docs: rewrite the README as a technical reference

The README carried a lot of rationale that AGENTS.md already holds; what is
left is the tables a consumer wires against. It gains the swept axis and
button indices, and says plainly that the axes check themselves at runtime
and the buttons cannot.

.gitea/workflows/validate.yml

@@ -0,0 +1,70 @@
+# A pull request would otherwise run this twice on the same commit: once for the
+# branch push and once for the PR.
+
+name: validate
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+
+env:
+  DORA_VERSION: v1.0.1
+  DORA_TARGET: x86_64-unknown-linux-gnu
+
+jobs:
+  validate:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install the dora CLI
+        run: |
+          curl -fsSL -o dora-cli.tar.gz \
+            "https://github.com/dora-rs/dora/releases/download/${DORA_VERSION}/dora-cli-${DORA_TARGET}.tar.gz"
+          tar xzf dora-cli.tar.gz
+          mkdir -p "$HOME/.local/bin"
+          install -m 755 "dora-cli-${DORA_TARGET}/dora" "$HOME/.local/bin/dora"
+          echo "$HOME/.local/bin" >> "$GITHUB_PATH"
+          rm -rf dora-cli.tar.gz "dora-cli-${DORA_TARGET}"
+
+      - run: dora --version
+
+      # strict_types: true in the dataflow turns a type warning into a non-zero
+      # exit, so a mismatched annotation fails here rather than at runtime.
+      - name: Validate the dataflow
+        run: dora validate dataflow.yml
+
+      # The gamepad dataflow pulls dora-joy by `git:`, but validation resolves
+      # the wiring without fetching it, so this stays offline and still catches
+      # a mistyped port.
+      - name: Validate the gamepad dataflow
+        run: dora validate dataflow-gamepad.yml
+
+      # Same again for the real-arm stack. Its `output_types:` block is what
+      # lets this pass without an arm or a clone of the arm node, so a drift
+      # between it and the tag it pins fails here.
+      - name: Validate the robot dataflow
+        run: dora validate dataflow-robot.yml
+
+  test:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/setup-uv@v5
+        with:
+          enable-cache: true
+      # --locked fails if uv.lock is out of date with pyproject.toml, so a
+      # dependency change that was never locked cannot reach main.
+      - run: uv sync --locked --group dev
+      - run: uv run ruff check .
+      - run: uv run ruff format --check .
+      - run: uv run pytest -q
+
+  markdownlint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: DavidAnson/markdownlint-cli2-action@v16
+        with:
+          globs: "*.md"

.gitignore

@@ -12,3 +12,6 @@ build/
 .ruff_cache/
 out/
 .dora/
+# Where `dora build` clones a `git:` node source, which
+# dataflow-robot.yml and dataflow-gamepad.yml both have.
+git/

AGENTS.md

@@ -0,0 +1,251 @@
+# AGENTS.md
+
+This file provides guidance to AI coding assistants when working with code in this repository.
+
+## What this is
+
+A dora-rs Python node that gives a human control of a robot arm, from a gamepad or from a
+web browser, and decides which of the two is driving.
+
+It is **the piece in the middle**, and it **touches no hardware at all**. The arm is
+[`dora-ulite6`](https://gitea.liria.cl/liria/dora-ulite6), reached through that node's
+ordinary `jog` and `request` ports. The gamepad is
+[`dora-joy`](https://gitea.liria.cl/liria/dora-joy), which publishes raw axes and buttons
+on `joy` and knows nothing about arms. Do not add either here: a node whose job is policy
+should not carry a hardware dependency, and a pad nobody else can reach is a pad that gets
+reimplemented.
+
+**The web console is the exception, and it is deliberate.** This node serves the page and
+holds the browsers' sockets itself (`dora_teleop/server.py`), rather than going through
+`dora-websocket-transceiver` as it did up to v0.2.0. A bridge node for one page meant a
+second node, a second port and a round trip through the dataflow for every button press,
+to carry a UI that only this node can interpret anyway. That is not the monolith
+`dora-ulite6` was rewritten to escape — the monolith was one process owning the robot
+driver, perception and the UI at once. What is forbidden is the hardware, and that has not
+moved.
+
+**What stays here is everything about what a reading *means***: the deadzone, the response
+curve, the layout (which button is grasp), and the mapping to base-frame mm/s and deg/s.
+`dora-joy` publishes raw SDL and nothing else, so there is exactly one place shaping each
+number.
+
+The web console it serves is ported from `Littlehand/monolitic-littlehand-python`
+(`littlehand/console/static/`), and **only its Control section**. Perception, calibration,
+tasks, chat, ROI, settings and health belong to other nodes; porting them here would
+rebuild the monolith inside a node. That boundary is the one that matters, and the
+built-in server does not move it: the console can ask for motion and nothing else.
+
+## Build
+
+```bash
+uv sync              # runtime deps
+uv sync --group dev  # plus pytest and ruff
+```
+
+## Run
+
+```bash
+dora run dataflow.yml --uv            # this node plus a bench stand-in, no pad
+dora run dataflow-robot.yml           # the pad and a real arm, both pulled in by git:
+dora run dataflow-gamepad.yml         # the same, with the probe declared and no console
+```
+
+`dataflow.yml` is self-contained on purpose — it resolves from this checkout alone, which
+is what lets CI validate it. Keep it that way; the pad belongs in the other two. Neither
+of those takes `--uv`: dora 1.0.1 installs a `git:` node into a venv inside its own clone
+and then looks for its entrypoint in the dataflow's venv. README.md has the detail.
+
+## Test
+
+```bash
+uv run pytest      # 149 tests, no gamepad, arm, browser or daemon needed
+uv run ruff check .
+uv run ruff format --check .
+```
+
+## Architecture
+
+Two things carry the design: **what may touch the hardware**, and **what must happen when
+a source goes away**.
+
+- **`dora_teleop/main.py`** — The dora event loop, and the one decision this node exists
+  to make: whether a velocity reaches the arm this tick, and from whom. **It never
+  blocks.** `_drive` and `_wanted_velocity` are the safety-critical pair — every path that
+  is not an owner actively asking for motion returns a stop, so a case nobody thought of
+  fails by halting rather than by carrying on. Keep it that way: the default has to be
+  "still".
+- **`dora_teleop/joy.py`** — The pad as it arrives from `dora-joy`. `Sample.present` is
+  the load-bearing field: an unplugged pad reads as *absent*, not as centred, so "the
+  operator let go" and "the pad fell off the desk" stay distinguishable.
+  **`Calibration` is the other half of that seam.** It measures a pad the first time it is
+  seen at rest and hands the rest of the node a reading as the layout's ideal pad would
+  have sent it, so a worn stick's tilt is subtracted rather than deadzoned and a trigger
+  that rests at 0 stops being a special case. A pad whose resting axes do not fit `Layout`
+  reads as *absent* and is never corrected: one reading cannot tell a trigger at -1.0 from
+  a stick held hard over, and guessing wrong drives a real arm. It is not re-measured
+  while the pad is in use — doing that under a held stick would record the deflection as
+  centre, and the arm would move when the operator let go.
+  **`JoyInput.read` is the other safety-critical function in this repo.** Moving the pad
+  into another process added a way for it to go away that did not exist before — that
+  process dying — and from here that looks like silence rather than like an unplugged pad.
+  So silence past `JOY_TTL_S` reads as absent, which is the same answer. This works only
+  because `dora-joy` publishes on every tick whether or not the pad moved; if that ever
+  changes, this layer is gone and nothing here will say so.
+- **`dora_teleop/message.py`** — The wire shapes, **declared and never inferred**.
+  pyarrow types a struct from its first row, so `{"value": None}` is `null` and
+  `{"value": 1.0}` is `double` — an inferred `command` would change its port's type
+  between one verb and the next.
+- **`dora_teleop/mapping.py`** — Stick deflection to base-frame velocity, and the layout
+  that says which index is which. Pure functions, no state, no hardware, because this is
+  the part that has to be right and the cheapest to check. Output is always the arm node's
+  units: mm/s and deg/s, base frame. `is_active` lives here rather than on `Sample`
+  because it needs the layout: **a trigger rests at -1.0**, so the pad-is-in-use test has
+  to normalise triggers exactly as `velocity` does, or every connected pad reads as in use
+  for ever and `GAMEPAD_IDLE_RELEASE_S` never fires. `rest_zeros` and `canonical` are the
+  same concern one layer out: they check a resting pad against `Layout` and map it onto
+  the ideal one. They are the only defence against a wrong index, which is not a
+  theoretical failure — an Xbox One S pad reporting its triggers on 4 and 5 against a
+  layout expecting them on 2 and 5 read as a full-speed pitch command from an untouched
+  pad, held the lease for ever, and moved a real arm into a controller error.
+- **`dora_teleop/arbiter.py`** — The lease. One place that answers "why did it not move",
+  rather than one answer per input path. Ported from the monolithic repo's `RobotService`
+  lease because the console is already built on it — it gates its controls on
+  `t.owner === "web"` and draws an owner chip. A simpler last-writer-wins scheme would mean
+  rewriting the page to match the node rather than the other way round.
+- **`dora_teleop/ui.py`** — Translation both ways. The console's telemetry keys are a
+  contract: `app.js` reads `arm_state`, `owner`, `estop`, `vacuum`, `freedrive`,
+  `position`, `joints` by name, so renaming one breaks the page silently. `arm_state()` is
+  where the arm's vocabulary (`connecting|ready|moving|recovering|unavailable`) is
+  reconciled with the console's (`idle|moving|jogging|freedrive|estop|stopped|disconnected`).
+- **`dora_teleop/config.py`** — Every environment variable, parsed once at startup, so an
+  unusable setting stops the node before it joins the dataflow instead of surfacing the
+  first time somebody picks up the pad. Errors name the variable. It also refuses deadman
+  layers that are out of order, which is otherwise invisible until the day it matters.
+- **`dora_teleop/log.py`** — Timestamped stderr logging. stderr because dora reads a
+  dynamic node's stdout.
+- **`dora_teleop/server.py`** — The console's HTTP and WebSocket server, on a thread of
+  its own. Serves `dora_teleop/web/index.html` at `/` and holds the browsers at `/ws`, on
+  one port so the page finds its socket on its own origin. Both queues are bounded: a
+  flood of messages is dropped rather than grown, and a slow browser loses stale snapshots
+  rather than the newest one. **The browser's deadman lives here** — `clients` counts open
+  sockets, and the tick reads it.
+- **`examples/bench.py`** — A stand-in for the arm, so `dataflow.yml`
+  is self-contained and CI can validate it with no sibling clones. **It is not a
+  simulator** and must not become one: it never integrates a velocity or moves a pose. Its
+  job is to close the loop so this node can be watched, not to stand in for
+  `dora-ulite6` — anything needing the arm to actually respond needs the arm.
+- **`dora_teleop/probe.py`** — `dora-teleop-probe`: a **dynamic node** that attaches to a
+  running dataflow, reads the same `joy` stream this node reads, and shows the raw axes,
+  the buttons and the velocity that would be sent. It exists because the indices in
+  `mapping.py` are SDL's documented layout rather than an observed one, and a pad that
+  disagrees is otherwise found by watching a real arm move the wrong way. It goes through
+  the same `velocity()` the node runs, on the same readings, so what it prints is what the
+  arm would get — keep it that way, or it stops being evidence. `dataflow-gamepad.yml`
+  declares it as `path: dynamic`. For a pad whose layout is unknown, `dora-joy-probe`
+  needs no dataflow at all.
+
+## The standard, and why it is one
+
+This node publishes `twist` (SI) and `command` (robot-agnostic verbs), not one robot's
+vocabulary. The contract is in the vault at `resources/robotics/teleop-contract.md`, which
+is where it lives because no source package is shared between node repositories.
+
+**Normalise first, scale once.** Every control source becomes a `[-1, 1]` six-vector
+before anything is scaled, and the scaling happens in exactly one function. The deadzone
+and the response curve are applied only to the gamepad, because they correct a worn
+physical stick and a browser has none. Break this and the console silently acquires the
+robot's units, which is what it used to have and the reason it fitted only one arm.
+
+`jog` and `request` still carry the same intent in `dora-ulite6`'s units and service
+names. They are deprecated, exist so the two repositories can move independently, and go
+away once the arm node takes the standard ports. `LEGACY_REQUEST` in `main.py` is the only
+place that knows what that node calls a verb.
+
+`joint_jog` is specified in `dora-node.yml` and deliberately **not implemented**. A
+joint-space robot needs IK and position integration against joint limits, neither of which
+belongs here, and a port nothing wires reads as supported while having never run.
+
+## Rules that are not negotiable
+
+- **Send the change, not the state.** A velocity is a set-point the arm holds. `_drive`
+  sends when it changes and otherwise repeats on `JOG_KEEPALIVE_S`, which exists only to
+  beat the arm's own expiry. Repeating every tick made a real xArm re-plan the same motion
+  twenty times a second, which reads as stepping. Do not restore the every-tick re-send.
+  A change must never be made to wait for the repeat.
+- **The stop is sent once, not every tick.** A stream of zero velocities keeps
+  `dora-ulite6` believing a jog is live and holds `robot_state` at `moving` forever.
+- **E-STOP is never gated on the lease, and neither is its release.** From either
+  source, at any time. The latch (`view.estop`) is checked first in
+  `_wanted_velocity`, above the owner — a stop that the next stick movement overrides is
+  not a stop. `_clear` is the only way out and does both halves, this node's latch and the
+  controller's error; the pad's X and the console's RESET both go through it, so a
+  pad-only dataflow is not left with a latch nothing can release.
+- **The deadman layers must stay in order**: `JOY_TTL_S` (0.2) < `JOG_TTL_S` (0.4) < the
+  arm node's `VELOCITY_COMMAND_TTL_S` (0.5). Each is the backstop for the one inside it,
+  and a backstop that fires first backs up nothing. `Config.from_env` enforces the first
+  pair; nothing can enforce the second from here.
+- **An unplugged pad, a dead `dora-joy` or a departed browser stops the arm immediately**,
+  without waiting out any timer beyond the one that detects it.
+- **A pad is driven from only after it has been seen at rest**, and a pad whose rest does
+  not fit `Layout` is not driven from at all. This covers the axes and **cannot cover the
+  buttons**: an unpressed button reads the same on every pad, so a wrong button index is
+  silent until somebody presses it and gets another verb. Sweeping a new pad with the
+  probe is the only check, and it is worth doing before the arm is powered. The cost is that a pad held when it appears
+  is ignored until it is let go; the alternative is guessing a numbering from one reading,
+  against a real arm.
+- **Both control sources go through `mapping`.** The web path used to bypass it and pass
+  a velocity straight through, which is why the console had to speak mm/s. One conversion
+  point or none.
+- **Declare every published Arrow schema.** See `message.py`.
+- **Do not add a robot driver or a gamepad driver here.** See above. In particular: no
+  `pygame`, no `evdev`, and no environment variable naming a device. The web server is
+  the one deliberate exception and is scoped to the Control console; anything the console
+  cannot ask the arm to do does not belong on it.
+- **Nothing on the server thread may block the control loop.** `server.py` meets the loop
+  at two non-blocking points only — the queue the tick drains and the snapshot handed
+  back. A browser that stops reading must never stall the thread that stops the arm.
+
+## What this node cannot do
+
+The lease binds only what goes through this node. `dora-ulite6` has no concept of an owner,
+so another node publishing `request` will preempt an operator mid-motion and nothing here
+can prevent it. Say so rather than implying otherwise.
+
+`jog` has no feedback channel at all — a malformed one is logged and dropped by the arm
+node, with no response and no error output. What this node sends, it learns nothing back
+about except through `robot_state` and telemetry.
+
+## Two manifest rules worth knowing
+
+`dora-node.yml` is the typed contract a consumer wires against, and the only one they get:
+no source package is shared between node repositories. `dora validate` checks a dataflow
+against it without running the node, so CI needs neither a gamepad nor a robot.
+
+`joy`, `jog`, `request`, `response`, `motion_state` and the `ui_` ports are deliberately
+**untyped**. dora treats a port carrying `request_id` as pattern-correlated and skips type
+checks on it, several Arrow schemas legitimately flow over each, and dora 1.0 ships no
+standard joystick type. Annotating them would claim a contract neither side keeps.
+
+## Key APIs
+
+- **dora Python API** (`dora`): `Node()`, `node.send_output(id, array, metadata)`, event
+  iteration via `for event in node`.
+- **The `joy` message** (`dora-joy`): the Arrow struct
+  `{axes: list<float32>, buttons: list<bool>, present: bool}`, published on every tick.
+  Raw SDL — a stick centres near 0, but **a trigger rests at -1.0**. There is no header
+  and no timestamp: freshness is arrival time here.
+
+## Tools
+
+- **Issue tracker:** Gitea. Use the Gitea MCP tools (`mcp__gitea__*`) to read and manage
+  issues, pull requests, and other repository operations.
+
+## Code style
+
+- Write docstrings in NumPy style (summary line, then `Parameters`, `Returns`, `Raises`
+  sections as needed).
+- Run `ruff check .` and `ruff format .` before committing. CI enforces both.
+
+## Rules
+
+- Do not mention AI tools in commit messages or documentation.

README.md

@@ -0,0 +1,120 @@
+# dora-teleop
+
+dora-rs teleoperation node: normalises two control sources — a gamepad read from
+`dora-joy`, and a web console served by this node itself — into one owner's lease, and
+emits velocity set-points and robot-agnostic commands. It carries no hardware driver: pad
+I/O lives in `dora-joy`, arm I/O in a robot node.
+
+**Requirements:** dora 1.0+ (verified with `dora-cli 1.0.1`), Python 3.12+, `uv`.
+
+## System
+
+```mermaid
+flowchart LR
+    pad([gamepad]) --> joy
+    browser([browser]) -- "ws: held directions, verbs" --> web
+    web -- "ui_state snapshot" --> browser
+    joy["dora-joy — sibling repo"]
+    subgraph teleop["dora-teleop"]
+        web["web console — built in, HTTP + ws on one port"]
+        core["command arbitration"]
+    end
+    joy -- "joy: axes, buttons, present" --> core
+    web -- "held directions, ±1" --> core
+    core -- "twist SI · command verbs (standard)" --> arm
+    core -- "jog · request (deprecated)" --> arm
+    arm -. "state · poses · response" .-> core
+    arm["robot node"]
+```
+
+## Quick start
+
+```bash
+uv sync
+dora run dataflow.yml --uv        # teleop + bench stand-in: no pad, no arm
+```
+
+Open `http://localhost:7000` and drive the robot from the console. The bench answers
+services and publishes telemetry so the loop closes.
+
+### Watching the wire
+
+Every dataflow sets `debug: enable_debug_inspection: true`, so dora can inspect the wire
+without any node printing. This needs a coordinator, so it works for the arm-free dataflow:
+
+```bash
+dora up
+dora start dataflow.yml --uv --name teleop-bench
+dora topic list -d teleop-bench                              # every edge in the graph
+dora topic echo -d teleop-bench teleop/jog                   # every velocity, live
+dora topic hz   -d teleop-bench teleop/jog --duration 10     # the re-send cadence
+dora stop --name teleop-bench && dora down
+```
+
+## Running with hardware
+
+| Dataflow               | Nodes                                | Needs              |
+|------------------------|--------------------------------------|--------------------|
+| `dataflow.yml`         | teleop + bench stand-in              | nothing            |
+| `dataflow-robot.yml`   | joy + teleop + ulite6                | a pad and an arm   |
+| `dataflow-gamepad.yml` | the same, plus the probe, no console | a pad and an arm   |
+
+## Gamepad
+
+| Control              | Does (base frame)                                              | Index        | Units |
+|----------------------|----------------------------------------------------------------|--------------|-------|
+| Left stick X / Y     | Translate in the horizontal plane: `+X` stick up, `+Y` stick right | axes 0, 1    | mm/s  |
+| Left / right trigger | Translate along Z: right trigger lifts (`+Z`), left lowers     | axes 4, 5    | mm/s  |
+| Right stick X / Y    | Rotate: `+roll` stick right, `+pitch` stick up                 | axes 2, 3    | deg/s |
+| LB / RB              | Yaw: RB is `+yaw`                                              | buttons 6, 7 | deg/s |
+| A                    | Close the tool                               | button 0     | —     |
+| B                    | Open the tool                                | button 1     | —     |
+| X                    | Release the E-STOP and clear the arm's error | button 3     | —     |
+| Y                    | Toggle freedrive                             | button 4     | —     |
+| Back                 | **E-STOP** — latches until X                 | button 11    | —     |
+
+The sticks move the arm in its horizontal X/Y plane only; the triggers are the one path
+to Z. Up on the stick sends the arm away from the operator, the same `+X` convention the
+console draws.
+
+## Inputs and outputs
+
+| Direction | Name           | Description                                            |
+|-----------|----------------|--------------------------------------------------------|
+| in        | `tick`         | 50 ms — change detection, deadman, telemetry           |
+| in        | `joy`          | One pad reading from `dora-joy`                        |
+| in        | `response`     | An answer from the arm                                 |
+| in        | `motion_state` | How a motion ended                                     |
+| in        | `robot_state`  | The arm's own state                                    |
+| in        | `tcp_pose`     | Tool-tip pose, six float32, mm and degrees             |
+| in        | `joint_pose`   | Joint angles, six float32, degrees                     |
+| out       | `twist`        | **Standard.** `{linear, angular, frame}`, SI           |
+| out       | `command`      | **Standard.** `{action, value}`, robot-agnostic verbs  |
+| out       | `jog`          | *Deprecated.* mm/s + deg/s, for `dora-ulite6`          |
+| out       | `request`      | *Deprecated.* A service call, `request_id` in metadata |
+| out       | `ui_state`     | The console's telemetry snapshot, as JSON              |
+
+## Environment variables
+
+| Variable                 | Default   | Description                                            |
+|--------------------------|-----------|--------------------------------------------------------|
+| `SPEED_MM_S`             | `60.0`    | Translation speed at full deflection                   |
+| `SPEED_DEG_S`            | `30.0`    | Rotation speed at full deflection                      |
+| `DEADZONE`               | `0.12`    | Stick travel near centre to ignore                     |
+| `EXPO`                   | `0.4`     | How much of the curve is cubic; 0 is linear            |
+| `JOG_TTL_S`              | `0.4`     | Owner silence before the arm is stopped                |
+| `JOG_KEEPALIVE_S`        | `0.2`     | How often an unchanged velocity is repeated            |
+| `JOY_TTL_S`              | `0.2`     | `joy` silence before the pad reads as gone             |
+| `GAMEPAD_IDLE_RELEASE_S` | `2.0`     | Untouched pad before it hands the arm back             |
+| `STATE_POLL_S`           | `0.5`     | How often to ask the arm what telemetry does not carry |
+| `WEB_HOST`               | `0.0.0.0` | Address the console binds to                           |
+| `WEB_PORT`               | `7000`    | Console port; `0` opens no port at all                 |
+
+## Development
+
+```bash
+uv sync --group dev
+uv run pytest      # 149 tests, no gamepad, arm, browser or daemon needed
+uv run ruff check .
+uv run ruff format --check .
+```

dataflow-gamepad.yml

@@ -0,0 +1,116 @@
+# The pad, a real arm and the probe. No bench and no browser.
+#
+# `dataflow.yml` is what CI validates, and it deliberately has no pad in it: the
+# pad is `dora-joy`, another repo, and pulling it in by `git:` would cost that
+# file its one property — that it resolves and runs from this checkout alone.
+# This file is the other half. It needs the network on first build, a pad, and
+# an arm.
+#
+# It is `dataflow-robot.yml` with the probe attached and the console shut, for
+# the one job the probe exists for: checking that the pad in your hands has the
+# layout `mapping.py` assumes, against the arm that will actually move. Use
+# `dataflow-robot.yml` for ordinary driving.
+#
+#   source .venv/bin/activate    # not --uv; README.md says why
+#   dora build dataflow-gamepad.yml
+#   dora run dataflow-gamepad.yml
+#
+# `dora run`, not `dora up` + `dora start`: dora 1.0.1 refuses to start a
+# dataflow holding `git:` nodes from a coordinator — "node joy has git source,
+# but no `dora build` was run yet", straight after a build that succeeded. It is
+# the same shape of gap as the `--uv` one above, and it costs this file
+# `dora topic`, which needs a coordinator to read the wire.
+#
+# ROBOT_IP and TOOL_TYPE below name the arm in front of you: the bench arm at
+# 192.168.1.162, with a vacuum tool. Read
+# `The gamepad` in README.md before picking it up — Back is the E-STOP.
+
+strict_types: true
+
+debug:
+  enable_debug_inspection: true
+
+nodes:
+  - id: joy
+    git: https://gitea.liria.cl/liria/dora-joy.git
+    tag: v0.1.1
+    build: pip install .
+    path: dora-joy
+    inputs:
+      tick: dora/timer/millis/20
+    outputs:
+      - joy
+
+  - id: teleop
+    path: dora-teleop
+    build: pip install .
+    inputs:
+      tick: dora/timer/millis/50
+      # queue_size 1: joy ticks at 20 ms and this node at 50, so without it the
+      # loop would work through a backlog of readings that have already been
+      # overtaken. An arm should be driven by the newest one or by none.
+      joy:
+        source: joy/joy
+        queue_size: 1
+        queue_policy: drop_oldest
+      response: ulite6/response
+      motion_state: ulite6/motion_state
+      robot_state: ulite6/robot_state
+      tcp_pose: ulite6/tcp_pose
+      joint_pose: ulite6/joint_pose
+    outputs:
+      - twist
+      - command
+      - jog
+      - request
+      - ui_state
+    env:
+      SPEED_MM_S: "60"
+      SPEED_DEG_S: "30"
+      # Keep the deadman layers ordered: JOY_TTL_S < JOG_TTL_S < the arm's own
+      # VELOCITY_COMMAND_TTL_S, which is 0.5 s below. Each backs up the one
+      # inside it, and a backstop that fires first backs up nothing.
+      JOY_TTL_S: "0.2"
+      JOG_TTL_S: "0.4"
+      # This one is about the pad, so the console stays shut and no port is
+      # opened. `dataflow-robot.yml` is the one that serves it.
+      WEB_PORT: "0"
+
+  # Declared, not spawned: `dora-teleop-probe` attaches to this id when you run
+  # it, and the dataflow runs perfectly well when nobody does.
+  - id: teleop-probe
+    path: dynamic
+    inputs:
+      joy: joy/joy
+
+  - id: ulite6
+    git: https://gitea.liria.cl/liria/dora-ulite6.git
+    tag: v0.3.1
+    build: pip install .
+    path: dora-ulite6
+    inputs:
+      tick: dora/timer/millis/100
+      request: teleop/request
+      jog: teleop/jog
+    outputs:
+      - response
+      - motion_state
+      - joint_pose
+      - tcp_pose
+      - robot_state
+    # dora type-checks before it fetches a `git:` source, so it cannot read the
+    # arm's own manifest from here. These three repeat what `dora-ulite6`
+    # v0.3.1 annotates; `response` and `motion_state` stay untyped there and so
+    # stay untyped here. Re-check them when moving to a new tag.
+    output_types:
+      joint_pose: std/core/v1/Float32
+      tcp_pose: std/core/v1/Float32
+      robot_state: std/core/v1/String
+    env:
+      ROBOT_IP: "192.168.1.162"
+      TOOL_TYPE: "vacuum"
+      # The outermost deadman, enforced by the controller whether or not any of
+      # this is alive. Every timer above must stay below it.
+      VELOCITY_COMMAND_TTL_S: "0.5"
+      # The pad does not home. Nothing moves until somebody pushes a stick.
+      INIT_MODE: "none"

