6 Commits

Include renames

Author	SHA1	Message	Date
cristhian	a95d804f0b	fix jogging stepping by holding one velocity instead of re-arming ... `set_cartesian_velocity` passed `duration=velocity_command_ttl_s` on every message, so each one re-armed a timed segment and the controller re-planned the same motion. On a real Lite6 that is not smooth travel: the arm moves in steps. Reducing how often the velocity is sent does not help — re-arming four times a second still steps — so it now uses `duration=0`, the SDK's "always effective, will not stop automatically", and skips a velocity that has not changed. One command stands until a different one replaces it. That removes the controller-side expiry, which `_expire_jog` was relying on: it flipped `_jogging` and reported `ready` without commanding anything, because the controller's own timer had already stopped the arm. With the velocity held indefinitely that would leave an arm travelling while the node reported idle, so `_expire_jog` now queues the stop itself. It goes through the job queue rather than the driver, since it runs on the reporter thread and the control thread owns the driver. `VELOCITY_COMMAND_TTL_S` is unchanged in value and meaning to a caller, but it is now enforced here rather than by the controller. Both halves are one commit on purpose: `duration=0` without the stop in `_expire_jog` is an arm that never stops when its sender dies. Adds tests/test_driver.py — the driver had no direct coverage, because FakeArm replaces it everywhere else, which is why this was invisible to the suite.	2026-09-16 14:27:46 -03:00
cristhianandClaude Opus 5	8cd4db93f1	docs: update the test count ... Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>	2026-09-15 12:32:43 -05:00
cristhianandClaude Opus 5	4427da9c34	fix requests queued while the arm is down never being answered ... _run_control never drained the job queue while the arm had not been reached, so every request that arrived during an outage waited for a connection that might never come. That breaks the one-response-per-request rule the node states as absolute, and it was circular: requests are queued before the arm is reached because recover is what a caller sends then, yet recover is served by the control thread and so was the one service that could never run while down. Serve the queue during the wait between connection attempts. Non-motion services are tried on the arm, which is what lets recover and clear reach a controller that answers while refusing to serve. A motion is refused rather than held: the arm is somewhere unknown and nobody is watching, so a held motion would fire unattended the moment the link came back. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>	2026-09-15 12:32:31 -05:00
cristhian	412aeac955	docs: rewrite README and AGENTS for the service node ... Documents the eleven services, the wait flag, motion_state and preemption, and the lifecycle guarantees around restart and shutdown. AGENTS.md records the two rules that are easy to break by accident: the stopping event must stay set-to-stop, because an event that is set while running makes every wait() return at once and turns each cadence into a busy loop; and every request gets exactly one response, since a caller has no other way to know its request finished.	2026-09-12 11:47:06 -03:00
cristhian aguileraandClaude Sonnet 4.6	a5f05ddc6f	fix AGENTS.md line-length lint errors ... Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-04-09 08:52:13 -04:00
cristhian aguilera	8e3d976a17	add dora_ulite6 standalone node with command lifecycle status ... Migrates the ulite6 Python dora node from dora_littlehand into a self-contained repository following the dora-zed structure. Adds command lifecycle state ("started"/"done"/"failed") and type ("command"/"error") to the status output so coordinator nodes can reliably sequence robot actions without polling.	2026-04-01 08:51:19 -03:00