diff --git a/README.md b/README.md index e35f6b2..20a1273 100644 --- a/README.md +++ b/README.md @@ -7,6 +7,8 @@ or speculative writes. Current status: live proof completed on firmware 3.0.2. The Mac provisioned the K1 onto an existing LAN without LixelGO, connected to its MQTT broker, captured the scan-correlated point-cloud and pose streams, and decoded both successfully. +The repository also contains a local React control console and a Foxglove live +bridge for the verified point-cloud and trajectory topics. The repository now contains one narrowly gated state-changing command: `ble wifi-configure`. It accepts only the reviewed firmware-3 provisioning @@ -53,6 +55,46 @@ uv run k1link doctor uv run pytest ``` +## Live console and Foxglove + +Build the browser control surface once, then launch the whole local stand from +the repository root: + +```bash +cd apps/k1-viewer +npm install +npm run build +cd ../.. +uv run k1link serve +``` + +Open `http://127.0.0.1:8000`. The API, credential form and Foxglove WebSocket +bind to loopback only. The console supports: + +- real CoreBluetooth K1 discovery; +- one operator-triggered reviewed BLE Wi-Fi provisioning write; +- live read-only MQTT capture with raw-first evidence storage; +- replay of native `.k1mqtt` evidence and the reviewed four-column TSV capture; +- `/k1/points`, `/k1/pose`, `/k1/trajectory` and `/k1/metrics` for Foxglove; +- measured Mac-side MQTT-receive-to-Foxglove-publish latency and bounded + latest-wins preview dropping. + +For live mode, start the session in the console and use the verified physical +double-click on K1 to start or stop scanning. The connector deliberately does +not publish modeling commands yet. For the recorded proof, replay this ignored +local file at `1x` with loop enabled: + +```text +sessions/20260715T122850Z_live_power_cycle/captures/mqtt_scan_full_payloads_03.tsv +``` + +Foxglove remains the full 3D workspace rather than being reimplemented in the +React console. In its 3D panel, select `/k1/points`, color by `intensity` (or +`z`/``) and choose Turbo, Rainbow or a custom gradient. Add +`/k1/trajectory` for the cyan path and `/k1/pose` for the current pose. See the +[live viewer runbook](docs/06_K1_LIVE_VIEWER.md) for timing semantics and current +limitations. + `doctor` is intentionally non-invasive. It checks the local Python environment and reports external tools; it does not request Bluetooth permission, scan the LAN, touch the K1, alter Homebrew, or change capture permissions. @@ -93,6 +135,7 @@ present. - [Artifact and secret policy](docs/03_ARTIFACT_POLICY.md) - [Reviewed BLE Wi-Fi profile](docs/04_K1_WIFI_PROVISIONING_PROFILE.md) - [Verified MQTT stream profile](docs/05_K1_MQTT_STREAM_PROFILE.md) +- [Live console and Foxglove runbook](docs/06_K1_LIVE_VIEWER.md) - [Redacted live lab report](docs/lab/001_K1_LIVE_MQTT_20260715.redacted.md) - [Session manifest schema](schemas/session-manifest.schema.json) - [Reference input provenance](docs/reference/README.md) diff --git a/apps/k1-viewer/.env.example b/apps/k1-viewer/.env.example new file mode 100644 index 0000000..16f2d1d --- /dev/null +++ b/apps/k1-viewer/.env.example @@ -0,0 +1 @@ +VITE_API_TARGET=http://127.0.0.1:8000 diff --git a/apps/k1-viewer/.gitignore b/apps/k1-viewer/.gitignore new file mode 100644 index 0000000..bd22d1f --- /dev/null +++ b/apps/k1-viewer/.gitignore @@ -0,0 +1,5 @@ +node_modules/ +dist/ +*.tsbuildinfo +.env +.env.local diff --git a/apps/k1-viewer/README.md b/apps/k1-viewer/README.md new file mode 100644 index 0000000..c7780a6 --- /dev/null +++ b/apps/k1-viewer/README.md @@ -0,0 +1,51 @@ +# K1 Live Console + +React 19 + TypeScript + Vite frontend for the local K1 bridge. The console handles +connection setup, source selection, transport status, latency metrics and handoff to +the Foxglove 3D viewer. It does not emulate scanner operations or generate placeholder +telemetry. + +## Run locally + +```bash +cd apps/k1-viewer +npm install +npm run dev +``` + +The development server listens on `http://127.0.0.1:5173` and proxies `/api` to +`http://127.0.0.1:8000`. Set `VITE_API_TARGET` in a local `.env` file to use a +different backend address. Production artifacts are built with `npm run build`. + +The NODE.DC UI packages are consumed from the sibling `NODEDC_DESIGN_GUIDELINE` +checkout through `file:` dependencies. Their source is not copied into this app. + +## Backend contract + +| Method | Route | Body / purpose | +| --- | --- | --- | +| `GET` | `/api/health` | Local service health | +| `GET` | `/api/state` | Authoritative console state | +| `POST` | `/api/ble/scan` | `{ "duration_seconds": 6 }` | +| `POST` | `/api/connect` | `{ "device_id", "ssid", "password" }` | +| `POST` | `/api/session/live` | Optional `{ "host", "duration_seconds" }` | +| `POST` | `/api/session/replay` | `{ "path", "speed", "loop" }` | +| `POST` | `/api/session/stop` | Stop the active source | +| `WS` | `/api/events` | State snapshots for live UI updates | + +`/api/state` and state-changing responses may return the snapshot directly or as +`{ "state": { ... } }`. A snapshot exposes `phase`, `message`, `devices`, +`selected_device_id`, `k1_ip`, `foxglove_ws_url`, `foxglove_viewer_url`, +`source_mode` and `metrics`. + +The Wi-Fi password remains only in React memory, is sent in the JSON POST body, and is +cleared after the backend acknowledges a successful connection. It is never written to +local storage or included in a URL. + +## Explicit unavailable states + +- Missing metrics render as an em dash; no synthetic values are used. +- BLE scanning remains a real API action and reports HTTP/network errors visibly. +- The Foxglove button is disabled until the backend supplies + `foxglove_viewer_url`. +- Replay cannot start without a backend-local capture path. diff --git a/apps/k1-viewer/index.html b/apps/k1-viewer/index.html new file mode 100644 index 0000000..32cbe75 --- /dev/null +++ b/apps/k1-viewer/index.html @@ -0,0 +1,17 @@ + + + + + + + + K1 Live Console ยท NODE.DC + + +
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"react": "^19.1.0", + "react-dom": "^19.1.0" + }, + "devDependencies": { + "@types/node": "^24.0.0", + "@types/react": "^19.1.0", + "@types/react-dom": "^19.1.0", + "@vitejs/plugin-react": "^4.6.0", + "typescript": "^5.8.3", + "vite": "^7.0.0" + }, + "engines": { + "node": ">=20" + } +} diff --git a/apps/k1-viewer/src/App.tsx b/apps/k1-viewer/src/App.tsx new file mode 100644 index 0000000..17a090b --- /dev/null +++ b/apps/k1-viewer/src/App.tsx @@ -0,0 +1,699 @@ +import { useEffect, useMemo, useState, type ReactNode } from "react"; +import { + AppHeader, + ApplicationShell, + Button, + Checker, + GlassSurface, + HeaderAvatar, + HeaderNavigation, + HeaderProfile, + HeaderProfileButton, + Icon, + SegmentedControl, + StatusBadge, + TextField, + type StatusTone, +} from "@nodedc/ui-react"; + +import type { BleDevice, ConsoleState, K1Metrics } from "./api"; +import { useK1Console, type BackendStatus } from "./useK1Console"; + +type ConsoleSection = "monitor" | "connect" | "session"; +type SessionIntent = "live" | "replay"; + +const sectionItems = [ + { value: "monitor", label: "Monitor" }, + { value: "connect", label: "Connect" }, + { value: "session", label: "Session" }, +] as const; + +const sessionItems = [ + { value: "live", label: "Live scanner" }, + { value: "replay", label: "Replay capture" }, +] satisfies Array<{ value: SessionIntent; label: string }>; + +const phaseLabels: Record = { + idle: "Idle", + scanning: "BLE scan", + device_selected: "Device selected", + provisioning: "Provisioning Wi-Fi", + connecting: "Connecting", + connected: "K1 connected", + starting_live: "Starting live", + live: "Live stream", + replay: "Replay", + stopping: "Stopping", + error: "Error", +}; + +function phaseLabel(phase: string | null | undefined): string { + if (!phase) return "No state"; + return phaseLabels[phase] ?? phase.replaceAll("_", " "); +} + +function phaseTone(phase: string | null | undefined): StatusTone { + if (!phase) return "neutral"; + if (phase === "error") return "danger"; + if (["connected", "live", "replay"].includes(phase)) return "success"; + if (["scanning", "provisioning", "connecting", "starting_live", "stopping"].includes(phase)) { + return "accent"; + } + return "neutral"; +} + +function backendLabel(status: BackendStatus): string { + return { + checking: "Checking API", + online: "API online", + degraded: "API degraded", + offline: "API offline", + }[status]; +} + +function backendTone(status: BackendStatus): StatusTone { + if (status === "online") return "success"; + if (status === "degraded" || status === "checking") return "warning"; + return "danger"; +} + +function finiteMetric(value: number | null | undefined): number | null { + return typeof value === "number" && Number.isFinite(value) ? value : null; +} + +function pipelineLatency(metrics: K1Metrics | undefined): number | null { + if (!metrics) return null; + const direct = finiteMetric(metrics.pipeline_ms ?? metrics.end_to_end_ms); + if (direct !== null) return direct; + + const segments = [ + finiteMetric(metrics.mqtt_to_decode_ms), + finiteMetric(metrics.decode_ms), + finiteMetric(metrics.publish_ms), + ].filter((value): value is number => value !== null); + + return segments.length ? segments.reduce((total, value) => total + value, 0) : null; +} + +function formatNumber(value: number | null, digits = 1): string { + if (value === null) return "โ€”"; + return value.toLocaleString("en-US", { + maximumFractionDigits: digits, + minimumFractionDigits: digits, + }); +} + +function MetricCard({ + eyebrow, + value, + unit, + detail, + featured = false, +}: { + eyebrow: string; + value: string; + unit?: string; + detail: string; + featured?: boolean; +}) { + return ( + + {eyebrow} +
+ {value} + {unit ? {unit} : null} +
+

{detail}

+ + ); +} + +function DetailRow({ label, children }: { label: string; children: ReactNode }) { + return ( +
+
{label}
+
{children}
+
+ ); +} + +function WizardStep({ + number, + title, + status, + tone = "neutral", + children, +}: { + number: string; + title: string; + status: string; + tone?: StatusTone; + children: ReactNode; +}) { + return ( +
+ +
+
+

{title}

+ {status} +
+ {children} +
+
+ ); +} + +function DeviceRow({ + device, + selected, + onSelect, +}: { + device: BleDevice; + selected: boolean; + onSelect: () => void; +}) { + return ( +
+
+
+
+ {finiteMetric(device.rssi) === null ? "RSSI โ€”" : `${device.rssi} dBm`} + +
+
+ ); +} + +function LatencyTrace({ values }: { values: number[] }) { + const ceiling = Math.max(16, ...values); + + return ( +
+ {values.length ? ( + values.map((value, index) => ( + + )) + ) : ( +

No latency samples yet. The chart remains empty until the backend reports metrics.