dataflow-robot.yml

@@ -0,0 +1,111 @@
+# Joystick control of a real arm. Three nodes, no bench and no browser.
+#
+# This is the one that moves a robot. `dataflow.yml` and `dataflow-gamepad.yml`
+# drive a stand-in; this one drives `dora-ulite6`, so everything the pad does
+# here happens in the room. Read `The gamepad` in README.md before picking it up
+# — Back is the E-STOP.
+#
+# Both sibling nodes are pulled by `git:`, so this runs from a fresh clone with
+# no other checkouts. It needs the network on its first build, and an arm.
+#
+#   source .venv/bin/activate
+#   dora build dataflow-robot.yml
+#   dora run dataflow-robot.yml
+#
+# Not `--uv`: dora 1.0.1 installs a `git:` node into a venv inside its own clone and
+# then looks for its entrypoint in this dataflow's venv instead. README.md has the
+# detail. `dataflow.yml` has no `git:` nodes and is fine with --uv.
+#
+# ROBOT_IP and TOOL_TYPE below name the arm in front of you: the bench arm at
+# 192.168.1.162, with a vacuum tool.
+#
+# The web console comes with the node: it serves the page and holds the
+# browsers' sockets itself, so `http://<this machine>:7000` is a second way to
+# drive the same arm, with the same lease deciding who gets it. Set WEB_PORT to
+# 0 below for a pad-only run that opens no port at all.
+
+strict_types: true
+
+# Lets `dora topic echo` read what is on the wire — the velocities going to the
+# arm, above all. Run under `dora start` rather than `dora run` to use it.
+debug:
+  enable_debug_inspection: true
+
+nodes:
+  - id: joy
+    git: https://gitea.liria.cl/liria/dora-joy.git
+    tag: v0.1.1
+    build: pip install .
+    path: dora-joy
+    inputs:
+      tick: dora/timer/millis/20
+    outputs:
+      - joy
+
+  - id: teleop
+    path: dora-teleop
+    build: pip install .
+    inputs:
+      tick: dora/timer/millis/50
+      # queue_size 1: joy ticks at 20 ms and this node at 50, so without it the
+      # loop would work through a backlog of readings that have already been
+      # overtaken. An arm should be driven by the newest one or by none.
+      joy:
+        source: joy/joy
+        queue_size: 1
+        queue_policy: drop_oldest
+      response: ulite6/response
+      motion_state: ulite6/motion_state
+      robot_state: ulite6/robot_state
+      tcp_pose: ulite6/tcp_pose
+      joint_pose: ulite6/joint_pose
+    outputs:
+      - twist
+      - command
+      - jog
+      - request
+      - ui_state
+    env:
+      SPEED_MM_S: "60"
+      SPEED_DEG_S: "30"
+      # Keep the deadman layers ordered: JOY_TTL_S < JOG_TTL_S < the arm's own
+      # VELOCITY_COMMAND_TTL_S, which is 0.5 s below. Each backs up the one
+      # inside it, and a backstop that fires first backs up nothing.
+      JOY_TTL_S: "0.2"
+      JOG_TTL_S: "0.4"
+      # The console, on this machine. It is bound to every interface because
+      # the operator is rarely sitting at the box wired to the arm.
+      WEB_HOST: "0.0.0.0"
+      WEB_PORT: "7000"
+
+  - id: ulite6
+    git: https://gitea.liria.cl/liria/dora-ulite6.git
+    tag: v0.3.1
+    build: pip install .
+    path: dora-ulite6
+    inputs:
+      tick: dora/timer/millis/100
+      request: teleop/request
+      jog: teleop/jog
+    outputs:
+      - response
+      - motion_state
+      - joint_pose
+      - tcp_pose
+      - robot_state
+    # dora type-checks before it fetches a `git:` source, so it cannot read the
+    # arm's own manifest from here. These three repeat what `dora-ulite6`
+    # v0.3.1 annotates; `response` and `motion_state` stay untyped there and so
+    # stay untyped here. Re-check them when moving to a new tag.
+    output_types:
+      joint_pose: std/core/v1/Float32
+      tcp_pose: std/core/v1/Float32
+      robot_state: std/core/v1/String
+    env:
+      ROBOT_IP: "192.168.1.162"
+      TOOL_TYPE: "vacuum"
+      # The outermost deadman, enforced by the controller whether or not any of
+      # this is alive. Every timer above must stay below it.
+      VELOCITY_COMMAND_TTL_S: "0.5"
+      # The pad does not home. Nothing moves until somebody pushes a stick.
+      INIT_MODE: "none"

dataflow.yml

@@ -0,0 +1,59 @@
+# The repo's own example, and what CI validates.
+#
+# Self-contained on purpose: teleop plus a bench stand-in for the arm and the
+# browser, both built from this checkout, so `dora validate` resolves every
+# manifest from `path:` and CI needs no gamepad, no robot and no sibling clones.
+#
+# There is **no gamepad here**, because the pad is another node and wiring it in
+# by `git:` would cost this file the one property it has. For a real pad, use
+# `dataflow-robot.yml`, or `dataflow-gamepad.yml` to check the pad with the
+# probe — both of which drive a real arm.
+#
+# This is **not** the real stack. The bench answers services and publishes
+# telemetry but never moves anything. README.md carries the four-node wiring a
+# consumer actually uses.
+
+strict_types: true
+
+# Lets `dora topic echo` and `dora topic hz` read what is on the wire, so the
+# velocities this node sends can be watched without the bench printing them —
+# and without a robot. Costs nothing when nobody is looking.
+debug:
+  enable_debug_inspection: true
+
+nodes:
+  - id: teleop
+    path: dora-teleop
+    build: pip install .
+    inputs:
+      tick: dora/timer/millis/50
+      response: bench/response
+      robot_state: bench/robot_state
+      tcp_pose: bench/tcp_pose
+      joint_pose: bench/joint_pose
+    outputs:
+      - twist
+      - command
+      - jog
+      - request
+      - ui_state
+    env:
+      SPEED_MM_S: "60"
+      SPEED_DEG_S: "30"
+      # The console is served by this node. CI runs this dataflow, so it binds
+      # to localhost and stays off any interface a colleague could reach.
+      WEB_HOST: "127.0.0.1"
+      WEB_PORT: "7000"
+
+  - id: bench
+    path: examples/bench.py
+    inputs:
+      tick: dora/timer/millis/200
+      jog: teleop/jog
+      request: teleop/request
+      ui_state: teleop/ui_state
+    outputs:
+      - response
+      - robot_state
+      - tcp_pose
+      - joint_pose

dora-node.yml

@@ -0,0 +1,263 @@
+# Node manifest: the typed contract a consumer wires against.
+#
+# No source package is shared between node repositories, so this file and its
+# type URNs are the only contract a consumer has. `dora validate` checks a
+# dataflow against it without running the node, so CI needs neither a gamepad
+# nor a robot.
+#
+# `joy`, `jog`, `request`, `response`, `motion_state` and `ui_state` are
+# deliberately **untyped**. dora treats a port carrying `request_id` as
+# pattern-correlated and skips type checks on it, several Arrow schemas
+# legitimately flow over each — one per service, one per console message — and
+# dora 1.0 ships no standard joystick type. Annotating them would claim a
+# contract neither side keeps.
+
+apiVersion: 1
+name: dora-teleop
+namespace: liria
+description: Hands a robot arm to a human, from a gamepad or a browser
+categories: [robot]
+keywords: [teleop, gamepad, joystick, jog, arm, manipulator, web-console, operator]
+
+runtime: python
+entrypoint: dora-teleop
+# `dora build --uv` / `dora run --uv` rewrites this to `uv pip install .` and
+# gives the node its own managed venv under `.dora/python-envs/`, so the
+# dependencies it sees at runtime are the ones installed here.
+build: pip install .
+dora: ">=1.0"
+
+inputs:
+  tick:
+    description: >-
+      Drives everything time-based: noticing a changed velocity, repeating the
+      held one, expiring a
+      source that has gone quiet, and publishing the console's telemetry. Use 50
+      ms. Slower than about 100 ms and the arm node's own velocity expiry starts
+      firing between ticks, which an operator feels as the arm stuttering.
+    type: std/core/v1/UInt64
+  joy:
+    required: false
+    description: >-
+      One gamepad reading from `dora-joy`, as the Arrow struct
+      `{axes: list<float32>, buttons: list<bool>, present: bool}`. Raw SDL — the
+      deadzone, the response curve and the base-frame mapping all happen here.
+      Wire it with `queue_size: 1`: `dora-joy` ticks faster than this node does,
+      and a backlog of old readings is the last thing an arm should be driven
+      from.
+
+      **`present: false` stops the arm at once**, without waiting out any timer,
+      because an unplugged pad is not a centred pad. So does the stream going
+      quiet for longer than `JOY_TTL_S` — `dora-joy` publishes on every tick
+      whether or not the pad moved, so silence means that node died, and a dead
+      pad node is indistinguishable from an unplugged pad as far as the arm is
+      concerned.
+
+      Each pad is measured the first time it is seen sitting still, so a stick
+      that no longer centres has its tilt subtracted rather than deadzoned away.
+      A pad whose resting axes do not fit the layout this node compiles in — a
+      trigger where a stick should be, say — reads the same as no pad at all
+      and is named in the log, rather than being guessed at against a real arm.
+
+      Leave it unwired for a browser-only console. The node says so and starts.
+  response:
+    required: false
+    description: >-
+      An answer from the arm node, correlated by `request_id` in the metadata. A
+      failure is passed to the console as a toast; a `get_state` answer fills in
+      what telemetry does not carry.
+  motion_state:
+    required: false
+    description: >-
+      How a motion ended. Needed because this node sends motions with
+      `wait: false`, and a non-blocking motion reports its outcome here and
+      nowhere else.
+  robot_state:
+    required: false
+    description: >-
+      The arm's own state, one of `connecting`, `ready`, `moving`, `recovering`
+      or `unavailable`. Translated into the vocabulary the console draws.
+    type: std/core/v1/String
+  tcp_pose:
+    required: false
+    description: >-
+      Tool-tip pose, six float32 as `[x, y, z, roll, pitch, yaw]` in mm and
+      degrees, base frame. Shown in the console's pose readout.
+    type: std/core/v1/Float32
+  joint_pose:
+    required: false
+    description: >-
+      Joint angles, six float32 in degrees. Shown in the console's joint readout.
+    type: std/core/v1/Float32
+
+outputs:
+  twist:
+    description: >-
+      **The standard motion port.** A velocity, as
+      `{linear: [x, y, z], angular: [x, y, z], frame}` in **SI** — metres per
+      second and radians per second — in the frame named by `frame`, currently
+      always `base`.
+
+      Sent when the velocity **changes**, and otherwise repeated every
+      `JOG_KEEPALIVE_S` so the consumer's own expiry never fires mid-motion — a
+      velocity is a set-point a consumer holds, not a frame in a sequence, and a
+      consumer that re-plans on every message moves in steps if it is fed one
+      every tick. A stop is a change: exactly one all-zero Twist, not repeatedly,
+      because a stream of zeroes keeps a consumer believing a jog is live. There
+      is no answer to a Twist, ever: it expires on the consumer's own TTL.
+
+      Both control sources are normalised to a fraction of full speed before
+      anything is scaled, so a gamepad and the web console asking for the same
+      deflection produce byte-identical Twists.
+  command:
+    description: >-
+      **The standard discrete port.** One thing to do, as `{action, value}`.
+      `action` is robot-agnostic — `gripper_open`, `gripper_close`, `stop`,
+      `home`, `clear`, `freedrive` — so a consumer that swaps a vacuum for a
+      two-finger gripper needs no change here. `value` carries the argument
+      where a verb has one (`freedrive` uses 1.0 and 0.0) and is null otherwise.
+  jog:
+    description: >-
+      **Deprecated; use `twist`.** The same motion in `dora-ulite6`'s units:
+      `{velocity: [vx, vy, vz, wx, wy, wz]}` in mm/s and deg/s, base frame.
+      Published alongside `twist` while that node learns the standard one.
+
+      Wire `twist` **or** `jog`, never both — they carry the same intent, and a
+      consumer reading both would be driven twice.
+  request:
+    description: >-
+      **Deprecated; use `command`.** The same verbs under the service names
+      `dora-ulite6` uses — `stop`, `grasp`, `release`, `clear`, `freedrive`,
+      `home` — with `request_id` in the metadata. `move_to` and `get_state` have
+      no standard equivalent yet and go only here.
+  ui_state:
+    description: >-
+      The console's telemetry snapshot, as a JSON string. Also carries error
+      toasts. Every key in it is read by name in the console's page, so the two
+      change together.
+
+      The browsers get this straight from the node's own server and do not read
+      this port; it is published for anyone else watching — `dora topic echo`,
+      a recorder, a second screen — and costs nothing when nobody is.
+
+# Reserved, not implemented. A joint-space robot — a lerobot SO-101, say — takes
+# joint targets rather than a Cartesian velocity, and no amount of scaling turns
+# one into the other: it needs inverse kinematics, which is another node's job.
+# When such a consumer exists, this is the port it wires, mirroring ROS's
+# control_msgs/JointJog beside geometry_msgs/Twist:
+#
+#   joint_jog:
+#     description: >-
+#       A joint-space velocity, as `{names: [str], velocities: [float]}`, the
+#       joints named rather than positional so a consumer cannot mistake the
+#       order.
+#
+# It is written down rather than built because a port nothing wires is worse
+# than no port: it reads as supported and has never once run.
+
+env:
+  SPEED_MM_S:
+    type: float
+    default: 60.0
+    description: >-
+      Translation speed at full stick deflection, in mm/s. A stick is analog, so
+      this is a maximum and anything less moves proportionally slower. Defaults
+      to 60.0.
+  SPEED_DEG_S:
+    type: float
+    default: 30.0
+    description: Rotation speed at full deflection, in deg/s. Defaults to 30.0.
+  DEADZONE:
+    type: float
+    default: 0.12
+    description: >-
+      Stick travel near centre to ignore, as a fraction. A worn stick that does
+      not centre would otherwise drive the arm on its own. What is left is
+      rescaled, so motion still starts from zero just outside the band.
+      Defaults to 0.12.
+  EXPO:
+    type: float
+    default: 0.4
+    description: >-
+      How much of the response curve is cubic, from 0 (linear) to 1. Fine
+      positioning happens near centre and a linear stick gives it almost no
+      resolution there. Defaults to 0.4.
+  JOG_TTL_S:
+    type: float
+    default: 0.4
+    description: >-
+      How long the owning source may go quiet before the arm is stopped. Keep it
+      **below** the arm node's VELOCITY_COMMAND_TTL_S (0.5 s by default), which
+      is the controller-side backstop behind this one. Defaults to 0.4.
+  JOG_KEEPALIVE_S:
+    type: float
+    default: 0.2
+    description: >-
+      How often to repeat a velocity that has not changed. Must be **above 0 and
+      below JOG_TTL_S**, which in turn sits below the arm's own
+      VELOCITY_COMMAND_TTL_S — so the repeat outpaces the expiry it exists to
+      beat. Raising it sends fewer messages and asks the controller to re-plan
+      less; too high and the arm stops between repeats. A change is never
+      delayed by it. Defaults to 0.2.
+  JOY_TTL_S:
+    type: float
+    default: 0.2
+    description: >-
+      How long the `joy` stream may go quiet before the pad reads as gone and the
+      arm is stopped. Must be **below** JOG_TTL_S. `dora-joy` publishes on every
+      tick, so this is really "how many missed readings to tolerate" — at a 20 ms
+      joy tick, the default is ten. Defaults to 0.2.
+  GAMEPAD_IDLE_RELEASE_S:
+    type: float
+    default: 2.0
+    description: >-
+      How long a pad may sit untouched before it hands the arm back, so a
+      browser can take over without anyone pressing anything. Defaults to 2.0.
+  STATE_POLL_S:
+    type: float
+    default: 0.5
+    description: >-
+      How often to call `get_state` for what telemetry does not carry: whether
+      the tool is engaged and whether freedrive is on. Defaults to 0.5.
+  WEB_HOST:
+    type: string
+    default: "0.0.0.0"
+    description: >-
+      The address the built-in web console binds to. Defaults to `0.0.0.0`,
+      because the operator is rarely sitting at the machine wired to the arm.
+      Set `127.0.0.1` where they are, or where the network is not yours.
+  WEB_PORT:
+    type: int
+    default: 7000
+    description: >-
+      The port the console is served on — the page and the browsers' WebSocket
+      both, so there is one URL and nothing to keep in step. **Set it to 0 to
+      open no port at all**, which is what a pad-only dataflow wants. Defaults
+      to 7000.
+
+example: |
+  - id: teleop
+    git: ssh://git@gitea.liria.cl:5001/liria/dora-teleop.git
+    tag: v0.3.0
+    build: pip install .
+    path: dora-teleop
+    inputs:
+      tick: dora/timer/millis/50
+      joy:
+        source: joy/joy
+        queue_size: 1
+        queue_policy: drop_oldest
+      response: ulite6/response
+      motion_state: ulite6/motion_state
+      robot_state: ulite6/robot_state
+      tcp_pose: ulite6/tcp_pose
+      joint_pose: ulite6/joint_pose
+    outputs:
+      - twist
+      - command
+      - jog
+      - request
+      - ui_state
+    env:
+      SPEED_MM_S: "60"
+      SPEED_DEG_S: "30"

dora_teleop/__init__.py

@@ -0,0 +1 @@
+"""Human control of a robot arm, from a gamepad or a browser."""

dora_teleop/arbiter.py

@@ -0,0 +1,78 @@
+"""Who is allowed to drive the arm.
+
+Two sources want one arm, and the arm cannot take both. This is the whole of
+that decision, in one place, so there is exactly one answer to "why did it not
+move" rather than one per input path.
+
+The model comes from the monolithic repo's `RobotService` lease, and is kept
+because the web console is built on it: its controls are gated on owning the
+arm and it renders an owner chip. A simpler last-writer-wins scheme would mean
+rewriting the console to match the node rather than the other way round.
+
+The arm node itself has no idea any of this exists. A lease held here binds only
+what goes through this node — another node publishing `request` to the arm will
+preempt an operator mid-motion, and nothing here can stop it.
+"""
+
+from dora_teleop.log import log
+
+GAMEPAD = "gamepad"
+WEB = "web"
+
+
+class Arbiter:
+    """The lease on the arm, and the rules for handing it between sources."""
+
+    def __init__(self, idle_release_s: float):
+        self.idle_release_s = idle_release_s
+        self._owner: str | None = None
+        self._last_activity = 0.0
+
+    @property
+    def owner(self) -> str | None:
+        """Who holds the arm, or None if it is free."""
+        return self._owner
+
+    def take(self, who: str, now: float, preempt: bool = False) -> bool:
+        """Give ``who`` the arm if it is theirs to take, and say whether it worked.
+
+        A free arm goes to whoever asks. A held one stays held unless the caller
+        asked to preempt, which the console's TAKE CONTROL button offers
+        deliberately: an operator who can see the arm is better placed than this
+        code to decide they should have it.
+        """
+        if self._owner not in (None, who) and not preempt:
+            return False
+        if self._owner != who:
+            log(f"{who} has the arm" + (f", preempting {self._owner}" if self._owner else ""))
+        self._owner = who
+        self._last_activity = now
+        return True
+
+    def release(self, who: str) -> None:
+        """Give the arm back, if this source had it."""
+        if self._owner == who:
+            log(f"{who} released the arm")
+            self._owner = None
+
+    def note_activity(self, who: str, now: float) -> None:
+        """Record that the holder is still there, so the idle timer does not fire."""
+        if self._owner == who:
+            self._last_activity = now
+
+    def expire_idle_gamepad(self, now: float) -> None:
+        """Hand the arm back after the pad has sat untouched long enough.
+
+        Only the gamepad expires. It takes the arm implicitly, on the first
+        nudge of a stick, so it has to give it back the same way or a pad left
+        on the bench would lock the browser out forever. The web takes the arm
+        by pressing a button and gives it back by pressing another.
+        """
+        if self._owner != GAMEPAD:
+            return
+        if now - self._last_activity >= self.idle_release_s:
+            self.release(GAMEPAD)
+
+    def may_drive(self, who: str) -> bool:
+        """Whether this source's jog should reach the arm."""
+        return self._owner == who

