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Implementation plan

This plan supersedes the app-dependent experiment order in the reference Bible. Each gate produces evidence and an explicit GO, PAUSE or BLOCKED result.

Current checkpoint — 2026-07-24

Stage	Result
Stage 0 host/repository	GO — isolated Python 3.12 environment and private Git
Gate 1 physical operation	GO — autonomous double-click start/stop verified
Stage 1 BLE discovery	GO — repeatable advertisement and GATT profile
Stage 2 BLE provisioning	GO — reviewed 99-byte profile, LAN association confirmed
Stage 2 local connection matrix	GO for Bridge/direct-LAN; LAB-ONLY for Quick Connect — firmware review proved the K1 3.0.2 AP credential is firmware-constant and the SSID follows the `XGR-` identity/MAC rule. One prepared Mac completed AP-enable, AP-ready, CoreWLAN association and the normal control lifecycle. The successful host had been seeded from the reviewed firmware archive; a copied build on a clean host cannot acquire that material automatically. Automatic firmware download, iPhone extraction and hard-coding were rejected. Bridge remains the product path; Direct Connect remains physically pending
Stage 3 application session	GO — MQTT 3.1.1 on confirmed K1 TCP 1883
Stage 4 artifacts/flows	GO — bounded capture, hashes and negative control
Stage 5 point cloud	GO — raw-LZ4 protobuf, 1,140 live frames decoded
Stage 5 pose	GO — 1,215 live frames decoded and motion-correlated
Stage 5 modeling telemetry	GO (read-only) — bounded `ModelingReport` decoder and device-reported scan time/distance/speed are integrated before the preview queue
Stage 5 camera	GO (live) — left/right RTSP/H.264 preview observed, read-only runtime adapter and physical UI acceptance completed
Stage 6 live viewer	GO — React Control Station, embedded self-hosted Rerun cloud/trajectory, plugin-owned spatial controls and live device/Mac metrics
Stage 7 observation archive	GO (point/pose/telemetry contract) — durable catalog, recovery, capture-clock-bounded RRD preparation, archived metric time series, saved-session timeline and atomic playback are implemented
Stage 7 recorded cameras	GO — the accepted physical session sealed real fMP4 camera data, produced two digest-bound recorded sources and passed manifest/init/segment range admission alongside a 107 MB RRD; browser QA opened real frames from the 170 MB camera epoch at multiple shared-timeline positions
Plugin isolation	GO (laboratory control plane) — vendor backend/frontend and optional scene controls are plugin-owned; manifest/runtime descriptor parity, versioned handshake, lifecycle health and transport correlation fail closed while execution remains in-process
K1 application control	GO (physical staged cycle) — after fixing the PCAP-proven `sint64` time field, one explicit UI launch completed all 14 canonical operations on one control session, reached live `SCANNING + project + init_ready`, displayed real points, then one explicit STOP returned K1 to unbound `READY`. No retry or fallback command was sent. Native-project reuse through LixelGO/USB remains an independent verification
Stage 8 product storage	PAUSE — retention, replication, encryption, capacity monitoring and long-run browser/WASM stress remain deployment gates
Simulation Polygon	SIM S0 GO; S1A complete; S1B lifecycle PASS; S1C registered live worker PASS; UI-2 browser surface PASS; S1D Ackermann command/motion slice PASS — exact code generation `49b0f47` passed 40 focused tests on the immutable D-only generation. The capability-gated `Полигон` root owns one procedural 3D Ackermann Rover workspace with full azimuth/vertical orbit, zoom, pan, follow/reset and live diagnostic ENU state. Cold start completed in one request after 32.08 s. Run `s1c-49b0f47-20260724t195259z-62edd2` proved 3.74 m straight motion, a curved turn, reverse, 44.6 ms sampled command admission, 250 ms TTL expiry and clean zero-residue stop through PX4 rover-level Offboard throttle/steering setpoints. Differential Rover, calibrated closed-loop speed, canonical PX4/ROS 2 telemetry, pause/step/reset, heartbeat/offboard/link-loss cases, navigation/safety acceptance, shared-deployment auth/RBAC and real actuator authority remain absent

