feat(simulation): drive stock rover through PX4 offboard

apps/control-station/test/polygonRunArchive.test.mjs

@@ -12,8 +12,10 @@ let resolvePolygonRunRoute;
 let PolygonRunContractError;
 let decodePolygonWorkerStatus;
 let decodePolygonVehicleState;
+let decodePolygonCommandAcceptance;
 let fetchPolygonWorkerStatus;
 let fetchPolygonVehicleState;
+let sendPolygonRoverCommand;
 let startPolygonWorker;
 let stopPolygonWorker;
 let PolygonWorkerContractError;
@@ -38,8 +40,10 @@ before(async () => {
   ({
     decodePolygonWorkerStatus,
     decodePolygonVehicleState,
+    decodePolygonCommandAcceptance,
     fetchPolygonWorkerStatus,
     fetchPolygonVehicleState,
+    sendPolygonRoverCommand,
     startPolygonWorker,
     stopPolygonWorker,
     PolygonWorkerContractError,
@@ -223,6 +227,28 @@ function vehicleState(overrides = {}) {
   };
 }
 
+function commandAcceptance(overrides = {}) {
+  return {
+    schema_version: "missioncore.command-acceptance/v1",
+    run_id: "s1c-6cb1495-20260724t180000z-aabbcc",
+    command_id: "cmd-aabbcc",
+    sequence: 1,
+    issued_at_sim_ns: 7_000_000_000,
+    valid_until_sim_ns: 7_250_000_000,
+    speed_mps: 1,
+    steering_normalized: -0.55,
+    authority_scope: "virtual-only",
+    delivery: {
+      provider: "px4-ros2-offboard",
+      mode: "speed-steering",
+      armed: true,
+      offboard: true,
+      ttl_expired_count: 0,
+    },
+    ...overrides,
+  };
+}
+
 test("Polygon is a worker-gated product root and keeps a compatible direct route", () => {
   assert.deepEqual(resolvePolygonRunRoute("?workspace=polygon-run"), {
     active: true,
@@ -321,11 +347,14 @@ test("Polygon fetchers use bounded same-origin GET endpoints", async () => {
 test("Polygon Live decodes only D-only virtual diagnostic state", () => {
   const status = decodePolygonWorkerStatus(workerStatus());
   const live = decodePolygonVehicleState(vehicleState());
+  const command = decodePolygonCommandAcceptance(commandAcceptance());
 
   assert.equal(status.available, true);
   assert.equal(status.activeRunId, live.runId);
   assert.equal(status.isolation.artifactPolicy, "d-only");
   assert.deepEqual(live.position, { x: 1.25, y: -0.5, z: 0.18 });
+  assert.equal(command.offboard, true);
+  assert.equal(command.steeringNormalized, -0.55);
   assert.throws(
     () => decodePolygonWorkerStatus(workerStatus({
       authority: {
@@ -344,6 +373,12 @@ test("Polygon Live decodes only D-only virtual diagnostic state", () => {
     })),
     PolygonWorkerContractError,
   );
+  assert.throws(
+    () => decodePolygonCommandAcceptance(commandAcceptance({
+      authority_scope: "physical",
+    })),
+    PolygonWorkerContractError,
+  );
 });
 
 test("Polygon Live uses same-origin gateway and idempotent lifecycle requests", async () => {
@@ -356,6 +391,7 @@ test("Polygon Live uses same-origin gateway and idempotent lifecycle requests",
   const fetcher = async (url, init) => {
     calls.push({ url: String(url), init });
     if (String(url).endsWith("/live")) return jsonResponse(vehicleState());
+    if (String(url).endsWith("/commands")) return jsonResponse(commandAcceptance());
     if (String(url).endsWith("/stop")) return jsonResponse(stopped);
     return jsonResponse(workerStatus());
   };
@@ -363,6 +399,12 @@ test("Polygon Live uses same-origin gateway and idempotent lifecycle requests",
   await fetchPolygonWorkerStatus({ fetcher });
   await fetchPolygonVehicleState({ fetcher });
   await startPolygonWorker({ idempotencyKey: "start-001", fetcher });
+  await sendPolygonRoverCommand("s1c-6cb1495-20260724t180000z-aabbcc", {
+    speedMps: 1,
+    steeringNormalized: -0.55,
+    idempotencyKey: "command-001",
+    fetcher,
+  });
   await stopPolygonWorker("s1c-6cb1495-20260724t180000z-aabbcc", {
     idempotencyKey: "stop-001",
     fetcher,
@@ -372,9 +414,15 @@ test("Polygon Live uses same-origin gateway and idempotent lifecycle requests",
     "/api/v1/polygon/worker",
     "/api/v1/polygon/worker/live",
     "/api/v1/polygon/worker/runs",
+    "/api/v1/polygon/worker/runs/s1c-6cb1495-20260724t180000z-aabbcc/commands",
     "/api/v1/polygon/worker/runs/s1c-6cb1495-20260724t180000z-aabbcc/stop",
   ]);
   assert.equal(calls[2].init.headers["Idempotency-Key"], "start-001");
-  assert.equal(calls[3].init.headers["Idempotency-Key"], "stop-001");
+  assert.equal(calls[3].init.headers["Idempotency-Key"], "command-001");
+  assert.equal(calls[4].init.headers["Idempotency-Key"], "stop-001");
   assert.equal(calls[2].init.body, JSON.stringify({ scenario_id: "stock-rover-ackermann" }));
+  assert.equal(calls[3].init.body, JSON.stringify({
+    speed_mps: 1,
+    steering_normalized: -0.55,
+  }));
 });