ykcheungab
bcc55a3b97
朝上判断误用平台轴、接触高度报旋转前数值、多点对准复用缓存姿态，且多点会话被复核入口拒绝；
现按修正计划改正并接通 autocal-multipoint-1.0 只读复核，缺失帧源如实报告而不补零。
离线验证：新回归在 dc5a6f8 上失败、此处通过，panel_check 通过，两截图点接触高度复现
19.0510 / 21.5781 mm；实机项未做，详见 .scratch/autocal-motion-fix/verification.md。
778 lines
32 KiB
Python
778 lines
32 KiB
Python
#!/usr/bin/env python3
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"""Dependency-free offscreen check of the AutoCal window.
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Builds the real window with the simulated platform and asserts the invariants
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that are easy to break and hard to notice: theme tokens present, layout fitting
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inside parents, controls gated by connection and bus state, locales complete.
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python apps/autocal/tools/panel_check.py
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No controller, no DLL and no display are needed. Mirrors
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``apps/studio/tools/ui_check.py``, but cannot import it: that module pulls in
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``orisys_studio`` (the acquisition stack), which AutoCal's environment has none of.
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"""
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from __future__ import annotations
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import os
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import sys
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from pathlib import Path
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APP_ROOT = Path(__file__).resolve().parents[1]
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for path in (APP_ROOT / "src", APP_ROOT.parents[1] / "shared" / "src"):
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if str(path) not in sys.path:
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sys.path.insert(0, str(path))
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os.environ.setdefault("ORISYS_APP_ID", "autocal")
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os.environ.setdefault("QT_QPA_PLATFORM", "offscreen")
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if sys.platform == "win32" and "QT_QPA_FONTDIR" not in os.environ:
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_fonts = Path(os.environ.get("WINDIR", r"C:\Windows")) / "Fonts"
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if _fonts.is_dir():
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os.environ["QT_QPA_FONTDIR"] = str(_fonts)
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# The report quotes labels, and half of them are Chinese. A Windows console
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# defaults to a legacy code page that cannot encode them, so the run ended in a
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# UnicodeEncodeError *after* every check had passed — the worst kind of noise.
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for _stream in (sys.stdout, sys.stderr):
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_reconfigure = getattr(_stream, "reconfigure", None)
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if _reconfigure is not None:
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try:
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_reconfigure(encoding="utf-8", errors="replace")
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except (ValueError, OSError): # pragma: no cover - stream already detached
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pass
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RESOLUTIONS = ((1440, 900), (1920, 1080))
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class Checker:
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"""Collects failures instead of asserting, so one run reports everything."""
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def __init__(self) -> None:
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self.failures: list[str] = []
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self.checks = 0
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def that(self, condition: bool, message: str) -> None:
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self.checks += 1
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if not condition:
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self.failures.append(message)
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def report(self) -> int:
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print()
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if self.failures:
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print(f"FAILED — {len(self.failures)} of {self.checks} checks:")
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for failure in self.failures:
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print(f" - {failure}")
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return 1
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print(f"OK — {self.checks} checks passed")
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return 0
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def _visible_descendants(widget):
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for child in widget.findChildren(object):
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if not hasattr(child, "isVisible") or not hasattr(child, "geometry"):
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continue
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if child.isVisible():
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yield child
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def main() -> int:
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from orisys_app_shared.i18n import set_locale, t
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from orisys_app_shared.theme import build_qss, load_colors
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from orisys_autocal.motion import ConnectionSpec
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from orisys_autocal.ui.axis_panel import COLUMNS
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from orisys_autocal.ui.bus_panel import default_bas_dir
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from orisys_autocal.ui.window import AutoCalMainWindow
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from PySide6 import __version__ as pyside_version
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from PySide6.QtWidgets import QApplication
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checker = Checker()
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app = QApplication.instance() or QApplication([])
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print(f"Qt binding: PySide6 {pyside_version}")
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# ---- theme tokens -----------------------------------------------------
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for theme in ("dark", "light"):
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colors = load_colors(theme)
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qss = build_qss(theme)
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checker.that(bool(colors), f"{theme}: no colour tokens")
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checker.that(len(qss) > 500, f"{theme}: the stylesheet looks empty")
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checker.that(
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len(build_qss(theme)) == len(qss), f"{theme}: the stylesheet is not stable"
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)
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# ---- locale completeness ---------------------------------------------
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from orisys_autocal import preferences as prefs_mod
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from orisys_autocal.preferences import load_preferences
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# Redirect the preference store into the app's own (gitignored) outputs before
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# any window exists. This check opens and closes real windows, and closing one
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# writes the whole in-memory document back: a check that dials in a press-axis
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# zero would otherwise leave that fabricated measurement on the operator's
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# machine, and every later run would start from it.
