feat(simulation): drive stock rover through PX4 offboard

tests/test_polygon_api.py

@@ -18,7 +18,11 @@ from k1link.simulation import (
     RunKind,
     RunState,
 )
-from k1link.web.polygon_api import StartStockRoverRequest, build_polygon_router
+from k1link.web.polygon_api import (
+    AckermannCommandRequest,
+    StartStockRoverRequest,
+    build_polygon_router,
+)
 
 SHA_A = "a" * 64
 SHA_B = "b" * 64
@@ -241,6 +245,35 @@ class _FakeWorkerGateway:
         self.active_run_id = None
         return self._status()
 
+    def command(
+        self,
+        *,
+        run_id: str,
+        speed_mps: float,
+        steering_normalized: float,
+        idempotency_key: str,
+    ) -> dict[str, Any]:
+        self.calls.append(("command", idempotency_key))
+        assert run_id == self.active_run_id
+        return {
+            "schema_version": "missioncore.command-acceptance/v1",
+            "run_id": run_id,
+            "command_id": "cmd-test",
+            "sequence": 1,
+            "issued_at_sim_ns": 1_000_000,
+            "valid_until_sim_ns": 251_000_000,
+            "speed_mps": speed_mps,
+            "steering_normalized": steering_normalized,
+            "authority_scope": "virtual-only",
+            "delivery": {
+                "provider": "px4-ros2-offboard",
+                "mode": "speed-steering",
+                "armed": True,
+                "offboard": True,
+                "ttl_expired_count": 0,
+            },
+        }
+
     def _status(self) -> dict[str, Any]:
         return {
             "schema_version": "missioncore.simulation-worker-status/v1",
@@ -297,12 +330,34 @@ def test_polygon_worker_api_fails_closed_then_proxies_virtual_only_lifecycle() -
     live = _endpoint(enabled, "/api/v1/polygon/worker/live", "GET")()
     assert live["run_id"] == running["active_run_id"]
     assert live["source"]["quality"] == "diagnostic"
+    command = _endpoint(
+        enabled,
+        "/api/v1/polygon/worker/runs/{run_id}/commands",
+        "POST",
+    )(
+        run_id=running["active_run_id"],
+        request=AckermannCommandRequest(speed_mps=1.0, steering_normalized=-0.25),
+        idempotency_key="command-001",
+    )
+    assert command["authority_scope"] == "virtual-only"
+    assert command["delivery"]["offboard"] is True
     stopped = _endpoint(enabled, "/api/v1/polygon/worker/runs/{run_id}/stop", "POST")(
         run_id=running["active_run_id"],
         idempotency_key="stop-001",
     )
     assert stopped["active_run_id"] is None
-    assert worker.calls == [("start", "start-001"), ("stop", "stop-001")]
+    assert worker.calls == [
+        ("start", "start-001"),
+        ("command", "command-001"),
+        ("stop", "stop-001"),
+    ]
+
+
+def test_polygon_worker_command_rejects_values_outside_lab_envelope() -> None:
+    with pytest.raises(ValueError):
+        AckermannCommandRequest(speed_mps=1.51, steering_normalized=0)
+    with pytest.raises(ValueError):
+        AckermannCommandRequest(speed_mps=0, steering_normalized=-1.01)
 
 
 def test_polygon_worker_status_is_explicitly_unavailable_when_not_registered() -> None: