fix: remove robot-side 250ms network disarm

tg3_local_teleop/README.md

@@ -6,7 +6,7 @@
 TS1P 同构臂
   -> 工控机 xTELE tcp://127.0.0.1:5003
   -> OmniSocket KCP Hub 175.178.116.187:14049
-  -> tg3_local_teleop（直接 OmniSocket Session；HBWALK / 错误 / 限位 / 失联门控）
+  -> tg3_local_teleop（直接 OmniSocket Session；HBWALK / 错误 / 限位门控）
   -> /encoder_identical_joint（14 维 JointState）
   -> 厂家 freq_change_tg3_node（同步、滤波、200 Hz）
   -> /arm/cmd
@@ -58,7 +58,7 @@ TS1P 同构臂
 只有以下条件全部满足才允许开始：机器人 `current_state` 和 `child_state` 均为
 `HBWALK`、状态为 `running`；同构臂数据新鲜；左右 CAN/伺服无错误；采样频率正常；
 启动瞬间的 14 个目标均在天工 3.0 文档限位内；没有检测到云端第二路同构臂命令。
-自定义关节目标限位仅对每个新 `session_id` 的 START 检查一次，采集/跟随过程中不再检查；失联、电机错误、
+自定义关节目标限位仅对每个新 `session_id` 的 START 检查一次，采集/跟随过程中不再检查；电机错误、
 HBWALK 状态等运行时保护仍持续检查。厂家 `freq_change_tg3_node` 原有的姿态同步、
 关节限位和碰撞保护保持不变。为启用二次开放文档规定的 HBWALK topic 行走，本机
 `xmigcs/config/dex_config.yaml` 的 HBWALK 速度许可已由全零改为当前 NAVIGATE 的上限；
@@ -71,7 +71,7 @@ HBWALK 状态等运行时保护仍持续检查。厂家 `freq_change_tg3_node`
 
 灵巧手仅在同一次长按武装后发布；以机器人真实手指位置为起点，并按每秒最多 400 个
 位置单位平滑跟随。BrainCo 状态 `0`（空闲）、`1`（运动）、`2`（接触/堵转或到限位）
-和 `3`（持续力）均为厂家定义的正常运行状态；仅状态失联、未知/非法状态、同构臂失联
+和 `3`（持续力）均为厂家定义的正常运行状态；仅状态失联、未知/非法状态
 或检测到另一命令源时，双臂和双手会一起解除武装并停止发布。停止遥操后灵巧手保持
 最后目标，双臂按原逻辑限速回 Home。BrainCo 驱动原有的电流、堵转和碰撞保护不作修改。
 匹配的 STOP、安全解除武装或服务退出都会清除右 B 指向手势的逻辑状态，但不会在
@@ -130,10 +130,10 @@ systemctl --user stop tg3-local-teleop.service
 接收代理。若需回退到机器人与工控机的局域网直连，可把 `network.transport` 改成
 `zmq`；保留的 `iarm_endpoint` 为 `tcp://192.168.5.14:5003`。
 
-遥操活动期间公网输入超过 `0.25 s` 未更新会立即解除武装并停止发布，同一会话不能自动
-重新武装；活动会话超过 `2 s` 仍无帧时才重建机器人 OmniSocket 进程。未 START 或收到
-STOP 后没有业务帧是正常待机，不触发反复重启。只有匹配的操作员 STOP 自动回 Home；
-意外断网只停控，不自动产生回位运动。
+机器人侧不再以 `0.25 s` 公网输入间隔解除武装。活动会话超过 `2 s` 仍无帧时重建机器人
+OmniSocket 进程；在此之前桥会保持最后一帧目标。未 START 或收到 STOP 后没有业务帧是
+正常待机，不触发反复重启。只有匹配的操作员 STOP 自动回 Home；意外断网不自动产生
+回位运动。
 
 ## 完整重启顺序
 

tg3_local_teleop/config.toml

@@ -11,14 +11,13 @@ omnisocket_max_packet_age_ms = 300.0
 # Active traffic resets this timer and is never interrupted by this refresh.
 omnisocket_idle_session_refresh_s = 30.0
 # The native session can remain blocked on an old connection after the public
-# Hub disappears. Publication stops at source_timeout_s; after this longer
-# interval the process exits and systemd creates a completely fresh session.
+# Hub disappears.  An active session that receives no business frame for this
+# interval exits so systemd creates a completely fresh session.
 omnisocket_restart_after_stale_s = 2.0
 # Retained only as a direct-LAN fallback when transport is changed to "zmq".
 iarm_endpoint = "tcp://192.168.5.14:5003"
 expected_iarm_id = "IArm009027FA8190"
 expected_iarm_type = "TS1P"
-source_timeout_s = 0.25
 minimum_arm_frequency_hz = 30.0
 
