Z轴可利用代码控制移动

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)