修复 Autocal 压头配置、姿态保存与复核性能

阻止不完整标定配置生成 Z 目标，同步当前测点姿态，并将复核文件校验移到后台。通过 476 项全量测试、53 项最终定向复验和代码检查。

apps/autocal/tests/review_test_helpers.py

@@ -0,0 +1,12 @@
+"""Bounded event-loop waits for recording review tests."""
+
+import time
+
+from PySide6.QtTest import QTest
+
+
+def wait_review(widget):
+    deadline = time.monotonic() + 10
+    while widget._job is not None and time.monotonic() < deadline:
+        QTest.qWait(10)
+    assert widget._job is None, "background review did not finish"

apps/autocal/tests/test_multipoint_align.py

@@ -183,6 +183,7 @@ def test_a_point_cannot_be_aligned_in_the_middle_of_a_run(make_window, tmp_path)
 
 
 def test_next_site_can_be_aligned_between_trials(make_window, tmp_path):
+    import json
     window = make_window()
     panel = window.calibration_panel.multipoint
     _add_site(panel, window.finger_stack, site_id="P1")
@@ -199,9 +200,18 @@ def test_next_site_can_be_aligned_between_trials(make_window, tmp_path):
     panel._selected = "P2"
     panel._refresh()
     assert panel.align_button.isEnabled()
+    previous = json.loads((panel.campaign.directory / "sites/P1/repeat-001/session.json").read_text())
+    window.finger_panel.sensor_z_spin.setValue(12.0)
     panel._align()
     assert len(emitted) == 1
+    manifest = json.loads((panel.campaign.directory / "session.json").read_text())
+    assert manifest["sites"][1]["pose"]["z"] == emitted[0]["z"]
+    panel.campaign.confirm_liftoff()
+    repeat = json.loads((panel.campaign.directory / "sites/P2/repeat-001/session.json").read_text())
+    assert repeat["pose"] == manifest["sites"][1]["pose"]
+    assert json.loads((panel.campaign.directory / "sites/P1/repeat-001/session.json").read_text()) == previous
     panel._selected = "P1"
     panel._align()
     assert len(emitted) == 1
+    panel.campaign.stop("test finished")
 

apps/autocal/tests/test_preferences_isolation.py

@@ -15,10 +15,23 @@ from __future__ import annotations
 
 from pathlib import Path
 
+import pytest
+
 APP_ROOT = Path(__file__).resolve().parents[1]
 INSTALLED = APP_ROOT / "preference.json"
 
 
+@pytest.mark.parametrize("stored", [{"calibrated": True}, {"zero_mm": 12.5, "calibrated": True}])
+def test_loading_incomplete_press_calibration_does_not_invent_measurements(stored):
+    import json
+    from orisys_autocal import preferences
+    from orisys_autocal.motion.pose_move import PressAxis
+
+    Path(preferences.path()).write_text(json.dumps({"press_axis": stored}), encoding="utf-8")
+    loaded = preferences.load_preferences()
+    assert PressAxis.from_settings(loaded["press_axis"]).target_for(20) is None
+
+
 def test_the_preference_path_is_redirected_under_the_scratch_root():
     from orisys_autocal.preferences import path
 

apps/autocal/tests/test_record_overview.py

@@ -5,6 +5,8 @@ import json
 from copy import deepcopy
 
 import pytest
+
+from review_test_helpers import wait_review
 from PySide6.QtWidgets import QPushButton
 from PySide6.QtGui import QAction
 
@@ -155,11 +157,13 @@ def test_overview_gui_plan_click_trial_filter_and_saved_roundtrip(qt_app, overvi
     qt_app.processEvents()
     assert dialog.grab().save(str(tmp_path / "overview-response.png"))
     dialog.findChild(QPushButton, "overview_save").click()
+    wait_review(dialog)
     saved = next(root.glob("derived/*/review.json"))
     dialog.findChild(QAction, "overview_clear_plan").trigger()
     assert dialog.table.rowCount() == 3
     monkeypatch.setattr(record_overview_dialog.QFileDialog, "getOpenFileName", lambda *args: (str(saved), ""))
     dialog.findChild(QAction, "overview_load").trigger()
+    wait_review(dialog)
     assert dialog.table.rowCount() == 4
     dialog.close()
 
