feat(simulation): qualify real S1B provider lifecycle

simulation/s1/stock-rover-lifecycle.yaml

@@ -0,0 +1,19 @@
+schema_version: missioncore.stock-rover-lifecycle/v1
+profile_id: s1b-stock-rover-lifecycle-v1
+speed_factor: 1
+dwell_seconds: 5
+
+authority:
+  simulation_or_shadow_only: true
+  actuator_authority: false
+  navigation_or_safety_accepted: false
+  direct_actuator_setpoints_allowed: false
+
+agent_ready_log_patterns:
+  - running...
+
+px4_ready_log_patterns:
+  - 'world: rover, model: rover_ackermann_0'
+  - Startup script returned successfully
+  - successfully created rt/fmu/out/vehicle_status_v1 data writer
+  - Running, connected

simulation/s1/stock_rover_lifecycle.py

@@ -0,0 +1,347 @@
+from __future__ import annotations
+
+import argparse
+import hashlib
+import os
+import re
+import shutil
+import sys
+import time
+from datetime import UTC, datetime
+from pathlib import Path
+
+from k1link.artifacts import write_json_atomic
+from k1link.simulation import (
+    AuthorityProfile,
+    LocalProcessWorkerAdapter,
+    PosixProcessSupervisor,
+    ProviderPin,
+    QualificationRun,
+    QualificationRunStore,
+    ReproducibilityTier,
+    RunKind,
+    RunState,
+    S0WorkerGuard,
+    SimulationApplicationService,
+    StockRoverTargetPaths,
+    load_stock_rover_lifecycle_profile,
+    stock_rover_process_environment,
+    stock_rover_process_specs,
+)
+from k1link.simulation.s0 import ComponentPin, S0Profile
+from k1link.simulation.worker import SimulationWorldControl
+
+EXPECTED_DISTRO = "MissionCore-Sim"
+COMMIT_PATTERN = re.compile(r"^[a-f0-9]{40}$")
+PROVIDER_IDS = (
+    "px4-autopilot",
+    "gazebo",
+    "px4-gazebo-models",
+    "micro-xrce-dds-agent",
+)
+
+
+class _LifecycleOnlyWorldControl(SimulationWorldControl):
+    def pause(self, run_id: str) -> None:
+        raise RuntimeError(f"world pause is not admitted by S1B lifecycle run {run_id}")
+
+    def resume(self, run_id: str) -> None:
+        raise RuntimeError(f"world resume is not admitted by S1B lifecycle run {run_id}")
+
+    def step(self, run_id: str, step_count: int) -> int:
+        raise RuntimeError(f"world step is not admitted by S1B lifecycle run {run_id}:{step_count}")
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(
+        description="Run the accepted PX4/Gazebo stock rover under Mission Core S1B ownership."
+    )
+    parser.add_argument("--run-id", required=True)
+    parser.add_argument("--mission-core-commit", required=True)
+    parser.add_argument("--lifecycle-profile", type=Path, required=True)
+    parser.add_argument(
+        "--s0-profile",
+        type=Path,
+        default=Path("/mnt/d/NDC_MISSIONCORE/simulation/source/qualification-profile.yaml"),
+    )
+    parser.add_argument(
+        "--d-root",
+        type=Path,
+        default=Path("/mnt/d/NDC_MISSIONCORE/simulation"),
+    )
+    args = parser.parse_args()
+
+    if not COMMIT_PATTERN.fullmatch(args.mission_core_commit):
+        parser.error("--mission-core-commit must be an exact 40-character Git revision")
+    if os.geteuid() == 0:
+        parser.error("the lifecycle harness must run as the unprivileged missioncore user")
+    if os.environ.get("WSL_DISTRO_NAME") != EXPECTED_DISTRO:
+        parser.error(f"the lifecycle harness requires WSL distribution {EXPECTED_DISTRO}")
+
+    paths = StockRoverTargetPaths.from_d_root(args.d_root)
+    lifecycle_profile_path = args.lifecycle_profile.expanduser().resolve()
+    s0_profile_path = args.s0_profile.expanduser().resolve()
+    lifecycle_profile = load_stock_rover_lifecycle_profile(lifecycle_profile_path)
+    guard = S0WorkerGuard(s0_profile_path)
+    _preflight(paths, guard.profile)
+
+    artifact_runs_root = paths.d_root / "artifacts/s1/runs"
+    runtime_runs_root = paths.d_root / "runtime/s1/runs"
+    evidence_root = paths.d_root / "artifacts/s1/lifecycle" / args.run_id
+    evidence_root.mkdir(mode=0o700, parents=True, exist_ok=False)
+
+    interface_names = _loopback_only_interfaces()
+    write_json_atomic(
+        evidence_root / "network.json",
+        {
+            "schema_version": "missioncore.s1b-network-evidence/v1",
+            "run_id": args.run_id,
+            "namespace": "product-owned-unshare-net",
+            "interfaces": list(interface_names),
+            "loopback_only": interface_names == ("lo",),
+        },
+    )
+
+    run = QualificationRun(
+        run_id=args.run_id,
+        episode_id=f"episode-{args.run_id}",
+        kind=RunKind.SIMULATION_CLOSED_LOOP,
+        state=RunState.ADMITTED,
+        scenario_generation="px4-v1.17.0-stock-rover-ackermann",
