命令挤在一条队列里，上一条没返回后面的就点不了；软拖拽又被位置环顶回去。相机、夹爪、触觉分开走，停止只杀本界面登记的进程组。左指右指挪到画面外面，标题条改成实底，图像不再把字盖住。

验收：test_command_lanes、test_listed_arms、test_camera_preview 共 26 项通过。

Co-authored-by: Cursor <cursoragent@cursor.com>

src/arm_application/arm_application/operator_app.py

@@ -60,7 +60,10 @@ from arm_application.site_io import arm_short_id, listed_arms, load_site_dict
 from arm_application.operator_console import (
     _poll_tactile,
     catalog,
+    command_blocked_message,
+    command_lane,
     run_action,
+    stop_started,
     run_gripper_tune,
     status,
 )
@@ -298,9 +301,10 @@ class FrameLabel(QLabel):
         self._clip_round(painter)
         painter.fillRect(self.rect(), QColor("#090c11"))
         pix = self._scaled
+        frame = self._picture_rect()
         painter.drawPixmap(
-            (self.width() - pix.width()) // 2,
+            frame.x() + (frame.width() - pix.width()) // 2,
-            (self.height() - pix.height()) // 2,
+            frame.y() + (frame.height() - pix.height()) // 2,
             pix,
         )
         self._paint_badge(painter)
@@ -315,32 +319,50 @@ class FrameLabel(QLabel):
     def _paint_badge(self, painter: QPainter) -> None:
         if not self._badge_title and not self._badge_detail:
             return
-        bar = 24
+        bar = self._caption_h()
         top = max(0, self.height() - bar)
-        painter.fillRect(0, top, self.width(), bar, QColor(8, 10, 14, 176))
+        painter.fillRect(0, top, self.width(), bar, QColor("#0c1016"))
         font = QFont(painter.font())
         font.setPixelSize(12)
         painter.setFont(font)
         painter.setPen(QColor("#f4f7fb"))
+        detail = self._badge_detail
+        if detail:
+            title_w = max(0, self.width() // 2 - 14)
+            detail_w = max(0, self.width() // 2 - 14)
+        else:
+            title_w = max(0, self.width() - 16)
+            detail_w = 0
+        title = QFontMetrics(font).elidedText(self._badge_title, Qt.TextElideMode.ElideRight, title_w)
         painter.drawText(
-            10, top, max(0, self.width() // 2 - 8), bar,
+            8, top, title_w, bar,
             int(Qt.AlignmentFlag.AlignVCenter | Qt.AlignmentFlag.AlignLeft),
-            self._badge_title,
+            title,
         )
-        detail = QFont("DejaVu Sans Mono")
+        if detail_w:
-        detail.setPixelSize(11)
+            detail_font = QFont("DejaVu Sans Mono")
-        painter.setFont(detail)
+            detail_font.setPixelSize(11)
+            painter.setFont(detail_font)
             painter.setPen(QColor("#d5deea"))
+            shown = QFontMetrics(detail_font).elidedText(detail, Qt.TextElideMode.ElideLeft, detail_w)
             painter.drawText(
-            self.width() // 2, top, max(0, self.width() // 2 - 10), bar,
+                self.width() // 2, top, detail_w, bar,
                 int(Qt.AlignmentFlag.AlignVCenter | Qt.AlignmentFlag.AlignRight),
-            self._badge_detail,
+                shown,
             )
 
