feat: return 200 for motor control actions

README.md

@@ -232,6 +232,21 @@ curl -X POST "http://${SERVER_IP}:8000/v1/motor/stop"
 curl "http://${SERVER_IP}:8000/v1/motor/status"
 ```
 
+`open`、`close`、`stop` 成功时均返回 HTTP `200 OK`，响应 JSON 包含
+`"code": 200`、执行动作和当前电机状态。例如：
+
+```json
+{
+  "code": 200,
+  "accepted": true,
+  "action": "stop",
+  "state": "stopped"
+}
+```
+
+实际响应还包含电机 ID、控制量、广播状态等字段。硬件未启用或状态冲突仍返回
+HTTP `409`，CAN/USB 通讯失败仍返回 HTTP `503`。
+
 `MOTOR_HARDWARE_ENABLED=true` 时，启动过程会自动 Enable。HTTP 只保留
 `open`、`close`、`stop` 和 `status`，不提供 `enable`/`disable`。
 

src/lingkong_motor_service/api.py

@@ -74,6 +74,7 @@ def create_app(
 
     def response_for(result: MotorStatus, action: str) -> dict[str, Any]:
         return {
+            "code": status.HTTP_200_OK,
             "accepted": True,
             "action": action,
             "transmission": "CAN frame transmitted; physical motor motion is not verified",
@@ -128,7 +129,7 @@ def create_app(
 
     @app.post(
         "/v1/motor/open",
-        status_code=status.HTTP_202_ACCEPTED,
+        status_code=status.HTTP_200_OK,
         dependencies=[Depends(authorize)],
     )
     async def open_motor(request: Request) -> dict[str, Any]:
@@ -137,7 +138,7 @@ def create_app(
 
     @app.post(
         "/v1/motor/close",
-        status_code=status.HTTP_202_ACCEPTED,
+        status_code=status.HTTP_200_OK,
         dependencies=[Depends(authorize)],
     )
     async def close_motor(request: Request) -> dict[str, Any]:
@@ -146,7 +147,7 @@ def create_app(
 
     @app.post(
         "/v1/motor/stop",
-        status_code=status.HTTP_202_ACCEPTED,
+        status_code=status.HTTP_200_OK,
         dependencies=[Depends(authorize)],
     )
     async def stop(request: Request) -> dict[str, Any]:

tests/test_api.py

@@ -100,7 +100,8 @@ def test_http_open_and_close_can_switch_directions() -> None:
             reopened = await client.post("/v1/motor/open")
             stopped = await client.post("/v1/motor/stop")
 
-            assert opening.status_code == 202
+            assert opening.status_code == 200
+            assert opening.json()["code"] == 200
             assert opening.json()["action"] == "open"
             assert opening.json()["state"] == "opening"
             assert opening.json()["control_raw"] == 400
@@ -110,18 +111,21 @@ def test_http_open_and_close_can_switch_directions() -> None:
             assert opening.json()["broadcast_frequency_hz"] == 10
             assert still_opening.json()["state"] == "opening"
             assert still_opening.json()["streaming"] is True
-            assert closing.status_code == 202
+            assert closing.status_code == 200
+            assert closing.json()["code"] == 200
             assert closing.json()["action"] == "close"
             assert closing.json()["state"] == "closing"
             assert closing.json()["control_raw"] == -400
             assert closing.json()["control_raw_by_motor"] == {"1": -400, "2": 400}
             assert "not verified" in closing.json()["transmission"]
-            assert reopened.status_code == 202
+            assert reopened.status_code == 200
+            assert reopened.json()["code"] == 200
             assert reopened.json()["action"] == "open"
             assert reopened.json()["state"] == "opening"
             assert reopened.json()["control_raw"] == 400
             assert reopened.json()["control_raw_by_motor"] == {"1": 400, "2": -400}
-            assert stopped.status_code == 202
+            assert stopped.status_code == 200
+            assert stopped.json()["code"] == 200
             assert stopped.json()["state"] == "stopped"
 
     asyncio.run(scenario())
@@ -139,9 +143,11 @@ def test_automatic_enable_and_motion_do_not_require_feedback_replies() -> None:
             opening = await client.post("/v1/motor/open")
             stopped = await client.post("/v1/motor/stop")
 
-            assert opening.status_code == 202
+            assert opening.status_code == 200
+            assert opening.json()["code"] == 200
             assert opening.json()["streaming"] is True
-            assert stopped.status_code == 202
+            assert stopped.status_code == 200
+            assert stopped.json()["code"] == 200
             assert stopped.json()["streaming"] is False
 
     asyncio.run(scenario())
@@ -165,7 +171,8 @@ def test_one_http_stop_sends_two_explicit_stop_rounds() -> None:
                     (frame.arbitration_id, frame.data.hex()) for frame in transport.frames[start:]
                 ]
                 timeouts_s = transport.tx_queue_timeouts_s[start:]
-            assert stopped.status_code == 202
+            assert stopped.status_code == 200
+            assert stopped.json()["code"] == 200
             assert stopped.json()["state"] == "stopped"
             assert frames == [
                 (CONTROL_FRAME_ID, "0000000000000000"),