NODEDC MISSION CORE

NODEDC MISSION CORE is the vendor-neutral control, observation, mission-planning, recording, and integration platform for NODEDC autonomous systems. This repository is the canonical early-stage monorepo: it contains the Mission Core Control Station, the current local control plane, shared contracts as they are extracted, and device plugins.

The first proven hardware vertical is the XGRIDS/LixelKity K1 plugin. On firmware 3.0.2 the host provisions the scanner onto an existing LAN without LixelGO, connects to its MQTT broker, persists each raw frame before preview work, decodes point cloud and pose, and renders the real cloud plus trajectory through an embedded self-hosted Rerun Web Viewer. Native MQTT persistence uses bounded group commit (at most 0.5 seconds, 4 MiB or 32 messages), and camera archives commit complete fMP4 segments before their index rows. These are explicit crash-RPO bounds, not a zero-loss or disk-replication claim. The former Foxglove bridge remains only as a legacy regression module.

The backend vendor implementation is physically isolated below src/k1link/device_plugins/xgrids_k1/; its reviewed manifest and compatibility profile remain below plugins/xgrids-k1/. Mission Core host code discovers archive sources, recovery hooks and recording exporters only through the plugin runtime contribution. The verified wire protocol and raw evidence format are unchanged.

The K1 acquisition now also requires an operator project name. Frontend and backend normalize it with NFKC plus surrounding-whitespace trimming, reject control/surrogate characters and values above 96 Unicode characters, and preserve it as local session/catalog display metadata. It is never used as a filesystem path. The physically accepted interactive control path carries the same validated value in its single canonical START; there is no separate project-name write.

Plugin SDK v0alpha2 now provides executable, vendor-neutral identity, session, operation, runtime-action, stream, evidence and compatibility contracts. Every backend runtime must now pass a versioned descriptor/handshake against its manifest before actions are admitted. Every action then crosses immutable SDK RuntimeActionInvocation and RuntimeActionResult validation through a replaceable runtime transport seam. The meanings remain a local experimental vocabulary rather than a mutation of NODE.DC Platform Ontology. The current transport is deliberately in process: it uses an explicitly injected K1 normalizer to produce transport-neutral local consumer views; portable SDK stream envelopes, process isolation, durable operations, multi-device routing and the remote Edge split remain later gates.

The application-control bootstrap reads and correlates live DeviceInfo before START. The exact profile requires model LixelKity K1, observed platform type A4, activated state, firmware 3.0.2, and direct-LAN topology. The UI selects that profile but does not ask the operator to attest firmware manually.

The repository now contains one narrowly gated state-changing command: ble wifi-configure. It accepts only the reviewed firmware-3 provisioning profile and requires explicit --confirm-write; the Wi-Fi password is collected through a hidden local macOS dialog. MQTT capture and decoding are read-only. Nothing changes router settings, firmware or global Python packages.

Verified XGRIDS K1 stand

• one XGRIDS/LixelKity K1;
• one Apple Silicon MacBook running macOS;
• one ordinary TP-Link Deco/mesh network used by other devices;
• the proven baseline used no LixelGO, phone, Linux host, dedicated AP, OpenWrt, or vendor SDK.

An owner-controlled iPhone with LixelGO is now available for a separate, evidence-only observation stage. It does not invalidate the no-phone baseline and is not a runtime dependency. The decision and gated runbook are ADR 0005 and docs/08_LIXELGO_IPHONE_OBSERVATION.md. The Mac capture environment is isolated under plugins/xgrids-k1/lab/iphone-capture/ and does not require full Xcode.

The ordinary router is sufficient for the first gates. We first observe the existing LAN without changing it. A Guest/IoT SSID is optional and may be counterproductive if Deco isolates clients; Mac and K1 must ultimately be able to reach each other.

What is actually being proved

The project has three independent gates:

1. K1 is operational and can record a project autonomously.
2. Mac can discover and inspect the K1 BLE/GATT surface safely.
3. Without LixelGO, K1 can be associated with Wi-Fi and a proprietary data session can be opened.

All three gates are now proven on the tested unit. The spatial stream is plain MQTT 3.1.1 on TCP 1883. Firmware-3 lio_pcl is protobuf wrapped in a raw LZ4 block, and lio_pose is an uncompressed protobuf. Owner-operated LixelGO capture also proved separate left/right RTSP/H.264 camera previews on TCP 8554. This is a compressed preview contract, not proof of full-resolution raw camera access.

Local environment

The project uses Python 3.12 in a repository-local .venv managed by uv. This does not install Python packages globally and does not modify neighboring repositories.

cd /Users/dcconstructions/Downloads/mnt/NODEDC/NODEDC_MISSION_CORE
uv sync --frozen --group dev
uv run k1link doctor
uv run pytest

External perception worker

Mission Core can now package one sealed camera epoch as an immutable, content-addressed missioncore.compute-job/v1 without changing the source evidence. The first recorded TEST007 job was digest-verified and decoded on a separate Windows RTX 4090 worker, executed through pinned Triton/YOLOX-S and returned a content-addressed missioncore.compute-result/v1 containing 56 session-timestamped generic COCO detections. The worker never connects to K1 and does not own the raw archive.