+        scenario_sha256=_sha256(paths.scenario_path),
+        profile_generation=lifecycle_profile.profile_id,
+        profile_sha256=_sha256(lifecycle_profile_path),
+        mission_core_commit=args.mission_core_commit,
+        providers=_provider_pins(guard.profile),
+        host_profile_id=guard.profile.profile_id,
+        host_profile_sha256=guard.profile_sha256,
+        seed=42,
+        reproducibility_tier=ReproducibilityTier.R1,
+        authority=AuthorityProfile(
+            generation=1,
+            command_ttl_max_ns=250_000_000,
+            heartbeat_timeout_monotonic_ns=500_000_000,
+        ),
+        clock_domain="gazebo:/clock",
+        created_at_utc=_utc_now(),
+    )
+    store = QualificationRunStore(artifact_runs_root)
+    store.create(run)
+    supervisor = PosixProcessSupervisor(
+        runtime_runs_root,
+        base_environment=stock_rover_process_environment(paths),
+    )
+    adapter = LocalProcessWorkerAdapter(
+        guard,
+        supervisor,
+        stock_rover_process_specs(paths, lifecycle_profile),
+        _LifecycleOnlyWorldControl(),
+    )
+    service = SimulationApplicationService(store, adapter)
+
+    verdict = "fail"
+    detail = "lifecycle did not start"
+    observed_provider_ids: tuple[str, ...] = ()
+    try:
+        running = service.start(
+            run.run_id,
+            idempotency_key=f"{run.run_id}:start",
+            observed_at_utc=_utc_now(),
+            host_monotonic_ns=time.monotonic_ns(),
+        )
+        if running.state is not RunState.RUNNING:
+            raise RuntimeError(
+                f"Mission Core did not admit provider readiness: {running.state.value}"
+            )
+        observed_provider_ids = tuple(record.process_id for record in supervisor.snapshot())
+        time.sleep(lifecycle_profile.dwell_seconds)
+        supervisor.snapshot()
+        terminal = service.stop(
+            run.run_id,
+            idempotency_key=f"{run.run_id}:stop",
+            observed_at_utc=_utc_now(),
+            host_monotonic_ns=time.monotonic_ns(),
+            sim_time_ns=None,
+        )
+        if terminal.state is not RunState.COMPLETED:
+            raise RuntimeError(
+                f"Mission Core provider shutdown was not clean: {terminal.state.value}"
+            )
+        residue = _provider_residue()
+        if supervisor.residue() or residue:
+            raise RuntimeError("provider process residue remained after Mission Core stop")
+        if store.list_commands(run.run_id):
+            raise RuntimeError("S1B lifecycle unexpectedly contains control commands")
+        verdict = "pass"
+        detail = "real stock-rover providers reached declared readiness and stopped cleanly"
+    except BaseException as exc:
+        detail = f"{type(exc).__name__}: {exc}"
+        _abort_active_run(service, store, run.run_id)
+        supervisor.stop()
+    finally:
+        terminal_run = store.load(run.run_id)
+        residue = _provider_residue()
+        _capture_directory(
+            artifact_runs_root / run.run_id,
+            evidence_root / "qualification-run",
+        )
+        runtime_run_root = runtime_runs_root / run.run_id
+        if runtime_run_root.is_dir():
+            _capture_directory(runtime_run_root, evidence_root / "provider-runtime")
+        write_json_atomic(
+            evidence_root / "result.json",
+            {
+                "schema_version": "missioncore.s1b-stock-rover-result/v1",
+                "verdict": verdict,
+                "detail": detail,
+                "run_id": run.run_id,
+                "run_state": terminal_run.state.value,
+                "terminal_reason": terminal_run.terminal_reason,
+                "mission_core_commit": run.mission_core_commit,
+                "host_profile_id": run.host_profile_id,
+                "host_profile_sha256": run.host_profile_sha256,
+                "lifecycle_profile_id": lifecycle_profile.profile_id,
+                "lifecycle_profile_sha256": run.profile_sha256,
+                "scenario_sha256": run.scenario_sha256,
+                "provider_ids": list(observed_provider_ids),
+                "event_count": len(store.list_events(run.run_id)),
+                "command_count": len(store.list_commands(run.run_id)),
+                "process_residue": list(residue),
+                "network_interfaces": list(interface_names),
+                "network_scope": "loopback-only-netns",
+                "actuator_authority": False,
+                "direct_actuator_setpoints_allowed": False,
+                "finished_at_utc": _utc_now(),
+            },
+        )
