The two-month review: 92 defects fixed across the sim, the firmware and the CLI (4.36.0)

[1e0ng]

A review of every change since 2026-08-07 (177 commits): 24 review passes over 12 subsystem slices, two verifiers per finding, 92 defects confirmed and fixed, plus 11 regressions a second review of the fixes caught. Every fix ships with a dedicated test that fails on the old code. The CHANGELOG 4.36.0 entry lists everything by area; the headline user-visible changes:

• Hub firmware: DriveBase.reset() on encoder servos raises mid-move and re-zeroes an ICM-45686 heading (the 1.93.0 contract); QTR pin claims last one program; a move armed against faster opposite motion tracks its real profile (signed entry ramp); a short carry segment hands over at the reachable speed; curve(0) after a brake is a move, not a stop; a long-held late start press no longer kills the run; log durations survive the ticks wrap.
• Sim runtime: the reset pose follows adopted wheels; every run ends coasted with the gyro off; stale pending stops, task-motor torque on a wheel slot, then= validation and open-loop Servo.run() fixed; speed changes re-anchor; maps export atomically, check references, keep the user's name, import cleanly, and an unconvertible legacy map no longer hides the others.
• Brick library: stud tubes recorded as studs, phantom pin holes over axle holes, the 24-tooth gear's missing axle hole (bundle rebuilt: 32123, 32269, 32270, 32474, 33299, 3648 only); zip-slip and .. reference refusals; coarser packing for long parts; alias shadowing; the web page refuses out loud.
• Desktop sim: undo carries path and unsaved state; refusal banner, magnet-seat undo points, drag heights; mesh-record/component-cycle/root/cylinder-axis validation; drafts land after the last change and an undo to clean drops them; window title; orbit direction; bad files end the launch; route loading refuses what it cannot place; the run-server reader survives any line; imports wait for a running program; Save changes writes the map shown.
• CLI: servo-id -n runs through the launcher; the upload lock works across accounts; unversioned firmware asks before flashing; pre-1.92.0 hubs are re-probed; clean upload output; bare openbricks sim FILE.
• CI: the rolling latest release publishes on main pushes again (it had skipped since 4.2.0); the versioned release and the PyPI upload now wait for every test job.

Local verification: Rust 225 passed (+ the known stale-extension real-runtime failure, CI rebuilds it), clippy clean; host suite 1030 passed (+ the 9 known stale-extension failures and one CI-only docstring test); C cores ASan/UBSan clean; unix MicroPython and CPython firmware legs green; patch coverage 97% on both sides; offline docs rebuilt.

🤖 Generated with Claude Code

https://claude.ai/code/session_016higr4k4yNohYeKod1f1HY

[codecov]

Codecov Report

❌ Patch coverage is 97.50642% with 68 lines in your changes missing coverage. Please review.
✅ Project coverage is 97.39%. Comparing base (21f744c) to head (870e848).
⚠️ Report is 213 commits behind head on main.

Files with missing lines	Patch %	Lines
tools/sim/src/main.rs	82.66%	13 Missing ⚠️
tools/sim/src/sim.rs	92.40%	12 Missing ⚠️
tools/sim/src/simulate.rs	98.27%	10 Missing ⚠️
tools/sim/src/app.rs	97.42%	8 Missing ⚠️
tools/sim/src/route.rs	97.27%	6 Missing ⚠️
tools/openbricks/openbricks_dev/_uplock.py	81.81%	4 Missing ⚠️
tools/sim/src/fetch.rs	94.28%	4 Missing ⚠️
tools/sim/src/assembly.rs	98.69%	3 Missing ⚠️
tools/openbricks/openbricks_sim/mapfile.py	96.92%	2 Missing ⚠️
tools/sim/src/bundle.rs	97.01%	2 Missing ⚠️
... and 4 more

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #555      +/-   ##
==========================================
+ Coverage   95.72%   97.39%   +1.67%     
==========================================
  Files          50       88      +38     
  Lines        5192    32646   +27454     
==========================================
+ Hits         4970    31796   +26826     
- Misses        222      850     +628     

Flag	Coverage Δ
c-core	97.57% <93.33%> (+2.05%)	⬆️
openbricks-dev	99.55% <92.72%> (+0.53%)	⬆️
openbricks-py	97.03% <100.00%> (+1.28%)	⬆️
openbricks-sim	97.72% <98.74%> (+4.55%)	⬆️
sim-rs	97.14% <97.46%> (?)

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