feat(planning): consolidate recorded-route localization and spatial scene

Preserve the completed teach-and-repeat laboratory stage: reference preparation, cascaded acquisition, local tracking and recovery, recording lifecycle, replay qualification, and persistent Rerun scene controls. Document the open grid-picking regression and Rerun upgrade contract. No autonomous driving or loop-closure optimization is claimed.

src/k1link/web/app.py

@@ -230,6 +230,13 @@ from k1link.web.runtime_readiness import (
     build_runtime_readiness,
 )
 from k1link.web.session_api import build_session_router
+from k1link.web.session_overview_api import build_session_overview_router
+from k1link.sessions.overview import SessionOverviewService
+from k1link.missions.sources import PlanningSources
+from k1link.missions.drafts import MissionDrafts
+from k1link.missions.registration_runs import RegistrationRuns
+from k1link.web.mission_registration_api import build_mission_registration_router
+from k1link.web.mission_planner_api import build_mission_planner_router
 from k1link.web.simulation_projects_api import build_simulation_projects_router
 from k1link.web.simulation_world_provider_api import build_simulation_world_provider_router
 from k1link.web.system_telemetry_api import build_system_telemetry_router
@@ -463,6 +470,14 @@ session_recording_materializer = SessionRecordingMaterializer(
     exporters=plugin_environment.recording_exporters,
     artifact_gateway=session_artifact_gateway,
 )
+session_overview_service = SessionOverviewService(session_store, plugin_environment.overview_exporters)
+mission_drafts = MissionDrafts(session_store.data_dir / 'missions', PlanningSources(
+    session_store, plugin_environment.planning_exporters, plugin_environment.submap_extractors,
+    plugin_environment.scene_submap_extractors))
+mission_registration_runs = RegistrationRuns(mission_drafts)
+from k1link.missions.live_tests import PlanningLiveTests
+from k1link.web.planning_live_api import build_planning_live_router
+planning_live_tests = PlanningLiveTests(mission_drafts, plugin_environment.live_planning_sources, mission_registration_runs.lock)
 session_recorded_media_inspector = RecordedMediaInspector(
     session_store.data_dir / "recorded-media-preparations"
 )
@@ -956,6 +971,9 @@ async def app_lifespan(application: FastAPI) -> AsyncIterator[None]:
             with suppress(asyncio.CancelledError):
                 await publication_reconciler
         await asyncio.to_thread(session_recording_preparation_manager.close)
+        await asyncio.to_thread(session_overview_service.close)
+        await asyncio.to_thread(planning_live_tests.close)
+        await asyncio.to_thread(mission_registration_runs.close)
         await asyncio.to_thread(lidar_local_surface_read_service.close)
         plugin_environment.close()
 
@@ -1128,6 +1146,11 @@ if session_artifact_gateway is not None and _ffmpeg is not None:
 for legacy_router in plugin_environment.legacy_routers:
     app.include_router(legacy_router)
 
+app.include_router(build_session_overview_router(session_overview_service))
+app.include_router(build_mission_planner_router(mission_drafts))
+app.include_router(build_planning_live_router(planning_live_tests))
+app.include_router(build_mission_registration_router(mission_registration_runs, planning_live_tests))
+
 app.include_router(
     build_session_router(
         session_store,