Slice 2: guided Surface calibration flow (Codex)

- SurfaceCalibrationScreen: two-sample guided flow from the Level header. Captures read SensorSource.gravity directly - stored calibration is never applied to either sample. Exact 180-degree same-plane guidance, clear-saved-calibration action, Surface persistence only. - SettlingDetector (core/sensors, shared): 1.0 deg/s enter, 0.3 deg/s exit held 500 ms; mid-band movement resets the quiet dwell without leaving Settling (audit finding 1). - StableSurfaceCapture (core/sensors): continuous 1.5 s settled window with the 5-degree calibration-surface guard; restarts on motion. - SurfaceCalibrationValidation (core/sensors): 3-degree bound on the combined two-axis bias magnitude, unit-tested both sides of the boundary (audit finding 2). - Lock feedback suppression is structural: the calibration route removes LevelScreen from composition, cancelling its sensor collection. 50 tests passing. Audited-by: Claude (2 findings raised and resolved) Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
2026-07-13 14:51:28 -04:00
parent 8d942a88b4
commit d3854ac402
10 changed files with 454 additions and 3 deletions
@@ -26,6 +26,7 @@ import androidx.navigation.compose.rememberNavController
 import com.onthelevel.core.design.OnTheLevelTheme
 import com.onthelevel.feature.angle.AngleScreen
 import com.onthelevel.feature.level.LevelScreen
+import com.onthelevel.feature.level.SurfaceCalibrationScreen
 import com.onthelevel.feature.ruler.RulerScreen
 import com.onthelevel.feature.tools.ToolsScreen

@@ -87,12 +88,19 @@ private fun AppRoot(container: AppContainer) {
            startDestination = "level",
            modifier = Modifier.padding(padding),
        ) {
-            composable("level") { LevelScreen(container) }
+            composable("level") {
+                LevelScreen(container, onOpenSurfaceCalibration = {
+                    navController.navigate("surface-calibration")
+                })
+            }
            composable("angle") { AngleScreen(container) }
            composable("tools") {
                ToolsScreen(onOpenRuler = { navController.navigate("ruler") })
            }
            composable("ruler") { RulerScreen(container) }
+            composable("surface-calibration") {
+                SurfaceCalibrationScreen(container, onBack = { navController.popBackStack() })
+            }
        }
    }
 }
@@ -0,0 +1,70 @@
+package com.onthelevel.core.sensors
+
+import kotlin.math.hypot
+
+/** Shared two-axis motion gate for calibration, guidance, and Audio Assist. */
+class SettlingDetector(
+    private val enterRateDegreesPerSecond: Double = ENTER_RATE_DEGREES_PER_SECOND,
+    private val exitRateDegreesPerSecond: Double = EXIT_RATE_DEGREES_PER_SECOND,
+    private val settledDwellMillis: Long = SETTLED_DWELL_MILLIS,
+) {
+    data class Result(val isSettling: Boolean, val movementRateDegreesPerSecond: Double)
+
+    private var lastPitchDegrees: Double? = null
+    private var lastRollDegrees: Double? = null
+    private var lastTimestampNanos: Long? = null
+    private var settledSinceMillis: Long? = null
+    private var isSettling = true
+
+    fun update(pitchDegrees: Double, rollDegrees: Double, timestampNanos: Long): Result {
+        val previousPitch = lastPitchDegrees
+        val previousRoll = lastRollDegrees
+        val previousTimestamp = lastTimestampNanos
+        lastPitchDegrees = pitchDegrees
+        lastRollDegrees = rollDegrees
+        lastTimestampNanos = timestampNanos
+
+        if (previousPitch == null || previousRoll == null || previousTimestamp == null) {
+            return Result(isSettling = true, movementRateDegreesPerSecond = 0.0)
+        }
+        val dtSeconds = (timestampNanos - previousTimestamp) / 1e9
+        if (dtSeconds <= 0.0) {
+            reset()
+            return Result(isSettling = true, movementRateDegreesPerSecond = 0.0)
+        }
+
+        val rate = hypot(pitchDegrees - previousPitch, rollDegrees - previousRoll) / dtSeconds
+        val nowMillis = timestampNanos / 1_000_000
+        when {
+            rate > enterRateDegreesPerSecond -> {
+                isSettling = true
+                settledSinceMillis = null
+            }
+            isSettling && rate > exitRateDegreesPerSecond -> {
+                // A mid-band hand nudge is not enough to leave Settling, but it is
+                // enough to prove the signal has not been continuously quiet for
+                // the required dwell window.
