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

apps/node-agent/internal/node/pairing_transport.go

@@ -152,6 +152,7 @@ func (p *Pairing) remoteHandler() http.Handler {
 
 func (p *Pairing) Run(ctx context.Context) {
 	go p.channel(ctx)
+	go p.roverChannel(ctx)
 	var server *http.Server
 	endpoint := ""
 	serverIdentity := ""
@@ -307,6 +308,9 @@ func (p *Pairing) channel(ctx context.Context) {
 				payload["devices"] = inv["items"]
 				payload["sensor_state"] = inv
 				payload["sensor_results"] = p.Sensors.RemoteResults()
+				if batch := p.Sensors.ConfigurationBatch(binding.BindingID); batch != nil {
+					payload["vesc_configurations"] = batch
+				}
 			}
 			if p.DeviceEnrollment != nil {
 				payload["device_enrollment"] = p.DeviceEnrollment.Status()
@@ -337,6 +341,7 @@ func (p *Pairing) channel(ctx context.Context) {
 						}
 					}
 					if p.Sensors != nil {
+						p.Sensors.AcknowledgeConfigurations(binding.BindingID, result["vesc_configurations_ack"], payload["vesc_configurations"])
 						var ack []string
 						if json.Unmarshal(result["sensor_acknowledgements"], &ack) == nil {
 							p.Sensors.Acknowledge(ack)

apps/node-agent/internal/node/sensor_archives.go

@@ -0,0 +1,88 @@
+package node
+
+import (
+	"context"
+	"encoding/json"
+	"net/http"
+	"net/url"
+	"os"
+	"path/filepath"
+	"strconv"
+	"time"
+)
+
+func (s *Sensors) vescArchive(path string) (map[string]any, error) {
+	ctx, cancel := context.WithTimeout(context.Background(), time.Second)
+	defer cancel()
+	for i := range sensorModels {
+		if sensorModels[i].ID == "vesc.controller" {
+			return s.modelDriver(ctx, &sensorModels[i], path, nil)
+		}
+	}
+	panic("shipped VESC model is missing")
+}
+
+func archiveCursorName(binding string) string {
+	return "vesc-archive-" + digest(binding)[:24] + ".cursor"
+}
+
+// Each pairing receives the complete immutable history, including backups
+// made locally and while Core was offline. ACK follows durable Core storage.
+func (s *Sensors) ConfigurationBatch(binding string) map[string]any {
+	var after int64
+	data, _ := os.ReadFile(filepath.Join(s.root, archiveCursorName(binding)))
+	if json.Unmarshal(data, &after) != nil || after < 0 {
+		after = 0
+	}
+	result, err := s.vescArchive("/archive-export?after=" + strconv.FormatInt(after, 10))
+	if err != nil {
+		return nil
+	}
+	return result
+}
+
+func (s *Sensors) AcknowledgeConfigurations(binding string, ack json.RawMessage, batch any) {
+	value, ok := batch.(map[string]any)
+	if !ok {
+		return
+	}
+	var sequence int64
+	if json.Unmarshal(ack, &sequence) != nil || sequence < 0 {
+		return
+	}
+	next, ok := value["next"].(float64)
+	if !ok || next != float64(sequence) {
+		return
+	}
+	// A failed cursor write causes replay; immutable archive insertion deduplicates it.
+	_ = s.write(archiveCursorName(binding), sequence)
+}
+
+func (s *Sensors) configurationRoutes(mux *http.ServeMux, server *Server) {
+	for _, route := range []string{"GET /api/device-configurations/{device}", "GET /api/device-configurations/{device}/{version}"} {
+		mux.HandleFunc(route, func(w http.ResponseWriter, r *http.Request) {
+			if !server.authorized(w, r) {
+				return
+			}
+			w.Header().Set("Cache-Control", "no-store")
+			device := r.PathValue("device")
+			model := modelForDevice(device)
+			if model == nil || model.ID != "vesc.controller" {
+				reply(w, 404, map[string]string{"error": "История не найдена"})
+				return
+			}
+			path := "/archives/" + url.PathEscape(device)
+			if version := r.PathValue("version"); version != "" {
+				path += "/" + url.PathEscape(version)
+			} else {
+				path += "?before=" + url.QueryEscape(r.URL.Query().Get("before"))
+			}
+			result, err := s.vescArchive(path)
+			if err != nil {
+				reply(w, 503, map[string]string{"error": "Архив конфигураций недоступен"})
+				return
+			}
+			reply(w, 200, result)
+		})
+	}
+}

apps/node-agent/internal/node/sensor_archives_test.go

@@ -0,0 +1,25 @@
+package node
+
+import (
+	"encoding/json"
+	"os"
+	"path/filepath"
+	"testing"
+)
+
+func TestVESCArchiveAckRequiresExactBatchAndPairingScope(t *testing.T) {
+	s := isolatedSensors(t)
+	batch := map[string]any{"next": float64(9)}
+	s.AcknowledgeConfigurations("pair-a", json.RawMessage(`10`), batch)
+	if _, err := os.Stat(filepath.Join(s.root, archiveCursorName("pair-a"))); !os.IsNotExist(err) {
+		t.Fatal("incorrect ACK persisted")
+	}
+	s.AcknowledgeConfigurations("pair-a", json.RawMessage(`9`), batch)
+	data, err := os.ReadFile(filepath.Join(s.root, archiveCursorName("pair-a")))
+	if err != nil || string(data) != "9" {
+		t.Fatalf("durable cursor: %q %v", data, err)
+	}
+	if _, err := os.Stat(filepath.Join(s.root, archiveCursorName("pair-b"))); !os.IsNotExist(err) {
+		t.Fatal("history skipped on another pairing")
+	}
+}

apps/node-agent/internal/node/sensor_models.go

@@ -20,6 +20,8 @@ type sensorModel struct {
 	Socket, PrepareUnit, Report             string
 	Actions                                 map[string]bool
 	ActionTimeouts                          map[string]time.Duration
+	// This model may prepare an attachment only to read its protocol identity.
+	ProtocolIdentity bool
 }
 
 func actions(names ...string) map[string]bool {
@@ -44,6 +46,11 @@ var sensorModels = []sensorModel{
 		PrepareUnit: "mission-core-node-insta360-x4-profile.service", Report: "/var/lib/mission-core-node-profiles/insta360-x4/preparation.json",
 		ActionTimeouts: map[string]time.Duration{"power.wake": 55 * time.Second},
 		Actions:        actions("prepare", "details", "rename", "verify", "preview.start", "preview.stop", "record.start", "record.stop", "photo.capture", "settings.read", "settings.apply", "files.list", "offer", "close-peer", "recovery.configure", "power.wake")},
+	{ID: "vesc.controller", Name: "VESC", Prefix: "vesc", Kind: "vesc.controller", Plugin: "missioncore.vesc", Version: "0.7.4",
+		Vendor: "0483", Product: "5740", USBName: "ChibiOS/RT Virtual COM Port", Socket: "/run/mission-core-vesc/driver.sock",
+		PrepareUnit: "mission-core-node-vesc-prepare.service", Report: "/var/lib/mission-core-node-profiles/vesc/preparation.json",
+		ActionTimeouts:   map[string]time.Duration{"vesc.link.check": 45 * time.Second, "vesc.motor.run": 90 * time.Second, "vesc.drive.run": 120 * time.Second, "vesc.hall.measure": 60 * time.Second, "vesc.foc.calibrate": 300 * time.Second, "vesc.motor.pulse": 60 * time.Second, "vesc.control.release": 60 * time.Second},
+		ProtocolIdentity: true, Actions: actions("prepare", "details", "rename", "verify", "vesc.link.check", "vesc.telemetry.read", "vesc.limits.read", "vesc.config.backup", "vesc.input.read", "vesc.can.read", "vesc.drive.assign", "vesc.drive.layout", "vesc.drive.unassign", "vesc.motor.pulse", "vesc.motor.run", "vesc.drive.run", "vesc.hall.measure", "vesc.foc.calibrate", "vesc.motor.stop", "vesc.control.release")},
 }
 
 func modelForDevice(id string) *sensorModel {
@@ -74,6 +81,22 @@ func modelDeviceID(model *sensorModel, serial string) string {
 	return model.Prefix + "_" + hex.EncodeToString(h[:])[:32]
 }
 
+func preparedDeviceID(command SensorCommand, result any) string {
+	model := modelForDevice(command.Session.DeviceID)
+	if model == nil {
+		return ""
+	}
+	if !model.ProtocolIdentity {
+		return command.Session.DeviceID
+	}
+	if value, ok := result.(map[string]any); ok {
+		if id, ok := value["device_id"].(string); ok && modelForDevice(id) == model {
+			return id
+		}
+	}
+	return ""
+}
+
 func sensorClient(socket string) *http.Client {
 	return &http.Client{Timeout: 25 * time.Second, Transport: &http.Transport{DialContext: func(ctx context.Context, _, _ string) (net.Conn, error) {
 		return (&net.Dialer{}).DialContext(ctx, "unix", socket)
@@ -110,7 +133,7 @@ func discoverSensors(root string) []usbSensor {
 	}
 	unique := []usbSensor{}
 	for _, item := range items {
-		if !item.stable || counts[item.id] != 1 {
+		if item.model.ProtocolIdentity || !item.stable || counts[item.id] != 1 {
 			item.stable = false
 			item.id = modelDeviceID(item.model, "provisional:"+item.binding)
 		}

apps/node-agent/internal/node/sensor_preparation.go

@@ -77,7 +77,7 @@ func (s *Sensors) preparationPhase(c SensorCommand, model *sensorModel, job *pro
 	}
 	op.Preparation = &sensorPreparation{OperationID: c.ID, DeviceID: c.Session.DeviceID, ModelID: model.ID,
 		StartedAt: float64(started.UnixMilli()) / 1000, ProfileStartedAt: job.started, State: state, Phase: phase,
-		Steps: []preparationStep{{ID: "profile", Label: "Подготовка драйвера", State: deploy}, {ID: "verify", Label: "Проверка выбранной камеры", State: verify}}}
+		Steps: []preparationStep{{ID: "profile", Label: "Подготовка драйвера", State: deploy}, {ID: "verify", Label: "Проверка выбранного устройства", State: verify}}}
 	op.Updated = time.Now().Unix()
 	err := s.write(c.ID+".json", op)
 	s.events.notify()
@@ -217,18 +217,20 @@ func (s *Sensors) prepare(c SensorCommand, selected map[string]any) (result any,
 		binding := s.discoverySessions[c.Session.DeviceID].binding
 		s.mu.Unlock()
 		if initialBinding != "" && binding != initialBinding {
-			return nil, errors.New("Камера переподключена во время подготовки. Повторите проверку устройства.")
+			return nil, errors.New("Устройство переподключено во время подготовки. Повторите проверку устройства.")
 		}
 		for _, raw := range inventory["items"].([]any) {
 			item := raw.(map[string]any)
-			if item["id"] != c.Session.DeviceID || item["online"] != true || item["prepared"] != true {
+			matches := item["id"] == c.Session.DeviceID || (model.ProtocolIdentity && item["attachment_id"] == c.Session.DeviceID)
+			if !matches || item["online"] != true || item["prepared"] != true || (model.ProtocolIdentity && item["verified"] != true) {
 				continue
 			}
 			verify := c
 			verify.Action = "verify"
+			verify.Session.DeviceID, _ = item["id"].(string)
 			verify.Session.SessionID = sensorSessionID(item)
 			if verify.Session.SessionID == "" {
-				return nil, errors.New("Драйвер не подтвердил сеанс камеры.")
+				return nil, errors.New("Драйвер не подтвердил сеанс устройства.")
 			}
 			response, e := s.modelDriver(ctx, model, "/operation", verify)
 			if e != nil || response["state"] == "unknown" {
@@ -237,7 +239,7 @@ func (s *Sensors) prepare(c SensorCommand, selected map[string]any) (result any,
 			if response["state"] != "complete" {
 				message, _ := response["error"].(string)
 				if message == "" {
-					message = "Не удалось проверить изображение выбранной камеры."
+					message = "Не удалось проверить выбранное устройство."
 				}
 				return nil, errors.New(message)
 			}
@@ -249,7 +251,7 @@ func (s *Sensors) prepare(c SensorCommand, selected map[string]any) (result any,
 		case <-time.After(time.Second):
 		}
 	}
-	return nil, errors.New("Драйвер установлен, но камера не открылась. Проверьте USB-подключение.")
+	return nil, errors.New("Драйвер установлен, но устройство не ответило. Проверьте питание и USB-подключение.")
 }
 
 // Project only the matching model run. A previous success or another model's

apps/node-agent/internal/node/sensor_vesc_test.go

@@ -0,0 +1,141 @@
+package node
+
+import (
+	"context"
+	"encoding/json"
+	"net/http"
+	"os"
+	"path/filepath"
+	"regexp"
+	"strings"
+	"sync/atomic"
+	"testing"
+)
+
+func TestVESCDeclaredVersionMatchesBundledDriver(t *testing.T) {
+	model := modelForDevice("vesc_00000000000000000000000000000000")
+	root := filepath.Join("..", "..", "..", "..", "plugins", "vesc")
+	driver, err := os.ReadFile(filepath.Join(root, "runtime", "__init__.py"))
+	if err != nil {
+		t.Fatal(err)
+	}
+	match := regexp.MustCompile(`(?m)^VERSION = "([^"]+)"`).FindSubmatch(driver)
+	if model == nil || len(match) != 2 || model.Version != string(match[1]) {
+		t.Fatal("Node must admit the exact driver shipped in the same release", model, string(driver))
+	}
+	preparation, err := os.ReadFile(filepath.Join(root, "packaging", "prepare.py"))
+	if err != nil || !strings.Contains(string(preparation), `"version": "`+model.Version+`"`) {
+		t.Fatal("VESC preparation must declare the bundled driver version", err)
+	}
+}
+
+func fakeVESC(t *testing.T, s *Sensors, port, number string) {
+	t.Helper()
+	fakeUSB(t, s.usbRoot, port, "duplicate", "ChibiOS/RT Virtual COM Port", number)
+	for key, value := range map[string]string{"idVendor": "0483", "idProduct": "5740"} {
+		if err := os.WriteFile(filepath.Join(s.usbRoot, port, key), []byte(value), 0600); err != nil {
+			t.Fatal(err)
+		}
+	}
+}
+
+func TestVESCProvisionalIdentityIsReadOnlyAndDoesNotWeakenCameras(t *testing.T) {
+	s := isolatedSensors(t)
+	fakeVESC(t, s, "1-2", "2")
+	fakeVESC(t, s, "1-3", "3")
+	items := s.Inventory()["items"].([]any)
+	if len(items) != 2 {
+		t.Fatal("both controllers must be visible")
+	}
+	for _, raw := range items {
+		item := raw.(map[string]any)
+		if item["initializable"] != true || item["prepared"] != false {
+			t.Fatal("identity bootstrap unavailable or falsely prepared")
+		}
+		c := sensorTestCommand()
+		c.Session.DeviceID = item["id"].(string)
+		for _, action := range []string{"start", "stop", "option", "settings.apply", "firmware.write"} {
+			c.Action = action
+			if _, err := s.Submit(c, false); err == nil {
+				t.Fatal("VESC acquired write authority", action)
+			}
+		}
+	}
+	if items[0].(map[string]any)["id"] == items[1].(map[string]any)["id"] {
+		t.Fatal("duplicate USB serial collapsed")
+	}
+	fakeUSB(t, s.usbRoot, "2-2", "same", "Insta360 X4", "4")
+	fakeUSB(t, s.usbRoot, "2-3", "same", "Insta360 X4", "5")
+	for _, raw := range s.Inventory()["items"].([]any) {
+		item := raw.(map[string]any)
+		if item["kind"] == "insta360.x4" && item["initializable"] != false {
+			t.Fatal("camera guard weakened")
+		}
+	}
+}
+
+func TestVESCPreparePromotesAttachmentToProtocolUUID(t *testing.T) {
+	s := isolatedSensors(t)
+	fakeVESC(t, s, "1-2", "2")
+	first := s.Inventory()["items"].([]any)[0].(map[string]any)
+	attachment := first["id"].(string)
+	model := modelForDevice(attachment)
+	stable := modelDeviceID(model, "uuid:synthetic-controller")
+	var installed atomic.Bool
+	s.runPreparation = func(_ context.Context, unit string) error {
+		if unit != "mission-core-node-vesc-prepare.service" {
+			t.Error("wrong profile")
+		}
+		installed.Store(true)
+		return nil
+	}
+	s.clients[model.ID].Transport = sensorRoundTrip(func(r *http.Request) (*http.Response, error) {
+		if r.URL.Path == "/inventory" {
+			items := []any{}
+			if installed.Load() {
+				item := s.discovery(stable, "12", true)
+				item["prepared"] = true
+				item["verified"] = true
+				item["configured"] = true
+				item["attachment_id"] = attachment
+				item["snapshot"].(map[string]any)["context"].(map[string]any)["session_id"] = "protocol_session"
+				items = append(items, item)
+			}
+			return testSensorReply(map[string]any{"items": items}), nil
+		}
+		var command SensorCommand
+		_ = json.NewDecoder(r.Body).Decode(&command)
+		if command.Action != "verify" || command.Session.DeviceID != stable || command.Session.SessionID != "protocol_session" {
+			t.Error("verification did not follow protocol identity")
+		}
+		return testSensorReply(map[string]any{"state": "complete", "result": map[string]any{"device_id": stable}}), nil
+	})
+	c := sensorTestCommand()
+	c.Action = "prepare"
+	c.Session = SensorSession{DeviceID: attachment, SessionID: sensorSessionID(first)}
+	if _, err := s.Submit(c, true); err != nil {
+		t.Fatal(err)
+	}
+	awaitSensor(t, func() bool { return s.Get(c.ID).State != "running" })
+	if s.Get(c.ID).State != "complete" {
+		t.Fatal(s.Get(c.ID))
+	}
+	items := s.Inventory()["items"].([]any)
+	if len(items) != 1 || items[0].(map[string]any)["id"] != stable {
+		t.Fatal("provisional row survived promotion")
+	}
+	s.mu.Lock()
+	a, b := s.initialized[stable], s.initialized[attachment]
+	s.mu.Unlock()
+	if !a || b {
+		t.Fatal("initialization persisted transport identity")
+	}
+	// A stale runtime attachment is never presented as a currently connected controller.
+	if err := os.RemoveAll(filepath.Join(s.usbRoot, "1-2")); err != nil {
+		t.Fatal(err)
+	}
+	items = s.Inventory()["items"].([]any)
+	if len(items) != 1 || items[0].(map[string]any)["online"] != false {
+		t.Fatal("unplugged driver observation accepted")
+	}
+}

apps/node-agent/internal/node/sensors.go

@@ -106,7 +106,9 @@ func OpenSensors(root, nodeID string) (*Sensors, error) {
 	}
 	for _, op := range s.operations {
 		if op.Command.Action == "prepare" && op.State == "complete" {
-			s.initialized[op.Command.Session.DeviceID] = true
+			if id := preparedDeviceID(op.Command, op.Result); id != "" {
+				s.initialized[id] = true
+			}
 		}
 	}
 	if e := s.write("initialized.json", s.initialized); e != nil {
@@ -192,7 +194,7 @@ func (s *Sensors) modelDriver(ctx context.Context, model *sensorModel, path stri
 	}
 	response, e := client.Do(req)
 	if e != nil {
-		return nil, errors.New("Служба камеры недоступна. Подготовьте устройство.")
+		return nil, errors.New("Служба устройства недоступна. Подготовьте устройство.")
 	}
 	defer response.Body.Close()
 	var result map[string]any
@@ -241,8 +243,24 @@ func (s *Sensors) Inventory() map[string]any {
 				unsafePreparation[id] = item["preparation_safe"] == false || snapshot["acquisition"] != "idle"
 				continue
 			}
+			if model.ProtocolIdentity {
+				if !currentCameraSnapshot(item, model) {
+					continue
+				}
+				attachment, _ := item["attachment_id"].(string)
+				matched := false
+				for _, candidate := range usb {
+					if candidate.model == model && candidate.id == attachment {
+						matched = true
+					}
+				}
+				if !matched {
+					continue
+				}
+				seen[attachment] = true
+			}
 			s.mu.Lock()
-			if model.PrepareUnit != "" {
+			if model.PrepareUnit != "" && !model.ProtocolIdentity {
 				item["configured"] = s.initialized[id]
 			}
 			if name := s.names[id]; name != "" {
@@ -325,13 +343,18 @@ func (s *Sensors) discovery(id, speed string, online bool) map[string]any {
 	if !initializable {
 		stability, basis = "provisional", "transport-local"
 	}
+	// VESC bootstrap grants only a fixed identity read on the selected attachment.
+	// This does not promote the attachment to stable identity or allow motor control.
+	if online && model.ProtocolIdentity {
+		initializable = true
+	}
 	return map[string]any{"id": id, "name": name, "model": model.Name, "kind": model.Kind, "initializable": initializable, "configured": configured, "prepared": false, "verified": false, "online": online, "usb": speed, "layers": []any{}, "snapshot": map[string]any{
 		"context":  map[string]any{"session_id": session, "device": map[string]any{"device_id": id, "model": map[string]string{"plugin_id": model.Plugin, "plugin_version": model.Version, "model_id": model.ID}, "stability": stability, "basis": basis}, "execution": map[string]string{"node_id": s.nodeID, "agent_instance_id": s.instance, "platform": "linux"}, "opened_at": now},
 		"revision": 0, "enrollment": enrollment, "connectivity": connectivity, "acquisition": "idle", "observed_at": now}}
 }
 
 func sensorViewAction(action string) bool {
-	return action == "details" || action == "offer" || action == "close-peer" || action == "settings.read" || action == "files.list"
+	return action == "details" || action == "offer" || action == "close-peer" || action == "settings.read" || action == "files.list" || action == "vesc.telemetry.read" || action == "vesc.limits.read" || action == "vesc.config.backup"
 }
 
 func (s *Sensors) Submit(c SensorCommand, remote bool) (*SensorOperation, error) {
@@ -365,10 +388,10 @@ func (s *Sensors) Submit(c SensorCommand, remote bool) (*SensorOperation, error)
 		return nil, errors.New("Срок команды истёк. Устройство не изменено.")
 	}
 	for _, v := range s.operations {
-		if v.State == "running" && v.Command.Action == "prepare" && (v.Preparation == nil || v.Preparation.Phase == "profile") && c.Action != "prepare" && !sensorViewAction(c.Action) && modelForDevice(v.Command.Session.DeviceID) == model {
+		if v.State == "running" && v.Command.Action == "prepare" && (v.Preparation == nil || v.Preparation.Phase == "profile") && c.Action != "prepare" && c.Action != "vesc.motor.stop" && !sensorViewAction(c.Action) && modelForDevice(v.Command.Session.DeviceID) == model {
 			return nil, errors.New("Подготовка модели ещё выполняется.")
 		}
-		if v.State == "running" && v.Command.Session.DeviceID == c.Session.DeviceID && !sensorViewAction(c.Action) && !sensorViewAction(v.Command.Action) {
+		if v.State == "running" && v.Command.Session.DeviceID == c.Session.DeviceID && c.Action != "vesc.motor.stop" && !sensorViewAction(c.Action) && !sensorViewAction(v.Command.Action) {
 			return nil, errors.New("Другая операция устройства ещё выполняется.")
 		}
 	}
@@ -411,11 +434,11 @@ func (s *Sensors) execute(c SensorCommand) {
 	if !deadline.After(time.Now()) {
 		err = errors.New("Срок команды истёк. Устройство не изменено.")
 	} else if item == nil {
-		err = errors.New("Камера не обнаружена. Проверьте подключение.")
+		err = errors.New("Устройство не обнаружено. Проверьте подключение.")
 	} else if c.Action == "prepare" && item["online"] != true {
-		err = errors.New("Камера отключена. Проверьте подключение.")
+		err = errors.New("Устройство отключено. Проверьте подключение.")
 	} else if c.Action == "prepare" && item["initializable"] == false {
-		err = errors.New("Не удалось однозначно определить камеру. Проверьте её идентификатор и подключение.")
+		err = errors.New("Не удалось однозначно определить устройство. Проверьте его идентификатор и подключение.")
 	} else if (c.Action == "prepare" || c.Action == "rename") && sensorSessionID(item) != c.Session.SessionID {
 		err = errors.New("Сеанс устройства изменился. Обновите сведения.")
 	} else if c.Action == "prepare" {
@@ -451,7 +474,12 @@ func (s *Sensors) execute(c SensorCommand) {
 	s.mu.Lock()
 	defer s.mu.Unlock()
 	if err == nil && c.Action == "prepare" {
-		s.initialized[c.Session.DeviceID] = true
+		initializedID := preparedDeviceID(c, result)
+		if initializedID == "" {
+			err = errors.New("Драйвер не подтвердил личность устройства.")
+		} else {
+			s.initialized[initializedID] = true
+		}
 		if e := s.write("initialized.json", s.initialized); e != nil {
 			err = e
 			uncertain = true
@@ -496,6 +524,7 @@ func (s *Sensors) RemoteResults() []any {
 	return out
 }
 func (s *Sensors) Routes(mux *http.ServeMux, server *Server) {
+	s.configurationRoutes(mux, server)
 	mux.HandleFunc("GET /api/devices/events", func(w http.ResponseWriter, r *http.Request) { s.stream(w, r, server) })
 	mux.HandleFunc("GET /api/devices", func(w http.ResponseWriter, r *http.Request) {
 		if server.authorized(w, r) {

apps/node-agent/ui/src/NodeSensors.tsx

@@ -1,8 +1,13 @@
+import {vescSensorUi} from '../../../../plugins/vesc/frontend/src/plugin';
 import {xgridsK1SensorUi} from '../../../../plugins/xgrids-k1/frontend/src/sensors/plugin';
 import {insta360X4SensorUi} from '../../../../plugins/insta360-x4/frontend/src/plugin';
 import {createIsolatedRerunHost} from '../../../control-station/src/components/rerun/isolatedRerunHost';
 import {SensorWorkspace} from '../../../../packages/sensor-ui/src/SensorWorkspace';
 import type {SensorTransport} from '../../../../packages/sensor-ui/src/contracts';
-import {request} from './api';
+import {request,type Status} from './api';
-const transport:SensorTransport={localPreview:{open:(command,signal)=>fetch("/api/devices/preview",{method:"POST",credentials:"same-origin",headers:{"Content-Type":"application/json"},body:JSON.stringify(command),signal}),read:(peer,after,signal)=>fetch("/api/devices/preview/read",{method:"POST",credentials:"same-origin",headers:{"Content-Type":"application/json"},body:JSON.stringify({peer_id:peer,after}),signal})},enrollment:{state:()=>request("/api/devices/enrollment"),submit:value=>request("/api/devices/enrollment/operations","POST",value),operation:id=>request("/api/devices/enrollment/operations/"+encodeURIComponent(id))},subscribe:(receive,unavailable)=>{const events=new EventSource('/api/devices/events');events.onmessage=e=>{try{receive(JSON.parse(e.data));}catch{unavailable();}};events.onerror=unavailable;return()=>events.close();},inventory:()=>request('/api/devices'),submit:value=>request('/api/devices/operations','POST',value),operation:id=>request('/api/devices/operations/'+encodeURIComponent(id))};
+import {Button,Icon,SettingsCard} from '@nodedc/ui-react';
-export function NodeSensors(){return <SensorWorkspace contributions={[xgridsK1SensorUi,insta360X4SensorUi]} createRerunHost={createIsolatedRerunHost} transport={transport}/>;}
+import {createBoardLayoutStore} from '../../../../packages/sensor-ui/src/boardLayout';
+const layout=createBoardLayoutStore({read:()=>request('/api/presentation/board-layout'),patch:(section,open)=>request('/api/presentation/board-layout','PATCH',{section,open})});
+const configurationArchive:NonNullable<SensorTransport['configurationArchive']>={list:(device,before)=>request(`/api/device-configurations/${encodeURIComponent(device)}${before?'?before='+encodeURIComponent(before):''}`),read:(device,version)=>request(`/api/device-configurations/${encodeURIComponent(device)}/${encodeURIComponent(version)}`)};
+const transport:SensorTransport={configurationArchive,localPreview:{open:(command,signal)=>fetch("/api/devices/preview",{method:"POST",credentials:"same-origin",headers:{"Content-Type":"application/json"},body:JSON.stringify(command),signal}),read:(peer,after,signal)=>fetch("/api/devices/preview/read",{method:"POST",credentials:"same-origin",headers:{"Content-Type":"application/json"},body:JSON.stringify({peer_id:peer,after}),signal})},enrollment:{state:()=>request("/api/devices/enrollment"),submit:value=>request("/api/devices/enrollment/operations","POST",value),operation:id=>request("/api/devices/enrollment/operations/"+encodeURIComponent(id))},subscribe:(receive,unavailable)=>{const events=new EventSource('/api/devices/events');events.onmessage=e=>{try{receive(JSON.parse(e.data));}catch{unavailable();}};events.onerror=unavailable;return()=>events.close();},inventory:()=>request('/api/devices'),submit:value=>request('/api/devices/operations','POST',value),operation:id=>request('/api/devices/operations/'+encodeURIComponent(id))};
+export function NodeSensors({value,openSettings}:{value:Status;openSettings:()=>void}){return <SensorWorkspace board={{layout,description:value.name,computer:<SettingsCard title={value.name} description={value.host.hostname}><dl className="node-facts"><div><dt>Бортовой компьютер</dt><dd>{value.node_id}</dd></div><div><dt>Операционная система</dt><dd>{value.host.os}</dd></div><div><dt>Архитектура</dt><dd>{value.host.architecture}</dd></div><div><dt>Процессоры</dt><dd>{value.host.cpus}</dd></div><div><dt>Память</dt><dd>{value.host.memory_kib?`${(value.host.memory_kib/1048576).toFixed(1)} ГиБ`:"Нет сведений"}</dd></div><div><dt>Mission Core Node</dt><dd>{value.version}</dd></div></dl><Button onClick={openSettings}><Icon name="settings"/>Подготовка среды</Button></SettingsCard>}} contributions={[xgridsK1SensorUi,insta360X4SensorUi,vescSensorUi]} createRerunHost={createIsolatedRerunHost} transport={transport}/>;}

packages/sensor-ui/src/SensorWorkspace.tsx

@@ -9,8 +9,9 @@ import {sensorStatus} from './sensorStatus';
 import {sensorContribution,type SensorUiContribution,wirelessContributions} from './extensions';
 import type {RerunHostFactory} from './rerunHost';
 import './sensors.css';
+import {BoardSections,type BoardSectionsProps} from './BoardSections';
 import {WirelessEnrollmentWindow} from './WirelessEnrollmentWindow';
-export function SensorWorkspace({transport,enabled=true,onDetailChange,createRerunHost,contributions=[]}:{transport:SensorTransport;enabled?:boolean;onDetailChange?:(open:boolean)=>void;createRerunHost?:RerunHostFactory;contributions?:readonly SensorUiContribution[]}){
+export function SensorWorkspace({transport,enabled=true,onDetailChange,createRerunHost,contributions=[],board}:{transport:SensorTransport;enabled?:boolean;onDetailChange?:(open:boolean)=>void;createRerunHost?:RerunHostFactory;contributions?:readonly SensorUiContribution[];board?:BoardSectionsProps}){
  const [adding,setAdding]=useState(false);
  const [inventory,setInventory]=useState<SensorInventory|null>(null);const [selected,setSelected]=useState<string|null>(null);const [editing,setEditing]=useState<Sensor|null>(null);const [name,setName]=useState('');const [localBusy,setBusy]=useState<ReadonlyMap<string,string>>(()=>new Map());const activeActions=useRef(new Map<string,string>());const [error,setError]=useState('');const [fresh,setFresh]=useState(false);
  const failure=useCallback((e:unknown)=>{setError(e===null?'':e instanceof Error?e.message:'Не удалось выполнить действие устройства.');},[]);
@@ -44,7 +45,7 @@ export function SensorWorkspace({transport,enabled=true,onDetailChange,createRer
  const editingCurrent=inventory?.items.find(v=>v.id===editing?.id);
  useEffect(()=>{onDetailChange?.(!!device);},[!!device,onDetailChange]);
  const Detail=device?(sensorContribution(contributions,device)?.Detail??(device.kind?null:SensorDetail)):null;
- return <div className="sensor-workspace">{device?Detail?<Detail key={device.snapshot.context.session_id} enabled={enabled&&fresh} device={device} transport={transport} back={()=>setSelected(null)} refresh={refresh} failure={failure} createRerunHost={createRerunHost} reconnect={transport.enrollment?()=>setAdding(true):undefined}/>:<div className="sensor-content"><Button onClick={()=>setSelected(null)}>К устройствам</Button><SettingsCard title="Просмотр устройства недоступен" description="Интеграция этого устройства не установлена."/></div>:<>
+ const inventoryView=<>
  <div className="sensor-actions sensor-inventory-toolbar"><StatusBadge tone={fresh&&enabled?'success':'neutral'}>{!enabled?'БК недоступен':fresh?'Сведения с БК':'Нет свежих сведений'}</StatusBadge><div className="sensor-actions">{transport.enrollment&&wirelessContributions(contributions).length>0&&<IconButton label="Подключить беспроводное устройство к БК" disabled={!enabled} onClick={()=>setAdding(true)}><Icon name="plus"/></IconButton>}<IconButton label="Обновить устройства" disabled={!enabled} onClick={()=>{void refresh();}}><Icon name="refresh"/></IconButton></div></div>
  {!inventory?<LoadingRegion loading label="Получение устройств БК"/>:connected.length===0?<SettingsCard title="Поддерживаемые устройства не обнаружены" description="Подключите устройство кабелем или добавьте беспроводное устройство через плюс."/>:<ResourceList aria-label="Устройства БК">{connected.map(item=>{
  const operation=inventory.operations?.find(v=>v.device_id===item.id&&['queued','running'].includes(v.state));const busy=!!operation||localBusy.has(item.id);
@@ -52,9 +53,11 @@ export function SensorWorkspace({transport,enabled=true,onDetailChange,createRer
  const configured=item.configured??item.snapshot.enrollment==='enrolled';
  const prep=devicePreparation(inventory,item);
  const status=(sensorContribution(contributions,item)?.status??sensorStatus)(item,enabled&&fresh);const label=busy?(operation?.action_id==='prepare'?'Подготовка устройства':'Выполняется команда'):status.label;
- return <li key={item.id}><ResourceRow icon={<Icon name={sensorContribution(contributions,item)?.icon??'camera'}/>} title={item.name} description={item.model} metadata={<span>{item.connection_label||`USB ${item.usb}`}</span>} statusPlacement={configured?'leading':'trailing'} aria-busy={busy} progress={busy&&pending==='prepare'?preparationProgress(prep,label):undefined} status={<StatusBadge variant={configured?'indicator':'badge'} tone={status.tone} aria-label={label} title={label}>{configured?null:label}</StatusBadge>} actions={<><SensorRowActions device={item} actions={sensorContribution(contributions,item)?.rowActions?.(item)} enabled={enabled&&fresh} busy={busy} pending={pending} perform={(name,parameters)=>void action(item,name,parameters)}/>{!configured&&sensorContribution(contributions,item)?.supportsPreparation!==false&&<IconButton label={`Подготовить и проверить: ${item.name}`} disabled={!enabled||!fresh||busy||item.initializable===false||item.preparation_safe===false||!item.online||item.snapshot.acquisition==='streaming'||item.snapshot.acquisition==='stopping'} onClick={()=>void action(item,'prepare')}><Icon name="download"/></IconButton>}{sensorContribution(contributions,item)?.supportsRenaming!==false&&<IconButton label={`Настройки: ${item.name}`} disabled={!enabled||!fresh||busy} onClick={()=>{setEditing(item);setName(item.name);}}><Icon name="settings"/></IconButton>}<IconButton label={`Просмотр: ${item.name}`} disabled={!item.prepared||busy} onClick={()=>setSelected(item.id)}><Icon name="eye"/></IconButton></>}/></li>;})}</ResourceList>}
+ return <li key={item.id}><ResourceRow icon={<Icon name={sensorContribution(contributions,item)?.icon??'camera'}/>} title={item.name} description={item.model} metadata={<span>{item.connection_label||`USB ${item.usb}`}</span>} statusPlacement={configured?'leading':'trailing'} aria-busy={busy} progress={busy&&pending==='prepare'?preparationProgress(prep,label):undefined} status={<StatusBadge variant={configured?'indicator':'badge'} tone={status.tone} aria-label={label} title={label}>{configured?null:label}</StatusBadge>} actions={<><SensorRowActions device={item} actions={sensorContribution(contributions,item)?.rowActions?.(item)} enabled={enabled&&fresh} busy={busy} pending={pending} perform={(name,parameters)=>void action(item,name,parameters)}/>{!configured&&sensorContribution(contributions,item)?.supportsPreparation!==false&&<IconButton label={`Подготовить и проверить: ${item.name}`} disabled={!enabled||!fresh||busy||item.initializable===false||item.preparation_safe===false||!item.online||item.snapshot.acquisition==='streaming'||item.snapshot.acquisition==='stopping'} onClick={()=>void action(item,'prepare')}><Icon name="download"/></IconButton>}{sensorContribution(contributions,item)?.supportsRenaming!==false&&<IconButton label={`Настройки: ${item.name}`} disabled={!enabled||!fresh||busy} onClick={()=>{setEditing(item);setName(item.name);}}><Icon name="settings"/></IconButton>}{sensorContribution(contributions,item)?.detailLabel?<Button disabled={!item.prepared||busy} onClick={()=>setSelected(item.id)}>{sensorContribution(contributions,item)?.detailLabel}</Button>:<IconButton label={`Просмотр: ${item.name}`} disabled={!item.prepared||busy} onClick={()=>setSelected(item.id)}><Icon name="eye"/></IconButton>}</>}/></li>;})}</ResourceList>}
  <SensorPreparations inventory={inventory}/>
- </>}
+ </>;
+ const boardSettings=contributions.filter(value=>value.BoardSettings&&contributions.filter(other=>other.kind===value.kind).length===1);
+ return <div className="sensor-workspace">{device?Detail?<Detail key={device.snapshot.context.session_id} enabled={enabled&&fresh} device={device} transport={transport} back={()=>setSelected(null)} refresh={refresh} failure={failure} createRerunHost={createRerunHost} reconnect={transport.enrollment?()=>setAdding(true):undefined}/>:<div className="sensor-content"><Button onClick={()=>setSelected(null)}>К устройствам</Button><SettingsCard title="Просмотр устройства недоступен" description="Интеграция этого устройства не установлена."/></div>:(board?<BoardSections {...board} settings={<div className="sensor-content">{boardSettings.map(contribution=>{const View=contribution.BoardSettings!;return <View key={contribution.kind} inventory={inventory} transport={transport} enabled={enabled&&fresh} refresh={refresh} failure={failure} openDevice={setSelected}/>;})}{!boardSettings.length&&<p>Для подключённых устройств общие настройки пока недоступны.</p>}</div>} devices={inventoryView}/>:inventoryView)}
  <Window open={editing!==null} title="Настройки устройства" onClose={()=>setEditing(null)} footer={<WindowFooterActions><Button disabled={localBusy.has(editing?.id??'')} onClick={()=>setEditing(null)}>Отмена</Button><Button loading={localBusy.get(editing?.id??'')==='rename'} disabled={localBusy.has(editing?.id??'')||!name.trim()||!enabled||!fresh} onClick={()=>{if(editing)void action(editing,'rename',{name});}}>Сохранить</Button></WindowFooterActions>}><div className="sensor-content"><TextField label="Название устройства" value={name} maxLength={80} onChange={e=>setName(e.target.value)} disabled={localBusy.has(editing?.id??'')}/>{editing&&sensorContribution(contributions,editing)?.supportsPreparation!==false&&(editing.configured??editing.snapshot.enrollment==='enrolled')&&<ResourceRow title="Конфигурация на БК" description="Повторно развернуть и проверить встроенный драйвер устройства." actions={<Button disabled={localBusy.has(editing?.id??'')||!enabled||!fresh||!editingCurrent?.online||editingCurrent?.initializable===false||editingCurrent?.preparation_safe===false||['streaming','starting','stopping'].includes(editingCurrent?.snapshot.acquisition??'offline')} onClick={()=>{const target=editing;setEditing(null);void action(target,'prepare');}}>Обновить</Button>}/>}</div></Window>
  {adding&&transport.enrollment&&wirelessContributions(contributions).length>0&&<WirelessEnrollmentWindow contributions={contributions} transport={transport.enrollment} onClose={()=>setAdding(false)} onChange={()=>{void refresh();}} onComplete={completeEnrollment}/>}
  <ToastStack items={error?[{id:'sensor-error',tone:'error',title:error,durationMs:null}]:[]} onDismiss={()=>setError('')}/>

packages/sensor-ui/src/contracts.ts

@@ -4,6 +4,7 @@ export interface Sensor {
  kind?:string; connection_label?:string; control?:{generation:number;revision:number;phase:string;can_start:boolean;can_stop?:boolean;can_verify?:boolean;network_applied?:boolean;reason_code?:string|null;acquisition_id:string|null;acquisition_phase?:string};
  live_settings?: Record<string,unknown>;
  camera_status?: Record<string,unknown>;
+ vesc_status?: Record<string,unknown>;
  id: string; name: string; model: string; initializable?:boolean; preparation_safe?:boolean; prepared: boolean; configured?: boolean; verified: boolean; online: boolean; usb: string; firmware?: string; playback_id?: string | null;
  snapshot: {context: {session_id: string; device: {device_id: string}; execution: {node_id: string}}; acquisition: string; enrollment: string; message?: string};
  profiles?: SensorProfile[]; defaults?: string[]; options?: SensorOption[]; layers: string[];
@@ -33,6 +34,10 @@ export interface SensorCommand {
 }
 export interface SensorOperation {state:string;error?:string;result?:unknown}
 export interface SensorTransport {
+ configurationArchive?: {
+  list:(deviceId:string,before?:string)=>Promise<{items:ConfigurationVersion[];next:string|null}>;
+  read:(deviceId:string,versionId:string)=>Promise<Record<string,unknown>>;
+ };
  localPreview?: {
   open: (command:SensorCommand, signal:AbortSignal) => Promise<Response>;
   read: (peer:string, after:number, signal:AbortSignal) => Promise<Response>;
@@ -43,6 +48,7 @@ export interface SensorTransport {
  submit: (value:SensorCommand) => Promise<SensorOperation>;
  operation: (id:string) => Promise<SensorOperation>;
 }
+export interface ConfigurationVersion {id:string;sequence:number;device_id:string;observed_at:string;firmware:string;configs:Record<string,{sha256:string;bytes:number}>}
 export function command(device:Sensor,action:string,parameters:Record<string,unknown>={},timeoutMs=60000):SensorCommand {
  const id='op_'+crypto.randomUUID().replaceAll('-','');const now=Date.now();
  return {api_version:'missioncore.nodedc/plugin-sdk/v0alpha2',kind:'OperationRequest',operation_id:id,idempotency_key:id,

packages/sensor-ui/src/extensions.ts

@@ -1,6 +1,6 @@
 import type {ComponentType,ReactNode} from 'react';
 import type {IconName} from '@nodedc/ui-react';
-import type {Sensor, SensorTransport} from './contracts';
+import type {Sensor, SensorInventory, SensorTransport} from './contracts';
 import type {EnrollmentTransport} from './enrollment';
 import type {RerunHostFactory} from './rerunHost';
 
@@ -15,6 +15,7 @@ export interface SensorEnrollmentProps {
  renderWindow:(view:{content:ReactNode;actions?:ReactNode;busy?:boolean})=>ReactNode;
 }
 export interface SensorUiContribution {
+ BoardSettings?:ComponentType<SensorBoardSettingsProps>;
  observation?:import('./observation').SensorObservationContribution;
  kind:string;
  Detail:ComponentType<SensorDetailProps>;
@@ -22,11 +23,17 @@ export interface SensorUiContribution {
  retainOffline:boolean;
  supportsPreparation:boolean;
  supportsRenaming?:boolean;
+ detailLabel?:string;
  rowActions?:(device:Sensor)=>readonly SensorRowAction[];
  status?:(device:Sensor,fresh:boolean)=>{label:string;tone:'neutral'|'success'|'warning'|'danger'};
  wirelessEnrollment?:{label:string;View:ComponentType<SensorEnrollmentProps>};
 }
 
+export interface SensorBoardSettingsProps {
+ inventory:SensorInventory|null;transport:SensorTransport;enabled:boolean;
+ refresh:()=>Promise<void>;failure:(error:unknown)=>void;openDevice:(id:string)=>void;
+}
+
 export interface SensorRowAction {
  actionId:string; label:string; description?:string; disabled?:boolean;
  parameters?:Record<string,unknown>;

plugins/vesc/README.md

@@ -0,0 +1,253 @@
+# VESC onboard plugin — profile 0.4.0
+
+**Native release in preparation:** 0.4.0 / Node 0.8.30-1 uses the actual VESC Tool 7.00 C++ engine for USB ownership, commands, configuration codecs and Hall measurement. Installation and physical qualification are still pending.
+
+**Previous release status, 2026-09-23:** 0.3.0 / Node 0.8.29-1 is an uninstalled,
+withheld experiment. The owner requires the actual upstream VESC Tool as the
+onboard engine behind Mission Core controls. Do not deploy the separate Python
+Hall workflow below as the intended calibration backend. Hardware currently
+runs 0.2.5 / Node 0.8.28-1. The verified native adapter and canonical procedure
+are documented in [the native engine plan](../../docs/node/18_VESC_TOOL_NATIVE_BACKEND.md).
+
+This increment discovers USB candidates, reads protocol identity and telemetry,
+saves opaque motor/application configuration backups and provides bounded
+identification pulses and user-assigned drive positions. It is not complete
+VESC Tool functional parity and does not implement continuous driving,
+configuration writes, calibration, CAN forwarding, custom configuration,
+firmware update or script execution.
+
+## Placement and ownership
+
+One `mission-core-vesc` service owns the serial descriptors. The Node model
+registry admits only its Unix socket and explicit domain operations. Local Node UI
+and paired Core use the same `SensorUiContribution` and operation journal.
+`VESC Tool` is a text action in the existing device row, opening the existing
+Detail slot. No workspace, root, visual control or motor icon was added.
+
+Candidates must match `0483:5740` and `ChibiOS/RT Virtual COM Port`. USB serial
+is never their durable identity: every candidate starts with a transport-local
+attachment including USB devnum. Only a valid firmware reply with a nonzero
+12-byte UUID establishes a stable ID. Duplicate protocol UUIDs remain separate
+provisional rows and cannot receive read operations. Replug renews the session.
+Names and physical Left/Right roles must not be inferred from tty numbering.
+
+The read-only serial path admits command bytes 0, 4, 14, 17, 31 and 62, with no
+arguments: identity, values, motor config, application config, decoded PPM and
+CAN discovery. The separate fixed test commands are described below. No
+keepalive, detect, config write, terminal or arbitrary packet API exists. Firmware identity is checked again before each operation;
+backup verifies it at the end as well. CRC/framing/length and response limits
+are enforced. Every port is held with flock/TIOCEXCL; an already running external
+tool must release it before this service is prepared.
+
+## Compatibility and backup
+
+Wire reference is the official [VESC Tool source](https://github.com/vedderb/vesc_tool/tree/dc53c658cbb89a947246034f7a00149cf79abdfc),
+specifically packet.cpp, commands.cpp and datatypes.h. The reference identifies
+itself as test version 7.01; it is not installed by this profile. The first
+reader implements the common values prefix for motor firmware major 5–7 and
+hardware type 0 (or an older reply without hardware type). Exact board/firmware
+qualification remains a hardware acceptance result, not a claim from a version
+number alone. Unknown layouts may identify themselves but are not decoded.
+
+Config replies are preserved as received, including command byte and signature,
+with SHA-256 and identity/version metadata. Their fields are not decoded without
+the exact firmware schema. The backups are not XML files importable into Tool,
+and this profile provides no restore action. Motor and application reads are
+sequential, not an atomic snapshot against other controller interfaces.
+
+Read receipts and backups live privately in `/var/lib/mission-core-vesc`.
+Operation IDs bind the exact request; retries retrieve receipts. An interrupted
+request remains unknown rather than being silently replayed. This service's
+host storage is bounded and does not delete backups to make space. GUI telemetry
+is an explicitly requested timestamped snapshot, not a control loop or a
+waveform recorder. ERPM is not mechanical shaft RPM.
+
+## Packaging and first preparation
+
+Node 0.8.22-1 carries this plugin from `packaging/payload.py`; no ad-hoc files,
+global Python packages or separate Qt installation are required. The source
+build pin is Design Guideline `8dd9190573d6616024ef01b9b34bf90b72960f44`.
+The existing versioned owner installer installs Node. Its local Ubuntu sudo
+prompt belongs to the owner; no password is handled by Core or an agent.
+
+The device's Prepare action starts only
+`mission-core-node-vesc-prepare.service`, via the existing Node polkit rule.
+The shipped profile creates the dedicated account, installs the exact-candidate
+udev rule, applies it to matching attached ttys and starts the read service.
+It does not add the operator or Node to dialout or disable ModemManager globally.
+Node retains PrivateDevices. The adapter has no capabilities, private network,
+read-only system files, bounded memory/tasks and a cdc_acm device cgroup rule.
+`modprobe@cdc_acm` ensures the named ttyACM group exists before cgroup resolution
+on cold boot; [systemd DeviceAllow](https://www.freedesktop.org/software/systemd/man/latest/systemd.resource-control.html#DeviceAllow=)
+uses group names from `/proc/devices`, not `char-<major-number>`.
+
+Before package replacement, the installer refuses an active preparation and
+stops the reader. A prepared profile restarts through its shipped job afterward.
+Removal stops/disables the service and removes only a byte-matching owned udev
+rule. Private backups and account identity are retained. Rolling Node back to
+0.8.21-3 disables VESC support; do not claim an older package can restore the new
+UI or firmware configuration. No VESC firmware was changed by this profile.
+
+## Validation
+
+Synthetic tests cover every denied transmit byte, fragmented/coalesced/corrupt
+frames, missing identities, scales, duplicate IDs, two independent attachments,
+replug sessions, receipts, config hashes and denied write actions. Node tests
+cover UUID promotion and preservation of camera guards. Full Node and Core
+checks are required alongside Linux package qualification and actual hardware
+reads. Test success is not clean-Ubuntu or motor calibration acceptance.
+
+On the Mini, `qmake`, `qmake6` and `cmake` were absent in the read-only build
+inventory. This first increment therefore uses the bounded reader fallback from
+the implementation plan. Headless extraction of the full upstream engine has
+not been demonstrated; it remains a separate build/compatibility task for the
+remaining Tool feature matrix.
+
+
+## 0.2.1 — per-controller identification pulse and immutable archive
+
+Node 0.8.24-1 adds a fixed 2 A pulse on one selected VESC, with a duration
+chosen from 1.5, 5 or 10 seconds. Discovery and session validation accept up
+to 128 directly attached controllers per board; there is no two-motor role enum.
+Names are the existing UUID-bound device names, scoped to their board.
+Synthetic 1/6/10-controller tests do not establish physical USB capacity.
+This is not a vehicle drive controller, completed RC arbiter, or calibration.
+All attached UUID sessions, firmware 5.02 / 75_300_R2, FOC, PPM Duty Cycle,
+neutral input for one second and a zero-current failsafe are mandatory.
+Official 5.02 schemas are included unchanged with their upstream license.
+Before any torque, motor and application configurations of every attached
+controller are archived durably, and each CAN segment is checked for unmanaged
+peers. Attachments are rechecked throughout the pulse. Each
+controller receives its own 250 ms volatile app-output lease (CAN-forward
+flag false). Other controllers receive zero current; the target receives only 2 A.
+A receiver command, serial fault, telemetry limit or local Stop ends the test.
+No config/firmware write, arbitrary current, arbitrary packet or CAN broadcast
+is exposed. Replaying an operation ID never repeats physical work.
+
+Firmware PPM pulses reset the global timeout even during app-output pause;
+therefore the design relies on the expiring local app-output lease returning
+to the existing PPM neutral/missing-pulse behavior, not solely on USB timeout.
+RC activity latches further test requests until an explicit neutral release.
+This is a test-session guard, not continuous production RC takeover monitoring.
+Neutral PPM alone cannot prove transmitter/link availability. Host-independent
+lease behavior follows the pinned firmware source; real stop/failsafe
+qualification is still required and must not be claimed from synthetic tests.
+
+Versions live in a private SQLite archive, are replicated via existing pairing
+with ACK after durable Core storage, and remain downloadable when a controller
+is offline. The Node and Core use the same detail component. The native VESC
+Tool 7.00 engineering build is separate: it has not acquired serial ownership
+or been integrated for calibration.
+
+Package upgrades remove only generated bytecode below the installed VESC
+payload before preparation starts. Deterministic source mtimes can otherwise
+validate stale same-size `.pyc` files even with `python -B`; a regression test
+reproduces the failed 0.8.23-1 upgrade and verifies this installer-owned fix.
+
+## 0.2.2 — entered test values and drive positions
+
+Node 0.8.25-1 carries numeric current and duration fields. The board advertises
+and independently enforces 0.5–5 A and 0.5–10 seconds for this identification
+mode. These are software bounds, not controller or motor nameplate
+ratings. Existing 60 A motor / 55 A battery configuration is not evidence that
+the rig can safely sustain those currents. Above 2 A the test coasts at
+400 electrical RPM and resumes current below 250, with a separate 800 ERPM
+abort threshold. Requested current is also bounded by the read configuration.
+Receipts distinguish successfully sent current commands from sampled cycles
+that ended before transmission. These bounds do not admit maximum-power tests.
+
+The existing VESC detail offers one board-wide drive profile: 1×1 means left
+and right (two motors); 2×2 means left front, left rear, right front and right
+rear (four motors). Directions are relative to forward vehicle motion. Position
+is manually assigned after physical identification and persists by controller
+UUID, not USB address. The same component is used on Node and paired Core.
+Revision checks prevent stale updates; an occupied position cannot be stolen,
+and rear assignments must be explicitly removed before shrinking to 1×1.
+Changing profile/position is local metadata and sends no VESC command.
+Discovery itself remains independent of these two admitted layout presets.
+
+## 0.2.3 — explain blocked tests and retain stop evidence
+
+Numeric fields show validation errors beside invalid values. The action area
+explains why Start is unavailable, including confirmation reset after a test.
+A telemetry-bound stop retains the triggering sample and its field, measured
+value and unchanged bounds. A completed current pulse never proves physical
+rotation; the owner must observe the motor before assigning its position.
+
+## 0.2.4 — gradual current in identification mode
+
+The confirmed right motor crossed800ERPM within0.245s of a5A step. The next
+profile starts and resumes at0.5A, increasing by approximately1A/s toward the
+entered ceiling. Soft coasting triggers at200ERPM or4%PWM and only resumes
+below100ERPM and2%PWM. It applies to every allowed current, while the hard
+abort thresholds remain unchanged. This is an identification pulse governor,
+not a vehicle speed controller. Command receipts record actual requested
+current per sample, including ramp/coasting;5A input is a ceiling.
+
+
+## 0.2.5 — entered current up to 30 A and time up to 30 seconds
+
+At the owner's request the raised-rig test accepts 0.5–30 A and 0.5–30 s.
+These are software admission bounds, not motor/controller nameplate ratings.
+The selected controller's configured motor and input current limits still bind.
+Positive current starts at0.5A and ramps by2A/s; the entered value is a current
+ceiling, not a speed request. No configuration or firmware write is performed.
+
+The former200ERPM/4%PWM coast/restart loop was causing the observed right-motor
+steps and pauses. This increment removes that automatic cycling. Current is
+maintained until time expires, Stop/RC/link interruption, or a telemetry limit.
+The test ends at6000ERPM or25%PWM (or a lower configured speed/duty limit),
+without automatic re-acceleration. A no-load motor can reach a speed limit
+before the entered time:30seconds is the maximum duration, not a promise of
+constant-speed rotation. Current feedback has bounded overshoot tolerance,
+capped by the configured motor current limit. Fault, voltage, temperature,
+identity/topology, neutral RC, expiring per-device leases and release checks
+remain active.
+
+Above5A, a2-second interval without at least three net electrical tachometer
+steps at60ERPM ends the test. This uses the existing Hall/FOC estimate; it is
+not independent mechanical feedback or certified thermal protection, especially
+with a damaged sensor connection. It prevents continuing to raise commanded
+current while the reported rotor remains stationary. Sustained vehicle control,
+calibration and native VESC Tool parity remain separate unfinished work.
+
+The owner clarified the diagnostic roles: LEFT is the problematic motor;
+RIGHT works normally from RC and is physically assigned right.1. Short steps
+in the earlier Core test must not be recorded as a right-motor defect. Every
+powered engineering experiment is coordinated with the owner at launch time.
+
+
+## 0.3.0 — measured speed hold and native Hall measurement
+
+`vesc.motor.run` calls firmware speed PID (`COMM_SET_RPM`), ramps the setpoint
+at 600 ERPM/s and counts time only after one second within 15% of the requested
+speed with a changing VESC tachometer. The UI exposes speed 300–3000 ERPM,
+motor-current ceiling 0.5–30 A and **rotation time** 0.5–30 s. Startup is bounded
+by 15 s; losing speed for 2 s ends the run. No automatic restart. FOC telemetry
+is not an independent physical encoder; the operator compares visible motion.
+The old `vesc.motor.pulse` action remains compatible but is not used by this UI.
+
+Before a speed command, `COMM_SET_MCCONF_TEMP` applies current scaling to both
+positive and braking motor current. Store/CAN/divide flags are false. ACK and
+full configuration readback precede torque. A durable UUID-bound journal exists
+before the first write. Cleanup restores the exact original configuration,
+verified byte-for-byte. A lost ACK, disconnection or process interruption leaves
+the journal pending; discovery retries restoration only with a matching identity,
+zero current, neutral receiver and unchanged unrelated configuration. An external
+configuration change is never overwritten. No flash or application write is used.
+The operation transport permits 90 s, including preflight and acceleration.
+
+`vesc.hall.measure` is the native FW 5.02 `COMM_DETECT_HALL_FOC` procedure also
+used by VESC Tool. It uses fixed 5 A, sweeps three electrical turns forward and
+three backwards, returns the observed table and restores its prior configuration.
+The table is **not automatically applied**. The firmware locks `mc_interface`
+during this approximately 12 s cycle; USB current-zero and receiver input cannot
+interrupt it. The UI requires a separate observed-rig/physical-power-cut
+acknowledgement and explicitly describes this limitation. Unknown completion
+latches authority and blocks another powered operation. Measurement, samples and
+backup references remain in the receipt.
+
+These operations do not constitute the full VESC Tool desktop UI. The product
+entry is labelled “Настройка VESC” until complete native application session
+integration is shipped. Full R/L/flux calibration, table application and
+configuration restore remain separate unimplemented work.

