Build SDK core streaming skeleton

docs/PROGRESS.md

@@ -0,0 +1,346 @@
+# Eskin Finger SDK Progress
+
+本文件记录当前代码骨架进度、已完成设计决策、已知问题和后续实现顺序。
+
+## 当前状态
+
+当前 SDK 已经形成如下分层：
+
+```text
+Device API
+  -> Stream Runtime / Channel
+  -> Register Access
+  -> Protocol Codec
+  -> Serial Transport
+  -> Hardware
+```
+
+当前 `cargo check` 可以通过，但还有 `stream.rs` 中的两个 warning 需要清理。
+
+## 已完成
+
+### 1. Protocol Layer
+
+文件：`src/protocol.rs`
+
+已完成：
+
+- 读请求编码：`encode_read_request`
+- 写请求编码：`encode_write_request`
+- 读应答解码：`decode_read_response`
+- 写应答解码：`decode_write_response`
+- stream frame 解码入口：`decode_stream_frame`
+- CRC 校验
+- 设备状态码转换
+- response 帧长度校验
+
+当前协议约定：
+
+```text
+response frame = header + payload/status data + status(1B) + crc(1B)
+crc 是最后 1 字节
+status 是 crc 前 1 字节
+```
+
+注意：
+
+- `FRAME_START_RESPONSE = 0xAA55`
+- 当前 `device.rs` 和 `stream.rs` 读取 response 起始符时使用 `u16::from_be_bytes([header[0], header[1]])`
+- 如果真实设备返回字节序为 `55 AA`，这里需要改为小端；如果真实返回 `AA 55`，当前逻辑正确
+
+### 2. Transport Layer
+
+文件：`src/transport.rs`
+
+已完成：
+
+- `SerialTransport` trait
+- `SerialPortTransport`
+- 串口 open/close/is_open
+- write/read/flush_rx
+- timeout 转换
+- serialport error 到 `SdkError` 的转换
+- `SharedSerialTransport = Arc<Mutex<Box<dyn SerialTransport>>>`
+
+设计决策：
+
+- `SerialTransport: Send`，不要求 `Sync`
+- 跨线程共享通过 `Arc<Mutex<...>>` 完成
+- 串口 request/response 应在同一把 mutex lock 内完成，避免多线程串帧
+
+### 3. Device Layer
+
+文件：`src/device.rs`
+
+已完成：
+
+- `DeviceState`
+- `EskinDeviceInner`
+- `EskinDevice` trait
+- `open/close`
+- `start_stream/stop_stream`
+- `read_sample/read_event`
+- 同步 `read_register/write_register`
+- `ensure_open`
+- 共享 channel：`Arc<ChannelManager>`
+- 共享 transport：`SharedSerialTransport`
+- `create_stream_runtime`
+- `shared_transport`
+
+当前行为：
+
+- `read_register/write_register` 会：
+  - 检查设备状态
+  - protocol encode request
+  - lock transport
+  - flush rx
+  - write request
+  - read full response frame
+  - protocol decode response
+
+注意：
+
+- `device.start_stream()` 和 `StreamRuntime::start()` 当前都会发送 `StreamStarted`
+- 后续需要明确 stream 状态由谁统一管理，避免重复事件
+
+### 4. Channel Layer
+
+文件：`src/channel.rs`
+
+已完成：
+
+- `DeviceCommand`
+- `DeviceEvent`
+- `ChannelManager`
+- sample/cmd/event 三类 channel
+- `send_sample/recv_sample`
+- `send_cmd/recv_cmd`
+- `send_event/recv_event`
+- `dropped_count/reset_dropped_count`
+- sample drop policy：
+  - `DropNewest`
+  - `DropOldest`
+
+设计决策：
+
+- `dropped_samples` 只统计 sample drop，不统计 command/event
+- channel timeout 和 disconnected 分别映射为：
+  - `SdkError::Timeout`
+  - `SdkError::ChannelClosed`
+- sample channel 满时根据 drop policy 处理，不作为硬错误
+
+### 5. Stream Layer
+
+文件：`src/stream.rs`
+
+已完成：
+
+- `StreamMode`
+- `StreamConfig`
+- `StreamController`
+- `StreamRuntime`
+- `StreamWorker`
+- worker thread 生命周期：
+  - `start()` spawn worker
+  - `stop()` stop flag + join
+- `SampleCollector` trait
+- `NoopSampleCollector`
+- `PollingSampleCollector` 骨架
+- polling collector 已具备同步 `read_register` 能力
+- polling collector 当前会尝试读取：
+  - `REG_COMBINED_FORCE`
+  - `REG_MODULE_ERROR`
+
+当前行为：
+
+```text
+StreamRuntime::start()
+  -> make_collector()
+  -> spawn StreamWorker
+  -> worker loop
+  -> collector.collect_once()
+  -> if Some(sample), send_sample(sample)
+```
+
+当前 `PollingSampleCollector::collect_once()` 只读取 raw bytes，尚未解析为 `FingerSample`，因此返回 `Ok(None)`。
+
+已知 warning：
+
+- `src/stream.rs` unused import: `transport::{self, ...}` 中的 `self`