+    def _caption_h(self) -> int:
+        return 24 if (self._badge_title or self._badge_detail) else 0
+
+    def _picture_rect(self) -> QRect:
+        """画面停在标题条上面。标题条是实底，图像不再从字下面透出来。"""
+        bar = self._caption_h()
+        return QRect(0, 0, max(1, self.width()), max(1, self.height() - bar))
+
     def _draw(self, _smooth: bool) -> None:
         if self._busy or self._source.isNull():
             return
-        size = self.contentsRect().size()
+        size = self._picture_rect().size()
         if size.width() < 8 or size.height() < 8 or size == self._drawn:
             return
         self._busy = True
@@ -1186,7 +1208,7 @@ class StationApp(QMainWindow):
         self._arm = self._catalog[0]["id"] if self._catalog else ""
         self._mode = "eye_in_hand"
         self._snap: dict = {}
-        self._job: _Job | None = None
+        self._jobs: dict[str, _Job] = {}
         self._teach_sig: tuple | None = None
         self._pages: dict[str, QWidget] = {}
         self._nav: list[tuple[str, QPushButton]] = []
@@ -1575,21 +1597,28 @@ class StationApp(QMainWindow):
         pics.setSpacing(6)
         pics.setContentsMargins(0, 0, 0, 0)
         for side_index, (side, name) in enumerate((("left", "左指"), ("right", "右指"))):
+            head = QLabel(name)
+            head.setObjectName("finger")
+            head.setAlignment(Qt.AlignmentFlag.AlignCenter)
+            head.setFixedHeight(22)
+            pics.addWidget(head, 0, side_index * 2, 1, 2)
             for kind_index, (kind, caption) in enumerate((("shear", "切向"), ("thermal", "热像"))):
                 column = side_index * 2 + kind_index
                 shot = FrameLabel("", compact=True)
-                shot.set_badge(f"{name}{caption}", "")
+                shot.set_badge(caption, "")
                 self._pic[f"{side}_{kind}"] = shot
-                pics.addWidget(shot, 0, column)
+                pics.addWidget(shot, 1, column)
             force = _fit_text(QLabel("—"))
             force.setObjectName("muted")
             force.setFixedHeight(22)
             force.setAlignment(Qt.AlignmentFlag.AlignCenter)
             self._mini.append(force)
-            pics.addWidget(force, 1, side_index * 2, 1, 2)
+            pics.addWidget(force, 2, side_index * 2, 1, 2)
         for column in range(4):
             pics.setColumnStretch(column, 1)
-        pics.setRowStretch(0, 1)
+        pics.setRowStretch(1, 1)
+        pics.setRowMinimumHeight(0, 22)
+        pics.setRowMinimumHeight(2, 22)
         tac_box = QWidget()
         tac_box.setLayout(pics)
         tac_box.setMinimumHeight(160)
@@ -1611,7 +1640,15 @@ class StationApp(QMainWindow):
         ops_lay = QVBoxLayout(ops)
         ops_lay.setContentsMargins(8, 6, 8, 8)
         ops_lay.setSpacing(6)
-        ops_lay.addWidget(_section("操作"))
+        head = QHBoxLayout()
+        head.setSpacing(6)
+        head.addWidget(_section("操作"))
+        head.addStretch(1)
+        stop = _btn("停止命令", True)
+        stop.setFixedHeight(36)
+        stop.clicked.connect(lambda: self._start(stop_started, "stop"))
+        head.addWidget(stop)
+        ops_lay.addLayout(head)
         grid = QGridLayout()
         grid.setSpacing(6)
         actions = (
@@ -1950,7 +1987,8 @@ class StationApp(QMainWindow):
         page = QWidget()
         lay = QVBoxLayout(page)
         lead = QLabel(
-            "软拖拽占用 RDK，要先停掉控制栈。记录的是当时的 7 个关节角，单位弧度。"
+            "软拖拽会先停下关节轨迹控制器，关掉后再恢复，不再另开一条去抢位置环。"
+            "记录的是当时的 7 个关节角，单位弧度。"
             "回到点位会先关掉拖拽，再按下面的关节速度走过去。和 home 复位不是同一条路。"
         )
         lead.setWordWrap(True)
@@ -2128,7 +2166,7 @@ class StationApp(QMainWindow):
             return
         captured = dict(numbers)
         arm = self._arm
-        self._start(lambda: run_gripper_tune(arm, send_kind, captured))
+        self._start(lambda: run_gripper_tune(arm, send_kind, captured), "grip")
 
     def _selected_point(self) -> str:
         item = self._teach_list.currentItem()
@@ -2141,14 +2179,14 @@ class StationApp(QMainWindow):
         if not sn:
             self.statusBar().showMessage("这台臂没有序列号", 4000)
             return
-        self._start(lambda: teach.drag_on(sn))
+        self._start(lambda: teach.drag_on(sn), "teach")
 