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from orisys_app_shared import paths as paths_mod
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from orisys_app_shared import prefs as prefs_pkg
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scratch = APP_ROOT / "outputs" / "panel_check"
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scratch.mkdir(parents=True, exist_ok=True)
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scratch_prefs = scratch / "preference.json"
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if scratch_prefs.exists():
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scratch_prefs.unlink()
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paths_mod.preference_path = lambda: scratch_prefs
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prefs_pkg.store.preference_path = lambda: scratch_prefs
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prefs_mod.preference_path = lambda: scratch_prefs
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prefs = load_preferences()
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for language in ("zh_CN", "en_US"):
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set_locale(language)
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checker.that(t("app.title") != "app.title", f"{language}: app.title missing")
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checker.that(t("axes.title") != "axes.title", f"{language}: axes.title missing")
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checker.that(
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t("bus.state_ok") != "bus.state_ok", f"{language}: bus.state_ok missing"
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)
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set_locale("zh_CN")
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# ---- window ----------------------------------------------------------
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import math
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from orisys_autocal.motion import (
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DemoTransport,
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plan_pose_move,
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plan_return_to_initial,
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user_units_to_deg,
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)
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for theme in ("dark", "light"):
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window = AutoCalMainWindow(prefs={**prefs, "theme": theme})
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window.poller.service._transport = DemoTransport() # noqa: SLF001
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app.setStyleSheet(build_qss(theme))
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print(f"\n--- theme={theme} ---")
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for width, height in RESOLUTIONS:
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window.resize(width, height)
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window.show()
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app.processEvents()
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# Every tab, not just the default one: a page that overflows only
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# when its tab is selected is exactly the defect this catches.
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for key in window.workspace.page_keys():
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window.workspace.set_current_key(key)
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app.processEvents()
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checker.that(
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not _overflowing(window),
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f"{theme} {width}x{height} tab={key}: {_overflowing(window)}",
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)
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window.workspace.set_current_key("axes")
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print(f" {width}x{height}: every tab fits")
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# The device setup is a separate top-level window now, so the sweep has
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# to be run over it as well: a dialog whose own controls do not fit is
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# exactly the defect the sweep exists for, one window further out.
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window._show_device_setup() # noqa: SLF001 - the documented entry point
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app.processEvents()
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for tab in ("connection", "bus"):
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window.device_setup.select_tab(tab)
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app.processEvents()
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checker.that(
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not _overflowing(window.device_setup),
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f"{theme} {width}x{height} setup tab={tab}: "
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f"{_overflowing(window.device_setup)}",
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)
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window.device_setup.close()
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app.processEvents()
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print(f" {width}x{height}: the device setup fits")
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# ---- the permanent shell ----------------------------------------
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# The workspace is five pages: three run screens, the sensor page and the
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# calibration-record review. (Multi-point replaced the old surface/points
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# pair, so this list is the one workspace.TABS declares.)
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checker.that(
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window.workspace.page_keys()
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== ["axes", "sequence", "finger", "sensor", "records"],
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f"unexpected tab set: {window.workspace.page_keys()}",
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)
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checker.that(
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window.status_strip.isVisible(),
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"the motion status strip is not visible",
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)
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checker.that(
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window.status_strip.height() <= 48,
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f"the status strip is {window.status_strip.height()}px tall",
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)
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for key in window.workspace.page_keys():
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window.workspace.set_current_key(key)
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app.processEvents()
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checker.that(
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window.status_strip.isVisible(),
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f"the status strip vanished on tab {key}",
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)
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checker.that(
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bool(window.workspace.tabText(window.workspace.currentIndex())),
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f"tab {key} has no label",
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)
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window.workspace.set_current_key("axes")
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# The readout rail must show all five drives without scrolling.
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readout_rows = len(window.axis_readout._rows)
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checker.that(readout_rows == 5, f"the readout rail shows {readout_rows} axes")
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checker.that(
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window.axis_readout.width() >= 200,
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f"the readout rail is only {window.axis_readout.width()}px wide",
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)
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# The sequence tab: three zones, a persisted profile, and a point list
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# whose coordinates are generated rather than typed.