+                settledSinceMillis = null
+            }
+            isSettling && rate <= exitRateDegreesPerSecond -> {
+                val since = settledSinceMillis ?: nowMillis.also { settledSinceMillis = it }
+                if (nowMillis - since >= settledDwellMillis) isSettling = false
+            }
+        }
+        return Result(isSettling = isSettling, movementRateDegreesPerSecond = rate)
+    }
+
+    fun reset() {
+        lastPitchDegrees = null
+        lastRollDegrees = null
+        lastTimestampNanos = null
+        settledSinceMillis = null
+        isSettling = true
+    }
+
+    companion object {
+        const val ENTER_RATE_DEGREES_PER_SECOND = 1.0
+        const val EXIT_RATE_DEGREES_PER_SECOND = 0.3
+        const val SETTLED_DWELL_MILLIS = 500L
+    }
+}
@@ -0,0 +1,49 @@
+package com.onthelevel.core.sensors
+
+/** Uncalibrated, smoothed Surface sample used by guided calibration. */
+data class SurfaceCalibrationSample(
+    val pitchDegrees: Double,
+    val rollDegrees: Double,
+    val tiltDegrees: Double,
+    val timestampNanos: Long,
+    val isSettling: Boolean,
+)
+
+/** Mean of one settled 1.5-second calibration capture. */
+data class CapturedSurfaceSample(val pitchDegrees: Double, val rollDegrees: Double)
+
+/** Collects a continuous settled capture on a roughly-level surface. */
+class StableSurfaceCapture(
+    private val durationMillis: Long = CAPTURE_DURATION_MILLIS,
+    private val maximumTiltDegrees: Double = MAXIMUM_CALIBRATION_TILT_DEGREES,
+) {
+    private var startedAtNanos: Long? = null
+    private var pitchTotal = 0.0
+    private var rollTotal = 0.0
+    private var count = 0
+
+    fun add(sample: SurfaceCalibrationSample): CapturedSurfaceSample? {
+        if (sample.isSettling || sample.tiltDegrees > maximumTiltDegrees) {
+            reset()
+            return null
+        }
+        val startedAt = startedAtNanos ?: sample.timestampNanos.also { startedAtNanos = it }
+        pitchTotal += sample.pitchDegrees
+        rollTotal += sample.rollDegrees
+        count += 1
+        if ((sample.timestampNanos - startedAt) / 1_000_000 < durationMillis || count < 2) return null
+        return CapturedSurfaceSample(pitchTotal / count, rollTotal / count)
+    }
+
+    fun reset() {
+        startedAtNanos = null
+        pitchTotal = 0.0
+        rollTotal = 0.0
+        count = 0
+    }
+
+    companion object {
+        const val CAPTURE_DURATION_MILLIS = 1_500L
+        const val MAXIMUM_CALIBRATION_TILT_DEGREES = 5.0
+    }
+}
@@ -0,0 +1,14 @@
+package com.onthelevel.core.sensors
+
+import kotlin.math.hypot
+
+/**
+ * Guards calibration persistence against an inconsistent two-sample turn. The bound
+ * applies to the combined two-axis correction, not each axis independently.
+ */
+object SurfaceCalibrationValidation {
+    const val MAXIMUM_BIAS_MAGNITUDE_DEGREES = 3.0
+
+    fun isAcceptable(calibration: SurfaceCalibration): Boolean =
+        hypot(calibration.pitchBiasDegrees, calibration.rollBiasDegrees) <= MAXIMUM_BIAS_MAGNITUDE_DEGREES
+}
@@ -49,6 +49,8 @@ class SettingsRepository(context: Context) {
        }
    }

+    suspend fun clearSurfaceCalibration() = setSurfaceCalibration(SurfaceCalibration.NONE)
+
    suspend fun setEdgeCalibration(calibration: EdgeCalibration) {
        store.edit {
            it[Keys.EDGE_LEVEL_BIAS] = calibration.levelBiasDegrees
@@ -54,7 +54,7 @@ import java.util.Locale
 * while the portrait-locked device stands on its long edge.