     def _teach_off(self) -> None:
         sn = self._sn()
         if not sn:
             self.statusBar().showMessage("这台臂没有序列号", 4000)
             return
-        self._start(lambda: teach.drag_off(sn))
+        self._start(lambda: teach.drag_off(sn), "teach")
 
     def _teach_record(self) -> None:
         sn = self._sn()
@@ -2157,7 +2195,7 @@ class StationApp(QMainWindow):
             self.statusBar().showMessage("这台臂没有序列号", 4000)
             return
         arm = self._arm
-        self._start(lambda: teach.record(sn, arm, name))
+        self._start(lambda: teach.record(sn, arm, name), "teach")
 
     def _teach_delete(self) -> None:
         name = self._selected_point()
@@ -2166,7 +2204,7 @@ class StationApp(QMainWindow):
             return
         arm = self._arm
         self._teach_sig = None
-        self._start(lambda: teach.delete_point(arm, name))
+        self._start(lambda: teach.delete_point(arm, name), "teach")
 
     def _teach_goto(self) -> None:
         sn = self._sn()
@@ -2176,7 +2214,7 @@ class StationApp(QMainWindow):
             self.statusBar().showMessage("先选臂和点位", 3000)
             return
         arm = self._arm
-        self._start(lambda: teach.goto(sn, arm, name, speed))
+        self._start(lambda: teach.goto(sn, arm, name, speed), "teach")
 
     def _sn(self) -> str:
         arms = (self._snap or {}).get("arms") or []
@@ -2204,22 +2242,25 @@ class StationApp(QMainWindow):
         confirm = bool(spec and spec.get("moves"))
         arm, mode = self._arm, self._mode
         extras = {"points": self._he_points.value(), "append": self._he_append.isChecked()}
-        self._start(lambda: run_action("handeye_teach", arm, confirm, mode, extras))
+        self._start(lambda: run_action("handeye_teach", arm, confirm, mode, extras), "teach")
 
     def _ask(self, action: str) -> None:
         """点下去就下发。动臂仍带 confirm，后台才肯执行，界面不再弹窗。"""
         spec = self._spec(action)
         confirm = bool(spec and spec.get("moves"))
         arm, mode = self._arm, self._mode
-        self._start(lambda: run_action(action, arm, confirm, mode))
+        self._start(lambda: run_action(action, arm, confirm, mode), command_lane(action))
 
-    def _start(self, fn) -> None:
+    def _start(self, fn, lane: str) -> None:
-        if self._job is not None and self._job.isRunning():
+        running = {name for name, job in self._jobs.items() if job.isRunning()}
-            self.statusBar().showMessage("上一个命令还没返回", 3000)
+        blocked = command_blocked_message(running, lane)
+        if blocked:
+            self.statusBar().showMessage(blocked, 3000)
             return
-        self._job = _Job(fn)
+        job = _Job(fn)
-        self._job.finished_ok.connect(self._ran)
+        self._jobs[lane] = job
-        self._job.start()
+        job.finished_ok.connect(self._ran)
+        job.start()
 
     def _ran(self, result: dict) -> None:
         text = result.get("message") or ("已发出" if result.get("ok") else "失败")
@@ -2535,6 +2576,7 @@ QLabel#armLine { font-size: 16px; font-weight: 600; color: #f4f7fb; }
 QLabel#count { color: #f4f7fb; font-weight: 600; }
 QLabel#cardTitle { color: #8b95a7; font-size: 11px; }
 QLabel#section { color: #d5dbe6; font-weight: 600; }
+QLabel#finger { color: #f4f7fb; font-weight: 600; background: transparent; }
 QFrame#sectionMark { background: #5b9bff; border: none; border-radius: 1px; }
 QLabel#step {
   background: #151a22; color: #9aa3b2; border: 1px solid #2a3240;

src/arm_application/arm_application/operator_console.py

@@ -12,6 +12,7 @@ from __future__ import annotations
 import json
 import os
 import re
+import signal
 import subprocess
 import threading
 import time
@@ -36,11 +37,60 @@ else:
     ROOT = Path.home() / "ros2"
 