USB project copying remains optional ground truth rather than a blocker for the now-verified network path. Owner-operated LixelGO traffic verifies the MQTT start/stop mapping and RTSP camera transport. The exact start/stop protobuf encoder, response correlator and device-status state machine now run in the separately gated interactive publisher; the legacy shadow publisher remains disabled. Retained PCAP plus client static analysis prove that OpenAPI is one private application-level value in this LixelGO build, not a per-scanner credential. The selected BLE peripheral returns its own LAN IP; the initial unbound DeviceInfoRequest then returns vendor ID, serial, model, activation and version facts for that live K1. Mission Core's shadow bootstrap reproduces the 10 observed pre-START requests byte-for-byte across four response windows and five observed publish groups: initial DeviceInfo binding; then the ordered ModelingStatus/RTK and time-sync/DeviceInfo/RTK groups without an invented response barrier between them; NTRIP read; then cloud/RTK/DeviceInfo reads. The first ModelingStatus request has no mandatory synchronous response barrier; readiness is separately attested through live DeviceStatus. A fixed macOS Keychain loader now reads the exact 36-byte authority without environment/file/browser fallback. The response orchestrator correlates required headers/results and rejects identity/profile drift. The legacy shadow publisher remains a separate write-disabled type that cannot call its injected sink. Its dormant coordinator is wired into the XGRIDS facade only for redacted planning/state. Separately, plugin v0.5.0 installs the reviewed physical-acceptance transport behind explicit operator actions and one continuous background session owner. Each operation key is consumed before publish, automatic reconnect and application retry are forbidden, and any unknown outcome poisons the transport. Public state contains only bounded lifecycle, counter and failure metadata; authority and device identity remain private. The one-time k1link authority provision command delegates secret entry to the macOS Keychain TTY prompt and validates through the production loader without receiving the value in argv/environment/file/browser state. During the first physical attempt that CLI loader did not receive macOS approval, so a temporary process-local Security.framework lab adapter supplied the already reviewed value. The transport emitted bootstrap ordinals 1–6 and received all five required responses through the old third window, but topic-only routing misassociated the unbound and bound RTK responses and the orchestrator raised ApplicationBootstrapError. No START was emitted; live DeviceStatus stayed READY and the local point/pose counts remained zero. The local capture was sealed and the temporary Keychain item was deleted. The second physical attempt then correlated all ten bootstrap requests and one START success response. It nevertheless did not reproduce the full LixelGO lifecycle: all eleven publishes completed in 365 ms, the process did not retain the control session through initialization, and it omitted the immediate and post-initialization status reads present in both retained LixelGO START captures. K1 reported SCAN_STARTING for about 24 seconds, emitted system error 0x32040133 twice (the recovered ALGORITHM_ERROR namespace/value), returned to OTHER_STATUS, produced zero point/pose frames and showed steady red. The operator restored steady green through a normal power cycle. The legacy run_bootstrap() path now rejects before emission. The offline acceptance path maps requests 1–6 to connection, request 7 to explicit scan-workspace entry, requests 8–10 to explicit project-prompt opening and request 11 to the operator's START confirmation. Captured human delays are not replayed or treated as minimum timeouts. After the immediate operation-12 read, operations 13–14 wait for the same bound K1 to report SCANNING, a bound project and init_ready=true. The same transport is then serviced until an explicit STOP request; post-STOP ownership waits for live unbound READY. System-error and status reports are decoded into redacted safety state. The next staged physical attempt, after correcting the protobuf sint64 time field, completed all 14 canonical operations, reached live scanning with real point/pose data and then completed one explicit STOP. K1 returned to unbound READY; no retry or fallback device command was sent. The durable local session is catalogued as ready/replayable, its RRD and two camera sources pass digest-bound range admission, and physical double-click remains the fallback. Reuse of the vendor-native project is still verified separately through LixelGO or USB.

The Stage 6 live path uses a bounded raw-first bridge: loss in the visualization queue cannot discard MQTT evidence. The queue holds four preview messages; ModelingReport is consumed by a plugin-injected observer before that queue and does not compete with point/pose frames. A project name is mandatory at preparation, NFKC-normalized/trimmed on both sides, rejected for control or surrogate characters or more than 96 characters, and retained only as display metadata.

Stage 7 adds an independent durable observation-session lifecycle. New native captures durably publish the clock origin before camera production, retain a transport-scoped provisional envelope and atomically switch the capture-summary pointer to a content-addressed session envelope after all producers stop. Completed or recovered captures are prepared once by a bounded backend worker into digest-bound RRD/cache-v9 and camera-manifest generations; a browser replay request never performs conversion. The RRD materializes real origin/end rows plus archived device-reported distance, speed and scan-time series. The saved scene, controller and timeline remain hidden until the complete RRD range and every declared camera pass admission. Sensor-to-display latency and camera/LiDAR sensor-clock alignment remain separate correlation tests.

