修正朝上判断、接触高度与过期姿态目标

朝上判断误用平台轴、接触高度报旋转前数值、多点对准复用缓存姿态，且多点会话被复核入口拒绝；
现按修正计划改正并接通 autocal-multipoint-1.0 只读复核，缺失帧源如实报告而不补零。

离线验证：新回归在 dc5a6f8 上失败、此处通过，panel_check 通过，两截图点接触高度复现
19.0510 / 21.5781 mm；实机项未做，详见 .scratch/autocal-motion-fix/verification.md。

apps/autocal/tests/test_finger_panel.py

@@ -1168,7 +1168,11 @@ def test_the_sensor_z_offset_reaches_the_solve(panel):
     panel.set_sensor_setup((0.0, 0.0, 4.0), 0.0)
     thick = panel.stack.solve(point, normal)
 
-    assert thick.contact_z_mm - thin.contact_z_mm == pytest.approx(4.0)
+    # The mounting height rises by the four millimetres the setup asks for; the
+    # height the stages *present* rises by 4*cos(tilt) of that, because the offset
+    # is applied before the rotation.
+    assert thick.mounted_point_mm[2] - thin.mounted_point_mm[2] == pytest.approx(4.0)
+    assert 0.0 < thick.contact_z_mm - thin.contact_z_mm < 4.0
     assert thick.target_xy_mm == pytest.approx(thin.target_xy_mm)
     # Picking through the panel uses the same fields, so the two must agree.
     panel.clear_points()
@@ -1179,7 +1183,8 @@ def test_the_sensor_z_offset_reaches_the_solve(panel):
     thick_row = panel.handle_pick(x, y)
     assert thin_row is not None and thick_row is not None
     assert thick_row["residual"] == pytest.approx(thin_row["residual"], abs=1e-6)
-    assert thick_row["Z"] - thin_row["Z"] == pytest.approx(4.0)
+    assert thin_row["Z"] == pytest.approx(thin.contact_z_mm)
+    assert thick_row["Z"] == pytest.approx(thick.contact_z_mm)
     assert thick_row["X"] == pytest.approx(thin_row["X"])
     assert thick_row["Y"] == pytest.approx(thin_row["Y"])
 
@@ -1202,7 +1207,12 @@ def test_the_mounting_pose_moves_the_point_the_way_the_setup_says(panel):
 
     assert moved.target_xy_mm[0] - base.target_xy_mm[0] == pytest.approx(2.0)
     assert moved.target_xy_mm[1] - base.target_xy_mm[1] == pytest.approx(-3.0)
-    assert moved.contact_z_mm == pytest.approx(base.contact_z_mm)
+    # An in-plane offset leaves the mounting height alone but not the height the
+    # stages present: the same angles lift a contact that sits further from the
+    # trunnion axis. (This line used to compare contact_z_mm on both sides, which
+    # only held while that field was reported before the rotation.)
+    assert moved.mounted_point_mm[2] == pytest.approx(base.mounted_point_mm[2])
+    assert moved.contact_z_mm != pytest.approx(base.contact_z_mm)
 
     # A yaw about the table's z turns the contact about the origin, so it moves the
     # point and leaves its height alone.
@@ -1247,6 +1257,58 @@ def test_the_readouts_name_the_frame_mapping(panel):
     assert "-y" in text or "−y" in text
 
 
+def test_the_readout_names_the_chosen_pose_and_the_key_that_chose_it(panel):
+    """The plan's rule: a branch is picked for a reason, and the bench sees which.
+
+    Both closed-form poses align a measured point; they differ by a half turn of
+    the body about the vertical. Whichever one the machine wants is a bench
+    convention, so the screen has to say which was taken and what decided it.
+    """
+    from orisys_app_shared.i18n import t
+
+    x, y = _first_surface_pixel(panel.view.flat)
+    panel.handle_pick(x, y)
+
+    pose = panel._last_pose  # noqa: SLF001
+    text = panel._readout_labels["branch"].text()  # noqa: SLF001
+    assert pose.branch_reason in {"only", "alignment", "in_range", "upright", "smallest"}
+    assert t(f"finger.branch_{pose.branch_reason}") in text
+    # And the alternative's cost is on screen too, not just the chosen one's.
+    assert f"{pose.other_travel_deg:.1f}" in text
+
+
+def test_the_press_readout_says_why_it_is_held_and_then_names_the_target(panel):
+    """A geometric contact height is not a controller coordinate until it is measured."""
+    from orisys_app_shared.i18n import t
+    from orisys_autocal.motion.pose_move import PressAxis
+
+    x, y = _first_surface_pixel(panel.view.flat)
+    panel.handle_pick(x, y)
+    pose = panel._last_pose  # noqa: SLF001
+    # The row records where the point *is*; the move records where the table goes.
+    height = pose.contact_z_mm
+
+    # Shipped state: no zero measured, so the press role is held — and the readout
+    # says so rather than showing a number the machine was never told about.
+    assert panel._readout_labels["press"].text() == t("finger.press_unset")  # noqa: SLF001
+    targets, held = panel.solved_pose()
+    assert held == ("z",)
+    assert "z" not in targets
+    assert targets["x"] == pytest.approx(pose.table_xy_mm[0])
+
+    # With the bench's zero entered, the same contact height becomes a coordinate.
+    panel.set_press(PressAxis(zero_mm=2.0, rising=True, calibrated=True))
+    targets, held = panel.solved_pose()
+    assert held == ()
+    assert targets["z"] == pytest.approx(height + 2.0)
+    text = panel._readout_labels["press"].text()  # noqa: SLF001
+    assert f"{height + 2.0:+.4f}" in text
+    # A downward-reading press axis flips the relation, and the readout follows.
+    panel.set_press(PressAxis(zero_mm=2.0, rising=False, calibrated=True))
+    targets, _held = panel.solved_pose()
+    assert targets["z"] == pytest.approx(2.0 - height)
+
+
 def test_the_preview_refuses_to_draw_without_a_context(qt_app):
     from orisys_autocal.ui.pose_preview import PosePreview
 
@@ -1613,3 +1675,18 @@ def test_the_surface_keeps_its_residual_colours_while_the_machine_moves(qt_app,
         assert np.allclose(moved[index], residual_colour(preview._residuals[index]))  # noqa: SLF001
     finally:
         preview.deleteLater()
+def test_reapplying_the_current_theme_does_not_repolish_all_windows(make_window, qt_app, monkeypatch):
+    window = make_window()
+    calls = []
+    apply_style = qt_app.setStyleSheet
+
+    def record_style(style):
+        calls.append(style)
+        apply_style(style)
+
+    monkeypatch.setattr(qt_app, "setStyleSheet", record_style)
+    window._apply_theme()
+    assert calls == []
+    window._theme = "dark" if window._theme == "light" else "light"
+    window._apply_theme()
+    assert len(calls) == 1