支持通过 UART 手动逐台添加相机再启动输出
保留已连接相机，添加失败不占用编号，并要求输出停止后才能新增。通过 23 项回归测试、真实 SDK 的 1–4 路逐台添加验证、Ruff 和文档检查。
This commit is contained in:
ykcheungab
+47
-51
@@ -1,7 +1,7 @@
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"""Single-threaded finger acquisition API, independent of UART and the CLI.
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Sensor IDs are 1-based, fixed by source order. Calls and runtime ownership belong
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to one thread; the caller must close the bank in a finally block. Values use the
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Sensor IDs are 1-based, assigned after each successful add(). Calls and runtime
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ownership belong to one thread; close the bank in a finally block. Values use the
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SDK's FNORMAL/FSHEARX/FSHEARY axes and calibration units, not assumed Newtons.
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"""
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@@ -40,74 +40,68 @@ class ForceReading:
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class FingerSensorBank:
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"""Own 1-4 independent runtimes; connect_all() precedes read_all().
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"""Own up to four independently added runtimes; add() 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, *, 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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raise ValueError("provide 1 to 4 sources")
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if len(configs) not in (1, len(sources)):
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raise ValueError("provide one config or one config per source")
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if any(isinstance(source, int) and source < 0 for source in sources):
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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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def __init__(self, *, config="finger", verbose=False):
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self.default_config = config
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self.sources = {}
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self.configs = {}
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self.runtimes = {}
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self.verbose = verbose
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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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@staticmethod
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def _source_identity(source):
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if isinstance(source, int):
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return f"camera:{source}"
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if source.startswith("/dev/video") and source[len("/dev/video"):].isdigit():
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return f"camera:{int(source[len('/dev/video'):])}"
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return str(Path(source).resolve())
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def add(self, source: Source, *, config: str | None = None) -> int:
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"""Open/prepare one source. Failure preserves existing sensors and IDs."""
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source = parse_source(str(source))
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if len(self.runtimes) >= 4:
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raise ValueError("maximum 4 sensors")
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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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identity = self._source_identity(source)
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if any(self._source_identity(existing) == identity for existing in self.sources.values()):
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raise ValueError("source already added")
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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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from orisys.finger import FingerRuntime
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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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config = self.default_config if config is None else config
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runtime = None
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try:
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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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runtime = FingerRuntime.open(config=config, video=source, verbose=self.verbose)
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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 BaseException:
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self.close()
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if runtime is not None:
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try:
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runtime.close()
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except Exception:
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logger.exception("New sensor cleanup failed")
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raise
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sensor_id = len(self.runtimes) + 1
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self.sources[sensor_id] = source
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self.configs[sensor_id] = config
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self.runtimes[sensor_id] = runtime
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return sensor_id
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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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if not self.runtimes:
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raise RuntimeError("no sensors added")
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readings = []
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for sensor_id in self.sources:
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try:
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@@ -152,5 +146,7 @@ class FingerSensorBank:
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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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self.sources.clear()
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self.configs.clear()
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if first_error is not None:
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raise first_error
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