Update workstation UI, ROS task control and device integration

station/test/test_position_command_fence.py

@@ -0,0 +1,47 @@
+"""Compile/run the actual hardware guard without ROS or a robot connection."""
+import subprocess
+import tempfile
+from pathlib import Path
+from unittest import TestCase
+
+class PositionCommandFenceTest(TestCase):
+    def test_reject_old_targets_after_enable_and_native_movel(self):
+        root = Path(__file__).resolve().parents[2]
+        include = root / 'src/flexiv_ros2/flexiv_hardware/include'
+        code = r"""
+#include <cassert>
+#include <limits>
+#include "flexiv_hardware/position_command_fence.hpp"
+int main() {
+    flexiv_hardware::MotionExecutionLatch latch;
+    assert(!latch.observe(true, true, false)); // not activated
+    latch.activate(); assert(latch.observe(true, true, false));
+    assert(!latch.observe(true, false, false)); // physical E-stop
+    for (int i=0; i<2000; ++i) assert(!latch.observe(true, true, false)); // Enable cannot resume
+    latch.activate(); assert(latch.observe(true, true, false));
+    assert(!latch.observe(true, true, true)); // fault
+    assert(!latch.observe(true, true, false)); // clear fault cannot resume
+    latch.activate(); assert(!latch.observe(false, true, false)); // disconnect
+    assert(!latch.observe(true, true, false));
+    flexiv_hardware::PositionCommandFence fence;
+    std::vector<double> current(7, .74), old(7, 0.);
+    for (int i=0; i<2000; ++i) assert(!fence.accept(old, current));
+    assert(!fence.accept({}, current));
+    auto invalid = current; invalid[0] = std::numeric_limits<double>::quiet_NaN();
+    assert(!fence.accept(invalid, current));
+    assert(fence.accept(current, current));
+    assert(fence.accept(old, current)); // normal trajectory after handshake
+    fence.reset(); // native MoveL / controller activation
+    for (int i=0; i<2000; ++i) assert(!fence.accept(old, current));
+    auto start = current; start[0] += .0001;
+    assert(fence.accept(start, current));
+    assert(fence.accept(old, current));
+}
+"""
+        with tempfile.TemporaryDirectory() as folder:
+            source = Path(folder)/'fence.cpp'; binary = Path(folder)/'fence'
+            source.write_text(code)
+            built = subprocess.run(['g++','-std=c++17','-I',str(include),str(source),'-o',str(binary)],capture_output=True,text=True,timeout=30)
+            self.assertEqual(built.returncode,0,built.stderr)
+            result = subprocess.run([str(binary)],capture_output=True,text=True,timeout=5)
+            self.assertEqual(result.returncode,0,result.stderr)