Merge branch 'main' of ssh://892887cvmk08.aicp.io:24928/orisys-tech/orisys-app

apps/autocal/config/locales/en_US.json

@@ -48,14 +48,14 @@
   },
   "move": {
     "execute": "Execute",
-    "execute_hint": "Send the selected point's solved pose to the platform: yaw, pitch and table X/Y move together. The press axis Z is not moved.",
+    "execute_hint": "Send the selected point's solved pose to the platform: yaw, pitch, table X/Y and press axis Z move together.",
     "stop": "Stop",
     "stop_hint": "Stop every axis now (the same command as 全部停止 in the strip).",
     "return_initial": "Return to zero",
-    "return_hint": "Every axis back to the initial state, press axis Z first.",
+    "return_hint": "Yaw, pitch, table X/Y and press axis Z return to zero together.",
     "confirm_title": "Confirm motion",
     "confirm_execute": "Will move these axes together:\n\n{steps}\n\nCheck this against the machine before continuing.",
-    "confirm_return": "Will move every axis back to zero (press axis Z first):\n\n{steps}",
+    "confirm_return": "Will move these axes back to zero together:\n\n{steps}",
     "hold_note": "Not moved: {roles} (the press axis is P7's business — contact detection and press depth)",
     "cancelled": "Cancelled; nothing was commanded",
     "confirm_check": "Confirm before moving",

apps/autocal/config/locales/zh_CN.json

@@ -48,14 +48,14 @@
   },
   "move": {
     "execute": "执行动作",
-    "execute_hint": "把选中点解算出的位姿送到平台：回转、俯仰、工作台 X/Y 同时移动。压轴 Z 不动作。",
+    "execute_hint": "把选中点解算出的位姿送到平台：回转、俯仰、工作台 X/Y、压轴 Z 同时移动。",
     "stop": "停止",
     "stop_hint": "立即停止所有轴（与顶栏「全部停止」相同）。",
     "return_initial": "回初始位",
-    "return_hint": "五个轴全部回到零点，先退压轴 Z。",
+    "return_hint": "回转、俯仰、工作台 X/Y、压轴 Z 一起回到零点。",
     "confirm_title": "确认运动",
     "confirm_execute": "将同时移动：\n\n{steps}\n\n请确认仿真与机床一致。",
-    "confirm_return": "将把五个轴全部移回零点（先退压轴 Z）：\n\n{steps}",
+    "confirm_return": "将同时移回零点：\n\n{steps}\n\n请确认机床上没有干涉。",
     "hold_note": "不动作：{roles}（压轴由 P7 的接触检测与压深另外管）",
     "cancelled": "已取消，未发出任何运动",
     "confirm_check": "移动前确认",

apps/autocal/src/orisys_autocal/motion/pose_move.py

@@ -10,10 +10,10 @@ matters:
   :class:`~orisys_autocal.motion.poller.MotionPoller` is built, and it is why a stop
   is possible at all: a mover that sat in a loop inside one command could not be
   interrupted, because the stop would have to wait for the loop it is meant to abort.
-* **This module** owns the waiting. An execute plan starts yaw, pitch and table X/Y
+* **This module** owns the waiting. Execute and return-to-zero both start yaw, pitch,
-  in one command so they move together; a return plan still retracts one axis at a
+  table X/Y and the press axis in one command so the five axes move together. The
-  time. It watches the snapshots the poller already produces and gives up on its
+  mover watches the snapshots the poller already produces and gives up on its own
-  own if an axis stops short of its target.
+  if an axis stops short of its target.
 
 That shape is the whole reason for the class: ``stop`` is submitted as an ordinary
 command, so it runs at the next tick and stops the axis that is moving *now*.
@@ -51,11 +51,8 @@ STALL_GRACE_S = 2.0
 #: The order a role move is issued in, for the reason in the module docstring.
 MOVE_ORDER: tuple[str, ...] = ("yaw", "pitch", "x", "y", "z")
 
-#: The order "return to the initial state" retracts in: the press axis first, so the
+#: Axes a pose execute and a return-to-zero command together, including the press axis.
-#: tool is clear of the sensor before anything rotates, then the stages, then the
+ALIGN_ORDER: tuple[str, ...] = ("yaw", "pitch", "x", "y", "z")
-#: table. Returning in one coordinated swoop would move five axes through poses
-#: nobody has simulated.
-RETURN_ORDER: tuple[str, ...] = ("z", "pitch", "yaw", "x", "y")
 
 
 @dataclass(frozen=True)
@@ -82,7 +79,6 @@ class MovePlan:
     #: information the operator needs, not an omission.
     held: tuple[str, ...] = ()
     #: When set, every step is commanded in one call and they travel together.
-    #: Return-to-zero leaves this off so the press axis clears before anything turns.
     together: bool = False
 
     def describe(self) -> str:
@@ -153,11 +149,12 @@ def plan_pose_move(
 
 
 def plan_return_to_initial(service: MotionService) -> MovePlan:
-    """Every axis to zero, press axis first, in :data:`RETURN_ORDER`."""
+    """Yaw, pitch, table X/Y and the press axis back to zero together."""
     return plan_pose_move(
         service,
-        {role: 0.0 for role in RETURN_ORDER},
+        {role: 0.0 for role in ALIGN_ORDER},
-        order=RETURN_ORDER,
+        order=ALIGN_ORDER,
+        together=True,
     )
 
