added ruff test

apps/autocal/src/orisys_autocal/preferences.py

@@ -13,7 +13,12 @@ from typing import Any
 from orisys_app_shared import prefs as _prefs
 from orisys_app_shared.paths import preference_path
 
-from .motion.service import DEFAULT_BAS_TASK, PLATFORM_AXES, clamp_bas_task
+from .motion.service import (
+    DEFAULT_AXIS_ROLES,
+    DEFAULT_BAS_TASK,
+    PLATFORM_AXES,
+    clamp_bas_task,
+)
 from .motion.units import DEFAULT_ACCEL, DEFAULT_SPEED, DEFAULT_UNITS
 
 #: Connection modes, in the order the combo offers them.
@@ -81,6 +86,10 @@ def _default_safety_limits() -> dict[str, float]:
 
     ``0`` means "not set" for the ones where a real value is required, and the
     app reports that at the P0 gate rather than treating it as unlimited.
+
+    Lengths are millimetres and angles degrees, because the roles they bound are:
+    one number cannot bound both, and a degree target checked against a millimetre
+    limit is not a check.
     """
     return {
         "max_travel_mm": 100.0,
@@ -90,6 +99,11 @@ def _default_safety_limits() -> dict[str, float]:
         #: How far the axis may descend looking for contact before the run is
         #: aborted (workflow P7, no-contact abort).
         "contact_search_mm": 3.0,
+        #: Stage envelope, from the confirmed bench values: the yaw stage turns a
+        #: half-turn either way, the pitch stage a full turn. These are the limits a
+        #: pose move is checked against before any axis is commanded.
+        "max_yaw_deg": 180.0,
+        "max_pitch_deg": 360.0,
     }
 
 
@@ -104,9 +118,10 @@ def _default_sensor_setup() -> dict[str, Any]:
         "sensor_type": "box",
         "config_ref": "",
         "geometry_id": "",
-        #: Which axis presses, and the probe tip offset from the platform's
-        #: reference point. Empty offset means "not set", which blocks P5.
-        "press_axis": 2,
+        #: The probe tip's offset from the platform's reference point. Empty offset
+        #: means "not set", which blocks P5. Which axis presses is **not** here: it
+        #: is ``axis_roles["z"]``, because one fact written twice is one fact that
+        #: eventually disagrees.
         "probe_tip_offset_mm": [0.0, 0.0, 0.0],
         "probe_tip_set": False,
         #: 4x4 row-major sensor -> platform transform, plus how well it fitted.
@@ -173,6 +188,19 @@ def default_preferences() -> dict[str, Any]:
         # --- workflow blocks (see apps/autocal/docs/workflow.md) --------------
         #: P0: limits enforced from P2 onward.
         "safety_limits": _default_safety_limits(),
+        #: Which drive is which platform direction, from the bench wiring: drives
+        #: 0-4 are x, y, pitch, yaw, z. There is no way to read this off the bus —
+        #: five CiA-402 axes report numbers, not names — so it is configuration, and
+        #: the pose-move path refuses to run until it is complete and free of
+        #: duplicates. It is also the *only* place "which axis presses" is written:
+        #: the sensor setup used to carry a second copy, which is how the two would
+        #: have drifted apart.
+        "axis_roles": dict(DEFAULT_AXIS_ROLES),
+        #: Ask before a pose move. On by default — the first moves on a machine are
+        #: the ones worth reading — and turnable off once the numbers are trusted,
+        #: because a prompt that cannot be dismissed unread is one that gets clicked
+        #: through without being read.
+        "move_confirm": True,
         #: P3/P4: sensor under test, probe tip, sensor<->platform transform.
         "sensor_setup": _default_sensor_setup(),
         #: P5: grid generation and run parameters.
@@ -206,9 +234,26 @@ def default_preferences() -> dict[str, Any]:
     }
 
 
+#: Preference blocks whose *keys* are added to over time. Stored preferences are
+#: merged one level deep, so a block saved by an older build replaces the whole
+#: default block and any key added since reads as absent. For a P0 limit that is not
+#: a cosmetic problem: the move is refused with "the limit is not set" while the file
+#: in front of the operator says nothing about it. Filling the block key by key keeps
+#: what was chosen and supplies only what was never there.
+_MERGED_BLOCKS = ("connection", "safety_limits", "sensor_setup", "sequence_profile")
+
+
 def load_preferences() -> dict[str, Any]:
     """Stored preferences with AutoCal's defaults filling the gaps."""
-    prefs = _prefs.load_preferences(default_preferences())
+    defaults = default_preferences()
+    prefs = _prefs.load_preferences(defaults)
+    for name in _MERGED_BLOCKS:
+        stored = prefs.get(name)
+        if not isinstance(stored, dict):
+            continue
+        block = dict(defaults.get(name) or {})
+        block.update(stored)
+        prefs[name] = block
     # A stored document from an older build may miss a newly added axis block.
     axis_params = prefs.setdefault("axis_params", {})
     for axis, values in _default_axis_params().items():
@@ -252,6 +297,39 @@ def load_preferences() -> dict[str, Any]:
     prefs["finger_tool_xy_mm"] = tool
     # A hand-edited task number must not reach the controller as typed.
     prefs["bas_task"] = clamp_bas_task(prefs.get("bas_task"))
+    prefs = _migrate_axis_roles(prefs)
+    return prefs
+
+
+def _migrate_axis_roles(prefs: dict[str, Any]) -> dict[str, Any]:
+    """Complete the axis mapping, and take the old duplicate press axis out.
+
+    ``sensor_setup.press_axis`` named the pressing drive on its own. That is
+    ``axis_roles["z"]`` now — the same fact — and a stored value is moved there when
+    the mapping has not been set, so a bench that had it configured keeps working.
+    The old key is removed either way: leaving it would keep a second answer to
+    "which axis presses" in the file.
+    """
+    roles = prefs.get("axis_roles")
+    roles = dict(roles) if isinstance(roles, dict) else {}
+    sensor = prefs.get("sensor_setup")
+    if isinstance(sensor, dict):
+        legacy = sensor.pop("press_axis", None)
+        if legacy is not None and "z" not in roles:
+            try:
+                roles["z"] = int(legacy)
+            except (TypeError, ValueError):
+                pass
+    merged = dict(DEFAULT_AXIS_ROLES)
+    # A stored mapping wins where it is usable; the default fills what it does not
+    # cover, so an old document that only named the press axis still comes up with a
+    # complete mapping rather than a refusal.
+    for role, value in roles.items():
+        try:
+            merged[role] = int(value)
+        except (TypeError, ValueError):
+            continue
+    prefs["axis_roles"] = merged
     return prefs