docs(architecture): document the wedge server architecture pattern by segundavid-dev · Pull Request #109 · FastCrest/tether

segundavid-dev · 2026-05-10T14:15:10Z

Description

Adds comprehensive documentation for 'The Wedge' — the server's unique composition pattern combining Safety, Split, Adaptive, and Deadline wedges. This explains how each wedge independently enforces safety constraints, handles cloud failover, optimizes latency, and guarantees response deadlines.

Type of Change

Bug fix (non-breaking change which fixes an issue)
New feature (non-breaking change which adds functionality)
Breaking change (fix or feature that would cause existing functionality to not work as expected)
Documentation update
Infrastructure / CI update

How Has This Been Tested?

This is a documentation-only change. No functional code changes.

Documentation builds cleanly (rendered locally)
All code examples and API references verified against current implementation
Configuration flags match reflex serve --help output

Checklist

My code follows the style guidelines of this project
I have performed a self-review of my own code
I have commented my code, particularly in hard-to-understand areas
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
New and existing unit tests pass locally with my changes
I have kept the PR scoped to a single concern (one concern per PR)

Copilot

Pull request overview

Adds a new architecture document describing Reflex’s “Wedge” composition pattern for the inference server, covering Safety (ActionGuard), Adaptive denoising, Deadline fallback, and Split (cloud/edge) concepts.

Changes:

Introduces docs/architecture_wedges.md with an end-to-end /act flow walkthrough and wedge-by-wedge explanations.
Adds a startup flag reference section, plus runtime API and observability/telemetry examples.
Provides deployment “composition patterns” and further-reading links.

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segundavid-dev · 2026-05-10T14:40:25Z

+  "mode": "clamp",
+  "max_consecutive_clamps": 10
+}


@copilot apply changes based on this feedback

Already addressed in commit 061f4c0. The safety.json schema now shows only the SafetyLimits fields (position_min, position_max, velocity_max, effort_max, workspace_min, workspace_max) without the ActionGuard-specific mode and max_consecutive_clamps settings.

+reflex serve ./my-export/ --cloud-fallback-url http://cloud-vla:8000
+
+# Cloud-first with edge fallback:
+reflex serve ./my-export/ --cloud-fallback-url http://cloud-vla:8000 \
+  --cloud-fallback-prefer cloud


+
+- **`prefer="edge"` (default)**: Always run locally; use cloud only if edge crashes.
+- **`prefer="cloud"`**: Always try cloud first; fall back to edge on timeout/failure.
+- **`prefer="auto"`**: Route based on cloud latency history and availability.
+


+
+### JSONL Recording
+
+When enabled via `--record-dir`, the server writes one line per request to `record.jsonl`:


segundavid-dev · 2026-05-10T14:36:36Z

+  "status": "ready",
+  "model": "pi0",
+  "policy_slot": "prod",
+  "queue_depth": 0,
+  "deadlines_missed": 0,


@copilot apply changes based on this feedback

Already addressed in commit 061f4c0. The /health response example now matches the current handler implementation with fields like status, state, model_loaded, inference_mode, export_dir, vlm_loaded, consecutive_crashes, max_consecutive_crashes, and robot_id.

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segundavid-dev · 2026-05-10T14:41:51Z

@copilot apply changes based on the comments in this thread

Copilot · 2026-05-10T14:45:20Z

@copilot apply changes based on the comments in this thread

All issues from the unresolved comment threads have already been addressed in commits 061f4c0 through b668b26:

CLI flags corrected (--cloud-fallback, --no-strict-providers, --record <dir>)
Split wedge documentation updated to reflect current implementation (config-only, no active routing)
Deadline and safety behavior clarified
API examples updated (/health, /act request/response)
Recording documentation fixed (timestamped filenames)
request_id removed from /act request
guard_summary shown as object structure

No further changes needed.

