# Orisys AutoCal

Internal control application for the **5-axis calibration platform**, driving a
ZMotion ZMC bus controller (EtherCAT or RTEX) from the PC.

Replaces the vendor example program it was ported from:

    D:\orisys_ws\zmotion\Python64\例程9-总线控制运动

> **Internal use only.** AutoCal is not part of the customer installer. See
> "Do not ship this app" below.

## What it does

- **Connect** over Ethernet (with an IP scan), serial, PCI, local/simulated, or
  a built-in **demo** transport that needs no hardware and no DLL.
- **Initialise the bus** by downloading `ECAT.bas` or `RTEX.bas` to the
  controller, then follow the controller's own state machine to completion — or
  to a timeout, with the vendor's diagnostic hint.
- **Read axis state** for all five drives at once: enable, axis type, pulse
  equivalent, speed, acceleration, commanded and measured position (in user
  units *and* millimetres), axis status word, motion and homing state.
- **Move**: enable/disable, jog, absolute and relative moves, stop, stop-all,
  driver homing, clear a drive alarm. Every command is guarded — see below.
- **Exchange raw bus data**: EtherCAT object-dictionary (SDO) reads and writes,
  and RTEX parameters. Each family is enabled only when the controller reports
  that bus type.

## Capture workflow

[Offline force-feedback scaffold](docs/force-control-scaffold.zh.md).

The 标定采集 page is one queue, not two panels — a single point is a queue with one
row. `Ready` lists the six facts a run needs and the **primary button follows the
step**, always stating why it is disabled. Alignment is only a request: the move
goes through the guarded pose-move path, and only a completed move unlocks capture.
Recording options (video, codec, lossless frames) are chosen before the session and
written once into `session.json`; an unavailable codec is disabled with its reason,
never silently substituted. [docs/workflow.md](docs/workflow.md) has the detail.

## Run it

PySide6 only — Qt's LGPLv3 binding, so an internal closed-source tool needs no
licence purchase (PyQt5 is GPLv3-or-commercial).

```powershell
# with the environment that already has PySide6 (Anaconda py310, for example)
$env:PYTHONPATH = "D:\orisys_ws\orisys-app\shared\src;D:\orisys_ws\orisys-app\apps\autocal\src"
python D:\orisys_ws\orisys-app\apps\autocal\run.py
```

Or with no controller attached at all:

```powershell
python .\apps\autocal\run.py --demo
```

`run.py` sets `ORISYS_APP_ID=autocal` before importing anything from
`orisys_app_shared`, so this app's `config/`, `preference.json` and `outputs/`
resolve to `apps/autocal/` rather than the studio's.

### Controller library

The ZMotion runtime is vendored at `shared/resources/zmotion/x64/`. `ORISYS_ZMOTION_DLL_DIR` overrides it, and the
override is authoritative: a directory without `zauxdll.dll` makes the app refuse
to connect rather than quietly load another build.

One contract in `shared/src/orisys_app_shared/zmotion/client.py` is worth
knowing before touching it: `ZAux_Execute` **must** be given a reply buffer.
Passing `NULL` with a zero length is a write through a null pointer inside the
DLL — a native crash the worker thread cannot catch — and the buffer is also
how a refused online command explains itself, because `ZAux_Execute` returns 0
for a `RUN` whose file the controller does not have.

## Bring-up sequence

The vendor sequence, with the checks AutoCal's own state machine adds. P1 of
`docs/workflow.md` is this list in the workflow's vocabulary.

1. **Connect** (`eth` + the controller's IP). On success the app adopts any BAS
   program the controller is already running from a previous session instead of
   claiming the bus is uninitialised; `BUS_TYPE` is read immediately.
2. **Download only if the bus type is unknown.** `ECAT.bas` / `RTEX.bas` are
   chosen from `config/bas/` (the vendor requires a non-Chinese path) and
   written to ROM. A controller that still has the program needs no download.
3. **Wait for `Bus_InitStatus`** — `−1` running, `1` success, `0` failed —
   inside the vendor's 25 s window, then a timeout message naming the ZDevelop
   diagnostic (`?*ETHERCAT`).
4. **Re-initialise** re-runs the program without re-downloading it:
   `STOPTASK <task>` then `RUN "<file>",<task>`. The task number is
   `bas_task` in `preference.json` (default **4**, the task the vendor
   reference uses); the file name comes from this session's download, or from the
   remembered `bas_path` when the session adopted a running program (the
   controller does not report the name). The controller answers a `RUN` for a
   file it does not have with **code 0** and the refusal in its reply text, so
   that text is checked and shown rather than reported as an initialisation in
   progress.
5. **Enable, then jog.** Motion stays refused until step 3 reports success.

### Connection and error codes

`ZAux_*` returns two unrelated families of code, and they need different answers:

| Range | Family | What the operator should do |
|---|---|---|
| `0` | success | — |
| `20000–29999` | PC-library fault (handshake, socket, address) | check the cable/segment and the IP, then retry; a first open on a cold route is often transient, which is why an Ethernet connect makes up to 3 attempts. |
| `30000+` | the auxiliary block `zauxdll2.h` documents | the message names it (`无应答`, `参数错误`, …) |
| anything else | the controller's own code | look it up in ZDevelop's table |

A **host-library** code is never sent to ZDevelop's table, because that table
cannot contain it. Observed at the bench: `20008` from `ZAux_OpenEth` on a first,
transient attempt that succeeded immediately afterwards.

