added ruff test

2026-09-27 19:20:43 +08:00
parent bcab2790bf
commit fa2703968e
178 changed files with 3277 additions and 1034 deletions
@@ -25,7 +25,6 @@ from __future__ import annotations

 import argparse
 import math
-import math
 import os
 import sys
 from pathlib import Path
@@ -116,16 +115,13 @@ STRINGS = {
        "setup_open": "设备设置",
        "setup_title": "设备设置",
        "setup_hint": "连接与总线初始化每次开机只需确认一次，因此收进这里；顶栏状态条持续显示结果，设置窗口可以一直开着。",
-        "setup_tabs": ["连接", "总线初始化"],
+        "setup_tabs": ["连接", "总线初始化", "轴映射"],
        "setup_rows": [
-            ["连接方式", "以太网   ▾"],
-            ["IP", "192.168.0.11"],
-            ["状态", "已连接"],
-            ["BAS 文件", "…\\bas\\ECAT.bas"],
-            ["初始化状态", "初始化成功"],
-            ["总线类型", "EtherCAT"],
-            ["节点数量", "5"],
-            ["轴数量", "5"],
+            ["X（工作台）", "驱动器 0"],
+            ["Y（工作台）", "驱动器 1"],
+            ["Z（压轴）", "驱动器 4"],
+            ["yaw（回转）", "驱动器 3"],
+            ["pitch（俯仰）", "驱动器 2"],
        ],
        "setup_connect": "连接",
        "setup_disconnect": "断开连接",
@@ -208,6 +204,11 @@ STRINGS = {
        "finger_preview_title": "三维预览",
        "finger_preview_checks": ["显示运动轴", "显示转台原点平面", "显示刀具路径"],
        "finger_play": "播放动作",
+        "move_execute": "执行动作",
+        "move_stop": "停止",
+        "move_return": "回初始位",
+        "move_confirm": "移动前确认",
+        "move_status": "1/4 yaw → +36.8160 °（回初始位：先退压轴 Z）",
        "finger_preview_notes": [
            "颜色含义：绿→红 = 表面对齐残差；红/绿/蓝三色轴 = 工作台 X/Y/Z（位于原点）；橙点 = 工作台原点。",
            "黄色直线 = 刀具轴（+Z，位置即刀具 X/Y）；黄色方框 = 传感器安装基面（高度 = 传感器 Z，含安装板）。",
@@ -270,16 +271,13 @@ STRINGS = {
        "setup_open": "Device setup",
        "setup_title": "Device setup",
        "setup_hint": "Connecting and bringing the bus up are checked once per machine start-up, so they live here. The status strip keeps reporting the result.",
-        "setup_tabs": ["Connection", "Bus initialisation"],
+        "setup_tabs": ["Connection", "Bus initialisation", "Axis mapping"],
        "setup_rows": [
-            ["Connection", "Ethernet   ▾"],
-            ["IP", "192.168.0.11"],
-            ["State", "Connected"],
-            ["BAS file", "…\\bas\\ECAT.bas"],
-            ["Init state", "Initialised"],
-            ["Bus type", "EtherCAT"],
-            ["Nodes", "5"],
-            ["Axes", "5"],
+            ["X (table)", "Drive 0"],
+            ["Y (table)", "Drive 1"],
+            ["Z (press)", "Drive 4"],
+            ["yaw (rotation)", "Drive 3"],
+            ["pitch (tilt)", "Drive 2"],
        ],
        "setup_connect": "Connect",
        "setup_disconnect": "Disconnect",
@@ -362,6 +360,11 @@ STRINGS = {
        "finger_preview_title": "3D preview",
        "finger_preview_checks": ["Show motion axes", "Show table origin plane", "Show tool path"],
        "finger_play": "Play motion",
+        "move_execute": "Execute",
+        "move_stop": "Stop",
+        "move_return": "Return to zero",
+        "move_confirm": "Confirm before moving",
+        "move_status": "1/4 yaw → +36.8160°  (return to zero retracts Z first)",
        "finger_preview_notes": [
            "What the colours mean: green→red = the surface's alignment residual; the red/green/blue triad is the table's X/Y/Z at the origin; the orange dot is the origin.",
            "Yellow line = the tool axis (+Z, at the tool's own X/Y); the amber outline = the sensor base plane, at the sensor's Z offset (the plate).",
@@ -629,7 +632,10 @@ def draw_left_rail(painter: QPainter, palette: Palette, s: dict, rect: QRect) ->
        y += 24
    _button(painter, QRect(inner.x(), y + 4, inner.width(), 28), s["enable_all"], palette)
    _button(painter, QRect(inner.x(), y + 40, inner.width(), 28), s["stop_all"], palette, danger=True)
-    _button(painter, QRect(inner.x(), y + 76, inner.width(), 28), s["clear_alarms"], palette)
+    # Returning every drive to zero is a machine-level action: here, in the rail that
+    # is on screen in every tab, rather than repeated inside a tab.
+    _button(painter, QRect(inner.x(), y + 76, inner.width(), 28), s["move_return"], palette)
+    _button(painter, QRect(inner.x(), y + 112, inner.width(), 28), s["clear_alarms"], palette)

