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。

tests/test_calibration.py

@@ -17,6 +17,7 @@ from orisys.calibration import (
     filter_mismatches,
     filters_fingerprint,
     load,
+    load_for_device,
     parse,
     pipeline_from_sensor_json,
     write,
@@ -241,6 +242,83 @@ def test_missing_cal_path_raises():
         )
 
 
+def _device_file(root: Path, device_id: str, *, family: str = "box") -> Path:
+    path = root / family / f"{device_id}.json"
+    path.parent.mkdir(parents=True, exist_ok=True)
+    doc = json.loads(_box_cal_path().read_text(encoding="utf-8"))
+    doc["identity"] = {"sensor_type": family, "sn": device_id}
+    path.write_text(json.dumps(doc), encoding="utf-8")
+    return path
+
+
+def test_device_calibration_selection_and_missing_raw(tmp_path: Path):
+    root = tmp_path / "calibrations"
+    root.mkdir()
+    selected = _device_file(root, "BOX-001")
+    assert load_for_device(root, "box", "BOX-001").source_path == selected.resolve()
+    assert load_for_device(root, "box", "BOX-002") is None
+
+    sensor = Sensor(
+        "external", config_name="box", calibration_dir=root,
+        device_id="BOX-001", verbose=False, backend="cpu",
+    )
+    try:
+        assert sensor.force_unit == "N"
+        assert sensor.calibration.source_path == selected.resolve()
+        other = _device_file(root, "BOX-003")
+        with pytest.raises(CalibrationError, match="identity mismatch"):
+            sensor.set_calibration(other)
+        assert sensor.calibration.source_path == selected.resolve()
+    finally:
+        sensor.disconnect()
+
+    sensor = Sensor(
+        "external", config_name="box", calibration_dir=root,
+        device_id="BOX-002", verbose=False, backend="cpu",
+    )
+    try:
+        assert sensor.force_unit == "raw"
+        assert sensor.device_calibration_missing
+        assert sensor.calibration is None
+    finally:
+        sensor.disconnect()
+
+
+def test_device_calibration_rejects_wrong_identity_and_pipeline(tmp_path: Path):
+    root = tmp_path / "calibrations"
+    root.mkdir()
+    path = _device_file(root, "BOX-001")
+    doc = json.loads(path.read_text(encoding="utf-8"))
+    doc["identity"]["sn"] = "BOX-002"
+    path.write_text(json.dumps(doc), encoding="utf-8")
+    with pytest.raises(CalibrationError, match="identity mismatch"):
+        load_for_device(root, "box", "BOX-001")
+    with pytest.raises(CalibrationError, match="identity mismatch"):
+        Sensor(
+            "external", config_name="box", cal_path=path,
+            device_id="BOX-001", verbose=False, backend="cpu",
+        )
+
+    doc["identity"]["sn"] = "BOX-001"
+    doc["pipeline"] = {"dis_mode": 999}
+    path.write_text(json.dumps(doc), encoding="utf-8")
+    with pytest.raises(CalibrationError, match="pipeline mismatch"):
+        load_for_device(root, "box", "BOX-001", pipeline={"dis_mode": 1})
+
+
+def test_device_calibration_rejects_partial_axes_and_unsafe_id(tmp_path: Path):
+    root = tmp_path / "calibrations"
+    root.mkdir()
+    path = _device_file(root, "BOX-001")
+    doc = json.loads(path.read_text(encoding="utf-8"))
+    del doc["channels"]["shear_y"]
+    path.write_text(json.dumps(doc), encoding="utf-8")
+    with pytest.raises(CalibrationError, match="requires FN, FX and FY"):
+        load_for_device(root, "box", "BOX-001")
+    with pytest.raises(CalibrationError, match="invalid device_id"):
+        load_for_device(root, "box", "../BOX-001")
+
+
 def test_parse_shipped_box_file_directly():
     cal = parse(json.loads(_box_cal_path().read_text(encoding="utf-8")), source_path=_box_cal_path())
     assert cal.schema_version == 2