添加按设备 ID 选择和校验标定文件

避免多台传感器误用默认标定，缺文件时保持 raw。已通过 SDK 回归测试和文档检查。

src/orisys/calibration.py

@@ -7,6 +7,7 @@ curves in ``_apply_force_filter``; ``read_info(FNORMAL, …)`` returns Newtons.
 from __future__ import annotations
 
 import json
+import re
 import warnings
 from collections.abc import Iterable, Mapping
 from copy import deepcopy
@@ -805,6 +806,60 @@ def load(
         return None
 
 
+def load_for_device(
+    calibration_dir: str | Path,
+    sensor_type: str,
+    device_id: str,
+    *,
+    pipeline: Mapping[str, Any] | None = None,
+) -> Calibration | None:
+    """Load ``<directory>/<sensor_type>/<device_id>.json``; missing file means raw."""
+    root = Path(calibration_dir).expanduser()
+    if not root.is_dir():
+        raise CalibrationError(f"calibration directory not found: {root}")
+    for label, value in (("sensor_type", sensor_type), ("device_id", device_id)):
+        if not isinstance(value, str) or not re.fullmatch(r"[A-Za-z0-9][A-Za-z0-9._-]*", value):
+            raise CalibrationError(f"invalid {label}: {value!r}")
+    path = root / sensor_type / f"{device_id}.json"
+    if not path.exists():
+        if path.is_symlink():
+            raise CalibrationError(f"calibration link is broken: {path}")
+        return None
+    if not path.is_file():
+        raise CalibrationError(f"calibration path is not a file: {path}")
+    cal = load(path, strict=True)
+    assert cal is not None
+    return validate_for_device(cal, sensor_type, device_id, pipeline=pipeline)
+
+
+def validate_for_device(
+    cal: Calibration,
+    sensor_type: str,
+    device_id: str,
+    *,
+    pipeline: Mapping[str, Any] | None = None,
+) -> Calibration:
+    """Reject a calibration for another device or measurement pipeline."""
+    path = cal.source_path or "<in-memory calibration>"
+    if cal.identity.get("sensor_type") != sensor_type or cal.identity.get("sn") != device_id:
+        raise CalibrationError(f"calibration identity mismatch: {path}")
+    if cal.unit != "N" or any(cal.channels[axis].unit != "N" for axis in cal.channels):
+        raise CalibrationError(f"calibration unit must be N: {path}")
+    if set(CHANNEL_IDS) - cal.channels.keys():
+        raise CalibrationError(f"calibration requires FN, FX and FY: {path}")
+    if pipeline is not None:
+        for key in ("stitch_resolution", "dis_mode", "hhd_downsample"):
+            recorded, current = cal.pipeline.get(key), pipeline.get(key)
+            if recorded is not None and current is not None and recorded != current:
+                raise CalibrationError(f"calibration pipeline mismatch ({key}): {path}")
+        measurement, _ = filter_mismatches(
+            cal.pipeline.get("filters"), pipeline.get("filters")
+        )
+        if measurement:
+            raise CalibrationError(f"calibration pipeline mismatch ({'; '.join(measurement)}): {path}")
+    return cal
+
+
 def pipeline_from_sensor_json(
     path: str | Path | None,
     *,