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sequence = window.sequence_panel
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checker.that(
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sequence.profile_keys()
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== [
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"mode",
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"pitch_mm",
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"margin_mm",
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"radius_mm",
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"clear_height_mm",
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"approach_speed_mm_s",
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"press_speed_mm_s",
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"press_depth_mm",
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"dwell_s",
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"settle_window_s",
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"repeats",
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"order",
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],
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f"sequence profile fields changed: {sequence.profile_keys()}",
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)
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checker.that(
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sequence.validation_checks()
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== ["on_surface", "within_travel", "contact_confirmable"],
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f"sequence validation checks changed: {sequence.validation_checks()}",
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)
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for name, phase in sequence.pending_phases().items():
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button = sequence._pending_buttons[name]
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checker.that(
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not button.isEnabled() and phase in button.toolTip(),
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f"sequence control {name} is usable or does not name its phase",
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)
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checker.that(
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sequence.planned_steps() == [],
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"the sequence tab handed out steps a runner could start",
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)
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checker.that(
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sequence.point_row_count() > 0,
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"the sequence point list is empty",
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)
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checker.that(
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sequence.table.columnCount() == len(sequence.column_keys()),
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f"the point list has {sequence.table.columnCount()} columns, expected {len(sequence.column_keys())}",
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)
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# The shell: one rail, a run bar, and a health chip.
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checker.that(
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window.main_splitter.count() == 2,
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f"the layout has {window.main_splitter.count()} columns, expected 2",
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)
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checker.that(
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window.left_rail.widget() is window.rail_content,
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"the setup rail is not scrollable",
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)
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# The rail carries what is read while working. Connection and bus
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# initialisation moved into the device-setup dialog: back in the rail they
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# pushed the axis readout below the fold.
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rail_children = {
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type(child).__name__ for child in window.rail_content.findChildren(object)
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}
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checker.that(
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"AxisReadoutPanel" in rail_children,
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f"the axis readout is not in the rail: {sorted(rail_children)}",
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)
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checker.that(
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"BusDataPanel" in rail_children,
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"the bus-data monitor is not in the rail",
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)
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checker.that(
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"ConnectionPanel" not in rail_children and "BusPanel" not in rail_children,
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f"a start-up panel is still in the rail: {sorted(rail_children)}",
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)
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checker.that(
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not window.device_setup.isVisible(),
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"the device setup is open before anyone asked for it",
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)
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# Where the three move controls live, and why. Execute is about the selected
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# point, so it belongs to the finger screen; the stop is repeated next to it
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# *and* stays in the strip, because an emergency stop has to be where the
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# operator's eyes are; returning to zero is a machine action wanted after any
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# tab's work, so it lives in the always-visible rail and is not duplicated.
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checker.that(
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window.finger_panel.execute_button.parent() is not None
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and window.finger_panel.stop_button.parent() is not None,
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"the finger screen is missing an execute or stop button",
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)
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checker.that(
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window.status_strip.stop_button.isEnabled() is not None,
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"the strip has no stop button",
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)
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checker.that(
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window.axis_readout.return_button.text() == t("move.return_initial"),
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f"the rail return button says "
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f"{window.axis_readout.return_button.text()!r}",
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)
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checker.that(
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window.axis_readout.return_button.parent() is window.axis_readout,
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"the return button is not in the always-visible rail",
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)
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# The mapping page is the third tab of the device setup, the press-axis
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# relation the fourth, and the service already holds the mapping shown.
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checker.that(
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window.device_setup.tabs.count() == 4,
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f"the device setup has {window.device_setup.tabs.count()} tabs, expected 4",
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)
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checker.that(
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window.device_setup.tabs.tabText(2) == t("setup.tab_axes"),
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f"the third setup tab is {window.device_setup.tabs.tabText(2)!r}",
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)
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checker.that(
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window.device_setup.tabs.tabText(3) == t("setup.tab_press"),
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f"the fourth setup tab is {window.device_setup.tabs.tabText(3)!r}",
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)
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checker.that(
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window.device_setup.press_page.press()["calibrated"] is False,
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f"the press page starts calibrated: "
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f"{window.device_setup.press_page.press()}",
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)
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# With no controller, a move must be refused with a reason and the execute
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# button must say so rather than appearing to work.
