Fix stale error poisoning unrelated wait_command calls#26
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A guard rejection's state.error kept broadcasting across streaming-only activity (jog accepts never cleared it), and wait_command honored any standing error at or below its index — including frames that predate its own command's acceptance. The next wait=True command then raised a minutes-old rejection while the robot executed fine (seen live as a home->home move "failing" with a stale self-collision error). Streaming accepts now clear the standing error like every other accept path, and STATUS carries accepted_index (the last accepted command index, len-guarded for old producers) so wait_command only honors an error once the frame proves it postdates the waiter's acceptance. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01XbP8n8tzaJXKMjkRxGnoa1
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A guard rejection's
state.errorkept broadcasting across streaming-only activity (jog accepts never cleared it), andwait_commandhonored any standing error at or below its index — including status frames predating its own command's acceptance. The nextwait=Truecommand then raised a minutes-old rejection while the robot executed fine (seen live as a home→home move "failing" with a stale self-collision error).Streaming accepts now clear the standing error like every other accept path, and STATUS carries
accepted_index(len-guarded; old producers default-1→ legacy behavior) sowait_commandonly honors an error once the frame proves it postdates the waiter's acceptance.Both regression tests fail pre-fix; full suite 267 passed.
— opened by Claude on behalf of @Jepson2k
🤖 Generated with Claude Code
https://claude.ai/code/session_01XbP8n8tzaJXKMjkRxGnoa1