 */
@Composable
-fun LevelScreen(container: AppContainer) {
+fun LevelScreen(container: AppContainer, onOpenSurfaceCalibration: () -> Unit) {
    KeepScreenOn()

    val sensorSource = container.sensorSource
@@ -107,7 +107,7 @@ fun LevelScreen(container: AppContainer) {
                    color = if (isCalibrated) LevelColors.LimeLock else LevelColors.TextFaint,
                )
            }
-            IconButton(onClick = { /* TODO(feature): calibration & settings entry */ }) {
+            IconButton(onClick = onOpenSurfaceCalibration) {
                Icon(
                    Icons.Outlined.Settings,
                    contentDescription = "Calibration and settings",
@@ -0,0 +1,203 @@
+package com.onthelevel.feature.level
+
+import androidx.compose.foundation.layout.Arrangement
+import androidx.compose.foundation.layout.Box
+import androidx.compose.foundation.layout.Column
+import androidx.compose.foundation.layout.Row
+import androidx.compose.foundation.layout.fillMaxSize
+import androidx.compose.foundation.layout.fillMaxWidth
+import androidx.compose.foundation.layout.padding
+import androidx.compose.material3.Button
+import androidx.compose.material3.MaterialTheme
+import androidx.compose.material3.OutlinedButton
+import androidx.compose.material3.Text
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.LaunchedEffect
+import androidx.compose.runtime.getValue
+import androidx.compose.runtime.mutableStateOf
+import androidx.compose.runtime.remember
+import androidx.compose.runtime.rememberCoroutineScope
+import androidx.compose.runtime.setValue
+import androidx.compose.ui.Alignment
+import androidx.compose.ui.Modifier
+import androidx.compose.ui.text.style.TextAlign
+import androidx.compose.ui.unit.dp
+import androidx.lifecycle.compose.collectAsStateWithLifecycle
+import com.onthelevel.AppContainer
+import com.onthelevel.core.design.KeepScreenOn
+import com.onthelevel.core.design.LevelColors
+import com.onthelevel.core.sensors.CapturedSurfaceSample
+import com.onthelevel.core.sensors.Ema
+import com.onthelevel.core.sensors.OrientationMath
+import com.onthelevel.core.sensors.SettlingDetector
+import com.onthelevel.core.sensors.StableSurfaceCapture
+import com.onthelevel.core.sensors.SurfaceCalibration
+import com.onthelevel.core.sensors.SurfaceCalibrationSample
+import com.onthelevel.core.sensors.SurfaceCalibrationValidation
+import com.onthelevel.core.sensors.TwoSampleCalibration
+import kotlinx.coroutines.flow.map
+import kotlinx.coroutines.launch
+
+private enum class CalibrationPhase { FIRST_READY, FIRST_CAPTURING, SECOND_READY, SECOND_CAPTURING, COMPLETE, ERROR }
+
+/**
+ * Guided two-sample Surface calibration. Capture reads SensorSource.gravity directly
+ * and never applies stored SurfaceCalibration to either sample.