+ )} +
+ ); +} + +function FoxglovePanel({ state }: { state: ConsoleState | null }) { + const viewerUrl = state?.foxglove_viewer_url?.trim(); + + return ( + + + } + /> + ); +} diff --git a/apps/k1-viewer/src/api.ts b/apps/k1-viewer/src/api.ts new file mode 100644 index 0000000..54fa3e1 --- /dev/null +++ b/apps/k1-viewer/src/api.ts @@ -0,0 +1,210 @@ +export interface BleDevice { + device_id: string; + name?: string | null; + rssi?: number | null; + address?: string | null; + connectable?: boolean | null; +} + +export type SourceMode = "idle" | "live" | "replay"; + +export interface K1Metrics { + mqtt_to_decode_ms?: number | null; + decode_ms?: number | null; + publish_ms?: number | null; + pipeline_ms?: number | null; + end_to_end_ms?: number | null; + frame_rate?: number | null; + frame_rate_hz?: number | null; + point_count?: number | null; + dropped_preview_frames?: number | null; + [key: string]: number | null | undefined; +} + +export interface ConsoleState { + phase?: string | null; + message?: string | null; + devices?: BleDevice[]; + selected_device_id?: string | null; + k1_ip?: string | null; + foxglove_ws_url?: string | null; + foxglove_viewer_url?: string | null; + source_mode?: SourceMode | null; + metrics?: K1Metrics; +} + +export interface HealthResponse { + ok?: boolean; + status?: string; + service?: string; + version?: string; +} + +export interface ScanRequest { + duration_seconds?: number; +} + +export interface ConnectRequest { + device_id: string; + ssid: string; + password: string; +} + +export interface LiveRequest { + host?: string; + duration_seconds?: number; +} + +export interface ReplayRequest { + path: string; + speed?: number; + loop?: boolean; +} + +export class ApiError extends Error { + readonly status: number; + + constructor(message: string, status = 0) { + super(message); + this.name = "ApiError"; + this.status = status; + } +} + +function isRecord(value: unknown): value is Record { + return typeof value === "object" && value !== null && !Array.isArray(value); +} + +function unwrapState(payload: unknown): ConsoleState { + const value = isRecord(payload) && isRecord(payload.state) ? payload.state : payload; + + if (!isRecord(value)) { + throw new ApiError("Backend returned an invalid state snapshot."); + } + + return value as ConsoleState; +} + +async function requestJson(path: string, init?: RequestInit): Promise { + let response: Response; + + try { + response = await fetch(path, { + ...init, + headers: { + Accept: "application/json", + ...(init?.body ? { "Content-Type": "application/json" } : {}), + ...init?.headers, + }, + }); + } catch (error) { + throw new ApiError( + error instanceof Error + ? `Cannot reach the local K1 API: ${error.message}` + : "Cannot reach the local K1 API.", + ); + } + + const bodyText = await response.text(); + let body: unknown; + + if (bodyText) { + try { + body = JSON.parse(bodyText) as unknown; + } catch { + body = bodyText; + } + } + + if (!response.ok) { + const detail = + isRecord(body) && typeof body.detail === "string" + ? body.detail + : typeof body === "string" && body.trim() + ? body.trim() + : response.statusText; + throw new ApiError( + detail || `K1 API request failed with HTTP ${response.status}.`, + response.status, + ); + } + + return body; +} + +async function postState(path: string, body?: object): Promise { + const payload = await requestJson(path, { + method: "POST", + body: body ? JSON.stringify(body) : undefined, + }); + + if (payload === undefined) { + return api.getState(); + } + + return unwrapState(payload); +} + +export const api = { + async getHealth(): Promise { + const payload = await requestJson("/api/health"); + if (!isRecord(payload)) { + throw new ApiError("Backend returned an invalid health response."); + } + return payload as HealthResponse; + }, + + async getState(): Promise { + return unwrapState(await requestJson("/api/state")); + }, + + scanBle(body: ScanRequest = {}): Promise { + return postState("/api/ble/scan", body); + }, + + connect(body: ConnectRequest): Promise { + return postState("/api/connect", body); + }, + + startLive(body: LiveRequest = {}): Promise { + return postState("/api/session/live", body); + }, + + startReplay(body: ReplayRequest): Promise { + return postState("/api/session/replay", body); + }, + + stopSession(): Promise { + return postState("/api/session/stop"); + }, +}; + +export type EventSocketStatus = "connecting" | "open" | "closed" | "error"; + +function eventSocketUrl(): string { + const url = new URL("/api/events", window.location.href); + url.protocol = url.protocol === "https:" ? "wss:" : "ws:"; + return url.toString(); +} + +export function openEventSocket( + onState: (state: ConsoleState) => void, + onStatus: (status: EventSocketStatus) => void, +): () => void { + onStatus("connecting"); + const socket = new WebSocket(eventSocketUrl()); + + socket.addEventListener("open", () => onStatus("open")); + socket.addEventListener("message", (event) => { + try { + const payload = JSON.parse(String(event.data)) as unknown; + onState(unwrapState(payload)); + } catch { + // The REST poll remains authoritative if an unrelated event is received. + } + }); + socket.addEventListener("error", () => onStatus("error")); + socket.addEventListener("close", () => onStatus("closed")); + + return () => socket.close(1000, "K1 console unmounted"); +} diff --git a/apps/k1-viewer/src/main.tsx b/apps/k1-viewer/src/main.tsx new file mode 100644 index 0000000..3608508 --- /dev/null +++ b/apps/k1-viewer/src/main.tsx @@ -0,0 +1,25 @@ +import { StrictMode } from "react"; +import { createRoot } from "react-dom/client"; +import { applyNodedcTheme } from "@nodedc/ui-core"; +import "@nodedc/tokens/tokens.css"; +import "@nodedc/tokens/themes.css"; +import "@nodedc/ui-core/styles.css"; + +import App from "./App"; +import "./styles.css"; + +const rootElement = document.getElementById("root"); + +if (!rootElement) { + throw new Error("K1 console root element is missing."); +} + +rootElement.classList.add("nodedc-ui-root"); +rootElement.dataset.nodedcUi = ""; +applyNodedcTheme(rootElement, { theme: "dark" }); + +createRoot(rootElement).render( + + + , +); diff --git a/apps/k1-viewer/src/styles.css b/apps/k1-viewer/src/styles.css new file mode 100644 index 0000000..42addb2 --- /dev/null +++ b/apps/k1-viewer/src/styles.css @@ -0,0 +1,884 @@ +:root { + background: #050506; +} + +html { + min-width: 320px; + min-height: 100%; + background: #050506; +} + +body { + min-width: 320px; + min-height: 100vh; + margin: 0; + background: #050506; +} + +button, +input { + font: inherit; +} + +#root { + min-height: 100vh; +} + +.k1-console { + --k1-panel: #151517; + --k1-panel-soft: #0d0d0f; + --k1-hairline: rgba(255, 255, 255, 0.08); + --k1-accent-soft: rgb(var(--nodedc-accent-rgb) / 0.11); + --k1-success-soft: rgb(var(--nodedc-success-rgb) / 0.1); +} + +.brand-lockup { + display: inline-flex; + height: 100%; + align-items: center; + color: var(--nodedc-text-primary); + font-size: 1.32rem; + font-weight: 850; + letter-spacing: -0.075em; + line-height: 1; +} + +.brand-lockup span { + color: rgb(var(--nodedc-accent-rgb)); +} + +.product-label { + overflow: hidden; + color: var(--nodedc-text-muted); + font-size: 0.64rem; + font-weight: 800; + letter-spacing: 0.13em; + text-overflow: ellipsis; + white-space: nowrap; +} + +.api-dot { + width: 0.48rem; + height: 0.48rem; + flex: 0 0 0.48rem; + border-radius: 999px; + background: var(--nodedc-text-muted); +} + +.api-dot[data-status="online"] { + background: rgb(var(--nodedc-success-rgb)); + box-shadow: 0 0 0 0.28rem rgb(var(--nodedc-success-rgb) / 0.09); +} + +.api-dot[data-status="checking"], +.api-dot[data-status="degraded"] { + background: rgb(var(--nodedc-warning-rgb)); +} + +.api-dot[data-status="offline"] { + background: rgb(var(--nodedc-danger-rgb)); +} + +.console-stage { + height: 100%; + overflow: auto; + overscroll-behavior: contain; + scrollbar-color: var(--nodedc-scrollbar-thumb) transparent; +} + +.console-canvas { + position: relative; + width: min(100%, 112rem); + min-height: 100%; + margin: 0 auto; + padding: 0 0 2.75rem; +} + +.console-canvas::before { + position: absolute; + z-index: 0; + top: -8rem; + right: -8rem; + width: 34rem; + height: 34rem; + border-radius: 50%; + background: radial-gradient(circle, rgb(var(--nodedc-accent-rgb) / 0.08), transparent 66%); + content: ""; + pointer-events: none; +} + +.console-canvas > * { + position: relative; + z-index: 1; +} + +.error-banner { + display: grid; + grid-template-columns: auto minmax(0, 1fr) auto; + align-items: center; + gap: 0.9rem; + margin-bottom: 1.25rem; + border-radius: 1.1rem; + background: rgb(var(--nodedc-danger-rgb) / 0.1); + color: color-mix(in srgb, rgb(var(--nodedc-danger-rgb)) 82%, white); + padding: 0.85rem 1rem; +} + +.error-banner > svg { + align-self: start; + margin-top: 0.12rem; +} + +.error-banner strong, +.error-banner p { + margin: 0; +} + +.error-banner strong { + color: var(--nodedc-text-primary); + font-size: 0.8rem; +} + +.error-banner p { + margin-top: 0.2rem; + color: var(--nodedc-text-secondary); + font-size: 0.74rem; + line-height: 1.45; +} + +.error-banner__actions { + display: flex; + align-items: center; + gap: 0.35rem; +} + +.console-hero { + display: flex; + min-height: 15.5rem; + align-items: flex-end; + justify-content: space-between; + gap: 3rem; + overflow: hidden; + scroll-margin-top: 1rem; + border-radius: var(--nodedc-radius-card); + background: + linear-gradient(112deg, rgba(255, 255, 255, 0.048), transparent 44%), + radial-gradient(circle at 79% 16%, rgb(var(--nodedc-accent-rgb) / 0.12), transparent 34%), + #0b0b0d; + padding: clamp(1.6rem, 3vw, 3rem); + box-shadow: inset 0 1px 0 rgba(255, 255, 255, 0.045); +} + +.console-hero__copy { + max-width: 46rem; +} + +.section-eyebrow, +.metric-card__eyebrow { + display: block; + color: var(--nodedc-text-muted); + font-size: 0.64rem; + font-weight: 820; + letter-spacing: 0.12em; + line-height: 1.2; +} + +.console-hero h1 { + max-width: 42rem; + margin: 0.65rem 0 0.9rem; + font-size: clamp(2rem, 4vw, 4.2rem); + font-weight: 710; + letter-spacing: -0.055em; + line-height: 0.98; +} + +.console-hero__copy p { + max-width: 39rem; + margin: 0; + color: var(--nodedc-text-secondary); + font-size: 0.86rem; + line-height: 1.55; +} + +.console-hero__status { + display: grid; + max-width: 21rem; + justify-items: end; + gap: 0.75rem; + color: var(--nodedc-text-muted); + font-size: 0.74rem; + line-height: 1.45; + text-align: right; +} + +.metrics-grid { + display: grid; + grid-template-columns: repeat(4, minmax(0, 1fr)); + gap: 1rem; + margin-top: 1rem; +} + +.metric-card { + min-height: 9.3rem; +} + +.metric-card[data-featured="true"] { + background: linear-gradient(145deg, var(--k1-accent-soft), transparent 72%), var(--k1-panel); +} + +.metric-card__reading { + display: flex; + align-items: baseline; + gap: 0.45rem; + margin-top: 1.15rem; +} + +.metric-card__reading strong { + font-size: clamp(1.75rem, 2.6vw, 2.7rem); + font-weight: 690; + letter-spacing: -0.055em; + line-height: 1; +} + +.metric-card__reading span { + color: var(--nodedc-text-muted); + font-size: 0.76rem; + font-weight: 700; +} + +.metric-card p { + margin: 0.9rem 0 0; + color: var(--nodedc-text-muted); + font-size: 0.7rem; + line-height: 1.35; +} + +.console-layout { + display: grid; + grid-template-columns: minmax(21rem, 28.5rem) minmax(0, 1fr); + align-items: start; + gap: 1.25rem; + margin-top: 1.25rem; +} + +.connection-panel, +.session-panel { + scroll-margin-top: 1rem; +} + +.connection-panel { + background: var(--k1-panel); +} + +.panel-heading { + display: flex; + align-items: flex-start; + justify-content: space-between; + gap: 1rem; +} + +.panel-heading h2 { + margin: 0.42rem 0 0; + font-size: 1.3rem; + font-weight: 730; + letter-spacing: -0.035em; + line-height: 1.1; +} + +.panel-heading--compact { + align-items: center; +} + +.wizard-list { + display: grid; + margin-top: 1.5rem; +} + +.wizard-step { + display: grid; + grid-template-columns: 2.25rem minmax(0, 1fr); + gap: 0.8rem; +} + +.wizard-step__rail { + position: relative; + display: flex; + justify-content: center; +} + +.wizard-step__rail::after { + position: absolute; + top: 2rem; + bottom: 0; + left: 50%; + width: 1px; + background: var(--k1-hairline); + content: ""; +} + +.wizard-step:last-child .wizard-step__rail::after { + display: none; +} + +.wizard-step__rail span { + position: relative; + z-index: 1; + display: grid; + width: 2rem; + height: 2rem; + place-items: center; + border-radius: 999px; + background: #27272a; + color: var(--nodedc-text-secondary); + font-size: 0.62rem; + font-weight: 800; +} + +.wizard-step__content { + min-width: 0; + padding: 0.1rem 0 1.6rem; +} + +.wizard-step:last-child .wizard-step__content { + padding-bottom: 0; +} + +.wizard-step__content > header { + display: flex; + min-height: 2rem; + align-items: center; + justify-content: space-between; + gap: 0.75rem; + margin-bottom: 0.8rem; +} + +.wizard-step__content h3 { + margin: 0; + font-size: 0.86rem; + font-weight: 720; +} + +.step-copy, +.safety-note { + margin: 0 0 0.75rem; + color: var(--nodedc-text-muted); + font-size: 0.69rem; + line-height: 1.45; +} + +.safety-note { + margin: 0.7rem 0 0; +} + +.device-list { + display: grid; + gap: 