autocal: 序列页阵列预览工具、2D 图点可见度，标签顺序与送到标定页

- 标签顺序：几何与安装 放到 测试序列 之前
- 序列点增加可选 uv_px（向后兼容），点表新增 U/V 列；加入所选点、删除所选、
  送到标定页（按 U/V 经同一套求解加入标定队列并切换页面）
- 已选点结果改显示在选点区状态行，不再写入全局顶部状态条
- 序列页左上区改紧凑：名称与备注同一行，分“阵列”“运动参数”两页；
  运动参数每行三组，输入框改用 compactField
- 新增阵列工具（array_plan.py、ui/array_tool.py）：UV 规则网格（可蛇形遍历）与
  阶段预设，逐点检查是否在曲面内、是否留有边距，候选点实时预览在 2D 图上，
  只有可用点才能加入，已在序列里的点不重复加入
- 2D 平面图：标记改为缩放后再绘制并加深色描边，修复缩小后点不清；
  底图可选 原图/灰度/变暗/仅轮廓，点色可选 黄/白/青/橙/灰（默认灰度+黄，写入偏好）；
  序列点带编号并连线显示遍历顺序，选中行高亮
- 新增测试 test_sequence_uv、test_sequence_to_capture、test_array_plan、test_array_tool

apps/autocal/tests/test_array_plan.py

@@ -0,0 +1,88 @@
+"""Candidate arrays on the flat map: the grid, the presets and the on-surface check."""
+
+from __future__ import annotations
+
+from types import SimpleNamespace
+
+import numpy as np
+import pytest
+from orisys_autocal import array_plan
+from orisys_autocal.array_plan import (
+    NEAR_EDGE,
+    OFF_SURFACE,
+    PRESETS,
+    check_candidates,
+    grid_uv,
+    preset_uv,
+)
+
+
+def _flat(width: int = 200, height: int = 200, hole: tuple[int, int, int, int] | None = None):
+    """A fully covered raster, optionally with a rectangular hole (x0, y0, x1, y1)."""
+    covered = np.ones((height, width), dtype=np.int32)
+    if hole:
+        x0, y0, x1, y1 = hole
+        covered[y0:y1, x0:x1] = -1
+    return SimpleNamespace(face_index=covered, width=width, height=height)
+
+
+def test_a_grid_is_centred_and_bottom_row_first():
+    points = grid_uv(2, 3, 10, 20, centre=(0, 100), serpentine=False)
+    assert points == [(-10, 90), (0, 90), (10, 90), (-10, 110), (0, 110), (10, 110)]
+
+
+def test_a_serpentine_walks_every_second_row_backwards():
+    points = grid_uv(2, 3, 10, 20, centre=(0, 100), serpentine=True)
+    assert points[3:] == [(10, 110), (0, 110), (-10, 110)]
+
+
+def test_an_empty_or_oversized_grid():
+    assert grid_uv(0, 3, 10, 10) == []
+    with pytest.raises(ValueError, match="more than"):
+        grid_uv(30, 30, 1, 1)
+
+
+def test_presets_overlap_only_at_the_hardware_check_point():
+    labels = [label for key in PRESETS for label, _u, _v in PRESETS[key]]
+    assert sorted(label for label in set(labels) if labels.count(label) > 1) == ["C13"]
+    # The first-model grid is centred on the hardware-check point.
+    assert ("C13", 0, 470) in PRESETS["stage1"]
+    assert ("C13", 0, 470) in PRESETS["stage0"]
+    assert preset_uv("stage0") == [("C13", 0, 470)]
+    with pytest.raises(ValueError):
+        preset_uv("nope")
+    assert array_plan.PRESET_KEYS[0] == "stage0"
+
+
+def test_a_point_on_the_surface_is_valid_and_off_it_is_not():
+    flat = _flat(hole=(40, 40, 60, 60))
+    origin = (100, 150)  # raster (x, y) = (100 + u, 150 - v)
+    result = check_candidates(flat, [(0, 100), (-50, 100)], origin=origin)
+    assert [c.valid for c in result] == [True, False]
+    assert result[1].reason == OFF_SURFACE  # raster (50, 50) is in the hole
+
+
+def test_outside_the_raster_is_off_surface_not_an_error():
+    result = check_candidates(_flat(), [(900, 900)], origin=(100, 150))
+    assert result[0].valid is False and result[0].reason == OFF_SURFACE
+
+
+def test_a_margin_rejects_points_too_close_to_a_hole_or_the_border():
+    flat = _flat(hole=(100, 60, 110, 70))
+    origin = (100, 150)
+    # raster (100, 75): five pixels below the hole's bottom edge.
+    near = check_candidates(flat, [(0, 75)], margin_px=8, origin=origin)[0]
+    far = check_candidates(flat, [(0, 75)], margin_px=3, origin=origin)[0]
+    assert (near.valid, near.reason) == (False, NEAR_EDGE)
+    assert far.valid
+    # The raster border counts as an edge.
+    assert check_candidates(flat, [(-98, 100)], margin_px=5, origin=origin)[0].reason == NEAR_EDGE
+
+
+def test_labels_survive_the_check_and_no_surface_vouches_for_nothing():
+    flat = _flat()
+    kept = check_candidates(flat, [("C13", 0, 100)], origin=(100, 150))[0]
+    assert kept.label == "C13" and kept.valid
+    none = check_candidates(None, [("C13", 0, 100), (1, 2)])
+    assert [c.valid for c in none] == [False, False]
+    assert none[0].label == "C13" and none[1].label == ""