plugins/vesc/frontend/src/VescBackups.tsx

@@ -0,0 +1,51 @@
+import {useEffect,useState} from 'react';
+import {Button,LoadingRegion,ResourceList,ResourceRow,SettingsCard} from '@nodedc/ui-react';
+import type {ConfigurationVersion,SensorTransport} from '../../../../packages/sensor-ui/src/contracts';
+
+export function VescBackups({deviceId,archive,revision}: {deviceId:string;archive:SensorTransport['configurationArchive'];revision:string|null}) {
+ const [reload,setReload]=useState(0);
+ const [items,setItems]=useState<ConfigurationVersion[]>([]);
+ const [next,setNext]=useState<string|null>(null);
+ const [loading,setLoading]=useState(false);
+ const [error,setError]=useState<string|null>(null);
+ const [download,setDownload]=useState<string|null>(null);
+ useEffect(()=>{
+  let active=true;
+  setItems([]);setNext(null);setError(null);
+  if(!archive)return;
+  setLoading(true);
+  archive.list(deviceId).then(result=>{if(active){setItems(result.items);setNext(result.next);}})
+   .catch(()=>{if(active)setError('Не удалось загрузить историю конфигураций.');})
+   .finally(()=>{if(active)setLoading(false);});
+  return()=>{active=false;};
+ },[deviceId,archive,revision,reload]);
+ async function more(){
+  if(!archive||!next||loading)return;
+  setLoading(true);setError(null);
+  try{const result=await archive.list(deviceId,next);setItems(current=>[...current,...result.items.filter(item=>!current.some(old=>old.id===item.id))]);setNext(result.next);}
+  catch{setError('Не удалось загрузить следующие версии.');}
+  finally{setLoading(false);}
+ }
+ async function save(id:string){
+  if(!archive||download)return;
+  setDownload(id);setError(null);
+  try{
+   const value=await archive.read(deviceId,id);
+   const url=URL.createObjectURL(new Blob([JSON.stringify(value,null,2)+'\n'],{type:'application/json'}));
+   const link=document.createElement('a');link.href=url;link.download=`${deviceId}-${id}.json`;link.click();
+   setTimeout(()=>URL.revokeObjectURL(url),1000);
+  }catch{setError('Не удалось скачать выбранную версию.');}
+  finally{setDownload(null);}
+ }
+ return <SettingsCard title="История конфигураций" description="Сохранённые версии остаются на борту и передаются в Core при подключении." actions={<Button disabled={loading||!archive} onClick={()=>setReload(value=>value+1)}>Обновить историю</Button>}>
+  <LoadingRegion loading={loading&&!items.length} label="Загрузка версий конфигурации">
+   {error&&<p role="alert">{error}</p>}
+   {!loading&&!items.length&&!error&&<p>Сохранённых версий пока нет.</p>}
+   <ResourceList aria-label="Версии конфигурации VESC">{items.map(item=><li key={item.id}>
+    <ResourceRow title={new Date(item.observed_at).toLocaleString()} description={`Прошивка ${item.firmware} · мотор и входы`}
+     actions={<Button disabled={download!==null} loading={download===item.id} onClick={()=>void save(item.id)}>Скачать</Button>}/>
+   </li>)}</ResourceList>
+  </LoadingRegion>
+  {next&&<Button loading={loading} disabled={loading} onClick={()=>void more()}>Ещё версии</Button>}
+ </SettingsCard>;
+}

plugins/vesc/frontend/src/VescBoardSettings.tsx

@@ -0,0 +1,54 @@
+import {useRef,useState} from 'react';
+import {Button,InspectorSelectField,ResourceList,ResourceRow,SettingsCard} from '@nodedc/ui-react';
+import type {SensorBoardSettingsProps} from '../../../../packages/sensor-ui/src/extensions';
+import {perform,type Sensor} from '../../../../packages/sensor-ui/src/contracts';
+import {drivePositions,vescStatus,type DriveProfile} from './model';
+import {VescLimits} from './VescLimits';
+
+export function VescBoardSettings({inventory,transport,enabled,refresh,failure,openDevice}:SensorBoardSettingsProps){
+ const controllers=inventory?.items.filter(device=>device.kind==='vesc.controller')??[];
+ const profile=controllers.map(device=>vescStatus(device).drive_profile).filter((value):value is DriveProfile=>!!value).sort((a,b)=>b.revision-a.revision)[0];
+ const anchor=controllers.find(device=>device.online&&device.verified&&vescStatus(device).board_settings_supported);
+ const [busy,setBusy]=useState(false);const running=useRef(false);
+ const active=inventory?.operations?.some(value=>['queued','running'].includes(value.state)&&controllers.some(device=>device.id===value.device_id));
+ const blocked=!enabled||!anchor||busy||active||!profile;
+ const positions=drivePositions(profile?.layout??null);
+ async function change(device:Sensor,action:string,parameters:Record<string,unknown>){
+  if(blocked||running.current||!profile)return;
+  running.current=true;setBusy(true);failure(null);
+  try{await perform(transport,device,action,{revision:profile.revision,...parameters});await refresh();}
+  catch(error){failure(error);await refresh();}finally{running.current=false;setBusy(false);}
+ }
+ return <div className="sensor-content">
+  <SettingsCard title="Привод" description="Профиль аппарата и расположение его моторов.">
+   <InspectorSelectField label="Профиль привода" value={profile?.layout??''} disabled={blocked} options={[
+    {value:'',label:'Выберите профиль',disabled:true},
+    {value:'1x1',label:'1×1 · 2 мотора',disabled:!!profile?.bindings['left.2']||!!profile?.bindings['right.2']},
+    {value:'2x2',label:'2×2 · 4 мотора'},
+   ]} onChange={layout=>{if(anchor)void change(anchor,'vesc.drive.layout',{layout});}}/>
+   {!profile&&<p>{inventory?'Подключите VESC, чтобы получить профиль привода с борта.':'Получение профиля привода…'}</p>}
+   {profile&&!anchor&&<p>Профиль показан по последним сведениям с борта. Для изменения нужна связь с VESC и актуальное бортовое приложение.</p>}
+   {profile?.layout&&<>
+    <p>Стороны — по направлению движения вперёд. Назначения сохраняются автоматически и остаются с контроллером при смене USB-порта.</p>
+    {Object.entries(positions).map(([slot,label])=>{
+     const bound=profile.bindings[slot];
+     const missing=bound&&!controllers.some(device=>device.id===bound.device_id);
+     return <InspectorSelectField key={slot} label={label} value={bound?.device_id??''} disabled={blocked} options={[
+      {value:'',label:'Не назначен'},
+      ...controllers.map(device=>({value:device.id,label:device.name+(!device.online?' · нет связи':''),disabled:!device.online||!device.verified||Object.entries(profile.bindings).some(([other,binding])=>other!==slot&&binding.device_id===device.id)})),
+      ...(missing?[{value:bound.device_id,label:`VESC ${bound.uuid.slice(0,6).toUpperCase()} · нет связи`,disabled:true}]:[]),
+     ]} onChange={id=>{
+      const target=id?controllers.find(device=>device.id===id):anchor;
+      if(!target)return;
+      void change(target,id?'vesc.drive.assign':'vesc.drive.unassign',id?{layout:profile.layout,slot}:{slot});
+     }}/>;
+    })}
+    <ResourceList aria-label="Настройка назначенных моторов">{Object.entries(profile.bindings).map(([slot,binding])=>{
+     const target=controllers.find(device=>device.id===binding.device_id);
+     return <li key={slot}><ResourceRow title={positions[slot]??slot} description={target?.name??`VESC ${binding.uuid.slice(0,6).toUpperCase()}`} actions={<Button disabled={!target?.prepared||busy||active} onClick={()=>openDevice(binding.device_id)}>Настройка мотора</Button>}/></li>;
+    })}</ResourceList>
+   </>}
+  </SettingsCard>
+  <VescLimits controllers={controllers} transport={transport} enabled={enabled&&!busy&&!active} failure={failure}/>
+ </div>;
+}

plugins/vesc/frontend/src/VescCalibration.tsx

@@ -0,0 +1,56 @@
+import {useRef,useState} from 'react';
+import {Button,Checker,ResourceList,ResourceRow,SettingsCard,TextField} from '@nodedc/ui-react';
+import type {SensorDetailProps} from '../../../../packages/sensor-ui/src/extensions';
+import {perform} from '../../../../packages/sensor-ui/src/contracts';
+import {vescStatus} from './model';
+
+interface CalibrationResult {
+ completed:boolean;success:boolean;configuration_verified:boolean;release_confirmed:boolean;
+ native:{success?:boolean;code?:number;sensor_mode?:number;parameters?:Record<string,number>};
+}
+
+export function VescCalibration({device,transport,enabled,refresh,failure,blocked,onBusyChange}:SensorDetailProps&{blocked:boolean;onBusyChange:(busy:boolean)=>void}){
+ const [loss,setLoss]=useState('50');
+ const [confirmed,setConfirmed]=useState(false);
+ const [busy,setBusy]=useState(false);
+ const [result,setResult]=useState<CalibrationResult|null>(null);
+ const running=useRef(false);
+ const limits=vescStatus(device).foc_calibration;
+ const power=Number(loss);
+ const valid=!!limits&&loss.trim()!==''&&Number.isFinite(power)&&power>=limits.min_power_loss_w&&power<=limits.max_power_loss_w;
+ const available=enabled&&device.online&&device.verified&&device.vesc_status?.test_supported===true&&!!limits;
+ async function calibrate(){
+  if(running.current||blocked||!available||!confirmed||!valid)return;
+  running.current=true;setBusy(true);onBusyChange(true);setResult(null);failure(null);
+  try{
+   const inventory=await transport.inventory();
+   const controllers=inventory.items.filter(item=>item.kind==='vesc.controller'&&item.online);
+   const target=controllers.find(item=>item.id===device.id);
+   if(inventory.fresh===false||!target||controllers.some(item=>!item.verified))throw new Error('Нужна свежая связь со всеми VESC борта.');
+   setResult(await perform<CalibrationResult>(transport,target,'vesc.foc.calibrate',{
+    rig_clear:true,native_cycle_confirmed:true,max_power_loss_w:power,
+    sessions:Object.fromEntries(controllers.map(item=>[item.id,item.snapshot.context.session_id])),
+   },300000));
+  }catch(error){failure(error);}
+  finally{running.current=false;setBusy(false);onBusyChange(false);setConfirmed(false);await refresh();}
+ }
+ const parameters=result?.native.parameters;
+ const calibrated=result?.native.success===true&&result.configuration_verified;
+ return <SettingsCard title="Калибровка мотора" description={`${device.name} · штатное автоопределение FOC в VESC Tool.`}>
+  <p>Мастер измеряет сопротивление, индуктивность и магнитный поток, определяет датчики и записывает параметры выбранного мотора. Версии до и после сохраняются в истории; настройки аккумулятора и пульта сохраняются.</p>
+  <TextField type="number" label="Допустимые потери в моторе, Вт" value={loss} onChange={event=>setLoss(event.target.value)} disabled={busy||blocked||!limits} min={limits?.min_power_loss_w} max={limits?.max_power_loss_w} step="5" aria-invalid={!valid} description="Параметр нагрева для мастера VESC Tool, не номинальная мощность мотора. По нему мастер выбирает токи измерения; предел тока проверки вращения здесь не применяется."/>
+  <p>Мотор будет двигаться и разгоняться. На прошивке 5.02 процедуру нельзя прервать кнопкой или пультом — только отключением силового питания. Оставьте пульт выключенным и приводы вывешенными до завершения; цикл может занять до трёх минут.</p>
+  <Checker checked={confirmed} onChange={setConfirmed} disabled={busy||blocked} label="Наблюдаю мотор, питание могу отключить"/>
+  <Button disabled={!available||blocked||!confirmed||!valid||busy} loading={busy} onClick={()=>void calibrate()}>Откалибровать мотор</Button>
+  {busy&&<p role="status">Подготовка и калибровка VESC Tool. Дождитесь результата и снятия тока.</p>}
+  {result&&<>
+   <p role="status">{calibrated?'Параметры мотора измерены, записаны и проверены.':result.completed?`Калибровка не принята. Код VESC: ${result.native.code??'не получен'}.`:'Завершение калибровки не подтверждено. Проверьте состояние мотора и питание.'} {result.release_confirmed?'Снятие тока подтверждено.':'Снятие тока пока не подтверждено. Перед следующей проверкой верните управление после нейтрали.'} {!result.configuration_verified&&' Проверка конфигурации не завершена; новое движение заблокировано.'}</p>
+   {calibrated&&<>
+    <p>{result.native.sensor_mode===0?'Выбран режим без датчиков. Холлы не определились; качество запуска нужно проверить вращением.':result.native.sensor_mode===2?'Определены датчики Холла.':'Определён энкодер.'}</p>
+    {parameters&&<ResourceList aria-label="Результат калибровки">
+     {([['foc_motor_r','Сопротивление',1000,'мОм'],['foc_motor_l','Индуктивность',1e6,'мкГн'],['foc_motor_flux_linkage','Магнитный поток',1000,'мВб'],['l_current_max','Предел тока мотора',1,'А']] as const).map(([key,title,scale,unit])=><li key={key}><ResourceRow title={title} description={`${(parameters[key]*scale).toLocaleString('ru-RU',{maximumFractionDigits:3})} ${unit}`}/></li>)}
+    </ResourceList>}
+   </>}
+  </>}
+ </SettingsCard>;
+}

plugins/vesc/frontend/src/VescDetail.tsx

@@ -0,0 +1,80 @@
+import {useEffect,useRef,useState} from 'react';
+import {Button,LoadingRegion,ResourceList,ResourceRow,SettingsCard,StatusBadge} from '@nodedc/ui-react';
+import type {SensorDetailProps} from '../../../../packages/sensor-ui/src/extensions';
+import {perform} from '../../../../packages/sensor-ui/src/contracts';
+import {vescLabel,vescStatus,type VescTelemetry} from './model';
+import {VescBackups} from './VescBackups';
+import {VescMotor} from './VescMotor';
+import {VescHall} from './VescHall';
+import {VescCalibration} from './VescCalibration';
+import {VescLink} from './VescLink';
+
+const fields=[['input_voltage_v','Напряжение питания','В'],['input_current_a','Ток питания','А'],
+ ['motor_current_a','Ток мотора','А'],['erpm','Электрические обороты','ERPM'],['duty','Заполнение PWM',''],
+ ['mos_temperature_c','Температура контроллера','°C'],['motor_temperature_c','Температура мотора','°C'],
+ ['fault_code','Код ошибки',''],['can_id','CAN ID',''],['timeout','Тайм-аут управления',''],
+ ['kill_switch','Вход аварийного останова','']] as const;
+
+export function VescDetail(props:SensorDetailProps){
+ const {device,transport,enabled,back,refresh,failure}=props;
+ const status=vescStatus(device);const label=vescLabel(device,enabled);
+ const [telemetry,setTelemetry]=useState<VescTelemetry|null>(status.telemetry);
+ const [pending,setPending]=useState<string|null>(null);
+ const [saved,setSaved]=useState<string|null>(null);
+ const [motorBusy,setMotorBusy]=useState(false);
+ const [hallBusy,setHallBusy]=useState(false);
+ const [calibrationBusy,setCalibrationBusy]=useState(false);
+ const [linkBusy,setLinkBusy]=useState(false);
+ const poweredBusy=motorBusy||hallBusy||calibrationBusy||linkBusy;
+ const running=useRef(false);const mounted=useRef(true);
+ const available=enabled&&device.online&&device.verified&&status.readable;
+ useEffect(()=>{mounted.current=true;return()=>{mounted.current=false;};},[]);
+ async function read(action:'vesc.telemetry.read'|'vesc.config.backup'){
+  if(running.current||poweredBusy||!available)return;
+  running.current=true;setPending(action);failure(null);
+  try{
+   const result=await perform<Record<string,unknown>>(transport,device,action);
+   if(!mounted.current)return;
+   if(action==='vesc.telemetry.read')setTelemetry(result as unknown as VescTelemetry);
+   else {
+    setSaved(String(result.observed_at));
+   }
+   await refresh();
+  }catch(error){if(mounted.current)failure(error);}
+  finally{running.current=false;if(mounted.current)setPending(null);}
+ }
+ const backupAt=saved??status.backup?.observed_at;
+ return <div className="sensor-content">
+  <div><Button onClick={back}>К устройствам</Button></div>
+  <SettingsCard title={`${device.name} · Настройка VESC`} description={`${device.model} · ${device.connection_label??'USB'}`}
+   actions={<StatusBadge tone={label.tone}>{label.label}</StatusBadge>}>
+   {!enabled||!device.online?<p>Нет свежей связи с контроллером.</p>:status.message?<p>{status.message}</p>:null}
+   {status.identity?<ResourceList aria-label="Контроллер VESC">
+    <li><ResourceRow title="Прошивка" description={status.identity.version}/></li>
+    <li><ResourceRow title="Аппаратная версия" description={status.identity.hardware}/></li>
+    <li><ResourceRow title="UUID" description={status.identity.uuid.toUpperCase()}/></li>
+    {status.identity.test_firmware!==null&&status.identity.test_firmware>0&&<li><ResourceRow title="Тестовая прошивка" description={String(status.identity.test_firmware)}/></li>}
+   </ResourceList>:<p>Аппаратный идентификатор ещё не подтверждён.</p>}
+  </SettingsCard>
+  <SettingsCard title="Показания контроллера" description={telemetry?`Снимок: ${new Date(telemetry.observed_at).toLocaleString()}`:'Получите текущие значения и код ошибки.'}
+   actions={<Button disabled={!available||pending!==null||poweredBusy} loading={pending==='vesc.telemetry.read'} onClick={()=>void read('vesc.telemetry.read')}>Обновить показания</Button>}>
+   <LoadingRegion loading={pending==='vesc.telemetry.read'&&!telemetry} label="Чтение показаний VESC">
+    {telemetry?<ResourceList aria-label="Показания VESC">{fields.map(([key,title,unit])=>{
+     const value=telemetry.values[key];if(value===undefined)return null;
+     return <li key={key}><ResourceRow title={title} description={typeof value==='boolean'?(value?'Активен':'Не активен'):`${Number(value).toLocaleString(undefined,{maximumFractionDigits:3})}${unit?' '+unit:''}`}/></li>;
+    })}</ResourceList>:<p>Показания ещё не прочитаны.</p>}
+   </LoadingRegion>
+   <p>ERPM — электрические обороты. Обороты вала зависят от числа пар полюсов мотора.</p>
+  </SettingsCard>
+  <SettingsCard title="Резервная копия конфигурации" description="Сохраните текущие параметры мотора и входов новой версией."
+   actions={<Button disabled={!available||pending!==null||poweredBusy} loading={pending==='vesc.config.backup'} onClick={()=>void read('vesc.config.backup')}>Сохранить версию</Button>}>
+   {backupAt&&<p>Последняя копия: {new Date(backupAt).toLocaleString()}</p>}
+   <p>Копия привязана к UUID и прошивке. Версии до и после калибровки остаются в истории.</p>
+  </SettingsCard>
+  <VescLink {...props} blocked={motorBusy||hallBusy||calibrationBusy||pending!==null} onBusyChange={setLinkBusy}/>
+  <VescCalibration {...props} blocked={linkBusy||motorBusy||hallBusy||pending!==null} onBusyChange={setCalibrationBusy}/>
+  <VescHall {...props} blocked={linkBusy||motorBusy||calibrationBusy||pending!==null} onBusyChange={setHallBusy}/>
+  <VescMotor {...props} blocked={linkBusy||hallBusy||calibrationBusy||pending!==null} onBusyChange={setMotorBusy}/>
+  <VescBackups deviceId={device.id} archive={transport.configurationArchive} revision={backupAt??null}/>
+ </div>;
+}

plugins/vesc/frontend/src/VescHall.tsx

@@ -0,0 +1,42 @@
+import {useRef,useState} from 'react';
+import {Button,Checker,SettingsCard} from '@nodedc/ui-react';
+import type {SensorDetailProps} from '../../../../packages/sensor-ui/src/extensions';
+import {perform} from '../../../../packages/sensor-ui/src/contracts';
+import {vescStatus} from './model';
+
+interface HallResult {
+ completed:boolean;configuration_restored:boolean;release_confirmed:boolean;
+ measurement:null|{valid_six_states:boolean;observed_states:number[];hall_table:number[]};
+}
+
+export function VescHall({device,transport,enabled,refresh,failure,blocked,onBusyChange}:SensorDetailProps&{blocked:boolean;onBusyChange:(busy:boolean)=>void}){
+ const [confirmed,setConfirmed]=useState(false);
+ const [busy,setBusy]=useState(false);
+ const [result,setResult]=useState<HallResult|null>(null);
+ const running=useRef(false);
+ const available=enabled&&device.online&&device.verified&&device.vesc_status?.test_supported===true&&!!vescStatus(device).hall_measurement;
+ async function measure(){
+  if(running.current||blocked||!available||!confirmed)return;
+  running.current=true;setBusy(true);onBusyChange(true);setResult(null);failure(null);
+  try{
+   const inventory=await transport.inventory();
+   const controllers=inventory.items.filter(item=>item.kind==='vesc.controller'&&item.online);
+   const target=controllers.find(item=>item.id===device.id);
+   if(inventory.fresh===false||!target||controllers.some(item=>!item.verified))throw new Error('Нужна свежая связь со всеми VESC борта.');
+   setResult(await perform<HallResult>(transport,target,'vesc.hall.measure',{
+    rig_clear:true,native_cycle_confirmed:true,
+    ...(vescStatus(target).hall_measurement?.standstill_confirmation_required?{standstill_confirmed:true}:{}),
+    sessions:Object.fromEntries(controllers.map(item=>[item.id,item.snapshot.context.session_id])),
+   },60000));
+  }catch(error){failure(error);}
+  finally{running.current=false;setBusy(false);onBusyChange(false);setConfirmed(false);await refresh();}
+ }
+ return <SettingsCard title="Датчики Холла" description={`${device.name} · штатное измерение VESC Tool, 5 А.`}>
+  <p>Мотор медленно смещается в обе стороны около 12 секунд. Измерение проверяет состояния датчиков и получает таблицу их положения; новая таблица автоматически не записывается.</p>
+  <p>На прошивке 5.02 этот цикл нельзя прервать кнопкой или пультом. Для немедленной остановки нужно отключить силовое питание. Пульт должен оставаться выключенным, все приводы — вывешенными. Перед запуском убедитесь, что все моторы полностью остановились: в бессенсорном режиме показание оборотов на остановленном моторе может быть ненулевым.</p>
+  <Checker checked={confirmed} onChange={setConfirmed} disabled={busy||blocked} label="Все моторы остановлены, наблюдаю"/>
+  <Button disabled={!available||blocked||!confirmed||busy} loading={busy} onClick={()=>void measure()}>Измерить датчики Холла</Button>
+  {busy&&<p role="status">Подготовка и штатное измерение датчиков. Дождитесь результата.</p>}
+  {result&&<p role="status">{!result.completed?'Завершение измерения не подтверждено. Проверьте мотор и питание.':result.measurement?.valid_six_states?'Измерение получило шесть состояний Холла.':'Не удалось получить полную таблицу Холла. Возможны отсутствие движения или неисправность датчиков/соединения.'} {result.release_confirmed?'Снятие тока подтверждено.':'Снятие тока не подтверждено.'} {result.configuration_restored?'Исходная конфигурация сохранена.':'Возврат исходной конфигурации не подтверждён.'}</p>}
+ </SettingsCard>;
+}

plugins/vesc/frontend/src/VescLimits.tsx

@@ -0,0 +1,35 @@
+import {useRef,useState} from 'react';
+import {Button,ResourceList,ResourceRow,SettingsCard} from '@nodedc/ui-react';
+import {perform,type Sensor,type SensorTransport} from '../../../../packages/sensor-ui/src/contracts';
+import {vescStatus} from './model';
+
+interface Limits {observed_at:string;identity?:{uuid:string};parameters:Record<string,number>}
+const number=(value:number|undefined)=>value===undefined?'—':value.toLocaleString('ru-RU',{maximumFractionDigits:2});
+export function VescLimits({controllers,transport,enabled,failure}:{controllers:Sensor[];transport:SensorTransport;enabled:boolean;failure:(error:unknown)=>void}){
+ const [values,setValues]=useState<Record<string,Limits>>({});
+ const [busy,setBusy]=useState(false);const running=useRef(false);
+ const readable=controllers.filter(device=>device.online&&device.verified&&vescStatus(device).readable&&vescStatus(device).board_settings_supported);
+ async function read(){
+  if(!enabled||running.current||!readable.length)return;
+  running.current=true;setBusy(true);failure(null);setValues({});
+  try{for(const device of readable){const value=await perform<Limits>(transport,device,'vesc.limits.read');setValues(current=>({...current,[device.id]:value}));}}
+  catch(error){failure(error);}finally{running.current=false;setBusy(false);}
+ }
+ return <SettingsCard title="Ограничения контроллеров" description="Текущие настройки VESC. Чтение не запускает моторы и не меняет конфигурацию." actions={<Button disabled={!enabled||busy||!readable.length} loading={busy} onClick={()=>void read()}>Прочитать ограничения</Button>}>
+  <p>Ток мотора задаёт тягу; ток батареи ограничивает потребление. Эти настройки действуют и при управлении с пульта. Паспортные пределы моторов, контроллеров и батареи проверяются отдельно.</p>
+  {controllers.map(device=>{
+   const value=values[device.id];if(!value)return null;
+   const p=value.parameters;
+   const fields=[
+    ['Ток мотора · разгон / торможение',`${number(p.l_current_max)} / ${number(p.l_current_min)} А`],
+    ['Масштаб тока · разгон / торможение',`${number(p.l_current_max_scale*100)} / ${number(p.l_current_min_scale*100)} %`],
+    ['Ток батареи · потребление / рекуперация',`${number(p.l_in_current_max)} / ${number(p.l_in_current_min)} А`],
+    ['Диапазон электрических оборотов',`${number(p.l_min_erpm)} … ${number(p.l_max_erpm)} ERPM`],
+    ['Максимальная мощность',p.l_watt_max>=1500000?'Отдельный предел не задан':`${number(p.l_watt_max)} Вт`],
+    ['Максимальный duty cycle',`${number(p.l_max_duty*100)} %`],
+   ];
+   return <SettingsCard key={device.id} title={device.name} description={`Прочитано ${new Date(value.observed_at).toLocaleString('ru-RU')}`}><ResourceList aria-label={`Ограничения ${device.name}`}>{fields.map(([title,description])=><li key={title}><ResourceRow title={title} description={description}/></li>)}</ResourceList></SettingsCard>;
+  })}
+  {!Object.keys(values).length&&<p>Прочитайте значения для подключённых контроллеров.</p>}
+ </SettingsCard>;
+}

plugins/vesc/frontend/src/VescLink.tsx

@@ -0,0 +1,42 @@
+import {useEffect,useRef,useState} from 'react';
+import {Button,ResourceList,ResourceRow,SettingsCard} from '@nodedc/ui-react';
+import type {SensorDetailProps} from '../../../../packages/sensor-ui/src/extensions';
+import {perform} from '../../../../packages/sensor-ui/src/contracts';
+import {vescStatus} from './model';
+
+interface LinkResult {
+ outcome:string;duration_s:number;
+ devices:Record<string,{name:string;summary:{replies:number;p95_ms?:number;max_ms?:number;over_60_ms?:number}}>;
+}
+export function VescLink({device,transport,enabled,failure,refresh,blocked,onBusyChange}:SensorDetailProps&{blocked:boolean;onBusyChange:(busy:boolean)=>void}){
+ const [busy,setBusy]=useState(false);const [result,setResult]=useState<LinkResult|null>(null);
+ const running=useRef(false);const mounted=useRef(true);
+ useEffect(()=>{mounted.current=true;return()=>{mounted.current=false;};},[]);
+ const available=enabled&&device.online&&device.verified&&vescStatus(device).link_check_supported;
+ async function check(){
+  if(running.current||blocked||!available)return;
+  running.current=true;setBusy(true);onBusyChange(true);failure(null);setResult(null);
+  try{
+   const inventory=await transport.inventory();
+   const peers=inventory.items.filter(item=>item.kind==='vesc.controller');
+   const selected=peers.find(item=>item.id===device.id);
+   if(inventory.fresh===false||!selected||peers.some(item=>!item.online||!item.verified))throw new Error('Обновите связь со всеми VESC борта.');
+   const sessions=Object.fromEntries(peers.map(item=>[item.id,item.snapshot.context.session_id]));
+   const value=await perform<LinkResult>(transport,selected,'vesc.link.check',{sessions},45000);
+   if(mounted.current)setResult(value);
+   await refresh();
+  }catch(error){if(mounted.current)failure(error);}
+  finally{running.current=false;if(mounted.current){setBusy(false);onBusyChange(false);}}
+ }
+ if(!vescStatus(device).link_check_supported)return null;
+ const text=result?.outcome==='complete'?'Все ответы получены. Эта проверка не подтверждает связь во время вращения.':
+  result?.outcome==='not_idle'?'Измерение прекращено: есть команда с пульта или движение мотора.':
+  result?.outcome==='read_failed'?'Ответ контроллера не получен. Проверка прервана.':
+  'Измерение не завершено.';
+ return <SettingsCard title="Связь с контроллерами" description="Проверяет ответы всех VESC борта около 10 секунд. Моторы должны стоять; команды вращения и изменения настроек не отправляются."
+  actions={<Button disabled={!available||blocked||busy} loading={busy} onClick={()=>void check()}>Проверить связь</Button>}>
+  {busy&&<p role="status">Измеряется время ответа контроллеров.</p>}
+  {result&&<><p role="status">{text}</p><ResourceList aria-label="Связь VESC">{Object.entries(result.devices).map(([id,item])=><li key={id}><ResourceRow title={item.name}
+   description={`${item.summary.replies} ответов${item.summary.max_ms===undefined?'':` · 95% не дольше ${Math.ceil(item.summary.p95_ms??0)} мс · максимум ${Math.ceil(item.summary.max_ms)} мс`}`}/></li>)}</ResourceList></>}
+ </SettingsCard>;
+}

plugins/vesc/frontend/src/VescMotor.tsx

@@ -0,0 +1,89 @@
+import {useEffect,useRef,useState} from 'react';
+import {Button,Checker,Select,TextField,SettingsCard} from '@nodedc/ui-react';
+import type {SensorDetailProps} from '../../../../packages/sensor-ui/src/extensions';
+import {perform} from '../../../../packages/sensor-ui/src/contracts';
+import {testInput,speedInput,rotationResult,vescStatus,driveTestIds,drivePositions} from './model';
+
+export function VescMotor({device,transport,enabled,refresh,failure,blocked=false,onBusyChange}:SensorDetailProps&{blocked?:boolean;onBusyChange?:(busy:boolean)=>void}){
+ const [duration,setDuration]=useState('30');
+ const [current,setCurrent]=useState('30');
+ const [speed,setSpeed]=useState('2000');
+ const [direction,setDirection]=useState('forward');
+ const [scope,setScope]=useState('single');
+ const status=vescStatus(device),profile=status.drive_profile;
+ const driveIds=driveTestIds(profile,device.id);
+ const group=scope==='profile';
+ const groupAvailable=status.group_test_supported===true&&driveIds.length>1;
+ const [clear,setClear]=useState(false);const [busy,setBusy]=useState(false);
+ const [result,setResult]=useState<string|null>(null);const [stopping,setStopping]=useState(false);
+ const [rc,setRc]=useState(device.vesc_status?.rc_latched===true);
+ const running=useRef(false);const mounted=useRef(true);
+ useEffect(()=>{mounted.current=true;return()=>{mounted.current=false;};},[]);
+ const limits=vescStatus(device).test_limits;
+ const speedLimits=vescStatus(device).speed_limits;
+ const speedValue=speedInput(speed,speedLimits);
+ const input=testInput(current,duration,limits);
+ const available=!!limits&&!!speedLimits&&enabled&&!blocked&&device.online&&device.verified&&device.vesc_status?.test_supported===true;
+ const valid=input.valid&&!speedValue.error&&(direction==='forward'||speedLimits?.reverse_supported===true)&&(!group||groupAvailable);
+ const blockedReason=busy?'Подготовка и проверка выполняются. Дождитесь результата или остановите проверку.':
+  !enabled||!device.online?'Для запуска нужна свежая связь с бортом и VESC.':
+  !device.verified?'Контроллер ещё не определён. Обновите устройства.':
+  !available?'Проверка вращения для этого VESC сейчас недоступна на борту.':
+  !valid?'Исправьте значения в отмеченных полях.':
+  !clear?'Для запуска подтвердите, что все приводы остановлены, вывешены и вращение свободно.':null;
+ async function execute(release=false){
+  if(running.current||!available||!clear||!valid)return;
+  running.current=true;setBusy(true);onBusyChange?.(true);setResult(null);failure(null);
+  try{
+   const inventory=await transport.inventory();
+   const controllers=inventory.items.filter(item=>item.kind==='vesc.controller'&&item.online);
+   const target=controllers.find(item=>item.id===device.id);
+   if(inventory.fresh===false||!target||controllers.some(item=>!item.verified))throw new Error('Нужна свежая связь со всеми подключёнными VESC этого борта.');
+   if(group&&!release&&(vescStatus(target).drive_profile?.revision!==profile?.revision||driveIds.some(id=>!controllers.some(item=>item.id===id))))throw new Error('Профиль или состав моторов изменился. Обновите карточку.');
+   const value=await perform<{outcome?:string;rotation_s?:number;release_confirmed?:boolean;limits_restored?:boolean}>(transport,target,release?'vesc.control.release':group?'vesc.drive.run':'vesc.motor.run',{
+    rig_clear:true,duration_s:input.durationS,current_a:input.currentA,
+    ...(release?{}:{erpm:speedValue.erpm*(direction==='reverse'?-1:1)}),
+    ...(vescStatus(target).speed_limits?.standstill_confirmation_required?{standstill_confirmed:true}:{}),
+    ...(!release&&group?{profile_revision:profile?.revision,device_ids:driveIds}:{}),
+    sessions:Object.fromEntries(controllers.map(item=>[item.id,item.snapshot.context.session_id])),
+   },group&&!release?120000:90000);
+   if(mounted.current){
+    setResult(release?'Управление возвращено для проверки.':rotationResult(value));
+    if(release)setRc(false);
+   }
+  }catch(error){if(mounted.current)failure(error);}
+  finally{
+   running.current=false;
+   onBusyChange?.(false);
+   if(mounted.current){setBusy(false);setClear(false);await refresh();}
+  }
+ }
+ async function stop(){
+  if(stopping)return;setStopping(true);
+  try{const value=await perform<{interruptible?:boolean}>(transport,device,'vesc.motor.stop',{},15000);if(mounted.current)setResult(value.interruptible===false?'Идёт штатный цикл измерения VESC. Немедленная остановка возможна отключением питания.':'Остановка запрошена. Ожидаем результат проверки.');}
+  catch(error){if(mounted.current)failure(error);}
+  finally{if(mounted.current)setStopping(false);}
+ }
+ useEffect(()=>setRc(device.vesc_status?.rc_latched===true),[device.vesc_status?.rc_latched]);
+ return <SettingsCard title="Проверка вращения" description={`${device.name} · ${device.connection_label??'USB'}. Конфигурации подключённых контроллеров сохраняются автоматически.`}>
+  <p>Для вывешенных колёс без нагрузки. При команде с приёмника проверка прекращается; повторный запуск требует явного возврата управления.</p>
+  <Select label="Проверяемые моторы" value={scope} disabled={busy||blocked} options={[{value:'single',label:`Только ${device.name}`},{value:'profile',label:'Все моторы профиля одновременно',disabled:!groupAvailable}]} onChange={setScope}/>
+  {group&&profile&&<p>{Object.keys(drivePositions(profile.layout)).map(slot=>`${drivePositions(profile.layout)[slot]} · VESC ${profile.bindings[slot]?.uuid.slice(0,6).toUpperCase()??'не назначен'}`).join('; ')}. Общий отсчёт начинается, когда все моторы удерживают скорость. Остановка любого завершает всю проверку. Предел тока применяется к каждому мотору.</p>}
+  <Select label="Направление вращения" value={direction} disabled={busy||blocked} options={[{value:'forward',label:'Прямое'},{value:'reverse',label:'Обратное',disabled:speedLimits?.reverse_supported!==true}]} onChange={value=>{setDirection(value);setClear(false);}}/>
+  <p>Направление относительно настроек VESC. Перед обратным запуском дождитесь полной остановки всех моторов и подтвердите её.</p>
+  <TextField type="number" inputMode="decimal" label="Скорость, ERPM" value={speed} onChange={event=>setSpeed(event.target.value)} disabled={busy||!speedLimits} min={speedLimits?.min_erpm} max={speedLimits?.max_erpm} step="100" aria-invalid={!!speedValue.error} description={speedValue.error??'Электрические обороты в минуту. VESC плавно разгоняет мотор и удерживает заданную скорость.'}/>
+  <TextField type="number" inputMode="decimal" label="Предел тока мотора, А" value={current} onChange={event=>setCurrent(event.target.value)} disabled={busy||!limits} min={limits?.min_current_a} max={limits?.max_current_a} step="0.1" aria-invalid={!!input.currentError} hint={limits?`${limits.min_current_a}–${limits.max_current_a} А`:undefined} description={input.currentError??'Максимальный ток разгона и удержания скорости. Прежние пределы сохраняются перед тестом и восстанавливаются после него.'}/>
+  <TextField type="number" inputMode="decimal" label="Длительность вращения, с" value={duration} onChange={event=>setDuration(event.target.value)} disabled={busy||!limits} min={limits?.min_duration_s} max={limits?.max_duration_s} step="0.1" aria-invalid={!!input.durationError} hint={limits?`${limits.min_duration_s}–${limits.max_duration_s} с`:undefined} description={input.durationError??'Отсчёт начинается после разгона и стабилизации скорости. Подготовка, разгон и остановки не входят в это время.'}/>
+  <p>Время считается по скорости и тахометру VESC. Если мотор не разгонится за 15 секунд, потеряет скорость или сработает ограничение, результат покажет фактическое время и причину остановки. Показания контроллера нужно сопоставить с видимым вращением.</p>
+  {limits?.stall_timeout_s&&<p>При токе выше {limits.stall_current_a} А и отсутствии подтверждённого движения в течение {limits.stall_timeout_s} секунд проверка остановится.</p>}
+  <p>Все приводы должны быть вывешены, вращение свободно. Подтверждение требуется перед каждым запуском.</p>
+  <Checker checked={clear} onChange={setClear} disabled={busy} label="Все моторы остановлены, наблюдаю"/>
+  {blockedReason&&<p role="status">{blockedReason}</p>}
+  <div className="sensor-actions">
+   {rc?<Button disabled={!available||!clear||busy||!valid} loading={busy} onClick={()=>void execute(true)}>Вернуть управление после нейтрали</Button>:
+    <Button disabled={!available||!clear||busy||!valid} loading={busy} onClick={()=>void execute()}>Проверить вращение</Button>}
+   <Button disabled={!enabled||!device.online||blocked} loading={stopping} onClick={()=>void stop()}>Остановить проверку</Button>
+  </div>
+  {result&&<p role="status">{result}</p>}
+ </SettingsCard>;
+}

plugins/vesc/frontend/src/model.ts

@@ -0,0 +1,69 @@
+import type {Sensor} from '../../../../packages/sensor-ui/src/contracts';
+
+export interface VescIdentity {uuid:string;hardware:string;version:string;test_firmware:number|null;hardware_type:number|null}
+export interface VescTelemetry {observed_at:string;values:Record<string,number|boolean>}
+export interface DriveProfile {layout:null|'1x1'|'2x2';revision:number;bindings:Record<string,{device_id:string;uuid:string}>}
+export function drivePositions(layout:DriveProfile['layout']):Record<string,string> {
+ return layout==='2x2'
+  ? {'left.1':'Левый передний','left.2':'Левый задний','right.1':'Правый передний','right.2':'Правый задний'}
+  : {'left.1':'Левый','right.1':'Правый'};
+}
+export interface VescStatus {
+ board_settings_supported?:boolean;
+ group_test_supported?:boolean;
+ link_check_supported?:boolean;
+ foc_calibration?:{min_power_loss_w:number;max_power_loss_w:number;interruptible:boolean};
+ speed_limits?:{min_erpm:number;max_erpm:number;duration_basis:string;reverse_supported?:boolean;standstill_confirmation_required?:boolean};
+ hall_measurement?:{current_a:number;interruptible:boolean;standstill_confirmation_required?:boolean};
+ drive_profile?:DriveProfile;
+ test_limits?:{min_current_a:number;max_current_a:number;min_duration_s:number;max_duration_s:number;current_ramp_a_per_s?:number;continuous_current?:boolean;max_erpm?:number;max_duty?:number;stall_current_a?:number;stall_timeout_s?:number};
+ identity:VescIdentity|null; readable:boolean; message:string|null; telemetry:VescTelemetry|null;
+ backup:{observed_at:string;operation_id:string;configs:Record<string,{bytes:number;sha256:string}>}|null;
+}
+
+export function driveTestIds(profile:DriveProfile|undefined,selected:string):string[] {
+ if(!profile?.layout)return [];
+ const slots=Object.keys(drivePositions(profile.layout));
+ if(Object.keys(profile.bindings).length!==slots.length||slots.some(slot=>!profile.bindings[slot]))return [];
+ const ids=slots.map(slot=>profile.bindings[slot].device_id);
+ return new Set(ids).size===ids.length&&ids.includes(selected)?ids:[];
+}
+
+export function speedInput(speed:string,limits:VescStatus['speed_limits']) {
+ const erpm=Number(speed);
+ const error=!limits?'Для удержания скорости требуется обновление профиля VESC на борту.':
+  speed.trim()===''||!Number.isFinite(erpm)?'Введите скорость.':
+  erpm<limits.min_erpm||erpm>limits.max_erpm?`Скорость должна быть от ${limits.min_erpm} до ${limits.max_erpm} ERPM.`:null;
+ return {erpm,error};
+}
+
+export function rotationResult(value:{outcome?:string;rotation_s?:number;release_confirmed?:boolean;limits_restored?:boolean}) {
+ const time=(value.rotation_s??0).toLocaleString('ru-RU',{maximumFractionDigits:1});
+ const outcome=value.outcome==='duration'?'Заданное время вращения набрано.':value.outcome==='stopped'?'Проверка остановлена.':String(value.outcome);
+ return `${outcome} Вращение на заданной скорости по данным VESC: ${time} с. ${value.release_confirmed?'Снятие тока подтверждено.':'Снятие тока не подтверждено.'}${value.limits_restored?' Исходные токовые пределы восстановлены.':''}`;
+}
+export function vescStatus(device:Sensor):VescStatus {
+ return {identity:null,readable:false,message:null,telemetry:null,backup:null,...device.vesc_status} as VescStatus;
+}
+export function vescLabel(device:Sensor,fresh:boolean):{label:string;tone:'neutral'|'success'|'warning'|'danger'} {
+ const status=vescStatus(device);
+ if(!fresh||!device.online)return {label:'Нет связи',tone:'neutral'};
+ if(!device.prepared)return {label:'Требуется подготовка',tone:'neutral'};
+ if(!status.identity)return {label:'Не определён',tone:'warning'};
+ if(!status.readable)return {label:'Прошивка не поддерживается',tone:'warning'};
+ return {label:'Готов к чтению',tone:'success'};
+}
+
+export function testInput(current:string,duration:string,limits:VescStatus['test_limits']) {
+ const currentA=Number(current),durationS=Number(duration);
+ const number=(value:number)=>value.toLocaleString('ru-RU');
+ const currentError=!limits?null:current.trim()===''||!Number.isFinite(currentA)
+  ? 'Введите ток мотора.'
+  : currentA<limits.min_current_a||currentA>limits.max_current_a
+   ? `Ток должен быть от ${number(limits.min_current_a)} до ${number(limits.max_current_a)} А.`:null;
+ const durationError=!limits?null:duration.trim()===''||!Number.isFinite(durationS)
+  ? 'Введите длительность проверки.'
+  : durationS<limits.min_duration_s||durationS>limits.max_duration_s
+   ? `Длительность должна быть от ${number(limits.min_duration_s)} до ${number(limits.max_duration_s)} с.`:null;
+ return {currentA,durationS,currentError,durationError,valid:!!limits&&!currentError&&!durationError};
+}

plugins/vesc/frontend/src/plugin.ts

@@ -0,0 +1,9 @@
+import type {SensorUiContribution} from '../../../../packages/sensor-ui/src/extensions';
+import {VescDetail} from './VescDetail';
+import {VescBoardSettings} from './VescBoardSettings';
+import {vescLabel} from './model';
+
+export const vescSensorUi:SensorUiContribution={
+ kind:'vesc.controller',Detail:VescDetail,BoardSettings:VescBoardSettings,icon:'activity',retainOffline:true,
+ supportsPreparation:true,supportsRenaming:true,detailLabel:'Настройка VESC',status:vescLabel,
+};

plugins/vesc/native/LICENSE

@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
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+<https://www.gnu.org/licenses/why-not-lgpl.html>.

