Tested on the aircraft. A second ARSDK handshake is accepted and telemetry is
redirected to it; the first session's frames stop while it still reports
connected = True. So the claim inherited from pyparrot's error text, which had
reached our error messages, tool descriptions, simulator behaviour and a test
name, was wrong in the most misleading direction: a refusal would be loud, and
this is silent.
The simulator now models the takeover by default; refusal stays available
because a client must handle a non-zero status anyway.
The transport is threaded and the session puts an async face on it, so
pings and acks are answered whether or not anyone is awaiting a
coroutine. Telemetry is stored per key with a timestamp, because a drone
that has stopped reporting otherwise reads identically to one repeating
itself.
Encoding goes through protocol/codec lazily, so this lands without
waiting for that stream; the sim carries a small encoder of its own for
the events it sends, which also keeps it from agreeing with the client
about a shared mistake.
Ported from bebop-2's sim.py, retargeted at the vendored XML and with
the identity burst now sent per controller attach rather than once per
process.
Ryan Malloy
rsp2k