The generic host clears a prior manual or archived spatial source only after a plugin-owned live/file-replay start succeeds; a failed start preserves the current scene. Once an acquisition is nonterminal, a fail-closed guard blocks saved-session switching, persisted replay reattach and manual source input/apply/reset until that acquisition has been finalized. The successful automatic-source action is an internal start-result boundary and intentionally does not masquerade as an operator source switch. The K1 scene-level stop control is plugin-owned. A plugin-commanded acquisition sends one canonical STOP and seals locally after protocol-reported standby; an operator-manual acquisition still stops and seals only local reception and reports scanner state as unknown.

Parallel branch — Simulation Polygon

The Polygon branch follows docs/12_SIMULATION_POLYGON_PRODUCT_AND_SRS.md and ADR 0015. Component placement and field/offline topology follow ADR 0016. It does not reorder or weaken the K1 physical-evidence gates in this document. Its first gate, SIM S0, is accepted:

exact Windows 11 / dedicated MissionCore-Sim WSL2 Ubuntu 24.04 worker profile;
all mutable runtime bytes physically on D;
ROS 2 Jazzy, Gazebo Harmonic, PX4 v1.17.0, matching px4_msgs, Micro XRCE-DDS and Nav2 compatibility;
authoritative Gazebo /clock;
loopback port and deterministic process ownership;
target-worker rover/telemetry/pause/2 ms step/1×/2× resource evidence;
target doctor GO for profile SHA-256 aeecf5005301db230e1340b85215cbbd862b72974a22b8c43767c28be8453e2f.

The repository doctor is side-effect free:

uv run missioncore-sim s0 doctor --json

Without the exact admitted target-worker evidence its correct result remains INCOMPLETE. S1 starts from the accepted S0 version/storage/time/process boundary. Its S1A increment implements server-owned immutable run identity, legal lifecycle transitions, canonical rover command envelopes, authority/TTL admission, append-only artifacts and restart reconciliation. The S1B increment adds idempotent application lifecycle, single active ownership, an exact-profile/D-only worker guard, health-gated real provider specs and deterministic POSIX PGID supervision. Exact generation 6cb1495 passed on MissionCore-Sim: Micro XRCE-DDS Agent and PX4/Gazebo stock rover ran inside a fresh loopback-only namespace, the run reached completed, and both provider groups stopped without residue. S1C commit b7ccca3 adds a persistent unprivileged worker agent in the same isolation boundary, a bounded Unix-socket gateway, an explicit internal-virtual-only backend gate and a browser-native live panel. UI-2 commit 60e7916 promotes that panel into a worker-gated top-level product root and replaces the diagnostic 2D marker with a browser-native Three.js Ackermann Rover scene. The exact D-only generation passed 35 target tests and one UI-driven provider run with diagnostic Gazebo VehicleState, eight persisted lifecycle events, terminal completed and zero process residue.

S1D exact code generation 49b0f47 adds the bounded missioncore.ackermann-command/v1 browser-to-worker path and the first physical motion evidence. Mission Core keeps the external command in metres per second plus normalized steering, journals it append-only, applies a 250 ms TTL and maps it on the worker to stock-model PX4 rover Offboard throttle/steering setpoints. PX4 still owns arming, Offboard state and control allocation; Mission Core does not publish direct actuator topics. The exact D-only target passed 40 focused tests. Its first cold start took 32.08 seconds, and run s1c-49b0f47-20260724t195259z-62edd2 proved straight, turn, reverse, TTL stop and zero-residue lifecycle shutdown. This closes only the primary Ackermann command/motion slice. Differential Rover, calibrated speed tracking, canonical PX4/ROS 2 telemetry, pause/step/reset, heartbeat/offboard/link-loss and failsafe cases remain open before S1 can pass.