 [ros]

tg3_local_teleop/test_session_gate.py

@@ -164,6 +164,69 @@ class RobotSessionGateTest(unittest.TestCase):
         valid["tg3_transport"]["protocol_version"] = 1
         self.assertIsNone(LocalTeleopBridge._teleop_session_info(valid))
 
+    def test_network_sample_age_is_not_a_runtime_disarm_gate(self) -> None:
+        bridge = LocalTeleopBridge.__new__(LocalTeleopBridge)
+        bridge.cfg = {
+            "network": {
+                "expected_iarm_id": "IArm-test",
+                "expected_iarm_type": "TS1P",
+                "minimum_arm_frequency_hz": 30.0,
+            },
+            "robot": {
+                "arm_state_timeout_s": 0.25,
+                "state_timeout_s": 1.0,
+                "required_state": "HBWALK",
+                "required_status": "running",
+            },
+            "control": {},
+        }
+        bridge.hands_enabled = False
+        bridge.robot_arm_at = 100.0
+        bridge.robot_arm_errors = [0] * 14
+        bridge.rl_state_at = 100.0
+        bridge.rl_state = {
+            "current_state": "HBWALK",
+            "child_state": "HBWALK",
+            "status": "running",
+        }
+        bridge.foreign_source_seen = False
+        bridge.foreign_hand_source_seen = False
+        old_network_sample = ArmSnapshot(
+            {
+                "isomorphic_arm_id": "IArm-test",
+                "isomorphic_arm_type": "TS1P",
+                "servo_error": {"left": [0] * 7, "right": [0] * 7},
+                "joycan_error": [0, 0],
+                "freq": {"left": 80.0, "right": 80.0},
+            },
+            received_at=10.0,
+        )
+
+        reasons = bridge._safety_reasons(
+            100.0,
+            old_network_sample,
+            "",
+            check_iarm_target=False,
+            check_hands=False,
+            check_hand_feedback=False,
+        )
+        self.assertEqual(reasons, [])
+
+    def test_two_second_omnisocket_restart_watchdog_remains(self) -> None:
+        bridge = LocalTeleopBridge.__new__(LocalTeleopBridge)
+        bridge.cfg = {
+            "network": {
+                "transport": "omnisocket",
+                "omnisocket_restart_after_stale_s": 2.0,
+            }
+        }
+        active = sample("f" * 32, 1, "active")
+        self.assertIsNone(bridge._source_restart_reason(11.999, active))
+        self.assertIn(
+            "OmniSocket input stale",
+            bridge._source_restart_reason(12.0, active),
+        )
+
     def test_locomotion_reacts_immediately_after_repress(self) -> None:
         bridge = LocalTeleopBridge.__new__(LocalTeleopBridge)
         bridge.locomotion_cfg = {

tg3_local_teleop/tg3_local_teleop.py

@@ -799,7 +799,6 @@ class LocalTeleopBridge(Node):
             # A server outage can leave the native OmniSocket recv call stuck in
             # an apparently connected session.  Raising out of the ROS loop lets
             # systemd replace the whole process (and native session) cleanly.
-            # The normal runtime gate above has already stopped publication.
             self.get_logger().error(restart_reason)
             raise RuntimeError(restart_reason)
 
@@ -1342,9 +1341,6 @@ class LocalTeleopBridge(Node):
         if check_iarm and sample is None:
             reasons.append(source_error or "no isomorphic-arm data")
         elif check_iarm:
-            age = now - sample.received_at
-            if age > float(net_cfg["source_timeout_s"]):
-                reasons.append(f"isomorphic-arm data stale ({age:.3f}s)")
             data = sample.data
             expected_id = str(net_cfg.get("expected_iarm_id", ""))
             expected_type = str(net_cfg.get("expected_iarm_type", ""))
@@ -1565,11 +1561,6 @@ class LocalTeleopBridge(Node):
                 "omnisocket_restart_after_stale_s"
             ),
             "iarm_connected": sample is not None,
-            "iarm_stream_fresh": (
-                sample is not None
-                and now - sample.received_at
-                <= float(self.cfg["network"]["source_timeout_s"])
-            ),
             "iarm_age_s": None if sample is None else round(now - sample.received_at, 4),
             "iarm_id": None if sample is None else sample.data.get("isomorphic_arm_id"),
             "iarm_frequency_hz": None if sample is None else sample.data.get("freq"),