dora_teleop/config.py

@@ -0,0 +1,164 @@
+"""Everything the node reads from the environment, parsed once at startup.
+
+Parsing happens here rather than where each value is used, so an unusable
+setting stops the node before it joins the dataflow instead of surfacing the
+first time somebody picks up the gamepad.
+"""
+
+import os
+from dataclasses import dataclass, field
+
+
+def env_float(name: str, default: float) -> float:
+    """Read a number, naming the variable if it cannot be read as one."""
+    value = os.environ.get(name, "").strip()
+    if not value:
+        return default
+    try:
+        return float(value)
+    except ValueError:
+        raise ValueError(f"{name} must be a number, not {value!r}") from None
+
+
+def env_int(name: str, default: int) -> int:
+    """Read a whole number, naming the variable if it cannot be read as one."""
+    value = os.environ.get(name, "").strip()
+    if not value:
+        return default
+    try:
+        return int(value)
+    except ValueError:
+        raise ValueError(f"{name} must be a whole number, not {value!r}") from None
+
+
+@dataclass
+class ConsoleConfig:
+    """Where the built-in web console listens.
+
+    The node serves the page and holds the browsers' sockets itself, so there is
+    one address and one port rather than a bridge node and two. `0.0.0.0` is the
+    default because the operator is rarely sitting at the machine driving the
+    arm; bind it to `127.0.0.1` where that is not true.
+    """
+
+    host: str = "0.0.0.0"
+    port: int = 7000
+
+    @property
+    def enabled(self) -> bool:
+        """Whether to open the port at all. Port 0 means a pad-only dataflow."""
+        return self.port != 0
+
+    @classmethod
+    def from_env(cls) -> "ConsoleConfig":
+        """Build the console's address from the environment."""
+        port = env_int("WEB_PORT", 7000)
+        if not 0 <= port <= 65535:
+            raise ValueError(f"WEB_PORT must be a port number, not {port}")
+        return cls(host=os.environ.get("WEB_HOST", "").strip() or "0.0.0.0", port=port)
+
+
+@dataclass
+class DeadmanConfig:
+    """How long a source may go quiet before the arm is told to stop.
+
+    Four layers, outermost last. `joy_ttl_s` is how long a pad reading stays
+    worth acting on; `jog_keepalive_s` is how often an unchanged velocity is
+    repeated; `jog_ttl_s` is how long this node keeps driving without hearing
+    from the source; and behind all of them sits the arm node's own
+    `VELOCITY_COMMAND_TTL_S`, enforced there whether or not this process is
+    alive.
+
+    Keep them in that order — each shorter than the one behind it — or a
+    backstop fires before the thing it is backing up.
+    """
+
+    jog_ttl_s: float = 0.4
+    # How often to repeat a velocity that has not changed. A velocity is a
+    # set-point, not a sequence: the arm holds the last one until its own expiry
+    # or a new one, so repeating it 20 times a second only makes the controller
+    # re-plan the same motion 20 times, which an operator feels as stepping.
+    # Low enough that the arm's VELOCITY_COMMAND_TTL_S never fires mid-motion,
+    # and no lower. A change — a new direction, or the stop — never waits for it.
+    #
+    # It is checked on the tick, so the period actually achieved is this rounded
+    # *up* to the next tick: 0.2 with a 50 ms tick repeats every 250 ms, because
+    # the tick at 200 ms lands a hair early and does not qualify. Budget against
+    # that number, not this one.
+    jog_keepalive_s: float = 0.2
+    # How long the `joy` stream may go quiet before the pad reads as gone. The
+    # pad lives in another node now, and that node dying looks like silence
+    # rather than like an unplugged pad, so silence has to mean the same thing.
+    # `dora-joy` publishes every tick, so it means nothing else.
+    joy_ttl_s: float = 0.2
+    # How long a gamepad may sit untouched before it gives the arm back, so the
+    # browser can take over without anyone having to press anything.
+    gamepad_idle_release_s: float = 2.0
+    # How often to ask the arm for the things telemetry does not carry: whether
+    # the tool is engaged, whether freedrive is on, whether it is ready.
+    state_poll_s: float = 0.5
+
+    @classmethod
+    def from_env(cls) -> "DeadmanConfig":
+        """Build the timings from the environment."""
+        return cls(
+            jog_ttl_s=env_float("JOG_TTL_S", 0.4),
+            jog_keepalive_s=env_float("JOG_KEEPALIVE_S", 0.2),
+            joy_ttl_s=env_float("JOY_TTL_S", 0.2),
+            gamepad_idle_release_s=env_float("GAMEPAD_IDLE_RELEASE_S", 2.0),
+            state_poll_s=env_float("STATE_POLL_S", 0.5),
+        )
+
+
+@dataclass
+class Config:
+    """The node's settings."""
+
+    # Full-deflection speeds. Both sources are analog — a gamepad stick and the
+    # console's on-screen ones — so these are the maximum and anything less
+    # moves proportionally slower.
+    speed_mm_s: float
+    speed_deg_s: float
+    # Stick travel to ignore. A worn stick that does not centre would otherwise
+    # drive the arm across the table on its own.
+    deadzone: float
+    # How much of the curve is cubic: 0 is linear, 1 is fully cubic. Fine
+    # positioning happens near centre, and expo is what buys resolution there.
+    expo: float
+    deadman: DeadmanConfig = field(default_factory=DeadmanConfig)
+    console: ConsoleConfig = field(default_factory=ConsoleConfig)
+
+    @classmethod
+    def from_env(cls) -> "Config":
+        """Build the configuration from the environment, refusing anything unusable."""
+        deadzone = env_float("DEADZONE", 0.12)
+        if not 0.0 <= deadzone < 1.0:
+            raise ValueError(f"DEADZONE must be at least 0 and below 1, not {deadzone}")
+        expo = env_float("EXPO", 0.4)
+        if not 0.0 <= expo <= 1.0:
+            raise ValueError(f"EXPO must be between 0 and 1, not {expo}")
+        deadman = DeadmanConfig.from_env()
+        # The layers have to fire outermost last, and each one is a backstop for
+        # the one inside it. Behind both of these sits the arm node's own
+        # VELOCITY_COMMAND_TTL_S, which no setting here can see.
+        if deadman.joy_ttl_s >= deadman.jog_ttl_s:
+            raise ValueError(
+                f"JOY_TTL_S must be below JOG_TTL_S ({deadman.jog_ttl_s}), not {deadman.joy_ttl_s}"
+            )
+        # The repeat has to be quicker than the arm's own velocity expiry or the
+        # arm stops between repeats. That expiry cannot be read from here, but
+        # JOG_TTL_S is already required to sit below it, so staying under
+        # JOG_TTL_S keeps the repeat under both.
+        if not 0.0 < deadman.jog_keepalive_s < deadman.jog_ttl_s:
+            raise ValueError(
+                f"JOG_KEEPALIVE_S must be above 0 and below JOG_TTL_S ({deadman.jog_ttl_s}), "
+                f"not {deadman.jog_keepalive_s}"
+            )
+        return cls(
+            speed_mm_s=env_float("SPEED_MM_S", 60.0),
+            speed_deg_s=env_float("SPEED_DEG_S", 30.0),
+            deadzone=deadzone,
+            expo=expo,
+            deadman=deadman,
+            console=ConsoleConfig.from_env(),
+        )

dora_teleop/joy.py

@@ -0,0 +1,155 @@
+"""The gamepad, as it arrives from `dora-joy`.
+
+The pad itself lives in another node now. What reaches this one is a plain
+reading on the `joy` input, and this module is the seam the loop reads it
+through: :class:`Sample` is what the rest of the node sees, exactly as it did
+when the pad was read in-process.
+
+**The safety-critical part is :meth:`JoyInput.read`.** Moving the pad into
+another process added a way for it to go away that did not exist before — that
+process dying — and from here that looks like silence rather than like an
+unplugged pad. So silence past `JOY_TTL_S` reads as *absent*, which is the same
+answer, because a reading nobody is refreshing is not evidence of anything.
+`dora-joy` publishes on every tick whether or not the pad moved, so silence
+means one thing only.
+
+The other thing this seam does is :class:`Calibration`: no two pads rest in
+quite the same place, and one that rests somewhere the layout does not expect
+is a pad this node must not drive an arm from. Every reading the loop sees has
+been through it, so the rest of the node only ever handles a pad that behaves.
+"""
+
+import time
+from dataclasses import dataclass, field
+
+from dora_teleop import mapping
+from dora_teleop.log import log
+
+
+@dataclass(frozen=True)
+class Sample:
+    """One reading of the pad.
+
+    ``present`` is the one that matters for safety: a pad that has been
+    unplugged reads as absent rather than as centred, so the difference between
+    "the operator let go" and "the operator's pad fell off the desk" is not lost.
+    """
+
+    axes: list[float] = field(default_factory=list)
+    buttons: list[bool] = field(default_factory=list)
+    present: bool = False
+
+
+ABSENT = Sample()
+
+
+def decode(event: dict) -> Sample:
+    """Read one `joy` message into a reading.
+
+    A message this node cannot make sense of reads as absent rather than as
+    centred, for the same reason an unplugged pad does.
+    """
+    value = event["value"]
+    if not len(value):
+        return ABSENT
+    row = value[0].as_py()
+    return Sample(
+        axes=list(row.get("axes") or []),
+        buttons=[bool(down) for down in row.get("buttons") or []],
+        present=bool(row.get("present")),
+    )
+
+
+class Calibration:
+    """Where the pad in front of us rests, and whether the layout fits it.
+
+    Captured from the first reading of a pad that is sitting still, and kept
+    until that pad goes away. It is not re-taken while the pad is in use, which
+    would be the one way to get this badly wrong: an operator holding a stick
+    when it happened would have that deflection recorded as centre, and the arm
+    would then move whenever they let go.
+
+    A pad whose resting axes do not fit the layout is reported **absent** rather
+    than corrected. The numbering cannot be guessed from one reading — a trigger
+    resting at -1.0 and a stick held hard over look identical — and guessing
+    wrong drives a real arm. `dora-teleop-probe` shows what the pad reports, and
+    `Layout` in :mod:`dora_teleop.mapping` is where a pad that disagrees is
+    written down.
+    """
+
+    def __init__(self, layout: mapping.Layout = mapping.LAYOUT):
+        self.layout = layout
+        self.mismatch: str | None = None
+        self._zeros: list[float] | None = None
+
+    @property
+    def known(self) -> bool:
+        """Whether a pad has been measured at rest and may be driven from."""
+        return self._zeros is not None
+
+    def forget(self) -> None:
+        """Drop what was learned, so the next pad to appear is measured afresh."""
+        self._zeros = None
+        self.mismatch = None
+
+    def apply(self, sample: Sample) -> Sample:
+        """Return the reading as the layout's ideal pad would have sent it.
+
+        An absent pad passes straight through and takes the calibration with
+        it. A pad that does not fit the layout comes back absent, which every
+        path in this node already treats as a reason to stop.
+        """
+        if not sample.present:
+            self.forget()
+            return sample
+        if self._zeros is None or len(self._zeros) != len(sample.axes):
+            try:
+                self._zeros = mapping.rest_zeros(sample.axes, self.layout)
+            except ValueError as wrong:
+                # Logged once per pad: this runs on every reading, and a pad
+                # that does not fit the layout does not fit it fifty times a
+                # second.
+                if self.mismatch is None:
+                    log(
+                        f"ignoring the gamepad: {wrong}. Run dora-teleop-probe and check Layout in mapping.py"
+                    )
+                self.mismatch = str(wrong)
+                return ABSENT
+            self.mismatch = None
+        return Sample(
+            axes=mapping.canonical(sample.axes, self._zeros, self.layout),
+            buttons=sample.buttons,
+            present=True,
+        )
+
+
+class JoyInput:
+    """The latest reading, and how long ago it arrived."""
+
+    def __init__(self, ttl_s: float, layout: mapping.Layout = mapping.LAYOUT):
+        self.ttl_s = ttl_s
+        self.calibration = Calibration(layout)
+        self._sample = ABSENT
+        self._seen_at = 0.0
+
+    def accept(self, sample: Sample, moment: float) -> None:
+        """Take one reading off the wire, calibrated to the pad that sent it."""
+        self._sample = self.calibration.apply(sample)
+        self._seen_at = moment
+
+    def read(self, moment: float) -> Sample:
+        """Return the current reading, or absence if nobody is still sending one.
+
+        A stale reading is not a reading. `dora-joy` publishes every tick, so
+        silence means it died, and a dead pad node is indistinguishable from an
+        unplugged pad as far as the arm is concerned — which is the only safe
+        way to read it.
+        """
+        if moment - self._seen_at > self.ttl_s:
+            return ABSENT
+        return self._sample
+
+
+def now() -> float:
+    """Return the clock the deadman runs on: monotonic, so it cannot step backwards."""
+    return time.monotonic()

dora_teleop/log.py

@@ -0,0 +1,13 @@
+"""Timestamped stderr logging.
+
+stderr rather than stdout: dora reads a dynamic node's stdout, and a print that
+lands there is noise in the wrong stream.
+"""
+
+import sys
+import time
+
+
+def log(message: str) -> None:
+    """Print a timestamped line for the node."""
+    print(f"[teleop {time.strftime('%H:%M:%S')}] {message}", file=sys.stderr, flush=True)

dora_teleop/main.py

@@ -0,0 +1,482 @@
+"""The dora event loop: routing, the deadman, and nothing that can block.
+
+The loop owns the one decision this node exists to make — whether a velocity
+reaches the arm this tick, and from whom. Everything else is delegated:
+:mod:`dora_teleop.joy` takes the pad off the wire, :mod:`dora_teleop.mapping`
+turns a reading into a velocity, :mod:`dora_teleop.arbiter` says who is allowed
+to, :mod:`dora_teleop.ui` speaks the console's language and
+:mod:`dora_teleop.server` serves it. **No hardware is touched here at all** —
+the pad is `dora-joy` and the arm is `dora-ulite6`.
+
+**The safety-critical part is `_drive`.** An arm moving under a velocity command
+keeps moving until told otherwise, so the question is never "should it start"
+but "has anything happened that means it must stop". Three things mean that: the
+source went quiet, the source went away, or this process is going away. All
+three end in the same place — one all-zero velocity, sent once.
+
+What goes out is the *change*: a velocity is a set-point the arm holds, not a
+frame in a sequence, so an unchanged one is repeated only as often as the arm's
+own expiry demands. A change — a new direction, or the stop — is never made to
+wait for that timer.
+"""
+
+import argparse
+import json
+import time
+
+import pyarrow as pa
+from dora import Node
+
+from dora_teleop import joy, mapping, message, server, ui
+from dora_teleop.arbiter import GAMEPAD, WEB, Arbiter
+from dora_teleop.config import Config
+from dora_teleop.joy import JoyInput, now
+from dora_teleop.log import log
+from dora_teleop.mapping import LAYOUT, pressed
+
+REQUEST_ID = "request_id"
+# Still, in the normalised units both sources speak.
+STOP_AXES = [0.0] * 6
+
+# The verbs this node publishes on `command`. Robot-agnostic on purpose: a
+# consumer that grows a two-finger gripper where the last one had a vacuum
+# should need no change here, and neither should this node.
+GRIPPER_CLOSE = "gripper_close"
+GRIPPER_OPEN = "gripper_open"
+STOP = "stop"
+HOME = "home"
+CLEAR = "clear"
+FREEDRIVE = "freedrive"
+
+# The same verbs as `dora-ulite6` names them, for the deprecated `request` port.
+# This table is the whole of what used to be spread through the loop, and it is
+# what a robot speaking the standard lets us delete.
+LEGACY_REQUEST = {
+    GRIPPER_CLOSE: {"service": "grasp"},
+    GRIPPER_OPEN: {"service": "release"},
+    STOP: {"service": "stop"},
+    CLEAR: {"service": "clear"},
+    HOME: {"service": "home", "wait": False},
+}
+
+
+class Teleop:
+    """Everything the loop remembers between ticks."""
+
+    def __init__(self, config: Config):
+        self.config = config
+        self.arbiter = Arbiter(config.deadman.gamepad_idle_release_s)
+        self.joy = JoyInput(config.deadman.joy_ttl_s)
+        self.view = ui.ArmView()
+        # What the browser last asked for, and when. A jog is a stream; what
+        # matters is whether the stream is still arriving. Normalised, like the
+        # pad's — the console does not know the robot's units.
+        self.web_axes = STOP_AXES
+        self.web_seen_at = 0.0
+        # How many browsers are on the console right now, read from the server
+        # every tick. The last one leaving has to stop the arm, and a socket
+        # that went away sends nothing to say so.
+        self.clients = 0
+        self.console: server.Console | None = None
+        # Whether the arm is currently being driven by us. Used to send the stop
+        # once rather than every tick: a stream of zeroes would keep the arm
+        # node believing a jog is live and hold `robot_state` at `moving`.
+        self.jogging = False
+        # The last velocity actually put on the wire, and when. `_drive` sends
+        # only when what it wants differs from this, so the arm is told about
+        # changes rather than told the same thing 20 times a second.
+        self.sent_axes = STOP_AXES
+        self.sent_at = 0.0
+        self.buttons: list[bool] = []
+        self.requests = 0
+        self.polled_at = 0.0
+
+    def next_request_id(self, service: str) -> str:
+        """Mint a correlation id we will recognise coming back."""
+        self.requests += 1
+        return f"teleop-{service}-{self.requests}"
+
+
+def main() -> None:
+    """Connect to the dataflow and run until dora stops us."""
+    args = _parse_args()
+    config = Config.from_env()
+
+    # Passing the name lets the node also run standalone as a dynamic node; when
+    # dora spawns it, the id from the dataflow wins.
+    node = Node(args.name)
+    state = Teleop(config)
+    if config.console.enabled:
+        state.console = server.Console(config.console.host, config.console.port)
+        state.console.start()
+
+    try:
+        for event in node:
+            if event["type"] == "ERROR":
+                raise RuntimeError(event["error"])
+            if event["type"] != "INPUT":
+                continue
+            _handle(node, state, event)
+    finally:
+        # A motion lives in the arm's controller, not in this process. Leaving
+        # without zeroing the velocity leaves it travelling until the
+        # controller's own expiry catches up, which is the one moment nobody is
+        # watching for it.
+        _send_motion(node, state, STOP_AXES)
+        if state.console is not None:
+            state.console.stop()
+
+
+def _parse_args() -> argparse.Namespace:
+    """Read the node name, for when dora did not spawn us."""
+    parser = argparse.ArgumentParser(description="Drive a robot arm from a gamepad or a browser.")
+    parser.add_argument(
+        "--name",
+        default="teleop",
+        help="The name of the node in the dataflow, used when running as a dynamic node.",
+    )
+    return parser.parse_args()
+
+
+def _handle(node: Node, state: Teleop, event: dict) -> None:
+    """Route one input to whatever deals with it."""
+    event_id = event["id"]
+    if event_id == "tick":
+        _tick(node, state)
+    elif event_id == "joy":
+        state.joy.accept(joy.decode(event), now())
+    elif event_id == "robot_state":
+        state.view.state = event["value"][0].as_py()
+    elif event_id == "tcp_pose":
+        state.view.pose = event["value"].to_pylist()
+    elif event_id == "joint_pose":
+        state.view.joints = event["value"].to_pylist()
+    elif event_id == "response":
+        _accept_response(node, state, event)
+    elif event_id == "motion_state":
+        _accept_motion_state(node, state, event)
+    else:
+        log(f"ignoring unexpected input `{event_id}`")
+
+
+# --- the tick, where the arm is actually driven ---
+
+
+def _tick(node: Node, state: Teleop) -> None:
+    """Decide what the arm should be doing, and say so."""
+    moment = now()
+    # Before anything else: what the browser asked for since the last tick is
+    # part of this tick's picture, and the client count it implies is what the
+    # web deadman reads below.
+    _drain_console(node, state)
+    # Absent covers three things now: no pad plugged in, a pad unplugged
+    # mid-jog, and `dora-joy` no longer sending. The arm cannot tell them apart
+    # and does not need to.
+    sample = state.joy.read(moment)
+
+    # Who owns the arm is settled before anything they pressed is acted on.
+    # The other order drops the first press after the pad has been idle: the
+    # lease is not held yet when the buttons are read, and by the next tick the
+    # button is held rather than newly down, so the edge is gone for good.
+    #
+    # A pad taking the arm the moment a stick moves is what keeps an operator
+    # from having to reach for a browser to use the thing in their hands.
+    active = mapping.is_active(sample)
+    if active and state.arbiter.owner is None:
+        state.arbiter.take(GAMEPAD, moment)
+    if active:
+        state.arbiter.note_activity(GAMEPAD, moment)
+    state.arbiter.expire_idle_gamepad(moment)
+
+    _read_buttons(node, state, sample)
+
+    _drive(node, state, sample, moment)
+    _poll_state(node, state, moment)
+    _publish(node, state)
+
+
+def _drive(node: Node, state: Teleop, sample, moment: float) -> None:
+    """Send the velocity the owner is asking for, or the stop that ends it.
+
+    Changes go out at once; an unchanged velocity is repeated only on
+    `jog_keepalive_s`, which exists solely so the arm's own velocity expiry
+    never fires mid-motion. Repeating it every tick instead made the controller
+    re-plan the same motion twenty times a second, which an operator feels as
+    the arm moving in steps rather than travelling.
+
+    The stop is a change like any other, so releasing a button is acted on the
+    tick it happens and never waits for the repeat.
+    """
+    axes = _wanted_axes(state, sample, moment)
+
+    if axes != state.sent_axes:
+        # Includes the stop: going to all-zero is a change, sent once, and the
+        # `jogging` flag then keeps it from being repeated. A stream of zeroes
+        # would hold the arm node's `robot_state` at `moving` forever.
+        state.jogging = mapping.is_moving(axes)
+        _send_motion(node, state, axes)
+        return
+
+    if state.jogging and moment - state.sent_at >= state.config.deadman.jog_keepalive_s:
+        _send_motion(node, state, axes)
+
+
+def _wanted_axes(state: Teleop, sample, moment: float) -> list[float]:
+    """Return what the robot should be doing, normalised, which is usually nothing.
+
+    Every path that is not an owner actively asking for motion returns a stop.
+    That is deliberate: the default has to be "still", so that a case nobody
+    thought of fails by halting rather than by carrying on.
+    """
+    # First, and above the lease. A stop somebody had to reach for is not undone
+    # by the next thumb movement: it holds until it is deliberately cleared.
+    if state.view.estop:
+        return STOP_AXES
+
+    owner = state.arbiter.owner
+    if owner == GAMEPAD:
+        # An unplugged pad is not a centred pad. Stopping here rather than
+        # waiting out the TTL is the difference between a dropped controller
+        # costing 10 ms of travel and costing 400.
+        if not sample.present:
+            return STOP_AXES
+        return mapping.from_pad(sample.axes, sample.buttons, state.config)
+
+    if owner == WEB:
+        # The console refreshes its jog every 150 ms; the browser going quiet,
+        # or the tab closing, has to stop the arm without anything being sent.
+        if state.clients == 0:
+            return STOP_AXES
+        if moment - state.web_seen_at > state.config.deadman.jog_ttl_s:
+            return STOP_AXES
+        return state.web_axes
+
+    return STOP_AXES
+
+
+def _read_buttons(node: Node, state: Teleop, sample) -> None:
+    """Fire the services a gamepad button asks for, on the press only.
+
+    Edge-triggered, because these are one-shot requests rather than a held
+    velocity: holding `grasp` should not send a request every 50 ms.
+    """
+    previous, state.buttons = state.buttons, list(sample.buttons)
+    if not sample.present:
+        return
+
+    def tapped(index: int) -> bool:
+        return pressed(sample.buttons, index) and not pressed(previous, index)
+
+    # Neither the stop nor its release is gated on the lease. Somebody reaching
+    # for the stop is the one moment when asking who owns the arm is the wrong
+    # question, and a latch that cannot be released without first taking the arm
+    # back is a trap — an idle pad hands the lease away two seconds after the
+    # stop it just made. The console's RESET is ungated for the same reason.
+    if tapped(LAYOUT.estop):
+        _estop(node, state)
+    if tapped(LAYOUT.clear):
+        _clear(node, state)
+    if not state.arbiter.may_drive(GAMEPAD):
+        return
+    if tapped(LAYOUT.grasp):
+        _act(node, state, GRIPPER_CLOSE)
+    if tapped(LAYOUT.release):
+        _act(node, state, GRIPPER_OPEN)
+    if tapped(LAYOUT.freedrive):
+        _freedrive(node, state, not state.view.freedrive_on)
+
+
+def _poll_state(node: Node, state: Teleop, moment: float) -> None:
+    """Ask the arm for what telemetry does not carry.
+
+    Whether the tool is engaged and whether freedrive is on only come back from
+    `get_state`, which the arm node answers off its report cache and so can
+    answer during a motion.
+    """
+    if moment - state.polled_at < state.config.deadman.state_poll_s:
+        return
+    state.polled_at = moment
+    _request(node, state, {"service": "get_state"})
+
+
+# --- what the console asks for ---
+
+
+def _drain_console(node: Node, state: Teleop) -> None:
+    """Act on everything the browsers sent, then note how many are still there."""
+    if state.console is None:
+        return
+    for payload in state.console.take():
+        _accept_ui_command(node, state, payload)
+    _set_clients(state, state.console.clients)
+
+
+def _accept_ui_command(node: Node, state: Teleop, payload: dict) -> None:
+    """Take one console message and do what it says."""
+    command = ui.command_of(payload)
+    if command is None:
+        return
+    moment = now()
+
+    if command.type == "estop":
+        _estop(node, state)
+        return
+    if command.type == "control":
+        _control(node, state, command, moment)
+        return
+    if command.type == "reset":
+        _clear(node, state)
+        return
+
+    if not state.arbiter.may_drive(WEB):
+        _post_ui(node, state, ui.error("take control first"))
+        return
+
+    if command.type == "jog":
+        state.web_axes = mapping.from_console(command.axes)
+        state.web_seen_at = moment
+        state.arbiter.note_activity(WEB, moment)
+    elif command.type == "jog_stop":
+        state.web_axes = STOP_AXES
+        state.web_seen_at = moment
+    elif command.type == "home":
+        _act(node, state, HOME)
+    elif command.type == "gripper":
+        _act(node, state, GRIPPER_CLOSE if command.enabled else GRIPPER_OPEN)
+    elif command.type == "freedrive":
+        _freedrive(node, state, command.enabled)
+    elif command.type == "move":
+        _request(node, state, {"service": "move_to", "wait": False, **command.row})
+
+
+def _control(node: Node, state: Teleop, command, moment: float) -> None:
+    """Hand the arm to the console, or take it back."""
+    if command.action == "release":
+        state.arbiter.release(WEB)
+        state.web_axes = STOP_AXES
+        return
+    if not state.arbiter.take(WEB, moment, preempt=command.preempt):
+        _post_ui(node, state, ui.error(f"the {state.arbiter.owner} has the arm"))
+
+
+def _set_clients(state: Teleop, count: int) -> None:
+    """Track who is watching, because the last one leaving has to stop the arm."""
+    state.clients = count
+    if count == 0:
+        state.arbiter.release(WEB)
+        state.web_axes = STOP_AXES
+
+
+# --- what the arm says back ---
+
+
+def _accept_response(node: Node, state: Teleop, event: dict) -> None:
+    """Absorb one answer, and tell the console about it if it was bad news."""
+    row = event["value"][0].as_py()
+    if row.get("service") == "get_state":
+        state.view.take_get_state(row)
+        return
+    if not row.get("ok", True):
+        message = row.get("message", "")
+        log(f"{row.get('service')} failed: {message}")
+        _post_ui(node, state, ui.error(message))
+
+
+def _accept_motion_state(node: Node, state: Teleop, event: dict) -> None:
+    """Report a motion that failed, which a non-blocking request learns no other way."""
+    row = event["value"][0].as_py()
+    if row.get("state") == "failed":
+        _post_ui(node, state, ui.error(row.get("message", "the motion failed")))
+
+
+# --- talking to the dataflow ---
+
+
+def _estop(node: Node, state: Teleop) -> None:
+    """Halt the arm, from any source, held lease or not."""
+    log("e-stop")
+    state.view.estop = True
+    state.jogging = False
+    state.web_axes = STOP_AXES
+    _send_motion(node, state, STOP_AXES)
+    _act(node, state, STOP)
+
+
+def _clear(node: Node, state: Teleop) -> None:
+    """Release the latch and clear the controller's error, in that order.
+
+    Both, or one of the two is still saying stop: the latch is this node's
+    business and the error is the arm's. The console's RESET and the pad's
+    `clear` button are the same act and go through here, so a pad-only
+    dataflow is not left with a latch nothing can release.
+    """
+    log("cleared")
+    state.view.estop = False
+    _act(node, state, CLEAR)
+
+
+def _send_motion(node: Node, state: Teleop, axes: list[float]) -> None:
+    """Send one motion command, on the standard port and the deprecated one.
+
+    There is no answer to either, ever — a jog is a stream that expires on the
+    consumer's own TTL, so the sender keeps sending and nobody waits.
+
+    `twist` is the standard: SI, framed, what a robot node should take. `jog`
+    is `dora-ulite6`'s mm/s and deg/s, published alongside until that node
+    learns the standard. Both carry the same intent, so wiring either is safe;
+    wiring both would drive the arm twice.
+
+    This always sends. The decision not to is `_drive`'s, so that the e-stop and
+    the shutdown stop — neither of which goes through it — can never be
+    suppressed by having sent the same thing already.
+    """
+    config = state.config
+    node.send_output("twist", message.pack_twist(mapping.twist(axes, config)))
+    node.send_output("jog", message.pack_jog(mapping.scale(axes, config)))
+    state.sent_axes = list(axes)
+    state.sent_at = now()
+
+
+def _act(node: Node, state: Teleop, action: str, value: float | None = None) -> None:
+    """Ask for one discrete thing, on the standard port and the deprecated one.
+
+    The verb is robot-agnostic; `LEGACY_REQUEST` is the only place that knows
+    what `dora-ulite6` calls it. A robot speaking the standard needs no entry
+    there, which is how that table eventually goes away.
+    """
+    node.send_output("command", message.pack_command(action, value))
+    row = LEGACY_REQUEST.get(action)
+    if row is not None:
+        _request(node, state, dict(row))
+
+
+def _freedrive(node: Node, state: Teleop, enabled: bool) -> None:
+    """Toggle freedrive. Its argument rides as the verb's value."""
+    _act(node, state, FREEDRIVE, value=float(enabled))
+    _request(node, state, {"service": "freedrive", "enabled": enabled})
+
+
+def _request(node: Node, state: Teleop, row: dict) -> None:
+    """Call one service on the arm under an id we will recognise coming back."""
+    node.send_output("request", pa.array([row]), metadata={REQUEST_ID: state.next_request_id(row["service"])})
+
+
+def _publish(node: Node, state: Teleop) -> None:
+    """Send the console its picture of the arm."""
+    _post_ui(node, state, ui.snapshot(state.view, state.arbiter.owner, state.jogging, time.time()))
+
+
+def _post_ui(node: Node, state: Teleop, payload: dict) -> None:
+    """Send one object to every browser, and out on the wire for anyone watching.
+
+    `ui_state` carries no browser any more — the sockets are ours. It stays
+    published because it is the one port that says what an operator is being
+    shown, which is what `dora topic echo` and the bench read it for.
+    """
+    if state.console is not None:
+        state.console.broadcast(payload)
+    node.send_output("ui_state", pa.array([json.dumps(payload)]), metadata={"encoding": "json"})
+
+
+if __name__ == "__main__":
+    main()