plugins/vesc/native/config_export.h

@@ -0,0 +1,97 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+#pragma once
+#include <QApplication>
+#include <QCryptographicHash>
+#include <QFile>
+#include <QJsonArray>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QRegularExpression>
+#include <QXmlStreamWriter>
+#include <stdexcept>
+#include "vescinterface.h"
+#include "utility.h"
+
+static QString sha256(const QByteArray &data) {
+    return QCryptographicHash::hash(data, QCryptographicHash::Sha256).toHex();
+}
+
+static void require(bool condition, const char *message) {
+    if (!condition) throw std::runtime_error(message);
+}
+
+static QJsonObject exportConfig(ConfigParams *config, const QByteArray &packet,
+                                const QString &xmlName) {
+    VByteArray roundTrip;
+    config->serialize(roundTrip);
+    require(roundTrip == packet.mid(1), "Native configuration round-trip differs from archive");
+    QJsonArray parameters;
+    for (const auto &name : config->getParamOrder()) {
+        const auto p = config->getParamCopy(name);
+        QJsonObject item{{"name", name}, {"title", p.longName},
+                         {"description", p.description}, {"suffix", p.suffix},
+                         {"transmittable", p.transmittable}, {"editor_scale", p.editorScale}};
+        switch (p.type) {
+        case CFG_T_DOUBLE:
+            item.insert("type", "number"); item.insert("value", p.valDouble);
+            item.insert("min", p.minDouble); item.insert("max", p.maxDouble);
+            item.insert("step", p.stepDouble); item.insert("decimals", p.editorDecimalsDouble);
+            break;
+        case CFG_T_INT: case CFG_T_BITFIELD:
+            item.insert("type", p.type == CFG_T_INT ? "integer" : "bitfield");
+            item.insert("value", p.valInt); item.insert("min", p.minInt);
+            item.insert("max", p.maxInt); item.insert("step", p.stepInt);
+            break;
+        case CFG_T_ENUM:
+            item.insert("type", "enum"); item.insert("value", p.valInt);
+            item.insert("options", QJsonArray::fromStringList(p.enumNames)); break;
+        case CFG_T_BOOL:
+            item.insert("type", "boolean"); item.insert("value", bool(p.valInt)); break;
+        case CFG_T_QSTRING:
+            item.insert("type", "string"); item.insert("value", p.valString);
+            item.insert("max_length", p.maxLen); break;
+        default: item.insert("type", "undefined");
+        }
+        parameters.append(item);
+    }
+    QJsonArray groups;
+    for (const auto &group : config->getParamGroups()) {
+        QJsonArray subgroups;
+        for (const auto &subgroup : config->getParamSubgroups(group)) {
+            subgroups.append(QJsonObject{{"name", subgroup}, {"parameters",
+                QJsonArray::fromStringList(config->getParamsFromSubgroup(group, subgroup))}});
+        }
+        groups.append(QJsonObject{{"name", group}, {"subgroups", subgroups}});
+    }
+    QString xml;
+    QXmlStreamWriter writer(&xml);
+    writer.setAutoFormatting(true);
+    config->getXML(writer, xmlName);
+    // Validate Tool's own XML load as well as its binary codec. No output file,
+    // motor configuration write, custom schema, or custom parameter parser.
+    ConfigParams loaded;
+    loaded = *config;
+    QXmlStreamReader reader(xml);
+    require(loaded.setXML(reader, xmlName), "Native XML round-trip failed");
+    VByteArray xmlRoundTrip; loaded.serialize(xmlRoundTrip);
+    const auto differences = config->checkDifference(&loaded);
+    require(differences.isEmpty(), "Native XML differs beyond upstream comparison tolerance");
+    return QJsonObject{{"parameters", parameters}, {"groups", groups}, {"xml", xml},
+                       {"packet_sha256", sha256(packet)}, {"round_trip_exact", true},
+                       {"xml_round_trip_exact", xmlRoundTrip == roundTrip},
+                       {"xml_equivalent_by_upstream_comparison", true},
+                       {"signature", double(config->getSignature())}};
+}
+
+static QByteArray archivePacket(const QJsonObject &archive, const QString &key, int command) {
+    auto entry = archive.value("configs").toObject().value(key).toObject();
+    auto encoded = entry.value("payload").toString().toLatin1();
+    auto packet = QByteArray::fromBase64(encoded, QByteArray::AbortOnBase64DecodingErrors);
+    require(entry.value("encoding") == "base64" && !packet.isEmpty() && packet.size() <= 16384,
+            "Invalid archived configuration encoding");
+    require(packet.toBase64() == encoded && packet.size() == entry.value("bytes").toInt(),
+            "Invalid archived configuration length");
+    require(quint8(packet.at(0)) == command && sha256(packet) == entry.value("sha256").toString(),
+            "Archived configuration hash or command mismatch");
+    return packet;
+}

plugins/vesc/native/engine_main.cpp

@@ -0,0 +1,375 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+// Private per-device JSON process adapter. Every wire operation is upstream.
+#include "config_export.h"
+#include <QEventLoop>
+#include <QElapsedTimer>
+#include <QSocketNotifier>
+#include <QSerialPort>
+#include <QTimer>
+#include <QFileInfo>
+#include <cmath>
+#include <functional>
+#include <fcntl.h>
+#include <sys/file.h>
+#include <sys/ioctl.h>
+#include <sys/stat.h>
+#include <sys/sysmacros.h>
+#include <termios.h>
+#include <unistd.h>
+
+class ExchangeFailure : public std::runtime_error {
+public:
+    QJsonObject diagnostics;
+    explicit ExchangeFailure(const QJsonObject &value)
+        : std::runtime_error("Native query timed out or disconnected"), diagnostics(value) {}
+};
+
+class Engine {
+public:
+    VescInterface vesc;
+    Packet *packet;
+    FW_RX_PARAMS identity;
+    bool procedureRunning = false;
+    bool procedureUncertain = false;
+    QJsonObject procedure;
+    bool queryRunning = false;
+    bool allowHardware = false;
+    QByteArray lastMotor, lastApplication, lastHall;
+    QTimer outputWatchdog;
+
+    Engine() {
+        outputWatchdog.setSingleShot(true);
+        QObject::connect(&outputWatchdog, &QTimer::timeout, [&] {
+            if (allowHardware && vesc.isPortConnected() && !procedureRunning) {
+                vesc.commands()->setCurrent(0);
+                try { flush(); } catch (...) {}
+            }
+        });
+        require(Utility::configLoadLatest(&vesc), "Upstream resources missing");
+        packet = vesc.findChild<Packet *>();
+        require(packet, "Upstream packet transport missing");
+        QObject::connect(vesc.commands(), &Commands::fwVersionReceived,
+                         [&](FW_RX_PARAMS value) { identity = value; });
+        QObject::connect(packet, &Packet::packetReceived, [&](QByteArray &raw) {
+            if (!raw.isEmpty() && quint8(raw[0]) == COMM_GET_MCCONF) lastMotor = raw;
+            if (!raw.isEmpty() && quint8(raw[0]) == COMM_GET_APPCONF) lastApplication = raw;
+            if (!raw.isEmpty() && quint8(raw[0]) == COMM_DETECT_HALL_FOC) lastHall = raw;
+        });
+    }
+
+    void open(const QString &port) {
+        require(QRegularExpression("^/dev/ttyACM[0-9]+$").match(port).hasMatch(), "Unsupported USB path");
+        struct stat st;
+        require(lstat(port.toLocal8Bit(), &st) == 0 && S_ISCHR(st.st_mode) && major(st.st_rdev) == 166,
+                "Not a CDC ACM device");
+        require(vesc.connectSerial(port, 115200), "Native serial connection failed");
+        auto serial = vesc.findChild<QSerialPort *>();
+        require(serial && serial->isOpen() && "/dev/" + serial->portName() == port,
+                "Native serial path mismatch");
+        require(flock(serial->handle(), LOCK_EX | LOCK_NB) == 0 && ioctl(serial->handle(), TIOCEXCL) == 0,
+                "Serial port is already owned");
+        allowHardware = true;
+        query(COMM_FW_VERSION, 3000);
+        require(identity.major == 5 && identity.minor == 2 && identity.hwType == HW_TYPE_VESC
+                && identity.isTestFw == 0 && identity.customConfigNum == 0,
+                "Native hardware acceptance currently admits stable FW 5.02 only");
+    }
+
+    QByteArray exchange(int command, int timeoutMs, const std::function<void()> &send) {
+        require(allowHardware && vesc.isPortConnected(), "Device disconnected");
+        require(!queryRunning, "A native query is already pending");
+        queryRunning = true;
+        struct PendingReset { bool &pending; ~PendingReset() { pending = false; } } reset{queryRunning};
+        QEventLoop loop;
+        QTimer timeout; timeout.setSingleShot(true);
+        QObject observer;
+        QElapsedTimer elapsed; elapsed.start();
+        QJsonArray events;
+        bool emitted = false;
+        int packetsSent = 0, packetsReceived = 0;
+        qint64 bytesWritten = 0;
+        auto serial = vesc.findChild<QSerialPort *>();
+        auto record = [&](const QString &kind, int code, qint64 bytes) {
+            if (events.size() == 24) events.removeFirst();
+            events.append(QJsonObject{{"event", kind}, {"command", code},
+                {"bytes", double(bytes)}, {"at_ms", elapsed.nsecsElapsed() / 1e6}});
+        };
+        QObject::connect(vesc.commands(), &Commands::dataToSend, &observer, [&](QByteArray &raw) {
+            const int code = raw.isEmpty() ? -1 : quint8(raw[0]);
+            if (code == command) emitted = true;
+            record("command_emitted", code, raw.size());
+        });
+        QObject::connect(packet, &Packet::dataToSend, &observer, [&](QByteArray &raw) {
+            ++packetsSent; record("packet_sent", -1, raw.size());
+        });
+        if (serial) {
+            QObject::connect(serial, &QSerialPort::bytesWritten, &observer, [&](qint64 bytes) {
+                bytesWritten += bytes; record("serial_written", -1, bytes);
+            });
+            QObject::connect(serial, &QSerialPort::errorOccurred, &observer, [&](QSerialPort::SerialPortError error) {
+                if (error != QSerialPort::NoError) record("serial_error", int(error), 0);
+            });
+        }
+        QByteArray answer;
+        QObject::connect(packet, &Packet::packetReceived, &observer, [&](QByteArray &raw) {
+            ++packetsReceived;
+            record("packet_received", raw.isEmpty() ? -1 : quint8(raw[0]), raw.size());
+            if (!raw.isEmpty() && quint8(raw[0]) == command) { answer = raw; loop.quit(); }
+        });
+        QObject::connect(&timeout, &QTimer::timeout, &loop, &QEventLoop::quit);
+        timeout.start(timeoutMs);
+        send();
+        if (answer.isEmpty()) loop.exec();
+        if (answer.isEmpty() || !vesc.isPortConnected()) {
+            throw ExchangeFailure({{"requested_command", command}, {"timeout_ms", timeoutMs},
+                {"elapsed_ms", elapsed.nsecsElapsed() / 1e6}, {"request_emitted", emitted},
+                {"packets_sent", packetsSent}, {"packets_received", packetsReceived},
+                {"serial_bytes_written", double(bytesWritten)}, {"port_connected", vesc.isPortConnected()},
+                {"serial_open", serial && serial->isOpen()}, {"serial_error", serial ? int(serial->error()) : -1},
+                {"serial_bytes_pending", serial ? double(serial->bytesToWrite()) : -1}, {"events", events}});
+        }
+        return answer;
+    }
+
+    QByteArray query(int code, int timeoutMs, bool internal = false) {
+        auto cmd = vesc.commands();
+        require(internal || !procedureRunning || code == COMM_GET_VALUES || code == COMM_GET_DECODED_PPM,
+                "Configuration reads are unavailable during native measurement");
+        std::function<void()> send;
+        switch (code) {
+        case COMM_FW_VERSION: send = [=] { cmd->getFwVersion(); }; break;
+        case COMM_GET_VALUES: send = [=] { cmd->getValues(); }; break;
+        case COMM_GET_MCCONF: send = [=] { cmd->getMcconf(); }; break;
+        case COMM_GET_APPCONF: send = [=] { cmd->getAppConf(); }; break;
+        case COMM_GET_DECODED_PPM: send = [=] { cmd->getDecodedPpm(); }; break;
+        case COMM_PING_CAN: send = [=] { cmd->pingCan(); }; break;
+        default: throw std::runtime_error("Native read command is not admitted");
+        }
+        auto raw = exchange(code, timeoutMs, send);
+        if (code == COMM_GET_MCCONF || code == COMM_GET_APPCONF) {
+            VByteArray serialized;
+            auto config = code == COMM_GET_MCCONF ? vesc.mcConfig() : vesc.appConfig();
+            config->serialize(serialized);
+            require(serialized == raw.mid(1), "Native configuration decode is not byte-exact");
+        }
+        return raw;
+    }
+
+    QByteArray configurationPacket(ConfigParams *config, int code) {
+        VByteArray raw; raw.vbAppendInt8(code); config->serialize(raw); return raw;
+    }
+
+    void calibrate(double loss) {
+        ConfigParams beforeMotor, beforeApp;
+        beforeMotor = *vesc.mcConfig(); beforeApp = *vesc.appConfig();
+        bool received = false, validated = false;
+        int code = -1000;
+        QString report, error;
+        QJsonArray changed;
+        auto connection = QObject::connect(vesc.commands(), &Commands::detectAllFocReceived,
+            [&](int result) { received = true; code = result; });
+        try {
+            // The actual upstream wizard motor procedure, including its FW 5.02
+            // power-loss correction. Do not infer a battery profile from Ah/voltage.
+            report = Utility::detectAllFoc(&vesc, false, loss,
+                beforeMotor.getParamDouble("l_in_current_min"), beforeMotor.getParamDouble("l_in_current_max"),
+                beforeMotor.getParamDouble("foc_openloop_rpm"), beforeMotor.getParamDouble("foc_sl_erpm"));
+            require(received, "Native calibration completion was not received");
+            query(COMM_GET_MCCONF, 3000, true);
+            query(COMM_GET_APPCONF, 3000, true);
+            auto mc = vesc.mcConfig(); auto app = vesc.appConfig();
+            const QStringList admitted = {"l_current_max", "l_current_min", "motor_type", "foc_motor_r",
+                "foc_motor_l", "foc_motor_flux_linkage", "foc_current_kp", "foc_current_ki", "foc_observer_gain",
+                "foc_sensor_mode", "m_sensor_port_mode", "foc_encoder_offset", "foc_encoder_ratio", "foc_encoder_inverted",
+                "foc_hall_table__0", "foc_hall_table__1", "foc_hall_table__2", "foc_hall_table__3",
+                "foc_hall_table__4", "foc_hall_table__5", "foc_hall_table__6", "foc_hall_table__7"};
+            for (const auto &key : beforeMotor.checkDifference(mc)) {
+                require(admitted.contains(key), "Calibration changed a protected motor parameter");
+                changed.append(key);
+            }
+            for (const auto &key : beforeApp.checkDifference(app))
+                require(key == "send_can_status", "Calibration changed a protected receiver parameter");
+            // Native FW 5.02 enables CAN status as a side effect. Restore the
+            // original application exactly; retain existing PPM and CAN identity.
+            if (!beforeApp.checkDifference(app).isEmpty()) {
+                *app = beforeApp;
+                const auto expected = configurationPacket(app, COMM_GET_APPCONF);
+                require(exchange(COMM_SET_APPCONF, 3000, [&] { vesc.commands()->setAppConf(); }).size() == 1,
+                        "Application write ACK invalid");
+                require(query(COMM_GET_APPCONF, 3000, true) == expected, "Application restore not byte-exact");
+            }
+            if (code < 0) {
+                // A completed failed detection can leave partial RAM changes.
+                // Only the known calibration fields passed the guard above.
+                *mc = beforeMotor;
+            } else {
+                for (const auto &key : {"foc_motor_r", "foc_motor_l", "foc_motor_flux_linkage"})
+                    require(std::isfinite(mc->getParamDouble(key)) && mc->getParamDouble(key) > 0,
+                            "Invalid detected motor parameter");
+                require(mc->getParamDouble("l_current_max") > 0 && mc->getParamDouble("l_current_min") < 0,
+                        "Invalid detected current limits");
+                // Calibration must not silently increase the owner's existing
+                // current limits. The separate spin test applies its own 30 A cap.
+                mc->updateParamDouble("l_current_max", qMin(mc->getParamDouble("l_current_max"), beforeMotor.getParamDouble("l_current_max")));
+                mc->updateParamDouble("l_current_min", qMax(mc->getParamDouble("l_current_min"), beforeMotor.getParamDouble("l_current_min")));
+            }
+            const auto expected = configurationPacket(mc, COMM_GET_MCCONF);
+            if (expected != lastMotor) {
+                require(exchange(COMM_SET_MCCONF, 3000, [&] { vesc.commands()->setMcconf(false); }).size() == 1,
+                        "Motor write ACK invalid");
+                require(query(COMM_GET_MCCONF, 3000, true) == expected, "Motor write not byte-exact");
+            }
+            validated = true;
+        } catch (const std::exception &e) { error = e.what(); }
+        QObject::disconnect(connection);
+        QJsonObject parameters;
+        for (const auto &key : {"l_current_max", "l_current_min", "foc_motor_r", "foc_motor_l", "foc_motor_flux_linkage"})
+            parameters.insert(key, vesc.mcConfig()->getParamDouble(key));
+        procedure = {{"kind", "foc"}, {"completed", received}, {"success", received && code >= 0 && validated},
+            {"validated", validated}, {"code", code}, {"report", report}, {"error", error},
+            {"sensor_mode", vesc.mcConfig()->getParamEnum("foc_sensor_mode")}, {"parameters", parameters},
+            {"changed", changed}, {"upstream", "Utility::detectAllFoc"}};
+        procedureUncertain = !validated;
+        procedureRunning = false;
+    }
+
+    double number(const QJsonObject &request, const QString &name, double min, double max) {
+        auto v = request.value(name);
+        require(v.isDouble() && std::isfinite(v.toDouble()) && v.toDouble() >= min && v.toDouble() <= max,
+                "Numeric argument is outside operation bounds");
+        return v.toDouble();
+    }
+
+    void flush() {
+        auto serial = vesc.findChild<QSerialPort *>();
+        require(serial && serial->isOpen(), "Serial transport closed");
+        serial->flush();
+        if (serial->bytesToWrite() > 0) require(serial->waitForBytesWritten(40), "Serial write not confirmed");
+        require(serial->bytesToWrite() == 0, "Serial write is incomplete");
+    }
+
+    QJsonObject dispatch(const QJsonObject &request) {
+        const auto method = request.value("method").toString();
+        if (method == "engine") return {{"version", "7.00"}, {"commit", "01d5f10901116c311e3fb84d5a1541f663d3ce20"},
+            {"connected", vesc.isPortConnected()}, {"hardware_enabled", allowHardware},
+            {"legacy_power_loss_correction", vesc.commands()->getMaxPowerLossBug()}};
+        require(allowHardware && vesc.isPortConnected(), "Native device is not connected");
+        if (method == "query") return {{"payload", QString::fromLatin1(query(
+            int(number(request, "command", 0, 255)), int(number(request, "timeout_ms", 20, 8000))).toBase64())}};
+        if (method == "procedure_result") return {{"running", procedureRunning}, {"uncertain", procedureUncertain}, {"result", procedure}};
+        if (method == "lease") {
+            require(!procedureRunning && !procedureUncertain, "Native procedure owns this controller");
+            vesc.commands()->disableAppOutput(250, false); flush(); outputWatchdog.start(200); return {};
+        }
+        if (method == "release") { vesc.commands()->setCurrent(0); flush(); return {}; }
+        require(!procedureRunning && !procedureUncertain, "Native procedure owns this controller");
+        if (method == "current") {
+            require(outputWatchdog.isActive(), "Output lease expired");
+            auto current = number(request, "current_a", 0, 30);
+            require(current <= vesc.mcConfig()->getParamDouble("l_current_max"), "Configured current limit exceeded");
+            vesc.commands()->setCurrent(current); flush(); return {};
+        }
+        if (method == "rpm") { require(outputWatchdog.isActive(), "Output lease expired"); vesc.commands()->setRpm(int(number(request, "erpm", -3000, 3000))); flush(); return {}; }
+        if (method == "limits") {
+            auto p = request.value("parameters").toObject();
+            MCCONF_TEMP conf;
+            conf.current_min_scale = number(p, "l_current_min_scale", 0, 1);
+            conf.current_max_scale = number(p, "l_current_max_scale", 0, 1);
+            // Restore/application may only change current scales. All other
+            // values must equal the last native read, including battery limits.
+            auto mc = vesc.mcConfig();
+            for (const auto &key : {"l_min_erpm", "l_max_erpm", "l_min_duty", "l_max_duty", "l_watt_min", "l_watt_max", "l_in_current_min", "l_in_current_max"})
+                require(p.value(key).isDouble() && p.value(key).toDouble() == mc->getParamDouble(key), "Only volatile current scales may change");
+            conf.erpm_or_speed_min = mc->getParamDouble("l_min_erpm");
+            conf.erpm_or_speed_max = mc->getParamDouble("l_max_erpm");
+            conf.duty_min = mc->getParamDouble("l_min_duty"); conf.duty_max = mc->getParamDouble("l_max_duty");
+            conf.watt_min = mc->getParamDouble("l_watt_min"); conf.watt_max = mc->getParamDouble("l_watt_max");
+            auto ack = exchange(COMM_SET_MCCONF_TEMP, 2000, [&] {
+                vesc.commands()->setMcconfTemp(conf, false, false, false, false, true);
+            });
+            require(ack.size() == 1, "Invalid native limits ACK"); return {};
+        }
+        if (method == "configuration") {
+            auto motor = query(COMM_GET_MCCONF, 2000);
+            auto application = query(COMM_GET_APPCONF, 2000);
+            return {{"motor", exportConfig(vesc.mcConfig(), motor, "MCConfiguration")},
+                    {"application", exportConfig(vesc.appConfig(), application, "APPConfiguration")}};
+        }
+        if (method == "foc_start") {
+            const auto loss = number(request, "max_power_loss_w", 10, 150);
+            require(!lastMotor.isEmpty() && !lastApplication.isEmpty(), "Read configurations before calibration");
+            for (const auto &key : {"l_in_current_min", "l_in_current_max", "foc_openloop_rpm", "foc_sl_erpm"})
+                require(std::isfinite(vesc.mcConfig()->getParamDouble(key)) && std::abs(vesc.mcConfig()->getParamDouble(key)) > 0.001,
+                        "Zero-valued detection inputs require an explicit equipment profile");
+            procedureRunning = true; procedure = {{"kind", "foc"}};
+            QTimer::singleShot(0, [this, loss] { calibrate(loss); });
+            return {{"started", true}, {"interruptible", false}};
+        }
+        if (method == "hall_start") {
+            require(request.value("current_a") == 5, "This Hall profile uses 5 A");
+            procedureRunning = true; procedure = {}; lastHall.clear();
+            QTimer::singleShot(0, [&] {
+                auto measured = Utility::measureHallFocBlocking(&vesc, 5.0);
+                QJsonArray table;
+                for (int i = 1; i < measured.size(); ++i) table.append(measured[i]);
+                const bool completed = measured.size() == 9 && measured.first() != -10;
+                procedure = {{"kind", "hall"}, {"completed", completed},
+                    {"status", measured.isEmpty() ? -10 : measured.first()}, {"table", table},
+                    {"payload", QString::fromLatin1(lastHall.toBase64())},
+                    {"upstream", "Utility::measureHallFocBlocking"}};
+                procedureUncertain = !completed;
+                procedureRunning = false;
+            });
+            return {{"started", true}, {"interruptible", false}};
+        }
+        throw std::runtime_error("Native operation is not admitted");
+    }
+};
+
+int main(int argc, char **argv) {
+    qputenv("QT_QPA_PLATFORM", "offscreen");
+    QApplication application(argc, argv);
+    QCoreApplication::setOrganizationName("MissionCore");
+    QCoreApplication::setApplicationName("VescToolEngine");
+    try {
+        require(argc == 2, "One exact serial port or --offline argument is required");
+        Engine engine;
+        const QString port = QString::fromLocal8Bit(argv[1]);
+        if (port != "--offline") engine.open(port);
+        QFile output; output.open(stdout, QIODevice::WriteOnly);
+        auto write = [&](const QJsonObject &value) {
+            output.write(QJsonDocument(value).toJson(QJsonDocument::Compact) + '\n'); output.flush();
+        };
+        write({{"ready", true}, {"engine", engine.dispatch({{"method", "engine"}})}});
+        QByteArray buffer;
+        fcntl(STDIN_FILENO, F_SETFL, fcntl(STDIN_FILENO, F_GETFL) | O_NONBLOCK);
+        QSocketNotifier input(STDIN_FILENO, QSocketNotifier::Read);
+        QObject::connect(&input, &QSocketNotifier::activated, [&] {
+            char chunk[4096]; const auto size = ::read(STDIN_FILENO, chunk, sizeof(chunk));
+            if (size == 0) { application.quit(); return; }
+            if (size < 0) return;
+            buffer.append(chunk, int(size));
+            if (buffer.size() > 65536) { application.exit(2); return; }
+            int end;
+            while ((end = buffer.indexOf('\n')) >= 0) {
+                auto raw = buffer.left(end); buffer.remove(0, end + 1);
+                QJsonParseError error;
+                auto document = QJsonDocument::fromJson(raw, &error);
+                auto request = document.object();
+                QJsonObject response{{"id", request.value("id")}};
+                try {
+                    require(error.error == QJsonParseError::NoError && document.isObject(), "Invalid JSON request");
+                    response.insert("result", engine.dispatch(request)); response.insert("ok", true);
+                } catch (const ExchangeFailure &e) {
+                    response.insert("ok", false); response.insert("error", e.what());
+                    response.insert("diagnostics", e.diagnostics);
+                } catch (const std::exception &e) { response.insert("ok", false); response.insert("error", e.what()); }
+                write(response);
+            }
+        });
+        return application.exec();
+    } catch (const std::exception &error) {
+        fprintf(stderr, "Native engine startup failed: %s\n", error.what());
+        return 1;
+    }
+}

plugins/vesc/native/offline_main.cpp

@@ -0,0 +1,94 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+// Mission Core adapter to the unmodified VESC Tool engine. No hardware transport
+// is admitted by this executable. Input is one archived snapshot on stdin.
+#include "config_export.h"
+
+int main(int argc, char **argv) {
+    // This application never calls connectSerial/connectTcp/connectBle or starts
+    // a Qt event loop. Upstream timers therefore cannot reconnect or poll.
+    qputenv("QT_QPA_PLATFORM", "offscreen");
+    QApplication app(argc, argv);
+    QCoreApplication::setOrganizationName("MissionCore");
+    QCoreApplication::setApplicationName("VescToolOfflineAdapter");
+    QJsonObject result{{"schema", "missioncore.vesc.native-offline/v1"},
+                       {"upstream_commit", "01d5f10901116c311e3fb84d5a1541f663d3ce20"},
+                       {"upstream_version", QString::number(VT_VERSION, 'f', 2)},
+                       {"hardware_access", false}};
+    try {
+        require(argc == 1, "No command-line transport or operation arguments are accepted");
+        QFile input; require(input.open(stdin, QIODevice::ReadOnly), "Cannot read input");
+        const auto raw = input.read(1024 * 1024 + 1);
+        require(!raw.isEmpty() && raw.size() <= 1024 * 1024, "Archive input is empty or too large");
+        QJsonParseError parse;
+        auto document = QJsonDocument::fromJson(raw, &parse);
+        require(parse.error == QJsonParseError::NoError && document.isObject(), "Invalid archive JSON");
+        const auto archive = document.object();
+        const auto identity = archive.value("identity").toObject();
+        FW_RX_PARAMS fw;
+        fw.major = identity.value("major").toInt(-1);
+        fw.minor = identity.value("minor").toInt(-1);
+        fw.hw = identity.value("hardware").toString();
+        fw.isTestFw = identity.value("test_firmware").toInt(-1);
+        fw.customConfigNum = identity.value("custom_configs").toInt(-1);
+        const auto uuid = identity.value("uuid").toString();
+        require(QRegularExpression("^[0-9a-fA-F]{24}$").match(uuid).hasMatch(), "Invalid archived UUID");
+        fw.uuid = QByteArray::fromHex(uuid.toLatin1());
+        require(fw.major == 5 && fw.minor == 2 && fw.isTestFw == 0 && fw.customConfigNum == 0
+                && identity.value("hardware_type").toInt(-1) == 0,
+                "Offline acceptance currently admits stable firmware 5.02 only");
+        VescInterface vesc;
+        require(Utility::configLoadLatest(&vesc), "Bundled upstream configuration resources missing");
+        auto *commands = vesc.commands();
+        // Replay the archived identity through the real firmware negotiation
+        // signal. The real engine selects bundled schemas and compatibility.
+        commands->fwVersionReceived(fw);
+        require(!vesc.isPortConnected(), "Offline adapter unexpectedly connected");
+        require(vesc.mcConfig()->getSerializeOrder().size() > 0, "Native schema not selected");
+        bool failed = false;
+        QObject::connect(commands, &Commands::deserializeConfigFailed,
+                         [&](bool, bool) { failed = true; });
+        auto motor = archivePacket(archive, "motor", COMM_GET_MCCONF);
+        auto application = archivePacket(archive, "application", COMM_GET_APPCONF);
+        // FW 5.02 has fixed-size configurations. Obtain their size through the
+        // public native serializer; do not reproduce the private schema walker.
+        VByteArray motorShape, applicationShape;
+        vesc.mcConfig()->serialize(motorShape);
+        vesc.appConfig()->serialize(applicationShape);
+        require(motor.size() == motorShape.size() + 1 && application.size() == applicationShape.size() + 1,
+                "Archive length differs from the native firmware schema");
+        commands->processPacket(motor);
+        commands->processPacket(application);
+        require(!failed, "Upstream rejected archived configuration");
+        result.insert("motor", exportConfig(vesc.mcConfig(), motor, "MCConfiguration"));
+        result.insert("application", exportConfig(vesc.appConfig(), application, "APPConfiguration"));
+        // A disconnected serializer-only probe demonstrates that FW-specific
+        // detect corrections execute upstream. This byte array goes nowhere.
+        QByteArray encodedDetect;
+        QObject::connect(commands, &Commands::dataToSend, [&](QByteArray &data) {
+            if (!data.isEmpty() && quint8(data.at(0)) == COMM_DETECT_APPLY_ALL_FOC) encodedDetect = data;
+        });
+        commands->detectAllFoc(false, 100.0, 0.0, 0.0, 0.0, 0.0);
+        require(!encodedDetect.isEmpty() && !vesc.isPortConnected(), "Offline serialization failed");
+        result.insert("compatibility", QJsonObject{
+            {"legacy_power_loss_correction", commands->getMaxPowerLossBug()},
+            {"offline_detect_example_base64", QString::fromLatin1(encodedDetect.toBase64())},
+            {"example_requested_power_loss_w", 100.0}, {"transmitted_to_hardware", false}});
+        QJsonArray rpmExamples;
+        QObject::connect(commands, &Commands::dataToSend, [&](QByteArray &data) {
+            if (!data.isEmpty() && quint8(data.at(0)) == COMM_SET_RPM)
+                rpmExamples.append(QString::fromLatin1(data.toBase64()));
+        });
+        commands->setRpm(3000);
+        commands->setRpm(-3000);
+        require(rpmExamples.size() == 2 && !vesc.isPortConnected(), "Offline signed RPM serialization failed");
+        result.insert("offline_signed_rpm_examples_base64", rpmExamples);
+        result.insert("archive_sha256", sha256(raw));
+        result.insert("ok", true);
+    } catch (const std::exception &error) {
+        result = QJsonObject{{"schema", "missioncore.vesc.native-offline/v1"},
+                             {"ok", false}, {"hardware_access", false}, {"error", error.what()}};
+    }
+    QFile output; output.open(stdout, QIODevice::WriteOnly);
+    output.write(QJsonDocument(result).toJson(QJsonDocument::Compact) + '\n');
+    return result.value("ok").toBool() ? 0 : 1;
+}

plugins/vesc/packaging/70-mission-core-vesc.rules

@@ -0,0 +1,2 @@
+# Exact observed candidate descriptor. Firmware identity is verified by the reader.
+SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", ATTRS{product}=="ChibiOS/RT Virtual COM Port", GROUP="mission-core-vesc", MODE="0660", ENV{ID_MM_DEVICE_IGNORE}="1", ENV{ID_MM_PORT_IGNORE}="1"

plugins/vesc/packaging/build_native_probe.py

@@ -0,0 +1,33 @@
+"""Create the deterministic, self-contained native-engine qualification job."""
+import argparse
+import hashlib
+import json
+from pathlib import Path
+import zipfile
+
+
+def build(output):
+    root = Path(__file__).resolve().parents[1]
+    files = {"__main__.py": (root / "packaging/native_probe.py").read_bytes(),
+             "offline_main.cpp": (root / "native/offline_main.cpp").read_bytes(),
+             "config_export.h": (root / "native/config_export.h").read_bytes(),
+             "engine_main.cpp": (root / "native/engine_main.cpp").read_bytes(),
+             "native_bundle.py": (root / "packaging/native_bundle.py").read_bytes()}
+    identity = hashlib.sha256(b"".join(k.encode() + v for k, v in sorted(files.items()))).hexdigest()[:24]
+    output.mkdir(parents=True, exist_ok=True)
+    path = output / ("mission-core-vesc-native-probe-" + identity + ".pyz")
+    with zipfile.ZipFile(path, "w", zipfile.ZIP_DEFLATED) as bundle:
+        for name, data in files.items():
+            entry = zipfile.ZipInfo(name, (2026, 9, 23, 0, 0, 0))
+            entry.external_attr = 0o600 << 16
+            bundle.writestr(entry, data)
+    result = {"id": identity, "artifact": str(path.resolve()),
+              "sha256": hashlib.sha256(path.read_bytes()).hexdigest(), "bytes": path.stat().st_size}
+    (output / "current-artifact.json").write_text(json.dumps(result, indent=2) + "\n")
+    return result
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--output", type=Path, required=True)
+    print(json.dumps(build(parser.parse_args().output)))

plugins/vesc/packaging/clear_runtime_cache.py

@@ -0,0 +1,22 @@
+"""Discard only generated VESC bytecode before starting an upgraded profile.
+
+Deterministic packages reuse file mtimes; a same-size Python source update
+can otherwise validate an old timestamp-based pyc, even with python -B.
+"""
+from pathlib import Path
+import shutil
+import sys
+
+
+def clear(root):
+    for cache in root.rglob("__pycache__"):
+        if cache.is_symlink():
+            cache.unlink()
+        elif cache.is_dir():
+            shutil.rmtree(cache)
+
+
+if __name__ == "__main__":
+    if sys.argv[1:]:
+        raise ValueError("This installer step accepts no paths or arguments")
+    clear(Path("/usr/lib/mission-core-vesc"))

plugins/vesc/packaging/mission-core-node-vesc-prepare.service

@@ -0,0 +1,8 @@
+[Unit]
+Description=Prepare the versioned VESC read profile
+
+[Service]
+Type=oneshot
+ExecStart=/usr/bin/python3 -I -B /usr/lib/mission-core-vesc/prepare.py
+TimeoutStartSec=90
+UMask=0022

plugins/vesc/packaging/mission-core-vesc.service

@@ -0,0 +1,37 @@
+[Unit]
+Description=Mission Core VESC Tool service
+Wants=modprobe@cdc_acm.service
+After=systemd-udev-settle.service modprobe@cdc_acm.service
+
+[Service]
+Type=simple
+User=mission-core-vesc
+Group=mission-core-node
+SupplementaryGroups=mission-core-vesc
+WorkingDirectory=/usr/lib/mission-core-vesc
+ExecStart=/usr/bin/python3 -B -m runtime.server
+RuntimeDirectory=mission-core-vesc
+RuntimeDirectoryMode=0750
+StateDirectory=mission-core-vesc
+StateDirectoryMode=0700
+UMask=0007
+Restart=on-failure
+RestartSec=5
+NoNewPrivileges=yes
+CapabilityBoundingSet=
+AmbientCapabilities=
+PrivateNetwork=yes
+ProtectSystem=strict
+ProtectHome=yes
+ProtectKernelTunables=yes
+ProtectKernelModules=yes
+ProtectControlGroups=yes
+RestrictSUIDSGID=yes
+RestrictAddressFamilies=AF_UNIX
+DevicePolicy=closed
+DeviceAllow=char-ttyACM rw
+MemoryMax=512M
+TasksMax=64
+
+[Install]
+WantedBy=multi-user.target

plugins/vesc/packaging/native-runtime.json

@@ -0,0 +1,676 @@
+{
+  "schema": "missioncore.vesc.native-runtime/v1",
+  "upstream_version": "7.00",
+  "upstream_commit": "01d5f10901116c311e3fb84d5a1541f663d3ce20",
+  "os": "ubuntu-24.04-amd64",
+  "file": "mission-core-vesc-native-runtime.tar.gz",
+  "bytes": 50354000,
+  "sha256": "4473819387682089a814a6c558065e3e6a4c2fe67266c0ed82ad49cea1444aad",
+  "engine_sha256": "10cfe14cd0eff561a06f0da33c940861b314de077de489908c90204904e4e590",
+  "files": {
+    "bin/mission-core-vesc-engine": {
+      "sha256": "10cfe14cd0eff561a06f0da33c940861b314de077de489908c90204904e4e590",
+      "bytes": 24801840
+    },
+    "lib/libGL.so.1": {
+      "sha256": "67f471213576d225d38347a0b6d2a08a231980685301ff6461bd74d3994e5027",
+      "bytes": 547136
+    },
+    "lib/libGLX.so.0": {
+      "sha256": "16fc8a37eea9210dc83c57eeff5aedc10ab4c6673f2f97e8bb6ee103df657b40",
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+    "libc.so.6",
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+    "libm.so.6",
+    "libpthread.so.0",
+    "libresolv.so.2",
+    "librt.so.1"
+  ],
+  "offline_verified": true,
+  "hardware_qualified": false,
+  "clean_os_qualified": false
+}

plugins/vesc/packaging/native_bundle.py

@@ -0,0 +1,95 @@
+"""Bundle an admitted native engine and the actual ELF dependency closure.
+
+Private, installer-owned Qt runtime; never installs packages on the build host.
+The target is Ubuntu 24.04 amd64. Only its glibc family stays a host prerequisite.
+"""
+import argparse
+import hashlib
+import json
+import os
+from pathlib import Path
+import re
+import shutil
+import subprocess
+import tarfile
+
+SYSTEM = {"libc.so.6", "libm.so.6", "libpthread.so.0", "libdl.so.2", "librt.so.1", "libresolv.so.2", "ld-linux-x86-64.so.2"}
+
+
+def build(engine, sysroot, source, output):
+    output.mkdir(mode=0o700, exist_ok=False)
+    staging = output / "payload"
+    (staging / "bin").mkdir(parents=True)
+    (staging / "lib").mkdir()
+    (staging / "plugins/platforms").mkdir(parents=True)
+    binary = staging / "bin/mission-core-vesc-engine"
+    shutil.copyfile(engine, binary); binary.chmod(0o755)
+    qtlib = sysroot / "usr/lib/x86_64-linux-gnu"
+    plugin = qtlib / "qt5/plugins/platforms/libqoffscreen.so"
+    shutil.copyfile(plugin, staging / "plugins/platforms/libqoffscreen.so")
+    env = dict(os.environ, LD_LIBRARY_PATH=str(qtlib), LC_ALL="C")
+    sources = {}
+    for executable in (engine, plugin):
+        result = subprocess.run(["/usr/bin/ldd", str(executable)], env=env, capture_output=True, text=True, check=True).stdout
+        if "not found" in result: raise RuntimeError("Native runtime dependency missing")
+        for name, path in re.findall(r"^\s*(\S+) => (/[\S]+) \(", result, re.MULTILINE):
+            if name in SYSTEM: continue
+            library = Path(path)
+            if name in sources and sources[name] != library: raise RuntimeError("Conflicting dependency")
+            sources[name] = library
+    for name, library in sources.items(): shutil.copyfile(library, staging / "lib" / name)
+    env.update(LD_LIBRARY_PATH=str(staging / "lib"), QT_PLUGIN_PATH=str(staging / "plugins"),
+               QT_QPA_PLATFORM="offscreen", XDG_CONFIG_HOME=str(output / "config"), XDG_CACHE_HOME=str(output / "cache"))
+    # All non-glibc ELF dependencies must now resolve inside the shipped payload.
+    for executable in (binary, staging / "plugins/platforms/libqoffscreen.so"):
+        result = subprocess.run(["/usr/bin/ldd", str(executable)], env=env, capture_output=True, text=True, check=True).stdout
+        if "not found" in result: raise RuntimeError("Bundled native closure incomplete")
+        for name, path in re.findall(r"^\s*(\S+) => (/[\S]+) \(", result, re.MULTILINE):
+            if name not in SYSTEM and not Path(path).resolve().is_relative_to(staging):
+                raise RuntimeError("Undeclared host dependency: " + name)
+    proc = subprocess.run([str(binary), "--offline"], env=env, input=b'{"id":1,"method":"engine"}\n',
+                          capture_output=True, timeout=15, check=True)
+    responses = [json.loads(line) for line in proc.stdout.splitlines()]
+    if len(responses) != 2 or not responses[0]["ready"] or responses[1]["result"]["connected"]:
+        raise RuntimeError("Bundled engine acceptance failed")
+    (output / "offline.stdout").write_bytes(proc.stdout)
+    (output / "offline.stderr").write_bytes(proc.stderr)
+    (staging / "licenses").mkdir()
+    shutil.copyfile(source / "LICENSE", staging / "licenses/VESC-Tool-LICENSE")
+    (staging / "licenses/UPSTREAM-SOURCE.txt").write_text(
+        "VESC Tool 7.00, unmodified upstream sources and resources:\n"
+        "https://github.com/vedderb/vesc_tool/tree/01d5f10901116c311e3fb84d5a1541f663d3ce20\n"
+        "Source archive SHA-256: 4565ecec4e41e094bcc43127a51970e810aa9080a9d7c025af64632bfd4c0189\n"
+        "The process adapter source is included alongside this notice.\n")
+    for name in ("engine_main.cpp", "config_export.h"):
+        shutil.copyfile(engine.parent / name, staging / "licenses" / name)
+    # Preserve dependency notices available in the private signed-package sysroot.
+    for index, path in enumerate(sorted((sysroot / "usr/share/doc").glob("*/copyright"))):
+        shutil.copyfile(path, staging / "licenses" / (path.parent.name + ".copyright"))
+    # Host libraries copied into the closure retain their distribution notices.
+    for library in sources.values():
+        if library.resolve().is_relative_to(sysroot): continue
+        owner = subprocess.run(["dpkg-query", "-S", str(library)], capture_output=True, text=True)
+        if owner.returncode: continue
+        package = owner.stdout.split(": ", 1)[0].split(":", 1)[0]
+        notice = Path("/usr/share/doc") / package / "copyright"
+        if notice.is_file(): shutil.copyfile(notice, staging / "licenses" / (package + ".copyright"))
+    metadata = {str(p.relative_to(staging)): {"sha256": hashlib.sha256(p.read_bytes()).hexdigest(), "bytes":p.stat().st_size}
+                for p in sorted(staging.rglob("*")) if p.is_file()}
+    archive = output / "mission-core-vesc-native-runtime.tar.gz"
+    with tarfile.open(archive, "w:gz") as stream:
+        for path in sorted(staging.rglob("*")):
+            if path.is_file(): stream.add(path, arcname=str(path.relative_to(staging)))
+    report = {"schema":"missioncore.vesc.native-runtime/v1", "upstream_version":"7.00",
+              "upstream_commit":"01d5f10901116c311e3fb84d5a1541f663d3ce20", "os":"ubuntu-24.04-amd64",
+              "file":archive.name, "bytes":archive.stat().st_size, "sha256":hashlib.sha256(archive.read_bytes()).hexdigest(),
+              "engine_sha256":hashlib.sha256(binary.read_bytes()).hexdigest(), "files":metadata,
+              "host_libraries":sorted(SYSTEM), "offline_verified":True, "hardware_qualified":False,
+              "clean_os_qualified":False}
+    (output / "bundle.json").write_text(json.dumps(report,indent=2)+"\n")
+
+
+if __name__ == "__main__":
+    parser=argparse.ArgumentParser()
+    for name in ("engine","sysroot","source","output"):parser.add_argument("--"+name,type=Path,required=True)
+    args=parser.parse_args();build(args.engine,args.sysroot,args.source,args.output)

plugins/vesc/packaging/native_check.py

@@ -0,0 +1,34 @@
+"""Installer acceptance under the service account; never opens a USB device."""
+import hashlib
+import json
+import os
+from pathlib import Path
+import subprocess
+import tempfile
+
+
+def check(root):
+    manifest = json.loads((root / "manifest.json").read_text())
+    for name, expected in manifest["files"].items():
+        path = root / name
+        if path.is_symlink() or not path.resolve().is_relative_to(root.resolve()):
+            raise RuntimeError("Untrusted native runtime path")
+        if path.stat().st_size != expected["bytes"] or hashlib.sha256(path.read_bytes()).hexdigest() != expected["sha256"]:
+            raise RuntimeError("Native runtime integrity check failed")
+    with tempfile.TemporaryDirectory(prefix="mission-core-vesc-check-") as temporary:
+        env = {"PATH":"/usr/bin:/bin", "LANG":"C.UTF-8", "QT_QPA_PLATFORM":"offscreen",
+               "LD_LIBRARY_PATH":str(root / "lib"), "QT_PLUGIN_PATH":str(root / "plugins"),
+               "XDG_CONFIG_HOME":temporary, "XDG_CACHE_HOME":temporary}
+        result = subprocess.run([str(root / "bin/mission-core-vesc-engine"), "--offline"],
+            env=env, input=b'{"id":1,"method":"engine"}\n', capture_output=True, timeout=15, check=True)
+        replies = [json.loads(line) for line in result.stdout.splitlines()]
+        if (len(replies) != 2 or not replies[0]["ready"] or not replies[1]["ok"]
+                or replies[1]["result"]["hardware_enabled"] or replies[1]["result"]["connected"]
+                or replies[1]["result"]["commit"] != manifest["upstream_commit"]):
+            raise RuntimeError("Native engine offline check failed")
+    print(json.dumps({"ok":True, "upstream_commit":manifest["upstream_commit"], "hardware_access":False}))
+
+
+if __name__ == "__main__":
+    if os.geteuid() == 0: raise RuntimeError("Run as the VESC service account")
+    check(Path(__file__).resolve().parent / "native")

plugins/vesc/packaging/native_probe.py

@@ -0,0 +1,188 @@
+"""Versioned offline qualification artifact, not a runtime installer.
+
+Reuse an attested upstream Tool build's object files unchanged. Only the adapter
+entry point is compiled. The previous staging, packages and services are untouched.
+All inputs, link objects, outputs and checks are hashed in the private report.
+"""
+import argparse
+from datetime import datetime, timezone
+import hashlib
+import json
+import os
+from pathlib import Path
+import platform
+import re
+import subprocess
+import time
+import zipfile
+
+COMMIT = "01d5f10901116c311e3fb84d5a1541f663d3ce20"
+UPSTREAM_SHA256 = "4565ecec4e41e094bcc43127a51970e810aa9080a9d7c025af64632bfd4c0189"
+
+
+def digest(path):
+    return hashlib.sha256(path.read_bytes()).hexdigest()
+
+
+def run(args):
+    release = platform.freedesktop_os_release()
+    if os.geteuid() == 0 or (release.get("ID"), release.get("VERSION_ID"), platform.machine()) != ("ubuntu", "24.04", "x86_64"):
+        raise RuntimeError("Unprivileged Ubuntu 24.04 amd64 required")
+    group = Path("/sys/fs/cgroup") / Path("/proc/self/cgroup").read_text().strip().split("::", 1)[1].lstrip("/")
+    limit = (group / "memory.max").read_text().strip()
+    if limit == "max" or int(limit) > 3 * 1024**3:
+        raise RuntimeError("A bounded user scope with MemoryMax <= 3G is required")
+    previous = json.loads(args.upstream_report.read_text())
+    if previous.get("state") != "complete" or previous.get("source_sha256") != UPSTREAM_SHA256:
+        raise RuntimeError("Unqualified upstream build")
+    upstream = Path(previous["binary"])
+    if digest(upstream) != previous["binary_sha256"]:
+        raise RuntimeError("Upstream binary changed")
+    source = upstream.parents[2]
+    if source.name != "vesc_tool-" + COMMIT:
+        raise RuntimeError("Upstream source path mismatch")
+    os.umask(0o077)
+    root = args.output.resolve()
+    root.mkdir(parents=True, mode=0o700, exist_ok=False)
+    # Paths enter a generated makefile, never a shell command assembled from JSON.
+    if any(not re.fullmatch(r"[A-Za-z0-9_./-]+", str(p)) for p in (root, source)):
+        raise RuntimeError("Build paths must be make-safe")
+    with zipfile.ZipFile(args.artifact) as bundle:
+        for name in ("offline_main.cpp", "config_export.h", "engine_main.cpp", "native_bundle.py"):
+            (root / name).write_bytes(bundle.read(name))
+    report = {"schema": "missioncore.vesc.native-probe/v1", "state": "running",
+              "started_at": datetime.now(timezone.utc).isoformat(), "monotonic_started": time.monotonic(),
+              "source_commit": COMMIT, "artifact_sha256": digest(args.artifact),
+              "upstream_report_sha256": digest(args.upstream_report),
+              "adapter_sha256": digest(root / "offline_main.cpp"),
+              "hardware_access": False, "runtime_installed": False, "system_packages_installed": False,
+              "jobs": [], "checks": []}
+
+    def publish():
+        (root / "report.json").write_text(json.dumps(report, indent=2) + "\n")
+
+    staging = source.parents[1]
+    qtbase = staging / "sysroot/usr"
+    env = dict(os.environ, LC_ALL="C", QT_QPA_PLATFORM="offscreen",
+               LD_LIBRARY_PATH=str(qtbase / "lib/x86_64-linux-gnu"),
+               QT_PLUGIN_PATH=str(qtbase / "lib/x86_64-linux-gnu/qt5/plugins"),
+               XDG_CONFIG_HOME=str(root / "config"), XDG_CACHE_HOME=str(root / "cache"))
+
+    def execute(name, command, data=None, expected=0, timeout=60):
+        start = time.monotonic()
+        proc = subprocess.run(command, cwd=source, env=env, input=data,
+                              stdout=subprocess.PIPE, stderr=subprocess.PIPE, timeout=timeout)
+        (root / (name + ".stdout")).write_bytes(proc.stdout)
+        (root / (name + ".stderr")).write_bytes(proc.stderr)
+        report["jobs"].append({"id": name, "exit_code": proc.returncode,
+                               "duration_seconds": time.monotonic() - start,
+                               "stdout_sha256": hashlib.sha256(proc.stdout).hexdigest(),
+                               "stderr_sha256": hashlib.sha256(proc.stderr).hexdigest()})
+        publish()
+        if proc.returncode != expected:
+            raise RuntimeError("Native probe step failed: " + name)
+        return proc.stdout
+
+    try:
+        makefile = (source / "Makefile").read_text().replace("\\\n", " ")
+        match = re.search(r"^OBJECTS\s*=\s*(.+)$", makefile, re.MULTILINE)
+        if not match:
+            raise RuntimeError("Upstream link objects missing")
+        objects = [source / name for name in match.group(1).split() if name != "build/lin/obj/main.o"]
+        if not 100 < len(objects) < 1000 or any(not p.is_file() for p in objects):
+            raise RuntimeError("Upstream object inventory incomplete")
+        report["link_objects"] = [{"file": str(p.relative_to(source)), "sha256": digest(p)} for p in objects]
+        report["upstream_makefile_sha256"] = digest(source / "Makefile")
+        target = root / "mission-core-vesc-offline"
+        wrapper = root / "Makefile.native"
+        wrapper.write_text(
+            "include " + str(source / "Makefile") + "\n"
+            ".PHONY: mission-core-native-probe\n"
+            "mission-core-native-probe:\n"
+            "\t$(CXX) -c $(CXXFLAGS) $(INCPATH) -o " + str(root / "offline_main.o") + " " + str(root / "offline_main.cpp") + "\n"
+            "\t$(LINK) $(LFLAGS) -o " + str(target) + " " + str(root / "offline_main.o") +
+            " $(filter-out build/lin/obj/main.o,$(OBJECTS)) $(OBJCOMP) $(LIBS)\n")
+        execute("compile-link", ["/usr/bin/make", "-f", str(wrapper), "mission-core-native-probe"], timeout=180)
+        report["binary_sha256"] = digest(target)
+        for index, archive in enumerate(args.archives):
+            raw = archive.read_bytes()
+            native = json.loads(execute("archive-%d" % index, [str(target)], raw))
+            if not native["ok"] or not native["compatibility"]["legacy_power_loss_correction"]:
+                raise RuntimeError("Upstream compatibility check failed")
+            import base64
+            packet = base64.b64decode(native["compatibility"]["offline_detect_example_base64"])
+            if packet[:2] != bytes([58, 0]) or int.from_bytes(packet[2:6], "big", signed=True) != 50000:
+                raise RuntimeError("Expected native 5.02 detect correction was not applied")
+            rpm_packets = [base64.b64decode(p) for p in native["offline_signed_rpm_examples_base64"]]
+            if (len(rpm_packets) != 2 or any(len(p) != 5 or p[0] != 8 for p in rpm_packets)
+                    or [int.from_bytes(p[1:], "big", signed=True) for p in rpm_packets] != [3000, -3000]):
+                raise RuntimeError("Upstream signed RPM serialization mismatch")
+            report["checks"].append({"id": "signed-rpm-serialization-%d" % index, "ok": True})
+            report["checks"].append({"id": "native-archive-%d" % index, "ok": True,
+                                     "archive_sha256": hashlib.sha256(raw).hexdigest(),
+                                     "motor_parameter_count": len(native["motor"]["parameters"]),
+                                     "application_parameter_count": len(native["application"]["parameters"]),
+                                     "binary_round_trip_exact": True,
+                                     "xml_equivalent_by_upstream_comparison": True,
+                                     "xml_binary_exact": all(native[k]["xml_round_trip_exact"] for k in ("motor", "application")),
+                                     "legacy_power_loss_correction": True})
+            # Fail closed on archive corruption and unsupported firmware instead
+            # of silently presenting the bundled defaults as actual settings.
+            original = json.loads(raw)
+            damaged = json.loads(raw); damaged["configs"]["motor"]["sha256"] = "0" * 64
+            unknown = json.loads(raw); unknown["identity"]["major"] = 99
+            wrong_signature = json.loads(raw)
+            payload = bytearray(base64.b64decode(original["configs"]["motor"]["payload"])); payload[1] ^= 1
+            wrong_signature["configs"]["motor"]["payload"] = base64.b64encode(payload).decode()
+            wrong_signature["configs"]["motor"]["sha256"] = hashlib.sha256(payload).hexdigest()
+            truncated = json.loads(raw)
+            payload = base64.b64decode(original["configs"]["motor"]["payload"])[:-1]
+            truncated["configs"]["motor"].update(payload=base64.b64encode(payload).decode(),
+                sha256=hashlib.sha256(payload).hexdigest(), bytes=len(payload))
+            for name, value in (("corrupt", damaged), ("unsupported", unknown), ("signature", wrong_signature), ("truncated", truncated)):
+                rejected = json.loads(execute("%s-%d" % (name, index), [str(target)], json.dumps(value).encode(), expected=1))
+                if rejected["ok"] or rejected["hardware_access"]:
+                    raise RuntimeError("Invalid archive was not rejected")
+                report["checks"].append({"id": "%s-%d" % (name, index), "ok": True})
+        for item in report["link_objects"]:
+            if digest(source / item["file"]) != item["sha256"]:
+                raise RuntimeError("Upstream objects were modified")
+        engine = root / "mission-core-vesc-engine"
+        wrapper.write_text(wrapper.read_text() +
+            "\n.PHONY: mission-core-native-engine\nmission-core-native-engine:\n"
+            "\t$(CXX) -c $(CXXFLAGS) $(INCPATH) -o " + str(root / "engine_main.o") + " " + str(root / "engine_main.cpp") + "\n"
+            "\t$(LINK) $(LFLAGS) -o " + str(engine) + " " + str(root / "engine_main.o") +
+            " $(filter-out build/lin/obj/main.o,$(OBJECTS)) $(OBJCOMP) $(LIBS)\n")
+        execute("engine-compile", ["/usr/bin/make", "-f", str(wrapper), "mission-core-native-engine"], timeout=180)
+        requests = [{"id": 1, "method": "engine"}, {"id": 2, "method": "current", "current_a": 30},
+                    {"id": 3, "method": "hall_start", "current_a": 5}, {"id": 4, "method": "arbitrary_packet"}]
+        responses = [json.loads(line) for line in execute("engine-offline", [str(engine), "--offline"],
+            b"".join(json.dumps(r).encode()+b"\n" for r in requests)).splitlines()]
+        if (len(responses) != 5 or not responses[0]["ready"] or not responses[1]["ok"]
+                or any(r["ok"] for r in responses[2:]) or responses[1]["result"]["hardware_enabled"]):
+            raise RuntimeError("Native engine offline boundary failed")
+        report["checks"].append({"id": "engine-offline-denies-hardware", "ok": True})
+        execute("runtime-bundle", ["/usr/bin/python3", str(root / "native_bundle.py"),
+            "--engine", str(engine), "--sysroot", str(staging / "sysroot"), "--source", str(source), "--output", str(root / "runtime")], timeout=180)
+        report["native_runtime"] = json.loads((root / "runtime/bundle.json").read_text())
+        report.update(state="complete", binary=str(target), upstream_objects_unchanged=True)
+    except Exception as error:
+        report.update(state="error", error=str(error))
+        raise
+    finally:
+        report["finished_at"] = datetime.now(timezone.utc).isoformat()
+        report["duration_seconds"] = time.monotonic() - report["monotonic_started"]
+        publish()
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--artifact", type=Path, required=True)
+    parser.add_argument("--upstream-report", type=Path, required=True)
+    parser.add_argument("--output", type=Path, required=True)
+    parser.add_argument("--archives", type=Path, nargs="+", required=True)
+    run(parser.parse_args())
+
+
+if __name__ == "__main__":
+    main()

