fix(node): verify D455 access and share sensor progress and recording UI

apps/control-station/src/workspaces/fleet/VehicleSensors.tsx

@@ -2,11 +2,11 @@ import {useMemo} from 'react';
 import {SensorWorkspace} from '../../../../../packages/sensor-ui/src/SensorWorkspace';
 import type {SensorInventory,SensorTransport} from '../../../../../packages/sensor-ui/src/contracts';
 import {fleetRequest} from '../../core/fleet/useFleet';
-export function VehicleSensors({vehicleID,enabled}:{vehicleID:string;enabled:boolean}){
+export function VehicleSensors({vehicleID,enabled,onDetailChange}:{vehicleID:string;enabled:boolean;onDetailChange:(open:boolean)=>void}){
  const transport=useMemo<SensorTransport>(()=>({
   inventory:async()=>{const fleet=await fleetRequest<{items:{id:string;sensor_state:SensorInventory}[]}>();const value=fleet.items.find(v=>v.id===vehicleID);if(!value)throw new Error('Аппарат не найден.');return value.sensor_state;},
   submit:value=>fleetRequest(`/${encodeURIComponent(vehicleID)}/devices/operations`,'POST',value),
   operation:id=>fleetRequest(`/${encodeURIComponent(vehicleID)}/devices/operations/${encodeURIComponent(id)}`),
  }),[vehicleID]);
- return <SensorWorkspace key={vehicleID} transport={transport} enabled={enabled}/>;
+ return <SensorWorkspace key={vehicleID} transport={transport} enabled={enabled} onDetailChange={onDetailChange}/>;
 }

apps/control-station/src/workspaces/fleet/VehiclesWorkspace.tsx

@@ -18,6 +18,7 @@ export function VehiclesWorkspace({ createRequest = 0 }: { createRequest?: numbe
   const [pending, setPending] = useState(false);
   const [error, setError] = useState("");
   const [selected, setSelected] = useState<string | null>(null);
+  const [sensorOpen, setSensorOpen] = useState(false);
   const [revoking, setRevoking] = useState<Vehicle | null>(null);
   const lastCreateRequest = useRef(createRequest);
   useEffect(() => { if (createRequest !== lastCreateRequest.current) { lastCreateRequest.current = createRequest; setAdding(true); setError(""); } }, [createRequest]);
@@ -43,16 +44,16 @@ export function VehiclesWorkspace({ createRequest = 0 }: { createRequest?: numbe
     {fleet.error && <p role="alert">{fleet.error}</p>}
     {!adding && error && <p role="alert">{error}</p>}
     {detail ? <>
-      <div><Button onClick={() => setSelected(null)}>К списку аппаратов</Button></div>
+      <div><Button onClick={() => {setSelected(null);setSensorOpen(false);}}>К списку аппаратов</Button></div>
-      <SettingsCard title={detail.name} description={`${platformLabel(detail.platform)} · с бортовым компьютером`} actions={<StatusBadge tone={!fleet.error && detail.enrollment === "paired" && detail.connectivity === "online" ? "success" : "neutral"}>{fleet.error ? "Нет свежих данных" : statusLabel(detail)}</StatusBadge>}>
+      {!sensorOpen && <SettingsCard title={detail.name} description={`${platformLabel(detail.platform)} · с бортовым компьютером`} actions={<StatusBadge tone={!fleet.error && detail.enrollment === "paired" && detail.connectivity === "online" ? "success" : "neutral"}>{fleet.error ? "Нет свежих данных" : statusLabel(detail)}</StatusBadge>}>
         {detail.notice && <p role="status">{detail.notice}</p>}
         <dl className="fleet-facts"><div><dt>Бортовой компьютер</dt><dd>{detail.node_id}</dd></div>
           <div><dt>Последняя связь</dt><dd>{detail.last_seen ? new Date(detail.last_seen * 1000).toLocaleString("ru-RU") : "Соединение ещё не получено"}</dd></div>
           {detail.host && <><div><dt>Имя БК в системе</dt><dd>{detail.host.hostname}</dd></div><div><dt>Операционная система</dt><dd>{detail.host.os}</dd></div><div><dt>Архитектура</dt><dd>{detail.host.architecture}</dd></div><div><dt>Процессоры</dt><dd>{detail.host.cpus}</dd></div><div><dt>Память</dt><dd>{detail.host.memory_kib ? `${(detail.host.memory_kib / 1024 / 1024).toFixed(1)} ГиБ` : "Нет сведений"}</dd></div></>}
         </dl>
         {detail.enrollment !== "revoked" && <Button onClick={() => setRevoking(detail)}>Отозвать привязку БК</Button>}
-      </SettingsCard>
+      </SettingsCard>}
-      <SettingsCard title="Устройства аппарата"><VehicleSensors vehicleID={detail.id} enabled={!fleet.error && detail.enrollment === "paired" && detail.connectivity === "online"} /></SettingsCard>
+      <SettingsCard title="Устройства аппарата"><VehicleSensors onDetailChange={setSensorOpen} vehicleID={detail.id} enabled={!fleet.error && detail.enrollment === "paired" && detail.connectivity === "online"} /></SettingsCard>
     </> : !fleet.items ? <ActivityIndicator label="Получаем аппараты" /> : fleet.items.length === 0 ? <SettingsCard title="Аппаратов пока нет" description="Добавьте аппарат по приглашению из Mission Core Node на его бортовом компьютере."><Button onClick={() => setAdding(true)}>Добавить аппарат</Button></SettingsCard> : <ResourceList aria-label="Аппараты">{fleet.items.map(item => <li key={item.id}><ResourceRow icon={<Icon name="apps" />} title={item.name} description={`${platformLabel(item.platform)} · бортовой компьютер`} status={<StatusBadge tone={!fleet.error && item.enrollment === "paired" && item.connectivity === "online" ? "success" : "neutral"}>{fleet.error ? "Нет свежих данных" : statusLabel(item)}</StatusBadge>} actions={<IconButton label={`Конфигурация: ${item.name}`} onClick={() => setSelected(item.id)}><Icon name="eye" /></IconButton>} /></li>)}</ResourceList>}
     <Window open={adding} title="Добавить аппарат" subtitle="Подключить бортовой компьютер по приглашению Node" size="md" closeOnBackdrop={false} closeOnEscape={!pending} onClose={close} footer={<WindowFooterActions><Button disabled={pending} onClick={close}>Отмена</Button>{preview ? <Button disabled={pending || !name.trim()} onClick={() => void add()}>{pending ? "Добавляем…" : "Добавить аппарат"}</Button> : <Button type="submit" form="fleet-invitation" disabled={pending || !code.trim()}>{pending ? "Проверяем БК…" : "Проверить БК"}</Button>}</WindowFooterActions>}>
       <form id="fleet-invitation" className="fleet-form" onSubmit={inspect} aria-busy={pending}>

apps/control-station/src/workspaces/fleet/fleet.css

@@ -3,3 +3,7 @@
 .fleet-facts { display: grid; gap: var(--nodedc-space-3); }
 .fleet-facts > div { display: grid; grid-template-columns: minmax(120px, 1fr) minmax(0, 2fr); gap: var(--nodedc-space-3); }
 .fleet-facts dd { margin: 0; overflow-wrap: anywhere; }
+
+.fleet-facts { font-size: var(--nodedc-font-size-sm); line-height: 1.5; }
+.fleet-facts dt { color: var(--nodedc-text-secondary); }
+.fleet-facts dd { color: var(--nodedc-text-muted); }

