ykcheungab
cf3e638176
阻止单位不一致的姿态命令，避免提前到达的位置快照误报成功或推进下一轴。 相关检查 164 项通过，2064 组目标及 8256 条运动调用与原基线完全一致。
279 lines
10 KiB
Python
279 lines
10 KiB
Python
"""Keep commissioned command numbers; reject unverified physical-unit moves."""
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from dataclasses import replace
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import math
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import pytest
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from orisys_autocal.motion.models import (
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AxisParams,
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AxisState,
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AxisStatusBits,
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BusStatus,
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ConnectionSpec,
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MotionResult,
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Snapshot,
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)
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from orisys_autocal.motion.pose_move import PoseMover, plan_pose_move
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from orisys_autocal.motion.service import MotionService
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from orisys_autocal.motion.transport import DemoTransport
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from orisys_autocal.motion.units import deg_to_user_units, user_units_to_deg
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from orisys_app_shared.zmotion import ZAuxError
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class RecordingTransport(DemoTransport):
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def __init__(self):
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super().__init__()
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self.moves = []
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def move_abs(self, axis, value):
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self.moves.append((axis, value))
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return super().move_abs(axis, value)
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def service():
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transport = RecordingTransport()
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instance = MotionService(
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transport,
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language="en_US",
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limits={"max_travel_mm": 100.0, "max_yaw_deg": 180.0, "max_pitch_deg": 90.0},
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)
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instance.connect(ConnectionSpec(mode="demo"))
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instance.poll()
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instance._bus = BusStatus(init_status=1, total_axes=5)
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return instance, transport
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def mover_and_actions(instance, targets):
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actions = []
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def submit(action):
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actions.append(action)
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return len(actions)
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mover = PoseMover(instance, submit)
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plan = plan_pose_move(instance, targets, together=True)
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assert mover.start(plan).ok
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return mover, actions
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def test_commissioned_command_numbers_and_order_remain_exact(qt_app):
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instance, transport = service()
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mover, actions = mover_and_actions(
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instance, {"x": -10.0, "y": 2.0, "yaw": 90.0, "pitch": -45.0, "z": 3.0}
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)
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assert actions[0](instance).ok
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assert transport.moves == [
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(2, 12500.0),
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(3, -14750.0),
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(0, -5000.0),
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(1, 1000.0),
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(4, 1500.0),
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]
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def test_readback_mismatch_refuses_instead_of_changing_the_command():
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instance, transport = service()
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transport.set_units(0, 5.0)
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instance.poll([0])
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instance._bus = BusStatus(init_status=1, total_axes=5)
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refusal = instance.check_axes_move({"x": 2.0})
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assert refusal is not None and "UNITS" in refusal.message
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assert math.isnan(instance.to_mm(0, 1000.0))
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assert transport.moves == []
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def test_explicit_matching_linear_units_are_supported_without_rescaling_other_axes():
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instance, transport = service()
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assert instance.set_axis_params(0, AxisParams(units=5.0)).ok
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instance.poll([0])
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instance._bus = BusStatus(init_status=1, total_axes=5)
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assert instance.check_axes_move({"x": 2.0}) is None
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assert instance.to_units("x", 2.0) == 2000.0
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assert instance.to_mm(0, 1000.0) == 1.0
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assert instance.to_units("yaw", 90.0) == 12500.0
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@pytest.mark.parametrize("units", [0.0, -1.0, math.nan, math.inf])
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def test_invalid_unit_readback_is_not_a_physical_measurement(units):
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instance, transport = service()
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transport.set_units(0, units)
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instance.poll([0])
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instance._bus = BusStatus(init_status=1, total_axes=5)
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assert instance.check_axes_move({"x": 2.0}) is not None
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assert math.isnan(instance.to_mm(0, 1000.0))
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def test_missing_or_failed_readback_cannot_reuse_the_last_good_scale():
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instance, transport = service()
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instance._last_axes.clear()
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assert instance.check_axes_move({"x": 2.0}) is not None
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instance.poll([0])
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instance._last_axes[0] = replace(instance._last_axes[0], read_ok=False)
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assert instance.check_axes_move({"x": 2.0}) is not None
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assert math.isnan(instance.to_mm(0, 1000.0))
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@pytest.mark.parametrize("axis,role", [(2, "yaw"), (3, "pitch")])
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def test_changed_rotary_pulse_equivalent_requires_new_calibration(axis, role):
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instance, transport = service()
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assert instance.set_axis_params(axis, AxisParams(units=5.0)).ok
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instance.poll([axis])
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instance._bus = BusStatus(init_status=1, total_axes=5)
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refusal = instance.check_axes_move({role: 45.0})
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assert refusal is not None and "calibrat" in refusal.message
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assert math.isnan(instance.to_units(role, 45.0))
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assert math.isnan(instance.to_deg(axis, 1000.0))
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assert math.isnan(user_units_to_deg(axis, 1000.0, units=5.0))
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assert math.isnan(deg_to_user_units(axis, 45.0, units=5.0))
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def test_change_after_queueing_is_refused_before_any_axis_moves(qt_app):
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instance, transport = service()
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mover, actions = mover_and_actions(instance, {"x": 2.0, "yaw": 10.0})
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# No poll between the external parameter change and worker execution.