Mission Core now validates and projects that optional result into the same saved Rerun recording. Open TEST007 and use Распознавание to see the recorded left-camera frames and boxes; Облако точек returns to 3D. This remains a recorded camera-only acceptance, not a navigation stack: large-epoch performance, direct worker transport and bounded live fan-out remain open. See ADR 0014 and the external worker contract.

Simulation Polygon

Mission Core now has a parallel Polygon product branch for reproducible autonomy qualification. Mission Core owns scenarios, qualification-run lifecycle, authority, canonical contracts, provenance and reports; Gazebo, PX4 SITL, ROS 2, Nav2 and viewers remain replaceable providers. Simulation, replay, digital twin, HIL and physical shadow keep distinct causal run kinds.

SIM S0 is accepted on the reviewed D-only worker. Its strict profile fixes loopback-only process isolation, exact provider pins, a 2 ms physics step, 1×/2× RTF/resource budgets and disabled real/direct actuator authority. Two accepted-profile stock-rover runs and nine digest-bound evidence claims passed; the target doctor returned GO. The doctor remains read-only and a development host without the private evidence pack still returns INCOMPLETE:

uv run missioncore-sim s0 doctor \
  --evidence /path/to/private/evidence.yaml \
  --json

S1A now adds the first server-owned domain boundary: typed immutable QualificationRun identities, legal lifecycle transitions, canonical Ackermann/Differential commands, authority generation and TTL validation, and an append-only crash-safe run/event/command/artifact repository. Active runs recover as failed/interrupted rather than silently resuming, and reset creates a new linked run/episode. This is repository-level lifecycle acceptance only; PX4 command delivery, watchdog/failsafe behavior, navigation behavior and real actuator control remain unaccepted.

The next S1B repository increment adds the transport-neutral SimulationApplicationService, an exact-S0/D-only worker admission guard and a POSIX process supervisor. Start is idempotent, a second active owner is rejected, provider processes receive dedicated PGIDs and run-scoped logs, and shutdown follows the S0 dependency order with residue reported as failure. Pause/resume/step/reset/stop are owned by the application service through a worker port. Stock-rover provider specs, target-worker execution and PX4/Gazebo control mapping are still pending factual acceptance.

Commit 630d1ae has passed the first D-only MissionCore-Sim bootstrap (20 passed, no retained test process). The first visible milestone is now split explicitly: UI-0 is a read-only direct run view after real target start/stop/recovery is proven; the top-level Polygon control surface remains gated on S1 command and safety acceptance.

See the Polygon product/SRS, ADR 0015 and the SIM S0 worker runbook.

Mission Core Control Station and visualization adapters

The browser application is the universal Mission Core Control Station rather than a K1-specific Foxglove launcher. Its fixed shell contains six architectural sections — Center, Fleet, Observation, Missions, Data and System — while the K1 BLE/Wi-Fi/live workflow remains isolated as the first real device adapter. Its React provisioning, acquisition/replay and diagnostic blocks live beside the plugin manifest under plugins/xgrids-k1/frontend; the generic application mounts them through one reviewed composition import.

Install, type-check, build and serve the complete local application from the repository root:

uv sync --frozen --group dev
cd apps/control-station
npm ci
npm run test:unit
npm run typecheck
npm run build
cd ../..
uv run k1link serve

Open http://127.0.0.1:8000. The static application, REST/WebSocket control plane and credential endpoint bind to loopback only. The current K1 adapter still provides real CoreBluetooth discovery, one operator-triggered reviewed BLE Wi-Fi provisioning write, a one-shot CoreWLAN K1-AP association path, read-only MQTT live capture, native .k1mqtt and reviewed-TSV replay, raw-first evidence storage, device-reported scan time/distance/speed and measured preview metrics. Its frontend contribution now also owns an optional spatial-scene control block, including acquisition phase, telemetry and the stop action. Operator-manual acquisition still finalizes only local reception; plugin-commanded v0.5.0 acquisition uses the separately gated canonical K1 START/STOP dialogue.

Plugin v0.6.0 makes the local connection direction explicit. Bridge remains the default and accepted product path; Direct Connect sends the reviewed station provisioning frame for an already-running controller hotspot. Quick Connect sends one separately reviewed AP-enable frame and can associate a prepared Mac through CoreWLAN. Its device activation and prepared-host association were physically accepted, but credential bootstrap is not portable: a clean host cannot acquire the firmware-defined AP material from the reviewed BLE protocol. Quick Connect therefore remains laboratory functionality, with no automatic firmware download, iPhone extraction or hard-coded fallback. Each mode has a distinct topology attestation and no automatic retry; see ADR 0013.