@@ -174,6 +178,7 @@ def test_calibration_review_action_opens_records_tab(make_window, overview_sessi
     window.calibration_panel.review_button.click()
     assert window.workspace.current_key() == "records"
     page = window.workspace.page("records")
+    wait_review(page)
     assert len(page.overview.rows) == 3
     assert not page.overview.isWindow()
     window.close()
@@ -192,10 +197,13 @@ def test_records_tab_browse_error_and_reload(make_window, overview_session, monk
     assert page.overview is None and page.path_label.text()
     monkeypatch.setattr(QFileDialog, "getExistingDirectory", lambda *args: str(root))
     page.open_button.click()
+    wait_review(page)
     first = page.overview
     page.load_session(root / "not-a-session")
+    wait_review(page)
     assert page.overview is first and page.message.text()
     page.open_button.click()
+    wait_review(page)
     assert page.overview is not first and not page.message.text()
     window.show()
     qt_app.processEvents()

apps/autocal/tests/test_review_job.py

@@ -0,0 +1,86 @@
+"""Recording integrity work must leave the UI thread free and report failures."""
+
+import threading
+
+from PySide6.QtCore import QObject, QTimer, Slot, QCoreApplication, QEvent, QThreadPool
+from PySide6.QtTest import QTest
+
+from orisys_autocal.ui.review_job import ReviewJob
+
+
+def test_review_job_runs_off_thread_and_keeps_qt_responsive(qt_app):
+    started, release = threading.Event(), threading.Event()
+    main_thread = threading.get_ident()
+    results, ticks = [], []
+
+    class Receiver(QObject):
+        @Slot(object, object)
+        def receive(self, value, error):
+            results.append((value, error, threading.get_ident()))
+
+    receiver = Receiver()
+    def action():
+        started.set()
+        assert release.wait(3)
+        return threading.get_ident()
+
+    job = ReviewJob(action, receiver.receive)
+    job.start()
+    try:
+        assert started.wait(2)
+        QTimer.singleShot(0, lambda: ticks.append(True))
+        QTest.qWait(20)
+        assert ticks == [True] and results == []
+    finally:
+        release.set()
+    for _ in range(100):
+        if results:
+            break
+        QTest.qWait(10)
+    assert len(results) == 1
+    assert results[0][0] != main_thread
+    assert results[0][1] is None and results[0][2] == main_thread
+
+
+def test_unexpected_review_job_failure_returns_to_receiver(qt_app):
+    results = []
+    class Receiver(QObject):
+        @Slot(object, object)
+        def receive(self, value, error):
+            results.append((value, error))
+    receiver = Receiver()
+    def action():
+        raise RuntimeError("decoder failed")
+    job = ReviewJob(action, receiver.receive)
+    job.start()
+    for _ in range(100):
+        if results:
+            break
+        QTest.qWait(10)
+    assert results == [(None, "decoder failed")]
+
+
+def test_review_job_can_finish_after_its_receiver_is_destroyed(qt_app):
+    started, release, finished = threading.Event(), threading.Event(), threading.Event()
+    results = []
+    class Receiver(QObject):
+        @Slot(object, object)
+        def receive(self, value, error):
+            results.append((value, error))
+    receiver = Receiver()
+    def action():
+        started.set()
+        assert release.wait(3)
+        finished.set()
+        return "done"
+    job = ReviewJob(action, receiver.receive)
+    job.start()
+    try:
+        assert started.wait(2)
+        receiver.deleteLater()
+        QCoreApplication.sendPostedEvents(receiver, QEvent.Type.DeferredDelete)
+    finally:
+        release.set()
+    assert QThreadPool.globalInstance().waitForDone(3000)
+    qt_app.processEvents()
+    assert finished.is_set() and results == []

apps/autocal/tests/test_session_review.py

@@ -6,6 +6,8 @@ import csv
 import json
 
 import pytest
+
+from review_test_helpers import wait_review
 from orisys_autocal.calibration_session import write_json
 from orisys_autocal.session_review import review_session, save_review
 
