Publish complete robot commands and owned state snapshots - #97
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Publish complete commands and gain pairs under their lock, return owned state snapshots, and release the state lock before motor I/O. Apply simulated position and velocity commands atomically.
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Concurrent readers can observe partially built commands or block behind motor I/O. Shared arrays let callers mutate active commands and internal state, and simulated position/velocity updates are published separately.
Publish complete command and gain updates under the existing locks, copy command and observation arrays, and release the state lock before motor I/O. Hold the simulation lock across combined position/velocity updates.