+        _write_digest_index(evidence_root)
+
+    print(f"verdict={verdict}")
+    print(f"evidence_root={evidence_root}")
+    return 0 if verdict == "pass" else 1
+
+
+def _preflight(paths: StockRoverTargetPaths, profile: S0Profile) -> None:
+    required = (
+        paths.px4_root,
+        paths.agent_binary,
+        paths.scenario_path,
+    )
+    missing = tuple(str(path) for path in required if not path.exists())
+    if missing:
+        raise RuntimeError(f"S1B target input is missing: {', '.join(missing)}")
+    free_bytes = shutil.disk_usage(paths.d_root).free
+    stop_floor_bytes = profile.storage.stop_below_gib * 1024**3
+    if free_bytes < stop_floor_bytes:
+        raise RuntimeError("D free space is below the accepted S0 stop floor")
+    if not all(component.qualification_state == "accepted" for component in profile.components):
+        raise RuntimeError("an S0 provider generation is no longer accepted")
+
+
+def _loopback_only_interfaces() -> tuple[str, ...]:
+    interfaces = tuple(sorted(path.name for path in Path("/sys/class/net").iterdir()))
+    if interfaces != ("lo",):
+        raise RuntimeError(f"S1B must run in a loopback-only namespace; observed {interfaces}")
+    return interfaces
+
+
+def _provider_pins(profile: S0Profile) -> tuple[ProviderPin, ...]:
+    components = {component.identifier: component for component in profile.components}
+    missing = tuple(identifier for identifier in PROVIDER_IDS if identifier not in components)
+    if missing:
+        raise RuntimeError(f"S0 profile is missing provider pins: {', '.join(missing)}")
+    return tuple(_provider_pin(components[identifier]) for identifier in PROVIDER_IDS)
+
+
+def _provider_pin(component: ComponentPin) -> ProviderPin:
+    version = component.resolved_version or component.requested_ref
+    revision = component.resolved_commit or version
+    return ProviderPin(
+        identifier=component.identifier,
+        version=version,
+        revision=revision,
+    )
+
+
+def _abort_active_run(
+    service: SimulationApplicationService,
+    store: QualificationRunStore,
+    run_id: str,
+) -> None:
+    current = store.load(run_id)
+    if current.state not in {RunState.RUNNING, RunState.PAUSED, RunState.STOPPING}:
+        return
+    try:
+        service.stop(
+            run_id,
+            idempotency_key=f"{run_id}:harness-abort",
+            observed_at_utc=_utc_now(),
+            host_monotonic_ns=time.monotonic_ns(),
+            sim_time_ns=None,
+            terminal_state=RunState.ABORTED,
+            reason="target-harness-failure",
+        )
+    except Exception:
+        return
+
+
+def _provider_residue() -> tuple[str, ...]:
+    tokens = (
+        "MicroXRCEAgent",
+        "/build/px4_sitl_default/bin/px4",
+        "gz sim",
+        "rover.sdf",
+    )
+    residue: list[str] = []
+    for process_dir in Path("/proc").iterdir():
+        if not process_dir.name.isdigit() or int(process_dir.name) == os.getpid():
+            continue
+        try:
+            command = (process_dir / "cmdline").read_bytes().replace(b"\x00", b" ").decode()
+        except (FileNotFoundError, PermissionError, UnicodeDecodeError):
+            continue
+        if command and any(token in command for token in tokens):
+            residue.append(f"{process_dir.name}:{command.strip()}")
+    return tuple(sorted(residue))
+
+
+def _capture_directory(source: Path, destination: Path) -> None:
+    if destination.exists():
+        raise RuntimeError(f"evidence destination already exists: {destination}")
+    shutil.copytree(source, destination)
+
+
+def _write_digest_index(evidence_root: Path) -> None:
+    records = []
+    for path in sorted(evidence_root.rglob("*")):
+        if path.is_file() and path.name != "sha256-index.json":
+            records.append(
+                {
+                    "path": path.relative_to(evidence_root).as_posix(),
+                    "sha256": _sha256(path),
+                    "bytes": path.stat().st_size,
+                }
+            )
+    write_json_atomic(
+        evidence_root / "sha256-index.json",
+        {
+            "schema_version": "missioncore.evidence-digest-index/v1",
+            "files": records,
+        },
+    )
+
+
+def _sha256(path: Path) -> str:
+    digest = hashlib.sha256()
+    with path.open("rb") as stream:
+        while chunk := stream.read(1024 * 1024):
+            digest.update(chunk)
+    return digest.hexdigest()
+
+
+def _utc_now() -> str:
+    return datetime.now(UTC).isoformat(timespec="milliseconds").replace("+00:00", "Z")
+
+
+if __name__ == "__main__":
+    sys.exit(main())