plugins/vesc/packaging/payload.py

@@ -0,0 +1,49 @@
+"""The Node release carries this model profile from the first hardware use."""
+from pathlib import Path, PurePosixPath
+import hashlib
+import json
+import tarfile
+
+
+def payload():
+    root = Path(__file__).resolve().parents[1]
+    files = [("usr/lib/mission-core-vesc/runtime/" + p.name, p.read_bytes(), 0o644)
+             for p in sorted((root / "runtime").glob("*.py"))]
+    files.extend(("usr/lib/mission-core-vesc/runtime/" + str(p.relative_to(root / "runtime")), p.read_bytes(), 0o644)
+                 for p in sorted((root / "runtime/schemas").rglob("*")) if p.is_file())
+    files.append(("usr/lib/mission-core-vesc/runtime/archive.py",
+                  (root.parents[1] / "src/k1link/device_plugins/vesc/archive.py").read_bytes(), 0o644))
+    for name in ("mission-core-vesc.service", "mission-core-node-vesc-prepare.service"):
+        files.append(("usr/lib/systemd/system/" + name, (root / "packaging" / name).read_bytes(), 0o644))
+    files.append(("usr/lib/mission-core-vesc/prepare.py", (root / "packaging/prepare.py").read_bytes(), 0o644))
+    files.append(("usr/lib/mission-core-vesc/clear_runtime_cache.py", (root / "packaging/clear_runtime_cache.py").read_bytes(), 0o644))
+    files.append(("usr/share/mission-core-node/profiles/vesc/70-mission-core-vesc.rules",
+                  (root / "packaging/70-mission-core-vesc.rules").read_bytes(), 0o644))
+    manifest = json.loads((root / "packaging/native-runtime.json").read_text())
+    bundle = root / "build/native-runtime" / manifest["file"]
+    data = bundle.read_bytes()
+    if len(data) != manifest["bytes"] or hashlib.sha256(data).hexdigest() != manifest["sha256"]:
+        raise ValueError("Native VESC Tool bundle changed")
+    seen = set()
+    with tarfile.open(bundle, "r:gz") as archive:
+        for member in archive.getmembers():
+            path = PurePosixPath(member.name)
+            if (not member.isfile() or path.is_absolute() or ".." in path.parts
+                    or path.as_posix() != member.name or member.name in seen
+                    or member.name not in manifest["files"]):
+                raise ValueError("Unexpected native payload member")
+            seen.add(member.name)
+            expected = manifest["files"][member.name]
+            if member.size != expected["bytes"] or member.size > 128 * 1024**2:
+                raise ValueError("Native member size mismatch")
+            content = archive.extractfile(member).read()
+            if hashlib.sha256(content).hexdigest() != expected["sha256"]:
+                raise ValueError("Native member hash mismatch")
+            mode = 0o755 if member.name.startswith("bin/") else 0o644
+            files.append(("usr/lib/mission-core-vesc/native/" + member.name, content, mode))
+    if seen != set(manifest["files"]): raise ValueError("Incomplete native payload")
+    files.append(("usr/lib/mission-core-vesc/native/manifest.json",
+                  (root / "packaging/native-runtime.json").read_bytes(), 0o644))
+    files.append(("usr/lib/mission-core-vesc/native_check.py",
+                  (root / "packaging/native_check.py").read_bytes(), 0o644))
+    return files

plugins/vesc/packaging/prepare.py

@@ -0,0 +1,88 @@
+"""Versioned, idempotent VESC profile; no packages downloaded and no motor I/O."""
+
+import fcntl
+import hashlib
+import json
+import os
+from pathlib import Path
+import platform
+import subprocess
+import sys
+import time
+import uuid
+
+sys.path.insert(0, str(Path(__file__).resolve().parent))
+from runtime.serial import discover
+from runtime.service import atomic
+
+STATE = Path("/var/lib/mission-core-node-profiles/vesc")
+
+
+def prepare():
+    if os.geteuid() != 0 or sys.argv[1:]:
+        raise RuntimeError("Fixed system profile only")
+    release = platform.freedesktop_os_release()
+    if (release.get("ID"), release.get("VERSION_ID"), platform.machine()) != ("ubuntu", "24.04", "x86_64"):
+        raise RuntimeError("Ubuntu 24.04 amd64 required")
+    STATE.mkdir(mode=0o755, parents=True, exist_ok=True)
+    for directory in (STATE.parent, STATE):
+        info = directory.lstat()
+        if directory.is_symlink() or info.st_uid != 0 or info.st_mode & 0o022:
+            raise RuntimeError("Untrusted profile state")
+    lock = os.open(STATE / "prepare.lock", os.O_CREAT | os.O_RDWR | os.O_NOFOLLOW, 0o600)
+    fcntl.flock(lock, fcntl.LOCK_EX | fcntl.LOCK_NB)
+    report = {"schema": "missioncore.node.device-preparation/v1", "model_id": "vesc.controller",
+              "version": "0.7.4", "run_id": uuid.uuid4().hex, "started_at": time.time(),
+              "monotonic_started": time.monotonic(), "state": "running", "steps": []}
+
+    def publish():
+        atomic(STATE / "preparation.json", report)
+        os.chmod(STATE / "preparation.json", 0o644)
+
+    def run(name, label, args):
+        step = {"id": name, "label": label, "state": "running"}
+        report["steps"].append(step)
+        publish()
+        result = subprocess.run(args, capture_output=True, timeout=45,
+                                env={"PATH": "/usr/sbin:/usr/bin:/sbin:/bin", "LANG": "C.UTF-8"})
+        step["state"] = "complete" if result.returncode == 0 else "error"
+        publish()
+        if result.returncode:
+            raise RuntimeError("Не завершён этап: " + label)
+
+    try:
+        import pwd
+        try:
+            pwd.getpwnam("mission-core-vesc")
+        except KeyError:
+            run("account", "Подготовка доступа", ["/usr/sbin/adduser", "--system", "--group", "--home",
+                "/var/lib/mission-core-vesc", "--no-create-home", "--disabled-login", "mission-core-vesc"])
+        run("native", "Проверка VESC Tool", ["/usr/sbin/runuser", "-u", "mission-core-vesc", "--",
+            "/usr/bin/python3", "-I", "/usr/lib/mission-core-vesc/native_check.py"])
+        source = Path("/usr/share/mission-core-node/profiles/vesc/70-mission-core-vesc.rules")
+        rules = source.read_bytes()
+        report["udev_sha256"] = hashlib.sha256(rules).hexdigest()
+        target = Path("/etc/udev/rules.d/70-mission-core-vesc.rules")
+        if target.is_symlink():
+            raise RuntimeError("Untrusted udev destination")
+        target.write_bytes(rules)
+        target.chmod(0o644)
+        run("rules", "Настройка USB-доступа", ["/usr/bin/udevadm", "control", "--reload-rules"])
+        for i, device in enumerate(discover()):
+            run("usb" + str(i), "Применение USB-доступа", ["/usr/bin/udevadm", "trigger", "--action=change",
+                "/sys/class/tty/" + device.tty])
+        run("settle", "Проверка USB-доступа", ["/usr/bin/udevadm", "settle", "--timeout=10"])
+        run("enable", "Подготовка службы", ["/usr/bin/systemctl", "enable", "mission-core-vesc.service"])
+        run("runtime", "Запуск чтения контроллеров", ["/usr/bin/systemctl", "restart", "mission-core-vesc.service"])
+        report["state"] = "complete"
+    except (OSError, RuntimeError, subprocess.SubprocessError) as error:
+        report.update(state="error", message=str(error)[:300])
+    finally:
+        report["duration_seconds"] = time.monotonic() - report["monotonic_started"]
+        publish()
+        os.close(lock)
+    return report["state"] == "complete"
+
+
+if __name__ == "__main__":
+    sys.exit(0 if prepare() else 1)

plugins/vesc/packaging/tool_build.py

@@ -0,0 +1,188 @@
+"""Unprivileged VESC Tool build spike; never installs packages or opens a device.
+
+Run in a bounded user systemd scope on Ubuntu 24.04 amd64. APT resolves and
+downloads signed Ubuntu packages into this job; dpkg-deb only extracts them.
+The output is an engineering build, not an installed or qualified runtime.
+"""
+
+import argparse
+import hashlib
+import json
+import os
+from pathlib import Path
+import platform
+import re
+import shutil
+import subprocess
+import tarfile
+import time
+from datetime import datetime, timezone
+
+COMMIT = "01d5f10901116c311e3fb84d5a1541f663d3ce20"
+ARCHIVE_SHA256 = "4565ecec4e41e094bcc43127a51970e810aa9080a9d7c025af64632bfd4c0189"
+DEPS = (
+    "qtbase5-dev", "qtbase5-private-dev", "qtdeclarative5-dev",
+    "qtquickcontrols2-5-dev", "libqt5serialport5-dev", "qtconnectivity5-dev",
+    "qtpositioning5-dev", "libqt5gamepad5-dev", "libqt5svg5-dev",
+)
+
+
+def build(archive, root, dependency_cache=None, resume=None):
+    if os.geteuid() == 0:
+        raise RuntimeError("This build must not run as root")
+    release = platform.freedesktop_os_release()
+    if (release.get("ID"), release.get("VERSION_ID"), platform.machine()) != ("ubuntu", "24.04", "x86_64"):
+        raise RuntimeError("Ubuntu 24.04 amd64 required")
+    assert hashlib.sha256(archive.read_bytes()).hexdigest() == ARCHIVE_SHA256
+    group = Path("/sys/fs/cgroup") / Path("/proc/self/cgroup").read_text().strip().split("::", 1)[1].lstrip("/")
+    limit = (group / "memory.max").read_text().strip()
+    if limit == "max" or int(limit) > 3 * 1024**3:
+        raise RuntimeError("Run in a user scope with MemoryMax=3G")
+    os.umask(0o077)
+    root.mkdir(mode=0o700, parents=True, exist_ok=False)
+    root = root.resolve()
+    report = {"schema": "missioncore.vesc.tool-build/v1", "source_commit": COMMIT,
+              "source_sha256": ARCHIVE_SHA256, "state": "running", "jobs": [],
+              "started_at": datetime.now(timezone.utc).isoformat(), "monotonic_started": time.monotonic(),
+              "hardware_access": False, "system_packages_installed": False, "packages": []}
+    env = dict(os.environ, LC_ALL="C", DEBIAN_FRONTEND="noninteractive", QT_QPA_PLATFORM="offscreen")
+
+    def publish():
+        (root / "report.json").write_text(json.dumps(report, indent=2) + "\n")
+
+    def run(name, args, cwd=None, timeout=600):
+        job = {"id": name, "state": "running"}; report["jobs"].append(job); publish()
+        started = time.monotonic()
+        with (root / (name + ".stdout")).open("wb") as out, (root / (name + ".stderr")).open("wb") as err:
+            result = subprocess.run(args, cwd=cwd or root, env=env, stdout=out, stderr=err, timeout=timeout)
+        job.update(state="complete" if result.returncode == 0 else "error", exit_code=result.returncode,
+                   duration_seconds=time.monotonic() - started)
+        publish()
+        if result.returncode:
+            raise RuntimeError("Build step failed: " + name)
+        return (root / (name + ".stdout")).read_text()
+
+    try:
+        staging = root
+        if resume is not None:
+            previous_raw = (resume / "report.json").read_bytes()
+            previous = json.loads(previous_raw)
+            if previous.get("source_sha256") != ARCHIVE_SHA256 or previous.get("error") != "Build step failed: compile":
+                raise RuntimeError("Only this source's failed compile may resume")
+            staging = resume.resolve()
+            report["resume_report_sha256"] = hashlib.sha256(previous_raw).hexdigest()
+            report["resumed_staging"] = str(staging)
+        downloads = staging / "packages"
+        if resume is None: downloads.mkdir()
+        sysroot = staging / "sysroot"
+        if resume is None: sysroot.mkdir()
+        if resume is not None:
+            report["packages"] = previous["packages"]
+            for item in report["packages"]:
+                if hashlib.sha256((downloads / item["file"]).read_bytes()).hexdigest() != item["sha256"]:
+                    raise RuntimeError("Resumed dependency changed")
+        elif dependency_cache is not None:
+            previous = json.loads((dependency_cache / "report.json").read_text())
+            if previous.get("source_sha256") != ARCHIVE_SHA256 or not previous.get("packages"):
+                raise RuntimeError("Unqualified dependency cache")
+            for item in previous["packages"]:
+                name = item["file"]
+                if Path(name).name != name or not name.endswith(".deb"):
+                    raise RuntimeError("Invalid cached package name")
+                package = dependency_cache / "packages" / name
+                if hashlib.sha256(package.read_bytes()).hexdigest() != item["sha256"]:
+                    raise RuntimeError("Cached dependency changed")
+                shutil.copyfile(package, downloads / name)
+            report["dependency_cache_report_sha256"] = hashlib.sha256((dependency_cache / "report.json").read_bytes()).hexdigest()
+        else:
+            # Host lists may refer to superseded security packages. Refresh only
+            # this job's signed Ubuntu indexes; never update /var/lib/apt or invoke
+            # the host's update hooks (Timescale and other sources are irrelevant).
+            aptdir = root / "apt"; aptdir.mkdir()
+            for name in ("lists", "lists/partial", "archives", "archives/partial"):
+                (aptdir / name).mkdir(exist_ok=True)
+            sources = aptdir / "sources.list"
+            sources.write_text("".join(
+                "deb [signed-by=/usr/share/keyrings/ubuntu-archive-keyring.gpg] " + url + " " + suite + " main universe\n"
+                for url, suite in (("https://archive.ubuntu.com/ubuntu", "noble"),
+                                   ("https://archive.ubuntu.com/ubuntu", "noble-updates"),
+                                   ("https://security.ubuntu.com/ubuntu", "noble-security"))))
+            config = aptdir / "apt.conf"
+            config.write_text(
+                'Dir::Etc::Parts "-";\nDir::Etc::main "-";\n'
+                'Dir::Etc::sourceparts "-";\nDir::Etc::sourcelist "' + str(sources) + '";\n'
+                'Dir::State::lists "' + str(aptdir / "lists") + '";\n'
+                'Dir::Cache::archives "' + str(aptdir / "archives") + '";\n'
+                'Dir::Cache::pkgcache "";\nDir::Cache::srcpkgcache "";\n'
+                'Acquire::Languages "none";\nDebug::NoLocking "true";\n'
+                '#clear APT::Update::Post-Invoke;\n#clear APT::Update::Post-Invoke-Success;\n')
+            env["APT_CONFIG"] = str(config)
+            apt = ["/usr/bin/apt-get"]
+            run("private-indexes", [*apt, "update"])
+            plan = run("dependencies-plan", [*apt, "--simulate", "--no-install-recommends", "--no-remove", "install", *DEPS])
+            packages = re.findall(r"^Inst (\S+)(?: \[[^\]]+\])? \((\S+)", plan, re.MULTILINE)
+            if not packages or len(packages) > 150:
+                raise RuntimeError("Unexpected dependency plan; inspect before changing profile")
+            for index, (name, version) in enumerate(packages):
+                # apt-get download verifies the archive against the host's trusted
+                # repository metadata. No maintainer script or package install runs.
+                run("download-%03d" % index, [*apt, "download", name + "=" + version], downloads)
+        for index, package in enumerate(sorted(downloads.glob("*.deb")) if resume is None else []):
+            report["packages"].append({"file": package.name, "sha256": hashlib.sha256(package.read_bytes()).hexdigest()})
+            run("extract-%03d" % index, ["/usr/bin/dpkg-deb", "--extract", str(package), str(sysroot)])
+        source = staging / "source"
+        if resume is None:
+            source.mkdir()
+            with tarfile.open(archive) as stream:
+                stream.extractall(source, filter="data")
+        source = source / ("vesc_tool-" + COMMIT)
+        qtbase = sysroot / "usr"
+        # APT omits already-installed runtime packages. Complete the private
+        # development symlinks from declared host libraries, recording provenance.
+        report["host_libraries"] = []
+        for name in ("libGL.so.1", "libGLX.so.0", "libGLU.so.1"):
+            target = qtbase / "lib/x86_64-linux-gnu" / name
+            host = Path("/usr/lib/x86_64-linux-gnu") / name
+            if not target.exists() and host.exists():
+                shutil.copyfile(host, target)
+                report["host_libraries"].append({"source": str(host.resolve()), "sha256": hashlib.sha256(host.read_bytes()).hexdigest()})
+        qtarch = qtbase / "lib/x86_64-linux-gnu/qt5"
+        qtbin = qtbase / "lib/qt5/bin"
+        qtconfig = "[Paths]\nPrefix=" + str(qtbase) + "\n" + "\n".join(
+            name + "=" + str(path) for name, path in {
+                "Headers": qtbase / "include/x86_64-linux-gnu/qt5",
+                "Libraries": qtbase / "lib/x86_64-linux-gnu", "ArchData": qtarch,
+                "HostData": qtarch, "Binaries": qtbin, "HostBinaries": qtbin,
+                "Plugins": qtarch / "plugins", "Qml2Imports": qtarch / "qml",
+                "Data": qtbase / "share/qt5",
+            }.items()) + "\n"
+        (qtbin / "qt.conf").write_text(qtconfig)
+        env["LD_LIBRARY_PATH"] = str(qtbase / "lib/x86_64-linux-gnu")
+        env["QT_PLUGIN_PATH"] = str(qtarch / "plugins")
+        env["PKG_CONFIG_LIBDIR"] = str(qtbase / "lib/x86_64-linux-gnu/pkgconfig")
+        env["PKG_CONFIG_SYSROOT_DIR"] = str(sysroot)
+        run("qmake", [str(qtbin / "qmake"), "-config", "release", "CONFIG += release_lin build_original exclude_fw",
+                      "VT_GIT_COMMIT=" + COMMIT[:8], "INCLUDEPATH += " + str(qtbase / "include") + " " + str(qtbase / "include/x86_64-linux-gnu"),
+                      "QMAKE_LIBDIR += " + str(qtbase / "lib/x86_64-linux-gnu")], source)
+        run("compile", ["/usr/bin/make", "-j2"], source, timeout=1800)
+        binary = source / "build/lin/vesc_tool_7.00"
+        result = run("version", [str(binary), "--version"], source, timeout=30)
+        report.update(state="complete", binary=str(binary), binary_sha256=hashlib.sha256(binary.read_bytes()).hexdigest(),
+                      version_output=result, runtime_installed=False, hardware_qualified=False)
+    except Exception as error:
+        report.update(state="error", error=str(error))
+        raise
+    finally:
+        report["duration_seconds"] = time.monotonic() - report["monotonic_started"]
+        report["finished_at"] = datetime.now(timezone.utc).isoformat()
+        publish()
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--source", type=Path, required=True)
+    parser.add_argument("--output", type=Path, required=True)
+    parser.add_argument("--dependencies", type=Path)
+    parser.add_argument("--resume", type=Path)
+    args = parser.parse_args()
+    build(args.source.resolve(), args.output, args.dependencies, args.resume)

plugins/vesc/runtime/__init__.py

@@ -0,0 +1,5 @@
+"""Onboard VESC discovery, archive and bounded motor identification service."""
+
+VERSION = "0.7.4"
+MODEL = "vesc.controller"
+SCHEMA = "missioncore.nodedc/plugin-sdk/v0alpha2"

plugins/vesc/runtime/configuration.py

@@ -0,0 +1,46 @@
+"""Exact, read-only firmware configuration decoder. Never serializes a write."""
+import math
+from pathlib import Path
+import struct
+import xml.etree.ElementTree as ET
+
+
+def crc32c(data):
+    value = 0xffffffff
+    for byte in data:
+        value ^= byte
+        for _ in range(8):
+            value = (value >> 1) ^ (0x82f63b78 if value & 1 else 0)
+    return value ^ 0xffffffff
+
+
+def decode(data, kind):
+    code, name = {"motor": (14, "mcconf"), "application": (17, "appconf")}[kind]
+    xml = ET.parse(Path(__file__).parent / "schemas/5.02" / ("parameters_" + name + ".xml")).getroot()
+    params = {p.tag: p for p in xml.find("Params")}
+    order = [p.text for p in xml.find("SerOrder")]
+    signature = "".join(n + params[n].findtext("type", "0") + params[n].findtext("vTx", "0")
+                        + "".join(x.text or "" for x in params[n].findall("enumNames")) for n in order)
+    if len(data) < 5 or data[0] != code or int.from_bytes(data[1:5], "big") != crc32c(signature.encode()):
+        raise ValueError("Configuration signature differs from firmware 5.02 schema")
+    offset, result = 5, {}
+    for name in order:
+        p = params[name]; kind = int(p.findtext("type")); tx = int(p.findtext("vTx", "0"))
+        if kind in (4, 5): fmt = "b"
+        elif kind == 6: fmt = "B"
+        elif kind == 2: fmt = {1: "B", 2: "b", 3: "H", 4: "h", 5: "I", 6: "i"}[tx]
+        elif kind == 1: fmt = {7: "h", 8: "i", 9: "I"}[tx]
+        else: raise ValueError("Unsupported configuration type")
+        size = struct.calcsize(">" + fmt)
+        if offset + size > len(data): raise ValueError("Truncated configuration")
+        value = struct.unpack_from(">" + fmt, data, offset)[0]; offset += size
+        if kind == 1:
+            if tx == 9:
+                exponent, fraction = (value >> 23) & 255, value & 0x7fffff
+                part = fraction / 16777216.0 + 0.5 if exponent or fraction else 0.0
+                value = math.ldexp(-part if value & 0x80000000 else part, exponent - 126)
+            else: value /= float(p.findtext("vTxDoubleScale", "1"))
+            if not math.isfinite(value): raise ValueError("Non-finite parameter")
+        result[name] = value
+    if offset != len(data): raise ValueError("Unexpected configuration tail")
+    return result

plugins/vesc/runtime/drive_profile.py

@@ -0,0 +1,54 @@
+"""Owner-assigned drive slots, independent of USB addresses and motor commands."""
+import json
+
+LAYOUTS = {"1x1": ("left.1", "right.1"), "2x2": ("left.1", "left.2", "right.1", "right.2")}
+
+def slot_label(layout, slot):
+    side = "Левый" if slot.startswith("left.") else "Правый"
+    return side + ((" передний" if slot.endswith(".1") else " задний") if layout == "2x2" else "")
+
+
+class DriveProfile:
+    def __init__(self, root, atomic):
+        self.path, self.atomic = root / "drive-profile.json", atomic
+        self.value = json.loads(self.path.read_text()) if self.path.exists() else {"layout": None, "revision": 0, "bindings": {}}
+
+    def update(self, action, params, device):
+        current = self.value
+        if params["revision"] != current["revision"]:
+            raise ValueError("Профиль привода изменился. Обновите карточку.")
+        bindings = dict(current["bindings"])
+        layout = current["layout"]
+        if action == "vesc.drive.layout":
+            layout = params["layout"]
+            if set(bindings) - set(LAYOUTS[layout]):
+                raise ValueError("Сначала снимите назначения задних моторов.")
+        elif action == "vesc.drive.assign":
+            layout, slot = params["layout"], params["slot"]
+            if set(bindings) - set(LAYOUTS[layout]):
+                raise ValueError("Сначала снимите назначения задних моторов.")
+            if slot and slot in bindings and bindings[slot]["device_id"] != device.id:
+                raise ValueError("Это место уже занято. Сначала снимите прежнее назначение.")
+            bindings = {key: value for key, value in bindings.items() if value["device_id"] != device.id}
+            if slot:
+                bindings[slot] = {"device_id": device.id, "uuid": device.identity["uuid"]}
+        else:
+            bindings.pop(params["slot"], None)
+        value = {"layout": layout, "revision": current["revision"] + 1, "bindings": bindings}
+        self.atomic(self.path, value)
+        self.value = value
+        return value
+
+
+def validate(action, params):
+    keys = {"revision", "layout"} if action == "vesc.drive.layout" else ({"revision", "layout", "slot"} if action == "vesc.drive.assign" else {"revision", "slot"})
+    if set(params) != keys or type(params["revision"]) is not int or params["revision"] < 0:
+        raise ValueError("Invalid drive profile revision")
+    if action == "vesc.drive.layout":
+        if params["layout"] not in LAYOUTS:
+            raise ValueError("Invalid drive layout")
+    elif action == "vesc.drive.assign":
+        if params["layout"] not in LAYOUTS or params["slot"] not in ("", *LAYOUTS[params["layout"]]):
+            raise ValueError("Invalid drive layout or slot")
+    elif params["slot"] not in LAYOUTS["2x2"]:
+        raise ValueError("Invalid drive slot")

plugins/vesc/runtime/foc_calibration.py

@@ -0,0 +1,157 @@
+"""Transaction lifecycle around unchanged upstream Utility::detectAllFoc.
+
+No FOC algorithm or wire writes here. Native firmware owns this non-interruptible
+cycle; a pending marker survives any uncertain completion and prevents replay.
+"""
+import base64
+import hashlib
+import json
+import os
+import re
+import uuid
+
+from .protocol import firmware, values
+from .configuration import decode
+from .receiver import neutral_band
+
+
+def fresh_values(owner, devices):
+    # FW 5.02 GET_VALUES reads AND resets accumulated average current. The
+    # first reply after a quiet 30 s calibration includes the entire cycle.
+    # Drain it, then measure a new bounded interval after the release command.
+    for device in devices:
+        values(device.link.query(4, timeout=0.2))
+    owner.sleep(0.25)
+    return {device.id: values(device.link.query(4, timeout=0.2)) for device in devices}
+
+
+def remove_pending(pending):
+    pending.unlink()
+    fd = os.open(pending.parent, os.O_RDONLY)
+    try: os.fsync(fd)
+    finally: os.close(fd)
+
+
+def reconcile(owner, devices):
+    """Explicit neutral-return recovery, never calibration or config replay.
+
+    Admits only a previously completed/verified native receipt, exact archived
+    post-configs for every peer, stable identity, neutral PPM and fresh idle
+    telemetry. Unknown native completion always remains blocked.
+    """
+    if any(device.link is None for device in devices): raise ValueError("Controller disconnected")
+    pending = owner.service.root / "calibration-pending.json"
+    record = json.loads(pending.read_text())
+    operation = record.get("operation_id", "")
+    if not re.fullmatch(r"op_[0-9a-f]{32}", operation): raise ValueError("Invalid pending operation")
+    receipt = json.loads((owner.service.root / (operation + ".json")).read_text())["receipt"]
+    result = receipt.get("result", {})
+    native = result.get("native", {})
+    if not (receipt.get("state") == "complete" and result.get("completed") is True
+            and result.get("configuration_verified") is True and native.get("validated") is True):
+        raise ValueError("Native completion/configuration is unconfirmed")
+    expected = {}
+    for identifier in result.get("after_backups", []):
+        if not re.fullmatch(r"op_[0-9a-f]{32}", identifier): raise ValueError("Invalid backup identity")
+        backup = json.loads((owner.service.root / ("backup_" + identifier + ".json")).read_text())
+        if backup.get("parent_operation_id") != operation or backup["device_id"] in expected:
+            raise ValueError("Calibration backup ownership differs")
+        expected[backup["device_id"]] = backup
+    if set(expected) != {d.id for d in devices}: raise ValueError("Controller set changed")
+    for device in devices:
+        backup = expected[device.id]
+        if firmware(device.link.query(0)) != backup["identity"]: raise ValueError("Controller identity changed")
+        for kind, code in (("motor",14),("application",17)):
+            actual = device.link.query(code)
+            if actual != base64.b64decode(backup["configs"][kind]["payload"], validate=True):
+                raise ValueError("Post-calibration configuration changed")
+            if kind == "application":
+                owner.receiver_bands[device.id] = neutral_band(decode(actual, kind))
+    owner.neutral(devices)
+    after = fresh_values(owner, devices)
+    if any(abs(v["motor_current_a"]) > 1 or abs(v["erpm"]) > 30 or abs(v["duty"]) > .01 or v["fault_code"] != 0 for v in after.values()):
+        raise ValueError("Fresh idle state unconfirmed")
+    evidence = {"operation_id": operation, "observed_at": owner.utc(), "after": after,
+        "configuration_verified": True, "release_confirmed": True, "calibration_replayed": False}
+    owner.atomic(owner.service.root / ("calibration_recovered_" + operation + ".json"), evidence)
+    remove_pending(pending)
+    return evidence
+
+
+def archive_after(owner, command, device, configs):
+    identifier = "op_" + uuid.uuid4().hex
+    backup = {"schema": "missioncore.vesc.config-backup/v1", "device_id": device.id,
+              "identity": device.identity, "operation_id": identifier,
+              "parent_operation_id": command["operation_id"], "observed_at": owner.utc(),
+              "monotonic_at": owner.monotonic(), "decoded": False,
+              "configs": {kind: {"encoding": "base64", "payload": base64.b64encode(raw).decode(),
+                  "bytes": len(raw), "sha256": hashlib.sha256(raw).hexdigest(), "signature_hex": raw[1:5].hex()}
+                  for kind, raw in configs.items()}}
+    owner.atomic(owner.service.root / ("backup_" + identifier + ".json"), backup)
+    owner.service.archive.add("local", backup)
+    device.backup = {"observed_at": backup["observed_at"], "operation_id": identifier,
+        "configs": {k: {"bytes": v["bytes"], "sha256": v["sha256"]} for k, v in backup["configs"].items()}}
+    return identifier
+
+
+def calibrate(owner, command, devices, target, originals, backups, unchanged):
+    pending = owner.service.root / "calibration-pending.json"
+    owner.atomic(pending, {"device_id": target.id, "identity": target.identity,
+        "started_at": owner.utc(), "operation_id": command["operation_id"], "backups": backups})
+    owner.state("calibrating")
+    owner.active, owner.mode = True, "foc"
+    started = owner.monotonic()
+    native, after, issues, saved = {}, {}, [], []
+    verified, attempted = False, False
+    try:
+        unchanged()
+        owner.neutral(devices)
+        if owner.stop.is_set(): raise ValueError("Cancelled before calibration")
+        # Do not renew a 250 ms lease over the upstream 180 s calibration lease.
+        # No host current/RPM or configuration command is sent while it runs.
+        for device in devices: device.link.test_command("release")
+        attempted = True
+        target.link.calibrate_foc(command["parameters"]["max_power_loss_w"])
+        while owner.monotonic() - started < 225:
+            unchanged()
+            state = target.link.procedure_result()
+            if not state.get("running"):
+                native = state.get("result", {})
+                if state.get("uncertain"): issues.append("native_postcondition_unconfirmed")
+                break
+            if owner.stop.is_set() and "stop_requested_during_native_cycle" not in issues:
+                issues.append("stop_requested_during_native_cycle")
+            owner.sleep(0.5)
+        if not native.get("completed"): issues.append("native_completion_unconfirmed")
+    except (OSError, ValueError, TimeoutError):
+        issues.append("communication_unconfirmed")
+    finally:
+        for device in devices:
+            try: device.link.test_command("release")
+            except (OSError, ValueError, TimeoutError): issues.append("release_unconfirmed")
+        owner.sleep(0.5)
+        try: after = fresh_values(owner, devices)
+        except (OSError, ValueError, TimeoutError): after = {device.id: None for device in devices}
+        released = all(v is not None and abs(v["motor_current_a"]) <= 1 and abs(v["duty"]) <= .01 for v in after.values())
+        if not attempted or native.get("completed"):
+            try:
+                unchanged()
+                for device in devices:
+                    if firmware(device.link.query(0)) != device.identity: raise ValueError("Identity changed")
+                    configs = {kind: device.link.query(code) for kind, code in (("motor",14),("application",17))}
+                    saved.append(archive_after(owner, command, device, configs))
+                    if configs["application"] != originals[device.id]["application"]: raise ValueError("Receiver config changed")
+                    if (device is not target or not attempted or not native.get("success")) and configs["motor"] != originals[device.id]["motor"]:
+                        raise ValueError("Unchanged/restored motor config differs")
+                verified = not attempted or native.get("validated") is True
+            except (OSError, ValueError, TimeoutError): issues.append("configuration_unconfirmed")
+        if verified and released:
+            remove_pending(pending)
+            if not owner.latched: owner.state("ready")
+        else: owner.state("rc")
+        owner.active, owner.mode = False, None
+    return {"observed_at": owner.utc(), "device_id": target.id, "procedure": "native_foc_calibration",
+        "elapsed_s": owner.monotonic() - started, "completed": native.get("completed", False),
+        "success": bool(native.get("success") and verified and released), "native": native,
+        "configuration_verified": verified, "release_confirmed": released, "after": after,
+        "issues": issues, "backups": backups, "after_backups": saved}

plugins/vesc/runtime/group_test.py

@@ -0,0 +1,135 @@
+"""One local, bounded speed test for the complete owner-assigned drive profile."""
+from concurrent.futures import ThreadPoolExecutor
+
+from .drive_profile import LAYOUTS
+from .protocol import ppm, values, TEST_LIMITS
+from .speed_hold import SpeedHold
+
+
+def targets(service, params, devices, selected):
+    profile = service.drive.value
+    bindings = profile["bindings"]
+    slots = LAYOUTS.get(profile["layout"], ())
+    if (not slots or params["profile_revision"] != profile["revision"]
+            or set(bindings) != set(slots)):
+        raise ValueError("Профиль изменился или не все моторы назначены.")
+    ids = [bindings[slot]["device_id"] for slot in slots]
+    if len(set(ids)) != len(ids) or set(params["device_ids"]) != set(ids) or selected.id not in ids:
+        raise ValueError("Состав проверяемого привода не совпадает с профилем.")
+    available = {device.id: device for device in devices}
+    if any(identifier not in available for identifier in ids):
+        raise ValueError("Один из назначенных моторов отключён.")
+    if any(available[b["device_id"]].identity["uuid"] != b["uuid"] for b in bindings.values()):
+        raise ValueError("Идентичность назначенного VESC изменилась.")
+    return [available[identifier] for identifier in ids]
+
+
+def batch(pool, devices, function):
+    # Join every submitted call before propagating an error: no late worker may
+    # issue torque after the caller has already released the other controllers.
+    futures = [(device.id, pool.submit(function, device)) for device in devices]
+    result, errors = {}, []
+    for identifier, future in futures:
+        try: result[identifier] = future.result()
+        except (OSError, ValueError, TimeoutError) as error:
+            error.device_id = identifier
+            errors.append(error)
+    if errors: raise errors[0]
+    return result
+
+
+def run(owner, command, devices, moving, originals, backups, unchanged, preflight):
+    from .motor_test import Rejected, check_values
+    params = command["parameters"]
+    duration, erpm, current_a = (params[key] for key in ("duration_s", "erpm", "current_a"))
+    ids = {device.id for device in moving}
+    motors, samples, after, cleanup = {}, [], {}, {}
+    restored, failure, rotation, previous_good = True, None, 0.0, False
+    outcome, claimed, started, previous = "duration", False, owner.monotonic(), owner.monotonic()
+    stalls = {}
+    owner.state("testing")
+    owner.active, owner.mode = True, "group_speed"
+    with ThreadPoolExecutor(max_workers=min(16, len(devices)), thread_name_prefix="vesc-drive") as pool:
+        try:
+            for device in moving:
+                motors[device.id] = owner.limits.apply(device, originals[device.id]["motor"], current_a)
+            started = previous = owner.monotonic()
+            holds = {device.id: SpeedHold(erpm, duration, started) for device in moving}
+            while owner.monotonic() - started < duration + 20:
+                cycle = owner.monotonic()
+                if owner.stop.is_set(): outcome = "stopped"; break
+                unchanged()
+                def read(device):
+                    level = ppm(device.link.query(31, timeout=.06))["level"]
+                    value = values(device.link.query(4, timeout=.06)) if device.id in ids else None
+                    return level, value
+                observed = batch(pool, devices, read)
+                if any(owner.receiver_active(identifier, level) for identifier, (level, _) in observed.items()):
+                    owner.state("rc")
+                    raise Rejected("Приёмник передаёт команду. Общая проверка остановлена; управление за пультом.")
+                now = owner.monotonic()
+                readings = {identifier: observed[identifier][1] for identifier in ids}
+                setpoint = None
+                for identifier, value in readings.items():
+                    check_values(value, moving=True, current_a=current_a, motor=motors[identifier])
+                    setpoint, _, error = holds[identifier].update(now, value)
+                    if error: raise Rejected(error)
+                    if abs(value["motor_current_a"]) > TEST_LIMITS["stall_current_a"]:
+                        at, tacho = stalls.setdefault(identifier, (now, value["tachometer"]))
+                        if abs(value["erpm"]) >= 60 and abs(value["tachometer"] - tacho) >= 3:
+                            stalls[identifier] = (now, value["tachometer"])
+                        elif now - at >= TEST_LIMITS["stall_timeout_s"]:
+                            raise Rejected("Один из моторов не движется при токе выше 5 А. Общая проверка остановлена.")
+                    else: stalls.pop(identifier, None)
+                good = all(h.hold_started is not None and h.previous_good for h in holds.values())
+                delta = now - previous
+                if good and previous_good and delta <= .25: rotation += delta
+                previous, previous_good = now, good
+                sample = {"at": now-started, "devices": readings, "rotation_s": rotation,
+                          "phase": "holding" if good else "accelerating", "commanded_erpm": None}
+                samples.append(sample)
+                if rotation >= duration: break
+                if owner.monotonic()-cycle > .12: raise Rejected("Связь слишком медленная для общей проверки.")
+                claimed = True
+                batch(pool, devices, lambda d: d.link.test_command("claim"))
+                if owner.stop.is_set(): outcome = "stopped"; break
+                if owner.monotonic()-cycle > .16: raise Rejected("Связь слишком медленная для общей проверки.")
+                def send(device):
+                    if owner.stop.is_set(): return
+                    if device.id in ids: device.link.test_speed(setpoint)
+                    else: device.link.test_command("release")
+                sent_at = owner.monotonic()
+                batch(pool, devices, send)
+                sample.update(commanded_erpm=setpoint, command_batch_s=owner.monotonic()-sent_at)
+                owner.sleep(max(0, .1-(owner.monotonic()-cycle)))
+            if outcome == "duration" and rotation < duration:
+                outcome = "Общий срок проверки истёк; заданное время совместного вращения не набрано."
+        except (OSError, ValueError, TimeoutError) as error:
+            failure = {"type": type(error).__name__, "message": str(error), "elapsed_s": owner.monotonic()-started}
+            failure["device_id"] = getattr(error, "device_id", None)
+            failure["native_rpc"] = getattr(error, "native_rpc", None)
+            failure["native_history"] = getattr(error, "native_history", [])
+            outcome = str(error) if isinstance(error, Rejected) else "Ответ одного из VESC не получен вовремя. Общая проверка остановлена."
+        finally:
+            def release(device):
+                try:
+                    device.link.test_command("release")
+                    return "zero_current_sent"
+                except (OSError, ValueError, TimeoutError): return "unconfirmed"
+            if claimed: cleanup = batch(pool, devices, release)
+            owner.sleep(.3)
+            for device in devices:
+                try: after[device.id] = values(device.link.query(4, timeout=.2))
+                except (OSError, ValueError, TimeoutError): after[device.id] = None
+            confirmed = all(v is not None and abs(v["motor_current_a"]) <= 1 for v in after.values())
+            for device in moving:
+                try: owner.limits.restore(device)
+                except (OSError, ValueError, TimeoutError): restored = False
+            if not confirmed or not restored: owner.state("rc")
+            elif not owner.latched: owner.state("ready")
+            owner.active, owner.mode = False, None
+    return {"observed_at": owner.utc(), "device_ids": [d.id for d in moving], "mode": "group_speed",
+            "preflight": preflight, "profile_revision": params["profile_revision"], "current_a": current_a, "erpm_target": erpm,
+            "duration_limit_s": duration, "rotation_s": rotation, "outcome": outcome, "failure": failure,
+            "samples": samples, "release": cleanup, "release_confirmed": confirmed,
+            "limits_restored": restored, "after": after, "backups": backups}

plugins/vesc/runtime/hall_detection.py

@@ -0,0 +1,99 @@
+"""Native FW 5.02 Hall measurement used by VESC Tool (COMM_DETECT_HALL_FOC).
+
+This is a non-interruptible ~12 s firmware procedure: it locks mc_interface,
+overrides phase, sweeps three electrical turns in each direction and restores
+its prior RAM configuration. A host stop/current-zero cannot cancel the sweep.
+No table is applied here; measurements are archived in the operation receipt.
+"""
+from .configuration import decode
+from .protocol import values, ppm
+
+
+def parse_result(raw):
+    if len(raw) != 10 or raw[0] != 28 or raw[9] not in (0, 1):
+        raise ValueError("Invalid Hall result")
+    table = list(raw[1:9])
+    if any(v > 200 and v != 255 for v in table): raise ValueError("Invalid Hall angle")
+    observed = [i for i, v in enumerate(table) if v != 255]
+    return {"firmware_success": raw[9] == 0, "hall_table": table,
+            "observed_states": observed, "valid_six_states": raw[9] == 0 and len(observed) == 6}
+
+
+def measure(owner, devices, target, original, backups, unchanged, preflight):
+    motor = decode(original, "motor")
+    if motor["m_sensor_port_mode"] != 0:
+        from .motor_test import Rejected
+        raise Rejected("Вход датчиков выбран не в режиме Холла.")
+    pending = owner.service.root / "hall-pending.json"
+    owner.atomic(pending, {"device_id": target.id, "identity": target.identity,
+                           "started_at": owner.utc(), "backups": backups})
+    owner.state("calibrating")
+    owner.active, owner.mode = True, "hall"
+    started = owner.monotonic()
+    samples, issues, result, after = [], [], None, {}
+    completed, restored, attempted = False, False, False
+    try:
+        unchanged()
+        owner.neutral(devices)
+        # Do not enter the native procedure if Stop arrived during preflight.
+        if owner.stop.is_set(): raise ValueError("Measurement cancelled before start")
+        for device in devices: device.link.test_command("claim")
+        attempted = True
+        target.link.detect_hall()
+        while owner.monotonic() - started < 30:
+            cycle = owner.monotonic()
+            try:
+                unchanged()
+                for device in devices:
+                    incoming = ppm(device.link.query(31, timeout=0.06))
+                    if owner.receiver_active(device.id, incoming["level"]):
+                        owner.state("rc")
+                        if "rc_during_native_cycle" not in issues: issues.append("rc_during_native_cycle")
+                sample = values(target.link.query(4, timeout=0.06))
+                samples.append({"at": owner.monotonic() - started, "values": sample})
+                for device in devices: device.link.test_command("claim")
+                for device in devices:
+                    if device is not target: device.link.test_command("release")
+            except (OSError, ValueError, TimeoutError):
+                if "communication_unconfirmed" not in issues: issues.append("communication_unconfirmed")
+            if owner.stop.is_set() and "stop_requested_during_native_cycle" not in issues:
+                issues.append("stop_requested_during_native_cycle")
+            reply = target.link.hall_result
+            if reply is not None:
+                result = parse_result(reply)
+                completed = True
+                break
+            owner.sleep(max(0, 0.1 - (owner.monotonic() - cycle)))
+    except (OSError, ValueError, TimeoutError):
+        issues.append("native_completion_unconfirmed")
+    finally:
+        # Zero is a release AFTER completion, never a claim that native detect
+        # is interruptible. Peers also receive release if the target disappears.
+        for device in devices:
+            try: device.link.test_command("release")
+            except (OSError, ValueError, TimeoutError): issues.append("release_unconfirmed")
+        owner.sleep(0.3)
+        for device in devices:
+            try: after[device.id] = values(device.link.query(4, timeout=0.1))
+            except (OSError, ValueError, TimeoutError): after[device.id] = None
+        if completed or not attempted:
+            target.link.hall_pending = False
+            try: restored = target.link.query(14) == original
+            except (OSError, ValueError, TimeoutError): pass
+        released = all(v is not None and abs(v["motor_current_a"]) <= 1 for v in after.values())
+        if (completed or not attempted) and restored and released:
+            pending.unlink()
+            import os
+            fd = os.open(pending.parent, os.O_RDONLY)
+            try: os.fsync(fd)
+            finally: os.close(fd)
+            if not owner.latched: owner.state("ready")
+        else:
+            owner.state("rc")
+        owner.active, owner.mode = False, None
+    return {"observed_at": owner.utc(), "device_id": target.id, "procedure": "native_foc_hall",
+            "preflight": preflight,
+            "current_a": 5, "elapsed_s": owner.monotonic() - started,
+            "completed": completed, "measurement": result, "issues": issues,
+            "configuration_restored": restored, "configuration_written": False,
+            "release_confirmed": released, "after": after, "samples": samples, "backups": backups}

plugins/vesc/runtime/limits_view.py

@@ -0,0 +1,18 @@
+"""Read controller settings using the bundled upstream VESC Tool decoder."""
+import math
+
+FIELDS = frozenset({"l_current_max", "l_current_min", "l_current_max_scale", "l_current_min_scale",
+    "l_in_current_max", "l_in_current_min", "l_min_erpm", "l_max_erpm", "l_max_duty",
+    "l_watt_max", "l_watt_min", "si_motor_poles", "si_gear_ratio", "si_wheel_diameter"})
+
+
+def read_limits(link):
+    configuration = link.configuration()
+    result = {}
+    for parameter in configuration["motor"]["parameters"]:
+        name, value = parameter["name"], parameter.get("value")
+        if name in FIELDS and type(value) in (int, float) and math.isfinite(value):
+            result[name] = value
+    if set(result) != FIELDS:
+        raise ValueError("Native configuration is missing limit fields")
+    return result

plugins/vesc/runtime/link_check.py

@@ -0,0 +1,99 @@
+"""Bounded idle transport measurement through the installed native owners.
+
+Only application/PPM/telemetry reads, no leases, motor commands or configuration writes.
+The 500 ms diagnostic deadline observes replies beyond the 60 ms motor budget;
+it never relaxes the motor-control deadline or authorizes powered operation.
+"""
+from concurrent.futures import ThreadPoolExecutor
+from contextlib import ExitStack
+from datetime import datetime, timezone
+import math
+import time
+
+from .protocol import ppm, values
+from .configuration import decode
+from .receiver import active, neutral_band
+
+
+def summary(samples):
+    times = sorted(s["elapsed_ms"] for s in samples)
+    if not times: return {"replies": 0}
+    def percentile(p): return times[max(0, math.ceil(len(times)*p)-1)]
+    return {"replies": len(times), "p50_ms": percentile(.5), "p95_ms": percentile(.95),
+            "p99_ms": percentile(.99), "max_ms": times[-1],
+            "over_60_ms": sum(t > 60 for t in times)}
+
+
+def measure(service, command, devices, *, sleep=time.sleep, monotonic=time.monotonic):
+    started = monotonic()
+    observed = datetime.now(timezone.utc).isoformat()
+    deadline = datetime.fromisoformat(command["deadline_at"].replace("Z", "+00:00"))
+    ids = {d.id: d.session for d in devices}
+    if not devices or len(ids) != len(devices) or ids != command["parameters"]["sessions"]:
+        raise ValueError("Controller sessions changed")
+    samples = {d.id: [] for d in devices}
+    bands = {}
+    failure = None
+    stop_reason = "complete"
+    def interrupted():
+        cancelled = service.motor.cancelled_at
+        if cancelled is not None and cancelled >= datetime.fromisoformat(command["requested_at"].replace("Z", "+00:00")):
+            return "stopped"
+        if monotonic()-started >= 25 or (deadline-datetime.now(timezone.utc)).total_seconds() < 2:
+            return "deadline"
+        return None
+    def failed(device, code, before, error):
+        return {"device_id": device.id, "command": code, "reason": "read_failed", "error": str(error),
+                "elapsed_ms": (monotonic()-before)*1000,
+                "native_rpc": getattr(error, "native_rpc", None),
+                "native_history": getattr(error, "native_history", [])}
+    def read(device):
+        for code in (31, 4):
+            before = monotonic()
+            try:
+                raw = device.link.query(code, timeout=.5)
+                reading = ppm(raw) if code == 31 else values(raw)
+                sample = {"command": code, "at_s": before-started, "elapsed_ms": (monotonic()-before)*1000,
+                          "native_rpc": getattr(device.link, "last_rpc", None)}
+                if code == 31:
+                    sample["ppm_level"] = reading["level"]
+                    idle = not active(reading["level"], bands[device.id])
+                else:
+                    sample.update(erpm=reading["erpm"], current_a=reading["motor_current_a"],
+                                  duty=reading["duty"], fault_code=reading["fault_code"])
+                    idle = abs(reading["erpm"]) <= 30 and abs(reading["motor_current_a"]) <= 1 and abs(reading["duty"]) <= .01
+                samples[device.id].append(sample)
+                if not idle: return {"device_id": device.id, "reason": "not_idle"}
+            except (OSError, ValueError, TimeoutError) as error:
+                return failed(device, code, before, error)
+        return None
+    with ExitStack() as locks:
+        for device in sorted(devices, key=lambda d: d.id): locks.enter_context(device.lock)
+        if any(d.link is None for d in devices): raise ValueError("Controller unavailable")
+        for device in devices:
+            if reason := interrupted():
+                stop_reason = reason; break
+            before = monotonic()
+            try:
+                bands[device.id] = neutral_band(decode(device.link.query(17), "application"))
+            except (OSError, ValueError, TimeoutError) as error:
+                failure = [failed(device, 17, before, error)]
+                stop_reason = "read_failed"; break
+        # Same cadence and per-controller query order as group rotation, with a
+        # larger read-only deadline to expose latency instead of destroying it.
+        with ThreadPoolExecutor(max_workers=min(16, len(devices))) as pool:
+            for _ in range(100):
+                if stop_reason != "complete": break
+                cycle = monotonic()
+                if reason := interrupted():
+                    stop_reason = reason; break
+                futures = [pool.submit(read, d) for d in devices]
+                errors = [error for future in futures if (error := future.result()) is not None]
+                if errors:
+                    failure = errors; stop_reason = errors[0]["reason"]; break
+                sleep(max(0, .1-(monotonic()-cycle)))
+    return {"observed_at": observed, "monotonic_started": started, "duration_s": monotonic()-started,
+            "outcome": stop_reason, "motor_commands_sent": False, "read_timeout_ms": 500,
+            "failure": failure, "devices": {d.id: {"name": "VESC "+d.identity["uuid"][:6].upper(),
+                "neutral_band": bands.get(d.id), "summary": summary(samples[d.id]),
+                "samples": samples[d.id]} for d in devices}}

