padd: Select press = robot.relax (torque off)

[RemiFabre]

An emergency release on the pad: press Select and the motors let go (robot.relax). Holding Select 2 s still powers off, and since the press already cut torque, the duck can no longer be shut down with its motors on.

How to test

Hold the robot with the policy on, press Select: torque goes off at once. Press Start to stand up again. Hold Select 2 s: powers off as before.

[github-actions]

Coverage

71.87% lines on this branch, against a floor of 70%.

Per-file

Filename                              Regions    Missed Regions     Cover   Functions  Missed Functions  Executed       Lines      Missed Lines     Cover    Branches   Missed Branches     Cover
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btd/src/adv.rs                             79                 0   100.00%           9                 0   100.00%          42                 0   100.00%           0                 0         -
btd/src/bluez.rs                          422               422     0.00%          32                32     0.00%         279               279     0.00%           0                 0         -
btd/src/chorale.rs                        346               246    28.90%          23                13    43.48%         230               171    25.65%           0                 0         -
btd/src/framing.rs                        217                 7    96.77%          17                 1    94.12%          97                 5    94.85%           0                 0         -
btd/src/gatt.rs                             3                 0   100.00%           1                 0   100.00%           3                 0   100.00%           0                 0         -
btd/src/link.rs                            13                 0   100.00%           1                 0   100.00%          17                 0   100.00%           0                 0         -
btd/src/main.rs                            77                77     0.00%          11                11     0.00%          77                77     0.00%           0                 0         -
btd/src/pairing.rs                        149                 2    98.66%          12                 1    91.67%          81                 1    98.77%           0                 0         -
btd/src/route.rs                          345                32    90.72%          27                 0   100.00%         344                11    96.80%           0                 0         -
btd/src/session.rs                       1118                71    93.65%          66                 5    92.42%         649                41    93.68%           0                 0         -
btd/src/upstream.rs                       297                43    85.52%          29                 8    72.41%         184                25    86.41%           0                 0         -
configd/src/bluez.rs                      441               441     0.00%          78                78     0.00%         297               297     0.00%           0                 0         -
configd/src/identity.rs                   111                 5    95.50%          12                 1    91.67%          52                 3    94.23%           0                 0         -
configd/src/main.rs                       494               494     0.00%          38                38     0.00%         338               338     0.00%           0                 0         -
configd/src/net.rs                        246                12    95.12%          38                 2    94.74%         181                 4    97.79%           0                 0         -
configd/src/nm.rs                         271               213    21.40%          43                39     9.30%         171               120    29.82%           0                 0         -
configd/src/pad.rs                        301                12    96.01%          33                 2    93.94%         186                 8    95.70%           0                 0         -
configd/src/power.rs                       30                30     0.00%           6                 6     0.00%          28                28     0.00%           0                 0         -
configd/src/store.rs                      350                25    92.86%          28                 2    92.86%         173                 9    94.80%           0                 0         -
configd/src/units.rs                      183               121    33.88%          24                19    20.83%         116                82    29.31%           0                 0         -
duck-control/src/bus.rs                   414               305    26.33%          32                20    37.50%         278               205    26.26%           0                 0         -
duck-control/src/fall.rs                  173                 0   100.00%          15                 0   100.00%         108                 0   100.00%           0                 0         -
duck-control/src/imu.rs                   370                 8    97.84%          20                 0   100.00%         195                 5    97.44%           0                 0         -
duck-control/src/io.rs                    127                19    85.04%          20                 5    75.00%         115                17    85.22%           0                 0         -
duck-control/src/model.rs                 113                 1    99.12%          14                 0   100.00%          68                 0   100.00%           0                 0         -
duck-control/src/obs.rs                   260                 3    98.85%          23                 1    95.65%         174                 5    97.13%           0                 0         -
duck-control/src/policy.rs                370               229    38.11%          45                25    44.44%         253               148    41.50%           0                 0         -
duck-control/src/safety.rs                410                12    97.07%          31                 2    93.55%         274                 6    97.81%           0                 0         -
duck-detect/src/bin/duck-bench.rs         306               306     0.00%          16                16     0.00%         170               170     0.00%           0                 0         -
duck-detect/src/lib.rs                    512                10    98.05%          24                 0   100.00%         274                 6    97.81%           0                 0         -
duck-detect/src/onnx.rs                    96                96     0.00%           5                 5     0.00%          52                52     0.00%           0                 0         -
duck-detect/src/rknn.rs                   267               237    11.24%          15                11    26.67%         216               195     9.72%           0                 0         -
duck-ipc-proto/src/lib.rs                1995               146    92.68%         127                12    90.55%        1457                80    94.51%           0                 0         -
duckctl/src/main.rs                      2281               930    59.23%         136                43    68.38%        1447               599    58.60%           0                 0         -
kinematics/src/hand.rs                    373                 2    99.46%          21                 2    90.48%         172                 2    98.84%           0                 0         -
kinematics/src/head.rs                    381                 9    97.64%          20                 0   100.00%         188                 4    97.87%           0                 0         -