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

@@ -196,7 +196,7 @@ func (s *Sensors) Inventory() map[string]any {
 			name = n
 		}
 		s.mu.Unlock()
-		items = append(items, map[string]any{"id": id, "name": name, "model": "RealSense D455", "prepared": false, "verified": false, "online": true, "usb": read("speed") + " Мбит/с", "layers": []any{}, "snapshot": map[string]any{"context": map[string]any{"session_id": s.instance + "_" + id, "device": map[string]any{"device_id": id, "model": map[string]string{"plugin_id": "missioncore.realsense", "plugin_version": "0.6.0", "model_id": "realsense.d455"}, "stability": "stable", "basis": "hardware-identifier"}, "execution": map[string]string{"node_id": s.nodeID, "agent_instance_id": s.instance, "platform": "linux"}, "opened_at": now}, "revision": 0, "enrollment": "empty", "connectivity": "connected", "acquisition": "idle", "observed_at": now}})
+		items = append(items, map[string]any{"id": id, "name": name, "model": "RealSense D455", "prepared": false, "verified": false, "online": true, "usb": read("speed") + " Мбит/с", "layers": []any{}, "snapshot": map[string]any{"context": map[string]any{"session_id": s.instance + "_" + id, "device": map[string]any{"device_id": id, "model": map[string]string{"plugin_id": "missioncore.realsense", "plugin_version": "0.6.6", "model_id": "realsense.d455"}, "stability": "stable", "basis": "hardware-identifier"}, "execution": map[string]string{"node_id": s.nodeID, "agent_instance_id": s.instance, "platform": "linux"}, "opened_at": now}, "revision": 0, "enrollment": "empty", "connectivity": "connected", "acquisition": "idle", "observed_at": now}})
 	}
 	var preparation any
 	if data, e := os.ReadFile("/var/lib/mission-core-node-drivers/preparation.json"); e == nil && len(data) < 32768 {
@@ -206,17 +206,21 @@ func (s *Sensors) Inventory() map[string]any {
 	operations := []any{}
 	for _, v := range s.operations {
 		if time.Now().Unix()-v.Updated < 600 {
-			operations = append(operations, map[string]any{"operation_id": v.Command.ID, "device_id": v.Command.Session.DeviceID, "action_id": v.Command.Action, "state": v.State, "error": v.Error})
+			operations = append(operations, map[string]any{"operation_id": v.Command.ID, "device_id": v.Command.Session.DeviceID, "action_id": v.Command.Action, "requested_at": v.Command.Requested, "state": v.State, "error": v.Error})
 		}
 	}
 	s.mu.Unlock()
 	return map[string]any{"schema": "missioncore.node.devices/v1", "items": items, "preparation": preparation, "operations": operations}
 }
+func sensorViewAction(action string) bool {
+	return action == "details" || action == "offer" || action == "close-peer"
+}
+
 func (s *Sensors) Submit(c SensorCommand, remote bool) (*SensorOperation, error) {
 	if c.APIVersion != SensorSchema || c.Kind != "OperationRequest" || !operationID.MatchString(c.ID) || c.Idempotency != c.ID || !sensorID.MatchString(c.Session.DeviceID) || len(c.Session.SessionID) > 192 {
 		return nil, errors.New("Некорректная команда устройства.")
 	}
-	if !map[string]bool{"prepare": true, "details": true, "rename": true, "verify": true, "start": true, "stop": true, "option": true, "offer": true, "close-peer": true}[c.Action] {
+	if !map[string]bool{"prepare": true, "details": true, "rename": true, "verify": true, "start": true, "replay": true, "stop": true, "option": true, "offer": true, "close-peer": true}[c.Action] {
 		return nil, errors.New("Операция не поддерживается.")
 	}
 	deadline, e := time.Parse(time.RFC3339Nano, c.Deadline)
@@ -239,7 +243,10 @@ func (s *Sensors) Submit(c SensorCommand, remote bool) (*SensorOperation, error)
 		return nil, errors.New("Срок команды истёк. Устройство не изменено.")
 	}
 	for _, v := range s.operations {
-		if v.State == "running" && v.Command.Session.DeviceID == c.Session.DeviceID {
+		if v.State == "running" && v.Command.Action == "prepare" {
+			return nil, errors.New("Подготовка модели ещё выполняется.")
+		}
+		if v.State == "running" && v.Command.Session.DeviceID == c.Session.DeviceID && !sensorViewAction(c.Action) && !sensorViewAction(v.Command.Action) {
 			return nil, errors.New("Другая операция устройства ещё выполняется.")
 		}
 	}
@@ -266,6 +273,7 @@ func (s *Sensors) Submit(c SensorCommand, remote bool) (*SensorOperation, error)
 func (s *Sensors) execute(c SensorCommand) {
 	var result any
 	var err error
+	uncertain := false
 	inv := s.Inventory()
 	var item map[string]any
 	for _, v := range inv["items"].([]any) {
@@ -293,6 +301,7 @@ func (s *Sensors) execute(c SensorCommand) {
 	} else {
 		var v map[string]any
 		v, err = s.driver("/operation", c)
+		uncertain = err != nil || v["state"] == "unknown"
 		if err == nil {
 			if v["state"] == "complete" {
 				result = v["result"]
@@ -308,6 +317,9 @@ func (s *Sensors) execute(c SensorCommand) {
 	v.Updated = time.Now().Unix()
 	if err != nil {
 		v.State = "error"
+		if uncertain {
+			v.State = "unknown"
+		}
 		v.Error = err.Error()
 	} else {
 		v.State = "complete"
@@ -321,6 +333,13 @@ func (s *Sensors) execute(c SensorCommand) {
 func (s *Sensors) prepare(c SensorCommand) (any, error) {
 	s.prepareMu.Lock()
 	defer s.prepareMu.Unlock()
+	for _, raw := range s.Inventory()["items"].([]any) {
+		item := raw.(map[string]any)
+		snap := item["snapshot"].(map[string]any)
+		if state := snap["acquisition"]; state != "idle" && state != "failed" {
+			return nil, errors.New("Остановите захват камер перед подготовкой модели.")
+		}
+	}
 	ctx, cancel := context.WithTimeout(context.Background(), 310*time.Second)
 	defer cancel()
 	cmd := exec.CommandContext(ctx, "/usr/bin/systemctl", "start", "mission-core-node-realsense-prepare.service")

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

@@ -1,10 +1,86 @@
 package node
 
 import (
+	"errors"
+	"io"
+	"net/http"
+	"strings"
 	"testing"
 	"time"
 )
 
-func sensorTestCommand() SensorCommand {now:=time.Now();id:="op_01234567890123456789012345678901";return SensorCommand{APIVersion:SensorSchema,Kind:"OperationRequest",ID:id,Idempotency:id,Session:SensorSession{SessionID:"session_test",DeviceID:"rsd455_01234567890123456789012345678901"},Action:"start",Requested:now.UTC().Format(time.RFC3339Nano),Deadline:now.Add(time.Minute).UTC().Format(time.RFC3339Nano),Parameters:map[string]any{}}}
+func sensorTestCommand() SensorCommand {
-func TestSensorRejectsAuthorityAndExpiredRequests(t *testing.T){s,e:=OpenSensors(t.TempDir(),"node_test");if e!=nil{t.Fatal(e)};c:=sensorTestCommand();c.Action="shell";if _,e=s.Submit(c,false);e==nil{t.Fatal("arbitrary action admitted")};c=sensorTestCommand();c.ID="../../owned";if _,e=s.Submit(c,false);e==nil{t.Fatal("path admitted")};c=sensorTestCommand();c.Requested=time.Now().Add(-2*time.Minute).Format(time.RFC3339Nano);c.Deadline=time.Now().Add(-time.Minute).Format(time.RFC3339Nano);if _,e=s.Submit(c,false);e==nil{t.Fatal("expired command admitted")}}
+	now := time.Now()
-func TestSensorUncertainCrashDoesNotReplay(t *testing.T){root:=t.TempDir();s,_:=OpenSensors(root,"node_test");c:=sensorTestCommand();old:=&SensorOperation{Command:c,State:"running",Updated:time.Now().Unix()};if e:=s.write(c.ID+".json",old);e!=nil{t.Fatal(e)};s,e:=OpenSensors(root,"node_test");if e!=nil{t.Fatal(e)};v,e:=s.Submit(c,false);if e!=nil||v.State!="unknown"{t.Fatalf("replay: %+v %v",v,e)};c.Parameters=map[string]any{"record":true};if _,e=s.Submit(c,false);e==nil{t.Fatal("id collision did not reject different command")}}
+	id := "op_01234567890123456789012345678901"
+	return SensorCommand{APIVersion: SensorSchema, Kind: "OperationRequest", ID: id, Idempotency: id, Session: SensorSession{SessionID: "session_test", DeviceID: "rsd455_01234567890123456789012345678901"}, Action: "start", Requested: now.UTC().Format(time.RFC3339Nano), Deadline: now.Add(time.Minute).UTC().Format(time.RFC3339Nano), Parameters: map[string]any{}}
+}
+func TestSensorRejectsAuthorityAndExpiredRequests(t *testing.T) {
+	s, e := OpenSensors(t.TempDir(), "node_test")
+	if e != nil {
+		t.Fatal(e)
+	}
+	c := sensorTestCommand()
+	c.Action = "shell"
+	if _, e = s.Submit(c, false); e == nil {
+		t.Fatal("arbitrary action admitted")
+	}
+	c = sensorTestCommand()
+	c.ID = "../../owned"
+	if _, e = s.Submit(c, false); e == nil {
+		t.Fatal("path admitted")
+	}
+	c = sensorTestCommand()
+	c.Requested = time.Now().Add(-2 * time.Minute).Format(time.RFC3339Nano)
+	c.Deadline = time.Now().Add(-time.Minute).Format(time.RFC3339Nano)
+	if _, e = s.Submit(c, false); e == nil {
+		t.Fatal("expired command admitted")
+	}
+}
+func TestSensorUncertainCrashDoesNotReplay(t *testing.T) {
+	root := t.TempDir()
+	s, _ := OpenSensors(root, "node_test")
+	c := sensorTestCommand()
+	old := &SensorOperation{Command: c, State: "running", Updated: time.Now().Unix()}
+	if e := s.write(c.ID+".json", old); e != nil {
+		t.Fatal(e)
+	}
+	s, e := OpenSensors(root, "node_test")
+	if e != nil {
+		t.Fatal(e)
+	}
+	v, e := s.Submit(c, false)
+	if e != nil || v.State != "unknown" {
+		t.Fatalf("replay: %+v %v", v, e)
+	}
+	c.Parameters = map[string]any{"record": true}
+	if _, e = s.Submit(c, false); e == nil {
+		t.Fatal("id collision did not reject different command")
+	}
+}
+
+type sensorRoundTrip func(*http.Request) (*http.Response, error)
+
+func (f sensorRoundTrip) RoundTrip(r *http.Request) (*http.Response, error) { return f(r) }
+func TestSensorPreservesUncertainDriverOutcome(t *testing.T) {
+	for _, response := range []string{`{"state":"unknown","error":"uncertain"}`, "transport-failure"} {
+		t.Run(response, func(t *testing.T) {
+			s, _ := OpenSensors(t.TempDir(), "node_test")
+			c := sensorTestCommand()
+			s.operations[c.ID] = &SensorOperation{Command: c, State: "running"}
+			s.client = &http.Client{Transport: sensorRoundTrip(func(r *http.Request) (*http.Response, error) {
+				body := `{"items":[{"id":"` + c.Session.DeviceID + `"}]}`
+				if r.URL.Path == "/operation" {
+					if response == "transport-failure" {
+						return nil, errors.New("connection lost")
+					}
+					body = response
+				}
+				return &http.Response{StatusCode: 200, Body: io.NopCloser(strings.NewReader(body)), Header: http.Header{}}, nil
+			})}
+			s.execute(c)
+			if s.Get(c.ID).State != "unknown" {
+				t.Fatal("uncertain hardware effect reported as definite failure")
+			}
+		})
+	}
+}

