From 5b0b30dcce3927f9ea2f39918a313a055acde142 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 2 Oct 2026 14:57:08 -0400
Subject: [PATCH 01/96] fix(studio): ISP time estimate ~5 s/panel, not ~20 s
 (#244)

The Program set confirm said ~8 min for a 20-panel arena; the batch on
rig5-mr (2026-09-30) took ~2 min: ~4.4 s program + reboot and ~1 s
verify + STOP per panel. Use 5 s + 1 s for the estimate and fix the
"~20 s" in the dialog and the Flash / Program set tooltips.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 arena_studio.html | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/arena_studio.html b/arena_studio.html
index 0cd898fb..8c00d0d7 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -3243,7 +3243,7 @@ <h2 id="modalTitle">Import error</h2>
             <button class="pill" data-cmd="cfwinfo" title="GET_FIRMWARE_INFO 0xE3 — version footer of the image on the SD">Info</button></div>
           <div class="crow"><span class="lbl">single</span>
             <input id="cFwAddr" type="number" min="1" value="1" style="width:56px" title="panel address (1-based)">
-            <button class="pill danger" data-cmd="cfwflash" title="Program one panel from /firmware/panel.bin over SPI ISP (0xC8) — ~20 s, do NOT power off">Flash</button>
+            <button class="pill danger" data-cmd="cfwflash" title="Program one panel from /firmware/panel.bin over SPI ISP (0xC8) — ~5 s, do NOT power off">Flash</button>
             <button class="pill" data-cmd="cfwverify" title="CRC the panel's running app flash vs the SD footer (0xC9)">Verify</button></div>
           <div class="crow"><span class="lbl">fleet</span>
             <button class="pill" data-cmd="cinv" title="GET_PANEL_INVENTORY 0xD1 — which panels answered at boot and the firmware fingerprint (CRC-32) each one runs; reads it again now (firmware with feature bit 0 only)">Inventory</button>
@@ -3253,7 +3253,7 @@ <h2 id="modalTitle">Import error</h2>
             <input id="cIspRange" type="text" value="1-20" style="width:86px" title="Panels to program: a range/list like 1-20 or 1,3,5-8">
             <label title="Verify each panel's CRC (0xC9) right after flashing; the report marks verified vs flashed-only"><input type="checkbox" id="cIspVerify" checked> verify each</label>
             <label id="cIspShowWrap" title="Blink a progress map on the arena between panels (done bright · pending dim · failed checker); the final map stays lit. The display must be stopped DURING each flash (firmware), so it blinks rather than persists. 20-panel arenas only."><input type="checkbox" id="cIspShow" checked> show on arena</label>
-            <button class="pill danger" data-cmd="cispbatch" id="cIspBtn" title="Flash /firmware/panel.bin to every panel in the set over SPI ISP (0xC8), retrying once on failure. ~20 s/panel — do NOT power off.">⚡ Program set</button>
+            <button class="pill danger" data-cmd="cispbatch" id="cIspBtn" title="Flash /firmware/panel.bin to every panel in the set over SPI ISP (0xC8), retrying once on failure. ~5 s/panel — do NOT power off.">⚡ Program set</button>
             <button class="pill" data-cmd="cispstop" id="cIspStopBtn" disabled title="Stop the batch after the current panel finishes">Stop</button>
             <button class="pill" data-cmd="cispcopy" id="cIspCopyBtn" style="display:none" title="Copy the batch report as plain text">Copy report</button>
             <span class="dim" id="cIspStatus"></span></div>
@@ -8659,9 +8659,10 @@ <h2 id="modalTitle">Import error</h2>
             'Upload a .bin first (Choose…), or click OK to try anyway.')) return;
     }
     const verify = $('cIspVerify').checked;
-    const est = Math.ceil((panels.length * (20 + (verify ? 2 : 0))) / 60);
+    // Bench 2026-09-30 (#244): ~4.4 s program + reboot, ~1 s verify + STOP per panel.
+    const est = Math.ceil((panels.length * (5 + (verify ? 1 : 0))) / 60);
     if (!confirm('Program ' + panels.length + ' panel(s) [' + fmtRange(panels) + '] from /firmware/panel.bin?\n' +
-        'Each panel is reflashed over SPI and reboots (~20 s). Do NOT power off mid-flash.\n' +
+        'Each panel is reflashed over SPI and reboots (~5 s). Do NOT power off mid-flash.\n' +
         'Estimated time ~' + est + ' min.')) return;
 
     isp.running = true;

From 4d258b035a002c4623acb1997d80161c5bd04730 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Tue, 6 Oct 2026 14:58:19 -0400
Subject: [PATCH 02/96] fix(pattern-designer): degrees per pixel uses the full
 circle on partial arenas

getDegreesPerPixel() divided 360 deg by the INSTALLED pixel columns instead of the
full circumference. On G4 3x12of18 (the IAS talk arena) that gave 1.875 deg/px
instead of 1.25, so the px<->deg helper labels were wrong and a spatial period typed
in pixels generated the wrong grating (24 px came out as 45 deg, 36 frames). A step
size typed in degrees was off the same way. G6 3x12of18 (1.5 -> 1.0 deg/px) and
G6 2x8of10 (2.25 -> 1.8) had the same bug; full arenas were already right.

The generator already used the full circle (arenaCoordinates numCircle = num_cols).
The pitch now lives in one shared place, PatternGenerator.getDegreesPerPixel(), and
getArenaDimensions() reports circleCols / azimuthPixels, which the three spherical
generators also read, so the editor and generator cannot drift apart again.
Also fixes the Animate tab's frame-shift hint on partial arenas ("360 deg = 192 px"
-> "240 deg = 192 px"), and cache-busts generator.js because the editor's init now
calls the new helper.

tests/test-pattern-degrees-per-pixel.js runs the editor's own conversion functions
(extracted from pattern_editor.html) for every standard config, plus end-to-end
gratings typed in px and deg; it failed 15 checks before the fix.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 js/pattern-editor/tools/generator.js    |  25 ++-
 pattern_editor.html                     |  22 +-
 tests/test-pattern-degrees-per-pixel.js | 255 ++++++++++++++++++++++++
 3 files changed, 289 insertions(+), 13 deletions(-)
 create mode 100644 tests/test-pattern-degrees-per-pixel.js

diff --git a/js/pattern-editor/tools/generator.js b/js/pattern-editor/tools/generator.js
index aaf6e1c9..d518e3f8 100644
--- a/js/pattern-editor/tools/generator.js
+++ b/js/pattern-editor/tools/generator.js
@@ -98,7 +98,8 @@ const PatternGenerator = {
     /**
      * Calculate arena dimensions
      * @param {Object} arena - Arena configuration
-     * @returns {Object} Dimensions {rows, cols, pixelRows, pixelCols, panelSize}
+     * @returns {Object} Dimensions {rows, cols, installedCols, circleCols, pixelRows,
+     *   pixelCols, azimuthPixels, panelSize}
      */
     getArenaDimensions(arena) {
         const generation = arena.generation || arena.arena?.generation;
@@ -107,6 +108,9 @@ const PatternGenerator = {
         // For partial arenas, use columns_installed length instead of num_cols
         const columnsInstalled = arena.columns_installed || arena.arena?.columns_installed;
         const installedCols = columnsInstalled?.length || numCols;
+        // Panels in the full 360° circle (Pcircle): sets the angular pitch, which a
+        // partial arena shares with the full one
+        const circleCols = arena.numCircle || arena.num_cols_full || arena.Pcircle || numCols;
 
         const specs = this.getPanelSpecs(generation);
         const panelSize = specs.pixels_per_panel;
@@ -116,12 +120,25 @@ const PatternGenerator = {
             rows: numRows,
             cols: numCols, // Total arena slots (for geometry calculations)
             installedCols, // Actual installed columns (for pattern dimensions)
+            circleCols,
             pixelRows: numRows * panelSize,
             pixelCols: installedCols * panelSize, // Use installed columns for pattern width
+            azimuthPixels: circleCols * panelSize, // Pixels around the full circle
             panelSize
         };
     },
 
+    /**
+     * Azimuthal pitch in degrees per pixel: 360° over the FULL circle's pixels, never the
+     * installed ones. G4 3×12of18 = 360 / (18 × 16) = 1.25°/px. The spherical generators
+     * use the same pitch (arenaCoordinates numCircle), so px↔° conversions must use this.
+     * @param {Object} arena - Arena configuration (generator, config.arena or config form)
+     * @returns {number} Degrees per pixel
+     */
+    getDegreesPerPixel(arena) {
+        return 360 / this.getArenaDimensions(arena).azimuthPixels;
+    },
+
     /**
      * Create an empty frame (all zeros)
      * @param {number} pixelRows - Number of pixel rows
@@ -359,7 +376,7 @@ const PatternGenerator = {
         // Determine number of columns for full circle (Pcircle)
         // For partial arenas, numCircle is the FULL arena size (for correct angular spacing)
         // but numCols should be the installed columns (for pattern dimensions)
-        const numCircle = arena.numCircle || arena.num_cols_full || arena.Pcircle || cols;
+        const numCircle = dims.circleCols;
 
         // Generate arena coordinates
         // numCols = installed columns (pattern dimension)
@@ -578,7 +595,7 @@ const PatternGenerator = {
         const { pixelRows, pixelCols, generation, rows, cols, installedCols, panelSize } = dims;
 
         // Determine number of columns for full circle (Pcircle)
-        const numCircle = arena.numCircle || arena.num_cols_full || arena.Pcircle || cols;
+        const numCircle = dims.circleCols;
 
         // Generate arena coordinates for projection
         const arenaConfig = {
@@ -862,7 +879,7 @@ const PatternGenerator = {
         const { pixelRows, pixelCols, generation, rows, cols, installedCols, panelSize } = dims;
 
         // Determine number of columns for full circle (Pcircle)
-        const numCircle = arena.numCircle || arena.num_cols_full || arena.Pcircle || cols;
+        const numCircle = dims.circleCols;
 
         // Generate arena coordinates
         const arenaConfig = {
diff --git a/pattern_editor.html b/pattern_editor.html
index 9ce1aa12..e1385c5f 100644
--- a/pattern_editor.html
+++ b/pattern_editor.html
@@ -26,7 +26,9 @@
     </script>
     <script src="js/pat-encoder.js"></script>
     <script src="js/arena-geometry.js"></script>
-    <script src="js/pattern-editor/tools/generator.js"></script>
+    <!-- ?v= busts a cached copy: initializeApp() calls PatternGenerator.getDegreesPerPixel
+         (added 2026-10-06), so a stale generator.js would abort the editor's init -->
+    <script src="js/pattern-editor/tools/generator.js?v=1006-partial-cols"></script>
     <!-- course pipeline: GitHub request builders for "push to course repo"
          (classic dual-export module — same file Arena Studio uses) -->
     <script src="js/studio-github.js"></script>
@@ -4016,12 +4018,10 @@ <h3 class="modal-title">Save to Repo</h3>
          */
         function getDegreesPerPixel() {
             if (!state.arena.config) return 1.8;  // Default for G6 2x10
-            const config = state.arena.config.arena;
-            const specs = PANEL_SPECS[config.generation];
-            // Use columns_installed for partial arenas, fallback to num_cols for full arenas
-            const installedCols = config.columns_installed?.length || config.num_cols;
-            const pixelCols = installedCols * specs.pixels_per_panel;
-            return 360 / pixelCols;
+            // Full circumference (num_cols), never the installed columns: a partial arena keeps
+            // the full arena's pitch (G4 3x12of18 = 360 / (18 x 16) = 1.25 deg/px), the same
+            // pitch the generator uses. Shared helper so the two can't drift apart.
+            return PatternGenerator.getDegreesPerPixel(state.arena.config.arena);
         }
 
         /**
@@ -6239,9 +6239,13 @@ <h3 class="modal-title">Save to Repo</h3>
             let defaultFrames;
             let hint;
             if (direction.startsWith('h-')) {
-                // Horizontal motion: full 360° loop
+                // Horizontal motion: one full wrap of the pattern width (360° on a full
+                // arena; a partial arena's installed span, e.g. 240° on G4 3x12of18)
                 defaultFrames = pixelCols;
-                hint = `(360° = ${pixelCols} px)`;
+                const degrees = state.arena.config
+                    ? Math.round(pixelCols * getDegreesPerPixel())
+                    : 360;
+                hint = `(${degrees}° = ${pixelCols} px)`;
             } else {
                 // Vertical motion: full vertical traverse
                 defaultFrames = pixelRows;
diff --git a/tests/test-pattern-degrees-per-pixel.js b/tests/test-pattern-degrees-per-pixel.js
new file mode 100644
index 00000000..e5a36281
--- /dev/null
+++ b/tests/test-pattern-degrees-per-pixel.js
@@ -0,0 +1,255 @@
+#!/usr/bin/env node
+'use strict';
+
+/**
+ * Pattern Designer degrees-per-pixel regression (partial arenas).
+ *
+ * A partial arena keeps the FULL arena's pixel pitch: G4 3×12of18 has 12 of 18 columns
+ * installed, 16 px per panel, so its pitch is 360° / (18 × 16) = 1.25°/px, not
+ * 360° / (12 × 16) = 1.875°/px. The pattern generator already uses the full circle
+ * (`numCircle = num_cols`); the editor's px↔° conversions must use the same pitch, or a
+ * spatial period typed in pixels generates the wrong grating (24 px came out as 45°).
+ *
+ * The editor's helpers live inside pattern_editor.html's module script, so this test
+ * extracts them by name and runs them against a stub `state`, together with the real
+ * PatternGenerator and arena configs.
+ */
+const fs = require('fs');
+const path = require('path');
+const vm = require('vm');
+
+const ROOT = path.join(__dirname, '..');
+const { STANDARD_CONFIGS, PANEL_SPECS } = require('../js/arena-configs.js');
+global.PANEL_SPECS = PANEL_SPECS;
+const PatternGenerator = require('../js/pattern-editor/tools/generator.js');
+
+const html = fs.readFileSync(path.join(ROOT, 'pattern_editor.html'), 'utf8');
+
+let checks = 0;
+let failures = 0;
+
+function check(name, condition, detail) {
+    checks++;
+    if (condition) {
+        console.log(`  PASS  ${name}`);
+        return;
+    }
+    failures++;
+    console.log(`  FAIL  ${name}${detail ? ` — ${detail}` : ''}`);
+}
+
+function near(a, b, tol = 1e-9) {
+    return Number.isFinite(a) && Math.abs(a - b) <= tol;
+}
+
+/** Source of `function name(...) {...}` in the editor, by brace matching. */
+function extractFunction(name) {
+    const start = html.indexOf(`function ${name}(`);
+    if (start < 0) throw new Error(`pattern_editor.html: function ${name} not found`);
+    const open = html.indexOf('{', start);
+    let depth = 0;
+    for (let i = open; i < html.length; i++) {
+        if (html[i] === '{') depth++;
+        else if (html[i] === '}' && --depth === 0) return html.slice(start, i + 1);
+    }
+    throw new Error(`pattern_editor.html: unbalanced braces in ${name}`);
+}
+
+const EDITOR_FUNCTIONS = [
+    'getDegreesPerPixel',
+    'convertSpatialFreqToRadians',
+    'convertStepSizeToPixels',
+    'convertStepSizeToRadians'
+];
+
+/** The editor's conversion helpers, bound to a stub state for one arena config. */
+function editorFor(configName) {
+    const sandbox = {
+        PANEL_SPECS,
+        PatternGenerator,
+        Math,
+        state: { arena: { config: configName ? STANDARD_CONFIGS[configName] : null } }
+    };
+    vm.createContext(sandbox);
+    vm.runInContext(EDITOR_FUNCTIONS.map(extractFunction).join('\n'), sandbox);
+    return sandbox;
+}
+
+function arenaFor(configName) {
+    const a = STANDARD_CONFIGS[configName].arena;
+    // Same object the editor's handleGenerate builds.
+    return {
+        generation: a.generation,
+        rows: a.num_rows,
+        cols: a.num_cols,
+        columns_installed: a.columns_installed
+    };
+}
+
+/** Expected pitch: full circumference = num_cols × pixels_per_panel around 360°. */
+function expectedDegPerPx(configName) {
+    const a = STANDARD_CONFIGS[configName].arena;
+    return 360 / (a.num_cols * PANEL_SPECS[a.generation].pixels_per_panel);
+}
+
+console.log('\n=== editor getDegreesPerPixel: full circumference, every standard config ===');
+const PINNED = {
+    G4_3x12of18: 1.25, // 18 × 16 = 288 px around (12 installed)
+    G6_3x12of18: 1.0, // 18 × 20 = 360 px around (12 installed)
+    G6_2x8of10: 1.8, // 10 × 20 = 200 px around (8 installed)
+    G6_2x10: 1.8,
+    G6_3x10: 1.8,
+    G6_4x10: 1.8,
+    G6_3x16_full: 1.125,
+    G4_3x12: 1.875,
+    G4_4x12: 1.875,
+    G41_2x12_cw: 1.875,
+    G3_3x24: 1.875,
+    G3_4x12: 3.75
+};
+for (const name of Object.keys(STANDARD_CONFIGS)) {
+    const got = editorFor(name).getDegreesPerPixel();
+    const want = PINNED[name] ?? expectedDegPerPx(name);
+    check(`${name}: ${want}°/px`, near(got, want), `got ${got}`);
+    check(
+        `${name}: pinned value = 360 / (num_cols × px/panel)`,
+        near(want, expectedDegPerPx(name))
+    );
+}
+check(
+    'no arena selected: G6 2×10 default 1.8°/px',
+    near(editorFor(null).getDegreesPerPixel(), 1.8)
+);
+
+console.log('\n=== shared helper: PatternGenerator.getDegreesPerPixel ===');
+check(
+    'PatternGenerator.getDegreesPerPixel exists',
+    typeof PatternGenerator.getDegreesPerPixel === 'function'
+);
+if (typeof PatternGenerator.getDegreesPerPixel === 'function') {
+    for (const name of Object.keys(STANDARD_CONFIGS)) {
+        const cfg = STANDARD_CONFIGS[name];
+        check(
+            `${name}: generator arena object`,
+            near(PatternGenerator.getDegreesPerPixel(arenaFor(name)), expectedDegPerPx(name))
+        );
+        check(
+            `${name}: raw config.arena (num_cols form)`,
+            near(PatternGenerator.getDegreesPerPixel(cfg.arena), expectedDegPerPx(name))
+        );
+        check(
+            `${name}: whole config ({arena: …} form)`,
+            near(PatternGenerator.getDegreesPerPixel(cfg), expectedDegPerPx(name))
+        );
+    }
+    const dims = PatternGenerator.getArenaDimensions(arenaFor('G4_3x12of18'));
+    check('G4 12of18 dims: pattern is 192 px wide (installed)', dims.pixelCols === 192);
+    check('G4 12of18 dims: 288 azimuth px (full circle)', dims.azimuthPixels === 288);
+    check('G4 12of18 dims: circleCols = 18', dims.circleCols === 18);
+}
+
+console.log('\n=== px ↔ ° conversions on G4 3×12of18 (1.25°/px) ===');
+{
+    const ed = editorFor('G4_3x12of18');
+    const rad = Math.PI / 180;
+    check('24 px period = 30°', near(ed.convertSpatialFreqToRadians(24, 'px'), 30 * rad));
+    check('30° period = 30°', near(ed.convertSpatialFreqToRadians(30, 'deg'), 30 * rad));
+    check('1.25° step = 1 px', near(ed.convertStepSizeToPixels(1.25, 'deg'), 1));
+    check('1 px step = 1 px', near(ed.convertStepSizeToPixels(1, 'px'), 1));
+    check('1 px step = 1.25° (radians)', near(ed.convertStepSizeToRadians(1, 'px'), 1.25 * rad));
+}
+
+console.log('\n=== end to end: a period typed in px generates that period ===');
+/**
+ * Generate a rotation grating the way handleGenerate does and measure it: frame count
+ * (= one period at a 1 px step) and the bright-run length along the middle row.
+ */
+function generateGrating(configName, spatialValue, spatialUnit, stepValue, stepUnit) {
+    const ed = editorFor(configName);
+    return PatternGenerator.generateSphericalGrating(
+        {
+            high: 15,
+            low: 0,
+            gsMode: 2,
+            stretch: 1,
+            spatFreq: ed.convertSpatialFreqToRadians(spatialValue, spatialUnit),
+            motionType: 'rotation',
+            waveform: 'square',
+            dutyCycle: 50,
+            stepSize: ed.convertStepSizeToPixels(stepValue, stepUnit),
+            aaSamples: 1,
+            arenaModel: 'smooth',
+            phaseShift: 0,
+            poleCoord: [0, -Math.PI / 2]
+        },
+        arenaFor(configName)
+    );
+}
+
+function runLengths(pattern) {
+    const row = Math.floor(pattern.pixelRows / 2);
+    const f = pattern.frames[0];
+    const vals = [];
+    for (let c = 0; c < pattern.pixelCols; c++) vals.push(f[row * pattern.pixelCols + c] > 0);
+    const runs = [];
+    let len = 1;
+    for (let c = 1; c < vals.length; c++) {
+        if (vals[c] === vals[c - 1]) len++;
+        else {
+            runs.push(len);
+            len = 1;
+        }
+    }
+    runs.push(len);
+    return runs.slice(1, -1); // interior runs only (the edges may be clipped)
+}
+
+const CASES = [
+    // [config, value, unit, expected period px]
+    ['G4_3x12of18', 24, 'px', 24],
+    ['G4_3x12of18', 30, 'deg', 24],
+    ['G6_3x12of18', 30, 'px', 30],
+    ['G6_3x12of18', 30, 'deg', 30],
+    ['G6_2x8of10', 20, 'px', 20],
+    ['G6_2x8of10', 36, 'deg', 20],
+    ['G6_2x10', 20, 'px', 20],
+    ['G4_4x12', 24, 'px', 24]
+];
+for (const [name, value, unit, period] of CASES) {
+    const pattern = generateGrating(name, value, unit, 1, 'px');
+    const runs = runLengths(pattern);
+    check(
+        `${name}: ${value} ${unit} period → ${period} frames at a 1 px step`,
+        pattern.numFrames === period,
+        `got ${pattern.numFrames}`
+    );
+    check(
+        `${name}: ${value} ${unit} period → ${period / 2}-px bars`,
+        runs.length > 0 && runs.every((r) => r === period / 2),
+        `runs ${JSON.stringify(runs)}`
+    );
+}
+{
+    const pattern = generateGrating('G4_3x12of18', 30, 'deg', 1.25, 'deg');
+    check(
+        'G4_3x12of18: 1.25° step on a 30° period → 24 frames',
+        pattern.numFrames === 24,
+        `got ${pattern.numFrames}`
+    );
+}
+
+console.log('\n=== editor wiring ===');
+check(
+    'pattern_editor.html cache-busts generator.js (init calls the new helper)',
+    /<script src="js\/pattern-editor\/tools\/generator\.js\?v=[^"]+"><\/script>/.test(html)
+);
+check(
+    'getDegreesPerPixel delegates to the shared PatternGenerator helper',
+    /PatternGenerator\.getDegreesPerPixel\(/.test(extractFunction('getDegreesPerPixel'))
+);
+
+console.log(`\n${checks - failures}/${checks} checks passed`);
+if (failures > 0) {
+    console.log(`${failures} FAILED`);
+    process.exit(1);
+}

From 9b851e6ca73a204e1ef4b0b4e59ee26ac07bdd8b Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Tue, 6 Oct 2026 14:58:27 -0400
Subject: [PATCH 03/96] fix(3d-viewer): partial arenas show each PAT panel on
 its installed column

A partial arena's PAT stores only the installed columns, in columns_installed order
(block k = physical column columns_installed[k], the icon generator's convention).
ThreeViewer looked pixels up by the PHYSICAL column instead. Harmless when the
installed columns start at 0 (G4/G6 3x12of18), but on G6 2x8of10 (columns 1-8)
the whole pattern showed one panel to the side, pattern panel 1 never appeared, and
physical column 8 read block 0 of the next pixel row (the lookup wrapped at the full
circle, past the 160-px pattern width).

_getPatternColumnMap() maps physical column -> block from the CONFIGURED columns
(never the preview-visible set, so the CSHL 8/18 gap still doesn't shift the address
map); each LED ref carries patternCol; the lookup wraps inside the pattern width.
Shared by the Pattern Designer and the replay viewer, so the cache token moves to
1006-partial-cols in both (and the tests that pin it).

tests/test-three-viewer-partial-columns.js loads the viewer with Three.js stubbed and
checks every LED of every standard config reads its own block and row; against main's
viewer it fails only on G6_2x8of10 (column 1 showed block 2).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 arena_replay_viewer.html                     |   4 +-
 js/arena-replay-viewer.js                    |   2 +-
 js/pattern-editor/viewers/three-viewer.js    |  45 +++++-
 pattern_editor.html                          |   2 +-
 tests/test-arena-replay-viewer-protocol.js   |   4 +-
 tests/test-three-viewer-led-glow.js          |   8 +-
 tests/test-three-viewer-partial-columns.js   | 148 +++++++++++++++++++
 tests/test-three-viewer-preview-omissions.js |  18 ++-
 8 files changed, 213 insertions(+), 18 deletions(-)
 create mode 100644 tests/test-three-viewer-partial-columns.js

diff --git a/arena_replay_viewer.html b/arena_replay_viewer.html
index dd6e7b08..71c28ec3 100644
--- a/arena_replay_viewer.html
+++ b/arena_replay_viewer.html
@@ -505,8 +505,8 @@
             <span class="orbit-hint">Drag to orbit · scroll to zoom · “Fly” for a close-up</span>
         </footer>
 
-        <script src="js/arena-replay-viewer-protocol.js?v=0713-solid-ball"></script>
+        <script src="js/arena-replay-viewer-protocol.js?v=1006-partial-cols"></script>
         <script src="js/fly-gait.js?v=20260926-gait"></script>
-        <script type="module" src="js/arena-replay-viewer.js?v=0713-solid-ball"></script>
+        <script type="module" src="js/arena-replay-viewer.js?v=1006-partial-cols"></script>
     </body>
 </html>
diff --git a/js/arena-replay-viewer.js b/js/arena-replay-viewer.js
index ebcd7118..58ca252e 100644
--- a/js/arena-replay-viewer.js
+++ b/js/arena-replay-viewer.js
@@ -1,6 +1,6 @@
 import * as THREE from 'https://cdn.jsdelivr.net/npm/three@0.182.0/build/three.module.js';
 import PatParser from './pat-parser.js';
-import ThreeViewer from './pattern-editor/viewers/three-viewer.js?v=0713-solid-ball';
+import ThreeViewer from './pattern-editor/viewers/three-viewer.js?v=1006-partial-cols';
 import { PANEL_SPECS, STANDARD_CONFIGS, getArenaName, getConfig } from './arena-configs.js';
 
 const Protocol = window.ArenaReplayViewerProtocol;
diff --git a/js/pattern-editor/viewers/three-viewer.js b/js/pattern-editor/viewers/three-viewer.js
index 49f41b3f..cfd2bf37 100644
--- a/js/pattern-editor/viewers/three-viewer.js
+++ b/js/pattern-editor/viewers/three-viewer.js
@@ -631,6 +631,18 @@ class ThreeViewer {
         }
     }
 
+    /**
+     * Map each installed physical column to its panel block in the PAT. A partial arena's
+     * pattern stores only the installed columns, in columns_installed order, so block k is
+     * physical column columns_installed[k] (G6_2x8of10: column 1 is block 0). Full arenas
+     * map identically. Built from the CONFIGURED columns, never the preview-visible set, so
+     * the CSHL rear-panel omission does not shift the PAT address map.
+     * @returns {Map<number, number>} physical column index -> pattern panel block
+     */
+    _getPatternColumnMap() {
+        return new Map([...this._getInstalledColumnsSet()].map((col, block) => [col, block]));
+    }
+
     /**
      * Return columns rendered by the preview. Panels 8 and 18 are a physical
      * CSHL omission that is deliberately absent from the rig/config registry.
@@ -721,6 +733,7 @@ class ThreeViewer {
         // Note: Three.js uses right-handed coords but top-down view has +Z toward viewer,
         // so we negate Z to match MATLAB's top-down appearance
         const visibleColumns = this._getVisibleColumnsSet();
+        const patternColumns = this._getPatternColumnMap();
 
         for (let col = 0; col < numCols; col++) {
             // Skip config-level omissions and the visual-only CSHL panels 8/18 rear gap.
@@ -747,7 +760,8 @@ class ThreeViewer {
                 numRows,
                 col,
                 numCols,
-                columnOrder
+                columnOrder,
+                patternColumns.get(col)
             );
             columnGroup.position.set(x, 0, z);
             columnGroup.userData.columnIndex = col;
@@ -885,7 +899,18 @@ class ThreeViewer {
         this.controls.update();
     }
 
-    _createColumn(specs, width, height, depth, angle, numRows, colIndex, numCols, columnOrder) {
+    _createColumn(
+        specs,
+        width,
+        height,
+        depth,
+        angle,
+        numRows,
+        colIndex,
+        numCols,
+        columnOrder,
+        patternCol = colIndex
+    ) {
         const group = new THREE.Group();
 
         // Apply rotation to face center (matches standalone viewer exactly)
@@ -1023,6 +1048,7 @@ class ThreeViewer {
                     this.ledMeshes.push({
                         mesh: rect,
                         colIndex: colIndex,
+                        patternCol: patternCol,
                         px: px,
                         py: py,
                         totalPixelsH: totalPixelsH,
@@ -1078,6 +1104,7 @@ class ThreeViewer {
                     this.ledMeshes.push({
                         mesh: led,
                         colIndex: colIndex,
+                        patternCol: patternCol,
                         px: px,
                         py: py,
                         totalPixelsH: totalPixelsH,
@@ -1185,7 +1212,10 @@ class ThreeViewer {
     }
 
     _getLEDBrightness(ledRef) {
-        const { px, py, colIndex, totalPixelsH, numCols, columnOrder } = ledRef;
+        const { px, py, colIndex, totalPixelsH, columnOrder } = ledRef;
+        // The LED's panel block in the PAT (see _getPatternColumnMap); refs built without
+        // one fall back to the physical column, which is the same on full arenas.
+        const patternCol = ledRef.patternCol ?? colIndex;
         const pattern = this.state.pattern;
 
         if (!pattern || !pattern.frames || pattern.frames.length === 0) {
@@ -1196,7 +1226,9 @@ class ThreeViewer {
         if (!frame) return 0.0;
 
         const pixelsPerPanel = totalPixelsH;
-        const totalAzimuthPixels = numCols * totalPixelsH;
+        // Wrap within the pattern's own width: a partial arena's PAT holds only the
+        // installed columns, so wrapping at the full circle would spill into the next row.
+        const patternWidth = pattern.pixelCols;
 
         // For CCW mode, mirror the pixel index within each panel
         // to ensure grating tiles correctly when columns are placed clockwise
@@ -1205,8 +1237,9 @@ class ThreeViewer {
         // Calculate global X with phase offset support
         const phaseOffset = this.state.phaseOffset || 0;
         const globalX =
-            (colIndex * pixelsPerPanel + effectivePx + phaseOffset + totalAzimuthPixels) %
-            totalAzimuthPixels;
+            (((patternCol * pixelsPerPanel + effectivePx + phaseOffset) % patternWidth) +
+                patternWidth) %
+            patternWidth;
         const globalY = py;
 
         // Row-major index: row * numCols + col
diff --git a/pattern_editor.html b/pattern_editor.html
index e1385c5f..09534c85 100644
--- a/pattern_editor.html
+++ b/pattern_editor.html
@@ -2565,7 +2565,7 @@ <h3 class="modal-title">Save to Repo</h3>
 
     <script type="module">
         import PatParser from './js/pat-parser.js';
-        import ThreeViewer from './js/pattern-editor/viewers/three-viewer.js?v=0713-solid-ball';
+        import ThreeViewer from './js/pattern-editor/viewers/three-viewer.js?v=1006-partial-cols';
         import MercatorViewer from './js/pattern-editor/viewers/mercator-viewer.js?v=0218';
         import MollweideViewer from './js/pattern-editor/viewers/mollweide-viewer.js?v=0218';
         import { combinePatterns } from './js/pattern-editor/tools/combiner.js';
diff --git a/tests/test-arena-replay-viewer-protocol.js b/tests/test-arena-replay-viewer-protocol.js
index 6a60a490..879a63a7 100644
--- a/tests/test-arena-replay-viewer-protocol.js
+++ b/tests/test-arena-replay-viewer-protocol.js
@@ -331,8 +331,8 @@ check(
 );
 check(
     'popup cache-busts the camera projection helper with its entry module',
-    html.includes('arena-replay-viewer-protocol.js?v=0713-solid-ball') &&
-        html.includes('arena-replay-viewer.js?v=0713-solid-ball')
+    html.includes('arena-replay-viewer-protocol.js?v=1006-partial-cols') &&
+        html.includes('arena-replay-viewer.js?v=1006-partial-cols')
 );
 check(
     'popup loads the walking model (classic) before the viewer module',
diff --git a/tests/test-three-viewer-led-glow.js b/tests/test-three-viewer-led-glow.js
index a3046e0f..6d7c35f5 100644
--- a/tests/test-three-viewer-led-glow.js
+++ b/tests/test-three-viewer-led-glow.js
@@ -139,6 +139,8 @@ check(
 );
 
 console.log('\n=== shared consumer cache boundaries ===');
+// Revisions at or after the glow layer (0713-solid-ball; 1006-partial-cols builds on it).
+const GLOW_REVISION = /glow|0713|1006-partial-cols/i;
 const patternImport = patternEditor.match(
     /from\s+['"]\.\/js\/pattern-editor\/viewers\/three-viewer\.js\?([^'"]+)['"]/
 );
@@ -150,15 +152,15 @@ const replayEntry = replayHtml.match(
 );
 check(
     'Pattern Editor cache-busts the shared ThreeViewer revision',
-    Boolean(patternImport && /glow|0713/i.test(patternImport[1]))
+    Boolean(patternImport && GLOW_REVISION.test(patternImport[1]))
 );
 check(
     'Replay imports the same cache-busted shared ThreeViewer',
-    Boolean(replayImport && /glow|0713/i.test(replayImport[1]))
+    Boolean(replayImport && GLOW_REVISION.test(replayImport[1]))
 );
 check(
     'Replay HTML cache-busts its module import edge',
-    Boolean(replayEntry && /glow|0713/i.test(replayEntry[1]))
+    Boolean(replayEntry && GLOW_REVISION.test(replayEntry[1]))
 );
 
 console.log(`\n${checks - failures} / ${checks} checks passed`);
diff --git a/tests/test-three-viewer-partial-columns.js b/tests/test-three-viewer-partial-columns.js
new file mode 100644
index 00000000..da7cf8d8
--- /dev/null
+++ b/tests/test-three-viewer-partial-columns.js
@@ -0,0 +1,148 @@
+#!/usr/bin/env node
+'use strict';
+
+/**
+ * ThreeViewer PAT lookup on partial arenas.
+ *
+ * A partial arena's PAT stores only the installed columns, in columns_installed order:
+ * pattern panel block k is physical column columns_installed[k] (the icon generator's
+ * convention). The 3D viewer used the PHYSICAL column as the block, so G6_2x8of10
+ * (columns 1–8) showed the pattern one panel to the side, and physical column 8 read
+ * block 0 of the NEXT pixel row.
+ *
+ * three-viewer.js imports Three.js from a CDN, so it is loaded here with those imports
+ * stubbed out; the methods under test never touch THREE.
+ */
+const fs = require('fs');
+const os = require('os');
+const path = require('path');
+const { pathToFileURL } = require('url');
+
+const ROOT = path.join(__dirname, '..');
+const { STANDARD_CONFIGS, PANEL_SPECS } = require('../js/arena-configs.js');
+
+let checks = 0;
+let failures = 0;
+
+function check(name, condition, detail) {
+    checks++;
+    if (condition) {
+        console.log(`  PASS  ${name}`);
+        return;
+    }
+    failures++;
+    console.log(`  FAIL  ${name}${detail ? ` — ${detail}` : ''}`);
+}
+
+async function loadThreeViewer() {
+    const src = fs.readFileSync(
+        path.join(ROOT, 'js', 'pattern-editor', 'viewers', 'three-viewer.js'),
+        'utf8'
+    );
+    const stubbed = src.replace(
+        /^import[\s\S]*?CSS2DRenderer\.js';\n/m,
+        'const THREE = {};\nconst OrbitControls = null;\n' +
+            'const CSS2DRenderer = null;\nconst CSS2DObject = null;\n'
+    );
+    if (stubbed === src) throw new Error('three-viewer.js: Three.js import block not found');
+    const dir = fs.mkdtempSync(path.join(os.tmpdir(), 'three-viewer-'));
+    const file = path.join(dir, 'three-viewer.mjs');
+    fs.writeFileSync(file, stubbed);
+    try {
+        return (await import(pathToFileURL(file).href)).default;
+    } finally {
+        fs.rmSync(dir, { recursive: true, force: true });
+    }
+}
+
+/** A viewer instance with just the state the PAT lookup reads. */
+function viewerFor(ThreeViewer, configName, pattern) {
+    const viewer = Object.create(ThreeViewer.prototype);
+    viewer.arenaConfig = STANDARD_CONFIGS[configName];
+    viewer.state = { pattern, currentFrame: 0, phaseOffset: 0 };
+    return viewer;
+}
+
+/**
+ * A PAT-sized frame whose every pixel encodes where it came from:
+ * value = (row % 2) * 100 + block + 1, so a wrong block OR a row spill is visible.
+ */
+function labelledPattern(arena) {
+    const ppp = PANEL_SPECS[arena.generation].pixels_per_panel;
+    const blocks = arena.columns_installed ? arena.columns_installed.length : arena.num_cols;
+    const pixelCols = blocks * ppp;
+    const pixelRows = arena.num_rows * ppp;
+    const frame = new Uint8Array(pixelCols * pixelRows);
+    for (let r = 0; r < pixelRows; r++) {
+        for (let c = 0; c < pixelCols; c++) {
+            frame[r * pixelCols + c] = (r % 2) * 100 + Math.floor(c / ppp) + 1;
+        }
+    }
+    return { frames: [frame], pixelCols, pixelRows, gsMode: 16, numFrames: 1 };
+}
+
+(async () => {
+    const ThreeViewer = await loadThreeViewer();
+
+    console.log('\n=== physical column -> PAT panel block ===');
+    {
+        const map = viewerFor(ThreeViewer, 'G6_2x8of10', null)._getPatternColumnMap();
+        check('G6_2x8of10: physical column 1 is block 0', map.get(1) === 0);
+        check('G6_2x8of10: physical column 8 is block 7', map.get(8) === 7);
+        check('G6_2x8of10: the gap columns 0 and 9 have no block', !map.has(0) && !map.has(9));
+        const g4 = viewerFor(ThreeViewer, 'G4_3x12of18', null)._getPatternColumnMap();
+        check(
+            'G4_3x12of18: columns 0..11 map to blocks 0..11',
+            [...Array(12).keys()].every((c) => g4.get(c) === c) && g4.size === 12
+        );
+        const full = viewerFor(ThreeViewer, 'G6_2x10', null)._getPatternColumnMap();
+        check(
+            'G6_2x10 (full; CSHL gap is preview-only): identity over all 10 columns',
+            [...Array(10).keys()].every((c) => full.get(c) === c) && full.size === 10
+        );
+    }
+
+    console.log('\n=== every LED reads its own block and row, every standard config ===');
+    for (const name of Object.keys(STANDARD_CONFIGS)) {
+        const arena = STANDARD_CONFIGS[name].arena;
+        const ppp = PANEL_SPECS[arena.generation].pixels_per_panel;
+        const pattern = labelledPattern(arena);
+        const viewer = viewerFor(ThreeViewer, name, pattern);
+        const installed = arena.columns_installed || [...Array(arena.num_cols).keys()];
+        const bad = [];
+        for (const col of viewer._getVisibleColumnsSet()) {
+            const block = installed.indexOf(col);
+            for (const px of [0, ppp - 1]) {
+                for (const py of [0, pattern.pixelRows - 1]) {
+                    const ledRef = {
+                        colIndex: col,
+                        patternCol: viewer._getPatternColumnMap().get(col),
+                        px,
+                        py,
+                        totalPixelsH: ppp,
+                        numCols: arena.num_cols,
+                        numRows: arena.num_rows,
+                        columnOrder: arena.column_order || 'cw'
+                    };
+                    const got = Math.round(viewer._getLEDBrightness(ledRef) * 15);
+                    const want = (py % 2) * 100 + block + 1;
+                    if (got !== want) bad.push(`col ${col} px ${px} py ${py}: ${got} != ${want}`);
+                }
+            }
+        }
+        check(
+            `${name}: LEDs show their own panel block`,
+            bad.length === 0,
+            bad.slice(0, 3).join('; ')
+        );
+    }
+
+    console.log(`\n${checks - failures}/${checks} checks passed`);
+    if (failures > 0) {
+        console.log(`${failures} FAILED`);
+        process.exit(1);
+    }
+})().catch((err) => {
+    console.error(err);
+    process.exit(1);
+});
diff --git a/tests/test-three-viewer-preview-omissions.js b/tests/test-three-viewer-preview-omissions.js
index a3cbb2c7..abea2912 100644
--- a/tests/test-three-viewer-preview-omissions.js
+++ b/tests/test-three-viewer-preview-omissions.js
@@ -116,9 +116,21 @@ check(
         /totalLEDs\s*=\s*totalPanels/.test(stats)
 );
 const brightness = methodSlice('_getLEDBrightness', '_brightnessToColor');
+const patternColumnMap = methodSlice('_getPatternColumnMap', '_getVisibleColumnsSet');
 check(
-    'PAT lookup keeps original configured colIndex positions',
-    /colIndex\s*\*\s*pixelsPerPanel\s*\+\s*effectivePx/.test(brightness)
+    'PAT lookup indexes by the pattern column block of each physical column',
+    /patternCol\s*\*\s*pixelsPerPanel\s*\+\s*effectivePx/.test(brightness) &&
+        /patternColumns\.get\(col\)/.test(buildArena)
+);
+check(
+    'pattern column blocks come from the configured columns, not the preview-visible set',
+    /this\._getInstalledColumnsSet\(\)/.test(patternColumnMap) &&
+        !/_getVisibleColumnsSet/.test(patternColumnMap)
+);
+check(
+    'PAT lookup wraps inside the pattern width (no spill into the next row)',
+    /patternWidth\s*=\s*pattern\.pixelCols/.test(brightness) &&
+        !/totalAzimuthPixels/.test(brightness)
 );
 check(
     'the G6_2x10 registry remains a full logical arena',
@@ -140,7 +152,7 @@ const replayToken = cacheToken(replayModule, /three-viewer\.js\?v=([^'"]+)['"]/i
 const replayEntryToken = cacheToken(replayHtml, /arena-replay-viewer\.js\?v=([^'"]+)['"]/i);
 check(
     'Pattern Designer and replay import the same preview-gap revision',
-    patternToken === '0713-solid-ball' && replayToken === patternToken,
+    patternToken === '1006-partial-cols' && replayToken === patternToken,
     `${patternToken} / ${replayToken}`
 );
 check(

From c2a83f2acc1ec96511a49b0400b40cf74a4345f0 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Tue, 6 Oct 2026 15:31:56 -0400
Subject: [PATCH 04/96] fix(icons): pattern thumbnails were mirrored
 top-to-bottom

renderCylindricalIconToCanvas drew math angles (y up) straight onto the canvas (y down),
so every icon was the 3D "Top Down" view mirrored: the gap (behind the fly) at the TOP and
the columns running counter-clockwise. TESTING.md always expected the gap at the bottom.
Angles are now negated at the drawing step (toCanvas), so icons match the 3D viewer and
MATLAB design_arena: south at the bottom, column 0 at the south boundary, columns clockwise
from above. The misleading "row 0 = top of arena" comment is corrected (row 0 is the
bottom; it maps to the inner ring, as in a perspective view from above).

Shared by the Studio, Console and Pattern Designer thumbnails. No export changes.
tests/test-icon-orientation.js records the canvas arcs and checks column 1 and 2 of every
standard config against the 3D viewer's placement; the old code failed 21 of 27 checks
(G6 2x10 column 1 drawn at -18 deg instead of -162 deg).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 TESTING.md                     |  17 ++--
 js/icon-generator.js           |  39 ++++----
 tests/test-icon-orientation.js | 163 +++++++++++++++++++++++++++++++++
 3 files changed, 193 insertions(+), 26 deletions(-)
 create mode 100644 tests/test-icon-orientation.js

diff --git a/TESTING.md b/TESTING.md
index 1b1ec2ac..7b7d87f2 100644
--- a/TESTING.md
+++ b/TESTING.md
@@ -71,15 +71,14 @@
 
 ## Arena Orientation Notes
 
-Current column mapping (column_order='cw'):
-- Column 0 starts at south (-90°)
-- Columns increase counter-clockwise (angles decrease)
-- For partial arena test: columns 0 and 9 are missing
-
-Expected orientation for partial arenas:
-- Gap should appear at bottom (south) for R/L symmetry
-- Currently gap appears bottom-right
-- May need further adjustment to column_order or angle_offset
+The icon is the same top-down picture as the 3D viewer's "Top Down" view and MATLAB
+`design_arena` (fixed 2026-10-06, LAB-295; before that the icon was mirrored top-to-bottom):
+- South (behind the fly) is at the bottom, the front at the top.
+- Column 0 starts at the south boundary; with column_order='cw' the columns run clockwise
+  seen from above (behind → fly's left → front → right).
+- On a partial arena the gap sits at the bottom, centered (e.g. G6_2x8of10: columns 0 and 9
+  missing, pattern column 1 lights physical column 1 at the lower-left of the gap).
+- `tests/test-icon-orientation.js` checks this against the 3D viewer for every standard config.
 
