.search(line)
+    assert match is not None
+    assert match.group("name") == "frontlidar-msop-raw"
+    assert match.group("file") == "data.bin"
+    assert int(match.group("offset")) == 0
+    assert local_wall_to_dotnet_ticks("2026-08-08T17:14:38") == 639218060780000000
+
+
 def test_parse_msop_and_difop_payload_roundtrip():
     packet = _make_msop_packet(seconds=1700000000, microseconds=123456)
     item = MsopPacketItem(

tests/test_hi13_imu.py

@@ -0,0 +1,79 @@
+"""Unit tests for HI13 / HI91 IMU decoding."""
+
+from __future__ import annotations
+
+import struct
+
+from tools.rscap_v2.capture_format_v2 import CaptureFile, CaptureHeader, RawChunk
+from tools.rscap_v2.hi13_imu import crc16_hi13, iter_hi13_imu_samples, parse_hi91_frame
+
+
+def _hi91_frame(
+    *,
+    device_ms: int = 123456,
+    accel_g=(0.0, 0.0, 1.0),
+    gyro_dps=(1.0, -2.0, 3.0),
+) -> bytes:
+    payload = bytearray(76)
+    payload[0] = 0x91
+    struct.pack_into("<H", payload, 1, 0)  # pps
+    payload[3] = 25  # temp
+    struct.pack_into("<f", payload, 4, 101325.0)
+    struct.pack_into("<I", payload, 8, device_ms)
+    struct.pack_into("<fff", payload, 12, *accel_g)
+    struct.pack_into("<fff", payload, 24, *gyro_dps)
+    # remaining mag/rpy/quat left zero
+    payload_length = len(payload)
+    header = bytearray(6)
+    header[0] = 0x5A
+    header[1] = 0xA5
+    header[2] = payload_length & 0xFF
+    header[3] = (payload_length >> 8) & 0xFF
+    frame_wo_crc = bytes(header[:4]) + bytes(payload)
+    # crc over header[0:4] + payload
+    tmp = bytearray(6 + payload_length)
+    tmp[0:4] = header[0:4]
+    tmp[6:] = payload
+    crc = crc16_hi13(tmp, payload_length)
+    header[4] = crc & 0xFF
+    header[5] = (crc >> 8) & 0xFF
+    return bytes(header) + bytes(payload)
+
+
+def test_parse_hi91_units():
+    frame = _hi91_frame(device_ms=5000, accel_g=(0.0, 0.0, 1.0), gyro_dps=(57.2957795, 0.0, 0.0))
+    parsed = parse_hi91_frame(frame)
+    assert parsed is not None
+    gyro, accel, device_ms = parsed
+    assert device_ms == 5000
+    assert abs(accel[2] - 9.80665) < 1e-4
+    assert abs(gyro[0] - 1.0) < 1e-5
+
+
+def test_iter_hi13_from_capture():
+    frame = _hi91_frame(device_ms=42)
+    header = CaptureHeader(
+        sensor_kind="hi13r4-imu",
+        session_id="t",
+        session_start_utc_ticks=0,
+        session_start_monotonic_ticks=0,
+        monotonic_frequency=10_000_000,
+        port="COM1",
+        baud=115200,
+        file_start_utc_ticks=0,
+    )
+    chunk = RawChunk(
+        sequence=1,
+        receive_utc_ticks=100,
+        receive_monotonic_ticks=1,
+        raw=frame,
+        record_file_offset=0,
+        raw_file_offset=0,
+        record_crc32=0,
+        crc_valid=True,
+    )
+    capture = CaptureFile(path="mem", header=header, chunks=[chunk], footer=None)
+    samples = iter_hi13_imu_samples(capture)
+    assert len(samples) == 1
+    assert samples[0].device_timestamp_us == 42_000
+    assert abs(samples[0].t_s - 0.042) < 1e-12