apps/node-agent/packaging/70-mission-core-realsense.rules

@@ -2,3 +2,4 @@
 SUBSYSTEM=="usb", ATTR{idVendor}=="8086", ATTR{idProduct}=="0b5c", MODE="0660", GROUP="mission-core-sensors"
 SUBSYSTEM=="video4linux", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE="0660", GROUP="mission-core-sensors"
 SUBSYSTEM=="hidraw", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE="0660", GROUP="mission-core-sensors"
+SUBSYSTEM=="iio", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE="0660", GROUP="mission-core-sensors", RUN+="/usr/bin/python3 -I /usr/lib/mission-core-node/realsense_iio_access.py %p"

apps/node-agent/packaging/build.py

@@ -11,7 +11,7 @@ import sys
 from build_deb import build, VERSION, BRAND_SHA256
 
 ROOT = Path(__file__).resolve().parents[1]
-DG_COMMIT = "8a79dfe84d895c9f1d42b8d285bc6670114f939f"
+DG_COMMIT = "17e150b1c74ab8a345fe34ce51dccd5bb862fa85"
 
 
 def guideline_sources():

apps/node-agent/packaging/build_deb.py

@@ -13,7 +13,7 @@ import tarfile
 
 
 ROOT = Path(__file__).resolve().parents[1]
-VERSION = "0.6.0"
+VERSION = "0.6.6"
 BRAND_SHA256 = "8bfee8ca9f98e0db48d98aae3af4b32493b8593e18b064a0239d513d824182af"
 
 
@@ -92,7 +92,7 @@ Description: Mission Core onboard computer configuration
     ]:
         files.append((path, (p / source).read_bytes(), mode))
     files.append(("usr/share/mission-core-node/environment-profile.json", (ROOT / "internal/node/environment-profile.json").read_bytes(), 0o644))
-    for name in ("realsense_prepare.py",):
+    for name in ("realsense_prepare.py", "realsense_iio_access.py"):
         files.append(("usr/lib/mission-core-node/" + name, (p / name).read_bytes(), 0o644))
     for name in ("mission-core-realsense.service", "mission-core-node-realsense-prepare.service"):
         files.append(("usr/lib/systemd/system/" + name, (p / name).read_bytes(), 0o644))

apps/node-agent/packaging/mission-core-realsense.service

@@ -12,6 +12,7 @@ StateDirectoryMode=0700
 RuntimeDirectory=mission-core-sensors
 RuntimeDirectoryMode=0750
 UMask=0077
+Environment=OPENBLAS_NUM_THREADS=1
 Restart=on-failure
 RestartSec=3
 NoNewPrivileges=yes

apps/node-agent/packaging/postinst

@@ -14,6 +14,7 @@ case "$1" in
       systemctl daemon-reload
       systemctl enable mission-core-node.service
       systemctl restart mission-core-node.service
+      systemctl try-restart mission-core-realsense.service
     fi
     ;;
 esac

apps/node-agent/packaging/preinst

@@ -2,6 +2,12 @@
 set -eu
 if [ "$1" = install ] || [ "$1" = upgrade ]; then
   if [ -d /run/systemd/system ]; then
+  if [ -S /run/mission-core-sensors/driver.sock ]; then
+    if ! /usr/bin/python3 -I -c 'import http.client,json,socket; c=http.client.HTTPConnection("driver",timeout=5); c.sock=socket.socket(socket.AF_UNIX); c.sock.settimeout(5); c.sock.connect("/run/mission-core-sensors/driver.sock"); c.request("GET","/prepare-safe"); r=c.getresponse(); assert r.status==200 and json.load(r).get("safe") is True'; then
+      echo "Mission Core Node: остановите захват или просмотр записи перед обновлением или удалением." >&2
+      exit 1
+    fi
+  fi
   mc_node_device_job=$(systemctl show --property=ActiveState --value mission-core-node-realsense-prepare.service 2>/dev/null || true)
   case "$mc_node_device_job" in
     active|activating) echo "Mission Core Node: дождитесь завершения подготовки устройства." >&2; exit 1 ;;

apps/node-agent/packaging/prerm

@@ -1,6 +1,12 @@
 #!/bin/sh
 set -eu
 if [ -d /run/systemd/system ]; then
+  if [ -S /run/mission-core-sensors/driver.sock ]; then
+    if ! /usr/bin/python3 -I -c 'import http.client,json,socket; c=http.client.HTTPConnection("driver",timeout=5); c.sock=socket.socket(socket.AF_UNIX); c.sock.settimeout(5); c.sock.connect("/run/mission-core-sensors/driver.sock"); c.request("GET","/prepare-safe"); r=c.getresponse(); assert r.status==200 and json.load(r).get("safe") is True'; then
+      echo "Mission Core Node: остановите захват или просмотр записи перед обновлением или удалением." >&2
+      exit 1
+    fi
+  fi
   mc_node_device_job=$(systemctl show --property=ActiveState --value mission-core-node-realsense-prepare.service 2>/dev/null || true)
   case "$mc_node_device_job" in
     active|activating) echo "Mission Core Node: дождитесь завершения подготовки устройства." >&2; exit 1 ;;

apps/node-agent/packaging/realsense_iio_access.py

@@ -0,0 +1,60 @@
+"""udev-owned D455 IMU permission grant, limited to SDK capture controls."""
+
+import grp
+import os
+import re
+import sys
+from pathlib import Path
+
+
+def allowed_attributes(root):
+    names = [
+        "buffer/enable",
+        "buffer/length",
+        "buffer/watermark",
+        "current_timestamp_clock",
+        "in_accel_sampling_frequency",
+        "in_accel_hysteresis",
+        "in_anglvel_hysteresis",
+        "in_anglvel_sampling_frequency",
+        "scan_elements/in_timestamp_en",
+    ]
+    names += [
+        f"scan_elements/in_{kind}_{axis}_en" for kind in ("accel", "anglvel") for axis in "xyz"
+    ]
+    for name in names:
+        path = root / name
+        if path.exists() and not path.is_symlink() and path.resolve().is_relative_to(root):
+            yield path
+
+
+def validate(sys_path, sys_root=Path("/sys")):
+    if not sys_path.startswith("/devices/") or ".." in sys_path.split("/"):
+        raise ValueError("Invalid sysfs path")
+    root = (sys_root / sys_path.lstrip("/")).resolve(strict=True)
+    if not root.is_relative_to(sys_root / "devices") or not re.fullmatch(r"iio:device[0-9]+", root.name):
+        raise ValueError("Not an IIO device")
+    matched = False
+    for parent in root.parents:
+        if (parent / "idVendor").exists() and (parent / "idProduct").exists():
+            matched = (parent / "idVendor").read_text().strip() == "8086" and (
+                parent / "idProduct"
+            ).read_text().strip() == "0b5c"
+            break
+    if not matched:
+        raise ValueError("Not an admitted D455")
+    return root
+
+
+def grant(sys_path):
+    root = validate(sys_path)
+    group = grp.getgrnam("mission-core-sensors").gr_gid
+    for path in allowed_attributes(root):
+        os.chown(path, 0, group, follow_symlinks=False)
+        os.chmod(path, 0o660, follow_symlinks=False)
+
+
+if __name__ == "__main__":
+    if os.geteuid() != 0 or len(sys.argv) != 2:
+        sys.exit(1)
+    grant(sys.argv[1])

apps/node-agent/packaging/realsense_prepare.py

@@ -1,11 +1,14 @@
 """Fixed model job. No paths, packages, URLs or commands are accepted from clients."""
 
 import hashlib
+import http.client
 import json
 import os
 import shutil
+import socket
 import subprocess
 import sys
+import tempfile
 import time
 import uuid
 import zipfile
@@ -25,11 +28,12 @@ STEPS = [
 
 def publish(value):
     ROOT.mkdir(mode=0o755, exist_ok=True)
-    if ROOT.is_symlink() or ROOT.stat().st_uid != 0:
+    if ROOT.is_symlink() or ROOT.stat().st_uid != 0 or ROOT.stat().st_mode & 0o022:
         raise RuntimeError("Небезопасный каталог драйверов")
     ROOT.chmod(0o755)
-    tmp = ROOT / ".preparation.tmp"
+    handle, name = tempfile.mkstemp(prefix=".preparation-", dir=ROOT)
-    with tmp.open("w") as f:
+    tmp = Path(name)
+    with os.fdopen(handle, "w") as f:
         os.fchmod(f.fileno(), 0o644)
         json.dump(value, f, ensure_ascii=False)
         f.flush()
@@ -57,12 +61,75 @@ def safe_members(archive):
         yield info
 