simulation/s1/worker-stock-rover-lifecycle.sh

@@ -0,0 +1,53 @@
+#!/usr/bin/env bash
+#
+# Enter a fresh loopback-only namespace and execute the S1B stock-rover
+# lifecycle as the unprivileged missioncore worker identity.
+
+set -Eeuo pipefail
+
+readonly EXPECTED_DISTRO="MissionCore-Sim"
+readonly D_ROOT="/mnt/d/NDC_MISSIONCORE/simulation"
+readonly SOURCE_ROOT="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/../.." && pwd -P)"
+readonly RUN_ID="${1:-}"
+readonly MISSION_CORE_COMMIT="${2:-}"
+
+if [[ -z "${RUN_ID}" || -z "${MISSION_CORE_COMMIT}" ]]; then
+    echo "usage: $0 <run-id> <exact-40-character-mission-core-commit>" >&2
+    exit 2
+fi
+if [[ "${SOURCE_ROOT}" != "${D_ROOT}/source/"* ]]; then
+    echo "error: S1B source generation must be staged below the reviewed D root" >&2
+    exit 2
+fi
+if ! [[ "${MISSION_CORE_COMMIT}" =~ ^[a-f0-9]{40}$ ]]; then
+    echo "error: Mission Core commit must contain exactly 40 lowercase hex characters" >&2
+    exit 2
+fi
+
+if [[ "${MISSIONCORE_S1_NETNS:-0}" != "1" ]]; then
+    if [[ "${EUID}" -ne 0 ]]; then
+        echo "error: initial S1B invocation must run as root to create the network namespace" >&2
+        exit 2
+    fi
+    if [[ "${WSL_DISTRO_NAME:-}" != "${EXPECTED_DISTRO}" ]]; then
+        echo "error: expected WSL distro ${EXPECTED_DISTRO}" >&2
+        exit 2
+    fi
+    exec unshare --net -- bash -c '
+        set -e
+        ip link set lo up
+        exec runuser -u missioncore -- env MISSIONCORE_S1_NETNS=1 "$@"
+    ' bash "$0" "$@"
+fi
+
+if [[ "${EUID}" -eq 0 || "${WSL_DISTRO_NAME:-}" != "${EXPECTED_DISTRO}" ]]; then
+    echo "error: S1B inner lifecycle escaped the reviewed worker identity" >&2
+    exit 2
+fi
+
+exec env \
+    PYTHONPATH="${SOURCE_ROOT}/src" \
+    python3 "${SOURCE_ROOT}/simulation/s1/stock_rover_lifecycle.py" \
+    --run-id "${RUN_ID}" \
+    --mission-core-commit "${MISSION_CORE_COMMIT}" \
+    --lifecycle-profile "${SOURCE_ROOT}/simulation/s1/stock-rover-lifecycle.yaml"

src/k1link/simulation/__init__.py

@@ -49,6 +49,15 @@ from k1link.simulation.s0 import (
     load_s0_profile,
     run_s0_doctor,
 )
+from k1link.simulation.stock_rover import (
+    LIFECYCLE_PROFILE_SCHEMA,
+    StockRoverLifecycleProfile,
+    StockRoverProfileError,
+    StockRoverTargetPaths,
+    load_stock_rover_lifecycle_profile,
+    stock_rover_process_environment,
+    stock_rover_process_specs,
+)
 from k1link.simulation.worker import (
     LocalProcessWorkerAdapter,
     S0WorkerGuard,
@@ -68,6 +77,7 @@ __all__ = [
     "DifferentialControlSetpoint",
     "DoctorVerdict",
     "LocalProcessWorkerAdapter",
+    "LIFECYCLE_PROFILE_SCHEMA",
     "OwnedProcess",
     "PosixProcessSupervisor",
     "ProcessSpec",
@@ -91,6 +101,9 @@ __all__ = [
     "S0DoctorReport",
     "S0Profile",
     "S0ProfileError",
+    "StockRoverLifecycleProfile",
+    "StockRoverProfileError",
+    "StockRoverTargetPaths",
     "SimulationContractError",
     "SimulationApplicationService",
     "SimulationOrchestratorError",
@@ -101,5 +114,8 @@ __all__ = [
     "WorkerStartResult",
     "WorkerStopResult",
     "load_s0_profile",
+    "load_stock_rover_lifecycle_profile",
     "run_s0_doctor",
+    "stock_rover_process_environment",
+    "stock_rover_process_specs",
 ]

