feat: 更新代码到 v1.3

README.md

@@ -25,6 +25,7 @@ python -m uv run ruff check
 ```powershell
 python -m uv run line-laser-modbus --simulate read-status
 python -m uv run line-laser-modbus --simulate write-mode 3
+python -m uv run line-laser-modbus --simulate emergency-stop
 python -m uv run line-laser-modbus --simulate poll-once --target 1 2 3 0 1 2
 python -m uv run line-laser-modbus --simulate demo
 ```

docs/changes.md

@@ -33,6 +33,12 @@
 - “示教完成可切待机、在线跟踪、批量复现”调整为“示教完成可切空闲、在线跟踪、批量复现”。
 - 状态机规则序号由 6 条调整为 4 条。
 
+### 代码适配要点
+
+- 普通模式切换按第 4.1 节限定为 `0~4`，急停值 `5` 仅作为专用急停写入命令保留。
+- 手动示教模式下轮询只读取模式命令字和设备状态字，不读取当前位姿寄存器。
+- 在线全轴跟踪模式和轨迹批量复现模式均允许由上层纠偏策略写入 6 轴纠偏量。
+
 ## V1.2 更新（2026-05-25）
 
 基于 `docs/线激光视觉设备与运动控制器 Modbus RTU 通信协议_V1.2.docx` 更新 `docs/proto.md`。

src/line_laser_modbus/cli.py

@@ -7,7 +7,7 @@ from pathlib import Path
 
 from line_laser_modbus.client import LineLaserClient
 from line_laser_modbus.config import AppConfig
-from line_laser_modbus.models import ModeCommand, Pose6D
+from line_laser_modbus.models import NORMAL_MODE_COMMANDS, ModeCommand, Pose6D
 from line_laser_modbus.runner import PollingRunner, pose_delta
 from line_laser_modbus.simulator import SimulatedModbusBackend
 
@@ -22,7 +22,12 @@ def main() -> None:
 
     subparsers.add_parser("read-status")
     write_mode = subparsers.add_parser("write-mode")
-    write_mode.add_argument("mode", type=int, choices=[mode.value for mode in ModeCommand])
+    write_mode.add_argument(
+        "mode",
+        type=int,
+        choices=sorted(mode.value for mode in NORMAL_MODE_COMMANDS),
+    )
+    subparsers.add_parser("emergency-stop")
     poll = subparsers.add_parser("poll-once")
     poll.add_argument("--target", nargs=6, type=float, metavar=("X", "Y", "Z", "A", "B", "C"))
     subparsers.add_parser("demo")
@@ -37,6 +42,9 @@ def main() -> None:
         elif args.command == "write-mode":
             client.write_mode(args.mode)
             print(client.read_mode().name)
+        elif args.command == "emergency-stop":
+            client.trigger_emergency_stop()
+            print("EMERGENCY_STOP")
         elif args.command == "poll-once":
             target = Pose6D.from_iterable(args.target) if args.target else Pose6D.zeros()
             snapshot = PollingRunner(

src/line_laser_modbus/client.py

@@ -24,6 +24,7 @@ from line_laser_modbus.constants import (
     REGISTER_COUNT_POSE,
 )
 from line_laser_modbus.models import (
+    NORMAL_MODE_COMMANDS,
     DeviceSnapshot,
     DeviceStatus,
     ModeCommand,
@@ -108,7 +109,16 @@ class LineLaserClient:
     def write_mode(self, mode: int | ModeCommand) -> None:
         """不做状态机校验直接写入模式命令字"""
 
-        self._write_registers(ADDR_MODE_COMMAND, [encode_u16(ensure_mode(mode).value)])
+        mode_command = ensure_mode(mode)
+        if mode_command not in NORMAL_MODE_COMMANDS:
+            msg = "Mode command 5 is reserved for emergency stop; use trigger_emergency_stop()"
+            raise ValueError(msg)
+        self._write_registers(ADDR_MODE_COMMAND, [encode_u16(mode_command.value)])
+
+    def trigger_emergency_stop(self) -> None:
+        """按 V1.3 示例帧向模式命令字写入急停值 5"""
+
+        self._write_registers(ADDR_MODE_COMMAND, [encode_u16(ModeCommand.EMERGENCY_STOP.value)])
 
     def switch_mode(self, mode: int | ModeCommand) -> None:
         """按协议状态机规则校验后切换模式"""
@@ -137,11 +147,15 @@ class LineLaserClient:
     def read_snapshot(self) -> DeviceSnapshot:
         """读取模式状态和当前位姿组成一次逻辑快照"""
 