 
+def configure_imu_namespace():
+    # Isolated Python mode deliberately omits the script directory. This fixed,
+    # root-owned module is the same allowlist used by the udev grant.
+    import importlib.util
+
+    spec = importlib.util.spec_from_file_location(
+        "realsense_iio_access", Path(__file__).with_name("realsense_iio_access.py")
+    )
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+    paths = []
+    for root in Path("/sys/bus/iio/devices").glob("iio:device*"):
+        resolved = root.resolve()
+        try:
+            module.validate(str(resolved)[4:])
+        except ValueError:
+            continue
+        paths.extend(str(p) for p in module.allowed_attributes(resolved))
+    # No subtree write grant. Only concrete allowlisted IIO attribute files
+    # belonging to detected D455s are admitted to the service mount namespace.
+    if any(" " in p or "\n" in p or "%" in p for p in paths):
+        raise RuntimeError("Неподдерживаемый путь IMU")
+    content = (
+        "[Service]\nReadWritePaths=\n"
+        + "".join("ReadWritePaths=-" + p + "\n" for p in sorted(paths))
+    ).encode()
+    folder = Path("/etc/systemd/system/mission-core-realsense.service.d")
+    folder.mkdir(exist_ok=True, mode=0o755)
+    destination = folder / "70-imu-access.conf"
+    fingerprint = ROOT / "imu-config.sha256"
+    previous = fingerprint.read_text() if fingerprint.exists() else None
+    if destination.is_symlink() or fingerprint.is_symlink():
+        raise RuntimeError("Конфликт настроек доступа IMU")
+    if destination.exists():
+        old = destination.read_bytes()
+        if old == content:
+            return False
+        if hashlib.sha256(old).hexdigest() != previous:
+            raise RuntimeError("Настройки IMU изменены в системе. Чужой файл сохранён.")
+    # Read-only preflight; every entry point shares the board's capture owner.
+    sock = Path("/run/mission-core-sensors/driver.sock")
+    if sock.exists():
+        client = http.client.HTTPConnection("driver", timeout=5)
+        client.sock = socket.socket(socket.AF_UNIX)
+        client.sock.settimeout(5)
+        try:
+            client.sock.connect(str(sock))
+            client.request("GET", "/prepare-safe")
+            response = client.getresponse()
+            if response.status != 200 or not json.loads(response.read(1024)).get("safe"):
+                raise RuntimeError("Остановите захват всех камер перед подготовкой драйвера.")
+        finally:
+            client.close()
+    destination.write_bytes(content)
+    destination.chmod(0o644)
+    fingerprint.write_text(hashlib.sha256(content).hexdigest())
+    fingerprint.chmod(0o644)
+    return True
+
+
 def prepare():
     manifest = json.loads((SHARE / "bundle.json").read_text())
     revision = manifest["revision"]
     if not revision.isalnum():
         raise RuntimeError("Некорректная версия драйвера")
     target = ROOT / revision
+    if target.is_symlink() or (ROOT / "active.path").is_symlink():
+        raise RuntimeError("Конфликт установленного драйвера")
+    imu_changed = False
     state = {
         "schema": "missioncore.node.device-preparation/v1",
         "model_id": "realsense.d455",
@@ -129,10 +196,14 @@ def prepare():
                 (ROOT / "active.path").write_text(str(target))
                 (ROOT / "active.path").chmod(0o644)
             elif step["id"] == "access":
+                imu_changed = configure_imu_namespace()
                 source = SHARE / "70-mission-core-realsense.rules"
                 dest = Path("/etc/udev/rules.d/70-mission-core-realsense.rules")
                 if dest.is_symlink() or (
-                    dest.exists() and dest.read_bytes() != source.read_bytes()
+                    dest.exists()
+                    and dest.read_bytes() != source.read_bytes()
+                    and hashlib.sha256(dest.read_bytes()).hexdigest()
+                    != "782eba7935400e688a7eaea53fe50d358a046eb6b2c99187a787cc03b0301449"
                 ):
                     raise RuntimeError(
                         "Правила доступа к камере изменены в системе. Чужая конфигурация сохранена."
@@ -156,11 +227,17 @@ def prepare():
                     "--subsystem-match=video4linux",
                 )
                 run("/usr/bin/udevadm", "trigger", "--action=change", "--subsystem-match=hidraw")
+                run("/usr/bin/udevadm", "trigger", "--action=change", "--subsystem-match=iio")
                 run("/usr/bin/udevadm", "settle", "--timeout=10")
             elif step["id"] == "service":
                 run("/usr/bin/systemctl", "enable", "mission-core-realsense.service")
-                # Never restart a running acquisition on repeated preparation.
+                # The fixed job refuses running capture before changing its namespace.
-                run("/usr/bin/systemctl", "start", "mission-core-realsense.service")
+                run("/usr/bin/systemctl", "daemon-reload")
+                run(
+                    "/usr/bin/systemctl",
+                    "restart" if imu_changed else "start",
+                    "mission-core-realsense.service",
+                )
                 run("/usr/bin/systemctl", "is-active", "--quiet", "mission-core-realsense.service")
             step["state"] = "complete"
             publish(state)

apps/node-agent/packaging/test_realsense_iio_access.py

@@ -0,0 +1,42 @@
+import tempfile
+import unittest
+from pathlib import Path
+
+from realsense_iio_access import allowed_attributes, validate
+
+
+class IMUScopeTests(unittest.TestCase):
+    def test_only_capture_attributes_are_granted(self):
+        with tempfile.TemporaryDirectory() as folder:
+            root = Path(folder).resolve()
+            for name in [
+                "buffer/enable",
+                "in_accel_hysteresis",
+                "scan_elements/in_accel_x_en",
+                "reset",
+                "power/control",
+            ]:
+                path = root / name
+                path.parent.mkdir(exist_ok=True, parents=True)
+                path.touch()
+            (root / "buffer/length").symlink_to("/etc/passwd")
+            self.assertEqual(
+                {str(p.relative_to(root)) for p in allowed_attributes(root)},
+                {"buffer/enable", "in_accel_hysteresis", "scan_elements/in_accel_x_en"},
+            )
+
+    def test_foreign_usb_and_path_escape_are_rejected(self):
+        with tempfile.TemporaryDirectory() as folder:
+            sys = Path(folder).resolve()
+            usb = sys / "devices/usb/device"
+            root = usb / "hid/iio:device0"
+            root.mkdir(parents=True)
+            (usb / "idVendor").write_text("8086")
+            (usb / "idProduct").write_text("0b5c")
+            self.assertEqual(validate("/devices/usb/device/hid/iio:device0", sys), root)
+            (usb / "idProduct").write_text("ffff")
+            with self.assertRaises(ValueError):
+                validate("/devices/usb/device/hid/iio:device0", sys)
+            for path in ["/devices/../etc/passwd", "/class/iio:device0", "/devices/usb/device/hid"]:
+                with self.assertRaises(ValueError):
+                    validate(path, sys)

apps/node-agent/sensors/device.py

@@ -2,9 +2,11 @@
 
 import hashlib
 import json
+import logging
 import math
 import os
 import queue
+import re
 import shutil
 import threading
 import time
@@ -18,7 +20,7 @@ from missioncore_plugin_sdk.v0alpha2.session import DeviceSessionSnapshot
 
 MODEL = {
     "plugin_id": "missioncore.realsense",
-    "plugin_version": "0.6.0",
+    "plugin_version": "0.6.6",
     "model_id": "realsense.d455",
 }
 
@@ -44,10 +46,19 @@ def kind(profile):
     return str(profile.stream_type()).split(".")[-1]
 
