新增 O30 右手行程标定功能包并完善相机恢复

支持三机位 Tag 两端边界标定、滑块示教、顺序避让恢复、同步四指扫描和 JSON 离线复算；修复相机时钟异常导致采集线程退出的问题，并忽略本地行程标定输出。

src/linkerhand_range_calibration/test/test_gui.py

@@ -0,0 +1,211 @@
+"""Exercise real Qt widgets against the ROS host with its fake adapter."""
+import os
+from pathlib import Path
+import subprocess
+import sys
+import textwrap
+
+
+def test_demo_gui_teach_scan_pause_resume_cancel(tmp_path):
+    program = r'''
+import json,time,sys
+from pathlib import Path
+import rclpy
+from PyQt5.QtCore import Qt
+from PyQt5.QtTest import QTest
+from PyQt5.QtWidgets import QApplication,QLabel
+from linkerhand_range_calibration.profiles import load_profile,load_station
+from linkerhand_range_calibration.runtime import CalibrationRuntime
+from linkerhand_range_calibration.ui.window import CalibrationWindow
+
+rclpy.init();app=QApplication([])
+station=load_station();station['output_root']=str(Path(sys.argv[1])/'output')
+station['teaching_root']=str(Path(sys.argv[1])/'teaching')
+station['scan'].update(rate=1000,stable_frames=4,settle_seconds=.01)
+node=CalibrationRuntime(load_profile(),station,demo=True)
+window=CalibrationWindow(node);window.show()
+def until(condition,timeout=6):
+ end=time.monotonic()+timeout
+ while time.monotonic()<end:
+  rclpy.spin_once(node,timeout_sec=.015);app.processEvents();window.refresh()
+  if condition():return
+ raise AssertionError(str(node.snapshot()))
+until(lambda:node.snapshot().get('can_save',False))
+assert not node.adapter.sent and not node.adapter.settings_sent
+assert len(node.previews())==3
+assert len(window.joint_controls)==20
+clearance_choices=[window.save_kind.itemData(i)[1] for i in range(window.save_kind.count())
+                   if window.save_kind.itemData(i)[0]=='clearances']
+assert clearance_choices==[]
+first,second=window.joint_controls[:2]
+assert first.slider.minimum()==0 and first.slider.maximum()==255
+window.sync_targets();window.fill.click()
+node._tick()
+assert not node.adapter.sent and not node.adapter.settings_sent
+
+# Many drag changes before one runtime tick keep only the latest target.
+for value in range(20,101):first.slider.setValue(value)
+assert not node.adapter.sent
+node._tick();window.refresh()
+assert node.engine.state=='TEACHING' and node.adapter.target[0]==100
+assert first.isEnabled() and not window.save.isEnabled()
+assert len(node.adapter.settings_sent)==1
+second.slider.setValue(45)
+first.slider.setValue(30)
+node._tick()
+assert node.adapter.target[:2]==(30,45)
+assert first.editor.value()==30 and second.editor.value()==45
+assert len(node.adapter.settings_sent)==1
+until(lambda:node.engine.state=='IDLE')
+assert node.adapter.target[:2]==(30,45)
+assert node.adapter.target[2:]==(0,)*18
+
+# Numeric typing waits for confirmation, and then drives the same slider path.
+first.editor.setFocus();first.editor.selectAll()
+QTest.keyClicks(first.editor,'35')
+node._tick()
+assert node.adapter.target[0]==30 and not node.pending_jog
+QTest.keyClick(first.editor,Qt.Key_Return)
+until(lambda:node.engine.state=='IDLE' and node.adapter.target[0]==35)
+assert first.slider.value()==35
+assert len(node.adapter.settings_sent)==1  # idle between gestures does not resend settings
+
+# Finishing one joint must not overwrite another joint's unconfirmed numeric input.
