NODEDC_MISSION_CORE/README.md

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, durably captures the raw stream, decodes point cloud and pose, and renders the real cloud plus trajectory through an embedded self-hosted Rerun Web Viewer. The former Foxglove bridge remains only as a legacy regression module.

The repository is intentionally migrating in stages. The current src/k1link package is the compatibility implementation of the first plugin path; vendor transport and codecs will move behind plugins/xgrids-k1 and the Mission Core Plugin SDK without changing the verified wire protocol or raw evidence format.

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;
• no LixelGO, phone, Linux host, dedicated AP, OpenWrt, or vendor SDK.

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 external 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. Raw panoramic camera access is still unproven and is not implied by point-cloud success.

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 --group dev
uv run k1link doctor
uv run pytest

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.

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

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 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, read-only MQTT live capture, native .k1mqtt and reviewed-TSV replay, raw-first evidence storage and measured preview metrics. Physical K1 scanning is still started and stopped by the verified double-click; the connector publishes no modeling command.

The Observation spatial workspace embeds the open-source Rerun Web Viewer inside the Mission Core shell. It can open a compatible RRD file over HTTP(S) or a Rerun gRPC/proxy source such as rerun+http://127.0.0.1:9876/proxy. It does not use an external hosted viewer UI.

The first K1 live session or replay 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 sessions reset their session-local scene and metrics and reuse that process-wide stream; this avoids restarting the native listener while the embedded browser remains connected. Unless an operator has entered a manual source, the React application assigns that URL to the embedded viewer. The complete runtime path is K1 MQTT → raw-first evidence capture → bounded latest-wins preview queue → reviewed protobuf/LZ4 decoders → Rerun Points3D, Transform3D and LineStrips3D → embedded Web Viewer.

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. Projection, custom timeline transport and saved layout remain later product work. 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. Raw panoramic camera frames remain absent. Rerun capture_time is the Mac receive timestamp, not a proven K1 sensor timestamp or photon-to-screen measurement.

The old Foxglove implementation is retained only in src/k1link/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 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
• Monorepo architecture decision
• Device plugin UI and runtime boundary
• Redacted live lab report
• 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. Application command publishing remains disabled: physical double-click is the verified start/stop mechanism. Any future MQTT publisher, router configuration change or new BLE write 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 are ignored by normal Git. Redacted manifests and SHA-256 inventories are committed; encrypted artifact storage will be selected only when real data exists.