dora_teleop/mapping.py

@@ -0,0 +1,320 @@
+"""Turning a control input into motion, in one place for every source.
+
+Pure functions, no state and no hardware, because this is the part that has to
+be right and the part that is cheapest to check.
+
+Everything passes through a **normalised** six-vector first: `[-1, 1]` per
+degree of freedom, `[x, y, z, roll, pitch, yaw]`, in the robot's **base**
+frame. A gamepad reaches it through :func:`from_pad`, which shapes away a worn
+stick; the browser sends it already clean. Only then is it scaled, and that
+happens exactly once — which is what lets the same node drive an arm in mm/s
+and one in m/s without either source knowing the difference.
+
+Two scalings exist. :func:`twist` is the standard one, SI, and is what a robot
+should consume. :func:`velocity` is mm/s and deg/s for `dora-ulite6`'s `jog`
+port, kept while that node learns the standard.
+
+The screen convention comes from the old web console, so the two agree: stick
+up is +X, stick right is +Y.
+"""
+
+import math
+from dataclasses import dataclass
+
+# Six degrees of freedom; these name their places in the vector.
+VX, VY, VZ, WX, WY, WZ = range(6)
+
+# Operator-facing settings are in mm/s and deg/s because that is what a person
+# reading a dataflow can judge — 60 mm/s means something, 0.06 m/s less so. The
+# wire is SI. These convert between the two, and are the only place that does.
+MM_PER_M = 1000.0
+
+
+@dataclass(frozen=True)
+class Layout:
+    """Which axis and button index does what, in SDL's numbering.
+
+    These are what an Xbox One S pad reports over Bluetooth, swept one control
+    at a time: sticks on 0-3, both triggers last, and buttons with gaps at 2 and
+    5. A pad that disagrees is a change here rather than a new environment
+    variable: an index nobody can verify from the outside is worse than a line
+    of code somebody can read. `dora-teleop-probe` is how you check.
+
+    **The axes can be checked at runtime and the buttons cannot.**
+    :func:`rest_zeros` refuses a pad whose resting axes say this numbering is
+    wrong, because an axis at rest has a value to compare. An unpressed button
+    reads the same on every pad, so a wrong button index is silent — it was
+    found here by `clear` toggling freedrive and `yaw_left` firing the E-STOP.
+    The probe, and pressing each button once, is the only check there is.
+    """
+
+    left_x: int = 0
+    left_y: int = 1
+    right_x: int = 2
+    right_y: int = 3
+    left_trigger: int = 4
+    right_trigger: int = 5
+
+    grasp: int = 0  # A
+    release: int = 1  # B
+    clear: int = 3  # X
+    freedrive: int = 4  # Y
+    yaw_left: int = 6  # LB
+    yaw_right: int = 7  # RB
+    estop: int = 11  # Back
+
+
+LAYOUT = Layout()
+
+# The frame a velocity is expressed in. Base is what `tcp_pose` reports and what
+# the console's arrows mean; tool is reserved for a consumer that wants it.
+BASE_FRAME = "base"
+TOOL_FRAME = "tool"
+
+# How far a control must travel before the pad counts as being used. Raw, with
+# no deadzone: this decides whether the pad is asking for the arm, and
+# `velocity` decides how far to move it. A tighter threshold here than there
+# would mean a stick could claim the arm and then not move it.
+ACTIVITY = 0.3
+
+# Where an untouched control sits once :func:`canonical` has had it: a stick at
+# centre, a trigger at the bottom of its travel.
+STICK_REST = 0.0
+TRIGGER_REST = -1.0
+
+# How far an axis may rest from those and still be believed. Wide enough for a
+# worn stick's tilt and for a pad that reports a trigger it has never felt as 0,
+# and far short of the full deflection a wrongly numbered axis shows.
+REST_TOLERANCE = 0.25
+
+
+def deadzone(value: float, width: float) -> float:
+    """Ignore travel near centre, and rescale what is left to the full range.
+
+    Rescaling matters: without it the arm jumps to `width` of full speed the
+    instant the stick leaves the dead band, which feels like a broken control
+    rather than a gentle one.
+    """
+    if width <= 0.0:
+        return value
+    size = abs(value)
+    if size < width:
+        return 0.0
+    scaled = (size - width) / (1.0 - width)
+    return scaled if value > 0 else -scaled
+
+
+def expo(value: float, factor: float) -> float:
+    """Bend the response so small deflections move the arm slowly.
+
+    Fine positioning happens near centre, and a linear stick gives it almost no
+    resolution there. `factor` is how much of the curve is cubic: 0 is linear.
+    """
+    return (1.0 - factor) * value + factor * value**3
+
+
+def trigger(value: float) -> float:
+    """Return a trigger's travel as 0 at rest and 1 fully pressed.
+
+    SDL reports a trigger from -1 to 1, unlike a stick, so `TRIGGER_REST` is
+    where an untouched one sits. A trigger that has never moved sometimes reads
+    0 instead, which this function alone cannot tell from half pressed —
+    :func:`canonical` is what fixes that, by measuring the pad's own rest before
+    anything reaches here.
+    """
+    return max(0.0, min(1.0, (value - TRIGGER_REST) / (1.0 - TRIGGER_REST)))
+
+
+def axis(values: list[float], index: int) -> float:
+    """Read one axis, treating a pad that does not report it as centred."""
+    return values[index] if index < len(values) else 0.0
+
+
+def pressed(buttons: list[bool], index: int) -> bool:
+    """Read one button, treating a pad that does not report it as unpressed."""
+    return bool(buttons[index]) if index < len(buttons) else False
+
+
+def axis_names(layout: Layout = LAYOUT) -> dict[int, str]:
+    """Name each axis index the layout uses."""
+    return {
+        layout.left_x: "left stick X",
+        layout.left_y: "left stick Y",
+        layout.left_trigger: "left trigger",
+        layout.right_x: "right stick X",
+        layout.right_y: "right stick Y",
+        layout.right_trigger: "right trigger",
+    }
+
+
+def rest_zeros(axes: list[float], layout: Layout = LAYOUT) -> list[float]:
+    """Return where each axis of an untouched pad sits, to measure deflection from.
+
+    An untouched pad is the one moment this node can check `layout` against the
+    thing in front of it: a stick rests near centre and a trigger near the
+    bottom of its travel, so an axis resting anywhere else means the numbering
+    is wrong, or a control is being held, or the pad is broken. All three look
+    the same from here and all three raise, because all three would otherwise
+    drive the arm from a reading nobody made — a trigger read as a stick asks
+    for full speed while sitting untouched on the desk.
+
+    Parameters
+    ----------
+    axes
+        One reading, taken while nobody is touching the pad.
+    layout
+        Which index is which control.
+
+    Returns
+    -------
+    list of float
+        The resting value of each axis, in the order they were reported.
+
+    Raises
+    ------
+    ValueError
+        If any axis rests where the layout says it cannot, naming the index,
+        what the layout calls it, and what it read.
+    """
+    names = axis_names(layout)
+    triggers = (layout.left_trigger, layout.right_trigger)
+    for index, value in enumerate(axes):
+        if index in triggers:
+            # Either end is a resting trigger: -1 is what SDL reports, and 0 is
+            # what some pads report until the trigger first moves.
+            if abs(value - TRIGGER_REST) <= REST_TOLERANCE or abs(value - STICK_REST) <= REST_TOLERANCE:
+                continue
+        elif abs(value - STICK_REST) <= REST_TOLERANCE:
+            continue
+        name = names.get(index, "an axis the layout does not use")
+        raise ValueError(f"axis {index} rests at {value:+.3f}, which is not where {name} sits")
+    return list(axes)
+
+
+def canonical(axes: list[float], zeros: list[float], layout: Layout = LAYOUT) -> list[float]:
+    """Return this pad's axes as the layout's ideal pad would have reported them.
+
+    Sticks come back resting at `STICK_REST` and triggers at `TRIGGER_REST`,
+    whatever this particular pad does when untouched, so everything downstream
+    is written once for a pad that behaves. A stick that no longer centres, and
+    a trigger that reads 0 until it first moves, both stop being special cases
+    here rather than in every function that reads one.
+
+    Deflection is measured from `zeros` rather than from the ideal, which is the
+    whole point: the tilt is subtracted, not deadzoned away, so the travel that
+    is left still reaches full speed.
+    """
+    triggers = (layout.left_trigger, layout.right_trigger)
+    out = []
+    for index, value in enumerate(axes):
+        zero = zeros[index] if index < len(zeros) else STICK_REST
+        if index in triggers:
+            travel = (value - zero) / (1.0 - zero) if zero < 1.0 else 0.0
+            out.append(TRIGGER_REST + (1.0 - TRIGGER_REST) * max(0.0, min(1.0, travel)))
+        else:
+            out.append(max(-1.0, min(1.0, value - zero)))
+    return out
+
+
+def from_pad(axes: list[float], buttons: list[bool], config, layout: Layout = LAYOUT) -> list[float]:
+    """Map one gamepad reading to the normalised six-vector.
+
+    Translation comes from the left stick and the triggers, rotation from the
+    right stick and the bumpers. Several axes move at once on purpose: a stick
+    is analog and blended, which is exactly what the console's ring sectors cannot do.
+
+    The deadzone and the response curve are applied here and nowhere else,
+    because they exist to correct a physical stick. A browser has no worn
+    centre, so :func:`from_console` does not use them.
+    """
+
+    def shaped(value: float) -> float:
+        return expo(deadzone(value, config.deadzone), config.expo)
+
+    out = [0.0] * 6
+    # Up on the stick is negative in SDL, and up should send the arm away from
+    # the operator, along +X.
+    out[VX] = shaped(-axis(axes, layout.left_y))
+    out[VY] = shaped(axis(axes, layout.left_x))
+    out[VZ] = shaped(trigger(axis(axes, layout.right_trigger)) - trigger(axis(axes, layout.left_trigger)))
+    out[WX] = shaped(axis(axes, layout.right_x))
+    out[WY] = shaped(-axis(axes, layout.right_y))
+    out[WZ] = float(pressed(buttons, layout.yaw_right) - pressed(buttons, layout.yaw_left))
+    return out
+
+
+def from_console(values) -> list[float]:
+    """Read the normalised six-vector a browser sent, clamped to what it may ask for.
+
+    The console speaks the same units as a stick — a fraction of full speed per
+    axis — so that how fast anything goes is decided once, here, rather than
+    once per source. A page that has never heard of the robot cannot get its
+    units wrong.
+    """
+    if not isinstance(values, list) or len(values) != 6:
+        return [0.0] * 6
+    out = []
+    for value in values:
+        if not isinstance(value, (int, float)):
+            return [0.0] * 6
+        out.append(max(-1.0, min(1.0, float(value))))
+    return out
+
+
+def velocity(axes: list[float], buttons: list[bool], config, layout: Layout = LAYOUT) -> list[float]:
+    """Map one gamepad reading straight to `dora-ulite6`'s mm/s and deg/s.
+
+    A convenience over `scale(from_pad(...))`, kept because the probe and the
+    tests read better for it.
+    """
+    return scale(from_pad(axes, buttons, config, layout), config)
+
+
+def scale(normalised: list[float], config) -> list[float]:
+    """Scale the normalised six-vector to mm/s and deg/s, base frame.
+
+    `dora-ulite6`'s `jog` units. Deprecated in favour of :func:`twist`, and kept
+    only while that node learns to take the standard one.
+    """
+    out = [value * config.speed_mm_s for value in normalised[:3]]
+    out += [value * config.speed_deg_s for value in normalised[3:]]
+    return out
+
+
+def twist(normalised: list[float], config, frame: str = BASE_FRAME) -> dict:
+    """Scale the normalised six-vector to a Twist, in SI.
+
+    Metres per second and radians per second, which is what a robot node should
+    consume: unambiguous, and the same numbers a UR or MoveIt would take. A
+    consumer wanting other units converts them itself, at one known boundary.
+    """
+    linear = [value * config.speed_mm_s / MM_PER_M for value in normalised[:3]]
+    angular = [math.radians(value * config.speed_deg_s) for value in normalised[3:]]
+    return {"linear": linear, "angular": angular, "frame": frame}
+
+
+def is_active(sample, layout: Layout = LAYOUT) -> bool:
+    """Whether anything on the pad is being touched at all.
+
+    A trigger is not a stick. SDL rests a trigger at **-1.0**, so comparing its
+    raw value against a threshold reports every connected pad as being used,
+    for ever — which means the pad claims the arm the moment it is plugged in
+    and `GAMEPAD_IDLE_RELEASE_S` never fires. Triggers go through
+    :func:`trigger` here for the same reason they do in :func:`velocity`.
+
+    Axes the layout does not name are still counted: a pad that reports its
+    d-pad as two extra axes is asking for the arm when somebody presses it.
+    """
+    if not sample.present:
+        return False
+    if any(sample.buttons):
+        return True
+    triggers = (layout.left_trigger, layout.right_trigger)
+    if any(trigger(axis(sample.axes, index)) > ACTIVITY for index in triggers):
+        return True
+    return any(abs(value) > ACTIVITY for index, value in enumerate(sample.axes) if index not in triggers)
+
+
+def is_moving(velocity_vector: list[float]) -> bool:
+    """Whether this velocity would actually drive the arm."""
+    return any(velocity_vector)

dora_teleop/message.py

@@ -0,0 +1,46 @@
+"""The wire shapes this node publishes.
+
+Declared, never inferred. pyarrow reads `{"value": None}` as `null` and
+`{"value": 1.0}` as `double`, so an inferred `command` would change the type of
+its port depending on which verb was pressed — `stop` and `freedrive` would not
+agree. The same hazard that makes an unplugged gamepad retype a `joy` port.
+
+dora 1.0 has no standard type for either of these, so these structs and the
+manifest that describes them are the whole contract a consumer gets.
+"""
+
+import pyarrow as pa
+
+# A velocity, in SI. Metres per second and radians per second, in the frame
+# named by `frame` — the units a robot node should consume, and the same ones a
+# UR or MoveIt would take.
+TWIST = pa.struct(
+    [
+        ("linear", pa.list_(pa.float64())),
+        ("angular", pa.list_(pa.float64())),
+        ("frame", pa.string()),
+    ]
+)
+
+# One discrete thing to do. `action` is a robot-agnostic verb; `value` carries
+# its argument where it has one and is null otherwise.
+COMMAND = pa.struct([("action", pa.string()), ("value", pa.float64())])
+
+# `dora-ulite6`'s velocity, in mm/s and deg/s. Deprecated along with the `jog`
+# port it goes out on.
+JOG = pa.struct([("velocity", pa.list_(pa.float64()))])
+
+
+def pack_twist(twist: dict) -> pa.Array:
+    """Build one `twist` message."""
+    return pa.array([twist], type=TWIST)
+
+
+def pack_command(action: str, value: float | None) -> pa.Array:
+    """Build one `command` message."""
+    return pa.array([{"action": action, "value": value}], type=COMMAND)
+
+
+def pack_jog(velocity: list[float]) -> pa.Array:
+    """Build one deprecated `jog` message."""
+    return pa.array([{"velocity": [float(v) for v in velocity]}], type=JOG)

dora_teleop/probe.py

@@ -0,0 +1,163 @@
+"""Show what the pad is doing to the arm, without an arm.
+
+`dora-teleop-probe` attaches to a running dataflow as a dynamic node, reads the
+same `joy` stream this node reads, and prints: the raw axes, the buttons, and the
+velocity this node would send. **It cannot move anything.** It publishes no
+output and never talks to the arm; it only reads.
+
+It exists because the axis and button indices in :mod:`dora_teleop.mapping` are
+SDL's documented layout rather than an observed one, and a pad that disagrees is
+otherwise discovered by watching a real arm move the wrong way. It goes through
+the same :func:`~dora_teleop.mapping.velocity` the node runs, on the same
+readings, so what it prints is what the arm would get — keep it that way, or it
+stops being evidence.
+
+Because it reads `joy` rather than a pad, the dataflow has to declare it:
+
+```yaml
+  - id: teleop-probe
+    path: dynamic
+    inputs:
+      joy: joy/joy
+```
+
+`dataflow-gamepad.yml` in this repo already does. Start that dataflow under a
+coordinator (`dora start`, not `dora run`), then run `dora-teleop-probe` in
+another terminal.
+
+For a pad whose layout is not known at all — which index is which — use
+`dora-joy-probe` from the `dora-joy` repo, which needs no dataflow.
+"""
+
+import argparse
+
+from dora import Node
+
+from dora_teleop import joy, mapping
+from dora_teleop.config import Config
+from dora_teleop.mapping import LAYOUT, axis_names
+
+# What each velocity component is, in the order the arm takes them.
+COMPONENTS = (
+    ("vx", "mm/s", "forward / back"),
+    ("vy", "mm/s", "left / right"),
+    ("vz", "mm/s", "up / down"),
+    ("wx", "deg/s", "roll"),
+    ("wy", "deg/s", "pitch"),
+    ("wz", "deg/s", "yaw"),
+)
+
+CLEAR = "\033[H\033[J"
+
+
+def button_names(layout=LAYOUT) -> dict[int, str]:
+    """Name each button index the layout uses."""
+    return {
+        layout.grasp: "grasp",
+        layout.release: "release",
+        layout.clear: "clear",
+        layout.freedrive: "freedrive",
+        layout.yaw_left: "yaw left",
+        layout.yaw_right: "yaw right",
+        layout.estop: "E-STOP",
+    }
+
+
+def bar(value: float, width: int = 21) -> str:
+    """Draw a centred bar for a value between -1 and 1.
+
+    Seeing the bar sit off-centre with the stick released is how a worn pad
+    announces itself, which is most of the point of looking at raw numbers.
+    """
+    middle = width // 2
+    position = middle + round(max(-1.0, min(1.0, value)) * middle)
+    cells = ["-"] * width
+    cells[middle] = "|"
+    cells[position] = "#"
+    return "".join(cells)
+
+
+def render(sample, driven, velocity: list[float], config: Config, mismatch: str | None = None) -> str:
+    """Build the whole display for one reading.
+
+    ``sample`` is the pad exactly as it was reported, because seeing the raw
+    numbers is the point of this tool. ``driven`` is the same reading after
+    calibration — what the node actually decides from — and ``velocity`` is what
+    it would send. A pad this node refuses reaches here as an absent ``driven``
+    and a ``mismatch`` saying why.
+    """
+    lines = ["dora-teleop probe — Ctrl-C to stop", ""]
+
+    if not sample.present:
+        lines += [
+            "  no gamepad.",
+            "",
+            "  `dora-joy` is reporting no pad, or has stopped reporting at all.",
+            "  Either way the arm is being told to hold still.",
+        ]
+        return "\n".join(lines)
+
+    if mismatch:
+        lines += [
+            "  this pad does not match the layout, and the arm will not be driven from it.",
+            "",
+            f"    {mismatch}",
+            "",
+            "  Either something was being held when it was plugged in, or the indices",
+            "  below are numbered differently on this pad. The axes are raw, so they",
+            "  say which: fix `Layout` in dora_teleop/mapping.py to match them.",
+            "",
+        ]
+
+    names = axis_names()
+    lines.append(f"  axes ({len(sample.axes)} reported)")
+    for index, value in enumerate(sample.axes):
+        name = names.get(index, "unused")
+        lines.append(f"    {index}  {name:<15} {value:+.3f}  {bar(value)}")
+
+    labels = button_names()
+    held = [f"{index}:{labels.get(index, 'unused')}" for index, down in enumerate(sample.buttons) if down]
+    lines += ["", f"  buttons ({len(sample.buttons)} reported)", f"    {', '.join(held) or 'none pressed'}"]
+
+    lines += ["", "  velocity this would send to the arm"]
+    for (name, units, meaning), value in zip(COMPONENTS, velocity, strict=True):
+        marker = "  <--" if value else ""
+        lines.append(f"    {name}  {value:+8.2f} {units:<6} {meaning:<14}{marker}".rstrip())
+
+    moving = "yes" if mapping.is_moving(velocity) else "no — the arm would be told to hold still"
+    lines += [
+        "",
+        f"  moving: {moving}",
+        f"  asking for the arm: {'yes' if mapping.is_active(driven) else 'no'}",
+    ]
+    return "\n".join(lines)
+
+
+def main() -> None:
+    """Attach to a running dataflow and print what the pad is doing."""
+    parser = argparse.ArgumentParser(description="Show what the gamepad would do to the arm. Moves nothing.")
+    parser.add_argument(
+        "--name",
+        default="teleop-probe",
+        help="The id this probe is declared under in the dataflow. Defaults to teleop-probe.",
+    )
+    args = parser.parse_args()
+
+    config = Config.from_env()
+    calibration = joy.Calibration()
+    node = Node(args.name)
+
+    for event in node:
+        if event["type"] != "INPUT" or event["id"] != "joy":
+            continue
+        sample = joy.decode(event)
+        # Through the same calibration the node drives from, so what this prints
+        # stays what the arm would get. What is displayed is still the raw
+        # reading: the indices are what a pad is checked against.
+        driven = calibration.apply(sample)
+        velocity = mapping.velocity(driven.axes, driven.buttons, config) if driven.present else [0.0] * 6
+        print(CLEAR + render(sample, driven, velocity, config, calibration.mismatch), flush=True)
+
+
+if __name__ == "__main__":
+    main()