+- `StreamWorker::new` 参数 `transport` 未使用
+
+### 6. Register Layer
+
+文件：`src/register.rs`
+
+已完成：
+
+- 寄存器地址常量
+- `RegisterSpec`
+- `RegisterAccess`
+- `RegisterValueType`
+- `DEVICE_INFO_REGISTERS`
+- `RegisterMap` trait
+- `EskinRegisterMap`
+- `parse_distribution_force`
+
+暂未完成：
+
+- `distribution_register`
+- `parse_device_info`
+- combined force 解析
+- module error 解析
+
+## 当前主要设计决策
+
+### Transport 共享模型
+
+当前使用：
+
+```rust
+Arc<Mutex<Box<dyn SerialTransport>>>
+```
+
+原因：
+
+- device 和 stream worker 需要共享同一个串口
+- 串口读写需要 `&mut self`
+- mutex 保证一次 request/response 不被其他线程打断
+
+长期建议：
+
+- stream running 时，尽量由 worker 独占串口访问
+- 主线程通过 command channel 请求 worker 操作设备
+- 避免主线程同步 `read_register` 和 worker polling 同时抢 transport
+
+### Stream 职责拆分
+
+当前拆分：
+
+```text
+StreamRuntime
+  管理 start/stop、worker handle、对外读取 sample/event
+
+StreamWorker
+  管理 loop、running flag、sleep、错误事件
+
+SampleCollector
+  管理一次采集，后续负责协议读写和 sample 构建
+```
+
+这是推荐方向。worker 不应该直接塞满协议和寄存器解析逻辑。
+
+## 明确下一步
+
+### Step 1: 清理当前 warning
+
+文件：`src/stream.rs`
+
+处理：
+
+- 删除 unused import 中的 `self`
+
+```rust
+transport::{SerialTransport, SharedSerialTransport}
+```
+
+- `StreamWorker::new` 当前参数 `transport` 未使用。二选一：
+  - 删除 `StreamWorker` 中的 transport 参数，因为 collector 已持有 transport
+  - 或者让 worker 持有 transport，但不推荐，职责重复
+
+推荐：删除 `StreamWorker::new` 的 `transport` 参数。
+
+### Step 2: 完善 Register 解析接口
+
+文件：`src/register.rs`
+
+新增解析函数：
+
+- `parse_combined_forces(raw: &[u8]) -> Result<Vec<CombinedForce>, SdkError>`
+- `parse_module_errors(raw: &[u8]) -> Result<Vec<ModuleError>, SdkError>`
+
+依据当前寄存器表：
+
+```text
+REG_COMBINED_FORCE = 0x0500
+长度 168B = 28 modules * 6B
+每个 module = fx:i16 + fy:i16 + fz:i16
+
+REG_MODULE_ERROR = 0x0700
+长度 56B = 28 modules * 2B
+每个 module = error_code:u16
+```
+
+### Step 3: 让 PollingSampleCollector 产出 FingerSample
+
+文件：`src/stream.rs`
+
+在 `PollingSampleCollector::collect_once()` 中：
+
+```text
+1. sequence = next_sequence()
+2. read REG_COMBINED_FORCE
+3. read REG_MODULE_ERROR
+4. register parse raw bytes
+5. build FingerSample
+6. return Ok(Some(sample))
+```
+
+先不处理 distribution force。
+
+### Step 4: 补 distribution force
+
+文件：`src/register.rs`、`src/stream.rs`
+
+前置条件：
+
+- `distribution_register(module)` 能根据 `SensorModule` 返回地址和长度
+- 需要确认每个 module 的分布力长度来源
+
+实现策略：
+
+- `StreamConfig.read_distribution == false` 时跳过
+- `StreamConfig.modules` 为空时默认读所有模块，或者默认不读；需要明确语义
+
+### Step 5: 统一 stream 状态入口
+
+文件：`src/device.rs`、`src/stream.rs`
+
+当前重复点：
+
+- `device.start_stream()` 发 `StreamStarted`
+- `StreamRuntime::start()` 也发 `StreamStarted`
+
+需要选择一个主入口：
+
+推荐：
+
+```text
+device.open()
+let mut stream = device.create_stream_runtime()
+stream.start(config)
+stream.next_sample()
+stream.stop()
+```
+
+如果最终 SDK 希望用户只调用 `device.start_stream()`，则 `EskinDeviceInner` 需要持有 `StreamRuntime` 或 worker handle。
+
+### Step 6: 增加基础测试
+
+建议先加这些测试：
+
+- protocol encode read request golden bytes
+- protocol encode write request golden bytes
+- CRC 校验
+- register parse combined force
+- register parse module error
+- ChannelManager drop policy
+
+## 当前风险点
+
+1. response 起始符字节序仍需真实设备帧确认。
+2. stream worker 和 device 同步 read/write 共享同一 transport，虽然 mutex 安全，但业务上仍可能抢响应。
+3. `PollingSampleCollector` 已读取 raw bytes，但还未构建 sample。
+4. `register.rs` 的 `parse_device_info` 和 `distribution_register` 仍是 `todo!()`。
+5. `StreamStarted/StreamStopped` 事件存在重复来源，需要统一入口。
+

