fix(autocal): 校验运动单位并等待命令成功后判断到位

阻止单位不一致的姿态命令，避免提前到达的位置快照误报成功或推进下一轴。
相关检查 164 项通过，2064 组目标及 8256 条运动调用与原基线完全一致。

apps/autocal/tests/test_motion_unit_guards.py

@@ -5,7 +5,15 @@ import math
 
 import pytest
 
-from orisys_autocal.motion.models import AxisParams, BusStatus, ConnectionSpec
+from orisys_autocal.motion.models import (
+    AxisParams,
+    AxisState,
+    AxisStatusBits,
+    BusStatus,
+    ConnectionSpec,
+    MotionResult,
+    Snapshot,
+)
 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
@@ -185,3 +193,86 @@ def test_raw_debug_moves_keep_the_existing_user_unit_contract():
     transport.set_units(2, 5.0)
     assert instance.move_abs(2, 90.0).ok
     assert transport.moves == [(2, 90.0)]
+
+
+@pytest.mark.parametrize("together", [False, True])
+@pytest.mark.parametrize("failure", ["refused", "exception"])
+def test_arrival_before_command_failure_never_reports_success(qt_app, together, failure):
+    instance, transport = service()
+    actions = []
+    mover = PoseMover(instance, lambda action: actions.append(action) or len(actions))
+    finished = []
+    mover.finished.connect(finished.append)
+    assert mover.start(plan_pose_move(instance, {"x": 0.0}, together=together)).ok
+    mover.on_snapshot(Snapshot(axes=(instance._last_axes[0],)))
+    assert not finished and mover.running
+
+    if failure == "refused":
+        transport.set_units(0, 5.0)
+        result = actions[0](instance)
+        assert not result.ok and "UNITS" in result.message
+        mover.on_command_finished(1, result)
+    else:
+        mover.on_command_failed(1, "read failed")
+    assert mover.state.failure and not mover.state.finished
+    assert not finished and not mover.running
+    assert transport.moves == []
+
+
+@pytest.mark.parametrize("together", [False, True])
+def test_only_matching_success_and_a_later_snapshot_allow_arrival(qt_app, together):
+    instance, _transport = service()
+    actions = []
+    mover = PoseMover(instance, lambda action: actions.append(action) or len(actions))
+    assert mover.start(plan_pose_move(instance, {"x": 0.0}, together=together)).ok
+    snapshot = Snapshot(axes=(instance._last_axes[0],))
+    mover.on_command_finished(99, MotionResult.success())
+    mover.on_snapshot(snapshot)
+    assert mover.running and not mover.state.finished
+    result = actions[0](instance)
+    assert result.ok
+    mover.on_command_finished(1, result)
+    assert mover.running, "a pre-acknowledgement snapshot was reused"
+    mover.on_snapshot(Snapshot(axes=(instance._last_axes[0],)))
+    assert mover.state.finished and not mover.running
+
+
+def test_each_sequential_axis_waits_for_its_own_command_success(qt_app):
+    instance, _transport = service()
+    actions = []
+    mover = PoseMover(instance, lambda action: actions.append(action) or len(actions))
+    assert mover.start(plan_pose_move(instance, {"x": 0.0, "y": 0.0})).ok
+    snapshot = Snapshot(axes=tuple(instance._last_axes[axis] for axis in (0, 1)))
+    mover.on_snapshot(snapshot)
+    assert len(actions) == 1 and mover.state.index == 0
+    result = actions[0](instance)
+    assert result.ok
+    mover.on_command_finished(1, result)
+    mover.on_snapshot(snapshot)
+    assert len(actions) == 2 and mover.state.index == 1
+    mover.on_command_finished(1, MotionResult.success())
+    mover.on_snapshot(snapshot)
+    assert mover.running and not mover.state.finished
+    result = actions[1](instance)
+    assert result.ok
+    mover.on_command_finished(2, result)
+    mover.on_snapshot(snapshot)
+    assert mover.state.finished
+
+
+@pytest.mark.parametrize("together", [False, True])
+@pytest.mark.parametrize("fault", ["alarm", "read"])
+def test_axis_faults_remain_visible_while_command_is_pending(qt_app, together, fault):
+    instance, _transport = service()
+    mover = PoseMover(instance, lambda _action: 1)
+    targets = {"x": 0.0, "y": 0.0} if together else {"y": 0.0}
+    assert mover.start(plan_pose_move(instance, targets, together=together)).ok
+    bad_axis = AxisState(
+        axis=1,
+        units=10.0,
+        status=AxisStatusBits(raw=512 if fault == "alarm" else 0),
+        read_ok=fault != "read",
+    )
+    mover.on_snapshot(Snapshot(axes=(AxisState(axis=0, units=10.0), bad_axis)))
+    assert not mover.running and not mover.state.finished
+    assert ("alarm" if fault == "alarm" else "read failed") in mover.state.failure