src/k1link/simulation/process_supervisor.py

@@ -27,6 +27,9 @@ class ProcessSpec:
     shutdown_order: int
     environment: tuple[tuple[str, str], ...] = ()
     startup_grace_seconds: float = 0.05
+    ready_log_patterns: tuple[str, ...] = ()
+    health_timeout_seconds: float = 0.0
+    health_poll_interval_seconds: float = 0.05
     interrupt_timeout_seconds: float = 2.0
     terminate_timeout_seconds: float = 1.0
 
@@ -39,10 +42,18 @@ class ProcessSpec:
             raise ValueError("process order must not be negative")
         if (
             self.startup_grace_seconds < 0
+            or self.health_timeout_seconds < 0
+            or self.health_poll_interval_seconds <= 0
             or self.interrupt_timeout_seconds < 0
             or self.terminate_timeout_seconds < 0
         ):
             raise ValueError("process timeouts must not be negative")
+        if any(not pattern or "\x00" in pattern for pattern in self.ready_log_patterns):
+            raise ValueError("ready log patterns must be nonempty and NUL-free")
+        if len(self.ready_log_patterns) != len(set(self.ready_log_patterns)):
+            raise ValueError("ready log patterns must be unique")
+        if self.ready_log_patterns and self.health_timeout_seconds <= 0:
+            raise ValueError("ready log patterns require a positive health timeout")
         keys = [key for key, _ in self.environment]
         if len(keys) != len(set(keys)) or any(
             not key or "=" in key or "\x00" in key or "\x00" in value
@@ -221,17 +232,73 @@ class PosixProcessSupervisor:
                 close_fds=True,
             )
         self._processes[spec.process_id] = (spec, process)
-        if spec.startup_grace_seconds:
+        return_code = process.poll()
+        if return_code is not None:
+            phase = "before readiness" if spec.ready_log_patterns else "during startup"
+            raise ProcessSupervisorError(
+                f"provider {spec.process_id} exited {phase} with {return_code}"
+            )
+        try:
+            process_group_id = os.getpgid(process.pid)
+        except ProcessLookupError as exc:
+            return_code = process.poll()
+            phase = "before readiness" if spec.ready_log_patterns else "during startup"
+            raise ProcessSupervisorError(
+                f"provider {spec.process_id} exited {phase} with {return_code}"
+            ) from exc
+        if process_group_id != process.pid:
+            raise ProcessSupervisorError(
+                f"provider {spec.process_id} did not acquire a dedicated process group"
+            )
+        if spec.ready_log_patterns:
+            self._wait_until_ready(
+                process,
+                spec,
+                stdout_path=stdout_path,
+                stderr_path=stderr_path,
+            )
+        elif spec.startup_grace_seconds:
             time.sleep(spec.startup_grace_seconds)
         return_code = process.poll()
         if return_code is not None:
             raise ProcessSupervisorError(
                 f"provider {spec.process_id} exited during startup with {return_code}"
             )
-        if os.getpgid(process.pid) != process.pid:
-            raise ProcessSupervisorError(
-                f"provider {spec.process_id} did not acquire a dedicated process group"
-            )
+
+    def _wait_until_ready(
+        self,
+        process: subprocess.Popen[bytes],
+        spec: ProcessSpec,
+        *,
+        stdout_path: Path,
+        stderr_path: Path,
+    ) -> None:
+        pending = {pattern: pattern.encode("utf-8") for pattern in spec.ready_log_patterns}
+        deadline = time.monotonic() + spec.health_timeout_seconds
+        while pending:
+            return_code = process.poll()
+            if return_code is not None:
+                raise ProcessSupervisorError(
+                    f"provider {spec.process_id} exited before readiness with {return_code}; "
+                    f"missing markers: {', '.join(pending)}"
+                )
+            for path in (stdout_path, stderr_path):
+                content = path.read_bytes()
+                pending = {
+                    pattern: encoded
+                    for pattern, encoded in pending.items()
+                    if encoded not in content
+                }
+                if not pending:
+                    return
+            remaining = deadline - time.monotonic()
+            if remaining <= 0:
+                raise ProcessSupervisorError(
+                    f"provider {spec.process_id} did not reach readiness within "
+                    f"{spec.health_timeout_seconds:g} seconds; "
+                    f"missing markers: {', '.join(pending)}"
+                )
+            time.sleep(min(spec.health_poll_interval_seconds, remaining))
 