0.5rem; + margin-top: 0.75rem; +} + +.device-row { + display: grid; + gap: 0.65rem; + border-radius: 1rem; + background: rgba(255, 255, 255, 0.035); + padding: 0.75rem; +} + +.device-row[data-selected="true"] { + background: var(--k1-accent-soft); + box-shadow: inset 0 0 0 1px rgb(var(--nodedc-accent-rgb) / 0.18); +} + +.device-row__identity, +.device-row__action { + display: flex; + min-width: 0; + align-items: center; + justify-content: space-between; + gap: 0.7rem; +} + +.device-row__identity { + justify-content: flex-start; +} + +.device-row__identity > div { + display: grid; + min-width: 0; + gap: 0.2rem; +} + +.device-row__identity strong { + overflow: hidden; + font-size: 0.74rem; + text-overflow: ellipsis; + white-space: nowrap; +} + +.device-row code, +.detail-row code { + overflow: hidden; + color: var(--nodedc-text-muted); + font-family: "SFMono-Regular", Consolas, "Liberation Mono", monospace; + font-size: 0.62rem; + text-overflow: ellipsis; + white-space: nowrap; +} + +.device-row__signal { + width: 0.6rem; + height: 0.6rem; + flex: 0 0 0.6rem; + border-radius: 50%; + background: rgb(var(--nodedc-success-rgb)); + box-shadow: 0 0 0 0.25rem var(--k1-success-soft); +} + +.device-row__action > span { + color: var(--nodedc-text-muted); + font-size: 0.66rem; +} + +.empty-device-list { + border-radius: 1rem; + background: rgba(255, 255, 255, 0.025); + color: var(--nodedc-text-muted); + padding: 0.95rem; + font-size: 0.69rem; + line-height: 1.45; +} + +.field-stack { + display: grid; + gap: 0.9rem; +} + +.connection-summary { + display: flex; + align-items: center; + justify-content: space-between; + gap: 1rem; + margin-bottom: 0.75rem; + border-radius: 0.9rem; + background: rgba(255, 255, 255, 0.03); + padding: 0.65rem 0.8rem; + font-size: 0.69rem; +} + +.connection-summary span { + color: var(--nodedc-text-muted); +} + +.connection-summary strong { + overflow: hidden; + text-overflow: ellipsis; + white-space: nowrap; +} + +.monitor-column { + display: grid; + min-width: 0; + gap: 1.25rem; +} + +.foxglove-panel { + position: relative; + display: grid; + min-height: 20rem; + grid-template-columns: minmax(0, 1fr) auto; + align-items: end; + overflow: hidden; + background: #0b0b0e; +} + +.foxglove-panel__grid { + position: absolute; + inset: 0; + opacity: 0.36; + background-image: + linear-gradient(rgb(255 255 255 / 0.05) 1px, transparent 1px), + linear-gradient(90deg, rgb(255 255 255 / 0.05) 1px, transparent 1px); + background-position: center; + background-size: 3rem 3rem; + mask-image: radial-gradient(circle at 58% 48%, #000 0%, transparent 66%); + transform: perspective(32rem) rotateX(56deg) scale(1.42) translateY(18%); +} + +.foxglove-panel::after { + position: absolute; + top: 16%; + right: 14%; + width: 13rem; + height: 13rem; + border-radius: 50%; + background: radial-gradient(circle, rgb(var(--nodedc-accent-rgb) / 0.13), transparent 68%); + content: ""; + pointer-events: none; +} + +.foxglove-panel__content, +.foxglove-panel__action { + position: relative; + z-index: 1; +} + +.foxglove-panel__content { + max-width: 37rem; +} + +.foxglove-panel h2 { + margin: 0.5rem 0 0.7rem; + font-size: clamp(1.6rem, 3vw, 3rem); + font-weight: 690; + letter-spacing: -0.05em; + line-height: 1; +} + +.foxglove-panel p { + max-width: 33rem; + margin: 0; + color: var(--nodedc-text-secondary); + font-size: 0.78rem; + line-height: 1.55; +} + +.topic-list { + display: flex; + flex-wrap: wrap; + gap: 0.5rem; + margin-top: 1.2rem; +} + +.topic-list code { + border-radius: 999px; + background: rgba(255, 255, 255, 0.055); + color: var(--nodedc-text-secondary); + padding: 0.42rem 0.7rem; + font-size: 0.64rem; +} + +.foxglove-panel__action { + display: grid; + justify-items: end; + gap: 0.75rem; +} + +.monitor-grid { + display: grid; + grid-template-columns: repeat(2, minmax(0, 1fr)); + gap: 1.25rem; +} + +.status-panel, +.latency-panel, +.session-panel { + background: var(--k1-panel); +} + +.detail-list { + display: grid; + gap: 0; + margin: 1rem 0 0; +} + +.detail-row { + display: grid; + min-width: 0; + grid-template-columns: minmax(7rem, 0.72fr) minmax(0, 1.28fr); + gap: 1rem; + border-top: 1px solid var(--k1-hairline); + padding: 0.75rem 0; +} + +.detail-row dt, +.detail-row dd { + min-width: 0; + margin: 0; + font-size: 0.7rem; +} + +.detail-row dt { + color: var(--nodedc-text-muted); +} + +.detail-row dd { + overflow: hidden; + color: var(--nodedc-text-secondary); + text-align: right; + text-overflow: ellipsis; + text-transform: capitalize; + white-space: nowrap; +} + +.inline-state { + display: inline-flex; + align-items: center; + gap: 0.35rem; +} + +.inline-state::before { + width: 0.42rem; + height: 0.42rem; + border-radius: 50%; + background: var(--nodedc-text-muted); + content: ""; +} + +.inline-state[data-state="open"]::before { + background: rgb(var(--nodedc-success-rgb)); +} + +.inline-state[data-state="error"]::before, +.inline-state[data-state="closed"]::before { + background: rgb(var(--nodedc-danger-rgb)); +} + +.latency-now { + color: var(--nodedc-text-primary); + font-size: 1.35rem; + font-weight: 680; + letter-spacing: -0.04em; +} + +.latency-now span { + color: var(--nodedc-text-muted); + font-size: 0.66rem; + letter-spacing: 0; +} + +.latency-trace { + display: flex; + height: 8.4rem; + align-items: end; + gap: 0.22rem; + margin-top: 1.25rem; + border-radius: 0.9rem; + background: + linear-gradient(to top, rgba(255, 255, 255, 0.035) 1px, transparent 1px), + rgba(255, 255, 255, 0.018); + background-size: 100% 25%; + padding: 0.75rem; +} + +.latency-trace span { + min-width: 0.18rem; + flex: 1 1 0; + border-radius: 999px 999px 0.14rem 0.14rem; + background: linear-gradient(to top, rgb(var(--nodedc-accent-rgb) / 0.35), rgb(var(--nodedc-accent-rgb))); +} + +.latency-trace p { + align-self: center; + margin: auto; + color: var(--nodedc-text-muted); + font-size: 0.68rem; + line-height: 1.45; + text-align: center; +} + +.latency-legend { + display: flex; + justify-content: space-between; + margin-top: 0.4rem; + color: var(--nodedc-text-muted); + font-size: 0.58rem; +} + +.session-panel > .nodedc-segmented { + margin-top: 1.4rem; +} + +.session-form { + display: grid; + grid-template-columns: minmax(0, 1fr) auto; + align-items: end; + gap: 0.85rem; + margin-top: 1rem; +} + +.session-form--replay { + grid-template-columns: minmax(14rem, 1fr) minmax(8rem, 0.3fr) minmax(12rem, 0.5fr) auto; +} + +.session-footer { + display: flex; + align-items: center; + justify-content: space-between; + gap: 1rem; + margin-top: 1.25rem; + border-top: 1px solid var(--k1-hairline); + padding-top: 1rem; +} + +.session-footer p { + max-width: 42rem; + margin: 0; + color: var(--nodedc-text-muted); + font-size: 0.68rem; + line-height: 1.5; +} + +@media (max-width: 1320px) { + .metrics-grid { + grid-template-columns: repeat(2, minmax(0, 1fr)); + } + + .console-layout { + grid-template-columns: minmax(20rem, 24rem) minmax(0, 1fr); + } + + .monitor-grid { + grid-template-columns: 1fr; + } + + .session-form--replay { + grid-template-columns: minmax(0, 1fr) minmax(7rem, 0.3fr); + } + + .session-form--replay > :nth-child(3), + .session-form--replay > :nth-child(4) { + grid-column: span 1; + } +} + +@media (max-width: 980px) { + .console-layout { + grid-template-columns: 1fr; + } + + .connection-panel { + order: 2; + } + + .monitor-column { + order: 1; + } + + .foxglove-panel { + min-height: 18rem; + } +} + +@media (max-width: 760px) { + .product-label { + display: none; + } + + .console-canvas { + padding-bottom: 1.5rem; + } + + .error-banner { + grid-template-columns: auto minmax(0, 1fr); + } + + .error-banner__actions { + grid-column: 1 / -1; + justify-content: flex-end; + } + + .console-hero { + min-height: 20rem; + flex-direction: column; + align-items: flex-start; + justify-content: flex-end; + gap: 1.4rem; + } + + .console-hero h1 { + font-size: 2.5rem; + } + + .console-hero__status { + max-width: none; + justify-items: start; + text-align: left; + } + + .metrics-grid { + grid-template-columns: 1fr 1fr; + gap: 0.7rem; + margin-top: 0.7rem; + } + + .metric-card { + min-height: 8.2rem; + } + + .console-layout, + .monitor-column, + .monitor-grid { + gap: 0.7rem; + margin-top: 0.7rem; + } + + .foxglove-panel { + grid-template-columns: 1fr; + gap: 2rem; + } + + .foxglove-panel__action { + justify-items: start; + } + + .session-form, + .session-form--replay { + grid-template-columns: 1fr; + } + + .session-form--replay > :nth-child(3), + .session-form--replay > :nth-child(4) { + grid-column: auto; + } + + .session-footer { + align-items: stretch; + flex-direction: column; + } +} + +@media (max-width: 480px) { + .metrics-grid { + grid-template-columns: 1fr; + } + + .panel-heading { + align-items: flex-start; + flex-direction: column; + } + + .wizard-step { + grid-template-columns: 1.8rem minmax(0, 1fr); + gap: 0.55rem; + } + + .wizard-step__rail span { + width: 1.65rem; + height: 1.65rem; + } + + .wizard-step__rail::after { + top: 1.65rem; + } + + .wizard-step__content > header { + align-items: flex-start; + flex-direction: column; + } + + .session-panel > .nodedc-segmented { + display: grid; + width: 100%; + } +} + +@media (prefers-reduced-motion: reduce) { + *, + *::before, + *::after { + scroll-behavior: auto !important; + transition-duration: 0.01ms !important; + animation-duration: 0.01ms !important; + animation-iteration-count: 1 !important; + } +} diff --git a/apps/k1-viewer/src/useK1Console.ts b/apps/k1-viewer/src/useK1Console.ts new file mode 100644 index 0000000..9d446da --- /dev/null +++ b/apps/k1-viewer/src/useK1Console.ts @@ -0,0 +1,191 @@ +import { useCallback, useEffect, useRef, useState } from "react"; + +import { + ApiError, + api, + openEventSocket, + type ConnectRequest, + type ConsoleState, + type EventSocketStatus, + type LiveRequest, + type ReplayRequest, +} from "./api"; + +export type BackendStatus = "checking" | "online" | "degraded" | "offline"; +export type PendingAction = "scan" | "connect" | "live" | "replay" | "stop"; + +function messageFor(error: unknown): string { + if (error instanceof ApiError) { + return error.status + ? `${error.message} (HTTP ${error.status})` + : error.message; + } + return error instanceof Error ? error.message : "The local K1 API request failed."; +} + +function measuredLatency(state: ConsoleState | null): number | null { + const metrics = state?.metrics; + if (!metrics) return null; + + const reported = metrics.pipeline_ms ?? metrics.end_to_end_ms; + if (typeof reported === "number" && Number.isFinite(reported)) return reported; + + const segments = [ + metrics.mqtt_to_decode_ms, + metrics.decode_ms, + metrics.publish_ms, + ].filter((value): value is number => typeof value === "number" && Number.isFinite(value)); + + return segments.length ? segments.reduce((total, value) => total + value, 0) : null; +} + +export function useK1Console() { + const [state, setState] = useState(null); + const [backendStatus, setBackendStatus] = useState("checking"); + const [eventStatus, setEventStatus] = useState("connecting"); + const [pendingAction, setPendingAction] = useState(null); + const [error, setError] = useState(null); + const [latencyHistory, setLatencyHistory] = useState([]); + const mounted = useRef(true); + + const acceptState = useCallback((nextState: ConsoleState) => { + setState(nextState); + setBackendStatus("online"); + }, []); + + const refresh = useCallback(async (reportErrors = true) => { + const [healthResult, stateResult] = await Promise.allSettled([ + api.getHealth(), + api.getState(), + ]); + + if (!mounted.current) return; + + if (stateResult.status === "fulfilled") { + acceptState(stateResult.value); + if (reportErrors) setError(null); + } + + if (healthResult.status === "fulfilled") { + const health = healthResult.value; + const healthy = health.ok !== false && health.status !== "error"; + setBackendStatus(healthy && stateResult.status === "fulfilled" ? "online" : "degraded"); + } else if (stateResult.status === "rejected") { + setBackendStatus("offline"); + } + + if (stateResult.status === "rejected" && reportErrors) { + setError(messageFor(stateResult.reason)); + } + }, [acceptState]); + + const run = useCallback( + async (action: PendingAction, operation: () => Promise) => { + setPendingAction(action); + setError(null); + + try { + const nextState = await operation(); + if (mounted.current) acceptState(nextState); + return true; + } catch (operationError) { + if (mounted.current) { + setError(messageFor(operationError)); + if (operationError instanceof ApiError && operationError.status === 0) { + setBackendStatus("offline"); + } + } + return false; + } finally { + if (mounted.current) setPendingAction(null); + } + }, + [acceptState], + ); + + const scan = useCallback( + () => run("scan", () => api.scanBle({ duration_seconds: 6 })), + [run], + ); + + const connect = useCallback( + (request: ConnectRequest) => run("connect", () => api.connect(request)), + [run], + ); + + const startLive = useCallback( + (request: LiveRequest = {}) => run("live", () => api.startLive(request)), + [run], + ); + + const startReplay = useCallback( + (request: ReplayRequest) => run("replay", () => api.startReplay(request)), + [run], + ); + + const stop = useCallback( + () => run("stop", () => api.stopSession()), + [run], + ); + + useEffect(() => { + mounted.current = true; + void refresh(true); + const poll = window.setInterval(() => void refresh(false), 4_000); + + return () => { + mounted.current = false; + window.clearInterval(poll); + }; + }, [refresh]); + + useEffect(() => { + let dispose: (() => void) | undefined; + let retry: number | undefined; + let cancelled = false; + + const connectEvents = () => { + if (cancelled) return; + dispose = openEventSocket(acceptState, (status) => { + if (cancelled) return; + setEventStatus(status); + if ((status === "closed" || status === "error") && retry === undefined) { + retry = window.setTimeout(() => { + retry = undefined; + connectEvents(); + }, 3_000); + } + }); + }; + + connectEvents(); + + return () => { + cancelled = true; + if (retry !