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Nixxx19
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This was referenced Sep 10, 2026
This reverts commit 330affa.
Nixxx19
changed the title
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hi @pierre-rouanet, mind taking a look at this one when you get a chance? a mode switch and a policy load can quietly undo each other. |
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fixes #227
a policy change is refused while a mode switch is in flight, but not the other way round. accept a switch while a load is still on its thread and the switch goes home, swaps the other mode's bundle in, then the load lands on top and puts the old mode's params and networks back — with robot.mode still reporting the new one.
also refuses a policy change during the shutdown sit, same reason robot.init is already gated there: a change to the driving network takes the home-first path and stands the robot up out of its sit.
two tests. the load one trips on main first try every time.