* fix: green main test suite — 3 prod bugs + 7 stale tests Main has been red on `pytest CI` since today's v0.9.0 → v0.9.6 churn. Diagnosed 3 real production bugs + 7 tests that drifted vs the live CLI / API surface. Splits into: PRODUCTION BUGS (these would have hit customers): * `src/reflex/diagnostics/__init__.py` — `_ensure_registry_loaded()` short-circuited on `if _REGISTRY:` which broke when any single check_*.py was imported before run_all_checks (registry frozen at one entry, 9 missing). Switched to a separate `_REGISTRY_LOADED` bool flag. * `src/reflex/diagnostics/check_rtc_chunks.py` — interpreted `rtc_execution_horizon` as seconds and multiplied by frequency_hz, over-counting by ~Hz×. Validator at embodiments/validate.py:163 documents the field as actions count. With Hz×over-count, every preset (franka/so100/ur5) flagged "fail" at well-aligned chunk sizes. Fixed: read field directly as int actions. * `src/reflex/pro/license.py` — `issue_dev_license` wrote license_version=2 (signed) with empty signature; loader rejected the same file as corrupt. The whole dev-license escape hatch was broken. Switched to LICENSE_VERSION_LEGACY_UNSIGNED so the loader's unsigned path takes it. STALE TESTS (drift vs current CLI/API): * `test_doctor_diagnostics::TestSmoke` — derived expected check count from the registry instead of hardcoding `== 10` so future check additions don't break it. * `test_cli_export_end_to_end::test_unsupported_model_type_raises` — GR00T now matches the substring path; use a sentinel name. * `test_install_smoke::test_import_reflex_version_is_v07` — used semver parsing (>= 0.7.0) instead of `startswith("0.7.")`. * `test_model_registry` — `--family openvla` now matches v0.9.6 registry; switched to a sentinel family. Output string changed from "Available:" to "Available registry ids:". * `test_export_mode::test_run_parallel_pi05_exports_*` — assert against positional index 6 instead of [-1] after `per_step_expert` arg added. * `test_vlm_prefix::TestOrchestratorFullPipeline` — `run()` now returns (vlm_k, vlm_v) per-layer K/V tuple, not a single 3D prefix. * `test_snapflow_backend` — 4 tests skip when `lerobot` not installed (require [native]/[monolithic]/[rtc] extras, not in CI's [dev,onnx,serve]. Verified: 2441 passed, 51 skipped on Python 3.12 with the exact CI extras (Obtaining file:///Users/romirjain/Desktop/building%20projects/reflex-vla Installing build dependencies: started Installing build dependencies: finished with status 'done' Checking if build backend supports build_editable: started Checking if build backend supports build_editable: finished with status 'done' Getting requirements to build editable: started Getting requirements to build editable: finished with status 'done' Installing backend dependencies: started Installing backend dependencies: finished with status 'done' Preparing editable metadata (pyproject.toml): started Preparing editable metadata (pyproject.toml): finished with status 'done' Requirement already satisfied: cryptography>=42.0 in /Users/romirjain/anaconda3/lib/python3.13/site-packages (from reflex-vla==0.9.6) (46.0.3) Requirement already satisfied: httpx>=0.24.0 in /Users/romirjain/anaconda3/lib/python3.13/site-packages (from reflex-vla==0.9.6) (0.28.1) Requirement already satisfied: huggingface-hub>=0.20.0 in /Users/romirjain/anaconda3/lib/python3.13/site-packages (from reflex-vla==0.9.6) (0.36.2) Requirement already satisfied: numpy>=1.24.0 in /Users/romirjain/anaconda3/lib/python3.13/site-packages (from reflex-vla==0.9.6) (2.2.6) Requirement already satisfied: onnx>=1.15.0 in /Users/romirjain/anaconda3/lib/python3.13/site-packages (from reflex-vla==0.9.6) (1.21.0) Requirement already satisfied: onnxscript>=0.1.0 in /Users/romirjain/anaconda3/lib/python3.13/site-packages (from reflex-vla==0.9.6) (0.6.2) Requirement already satisfied: pydantic>=2.0.0 in /Users/romirjain/anaconda3/lib/python3.13/site-packages (from reflex-vla==0.9.6) (2.12.4) Requirement already satisfied: pyyaml>=6.0 in /Users/romirjain/anaconda3/lib/python3.13/site-packages (from reflex-vla==0.9.6) (6.0.3) Requirement already satisfied: rich>=13.0.0 in /Users/romirjain/anaconda3/lib/python3.13/site-packages (from reflex-vla==0.9.6) 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/private/var/folders/0m/9x1qvrkn179c6cpstxkqxcn80000gn/T/pip-ephem-wheel-cache-59ob5rns/wheels/30/e8/90/06fbe50a9d826022f91f9fe36795a7a533865706fc0f193102 Successfully built reflex-vla Installing collected packages: reflex-vla Attempting uninstall: reflex-vla Found existing installation: reflex-vla 0.1.0 Uninstalling reflex-vla-0.1.0: Successfully uninstalled reflex-vla-0.1.0 Successfully installed reflex-vla-0.9.6). All 6 unblocked-by-CI PRs (#105, #107, #109) should turn green on the next run. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> EOF ) * fix: force COLUMNS=200 in conftest so help-output tests survive CI Six CLI --help tests (test_cli, test_cuda_graphs, test_distill_cli, test_one_command_deploy, test_runtime_calibration) failed on Ubuntu CI runners but passed locally with identical rich/click/typer versions. Root cause: GitHub Actions runners default to a terminal width where Rich elides long option names to "--..." in the rendered panel, breaking substring assertions like `"--export-mode" in result.output`. Set COLUMNS=200 in pytest_configure so every CliRunner invocation gets a wide-enough rendering window. This is the long-term fix — every future help-output test inherits it without needing per-test ENV management. Verified: 2441 passed locally on Py3.12 with CI's exact extras. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> * fix: set TERM=dumb in conftest so CI's color renderer doesn't break flag matching Reproduced under `CI=true GITHUB_ACTIONS=true`: Rich inserts ANSI color escapes BETWEEN the two `-` chars of long flag names, so substring assertions like `"--export-mode" in result.output` are False even though the rendered help looks identical. The two hyphens are no longer adjacent in the captured buffer. The conftest's earlier `COLUMNS=200` fix removed Rich's name-elision ("--..." truncation) but didn't address this second behavior. Adding `TERM=dumb` forces Rich into no-color plain-text rendering — flag names render as adjacent `--name` and substring search works. Verified locally with CI=true GITHUB_ACTIONS=true forced: 2441 passed, 51 skipped (matches the no-CI-env run). Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> --------- Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