 
+def configure_profiles(config, profiles):
+    for p in profiles:
+        stream, fmt = getattr(rs.stream, p["stream"]), getattr(rs.format, p["format"])
+        if "width" in p:
+            config.enable_stream(stream, p["index"], p["width"], p["height"], fmt, p["fps"])
+        else:
+            config.enable_stream(stream, p["index"], fmt, p["fps"])
+
+
 class Device:
-    def __init__(self, serial, root, execution):
+    def __init__(self, serial, root, execution, usb_serial=None):
         self.serial = serial
-        self.id = device_id(serial)
+        self.id = device_id(usb_serial or serial)
         self.root = root / self.id
         self.root.mkdir(exist_ok=True, mode=0o700)
         self.lock = threading.RLock()
@@ -69,6 +80,7 @@ class Device:
         self.frames = {}
         self.last_frame = None
         self.record = None
+        self.playback_id = None
         self.profiles = []
         self.options = []
         self.sdk_device = None
@@ -91,6 +103,10 @@ class Device:
     def refresh(self, dev):
         with self.lock:
             self.sdk_device = dev
+            if not self.online:
+                self.verified_this_process = False
+                self.session = "sensor_" + uuid.uuid4().hex
+                self.opened = utc()
             self.online = True
             self.firmware = dev.get_info(rs.camera_info.firmware_version)
             self.transport = dev.get_info(rs.camera_info.usb_type_descriptor)
@@ -204,6 +220,7 @@ class Device:
                 "frames": dict(self.frames),
                 "last_frame": self.last_frame,
                 "recording": self.record,
+                "playback_id": self.playback_id,
                 "layers": list(self.images)
                 + (["points"] if self.depth is not None else [])
                 + (["motion"] if self.motion else []),
@@ -253,15 +270,11 @@ class Device:
                 raise ValueError("Выберите хотя бы один видеопоток.")
             config = rs.config()
             config.enable_device(self.serial)
-            for p in profiles:
+            configure_profiles(config, profiles)
-                stream, fmt = getattr(rs.stream, p["stream"]), getattr(rs.format, p["format"])
-                if "width" in p:
-                    config.enable_stream(stream, p["index"], p["width"], p["height"], fmt, p["fps"])
-                else:
-                    config.enable_stream(stream, p["index"], fmt, p["fps"])
             pipeline = rs.pipeline()
             if not config.can_resolve(rs.pipeline_wrapper(pipeline)):
                 raise ValueError("Камера не поддерживает эту комбинацию профилей. Выберите другую.")
+            self.playback_id = None
             self.acquisition = "starting"
             self.revision += 1
             self.images, self.motion, self.frames = {}, {}, {}
@@ -276,7 +289,7 @@ class Device:
                 ident = "capture_" + uuid.uuid4().hex
                 record_path = self.root / "recordings" / ident
                 record_path.mkdir(parents=True, mode=0o700)
-                config.enable_record_to_file(str(record_path / "source.bag"))
+                config.enable_record_to_file(str(record_path / "source.db3"))
                 self.record = {
                     "id": ident,
                     "state": "recording",
@@ -287,6 +300,7 @@ class Device:
                     "profiles": profiles,
                     "firmware": self.firmware,
                     "sdk": "2.58.4.10922",
+                    "storage_format": "rosbag2-sqlite3",
                     "options": self.options,
                 }
                 atomic(record_path / "manifest.json", self.record)
@@ -320,7 +334,8 @@ class Device:
                     atomic(record_path / "manifest.json", self.record)
                 self.thread = threading.Thread(target=self.consume, daemon=True)
                 self.thread.start()
-            except Exception:
+            except Exception as error:
+                logging.error("D455 capture: %s", str(error).replace(self.serial, "[camera]"))
                 with suppress(RuntimeError):
                     pipeline.stop()
                 self.pipeline = None
@@ -332,6 +347,49 @@ class Device:
                     self.record = None
                 raise ValueError(self.message) from None
 
+    def replay(self, ident):
+        # Only completed board-owned recordings; UI never supplies a filesystem path.
+        if not isinstance(ident, str) or not re.fullmatch(r"capture_[0-9a-f]{32}", ident):
+            raise ValueError("Некорректная запись.")
+        with self.lock:
+            if self.pipeline is not None:
+                raise ValueError("Сначала остановите текущий захват или просмотр записи.")
+            directory = self.root / "recordings" / ident
+            source, manifest = directory / "source.db3", directory / "manifest.json"
+            if directory.is_symlink() or source.is_symlink() or manifest.is_symlink():
+                raise ValueError("Запись недоступна.")
+            if not source.is_file() or not manifest.is_file():
+                raise ValueError("Запись не найдена.")
+            value = json.loads(manifest.read_text())
+            if value.get("state") != "complete" or source.stat().st_size != value.get("bytes"):
+                raise ValueError("Запись не завершена или повреждена.")
+            config, pipeline = rs.config(), rs.pipeline()
+            config.enable_device_from_file(str(source), repeat_playback=True)
+            configure_profiles(config, value["profiles"])
+            self.images, self.motion, self.frames = {}, {}, {}
+            self.depth, self.last_frame = None, None
+            self.queue = queue.Queue(maxsize=2)
+            self.stop_event.clear()
+            self.acquisition = "starting"
+            try:
+                active = pipeline.start(config, self.callback)
+                self.pipeline = pipeline
+                active.get_device().as_playback().set_real_time(True)
+                self.depth_scale = active.get_device().first_depth_sensor().get_depth_scale()
+                self.playback_id = ident
+                self.acquisition = "streaming"
+                self.message = ""
+                self.thread = threading.Thread(target=self.consume, daemon=True)
+                self.thread.start()
+            except RuntimeError:
+                with suppress(RuntimeError):
+                    pipeline.stop()
+                self.pipeline = None
+                self.acquisition = "failed"
+                raise ValueError("Не удалось открыть исходную запись.") from None
+            self.revision += 1
+            return {"ok": True, "playback_id": ident}
+
     def consume(self):
         colorizer = rs.colorizer()
         last_data, last_disk = time.monotonic(), time.monotonic()
@@ -387,8 +445,10 @@ class Device:
             if pipeline is not None:
                 self.acquisition = "stopping"
                 pipeline.stop()
+                del pipeline
             if self.thread and not from_capture:
                 self.thread.join(timeout=3)
+            self.playback_id = None
             self.acquisition = "failed" if failed else "idle"
             self.revision += 1
             if self.record:
@@ -400,7 +460,7 @@ class Device:
                     frames=dict(self.frames),
                 )
                 path = self.root / "recordings" / value["id"]
-                source = path / "source.bag"
+                source = path / "source.db3"
                 if source.exists():
                     digest = hashlib.sha256()
                     with source.open("rb") as f:
@@ -465,6 +525,8 @@ class Device:
                 or not item["min"] <= value <= item["max"]
             ):
                 raise ValueError("Параметр недоступен или значение вне диапазона.")
+            if self.playback_id:
+                raise ValueError("Остановите просмотр записи перед настройкой камеры.")
             sensor_index, option_id = map(int, identifier.split(":"))
             sensor = self.sdk_device.query_sensors()[sensor_index]
             option = rs.option(option_id)

apps/node-agent/sensors/media.py

@@ -5,6 +5,7 @@ import ipaddress
 import json
 import time
 import uuid
+from fractions import Fraction
 
 import aioice.ice
 from aiortc import RTCConfiguration, RTCPeerConnection, RTCSessionDescription, VideoStreamTrack
@@ -35,11 +36,16 @@ class CameraTrack(VideoStreamTrack):
     def __init__(self, device, layer):
         super().__init__()
         self.device, self.layer = device, layer
+        self.started = None
+        self.sequence = 0
 
     async def recv(self):
-        pts, base = await self.next_timestamp()
+        # Fixed 15 Hz preview clock; raw hardware timing is independent.
-        # Bound preview to 15 Hz; hardware profiles and raw recording are independent.
+        if self.started is None:
-        await asyncio.sleep(1 / 30)
+            self.started = time.monotonic()
+        await asyncio.sleep(max(0, self.started + self.sequence / 15 - time.monotonic()))
+        pts, base = self.sequence * 6000, Fraction(1, 90000)
+        self.sequence += 1
         while self.layer not in self.device.images:
             await asyncio.sleep(0.1)
         frame = VideoFrame.from_ndarray(self.device.images[self.layer], format="rgb24")

apps/node-agent/sensors/server.py

@@ -37,17 +37,35 @@ class Host:
             def work():
                 found = set()
                 for dev in self.context.query_devices():
+                    if dev.is_playback():
+                        continue
                     if dev.get_info(rs.camera_info.product_id).lower() != "0b5c":
                         continue
                     serial = dev.get_info(rs.camera_info.serial_number)
-                    ident = device_id(serial)
+                    # SDK module serial and USB serial are distinct on D455.
+                    # Resolve the actual transport ancestor, not list order or model count.
+                    physical = Path(dev.get_info(rs.camera_info.physical_port)).resolve()
+                    usb_serial = None
+                    for parent in (physical, *physical.parents):
+                        if (
+                            (parent / "idVendor").exists()
+                            and (parent / "idProduct").exists()
+                            and (parent / "idVendor").read_text().strip() == "8086"
+                            and (parent / "idProduct").read_text().strip() == "0b5c"
+                        ):
+                            usb_serial = (parent / "serial").read_text().strip()
+                            break
+                    if not usb_serial:
+                        continue
+                    ident = device_id(usb_serial)
                     found.add(ident)
                     if ident not in self.devices:
-                        self.devices[ident] = Device(serial, self.root, self.execution)
+                        self.devices[ident] = Device(serial, self.root, self.execution, usb_serial)
                     self.devices[ident].refresh(dev)
                 for ident, device in self.devices.items():
                     if ident not in found:
                         device.online = False
+                        device.verified_this_process = False
 
             await asyncio.to_thread(work)
 
@@ -112,6 +130,8 @@ class Host:
                         device.start, params.get("profiles"), params.get("record", False)
                     )
                     result = {"ok": True}
+                elif action == "replay":
+                    result = await asyncio.to_thread(device.replay, params.get("recording_id"))
                 elif action == "stop":
                     result = await asyncio.to_thread(device.stop)
                 elif action == "option":
@@ -128,8 +148,20 @@ class Host:
             except (ValueError, RuntimeError) as error:
                 receipt["result"] = {"state": "error", "error": str(error)[:400]}
             atomic(path, receipt)
+            self.operation_locks.pop(identifier, None)
             return web.json_response(receipt["result"])
 