 LOG_DIR = Path("/tmp/orisys_console")
+
+# 动臂和软拖拽都要这台臂，不能一边下发位置一边再开拖拽。
+# 相机、夹爪、触觉不碰这条，也不该排在它后面等。
+_ROBOT_LANES = frozenset({"arm", "teach"})
+_ARM_ACTIONS = frozenset({
+    "pipeline", "stage_track", "stage_locate", "stage_screw",
+    "reset_home", "gauge_run", "real_up", "handeye_calibrate",
+})
+_LANE_WAIT = {
+    "grip": "夹爪上一条还没到位",
+    "camera": "相机命令还没返回",
+    "tactile": "触觉命令还没返回",
+    "arm": "这台臂上一条运动还没结束",
+    "teach": "软拖拽还没返回",
+}
+
+
+def command_lane(action: str) -> str:
+    """每类命令一条通道。同一条还没返回才拒绝，不让相机去等夹爪。"""
+    if action == "stop_commands":
+        return "stop"
+    if action in ("camera_d405", "camera_d435"):
+        return "camera"
+    if action.startswith("tactile"):
+        return "tactile"
+    if action.startswith("gripper"):
+        return "grip"
+    if action == "handeye_teach":
+        return "teach"
+    if action in _ARM_ACTIONS:
+        return "arm"
+    return action
+
+
+def command_blocked_message(running: set[str], lane: str) -> str:
+    """这条通道，或同一台臂上的另一条运动，还没结束时返回要显示的句子。"""
+    if lane == "stop":
+        return ""
+    if lane in running:
+        return _LANE_WAIT.get(lane, "这一条命令还没返回")
+    if lane in _ROBOT_LANES:
+        other = next((name for name in _ROBOT_LANES if name != lane and name in running), "")
+        if other == "arm":
+            return "这台臂还在动，软拖拽先不开"
+        if other == "teach":
+            return "软拖拽占着这台臂，运动先不开"
+    return ""
 ASSETS = Path(__file__).resolve().parent
 _LOCK = threading.Lock()
 _TACTILE = {"left": {}, "right": {}, "stamp": 0.0}
 _HIST = {"left": deque(maxlen=360), "right": deque(maxlen=360)}
 _PROCS: dict[str, int] = {}
+_LIVE: dict[str, subprocess.Popen] = {}
+_PROC_LOCK = threading.Lock()
 
 
 def _push_force(side: str, sample: dict) -> None:
@@ -529,6 +579,63 @@ def catalog() -> dict:
     }
 
