Z轴可利用代码控制移动

apps/autocal/tests/test_controller_sequence.py

@@ -17,6 +17,7 @@ No test here touches a controller or a DLL.
 from __future__ import annotations
 
 import ctypes
+import logging
 import time
 from pathlib import Path
 
@@ -25,6 +26,7 @@ from orisys_autocal.motion import (
     DEFAULT_BAS_TASK,
     INIT_OK,
     INIT_RUNNING,
+    BusStatus,
     ConnectionSpec,
     DemoTransport,
     MotionService,
@@ -224,6 +226,44 @@ def test_adopted_program_without_a_known_file_says_so():
     assert "文件名" in result.message or "file name" in result.message
 
 
+def test_connect_reads_axis_4_and_does_not_write_parameters(caplog):
+    """Connecting must not replace configuration the vendor software just set."""
+    transport = DemoTransport()
+    writes: list[tuple] = []
+    transport.set_units = lambda axis, value: writes.append(("units", axis, value))
+    transport.set_speed = lambda axis, value: writes.append(("speed", axis, value))
+    transport.set_accel = lambda axis, value: writes.append(("accel", axis, value))
+    transport.bas_download = lambda filename, run_mode=1: writes.append(("bas", filename))
+    service = MotionService(transport)
+
+    with caplog.at_level(logging.INFO):
+        result = service.connect(ConnectionSpec(mode="demo"))
+
+    assert result.ok, result.message
+    assert writes == []
+    readback = [record.message for record in caplog.records if record.message.startswith("connect axis 4")]
+    assert readback, caplog.text
+    assert "mpos=" in readback[-1]
+    assert "not written" in caplog.text
+
+
+def test_axis_4_jog_reuses_the_shared_motion_call_and_logs_position(caplog):
+    service = MotionService(DemoTransport())
+    assert service.connect(ConnectionSpec(mode="demo")).ok
+    service._bus = BusStatus(bus_type="ecat", init_status=INIT_OK, total_axes=4)  # noqa: SLF001
+
+    with caplog.at_level(logging.INFO):
+        result = service.jog(4, True)
+
+    assert result.ok, result.message
+    assert result.code == 0
+    logged = [record.message for record in caplog.records if record.message.startswith("jog axis 4")]
+    assert logged, caplog.text
+    assert "ok=True" in logged[-1]
+    assert "code=0" in logged[-1]
+    assert "mpos=" in logged[-1]
+
+
 def test_reinit_needs_the_bus_not_to_be_mid_run():
     service = MotionService(DemoTransport())
     service.connect(ConnectionSpec(mode="demo"))

apps/autocal/tests/test_move_buttons.py

@@ -19,7 +19,7 @@ from __future__ import annotations
 
 from orisys_app_shared.i18n import t
 
-from orisys_autocal.motion import BusStatus
+from orisys_autocal.motion import AxisState, BusStatus, Snapshot
 from orisys_autocal.motion.pose_move import plan_pose_move
 
 
@@ -37,6 +37,44 @@ def _connected(make_window, *, confirm: bool = False):
     return window
 
 
+def test_axis_4_controls_stay_available_when_the_bus_count_is_short(make_window):
+    """A mapped axis 4 uses the same buttons as axes 0-3.
+
+    The bus-count global can still say 4 after the drive is working again.
+    Type 0 stays disabled, so an axis the controller has not mapped is not
+    given a button.
+    """
+    window = make_window()
+    try:
+        mapped = tuple(AxisState(axis=index, atype=65, read_ok=True) for index in range(5))
+        window.axis_panel.update_snapshot(
+            Snapshot(
+                connected=True,
+                bus=BusStatus(bus_type="ecat", init_status=1, total_axes=4),
+                axes=mapped,
+            )
+        )
+        row = window.axis_panel._rows[4]  # noqa: SLF001
+        assert row["enable_button"].isEnabled()
+        assert row["fwd_button"].isEnabled()
+        assert row["rev_button"].isEnabled()
+        assert row["stop_button"].isEnabled()
+
+        unmapped = mapped[:-1] + (AxisState(axis=4, atype=0, read_ok=True),)
+        window.axis_panel.update_snapshot(
+            Snapshot(
+                connected=True,
+                bus=BusStatus(bus_type="ecat", init_status=1, total_axes=4),
+                axes=unmapped,
+            )
+        )
+        row = window.axis_panel._rows[4]  # noqa: SLF001
+        assert not row["fwd_button"].isEnabled()
+        assert row["stop_button"].isEnabled() is False
+    finally:
+        window.close()
+
+
 def test_execute_lives_with_the_point_it_executes(make_window):
     window = make_window()
     try:

apps/autocal/tests/test_pose_move.py

@@ -216,6 +216,63 @@ def test_the_guard_names_an_unknown_direction():
 # ------------------------------------------------------------------------ mover
 
 
+def test_an_execute_plan_moves_the_four_axes_together_and_leaves_z():
+    """Calibration execute starts yaw, pitch and X/Y in one command. Z stays put."""
+    service = make_service()
+    called: list[list[tuple[int, float]]] = []
+
+    def record(moves):
+        called.append(list(moves))
+        return MotionResult.success()
+
+    service.move_abs_many = record  # type: ignore[method-assign]
+    poller = FakePoller(service)
+    mover = PoseMover(service, poller.submit)
+    plan = plan_pose_move(
+        service,
+        {"x": 2.0, "y": 1.0, "yaw": 10.0, "pitch": -5.0},
+        hold=("z",),
+        together=True,
+    )
+    assert plan.together
+    assert [step.role for step in plan.steps] == ["yaw", "pitch", "x", "y"]
+    assert mover.start(plan).ok
+    assert len(poller.commands) == 1
+    poller.commands[0](service)
+    assert [axis for axis, _value in called[0]] == [3, 2, 0, 1]
+
+    mover.on_snapshot(
+        snapshot_of(service, {0: 1000.0, 1: 0.0, 2: 0.0, 3: 0.0}, idle=False)
+    )
+    assert mover.running
+    assert mover.progress_text().startswith("同时")
+    assert len(poller.commands) == 1, "a later axis was queued instead of moving with the first"
+
+    mover.on_snapshot(
+        snapshot_of(
+            service,
+            {
+                0: 1000.0,
+                1: 500.0,
+                2: -5.0 * 12500.0 / 90.0,
+                3: 10.0 * 29500.0 / 90.0,
+            },
+        )
+    )
+    assert mover.state.finished
+
+
+def test_return_to_zero_stays_one_axis_at_a_time():
+    service = make_service()
+    poller = FakePoller(service)
+    mover = PoseMover(service, poller.submit)
+    plan = plan_return_to_initial(service)
+    assert not plan.together
+    assert mover.start(plan).ok
+    assert len(poller.commands) == 1
+    assert mover.state.step.role == "z"
+
+
 def test_the_mover_commands_one_axis_and_waits_for_it_to_arrive():
     service = make_service()
     poller = FakePoller(service)