+    async def prepare_safe(self, request):
+        return web.json_response(
+            {
+                "safe": all(
+                    d.pipeline is None
+                    and d.acquisition not in ("preparing", "starting", "stopping")
+                    for d in self.devices.values()
+                )
+            }
+        )
+
     async def cleanup(self, app):
         for peer in list(self.peers.items):
             await self.peers.close(peer)
@@ -154,6 +186,7 @@ def main():
     host = Host()
     app = web.Application(client_max_size=65536, middlewares=[errors])
     app.router.add_get("/inventory", host.inventory)
+    app.router.add_get("/prepare-safe", host.prepare_safe)
     app.router.add_post("/operation", host.operation)
     app.on_cleanup.append(host.cleanup)
     if SOCKET.exists():

docs/node/05_SENSOR_HOST_AND_SHARED_CONTROL.md

@@ -77,3 +77,38 @@ Node/Core, переименование, глазик, профили, дейс
 но не заменяют её. Реальные эксперименты имеют приватный manifest с UTC,
 monotonic, границами и SHA-256. Чистая установка остаётся отложенным владельцем
 критерием; текущий подготовленный Mini не выдаётся за чистую систему.
+
+## Уточнения реализации и UI от 05.09.2026
+
+Подготовка состоит из пяти сохраняемых системных этапов и шестой SDK-проверки
+цвета, глубины, двух ИК-каналов, акселерометра и гироскопа. Общий ProgressBar
+Design Guideline показывает завершённые этапы между названием и тремя кнопками,
+не дублирует круг и точку. Отчёт прошлого запуска не используется как текущий
+прогресс. Статус до подготовки: «Требуется подготовка». Характеристики БК
+используют компактный размер описания аппарата и приглушённый цвет значений.
+
+USB serial корпуса и serial SDK-модуля D455 различаются. Идентификатор берётся
+по реальному USB-предку physical_port SDK; перечень USB и SDK объединяется по
+нему, без привязки к порядку или единственной камере.
+
+IIO IMU требует записи в capture controls sysfs. Профиль допускает только
+D455 VID/PID, существующие buffer/enable,length,watermark, sampling_frequency,
+hysteresis, current_timestamp_clock и scan_elements *_en. Отдельный root helper
+назначает этим файлам группу сервиса и 0660; systemd получает ReadWritePaths
+ровно этих файлов. Записи на всё /sys/devices нет. При смене USB-топологии
+повторная кнопка подготовки пересобирает профиль. Чужая конфигурация сохраняется
+с ошибкой конфликта. Обновление и удаление пакета отказывают, пока идёт захват,
+просмотр записи или подготовка.
+
+SDK 2.58.4.10922 записывает `source.db3` (ROS2 rosbag2/SQLite), а не legacy .bag.
+Payload SDK содержит необходимые библиотеки, отдельная ROS2 не устанавливается.
+Приватный manifest сохраняет выбранные профили, параметры, калибровку, firmware,
+UTC/monotonic timestamps, счётчики и SHA-256 завершённого файла. Просмотр записи
+явно запускается глазиком в списке записей, повторяется до остановки и использует
+тот же WebRTC/слои; физическую камеру для этого не запускает. В API передаётся
+только ID записи, произвольный путь не принимается. Текущий живой захват сначала
+нужно остановить.
+
+Первый тест исходной записи обнаружил отказ SDK от расширения .bag; это
+исправлено в профиле 0.6.6 и требует повторной аппаратной проверки. SDK
+[документирует формат .db3](https://github.com/realsenseai/librealsense/blob/master/doc/record-and-playback.md).

packages/sensor-ui/src/LiveViewport.tsx

@@ -9,10 +9,11 @@ export function LiveViewport({device,layer,transport,failure}:{device:Sensor;lay
  useEffect(()=>{
   if(device.snapshot.acquisition!=='streaming'){setState('Захват остановлен');return;}
   let cancelled=false;let peerID='';let timer:ReturnType<typeof setInterval>|undefined;let last=Date.now();
+  setTelemetry({});setState('Подключаем просмотр');
   const pc=new RTCPeerConnection({iceServers:[]});const channel=pc.createDataChannel('sensor',{ordered:false,maxRetransmits:0});
   if(layer!=='points'&&layer!=='motion')pc.addTransceiver('video',{direction:'recvonly'});
   pc.ontrack=event=>{if(video.current)video.current.srcObject=new MediaStream([event.track]);};
-  pc.onconnectionstatechange=()=>{if(!cancelled)setState(pc.connectionState==='connected'?'Прямой эфир':pc.connectionState==='failed'?'Нет связи с камерой':'Подключаем просмотр');};
+  pc.onconnectionstatechange=()=>{if(!cancelled)setState(pc.connectionState==='connected'?(device.playback_id?'Исходная запись':'Прямой эфир'):pc.connectionState==='failed'?'Нет связи с камерой':'Подключаем просмотр');};
   channel.onmessage=event=>{try{const v=JSON.parse(event.data);last=Date.now();setTelemetry(v);}catch{ /* Ignore malformed preview, not control state. */ }};
   timer=setInterval(()=>{if(channel.readyState==='open')channel.send('keepalive');if(Date.now()-last>8000)setState('Нет свежих кадров');},2000);
   async function connect(){try{
@@ -24,10 +25,10 @@ export function LiveViewport({device,layer,transport,failure}:{device:Sensor;lay
    await pc.setRemoteDescription({type:'answer',sdp:answer.sdp});
   }catch(e){if(!cancelled){setState('Просмотр недоступен');failure(e);}}}
   void connect();return()=>{cancelled=true;if(timer)clearInterval(timer);pc.close();if(peerID)void perform(transport,device,'close-peer',{peer_id:peerID}).catch(()=>undefined);};
- },[device.id,device.snapshot.context.session_id,device.snapshot.acquisition,layer,transport]);
+ },[device.id,device.snapshot.context.session_id,device.snapshot.acquisition,device.playback_id,layer,transport]);
  useEffect(()=>{const escape=(e:KeyboardEvent)=>{if(e.key==='Escape')setExpanded(false);};document.addEventListener('keydown',escape);return()=>document.removeEventListener('keydown',escape);},[]);
  const active=device.snapshot.acquisition==='streaming';
- return <div ref={frame} className={expanded?'sensor-viewer sensor-viewer-expanded':'sensor-viewer'}><SettingsCard title={layer==='points'?'Облако точек':layer==='motion'?'Движение':({color:'RGB',depth:'Глубина',infrared1:'ИК · 1',infrared2:'ИК · 2'}[layer]??layer)} actions={<><StatusBadge tone={active&&state==='Прямой эфир'?'success':'neutral'}>{state}</StatusBadge><IconButton label={expanded?'Восстановить размер просмотра':'Развернуть просмотр'} onClick={()=>setExpanded(!expanded)}><Icon name={expanded?'minimize':'expand'}/></IconButton></>}>
+ return <div ref={frame} className={expanded?'sensor-viewer sensor-viewer-expanded':'sensor-viewer'}><SettingsCard title={layer==='points'?'Облако точек':layer==='motion'?'Движение':({color:'RGB',depth:'Глубина',infrared1:'ИК · 1',infrared2:'ИК · 2'}[layer]??layer)} actions={<><StatusBadge tone={active&&(state==='Прямой эфир'||state==='Исходная запись')?'success':'neutral'}>{state}</StatusBadge><IconButton label={expanded?'Восстановить размер просмотра':'Развернуть просмотр'} onClick={()=>setExpanded(!expanded)}><Icon name={expanded?'minimize':'expand'}/></IconButton></>}>
   {!active?<p>Нажмите «Начать просмотр» или «Начать запись» для запуска камеры.</p>:<>
    {state==='Подключаем просмотр'&&<ActivityIndicator label="Открываем частный канал камеры"/>}
    {layer==='points'?<PointViewport points={telemetry.points??[]}/>:layer==='motion'?<dl className="sensor-facts">{Object.entries(telemetry.motion??{}).map(([kind,v])=><div key={kind}><dt>{kind==='accel'?'Ускорение · м/с²':'Угловая скорость · рад/с'}</dt><dd>X {v.x.toFixed(3)} · Y {v.y.toFixed(3)} · Z {v.z.toFixed(3)}</dd></div>)}</dl>:<video ref={video} className="sensor-media" autoPlay muted playsInline/>}