-        # 快照按协议关键字段顺序读取避免上层重复拼装状态
+        mode = self.read_mode()
+        status = self.read_status()
+        if mode is ModeCommand.MANUAL_TEACHING or status is DeviceStatus.EMERGENCY_TRIGGERED:
+            return DeviceSnapshot(mode, status, Pose6D.zeros(), 0)
+
         timed_pose = self.read_current_timed_pose()
         return DeviceSnapshot(
-            self.read_mode(),
+            mode,
-            self.read_status(),
+            status,
             timed_pose.pose,
             timed_pose.timestamp,
         )

src/line_laser_modbus/codec.py

@@ -71,7 +71,7 @@ def decode_f32(registers: list[int] | tuple[int, int]) -> float:
 
 
 def encode_pose(pose: Pose6D) -> list[int]:
-    """将 XYZABC 数据按 V1.2 编码为时间戳 0 加十二个轴寄存器"""
+    """将 XYZABC 数据编码为时间戳 0 加十二个轴寄存器"""
 
     return encode_timed_pose(TimedPose6D.from_pose(pose))
 
@@ -113,7 +113,7 @@ def decode_timed_pose(registers: list[int] | tuple[int, ...]) -> TimedPose6D:
 
 
 def decode_pose(registers: list[int] | tuple[int, ...]) -> Pose6D:
-    """将 V1.2 时间戳加六轴数据块解析为 XYZABC 数据"""
+    """将时间戳加六轴数据块解析为 XYZABC 数据"""
 
     return decode_timed_pose(registers).pose
 

src/line_laser_modbus/models.py

@@ -10,6 +10,7 @@ from typing import Self
 class ModeCommand(IntEnum):
     """0xD000 模式命令字"""
 
+    MANUAL_TEACHING = 0
     STANDBY_RESET = 0
     CALIBRATION = 1
     PRE_WELD_TEACHING = 2
@@ -21,6 +22,7 @@ class ModeCommand(IntEnum):
 class DeviceStatus(IntEnum):
     """0xD001 设备状态字"""
 
+    IDLE = 0
     STANDBY_READY = 0
     RUNNING = 1
     TEACHING_DONE = 2
@@ -30,6 +32,17 @@ class DeviceStatus(IntEnum):
     EMERGENCY_TRIGGERED = 6
 
 
+NORMAL_MODE_COMMANDS = frozenset(
+    {
+        ModeCommand.MANUAL_TEACHING,
+        ModeCommand.CALIBRATION,
+        ModeCommand.PRE_WELD_TEACHING,
+        ModeCommand.ONLINE_TRACKING,
+        ModeCommand.TRAJECTORY_REPLAY,
+    }
+)
+
+
 @dataclass(frozen=True, slots=True)
 class DeviceSnapshot:
     """单次逻辑周期读取到的控制器状态"""
@@ -74,7 +87,7 @@ class Pose6D:
 
 @dataclass(frozen=True, slots=True)
 class TimedPose6D:
-    """V1.2 协议中的时间戳加 XYZABC 数据块"""
+    """协议中的时间戳加 XYZABC 数据块"""
 
     timestamp: int
     pose: Pose6D
@@ -117,22 +130,19 @@ def can_switch_mode(
     target_mode = ensure_mode(target)
     current_status = ensure_status(status) if status is not None else None
 