 ## Validation Summary
 
diff --git a/js/icon-generator.js b/js/icon-generator.js
index b6cce58d..ab450b7b 100644
--- a/js/icon-generator.js
+++ b/js/icon-generator.js
@@ -259,9 +259,13 @@ function renderCylindricalIconToCanvas(frameData, patternData, arenaConfig, opts
     const patternRowPixels = patternData.rows;
     const installedColumnCount = columnsInstalled.length;
 
-    // Base offset: -90° to start at south (-PI/2)
-    // In canvas: 0° = right (East), -90° = down (South), angles go counter-clockwise
-    const BASE_OFFSET_RAD = -Math.PI / 2;
+    // Angles below are MATH angles (0 = east, +90° = north, counter-clockwise positive), the
+    // same top-down convention as the 3D viewer and MATLAB design_arena: south (behind the fly)
+    // at the bottom, columns running clockwise from c0. The canvas y axis points DOWN, so a
+    // canvas angle is the negated math angle (toCanvas); drawing math angles directly mirrored
+    // the icon top-to-bottom (gap at the top, columns counter-clockwise).
+    const BASE_OFFSET_RAD = -Math.PI / 2; // south
+    const toCanvas = (mathAngle) => -mathAngle;
     const alpha = (2 * Math.PI) / numCols; // angle per column (full arena)
 
     // Arena-specific angular offset (e.g., for aligning gap position)
@@ -272,11 +276,10 @@ function renderCylindricalIconToCanvas(frameData, patternData, arenaConfig, opts
         const colIdx = columnsInstalled[installedIdx]; // Physical column position
 
         // Calculate angular position for this column based on column_order
-        // CW: c0 spans from South boundary leftward (counter-clockwise), columns continue CCW
-        // CCW: c0 spans from South boundary rightward (clockwise), columns continue CW
+        // CW: c0 starts at the south boundary and columns continue clockwise seen from above
+        // (behind → fly's left → front → right). CCW: the mirror image.
         let colStartAngle, colEndAngle;
         if (columnOrder === 'cw') {
-            // Column 0 left edge at South, right edge at South - alpha
             colStartAngle = BASE_OFFSET_RAD - colIdx * alpha + angleOffsetRad;
             colEndAngle = BASE_OFFSET_RAD - (colIdx + 1) * alpha + angleOffsetRad;
         } else {
@@ -292,12 +295,12 @@ function renderCylindricalIconToCanvas(frameData, patternData, arenaConfig, opts
         for (let rowIdx = 0; rowIdx < numRows; rowIdx++) {
             // Render each pixel in this panel
             for (let py = 0; py < pixelsPerPanel; py++) {
-                // Calculate vertical pixel index (0 = top row, top pixel)
+                // Pattern row index (row 0 = bottom of the arena, the .pat convention)
                 const verticalPixelIdx = rowIdx * pixelsPerPanel + py;
 
-                // Map vertical position to radius:
-                // Row 0 (top of arena) → inner edge of ring (center)
-                // Row N (bottom of arena) → outer edge of ring
+                // Map vertical position to radius, as in a perspective view from above:
+                // row 0 (bottom, farther from the viewer) → inner edge of the ring,
+                // top row (nearer the viewer) → outer edge
                 const verticalFraction = verticalPixelIdx / totalVerticalPixels;
                 const pixelInnerRadius = innerRadius + verticalFraction * radiusRange;
                 const pixelOuterRadius =
@@ -323,13 +326,15 @@ function renderCylindricalIconToCanvas(frameData, patternData, arenaConfig, opts
                           )
                         : brightnessToRGB(brightness, patternData.grayscaleMode);
 
-                    // Calculate angular position for this pixel
-                    const pixelAngle =
-                        colStartAngle + (px / pixelsPerPanel) * (colEndAngle - colStartAngle);
+                    // Calculate angular position for this pixel (canvas angles)
+                    const pixelAngle = toCanvas(
+                        colStartAngle + (px / pixelsPerPanel) * (colEndAngle - colStartAngle)
+                    );
 
                     // Calculate next pixel angle for width
-                    const nextPixelAngle =
-                        colStartAngle + ((px + 1) / pixelsPerPanel) * (colEndAngle - colStartAngle);
+                    const nextPixelAngle = toCanvas(
+                        colStartAngle + ((px + 1) / pixelsPerPanel) * (colEndAngle - colStartAngle)
+                    );
 
                     // Ensure we always draw the shorter arc by using min/max
                     const minAngle = Math.min(pixelAngle, nextPixelAngle);
@@ -371,9 +376,9 @@ function renderCylindricalIconToCanvas(frameData, patternData, arenaConfig, opts
             if (isCurrentInstalled !== isNextInstalled) {
                 let angle;
                 if (columnOrder === 'cw') {
-                    angle = BASE_OFFSET_RAD - (colIdx + 1) * alpha + angleOffsetRad;
+                    angle = toCanvas(BASE_OFFSET_RAD - (colIdx + 1) * alpha + angleOffsetRad);
                 } else {
-                    angle = BASE_OFFSET_RAD + (colIdx + 1) * alpha + angleOffsetRad;
+                    angle = toCanvas(BASE_OFFSET_RAD + (colIdx + 1) * alpha + angleOffsetRad);
                 }
 
                 // Draw radial line at boundary
diff --git a/tests/test-icon-orientation.js b/tests/test-icon-orientation.js
new file mode 100644
index 00000000..8e288a45
--- /dev/null
+++ b/tests/test-icon-orientation.js
@@ -0,0 +1,163 @@
+#!/usr/bin/env node
+'use strict';
+
+/**
+ * Pattern icon orientation: the cylindrical thumbnail (js/icon-generator.js) must be the same
+ * top-down picture as the 3D viewer's "Top Down" view and MATLAB design_arena: south (behind
+ * the fly) at the bottom, front at the top, columns running clockwise from c0.
+ *
+ * The canvas y axis points down, so math angles drawn directly mirrored the icon top-to-bottom
+ * (gap at the top, columns counter-clockwise). This test stubs a 2D canvas, records every arc,
+ * and checks where the lit pattern blocks land for every standard config, against the 3D
+ * viewer's column placement (three-viewer.js _buildArena).
+ */
+const path = require('path');
+const { pathToFileURL } = require('url');
+
+const ROOT = path.join(__dirname, '..');
+const { STANDARD_CONFIGS, PANEL_SPECS } = require('../js/arena-configs.js');
+globalThis.PANEL_SPECS = PANEL_SPECS;
+
+let checks = 0;
+let failures = 0;
+
+function check(name, condition, detail) {
+    checks++;
+    if (condition) {
+        console.log(`  PASS  ${name}`);
+        return;
+    }
+    failures++;
+    console.log(`  FAIL  ${name}${detail ? ` — ${detail}` : ''}`);
+}
+
+/** A canvas stub whose 2D context records each filled path's style and first arc. */
+function recordingCanvas() {
+    const paths = [];
+    let current = null;
+    const ctx = {
+        fillStyle: '',
+        strokeStyle: '',
+        lineWidth: 1,
+        scale() {},
+        fillRect() {},
+        beginPath() {
+            current = { arcs: [] };
+        },
+        arc(x, y, r, a0, a1) {
+            if (current) current.arcs.push({ r, a0, a1 });
+        },
+        closePath() {},
+        fill() {
+            if (current) paths.push({ style: ctx.fillStyle, arcs: current.arcs });
+        },
+        moveTo() {},
+        lineTo() {},
+        stroke() {}
+    };
+    return {
+        paths,
+        canvas: { width: 0, height: 0, getContext: () => ctx, toDataURL: () => 'data:' }
+    };
+}
+
+const deg = (r) => (r * 180) / Math.PI;
+const wrap = (a) => ((((a + 180) % 360) + 360) % 360) - 180;
+
+/** Fly-centric azimuth of a canvas angle: 0 = up (front), + = right (the fly's right). */
+function azimuthOfCanvasAngle(theta) {
+    return wrap(deg(Math.atan2(Math.cos(theta), -Math.sin(theta))));
+}
+
+/** Circular mean of the arc midpoints of the paths drawn in `style`. */
+function meanAzimuth(paths, style) {
+    let sx = 0;
+    let sy = 0;
+    for (const p of paths) {
+        if (p.style !== style || p.arcs.length === 0) continue;
+        const mid = (p.arcs[0].a0 + p.arcs[0].a1) / 2;
+        sx += Math.cos(mid);
+        sy += Math.sin(mid);
+    }
+    return azimuthOfCanvasAngle(Math.atan2(sy, sx));
+}
+
+/** The 3D viewer's column-centre azimuth (three-viewer.js _buildArena; north = front). */
+function viewerAzimuth(arena, col) {
+    const alpha = 360 / arena.num_cols;
+    const off = arena.angle_offset_deg || 0;
+    const angle =
+        arena.column_order === 'ccw'
+            ? -90 + alpha / 2 + col * alpha + off
+            : -90 - alpha / 2 - col * alpha + off;
+    return wrap(90 - angle);
+}
+
+(async () => {
+    const icons = await import(pathToFileURL(path.join(ROOT, 'js', 'icon-generator.js')).href);
+
+    console.log('\n=== icon column placement matches the 3D top-down view ===');
+    for (const [name, cfg] of Object.entries(STANDARD_CONFIGS)) {
+        const arena = cfg.arena;
+        const ppp = PANEL_SPECS[arena.generation].pixels_per_panel;
+        const installed = arena.columns_installed || [...Array(arena.num_cols).keys()];
+        const W = installed.length * ppp;
+        const H = arena.num_rows * ppp;
+        const frame = new Uint8Array(W * H);
+        // block 0 at full brightness, block 1 at half, the rest dark
+        for (let r = 0; r < H; r++) {
+            for (let c = 0; c < ppp; c++) frame[r * W + c] = 15;
+            for (let c = ppp; c < 2 * ppp; c++) frame[r * W + c] = 7;
+        }
+        const rec = recordingCanvas();
+        globalThis.document = { createElement: () => rec.canvas };
+        icons.generatePatternIcon(
+            { frames: [frame], pixelRows: H, pixelCols: W, gs_val: 16 },
+            arena,
+            {
+                width: 200,
+                height: 200,
+                supersample: 1
+            }
+        );
+        const styles = [...new Set(rec.paths.map((p) => p.style))];
+        // block 0 / block 1 are the two lit fill styles, brightest first (green channel)
+        const green = (s) => Number((/rgb\(\s*\d+,\s*(\d+)/.exec(s) || [])[1] || 0);
+        const lit = styles.filter((s) => green(s) > 0).sort((a, b) => green(b) - green(a));
+        const az0 = lit[0] ? meanAzimuth(rec.paths, lit[0]) : NaN;
+        const az1 = lit[1] ? meanAzimuth(rec.paths, lit[1]) : NaN;
+        const want0 = viewerAzimuth(arena, installed[0]);
+        const want1 = viewerAzimuth(arena, installed[1]);
+        check(
+            `${name}: column 1 at ${want0.toFixed(0)}° (3D viewer)`,
+            Math.abs(wrap(az0 - want0)) < 1,
+            `icon puts it at ${az0.toFixed(1)}°`
+        );
+        check(
+            `${name}: column 2 follows clockwise, at ${want1.toFixed(0)}°`,
+            Math.abs(wrap(az1 - want1)) < 1,
+            `icon puts it at ${az1.toFixed(1)}°`
+        );
+    }
+
+    console.log('\n=== partial arenas: the gap is behind the fly (bottom of the icon) ===');
+    for (const name of ['G6_2x8of10', 'G6_3x12of18', 'G4_3x12of18']) {
+        const arena = STANDARD_CONFIGS[name].arena;
+        const installed = arena.columns_installed;
+        const first = viewerAzimuth(arena, installed[0]);
+        const last = viewerAzimuth(arena, installed[installed.length - 1]);
+        check(
+            `${name}: installed span is symmetric about the front (${first.toFixed(0)}° … ${last.toFixed(0)}°)`,
+            Math.abs(first + last) < 1e-9 && first < 0
+        );
+    }
+
+    console.log(`\n${checks - failures}/${checks} checks passed`);
+    if (failures > 0) {
+        console.log(`${failures} FAILED`);
+        process.exit(1);
+    }
+})().catch((err) => {
+    console.error(err);
+    process.exit(1);
+});

From e440507998895fcb364094f69ae3dd17566cf4f6 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Tue, 6 Oct 2026 15:31:56 -0400
Subject: [PATCH 05/96] feat(pattern-designer): 2D view shows physical panel
 numbers and an azimuth axis

Panel numbers: the 2D overlay labelled pattern blocks as if they were physical columns and
looped over every num_cols (drawing labels past the right edge on partial arenas). It now
labels each block with its physical panel through physicalPanelNumber() (block k =
columns_installed[k], G6 row-major / older generations column-major), the same numbers as
the 3D overlay: on G6 2x8of10 the first pattern panel reads 2/12, not 1/11.

Azimuth axis: a degree scale under the 2D grid (its own canvas, so edit-mode hit-testing
and captures are unchanged), in pattern coordinates: 0 deg = straight ahead at the middle,
negative to the fly's left; same values as the Mollweide view and the generator. Ticks
pick 15/30/45/60/90 deg to keep labels apart (G4 3x12of18: -120..+120 every 30 deg).

CLAUDE.md gains the three partial-arena rules (full-circle pitch, block k =
columns_installed[k], 0 deg = middle of the pattern) and points at LAB-296 for hardware.
tests/test-pattern-2d-view.js runs the extracted helpers against every standard config,
the 3D overlay's numbering and the Mollweide longitudes.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 CLAUDE.md                     |   9 ++
 pattern_editor.html           | 111 +++++++++++++++++--
 tests/test-pattern-2d-view.js | 199 ++++++++++++++++++++++++++++++++++
 3 files changed, 309 insertions(+), 10 deletions(-)
 create mode 100644 tests/test-pattern-2d-view.js

diff --git a/CLAUDE.md b/CLAUDE.md
index 24d2f417..b3e9e309 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -643,6 +643,15 @@ localStorage) — no auth UI of its own. Repo layout: free-standing patterns in
   exists-check overwrite confirm.
 - Classic deps added for this: `js/pattern-set.js`, `js/studio-url-state.js` (both
   dual-export; same files the Studio loads).
+- **Partial arenas (LAB-295) — three rules every view and helper follows.** (1) Angular pitch is
+  the FULL circle: `PatternGenerator.getDegreesPerPixel(arena)` = 360 / (num_cols × px/panel)
+  (G4_3x12of18 = 1.25°/px), never the installed width; the generators read the same
+  `getArenaDimensions().circleCols`. (2) A partial PAT stores only the installed columns, in
+  order: pattern block k = physical column `columns_installed[k]` (G6_2x8of10: block 0 = column 1
+  = panels 2/12) — ThreeViewer `_getPatternColumnMap()`, the 2D `physicalPanelNumber()`, the icon.
+  (3) 0° = straight ahead = the middle of the pattern (MATLAB `arena_coordinates`, Mollweide, the 2D
+  azimuth axis). The icon draws math angles negated on the canvas (`toCanvas`; y points down).
+  Hardware does NOT play partial G6 patterns yet (firmware ignores the panel mask) — LAB-296.
 - **Multi-color G6 panels (v0.12, LAB-228) — color is a PANEL property, not a generation.**
   `js/panel-color.js` (classic dual-export, also read as `globalThis.PanelColor` by the ES-module
   viewers) is the ONLY place color logic lives: the layouts table (`g6-green` default,
diff --git a/pattern_editor.html b/pattern_editor.html
index 09534c85..88b29f9b 100644
--- a/pattern_editor.html
+++ b/pattern_editor.html
@@ -2577,6 +2577,9 @@ <h3 class="modal-title">Save to Repo</h3>
         // ============================================
         // State Management
         // ============================================
+        // Height (CSS px) of the 2D view's azimuth axis strip (drawAzimuthAxis)
+        const AZIMUTH_AXIS_HEIGHT = 20;
+
         const state = {
             pattern: null,          // Current loaded/generated pattern
             combinePatternA: null,  // Pattern A for combining (saved separately)
@@ -6785,8 +6788,9 @@ <h2>No Pattern Loaded</h2>
 
             // Calculate pixel size to fit in viewer
             const headerSize = state.editor.editMode ? 24 : 0;
+            const axisSize = state.arena.config ? AZIMUTH_AXIS_HEIGHT : 0;
             const maxWidth = container.clientWidth - 40 - headerSize;
-            const maxHeight = container.clientHeight - 40 - headerSize;
+            const maxHeight = container.clientHeight - 40 - headerSize - axisSize;
             const pixelSize = Math.max(1, Math.min(
                 Math.floor(maxWidth / pixelCols),
                 Math.floor(maxHeight / pixelRows)
@@ -6920,9 +6924,11 @@ <h2>No Pattern Loaded</h2>
 
             // Draw panel numbers
             if (state.editor.showPanelNumbers && state.arena.config) {
-                const pixelsPerPanel = PANEL_SPECS[state.arena.config.arena.generation].pixels_per_panel;
-                const panelCols = state.arena.config.arena.num_cols;
-                const panelRows = state.arena.config.arena.num_rows;
+                const arena = state.arena.config.arena;
+                const pixelsPerPanel = PANEL_SPECS[arena.generation].pixels_per_panel;
+                // The pattern's own panel blocks (installed columns only on a partial arena)
+                const panelCols = Math.round(pixelCols / pixelsPerPanel);
+                const panelRows = Math.round(pixelRows / pixelsPerPanel);
 
                 // Calculate font size based on panel size in pixels
                 const panelPixelWidth = pixelsPerPanel * pixelSize;
@@ -6933,20 +6939,105 @@ <h2>No Pattern Loaded</h2>
                 ctx.textAlign = 'center';
                 ctx.textBaseline = 'middle';
 
-                // G6: match the arena's own panel map — ROW-major, 1-based
-                // (firmware panel_index = row * numCols + col; row 0 = bottom,
-                // so 1..numCols run along the BOTTOM row). Bench-verified
-                // 2026-07-05. Other generations keep column-major numbering.
-                const g6RowMajor = state.arena.config.arena.generation === 'G6';
+                // Physical panel numbers, matching the arena's own panel map and the 3D
+                // overlay (physicalPanelNumber: G6 row-major, partial arenas offset by
+                // columns_installed)
                 for (let pc = 0; pc < panelCols; pc++) {
                     for (let pr = 0; pr < panelRows; pr++) {
                         const centerX = (pc + 0.5) * pixelsPerPanel * pixelSize;
                         const centerY = (panelRows - pr - 0.5) * pixelsPerPanel * pixelSize;
-                        const n = g6RowMajor ? pr * panelCols + pc + 1 : pc * panelRows + pr + 1;
+                        const n = physicalPanelNumber(arena, pc, pr);
                         ctx.fillText(n.toString(), centerX, centerY);
                     }
                 }
             }
+
+            drawAzimuthAxis(canvas, pixelCols, pixelSize);
+        }
+
+        // ============================================
+        // 2D view: physical panel numbers + azimuth axis
+        // ============================================
+
+        /**
+         * Physical panel number (1-based) of pattern panel block `block` in panel row `row`
+         * (0 = bottom). A partial PAT stores only the installed columns, in columns_installed
+         * order, so block k sits on physical column columns_installed[k] (G6_2x8of10: block 0
+         * is column 1 = panels 2 / 12), the same map the 3D viewer uses. G6 numbers panels
+         * row-major (firmware panel_index = row * num_cols + col, row 0 = bottom,
+         * bench-verified 2026-07-05); older generations column-major.
+         */
+        function physicalPanelNumber(arena, block, row) {
+            const installed = arena.columns_installed
+                ? [...new Set(arena.columns_installed.map((p) => p % arena.num_cols))]
+                : null;
+            const col = installed ? installed[block] : block;
+            return arena.generation === 'G6'
+                ? row * arena.num_cols + col + 1
+                : col * arena.num_rows + row + 1;
+        }
+
+        /**
+         * Azimuth ticks for the 2D view in pattern coordinates (the generator's and the
+         * Mollweide view's): 0 deg = straight ahead at the middle of the pattern, negative to
+         * the fly's left. The step is the smallest of 15/30/45/60/90 deg that keeps ticks at
+         * least minSpacingPx pattern pixels apart. Returns [{deg, x}], x in pattern pixels
+         * from the left edge.
+         */
+        function azimuthTicks(pixelCols, degPerPx, minSpacingPx) {
+            const half = (pixelCols * degPerPx) / 2;
+            const step = [15, 30, 45, 60, 90].find((s) => s / degPerPx >= minSpacingPx) || 90;
+            const ticks = [];
+            for (let d = -Math.floor(half / step + 1e-9) * step; d <= half + 1e-9; d += step) {
+                ticks.push({ deg: d, x: d / degPerPx + pixelCols / 2 });
+            }
+            return ticks;
+        }
+
+        /** Degree ticks under the 2D grid (its own canvas, so edit-mode clicks are unaffected). */
+        function drawAzimuthAxis(gridCanvas, pixelCols, pixelSize) {
+            let axis = document.getElementById('gridAzimuthAxis');
+            if (!state.arena.config) {
+                if (axis) axis.remove();
+                return;
+            }
+            if (!axis) {
+                axis = document.createElement('canvas');
+                axis.id = 'gridAzimuthAxis';
+                axis.style.display = 'block';
+                axis.style.marginLeft = '1px'; // the grid canvas has a 1 px border
+                axis.title = "Azimuth from straight ahead (0°): negative = fly's left, positive = right. Same coordinates as the Mollweide view and the pattern generator.";
+                gridCanvas.after(axis);
+            }
+            axis.width = gridCanvas.width;
+            axis.height = AZIMUTH_AXIS_HEIGHT;
+            const actx = axis.getContext('2d');
+            const css = getComputedStyle(document.documentElement);
+            const dim = css.getPropertyValue('--text-dim').trim() || '#8b949e';
+            const accent = css.getPropertyValue('--accent').trim() || '#00e676';
+            actx.clearRect(0, 0, axis.width, axis.height);
+            actx.font = '10px "IBM Plex Mono", monospace';
+            actx.textAlign = 'center';
+            actx.textBaseline = 'top';
+            actx.lineWidth = 1;
+            let lastLabelRight = -Infinity;
+            for (const t of azimuthTicks(pixelCols, getDegreesPerPixel(), 60 / pixelSize)) {
+                const x = Math.round(t.x * pixelSize) + 0.5;
+                const color = t.deg === 0 ? accent : dim;
+                actx.strokeStyle = color;
+                actx.fillStyle = color;
+                actx.beginPath();
+                actx.moveTo(x, 0);
+                actx.lineTo(x, 5);
+                actx.stroke();
+                const label = (t.deg > 0 ? '+' : t.deg < 0 ? '−' : '') + Math.abs(t.deg) + '°';
+                const w = actx.measureText(label).width;
+                // edge labels are pulled inside the canvas; skip any that would overlap
+                const lx = Math.min(Math.max(x, w / 2 + 1), axis.width - w / 2 - 1);
+                if (lx - w / 2 < lastLabelRight + 4) continue;
+                actx.fillText(label, lx, 7);
+                lastLabelRight = lx + w / 2;
+            }
         }
 
         // ============================================
diff --git a/tests/test-pattern-2d-view.js b/tests/test-pattern-2d-view.js
new file mode 100644
index 00000000..3ae4da0a
--- /dev/null
+++ b/tests/test-pattern-2d-view.js
@@ -0,0 +1,199 @@
+#!/usr/bin/env node
+'use strict';
+
+/**
+ * Pattern Designer 2D view on partial arenas: physical panel numbers and the azimuth axis.
+ *
+ * - Panel numbers must name the PHYSICAL panel, the same as the 3D overlay: a partial PAT
+ *   stores only the installed columns, so pattern block k sits on columns_installed[k]
+ *   (G6_2x8of10: block 0 = column 1 = panels 2 / 12, not 1 / 11).
+ * - The azimuth axis uses pattern coordinates (generator, Mollweide view): 0° at the middle of
+ *   the pattern = straight ahead, negative to the fly's left.
+ *
+ * physicalPanelNumber / azimuthTicks / getDegreesPerPixel are extracted from
+ * pattern_editor.html and run against the real arena configs and ArenaGeometry.
+ */
+const fs = require('fs');
+const path = require('path');
+const vm = require('vm');
+
+const ROOT = path.join(__dirname, '..');
+const { STANDARD_CONFIGS, PANEL_SPECS } = require('../js/arena-configs.js');
+global.PANEL_SPECS = PANEL_SPECS;
+const PatternGenerator = require('../js/pattern-editor/tools/generator.js');
+const AG = require('../js/arena-geometry.js');
+
+const html = fs.readFileSync(path.join(ROOT, 'pattern_editor.html'), 'utf8');
+const viewer = fs.readFileSync(
+    path.join(ROOT, 'js', 'pattern-editor', 'viewers', 'three-viewer.js'),
+    'utf8'
+);
+
+let checks = 0;
+let failures = 0;
+
+function check(name, condition, detail) {
+    checks++;
+    if (condition) {
+        console.log(`  PASS  ${name}`);
+        return;
+    }
+    failures++;
+    console.log(`  FAIL  ${name}${detail ? ` — ${detail}` : ''}`);
+}
+
+function extractFunction(name) {
+    const start = html.indexOf(`function ${name}(`);
+    if (start < 0) throw new Error(`pattern_editor.html: function ${name} not found`);
+    const open = html.indexOf('{', start);
+    let depth = 0;
+    for (let i = open; i < html.length; i++) {
+        if (html[i] === '{') depth++;
+        else if (html[i] === '}' && --depth === 0) return html.slice(start, i + 1);
+    }
+    throw new Error(`pattern_editor.html: unbalanced braces in ${name}`);
+}
+
+function editorFor(configName) {
+    const sandbox = {
+        PANEL_SPECS,
+        PatternGenerator,
+        Math,
+        state: { arena: { config: configName ? STANDARD_CONFIGS[configName] : null } }
+    };
+    vm.createContext(sandbox);
+    vm.runInContext(
+        ['physicalPanelNumber', 'azimuthTicks', 'getDegreesPerPixel']
+            .map(extractFunction)
+            .join('\n'),
+        sandbox
+    );
+    return sandbox;
+}
+
+/** The 3D overlay's numbering for a PHYSICAL column (three-viewer.js _createColumn labels). */
+function viewerPanelNumber(arena, physCol, row) {
+    return arena.generation === 'G6'
+        ? row * arena.num_cols + physCol + 1
+        : physCol * arena.num_rows + row + 1;
+}
+
+console.log('\n=== 2D panel numbers name the physical panel (same as the 3D overlay) ===');
+check(
+    '3D overlay numbering is still row-major for G6 / column-major otherwise',
+    /row \* numCols \+ colIndex \+ 1/.test(viewer) && /colIndex \* numRows \+ row \+ 1/.test(viewer)
+);
+{
+    const ed = editorFor(null);
+    const a = STANDARD_CONFIGS.G6_2x8of10.arena;
+    check(
+        'G6_2x8of10: first pattern panel, bottom row = panel 2',
+        ed.physicalPanelNumber(a, 0, 0) === 2
+    );
+    check(
+        'G6_2x8of10: first pattern panel, top row = panel 12',
+        ed.physicalPanelNumber(a, 0, 1) === 12
+    );
+    check(
+        'G6_2x8of10: last pattern panel, bottom row = panel 9',
+        ed.physicalPanelNumber(a, 7, 0) === 9
+    );
+    const full = STANDARD_CONFIGS.G6_2x10.arena;
+    check(
+        'G6_2x10: first panel bottom/top = 1 / 11',
+        ed.physicalPanelNumber(full, 0, 0) === 1 && ed.physicalPanelNumber(full, 0, 1) === 11
+    );
+    const g4 = STANDARD_CONFIGS.G4_3x12of18.arena;
+    check(
+        'G4_3x12of18 (column-major): first column = panels 1, 2, 3',
+        [0, 1, 2].every((r) => ed.physicalPanelNumber(g4, 0, r) === r + 1)
+    );
+}
+for (const [name, cfg] of Object.entries(STANDARD_CONFIGS)) {
+    const a = cfg.arena;
+    const ed = editorFor(name);
+    const installed = a.columns_installed || [...Array(a.num_cols).keys()];
+    const bad = [];
+    installed.forEach((physCol, block) => {
+        for (let row = 0; row < a.num_rows; row++) {
+            const got = ed.physicalPanelNumber(a, block, row);
+            const want = viewerPanelNumber(a, physCol, row);
+            if (got !== want) bad.push(`block ${block} row ${row}: ${got} != ${want}`);
+        }
+    });
+    check(
+        `${name}: every 2D panel number equals the 3D overlay's`,
+        bad.length === 0,
+        bad.slice(0, 3).join('; ')
+    );
+}
+
+console.log('\n=== azimuth axis: 0° at the middle, same coordinates as the Mollweide view ===');
+const SPANS = { G4_3x12of18: 120, G6_3x12of18: 120, G6_2x8of10: 144, G6_2x10: 180, G4_4x12: 180 };
+for (const [name, cfg] of Object.entries(STANDARD_CONFIGS)) {
+    const a = cfg.arena;
+    const ed = editorFor(name);
+    const ppp = PANEL_SPECS[a.generation].pixels_per_panel;
+    const installed = a.columns_installed || [...Array(a.num_cols).keys()];
+    const W = installed.length * ppp;
+    const dpp = ed.getDegreesPerPixel();
+    const ticks = ed.azimuthTicks(W, dpp, 10);
+    const zero = ticks.find((t) => t.deg === 0);
+    check(`${name}: 0° tick at the middle of the pattern`, zero && Math.abs(zero.x - W / 2) < 1e-9);
+    check(
+        `${name}: ticks stay inside the pattern`,
+        ticks.every((t) => t.x >= -1e-9 && t.x <= W + 1e-9)
+    );
+    if (SPANS[name] !== undefined) {
+        check(
+            `${name}: pattern spans ±${SPANS[name]}°`,
+            Math.abs((W * dpp) / 2 - SPANS[name]) < 1e-9
+        );
+    }
+    // Mollweide/projection longitude of pixel-column centres (projection-viewer.js)
+    const co = AG.arenaCoordinates({
+        panelSize: ppp,
+        numCols: installed.length,
+        numRows: a.num_rows,
+        numCircle: a.num_cols,
+        model: 'smooth'
+    });
+    const phi = AG.cart2sphere(co.x, co.y, co.z).phi[Math.floor(co.rows / 2)];
+    const bad = [];
+    for (const c of [0, Math.floor(W / 3), W - 1]) {
+        const tickAz = (c + 0.5 - W / 2) * dpp; // the axis's azimuth at this column centre
+        const lon = (phi[c] * 180) / Math.PI;
+        if (Math.abs(tickAz - lon) > 0.01)
+            bad.push(`col ${c}: axis ${tickAz.toFixed(2)} vs Mollweide ${lon.toFixed(2)}`);
+    }
+    check(`${name}: axis azimuth = Mollweide longitude`, bad.length === 0, bad.join('; '));
+}
+{
+    const ed = editorFor('G4_3x12of18');
+    const deg = ed.azimuthTicks(192, 1.25, 20).map((t) => t.deg);
+    check(
+        'G4_3x12of18 ticks (≥20 px apart): −120 … +120 every 30°',
+        JSON.stringify(deg) === JSON.stringify([-120, -90, -60, -30, 0, 30, 60, 90, 120]),
+        JSON.stringify(deg)
+    );
+}
+
+console.log('\n=== wiring ===');
+check(
+    'the 2D overlay labels panels through physicalPanelNumber',
+    /physicalPanelNumber\(arena, pc, pr\)/.test(extractFunction('renderGridViewer'))
+);
+check(
+    'the 2D view draws the azimuth axis',
+    /drawAzimuthAxis\(canvas, pixelCols, pixelSize\)/.test(extractFunction('renderGridViewer'))
+);
+check(
+    'the axis is its own canvas (edit-mode hit-testing reads gridCanvas only)',
+    /axis\.id = 'gridAzimuthAxis'/.test(extractFunction('drawAzimuthAxis'))
+);
+
+console.log(`\n${checks - failures}/${checks} checks passed`);
+if (failures > 0) {
+    console.log(`${failures} FAILED`);
+    process.exit(1);
+}

From 3d5da0e0ebff4fbd7b95b6a332cfcf46e6a08ee5 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Tue, 6 Oct 2026 16:31:27 -0400
Subject: [PATCH 06/96] feat(pattern-designer): short, SD-safe filenames with a
 compact ON/OFF color code

Color variants of one grating used to share a name (the filename carried only the layout
tag), and re-saves stacked tags (_4c_rir). Names now:
- record the ON/OFF choice used to GENERATE the frames, stamped at generate time:
  PanelColor.filenameColorCode -> '_4c-B' (ON blue), '_4c-B-G' (ON blue, OFF green),
  '_4c-VB', '_4c-F80A' (custom levels, one hex digit per channel); nothing extra for the
  default (ON all / OFF dark), so default names are unchanged apart from the words below;
- normalize the layout tag on save (PanelColor.stripColorTag): replaced, never stacked;
- use short words: grat/star/edge/sine/offon/anim, rot/exp/trans, Ndot, _img, comb,
  hcw/hccw/vup/vdown.

The controller keeps pattern names in a 64-byte buffer: <= 63 characters, plain ASCII,
and <= 58 so a same-name re-upload (stored as X001_<name>) keeps its .pat. Nothing in the
Designer checked this. js/pattern-set.js gains the shared rule (checkSdFilename,
sanitizeSdFilename, fitSdFilename; both tools load it), and the Designer fits every saved
and renamed name (fitPatternFilename: cleans characters, shortens only the descriptive
middle, keeps the arena prefix and the color tag; the rename prompt says what it changed).
The longest name Generate can produce is now 54 characters with the worst-case tag.

Helpers are typeof-guarded, so a stale cached panel-color.js / pattern-set.js only means
the old naming until a refresh.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 .../pattern-designer-color-panels.md          |  9 +-
 js/panel-color.js                             | 77 ++++++++++++++++
 js/pattern-set.js                             | 72 +++++++++++++++
 pattern_editor.html                           | 81 +++++++++++++----
 tests/test-panel-color.js                     | 87 +++++++++++++++++++
 5 files changed, 308 insertions(+), 18 deletions(-)

diff --git a/docs/development/pattern-designer-color-panels.md b/docs/development/pattern-designer-color-panels.md
index 69b9e102..a0c79f89 100644
--- a/docs/development/pattern-designer-color-panels.md
+++ b/docs/development/pattern-designer-color-panels.md
@@ -34,8 +34,13 @@ not know or care. Consequences that everything in the Designer relies on:
 - **A pure single color lights only 100 of the 400 LEDs per panel** (a 10×10 lattice at 2-px
   pitch). The renderers show exactly that; a 1-px bar in a pure color blinks as it moves, as it
   would on the hardware.
-- **The `.pat` carries no color tag** (header is full). The Designer appends `_4c` / `_rir` to
-  generated filenames; the proper tag (MANIFEST + repo metadata) is LAB-229.
+- **The `.pat` carries no color tag** (header is full). The Designer names it instead: the
+  layout tag (`_4c`, `_rir`, `_rir1`) plus, when the generation used a non-default ON/OFF choice,
+  a compact code from `PanelColor.filenameColorCode` — one letter per channel (V B G Y R I),
+  `A` = all, one hex digit per channel for custom levels: `_4c-B` (ON blue), `_4c-B-G` (ON blue,
+  OFF green), `_4c-F80A` (custom). The code is stamped at GENERATE time (the choice applies to
+  those frames); save only normalizes the layout tag (`stripColorTag`: replaced, never stacked).
+  The proper tag (MANIFEST + repo metadata) is still LAB-229.
 
 ## The one bench-decided constant: `ROW_PARITY_FLIP`
 
diff --git a/js/panel-color.js b/js/panel-color.js
index d8820447..bbc424bb 100644
--- a/js/panel-color.js
+++ b/js/panel-color.js
@@ -332,6 +332,80 @@
         return l ? l.tag : '';
     }
 
+    // One letter per channel for filename codes (V B G Y R I — unique by construction).
+    function channelLetter(id) {
+        return String(id).charAt(0).toUpperCase();
+    }
+
+    // Compact code for one ON/OFF color choice ({preset, levels}) on a layout:
+    //   'all' → 'A'; one channel → its letter; 'dark' → '' (OFF only);
+    //   'custom' → the letters of the channels at full level when every level is 0 or 15
+    //   ('A' if all are full, '0' if none), else one hex digit per channel in layout order.
+    function choiceCode(layout, choice) {
+        var preset = choice && choice.preset;
+        if (!preset || preset === 'dark') return '';
+        if (preset === 'all') return 'A';
+        if (preset !== 'custom') return CHANNELS[preset] ? channelLetter(preset) : '';
+        var levels = layout.channels.map(function (ch) {
+            var v = choice.levels && choice.levels[ch.id];
+            v = v === undefined ? 15 : Math.round(Number(v)); // the custom editor's default
+            return Math.max(0, Math.min(15, Number.isFinite(v) ? v : 0));
+        });
+        var binary = levels.every(function (v) {
+            return v === 0 || v === 15;
+        });
+        if (!binary) {
+            return levels
+                .map(function (v) {
+                    return v.toString(16).toUpperCase();
+                })
+                .join('');
+        }
+        var on = layout.channels.filter(function (ch, i) {
+            return levels[i] === 15;
+        });
+        if (on.length === layout.channels.length) return 'A';
+        if (on.length === 0) return '0';
+        return on
+            .map(function (ch) {
+                return channelLetter(ch.id);
+            })
+            .join('');
+    }
+
+    // Filename code for the ON/OFF choice used to GENERATE a pattern, appended after the
+    // layout tag: '' for mono layouts and for the default (ON all, OFF dark), else
+    // '-<ON>' or '-<ON>-<OFF>'. Four-color: ON blue → '-B'; ON blue, OFF green → '-B-G';
+    // custom V15 B8 G0 Y10 → '-F80A'. At most 13 characters with the tag ('_4c-F80A-0404').
+    function filenameColorCode(key, onChoice, offChoice) {
+        var l = getLayout(key);
+        if (!l || l.mono) return '';
+        var on = choiceCode(l, onChoice) || 'A';
+        var off = choiceCode(l, offChoice);
+        if (on === 'A' && !off) return '';
+        return '-' + on + (off ? '-' + off : '');
+    }
+
+    // Remove every trailing layout tag (+ its color code) from a base name (no '.pat'), so a
+    // re-save or a layout change replaces the tag instead of stacking '_4c_rir'.
+    var TAG_RE = new RegExp(
+        '(?:' +
+            LAYOUT_DEFS.map(function (d) {
+                return d[2];
+            })
+                .filter(Boolean)
+                .sort(function (a, b) {
+                    return b.length - a.length;
+                })
+                .join('|') +
+            ')(?:-[0-9A-Z]+){0,2}$'
+    );
+    function stripColorTag(base) {
+        var s = String(base == null ? '' : base);
+        while (TAG_RE.test(s)) s = s.replace(TAG_RE, '');
+        return s;
+    }
+
     var PanelColor = {
         ROW_PARITY_FLIP: ROW_PARITY_FLIP,
         DEFAULT_LAYOUT: DEFAULT_LAYOUT,
@@ -345,6 +419,9 @@
         describeLayout: describeLayout,
         legendText: legendText,
         filenameTag: filenameTag,
+        filenameColorCode: filenameColorCode,
+        stripColorTag: stripColorTag,
+        channelLetter: channelLetter,
         bankAt: bankAt,
         cellOrigin: cellOrigin,
         channelAt: channelAt,
diff --git a/js/pattern-set.js b/js/pattern-set.js
index 06b7a79b..cb66e8c4 100644
--- a/js/pattern-set.js
+++ b/js/pattern-set.js
@@ -424,6 +424,73 @@
         return out;
     }
 
+    // ---- SD-card filenames (controller limits) -------------------------------------
+    // The controller keeps pattern names in a 64-byte buffer (incl. NUL): at most 63 chars,
+    // and SET_PATTERN_FILENAME 0x83 refuses longer. A same-name re-upload is stored as
+    // X001_<name> (5 more chars, truncated to 63) — past 58 that cuts off '.pat' and the file
+    // drops out of the listing. Names travel as one byte per char, so only plain ASCII
+    // filename characters are safe. Firmware: SdManager.cpp renamePattern / scan.
+    var SD_NAME_MAX = 63;
+    var SD_NAME_SAFE = 58;
+    var SD_NAME_CHARS = /^[A-Za-z0-9._-]+$/;
+
+    /**
+     * Check a pattern filename (with .pat) against the controller's SD rules.
+     * @returns {{ok:boolean, level:'ok'|'warn'|'error', problems:string[]}}
+     *   error = the controller cannot store it; warn = fine once, breaks on a re-upload.
+     */
+    function checkSdFilename(name) {
+        var n = String(name == null ? '' : name);
+        var errors = [];
+        var warnings = [];
+        if (!/\.pat$/i.test(n)) errors.push('must end in .pat');
+        if (!SD_NAME_CHARS.test(n)) errors.push('use only letters, digits, "_", "-" and "."');
+        if (n.charAt(0) === '.') errors.push('must not start with "."');
+        if (n.length > SD_NAME_MAX) {
+            errors.push(n.length + ' characters; the controller allows ' + SD_NAME_MAX);
+        } else if (n.length > SD_NAME_SAFE) {
+            warnings.push(
+                n.length +
+                    ' characters; keep it to ' +
+                    SD_NAME_SAFE +
+                    ' so a re-upload (stored as X001_…) keeps its .pat'
+            );
+        }
+        var problems = errors.concat(warnings);
+        return {
+            ok: problems.length === 0,
+            level: errors.length ? 'error' : warnings.length ? 'warn' : 'ok',
+            problems: problems
+        };
+    }
+
+    /** Replace characters the SD path can't carry with '_' (keeps the .pat extension). */
+    function sanitizeSdFilename(name) {
+        var base = String(name == null ? '' : name).replace(/\.pat$/i, '');
+        base = base
+            .replace(/[^A-Za-z0-9._-]+/g, '_')
+            .replace(/_+/g, '_')
+            .replace(/^[._]+|_+$/g, '');
+        return (base || 'pattern') + '.pat';
+    }
+
+    /**
+     * Build a safe SD filename from prefix + middle + suffix (+ '.pat'), shortening only the
+     * descriptive middle so the arena prefix and the color tag always survive. Characters
+     * are sanitized first. Result length <= SD_NAME_SAFE whenever prefix + suffix allow it.
+     */
+    function fitSdFilename(prefix, middle, suffix) {
+        var clean = function (x) {
+            return String(x == null ? '' : x).replace(/[^A-Za-z0-9._-]+/g, '_');
+        };
+        var p = clean(prefix);
+        var m = clean(middle).replace(/_+/g, '_');
+        var sfx = clean(suffix);
+        var room = SD_NAME_SAFE - '.pat'.length - p.length - sfx.length;
+        if (m.length > room) m = m.slice(0, Math.max(0, room)).replace(/[._-]+$/, '');
+        return sanitizeSdFilename(p + m + sfx);
+    }
+
     var PatternSet = {
         TOOL: TOOL,
         MANIFEST_VERSION: MANIFEST_VERSION,
@@ -438,6 +505,11 @@
         assignIndices: assignIndices,
         // helpers
         sanitizeName: sanitizeName,
+        SD_NAME_MAX: SD_NAME_MAX,
+        SD_NAME_SAFE: SD_NAME_SAFE,
+        checkSdFilename: checkSdFilename,
+        sanitizeSdFilename: sanitizeSdFilename,
+        fitSdFilename: fitSdFilename,
         summarizePattern: summarizePattern,
         validateGeometry: validateGeometry,
         reencodeForDuty: reencodeForDuty,
diff --git a/pattern_editor.html b/pattern_editor.html
index 88b29f9b..94330d65 100644
--- a/pattern_editor.html
+++ b/pattern_editor.html
@@ -2877,6 +2877,12 @@ <h3 class="modal-title">Save to Repo</h3>
                         }
                     }
 
+                    const fitted = fitPatternFilename(finalName);
+                    if (fitted.problems.length) {
+                        alert('Adjusted for the arena SD card (' + fitted.problems.join('; ') + '):\n\n' + fitted.name);
+                        finalName = fitted.name;
+                    }
+
                     state.filename = finalName;
                     state.isDirty = true;
                     updateStatus();
@@ -3543,7 +3549,11 @@ <h3 class="modal-title">Save to Repo</h3>
                 arena_id: configName ? getArenaId(gen, configName) : 0,
                 observer_id: 0
             };
-            const filename = withColorTag(addArenaPrefix(state.filename || 'pattern.pat'));
+            const fitted = fitPatternFilename(withColorTag(addArenaPrefix(state.filename || 'pattern.pat')));
+            if (fitted.problems.length) {
+                console.info('Pattern filename adjusted for the arena SD card (' + fitted.problems.join('; ') + '): ' + fitted.name);
+            }
+            const filename = fitted.name;
             return { patternData, filename };
         }
 
@@ -4297,7 +4307,7 @@ <h3 class="modal-title">Save to Repo</h3>
 
                         // Generate filename
                         const freqStr = spatialFreqUnit === 'px' ? `${spatialFreqValue}px` : `${spatialFreqValue}deg`;
-                        filename = `grating_${motionType}_${freqStr}_${params.dutyCycle}pct.pat`;
+                        filename = `grat_${motionAbbrev(motionType)}_${freqStr}_${params.dutyCycle}pct.pat`;
                         break;
                     }
 
@@ -4328,7 +4338,7 @@ <h3 class="modal-title">Save to Repo</h3>
 
                         // Generate filename
                         const freqStr = spatialFreqUnit === 'px' ? `${spatialFreqValue}px` : `${spatialFreqValue}deg`;
-                        filename = `sine_${motionType}_${freqStr}.pat`;
+                        filename = `sine_${motionAbbrev(motionType)}_${freqStr}.pat`;
                         break;
                     }
 
@@ -4360,7 +4370,7 @@ <h3 class="modal-title">Save to Repo</h3>
                         params.poleCoord = [poleAzimuthStar * Math.PI / 180, poleElevationStar * Math.PI / 180];
 
                         pattern = PatternGenerator.generateStarfield(params, arena);
-                        filename = `starfield_${motionTypeStar}_${params.dotCount}dots_${params.numFrames}f.pat`;
+                        filename = `star_${motionAbbrev(motionTypeStar)}_${params.dotCount}dot_${params.numFrames}f.pat`;
                         break;
                     }
 
@@ -4393,13 +4403,13 @@ <h3 class="modal-title">Save to Repo</h3>
 
                         pattern = PatternGenerator.generateEdge(params, arena);
                         const freqStrEdge = spatialFreqUnitEdge === 'px' ? `${spatialFreqValueEdge}px` : `${spatialFreqValueEdge}deg`;
-                        filename = `edge_${motionTypeEdge}_${freqStrEdge}_${params.numFrames}f.pat`;
+                        filename = `edge_${motionAbbrev(motionTypeEdge)}_${freqStrEdge}_${params.numFrames}f.pat`;
                         break;
                     }
 
                     case 'off-on':
                         pattern = PatternGenerator.generateOffOn(params, arena);
-                        filename = `off_on_${highLevel}.pat`;
+                        filename = `offon_${highLevel}.pat`;
                         break;
 
                     default:
@@ -4429,7 +4439,12 @@ <h3 class="modal-title">Save to Repo</h3>
                     for (const f of pattern.frames) {
                         PanelColor.applyOnOffColor(f, pattern.pixelRows, pattern.pixelCols, pattern.gs_val, state.panel.layoutKey, onW, offW, hi, lo);
                     }
-                    filename = withColorTag(filename);
+                    // Name the ON/OFF choice used for THIS generation (_4c-B-G …); later chip
+                    // changes don't apply to these frames, so the code is stamped here, not at save.
+                    const colorCode = PanelColor.filenameColorCode
+                        ? PanelColor.filenameColorCode(state.panel.layoutKey, state.onColor, state.offColor)
+                        : '';
+                    filename = withColorTag(filename, colorCode);
                 }
 
                 // Convert to state.pattern format
@@ -5485,14 +5500,48 @@ <h3 class="modal-title">Save to Repo</h3>
             renderOnColorCustom();
         }
 
-        // Filename tag for color layouts (`_4c`, `_rir`), inserted before `.pat`. Applied at SAVE
-        // time in buildPatternDataForSave so every path — generate, combine, tray reload, image
-        // import — carries it; idempotent, and a no-op for the green layout.
-        function withColorTag(filename) {
+        // Filename tag for color layouts (`_4c`, `_rir`) + the generation's ON/OFF color code
+        // (`_4c-B-G`, PanelColor.filenameColorCode), inserted before `.pat`. Generation passes
+        // the code; SAVE (buildPatternDataForSave) passes none, so every path — combine, tray
+        // reload, image import — carries the layout tag and keeps a code already there. Any
+        // other layout's tag is replaced, never stacked (`_4c_rir`). No-op for green.
+        function withColorTag(filename, code) {
             const tag = PanelColor.filenameTag(state.panel.layoutKey);
             if (!tag || !filename) return filename;
             const base = filename.replace(/\.pat$/i, '');
-            return base.endsWith(tag) ? base + '.pat' : base + tag + '.pat';
+            const own = base.match(new RegExp(tag.replace(/[.*+?^${}()|[\]\\]/g, '\\$&') + '((?:-[0-9A-Z]+){0,2})$'));
+            const keep = code !== undefined ? code : own ? own[1] : '';
+            const stripped = PanelColor.stripColorTag
+                ? PanelColor.stripColorTag(base)
+                : own ? base.slice(0, base.length - own[0].length) : base;
+            return stripped + tag + keep + '.pat';
+        }
+
+        // Motion types in generated filenames (names stay short: the controller keeps 63
+        // characters and 58 survive a re-upload — PatternSet.checkSdFilename).
+        const MOTION_ABBREV = { rotation: 'rot', expansion: 'exp', translation: 'trans' };
+        function motionAbbrev(motion) {
+            return MOTION_ABBREV[motion] || motion;
+        }
+
+        /**
+         * Make a filename safe for the arena's SD card: plain ASCII, <= 58 characters. Only the
+         * descriptive middle is shortened; the arena prefix and the color tag are kept.
+         * Returns {name, problems} (problems = what the original name broke, for the UI).
+         */
+        function fitPatternFilename(filename) {
+            if (!window.PatternSet || !PatternSet.checkSdFilename || !PatternSet.fitSdFilename) {
+                return { name: filename, problems: [] };
+            }
+            const chk = PatternSet.checkSdFilename(filename);
+            if (chk.ok) return { name: filename, problems: [] };
+            let base = filename.replace(/\.pat$/i, '');
+            const arena = findArenaPrefix(base);
+            const prefix = arena ? base.slice(0, arena.length + 1) : '';
+            base = base.slice(prefix.length);
+            const core = PanelColor.stripColorTag ? PanelColor.stripColorTag(base) : base;
+            const suffix = base.slice(core.length);
+            return { name: PatternSet.fitSdFilename(prefix, core, suffix), problems: chk.problems };
         }
 
         function updatePanelLayoutHint() {
@@ -5967,7 +6016,7 @@ <h3 class="modal-title">Save to Repo</h3>
                     case 'mask': modeSuffix = 'mask'; break;
                     case 'split-h': modeSuffix = `splitH${options.splitPosition || 50}`; break;
                     case 'split-v': modeSuffix = `splitV${options.splitPosition || 50}`; break;
-                    default: modeSuffix = 'combined';
+                    default: modeSuffix = 'comb';
                 }
                 state.filename = `${nameA}_${nameB}_${modeSuffix}.pat`;
 