== undefined) window.clearTimeout(retry); + dispose?.(); + }; + }, [acceptState]); + + useEffect(() => { + const latency = measuredLatency(state); + if (latency === null) return; + setLatencyHistory((values) => [...values.slice(-23), latency]); + }, [state]); + + return { + state, + backendStatus, + eventStatus, + pendingAction, + error, + latencyHistory, + refresh: () => refresh(true), + clearError: () => setError(null), + scan, + connect, + startLive, + startReplay, + stop, + }; +} diff --git a/apps/k1-viewer/tsconfig.app.json b/apps/k1-viewer/tsconfig.app.json new file mode 100644 index 0000000..a5701b6 --- /dev/null +++ b/apps/k1-viewer/tsconfig.app.json @@ -0,0 +1,24 @@ +{ + "compilerOptions": { + "tsBuildInfoFile": "./node_modules/.tmp/tsconfig.app.tsbuildinfo", + "target": "ES2022", + "useDefineForClassFields": true, + "lib": ["ES2022", "DOM", "DOM.Iterable"], + "allowJs": false, + "skipLibCheck": true, + "esModuleInterop": true, + "allowSyntheticDefaultImports": true, + "strict": true, + "forceConsistentCasingInFileNames": true, + "module": "ESNext", + "moduleResolution": "Bundler", + "resolveJsonModule": true, + "isolatedModules": true, + "noEmit": true, + "jsx": "react-jsx", + "noUnusedLocals": true, + "noUnusedParameters": true, + "noFallthroughCasesInSwitch": true + }, + "include": ["src"] +} diff --git a/apps/k1-viewer/tsconfig.json b/apps/k1-viewer/tsconfig.json new file mode 100644 index 0000000..1ffef60 --- /dev/null +++ b/apps/k1-viewer/tsconfig.json @@ -0,0 +1,7 @@ +{ + "files": [], + "references": [ + { "path": "./tsconfig.app.json" }, + { "path": "./tsconfig.node.json" } + ] +} diff --git a/apps/k1-viewer/tsconfig.node.json b/apps/k1-viewer/tsconfig.node.json new file mode 100644 index 0000000..3950b4b --- /dev/null +++ b/apps/k1-viewer/tsconfig.node.json @@ -0,0 +1,16 @@ +{ + "compilerOptions": { + "tsBuildInfoFile": "./node_modules/.tmp/tsconfig.node.tsbuildinfo", + "target": "ES2023", + "lib": ["ES2023"], + "module": "ESNext", + "skipLibCheck": true, + "moduleResolution": "Bundler", + "allowImportingTsExtensions": true, + "verbatimModuleSyntax": true, + "moduleDetection": "force", + "noEmit": true, + "strict": true + }, + "include": ["vite.config.ts"] +} diff --git a/apps/k1-viewer/vite.config.ts b/apps/k1-viewer/vite.config.ts new file mode 100644 index 0000000..ecab318 --- /dev/null +++ b/apps/k1-viewer/vite.config.ts @@ -0,0 +1,28 @@ +import { defineConfig, loadEnv } from "vite"; +import react from "@vitejs/plugin-react"; + +export default defineConfig(({ mode }) => { + const env = loadEnv(mode, process.cwd(), ""); + const apiTarget = env.VITE_API_TARGET || "http://127.0.0.1:8000"; + + return { + plugins: [react()], + server: { + host: "127.0.0.1", + port: 5173, + strictPort: true, + proxy: { + "/api": { + target: apiTarget, + changeOrigin: false, + ws: true, + }, + }, + }, + preview: { + host: "127.0.0.1", + port: 4173, + strictPort: true, + }, + }; +}); diff --git a/docs/01_IMPLEMENTATION_PLAN.md b/docs/01_IMPLEMENTATION_PLAN.md index 2d66620..b34570f 100644 --- a/docs/01_IMPLEMENTATION_PLAN.md +++ b/docs/01_IMPLEMENTATION_PLAN.md @@ -16,11 +16,17 @@ Each gate produces evidence and an explicit GO, PAUSE or BLOCKED result. | Stage 5 point cloud | GO โ€” raw-LZ4 protobuf, 1,140 live frames decoded | | Stage 5 pose | GO โ€” 1,215 live frames decoded and motion-correlated | | Stage 5 camera | PAUSE โ€” no independent frame/video stream observed | +| Stage 6 live viewer | GO โ€” React console, Foxglove cloud/path and Mac latency metrics | USB project copying remains optional ground truth rather than a blocker for the now-verified network path. MQTT control publishing remains deliberately deferred because the physical button is a known-safe start/stop mechanism. +The Stage 6 alpha uses a bounded raw-first bridge: loss in the visualization +queue cannot discard MQTT evidence. Acceptance is replay of the full captured +scan followed by a live ideal-LAN run with measured host pipeline latency. +Sensor-to-display latency remains a separate clock-correlation test. + ## Stage 0 โ€” repository and host baseline Deliverables: diff --git a/docs/06_K1_LIVE_VIEWER.md b/docs/06_K1_LIVE_VIEWER.md new file mode 100644 index 0000000..feec444 --- /dev/null +++ b/docs/06_K1_LIVE_VIEWER.md @@ -0,0 +1,149 @@ +# K1 live console and Foxglove bridge + +Status: alpha implementation for the verified firmware-3 MQTT streams. It uses +real K1 data and does not generate a placeholder cloud, pose or latency value. + +## Architecture + +```text +K1 lio_pcl / lio_pose + | + v +read-only MQTT subscription on TCP 1883 + | + +--> raw .k1mqtt + JSONL + SHA-256 summary (first) + | + v +bounded latest-wins preview queue (32 messages) + | + v +raw-LZ4/protobuf decoder --> foxglove.PointCloud / Pose / SceneUpdate + | + v +ws://127.0.0.1:8765 --> Foxglove 3D + +React console <-- REST + WebSocket state --> FastAPI on 127.0.0.1:8000 +``` + +The Paho MQTT callback never decodes the point cloud. It writes and flushes the +raw frame and metadata, then enqueues a preview reference. If visualization cannot +keep up, the oldest queued preview is discarded while the raw capture continues. + +## Start the local application + +Prerequisites are the repository-local Python environment and Node.js 20 or +newer. No global Python package or system component is installed. + +```bash +uv sync --group dev +cd apps/k1-viewer +npm install +npm run build +cd ../.. +uv run k1link serve +``` + +Open `http://127.0.0.1:8000`. `k1link serve` intentionally exposes no LAN bind +option because its provisioning endpoint temporarily receives a Wi-Fi password. +The password is accepted only in the POST body, is never logged or persisted by +the connector, and is cleared from the React form after success. + +## Replay the captured proof + +1. In **Session**, select **Replay capture**. +2. Enter the repository-relative path: + + ```text + sessions/20260715T122850Z_live_power_cycle/captures/mqtt_scan_full_payloads_03.tsv + ``` + +3. Use speed `1` and enable loop for initial viewer setup. +4. Start replay, then select **Open Foxglove 3D**. +5. In a Foxglove 3D panel, enable `/k1/points`, `/k1/pose` and + `/k1/trajectory`. +6. For the cloud, choose `intensity` as the color field and a Turbo/Rainbow + colormap or custom two-color gradient. Foxglove can also color by `x`, `y`, + `z` and its derived ``. + +The reviewed TSV reader accepts exactly four columns: receive timestamp, topic, +declared payload length and hex payload. It verifies timestamp, UTF-8 topic, +declared length, hex encoding and allocation bounds. Native +`mqtt.raw.k1mqtt` captures are supported directly and use their sibling metadata +timestamps when present. + +## Connect and stream live + +1. Power K1 to its normal steady-green standby state. +2. Confirm the manual power checklist in **Connect**. +3. Run the real six-second BLE scan and select the K1 candidate. +4. Enter the existing router SSID/password and press **Provision Wi-Fi & + connect**. That button is the explicit authorization for one reviewed 99-byte + provisioning write; the backend never retries automatically. +5. When K1 reports a non-AP private address, press **Start live stream**. +6. Open Foxglove before scanning if convenient. +7. Double-click the physical K1 button to start scanning. Double-click again to + stop, wait for the LED to return to steady green, then stop the local session. + +Each live run creates an ignored `sessions/_viewer_live/` directory with a +redacted manifest, operator notes, raw MQTT frames, per-message metadata and a +hash summary. No application request topic is published. + +## Published topics + +| Topic | Foxglove schema | Meaning | +| --- | --- | --- | +| `/k1/points` | `foxglove.PointCloud` | metric XYZ float32 + uint8 intensity, stride 16 | +| `/k1/pose` | `foxglove.PoseInFrame` | current decoded K1 pose in the `map` frame | +| `/k1/trajectory` | `foxglove.SceneUpdate` | bounded cyan line strip, throttled while growing | +| `/k1/metrics` | JSON schema | latency, decode/publish time, FPS, points and drops | + +Point coordinates remain `(x/scaler, y/scaler, z/scaler)` exactly as verified. +No axis swap, quaternion normalization or vehicle extrinsic is silently applied. +Only the low byte of `rgbi` is labeled intensity; interpreting the upper bytes +as RGB remains unverified. + +## Latency semantics + +`pipeline_ms` / `mqtt_to_publish_ms` is measured with the host monotonic clock +from MQTT callback receipt through raw disk write, bounded queue wait, decode, +packing and Foxglove channel publish. Rolling p50/p95 values use the last 512 +published decoded messages. + +This is the exact Mac pipeline latency, not yet sensor-photon-to-screen latency. +The K1 header timestamp epoch has not been proven, Foxglove rendering time is +outside the Python publisher, and display latency is not observable without a +clock-correlated device timestamp or high-speed-camera experiment. Foxglove +message time therefore uses host receive Unix time while durations use +`monotonic_ns`. + +## Current boundaries + +- Raw panoramic camera frames were not present on the observed MQTT report + topics; this milestone intentionally ships point cloud plus trajectory only. +- Physical double-click remains the start/stop control. A future MQTT modeling + publisher needs a separately reviewed state-changing profile. +- The React application opens the official Foxglove viewer over a local + WebSocket. It does not embed or fork the proprietary modern viewer; Foxglove + account/seat terms apply to that viewer independently of this connector. +- Exact path axes and a scanner-to-vehicle transform must be calibrated before + mounting on the unmanned platform. + +## Verification checkpoint โ€” 2026-07-15 + +The full captured 180-second scan was passed through the production Foxglove +bridge without a viewer-side substitute: + +| Check | Result | +| --- | ---: | +| MQTT messages read | 2,836 | +| `lio_pcl` frames published | 1,140 | +| `lio_pose` frames published | 1,215 | +| points packed and published | 4,165,862 | +| decoder errors | 0 | +| final trajectory poses | 1,215 | + +The same replay was then started through the FastAPI/React contract at `10x`. +The API exposed the loopback Foxglove URL, live point/pose metrics and non-zero +preview-drop accounting under deliberate acceleration, and released TCP 8765 +after the stop request. This validates replay, overload behavior and lifecycle; +the next checkpoint is the powered K1 ideal-LAN live run. diff --git a/pyproject.toml b/pyproject.toml index a6b9326..21923c7 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -12,10 +12,13 @@ license = { text = "Proprietary" } authors = [{ name = "NODE.DC" }] dependencies = [ "bleak==3.0.2", + "fastapi>=0.116,<1", + "foxglove-sdk==0.25.3", "lz4>=4.4,<5", "paho-mqtt>=2.1,<3", "rich>=13.9,<15", "typer>=0.15,<1", + "uvicorn>=0.35,<1", ] [project.scripts] diff --git a/src/k1link/cli.py b/src/k1link/cli.py index 7af5270..5eb1897 100644 --- a/src/k1link/cli.py +++ b/src/k1link/cli.py @@ -10,6 +10,7 @@ from pathlib import Path from typing import Annotated, TypedDict import typer +import uvicorn from bleak.exc import BleakError from rich.console import Console from rich.table import Table @@ -200,6 +201,32 @@ def doctor( console.print(f"- {note}") +@app.command("serve") +def serve_console( + port: Annotated[ + int, + typer.Option(min=1024, max=65535, help="Loopback HTTP port for the local console."), + ] = 8000, +) -> None: + """Serve the built K1 console and local-only control API on loopback.""" + frontend = Path(__file__).resolve().parents[2] / "apps" / "k1-viewer" / "dist" + if not frontend.is_dir(): + console.print( + "[red]Frontend build is missing.[/red] Run npm install && npm run build " + "inside apps/k1-viewer." + ) + raise typer.Exit(code=2) + console.print(f"K1 Live Console: http://127.0.0.1:{port}") + console.print("The credential endpoint is bound to this Mac only.") + uvicorn.run( + "k1link.web.app:app", + host="127.0.0.1", + port=port, + log_level="info", + access_log=True, + ) + + @ble_app.command("scan") def ble_scan( out: Annotated[ @@ -300,8 +327,7 @@ def ble_wifi_configure( raise typer.Exit(code=2) if not confirm_write: console.print( - "[red]Write not confirmed.[/red] " - "Add --confirm-write after reviewing the profile." + "[red]Write not confirmed.