src/channel.rs

@@ -3,7 +3,7 @@ use crate::{
     error::SdkError,
     types::{FingerSample, SensorModule},
 };
-use crossbeam_channel::{Receiver, Sender, bounded};
+use crossbeam_channel::{Receiver, RecvTimeoutError, Sender, TrySendError, bounded};
 use std::sync::atomic::{AtomicU64, Ordering};
 
 #[derive(Debug, Clone)]
@@ -71,23 +71,33 @@ impl ChannelManager {
         }
     }
 
-    pub fn send_sample(&self, sample: FingerSample) {
+    pub fn send_sample(&self, sample: FingerSample) -> Result<(), SdkError> {
         match self.drop_policy {
-            DropPolicy::DropNewest => {
-                if self.sample_tx.try_send(sample).is_err() {
-                    self.dropped_samples.fetch_add(1, Ordering::Relaxed);
+            DropPolicy::DropNewest => match self.sample_tx.try_send(sample) {
+                Ok(()) => Ok(()),
+                Err(TrySendError::Full(_)) => {
+                    self.record_sample_drop();
+                    Ok(())
                 }
-            }
-            DropPolicy::DropOldest => {
-                if let Err(crossbeam_channel::TrySendError::Full(captured)) =
-                    self.sample_tx.try_send(sample)
-                {
+                Err(TrySendError::Disconnected(_)) => Err(SdkError::ChannelClosed),
+            },
+            DropPolicy::DropOldest => match self.sample_tx.try_send(sample) {
+                Ok(()) => Ok(()),
+                Err(TrySendError::Full(sample)) => {
                     let _ = self.sample_rx.try_recv();
-                    if self.sample_tx.try_send(captured).is_err() {
-                        self.dropped_samples.fetch_add(1, Ordering::Relaxed);
+                    self.record_sample_drop();
+
+                    match self.sample_tx.try_send(sample) {
+                        Ok(()) => Ok(()),
+                        Err(TrySendError::Full(_)) => {
+                            self.record_sample_drop();
+                            Ok(())
+                        }
+                        Err(TrySendError::Disconnected(_)) => Err(SdkError::ChannelClosed),
                     }
                 }
-            }
+                Err(TrySendError::Disconnected(_)) => Err(SdkError::ChannelClosed),
+            },
         }
     }
 
@@ -95,50 +105,53 @@ impl ChannelManager {
         let timeout = std::time::Duration::from_millis(timeout_ms as u64);
         self.sample_rx
             .recv_timeout(timeout)
-            .map_err(|_| SdkError::Timeout)
+            .map_err(|err| match err {
+                RecvTimeoutError::Timeout => SdkError::Timeout,
+                RecvTimeoutError::Disconnected => SdkError::ChannelClosed,
+            })
     }
 
-    pub fn send_cmd(&self, cmd: DeviceCommand) {
-        match self.drop_policy {
-            DropPolicy::DropNewest => {
-                if self.cmd_tx.try_send(cmd).is_err() {
-                    self.dropped_samples.fetch_add(1, Ordering::Relaxed);
-                }
-            }
-            DropPolicy::DropOldest => {
-                if let Err(crossbeam_channel::TrySendError::Full(captured)) =
-                    self.cmd_tx.try_send(cmd)
-                {
-                    let _ = self.cmd_rx.try_recv();
-                    if self.cmd_tx.try_send(captured).is_err() {
-                        self.dropped_samples.fetch_add(1, Ordering::Relaxed);
-                    }
-                }
-            }
-        }
+    pub fn send_cmd(&self, cmd: DeviceCommand) -> Result<(), SdkError> {
+        self.cmd_tx.try_send(cmd).map_err(|err| match err {
+            TrySendError::Full(_) => SdkError::BufferOverflow(1),
+            TrySendError::Disconnected(_) => SdkError::ChannelClosed,
+        })
     }
 
     pub fn recv_cmd(&self, timeout_ms: u32) -> Result<DeviceCommand, SdkError> {
         let timeout = std::time::Duration::from_millis(timeout_ms as u64);
-        self.cmd_rx
-            .recv_timeout(timeout)
-            .map_err(|_| SdkError::Timeout)
+        self.cmd_rx.recv_timeout(timeout).map_err(|err| match err {
+            RecvTimeoutError::Timeout => SdkError::Timeout,
+            RecvTimeoutError::Disconnected => SdkError::ChannelClosed,
+        })
     }
 
     pub fn dropped_count(&self) -> u64 {
         self.dropped_samples.load(Ordering::Relaxed)
     }
 