@@ -6021,7 +6070,7 @@ <h3 class="modal-title">Save to Repo</h3>
                 // Generate suggested filename
                 const imageInfo = ImageConverter.getImageInfo();
                 const baseName = imageInfo?.name?.replace(/\.[^.]+$/, '') || 'image';
-                state.filename = `${baseName}_frame.pat`;
+                state.filename = `${baseName}_img.pat`;
 
                 // Lock arena config after generating pattern
                 lockArenaConfig();
@@ -6324,7 +6373,7 @@ <h3 class="modal-title">Save to Repo</h3>
             };
 
             // Generate filename based on motion type
-            const dirLabel = direction.replace('-', '_');
+            const dirLabel = direction.replace('-', ''); // hcw · hccw · vup · vdown
             state.filename = `${baseEntry.name}_${dirLabel}_${totalFrames}f.pat`;
             state.isDirty = true;
             state.editor.currentFrame = 0;
@@ -6643,7 +6692,7 @@ <h3 class="modal-title">Save to Repo</h3>
                 stretchValues: new Array(frames.length).fill(getStretchByte(generation))
             };
 
-            state.filename = `animation_${frames.length}f.pat`;
+            state.filename = `anim_${frames.length}f.pat`;
             state.isDirty = true;
             state.editor.currentFrame = 0;
 
diff --git a/tests/test-panel-color.js b/tests/test-panel-color.js
index 19184366..2843d34e 100644
--- a/tests/test-panel-color.js
+++ b/tests/test-panel-color.js
@@ -450,5 +450,92 @@ check(
     /panelLayout/.test(icon) && /globalThis\.PanelColor/.test(icon)
 );
 
+console.log('\n=== filename color code (ON/OFF choice) + tag normalization ===');
+{
+    const code = (key, on, off) => PC.filenameColorCode(key, on, off);
+    const ALL = { preset: 'all' };
+    const DARK = { preset: 'dark' };
+    check('mono layout → no code', code('g6-green', { preset: 'blue' }, ALL) === '');
+    check(
+        'default ON all / OFF dark → no code (names unchanged)',
+        code('four-color', ALL, DARK) === ''
+    );
+    check('ON blue → -B', code('four-color', { preset: 'blue' }, DARK) === '-B');
+    check(
+        'ON blue, OFF green → -B-G',
+        code('four-color', { preset: 'blue' }, { preset: 'green' }) === '-B-G'
+    );
+    check('ON all, OFF yellow → -A-Y', code('four-color', ALL, { preset: 'yellow' }) === '-A-Y');
+    check(
+        'custom full/zero levels → channel letters (-VB)',
+        code(
+            'four-color',
+            { preset: 'custom', levels: { violet: 15, blue: 15, green: 0, yellow: 0 } },
+            DARK
+        ) === '-VB'
+    );
+    check(
+        'custom with intermediate levels → one hex digit per channel (-F80A)',
+        code(
+            'four-color',
+            { preset: 'custom', levels: { violet: 15, blue: 8, green: 0, yellow: 10 } },
+            DARK
+        ) === '-F80A'
+    );
+    check(
+        'custom all full → A; untouched levels default to 15',
+        code('four-color', { preset: 'custom', levels: {} }, DARK) === ''
+    );
+    check(
+        'custom all zero → 0',
+        code(
+            'four-color',
+            { preset: 'custom', levels: { violet: 0, blue: 0, green: 0, yellow: 0 } },
+            DARK
+        ) === '-0'
+    );
+    check(
+        'red-IR: ON IR, OFF red → -I-R',
+        code('red-ir-v0.4r2', { preset: 'ir' }, { preset: 'red' }) === '-I-R'
+    );
+    const worst =
+        PC.filenameTag('four-color') +
+        code(
+            'four-color',
+            { preset: 'custom', levels: { violet: 15, blue: 8, green: 0, yellow: 10 } },
+            { preset: 'custom', levels: { violet: 0, blue: 4, green: 0, yellow: 4 } }
+        );
+    check(
+        'worst-case tag + code is 13 characters',
+        worst === '_4c-F80A-0404' && worst.length === 13,
+        worst
+    );
+    for (const key of PC.layoutKeys()) {
+        const letters = PC.getLayout(key).channels.map((c) => PC.channelLetter(c.id));
+        check(
+            `${key}: channel letters are unique (${letters.join('')})`,
+            new Set(letters).size === letters.length
+        );
+    }
+    const strip = PC.stripColorTag;
+    check(
+        'strip: stacked tags (_4c_rir) all removed',
+        strip('G6_2x10_grat_rot_20px_50pct_4c_rir') === 'G6_2x10_grat_rot_20px_50pct'
+    );
+    check(
+        'strip: tag + two-part code',
+        strip('x_4c-B-G') === 'x' && strip('x_4c-F80A-0404') === 'x'
+    );
+    check('strip: _rir1 is not left as "1"', strip('x_rir1-R') === 'x');
+    check(
+        'strip: a word that merely starts like a tag stays (grat_4cats)',
+        strip('grat_4cats') === 'grat_4cats'
+    );
+    check(
+        'strip: untagged name unchanged',
+        strip('G6_2x10_grat_rot_20px_50pct') === 'G6_2x10_grat_rot_20px_50pct'
+    );
+}
+
 console.log(`\n${passed} passed, ${failed} failed`);
 process.exit(failed ? 1 : 0);

From 4c1705523d8d1cd7b99c07a9353110e11545460e Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Tue, 6 Oct 2026 16:31:28 -0400
Subject: [PATCH 07/96] fix(studio): check pattern names before uploading, flag
 X001_ re-uploads, 0x85 label

- sdUploadOne runs PatternSet.checkSdFilename BEFORE sending the bytes: a name the
  controller can't store (non-ASCII, > 63 chars, no .pat) fails at once instead of after
  the whole upload (which left the data on the card as pattern.temp), and is not retried.
  59-63 characters log a warning (a re-upload would lose .pat).
- An upload never overwrites: the firmware stores a same-name re-upload as X001_<name>.
  sdLogicalName now strips that prefix, so the copy shows as a DUPLICATE of the original
  (onSdListing warns; protocols refuse to guess) instead of a separate pattern while the
  picker kept playing the old file. The upload also warns up front when the name is
  already on the card.
- The upload opcode is SET_PATTERN_FILE 0x85; the Studio's error text ("write rejected"),
  tooltips and comments said 0x8D, which the firmware doesn't have (also fixed in the
  Console comment and CLAUDE.md's quiesce list).

CLAUDE.md records the filename rule. tests/test-sd-filenames.js covers the shared rule,
the Designer's names (every arena prefix + worst-case tag <= 58), withColorTag /
fitPatternFilename, sdLogicalName and the upload order.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 CLAUDE.md                  |   9 +-
 arena_console.html         |   2 +-
 arena_studio.html          |  37 ++++--
 tests/test-sd-filenames.js | 251 +++++++++++++++++++++++++++++++++++++
 4 files changed, 287 insertions(+), 12 deletions(-)
 create mode 100644 tests/test-sd-filenames.js

diff --git a/CLAUDE.md b/CLAUDE.md
index b3e9e309..0b7f02ba 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -252,7 +252,7 @@ fix flows to every page automatically; two hand-written HTML pages never will.
   rig, source), the top-bar chips, and the Run-view sequence. `dirty` means
   "text ≠ last load/save" (`savedText` baseline), NOT a snapshot-captured flag.
 - **Display quiesce:** firmware refuses SD-write + ISP commands
-  (0x8D/0xE0/0x8A/0xC8/0xC9) unless the display is stopped (`CE_DISPLAY_ACTIVE`,
+  (0x85/0xE0/0x8A/0xC8/0xC9) unless the display is stopped (`CE_DISPLAY_ACTIVE`,
   status 10). Any new handler for a guarded op must `await quiesceDisplay()`
   first. STOP also blanks panels (they latch frames) — a persistent on-arena
   display during ISP is impossible on current firmware; progress maps blink.
@@ -643,6 +643,13 @@ localStorage) — no auth UI of its own. Repo layout: free-standing patterns in
   exists-check overwrite confirm.
 - Classic deps added for this: `js/pattern-set.js`, `js/studio-url-state.js` (both
   dual-export; same files the Studio loads).
+- **Pattern filenames must fit the controller's SD rules** (`PatternSet.checkSdFilename`, js/pattern-set.js):
+  plain ASCII `[A-Za-z0-9._-]`, ends `.pat`, ≤ 63 characters (firmware 64-byte buffer), and keep
+  ≤ 58 — a same-name re-upload is stored as `X001_<name>` and past 58 that cuts off `.pat`. The
+  Designer keeps generated names short (`grat`/`star`/`edge`/`sine`/`offon`/`anim`, `rot`/`exp`/
+  `trans`) and fits every saved/renamed name (`fitPatternFilename`: shortens the middle, keeps the
+  arena prefix + color tag); the Studio refuses a bad name BEFORE sending bytes (`sdUploadOne`)
+  and `sdLogicalName` strips `X001_`, so a re-upload shows as a duplicate. Upload opcode = 0x85.
 - **Partial arenas (LAB-295) — three rules every view and helper follows.** (1) Angular pitch is
   the FULL circle: `PatternGenerator.getDegreesPerPixel(arena)` = 360 / (num_cols × px/panel)
   (G4_3x12of18 = 1.25°/px), never the installed width; the generators read the same
diff --git a/arena_console.html b/arena_console.html
index c38720c1..033490f2 100644
--- a/arena_console.html
+++ b/arena_console.html
@@ -2867,7 +2867,7 @@
             let ispReportText = ''; // last run's plain-text report (Copy report)
             const ispSleep = (ms) => new Promise((r) => setTimeout(r, ms));
 
-            // The firmware refuses ISP + SD-write commands (0xC8/0xC9/0xE0/0x8D/0x8A)
+            // The firmware refuses ISP + SD-write commands (0xC8/0xC9/0xE0/0x85/0x8A)
             // unless the display is stopped (state ALL_OFF → CE_DISPLAY_ACTIVE with
             // "Stop display before flashing a panel" otherwise). STOP_DISPLAY also
             // BLANKS the panels — they hold their last frame, so the firmware pushes
diff --git a/arena_studio.html b/arena_studio.html
index 0cd898fb..9e12badc 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -3075,7 +3075,7 @@ <h2 id="modalTitle">Import error</h2>
       <div class="stage" id="cStage">
 
         <section class="panel open" data-panel="patterns">
-          <div class="panel-h"><span class="panel-title" title="GET_FILE_COUNT 0x80 · names 0x82 · read 0x84 · delete 0x86 · write 0x8D · rename 0x83 · ZIP 0x8A · purge 0x8F">Patterns</span><span class="spacer"></span><span class="panel-x" data-close="patterns" role="button" title="Collapse to the rail">✕</span></div>
+          <div class="panel-h"><span class="panel-title" title="GET_FILE_COUNT 0x80 · names 0x82 · read 0x84 · delete 0x86 · write 0x85 · rename 0x83 · ZIP 0x8A · purge 0x8F">Patterns</span><span class="spacer"></span><span class="panel-x" data-close="patterns" role="button" title="Collapse to the rail">✕</span></div>
           <div class="panel-b">
             <div class="pat2col">
               <div class="pat-left">
@@ -3090,7 +3090,7 @@ <h2 id="modalTitle">Import error</h2>
               <button class="pill" data-cmd="csdlist" title="GET_FILE_COUNT 0x80 + names">Refresh</button>
               <button class="pill" data-cmd="cpatinfo" title="Re-query pattern info (GET_PATTERN_INFO 0x88) for the selected pattern">↻ info</button>
               <div class="cmenu" data-cmenu id="sdUploadMenu">
-                <button class="cmenu-btn" title="Upload pattern(s) to the SD card — a single .pat or a whole pattern set, from a local file/folder, this site's library, or the course repo (SET_PATTERN_FILE 0x8D + rename 0x83)">Add ▾</button>
+                <button class="cmenu-btn" title="Upload pattern(s) to the SD card — a single .pat or a whole pattern set, from a local file/folder, this site's library, or the course repo (SET_PATTERN_FILE 0x85 + rename 0x83)">Add ▾</button>
                 <div class="cmenu-pop">
                   <div class="cmenu-sep">Single pattern (.pat)</div>
                   <button class="cmenu-item" data-cmd="csdup_local_file" title="Pick one .pat file from this computer and upload it">From local file…</button>
@@ -4376,7 +4376,7 @@ <h2 id="modalTitle">Import error</h2>
     const SAFE_BLOCKED_CMDS = new Set([
         // add / delete patterns (SD + on-arena writes)
         'csdpurge', 'csdarchive', 'cloadfile', 'crawsend', 'cispcopy',
-        // upload patterns to the SD card (all six Add ▾ sources → SET_PATTERN_FILE 0x8D)
+        // upload patterns to the SD card (all six Add ▾ sources → SET_PATTERN_FILE 0x85)
         'csdup_local_file', 'csdup_local_folder', 'csdup_lib_file',
         'csdup_lib_folder', 'csdup_repo_file', 'csdup_repo_folder',
         // program panels / firmware
@@ -5851,7 +5851,7 @@ <h2 id="modalTitle">Import error</h2>
     }
     Studio.clearConsoleAutoStop = clearAutoStop; // Run-path pre-emption (module block)
 
-    // The firmware refuses SD-write + ISP commands (0x8D/0xE0/0x8A/0x8F/0xC8/0xC9)
+    // The firmware refuses SD-write + ISP commands (0x85/0xE0/0x8A/0x8F/0xC8/0xC9)
     // unless the display is stopped (state ALL_OFF — CE_DISPLAY_ACTIVE with
     // "Stop display before …" otherwise). STOP_DISPLAY also BLANKS the panels
     // (they latch their last frame, so the controller pushes a dark frame).
@@ -6519,12 +6519,17 @@ <h2 id="modalTitle">Import error</h2>
             finally { e.target.disabled = false; }
         }
     });
-    // One SD .pat write: SET_PATTERN_FILE 0x8D upload + SET_PATTERN_FILENAME
+    // One SD .pat write: SET_PATTERN_FILE 0x85 upload + SET_PATTERN_FILENAME
     // 0x83 rename (both must succeed). Quiet path (session.send) — the batch
-    // wrapper owns the status line + per-file error log.
+    // wrapper owns the status line + per-file error log. The name is checked
+    // FIRST (PatternSet.checkSdFilename: ASCII, <= 63 chars), so a name the
+    // controller can't store fails in a moment instead of after the whole upload
+    // (which left it on the card as pattern.temp).
     async function sdUploadOne(name, bytes) {
+        const chk = window.PatternSet && PatternSet.checkSdFilename ? PatternSet.checkSdFilename(name) : null;
+        if (chk && chk.level === 'error') return { ok: false, retry: false, error: 'bad name — ' + chk.problems.join('; ') };
         const up = await session.send(Wire.encodeSetPatternFile(0, bytes), { timeoutMs: 120000, expectedCmd: Wire.OPCODES.SET_PATTERN_FILE });
-        if (!((Wire.decodeResponse(up) || {}).ok)) return { ok: false, error: 'write rejected (0x8D)' };
+        if (!((Wire.decodeResponse(up) || {}).ok)) return { ok: false, error: 'write rejected (0x85)' };
         const rn = await session.send(Wire.encodeSetPatternFilename(0, name), { timeoutMs: 10000, expectedCmd: Wire.OPCODES.SET_PATTERN_FILENAME });
         if (Wire.decodeSetPatternFilenameResponse(rn) == null) return { ok: false, error: 'rename failed (0x83)' };
         return { ok: true };
@@ -6538,7 +6543,7 @@ <h2 id="modalTitle">Import error</h2>
         const tag = srcLabel ? ' (' + srcLabel + ')' : '';
         if (!files.length) { $('cSdUpStatus').textContent = 'nothing to upload' + tag; return { done: 0, failed: 0 }; }
         if (!connected()) { clog('SD upload: connect first', 'err'); return { done: 0, failed: 0 }; }
-        await quiesceDisplay(); // 0x8D requires the display stopped
+        await quiesceDisplay(); // 0x85 requires the display stopped
         // Breathing room between writes: the controller commits each .pat to the
         // SD (FAT + long-filename entry) before it's ready for the next; back-to-
         // back writes of a LARGE file could be dropped while it's still busy
@@ -6554,11 +6559,18 @@ <h2 id="modalTitle">Import error</h2>
             const pos = (i + 1) + '/' + files.length;
             const kb = (f.bytes.length / 1024).toFixed(1) + ' KB';
             $('cSdUpStatus').textContent = 'uploading ' + pos + tag + ' — ' + f.name + '…';
+            // An upload never overwrites: a name already on the card is stored as
+            // X001_<name>, and protocols can't tell the copies apart. Say so up front.
+            const onCard = Studio.patternSet && Studio.patternSet.patterns && Studio.sdLogicalName
+                ? Studio.patternSet.patterns[Studio.sdLogicalName(f.name)] : null;
+            if (onCard) clog('⚠ "' + f.name + '" is already on the SD card — this copy will be stored as X001_… next to it; delete the old one to replace it', 'warn');
+            const nameChk = window.PatternSet && PatternSet.checkSdFilename ? PatternSet.checkSdFilename(f.name) : null;
+            if (nameChk && nameChk.level === 'warn') clog('⚠ ' + f.name + ': ' + nameChk.problems.join('; '), 'warn');
             let r = null;
             try {
                 r = await sdUploadOne(f.name, f.bytes);
             } catch (e) { r = { ok: false, error: (e && e.message ? e.message : String(e)) }; }
-            if (!r.ok) {
+            if (!r.ok && r.retry !== false) {
                 // One retry after a longer settle — rescues a large file dropped
                 // while the controller was still committing the previous one.
                 clog('SD … ' + pos + '  ' + f.name + ' — ' + r.error + '; retrying in ' + (RETRY_GAP_MS / 1000) + 's…', 'warn');
@@ -7991,9 +8003,14 @@ <h2 id="modalTitle">Import error</h2>
 // name for name↔SD reconciliation: drop a leading index prefix and the .pat
 // extension. Robust to one card holding several protocols' sets (each set's
 // 1-based prefixes collide globally, but the names stay unique + resolvable).
+// The logical pattern name of an SD filename: no .pat, no NNN_ index prefix, and no
+// X001_ prefix — the controller's rename for a same-name re-upload (SdManager.cpp
+// renamePattern, X%03u_), so a re-upload shows up as a DUPLICATE of the original
+// (onSdListing warns; protocols refuse to guess) instead of a separate pattern.
 function sdLogicalName(fn) {
     return String(fn == null ? '' : fn)
         .replace(/\.pat$/i, '')
+        .replace(/^X\d{3}_/, '')
         .replace(/^\d+[_-]/, '');
 }
 Studio.sdLogicalName = sdLogicalName;
@@ -11038,7 +11055,7 @@ <h2 id="modalTitle">Import error</h2>
 // ---- Upload ▾: library / course-repo pattern-set sources --------------------
 // The Console SD "Upload ▾" menu's library/repo items land here. Both browse a
 // PROTOCOL, resolve its colocated _patterns/ set via the GitHub Contents API,
-// then hand {name, bytes} files to Studio.sdUploadFiles (classic shell → 0x8D/
+// then hand {name, bytes} files to Studio.sdUploadFiles (classic shell → 0x85/
 // 0x83). source ∈ 'library' | 'repo'; mode ∈ 'file' (pick one) | 'folder' (all).
 // Library origin = the canonical public tools repo (GH_OWNER/GH_REPO); repo
 // origin = the signed-in course repo. Both need a token — headers() has no anon
diff --git a/tests/test-sd-filenames.js b/tests/test-sd-filenames.js
new file mode 100644
index 00000000..482826b7
--- /dev/null
+++ b/tests/test-sd-filenames.js
@@ -0,0 +1,251 @@
+#!/usr/bin/env node
+'use strict';
+
+/**
+ * Pattern filenames vs the controller's SD rules, end to end:
+ *   - js/pattern-set.js checkSdFilename / sanitizeSdFilename / fitSdFilename (the shared rule:
+ *     ASCII, <= 63 characters, <= 58 so a same-name re-upload — stored as X001_<name> —
+ *     keeps its .pat);
+ *   - the Pattern Designer's generated names (short words + the compact color code) stay
+ *     within 58 for every arena prefix, and withColorTag / fitPatternFilename normalize them;
+ *   - the Studio checks the name BEFORE uploading the bytes, doesn't retry a bad name, and
+ *     treats the X001_ prefix as a duplicate of the original (sdLogicalName).
+ * Editor/Studio functions are extracted from the HTML and run in a sandbox.
+ */
+const fs = require('fs');
+const path = require('path');
+const vm = require('vm');
+
+const ROOT = path.join(__dirname, '..');
+const PS = require('../js/pattern-set.js');
+const PC = require('../js/panel-color.js');
+const { STANDARD_CONFIGS } = require('../js/arena-configs.js');
+
+const designer = fs.readFileSync(path.join(ROOT, 'pattern_editor.html'), 'utf8');
+const studio = fs.readFileSync(path.join(ROOT, 'arena_studio.html'), 'utf8');
+
+let checks = 0;
+let failures = 0;
+
+function check(name, condition, detail) {
+    checks++;
+    if (condition) {
+        console.log(`  PASS  ${name}`);
+        return;
+    }
+    failures++;
+    console.log(`  FAIL  ${name}${detail ? ` — ${detail}` : ''}`);
+}
+
+function extract(src, name, file) {
+    const start = src.indexOf(`function ${name}(`);
+    if (start < 0) throw new Error(`${file}: function ${name} not found`);
+    const open = src.indexOf('{', start);
+    let depth = 0;
+    for (let i = open; i < src.length; i++) {
+        if (src[i] === '{') depth++;
+        else if (src[i] === '}' && --depth === 0) return src.slice(start, i + 1);
+    }
+    throw new Error(`${file}: unbalanced braces in ${name}`);
+}
+
+console.log('\n=== shared rule: js/pattern-set.js ===');
+{
+    check('SD_NAME_MAX = 63 (64-byte firmware buffer incl. NUL)', PS.SD_NAME_MAX === 63);
+    check('SD_NAME_SAFE = 58 (room for the X001_ re-upload prefix)', PS.SD_NAME_SAFE === 58);
+    const lvl = (n) => PS.checkSdFilename(n).level;
+    check('a Designer name is ok', lvl('G6_2x10_grat_rot_20px_50pct_4c-B-G.pat') === 'ok');
+    check('58 characters is ok', lvl('a'.repeat(54) + '.pat') === 'ok');
+    check('59 characters warns', lvl('a'.repeat(55) + '.pat') === 'warn');
+    check('63 characters warns', lvl('a'.repeat(59) + '.pat') === 'warn');
+    check('64 characters is an error', lvl('a'.repeat(60) + '.pat') === 'error');
+    check('non-ASCII (°) is an error', lvl('grat_30°.pat') === 'error');
+    check('a space is an error', lvl('my grating.pat') === 'error');
+    check('missing .pat is an error', lvl('foo.bin') === 'error');
+    check('a leading dot is an error (the firmware hides it)', lvl('.hidden.pat') === 'error');
+    check('decimals are fine', lvl('G6_2x10_grat_rot_22.5deg_50pct.pat') === 'ok');
+    check(
+        'sanitize: spaces and symbols become _',
+        PS.sanitizeSdFilename('my grating → 30°.pat') === 'my_grating_30.pat'
+    );
+    const fit = PS.fitSdFilename(
+        'G6_3x16_full_',
+        'star_trans_1000dot_1000f_with_a_long_note',
+        '_4c-F80A-0404'
+    );
+    check('fit: shortens the middle to at most 58', fit.length <= 58 && fit.length >= 50, fit);
+    check(
+        'fit: keeps the arena prefix and the color tag',
+        fit.startsWith('G6_3x16_full_star_trans') && fit.endsWith('_4c-F80A-0404.pat'),
+        fit
+    );
+    check('fit: the result passes the check', PS.checkSdFilename(fit).level === 'ok');
+    check(
+        'fit: a short name is unchanged',
+        PS.fitSdFilename('G6_2x10_', 'grat_rot_20px', '_4c') === 'G6_2x10_grat_rot_20px_4c.pat'
+    );
+}
+
+console.log('\n=== Pattern Designer: generated names ===');
+function designerFor(layoutKey, configName) {
+    const sandbox = {
+        PanelColor: PC,
+        PatternSet: PS,
+        STANDARD_CONFIGS,
+        console,
+        state: { panel: { layoutKey }, arena: { configName } }
+    };
+    sandbox.window = sandbox;
+    vm.createContext(sandbox);
+    vm.runInContext(
+        ['withColorTag', 'motionAbbrev', 'fitPatternFilename', 'findArenaPrefix', 'addArenaPrefix']
+            .map((n) => extract(designer, n, 'pattern_editor.html'))
+            .join('\n') +
+            '\nconst MOTION_ABBREV = { rotation: "rot", expansion: "exp", translation: "trans" };',
+        sandbox
+    );
+    return sandbox;
+}
+{
+    const templates = designer.match(/filename = `[^`]*\.pat`/g) || [];
+    check(
+        'generated templates use the short words (grat/star/offon/anim, motionAbbrev)',
+        templates.some((t) => t.includes('`grat_${motionAbbrev(')) &&
+            templates.some((t) => t.includes('`star_${motionAbbrev(')) &&
+            templates.some((t) => t.includes('`offon_')) &&
+            /`anim_\$\{frames\.length\}f\.pat`/.test(designer) &&
+            !/`(grating|starfield|off_on|animation)_/.test(designer),
+        templates.join(' | ')
+    );
+    const d = designerFor('four-color', 'G6_2x10');
+    check('motionAbbrev: translation → trans', d.motionAbbrev('translation') === 'trans');
+    check(
+        'motionAbbrev: rotation → rot, expansion → exp',
+        d.motionAbbrev('rotation') === 'rot' && d.motionAbbrev('expansion') === 'exp'
+    );
+    check(
+        'withColorTag: generation stamps the code',
+        d.withColorTag('grat_rot_20px_50pct.pat', '-B-G') === 'grat_rot_20px_50pct_4c-B-G.pat'
+    );
+    check(
+        'withColorTag: save keeps the code',
+        d.withColorTag('G6_2x10_grat_rot_20px_50pct_4c-B-G.pat') ===
+            'G6_2x10_grat_rot_20px_50pct_4c-B-G.pat'
+    );
+    check(
+        'withColorTag: replaces another layout tag (no _rir_4c)',
+        d.withColorTag('x_rir-I.pat') === 'x_4c.pat'
+    );
+    check(
+        'withColorTag: unstacks old _4c_rir names',
+        d.withColorTag('x_4c_rir.pat') === 'x_4c.pat'
+    );
+    check(
+        'withColorTag: default choice adds just the layout tag',
+        d.withColorTag('x.pat', '') === 'x_4c.pat'
+    );
+    const green = designerFor('g6-green', 'G6_2x10');
+    check(
+        'withColorTag: green layout leaves names alone',
+        green.withColorTag('x_4c-B.pat') === 'x_4c-B.pat'
+    );
+
+    // Worst cases the Generate tab can produce today, for every arena prefix + longest tag
+    const longest = [
+        'star_trans_1000dot_1000f.pat',
+        'grat_trans_22.5deg_50pct.pat',
+        'edge_trans_22.5deg_100f.pat',
+        'sine_trans_22.5deg.pat'
+    ];
+    const worstCode = '-F80A-0404';
+    let worstLen = 0;
+    let worstName = '';
+    for (const config of Object.keys(STANDARD_CONFIGS)) {
+        const ed = designerFor('four-color', config);
+        for (const n of longest) {
+            const name = ed.withColorTag(ed.addArenaPrefix(n), worstCode);
+            if (name.length > worstLen) {
+                worstLen = name.length;
+                worstName = name;
+            }
+        }
+    }
+    check(`longest generated name fits in 58 (${worstLen}: ${worstName})`, worstLen <= 58);
+    const ed = designerFor('four-color', 'G6_3x16_full');
+    const long = ed.fitPatternFilename(
+        'G6_3x16_full_star_trans_1000dot_1000f_my_extra_long_note_here_4c-F80A-0404.pat'
+    );
+    check(
+        'fitPatternFilename: shortens a long name to at most 58',
+        long.name.length <= 58 && long.name.length >= 50,
+        long.name
+    );
+    check(
+        'fitPatternFilename: keeps prefix + color tag and reports why',
+        long.name.startsWith('G6_3x16_full_') &&
+            long.name.endsWith('_4c-F80A-0404.pat') &&
+            long.problems.length > 0,
+        long.name
+    );
+    const bad = ed.fitPatternFilename('G6_3x16_full_my grating 30°.pat');
+    check(
+        'fitPatternFilename: cleans characters',
+        bad.name === 'G6_3x16_full_my_grating_30.pat',
+        bad.name
+    );
+    const ok = ed.fitPatternFilename('G6_2x10_grat_rot_20px_50pct_4c-B.pat');
+    check(
+        'fitPatternFilename: a good name passes untouched',
+        ok.name === 'G6_2x10_grat_rot_20px_50pct_4c-B.pat' && ok.problems.length === 0
+    );
+    check(
+        'save path runs fitPatternFilename',
+        /fitPatternFilename\(withColorTag\(addArenaPrefix\(/.test(
+            extract(designer, 'buildPatternDataForSave', 'pattern_editor.html')
+        )
+    );
+}
+
+console.log('\n=== Studio: upload order + X001_ duplicates ===');
+{
+    const sb = {};
+    vm.createContext(sb);
+    vm.runInContext(extract(studio, 'sdLogicalName', 'arena_studio.html'), sb);
+    check('sdLogicalName: plain', sb.sdLogicalName('grat_rot.pat') === 'grat_rot');
+    check('sdLogicalName: NNN_ index prefix', sb.sdLogicalName('003_grat_rot.pat') === 'grat_rot');
+    check(
+        'sdLogicalName: X001_ re-upload = the original',
+        sb.sdLogicalName('X001_grat_rot.pat') === 'grat_rot'
+    );
+    check(
+        'sdLogicalName: X002_ of an indexed name',
+        sb.sdLogicalName('X002_003_grat_rot.pat') === 'grat_rot'
+    );
+    check(
+        'sdLogicalName: a name that merely starts with X stays',
+        sb.sdLogicalName('Xmas_tree.pat') === 'Xmas_tree'
+    );
+
+    const up = extract(studio, 'sdUploadOne', 'arena_studio.html');
+    const iCheck = up.indexOf('checkSdFilename');
+    const iSend = up.indexOf('encodeSetPatternFile(');
+    check('sdUploadOne checks the name before sending any bytes', iCheck > 0 && iCheck < iSend);
+    check(
+        'a bad name is not retried',
+        /retry: false/.test(up) && /r\.retry !== false/.test(studio)
+    );
+    check(
+        'upload warns when the name is already on the card',
+        /is already on the SD card/.test(studio)
+    );
+    check(
+        'the upload opcode is labelled 0x85 (no stale 0x8D)',
+        !/0x8D/.test(studio) && /write rejected \(0x85\)/.test(studio)
+    );
+}
+
+console.log(`\n${checks - failures}/${checks} checks passed`);
+if (failures > 0) {
+    console.log(`${failures} FAILED`);
+    process.exit(1);
+}

From 84daa996a134e35566a4e903a01c2a8ad6381836 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Tue, 6 Oct 2026 18:53:37 -0400
Subject: [PATCH 08/96] =?UTF-8?q?fix:=20rc1=20review=20=E2=80=94=20SD=20na?=
 =?UTF-8?q?me=20rule=20matches=20the=20card,=20cache=20tokens,=20partial-G?=
 =?UTF-8?q?6=20warning?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

From the adversarial review of candidate 2026-10-06 rc1 (Claude + Codex):
- The shared SD name rule (PatternSet.checkSdFilename) refused anything outside
  [A-Za-z0-9._-], so the Studio blocked uploads that worked before: spaces and
  parentheses are legal FAT long-name characters (e.g. a browser's "… (1).pat").
  It now errors only on what the card can't store (non-printable/non-ASCII, \ / : * ? " < > |,
  > 63 chars, no .pat, leading "."); the Designer still writes tidy names
  (SD_TIDY_CHARS) and says so when it changes one.
- Cache tokens (?v=1006-partial-cols) on every consumer of the changed shared modules:
  icon-generator.js (Designer, Studio, Console, v3 designer, icon tool), pattern-set.js
  (Designer, Studio, Console, v3 designer), panel-color.js (Designer) — so the fixes reach
  browsers holding an old copy. Pinned in tests.
- Partial-G6 warning (never blocks): current firmware ignores the panel mask and rejects
  any grid other than its own at load. The Designer says so once per session when a
  partial-G6 pattern is saved; the Studio upload warns when the session rig is a partial
  arena, when a file carries a partial panel mask, or when its grid differs from the rig's
  (PatternSet.g6HeaderGrid / g6PlaybackWarning; Studio.rigArena()).
- 2D panel numbers: a block past the installed list labels its own number, never NaN.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 arena_console.html            |   4 +-
 arena_studio.html             |  22 ++++++-
 experiment_designer_v3.html   |   4 +-
 icon_generator.html           |   2 +-
 js/pattern-set.js             |  85 +++++++++++++++++++++++--
 pattern_editor.html           |  38 ++++++++---
 tests/test-panel-color.js     |   2 +-
 tests/test-pattern-2d-view.js |   4 ++
 tests/test-sd-filenames.js    | 115 +++++++++++++++++++++++++++++++++-
 9 files changed, 253 insertions(+), 23 deletions(-)

diff --git a/arena_console.html b/arena_console.html
index 033490f2..84796dae 100644
--- a/arena_console.html
+++ b/arena_console.html
@@ -1577,7 +1577,7 @@
              (window.PatternSet / window.PatPreview); the import-only modules
              (pat-parser, arena-configs, icon-generator) load in the deferred module
              block at the end of <body>. -->
-        <script src="js/pattern-set.js"></script>
+        <script src="js/pattern-set.js?v=1006-partial-cols"></script>
         <script src="js/pat-preview.js"></script>
         <script>
             'use strict';
@@ -3602,7 +3602,7 @@
         <script type="module">
             import PatParser from './js/pat-parser.js';
             import { getConfig } from './js/arena-configs.js'; // also sets window.PANEL_SPECS
-            import { generatePatternIcon } from './js/icon-generator.js';
+            import { generatePatternIcon } from './js/icon-generator.js?v=1006-partial-cols';
 
             const PS = window.PatternSet;
             const PP = window.PatPreview;
diff --git a/arena_studio.html b/arena_studio.html
index 9e12badc..a23880d2 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -3368,7 +3368,7 @@ <h2 id="modalTitle">Import error</h2>
 <script src="js/fictrac-bridge-client.js?v=20260926-cl-start"></script>
 <script src="js/arena-session.js"></script>
 <script src="js/pat-encoder.js"></script>
-<script src="js/pattern-set.js"></script>
+<script src="js/pattern-set.js?v=1006-partial-cols"></script>
 <script src="js/pat-preview.js"></script>
 <script src="js/bin-classifier.js"></script>
 <script src="https://cdnjs.cloudflare.com/ajax/libs/jszip/3.10.1/jszip.min.js"></script> <!-- Pattern Set ZIP export -->
@@ -6554,6 +6554,13 @@ <h2 id="modalTitle">Import error</h2>
         let done = 0, failed = 0;
         const uploaded = [];
         clog('SD upload: ' + files.length + ' file(s)' + tag + '…', 'info');
+        // G6 playback: warn (never block) when the controller would reject a pattern at load
+        // — the rig is a partial arena, or the file's grid differs from the rig's.
+        const PS = window.PatternSet;
+        const rigArena = Studio.rigArena ? Studio.rigArena() : null;
+        if (PS && PS.isPartialG6Arena && PS.isPartialG6Arena(rigArena)) {
+            clog('⚠ the session rig (' + Studio.currentRig.arenaConfig + ') is a partial arena: ' + PS.PARTIAL_G6_NOTE, 'warn');
+        }
         for (let i = 0; i < files.length; i++) {
             const f = files[i];
             const pos = (i + 1) + '/' + files.length;
@@ -6566,6 +6573,8 @@ <h2 id="modalTitle">Import error</h2>
             if (onCard) clog('⚠ "' + f.name + '" is already on the SD card — this copy will be stored as X001_… next to it; delete the old one to replace it', 'warn');
             const nameChk = window.PatternSet && PatternSet.checkSdFilename ? PatternSet.checkSdFilename(f.name) : null;
             if (nameChk && nameChk.level === 'warn') clog('⚠ ' + f.name + ': ' + nameChk.problems.join('; '), 'warn');
+            const playWarn = PS && PS.g6PlaybackWarning ? PS.g6PlaybackWarning(f.bytes, rigArena) : null;
+            if (playWarn) clog('⚠ ' + f.name + ': ' + playWarn, 'warn');
             let r = null;
             try {
                 r = await sdUploadOne(f.name, f.bytes);
@@ -7303,7 +7312,7 @@ <h2 id="modalTitle">Import error</h2>
 } from './js/v3-import.js';
 import { getConfig } from './js/arena-configs.js'; // side effect: sets window.PANEL_SPECS
 import PatParser from './js/pat-parser.js';
-import { generatePatternIcon } from './js/icon-generator.js';
+import { generatePatternIcon } from './js/icon-generator.js?v=1006-partial-cols';
 import * as YAML from 'yaml'; // vendored build has NAMED exports only (no default)
 
 const Studio = window.Studio;
@@ -7998,7 +8007,7 @@ <h2 id="modalTitle">Import error</h2>
 }
 // The card stores pattern files as `NNN_<name>.pat` — the zero-padded index
 // pins the firmware's SD-scan order (== pattern_ID) and the >8.3 name forces a
-// FAT long-filename entry (js/pattern-set.js:242). Protocols, though, reference
+// FAT long-filename entry (js/pattern-set.js assignIndices). Protocols, though, reference
 // the LOGICAL name (`all_on`). Normalize a raw SD filename to that logical
 // name for name↔SD reconciliation: drop a leading index prefix and the .pat
 // extension. Robust to one card holding several protocols' sets (each set's
@@ -9662,6 +9671,13 @@ <h2 id="modalTitle">Import error</h2>
 // arena's azimuth pixels (num_cols × pixels_per_panel — 200 on a 10-column G6 ⇒ 1.8). A
 // PATTERN property really (1 px per frame), which every shipped closed-loop pattern has; a
 // startClosedLoop `deg_per_frame` overrides it for exotic patterns. NOT 360 / frame_count.
+// The session rig's config.arena ({generation, num_rows, num_cols, columns_installed, …}) or
+// null — for classic-shell code that has no getConfig (the SD upload's G6 playback warning).
+Studio.rigArena = function () {
+    const name = Studio.currentRig && Studio.currentRig.arenaConfig;
+    const cfg = name ? getConfig(name) : null;
+    return (cfg && cfg.arena) || null;
+};
 Studio.rigDegPerFrame = function () {
     const name = Studio.currentRig && Studio.currentRig.arenaConfig;
     const cfg = name ? getConfig(name) : null;
diff --git a/experiment_designer_v3.html b/experiment_designer_v3.html
index 98a8d8d2..5fd3c395 100644
--- a/experiment_designer_v3.html
+++ b/experiment_designer_v3.html
@@ -1621,7 +1621,7 @@ <h2 id="modalTitle">Import error</h2>
          arena-configs.js, and icon-generator.js have bare exports, so the module
          below imports those. JSZip (CDN, pinned) powers the bundle ZIP export. -->
     <script src="js/pat-encoder.js"></script>
-    <script src="js/pattern-set.js"></script>
+    <script src="js/pattern-set.js?v=1006-partial-cols"></script>
     <script src="js/pat-preview.js"></script>
     <script src="https://cdnjs.cloudflare.com/ajax/libs/jszip/3.10.1/jszip.min.js"></script>
 
@@ -1705,7 +1705,7 @@ <h2 id="modalTitle">Import error</h2>
         // LAB-96 — animated pattern preview: one cylindrical icon per sampled frame.
         // arena-configs (imported above) sets window.PANEL_SPECS, which icon-generator
         // reads at call time.
-        import { generatePatternIcon } from './js/icon-generator.js';
+        import { generatePatternIcon } from './js/icon-generator.js?v=1006-partial-cols';
 
         // ═══════════════════════════════════════════════════════════════
         // State
diff --git a/icon_generator.html b/icon_generator.html
index f7f0387f..fe7413a8 100644
--- a/icon_generator.html
+++ b/icon_generator.html
@@ -10,7 +10,7 @@
         // Cache-busting: v4 adds GIF generation support
         import { STANDARD_CONFIGS, PANEL_SPECS, getConfig, getConfigsByGeneration } from './js/arena-configs.js?v=4';
         import PatParser from './js/pat-parser.js?v=4';
-        import { generatePatternIcon, generateMotionIcon, generatePatternGIF } from './js/icon-generator.js?v=4';
+        import { generatePatternIcon, generateMotionIcon, generatePatternGIF } from './js/icon-generator.js?v=1006-partial-cols';
 
         // Make available globally for inline script
         window.STANDARD_CONFIGS = STANDARD_CONFIGS;
diff --git a/js/pattern-set.js b/js/pattern-set.js
index cb66e8c4..05c635e8 100644
--- a/js/pattern-set.js
+++ b/js/pattern-set.js
@@ -428,11 +428,16 @@
     // The controller keeps pattern names in a 64-byte buffer (incl. NUL): at most 63 chars,
     // and SET_PATTERN_FILENAME 0x83 refuses longer. A same-name re-upload is stored as
     // X001_<name> (5 more chars, truncated to 63) — past 58 that cuts off '.pat' and the file
-    // drops out of the listing. Names travel as one byte per char, so only plain ASCII
-    // filename characters are safe. Firmware: SdManager.cpp renamePattern / scan.
+    // drops out of the listing. Names travel as one byte per char, so the name must be
+    // printable ASCII; FAT long names also forbid \ / : * ? " < > |. Spaces and parentheses
+    // are legal (and common: a browser's "… (1).pat" download). The Designer still writes
+    // tidy names ([A-Za-z0-9._-], SD_TIDY_CHARS) — that is style, not a controller rule.
+    // Firmware: SdManager.cpp renamePattern / scan.
     var SD_NAME_MAX = 63;
     var SD_NAME_SAFE = 58;
-    var SD_NAME_CHARS = /^[A-Za-z0-9._-]+$/;
+    var SD_NAME_CHARS = /^[\x20-\x7e]+$/;
+    var SD_NAME_FORBIDDEN = /[\\/:*?"<>|]/;
+    var SD_TIDY_CHARS = /^[A-Za-z0-9._-]+$/;
 
     /**
      * Check a pattern filename (with .pat) against the controller's SD rules.
@@ -444,7 +449,8 @@
         var errors = [];
         var warnings = [];
         if (!/\.pat$/i.test(n)) errors.push('must end in .pat');
-        if (!SD_NAME_CHARS.test(n)) errors.push('use only letters, digits, "_", "-" and "."');
+        if (!SD_NAME_CHARS.test(n)) errors.push('use plain ASCII characters only');
+        if (SD_NAME_FORBIDDEN.test(n)) errors.push('must not contain \\ / : * ? " < > |');
         if (n.charAt(0) === '.') errors.push('must not start with "."');
         if (n.length > SD_NAME_MAX) {
             errors.push(n.length + ' characters; the controller allows ' + SD_NAME_MAX);
@@ -491,6 +497,72 @@
         return sanitizeSdFilename(p + m + sfx);
     }
 
+    // ---- G6 playback on the session rig ----------------------------------------------
+    // Current arena firmware compiles in one dense panel grid and ignores the G6 panel mask,
+    // so a partial-arena pattern (or any grid that differs from the controller's) is rejected
+    // at load (CE_ARENA_MISMATCH, "TRIAL_PARAMS: load failed"). Warn — never block.
+    var PARTIAL_G6_NOTE =
+        "current arena firmware can't play partial-arena G6 patterns yet; the controller " +
+        'rejects them when loading. Until it can, use a full-grid pattern with the missing ' +
+        'columns left blank.';
+
+    /** {rows, cols, maskPanels} from a G6 .pat header, or null when it isn't one. */
+    function g6HeaderGrid(bytes) {
+        var u8;
+        try {
+            u8 = new Uint8Array(toArrayBuffer(bytes));
+        } catch (_) {
+            return null;
+        }
+        // 'G6PT'
+        if (
+            u8.length < 18 ||
+            u8[0] !== 0x47 ||
+            u8[1] !== 0x36 ||
+            u8[2] !== 0x50 ||
+            u8[3] !== 0x54
+        ) {
+            return null;
+        }
+        var mask = 0;
+        for (var i = 11; i <= 16; i++) {
+            for (var v = u8[i]; v; v >>= 1) mask += v & 1;
+        }
+        return { rows: u8[8], cols: u8[9], maskPanels: mask };
+    }
+
+    /** True for a G6 arena config with missing columns (G6_2x8of10, G6_3x12of18 …). */
+    function isPartialG6Arena(arena) {
+        return !!(arena && arena.generation === 'G6' && arena.columns_installed);
+    }
+
+    /**
+     * Why a G6 .pat won't play, judged from its own header and (when it is a FULL G6 arena)
+     * the session rig's config.arena; null when nothing is wrong or it isn't a G6 pattern.
+     * A partial session rig is reported once per batch by the caller (isPartialG6Arena).
+     */
+    function g6PlaybackWarning(bytes, arena) {
+        var g = g6HeaderGrid(bytes);
+        if (!g) return null;
+        if (g.maskPanels < g.rows * g.cols)
+            return 'partial-arena pattern (panel mask): ' + PARTIAL_G6_NOTE;
+        if (arena && arena.generation === 'G6' && !arena.columns_installed) {
+            if (g.rows !== arena.num_rows || g.cols !== arena.num_cols) {
+                return (
+                    g.rows +
+                    '×' +
+                    g.cols +
+                    ' panels, but the session rig is ' +
+                    arena.num_rows +
+                    '×' +
+                    arena.num_cols +
+                    ' — the controller will reject it when loading'
+                );
+            }
+        }
+        return null;
+    }
+
     var PatternSet = {
         TOOL: TOOL,
         MANIFEST_VERSION: MANIFEST_VERSION,
@@ -510,6 +582,11 @@
         checkSdFilename: checkSdFilename,
         sanitizeSdFilename: sanitizeSdFilename,
         fitSdFilename: fitSdFilename,
+        SD_TIDY_CHARS: SD_TIDY_CHARS,
+        PARTIAL_G6_NOTE: PARTIAL_G6_NOTE,
+        g6HeaderGrid: g6HeaderGrid,
+        isPartialG6Arena: isPartialG6Arena,
+        g6PlaybackWarning: g6PlaybackWarning,
         summarizePattern: summarizePattern,
         validateGeometry: validateGeometry,
         reencodeForDuty: reencodeForDuty,
diff --git a/pattern_editor.html b/pattern_editor.html
index 94330d65..e8d7579b 100644
--- a/pattern_editor.html
+++ b/pattern_editor.html
@@ -36,10 +36,10 @@
          (?repo= / ?arena= URL state) — same classic dual-export modules the
          Studio loads, so behavior matches across the two tools -->
     <script src="js/build-channel.js"></script> <!-- release tier: Production / Next / local -->
-    <script src="js/pattern-set.js"></script>
+    <script src="js/pattern-set.js?v=1006-partial-cols"></script>
     <!-- multi-color G6 panels: bank mosaic + ON-color weights (LAB-228); classic dual-export,
          also read as globalThis.PanelColor by the ES-module viewers -->
-    <script src="js/panel-color.js"></script>
+    <script src="js/panel-color.js?v=1006-partial-cols"></script>
     <script src="js/studio-url-state.js"></script>
     <style>
         * { margin: 0; padding: 0; box-sizing: border-box; }
@@ -2569,7 +2569,7 @@ <h3 class="modal-title">Save to Repo</h3>
         import MercatorViewer from './js/pattern-editor/viewers/mercator-viewer.js?v=0218';
         import MollweideViewer from './js/pattern-editor/viewers/mollweide-viewer.js?v=0218';
         import { combinePatterns } from './js/pattern-editor/tools/combiner.js';
-        import { generatePatternIcon } from './js/icon-generator.js';
+        import { generatePatternIcon } from './js/icon-generator.js?v=1006-partial-cols';
         import ImageConverter from './js/pattern-editor/tools/image-converter.js';
         // Classic dual-export module loaded above (also read by the viewers as globalThis.PanelColor)
         const PanelColor = window.PanelColor;
@@ -3549,6 +3549,7 @@ <h3 class="modal-title">Save to Repo</h3>
                 arena_id: configName ? getArenaId(gen, configName) : 0,
                 observer_id: 0
             };
+            warnPartialG6Once();
             const fitted = fitPatternFilename(withColorTag(addArenaPrefix(state.filename || 'pattern.pat')));
             if (fitted.problems.length) {
                 console.info('Pattern filename adjusted for the arena SD card (' + fitted.problems.join('; ') + '): ' + fitted.name);
@@ -5517,6 +5518,22 @@ <h3 class="modal-title">Save to Repo</h3>
             return stripped + tag + keep + '.pat';
         }
 
