feat(vesc): integrate native calibration diagnostics and configuration archives

tests/fleet/test_pairing.py

@@ -84,6 +84,25 @@ def cert(row):
         serialization.Encoding.DER
     )
 
+def test_rover_stream_requires_current_pairing_and_binding(setup):
+    fleet, _, _, _ = setup
+    public, _ = create(setup)
+    fleet.advance(public["id"])
+    row = fleet.find(public["id"])
+    body = {"schema": SCHEMA, "node_id": row["node_id"],
+            "binding_id": row["binding"]["binding_id"], "relay_id": "a"*32}
+    certificate = cert(row)
+    status, result = fleet.receive(certificate, "/v1/node/rover-stream", body)
+    assert status == 200
+    assert result['command'] is None
+    assert result['control_clock']['instance'] == fleet.rover_control.clock_id
+    status, _ = fleet.receive(certificate, "/v1/node/rover-stream", {**body, "binding_id": "other"})
+    assert status == 410
+    row['enrollment'] = 'revoked'
+    fleet.save(row)
+    status, _ = fleet.receive(certificate, "/v1/node/rover-stream", body)
+    assert status == 410
+
 
 def test_migrated_heartbeat_preserves_identity_and_old_reply_cannot_reverse(setup):
     fleet, _, _, _ = setup

tests/fleet/test_vesc_archive.py

@@ -0,0 +1,74 @@
+import base64
+import copy
+import hashlib
+from datetime import UTC, datetime
+from uuid import uuid4
+
+import pytest
+
+from k1link.device_plugins.vesc.archive import Archive
+
+
+def backup():
+    uid = "01" * 12
+    configs = {}
+    for name, command in (("motor", 14), ("application", 17)):
+        raw = bytes([command]) + b"test-synthetic-config"
+        configs[name] = {"encoding": "base64", "payload": base64.b64encode(raw).decode(),
+                         "bytes": len(raw), "sha256": hashlib.sha256(raw).hexdigest(),
+                         "signature_hex": raw[1:5].hex()}
+    return {"schema": "missioncore.vesc.config-backup/v1", "operation_id": "op_" + uuid4().hex,
+            "device_id": "vesc_" + hashlib.sha256(("uuid:" + uid).encode()).hexdigest()[:32],
+            "identity": {"uuid": uid, "version": "6.06"}, "configs": configs,
+            "observed_at": datetime.now(UTC).isoformat()}
+
+
+def test_immutable_versions_survive_restart_and_do_not_cross_node_scope(tmp_path):
+    archive = Archive(tmp_path / "archive")
+    value = backup()
+    archive.add("node-a", value)
+    archive.add("node-a", copy.deepcopy(value))
+    reopened = Archive(tmp_path / "archive")
+    assert len(reopened.listing("node-a", value["device_id"])["items"]) == 1
+    assert reopened.read("node-a", value["device_id"], value["operation_id"]) == value
+    assert reopened.listing("node-b", value["device_id"])["items"] == []
+    with pytest.raises(ValueError):
+        reopened.read("node-b", value["device_id"], value["operation_id"])
+    changed = copy.deepcopy(value)
+    changed["observed_at"] = datetime.now(UTC).isoformat()
+    with pytest.raises(ValueError, match="immutable"):
+        reopened.add("node-a", changed)
+
+
+def test_corrupt_or_misattributed_payload_is_never_archived(tmp_path):
+    archive = Archive(tmp_path / "archive")
+    value = backup()
+    value["configs"]["motor"]["sha256"] = "0" * 64
+    with pytest.raises(ValueError, match="integrity"):
+        archive.add("a", value)
+    value = backup()
+    value["device_id"] = "vesc_" + "0" * 32
+    with pytest.raises(ValueError, match="mismatch"):
+        archive.add("a", value)
+    assert archive.export("a", 0)["items"] == []
+
+
+def test_bounded_replication_replays_without_losing_versions_and_paginates(tmp_path):
+    board, core = Archive(tmp_path / "board"), Archive(tmp_path / "core")
+    values = [backup() for _ in range(53)]
+    for value in values:
+        board.add("local", value)
+    after = 0
+    while True:
+        batch = board.export("local", after)
+        assert len(batch["items"]) <= 4
+        assert core.receive("paired-node", batch) == batch["next"]
+        assert core.receive("paired-node", batch) == batch["next"]
+        if batch["next"] == after:
+            break
+        after = batch["next"]
+    page = core.listing("paired-node", values[0]["device_id"])
+    assert len(page["items"]) == 50 and page["next"]
+    older = core.listing("paired-node", values[0]["device_id"], int(page["next"]))
+    assert len(older["items"]) == 3 and older["next"] is None
+    assert len({item["id"] for item in page["items"] + older["items"]}) == 53