+ */
+@Composable
+fun SurfaceCalibrationScreen(container: AppContainer, onBack: () -> Unit) {
+    KeepScreenOn()
+
+    val sensorSource = container.sensorSource
+    val scope = rememberCoroutineScope()
+    var phase by remember { mutableStateOf(CalibrationPhase.FIRST_READY) }
+    var firstCapture by remember { mutableStateOf<CapturedSurfaceSample?>(null) }
+    var capture by remember { mutableStateOf<StableSurfaceCapture?>(null) }
+    var error by remember { mutableStateOf<String?>(null) }
+    val existingCalibration by container.settings.surfaceCalibration
+        .collectAsStateWithLifecycle(initialValue = SurfaceCalibration.NONE)
+
+    val rawReadingFlow = remember(sensorSource) {
+        val pitchEma = Ema(0.15)
+        val rollEma = Ema(0.15)
+        val tiltEma = Ema(0.15)
+        val settling = SettlingDetector()
+        var lastNanos: Long? = null
+        sensorSource.gravity.map { raw ->
+            val dtSeconds = lastNanos?.let { (raw.timestampNanos - it) / 1e9 } ?: 0.0
+            lastNanos = raw.timestampNanos
+            val pitch = pitchEma.update(OrientationMath.surfacePitchDegrees(raw), dtSeconds)
+            val roll = rollEma.update(OrientationMath.surfaceRollDegrees(raw), dtSeconds)
+            val tilt = tiltEma.update(OrientationMath.surfaceTiltMagnitudeDegrees(raw), dtSeconds)
+            val settlingResult = settling.update(pitch, roll, raw.timestampNanos)
+            SurfaceCalibrationSample(pitch, roll, tilt, raw.timestampNanos, settlingResult.isSettling)
+        }
+    }
+    val reading by rawReadingFlow.collectAsStateWithLifecycle(initialValue = null)
+
+    LaunchedEffect(reading, phase, capture, firstCapture) {
+        val activeCapture = capture ?: return@LaunchedEffect
+        val current = reading ?: return@LaunchedEffect
+        val captured = activeCapture.add(current) ?: return@LaunchedEffect
+        when (phase) {
+            CalibrationPhase.FIRST_CAPTURING -> {
+                firstCapture = captured
+                capture = null
+                phase = CalibrationPhase.SECOND_READY
+            }
+            CalibrationPhase.SECOND_CAPTURING -> {
+                val first = firstCapture ?: return@LaunchedEffect
+                val calibration = TwoSampleCalibration.deriveSurface(
+                    first.pitchDegrees,
+                    first.rollDegrees,
+                    captured.pitchDegrees,
+                    captured.rollDegrees,
+                )
+                capture = null
+                if (!SurfaceCalibrationValidation.isAcceptable(calibration)) {
+                    error = "The placements did not agree. Keep the phone on the same spot and rotate it exactly halfway around."
+                    phase = CalibrationPhase.ERROR
+                } else {
+                    container.settings.setSurfaceCalibration(calibration)
+                    phase = CalibrationPhase.COMPLETE
+                }
+            }
+            else -> Unit
+        }
+    }
+
+    val canStartCapture = reading?.let {
+        !it.isSettling && it.tiltDegrees <= StableSurfaceCapture.MAXIMUM_CALIBRATION_TILT_DEGREES
+    } ?: false
+    val status = when {
+        reading == null -> "Waiting for a sensor reading"
+        reading!!.isSettling -> "Settling—keep the phone still"
+        reading!!.tiltDegrees > StableSurfaceCapture.MAXIMUM_CALIBRATION_TILT_DEGREES ->
+            "Find a flatter surface (under 5°)"
+        else -> "Ready to capture"
+    }
+
+    Column(
+        modifier = Modifier.fillMaxSize().padding(horizontal = 24.dp, vertical = 16.dp),
+        verticalArrangement = Arrangement.spacedBy(18.dp),
+    ) {
+        Row(modifier = Modifier.fillMaxWidth(), horizontalArrangement = Arrangement.SpaceBetween) {
+            Text("SURFACE CALIBRATION", style = MaterialTheme.typography.labelSmall, color = LevelColors.TextDim)
