Record rosbags for each PA - #1
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seijiito-airoa wants to merge 2 commits into
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| elif action == "next_pa": | ||
| if self.phase != "awaiting_pa_next" or self.pending_pa_record is None: | ||
| raise RuntimeError(f"Cannot move next PA while phase={self.phase}") | ||
| record = self.pending_pa_record | ||
| self.pending_pa_record = None | ||
| self.pending_pa_label = None | ||
| self._commit_pa_and_continue_locked(record) |
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There is a potential dead-end in the next_pa transition. pending_pa_record is cleared before the next-PA setup fully succeeds.
If start_pa_rosbag(), set_motion_enabled(True), or set_instruction() fails, the state can remain around awaiting_pa_next while the pending record is already gone.
In that case, the PA result modal no longer appears and the operator has no clean way to retry from the UI. Could we keep pending_pa_record until the transition succeeds, or restore it on failure and roll back any partial state such as pa_idx / rosbag startup?
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