feat(simulation): add provider-neutral worker profile

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

@@ -175,7 +175,7 @@ function jsonResponse(payload, status = 200) {
 
 function workerStatus(overrides = {}) {
   return {
-    schema_version: "missioncore.simulation-worker-status/v1",
+    schema_version: "missioncore.simulation-worker-status/v2",
     worker_id: "mission-gpu-s1",
     transport: "unix",
     mode: "simulation",
@@ -183,7 +183,44 @@ function workerStatus(overrides = {}) {
     control_available: true,
     active_run_id: "s1c-6cb1495-20260724t180000z-aabbcc",
     run_state: "running",
-    provider_ids: ["micro-xrce-dds-agent", "px4-gazebo-stock-rover"],
+    active_provider_ids: ["micro-xrce-dds-agent", "px4-gazebo-stock-rover"],
+    provider_profile: {
+      schema_version: "missioncore.simulation-provider-profile/v1",
+      profile_id: "stock-rover-gazebo-px4-s1d",
+      providers: [
+        {
+          provider_id: "gazebo",
+          roles: ["world", "physics", "state", "sensor"],
+          capabilities: [
+            "clock.simulation",
+            "state.vehicle-pose",
+            "truth.ground-truth",
+            "sensor.virtual",
+          ],
+        },
+        {
+          provider_id: "px4-ros2-offboard",
+          roles: ["controller"],
+          capabilities: ["command.rover-speed-steering/v1"],
+        },
+        {
+          provider_id: "micro-xrce-dds-agent",
+          roles: ["transport"],
+          capabilities: ["transport.ros2"],
+        },
+      ],
+      clock: {
+        provider_id: "gazebo",
+        domain: "gazebo:/clock",
+        unit: "nanoseconds",
+        mode: "simulation",
+      },
+      control_profiles: ["rover-speed-steering/v1"],
+      canonical_frames: {
+        world: "map_enu",
+        body: "base_link_flu",
+      },
+    },
     isolation: {
       network: "loopback-only-netns",
       process_identity: "missioncore",
@@ -229,7 +266,7 @@ function vehicleState(overrides = {}) {
 
 function commandAcceptance(overrides = {}) {
   return {
-    schema_version: "missioncore.command-acceptance/v1",
+    schema_version: "missioncore.command-acceptance/v2",
     run_id: "s1c-6cb1495-20260724t180000z-aabbcc",
     command_id: "cmd-aabbcc",
     sequence: 1,
@@ -239,11 +276,15 @@ function commandAcceptance(overrides = {}) {
     steering_normalized: -0.55,
     authority_scope: "virtual-only",
     delivery: {
-      provider: "px4-ros2-offboard",
-      mode: "speed-steering",
-      armed: true,
-      offboard: true,
+      provider_id: "px4-ros2-offboard",
+      control_profile: "rover-speed-steering/v1",
+      accepted: true,
+      controller_ready: true,
       ttl_expired_count: 0,
+      diagnostics: {
+        armed: true,
+        offboard: true,
+      },
     },
     ...overrides,
   };
@@ -353,7 +394,8 @@ test("Polygon Live decodes only D-only virtual diagnostic state", () => {
   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.controllerReady, true);
+  assert.equal(command.deliveryProvider, "px4-ros2-offboard");
   assert.equal(command.steeringNormalized, -0.55);
   assert.throws(
     () => decodePolygonWorkerStatus(workerStatus({
@@ -381,12 +423,67 @@ test("Polygon Live decodes only D-only virtual diagnostic state", () => {
   );
 });
 
+test("Polygon Live accepts an Unreal provider behind the canonical contract", () => {
+  const unrealStatus = workerStatus({
+    provider_profile: {
+      ...workerStatus().provider_profile,
+      profile_id: "unreal-native-rover-v1",
+      providers: [
+        {
+          provider_id: "unreal-native",
+          roles: ["world", "physics", "state", "sensor"],
+          capabilities: [
+            "clock.simulation",
+            "state.vehicle-pose",
+            "truth.ground-truth",
+            "sensor.virtual",
+          ],
+        },
+        {
+          provider_id: "unreal-direct-control",
+          roles: ["controller"],
+          capabilities: ["command.rover-speed-steering/v1"],
+        },
+      ],
+      clock: {
+        provider_id: "unreal-native",
+        domain: "unreal:fixed-step",
+        unit: "nanoseconds",
+        mode: "simulation",
+      },
+    },
+  });
+  const status = decodePolygonWorkerStatus(unrealStatus);
+  const live = decodePolygonVehicleState(vehicleState({
+    source: {
+      provider: "unreal-native",
+      topic: "missioncore/vehicle-state",
+      signal: "ground-truth",
+      quality: "diagnostic",
+    },
+  }));
+  const command = decodePolygonCommandAcceptance(commandAcceptance({
+    delivery: {
+      provider_id: "unreal-direct-control",
+      control_profile: "rover-speed-steering/v1",
+      accepted: true,
+      controller_ready: true,
+      ttl_expired_count: 0,
+      diagnostics: { fixed_step: true },
+    },
+  }));
+
+  assert.equal(status.providerProfile.clock.domain, "unreal:fixed-step");
+  assert.equal(live.sourceProvider, "unreal-native");
+  assert.equal(command.deliveryProvider, "unreal-direct-control");
+});
+
 test("Polygon Live uses same-origin gateway and idempotent lifecycle requests", async () => {
   const calls = [];
   const stopped = workerStatus({
     active_run_id: null,
     run_state: null,
-    provider_ids: [],
+    active_provider_ids: [],
   });
   const fetcher = async (url, init) => {
     calls.push({ url: String(url), init });