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K1 live console and embedded Rerun bridge

Status: the Rerun alpha milestone is implemented for the verified firmware-3 MQTT streams. Live capture and replay use real K1 point-cloud and pose messages; the application does not generate a placeholder cloud, trajectory, camera frame or latency value.

Active device-to-scene path

K1 lio_pcl / lio_pose
          |
          v
read-only MQTT subscription on TCP 1883
          |
          +--> raw .k1mqtt + JSONL + SHA-256 summary (written first)
          |
          v
bounded latest-wins preview queue (32 messages)
          |
          v
reviewed raw-LZ4/protobuf decoders
          |
          v
Rerun Points3D + Transform3D + LineStrips3D
          |
          v
Rerun gRPC/proxy on TCP 9876
          |
          +--> rerun_grpc_url in REST/WebSocket state
          |
          v
self-hosted @rerun-io/web-viewer inside Mission Core Control Station

React console <-- REST + WebSocket state --> FastAPI on 127.0.0.1:8000

The Paho MQTT callback does not decode or render the point cloud. It first writes and flushes the raw frame and metadata, then enqueues a preview message. If visualization cannot keep up, the oldest queued preview is discarded while the raw capture continues. Rerun work stays on the dedicated publisher thread and cannot block raw-first evidence capture.

The current live/replay runtime instantiates only RerunBridge. The former Foxglove implementation is not a parallel runtime and does not listen on TCP 8765; it is retained only as a legacy regression module and test oracle.

Start the local application

Prerequisites are the repository-local Python environment and Node.js 20.19+ or 22.12+. No global Python package or system component is installed.

uv sync --group dev
cd apps/control-station
npm install
npm run typecheck
npm run build
cd ../..
uv run k1link serve

Open http://127.0.0.1:8000. The static Control Station, REST API, WebSocket state channel and credential endpoint bind to loopback. The Rerun gRPC server is a separate listener with a different network boundary described under Network and security boundary.

Replay a reviewed capture

In Парк → Локальное устройство, choose the replay mode.

Enter a native mqtt.raw.k1mqtt capture or a reviewed four-column TSV, for example:

sessions/20260715T122850Z_live_power_cycle/captures/mqtt_scan_full_payloads_03.tsv

Select replay speed and optional looping, then start the session.
The runtime starts the process-wide Rerun RecordingStream and its gRPC/proxy server on TCP 9876 before the first replay. Later sessions reuse it.
Open Наблюдение → Пространственная сцена. With the manual source field empty, the embedded viewer automatically uses:
```
rerun+http://127.0.0.1:9876/proxy
```
Use Отображение and Слои to adjust the real cloud and trajectory.
Stop the session when finished. Acquisition and session metrics stop, while the embedded viewer and rerun_grpc_url remain ready. A later session resets scene-local state and reuses the same listener without reloading the page.

The TSV reader accepts exactly receive timestamp, topic, declared payload length and hexadecimal payload. It verifies timestamp, UTF-8 topic, declared length, hex encoding and allocation bounds. Native .k1mqtt captures are supported directly and use their sibling metadata receive timestamps when present.

Connect and stream live

Power K1 to its normal steady-green standby state.
Confirm the manual power checklist in Парк → Локальное устройство.
Run the real six-second BLE scan and select the intended device from the complete visible-device list.
Enter the existing router SSID/password and explicitly authorize the reviewed provisioning write. The backend does not retry the write automatically.
When K1 reports a non-AP private address, start live reception.
Wait until the UI reports that the local Rerun bridge is ready. No manual viewer URL is needed.
Open Наблюдение → Пространственная сцена.
Double-click the physical K1 button to start scanning. Real point frames and pose/trajectory updates then appear in the embedded viewport.
Double-click K1 again to stop physical scanning, wait for steady green, then stop the local session so captures and summaries are finalized.

Each live run creates an ignored sessions/<UTC>_viewer_live/ directory with a redacted manifest, operator notes, raw MQTT frames, per-message metadata and a hash summary. The connector subscribes to the fixed report-topic allowlist and does not publish an application request or modeling command.

Automatic Rerun source and lifecycle

On the first live or replay session, RerunBridge:

creates an explicit RecordingStream("nodedc_mission_core_spatial");
installs the default spatial blueprint;
starts the gRPC/proxy server on TCP 9876 with a 512 MiB late-client buffer;
reports rerun+http://127.0.0.1:9876/proxy only after the server is ready;
accepts the local development and production browser origins used by this repository;
keeps the recording and URL alive until k1link serve shuts down.

At every session start it resets the trajectory, current point count, metrics, blueprint and session-local visible time, then feeds the new source through the same recording. This process-wide lifecycle is intentional: the Rerun 0.34.1 browser receiver can remain connected after canvas teardown, so restarting the native listener on the same port is not a reliable session boundary.

The frontend prefers an operator-entered source when one is present; otherwise it automatically uses rerun_grpc_url from backend state. A manual field can still open another compatible rerun+http://.../proxy source or an RRD file served over HTTP(S). No externally hosted viewer UI is involved: @rerun-io/web-viewer and its WebAssembly runtime are bundled with the local application. FastAPI carries control state only; the browser reads the point stream directly from the Rerun gRPC/proxy endpoint.

