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。

README.md

@@ -9,7 +9,8 @@ PyPI: [https://pypi.org/project/orisys/](https://pypi.org/project/orisys/)
 ## Repository Layout
 
 - `src/orisys/`: installable SDK package
-- `config/`: default and lab/runtime JSON configurations
+- `sensors/`: product bundles containing the current `sensor.json` configurations and assets
+- `config/`: legacy JSON configurations retained for compatibility
 - `examples/`: runnable demos (`basic_pipeline.py`, `mini_pipeline.py`, `finger_pipeline*.py`) plus shared `gui/`, `pipeline/`, `viz/`
 - `scripts/`: maintenance, calibration, packaging, and demo scripts
 - `tools/`: non-package tooling such as patch-generation utilities
@@ -73,12 +74,13 @@ Run commands from the repository root.
 
 ## Configuration
 
-The canonical configuration files now live in the repo-level `config/` folder.
+Product configurations live in `sensors/<name>/sensor.json`. The repo-level `config/`
+folder remains available for older configurations and aliases.
 The package loader `orisys.configs` resolves configs from:
 
 1. an explicit JSON file path
-2. a config file stem under `config/` (for example `box`, `mini`, `finger`)
+2. `sensors/<name>/sensor.json` (for example `box`, `mini`, `finger`)
-3. a product alias such as `dd02` -> `dd02-ov`
+3. a file stem under the legacy `config/` folder, including aliases such as `dd02` -> `dd02-ov`
 4. a backward-compatible JSON `"name"` match, such as `"prototype"`
 