+    pub fn reset_dropped_count(&self) {
+        self.dropped_samples.store(0, Ordering::Relaxed);
+    }
+
+    fn record_sample_drop(&self) -> u64 {
+        self.dropped_samples.fetch_add(1, Ordering::Relaxed) + 1
+    }
+
     pub fn send_event(&self, event: DeviceEvent) -> Result<(), SdkError> {
-        self.event_tx
-            .try_send(event)
-            .map_err(|_| SdkError::ChannelClosed)
+        self.event_tx.try_send(event).map_err(|err| match err {
+            TrySendError::Full(_) => SdkError::BufferOverflow(1),
+            TrySendError::Disconnected(_) => SdkError::ChannelClosed,
+        })
     }
 
     pub fn recv_event(&self, timeout_ms: u32) -> Result<DeviceEvent, SdkError> {
         let timeout = std::time::Duration::from_millis(timeout_ms as u64);
         self.event_rx
             .recv_timeout(timeout)
-            .map_err(|_| SdkError::Timeout)
+            .map_err(|err| match err {
+                RecvTimeoutError::Timeout => SdkError::Timeout,
+                RecvTimeoutError::Disconnected => SdkError::ChannelClosed,
+            })
     }
 }

src/device.rs

@@ -1,13 +1,16 @@
-use std::time::Duration;
-
 use chrono::Duration;
+use std::sync::{Arc, Mutex, MutexGuard};
 
 use crate::{
     channel::{ChannelManager, DeviceEvent},
     config::{DeviceConfig, DeviceInfo},
     error::SdkError,
-    protocol::{EskinProtocolCodec, ProtocolCodec},
-    transport::SerialTransport,
+    protocol::{
+        EskinProtocolCodec, FRAME_CRC_LEN, FRAME_START_RESPONSE, FRAME_STATUS_LEN, ProtocolCodec,
+        ReadRequest, WriteRequest,
+    },
+    stream::StreamRuntime,
+    transport::{SerialTransport, SharedSerialTransport},
     types::FingerSample,
 };
 
@@ -22,9 +25,9 @@ pub enum DeviceState {
 pub struct EskinDeviceInner {
     pub info: DeviceInfo,
     pub config: DeviceConfig,
-    pub channels: ChannelManager,
+    pub channels: Arc<ChannelManager>,
     pub state: DeviceState,
-    pub transport: Box<dyn SerialTransport>,
+    pub transport: SharedSerialTransport,
     pub codec: Box<dyn ProtocolCodec>,
 }
 
@@ -40,7 +43,25 @@ impl EskinDeviceInner {
         Self {
             info: DeviceInfo::default(),
             config,
-            channels,
+            channels: Arc::new(channels),
+            state: DeviceState::Closed,
+            transport: Arc::new(Mutex::new(transport)),
+            codec: Box::new(EskinProtocolCodec),
+        }
+    }
+
+    pub fn new_shared(config: DeviceConfig, transport: SharedSerialTransport) -> Self {
+        let channels = ChannelManager::new(
+            config.sample_capacity,
+            config.command_capacity,
+            config.event_capacity,
+            config.drop_policy,
+        );
+
+        Self {
+            info: DeviceInfo::default(),
+            config,
+            channels: Arc::new(channels),
             state: DeviceState::Closed,
             transport,
             codec: Box::new(EskinProtocolCodec),
@@ -48,13 +69,13 @@ impl EskinDeviceInner {
     }
 
     fn read_exact_from_transport(
-        &mut self,
+        transport: &mut dyn SerialTransport,
         buf: &mut [u8],
         timeout: Duration,
     ) -> Result<(), SdkError> {
         let mut offset = 0;
         while offset < buf.len() {
-            let n = self.transport.read(&mut buf[offset..], timeout)?;
+            let n = transport.read(&mut buf[offset..], timeout)?;
 
             if n == 0 {
                 return Err(SdkError::Timeout);
@@ -66,10 +87,54 @@ impl EskinDeviceInner {
         Ok(())
     }
 