dora_teleop/server.py

@@ -0,0 +1,184 @@
+"""The console's web server, running inside this node.
+
+The browser used to reach the node through `dora-websocket-transceiver`, which
+meant a second node, a second port and a round trip through the dataflow for
+every button press. This serves the page and holds the sockets directly, so the
+console is one URL and the operator wires nothing.
+
+**Nothing here runs on the dora thread.** aiohttp wants an asyncio loop and the
+node's loop is a blocking `for event in node`, so the server owns a thread of
+its own and the two sides meet at two places only: :meth:`Console.take`, which
+the tick drains, and :meth:`Console.broadcast`, which hands a snapshot the other
+way. Both are non-blocking by construction — a browser that stops reading must
+never be able to stall the thread that stops the arm.
+"""
+
+import asyncio
+import json
+import queue
+import threading
+from pathlib import Path
+
+from aiohttp import WSMsgType, web
+
+from dora_teleop.log import log
+
+INDEX = Path(__file__).parent / "web" / "index.html"
+
+# How many console messages may pile up between two ticks before we start
+# dropping them. The console sends a jog every 150 ms and the tick runs every
+# 50, so reaching this at all means something is flooding us; an unbounded
+# queue would answer that by growing until the node died.
+INBOX_LIMIT = 256
+
+# How many snapshots may wait on one socket. Telemetry is a snapshot, not a
+# log, so a client too slow to keep up wants the newest one and not a backlog
+# of the arm's recent past.
+OUTBOX_LIMIT = 8
+
+
+class _Client:
+    """One connected browser, and the snapshots waiting to reach it."""
+
+    def __init__(self) -> None:
+        self.outbox: asyncio.Queue[str] = asyncio.Queue(maxsize=OUTBOX_LIMIT)
+
+    def offer(self, text: str) -> None:
+        """Queue one snapshot, discarding the stalest if this client is behind."""
+        if self.outbox.full():
+            self.outbox.get_nowait()
+        self.outbox.put_nowait(text)
+
+
+class Console:
+    """The page, the sockets, and the thread they live on."""
+
+    def __init__(self, host: str, port: int):
+        self.host = host
+        self.port = port
+        # Read every tick by the deadman: the last browser leaving has to stop
+        # the arm, and a closed socket sends nothing to say so.
+        self.clients = 0
+        self._inbox: queue.Queue[dict] = queue.Queue(maxsize=INBOX_LIMIT)
+        self._sockets: set[_Client] = set()
+        self._loop: asyncio.AbstractEventLoop | None = None
+        self._thread: threading.Thread | None = None
+        self._ready = threading.Event()
+        # Whatever stopped the server coming up, kept so `start` can raise it on
+        # the caller's thread instead of leaving a traceback on stderr and a
+        # node that believes it is serving a console.
+        self._failure: BaseException | None = None
+
+    def start(self) -> None:
+        """Bring the server up, or raise saying why it could not.
+
+        Refusing to start is the point. The port being taken used to leave a
+        traceback on the server thread and a node that carried on announcing a
+        console nobody could open — an operator typing the URL and getting
+        nothing, with the log saying everything was fine.
+        """
+        self._thread = threading.Thread(target=self._run, name="teleop-console", daemon=True)
+        self._thread.start()
+        if not self._ready.wait(timeout=10.0):
+            raise RuntimeError(f"the console did not come up on {self.host}:{self.port} within 10s")
+        if self._failure is not None:
+            raise self._failure
+        log(f"console on http://{self.host}:{self.port}")
+
+    def take(self) -> list[dict]:
+        """Return every console message that arrived since the last call."""
+        drained = []
+        while True:
+            try:
+                drained.append(self._inbox.get_nowait())
+            except queue.Empty:
+                return drained
+
+    def broadcast(self, payload: dict) -> None:
+        """Hand one object to every connected browser."""
+        if self._loop is None:
+            return
+        text = json.dumps(payload)
+        self._loop.call_soon_threadsafe(self._offer, text)
+
+    def stop(self) -> None:
+        """Close the sockets and stop the thread."""
+        if self._loop is None:
+            return
+        self._loop.call_soon_threadsafe(self._loop.stop)
+        if self._thread is not None:
+            self._thread.join(timeout=2.0)
+
+    # --- everything below runs on the server thread ---
+
+    def _run(self) -> None:
+        loop = asyncio.new_event_loop()
+        asyncio.set_event_loop(loop)
+        self._loop = loop
+        try:
+            runner = loop.run_until_complete(self._listen())
+        except BaseException as error:  # noqa: BLE001 — handed to `start` to raise
+            self._failure = error
+            self._loop = None
+            loop.close()
+            # Releases `start` at once rather than making it wait out its
+            # timeout for a server that is never coming up.
+            self._ready.set()
+            return
+        try:
+            loop.run_forever()
+        finally:
+            loop.run_until_complete(runner.cleanup())
+            loop.close()
+
+    async def _listen(self) -> web.AppRunner:
+        app = web.Application()
+        app.router.add_get("/", self._page)
+        app.router.add_get("/ws", self._socket)
+        runner = web.AppRunner(app)
+        await runner.setup()
+        await web.TCPSite(runner, self.host, self.port).start()
+        self._ready.set()
+        return runner
+
+    async def _page(self, request: web.Request) -> web.FileResponse:
+        """Serve the console itself."""
+        return web.FileResponse(INDEX)
+
+    async def _socket(self, request: web.Request) -> web.WebSocketResponse:
+        """Hold one browser's socket for as long as it stays."""
+        socket = web.WebSocketResponse(heartbeat=20)
+        await socket.prepare(request)
+        client = _Client()
+        self._sockets.add(client)
+        self.clients = len(self._sockets)
+        writer = asyncio.create_task(self._write(socket, client))
+        try:
+            async for received in socket:
+                if received.type == WSMsgType.TEXT:
+                    self._accept(received.data)
+        finally:
+            writer.cancel()
+            self._sockets.discard(client)
+            self.clients = len(self._sockets)
+        return socket
+
+    def _accept(self, text: str) -> None:
+        """Park one message from a browser for the next tick to read."""
+        try:
+            payload = json.loads(text)
+        except json.JSONDecodeError:
+            log("ignoring a console message that was not JSON")
+            return
+        try:
+            self._inbox.put_nowait(payload)
+        except queue.Full:
+            log("console inbox full, dropping a message")
+
+    def _offer(self, text: str) -> None:
+        for client in self._sockets:
+            client.offer(text)
+
+    async def _write(self, socket: web.WebSocketResponse, client: _Client) -> None:
+        while True:
+            await socket.send_str(await client.outbox.get())

dora_teleop/ui.py

@@ -0,0 +1,178 @@
+"""Translation between the web console and the dataflow.
+
+The console was written against the monolithic repo's REST API and reads a
+telemetry snapshot by key. Those keys are the contract here: `app.js` does
+`t.owner === "web"` and `t.estop` directly, so renaming one breaks the page
+silently. They are reproduced rather than improved for that reason.
+
+The two vocabularies do not line up, which is most of what this file is for. The
+arm node reports `connecting|ready|moving|recovering|unavailable`; the console
+draws `idle|moving|jogging|freedrive|estop|stopped|disconnected`. Neither is
+wrong — one describes a driver's lifecycle, the other an operator's screen — and
+:func:`arm_state` is where the two are reconciled.
+"""
+
+from dataclasses import dataclass, field
+
+# What the arm node publishes on `robot_state`.
+CONNECTING = "connecting"
+READY = "ready"
+MOVING = "moving"
+RECOVERING = "recovering"
+UNAVAILABLE = "unavailable"
+
+# What the console draws.
+UI_IDLE = "idle"
+UI_MOVING = "moving"
+UI_JOGGING = "jogging"
+UI_FREEDRIVE = "freedrive"
+UI_ESTOP = "estop"
+UI_STOPPED = "stopped"
+UI_DISCONNECTED = "disconnected"
+
+# An arm the node cannot speak for is `disconnected` whatever the reason, because
+# that is the only thing an operator can act on. `recovering` is its own case:
+# the arm is there and answering, it just will not move yet.
+ARM_STATE = {
+    CONNECTING: UI_DISCONNECTED,
+    UNAVAILABLE: UI_DISCONNECTED,
+    RECOVERING: UI_STOPPED,
+    READY: UI_IDLE,
+    MOVING: UI_MOVING,
+}
+
+POSE_KEYS = ("x", "y", "z", "roll", "pitch", "yaw")
+
+
+@dataclass
+class Command:
+    """One thing the console asked for."""
+
+    type: str
+    # Normalised, `[-1, 1]` per degree of freedom — a fraction of full speed,
+    # exactly what a stick reports. Not a velocity: the console does not know
+    # the robot's units and must not have to.
+    axes: list[float] = field(default_factory=list)
+    action: str = ""
+    preempt: bool = False
+    enabled: bool = False
+    row: dict = field(default_factory=dict)
+
+
+def command_of(payload: dict) -> Command | None:
+    """Read one console message, or None if it is not one we serve.
+
+    A message we do not recognise is dropped rather than refused. The console
+    and this node version independently, and a page from a newer build saying
+    something we have not learned yet must not take the arm down.
+    """
+    if not isinstance(payload, dict):
+        return None
+    kind = payload.get("type")
+    if not isinstance(kind, str):
+        return None
+
+    if kind == "jog":
+        axes = payload.get("axes") or []
+        if len(axes) != 6 or not all(isinstance(v, (int, float)) for v in axes):
+            return None
+        return Command(type="jog", axes=[float(v) for v in axes])
+    if kind in ("jog_stop", "estop", "reset", "home"):
+        return Command(type=kind)
+    if kind == "control":
+        return Command(
+            type="control",
+            action=str(payload.get("action", "")),
+            preempt=bool(payload.get("preempt", False)),
+        )
+    if kind == "gripper":
+        return Command(type="gripper", enabled=bool(payload.get("closed", False)))
+    if kind == "freedrive":
+        return Command(type="freedrive", enabled=bool(payload.get("enabled", False)))
+    if kind == "move":
+        row = {key: payload[key] for key in POSE_KEYS if isinstance(payload.get(key), (int, float))}
+        if not all(key in row for key in ("x", "y", "z")):
+            return None
+        if isinstance(payload.get("speed"), (int, float)):
+            row["speed"] = float(payload["speed"])
+        return Command(type="move", row=row)
+    return None
+
+
+@dataclass
+class ArmView:
+    """What this node currently believes about the arm.
+
+    Assembled from four places — `robot_state`, `tcp_pose`, `joint_pose` and the
+    answers to `get_state` — because no single one of them carries everything
+    the console draws. Whatever has not arrived yet stays at its default, so a
+    page that loads before the arm is reachable renders as disconnected rather
+    than as a stale pose.
+    """
+
+    state: str = CONNECTING
+    pose: list[float] = field(default_factory=list)
+    joints: list[float] = field(default_factory=list)
+    connected: bool = False
+    ready: bool = False
+    tool_engaged: bool = False
+    freedrive_on: bool = False
+    estop: bool = False
+
+    def take_get_state(self, row: dict) -> None:
+        """Absorb a `get_state` answer, which carries what telemetry does not."""
+        self.connected = bool(row.get("connected", False))
+        self.ready = bool(row.get("ready", False))
+        self.tool_engaged = bool(row.get("tool_engaged", False))
+        self.freedrive_on = bool(row.get("freedrive", False))
+
+
+def arm_state(view: ArmView, jogging: bool) -> str:
+    """Return the state the console should draw.
+
+    Order matters, and it is the order of what an operator most needs to know.
+    A latched e-stop wins over everything: the arm may well read `ready`, and
+    saying so would invite somebody to push it. Freedrive outranks idle because
+    an arm that can be pushed by hand is not the same as one holding station.
+    """
+    if view.estop:
+        return UI_ESTOP
+    if view.state in (CONNECTING, UNAVAILABLE):
+        return ARM_STATE[view.state]
+    if view.freedrive_on:
+        return UI_FREEDRIVE
+    if jogging and view.state == MOVING:
+        return UI_JOGGING
+    return ARM_STATE.get(view.state, UI_DISCONNECTED)
+
+
+def snapshot(view: ArmView, owner: str | None, jogging: bool, timestamp: float) -> dict:
+    """Build the telemetry object the console reads.
+
+    Every key here is read by name in `app.js`, so this and the page change
+    together. The names are the robot-agnostic ones: `gripper` rather than
+    `vacuum`, because a page that says vacuum only fits a robot with one on it,
+    and `units` so a page can label a pose without guessing.
+    """
+    return {
+        "type": "telemetry",
+        "ts": timestamp,
+        "connected": view.connected,
+        "ready": view.ready,
+        "arm_state": arm_state(view, jogging),
+        "owner": owner or "none",
+        "estop": view.estop,
+        "gripper": view.tool_engaged,
+        "freedrive": view.freedrive_on,
+        "position": dict(zip(POSE_KEYS, view.pose, strict=False)) if view.pose else None,
+        "joints": list(view.joints),
+        # What `position` is in, so the page labels it rather than assuming. The
+        # telemetry ports carry whatever the robot publishes; only the command
+        # path is normalised.
+        "units": {"position": "mm", "rotation": "deg"},
+    }
+
+
+def error(message: str) -> dict:
+    """Build the message the console shows as a toast."""
+    return {"type": "error", "detail": message}

dora_teleop/web/index.html

@@ -0,0 +1,449 @@
+<title>teleop console</title>
+<style>
+  :root {
+    color-scheme: dark;
+    --bg: #101016;
+    --card: #1a1a23;
+    --edge: #2b2b38;
+    --ink: #e8e8f0;
+    --dim: #8a8a9e;
+    --live: #7fd1e8;
+    --warn: #e8a37f;
+    --stop: #e2564a;
+    --go: #43c98b;
+  }
+  * { box-sizing: border-box; }
+  body {
+    margin: 0;
+    padding-block: 16px;
+    padding-inline: 16px;
+    background: var(--bg);
+    color: var(--ink);
+    font: 15px/1.5 ui-monospace, SFMono-Regular, Menlo, monospace;
+    -webkit-user-select: none;
+    user-select: none;
+    -webkit-tap-highlight-color: transparent;
+  }
+  .wrap { max-width: 980px; margin: 0 auto; }
+
+  header {
+    display: flex; flex-wrap: wrap; align-items: center; gap: 10px;
+    margin-bottom: 14px;
+  }
+  header h1 { font-size: 15px; margin: 0; margin-right: auto; letter-spacing: .04em; }
+  .chip {
+    padding: 5px 12px; border-radius: 999px; border: 1px solid var(--edge);
+    background: var(--card); font-size: 13px; white-space: nowrap;
+  }
+  .chip b { color: var(--live); font-weight: 600; }
+  .chip.estop { border-color: var(--stop); color: var(--stop); }
+  .chip.mine { border-color: var(--go); }
+  .chip.off { color: var(--dim); }
+
+  .card {
+    background: var(--card); border: 1px solid var(--edge); border-radius: 12px;
+    padding: 14px; margin-bottom: 12px;
+  }
+  .card h2 {
+    font-size: 11px; text-transform: uppercase; letter-spacing: .1em;
+    color: var(--dim); margin: 0 0 12px; font-weight: 600;
+  }
+
+  .bar { display: flex; flex-wrap: wrap; gap: 8px; }
+  button {
+    flex: 1 1 auto; min-height: 48px; min-width: 104px;
+    background: #272733; color: var(--ink); border: 1px solid #383848;
+    border-radius: 9px; padding: 10px 16px; font: inherit; cursor: pointer;
+    touch-action: manipulation;
+  }
+  button:active:not(:disabled) { background: #33334a; }
+  button:disabled { opacity: .3; cursor: not-allowed; }
+  button.stop { background: #55202a; border-color: var(--stop); color: #ffd9d4; }
+  button.on { background: #1f4a5a; border-color: var(--live); }
+
+  /* --- the jog rings --- */
+
+  .decks { display: flex; flex-wrap: wrap; gap: 14px; }
+  .deck {
+    flex: 1 1 340px;
+    background: var(--card); border: 1px solid var(--edge); border-radius: 12px;
+    padding: 14px;
+  }
+  .deck h2 {
+    font-size: 11px; text-transform: uppercase; letter-spacing: .1em;
+    color: var(--dim); margin: 0 0 12px; font-weight: 600;
+  }
+  .pills { display: flex; gap: 8px; margin-bottom: 12px; }
+
+  .ring { display: block; width: 100%; max-width: 330px; margin-inline: auto; touch-action: none; }
+  .ring .sector {
+    fill: #23232f; stroke: var(--edge); stroke-width: 1.5; cursor: pointer;
+  }
+  .ring .sector.holding { fill: var(--live); stroke: #bfe9f5; }
+  .ring .label {
+    fill: #a6a6bd; font-size: 15px; text-anchor: middle; dominant-baseline: middle;
+    pointer-events: none; font-family: inherit;
+  }
+  .ring .sector.holding + .label { fill: #0b1013; font-weight: 700; }
+  .ring .hub {
+    fill: none; stroke: var(--edge); stroke-width: 1.5;
+  }
+  .ring .hubtext {
+    fill: var(--dim); font-size: 13px; text-anchor: middle; dominant-baseline: middle;
+    pointer-events: none; font-family: inherit; letter-spacing: .08em;
+  }
+  .ring[data-off="true"] { opacity: .32; }
+  .ring[data-off="true"] .sector { cursor: not-allowed; }
+
+  label.speed { display: flex; align-items: center; gap: 12px; color: var(--dim); }
+  label.speed input { flex: 1; height: 34px; }
+  label.speed b { color: var(--live); min-width: 4ch; text-align: right; }
+
+  .readout { display: grid; grid-template-columns: repeat(auto-fit, minmax(150px, 1fr)); gap: 2px 18px; }
+  .row { display: flex; justify-content: space-between; gap: 12px; padding: 2px 0; }
+  .row span:last-child { color: var(--live); }
+
+  #toast { color: var(--warn); min-height: 1.5em; padding: 4px 2px; }
+  #link { color: var(--dim); font-size: 12px; }
+
+  @media (max-width: 560px) {
+    body { padding-inline: 10px; }
+    .deck { padding: 10px; }
+    button { min-width: 84px; }
+  }
+</style>
+
+<div class="wrap">
+
+<header>
+  <h1>teleop console</h1>
+  <span class="chip" id="chip-state">—</span>
+  <span class="chip" id="chip-owner">—</span>
+</header>
+
+<div class="card">
+  <h2>Control</h2>
+  <div class="bar">
+    <button id="take">Take control</button>
+    <button id="release">Release</button>
+    <button id="reset">Reset</button>
+    <button class="stop" id="estop">E&#8209;STOP</button>
+  </div>
+</div>
+
+<div class="decks">
+  <div class="deck">
+    <h2>Translate</h2>
+    <div class="pills">
+      <button data-axis="2" data-sign="-1">&minus;Z</button>
+      <button data-axis="2" data-sign="1">+Z</button>
+    </div>
+    <svg class="ring" id="translate" viewBox="0 0 200 200" aria-label="translate">
+      <g data-north="0,1" data-south="0,-1" data-west="1,1" data-east="1,-1"
+         data-labels="+X,&#8722;X,Y+,Y&#8722;" data-hub="XYZ"></g>
+    </svg>
+  </div>
+
+  <div class="deck">
+    <h2>Rotate</h2>
+    <div class="pills">
+      <button data-axis="5" data-sign="-1">&minus;yaw</button>
+      <button data-axis="5" data-sign="1">+yaw</button>
+    </div>
+    <svg class="ring" id="rotate" viewBox="0 0 200 200" aria-label="rotate">
+      <g data-north="4,1" data-south="4,-1" data-west="3,-1" data-east="3,1"
+         data-labels="+pitch,&#8722;pitch,&#8722;roll,+roll" data-hub="RXYZ"></g>
+    </svg>
+  </div>
+</div>
+
+<div class="card">
+  <h2>Speed</h2>
+  <label class="speed">
+    <input id="speed" type="range" min="10" max="100" step="5" value="60">
+    <b id="speedout">60%</b>
+  </label>
+</div>
+
+<div class="card">
+  <h2>Tool</h2>
+  <div class="bar">
+    <button id="close">Close gripper</button>
+    <button id="open">Open gripper</button>
+    <button id="freedrive">Freedrive</button>
+    <button id="home">Home</button>
+  </div>
+</div>
+
+<div class="card">
+  <h2>State</h2>
+  <div class="readout" id="state"></div>
+</div>
+
+<div id="toast"></div>
+<div id="link"></div>
+
+</div>
+
+<script>
+"use strict";
+
+// Read by name out of the node's telemetry snapshot. Robot-agnostic: `gripper`,
+// not `vacuum`, because a page that says vacuum only fits a robot with one.
+const KEYS = ["arm_state", "owner", "connected", "ready", "estop", "gripper", "freedrive"];
+
+// The node stops the robot if the jog stream dries up (JOG_TTL_S, 0.4 s).
+// Resending faster than that is what makes letting go a stop, with nothing
+// needing to be sent to say so.
+const REFRESH_MS = 150;
+
+// The ring, laid out like the arm's own pendant so the two do not disagree:
+// a quarter each, north at the top, and a hub that is label rather than button.
+const GAP_DEG = 3;
+const OUTER = 95;
+const INNER = 46;
+const LABEL_R = 71;
+const COMPASS = [
+  ["north", 225, 315],
+  ["east", 315, 405],
+  ["south", 45, 135],
+  ["west", 135, 225],
+];
+
+let socket = null;
+let owner = "none";
+let current = {};
+let axes = [0, 0, 0, 0, 0, 0];
+let refresh = null;
+
+// Every direction currently held, as element -> {axis, sign}. A map rather than
+// one value because two fingers may hold two directions, and lifting one must
+// not cancel the other.
+const held = new Map();
+// Which element each finger is on, so a finger that slides off still releases
+// the direction it started on.
+const fingers = new Map();
+
+function send(payload) {
+  if (socket && socket.readyState === WebSocket.OPEN) {
+    socket.send(JSON.stringify(payload));
+  }
+}
+
+function scale() {
+  return Number(document.getElementById("speed").value) / 100;
+}
+
+function recompute() {
+  axes = [0, 0, 0, 0, 0, 0];
+  const dial = scale();
+  for (const [, { axis, sign }] of held) axes[axis] += sign * dial;
+  axes = axes.map((v) => Math.max(-1, Math.min(1, v)));
+}
+
+function moving() {
+  return axes.some((value) => value !== 0);
+}
+
+function pump() {
+  if (moving()) send({ type: "jog", axes });
+}
+
+// --- drawing the ring ---
+
+function onCircle(radius, degrees) {
+  const radians = (degrees * Math.PI) / 180;
+  return [100 + radius * Math.cos(radians), 100 + radius * Math.sin(radians)];
+}
+
+function sectorPath(from, to) {
+  const [ax, ay] = onCircle(OUTER, from);
+  const [bx, by] = onCircle(OUTER, to);
+  const [cx, cy] = onCircle(INNER, to);
+  const [dx, dy] = onCircle(INNER, from);
+  return `M${ax} ${ay}A${OUTER} ${OUTER} 0 0 1 ${bx} ${by}`
+    + `L${cx} ${cy}A${INNER} ${INNER} 0 0 0 ${dx} ${dy}Z`;
+}
+
+function svg(name, attributes) {
+  const node = document.createElementNS("http://www.w3.org/2000/svg", name);
+  for (const [key, value] of Object.entries(attributes)) node.setAttribute(key, value);
+  return node;
+}
+
+function buildRing(ring) {
+  const group = ring.querySelector("g");
+  const labels = group.dataset.labels.split(",");
+  // Labelled in compass order so the markup reads the way the ring looks:
+  // north, south, west, east.
+  const naming = { north: labels[0], south: labels[1], west: labels[2], east: labels[3] };
+
+  for (const [point, from, to] of COMPASS) {
+    const [axis, sign] = group.dataset[point].split(",").map(Number);
+    const sector = svg("path", {
+      d: sectorPath(from + GAP_DEG, to - GAP_DEG),
+      class: "sector",
+    });
+    sector.dataset.axis = axis;
+    sector.dataset.sign = sign;
+    group.appendChild(sector);
+
+    const middle = (from + to) / 2;
+    const [lx, ly] = onCircle(LABEL_R, middle);
+    const text = svg("text", { x: lx, y: ly, class: "label" });
+    text.textContent = naming[point];
+    group.appendChild(text);
+  }
+
+  group.appendChild(svg("circle", { cx: 100, cy: 100, r: INNER - 6, class: "hub" }));
+  const hub = svg("text", { x: 100, y: 100, class: "hubtext" });
+  hub.textContent = group.dataset.hub;
+  group.appendChild(hub);
+}
+
+// --- holding a direction ---
+
+function grab(element) {
+  if (held.has(element) || element.closest("[data-off=\"true\"]")) return;
+  held.set(element, { axis: Number(element.dataset.axis), sign: Number(element.dataset.sign) });
+  element.classList.add("holding");
+  recompute();
+  pump();
+  // Resend while held. The node's deadman expects a stream, not one message.
+  if (refresh === null) refresh = setInterval(pump, REFRESH_MS);
+}
+
+function letGo(element) {
+  if (!held.delete(element)) return;
+  element.classList.remove("holding");
+  recompute();
+  if (moving()) return;
+  // Say so rather than going quiet: the deadman would stop it either way, but a
+  // direction released is an intention and 400 ms of travel is not.
+  send({ type: "jog_stop" });
+  clearInterval(refresh);
+  refresh = null;
+}
+
+function releaseEverything() {
+  for (const element of [...held.keys()]) letGo(element);
+  fingers.clear();
+}
+
+function wireDirection(element) {
+  element.addEventListener("pointerdown", (event) => {
+    // Keeps this finger's events coming even once it slides off, so letting go
+    // always reaches letGo().
+    element.setPointerCapture(event.pointerId);
+    fingers.set(event.pointerId, element);
+    grab(element);
+  });
+  for (const name of ["pointerup", "pointercancel", "lostpointercapture"]) {
+    element.addEventListener(name, (event) => {
+      fingers.delete(event.pointerId);
+      letGo(element);
+    });
+  }
+  element.addEventListener("contextmenu", (event) => event.preventDefault());
+}
+
+function wire() {
+  for (const ring of document.querySelectorAll(".ring")) buildRing(ring);
+  for (const element of document.querySelectorAll(".sector, .pills button[data-axis]")) {
+    wireDirection(element);
+  }
+
+  // A tab that goes away mid-jog must not leave the robot travelling. The node
+  // covers this too; doing it here costs one line.
+  window.addEventListener("blur", releaseEverything);
+  document.addEventListener("visibilitychange", () => {
+    if (document.hidden) releaseEverything();
+  });
+
+  const speed = document.getElementById("speed");
+  speed.addEventListener("input", () => {
+    document.getElementById("speedout").textContent = `${speed.value}%`;
+    recompute();
+  });
+
+  const click = {
+    take: { type: "control", action: "take", preempt: true },
+    release: { type: "control", action: "release" },
+    estop: { type: "estop" },
+    reset: { type: "reset" },
+    close: { type: "gripper", closed: true },
+    open: { type: "gripper", closed: false },
+    home: { type: "home" },
+  };
+  for (const [id, payload] of Object.entries(click)) {
+    document.getElementById(id).addEventListener("click", () => send(payload));
+  }
+  document.getElementById("freedrive").addEventListener("click", () => {
+    send({ type: "freedrive", enabled: !current.freedrive });
+  });
+}
+
+function render(telemetry) {
+  current = telemetry;
+  const rows = KEYS.map((key) =>
+    `<div class="row"><span>${key}</span><span>${telemetry[key]}</span></div>`);
+  const pose = telemetry.position;
+  if (pose) {
+    // The node says what the pose is in rather than the page assuming it.
+    const unit = (telemetry.units && telemetry.units.position) || "";
+    const shown = ["x", "y", "z"].map((axis) => pose[axis].toFixed(1)).join(", ");
+    rows.push(`<div class="row"><span>position</span><span>${shown} ${unit}</span></div>`);
+  }
+  document.getElementById("state").innerHTML = rows.join("");
+
+  const state = document.getElementById("chip-state");
+  state.innerHTML = `arm <b>${telemetry.arm_state}</b>`;
+  state.className = `chip${telemetry.estop ? " estop" : ""}`;
+
+  owner = telemetry.owner;
+  const mine = owner === "web";
+  const chip = document.getElementById("chip-owner");
+  chip.innerHTML = mine ? "<b>you have the arm</b>" : `held by <b>${owner}</b>`;
+  chip.className = `chip ${mine ? "mine" : "off"}`;
+
+  document.getElementById("freedrive").classList.toggle("on", !!telemetry.freedrive);
+  document.getElementById("close").classList.toggle("on", !!telemetry.gripper);
+
+  // Every control is gated on holding the lease, so one that would be refused
+  // looks refused. E-STOP and Reset never are.
+  for (const id of ["close", "open", "freedrive", "home"]) {
+    document.getElementById(id).disabled = !mine;
+  }
+  for (const ring of document.querySelectorAll(".ring")) {
+    ring.dataset.off = String(!mine);
+  }
+  for (const pill of document.querySelectorAll(".pills button[data-axis]")) {
+    pill.disabled = !mine;
+  }
+  if (!mine) releaseEverything();
+}
+
+function connect() {
+  // The node serves this page and holds the socket, so the socket is on this
+  // page's own origin — nothing to configure and nothing to keep in step.
+  const scheme = location.protocol === "https:" ? "wss:" : "ws:";
+  const url = `${scheme}//${location.host}/ws`;
+  document.getElementById("link").textContent = `socket: ${url}`;
+  socket = new WebSocket(url);
+  socket.onmessage = (event) => {
+    const message = JSON.parse(event.data);
+    if (message.type === "telemetry") render(message);
+    if (message.type === "error") {
+      document.getElementById("toast").textContent = message.detail;
+    }
+  };
+  socket.onclose = () => {
+    releaseEverything();
+    document.getElementById("link").textContent = `socket: ${url} — closed, retrying`;
+    setTimeout(connect, 2000);
+  };
+}
+
+wire();
+connect();
+</script>