     def _stop_group(
         self,
@@ -266,7 +333,8 @@ class PosixProcessSupervisor:
             while time.monotonic() < deadline:
                 if process.poll() is not None:
                     process.wait(timeout=0)
-                    return not group_signal_supported or not _group_exists(pgid)
+                    if not group_signal_supported or not _group_exists(pgid):
+                        return True
                 time.sleep(0.01)
         return process.poll() is not None and (
             not group_signal_supported or not _group_exists(pgid)

src/k1link/simulation/stock_rover.py

@@ -0,0 +1,190 @@
+from __future__ import annotations
+
+import os
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Final
+
+import yaml
+
+from k1link.simulation.process_supervisor import ProcessSpec
+
+LIFECYCLE_PROFILE_SCHEMA: Final = "missioncore.stock-rover-lifecycle/v1"
+EXPECTED_D_ROOT: Final = Path("/mnt/d/NDC_MISSIONCORE/simulation")
+
+
+class StockRoverProfileError(ValueError):
+    """The reviewed stock-rover lifecycle profile is unsafe or incomplete."""
+
+
+@dataclass(frozen=True, slots=True)
+class StockRoverLifecycleProfile:
+    profile_id: str
+    speed_factor: int
+    dwell_seconds: float
+    agent_ready_log_patterns: tuple[str, ...]
+    px4_ready_log_patterns: tuple[str, ...]
+
+
+@dataclass(frozen=True, slots=True)
+class StockRoverTargetPaths:
+    d_root: Path
+    px4_root: Path
+    agent_prefix: Path
+    process_home: Path
+    xdg_cache_home: Path
+
+    @classmethod
+    def from_d_root(cls, d_root: Path) -> StockRoverTargetPaths:
+        root = d_root.expanduser().resolve()
+        if root != EXPECTED_D_ROOT:
+            raise StockRoverProfileError(
+                f"stock-rover lifecycle requires exact D root {EXPECTED_D_ROOT}"
+            )
+        return cls(
+            d_root=root,
+            px4_root=root / "source/PX4-Autopilot",
+            agent_prefix=root / "runtime/micro-xrce-dds-agent/2.4.3",
+            process_home=root / "runtime/s1/home",
+            xdg_cache_home=root / "cache/s1/xdg",
+        )
+
+    @property
+    def agent_binary(self) -> Path:
+        return self.agent_prefix / "bin/MicroXRCEAgent"
+
+    @property
+    def scenario_path(self) -> Path:
+        return self.px4_root / "Tools/simulation/gz/worlds/rover.sdf"
+
+
+def load_stock_rover_lifecycle_profile(path: Path) -> StockRoverLifecycleProfile:
+    try:
+        document = yaml.safe_load(path.read_text(encoding="utf-8"))
+    except (OSError, UnicodeDecodeError, yaml.YAMLError) as exc:
+        raise StockRoverProfileError("stock-rover profile is not valid UTF-8 YAML") from exc
+    if not isinstance(document, dict) or any(not isinstance(key, str) for key in document):
+        raise StockRoverProfileError("stock-rover profile must be a YAML mapping")
+    expected_keys = {
+        "schema_version",
+        "profile_id",
+        "speed_factor",
+        "dwell_seconds",
+        "authority",
+        "agent_ready_log_patterns",
+        "px4_ready_log_patterns",
+    }
+    if set(document) != expected_keys:
+        raise StockRoverProfileError("stock-rover profile keys do not match the v1 schema")
+    if document["schema_version"] != LIFECYCLE_PROFILE_SCHEMA:
+        raise StockRoverProfileError("stock-rover profile schema is incompatible")
+    authority = document["authority"]
+    if authority != {
+        "simulation_or_shadow_only": True,
+        "actuator_authority": False,
+        "navigation_or_safety_accepted": False,
+        "direct_actuator_setpoints_allowed": False,
+    }:
+        raise StockRoverProfileError("stock-rover lifecycle cannot grant actuator authority")
+    profile_id = document["profile_id"]
+    speed_factor = document["speed_factor"]
+    dwell_seconds = document["dwell_seconds"]
+    if not isinstance(profile_id, str) or not profile_id:
+        raise StockRoverProfileError("stock-rover profile id must be nonempty")
+    if speed_factor != 1:
+        raise StockRoverProfileError("S1B lifecycle admits only speed factor 1")
