fix(runner): disarm FicTrac closed-loop apply at sequence start, end and abort (v0.71) - #177
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…and abort (Studio v0.71) A stale bridge apply=true (left on by Console closed-loop use or a run that aborted mid-trial) leaked into the next run: the shared apply gate opens as soon as session.running is set, so FicTrac frames were pushed into the opening Mode-2 step and the firmware rejected every SET_FRAME_POSITION (0x70) with status 1 — 304 error lines in the first 3 s of rig03-sr run 8u5v10jg (2026-09-04). Harmless to the data, but it floods the Studio log and confuses operators. ArenaRunner gains a private _disarmClosedLoop() (idempotent, never throws) called from runSequence() before the first step, from its finally block, and from _clear() (abort()/disconnect). Existing closed-loop test updated for the two safety falses; two new regression tests: stale apply is cleared BEFORE the first controller send, and an abort mid-closed-loop leaves apply off. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
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Summary
Diagnosed from a rig log today (rig03-sr, run
8u5v10jg): 304SET_FRAME_POSITION(0x70) commands were rejected with firmware status 1 during the first 3 s — the Mode-2start_bgstep — before the runner emitted its firstfictracApply trueat 3.02 s. The bridge's closed-loop apply flag had been left on (Console use or an earlier aborted run), and the shared apply gate (stepperLoaded || session.running) opens the moment a run starts, so FicTrac frames flowed into a non-Mode-3 step. Harmless to the data, but hundreds of error lines in the Studio log.(The run's later abort at step 33 was a separate controller/USB stall — 12 s of unanswered commands then a trial-params timeout — not addressed here; the same protocol completed on re-run.)
Change
js/arena-runner-g6.js: new private_disarmClosedLoop()(idempotent, guarded, never throws) calledrunSequence()right after_abort = false— before the first step,finallyblock — sequence end or abort,_clear()—abort()/ involuntary disconnect.Protocol timing and data are unchanged; the protocol's own
startClosedLoop/stopClosedLoopstill toggle apply as before.Tests
[false, true, false, false](start disarm, protocol on/off, end disarm).apply=trueis cleared before the first controller send; abort mid-closed-loop leaves apply off.pixi run testgreen (runner suite 235/235). Studio footer → v0.71 + release-notes entry.🤖 Generated with Claude Code