apps/autocal/tests/test_array_tool.py

@@ -0,0 +1,127 @@
+"""The array tool and the 2D map's look: what the operator sees and what the tool offers."""
+
+from __future__ import annotations
+
+import numpy as np
+from orisys_app_shared.i18n import t
+from orisys_autocal.array_plan import Candidate
+from orisys_autocal.ui.sensor_panel import FlatSurfaceView
+from PySide6.QtGui import QColor
+
+
+def _synthetic_flat(size: int = 64):
+    from orisys_autocal.sensor.uv_flat import FlatSurface
+
+    image = np.zeros((size, size, 3), dtype=np.uint8)
+    image[..., 2] = 200  # a plain blue map: any yellow on it is a mark
+    return FlatSurface(
+        size_hw=(size, size),
+        image_rgb=image,
+        positions_mm=np.zeros((size, size, 3)),
+        normals=np.tile(np.array([0.0, 0.0, 1.0]), (size, size, 1)),
+        face_index=np.zeros((size, size), dtype=np.int32),
+        uv_min=(0.0, 0.0),
+        uv_max=(1.0, 1.0),
+    )
+
+
+def test_marks_stay_visible_when_the_map_is_scaled_down(qt_app):
+    view = FlatSurfaceView()
+    view.resize(32, 32)  # half the map's size
+    view.set_flat(_synthetic_flat(64))
+    view.set_marker_colour("#ffd60a")
+    view.set_sequence_points([(32, 32, "", False)])
+    shown = view.pixmap().toImage()
+    centre = QColor(shown.pixel(shown.width() // 2, shown.height() // 2))
+    # The mark is drawn after the scale, so its colour is at the centre of the
+    # shown image instead of being smeared into the blue by the downscale.
+    assert centre.red() > 220 and centre.green() > 180 and centre.blue() < 80
+
+
+def test_the_background_can_be_changed_and_marks_survive_it(qt_app):
+    view = FlatSurfaceView()
+    view.resize(64, 64)
+    view.set_flat(_synthetic_flat(64))
+    before = QColor(view.pixmap().toImage().pixel(2, 2))
+    for mode in ("gray", "dim", "outline"):
+        view.set_background(mode)
+        after = QColor(view.pixmap().toImage().pixel(2, 2))
+        assert after != before, mode
+        assert view.background == mode
+    view.set_background("nonsense")
+    assert view.background == "original"
+
+
+def test_unusable_candidates_are_drawn_apart_from_usable_ones(qt_app):
+    view = FlatSurfaceView()
+    view.resize(64, 64)
+    view.set_flat(_synthetic_flat(64))
+    view.set_marker_colour("#ffd60a")
+    view.set_candidates([(32, 32, False)])
+    shown = view.pixmap().toImage()
+    red_pixels = sum(
+        1
+        for x in range(24, 41)
+        for y in range(24, 41)
+        if QColor(shown.pixel(x, y)).red() > 200 and QColor(shown.pixel(x, y)).green() < 110
+    )
+    assert red_pixels > 0
+
+
+def test_the_look_is_chosen_on_the_page_and_reported(make_window):
+    window = make_window()
+    panel = window.finger_panel
+    seen: list[tuple[str, str]] = []
+    panel.viewStyleChanged.connect(lambda mode, colour: seen.append((mode, colour)))
+    panel.bg_combo.setCurrentIndex(panel.bg_combo.findData("dim"))
+    panel.colour_combo.setCurrentIndex(panel.colour_combo.findData("white"))
+    assert panel.view_style() == ("dim", "white")
+    assert seen[-1] == ("dim", "white")
+    assert window.prefs["finger_view_background"] == "dim"
+    assert panel.view.marker_colour == QColor("#ffffff")
+    window.close()
+
+
+def test_the_grid_has_rows_times_columns_candidates_and_follows_its_fields(make_window):
+    window = make_window()
+    tool = window.sequence_panel.array_tool
+    assert len(tool.candidates()) == 9
+    tool.spin("rows").setValue(2)
+    tool.spin("cols").setValue(5)
+    assert len(tool.candidates()) == 10
+    tool.mode_combo.setCurrentIndex(tool.mode_combo.findData("preset"))
+    assert tool.mode == "preset"
+    tool.preset_combo.setCurrentIndex(tool.preset_combo.findData("stage0"))
+    assert tool.candidates() == [("C13", 0, 470)]
+    window.close()
+
+
+def test_only_usable_candidates_can_be_added(make_window):
+    window = make_window()
+    tool = window.sequence_panel.array_tool
+    added: list = []
+    tool.addRequested.connect(added.append)
+    tool.set_checked([Candidate(0, 0, False, "off_surface")])
+    assert not tool.add_button.isEnabled()
+    tool.set_checked([Candidate(0, 0, True), Candidate(5, 5, False, "near_edge")])
+    assert tool.add_button.isEnabled()
+    assert tool.add_button.text() == t("array.btn_add", count=1)
+    tool.add_button.click()
+    assert [c.u for c in added[0]] == [0]
+    window.close()
+
+
+def test_adding_candidates_skips_a_point_already_in_the_sequence(make_window, monkeypatch):
+    window = make_window()
+    panel = window.sequence_panel
+    monkeypatch.setattr(window, "_map_origin", lambda: (100, 150))
+    monkeypatch.setattr(
+        window.finger_panel,
+        "solve_pixel_row",
+        lambda x, y: {"X": 1.0, "Y": 2.0, "Z": 3.0, "u_px": x - 100.0, "v_px": 150.0 - y},
+    )
+    before = panel.point_row_count()
+    window._on_array_add([Candidate(10, 20), Candidate(30, 40)])  # noqa: SLF001
+    window._on_array_add([Candidate(10, 20), Candidate(50, 60)])  # noqa: SLF001
+    assert panel.point_row_count() == before + 3
+    window.close()