+    if not isinstance(dwell_seconds, int | float) or isinstance(dwell_seconds, bool):
+        raise StockRoverProfileError("stock-rover dwell must be numeric")
+    if not 1 <= float(dwell_seconds) <= 30:
+        raise StockRoverProfileError("stock-rover dwell must be between 1 and 30 seconds")
+    return StockRoverLifecycleProfile(
+        profile_id=profile_id,
+        speed_factor=speed_factor,
+        dwell_seconds=float(dwell_seconds),
+        agent_ready_log_patterns=_patterns(
+            document["agent_ready_log_patterns"],
+            "agent",
+        ),
+        px4_ready_log_patterns=_patterns(
+            document["px4_ready_log_patterns"],
+            "PX4",
+        ),
+    )
+
+
+def stock_rover_process_environment(
+    paths: StockRoverTargetPaths,
+) -> dict[str, str]:
+    paths.process_home.mkdir(mode=0o700, parents=True, exist_ok=True)
+    paths.xdg_cache_home.mkdir(mode=0o700, parents=True, exist_ok=True)
+    return {
+        "HOME": str(paths.process_home),
+        "LANG": os.environ.get("LANG", "C.UTF-8"),
+        "LOGNAME": "missioncore",
+        "PATH": "/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin",
+        "USER": "missioncore",
+        "XDG_CACHE_HOME": str(paths.xdg_cache_home),
+    }
+
+
+def stock_rover_process_specs(
+    paths: StockRoverTargetPaths,
+    profile: StockRoverLifecycleProfile,
+) -> tuple[ProcessSpec, ...]:
+    return (
+        ProcessSpec(
+            process_id="micro-xrce-dds-agent",
+            argv=(
+                str(paths.agent_binary),
+                "udp4",
+                "-p",
+                "8888",
+                "-v",
+                "4",
+            ),
+            start_order=10,
+            shutdown_order=30,
+            environment=(("LD_LIBRARY_PATH", str(paths.agent_prefix / "lib")),),
+            startup_grace_seconds=0,
+            ready_log_patterns=profile.agent_ready_log_patterns,
+            health_timeout_seconds=15,
+            health_poll_interval_seconds=0.1,
+            interrupt_timeout_seconds=3,
+            terminate_timeout_seconds=2,
+        ),
+        ProcessSpec(
+            process_id="px4-gazebo-stock-rover",
+            argv=(
+                "/usr/bin/make",
+                "-C",
+                str(paths.px4_root),
+                "px4_sitl",
+                "gz_rover_ackermann",
+            ),
+            start_order=20,
+            shutdown_order=40,
+            environment=(
+                ("HEADLESS", "1"),
+                ("PX4_SIM_SPEED_FACTOR", str(profile.speed_factor)),
+            ),
+            startup_grace_seconds=0,
+            ready_log_patterns=profile.px4_ready_log_patterns,
+            health_timeout_seconds=120,
+            health_poll_interval_seconds=0.25,
+            interrupt_timeout_seconds=10,
+            terminate_timeout_seconds=5,
+        ),
+    )
+
+
+def _patterns(value: object, label: str) -> tuple[str, ...]:
+    if (
+        not isinstance(value, list)
+        or not value
+        or any(not isinstance(item, str) or not item or "\x00" in item for item in value)
+    ):
+        raise StockRoverProfileError(f"{label} ready patterns must be nonempty strings")
+    patterns = tuple(value)
+    if len(patterns) != len(set(patterns)):
+        raise StockRoverProfileError(f"{label} ready patterns must be unique")
+    return patterns

tests/test_simulation_s1_orchestrator.py

@@ -22,12 +22,16 @@ from k1link.simulation import (
     RunState,
     S0WorkerGuard,
     SimulationApplicationService,
+    StockRoverTargetPaths,
     WorkerAdmissionError,
     WorkerStartResult,
     WorkerStopResult,
+    load_stock_rover_lifecycle_profile,
+    stock_rover_process_specs,
 )
 
 PROFILE = Path(__file__).resolve().parents[1] / "simulation/s0/qualification-profile.yaml"
+S1B_PROFILE = Path(__file__).resolve().parents[1] / "simulation/s1/stock-rover-lifecycle.yaml"
 SHA_A = "a" * 64
 SHA_B = "b" * 64
 
@@ -336,6 +340,116 @@ def test_process_supervisor_rolls_back_partial_start(tmp_path: Path) -> None:
     assert supervisor.residue() == ()
 
