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/tools/panel_check.py

@@ -100,8 +100,26 @@ def main() -> int:
         )
 
     # ---- locale completeness ---------------------------------------------
+    from orisys_autocal import preferences as prefs_mod
     from orisys_autocal.preferences import load_preferences
 
+    # Redirect the preference store into the app's own (gitignored) outputs before
+    # any window exists. This check opens and closes real windows, and closing one
+    # writes the whole in-memory document back: a check that dials in a press-axis
+    # zero would otherwise leave that fabricated measurement on the operator's
+    # machine, and every later run would start from it.
+    from orisys_app_shared import paths as paths_mod
+    from orisys_app_shared import prefs as prefs_pkg
+
+    scratch = APP_ROOT / "outputs" / "panel_check"
+    scratch.mkdir(parents=True, exist_ok=True)
+    scratch_prefs = scratch / "preference.json"
+    if scratch_prefs.exists():
+        scratch_prefs.unlink()
+    paths_mod.preference_path = lambda: scratch_prefs
+    prefs_pkg.store.preference_path = lambda: scratch_prefs
+    prefs_mod.preference_path = lambda: scratch_prefs
+
     prefs = load_preferences()
     for language in ("zh_CN", "en_US"):
         set_locale(language)
@@ -162,9 +180,12 @@ def main() -> int:
             print(f"  {width}x{height}: the device setup fits")
 
         # ---- the permanent shell ----------------------------------------
+        # The workspace is five pages: three run screens, the sensor page and the
+        # calibration-record review. (Multi-point replaced the old surface/points
+        # pair, so this list is the one workspace.TABS declares.)
         checker.that(
             window.workspace.page_keys()
-            == ["axes", "sequence", "finger", "sensor", "surface", "points"],
+            == ["axes", "sequence", "finger", "sensor", "records"],
             f"unexpected tab set: {window.workspace.page_keys()}",
         )
         checker.that(
@@ -295,16 +316,25 @@ def main() -> int:
             window.axis_readout.return_button.parent() is window.axis_readout,
             "the return button is not in the always-visible rail",
         )
-        # The mapping page is the third tab of the device setup, and the service
-        # already holds the mapping it shows.
+        # The mapping page is the third tab of the device setup, the press-axis
+        # relation the fourth, and the service already holds the mapping shown.
         checker.that(
-            window.device_setup.tabs.count() == 3,
-            f"the device setup has {window.device_setup.tabs.count()} tabs, expected 3",
+            window.device_setup.tabs.count() == 4,
+            f"the device setup has {window.device_setup.tabs.count()} tabs, expected 4",
         )
         checker.that(
             window.device_setup.tabs.tabText(2) == t("setup.tab_axes"),
             f"the third setup tab is {window.device_setup.tabs.tabText(2)!r}",
         )
+        checker.that(
+            window.device_setup.tabs.tabText(3) == t("setup.tab_press"),
+            f"the fourth setup tab is {window.device_setup.tabs.tabText(3)!r}",
+        )
+        checker.that(
+            window.device_setup.press_page.press()["calibrated"] is False,
+            f"the press page starts calibrated: "
+            f"{window.device_setup.press_page.press()}",
+        )
         # With no controller, a move must be refused with a reason and the execute
         # button must say so rather than appearing to work.
         disconnected = window.poller.service.check_axes_move({"x": 1.0})
@@ -537,6 +567,24 @@ def main() -> int:
                 "the finger screen solved no pose from its point list",
             )
             if solve is not None:
+                # The shipped machine has no measured press-axis zero, so the press
+                # role must come back held: a geometric contact height is not a
+                # controller coordinate until somebody has measured the relation.
+                held_targets, held_roles = solve
+                checker.that(
+                    "z" not in held_targets and held_roles == ("z",),
+                    f"an uncalibrated press axis was commanded anyway: "
+                    f"{sorted(held_targets)} held={held_roles}",
+                )
+                print("  press: an uncalibrated press axis is held, not commanded")
+                # Entering the bench's zero — a dialled-in number, as the operator
+                # would — turns the same height into a coordinate and the move into
+                # five axes.
+                page = window.device_setup.press_page
+                page.zero_spin.setValue(2.0)
+                page.calibrated_check.setChecked(True)
+                app.processEvents()
+                solve = finger.solved_pose()
                 targets, held = solve
                 checker.that(
                     "z" in targets and not held,
@@ -668,7 +716,7 @@ def main() -> int:
 
         try:
             window.poller.shutdown()
-        except Exception:  # noqa: BLE001 - a shutdown must not mask the result
+        except Exception:  # noqa: BLE001,S110 - a shutdown must not mask the result
             pass
         window.close()
         app.processEvents()