Two sources want one arm and the arm cannot take both. Putting the decision in
one place means there is exactly one answer to "why did it not move" rather than
one answer per input path.
The model is ported from the monolithic repo's RobotService lease rather than
replaced with last-writer-wins, because the console is already built on it: its
jog pad is gated on owning the arm and it draws an owner chip. A simpler scheme
would mean rewriting the page to match the node instead of the other way round.
The gamepad takes the arm implicitly, on the first nudge of a stick, so nobody
has to reach for a browser to use the thing in their hands — and gives it back
after sitting untouched, so a pad left on the bench cannot lock the browser out
forever. The web takes and releases explicitly, and may preempt: an operator who
can see the arm is better placed than this code to decide they should have it.
cristhian
04f0d57068