+        // Partial-arena G6 patterns preview correctly but current firmware can't play them
+        // (it ignores the panel mask) — say so once per session when one is saved. Warn only.
+        let partialG6Warned = false;
+        function warnPartialG6Once() {
+            const arena = state.arena.config && state.arena.config.arena;
+            const partial = window.PatternSet && PatternSet.isPartialG6Arena
+                ? PatternSet.isPartialG6Arena(arena)
+                : !!(arena && arena.generation === 'G6' && arena.columns_installed);
+            if (!partial || partialG6Warned) return;
+            partialG6Warned = true;
+            const note = (window.PatternSet && PatternSet.PARTIAL_G6_NOTE) ||
+                "current arena firmware can't play partial-arena G6 patterns yet.";
+            alert('Heads-up: ' + state.arena.configName + ' is a partial arena. ' +
+                note.charAt(0).toUpperCase() + note.slice(1));
+        }
+
         // Motion types in generated filenames (names stay short: the controller keeps 63
         // characters and 58 survive a re-upload — PatternSet.checkSdFilename).
         const MOTION_ABBREV = { rotation: 'rot', expansion: 'exp', translation: 'trans' };
@@ -5525,23 +5542,26 @@ <h3 class="modal-title">Save to Repo</h3>
         }
 
         /**
-         * Make a filename safe for the arena's SD card: plain ASCII, <= 58 characters. Only the
-         * descriptive middle is shortened; the arena prefix and the color tag are kept.
-         * Returns {name, problems} (problems = what the original name broke, for the UI).
+         * Make a filename safe for the arena's SD card (<= 58 characters, PatternSet rules) and
+         * tidy ([A-Za-z0-9._-]: the Designer's naming style, though the card also takes spaces).
+         * Only the descriptive middle is shortened; the arena prefix and the color tag are kept.
+         * Returns {name, problems} (problems = what was changed and why, for the UI).
          */
         function fitPatternFilename(filename) {
             if (!window.PatternSet || !PatternSet.checkSdFilename || !PatternSet.fitSdFilename) {
                 return { name: filename, problems: [] };
             }
             const chk = PatternSet.checkSdFilename(filename);
-            if (chk.ok) return { name: filename, problems: [] };
+            const tidy = !PatternSet.SD_TIDY_CHARS || PatternSet.SD_TIDY_CHARS.test(filename);
+            if (chk.ok && tidy) return { name: filename, problems: [] };
             let base = filename.replace(/\.pat$/i, '');
             const arena = findArenaPrefix(base);
             const prefix = arena ? base.slice(0, arena.length + 1) : '';
             base = base.slice(prefix.length);
             const core = PanelColor.stripColorTag ? PanelColor.stripColorTag(base) : base;
             const suffix = base.slice(core.length);
-            return { name: PatternSet.fitSdFilename(prefix, core, suffix), problems: chk.problems };
+            const problems = tidy ? chk.problems : ['spaces and symbols become "_"'].concat(chk.problems);
+            return { name: PatternSet.fitSdFilename(prefix, core, suffix), problems };
         }
 
         function updatePanelLayoutHint() {
@@ -7020,7 +7040,7 @@ <h2>No Pattern Loaded</h2>
             const installed = arena.columns_installed
                 ? [...new Set(arena.columns_installed.map((p) => p % arena.num_cols))]
                 : null;
-            const col = installed ? installed[block] : block;
+            const col = installed && installed[block] !== undefined ? installed[block] : block;
             return arena.generation === 'G6'
                 ? row * arena.num_cols + col + 1
                 : col * arena.num_rows + row + 1;
diff --git a/tests/test-panel-color.js b/tests/test-panel-color.js
index 2843d34e..fa5063b6 100644
--- a/tests/test-panel-color.js
+++ b/tests/test-panel-color.js
@@ -421,7 +421,7 @@ const src = fs.readFileSync(path.join(ROOT, 'js/panel-color.js'), 'utf8');
 check('panel-color.js has no bare ES export (classic-script safe)', !/^export /m.test(src));
 check(
     'pattern_editor.html loads js/panel-color.js as a classic script',
-    /<script src="js\/panel-color\.js">/.test(html)
+    /<script src="js\/panel-color\.js(\?v=[^"]+)?">/.test(html)
 );
 check(
     'pattern_editor.html renders pixels through PanelColor.pixelCss',
diff --git a/tests/test-pattern-2d-view.js b/tests/test-pattern-2d-view.js
index 3ae4da0a..1eeba1a0 100644
--- a/tests/test-pattern-2d-view.js
+++ b/tests/test-pattern-2d-view.js
@@ -104,6 +104,10 @@ check(
         ed.physicalPanelNumber(full, 0, 0) === 1 && ed.physicalPanelNumber(full, 0, 1) === 11
     );
     const g4 = STANDARD_CONFIGS.G4_3x12of18.arena;
+    check(
+        'a block past the installed list labels its own number, never NaN',
+        ed.physicalPanelNumber(a, 9, 0) === 10
+    );
     check(
         'G4_3x12of18 (column-major): first column = panels 1, 2, 3',
         [0, 1, 2].every((r) => ed.physicalPanelNumber(g4, 0, r) === r + 1)
diff --git a/tests/test-sd-filenames.js b/tests/test-sd-filenames.js
index 482826b7..247e0998 100644
--- a/tests/test-sd-filenames.js
+++ b/tests/test-sd-filenames.js
@@ -60,7 +60,16 @@ console.log('\n=== shared rule: js/pattern-set.js ===');
     check('63 characters warns', lvl('a'.repeat(59) + '.pat') === 'warn');
     check('64 characters is an error', lvl('a'.repeat(60) + '.pat') === 'error');
     check('non-ASCII (°) is an error', lvl('grat_30°.pat') === 'error');
-    check('a space is an error', lvl('my grating.pat') === 'error');
+    check('a space is fine on the card (FAT long names)', lvl('my grating.pat') === 'ok');
+    check(
+        'a browser duplicate "… (1).pat" is fine',
+        lvl('G6_2x10_grating_rotation_200px_94pct (1).pat') === 'ok'
+    );
+    check(
+        'FAT-forbidden characters are errors',
+        ['a:b.pat', 'x?.pat', 'a/b.pat', 'q"t.pat', 'p|q.pat'].every((n) => lvl(n) === 'error')
+    );
+    check('control characters are errors', lvl('tab\there.pat') === 'error');
     check('missing .pat is an error', lvl('foo.bin') === 'error');
     check('a leading dot is an error (the firmware hides it)', lvl('.hidden.pat') === 'error');
     check('decimals are fine', lvl('G6_2x10_grat_rot_22.5deg_50pct.pat') === 'ok');
@@ -187,6 +196,12 @@ function designerFor(layoutKey, configName) {
             long.problems.length > 0,
         long.name
     );
+    const spaced = ed.fitPatternFilename('G6_2x10_Frame 1_h_cw_200f.pat');
+    check(
+        'fitPatternFilename: the Designer still tidies spaces (style, though the card accepts them)',
+        spaced.name === 'G6_2x10_Frame_1_h_cw_200f.pat' && spaced.problems.length === 1,
+        JSON.stringify(spaced)
+    );
     const bad = ed.fitPatternFilename('G6_3x16_full_my grating 30°.pat');
     check(
         'fitPatternFilename: cleans characters',
@@ -206,6 +221,92 @@ function designerFor(layoutKey, configName) {
     );
 }
 
+console.log('\n=== G6 playback warning (partial arenas / grid mismatch) ===');
+{
+    global.PANEL_SPECS = require('../js/arena-configs.js').PANEL_SPECS;
+    const PatEncoder = require('../js/pat-encoder.js');
+    const pat = (rows, cols) => {
+        const W = cols * 20;
+        const H = rows * 20;
+        return new Uint8Array(
+            PatEncoder.encode({
+                generation: 'G6',
+                gs_val: 2,
+                numFrames: 1,
+                rowCount: rows,
+                colCount: cols,
+                pixelRows: H,
+                pixelCols: W,
+                frames: [new Uint8Array(W * H)],
+                stretchValues: [128]
+            })
+        );
+    };
+    const full = STANDARD_CONFIGS.G6_2x10.arena;
+    const partial = STANDARD_CONFIGS.G6_2x8of10.arena;
+    const g = PS.g6HeaderGrid(pat(2, 10));
+    check(
+        'header grid: 2×10, 20 panels in the mask',
+        g && g.rows === 2 && g.cols === 10 && g.maskPanels === 20,
+        JSON.stringify(g)
+    );
+    check('a non-G6 buffer is not read', PS.g6HeaderGrid(new Uint8Array(32)) === null);
+    check(
+        '2×10 pattern on a 2×10 rig: no warning',
+        PS.g6PlaybackWarning(pat(2, 10), full) === null
+    );
+    check(
+        'web-encoded 2×8 (partial) pattern on a 2×10 rig: warned (the controller rejects it)',
+        /2×8 panels, but the session rig is 2×10/.test(PS.g6PlaybackWarning(pat(2, 8), full) || '')
+    );
+    const masked = pat(2, 10);
+    masked[11] &= 0xfe; // clear panel 0 (the MATLAB writer's partial-arena mask)
+    check(
+        'a masked (MATLAB-style partial) pattern: warned',
+        /partial-arena pattern/.test(PS.g6PlaybackWarning(masked, null) || '')
+    );
+    check(
+        'partial rig detection',
+        PS.isPartialG6Arena(partial) && !PS.isPartialG6Arena(full) && !PS.isPartialG6Arena(null)
+    );
+    check(
+        'no rig known: only the file itself is judged',
+        PS.g6PlaybackWarning(pat(2, 8), null) === null
+    );
+}
+
+console.log('\n=== cache tokens on the changed shared modules ===');
+{
+    const pages = {
+        'pattern_editor.html': designer,
+        'arena_studio.html': studio,
+        'arena_console.html': fs.readFileSync(path.join(ROOT, 'arena_console.html'), 'utf8'),
+        'experiment_designer_v3.html': fs.readFileSync(
+            path.join(ROOT, 'experiment_designer_v3.html'),
+            'utf8'
+        ),
+        'icon_generator.html': fs.readFileSync(path.join(ROOT, 'icon_generator.html'), 'utf8')
+    };
+    for (const [page, src] of Object.entries(pages)) {
+        const icon = src.match(/from '\.\/js\/icon-generator\.js(\?v=[^']+)?'/);
+        check(
+            `${page}: icon-generator.js import is cache-busted`,
+            !!(icon && icon[1]),
+            icon ? icon[0] : 'no import'
+        );
+        if (page !== 'icon_generator.html') {
+            check(
+                `${page}: pattern-set.js is cache-busted`,
+                /<script src="js\/pattern-set\.js\?v=[^"]+"><\/script>/.test(src)
+            );
+        }
+    }
+    check(
+        'pattern_editor.html: panel-color.js is cache-busted',
+        /<script src="js\/panel-color\.js\?v=[^"]+"><\/script>/.test(designer)
+    );
+}
+
 console.log('\n=== Studio: upload order + X001_ duplicates ===');
 {
     const sb = {};
@@ -238,6 +339,18 @@ console.log('\n=== Studio: upload order + X001_ duplicates ===');
         'upload warns when the name is already on the card',
         /is already on the SD card/.test(studio)
     );
+    check(
+        'upload warns when the controller would reject a G6 pattern (partial rig / grid mismatch)',
+        /PS\.g6PlaybackWarning\(f\.bytes, rigArena\)/.test(studio) &&
+            /Studio\.rigArena = function/.test(studio)
+    );
+    check(
+        'the Designer warns once when saving a partial-G6 pattern',
+        /function warnPartialG6Once\(/.test(designer) &&
+            /warnPartialG6Once\(\);/.test(
+                extract(designer, 'buildPatternDataForSave', 'pattern_editor.html')
+            )
+    );
     check(
         'the upload opcode is labelled 0x85 (no stale 0x8D)',
         !/0x8D/.test(studio) && /write rejected \(0x85\)/.test(studio)

From 546d9c625678ab48858f2c6eba8da44450b2f997 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 7 Oct 2026 12:26:14 -0400
Subject: [PATCH 09/96] fix(link): first command after Connect no longer waits
 ~60 s behind the thumbnail download (LAB-298)

Bench 2026-10-07 (rig cshl_g6_2x10_ball, 24 patterns on the card): the first
TRIAL_PARAMS after Connect was acknowledged 57 s late. The SD listing auto-picks
pattern 1 and the picker thumbnail downloaded the whole file (0x84). With
Chrome's default 255-byte Web Serial read buffer the body arrived 901 bytes
short, and the one-at-a-time link waited out the read's 60 s timeout with the
GET_PATTERN_INFO sweep and the user's command queued behind it. Firmware ruled
out from Python (listing + 24x 0x88 in 48 ms, 81 KB download in 6 ms).

- arena-link.js: open the port with a 1 MiB bufferSize; a background lane
  (`{ background: true }`) that waits while any foreground send is queued; a
  bulk body fails after idleTimeoutMs (5 s) without a byte instead of waiting
  out timeoutMs.
- Studio: the GET_PATTERN_INFO sweep (cardPatternInfo, also caches file size)
  and the picker thumbnail fetch use the background lane; a card-only
  thumbnail downloads only when PatPreview.liveFetchVerdict allows it (size
  known, <= 1 MiB, no run). Frame counts for the closed-loop resolver (#201)
  are still filled for every pattern. Tooltip explains a thumbnail refused
  while the display runs (status 10).
- Tests: link buffer/stall/lanes, liveFetchVerdict, Studio call sites.

Verified on hardware: first TRIAL_PARAMS ack 2 ms (was 57,013 ms); 81 KB
thumbnail download 7 ms; 24 frame counts done 197 ms after Connect.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 CLAUDE.md                          |   1 +
 arena_studio.html                  |  93 ++++++++++++----
 js/arena-link.js                   | 154 ++++++++++++++++++++------
 js/arena-session.js                |  10 +-
 js/pat-preview.js                  |  23 ++++
 tests/test-arena-link.js           | 170 ++++++++++++++++++++++++++++-
 tests/test-pat-preview.js          |  29 +++++
 tests/test-studio-link-priority.js |  83 ++++++++++++++
 8 files changed, 500 insertions(+), 63 deletions(-)
 create mode 100644 tests/test-studio-link-priority.js

diff --git a/CLAUDE.md b/CLAUDE.md
index 24d2f417..ca5b2ddb 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -163,6 +163,7 @@ Some JavaScript modules are shared between multiple tools and must support diffe
 **Arena Session — the single connection broker** (`js/arena-session.js`, Stage A of the Arena Studio unification):
 - Owns ONE `ArenaLink` + ONE `ArenaRunner` per page and multicasts the link callbacks (`log`/`error`/`disconnect`) to subscribers via `on(event, fn)`. Run mechanism: `runTrial` / `runSequence` / `stop` / `running`; lifecycle: `connect` / `disconnect` / `connected` / `send`. Page-wide singleton via `ArenaSession.shared()`.
 - **Must stay a classic `<script src>` module** (window-global + CommonJS dual-export, **no bare ES `export`**), loaded AFTER `arena-wire-g6.js` / `arena-link.js` / `arena-runner-g6.js` and BEFORE any `<script type="module">` that reads `window.ArenaSession`. This keeps Connect/STOP/run-state alive even if a stale ES-module import fails (the catastrophic-cache gotcha) — never move connection ownership into the module block.
+- **Link lanes + read buffer (`js/arena-link.js`, 2026-10-07):** the port opens with a 1 MiB `bufferSize` (Chrome's 255-byte default loses bulk bytes or ends in "Break received" on macOS), and sends have two FIFO lanes: `{ background: true }` waits while any foreground send is queued. Connect-time sweeps and prefetches (GET_PATTERN_INFO frame counts, picker thumbnails) MUST use the background lane. Nothing on the wire is preempted, so a background bulk read must stay small (thumbnails: `PatPreview.liveFetchVerdict`, ≤ 1 MiB). A bulk body fails after `idleTimeoutMs` (5 s) without a byte instead of waiting out `timeoutMs`. Tests: `tests/test-arena-link.js`, `tests/test-studio-link-priority.js`.
 - Both `arena_console.html` and `experiment_designer_v3.html` use `window.ArenaSession.shared()` instead of constructing their own `ArenaLink` (the console uses only connect/send/events; the designer uses the run mechanism). On involuntary disconnect the broker calls `runner.abort()` (public, added to `arena-runner-g6.js`) — falling back to the legacy private `_clear()` to tolerate a stale-cache runner. Tests: `tests/test-arena-session.js` (`pixi run test` runs the full suite; run a single file with `pixi run node tests/test-arena-session.js`).
 
 **Pat-Parser Dual Export Pattern** (`js/pat-parser.js`):
diff --git a/arena_studio.html b/arena_studio.html
index 0cd898fb..04879d4a 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -7899,24 +7899,32 @@ <h2 id="modalTitle">Import error</h2>
 Studio.patternSet = null;
 const webPreviewBySdName = new Map(); // filename → () => Promise<ArrayBuffer>
 const repoSharedPreviewKeys = new Set(); // sources currently wired from course-repo patterns/
-// In-memory sources first (logical-name tolerant via webBytesForName). `idx`
-// (1-based SD index) is the fallback path: a pattern already on the card
-// from a prior session has no cached source above, so fetch it live via 0x84
-// — the controller's GET_PATTERN_FILE handler is chunked/non-blocking with a
-// bounded stall recovery (issue #16), so this is safe on fixed firmware (an
-// older controller can still wedge the link here). Same call the SD table's
-// Download button already makes.
-function patByteSource(sd, idx) {
-    const f = Studio.webBytesForName(sd);
+// In-memory sources first (logical-name tolerant via webBytesForName). The
+// fallback for a pattern already on the card from a prior session is a live
+// 0x84 fetch of the WHOLE file (the controller has no ranged read), gated by
+// PatPreview.liveFetchVerdict: size known from GET_PATTERN_INFO and ≤ 1 MiB, no
+// run active. It goes in the link's BACKGROUND lane, so a user command never
+// queues behind it (bench 2026-10-07: the connect-time auto-pick's fetch of
+// pattern 1 lost bytes and held the link for its 60 s timeout; TRIAL_PARAMS
+// waited 57 s). Resolves the ArrayBuffer, or null when no source is allowed;
+// `refusal` (optional out-param) gets the verdict reason.
+async function patByteSource(p, refusal) {
+    const f = Studio.webBytesForName(p.sd_name);
     if (f) return f();
-    if (!Studio.session || !Studio.session.connected || idx == null) {
-        return Promise.reject(new Error('no local copy of ' + sd));
+    const s = Studio.session;
+    const card = s && s.connected && p.index != null ? await cardPatternInfo(p).catch(() => null) : null;
+    const v = PP && typeof PP.liveFetchVerdict === 'function' // a stale cached pat-preview.js lacks it
+        ? PP.liveFetchVerdict(card, { connected: !!(s && s.connected) && p.index != null, running: !!(s && s.running) })
+        : { ok: false, reason: 'unknown-size' };
+    if (!v.ok) {
+        if (refusal) Object.assign(refusal, v, { fileSize: card && card.fileSize });
+        return null;
     }
-    return Studio.session
-        .sendBulkRead(Wire.encodeGetPatternFile(idx), { timeoutMs: 60000 })
-        .then((u8) => u8.buffer);
+    const u8 = await s.sendBulkRead(Wire.encodeGetPatternFile(p.index), { timeoutMs: 10000, background: true });
+    return u8.buffer;
 }
 let patPreviewCache = {};
+let patThumbSeq = 0; // renderPatThumb: only the newest pick draws (its fetch may finish late)
 
 // Autoplay a multi-frame pattern preview as a lightweight looping GIF: cycle the
 // sampled frames on an interval that SELF-CLEARS once the img leaves the DOM (a
@@ -8182,11 +8190,22 @@ <h2 id="modalTitle">Import error</h2>
     host.title = src || canFetchLive
         ? 'Pattern preview (multi-frame patterns animate automatically)'
         : 'No preview — connect to the controller for a live thumbnail, or upload the set / open its course-repo protocol';
+    const seq = ++patThumbSeq;
     try {
         let sampled = patPreviewCache[name];
         if (!sampled) {
             if (!src && !canFetchLive) return;
-            const ab = await patByteSource(p.sd_name, p.index);
+            const refusal = {};
+            const ab = await patByteSource(p, refusal);
+            if (seq !== patThumbSeq) return; // a newer pick owns the thumbnail
+            if (!ab) {
+                host.title = refusal.reason === 'too-large'
+                    ? 'No preview — ' + (refusal.fileSize / 1048576).toFixed(1) + ' MB on the card is too large to fetch over USB for a thumbnail; upload the set or open its course-repo protocol to preview it'
+                    : refusal.reason === 'running'
+                        ? 'No preview while a run is active'
+                        : 'No preview — the controller did not report this pattern’s size';
+                return;
+            }
             const parsed = PatParser.parsePatFile(ab);
             sampled = PP.samplePreviewFrames(parsed, arenaForConfig(m.arenaConfig), {
                 renderIcon: generatePatternIcon,
@@ -8198,13 +8217,20 @@ <h2 id="modalTitle">Import error</h2>
             // count — the closed-loop resolver reads this (patternFramesByName).
             p.preview = { frames: parsed.numFrames };
         }
+        if (seq !== patThumbSeq) return;
         if (!sampled.frames || !sampled.frames.length) return;
         const img = document.createElement('img');
         img.src = sampled.frames[sampled.staticIndex || 0];
         img.alt = name;
         host.appendChild(img);
         if (sampled.frames.length > 1) Studio.startPatAutoplay(img, sampled.frames, sampled.staticIndex || 0);
-    } catch (e) { /* preview is best-effort */ }
+    } catch (e) {
+        // Best-effort. The controller refuses 0x84 while a pattern is displaying
+        // (status 10, CE_DISPLAY_ACTIVE); nothing is cached, so the next pick after STOP retries.
+        if (seq === patThumbSeq && /status=10\b/.test((e && e.message) || '')) {
+            host.title = 'No preview while the display is running — stop it, then pick the pattern again to load its thumbnail';
+        }
+    }
 }
 // Register just-uploaded pattern bytes as picker preview sources, keyed by the
 // on-card filename (== the name we rename to via 0x83). Called by the classic
@@ -8319,12 +8345,32 @@ <h2 id="modalTitle">Import error</h2>
     Studio.updateRunGate(); // the missing-pattern preflight tracks the SD listing
     fillPatternFramesFromCard(m); // frame counts via GET_PATTERN_INFO (the closed-loop index modulus)
 };
-// Frame counts for every card pattern from GET_PATTERN_INFO 0x88 (a header read, ~ms each),
-// filled right after the listing so `patternFramesByName` — which the closed-loop resolver
-// pushes to the bridge as the heading→index modulus — is correct for patterns whose preview
-// was never rendered (an 8 MB pattern is never fetched for a thumbnail; the bridge then used
-// its default of 200 and wrapped the index — bench 2026-09-13, #201). Sequential, single-flight,
-// abandons on a new listing, a disconnect or a run (a run owns the link).
+// GET_PATTERN_INFO 0x88 for one card pattern (a header read, ~2 ms), cached on the listing
+// entry as p.card = { frames, fileSize }; also fills p.preview.frames, the closed-loop modulus.
+// Background lane: it never delays a user command. Null when unknown (old fw, read failed).
+function cardPatternInfo(p) {
+    if (p.card) return Promise.resolve(p.card);
+    if (p.cardReq) return p.cardReq; // the thumbnail and the sweep can ask at once
+    const W = window.ArenaWireG6;
+    const s = Studio.session;
+    if (!W || !W.encodeGetPatternInfo || !s || !s.connected || p.index == null) return Promise.resolve(null);
+    p.cardReq = s.send(W.encodeGetPatternInfo(p.index), { timeoutMs: 1500, silent: true, background: true })
+        .then((resp) => {
+            const info = W.decodePatternInfo(resp);
+            if (!info || !(info.frameCount > 0)) return null;
+            p.card = { frames: info.frameCount, fileSize: info.fileSize };
+            p.preview = Object.assign(p.preview || {}, { frames: info.frameCount });
+            return p.card;
+        })
+        .finally(() => { p.cardReq = null; });
+    return p.cardReq;
+}
+// Frame counts for every card pattern from GET_PATTERN_INFO 0x88, filled right after the
+// listing so `patternFramesByName` — which the closed-loop resolver pushes to the bridge as
+// the heading→index modulus — is correct for patterns whose preview was never rendered (a
+// large pattern is never fetched for a thumbnail; the bridge then used its default of 200
+// and wrapped the index — bench 2026-09-13, #201). Sequential in the link's background lane
+// (a user command goes first), abandons on a new listing, a disconnect or a run.
 let patFramesGen = 0;
 async function fillPatternFramesFromCard(m) {
     const gen = ++patFramesGen;
@@ -8335,8 +8381,7 @@ <h2 id="modalTitle">Import error</h2>
     for (const p of todo) {
         if (gen !== patFramesGen || !Studio.session.connected || Studio.session.running) return;
         try {
-            const info = W.decodePatternInfo(await Studio.session.send(W.encodeGetPatternInfo(p.index), { timeoutMs: 1500, silent: true }));
-            if (info && info.frameCount > 0) { p.preview = Object.assign(p.preview || {}, { frames: info.frameCount }); n++; }
+            if (await cardPatternInfo(p)) n++;
         } catch (_) { /* best effort: the preview path can still fill it later */ }
     }
     if (n && gen === patFramesGen) (Studio.clog || Studio.rawLog || function () {})('pattern frame counts read from the card for ' + n + ' pattern' + (n === 1 ? '' : 's') + ' (GET_PATTERN_INFO)', 'dim');
diff --git a/js/arena-link.js b/js/arena-link.js
index 4f47b5d8..7a2a88e6 100644
--- a/js/arena-link.js
+++ b/js/arena-link.js
@@ -29,6 +29,11 @@
  *   oldest pending await regardless of echo (fine for its one-shot button UI,
  *   too loose for the shared substrate the runner will build on).
  *
+ * Two lanes: a send with `{ background: true }` (connect-time sweeps, thumbnail
+ *   fetches) waits while any foreground send is queued, so a user command never
+ *   queues behind a sweep. FIFO within each lane. Nothing on the wire is
+ *   preempted: a request already in flight (a bulk read included) finishes first.
+ *
  * Gotchas (from the reference README — all still apply):
  *   - Web Serial is Chromium-only (Chrome / Edge / Opera / Brave / Arc) on a
  *     desktop OS. Firefox and Safari do NOT implement navigator.serial — gate
@@ -40,6 +45,11 @@
  *     115200 is a conventional placeholder.
  *   - Only one process can hold the port. Close pio device monitor / dwfpy /
  *     other terminals before connecting.
+ *   - open() asks for a 1 MiB read buffer (`bufferSize`). Chrome's default is
+ *     255 bytes, and with it a fast bulk stream (0x84 file / 0x8A archive) loses
+ *     bytes or ends in "Break received" on macOS: bench 2026-10-07, an 81 KB
+ *     pattern arrived 901 bytes short and the read waited out its timeout.
+ *     With 1 MiB the same file arrives complete in ~9 ms.
  *   - DEBUG_SERIAL firmware builds interleave diagnostic text on the same pipe;
  *     a stray byte is treated as a frame length and can stall the parser behind
  *     a bogus length. The single-flight timeout (which flushes the rx buffer) is
@@ -58,6 +68,8 @@ const ArenaLink = (function () {
 
     const DEFAULT_BAUD_RATE = 115200; // ignored by USB CDC; conventional placeholder
     const DEFAULT_TIMEOUT_MS = 500; // controller replies in well under 1 ms
+    const DEFAULT_BUFFER_SIZE = 1 << 20; // Web Serial read buffer (Chrome default 255 B loses bulk bytes)
+    const DEFAULT_BULK_IDLE_MS = 5000; // a bulk body that stops arriving for this long has lost bytes
     const HEX_LOG_LIMIT = 32; // truncate longer payloads in the trace log
 
     const hex = (bytes) =>
@@ -127,10 +139,12 @@ const ArenaLink = (function () {
             this._inflight = null;
             // Active bulk-read state (set while receiving raw bytes for 0x84). When
             // non-null, _consumeIncoming routes bytes here instead of frame-parsing.
-            // Shape: { remaining, chunks, resolve, reject, timer }
+            // Shape: { remaining, total, chunks, resolve, reject, timer, deadline, idleMs }
             this._bulkRead = null;
-            // Serializes concurrent send() callers into one-at-a-time requests.
-            this._sendQueue = Promise.resolve();
+            // Serializes concurrent send() callers into one-at-a-time requests:
+            // two FIFO lanes, the foreground one always served first (see _pump).
+            this._lanes = { fg: [], bg: [] };
+            this._busy = false;
 
             // Bind so add/removeEventListener share one reference.
             this._handleSerialDisconnect = this._handleSerialDisconnect.bind(this);
@@ -177,6 +191,7 @@ const ArenaLink = (function () {
          * Open the selected port and start the background reader.
          * @param {object} [opts]
          * @param {number} [opts.baudRate=115200]
+         * @param {number} [opts.bufferSize=1048576] Web Serial read buffer, bytes
          */
         async open(opts) {
             this._assertSupported();
@@ -186,7 +201,8 @@ const ArenaLink = (function () {
             if (this._connected) return;
 
             const baudRate = (opts && opts.baudRate) || DEFAULT_BAUD_RATE;
-            await this._port.open({ baudRate });
+            const bufferSize = (opts && opts.bufferSize) || DEFAULT_BUFFER_SIZE;
+            await this._port.open({ baudRate, bufferSize });
             // Remember the USB identity (VID/PID — all Web Serial exposes) so
             // reconnect() can find this device among the granted ports after a
             // firmware reset re-enumerates it.
@@ -316,19 +332,66 @@ const ArenaLink = (function () {
          * @param {number} [opts.expectedCmd] response echo_cmd to correlate on;
          *   defaults to bytes[1]. A stream frame ([0x32, len_lo, len_hi, ...])
          *   carries its opcode at byte 0 (byte 1 is a length), so pass 0x32.
+         * @param {boolean} [opts.background=false] queue in the background lane:
+         *   sent only when no foreground send is waiting (sweeps, prefetches).
          * @returns {Promise<Uint8Array>}
          */
         send(bytes, opts) {
-            // Chain onto the queue so only one request is in flight at a time.
-            // `run` fires whether the previous send resolved or rejected.
-            const run = () => this._sendOne(bytes, opts);
-            const result = this._sendQueue.then(run, run);
-            // Keep the queue tail from rejecting so the next send still chains.
-            this._sendQueue = result.then(
-                () => {},
-                () => {}
+            return this._enqueue(() => this._sendOne(bytes, opts), opts);
+        }
+
+        /**
+         * Requests not yet settled: { foreground, background } still queued and
+         * whether one is on the wire (`inFlight`). For diagnostics and tests.
+         */
+        get pending() {
+            return {
+                foreground: this._lanes.fg.length,
+                background: this._lanes.bg.length,
+                inFlight: this._busy
+            };
+        }
+
+        // Queue `run` (a () => Promise) in its lane; resolves/rejects with it.
+        _enqueue(run, opts) {
+            const lane = opts && opts.background ? this._lanes.bg : this._lanes.fg;
+            return new Promise((resolve, reject) => {
+                lane.push({ run, resolve, reject });
+                this._pump();
+            });
+        }
+
+        // Start the next queued request when none is in flight: foreground lane
+        // first, so a user command waits for at most the one request on the wire.
+        _pump() {
+            if (this._busy) return;
+            const job = this._lanes.fg.shift() || this._lanes.bg.shift();
+            if (!job) return;
+            this._busy = true;
+            // Settle the caller first and start the next request a microtask later,
+            // so a caller sees its reply before anything else goes on the wire (the
+            // order the old single promise chain gave).
+            const next = () =>
+                Promise.resolve().then(() => {
+                    this._busy = false;
+                    this._pump();
+                });
+            let p;
+            try {
+                p = Promise.resolve(job.run());
+            } catch (err) {
+                p = Promise.reject(err);
+            }
+            p.then(
+                (v) => {
+                    job.resolve(v);
+                    next();
+                },
+                (err) => {
+                    job.reject(err);
+                    next();
+                }
             );
-            return result;
         }
 
         /**
@@ -342,21 +405,19 @@ const ArenaLink = (function () {
          * @param {Uint8Array|number[]} bytes request frame
          * @param {object} [opts]
          * @param {number} [opts.timeoutMs=30000] applies to both header and data phases
+         * @param {number} [opts.idleTimeoutMs=5000] data phase: reject when no byte
+         *   arrives for this long (the stream lost bytes) instead of waiting out timeoutMs
+         * @param {boolean} [opts.background=false] queue in the background lane (see send)
          * @returns {Promise<Uint8Array>}
          */
         sendBulkRead(bytes, opts) {
-            const run = () => this._sendOneBulkRead(bytes, opts);
-            const result = this._sendQueue.then(run, run);
-            this._sendQueue = result.then(
-                () => {},
-                () => {}
-            );
-            return result;
+            return this._enqueue(() => this._sendOneBulkRead(bytes, opts), opts);
         }
 
         async _sendOneBulkRead(bytes, opts) {
             if (!this._writer) throw new Error('ArenaLink.sendBulkRead: not connected');
             const timeoutMs = (opts && opts.timeoutMs) || 30000;
+            const idleMs = (opts && opts.idleTimeoutMs) || DEFAULT_BULK_IDLE_MS;
             const payload = bytes instanceof Uint8Array ? bytes : Uint8Array.from(bytes);
             const expectedCmd = opts && opts.expectedCmd != null ? opts.expectedCmd : payload[1];
 
@@ -376,7 +437,7 @@ const ArenaLink = (function () {
                     resolve,
                     reject,
                     timer: null,
-                    bulkInit: { timeoutMs, dataResolve, dataReject }
+                    bulkInit: { timeoutMs, idleMs, dataResolve, dataReject }
                 };
                 entry.timer = setTimeout(() => {
                     if (this._inflight !== entry) return;
@@ -417,6 +478,7 @@ const ArenaLink = (function () {
             const take = Math.min(chunk.length, br.remaining);
             if (take > 0) br.chunks.push(chunk.slice(0, take));
             br.remaining -= take;
+            if (br.remaining > 0 && take > 0) this._armBulkTimer(br); // still arriving
             if (br.remaining <= 0) {
                 clearTimeout(br.timer);
                 this._bulkRead = null;
@@ -433,6 +495,37 @@ const ArenaLink = (function () {
             return take;
         }
 
+        // (Re)start the bulk body's timer: fire after `idleMs` without a byte
+        // (bytes were lost — fail fast, the queue behind it is waiting) or at the
+        // overall deadline, whichever comes first. Called on every chunk.
+        _armBulkTimer(br) {
+            clearTimeout(br.timer);
+            const left = Math.max(0, br.deadline - Date.now());
+            const stalled = left > br.idleMs;
+            br.timer = setTimeout(
+                () => {
+                    if (this._bulkRead !== br) return;
+                    this._bulkRead = null;
+                    this._rxBuf = new Uint8Array(0); // a partial body must not be read as frames
+                    const got = br.total - br.remaining;
+                    br.reject(
+                        new Error(
+                            stalled
+                                ? 'bulk-read data stalled: got ' +
+                                      got +
+                                      '/' +
+                                      br.total +
+                                      ' bytes, none for ' +
+                                      br.idleMs +
+                                      ' ms'
+                                : 'bulk-read data timeout: got ' + got + '/' + br.total + ' bytes'
+                        )
+                    );
+                },
+                stalled ? br.idleMs : left
+            );
+        }
+
         async _sendOne(bytes, opts) {
             if (!this._writer) throw new Error('ArenaLink.send: not connected');
             const timeoutMs = (opts && opts.timeoutMs) || DEFAULT_TIMEOUT_MS;
@@ -651,27 +744,20 @@ const ArenaLink = (function () {
                         entry.resolve(frame);
                         continue;
                     }
-                    // Set up bulk drain.
+                    // Set up bulk drain: overall deadline timeoutMs from now, and
+                    // an idle limit re-armed on every chunk (_armBulkTimer).
                     const bi = entry.bulkInit;
-                    const bulkTimer = setTimeout(() => {
-                        if (this._bulkRead) {
-                            const got = sz - this._bulkRead.remaining;
-                            this._bulkRead = null;
-                            bi.dataReject(
-                                new Error(
-                                    'bulk-read data timeout: got ' + got + '/' + sz + ' bytes'
-                                )
-                            );
-                        }
-                    }, bi.timeoutMs);
                     this._bulkRead = {
                         remaining: sz,
                         total: sz,
                         chunks: [],
                         resolve: bi.dataResolve,
                         reject: bi.dataReject,
-                        timer: bulkTimer
+                        timer: null,
+                        deadline: Date.now() + bi.timeoutMs,
+                        idleMs: bi.idleMs || DEFAULT_BULK_IDLE_MS
                     };
+                    this._armBulkTimer(this._bulkRead);
                     // Drain any file bytes that already arrived with the header frame.
                     const leftover = this._rxBuf;
                     this._rxBuf = new Uint8Array(0);
diff --git a/js/arena-session.js b/js/arena-session.js
index e20ad252..eb5f8e3a 100644
--- a/js/arena-session.js
+++ b/js/arena-session.js
@@ -345,9 +345,11 @@
          * ArenaWireG6.decodeResponse; do NOT slice). Queues FIFO behind any
          * in-flight send.
          * @param {Uint8Array|number[]} bytes
-         * @param {object} [opts] {expectedCmd?, timeoutMs?, silent?} — pass expectedCmd:0x32 for
-         *        STREAM_FRAME; `silent: true` skips the bridge command log (for meta traffic
-         *        such as the telemetry drain's 0xA9 requests, whose payload IS the log).
+         * @param {object} [opts] {expectedCmd?, timeoutMs?, silent?, background?} — pass
+         *        expectedCmd:0x32 for STREAM_FRAME; `silent: true` skips the bridge command
+         *        log (for meta traffic such as the telemetry drain's 0xA9 requests, whose
+         *        payload IS the log); `background: true` queues behind every foreground
+         *        send (connect-time sweeps, prefetches — see ArenaLink "Two lanes").
          * @returns {Promise<Uint8Array>}
          */
         send(bytes, opts) {
@@ -419,7 +421,7 @@
          * Bulk-read variant: send a request, then stream response chunks until
          * the controller signals EOF. See ArenaLink.sendBulkRead for details.
          * @param {Uint8Array|number[]} bytes
-         * @param {object} [opts] {timeoutMs?}
+         * @param {object} [opts] {timeoutMs?, idleTimeoutMs?, background?}
          * @returns {Promise<Uint8Array>}
          */
         sendBulkRead(bytes, opts) {
diff --git a/js/pat-preview.js b/js/pat-preview.js
index b1e9b6ad..41059fed 100644
--- a/js/pat-preview.js
+++ b/js/pat-preview.js
@@ -21,6 +21,27 @@
 
     var DEFAULT_MAX = 10;
     var DEFAULT_SIZE = 72;
+    // Largest card-only pattern a thumbnail may download over USB. The controller can
+    // only send the WHOLE file (GET_PATTERN_FILE 0x84, no ranged read), and nothing else
+    // can use the link while it streams (~10 MB/s), so a bigger file gets no thumbnail.
+    var LIVE_FETCH_MAX_BYTES = 1 << 20;
+
+    /**
+     * May a thumbnail download a card-only pattern over USB right now?
+     * @param info  GET_PATTERN_INFO decode for it ({ fileSize, … }) or null when unknown.
+     * @param state { connected, running } — a run owns the link.
+     * @returns { ok, reason } — reason ∈ 'offline' | 'running' | 'unknown-size' | 'too-large'.
+     */
+    function liveFetchVerdict(info, state) {
+        if (!state || !state.connected) return { ok: false, reason: 'offline' };
+        if (state.running) return { ok: false, reason: 'running' };
+        var size = info && info.fileSize;
+        if (typeof size !== 'number' || !isFinite(size) || size <= 0) {
+            return { ok: false, reason: 'unknown-size' };
+        }
+        if (size > LIVE_FETCH_MAX_BYTES) return { ok: false, reason: 'too-large' };
+        return { ok: true, reason: null };
+    }
 
     /**
      * Pick up to `max` evenly-spaced frame indices from a [0, numFrames) range.
@@ -139,6 +160,8 @@
     var PatPreview = {
         DEFAULT_MAX: DEFAULT_MAX,
         DEFAULT_SIZE: DEFAULT_SIZE,
+        LIVE_FETCH_MAX_BYTES: LIVE_FETCH_MAX_BYTES,
+        liveFetchVerdict: liveFetchVerdict,
         pickFrameIndices: pickFrameIndices,
         renderFlatFrame: renderFlatFrame,
         samplePreviewFrames: samplePreviewFrames
diff --git a/tests/test-arena-link.js b/tests/test-arena-link.js
index f59843e9..c47089b2 100644
--- a/tests/test-arena-link.js
+++ b/tests/test-arena-link.js
@@ -117,8 +117,9 @@ class FakePort {
         this.opened = false;
         this.closed = false;
     }
-    async open() {
+    async open(opts) {
         this.opened = true;
+        this.openOpts = opts;
     }
     async close() {
         this.closed = true;
@@ -175,6 +176,19 @@ const REQ_SPI = '01 c6';
 const RESP_INFO = Uint8Array.from([0x04, 0x00, 0xc2, 0x02, 0x11]); // echo 0xC2
 const RESP_SPI = Uint8Array.from([0x04, 0x00, 0xc6, 0x14, 0x00]); // echo 0xC6
 
+// GET_PATTERN_FILE (0x84) header frame [10, status 0, 0x84, size u64 LE] + a body.
+function fileHeader(size) {
+    const h = new Uint8Array(11);
+    h[0] = 10;
+    h[2] = 0x84;
+    h[3] = size & 0xff;
+    h[4] = (size >> 8) & 0xff;
+    h[5] = (size >> 16) & 0xff;
+    h[6] = (size >>> 24) & 0xff;
+    return h;
+}
+const fileBody = (n) => Uint8Array.from({ length: n }, (_, i) => i & 0xff);
+
 async function main() {
     console.log('=== feature detection ===');
     delete global.navigator;
@@ -361,6 +375,160 @@ async function main() {
         await link.close();
     }
 
+    console.log(
+        '\n=== open(): 1 MiB Web Serial read buffer (Chrome default 255 B loses bulk bytes) ==='
+    );
+    {
+        const { link, reader, port } = setup();
+        await link.connect();
+        checkBool(
+            'default bufferSize is 1 MiB',
+            port.openOpts && port.openOpts.bufferSize === 1 << 20,
+            JSON.stringify(port.openOpts)
+        );
+        checkBool('baudRate still passed', port.openOpts && port.openOpts.baudRate === 115200);
+        reader.cancel();
+        await link.close();
+    }
+    {
+        const { link, reader, port } = setup();
+        await link.connect({ bufferSize: 4096 });
+        checkBool('bufferSize override honored', port.openOpts.bufferSize === 4096);
+        reader.cancel();
+        await link.close();
+    }
+
+    console.log('\n=== bulk read (0x84): body across chunks, stall detection ===');
+    {
+        const { link, reader } = setup();
+        await link.connect();
+        const p = link.sendBulkRead(Wire.encodeGetPatternFile(1), { timeoutMs: 2000 });
+        await flush();
+        const body = fileBody(600);
+        const first = new Uint8Array(11 + 100);
+        first.set(fileHeader(600), 0);
+        first.set(body.subarray(0, 100), 11);
+        reader.push(first); // header + the first body bytes in one chunk
+        reader.push(body.subarray(100, 400));
+        reader.push(body.subarray(400));
+        const data = await p;
+        checkBool('bulk body reassembled', data.length === 600 && data[599] === body[599]);
+        reader.cancel();
+        await link.close();
+    }
+    {
+        // Bench 2026-10-07: the body arrived ~1 KB short and the read waited out its
+        // full timeout while every later command queued behind it.
+        const { link, reader } = setup();
+        await link.connect();
+        const t0 = Date.now();
+        const p = link.sendBulkRead(Wire.encodeGetPatternFile(1), {
+            timeoutMs: 5000,
+            idleTimeoutMs: 40
+        });
+        await flush();
+        reader.push(fileHeader(1000));
+        reader.push(fileBody(700)); // 300 bytes never come
+        await checkRejects('short body rejects as stalled', p, /stalled: got 700\/1000 bytes/);
+        checkBool('rejected at the idle limit, not the 5 s timeout', Date.now() - t0 < 1000);
+        // The queue is free again: the next command goes out and resolves.
+        const q = link.send(Wire.encodeGetControllerInfo());
+        await flush();
+        reader.push(RESP_INFO);
+        checkBytes('next command works after a stalled bulk read', await q, '04 00 c2 02 11');
+        reader.cancel();
+        await link.close();
+    }
+    {
+        // A slow but steady stream that outlasts the idle limit still completes.
+        const { link, reader } = setup();
+        await link.connect();
+        const p = link.sendBulkRead(Wire.encodeGetPatternFile(1), {
+            timeoutMs: 5000,
+            idleTimeoutMs: 40
+        });
+        await flush();
+        reader.push(fileHeader(500));
+        for (let i = 0; i < 5; i++) {
+            await flush(25); // 5 × 25 ms > the 40 ms idle limit in total
+            reader.push(fileBody(100));
+        }
+        const data = await p.catch((e) => e);
+        checkBool('steady slow body completes', data instanceof Uint8Array && data.length === 500);
+        reader.cancel();
+        await link.close();
+    }
+
+    console.log('\n=== background lane: user commands go first ===');
+    {
+        const { link, reader, writer } = setup();
+        await link.connect();
+        const order = [];
+        const b1 = link.send(Wire.encodeGetPatternInfo(1), { background: true });
+        const b2 = link.send(Wire.encodeGetPatternInfo(2), { background: true });
+        const b3 = link.send(Wire.encodeGetPatternInfo(3), { background: true });
+        await flush();
+        checkBool('background request goes out when idle', writer.writes.length === 1);
+        checkBool(
+            'two background requests wait',
+            link.pending.background === 2 && link.pending.inFlight,
+            JSON.stringify(link.pending)
+        );
+        const fg = link.send(Wire.encodeGetSpiClock()); // the user's command
+        const reply88 = (i) => [0x0e, 0x00, 0x88, i, 0, 2, 2, 10, 0, 0, 0, 0, 0, 0, 0];
+        reader.push(reply88(1)); // finishes the in-flight background request
+        await b1;
+        await flush();
+        checkBytes('the user command jumps the background queue', writer.writes[1], REQ_SPI);
+        reader.push(RESP_SPI);
+        await fg;
+        await flush();
+        reader.push(reply88(2));
+        await b2;
+        await flush();
+        reader.push(reply88(3));
+        await b3;
+        writer.writes.forEach((w) => order.push(w[1].toString(16) + (w[2] ? ':' + w[2] : '')));
+        checkBool(
+            'then the background lane resumes in order',
+            order.join(' ') === '88:1 c6 88:2 88:3',
+            order.join(' ')
+        );
+        reader.cancel();
+        await link.close();
+    }
+    {
+        // A failed background request does not stall the queue.
+        const { link, reader } = setup();
+        await link.connect();
+        const b = link.send(Wire.encodeGetPatternInfo(1), { background: true, timeoutMs: 20 });
+        const f = link.send(Wire.encodeGetControllerInfo());
+        await checkRejects('background request times out', b, /timeout/);
+        await flush();
+        reader.push(RESP_INFO);
+        checkBytes('queued foreground request still runs', await f, '04 00 c2 02 11');
+        reader.cancel();
+        await link.close();
+    }
+    {
+        // Callers see their reply before the next queued request is written.
+        const { link, reader, writer } = setup();
+        await link.connect();
+        let writesAtResolve = -1;
+        const p1 = link.send(Wire.encodeGetControllerInfo()).then(() => {
+            writesAtResolve = writer.writes.length;
+        });
+        const p2 = link.send(Wire.encodeGetSpiClock()).catch(() => {}); // close() rejects it
+        await flush();
+        reader.push(RESP_INFO);
+        await p1;
+        checkBool('next request not yet written when the caller resumes', writesAtResolve === 1);
+        reader.push(RESP_SPI);
+        await p2;
+        reader.cancel();
+        await link.close();
+    }
+
     console.log('\n=== reconnect(): granted-port reopen without a gesture (fw #50 recovery) ===');
     {
         // Same port still valid (no re-enumeration): reopen it.
diff --git a/tests/test-pat-preview.js b/tests/test-pat-preview.js
index 0107c532..eecd7e88 100644
--- a/tests/test-pat-preview.js
+++ b/tests/test-pat-preview.js
@@ -129,6 +129,35 @@ checkBool(
     PP.renderFlatFrame(new Uint8Array(10), 2, 5, 2, 64) === null
 );
 