    group = QRect(rect.x(), rect.y() + 280, rect.width(), 32)
    _panel(painter, group.adjusted(0, 0, 0, -8), palette)
@@ -655,10 +661,11 @@ def draw_setup_dialog(painter: QPainter, palette: Palette, s: dict, rect: QRect)
    )

    tabs = QRect(inner.x(), inner.y() + 38, inner.width(), inner.height() - 74)
-    tab_w = 130
+    tab_w = 120
    for index, label in enumerate(s["setup_tabs"]):
        tab = QRect(tabs.x() + index * tab_w, tabs.y(), tab_w, 26)
-        active = index == 0
+        # The axis mapping is the newest page, and the one worth reviewing.
+        active = label == s["setup_tabs"][-1]
        painter.fillRect(tab, palette.window if active else palette.panel)
        painter.setPen(QPen(palette.border, 1))
        painter.drawRect(tab.adjusted(0, 0, -1, -1))
@@ -667,16 +674,14 @@ def draw_setup_dialog(painter: QPainter, palette: Palette, s: dict, rect: QRect)
            painter.drawLine(tab.bottomLeft(), tab.bottomRight())
        _text(painter, tab, label, palette, size=10, bold=active, align=Qt.AlignmentFlag.AlignCenter)

-    # The rows are both tabs' contents stacked, in order: the connection fields and
-    # the bus readouts, which is what the two tabs hold between them.
+    # The mapping page: one row per platform direction, each showing the drive that
+    # moves it. The values are the bench's own wiring.
    body = _panel(painter, tabs.adjusted(0, 26, 0, 0), palette)
    y = body.y() + 6
    for label, value in s["setup_rows"]:
-        _text(painter, QRect(body.x(), y, 96, 22), label, palette, size=10, muted=True)
-        _text(painter, QRect(body.x() + 104, y, body.width() - 104, 22), value, palette, size=10)
-        y += 24
-    _button(painter, QRect(body.x(), y + 6, 110, 26), s["setup_connect"], palette, primary=True)
-    _button(painter, QRect(body.x() + 118, y + 6, 118, 26), s["setup_disconnect"], palette)
+        _text(painter, QRect(body.x(), y, 150, 22), label, palette, size=10, muted=True)
+        _text(painter, QRect(body.x() + 156, y, body.width() - 156, 22), value, palette, size=10)
+        y += 26
    _button(painter, QRect(dialog.right() - 110, dialog.bottom() - 34, 96, 26), s["setup_close"], palette)


@@ -1237,9 +1242,25 @@ def draw_finger_tab(painter: QPainter, palette: Palette, s: dict, rect: QRect) -
        painter.drawLine(box.x() + 5, box.y() + 13, box.x() + 10, box.y() + 5)
        _text(painter, QRect(box.x() + 15, box.y(), check_w - 15, checks_h), label, palette, size=9, muted=True)

-    play = QRect(inner_preview.x(), view.bottom() + checks_h + 2, 110, play_h - 4)
+    row_y = view.bottom() + checks_h + 2
+    play = QRect(inner_preview.x(), row_y, 110, play_h - 4)
    _button(painter, play, s["finger_play"], palette, primary=True)
-    notes_y = play.bottom() + 4
+    # The pose move: execute the selected point's solved pose, stop, and the policy
+    # that decides whether either asks first.
+    execute = QRect(play.right() + 8, row_y, 100, play_h - 4)
+    _button(painter, execute, s["move_execute"], palette)
+    stop = QRect(execute.right() + 8, row_y, 84, play_h - 4)
+    _button(painter, stop, s["move_stop"], palette, danger=True)
+    confirm = QRect(stop.right() + 10, row_y, inner_preview.width() - stop.right() - 10, play_h - 4)
+    _text(painter, confirm, "☑ " + s["move_confirm"], palette, size=9, muted=True)
+    _text(
+        painter,
+        QRect(inner_preview.x(), row_y + play_h, inner_preview.width(), 16),
+        s["move_status"],
+        palette,
+        size=9,
+    )
+    notes_y = row_y + play_h + 18
    for text in s["finger_preview_notes"]:
        _text(painter, QRect(inner_preview.x(), notes_y, inner_preview.width(), 14), text, palette, size=8, muted=True)
        notes_y += 14