[Awesome-Ace22]

What and why

Actuator state was only initialised at startup, so loading, uploading, replacing, patching or reloading a config left actuator_states out of step with the new config. Added RuntimeState.sync_actuators(): actuators that stay keep their stored state (the last command sent to hardware), new ones and ones whose type changed get their initial state, and removed ones are dropped. The config routes now share _publish_config(), which syncs, then broadcasts config_update and actuator_states to clients. Extracted _initial_state() from initialize_all() so both paths use it.

Closes UTATRocketry/Nova-Collected#23

How was this tested?

• 1 Unit / Automated Test - CI
• 2 Simulator Test - testing procedure with the hardware simulators
• 3 Bench Test - testing procedure on the dev stack, with some real hardware
• 4 Integration Test - full engine test procedure, real hardware, no propellants

Added tests/test_actuator_state_sync.py with three cases: switching configs adds, removes and keeps actuators; a type change resets state; and syncing from empty matches initialize_all.

Hardware impact

• None - UI, docs or tooling only
• Changes how a sensor is read, converted or shown
• Changes how an actuator is commanded, or safety rules, interlocks, timeouts or sequencing → add the hardware-risk label; a lead must approve
• Changes a message format, MQTT topic or FAS protocol that another repo depends on → title needs !, link the matching PRs:

It doesn't send any commands. It changes which actuator state the backend holds and shows after a config change, which operators rely on when commanding valves, so I'm treating it as hardware-risk.

Checklist

• Targets dev (or main for a release/hotfix, or with a reason given above)
• Branch is up to date ("Update branch" button)
• No station config/calibrations, data files, secrets, .env files or build output committed
• README/docs updated if behaviour changed (no documented behaviour changed)