The archival surface consumes the same append-only run repository through GET /api/v1/polygon/runs and GET /api/v1/polygon/runs/{run-id}. QualificationRunStore(read_only=True) does not create, chmod or mutate the configured repository and rejects every write transition. When /api/v1/polygon/worker returns an admitted available worker, the Control Station adds Полигон as a seventh header root. One header click opens the direct polygon-run workspace without a System launcher panel. The old ?workspace=polygon-run[&run=<id>] URL remains a compatible deep-link for review and exact-run selection, not the primary operator navigation. Browser QA loaded the accepted archive and the S1C live worker, rotated and zoomed the 3D rover, observed live run/provider status, Gazebo sim time and ENU/FLU pose, then completed a clean stop. Start/stop stays behind the backend gate and reaches the worker through a local Unix socket; SSH remains qualification bootstrap, never the product data plane. A shared operator-facing deployment still requires authentication/RBAC, service supervision and an accepted routed worker transport.

Mission Core remains a distributed web product. React is served by a long-lived Gateway/API and renders canonical state through browser-native components. Gazebo/PX4/ROS 2/Nav2 run headless on a registered Linux simulation worker; the native Gazebo GUI is optional worker-local diagnostics. A future field vehicle runs a headless Linux Edge Agent with local-first evidence and store-and-forward synchronization. The browser never talks directly to PX4, and field execution/failsafe cannot depend on a browser or WAN connection.

Stage 0 — repository and host baseline

Deliverables:

local Python 3.12 .venv and lock-file;
k1link doctor with no side effects;
immutable reference documents and checksums;
safety policy, artifact policy, session manifest schema;
no Homebrew changes and no K1 interaction.

Acceptance:

uv sync --group dev succeeds;
uv run k1link doctor identifies a local .venv;
tests, Ruff and mypy pass;
repository contains no secrets or real captures.

Gate 1 — physical and USB baseline

Code needed: none initially.

Actions:

Record masked device identity, LED boot sequence, battery and visible state.
Determine whether the unit is activated; solid-yellow or an activation prompt is treated as a distinct blocker.
Run one short autonomous button scan: start, keep still for at least 20 seconds, move through a simple scene, stop.
Enter USB mode using the documented physical shortcut if available.
Copy a project tree and selected metadata/logs into an ignored session path.
Hash every copied file and create a redacted manifest.

GO: the unit boots normally and records a usable autonomous project.

PAUSE: USB access is unavailable but the scan succeeds; continue BLE while documenting the missing ground truth.

STOP: serious fault, overheating, activation lock, or destructive/ambiguous device state.

Stage 1 — BLE non-mutating discovery and metadata toolkit

Minimal dependencies: bleak plus the existing CLI stack. Add them only in the repository-local environment.

Commands:

k1link ble scan
k1link ble gatt-dump
k1link ble listen

Requirements:

preserve advertisement snapshots, manufacturer/service data and RSSI;
describe macOS scanning as active discovery: CoreBluetooth does not support passive scan mode, although discovery does not change K1 configuration;
identify by observed name + macOS UUID + advertisement fingerprint;
inspect standby, scanning and USB states separately;
start with standard Device Information/Battery services;
custom characteristic reads are opt-in because proprietary reads may have side effects;
notifications are subscribed one characteristic at a time and logged to timestamped JSONL;
no arbitrary characteristic or provisioning writes in this stage. Enabling a notification normally updates the standard CCCD descriptor; this temporary, reversible protocol write is disclosed and handled separately from device configuration.

GO: reproducible K1 advertisement and useful GATT map.

PAUSE: permission or pairing/authentication is required.

Gate 2 — existing network behavior

Do not change Deco settings first.

Actions:

Save the Mac interface and route table.
Observe router client list and Mac ARP/neighbor state with K1 off.
Repeat after K1 boot, during standby, scanning and after one power cycle.
Check for new Wi-Fi SSIDs exposed by K1 without attempting to join unknown networks automatically.
Confirm any candidate by disappearance/reappearance with K1 power state.

GO-A: K1 joins a remembered LAN. Provisioning leaves the immediate critical path and work moves to the application-session gate.

GO-B: K1 exposes its own AP. Document it as a separate topology and determine whether Mac can join without modifying router configuration.

BLOCKED: neither association nor AP exists; provisioning becomes Stage 2.

Stage 2 — no-app provisioning research

This stage answers whether SSID/PSK can be sent safely from Mac. A generic BLE transport does not define the vendor payload.

Evidence sources allowed before a write:

GATT UUIDs, properties and descriptors;
standard service identification;
read/notify state transitions correlated with network state;
owned K1 project logs and metadata;
public official firmware/documentation static evidence if separately reviewed;
deterministic structure inferred without sending device mutations.