apps/autocal/tests/test_record_overview.py

@@ -188,7 +188,7 @@ def test_calibration_review_action_opens_records_tab(make_window, overview_sessi
     root, _, _ = overview_session
     monkeypatch.setattr(QFileDialog, "getExistingDirectory", lambda *args: str(root))
     window = make_window()
-    assert window.workspace.page_keys() == ["axes", "sequence", "finger", "sensor", "records"]
+    assert window.workspace.page_keys() == ["axes", "finger", "sequence", "sensor", "records"]
     window.calibration_panel.review_button.click()
     assert window.workspace.current_key() == "records"
     page = window.workspace.page("records")

apps/autocal/tests/test_sequence_to_capture.py

@@ -0,0 +1,95 @@
+"""Sequence rows with U/V, the buttons that act on them, and the tab order."""
+
+from __future__ import annotations
+
+from orisys_app_shared.i18n import t
+
+
+def test_the_geometry_tab_comes_before_the_sequence_tab(make_window):
+    window = make_window()
+    assert window.workspace.page_keys() == ["axes", "finger", "sequence", "sensor", "records"]
+    window.close()
+
+
+def test_the_point_table_shows_u_and_v(make_window):
+    window = make_window()
+    panel = window.sequence_panel
+    keys = panel.column_keys()
+    assert keys.index("u") == keys.index("z") + 1 and keys.index("v") == keys.index("u") + 1
+    row = panel.append_point(1.0, 2.0, 3.0, uv=(-130.0, 470.0))
+    cells = panel.point_row(row)
+    assert (cells["u"], cells["v"]) == ("-130.0", "470.0")
+    # The placeholder rows have none, and say so.
+    assert panel.point_row(0)["u"] == "—"
+    assert panel.uv_of_row(0) is None
+    assert panel.uv_of_row(row) == (-130.0, 470.0)
+    window.close()
+
+
+def test_send_is_off_until_a_row_with_uv_is_selected(make_window):
+    window = make_window()
+    panel = window.sequence_panel
+    row = panel.append_point(1.0, 2.0, 3.0, uv=(10.0, 20.0))
+    assert not panel.send_button.isEnabled()
+    panel.table.selectRow(0)  # a placeholder without U/V
+    assert not panel.send_button.isEnabled()
+    panel.table.selectRow(row)
+    assert panel.send_button.isEnabled()
+    assert panel.send_button.text() == t("sequence.btn_send", count=1)
+    window.close()
+
+
+def test_sending_emits_the_selected_uv_and_removing_renumbers(make_window):
+    window = make_window()
+    panel = window.sequence_panel
+    first = panel.append_point(1.0, 0.0, 0.0, uv=(10.0, 20.0))
+    second = panel.append_point(2.0, 0.0, 0.0, uv=(30.0, 40.0))
+    sent: list = []
+    panel.sendToCaptureRequested.connect(sent.append)
+    panel.table.selectRow(second)
+    panel.send_button.click()
+    assert sent == [[(30.0, 40.0)]]
+
+    panel.table.selectRow(first)
+    assert panel.remove_selected() == 1
+    assert panel.point_row(panel.point_row_count() - 1)["index"] == str(panel.point_row_count())
+    window.close()
+
+
+def test_a_picked_point_is_added_once_with_its_uv(make_window):
+    window = make_window()
+    panel = window.sequence_panel
+    window.finger_panel._point = {  # noqa: SLF001 - stands in for a click on a real surface
+        "X": 1.5, "Y": 2.5, "Z": 12.4, "u_px": -130.0, "v_px": 470.0,
