xtkuang
af67751937
Add the UME RobotArm and Damiao CAN-FD path, migrate the legacy UME controller, and introduce guarded cross-machine gRPC teleoperation with lifecycle, authority, configuration, and test coverage.
119 lines
6.3 KiB
Markdown
119 lines
6.3 KiB
Markdown
# UME / CMVR-ES validation gates
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This checklist is part of the first UME migration. Passing a software gate
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does not authorize a physical power-on. The checked-in UME device entries and
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their `hardware_enabled` fields remain `false`.
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The current revision has no production setpoint producer for
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`UmeTeleopTask::submitSetpoint()` and no haptic consumer for returned follower
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effort. M9 therefore validates the framework, protocol and migrated original
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algorithm separately; it is not an end-to-end motion or force-feedback test.
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## M9: software and network validation
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Run these gates on both target CPU architectures before deploying:
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1. Build the complete `cmvr_es` target with tests enabled.
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2. Run the UME legacy controller and Pinocchio model-adapter golden tests.
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3. Run the Damiao codec, CAN-FD chain, and `UmeRobotArm` lifecycle tests.
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4. Run the process-wide control-authority tests.
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5. Run the gRPC client, `UmeTeleopTask`, and `ArmTeleopService` tests.
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6. Repeat the concurrent client/task/service tests to screen for shutdown and
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reconnect races.
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7. Start each checked-in edge profile without UME hardware and verify that it
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never opens `can4`/`can5` or issues actuator enable frames.
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The communication tests must demonstrate all of the following:
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- an `OpenSession` manifest mismatch is rejected before backend activation;
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- a second controller cannot acquire the same robot control resource;
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- sequence numbers are non-zero and strictly increasing per session;
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- the sender and receiver use capacity-one, latest-only command storage;
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- a setpoint whose local validity has expired is never dispatched;
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- heartbeat loss, lease loss, stream cancellation, and backend failure call
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the robot safe-stop boundary;
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- reconnect clears pending motion intent and starts a new sequence space;
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- `StopSession` is attempted before client cancellation;
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- the legacy unary ArmService cannot issue motion, enable, calibration, or
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fault-reset commands while the teleoperation lease is active;
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- `torqueOff` and `stopMotion` remain available as safety overrides.
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Before a real follower backend can be enabled, control authority must also be
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extended to every local arm task and to the underlying MotorService resources.
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The current process-wide lease covers ArmTeleop and unary ArmService only.
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For a wired two-computer run, record at least:
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- one-way command age at the robot ingress;
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- command mailbox overwrite and rejection counters;
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- heartbeat and control-lease remaining time;
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- servo apply duration and deadline misses;
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- disconnect detection-to-safe-stop time;
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- packet loss, reordering, and delay from an explicit network impairment
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profile rather than an assumed LAN condition.
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No end-to-end stability or transparency claim is supported until those logs
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are tied to a specified controller rate, robot servo period, payload, motion
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envelope, and network impairment profile.
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## M10: staged physical commissioning
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Every row is a separate sign-off. Do not combine first power-on with a human
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wearing the UME.
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- [ ] Independent physical emergency stop is installed and verified.
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- [ ] CAN arbitration/data bitrates and CAN-FD+BRS MTU are verified for each
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interface.
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- [ ] Motor product, firmware, command ID, feedback ID, and reported motor ID
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are read back and matched to the configuration.
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- [ ] The four-bit Damiao feedback status meanings and raw temperature limits
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are verified for the exact product/firmware and entered as an explicit
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per-joint whitelist/threshold contract.
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- [ ] Joint direction and zero reference are verified one joint at a time with
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the mechanism unloaded.
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- [ ] Mechanical position, velocity, and torque limits replace the checked-in
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placeholders and receive an independent review.
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- [ ] Motor feedback timestamps and the 800 Hz cycle are measured on the UME
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target computer under load.
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- [ ] The exact Damiao firmware's Disable acknowledgement semantics are
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documented and verified. Until then, SocketCAN send success is only
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evidence that the local kernel accepted the complete frame batch.
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- [ ] Because MIT feedback has no sequence field, stale request/reply
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correlation is resolved by a reviewed firmware marker or by measured,
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enforced bus timing; draining only the frames already queued is not
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sufficient evidence.
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- [ ] Every UME control-thread I/O operation is shown to be deadline-bounded
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and interruptible on the target kernel. The configured shutdown timeout
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is currently a diagnostic failure threshold, not a C++ timed-join
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primitive.
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- [ ] With torque disabled, both edge profiles run for at least 30 minutes
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without sequence, deadline, lease, or reconnect anomalies.
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- [ ] With the UME fixed to a stand, each joint is enabled independently at a
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low torque limit and its watchdog disable path is measured.
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- [ ] Both UME arms are tested together on stands; CAN and CPU deadline margins
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are recorded.
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- [ ] The robot backend's group `servoJ` semantics and worst-case call duration
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are measured. Sequential per-joint dispatch is not accepted as an
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atomic group backend without a documented skew bound.
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- [ ] gRPC writer backpressure cannot stall the independent robot watchdog,
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and an expired lease cannot be regranted until safe stop is confirmed.
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- [ ] TouchScreenTask and direct MotorService commands are either disabled by
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the deployment profile or participate in the same resource authority.
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- [ ] Robot-only low-speed setpoint execution is validated before connecting
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the leader-side algorithm.
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- [ ] Wired-network cable removal, peer process kill, delayed packets, stale
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commands, duplicate sequences, lease theft, and robot fault injection
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all lead to a bounded safe stop.
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- [ ] The original UME gravity/friction/feedback controller is commissioned on
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a stand with force feedback initially clamped to zero, then increased in
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reviewed steps.
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- [ ] Only after all previous evidence is archived may a supervised human test
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be considered under a separate risk assessment.
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## Evidence record
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For each completed physical gate, archive the exact Git revision, installed
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`output/` checksum, configuration files, model and calibration SHA-256 values,
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test operator, hardware serial numbers, raw logs, and pass/fail decision. A
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successful build or simulator run must not be recorded as physical validation.
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