Before enabling any write profile, document:

exact service/characteristic and required security mode;
packet framing, encoding, ordering and length rules;
SSID/PSK redaction and secure input path;
checksum, nonce, token, certificate or signature fields;
commit/connect command and status response;
timeout, failure state, power-cycle behavior and rollback;
one explicit confirmation flag in addition to a named reviewed profile.

GO: a deterministic provisioning profile exists with an explained expected state transition and safe rollback.

HARD BLOCK: K1 knows no network, exposes only opaque vendor GATT, and no evidence source reveals the protocol. Random writes are not an alternative.

Stage 3 — application session and targeted capture

Prerequisite: confirmed K1 IP or direct AP topology.

Implementation order:

Passive ARP/mDNS/SSDP and K1-filtered tcpdump baseline.
Small targeted TCP connect check against the confirmed IP.
Service detection only where the prior step supplies evidence.
Parse K1 logs for daemon names, ports and protocol strings.
Add protocol-specific connection attempts only for demonstrated endpoints.
Model WIFI_ASSOCIATED_BUT_NO_DATA_SESSION explicitly.

k1link net capture must show the exact interface/filter, request privilege in the foreground, handle Ctrl+C, and never configure persistent sudo or ChmodBPF.

GO: Mac becomes a K1 endpoint or receives a reproducible scan-correlated flow.

BLOCKED: application session requires an unavailable mutual-auth token, certificate or undocumented handshake.

Stage 4 — session artifacts and flow analysis

Implement only after real traffic exists:

versioned session manifest;
UTC and monotonic timeline events;
SHA-256 inventory;
TCP reassembly and UDP flow grouping;
packet/byte rates, length histograms, entropy and first-byte fingerprints;
idle versus scanning correlation;
negative-control flows to reduce false positives.

GO: repeatable flows can be separated and ranked without losing raw evidence.

Stage 5 — decoders by evidence priority

Priority:

device/scan status;
point-cloud preview;
pose/trajectory;
camera/panorama/video.

Add dependencies per decoder extra, not to the base environment. Point-cloud and video signature probes operate on reassembled flows, not isolated packet payloads. A candidate becomes a decoder only after a controlled physical test confirms it.

MVP GO: K1-to-Mac scan-correlated data can be captured reliably and at least one useful stream is decoded or structurally identified.

Stage 8 — replaceable external perception worker

Stages 6–7 established the raw-first live bridge and durable combined session archive described above. Stage 8 introduces a replaceable GPU executor without giving it K1 command authority or the authoritative archive.

Accepted recorded gate, 2026-07-19:

the Mac validates one sealed camera epoch through the same digest and ISO-BMFF timing inspector used by saved-session replay;
k1link compute prepare-camera-job publishes an immutable missioncore.compute-job/v1 below ignored runtime storage;
the first TEST007 job contains only one bounded 56-frame camera epoch, not the MQTT archive or another K1 control path;
Windows revalidates all 59 job files, reconstructs the exact canonical stream digest and decodes all 56 frames;
pinned Apache-2.0 YOLOX-S executes through pinned Triton 2.70.0 on the RTX 4090 and atomically publishes one content-addressed missioncore.compute-result/v1;
repeating the exact result identity returns the existing result without increasing Triton inference count;
Mission Core revalidates the returned generation, projects the exact camera frames and boxes onto session_time, and exposes the optional native Rerun view only after its complete RRF2 layer is accepted.

The accepted result is perception evidence only. The larger TEST007 epoch, direct/routed worker transport and bounded live fan-out remain separate gates. SSH/SCP is allowed only as the recorded laboratory bootstrap. The worker never connects to K1.

See ADR 0014, the worker contract and Lab 005.

Deferred work

ROS2/MCAP bridge;
onboard computer and drone integration;
automated scan-button electronics;
OpenWrt/monitor-mode infrastructure;
firmware or internal-Linux analysis;
browser-visible end-to-end shared-timeline playback of the accepted archive containing point cloud plus one selected K1 camera (backend preparation and digest-bound byte admission are already accepted);
OS-independent plugin/edge authority provider, PCAP-to-executor transcript regression and runtime ownership integration;
long-running large-session WebViewer/WASM memory telemetry;
production retention, replication, encryption and cross-platform packaging.

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