+// ── 5. liveFetchVerdict: when a thumbnail may download a card-only pattern ────────
+// The controller sends only whole files (0x84) and nothing else can use the link
+// meanwhile, so: size must be known and ≤ 1 MiB, connected, no run active.
+console.log('\n=== liveFetchVerdict ===');
+const idle = { connected: true, running: false };
+check('LIVE_FETCH_MAX_BYTES is 1 MiB', PP.LIVE_FETCH_MAX_BYTES, 1 << 20);
+check(
+    '81 KB color grating (bench pattern 1) → ok',
+    PP.liveFetchVerdict({ fileSize: 81338 }, idle),
+    {
+        ok: true,
+        reason: null
+    }
+);
+check('exactly the cap → ok', PP.liveFetchVerdict({ fileSize: 1 << 20 }, idle).ok, true);
+check('8 MB pattern → too-large', PP.liveFetchVerdict({ fileSize: 8e6 }, idle).reason, 'too-large');
+check('size unknown → refused', PP.liveFetchVerdict(null, idle).reason, 'unknown-size');
+check('size 0 → refused', PP.liveFetchVerdict({ fileSize: 0 }, idle).reason, 'unknown-size');
+check(
+    'run active → refused (a run owns the link)',
+    PP.liveFetchVerdict({ fileSize: 1000 }, { connected: true, running: true }).reason,
+    'running'
+);
+check(
+    'not connected → offline',
+    PP.liveFetchVerdict({ fileSize: 1000 }, { connected: false }).reason,
+    'offline'
+);
+
 console.log('\n=== Summary ===');
 console.log(`${totalChecks - failures} / ${totalChecks} checks passed`);
 process.exit(failures === 0 ? 0 : 1);
diff --git a/tests/test-studio-link-priority.js b/tests/test-studio-link-priority.js
new file mode 100644
index 00000000..8474486d
--- /dev/null
+++ b/tests/test-studio-link-priority.js
@@ -0,0 +1,83 @@
+#!/usr/bin/env node
+/**
+ * Arena Studio connect-time traffic must never queue ahead of a user command.
+ *
+ * Bench 2026-10-07 (rig cshl_g6_2x10_ball, 24 patterns on the card): the first
+ * TRIAL_PARAMS after Connect was acknowledged 57 s late. The SD listing auto-picks
+ * pattern 1 and the picker thumbnail downloaded the whole file (0x84); with
+ * Chrome's default 255-byte Web Serial buffer the body arrived 901 bytes short,
+ * and the single-flight link waited out the read's 60 s timeout with the
+ * GET_PATTERN_INFO sweep and the user's command queued behind it.
+ *
+ * The transport half (1 MiB bufferSize, bulk stall timeout, background lane) is
+ * tested in tests/test-arena-link.js; this file pins the Studio call sites to it.
+ */
+'use strict';
+
+const fs = require('fs');
+const path = require('path');
+
+const studio = fs.readFileSync(path.join(__dirname, '..', 'arena_studio.html'), 'utf8');
+
+let totalChecks = 0;
+let failures = 0;
+function check(name, ok, detail) {
+    totalChecks++;
+    console.log(`  ${ok ? 'PASS' : 'FAIL'}  ${name}${!ok && detail ? ' — ' + detail : ''}`);
+    if (!ok) failures++;
+}
+// Source of a top-level function in the module block, up to the next top-level one.
+function fnBody(signature) {
+    const a = studio.indexOf(signature);
+    if (a < 0) return '';
+    const b = studio
+        .slice(a + signature.length)
+        .search(/\n(?:async )?function |\nlet |\nconst |\nStudio\./);
+    return b < 0 ? studio.slice(a) : studio.slice(a, a + signature.length + b);
+}
+
+console.log('=== GET_PATTERN_INFO sweep (closed-loop frame counts, #201) ===');
+const info = fnBody('function cardPatternInfo(p)');
+check('cardPatternInfo found', info.length > 0);
+check(
+    '0x88 goes in the background lane',
+    /encodeGetPatternInfo\(p\.index\)[^)]*background: true/.test(info)
+);
+check(
+    'caches frames + file size on the entry',
+    /p\.card = \{ frames: info\.frameCount, fileSize: info\.fileSize \}/.test(info)
+);
+check(
+    'keeps preview.frames, the closed-loop modulus',
+    /p\.preview = Object\.assign\(p\.preview \|\| \{\}, \{ frames: info\.frameCount \}\)/.test(info)
+);
+const sweep = fnBody('async function fillPatternFramesFromCard(m)');
+check('sweep found', sweep.length > 0);
+check('sweep reads through cardPatternInfo', /await cardPatternInfo\(p\)/.test(sweep));
+check('sweep sends no foreground 0x88 of its own', !/session\.send\(/.test(sweep));
+check('sweep still stops for a run', /Studio\.session\.running\) return/.test(sweep));
+
+console.log('\n=== picker thumbnail live fetch ===');
+const src = fnBody('async function patByteSource(p, refusal)');
+check('patByteSource found', src.length > 0);
+check('in-memory sources first', /Studio\.webBytesForName\(p\.sd_name\)/.test(src));
+check(
+    'gated by PatPreview.liveFetchVerdict (size known, ≤ 1 MiB, no run)',
+    /PP\.liveFetchVerdict\(card,/.test(src)
+);
+check(
+    '0x84 goes in the background lane',
+    /encodeGetPatternFile\(p\.index\), \{[^}]*background: true/.test(src)
+);
+check('no 60 s thumbnail fetch', !/timeoutMs: 60000/.test(src));
+const thumb = fnBody('async function renderPatThumb(name)');
+check('renderPatThumb found', thumb.length > 0);
+check('only the newest pick draws', (thumb.match(/seq !== patThumbSeq/g) || []).length >= 2);
+check(
+    'no other live 0x84 fetch in the picker/preview code',
+    (studio.match(/sendBulkRead\(Wire\.encodeGetPatternFile\(/g) || []).length === 2,
+    'expected exactly patByteSource + the SD table Download button'
+);
+
+console.log(`\n=== Summary ===\n${totalChecks - failures} / ${totalChecks} checks passed`);
+process.exit(failures > 0 ? 1 : 0);

From 564fecdd1dce8cbfd1148b2cc5bcf653cb7a20bb Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Mon, 12 Oct 2026 16:17:41 -0400
Subject: [PATCH 10/96] =?UTF-8?q?feat(studio):=20Console=20=E2=86=92=20Qwi?=
 =?UTF-8?q?ic=20=E2=80=94=20scan,=20identify=20and=20test=20the=20Qwiic=20?=
 =?UTF-8?q?peripherals=20(LAB-214,=20Studio=20v0.96)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

- js/arena-wire-g6.js: GET_I2C_SCAN 0xB0 / I2C_TRANSFER 0xB1 encoders + decoders
  (status text, "No Qwiic jack" detection) with golden tests.
- js/qwiic-drivers.js (new): host register maps ported from the firmware repo's
  tests/qwiic_sensors.py + qwiic_peripherals.py — SHT4x (two-leg read, CRC),
  LSM6DSOX (tilt, latched bump: LIR + INT_CLR_ON_READ + INT1 routing), TSL2591,
  VEML7700, AS7343 (releases the bus while integrating), PCA9685 (ALLCALL off,
  servo pulse), PCA9548; an async bus mutex; all-call shadow decided from MODE1;
  the KINDS registry is the one place to add or drop a part.
- js/studio-qwiic.js (new): rig `peripherals:` parser (tolerant, warnings), the
  scan-vs-YAML check in both directions (declared-but-missing = error,
  attached-but-undeclared = warning), setup, chip, "Copy as rig YAML".
- arena_studio.html: one Console "Qwiic" window (Scan → device dropdown → one
  device's readout in display units; bump check; servo go-to-position), a
  connect-time setup scan and a top-bar chip. Every I2C command is gated on the
  0xC2 qwiic_i2c feature bit: controllers without the jack are never sent any.
  Test only — nothing is written to run logs (that is PR 2).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 arena_studio.html                             |  684 ++++++++-
 .../development/arena-studio-release-notes.md |    7 +
 js/arena-wire-g6.js                           |   92 ++
 js/qwiic-drivers.js                           | 1230 +++++++++++++++++
 js/studio-qwiic.js                            |  608 ++++++++
 tests/test-arena-wire-g6.js                   |   83 ++
 tests/test-qwiic-drivers.js                   |  555 ++++++++
 tests/test-studio-analog-in.js                |    2 +-
 tests/test-studio-qwiic.js                    |  520 +++++++
 tests/test-studio-shell.js                    |    2 +-
 10 files changed, 3775 insertions(+), 8 deletions(-)
 create mode 100644 js/qwiic-drivers.js
 create mode 100644 js/studio-qwiic.js
 create mode 100644 tests/test-qwiic-drivers.js
 create mode 100644 tests/test-studio-qwiic.js

diff --git a/arena_studio.html b/arena_studio.html
index 0cd898fb..9bdec4b7 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -213,6 +213,13 @@
   .rig-tag{font-size:11px;color:var(--dim);border:1px solid var(--border);border-radius:20px;padding:2px 8px;white-space:nowrap;cursor:pointer;max-width:220px;overflow:hidden;text-overflow:ellipsis}
   .rig-tag:hover{border-color:var(--accent);color:var(--text)}
   .chip.rig-mismatch{color:var(--warn);border-color:var(--warn);background:color-mix(in srgb,var(--warn) 8%,transparent);cursor:help}
+  /* Qwiic chip (LAB-214): shown only on controllers with the I2C bridge; click → Console → Qwiic */
+  .chip.qwiic-chip{cursor:pointer}
+  body:not(.hasproto) .chip.qwiic-chip{display:inline-block} /* bench state, not protocol state: shown with no protocol loaded (inline display:none still hides it) */
+  .chip.qw-ok{color:var(--accent);border-color:var(--accent);background:color-mix(in srgb,var(--accent) 8%,transparent)}
+  .chip.qw-warn{color:var(--warn);border-color:var(--warn);background:color-mix(in srgb,var(--warn) 8%,transparent)}
+  .chip.qw-err{color:var(--danger);border-color:var(--danger);background:color-mix(in srgb,var(--danger) 8%,transparent)}
+  .chip.qw-off{color:var(--dim);border-color:var(--border)}
   .doc-name{font-family:var(--head);font-weight:700;font-size:12.5px;white-space:nowrap}
   .chip{font-family:var(--mono);font-size:11px;font-weight:600;border-radius:20px;padding:2px 8px;border:1px solid;white-space:nowrap}
   .chip.saved{color:var(--accent);border-color:var(--accent);background:color-mix(in srgb,var(--accent) 8%,transparent)}
@@ -2229,6 +2236,21 @@
   .console-view .ai-range{font-size:10px;color:var(--dim);min-width:130px}
   .console-view #cAiChart{display:block;width:100%;max-width:460px;height:90px;border:1px solid var(--border);border-radius:4px;background:var(--chart-bg)}
   .console-view .ai-table{font-size:10.5px;border-collapse:collapse}
+  /* Qwiic panel (LAB-214): scan table, one-device readout grid, AS7343 spectrum bars */
+  .console-view .qw-table td,.console-view .qw-table th{padding:2px 8px 2px 0;text-align:left;vertical-align:top}
+  .console-view .qw-flags{font-size:11px;line-height:1.5}
+  .console-view .qw-out{display:block}
+  .console-view .qw-title{font-family:var(--head);font-size:12px;margin-bottom:4px}
+  .console-view .qw-grid{display:grid;grid-template-columns:max-content max-content;gap:2px 14px;align-items:baseline}
+  .console-view .qw-l{color:var(--dim);font-size:11px}
+  .console-view .qw-v{font-family:var(--head);font-size:15px;color:var(--text)}
+  .console-view .qw-bars{grid-column:1 / -1;display:flex;gap:3px;align-items:flex-end;height:74px;margin-top:4px}
+  .console-view .qw-bar{display:flex;flex-direction:column;align-items:center;justify-content:flex-end;height:100%;width:26px}
+  .console-view .qw-bar i{display:block;width:16px;background:var(--accent);opacity:.85;border-radius:2px 2px 0 0}
+  .console-view .qw-bar span{font-size:9px;color:var(--dim);margin-top:2px}
+  .qw-ok-t{color:var(--accent)}
+  .qw-warn-t{color:var(--warn)}
+  .qw-err-t{color:var(--danger)}
   .console-view .ai-table td,.console-view .ai-table th{padding:1px 10px 1px 0;text-align:right;color:var(--text);font-family:var(--mono)}
   .console-view .ai-table th{color:var(--dim);font-weight:normal}
   .console-view .ai-table td.bad{color:var(--danger-text)}
@@ -2254,6 +2276,7 @@
     .console-view .stage>.panel[data-panel="fw"]{order:7}
     .console-view .stage>.panel[data-panel="ai"]{order:8}
     .console-view .stage>.panel[data-panel="fictrac"]{order:9}
+    .console-view .stage>.panel[data-panel="qwiic"]{order:10}
   }
   /* Outer panel box: soft near-white 1.5px edge so panels stay distinct on a
      dark monitor in a lit room (grey var(--border) washed out). Internal
@@ -2356,6 +2379,7 @@
   <span class="rig-tag" id="rigTag" role="button" tabindex="0" title="Bench rig — click to see or change it in ⚙ Settings">rig —</span>
   <span class="chip rig-mismatch" id="rigMismatch" style="display:none" title="Session (bench) rig differs from the loaded protocol's rig: field — the bench geometry wins for Console/stream operations; the protocol still runs with its own rig. Unlock the rig selector in ⚙ Settings to reconcile, or load a matching protocol.">⚠ bench ≠ protocol</span>
   <span class="chip rig-mismatch" id="benchMacChip" style="display:none" title="The connected controller's MAC (0xC2) does not match the course roster's entry for this bench id — the wrong bench id would namespace saves/run-logs under another bench. See instructor.">⚠ bench ≠ roster</span>
+  <span class="chip qwiic-chip qw-off" id="qwiicChip" style="display:none" role="button" tabindex="0" title="Qwiic peripherals: the connect-time scan compared with the rig YAML. Click: open Console → Qwiic">Qwiic</span>
   <!-- v6 top-bar diet: device line hidden (arena+fw now on the status-dot
        hover); still written by updateDeviceLine so nothing depends on absence. -->
   <span class="arena" id="deviceLine" hidden><b>—</b></span>
@@ -3068,6 +3092,7 @@ <h2 id="modalTitle">Import error</h2>
         <div class="rail-btn sel" data-panel="test" role="checkbox" tabindex="0" aria-checked="true" title="Test figures + one-off frames">Test display<span class="sub">GS16</span></div>
         <div class="rail-btn" data-panel="io" role="checkbox" tabindex="0" aria-checked="false" title="Analog / digital BNCs on the controller">I/O<span class="sub" id="cIoSum">AO – · DIO –</span></div>
         <div class="rail-btn" data-panel="ai" role="checkbox" tabindex="0" aria-checked="false" title="Live readout of both 'Analog In (±10V)' BNCs — preview at up to 10 Hz, min/max, strip chart, and the Analog Out → Analog In loopback self-test">Analog In<span class="sub" id="cAiSum">AI1 – · AI2 –</span></div>
+        <div class="rail-btn" data-panel="qwiic" role="checkbox" tabindex="0" aria-checked="false" title="Qwiic / STEMMA QT jack — scan the I2C bus, pick one device, see its readings; servo go-to-position. Test only (nothing logged).">Qwiic<span class="sub" id="cQwSum">—</span></div>
         <div class="rail-btn sel" data-panel="led" role="checkbox" tabindex="0" aria-checked="true" title="Stimulus LED — set brightness % or turn off (BuckPuck on Analog Out)">LED<span class="sub">BuckPuck</span></div>
         <div class="rail-btn" data-panel="fw" role="checkbox" tabindex="0" aria-checked="false" title="Program the panels’ firmware">Panel firmware<span class="sub" id="cFwSum">flash · verify</span></div>
         <div class="rail-btn sel" data-panel="fictrac" role="checkbox" tabindex="0" aria-checked="true" title="Closed loop from the FicTrac bridge">FicTrac<span class="sub" id="cFtSum">ws · idle</span></div>
@@ -3220,6 +3245,47 @@ <h2 id="modalTitle">Import error</h2>
           </div>
         </section>
 
+        <section class="panel" data-panel="qwiic">
+          <div class="panel-h"><span class="panel-title" title="GET_I2C_SCAN 0xB0 · I2C_TRANSFER 0xB1 — the Qwiic / STEMMA QT jack (arena_12-18 J2, 0xC2 feature bit 1). All sensor logic is host-side (js/qwiic-drivers.js). Explore/test only: nothing in this panel is written to run logs.">Qwiic</span><span class="spacer"></span><span class="dim" id="cQwStatus" title="Panel state — reads pause by themselves while a run is active or the link is down">connect to scan</span><span class="panel-x" data-close="qwiic" role="button" title="Collapse to the rail (live readout keeps its state)">✕</span></div>
+          <div class="panel-b">
+          <div class="crow"><span class="lbl" title="The I2C bus behind the Qwiic jack">bus</span>
+            <button class="pill" data-cmd="cqwscan" title="Scan the Qwiic bus (GET_I2C_SCAN 0xB0), map any PCA9548 mux, identify every supported part and compare with the session rig's peripherals: list. Refused during a run — the scan stalls the controller ~10 ms.">Scan</button>
+            <button class="pill" id="cQwYaml" data-cmd="cqwyaml" disabled title="Copy a rig YAML peripherals: snippet for what the scan found (only the undeclared devices when the rig already declares some) — paste it into configs/rigs/&lt;rig&gt;.yaml">Copy as rig YAML</button>
+            <span class="dim" id="cQwScanSum" title="Addresses that ACKed the last scan"></span></div>
+          <div class="crow qw-flags" id="cQwFlags" style="display:none"></div>
+          <div class="crow" id="cQwTableRow" style="display:none"><table class="ai-table qw-table" id="cQwTable"></table></div>
+          <div class="crow"><span class="lbl" title="One device at a time">device</span>
+            <select id="cQwDev" disabled title="Devices found and identified by the last scan — pick one to see its readings"><option value="">— scan first —</option></select>
+            <button class="pill" data-cmd="cqwread" title="Read the selected device once (configures it first if needed)">Read</button>
+            <button class="pill" id="cQwLive" data-cmd="cqwlive" aria-pressed="false" title="Start / stop a live readout of the selected device at the chosen rate; pauses by itself during a run">Live</button>
+            <label title="Live readout rate (Console preview only)">rate <select id="cQwRate"><option value="1">1 Hz</option><option value="2">2 Hz</option><option value="0.5">0.5 Hz</option></select></label>
+            <button class="pill" id="cQwCsv" data-cmd="cqwcsv" disabled title="Download the readings collected in this session for the selected device as CSV (a Console scratch file — not a run log)">Download CSV</button></div>
+          <div class="crow" id="cQwOpts" style="display:none"></div>
+          <div class="crow qw-out" id="cQwOut"><span class="dim">Scan to list the devices on the Qwiic jack</span></div>
+          <div class="crow" id="cQwBump" style="display:none"><span class="lbl" title="LSM6DSOX wake-up detector as a latched 'bumped since last check' flag">bump</span>
+            <label title="Wake-up threshold in g: 0.05–2 (resolution 31 mg at ±2 g)">threshold <input id="cQwBumpG" type="number" min="0.05" max="2" step="0.05" value="0.25" style="width:58px"> g</label>
+            <button class="pill" data-cmd="cqwbumparm" title="Arm the latched bump flag (LIR + INT_CLR_ON_READ + INT1 routing) at this threshold">Arm</button>
+            <button class="pill" data-cmd="cqwbumpcheck" title="Read the bump flag — this CLEARS the latch (it is read-to-clear). Disabled during runs: the run's trial logger owns it.">Check (clears)</button>
+            <span class="dim" id="cQwBumpOut"></span> <span class="dim" id="cQwBumpNote"></span></div>
+          <div id="cQwServo" style="display:none">
+            <div class="crow"><span class="lbl" title="PCA9685 servo driver (e.g. SparkFun Servo pHAT)">servo</span>
+              <select id="cQwSvCh" title="PWM channel 0–15 (named channels come from the rig YAML channels:)"></select>
+              <input id="cQwSvUs" type="range" min="1000" max="2000" step="10" value="1500" style="width:140px" title="Pulse width in µs — releasing the slider moves the servo">
+              <input id="cQwSvNum" type="number" min="1000" max="2000" step="10" value="1500" style="width:64px" title="Pulse width in µs (clamped to the channel's limits)"><span class="dim">µs</span>
+              <span class="dim" id="cQwSvLim" title="Allowed pulse range for this channel">1000–2000 µs</span>
+              <label title="Widen the range to 500–2500 µs (asks first — many servos stall at their end stops)"><input type="checkbox" id="cQwSvWide"> wide</label></div>
+            <div class="crow"><span class="lbl"></span>
+              <button class="pill" data-cmd="cqwsvgo" title="Move the selected channel to the pulse width above (configures 50 Hz PWM on first use) and read the count back">Go</button>
+              <button class="pill" data-cmd="cqwsvcenter" title="Move to the middle of the channel's range (1500 µs by default)">Center</button>
+              <button class="pill" data-cmd="cqwsvrelease" title="Release the selected channel (full OFF — the servo goes limp, no holding torque)">Release</button>
+              <button class="pill" data-cmd="cqwsvalloff" title="Release all 16 channels">All off</button>
+              <span class="dim" id="cQwSvOut"></span></div>
+            <div class="crow"><span class="dim" style="font-size:10.5px">Power: the servo rail and the PCA9685 logic come from the board's own supply (the Servo pHAT's USB-C), never the Qwiic 3.3 V. Unpowered, the board is simply absent from the scan.</span></div>
+          </div>
+          <div class="crow" style="margin-bottom:0"><span class="dim" style="font-size:10.5px">Test only — readings here are not written to run logs. Declare devices in the rig YAML (peripherals:) for run logging; Copy as rig YAML gives you the entries.</span></div>
+          </div>
+        </section>
+
         <section class="panel open" data-panel="led">
           <div class="panel-h"><span class="panel-title" title="Stimulus LED via the BuckPuck driver on the 'Analog Out (0-5V)' BNC (0xA0). Power % maps to control voltage (mV); OFF = 5000 mV dark.">LED</span><span class="spacer"></span><span class="panel-x" data-close="led" role="button" title="Collapse to the rail">✕</span></div>
           <div class="panel-b">
@@ -3344,7 +3410,7 @@ <h2 id="modalTitle">Import error</h2>
 </div>
 
 <footer id="footer">
-  <span class="foot-left">Arena Studio v0.94 | 2026-09-30 07:22 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
+  <span class="foot-left">Arena Studio v0.96 | 2026-10-12 16:08 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
   <!-- Course-repo quick-links: open protocols / logs / patterns in a new tab.
        Hrefs built from the configured repo + bench id (updateGhQuickLinks). -->
   <span id="ghQuickLinks" title="Open the course repo on GitHub (new tab)">
@@ -3359,9 +3425,11 @@ <h2 id="modalTitle">Import error</h2>
 <!-- ============================================================ -->
 <!-- (1) CLASSIC SUBSTRATE — window globals, dodges ES-import gotcha -->
 <!-- ============================================================ -->
-<script src="js/arena-wire-g6.js"></script>
+<script src="js/arena-wire-g6.js?v=20261012-qwiic"></script> <!-- ?v=: the Qwiic panel needs the 0xB0/0xB1 encoders -->
 <script src="js/studio-analog-in.js"></script>
 <script src="js/studio-panel-inventory.js"></script>
+<script src="js/qwiic-drivers.js"></script>
+<script src="js/studio-qwiic.js"></script>
 <script src="js/arena-link.js"></script>
 <script src="js/arena-runner-g6.js?v=20260926-cl-start"></script> <!-- ?v= forces a fresh load: a cached runner/client silently runs the old closed-loop start -->
 <script src="js/run-log.js"></script>
@@ -5988,6 +6056,564 @@ <h2 id="modalTitle">Import error</h2>
         const rateSel = $('cAiRate');
         if (rateSel) rateSel.addEventListener('change', aiStartTicker);
     }
+    // ---- Qwiic panel: discover + test the STEMMA QT / Qwiic peripherals (LAB-214) ----
+    // ONE window: Scan → device dropdown → one device's readout at a time. Explore
+    // only: nothing here is written to run logs (declare devices in the rig YAML for
+    // that). Every transfer goes through the ONE page-wide QwiicDrivers bus
+    // (Studio.qwiicBus) so its mutex orders whole sequences against every other I2C
+    // user; session.send directly with silent:true (no per-transfer Console/bridge
+    // logging — state changes and errors are logged). Scan only at setup (connect,
+    // this button): GET_I2C_SCAN stalls the controller ~10 ms, so it is refused
+    // while a run is active.
+    const QD = window.QwiicDrivers;
+    const SQ = window.StudioQwiic;
+    const qw = {
+        bus: null,
+        discovery: null,
+        check: null,
+        declared: { list: [], warnings: [] },
+        configured: {}, // locKey → options applied by this panel / setup
+        selKey: null,
+        live: false,
+        liveTimer: null,
+        inFlight: false,
+        errStreak: 0,
+        rows: {}, // locKey → [{t, values}] for Download CSV
+        busy: false
+    };
+    function qwBus() {
+        if (!QD) return null;
+        if (!qw.bus) qw.bus = QD.createBus((b, o) => session.send(b, o), { sendOpts: { silent: true } });
+        return qw.bus;
+    }
+    Studio.qwiicBus = qwBus;
+    const qwHas = () => Array.isArray(Studio.features) && Studio.features.includes('qwiic_i2c');
+    const qwHex = (a) => '0x' + a.toString(16).toUpperCase().padStart(2, '0');
+    const qwEsc = (t) => String(t).replace(/[&<>"]/g, (c) => ({ '&': '&amp;', '<': '&lt;', '>': '&gt;', '"': '&quot;' })[c]);
+    function qwGate(what) {
+        if (!QD || !SQ) return { ok: false, reason: 'Qwiic modules failed to load (hard refresh)' };
+        if (!session || !session.connected) return { ok: false, reason: 'connect to scan' };
+        if (!Array.isArray(Studio.features)) return { ok: false, reason: 'controller features not known yet' };
+        if (!qwHas()) return { ok: false, reason: 'no Qwiic I2C bridge on this controller (0xC2 feature bit 1 clear — arena_12-18 boards only)' };
+        if (session.running) return { ok: false, reason: what === 'scan' ? 'refused — a run is active (the scan stalls the controller ~10 ms)' : 'paused — run active' };
+        if (Studio._activePostmortem) return { ok: false, reason: 'paused — post-mortem owns the link' };
+        return { ok: true };
+    }
+    function qwSetStatus(t) {
+        const el = $('cQwStatus');
+        if (el) el.textContent = t;
+    }
+    function qwItem(key) {
+        return qw.discovery && qw.discovery.devices.find((d) => d.key === key);
+    }
+    function qwDeclFor(item) {
+        const e = qw.check && qw.check.entries.find((x) => x.item && x.item.key === item.key);
+        return e ? e.decl : null;
+    }
+    function qwIsUndeclared(item) {
+        return !!(qw.check && qw.check.undeclared.some((u) => u.key === item.key));
+    }
+    function qwRenderChip() {
+        const st = Studio.qwiic || { available: false };
+        const chip = SQ ? SQ.chipState(st) : { text: 'Qwiic —', level: 'off', title: '' };
+        const el = $('qwiicChip');
+        if (el) {
+            const show = !!(session && session.connected && st.available) || (st.declared && st.declared.length && session && session.connected);
+            el.style.display = show ? '' : 'none';
+            el.textContent = chip.text;
+            el.title = chip.title + '\nClick: open Console → Qwiic';
+            el.className = 'chip qwiic-chip qw-' + chip.level;
+        }
+        const sum = $('cQwSum');
+        if (sum) sum.textContent = st.available ? chip.text.replace(/^Qwiic:? ?/, '') || '—' : '—';
+        if (sum) sum.className = 'sub' + (chip.level === 'err' ? ' qw-err-t' : chip.level === 'warn' ? ' qw-warn-t' : '');
+    }
+    function qwRenderTable() {
+        const row = $('cQwTableRow');
+        const tbl = $('cQwTable');
+        const flags = $('cQwFlags');
+        const d = qw.discovery;
+        if (!row || !tbl) return;
+        if (!d || d.error) {
+            row.style.display = 'none';
+            if (flags) flags.style.display = 'none';
+            return;
+        }
+        const statusByKey = {};
+        (qw.check ? qw.check.entries : []).forEach((e) => { if (e.item) statusByKey[e.item.key] = e; });
+        let html = '<tr><th title="7-bit I2C address">addr</th><th>part</th><th title="root bus, or the PCA9548 mux channel it sits behind">where</th><th>identify</th><th title="Compared with the session rig YAML peripherals: list">rig YAML</th></tr>';
+        for (const it of d.devices) {
+            const e = statusByKey[it.key];
+            let yaml = '';
+            if (it.shadow) yaml = '<span class="dim">— (not a device)</span>';
+            else if (e) yaml = e.status === 'ok' ? '<span class="qw-ok-t">declared: ' + qwEsc(e.decl.name) + '</span>' : '<span class="qw-err-t">' + qwEsc(e.status.replace('_', ' ')) + '</span>';
+            else if (qwIsUndeclared(it)) yaml = '<span class="qw-warn-t" title="Attached but not in the rig YAML — Copy as rig YAML to declare it">⚠ undeclared</span>';
+            const id = it.ident ? (it.ident.ok ? '<span class="qw-ok-t">OK</span> ' : '<span class="qw-err-t">FAIL</span> ') + qwEsc(it.ident.detail) : it.wiringError ? '<span class="qw-err-t">wiring error</span>' : '<span class="dim">no driver</span>';
+            html += '<tr><td>' + qwHex(it.dev.addr) + '</td><td>' + qwEsc(it.label) + '</td><td>' + qwEsc(it.where) + '</td><td>' + id + '</td><td>' + yaml + '</td></tr>';
+        }
+        for (const e of qw.check ? qw.check.entries : []) {
+            if (e.item) continue;
+            html += '<tr><td>' + qwHex(e.decl.address) + '</td><td>' + qwEsc(QD.KINDS[e.decl.kind].label) + '</td><td>' + (e.decl.mux ? 'mux ' + qwHex(e.decl.mux.address) + ' ch' + e.decl.mux.channel : 'root') + '</td><td class="dim">—</td><td><span class="qw-err-t">✕ missing: ' + qwEsc(e.decl.name) + '</span></td></tr>';
+        }
+        tbl.innerHTML = html;
+        row.style.display = '';
+        if (flags) {
+            const msgs = [];
+            for (const e of qw.check ? qw.check.entries : []) if (e.status !== 'ok') msgs.push('<span class="qw-err-t">✕ ' + qwEsc(e.detail) + '</span>');
+            const und = qw.check ? qw.check.undeclared.filter((u) => !u.mux) : [];
+            if (und.length) msgs.push('<span class="qw-warn-t">⚠ ' + und.length + ' attached device' + (und.length === 1 ? ' is' : 's are') + ' not in the rig YAML (' + und.map((u) => qwEsc(u.label) + ' ' + qwHex(u.dev.addr)).join(', ') + ') — <a href="#" data-qw-yaml="undeclared">copy their rig YAML</a></span>');
+            (qw.declared.warnings || []).forEach((w) => msgs.push('<span class="qw-warn-t">rig YAML: ' + qwEsc(w) + '</span>'));
+            flags.innerHTML = msgs.join('<br>');
+            flags.style.display = msgs.length ? '' : 'none';
+        }
+    }
+    function qwRenderDropdown() {
+        const sel = $('cQwDev');
+        if (!sel) return;
+        const items = qw.discovery && !qw.discovery.error ? qw.discovery.devices.filter((it) => it.kind && it.ident && it.ident.ok) : [];
+        sel.innerHTML = '';
+        if (!items.length) {
+            sel.innerHTML = '<option value="">' + (qw.discovery ? '— no supported device found —' : '— scan first —') + '</option>';
+            sel.disabled = true;
+            qw.selKey = null;
+            qwRenderDevice();
+            return;
+        }
+        for (const it of items) {
+            const decl = qwDeclFor(it);
+            const o = document.createElement('option');
+            o.value = it.key;
+            o.textContent = SQ.deviceLabel(it, decl && decl.name) + (qwIsUndeclared(it) ? '  ⚠ undeclared' : '');
+            sel.appendChild(o);
+        }
+        sel.disabled = false;
+        if (!items.some((it) => it.key === qw.selKey)) qw.selKey = items[0].key;
+        sel.value = qw.selKey;
+        qwRenderDevice();
+    }
+    // fromDom=false: the defaults (rig config, else the KINDS default) — used while the
+    // option selects still belong to the PREVIOUS device.
+    function qwOptionValues(item, fromDom) {
+        const K = QD.KINDS[item.kind];
+        const decl = qwDeclFor(item);
+        const out = {};
+        for (const [k, spec] of Object.entries(K.options || {})) {
+            const el = fromDom === false ? null : document.querySelector('#cQwOpts [data-qw-opt="' + k + '"]');
+            const raw = el ? el.value : decl && decl.config[k] !== undefined ? decl.config[k] : spec.default;
+            out[k] = typeof spec.default === 'number' ? Number(raw) : raw;
+        }
+        if (decl && item.kind === 'pca9685' && decl.config.freq_hz) out.freq_hz = decl.config.freq_hz;
+        return out;
+    }
+    // Readout area for the selected device, laid out from its KINDS display fields.
+    function qwRenderDevice() {
+        const out = $('cQwOut');
+        const opts = $('cQwOpts');
+        const bump = $('cQwBump');
+        const servo = $('cQwServo');
+        const item = qw.selKey && qwItem(qw.selKey);
+        const kindOf = item && QD.KINDS[item.kind];
+        ['cqwread', 'cqwlive'].forEach((c) => {
+            const b = document.querySelector('[data-cmd=' + JSON.stringify(c) + ']');
+            if (b) b.disabled = !kindOf || kindOf.role === 'actuator';
+        });
+        const csv = $('cQwCsv');
+        if (csv) csv.disabled = !item || !(qw.rows[item.key] || []).length;
+        if (!out) return;
+        if (!kindOf) {
+            out.innerHTML = '<span class="dim">' + (qw.discovery ? 'pick a device' : 'Scan to list the devices on the Qwiic jack') + '</span>';
+            if (opts) opts.innerHTML = '';
+            if (bump) bump.style.display = 'none';
+            if (servo) servo.style.display = 'none';
+            return;
+        }
+        const decl = qwDeclFor(item);
+        if (opts) {
+            const cur = qw.configured[item.key] || qwOptionValues(item, false);
+            opts.innerHTML = Object.entries(kindOf.options || {}).map(([k, spec]) =>
+                '<label title="' + qwEsc(kindOf.label + ' ' + spec.label + ' — applied on the next read (re-configures the part)') + '">' + qwEsc(spec.label) + ' <select data-qw-opt="' + k + '">' +
+                spec.values.map((v) => '<option value="' + v + '"' + (String(v) === String(cur[k]) ? ' selected' : '') + '>' + v + '</option>').join('') + '</select></label>'
+            ).join(' ');
+            if (opts.innerHTML) opts.insertAdjacentHTML('afterbegin', '<span class="lbl" title="Sensor settings (from the rig YAML config: when declared)">settings</span>');
+            opts.style.display = opts.innerHTML ? '' : 'none';
+        }
+        out.innerHTML = '<div class="qw-title">' + qwEsc(kindOf.title) + (decl ? ' <span class="dim">· rig: ' + qwEsc(decl.name) + '</span>' : qwIsUndeclared(item) ? ' <span class="qw-warn-t">· ⚠ not in the rig YAML</span>' : '') + '</div>' +
+            '<div class="qw-grid" id="cQwGrid">' + kindOf.display.map((f) =>
+                f.fmt === 'bars' ? '<div class="qw-bars" data-qw-key="' + f.key + '" title="Raw counts per channel (no vendor calibration)"></div>'
+                    : '<span class="qw-l">' + qwEsc(f.label) + '</span><span class="qw-v" data-qw-key="' + f.key + '">—</span>'
+            ).join('') + '</div>';
+        if (bump) bump.style.display = kindOf.hasBump ? '' : 'none';
+        if (servo) {
+            servo.style.display = item.kind === 'pca9685' ? '' : 'none';
+            if (item.kind === 'pca9685') qwRenderServoChannels(decl);
+        }
+        qwUpdateRunGates();
+        // Actuators have no Read button: show their state (PCA9685 MODE1/prescale) on select.
+        if (kindOf.role === 'actuator') qwReadOnce({ quiet: true }).catch(() => {});
+    }
+    function qwRenderReading(item, r) {
+        const K = QD.KINDS[item.kind];
+        for (const f of K.display) {
+            const el = document.querySelector('#cQwGrid [data-qw-key="' + f.key + '"]');
+            if (!el) continue;
+            if (f.fmt === 'bars') {
+                const vals = r[f.key] || {};
+                const max = Math.max(1, ...Object.values(vals));
+                el.innerHTML = Object.entries(vals).map(([ch, v]) =>
+                    '<div class="qw-bar" title="' + qwEsc(ch + ': ' + v + ' counts') + '"><i style="height:' + Math.max(2, (100 * v) / max).toFixed(0) + '%"></i><span>' + qwEsc(ch.split('_')[1] || ch) + '</span></div>'
+                ).join('');
+                continue;
+            }
+            el.textContent = SQ.formatField(f, r);
+            el.classList.toggle('qw-err-t', (f.fmt === 'flag' && !!r[f.key]) || (f.fmt === 'okfail' && !r[f.key]));
+        }
+    }
+    async function qwEnsureConfigured(item) {
+        const K = QD.KINDS[item.kind];
+        const want = qwOptionValues(item);
+        const have = qw.configured[item.key];
+        if (have && JSON.stringify(have) === JSON.stringify(want)) return;
+        const decl = qwDeclFor(item);
+        const cfg = Object.assign({}, decl ? decl.config : {}, want);
+        await QD.withDevice(qwBus(), item.dev, () => K.setup(item.driver, cfg, { armBump: false }));
+        qw.configured[item.key] = want;
+        clog('qwiic: ' + K.label + ' ' + qwHex(item.dev.addr) + ' configured' + (Object.keys(want).length ? ' (' + Object.entries(want).map(([k, v]) => k + ' ' + v).join(', ') + ')' : ''), 'info');
+    }
+    async function qwReadOnce(opts) {
+        const quiet = opts && opts.quiet;
+        const g = qwGate('read');
+        const item = qw.selKey && qwItem(qw.selKey);
+        if (!g.ok || !item) {
+            if (!quiet) clog('qwiic: ' + (g.ok ? 'pick a device first' : g.reason), 'err');
+            return null;
+        }
+        const K = QD.KINDS[item.kind];
+        // Actuators are only configured by an explicit servo action (configure wakes the PWM).
+        if (K.role !== 'actuator') await qwEnsureConfigured(item);
+        const r = await K.read(qwBus(), item.dev, item.driver);
+        if (qw.selKey !== item.key) return r; // selection changed while reading
+        qwRenderReading(item, r);
+        if (!K.columns.length) return r; // actuator state: shown, not collected
+        const rows = (qw.rows[item.key] = qw.rows[item.key] || []);
+        rows.push({ t: new Date().toISOString(), values: K.values(r) });
+        if (rows.length > 36000) rows.shift(); // 10 h at 1 Hz
+        const csv = $('cQwCsv');
+        if (csv) csv.disabled = false;
+        if (!quiet) clog('qwiic: ' + K.label + ' ' + K.display.filter((f) => !f.fmt).map((f) => f.label + ' ' + SQ.formatField(f, r)).join(' · '), 'rx');
+        return r;
+    }
+    function qwStopLive(reason) {
+        if (qw.liveTimer) { clearInterval(qw.liveTimer); qw.liveTimer = null; }
+        const was = qw.live;
+        qw.live = false;
+        const b = $('cQwLive');
+        if (b) { b.setAttribute('aria-pressed', 'false'); b.textContent = 'Live'; }
+        if (was && reason) clog('qwiic: live readout stopped — ' + reason, reason.startsWith('error') ? 'err' : 'info');
+    }
+    function qwStartLive() {
+        const hz = Number(($('cQwRate') || {}).value) || 1;
+        qwStopLive();
+        qw.live = true;
+        qw.errStreak = 0;
+        const b = $('cQwLive');
+        if (b) { b.setAttribute('aria-pressed', 'true'); b.textContent = 'Live ●'; }
+        clog('qwiic: live readout at ' + hz + ' Hz', 'info');
+        const tick = async () => {
+            if (qw.inFlight) return; // single-flight
+            const g = qwGate('read');
+            if (!g.ok) { qwSetStatus(g.reason); return; }
+            if (!$('cQwGrid')) return;
+            qw.inFlight = true;
+            try {
+                await qwReadOnce({ quiet: true });
+                qw.errStreak = 0;
+                qwSetStatus('live · ' + hz + ' Hz');
+            } catch (e) {
+                qw.errStreak++;
+                qwSetStatus('error: ' + e.message);
+                if (qw.errStreak >= 3) qwStopLive('error: ' + e.message);
+            } finally {
+                qw.inFlight = false;
+            }
+        };
+        qw.liveTimer = setInterval(tick, Math.round(1000 / hz));
+        tick();
+    }
+    // Scan (setup only) → identify → compare with the rig YAML in BOTH directions.
+    async function qwScan(opts) {
+        const setup = !!(opts && opts.setup);
+        const g = qwGate('scan');
+        if (!g.ok) {
+            qwSetStatus(g.reason);
+            if (!setup) clog('qwiic: ' + g.reason, 'err');
+            return null;
+        }
+        if (qw.busy) return null;
+        qw.busy = true;
+        qwStopLive();
+        qwSetStatus('scanning…');
+        try {
+            const decl = Studio.fetchRigPeripherals ? await Studio.fetchRigPeripherals() : { list: [], warnings: [] };
+            qw.declared = decl || { list: [], warnings: [] };
+            const d = await SQ.discover(qwBus());
+            qw.discovery = d;
+            qw.configured = {};
+            if (d.error) {
+                qw.check = null;
+                Studio.qwiic = { available: true, declared: qw.declared.list, discovery: d, check: null, at: d.at };
+                const msg = d.error.name === 'NoQwiicJack' ? 'this firmware variant has no Qwiic jack' : d.error.message;
+                qwSetStatus('scan failed: ' + msg);
+                clog('qwiic: scan failed — ' + msg, 'err');
+                return null;
+            }
+            qw.check = SQ.checkAgainstScan(qw.declared.list, d);
+            Studio.qwiic = { available: true, declared: qw.declared.list, discovery: d, check: qw.check, at: d.at };
+            const n = qw.check.counts;
+            qwSetStatus(n.devices + ' device' + (n.devices === 1 ? '' : 's') + (n.declared ? ' · ' + n.ok + '/' + n.declared + ' declared present' : ''));
+            const sum = $('cQwScanSum');
+            if (sum) sum.textContent = 'scan: ' + (d.scan.length ? d.scan.map(qwHex).join(' ') : 'nothing ACKed — check the cable, the boards\' power LEDs and the jack');
+            clog('qwiic: ' + (setup ? 'setup ' : '') + 'scan — ' + (d.scan.length ? d.scan.map(qwHex).join(' ') : 'no devices') + (d.shadow ? ' (0x70 = the PCA9685 all-call address, not a mux)' : ''), 'info');
+            qw.declared.warnings.forEach((w) => clog('qwiic: rig YAML: ' + w, 'warn'));
+            qw.check.entries.filter((e) => e.status !== 'ok').forEach((e) => clog('qwiic: ' + e.detail, 'err'));
+            qw.check.undeclared.filter((u) => !u.mux).forEach((u) => clog('qwiic: ' + u.label + ' ' + qwHex(u.dev.addr) + ' @ ' + u.where + ' is attached but not in the rig YAML — Console → Qwiic → Copy as rig YAML', 'warn'));
+            d.devices.filter((it) => it.wiringError).forEach((it) => clog('qwiic: ' + it.label, 'err'));
+            const yamlBtn = $('cQwYaml');
+            if (yamlBtn) yamlBtn.disabled = !d.devices.some((it) => it.kind);
+            qwRenderTable();
+            qwRenderDropdown();
+            return qw.check;
+        } catch (e) {
+            qwSetStatus('error: ' + e.message);
+            clog('qwiic: scan error — ' + e.message, 'err');
+            return null;
+        } finally {
+            qw.busy = false;
+            qwRenderChip();
+        }
+    }
+    // Connect-time setup (initFromController): scan whenever the bridge exists —
+    // even with nothing declared, so an attached-but-undeclared device is flagged —
+    // then configure the declared parts that are present. Never retried.
+    Studio.qwiicSetup = async function () {
+        if (Studio.ensureCapabilities) { try { await Studio.ensureCapabilities(); } catch (_) { /* gate below */ } }
+        let decl = { list: [], warnings: [] };
+        try { if (Studio.fetchRigPeripherals) decl = await Studio.fetchRigPeripherals(); } catch (_) { /* no rig */ }
+        if (!qwHas()) {
+            Studio.qwiic = { available: false, reason: 'no Qwiic I2C bridge on this controller', declared: decl.list };
+            if (decl.list.length) clog('qwiic: the rig YAML declares ' + decl.list.length + ' Qwiic peripheral(s) but this controller has no Qwiic I2C bridge (0xC2 feature bit 1 clear) — they will not be read', 'warn');
+            qwSetStatus('no Qwiic I2C bridge on this controller');
+            qwRenderChip();
+            qwUpdateRunGates();
+            return Studio.qwiic;
+        }
+        const check = await qwScan({ setup: true });
+        if (check && check.entries.some((e) => e.status === 'ok')) {
+            const res = await SQ.applySetup(qwBus(), check, { armBump: false });
+            for (const e of check.entries) {
+                if (res.applied[e.decl.name] && e.item) qw.configured[e.item.key] = qwOptionValuesFor(e);
+            }
+            Studio.qwiic.applied = res.applied;
+            const names = Object.keys(res.applied);
+            if (names.length) clog('qwiic: configured ' + names.map((nm) => nm + ' (' + check.entries.find((e) => e.decl.name === nm).decl.kind + ')').join(', '), 'info');
+            res.errors.forEach((er) => clog('qwiic: setup of ' + er.name + ' failed — ' + er.message, 'err'));
+        }
+        return Studio.qwiic;
+    };
+    // Options the setup applied, in the shape qwOptionValues() compares against.
+    function qwOptionValuesFor(entry) {
+        const K = QD.KINDS[entry.decl.kind];
+        const out = {};
+        for (const [k, spec] of Object.entries(K.options || {})) {
+            const v = entry.decl.config[k] !== undefined ? entry.decl.config[k] : spec.default;
+            out[k] = typeof spec.default === 'number' ? Number(v) : v;
+        }
+        if (entry.decl.kind === 'pca9685' && entry.decl.config.freq_hz) out.freq_hz = entry.decl.config.freq_hz;
+        return out;
+    }
+    // Rig changed: re-compare the last scan with the new YAML (no rescan — setup only).
+    Studio.qwiicRecheck = async function () {
+        if (!qw.discovery || qw.discovery.error || !SQ) return;
+        try { qw.declared = Studio.fetchRigPeripherals ? await Studio.fetchRigPeripherals() : { list: [], warnings: [] }; } catch (_) { return; }
+        qw.check = SQ.checkAgainstScan(qw.declared.list, qw.discovery);
+        Studio.qwiic = Object.assign({}, Studio.qwiic, { declared: qw.declared.list, check: qw.check });
+        qwRenderTable();
+        qwRenderDropdown();
+        qwRenderChip();
+    };
+    Studio.qwiicReset = function () {
+        qwStopLive();
+        qw.discovery = null;
+        qw.check = null;
+        qw.configured = {};
+        qw.selKey = null;
+        Studio.qwiic = null;
+        qwSetStatus('connect to scan');
+        const sum = $('cQwScanSum');
+        if (sum) sum.textContent = '';
+        qwRenderTable();
+        qwRenderDropdown();
+        qwRenderChip();
+    };
+    // Bump check + servo are disabled while a run owns the link / the bump latch.
+    function qwUpdateRunGates() {
+        const running = !!(session && session.running);
+        document.querySelectorAll('#cQwBump button, #cQwServo button, #cQwServo input, [data-cmd="cqwscan"]').forEach((el) => {
+            el.disabled = running || !(session && session.connected) || !qwHas();
+        });
+        const note = $('cQwBumpNote');
+        if (note) note.textContent = running ? 'a run owns the bump latch — checks are off until it ends' : '';
+    }
+    Studio.qwiicUpdateRunGates = qwUpdateRunGates;
+    if (session) session.on('runstatus', () => qwUpdateRunGates());
+    async function qwBumpArm() {
+        const g = qwGate('read');
+        const item = qw.selKey && qwItem(qw.selKey);
+        if (!g.ok || !item || item.kind !== 'lsm6dsox') { clog('qwiic: ' + (g.ok ? 'select the LSM6DSOX first' : g.reason), 'err'); return; }
+        const th = Math.max(0.05, Math.min(2, Number(($('cQwBumpG') || {}).value) || 0.25));
+        await qwEnsureConfigured(item);
+        const ths = await QD.withDevice(qwBus(), item.dev, () => item.driver.armBump(th));
+        $('cQwBumpOut').textContent = 'armed at ' + th + ' g (' + ths + ' LSB)';
+        clog('qwiic: LSM6DSOX bump latch armed at ' + th + ' g — "Check" reads AND clears it', 'info');
+    }
+    async function qwBumpCheck() {
+        const g = qwGate('read');
+        const item = qw.selKey && qwItem(qw.selKey);
+        if (!g.ok || !item || item.kind !== 'lsm6dsox') { clog('qwiic: ' + (g.ok ? 'select the LSM6DSOX first' : g.reason), 'err'); return; }
+        const b = await QD.withDevice(qwBus(), item.dev, () => item.driver.bumpFlag());
+        const out = $('cQwBumpOut');
+        if (out) { out.textContent = b.bumped ? 'BUMPED [' + b.axes + '] — latch cleared' : 'no bump since the last check'; out.classList.toggle('qw-err-t', b.bumped); }
+        clog('qwiic: bump check — ' + (b.bumped ? 'BUMPED [' + b.axes + '] (latch cleared)' : 'no bump'), b.bumped ? 'warn' : 'info');
+    }
+    // ---- servo (PCA9685): minimal go-to-position ----
+    function qwServoSpec() {
+        const item = qw.selKey && qwItem(qw.selKey);
+        const decl = item && qwDeclFor(item);
+        const ch = Number(($('cQwSvCh') || {}).value) || 0;
+        const named = decl && Object.values(decl.channels || {}).find((c) => c.channel === ch);
+        const wide = !!($('cQwSvWide') || {}).checked;
+        const lim = wide ? SQ.SERVO_US_LIMITS : named || SQ.SERVO_US_DEFAULT;
+        return { item, ch, min: lim.min_us, max: lim.max_us };
+    }
+    function qwRenderServoChannels(decl) {
+        const sel = $('cQwSvCh');
+        if (!sel) return;
+        const names = {};
+        Object.entries((decl && decl.channels) || {}).forEach(([nm, c]) => (names[c.channel] = nm));
+        const keep = sel.value;
+        sel.innerHTML = '';
+        for (let c = 0; c < 16; c++) {
+            const o = document.createElement('option');
+            o.value = String(c);
+            o.textContent = 'ch' + c + (names[c] ? ' · ' + names[c] : '');
+            sel.appendChild(o);
+        }
+        const firstNamed = Object.keys(names)[0];
+        sel.value = keep && Number(keep) < 16 ? keep : firstNamed !== undefined ? firstNamed : '0';
+        qwServoLimits();
+    }
+    function qwServoLimits() {
+        const s = qwServoSpec();
+        const sl = $('cQwSvUs');
+        const nb = $('cQwSvNum');
+        [sl, nb].forEach((el) => {
+            if (!el) return;
+            el.min = s.min;
+            el.max = s.max;
+            if (Number(el.value) < s.min || Number(el.value) > s.max) el.value = Math.round((s.min + s.max) / 2);
+        });
+        const lim = $('cQwSvLim');
+        if (lim) lim.textContent = s.min + '–' + s.max + ' µs';
+    }
+    async function qwServo(action) {
+        const g = qwGate('read');
+        const s = qwServoSpec();
+        if (!g.ok || !s.item || s.item.kind !== 'pca9685') { clog('qwiic: ' + (g.ok ? 'select the PCA9685 first' : g.reason), 'err'); return; }
+        const drv = s.item.driver;
+        await qwEnsureConfigured(s.item);
+        const out = $('cQwSvOut');
+        if (action === 'release') {
+            await QD.withDevice(qwBus(), s.item.dev, () => drv.setOff(s.ch));
+            if (out) out.textContent = 'ch' + s.ch + ' released (full OFF — no holding torque)';
+            clog('qwiic: servo ch' + s.ch + ' released', 'info');
+            return;
+        }
+        if (action === 'alloff') {
+            await QD.withDevice(qwBus(), s.item.dev, () => drv.allOff());
+            if (out) out.textContent = 'all 16 channels released';
+            clog('qwiic: servo — all channels released', 'info');
+            return;
+        }
+        let us = action === 'center' ? Math.round((s.min + s.max) / 2) : Number(($('cQwSvNum') || {}).value);
+        us = Math.max(s.min, Math.min(s.max, us || 1500));
+        const off = await QD.withDevice(qwBus(), s.item.dev, async () => {
+            const o = await drv.setPulseUs(s.ch, us);
+            const rb = await drv.readCounts(s.ch);
+            if (rb[1] !== o) throw new Error('read-back OFF ' + rb[1] + ' ≠ ' + o);
+            return o;
+        });
+        $('cQwSvUs').value = us;
+        $('cQwSvNum').value = us;
+        qwReadOnce({ quiet: true }).catch(() => {}); // refresh the PWM / oscillator readout
+        if (out) out.textContent = 'ch' + s.ch + ' → ' + us + ' µs (OFF count ' + off + ' @ ' + drv.freqHz.toFixed(2) + ' Hz, read back ✓)';
+        clog('qwiic: servo ch' + s.ch + ' → ' + us + ' µs (count ' + off + ')', 'info');
+    }
+    async function qwCopyYaml(which) {
+        if (!qw.discovery || qw.discovery.error) { clog('qwiic: scan first', 'err'); return; }
+        const only = which === 'undeclared' || (qw.declared.list.length && qw.check && qw.check.undeclared.length) ? qw.check.undeclared : null;
+        const text = SQ.toRigYaml(qw.discovery, only ? { only } : {});
+        const body = only ? text.replace(/^peripherals:\n/, '') : text;
+        try {
+            await navigator.clipboard.writeText(body);
+            clog('qwiic: rig YAML ' + (only ? 'entries for the ' + only.length + ' undeclared device(s)' : 'peripherals: block') + ' copied — paste it into the rig file (configs/rigs/<rig>.yaml)', 'info');
+        } catch (_) {
+            window.prompt('Copy this rig YAML:', body);
+        }
+    }
+    function qwDownloadCsv() {
+        const item = qw.selKey && qwItem(qw.selKey);
+        const rows = item && qw.rows[item.key];
+        if (!rows || !rows.length) { clog('qwiic: nothing read yet for this device', 'err'); return; }
+        const K = QD.KINDS[item.kind];
+        const lines = ['time,' + K.columns.join(',')];
+        rows.forEach((r) => lines.push(r.t + ',' + K.columns.map((c) => (r.values[c] == null ? '' : r.values[c])).join(',')));
+        const stamp = new Date().toISOString().replace(/[:]/g, '-').slice(0, 19);
+        downloadBlob(new TextEncoder().encode(lines.join('\n') + '\n'), 'qwiic_' + item.kind + '_' + item.dev.addr.toString(16) + '_' + stamp + '.csv', 'text/csv');
+        clog('qwiic: ' + rows.length + ' reading(s) saved as CSV (Console only — not a run log)', 'info');
+    }
+    (function qwWire() {
+        const sel = $('cQwDev');
+        if (sel) sel.addEventListener('change', () => { qwStopLive('device changed'); qw.selKey = sel.value || null; qwRenderDevice(); });
+        const rate = $('cQwRate');
+        if (rate) rate.addEventListener('change', () => { if (qw.live) qwStartLive(); });
+        const flags = $('cQwFlags');
+        if (flags) flags.addEventListener('click', (e) => { const a = e.target.closest('[data-qw-yaml]'); if (a) { e.preventDefault(); qwCopyYaml(a.dataset.qwYaml); } });
+        const ch = $('cQwSvCh');
+        if (ch) ch.addEventListener('change', qwServoLimits);
+        const wide = $('cQwSvWide');
+        if (wide) wide.addEventListener('change', () => {
+            if (wide.checked && !window.confirm('Allow 500–2500 µs? Many hobby servos hit their end stops (and stall, drawing current) outside ~1000–2000 µs.')) wide.checked = false;
+            qwServoLimits();
+        });
+        const sl = $('cQwSvUs');
+        const nb = $('cQwSvNum');
+        if (sl && nb) {
+            sl.addEventListener('input', () => { nb.value = sl.value; });
+            sl.addEventListener('change', () => { qwServo('go').catch((e) => clog('qwiic: servo — ' + e.message, 'err')); });
+            nb.addEventListener('change', () => { sl.value = nb.value; });
+        }
+        const chip = $('qwiicChip');
+        const openPanel = () => {
+            if (Studio.setMode) Studio.setMode('console');
+            if (Studio.openConsolePanel) Studio.openConsolePanel('qwiic');
+        };
+        if (chip) {
+            chip.addEventListener('click', openPanel);
+            chip.addEventListener('keydown', (e) => { if (e.key === 'Enter' || e.key === ' ') { e.preventDefault(); openPanel(); } });
+        }
+        qwRenderDevice();
+    })();
+    const qwRun = (fn) => () => fn().catch((e) => { clog('qwiic: ' + e.message, 'err'); qwSetStatus('error: ' + e.message); });
+
     function aiRenderSweepTable(rep) {
         const row = $('cAiSweepRow');
         const tbl = $('cAiSweepTable');
@@ -6240,6 +6866,18 @@ <h2 id="modalTitle">Import error</h2>
             const a = resp && Wire.decodeAnalogIn(resp);
             if (a) $('cAiRead').textContent = 'AI1 ' + a.ain1Mv + ' mV · AI2 ' + a.ain2Mv + ' mV' + (a.flags != null ? ' · ' + window.StudioAnalogIn.describeFlags(a.flags).text : '');
         },
+        // Qwiic panel (LAB-214) — explore/test only, nothing logged to run logs
+        cqwscan: qwRun(() => qwScan()),
+        cqwread: qwRun(() => qwReadOnce()),
+        cqwlive: () => { if (qw.live) qwStopLive('stopped by user'); else qwStartLive(); },
+        cqwcsv: () => qwDownloadCsv(),
+        cqwyaml: qwRun(() => qwCopyYaml('auto')),
+        cqwbumparm: qwRun(qwBumpArm),
+        cqwbumpcheck: qwRun(qwBumpCheck),
+        cqwsvgo: qwRun(() => qwServo('go')),
+        cqwsvcenter: qwRun(() => qwServo('center')),
+        cqwsvrelease: qwRun(() => qwServo('release')),
+        cqwsvalloff: qwRun(() => qwServo('alloff')),
         // Analog In panel (analog-input-plan § 4 S1)
         caipoll: () => {
             aiUser.enabled = !aiUser.enabled;
@@ -6429,6 +7067,9 @@ <h2 id="modalTitle">Import error</h2>
         // Optional-guarded: if the module block failed to load (stale-cache
         // gotcha), connect/bench ops must still work — defaults just don't apply.
         if (Studio.applyRigIo) { try { await Studio.applyRigIo(); } catch (_) { /* logged inside */ } }
+        // Qwiic setup scan (LAB-214): once per connection, never retried; guarded
+        // so a failure never blocks connect.
+        if (Studio.qwiicSetup) { try { await Studio.qwiicSetup(); } catch (e) { clog('qwiic: setup failed — ' + e.message, 'err'); } }
         const q = async (bytes) => { try { return await session.send(bytes, { timeoutMs: 2000 }); } catch (_) { return null; } };
         const got = [];
         const rr = Wire.decodeRefreshRate(await q(Wire.encodeGetRefreshRate()));
@@ -7069,7 +7710,9 @@ <h2 id="modalTitle">Import error</h2>
             Studio.panelsStatus = 'disconnected';
             if (Studio._panelsFollowUp) { clearTimeout(Studio._panelsFollowUp); Studio._panelsFollowUp = null; }
             if (Studio.updateRigIoGating) Studio.updateRigIoGating();
+            if (Studio.qwiicReset) Studio.qwiicReset(); // never carry one controller's Qwiic scan into the next
         }
+        if (Studio.qwiicUpdateRunGates) Studio.qwiicUpdateRunGates();
     }
     if (session) session.on('state', syncEnabled);
     syncEnabled();
@@ -7409,6 +8052,7 @@ <h2 id="modalTitle">Import error</h2>
     };
     invalidateRigIo();
     renderRigIoMenu();
+    if (Studio.qwiicRecheck) Studio.qwiicRecheck(); // re-compare the last Qwiic scan with the new rig's peripherals:
     updateIspShowUI(); // the batch progress map needs a 20-panel layout
     if (window.Scope && window.Scope.applyRigBallDiameter) window.Scope.applyRigBallDiameter(); // scope forward-velocity calibration
     Studio.refreshState(); // device line + mismatch chip
@@ -7420,11 +8064,13 @@ <h2 id="modalTitle">Import error</h2>
 // The io: block lives in the rig YAML (index.json only carries name/arena), so
 // it's fetched lazily per session rig and cached. parseRigIo is tolerant: a
 // rig without an io: block parses to all-off and applyRigIo is a no-op.
+// The same fetch also parses the rig's `peripherals:` (Qwiic, LAB-214) — one
+// rig read, two tolerant parsers.
 let rigIo = { name: null, promise: null };
 function invalidateRigIo() {
     rigIo = { name: null, promise: null };
 }
-function fetchRigIo() {
+function fetchRigSections() {
     const name = Studio.currentRig && Studio.currentRig.name;
     if (!name) return Promise.resolve(null);
     if (rigIo.name === name && rigIo.promise) return rigIo.promise;
@@ -7434,14 +8080,27 @@ <h2 id="modalTitle">Import error</h2>
         try {
             const res = await fetch(entry.path, { cache: 'no-store' });
             if (!res.ok) return null;
-            return parseRigIo(parseRigYAMLText(await res.text()));
+            const data = parseRigYAMLText(await res.text());
+            const SQ = window.StudioQwiic;
+            return {
+                io: parseRigIo(data),
+                peripherals: SQ ? SQ.parseRigPeripherals(data) : { list: [], warnings: ['js/studio-qwiic.js not loaded'] }
+            };
         } catch (_) {
-            return null; // malformed rig YAML → treat as no io: block
+            return null; // malformed rig YAML → treat as no io: / peripherals: block
         }
     })();
     rigIo = { name: name, promise: p };
     return p;
 }
+function fetchRigIo() {
+    return fetchRigSections().then((r) => (r ? r.io : null));
+}
+// Rig `peripherals:` for the Qwiic glue (classic ConsoleView) → {list, warnings}.
+Studio.fetchRigPeripherals = async function () {
+    const r = await fetchRigSections();
+    return r ? r.peripherals : { list: [], warnings: [] };
+};
 // io_ext capability (0xC2 bit 5): the connected firmware supports
 // SET_DIO_ROLE/GET_DIO_ROLE/SET_AO_MODE/GET_ANALOG_IN. Set at connect.
 function hasIoExt() {
@@ -7469,6 +8128,7 @@ <h2 id="modalTitle">Import error</h2>
     } catch (_) { /* older fw / no reply — hasIoExt() stays false */ }
 }
 Studio.updateRigIoGating = function () { updateRigIoGating(); }; // classic shell re-gates on caps change
+Studio.ensureCapabilities = ensureCapabilities; // Qwiic setup gates on the 0xC2 feature bits
 // Enable/disable the capability-gated role options to match the CONNECTED
 // firmware (never version-guessing). AI 'in' stays disabled regardless —
 // the ±10V front-end calibration is TBD (bench).
@@ -17037,6 +17697,7 @@ <h2 id="modalTitle">Import error</h2>
   // The rail is a show/hide checklist: each row is role=checkbox (aria-checked
   // mirrors the panel's open state); Space/Enter toggle it like a click.
   function setOpen(t,o){var p=P(t),r=R(t); if(!p)return; p.classList.toggle('open',o); if(r){r.classList.toggle('sel',o); r.setAttribute('aria-checked',o?'true':'false');}}
+  if (window.Studio) window.Studio.openConsolePanel = function(t){ setOpen(t,true); var p=P(t); if(p&&p.scrollIntoView) p.scrollIntoView({block:'nearest'}); };
   document.querySelectorAll('#cRail .rail-btn').forEach(function(b){
     b.addEventListener('click',function(){var t=b.dataset.panel; if(!t)return; setOpen(t,!P(t).classList.contains('open'));});
     b.addEventListener('keydown',function(e){ if(e.key===' '||e.key==='Enter'){ e.preventDefault(); b.click(); } });
@@ -17225,6 +17886,16 @@ <h2 id="modalTitle">Import error</h2>
     '.rail-btn[data-panel="test"]': 'Test figures the browser draws and streams to the display — no memory card needed.',
     '.rail-btn[data-panel="io"]': 'The controller’s analog and digital input/output connectors.',
     '.rail-btn[data-panel="ai"]': 'Watch the two analog inputs live, and check the wiring by looping Analog Out back into an input.',
+    '.rail-btn[data-panel="qwiic"]': 'Find and try out the small sensors plugged into the arena’s Qwiic connector: scan, pick one, watch its readings. Nothing here is saved to run logs.',
+    '[data-cmd="cqwscan"]': 'Look for every device on the Qwiic connector and check each one against this rig’s list. Not available while a run is going.',
+    '#cQwYaml': 'Copy ready-made rig-file lines for the devices the scan found, so they can be recorded with each run.',
+    '#cQwDev': 'Pick one device to look at. Devices marked “undeclared” are plugged in but not listed in this rig’s file.',
+    '[data-cmd="cqwread"]': 'Take one reading from the selected device.',
+    '#cQwLive': 'Keep reading the selected device about once a second. Pauses by itself during a run.',
+    '[data-cmd="cqwbumpcheck"]': 'Was the motion sensor bumped since the last check? Checking resets the answer.',
+    '#cQwSvUs': 'Servo position. Let go of the slider to move the servo.',
+    '[data-cmd="cqwsvrelease"]': 'Let the servo go limp (it stops holding its position).',
+    '#qwiicChip': 'The sensors on the Qwiic connector compared with this rig’s list. Red = a listed sensor is missing; amber = something is plugged in that isn’t listed. Click to open them in the Console.',
     '.rail-btn[data-panel="fw"]': 'Update or check the firmware on the LED panels.',
     '[data-cmd="cinv"]': 'Show which panels the controller found at start-up and which firmware each one runs.',
     '[data-cmd="cinvscan"]': 'Look for the panels again and re-check their firmware (the display is stopped while this runs).',
@@ -17307,7 +17978,8 @@ <h2 id="modalTitle">Import error</h2>
     io: 'Read the analog input, set the analog output, and drive the two digital connectors.',
     ai: 'Both analog inputs, live. Cable Analog Out to an input and run the loopback sweep to check the wiring end to end; polling pauses by itself during a run.',
     fw: 'Check what firmware the panels run, and program new firmware into every panel from here.',
-    fictrac: 'Closed loop: connect the bridge, load a pattern in Step frames, set the gain, then Activate — the fly steers the pattern.'
+    fictrac: 'Closed loop: connect the bridge, load a pattern in Step frames, set the gain, then Activate — the fly steers the pattern.',
+    qwiic: 'Sensors on the Qwiic connector. Scan, pick one device, and watch its readings in real units; the motion sensor has a bump check and the servo board a position slider. For testing only — nothing is saved to run logs.'
   };
   Object.keys(PANEL_HELP).forEach(function(k){
     var t=document.querySelector('.panel[data-panel="'+k+'"] .panel-title');
diff --git a/docs/development/arena-studio-release-notes.md b/docs/development/arena-studio-release-notes.md
index e337b4fc..e70f8afc 100644
--- a/docs/development/arena-studio-release-notes.md
+++ b/docs/development/arena-studio-release-notes.md
@@ -4,6 +4,13 @@ The Studio's footer used to carry the full changelog inline; it now shows one li
 history lives here. Newest first. (Per-session engineering detail stays in
 `arena-studio-handover.md` and the design docs — this file is the user-facing what-changed list.)
 
