feat(node): push USB changes and preserve sensor setup across sessions

apps/node-agent/sensors/device.py

@@ -93,13 +93,30 @@ class Device:
         self.verified_this_process = False
         for path in self.root.glob("recordings/*/manifest.json"):
             value = json.loads(path.read_text())
-            if value.get("state") == "recording":
+            if value.get("state") in ("recording", "finalizing"):
                 value.update(state="interrupted", recovered_at=utc())
                 atomic(path, value)
 
     def save(self):
         atomic(self.root / "config.json", self.config)
 
+    def disconnect(self):
+        with self.lock:
+            if not self.online:
+                return
+            self.online = False
+            self.verified_this_process = False
+            self.sdk_device = None
+            # Stored playback is independent from a physical USB camera.
+            live = self.pipeline is not None and self.playback_id is None
+            if self.playback_id is None:
+                self.images = {}
+                self.motion = {}
+                self.depth = None
+                self.message = "Камера отключена от БК."
+        if live:
+            self.stop(failed=True)
+
     def refresh(self, dev):
         with self.lock:
             self.sdk_device = dev
@@ -110,7 +127,7 @@ class Device:
             self.online = True
             self.firmware = dev.get_info(rs.camera_info.firmware_version)
             self.transport = dev.get_info(rs.camera_info.usb_type_descriptor)
-            if self.pipeline is not None:
+            if self.pipeline is not None or self.acquisition == "stopping":
                 return
             profiles, options = [], []
             for index, sensor in enumerate(dev.query_sensors()):
@@ -254,7 +271,7 @@ class Device:
 
     def start(self, selected=None, record=False):
         with self.lock:
-            if self.pipeline is not None:
+            if self.pipeline is not None or self.acquisition == "stopping":
                 raise ValueError("Захват уже запущен. Сначала остановите его.")
             if not self.online or self.sdk_device is None:
                 raise ValueError("Камера не подключена.")
@@ -352,7 +369,7 @@ class Device:
         if not isinstance(ident, str) or not re.fullmatch(r"capture_[0-9a-f]{32}", ident):
             raise ValueError("Некорректная запись.")
         with self.lock:
-            if self.pipeline is not None:
+            if self.pipeline is not None or self.acquisition == "stopping":
                 raise ValueError("Сначала остановите текущий захват или просмотр записи.")
             directory = self.root / "recordings" / ident
             source, manifest = directory / "source.db3", directory / "manifest.json"
@@ -440,26 +457,39 @@ class Device:
 
     def stop(self, failed=False, from_capture=False):
         with self.lock:
+            if self.acquisition == "stopping":
+                raise ValueError("Исходная запись ещё сохраняется. Дождитесь завершения.")
             self.stop_event.set()
             pipeline, self.pipeline = self.pipeline, None
             if pipeline is not None:
                 self.acquisition = "stopping"
-                pipeline.stop()
+                try:
+                    pipeline.stop()
+                except RuntimeError:
+                    # Removal may invalidate the SDK handle before STOP reaches it.
+                    failed = True
+                    self.message = "Захват прерван. Проверьте подключение камеры."
                 del pipeline
             if self.thread and not from_capture:
                 self.thread.join(timeout=3)
             self.playback_id = None
-            self.acquisition = "failed" if failed else "idle"
+            value = dict(self.record) if self.record else None
+            self.acquisition = "stopping" if value else "failed" if failed else "idle"
             self.revision += 1
-            if self.record:
-                value = dict(self.record)
+            if value:
                 value.update(
-                    state="failed" if failed else "complete",
+                    state="finalizing",
                     ended_at=utc(),
                     ended_monotonic_ns=time.monotonic_ns(),
                     frames=dict(self.frames),
                 )
+                self.record = value
                 path = self.root / "recordings" / value["id"]
+                atomic(path / "manifest.json", value)
+        if value:
+            # Hashing a large source must not lock inventory or heartbeat. The
+            # stopping state still prevents START, preparation and package updates.
+            try:
                 source = path / "source.db3"
                 if source.exists():
                     digest = hashlib.sha256()
@@ -467,12 +497,24 @@ class Device:
                         for chunk in iter(lambda: f.read(1024 * 1024), b""):
                             digest.update(chunk)
                     value.update(sha256=digest.hexdigest(), bytes=source.stat().st_size)
+                else:
+                    failed = True
+                value["state"] = "failed" if failed else "complete"
                 atomic(path / "manifest.json", value)
-                self.record = None
-            return {"ok": True}
+            except OSError:
+                failed = True
+                self.message = "Не удалось завершить сохранение исходной записи. Проверьте диск БК."
+                value["state"] = "failed"
+                atomic(path / "manifest.json", value)
+            finally:
+                with self.lock:
+                    self.record = None
+                    self.acquisition = "failed" if failed else "idle"
+                    self.revision += 1
+        return {"ok": True}
 
     def verify(self):
-        if self.pipeline is not None:
+        if self.pipeline is not None or self.acquisition == "stopping":
             raise ValueError("Остановите захват перед повторной проверкой.")
         try:
             self.start()

apps/node-agent/sensors/server.py

@@ -64,8 +64,7 @@ class Host:
                     self.devices[ident].refresh(dev)
                 for ident, device in self.devices.items():
                     if ident not in found:
-                        device.online = False
-                        device.verified_this_process = False
+                        device.disconnect()
 
             await asyncio.to_thread(work)