[/red] Add --confirm-write after reviewing the profile." ) raise typer.Exit(code=2) diff --git a/src/k1link/mqtt/__init__.py b/src/k1link/mqtt/__init__.py index 76c4a78..89afba8 100644 --- a/src/k1link/mqtt/__init__.py +++ b/src/k1link/mqtt/__init__.py @@ -4,6 +4,7 @@ from k1link.mqtt.capture import ( DEFAULT_MAX_MESSAGE_BYTES, MAX_CONFIGURABLE_MESSAGE_BYTES, REPORT_TOPICS, + CapturedMqttMessage, CaptureError, CaptureFormatError, CaptureFrame, @@ -21,6 +22,7 @@ __all__ = [ "CaptureFormatError", "CaptureFrame", "CaptureSummary", + "CapturedMqttMessage", "capture_mqtt", "iter_capture_frames", "validate_private_ipv4", diff --git a/src/k1link/mqtt/capture.py b/src/k1link/mqtt/capture.py index 2c36ce1..6f10282 100644 --- a/src/k1link/mqtt/capture.py +++ b/src/k1link/mqtt/capture.py @@ -44,6 +44,7 @@ _PRIVATE_NETWORKS = tuple( StopReason = Literal[ "duration_elapsed", + "external_stop", "keyboard_interrupt", "message_too_large", "connection_failed", @@ -127,6 +128,21 @@ class CaptureFrame: raw_frame_bytes: int +@dataclass(frozen=True, slots=True) +class CapturedMqttMessage: + """A message made durable by the raw writer and ready for live preview.""" + + sequence: int + topic: str + payload: bytes + qos: int + retain: bool + dup: bool + received_at_utc: str + received_at_epoch_ns: int + received_monotonic_ns: int + + @dataclass class _CaptureState: connected: bool = False @@ -168,19 +184,19 @@ class _CaptureWriter: self.close() raise - def record(self, message: mqtt.MQTTMessage) -> None: + def record(self, message: mqtt.MQTTMessage) -> CapturedMqttMessage: raw = self._require_raw() metadata = self._require_metadata() topic = message.topic topic_bytes = topic.encode("utf-8") payload = message.payload received_at_utc = utc_now_iso() + received_at_epoch_ns = time.time_ns() received_monotonic_ns = time.monotonic_ns() if not 1 <= len(topic_bytes) <= MAX_TOPIC_BYTES: raise ValueError( - f"incoming MQTT topic is {len(topic_bytes)} bytes; " - f"expected 1..{MAX_TOPIC_BYTES}" + f"incoming MQTT topic is {len(topic_bytes)} bytes; expected 1..{MAX_TOPIC_BYTES}" ) if len(payload) > self.max_message_bytes: @@ -218,6 +234,7 @@ class _CaptureWriter: "record_type": "message", "sequence": self.message_count, "received_at_utc": received_at_utc, + "received_at_epoch_ns": received_at_epoch_ns, "received_monotonic_ns": received_monotonic_ns, "topic": topic, "qos": message.qos, @@ -230,6 +247,17 @@ class _CaptureWriter: "raw_frame_bytes": frame_bytes, } self._write_metadata(metadata, record) + return CapturedMqttMessage( + sequence=self.message_count, + topic=topic, + payload=payload, + qos=message.qos, + retain=message.retain, + dup=message.dup, + received_at_utc=received_at_utc, + received_at_epoch_ns=received_at_epoch_ns, + received_monotonic_ns=received_monotonic_ns, + ) def close(self) -> None: first_error: OSError | None = None @@ -296,8 +324,7 @@ def iter_capture_frames( """Yield validated frames from a K1 MQTT raw capture without decoding payloads.""" if not 1 <= max_payload_bytes <= MAX_CONFIGURABLE_MESSAGE_BYTES: raise ValueError( - "max_payload_bytes must be between 1 and " - f"{MAX_CONFIGURABLE_MESSAGE_BYTES}" + f"max_payload_bytes must be between 1 and {MAX_CONFIGURABLE_MESSAGE_BYTES}" ) if not 1 <= max_topic_bytes <= MAX_TOPIC_BYTES: raise ValueError(f"max_topic_bytes must be between 1 and {MAX_TOPIC_BYTES}") @@ -367,6 +394,8 @@ def capture_mqtt( duration_seconds: float = 60.0, max_message_bytes: int = DEFAULT_MAX_MESSAGE_BYTES, on_ready: Callable[[], None] | None = None, + on_message_recorded: Callable[[CapturedMqttMessage], None] | None = None, + should_stop: Callable[[], bool] | None = None, _client_factory: Callable[[], mqtt.Client] | None = None, ) -> CaptureSummary: """Capture the fixed K1 report subscriptions once, without publishing or reconnecting.""" @@ -377,8 +406,7 @@ def capture_mqtt( raise ValueError("duration_seconds must be finite and greater than zero") if not 1 <= max_message_bytes <= MAX_CONFIGURABLE_MESSAGE_BYTES: raise ValueError( - "max_message_bytes must be between 1 and " - f"{MAX_CONFIGURABLE_MESSAGE_BYTES}" + f"max_message_bytes must be between 1 and {MAX_CONFIGURABLE_MESSAGE_BYTES}" ) client = ( @@ -453,11 +481,17 @@ def capture_mqtt( if state.error is not None: return try: - writer.record(message) + recorded = writer.record(message) except MessageTooLargeError as exc: fail("message_too_large", str(exc)) except (OSError, RuntimeError, ValueError) as exc: fail("capture_error", f"artifact write failed: {type(exc).__name__}: {exc}") + return + if on_message_recorded is not None: + try: + on_message_recorded(recorded) + except (OSError, RuntimeError, ValueError) as exc: + fail("capture_error", f"preview callback failed: {type(exc).__name__}: {exc}") def on_disconnect( _callback_client: mqtt.Client, @@ -487,6 +521,9 @@ def capture_mqtt( while state.error is None: now = time.monotonic() + if should_stop is not None and should_stop(): + state.stop_reason = "external_stop" + break if state.subscribed and capture_started is None: capture_started = now if on_ready is not None: @@ -523,9 +560,7 @@ def capture_mqtt( fail("capture_error", f"artifact close failed: {type(exc).__name__}: {exc}") operation_completed = time.monotonic() - capture_elapsed = ( - 0.0 if capture_started is None else operation_completed - capture_started - ) + capture_elapsed = 0.0 if capture_started is None else operation_completed - capture_started summary = _build_summary( writer=writer, diff --git a/src/k1link/py.typed b/src/k1link/py.typed new file mode 100644 index 0000000..8b13789 --- /dev/null +++ b/src/k1link/py.typed @@ -0,0 +1 @@ + diff --git a/src/k1link/viewer/__init__.py b/src/k1link/viewer/__init__.py new file mode 100644 index 0000000..6a96a8d --- /dev/null +++ b/src/k1link/viewer/__init__.py @@ -0,0 +1,15 @@ +"""Live/replay visualization bridge for verified K1 MQTT streams.""" + +from k1link.viewer.messages import StreamMessage +from k1link.viewer.replay import ( + ReplayFormatError, + detect_replay_format, + iter_replay_messages, +) + +__all__ = [ + "ReplayFormatError", + "StreamMessage", + "detect_replay_format", + "iter_replay_messages", +] diff --git a/src/k1link/viewer/foxglove_bridge.py b/src/k1link/viewer/foxglove_bridge.py new file mode 100644 index 0000000..ef92982 --- /dev/null +++ b/src/k1link/viewer/foxglove_bridge.py @@ -0,0 +1,417 @@ +from __future__ import annotations + +import math +import statistics +import struct +import threading +import time +from collections import deque +from dataclasses import dataclass +from typing import TypedDict + +import foxglove +from foxglove import Channel +from foxglove.channels import ( + PointCloudChannel, + PoseInFrameChannel, + SceneUpdateChannel, +) +from foxglove.messages import ( + Color, + LinePrimitive, + LinePrimitiveLineType, + PackedElementField, + PackedElementFieldNumericType, + Point3, + PointCloud, + Pose, + PoseInFrame, + Quaternion, + SceneEntity, + SceneUpdate, + Timestamp, + Vector3, +) + +from k1link.protocol.streams import ( + LegacyPointCloudFrame, + LegacyPoseFrame, + LioPointCloudFrame, + LioPoseFrame, + StreamDecodeError, + decode_legacy_pointcloud, + decode_legacy_pose, + decode_lio_pcl, + decode_lio_pose, +) +from k1link.viewer.messages import StreamMessage + +POINT_STRUCT = struct.Struct(" None: + self._lock = threading.Lock() + self._messages_received = 0 + self._payload_bytes = 0 + self._pcl_frames = 0 + self._pose_frames = 0 + self._points_published = 0 + self._last_point_count = 0 + self._decode_errors = 0 + self._preview_dropped = 0 + self._trajectory_poses = 0 + self._pcl_times: deque[int] = deque() + self._pose_times: deque[int] = deque() + self._latencies_ms: deque[float] = deque(maxlen=512) + self._decode_publish_ms: float | None = None + + def received(self, payload_bytes: int) -> None: + with self._lock: + self._messages_received += 1 + self._payload_bytes += payload_bytes + + def published_pcl(self, point_count: int, now_ns: int, decode_publish_ms: float) -> None: + with self._lock: + self._pcl_frames += 1 + self._points_published += point_count + self._last_point_count = point_count + self._decode_publish_ms = decode_publish_ms + self._pcl_times.append(now_ns) + _trim_rate_window(self._pcl_times, now_ns) + + def published_pose(self, now_ns: int, decode_publish_ms: float, path_size: int) -> None: + with self._lock: + self._pose_frames += 1 + self._decode_publish_ms = decode_publish_ms + self._trajectory_poses = path_size + self._pose_times.append(now_ns) + _trim_rate_window(self._pose_times, now_ns) + + def record_latency(self, milliseconds: float) -> None: + if not math.isfinite(milliseconds) or milliseconds < 0: + return + with self._lock: + self._latencies_ms.append(milliseconds) + + def decode_error(self) -> None: + with self._lock: + self._decode_errors += 1 + + def preview_dropped(self) -> None: + with self._lock: + self._preview_dropped += 1 + + def snapshot(self) -> MetricsSnapshot: + now_ns = time.monotonic_ns() + with self._lock: + _trim_rate_window(self._pcl_times, now_ns) + _trim_rate_window(self._pose_times, now_ns) + latencies = list(self._latencies_ms) + last_latency = latencies[-1] if latencies else None + p50 = statistics.median(latencies) if latencies else None + p95 = _percentile(latencies, 0.95) if latencies else None + return { + "messages_received": self._messages_received, + "payload_bytes": self._payload_bytes, + "pcl_frames": self._pcl_frames, + "pose_frames": self._pose_frames, + "points_published": self._points_published, + "last_point_count": self._last_point_count, + "decode_errors": self._decode_errors, + "preview_dropped": self._preview_dropped, + "pcl_fps": _window_rate(self._pcl_times), + "pose_fps": _window_rate(self._pose_times), + "mqtt_to_publish_ms": _rounded(last_latency), + "mqtt_to_publish_p50_ms": _rounded(p50), + "mqtt_to_publish_p95_ms": _rounded(p95), + "decode_publish_ms": _rounded(self._decode_publish_ms), + "trajectory_poses": self._trajectory_poses, + } + + +class FoxgloveBridge: + """Decode verified K1 topics and publish Foxglove-native visualization messages.""" + + def __init__( + self, + *, + host: str = "127.0.0.1", + port: int = 8765, + metrics: BridgeMetrics | None = None, + ) -> None: + self.metrics = metrics or BridgeMetrics() + self._server = foxglove.start_server( + name="NODE.DC K1 live bridge", + host=host, + port=port, + message_backlog_size=32, + ) + self._points = PointCloudChannel("/k1/points") + self._pose = PoseInFrameChannel("/k1/pose") + self._trajectory = SceneUpdateChannel("/k1/trajectory") + self._metrics = Channel( + "/k1/metrics", + schema={ + "type": "object", + "properties": { + "mqtt_to_publish_ms": {"type": ["number", "null"]}, + "mqtt_to_publish_p50_ms": {"type": ["number", "null"]}, + "mqtt_to_publish_p95_ms": {"type": ["number", "null"]}, + "decode_publish_ms": {"type": ["number", "null"]}, + "point_count": {"type": "integer"}, + "pcl_fps": {"type": "number"}, + "pose_fps": {"type": "number"}, + "preview_dropped": {"type": "integer"}, + }, + }, + ) + self._path: deque[tuple[float, float, float]] = deque(maxlen=MAX_TRAJECTORY_POSES) + self._last_trajectory_publish_ns = 0 + self._last_point_count = 0 + self._closed = False + + @property + def port(self) -> int: + return int(self._server.port) + + @property + def websocket_url(self) -> str: + return f"ws://127.0.0.1:{self.port}" + + @property + def viewer_url(self) -> str: + return self._server.app_url() or "https://app.foxglove.dev/" + + def process(self, message: StreamMessage) -> None: + started_ns = time.monotonic_ns() + self.metrics.received(len(message.payload)) + try: + if message.topic.endswith("/lio_pcl"): + self._publish_lio_pcl(decode_lio_pcl(message.payload), message) + elif message.topic == "RealtimePointcloud": + self._publish_legacy_pcl(decode_legacy_pointcloud(message.payload), message) + elif message.topic.endswith("/lio_pose"): + self._publish_lio_pose(decode_lio_pose(message.payload), message) + elif message.topic == "RealtimePath": + self._publish_legacy_pose(decode_legacy_pose(message.payload), message) + else: + return + except StreamDecodeError: + self.metrics.decode_error() + return + + published_ns = time.monotonic_ns() + decode_publish_ms = (published_ns - started_ns) / 1_000_000 + if message.topic.endswith("/lio_pcl") or message.topic == "RealtimePointcloud": + self.metrics.published_pcl(self._last_point_count, published_ns, decode_publish_ms) + else: + self.metrics.published_pose(published_ns, decode_publish_ms, len(self._path)) + if message.received_monotonic_ns is not None: + self.metrics.record_latency((published_ns - message.received_monotonic_ns) / 1_000_000) + snapshot = self.metrics.snapshot() + self._metrics.log( + { + "mqtt_to_publish_ms": snapshot["mqtt_to_publish_ms"], + "mqtt_to_publish_p50_ms": snapshot["mqtt_to_publish_p50_ms"], + "mqtt_to_publish_p95_ms": snapshot["mqtt_to_publish_p95_ms"], + "decode_publish_ms": snapshot["decode_publish_ms"], + "point_count": snapshot["last_point_count"], + "pcl_fps": snapshot["pcl_fps"], + "pose_fps": snapshot["pose_fps"], + "preview_dropped": snapshot["preview_dropped"], + }, + log_time=message.received_at_epoch_ns, + ) + + def close(self) -> None: + if self._closed: + return + self._closed = True + for channel in (self._points, self._pose, self._trajectory, self._metrics): + channel.close() + self._server.stop() + + def _publish_lio_pcl(self, frame: LioPointCloudFrame, message: StreamMessage) -> None: + packed = pack_lio_point_cloud(frame) + self._publish_point_cloud(packed, message) + + def _publish_legacy_pcl( + self, + frame: LegacyPointCloudFrame, + message: StreamMessage, + ) -> None: + packed = pack_legacy_point_cloud(frame) + self._publish_point_cloud(packed, message) + + def _publish_point_cloud(self, packed: PackedPointCloud, message: StreamMessage) -> None: + timestamp = _timestamp(message.received_at_epoch_ns) + self._points.log( + PointCloud( + timestamp=timestamp, + frame_id=FRAME_ID, + pose=_identity_pose(), + point_stride=POINT_STRIDE, + fields=_point_fields(), + data=packed.data, + ), + log_time=message.received_at_epoch_ns, + ) + self._last_point_count = packed.point_count + + def _publish_lio_pose(self, frame: LioPoseFrame, message: StreamMessage) -> None: + self._publish_pose(frame.position_xyz, frame.orientation_xyzw, message) + + def _publish_legacy_pose(self, frame: LegacyPoseFrame, message: StreamMessage) -> None: + self._publish_pose(frame.position_xyz, frame.orientation_xyzw, message) + + def _publish_pose( + self, + position_xyz: tuple[float, float, float], + orientation_xyzw: tuple[float, float, float, float], + message: StreamMessage, + ) -> None: + pose = Pose( + position=Vector3(x=position_xyz[0], y=position_xyz[1], z=position_xyz[2]), + orientation=Quaternion( + x=orientation_xyzw[0], + y=orientation_xyzw[1], + z=orientation_xyzw[2], + w=orientation_xyzw[3], + ), + ) + timestamp = _timestamp(message.received_at_epoch_ns) + self._pose.log( + PoseInFrame(timestamp=timestamp, frame_id=FRAME_ID, pose=pose), + log_time=message.received_at_epoch_ns, + ) + self._path.append(position_xyz) + now_ns = time.monotonic_ns() + if ( + len(self._path) > 2 + and len(self._path) % 20 + and now_ns - self._last_trajectory_publish_ns < 200_000_000 + ): + return + self._last_trajectory_publish_ns = now_ns + line_points = [Point3(x=item[0], y=item[1], z=item[2]) for item in self._path] + self._trajectory.log( + SceneUpdate( + entities=[ + SceneEntity( + timestamp=timestamp, + frame_id=FRAME_ID, + id="k1-trajectory", + frame_locked=True, + lines=[ + LinePrimitive( + type=LinePrimitiveLineType.LineStrip, + thickness=3.0, + scale_invariant=True, + points=line_points, + color=Color(r=0.08, g=0.82, b=1.0, a=1.0), + ) + ], + ) + ] + ), + log_time=message.received_at_epoch_ns, + ) + + +def pack_lio_point_cloud(frame: LioPointCloudFrame) -> PackedPointCloud: + data = bytearray(len(frame.points) * POINT_STRIDE) + scaler = frame.header.scaler + for index, point in enumerate(frame.points): + x, y, z = point.scaled_xyz(scaler) + POINT_STRUCT.pack_into(data, index * POINT_STRIDE, x, y, z, point.intensity) + return PackedPointCloud(data=bytes(data), point_count=len(frame.points)) + + +def pack_legacy_point_cloud(frame: LegacyPointCloudFrame) -> PackedPointCloud: + data = bytearray(len(frame.points) * POINT_STRIDE) + for index, point in enumerate(frame.points): + POINT_STRUCT.pack_into( + data, + index * POINT_STRIDE, + point.x, + point.y, + point.z, + point.intensity, + ) + return PackedPointCloud(data=bytes(data), point_count=len(frame.points)) + + +def _point_fields() -> list[PackedElementField]: + return [ + PackedElementField(name="x", offset=0, type=PackedElementFieldNumericType.Float32), + PackedElementField(name="y", offset=4, type=PackedElementFieldNumericType.Float32), + PackedElementField(name="z", offset=8, type=PackedElementFieldNumericType.Float32), + PackedElementField( + name="intensity", + offset=12, + type=PackedElementFieldNumericType.Uint8, + ), + ] + + +def _identity_pose() -> Pose: + return Pose(position=Vector3(), orientation=Quaternion(w=1.0)) + + +def _timestamp(epoch_ns: int) -> Timestamp: + return Timestamp(epoch_ns // 1_000_000_000, epoch_ns % 1_000_000_000) + + +def _trim_rate_window(values: deque[int], now_ns: int) -> None: + cutoff = now_ns - 1_000_000_000 + while values and values[0] < cutoff: + values.popleft() + + +def _window_rate(values: deque[int]) -> float: + if len(values) < 2: + return float(len(values)) + elapsed = (values[-1] - values[0]) / 1_000_000_000 + return len(values) / max(elapsed, 1.0) + + +def _percentile(values: list[float], fraction: float) -> float: + if not values: + raise ValueError("cannot calculate a percentile of an empty sample") + ordered = sorted(values) + index = min(len(ordered) - 1, math.ceil(len(ordered) * fraction) - 1) + return ordered[index] + + +def _rounded(value: float | None) -> float | None: + return None if value is None else round(value, 3) diff --git a/src/k1link/viewer/messages.py b/src/k1link/viewer/messages.py new file mode 100644 index 0000000..33642bc --- /dev/null +++ b/src/k1link/viewer/messages.py @@ -0,0 +1,15 @@ +from __future__ import annotations + +from dataclasses import dataclass + + +@dataclass(frozen=True, slots=True) +class StreamMessage: + """One MQTT message entering the derived visualization pipeline.""" + + sequence: int + topic: str + payload: bytes + received_at_epoch_ns: int + received_monotonic_ns: int | None = None + source: str = "replay" diff --git a/src/k1link/viewer/replay.py b/src/k1link/viewer/replay.py new file mode 100644 index 0000000..b1489d5 --- /dev/null +++ b/src/k1link/viewer/replay.py @@ -0,0 +1,160 @@ +from __future__ import annotations + +import json +import time +from collections.abc import Generator, Iterator +from decimal import Decimal, InvalidOperation +from pathlib import Path +from typing import IO, Literal + +from k1link.mqtt import CaptureFormatError, iter_capture_frames +from k1link.mqtt.capture import RAW_MAGIC +from k1link.viewer.messages import StreamMessage + +MAX_REPLAY_PAYLOAD_BYTES = 2 * 1024 * 1024 +MAX_LEGACY_LINE_BYTES = MAX_REPLAY_PAYLOAD_BYTES * 2 + 64 * 1024 +MAX_METADATA_LINE_CHARS = 1024 * 1024 +ReplayFormat = Literal["k1mqtt", "legacy_tsv"] + + +class ReplayFormatError(ValueError): + """A replay input is corrupt or outside the reviewed bounds.""" + + +def detect_replay_format(path: Path) -> ReplayFormat: + resolved = path.expanduser() + with resolved.open("rb") as stream: + prefix = stream.read(len(RAW_MAGIC)) + if prefix == RAW_MAGIC: + return "k1mqtt" + if resolved.suffix.casefold() == ".tsv": + return "legacy_tsv" + raise ReplayFormatError("input is neither a K1MQTT capture nor the reviewed legacy TSV") + + +def iter_replay_messages(path: Path) -> Generator[StreamMessage, None, None]: + """Yield bounded messages from native evidence or the one reviewed TSV export.""" + resolved = path.expanduser().resolve() + replay_format = detect_replay_format(resolved) + if replay_format == "legacy_tsv": + yield from _iter_legacy_tsv(resolved) + return + yield from _iter_native_capture(resolved) + + +def _iter_native_capture(path: Path) -> Iterator[StreamMessage]: + metadata_path = path.with_name("mqtt.metadata.jsonl") + metadata_stream: IO[str] | None = None + if metadata_path.is_file(): + metadata_stream = metadata_path.open("r", encoding="utf-8") + fallback_epoch_ns = time.time_ns() + try: + for frame in iter_capture_frames(path, max_payload_bytes=MAX_REPLAY_PAYLOAD_BYTES): + epoch_ns = fallback_epoch_ns + frame.sequence - 1 + monotonic_ns: int | None = None + if metadata_stream is not None: + epoch_ns, monotonic_ns = _read_native_timing( + metadata_stream, + expected_sequence=frame.sequence, + fallback_epoch_ns=epoch_ns, + ) + yield StreamMessage( + sequence=frame.sequence, + topic=frame.topic, + payload=frame.payload, + received_at_epoch_ns=epoch_ns, + received_monotonic_ns=monotonic_ns, + source="k1mqtt", + ) + except CaptureFormatError as exc: + raise ReplayFormatError(str(exc)) from exc + finally: + if metadata_stream is not None: + metadata_stream.close() + + +def _read_native_timing( + stream: IO[str], + *, + expected_sequence: int, + fallback_epoch_ns: int, +) -> tuple[int, int | None]: + line = stream.readline(MAX_METADATA_LINE_CHARS + 1) + if not line: + return fallback_epoch_ns, None + if len(line) > MAX_METADATA_LINE_CHARS: + raise ReplayFormatError("native metadata line exceeds the reviewed bound") + try: + record = json.loads(line) + except json.JSONDecodeError as exc: + raise ReplayFormatError( + f"native metadata line {expected_sequence} is not valid JSON" + ) from exc + if record.get("record_type") != "message" or record.get("sequence") != expected_sequence: + raise ReplayFormatError(f"native metadata is not aligned at message {expected_sequence}") + epoch_ns = record.get("received_at_epoch_ns", fallback_epoch_ns) + monotonic_ns = record.get("received_monotonic_ns") + if not isinstance(epoch_ns, int) or epoch_ns < 0: + raise ReplayFormatError("native metadata received_at_epoch_ns is invalid") + if monotonic_ns is not None and (not isinstance(monotonic_ns, int) or monotonic_ns < 0): + raise ReplayFormatError("native metadata received_monotonic_ns is invalid") + return epoch_ns, monotonic_ns + + +def _iter_legacy_tsv(path: Path) -> Iterator[StreamMessage]: + with path.open("rb") as stream: + line_number = 0 + while True: + raw_line = stream.readline(MAX_LEGACY_LINE_BYTES + 1) + if not raw_line: + return + line_number += 1 + if len(raw_line) > MAX_LEGACY_LINE_BYTES: + raise ReplayFormatError( + f"legacy TSV line {line_number} exceeds {MAX_LEGACY_LINE_BYTES} bytes" + ) + stripped = raw_line.rstrip(b"\r\n") + if not stripped: + continue + columns = stripped.split(b"\t") + if len(columns) != 4: + raise ReplayFormatError( + f"legacy TSV line {line_number} must contain exactly four columns" + ) + timestamp_raw, topic_raw, length_raw, payload_hex = columns + try: + timestamp = Decimal(timestamp_raw.decode("ascii")) + declared_length = int(length_raw.decode("ascii"), 10) + topic = topic_raw.decode("utf-8") + except (InvalidOperation, UnicodeDecodeError, ValueError) as exc: + raise ReplayFormatError( + f"legacy TSV line {line_number} has invalid timestamp/topic/length" + ) from exc + if not timestamp.is_finite() or timestamp < 0: + raise ReplayFormatError( + f"legacy TSV line {line_number} timestamp is outside bounds" + ) + if not topic: + raise ReplayFormatError(f"legacy TSV line {line_number} has an empty topic") + if declared_length < 0 or declared_length > MAX_REPLAY_PAYLOAD_BYTES: + raise ReplayFormatError( + f"legacy TSV line {line_number} payload length is outside bounds" + ) + if len(payload_hex) != declared_length * 2: + raise ReplayFormatError( + f"legacy TSV line {line_number} declared payload length does not match hex" + ) + try: + payload = bytes.fromhex(payload_hex.decode("ascii")) + except (UnicodeDecodeError, ValueError) as exc: + raise ReplayFormatError( + f"legacy TSV line {line_number} payload is not valid hex" + ) from exc + epoch_ns = int(timestamp * Decimal(1_000_000_000)) + yield StreamMessage( + sequence=line_number, + topic=topic, + payload=payload, + received_at_epoch_ns=epoch_ns, + source="legacy_tsv", + ) diff --git a/src/k1link/viewer/runtime.py b/src/k1link/viewer/runtime.py new file mode 100644 index 0000000..906abe4 --- /dev/null +++ b/src/k1link/viewer/runtime.py @@ -0,0 +1,394 @@ +from __future__ import annotations + +import math +import queue +import threading +import time +from collections.abc import Callable +from datetime import UTC, datetime +from pathlib import Path +from typing import Literal, TypedDict + +from k1link.artifacts import utc_now_iso, write_json_atomic +from k1link.mqtt import CapturedMqttMessage, CaptureError, capture_mqtt +from k1link.viewer.foxglove_bridge import BridgeMetrics, FoxgloveBridge, MetricsSnapshot +from k1link.viewer.messages import StreamMessage +from k1link.viewer.replay import iter_replay_messages + +RuntimePhase = Literal[ + "idle", + "starting_live", + "live", + "replay", + "stopping", + "error", +] +SourceMode = Literal["idle", "live", "replay"] +StateCallback = Callable[[], None] + + +class RuntimeSnapshot(TypedDict): + phase: RuntimePhase + message: str + source_mode: SourceMode + foxglove_ws_url: str | None + foxglove_viewer_url: str | None + metrics: MetricsSnapshot + + +class VisualizationRuntime: + """Own one bounded live/replay source and one deterministic publisher thread.""" + + def __init__(self, *, on_state_change: StateCallback | None = None) -> None: + self._lock = threading.Lock() + self._on_state_change = on_state_change + self._thread: threading.Thread | None = None + self._stop_event = threading.Event() + self._phase: RuntimePhase = "idle" + self._message = "Ready for a live scanner or replay capture." + self._source_mode: SourceMode = "idle" + self._foxglove_ws_url: str | None = None + self._foxglove_viewer_url: str | None = None + self._metrics = BridgeMetrics() + + def snapshot(self) -> RuntimeSnapshot: + with self._lock: + return { + "phase": self._phase, + "message": self._message, + "source_mode": self._source_mode, + "foxglove_ws_url": self._foxglove_ws_url, + "foxglove_viewer_url": self._foxglove_viewer_url, + "metrics": self._metrics.snapshot(), + } + + def start_replay(self, path: Path, *, speed: float = 1.0, loop: bool = False) -> None: + resolved = path.expanduser().resolve() + if not resolved.is_file(): + raise ValueError("replay path must be an existing backend-local file") + if not math.isfinite(speed) or speed < 0: + raise ValueError("replay speed must be finite and non-negative") + # Validate the reviewed shape before changing runtime state. + iterator = iter_replay_messages(resolved) + try: + next(iterator) + except