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transport.set_units(0, 5.0)
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result = actions[0](instance)
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assert not result.ok
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mover.on_command_finished(1, result)
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assert not mover.running and "UNITS" in mover.state.failure
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assert transport.moves == []
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def test_unrelated_command_result_does_not_cancel_a_pose_move(qt_app):
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from orisys_autocal.motion.models import MotionResult
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instance, transport = service()
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mover, actions = mover_and_actions(instance, {"x": 2.0})
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mover.on_command_finished(99, MotionResult.refused("another command"))
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assert mover.running
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assert actions[0](instance).ok
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mover.on_command_failed(1, "read failed")
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assert not mover.running and mover.state.failure == "read failed"
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@pytest.mark.parametrize("change", ["parameters", "mapping"])
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def test_a_queued_plan_cannot_be_reinterpreted_under_new_settings(qt_app, change):
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instance, transport = service()
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mover, actions = mover_and_actions(instance, {"x": 2.0, "y": 1.0})
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if change == "parameters":
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instance.set_axis_params(0, AxisParams(units=5.0))
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else:
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instance.set_axis_roles({"x": 1, "y": 0, "yaw": 2, "pitch": 3, "z": 4})
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assert not actions[0](instance).ok
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assert transport.moves == []
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def test_a_stale_plan_is_refused_before_it_is_queued(qt_app):
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instance, transport = service()
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plan = plan_pose_move(instance, {"x": 2.0}, together=True)
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instance.set_axis_params(0, AxisParams(units=5.0))
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instance.poll([0])
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instance._bus = BusStatus(init_status=1, total_axes=5)
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actions = []
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mover = PoseMover(instance, lambda action: actions.append(action))
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assert not mover.start(plan).ok
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assert actions == [] and transport.moves == []
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def test_unit_read_error_before_execution_refuses_the_entire_group(qt_app):
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instance, transport = service()
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mover, actions = mover_and_actions(instance, {"x": 2.0, "yaw": 10.0})
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def unreadable(axis):
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raise ZAuxError(30500, "unit read failed")
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transport.get_units = unreadable
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assert not actions[0](instance).ok
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assert transport.moves == []
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def test_raw_debug_moves_keep_the_existing_user_unit_contract():
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instance, transport = service()
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transport.set_units(2, 5.0)
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assert instance.move_abs(2, 90.0).ok
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assert transport.moves == [(2, 90.0)]
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@pytest.mark.parametrize("together", [False, True])
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@pytest.mark.parametrize("failure", ["refused", "exception"])
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def test_arrival_before_command_failure_never_reports_success(qt_app, together, failure):
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instance, transport = service()
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actions = []
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mover = PoseMover(instance, lambda action: actions.append(action) or len(actions))
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finished = []
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mover.finished.connect(finished.append)
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assert mover.start(plan_pose_move(instance, {"x": 0.0}, together=together)).ok
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mover.on_snapshot(Snapshot(axes=(instance._last_axes[0],)))
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assert not finished and mover.running
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if failure == "refused":
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transport.set_units(0, 5.0)
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result = actions[0](instance)
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assert not result.ok and "UNITS" in result.message
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mover.on_command_finished(1, result)
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else:
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mover.on_command_failed(1, "read failed")
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assert mover.state.failure and not mover.state.finished
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assert not finished and not mover.running
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assert transport.moves == []
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@pytest.mark.parametrize("together", [False, True])
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def test_only_matching_success_and_a_later_snapshot_allow_arrival(qt_app, together):
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instance, _transport = service()
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actions = []
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mover = PoseMover(instance, lambda action: actions.append(action) or len(actions))
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assert mover.start(plan_pose_move(instance, {"x": 0.0}, together=together)).ok
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snapshot = Snapshot(axes=(instance._last_axes[0],))
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mover.on_command_finished(99, MotionResult.success())
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mover.on_snapshot(snapshot)
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assert mover.running and not mover.state.finished
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result = actions[0](instance)
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assert result.ok
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mover.on_command_finished(1, result)
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assert mover.running, "a pre-acknowledgement snapshot was reused"
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mover.on_snapshot(Snapshot(axes=(instance._last_axes[0],)))
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assert mover.state.finished and not mover.running
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def test_each_sequential_axis_waits_for_its_own_command_success(qt_app):
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instance, _transport = service()
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actions = []
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mover = PoseMover(instance, lambda action: actions.append(action) or len(actions))
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assert mover.start(plan_pose_move(instance, {"x": 0.0, "y": 0.0})).ok
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snapshot = Snapshot(axes=tuple(instance._last_axes[axis] for axis in (0, 1)))
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mover.on_snapshot(snapshot)
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assert len(actions) == 1 and mover.state.index == 0
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result = actions[0](instance)
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assert result.ok
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mover.on_command_finished(1, result)
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mover.on_snapshot(snapshot)
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assert len(actions) == 2 and mover.state.index == 1
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mover.on_command_finished(1, MotionResult.success())
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mover.on_snapshot(snapshot)
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assert mover.running and not mover.state.finished
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result = actions[1](instance)
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assert result.ok
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mover.on_command_finished(2, result)
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mover.on_snapshot(snapshot)
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assert mover.state.finished
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@pytest.mark.parametrize("together", [False, True])
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@pytest.mark.parametrize("fault", ["alarm", "read"])
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def test_axis_faults_remain_visible_while_command_is_pending(qt_app, together, fault):
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instance, _transport = service()
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mover = PoseMover(instance, lambda _action: 1)
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targets = {"x": 0.0, "y": 0.0} if together else {"y": 0.0}
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assert mover.start(plan_pose_move(instance, targets, together=together)).ok
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bad_axis = AxisState(
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axis=1,
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units=10.0,
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status=AxisStatusBits(raw=512 if fault == "alarm" else 0),
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read_ok=fault != "read",
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)
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mover.on_snapshot(Snapshot(axes=(AxisState(axis=0, units=10.0), bad_axis)))
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assert not mover.running and not mover.state.finished
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assert ("alarm" if fault == "alarm" else "read failed") in mover.state.failure
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