The exact recovered ModelingRequest start/stop encoder, response correlator and device-status state machine are installed in the operator-gated interactive control path. The plugin also contains the exact ten-request pre-START bootstrap recovered from retained LixelGO traffic. Its first DeviceInfoRequest has no device ID; the response supplies live vendor identity, serial, model, activation and version facts for the BLE-selected K1. Static and wire evidence identify OpenAPI as one private application-level value in the observed client, not a manual per-scanner profile. The whole pre-START order and START/STOP payloads are byte-matched offline. A fixed macOS Keychain loader now supplies the exact application authority without env/file/browser fallback, and a five-batch orchestrator passes all retained response barriers. The legacy shadow publisher boundary remains structurally write-disabled and cannot call its sink. Its dormant coordinator can hold authority for at most 300 seconds and expiry/disarm/reprovision/acquisition/shutdown revoke it together with the orchestrator. Plugin v0.5.0 installs a separate physical-acceptance transport reproducing MQTT 3.1.1 clean_session=false, keepalive 60, exact response subscriptions, QoS2 completion and the five response-gated batches. It consumes operation keys before publish and poisons unknown outcomes without retry. One background owner services that socket through response-gated connection, workspace, project, START, STOP and device-standby stages. The normal UI collapses only the pre-START controls into one explicit operator intent; navigation cannot emit a command. The first operator-present physical attempt on 2026-07-18 emitted only the first six bootstrap requests, then failed closed while correlating the third response batch; START was not emitted. A second one-shot attempt correlated all ten pre-START requests and the START acknowledgement, but incorrectly collapsed the whole exchange into 365 ms and ended the control lifecycle before the retained post-START reads. K1 stayed in SCAN_STARTING for about 24 seconds, reported ALGORITHM_ERROR twice, emitted no point/pose data and showed steady red until an operator power cycle restored steady green. The collapsed executor is now disabled. The offline acceptance executor maps connection requests 1–6, workspace-entry request 7, project-prompt reads 8–10, user-confirmed START 11, immediate status read 12 and state-gated reads 13–14 onto one continuously owned MQTT session. No captured operator delay is a protocol timer: the final reads wait for live SCANNING, project binding and init_ready, while STOP/save waits for live unbound READY. Standalone START and STOP are both rejected. The same socket is serviced throughout launch and STOP confirmation, and no captured human delay is replayed as a protocol timer. Plugin v0.5.0 wires this executor to the facade and plugin UI. The full staged START/live/STOP/save cycle is physically accepted on the reviewed unit. START and STOP each retain an explicit operator action; final local sealing now follows the scanner's protocol-reported unbound READY without a redundant second click.

This locked bootstrap is repeatable in the current workspace, not yet a standalone release install. The frontend consumes sibling file: packages from NODEDC_DESIGN_GUIDELINE; package-lock.json does not pin that checkout's Git revision or content hash. Publishing/vendoring those packages or enforcing an immutable donor revision remains a packaging and CI prerequisite.

Polygon is planned as a seventh section, but UI delivery is gated on the accepted clock/frame/authority contracts and a proven S1 backend lifecycle with persisted run history. It is not present in the current shell.

The Observation spatial workspace embeds the open-source Rerun Web Viewer inside the Mission Core shell. It can open a compatible RRD over same-origin HTTP or a Rerun gRPC/proxy source such as rerun+http://127.0.0.1:9876/proxy; no external hosted viewer UI is used. Dynamic point-cloud/camera composition and the live source contract are fixed in ADR 0006. The durable session catalog, recorded session_time scrubber and versioned workspace-layout profile are fixed in ADR 0008.

The first K1 live session or adapter file-replay (.k1mqtt/reviewed TSV) 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 live/file-replay sessions reset their session-local scene and metrics and reuse that process-wide stream. Saved observation sessions do not reuse this listener: they open a private digest-bound cache-v9 RRD generation over same-origin HTTP through Rerun's native incremental receiver. Unless an operator has entered a manual source, the React application assigns the applicable source to the embedded viewer. A generic host action clears a previous manual/archive selection only after a plugin-owned live or file-replay start succeeds; a failed start leaves the current scene mounted. A fail-closed guard blocks operator source switches for every nonterminal acquisition. The complete visual live runtime path is K1 MQTT → raw-first evidence capture → bounded four-message latest-wins preview queue → explicitly injected K1 protobuf/LZ4 normalizer → transport-neutral decoded local views → Rerun Points3D, Transform3D and LineStrips3D → embedded Web Viewer. Rerun does not inspect K1 topics or raw payloads. These local decoded views are not yet the portable Plugin SDK wire envelopes. K1 ModelingReport status is consumed by an explicitly injected pre-preview observer, so scan telemetry cannot evict point or pose frames from that four-message queue.

