feat: activate self-hosted lidar spatial scene

README.md

@@ -7,8 +7,10 @@ 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 also contains a local React control console, an automatic Rerun
+gRPC bridge for the verified point-cloud and trajectory streams, and a
+self-hosted Rerun Web Viewer embedded in that console. The former Foxglove
+bridge remains only as a legacy regression module.
 
 The repository now contains one narrowly gated state-changing command:
 `ble wifi-configure`. It accepts only the reviewed firmware-3 provisioning
@@ -88,25 +90,45 @@ inside the NODE.DC shell. It can open a compatible RRD file over HTTP(S) or a
 Rerun gRPC/proxy source such as `rerun+http://127.0.0.1:9876/proxy`. It does not
 use an external hosted viewer UI.
 
-There is one important current boundary: the automatic K1 MQTT → Rerun
-RRD/gRPC contract is **not implemented yet**. Starting a K1 live or replay
-session updates real state and metrics, but it does not by itself populate the
-embedded Rerun viewport. The scene controls for point size, gradients,
-accumulation, layers, timeline and layout are presently a product UI contract;
-their Rerun Blueprint/playback adapter is also still pending. No synthetic
-point cloud, trajectory, camera frame or latency value is generated to conceal
-these missing links.
+The first K1 live session or replay in a `k1link serve` process creates one local
+Rerun `RecordingStream`, starts its gRPC/proxy server on TCP 9876 and publishes
+the resulting URL through control-plane state. Later sessions reset their
+session-local scene and metrics and reuse that process-wide stream; this avoids
+restarting the native listener while the embedded browser remains connected.
+Unless an operator has entered a manual source, the React application assigns
+that URL to the embedded viewer. The complete runtime path is K1 MQTT → raw-first evidence
+capture → bounded latest-wins preview queue → reviewed protobuf/LZ4 decoders →
+Rerun `Points3D`, `Transform3D` and `LineStrips3D` → embedded Web Viewer.
 
-The existing Python MQTT → Foxglove pipeline remains in place as the verified
-legacy visualization adapter. It still publishes `/k1/points`, `/k1/pose`,
-`/k1/trajectory` and `/k1/metrics`, and preserves the measured
-MQTT-receive-to-Foxglove-publish latency plus bounded latest-wins preview
-dropping. It is retained for evidence, regression and diagnostics, not as the
-target Control Station interface. The historical
-[live viewer runbook](docs/06_K1_LIVE_VIEWER.md) records that proven path and its
-timing semantics; the current frontend contract is documented in
+The default Rerun blueprint shows a 12-second sliding accumulation of real point
+frames. Product controls are connected for point size, intensity/height/distance
+or available RGB coloring, Turbo/Viridis/Plasma/grayscale/custom palettes,
+point and trajectory visibility, and the scene grid. Projection, custom
+timeline transport and saved layout remain later product work. No synthetic
+point cloud, trajectory, camera frame or latency value is generated.
+
+A powered-device checkpoint passed 80 real MQTT messages through the current
+Rerun runtime: 38 point-cloud frames, 42 pose frames, 2,775 points in the last
+cloud and zero decode errors. Raw panoramic camera frames remain absent. Rerun
+`capture_time` is the Mac receive timestamp, not a proven K1 sensor timestamp or
+photon-to-screen measurement.
+
+The old Foxglove implementation is retained only in
+`src/k1link/viewer/foxglove_bridge.py` and its regression tests. The current
+live/replay runtime does not start it or use TCP 8765. The
+[live viewer runbook](docs/06_K1_LIVE_VIEWER.md) records the active Rerun path and
+its timing/security boundaries; the frontend contract is documented in
 [`apps/k1-viewer/README.md`](apps/k1-viewer/README.md).
 
+The FastAPI application and credential endpoint bind to loopback, but the Rerun
+gRPC server currently binds TCP 9876 on all network interfaces even though its
+reported source URL contains `127.0.0.1`. It has no connector-level
+authentication or TLS. Use it only on a trusted laboratory LAN, do not expose
+9876 to the public Internet or a cellular WAN, and add an authenticated secure
+proxy before any remote deployment. Stopping acquisition keeps the local scene
+server and its URL available for the next session. Stop `k1link serve` to close
+the listener and release its retained memory.
+
 `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.
@@ -147,7 +169,7 @@ 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)
+- [Live console and embedded Rerun 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)