Add D455 sensor host and shared Node/Core preparation surface

src/k1link/fleet/registry.py

@@ -13,6 +13,7 @@ from cryptography import x509
 from cryptography.hazmat.primitives.asymmetric.ed25519 import Ed25519PublicKey
 from missioncore_plugin_sdk.v0alpha2.identity import ExecutionBinding
 
+from . import sensors
 from .trust import SCHEMA, CoreTrust, PairingError, node_request, parse_invitation, pem, public_id
 
 
@@ -205,7 +206,10 @@ class FleetRegistry:
             "last_seen": row["last_seen"],
             "host": row["inventory"],
             "execution_binding": row["runtime"],
-            "devices": [],
+            "devices": row.get("sensor_state", {}).get("items", []),
+            "sensor_state": row.get(
+                "sensor_state", {"items": [], "operations": [], "preparation": None}
+            ),
             "notice": row["notice"],
             "core_endpoint": row["binding"]["endpoint"],
         }
@@ -366,12 +370,10 @@ class FleetRegistry:
             if path != "/v1/node/heartbeat":
                 return 404, {"error": "Unknown operation"}
             binding = ExecutionBinding.model_validate(value["execution_binding"])
-            if (
-                binding.node_id != node_id
-                or binding.platform.value != "linux"
-                or value.get("devices") != []
-            ):
+            if binding.node_id != node_id or binding.platform.value != "linux":
                 return 400, {"error": "Invalid Node inventory"}
+            sensor_state = sensors.validate_inventory(value, node_id)
+            sensor_response = sensors.heartbeat(row, value)
             host = value.get("host")
             if (
                 not isinstance(host, dict)
@@ -385,6 +387,7 @@ class FleetRegistry:
                 receipt=None,
                 last_seen=time.time(),
                 inventory=host,
+                sensor_state=sensor_state,
                 runtime=binding.model_dump(mode="json"),
                 notice="",
             )
@@ -396,4 +399,4 @@ class FleetRegistry:
                 }
                 row["binding"]["client_pem"] = self.trust.leaf(node_id, key)
             self.save(row)
-            return 200, {"ok": True, "client_pem": row["binding"]["client_pem"]}
+            return 200, {"ok": True, "client_pem": row["binding"]["client_pem"], **sensor_response}

