From ff8288bcf992cfa14ab325aaa0f98e0496b4eb0d Mon Sep 17 00:00:00 2001
From: ykcheungab <ykcheungab@connect.ust.hk>
Date: Wed, 7 Oct 2026 16:21:25 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8E=BB=E6=8E=89=E4=BB=BF=E7=9C=9F=E8=BF=90?=
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偏航转过 90° 时轴仍在运动，20 秒超时会把全部轴停掉。pose move 测试通过。
---
 .../src/orisys_autocal/motion/pose_move.py    | 17 +++-----------
 apps/autocal/tests/test_pose_move.py          | 23 +++++++++++++++++++
 2 files changed, 26 insertions(+), 14 deletions(-)

diff --git a/apps/autocal/src/orisys_autocal/motion/pose_move.py b/apps/autocal/src/orisys_autocal/motion/pose_move.py
index 619a1b5..88ad6dd 100644
--- a/apps/autocal/src/orisys_autocal/motion/pose_move.py
+++ b/apps/autocal/src/orisys_autocal/motion/pose_move.py
@@ -27,7 +27,7 @@ from __future__ import annotations
 
 import time
 from collections.abc import Mapping, Sequence
-from dataclasses import dataclass, field
+from dataclasses import dataclass
 
 from PySide6.QtCore import QObject, Signal
 
@@ -43,10 +43,6 @@ from .units import user_units_to_deg
 SETTLE_MM = 0.01
 SETTLE_DEG = 0.01
 
-#: Per-step patience. A step that is neither arriving nor moving this long is
-#: treated as stuck: reported and abandoned, with no further axes commanded.
-STEP_TIMEOUT_S = 20.0
-
 #: How long a step may report itself idle while still short of its target before it
 #: counts as failed — a drive that has stopped without arriving will never arrive.
 STALL_GRACE_S = 2.0
@@ -103,7 +99,6 @@ class MoveState:
     finished: bool = False
     failure: str = ""
     cancelled: bool = False
-    _step_started_at: float = field(default=0.0)
     _idle_since: float | None = None
 
     @property
@@ -205,7 +200,7 @@ class PoseMover(QObject):
             return MotionResult.refused("没有要移动的轴 / nothing to move")
 
         stamp = time.monotonic() if now is None else now
-        self.state = MoveState(plan=plan, started_at=stamp, _step_started_at=stamp)
+        self.state = MoveState(plan=plan, started_at=stamp)
         self.started.emit(plan)
         self._issue_current()
         return MotionResult.success(plan.describe())
@@ -229,7 +224,6 @@ class PoseMover(QObject):
         if step is None:
             self._complete()
             return
-        self.state._step_started_at = time.monotonic()
         self.state._idle_since = None
         if not step.units == step.units:  # NaN: no calibration for this role
             self._fail(f"{step.role} 无法换算成用户单位 / cannot convert {step.role}")
@@ -258,12 +252,6 @@ class PoseMover(QObject):
         if step is None:
             self._complete()
             return
-        now = time.monotonic()
-        if now - self.state._step_started_at > STEP_TIMEOUT_S:
-            self._fail(
-                f"{step.role} 等待超时 / timed out waiting for {step.role}"
-            )
-            return
 
         state = snapshot.axis(step.axis)
         if state is None:
@@ -292,6 +280,7 @@ class PoseMover(QObject):
             return
         # Idle, but not there. A drive that has stopped short will not resume, so
         # this is a failure rather than something to keep waiting for.
+        now = time.monotonic()
         if self.state._idle_since is None:
             self.state._idle_since = now
         elif now - self.state._idle_since > STALL_GRACE_S:
diff --git a/apps/autocal/tests/test_pose_move.py b/apps/autocal/tests/test_pose_move.py
index a4ccd7b..ab1ec6a 100644
--- a/apps/autocal/tests/test_pose_move.py
+++ b/apps/autocal/tests/test_pose_move.py
@@ -245,6 +245,29 @@ def test_the_mover_waits_while_an_axis_is_still_moving():
     assert mover.state.index == 0
 
 
+def test_a_long_yaw_is_not_cut_off_while_it_is_still_moving(monkeypatch):
+    """A yaw past 90° can take longer than a minute. Keep it while the axis moves.
+
+    The old step cap abandoned the plan after 20s and the window then stopped
+    every axis, so a 180° yaw never arrived.
+    """
+    clock = {"t": 1_000.0}
+    monkeypatch.setattr(
+        "orisys_autocal.motion.pose_move.time.monotonic", lambda: clock["t"]
+    )
+    service = make_service(
+        limits={**LIMITS, "max_yaw_deg": 180.0, "max_pitch_deg": 360.0}
+    )
+    poller = FakePoller(service)
+    mover = PoseMover(service, poller.submit)
+    assert mover.start(plan_pose_move(service, {"yaw": 180.0})).ok
+    clock["t"] += 120.0
+    mover.on_snapshot(snapshot_of(service, {3: 1_000.0}, idle=False))
+    assert mover.running
+    assert mover.state.failure == ""
+    assert len(poller.commands) == 1
+
+
 def test_the_mover_fails_when_an_axis_stops_short():
     """A drive that has stopped is not going to arrive: say so, do not wait."""
     service = make_service()