-    fn read_response_frame(&mut self) -> Result<Vec<u8>, SdkError> {
-        let timeout = Duration::from_millis(self.config.read_timeout_ms as u64);
+    fn read_response_frame_from(
+        &self,
+        transport: &mut dyn SerialTransport,
+    ) -> Result<Vec<u8>, SdkError> {
+        let timeout = Duration::milliseconds(self.config.read_timeout_ms as i64);
         let mut header = [0u8; 4];
-        self.read_exact_from_transport(&mut header, timeout)?;
+        Self::read_exact_from_transport(transport, &mut header, timeout)?;
+
+        let start = u16::from_be_bytes([header[0], header[1]]);
+        if start != FRAME_START_RESPONSE {
+            return Err(SdkError::FrameError(format!(
+                "invalid response start: 0x{start:04X}"
+            )));
+        }
+        let data_len = u16::from_le_bytes([header[2], header[3]]) as usize;
+        let total_len = 4 + data_len + FRAME_STATUS_LEN + FRAME_CRC_LEN;
+
+        let mut frame = vec![0u8; total_len];
+        frame[..4].copy_from_slice(&header);
+        Self::read_exact_from_transport(transport, &mut frame[4..], timeout)?;
+
+        Ok(frame)
+    }
+
+    fn lock_transport(&self) -> Result<MutexGuard<'_, Box<dyn SerialTransport>>, SdkError> {
+        self.transport
+            .lock()
+            .map_err(|_| SdkError::InternalError("transport mutex poisoned".into()))
+    }
+
+    fn ensure_open(&self) -> Result<(), SdkError> {
+        match self.state {
+            DeviceState::Open | DeviceState::Streaming => Ok(()),
+            DeviceState::Closed => Err(SdkError::NotInitialized),
+            DeviceState::Error => Err(SdkError::InternalError("device is in error state".into())),
+        }
+    }
+
+    pub fn channels(&self) -> Arc<ChannelManager> {
+        Arc::clone(&self.channels)
+    }
+
+    pub fn create_stream_runtime(&self) -> StreamRuntime {
+        StreamRuntime::new(Arc::clone(&self.channels), Arc::clone(&self.transport))
+    }
+
+    pub fn shared_transport(&self) -> SharedSerialTransport {
+        Arc::clone(&self.transport)
     }
 }
 
@@ -87,3 +152,117 @@ pub trait EskinDevice {
     fn read_register(&mut self, addr: u32, length: u16) -> Result<Vec<u8>, SdkError>;
     fn write_register(&mut self, addr: u32, data: &[u8]) -> Result<u16, SdkError>;
 }
+
+impl EskinDevice for EskinDeviceInner {
+    fn open(&mut self) -> Result<(), SdkError> {
+        {
+            let mut transport = self.lock_transport()?;
+            transport.open()?;
+            transport.flush_rx()?;
+        }
+        self.state = DeviceState::Open;
+        Ok(())
+    }
+
+    fn close(&mut self) -> Result<(), SdkError> {
+        {
+            let mut transport = self.lock_transport()?;
+            transport.close()?;
+        }
+        self.state = DeviceState::Closed;
+        Ok(())
+    }
+
+    fn state(&self) -> DeviceState {
+        self.state
+    }
+
+    fn device_info(&self) -> Result<DeviceInfo, SdkError> {
+        Ok(self.info.clone())
+    }
+
+    fn config(&self) -> &DeviceConfig {
+        &self.config
+    }
+
+    fn apply_config(&mut self, config: DeviceConfig) -> Result<(), SdkError> {
+        self.config = config;
+        Ok(())
+    }
+
+    fn start_stream(&mut self) -> Result<(), SdkError> {
+        if self.state == DeviceState::Streaming {
+            return Err(SdkError::AlreadyStreaming);
+        }
+
+        if self.state != DeviceState::Open {
+            return Err(SdkError::NotInitialized);
+        }
+
+        self.state = DeviceState::Streaming;
+        self.channels.send_event(DeviceEvent::StreamStarted)?;
+        Ok(())
+    }
+
+    fn stop_stream(&mut self) -> Result<(), SdkError> {
+        if self.state != DeviceState::Streaming {
+            return Err(SdkError::NotStreaming);
+        }
+
+        self.state = DeviceState::Open;
+        self.channels.send_event(DeviceEvent::StreamStopped)?;
+        Ok(())
+    }
+
+    fn read_sample(&self, timeout_ms: u32) -> Result<FingerSample, SdkError> {
+        self.channels.recv_sample(timeout_ms)
+    }
+
+    fn read_event(&self, timeout_ms: u32) -> Result<DeviceEvent, SdkError> {
+        self.channels.recv_event(timeout_ms)
+    }
+
+    fn read_register(&mut self, addr: u32, length: u16) -> Result<Vec<u8>, SdkError> {
+        self.ensure_open()?;
+
+        let request = ReadRequest {
+            device_addr: self.config.device_addr,
+            start_addr: addr,
+            read_byte_count: length,
+        };
+
+        let request_frame = self.codec.encode_read_request(&request)?;
+
+        let response_frame = {
+            let mut transport = self.lock_transport()?;
+            transport.flush_rx()?;
+            transport.write(&request_frame)?;
+            self.read_response_frame_from(transport.as_mut())?
+        };
+        let response = self.codec.decode_read_response(&response_frame)?;
+
+        Ok(response.data)
+    }
+
+    fn write_register(&mut self, addr: u32, data: &[u8]) -> Result<u16, SdkError> {
+        self.ensure_open()?;
+
+        let request = WriteRequest {
+            device_addr: self.config.device_addr,
+            start_addr: addr,
+            data: data.to_vec(),
+        };
+
+        let request_frame = self.codec.encode_write_request(&request)?;
+
+        let response_frame = {
+            let mut transport = self.lock_transport()?;
+            transport.flush_rx()?;
+            transport.write(&request_frame)?;
+            self.read_response_frame_from(transport.as_mut())?
+        };
+        let response = self.codec.decode_write_response(&response_frame)?;
+
+        Ok(response.return_byte_count)
+    }
+}

src/register.rs

@@ -1,7 +1,7 @@
 use crate::{
     config::DeviceInfo,
     error::SdkError,
-    types::{DistributionForce, SensorModule},
+    types::{DistributionForce, ForcePoint, SensorModule},
 };
 
 pub const REG_SERIAL_NUMBER: u32 = 0x0000;
@@ -39,6 +39,57 @@ pub struct RegisterSpec {
     pub value_type: RegisterValueType,
 }
 
