The pad moves to dora-joy, so this node keeps no hardware dependency and the
pad becomes reusable. It arrives on `joy` as a plain reading; `JoyInput.read`
treats silence past JOY_TTL_S as absence, because that node dying looks like
silence rather than like an unplugged pad and the arm cannot tell them apart.
Both control sources are now normalised to a [-1, 1] six-vector before anything
is scaled, and the scaling happens in one function. The web path used to pass a
velocity straight through without going near mapping, which is why the console
had to speak the arm's units. It no longer does.
`twist` (SI) and `command` (robot-agnostic verbs) are the standard ports. `jog`
and `request` still carry the same intent in dora-ulite6's units and service
names so the two repositories can move independently; LEGACY_REQUEST is the
only place that knows what that node calls a verb. Wire one or the other, never
both. `joint_jog` is specified in the manifest and deliberately not built.
Schemas are declared rather than inferred: pyarrow reads a null `value` as its
own type, so an inferred `command` would change its port's type between one
verb and the next.
Three bugs found while moving this code, each with a test:
- `Sample.active` compared raw axes against a threshold, but SDL rests a
trigger at -1.0, so every connected pad read as in use for ever: the pad took
the lease on plug-in and GAMEPAD_IDLE_RELEASE_S never fired.
- The e-stop latch was never consulted when deciding a velocity, so Back
stopped the arm for one tick and the next stick nudge drove it again. Nothing
on the pad could clear it either. It is now checked above the lease, and X
releases it and clears the controller's error, as the console's RESET does.
- Buttons were read before the arbiter granted the lease, so the first press
after the pad had been idle was swallowed: not owned yet when read, and no
longer a rising edge by the next tick.
The console's telemetry keys are a contract: app.js reads arm_state, owner,
estop, vacuum, freedrive, position and joints by name, so renaming one breaks
the page silently. They are reproduced rather than improved for that reason,
vacuum included, which is the console's name for whatever tool is bolted on.
The two vocabularies do not line up and this is where they are reconciled. The
arm node reports a driver's lifecycle; the console draws an operator's screen.
The ordering in arm_state is the ordering of what an operator most needs to
know: a latched e-stop outranks everything, because the arm may well read ready
and saying so would invite somebody to push it.
A message this node does not recognise is dropped rather than refused. The
console and the node version independently, and a page from a newer build
saying something we have not learned yet must not take the arm down.
cristhian