src/k1link/fleet/sensors.py

@@ -0,0 +1,128 @@
+"""Fleet projects Node-owned sensor state and forwards SDK operations, never hardware calls."""
+
+import json
+import time
+from datetime import UTC, datetime
+
+from missioncore_plugin_sdk.v0alpha2.operations import OperationRequest
+from missioncore_plugin_sdk.v0alpha2.session import DeviceSessionSnapshot
+
+from .trust import PairingError
+
+ACTIONS = {
+    "prepare",
+    "details",
+    "rename",
+    "verify",
+    "start",
+    "stop",
+    "option",
+    "offer",
+    "close-peer",
+}
+
+
+def validate_inventory(value, node_id):
+    items = value.get("devices", [])
+    if not isinstance(items, list) or len(items) > 16:
+        raise ValueError("Invalid device inventory")
+    seen = set()
+    for item in items:
+        snapshot = DeviceSessionSnapshot.model_validate(item["snapshot"])
+        if (
+            snapshot.context.execution.node_id != node_id
+            or snapshot.context.device.device_id != item["id"]
+            or item["id"] in seen
+        ):
+            raise ValueError("Invalid device execution binding")
+        seen.add(item["id"])
+    state = value.get("sensor_state", {"items": items, "operations": [], "preparation": None})
+    if state.get("items") != items or len(json.dumps(state)) > 262144:
+        raise ValueError("Invalid sensor state")
+    return state
+
+
+def submit(fleet, vehicle_id, value):
+    command = OperationRequest.model_validate(value)
+    if (
+        command.action_id not in ACTIONS
+        or command.idempotency_key != command.operation_id
+        or len(json.dumps(value)) > 65536
+    ):
+        raise PairingError("Неподдерживаемая команда устройства.")
+    with fleet.lock:
+        row = fleet.find(vehicle_id)
+        if fleet.public(row)["connectivity"] != "online":
+            raise PairingError("БК недоступен. Дождитесь связи перед настройкой устройства.")
+        existing = row.setdefault("sensor_commands", {}).get(command.operation_id)
+        if existing:
+            if existing["command"] != value:
+                raise PairingError("Идентификатор операции уже использован.")
+            return existing
+        if (
+            not datetime.now(UTC) < command.deadline_at
+            or (command.deadline_at - command.requested_at).total_seconds() > 360
+        ):
+            raise PairingError("Срок команды истёк. Обновите устройство.")
+        item = next(
+            (
+                item
+                for item in row.get("sensor_state", {}).get("items", [])
+                if item["id"] == command.session.device_id
+            ),
+            None,
+        )
+        if item is None or item["snapshot"]["context"]["session_id"] != command.session.session_id:
+            raise PairingError("Сеанс устройства изменился. Обновите сведения.")
+        row["sensor_commands"] = {
+            k: v for k, v in row["sensor_commands"].items() if time.time() - v["updated_at"] < 600
+        }
+        if len(row["sensor_commands"]) >= 32:
+            raise PairingError("Слишком много запросов к устройству. Повторите позже.")
+        operation = {"command": value, "state": "queued", "updated_at": time.time()}
+        row["sensor_commands"][command.operation_id] = operation
+        fleet.save(row)
+        return operation
+
+
+def operation(fleet, vehicle_id, identifier):
+    with fleet.lock:
+        value = fleet.find(vehicle_id).get("sensor_commands", {}).get(identifier)
+        if value is None:
+            raise PairingError("Операция не найдена.")
+        if value["state"] in ("queued", "running") and datetime.fromisoformat(
+            value["command"]["deadline_at"]
+        ) < datetime.now(UTC):
+            return {
+                **value,
+                "state": "unknown",
+                "error": "Подтверждение не получено. Обновите фактическое состояние устройства.",
+            }
+        return value
+
+
+def heartbeat(row, value):
+    commands = row.setdefault("sensor_commands", {})
+    acknowledgements = []
+    results = value.get("sensor_results", [])
+    if not isinstance(results, list) or len(results) > 64:
+        raise ValueError("Invalid sensor operations")
+    for result in results:
+        command = result.get("command", {})
+        identifier = command.get("operation_id")
+        existing = commands.get(identifier)
+        if (
+            existing
+            and existing["command"] == command
+            and result.get("state") in ("running", "complete", "error", "unknown")
+        ):
+            commands[identifier] = {**result, "updated_at": time.time()}
+            if result["state"] != "running":
+                acknowledgements.append(identifier)
+    pending = []
+    for entry in commands.values():
+        if entry["state"] == "queued" and datetime.fromisoformat(
+            entry["command"]["deadline_at"]
+        ) > datetime.now(UTC):
+            pending.append(entry["command"])
+    return {"sensor_commands": pending[:4], "sensor_acknowledgements": acknowledgements}

src/k1link/fleet/transport.py

@@ -57,7 +57,7 @@ class NodeChannelHandler(BaseHTTPRequestHandler):
             if (
                 self.headers.get("Content-Type") != "application/json"
                 or self.headers.get("Origin")
-                or not 0 < size <= 65536
+                or not 0 < size <= 1048576
             ):
                 raise ValueError
             value = json.loads(self.rfile.read(size))

src/k1link/web/fleet_api.py

@@ -83,3 +83,27 @@ def fleet_revoke(vehicle_id: str, fleet: Annotated[FleetRegistry, Depends(local_
         return fleet.revoke(vehicle_id)
     except PairingError as error:
         raise HTTPException(404, str(error)) from None
+
+
+@router.post("/{vehicle_id}/devices/operations")
+def sensor_command(
+    vehicle_id: str, body: dict, fleet: Annotated[FleetRegistry, Depends(local_operator)]
+):
+    from k1link.fleet.sensors import submit
+
+    try:
+        return submit(fleet, vehicle_id, body)
+    except (PairingError, ValueError) as error:
+        raise HTTPException(409, str(error)) from None
+
+
+@router.get("/{vehicle_id}/devices/operations/{operation_id}")
+def sensor_operation(
+    vehicle_id: str, operation_id: str, fleet: Annotated[FleetRegistry, Depends(local_operator)]
+):
+    from k1link.fleet.sensors import operation
+
+    try:
+        return operation(fleet, vehicle_id, operation_id)
+    except PairingError as error:
+        raise HTTPException(404, str(error)) from None