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。
2026-10-18 20:24:45 +08:00
parent 9352d0c816
commit cf3e638176
8 changed files with 259 additions and 56 deletions
@@ -34,6 +34,8 @@ def _connected(make_window, *, confirm: bool = False):
    service = window.poller.service
    service._spec = object()  # noqa: SLF001 - connected, without opening anything
    service._bus = BusStatus(bus_type="ecat", init_status=1, total_axes=5)  # noqa: SLF001
+    # A ready physical-unit move also has a successful unit readback.
+    service._last_axes = {axis: service._read_axis(axis) for axis in range(5)}
    return window