+second.slider.setValue(80);node._tick();window.refresh()
+first.editor.setFocus();first.editor.selectAll()
+QTest.keyClicks(first.editor,'36')
+until(lambda:node.engine.state=='IDLE')
+assert first.editor.text()=='36' and node.adapter.target[0]==35
+QTest.keyClick(first.editor,Qt.Key_Escape)
+window.sync_targets()
+
+# Cancel discards a pending gesture and rejects late events from that UI epoch.
+old_epoch=node.snapshot()['manual_epoch']
+before=len(node.adapter.sent)
+first.slider.setValue(200)
+node.submit('cancel')
+node.submit('jog',targets={node.profile.joints[0].name:240},epoch=old_epoch)
+node._tick();window.refresh()
+assert node.engine.state=='CANCELLED' and len(node.adapter.sent)==before
+assert first.slider.value()==35
+
+# Pause holds the last sent target, and manual controls remain locked until cancel.
+first.slider.setValue(200);node._tick();window.refresh()
+assert node.engine.state=='TEACHING'
+window.pause.click();until(lambda:node.engine.state=='PAUSED')
+assert not first.isEnabled() and not window.resume.isEnabled()
+before=len(node.adapter.sent)
+node.submit('jog',targets={node.profile.joints[0].name:255},epoch=node.snapshot()['manual_epoch'])
+node._tick()
+assert len(node.adapter.sent)==before
+window.cancel.click();until(lambda:node.engine.state=='CANCELLED')
+
+window.start_one.click()
+until(lambda:node.engine.state=='SCANNING')
+assert not first.isEnabled() and not window.fill.isEnabled()
+window.pause.click();until(lambda:node.engine.state=='PAUSED')
+window.resume.click();until(lambda:node.engine.state=='PREPARING')
+window.cancel.click();until(lambda:node.engine.state=='CANCELLED')
+document=json.loads(node.session.result_path.read_text())
+assert len(document['joints'])==20 and all(v=={'min':None,'max':None} for v in document['joints'].values())
+held=node.engine.command
+first.slider.setValue(10)
+until(lambda:node.engine.state=='IDLE' and node.adapter.target[0]==10)
+assert node.adapter.target[1:]==held[1:]
+until(lambda:node.snapshot()['can_save'])
+window.save.click();until(lambda:node.teaching_path.exists())
+assert node.teaching.data['baseline']['target'][0]==10
+
+# Saving a nonzero baseline keeps the fixed thumb clearance at zero.
+index_control=window.joint_controls[2]
+index_control.slider.setValue(37)
+until(lambda:node.snapshot()['can_save'] and node.adapter.target[2]==37)
+window.save.click()
+until(lambda:node.teaching.data['baseline']['target'][2]==37)
+saved=json.loads(json.dumps(node.teaching.data))
+assert saved['baseline']['target'][0]==10
+assert not saved['clearances']
+tasks={task.name:task for task in node.profile.tasks}
+assert node.teaching.prepare(tasks['thumb_cmc_roll'])[2]==0
+assert node.teaching.prepare(tasks['four_finger_roll'])[2]==37
+
+# A command received during a tick must not expose its epoch before it is applied.
+original_tick=node.engine.tick
+def cancel_during_tick(now,stamp):
+ node.submit('cancel')
+ original_tick(now,stamp)
+node.engine.tick=cancel_during_tick
+node._tick()
+node.engine.tick=original_tick
+assert node.snapshot()['manual_epoch']<node.manual_epoch
+node.submit('jog',targets={node.profile.joints[0].name:255},epoch=node.snapshot()['manual_epoch'])
+node._tick()
+assert node.engine.state=='CANCELLED' and not node.pending_jog
+
+# SDK diagnostics remain in the journal and never add a banner or lock controls.