StopIteration as exc: + raise ValueError("replay capture contains no messages") from exc + finally: + iterator.close() + + self._start( + source_mode="replay", + phase="replay", + message=f"Starting replay: {resolved.name}", + target=lambda: self._run_replay(resolved, speed=speed, loop=loop), + ) + + def start_live( + self, + host: str, + out_dir: Path, + *, + duration_seconds: float = 3600.0, + ) -> None: + if not math.isfinite(duration_seconds) or duration_seconds <= 0: + raise ValueError("live duration must be finite and greater than zero") + self._start( + source_mode="live", + phase="starting_live", + message="Starting read-only MQTT capture and Foxglove bridge.", + target=lambda: self._run_live( + host, + out_dir.expanduser().resolve(), + duration_seconds=duration_seconds, + ), + ) + + def stop(self, *, wait_seconds: float = 5.0) -> None: + notify_only = False + with self._lock: + thread = self._thread + if thread is None or not thread.is_alive(): + self._phase = "idle" + self._source_mode = "idle" + self._message = "No active visualization session." + notify_only = True + else: + self._phase = "stopping" + self._message = "Stopping source after preserving queued evidence." + self._stop_event.set() + self._notify() + if notify_only: + return + assert thread is not None + thread.join(timeout=wait_seconds) + + def _start( + self, + *, + source_mode: SourceMode, + phase: RuntimePhase, + message: str, + target: Callable[[], None], + ) -> None: + with self._lock: + if self._thread is not None and self._thread.is_alive(): + raise RuntimeError("a visualization session is already active") + self._stop_event = threading.Event() + self._metrics = BridgeMetrics() + self._phase = phase + self._source_mode = source_mode + self._message = message + self._foxglove_ws_url = None + self._foxglove_viewer_url = None + self._thread = threading.Thread( + target=target, + name=f"k1-{source_mode}-session", + daemon=True, + ) + self._thread.start() + self._notify() + + def _run_replay(self, path: Path, *, speed: float, loop: bool) -> None: + def produce(put: Callable[[StreamMessage], None]) -> str: + while not self._stop_event.is_set(): + first_source_ns: int | None = None + replay_started_ns = time.monotonic_ns() + count = 0 + for message in iter_replay_messages(path): + if self._stop_event.is_set(): + return "Replay stopped by operator." + source_ns = ( + message.received_monotonic_ns + if message.received_monotonic_ns is not None + else message.received_at_epoch_ns + ) + if first_source_ns is None: + first_source_ns = source_ns + if speed > 0: + target_ns = replay_started_ns + int((source_ns - first_source_ns) / speed) + remaining = (target_ns - time.monotonic_ns()) / 1_000_000_000 + if remaining > 0 and self._stop_event.wait(remaining): + return "Replay stopped by operator." + put(message) + count += 1 + if not loop: + return f"Replay completed: {count} MQTT messages." + return "Replay stopped by operator." + + self._run_pipeline(produce, running_phase="replay") + + def _run_live(self, host: str, out_dir: Path, *, duration_seconds: float) -> None: + _write_live_session_preamble(out_dir, host, duration_seconds) + + def produce(put: Callable[[StreamMessage], None]) -> str: + def on_message(message: CapturedMqttMessage) -> None: + put( + StreamMessage( + sequence=message.sequence, + topic=message.topic, + payload=message.payload, + received_at_epoch_ns=message.received_at_epoch_ns, + received_monotonic_ns=message.received_monotonic_ns, + source="live_mqtt", + ) + ) + + summary = capture_mqtt( + host, + out_dir / "captures" / "mqtt_live", + duration_seconds=duration_seconds, + on_ready=lambda: self._set_running( + "live", "MQTT subscribed; waiting for K1 scan frames." + ), + on_message_recorded=on_message, + should_stop=self._stop_event.is_set, + ) + return ( + f"Live capture stopped: {summary['stop_reason']}; " + f"{summary['message_count']} messages preserved." + ) + + try: + self._run_pipeline(produce, running_phase="live") + finally: + _finalize_live_session(out_dir, self.snapshot()) + + def _run_pipeline( + self, + producer: Callable[[Callable[[StreamMessage], None]], str], + *, + running_phase: RuntimePhase, + ) -> None: + messages: queue.Queue[StreamMessage] = queue.Queue(maxsize=32) + source_done = threading.Event() + publisher_ready = threading.Event() + publisher_error: list[BaseException] = [] + + def enqueue(message: StreamMessage) -> None: + try: + messages.put_nowait(message) + return + except queue.Full: + pass + try: + messages.get_nowait() + messages.task_done() + except queue.Empty: + pass + self._metrics.preview_dropped() + try: + messages.put_nowait(message) + except queue.Full: + self._metrics.preview_dropped() + + def publish() -> None: + bridge: FoxgloveBridge | None = None + try: + bridge = FoxgloveBridge(metrics=self._metrics) + with self._lock: + self._foxglove_ws_url = bridge.websocket_url + self._foxglove_viewer_url = bridge.viewer_url + if self._phase != "stopping": + self._phase = running_phase + self._message = "Foxglove bridge ready; source is active." + publisher_ready.set() + self._notify() + while not source_done.is_set() or not messages.empty(): + if self._stop_event.is_set() and source_done.is_set() and messages.empty(): + break + try: + message = messages.get(timeout=0.1) + except queue.Empty: + continue + try: + bridge.process(message) + finally: + messages.task_done() + if self._metrics.snapshot()["messages_received"] % 10 == 0: + self._notify() + except BaseException as exc: + publisher_error.append(exc) + publisher_ready.set() + self._stop_event.set() + finally: + if bridge is not None: + bridge.close() + + publisher = threading.Thread(target=publish, name="k1-foxglove-publisher", daemon=True) + publisher.start() + if not publisher_ready.wait(timeout=15.0): + self._finish_error("Foxglove bridge did not start within 15 seconds.") + source_done.set() + self._stop_event.set() + return + if publisher_error: + self._finish_error( + f"Foxglove bridge failed: {type(publisher_error[0]).__name__}: {publisher_error[0]}" + ) + source_done.set() + return + + final_message = "Session stopped." + try: + final_message = producer(enqueue) + except CaptureError as exc: + self._finish_error(f"Live MQTT capture failed: {exc}") + except (OSError, RuntimeError, ValueError) as exc: + self._finish_error(f"Source failed: {type(exc).__name__}: {exc}") + finally: + source_done.set() + publisher.join(timeout=15.0) + if publisher.is_alive(): + self._stop_event.set() + self._finish_error("Publisher did not drain within 15 seconds.") + elif publisher_error: + self._finish_error( + f"Publisher failed: {type(publisher_error[0]).__name__}: {publisher_error[0]}" + ) + elif self.snapshot()["phase"] != "error": + self._finish_idle(final_message) + + def _set_running(self, phase: RuntimePhase, message: str) -> None: + with self._lock: + if self._phase != "stopping": + self._phase = phase + self._message = message + self._notify() + + def _finish_idle(self, message: str) -> None: + with self._lock: + self._phase = "idle" + self._source_mode = "idle" + self._message = message + self._foxglove_ws_url = None + self._foxglove_viewer_url = None + self._notify() + + def _finish_error(self, message: str) -> None: + with self._lock: + self._phase = "error" + self._message = message + self._foxglove_ws_url = None + self._foxglove_viewer_url = None + self._notify() + + def _notify(self) -> None: + callback = self._on_state_change + if callback is not None: + callback() + + +def new_live_session_dir(repository_root: Path) -> Path: + stamp = datetime.now(UTC).strftime("%Y%m%dT%H%M%SZ") + base = repository_root / "sessions" / f"{stamp}_viewer_live" + candidate = base + suffix = 1 + while candidate.exists(): + suffix += 1 + candidate = base.with_name(f"{base.name}_{suffix:02d}") + return candidate + + +def _write_live_session_preamble(out_dir: Path, host: str, duration_seconds: float) -> None: + out_dir.mkdir(parents=True, exist_ok=False) + started_at_utc = utc_now_iso() + write_json_atomic( + out_dir / "manifest.redacted.json", + { + "schema_version": 1, + "started_at_utc": started_at_utc, + "started_monotonic_ns": time.monotonic_ns(), + "operation": "k1_live_mqtt_to_foxglove", + "target": "owner-controlled K1 at redacted RFC1918 address", + "requested_duration_seconds": duration_seconds, + "raw_capture": "captures/mqtt_live/mqtt.raw.k1mqtt", + "credential_storage": "none", + }, + ) + notes = ( + "# K1 live visualization session\n\n" + f"Started UTC: {started_at_utc}\n\n" + "The local control API started a read-only MQTT subscription and Foxglove " + "preview. Raw MQTT evidence is written before preview decoding. The target " + f"was a validated private IPv4 address ({host.rsplit('.', 1)[0]}.x).\n" + ) + notes_path = out_dir / "operator-notes.md" + notes_path.write_text(notes, encoding="utf-8") + notes_path.chmod(0o600) + + +def _finalize_live_session(out_dir: Path, snapshot: RuntimeSnapshot) -> None: + manifest_path = out_dir / "manifest.redacted.json" + try: + import json + + payload = json.loads(manifest_path.read_text(encoding="utf-8")) + payload["completed_at_utc"] = utc_now_iso() + payload["completed_monotonic_ns"] = time.monotonic_ns() + payload["final_phase"] = snapshot["phase"] + payload["aggregate_metrics"] = snapshot["metrics"] + write_json_atomic(manifest_path, payload) + except (OSError, ValueError): + # The MQTT capture summary remains authoritative if final annotation fails. + return diff --git a/src/k1link/web/__init__.py b/src/k1link/web/__init__.py new file mode 100644 index 0000000..f56acf8 --- /dev/null +++ b/src/k1link/web/__init__.py @@ -0,0 +1 @@ +"""Local-only control API for the K1 live console.""" diff --git a/src/k1link/web/app.py b/src/k1link/web/app.py new file mode 100644 index 0000000..b8160fe --- /dev/null +++ b/src/k1link/web/app.py @@ -0,0 +1,316 @@ +from __future__ import annotations + +import asyncio +import threading +from collections.abc import Mapping +from datetime import UTC, datetime +from pathlib import Path +from typing import Any + +from bleak.exc import BleakError +from fastapi import FastAPI, HTTPException, WebSocket, WebSocketDisconnect +from fastapi.staticfiles import StaticFiles +from pydantic import BaseModel, Field + +from k1link import __version__ +from k1link.artifacts import write_json_atomic +from k1link.ble.scanner import scan +from k1link.ble.wifi_provisioning import AP_FALLBACK_IPV4, provision_wifi_once +from k1link.mqtt import validate_private_ipv4 +from k1link.viewer.runtime import VisualizationRuntime, new_live_session_dir + +REPOSITORY_ROOT = Path(__file__).resolve().parents[3] + + +class BleScanRequest(BaseModel): + duration_seconds: float = Field(default=6.0, ge=1.0, le=60.0) + + +class ConnectRequest(BaseModel): + device_id: str = Field(min_length=1, max_length=128) + ssid: str = Field(min_length=1, max_length=128) + password: str = Field(min_length=1, max_length=256) + + +class LiveRequest(BaseModel): + host: str | None = Field(default=None, max_length=15) + duration_seconds: float = Field(default=3600.0, ge=1.0, le=86_400.0) + + +class ReplayRequest(BaseModel): + path: str = Field(min_length=1, max_length=4096) + speed: float = Field(default=1.0, ge=0.0, le=100.0) + loop: bool = False + + +class ConsoleService: + def __init__(self, repository_root: Path) -> None: + self.repository_root = repository_root.resolve() + self._lock = threading.Lock() + self._devices: list[dict[str, Any]] = [] + self._selected_device_id: str | None = None + self._k1_ip: str | None = None + self._operation_phase: str | None = None + self._operation_message: str | None = None + self.runtime = VisualizationRuntime() + + def state(self) -> dict[str, Any]: + runtime = self.runtime.snapshot() + metrics = runtime["metrics"] + with self._lock: + operation_phase = self._operation_phase + operation_message = self._operation_message + devices = list(self._devices) + selected_device_id = self._selected_device_id + k1_ip = self._k1_ip + + runtime_active = runtime["source_mode"] != "idle" or runtime["phase"] in { + "starting_live", + "stopping", + "error", + } + if operation_phase is not None: + phase = operation_phase + message = operation_message + elif runtime_active: + phase = runtime["phase"] + message = runtime["message"] + elif k1_ip is not None: + phase = "connected" + message = runtime["message"] + elif selected_device_id is not None: + phase = "device_selected" + message = "K1 selected; Wi-Fi credentials have not been written." + else: + phase = "idle" + message = runtime["message"] + + return { + "phase": phase, + "message": message, + "devices": devices, + "selected_device_id": selected_device_id, + "k1_ip": k1_ip, + "foxglove_ws_url": runtime["foxglove_ws_url"], + "foxglove_viewer_url": runtime["foxglove_viewer_url"], + "source_mode": runtime["source_mode"], + "metrics": { + "pipeline_ms": metrics["mqtt_to_publish_ms"], + "end_to_end_ms": metrics["mqtt_to_publish_ms"], + "decode_ms": metrics["decode_publish_ms"], + "frame_rate": metrics["pcl_fps"], + "frame_rate_hz": metrics["pcl_fps"], + "point_count": metrics["last_point_count"], + "dropped_preview_frames": metrics["preview_dropped"], + **metrics, + }, + } + + async def scan_ble(self, duration_seconds: float) -> dict[str, Any]: + self._set_operation("scanning", "Scanning