加入Z轴运行控制，加快五轴运行速度

apps/autocal/tests/test_pose_move.py

@@ -31,7 +31,6 @@ from orisys_autocal.motion import (
 from orisys_autocal.motion.models import AxisState, AxisStatusBits, BusStatus
 from orisys_autocal.motion.pose_move import (
     MOVE_ORDER,
-    RETURN_ORDER,
     PoseMover,
     SETTLE_DEG,
     SETTLE_MM,
@@ -128,11 +127,12 @@ def test_the_plan_holds_back_what_it_is_not_given():
     assert "z" in plan.describe()
 
 
-def test_returning_to_zero_retracts_the_press_axis_first():
+def test_returning_to_zero_moves_the_five_axes_together():
     service = make_service()
     plan = plan_return_to_initial(service)
-    assert [step.role for step in plan.steps] == list(RETURN_ORDER)
-    assert plan.steps[0].role == "z"
+    assert plan.together
+    assert [step.role for step in plan.steps] == ["yaw", "pitch", "x", "y", "z"]
+    assert plan.held == ()
     assert all(step.target == 0.0 for step in plan.steps)
 
 
@@ -262,15 +262,23 @@ def test_an_execute_plan_moves_the_four_axes_together_and_leaves_z():
     assert mover.state.finished
 
 
-def test_return_to_zero_stays_one_axis_at_a_time():
+def test_return_to_zero_is_one_command_for_the_five_axes():
     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_return_to_initial(service)
-    assert not plan.together
     assert mover.start(plan).ok
     assert len(poller.commands) == 1
-    assert mover.state.step.role == "z"
+    poller.commands[0](service)
+    assert [axis for axis, _value in called[0]] == [3, 2, 0, 1, 4]
+    assert mover.progress_text().startswith("同时")
 
 
 def test_the_mover_commands_one_axis_and_waits_for_it_to_arrive():