+## v0.96 (2026-10-12) · Qwiic sensors in the Console (LAB-214)
+
+<!-- LAB-214 PR 1 -->
+- **Console → Qwiic: find and try the sensors on the arena's Qwiic / STEMMA QT connector.** Scan lists every device on the bus, identifies the supported parts (SHT4x temperature/humidity, LSM6DSOX tilt + bump, TSL2591 / VEML7700 / AS7343 light, PCA9685 servo driver) and compares them with the rig file. Pick one device to see its readings in real units, once or live; the motion sensor has a bump check, and the servo board a position slider with Center and Release. This panel is for testing — nothing in it is written to run logs.
+- **Rig files can list their Qwiic peripherals (`peripherals:`).** On connect the Studio scans once and shows a Qwiic chip in the top bar: green when every listed device is there, red when one is missing (no retry), amber when something is plugged in that the rig file doesn't list. **Copy as rig YAML** gives you the lines to add.
+- Controllers without a Qwiic connector are unaffected: the Studio never sends them I2C commands, and the chip stays hidden.
+
 ## v0.94 (2026-09-30) · LAB-158 ports (Protocol ▾, ⚙ Settings, two-column Console) + visibility themes · Multi-color G6 panels V1 — Panel LEDs layout, ON color, per-bank preview (LAB-228) · Flasher + Studio picker: one production build from the published catalog; legacy images hashed, never default (panel-fw-v1.3.1)
 
 <!-- #238 -->
diff --git a/js/arena-wire-g6.js b/js/arena-wire-g6.js
index de8479e7..3c008e37 100644
--- a/js/arena-wire-g6.js
+++ b/js/arena-wire-g6.js
@@ -90,6 +90,10 @@ const ArenaWireG6 = (function () {
         G6_VERIFY_PANEL: 0xc9, // [02 C9 panel_index] CRC the panel's running app flash vs /firmware/panel.bin footer
         PANEL_INVENTORY_SCAN: 0xd0, // [02 D0 action] re-probe the fleet: 0 presence (keeps fingerprints), 1 presence + fresh fingerprints; replies with 0xD1 page 0 (feature bit 0)
         GET_PANEL_INVENTORY: 0xd1, // [01 D1] | [02 D1 first] per-panel presence + firmware fingerprint, 32-panel pages (feature bit 0)
+        // Qwiic / STEMMA QT I2C bridge (feature bit 1, arena_12-18 jack J2 = Wire1). Sensor-agnostic:
+        // every register map lives host-side (js/qwiic-drivers.js). 0xB2–0xBF stay reserved.
+        GET_I2C_SCAN: 0xb0, // [01 B0] returns [count, addr...] — every 7-bit address that ACKs (setup only: ~10 ms loop stall)
+        I2C_TRANSFER: 0xb1, // [len B1 addr wlen w... rlen] write then repeated-start read; returns rlen bytes
         ALL_ON: 0xff
     };
 
@@ -1405,6 +1409,88 @@ const ArenaWireG6 = (function () {
 
     // g6-program-panel (0xC8) reply: status byte + ASCII detail. `ok` === flash
     // succeeded; `message` carries the controller's diagnostic / failure step.
+    // ── Qwiic I2C bridge (0xB0 / 0xB1) ──
+    // Status codes the firmware returns for both commands (I2C_TRANSFER also uses 2/3/5).
+    const I2C_STATUS_TEXT = {
+        1: 'bad framing',
+        2: 'address NACK',
+        3: 'data NACK',
+        4: 'bus error/timeout',
+        5: 'short read'
+    };
+    const I2C_READ_MAX = 64; // firmware qwiic_i2c_read_byte_count_max
+    const I2C_WRITE_MAX = 64; // host-side cap; register writes are a few bytes
+
+    function encodeGetI2cScan() {
+        return frame(OPCODES.GET_I2C_SCAN); // 01 B0
+    }
+
+    // [4+wlen, B1, addr, wlen, w..., rlen]. wlen = 0 → plain read; rlen = 0 → plain
+    // write; both 0 → ACK probe of the address.
+    function encodeI2cTransfer(addr, wbytes, rlen) {
+        requireInt(addr, 'addr');
+        if (addr < 0 || addr > 0x7f) {
+            throw new RangeError('addr must be a 7-bit address 0..127, got ' + addr);
+        }
+        const w = Array.from(wbytes || []);
+        if (w.length > I2C_WRITE_MAX) {
+            throw new RangeError('I2C write is ' + w.length + ' bytes, max ' + I2C_WRITE_MAX);
+        }
+        w.forEach((b, i) => u8(b, 'wbytes[' + i + ']'));
+        const n = rlen === undefined ? 0 : rlen;
+        requireInt(n, 'rlen');
+        if (n < 0 || n > I2C_READ_MAX) {
+            throw new RangeError('rlen must be 0..' + I2C_READ_MAX + ', got ' + n);
+        }
+        return frame(OPCODES.I2C_TRANSFER, [addr, w.length, ...w, n]);
+    }
+
+    function _asciiPayload(payload) {
+        let message = '';
+        for (let i = 0; i < payload.length; i++) {
+            const b = payload[i];
+            if (b >= 0x20 && b < 0x7f) message += String.fromCharCode(b);
+        }
+        return message;
+    }
+
+    // Shared shape for both I2C replies: a non-ok status carries an ASCII reason;
+    // "No Qwiic jack…" marks a firmware variant without the jack (arena_10-10 / 2x10).
+    function _i2cResult(r) {
+        const message = r.ok ? '' : _asciiPayload(r.payload);
+        return {
+            ok: r.ok,
+            status: r.status,
+            statusText: r.ok ? 'ok' : I2C_STATUS_TEXT[r.status] || 'status ' + r.status,
+            message,
+            noJack: !r.ok && /no qwiic jack/i.test(message)
+        };
+    }
+
+    // GET_I2C_SCAN → { ok, status, statusText, message, noJack, addresses: [7-bit…] }.
+    // null for a short/unparseable frame or a count that disagrees with the payload.
+    function decodeI2cScan(resp) {
+        const r = asResponse(resp);
+        if (!r) return null;
+        const out = _i2cResult(r);
+        out.addresses = [];
+        if (!r.ok) return out;
+        if (r.payload.length < 1) return null;
+        const count = r.payload[0];
+        if (r.payload.length !== 1 + count) return null;
+        out.addresses = Array.from(r.payload.slice(1, 1 + count));
+        return out;
+    }
+
+    // I2C_TRANSFER → { ok, status, statusText, message, noJack, data: Uint8Array }.
+    function decodeI2cTransfer(resp) {
+        const r = asResponse(resp);
+        if (!r) return null;
+        const out = _i2cResult(r);
+        out.data = r.ok ? Uint8Array.from(r.payload) : new Uint8Array(0);
+        return out;
+    }
+
     function decodeProgramPanelResponse(resp) {
         const r = asResponse(resp);
         if (!r) return null;
@@ -1423,6 +1509,8 @@ const ArenaWireG6 = (function () {
         PANEL_DISPLAY_MODE_NAMES,
         CAPABILITY_BITS,
         FEATURE_BITS,
+        I2C_STATUS_TEXT,
+        I2C_READ_MAX,
         PANEL_STATUS_NAMES,
         PANEL_INVENTORY_FLAGS,
         STREAM_FRAME_BYTES,
@@ -1483,6 +1571,8 @@ const ArenaWireG6 = (function () {
         encodeGetDioRole,
         encodeSetAoMode,
         encodeGetAnalogIn,
+        encodeGetI2cScan,
+        encodeI2cTransfer,
 