+node.adapter.warning='thumb_cmc_roll：执行器层判定堵转；thumb_cmc_yaw：执行器过温'
+node._tick();window.refresh()
+assert window.start_one.isEnabled() and all(control.isEnabled() for control in window.joint_controls)
+assert not any('自动标定不可用' in label.text() or '堵转' in label.text() or '过温' in label.text()
+               for label in window.findChildren(QLabel))
+window.start_one.click();until(lambda:node.engine.state=='SCANNING')
+events=[json.loads(line) for line in (node.session.directory/'samples.jsonl').read_text().splitlines()]
+assert any(event['kind']=='diagnostic_warning' and '过温' in event['reason'] for event in events)
+window.pause.click();until(lambda:node.engine.state=='PAUSED')
+assert window.resume.isEnabled()
+window.resume.click();until(lambda:node.engine.state=='PREPARING')
+window.cancel.click();until(lambda:node.engine.state=='CANCELLED')
+
+# Manual teaching uses the same readiness check, including the joint named in a diagnostic.
+node._tick();window.refresh()
+assert first.isEnabled() and index_control.isEnabled() and second.isEnabled()
+assert window.start_one.isEnabled()
+settings_with_warning=len(node.adapter.settings_sent)
+second.slider.setValue(75)
+index_control.slider.setValue(45)
+until(lambda:node.snapshot()['can_save'] and node.adapter.target[2]==45 and node.adapter.target[1]==75)
+assert node.engine.state=='IDLE'
+assert window.save.isEnabled() and len(node.adapter.settings_sent)==settings_with_warning
+window.save.click()
+until(lambda:node.teaching.data['baseline']['target'][2]==45)
+node.adapter.warning=None
+node._tick();window.refresh()
+assert second.isEnabled() and window.start_one.isEnabled()
+
+# After a connection fault, the next deliberate gesture reapplies settings once.
+settings_before=len(node.adapter.settings_sent)
+node.adapter.error='模拟反馈断流'
+node._tick();window.refresh()
+assert not first.isEnabled() and node.motion_settings_key is None
+node.adapter.error=None
+node._tick();window.refresh()
+first.slider.setValue(11)
+node._tick()
+assert node.adapter.target[0]==11
+assert len(node.adapter.settings_sent)==settings_before+1
+until(lambda:node.engine.state=='IDLE')
+
+# A single thumb-roll task restores the thumb before releasing the index clearance.
+window.start_one.click();until(lambda:node.engine.state=='RESTORING')
+assert not any(control.isEnabled() for control in window.joint_controls)
+assert not window.save.isEnabled() and window.cancel.isEnabled()
+assert '测后恢复基础姿态' in window.status.text()
+assert node.engine.restoring_joint=='thumb_cmc_roll'
+assert 'thumb_cmc_roll 恢复基础姿态' in window.status.text()
+assert node.engine.command[2]==0
+until(lambda:node.engine.restoring_joint=='index_mcp_roll')
+assert 'index_mcp_roll 恢复基础姿态' in window.status.text()
+assert node.engine.command[0]==node.teaching.data['baseline']['target'][0]
+assert not any(control.isEnabled() for control in window.joint_controls)
+until(lambda:node.engine.state=='COMPLETED')
+assert first.slider.value()==node.teaching.data['baseline']['target'][0]
+assert index_control.slider.value()==node.teaching.data['baseline']['target'][2]
+assert all(control.isEnabled() for control in window.joint_controls)
+window.close();node.close_session();node.destroy_node();rclpy.shutdown()
+print('GUI workflow passed')
+'''
+    env = dict(os.environ, ROS_DOMAIN_ID='199', ROS_LOCALHOST_ONLY='1', QT_QPA_PLATFORM='offscreen')
+    env['PYTHONPATH'] = str(Path(__file__).resolve().parents[1])+os.pathsep+env.get('PYTHONPATH','')
+    result = subprocess.run([sys.executable,'-c',textwrap.dedent(program),str(tmp_path)],env=env,
+                            capture_output=True,text=True,timeout=25)
+    assert result.returncode==0, result.stdout+result.stderr