examples/bench.py

@@ -0,0 +1,107 @@
+"""A bench stand-in for the arm and the browser, so teleop can run with neither.
+
+Run by `dataflow.yml`. It answers every service, publishes plausible telemetry,
+and prints the velocities it is sent — which is enough to drive the node from a
+real gamepad and watch what a real arm would have been told to do.
+
+**It is not a simulator.** It does not integrate the velocity, move a pose, or
+model the arm in any way; a jog is printed and forgotten. Its job is to close
+the loop so the node's own behaviour can be watched, not to stand in for
+`dora-ulite6`. Anything that needs the arm to actually respond needs the arm.
+"""
+
+import json
+
+import pyarrow as pa
+from dora import Node
+
+REQUEST_ID = "request_id"
+
+# Somewhere in front of the robot, tool pointing down. Fixed, because a moving
+# pose here would look like the arm was responding, which it is not.
+POSE = [250.0, 0.0, 200.0, 180.0, 0.0, 0.0]
+JOINTS = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+
+
+def main() -> None:
+    """Answer whatever teleop asks and report what it would have moved."""
+    node = Node("bench")
+    announced = False
+    tool_engaged = False
+    freedrive = False
+    jogs = 0
+    shown = None
+
+    for event in node:
+        if event["type"] != "INPUT":
+            continue
+
+        if event["id"] == "tick":
+            if not announced:
+                announced = True
+                node.send_output("robot_state", pa.array(["ready"]))
+            node.send_output("tcp_pose", pa.array(POSE, type=pa.float32()), {"units_position": "mm"})
+            node.send_output("joint_pose", pa.array(JOINTS, type=pa.float32()), {"units": "deg"})
+
+        elif event["id"] == "jog":
+            velocity = event["value"][0].as_py()["velocity"]
+            jogs += 1
+            moving = any(velocity)
+            shown = ", ".join(f"{v:+7.2f}" for v in velocity)
+            print(f"jog {jogs:5d}  [{shown}]  {'' if moving else '<- stop'}", flush=True)
+
+        elif event["id"] == "request":
+            row = event["value"][0].as_py()
+            service = row.get("service", "")
+            request_id = event["metadata"].get(REQUEST_ID, "")
+            if service == "grasp":
+                tool_engaged = True
+            elif service == "release":
+                tool_engaged = False
+            elif service == "freedrive":
+                freedrive = bool(row.get("enabled", True))
+            if service != "get_state":
+                print(f"service {service} ({request_id})", flush=True)
+            node.send_output(
+                "response",
+                pa.array([_answer(service, tool_engaged, freedrive)]),
+                {REQUEST_ID: request_id},
+            )
+
+        elif event["id"] == "ui_state":
+            # No browser is attached, so this is where the console's picture of
+            # the arm would go. Printing it on change rather than on every tick
+            # makes the things worth watching — the lease moving, the arm
+            # starting and stopping — visible without 20 lines a second.
+            snapshot = json.loads(event["value"][0].as_py())
+            if snapshot.get("type") != "telemetry":
+                continue
+            current = (snapshot["arm_state"], snapshot["owner"], snapshot["estop"])
+            if current != shown:
+                shown = current
+                state, owner, estop = current
+                print(
+                    f"console would show: {state}, owner {owner}" + (", E-STOPPED" if estop else ""),
+                    flush=True,
+                )
+
+
+def _answer(service: str, tool_engaged: bool, freedrive: bool) -> dict:
+    """Build the response row the arm node would have sent."""
+    if service == "get_state":
+        return {
+            "ok": True,
+            "service": service,
+            "message": "ready",
+            "connected": True,
+            "ready": True,
+            "tool_engaged": tool_engaged,
+            "freedrive": freedrive,
+            "pose": POSE,
+            "joints": JOINTS,
+        }
+    return {"ok": True, "service": service, "message": f"{service} accepted by the bench"}
+
+
+if __name__ == "__main__":
+    main()

examples/dora-node.yml

@@ -0,0 +1,41 @@
+# Manifest for the bench stand-in.
+#
+# dora resolves a node's manifest from its `path:`, so without this file the
+# bench would be validated against the teleop node's own contract and every port
+# would look wrong.
+
+apiVersion: 1
+name: bench
+namespace: liria
+description: Bench stand-in for the arm and the browser, so teleop can run with neither
+
+runtime: python
+entrypoint: bench.py
+dora: ">=1.0"
+
+inputs:
+  tick:
+    description: Drives the telemetry the arm node would publish.
+    type: std/core/v1/UInt64
+  jog:
+    description: A velocity teleop wants the arm to move at. Printed, then forgotten.
+  request:
+    description: A service call. Every one is answered ok.
+  ui_state:
+    description: >-
+      The console snapshot teleop publishes. Printed on change, which is how the
+      lease moving and the arm starting and stopping can be watched without a
+      browser.
+
+outputs:
+  response:
+    description: One answer per request, under the id it arrived with.
+  robot_state:
+    description: Reports `ready` once, so teleop stops drawing the arm as disconnected.
+    type: std/core/v1/String
+  tcp_pose:
+    description: A fixed tool-tip pose. Fixed on purpose — nothing here integrates a velocity.
+    type: std/core/v1/Float32
+  joint_pose:
+    description: Fixed joint angles, for the same reason.
+    type: std/core/v1/Float32

pyproject.toml

@@ -0,0 +1,50 @@
+[project]
+name = "dora-teleop"
+version = "0.3.0"
+description = "Dora node giving a human the arm, from a gamepad or a browser"
+readme = "README.md"
+license = { text = "MIT" }
+authors = [{ name = "Liria" }]
+
+# dora-rs 1.0 requires 3.11; this node standardises on 3.12.
+requires-python = ">=3.12"
+
+# No hardware dependency. The pad is `dora-joy` and the arm is `dora-ulite6`;
+# this node decides, and serves the console that asks it to.
+dependencies = [
+    "dora-rs >= 1.0.1",
+    "pyarrow >= 17.0",
+    # The web console: the page and the browsers' sockets on one port. Replaces
+    # `dora-websocket-transceiver`, which was a second node for the same job.
+    "aiohttp >= 3.9",
+]
+
+[dependency-groups]
+dev = ["pytest >= 8.1", "ruff >= 0.9"]
+
+[project.scripts]
+dora-teleop = "dora_teleop.main:main"
+dora-teleop-probe = "dora_teleop.probe:main"
+
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[tool.hatch.build.targets.wheel]
+packages = ["dora_teleop"]
+
+[tool.ruff]
+line-length = 110
+
+[tool.ruff.lint]
+extend-select = ["D", "I", "N", "RET", "UP"]
+
+[tool.ruff.lint.pydocstyle]
+convention = "numpy"
+
+[tool.ruff.lint.per-file-ignores]
+# Test names are the documentation here; a docstring would only repeat them.
+"tests/*" = ["D1"]
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]

tests/conftest.py

@@ -0,0 +1,165 @@
+"""Shared fakes. Nothing here needs a gamepad, an arm, a browser or a daemon."""
+
+import json
+
+import pyarrow as pa
+import pytest
+
+from dora_teleop.config import Config
+from dora_teleop.joy import Sample
+from dora_teleop.mapping import LAYOUT, TRIGGER_REST
+
+# The shape `dora-joy` publishes. Declared here rather than inferred for the same
+# reason it is declared there: pyarrow reads an empty `axes` list as `list<null>`,
+# so a test for an absent pad would otherwise build a message no consumer sees.
+JOY = pa.struct(
+    [
+        ("axes", pa.list_(pa.float32())),
+        ("buttons", pa.list_(pa.bool_())),
+        ("present", pa.bool_()),
+    ]
+)
+
+
+class RecordingNode:
+    """A dora node that records outputs *with* their metadata.
+
+    `dora.testing.MockNode` drops the metadata dict on `send_output`, and the
+    metadata is where `request_id` rides. So the tests record it themselves.
+    """
+
+    def __init__(self):
+        self.sent = []
+
+    def send_output(self, output_id, data, metadata=None):
+        self.sent.append((output_id, data, dict(metadata or {})))
+
+    def outputs(self, output_id):
+        """Return every message sent on ``output_id`` as (value, metadata) pairs."""
+        return [(data[0].as_py(), metadata) for name, data, metadata in self.sent if name == output_id]
+
+    def jogs(self):
+        """Return every velocity sent on the deprecated `jog` port, in order."""
+        return [row["velocity"] for row, _ in self.outputs("jog")]
+
+    def twists(self):
+        """Return every Twist sent on the standard port, in order."""
+        return [row for row, _ in self.outputs("twist")]
+
+    def actions(self):
+        """Return the verb of every standard `command`, in order."""
+        return [row["action"] for row, _ in self.outputs("command")]
+
+    def services(self):
+        """Return the name of every service called, in order."""
+        return [row["service"] for row, _ in self.outputs("request")]
+
+    def ui(self):
+        """Return every object handed to the bridge, parsed."""
+        return [json.loads(value) for value, _ in self.outputs("ui_state")]
+
+    def clear(self):
+        self.sent.clear()
+
+
+def stick(axes=None, buttons=None, present=True):
+    """Build one gamepad reading, padded to a full six axes."""
+    values = list(axes or [])
+    values += [0.0] * (6 - len(values))
+    # A trigger at rest reads -1, and a test that forgot to say so would look
+    # like both triggers held down. Which indices those are comes from the
+    # layout, so a test never has to be edited when a pad renumbers them.
+    for index in (LAYOUT.left_trigger, LAYOUT.right_trigger):
+        if axes is None or index >= len(axes):
+            values[index] = -1.0
+    return Sample(axes=values, buttons=list(buttons or []), present=present)
+
+
+def axes_for(
+    left_x=0.0,
+    left_y=0.0,
+    right_x=0.0,
+    right_y=0.0,
+    left_trigger=TRIGGER_REST,
+    right_trigger=TRIGGER_REST,
+):
+    """Lay out a pad's axes by what each control is rather than by its index.
+
+    A test that numbers its axes says nothing about which control it meant, and
+    goes on passing while meaning something else once a pad renumbers them.
+    """
+    values = [0.0] * 6
+    values[LAYOUT.left_x] = left_x
+    values[LAYOUT.left_y] = left_y
+    values[LAYOUT.right_x] = right_x
+    values[LAYOUT.right_y] = right_y
+    values[LAYOUT.left_trigger] = left_trigger
+    values[LAYOUT.right_trigger] = right_trigger
+    return values
+
+
+def buttons_for(
+    grasp=False, release=False, clear=False, freedrive=False, yaw_left=False, yaw_right=False, estop=False
+):
+    """Lay out a pad's buttons by what each one does rather than by its index.
+
+    The same reason as :func:`axes_for`, and more pressing: an unpressed button
+    reads identically on every pad, so a test that numbers them is the only
+    place a wrong index could ever have been caught.
+    """
+    wanted = {
+        LAYOUT.grasp: grasp,
+        LAYOUT.release: release,
+        LAYOUT.clear: clear,
+        LAYOUT.freedrive: freedrive,
+        LAYOUT.yaw_left: yaw_left,
+        LAYOUT.yaw_right: yaw_right,
+        LAYOUT.estop: estop,
+    }
+    return [wanted.get(index, False) for index in range(max(wanted) + 1)]
+
+
+def joy_message(sample):
+    """Build the Arrow row `dora-joy` would publish for one reading."""
+    return pa.array(
+        [
+            {
+                "axes": [float(value) for value in sample.axes],
+                "buttons": [bool(down) for down in sample.buttons],
+                "present": sample.present,
+            }
+        ],
+        type=JOY,
+    )
+
+
+def input_event(event_id, value, metadata=None):
+    """Build the event dict dora hands a node for one input."""
+    return {"type": "INPUT", "id": event_id, "value": value, "metadata": dict(metadata or {})}
+
+
+@pytest.fixture(autouse=True)
+def clean_env(monkeypatch):
+    """Run every test against a bare environment, whatever the shell set."""
+    for name in (
+        "SPEED_MM_S",
+        "SPEED_DEG_S",
+        "DEADZONE",
+        "EXPO",
+        "JOG_TTL_S",
+        "JOG_KEEPALIVE_S",
+        "JOY_TTL_S",
+        "GAMEPAD_IDLE_RELEASE_S",
+        "STATE_POLL_S",
+        "WEB_HOST",
+        "WEB_PORT",
+    ):
+        monkeypatch.delenv(name, raising=False)
+
+
+@pytest.fixture
+def config():
+    """Return the default configuration, with expo off so a test can do the arithmetic."""
+    built = Config.from_env()
+    built.expo = 0.0
+    return built

tests/test_arbiter.py

@@ -0,0 +1,106 @@
+"""The lease: who may drive the arm, and how it changes hands."""
+
+from dora_teleop.arbiter import GAMEPAD, WEB, Arbiter
+
+
+def build(idle_release_s=2.0):
+    return Arbiter(idle_release_s)
+
+
+def test_a_free_arm_goes_to_whoever_asks():
+    arbiter = build()
+
+    assert arbiter.take(WEB, now := 100.0) is True
+    assert arbiter.owner == WEB
+    assert arbiter.may_drive(WEB)
+    assert now == 100.0
+
+
+def test_a_held_arm_is_not_handed_over_for_the_asking():
+    arbiter = build()
+    arbiter.take(GAMEPAD, 100.0)
+
+    assert arbiter.take(WEB, 101.0) is False
+    assert arbiter.owner == GAMEPAD
+
+
+def test_a_non_owner_may_not_drive():
+    arbiter = build()
+    arbiter.take(GAMEPAD, 100.0)
+
+    assert arbiter.may_drive(WEB) is False
+
+
+def test_preempting_takes_a_held_arm():
+    # The console offers this deliberately: an operator who can see the arm is
+    # better placed than this code to decide they should have it.
+    arbiter = build()
+    arbiter.take(GAMEPAD, 100.0)
+
+    assert arbiter.take(WEB, 101.0, preempt=True) is True
+    assert arbiter.owner == WEB
+
+
+def test_taking_an_arm_you_already_hold_is_not_a_conflict():
+    arbiter = build()
+    arbiter.take(WEB, 100.0)
+
+    assert arbiter.take(WEB, 101.0) is True
+
+
+def test_releasing_frees_the_arm():
+    arbiter = build()
+    arbiter.take(WEB, 100.0)
+
+    arbiter.release(WEB)
+
+    assert arbiter.owner is None
+
+
+def test_releasing_an_arm_somebody_else_holds_does_nothing():
+    arbiter = build()
+    arbiter.take(GAMEPAD, 100.0)
+
+    arbiter.release(WEB)
+
+    assert arbiter.owner == GAMEPAD
+
+
+def test_an_idle_gamepad_hands_the_arm_back():
+    # A pad left on the bench would otherwise lock the browser out forever.
+    arbiter = build(idle_release_s=2.0)
+    arbiter.take(GAMEPAD, 100.0)
+
+    arbiter.expire_idle_gamepad(102.0)
+
+    assert arbiter.owner is None
+
+
+def test_a_gamepad_still_being_used_keeps_the_arm():
+    arbiter = build(idle_release_s=2.0)
+    arbiter.take(GAMEPAD, 100.0)
+
+    arbiter.note_activity(GAMEPAD, 101.5)
+    arbiter.expire_idle_gamepad(102.0)
+
+    assert arbiter.owner == GAMEPAD
+
+
+def test_the_web_never_expires_on_its_own():
+    # It took the arm by pressing a button and gives it back by pressing another.
+    arbiter = build(idle_release_s=2.0)
+    arbiter.take(WEB, 100.0)
+
+    arbiter.expire_idle_gamepad(999.0)
+
+    assert arbiter.owner == WEB
+
+
+def test_activity_from_a_non_owner_does_not_extend_anyone_else():
+    arbiter = build(idle_release_s=2.0)
+    arbiter.take(GAMEPAD, 100.0)
+
+    arbiter.note_activity(WEB, 101.9)
+    arbiter.expire_idle_gamepad(102.0)
+
+    assert arbiter.owner is None

tests/test_config.py

@@ -0,0 +1,97 @@
+"""Settings: parsed once at startup, and refused there rather than mid-motion."""
+
+import pytest
+
+from dora_teleop.config import Config
+
+
+def test_the_defaults_need_no_environment():
+    config = Config.from_env()
+
+    assert config.speed_mm_s == 60.0
+    assert config.speed_deg_s == 30.0
+
+
+def test_the_deadman_is_shorter_than_the_arms_own_expiry():
+    # The arm node's VELOCITY_COMMAND_TTL_S defaults to 0.5 s and is the
+    # backstop. Ours has to fire first, or the backstop backs up nothing.
+    assert Config.from_env().deadman.jog_ttl_s < 0.5
+
+
+def test_the_layers_fire_innermost_first():
+    # A stale pad reading has to be noticed before the jog deadline it feeds.
+    deadman = Config.from_env().deadman
+
+    assert deadman.joy_ttl_s < deadman.jog_ttl_s
+
+
+def test_a_blank_variable_falls_back_to_the_default(monkeypatch):
+    monkeypatch.setenv("SPEED_MM_S", "   ")
+
+    assert Config.from_env().speed_mm_s == 60.0
+
+
+def test_a_speed_that_is_not_a_number_names_itself(monkeypatch):
+    monkeypatch.setenv("SPEED_MM_S", "brisk")
+
+    with pytest.raises(ValueError, match="SPEED_MM_S"):
+        Config.from_env()
+
+
+def test_a_joy_ttl_at_or_above_the_jog_ttl_is_refused_at_startup(monkeypatch):
+    # Layers out of order means a backstop firing before the thing it backs up,
+    # which is invisible until the day something actually goes wrong.
+    monkeypatch.setenv("JOY_TTL_S", "0.4")
+
+    with pytest.raises(ValueError, match="JOY_TTL_S"):
+        Config.from_env()
+
+
+def test_a_keepalive_at_or_above_the_jog_ttl_is_refused_at_startup(monkeypatch):
+    # The repeat has to outpace the arm's own velocity expiry. It cannot be read
+    # from here, but JOG_TTL_S already sits below it, so a repeat slower than
+    # JOG_TTL_S is a repeat the arm stops between — an arm that stutters under a
+    # held stick, with nothing in the logs to say why.
+    monkeypatch.setenv("JOG_KEEPALIVE_S", "0.4")
+
+    with pytest.raises(ValueError, match="JOG_KEEPALIVE_S"):
+        Config.from_env()
+
+
+def test_a_keepalive_of_zero_is_refused_at_startup(monkeypatch):
+    # Zero would mean repeating every tick, which is the behaviour the keepalive
+    # exists to replace.
+    monkeypatch.setenv("JOG_KEEPALIVE_S", "0")
+
+    with pytest.raises(ValueError, match="JOG_KEEPALIVE_S"):
+        Config.from_env()
+
+
+@pytest.mark.parametrize("value", ["1.0", "-0.1", "2"])
+def test_a_deadzone_outside_the_stick_is_refused_at_startup(monkeypatch, value):
+    # A deadzone of 1 would silently make the pad inert; catching it here beats
+    # finding out when somebody picks it up.
+    monkeypatch.setenv("DEADZONE", value)
+
+    with pytest.raises(ValueError, match="DEADZONE"):
+        Config.from_env()
+
+
+@pytest.mark.parametrize("value", ["-0.1", "1.1"])
+def test_an_expo_outside_the_curve_is_refused_at_startup(monkeypatch, value):
+    monkeypatch.setenv("EXPO", value)
+
+    with pytest.raises(ValueError, match="EXPO"):
+        Config.from_env()
+
+
+def test_the_timings_can_be_tuned_without_touching_the_speeds(monkeypatch):
+    monkeypatch.setenv("JOG_TTL_S", "0.25")
+    monkeypatch.setenv("JOY_TTL_S", "0.1")
+    monkeypatch.setenv("GAMEPAD_IDLE_RELEASE_S", "5")
+
+    config = Config.from_env()
+
+    assert config.deadman.jog_ttl_s == 0.25
+    assert config.deadman.joy_ttl_s == 0.1
+    assert config.deadman.gamepad_idle_release_s == 5.0

