3 Commits

Include renames

Author	SHA1	Message	Date
cristhian	3b941e722e	update version to 0.3.1 for the jogging fix	2026-09-16 14:29:45 -03:00
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
cristhian	a2bf59065d	add dora-node.yml manifest and a service example dataflow ... The manifest is the only contract a consumer has, since no source package is shared between node repositories, and dora validate checks a dataflow against it without running the node — so CI needs no robot. request and response are deliberately untyped. They carry request_id, and dora defines that as the marker for a pattern-correlated port where several Arrow schemas legitimately flow, one per service; the runtime skips type checks on those messages, so annotating them would claim a contract neither side keeps. examples/ carries its own manifest because dora resolves a node's manifest by walking up from its path, and a manifest applies only when <manifest dir>/<entrypoint> names the same file as the dataflow's path. Without it the example caller would be matched against the arm node's manifest and strict validation would fail on the entrypoint mismatch.	2026-09-12 11:47:06 -03:00