plugins/vesc/runtime/motor_test.py

@@ -0,0 +1,390 @@
+"""A bounded 0.5–30 A raised-rig test for firmware 5.02, never a drive API.
+
+Firmware reference: vedderb/bldc 3f670137e27e6e383fa79c50cc6b1fa85aab1554,
+commands.c, app_ppm.c, app.c and chvt.h. The admitted PPM applications are paused
+with separate 250 ms leases, never broadcast. Firmware resumes PPM on expiry,
+including its missing-pulse timeout. USB commands alone cannot rely on the
+global timeout: receiver pulses reset it even while app output is disabled.
+"""
+import base64
+from contextlib import ExitStack
+import hashlib
+import math
+import threading
+import time
+import uuid
+from datetime import datetime, timezone
+
+from .configuration import decode
+from .protocol import firmware, ppm, values, TEST_LIMITS, SPEED_LIMITS
+from .speed_hold import SpeedHold
+from .temporary_limits import TemporaryLimits
+from .receiver import active as receiver_active, neutral_band
+
+
+class Rejected(ValueError):
+    pass
+
+
+class LimitExceeded(Rejected):
+    def __init__(self, field, value, low, high, label, unit, scale=1):
+        self.violation = {"field": field, "value": value, "minimum": low, "maximum": high}
+        number = lambda v: format(v * scale, ".3g").replace(".", ",")
+        super().__init__(f"Тест остановлен: {label} {number(value)} {unit}; диапазон проверки {number(low)}…{number(high)} {unit}.")
+
+
+def check_configuration(identity, motor, app):
+    if (identity["version"], identity["hardware"], identity["test_firmware"], identity["hardware_type"]) != ("5.02", "75_300_R2", 0, 0):
+        raise Rejected("Тест поддерживает только проверенный профиль VESC 75_300_R2 / 5.02.")
+    if (motor["motor_type"] != 2 or app["app_to_use"] not in (1, 4)
+            or app["timeout_msec"] > 1000 or app["timeout_msec"] < 100
+            or app["timeout_brake_current"] != 0 or app["app_ppm_conf.ctrl_type"] != 4
+            or not 0.01 <= app["app_ppm_conf.hyst"] <= 0.3):
+        raise Rejected("Настройки FOC, PPM или тайм-аута не подходят для короткой проверки.")
+    if not 2 <= motor["l_current_max"] <= 100 or not 2 <= motor["l_in_current_max"] <= 100:
+        raise Rejected("Нужна проверка токовых ограничений.")
+
+
+def check_values(value, moving=False, current_a=2, motor=None, *, standstill_confirmed=False):
+    current_limit = max(5, current_a * 1.2 + 2) if moving else 1
+    speed_limit = TEST_LIMITS["max_erpm"] if moving else 30
+    duty_limit = TEST_LIMITS["max_duty"] if moving else 0.01
+    if moving and motor is not None:
+        current_limit = min(current_limit, motor["l_current_max"])
+        speed_limit = min(speed_limit, motor["l_max_erpm"], -motor["l_min_erpm"])
+        duty_limit = min(duty_limit, motor["l_max_duty"])
+    # FW 5.02 continues its observer/PLL while undriven. Sensorless ERPM and
+    # tachometer share that estimate, so neither proves physical standstill.
+    # Only explicitly attended Hall/speed/release operations may substitute
+    # observation. Current, modulation bounds and sensored ERPM still apply.
+    observed_sensorless = (standstill_confirmed is True and not moving
+                           and motor is not None and motor["motor_type"] == 2
+                           and motor["foc_sensor_mode"] == 0)
+    if observed_sensorless:
+        # FW 5.02 mcpwm_foc.c calculates duty_now from measured phase voltages
+        # even in the undriven branch. COMM_GET_VALUES quantizes it to 1/1000;
+        # one idle quantum is not proof that PWM is enabled. Permit at most
+        # that quantum only with fresh operator-confirmed physical standstill.
+        # Current/voltage/temperature/fault and neutral-window guards remain.
+        duty_limit = 0.001
+    bounds = (
+        ("fault_code", 0, 0, "код ошибки VESC", "", 1),
+        ("input_voltage_v", 20, 60, "напряжение питания", "В", 1),
+        ("mos_temperature_c", 0, 65, "температура контроллера", "°C", 1),
+        ("motor_current_a", -current_limit, current_limit, "ток мотора", "А", 1),
+        ("erpm", -speed_limit, speed_limit, "электрические обороты", "ERPM", 1),
+        ("duty", -duty_limit, duty_limit, "заполнение PWM", "%", 100),
+    )
+    for field, low, high, label, unit, scale in bounds:
+        actual = value[field]
+        estimated_speed = field == "erpm" and observed_sensorless
+        if not math.isfinite(actual) or (not estimated_speed and not low <= actual <= high):
+            raise LimitExceeded(field, actual, low, high, label, unit, scale)
+    if standstill_confirmed:
+        actual = value["input_current_a"]
+        if not math.isfinite(actual) or abs(actual) > 1:
+            raise LimitExceeded("input_current_a", actual, -1, 1, "ток батареи", "А")
+
+
+class MotorTest:
+    def __init__(self, service, atomic, utc, sleep=time.sleep, monotonic=time.monotonic):
+        self.service, self.atomic, self.utc = service, atomic, utc
+        self.sleep, self.monotonic = sleep, monotonic
+        self.stop = threading.Event()
+        self.stop_lock = threading.Lock()
+        self.cancelled_at = None
+        self.active = False
+        self.mode = None
+        self.receiver_bands = {}
+        self.limits = TemporaryLimits(service, atomic)
+        self.authority = service.root / "motor-authority.json"
+        # A process restart during a test cannot silently grant another pulse.
+        if self.authority.exists():
+            import json
+            self.latched = json.loads(self.authority.read_text()).get("state") != "ready"
+        else:
+            self.latched = False
+
+    def state(self, value):
+        self.atomic(self.authority, {"state": value, "observed_at": self.utc()})
+        self.latched = value == "rc"
+
+    def cancel(self):
+        with self.stop_lock:
+            self.cancelled_at = datetime.now(timezone.utc)
+            self.stop.set()
+
+    def neutral(self, devices):
+        for device in devices:
+            value = ppm(device.link.query(31, timeout=0.06))
+            if self.receiver_active(device.id, value["level"]):
+                self.state("rc")
+                raise Rejected("Приёмник передаёт команду. Управление удерживается за пультом.")
+
+    def receiver_active(self, identifier, level):
+        if identifier not in self.receiver_bands:
+            raise Rejected("Нейтраль приёмника ещё не проверена по конфигурации VESC.")
+        return receiver_active(level, self.receiver_bands[identifier])
+
+    def run(self, command, devices, target, release=False, remote=None):
+        if not 1 <= len(devices) <= 128 or len({d.id for d in devices}) != len(devices):
+            raise Rejected("Для проверки нужны однозначно определённые VESC этого борта.")
+        duration = command["parameters"]["duration_s"]
+        current_a = command["parameters"]["current_a"]
+        group_mode = command["action_id"] == "vesc.drive.run"
+        speed_mode = command["action_id"] in ("vesc.motor.run", "vesc.drive.run")
+        moving = [target]
+        if group_mode:
+            from .group_test import targets
+            try: moving = targets(self.service, command["parameters"], devices, target)
+            except ValueError as error: raise Rejected(str(error)) from error
+        hall_mode = command["action_id"] == "vesc.hall.measure"
+        foc_mode = command["action_id"] == "vesc.foc.calibrate"
+        budget = duration + (20 if speed_mode else 0)
+        if self.latched and not release and remote is None:
+            raise Rejected("Управление удерживается за пультом. Верните его явно после нейтрали.")
+        requested = datetime.fromisoformat(command["requested_at"].replace("Z", "+00:00"))
+        if (datetime.now(timezone.utc) - requested).total_seconds() > 10:
+            raise Rejected("Команда устарела до начала проверки. Повторите запрос.")
+        deadline = datetime.fromisoformat(command["deadline_at"].replace("Z", "+00:00"))
+        def preflight():
+            if remote is not None: remote.ensure_live()
+            if self.stop.is_set(): raise Rejected("Проверка отменена.")
+            if (deadline - datetime.now(timezone.utc)).total_seconds() < budget + 5:
+                raise Rejected("Не хватило времени для проверки всех контроллеров. Ток не подавался.")
+        attachments = {d.attachment for d in devices}
+        def unchanged():
+            if set(self.service.discover_fn()) != attachments:
+                raise Rejected("Подключение VESC изменилось. Обновите устройства.")
+        with self.stop_lock:
+            if self.cancelled_at is not None and requested <= self.cancelled_at:
+                raise Rejected("Проверка отменена до начала исполнения.")
+            self.stop.clear()
+        with ExitStack() as stack:
+            # Never reuse an earlier operation's neutral configuration.
+            self.receiver_bands = {}
+            for device in sorted(devices, key=lambda d: d.id):
+                stack.enter_context(device.lock)
+            recovered = None
+            if release and (self.service.root / "calibration-pending.json").exists():
+                from .foc_calibration import reconcile
+                unchanged()
+                try: recovered = reconcile(self, devices)
+                except (OSError, ValueError, TimeoutError, KeyError) as error:
+                    raise Rejected("Возврат управления пока невозможен: итог калибровки, конфигурация или нулевой ток не подтверждены.") from error
+            identities, applications, backups, originals = {}, {}, [], {}
+            motors, idle_samples = {}, []
+            observed_standstill = (hall_mode or speed_mode or release) and command["parameters"].get("standstill_confirmed") is True
+            target_motor, target_raw = None, None
+            for device in devices:
+                preflight()
+                if device.link is None: raise Rejected("Один из контроллеров отключён.")
+                if self.limits.pending(device):
+                    raise Rejected("Восстановление временных токовых пределов ещё не подтверждено.")
+                if (self.service.root / "hall-pending.json").exists():
+                    raise Rejected("Завершение предыдущего измерения Холла не подтверждено. Нужна проверка состояния VESC.")
+                if (self.service.root / "calibration-pending.json").exists():
+                    raise Rejected("Завершение предыдущей калибровки не подтверждено. Новое движение заблокировано.")
+                identity = firmware(device.link.query(0))
+                if identity != device.identity: raise Rejected("Идентичность контроллера изменилась.")
+                configs = {kind: device.link.query(code) for kind, code in (("motor", 14), ("application", 17))}
+                originals[device.id] = configs
+                motor, app = decode(configs["motor"], "motor"), decode(configs["application"], "application")
+                motors[device.id] = motor
+                check_configuration(identity, motor, app)
+                self.receiver_bands[device.id] = neutral_band(app)
+                if device in moving:
+                    if not foc_mode and current_a > min(motor["l_current_max"], motor["l_in_current_max"]):
+                        raise Rejected("Ток проверки превышает настроенный предел выбранного контроллера.")
+                    if not (motor["l_max_erpm"] > 0 and motor["l_min_erpm"] < 0 and 0 < motor["l_max_duty"] <= 1):
+                        raise Rejected("Нужна проверка настроенных пределов оборотов и PWM.")
+                    target_motor = motor
+                    target_raw = configs["motor"]
+                    if foc_mode and any(abs(motor[key]) <= 0.001 for key in ("l_in_current_min", "l_in_current_max", "foc_openloop_rpm", "foc_sl_erpm")):
+                        raise Rejected("Для калибровки нужны ненулевые сохранённые пределы питания и настройки запуска FOC.")
+                    if speed_mode and abs(command["parameters"]["erpm"]) > min(SPEED_LIMITS["max_erpm"],
+                            (motor["l_max_erpm"] if command["parameters"]["erpm"] > 0 else -motor["l_min_erpm"]) * 0.8):
+                        raise Rejected("Заданная скорость превышает настроенный диапазон контроллера.")
+                    if speed_mode and abs(command["parameters"]["erpm"]) < motor["s_pid_min_erpm"]:
+                        raise Rejected(f"Минимальная скорость регулятора этого VESC: {motor['s_pid_min_erpm']:g} ERPM.")
+                check_values(values(device.link.query(4)), motor=motor,
+                             standstill_confirmed=observed_standstill)
+                identities[device.id], applications[device.id] = identity, app
+                identifier = "op_" + uuid.uuid4().hex
+                backup = {"schema": "missioncore.vesc.config-backup/v1", "device_id": device.id,
+                          "identity": identity, "operation_id": identifier, "parent_operation_id": command["operation_id"],
+                          "observed_at": self.utc(), "monotonic_at": self.monotonic(), "decoded": False,
+                          "configs": {kind: {"encoding": "base64", "payload": base64.b64encode(raw).decode(),
+                                      "bytes": len(raw), "sha256": hashlib.sha256(raw).hexdigest(), "signature_hex": raw[1:5].hex()}
+                                      for kind, raw in configs.items()}}
+                self.atomic(self.service.root / ("backup_" + identifier + ".json"), backup)
+                self.service.archive.add("local", backup)
+                device.backup = {"observed_at": backup["observed_at"], "operation_id": identifier,
+                                 "configs": {k: {"bytes": v["bytes"], "sha256": v["sha256"]} for k, v in backup["configs"].items()}}
+                backups.append(identifier)
+            ids = {int(app["controller_id"]) for app in applications.values()}
+            if len(ids) != len(devices): raise Rejected("У контроллеров совпали CAN ID. Нужна проверка схемы.")
+            for device in devices:
+                preflight()
+                # CAN ping includes up to 5 ms transmit wait plus 10 ms reply
+                # wait for every ID; scheduling can exceed the former 4 s cap.
+                try:
+                    peers = device.link.query(62, timeout=8)
+                except TimeoutError as error:
+                    raise Rejected("Проверка CAN не завершилась вовремя. Ток не подавался.") from error
+                if not peers or peers[0] != 62 or not set(peers[1:]).issubset(ids):
+                    raise Rejected("На CAN обнаружено другое устройство. Нужна проверка схемы.")
+                if foc_mode and len(peers) != 1:
+                    raise Rejected("Этот профиль калибрует VESC по отдельным USB без CAN-соседей. Требуется профиль связанного CAN-борта.")
+            for _ in range(10):
+                preflight()
+                unchanged()
+                self.neutral(devices)
+                if observed_standstill:
+                    for device in devices:
+                        sample = values(device.link.query(4, timeout=0.06))
+                        check_values(sample, motor=motors[device.id],
+                                     standstill_confirmed=observed_standstill)
+                        idle_samples.append({"device_id": device.id, "at": self.monotonic(),
+                                             "sensor_mode": motors[device.id]["foc_sensor_mode"], "values": sample})
+                self.sleep(0.1)
+            preflight_record = {"standstill_confirmed": observed_standstill, "samples": idle_samples}
+            if release:
+                self.state("ready")
+                return {"authority": "ready", "observed_at": self.utc(), "backups": backups, "calibration_recovered": recovered, "preflight": preflight_record}
+            if hall_mode:
+                from .hall_detection import measure
+                return measure(self, devices, target, target_raw, backups, unchanged,
+                               preflight_record)
+            if foc_mode:
+                from .foc_calibration import calibrate
+                return calibrate(self, command, devices, target, originals, backups, unchanged)
+            now = datetime.now(timezone.utc)
+            if (deadline - now).total_seconds() < budget + 1:
+                raise Rejected("Команда устарела до запуска. Повторите проверку.")
+            if group_mode:
+                if remote is not None:
+                    self.state("testing")
+                    return remote.drive(self, command, devices, moving, originals, unchanged)
+                from .group_test import run
+                return run(self, command, devices, moving, originals, backups, unchanged, preflight_record)
+            self.state("testing")
+            self.active = True
+            self.mode = "speed" if speed_mode else "current"
+            started = self.monotonic()
+            samples, outcome, cleanup = [], "duration", {}
+            limit_violation = None
+            failure = None
+            claimed = False
+            sent_current = 0.0
+            last_command_at = started
+            stalled_since = None
+            stall_tachometer = None
+            hold = SpeedHold(command["parameters"]["erpm"], duration, started) if speed_mode else None
+            restored = not speed_mode
+            try:
+                if speed_mode:
+                    target_motor = self.limits.apply(target, target_raw, current_a)
+                    started = self.monotonic()
+                    hold = SpeedHold(command["parameters"]["erpm"], duration, started)
+                while self.monotonic() - started < budget:
+                    cycle = self.monotonic()
+                    if self.stop.is_set():
+                        outcome = "stopped"; break
+                    unchanged()
+                    self.neutral(devices)
+                    sample = {"at": self.monotonic() - started, "devices": {}}
+                    current = values(target.link.query(4, timeout=0.06))
+                    sample["commanded_current_a"] = None
+                    sample["devices"][target.id] = current
+                    samples.append(sample)
+                    check_values(current, moving=True, current_a=current_a, motor=target_motor)
+                    if hold:
+                        setpoint, done, error = hold.update(self.monotonic(), current)
+                        sample.update(phase=hold.phase, rotation_s=hold.rotation_s, commanded_erpm=None)
+                        if error: raise Rejected(error)
+                        if done: break
+                    # A current command is torque, not a speed setpoint. Do not
+                    # repeatedly coast/restart at each Hall edge. A hard limit
+                    # ends this operation and cannot automatically re-arm it.
+                    # Above 5 A require continuing measured movement. Hall/FOC
+                    # telemetry is not an independent physical motion sensor.
+                    if max(abs(current["motor_current_a"]), sent_current) > TEST_LIMITS["stall_current_a"]:
+                        if stalled_since is None:
+                            stalled_since = self.monotonic()
+                            stall_tachometer = current["tachometer"]
+                        elif abs(current["erpm"]) >= 60 and abs(current["tachometer"] - stall_tachometer) >= 3:
+                            stalled_since = self.monotonic()
+                            stall_tachometer = current["tachometer"]
+                        elif self.monotonic() - stalled_since >= TEST_LIMITS["stall_timeout_s"]:
+                            raise Rejected("Тест остановлен: при токе выше 5 А движение не подтверждается 2 секунды. Проверьте мотор и датчики.")
+                    else:
+                        stalled_since = None
+                    if self.monotonic() - cycle > 0.12:
+                        raise Rejected("Связь слишком медленная для короткой проверки.")
+                    # Refresh local leases only after fresh neutral/telemetry. A
+                    # delayed process never sends current after an expired lease.
+                    claimed = True
+                    for device in devices: device.link.test_command("claim")
+                    for device in devices:
+                        if device is not target: device.link.test_command("release")
+                    if self.stop.is_set():
+                        outcome = "stopped"; break
+                    if self.monotonic() - cycle > 0.16:
+                        raise Rejected("Связь слишком медленная для короткой проверки.")
+                    if self.monotonic() - started >= budget:
+                        if hold: raise Rejected("Истёк общий срок проверки; время вращения не набрано.")
+                        break
+                    if hold:
+                        target.link.test_speed(setpoint)
+                        sample["commanded_erpm"] = setpoint
+                    else:
+                        elapsed = self.monotonic() - last_command_at
+                        sent_current = round(min(current_a, max(0.5, sent_current + elapsed * TEST_LIMITS["current_ramp_a_per_s"])), 3) if sent_current else 0.5
+                        target.link.test_current(sent_current)
+                    last_command_at = self.monotonic()
+                    sample["commanded_current_a"] = None if hold else sent_current
+                    self.sleep(max(0, 0.05 - (self.monotonic() - cycle)))
+            except (OSError, ValueError, TimeoutError) as error:
+                failure = {"type": type(error).__name__, "message": str(error), "elapsed_s": self.monotonic()-started}
+                failure["native_rpc"] = getattr(error, "native_rpc", None)
+                failure["native_history"] = getattr(error, "native_history", [])
+                outcome = str(error) if isinstance(error, Rejected) else "Обмен с VESC прерван. Проверка остановлена."
+                if isinstance(error, LimitExceeded): limit_violation = error.violation
+            finally:
+                # Never reconnect to send a stop to a replacement device. Leases
+                # expire in firmware even if USB or this process is lost.
+                if claimed:
+                    for device in devices:
+                        try:
+                            device.link.test_command("release")
+                            cleanup[device.id] = "zero_current_sent"
+                        except (OSError, ValueError, TimeoutError):
+                            cleanup[device.id] = "unconfirmed"
+                self.active = False
+                self.mode = None
+                if not self.latched: self.state("ready")
+            self.sleep(0.3)
+            after = {}
+            for device in devices:
+                try: after[device.id] = values(device.link.query(4, timeout=0.1))
+                except (OSError, ValueError, TimeoutError): after[device.id] = None
+            confirmed = all(value is not None and abs(value["motor_current_a"]) <= 1 for value in after.values())
+            if claimed and not confirmed:
+                self.state("rc")
+                outcome = "Снятие тока не подтверждено. Проверьте фактическое состояние моторов."
+            if speed_mode:
+                try: restored = self.limits.restore(target)
+                except (OSError, ValueError, TimeoutError):
+                    self.state("rc")
+                    outcome += " Восстановление прежних токовых пределов не подтверждено; новые запуски заблокированы."
+                if outcome == "duration" and hold.rotation_s < duration:
+                    outcome = "Проверка закончилась до набора заданного времени вращения."
+            return {"observed_at": self.utc(), "device_id": target.id, "current_a": current_a,
+                    "mode": "speed" if speed_mode else "current", "rotation_s": hold.rotation_s if hold else None,
+                    "erpm_target": hold.erpm if hold else None, "limits_restored": restored,
+                    "current_ramp_a_per_s": TEST_LIMITS["current_ramp_a_per_s"],
+                    "test_limits": TEST_LIMITS, "preflight": preflight_record,
+                    "duration_limit_s": duration, "outcome": outcome, "samples": samples,
+                    "limit_violation": limit_violation, "failure": failure,
+                    "release": cleanup, "release_confirmed": confirmed, "after": after, "backups": backups}

plugins/vesc/runtime/native_link.py

@@ -0,0 +1,171 @@
+"""Private lifecycle/RPC boundary to unmodified upstream VESC Tool C++.
+
+No wire encoding or calibration algorithm lives here. The native process owns
+one exact USB attachment and sends all commands through upstream Commands.
+"""
+import base64
+from collections import deque
+import hashlib
+import json
+import os
+from pathlib import Path
+import select
+import subprocess
+import time
+
+from .serial import check_attachment
+
+
+class NativeLink:
+    def __init__(self, attachment):
+        self.attachment = attachment
+        self.process = None
+        self.buffer = b""
+        self.sequence = 0
+        self.hall_pending = False
+        self.history = deque(maxlen=32)
+        self.check()
+        root = Path("/usr/lib/mission-core-vesc/native")
+        config = Path("/run/mission-core-vesc/native") / hashlib.sha256(attachment.binding.encode()).hexdigest()[:24]
+        config.mkdir(parents=True, mode=0o700, exist_ok=True)
+        env = dict(os.environ, QT_QPA_PLATFORM="offscreen", XDG_CONFIG_HOME=str(config),
+                   XDG_CACHE_HOME=str(config / "cache"), LD_LIBRARY_PATH=str(root / "lib"),
+                   QT_PLUGIN_PATH=str(root / "plugins"))
+        # Preserve native startup diagnostics in the private runtime directory.
+        with (config / "engine.log").open("wb") as diagnostic:
+            self.process = subprocess.Popen([str(root / "bin/mission-core-vesc-engine"), "/dev/" + attachment.tty],
+                stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=diagnostic,
+                env=env, bufsize=0, close_fds=True)
+        try:
+            hello = self._receive(time.monotonic() + 6)
+            if hello.get("ready") is not True or not hello.get("engine", {}).get("connected"):
+                raise OSError("Native VESC Tool did not connect")
+            self.engine = hello["engine"]
+            self.check()
+        except BaseException:
+            self.close()
+            raise
+
+    @property
+    def alive(self):
+        return self.process is not None and self.process.poll() is None
+
+    def check(self):
+        check_attachment(self.attachment)
+
+    def _receive(self, deadline):
+        while b"\n" not in self.buffer:
+            if not self.alive or not select.select([self.process.stdout], [], [], max(0, deadline-time.monotonic()))[0]:
+                raise TimeoutError("Native VESC Tool response timed out")
+            data = os.read(self.process.stdout.fileno(), 65536)
+            if not data: raise OSError("Native VESC Tool exited")
+            self.buffer += data
+            if len(self.buffer) > 2 * 1024 * 1024: raise ValueError("Native response exceeds bound")
+        line, self.buffer = self.buffer.split(b"\n", 1)
+        return json.loads(line)
+
+    def rpc(self, method, timeout=2, **parameters):
+        self.sequence += 1
+        request = json.dumps({"id": self.sequence, "method": method, **parameters}, allow_nan=False).encode()+b"\n"
+        if len(request) > 65536: raise ValueError("Native request exceeds bound")
+        started = time.monotonic()
+        deadline = started + timeout
+        trace = {"method": method, "command": parameters.get("command"),
+                 "timeout_ms": parameters.get("timeout_ms", timeout*1000),
+                 "attachment": {"usb": self.attachment.usb, "address": self.attachment.address,
+                                "tty": self.attachment.tty}}
+        try:
+            trace["stage"] = "attachment_before"
+            self.check()
+            trace["attachment_before_ms"] = (time.monotonic()-started)*1000
+            trace["stage"] = "request_write"
+            if not self.alive: raise OSError("Native VESC Tool is not running")
+            if not select.select([], [self.process.stdin], [], max(0, deadline-time.monotonic()))[1]:
+                raise TimeoutError("Native VESC Tool request timed out")
+            if os.write(self.process.stdin.fileno(), request) != len(request):
+                raise OSError("Native request write incomplete")
+            sent_at = time.monotonic()
+            trace["request_write_ms"] = (sent_at-started)*1000-trace["attachment_before_ms"]
+            trace["stage"] = "native_response"
+            response = self._receive(deadline)
+            received_at = time.monotonic()
+            trace["native_response_ms"] = (received_at-sent_at)*1000
+            if not isinstance(response, dict): raise ValueError("Invalid native response")
+            if response.get("id") != self.sequence: raise ValueError("Native response identity mismatch")
+            if response.get("ok") is not True:
+                if isinstance(response.get("diagnostics"), dict):
+                    trace["transport"] = response["diagnostics"]
+                raise OSError(response.get("error", "Native operation failed"))
+            trace["stage"] = "attachment_after"
+            self.check()
+            trace["attachment_after_ms"] = (time.monotonic()-received_at)*1000
+            trace["stage"] = "complete"
+            result = response.get("result")
+            if not isinstance(result, dict): raise ValueError("Invalid native result")
+            trace.update(ok=True, elapsed_ms=(time.monotonic()-started)*1000)
+            self.last_rpc = trace
+            if hasattr(self, "history"): self.history.append(trace)
+            return result
+        except (OSError, ValueError, TimeoutError) as error:
+            # An unconfirmed reply is never silently retried on the same stream.
+            trace.update(ok=False, elapsed_ms=(time.monotonic()-started)*1000,
+                         process_alive=self.alive, error=str(error))
+            try: self.check(); trace["attachment_present"] = True
+            except OSError: trace["attachment_present"] = False
+            self.last_rpc = trace
+            if hasattr(self, "history"): self.history.append(trace)
+            error.native_rpc = trace
+            error.native_history = list(getattr(self, "history", []))
+            self.close()
+            raise
+
+    def query(self, command, timeout=2):
+        result = self.rpc("query", timeout=timeout+0.1, command=command, timeout_ms=max(20, int(timeout*1000)))
+        return base64.b64decode(result["payload"], validate=True)
+
+    def test_command(self, action):
+        if action not in ("claim", "release"): raise ValueError("Unknown control action")
+        self.rpc("lease" if action == "claim" else "release", timeout=0.1)
+
+    def test_current(self, current_a):
+        self.rpc("current", timeout=0.1, current_a=current_a)
+
+    def test_speed(self, erpm):
+        self.rpc("rpm", timeout=0.1, erpm=erpm)
+
+    def set_temporary_limits(self, config):
+        from .temporary_limits import FIELDS
+        self.rpc("limits", timeout=2.2, parameters={k: config[k] for k in FIELDS})
+
+    def configuration(self):
+        return self.rpc("configuration", timeout=5)
+
+    def detect_hall(self):
+        if self.hall_pending: raise ValueError("Hall measurement already pending")
+        self.hall_pending = True
+        self.rpc("hall_start", timeout=0.2, current_a=5)
+
+    def calibrate_foc(self, max_power_loss_w):
+        self.rpc("foc_start", timeout=0.2, max_power_loss_w=max_power_loss_w)
+
+    def procedure_result(self):
+        return self.rpc("procedure_result", timeout=0.2)
+
+    @property
+    def hall_result(self):
+        if not self.hall_pending: return None
+        state = self.rpc("procedure_result", timeout=0.1)
+        result = state.get("result", {})
+        if state.get("running") or not result.get("completed"): return None
+        return base64.b64decode(result["payload"], validate=True)
+
+    def close(self):
+        process, self.process = self.process, None
+        if process is None: return
+        if process.poll() is None:
+            process.terminate()
+            try: process.wait(timeout=1)
+            except subprocess.TimeoutExpired:
+                process.kill(); process.wait(timeout=1)
+        for stream in (process.stdin, process.stdout):
+            if stream: stream.close()

plugins/vesc/runtime/protocol.py

@@ -0,0 +1,154 @@
+"""Bounded VESC serial reader.
+
+Wire reference: vedderb/vesc_tool dc53c658cbb89a947246034f7a00149cf79abdfc,
+packet.cpp, commands.cpp and datatypes.h. No arbitrary packet transmit API.
+Config payloads remain opaque until their exact firmware schema is admitted.
+"""
+
+import binascii
+import struct
+
+READ_COMMANDS = frozenset({0, 4, 14, 17, 31, 62})
+MAX_PACKET = 10000
+
+
+def request(command):
+    if type(command) is not int or command not in READ_COMMANDS:
+        raise ValueError("Unsupported read command")
+    data = bytes([command])
+    return b"\x02\x01" + data + binascii.crc_hqx(data, 0).to_bytes(2, "big") + b"\x03"
+
+
+TEST_LIMITS = {"min_current_a": 0.5, "max_current_a": 30, "min_duration_s": 0.5,
+               "max_duration_s": 30, "current_ramp_a_per_s": 2.0,
+               "continuous_current": True, "max_erpm": 6000, "max_duty": 0.25,
+               "stall_current_a": 5, "stall_timeout_s": 2.0}
+
+# A separate action/capability keeps old clients from silently changing modes.
+SPEED_LIMITS = {"min_erpm": 300, "max_erpm": 3000, "ramp_erpm_per_s": 600,
+                "startup_timeout_s": 15, "settle_s": 1, "speed_tolerance": 0.15,
+                "lost_speed_timeout_s": 2, "duration_basis": "measured_speed",
+                "reverse_supported": True, "standstill_confirmation_required": True}
+
+
+def frame(data):
+    if not 1 <= len(data) <= 255: raise ValueError("Invalid bounded command size")
+    return bytes([2, len(data)]) + data + binascii.crc_hqx(data, 0).to_bytes(2, "big") + b"\x03"
+
+
+def speed_packet(erpm):
+    if type(erpm) not in (int, float) or not -SPEED_LIMITS["max_erpm"] <= erpm <= SPEED_LIMITS["max_erpm"]:
+        raise ValueError("Invalid test speed")
+    return frame(bytes([8]) + struct.pack(">i", round(erpm)))
+
+
+def hall_packet():
+    # FW 5.02 native FOC Hall sweep, fixed 5 A; no store and no CAN forwarding.
+    return frame(bytes([28]) + struct.pack(">i", 5000))
+
+
+def current_packet(current_a):
+    if type(current_a) not in (int, float) or not TEST_LIMITS["min_current_a"] <= current_a <= TEST_LIMITS["max_current_a"]:
+        raise ValueError("Test current must be between 0.5 and 30 A")
+    data = b"\x06" + struct.pack(">i", round(current_a * 1000))
+    return bytes([2, len(data)]) + data + binascii.crc_hqx(data, 0).to_bytes(2, "big") + b"\x03"
+
+
+def test_packet(action):
+    """Only fixed volatile commands; no arbitrary current/lease/packet."""
+    data = {"current": b"\x06" + struct.pack(">i", 2000),
+            "release": b"\x06" + bytes(4),
+            "claim": b"\x3f\x00" + struct.pack(">i", 250)}[action]
+    return bytes([2, len(data)]) + data + binascii.crc_hqx(data, 0).to_bytes(2, "big") + b"\x03"
+
+
+def ppm(packet):
+    if len(packet) != 9 or packet[0] != 31:
+        raise ValueError("Incomplete PPM reply")
+    level, pulse = struct.unpack(">ii", packet[1:])
+    if not -1100000 <= level <= 1100000 or not 0 <= pulse <= 3000000:
+        raise ValueError("Invalid PPM values")
+    return {"level": level / 1e6, "pulse_ms": pulse / 1e6}
+
+
+class Decoder:
+    def __init__(self):
+        self.buffer = bytearray()
+
+    def feed(self, data):
+        if len(self.buffer) + len(data) > MAX_PACKET * 2 + 16:
+            self.buffer.clear()
+            raise ValueError("Serial buffer overflow")
+        self.buffer.extend(data)
+        packets = []
+        while self.buffer:
+            start = self.buffer[0]
+            if start not in (2, 3, 4):
+                del self.buffer[0]
+                continue
+            width = start - 1
+            if len(self.buffer) < width + 1:
+                break
+            size = int.from_bytes(self.buffer[1:width + 1], "big")
+            if not 1 <= size <= MAX_PACKET:
+                del self.buffer[0]
+                continue
+            end = width + 1 + size
+            if len(self.buffer) < end + 3:
+                break
+            payload = bytes(self.buffer[width + 1:end])
+            if self.buffer[end + 2] != 3 or int.from_bytes(self.buffer[end:end + 2], "big") != binascii.crc_hqx(payload, 0):
+                del self.buffer[0]
+                continue
+            del self.buffer[:end + 3]
+            packets.append(payload)
+        return packets
+
+
+def firmware(packet):
+    if len(packet) < 4 or packet[0] != 0:
+        raise ValueError("Incomplete firmware reply")
+    end = packet.find(b"\0", 3, 132)
+    if end <= 3 or len(packet) < end + 13:
+        raise ValueError("Firmware has no complete hardware identity")
+    name = packet[3:end].decode("ascii")
+    if not all(32 <= ord(c) < 127 for c in name):
+        raise ValueError("Invalid hardware name")
+    uuid = packet[end + 1:end + 13]
+    if uuid in (bytes(12), b"\xff" * 12):
+        raise ValueError("Invalid hardware UUID")
+    optional = packet[end + 13:]
+    return {"major": packet[1], "minor": packet[2], "version": f"{packet[1]}.{packet[2]:02d}",
+            "hardware": name, "uuid": uuid.hex(),
+            "test_firmware": optional[1] if len(optional) > 1 else None,
+            "hardware_type": optional[2] if len(optional) > 2 else None,
+            "custom_configs": optional[3] if len(optional) > 3 else None}
+
+
+def values(packet):
+    if len(packet) < 54 or packet[0] != 4:
+        raise ValueError("Incomplete telemetry reply")
+    fields = (("mos_temperature_c", "h", 10), ("motor_temperature_c", "h", 10),
+              ("motor_current_a", "i", 100), ("input_current_a", "i", 100),
+              ("id_current_a", "i", 100), ("iq_current_a", "i", 100),
+              ("duty", "h", 1000), ("erpm", "i", 1), ("input_voltage_v", "h", 10),
+              ("amp_hours", "i", 10000), ("amp_hours_charged", "i", 10000),
+              ("watt_hours", "i", 10000), ("watt_hours_charged", "i", 10000),
+              ("tachometer", "i", 1), ("tachometer_abs", "i", 1), ("fault_code", "B", 1))
+    result, offset = {}, 1
+    for key, fmt, scale in fields:
+        result[key] = struct.unpack_from(">" + fmt, packet, offset)[0] / scale
+        offset += struct.calcsize(fmt)
+    # Optional tail is ordered, not an independent set of guessed offsets.
+    for key, fmt, scale in (("position_deg", "i", 1e6), ("can_id", "B", 1),
+                            ("mos1_c", "h", 10), ("mos2_c", "h", 10), ("mos3_c", "h", 10),
+                            ("vd_v", "i", 1000), ("vq_v", "i", 1000), ("status", "B", 1)):
+        size = struct.calcsize(fmt)
+        if len(packet) < offset + size:
+            break
+        result[key] = struct.unpack_from(">" + fmt, packet, offset)[0] / scale
+        offset += size
+    if "status" in result:
+        flags = int(result.pop("status"))
+        result.update(timeout=bool(flags & 1), kill_switch=bool(flags & 2))
+    return result

plugins/vesc/runtime/receiver.py

@@ -0,0 +1,22 @@
+"""Interpret the admitted FW 5.02 PPM input before its firmware deadband.
+
+app_ppm.c publishes input_val before utils_deadband. A nonzero decoded value
+inside app_ppm_conf.hyst is therefore not a motor command. Do not infer radio
+link presence from this value: the receiver can keep emitting failsafe pulses.
+"""
+import math
+
+
+def neutral_band(application):
+    band = application["app_ppm_conf.hyst"]
+    if (application["app_to_use"] not in (1, 4)
+            or application["app_ppm_conf.ctrl_type"] != 4
+            or not math.isfinite(band) or not .01 <= band <= .3):
+        raise ValueError("Unsupported PPM neutral configuration")
+    return band
+
+
+def active(level, band):
+    if not math.isfinite(level) or not math.isfinite(band) or not .01 <= band <= .3:
+        raise ValueError("Invalid PPM level or neutral band")
+    return abs(level) > band

plugins/vesc/runtime/remote_control.py

@@ -0,0 +1,343 @@
+"""Single Node-owned, volatile keyboard control session and live read projection.
+
+Configuration/calibration keeps the same exclusive hardware owner. Browser input
+is a short lease, not a queue. Native Tool still owns all serial commands.
+"""
+import copy
+import math
+import re
+import threading
+import time
+import uuid
+from concurrent.futures import ThreadPoolExecutor
+from datetime import datetime, timedelta, timezone
+
+from .group_test import batch
+from .protocol import ppm, values
+from .drive_profile import LAYOUTS, slot_label
+
+
+class ControlEnded(ValueError):
+    """A terminal input lease is normal stop; cleanup still verifies release."""
+
+
+class InputLease:
+    def __init__(self, clock=time.monotonic):
+        self.clock = clock
+        self.id = None
+        self.sequence = -1
+        self.until = 0
+        self.demand = (0., 0.)
+        self.retired = set()
+
+    def accept(self, command):
+        if not isinstance(command, dict) or set(command) != {"id", "sequence", "ttl_ms", "left", "right", "settings"}:
+            raise ValueError("Invalid control envelope")
+        if (not re.fullmatch(r"[0-9a-f]{32}", str(command["id"]))
+                or type(command["sequence"]) is not int or not 0 <= command["sequence"] < 2**53
+                or any(type(command[k]) not in (int,float) or not math.isfinite(command[k]) for k in ("left","right","ttl_ms"))
+                or max(abs(command["left"]), abs(command["right"])) > 1
+                or not 0 < command["ttl_ms"] <= 400):
+            raise ValueError("Invalid control bounds")
+        s = command["settings"]
+        if (not isinstance(s, dict) or set(s) != {"standstill_confirmed","current_a","max_erpm"}
+                or s["standstill_confirmed"] is not True
+                or type(s["current_a"]) not in (int,float) or not .5 <= s["current_a"] <= 30
+                or type(s["max_erpm"]) not in (int,float) or not 300 <= s["max_erpm"] <= 3000):
+            raise ValueError("Invalid control settings")
+        if command["id"] in self.retired:
+            return False
+        if self.id is not None and (self.id != command["id"] or self.clock() >= self.until):
+            self.stop()
+            return False
+        if self.id == command["id"] and command["sequence"] <= self.sequence:
+            return False  # Repeated frames cannot extend a lease.
+        self.id, self.sequence = command["id"], command["sequence"]
+        self.until = self.clock()+command["ttl_ms"]/1000
+        self.demand = (command["left"], command["right"])
+        return True
+
+    def stop(self):
+        if self.id:
+            self.retired.add(self.id)
+        # Bound tombstones; Core never reuses a cryptographic session id.
+        if len(self.retired)>1024:
+            raise ValueError("Restart control service after excessive sessions")
+        self.until = 0
+        self.demand = (0.,0.)
+
+    def live(self):
+        return self.id is not None and self.id not in self.retired and self.clock() < self.until
+
+
+class RemoteControl:
+    def __init__(self, service):
+        self.service = service
+        self.lock = threading.RLock()
+        self.lease = InputLease()
+        self.instance = uuid.uuid4().hex
+        self.relay = None
+        self.primed = False
+        self.thread = None
+        self.watch_until = 0
+        self.state = "observing"
+        self.message = None
+        self.readings = {}
+        self.release_confirmed = None
+
+    def feed(self, body):
+        if (set(body) != {"watch","command","relay_id"} or type(body["watch"]) is not bool
+                or not re.fullmatch(r"[0-9a-f]{32}", str(body["relay_id"]))):
+            raise ValueError("Invalid relay")
+        with self.lock:
+            if self.relay != body["relay_id"]:
+                self.lease.stop()
+                self.relay = body["relay_id"]
+                self.primed = False
+            if body["watch"]:
+                self.watch_until = time.monotonic()+2
+            command = body["command"]
+            if command is None:
+                self.primed = True
+                self.lease.stop()
+            elif not self.primed:
+                self.lease.retired.add(command.get("id"))
+            else:
+                running = self.thread is not None and self.thread.is_alive()
+                if not running and command.get("id") != self.lease.id:
+                    self.lease.id = None
+                    self.lease.sequence = -1
+                accepted = self.lease.accept(command)
+                if accepted and not running:
+                    self.state, self.message = "preparing", None
+                    self.thread = threading.Thread(target=self._prepare, args=(copy.deepcopy(command),), daemon=True,
+                                                   name="vesc-remote-control")
+                    self.thread.start()
+            return self.snapshot()
+
+    def snapshot(self):
+        with self.lock:
+            readings = [{**copy.deepcopy(v), "age_ms": int((time.monotonic()-v["sampled_at"])*1000)} for v in self.readings.values()]
+            for v in readings: v.pop("sampled_at", None)
+            return {"supported": True, "instance": self.instance, "state": self.state,
+                    "session_id": self.lease.id, "message": self.message, "devices": readings,
+                    "release_confirmed": self.release_confirmed,
+                    "profile": copy.deepcopy(self.service.drive.value)}
+
+    def observe(self):
+        with self.lock:
+            # Let an in-flight read finish, but do not start another one while
+            # the control worker is waiting to become the exclusive owner.
+            if self.thread is not None and self.thread.is_alive():
+                return
+        if time.monotonic() >= self.watch_until or not self.service.operation_lock.acquire(False):
+            return
+        try:
+            with self.service.lock: devices = [d for d in self.service.devices.values() if d.link and d.readable]
+            # Reading is explicit window interest, never discovery-port reset.
+            for d in devices:
+                if not d.lock.acquire(False): continue
+                try:
+                    self._publish(d, values(d.link.query(4, timeout=.06)), ppm(d.link.query(31, timeout=.06)))
+                except (OSError, ValueError, TimeoutError):
+                    pass  # Old values retain age; a read failure is never zero.
+                finally: d.lock.release()
+        finally: self.service.operation_lock.release()
+
+    def _publish(self, device, value, receiver):
+        profile = self.service.drive.value
+        slot = next((k for k,b in profile["bindings"].items() if b["device_id"]==device.id), None)
+        with self.lock:
+            self.readings[device.id] = {"id": device.id,"uuid":device.identity["uuid"],
+                "slot":slot,"label":slot_label(profile["layout"],slot) if slot else "VESC "+device.identity["uuid"][:6].upper(),
+                "values":value,"receiver":receiver,"sampled_at":time.monotonic()}
+
+    def _prepare(self, envelope):
+        owner = self.service.motor
+        acquired = False
+        try:
+            # Observation also owns this lock. A nonblocking attempt made
+            # arming depend on which thread happened to read first. Wait only
+            # briefly, with a live input lease, never enqueue a future drive.
+            deadline = time.monotonic() + .5
+            while not acquired:
+                self.ensure_live()
+                remaining = deadline - time.monotonic()
+                if remaining <= 0:
+                    raise ValueError("Другая операция с VESC ещё выполняется.")
+                acquired = self.service.operation_lock.acquire(timeout=min(.02, remaining))
+            self.ensure_live()
+            with self.service.lock: devices = list(self.service.devices.values())
+            profile = self.service.drive.value
+            slots = LAYOUTS.get(profile["layout"], ())
+            if not slots or set(profile["bindings"]) != set(slots):
+                raise ValueError("Назначьте все моторы в настройках борта.")
+            if not devices or any(not d.link for d in devices):
+                raise ValueError("Один из VESC недоступен.")
+            now = datetime.now(timezone.utc)
+            settings = envelope["settings"]
+            command = {"action_id":"vesc.drive.run","operation_id":"op_"+uuid.uuid4().hex,
+                "requested_at":now.isoformat(),"deadline_at":(now+timedelta(seconds=300)).isoformat(),
+                "parameters":{"current_a":settings["current_a"],"duration_s":30,"erpm":settings["max_erpm"],
+                  "standstill_confirmed":True,"profile_revision":profile["revision"],
+                  "device_ids":[profile["bindings"][s]["device_id"] for s in slots]}}
+            owner.run(command, devices, devices[0], remote=self)
+        except ControlEnded:
+            with self.lock:
+                self.state = "fault" if self.message or self.release_confirmed is False else "stopped"
+        except (OSError, ValueError, TimeoutError, KeyError) as error:
+            with self.lock:
+                self.state = "fault"
+                self.message = str(error) if self.message is None else self.message + " " + str(error)
+        finally:
+            with self.lock: self.lease.stop()
+            if acquired: self.service.operation_lock.release()
+
+    def ensure_live(self):
+        with self.lock:
+            if not self.lease.live(): raise ControlEnded("Управление остановлено: команда больше не подтверждается.")
+
+    def drive(self, owner, command, devices, moving, originals, unchanged):
+        from .motor_test import check_values
+        limit = command["parameters"]["current_a"]
+        maximum = command["parameters"]["erpm"]
+        profile = copy.deepcopy(self.service.drive.value)
+        sides = {b["device_id"]:0 if slot.startswith("left.") else 1 for slot,b in profile["bindings"].items()}
+        configs, minimum_speeds, claimed, neutral_since = {}, {}, False, None
+        previous, speeds = time.monotonic(), {d.id:0. for d in moving}
+        last_sign, undriven_since = {}, None
+        self.release_confirmed = None
+        owner.active, owner.mode = True, "remote"
+        receiver = False
+        zero_seen = False
+        stalls = {}
+        with ThreadPoolExecutor(max_workers=min(16,len(devices)),thread_name_prefix="vesc-remote") as pool:
+            try:
+                for d in moving:
+                    self.ensure_live()
+                    configs[d.id] = owner.limits.apply(d, originals[d.id]["motor"], limit)
+                    minimum = configs[d.id]["s_pid_min_erpm"]
+                    if not math.isfinite(minimum) or minimum < 0:
+                        raise ValueError("Некорректный минимальный порог регулятора VESC.")
+                    # Native Tool serializes setRpm as an integer. Round up so
+                    # the first command actually reaches the firmware threshold.
+                    minimum_speeds[d.id] = max(1, math.ceil(minimum))
+                    if maximum < minimum_speeds[d.id]:
+                        raise ValueError(f"Минимальная скорость регулятора этого VESC: {minimum_speeds[d.id]} ERPM.")
+                self.state = "ready"
+                while True:
+                    cycle = time.monotonic()
+                    if owner.stop.is_set(): break
+                    if not receiver: self.ensure_live()
+                    unchanged()
+                    if self.service.drive.value != profile: raise ValueError("Назначения моторов изменились.")
+                    def read(d): return values(d.link.query(4,timeout=.06)),ppm(d.link.query(31,timeout=.06))
+                    readouts = batch(pool, devices, read)
+                    for d in devices: self._publish(d,*readouts[d.id])
+                    active = any(owner.receiver_active(d.id,readouts[d.id][1]["level"]) for d in devices)
+                    if active:
+                        receiver = True
+                        self.state = "receiver"
+                        owner.state("rc")
+                        with self.lock: self.lease.stop()
+                    if receiver:
+                        # Hold zero locally through the first gesture. Neutral
+                        # releases PPM, so only a subsequent gesture drives it.
+                        stopped = all(abs(v[0]["motor_current_a"])<=1 and abs(v[0]["duty"])<.01 for v in readouts.values())
+                        neutral_since = (neutral_since or cycle) if not active and stopped else None
+                        if neutral_since is not None and cycle-neutral_since>=.5: break
+                        demand=(0.,0.)
+                    else:
+                        with self.lock: demand=self.lease.demand
+                        if demand==(0.,0.): zero_seen=True
+                        if not zero_seen: demand=(0.,0.)
+                    now=time.monotonic()
+                    dt=min(.15,now-previous);previous=now
+                    targets = {}
+                    for d in moving:
+                        value=readouts[d.id][0]
+                        check_values(value,moving=True,current_a=limit,motor=configs[d.id])
+                        target=demand[sides[d.id]]*maximum
+                        minimum = minimum_speeds[d.id]
+                        # A small analogue request must never be rounded UP to
+                        # a faster requested speed. Release below the operable
+                        # range; firmware would otherwise enter zero-duty mode.
+                        if abs(target) < minimum: target=0
+                        targets[d.id] = target
+                    signs = {key: 1 if target>0 else -1 if target<0 else 0 for key,target in targets.items()}
+                    quiet = all(abs(readouts[d.id][0]["erpm"])<300
+                                and abs(readouts[d.id][0]["motor_current_a"])<=1
+                                and abs(readouts[d.id][0]["duty"])<.01 for d in moving)
+                    # Count only observed neutral while ALL previous outputs
+                    # were released. A long operator pause already satisfies it.
+                    if quiet and not any(speeds.values()):
+                        if undriven_since is None: undriven_since = now
+                    else: undriven_since = None
+                    reversing = any(sign and last_sign.get(key,sign)!=sign for key,sign in signs.items())
+                    if reversing and (undriven_since is None or now-undriven_since<.5):
+                        # One shared barrier: after a turn, the side keeping its
+                        # direction must not drive while the other waits to reverse.
+                        targets = dict.fromkeys(targets, 0.)
+                    else:
+                        last_sign.update({key:sign for key,sign in signs.items() if sign})
+                    for d in moving:
+                        value=readouts[d.id][0]
+                        target=targets[d.id]
+                        minimum=minimum_speeds[d.id]
+                        # Zero is immediate release, never an RPM hold/brake.
+                        if target==0:
+                            speeds[d.id]=0
+                        else:
+                            step=600*dt
+                            speeds[d.id]+=max(-step,min(step,target-speeds[d.id]))
+                            # FW 5.02 disables its speed PID below s_pid_min_erpm.
+                            # Ramping from zero spent 900/600 = 1.5 s sending
+                            # ineffective commands. Enter the configured range
+                            # immediately, then keep the existing ramp above it.
+                            if abs(speeds[d.id]) < minimum:
+                                speeds[d.id] = math.copysign(minimum, target)
+                        if abs(value["motor_current_a"])>5:
+                            at,tacho=stalls.setdefault(d.id,(now,value["tachometer"]))
+                            if abs(value["erpm"])>=60 and abs(value["tachometer"]-tacho)>=3: stalls[d.id]=(now,value["tachometer"])
+                            elif now-at>=2: raise ValueError("Мотор не движется при токе выше 5 А.")
+                        else: stalls.pop(d.id,None)
+                    if now-cycle>.12: raise ValueError("Связь с VESC слишком медленная.")
+                    if not receiver: self.ensure_live()
+                    claimed=True
+                    batch(pool,devices,lambda d:d.link.test_command("claim"))
+                    if time.monotonic()-cycle>.16: raise ValueError("Связь с VESC слишком медленная.")
+                    if not receiver: self.ensure_live()
+                    def send(d):
+                        if not receiver: self.ensure_live()
+                        if owner.stop.is_set() or receiver or abs(speeds.get(d.id,0))<1: d.link.test_command("release")
+                        else: d.link.test_speed(speeds[d.id])
+                    batch(pool,devices,send)
+                    if not receiver: self.state="driving" if any(speeds.values()) else "ready"
+                    owner.sleep(max(0,.1-(time.monotonic()-cycle)))
+            finally:
+                self.state="stopping"
+                def release(d):
+                    try: d.link.test_command("release")
+                    except (OSError,ValueError,TimeoutError): pass
+                if claimed: batch(pool,devices,release)
+                if claimed:
+                    owner.sleep(.3)
+                    def released(d):
+                        try:
+                            value = values(d.link.query(4, timeout=.1))
+                            return all(math.isfinite(value[k]) and abs(value[k]) <= 1
+                                       for k in ("motor_current_a", "input_current_a")) and abs(value["duty"]) < .01
+                        except (OSError, ValueError, TimeoutError): return False
+                    self.release_confirmed = all(batch(pool, devices, released).values())
+                    if not self.release_confirmed:
+                        self.message = "Снятие тока не подтверждено. Проверьте фактическое состояние моторов."
+                        owner.state("rc")
+                for d in moving:
+                    try: owner.limits.restore(d)
+                    except (OSError,ValueError,TimeoutError):
+                        notice="Восстановление пределов ожидает нейтрали."
+                        self.message=(self.message+" " if self.message else "")+notice
+                        owner.state("rc")
+                owner.active,owner.mode=False,None
+                self.state="fault" if self.release_confirmed is False else "receiver" if receiver else "stopped"
+                if not receiver and not owner.latched: owner.state("ready")

plugins/vesc/runtime/schemas/NOTICE

@@ -0,0 +1 @@
+Firmware 5.02 configuration definitions from official vedderb/vesc_tool commit 01d5f10901116c311e3fb84d5a1541f663d3ce20, res/config/5.02. Copyright Benjamin Vedder and contributors; see VESC_TOOL_LICENSE. Definitions are unchanged.

plugins/vesc/runtime/schemas/VESC_TOOL_LICENSE

@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+  To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights.  Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received.  You must make sure that they, too, receive
+or can get the source code.  And you must show them these terms so they
+know their rights.
+
+  Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+  For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software.  For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+  Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
+can do so.  This is fundamentally incompatible with the aim of
+protecting users' freedom to change the software.  The systematic
+pattern of such abuse occurs in the area of products for individuals to
+use, which is precisely where it is most unacceptable.  Therefore, we
+have designed this version of the GPL to prohibit the practice for those
+products.  If such problems arise substantially in other domains, we
+stand ready to extend this provision to those domains in future versions
+of the GPL, as needed to protect the freedom of users.
+
+  Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
+software on general-purpose computers, but in those that do, we wish to
+avoid the special danger that patents applied to a free program could
+make it effectively proprietary.  To prevent this, the GPL assures that
+patents cannot be used to render the program non-free.
+
+  The precise terms and conditions for copying, distribution and
+modification follow.
+
+                       TERMS AND CONDITIONS
+
+  0. Definitions.
+
+  "This License" refers to version 3 of the GNU General Public License.
+
+  "Copyright" also means copyright-like laws that apply to other kinds of
+works, such as semiconductor masks.
+
+  "The Program" refers to any copyrightable work licensed under this
+License.  Each licensee is addressed as "you".  "Licensees" and
+"recipients" may be individuals or organizations.
+
+  To "modify" a work means to copy from or adapt all or part of the work
+in a fashion requiring copyright permission, other than the making of an
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+earlier work or a work "based on" the earlier work.
+
+  A "covered work" means either the unmodified Program or a work based
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plugins/vesc/runtime/serial.py