+            OutlinedButton(onClick = onBack) { Text("Done") }
+        }
+        Text(calibrationInstruction(phase), style = MaterialTheme.typography.headlineMedium, color = LevelColors.TextPrimary)
+        Text(
+            "This corrects your phone and case setup. It does not make this surface level.",
+            style = MaterialTheme.typography.bodyMedium,
+            color = LevelColors.TextDim,
+        )
+
+        Box(modifier = Modifier.weight(1f).fillMaxWidth(), contentAlignment = Alignment.Center) {
+            Column(horizontalAlignment = Alignment.CenterHorizontally) {
+                Text(
+                    reading?.let { formatDegrees(it.tiltDegrees) } ?: "—",
+                    style = MaterialTheme.typography.displayLarge,
+                    color = LevelColors.TextPrimary,
+                )
+                Text(status, style = MaterialTheme.typography.bodyLarge, color = LevelColors.Amber)
+            }
+        }
+
+        when (phase) {
+            CalibrationPhase.FIRST_READY, CalibrationPhase.SECOND_READY -> Button(
+                onClick = {
+                    capture = StableSurfaceCapture()
+                    phase = if (phase == CalibrationPhase.FIRST_READY) CalibrationPhase.FIRST_CAPTURING else CalibrationPhase.SECOND_CAPTURING
+                },
+                enabled = canStartCapture,
+                modifier = Modifier.fillMaxWidth(),
+            ) {
+                Text(if (phase == CalibrationPhase.FIRST_READY) "Capture first position" else "Capture rotated position")
+            }
+            CalibrationPhase.FIRST_CAPTURING, CalibrationPhase.SECOND_CAPTURING -> Text(
+                "Capturing 1.5 seconds of still readings…",
+                modifier = Modifier.fillMaxWidth(),
+                textAlign = TextAlign.Center,
+                style = MaterialTheme.typography.bodyLarge,
+                color = LevelColors.TextDim,
+            )
+            CalibrationPhase.COMPLETE -> {
+                Text(
+                    "Surface calibration saved for this phone/case setup.",
+                    modifier = Modifier.fillMaxWidth(),
+                    textAlign = TextAlign.Center,
+                    style = MaterialTheme.typography.bodyLarge,
+                    color = LevelColors.LimeLockText,
+                )
+                Button(onClick = onBack, modifier = Modifier.fillMaxWidth()) { Text("Back to level") }
+            }
+            CalibrationPhase.ERROR -> {
+                Text(error ?: "Calibration could not be completed.", style = MaterialTheme.typography.bodyLarge, color = LevelColors.Amber)
+                Button(
+                    onClick = {
+                        firstCapture = null
+                        error = null
+                        phase = CalibrationPhase.FIRST_READY
+                    },
+                    modifier = Modifier.fillMaxWidth(),
+                ) { Text("Try again") }
+            }
+        }
+
+        if (existingCalibration != SurfaceCalibration.NONE && phase != CalibrationPhase.FIRST_CAPTURING && phase != CalibrationPhase.SECOND_CAPTURING) {
+            OutlinedButton(
+                onClick = { scope.launch { container.settings.clearSurfaceCalibration() } },
+                modifier = Modifier.fillMaxWidth(),
+            ) { Text("Clear saved calibration") }
+        }
+    }
+}
+
+private fun calibrationInstruction(phase: CalibrationPhase): String = when (phase) {
+    CalibrationPhase.FIRST_READY, CalibrationPhase.FIRST_CAPTURING ->
+        "Lay the phone screen-up on a firm, roughly level surface. Keep it still."
+    CalibrationPhase.SECOND_READY, CalibrationPhase.SECOND_CAPTURING ->
+        "Rotate the phone exactly 180° in the same plane. Do not flip it over or move it."