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disconnected = window.poller.service.check_axes_move({"x": 1.0})
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checker.that(
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disconnected is not None,
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"a move was allowed with no controller connected",
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)
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checker.that(
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not window.finger_panel.execute_button.isEnabled(),
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"execute is enabled with no controller connected",
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)
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checker.that(
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window.device_setup.connection_panel is window.connection_panel
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and window.device_setup.bus_panel is window.bus_panel,
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"the window's panel references are not the ones in the dialog",
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)
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# Three ways in, all of them the operator's, all landing on one method.
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window.status_strip.setup_button.click()
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app.processEvents()
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checker.that(
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window.device_setup.isVisible(),
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"the setup button did not open the device setup",
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)
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window.device_setup.close()
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window.status_strip.chip_bus.clicked.emit()
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app.processEvents()
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checker.that(
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window.device_setup.isVisible()
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and window.device_setup.current_tab() == "bus",
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"the bus chip did not open the bus tab",
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)
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window.device_setup.close()
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window.brand_bar.connectionChipClicked.emit()
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app.processEvents()
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checker.that(
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window.device_setup.isVisible()
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and window.device_setup.current_tab() == "connection",
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"the brand-bar chip did not open the connection tab",
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)
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window.device_setup.close()
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app.processEvents()
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checker.that(
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window.run_bar.isVisible(),
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"the run bar is not visible",
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)
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checker.that(
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not window.run_bar.abort_button.isEnabled(),
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"abort is enabled with no run in progress",
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)
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for key in window.workspace.page_keys():
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window.workspace.set_current_key(key)
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app.processEvents()
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checker.that(
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window.run_bar.isVisible(),
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f"the run bar vanished on tab {key}",
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)
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window.workspace.set_current_key("axes")
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checker.that(
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bool(window.status_strip.chip_health.text()),
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"the poll-health chip has no text",
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)
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checker.that(
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"QStatusBar" in window.statusBar().styleSheet(),
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"the status bar is not using its own theme token",
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)
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# A collapsed bus-data group must not cost the page any height.
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checker.that(
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not window.bus_data_panel.isVisible(),
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"the bus-data panel is expanded by default",
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)
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print(" shell: strip, readout rail and sequence profile verified")
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panel = window.axis_panel
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checker.that(panel.axis_count == 5, "the platform is not five axes")
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checker.that(
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panel.table.columnCount() == len(COLUMNS) + 1,
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"the axis table lost a column",
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)
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# Every header must fit its column: a clipped header is how a table stops
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# being readable without anyone noticing.
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for index in range(panel.table.columnCount()):
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header = panel.table.horizontalHeaderItem(index).text()
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width = panel.table.columnWidth(index)
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needed = panel.table.fontMetrics().horizontalAdvance(header) + 12
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checker.that(
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width >= needed,
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f"axis column {index} ({header!r}) is {width}px, needs {needed}px",
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)
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checker.that(
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len(COLUMNS) == 7,
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f"the axis table should show seven data columns, has {len(COLUMNS)}",
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)
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checker.that(
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window.axis_panel._detail_label.text(),
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"the selected-axis detail line is empty",
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)
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headers = [
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panel.table.horizontalHeaderItem(index).text()
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for index in range(panel.table.columnCount())
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]
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checker.that(
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all(headers) and headers[0] == t("axes.axis"),
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f"axis table headers are not localised: {headers}",
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)
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checker.that(
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all(
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panel.table.item(row, 0) is not None for row in range(panel.axis_count)
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),
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"an axis row has no data cell",
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)
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# Motion must be unreachable before a bus is initialised.
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checker.that(
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not panel._rows[0]["fwd_button"].isEnabled(),
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"jog is enabled before the bus is initialised",
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)
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# Bus data follows the reported bus family. ``isEnabledTo`` rather than
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# ``isEnabled``: the panel now lives in a collapsed group, and Qt reports
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# a hidden ancestor as disabling everything inside it.