 
+def _remember(action: str, proc: subprocess.Popen) -> None:
+    with _PROC_LOCK:
+        _LIVE[action] = proc
+        _PROCS[action] = proc.pid
+
+
+def _forget(action: str) -> None:
+    with _PROC_LOCK:
+        _LIVE.pop(action, None)
+
+
+def _pid_alive(pid: int) -> bool:
+    if pid <= 0:
+        return False
+    try:
+        os.kill(pid, 0)
+    except OSError:
+        return False
+    return True
+
+
+def stop_started() -> dict:
+    """停掉本界面拉起的命令。只向登记过的进程组发信号，不扫全机。"""
+    with _PROC_LOCK:
+        items = list(_LIVE.items())
+    if not items:
+        return {"ok": True, "message": "没有正在跑的命令"}
+    names: list[str] = []
+    for action, proc in items:
+        pid = int(getattr(proc, "pid", 0) or 0)
+        if not _pid_alive(pid):
+            _forget(action)
+            continue
+        try:
+            os.killpg(os.getpgid(pid), signal.SIGTERM)
+        except ProcessLookupError:
+            _forget(action)
+            continue
+        except OSError as exc:
+            return {"ok": False, "message": f"停不了 {action}：{exc}"}
+        names.append(action)
+    time.sleep(0.3)
+    for action, proc in items:
+        pid = int(getattr(proc, "pid", 0) or 0)
+        if not _pid_alive(pid):
+            _forget(action)
+            continue
+        try:
+            os.killpg(os.getpgid(pid), signal.SIGKILL)
+        except OSError:
+            pass
+        _forget(action)
+    if not names:
+        return {"ok": True, "message": "没有正在跑的命令"}
+    return {"ok": True, "message": "已停止：" + "、".join(names)}
+
+
 def _stop_tactile() -> str:
     subprocess.run(["pkill", "-f", "lib/arm_application/tactile"], check=False)
     subprocess.run(["pkill", "-f", "arm_application/tactile_node.py"], check=False)
@@ -625,17 +732,26 @@ def run_action(
     shown = " ".join(["bash", f"scripts/{spec['script']}", *args])
     try:
         if spec.get("sync"):
-            try:
+            proc = subprocess.Popen(
-                proc = subprocess.run(
                 ["bash", str(script), *args],
                 cwd=str(ROOT),
-                    capture_output=True,
+                stdout=subprocess.PIPE,
+                stderr=subprocess.STDOUT,
                 text=True,
-                    timeout=float(spec.get("timeout") or 40),
+                start_new_session=True,
             )
+            _remember(action, proc)
+            try:
+                detail, _ = proc.communicate(timeout=float(spec.get("timeout") or 40))
             except subprocess.TimeoutExpired:
+                try:
+                    os.killpg(os.getpgid(proc.pid), signal.SIGKILL)
+                except OSError:
+                    pass
                 return {"ok": False, "message": "命令超时还没返回", "detail": shown}
-            detail = ((proc.stdout or "") + (proc.stderr or "")).strip()
+            finally:
+                _forget(action)
+            detail = (detail or "").strip()
             log_path.write_text(detail)
             ok = proc.returncode == 0
             return {
@@ -652,7 +768,7 @@ def run_action(
             stderr=subprocess.STDOUT,
             start_new_session=True,
         )
-        _PROCS[action] = proc.pid
+        _remember(action, proc)
         if grip_port:
             hold_serial(proc.pid)
         if uses_rdk:
@@ -725,11 +841,23 @@ def _run_gripper_argv(script, arm: str, force: int, speed: int, cli: list[str],
         "--cli", *cli,
     ]
     shown = " ".join(argv)
+    proc = subprocess.Popen(
+        argv, cwd=str(ROOT), stdout=subprocess.PIPE, stderr=subprocess.STDOUT,
+        text=True, start_new_session=True,
+    )
+    _remember(f"gripper_{arm}", proc)
     try:
-        proc = subprocess.run(argv, cwd=str(ROOT), capture_output=True, text=True, timeout=90)
+        try:
+            detail, _ = proc.communicate(timeout=90)
         except subprocess.TimeoutExpired:
+            try:
+                os.killpg(os.getpgid(proc.pid), signal.SIGKILL)
+            except OSError:
+                pass
             return {"ok": False, "message": "夹爪 90 秒还没到位", "detail": shown}
-    detail = ((proc.stdout or "") + (proc.stderr or "")).strip()
+    finally:
+        _forget(f"gripper_{arm}")
+    detail = (detail or "").strip()
     ok = proc.returncode == 0
     return {
         "ok": ok,

src/arm_application/arm_application/operator_teach.py

@@ -8,6 +8,8 @@
 
 from __future__ import annotations
 
+import re
+import subprocess
 import threading
 from datetime import datetime, timezone
 from pathlib import Path
@@ -17,6 +19,8 @@ import yaml
 _LOCK = threading.Lock()
 _BRIDGE = None
 _SN = ""
+_YIELDED = False
+_ARM_CONTROLLER = "rizon_arm_controller"
 
 
 def _file(arm: str) -> Path:
@@ -62,19 +66,95 @@ def close() -> None:
         pass
 