+pub const DEVICE_INFO_REGISTERS: &[RegisterSpec] = &[
+    RegisterSpec {
+        addr: REG_SERIAL_NUMBER,
+        len: 4,
+        access: RegisterAccess::ReadOnly,
+        value_type: RegisterValueType::U32,
+    },
+    RegisterSpec {
+        addr: REG_FIRMWARE_VERSION,
+        len: 2,
+        access: RegisterAccess::ReadOnly,
+        value_type: RegisterValueType::U16,
+    },
+    RegisterSpec {
+        addr: REG_CALIBRATION_GROUP,
+        len: 2,
+        access: RegisterAccess::ReadOnly,
+        value_type: RegisterValueType::U16,
+    },
+    RegisterSpec {
+        addr: REG_MODULE_ACTIVE_STATUS,
+        len: 2,
+        access: RegisterAccess::ReadOnly,
+        value_type: RegisterValueType::U16,
+    },
+    RegisterSpec {
+        addr: REG_L_LINE,
+        len: 2,
+        access: RegisterAccess::ReadOnly,
+        value_type: RegisterValueType::U16,
+    },
+    RegisterSpec {
+        addr: REG_H_LINE,
+        len: 2,
+        access: RegisterAccess::ReadOnly,
+        value_type: RegisterValueType::U16,
+    },
+    RegisterSpec {
+        addr: REG_PRODUCT_CONFIG_1,
+        len: 4,
+        access: RegisterAccess::ReadWrite,
+        value_type: RegisterValueType::U32,
+    },
+    RegisterSpec {
+        addr: REG_PRODUCT_CONFIG_2,
+        len: 4,
+        access: RegisterAccess::ReadWrite,
+        value_type: RegisterValueType::U32,
+    },
+];
+
 pub trait RegisterMap {
     fn device_info_registers(&self) -> &'static [RegisterSpec];
     fn distribution_register(&self, module: SensorModule) -> Result<RegisterSpec, SdkError>;
@@ -55,7 +106,7 @@ pub struct EskinRegisterMap;
 
 impl RegisterMap for EskinRegisterMap {
     fn device_info_registers(&self) -> &'static [RegisterSpec] {
-        todo!("device info register specs")
+        DEVICE_INFO_REGISTERS
     }
 
     fn distribution_register(&self, _module: SensorModule) -> Result<RegisterSpec, SdkError> {
@@ -68,9 +119,29 @@ impl RegisterMap for EskinRegisterMap {
 
     fn parse_distribution_force(
         &self,
-        _module: SensorModule,
-        _raw: &[u8],
+        module: SensorModule,
+        raw: &[u8],
     ) -> Result<DistributionForce, SdkError> {
-        todo!("parse distribution force")
+        if raw.len() % 3 != 0 {
+            return Err(SdkError::FrameError(format!(
+                "distribution force length must be multiple of 3, got {}",
+                raw.len()
+            )));
+        }
+
+        let points = raw
+            .chunks_exact(3)
+            .map(|chunk| ForcePoint {
+                fx: chunk[0] as i8,
+                fy: chunk[1] as i8,
+                fz: chunk[2] as i8,
+            })
+            .collect::<Vec<_>>();
+
+        Ok(DistributionForce {
+            module,
+            point_count: points.len() as u16,
+            points,
+        })
     }
 }

src/stream.rs

@@ -1,9 +1,22 @@
+use std::sync::{
+    Arc,
+    atomic::{AtomicBool, Ordering},
+};
+
+use crate::register::{REG_COMBINED_FORCE, REG_MODULE_ERROR};
+use chrono::Duration;
+
 use crate::{
-    channel::DeviceEvent,
+    channel::{ChannelManager, DeviceEvent},
     error::SdkError,
+    protocol::{EskinProtocolCodec, ProtocolCodec},
+    transport::{self, SerialTransport, SharedSerialTransport},
     types::{FingerSample, SensorModule},
 };
 