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. The first disk action saves and restores the versioned spatial layout without mutating sensor evidence. Saved native point/pose sessions are materialized losslessly into private, digest-bound RRD recordings and can be played, paused and scrubbed on a zero-based session_time timeline. New captures durably publish a clock origin before camera production, retain a transport-scoped provisional envelope and atomically point their summary to a content-addressed session envelope after all producers stop. That session envelope becomes the real RRD origin/end range; archived ModelingReport distance, speed and scan time are logged as scalar time series. 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. The later RTSP camera preview is available through the generic floating observation windows and new acquisitions archive its fMP4 segments independently of browser delivery. Historical sessions recorded before that archive contract contain no video. A real archived session containing one camera plus point cloud has not yet passed physical shared-timeline playback; the implementation and test contract do not close that hardware gate. Rerun capture_time and the camera index use Mac receive/arrival timestamps, not proven K1 sensor timestamps or a photon-to-screen measurement.

The old Foxglove implementation is retained only in src/k1link/device_plugins/xgrids_k1/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 records the active Rerun path and its timing/security boundaries; the frontend contract is documented in apps/control-station/README.md. The host storage layout, recovery rules, replay API and operator path are in docs/09_OBSERVATION_SESSIONS.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.

The implemented laboratory commands include:

uv run k1link ble scan --duration 30 --out sessions/<id>/captures/ble.json
uv run k1link ble gatt-dump --device <corebluetooth-uuid> \
  --out sessions/<id>/captures/gatt.json
uv run k1link ble wifi-configure --device <corebluetooth-uuid> \
  --profile xgrids-k1-fw3-wifi-v1 --write-mode with_response \
  --confirm-write --out sessions/<id>/captures/wifi.sensitive.json
uv run k1link net snapshot --out sessions/<id>/captures/network.json
uv run k1link net mqtt-capture --host <confirmed-private-k1-ip> \
  --confirm-owned-device --duration 180 \
  --out sessions/<id>/captures/mqtt-run
uv run k1link analyze mqtt-streams \
  --capture sessions/<id>/captures/mqtt-run/mqtt.raw.k1mqtt \
  --out sessions/<id>/analysis/mqtt-streams.summary.json

On macOS the BLE scan is active CoreBluetooth discovery, but it does not connect to or modify devices. gatt-dump connects and performs service discovery only. mqtt-capture accepts only a literal RFC1918 target, uses a fixed report-topic allowlist, never publishes and never reconnects. It writes a length-framed raw file, JSONL metadata and an integrity summary with mode 0600.

Session output is sensitive and ignored by Git. It can contain device identity, trajectory, mapped interiors and local addressing even when no credentials are present.

Documentation

• Technical audit
• Implementation gates
• First lab runbook
• Artifact and secret policy
• Reviewed BLE Wi-Fi profile
• Verified MQTT stream profile
• Live console and embedded Rerun runbook
• Mission Core monorepo and plugin boundary
• Owner-controlled LixelGO/iPhone observation
• K1 application-control physical acceptance
• Observation sessions, playback and workspace layout
• Monorepo architecture decision
• Device plugin UI and runtime boundary
• Plugin SDK v0alpha2 and experimental device lifecycle
• Owner-controlled LixelGO observation decision
• Vendor-neutral live observation sources
• K1 camera preview copy-remux gateway
• Durable observation sessions and workspace layout
• Device-plugin observation runtime and K1 extraction
• Plugin-owned frontend device workflows
• Laboratory plugin runtime handshake and transport seam
• Device-bound K1 command authority
• Redacted live lab report
• Canonical control and durable archive milestone
• Session manifest schema
• Reference input provenance

The two supplied source documents are retained unchanged under docs/reference/. Corrections and decisions are recorded separately so their provenance remains clear.

Safety boundary

Allowed initial work is non-mutating discovery, standard device-information reads, controlled notification listening, autonomous button operation, targeted capture of traffic to or from the confirmed K1 address, and offline analysis of owned artifacts.

The reviewed provisioning write requires its named profile and explicit operator confirmation. The interactive application-control publisher is enabled only for the exact K1/A4/FW 3.0.2 direct-LAN profile and only inside one operator-opened, response-gated session; physical double-click remains the independent fallback. The legacy shadow publisher remains structurally disabled. Any broader firmware, topology, scanner-family or command surface requires its own evidence and reviewed step. Random writes, fuzzing, brute force, firmware operations, destructive file access and credential guessing remain out of scope.

Real captures, projects, router metadata, serials, credentials, maps, images, and logs under .runtime/, canonical evidence roots and legacy sessions/ are ignored by normal Git. Redacted manifests and SHA-256 inventories are committed; encrypted/replicated artifact storage remains a deployment decision.