 
@@ -242,7 +239,7 @@ class PoseMover(QObject):
         self.stepStarted.emit(step)
 
     def _issue_together(self, plan: MovePlan) -> None:
-        """Command every step in one worker call. Z is absent from the plan."""
+        """Command every step in one worker call."""
         moves: list[tuple[int, float]] = []
         for step in plan.steps:
             if not step.units == step.units:
@@ -317,7 +314,7 @@ class PoseMover(QObject):
             )
 
     def _on_snapshot_together(self, snapshot: Snapshot) -> None:
-        """Finish when every commanded axis has arrived. Z is not in the plan."""
+        """Finish when every commanded axis has arrived."""
         plan = self.state.plan
         if plan is None:
             return

apps/autocal/src/orisys_autocal/ui/sensor_panel.py

@@ -750,13 +750,8 @@ class FingerPanel(QGroupBox):
 
         The two numbers that matter are the *table's* move and the stage angles: the
         table translation is what the stages are resolved against, and it is what the
-        preview drew as the cyan path's end.
+        preview drew as the cyan path's end. Z is the contact height, commanded with
-
+        the other four axes in the same move.
-        z is returned as *held*: executing a simulated pose moves the stages and the
-        table, it does not press. Pressing is P7 and has its own guards — contact
-        detection, press depth, the sensor's second opinion — none of which exist
-        here, so a move that reached the contact height would be a press with none of
-        them.
         """
         pose = self._last_pose
         if pose is None:
@@ -767,8 +762,9 @@ class FingerPanel(QGroupBox):
             "y": float(table_y),
             "yaw": float(pose.yaw_deg),
             "pitch": float(pose.pitch_deg),
+            "z": float(pose.contact_z_mm),
         }
-        return targets, ("z",)
+        return targets, ()
 
     def _sync_sim_button(self) -> None:
         self.sim_button.setText(

apps/autocal/src/orisys_autocal/ui/window.py

@@ -1045,10 +1045,9 @@ class AutoCalMainWindow(QMainWindow):
     def _on_execute_pose(self) -> None:
         """Move the platform to the solved pose of the finger screen's selection.
 
-        Yaw, pitch and table X/Y start together. The press axis is deliberately
+        Yaw, pitch, table X/Y and the press axis start together. The Z target is
-        not commanded, so this is workflow P6's dry run for one point — it cannot
+        the solved contact height. The numbers in the confirmation are the ones
-        reach the sensor. The numbers shown in the confirmation are the ones the
+        the preview drew.
-        preview drew, so the operator checks the simulation against the machine.
         """
         solve = self.finger_panel.solved_pose()
         if solve is None:
@@ -1065,7 +1064,7 @@ class AutoCalMainWindow(QMainWindow):
         self._start_move(plan, t("move.execute"))
 
     def _on_return_to_initial(self) -> None:
-        """Every drive back to zero, press axis first."""
+        """Yaw, pitch, table X/Y and the press axis back to zero together."""
         plan = plan_return_to_initial(self.poller.service)
         self._start_move(plan, t("move.return_initial"))
 

apps/autocal/tests/test_move_buttons.py

@@ -202,8 +202,14 @@ def test_accepting_the_prompt_starts_the_move(make_window, monkeypatch):
         )
         window._on_return_to_initial()  # noqa: SLF001
         assert window.mover.running, "accepting the prompt did not start the move"
-        assert [step.role for step in window.mover.state.plan.steps][0] == "z"
+        assert [step.role for step in window.mover.state.plan.steps] == [
-        # The status line carries the plan, so the operator sees what is moving.
+            "yaw",
+            "pitch",
+            "x",
+            "y",
+            "z",
+        ]
+        assert window.mover.state.plan.together
         assert "z" in window.finger_panel.move_label.text()
     finally:
         window.mover.cancel("test")

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.together
-    assert plan.steps[0].role == "z"
+    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():

apps/autocal/tools/panel_check.py

@@ -539,13 +539,16 @@ def main() -> int:
             if solve is not None:
                 targets, held = solve
                 checker.that(
-                    "z" in held and "z" not in targets,
+                    "z" in targets and not held,
-                    f"execute does not hold the press axis back: "
+                    f"execute does not command the press axis: "
                     f"{sorted(targets)} held={held}",
                 )
-                plan = plan_pose_move(window.poller.service, targets, hold=held)
+                plan = plan_pose_move(
+                    window.poller.service, targets, hold=held, together=True
+                )
                 checker.that(
-                    [step.role for step in plan.steps] == ["yaw", "pitch", "x", "y"],
+                    [step.role for step in plan.steps]
+                    == ["yaw", "pitch", "x", "y", "z"],
                     f"the move order is {[step.role for step in plan.steps]}",
                 )
                 checker.that(
@@ -581,11 +584,11 @@ def main() -> int:
                     + " reached"
                 )
 
-                # Returning to the initial state, press axis first.
+                # All five axes back to zero together, including the press axis.
                 back = plan_return_to_initial(window.poller.service)
                 checker.that(
                     [step.role for step in back.steps]
-                    == ["z", "pitch", "yaw", "x", "y"],
+                    == ["yaw", "pitch", "x", "y", "z"],
                     f"the return order is {[step.role for step in back.steps]}",
                 )
                 result = window.mover.start(back)