@@ -0,0 +1,163 @@
+"""Exclusive serial ownership and OS attachment generation checks."""
+
+import fcntl
+import hashlib
+import os
+from pathlib import Path
+import re
+import select
+import stat
+import termios
+import time
+from dataclasses import dataclass
+
+from .protocol import Decoder, request, test_packet, current_packet, speed_packet, hall_packet
+
+
+def device_id(value):
+    return "vesc_" + hashlib.sha256(value.encode()).hexdigest()[:32]
+
+
+@dataclass(frozen=True)
+class Attachment:
+    usb: str
+    address: str
+    tty: str
+    speed: str
+
+    @property
+    def binding(self):
+        return self.usb + ":" + self.address
+
+    @property
+    def id(self):
+        return device_id("provisional:" + self.binding)
+
+
+def attachment_at(path):
+    """Read one physical USB generation; never walk sibling devices or drivers."""
+    if not re.fullmatch(r"[0-9]+-[0-9]+(?:\.[0-9]+)*", path.name): return None
+    try:
+        if ((path / "idVendor").read_text().strip() != "0483"
+                or (path / "idProduct").read_text().strip() != "5740"
+                or (path / "product").read_text().strip() != "ChibiOS/RT Virtual COM Port"):
+            return None
+        address = (path / "devnum").read_text().strip()
+        tty = [p.name for p in path.glob(path.name + ":*/tty/ttyACM*")
+               if re.fullmatch(r"ttyACM[0-9]+", p.name)]
+        speed = (path / "speed").read_text().strip() + " Мбит/с"
+        if len(tty) != 1 or address != (path / "devnum").read_text().strip(): return None
+        return Attachment(path.name, address, tty[0], speed)
+    except (OSError, ValueError): return None
+
+
+def check_attachment(attachment, root=Path("/sys/bus/usb/devices")):
+    if (not re.fullmatch(r"[0-9]+-[0-9]+(?:\.[0-9]+)*", attachment.usb)
+            or attachment_at(root / attachment.usb) != attachment):
+        raise OSError("USB attachment changed")
+
+
+def discover(root=Path("/sys/bus/usb/devices")):
+    found = [attachment_at(path) for path in sorted(root.iterdir())]
+    return [item for item in found if item is not None][:128]
+
+
+class Link:
+    def __init__(self, attachment):
+        self.attachment = attachment
+        self.fd = -1
+        self.decoder = Decoder()
+        self.hall_result = None
+        self.hall_pending = False
+        self.check()
+        fd = os.open("/dev/" + attachment.tty, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK | os.O_NOFOLLOW)
+        try:
+            info = os.fstat(fd)
+            if not stat.S_ISCHR(info.st_mode) or os.major(info.st_rdev) != 166:
+                raise ValueError("Not a CDC ACM device")
+            fcntl.flock(fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
+            fcntl.ioctl(fd, termios.TIOCEXCL)
+            settings = termios.tcgetattr(fd)
+            settings[0] = settings[1] = settings[3] = 0
+            settings[2] = termios.CLOCAL | termios.CREAD | termios.CS8
+            settings[4] = settings[5] = termios.B115200
+            settings[6][termios.VMIN] = settings[6][termios.VTIME] = 0
+            termios.tcsetattr(fd, termios.TCSANOW, settings)
+            self.check()
+            self.fd = fd
+        except BaseException:
+            os.close(fd)
+            raise
+
+    def check(self):
+        check_attachment(self.attachment)
+
+    def close(self):
+        if self.fd >= 0:
+            os.close(self.fd)
+            self.fd = -1
+
+    def query(self, command, timeout=2):
+        return self._exchange(request(command), command, timeout)
+
+    def _exchange(self, payload, command, timeout):
+        self.check()
+        if not self.hall_pending:
+            self.decoder = Decoder()
+            termios.tcflush(self.fd, termios.TCIFLUSH)
+        deadline = time.monotonic() + min(timeout, 8 if command == 62 else 2)
+        sent = 0
+        while sent < len(payload):
+            if not select.select([], [self.fd], [], max(0, deadline - time.monotonic()))[1]:
+                raise TimeoutError("Serial write timeout")
+            sent += os.write(self.fd, payload[sent:])
+        total = 0
+        while time.monotonic() < deadline:
+            if not select.select([self.fd], [], [], max(0, deadline - time.monotonic()))[0]:
+                break
+            raw = os.read(self.fd, 4096)
+            if not raw:
+                raise OSError("Serial device disconnected")
+            total += len(raw)
+            if total > 32768:
+                raise ValueError("Unexpected serial traffic")
+            answer = None
+            for packet in self.decoder.feed(raw):
+                if self.hall_pending and packet[0] == 28:
+                    self.hall_result = packet
+                if packet[0] == command:
+                    answer = packet
+            if answer is not None:
+                self.check()
+                return answer
+        raise TimeoutError("Controller did not reply")
+
+    def test_command(self, action):
+        self._test_write(test_packet(action))
+
+    def test_current(self, current_a):
+        self._test_write(current_packet(current_a))
+
+    def test_speed(self, erpm):
+        self._test_write(speed_packet(erpm))
+
+    def set_temporary_limits(self, config):
+        from .temporary_limits import packet
+        if self._exchange(packet(config), 48, 2) != bytes([48]):
+            raise ValueError("Invalid volatile limits ACK")
+
+    def detect_hall(self):
+        if self.hall_pending: raise ValueError("Hall detection already started")
+        self.decoder = Decoder()
+        self.hall_result = None
+        self.hall_pending = True
+        self._test_write(hall_packet())
+
+    def _test_write(self, payload):
+        self.check()
+        deadline = time.monotonic() + 0.04
+        sent = 0
+        while sent < len(payload):
+            if not select.select([], [self.fd], [], max(0, deadline - time.monotonic()))[1]:
+                raise TimeoutError("Test command write timeout")
+            sent += os.write(self.fd, payload[sent:])

plugins/vesc/runtime/server.py

@@ -0,0 +1,139 @@
+"""Private Unix socket endpoint; peer UID must be the installed Node service."""
+
+import json
+import os
+from pathlib import Path
+import pwd
+import re
+import socket
+import socketserver
+import struct
+import threading
+from http.server import BaseHTTPRequestHandler
+from urllib.parse import urlsplit, parse_qs
+
+from .service import Service
+from .remote_control import RemoteControl
+
+
+class Handler(BaseHTTPRequestHandler):
+    def log_message(self, *_):
+        pass
+
+    def do_GET(self):
+        self.dispatch()
+
+    def do_POST(self):
+        self.dispatch()
+
+    def dispatch(self):
+        self.connection.settimeout(10)
+        status = 200
+        try:
+            node = self.headers.get("X-Node-Id", "")
+            if not re.fullmatch(r"[a-zA-Z0-9_.:-]{1,128}", node) or self.headers.get("Transfer-Encoding"):
+                raise ValueError("Invalid request")
+            if self.command == "GET" and self.path == "/inventory":
+                result = self.server.service.inventory(node)
+            elif self.command == "GET" and self.path.startswith("/archives/"):
+                url = urlsplit(self.path)
+                parts = url.path.split("/")
+                if len(parts) not in (3, 4) or not re.fullmatch(r"vesc_[0-9a-f]{32}", parts[2]):
+                    raise ValueError("Invalid archive target")
+                archive = self.server.service.archive
+                if len(parts) == 4:
+                    result = archive.read("local", parts[2], parts[3])
+                else:
+                    before = int(parse_qs(url.query).get("before", ["0"])[0])
+                    result = archive.listing("local", parts[2], before)
+            elif self.command == "GET" and self.path.startswith("/archive-export?"):
+                after = int(parse_qs(urlsplit(self.path).query).get("after", ["0"])[0])
+                result = self.server.service.archive.export("local", after)
+            elif self.command == "POST" and self.path in ("/operation", "/remote"):
+                size = int(self.headers.get("Content-Length", "0"))
+                if not 0 < size <= 65536 or self.headers.get("Content-Type") != "application/json":
+                    raise ValueError("Invalid command")
+                raw = self.rfile.read(size)
+                if len(raw) != size:
+                    raise ValueError("Truncated command")
+                result = (self.server.service.execute(json.loads(raw)) if self.path == "/operation"
+                          else self.server.service.remote.feed(json.loads(raw)))
+            else:
+                raise ValueError("Unknown route")
+        except (ValueError, KeyError, TypeError, OSError):
+            status, result = 400, {"error": "Запрос VESC отклонён. Обновите сведения об устройстве."}
+        data = json.dumps(result, ensure_ascii=False, allow_nan=False).encode()
+        self.send_response(status)
+        self.send_header("Content-Type", "application/json")
+        self.send_header("Content-Length", str(len(data)))
+        self.send_header("Connection", "close")
+        self.end_headers()
+        self.wfile.write(data)
+
+
+class Server(socketserver.ThreadingMixIn, socketserver.UnixStreamServer):
+    daemon_threads = True
+
+    def __init__(self, path, handler):
+        self.slots = threading.BoundedSemaphore(8)
+        super().__init__(path, handler)
+
+    def process_request(self, request, address):
+        if not self.slots.acquire(blocking=False):
+            self.shutdown_request(request)
+            return
+        try:
+            super().process_request(request, address)
+        except BaseException:
+            self.slots.release()
+            raise
+
+    def process_request_thread(self, request, address):
+        try:
+            super().process_request_thread(request, address)
+        finally:
+            self.slots.release()
+
+    def verify_request(self, request, address):
+        _, uid, _ = struct.unpack("3i", request.getsockopt(socket.SOL_SOCKET, socket.SO_PEERCRED, 12))
+        return uid == self.node_uid
+
+
+def main():
+    if os.geteuid() == 0:
+        raise RuntimeError("VESC must run as its own unprivileged user")
+    os.umask(0o007)
+    service = Service("/var/lib/mission-core-vesc")
+    service.remote = RemoteControl(service)
+    stop = threading.Event()
+
+    def scan():
+        while not stop.is_set():
+            try:
+                service.scan()
+            except OSError:
+                # A transient sysfs race must not silently kill discovery.
+                pass
+            stop.wait(2)
+
+    def observe():
+        while not stop.is_set():
+            service.remote.observe()
+            stop.wait(.2)
+
+    path = Path("/run/mission-core-vesc/driver.sock")
+    path.unlink(missing_ok=True)
+    with Server(str(path), Handler) as server:
+        server.node_uid = pwd.getpwnam("mission-core-node").pw_uid
+        server.service = service
+        thread = threading.Thread(target=scan, daemon=True)
+        thread.start()
+        threading.Thread(target=observe, daemon=True, name="vesc-observer").start()
+        try:
+            server.serve_forever()
+        finally:
+            stop.set()
+
+
+if __name__ == "__main__":
+    main()

plugins/vesc/runtime/service.py

@@ -0,0 +1,364 @@
+"""One onboard owner; both operator surfaces consume the same bounded device operations."""
+
+import base64
+import hashlib
+import json
+import os
+from pathlib import Path
+import re
+import tempfile
+import threading
+import time
+import uuid
+from datetime import datetime, timezone
+
+from . import MODEL, SCHEMA, VERSION
+from .protocol import firmware, values, ppm, TEST_LIMITS, SPEED_LIMITS
+from .motor_test import MotorTest, Rejected
+from .drive_profile import DriveProfile, slot_label, validate as validate_drive
+from .serial import device_id, discover
+from .native_link import NativeLink
+try:
+    from .archive import Archive
+except ImportError:  # Source checkout; packaging copies this exact shared file.
+    from k1link.device_plugins.vesc.archive import Archive
+
+ACTIONS = frozenset({"verify", "details", "vesc.link.check", "vesc.telemetry.read", "vesc.limits.read", "vesc.config.backup", "vesc.input.read", "vesc.can.read", "vesc.drive.assign", "vesc.drive.unassign", "vesc.drive.layout", "vesc.motor.pulse", "vesc.motor.run", "vesc.drive.run", "vesc.hall.measure", "vesc.foc.calibrate", "vesc.motor.stop", "vesc.control.release"})
+
+
+def utc():
+    return datetime.now(timezone.utc).isoformat()
+
+
+def atomic(path, value):
+    fd, name = tempfile.mkstemp(prefix=".vesc-", dir=path.parent)
+    try:
+        with os.fdopen(fd, "w") as stream:
+            os.fchmod(stream.fileno(), 0o600)
+            json.dump(value, stream, ensure_ascii=False, allow_nan=False)
+            stream.flush()
+            os.fsync(stream.fileno())
+        os.replace(name, path)
+        fd = os.open(path.parent, os.O_RDONLY)
+        try:
+            os.fsync(fd)
+        finally:
+            os.close(fd)
+    finally:
+        if os.path.exists(name):
+            os.unlink(name)
+
+
+class Device:
+    def __init__(self, attachment):
+        self.attachment = attachment
+        self.id = attachment.id
+        self.session = "vesc_" + uuid.uuid4().hex
+        self.opened = utc()
+        self.link = None
+        self.identity = None
+        self.error = None
+        self.telemetry = None
+        self.backup = None
+        self.lock = threading.Lock()
+        self.retry_at = 0
+
+    @property
+    def readable(self):
+        identity = self.identity
+        return self.readable_identity(identity)
+
+    @staticmethod
+    def readable_identity(identity):
+        return bool(identity and identity["major"] in (5, 6, 7)
+                    and identity["hardware_type"] in (None, 0))
+
+    def connect(self, factory):
+        with self.lock:
+            try:
+                self.session = "vesc_" + uuid.uuid4().hex
+                self.link = factory(self.attachment)
+                identity = firmware(self.link.query(0))
+                self.identity = identity
+                self.id = device_id("uuid:" + identity["uuid"])
+                self.error = None
+            except (OSError, ValueError, TimeoutError):
+                if self.link:
+                    self.link.close()
+                self.link = None
+                self.error = "Контроллер не ответил. Проверьте питание, USB и доступность порта."
+                self.retry_at = time.monotonic() + 15
+
+    def close(self):
+        with self.lock:
+            if self.link:
+                self.link.close()
+            self.link = None
+
+
+class Service:
+    def __init__(self, root, discover_fn=discover, link_factory=NativeLink):
+        self.root = Path(root)
+        self.root.mkdir(mode=0o700, parents=True, exist_ok=True)
+        self.archive = Archive(self.root / "archive")
+        for path in sorted(self.root.glob("backup_op_*.json")):
+            self.archive.add("local", json.loads(path.read_text()))
+        self.discover_fn, self.link_factory = discover_fn, link_factory
+        self.devices = {}
+        self.lock = threading.RLock()
+        self.operation_lock = threading.Lock()
+        self.journal_lock = threading.Lock()
+        self.motor = MotorTest(self, atomic, utc)
+        self.drive = DriveProfile(self.root, atomic)
+        self.instance = "vesc_" + uuid.uuid4().hex
+        self.revision = 0
+
+    def scan(self):
+        attachments = {item.binding: item for item in self.discover_fn()}
+        with self.lock:
+            removed = [self.devices.pop(k) for k, d in list(self.devices.items())
+                       if attachments.get(k) != d.attachment]
+            for key, item in attachments.items():
+                if key not in self.devices:
+                    self.devices[key] = Device(item)
+            devices = list(self.devices.values())
+        for device in removed:
+            device.close()
+        for device in devices:
+            if device.link is not None and not getattr(device.link, "alive", True):
+                device.close()
+            if device.link is None and time.monotonic() >= device.retry_at:
+                device.connect(self.link_factory)
+        if self.operation_lock.acquire(blocking=False):
+            try:
+                for device in devices:
+                    if device.link is not None and self.motor.limits.pending(device):
+                        with device.lock:
+                            try:
+                                self.motor.limits.restore(device)
+                                device.error = None
+                            except (OSError, ValueError, TimeoutError):
+                                device.error = "Прежние токовые пределы ещё не восстановлены. Новые проверки заблокированы."
+            finally:
+                self.operation_lock.release()
+        with self.lock:
+            self.revision += 1
+
+    def inventory(self, node_id):
+        with self.lock:
+            # Copy each generation before counting identities. Serial I/O never
+            # holds the inventory lock; it can complete during this projection.
+            devices = [d.__dict__.copy() for d in self.devices.values()]
+            keys = [device_id("uuid:" + d["identity"]["uuid"]) if d["identity"] and d["link"] else d["attachment"].id for d in devices]
+            items = []
+            for d, key in zip(devices, keys):
+                identity, attachment = d["identity"], d["attachment"]
+                unique = keys.count(key) == 1 and identity is not None and d["link"] is not None
+                identifier = key if unique else attachment.id
+                message = d["error"] if keys.count(key) == 1 else "Контроллеры сообщили одинаковый UUID. Настройка недоступна."
+                items.append({"id": identifier, "attachment_id": attachment.id,
+                    "name": "VESC " + (identity["uuid"][:6].upper() if unique else "· USB " + attachment.usb),
+                    "model": identity["hardware"] if unique else "VESC · USB", "kind": MODEL,
+                    "firmware": identity["version"] if unique else None,
+                    "initializable": True, "prepared": True, "configured": unique, "verified": unique,
+                    "preparation_safe": True, "online": True, "usb": attachment.speed,
+                    "connection_label": "USB " + attachment.usb + next((" · " + slot_label(self.drive.value["layout"], slot) for slot, binding in self.drive.value["bindings"].items() if binding["device_id"] == identifier), ""), "layers": [],
+                    "vesc_status": {"identity": identity if unique else None, "readable": unique and Device.readable_identity(identity),
+                                    "engine": getattr(d["link"], "engine", None), "message": message, "telemetry": d["telemetry"], "backup": d["backup"], "board_settings_supported": True, "group_test_supported": True, "link_check_supported": True, "test_supported": unique and identity["version"] == "5.02" and identity["hardware"] == "75_300_R2", "drive_profile": self.drive.value, "test_limits": TEST_LIMITS, "speed_limits": SPEED_LIMITS, "hall_measurement": {"current_a": 5, "interruptible": False, "standstill_confirmation_required": True}, "foc_calibration": {"min_power_loss_w": 10, "max_power_loss_w": 150, "interruptible": False}, "test_mode": self.motor.mode, "test_active": self.motor.active, "rc_latched": self.motor.latched},
+                    "snapshot": {"context": {"session_id": d["session"],
+                        "device": {"device_id": identifier, "model": {"plugin_id": "missioncore.vesc",
+                            "plugin_version": VERSION, "model_id": MODEL},
+                            "stability": "stable" if unique else "provisional",
+                            "basis": "hardware-identifier" if unique else "transport-local"},
+                        "execution": {"node_id": node_id, "agent_instance_id": self.instance, "platform": "linux"},
+                        "opened_at": d["opened"]}, "revision": self.revision, "observed_at": utc(),
+                        "enrollment": "enrolled" if unique else "empty", "acquisition": "idle",
+                        "connectivity": "connected" if unique else "degraded", "message": message}})
+            return {"items": items}
+
+    def validate(self, command):
+        if not isinstance(command, dict) or command.get("api_version") != SCHEMA or command.get("kind") != "OperationRequest":
+            raise ValueError("Invalid contract")
+        identifier = command.get("operation_id", "")
+        if not re.fullmatch(r"op_[0-9a-f]{32}", identifier) or command.get("idempotency_key") != identifier:
+            raise ValueError("Invalid operation identity")
+        action, params = command.get("action_id"), command.get("parameters")
+        if action not in ACTIONS or not isinstance(params, dict):
+            raise ValueError("Unsupported operation")
+        if action in ("vesc.motor.pulse", "vesc.motor.run", "vesc.drive.run", "vesc.control.release"):
+            keys = {"sessions", "rig_clear", "duration_s", "current_a"} | ({"standstill_confirmed"} if action != "vesc.motor.pulse" else set()) | ({"erpm"} if action in ("vesc.motor.run", "vesc.drive.run") else set()) | ({"profile_revision", "device_ids"} if action == "vesc.drive.run" else set())
+            if (set(params) != keys or params["rig_clear"] is not True
+                    or not isinstance(params["sessions"], dict) or not 1 <= len(params["sessions"]) <= 128
+                    or type(params["current_a"]) not in (int, float) or not TEST_LIMITS["min_current_a"] <= params["current_a"] <= TEST_LIMITS["max_current_a"]
+                    or type(params["duration_s"]) not in (int, float) or not TEST_LIMITS["min_duration_s"] <= params["duration_s"] <= TEST_LIMITS["max_duration_s"]):
+                raise ValueError("Explicit raised-rig confirmation, duration and controller sessions required")
+            if action != "vesc.motor.pulse" and params["standstill_confirmed"] is not True:
+                raise ValueError("Explicit observation of all motors at standstill required")
+            if action in ("vesc.motor.run", "vesc.drive.run") and (type(params["erpm"]) not in (int, float) or not SPEED_LIMITS["min_erpm"] <= abs(params["erpm"]) <= SPEED_LIMITS["max_erpm"]):
+                raise ValueError("Speed is outside the supported range")
+            if action == "vesc.drive.run" and (type(params["profile_revision"]) is not int or params["profile_revision"] < 0
+                    or not isinstance(params["device_ids"], list) or not 2 <= len(params["device_ids"]) <= 128
+                    or any(not isinstance(v, str) for v in params["device_ids"])
+                    or len(set(params["device_ids"])) != len(params["device_ids"])):
+                raise ValueError("Explicit complete drive profile required")
+        elif action in ("vesc.hall.measure", "vesc.foc.calibrate"):
+            extra = {"max_power_loss_w"} if action == "vesc.foc.calibrate" else {"standstill_confirmed"}
+            if (set(params) != ({"sessions", "rig_clear", "native_cycle_confirmed"} | extra)
+                    or params["rig_clear"] is not True or params["native_cycle_confirmed"] is not True
+                    or not isinstance(params["sessions"], dict) or not 1 <= len(params["sessions"]) <= 128):
+                raise ValueError("Native procedure and rig confirmation required")
+            if action == "vesc.hall.measure" and params["standstill_confirmed"] is not True:
+                raise ValueError("Explicit observation of all motors at standstill required")
+            if action == "vesc.foc.calibrate" and (type(params["max_power_loss_w"]) not in (int,float) or not 10 <= params["max_power_loss_w"] <= 150):
+                raise ValueError("Heating budget must be between 10 and 150 W")
+        elif action == "vesc.link.check":
+            if set(params) != {"sessions"} or not isinstance(params["sessions"], dict) or not 1 <= len(params["sessions"]) <= 128:
+                raise ValueError("Controller sessions required")
+        elif action in ("vesc.drive.assign", "vesc.drive.unassign", "vesc.drive.layout"):
+            validate_drive(action, params)
+        elif params != {}:
+            raise ValueError("This operation has no parameters")
+        start = datetime.fromisoformat(command["requested_at"].replace("Z", "+00:00"))
+        end = datetime.fromisoformat(command["deadline_at"].replace("Z", "+00:00"))
+        if start.tzinfo is None or end.tzinfo is None or not 0 < (end - start).total_seconds() <= 360:
+            raise ValueError("Invalid operation deadline")
+        return end
+
+    def execute(self, command):
+        deadline = self.validate(command)
+        path = self.root / (command["operation_id"] + ".json")
+        digest = hashlib.sha256(json.dumps(command, sort_keys=True).encode()).hexdigest()
+        if command["action_id"] == "vesc.motor.stop":
+            with self.journal_lock:
+                if path.exists():
+                    previous = json.loads(path.read_text())
+                    if previous["digest"] != digest: raise ValueError("Operation identity conflict")
+                    return previous["receipt"]
+                if deadline <= datetime.now(timezone.utc): raise ValueError("Operation expired")
+                self.motor.cancel()
+                result = {"state": "complete", "result": {"stop_requested": True, "interruptible": self.motor.mode not in ("hall", "foc"), "drive_profile": self.drive.value, "test_limits": TEST_LIMITS, "test_active": self.motor.active}}
+                atomic(path, {"digest": digest, "receipt": result})
+                return result
+        if not self.operation_lock.acquire(blocking=False):
+            raise ValueError("Another VESC operation is running")
+        try:
+            if path.exists():
+                previous = json.loads(path.read_text())
+                if previous["digest"] != digest:
+                    raise ValueError("Operation identity conflict")
+                return previous["receipt"]
+            if deadline <= datetime.now(timezone.utc):
+                raise ValueError("Operation expired")
+            with self.lock:
+                matches = [d for d in self.devices.values() if d.id == command["session"]["device_id"]]
+                if len(matches) != 1 or matches[0].session != command["session"]["session_id"]:
+                    raise ValueError("Device session changed")
+                device = matches[0]
+            # Keep backups and receipts bounded without deleting evidence automatically.
+            if sum(p.stat().st_size for p in self.root.glob("*.json")) > 32 * 1024 * 1024:
+                raise ValueError("Read journal is full")
+            record = {"digest": digest, "receipt": {"state": "unknown", "error": "Чтение не подтверждено. Обновите состояние."}}
+            with self.journal_lock:
+                if path.exists(): raise ValueError("Operation identity already reserved")
+                atomic(path, record)
+            try:
+                if command["action_id"] == "vesc.link.check":
+                    from .link_check import measure
+                    with self.lock: devices = list(self.devices.values())
+                    result = measure(self, command, devices)
+                    record["receipt"] = {"state": "complete", "result": result}
+                    atomic(path, record)
+                    return record["receipt"]
+                if command["action_id"] in ("vesc.drive.assign", "vesc.drive.unassign", "vesc.drive.layout"):
+                    if device.identity is None: raise Rejected("Сначала подтвердите личность VESC.")
+                    try:
+                        result = self.drive.update(command["action_id"], command["parameters"], device)
+                    except ValueError as error:
+                        raise Rejected(str(error)) from error
+                    record["receipt"] = {"state": "complete", "result": result}
+                    atomic(path, record)
+                    return record["receipt"]
+                if command["action_id"] in ("vesc.motor.pulse", "vesc.motor.run", "vesc.drive.run", "vesc.hall.measure", "vesc.foc.calibrate", "vesc.control.release"):
+                    with self.lock:
+                        devices = list(self.devices.values())
+                        actual = {d.id: d.session for d in devices}
+                        if len(actual) != len(devices) or actual != command["parameters"]["sessions"]:
+                            raise Rejected("Состав или сеансы VESC изменились. Обновите устройства.")
+                    run_command = command
+                    if command["action_id"] == "vesc.hall.measure":
+                        run_command = {**command, "parameters": {**command["parameters"], "current_a": 5, "duration_s": 30}}
+                    if command["action_id"] == "vesc.foc.calibrate":
+                        run_command = {**command, "parameters": {**command["parameters"], "current_a": 5, "duration_s": 225}}
+                    result = self.motor.run(run_command, devices, device, command["action_id"] == "vesc.control.release")
+                    record["receipt"] = {"state": "complete", "result": result}
+                    atomic(path, record)
+                    return record["receipt"]
+                with device.lock:
+                    if device.link is None:
+                        raise OSError("Device disconnected")
+                    remaining = (deadline - datetime.now(timezone.utc)).total_seconds()
+                    if remaining < 8:
+                        raise TimeoutError("Insufficient time for bounded read")
+                    actual = firmware(device.link.query(0))
+                    if actual != device.identity:
+                        device.link.close()
+                        device.link = None
+                        device.identity = None
+                        device.session = "vesc_" + uuid.uuid4().hex
+                        raise ValueError("Controller identity changed")
+                    result = {"identity": actual, "device_id": device.id, "observed_at": utc()}
+                    action = command["action_id"]
+                    if action in {"vesc.telemetry.read", "vesc.limits.read", "vesc.config.backup"} and not device.readable:
+                        raise ValueError("Firmware read layout is unsupported")
+                    if action == "vesc.telemetry.read":
+                        result.update(values=values(device.link.query(4)), monotonic_at=time.monotonic())
+                        device.telemetry = result
+                    elif action == "vesc.limits.read":
+                        from .limits_view import read_limits
+                        result.update(parameters=read_limits(device.link))
+                        if firmware(device.link.query(0)) != actual:
+                            raise ValueError("Controller changed during configuration read")
+                    elif action == "vesc.input.read":
+                        if actual["version"] != "5.02": raise ValueError("Input layout unsupported")
+                        result["input"] = ppm(device.link.query(31))
+                    elif action == "vesc.can.read":
+                        if actual["version"] != "5.02": raise ValueError("CAN layout unsupported")
+                        started = time.monotonic()
+                        reply = device.link.query(62, timeout=8)
+                        if not reply or reply[0] != 62: raise ValueError("Invalid CAN reply")
+                        result.update(can_ids=list(reply[1:]), elapsed_s=time.monotonic()-started)
+                    elif action == "vesc.config.backup":
+                        configs = {}
+                        for name, code in (("motor", 14), ("application", 17)):
+                            raw = device.link.query(code)
+                            if not 5 <= len(raw) <= 10000:
+                                raise ValueError("Incomplete configuration")
+                            configs[name] = {"encoding": "base64", "payload": base64.b64encode(raw).decode(),
+                                "bytes": len(raw), "sha256": hashlib.sha256(raw).hexdigest(),
+                                "signature_hex": raw[1:5].hex()}
+                        # Identity is checked on the same exclusively held attachment at both ends.
+                        if firmware(device.link.query(0)) != actual:
+                            raise ValueError("Controller changed during backup")
+                        result.update(schema="missioncore.vesc.config-backup/v1", configs=configs,
+                                      decoded=False, operation_id=command["operation_id"], monotonic_at=time.monotonic())
+                        backup_path = self.root / ("backup_" + command["operation_id"] + ".json")
+                        atomic(backup_path, result)
+                        self.archive.add("local", result)
+                        device.backup = {"observed_at": result["observed_at"], "operation_id": command["operation_id"],
+                                         "configs": {k: {"bytes": v["bytes"], "sha256": v["sha256"]} for k, v in configs.items()}}
+                    record["receipt"] = {"state": "complete", "result": result}
+            except (OSError, ValueError, TimeoutError) as error:
+                record["receipt"] = {"state": "error", "error": str(error) if isinstance(error, Rejected) else "Операция не выполнена. Проверьте связь и совместимость контроллера."}
+                if getattr(error, "native_rpc", None) is not None:
+                    # Keep transport evidence in the receipt, not product copy.
+                    # This covers ordinary reads and preflight before a motor
+                    # procedure has its own result/failure envelope.
+                    record["receipt"]["result"] = {"failure": {
+                        "type": type(error).__name__, "native_rpc": error.native_rpc,
+                        "native_history": getattr(error, "native_history", []),
+                    }}
+            atomic(path, record)
+            return record["receipt"]
+
+        finally:
+            self.operation_lock.release()

plugins/vesc/runtime/speed_hold.py

@@ -0,0 +1,52 @@
+"""Speed acquisition and measured hold time; never infers motion from a command."""
+from .protocol import SPEED_LIMITS
+
+
+class SpeedHold:
+    def __init__(self, erpm, duration, started):
+        self.erpm, self.duration, self.started = erpm, duration, started
+        self.previous = started
+        self.tachometer = None
+        self.motion_at = None
+        self.stable_at = None
+        self.hold_started = None
+        self.lost_at = None
+        self.rotation_s = 0.0
+        self.phase = "accelerating"
+        self.previous_good = False
+
+    def update(self, now, value):
+        delta = now - self.previous
+        self.previous = now
+        if self.tachometer is not None and value["tachometer"] != self.tachometer:
+            self.motion_at = now
+        self.tachometer = value["tachometer"]
+        good = (abs(value["erpm"] - self.erpm) <= abs(self.erpm) * SPEED_LIMITS["speed_tolerance"]
+                and self.motion_at is not None and now - self.motion_at <= 0.25)
+        error = None
+        if self.hold_started is None:
+            if good:
+                if self.stable_at is None: self.stable_at = now
+                if now - self.stable_at >= SPEED_LIMITS["settle_s"]:
+                    self.hold_started = now
+                    self.phase = "holding"
+            else:
+                self.stable_at = None
+            if self.hold_started is None and now - self.started >= SPEED_LIMITS["startup_timeout_s"]:
+                error = "Мотор не вышел на заданную скорость за 15 секунд. Отсчёт вращения не начался."
+        else:
+            if good:
+                # Both endpoints must be observed in band. Do not count a gap,
+                # USB delay, stationary tachometer or an unobserved last interval.
+                if self.previous_good and delta <= 0.25: self.rotation_s += delta
+                self.lost_at = None
+            else:
+                if self.lost_at is None: self.lost_at = now
+                if now - self.lost_at >= SPEED_LIMITS["lost_speed_timeout_s"]:
+                    error = "Мотор перестал удерживать заданную скорость. Проверка завершена досрочно."
+        self.previous_good = good
+        if now - self.started > SPEED_LIMITS["startup_timeout_s"] + self.duration + 5:
+            error = "Истёк общий срок проверки; заданное время вращения не набрано."
+        done = self.rotation_s >= self.duration
+        setpoint = (1 if self.erpm > 0 else -1) * min(abs(self.erpm), max(1, (now - self.started) * SPEED_LIMITS["ramp_erpm_per_s"]))
+        return setpoint, done, error

plugins/vesc/runtime/temporary_limits.py

@@ -0,0 +1,88 @@
+"""FW 5.02 volatile limits with durable, identity-bound restoration.
+
+COMM_SET_MCCONF_TEMP (48): store=false, forward=false, ack=true, divide=false.
+Reference: pinned bldc 3f670137 commands.c. No flash write, no app changes.
+"""
+import base64
+import json
+import math
+import struct
+
+from .configuration import decode
+from .protocol import frame, firmware, values, ppm
+
+FIELDS = ("l_current_min_scale", "l_current_max_scale", "l_min_erpm", "l_max_erpm",
+          "l_min_duty", "l_max_duty", "l_watt_min", "l_watt_max",
+          "l_in_current_min", "l_in_current_max")
+
+
+def packet(config):
+    numbers = [config[key] for key in FIELDS]
+    if not all(math.isfinite(v) for v in numbers): raise ValueError("Invalid volatile limits")
+    return frame(bytes([48, 0, 0, 1, 0]) + struct.pack(">10f", *numbers))
+
+
+class TemporaryLimits:
+    def __init__(self, service, atomic):
+        self.service, self.atomic = service, atomic
+
+    def path(self, device):
+        return self.service.root / ("limits_" + device.id + ".json")
+
+    def pending(self, device):
+        return self.path(device).exists()
+
+    def apply(self, device, raw, current_a):
+        if self.pending(device): raise ValueError("Previous limits restoration is pending")
+        old = decode(raw, "motor")
+        if not (old["l_current_min"] < 0 < old["l_current_max"]
+                and 0 < old["l_current_min_scale"] <= 1 and 0 < old["l_current_max_scale"] <= 1):
+            raise ValueError("Unsupported motor current limits")
+        changed = dict(old)
+        changed["l_current_max_scale"] = min(old["l_current_max_scale"], current_a / old["l_current_max"])
+        changed["l_current_min_scale"] = min(old["l_current_min_scale"], current_a / -old["l_current_min"])
+        # Persist BEFORE sending: a lost ACK or killed process must be recoverable.
+        record = {"identity": device.identity, "original": base64.b64encode(raw).decode(),
+                  "applied": {key: changed[key] for key in FIELDS}}
+        self.atomic(self.path(device), record)
+        device.link.set_temporary_limits(changed)
+        actual = decode(device.link.query(14), "motor")
+        if any(actual[k] != old[k] for k in old if k not in FIELDS):
+            raise ValueError("Unexpected configuration change")
+        if (actual["l_current_max"] * actual["l_current_max_scale"] > current_a + 0.001
+                or -actual["l_current_min"] * actual["l_current_min_scale"] > current_a + 0.001):
+            raise ValueError("Current limit readback failed")
+        if any(not math.isclose(actual[k], changed[k], rel_tol=1e-6, abs_tol=1e-8) for k in FIELDS):
+            raise ValueError("Volatile limits readback differs")
+        return actual
+
+    def restore(self, device):
+        path = self.path(device)
+        if not path.exists(): return True
+        record = json.loads(path.read_text())
+        if firmware(device.link.query(0)) != record["identity"]: raise ValueError("Restoration identity changed")
+        raw = base64.b64decode(record["original"], validate=True)
+        old = decode(raw, "motor")
+        actual_raw = device.link.query(14)
+        actual = decode(actual_raw, "motor")
+        # An independently changed configuration is never overwritten.
+        if any(actual[k] != old[k] for k in old if k not in FIELDS):
+            raise ValueError("Configuration changed outside this operation; restoration pending")
+        if any(not (math.isclose(actual[k], old[k], rel_tol=1e-6, abs_tol=1e-8)
+                       or math.isclose(actual[k], record["applied"][k], rel_tol=1e-6, abs_tol=1e-8)) for k in FIELDS):
+            raise ValueError("Limits changed outside this operation; restoration pending")
+        if actual_raw != raw:
+            state = values(device.link.query(4))
+            from .receiver import active, neutral_band
+            application = decode(device.link.query(17), "application")
+            if abs(state["motor_current_a"]) > 1 or active(ppm(device.link.query(31))["level"], neutral_band(application)):
+                raise ValueError("Wait for zero current and neutral before restoring limits")
+            device.link.set_temporary_limits(old)
+            if device.link.query(14) != raw: raise ValueError("Original configuration readback failed")
+        path.unlink()
+        # atomic() fsyncs the directory on writes; persist removal as well.
+        import os
+        fd = os.open(path.parent, os.O_RDONLY)
+        try: os.fsync(fd)
+        finally: os.close(fd)
+        return True

plugins/vesc/tests/test_attachment.py

@@ -0,0 +1,50 @@
+"""Targeted attachment checks preserve generation and topology rejection."""
+from pathlib import Path
+import sys,tempfile,unittest
+from unittest.mock import patch
+sys.path.insert(0,str(Path(__file__).resolve().parents[1]))
+from runtime.serial import Attachment, attachment_at, check_attachment, discover
+
+class AttachmentTests(unittest.TestCase):
+    def setUp(self):
+        self.temp=tempfile.TemporaryDirectory();self.addCleanup(self.temp.cleanup)
+        self.root=Path(self.temp.name);self.device=self.root/'1-2.3';self.device.mkdir()
+        for name,value in {'idVendor':'0483','idProduct':'5740','product':'ChibiOS/RT Virtual COM Port','devnum':'17','speed':'12'}.items():
+            (self.device/name).write_text(value)
+        (self.device/'1-2.3:1.0/tty/ttyACM2').mkdir(parents=True)
+        self.expected=Attachment('1-2.3','17','ttyACM2','12 Мбит/с')
+
+    def test_target_check_never_enumerates_siblings(self):
+        original=Path.iterdir
+        def entries(path):
+            if path==self.root:raise AssertionError('full bus scan in per-request check')
+            return original(path)
+        with patch.object(Path,'iterdir',entries):check_attachment(self.expected,self.root)
+        self.assertEqual(discover(self.root),[self.expected])
+
+    def test_generation_change_or_removed_port_invalidates_old_owner(self):
+        (self.device/'devnum').write_text('18')
+        with self.assertRaises(OSError):check_attachment(self.expected,self.root)
+        (self.device/'devnum').write_text('17')
+        (self.device/'1-2.3:1.0/tty/ttyACM2').rmdir()
+        with self.assertRaises(OSError):check_attachment(self.expected,self.root)
+
+    def test_ambiguous_tty_or_other_vendor_rejected(self):
+        extra=self.device/'1-2.3:1.1/tty/ttyACM3';extra.mkdir(parents=True)
+        self.assertIsNone(attachment_at(self.device))
+        extra.rmdir();(self.device/'idVendor').write_text('1234')
+        self.assertIsNone(attachment_at(self.device))
+
+    def test_driver_sibling_tty_cannot_be_mistaken_for_device_interface(self):
+        (self.device/'driver/tty/ttyACM9').mkdir(parents=True)
+        self.assertEqual(attachment_at(self.device),self.expected)
+        with self.assertRaises(OSError):check_attachment(Attachment('../1-2.3','17','ttyACM2','12 Мбит/с'),self.root)
+
+    def test_generation_change_during_read_is_rejected(self):
+        original=Path.read_text;reads=0
+        def read(path,*args,**kwargs):
+            nonlocal reads
+            if path==self.device/'devnum':
+                reads+=1;return '17' if reads==1 else '18'
+            return original(path,*args,**kwargs)
+        with patch.object(Path,'read_text',read):self.assertIsNone(attachment_at(self.device))

plugins/vesc/tests/test_drive_profile.py

@@ -0,0 +1,74 @@
+"""User-assigned drive layout, persistence and conflict tests; no motor I/O."""
+from pathlib import Path
+import sys
+sys.path.insert(0,str(Path(__file__).resolve().parents[1]))
+import test_reader
+
+
+class DriveTests(test_reader.ServiceTests):
+    def test_change_layout_keeps_assignments_without_motor_commands(self):
+        left, right = list(self.service.devices.values())
+        self.assign(left, 'left.1')
+        self.assign(right, 'right.1')
+        command = self.command(action='vesc.drive.layout')
+        command['parameters'] = {'layout': '2x2', 'revision': 2}
+        result = self.service.execute(command)
+        self.assertEqual(result['state'], 'complete')
+        self.assertEqual(result['result']['layout'], '2x2')
+        self.assertEqual(result['result']['bindings']['left.1']['device_id'], left.id)
+        self.assertEqual(len(result['result']['bindings']), 2)
+        self.assertTrue(all(link.commands == [0] for link in test_reader.FakeLink.instances))
+
+    def assign(self, device, slot, layout='1x1', revision=None):
+        item=next(i for i in self.service.inventory('node_synthetic')['items'] if i['id']==device.id)
+        command=self.command(item,action='vesc.drive.assign')
+        command['parameters']={'layout':layout,'slot':slot,'revision':self.service.drive.value['revision'] if revision is None else revision}
+        return self.service.execute(command)
+
+    def test_assign_is_user_metadata_without_serial_commands_and_survives_restart(self):
+        left,right=list(self.service.devices.values())
+        self.assertEqual(self.assign(left,'left.1')['state'],'complete')
+        self.assertEqual(self.assign(right,'right.1')['state'],'complete')
+        self.assertTrue(all(link.commands==[0] for link in test_reader.FakeLink.instances))
+        from runtime.drive_profile import DriveProfile
+        restored=DriveProfile(self.service.root,self.service.drive.atomic)
+        self.assertEqual(restored.value,self.service.drive.value)
+        self.assertEqual(restored.value['layout'],'1x1')
+        self.assertEqual(restored.value['bindings']['left.1']['device_id'],left.id)
+        self.assertEqual(self.service.drive.path.stat().st_mode & 0o777,0o600)
+
+    def test_duplicate_slot_and_stale_revision_never_replace_an_assignment(self):
+        left,right=list(self.service.devices.values())
+        self.assign(left,'left.1')
+        self.assertEqual(self.assign(right,'left.1')['state'],'error')
+        self.assertEqual(self.assign(right,'right.1',revision=0)['state'],'error')
+        self.assertEqual(list(self.service.drive.value['bindings']),['left.1'])
+
+    def test_layout_shrink_requires_explicit_unassign_of_removed_slots(self):
+        left,right=list(self.service.devices.values())
+        self.assign(left,'left.2','2x2')
+        self.assign(right,'right.1','2x2')
+        self.assertEqual(self.assign(right,'right.1','1x1')['state'],'error')
+        command=self.command(action='vesc.drive.unassign')
+        command['parameters']={'slot':'left.2','revision':self.service.drive.value['revision']}
+        self.assertEqual(self.service.execute(command)['state'],'complete')
+        self.assertEqual(self.assign(right,'right.1','1x1')['state'],'complete')
+        self.assertEqual(list(self.service.drive.value['bindings']),['right.1'])
+
+    def test_reassign_moves_one_controller_and_replay_does_not_repeat(self):
+        device=next(iter(self.service.devices.values()))
+        self.assign(device,'left.1')
+        command=self.command(action='vesc.drive.assign')
+        command['parameters']={'layout':'2x2','slot':'right.2','revision':1}
+        result=self.service.execute(command)
+        self.assertEqual(result['state'],'complete')
+        self.assertEqual(list(result['result']['bindings']),['right.2'])
+        self.assertEqual(self.service.execute(command),result)
+        self.assertEqual(self.service.drive.value['revision'],2)
+
+    test_two_attachments_promote_independently = None
+    test_uuid_collision_never_aliases_a_controller = None
+    test_reconnect_invalidates_old_session_but_retains_uuid = None
+    test_receipt_replay_never_repeats_serial_query = None
+    test_backup_is_raw_hashed_and_bound_to_identity = None
+    test_arbitrary_writes_parameters_and_expired_requests_rejected = None

plugins/vesc/tests/test_foc_calibration.py

@@ -0,0 +1,180 @@
+"""Fault injection at the native calibration transaction boundary; no hardware."""
+from datetime import datetime, timedelta
+import unittest
+import struct
+
+import test_motor_test
+from test_motor_test import configuration
+from runtime.configuration import decode
+
+
+class CalibrationTests(unittest.TestCase):
+    def setUp(self):
+        self.case = test_motor_test.PulseTests('test_fixed_wire_commands_no_broadcast_and_no_parameters')
+        self.case.setUp()
+        self.addCleanup(self.case.tearDown)
+        c = self.case
+        self.original = configuration('motor', {**decode(c.motor, 'motor'),
+            'l_current_min': -60, 'l_in_current_min': -55, 'foc_openloop_rpm': 600, 'foc_sl_erpm': 2000})
+        self.configs = {d.id: self.original for d in c.devices}
+        self.starts = []
+        self.finished = False
+        for device in c.devices:
+            previous = device.link.query
+            def query(code, timeout=2, previous=previous, device=device):
+                if code == 14: return self.configs[device.id]
+                if code == 62: return bytes([62])
+                return previous(code, timeout)
+            device.link.query = query
+            def start(loss, device=device):
+                self.starts.append((device.id, loss))
+                self.configs[device.id] = configuration('motor', {**decode(self.original, 'motor'),
+                    'foc_motor_r': 0.08, 'foc_motor_l': 0.00003, 'foc_motor_flux_linkage': 0.009, 'foc_sensor_mode': 0})
+            device.link.calibrate_foc = start
+            def result():
+                if not self.finished:
+                    self.finished = True
+                    return {'running': True}
+                return {'running': False, 'uncertain': False, 'result': {
+                    'kind': 'foc', 'completed': True, 'success': True, 'validated': True, 'code': 0, 'sensor_mode': 0}}
+            device.link.procedure_result = result
+
+    def command(self):
+        c = self.case.command(action='vesc.foc.calibrate')
+        c['deadline_at'] = (datetime.fromisoformat(c['requested_at']) + timedelta(seconds=300)).isoformat()
+        c['parameters'] = {'rig_clear': True, 'native_cycle_confirmed': True, 'max_power_loss_w': 50,
+            'sessions': {d.id: d.session for d in self.case.devices}}
+        return c
+
+    def test_native_success_archives_both_versions_and_never_sends_host_torque(self):
+        command = self.command()
+        receipt = self.case.service.execute(command)
+        result = receipt['result']
+        self.assertTrue(result['success'], receipt)
+        self.assertEqual(result['native']['sensor_mode'], 0)
+        self.assertEqual(self.starts, [(self.case.devices[0].id, 50)])
+        self.assertEqual(len(result['backups']), 2)
+        self.assertEqual(len(result['after_backups']), 2)
+        self.assertEqual(self.case.currents, [])
+        self.assertTrue(all(action == 'release' for _, action in self.case.sent))
+        self.assertFalse((self.case.service.root/'calibration-pending.json').exists())
+        self.assertEqual(self.case.service.execute(command), receipt)
+        self.assertEqual(len(self.starts), 1)
+
+    def test_unknown_completion_persists_across_service_restart_and_blocks_new_motion(self):
+        target = self.case.devices[0]
+        target.link.procedure_result = lambda: {'running': False, 'uncertain': True, 'result': {}}
+        result = self.case.service.execute(self.command())['result']
+        self.assertFalse(result['completed'])
+        self.assertFalse(result['success'])
+        self.assertTrue((self.case.service.root/'calibration-pending.json').exists())
+        self.assertTrue(self.case.service.motor.latched)
+        from runtime.service import Service
+        restarted = Service(self.case.service.root, discover_fn=self.case.service.discover_fn)
+        self.assertTrue(restarted.motor.latched)
+        self.assertEqual(self.case.service.execute(self.case.command_for_pulse())['state'], 'error')
+        self.assertEqual(len(self.starts), 1)
+
+    def test_peer_configuration_change_is_archived_and_blocks_further_movement(self):
+        start = self.case.devices[0].link.calibrate_foc
+        def mutate(loss):
+            start(loss)
+            self.configs[self.case.devices[1].id] = configuration('motor', {**decode(self.original, 'motor'), 'foc_motor_r': 1})
+        self.case.devices[0].link.calibrate_foc = mutate
+        result = self.case.service.execute(self.command())['result']
+        self.assertFalse(result['success'])
+        self.assertFalse(result['configuration_verified'])
+        self.assertEqual(len(result['after_backups']), 2)
+        self.assertTrue(self.case.service.motor.latched)
+
+    def test_known_can_peers_still_block_upstream_broadcast_side_effect(self):
+        target = self.case.devices[0]
+        query = target.link.query
+        target.link.query = lambda code, timeout=2: bytes([62, 11]) if code == 62 else query(code, timeout)
+        result = self.case.service.execute(self.command())
+        self.assertEqual(result['state'], 'error')
+        self.assertEqual(self.starts, [])
+
+    def test_confirmed_failed_cycle_restores_and_can_be_retried_explicitly(self):
+        target = self.case.devices[0]
+        target.link.calibrate_foc = lambda loss: self.starts.append((target.id, loss))
+        target.link.procedure_result = lambda: {'running': False, 'uncertain': False, 'result': {
+            'completed': True, 'success': False, 'validated': True, 'code': -10}}
+        result = self.case.service.execute(self.command())['result']
+        self.assertTrue(result['completed'])
+        self.assertFalse(result['success'])
+        self.assertTrue(result['configuration_verified'])
+        self.assertFalse((self.case.service.root/'calibration-pending.json').exists())
+
+    def test_missing_native_write_ack_never_accepts_calibration(self):
+        target = self.case.devices[0]
+        target.link.procedure_result = lambda: {'running': False, 'uncertain': True, 'result': {
+            'completed': True, 'success': False, 'validated': False, 'code': 0, 'error': 'ACK missing'}}
+        result = self.case.service.execute(self.command())['result']
+        self.assertFalse(result['success'])
+        self.assertTrue((self.case.service.root/'calibration-pending.json').exists())
+
+    def test_calibration_heating_budget_is_finite_and_explicit(self):
+        for loss in (True, float('nan'), float('inf'), 0, 151):
+            command = self.command(); command['parameters']['max_power_loss_w'] = loss
+            with self.assertRaises(ValueError): self.case.service.execute(command)
+        self.assertEqual(self.starts, [])
+
+    def averaged_current(self, transient=True):
+        target = self.case.devices[0]
+        query = target.link.query
+        reads = []
+        def read(code, timeout=2):
+            raw = query(code, timeout)
+            if code == 4 and self.starts:
+                reads.append(1)
+                if not transient or len(reads) == 1:
+                    return raw[:5] + struct.pack('>i', 367) + raw[9:]
+            return raw
+        target.link.query = read
+        return query, reads
+
+    def test_cycle_average_is_drained_before_verifying_released_current(self):
+        _, reads = self.averaged_current()
+        result = self.case.service.execute(self.command())['result']
+        self.assertTrue(result['success'], result)
+        self.assertTrue(result['release_confirmed'])
+        self.assertGreaterEqual(len(reads), 2)
+        self.assertEqual(result['after'][self.case.devices[0].id]['motor_current_a'], 0)
+
+    def test_explicit_neutral_recovery_after_verified_cycle_never_recalibrates(self):
+        query, _ = self.averaged_current(transient=False)
+        command = self.command()
+        receipt = self.case.service.execute(command)
+        self.assertFalse(receipt['result']['release_confirmed'])
+        self.assertTrue(receipt['result']['configuration_verified'])
+        self.case.devices[0].link.query = query
+        release = self.case.command_for_pulse(); release['action_id'] = 'vesc.control.release'; release['parameters']['standstill_confirmed'] = True
+        result = self.case.service.execute(release)['result']
+        self.assertEqual(result['authority'], 'ready')
+        self.assertFalse(result['calibration_recovered']['calibration_replayed'])
+        self.assertEqual(len(self.starts), 1)
+        self.assertEqual(self.case.service.execute(command), receipt)
+        self.assertFalse((self.case.service.root/'calibration-pending.json').exists())
+        self.assertEqual(self.case.currents, [])
+
+    def test_recovery_rejects_new_configuration_and_does_not_overwrite_it(self):
+        query, _ = self.averaged_current(transient=False)
+        self.case.service.execute(self.command())
+        self.case.devices[0].link.query = query
+        key = self.case.devices[0].id
+        self.configs[key] = configuration('motor', {**decode(self.configs[key], 'motor'), 'foc_motor_r': .5})
+        before = self.configs[key]
+        release = self.case.command_for_pulse(); release['action_id'] = 'vesc.control.release'; release['parameters']['standstill_confirmed'] = True
+        receipt = self.case.service.execute(release)
+        self.assertEqual(receipt['state'], 'error')
+        self.assertEqual(self.configs[key], before)
+        self.assertTrue((self.case.service.root/'calibration-pending.json').exists())
+        self.assertEqual(len(self.starts), 1)
+
+    def test_unknown_completion_cannot_be_cleared_by_neutral_return(self):
+        self.case.devices[0].link.procedure_result = lambda: {'running': False, 'uncertain': True, 'result': {}}
+        self.case.service.execute(self.command())
+        release = self.case.command_for_pulse(); release['action_id'] = 'vesc.control.release'; release['parameters']['standstill_confirmed'] = True
+        self.assertEqual(self.case.service.execute(release)['state'], 'error')
+        self.assertTrue((self.case.service.root/'calibration-pending.json').exists())