+use crate::protocol::{FRAME_CRC_LEN, FRAME_START_RESPONSE, FRAME_STATUS_LEN, ReadRequest};
+use std::thread::{self, JoinHandle};
+use std::time::Duration as StdDuration;
 #[derive(Debug, Clone, Copy, PartialEq, Eq)]
 pub enum StreamMode {
     Polling,
@@ -16,6 +29,8 @@ pub struct StreamConfig {
     pub read_distribution: bool,
     pub modules: Vec<SensorModule>,
     pub poll_interval_ms: u32,
+    pub device_addr: u8,
+    pub read_timeout_ms: u32,
 }
 
 impl Default for StreamConfig {
@@ -25,6 +40,8 @@ impl Default for StreamConfig {
             read_distribution: true,
             modules: Vec::new(),
             poll_interval_ms: 10,
+            device_addr: 0x34,
+            read_timeout_ms: 100,
         }
     }
 }
@@ -36,3 +53,280 @@ pub trait StreamController: Send {
     fn next_sample(&self, timeout_ms: u32) -> Result<FingerSample, SdkError>;
     fn next_event(&self, timeout_ms: u32) -> Result<DeviceEvent, SdkError>;
 }
+
+pub struct StreamRuntime {
+    running: Arc<AtomicBool>,
+    config: Option<StreamConfig>,
+    channels: Arc<ChannelManager>,
+    transport: SharedSerialTransport,
+    worker: Option<JoinHandle<()>>,
+}
+
+impl StreamRuntime {
+    pub fn new(channels: Arc<ChannelManager>, transport: SharedSerialTransport) -> Self {
+        Self {
+            running: Arc::new(AtomicBool::new(false)),
+            config: None,
+            channels,
+            transport,
+            worker: None,
+        }
+    }
+
+    pub fn running_flag(&self) -> Arc<AtomicBool> {
+        Arc::clone(&self.running)
+    }
+
+    pub fn config(&self) -> Option<&StreamConfig> {
+        self.config.as_ref()
+    }
+
+    pub fn transport(&self) -> SharedSerialTransport {
+        Arc::clone(&self.transport)
+    }
+}
+
+impl StreamController for StreamRuntime {
+    fn start(&mut self, config: StreamConfig) -> Result<(), SdkError> {
+        if self.running.swap(true, Ordering::SeqCst) {
+            return Err(SdkError::AlreadyStreaming);
+        }
+
+        let collector = make_collector(&config, Arc::clone(&self.transport));
+        let worker = StreamWorker::new(
+            Arc::clone(&self.running),
+            Arc::clone(&self.channels),
+            Arc::clone(&self.transport),
+            config.clone(),
+            collector,
+        )
+        .spawn();
+
+        self.worker = Some(worker);
+        self.config = Some(config);
+        self.channels.send_event(DeviceEvent::StreamStarted)?;
+
+        Ok(())
+    }
+
+    fn stop(&mut self) -> Result<(), SdkError> {
+        if !self.running.swap(false, Ordering::SeqCst) {
+            return Err(SdkError::NotStreaming);
+        }
+
+        self.channels.send_event(DeviceEvent::StreamStopped)?;
+
+        if let Some(worker) = self.worker.take() {
+            worker
+                .join()
+                .map_err(|_| SdkError::InternalError("stream worker panicked".into()))?;
+        }
+        Ok(())
+    }
+
+    fn is_running(&self) -> bool {
+        self.running.load(Ordering::SeqCst)
+    }
+
+    fn next_sample(&self, timeout_ms: u32) -> Result<FingerSample, SdkError> {
+        self.channels.recv_sample(timeout_ms)
+    }
+
+    fn next_event(&self, timeout_ms: u32) -> Result<DeviceEvent, SdkError> {
+        self.channels.recv_event(timeout_ms)
+    }
+}
+
+pub struct StreamWorker {
+    running: Arc<AtomicBool>,
+    channels: Arc<ChannelManager>,
+    config: StreamConfig,
+    collector: Box<dyn SampleCollector>,
+}
+
+impl StreamWorker {
+    pub fn new(
+        running: Arc<AtomicBool>,
+        channels: Arc<ChannelManager>,
+        transport: SharedSerialTransport,
+        config: StreamConfig,
+        collector: Box<dyn SampleCollector>,
+    ) -> Self {
+        Self {
+            running,
+            channels,
+            config,
+            collector,
+        }
+    }
+
+    pub fn spawn(self) -> JoinHandle<()> {
+        thread::spawn(move || self.run())
+    }
+
+    fn run(mut self) {
+        while self.running.load(Ordering::SeqCst) {
+            if let Err(err) = self.tick() {
+                let _ = self
+                    .channels
+                    .send_event(DeviceEvent::IoError(err.to_string()));
+
+                self.running.store(false, Ordering::SeqCst);
+                break;
+            }
+
+            thread::sleep(StdDuration::from_millis(
+                self.config.poll_interval_ms as u64,
+            ));
+        }
+    }
+
+    fn tick(&mut self) -> Result<(), SdkError> {
+        // let _transport = self
+        //     .transport
+        //     .lock()
+        //     .map_err(|_| SdkError::InternalError("transport mutex poisoned".into()))?;