## Safety model

The guards live in `motion/service.py`, not in the UI, so they hold whatever
calls them:

- **Motion is refused** while the bus is not initialised, while the axis is
  unknown, or on a non-finite target — with a reason, never a silent no-op.
- **A pose move is refused before the first axis moves** if any part of it is wrong:
  a target past the P0 limit — millimetres for x/y/z, **degrees** for yaw/pitch, so a
  400° stage turn cannot pass a 100 mm check — an axis mapping that is incomplete,
  points outside the drive range, or claims one drive twice, or a rotary role on an
  axis with no user-units-per-degree calibration. A sequence that stopped halfway
  would leave the machine in a pose nobody simulated, so every check runs first.
- **A move is stepped, not looped.** The drives are commanded one at a time from the
  poll snapshots; a step that stalls (idle but short of its target), times out or
  raises an alarm aborts the rest. That is also what makes **stop** work — it is an
  ordinary command, so it runs at the next poll tick, and the queue is cancelled
  before it is sent so no later axis is commanded.
- **Homing needs a configured mode.** The vendor example pre-fills `17`, which
  is one specific drive's mode; AutoCal starts at `0` and refuses, so the
  operator chooses for the drive in front of them instead of inheriting a number
  from another machine.
- **Homing is refused on RTEX**, as the vendor example itself does.
- **Disconnect stops the axes first** (the vendor program closes the handle and
  leaves the platform coasting).
- **SDO/RTEX are gated by the reported bus type**, so a write can never be aimed
  at the wrong family.
- **A failed read is marked, not zeroed.** `ZmotionValue.value_or_none` returns
  `None` on failure; nothing silently treats a failed read's zero as a position.

The displayed millimetre value is *derived* from the pulse equivalent
(bench-measured: `units=10` → 1000 user units = 2 mm). It is a display value,
not a calibrated length, and the UI says so.

## Layout

```text
apps/autocal/
  run.py                     # source-tree launcher
  config/
    preferences.default.json # shipped defaults
    locales/{zh_CN,en_US}.json
    bas/{ECAT,RTEX}.bas      # copies: the vendor needs a non-Chinese path
  src/orisys_autocal/
    main.py                  # logging, locale, theme, window
    preferences.py           # AutoCal's own preference schema
    motion/                  # Qt-free except poller.py (the Qt worker bridge)
      models.py errors.py units.py service.py transport.py poller.py
    ui/                      # window.py + one module per panel
  tools/                     # panel_check.py, panel_snapshot.py, preview_snapshot.py, layout_mockup.py
  tests/
```

`capture_controller.py` is the capture page's Qt-free step machine (queue, `Ready`,
one primary action, remeasure/skip/stop, poll); `recording_options.py` turns the
video choice into a `RecordConfig` and probes which codecs this machine can write.

`motion/poller.py` is the only place a controller call can originate. It owns
the DLL handle on its own thread, so the vendor library's blocking calls (a ROM
write, a bus scan) never freeze the window and the ctypes handle is never shared
between threads. The UI talks to it through signals only.

## Verify

Both work with no display, no controller and no DLL:

```powershell
python .\apps\autocal\tools\panel_check.py     # layout/theme/locale/gating checks
python .\apps\autocal\tools\panel_snapshot.py --demo --theme dark --out shot.png
python .\apps\autocal\tools\panel_snapshot.py --compare --out tabs.png   # one image per tab
python .\apps\autocal\tools\panel_snapshot.py --setup-dialog bus --out setup.png
python .\apps\autocal\tools\layout_mockup.py --out layout.png            # proposed layout, drawn
python -m pytest apps\autocal\tests            # offscreen suite
```

Connection and bus initialisation are used once per machine start-up, so they live
in a **modeless device-setup dialog** (`ui/device_setup.py`), opened from the status
strip, its chips, or 文件 → 设备设置. The rail carries what is read while working:
the axis readout and the collapsed SDO/RTEX monitor.

`preview_snapshot.py` is the only tool that can photograph the **3D pane** (the
offscreen platform has no OpenGL context, so the pane is empty there). It needs
the real platform plugin and a visible window. See
[docs/finger-preview.md](docs/finger-preview.md).

`layout_mockup.py` is a **wireframe, not the application**: it paints the proposed
single-page layout with the shared theme tokens and imports nothing from the app,
so the layout can be reviewed without building the panels.

`panel_check.py` builds the real window in both themes at 1440×900 and
1920×1080, asserts that no widget escapes its parent, that motion is
unreachable before the bus is initialised, that the SDO/RTEX panels follow the
reported bus family, and then runs a full simulated session from `ECAT.bas`.

The suite is written for **PySide6**. Where PySide6 is missing, the test modules
are skipped rather than failed: a broken environment should not look like a
broken application. `tests/test_binding_purity.py` enforces the binding policy
statically — no module may import PyQt5/PySide2/PyQt6, no module may use an
unscoped Qt enumerator, `shared/` may import PySide6 and no other binding, and
the controller interface must stay importable headless.

## Do not ship this app

AutoCal is an internal tool. It is deliberately **not** packaged by
`build/studio`, whose PyInstaller spec must not learn about the ZMotion runtime
DLLs, and it is not in the customer installer. The ZMotion SDK is vendor-supplied
hardware support software with its own terms; do not redistribute those DLLs
with a customer product.