kinematics/src/lib.rs                     229                11    95.20%          19                 2    89.47%         115                 7    93.91%           0                 0         -
kinematics/src/math.rs                    171                 0   100.00%          16                 0   100.00%          79                 0   100.00%           0                 0         -
kinematics/src/mjcf.rs                    225                32    85.78%          17                 1    94.12%         132                15    88.64%           0                 0         -
kinematics/src/tof.rs                     338                20    94.08%          14                 1    92.86%         184                13    92.93%           0                 0         -
mediad/src/config.rs                       90                 5    94.44%           7                 1    85.71%          46                 4    91.30%           0                 0         -
mediad/src/detect.rs                      293               222    24.23%          13                 9    30.77%         200               145    27.50%           0                 0         -
mediad/src/exposure.rs                    412               161    60.92%          28                 8    71.43%         279               110    60.57%           0                 0         -
mediad/src/main.rs                        245               245     0.00%           7                 7     0.00%         158               158     0.00%           0                 0         -
mediad/src/pipeline.rs                   1098               907    17.40%          74                56    24.32%         710               578    18.59%           0                 0         -
mediad/src/producer.rs                    161                33    79.50%          20                 5    75.00%         109                20    81.65%           0                 0         -
mediad/src/route.rs                       173                19    89.02%          12                 0   100.00%         148                 8    94.59%           0                 0         -
mediad/src/session.rs                     493                12    97.57%          30                 0   100.00%         290                 8    97.24%           0                 0         -
mediad/src/upstream.rs                    123                23    81.30%          10                 1    90.00%          82                17    79.27%           0                 0         -
mediad/src/web.rs                         112                26    76.79%          14                 4    71.43%          76                17    77.63%           0                 0         -
odometry/src/lib.rs                       321                 5    98.44%          22                 1    95.45%         192                 7    96.35%           0                 0         -
padd/src/main.rs                          827               525    36.52%          26                11    57.69%         506               354    30.04%           0                 0         -
padd/src/tap.rs                           693               455    34.34%          42                25    40.48%         419               267    36.28%           0                 0         -
pet-detect/src/bin/detect.rs               61                61     0.00%           1                 1     0.00%          38                38     0.00%           0                 0         -
pet-detect/src/bin/features.rs             46                46     0.00%           2                 2     0.00%          20                20     0.00%           0                 0         -
pet-detect/src/lib.rs                     362               184    49.17%          27                13    51.85%         224               122    45.54%           0                 0         -
pet-detect/src/worker.rs                  381               230    39.63%          24                14    41.67%         276               160    42.03%           0                 0         -
robotctl/src/configure.rs                 846               329    61.11%          35                12    65.71%         464               226    51.29%           0                 0         -
robotctl/src/duck.rs                     1211               144    88.11%          63                 1    98.41%         604                47    92.22%           0                 0         -
robotctl/src/main.rs                     5066              2704    46.62%         276               125    54.71%        3444              1832    46.81%           0                 0         -
robotctl/src/monitor.rs                  4024               724    82.01%         213                35    83.57%        2522               464    81.60%           0                 0         -
robotctl/src/path_map.rs                  425                59    86.12%          24                 2    91.67%         223                36    83.86%           0                 0         -
robotctl/src/show.rs                      714                46    93.56%          31                 1    96.77%         509                25    95.09%           0                 0         -
robotd-params/src/edit.rs                1822               120    93.41%         111                14    87.39%         885                47    94.69%           0                 0         -
robotd-params/src/lib.rs                 1835                91    95.04%         173                10    94.22%        1320                58    95.61%           0                 0         -
robotd-params/src/registry.rs             184                10    94.57%          13                 2    84.62%         138                17    87.68%           0                 0         -
robotd/src/chorale.rs                    1366                30    97.80%          71                 4    94.37%         826                20    97.58%           0                 0         -
robotd/src/control.rs                     405               366     9.63%          28                23    17.86%         322               274    14.91%           0                 0         -
robotd/src/intents.rs                     400                68    83.00%          45                 8    82.22%         294                45    84.69%           0                 0         -
robotd/src/main.rs                       6742              1744    74.13%         317                64    79.81%        4372              1136    74.02%           0                 0         -
robotd/src/soc.rs                          47                25    46.81%           4                 1    75.00%          30                15    50.00%           0                 0         -
robotd/src/sound.rs                       968               688    28.93%          50                33    34.00%         565               416    26.37%           0                 0         -
robotd/src/theremin.rs                    472                71    84.96%          32                 6    81.25%         271                38    85.98%           0                 0         -
sounds/src/chorale/beat.rs                403                16    96.03%          26                 1    96.15%         246                12    95.12%           0                 0         -
sounds/src/chorale/midi.rs               1047                80    92.36%          44                 2    95.45%         581                43    92.60%           0                 0         -
sounds/src/chorale/mod.rs                1423                57    95.99%          83                 3    96.39%         812                41    94.95%           0                 0         -
