feat(simulation): add S1 worker lifecycle ownership

2026-07-24 17:52:17 +03:00
parent 12fba7126d
commit 630d1ae819
10 changed files with 1444 additions and 4 deletions
@@ -125,3 +125,25 @@ own provider processes, transmit a PX4 setpoint, execute heartbeat/watchdog
 failsafe behavior, or qualify navigation/safety behavior. The target
 orchestrator must place the caller-supplied repository root under the accepted
 D-only worker boundary.
+
+## S1B ownership foundation
+
+`k1link.simulation.orchestrator` now owns the application lifecycle through a
+transport-neutral worker port. Start and stop requests are persisted with
+idempotency identity, one active run owns a worker at a time, and
+pause/resume/step/reset cannot bypass run-state validation. Provider start
+failure, S0 profile drift, stop residue and restart interruption all become
+explicit run events and terminal failures.
+
+`k1link.simulation.process_supervisor` provides the worker-local POSIX ownership
+primitive: shell-free argv, dedicated provider PGIDs, run-scoped logs, atomic
+process registry, partial-start rollback and ascending shutdown order matching
+the accepted S0 dependency graph. `k1link.simulation.worker` binds that
+primitive to the exact accepted S0 profile digest and canonical D-only S1 run
+artifact and process-runtime layouts.
+
+This is not target-worker acceptance. Provider specifications, loopback network
+namespace creation, live readiness probes, restart-safe PID/start-token
+reconciliation and Gazebo world-control/PX4 command adapters remain open. The
+worker port deliberately fixes ownership semantics without prematurely fixing
+the eventual transport.