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box = window.bus_data_group
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window.bus_data_panel.set_connected(True)
|
|
window.bus_data_panel.set_bus_type("ecat")
|
|
checker.that(
|
|
window.bus_data_panel.ecat_box.isEnabledTo(box)
|
|
and not window.bus_data_panel.rtex_box.isEnabledTo(box),
|
|
"the SDO/RTEX panels are not gated by bus type",
|
|
)
|
|
|
|
# Expanding the group must reveal the panel, not resize the page.
|
|
before = window.size()
|
|
box.setChecked(True)
|
|
app.processEvents()
|
|
checker.that(
|
|
window.bus_data_panel.isVisible(), "expanding the group did not show the panel"
|
|
)
|
|
box.setChecked(False)
|
|
app.processEvents()
|
|
checker.that(
|
|
window.size() == before, "toggling bus data resized the window"
|
|
)
|
|
|
|
# A full simulated session: connect, initialise from the shipped BAS.
|
|
window.connect_controller(ConnectionSpec(mode="demo"), label="connect")
|
|
_wait_for(app, lambda w=window: w._last_snapshot.connected, 6.0)
|
|
checker.that(
|
|
window._last_snapshot.connected, "the simulated controller did not connect"
|
|
)
|
|
|
|
window.bus_panel.set_bas_path(str(default_bas_dir() / "ECAT.bas"))
|
|
window._on_download_bas()
|
|
ok = _wait_for(app, lambda w=window: w._last_snapshot.bus.init_status == 1, 8.0)
|
|
checker.that(ok, "the simulated bus did not report initialised")
|
|
if ok:
|
|
checker.that(
|
|
window._last_snapshot.bus.bus_type == "ecat",
|
|
"the bus type was not decoded from BUS_TYPE",
|
|
)
|
|
checker.that(
|
|
window._last_snapshot.bus.total_axes == 5,
|
|
"the bus did not report five axes",
|
|
)
|
|
checker.that(
|
|
panel._rows[0]["fwd_button"].isEnabled(),
|
|
"jog stayed disabled after the bus was initialised",
|
|
)
|
|
checker.that(
|
|
"65" in window.axis_panel._detail_label.text(),
|
|
"ATYPE was not read back on the detail line (expected 65, position mode)",
|
|
)
|
|
print(
|
|
f" session: bus={window._last_snapshot.bus.bus_type} "
|
|
f"axes={window._last_snapshot.bus.total_axes} "
|
|
f"{panel.enabled_count_label.text()}"
|
|
)
|
|
# The strip must be reporting the live session, from whatever tab.
|
|
window.workspace.set_current_key("surface")
|
|
app.processEvents()
|
|
strip = window.status_strip
|
|
checker.that(
|
|
strip.chip_connection.text() == t("connection.state_open"),
|
|
f"strip connection chip says {strip.chip_connection.text()!r}",
|
|
)
|
|
checker.that(
|
|
strip.chip_bus.text() == t("bus.type_ecat"),
|
|
f"strip bus chip says {strip.chip_bus.text()!r}",
|
|
)
|
|
checker.that(
|
|
strip.chip_init.text() == t("bus.state_ok"),
|
|
f"strip init chip says {strip.chip_init.text()!r}",
|
|
)
|
|
checker.that(
|
|
t("axes.enabled_count", on=5, total=5) == strip.chip_axes.text()
|
|
or "5" in strip.chip_axes.text(),
|
|
f"strip axis chip says {strip.chip_axes.text()!r}",
|
|
)
|
|
window.workspace.set_current_key("axes")
|
|
|
|
# ---- the pose move ------------------------------------------------
|
|
# The whole path end to end, on the simulated controller: solve a pose
|
|
# from a picked point, plan it, run it, and check the drives arrived.
|
|
# Nothing else exercises the order, the units and the guards together.
|
|
window.workspace.set_current_key("finger")
|
|
app.processEvents()
|
|
finger = window.finger_panel
|
|
checker.that(
|
|
finger.execute_button.isEnabled(),
|
|
"execute is disabled on a connected, initialised platform",
|
|
)
|
|
checker.that(
|
|
finger.stop_button.isEnabled(),
|
|
"the local stop is disabled while the platform may move",
|
|
)
|
|
|
|
# A point to solve: pick the centre of the flat image, which is the
|
|
# operator's own gesture, so the pose the check plans is a real one.
|
|
if not finger.points():
|
|
view = finger.view
|
|
window._on_pick_point(view.width() // 2, view.height() // 2) # noqa: SLF001
|
|
app.processEvents()
|
|
checker.that(
|
|
bool(finger.points()),
|
|
"picking the middle of the patch produced no point",
|
|
)
|
|
|
|
solve = finger.solved_pose()
|
|
checker.that(
|
|
solve is not None,
|
|
"the finger screen solved no pose from its point list",
|
|
)
|
|
if solve is not None:
|
|
# The shipped machine has no measured press-axis zero, so the press
|
|
# role must come back held: a geometric contact height is not a
|
|
# controller coordinate until somebody has measured the relation.
|
|
held_targets, held_roles = solve
|
|
checker.that(
|
|
"z" not in held_targets and held_roles == ("z",),
|
|
f"an uncalibrated press axis was commanded anyway: "
|
|
f"{sorted(held_targets)} held={held_roles}",
|
|
)
|
|
print(" press: an uncalibrated press axis is held, not commanded")
|
|
# Entering the bench's zero — a dialled-in number, as the operator
|
|
# would — turns the same height into a coordinate and the move into
|
|
# five axes.
|
|
page = window.device_setup.press_page
|
|
page.zero_spin.setValue(2.0)
|
|
page.calibrated_check.setChecked(True)
|
|
app.processEvents()
|
|
solve = finger.solved_pose()
|
|
targets, held = solve
|
|
checker.that(
|
|
"z" in targets and not held,
|
|
f"execute does not command the press axis: "
|
|
f"{sorted(targets)} held={held}",
|
|
)
|
|
plan = plan_pose_move(
|
|
window.poller.service, targets, hold=held, together=True
|
|
)
|
|
checker.that(
|
|
[step.role for step in plan.steps]
|
|
== ["yaw", "pitch", "x", "y", "z"],
|
|
f"the move order is {[step.role for step in plan.steps]}",
|
|
)
|
|
checker.that(
|
|
all(math.isfinite(step.units) for step in plan.steps),
|
|
"a planned step does not convert to user units",
|
|
)
|
|
# Straight to the mover: the confirmation box is the operator's, and
|
|
# a modal dialog in a headless check is a hang (it has been one).
|
|
result = window.mover.start(plan)
|
|
checker.that(result.ok, f"the mover refused the plan: {result.message}")
|
|
moved = _wait_for(app, lambda w=window: not w.mover.running, 25.0)
|
|
checker.that(moved, "the pose move did not finish")
|
|
checker.that(
|
|
not window.mover.state.failure,
|
|
f"the pose move failed: {window.mover.state.failure}",
|
|
)
|
|
for step in plan.steps:
|
|
state = window._last_snapshot.axis(step.axis)
|
|
if state is None:
|
|
continue
|
|
if step.unit == "mm":
|
|
actual = window.poller.service.to_mm(step.axis, state.dpos)
|
|
else:
|
|
actual = user_units_to_deg(step.axis, state.dpos)
|
|
checker.that(
|
|
abs(actual - step.target) <= 0.05,
|
|
f"{step.role} ended at {actual:.4f}{step.unit}, "
|
|
f"target {step.target:.4f}{step.unit}",
|
|
)
|
|
print(
|
|
" move: "
|
|
+ ", ".join(f"{s.role}={s.target:+.3f}{s.unit}" for s in plan.steps)
|
|
+ " reached"
|
|
)
|
|
|
|
# All five axes back to zero together, including the press axis.
|
|
back = plan_return_to_initial(window.poller.service)
|
|
checker.that(
|
|
[step.role for step in back.steps]
|
|
== ["yaw", "pitch", "x", "y", "z"],
|
|
f"the return order is {[step.role for step in back.steps]}",
|
|
)
|
|
result = window.mover.start(back)
|
|
checker.that(result.ok, f"the return was refused: {result.message}")
|
|
returned = _wait_for(app, lambda w=window: not w.mover.running, 30.0)
|
|
checker.that(
|
|
returned and not window.mover.state.failure,
|
|
f"the return did not finish: {window.mover.state.failure}",
|
|
)
|
|
zeroed = [
|
|
window._last_snapshot.axis(step.axis).dpos
|
|
for step in back.steps
|
|
if window._last_snapshot.axis(step.axis) is not None
|
|
]
|
|
checker.that(
|
|
all(abs(value) <= 1.0 for value in zeroed),
|
|
f"the axes did not return to zero: {zeroed}",
|
|
)
|
|
print(" move: every axis returned to zero")