         // Decoders
         decodeResponse,
@@ -1520,6 +1610,8 @@ const ArenaWireG6 = (function () {
         decodeSetFirmwareFileResponse,
         decodeFirmwareInfo,
         decodeProgramPanelResponse,
+        decodeI2cScan,
+        decodeI2cTransfer,
         decodePanelInventory
     };
 })();
diff --git a/js/qwiic-drivers.js b/js/qwiic-drivers.js
new file mode 100644
index 00000000..8ffc868a
--- /dev/null
+++ b/js/qwiic-drivers.js
@@ -0,0 +1,1230 @@
+/**
+ * qwiic-drivers.js — host-side register maps for the Qwiic / STEMMA QT
+ * peripherals, driven over the controller's sensor-agnostic I2C bridge
+ * (GET_I2C_SCAN 0xB0 / I2C_TRANSFER 0xB1; fw PR #58, 0xC2 feature bit 1
+ * `qwiic_i2c`, arena_12-18 jack J2 = Wire1). LAB-214.
+ *
+ * A port of the firmware repo's tests/qwiic_sensors.py + tests/qwiic_peripherals.py
+ * (bench-verified 2026-10-12, docs/development/qwiic-bench-2026-10-12.md there).
+ * The firmware knows nothing about any part: every register map lives here.
+ *
+ *   createBus(send, opts)  transport + async MUTEX. `send(bytes, opts)` resolves
+ *                          to the raw response frame (ArenaSession.send).
+ *   bus.exclusive(fn)      run a multi-transfer sequence with no other I2C user
+ *                          in between (mux select + reads, SHT4x's two legs, IMU
+ *                          read + bump). NOT re-entrant: never call exclusive()
+ *                          from inside fn. The link FIFO only orders single
+ *                          commands; this orders whole sequences.
+ *   withDevice(bus, dev, fn)  exclusive() + PCA9548 channel select/restore.
+ *   locateDevices(bus)     scan + mux channel map; a PCA9685's all-call shadow
+ *                          at 0x70 is never mapped as a mux (decided from MODE1).
+ *   KINDS                  THE registry: one entry per supported part (label,
+ *                          role, default addresses, identify/setup/read, display
+ *                          fields, log columns). Add or drop a part HERE only.
+ *
+ * Bench quirks kept (do not "simplify" them away):
+ *   - SHT4x NACKs a read while measuring: write leg, wait, separate read leg —
+ *     never a repeated-start pair. Sensirion CRC-8 checked on every word.
+ *   - LSM6DSOX bump latch needs LIR + INT_CLR_ON_READ + INT1_WU routing (the INT1
+ *     pin is not wired; the routing is what latches). bumpFlag() reads AND CLEARS:
+ *     exactly one owner may call it (the trial logger during runs).
+ *   - PCA9685 answers its all-call 0x70 (reads too) until MODE1.ALLCALL is
+ *     cleared — the PCA9548's default address. configure() clears it.
+ *   - The Servo pHAT's logic is powered from its own USB-C, not the Qwiic 3.3 V:
+ *     unpowered = absent from the scan.
+ *   - TSL2591 full scale is 36863 at 100 ms integration, 65535 otherwise.
+ *
+ * LOADING: classic <script src> (window-global `QwiicDrivers` + CommonJS), no ES
+ * `export` — same rule as arena-session.js (CLAUDE.md).
+ */
+(function (global) {
+    'use strict';
+
+    const Wire =
+        (typeof require === 'function' &&
+            (() => {
+                try {
+                    return require('./arena-wire-g6.js');
+                } catch (_) {
+                    return null;
+                }
+            })()) ||
+        global.ArenaWireG6;
+
+    const hex2 = (a) => '0x' + (a & 0xff).toString(16).toUpperCase().padStart(2, '0');
+    const defaultSleep = (ms) => new Promise((r) => setTimeout(r, ms));
+    const defaultNow = () =>
+        typeof performance !== 'undefined' && performance.now ? performance.now() : Date.now();
+
+    // ── errors ──────────────────────────────────────────────────────────────
+
+    class I2CError extends Error {
+        constructor(status, addr, msg) {
+            const text = (Wire && Wire.I2C_STATUS_TEXT[status]) || 'status ' + status;
+            super('I2C ' + hex2(addr) + ': ' + text + (msg ? ' (' + msg + ')' : ''));
+            this.name = 'I2CError';
+            this.status = status;
+            this.addr = addr;
+        }
+    }
+
+    /** The flashed firmware variant has no Qwiic jack (arena_10-10 / 2x10 builds). */
+    class NoQwiicJack extends Error {
+        constructor(msg) {
+            super(msg || 'No Qwiic jack on this hardware variant');
+            this.name = 'NoQwiicJack';
+        }
+    }
+
+    // ── bus ─────────────────────────────────────────────────────────────────
+
+    /**
+     * @param {(bytes:Uint8Array, opts:object)=>Promise<Uint8Array>} send
+     * @param {{sleep?, now?, timeoutMs?, scanTimeoutMs?, sendOpts?}} [opts]
+     */
+    function createBus(send, opts) {
+        const o = opts || {};
+        const sleep = o.sleep || defaultSleep;
+        const now = o.now || defaultNow;
+        const timeoutMs = o.timeoutMs || 1000;
+        const scanTimeoutMs = o.scanTimeoutMs || 2000;
+        const sendOpts = o.sendOpts || {};
+        let tail = Promise.resolve();
+        let held = false;
+
+        function exclusive(fn) {
+            const run = tail.then(async () => {
+                held = true;
+                try {
+                    return await fn();
+                } finally {
+                    held = false;
+                }
+            });
+            tail = run.catch(() => {});
+            return run;
+        }
+
+        async function scan() {
+            const d = Wire.decodeI2cScan(
+                await send(
+                    Wire.encodeGetI2cScan(),
+                    Object.assign({}, sendOpts, { timeoutMs: scanTimeoutMs })
+                )
+            );
+            if (!d) throw new Error('GET_I2C_SCAN: no or malformed reply');
+            if (d.noJack) throw new NoQwiicJack(d.message);
+            if (!d.ok)
+                throw new Error(
+                    'GET_I2C_SCAN failed: ' +
+                        d.statusText +
+                        (d.message ? ' (' + d.message + ')' : '')
+                );
+            return d.addresses;
+        }
+
+        /** Write `wbytes` then read `rlen` bytes (repeated start). Throws I2CError. */
+        async function xfer(addr, wbytes, rlen) {
+            const n = rlen || 0;
+            const d = Wire.decodeI2cTransfer(
+                await send(
+                    Wire.encodeI2cTransfer(addr, wbytes || [], n),
+                    Object.assign({}, sendOpts, { timeoutMs })
+                )
+            );
+            if (!d) throw new Error('I2C_TRANSFER ' + hex2(addr) + ': no or malformed reply');
+            if (d.noJack) throw new NoQwiicJack(d.message);
+            if (!d.ok) throw new I2CError(d.status, addr, d.message);
+            if (d.data.length !== n)
+                throw new I2CError(5, addr, 'got ' + d.data.length + ' of ' + n + ' bytes');
+            return d.data;
+        }
+
+        async function ack(addr) {
+            try {
+                await xfer(addr, [], 0);
+                return true;
+            } catch (e) {
+                if (e instanceof I2CError && e.status === 2) return false;
+                throw e;
+            }
+        }
+
+        const readReg = (addr, reg, n) => xfer(addr, [reg], n === undefined ? 1 : n);
+        const writeReg = (addr, reg, data) => xfer(addr, [reg, ...Array.from(data || [])], 0);
+
+        return {
+            exclusive,
+            get held() {
+                return held;
+            },
+            scan,
+            xfer,
+            ack,
+            readReg,
+            writeReg,
+            sleep,
+            now
+        };
+    }
+
+    // little-endian helpers over a Uint8Array
+    const u16 = (b, i) => b[i] | (b[i + 1] << 8);
+    const i16 = (b, i) => {
+        const v = u16(b, i);
+        return v & 0x8000 ? v - 0x10000 : v;
+    };
+    const le16 = (v) => [v & 0xff, (v >> 8) & 0xff];
+
+    // ── address book ────────────────────────────────────────────────────────
+
+    const MCP4725_ADDR = 0x60; // the arena's AO DAC — lives on Wire, never on the Qwiic Wire1
+    const isMux = (addr) => addr >= 0x70 && addr <= 0x77;
+
+    const ADDRESS_BOOK = {
+        0x10: 'VEML7700 lux',
+        0x29: 'TSL2591 light',
+        0x39: 'AS7343 spectral',
+        0x44: 'SHT4x temperature/humidity',
+        0x6a: 'LSM6DSOX 6-axis IMU (tilt/bump)',
+        0x6b: 'LSM6DSOX 6-axis IMU, SA0 high',
+        0x40: 'PCA9685 16-ch PWM / servo driver',
+        0x18: 'LIS3DH accelerometer (no driver)',
+        0x19: 'LIS3DH accelerometer, SA0 high (no driver)',
+        [MCP4725_ADDR]: 'MCP4725 DAC — the arena AO; must NOT be visible on the Qwiic bus'
+    };
+
+    function describe(addr) {
+        if (isMux(addr))
+            return 'PCA9548 8-ch mux (A2..A0 = ' + (addr - 0x70).toString(2).padStart(3, '0') + ')';
+        return ADDRESS_BOOK[addr] || 'unknown';
+    }
+
+    // ── PCA9548 mux ─────────────────────────────────────────────────────────
+    // UNVERIFIED on hardware (no second SHT4x on the 2026-10-12 bench).
+
+    class PCA9548 {
+        constructor(bus, addr) {
+            this.bus = bus;
+            this.addr = addr === undefined ? 0x70 : addr;
+        }
+        async readMask() {
+            return (await this.bus.xfer(this.addr, [], 1))[0];
+        }
+        async select(mask) {
+            await this.bus.xfer(this.addr, [mask & 0xff], 0);
+        }
+        /** Select channel `ch`, run fn, restore the previous mask. */
+        async channel(ch, fn) {
+            const previous = await this.readMask();
+            await this.select(1 << ch);
+            try {
+                return await fn();
+            } finally {
+                await this.select(previous);
+            }
+        }
+        /** {channel: [downstream addrs]} — excludes the root bus. Restores the mask. */
+        async channelMap() {
+            const previous = await this.readMask();
+            try {
+                await this.select(0);
+                const root = new Set(await this.bus.scan());
+                const out = {};
+                for (let ch = 0; ch < 8; ch++) {
+                    await this.select(1 << ch);
+                    out[ch] = (await this.bus.scan())
+                        .filter((a) => !root.has(a))
+                        .sort((a, b) => a - b);
+                }
+                return out;
+            } finally {
+                await this.select(previous);
+            }
+        }
+    }
+
+    /** A located device: {addr, mux: null|addr, channel: null|0..7}. */
+    const located = (addr, mux, channel) => ({
+        addr,
+        mux: mux === undefined ? null : mux,
+        channel: channel === undefined ? null : channel
+    });
+    const where = (dev) =>
+        dev.mux == null ? 'root' : 'mux ' + hex2(dev.mux) + ' ch' + dev.channel;
+    const sameLocation = (a, b) =>
+        a.addr === b.addr &&
+        (a.mux == null ? null : a.mux) === (b.mux == null ? null : b.mux) &&
+        (a.mux == null || a.channel === b.channel);
+
+    /** Run fn with the device reachable (mux channel selected; no-op for root). Caller holds the bus. */
+    async function reach(bus, dev, fn) {
+        if (dev.mux == null) return fn();
+        return new PCA9548(bus, dev.mux).channel(dev.channel, fn);
+    }
+
+    /** exclusive() + reach(): the standard way to talk to one located device. */
+    function withDevice(bus, dev, fn) {
+        return bus.exclusive(() => reach(bus, dev, fn));
+    }
+
+    /** A PCA9548 answers a 1-byte read of its control register. */
+    async function muxResponds(bus, addr) {
+        try {
+            await bus.xfer(addr, [], 1);
+            return true;
+        } catch (e) {
+            if (e instanceof I2CError) return false;
+            throw e;
+        }
+    }
+
+    // ── Sensirion CRC-8 (poly 0x31, init 0xFF) ──────────────────────────────
+
+    function crc8Sensirion(data) {
+        let crc = 0xff;
+        for (const b of data) {
+            crc ^= b;
+            for (let i = 0; i < 8; i++)
+                crc = crc & 0x80 ? ((crc << 1) ^ 0x31) & 0xff : (crc << 1) & 0xff;
+        }
+        return crc;
+    }
+
+    /** [msb lsb crc] × n → {words, ok}. */
+    function unpackSensirionWords(frame) {
+        const words = [];
+        let ok = true;
+        for (let i = 0; i < frame.length; i += 3) {
+            words.push((frame[i] << 8) | frame[i + 1]);
+            ok = ok && crc8Sensirion([frame[i], frame[i + 1]]) === frame[i + 2];
+        }
+        return { words, ok };
+    }
+
+    // ── SHT4x (0x44) ────────────────────────────────────────────────────────
+
+    class SHT4x {
+        constructor(bus, addr) {
+            this.bus = bus;
+            this.addr = addr === undefined ? SHT4x.ADDR : addr;
+        }
+        async _command(cmd, waitMs, rlen) {
+            await this.bus.xfer(this.addr, [cmd], 0); // write leg
+            await this.bus.sleep(waitMs);
+            return this.bus.xfer(this.addr, [], rlen === undefined ? 6 : rlen); // separate read leg
+        }
+        async identify() {
+            const { words, ok } = unpackSensirionWords(await this._command(SHT4x.CMD_SERIAL, 2));
+            return { serial: ((words[0] << 16) | words[1]) >>> 0, crc_ok: ok };
+        }
+        async softReset() {
+            await this.bus.xfer(this.addr, [SHT4x.CMD_SOFT_RESET], 0);
+            await this.bus.sleep(2);
+        }
+        /** Datasheet 4.6; RH clipped to 0..100. */
+        static convert(tRaw, rhRaw) {
+            const t = -45.0 + (175.0 * tRaw) / 65535.0;
+            const rh = Math.min(100.0, Math.max(0.0, -6.0 + (125.0 * rhRaw) / 65535.0));
+            return [t, rh];
+        }
+        async read(cmd) {
+            const c = cmd === undefined ? SHT4x.CMD_MEASURE_HIGH : cmd;
+            const { words, ok } = unpackSensirionWords(
+                await this._command(c, SHT4x.MEASURE_WAIT_MS[c])
+            );
+            const [t, rh] = SHT4x.convert(words[0], words[1]);
+            return { temp_c: t, rh_pct: rh, t_raw: words[0], rh_raw: words[1], crc_ok: ok };
+        }
+    }
+    SHT4x.ADDR = 0x44;
+    SHT4x.CMD_MEASURE_HIGH = 0xfd;
+    SHT4x.CMD_MEASURE_MED = 0xf6;
+    SHT4x.CMD_MEASURE_LOW = 0xe0;
+    SHT4x.CMD_SERIAL = 0x89;
+    SHT4x.CMD_SOFT_RESET = 0x94;
+    SHT4x.MEASURE_WAIT_MS = { 0xfd: 10, 0xf6: 6, 0xe0: 3 };
+
+    // ── LSM6DSOX (0x6A; SA0 high → 0x6B) ────────────────────────────────────
+
+    class LSM6DSOX {
+        constructor(bus, addr) {
+            this.bus = bus;
+            this.addr = addr === undefined ? LSM6DSOX.ADDR : addr;
+            this.fsG = 2;
+            this.fsDps = 250;
+        }
+        async identify() {
+            const who = (await this.bus.readReg(this.addr, LSM6DSOX.REG_WHO_AM_I))[0];
+            return { who_am_i: who, id_ok: who === LSM6DSOX.WHO_AM_I_EXPECTED };
+        }
+        async configure(o) {
+            const c = Object.assign(
+                { odr_hz: 104, fs_g: 2, gyro_odr_hz: 104, fs_dps: 250 },
+                o || {}
+            );
+            const L = LSM6DSOX;
+            if (!(c.odr_hz in L.ODR_CODE) || !(c.gyro_odr_hz in L.ODR_CODE))
+                throw new RangeError('LSM6DSOX: unsupported ODR');
+            if (!(c.fs_g in L.FS_XL_CODE) || !(c.fs_dps in L.FS_G_CODE))
+                throw new RangeError('LSM6DSOX: unsupported full scale');
+            this.fsG = c.fs_g;
+            this.fsDps = c.fs_dps;
+            await this.bus.writeReg(this.addr, L.REG_CTRL3_C, [L.CTRL3_BDU | L.CTRL3_IF_INC]);
+            await this.bus.writeReg(this.addr, L.REG_CTRL1_XL, [
+                (L.ODR_CODE[c.odr_hz] << 4) | (L.FS_XL_CODE[c.fs_g] << 2)
+            ]);
+            await this.bus.writeReg(this.addr, L.REG_CTRL2_G, [
+                (L.ODR_CODE[c.gyro_odr_hz] << 4) | (L.FS_G_CODE[c.fs_dps] << 2)
+            ]);
+            await this.bus.sleep((2.5 / Math.max(c.odr_hz, 12.5) + 0.01) * 1000); // first samples after the ODR change
+        }
+        get accelGPerLsb() {
+            return { 2: 0.061e-3, 4: 0.122e-3, 8: 0.244e-3, 16: 0.488e-3 }[this.fsG];
+        }
+        get gyroDpsPerLsb() {
+            return { 250: 8.75e-3, 500: 17.5e-3, 1000: 35e-3, 2000: 70e-3 }[this.fsDps];
+        }
+        /** One 14-byte block: temp + gyro + accel. */
+        async read() {
+            const b = await this.bus.readReg(this.addr, LSM6DSOX.REG_OUT_TEMP_L, 14);
+            const v = [];
+            for (let i = 0; i < 7; i++) v.push(i16(b, 2 * i));
+            const [tempRaw, gx, gy, gz, ax, ay, az] = v;
+            const a = [ax, ay, az].map((x) => x * this.accelGPerLsb);
+            const g = [gx, gy, gz].map((x) => x * this.gyroDpsPerLsb);
+            return Object.assign(
+                {
+                    accel_g: a,
+                    gyro_dps: g,
+                    temp_c: 25.0 + tempRaw / 256.0,
+                    accel_raw: [ax, ay, az]
+                },
+                LSM6DSOX.tilt(a)
+            );
+        }
+        /** Inclination from the gravity vector (degrees). |a| ≈ 1 g when still. */
+        static tilt(a) {
+            const [ax, ay, az] = a;
+            const norm = Math.sqrt(ax * ax + ay * ay + az * az);
+            const deg = (r) => (r * 180) / Math.PI;
+            if (norm === 0)
+                return { pitch_deg: NaN, roll_deg: NaN, from_vertical_deg: NaN, accel_norm_g: 0 };
+            return {
+                pitch_deg: deg(Math.atan2(ax, Math.sqrt(ay * ay + az * az))),
+                roll_deg: deg(Math.atan2(ay, az)),
+                from_vertical_deg: deg(Math.acos(Math.max(-1, Math.min(1, Math.abs(az) / norm)))),
+                accel_norm_g: norm
+            };
+        }
+        /** Latched wake-up "bumped" flag. Threshold resolution FS/64 (31.25 mg at ±2 g). */
+        async armBump(thresholdG) {
+            const L = LSM6DSOX;
+            const lsb = this.fsG / 64.0;
+            const ths = Math.max(
+                0,
+                Math.min(63, Math.round((thresholdG === undefined ? 0.25 : thresholdG) / lsb))
+            );
+            await this.bus.writeReg(this.addr, L.REG_WAKE_UP_DUR, [0x00]);
+            await this.bus.writeReg(this.addr, L.REG_WAKE_UP_THS, [ths]);
+            await this.bus.writeReg(this.addr, L.REG_TAP_CFG0, [
+                L.TAP_CFG0_LIR | L.TAP_CFG0_INT_CLR_ON_READ
+            ]);
+            await this.bus.writeReg(this.addr, L.REG_MD1_CFG, [L.MD1_CFG_INT1_WU]); // routing is what latches
+            await this.bus.writeReg(this.addr, L.REG_TAP_CFG2, [L.TAP_CFG2_INTERRUPTS_ENABLE]);
+            await this.bumpFlag(); // clear anything latched while arming
+            return ths;
+        }
+        async disarmBump() {
+            const L = LSM6DSOX;
+            await this.bus.writeReg(this.addr, L.REG_TAP_CFG2, [0]);
+            await this.bus.writeReg(this.addr, L.REG_MD1_CFG, [0]);
+            await this.bus.writeReg(this.addr, L.REG_TAP_CFG0, [0]);
+        }
+        /** READ-AND-CLEAR. One owner only. */
+        async bumpFlag() {
+            const src = (await this.bus.readReg(this.addr, LSM6DSOX.REG_WAKE_UP_SRC))[0];
+            const axes = [
+                ['X', 4],
+                ['Y', 2],
+                ['Z', 1]
+            ]
+                .filter(([, bit]) => src & bit)
+                .map(([n]) => n)
+                .join('');
+            return { bumped: !!(src & LSM6DSOX.WAKE_UP_SRC_WU_IA), axes, raw: src };
+        }
+        async powerOff() {
+            await this.disarmBump();
+            await this.bus.writeReg(this.addr, LSM6DSOX.REG_CTRL1_XL, [0]);
+            await this.bus.writeReg(this.addr, LSM6DSOX.REG_CTRL2_G, [0]);
+        }
+    }
+    Object.assign(LSM6DSOX, {
+        ADDR: 0x6a,
+        ADDR_ALT: 0x6b,
+        WHO_AM_I_EXPECTED: 0x6c,
+        REG_WHO_AM_I: 0x0f,
+        REG_CTRL1_XL: 0x10,
+        REG_CTRL2_G: 0x11,
+        REG_CTRL3_C: 0x12,
+        REG_WAKE_UP_SRC: 0x1b,
+        REG_OUT_TEMP_L: 0x20,
+        REG_TAP_CFG0: 0x56,
+        REG_TAP_CFG2: 0x58,
+        REG_WAKE_UP_THS: 0x5b,
+        REG_WAKE_UP_DUR: 0x5c,
+        REG_MD1_CFG: 0x5e,
+        CTRL3_BDU: 0x40,
+        CTRL3_IF_INC: 0x04,
+        ODR_CODE: { 0: 0x0, 12.5: 0x1, 26: 0x2, 52: 0x3, 104: 0x4, 208: 0x5, 416: 0x6 },
+        FS_XL_CODE: { 2: 0x0, 16: 0x1, 4: 0x2, 8: 0x3 },
+        FS_G_CODE: { 250: 0x0, 500: 0x1, 1000: 0x2, 2000: 0x3 },
+        TAP_CFG0_LIR: 0x01,
+        TAP_CFG0_INT_CLR_ON_READ: 0x40,
+        TAP_CFG2_INTERRUPTS_ENABLE: 0x80,
+        MD1_CFG_INT1_WU: 0x20,
+        WAKE_UP_SRC_WU_IA: 0x08
+    });
+
+    // ── TSL2591 (0x29) ──────────────────────────────────────────────────────
+
+    class TSL2591 {
+        constructor(bus, addr) {
+            this.bus = bus;
+            this.addr = addr === undefined ? TSL2591.ADDR : addr;
+            this.gain = 'med';
+            this.atimeMs = 100;
+        }
+        _rd(reg, n) {
+            return this.bus.readReg(this.addr, TSL2591.CMD | reg, n);
+        }
+        _wr(reg, v) {
+            return this.bus.writeReg(this.addr, TSL2591.CMD | reg, [v]);
+        }
+        async identify() {
+            const v = (await this._rd(TSL2591.REG_ID, 1))[0];
+            return { id: v, id_ok: v === TSL2591.ID_EXPECTED };
+        }
+        async configure(o) {
+            const c = Object.assign({ gain: 'med', atime_ms: 100 }, o || {});
+            if (!(c.gain in TSL2591.GAIN))
+                throw new RangeError('TSL2591 gain must be low|med|high|max');
+            if (!(c.atime_ms in TSL2591.ATIME))
+                throw new RangeError('TSL2591 atime_ms must be 100..600 in 100s');
+            this.gain = c.gain;
+            this.atimeMs = Number(c.atime_ms);
+            await this._wr(
+                TSL2591.REG_CONTROL,
+                TSL2591.GAIN[c.gain][0] | TSL2591.ATIME[c.atime_ms]
+            );
+            await this._wr(TSL2591.REG_ENABLE, TSL2591.ENABLE_PON | TSL2591.ENABLE_AEN);
+            await this.bus.sleep(this.atimeMs * 1.2 + 50);
+        }
+        /** ADC full scale: 36863 at 100 ms integration, 65535 otherwise (datasheet § ALS ADC). */
+        static ceilingFor(atimeMs) {
+            return Number(atimeMs) === 100 ? 36863 : 65535;
+        }
+        get ceiling() {
+            return TSL2591.ceilingFor(this.atimeMs);
+        }
+        /** Pure decode, shared by read() and the tests. */
+        decode(status, full, ir) {
+            const sat = full >= this.ceiling || ir >= this.ceiling;
+            const out = {
+                full,
+                ir,
+                visible: full - ir,
+                sat,
+                valid: !!(status & 0x01),
+                lux_approx: null
+            };
+            if (full > 0 && !sat) {
+                const cpl = (this.atimeMs * TSL2591.GAIN[this.gain][1]) / 408.0;
+                out.lux_approx = ((full - ir) * (1.0 - ir / full)) / cpl;
+            }
+            return out;
+        }
+        async read() {
+            const status = (await this._rd(TSL2591.REG_STATUS, 1))[0];
+            const b = await this._rd(TSL2591.REG_C0DATAL, 4);
+            return this.decode(status, u16(b, 0), u16(b, 2));
+        }
+        async powerOff() {
+            await this._wr(TSL2591.REG_ENABLE, 0);
+        }
+    }
+    Object.assign(TSL2591, {
+        ADDR: 0x29,
+        CMD: 0xa0,
+        REG_ENABLE: 0x00,
+        REG_CONTROL: 0x01,
+        REG_ID: 0x12,
+        REG_STATUS: 0x13,
+        REG_C0DATAL: 0x14,
+        ID_EXPECTED: 0x50,
+        ENABLE_PON: 0x01,
+        ENABLE_AEN: 0x02,
+        GAIN: { low: [0x00, 1.0], med: [0x10, 25.0], high: [0x20, 428.0], max: [0x30, 9876.0] },
+        ATIME: { 100: 0x00, 200: 0x01, 300: 0x02, 400: 0x03, 500: 0x04, 600: 0x05 }
+    });
+
+    // ── VEML7700 (0x10) ─────────────────────────────────────────────────────
+
+    class VEML7700 {
+        constructor(bus, addr) {
+            this.bus = bus;
+            this.addr = addr === undefined ? VEML7700.ADDR : addr;
+        }
+        async read16(reg) {
+            return u16(await this.bus.readReg(this.addr, reg, 2), 0);
+        }
+        async identify() {
+            const v = await this.read16(VEML7700.REG_ID);
+            // Early silicon has no ID register, so a mismatch is reported, not failed.
+            return {
+                id_raw: v,
+                device_id: v & 0xff,
+                device_id_ok: (v & 0xff) === VEML7700.DEVICE_ID_EXPECTED
+            };
+        }
+        async configure() {
+            await this.bus.writeReg(this.addr, VEML7700.REG_CONF, le16(VEML7700.CONF_GAIN1_IT100));
+            await this.bus.sleep(250); // > 2 integration windows at 100 ms
+        }
+        async read() {
+            const als = await this.read16(VEML7700.REG_ALS);
+            const white = await this.read16(VEML7700.REG_WHITE);
+            return {
+                als,
+                white,
+                lux_approx: als * VEML7700.LUX_PER_COUNT_GAIN1_IT100,
+                sat: als >= 0xffff || white >= 0xffff
+            };
+        }
+    }
+    Object.assign(VEML7700, {
+        ADDR: 0x10,
+        REG_CONF: 0x00,
+        REG_ALS: 0x04,
+        REG_WHITE: 0x05,
+        REG_ID: 0x07,
+        CONF_GAIN1_IT100: 0x0000,
+        LUX_PER_COUNT_GAIN1_IT100: 0.0576,
+        DEVICE_ID_EXPECTED: 0x81
+    });
+
+    // ── AS7343 (0x39) ───────────────────────────────────────────────────────
+
+    class AS7343 {
+        constructor(bus, addr) {
+            this.bus = bus;
+            this.addr = addr === undefined ? AS7343.ADDR : addr;
+            this.fullScale = 65535;
+            this.tintMs = 50.0;
+            this.gain = 256;
+            this._startedAt = null;
+        }
+        _wr(reg, v) {
+            return this.bus.writeReg(this.addr, reg, Array.isArray(v) ? v : [v]);
+        }
+        async identify() {
+            const A = AS7343;
+            await this._wr(A.REG_CFG0, A.CFG0_REG_BANK); // registers < 0x80 need bank 1
+            let b;
+            try {
+                b = await this.bus.readReg(this.addr, A.REG_AUXID, 3);
+            } finally {
+                await this._wr(A.REG_CFG0, 0x00);
+            }
+            return { auxid: b[0], revid: b[1], id: b[2], id_ok: b[2] === A.ID_EXPECTED };
+        }
+        async configure(o) {
+            const A = AS7343;
+            const c = Object.assign({ gain: 256, atime: 29, astep: 599 }, o || {});
+            if (!(c.gain in A.GAIN_CODE))
+                throw new RangeError(
+                    'AS7343 gain must be one of ' + Object.keys(A.GAIN_CODE).join(', ')
+                );
+            await this._wr(A.REG_CFG0, 0x00);
+            await this._wr(A.REG_ENABLE, A.ENABLE_PON);
+            await this._wr(A.REG_ATIME, c.atime);
+            await this._wr(A.REG_ASTEP_L, le16(c.astep));
+            await this._wr(A.REG_CFG1, A.GAIN_CODE[c.gain]);
+            await this._wr(A.REG_CFG20, A.CFG20_AUTO_SMUX_18);
+            this.gain = Number(c.gain);
+            this.fullScale = Math.min(65535, (c.atime + 1) * (c.astep + 1));
+            this.tintMs = ((c.atime + 1) * (c.astep + 1) * A.STEP_US) / 1000.0;
+        }
+        /** One 18-channel measurement = three SMUX cycles. */
+        get frameMs() {
+            return 3 * this.tintMs;
+        }
+        /** Kick off a measurement; the part integrates on its own until collect(). */
+        async start() {
+            const A = AS7343;
+            await this._wr(A.REG_ENABLE, A.ENABLE_PON);
+            const status = (await this.bus.readReg(this.addr, A.REG_STATUS, 1))[0];
+            await this._wr(A.REG_STATUS, status); // clear sticky flags
+            await this._wr(A.REG_ENABLE, A.ENABLE_PON | A.ENABLE_SP_EN);
+            this._startedAt = this.bus.now();
+        }
+        /** ms left before the frame can be valid (callers sleep this WITHOUT holding the bus). */
+        remainingMs() {
+            if (this._startedAt == null) return 0;
+            return Math.max(0, this._startedAt + this.frameMs - this.bus.now());
+        }
+        /** Poll AVALID, latch + read 18 channels, stop. Caller already slept remainingMs(). */
+        async collect(timeoutMs) {
+            const A = AS7343;
+            const deadline = this.bus.now() + (timeoutMs || 2000);
+            let status2;
+            try {
+                for (;;) {
+                    status2 = (await this.bus.readReg(this.addr, A.REG_STATUS2, 1))[0];
+                    if (status2 & A.STATUS2_AVALID) break;
+                    if (this.bus.now() > deadline) throw new Error('AS7343: AVALID never set');
+                    await this.bus.sleep(2);
+                }
+                const block = await this.bus.readReg(
+                    this.addr,
+                    A.REG_ASTATUS,
+                    1 + 2 * A.CHANNELS.length
+                );
+                return this.decode(block, status2);
+            } finally {
+                await this._wr(A.REG_ENABLE, A.ENABLE_PON);
+                this._startedAt = null;
+            }
+        }
+        decode(block, status2) {
+            const A = AS7343;
+            const channels = {};
+            A.CHANNELS.forEach((name, i) => (channels[name] = u16(block, 1 + 2 * i)));
+            const spectral = {};
+            A.SPECTRAL.forEach((k) => (spectral[k] = channels[k]));
+            const vis = A.CHANNELS.filter((k) => k.startsWith('VIS')).map((k) => channels[k]);
+            const fd = A.CHANNELS.filter((k) => k.startsWith('FD')).map((k) => channels[k]);
+            const mean = (xs) => xs.reduce((s, x) => s + x, 0) / xs.length;
+            return {
+                channels,
+                spectral,
+                vis: mean(vis),
+                fd: mean(fd),
+                sat: Math.max(...Object.values(spectral)) >= this.fullScale,
+                sat_vis: Math.max(...vis) >= this.fullScale,
+                asat_flags: (status2 & A.STATUS2_ASAT) | (block[0] & 0x80),
+                full_scale: this.fullScale,
+                tint_ms: this.tintMs
+            };
+        }
+        async powerOff() {
+            await this._wr(AS7343.REG_ENABLE, 0);
+        }
+    }
+    Object.assign(AS7343, {
+        ADDR: 0x39,
+        REG_AUXID: 0x58,
+        REG_ENABLE: 0x80,
+        REG_ATIME: 0x81,
+        REG_STATUS2: 0x90,
+        REG_STATUS: 0x93,
+        REG_ASTATUS: 0x94,
+        REG_CFG0: 0xbf,
+        REG_CFG1: 0xc6,
+        REG_ASTEP_L: 0xd4,
+        REG_CFG20: 0xd6,
+        CFG0_REG_BANK: 0x10,
+        ENABLE_PON: 0x01,
+        ENABLE_SP_EN: 0x02,
+        STATUS2_AVALID: 0x40,
+        STATUS2_ASAT: 0x18,
+        CFG20_AUTO_SMUX_18: 3 << 5,
+        ID_EXPECTED: 0x81,
+        GAIN_CODE: {
+            0.5: 0,
+            1: 1,
+            2: 2,
+            4: 3,
+            8: 4,
+            16: 5,
+            32: 6,
+            64: 7,
+            128: 8,
+            256: 9,
+            512: 10,
+            1024: 11,
+            2048: 12
+        },
+        STEP_US: 2.78,
+        // 18-ch auto-SMUX order (3 cycles × 6 ADCs); VIS = clear, FD = flicker (not light, kept out of sat).
+        CHANNELS: [
+            'FZ_450',
+            'FY_555',
+            'FXL_600',
+            'NIR_855',
+            'VIS0',
+            'FD0',
+            'F2_425',
+            'F3_475',
+            'F4_515',
+            'F6_640',
+            'VIS1',
+            'FD1',
+            'F1_405',
+            'F7_690',
+            'F8_745',
+            'F5_550',
+            'VIS2',
+            'FD2'
+        ],
+        SPECTRAL: [
+            'F1_405',
+            'F2_425',
+            'FZ_450',
+            'F3_475',
+            'F4_515',
+            'F5_550',
+            'FY_555',
+            'FXL_600',
+            'F6_640',
+            'F7_690',
+            'F8_745',
+            'NIR_855'
+        ]
+    });
+
+    // ── PCA9685 (0x40 default) ──────────────────────────────────────────────
+
+    class PCA9685 {
+        constructor(bus, addr) {
+            this.bus = bus;
+            this.addr = addr === undefined ? PCA9685.ADDR : addr;
+            this.freqHz = 200.0; // POR prescale 0x1E
+            this.configured = false;
+        }
+        async identify() {
+            const P = PCA9685;
+            const mode1 = (await this.bus.readReg(this.addr, P.REG_MODE1))[0];
+            const prescale = (await this.bus.readReg(this.addr, P.REG_PRESCALE))[0];
+            return {
+                mode1,
+                prescale,
+                freq_hz: P.freqForPrescale(prescale),
+                sleeping: !!(mode1 & P.MODE1_SLEEP),
+                allcall: !!(mode1 & P.MODE1_ALLCALL)
+            };
+        }
+        static prescaleFor(freqHz) {
+            return Math.max(
+                3,
+                Math.min(255, Math.round(PCA9685.OSC_HZ / (PCA9685.COUNTS * freqHz)) - 1)
+            );
+        }
+        static freqForPrescale(prescale) {
+            return PCA9685.OSC_HZ / (PCA9685.COUNTS * (prescale + 1));
+        }
+        /** Set PWM frequency (prescale only writable in SLEEP), wake, auto-increment, ALLCALL off. */
+        async configure(o) {
+            const P = PCA9685;
+            const freq = (o && o.freq_hz) || 50.0;
+            const mode1 =
+                (await this.bus.readReg(this.addr, P.REG_MODE1))[0] & ~P.MODE1_RESTART & 0xff;
+            await this.bus.writeReg(this.addr, P.REG_MODE1, [
+                (mode1 | P.MODE1_SLEEP) & ~P.MODE1_ALLCALL & 0xff
+            ]);
+            await this.bus.writeReg(this.addr, P.REG_PRESCALE, [P.prescaleFor(freq)]);
+            await this.bus.writeReg(this.addr, P.REG_MODE1, [
+                (mode1 | P.MODE1_AI) & ~P.MODE1_SLEEP & ~P.MODE1_ALLCALL & 0xff
+            ]);
+            await this.bus.sleep(1); // oscillator start-up ≥ 500 µs
+            await this.bus.writeReg(this.addr, P.REG_MODE1, [
+                (mode1 | P.MODE1_AI | P.MODE1_RESTART) & ~P.MODE1_SLEEP & ~P.MODE1_ALLCALL & 0xff
+            ]);
+            this.freqHz = P.freqForPrescale(P.prescaleFor(freq));
+            this.configured = true;
+        }
+        async setCounts(channel, on, off) {
+            if (!(Number.isInteger(channel) && channel >= 0 && channel < PCA9685.CHANNELS))
+                throw new RangeError('channel ' + channel + ' out of 0..15');
+            await this.bus.writeReg(this.addr, PCA9685.REG_LED0_ON_L + 4 * channel, [
+                ...le16(on & 0x1fff),
+                ...le16(off & 0x1fff)
+            ]);
+        }
+        async readCounts(channel) {
+            const b = await this.bus.readReg(this.addr, PCA9685.REG_LED0_ON_L + 4 * channel, 4);
+            return [u16(b, 0), u16(b, 2)];
+        }
+        pulseToCounts(pulseUs) {
+            return Math.max(
+                0,
+                Math.min(
+                    PCA9685.COUNTS - 1,
+                    Math.round(pulseUs * 1e-6 * this.freqHz * PCA9685.COUNTS)
+                )
+            );
+        }
+        /** Hobby servo: ~1000–2000 µs within a 20 ms (50 Hz) frame. Returns the OFF count. */
+        async setPulseUs(channel, pulseUs) {
+            const off = this.pulseToCounts(pulseUs);
+            await this.setCounts(channel, 0, off);
+            return off;
+        }
+        /** Full OFF (LEDn_OFF_H bit 4): the servo goes limp. */
+        async setOff(channel) {
+            await this.setCounts(channel, 0, 0x1000);
+        }
+        async allOff() {
+            await this.bus.writeReg(this.addr, PCA9685.REG_ALL_LED_ON_L, [0, 0, 0x00, 0x10]);
+        }
+        async sleep() {
+            const mode1 = (await this.bus.readReg(this.addr, PCA9685.REG_MODE1))[0];
+            await this.bus.writeReg(this.addr, PCA9685.REG_MODE1, [
+                (mode1 | PCA9685.MODE1_SLEEP) & ~PCA9685.MODE1_RESTART & 0xff
+            ]);
+        }
+    }
+    Object.assign(PCA9685, {
+        ADDR: 0x40,
+        ALLCALL_ADDR: 0x70,
+        REG_MODE1: 0x00,
+        REG_LED0_ON_L: 0x06,
+        REG_ALL_LED_ON_L: 0xfa,
+        REG_PRESCALE: 0xfe,
+        MODE1_RESTART: 0x80,
+        MODE1_AI: 0x20,
+        MODE1_SLEEP: 0x10,
+        MODE1_ALLCALL: 0x01,
+        OSC_HZ: 25000000,
+        CHANNELS: 16,
+        COUNTS: 4096
+    });
+
+    /**
+     * The address a PCA9685 is shadowing with its all-call (0x70 while MODE1.ALLCALL
+     * is set — reads included), or null. Decided from MODE1, never from a read probe.
+     */
+    async function pca9685AllcallShadow(bus, scan) {
+        if (!scan.includes(PCA9685.ADDR) || !scan.includes(PCA9685.ALLCALL_ADDR)) return null;
+        try {
+            const mode1 = (await bus.readReg(PCA9685.ADDR, PCA9685.REG_MODE1))[0];
+            return mode1 & PCA9685.MODE1_ALLCALL ? PCA9685.ALLCALL_ADDR : null;
+        } catch (e) {
+            if (e instanceof I2CError) return null;
+            throw e;
+        }
+    }
+
+    /**
+     * Scan the root bus, map every real mux's channels. Holds the bus for the whole
+     * walk. → { scan: [root addrs], shadow: addr|null, devices: [located…] }.
+     */
+    function locateDevices(bus) {
+        return bus.exclusive(async () => {
+            const root = await bus.scan();
+            const devices = root.map((a) => located(a));
+            const shadow = await pca9685AllcallShadow(bus, root);
+            for (const muxAddr of root) {
+                if (!isMux(muxAddr) || muxAddr === shadow || !(await muxResponds(bus, muxAddr)))
+                    continue;
+                const map = await new PCA9548(bus, muxAddr).channelMap();
+                for (const ch of Object.keys(map))
+                    for (const a of map[ch]) devices.push(located(a, muxAddr, Number(ch)));
+            }
+            return { scan: root, shadow, devices };
+        });
+    }
+
+    // ── KINDS registry ──────────────────────────────────────────────────────
+    // One entry per supported part — the ONLY place to add or drop one.
+    //   role:     env | tilt | light | actuator (consumers pick by role, never by part)
+    //   identify: (driver) → {ok, detail, info}            caller holds the bus
+    //   setup:    (driver, config, {forRun}) → applied cfg  caller holds the bus
+    //   read:     (bus, dev, driver) → reading             takes the bus ITSELF
+    //   display:  readout fields [{key, label, unit, digits|fmt}]
+    //   columns:  numeric log columns (keys into values())
+    //   values:   (reading) → {column: number|null}
+
+    const n = (v) => (typeof v === 'number' && Number.isFinite(v) ? v : null);
+    const simpleRead = (bus, dev, s) => withDevice(bus, dev, () => s.read());
+
+    const KINDS = {
+        sht4x: {
+            kind: 'sht4x',
+            label: 'SHT4x',
+            title: 'SHT4x temperature / humidity',
+            role: 'env',
+            addresses: [0x44],
+            Driver: SHT4x,
+            async identify(s) {
+                const r = await s.identify();
+                const serial = '0x' + r.serial.toString(16).toUpperCase().padStart(8, '0');
+                return {
+                    ok: r.crc_ok,
+                    detail: 'serial ' + serial + (r.crc_ok ? '' : ' (CRC FAIL)'),
+                    info: { serial }
+                };
+            },
+            async setup() {
+                return {};
+            },
+            read: simpleRead,
+            display: [
+                { key: 'temp_c', label: 'Temperature', unit: '°C', digits: 2 },
+                { key: 'rh_pct', label: 'Humidity', unit: '%RH', digits: 1 },
+                { key: 'crc_ok', label: 'CRC', fmt: 'okfail' }
+            ],
+            columns: ['temp_c', 'rh_pct'],
+            values: (r) => ({ temp_c: n(r.temp_c), rh_pct: n(r.rh_pct) })
+        },
+        lsm6dsox: {
+            kind: 'lsm6dsox',
+            label: 'LSM6DSOX',
+            title: 'LSM6DSOX IMU — tilt + bump latch',
+            role: 'tilt',
+            addresses: [0x6a, 0x6b],
+            Driver: LSM6DSOX,
+            async identify(s) {
+                const r = await s.identify();
+                return {
+                    ok: r.id_ok,
+                    detail: 'WHO_AM_I ' + hex2(r.who_am_i) + ' (expect 0x6C)',
+                    info: {}
+                };
+            },
+            // Tilt always; the bump latch only when asked (it is read-to-clear: one owner).
+            async setup(s, cfg, ctx) {
+                await s.configure({ odr_hz: 104 });
+                const applied = { odr_hz: 104 };
+                if (ctx && ctx.armBump) {
+                    applied.bump_g = (cfg && cfg.bump_g) || 0.25;
+                    applied.bump_ths = await s.armBump(applied.bump_g);
+                }
+                return applied;
+            },
+            read: simpleRead,
+            display: [
+                { key: 'from_vertical_deg', label: 'Tilt from vertical', unit: '°', digits: 1 },
+                { key: 'pitch_deg', label: 'Pitch', unit: '°', digits: 1, signed: true },
+                { key: 'roll_deg', label: 'Roll', unit: '°', digits: 1, signed: true },
+                { key: 'accel_norm_g', label: '|a|', unit: 'g', digits: 3 },
+                { key: 'temp_c', label: 'Die temperature', unit: '°C', digits: 1 }
+            ],
+            columns: ['from_vertical_deg', 'pitch_deg', 'roll_deg', 'accel_norm_g', 'temp_c'],
+            values: (r) => ({
+                from_vertical_deg: n(r.from_vertical_deg),
+                pitch_deg: n(r.pitch_deg),
+                roll_deg: n(r.roll_deg),
+                accel_norm_g: n(r.accel_norm_g),
+                temp_c: n(r.temp_c)
+            }),
+            hasBump: true
+        },
+        tsl2591: {
+            kind: 'tsl2591',
+            label: 'TSL2591',
+            title: 'TSL2591 broadband light',
+            role: 'light',
+            addresses: [0x29],
+            Driver: TSL2591,
+            async identify(s) {
+                const r = await s.identify();
+                return { ok: r.id_ok, detail: 'ID ' + hex2(r.id) + ' (expect 0x50)', info: {} };
+            },
+            async setup(s, cfg) {
+                const c = {
+                    gain: (cfg && cfg.gain) || 'med',
+                    atime_ms: (cfg && cfg.atime_ms) || 100
+                };
+                await s.configure(c);
+                return c;
+            },
+            read: simpleRead,
+            options: {
+                gain: { label: 'Gain', values: ['low', 'med', 'high', 'max'], default: 'med' },
+                atime_ms: {
+                    label: 'Integration (ms)',
+                    values: [100, 200, 300, 400, 500, 600],
+                    default: 100
+                }
+            },
+            display: [
+                { key: 'full', label: 'Full (C0)', unit: 'counts', digits: 0 },
+                { key: 'ir', label: 'IR (C1)', unit: 'counts', digits: 0 },
+                { key: 'lux_approx', label: 'Lux (approx.)', unit: 'lx', digits: 1 },
+                { key: 'sat', label: 'Saturated', fmt: 'flag' }
+            ],
+            columns: ['full', 'ir', 'lux_approx'],
+            values: (r) => ({ full: n(r.full), ir: n(r.ir), lux_approx: n(r.lux_approx) })
+        },
+        veml7700: {
+            kind: 'veml7700',
+            label: 'VEML7700',
+            title: 'VEML7700 ambient light',
+            role: 'light',
+            addresses: [0x10],
+            Driver: VEML7700,
+            async identify(s) {
+                const r = await s.identify();
+                // early silicon has no ID register → reported, never failed
+                const id = '0x' + r.id_raw.toString(16).toUpperCase().padStart(4, '0');
+                return {
+                    ok: true,
+                    detail:
+                        'ID reg ' +
+                        id +
+                        (r.device_id_ok ? ' ok' : ' (0x81 expected on current silicon)'),
+                    info: {}
+                };
+            },
+            async setup(s) {
+                await s.configure();
+                return { gain: 1, it_ms: 100 };
+            },
+            read: simpleRead,
+            display: [
+                { key: 'als', label: 'ALS', unit: 'counts', digits: 0 },
+                { key: 'white', label: 'White', unit: 'counts', digits: 0 },
+                { key: 'lux_approx', label: 'Lux (approx.)', unit: 'lx', digits: 1 },
+                { key: 'sat', label: 'Saturated', fmt: 'flag' }
+            ],
+            columns: ['als', 'white', 'lux_approx'],
+            values: (r) => ({ als: n(r.als), white: n(r.white), lux_approx: n(r.lux_approx) })
+        },
+        as7343: {
+            kind: 'as7343',
+            label: 'AS7343',
+            title: 'AS7343 14-channel spectral',
+            role: 'light',
+            addresses: [0x39],
+            Driver: AS7343,
+            async identify(s) {
+                const r = await s.identify();
+                return {
+                    ok: r.id_ok,
+                    detail: 'ID ' + hex2(r.id) + ' (expect 0x81) rev ' + hex2(r.revid),
+                    info: {}
+                };
+            },
+            async setup(s, cfg) {
+                const c = { gain: (cfg && cfg.gain) || 64 };
+                await s.configure(c);
+                return c;
+            },
+            // start → release the bus while it integrates (~150 ms) → collect.
+            async read(bus, dev, s) {
+                await withDevice(bus, dev, () => s.start());
+                const wait = s.remainingMs();
+                if (wait > 0) await bus.sleep(wait);
+                return withDevice(bus, dev, () => s.collect());
+            },
+            options: { gain: { label: 'Gain', values: [1, 4, 16, 64, 256, 1024], default: 64 } },
+            display: [
+                { key: 'vis', label: 'Clear (VIS)', unit: 'counts', digits: 0 },
+                { key: 'sat', label: 'Saturated', fmt: 'flag' },
+                { key: 'spectral', label: 'Spectrum', fmt: 'bars' }
+            ],
+            columns: ['vis'].concat(AS7343.SPECTRAL),
+            values: (r) => {
+                const out = { vis: n(r.vis) };
+                AS7343.SPECTRAL.forEach((k) => (out[k] = n(r.spectral[k])));
+                return out;
+            }
+        },
+        pca9685: {
+            kind: 'pca9685',
+            label: 'PCA9685',
+            title: 'PCA9685 servo / PWM driver',
+            role: 'actuator',
+            addresses: [0x40],
+            Driver: PCA9685,
+            async identify(s) {
+                const r = await s.identify();
+                const detail =
+                    'MODE1 ' +
+                    hex2(r.mode1) +
+                    ' prescale ' +
+                    r.prescale +
+                    ' (' +
+                    r.freq_hz.toFixed(0) +
+                    ' Hz)' +
+                    (r.sleeping ? ' SLEEP' : '') +
+                    (r.allcall ? ' ALLCALL' : '');
+                return { ok: true, detail, info: { allcall: r.allcall, sleeping: r.sleeping } }; // no ID register
+            },
+            async setup(s, cfg) {
+                const c = { freq_hz: (cfg && cfg.freq_hz) || 50 };
+                await s.configure(c);
+                return c;
+            },
+            read: (bus, dev, s) => withDevice(bus, dev, () => s.identify()),
+            display: [
+                { key: 'freq_hz', label: 'PWM frequency', unit: 'Hz', digits: 2 },
+                { key: 'sleeping', label: 'Oscillator', fmt: 'sleep' },
+                { key: 'allcall', label: 'All-call 0x70', fmt: 'onoff' }
+            ],
+            columns: [],
+            values: () => ({})
+        }
+    };
+
+    const KIND_BY_ADDR = {};
+    for (const k of Object.values(KINDS)) for (const a of k.addresses) KIND_BY_ADDR[a] = k.kind;
+
+    /** The default kind for an address (the address book), or null. */
+    const kindForAddress = (addr) => KIND_BY_ADDR[addr] || null;
+
+    /** Make the driver instance for a kind at an address. */
+    function createDriver(bus, kind, addr) {
+        const k = KINDS[kind];
+        if (!k) throw new Error('unknown Qwiic kind "' + kind + '"');
+        return new k.Driver(bus, addr === undefined ? k.addresses[0] : addr);
+    }
+
+    /** Identify a located device as `kind` (holds the bus). Never throws: errors → ok:false. */
+    async function identifyDevice(bus, dev, kind, driver) {
+        const k = KINDS[kind];
+        const s = driver || createDriver(bus, kind, dev.addr);
+        try {
+            const r = await withDevice(bus, dev, () => k.identify(s));
+            return Object.assign({ kind, driver: s }, r);
+        } catch (e) {
+            return { kind, driver: s, ok: false, detail: e.message, info: {}, error: e };
+        }
+    }
+
+    const QwiicDrivers = {
+        I2CError,
+        NoQwiicJack,
+        createBus,
+        withDevice,
+        reach,
+        located,
+        where,
+        sameLocation,
+        locateDevices,
+        pca9685AllcallShadow,
+        muxResponds,
+        isMux,
+        describe,
+        hex2,
+        MCP4725_ADDR,
+        crc8Sensirion,
+        unpackSensirionWords,
+        SHT4x,
+        LSM6DSOX,
+        TSL2591,
+        VEML7700,
+        AS7343,
+        PCA9685,
+        PCA9548,
+        KINDS,
+        kindForAddress,
+        createDriver,
+        identifyDevice
+    };
+
+    if (typeof module !== 'undefined' && module.exports) module.exports = QwiicDrivers;
+    global.QwiicDrivers = QwiicDrivers;
+})(typeof window !== 'undefined' ? window : globalThis);
diff --git a/js/studio-qwiic.js b/js/studio-qwiic.js
new file mode 100644
index 00000000..5bf05a0b
--- /dev/null
+++ b/js/studio-qwiic.js
@@ -0,0 +1,608 @@
+/**
+ * studio-qwiic.js — Arena Studio glue for the Qwiic peripherals (LAB-214),
+ * DOM-free so it is Node-testable (tests/test-studio-qwiic.js). The register
+ * maps live in js/qwiic-drivers.js; this file is about the RIG and the CHECK:
+ *
+ *   parseRigPeripherals(rigData)   rig YAML `peripherals:` → {list, warnings}.
+ *                                  Tolerant like parseRigIo: never throws; a bad
+ *                                  entry is dropped with a warning string.
+ *   discover(bus)                  scan + mux map + identify every known part
+ *                                  (the Console Scan, and step 1 of setup).
+ *   checkAgainstScan(declared, d)  BOTH directions: declared-but-missing (error,
+ *                                  never retried) and attached-but-undeclared
+ *                                  (warning flag; Console-only, never logged).
+ *   applySetup(bus, check, opts)   configure the declared, present, identified
+ *                                  parts (PCA9685 ALLCALL off, IMU on, …).
+ *   chipState(state)               the top-bar / rail chip text + level.
+ *   toRigYaml(discovery, opts)     the "Copy as rig YAML" snippet.
+ *   formatField(field, reading)    readout text for one KINDS display field.
+ *
+ * Scan only at SETUP (connect, Console Scan button, run start): GET_I2C_SCAN
+ * stalls the controller loop ~10 ms, so never while a display runs.
+ *
+ * LOADING: classic <script src> after js/qwiic-drivers.js (window-global
+ * `StudioQwiic` + CommonJS), no ES `export` (CLAUDE.md).
+ */
+(function (global) {
+    'use strict';
+
+    const Q =
+        (typeof require === 'function' &&
+            (() => {
+                try {
+                    return require('./qwiic-drivers.js');
+                } catch (_) {
+                    return null;
+                }
+            })()) ||
+        global.QwiicDrivers;
+
+    const hex2 = (a) => '0x' + (a & 0xff).toString(16).toUpperCase().padStart(2, '0');
+    const POLL_INTERVAL_MIN_S = 0.5;
+    const BOARD_BUDGET = 8; // pull-up stack: ~8 Adafruit-class boards (bench 2026-10-12)
+    const SERVO_US_DEFAULT = { min_us: 1000, max_us: 2000 };
+    const SERVO_US_LIMITS = { min_us: 500, max_us: 2500 };
+
+    /** Location key: same address on a different mux channel is a different device. */
+    const locKey = (d) =>
+        (d.mux == null ? 'root' : hex2(d.mux) + '.' + d.channel) + ':' + hex2(d.addr);
+
+    function parseAddress(v) {
+        if (typeof v === 'number' && Number.isInteger(v)) return v;
+        if (typeof v === 'string') {
+            const s = v.trim();
+            if (/^0x[0-9a-f]+$/i.test(s)) return parseInt(s, 16);
+            if (/^\d+$/.test(s)) return parseInt(s, 10);
+        }
+        return null;
+    }
+
+    function parsePoll(raw, label, warnings) {
+        const poll = { trialStart: false, intervalS: null, onDemand: false };
+        const items =
+            raw === undefined || raw === null ? ['on_demand'] : Array.isArray(raw) ? raw : [raw];
+        for (const it of items) {
+            if (it === 'trial_start') poll.trialStart = true;
+            else if (it === 'on_demand') poll.onDemand = true;
+            else if (it && typeof it === 'object' && 'interval' in it) {
+                const s = Number(it.interval);
+                if (!Number.isFinite(s) || s <= 0) {
+                    warnings.push(
+                        label +
+                            ': poll interval "' +
+                            it.interval +
+                            '" is not a positive number of seconds — ignored'
+                    );
+                } else if (s < POLL_INTERVAL_MIN_S) {
+                    warnings.push(
+                        label +
+                            ': poll interval ' +
+                            s +
+                            ' s raised to the ' +
+                            POLL_INTERVAL_MIN_S +
+                            ' s minimum'
+                    );
+                    poll.intervalS = POLL_INTERVAL_MIN_S;
+                } else poll.intervalS = s;
+            } else {
+                warnings.push(
+                    label +
+                        ': unknown poll "' +
+                        JSON.stringify(it) +
+                        '" — use trial_start | {interval: s} | on_demand'
+                );
+            }
+        }
+        if (!poll.trialStart && poll.intervalS == null) poll.onDemand = true;
+        return poll;
+    }
+
+    function parseChannels(raw, label, warnings) {
+        const out = {};
+        if (raw === undefined || raw === null) return out;
+        if (typeof raw !== 'object' || Array.isArray(raw)) {
+            warnings.push(
+                label +
+                    ': channels must be a mapping {name: channel | {channel, min_us, max_us}} — ignored'
+            );
+            return out;
+        }
+        for (const [name, v] of Object.entries(raw)) {
+            const spec = typeof v === 'object' && v !== null ? v : { channel: v };
+            const ch = Number(spec.channel);
+            if (!Number.isInteger(ch) || ch < 0 || ch > 15) {
+                warnings.push(label + ': channel "' + name + '" must be 0..15 — dropped');
+                continue;
+            }
+            let min = spec.min_us === undefined ? SERVO_US_DEFAULT.min_us : Number(spec.min_us);
+            let max = spec.max_us === undefined ? SERVO_US_DEFAULT.max_us : Number(spec.max_us);
+            if (!(min >= SERVO_US_LIMITS.min_us && max <= SERVO_US_LIMITS.max_us && min < max)) {
+                warnings.push(
+                    label +
+                        ': channel "' +
+                        name +
+                        '" pulse limits must satisfy 500 ≤ min_us < max_us ≤ 2500 — using 1000–2000'
+                );
+                min = SERVO_US_DEFAULT.min_us;
+                max = SERVO_US_DEFAULT.max_us;
+            }
+            out[name] = { channel: ch, min_us: min, max_us: max };
+        }
+        return out;
+    }
+
+    /**
+     * Rig YAML `peripherals:` → { list: [entry…], warnings: [string…] }.
+     * entry = { name, kind, address, mux: null|{address, channel}, poll, config, channels }
+     */
+    function parseRigPeripherals(rigData) {
+        const result = { list: [], warnings: [] };
+        const raw = rigData && typeof rigData === 'object' ? rigData.peripherals : undefined;
+        if (raw === undefined || raw === null) return result;
+        if (!Array.isArray(raw)) {
+            result.warnings.push('peripherals must be a list — ignored');
+            return result;
+        }
+        const names = new Set();
+        const locs = new Set();
+        raw.forEach((e, i) => {
+            const label = 'peripherals[' + i + ']';
+            if (!e || typeof e !== 'object' || Array.isArray(e)) {
+                result.warnings.push(label + ': not a mapping — dropped');
+                return;
+            }
+            const kind = typeof e.kind === 'string' ? e.kind.trim().toLowerCase() : '';
+            const K = Q.KINDS[kind];
+            if (!K) {
+                result.warnings.push(
+                    label +
+                        ': unknown kind "' +
+                        e.kind +
+                        '" (known: ' +
+                        Object.keys(Q.KINDS).join(', ') +
+                        ') — dropped'
+                );
+                return;
+            }
+            let address = e.address === undefined ? K.addresses[0] : parseAddress(e.address);
+            if (address === null || address < 0x08 || address > 0x77) {
+                result.warnings.push(
+                    label +
+                        ': address "' +
+                        e.address +
+                        '" must be a 7-bit address 0x08..0x77 — dropped'
+                );
+                return;
+            }
+            if (!K.addresses.includes(address)) {
+                result.warnings.push(
+                    label +
+                        ': ' +
+                        K.label +
+                        ' at ' +
+                        hex2(address) +
+                        ' (expected ' +
+                        K.addresses.map(hex2).join('/') +
+                        ') — kept; check the address straps'
+                );
+            }
+            let mux = null;
+            if (e.mux !== undefined && e.mux !== null) {
+                const ma =
+                    e.mux && typeof e.mux === 'object'
+                        ? parseAddress(e.mux.address === undefined ? 0x70 : e.mux.address)
+                        : null;
+                const mc = e.mux && typeof e.mux === 'object' ? Number(e.mux.channel) : NaN;
+                if (ma === null || !Q.isMux(ma) || !Number.isInteger(mc) || mc < 0 || mc > 7) {
+                    result.warnings.push(
+                        label + ': mux must be {address: 0x70..0x77, channel: 0..7} — dropped'
+                    );
+                    return;
+                }
+                mux = { address: ma, channel: mc };
+            }
+            const name =
+                e.name === undefined
+                    ? kind + '_' + address.toString(16).padStart(2, '0')
+                    : String(e.name);
+            if (!/^[A-Za-z][A-Za-z0-9_]*$/.test(name)) {
+                result.warnings.push(
+                    label +
+                        ': name "' +
+                        name +
+                        '" must be letters/digits/underscore, starting with a letter — dropped'
+                );
+                return;
+            }
+            if (names.has(name)) {
+                result.warnings.push(label + ': duplicate name "' + name + '" — dropped');
+                return;
+            }
+            const key = locKey({
+                addr: address,
+                mux: mux && mux.address,
+                channel: mux && mux.channel
+            });
+            if (locs.has(key)) {
+                result.warnings.push(
+                    label +
+                        ': "' +
+                        name +
+                        '" is at the same address/mux channel as an earlier entry (' +
+                        key +
+                        ') — dropped'
+                );
+                return;
+            }
+            let poll = parsePoll(e.poll, label + ' (' + name + ')', result.warnings);
+            if (K.role === 'actuator' && (poll.trialStart || poll.intervalS != null)) {
+                result.warnings.push(
+                    label + ' (' + name + '): ' + K.label + ' is an actuator — poll ignored'
+                );
+                poll = { trialStart: false, intervalS: null, onDemand: true };
+            }
+            let config = {};
+            if (e.config !== undefined && e.config !== null) {
+                if (typeof e.config === 'object' && !Array.isArray(e.config))
+                    config = Object.assign({}, e.config);
+                else
+                    result.warnings.push(
+                        label + ' (' + name + '): config must be a mapping — ignored'
+                    );
+            }
+            const channels =
+                kind === 'pca9685'
+                    ? parseChannels(e.channels, label + ' (' + name + ')', result.warnings)
+                    : {};
+            names.add(name);
+            locs.add(key);
+            result.list.push({ name, kind, address, mux, poll, config, channels });
+        });
+        if (result.list.length > BOARD_BUDGET) {
+            result.warnings.push(
+                result.list.length +
+                    ' peripherals declared: beyond ~' +
+                    BOARD_BUDGET +
+                    ' boards the bus pull-ups stack below the I2C 3 mA floor (bench 2026-10-12) — cut pull-up jumpers or use the mux'
+            );
+        }
+        return result;
+    }
+
+    const declaredLoc = (p) => ({
+        addr: p.address,
+        mux: p.mux ? p.mux.address : null,
+        channel: p.mux ? p.mux.channel : null
+    });
+
+    /**
+     * Scan + mux map + identify every known part. Holds the bus per step, never
+     * applies configuration. → { at, scan, shadow, devices: [{dev, key, kind, label,
+     * where, ident: {ok, detail, info}|null, driver}], error }
+     */
+    async function discover(bus) {
+        const out = { at: Date.now(), scan: [], shadow: null, devices: [], error: null };
+        let loc;
+        try {
+            loc = await Q.locateDevices(bus);
+        } catch (e) {
+            out.error = e;
+            return out;
+        }
+        out.scan = loc.scan;
+        out.shadow = loc.shadow;
+        for (const dev of loc.devices) {
+            const item = {
+                dev,
+                key: locKey(dev),
+                kind: null,
+                label: Q.describe(dev.addr),
+                where: Q.where(dev),
+                ident: null,
+                driver: null
+            };
+            if (dev.addr === loc.shadow && dev.mux == null) {
+                item.label = 'PCA9685 all-call address (MODE1.ALLCALL set) — not a mux';
+                item.shadow = true;
+            } else if (Q.isMux(dev.addr) && dev.mux == null) {
+                item.mux = true;
+            } else {
+                const kind = Q.kindForAddress(dev.addr);
+                if (kind) {
+                    const r = await Q.identifyDevice(bus, dev, kind);
+                    item.kind = kind;
+                    item.label = Q.KINDS[kind].label;
+                    item.driver = r.driver;
+                    item.ident = { ok: r.ok, detail: r.detail, info: r.info || {} };
+                }
+                if (dev.addr === Q.MCP4725_ADDR) item.wiringError = true;
+            }
+            out.devices.push(item);
+        }
+        return out;
+    }
+
+    /**
+     * Compare the rig's declaration with what is on the bus — both directions.
+     * → { entries: [{decl, status: ok|missing|id_fail|wrong_location, detail, item}],
+     *     undeclared: [item…], counts, ok }
+     */
+    function checkAgainstScan(declared, discovery) {
+        const list = declared || [];
+        const devices = (discovery && discovery.devices) || [];
+        const used = new Set();
+        const whereOf = (decl) =>
+            decl.mux ? 'mux ' + hex2(decl.mux.address) + ' ch' + decl.mux.channel : 'root';
+        // Pass 1: exact location matches claim their devices first, so a same-address
+        // device elsewhere is only offered to entries that found nothing.
+        const exact = list.map((decl) => {
+            const it = devices.find((d) => Q.sameLocation(d.dev, declaredLoc(decl)));
+            if (it) used.add(it.key);
+            return it || null;
+        });
+        const entries = list.map((decl, i) => {
+            const K = Q.KINDS[decl.kind];
+            const where = whereOf(decl);
+            const item = exact[i];
+            if (item) {
+                if (item.ident && !item.ident.ok) {
+                    return {
+                        decl,
+                        item,
+                        status: 'id_fail',
+                        detail:
+                            K.label +
+                            ' ' +
+                            hex2(decl.address) +
+                            ' answered but failed its ID check: ' +
+                            item.ident.detail
+                    };
+                }
+                return {
+                    decl,
+                    item,
+                    status: 'ok',
+                    detail:
+                        K.label +
+                        ' ' +
+                        hex2(decl.address) +
+                        ' @ ' +
+                        where +
+                        (item.ident ? ' — ' + item.ident.detail : '')
+                };
+            }
+            const elsewhere = devices.find(
+                (d) => d.dev.addr === decl.address && !used.has(d.key) && !d.shadow
+            );
+            if (elsewhere) {
+                used.add(elsewhere.key);
+                return {
+                    decl,
+                    item: elsewhere,
+                    status: 'wrong_location',
+                    detail:
+                        K.label +
+                        ' ' +
+                        hex2(decl.address) +
+                        ' declared @ ' +
+                        where +
+                        ' but found @ ' +
+                        elsewhere.where
+                };
+            }
+            const hint =
+                K.role === 'actuator'
+                    ? ' (self-powered boards such as the Servo pHAT vanish from the bus when their own supply is off)'
+                    : '';
+            return {
+                decl,
+                item: null,
+                status: 'missing',
+                detail:
+                    K.label +
+                    ' ' +
+                    hex2(decl.address) +
+                    ' (' +
+                    decl.name +
+                    ') declared in the rig YAML but not on the Qwiic bus' +
+                    hint
+            };
+        });
+        // Muxes that carry a declared device are implicitly declared; the PCA9685 shadow is not a device.
+        const declaredMuxes = new Set(list.filter((p) => p.mux).map((p) => p.mux.address));
+        const undeclared = devices.filter(
+            (it) => !used.has(it.key) && !it.shadow && !(it.mux && declaredMuxes.has(it.dev.addr))
+        );
+        const counts = {
+            declared: list.length,
+            ok: entries.filter((e) => e.status === 'ok').length,
+            missing: entries.filter((e) => e.status === 'missing').length,
+            idFail: entries.filter((e) => e.status === 'id_fail').length,
+            wrongLocation: entries.filter((e) => e.status === 'wrong_location').length,
+            undeclared: undeclared.length,
+            devices: devices.filter((it) => !it.shadow).length
+        };
+        return { entries, undeclared, counts, ok: counts.ok === counts.declared };
+    }
+
+    /**
+     * Configure the declared parts that are present and identified. Holds the bus
+     * per device; failures are recorded, never thrown.
+     * opts.armBump: arm the LSM6DSOX latch (the run-start owner does this, PR 2).
+     * → { applied: {name: cfg}, errors: [{name, message}] }
+     */
+    async function applySetup(bus, check, opts) {
+        const o = opts || {};
+        const out = { applied: {}, errors: [] };
+        for (const e of (check && check.entries) || []) {
+            if (e.status !== 'ok' || !e.item || !e.item.driver) continue;
+            const K = Q.KINDS[e.decl.kind];
+            try {
+                out.applied[e.decl.name] = await Q.withDevice(bus, e.item.dev, () =>
+                    K.setup(e.item.driver, e.decl.config, {
+                        armBump: !!o.armBump && e.decl.poll.trialStart
+                    })
+                );
+            } catch (err) {
+                out.errors.push({ name: e.decl.name, message: err.message });
+            }
+        }
+        return out;
+    }
+
+    /**
+     * Chip for the top bar / Console rail.
+     * state = { available: bool, reason?, declared: [...], check?, discovery? }
+     * → { text, level: off|ok|warn|err, title }
+     */
+    function chipState(state) {
+        const s = state || {};
+        if (!s.available)
+            return {
+                text: 'Qwiic —',
+                level: 'off',
+                title: s.reason || 'no Qwiic I2C bridge on this controller'
+            };
+        if (s.discovery && s.discovery.error) {
+            return { text: 'Qwiic: scan failed', level: 'err', title: s.discovery.error.message };
+        }
+        const c = s.check;
+        if (!c) return { text: 'Qwiic …', level: 'off', title: 'not scanned yet' };
+        const n = c.counts;
+        const und = n.undeclared ? ' · ' + n.undeclared + ' undeclared' : '';
+        const bad = c.entries.filter((e) => e.status !== 'ok');
+        if (bad.length) {
+            const first = bad[0];
+            const K = Q.KINDS[first.decl.kind];
+            const what =
+                first.status === 'missing'
+                    ? 'missing'
+                    : first.status === 'id_fail'
+                      ? 'failed ID'
+                      : 'wrong mux channel';
+            return {
+                text:
+                    'Qwiic: ' +
+                    K.label +
+                    ' ' +
+                    hex2(first.decl.address) +
+                    ' ' +
+                    what +
+                    (bad.length > 1 ? ' +' + (bad.length - 1) : '') +
+                    und,
+                level: 'err',
+                title: bad.map((e) => e.detail).join('\n')
+            };
+        }
+        if (!n.declared) {
+            return {
+                text: 'Qwiic: ' + n.devices + ' device' + (n.devices === 1 ? '' : 's') + und,
+                level: n.undeclared ? 'warn' : 'ok',
+                title: n.undeclared
+                    ? 'Attached but not in the rig YAML — Console → Qwiic → Copy as rig YAML'
+                    : 'Qwiic bus scanned'
+            };
+        }
+        return {
+            text: 'Qwiic ✓ ' + n.ok + '/' + n.declared + und,
+            level: n.undeclared ? 'warn' : 'ok',
+            title: n.undeclared
+                ? n.undeclared +
+                  ' attached device(s) not in the rig YAML — Console → Qwiic → Copy as rig YAML'
+                : 'every declared peripheral is on the bus'
+        };
+    }
+
+    const SUGGESTED_POLL = { env: 'trial_start', tilt: 'trial_start', light: 'on_demand' };
+
+    /**
+     * "Copy as rig YAML": a `peripherals:` snippet from a discovery. opts.only:
+     * an array of items (e.g. check.undeclared) to emit just those entries.
+     */
+    function toRigYaml(discovery, opts) {
+        const o = opts || {};
+        const items = o.only || (discovery && discovery.devices) || [];
+        const lines = ['peripherals:'];
+        const used = new Set();
+        for (const it of items) {
+            if (it.shadow || it.mux) continue;
+            if (!it.kind) {
+                lines.push(
+                    '  # ' + hex2(it.dev.addr) + ' @ ' + it.where + ': ' + it.label + ' — no driver'
+                );
+                continue;
+            }
+            const K = Q.KINDS[it.kind];
+            let name = it.kind + '_' + it.dev.addr.toString(16).padStart(2, '0');
+            if (it.dev.mux != null) name += '_m' + it.dev.channel;
+            while (used.has(name)) name += '_';
+            used.add(name);
+            lines.push('  - name: ' + name);
+            lines.push('    kind: ' + it.kind);
+            lines.push('    address: ' + hex2(it.dev.addr));
+            if (it.dev.mux != null)
+                lines.push(
+                    '    mux: {address: ' + hex2(it.dev.mux) + ', channel: ' + it.dev.channel + '}'
+                );
+            if (SUGGESTED_POLL[K.role]) lines.push('    poll: ' + SUGGESTED_POLL[K.role]);
+            if (it.kind === 'pca9685') {
+                lines.push('    config: {freq_hz: 50}');
+                lines.push('    channels: {servo0: {channel: 0, min_us: 1000, max_us: 2000}}');
+            }
+        }
+        return lines.join('\n') + '\n';
+    }
+
+    /** Readout text for one KINDS display field. */
+    function formatField(field, reading) {
+        const v = reading ? reading[field.key] : undefined;
+        if (v === undefined || v === null) return '—';
+        switch (field.fmt) {
+            case 'okfail':
+                return v ? 'ok' : 'FAIL';
+            case 'flag':
+                return v ? 'SATURATED' : 'no';
+            case 'onoff':
+                return v ? 'on' : 'off';
+            case 'sleep':
+                return v ? 'asleep (not configured)' : 'running';
+            case 'bars':
+                return '';
+        }
+        if (typeof v !== 'number' || !Number.isFinite(v)) return String(v);
+        const digits = field.digits === undefined ? 2 : field.digits;
+        const text = (field.signed && v >= 0 ? '+' : '') + v.toFixed(digits);
+        return field.unit ? text + ' ' + field.unit : text;
+    }
+
+    /** One device's dropdown label: "SHT4x · 0x44 · root (env)". */
+    function deviceLabel(item, declaredName) {
+        const base =
+            (item.kind ? Q.KINDS[item.kind].label : item.label) +
+            ' · ' +
+            hex2(item.dev.addr) +
+            ' · ' +
+            item.where;
+        return declaredName ? base + ' (' + declaredName + ')' : base;
+    }
+
+    const StudioQwiic = {
+        parseRigPeripherals,
+        discover,
+        checkAgainstScan,
+        applySetup,
+        chipState,
+        toRigYaml,
+        formatField,
+        deviceLabel,
+        locKey,
+        parseAddress,
+        BOARD_BUDGET,
+        POLL_INTERVAL_MIN_S,
+        SERVO_US_DEFAULT,
+        SERVO_US_LIMITS
+    };
+
+    if (typeof module !== 'undefined' && module.exports) module.exports = StudioQwiic;
+    global.StudioQwiic = StudioQwiic;
+})(typeof window !== 'undefined' ? window : globalThis);
diff --git a/tests/test-arena-wire-g6.js b/tests/test-arena-wire-g6.js
index 1d891ce3..4bd7eb97 100644
--- a/tests/test-arena-wire-g6.js
+++ b/tests/test-arena-wire-g6.js
@@ -1073,5 +1073,88 @@ console.log('\n=== panel inventory (0xC2 features, 0xD0 / 0xD1) ===');
     check('OPCODES.GET_PANEL_INVENTORY', Wire.OPCODES.GET_PANEL_INVENTORY, 0xd1);
 }
 
