feat(k1): complete primary acquisition lifecycle

src/k1link/viewer/metrics.py

@@ -24,6 +24,12 @@ class MetricsSnapshot(TypedDict):
     mqtt_to_publish_p95_ms: float | None
     decode_publish_ms: float | None
     trajectory_poses: int
+    device_elapsed_seconds: float | None
+    device_route_distance_meters: float | None
+    device_speed_meters_per_second: float | None
+    device_pgo_progress: int | None
+    modeling_reports: int
+    modeling_decode_errors: int
 
 
 class BridgeMetrics:
@@ -44,6 +50,12 @@ class BridgeMetrics:
         self._pose_times: deque[int] = deque()
         self._latencies_ms: deque[float] = deque(maxlen=512)
         self._decode_publish_ms: float | None = None
+        self._device_elapsed_seconds: float | None = None
+        self._device_route_distance_meters: float | None = None
+        self._device_speed_meters_per_second: float | None = None
+        self._device_pgo_progress: int | None = None
+        self._modeling_reports = 0
+        self._modeling_decode_errors = 0
 
     def received(self, payload_bytes: int) -> None:
         with self._lock:
@@ -81,6 +93,33 @@ class BridgeMetrics:
         with self._lock:
             self._preview_dropped += 1
 
+    def acquisition_telemetry(
+        self,
+        *,
+        elapsed_seconds: float,
+        route_distance_meters: float,
+        speed_meters_per_second: float,
+        pgo_progress: int,
+    ) -> None:
+        values = (elapsed_seconds, route_distance_meters, speed_meters_per_second)
+        if any(not math.isfinite(value) or value < 0 for value in values):
+            return
+        if pgo_progress < 0:
+            return
+        with self._lock:
+            self._device_elapsed_seconds = elapsed_seconds
+            # This is the device's current scan generation. FW 3.0.2 resets
+            # ScanTime and MoveDistance together; carrying an earlier project's
+            # route across that boundary would be false precision.
+            self._device_route_distance_meters = route_distance_meters
+            self._device_speed_meters_per_second = speed_meters_per_second
+            self._device_pgo_progress = pgo_progress
+            self._modeling_reports += 1
+
+    def modeling_decode_error(self) -> None:
+        with self._lock:
+            self._modeling_decode_errors += 1
+
     def snapshot(self) -> MetricsSnapshot:
         now_ns = time.monotonic_ns()
         with self._lock:
@@ -106,6 +145,12 @@ class BridgeMetrics:
                 "mqtt_to_publish_p95_ms": _rounded(p95),
                 "decode_publish_ms": _rounded(self._decode_publish_ms),
                 "trajectory_poses": self._trajectory_poses,
+                "device_elapsed_seconds": _rounded(self._device_elapsed_seconds),
+                "device_route_distance_meters": _rounded(self._device_route_distance_meters),
+                "device_speed_meters_per_second": _rounded(self._device_speed_meters_per_second),
+                "device_pgo_progress": self._device_pgo_progress,
+                "modeling_reports": self._modeling_reports,
+                "modeling_decode_errors": self._modeling_decode_errors,
             }