plugins/vesc/tests/test_group_test.py

@@ -0,0 +1,159 @@
+"""Synthetic complete-profile motion, shared timing and all-peer failure tests."""
+import struct
+import unittest
+from datetime import datetime, timedelta
+
+import test_motor_test
+import test_reader
+from test_motor_test import configuration
+from runtime.configuration import decode
+from runtime.drive_profile import LAYOUTS
+from runtime.temporary_limits import FIELDS
+
+
+class GroupTests(unittest.TestCase):
+    def setUp(self):
+        self.case = test_motor_test.PulseTests('test_fixed_wire_commands_no_broadcast_and_no_parameters')
+        self.case.setUp()
+        self.addCleanup(self.case.tearDown)
+        self.configure(2)
+
+    def configure(self, count):
+        c = self.case
+        if len(c.devices) != count:
+            c.attachments = [test_reader.Attachment(f'2-{i+1}', str(i+1), f'ttyACM{i}', '12') for i in range(count)]
+            c.service.scan(); c.configure_controllers()
+        self.configs, self.speeds, self.commands, self.tacho, self.sets = {}, {}, [], {}, []
+        self.motion = lambda device: True
+        for device in c.devices:
+            self.configs[device.id] = configuration('motor', {**decode(c.motor, 'motor'),
+                'l_current_min': -60, 'l_current_min_scale': 1, 'l_current_max_scale': 1})
+            original = device.link.query
+            def query(code, timeout=2, original=original, device=device):
+                if code == 14: return self.configs[device.id]
+                raw = original(code, timeout)
+                if code == 4 and device.id in self.speeds and self.motion(device):
+                    self.tacho[device.id] = self.tacho.get(device.id, 0)+6
+                    raw = raw[:23]+struct.pack('>i', round(self.speeds[device.id]))+raw[27:]
+                    raw = raw[:45]+struct.pack('>ii', self.tacho[device.id], self.tacho[device.id])+raw[53:]
+                return raw
+            device.link.query = query
+            def limits(config, device=device):
+                self.sets.append(device.id)
+                self.configs[device.id] = configuration('motor', {**decode(self.configs[device.id], 'motor'),
+                    **{k: config[k] for k in FIELDS}})
+            device.link.set_temporary_limits = limits
+            def speed(value, device=device):
+                self.speeds[device.id] = value
+                self.commands.append((device.id, value))
+            device.link.test_speed = speed
+        self.originals = dict(self.configs)
+        layout = '1x1' if count == 2 else '2x2'
+        c.service.drive.value = {'layout': layout, 'revision': 4,
+            'bindings': {slot: {'device_id': d.id, 'uuid': d.identity['uuid']}
+                         for slot, d in zip(LAYOUTS[layout], c.devices)}}
+
+    def command(self):
+        command = self.case.command_for_pulse()
+        command['action_id'] = 'vesc.drive.run'
+        command['parameters'].update(erpm=2000, current_a=30, duration_s=3, profile_revision=4, standstill_confirmed=True,
+                                     device_ids=[d.id for d in self.case.devices])
+        command['deadline_at'] = (datetime.fromisoformat(command['requested_at'])+timedelta(seconds=120)).isoformat()
+        return command
+
+    def test_pair_and_four_motors_run_one_common_interval_and_restore(self):
+        for count in (2, 4):
+            with self.subTest(count=count):
+                self.configure(count)
+                command = self.command()
+                receipt = self.case.service.execute(command)
+                result = receipt['result']
+                self.assertEqual(result['outcome'], 'duration', result)
+                self.assertGreaterEqual(result['rotation_s'], 3)
+                self.assertLess(result['rotation_s'], 3.2)
+                self.assertEqual(set(self.speeds), {d.id for d in self.case.devices})
+                self.assertTrue(result['release_confirmed'])
+                self.assertTrue(result['limits_restored'])
+                self.assertEqual(self.configs, self.originals)
+                before = list(self.commands)
+                self.assertEqual(self.case.service.execute(command), receipt)
+                self.assertEqual(before, self.commands)
+
+    def test_count_starts_only_after_slower_motor_reaches_speed(self):
+        self.motion = lambda d: d is self.case.devices[0] or self.case.clock.now >= 8
+        result = self.case.service.execute(self.command())['result']
+        self.assertEqual(result['outcome'], 'duration')
+        first = next(s['at'] for s in result['samples'] if s['rotation_s'] > 0)
+        self.assertGreater(first, 7.5)
+        self.assertGreaterEqual(result['rotation_s'], 3)
+
+    def test_stationary_peer_never_counts_single_motor_as_joint_rotation(self):
+        self.motion = lambda d: d is self.case.devices[0]
+        result = self.case.service.execute(self.command())['result']
+        self.assertEqual(result['rotation_s'], 0)
+        self.assertIn('не вышел', result['outcome'])
+        self.assertEqual(set(result['release']), {d.id for d in self.case.devices})
+        self.assertEqual(self.configs, self.originals)
+
+    def test_rc_preemption_releases_every_motor_and_latches(self):
+        original = self.case.devices[0].link.test_speed
+        def speed(value):
+            original(value); self.case.changed = True
+        self.case.devices[0].link.test_speed = speed
+        result = self.case.service.execute(self.command())['result']
+        self.assertEqual(result['rotation_s'], 0)
+        self.assertTrue(self.case.service.motor.latched)
+        self.assertTrue(result['release_confirmed'])
+        self.assertFalse(result['limits_restored'])
+        self.assertTrue(list(self.case.service.root.glob('limits_*.json')))
+        self.case.changed = False
+        self.case.service.scan()
+        self.assertEqual(self.configs, self.originals)
+
+    def test_losing_one_motor_stops_joint_timer_and_releases_pair(self):
+        self.motion = lambda d: d is self.case.devices[0] or self.case.clock.now < 7
+        result = self.case.service.execute(self.command())['result']
+        self.assertLess(result['rotation_s'], 3)
+        self.assertIn('перестал удерживать', result['outcome'])
+        self.assertTrue(result['release_confirmed'])
+        self.assertEqual(self.configs, self.originals)
+
+    def test_failed_peer_lease_never_sends_speed_and_keeps_cause(self):
+        original = self.case.devices[1].link.test_command
+        def send(action):
+            if action == 'claim': raise TimeoutError('synthetic lease timeout')
+            original(action)
+        self.case.devices[1].link.test_command = send
+        result = self.case.service.execute(self.command())['result']
+        self.assertEqual(self.commands, [])
+        self.assertEqual(result['failure']['message'], 'synthetic lease timeout')
+        self.assertEqual(set(result['release']), {d.id for d in self.case.devices})
+        self.assertEqual(self.configs, self.originals)
+
+    def test_second_limit_ack_failure_restores_both_without_motion(self):
+        original = self.case.devices[1].link.set_temporary_limits
+        def apply(config):
+            original(config)
+            if len(self.sets) == 2: raise TimeoutError('lost second ACK')
+        self.case.devices[1].link.set_temporary_limits = apply
+        result = self.case.service.execute(self.command())['result']
+        self.assertEqual(self.commands, [])
+        self.assertTrue(result['limits_restored'])
+        self.assertEqual(self.configs, self.originals)
+
+    def test_stale_incomplete_duplicate_or_changed_profile_never_runs(self):
+        command = self.command(); command['parameters']['profile_revision'] -= 1
+        self.assertEqual(self.case.service.execute(command)['state'], 'error')
+        command = self.command(); command['parameters']['device_ids'] *= 2
+        with self.assertRaises(ValueError): self.case.service.execute(command)
+        self.case.service.drive.value['bindings'].pop('right.1')
+        self.assertEqual(self.case.service.execute(self.command())['state'], 'error')
+        self.assertEqual(self.commands, [])
+        self.assertEqual(self.sets, [])
+
+    def test_current_bound_is_checked_for_every_motor(self):
+        device = self.case.devices[1]
+        self.configs[device.id] = configuration('motor', {**decode(self.configs[device.id], 'motor'), 'l_current_max': 10})
+        self.assertEqual(self.case.service.execute(self.command())['state'], 'error')
+        self.assertEqual(self.commands, [])
+        self.assertEqual(self.sets, [])

plugins/vesc/tests/test_hall_standstill.py

@@ -0,0 +1,108 @@
+"""Sensorless idle drift must not become a general motion-check bypass."""
+import math
+import struct
+import unittest
+
+import test_speed_and_hall
+from test_motor_test import configuration
+from runtime.configuration import decode
+from runtime.motor_test import check_values, LimitExceeded
+from runtime.protocol import values
+
+
+class HallStandstillTests(unittest.TestCase):
+    def setUp(self):
+        self.rig = test_speed_and_hall.RunTests('test_native_hall_returns_measured_table_without_applying_it')
+        self.rig.setUp()
+        self.addCleanup(self.rig.doCleanups)
+        self.case = self.rig.case
+
+    def command(self):
+        command = self.case.command(action='vesc.hall.measure')
+        command['parameters'] = {'rig_clear': True, 'native_cycle_confirmed': True,
+            'standstill_confirmed': True, 'sessions': {d.id:d.session for d in self.case.devices}}
+        return command
+
+    def drift(self, device, mode=0, late_duty=False):
+        config = decode(self.rig.configs[device.id], 'motor')
+        self.rig.configs[device.id] = configuration('motor', {**config, 'foc_sensor_mode':mode})
+        query = device.link.query
+        reads = 0
+        def read(code, timeout=2):
+            nonlocal reads
+            raw = query(code, timeout)
+            if code == 4:
+                reads += 1
+                raw = raw[:23] + struct.pack('>i', -160) + raw[27:]
+                if late_duty and reads >= 6:
+                    raw = raw[:21] + struct.pack('>h', 2) + raw[23:]
+            return raw
+        device.link.query = read
+
+    def test_sensorless_peer_can_drift_but_raw_evidence_is_retained(self):
+        self.drift(self.case.devices[1])
+        result = self.case.service.execute(self.command())['result']
+        self.assertTrue(result['completed'])
+        self.assertTrue(result['configuration_restored'])
+        self.assertTrue(result['preflight']['standstill_confirmed'])
+        samples = result['preflight']['samples']
+        self.assertEqual(len(samples), 20)
+        peer = [s for s in samples if s['device_id'] == self.case.devices[1].id]
+        self.assertTrue(all(s['values']['erpm'] == -160 for s in peer))
+        self.assertGreaterEqual(peer[-1]['at'] - peer[0]['at'], 0.89)
+
+    def test_sensored_speed_still_blocks_before_any_write(self):
+        self.drift(self.case.devices[1], mode=2)
+        self.assertEqual(self.case.service.execute(self.command())['state'], 'error')
+        self.assertIsNone(self.rig.hall_started)
+        self.assertEqual(self.case.sent, [])
+
+    def test_modulation_above_one_wire_quantum_blocks_before_any_write(self):
+        self.drift(self.case.devices[1], late_duty=True)
+        self.assertEqual(self.case.service.execute(self.command())['state'], 'error')
+        self.assertIsNone(self.rig.hall_started)
+        self.assertEqual(self.case.sent, [])
+
+    def test_missing_false_and_nonboolean_observation_rejected(self):
+        for confirmation in (None, False, 1, 'true'):
+            command = self.command()
+            if confirmation is None: del command['parameters']['standstill_confirmed']
+            else: command['parameters']['standstill_confirmed'] = confirmation
+            with self.assertRaises(ValueError): self.case.service.execute(command)
+        self.assertEqual(self.case.sent, [])
+
+    def test_sensorless_drift_does_not_bypass_ordinary_motor_test(self):
+        self.drift(self.case.devices[1])
+        self.assertEqual(self.case.service.execute(self.case.command_for_pulse())['state'], 'error')
+        self.assertEqual(self.case.sent, [])
+
+    def test_rc_still_blocks_hall_before_any_write(self):
+        self.drift(self.case.devices[1])
+        self.case.changed = True
+        self.assertEqual(self.case.service.execute(self.command())['state'], 'error')
+        self.assertTrue(self.case.service.motor.latched)
+        self.assertEqual(self.case.sent, [])
+
+    def test_electrical_and_finite_guards_cannot_be_replaced_by_observation(self):
+        device = self.case.devices[0]
+        sample = values(device.link.query(4))
+        motor = decode(self.rig.configs[device.id], 'motor')
+        for field, value in (('erpm', math.nan), ('motor_current_a', 1.01),
+                             ('input_current_a', -1.01), ('duty', .002),
+                             ('fault_code', 1), ('mos_temperature_c', 66),
+                             ('input_voltage_v', 61)):
+            with self.subTest(field=field), self.assertRaises(LimitExceeded):
+                check_values({**sample, 'erpm':-160, field:value}, motor=motor,
+                             standstill_confirmed=True)
+
+    def test_one_quantized_idle_modulation_step_requires_observed_standstill(self):
+        device = self.case.devices[0]
+        sample = values(device.link.query(4))
+        motor = {**decode(self.rig.configs[device.id], 'motor'), 'foc_sensor_mode':0}
+        for duty in (-.001, 0, .001):
+            idle = {**sample, 'erpm':-160, 'duty':duty}
+            check_values(idle, motor=motor, standstill_confirmed=True)
+            with self.assertRaises(LimitExceeded):
+                check_values(idle, motor=motor)
+        with self.assertRaises(LimitExceeded):
+            check_values({**sample, 'duty':-.002}, motor=motor, standstill_confirmed=True)

plugins/vesc/tests/test_limits_view.py

@@ -0,0 +1,34 @@
+"""Native configuration reads never acquire motor control or change settings."""
+from pathlib import Path
+import sys
+import unittest
+from unittest.mock import patch
+sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
+import test_reader
+from runtime.limits_view import FIELDS, read_limits
+
+
+class LimitsTests(unittest.TestCase):
+    def test_native_export_only_and_missing_or_nonfinite_values_rejected(self):
+        class Link:
+            def configuration(self):
+                return {"motor": {"parameters": [{"name": key, "value": 1.0} for key in FIELDS]}}
+        self.assertEqual(set(read_limits(Link())), FIELDS)
+        for bad in (float('nan'), True, '300'):
+            with patch.object(Link, 'configuration', return_value={"motor":{"parameters":[{"name":key,"value":bad} for key in FIELDS]}}):
+                with self.assertRaises(ValueError): read_limits(Link())
+
+    def test_service_read_is_bound_to_uuid_and_cannot_write(self):
+        fixture = test_reader.ServiceTests()
+        fixture.setUp()
+        try:
+            service = fixture.service
+            with patch.object(test_reader.FakeLink, 'configuration', create=True, return_value={"motor":{"parameters":[{"name":key,"value":1.0} for key in FIELDS]}}) as native:
+                response = service.execute(fixture.command(action='vesc.limits.read'))
+                self.assertEqual(response['state'], 'complete')
+                self.assertEqual(set(response['result']['parameters']), FIELDS)
+                native.assert_called_once()
+                self.assertTrue(all(set(link.commands) == {0} for link in test_reader.FakeLink.instances))
+                self.assertEqual(service.drive.value['revision'], 0)
+        finally:
+            fixture.tearDown()

plugins/vesc/tests/test_link_check.py

@@ -0,0 +1,107 @@
+"""No-power read measurements and failure attribution; no USB hardware."""
+from unittest.mock import patch
+import unittest
+import struct
+import test_motor_test
+from runtime.link_check import measure, summary
+
+
+class LinkCheckTests(unittest.TestCase):
+    def setUp(self):
+        self.case=test_motor_test.PulseTests('test_fixed_wire_commands_no_broadcast_and_no_parameters')
+        self.case.setUp(); self.addCleanup(self.case.tearDown)
+        self.reads=[]
+        for device in self.case.devices:
+            original=device.link.query
+            def query(code,timeout=2,original=original,device=device):
+                self.reads.append((device.id,code,timeout))
+                return original(code,timeout)
+            device.link.query=query
+
+    def command(self):
+        c=self.case.command_for_pulse();c['action_id']='vesc.link.check'
+        c['parameters']={'sessions':c['parameters']['sessions']}
+        return c
+
+    def run_check(self):
+        return measure(self.case.service,self.command(),self.case.devices,
+                       sleep=self.case.clock.sleep,monotonic=lambda:self.case.clock.now)
+
+    def test_reads_pair_at_group_cadence_without_any_motor_commands(self):
+        result=self.run_check()
+        self.assertEqual(result['outcome'],'complete')
+        self.assertFalse(result['motor_commands_sent'])
+        self.assertEqual(len(self.reads),402)
+        self.assertEqual({r[1] for r in self.reads},{17,31,4})
+        self.assertTrue(all(r[2]==.5 for r in self.reads if r[1]!=17))
+        self.assertEqual(self.case.sent,[])
+        self.assertTrue(all(v['summary']['replies']==200 for v in result['devices'].values()))
+        self.assertGreaterEqual(result['duration_s'],9.9)
+
+    def test_late_replies_are_measured_without_relaxing_motor_budget(self):
+        result=summary([{'elapsed_ms':x} for x in [20,30,55,80,120]])
+        self.assertEqual(result['over_60_ms'],2)
+        self.assertEqual(result['p50_ms'],55)
+        self.assertEqual(result['max_ms'],120)
+
+    def test_no_response_keeps_peer_command_and_native_cause(self):
+        device=self.case.devices[1]
+        original=device.link.query
+        def query(code,timeout=2):
+            if code==17:return original(code,timeout)
+            error=OSError('native read timeout');error.native_rpc={'command':code,'process_alive':True,'attachment_present':True}
+            raise error
+        device.link.query=query
+        result=self.run_check()
+        self.assertEqual(result['outcome'],'read_failed')
+        self.assertEqual(result['failure'][0]['device_id'],device.id)
+        self.assertEqual(result['failure'][0]['command'],31)
+        self.assertTrue(result['failure'][0]['native_rpc']['attachment_present'])
+        self.assertEqual(self.case.sent,[])
+
+    def test_active_receiver_stops_measurement_without_claiming_control(self):
+        self.case.changed=True
+        result=self.run_check()
+        self.assertEqual(result['outcome'],'not_idle')
+        self.assertEqual(self.case.sent,[])
+        self.assertEqual({r[1] for r in self.reads},{17,31})
+
+    def test_receiver_offset_inside_configured_deadband_is_idle(self):
+        for device in self.case.devices:
+            original=device.link.query
+            device.link.query=lambda code,timeout=2,original=original: bytes([31])+struct.pack('>ii',-66000,1466000) if code==31 else original(code,timeout)
+        result=self.run_check()
+        self.assertEqual(result['outcome'],'complete')
+        self.assertTrue(all(abs(d['neutral_band']-.15)<1e-6 for d in result['devices'].values()))
+        self.assertEqual(self.case.sent,[])
+
+    def test_config_failure_is_reported_before_ppm_or_motor_commands(self):
+        self.case.devices[0].link.query=lambda *args,**kwargs: b'bad config'
+        result=self.run_check()
+        self.assertEqual(result['outcome'],'read_failed')
+        self.assertEqual(result['failure'][0]['command'],17)
+        self.assertEqual(self.case.sent,[])
+        self.assertFalse(any(r[1] in (31,4) for r in self.reads))
+
+    def test_service_keeps_idempotent_receipt_and_excludes_other_operations(self):
+        command=self.command()
+        original=measure
+        def fast(*args):return original(*args,sleep=self.case.clock.sleep,monotonic=lambda:self.case.clock.now)
+        with patch('runtime.link_check.measure',side_effect=fast):
+            result=self.case.service.execute(command)
+            self.assertEqual(result['state'],'complete')
+            self.assertEqual(self.case.service.execute(command),result)
+        self.assertEqual(len(self.reads),402)
+        self.case.service.operation_lock.acquire()
+        try:
+            with self.assertRaises(ValueError):self.case.service.execute(self.command())
+        finally:self.case.service.operation_lock.release()
+
+    def test_changed_sessions_rejected_before_reads_and_stop_is_respected(self):
+        command=self.command();command['parameters']['sessions']={}
+        with self.assertRaises(ValueError): measure(self.case.service,command,self.case.devices)
+        self.assertEqual(self.reads,[])
+        command=self.command();self.case.service.motor.cancel()
+        result=measure(self.case.service,command,self.case.devices)
+        self.assertEqual(result['outcome'],'stopped')
+        self.assertEqual(self.reads,[])

plugins/vesc/tests/test_motor_test.py

@@ -0,0 +1,352 @@
+"""Synthetic fault-injection tests. No real ports, private config or motors."""
+import math
+from pathlib import Path
+import struct
+import sys
+import unittest
+from unittest.mock import patch
+import xml.etree.ElementTree as ET
+
+sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
+from runtime.configuration import decode, crc32c
+from runtime.motor_test import Rejected, LimitExceeded, check_configuration, check_values
+from runtime.protocol import Decoder, test_packet, ppm, current_packet
+import test_reader
+from runtime.protocol import firmware
+from test_reader import telemetry
+
+
+def configuration(kind, overrides):
+    code, name = {"motor": (14, "mcconf"), "application": (17, "appconf")}[kind]
+    xml = ET.parse(Path(__file__).parents[1] / "runtime/schemas/5.02" / ("parameters_" + name + ".xml")).getroot()
+    params = {p.tag: p for p in xml.find("Params")}; order = [p.text for p in xml.find("SerOrder")]
+    sig = ''.join(n + params[n].findtext('type', '0') + params[n].findtext('vTx', '0') + ''.join(x.text or '' for x in params[n].findall('enumNames')) for n in order)
+    out = bytes([code]) + crc32c(sig.encode()).to_bytes(4, 'big')
+    for n in order:
+        p=params[n];typ=int(p.findtext('type'));tx=int(p.findtext('vTx','0'));v=overrides.get(n,0)
+        if typ in (4,5):fmt='b'
+        elif typ==6:fmt='B'
+        elif typ==2:fmt={1:'B',2:'b',3:'H',4:'h',5:'I',6:'i'}[tx]
+        else:
+            fmt={7:'h',8:'i',9:'I'}[tx]
+            if tx==9:
+                f,e=math.frexp(abs(v));v=0 if v==0 else ((e+126)<<23)|int((f-0.5)*16777216)|(0x80000000 if v<0 else 0)
+            else:v=round(v*float(p.findtext('vTxDoubleScale','1')))
+        out+=struct.pack('>'+fmt,v)
+    return out
+
+
+class Clock:
+    def __init__(self):self.now=0
+    def monotonic(self):return self.now
+    def sleep(self,value):self.now+=value
+
+
+class PulseTests(test_reader.ServiceTests):
+    def setUp(self):
+        super().setUp()
+        self.configure_controllers()
+
+    def configure_controllers(self):
+        self.clock=Clock();self.service.motor.sleep=self.clock.sleep;self.service.motor.monotonic=self.clock.monotonic
+        self.devices=list(self.service.devices.values());self.changed=False
+        self.sent=[]
+        self.currents=[]
+        self.motor=configuration('motor',{'motor_type':2,'l_current_max':60,'l_in_current_max':55,'l_min_erpm':-60000,'l_max_erpm':60000,'l_max_duty':0.95})
+        for i,device in enumerate(self.devices):
+            raw=b'\0\5\2' + b'75_300_R2\0' + bytes([i+1])*12 + bytes(4)
+            device.identity=firmware(raw)
+            app=configuration('application',{'controller_id':i+10,'app_to_use':1,'timeout_msec':1000,'timeout_brake_current':0,'app_ppm_conf.ctrl_type':4,'app_ppm_conf.hyst':0.15})
+            def query(code,timeout=2,raw=raw,app=app):
+                if code==0:return raw
+                if code==14:return self.motor
+                if code==17:return app
+                if code==4:return telemetry()[:1]+struct.pack('>hhiiiihihiiiiiiB',250,-729,0,0,0,0,0,0,500,0,0,0,0,0,0,0)
+                if code==31:return bytes([31])+struct.pack('>ii',600000 if self.changed else 0,1500000)
+                if code==62:return bytes([62])+bytes(range(10,10+len(self.devices)))
+                raise AssertionError(code)
+            device.link.query=query
+            device.link.test_command=lambda action,i=i:self.sent.append((i,action))
+            def send_current(amps,device=device,i=i):
+                self.currents.append((i,amps))
+                device.link.test_command('current')
+            device.link.test_current=send_current
+
+    def command_for_pulse(self):
+        c=self.command(action='vesc.motor.pulse')
+        c['parameters']={'rig_clear':True,'sessions':{d.id:d.session for d in self.devices},'duration_s':1.5,'current_a':2}
+        return c
+
+    def test_fixed_wire_commands_no_broadcast_and_no_parameters(self):
+        self.assertEqual(Decoder().feed(test_packet('claim')),[bytes([63,0])+struct.pack('>i',250)])
+        self.assertEqual(Decoder().feed(test_packet('current')),[bytes([6])+struct.pack('>i',2000)])
+        self.assertEqual(Decoder().feed(current_packet(5)),[bytes([6])+struct.pack('>i',5000)])
+        with self.assertRaises(KeyError):test_packet('arbitrary')
+        with self.assertRaises(ValueError):ppm(bytes([31])+bytes(7))
+
+    def test_only_selected_motor_receives_current_and_receipt_never_replays(self):
+        c=self.command_for_pulse();r=self.service.execute(c)
+        self.assertEqual(r['state'],'complete',r)
+        self.assertEqual(r['result']['outcome'],'duration')
+        self.assertTrue(r['result']['release_confirmed'])
+        self.assertIn((0,'current'),self.sent);self.assertNotIn((1,'current'),self.sent)
+        self.assertEqual(self.sent[-2:],[(0,'release'),(1,'release')])
+        self.assertLessEqual(len([x for x in self.sent if x==(0,'current')]),31)
+        before=list(self.sent);self.assertEqual(self.service.execute(c),r);self.assertEqual(self.sent,before)
+        self.assertEqual(len(list(self.service.root.glob('backup_*.json'))),2)
+
+    def test_active_rc_blocks_before_any_command_and_latches(self):
+        self.changed=True;r=self.service.execute(self.command_for_pulse())
+        self.assertEqual(r['state'],'error');self.assertEqual(self.sent,[]);self.assertTrue(self.service.motor.latched)
+        self.changed=False;self.assertEqual(self.service.execute(self.command_for_pulse())['state'],'error')
+
+    def test_rc_preemption_releases_both_and_blocks_next_click(self):
+        def send(action):
+            self.sent.append((0,action))
+            if action=='current':self.changed=True
+        self.devices[0].link.test_command=send
+        r=self.service.execute(self.command_for_pulse())
+        self.assertEqual(r['state'],'complete');self.assertTrue(self.service.motor.latched)
+        self.assertEqual(len([x for x in self.sent if x==(0,'current')]),1)
+        self.assertEqual(self.sent[-2:],[(0,'release'),(1,'release')])
+
+    def test_missing_second_lease_and_disconnect_release_first(self):
+        def send(action):
+            if action=='claim':raise OSError('Disconnected')
+            self.sent.append((1,action))
+        self.devices[1].link.test_command=send
+        r=self.service.execute(self.command_for_pulse())
+        self.assertNotIn((0,'current'),self.sent);self.assertIn((0,'release'),self.sent)
+        self.assertNotEqual(r['result']['outcome'],'duration')
+
+    def test_bad_schema_stale_peer_and_no_rig_confirmation_never_write(self):
+        self.assertRaises(ValueError,decode,self.motor[:-1],'motor')
+        c=self.command_for_pulse();c['parameters']['sessions'][self.devices[1].id]='stale'
+        self.assertEqual(self.service.execute(c)['state'],'error')
+        c=self.command_for_pulse();c['parameters']['rig_clear']=False
+        with self.assertRaises(ValueError):self.service.execute(c)
+        self.assertEqual(self.sent,[])
+
+    def test_stop_received_before_queued_pulse_cannot_be_cleared_by_start(self):
+        pulse = self.command_for_pulse()
+        result = self.service.execute(self.command(action='vesc.motor.stop'))
+        self.assertTrue(result['result']['stop_requested'])
+        self.assertEqual(self.service.execute(pulse)['state'],'error')
+        self.assertEqual(self.sent,[])
+        self.assertEqual(self.service.execute(self.command_for_pulse())['state'],'complete')
+
+    def test_single_six_and_ten_controllers_target_only_with_durable_backups(self):
+        for count in (1, 6, 10):
+            with self.subTest(count=count):
+                self.attachments = [test_reader.Attachment(f"2-{i+1}", str(i+1), f"ttyACM{i}", "12") for i in range(count)]
+                self.service.scan(); self.configure_controllers()
+                command=self.command_for_pulse()
+                target=self.devices[-1]
+                command['session']={'device_id':target.id,'session_id':target.session}
+                command['parameters']['duration_s']=10
+                result=self.service.execute(command)
+                self.assertEqual(result['state'],'complete',result)
+                self.assertEqual(result['result']['outcome'],'duration')
+                self.assertEqual(result['result']['duration_limit_s'],10)
+                self.assertEqual({i for i,action in self.sent if action=='current'},{count-1})
+                self.assertTrue(result['result']['release_confirmed'])
+                self.assertEqual(len(result['result']['backups']),count)
+                self.assertEqual(len(result['result']['release']),count)
+                self.assertLessEqual(self.clock.now,11.36)
+
+    def test_new_controller_during_preflight_or_pulse_stops_current(self):
+        extra=test_reader.Attachment('3-1','3','ttyACM3','12')
+        self.attachments.append(extra)
+        self.assertEqual(self.service.execute(self.command_for_pulse())['state'],'error')
+        self.assertEqual(self.sent,[])
+        self.attachments.remove(extra)
+        def send(action):
+            self.sent.append((0,action))
+            if action=='current':self.attachments.append(extra)
+        self.devices[0].link.test_command=send
+        result=self.service.execute(self.command_for_pulse())
+        self.assertEqual(result['state'],'complete')
+        self.assertNotEqual(result['result']['outcome'],'duration')
+        self.assertEqual(self.sent.count((0,'current')),1)
+        self.assertEqual(self.sent[-2:],[(0,'release'),(1,'release')])
+
+    def test_unmanaged_can_peer_on_other_controller_blocks_all_current(self):
+        original=self.devices[1].link.query
+        self.devices[1].link.query=lambda code,timeout=2:bytes([62,99]) if code==62 else original(code,timeout)
+        result=self.service.execute(self.command_for_pulse())
+        self.assertEqual(result['state'],'error')
+        self.assertEqual(self.sent,[])
+
+    def test_slow_multi_controller_cycle_never_sends_torque(self):
+        original=self.devices[1].link.query
+        def delayed(code,timeout=2):
+            if code==31:self.clock.sleep(0.13)
+            return original(code,timeout)
+        self.devices[1].link.query=delayed
+        result=self.service.execute(self.command_for_pulse())
+        self.assertNotEqual(result['result']['outcome'],'duration')
+        self.assertEqual(self.sent,[])
+
+    def test_duration_is_allowlisted_and_stop_interrupts_ten_second_pulse(self):
+        for duration in (True,0,30.01,100,'10'):
+            command=self.command_for_pulse();command['parameters']['duration_s']=duration
+            with self.assertRaises(ValueError):self.service.execute(command)
+        def send(action):
+            self.sent.append((0,action))
+            if action=='current':self.service.motor.cancel()
+        self.devices[0].link.test_command=send
+        command=self.command_for_pulse();command['parameters']['duration_s']=10
+        result=self.service.execute(command)
+        self.assertEqual(result['result']['outcome'],'stopped')
+        self.assertEqual(self.sent.count((0,'current')),1)
+        self.assertLess(self.clock.now,2)
+
+    def test_can_timeout_reports_preflight_failure_without_current(self):
+        original=self.devices[0].link.query
+        def query(code,timeout=2):
+            if code==62:
+                self.assertEqual(timeout,8)
+                raise TimeoutError('synthetic CAN timeout')
+            return original(code,timeout)
+        self.devices[0].link.query=query
+        result=self.service.execute(self.command_for_pulse())
+        self.assertEqual(result['state'],'error')
+        self.assertIn('CAN',result['error'])
+        self.assertEqual(self.sent,[])
+
+    def test_can_inspection_does_not_claim_or_drive_motors(self):
+        result=self.service.execute(self.command(action='vesc.can.read'))
+        self.assertEqual(result['state'],'complete')
+        self.assertEqual(result['result']['can_ids'],[10,11])
+        self.assertEqual(self.sent,[])
+
+    def test_old_coasting_thresholds_no_longer_interrupt_current(self):
+        original=self.devices[0].link.query
+        speeds=iter([0,210,880,1200,3000])
+        def query(code,timeout=2):
+            raw=original(code,timeout)
+            if code==4:
+                speed=next(speeds,3000)
+                raw=raw[:21]+struct.pack('>hi',120 if speed else 0,speed)+raw[27:]
+            return raw
+        self.devices[0].link.query=query
+        command=self.command_for_pulse();command['parameters'].update(current_a=5,duration_s=30)
+        result=self.service.execute(command)['result']
+        self.assertEqual(result['outcome'],'duration')
+        self.assertEqual(result['duration_limit_s'],30)
+        self.assertGreater(len(result['samples']),590)
+        self.assertTrue(all(s['commanded_current_a'] > 0 for s in result['samples']))
+        self.assertEqual(self.sent.count((0,'release')),1)
+        self.assertTrue(result['release_confirmed'])
+
+    def test_current_ramps_from_half_amp_to_entered_ceiling(self):
+        command=self.command_for_pulse();command['parameters'].update(current_a=5,duration_s=10)
+        result=self.service.execute(command)['result']
+        amps=[value for _,value in self.currents]
+        self.assertEqual(amps[0],0.5)
+        self.assertEqual(max(amps),5)
+        self.assertTrue(all(0<=b-a<=0.10001 for a,b in zip(amps,amps[1:])))
+        self.assertEqual(result['outcome'],'duration')
+        self.assertEqual(result['current_ramp_a_per_s'],2)
+
+    def test_thirty_amp_thirty_second_moving_target_and_bounded_receipt(self):
+        original=self.devices[0].link.query
+        tacho=0
+        def query(code,timeout=2):
+            nonlocal tacho
+            raw=original(code,timeout)
+            if code==4 and self.currents:
+                tacho+=4
+                raw=raw[:23]+struct.pack('>i',1200)+raw[27:]
+                raw=raw[:45]+struct.pack('>ii',tacho,tacho)+raw[53:]
+            return raw
+        self.devices[0].link.query=query
+        command=self.command_for_pulse();command['parameters'].update(current_a=30,duration_s=30)
+        result=self.service.execute(command)['result']
+        self.assertEqual(result['outcome'],'duration')
+        self.assertEqual(max(amps for _,amps in self.currents),30)
+        self.assertEqual({i for i,_ in self.currents},{0})
+        self.assertEqual(self.sent[-2:],[(0,'release'),(1,'release')])
+        self.assertTrue(result['release_confirmed'])
+        import json
+        self.assertLess(len(json.dumps(result).encode()),1024*1024)
+
+    def test_high_current_without_motion_stops_and_does_not_auto_restart(self):
+        command=self.command_for_pulse();command['parameters'].update(current_a=30,duration_s=30)
+        result=self.service.execute(command)['result']
+        self.assertIn('движение не подтверждается',result['outcome'])
+        self.assertLess(result['samples'][-1]['at'],5)
+        self.assertLess(max(amps for _,amps in self.currents),10)
+        self.assertIsNone(result['samples'][-1]['commanded_current_a'])
+        self.assertEqual(self.sent[-2:],[(0,'release'),(1,'release')])
+        self.assertTrue(result['release_confirmed'])
+
+    def test_reported_speed_alone_cannot_reset_stall_without_tachometer_motion(self):
+        original=self.devices[0].link.query
+        def query(code,timeout=2):
+            raw=original(code,timeout)
+            if code==4 and self.currents:raw=raw[:23]+struct.pack('>i',1200)+raw[27:]
+            return raw
+        self.devices[0].link.query=query
+        command=self.command_for_pulse();command['parameters'].update(current_a=30,duration_s=30)
+        result=self.service.execute(command)['result']
+        self.assertIn('движение не подтверждается',result['outcome'])
+        self.assertTrue(result['release_confirmed'])
+
+    def test_target_configuration_limits_remain_binding(self):
+        self.motor=configuration('motor',{'motor_type':2,'l_current_max':10,'l_in_current_max':10,'l_min_erpm':-2000,'l_max_erpm':2000,'l_max_duty':0.1})
+        command=self.command_for_pulse();command['parameters'].update(current_a=30,duration_s=30)
+        result=self.service.execute(command)
+        self.assertEqual(result['state'],'error')
+        self.assertIn('настроенный предел',result['error'])
+        self.assertEqual(self.sent,[])
+        limits=decode(self.motor,'motor')
+        baseline={'fault_code':0,'input_voltage_v':50,'mos_temperature_c':30,'motor_current_a':0,'erpm':0,'duty':0}
+        for field,value in [('erpm',2001),('duty',0.101),('motor_current_a',10.1)]:
+            with self.assertRaises(LimitExceeded):check_values({**baseline,field:value},moving=True,current_a=10,motor=limits)
+
+    def test_arbitrary_current_cannot_enter_motor_loop(self):
+        for amps in (True,0,0.4,30.001,31,100,'5',float('nan'),float('inf')):
+            command=self.command_for_pulse();command['parameters']['current_a']=amps
+            with self.assertRaises(ValueError):self.service.execute(command)
+        self.assertEqual(self.sent,[])
+        for amps in (0.5,1.7,3,5,10,30):
+            self.assertEqual(Decoder().feed(current_packet(amps)),[bytes([6])+struct.pack('>i',round(amps*1000))])
+        for amps in (False,-1,0,30.001,float('nan'),float('inf')):
+            with self.assertRaises(ValueError):current_packet(amps)
+
+    def test_limit_stop_keeps_triggering_sample_and_releases_every_controller(self):
+        original=self.devices[0].link.query
+        def query(code,timeout=2):
+            raw=original(code,timeout)
+            if code==4 and self.sent.count((0,'current'))==1:
+                raw=raw[:21]+struct.pack('>h',260)+raw[23:]
+            return raw
+        self.devices[0].link.query=query
+        result=self.service.execute(self.command_for_pulse())['result']
+        self.assertIn('заполнение PWM 26 %',result['outcome'])
+        self.assertEqual(result['limit_violation'],{'field':'duty','value':0.26,'minimum':-0.25,'maximum':0.25})
+        self.assertEqual(result['samples'][-1]['devices'][self.devices[0].id]['duty'],0.26)
+        self.assertIsNone(result['samples'][-1]['commanded_current_a'])
+        self.assertEqual(self.sent.count((0,'current')),1)
+        self.assertEqual(self.sent[-2:],[(0,'release'),(1,'release')])
+        self.assertTrue(result['release_confirmed'])
+
+    def test_each_telemetry_limit_reports_its_own_measured_value(self):
+        baseline={'fault_code':0,'input_voltage_v':50,'mos_temperature_c':30,'motor_current_a':0,'erpm':0,'duty':0}
+        for field,actual in [('fault_code',1),('input_voltage_v',61),('mos_temperature_c',66),('motor_current_a',-8.1),('erpm',6001),('duty',-0.251)]:
+            with self.subTest(field=field):
+                with self.assertRaises(LimitExceeded) as raised:check_values({**baseline,field:actual},moving=True,current_a=5)
+                self.assertEqual(raised.exception.violation['field'],field)
+                self.assertEqual(raised.exception.violation['value'],actual)
+
+    # Parent ServiceTests use the generic firmware/read-only fake.
+    test_two_attachments_promote_independently = None
+    test_uuid_collision_never_aliases_a_controller = None
+    test_reconnect_invalidates_old_session_but_retains_uuid = None
+    test_receipt_replay_never_repeats_serial_query = None
+    test_backup_is_raw_hashed_and_bound_to_identity = None
+    test_arbitrary_writes_parameters_and_expired_requests_rejected = None
+
+
+if __name__=='__main__':unittest.main()

plugins/vesc/tests/test_native_link.py

@@ -0,0 +1,93 @@
+"""Faults at the actual subprocess/RPC boundary, with no serial hardware."""
+import json
+from pathlib import Path
+import subprocess
+import sys
+import unittest
+from unittest.mock import patch
+
+sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
+from runtime.native_link import NativeLink
+from runtime.serial import Attachment
+
+
+class NativeBoundaryTests(unittest.TestCase):
+    def link(self, handler):
+        value = object.__new__(NativeLink)
+        value.attachment = Attachment('2-1', '11', 'ttyACM0', '12')
+        value.buffer = b""; value.sequence = 0; value.hall_pending = False
+        value.check = lambda:None
+        script = 'import sys,json,time\nfor line in sys.stdin:\n r=json.loads(line)\n ' + handler + '\n'
+        value.process = subprocess.Popen([sys.executable, '-u', '-c', script],
+            stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.DEVNULL, bufsize=0)
+        self.addCleanup(value.close)
+        return value
+
+    def test_success_returns_upstream_payload_and_keeps_one_process(self):
+        link = self.link('print(json.dumps({"id":r["id"],"ok":True,"result":{"payload":"BA=="}}),flush=True)')
+        pid = link.process.pid
+        self.assertEqual(link.query(4),b'\x04')
+        self.assertEqual(link.query(4),b'\x04')
+        self.assertEqual(link.process.pid,pid)
+        self.assertEqual(link.sequence,2)
+        trace=link.last_rpc
+        self.assertEqual(trace["stage"],"complete")
+        stages=[trace[k] for k in ("attachment_before_ms","request_write_ms","native_response_ms","attachment_after_ms")]
+        self.assertTrue(all(value>=0 for value in stages))
+        self.assertLessEqual(sum(stages),trace["elapsed_ms"]+.1)
+
+    def test_wrong_identity_closes_stream_and_cannot_replay_motor_command(self):
+        link = self.link('print(json.dumps({"id":r["id"]+1,"ok":True,"result":{}}),flush=True)')
+        with self.assertRaises(ValueError):link.test_current(5)
+        self.assertFalse(link.alive)
+        with self.assertRaises(OSError):link.test_current(5)
+
+    def test_missing_ack_terminates_process_without_automatic_retry(self):
+        link = self.link('time.sleep(5)')
+        process = link.process
+        with self.assertRaises(TimeoutError):link.rpc('lease',timeout=.03)
+        self.assertFalse(link.alive)
+        self.assertIsNotNone(process.poll())
+        self.assertEqual(link.sequence,1)
+
+    def test_attachment_change_closes_owner_before_sending(self):
+        link = self.link('print(json.dumps({"id":r["id"],"ok":True,"result":{}}),flush=True)')
+        link.check = lambda: (_ for _ in ()).throw(OSError('changed attachment'))
+        with self.assertRaises(OSError):link.rpc('engine')
+        self.assertFalse(link.alive)
+
+    def test_native_error_and_malformed_result_close_owner(self):
+        for response in ('{"id":r["id"],"ok":False,"error":"disconnected"}',
+                         '{"id":r["id"],"ok":True,"result":[]}'):
+            with self.subTest(response=response):
+                link=self.link('print(json.dumps('+response+'),flush=True)')
+                with self.assertRaises((OSError,ValueError)):link.rpc('engine')
+                self.assertFalse(link.alive)
+
+    def test_blocked_pipe_closes_owner(self):
+        link=self.link('time.sleep(5)')
+        with patch('runtime.native_link.select.select',return_value=([],[],[])):
+            with self.assertRaises(TimeoutError):link.rpc('engine')
+        self.assertFalse(link.alive)
+
+    def test_timeout_retains_command_budget_and_attachment_state(self):
+        link=self.link('print(json.dumps({"id":r["id"],"ok":False,"error":"Native query timed out or disconnected"}),flush=True)')
+        with self.assertRaises(OSError) as caught: link.query(31,timeout=.06)
+        trace=caught.exception.native_rpc
+        self.assertEqual(trace['command'],31)
+        self.assertEqual(trace['attachment'], {'usb':'2-1','address':'11','tty':'ttyACM0'})
+        self.assertEqual(trace['timeout_ms'],60)
+        self.assertTrue(trace['process_alive'])
+        self.assertTrue(trace['attachment_present'])
+        self.assertGreater(trace['elapsed_ms'],0)
+        self.assertFalse(link.alive)
+
+    def test_native_packet_diagnostics_survive_fail_closed_boundary(self):
+        detail = {"request_emitted": True, "packets_sent": 1, "packets_received": 0,
+                  "serial_bytes_written": 6, "port_connected": True, "serial_error": 0,
+                  "events": [{"event": "serial_written", "bytes": 6, "at_ms": 0.2}]}
+        link = self.link('print(json.dumps({"id":r["id"],"ok":False,"error":"Native query timed out or disconnected","diagnostics":'+repr(detail)+'}),flush=True)')
+        with self.assertRaises(OSError) as caught: link.query(31, timeout=.06)
+        self.assertEqual(caught.exception.native_rpc['transport'], detail)
+        self.assertEqual(link.sequence, 1)
+        self.assertFalse(link.alive)

plugins/vesc/tests/test_reader.py

@@ -0,0 +1,178 @@
+"""Synthetic protocol and ownership tests; never opens a real serial port."""
+import base64
+import binascii
+from datetime import datetime, timedelta, timezone
+import json
+from pathlib import Path
+import struct
+import sys
+import tempfile
+import unittest
+import uuid
+
+sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
+sys.path.insert(0, str(Path(__file__).resolve().parents[3] / "src"))
+from runtime import SCHEMA
+from runtime.protocol import Decoder, firmware, request, values
+from runtime.serial import Attachment
+from runtime.service import Service
+
+
+def frame(payload):
+    header = bytes([2, len(payload)]) if len(payload) < 256 else b"\x03" + len(payload).to_bytes(2, "big")
+    return header + payload + binascii.crc_hqx(payload, 0).to_bytes(2, "big") + b"\x03"
+
+
+def fw(index=1):
+    return b"\x00\x06\x06SYNTHETIC\x00" + bytes([index]) * 12 + b"\x00\x00\x00\x00"
+
+
+def telemetry():
+    return b"\x04" + struct.pack(">hhiiiihihiiiiiiB", 215, 190, -123, 456, 0, 0, 123, 600, 481,
+                                  100, 0, 200, 0, 30, 30, 0)
+
+
+class ProtocolTests(unittest.TestCase):
+    def test_transmit_has_no_motor_or_write_escape_hatch(self):
+        for code in range(256):
+            if code in (0, 4, 14, 17, 31, 62):
+                self.assertEqual(Decoder().feed(request(code)), [bytes([code])])
+            else:
+                with self.assertRaises(ValueError): request(code)
+        for value in (True, b"\0", "0", -1, 256):
+            with self.assertRaises(ValueError): request(value)
+
+    def test_fragmented_and_combined_frames(self):
+        samples = [fw(), bytes([14]) + bytes(range(256)) * 4, telemetry()]
+        decoder = Decoder(); actual = []
+        for byte in b"noise" + b"".join(map(frame, samples)):
+            actual += decoder.feed(bytes([byte]))
+        self.assertEqual(actual, samples)
+
+    def test_crc_and_bounds(self):
+        bad = bytearray(frame(fw())); bad[-2] ^= 1
+        self.assertEqual(Decoder().feed(bad), [])
+        self.assertEqual(Decoder().feed(b"\x04\xff\xff\xff" + frame(fw())), [fw()])
+        with self.assertRaises(ValueError): Decoder().feed(bytes(30000))
+
+    def test_identity_requires_uuid_and_bounded_name(self):
+        self.assertEqual(firmware(fw())["uuid"], "01" * 12)
+        for data in (b"", fw()[:5], fw()[:20], b"\0\6\6" + b"x" * 150, fw(0)):
+            with self.assertRaises(ValueError): firmware(data)
+
+    def test_telemetry_scales_signed_values_and_truncation(self):
+        result = values(telemetry())
+        self.assertEqual(result["motor_current_a"], -1.23)
+        self.assertEqual(result["input_voltage_v"], 48.1)
+        self.assertEqual(result["erpm"], 600)
+        self.assertNotIn("timeout", result)
+        for length in range(54):
+            with self.assertRaises(ValueError): values(telemetry()[:length])
+
+
+class FakeLink:
+    instances = []
+    identities = {}
+
+    def __init__(self, attachment):
+        self.attachment = attachment; self.commands = []; self.closed = False
+        self.instances.append(self)
+
+    def query(self, code, timeout=2):
+        request(code)
+        self.commands.append(code)
+        if code == 0: return fw(self.identities.get(self.attachment.usb, int(self.attachment.address)))
+        if code == 4: return telemetry()
+        return bytes([code]) + b"\x12\x34\x56\x78opaque-config"
+
+    def close(self):
+        self.closed = True
+
+
+class ServiceTests(unittest.TestCase):
+    def setUp(self):
+        self.temp = tempfile.TemporaryDirectory()
+        self.attachments = [Attachment("1-2", "1", "ttyACM0", "12"), Attachment("1-3", "2", "ttyACM1", "12")]
+        FakeLink.instances = []; FakeLink.identities = {}
+        self.service = Service(self.temp.name, lambda: self.attachments, FakeLink)
+        self.service.scan()
+
+    def tearDown(self): self.temp.cleanup()
+
+    def command(self, item=None, action="vesc.telemetry.read"):
+        item = item or self.service.inventory("node_synthetic")["items"][0]
+        now = datetime.now(timezone.utc); identifier = "op_" + uuid.uuid4().hex
+        return {"api_version": SCHEMA, "kind": "OperationRequest", "operation_id": identifier,
+                "idempotency_key": identifier, "session": {"session_id": item["snapshot"]["context"]["session_id"], "device_id": item["id"]},
+                "requested_at": now.isoformat(), "deadline_at": (now + timedelta(seconds=60)).isoformat(),
+                "action_id": action, "parameters": {}}
+
+    def test_two_attachments_promote_independently(self):
+        items = self.service.inventory("node_synthetic")["items"]
+        self.assertEqual(len({i["id"] for i in items}), 2)
+        self.assertTrue(all(i["id"] != i["attachment_id"] and i["verified"] for i in items))
+        result = self.service.execute(self.command(items[1]))
+        self.assertEqual(result["state"], "complete")
+        self.assertEqual(FakeLink.instances[0].commands, [0])
+        self.assertEqual(FakeLink.instances[1].commands, [0, 0, 4])
+
+    def test_uuid_collision_never_aliases_a_controller(self):
+        FakeLink.identities = {"1-2": 1, "1-3": 1}
+        for device in self.service.devices.values(): device.close()
+        self.service.scan()
+        items = self.service.inventory("node_synthetic")["items"]
+        self.assertEqual(len({i["id"] for i in items}), 2)
+        self.assertTrue(all(not i["verified"] for i in items))
+        with self.assertRaises(ValueError): self.service.execute(self.command(items[0]))
+
+    def test_reconnect_invalidates_old_session_but_retains_uuid(self):
+        old = self.service.inventory("node_synthetic")["items"][0]; command = self.command(old)
+        self.attachments = self.attachments[1:]; self.service.scan()
+        self.assertTrue(FakeLink.instances[0].closed)
+        FakeLink.identities["1-2"] = 1
+        self.attachments.append(Attachment("1-2", "3", "ttyACM4", "12")); self.service.scan()
+        current = next(i for i in self.service.inventory("node_synthetic")["items"] if i["id"] == old["id"])
+        self.assertNotEqual(current["snapshot"]["context"]["session_id"], old["snapshot"]["context"]["session_id"])
+        with self.assertRaises(ValueError): self.service.execute(command)
+
+    def test_receipt_replay_never_repeats_serial_query(self):
+        command = self.command(); first = self.service.execute(command)
+        before = list(FakeLink.instances[0].commands)
+        self.assertEqual(self.service.execute(command), first)
+        self.assertEqual(FakeLink.instances[0].commands, before)
+        command["action_id"] = "vesc.config.backup"
+        with self.assertRaises(ValueError): self.service.execute(command)
+
+    def test_native_process_exit_invalidates_session_before_reconnection(self):
+        old = self.service.inventory("node_synthetic")["items"][0]
+        command = self.command(old)
+        process = FakeLink.instances[0]
+        process.alive = False
+        self.service.scan()
+        current = next(i for i in self.service.inventory("node_synthetic")["items"] if i["id"] == old["id"])
+        self.assertTrue(process.closed)
+        self.assertNotEqual(current["snapshot"]["context"]["session_id"], old["snapshot"]["context"]["session_id"])
+        with self.assertRaises(ValueError): self.service.execute(command)
+
+    def test_backup_is_raw_hashed_and_bound_to_identity(self):
+        result = self.service.execute(self.command(action="vesc.config.backup"))
+        self.assertEqual(result["state"], "complete")
+        value = result["result"]
+        self.assertFalse(value["decoded"])
+        self.assertEqual(base64.b64decode(value["configs"]["motor"]["payload"])[0], 14)
+        backups = list(Path(self.temp.name).glob("backup_*.json"))
+        self.assertEqual(json.loads(backups[0].read_text()), value)
+        self.assertEqual(backups[0].stat().st_mode & 0o777, 0o600)
+        self.assertEqual(FakeLink.instances[0].commands, [0, 0, 14, 17, 0])
+
+    def test_arbitrary_writes_parameters_and_expired_requests_rejected(self):
+        for action in ("start", "stop", "settings.apply", "raw", "firmware.write"):
+            with self.assertRaises(ValueError): self.service.execute(self.command(action=action))
+        command = self.command(); command["parameters"] = {"packet": "anything"}
+        with self.assertRaises(ValueError): self.service.execute(command)
+        command = self.command(); command["deadline_at"] = command["requested_at"]
+        with self.assertRaises(ValueError): self.service.execute(command)
+        self.assertTrue(all(link.commands == [0] for link in FakeLink.instances))
+
+
+if __name__ == "__main__": unittest.main()

plugins/vesc/tests/test_receiver.py

@@ -0,0 +1,75 @@
+"""Firmware neutral-band regression and retained native failure evidence."""
+import json
+import struct
+import unittest
+
+import test_motor_test
+from test_motor_test import configuration
+from runtime.configuration import decode
+from runtime.receiver import active, neutral_band
+
+
+class ReceiverTests(unittest.TestCase):
+    def setUp(self):
+        self.case=test_motor_test.PulseTests('test_fixed_wire_commands_no_broadcast_and_no_parameters')
+        self.case.setUp(); self.addCleanup(self.case.tearDown)
+
+    def offset(self, device, level, band=None):
+        original=device.link.query
+        def query(code,timeout=2):
+            if code==31:return bytes([31])+struct.pack('>ii',int(level*1e6),1466000)
+            raw=original(code,timeout)
+            if code==17 and band is not None:
+                return configuration('application',{**decode(raw,'application'),'app_ppm_conf.hyst':band})
+            return raw
+        device.link.query=query
+
+    def test_inside_deadband_allows_test_without_changing_ppm_configuration(self):
+        c=self.case
+        for device in c.devices:self.offset(device,-.066)
+        before=[d.link.query(17) for d in c.devices]
+        result=c.service.execute(c.command_for_pulse())
+        self.assertEqual(result['state'],'complete',result)
+        self.assertEqual(result['result']['outcome'],'duration')
+        self.assertFalse(c.service.motor.latched)
+        self.assertEqual(before,[d.link.query(17) for d in c.devices])
+
+    def test_each_peer_uses_its_own_fresh_band_and_active_input_blocks_motion(self):
+        c=self.case
+        for device in c.devices:self.offset(device,-.066)
+        self.assertEqual(c.service.execute(c.command_for_pulse())['state'],'complete')
+        c.sent.clear()
+        self.offset(c.devices[1],-.066,.05)
+        result=c.service.execute(c.command_for_pulse())
+        self.assertEqual(result['state'],'error')
+        self.assertTrue(c.service.motor.latched)
+        self.assertEqual(c.sent,[])
+
+    def test_unknown_band_and_invalid_input_do_not_assume_neutral(self):
+        with self.assertRaises(ValueError):self.case.service.motor.receiver_active('missing',0)
+        for level,band in [(float('nan'),.15),(0,float('nan')),(0,0),(0,.8)]:
+            with self.assertRaises(ValueError):active(level,band)
+        self.assertFalse(active(.15,.15))
+        self.assertTrue(active(-.150001,.15))
+
+    def test_native_read_and_preflight_failures_keep_transport_diagnostics(self):
+        c=self.case
+        for action,code in [('vesc.input.read',31),('vesc.motor.pulse',17)]:
+            with self.subTest(action=action):
+                device=c.devices[0]; original=device.link.query
+                trace={'command':code,'stage':'native_response','transport':{'request_emitted':True,'packets_received':0}}
+                def query(actual,timeout=2):
+                    if actual==code:
+                        error=OSError('native timeout');error.native_rpc=trace;error.native_history=[trace]
+                        raise error
+                    return original(actual,timeout)
+                device.link.query=query
+                command=c.command_for_pulse() if action=='vesc.motor.pulse' else c.command(action=action)
+                result=c.service.execute(command)
+                self.assertEqual(result['state'],'error')
+                self.assertEqual(result['result']['failure']['native_rpc'],trace)
+                saved=json.loads((c.service.root/(command['operation_id']+'.json')).read_text())
+                self.assertEqual(saved['receipt'],result)
+                self.assertEqual(c.service.execute(command),result)
+                self.assertEqual(c.sent,[])
+                device.link.query=original