packages/sensor-ui/src/SensorDetail.tsx

@@ -1,26 +1,28 @@
 import {useEffect,useState} from 'react';
-import {ActivityIndicator,Button,Select,SettingsCard,TextField} from '@nodedc/ui-react';
+import {ActivityIndicator,Button,Icon,IconButton,Select,SettingsCard,TextField} from '@nodedc/ui-react';
 import {perform,type Sensor,type SensorTransport} from './contracts';
 import {LiveViewport} from './LiveViewport';
 export function SensorDetail({device,transport,back,refresh,failure}:{device:Sensor;transport:SensorTransport;back:()=>void;refresh:()=>Promise<void>;failure:(e:unknown)=>void}){
  const [detail,setDetail]=useState<Sensor|null>(null);const [selected,setSelected]=useState<Record<string,string>>({});const [layer,setLayer]=useState('color');const [pending,setPending]=useState(false);const [option,setOption]=useState('');const [optionValue,setOptionValue]=useState('');
  async function load(){const value=await perform<Sensor>(transport,device,'details');setDetail(value);return value;}
  useEffect(()=>{let live=true;if(device.prepared)void load().then(value=>{if(live){const selection:Record<string,string>={};for(const p of value.profiles??[])if(value.defaults?.includes(p.id))selection[p.stream+':'+p.index]=p.id;setSelected(selection);}}).catch(failure);return()=>{live=false;};},[device.id,device.prepared,device.snapshot.context.session_id]);
- async function act(action:string,parameters:Record<string,unknown>={}){if(pending)return;setPending(true);try{await perform(transport,device,action,parameters);await refresh();await load();}catch(e){failure(e);}finally{setPending(false);}}
+ async function act(action:string,parameters:Record<string,unknown>={}){if(pending)return;failure(null);setPending(true);try{await perform(transport,device,action,parameters);await refresh();await load();}catch(e){failure(e);}finally{setPending(false);}}
- const groups=[...new Set((detail?.profiles??[]).map(p=>p.stream+':'+p.index))];
+ const supported=(detail?.profiles??[]).filter(p=>['rgb8','bgr8','z16','y8','motion_xyz32f'].includes(p.format)&&(p.stream!=='infrared'||[1,2].includes(p.index)));
+ const groups=[...new Set(supported.map(p=>p.stream+':'+p.index))];
  const videoNames:Record<string,string>={color:'RGB',depth:'Глубина',infrared1:'ИК · 1',infrared2:'ИК · 2',points:'Точки',motion:'Движение'};
- const available=[...new Set((detail?.profiles??[]).map(p=>p.stream==='infrared'?p.stream+p.index:p.stream==='gyro'||p.stream==='accel'?'motion':p.stream))];if(available.includes('depth'))available.push('points');
+ const available=[...new Set(supported.map(p=>p.stream==='infrared'?p.stream+p.index:p.stream==='gyro'||p.stream==='accel'?'motion':p.stream))];if(available.includes('depth'))available.push('points');
  const currentOption=detail?.options?.find(v=>v.id===option);const active=device.snapshot.acquisition==='streaming'||device.snapshot.acquisition==='starting';
  return <div className="sensor-content"><div><Button onClick={back}>К устройствам</Button></div>
  <SettingsCard title={device.name} description={`${device.model} · USB ${device.usb}${device.firmware?' · '+device.firmware:''}`}>
  {device.snapshot.message&&<p>{device.snapshot.message}</p>}
- <div className="sensor-actions"><Button disabled={pending||!detail||active||!device.online} onClick={()=>void act('start',{profiles:Object.values(selected).filter(Boolean),record:false})}>Начать просмотр</Button><Button disabled={pending||!detail||active||!device.online} onClick={()=>void act('start',{profiles:Object.values(selected).filter(Boolean),record:true})}>Начать запись</Button><Button disabled={pending||(!active&&device.snapshot.acquisition!=='failed')} onClick={()=>void act('stop')}>Остановить захват</Button>{pending&&<ActivityIndicator label="Выполняем команду камеры"/>}</div>
+ <div className="sensor-actions"><Button disabled={pending||!detail||active||!device.online} onClick={()=>void act('start',{profiles:Object.values(selected).filter(Boolean),record:false})}>Начать просмотр</Button><Button disabled={pending||!detail||active||!device.online} onClick={()=>void act('start',{profiles:Object.values(selected).filter(Boolean),record:true})}>Начать запись</Button><Button disabled={pending||(!active&&device.snapshot.acquisition!=='failed')} onClick={()=>void act('stop')}>{device.playback_id?'Закрыть запись':'Остановить захват'}</Button>{pending&&<ActivityIndicator label="Выполняем команду камеры"/>}</div>
+ {device.playback_id&&<p>Просмотр исходной записи · повтор. Камера для него не запускается.</p>}
  {device.recording&&<p>Идёт исходная запись на БК. Она продолжится после закрытия окна.</p>}
  </SettingsCard>
  {detail&&<><Select label="Слой камеры" value={layer} options={available.map(value=>({value,label:videoNames[value]??value}))} onChange={setLayer}/><LiveViewport device={device} layer={layer} transport={transport} failure={failure}/>
  <SettingsCard title="Профили потоков" description="Применяются при следующем запуске захвата."><div className="sensor-fields">{groups.map(group=><Select key={group} label={group} value={selected[group]??''} options={[{value:'',label:'Выключен'},...(detail.profiles??[]).filter(p=>p.stream+':'+p.index===group&&['rgb8','bgr8','z16','y8','motion_xyz32f'].includes(p.format)).map(p=>({value:p.id,label:`${p.width?p.width+' × '+p.height+' · ':''}${p.fps} Гц · ${p.format}`}))]} onChange={value=>setSelected(v=>({...v,[group]:value}))} disabled={pending||active}/>)}</div></SettingsCard>
- <SettingsCard title="Параметры камеры"><div className="sensor-fields"><Select searchable label="Параметр" value={option} options={(detail.options??[]).map(v=>({value:v.id,label:v.label,description:v.sensor}))} onChange={id=>{setOption(id);setOptionValue(String(detail.options?.find(v=>v.id===id)?.value??''));}}/>{currentOption&&<><TextField type="number" label={`${currentOption.min} … ${currentOption.max}${currentOption.read_only?' · только чтение':''}`} min={currentOption.min} max={currentOption.max} step={currentOption.step||'any'} value={optionValue} onChange={e=>setOptionValue(e.target.value)} disabled={pending||currentOption.read_only}/><Button disabled={pending||currentOption.read_only||optionValue===''} onClick={()=>void act('option',{id:option,value:Number(optionValue)})}>Применить параметр</Button></>}</div></SettingsCard>
+ <SettingsCard title="Параметры камеры"><div className="sensor-fields"><Select searchable label="Параметр" value={option} options={(detail.options??[]).map(v=>({value:v.id,label:v.label,description:v.sensor}))} onChange={id=>{setOption(id);setOptionValue(String(detail.options?.find(v=>v.id===id)?.value??''));}}/>{currentOption&&<><TextField type="number" label={`${currentOption.min} … ${currentOption.max}${currentOption.read_only?' · только чтение':''}`} min={currentOption.min} max={currentOption.max} step={currentOption.step||'any'} value={optionValue} onChange={e=>setOptionValue(e.target.value)} disabled={pending||currentOption.read_only||!!device.playback_id}/><Button disabled={pending||currentOption.read_only||!!device.playback_id||optionValue===''} onClick={()=>void act('option',{id:option,value:Number(optionValue)})}>Применить параметр</Button></>}</div></SettingsCard>
- <SettingsCard title="Исходные записи">{detail.recordings?.length?detail.recordings.map(item=><div className="sensor-record" key={item.id}><span>{new Date(item.started_at).toLocaleString('ru-RU')}</span><span>{item.state==='complete'?'Запись завершена':item.state==='recording'?'Идёт запись':item.state==='interrupted'?'Запись прервана':'Запись не завершена'}</span><span>{item.bytes?`${(item.bytes/1048576).toFixed(1)} МиБ`:''}</span></div>):<p>Записей пока нет.</p>}</SettingsCard></>}
+ <SettingsCard title="Исходные записи">{detail.recordings?.length?detail.recordings.map(item=><div className="sensor-record" key={item.id}><span>{new Date(item.started_at).toLocaleString('ru-RU')}</span><span>{item.state==='complete'?'Запись завершена':item.state==='recording'?'Идёт запись':item.state==='interrupted'?'Запись прервана':'Запись не завершена'}</span><span>{item.bytes?`${(item.bytes/1048576).toFixed(1)} МиБ`:''}</span><IconButton label={`Открыть запись: ${new Date(item.started_at).toLocaleString('ru-RU')}`} disabled={pending||active||item.state!=='complete'} onClick={()=>void act('replay',{recording_id:item.id})}><Icon name="eye"/></IconButton></div>):<p>Записей пока нет.</p>}</SettingsCard></>}
  {!detail&&<p>{device.prepared?'Получаем возможности камеры…':'Подготовьте устройство в списке.'}</p>}
  </div>;
 }

