加入Z轴运行控制，加快五轴运行速度

apps/autocal/src/orisys_autocal/motion/pose_move.py

@@ -10,10 +10,10 @@ matters:
   :class:`~orisys_autocal.motion.poller.MotionPoller` is built, and it is why a stop
   is possible at all: a mover that sat in a loop inside one command could not be
   interrupted, because the stop would have to wait for the loop it is meant to abort.
-* **This module** owns the waiting. An execute plan starts yaw, pitch and table X/Y
-  in one command so they move together; a return plan still retracts one axis at a
-  time. It watches the snapshots the poller already produces and gives up on its
-  own if an axis stops short of its target.
+* **This module** owns the waiting. Execute and return-to-zero both start yaw, pitch,
+  table X/Y and the press axis in one command so the five axes move together. The
+  mover watches the snapshots the poller already produces and gives up on its own
+  if an axis stops short of its target.
 
 That shape is the whole reason for the class: ``stop`` is submitted as an ordinary
 command, so it runs at the next tick and stops the axis that is moving *now*.
@@ -51,11 +51,8 @@ STALL_GRACE_S = 2.0
 #: The order a role move is issued in, for the reason in the module docstring.
 MOVE_ORDER: tuple[str, ...] = ("yaw", "pitch", "x", "y", "z")
 
-#: The order "return to the initial state" retracts in: the press axis first, so the
-#: tool is clear of the sensor before anything rotates, then the stages, then the
-#: table. Returning in one coordinated swoop would move five axes through poses
-#: nobody has simulated.
-RETURN_ORDER: tuple[str, ...] = ("z", "pitch", "yaw", "x", "y")
+#: Axes a pose execute and a return-to-zero command together, including the press axis.
+ALIGN_ORDER: tuple[str, ...] = ("yaw", "pitch", "x", "y", "z")
 
 
 @dataclass(frozen=True)
@@ -82,7 +79,6 @@ class MovePlan:
     #: information the operator needs, not an omission.
     held: tuple[str, ...] = ()
     #: When set, every step is commanded in one call and they travel together.
-    #: Return-to-zero leaves this off so the press axis clears before anything turns.
     together: bool = False
 
     def describe(self) -> str:
@@ -153,11 +149,12 @@ def plan_pose_move(
 
 
 def plan_return_to_initial(service: MotionService) -> MovePlan:
-    """Every axis to zero, press axis first, in :data:`RETURN_ORDER`."""
+    """Yaw, pitch, table X/Y and the press axis back to zero together."""
     return plan_pose_move(
         service,
-        {role: 0.0 for role in RETURN_ORDER},
-        order=RETURN_ORDER,
+        {role: 0.0 for role in ALIGN_ORDER},
+        order=ALIGN_ORDER,
+        together=True,
     )
 
 
@@ -242,7 +239,7 @@ class PoseMover(QObject):
         self.stepStarted.emit(step)
 
     def _issue_together(self, plan: MovePlan) -> None:
-        """Command every step in one worker call. Z is absent from the plan."""
+        """Command every step in one worker call."""
         moves: list[tuple[int, float]] = []
         for step in plan.steps:
             if not step.units == step.units:
@@ -317,7 +314,7 @@ class PoseMover(QObject):
             )
 
     def _on_snapshot_together(self, snapshot: Snapshot) -> None:
-        """Finish when every commanded axis has arrived. Z is not in the plan."""
+        """Finish when every commanded axis has arrived."""
         plan = self.state.plan
         if plan is None:
             return

apps/autocal/src/orisys_autocal/ui/sensor_panel.py

@@ -750,13 +750,8 @@ class FingerPanel(QGroupBox):
 
         The two numbers that matter are the *table's* move and the stage angles: the
         table translation is what the stages are resolved against, and it is what the
-        preview drew as the cyan path's end.
-
-        z is returned as *held*: executing a simulated pose moves the stages and the
-        table, it does not press. Pressing is P7 and has its own guards — contact
-        detection, press depth, the sensor's second opinion — none of which exist
-        here, so a move that reached the contact height would be a press with none of
-        them.
+        preview drew as the cyan path's end. Z is the contact height, commanded with
+        the other four axes in the same move.
         """
         pose = self._last_pose
         if pose is None:
@@ -767,8 +762,9 @@ class FingerPanel(QGroupBox):
             "y": float(table_y),
             "yaw": float(pose.yaw_deg),
             "pitch": float(pose.pitch_deg),
+            "z": float(pose.contact_z_mm),
         }
-        return targets, ("z",)
+        return targets, ()
 
     def _sync_sim_button(self) -> None:
         self.sim_button.setText(

apps/autocal/src/orisys_autocal/ui/window.py

@@ -1045,10 +1045,9 @@ class AutoCalMainWindow(QMainWindow):
     def _on_execute_pose(self) -> None:
         """Move the platform to the solved pose of the finger screen's selection.
 
-        Yaw, pitch and table X/Y start together. The press axis is deliberately
-        not commanded, so this is workflow P6's dry run for one point — it cannot
-        reach the sensor. The numbers shown in the confirmation are the ones the
-        preview drew, so the operator checks the simulation against the machine.
+        Yaw, pitch, table X/Y and the press axis start together. The Z target is
+        the solved contact height. The numbers in the confirmation are the ones
+        the preview drew.
         """
         solve = self.finger_panel.solved_pose()
         if solve is None:
@@ -1065,7 +1064,7 @@ class AutoCalMainWindow(QMainWindow):
         self._start_move(plan, t("move.execute"))
 
     def _on_return_to_initial(self) -> None:
-        """Every drive back to zero, press axis first."""
+        """Yaw, pitch, table X/Y and the press axis back to zero together."""
         plan = plan_return_to_initial(self.poller.service)
         self._start_move(plan, t("move.return_initial"))