From 17c6d9aa90bb30ff878a4914654460e7ebf030ea Mon Sep 17 00:00:00 2001
From: chuan <haeer98@outlook.com>
Date: Wed, 13 May 2026 15:29:13 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20=E6=B7=BB=E5=8A=A0=20TODO=20=E5=88=97?=
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---
 TODO.md                         | 12 ++++++++++++
 docs/proto.md                   |  3 +--
 src/line_laser_modbus/models.py |  4 +++-
 tests/test_state_machine.py     | 18 ++++++++++++++++++
 4 files changed, 34 insertions(+), 3 deletions(-)
 create mode 100644 TODO.md

diff --git a/TODO.md b/TODO.md
new file mode 100644
index 0000000..ea1a2c7
--- /dev/null
+++ b/TODO.md
@@ -0,0 +1,12 @@
+# TODO
+
+- [ ] 补充 CLI 常用命令：读取当前位姿、写目标示教位姿、写纠偏量、持续轮询。
+- [ ] 明确标定参数协议：地址、数量、顺序、单位、数据类型和写入时机。
+- [ ] 实现标定参数写入接口，前提是协议参数定义已确认。
+- [ ] 增加 CLI 模拟模式测试，覆盖常用命令输出和参数校验。
+- [ ] 增加轮询异常测试，覆盖连续超时、恢复计数和不可恢复错误。
+- [ ] 增加真实串口硬件联调记录，确认状态字、当前位姿、模式写入、目标位姿和纠偏量读写。
+- [ ] 验证 20ms 轮询稳定性，记录实际通信耗时、超时次数和重试表现。
+- [ ] 完善发布元数据，包括 license、authors、classifiers 和 project URLs。
+- [ ] 评估是否加入类型检查和覆盖率统计。
+- [ ] 根据现场设备参数更新或补充配置示例。
diff --git a/docs/proto.md b/docs/proto.md
index 68b6d8a..2f651d9 100644
--- a/docs/proto.md
+++ b/docs/proto.md
@@ -235,7 +235,7 @@
 
 - (2)急停 5 只能退回 0 待机，不能直接进入运行模式；
 
-- (3)标定完成自动回待机；
+- (3)标定完成自动回待机；控制器内部处理。
 
 - (4)示教完成可切待机、在线跟踪、批量复现；
 
@@ -248,4 +248,3 @@
 - (1)视觉设备独立线程轮询周期：20ms；
 
 - (2)单帧通信超时：50ms，超时重发，多次超时判定通信断开；
-
diff --git a/src/line_laser_modbus/models.py b/src/line_laser_modbus/models.py
index 1ee8bbb..fe476fb 100644
--- a/src/line_laser_modbus/models.py
+++ b/src/line_laser_modbus/models.py
@@ -106,7 +106,9 @@ def can_switch_mode(
         return True
     if current_mode is ModeCommand.EMERGENCY_STOP:
         return False
-    if current_status in {DeviceStatus.CALIBRATION_DONE, DeviceStatus.TEACHING_DONE}:
+    if current_status is DeviceStatus.CALIBRATION_DONE:
+        return False
+    if current_status is DeviceStatus.TEACHING_DONE:
         return target_mode in {
             ModeCommand.ONLINE_TRACKING,
             ModeCommand.TRAJECTORY_REPLAY,
diff --git a/tests/test_state_machine.py b/tests/test_state_machine.py
index f7fb482..8c2313c 100644
--- a/tests/test_state_machine.py
+++ b/tests/test_state_machine.py
@@ -27,6 +27,24 @@ def test_teaching_done_can_enter_tracking_or_replay() -> None:
     )
 
 
+def test_calibration_done_waits_for_controller_to_return_standby() -> None:
+    assert can_switch_mode(
+        ModeCommand.CALIBRATION,
+        ModeCommand.STANDBY_RESET,
+        DeviceStatus.CALIBRATION_DONE,
+    )
+    assert not can_switch_mode(
+        ModeCommand.CALIBRATION,
+        ModeCommand.ONLINE_TRACKING,
+        DeviceStatus.CALIBRATION_DONE,
+    )
+    assert not can_switch_mode(
+        ModeCommand.CALIBRATION,
+        ModeCommand.TRAJECTORY_REPLAY,
+        DeviceStatus.CALIBRATION_DONE,
+    )
+
+
 def test_invalid_transition_raises() -> None:
     with pytest.raises(ValueError, match="Illegal mode switch"):
         validate_mode_switch(ModeCommand.EMERGENCY_STOP, ModeCommand.ONLINE_TRACKING)