 
+def _switch_arm_controller(activate: bool) -> str:
+    """停或恢复关节轨迹控制器。硬件还在，只是不再下发关节位置。
+
+    控制栈在 ``NRT_JOINT_POSITION`` 里持续 ``SendJointPosition``，
+    模式一旦被改走，写循环两秒内又切回去。软拖拽要低阻抗，必须先停这条控制器。
+    """
+    if activate:
+        payload = (
+            "{activate_controllers: ['%s'], deactivate_controllers: [], "
+            "strictness: 2, activate_asap: true, timeout: {sec: 3, nanosec: 0}}"
+            % _ARM_CONTROLLER
+        )
+    else:
+        payload = (
+            "{activate_controllers: [], deactivate_controllers: ['%s'], "
+            "strictness: 1, activate_asap: true, timeout: {sec: 3, nanosec: 0}}"
+            % _ARM_CONTROLLER
+        )
+    try:
+        proc = subprocess.run(
+            [
+                "ros2", "service", "call",
+                "/controller_manager/switch_controller",
+                "controller_manager_msgs/srv/SwitchController",
+                payload,
+            ],
+            capture_output=True,
+            text=True,
+            timeout=15,
+        )
+    except FileNotFoundError:
+        return "找不到 ros2，停不了关节轨迹控制器"
+    except subprocess.TimeoutExpired:
+        return "关节轨迹控制器没回来" if activate else "停关节轨迹控制器超时"
+    text = ((proc.stdout or "") + (proc.stderr or "")).strip()
+    if proc.returncode == 0 and re.search(r"ok\s*[:=]\s*true", text, re.IGNORECASE):
+        return ""
+    tail = text.splitlines()[-1] if text else f"退出码 {proc.returncode}"
+    verb = "恢复" if activate else "停下"
+    return f"没能{verb}关节轨迹控制器：{tail}"
+
+
+def _yield_position_stream() -> str:
+    """控制栈没起来就什么都不做。起来了就先把位置控制器让开。"""
+    global _YIELDED
+    from arm_application.operator_arm_state import stack_running
+
+    if not stack_running():
+        return ""
+    err = _switch_arm_controller(False)
+    if err:
+        return err + "。位置环还在推，软拖拽切不过去。"
+    _YIELDED = True
+    return ""
+
+
+def _restore_position_stream() -> str:
+    global _YIELDED
+    if not _YIELDED:
+        return ""
+    err = _switch_arm_controller(True)
+    _YIELDED = False
+    return err
+
+
 def drag_on(sn: str) -> dict:
     with _LOCK:
         try:
+            yielded = _yield_position_stream()
+            if yielded:
+                return {"ok": False, "message": yielded}
             bridge = _bridge_for(sn)
             result = bridge.drag_on(mode="soft")
         except Exception as exc:
-            return {"ok": False, "message": str(exc)}
+            restore = _restore_position_stream()
+            message = str(exc)
+            if restore:
+                message = f"{message}；{restore}"
+            return {"ok": False, "message": message}
         if not result.get("ok"):
-        return {"ok": False, "message": str(result.get("error") or result)}
+            restore = _restore_position_stream()
-    return {
+            message = str(result.get("error") or result)
-        "ok": True,
+            if restore:
-        "message": "软拖拽已开启。轻推机械臂，再记点。这一步要先停掉控制栈。",
+                message = f"{message}；{restore}"
-    }
+            return {"ok": False, "message": message}
+        note = "软拖拽已开启。轻推机械臂，再记点。"
+        if _YIELDED:
+            note += "关节轨迹控制器已停下，关掉拖拽后会回来。"
+        return {"ok": True, "message": note}
 
 
 def drag_off(sn: str) -> dict:
@@ -83,9 +163,16 @@ def drag_off(sn: str) -> dict:
             bridge = _bridge_for(sn)
             result = bridge.drag_off()
         except Exception as exc:
-            return {"ok": False, "message": str(exc)}
+            restore = _restore_position_stream()
+            message = str(exc)
+            if restore:
+                message = f"{message}；{restore}"
+            return {"ok": False, "message": message}
     if not result.get("ok"):
         return {"ok": False, "message": str(result.get("error") or result)}
+    restore = _restore_position_stream()
+    if restore:
+        return {"ok": False, "message": f"软拖拽已关闭，但{restore}"}
     return {"ok": True, "message": "软拖拽已关闭，臂保持当前位置。"}
 