for nearby K1 BLE advertisements.") + try: + result = await scan(duration_seconds) + devices = [ + { + "device_id": item["macos_uuid"], + "name": item["local_name"] or item["name"], + "rssi": item["rssi"], + "address": None, + "connectable": True, + } + for item in result["devices"] + if item["k1_name_candidate"] + ] + with self._lock: + self._devices = devices + if len(devices) == 1: + self._selected_device_id = str(devices[0]["device_id"]) + self._operation_message = f"BLE scan complete: {len(devices)} K1 candidate(s)." + finally: + with self._lock: + self._operation_phase = None + return self.state() + + async def connect(self, request: ConnectRequest) -> dict[str, Any]: + known_ids = {str(item["device_id"]) for item in self.state()["devices"]} + if request.device_id not in known_ids: + raise ValueError("device_id must come from the latest K1 BLE scan") + self._set_operation( + "provisioning", + "Sending one explicitly requested Wi-Fi provisioning write.", + ) + session_dir = _new_operation_session_dir( + self.repository_root, + "viewer_wifi_provisioning", + ) + session_dir.mkdir(parents=True, exist_ok=False) + password = request.password + try: + result = await provision_wifi_once( + request.device_id, + request.ssid, + password, + timeout_seconds=45.0, + write_mode="auto", + ) + write_json_atomic(session_dir / "provisioning.sensitive.json", result) + ipv4 = _provisioned_ipv4(result) + write_json_atomic( + session_dir / "manifest.redacted.json", + { + "schema_version": 1, + "started_at_utc": result["started_at_utc"], + "completed_at_utc": result["completed_at_utc"], + "operation": "single_reviewed_wifi_provisioning_write", + "profile_id": result["profile_id"], + "outcome": result["outcome"], + "k1_lan_address_observed": ipv4 is not None, + "credentials_persisted_by_connector": False, + }, + ) + if ipv4 is None: + raise RuntimeError( + "K1 did not report a non-AP LAN address; no automatic retry was made" + ) + with self._lock: + self._selected_device_id = request.device_id + self._k1_ip = ipv4 + self._operation_message = "K1 joined the LAN and reported its private address." + finally: + password = "" + with self._lock: + self._operation_phase = None + return self.state() + + def start_live(self, host: str | None, duration_seconds: float) -> dict[str, Any]: + target = host or self.state()["k1_ip"] + if not isinstance(target, str) or not target: + raise ValueError("live host is required until BLE provisioning reports a K1 address") + target = validate_private_ipv4(target) + out_dir = new_live_session_dir(self.repository_root) + self.runtime.start_live(target, out_dir, duration_seconds=duration_seconds) + return self.state() + + def start_replay(self, path: str, speed: float, loop: bool) -> dict[str, Any]: + replay_path = Path(path).expanduser().resolve() + if not replay_path.is_relative_to(self.repository_root): + raise ValueError("replay path must remain inside this repository") + self.runtime.start_replay(replay_path, speed=speed, loop=loop) + return self.state() + + def stop(self) -> dict[str, Any]: + self.runtime.stop() + return self.state() + + def _set_operation(self, phase: str, message: str) -> None: + with self._lock: + self._operation_phase = phase + self._operation_message = message + + +service = ConsoleService(REPOSITORY_ROOT) +app = FastAPI( + title="NODE.DC K1 Live Console API", + version=__version__, + docs_url="/api/docs", + redoc_url=None, + openapi_url="/api/openapi.json", +) + + +@app.get("/api/health") +def health() -> dict[str, Any]: + return { + "ok": True, + "status": "ok", + "service": "k1-live-console", + "version": __version__, + } + + +@app.get("/api/state") +def get_state() -> dict[str, Any]: + return service.state() + + +@app.post("/api/ble/scan") +async def scan_ble(request: BleScanRequest) -> dict[str, Any]: + try: + return await service.scan_ble(request.duration_seconds) + except (BleakError, OSError, RuntimeError, ValueError) as exc: + raise HTTPException(status_code=502, detail=f"BLE scan failed: {exc}") from exc + + +@app.post("/api/connect") +async def connect(request: ConnectRequest) -> dict[str, Any]: + try: + return await service.connect(request) + except (BleakError, OSError, TimeoutError, RuntimeError, ValueError) as exc: + raise HTTPException(status_code=502, detail=f"Wi-Fi provisioning failed: {exc}") from exc + + +@app.post("/api/session/live") +def start_live(request: LiveRequest) -> dict[str, Any]: + try: + return service.start_live(request.host, request.duration_seconds) + except (OSError, RuntimeError, ValueError) as exc: + raise HTTPException(status_code=400, detail=str(exc)) from exc + + +@app.post("/api/session/replay") +def start_replay(request: ReplayRequest) -> dict[str, Any]: + try: + return service.start_replay(request.path, request.speed, request.loop) + except (OSError, RuntimeError, ValueError) as exc: + raise HTTPException(status_code=400, detail=str(exc)) from exc + + +@app.post("/api/session/stop") +def stop_session() -> dict[str, Any]: + return service.stop() + + +@app.websocket("/api/events") +async def events(websocket: WebSocket) -> None: + await websocket.accept() + try: + while True: + await websocket.send_json({"state": service.state()}) + await asyncio.sleep(0.5) + except WebSocketDisconnect: + return + + +frontend_dist = REPOSITORY_ROOT / "apps" / "k1-viewer" / "dist" +if frontend_dist.is_dir(): + app.mount("/", StaticFiles(directory=frontend_dist, html=True), name="frontend") + + +def _new_operation_session_dir(repository_root: Path, suffix: str) -> Path: + stamp = datetime.now(UTC).strftime("%Y%m%dT%H%M%SZ") + base = repository_root / "sessions" / f"{stamp}_{suffix}" + candidate = base + serial = 1 + while candidate.exists(): + serial += 1 + candidate = base.with_name(f"{base.name}_{serial:02d}") + return candidate + + +def _provisioned_ipv4(result: Mapping[str, Any]) -> str | None: + observations = result.get("observations") + if not isinstance(observations, list): + return None + for observation in reversed(observations): + if not isinstance(observation, dict): + continue + status = observation.get("status") + if not isinstance(status, dict): + continue + address = status.get("ipv4") + if isinstance(address, str) and address != AP_FALLBACK_IPV4: + try: + return validate_private_ipv4(address) + except ValueError: + continue + return None diff --git a/tests/test_foxglove_bridge.py b/tests/test_foxglove_bridge.py new file mode 100644 index 0000000..acfa51e --- /dev/null +++ b/tests/test_foxglove_bridge.py @@ -0,0 +1,69 @@ +from __future__ import annotations + +import struct + +from k1link.protocol.streams import ( + LegacyPoint, + LegacyPointCloudFrame, + LioPoint, + LioPointCloudFrame, + MqttHeader, +) +from k1link.viewer.foxglove_bridge import ( + POINT_STRIDE, + BridgeMetrics, + pack_legacy_point_cloud, + pack_lio_point_cloud, +) + + +def test_lio_points_are_scaled_and_packed_with_uint8_intensity() -> None: + frame = LioPointCloudFrame( + header=MqttHeader( + seq=1, + stamp=2, + scaler=1000, + device_id="synthetic", + session_id="synthetic", + openapi_key=None, + ), + compression=0, + compressed_bytes=10, + decompressed_bytes=20, + points=(LioPoint(-1000, 2500, 3000, 0xAABBCC7F),), + ) + + packed = pack_lio_point_cloud(frame) + + assert packed.point_count == 1 + assert len(packed.data) == POINT_STRIDE + assert struct.unpack(" None: + frame = LegacyPointCloudFrame( + envelope=b"\x00" * 12, + stride=16, + points=(LegacyPoint(1.0, -2.0, 3.5, 1, 2, 3, 240),), + ) + + packed = pack_legacy_point_cloud(frame) + + assert struct.unpack(" None: + metrics = BridgeMetrics() + metrics.received(100) + metrics.preview_dropped() + metrics.record_latency(12.3456) + metrics.published_pcl(42, 2_000_000_000, 1.2345) + + snapshot = metrics.snapshot() + + assert snapshot["messages_received"] == 1 + assert snapshot["payload_bytes"] == 100 + assert snapshot["preview_dropped"] == 1 + assert snapshot["last_point_count"] == 42 + assert snapshot["mqtt_to_publish_ms"] == 12.346 + assert snapshot["decode_publish_ms"] == 1.234 diff --git a/tests/test_mqtt_capture.py b/tests/test_mqtt_capture.py index 0832679..4a121e4 100644 --- a/tests/test_mqtt_capture.py +++ b/tests/test_mqtt_capture.py @@ -95,11 +95,13 @@ def test_validate_private_ipv4_rejects_other_targets(address: str) -> None: def test_capture_writes_verifiable_frames_metadata_and_summary(tmp_path: Path) -> None: fake = FakeClient() + observed = [] summary = capture_mqtt( "192.168.1.50", tmp_path / "capture", duration_seconds=30, + on_message_recorded=observed.append, _client_factory=lambda: cast(mqtt.Client, fake), ) @@ -110,6 +112,10 @@ def test_capture_writes_verifiable_frames_metadata_and_summary(tmp_path: Path) - assert summary["message_count"] == 1 assert summary["payload_bytes"] == len(fake.payload) assert summary["subscriptions"] == list(REPORT_TOPICS) + assert len(observed) == 1 + assert observed[0].topic == fake.topic + assert observed[0].payload == fake.payload + assert observed[0].received_at_epoch_ns > 0 capture_dir = tmp_path / "capture" raw = (capture_dir / "mqtt.raw.k1mqtt").read_bytes() @@ -122,14 +128,14 @@ def test_capture_writes_verifiable_frames_metadata_and_summary(tmp_path: Path) - assert raw[payload_start:] == fake.payload records: list[dict[str, object]] = [ - json.loads(line) - for line in (capture_dir / "mqtt.metadata.jsonl").read_text().splitlines() + json.loads(line) for line in (capture_dir / "mqtt.metadata.jsonl").read_text().splitlines() ] assert len(records) == 1 record = records[0] assert record["record_type"] == "message" assert record["topic"] == fake.topic assert record["payload_bytes"] == len(fake.payload) + assert isinstance(record["received_at_epoch_ns"], int) assert record["payload_sha256"] == hashlib.sha256(fake.payload).hexdigest() assert record["raw_frame_offset"] == len(RAW_MAGIC) assert record["raw_payload_offset"] == payload_start @@ -187,6 +193,49 @@ def test_capture_refuses_to_overwrite_existing_artifacts(tmp_path: Path) -> None assert raw.read_bytes() == b"existing evidence" +def test_capture_can_be_stopped_by_owner_without_losing_artifacts(tmp_path: Path) -> None: + fake = FakeClient() + stop_checks = 0 + + def should_stop() -> bool: + nonlocal stop_checks + stop_checks += 1 + return stop_checks >= 4 + + summary = capture_mqtt( + "192.168.1.50", + tmp_path / "capture", + duration_seconds=30, + should_stop=should_stop, + _client_factory=lambda: cast(mqtt.Client, fake), + ) + + assert summary["stop_reason"] == "external_stop" + assert summary["message_count"] == 1 + assert list(iter_capture_frames(tmp_path / "capture" / "mqtt.raw.k1mqtt"))[0].payload + + +def test_preview_failure_happens_after_raw_message_is_preserved(tmp_path: Path) -> None: + fake = FakeClient() + capture_dir = tmp_path / "capture" + + def fail_preview(_message: object) -> None: + raise ValueError("synthetic preview failure") + + with pytest.raises(CaptureError, match="preview callback failed") as error: + capture_mqtt( + "192.168.1.50", + capture_dir, + on_message_recorded=fail_preview, + _client_factory=lambda: cast(mqtt.Client, fake), + ) + + assert error.value.summary is not None + assert error.value.summary["message_count"] == 1 + frames = list(iter_capture_frames(capture_dir / "mqtt.raw.k1mqtt")) + assert frames[0].payload == fake.payload + + @pytest.mark.parametrize( ("raw", "message"), [ diff --git a/tests/test_viewer_replay.py b/tests/test_viewer_replay.py new file mode 100644 index 0000000..02a3b0d --- /dev/null +++ b/tests/test_viewer_replay.py @@ -0,0 +1,65 @@ +from __future__ import annotations + +import json +from pathlib import Path + +import pytest + +from k1link.mqtt.capture import FRAME_HEADER, RAW_MAGIC +from k1link.viewer.replay import ReplayFormatError, detect_replay_format, iter_replay_messages + + +def _write_native(path: Path, topic: str, payload: bytes) -> None: + topic_raw = topic.encode() + path.write_bytes( + RAW_MAGIC + FRAME_HEADER.pack(len(topic_raw), len(payload)) + topic_raw + payload + ) + + +def test_native_replay_uses_aligned_metadata_timing(tmp_path: Path) -> None: + capture = tmp_path / "mqtt.raw.k1mqtt" + _write_native(capture, "lixel/application/report/lio_pose", b"pose") + (tmp_path / "mqtt.metadata.jsonl").write_text( + json.dumps( + { + "record_type": "message", + "sequence": 1, + "received_at_epoch_ns": 123_000_000_000, + "received_monotonic_ns": 456, + } + ) + + "\n" + ) + + assert detect_replay_format(capture) == "k1mqtt" + message = list(iter_replay_messages(capture))[0] + assert message.topic.endswith("lio_pose") + assert message.payload == b"pose" + assert message.received_at_epoch_ns == 123_000_000_000 + assert message.received_monotonic_ns == 456 + + +def test_legacy_tsv_replay_validates_and_decodes_payload(tmp_path: Path) -> None: + capture = tmp_path / "payloads.tsv" + capture.write_bytes(b"1784124315.186225000\tRealtimePath\t4\t0001aaff\n") + + assert detect_replay_format(capture) == "legacy_tsv" + message = list(iter_replay_messages(capture))[0] + assert message.received_at_epoch_ns == 1_784_124_315_186_225_000 + assert message.payload == b"\x00\x01\xaa\xff" + + +@pytest.mark.parametrize( + "line", + [ + b"1\tonly\tthree\n", + b"bad\ttopic\t1\t00\n", + b"1\ttopic\t2\t00\n", + b"1\ttopic\t1\tzz\n", + ], +) +def 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