|
|
|
|
# Stop cancels the queue: no further axis may be commanded.
|
|
window.mover.start(plan)
|
|
window._on_stop_all()
|
|
app.processEvents()
|
|
checker.that(not window.mover.running, "stop left the move queued")
|
|
checker.that(
|
|
window.mover.state.cancelled,
|
|
"stop did not mark the move cancelled",
|
|
)
|
|
print(" move: stop cancels the queue")
|
|
|
|
# The guards, on the same connected session: a mapping that claims one
|
|
# drive twice must refuse motion rather than quietly pick a role.
|
|
service = window.poller.service
|
|
saved = service.axis_roles
|
|
service.set_axis_roles({"x": 0, "y": 0, "pitch": 2, "yaw": 3, "z": 4})
|
|
refusal = service.check_axes_move({"x": 1.0, "y": 1.0})
|
|
checker.that(
|
|
refusal is not None,
|
|
f"a duplicated drive was not refused: {refusal}",
|
|
)
|
|
service.set_axis_roles(saved)
|
|
refusal = service.check_axes_move({"x": 500.0})
|
|
checker.that(
|
|
refusal is not None and "500" in refusal.message,
|
|
f"a target past the travel limit was not refused: {refusal}",
|
|
)
|
|
refusal = service.check_axes_move({"yaw": 400.0})
|
|
checker.that(
|
|
refusal is not None,
|
|
f"a yaw past the stage envelope was not refused: {refusal}",
|
|
)
|
|
# The mapping page must agree with the service it feeds.
|
|
page = window.device_setup.roles_page
|
|
checker.that(
|
|
page.roles() == saved,
|
|
f"the mapping page shows {page.roles()}, service holds {saved}",
|
|
)
|
|
page.combos["y"].setCurrentIndex(page.combos["y"].findData(0))
|
|
app.processEvents()
|
|
checker.that(
|
|
bool(page.problem()), "the mapping page accepted two roles on one drive"
|
|
)
|
|
checker.that(
|
|
service.roles_problem() != "",
|
|
"the service did not pick up the duplicated mapping",
|
|
)
|
|
page.combos["y"].setCurrentIndex(page.combos["y"].findData(1))
|
|
app.processEvents()
|
|
checker.that(
|
|
page.problem() == "" and service.roles_problem() == "",
|
|
"correcting the mapping did not clear the refusal",
|
|
)
|
|
print(" move: guards refuse a duplicate mapping and an out-of-range target")
|
|
window.workspace.set_current_key("axes")
|
|
app.processEvents()
|
|
|
|
try:
|
|
window.poller.shutdown()
|
|
except Exception: # noqa: BLE001,S110 - a shutdown must not mask the result
|
|
pass
|
|
window.close()
|
|
app.processEvents()
|
|
|
|
return checker.report()
|
|
|
|
|
|
def _overflowing(root) -> list[str]:
|
|
"""Visible descendants that are larger than the widget that contains them.
|
|
|
|
Scroll-area content is exempt: a rail's content is meant to exceed its viewport.
|
|
Everything else that does not fit its parent is a clipped control.
|
|
"""
|
|
oversize = []
|
|
for child in _visible_descendants(root):
|
|
if _inside_scroll_area(child):
|
|
continue
|
|
parent = child.parentWidget()
|
|
if parent is None or not parent.isVisible():
|
|
continue
|
|
geometry = child.geometry()
|
|
if (
|
|
geometry.width() > parent.width() + 1
|
|
or geometry.height() > parent.height() + 1
|
|
):
|
|
oversize.append(
|
|
f"{type(child).__name__} {geometry.width()}x{geometry.height()}"
|
|
f" > {parent.width()}x{parent.height()}"
|
|
)
|
|
return oversize
|
|
|
|
|
|
def _inside_scroll_area(widget) -> bool:
|
|
"""Whether ``widget`` is scroll-area content rather than a laid-out child."""
|
|
from PySide6.QtWidgets import QAbstractScrollArea
|
|
|
|
parent = widget.parentWidget()
|
|
while parent is not None:
|
|
if isinstance(parent, QAbstractScrollArea):
|
|
return True
|
|
parent = parent.parentWidget()
|
|
return False
|
|
|
|
|
|
def _wait_for(app, predicate, timeout: float) -> bool:
|
|
import time
|
|
|
|
deadline = time.monotonic() + timeout
|
|
while time.monotonic() < deadline:
|
|
app.processEvents()
|
|
if predicate():
|
|
return True
|
|
time.sleep(0.02)
|
|
return False
|
|
|
|
|
|
if __name__ == "__main__":
|
|
raise SystemExit(main())
|