+    CalibrationPhase.COMPLETE -> "Calibration complete"
+    CalibrationPhase.ERROR -> "Try Surface calibration again"
+}
@@ -0,0 +1,43 @@
+package com.onthelevel.core.sensors
+
+import org.junit.Assert.assertFalse
+import org.junit.Assert.assertTrue
+import org.junit.Test
+
+class SettlingDetectorTest {
+
+    @Test
+    fun `settles only after low movement has held for its dwell time`() {
+        val detector = SettlingDetector()
+
+        assertTrue(detector.update(0.0, 0.0, 0).isSettling)
+        assertTrue(detector.update(0.2, 0.0, 100_000_000).isSettling) // 2°/s: moving
+        assertTrue(detector.update(0.2, 0.0, 200_000_000).isSettling)
+        assertTrue(detector.update(0.2, 0.0, 600_000_000).isSettling)
+        assertFalse(detector.update(0.2, 0.0, 700_000_000).isSettling)
+    }
+
+    @Test
+    fun `movement re-enters settling and resets the dwell`() {
+        val detector = SettlingDetector()
+        detector.update(0.0, 0.0, 0)
+        detector.update(0.0, 0.0, 100_000_000)
+        detector.update(0.0, 0.0, 600_000_000)
+        assertFalse(detector.update(0.0, 0.0, 700_000_000).isSettling)
+
+        assertTrue(detector.update(0.2, 0.0, 800_000_000).isSettling)
+        assertTrue(detector.update(0.2, 0.0, 1_200_000_000).isSettling)
+    }
+
+    @Test
+    fun `mid band movement resets the quiet dwell without leaving settling`() {
+        val detector = SettlingDetector()
+
+        detector.update(0.0, 0.0, 0)
+        detector.update(0.0, 0.0, 100_000_000) // quiet dwell starts
+        detector.update(0.08, 0.0, 300_000_000) // 0.4°/s: between exit and enter
+        assertTrue(detector.update(0.08, 0.0, 600_000_000).isSettling)
+        assertTrue(detector.update(0.08, 0.0, 1_000_000_000).isSettling)
+        assertFalse(detector.update(0.08, 0.0, 1_100_000_000).isSettling)
+    }
+}
@@ -0,0 +1,42 @@
+package com.onthelevel.core.sensors
+
+import org.junit.Assert.assertEquals
+import org.junit.Assert.assertNull
+import org.junit.Test
+
+class StableSurfaceCaptureTest {
+
+    private fun sample(
+        pitch: Double,
+        roll: Double,
+        timestampMillis: Long,
+        tilt: Double = 1.0,
+        settling: Boolean = false,
+    ) = SurfaceCalibrationSample(pitch, roll, tilt, timestampMillis * 1_000_000, settling)
+
+    @Test
+    fun `captures the mean of a continuous settled one point five second window`() {
+        val capture = StableSurfaceCapture()
+
+        assertNull(capture.add(sample(0.2, -0.1, 0)))
+        assertNull(capture.add(sample(0.4, -0.3, 750)))
+        val result = capture.add(sample(0.6, -0.5, 1_500))
+
+        requireNotNull(result)
+        assertEquals(0.4, result.pitchDegrees, 1e-9)
+        assertEquals(-0.3, result.rollDegrees, 1e-9)
+    }
+
+    @Test
+    fun `motion or excessive tilt resets the capture window`() {
+        val capture = StableSurfaceCapture()
+
+        assertNull(capture.add(sample(0.2, 0.0, 0)))
+        assertNull(capture.add(sample(0.2, 0.0, 750, settling = true)))
+        assertNull(capture.add(sample(0.2, 0.0, 1_000)))
+        assertNull(capture.add(sample(0.2, 0.0, 1_500, tilt = 5.1)))
+        assertNull(capture.add(sample(0.2, 0.0, 1_750)))
+        assertNull(capture.add(sample(0.2, 0.0, 2_500)))
+        requireNotNull(capture.add(sample(0.2, 0.0, 3_250)))
+    }
+}
@@ -0,0 +1,20 @@
+package com.onthelevel.core.sensors
+
+import org.junit.Assert.assertFalse
+import org.junit.Assert.assertTrue
+import org.junit.Test
+
+class SurfaceCalibrationValidationTest {
+
+    @Test
+    fun `accepts a combined bias at or below three degrees`() {
+        assertTrue(SurfaceCalibrationValidation.isAcceptable(SurfaceCalibration(3.0, 0.0)))
+        assertTrue(SurfaceCalibrationValidation.isAcceptable(SurfaceCalibration(1.8, 2.4)))
+    }
+
+    @Test
+    fun `rejects a combined bias above three degrees`() {
+        assertFalse(SurfaceCalibrationValidation.isAcceptable(SurfaceCalibration(3.01, 0.0)))
+        assertFalse(SurfaceCalibrationValidation.isAcceptable(SurfaceCalibration(2.5, 2.5)))
+    }
+}