 

src/arm_application/test/test_command_lanes.py

@@ -0,0 +1,103 @@
+"""命令按设备分通道。相机不该等夹爪，软拖拽也不该叠在位置环上。"""
+
+import subprocess
+
+import pytest
+
+from arm_application.operator_console import command_blocked_message, command_lane
+from arm_application import operator_teach as teach
+
+
+def test_camera_does_not_wait_for_the_gripper():
+    assert command_lane("camera_d405") == "camera"
+    assert command_lane("gripper_open") == "grip"
+    assert command_lane("tactile_up") == "tactile"
+    assert command_blocked_message({"grip"}, "camera") == ""
+    assert command_blocked_message({"camera"}, "teach") == ""
+
+
+def test_drag_waits_only_when_this_arm_is_still_moving():
+    assert command_lane("stage_track") == "arm"
+    assert command_lane("handeye_teach") == "teach"
+    assert command_blocked_message({"arm"}, "teach") == "这台臂还在动，软拖拽先不开"
+    assert command_blocked_message({"teach"}, "arm") == "软拖拽占着这台臂，运动先不开"
+    assert command_blocked_message({"teach"}, "teach") == "软拖拽还没返回"
+    assert command_blocked_message(set(), "teach") == ""
+
+
+def test_stop_is_not_queued_behind_another_command():
+    assert command_lane("stop_commands") == "stop"
+    assert command_blocked_message({"arm", "teach", "grip", "camera"}, "stop") == ""
+
+
+def test_stop_kills_only_the_recorded_process_group():
+    from arm_application import operator_console as console
+
+    keep = subprocess.Popen(["sleep", "30"], start_new_session=True)
+    victim = subprocess.Popen(["sleep", "30"], start_new_session=True)
+    console._remember("demo", victim)
+    try:
+        result = console.stop_started()
+        assert result["ok"] is True
+        assert "demo" in result["message"]
+        victim.wait(timeout=2)
+        assert keep.poll() is None
+        assert "demo" not in console._LIVE
+    finally:
+        for proc in (keep, victim):
+            if proc.poll() is None:
+                proc.kill()
+                proc.wait(timeout=2)
+
+
+def test_finger_names_sit_above_the_pictures():
+    import os
+
+    os.environ.setdefault("QT_QPA_PLATFORM", "offscreen")
+    pytest.importorskip("PySide6")
+    from PySide6.QtWidgets import QApplication, QLabel, QPushButton
+
+    from arm_application.operator_app import FrameLabel, StationApp
+
+    app = QApplication.instance() or QApplication([])
+    win = StationApp()
+    try:
+        win.resize(1440, 900)
+        win.show()
+        app.processEvents()
+        names = [
+            label for label in win._pages["main"].findChildren(QLabel)
+            if label.text() in ("左指", "右指") and not isinstance(label, FrameLabel)
+        ]
+        assert sorted(label.text() for label in names) == ["右指", "左指"]
+        pictures = win._pic
+        assert pictures["left_shear"]._badge_title == "切向"
+        assert pictures["right_thermal"]._badge_title == "热像"
+        for label in names:
+            side = "left" if label.text() == "左指" else "right"
+            shot = pictures[f"{side}_shear"]
+            assert shot.geometry().top() > 0
+            assert label.geometry().bottom() <= shot.geometry().top()
+        shot = pictures["left_shear"]
+        shot.resize(180, 100)
+        assert shot._picture_rect().bottom() <= shot.height() - 24
+        assert any(button.text() == "停止命令" for button in win._pages["main"].findChildren(QPushButton))
+    finally:
+        win.close()
+        app.processEvents()
+
+
+def test_drag_refuses_before_opening_another_link_when_the_position_loop_stays(monkeypatch):
+    monkeypatch.setattr(
+        "arm_application.operator_arm_state.stack_running",
+        lambda: True,
+    )
+    monkeypatch.setattr(
+        teach,
+        "_switch_arm_controller",
+        lambda _activate: "没能停下关节轨迹控制器：拒绝",
+    )
+    result = teach.drag_on("Rizon4-063989")
+    assert result["ok"] is False
+    assert "位置环还在推" in result["message"]
+    assert teach._BRIDGE is None