(Hacky version do not use) Add PVAT streaming DoCommand#218
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EshaMaharishi wants to merge 1 commit into
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(Hacky version do not use) Add PVAT streaming DoCommand#218EshaMaharishi wants to merge 1 commit into
EshaMaharishi wants to merge 1 commit into
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Externally-generated trajex PVATs can now be streamed to the arm without the controller re-planning: open one long-lived trajectory and feed spline points into it incrementally, terminating with a CANCEL. - streaming_trajectory: a third move_command_data alternative holding the declared point budget and a pending deque of spline points. - state_ open/push/close_pvat_stream: open grabs the move slot with a streaming command; push appends points (do_command thread); close requests the terminating CANCEL. pending is pushed/drained under mutex_. - state_controlled_::handle_move_request streaming_trajectory branch: write TRAJECTORY_START once, then writeTrajectorySplinePoint per pending point each worker tick WITHOUT re-issuing START (a second START would kill and restart the robot-side trajectory thread), then CANCEL on close or Stop(). - do_command keys trajex_stream_open / _points / _close, with parse_pva_points decoding [p0..5, v0..5, a0..5, dt] points (radians; dt = per-segment seconds). - is_moving reports true while a stream is open. Builds clean via conan on macOS arm64 (bin/setup.sh + bin/build.sh). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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