统一多相机连接与 UART 数据协议
启动时完整连接所有配置相机，移除旧命令与单路数据格式。通过 22 项回归测试、真实 SDK 的 1–4 路录像验证、Ruff 和文档检查。
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ykcheungab
+57
-37
@@ -40,13 +40,13 @@ class ForceReading:
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class FingerSensorBank:
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"""Own 1–4 independent runtimes. read() returns None at EOF/capture failure.
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"""Own 1-4 independent runtimes; connect_all() precedes read_all().
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Processing/connection failures raise exceptions; they never become zero force.
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A shared config can be reused, or each source can have its own config.
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"""
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def __init__(self, sources=(0,), *, configs=("finger",), verbose=False):
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def __init__(self, sources, *, configs=("finger",), verbose=False):
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sources = tuple(parse_source(str(source)) for source in sources)
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configs = tuple(configs)
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if not 1 <= len(sources) <= 4:
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@@ -57,45 +57,71 @@ class FingerSensorBank:
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raise ValueError("camera index must be non-negative")
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if len(configs) == 1:
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configs = configs * len(sources)
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identities = []
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for source in sources:
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if isinstance(source, int):
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identity = f"camera:{source}"
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elif source.startswith("/dev/video") and source[len("/dev/video"):].isdigit():
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identity = f"camera:{int(source[len('/dev/video'):])}"
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else:
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identity = str(Path(source).resolve())
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identities.append(identity)
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if len(set(identities)) != len(identities):
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raise ValueError("each sensor must use a different source")
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self.sources = dict(enumerate(sources, 1))
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self.configs = dict(enumerate(configs, 1))
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self.runtimes = {}
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self.verbose = verbose
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def validate_id(self, sensor_id: int) -> None:
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if sensor_id not in self.sources:
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raise ValueError(f"sensor ID must be 1..{len(self.sources)}")
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def connect(self, sensor_id: int = 1, source: Source | None = None) -> Source:
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def connect_all(self) -> None:
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"""Prepare every source, rolling back all runtimes on any failure."""
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from orisys.finger import FingerRuntime
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self.validate_id(sensor_id)
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source = self.sources[sensor_id] if source is None else parse_source(str(source))
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if isinstance(source, int) and source < 0:
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raise ValueError("camera index must be non-negative")
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if is_video_file(source) and not Path(source).is_file():
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raise ValueError(f"file not found: {source}")
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if source in (self.sources[i] for i in self.runtimes if i != sensor_id):
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raise ValueError(f"source already connected: {source}")
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self.disconnect(sensor_id)
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runtime = FingerRuntime.open(
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config=self.configs[sensor_id], video=source, verbose=self.verbose,
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)
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if self.runtimes:
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raise RuntimeError("already connected; close before reconnecting")
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sensor_id = None
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try:
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ok, _ = runtime.warmup(color=False)
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if not ok:
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raise RuntimeError("warmup could not read a frame")
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for sensor_id, source in self.sources.items():
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if is_video_file(source) and not Path(source).is_file():
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raise ValueError(f"file not found: {source}")
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runtime = FingerRuntime.open(
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config=self.configs[sensor_id], video=source, verbose=self.verbose,
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)
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self.runtimes[sensor_id] = runtime
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ok, _ = runtime.warmup(color=False)
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if not ok:
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raise RuntimeError("warmup could not read a frame")
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except Exception as exc:
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try:
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self.close()
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except Exception:
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logger.exception("Connection rollback failed")
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raise RuntimeError(f"sensor {sensor_id}: {exc}") from exc
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except BaseException:
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runtime.close()
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self.close()
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raise
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self.runtimes[sensor_id] = runtime
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self.sources[sensor_id] = source
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return source
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def read(self, sensor_id: int = 1, *, loop_video=False) -> ForceReading | None:
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self.validate_id(sensor_id)
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if sensor_id not in self.runtimes:
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raise ValueError("not connected")
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def read_all(self, *, loop_video=False) -> tuple[ForceReading, ...]:
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"""Read a complete round. EOF/failure raises; no partial round is returned.
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The frames are read sequentially, not synchronized across sources.
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"""
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if set(self.runtimes) != set(self.sources):
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raise RuntimeError("all configured sensors must be connected first")
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readings = []
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for sensor_id in self.sources:
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try:
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reading = self._read(sensor_id, loop_video=loop_video)
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except Exception as exc:
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raise RuntimeError(f"sensor {sensor_id}: {exc}") from exc
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if reading is None:
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if is_video_file(self.sources[sensor_id]):
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raise EOFError(f"sensor {sensor_id}: video ended")
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raise RuntimeError(f"sensor {sensor_id}: capture failed")
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readings.append(reading)
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return tuple(readings)
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def _read(self, sensor_id: int, *, loop_video=False) -> ForceReading | None:
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runtime = self.runtimes[sensor_id]
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ok, image = runtime.grab_and_process(color=False)
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if not ok and loop_video and is_video_file(self.sources[sensor_id]):
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@@ -118,17 +144,11 @@ class FingerSensorBank:
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units = getattr(tactile, "force_units", ("unknown", "unknown", "unknown"))
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return ForceReading(sensor_id, *forces, tuple(units), image)
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def disconnect(self, sensor_id: int = 1) -> None:
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self.validate_id(sensor_id)
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runtime = self.runtimes.pop(sensor_id, None)
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if runtime is not None:
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runtime.close()
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def close(self) -> None:
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first_error = None
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for sensor_id in list(self.runtimes):
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try:
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self.disconnect(sensor_id)
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self.runtimes.pop(sensor_id).close()
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except Exception as exc:
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logger.exception("Sensor %s cleanup failed", sensor_id)
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first_error = first_error or exc
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