去掉仿真运动序列的单步超时

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。

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: