fix: remove robot-side 250ms network disarm

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 = {