Remove unused L20 write reply reservations under the Python policy

.github/workflows/release-packages.yml

@@ -26,7 +26,7 @@ name: Release packages
       expected_version:
         description: 'Hand SDK version (transport may use a compatible newer patch)'
         required: true
-        default: '0.3.10'
+        default: '0.3.11'
 
 permissions:
   contents: read

CHANGELOG.md

@@ -2,6 +2,12 @@
 
 [English](CHANGELOG.md) | [简体中文](CHANGELOG.zh-CN.md)
 
+## 0.3.11
+
+- Release L20 dispatch-only write reply reservations under the explicit Python policy.
+- Reject Python-policy response frames received before physical send claim; cover late replies, lifecycle transitions and shared Session isolation.
+- Preserve Native behavior, public APIs and transport v0.3.4 minimum. Rebuild consumers; hardware validation remains separate. See [release notes](RELEASE_NOTES.md).
+
 ## 0.3.10
 
 - Correct Python-policy missing-command-feedback health without changing physical dispatch outcomes or Native defaults.

CHANGELOG.zh-CN.md

@@ -2,6 +2,12 @@
 
 [English](CHANGELOG.md) | [简体中文](CHANGELOG.zh-CN.md)
 
+## 0.3.11
+
+- 显式 Python 策略下，L20 仅发送写入不再保留可选回复及读取匹配资源。
+- Python 策略拒绝读取实际开始发送前收到的回复，增加迟到回复、生命周期及共享 Session 隔离回归测试。
+- 保持 Native 行为、公开 API 和 transport v0.3.4 最低依赖。消费者需重新编译，实机验证仍单独进行，详见 [发行说明](RELEASE_NOTES.md)。
+
 ## 0.3.10
 
 - 修正 Python 策略缺少命令反馈时的健康统计，保持实际发送结果及 Native 默认行为。

CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.16)
 
 project(linkerbot-hand-cpp
-    VERSION 0.3.10
+    VERSION 0.3.11
     DESCRIPTION "LinkerBot dexterous hand C++ SDK"
     LANGUAGES CXX
 )

README.en.md

@@ -60,7 +60,7 @@ This installs the SDK and communication library into the local `install/` direct
 Catch2 and vendor development packages are not required. Run the remaining commands from
 this repository's root directory.
 
-Hand SDK 0.3.10 requires transport 0.3.4 or newer in the 0.3 minor line,
+Hand SDK 0.3.11 requires transport 0.3.4 or newer in the 0.3 minor line,
 for source builds, prebuilt packages and installed consumers.
 
 To reuse a prebuilt transport v0.3.4 SDK, configure with

README.md

@@ -60,7 +60,7 @@ This installs the SDK and communication library into the local `install/` direct
 Catch2 and vendor development packages are not required. Run the remaining commands from
 this repository's root directory.
 
-Hand SDK 0.3.10 requires transport 0.3.4 or newer in the 0.3 minor line,
+Hand SDK 0.3.11 requires transport 0.3.4 or newer in the 0.3 minor line,
 for source builds, prebuilt packages and installed consumers.
 
 To reuse a prebuilt transport v0.3.4 SDK, configure with

RELEASE_NOTES.md

@@ -1,5 +1,15 @@
 # Release notes
 
+## 0.3.11
+
+- Under the explicit Python runtime policy, L20 speed, current-limit and fault-clear writes end at physical dispatch without retaining Native optional reply decoders or read-key reservations. Subsequent reads do not wait for an unused reply window.
+- Python-policy response matching starts at physical send claim, using Session event order when available and timestamps as a compatibility fallback. Replies received before a queued read is claimed cannot complete that read. Idle L20 write replies are not published as telemetry. Classic L20 replies have no transaction identifier: a same-opcode late write reply received after a read is claimed remains indistinguishable from a read response, as in the Python reference.
+- Keep Native optional feedback, existing public C++ APIs, frame contents and inter-frame delays unchanged. No additional sender or scheduling queue is introduced.
+
+The minimum and paired transport remain v0.3.4 (`0e190032d65ed0b315337b45b3779cf4f650ed68`). Rebuild the SDK and downstream consumers to use the fix; no public structures or signatures are added in this patch.
+
+Validation is offline and covers missing and late replies, repeated write/read sequences, close/reopen, explicit recovery, queued-read claim boundaries and device isolation on a shared Session. No new physical-device acceptance is claimed. Deployed firmware reply timing, adapters/drivers, physical timestamps and multi-device sustained operation require separate hardware validation. O20, Python bindings and hand/arm integration are outside this patch.
+
 ## 0.3.10
 