tests/test_console.py

@@ -0,0 +1,89 @@
+"""The page and the node are one contract, checked here rather than by eye.
+
+`ui.py` translates for a console it cannot import, and the page reads telemetry
+by key. Nothing in either language catches a rename, so a typo would surface as
+a dead button on a machine that can move — which is the wrong place to find it.
+"""
+
+import json
+import re
+from pathlib import Path
+
+from dora_teleop import ui
+
+PAGE = Path(__file__).resolve().parent.parent / "dora_teleop" / "web" / "index.html"
+
+
+def page():
+    return PAGE.read_text()
+
+
+def sent_types():
+    """Return every message type the page can send."""
+    return set(re.findall(r'type:\s*"([a-z_]+)"', page()))
+
+
+def read_keys():
+    """Return the telemetry keys the page renders by name."""
+    listed = re.search(r"const KEYS = \[(.*?)\]", page(), re.DOTALL).group(1)
+    return set(re.findall(r'"([a-z_]+)"', listed))
+
+
+def snapshot_keys():
+    view = ui.ArmView()
+    view.pose = [1.0] * 6
+    return set(ui.snapshot(view, "web", False, 0.0))
+
+
+def test_every_message_the_page_sends_is_one_the_node_serves():
+    # `data` is the bridge's own envelope, not a console command.
+    for kind in sent_types() - {"data"}:
+        assert ui.command_of({"type": kind}) is not None or kind == "jog", kind
+
+
+def test_every_telemetry_key_the_page_reads_is_one_the_node_sends():
+    missing = read_keys() - snapshot_keys()
+
+    assert not missing, f"the page reads keys the node does not send: {sorted(missing)}"
+
+
+def test_the_page_reads_the_pose_units_from_the_node():
+    # Rather than assuming mm, which is only true of one robot.
+    assert "units.position" in page().replace("telemetry.units && telemetry.units.position", "units.position")
+    assert "units" in snapshot_keys()
+
+
+def test_the_jog_the_page_sends_is_normalised_and_accepted():
+    # Six axes, each a fraction of full deflection. If the page ever sent a
+    # velocity instead, it would have to know the robot's units.
+    command = ui.command_of(json.loads('{"type": "jog", "axes": [0, -0.6, 0, 0, 0, 0]}'))
+
+    assert command is not None
+    assert command.axes == [0.0, -0.6, 0.0, 0.0, 0.0, 0.0]
+
+
+def test_the_page_can_ask_for_everything_the_node_serves():
+    # `move` is the one command with no button: it is a pose in the robot's own
+    # units, which is exactly what this page is built not to know.
+    served = {"jog", "jog_stop", "estop", "reset", "home", "control", "gripper", "freedrive"}
+
+    assert served <= sent_types()
+
+
+def test_the_page_gates_its_jog_pad_on_holding_the_lease():
+    # The node refuses a jog from a non-owner and answers with a toast; a pad
+    # that looks live but is refused teaches an operator to distrust the screen.
+    assert 'owner === "web"' in page()
+
+
+def test_the_published_schemas_do_not_depend_on_the_value_sent():
+    # pyarrow reads a null `value` as its own type, so an inferred schema would
+    # change the type of the `command` port between one verb and the next.
+    from dora_teleop import message
+
+    assert message.pack_command("stop", None).type == message.COMMAND
+    assert message.pack_command("freedrive", 1.0).type == message.COMMAND
+    assert (
+        message.pack_twist({"linear": [0.0] * 3, "angular": [0.0] * 3, "frame": "base"}).type == message.TWIST
+    )
+    assert message.pack_jog([0.0] * 6).type == message.JOG

tests/test_deadman.py

@@ -0,0 +1,438 @@
+"""The deadman: every way a source can go away, and the stop that follows it."""
+
+import pytest
+
+from dora_teleop import main as loop
+from dora_teleop.arbiter import GAMEPAD, WEB
+from dora_teleop.config import Config
+from dora_teleop.joy import Sample
+from tests.conftest import RecordingNode, buttons_for, input_event, joy_message, stick
+
+STOP = [0.0] * 6
+PUSHED = [0.0, -1.0]
+
+
+@pytest.fixture
+def clock(monkeypatch):
+    """Return a clock the test moves by hand, so no test waits out a real timeout."""
+
+    class Clock:
+        def __init__(self):
+            self.t = 1000.0
+
+        def advance(self, seconds):
+            self.t += seconds
+
+    moved = Clock()
+    monkeypatch.setattr("dora_teleop.main.now", lambda: moved.t)
+    return moved
+
+
+def build():
+    config = Config.from_env()
+    config.expo = 0.0
+    return RecordingNode(), loop.Teleop(config)
+
+
+def send_joy(node, state, sample):
+    """Deliver one reading the way `dora-joy` publishes it, decoding included."""
+    loop._handle(node, state, input_event("joy", joy_message(sample)))
+
+
+def ticks(node, state, count=1):
+    """Run `count` ticks with nothing new arriving, and return every velocity sent."""
+    for _ in range(count):
+        loop._tick(node, state)
+    return node.jogs()
+
+
+def drive(node, state, sample, count=1):
+    """Hold one reading for `count` ticks, the way a real pad and joy node would.
+
+    A pad this node has not yet seen at rest is sent one resting reading first,
+    because a real one is always at rest before a thumb reaches it — and the
+    node refuses to drive an arm from a pad it has never seen still.
+    """
+    if not state.joy.calibration.known:
+        send_joy(node, state, stick())
+    for _ in range(count):
+        send_joy(node, state, sample)
+        loop._tick(node, state)
+    return node.jogs()
+
+
+def web_jog(node, state, axes):
+    """Deliver one console jog message, in the normalised units the page speaks."""
+    loop._accept_ui_command(node, state, {"type": "jog", "axes": axes})
+
+
+# --- the gamepad ---
+
+
+def test_a_pushed_stick_takes_the_arm_and_drives_it(clock):
+    # Nobody should have to reach for a browser to use the pad in their hands.
+    node, state = build()
+
+    jogs = drive(node, state, stick(axes=PUSHED))
+
+    assert state.arbiter.owner == GAMEPAD
+    assert jogs[-1][0] > 0
+
+
+def test_a_gamepad_that_is_unplugged_mid_jog_stops_the_arm(clock):
+    # An unplugged pad is not a centred pad, and waiting out the TTL here is the
+    # difference between a dropped controller costing 10 ms of travel and 400.
+    node, state = build()
+    drive(node, state, stick(axes=PUSHED))
+    node.clear()
+
+    jogs = drive(node, state, Sample(present=False))
+
+    assert jogs == [STOP]
+
+
+def test_the_joy_node_dying_stops_the_arm(clock):
+    # The pad is another process now, and that process dying looks like silence
+    # rather than like an unplugged pad. It has to mean the same thing: a
+    # reading nobody is refreshing is not evidence that the stick is still held.
+    node, state = build()
+    drive(node, state, stick(axes=PUSHED))
+    node.clear()
+
+    clock.advance(state.config.deadman.joy_ttl_s + 0.01)
+    jogs = ticks(node, state)
+
+    assert jogs == [STOP]
+
+
+def test_a_joy_node_that_keeps_publishing_keeps_the_arm_moving(clock):
+    # The mirror of the test above: time passing is not by itself a reason to
+    # stop, or a held stick would stutter.
+    node, state = build()
+
+    sent = []
+    for _ in range(4):
+        clock.advance(0.05)
+        sent = drive(node, state, stick(axes=PUSHED))
+
+    assert sent
+    assert all(jog[0] > 0 for jog in sent)
+
+
+def test_a_stick_returning_to_centre_stops_the_arm(clock):
+    node, state = build()
+    drive(node, state, stick(axes=PUSHED))
+    node.clear()
+
+    jogs = drive(node, state, stick())
+
+    assert jogs == [STOP]
+
+
+def test_a_stick_at_rest_sends_one_zero_not_a_stream(clock):
+    # A stream of zeroes would keep the arm node believing a jog is live and
+    # hold robot_state at `moving` forever.
+    node, state = build()
+    drive(node, state, stick(axes=PUSHED))
+    node.clear()
+
+    jogs = drive(node, state, stick(), count=5)
+
+    assert jogs == [STOP]
+
+
+def test_a_held_stick_is_not_resent_every_tick(clock):
+    # A velocity is a set-point the arm holds, not a frame in a sequence.
+    # Repeating it every tick made the controller re-plan the same motion twenty
+    # times a second, which an operator feels as the arm stepping rather than
+    # travelling.
+    node, state = build()
+
+    jogs = drive(node, state, stick(axes=PUSHED), count=4)
+
+    assert len(jogs) == 1
+    assert jogs[0][0] > 0
+
+
+def test_a_held_stick_is_repeated_before_the_arm_would_expire_it(clock):
+    # The repeat exists for one reason: the arm's controller drops a velocity on
+    # its own, and the repeat is what keeps that backstop from firing mid-motion.
+    node, state = build()
+    drive(node, state, stick(axes=PUSHED))
+    node.clear()
+
+    clock.advance(state.config.deadman.jog_keepalive_s)
+    jogs = drive(node, state, stick(axes=PUSHED))
+
+    assert len(jogs) == 1
+    assert jogs[0][0] > 0
+
+
+def test_a_change_of_direction_never_waits_for_the_repeat(clock):
+    # Sending only on change is worth nothing if the change itself is delayed:
+    # a press or a release has to be acted on the tick it happens, not up to a
+    # keepalive later.
+    node, state = build()
+    drive(node, state, stick(axes=PUSHED))
+    node.clear()
+
+    jogs = drive(node, state, stick(axes=[0.0, 1.0]))
+
+    assert len(jogs) == 1
+    assert jogs[0][0] < 0
+
+
+def test_a_pad_that_was_never_wired_up_leaves_the_arm_alone(clock):
+    # `joy` is optional: a browser-only console wires no pad at all, and the
+    # node must not read that as a centred stick asking for the arm.
+    node, state = build()
+
+    jogs = ticks(node, state, count=3)
+
+    assert jogs == []
+    assert state.arbiter.owner is None
+
+
+# --- the browser ---
+
+
+def test_the_last_browser_leaving_stops_the_arm(clock):
+    # Closing the tab has to stop the arm, and nothing is sent when it does.
+    node, state = build()
+    state.clients = 1
+    state.arbiter.take(WEB, clock.t)
+    web_jog(node, state, [1.0, 0, 0, 0, 0, 0])
+    ticks(node, state)
+    node.clear()
+
+    loop._set_clients(state, 0)
+    jogs = ticks(node, state)
+
+    assert jogs == [STOP]
+    assert state.arbiter.owner is None
+
+
+def test_a_browser_that_goes_quiet_stops_the_arm(clock):
+    # The console refreshes every 150 ms against a 400 ms deadline.
+    node, state = build()
+    state.clients = 1
+    state.arbiter.take(WEB, clock.t)
+    web_jog(node, state, [1.0, 0, 0, 0, 0, 0])
+    ticks(node, state)
+    node.clear()
+
+    clock.advance(0.5)
+    jogs = ticks(node, state)
+
+    assert jogs == [STOP]
+
+
+def test_a_browser_that_keeps_refreshing_keeps_the_arm_moving(clock):
+    node, state = build()
+    state.clients = 1
+    state.arbiter.take(WEB, clock.t)
+
+    sent = []
+    for _ in range(4):
+        clock.advance(0.15)
+        web_jog(node, state, [1.0, 0, 0, 0, 0, 0])
+        loop._tick(node, state)
+        sent = node.jogs()
+
+    assert all(jog[0] == pytest.approx(state.config.speed_mm_s) for jog in sent)
+
+
+def test_a_non_owner_jog_is_ignored(clock):
+    node, state = build()
+    state.clients = 1
+    state.arbiter.take(GAMEPAD, clock.t)
+
+    web_jog(node, state, [1.0, 0, 0, 0, 0, 0])
+    loop._tick(node, state)
+
+    assert node.jogs() == []
+    assert any(message.get("type") == "error" for message in node.ui())
+
+
+# --- the stop that is never gated ---
+
+
+def test_estop_is_never_gated_by_the_lease(clock):
+    # Somebody reaching for the stop is the one moment when asking who owns the
+    # arm is the wrong question.
+    node, state = build()
+    state.clients = 1
+    state.arbiter.take(GAMEPAD, clock.t)
+
+    loop._accept_ui_command(node, state, {"type": "estop"})
+
+    assert node.jogs() == [STOP]
+    assert "stop" in node.services()
+
+
+def test_a_latched_estop_keeps_the_arm_still_under_a_pushed_stick(clock):
+    # A stop somebody had to reach for is not undone by the next thumb
+    # movement. Without this the pad stops the arm for one tick and drives it
+    # again on the next, which is not a stop at all.
+    node, state = build()
+    drive(node, state, stick(axes=PUSHED))
+    node.clear()
+
+    drive(node, state, stick(axes=PUSHED, buttons=buttons_for(estop=True)))
+    node.clear()
+    jogs = drive(node, state, stick(axes=PUSHED), count=4)
+
+    assert jogs == []
+
+
+def test_the_pad_can_release_the_latch_it_set(clock):
+    # A pad-only dataflow has no console RESET, so a latch nothing on the pad
+    # can release would strand the arm until the process was restarted.
+    node, state = build()
+    drive(node, state, stick(buttons=buttons_for(estop=True)))
+    assert state.view.estop is True
+    node.clear()
+
+    drive(node, state, stick(buttons=buttons_for(clear=True)))
+
+    assert state.view.estop is False
+    assert "clear" in node.services()
+
+
+def test_the_latch_is_released_without_holding_the_arm(clock):
+    # An idle pad hands the lease back two seconds after the stop it just made,
+    # so gating the release on the lease would be a trap.
+    node, state = build()
+    drive(node, state, stick(buttons=buttons_for(estop=True)))
+    state.arbiter.release(GAMEPAD)
+    state.arbiter.take(WEB, clock.t)
+    node.clear()
+
+    drive(node, state, stick(buttons=buttons_for(clear=True)))
+
+    assert state.view.estop is False
+
+
+def test_the_arm_drives_again_once_the_latch_is_released(clock):
+    node, state = build()
+    drive(node, state, stick(buttons=buttons_for(estop=True)))
+    drive(node, state, stick(buttons=buttons_for(clear=True)))
+    node.clear()
+
+    jogs = drive(node, state, stick(axes=PUSHED))
+
+    assert jogs[-1][0] > 0
+
+
+def test_a_latched_estop_stops_the_browser_too(clock):
+    # The latch is the node's, not the pad's. A console jog must not walk
+    # through a stop somebody made on the gamepad.
+    node, state = build()
+    state.clients = 1
+    drive(node, state, stick(buttons=buttons_for(estop=True)))
+    state.arbiter.release(GAMEPAD)
+    state.arbiter.take(WEB, clock.t)
+    node.clear()
+
+    web_jog(node, state, [1.0, 0, 0, 0, 0, 0])
+    jogs = ticks(node, state)
+
+    assert jogs == []
+
+
+def test_the_estop_button_works_without_the_pad_holding_the_arm(clock):
+    node, state = build()
+    state.arbiter.take(WEB, clock.t)
+
+    drive(node, state, stick(buttons=buttons_for(estop=True)))
+
+    assert "stop" in node.services()
+
+
+def test_a_latched_estop_is_cleared_by_reset(clock):
+    node, state = build()
+    state.view.estop = True
+
+    loop._accept_ui_command(node, state, {"type": "reset"})
+
+    assert state.view.estop is False
+    assert "clear" in node.services()
+
+
+# --- the standard ports ---
+
+
+def test_the_same_deflection_from_either_source_asks_for_the_same_motion(clock):
+    # The whole reason both sources are normalised before they are scaled. If
+    # these ever differ, one path has grown a conversion the other has not —
+    # which is how a console ends up in the robot's units.
+    node, state = build()
+    drive(node, state, stick(axes=[0.0, -1.0]))
+    from_pad = node.twists()[-1]
+
+    node, state = build()
+    state.clients = 1
+    state.arbiter.take(WEB, clock.t)
+    web_jog(node, state, [1.0, 0, 0, 0, 0, 0])
+    ticks(node, state)
+    from_web = node.twists()[-1]
+
+    assert from_pad == from_web
+
+
+def test_the_twist_is_si_and_the_legacy_jog_is_not(clock):
+    # 60 mm/s is 0.06 m/s. A consumer reading the wrong port at the wrong scale
+    # is a thousandfold error, so this is worth pinning.
+    node, state = build()
+    drive(node, state, stick(axes=[0.0, -1.0]))
+
+    twist, jog = node.twists()[-1], node.jogs()[-1]
+
+    assert twist["linear"][0] == pytest.approx(state.config.speed_mm_s / 1000.0)
+    assert jog[0] == pytest.approx(state.config.speed_mm_s)
+    assert twist["frame"] == "base"
+
+
+def test_a_stop_reaches_both_ports(clock):
+    node, state = build()
+    drive(node, state, stick(axes=PUSHED))
+    node.clear()
+
+    drive(node, state, stick())
+
+    assert node.jogs() == [STOP]
+    assert node.twists() == [{"linear": [0.0] * 3, "angular": [0.0] * 3, "frame": "base"}]
+
+
+def test_a_button_asks_in_verbs_as_well_as_in_services(clock):
+    # The verb is what a robot speaking the standard reads; the service name is
+    # what dora-ulite6 reads until it does.
+    node, state = build()
+
+    drive(node, state, stick(buttons=buttons_for(grasp=True)))
+
+    assert node.actions() == ["gripper_close"]
+    assert "grasp" in node.services()
+
+
+def test_every_verb_the_pad_can_ask_for_is_robot_agnostic(clock):
+    node, state = build()
+    drive(node, state, stick(buttons=buttons_for(release=True)))
+    drive(node, state, stick(buttons=buttons_for(freedrive=True)))
+    drive(node, state, stick(buttons=buttons_for(estop=True)))
+    drive(node, state, stick(buttons=buttons_for(clear=True)))
+
+    assert node.actions() == ["gripper_open", "freedrive", "stop", "clear"]
+
+
+def test_the_first_press_after_the_pad_has_been_idle_is_not_dropped(clock):
+    # The lease has to be settled before the buttons are read. Read them first
+    # and the press arrives while nobody owns the arm, and by the next tick the
+    # button is held rather than newly down — so the edge is gone for good and
+    # the operator presses A and watches nothing happen.
+    node, state = build()
+    assert state.arbiter.owner is None
+
+    drive(node, state, stick(buttons=buttons_for(grasp=True)), count=3)
+
+    assert node.actions() == ["gripper_close"]

tests/test_joy.py

@@ -0,0 +1,150 @@
+"""The pad as it arrives on the wire, and what silence on that wire means."""
+
+import pyarrow as pa
+import pytest
+
+from dora_teleop import mapping
+from dora_teleop.joy import ABSENT, JoyInput, Sample, decode
+from dora_teleop.mapping import LAYOUT
+from tests.conftest import axes_for, input_event, joy_message, stick
+
+
+def joy_event(sample):
+    return input_event("joy", joy_message(sample))
+
+
+def test_a_reading_survives_the_round_trip():
+    sample = decode(joy_event(stick(axes=[0.5, -0.5], buttons=[False, True])))
+
+    assert sample.axes[:2] == [0.5, -0.5]
+    assert sample.buttons == [False, True]
+    assert sample.present is True
+
+
+def test_an_absent_pad_decodes_as_absent_not_as_centred():
+    sample = decode(joy_event(ABSENT))
+
+    assert sample.present is False
+    assert sample.axes == []
+
+
+def test_a_pad_with_fewer_axes_than_the_layout_decodes_without_complaint():
+    # A three-axis flight stick is a strange thing to drive an arm with, but it
+    # must not take the node down; `mapping.axis` treats a missing one as centred.
+    sample = decode(joy_event(Sample(axes=[0.0, 0.0, 0.0], buttons=[False], present=True)))
+
+    assert len(sample.axes) == 3
+
+
+def test_a_message_with_no_rows_reads_as_absent():
+    empty = input_event("joy", pa.array([], type=joy_message(ABSENT).type))
+
+    assert decode(empty) is ABSENT
+
+
+def test_a_fresh_reading_is_handed_back():
+    joy = JoyInput(ttl_s=0.2)
+    joy.accept(stick(), 100.0)
+    joy.accept(stick(axes=[0.5]), 100.0)
+
+    assert joy.read(100.1).axes[0] == 0.5
+
+
+def test_a_reading_nobody_is_refreshing_reads_as_absent():
+    # dora-joy publishes every tick, so silence means it died — and a dead pad
+    # node is indistinguishable from an unplugged pad as far as the arm cares.
+    joy = JoyInput(ttl_s=0.2)
+    joy.accept(stick(), 100.0)
+    joy.accept(stick(axes=[0.5]), 100.0)
+
+    assert joy.read(100.5) is ABSENT
+
+
+# --- the pad this node is actually holding ---
+
+
+def test_a_pad_is_measured_where_it_rests_and_the_tilt_is_subtracted():
+    # A stick that no longer centres is the ordinary kind of worn pad. Its rest
+    # becomes zero, so it asks for nothing until it is actually pushed.
+    joy = JoyInput(ttl_s=0.2)
+    tilted = axes_for(left_x=0.2, left_y=-0.15)
+    joy.accept(stick(axes=tilted), 100.0)
+
+    reading = joy.read(100.1)
+
+    assert reading.present is True
+    assert reading.axes[LAYOUT.left_x] == pytest.approx(0.0)
+    assert reading.axes[LAYOUT.left_y] == pytest.approx(0.0)
+    assert mapping.is_active(reading) is False
+
+
+def test_the_tilt_is_subtracted_rather_than_deadzoned_so_full_travel_remains():
+    joy = JoyInput(ttl_s=0.2)
+    joy.accept(stick(axes=axes_for(left_x=0.2)), 100.0)
+    joy.accept(stick(axes=axes_for(left_x=1.0)), 100.0)
+
+    assert joy.read(100.1).axes[LAYOUT.left_x] == pytest.approx(0.8)
+
+
+def test_a_trigger_that_rests_at_zero_does_not_read_as_half_pressed():
+    # Some pads report a trigger as 0 until it first moves. Read as SDL's -1..1
+    # that is half travel, which would lift the arm on its own.
+    joy = JoyInput(ttl_s=0.2)
+    joy.accept(stick(axes=axes_for(right_trigger=0.0)), 100.0)
+
+    reading = joy.read(100.1)
+
+    assert mapping.trigger(reading.axes[LAYOUT.right_trigger]) == pytest.approx(0.0)
+    assert mapping.is_active(reading) is False
+
+
+def test_a_pad_that_does_not_fit_the_layout_reads_as_absent():
+    # The bug this exists for: a trigger on an index the layout calls a stick
+    # rests at -1.0, which is full deflection — an untouched pad on the desk
+    # asking for full speed, and holding the lease so nothing can take it back.
+    joy = JoyInput(ttl_s=0.2)
+    wrong = list(axes_for())
+    wrong[LAYOUT.right_y] = -1.0
+    joy.accept(stick(axes=wrong), 100.0)
+
+    assert joy.read(100.1) is ABSENT
+    assert "right stick Y" in joy.calibration.mismatch
+
+
+def test_a_pad_held_when_it_appears_is_refused_until_it_is_let_go():
+    # A stick held at startup and a wrongly numbered axis look identical in one
+    # reading, so the safe answer is the same for both: no arm until it rests.
+    joy = JoyInput(ttl_s=0.2)
+    joy.accept(stick(axes=axes_for(left_y=-1.0)), 100.0)
+
+    assert joy.read(100.1) is ABSENT
+
+    joy.accept(stick(), 100.2)
+
+    assert joy.read(100.3).present is True
+
+
+def test_rest_is_not_re_measured_while_the_pad_is_in_use():
+    # Re-measuring under a held stick would record that deflection as centre,
+    # and the arm would then move the moment the operator let go.
+    joy = JoyInput(ttl_s=0.2)
+    joy.accept(stick(), 100.0)
+    joy.accept(stick(axes=axes_for(left_y=-1.0)), 100.1)
+    joy.accept(stick(axes=axes_for(left_y=-1.0)), 100.2)
+
+    assert joy.read(100.3).axes[LAYOUT.left_y] == pytest.approx(-1.0)
+
+
+def test_a_pad_that_goes_away_is_measured_again_when_it_comes_back():
+    # The second pad is not the first one, and may not rest where it did.
+    joy = JoyInput(ttl_s=0.2)
+    joy.accept(stick(axes=axes_for(left_x=0.2)), 100.0)
+    joy.accept(Sample(present=False), 100.1)
+    joy.accept(stick(axes=axes_for(left_x=-0.2)), 100.2)
+
+    assert joy.read(100.3).axes[LAYOUT.left_x] == pytest.approx(0.0)
+
+
+def test_nothing_ever_arriving_reads_as_absent():
+    # A dataflow with no `joy` wired at all, which is a browser-only console.
+    assert JoyInput(ttl_s=0.2).read(100.0) is ABSENT

