Merge branch 'main' of ssh://892887cvmk08.aicp.io:24928/orisys-tech/orisys-app

apps/autocal/src/orisys_autocal/preferences.py

@@ -13,7 +13,7 @@ from typing import Any
 from orisys_app_shared import prefs as _prefs
 from orisys_app_shared.paths import preference_path
 
-from .motion.service import PLATFORM_AXES
+from .motion.service import DEFAULT_BAS_TASK, PLATFORM_AXES, clamp_bas_task
 from .motion.units import DEFAULT_ACCEL, DEFAULT_SPEED, DEFAULT_UNITS
 
 #: Connection modes, in the order the combo offers them.
@@ -155,6 +155,11 @@ def default_preferences() -> dict[str, Any]:
         # Remembered so "download the BAS program" is one click after the first
         # time, instead of re-picking the file every session.
         "bas_path": "",
+        #: The controller task the BAS program runs on. The vendor reference
+        #: starts it on 4 and re-initialises it with ``RUN "<file>",4``; stopping
+        #: any other task restarts nothing. Kept configurable because the task
+        #: number is a property of the project loaded on the controller.
+        "bas_task": DEFAULT_BAS_TASK,
         #: Displayed millimetres are derived from this; it is a bench-measured
         #: constant, not a calibrated length (see motion/units.py).
         "units_per_mm": DEFAULT_UNITS,
@@ -245,6 +250,8 @@ def load_preferences() -> dict[str, Any]:
             if value and not tool[index]:
                 tool[index] = value
     prefs["finger_tool_xy_mm"] = tool
+    # A hand-edited task number must not reach the controller as typed.
+    prefs["bas_task"] = clamp_bas_task(prefs.get("bas_task"))
     return prefs