 - Treat missing verified angle-command feedback as a logical timeout under the Python policy. Preserve the command's physical `Dispatched` outcome, exclude it from successful transaction latency and retain its error count until a complete logical success. Native optional-feedback accounting is unchanged.

docs/en/guides/python-behavior-baseline.md

@@ -163,3 +163,9 @@ Global transaction latency records one successful logical operation, including a
 Offline tests cover counter boundaries, logical success/failure, shared-device isolation, force projection and an independent Python percentile comparison over 6144 rolling-window updates. These tests do not establish hardware timing or throughput. O20, Python bindings, hand/arm integration, tactile-stage angle scheduling and remaining identity/reconnect differences remain outside this batch.
 
 Missing verified angle-command feedback preserves physical `Dispatched` status while recording one logical response timeout. It does not add successful transaction latency or advance the last successful transaction timestamp. Repeated missing feedback increments consecutive errors; a subsequent complete logical success clears that counter. This applies with or without an active polling plan. Native optional-feedback behavior is unchanged.
+
+## Dispatch-only L20 compatibility patch (0.3.11)
+
+The explicit Python policy removes Native optional reply decoders, response windows and correlation-key reservations from L20 speed, current-limit and fault-clear writes. Physical dispatch, command receipts, frames and inter-frame gaps are retained. The Native policy and verified angle feedback are unchanged. Python-policy response matching uses Session event order after physical claim, with a timestamp fallback when order metadata is unavailable, rather than queue admission. This prevents a late write reply received while a later read is still queued from completing that read.
+
+Offline regressions cover no replies, idle late/malformed replies, repeated write/read pairs, close/reopen, explicit recovery and independent devices on one Session. No second sender is added. L20 has no wire transaction identifier: a matching late write reply received after read claim cannot be distinguished reliably from the read response. This is also a limitation of the pinned Python implementation; the patch does not claim to remove that protocol ambiguity or establish hardware timing.

docs/en/guides/releases.md

@@ -16,7 +16,7 @@ availability of proprietary ARM64 drivers.
 
 Hand SDK packages contain both hand and paired transport static libraries, headers, CMake packages,
 documentation and read-only command-line examples. Test executables and proprietary drivers/libraries
-are excluded. Versions remain independent. Hand 0.3.10 requires transport 0.3.4 or newer in
+are excluded. Versions remain independent. Hand 0.3.11 requires transport 0.3.4 or newer in
 the 0.3 minor line in source, prebuilt and installed-consumer builds.
 
 

docs/zh/guides/python-behavior-baseline.md

@@ -134,3 +134,9 @@ Python 策略公开健康状态、通道采样年龄和最近错误上下文的
 离线回归覆盖计数边界、逻辑事务成功与失败、共享 Session 的设备隔离、力字段投影，以及 6144 次窗口更新的独立 Python 百分位对照。这些验证不代表硬件时序或吞吐验收。本批不包括 O20、Python 绑定、hand/arm 接入、触觉阶段角度调度以及剩余身份字段和重连差异。
 
 缺少已声明的角度命令反馈时，保留实际发送的 `Dispatched` 状态，同时记录一次逻辑响应超时；不增加成功事务延迟，也不推进最近成功事务时间。连续缺失反馈增加连续错误数，后续完整逻辑成功清零该计数。是否启用轮询不影响这一规则。Native 可选反馈行为保持不变。
+
+## L20 仅发送写入兼容补丁（0.3.11）
+
+显式 Python 策略移除 L20 速度、电流限制和清故障写入继承的 Native 可选回复解码器、回复窗口和读取匹配占用，保留实际发送、命令回执、帧内容和帧间隔。Native 策略及角度反馈保持原有行为。Python 策略优先使用 Session 事件顺序判断回复是否在实际发送认领之后，缺少顺序信息时按时间戳回退，避免后续读取尚在发送队列等待时收到的旧写入回复完成该读取。
+
+离线回归覆盖无回复、空闲期迟到及畸形回复、连续写后读、关闭重开、显式恢复和共享 Session 的设备隔离，不增加第二套发送调度。L20 协议没有事务序号：读取实际开始发送后到达的同类旧回复无法可靠区分，固定版本 Python 实现也有这一限制。本补丁不声称消除了该协议歧义，也不代表完成实机时序验证。