-    if target_mode in {ModeCommand.STANDBY_RESET, ModeCommand.EMERGENCY_STOP}:
+    if target_mode not in NORMAL_MODE_COMMANDS:
-        return True
-    if current_mode is ModeCommand.EMERGENCY_STOP:
         return False
     if current_status is DeviceStatus.CALIBRATION_DONE:
-        # V1.2 状态机要求标定完成后回待机，不直接进入运行模式。
+        return target_mode is ModeCommand.MANUAL_TEACHING
-        return False
     if current_status is DeviceStatus.TEACHING_DONE:
-        # 示教完成后可进入依赖标准轨迹的运行模式。
         return target_mode in {
+            ModeCommand.MANUAL_TEACHING,
             ModeCommand.ONLINE_TRACKING,
             ModeCommand.TRAJECTORY_REPLAY,
         }
     if current_mode in {ModeCommand.ONLINE_TRACKING, ModeCommand.TRAJECTORY_REPLAY}:
         return target_mode in {ModeCommand.ONLINE_TRACKING, ModeCommand.TRAJECTORY_REPLAY}
-    return target_mode in {current_mode, ModeCommand.CALIBRATION, ModeCommand.PRE_WELD_TEACHING}
+    return True
 
 
 def validate_mode_switch(

src/line_laser_modbus/runner.py

@@ -12,6 +12,7 @@ from line_laser_modbus.models import DeviceSnapshot, ModeCommand, Pose6D
 
 CorrectionProvider = Callable[[DeviceSnapshot], Pose6D]
 SnapshotHandler = Callable[[DeviceSnapshot], None]
+CORRECTION_MODES = frozenset({ModeCommand.ONLINE_TRACKING, ModeCommand.TRAJECTORY_REPLAY})
 
 
 def pose_delta(target: Pose6D) -> CorrectionProvider:
@@ -60,7 +61,7 @@ class PollingRunner:
         self.timeout_count = 0
         if self.snapshot_handler:
             self.snapshot_handler(snapshot)
-        if snapshot.mode is ModeCommand.ONLINE_TRACKING and self.correction_provider:
+        if snapshot.mode in CORRECTION_MODES and self.correction_provider:
             self.client.write_correction(self.correction_provider(snapshot))
         return snapshot
 

src/line_laser_modbus/simulator.py

@@ -48,8 +48,8 @@ class SimulatedModbusBackend:
         self,
         *,
         slave_id: int = SLAVE_ID,
-        mode: ModeCommand = ModeCommand.STANDBY_RESET,
+        mode: ModeCommand = ModeCommand.MANUAL_TEACHING,
-        status: DeviceStatus = DeviceStatus.STANDBY_READY,
+        status: DeviceStatus = DeviceStatus.IDLE,
         current_pose: Pose6D | None = None,
     ) -> None:
         """创建模拟后端并写入初始寄存器值"""

tests/test_client_simulator.py

@@ -4,12 +4,24 @@ from line_laser_modbus.client import LineLaserClient
 from line_laser_modbus.config import SerialConfig
 from line_laser_modbus.constants import (
     ADDR_CORRECTION,
+    ADDR_CURRENT_POSE,
+    ADDR_MODE_COMMAND,
     ADDR_TARGET_POSE,
 )
 from line_laser_modbus.models import DeviceStatus, ModeCommand, Pose6D, TimedPose6D
 from line_laser_modbus.simulator import SimulatedModbusBackend
 
 
+class CountingBackend(SimulatedModbusBackend):
+    def __init__(self, **kwargs) -> None:
+        super().__init__(**kwargs)
+        self.read_addresses: list[int] = []
+
+    def read_holding_registers(self, address: int, *, count: int, device_id: int):
+        self.read_addresses.append(address)
+        return super().read_holding_registers(address, count=count, device_id=device_id)
+
+
 def test_client_reads_seeded_status_and_pose_from_simulator() -> None:
     pose = Pose6D(10.0, 20.0, 30.0, 1.0, 2.0, 3.0)
     backend = SimulatedModbusBackend(
@@ -37,6 +49,37 @@ def test_client_writes_mode_and_correction_to_simulator() -> None:
         assert backend.correction() == correction
 