+    }
+    before = panel.point_row_count()
+    window._on_add_picked_to_sequence()  # noqa: SLF001
+    window._on_add_picked_to_sequence()  # noqa: SLF001 - the same point again
+    assert panel.point_row_count() == before + 1
+    assert panel.uv_of_row(before) == (-130.0, 470.0)
+    window.close()
+
+
+def test_sending_to_capture_queues_the_points_and_opens_that_page(make_window, monkeypatch):
+    window = make_window()
+    calls: list = []
+    monkeypatch.setattr(
+        window.calibration_panel, "add_uv_points", lambda uvs: calls.append(uvs) or (len(uvs), 0)
+    )
+    window.workspace.set_current_key("sequence")
+    window._on_send_sequence_to_capture([(1.0, 2.0)])  # noqa: SLF001
+    assert calls == [[(1.0, 2.0)]]
+    assert window.workspace.current_key() == "sensor"
+    window.close()
+
+
+def test_a_pick_reports_in_the_picker_not_in_the_global_strip(make_window):
+    window = make_window()
+    strip_before = window.status_strip.last_action_text() if hasattr(
+        window.status_strip, "last_action_text"
+    ) else None
+    window._on_pick_point(1, 1)  # noqa: SLF001 - no bundle: the picker says why
+    assert window.finger_panel.status_label.text() == t("finger.no_bundle")
+    if strip_before is not None:
+        assert window.status_strip.last_action_text() == strip_before
+    window.close()

apps/autocal/tests/test_sequence_uv.py

@@ -0,0 +1,47 @@
+"""U/V on sequence points: the optional field and the way it travels in a document."""
+
+from __future__ import annotations
+
+import json
+
+from orisys_autocal.sequence_io import SequencePoint, from_document, to_document
+
+PROFILE = {"mode": "plane", "pitch_mm": 2.0, "repeats": 1}
+
+
+def _round_trip(points):
+    document = to_document(profile=PROFILE, points=points)
+    # Through JSON text, as a file would carry it.
+    return from_document(json.loads(json.dumps(document)), current_profile=PROFILE)
+
+
+def test_uv_survives_a_round_trip():
+    point = SequencePoint(
+        id=1, target_mm={"x": 1.0, "y": 2.0, "z": 3.0}, uv_px={"u": -130.0, "v": 470.5}
+    )
+    back = _round_trip([point]).points[0]
+    assert back.uv_px == {"u": -130.0, "v": 470.5}
+
+
+def test_a_point_without_uv_stays_without_it():
+    point = SequencePoint(id=1, target_mm={"x": 1.0, "y": 2.0, "z": 3.0})
+    document = to_document(profile=PROFILE, points=[point])
+    assert "uv_px" not in document["points"][0]
+    assert _round_trip([point]).points[0].uv_px is None
+
+
+def test_an_older_file_with_no_uv_still_loads():
+    document = to_document(
+        profile=PROFILE,
+        points=[SequencePoint(id=1, target_mm={"x": 0.0, "y": 0.0, "z": 12.4})],
+    )
+    assert from_document(document, current_profile=PROFILE).points[0].uv_px is None
+
+
+def test_a_half_written_uv_is_ignored_rather_than_half_used():
+    document = to_document(
+        profile=PROFILE,
+        points=[SequencePoint(id=1, target_mm={"x": 0.0, "y": 0.0, "z": 12.4})],
+    )
+    document["points"][0]["uv_px"] = {"u": 5.0}
+    assert from_document(document, current_profile=PROFILE).points[0].uv_px is None