docs/zh/guides/releases.md

@@ -15,7 +15,7 @@ libstdc++ ABI1 和 C++17。Windows 使用原生架构 runner 与 v143 14.44 工
 
 产物是开发 SDK，Hand 包包含 hand 与配套 transport 静态库、头文件、CMake 包和文档，
 保留只读命令行示例；不包含测试程序、厂商驱动或厂商库。
-两个项目版本独立。hand 0.3.10 的源码、预构建及安装消费者均要求 transport 0.3.x 且不低于 0.3.4。
+两个项目版本独立。hand 0.3.11 的源码、预构建及安装消费者均要求 transport 0.3.x 且不低于 0.3.4。
 
 
 配套源码固定提交和预构建下载统一使用 v0.3.4 发行版。transport 公共结构有新增字段，

src/hand/runtime/device_runtime.cpp

@@ -1,5 +1,6 @@
 #include "../detail/checked_optional.hpp"
 #include "../detail/failure_kind.hpp"
+#include "../unified/detail/python_response_boundary.hpp"
 #include "../unified/detail/runtime_access.hpp"
 #include <algorithm>
 #include <cmath>
@@ -1112,8 +1113,18 @@ namespace linkerbot::hand::runtime {
             bool matched = false;
             const auto requests = pending;
             for (const auto &state : requests) {
-                if (!state->plan.consume || input.received_at >= state->deadline ||
-                    input.received_at < state->receipt->result().accepted_at) {
+                if (!state->plan.consume || input.received_at >= state->deadline) {
+                    continue;
+                }
+                if (state->scoped_response_policy) {
+                    const auto send = state->receipt->result();
+                    // Python accepts response frames from physical claim, not
+                    // queue admission. A queued read must not consume an older
+                    // dispatch-only write echo while another batch owns TX.
+                    if (!unified_detail::python_response_after_claim(input, send)) {
+                        continue;
+                    }
+                } else if (input.received_at < state->receipt->result().accepted_at) {
                     continue;
                 }
                 if (state->response || state->buffered_error) {

src/hand/unified/detail/python_response_boundary.hpp

@@ -0,0 +1,14 @@
+#pragma once
+
+#include <linkerbot/transport/session.hpp>
+
+namespace linkerbot::hand::unified_detail {
+    inline bool python_response_after_claim(const transport::RoutedMessage &input, const transport::SendResult &send) {
+        // Session event order is authoritative when both sides provide it.
+        // Timestamp fallback matches the Python runner's legacy transport path.
+        if (input.received_order != 0 && send.claimed_order) {
+            return input.received_order > *send.claimed_order;
+        }
+        return send.claimed_at && input.received_at >= *send.claimed_at;
+    }
+}

src/hand/unified/detail/python_transactions.hpp

@@ -58,6 +58,18 @@ namespace linkerbot::hand::unified_detail {
         if (!plan.consume) {
             return plan;
         }
+        // Python classic multi-axis writes only collect angle feedback. Keep
+        // the physical batch/receipt, but do not reserve a read correlation key
+        // or publish native optional observations for dispatch-only controls.
+        if (config.model == Model::kL20 && plan.optional_response_window && !plan.command_family.empty() &&
+            plan.command_family != "angle") {
+            plan.consume = {};
+            plan.keys.clear();
+            plan.optional_response_window.reset();
+            plan.response_window.reset();
+            plan.supersede_optional_feedback = false;
+            return plan;
+        }
         using namespace std::chrono_literals;
         auto window = 100ms;
         auto guard = 5ms;