plugins/vesc/tests/test_remote_control.py

@@ -0,0 +1,307 @@
+import unittest
+from runtime.remote_control import InputLease
+
+def envelope(identifier='a'*32,seq=1,**kw):
+    return dict(id=identifier,sequence=seq,ttl_ms=300,left=1,right=-1,
+                settings=dict(standstill_confirmed=True,current_a=30,max_erpm=2000),**kw)
+
+class LeaseTests(unittest.TestCase):
+    def setUp(self):
+        self.now=0
+        self.lease=InputLease(lambda:self.now)
+
+    def test_no_duplicate_renewal_no_late_resume(self):
+        self.assertTrue(self.lease.accept(envelope()))
+        self.now=.2;self.assertFalse(self.lease.accept(envelope()))
+        self.now=.301;self.assertFalse(self.lease.live())
+        self.assertFalse(self.lease.accept(envelope(seq=2)))
+        self.assertFalse(self.lease.live())
+
+    def test_stop_is_terminal_even_with_newer_frames(self):
+        self.lease.accept(envelope());self.lease.stop()
+        self.assertFalse(self.lease.accept(envelope(seq=20)))
+        self.assertEqual(self.lease.demand,(0,0))
+
+    def test_identity_change_stops_instead_of_stealing(self):
+        self.lease.accept(envelope())
+        self.assertFalse(self.lease.accept(envelope('b'*32)))
+        self.assertFalse(self.lease.live())
+
+    def test_invalid_limits_and_nan(self):
+        for key,value in [('ttl_ms',401),('ttl_ms',0),('left',float('nan')),('right',2),('sequence',True)]:
+            item=envelope();item[key]=value
+            with self.subTest(key=key,value=value),self.assertRaises(ValueError):self.lease.accept(item)
+
+from types import SimpleNamespace
+from unittest.mock import patch
+import threading
+from runtime.remote_control import ControlEnded, RemoteControl
+
+
+class PreparationHandoffTests(unittest.TestCase):
+    """The observer and control worker share one hardware owner, not a queue."""
+    def setUp(self):
+        self.now = [0.]
+        self.attempted = threading.Event()
+        self.operation = threading.Lock()
+        self.operation.acquire()
+        case = self
+
+        class ObservedLock:
+            def acquire(self, *args, **kwargs):
+                case.attempted.set()
+                return case.operation.acquire(*args, **kwargs)
+
+            def release(self):
+                case.operation.release()
+
+        self.calls = []
+
+        def run(*args, **kwargs):
+            self.calls.append('prepare')
+            raise ControlEnded('synthetic completion')
+
+        profile = {'layout': '1x1', 'revision': 1, 'bindings': {
+            'left.1': {'device_id': 'left'}, 'right.1': {'device_id': 'right'}}}
+        service = SimpleNamespace(operation_lock=ObservedLock(), lock=threading.Lock(),
+            motor=SimpleNamespace(run=run), drive=SimpleNamespace(value=profile),
+            devices={'left': SimpleNamespace(link=object()), 'right': SimpleNamespace(link=object())})
+        self.remote = RemoteControl(service)
+        self.remote.lease = InputLease(lambda: self.now[0])
+        self.relay = 'b' * 32
+        self.remote.feed({'watch': True, 'command': None, 'relay_id': self.relay})
+
+    def start(self):
+        self.remote.feed({'watch': True, 'command': envelope(), 'relay_id': self.relay})
+        self.assertTrue(self.attempted.wait(1))
+
+    def finish(self):
+        self.operation.release()
+        self.remote.thread.join(1)
+        self.assertFalse(self.remote.thread.is_alive())
+
+    def tearDown(self):
+        self.remote.lease.stop()
+        if self.operation.locked():
+            self.operation.release()
+        if self.remote.thread:
+            self.remote.thread.join(1)
+
+    def test_existing_read_finishes_before_preparation(self):
+        self.start()
+        self.assertEqual(self.remote.state, 'preparing')
+        self.assertEqual(self.calls, [])
+        self.finish()
+        self.assertEqual(self.calls, ['prepare'])
+        self.assertEqual(self.remote.state, 'stopped')
+        self.assertFalse(self.operation.locked())
+
+    def test_stop_while_waiting_never_starts_preparation(self):
+        self.start()
+        self.remote.feed({'watch': True, 'command': None, 'relay_id': self.relay})
+        self.finish()
+        self.assertEqual(self.calls, [])
+        self.assertEqual(self.remote.state, 'stopped')
+
+    def test_expired_input_does_not_start_when_lock_is_released(self):
+        self.start()
+        self.now[0] = .301
+        self.finish()
+        self.assertEqual(self.calls, [])
+        self.assertFalse(self.remote.lease.live())
+
+    def test_long_operation_does_not_queue_preparation(self):
+        self.start()
+        self.remote.thread.join(1)
+        self.assertFalse(self.remote.thread.is_alive())
+        self.assertEqual(self.calls, [])
+        self.assertEqual(self.remote.state, 'fault')
+        self.assertTrue(self.operation.locked())
+
+    def test_observer_yields_to_waiting_control_worker(self):
+        self.start()
+        self.attempted.clear()
+        self.remote.observe()
+        # The observer does not even try to reacquire ownership.
+        # Its test devices intentionally have no serial read methods.
+        self.assertEqual(self.calls, [])
+        self.finish()
+        self.assertEqual(self.calls, ['prepare'])
+
+class DriveBoundaryTests(unittest.TestCase):
+    """Synthetic two-controller run: verify the actual output loop and cleanup."""
+    def run_drive(self, scenario, *, broken_read=False, through_prepare=False, minimum_erpm=900):
+        now=[0.]; logs=[]; restored=[]
+        profile={'layout':'1x1','revision':1,'bindings':{
+            'left.1':{'device_id':'left','uuid':'left'},
+            'right.1':{'device_id':'right','uuid':'right'}}}
+        service=SimpleNamespace(drive=SimpleNamespace(value=profile))
+        remote=RemoteControl(service)
+        remote._publish=lambda *args:None
+        remote.lease=InputLease(lambda:now[0]); remote.lease.accept(envelope())
+        remote.lease.demand=(0,0)
+        def value():return dict(fault_code=0,input_voltage_v=48,mos_temperature_c=25,
+            motor_current_a=0,input_current_a=0,erpm=0,duty=0,tachometer=0)
+        class Link:
+            def __init__(self,name):self.name=name
+            def query(self,code,timeout):
+                if broken_read and self.name=='right' and now[0]>=.2:raise TimeoutError('lost right controller')
+                if code==4:
+                    result=value()
+                    if scenario=='coasting' and self.name=='right' and .4<=now[0]<.8:result['erpm']=1000
+                    return result
+                return {'level':.8 if scenario=='receiver' and .2<=now[0]<.5 else 0}
+            def test_command(self,name):logs.append((now[0],self.name,name,0))
+            def test_speed(self,rpm):logs.append((now[0],self.name,'rpm',rpm))
+        devices=[SimpleNamespace(id=name,link=Link(name)) for name in ('left','right')]
+        owner=SimpleNamespace(stop=threading.Event(),latched=False,active=False,mode=None)
+        def state(s):owner.latched=s=='rc'
+        owner.state=state
+        owner.receiver_active=lambda _,level:abs(level)>.15
+        owner.limits=SimpleNamespace(apply=lambda d,*a:dict(l_current_max=35,l_max_erpm=100000,l_min_erpm=-100000,l_max_duty=.95,
+            s_pid_min_erpm=minimum_erpm[d.id] if isinstance(minimum_erpm,dict) else minimum_erpm),restore=lambda d:restored.append(d.id))
+        def sleep(delta):
+            now[0]+=delta
+            if now[0]>=2:owner.stop.set()
+            if remote.lease.live():
+                if scenario!='expire': remote.lease.until=now[0]+.4
+                remote.lease.demand=((-1,-1) if scenario=='reverse' and now[0]>=.4 else (1,1))
+                if scenario=='small': remote.lease.demand=(.2,-.2)
+                if scenario=='turn': remote.lease.demand=(-1,1)
+                if scenario=='release' and now[0]>=.4: remote.lease.demand=(0,0)
+                if scenario in ('turn-forward','coasting'):
+                    remote.lease.demand=(-1,1) if now[0]<.4 else (1,1)
+                if scenario=='paused-reverse':
+                    remote.lease.demand=(1,1) if now[0]<.4 else (0,0) if now[0]<1.2 else (-1,-1)
+                if scenario=='cancel-reverse':
+                    remote.lease.demand=(-1,-1) if .4<=now[0]<.6 else (1,1)
+        owner.sleep=sleep
+        command={'parameters':{'current_a':30,'erpm':2000}}
+        originals={d.id:{'motor':b'config'} for d in devices}
+        service.motor=owner;service.operation_lock=threading.Lock();service.lock=threading.Lock()
+        service.devices={d.id:d for d in devices}
+        owner.run=lambda command,devices,target,remote:remote.drive(owner,command,devices,devices,originals,lambda:None)
+        error=None
+        with patch('runtime.remote_control.time.monotonic',lambda:now[0]),patch('runtime.remote_control.values',lambda v:v),patch('runtime.remote_control.ppm',lambda v:v):
+            try:
+                if through_prepare: remote._prepare(envelope())
+                else: remote.drive(owner,command,devices,devices,originals,lambda:None)
+            except (ValueError,TimeoutError) as e:error=e
+        return logs,restored,remote,owner,error
+
+    def test_start_enters_each_configured_pid_range_without_dead_ramp(self):
+        log,_,_,_,error=self.run_drive('forward',minimum_erpm={'left':900,'right':1100.1})
+        self.assertIsNone(error)
+        for name,minimum in [('left',900),('right',1101)]:
+            commands=[v for v in log if v[1]==name and v[2]=='rpm']
+            self.assertLessEqual(commands[0][0],.2)
+            self.assertEqual(commands[0][3],minimum)
+            self.assertTrue(all(minimum<=v[3]<=2000 for v in commands))
+            for before,after in zip(commands,commands[1:]):
+                self.assertLessEqual(after[3]-before[3],600*(after[0]-before[0])+1e-6)
+
+    def test_turn_starts_with_opposite_signs_at_pid_threshold(self):
+        log,_,_,_,error=self.run_drive('turn')
+        self.assertIsNone(error)
+        for name,sign in [('left',-1),('right',1)]:
+            first=next(v for v in log if v[1]==name and v[2]=='rpm')
+            self.assertEqual(first[3],sign*900)
+
+    def test_subthreshold_request_is_released_never_amplified(self):
+        log,_,_,_,error=self.run_drive('small')
+        self.assertIsNone(error)
+        self.assertFalse(any(v[2]=='rpm' for v in log))
+
+    def test_release_still_has_no_ramp_or_minimum_speed(self):
+        log,_,_,_,error=self.run_drive('release')
+        self.assertIsNone(error)
+        self.assertTrue(any(v[2]=='rpm' for v in log))
+        self.assertFalse(any(v[2]=='rpm' and v[0]>=.4 for v in log))
+
+    def test_invalid_or_unreachable_pid_threshold_never_claims_output(self):
+        for minimum in [-1,float('nan'),float('inf'),2000.1]:
+            with self.subTest(minimum=minimum):
+                log,_,_,_,error=self.run_drive('forward',minimum_erpm=minimum)
+                self.assertIsInstance(error,ValueError)
+                self.assertFalse(any(v[2] in ('rpm','claim') for v in log))
+
+    def test_turn_to_forward_releases_both_and_restarts_in_same_cycle(self):
+        log,_,_,_,error=self.run_drive('turn-forward')
+        self.assertIsNone(error)
+        restarts={name:next(v[0] for v in log if v[1]==name and v[2]=='rpm' and v[0]>=.4)
+                  for name in ('left','right')}
+        self.assertEqual(restarts['left'],restarts['right'])
+        self.assertGreaterEqual(restarts['left'],.9)
+        self.assertFalse(any(v[2]=='rpm' and .4<=v[0]<restarts['left'] for v in log))
+        self.assertTrue(all(v[3]>0 for v in log if v[2]=='rpm' and v[0]>=restarts['left']))
+
+    def test_shared_reversal_waits_for_every_motor_to_be_quiet(self):
+        log,_,_,_,error=self.run_drive('coasting')
+        self.assertIsNone(error)
+        first=next(v[0] for v in log if v[2]=='rpm' and v[0]>=.4)
+        self.assertGreaterEqual(first,1.3)
+        self.assertFalse(any(v[2]=='rpm' and .4<=v[0]<1.3 for v in log))
+
+    def test_neutral_pause_counts_before_reversal_command(self):
+        log,_,_,_,error=self.run_drive('paused-reverse')
+        self.assertIsNone(error)
+        first=next(v[0] for v in log if v[2]=='rpm' and v[3]<0)
+        self.assertLess(first,1.4)
+
+    def test_cancelled_reversal_never_emits_old_direction(self):
+        log,_,_,_,error=self.run_drive('cancel-reverse')
+        self.assertIsNone(error)
+        self.assertFalse(any(v[2]=='rpm' and v[3]<0 for v in log))
+        self.assertTrue(any(v[2]=='rpm' and v[0]>=.6 for v in log))
+
+    def test_expired_browser_lease_releases_every_controller(self):
+        log,restored,remote,owner,error=self.run_drive('expire')
+        self.assertIsNotNone(error)
+        self.assertFalse(any(row[2]=='rpm' and row[0]>=.3 for row in log))
+        self.assertEqual(set(restored),{'left','right'})
+        self.assertTrue(remote.release_confirmed)
+        self.assertTrue(any(row[2]=='rpm' for row in log))
+        for name in ('left','right'):self.assertEqual([v[2] for v in log if v[1]==name][-1],'release')
+
+    def test_terminal_lease_reports_stopped_after_verified_cleanup(self):
+        log,restored,remote,owner,error=self.run_drive('expire',through_prepare=True)
+        self.assertIsNone(error)
+        self.assertEqual(remote.state,'stopped')
+        self.assertIsNone(remote.message)
+        self.assertTrue(remote.release_confirmed)
+        self.assertTrue(any(row[2]=='rpm' for row in log))
+        self.assertEqual(set(restored),{'left','right'})
+        self.assertFalse(remote.service.operation_lock.locked())
+
+    def test_session_wrapper_preserves_unconfirmed_release_fault(self):
+        _,_,remote,owner,error=self.run_drive('lost',broken_read=True,through_prepare=True)
+        self.assertEqual(remote.state,'fault')
+        self.assertFalse(remote.release_confirmed)
+        self.assertIn('не подтверждено',remote.message)
+        self.assertFalse(remote.service.operation_lock.locked())
+
+    def test_receiver_first_gesture_holds_zero_until_neutral(self):
+        log,restored,remote,owner,error=self.run_drive('receiver')
+        self.assertIsNone(error)
+        self.assertTrue(any(v[2]=='rpm' for v in log))
+        self.assertFalse(any(v[2]=='rpm' and v[0]>=.2 for v in log))
+        self.assertTrue(owner.latched)
+        self.assertEqual(remote.state,'receiver')
+        self.assertGreaterEqual(max(v[0] for v in log),.9)
+
+    def test_reversal_has_zero_interval(self):
+        log,_,_,_,error=self.run_drive('reverse')
+        self.assertIsNone(error)
+        first_negative=min(v[0] for v in log if v[2]=='rpm' and v[3]<0)
+        self.assertGreaterEqual(first_negative,.9)
+        self.assertFalse(any(v[2]=='rpm' and .4<=v[0]<.9 for v in log))
+
+    def test_one_port_failure_stops_both_and_does_not_claim_confirmed_release(self):
+        log,restored,remote,owner,error=self.run_drive('lost',broken_read=True)
+        self.assertIsInstance(error,TimeoutError)
+        self.assertFalse(any(v[2]=='rpm' and v[0]>=.2 for v in log))
+        self.assertFalse(remote.release_confirmed)
+        self.assertTrue(owner.latched)
+        self.assertEqual(remote.state,'fault')
+        self.assertIn('не подтверждено',remote.message)
+        self.assertEqual(set(restored),{'left','right'})

plugins/vesc/tests/test_reverse_speed.py

@@ -0,0 +1,136 @@
+"""Signed upstream speed commands retain timing, preflight and RC interlocks."""
+import struct
+import unittest
+
+import test_speed_and_hall
+import test_group_test
+from test_motor_test import configuration
+from runtime.configuration import decode
+from runtime.protocol import Decoder, speed_packet
+from runtime.speed_hold import SpeedHold
+
+
+class ReverseTests(unittest.TestCase):
+    def setUp(self):
+        self.rig = test_speed_and_hall.RunTests('test_thirty_seconds_excludes_ramp_and_settle_and_restores_limits')
+        self.rig.setUp()
+        self.addCleanup(self.rig.doCleanups)
+        self.case = self.rig.case
+
+    def command(self):
+        command = self.rig.run_command()
+        command['parameters']['erpm'] = -3000
+        return command
+
+    def test_reverse_holds_thirty_seconds_with_signed_ramp_and_restores(self):
+        result = self.case.service.execute(self.command())['result']
+        self.assertEqual(result['outcome'], 'duration', result)
+        self.assertGreaterEqual(result['rotation_s'], 30)
+        self.assertGreater(result['samples'][-1]['at'], 35)
+        speeds = [v for _, v in self.rig.speeds]
+        self.assertEqual(speeds[0], -1)
+        self.assertEqual(speeds[-1], -3000)
+        self.assertTrue(all(-3000 <= v < 0 for v in speeds))
+        self.assertTrue(all(-31 <= b-a <= 0 for a, b in zip(speeds, speeds[1:])))
+        self.assertTrue(result['release_confirmed'])
+        self.assertTrue(result['limits_restored'])
+        self.assertEqual(self.rig.configs, self.rig.originals)
+        self.assertEqual(len(result['preflight']['samples']), 20)
+
+    def test_missing_false_or_nonboolean_stop_confirmation_never_writes(self):
+        for confirmation in (None, False, 1, 'true'):
+            command = self.command()
+            if confirmation is None: del command['parameters']['standstill_confirmed']
+            else: command['parameters']['standstill_confirmed'] = confirmation
+            with self.assertRaises(ValueError): self.case.service.execute(command)
+        self.assertEqual(self.rig.speeds, [])
+        self.assertEqual(self.case.sent, [])
+
+    def test_unsigned_size_bounds_are_checked_for_both_directions(self):
+        for erpm in (0, 299, -299, 3001, -3001, True, float('nan'), float('inf')):
+            command = self.command(); command['parameters']['erpm'] = erpm
+            with self.assertRaises(ValueError): self.case.service.execute(command)
+        self.assertEqual(self.rig.speeds, [])
+
+    def test_reverse_respects_configured_negative_limit(self):
+        target = self.case.devices[0]
+        motor = decode(self.rig.configs[target.id], 'motor')
+        self.rig.configs[target.id] = configuration('motor', {**motor, 'l_min_erpm': -1000})
+        self.assertEqual(self.case.service.execute(self.command())['state'], 'error')
+        self.assertEqual(self.rig.speeds, [])
+
+    def test_sensorless_idle_observation_rejects_modulation_above_one_quantum(self):
+        peer = self.case.devices[1]
+        motor = decode(self.rig.configs[peer.id], 'motor')
+        self.rig.configs[peer.id] = configuration('motor', {**motor, 'foc_sensor_mode': 0})
+        original = peer.link.query
+        reads = 0
+        def query(code, timeout=2):
+            nonlocal reads
+            raw = original(code, timeout)
+            if code == 4:
+                reads += 1
+                raw = raw[:23] + struct.pack('>i', -160) + raw[27:]
+                if reads >= 6: raw = raw[:21] + struct.pack('>h', 2) + raw[23:]
+            return raw
+        peer.link.query = query
+        result = self.case.service.execute(self.command())
+        self.assertEqual(result['state'], 'error')
+        self.assertEqual(self.rig.speeds, [])
+        self.assertEqual(self.rig.sets, [])
+
+    def test_attended_sensorless_peer_drift_allows_test_and_explicit_release(self):
+        peer = self.case.devices[1]
+        motor = decode(self.rig.configs[peer.id], 'motor')
+        self.rig.configs[peer.id] = configuration('motor', {**motor, 'foc_sensor_mode': 0})
+        query = peer.link.query
+        def read(code, timeout=2):
+            raw = query(code, timeout)
+            return raw[:23] + struct.pack('>i', -160) + raw[27:] if code == 4 else raw
+        peer.link.query = read
+        self.case.service.motor.state('rc')
+        release = self.case.command_for_pulse()
+        release['action_id'] = 'vesc.control.release'
+        release['parameters']['standstill_confirmed'] = True
+        receipt = self.case.service.execute(release)
+        self.assertEqual(receipt['state'], 'complete', receipt)
+        self.assertFalse(self.case.service.motor.latched)
+        self.assertEqual(self.rig.speeds, [])
+        result = self.case.service.execute(self.command())['result']
+        self.assertEqual(result['outcome'], 'duration', result)
+        self.assertTrue(any(s['values']['erpm'] == -160 for s in result['preflight']['samples']))
+
+    def test_reverse_rc_preemption_latches_without_restart(self):
+        speed = self.case.devices[0].link.test_speed
+        def send(value):
+            speed(value)
+            self.case.changed = True
+        self.case.devices[0].link.test_speed = send
+        result = self.case.service.execute(self.command())['result']
+        self.assertEqual(len(self.rig.speeds), 1)
+        self.assertTrue(self.case.service.motor.latched)
+        self.assertEqual(result['rotation_s'], 0)
+        self.assertTrue(result['release_confirmed'])
+
+
+class ReverseClockTests(unittest.TestCase):
+    def test_wrong_direction_never_counts_even_with_changing_tachometer(self):
+        hold = SpeedHold(-3000, 30, 0)
+        for i in range(151): _, _, error = hold.update(i/10, {'erpm':3000, 'tachometer':i})
+        self.assertEqual(hold.rotation_s, 0)
+        self.assertIsNone(hold.hold_started)
+        self.assertIn('не вышел', error)
+
+    def test_signed_wire_is_int32_not_absolute_value(self):
+        self.assertEqual(Decoder().feed(speed_packet(-3000)), [bytes([8])+struct.pack('>i', -3000)])
+
+    def test_common_reverse_holds_all_motors_and_restores(self):
+        rig = test_group_test.GroupTests('test_pair_and_four_motors_run_one_common_interval_and_restore')
+        rig.setUp(); self.addCleanup(rig.doCleanups)
+        command = rig.command(); command['parameters']['erpm'] = -3000
+        result = rig.case.service.execute(command)['result']
+        self.assertEqual(result['outcome'], 'duration', result)
+        self.assertGreaterEqual(result['rotation_s'], 3)
+        self.assertTrue(all(-3000 <= v < 0 for _, v in rig.commands))
+        self.assertTrue(result['limits_restored'])
+        self.assertEqual(rig.configs, rig.originals)

plugins/vesc/tests/test_speed_and_hall.py

@@ -0,0 +1,206 @@
+"""Fault injection for true hold time, volatile limits and native Hall lifecycle."""
+import struct
+import unittest
+
+import test_motor_test
+from test_motor_test import configuration
+from runtime.configuration import decode
+from runtime.protocol import Decoder, speed_packet, hall_packet
+from runtime.temporary_limits import FIELDS, packet
+from runtime.speed_hold import SpeedHold
+from runtime.hall_detection import parse_result
+
+
+class RunTests(unittest.TestCase):
+    def setUp(self):
+        self.case = test_motor_test.PulseTests('test_fixed_wire_commands_no_broadcast_and_no_parameters')
+        self.case.setUp()
+        self.addCleanup(self.case.tearDown)
+        c = self.case
+        self.configs = {}
+        self.speeds = []
+        self.moving = True
+        self.tacho = 0
+        self.hall_started = None
+        self.sets = []
+        for device in c.devices:
+            self.configs[device.id] = configuration('motor', {**decode(c.motor,'motor'),
+                'l_current_min':-60,'l_current_max_scale':1,'l_current_min_scale':1})
+            original = device.link.query
+            def query(code,timeout=2,original=original,device=device):
+                if code == 14: return self.configs[device.id]
+                raw = original(code,timeout)
+                if code == 4 and device is c.devices[0]:
+                    if self.hall_started is not None and c.clock.now - self.hall_started >= 12:
+                        device.link.hall_result = bytes([28,255,1,34,67,100,134,167,255,0])
+                    if self.moving and self.speeds:
+                        self.tacho += 6
+                        rpm = round(self.speeds[-1][1])
+                        raw = raw[:23]+struct.pack('>i',rpm)+raw[27:]
+                        raw = raw[:45]+struct.pack('>ii',self.tacho,self.tacho)+raw[53:]
+                return raw
+            device.link.query = query
+            def set_limits(config,device=device):
+                self.sets.append((device.id,config))
+                old = decode(self.configs[device.id],'motor')
+                self.configs[device.id] = configuration('motor',{**old,**{k:config[k] for k in FIELDS}})
+            device.link.set_temporary_limits = set_limits
+            device.link.test_speed = lambda speed,device=device:self.speeds.append((device.id,speed))
+            device.link.hall_result = None
+            device.link.hall_pending = False
+            def hall(device=device):
+                self.hall_started = c.clock.now
+                device.link.hall_pending = True
+            device.link.detect_hall = hall
+        self.originals = dict(self.configs)
+
+    def run_command(self):
+        command = self.case.command_for_pulse()
+        command['action_id'] = 'vesc.motor.run'
+        command['parameters'].update(erpm=1200,current_a=30,duration_s=30,standstill_confirmed=True)
+        from datetime import datetime,timedelta
+        command['deadline_at']=(datetime.fromisoformat(command['requested_at'])+timedelta(seconds=90)).isoformat()
+        return command
+
+    def test_thirty_seconds_excludes_ramp_and_settle_and_restores_limits(self):
+        result=self.case.service.execute(self.run_command())['result']
+        self.assertEqual(result['outcome'],'duration',result['outcome'])
+        self.assertGreaterEqual(result['rotation_s'],30)
+        self.assertLess(result['rotation_s'],30.1)
+        self.assertGreater(result['samples'][-1]['at'],32)
+        self.assertTrue(result['release_confirmed'])
+        self.assertTrue(result['limits_restored'])
+        self.assertEqual(self.configs,self.originals)
+        self.assertEqual({device for device,_ in self.speeds},{self.case.devices[0].id})
+        applied=self.sets[0][1]
+        self.assertAlmostEqual(applied['l_current_max']*applied['l_current_max_scale'],30)
+        self.assertAlmostEqual(applied['l_current_min']*applied['l_current_min_scale'],-30)
+        self.assertFalse(list(self.case.service.root.glob('limits_*.json')))
+
+    def test_stationary_motor_never_counts_command_time_as_rotation(self):
+        self.moving=False
+        result=self.case.service.execute(self.run_command())['result']
+        self.assertEqual(result['rotation_s'],0)
+        self.assertIn('не вышел',result['outcome'])
+        self.assertGreaterEqual(result['samples'][-1]['at'],15)
+        self.assertTrue(result['limits_restored'])
+
+    def test_lost_ack_after_limit_write_restores_before_any_speed_command(self):
+        target=self.case.devices[0]
+        original=target.link.set_temporary_limits
+        def send(config):
+            original(config)
+            if len(self.sets)==1:raise TimeoutError('lost ACK after applying')
+        target.link.set_temporary_limits=send
+        result=self.case.service.execute(self.run_command())['result']
+        self.assertEqual(self.speeds,[])
+        self.assertTrue(result['limits_restored'])
+        self.assertEqual(self.configs,self.originals)
+
+    def test_pending_limits_recovered_after_interruption_without_motor_command(self):
+        target=self.case.devices[0]
+        self.case.service.motor.limits.apply(target,self.originals[target.id],5)
+        self.assertTrue(self.case.service.motor.limits.pending(target))
+        self.case.service.scan()
+        self.assertEqual(self.configs,self.originals)
+        self.assertEqual(self.speeds,[])
+        self.assertFalse(self.case.service.motor.limits.pending(target))
+
+    def test_external_configuration_change_never_overwritten_by_recovery(self):
+        target=self.case.devices[0]
+        self.case.service.motor.limits.apply(target,self.originals[target.id],5)
+        self.configs[target.id]=configuration('motor',{**decode(self.configs[target.id],'motor'),'foc_motor_r':0.1})
+        before=self.configs[target.id]
+        self.case.service.scan()
+        self.assertEqual(before,self.configs[target.id])
+        self.assertTrue(self.case.service.motor.limits.pending(target))
+        self.assertEqual(self.case.service.execute(self.run_command())['state'],'error')
+        self.assertEqual(self.speeds,[])
+
+    def test_native_hall_returns_measured_table_without_applying_it(self):
+        command=self.case.command(action='vesc.hall.measure')
+        command['parameters']={'rig_clear':True,'standstill_confirmed':True,'native_cycle_confirmed':True,
+             'sessions':{d.id:d.session for d in self.case.devices}}
+        receipt=self.case.service.execute(command)
+        self.assertEqual(receipt['state'],'complete',receipt)
+        result=receipt['result']
+        self.assertTrue(result['completed'])
+        self.assertTrue(result['measurement']['valid_six_states'])
+        self.assertTrue(result['configuration_restored'])
+        self.assertTrue(result['release_confirmed'])
+        self.assertFalse(result['configuration_written'])
+        self.assertEqual(self.configs,self.originals)
+        self.assertEqual(self.speeds,[])
+        self.assertFalse((self.case.service.root/'hall-pending.json').exists())
+        started=self.hall_started
+        self.assertEqual(self.case.service.execute(command),receipt)
+        self.assertEqual(started,self.hall_started)
+
+    def test_native_hall_requires_its_own_explicit_confirmation(self):
+        command=self.case.command(action='vesc.hall.measure')
+        command['parameters']={'rig_clear':True,'standstill_confirmed':True,'native_cycle_confirmed':False,
+             'sessions':{d.id:d.session for d in self.case.devices}}
+        with self.assertRaises(ValueError):self.case.service.execute(command)
+        self.assertIsNone(self.hall_started)
+
+    def test_rc_preemption_releases_speed_control_and_restores_limits(self):
+        original=self.case.devices[0].link.test_speed
+        def speed(value):
+            original(value)
+            self.case.changed=True
+        self.case.devices[0].link.test_speed=speed
+        result=self.case.service.execute(self.run_command())['result']
+        self.assertEqual(len(self.speeds),1)
+        self.assertEqual(result['rotation_s'],0)
+        self.assertTrue(self.case.service.motor.latched)
+        # Restoring while a receiver actively commands would enlarge RC torque;
+        # keep the lower limits until neutral, then recover without auto-start.
+        self.assertFalse(result['limits_restored'])
+        self.case.changed=False
+        self.case.service.scan()
+        self.assertEqual(self.configs,self.originals)
+        self.assertTrue(self.case.service.motor.latched)
+        self.assertEqual(len(self.speeds),1)
+
+    def test_hall_result_timeout_latches_and_never_starts_a_second_cycle(self):
+        self.case.devices[0].link.detect_hall=lambda:None
+        command=self.case.command(action='vesc.hall.measure')
+        command['parameters']={'rig_clear':True,'standstill_confirmed':True,'native_cycle_confirmed':True,
+             'sessions':{d.id:d.session for d in self.case.devices}}
+        result=self.case.service.execute(command)['result']
+        self.assertFalse(result['completed'])
+        self.assertTrue((self.case.service.root/'hall-pending.json').exists())
+        self.assertTrue(self.case.service.motor.latched)
+        self.assertEqual(self.case.service.execute(self.run_command())['state'],'error')
+
+
+class HoldClockTests(unittest.TestCase):
+    def test_interrupted_motion_and_usb_gap_are_excluded(self):
+        hold=SpeedHold(1200,30,0)
+        for i in range(40):hold.update(i/10,{'erpm':1200,'tachometer':i})
+        before=hold.rotation_s
+        hold.update(4.5,{'erpm':1200,'tachometer':50})
+        self.assertEqual(hold.rotation_s,before)
+        hold.update(4.6,{'erpm':0,'tachometer':50})
+        self.assertEqual(hold.rotation_s,before)
+        _,_,error=hold.update(6.7,{'erpm':0,'tachometer':50})
+        self.assertIn('перестал удерживать',error)
+
+    def test_speed_without_changing_tachometer_never_starts_timer(self):
+        hold=SpeedHold(1200,30,0)
+        for i in range(151):_,_,error=hold.update(i/10,{'erpm':1200,'tachometer':0})
+        self.assertEqual(hold.rotation_s,0)
+        self.assertIsNone(hold.hold_started)
+        self.assertIn('не вышел',error)
+
+    def test_exact_native_wire_no_flash_no_can_and_hall_failure(self):
+        self.assertEqual(Decoder().feed(speed_packet(1200)),[bytes([8])+struct.pack('>i',1200)])
+        self.assertEqual(Decoder().feed(hall_packet()),[bytes([28])+struct.pack('>i',5000)])
+        wire=Decoder().feed(packet(dict.fromkeys(FIELDS,1.0)))[0]
+        self.assertEqual(wire[:5],bytes([48,0,0,1,0]))
+        self.assertEqual(len(wire),45)
+        failure=parse_result(bytes([28,255,255,255,100,255,255,255,255,1]))
+        self.assertFalse(failure['valid_six_states'])
+        self.assertEqual(failure['observed_states'],[3])
+        for value in (float('nan'),float('inf'),-3001,3001,True):
+            with self.assertRaises(ValueError):speed_packet(value)

plugins/vesc/tests/test_upgrade.py

@@ -0,0 +1,26 @@
+"""Regression for deterministic package mtimes and root-created Python caches."""
+import os
+from pathlib import Path
+import py_compile
+import runpy
+import subprocess
+import sys
+import tempfile
+import unittest
+
+
+class UpgradeTests(unittest.TestCase):
+    def test_same_size_source_with_old_pyc_loads_new_version_after_installer_step(self):
+        clear = runpy.run_path(str(Path(__file__).parents[1] / "packaging/clear_runtime_cache.py"))["clear"]
+        with tempfile.TemporaryDirectory() as tmp:
+            root = Path(tmp); package = root / "runtime"; package.mkdir()
+            init = package / "__init__.py"; init.write_text('VERSION="0.1.0"\n'); os.utime(init,(0,0))
+            py_compile.compile(str(init),doraise=True)
+            init.write_text('VERSION="0.2.0"\n');os.utime(init,(0,0))
+            backup=root/'backup.json';backup.write_text('preserve')
+            code='import sys;sys.path.insert(0,sys.argv[1]);import runtime;print(runtime.VERSION)'
+            def version():return subprocess.check_output([sys.executable,'-I','-B','-c',code,str(root)],text=True).strip()
+            self.assertEqual(version(),'0.1.0')
+            clear(root);clear(root)
+            self.assertEqual(version(),'0.2.0')
+            self.assertEqual(backup.read_text(),'preserve')

src/k1link/device_plugins/vesc/__init__.py

@@ -0,0 +1 @@
+"""VESC configuration storage on Core; serial execution remains on the board."""

src/k1link/device_plugins/vesc/archive.py

@@ -0,0 +1,131 @@
+"""Immutable VESC backups, shared by Core and the packaged board plugin.
+
+Storage has no hardware or restore authority. Versions survive transient
+operation receipt cleanup, reboots and controller disconnects.
+"""
+import base64
+import hashlib
+import json
+import re
+import sqlite3
+from datetime import datetime
+from pathlib import Path
+from contextlib import contextmanager
+
+
+def validate(value):
+    if not isinstance(value, dict) or len(json.dumps(value)) > 40000:
+        raise ValueError("Invalid configuration backup")
+    if value.get("schema") != "missioncore.vesc.config-backup/v1":
+        raise ValueError("Unsupported backup format")
+    if not re.fullmatch(r"op_[0-9a-f]{32}", value.get("operation_id", "")):
+        raise ValueError("Invalid backup identity")
+    identity = value["identity"]
+    uid = identity["uuid"]
+    if not re.fullmatch(r"[0-9a-f]{24}", uid) or int(uid, 16) == 0:
+        raise ValueError("Invalid controller identity")
+    expected = "vesc_" + hashlib.sha256(("uuid:" + uid).encode()).hexdigest()[:32]
+    if value.get("device_id") != expected:
+        raise ValueError("Backup controller mismatch")
+    if datetime.fromisoformat(value["observed_at"].replace("Z", "+00:00")).tzinfo is None:
+        raise ValueError("Backup time is missing its timezone")
+    if set(value["configs"]) != {"motor", "application"}:
+        raise ValueError("Incomplete backup")
+    for key, command in (("motor", 14), ("application", 17)):
+        blob = value["configs"][key]
+        data = base64.b64decode(blob["payload"], validate=True)
+        if (blob.get("encoding") != "base64" or not 5 <= len(data) <= 10000
+                or data[0] != command or blob["bytes"] != len(data)
+                or blob["sha256"] != hashlib.sha256(data).hexdigest()
+                or blob["signature_hex"] != data[1:5].hex()):
+            raise ValueError("Backup integrity check failed")
+    return value
+
+
+def metadata(sequence, value):
+    return {"sequence": sequence, "id": value["operation_id"], "device_id": value["device_id"],
+            "observed_at": value["observed_at"], "firmware": value["identity"]["version"],
+            "configs": {key: {"sha256": blob["sha256"], "bytes": blob["bytes"]}
+                        for key, blob in value["configs"].items()}}
+
+
+class Archive:
+    def __init__(self, root):
+        root = Path(root)
+        root.mkdir(mode=0o700, parents=True, exist_ok=True)
+        if root.is_symlink() or root.stat().st_mode & 0o077:
+            raise ValueError("Configuration archive must be private")
+        self.path = root / "configurations.sqlite3"
+        if self.path.is_symlink():
+            raise ValueError("Invalid configuration archive path")
+        with self.connect() as db:
+            db.execute("CREATE TABLE IF NOT EXISTS versions (seq INTEGER PRIMARY KEY AUTOINCREMENT, "
+                       "node TEXT NOT NULL, device TEXT NOT NULL, operation TEXT NOT NULL, "
+                       "body TEXT NOT NULL, UNIQUE(node,device,operation))")
+        self.path.chmod(0o600)
+
+    @contextmanager
+    def connect(self):
+        db = sqlite3.connect(self.path, timeout=10)
+        try:
+            db.execute("PRAGMA synchronous=FULL")
+            with db:
+                yield db
+        finally:
+            db.close()
+
+    def add(self, node, value):
+        validate(value)
+        body = json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":"))
+        with self.connect() as db:
+            existing = db.execute("SELECT body FROM versions WHERE node=? AND device=? AND operation=?",
+                                  (node, value["device_id"], value["operation_id"])).fetchone()
+            if existing:
+                if existing[0] != body:
+                    raise ValueError("An immutable configuration version changed")
+                return
+            db.execute("INSERT INTO versions(node,device,operation,body) VALUES(?,?,?,?)",
+                       (node, value["device_id"], value["operation_id"], body))
+
+    def listing(self, node, device, before=0):
+        if type(before) is not int or before < 0:
+            raise ValueError("Invalid archive cursor")
+        with self.connect() as db:
+            rows = db.execute("SELECT seq,body FROM versions WHERE node=? AND device=? "
+                              "AND (?=0 OR seq<?) ORDER BY seq DESC LIMIT 51",
+                              (node, device, before, before)).fetchall()
+        return {"items": [metadata(seq, json.loads(body)) for seq, body in rows[:50]],
+                "next": str(rows[49][0]) if len(rows) > 50 else None}
+
+    def read(self, node, device, operation):
+        with self.connect() as db:
+            row = db.execute("SELECT body FROM versions WHERE node=? AND device=? AND operation=?",
+                             (node, device, operation)).fetchone()
+        if row is None:
+            raise ValueError("Configuration version not found")
+        return json.loads(row[0])
+
+    def export(self, node, after):
+        if type(after) is not int or after < 0:
+            raise ValueError("Invalid archive cursor")
+        with self.connect() as db:
+            rows = db.execute("SELECT seq,body FROM versions WHERE node=? AND seq>? ORDER BY seq LIMIT 4",
+                              (node, after)).fetchall()
+        return {"after": after, "items": [{"sequence": seq, "backup": json.loads(body)} for seq, body in rows],
+                "next": rows[-1][0] if rows else after}
+
+    def receive(self, node, batch):
+        if not isinstance(batch, dict) or len(json.dumps(batch)) > 165000:
+            raise ValueError("Invalid archive batch")
+        items, last = batch.get("items"), batch.get("after")
+        if not isinstance(items, list) or len(items) > 4 or type(last) is not int or last < 0:
+            raise ValueError("Invalid archive batch")
+        for row in items:
+            seq = row["sequence"]
+            if type(seq) is not int or seq <= last:
+                raise ValueError("Invalid archive sequence")
+            self.add(node, row["backup"])
+            last = seq
+        if batch.get("next") != last:
+            raise ValueError("Invalid archive acknowledgement")
+        return last

src/k1link/fleet/registry.py

@@ -1,6 +1,7 @@
 from __future__ import annotations
 
 import json
+import logging
 import secrets
 import sqlite3
 import threading
@@ -36,6 +37,8 @@ class FleetRegistry:
         from .monitor import MonitorReceiver
 
         self.monitor = MonitorReceiver(root)
+        from .rover_control import RoverControl
+        self.rover_control = RoverControl()
         self.trust = CoreTrust(root)
         path = root / "fleet.sqlite3"
         if path.is_symlink():
@@ -50,6 +53,16 @@ class FleetRegistry:
             "node_id TEXT UNIQUE NOT NULL, body TEXT NOT NULL)"
         )
         self.db.commit()
+        from k1link.device_plugins.vesc.archive import Archive
+
+        self.vesc_archive = Archive(root / "vesc-configurations")
+        # Preserve pre-archive releases' completed backups before the ordinary
+        # short-lived operation receipts are pruned.
+        for row in self.rows():
+            for receipt in row.get("sensor_commands", {}).values():
+                if receipt.get("state") == "complete" and receipt.get("command", {}).get("action_id") == "vesc.config.backup":
+                    with suppress(ValueError, KeyError, TypeError):
+                        self.vesc_archive.add(row["node_id"], receipt["result"])
         self.previews: dict[str, dict] = {}
         self.listeners: dict[str, object] = {}
         self.stop = threading.Event()
@@ -359,7 +372,11 @@ class FleetRegistry:
         if not isinstance(key, Ed25519PublicKey):
             return 403, {"error": "Unauthorized Node"}
         node_id = public_id("node_", key)
+        entered = time.monotonic()
         with self.lock:
+            waited = time.monotonic() - entered
+            if waited > .025:
+                logging.getLogger(__name__).warning("fleet timing path=%s lock_ms=%.1f", path, waited*1000)
             row = next((item for item in self.rows() if item["node_id"] == node_id), None)
             if (
                 row is None
@@ -390,7 +407,7 @@ class FleetRegistry:
                 )
                 self.save(row)
                 return 200, {"ok": True}
-            if path != "/v1/node/heartbeat":
+            if path not in ("/v1/node/heartbeat", "/v1/node/rover", "/v1/node/rover-stream"):
                 return 404, {"error": "Unknown operation"}
             # Endpoint revisions prevent an old in-flight heartbeat or lost ack
             # from reversing a migration. Use the actual listener, not a claimed IP.
@@ -411,11 +428,33 @@ class FleetRegistry:
                 row["core_address"] = address
                 row["binding"]["endpoint"] = value["core_endpoint"]
                 row["binding"]["endpoint_revision"] = revision
+            if path in ("/v1/node/rover", "/v1/node/rover-stream"):
+                if row["enrollment"] != "paired":
+                    return 410, {"error": "Pairing incomplete"}
+                if path.endswith("-stream"):
+                    relay = value.get("relay_id")
+                    if not isinstance(relay, str) or len(relay) != 32:
+                        return 400, {"error": "Invalid relay"}
+                    return 200, self.rover_control.stream(node_id, relay)
+                return 200, self.rover_control.exchange(node_id, value)
             binding = ExecutionBinding.model_validate(value["execution_binding"])
             if binding.node_id != node_id or binding.platform.value != "linux":
                 return 400, {"error": "Invalid Node inventory"}
             sensor_state = sensors.validate_inventory(value, node_id)
             sensor_response = sensors.heartbeat(row, value)
+            archive_ack = None
+            archive_started = time.monotonic()
+            try:
+                if "vesc_configurations" in value:
+                    archive_ack = self.vesc_archive.receive(node_id, value["vesc_configurations"])
+                for receipt in row.get("sensor_commands", {}).values():
+                    if receipt.get("state") == "complete" and receipt.get("command", {}).get("action_id") == "vesc.config.backup":
+                        self.vesc_archive.add(node_id, receipt["result"])
+            except (ValueError, KeyError, TypeError, sqlite3.Error, OSError):
+                # No archive acknowledgement until durable storage succeeds.
+                # Archive failure must never delay a control/stop response.
+                archive_ack = None
+            archive_elapsed = time.monotonic() - archive_started
             enrollment_response = self.device_enrollment.heartbeat(row, value)
             host = value.get("host")
             if (
@@ -441,7 +480,12 @@ class FleetRegistry:
                     "until": time.time() + 3600,
                 }
                 row["binding"]["client_pem"] = self.trust.leaf(node_id, key)
+            save_started = time.monotonic()
             self.save(row)
+            save_elapsed = time.monotonic() - save_started
+            if archive_elapsed > .025 or save_elapsed > .025:
+                logging.getLogger(__name__).warning(
+                    "fleet heartbeat timing archive_ms=%.1f save_ms=%.1f", archive_elapsed*1000, save_elapsed*1000)
             monitor_ack = None
             try:
                 monitor_ack = self.monitor.submit(node_id, value.get("monitor"))
@@ -449,6 +493,7 @@ class FleetRegistry:
                 # Telemetry persistence failure must not block device control.
                 pass
             return 200, {
+                "vesc_configurations_ack": archive_ack,
                 "monitor_ack": monitor_ack,
                 "ok": True,
                 "client_pem": row["binding"]["client_pem"],

src/k1link/fleet/sensors.py

@@ -30,6 +30,8 @@ ACTIONS = {
     "files.list",
     "recovery.configure",
     "power.wake",
+    "vesc.link.check", "vesc.telemetry.read", "vesc.limits.read",
+    "vesc.config.backup", "vesc.input.read", "vesc.can.read", "vesc.drive.assign", "vesc.drive.layout", "vesc.drive.unassign", "vesc.motor.pulse", "vesc.motor.run", "vesc.drive.run", "vesc.hall.measure", "vesc.foc.calibrate", "vesc.motor.stop", "vesc.control.release",
 }
 MAX_INVENTORY_ITEMS = 500
 MAX_SENSOR_STATE_BYTES = 3 * 1024 * 1024

src/k1link/fleet/transport.py

@@ -47,6 +47,9 @@ class NodeChannelServer(ThreadingHTTPServer):
 
 class NodeChannelHandler(BaseHTTPRequestHandler):
     protocol_version = "HTTP/1.1"
+    # Header and JSON writes must not wait for a delayed ACK on the paired
+    # command channel. StreamRequestHandler applies TCP_NODELAY to the socket.
+    disable_nagle_algorithm = True
 
     def log_message(self, *_args):
         pass
@@ -74,6 +77,31 @@ class NodeChannelHandler(BaseHTTPRequestHandler):
         except (ValueError, KeyError, TypeError):
             self.close_connection = True
             status, data = 400, {"error": "Invalid request"}
+        if self.path == "/v1/node/rover-stream" and status == 200:
+            self.close_connection = True
+            self.send_response(200)
+            self.send_header("Content-Type", "application/x-ndjson")
+            self.send_header("Cache-Control", "no-store")
+            self.send_header("Connection", "close")
+            self.end_headers()
+            try:
+                while not self.server.registry.stop.is_set():
+                    self.wfile.write(json.dumps(data, allow_nan=False).encode()+b"\n")
+                    if not data.get("watch"):
+                        break
+                    # Every frame rechecks the same certificate and binding.
+                    # No queued intent and no lease renewal from a keepalive.
+                    self.server.registry.rover_control.wait_for_intent(
+                        value["node_id"], value["relay_id"], data.get("command"))
+                    status, data = self.server.registry.receive(
+                        self.connection.getpeercert(binary_form=True), self.path,
+                        value, address=self.server.address,
+                    )
+                    if status != 200:
+                        break
+            except (OSError, ValueError):
+                pass
+            return
         encoded = json.dumps(data).encode()
         self.send_response(status)
         self.send_header("Content-Type", "application/json")

src/k1link/web/app.py

@@ -112,6 +112,7 @@ from k1link.web.advanced_laboratory_api import build_advanced_laboratory_router
 from k1link.web.artifact_health_api import build_artifact_health_router
 from k1link.web.compute_contour_api import build_compute_contour_router
 from k1link.web.fleet_api import router as fleet_router
+from k1link.web.rover_api import router as rover_router
 from k1link.web.device_plugin_composition import load_installed_device_plugins
 from k1link.web.e30_engineering_api import build_e30_engineering_router
 from k1link.web.e30_human_review_api import build_e30_human_review_router
@@ -1003,6 +1004,7 @@ app.add_middleware(ResponseCompressionMiddleware, minimum_size=1_024, compressle
 
 
 app.include_router(fleet_router)
+app.include_router(rover_router)
 
 
 @app.exception_handler(RequestValidationError)

src/k1link/web/fleet_api.py

@@ -6,12 +6,12 @@ import asyncio
 import ipaddress
 import json
 from contextlib import suppress
-from typing import Annotated
+from typing import Annotated, Literal
 from urllib.parse import urlsplit
 
 from fastapi import APIRouter, Depends, HTTPException, Request, Response
 from fastapi.responses import StreamingResponse
-from pydantic import BaseModel, ConfigDict, Field
+from pydantic import BaseModel, ConfigDict, Field, StrictBool
 
 from k1link.fleet.registry import FleetRegistry
 from k1link.fleet.trust import PairingError
@@ -51,6 +51,42 @@ class AddRequest(BaseModel):
 router = APIRouter(prefix="/api/v1/fleet", tags=["fleet"])
 
 
+class BoardLayoutChange(BaseModel):
+    model_config = ConfigDict(extra="forbid")
+    section: Literal["computer", "settings", "devices"]
+    open: StrictBool
+
+
+@router.get("/{vehicle_id}/board-layout")
+def board_layout_read(vehicle_id: str, response: Response,
+                      fleet: Annotated[FleetRegistry, Depends(local_operator)]):
+    from k1link.fleet.board_layout import read
+    response.headers["Cache-Control"] = "no-store"
+    try:
+        with fleet.lock:
+            fleet.find(vehicle_id)
+            return read(fleet.root, vehicle_id)
+    except PairingError as error:
+        raise HTTPException(404, str(error)) from None
+    except (OSError, ValueError):
+        raise HTTPException(500, "Не удалось прочитать раскладку аппарата.") from None
+
+
+@router.patch("/{vehicle_id}/board-layout")
+def board_layout_patch(vehicle_id: str, body: BoardLayoutChange, response: Response,
+                       fleet: Annotated[FleetRegistry, Depends(local_operator)]):
+    from k1link.fleet.board_layout import update
+    response.headers["Cache-Control"] = "no-store"
+    try:
+        with fleet.lock:
+            fleet.find(vehicle_id)
+            return update(fleet.root, vehicle_id, body.section, body.open)
+    except PairingError as error:
+        raise HTTPException(404, str(error)) from None
+    except (OSError, ValueError):
+        raise HTTPException(500, "Не удалось сохранить раскладку аппарата.") from None
+
+
 @router.get("/{vehicle_id}/monitor")
 def board_monitor(vehicle_id: str, response: Response,
                   fleet: Annotated[FleetRegistry, Depends(local_operator)],
@@ -141,6 +177,30 @@ def sensor_command(
         raise HTTPException(409, str(error)) from None
 
 
+@router.get("/{vehicle_id}/devices/{device_id}/configurations")
+def vesc_configurations(vehicle_id: str, device_id: str, response: Response,
+                        fleet: Annotated[FleetRegistry, Depends(local_operator)], before: int = 0):
+    response.headers["Cache-Control"] = "no-store"
+    try:
+        with fleet.lock:
+            node = fleet.find(vehicle_id)["node_id"]
+        return fleet.vesc_archive.listing(node, device_id, before)
+    except (PairingError, ValueError):
+        raise HTTPException(404, "История конфигураций недоступна.") from None
+
+
+@router.get("/{vehicle_id}/devices/{device_id}/configurations/{version_id}")
+def vesc_configuration(vehicle_id: str, device_id: str, version_id: str, response: Response,
+                       fleet: Annotated[FleetRegistry, Depends(local_operator)]):
+    response.headers["Cache-Control"] = "no-store"
+    try:
+        with fleet.lock:
+            node = fleet.find(vehicle_id)["node_id"]
+        return fleet.vesc_archive.read(node, device_id, version_id)
+    except (PairingError, ValueError):
+        raise HTTPException(404, "Версия конфигурации не найдена.") from None
+
+
 @router.get("/{vehicle_id}/devices/operations/{operation_id}")
 def sensor_operation(
     vehicle_id: str, operation_id: str, fleet: Annotated[FleetRegistry, Depends(local_operator)]

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