 
+def test_client_rejects_emergency_stop_as_normal_mode_write() -> None:
+    backend = SimulatedModbusBackend()
+
+    with (
+        pytest.raises(ValueError, match="reserved for emergency stop"),
+        LineLaserClient(SerialConfig(port="SIM"), backend=backend) as client,
+    ):
+        client.write_mode(ModeCommand.EMERGENCY_STOP)
+
+
+def test_client_triggers_emergency_stop_as_special_command() -> None:
+    backend = SimulatedModbusBackend()
+
+    with LineLaserClient(SerialConfig(port="SIM"), backend=backend) as client:
+        client.trigger_emergency_stop()
+
+    assert backend.registers[ADDR_MODE_COMMAND] == ModeCommand.EMERGENCY_STOP.value
+
+
+def test_snapshot_skips_pose_read_in_manual_teaching_mode() -> None:
+    backend = CountingBackend(mode=ModeCommand.MANUAL_TEACHING, status=DeviceStatus.IDLE)
+
+    with LineLaserClient(SerialConfig(port="SIM"), backend=backend) as client:
+        snapshot = client.read_snapshot()
+
+    assert snapshot.mode is ModeCommand.MANUAL_TEACHING
+    assert snapshot.status is DeviceStatus.IDLE
+    assert snapshot.pose == Pose6D.zeros()
+    assert ADDR_CURRENT_POSE not in backend.read_addresses
+
+
 def test_client_writes_timed_target_pose_to_simulator() -> None:
     backend = SimulatedModbusBackend()
     target = TimedPose6D(1234, Pose6D(1.0, 2.0, 3.0, 4.0, 5.0, 6.0))

tests/test_codec.py

@@ -32,12 +32,12 @@ def test_timed_pose_register_roundtrip() -> None:
     assert decode_timed_pose(registers) == data
 
 
-def test_current_pose_read_frame_matches_v12_example() -> None:
+def test_current_pose_read_frame_matches_protocol_example() -> None:
     frame = build_read_frame(0xD00A, 14)
     assert frame.hex(" ").upper() == "08 03 D0 0A 00 0E DC 55"
 
 
-def test_correction_write_frame_matches_v12_docx_example() -> None:
+def test_correction_write_frame_matches_protocol_docx_example() -> None:
     data = TimedPose6D(1000, Pose6D(1.0, 2.0, 3.0, 0.0, 1.0, 2.0))
     frame = build_write_frame(0xD036, encode_timed_pose(data), slave_id=0x01)
 

tests/test_config.py

@@ -25,7 +25,7 @@ max_timeouts = 5
     assert config.polling.max_timeouts == 5
 
 
-def test_default_config_matches_v12_timing() -> None:
+def test_default_config_matches_protocol_timing() -> None:
     config = AppConfig()
     assert config.serial.timeout == 0.15
     assert config.polling.interval_seconds == 0.05

tests/test_constants.py

@@ -24,14 +24,14 @@ def test_calibration_reserved_range_matches_protocol() -> None:
     assert ADDR_CALIBRATION_RESERVED_START + REGISTER_COUNT_CALIBRATION_RESERVED - 1 == 0xD06B
 
 
-def test_v12_pose_ranges_match_protocol() -> None:
+def test_pose_ranges_match_protocol() -> None:
     assert ADDR_CURRENT_POSE == 0xD00A
     assert ADDR_TARGET_POSE == 0xD020
     assert ADDR_CORRECTION == 0xD036
     assert REGISTER_COUNT_POSE == 14
 
 
-def test_v12_extension_reserved_ranges_match_protocol() -> None:
+def test_extension_reserved_ranges_match_protocol() -> None:
     ranges = [
         (ADDR_EXTENSION_RESERVED_1_START, ADDR_EXTENSION_RESERVED_1_END, 0xD002, 0xD009),
         (ADDR_EXTENSION_RESERVED_2_START, ADDR_EXTENSION_RESERVED_2_END, 0xD018, 0xD01F),

tests/test_runner.py

@@ -21,7 +21,21 @@ def test_polling_runner_writes_tracking_correction() -> None:
     assert backend.correction() == Pose6D(1.0, 2.0, 3.0, 0.0, -1.0, 3.0)
 