+
+        let Some(sample) = self.collector.collect_once()? else {
+            return Ok(());
+        };
+        self.channels.send_sample(sample)?;
+        Ok(())
+        // TODO:
+        // 1. encode read request
+        // 2. transport.write()
+        // 3. transport.read()
+        // 4. protocol.decode()
+        // 5. register parse
+        // 6. channels.send_sample()
+    }
+}
+
+pub trait SampleCollector: Send {
+    fn collect_once(&mut self) -> Result<Option<FingerSample>, SdkError>;
+}
+
+pub struct NoopSampleCollector;
+
+impl SampleCollector for NoopSampleCollector {
+    fn collect_once(&mut self) -> Result<Option<FingerSample>, SdkError> {
+        Ok(None)
+    }
+}
+
+pub struct PollingSampleCollector {
+    transport: SharedSerialTransport,
+    codec: Box<dyn ProtocolCodec>,
+    config: StreamConfig,
+    sequence: u32,
+}
+
+impl PollingSampleCollector {
+    pub fn new(transport: SharedSerialTransport, config: StreamConfig) -> Self {
+        Self {
+            transport,
+            codec: Box::new(EskinProtocolCodec),
+            config,
+            sequence: 0,
+        }
+    }
+    fn next_sequence(&mut self) -> u32 {
+        let sequence = self.sequence;
+        self.sequence = self.sequence.wrapping_add(1);
+        sequence
+    }
+    fn read_exact_from_transport(
+        transport: &mut dyn SerialTransport,
+        buf: &mut [u8],
+        timeout: Duration,
+    ) -> Result<(), SdkError> {
+        let mut offset = 0;
+        while offset < buf.len() {
+            let n = transport.read(&mut buf[offset..], timeout)?;
+
+            if n == 0 {
+                return Err(SdkError::Timeout);
+            }
+
+            offset += n;
+        }
+
+        Ok(())
+    }
+    fn read_response_frame(
+        &self,
+        transport: &mut dyn SerialTransport,
+    ) -> Result<Vec<u8>, SdkError> {
+        let timeout = Duration::milliseconds(self.config.read_timeout_ms as i64);
+
+        let mut header = [0u8; 4];
+        Self::read_exact_from_transport(transport, &mut header, timeout)?;
+
+        let start = u16::from_be_bytes([header[0], header[1]]);
+        if start != FRAME_START_RESPONSE {
+            return Err(SdkError::FrameError(format!(
+                "invalid response start: 0x{start:04X}"
+            )));
+        }
+
+        let data_len = u16::from_le_bytes([header[2], header[3]]) as usize;
+        let total_len = 4 + data_len + FRAME_STATUS_LEN + FRAME_CRC_LEN;
+
+        let mut frame = vec![0u8; total_len];
+        frame[..4].copy_from_slice(&header);
+
+        Self::read_exact_from_transport(transport, &mut frame[4..], timeout)?;
+
+        Ok(frame)
+    }
+
+    fn read_register(&mut self, addr: u32, length: u16) -> Result<Vec<u8>, SdkError> {
+        let request = ReadRequest {
+            device_addr: self.config.device_addr,
+            start_addr: addr,
+            read_byte_count: length,
+        };
+
+        let request_frame = self.codec.encode_read_request(&request)?;
+
+        let response_frame = {
+            let mut transport = self
+                .transport
+                .lock()
+                .map_err(|_| SdkError::InternalError("transport mutex poisoned".into()))?;
+
+            transport.flush_rx()?;
+            transport.write(&request_frame)?;
+            self.read_response_frame(transport.as_mut())?
+        };
+
+        let response = self.codec.decode_read_response(&response_frame)?;
+        Ok(response.data)
+    }
+}
+
+impl SampleCollector for PollingSampleCollector {
+    fn collect_once(&mut self) -> Result<Option<FingerSample>, SdkError> {
+        let _sequence = self.next_sequence();
+
+        let _combined_force_raw = self.read_register(REG_COMBINED_FORCE, 168)?;
+        let _module_error_raw = self.read_register(REG_MODULE_ERROR, 56)?;
+
+        // TODO:
+        // parse combined force
+        // parse module error
+        // build FingerSample
+
+        Ok(None)
+    }
+}
+
+fn make_collector(
+    config: &StreamConfig,
+    transport: SharedSerialTransport,
+) -> Box<dyn SampleCollector> {
+    match config.mode {
+        StreamMode::Polling => Box::new(PollingSampleCollector::new(transport, config.clone())),
+        StreamMode::AutoDistribution => Box::new(NoopSampleCollector),
+    }
+}

src/transport.rs

@@ -2,6 +2,9 @@ use crate::error::SdkError;
 use chrono::Duration;
 use serialport::{ClearBuffer, DataBits, FlowControl, Parity, StopBits};
 use std::io::ErrorKind;
+use std::sync::{Arc, Mutex};
+
+pub type SharedSerialTransport = Arc<Mutex<Box<dyn SerialTransport>>>;
 
 pub trait SerialTransport: Send {
     fn open(&mut self) -> Result<(), SdkError>;