 Examples:
@@ -90,6 +92,25 @@ sensor = orisys.Sensor(0, config_name="box")
 cfg = orisys.export_config("box", "./config/exported_config.json")
 ```
 
+For multiple physical sensors, keep calibration files in a user-selected directory:
+`<calibration_dir>/<product>/<device_id>.json` (for example,
+`./calibrations/box/BOX-001.json`). Each file uses the existing calibration JSON
+format and must contain matching `identity.sensor_type` and `identity.sn`, Newton
+curves for FN/FX/FY, and a compatible measurement pipeline. Enter the device ID
+manually until hardware identification is available:
+
+```python
+sensor = orisys.Sensor(0, config_name="box", calibration_dir="./calibrations", device_id="BOX-001")
+```
+
+If that ID has no file, the sensor reports raw force; it never falls back to the
+product's default. An invalid or mismatched file raises `CalibrationError`.
+`FingerRuntime.open` accepts the same `calibration_dir` and `device_id` arguments.
+Existing calls without a device ID still use the product bundle default, and
+explicit `cal_path` remains available for one-off use. `cal_path` and
+`calibration_dir` cannot be combined. Pass `device_id` with `cal_path` to validate
+that explicit file against the selected device.
+
 ## Examples and Tools
 
 - Example entry points: `examples/README.md`

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,
     *,

src/orisys/finger/runtime.py

@@ -254,6 +254,9 @@ class FingerRuntime:
         map_cache=DEFAULT_FINGER_MAP_CACHE,
         source_scale=None,
         calib=None,
+        cal_path=None,
+        calibration_dir=None,
+        device_id=None,
         video=0,
         camera_id=None,
         flip_source_vertical=True,
@@ -293,6 +296,12 @@ class FingerRuntime:
         )
         domain.remap.ensure_fast_maps()
 
+        sensor = Sensor(
+            "external", config_name=config, cal_path=cal_path,
+            calibration_dir=calibration_dir, device_id=device_id,
+            verbose=verbose, mirror=mirror,
+        )
+
         capture_config = CaptureConfig.from_camera_dict(
             video,
             geometry.config.get("camera", {}),
@@ -307,7 +316,6 @@ class FingerRuntime:
             capture_source.start_background()
         capture = capture_source.cap
 
-        sensor = Sensor("external", config_name=config, verbose=verbose, mirror=mirror)
         if not is_live_camera(video):
             # File playback: wall-clock cadence is not signal time, so pin the
             # force-filter design rate to the configured camera fps.

src/orisys/sensor.py

@@ -143,6 +143,7 @@ class Sensor:
                  backend='auto', capture_config: CaptureConfig | None = None,
                  auto_reconnect: bool = False, capture_mode: str = "latest",
                  capture_queue_size: int = 1, capture_overflow: str = "drop_oldest",
+                 calibration_dir: str | Path | None = None, device_id: str | None = None,
                  **_deprecated_capture_kwargs):
         """
         Initialize Sensor with video source and configuration.
@@ -154,6 +155,8 @@ class Sensor:
             verbose: Print initialization logs (default: True)
             config_name: Configuration name (default: "prototype")
             cal_path: Explicit force_calibration.json path (overrides bundle default)
+            calibration_dir: User-managed root containing <product>/<device_id>.json.
+            device_id: Manually entered or hardware-reported device identity.
             override: Skip auto-detection, use provided box (default: False)
             box: Manual bounding boxes when override=True (default: None)
             backend: Poisson backend (default: "auto")
@@ -184,6 +187,15 @@ class Sensor:
         self.debug = debug
         self.config_name = config_name
         self.cal_path = cal_path
+        if calibration_dir is not None and device_id is None:
+            raise cal_mod.CalibrationError("device_id is required with calibration_dir")
+        if device_id is not None and calibration_dir is None and cal_path is None:
+            raise cal_mod.CalibrationError("device_id requires calibration_dir or cal_path")
+        if calibration_dir is not None and cal_path is not None:
+            raise cal_mod.CalibrationError("cal_path and calibration_dir are mutually exclusive")
+        self.calibration_dir = calibration_dir
+        self.device_id = device_id
+        self.device_calibration_missing = False
         self.mirror = mirror
         self._capture_config_override = capture_config
         self._auto_reconnect = bool(auto_reconnect)
@@ -1273,6 +1285,11 @@ class Sensor:
         bundle from another root and stopped there without ever asking whether
         that root had coefficients.
         """
+        if getattr(self, "device_calibration_missing", False):
+            return (
+                f"Force calibration: raw (no file for {self.device_id!r} "
+                f"under {self.calibration_dir})"
+            )
         attempts = self._force_cal_attempts or []
         # ``found_root`` is keyed even when nothing was found (valued None), so
         # test its value, not the key.
@@ -1306,14 +1323,30 @@ class Sensor:
         return "\n".join(lines)
 
     def _init_force_calibration(self) -> None:
-        """Load force calibration from ``cal_path`` or the product bundle."""
+        """Load the selected force calibration before processing frames."""
         self.calibration = None
         self._force_cal_sensor_name = None
         self._force_cal_attempts = None
 
+        family = None
+        pipeline = None
+        if self.device_id is not None:
+            family, pipeline = self._device_calibration_expectations()
+
         if self.cal_path is not None and str(self.cal_path).strip():
             # Explicit path: missing/invalid raises (no silent fallback).
             self.calibration = cal_mod.load(self.cal_path, strict=True)
+            if self.device_id is not None:
+                self.calibration = cal_mod.validate_for_device(
+                    self.calibration, family, self.device_id, pipeline=pipeline
+                )
+            return
+
+        if self.calibration_dir is not None:
+            self.calibration = cal_mod.load_for_device(
+                self.calibration_dir, family, self.device_id, pipeline=pipeline
+            )
+            self.device_calibration_missing = self.calibration is None
             return
 
         attempts: list[dict] = []
@@ -1333,6 +1366,24 @@ class Sensor:
         # without coefficients is not that.
         self._force_cal_attempts = attempts or None
 
+    def _device_calibration_expectations(self):
+        family = next(
+            (name for name in self._bundle_name_candidates() if name in configs.PRODUCT_BUNDLES),
+            None,
+        )
+        if family is None:
+            raise cal_mod.CalibrationError(
+                f"cannot determine product family from config_name={self.config_name!r}"
+            )
+        camera = self._config.get("camera", {})
+        tracker = self._config.get("tracker", {})
+        return family, {
+            "stitch_resolution": camera.get("resolution_stitch"),
+            "dis_mode": tracker.get("dis_mode"),
+            "hhd_downsample": tracker.get("hhd_downsample"),
+            "filters": cal_mod.filters_fingerprint(self._config.get("filters")),
+        }
+
     @property
     def force_calibrated(self) -> bool:
         """True when at least one channel curve is loaded."""
@@ -1349,14 +1400,21 @@ class Sensor:
         """Attach or replace the active force calibration (live swap after save)."""
         if cal is None:
             self.calibration = None
+            self.device_calibration_missing = False
             self._force_cal_sensor_name = None
             self._force_cal_attempts = None
             return
         if isinstance(cal, cal_mod.Calibration):
-            self.calibration = cal
+            selected = cal
-            self._force_cal_attempts = None
+        else:
-            return
+            selected = cal_mod.load(cal, strict=True)
-        self.calibration = cal_mod.load(cal, strict=True)
+        if self.device_id is not None:
+            family, pipeline = self._device_calibration_expectations()
+            selected = cal_mod.validate_for_device(
+                selected, family, self.device_id, pipeline=pipeline
+            )
+        self.calibration = selected
+        self.device_calibration_missing = False
         self._force_cal_attempts = None
 
     def _apply_force_filter(self):

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

tests/test_finger_runtime.py

@@ -1,4 +1,5 @@
 from pathlib import Path
+from types import SimpleNamespace
 
 import numpy as np
 import pytest
@@ -159,6 +160,36 @@ def test_finger_runtime_get_img_returns_none_on_capture_failure():
     assert runtime.get_img() is None
 
 
+def test_finger_open_selects_device_calibration_before_capture(monkeypatch, tmp_path):
+    import orisys.finger.runtime as runtime_mod
+
+    selected = {}
+    geometry = SimpleNamespace(
+        export_paths=SimpleNamespace(as_tuple=lambda: ("mesh", "intrinsics", "pose")),
+        map_cache="cache", source_K=np.eye(3), source_width=2, source_height=2,
+        out_width=2, out_height=2, edge_expand=1.0, source_scale=1.0,
+        config={"camera": {}},
+    )
+    monkeypatch.setattr(runtime_mod, "resolve_finger_geometry", lambda **_: geometry)
+    monkeypatch.setattr(
+        runtime_mod, "build_or_load_domain",
+        lambda *args, **kwargs: SimpleNamespace(
+            remap=SimpleNamespace(ensure_fast_maps=lambda: None)
+        ),
+    )
+    monkeypatch.setattr(runtime_mod, "Sensor", lambda *args, **kwargs: selected.update(kwargs))
+    monkeypatch.setattr(runtime_mod.CaptureConfig, "from_camera_dict", lambda *args, **kwargs: None)
+
+    def stop_before_capture(*args, **kwargs):
+        assert selected["calibration_dir"] == tmp_path
+        assert selected["device_id"] == "FINGER-001"
+        raise RuntimeError("capture reached")
+
+    monkeypatch.setattr(runtime_mod, "open_capture", stop_before_capture)
+    with pytest.raises(RuntimeError, match="capture reached"):
+        runtime_mod.FingerRuntime.open(calibration_dir=tmp_path, device_id="FINGER-001")
+
+
 def test_finger_runtime_get_img_returns_unrolled_frame_on_success():
     from orisys.finger.runtime import FingerRuntime