 
-def test_polling_runner_does_not_write_correction_outside_tracking() -> None:
+def test_polling_runner_writes_replay_correction() -> None:
+    backend = SimulatedModbusBackend(
+        mode=ModeCommand.TRAJECTORY_REPLAY,
+        status=DeviceStatus.RUNNING,
+        current_pose=Pose6D(1.0, 2.0, 3.0, 0.0, 1.0, 2.0),
+    )
+    target = Pose6D(2.0, 4.0, 6.0, 0.0, 0.0, 5.0)
+
+    with LineLaserClient(SerialConfig(port="SIM"), backend=backend) as client:
+        PollingRunner(client, correction_provider=pose_delta(target)).run_once()
+
+    assert backend.correction() == Pose6D(1.0, 2.0, 3.0, 0.0, -1.0, 3.0)
+
+
+def test_polling_runner_does_not_write_correction_outside_correction_modes() -> None:
     backend = SimulatedModbusBackend(current_pose=Pose6D(1.0, 2.0, 3.0, 0.0, 1.0, 2.0))
 
     with LineLaserClient(SerialConfig(port="SIM"), backend=backend) as client:

tests/test_state_machine.py

@@ -1,6 +1,7 @@
 import pytest
 
 from line_laser_modbus.models import (
+    NORMAL_MODE_COMMANDS,
     DeviceStatus,
     ModeCommand,
     can_switch_mode,
@@ -8,13 +9,20 @@ from line_laser_modbus.models import (
 )
 
 
-def test_emergency_can_only_return_to_standby_or_stay_emergency() -> None:
+def test_normal_mode_commands_match_v13_range() -> None:
-    assert can_switch_mode(ModeCommand.EMERGENCY_STOP, ModeCommand.STANDBY_RESET)
+    assert {mode.value for mode in NORMAL_MODE_COMMANDS} == {0, 1, 2, 3, 4}
-    assert can_switch_mode(ModeCommand.EMERGENCY_STOP, ModeCommand.EMERGENCY_STOP)
+
-    assert not can_switch_mode(ModeCommand.EMERGENCY_STOP, ModeCommand.ONLINE_TRACKING)
+
+def test_emergency_stop_is_not_a_normal_mode_switch_target() -> None:
+    assert not can_switch_mode(ModeCommand.MANUAL_TEACHING, ModeCommand.EMERGENCY_STOP)
 
 
 def test_teaching_done_can_enter_tracking_or_replay() -> None:
+    assert can_switch_mode(
+        ModeCommand.PRE_WELD_TEACHING,
+        ModeCommand.MANUAL_TEACHING,
+        DeviceStatus.TEACHING_DONE,
+    )
     assert can_switch_mode(
         ModeCommand.PRE_WELD_TEACHING,
         ModeCommand.ONLINE_TRACKING,
@@ -27,10 +35,10 @@ def test_teaching_done_can_enter_tracking_or_replay() -> None:
     )
 
 
-def test_calibration_done_waits_for_controller_to_return_standby() -> None:
+def test_calibration_done_returns_to_idle_command() -> None:
     assert can_switch_mode(
         ModeCommand.CALIBRATION,
-        ModeCommand.STANDBY_RESET,
+        ModeCommand.MANUAL_TEACHING,
         DeviceStatus.CALIBRATION_DONE,
     )
     assert not can_switch_mode(
@@ -45,6 +53,12 @@ def test_calibration_done_waits_for_controller_to_return_standby() -> None:
     )
 
 
+def test_tracking_and_replay_only_switch_to_each_other() -> None:
+    assert can_switch_mode(ModeCommand.ONLINE_TRACKING, ModeCommand.TRAJECTORY_REPLAY)
+    assert can_switch_mode(ModeCommand.TRAJECTORY_REPLAY, ModeCommand.ONLINE_TRACKING)
+    assert not can_switch_mode(ModeCommand.ONLINE_TRACKING, ModeCommand.MANUAL_TEACHING)
+
+
 def test_invalid_transition_raises() -> None:
     with pytest.raises(ValueError, match="Illegal mode switch"):
-        validate_mode_switch(ModeCommand.EMERGENCY_STOP, ModeCommand.ONLINE_TRACKING)
+        validate_mode_switch(ModeCommand.MANUAL_TEACHING, ModeCommand.EMERGENCY_STOP)