Keep FlowBase command updates responsive during RPC - #98
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Publish command snapshots outside the command lock. Keep connection and reply waits interruptible, recover from transient failures, and close the transport once. Read remote velocity, frame, and validity together.
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Waiting for a FlowBase RPC reply holds the command lock, blocking local velocity updates and potentially leaving the publisher running after close. Remote command arrays can also change while the control loop reads them.
Snapshot commands before RPC and make publication waits interruptible while preserving recovery from temporary stalls and disconnects. Close the transport once when stopping the publisher, and read remote velocity, frame, and timeout validity as one snapshot.