上传文件至「serial」

serial/finger_api.py

@@ -1,8 +1,10 @@
 """Single-threaded finger acquisition API, independent of UART and the CLI.
 
-Sensor IDs are 1-based, assigned after each successful add(). Calls and runtime
-ownership belong to one thread; close the bank in a finally block. Values use the
-SDK's FNORMAL/FSHEARX/FSHEARY axes and calibration units, not assumed Newtons.
+Sensor IDs are 1-based, assigned once per successful add() and never reused
+within a process, so a host that caches IDs stays correct across removals.
+Calls and runtime ownership belong to one thread; close the bank in a finally
+block. Values use the SDK's FNORMAL/FSHEARX/FSHEARY axes and calibration
+units, not assumed Newtons.
 """
 
 from __future__ import annotations
@@ -40,20 +42,31 @@ class ForceReading:
     image: object
 
 
+@dataclass(frozen=True)
+class SensorInfo:
+    sensor_id: int
+    source: Source
+    kind: str          # "camera" or "file"
+    config: str
+    calibration: str | None
+
+
 class FingerSensorBank:
     """Own up to four independently added runtimes; add() precedes read_all().
 
-    Processing/connection failures raise exceptions; they never become zero force.
-    A shared config can be reused, or each source can have its own config.
+    Processing/connection failures raise exceptions; they never become zero
+    force. A shared config can be reused, or each source can have its own
+    config.
     """
 
     def __init__(self, *, config="finger", verbose=False):
         self.default_config = config
-        self.sources = {}
-        self.configs = {}
-        self.runtimes = {}
-        self.calibration_paths = {}
+        self.sources: dict[int, Source] = {}
+        self.configs: dict[int, str] = {}
+        self.runtimes: dict[int, object] = {}
+        self.calibration_paths: dict[int, str | None] = {}
         self.verbose = verbose
+        self._next_id = 1
 
     @staticmethod
     def _source_identity(source):
@@ -101,7 +114,8 @@ class FingerSensorBank:
                 except Exception:
                     logger.exception("New sensor cleanup failed")
             raise
-        sensor_id = len(self.runtimes) + 1
+        sensor_id = self._next_id
+        self._next_id += 1
         self.sources[sensor_id] = source
         self.configs[sensor_id] = config
         self.runtimes[sensor_id] = runtime
@@ -157,12 +171,35 @@ class FingerSensorBank:
         except BaseException:
             for sensor_id in added:
                 try:
-                    self._close_one(sensor_id)
+                    self.remove_sensor(sensor_id)
                 except Exception:
                     logger.exception("Setup rollback failed for sensor %s", sensor_id)
             raise
         return tuple(added)
 
+    def remove_sensor(self, sensor_id: int) -> None:
+        """Close and forget one sensor. Its ID is never reused."""
+        if sensor_id not in self.runtimes:
+            raise ValueError(f"no sensor {sensor_id}")
+        runtime = self.runtimes.pop(sensor_id)
+        self.sources.pop(sensor_id, None)
+        self.configs.pop(sensor_id, None)
+        self.calibration_paths.pop(sensor_id, None)
+        runtime.close()
+
+    def list_sensors(self) -> tuple[SensorInfo, ...]:
+        """Snapshot of currently registered sensors, in ID order."""
+        return tuple(
+            SensorInfo(
+                sensor_id=sid,
+                source=self.sources[sid],
+                kind="file" if is_video_file(self.sources[sid]) else "camera",
+                config=self.configs.get(sid, "-"),
+                calibration=self.calibration_paths.get(sid),
+            )
+            for sid in sorted(self.runtimes)
+        )
+
     def read_all(self, *, loop_video=False) -> tuple[ForceReading, ...]:
         """Read a complete round. EOF/failure raises; no partial round is returned.
 
@@ -171,7 +208,7 @@ class FingerSensorBank:
         if not self.runtimes:
             raise RuntimeError("no sensors added")
         readings = []
-        for sensor_id in self.sources:
+        for sensor_id in sorted(self.runtimes):
             try:
                 reading = self._read(sensor_id, loop_video=loop_video)
             except Exception as exc:
@@ -206,22 +243,16 @@ class FingerSensorBank:
         units = getattr(tactile, "force_units", ("unknown", "unknown", "unknown"))
         return ForceReading(sensor_id, *forces, tuple(units), image)
 
-    def _close_one(self, sensor_id):
-        runtime = self.runtimes.pop(sensor_id)
-        self.sources.pop(sensor_id)
-        self.configs.pop(sensor_id)
-        self.calibration_paths.pop(sensor_id)
-        runtime.close()
-
     def close(self) -> None:
         first_error = None
         for sensor_id in list(self.runtimes):
             try:
-                self._close_one(sensor_id)
+                self.remove_sensor(sensor_id)
             except Exception as exc:
                 logger.exception("Sensor %s cleanup failed", sensor_id)
                 first_error = first_error or exc
         self.sources.clear()
         self.configs.clear()
+        self.calibration_paths.clear()
         if first_error is not None:
             raise first_error