packages/sensor-ui/src/SensorWorkspace.tsx

@@ -3,20 +3,22 @@ import {ActivityIndicator,Button,Icon,IconButton,ResourceList,ResourceRow,Settin
 import {perform,type Sensor,type SensorInventory,type SensorTransport} from './contracts';
 import {SensorDetail} from './SensorDetail';
 import './sensors.css';
-export function SensorWorkspace({transport,enabled=true}:{transport:SensorTransport;enabled?:boolean}){
+export function SensorWorkspace({transport,enabled=true,onDetailChange}:{transport:SensorTransport;enabled?:boolean;onDetailChange?:(open:boolean)=>void}){
  const [inventory,setInventory]=useState<SensorInventory|null>(null);const [selected,setSelected]=useState<string|null>(null);const [editing,setEditing]=useState<Sensor|null>(null);const [name,setName]=useState('');const [localBusy,setBusy]=useState<string|null>(null);const [error,setError]=useState('');const [fresh,setFresh]=useState(false);
- const failure=useCallback((e:unknown)=>{setError(e instanceof Error?e.message:'Не удалось выполнить действие устройства.');},[]);
+ const failure=useCallback((e:unknown)=>{setError(e===null?'':e instanceof Error?e.message:'Не удалось выполнить действие устройства.');},[]);
  const refresh=useCallback(async()=>{if(!enabled){setFresh(false);return;}try{setInventory(await transport.inventory());setFresh(true);}catch(e){setFresh(false);failure(e);}},[transport,enabled,failure]);
  useEffect(()=>{void refresh();const timer=setInterval(()=>void refresh(),3000);return()=>clearInterval(timer);},[refresh]);
- async function action(device:Sensor,action:string,parameters:Record<string,unknown>={}){if(localBusy)return;setBusy(device.id);try{await perform(transport,device,action,parameters);await refresh();setEditing(null);}catch(e){failure(e);}finally{setBusy(null);}}
+ async function action(device:Sensor,action:string,parameters:Record<string,unknown>={}){if(localBusy)return;setError('');setBusy(device.id);try{await perform(transport,device,action,parameters);await refresh();setEditing(null);}catch(e){failure(e);}finally{setBusy(null);}}
  const device=inventory?.items.find(v=>v.id===selected);
+ useEffect(()=>{onDetailChange?.(!!device);},[!!device,onDetailChange]);
  return <div className="sensor-workspace">{device?<SensorDetail device={device} transport={transport} back={()=>setSelected(null)} refresh={refresh} failure={failure}/>:<>
  <div className="sensor-actions"><StatusBadge tone={fresh&&enabled?'success':'neutral'}>{!enabled?'БК недоступен':fresh?'Сведения с БК':'Нет свежих сведений'}</StatusBadge><IconButton label="Обновить устройства" disabled={!enabled} onClick={()=>void refresh()}><Icon name="refresh"/></IconButton></div>
  {!inventory?<ActivityIndicator label="Получаем устройства БК"/>:inventory.items.length===0?<SettingsCard title="Поддерживаемые устройства не обнаружены" description="Подключите камеру к бортовому компьютеру."/>:<ResourceList aria-label="Устройства БК">{inventory.items.map(item=>{
  const operation=inventory.operations?.find(v=>v.device_id===item.id&&v.state==='running');const busy=!!operation||localBusy===item.id;
- const label=busy?'Подготовка или команда выполняется':!item.online?'Не подключено':item.snapshot.acquisition==='streaming'?item.recording?'Идёт запись':'Идёт захват':item.verified?'Проверено':item.prepared?'Драйвер установлен':'Нужно подготовить';
+ const prep=operation?.action_id==='prepare'&&inventory.preparation&&(inventory.preparation.started_at*1000>=Date.parse(operation.requested_at)-1000)?inventory.preparation:undefined;
- return <li key={item.id}><ResourceRow icon={<Icon name="camera"/>} title={item.name} description={item.model} metadata={<span>USB {item.usb}</span>} aria-busy={busy} status={<StatusBadge tone={item.verified&&item.online?'success':'neutral'}>{busy?<ActivityIndicator label={label}/>:item.verified&&item.online?<Icon name="check" label={label}/>:label}</StatusBadge>} actions={<><IconButton label={`Подготовить и проверить: ${item.name}`} disabled={!enabled||!fresh||busy||item.snapshot.acquisition==='streaming'} onClick={()=>void action(item,'prepare')}><Icon name="download"/></IconButton><IconButton label={`Настройки: ${item.name}`} disabled={!enabled||!fresh||busy} onClick={()=>{setEditing(item);setName(item.name);}}><Icon name="settings"/></IconButton><IconButton label={`Просмотр: ${item.name}`} disabled={!item.prepared||busy} onClick={()=>setSelected(item.id)}><Icon name="eye"/></IconButton></>}/></li>;})}</ResourceList>}
+ const label=busy?'Подготовка или команда выполняется':!item.online?'Не подключено':item.snapshot.acquisition==='streaming'?item.recording?'Идёт запись':item.playback_id?'Просмотр записи':'Идёт захват':item.verified?'Проверено':item.prepared?'Драйвер установлен':'Требуется подготовка';
- {(localBusy||inventory?.operations?.some(v=>v.state==='running'))&&inventory?.preparation&&<SettingsCard title="Подготовка устройства">{inventory.preparation.steps.map(step=><ResourceRow key={step.id} title={step.label} description={step.message} status={step.state==='complete'?<Icon name="check" label="Выполнено"/>:step.state==='running'?<ActivityIndicator label="Выполняется"/>:<StatusBadge>{step.state==='error'?'Ошибка':step.state==='blocked'?'Не выполнено':'Ожидает'}</StatusBadge>}/>)}</SettingsCard>}
+ return <li key={item.id}><ResourceRow icon={<Icon name="camera"/>} title={item.name} description={item.model} metadata={<span>USB {item.usb}</span>} aria-busy={busy} progress={busy?{label, value:prep?.state==='running'?prep.steps.filter(s=>s.state==='complete').length/(prep.steps.length+1):prep?.state==='complete'?5/6:undefined,valueText:prep?.steps.find(s=>s.state==='running')?.label??'Проверка кадров камеры'}:undefined} status={<StatusBadge tone={item.verified&&item.online?'success':'neutral'}>{item.verified&&item.online?<Icon name="check" label={label}/>:label}</StatusBadge>} actions={<><IconButton label={`Подготовить и проверить: ${item.name}`} disabled={!enabled||!fresh||busy||item.snapshot.acquisition==='streaming'} onClick={()=>void action(item,'prepare')}><Icon name="download"/></IconButton><IconButton label={`Настройки: ${item.name}`} disabled={!enabled||!fresh||busy} onClick={()=>{setEditing(item);setName(item.name);}}><Icon name="settings"/></IconButton><IconButton label={`Просмотр: ${item.name}`} disabled={!item.prepared||busy} onClick={()=>setSelected(item.id)}><Icon name="eye"/></IconButton></>}/></li>;})}</ResourceList>}
+ {(inventory?.operations?.some(v=>v.state==='running'&&v.action_id==='prepare'&&!!inventory.preparation&&inventory.preparation.started_at*1000>=Date.parse(v.requested_at)-1000))&&inventory?.preparation&&<SettingsCard title="Подготовка устройства">{inventory.preparation.steps.map(step=><ResourceRow key={step.id} title={step.label} description={step.message} status={step.state==='complete'?<Icon name="check" label="Выполнено"/>:step.state==='running'?<ActivityIndicator label="Выполняется"/>:<StatusBadge>{step.state==='error'?'Ошибка':step.state==='blocked'?'Не выполнено':'Ожидает'}</StatusBadge>}/>) }<ResourceRow title="Проверка кадров камеры" status={inventory.preparation.state==='complete'?<ActivityIndicator label="Проверяем потоки"/>:<StatusBadge>Ожидает</StatusBadge>}/></SettingsCard>}
  </>}
  <Window open={editing!==null} title="Настройки устройства" onClose={()=>setEditing(null)} footer={<WindowFooterActions><Button disabled={!!localBusy} onClick={()=>setEditing(null)}>Отмена</Button><Button disabled={!!localBusy||!name.trim()} onClick={()=>{if(editing)void action(editing,'rename',{name});}}>Сохранить</Button></WindowFooterActions>}><TextField label="Название устройства" value={name} maxLength={80} onChange={e=>setName(e.target.value)} disabled={!!localBusy}/></Window>
  <ToastStack items={error?[{id:'sensor-error',tone:'error',title:error,durationMs:null}]:[]} onDismiss={()=>setError('')}/>

packages/sensor-ui/src/contracts.ts

@@ -1,15 +1,15 @@
 export interface SensorProfile { id: string; sensor: number; stream: string; index: number; format: string; fps: number; width?: number; height?: number }
 export interface SensorOption { id: string; sensor: string; label: string; value: number; min: number; max: number; step: number; read_only: boolean }
 export interface Sensor {
- id: string; name: string; model: string; prepared: boolean; verified: boolean; online: boolean; usb: string; firmware?: string;
+ id: string; name: string; model: string; prepared: boolean; verified: boolean; online: boolean; usb: string; firmware?: string; playback_id?: string | null;
  snapshot: {context: {session_id: string; device: {device_id: string}; execution: {node_id: string}}; acquisition: string; enrollment: string; message?: string};
  profiles?: SensorProfile[]; defaults?: string[]; options?: SensorOption[]; layers: string[];
  frames?: Record<string,number>; last_frame?: {observed_at:string}; recording?: {id: string};
  recordings?: {id:string;state:string;started_at:string;bytes?:number;sha256?:string}[];
 }
 export interface SensorInventory {
- items: Sensor[]; operations: {operation_id:string;device_id:string;action_id:string;state:string;error?:string}[];
+ items: Sensor[]; operations: {operation_id:string;device_id:string;action_id:string;requested_at:string;state:string;error?:string}[];
- preparation?: {state:string;steps:{id:string;label:string;state:string;message?:string}[]};
+ preparation?: {state:string;started_at:number;steps:{id:string;label:string;state:string;message?:string}[]};
 }
 export interface SensorCommand {
  api_version: 'missioncore.nodedc/plugin-sdk/v0alpha2'; kind:'OperationRequest'; operation_id:string;

packages/sensor-ui/src/sensors.css

@@ -5,6 +5,6 @@
 .sensor-facts {display:grid;gap:var(--nodedc-space-4);font-size:var(--nodedc-font-size-sm)}
 .sensor-facts dd {margin:0}
 .sensor-media {display:block;width:100%;height:360px;object-fit:contain;touch-action:none}
-.sensor-viewer-expanded {position:fixed;inset:var(--nodedc-space-4);z-index:200;background:var(--nodedc-surface-1);overflow:auto}
+.sensor-viewer-expanded {position:fixed;inset:var(--nodedc-space-4);z-index:var(--nodedc-layer-overlay);background:var(--nodedc-canvas);overflow:auto}
 .sensor-viewer-expanded .sensor-media {height:calc(100vh - 190px)}
 .sensor-record {display:flex;flex-wrap:wrap;gap:var(--nodedc-space-4);padding-block:var(--nodedc-space-3);font-size:var(--nodedc-font-size-sm)}

src/k1link/fleet/sensors.py

@@ -15,6 +15,7 @@ ACTIONS = {
     "rename",
     "verify",
     "start",
+    "replay",
     "stop",
     "option",
     "offer",