@@ -120,6 +122,7 @@ def test_review_dialog_shows_saved_windows_charts_and_new_export(qt_app, session
     dialog.uv_chart.series()[0].clicked.emit(dialog.uv_chart.series()[0].at(0))
     assert dialog.sites.currentIndex() == 0
     dialog.save_button.click()
+    wait_review(dialog)
     assert len(list(session.glob("derived/*/review.json"))) == 1
     dialog.show()
     qt_app.processEvents()
@@ -177,11 +180,13 @@ def test_operator_confirms_windows_in_dialog_and_reloads_them(qt_app, session, m
         assert dialog.review["sites"][0]["windows"][row]["stability_verified"]
     assert dialog.review["sites"][0]["confirmed_fit"] is not None
     dialog.save_button.click()
+    wait_review(dialog)
     saved = next(session.glob("derived/*/review.json"))
     fresh = session_review_dialog.SessionReviewDialog(session)
     monkeypatch.setattr(session_review_dialog.QFileDialog, "getOpenFileName",
                         lambda *args: (str(saved), ""))
     fresh.load_button.click()
+    wait_review(fresh)
     assert fresh.review["sites"] == dialog.review["sites"]
     dialog.close()
     fresh.close()

apps/autocal/tests/test_session_review_multipoint.py

@@ -8,7 +8,9 @@ from pathlib import Path
 
 import pytest
 
-from orisys_autocal.session_review import review_session, save_review
+from review_test_helpers import wait_review
+
+from orisys_autocal.session_review import review_session, save_review, reselect_review
 
 REFERENCE_HEADER = (
     "step_index", "branch", "target_load_n", "t_start_host_mono_ns", "t_end_host_mono_ns",
@@ -33,6 +35,58 @@ CAPTURE_SESSION_ID = 42
 BRANCHES = ["zero", "load", "load", "unload", "unload"]
 
 
+def test_window_adjustment_uses_loaded_traces_and_matches_fresh_review(tmp_path, monkeypatch):
+    import orisys_autocal.session_review as module
+    root = _session(tmp_path / "recording")
+    original = review_session(root)
+    w = original["sites"][0]["windows"][0]
+    selections = {f"{w['trial_id']}:{w['step_index']}": {
+        "t_start_host_mono_ns": w["hold_start_host_mono_ns"] + 10_000_000,
+        "t_end_host_mono_ns": w["hold_end_host_mono_ns"], "stability_verified": True}}
+    expected = review_session(root, selections=selections)
+    monkeypatch.setattr(module, "_rows", lambda *args: pytest.fail("window edit read a file"))
+    monkeypatch.setattr(module, "_sha256", lambda *args: pytest.fail("window edit hashed a file"))
+    adjusted = reselect_review(original, selections)
+    assert adjusted == expected
+    assert original["selections"] == {} and not w["stability_verified"]
+    assert adjusted["sites"][0]["windows"][0]["trace"] is w["trace"]
+
+
+def test_saving_adjusted_review_still_rejects_modified_video(tmp_path):
+    root = _session(tmp_path / "recording")
+    adjusted = reselect_review(review_session(root), {})
+    video = next(root.glob("sites/*/*/capture/raw_0001.mp4"))
+    video.write_bytes(b"different recorded video")
+    with pytest.raises(ValueError, match="recorded inputs changed"):
+        save_review(adjusted)
+    assert not (root / "derived").exists()
+
+
+def test_background_save_reports_changed_video_and_recovers_controls(qt_app, tmp_path, monkeypatch):
+    import threading
+    from PySide6.QtWidgets import QLabel
+    from orisys_autocal.ui.session_review_dialog import SessionReviewDialog
+    root = _session(tmp_path / "recording")
+    dialog = SessionReviewDialog(root)
+    main_thread = threading.get_ident()
+    updates = []
+    set_text = QLabel.setText
+    def checked_set_text(label, text):
+        if label is dialog.message:
+            updates.append(threading.get_ident())
+        set_text(label, text)
+    monkeypatch.setattr(QLabel, "setText", checked_set_text)
+    next(root.glob("sites/*/*/capture/raw_0001.mp4")).write_bytes(b"changed")
+    dialog.save_button.click()
+    assert not dialog.save_button.isEnabled() and not dialog.apply_button.isEnabled()
+    wait_review(dialog)
+    assert "recorded inputs changed" in dialog.message.text()
+    assert dialog.save_button.isEnabled() and dialog.apply_button.isEnabled()
+    assert len(updates) >= 2 and set(updates) == {main_thread}
+    assert not (root / "derived").exists()
+    dialog.close()
+
+
 def _write(path: Path, header, rows) -> None:
     path.parent.mkdir(parents=True, exist_ok=True)
     with path.open("w", newline="", encoding="utf-8") as handle: