校验 Autocal 运动当量并拒绝失配计划

保留已确认配置下的轴号、目标数值和发送顺序，拒绝不匹配的单位或过期计划。136 项相关检查通过，8256 条运动调用与修改前一致；全套既有失败见运动单位契约。
2026-10-18 18:15:56 +08:00
parent 29bf672475
commit b4c5d65730
2 changed files with 223 additions and 0 deletions
@@ -0,0 +1,187 @@
+"""Keep commissioned command numbers; reject unverified physical-unit moves."""
+
+from dataclasses import replace
+import math
+
+import pytest
+
+from orisys_autocal.motion.models import AxisParams, BusStatus, ConnectionSpec
+from orisys_autocal.motion.pose_move import PoseMover, plan_pose_move
+from orisys_autocal.motion.service import MotionService
+from orisys_autocal.motion.transport import DemoTransport
+from orisys_autocal.motion.units import deg_to_user_units, user_units_to_deg
+from orisys_app_shared.zmotion import ZAuxError
+
+
+class RecordingTransport(DemoTransport):
+    def __init__(self):
+        super().__init__()
+        self.moves = []
+
+    def move_abs(self, axis, value):
+        self.moves.append((axis, value))
+        return super().move_abs(axis, value)
+
+
+def service():
+    transport = RecordingTransport()
+    instance = MotionService(
+        transport,
+        language="en_US",
+        limits={"max_travel_mm": 100.0, "max_yaw_deg": 180.0, "max_pitch_deg": 90.0},
+    )
+    instance.connect(ConnectionSpec(mode="demo"))
+    instance.poll()
+    instance._bus = BusStatus(init_status=1, total_axes=5)
+    return instance, transport
+
+
+def mover_and_actions(instance, targets):
+    actions = []
+
+    def submit(action):
+        actions.append(action)
+        return len(actions)
+
+    mover = PoseMover(instance, submit)
+    plan = plan_pose_move(instance, targets, together=True)
+    assert mover.start(plan).ok
+    return mover, actions
+
+
+def test_commissioned_command_numbers_and_order_remain_exact(qt_app):
+    instance, transport = service()
+    mover, actions = mover_and_actions(
+        instance, {"x": -10.0, "y": 2.0, "yaw": 90.0, "pitch": -45.0, "z": 3.0}
+    )
+    assert actions[0](instance).ok
+    assert transport.moves == [
+        (2, 12500.0),
+        (3, -14750.0),
+        (0, -5000.0),
+        (1, 1000.0),
+        (4, 1500.0),
+    ]
+
+
+def test_readback_mismatch_refuses_instead_of_changing_the_command():
+    instance, transport = service()
+    transport.set_units(0, 5.0)
+    instance.poll([0])
+    instance._bus = BusStatus(init_status=1, total_axes=5)
+    refusal = instance.check_axes_move({"x": 2.0})
+    assert refusal is not None and "UNITS" in refusal.message
+    assert math.isnan(instance.to_mm(0, 1000.0))
+    assert transport.moves == []
+
+
+def test_explicit_matching_linear_units_are_supported_without_rescaling_other_axes():
+    instance, transport = service()
+    assert instance.set_axis_params(0, AxisParams(units=5.0)).ok
+    instance.poll([0])
+    instance._bus = BusStatus(init_status=1, total_axes=5)
+    assert instance.check_axes_move({"x": 2.0}) is None
+    assert instance.to_units("x", 2.0) == 2000.0
+    assert instance.to_mm(0, 1000.0) == 1.0
+    assert instance.to_units("yaw", 90.0) == 12500.0
+
+
+@pytest.mark.parametrize("units", [0.0, -1.0, math.nan, math.inf])
+def test_invalid_unit_readback_is_not_a_physical_measurement(units):
+    instance, transport = service()
+    transport.set_units(0, units)
+    instance.poll([0])
+    instance._bus = BusStatus(init_status=1, total_axes=5)
+    assert instance.check_axes_move({"x": 2.0}) is not None
+    assert math.isnan(instance.to_mm(0, 1000.0))
+
+
+def test_missing_or_failed_readback_cannot_reuse_the_last_good_scale():
+    instance, transport = service()
+    instance._last_axes.clear()
+    assert instance.check_axes_move({"x": 2.0}) is not None
+    instance.poll([0])
+    instance._last_axes[0] = replace(instance._last_axes[0], read_ok=False)
+    assert instance.check_axes_move({"x": 2.0}) is not None
+    assert math.isnan(instance.to_mm(0, 1000.0))
+
+
+@pytest.mark.parametrize("axis,role", [(2, "yaw"), (3, "pitch")])
+def test_changed_rotary_pulse_equivalent_requires_new_calibration(axis, role):
+    instance, transport = service()
+    assert instance.set_axis_params(axis, AxisParams(units=5.0)).ok
+    instance.poll([axis])
+    instance._bus = BusStatus(init_status=1, total_axes=5)
+    refusal = instance.check_axes_move({role: 45.0})
+    assert refusal is not None and "calibrat" in refusal.message
+    assert math.isnan(instance.to_units(role, 45.0))
+    assert math.isnan(instance.to_deg(axis, 1000.0))
+    assert math.isnan(user_units_to_deg(axis, 1000.0, units=5.0))
+    assert math.isnan(deg_to_user_units(axis, 45.0, units=5.0))
+
+
+def test_change_after_queueing_is_refused_before_any_axis_moves(qt_app):
+    instance, transport = service()
+    mover, actions = mover_and_actions(instance, {"x": 2.0, "yaw": 10.0})
+    # No poll between the external parameter change and worker execution.
+    transport.set_units(0, 5.0)
+    result = actions[0](instance)
+    assert not result.ok
+    mover.on_command_finished(1, result)
+    assert not mover.running and "UNITS" in mover.state.failure
+    assert transport.moves == []
+
+
+def test_unrelated_command_result_does_not_cancel_a_pose_move(qt_app):
+    from orisys_autocal.motion.models import MotionResult
+
+    instance, transport = service()
+    mover, actions = mover_and_actions(instance, {"x": 2.0})
+    mover.on_command_finished(99, MotionResult.refused("another command"))
+    assert mover.running
+    assert actions[0](instance).ok
+    mover.on_command_failed(1, "read failed")
+    assert not mover.running and mover.state.failure == "read failed"
+
+
+@pytest.mark.parametrize("change", ["parameters", "mapping"])
+def test_a_queued_plan_cannot_be_reinterpreted_under_new_settings(qt_app, change):
+    instance, transport = service()
+    mover, actions = mover_and_actions(instance, {"x": 2.0, "y": 1.0})
+    if change == "parameters":
+        instance.set_axis_params(0, AxisParams(units=5.0))
+    else:
+        instance.set_axis_roles({"x": 1, "y": 0, "yaw": 2, "pitch": 3, "z": 4})
+    assert not actions[0](instance).ok
+    assert transport.moves == []
+
+
+def test_a_stale_plan_is_refused_before_it_is_queued(qt_app):
+    instance, transport = service()
+    plan = plan_pose_move(instance, {"x": 2.0}, together=True)
+    instance.set_axis_params(0, AxisParams(units=5.0))
+    instance.poll([0])
+    instance._bus = BusStatus(init_status=1, total_axes=5)
+    actions = []
+    mover = PoseMover(instance, lambda action: actions.append(action))
+    assert not mover.start(plan).ok
+    assert actions == [] and transport.moves == []
+
+
+def test_unit_read_error_before_execution_refuses_the_entire_group(qt_app):
+    instance, transport = service()
+    mover, actions = mover_and_actions(instance, {"x": 2.0, "yaw": 10.0})
+
+    def unreadable(axis):
+        raise ZAuxError(30500, "unit read failed")
+
+    transport.get_units = unreadable
+    assert not actions[0](instance).ok
+    assert transport.moves == []
+
+
+def test_raw_debug_moves_keep_the_existing_user_unit_contract():
+    instance, transport = service()
+    transport.set_units(2, 5.0)
+    assert instance.move_abs(2, 90.0).ok
+    assert transport.moves == [(2, 90.0)]