DCCONSTRUCTIONS
e515ab1b8c
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.
121 lines
7.0 KiB
Markdown
121 lines
7.0 KiB
Markdown
# Physical stationary start 005: rejected acceptance
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Date: 2026-09-19. Related cards: MISSIONCOR-81 and canonical K1 integration
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MISSIONCOR-3. This is a diagnosis, not a deployed correction or live acceptance.
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## Decision
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The new physical attempt failed. The previous archive-only qualification is not
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sufficient evidence that planning works alongside the physical camera, acquisition
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publisher and browser. Do not request another field walk until the combined path
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has been qualified. No scanner command, network reconfiguration, runtime restart,
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threshold relaxation or product code change was performed during this diagnosis.
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## Exact evidence
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Private sealed directory, outside Git:
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`NODEDC_MISSION_CORE/.runtime/mission-core/missions/diagnostics/20260919-physical-start-005`.
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It retains run/state snapshots, calculation input/output, raw MQTT with receipt
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metadata, camera init/index/segments, selected browser/server diagnostics, offline
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calculation outputs and the camera decode log. The root manifest hashes each file.
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Physical run `47dc5323-5d2c-4743-a13f-b4f837cf9fea`, query
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`20260919T150053Z_viewer_live` (`ja-sun-005`), reference
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`20260911T085226Z_viewer_live` (`JA-SADOVAYA-001`), first 30.0117 m.
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The reference selection is supported; the user did not have to choose reference002.
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Frozen registration input SHA-256:
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`b72e1f202a04c5455aa10d2907a3912bfb3fbf76b84a079746b23aaa0cc0f9eb`.
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## Localization failure
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The stationary ten-second prefix was valid: 200 source events, 9.9745 s span,
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maximum scanner movement 0.003334 m; 43,854 reference and 7,994 query points.
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Search started at 15:01:33.389 UTC; the initial-failure transition occurred at
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15:02:00.336 UTC. The running code used the prepared-reference v2 fix.
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Only 54 of the required 108 seeds completed within the 25-second search budget
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(25.4795 s). One supported candidate had 96.3758% geometric overlap, 0.151095 m
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inlier RMSE and five admitted seeds. These are geometric fit statistics, not a
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localization accuracy guarantee. An incomplete search cannot rule out a competing
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place hypothesis and must not be promoted to tracking.
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The failed initialization is one-shot (`maximum_initializations=1`). No fresh
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validation or tracking occurred. Waiting another two minutes could not restart
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this run. The displayed initial-failure status was backed by backend state, but
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its truncated action text failed to explain that waiting could no longer help.
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Two sequential bounded offline checks of the exact saved input succeeded without
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changing seeds, fit thresholds or deadlines:
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| Check | Seeds | Search time | Result |
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| --- | ---: | ---: | --- |
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| Physical combined run | 54/108 | 25.4795 s | incomplete / rejected |
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| Isolated direct calculation | 108/108 | approximately 16.06 s | one candidate cluster |
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| Production child worker, original thread limits | 108/108 | 16.0428 s | same candidate cluster |
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The production worker wall time was 16.2001 s. The selected overlap/RMSE and five
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supporting seeds match the physical partial result. This proves a large execution
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slowdown in the combined physical run, not the exact source of contention.
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Neither isolated calculation supplies the three fresh validation windows required
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to authorize the product's tracking state.
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## Camera failure and stable reference
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Compared against `docs/lab/010_K1_MISSION_CORE_INTERNAL_LIVE_BASELINE_20260822.redacted.md`,
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`docs/audits/2026-09-06-k1-live-reference-camera-root.md`, ADR0007 and current
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MISSIONCOR-3. The established path is acquisition-owned RTSP/TCP → FFmpeg H.264
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copy/remux → durable fMP4 → disposable browser MSE reader. The per-lineage camera
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fast path and verified physical-ledger snapshot cache are present in current code.
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There is no evidence here that those fixes were simply removed.
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In 005, a single archive epoch completed with 696 media segments / 42,239,662
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valid container bytes, and no archive failure code. "Complete" describes durable
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container recording; it does not prove decodable H.264 content.
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Browser diagnostics show 24 append/restart failures with video error code 3
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(`MEDIA_ERR_DECODE`) and one late slow-reader retirement. Offline decoding of the
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retained init plus all media segments in recorded index order confirms errors in
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the archive itself: 166 `corrupt decoded frame` warnings, 207 macroblock decode
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errors, plus 21 non-monotonic-DTS warnings. FFmpeg exited zero despite these errors;
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its exit status alone must not be used as acceptance. Counts are diagnostic log
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occurrences, not a claim of 166 distinct lost source frames.
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The known baseline B had no H.264 corruption, zero browser restarts/slow-reader
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retirements and a 23 ms camera activation. Current activation took 2,377 ms,
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including 2,061 ms authority wait and 312 ms FFmpeg preparation; first-PCL admission
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was 448 ms versus baseline 65 ms. That earlier regression was caused by repeated
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ledger work delaying both MQTT publication and FFmpeg stdout. The present symptoms
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are consistent with contention, but no active-run CPU/lock/pipe profile was retained
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to identify the current blocking call. Source transport/encoded data corruption
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cannot be excluded from the existing archive alone.
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The final planning-derived queue snapshot counted 446 lidar, 523 camera-frame and
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two pose overflow evictions. Those are derived-consumer counters, not proof of raw
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capture loss. Public metrics reported 1,775 preview drops and zero point decode
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errors. The distinction must remain explicit.
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## Next correction and acceptance
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1. Instrument bounded per-stage CPU/wall, scheduling/lock waits, raw-commit and
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FFmpeg drain latency. Preserve the canonical camera ownership, exact command
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lineage, copy/remux quality and durable recording. Identify the blocking path
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before changing camera retries, queue sizes or fit deadlines.
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2. Qualify planning with the ordinary acquisition publisher, camera/archive and
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UI consumption together. Use device-free retained input; synthetic load belongs
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on Worker006 per AGENTS, not the operator Mac. Already-corrupt 005 media is an
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error-handling fixture, never a clean input for claiming decoder recovery.
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3. Keep full entry coverage, ambiguity rejection and three disjoint fresh checks.
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Add the 005 frozen geometry to private regression evidence, together with wrong
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region/ambiguous/stale/changed-session controls. A fast isolated fit is not enough.
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4. Present distinct operator instructions without clipping: pending means remain
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stationary; confirmed means start the walk; terminal initial failure means the
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search has stopped and the device/recording must be ended before a new attempt.
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Do not introduce an unannounced automatic device START/STOP or retry.
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5. Only then schedule a physical stationary start with camera continuity, accepted
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fresh tracking, operator-visible next action and authoritative STOP/archive.
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Local memory pressure was healthy for the sequential offline checks (49% reported
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free; swap stable at 4,816.81 MiB); no Docker VM or temporary worker was left running.
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Canonical8000 remained available. The unresolved physical STOP/recovery snapshot
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was retained; it was not overridden or converted into a successful device stop.
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