home(calibrate=): forced end-stop referencing on the waldoctl ABC; StatusBuffer/loop_stats/homing-progress conformance - #34
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calibrate() always runs the firmware's referencing sequence (each joint seeks its limit switch to re-derive joint zero), even when the robot already reports itself referenced. home() keeps its existing semantics: a planned, collision-checked return to standby, falling back to the referencing sequence only on an uncalibrated robot. This matches the industrial mastering/calibration-vs-home-pose split and aligns parol6 with par6's calibrate behavior. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_0158QrPR5eVhd31AvFpxJKr6
…oop_stats conform to waldoctl home(calibrate=True) always runs the firmware referencing sequence; plain home() keeps its fast-path once referenced. The flag lives on the waldoctl RobotClient ABC rather than a backend-only command. StatusBuffer now satisfies waldoctl's Protocol: `enabled` is broadcast from ControllerState.enabled, and the members parol6 has no data for (torques, warnings, link_health, freedrive, mode) hold their documented empty values. Homing progress is real: HomeCommand publishes its step and the per-joint homed bits ride the status wire, so StatusBuffer.homing carries active, sequence_step, and one (HomingJointState, HomingPhase) pair per joint — the enum shape the waldoctl Homing mirror expects — rebuilt only on change and empty while idle. loop_stats() returns waldoctl's LoopStatsResult, with p50/p90 periods computed by the timer. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_0158QrPR5eVhd31AvFpxJKr6
…ller The published homing step is derived from the live HomeCommand (any cancel path clears action_current), so a stop, e-stop, jog, or reconnect mid- referencing no longer leaves homing reporting active. HomeCommand writes its HomeState value once per tick instead of scattered literals. A hardware e-stop press now sets enabled=False like the digital one, so the status flag and motion gating agree with the physical switch. StatusCache scans Homed_in once for both the aggregate homed flag and the per-joint bits (list-backed, no numpy scalar boxing on the 100Hz path); the client compares the decoded bit list before rebuilding the homing view. loop_stats() unpacks the struct instead of copying fields by hand. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_0158QrPR5eVhd31AvFpxJKr6
Jepson2k
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home()gains acalibrateflag, declared on the waldoctlRobotClientABC (Jepson2k/waldoctlfeat/calibrate) and implemented here:home()runs the firmware's end-stop referencing sequence — each joint seeks its limit switch — and ends at the home position. Unchanged behavior.home()is a planned, collision-checked return to the home position (the existing fast-path).home(calibrate=True)re-runs the referencing sequence instead.This is the industrial calibrate-vs-home split (KUKA "mastering", ABB "calibration", with "home" as a named pose) and covers the forced-re-reference need behind #33 without changing
home()'s default. The referencing sequence is firmware-driven and ignores the collision world; the docstrings say so.Also in this PR — the
RobotClientconformance gaps that CI'styhas been blind to because waldoctl shipped withoutpy.typed(the waldoctl branch adds the marker):StatusBuffernow satisfies waldoctl's Protocol:enabledis broadcast on the wire fromControllerState.enabled(the controller-accepts-motion flag), and the members parol6 has no data for (torques,torques_ext,warnings,link_health,homing,freedrive,mode) hold their documented empty values.loop_stats()returns waldoctl'sLoopStatsResult; the loop timer now also computes p50/p90 periods, and the fieldbus/RT fields report 0/False.HomeCommandpublishes its step (signalling → waiting for the firmware to clear the homed bits → waiting for every joint) and the per-joint homed bits ride the status wire, soStatusBuffer.homingcarriesactive,sequence_step, and one(HomingJointState, HomingPhase)enum pair per joint — the shape Waldo Commander's status consumer already mirrors for par6. The dict view is rebuilt only when the step or bits change and is empty while idle.Wire compatibility:
HomeCmd.calibrateand the new trailing status fields (enabled,homing_step,joints_homed) are defaulted, so older clients and status producers keep working.Tests: a planner unit test pins the contract (
HOME(calibrate=True)yields an InlineSegment even when referenced); the integration test driveshome(calibrate=True)through the real client/server path and asserts the firmware drops the homed flag mid-sequence — which a substituted planned return move never does — and thathomingreports SEEKING joints while it runs and is empty afterwards.🤖 Generated with Claude Code
https://claude.ai/code/session_0158QrPR5eVhd31AvFpxJKr6