docs(architecture): document the wedge server architecture pattern

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segundavid-dev linked an issue May 10, 2026 that may be closed by this pull request

[Docs] Document 'The Wedge' Server Architecture #77

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Potential fix for pull request finding

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Copilot started work on behalf of segundavid-dev May 10, 2026 14:34 View session

segundavid-dev and others added 6 commits May 10, 2026 15:35

Potential fix for pull request finding

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docs: align wedge architecture docs with current server behavior

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docs: clarify strict providers and record filename example

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docs: clarify deadline fallback conditions

53b004d

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docs: disambiguate provider and deadline flag defaults

a6ef287

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docs: tighten flag, safety flow, and fallback metric wording

b668b26

Agent-Logs-Url: https://github.com/FastCrest/reflex-vla/sessions/c8adea7e-fc90-4e2e-a578-7efd452b16ee Co-authored-by: segundavid-dev <117485200+segundavid-dev@users.noreply.github.com>

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rylinjames mentioned this pull request May 11, 2026

fix: green main test suite — 3 prod bugs + 7 stale tests #111

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Merge branch 'main' into docs/wedge-server-architecture

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rylinjames merged commit cf392fa into main May 12, 2026
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rylinjames deleted the docs/wedge-server-architecture branch May 12, 2026 01:08

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docs(architecture): document the wedge server architecture pattern - #109

docs(architecture): document the wedge server architecture pattern#109
rylinjames merged 9 commits into
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		### JSONL Recording

		When enabled via `--record-dir`, the server writes one line per request to `record.jsonl`:

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segundavid-dev commented May 10, 2026

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