cristhian
9f56b2b334
The console's telemetry keys are a contract: app.js reads arm_state, owner, estop, vacuum, freedrive, position and joints by name, so renaming one breaks the page silently. They are reproduced rather than improved for that reason, vacuum included, which is the console's name for whatever tool is bolted on. The two vocabularies do not line up and this is where they are reconciled. The arm node reports a driver's lifecycle; the console draws an operator's screen. The ordering in arm_state is the ordering of what an operator most needs to know: a latched e-stop outranks everything, because the arm may well read ready and saying so would invite somebody to push it. A message this node does not recognise is dropped rather than refused. The console and the node version independently, and a page from a newer build saying something we have not learned yet must not take the arm down.