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RSDK-654 - refactor message handling for streaming#184

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Ethan (stuqdog) wants to merge 2 commits into
viamrobotics:mainfrom
stuqdog:RSDK-654-bidi-fix
Open

RSDK-654 - refactor message handling for streaming#184
Ethan (stuqdog) wants to merge 2 commits into
viamrobotics:mainfrom
stuqdog:RSDK-654-bidi-fix

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@stuqdog

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Refactors message handling to send messages asynchronously as soon as they come in, defer sending EOS until client messages are demonstrably completed, and only as its own frame.

@stuqdog Ethan (stuqdog) marked this pull request as ready for review July 1, 2026 15:08
@stuqdog Ethan (stuqdog) requested a review from a team as a code owner July 1, 2026 15:08
@stuqdog Ethan (stuqdog) marked this pull request as draft July 1, 2026 15:08
@acmorrow

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Ethan (@stuqdog) - I haven't dug into the code, but I have pulled this PR locally and confirmed that in my repro environment, I no longer see the arm wait until all the points have been sent on the stream. So this looks promising!

@stuqdog Ethan (stuqdog) marked this pull request as ready for review July 2, 2026 20:05
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2 participants