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"))