 
+@pytest.mark.skipif(os.name != "posix", reason="target supervisor is POSIX-only")
+def test_process_supervisor_waits_for_all_declared_ready_markers(tmp_path: Path) -> None:
+    child = (
+        "import signal,time;"
+        "signal.signal(signal.SIGINT,lambda *_:exit(0));"
+        "print('provider booting',flush=True);"
+        "time.sleep(0.05);"
+        "print('transport connected',flush=True);"
+        "time.sleep(60)"
+    )
+    supervisor = PosixProcessSupervisor(tmp_path / "runtime")
+
+    records = supervisor.start(
+        "run-ready-001",
+        (
+            ProcessSpec(
+                process_id="ready-provider",
+                argv=(sys.executable, "-c", child),
+                start_order=1,
+                shutdown_order=1,
+                ready_log_patterns=("provider booting", "transport connected"),
+                health_timeout_seconds=1,
+                health_poll_interval_seconds=0.01,
+            ),
+        ),
+    )
+
+    assert tuple(record.process_id for record in records) == ("ready-provider",)
+    assert supervisor.stop().residue_process_ids == ()
+
+
+@pytest.mark.skipif(os.name != "posix", reason="target supervisor is POSIX-only")
+def test_process_supervisor_readiness_timeout_rolls_back_without_residue(
+    tmp_path: Path,
+) -> None:
+    supervisor = PosixProcessSupervisor(tmp_path / "runtime")
+
+    with pytest.raises(ProcessSupervisorError, match="missing markers: never-ready"):
+        supervisor.start(
+            "run-ready-timeout-001",
+            (
+                ProcessSpec(
+                    process_id="not-ready",
+                    argv=(sys.executable, "-c", "import time;time.sleep(60)"),
+                    start_order=1,
+                    shutdown_order=1,
+                    ready_log_patterns=("never-ready",),
+                    health_timeout_seconds=0.05,
+                    health_poll_interval_seconds=0.01,
+                ),
+            ),
+        )
+
+    assert supervisor.residue() == ()
+
+
+@pytest.mark.skipif(os.name != "posix", reason="target supervisor is POSIX-only")
+def test_process_supervisor_rejects_exit_before_readiness(tmp_path: Path) -> None:
+    supervisor = PosixProcessSupervisor(tmp_path / "runtime")
+
+    with pytest.raises(ProcessSupervisorError, match="exited before readiness"):
+        supervisor.start(
+            "run-ready-exit-001",
+            (
+                ProcessSpec(
+                    process_id="early-exit",
+                    argv=(sys.executable, "-c", "raise SystemExit(7)"),
+                    start_order=1,
+                    shutdown_order=1,
+                    ready_log_patterns=("never-ready",),
+                    health_timeout_seconds=1,
+                    health_poll_interval_seconds=0.01,
+                ),
+            ),
+        )
+
+    assert supervisor.residue() == ()
+
+
+def test_stock_rover_profile_builds_exact_reviewed_provider_graph() -> None:
+    profile = load_stock_rover_lifecycle_profile(S1B_PROFILE)
+    paths = StockRoverTargetPaths.from_d_root(Path("/mnt/d/NDC_MISSIONCORE/simulation"))
+
+    specs = stock_rover_process_specs(paths, profile)
+
+    assert profile.profile_id == "s1b-stock-rover-lifecycle-v1"
+    assert tuple(spec.process_id for spec in specs) == (
+        "micro-xrce-dds-agent",
+        "px4-gazebo-stock-rover",
+    )
+    assert specs[0].ready_log_patterns == ("running...",)
+    assert specs[1].argv[-2:] == ("px4_sitl", "gz_rover_ackermann")
+    assert specs[1].ready_log_patterns[-1] == "Running, connected"
+    assert dict(specs[1].environment) == {
+        "HEADLESS": "1",
+        "PX4_SIM_SPEED_FACTOR": "1",
+    }
+
+
+def test_ready_patterns_require_a_positive_timeout() -> None:
+    with pytest.raises(ValueError, match="positive health timeout"):
+        ProcessSpec(
+            process_id="unsafe-readiness",
+            argv=(sys.executable, "-c", "pass"),
+            start_order=1,
+            shutdown_order=1,
+            ready_log_patterns=("ready",),
+        )
+
+
 def test_s0_worker_guard_binds_exact_digest_and_d_only_run_path() -> None:
     guard = S0WorkerGuard(PROFILE)
     run = _run(host_profile_sha256=hashlib.sha256(PROFILE.read_bytes()).hexdigest())