feat(simulation): drive stock rover through PX4 offboard

src/k1link/web/polygon_api.py

@@ -10,7 +10,7 @@ from typing import Annotated, Any, Final
 
 from fastapi import APIRouter, Header, HTTPException, Query
 from fastapi import Path as PathParameter
-from pydantic import BaseModel, ConfigDict
+from pydantic import BaseModel, ConfigDict, Field
 
 from k1link.simulation import (
     QualificationRun,
@@ -54,6 +54,13 @@ class StartStockRoverRequest(BaseModel):
     scenario_id: str
 
 
+class AckermannCommandRequest(BaseModel):
+    model_config = ConfigDict(extra="forbid", frozen=True)
+
+    speed_mps: float = Field(ge=-1.5, le=1.5, allow_inf_nan=False)
+    steering_normalized: float = Field(ge=-1.0, le=1.0, allow_inf_nan=False)
+
+
 def configured_polygon_runs_root() -> Path | None:
     raw = os.environ.get(POLYGON_RUNS_ROOT_ENV)
     if raw is None or not raw.strip():
@@ -250,6 +257,40 @@ def build_polygon_router(
                 detail="Simulation Worker не подтвердил остановку.",
             ) from exc
 
+    @router.post("/worker/runs/{run_id}/commands")
+    def command_polygon_worker_run(
+        run_id: Annotated[
+            str,
+            PathParameter(pattern=r"^[a-z0-9][a-z0-9-]{0,63}$"),
+        ],
+        request: AckermannCommandRequest,
+        idempotency_key: Annotated[
+            str,
+            Header(alias="Idempotency-Key", min_length=1, max_length=160),
+        ],
+    ) -> dict[str, Any]:
+        gateway, _ = _control_context(
+            worker_provider,
+            control_provider,
+            commit_provider,
+        )
+        try:
+            return gateway.command(
+                run_id=run_id,
+                speed_mps=request.speed_mps,
+                steering_normalized=request.steering_normalized,
+                idempotency_key=idempotency_key,
+            )
+        except SimulationWorkerUnavailableError as exc:
+            raise HTTPException(status_code=503, detail="Simulation Worker недоступен.") from exc
+        except SimulationWorkerRejectedError as exc:
+            raise HTTPException(status_code=409, detail=str(exc)) from exc
+        except SimulationWorkerGatewayError as exc:
+            raise HTTPException(
+                status_code=502,
+                detail="Simulation Worker не подтвердил команду ровера.",
+            ) from exc
+
     return router