Z轴可利用代码控制移动

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: