Update workstation UI, ROS task control and device integration

station/test/gui_fixture.py

@@ -12,11 +12,47 @@ assert app.property('darkTheme') is True
 assert window._theme_selector.currentData()=='dark'
 window._apply_theme('light',persist=False)
 assert app.property('darkTheme') is False
+# A first status message and its expiry must not resize the dashboard.
+app.processEvents()
+content_before=window.centralWidget().geometry()
+window.statusBar().showMessage('刷新相机 · 状态提示 '*30)
+app.processEvents()
+assert window.centralWidget().geometry()==content_before
+window.statusBar().clearMessage();app.processEvents()
+assert window.centralWidget().geometry()==content_before
 assert window._theme_selector.currentData()=='light'
 assert 'rclpy' not in sys.modules
 assert 'serial' not in sys.modules
 assert 'station.operator_console' not in sys.modules
 assert set(window._pages) == {'main','calibration','settings','ros_monitor'}
+# Offline display uses the configured HOME, while real feedback always wins.
+assert window._home_poses[window._arm] != [0.]*7
+assert window._arm_sketch._pose_key[0] == tuple(round(q,3) for q in window._home_poses[window._arm])
+assert not window._arm_sketch._live
+from unittest.mock import patch
+live_snap=dict(window._snap)
+live_snap['arm_live']={window._arm:{'pose_live':True,'q':[.12]*7}}
+with patch.object(ui,'status',return_value=live_snap):
+    window._refresh()
+    assert window._arm_sketch._pose_key[0]==(.12,)*7
+    assert window._arm_sketch._live
+window._refresh()
+# Calibration follows arm/mode and shares the existing camera preview path.
+from unittest.mock import patch
+window._show_page('calibration')
+window._snap['camera_ownership']=[{'id':cam['id'],'owned':True} for cam in ui.camera_view.targets()]
+with patch.object(ui.camera_view, 'watch') as watch:
+    window._calibration_mode.setCurrentIndex(0)
+    window._sync_camera_watch()
+    wrist=window._calibration_camera()
+    assert wrist and wrist['arm']==window._arm
+    assert wrist['id']+'_color' in watch.call_args.args[0]
+    window._calibration_mode.setCurrentIndex(1)
+    outside=window._calibration_camera()
+    assert outside and not outside.get('arm')
+    assert outside['id']+'_color' in watch.call_args.args[0]
+window._calibration_mode.setCurrentIndex(0)
+window._show_page('main')
 # A photo must preserve the current RGB frame; no capture/device operation is needed.
 import tempfile
 from unittest.mock import patch
@@ -34,6 +70,66 @@ with tempfile.TemporaryDirectory() as pictures:
         assert selected['id'] in window._camera_windows
         window._camera_windows[selected['id']].close()
 assert not window._camera_windows
+# Device controls only submit explicit actions; changing settings never writes to hardware.
+assert not hasattr(window,'_grip_force') and not hasattr(window,'_grip_target')
+assert window._gripper_probe_button.text()=='连接 / 探测'
+assert window._sensor_refresh_button.text()=='刷新传感器'
+assert window._sensor_reset_button.text()=='重置底图'
+assert window._sensor_reset_button.size()==window._sensor_refresh_button.size()
+assert window._gripper_probe_button.size()==window._sensor_refresh_button.size()
+assert window._gripper_probe_button.height()==28
+original_arm=window._arm
+window._set_arm('91')
+assert window._gripper_sketch._cad_static and window._gripper_sketch._gl_count>0
+assert window._gripper_sketch._caption()==''
+window._set_arm(original_arm)
+assert not window._gripper_sketch._cad_static
+assert window._gripper_sketch._caption()==''
+from PySide6.QtCore import QByteArray,QBuffer,QIODevice
+sample_image=ui.QImage(32,32,ui.QImage.Format.Format_RGB888);sample_image.fill(ui.QColor('#1683ff'))
+encoded=QByteArray();buffer=QBuffer(encoded);buffer.open(QIODevice.OpenModeFlag.WriteOnly)
+assert sample_image.save(buffer,'JPG');buffer.close()
+fake_snap=dict(window._snap)
+fake_snap['backend']={**fake_snap.get('backend',{}),'error':''}
+fake_snap['arm_live']={original_arm:{'tcp_pose':[500.,120.,325.,179.2,.5,88.1]}}
+fake_snap['tactile']={'left':{'connected':True,'fps':29.,'fnormal':12000.,'fshearx':20000.,'fsheary':-10000.,
+    'force_n':{'fnormal':.477,'fshearx':.65,'fsheary':-.31}}}
+fake_snap['history_n']={'left':[{'t':time.time()-.1,'fnormal':.477,'fshearx':.65,'fsheary':-.31}]}
+with patch.object(ui,'status',return_value=fake_snap),patch.object(ui.runtime.tactile_view,'frame',return_value=bytes(encoded)):
+    window._refresh();window._paint_images()
+    assert [v.text() for v in window._tcp_values]==['500.0','120.0','325.0','179.2','0.5','88.1']
+    assert '(29fps)' in window._flow_slots[0][0].text()
+    assert '·' not in window._flow_slots[0][0].text()
+    assert '当前法向力 0.48N' in window._flow_slots[0][0].text()
+    assert not hasattr(window,'_flow_details')
+    assert window._flow_axis_charts['left']['x']._samples[-1]['fshearx']==.65
+    assert window._flow_axis_charts['left']['y']._samples[-1]['fsheary']==-.31
+    assert window._flow_axis_charts['left']['x']._scale==window._flow_axis_charts['left']['y']._scale==10.