Rerun entities

Entity	Rerun archetype	Meaning
`/world`	`ViewCoordinates`	right-handed Z-up display convention
`/world/points`	`Points3D`	decoded metric XYZ with computed or available RGB colors
`/world/sensor_pose`	`Transform3D` + `TransformAxes3D`	current decoded translation, xyzw quaternion and pose axes
`/world/trajectory`	`LineStrips3D`	bounded path of up to 20,000 decoded poses

Point count, frame rate, queue drops and measured pipeline time remain product metrics in the outer Control Station; they are not logged as Rerun entities and therefore cannot create additional automatic viewer panes.

Point coordinates remain (x/scaler, y/scaler, z/scaler) exactly as decoded. No axis swap, quaternion normalization, scanner-to-vehicle extrinsic or SLAM post-processing is silently applied. The point entity is in /world rather than under the pose transform, so an already map-frame cloud is not transformed twice. The physical K1 axes and a scanner-to-vehicle transform still require calibration before vehicle mounting.

Only the low byte of firmware-3 rgbi has been verified as intensity. The upper bytes are not labeled RGB. Legacy frames use RGB only when those decoded fields are actually present.

Scene controls

The current product controls call POST /api/viewer/settings; backend state is authoritative and the bridge applies the updated settings to subsequent messages.

Control	Implemented behavior
Point size	Rerun UI-point radius from 0.5 to 12.0; default 2.5
Color attribute	intensity, height Z, distance from the point-coordinate origin, available RGB, or solid class/custom color
Palette	Turbo, Viridis, Plasma, grayscale or operator-selected custom color
Accumulation	sliding session-local `stream_time` window from 0 to 120 seconds; default 12 seconds
Point layer	shows or clears `/world/points`
Trajectory	shows or clears the decoded path; publication is throttled while it grows
Grid	updates visibility of the Rerun 3D line grid through the active blueprint

The default 12-second accumulation is a viewer time range over real point frames; it does not duplicate or alter the raw capture. An accumulation of zero shows only the current frame. RGB mode falls back to the verified scalar coloring path when the active point format has no RGB fields. The current class/custom behavior is a selected solid color, not semantic segmentation.

Projection switching, a custom playback timeline, semantic object/mask layers, camera frustums and persisted RBL/layout profiles are not wired yet and must not be inferred from the implemented controls above.

Time and latency semantics

The Rerun capture_time timeline uses StreamMessage.received_at_epoch_ns: Unix time when the Mac received the MQTT message. The K1 header timestamp epoch is not proven, so capture_time is not a sensor acquisition timestamp. The viewer accumulation window uses stream_time, assigned when the current live/replay run publishes a message; therefore replayed historical timestamps do not mix two sequential sessions.

For live MQTT only, pipeline_ms / mqtt_to_publish_ms uses the Mac monotonic clock from MQTT callback receipt through raw disk write, bounded queue wait, decode, Rerun packing and the SDK log call. Replay and idle states expose no latency value. Browser fetch, WebAssembly ingestion, GPU rendering and display scanout are outside this measurement.

The displayed value is therefore Mac pipeline latency, not sensor-photon-to- screen latency. End-to-end display latency requires a proven device clock or a separate clock-correlated/high-speed-camera experiment.

Network and security boundary

There are two different listeners:

FastAPI, the WebSocket control plane and Wi-Fi credential endpoint bind only to 127.0.0.1:8000;
Rerun gRPC/proxy on TCP 9876 currently binds all network interfaces, even though the URL returned to the local browser contains 127.0.0.1.

The Rerun endpoint has no connector-level authentication and no TLS. It may expose point clouds, trajectory and mapped interiors to any host that can reach the port. Use it only on a trusted laboratory LAN, block TCP 9876 at the router and host firewall as appropriate, and never forward it directly to the public Internet or cellular WAN. Remote operation requires an authenticated TLS reverse proxy or another reviewed secure transport before deployment.

The 512 MiB Rerun server buffer limits retained late-client data but is not an access-control mechanism. The listener and embedded viewer intentionally remain ready between acquisition sessions. Stop k1link serve when the network listener and its process memory must be closed unconditionally.

Current boundaries

Raw panoramic camera frames were absent from the observed MQTT report topics. This milestone contains point cloud and pose/trajectory; operational metrics are rendered by the outer Control Station.
Physical double-click remains the K1 scan start/stop control. Any MQTT command publisher needs a separately reviewed state-changing profile.
No terrain map, elevation model, obstacle segmentation, localization fusion, mission planner or vehicle control is implemented by this viewer milestone.
Exact coordinate axes and the scanner-to-vehicle transform remain a mounting calibration task.
A single local runtime owns TCP 9876. A port collision causes a visible bridge startup error rather than silently selecting another source. The Rerun native listener lives for the lifetime of k1link serve and is reused by later sessions in that process; shutdown closes it explicitly.

Verification checkpoint — 2026-07-16

A powered K1 capture was passed through the active MQTT → decoder → Rerun gRPC → embedded Web Viewer path without a viewer-side substitute:

Check	Result
real MQTT messages processed	80
`lio_pcl` frames published	38
`lio_pose` frames published	42
points in the last cloud	2,775
decoder errors	0

The 38 point frames and 42 pose frames account for all 80 observed messages. This proves current real-device decoding, bridge publication and embedded-viewer delivery for point cloud plus trajectory. It does not prove a camera channel or sensor-to-screen latency.

Legacy Foxglove regression module

src/k1link/viewer/foxglove_bridge.py and its tests remain in the repository to compare decoder/packing behavior and preserve earlier evidence. They are not instantiated by VisualizationRuntime, are not the Control Station source, and do not make TCP 8765 part of the current operator path.

13 KiB Raw Blame History