支持传感器独立校准文件与批量配置启动

保留逐台添加，并通过显式配置一次连接全组；失败时撤销本批新增连接。通过 35 项回归测试、真实 SDK 校准与 1–4 路验证、Ruff 和文档检查。

tests/check_backend.py

@@ -2,6 +2,7 @@
 
 import argparse
 import itertools
+import json
 import os
 import sys
 from functools import partial
@@ -16,6 +17,7 @@ def main():
     parser = argparse.ArgumentParser(description=__doc__)
     parser.add_argument("--recording", required=True, type=Path)
     parser.add_argument("--scratch", required=True, type=Path)
+    parser.add_argument("--calibration", type=Path, help="explicit calibration used for all offline test sources")
     args = parser.parse_args()
     scratch = args.scratch.resolve()
     scratch.mkdir(parents=True, exist_ok=True)
@@ -39,6 +41,7 @@ def main():
         capture.release()
     height, width = frames[0].shape[:2]
     sources = []
+    calibrations = []
     for sensor_id in range(1, 5):
         path = scratch / f"sensor-{sensor_id}.avi"
         writer = cv2.VideoWriter(str(path), cv2.VideoWriter_fourcc(*"MJPG"), 30, (width, height))
@@ -50,6 +53,10 @@ def main():
         finally:
             writer.release()
         sources.append(str(path))
+        if args.calibration:
+            calibration = scratch / f"sensor-{sensor_id}-calibration.json"
+            calibration.write_bytes(args.calibration.read_bytes())
+            calibrations.append(str(calibration))
 
     # Keep the SDK implementation intact; redirect only its generated UV cache.
     open_runtime = partial(FingerRuntime.open, map_cache=str(scratch / "uv-map.npz"))
@@ -57,11 +64,17 @@ def main():
         for count in range(1, 5):
             bank = FingerSensorBank()
             try:
-                for source in sources[:count]:
+                for index, source in enumerate(sources[:count]):
                     existing = dict(bank.runtimes)
-                    bank.add(source)
+                    bank.add(source, cal_path=calibrations[index] if calibrations else None)
                     assert all(bank.runtimes[i] is runtime for i, runtime in existing.items())
                     assert len(bank.read_all()) == len(bank.runtimes)
+                if calibrations:
+                    for sensor_id, runtime in bank.runtimes.items():
+                        calibration = runtime.tactile.raw_sensor.calibration
+                        assert calibration is not None
+                        assert calibration.source_path.resolve() == Path(calibrations[sensor_id - 1])
+                        assert runtime.tactile.force_units == ("N", "N", "N")
                 runtimes = list(bank.runtimes.values())
                 for left, right in itertools.combinations(runtimes, 2):
                     assert left.capture is not right.capture
@@ -75,6 +88,34 @@ def main():
             finally:
                 bank.close()
             assert all(runtime.capture is None for runtime in runtimes)
+        setup = scratch / "sensors.json"
+        setup.write_text(json.dumps({"sensors": [
+            {"source": source, **({"calibration": calibrations[i]} if calibrations else {})}
+            for i, source in enumerate(sources)
+        ]}), encoding="utf-8")
+        bank = FingerSensorBank()
+        try:
+            assert bank.add_setup(setup) == (1, 2, 3, 4)
+            assert len(bank.read_all()) == 4
+            bad_calibration = scratch / "invalid-calibration.json"
+            bad_calibration.write_text("{}", encoding="utf-8")
+        finally:
+            bank.close()
+        bank = FingerSensorBank()
+        try:
+            bank.add(sources[0])
+            first = bank.runtimes[1]
+            try:
+                bank.add(sources[1], cal_path=str(bad_calibration))
+            except ValueError:
+                pass
+            else:
+                raise AssertionError("invalid explicit calibration was accepted")
+            assert bank.runtimes == {1: first}
+            assert len(bank.read_all()) == 1
+        finally:
+            bank.close()
+        print("PASS 4-source JSON setup; invalid calibration rejected without fallback", flush=True)
     return 0