+    assert window._flow_axis_charts['left']['x'].MAX_SAMPLES==150
+    app.processEvents()
+    for triplet in window._flow_triplets.values():
+        rectangles=[item.geometry() for item in triplet.items]
+        assert all(rect.width()==rect.height() for rect in rectangles),rectangles
+        assert len({rect.width() for rect in rectangles})==1,rectangles
+        assert len({rect.y() for rect in rectangles})==1,rectangles
+    assert not window._flow_slots[0][1]._source.isNull()
+    # Recent samples are spread across a shorter window without altering source data.
+    chart=window._flow_axis_charts['left']['x']
+    history=[{'seq':i,'fshearx':.2,'fsheary':-.2} for i in range(1800)]
+    chart.set_samples(history)
+    assert len(chart._samples)==150 and chart._samples[0]['seq']==1650
+    assert history[-1]['fshearx']==.2
+    assert ui._display_force(.299)==ui._display_force(-.299)==0.
+    assert ui._display_force(.3)==.3 and ui._display_force(-.3)==-.3
+    assert window._flow_slots[0][0].textFormat()==ui.Qt.TextFormat.PlainText
+    title=window._flow_slots[0][0]
+    triplet=window._flow_triplets['left']
+    assert title.geometry().top()>=triplet.geometry().bottom()
+    fake_snap['history_n']['left'][-1]['fnormal']=.25
+    window._refresh();window._paint_images()
+    assert '当前法向力 0N' in title.text()
+
+
 errors=[];ticks=[]
 duration=float(os.environ.get("ORISYS_GUI_TEST_SECONDS","2.2"))
 started=time.monotonic()
@@ -50,6 +146,20 @@ original=sys.excepthook
 def fail(*args): errors.append(str(args[1]));original(*args)
 sys.excepthook=fail
 beat=ui.QTimer();beat.timeout.connect(tick);beat.start(50)
+# The GUI must not serialize read-only requests behind a long arm operation.
+parallel=[]
+def fake_command(action,aid,*args,**kwargs):
+    parallel.append((action,time.monotonic()))
+    if action=='stage_track':
+        time.sleep(.65)
+        parallel.append(('motion_finished',time.monotonic()))
+    return {'ok':True,'message':'isolated test'}
+ui.run_action=fake_command
+ui.stop_started=lambda *args:(parallel.append(('stop',time.monotonic())),{'ok':True,'message':'isolated stop'})[1]
+ui.QTimer.singleShot(220,lambda:window._ask('stage_track'))
+ui.QTimer.singleShot(260,lambda:window._ask('handeye_show'))
+ui.QTimer.singleShot(280,lambda:window._ask('stage_track'))
+ui.QTimer.singleShot(300,window._stop_arm)
 ui.QTimer.singleShot(200,lambda:window._start(lambda:(time.sleep(.7),{'ok':True,'message':'test'})[1],'test'))
 ui.QTimer.singleShot(500,lambda:window._show_page('calibration'))
 ui.QTimer.singleShot(1000,lambda:window._show_page('calibration'))
@@ -59,6 +169,23 @@ ui.QTimer.singleShot(round(duration*1000),window.close)
 ui.QTimer.singleShot(round((duration+15)*1000),app.quit)
 app.exec()
 assert len(ticks)>20,len(ticks)
+assert [name for name,_ in parallel].count('stage_track')==1,parallel
+assert dict(parallel)['handeye_show']<dict(parallel)['motion_finished'],parallel
+assert dict(parallel)['stop']<dict(parallel)['motion_finished'],parallel
+text = window._detail.toPlainText()
+assert '[点击] 检测跟踪' in text,text
+assert '[未重复发送]' in text,text
+assert 'isolated test' in text,text
+# Repeated refreshes cannot duplicate backend lifecycle events.
+window._snap['operation_log']={'session':'log-test','events':[
+    {'seq':1,'time':time.time(),'action':'stage_track','arm':'89','task_id':'123456789','message':'收到操作请求'},
+    {'seq':2,'time':time.time(),'action':'stage_track','arm':'89','task_id':'123456789','message':'识别阶段'}]}
+window._sync_operation_log();window._sync_operation_log()
+assert window._detail.toPlainText().count('识别阶段')==1
+assert '#12345678' in window._detail.toPlainText()
+window._ran({'ok':False,'operation':'对孔测试','message':'执行失败','detail':'测试用内部错误明细','log':'/tmp/isolated-motion.log'})
+assert '测试用内部错误明细' in window._detail.toPlainText()
+assert '/tmp/isolated-motion.log' in window._detail.toPlainText()
 assert not errors,errors
 assert runtime._runtime is None
 assert not any(job.isRunning() for job in window._jobs.values())