tests/test_mapping.py

@@ -0,0 +1,218 @@
+"""Stick deflection to base-frame velocity: units, signs and the shaping curve."""
+
+import pytest
+
+from dora_teleop import mapping
+from dora_teleop.mapping import LAYOUT, VX, VY, VZ, WX, WY, WZ
+from tests.conftest import axes_for, buttons_for, stick
+
+
+def test_a_stick_at_rest_asks_for_nothing(config):
+    velocity = mapping.velocity(stick().axes, [], config)
+
+    assert velocity == [0.0] * 6
+    assert not mapping.is_moving(velocity)
+
+
+def test_pushing_the_stick_up_moves_the_arm_along_positive_x(config):
+    # Up is negative in SDL, and up should send the arm away from the operator.
+    velocity = mapping.velocity(stick(axes=[0.0, -1.0]).axes, [], config)
+
+    assert velocity[VX] == pytest.approx(config.speed_mm_s)
+    assert velocity[VY] == 0.0
+
+
+def test_pushing_the_stick_right_moves_the_arm_along_positive_y(config):
+    velocity = mapping.velocity(stick(axes=[1.0, 0.0]).axes, [], config)
+
+    assert velocity[VY] == pytest.approx(config.speed_mm_s)
+
+
+def test_the_right_trigger_lifts_and_the_left_one_lowers(config):
+    up = mapping.velocity(axes_for(right_trigger=1.0), [], config)
+    down = mapping.velocity(axes_for(left_trigger=1.0), [], config)
+
+    assert up[VZ] == pytest.approx(config.speed_mm_s)
+    assert down[VZ] == pytest.approx(-config.speed_mm_s)
+
+
+def test_both_triggers_together_cancel(config):
+    velocity = mapping.velocity(axes_for(left_trigger=1.0, right_trigger=1.0), [], config)
+
+    assert velocity[VZ] == 0.0
+
+
+def test_an_untouched_trigger_does_not_read_as_half_pressed(config):
+    # SDL reports a trigger from -1 to 1, and one that has never moved sometimes
+    # reads 0 until it does. Treating that as half travel would lift the arm.
+    assert mapping.trigger(-1.0) == 0.0
+    assert mapping.trigger(0.0) == pytest.approx(0.5)
+    assert mapping.trigger(1.0) == 1.0
+
+
+def test_the_right_stick_turns_the_tool_in_degrees_per_second(config):
+    velocity = mapping.velocity(axes_for(right_x=1.0, right_y=-1.0), [], config)
+
+    assert velocity[WX] == pytest.approx(config.speed_deg_s)
+    assert velocity[WY] == pytest.approx(config.speed_deg_s)
+
+
+def test_the_bumpers_yaw_in_opposite_directions(config):
+    right = mapping.velocity(stick().axes, buttons_for(yaw_right=True), config)
+    left = mapping.velocity(stick().axes, buttons_for(yaw_left=True), config)
+
+    assert right[WZ] == pytest.approx(config.speed_deg_s)
+    assert left[WZ] == pytest.approx(-config.speed_deg_s)
+
+
+def test_several_axes_move_at_once(config):
+    # The whole reason a pad beats the console's four-sector dial: the dial can
+    # only ever ask for one axis.
+    velocity = mapping.velocity(axes_for(left_x=1.0, left_y=-1.0, right_trigger=1.0), [], config)
+
+    assert velocity[VX] > 0
+    assert velocity[VY] > 0
+    assert velocity[VZ] > 0
+
+
+def test_drift_inside_the_deadzone_is_ignored(config):
+    # A worn stick that does not centre would otherwise drive the arm across the
+    # table with nobody touching it.
+    velocity = mapping.velocity(stick(axes=[config.deadzone / 2, 0.0]).axes, [], config)
+
+    assert velocity == [0.0] * 6
+
+
+def test_motion_starts_from_zero_just_outside_the_deadzone(config):
+    # Without rescaling, the arm would jump to a fraction of full speed the
+    # instant the stick left the dead band.
+    just_outside = mapping.deadzone(config.deadzone + 1e-9, config.deadzone)
+
+    assert just_outside == pytest.approx(0.0, abs=1e-6)
+
+
+def test_the_deadzone_still_reaches_full_speed_at_full_deflection(config):
+    assert mapping.deadzone(1.0, config.deadzone) == pytest.approx(1.0)
+    assert mapping.deadzone(-1.0, config.deadzone) == pytest.approx(-1.0)
+
+
+def test_expo_slows_small_deflections_without_capping_large_ones():
+    assert mapping.expo(0.5, 0.0) == pytest.approx(0.5)
+    assert mapping.expo(0.5, 1.0) == pytest.approx(0.125)
+    assert mapping.expo(1.0, 1.0) == pytest.approx(1.0)
+    assert mapping.expo(-0.5, 1.0) == pytest.approx(-0.125)
+
+
+def test_a_pad_reporting_fewer_axes_is_read_as_centred_not_as_an_error(config):
+    velocity = mapping.velocity([0.0, 0.0], [], config)
+
+    assert velocity[VX] == 0.0
+    assert velocity[WZ] == 0.0
+
+
+# --- is the pad being used at all ---
+
+
+def test_a_pad_at_rest_is_not_asking_for_the_arm():
+    # SDL rests a trigger at -1.0, so a raw threshold reports every connected
+    # pad as in use for ever: the pad claims the arm the moment it is plugged
+    # in and GAMEPAD_IDLE_RELEASE_S never fires.
+    assert mapping.is_active(stick()) is False
+
+
+def test_an_absent_pad_is_not_asking_for_the_arm():
+    assert mapping.is_active(stick(present=False)) is False
+
+
+def test_a_nudged_stick_is_asking_for_the_arm():
+    assert mapping.is_active(stick(axes=[0.5])) is True
+
+
+def test_a_held_trigger_is_asking_for_the_arm():
+    assert mapping.is_active(stick(axes=axes_for(left_trigger=1.0))) is True
+
+
+def test_a_held_button_is_asking_for_the_arm():
+    assert mapping.is_active(stick(buttons=buttons_for(grasp=True))) is True
+
+
+def test_an_axis_the_layout_does_not_use_still_counts():
+    # A pad reporting its d-pad as two extra axes is asking for the arm when
+    # somebody presses it, whether or not this node maps it to anything.
+    assert mapping.is_active(stick(axes=axes_for() + [1.0])) is True
+
+
+# --- reading a pad that is not the layout's ideal one ---
+
+
+def test_a_resting_pad_measures_as_resting():
+    zeros = mapping.rest_zeros(axes_for())
+
+    assert zeros == axes_for()
+
+
+def test_a_small_tilt_is_accepted_as_rest():
+    # A worn stick is an ordinary pad, not a broken one.
+    assert mapping.rest_zeros(axes_for(left_x=0.2, right_y=-0.2))
+
+
+def test_an_axis_resting_where_the_layout_says_it_cannot_is_refused():
+    wrong = axes_for()
+    wrong[LAYOUT.right_y] = -1.0
+
+    with pytest.raises(ValueError, match="right stick Y"):
+        mapping.rest_zeros(wrong)
+
+
+def test_the_refusal_names_the_index_and_what_it_read():
+    # It is read off a terminal by somebody deciding what to put in `Layout`.
+    wrong = axes_for()
+    wrong[LAYOUT.right_x] = 0.9
+
+    with pytest.raises(ValueError, match=r"axis 2 rests at \+0.900"):
+        mapping.rest_zeros(wrong)
+
+
+def test_a_trigger_resting_at_either_end_is_accepted():
+    # -1 is what SDL reports; 0 is what some pads report until it first moves.
+    assert mapping.rest_zeros(axes_for(left_trigger=-1.0, right_trigger=0.0))
+
+
+def test_an_axis_the_layout_does_not_use_still_has_to_rest():
+    # A d-pad reported as two extra axes counts towards `is_active`, so one
+    # stuck at an extreme would hold the arm as surely as a named one.
+    with pytest.raises(ValueError, match="axis 6"):
+        mapping.rest_zeros(axes_for() + [1.0])
+
+
+def test_canonical_puts_a_tilted_stick_back_at_centre():
+    tilted = axes_for(left_x=0.2)
+
+    canonical = mapping.canonical(tilted, mapping.rest_zeros(tilted))
+
+    assert canonical[LAYOUT.left_x] == pytest.approx(0.0)
+
+
+def test_canonical_puts_a_trigger_back_at_its_own_rest():
+    zeroed = axes_for(left_trigger=0.0, right_trigger=0.0)
+
+    canonical = mapping.canonical(zeroed, mapping.rest_zeros(zeroed))
+
+    assert canonical[LAYOUT.left_trigger] == pytest.approx(mapping.TRIGGER_REST)
+    assert canonical[LAYOUT.right_trigger] == pytest.approx(mapping.TRIGGER_REST)
+
+
+def test_a_trigger_measured_from_zero_still_reaches_full_travel():
+    zeros = mapping.rest_zeros(axes_for(right_trigger=0.0))
+
+    canonical = mapping.canonical(axes_for(right_trigger=1.0), zeros)
+
+    assert mapping.trigger(canonical[LAYOUT.right_trigger]) == pytest.approx(1.0)
+
+
+def test_a_calibrated_pad_at_rest_asks_for_nothing(config):
+    tilted = axes_for(left_x=0.2, left_y=-0.15, right_trigger=0.0)
+
+    canonical = mapping.canonical(tilted, mapping.rest_zeros(tilted))
+
+    assert mapping.velocity(canonical, [], config) == [0.0] * 6

tests/test_probe.py

@@ -0,0 +1,115 @@
+"""The probe: what it draws, without a pad or a terminal."""
+
+from dora_teleop import mapping, probe
+from dora_teleop.joy import Sample
+from tests.conftest import buttons_for, stick
+
+
+def test_a_centred_stick_puts_the_marker_in_the_middle():
+    drawn = probe.bar(0.0)
+
+    assert drawn[len(drawn) // 2] == "#"
+
+
+def test_the_bar_leans_the_way_the_stick_is_pushed():
+    left = probe.bar(-1.0)
+    right = probe.bar(1.0)
+
+    assert left.index("#") < left.index("|")
+    assert right.index("#") > right.index("|")
+
+
+def test_a_reading_beyond_full_deflection_stays_on_the_bar():
+    # SDL has been known to report slightly outside -1..1 on a worn stick.
+    assert "#" in probe.bar(-4.0)
+    assert "#" in probe.bar(4.0)
+
+
+def test_no_gamepad_says_so_and_says_the_arm_is_being_held_still(config):
+    # Absence covers both "no pad" and "dora-joy stopped sending", and the probe
+    # must not imply the arm is waiting on something it is not.
+    drawn = probe.render(Sample(present=False), Sample(present=False), [0.0] * 6, config)
+
+    assert "no gamepad" in drawn
+    assert "hold still" in drawn
+
+
+def test_every_axis_the_pad_reports_is_shown_even_the_unused_ones(config):
+    # A pad whose sticks land on indices we do not use is exactly what this is
+    # for, so nothing may be hidden.
+    sample = Sample(axes=[0.0] * 8, buttons=[], present=True)
+
+    drawn = probe.render(sample, sample, [0.0] * 6, config)
+
+    assert "unused" in drawn
+    assert "axes (8 reported)" in drawn
+
+
+def test_a_pressed_button_is_named(config):
+    sample = stick(buttons=buttons_for(grasp=True))
+
+    drawn = probe.render(sample, sample, [0.0] * 6, config)
+
+    assert "grasp" in drawn
+
+
+def test_nothing_pressed_says_so_rather_than_showing_an_empty_line(config):
+    drawn = probe.render(stick(), stick(), [0.0] * 6, config)
+
+    assert "none pressed" in drawn
+
+
+def test_the_velocity_is_shown_in_the_units_the_arm_takes(config):
+    pushed = stick(axes=[0.0, -1.0])
+    velocity = mapping.velocity(pushed.axes, [], config)
+
+    drawn = probe.render(pushed, pushed, velocity, config)
+
+    assert "mm/s" in drawn
+    assert "deg/s" in drawn
+    assert f"{config.speed_mm_s:+8.2f}" in drawn
+
+
+def test_a_still_arm_is_reported_as_still(config):
+    drawn = probe.render(stick(), stick(), [0.0] * 6, config)
+
+    assert "told to hold still" in drawn
+
+
+def test_a_moving_arm_is_reported_as_moving(config):
+    pushed = stick(axes=[0.0, -1.0])
+    drawn = probe.render(pushed, pushed, [10.0, 0, 0, 0, 0, 0], config)
+
+    assert "moving: yes" in drawn
+
+
+def test_whether_the_pad_is_asking_for_the_arm_is_shown(config):
+    # The probe is where a resting trigger claiming the arm would have been
+    # visible, so it says what `is_active` thinks rather than leaving it implied.
+    rest, pushed = stick(), stick(axes=[0.0, -1.0])
+
+    assert "asking for the arm: no" in probe.render(rest, rest, [0.0] * 6, config)
+    assert "asking for the arm: yes" in probe.render(pushed, pushed, [0.0] * 6, config)
+
+
+def test_a_pad_that_does_not_fit_the_layout_is_called_out(config):
+    # This is the tool for exactly that pad, so the reason goes on the screen
+    # rather than only in the node's log.
+    wrong = stick(axes=[0.0, 0.0, 0.0, -1.0, -1.0, -1.0])
+    mismatch = "axis 3 rests at -1.000, which is not where right stick Y sits"
+
+    drawn = probe.render(wrong, Sample(present=False), [0.0] * 6, config, mismatch)
+
+    assert "does not match the layout" in drawn
+    assert mismatch in drawn
+    assert "asking for the arm: no" in drawn
+
+
+def test_the_raw_axes_are_still_shown_for_a_pad_that_does_not_fit(config):
+    # The numbers are the evidence: they are what `Layout` gets corrected from.
+    wrong = stick(axes=[0.0, 0.0, 0.0, -1.0, -1.0, -1.0])
+
+    drawn = probe.render(wrong, Sample(present=False), [0.0] * 6, config, "axis 3")
+
+    assert "-1.000" in drawn
+    assert "axes (6 reported)" in drawn

tests/test_server.py

@@ -0,0 +1,223 @@
+"""The embedded console server: a real socket, and the deadman it feeds.
+
+These start the server for real rather than faking it. The thing worth checking
+is the boundary between the two threads — a browser's message reaching the tick,
+and a browser going away reaching the deadman — and a fake on either side of
+that boundary would check nothing.
+"""
+
+import asyncio
+import json
+import socket
+import time
+
+import aiohttp
+import pytest
+
+from dora_teleop import main as loop
+from dora_teleop.arbiter import WEB
+from dora_teleop.config import Config, ConsoleConfig
+from dora_teleop.server import Console
+from tests.conftest import RecordingNode
+
+
+def free_port():
+    """Ask the OS for a port nobody is using."""
+    with socket.socket() as held:
+        held.bind(("127.0.0.1", 0))
+        return held.getsockname()[1]
+
+
+@pytest.fixture
+def console():
+    """Run a real server on a real port, and stop it however the test ends."""
+    running = Console("127.0.0.1", free_port())
+    running.start()
+    try:
+        yield running
+    finally:
+        running.stop()
+
+
+def visit(console, exchange):
+    """Open one browser's socket against the server and run `exchange` on it."""
+
+    async def session():
+        async with aiohttp.ClientSession() as client:
+            url = f"http://{console.host}:{console.port}"
+            async with client.ws_connect(f"{url}/ws") as socket_:
+                return await exchange(client, url, socket_)
+
+    return asyncio.run(session())
+
+
+def wait_for(predicate):
+    """Block until the server thread catches up, rather than guessing at a sleep."""
+    for _ in range(200):
+        if predicate():
+            return
+        time.sleep(0.01)
+    raise AssertionError("the server never got there")
+
+
+def test_the_page_is_served_at_the_root(console):
+    async def exchange(client, url, socket_):
+        async with client.get(url) as answer:
+            return answer.status, await answer.text()
+
+    status, body = visit(console, exchange)
+
+    assert status == 200
+    assert "teleop console" in body
+
+
+def test_a_message_from_a_browser_reaches_the_tick(console):
+    # The console's half of the boundary: what the page sends has to be waiting
+    # on the queue the next tick drains, in the shape the loop reads.
+    async def exchange(client, url, socket_):
+        await socket_.send_str(json.dumps({"type": "jog", "axes": [1.0, 0, 0, 0, 0, 0]}))
+        await asyncio.sleep(0.05)
+
+    visit(console, exchange)
+
+    assert console.take() == [{"type": "jog", "axes": [1.0, 0, 0, 0, 0, 0]}]
+    assert console.take() == []
+
+
+def test_a_snapshot_reaches_the_browser(console):
+    # The other half: a telemetry object handed over from the dora thread comes
+    # out of the socket as the page's own JSON, with no envelope around it.
+    async def exchange(client, url, socket_):
+        console.broadcast({"type": "telemetry", "arm_state": "idle"})
+        return json.loads(await socket_.receive_str())
+
+    assert visit(console, exchange) == {"type": "telemetry", "arm_state": "idle"}
+
+
+def test_a_browser_that_is_not_talking_json_is_ignored(console):
+    # A page from a newer build saying something we cannot parse must not take
+    # the arm down, and must not stop the messages after it being read.
+    async def exchange(client, url, socket_):
+        await socket_.send_str("{not json")
+        await socket_.send_str(json.dumps({"type": "estop"}))
+        await asyncio.sleep(0.05)
+
+    visit(console, exchange)
+
+    assert console.take() == [{"type": "estop"}]
+
+
+def test_the_server_counts_the_browsers_on_it(console):
+    assert console.clients == 0
+    seen = []
+
+    async def exchange(client, url, socket_):
+        await asyncio.sleep(0.05)
+        seen.append(console.clients)
+
+    visit(console, exchange)
+
+    assert seen == [1]
+
+    # And the socket closing is what the deadman below reads.
+    wait_for(lambda: console.clients == 0)
+
+
+def test_a_flood_from_one_browser_cannot_grow_without_bound(console):
+    # An unbounded queue would answer a flood by growing until the node died,
+    # and the node dying is the one thing that must not stop the arm from being
+    # stopped.
+    async def exchange(client, url, socket_):
+        for index in range(600):
+            await socket_.send_str(json.dumps({"type": "jog_stop", "n": index}))
+        await asyncio.sleep(0.2)
+
+    visit(console, exchange)
+
+    assert 0 < len(console.take()) <= 256
+
+
+# --- where the server meets the deadman ---
+
+
+def build():
+    config = Config.from_env()
+    config.expo = 0.0
+    return RecordingNode(), loop.Teleop(config)
+
+
+def test_the_last_browser_leaving_takes_the_arm_back(console):
+    # The web deadman used to arrive as a `clients` message from the bridge. It
+    # is now read straight off the server, and it has to mean the same thing.
+    node, state = build()
+    state.console = console
+    state.arbiter.take(WEB, 1000.0)
+
+    loop._drain_console(node, state)
+
+    assert state.clients == 0
+    assert state.arbiter.owner is None
+    assert state.web_axes == [0.0] * 6
+
+
+def test_a_node_with_no_console_is_left_alone():
+    # A pad-only dataflow opens no port, and the tick must not read a lease
+    # release out of a server that was never started.
+    node, state = build()
+    state.clients = 1
+    state.arbiter.take(WEB, 1000.0)
+
+    loop._drain_console(node, state)
+
+    assert state.arbiter.owner == WEB
+
+
+# --- the port itself ---
+
+
+def test_the_console_is_on_by_default(monkeypatch):
+    monkeypatch.delenv("WEB_PORT", raising=False)
+    settings = ConsoleConfig.from_env()
+
+    assert settings.enabled is True
+    # Pinned because it is the number in the README, the manifest and every
+    # dataflow: a default that drifts from the docs sends an operator to a port
+    # nothing is listening on.
+    assert settings.port == 7000
+
+
+def test_port_zero_means_no_port_is_opened(monkeypatch):
+    # How `dataflow-gamepad.yml` asks for a pad and nothing else.
+    monkeypatch.setenv("WEB_PORT", "0")
+    assert ConsoleConfig.from_env().enabled is False
+
+
+def test_a_port_that_is_not_a_port_stops_the_node(monkeypatch):
+    monkeypatch.setenv("WEB_PORT", "99999")
+    with pytest.raises(ValueError, match="WEB_PORT"):
+        ConsoleConfig.from_env()
+
+
+def test_a_port_that_is_not_a_number_stops_the_node(monkeypatch):
+    monkeypatch.setenv("WEB_PORT", "eight-thousand")
+    with pytest.raises(ValueError, match="WEB_PORT"):
+        ConsoleConfig.from_env()
+
+
+def test_a_port_already_in_use_stops_the_node(console):
+    # Found the hard way: the bind failed on the server thread, `start` waited
+    # out its timeout and then announced a console anyway, and the node ran on
+    # serving nothing. An operator opening the URL got silence while the log
+    # said it was up.
+    second = Console(console.host, console.port)
+
+    with pytest.raises(OSError):
+        second.start()
+
+    second.stop()
+
+
+def test_stopping_a_console_that_never_started_is_harmless():
+    # `main` stops the console in a `finally`, which runs whether or not the
+    # server ever came up.
+    Console("127.0.0.1", 0).stop()

tests/test_ui.py

@@ -0,0 +1,139 @@
+"""Translation both ways: what the console asks for, and what it is shown."""
+
+from dora_teleop import ui
+from dora_teleop.arbiter import GAMEPAD, WEB
+
+# --- what the console asks for ---
+
+
+def test_a_jog_carries_its_six_numbers():
+    command = ui.command_of({"type": "jog", "axes": [0.1, 0.2, 0.3, 0.4, 0.5, 0.6]})
+
+    assert command.type == "jog"
+    assert command.axes == [0.1, 0.2, 0.3, 0.4, 0.5, 0.6]
+
+
+def test_a_jog_of_the_wrong_length_is_not_a_jog():
+    assert ui.command_of({"type": "jog", "axes": [1, 2, 3]}) is None
+
+
+def test_a_jog_carrying_something_that_is_not_a_number_is_not_a_jog():
+    assert ui.command_of({"type": "jog", "axes": [1, 2, 3, 4, 5, "fast"]}) is None
+
+
+def test_a_message_we_have_never_heard_of_is_dropped_not_refused():
+    # The console and this node version independently; a page from a newer build
+    # must not take the arm down by saying something we have not learned yet.
+    assert ui.command_of({"type": "hologram"}) is None
+    assert ui.command_of({}) is None
+    assert ui.command_of("not even an object") is None
+
+
+def test_taking_control_carries_whether_it_may_preempt():
+    command = ui.command_of({"type": "control", "action": "take", "preempt": True})
+
+    assert (command.action, command.preempt) == ("take", True)
+
+
+def test_the_gripper_button_says_which_way():
+    assert ui.command_of({"type": "gripper", "closed": True}).enabled is True
+    assert ui.command_of({"type": "gripper", "closed": False}).enabled is False
+
+
+def test_a_move_needs_a_position():
+    assert ui.command_of({"type": "move", "x": 1.0, "y": 2.0}) is None
+
+    command = ui.command_of({"type": "move", "x": 250.0, "y": 0.0, "z": 200.0, "speed": 40})
+
+    assert command.row == {"x": 250.0, "y": 0.0, "z": 200.0, "speed": 40.0}
+
+
+# --- what the console is shown ---
+
+
+def test_an_arm_that_cannot_be_reached_reads_as_disconnected():
+    view = ui.ArmView(state=ui.UNAVAILABLE)
+
+    assert ui.arm_state(view, jogging=False) == ui.UI_DISCONNECTED
+
+
+def test_an_arm_still_starting_up_reads_as_disconnected():
+    view = ui.ArmView(state=ui.CONNECTING)
+
+    assert ui.arm_state(view, jogging=False) == ui.UI_DISCONNECTED
+
+
+def test_a_latched_estop_outranks_everything_else():
+    # The arm may well read ready, and saying so would invite somebody to push it.
+    view = ui.ArmView(state=ui.READY, estop=True, freedrive_on=True)
+
+    assert ui.arm_state(view, jogging=True) == ui.UI_ESTOP
+
+
+def test_freedrive_outranks_idle():
+    # An arm that can be pushed by hand is not one holding station.
+    view = ui.ArmView(state=ui.READY, freedrive_on=True)
+
+    assert ui.arm_state(view, jogging=False) == ui.UI_FREEDRIVE
+
+
+def test_a_moving_arm_we_are_jogging_reads_as_jogging():
+    view = ui.ArmView(state=ui.MOVING)
+
+    assert ui.arm_state(view, jogging=True) == ui.UI_JOGGING
+    assert ui.arm_state(view, jogging=False) == ui.UI_MOVING
+
+
+def test_a_recovering_arm_is_there_but_will_not_move():
+    view = ui.ArmView(state=ui.RECOVERING)
+
+    assert ui.arm_state(view, jogging=False) == ui.UI_STOPPED
+
+
+def test_a_state_we_do_not_know_reads_as_disconnected_rather_than_as_ready():
+    view = ui.ArmView(state="dancing")
+
+    assert ui.arm_state(view, jogging=False) == ui.UI_DISCONNECTED
+
+
+def test_the_snapshot_carries_every_key_the_page_reads_by_name():
+    view = ui.ArmView(state=ui.READY, pose=[1, 2, 3, 4, 5, 6], joints=[0] * 6, connected=True)
+
+    snapshot = ui.snapshot(view, WEB, jogging=False, timestamp=123.0)
+
+    for key in (
+        "type",
+        "ts",
+        "connected",
+        "ready",
+        "arm_state",
+        "owner",
+        "estop",
+        "gripper",
+        "units",
+        "freedrive",
+        "position",
+        "joints",
+    ):
+        assert key in snapshot
+    assert snapshot["position"] == {"x": 1, "y": 2, "z": 3, "roll": 4, "pitch": 5, "yaw": 6}
+
+
+def test_an_arm_with_no_pose_yet_reports_none_rather_than_a_stale_one():
+    snapshot = ui.snapshot(ui.ArmView(), None, jogging=False, timestamp=0.0)
+
+    assert snapshot["position"] is None
+    assert snapshot["owner"] == "none"
+
+
+def test_the_owner_is_named_so_the_page_can_gate_its_jog_pad():
+    assert ui.snapshot(ui.ArmView(), GAMEPAD, False, 0.0)["owner"] == "gamepad"
+    assert ui.snapshot(ui.ArmView(), WEB, False, 0.0)["owner"] == "web"
+
+
+def test_get_state_fills_in_what_telemetry_does_not_carry():
+    view = ui.ArmView()
+
+    view.take_get_state({"connected": True, "ready": True, "tool_engaged": True, "freedrive": True})
+
+    assert (view.connected, view.ready, view.tool_engaged, view.freedrive_on) == (True, True, True, True)

uv.lock

@@ -0,0 +1,899 @@
+version = 1
+revision = 3
+requires-python = ">=3.12"
+
+[[package]]
+name = "aiohappyeyeballs"
+version = "2.7.1"
+source = { registry = "https://pypi.org/simple" }
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+]
+
+[[package]]
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+    { name = "aiohappyeyeballs" },
+    { name = "aiosignal" },
+    { name = "attrs" },
+    { name = "frozenlist" },
+    { name = "multidict" },
+    { name = "propcache" },
+    { name = "typing-extensions", marker = "python_full_version < '3.13'" },
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+]
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