sounds/src/chorale/text.rs                700                60    91.43%          41                12    70.73%         376                17    95.48%           0                 0         -
sounds/src/lib.rs                         162                30    81.48%          14                 6    57.14%          84                18    78.57%           0                 0         -
sounds/src/main.rs                        463               463     0.00%          20                20     0.00%         240               240     0.00%           0                 0         -
sounds/src/personality.rs                 174                 0   100.00%           6                 0   100.00%          84                 0   100.00%           0                 0         -
sounds/src/rng.rs                         173                 0   100.00%          18                 0   100.00%          96                 0   100.00%           0                 0         -
sounds/src/stream.rs                      719                 7    99.03%          46                 1    97.83%         420                 6    98.57%           0                 0         -
sounds/src/synth.rs                       353                 7    98.02%          29                 0   100.00%         197                 3    98.48%           0                 0         -
sounds/src/voices.rs                      679                 2    99.71%          26                 0   100.00%         353                 2    99.43%           0                 0         -
test-support/src/lib.rs                   272                 2    99.26%          22                 0   100.00%         167                 0   100.00%           0                 0         -
tof/src/lib.rs                             88                 0   100.00%           9                 0   100.00%          54                 0   100.00%           0                 0         -
tof/src/main.rs                           535               452    15.51%          29                18    37.93%         338               294    13.02%           0                 0         -
tof/src/sensor.rs                         230               148    35.65%          22                15    31.82%         163               114    30.06%           0                 0         -
tof/src/status.rs                          76                 2    97.37%           7                 1    85.71%          58                 1    98.28%           0                 0         -
updater/src/account.rs                   1440               177    87.71%         136                28    79.41%         927               114    87.70%           0                 0         -
updater/src/config.rs                     436                24    94.50%          38                 4    89.47%         354                17    95.20%           0                 0         -
updater/src/engine.rs                    3239               473    85.40%         215                27    87.44%        2092               288    86.23%           0                 0         -
updater/src/faults.rs                      69                 7    89.86%           7                 0   100.00%          51                 0   100.00%           0                 0         -
updater/src/fsutil.rs                     104                30    71.15%          10                 6    40.00%          51                24    52.94%           0                 0         -
updater/src/hooks.rs                      454                15    96.70%          37                 2    94.59%         382                12    96.86%           0                 0         -
updater/src/ipc.rs                        901               308    65.82%          67                20    70.15%         559               167    70.13%           0                 0         -
updater/src/journal.rs                    832                78    90.62%          57                10    82.46%         483                53    89.03%           0                 0         -
updater/src/lib.rs                         44                13    70.45%           4                 0   100.00%          34                13    61.76%           0                 0         -
updater/src/main.rs                       550               222    59.64%          38                14    63.16%         420               151    64.05%           0                 0         -
updater/src/manifest.rs                   159                 6    96.23%          16                 0   100.00%         110                 1    99.09%           0                 0         -
updater/src/orphan.rs                     288                 6    97.92%          25                 0   100.00%         181                 3    98.34%           0                 0         -
updater/src/policy.rs                    1532               582    62.01%         121                49    59.50%         819               333    59.34%           0                 0         -
updater/src/preflight.rs                  382                16    95.81%          47                 4    91.49%         284                11    96.13%           0                 0         -
updater/src/reconcile.rs                  292                15    94.86%          25                 3    88.00%         172                 5    97.09%           0                 0         -
updater/src/robot.rs                      225                33    85.33%          37                10    72.97%         139                21    84.89%           0                 0         -
updater/src/source/github.rs              474               169    64.35%          51                26    49.02%         304                99    67.43%           0                 0         -
updater/src/source/hf_hub.rs              136                72    47.06%          20                12    40.00%          81                41    49.38%           0                 0         -
updater/src/source/http.rs                319                82    74.29%          29                11    62.07%         260                88    66.15%           0                 0         -
updater/src/source/local.rs               346                37    89.31%          36                 9    75.00%         192                26    86.46%           0                 0         -
updater/src/source/mod.rs                  39                30    23.08%           4                 2    50.00%          30                24    20.00%           0                 0         -
updater/src/spawn.rs                       94                13    86.17%           5                 0   100.00%          49                 4    91.84%           0                 0         -
updater/src/store.rs                      593                41    93.09%          43                 7    83.72%         271                42    84.50%           0                 0         -
updater/src/transcript.rs                 518                42    91.89%          31                 3    90.32%         290                22    92.41%           0                 0         -
updater/src/unix.rs                        44                 3    93.18%           3                 0   100.00%          22                 2    90.91%           0                 0         -
updater/src/verify.rs                     786                95    87.91%          55                18    67.27%         424                75    82.31%           0                 0         -
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
TOTAL                                   69115             18922    72.62%        4602              1247    72.90%       43308             12184    71.87%           0                 0         -