+console.log('\n=== Qwiic I2C bridge (0xB0 / 0xB1) — LAB-214 ===');
+{
+    // Byte vectors identical to the firmware repo's tests/qwiic_sensors.py i2c_xfer framing:
+    // params = [addr, wlen, *w, rlen] → frame [len(params)+1, 0xB1, *params].
+    checkBytes('encodeGetI2cScan', Wire.encodeGetI2cScan(), '01 b0');
+    checkBytes('I2C probe (ACK only)', Wire.encodeI2cTransfer(0x44, [], 0), '04 b1 44 00 00');
+    checkBytes(
+        'SHT4x measure-high write leg',
+        Wire.encodeI2cTransfer(0x44, [0xfd], 0),
+        '05 b1 44 01 fd 00'
+    );
+    checkBytes(
+        'SHT4x read leg (plain 6-byte read)',
+        Wire.encodeI2cTransfer(0x44, [], 6),
+        '04 b1 44 00 06'
+    );
+    checkBytes(
+        'TSL2591 ID read (CMD|0x12)',
+        Wire.encodeI2cTransfer(0x29, [0xb2], 1),
+        '05 b1 29 01 b2 01'
+    );
+    checkBytes(
+        'PCA9685 LED0 write (4 bytes)',
+        Wire.encodeI2cTransfer(0x40, [0x06, 0, 0, 0x33, 0x01], 0),
+        '09 b1 40 05 06 00 00 33 01 00'
+    );
+    checkBytes('rlen default 0', Wire.encodeI2cTransfer(0x10, [0x07]), '05 b1 10 01 07 00');
+    checkThrows('addr 0x80 rejected', () => Wire.encodeI2cTransfer(0x80, [], 0));
+    checkThrows('rlen 65 rejected', () => Wire.encodeI2cTransfer(0x10, [], 65));
+    checkThrows('write byte 256 rejected', () => Wire.encodeI2cTransfer(0x10, [256], 0));
+    checkThrows('write > 64 bytes rejected', () =>
+        Wire.encodeI2cTransfer(0x10, new Array(65).fill(0), 0)
+    );
+
+    const scan = Wire.decodeI2cScan(Uint8Array.from([7, 0, 0xb0, 4, 0x10, 0x29, 0x39, 0x44]));
+    checkBool('decodeI2cScan ok', scan && scan.ok && scan.addresses.join(',') === '16,41,57,68');
+    const empty = Wire.decodeI2cScan(Uint8Array.from([3, 0, 0xb0, 0]));
+    checkBool('decodeI2cScan empty bus', empty && empty.ok && empty.addresses.length === 0);
+    check(
+        'decodeI2cScan count/payload mismatch → null',
+        Wire.decodeI2cScan(Uint8Array.from([4, 0, 0xb0, 3, 0x10])),
+        null
+    );
+    const noJackMsg = 'No Qwiic jack on this hardware variant';
+    const noJack = Wire.decodeI2cScan(
+        Uint8Array.from([2 + noJackMsg.length, 1, 0xb0, ...Buffer.from(noJackMsg)])
+    );
+    checkBool(
+        'decodeI2cScan no-jack variant',
+        noJack && !noJack.ok && noJack.noJack && noJack.message === noJackMsg
+    );
+    const busErr = Wire.decodeI2cScan(Uint8Array.from([4, 4, 0xb0, 0x45, 0x52]));
+    checkBool(
+        'decodeI2cScan status 4 → bus error text',
+        busErr && busErr.statusText === 'bus error/timeout' && !busErr.noJack
+    );
+
+    const xfer = Wire.decodeI2cTransfer(Uint8Array.from([3, 0, 0xb1, 0x50]));
+    checkBool(
+        'decodeI2cTransfer data',
+        xfer && xfer.ok && xfer.data.length === 1 && xfer.data[0] === 0x50
+    );
+    const nack = Wire.decodeI2cTransfer(
+        Uint8Array.from([2 + 16, 2, 0xb1, ...Buffer.from('I2C address NACK')])
+    );
+    checkBool(
+        'decodeI2cTransfer address NACK',
+        nack &&
+            !nack.ok &&
+            nack.status === 2 &&
+            nack.statusText === 'address NACK' &&
+            nack.data.length === 0
+    );
+    check(
+        'decodeI2cTransfer short frame → null',
+        Wire.decodeI2cTransfer(Uint8Array.from([5, 0, 0xb1])),
+        null
+    );
+    check('OPCODES.GET_I2C_SCAN', Wire.OPCODES.GET_I2C_SCAN, 0xb0);
+    check('OPCODES.I2C_TRANSFER', Wire.OPCODES.I2C_TRANSFER, 0xb1);
+    check('I2C_READ_MAX', Wire.I2C_READ_MAX, 64);
+}
+
 console.log(`\n=== Summary ===\n${totalChecks - failures} / ${totalChecks} checks passed`);
 process.exit(failures > 0 ? 1 : 0);
diff --git a/tests/test-qwiic-drivers.js b/tests/test-qwiic-drivers.js
new file mode 100644
index 00000000..fd12fd8a
--- /dev/null
+++ b/tests/test-qwiic-drivers.js
@@ -0,0 +1,555 @@
+#!/usr/bin/env node
+/**
+ * test-qwiic-drivers.js — js/qwiic-drivers.js against a simulated Qwiic bus
+ * (no hardware). Vectors ported from the firmware repo's
+ * tests/test_qwiic_sensors_unit.py + tests/test_qwiic_peripherals_unit.py, plus
+ * the bench quirks (SHT4x two-leg read, LSM6DSOX latch, PCA9685 all-call shadow),
+ * the bus mutex, and mux location. LAB-214.
+ *
+ *   pixi run node tests/test-qwiic-drivers.js
+ */
+'use strict';
+
+const Q = require('../js/qwiic-drivers.js');
+const Wire = require('../js/arena-wire-g6.js');
+
+let failures = 0;
+let total = 0;
+function ok(name, cond, info) {
+    total++;
+    console.log(`  ${cond ? 'PASS' : 'FAIL'}  ${name}${info !== undefined ? ' — ' + info : ''}`);
+    if (!cond) failures++;
+}
+const close = (a, b, tol) => Math.abs(a - b) <= (tol === undefined ? 1e-9 : tol);
+const hex = (b) =>
+    Array.from(b)
+        .map((x) => x.toString(16).padStart(2, '0'))
+        .join(' ');
+
+// ── simulated bus ───────────────────────────────────────────────────────────
+// Register-file device: a write sets the pointer (first byte) and stores the rest
+// with auto-increment; a read returns bytes from the pointer. Pointer keys are the
+// raw bytes written, so TSL2591's CMD bit is just part of the key.
+class RegDevice {
+    constructor(regs) {
+        this.regs = Object.assign({}, regs || {});
+        this.ptr = 0;
+        this.writes = [];
+    }
+    write(w) {
+        if (!w.length) return;
+        this.ptr = w[0];
+        for (let i = 1; i < w.length; i++) this.regs[(w[0] + i - 1) & 0xff] = w[i];
+        if (w.length > 1) this.writes.push([w[0], ...w.slice(1)]);
+        this.onWrite && this.onWrite(w);
+    }
+    read(n) {
+        const out = [];
+        for (let i = 0; i < n; i++) out.push(this.readByte((this.ptr + i) & 0xff));
+        return out;
+    }
+    readByte(reg) {
+        return this.regs[reg] === undefined ? 0 : this.regs[reg];
+    }
+}
+
+// SHT4x: command byte → 6-byte frame; NACKs a read while "measuring" if read in
+// the same transfer as the command (repeated start).
+class ShtDevice {
+    constructor(tRaw, rhRaw, serial) {
+        this.t = tRaw;
+        this.rh = rhRaw;
+        this.serial = serial;
+        this.pending = null;
+    }
+    word(v) {
+        const b = [(v >> 8) & 0xff, v & 0xff];
+        return [...b, Q.crc8Sensirion(b)];
+    }
+    write(w) {
+        if (!w.length) return; // the read leg (plain read) carries no command
+        if (w[0] === 0x89)
+            this.pending = [...this.word(this.serial >>> 16), ...this.word(this.serial & 0xffff)];
+        else this.pending = [...this.word(this.t), ...this.word(this.rh)];
+    }
+    read(n) {
+        return (this.pending || []).slice(0, n);
+    }
+}
+
+// PCA9548: one control register; channel k exposes `channels[k]` devices.
+class MuxDevice {
+    constructor(channels) {
+        this.mask = 0;
+        this.channels = channels || {};
+    }
+    write(w) {
+        if (w.length) this.mask = w[0];
+    }
+    read() {
+        return [this.mask];
+    }
+}
+
+function createSim(devices, opts) {
+    const o = opts || {};
+    const log = [];
+    function visible() {
+        const out = new Map(Object.entries(devices).map(([a, d]) => [Number(a), d]));
+        for (const [a, d] of Object.entries(devices)) {
+            if (d instanceof MuxDevice) {
+                for (let ch = 0; ch < 8; ch++) {
+                    if (!(d.mask & (1 << ch))) continue;
+                    for (const [ca, cd] of Object.entries(d.channels[ch] || {}))
+                        out.set(Number(ca), cd);
+                }
+            }
+        }
+        // PCA9685 at 0x40 with ALLCALL set also answers 0x70 (reads return MODE1).
+        const pca = out.get(0x40);
+        if (pca && pca.isPca && pca.regs[0x00] & 0x01 && !out.has(0x70)) {
+            out.set(0x70, { write() {}, read: (n) => new Array(n).fill(pca.regs[0x00]) });
+        }
+        return out;
+    }
+    const reply = (status, cmd, payload) =>
+        Uint8Array.from([2 + payload.length, status, cmd, ...payload]);
+    async function send(bytes) {
+        const b = Array.from(bytes);
+        log.push(hex(b));
+        if (o.noJack)
+            return reply(
+                1,
+                b[1],
+                Array.from(Buffer.from('No Qwiic jack on this hardware variant'))
+            );
+        if (b[1] === 0xb0) {
+            const addrs = [...visible().keys()]
+                .filter((a) => a >= 0x08 && a <= 0x77)
+                .sort((x, y) => x - y);
+            return reply(0, 0xb0, [addrs.length, ...addrs]);
+        }
+        if (b[1] === 0xb1) {
+            const addr = b[2];
+            const wlen = b[3];
+            const w = b.slice(4, 4 + wlen);
+            const rlen = b[4 + wlen];
+            const dev = visible().get(addr);
+            if (!dev) return reply(2, 0xb1, Array.from(Buffer.from('I2C address NACK')));
+            if (dev instanceof ShtDevice && wlen > 0 && rlen > 0)
+                return reply(2, 0xb1, Array.from(Buffer.from('I2C address NACK')));
+            dev.write(w);
+            return reply(0, 0xb1, rlen ? dev.read(rlen) : []);
+        }
+        return reply(1, b[1], []);
+    }
+    return { send, log, devices };
+}
+
+const noSleep = () => Promise.resolve();
+
+(async () => {
+    console.log('\n=== vectors ported from the Python unit tests ===');
+    ok('Sensirion CRC datasheet vector 0xBEEF → 0x92', Q.crc8Sensirion([0xbe, 0xef]) === 0x92);
+    ok('Sensirion CRC 0x0000 → 0x81', Q.crc8Sensirion([0, 0]) === 0x81);
+    {
+        const g = Q.unpackSensirionWords([0xbe, 0xef, 0x92, 0, 0, 0x81]);
+        ok('unpack words good', g.ok && g.words[0] === 0xbeef && g.words[1] === 0);
+        ok(
+            'unpack words flags a bad CRC',
+            !Q.unpackSensirionWords([0xbe, 0xef, 0x93, 0, 0, 0x81]).ok
+        );
+    }
+    {
+        let [t, rh] = Q.SHT4x.convert(0, 0);
+        ok('SHT4x convert 0,0 → -45 °C, RH clipped 0', t === -45 && rh === 0);
+        [t, rh] = Q.SHT4x.convert(0xffff, 0xffff);
+        ok('SHT4x convert max → 130 °C, RH clipped 100', close(t, 130) && rh === 100);
+        [t, rh] = Q.SHT4x.convert(0x62ac, 0x8e85);
+        ok(
+            'SHT4x bench frame 2026-10-12 → 22.45 °C 63.6 %RH',
+            close(t, 22.45, 0.01) && close(rh, 63.6, 0.1),
+            t.toFixed(2) + ' ' + rh.toFixed(1)
+        );
+    }
+    {
+        const T = Q.LSM6DSOX.tilt;
+        const flat = T([0, 0, 1]);
+        ok(
+            'tilt flat',
+            close(flat.from_vertical_deg, 0) &&
+                close(flat.pitch_deg, 0) &&
+                close(flat.roll_deg, 0) &&
+                close(flat.accel_norm_g, 1)
+        );
+        const edge = T([1, 0, 0]);
+        ok('tilt on edge = 90°', close(edge.from_vertical_deg, 90) && close(edge.pitch_deg, 90));
+        ok(
+            'tilt upside down = 0° (inclination, not orientation)',
+            close(T([0, 0, -1]).from_vertical_deg, 0)
+        );
+        const r = (10 * Math.PI) / 180;
+        ok('tilt 10°', close(T([Math.sin(r), 0, Math.cos(r)]).from_vertical_deg, 10, 1e-9));
+        ok('tilt zero vector → NaN', Number.isNaN(T([0, 0, 0]).pitch_deg));
+        const imu = new Q.LSM6DSOX(null);
+        ok('LSM6DSOX 1 g at ±2 g', close(16393 * imu.accelGPerLsb, 1.0, 0.001));
+        ok('LSM6DSOX gyro 8.75 mdps/LSB', close(imu.gyroDpsPerLsb, 8.75e-3));
+    }
+    {
+        const P = Q.PCA9685;
+        ok('PCA9685 prescale 50 Hz = 121', P.prescaleFor(50) === 121);
+        ok('PCA9685 prescale 121 = 50.03 Hz', close(P.freqForPrescale(121), 50.03, 0.01));
+        ok(
+            'PCA9685 prescale clamps 3..255',
+            P.prescaleFor(10000) === 3 && P.prescaleFor(1) === 255
+        );
+        const pwm = new P(null);
+        pwm.freqHz = P.freqForPrescale(121);
+        ok('PCA9685 1500 µs → 307 counts', pwm.pulseToCounts(1500) === 307);
+        ok(
+            'PCA9685 pulse clamps 0..4095',
+            pwm.pulseToCounts(0) === 0 && pwm.pulseToCounts(1e6) === 4095
+        );
+    }
+    {
+        const T = Q.TSL2591;
+        ok('TSL2591 ceiling 36863 at 100 ms', T.ceilingFor(100) === 36863);
+        ok(
+            'TSL2591 ceiling 65535 otherwise',
+            [200, 300, 400, 500, 600].every((a) => T.ceilingFor(a) === 65535)
+        );
+        const s = new T(null);
+        const atCeil = s.decode(1, 36863, 10);
+        ok(
+            'TSL2591 saturated at the ceiling (not 0xFFFF)',
+            atCeil.sat && atCeil.lux_approx === null
+        );
+        const below = s.decode(1, 36862, 10);
+        ok('TSL2591 just below ceiling → lux', !below.sat && below.lux_approx !== null);
+        ok('TSL2591 IR-only saturation', s.decode(1, 5000, 36863).sat);
+        s.atimeMs = 200;
+        ok('TSL2591 40000 counts at 200 ms not saturated', !s.decode(1, 40000, 10).sat);
+        s.atimeMs = 100;
+        const dark = s.decode(1, 0, 0);
+        ok('TSL2591 dark is not saturated, lux null', !dark.sat && dark.lux_approx === null);
+    }
+
+    console.log('\n=== bus ===');
+    {
+        const sim = createSim({ 0x10: new RegDevice({ 0x07: 0x81 }) });
+        const bus = Q.createBus(sim.send, { sleep: noSleep });
+        const scan = await bus.scan();
+        ok('scan', scan.join(',') === '16');
+        ok('ack present', (await bus.ack(0x10)) === true);
+        ok('ack absent → false (address NACK)', (await bus.ack(0x44)) === false);
+        let err = null;
+        try {
+            await bus.readReg(0x44, 0x00, 1);
+        } catch (e) {
+            err = e;
+        }
+        ok(
+            'NACK → I2CError status 2',
+            err instanceof Q.I2CError && err.status === 2 && /0x44: address NACK/.test(err.message),
+            err && err.message
+        );
+        const nj = Q.createBus(createSim({}, { noJack: true }).send, { sleep: noSleep });
+        let e2 = null;
+        try {
+            await nj.scan();
+        } catch (e) {
+            e2 = e;
+        }
+        ok('no-jack firmware → NoQwiicJack', e2 instanceof Q.NoQwiicJack);
+        let e3 = null;
+        try {
+            await nj.xfer(0x10, [0], 1);
+        } catch (e) {
+            e3 = e;
+        }
+        ok('no-jack on transfer → NoQwiicJack', e3 instanceof Q.NoQwiicJack);
+    }
+
+    console.log('\n=== mutex ===');
+    {
+        // Two sequences that both sleep mid-way must not interleave their transfers.
+        const sim = createSim({ 0x10: new RegDevice(), 0x29: new RegDevice() });
+        const bus = Q.createBus(sim.send, { sleep: (ms) => new Promise((r) => setTimeout(r, ms)) });
+        const a = bus.exclusive(async () => {
+            await bus.xfer(0x10, [1], 0);
+            await bus.sleep(15);
+            await bus.xfer(0x10, [2], 0);
+        });
+        const b = bus.exclusive(async () => {
+            await bus.xfer(0x29, [3], 0);
+            await bus.sleep(1);
+            await bus.xfer(0x29, [4], 0);
+        });
+        await Promise.all([a, b]);
+        const order = sim.log.map((l) => l.split(' ')[2]).join(',');
+        ok('exclusive sequences never interleave', order === '10,10,29,29', order);
+        const failing = bus.exclusive(async () => {
+            throw new Error('boom');
+        });
+        let threw = false;
+        try {
+            await failing;
+        } catch (_) {
+            threw = true;
+        }
+        const after = await bus.exclusive(async () => 'next');
+        ok('a throwing sequence releases the bus', threw && after === 'next' && bus.held === false);
+    }
+
+    console.log('\n=== SHT4x two-leg read (bench quirk) ===');
+    {
+        const sim = createSim({ 0x44: new ShtDevice(0x62ac, 0x8e85, 0x14dcf709) });
+        const bus = Q.createBus(sim.send, { sleep: noSleep });
+        const s = new Q.SHT4x(bus);
+        const id = await s.identify();
+        ok('SHT4x serial + CRC', id.serial === 0x14dcf709 && id.crc_ok, id.serial.toString(16));
+        sim.log.length = 0;
+        const r = await s.read();
+        ok(
+            'SHT4x read = separate write leg then read leg',
+            sim.log.join(' | ') === '05 b1 44 01 fd 00 | 04 b1 44 00 06',
+            sim.log.join(' | ')
+        );
+        ok('SHT4x reading', close(r.temp_c, 22.45, 0.01) && close(r.rh_pct, 63.6, 0.1) && r.crc_ok);
+    }
+
+    console.log('\n=== LSM6DSOX bump latch (bench quirk) ===');
+    {
+        const imu = new RegDevice({ 0x0f: 0x6c });
+        // WAKE_UP_SRC clears on read only with LIR + INT_CLR_ON_READ + INT1_WU routing.
+        imu.readByte = function (reg) {
+            const v = this.regs[reg] || 0;
+            if (reg === 0x1b && (this.regs[0x56] & 0x41) === 0x41 && this.regs[0x5e] & 0x20)
+                this.regs[0x1b] = 0;
+            return v;
+        };
+        // accel block: z = +1 g (16393 LSB at ±2 g), temp raw 0 → 25 °C
+        Object.assign(imu.regs, { 0x26: 0, 0x27: 0, 0x2c: 16393 & 0xff, 0x2d: 16393 >> 8 });
+        const sim = createSim({ 0x6a: imu });
+        const bus = Q.createBus(sim.send, { sleep: noSleep });
+        const s = new Q.LSM6DSOX(bus);
+        ok('identify WHO_AM_I 0x6C', (await s.identify()).id_ok);
+        await s.configure();
+        ok(
+            'configure: BDU+IF_INC, 104 Hz ±2 g',
+            imu.regs[0x12] === 0x44 && imu.regs[0x10] === 0x40
+        );
+        const ths = await s.armBump(0.25);
+        ok('armBump: threshold 8 LSB at ±2 g', ths === 8 && imu.regs[0x5b] === 8);
+        ok('armBump: LIR + INT_CLR_ON_READ', imu.regs[0x56] === 0x41);
+        ok('armBump: INT1_WU routing (what latches)', imu.regs[0x5e] === 0x20);
+        ok('armBump: interrupts enabled', imu.regs[0x58] === 0x80);
+        imu.regs[0x1b] = 0x08 | 0x04; // WU_IA + X
+        const b1 = await s.bumpFlag();
+        ok('bumpFlag reports the event + axis', b1.bumped && b1.axes === 'X');
+        const b2 = await s.bumpFlag();
+        ok('bumpFlag cleared on read', !b2.bumped);
+        const r = await s.read();
+        ok(
+            'read: |a| ≈ 1 g flat, die 25 °C',
+            close(r.accel_norm_g, 1, 0.002) && close(r.from_vertical_deg, 0, 0.1) && r.temp_c === 25
+        );
+    }
+
+    console.log('\n=== PCA9685 all-call shadow + servo ===');
+    {
+        const pca = new RegDevice({ 0x00: 0x11, 0xfe: 30 });
+        pca.isPca = true;
+        const sim = createSim({ 0x40: pca });
+        const bus = Q.createBus(sim.send, { sleep: noSleep });
+        const loc = await Q.locateDevices(bus);
+        ok('scan sees 0x40 and its 0x70 shadow', loc.scan.join(',') === '64,112');
+        ok('0x70 recognized as the all-call shadow', loc.shadow === 0x70);
+        ok(
+            'no mux channels mapped through the shadow',
+            loc.devices.every((d) => d.mux === null) && loc.devices.length === 2
+        );
+        const s = new Q.PCA9685(bus);
+        const id = await s.identify();
+        ok(
+            'identify: POR MODE1 0x11 SLEEP+ALLCALL, prescale 30 ≈ 197 Hz',
+            id.sleeping && id.allcall && Math.round(id.freq_hz) === 197
+        );
+        await s.configure({ freq_hz: 50 });
+        ok(
+            'configure: prescale 121, ALLCALL cleared, awake, AI',
+            pca.regs[0xfe] === 121 &&
+                !(pca.regs[0x00] & 0x01) &&
+                !(pca.regs[0x00] & 0x10) &&
+                pca.regs[0x00] & 0x20
+        );
+        ok('after configure 0x70 leaves the scan', (await bus.scan()).join(',') === '64');
+        const off = await s.setPulseUs(0, 1500);
+        const counts = await s.readCounts(0);
+        ok(
+            '1500 µs → OFF 307 written + read back',
+            off === 307 && counts[1] === 307 && counts[0] === 0
+        );
+        await s.setOff(0);
+        ok('setOff sets the full-OFF bit', (await s.readCounts(0))[1] === 0x1000);
+        let threw = false;
+        try {
+            await s.setPulseUs(16, 1500);
+        } catch (_) {
+            threw = true;
+        }
+        ok('channel 16 rejected', threw);
+    }
+
+    console.log('\n=== PCA9548 mux location (unverified on hardware) ===');
+    {
+        const sht = new ShtDevice(0x62ac, 0x8e85, 1);
+        const mux = new MuxDevice({ 2: { 0x44: sht } });
+        const sim = createSim({ 0x70: mux, 0x29: new RegDevice({ 0xb2: 0x50 }) });
+        const bus = Q.createBus(sim.send, { sleep: noSleep });
+        const loc = await Q.locateDevices(bus);
+        const behind = loc.devices.find((d) => d.addr === 0x44);
+        ok(
+            'device behind mux ch2 located',
+            behind && behind.mux === 0x70 && behind.channel === 2,
+            behind && Q.where(behind)
+        );
+        ok('mux mask restored after the walk', mux.mask === 0);
+        const r = await Q.withDevice(bus, behind, () => new Q.SHT4x(bus).read());
+        ok('read through the mux', close(r.temp_c, 22.45, 0.01) && mux.mask === 0);
+        ok(
+            'where() text',
+            Q.where(behind) === 'mux 0x70 ch2' && Q.where({ addr: 1, mux: null }) === 'root'
+        );
+    }
+
+    console.log('\n=== light sensors ===');
+    {
+        const tsl = new RegDevice({
+            0xb2: 0x50,
+            0xb3: 0x01,
+            0xb4: 1000 & 0xff,
+            0xb5: 1000 >> 8,
+            0xb6: 100,
+            0xb7: 0
+        });
+        // VEML7700 registers are 16-bit words; the sim's flat byte file only needs ID 0x0081.
+        const veml = new RegDevice({ 0x07: 0x81, 0x08: 0x00 });
+        const sim = createSim({ 0x29: tsl, 0x10: veml });
+        const bus = Q.createBus(sim.send, { sleep: noSleep });
+        const t = new Q.TSL2591(bus);
+        ok('TSL2591 identify', (await t.identify()).id_ok);
+        await t.configure({ gain: 'high', atime_ms: 200 });
+        ok(
+            'TSL2591 configure CONTROL = gain high | 200 ms',
+            tsl.regs[0xa1] === 0x21 && tsl.regs[0xa0] === 0x03
+        );
+        const r = await t.read();
+        ok(
+            'TSL2591 read full/ir/visible',
+            r.full === 1000 && r.ir === 100 && r.visible === 900 && !r.sat && r.valid
+        );
+        const v = new Q.VEML7700(bus);
+        ok('VEML7700 id ok', (await v.identify()).device_id_ok);
+    }
+    {
+        const as = new RegDevice({ 0x5a: 0x81, 0x59: 0x01, 0x58: 0x02 });
+        as.readByte = function (reg) {
+            if (reg === 0x90) return 0x40; // AVALID
+            if (reg === 0x94) return 0x00; // ASTATUS
+            if (reg >= 0x95 && reg < 0x95 + 36) {
+                const i = (reg - 0x95) >> 1; // channel i = 100 * (i+1)
+                const v = 100 * (i + 1);
+                return (reg - 0x95) & 1 ? v >> 8 : v & 0xff;
+            }
+            return this.regs[reg] || 0;
+        };
+        const sim = createSim({ 0x39: as, 0x44: new ShtDevice(0x62ac, 0x8e85, 1) });
+        const bus = Q.createBus(sim.send, {
+            sleep: (ms) => new Promise((r) => setTimeout(r, Math.min(ms, 30)))
+        });
+        const s = new Q.AS7343(bus);
+        const id = await s.identify();
+        ok(
+            'AS7343 identify via bank 1, bank restored',
+            id.id_ok && id.revid === 1 && as.regs[0xbf] === 0
+        );
+        await s.configure({ gain: 64 });
+        ok(
+            'AS7343 configure: gain code 7, 18-ch SMUX, 50 ms',
+            as.regs[0xc6] === 7 && as.regs[0xd6] === 0x60 && close(s.tintMs, 50.04, 0.01)
+        );
+        // While the AS7343 integrates, another bus user gets in (read releases the bus).
+        const dev = Q.located(0x39);
+        let shtDoneWhileIntegrating = false;
+        const pAs = Q.KINDS.as7343.read(bus, dev, s);
+        const pSht = Q.withDevice(bus, Q.located(0x44), () => new Q.SHT4x(bus).read()).then(() => {
+            shtDoneWhileIntegrating = s._startedAt !== null;
+        });
+        const [r] = await Promise.all([pAs, pSht]);
+        ok('AS7343 read hands the bus back during integration', shtDoneWhileIntegrating);
+        ok(
+            'AS7343 decode: FZ_450 = ch0 = 100, F1_405 = ch12 = 1300',
+            r.channels.FZ_450 === 100 && r.spectral.F1_405 === 1300
+        );
+        ok('AS7343 VIS = mean of VIS0/1/2', close(r.vis, (500 + 1100 + 1700) / 3));
+        ok('AS7343 not saturated', !r.sat);
+    }
+
+    console.log('\n=== KINDS registry ===');
+    {
+        const kinds = Object.keys(Q.KINDS);
+        ok(
+            'kinds',
+            kinds.join(',') === 'sht4x,lsm6dsox,tsl2591,veml7700,as7343,pca9685',
+            kinds.join(',')
+        );
+        ok(
+            'every kind has role/label/display/columns/values',
+            kinds.every((k) => {
+                const e = Q.KINDS[k];
+                return (
+                    e.role &&
+                    e.label &&
+                    Array.isArray(e.display) &&
+                    Array.isArray(e.columns) &&
+                    typeof e.values === 'function' &&
+                    typeof e.read === 'function'
+                );
+            })
+        );
+        ok(
+            'roles',
+            Q.KINDS.sht4x.role === 'env' &&
+                Q.KINDS.lsm6dsox.role === 'tilt' &&
+                Q.KINDS.pca9685.role === 'actuator' &&
+                ['tsl2591', 'veml7700', 'as7343'].every((k) => Q.KINDS[k].role === 'light')
+        );
+        ok(
+            'kindForAddress',
+            Q.kindForAddress(0x44) === 'sht4x' &&
+                Q.kindForAddress(0x6b) === 'lsm6dsox' &&
+                Q.kindForAddress(0x55) === null
+        );
+        ok(
+            'describe flags the AO DAC',
+            /must NOT/.test(Q.describe(0x60)) && /PCA9548/.test(Q.describe(0x71))
+        );
+        const sim = createSim({ 0x44: new ShtDevice(1, 2, 0xabcdef01) });
+        const bus = Q.createBus(sim.send, { sleep: noSleep });
+        const idr = await Q.identifyDevice(bus, Q.located(0x44), 'sht4x');
+        ok('identifyDevice sht4x', idr.ok && idr.info.serial === '0xABCDEF01', idr.detail);
+        const bad = await Q.identifyDevice(bus, Q.located(0x6a), 'lsm6dsox');
+        ok(
+            'identifyDevice on an absent part → ok:false, never throws',
+            !bad.ok && /NACK/.test(bad.detail)
+        );
+        ok('lsm6dsox values exclude the bump flag', !Q.KINDS.lsm6dsox.columns.includes('bumped'));
+    }
+
+    console.log(`\n=== Summary ===\n${total - failures} / ${total} checks passed`);
+    process.exit(failures > 0 ? 1 : 0);
+})().catch((e) => {
+    console.error(e);
+    process.exit(1);
+});
diff --git a/tests/test-studio-analog-in.js b/tests/test-studio-analog-in.js
index e6db928a..ed57d534 100644
--- a/tests/test-studio-analog-in.js
+++ b/tests/test-studio-analog-in.js
@@ -277,7 +277,7 @@ async function main() {
     checkBool(
         'loads js/studio-analog-in.js as a classic script after the wire module',
         studioHtml.indexOf('<script src="js/studio-analog-in.js"') >
-            studioHtml.indexOf('<script src="js/arena-wire-g6.js"') &&
+            studioHtml.indexOf('<script src="js/arena-wire-g6.js') &&
             studioHtml.indexOf('<script src="js/studio-analog-in.js"') > 0,
         'script tag'
     );
diff --git a/tests/test-studio-qwiic.js b/tests/test-studio-qwiic.js
new file mode 100644
index 00000000..61dd73b0
--- /dev/null
+++ b/tests/test-studio-qwiic.js
@@ -0,0 +1,520 @@
+#!/usr/bin/env node
+/**
+ * test-studio-qwiic.js — js/studio-qwiic.js (rig `peripherals:` parser, the
+ * scan-vs-YAML check in both directions, setup, chip, YAML snippet, readout
+ * formatting) + the arena_studio.html Qwiic panel wiring. LAB-214.
+ *
+ *   pixi run node tests/test-studio-qwiic.js
+ */
+'use strict';
+
+const fs = require('fs');
+const path = require('path');
+const SQ = require('../js/studio-qwiic.js');
+const Q = require('../js/qwiic-drivers.js');
+
+let failures = 0;
+let total = 0;
+function ok(name, cond, info) {
+    total++;
+    console.log(`  ${cond ? 'PASS' : 'FAIL'}  ${name}${info !== undefined ? ' — ' + info : ''}`);
+    if (!cond) failures++;
+}
+
+// Discovery fixture without touching a bus: what SQ.discover() returns.
+const item = (addr, kind, extra) =>
+    Object.assign(
+        {
+            dev: Q.located(addr, extra && extra.mux, extra && extra.channel),
+            key: SQ.locKey(Q.located(addr, extra && extra.mux, extra && extra.channel)),
+            kind,
+            label: kind ? Q.KINDS[kind].label : Q.describe(addr),
+            where: Q.where(Q.located(addr, extra && extra.mux, extra && extra.channel)),
+            ident: kind ? { ok: !(extra && extra.idFail), detail: 'id', info: {} } : null,
+            driver: null
+        },
+        extra && extra.flags
+    );
+
+(async () => {
+    console.log('\n=== parseRigPeripherals ===');
+    {
+        const none = SQ.parseRigPeripherals({ name: 'x' });
+        ok(
+            'no peripherals: → empty, no warnings',
+            none.list.length === 0 && none.warnings.length === 0
+        );
+        ok('null rig → empty', SQ.parseRigPeripherals(null).list.length === 0);
+        ok(
+            'not a list → warning',
+            SQ.parseRigPeripherals({ peripherals: { a: 1 } }).warnings.length === 1
+        );
+
+        const r = SQ.parseRigPeripherals({
+            peripherals: [
+                { name: 'env', kind: 'sht4x', address: '0x44', poll: 'trial_start' },
+                {
+                    name: 'tilt',
+                    kind: 'LSM6DSOX',
+                    address: 0x6a,
+                    poll: ['trial_start', { interval: 1.0 }],
+                    config: { bump_g: 0.3 }
+                },
+                { kind: 'tsl2591' },
+                {
+                    name: 'env2',
+                    kind: 'sht4x',
+                    mux: { address: '0x70', channel: 2 },
+                    poll: { interval: 0.1 }
+                },
+                {
+                    name: 'servo',
+                    kind: 'pca9685',
+                    poll: 'trial_start',
+                    channels: { gate: 0, door: { channel: 3, min_us: 900, max_us: 2100 }, bad: 22 }
+                }
+            ]
+        });
+        const by = Object.fromEntries(r.list.map((p) => [p.name, p]));
+        ok('five entries kept', r.list.length === 5, r.list.map((p) => p.name).join(','));
+        ok(
+            'hex string address',
+            by.env.address === 0x44 && by.env.poll.trialStart && !by.env.poll.onDemand
+        );
+        ok(
+            'kind is case-insensitive; poll list',
+            by.tilt.kind === 'lsm6dsox' && by.tilt.poll.trialStart && by.tilt.poll.intervalS === 1
+        );
+        ok('config passes through', by.tilt.config.bump_g === 0.3);
+        ok(
+            'default name + address + on_demand',
+            by.tsl2591_29 && by.tsl2591_29.address === 0x29 && by.tsl2591_29.poll.onDemand
+        );
+        ok(
+            'mux parsed; same address on a mux channel is a different device',
+            by.env2.mux.address === 0x70 && by.env2.mux.channel === 2
+        );
+        ok(
+            'interval below 0.5 s raised + warned',
+            by.env2.poll.intervalS === 0.5 && r.warnings.some((w) => /minimum/.test(w))
+        );
+        ok(
+            'actuator poll ignored + warned',
+            by.servo.poll.onDemand &&
+                !by.servo.poll.trialStart &&
+                r.warnings.some((w) => /actuator/.test(w))
+        );
+        ok(
+            'servo channels: bare int, spec, bad dropped',
+            by.servo.channels.gate.channel === 0 &&
+                by.servo.channels.gate.min_us === 1000 &&
+                by.servo.channels.door.min_us === 900 &&
+                !by.servo.channels.bad &&
+                r.warnings.some((w) => /bad/.test(w))
+        );
+
+        const bad = SQ.parseRigPeripherals({
+            peripherals: [
+                'nope',
+                { kind: 'bme280' },
+                { kind: 'sht4x', address: 0x99 },
+                { kind: 'sht4x', mux: { address: 0x40, channel: 1 } },
+                { kind: 'sht4x', name: '9lives' },
+                { kind: 'sht4x', name: 'a' },
+                { kind: 'sht4x', name: 'a', mux: { channel: 1 } },
+                { kind: 'sht4x', name: 'b' },
+                { kind: 'sht4x', address: 0x45, name: 'c', poll: 'every_second' }
+            ]
+        });
+        ok(
+            'malformed entries dropped, never thrown',
+            bad.list.map((p) => p.name).join(',') === 'a,c',
+            bad.list.map((p) => p.name).join(',')
+        );
+        ok('a warning per problem', bad.warnings.length >= 9, bad.warnings.length + ' warnings');
+        ok(
+            'unknown kind names the known kinds',
+            bad.warnings.some((w) => /unknown kind "bme280".*sht4x/.test(w))
+        );
+        ok(
+            'duplicate location dropped',
+            bad.warnings.some((w) => /same address\/mux channel/.test(w))
+        );
+        ok(
+            'off-book address kept with a strap warning',
+            bad.warnings.some((w) => /0x45.*straps/.test(w))
+        );
+        ok(
+            'unknown poll warned',
+            bad.warnings.some((w) => /unknown poll/.test(w))
+        );
+
+        const many = SQ.parseRigPeripherals({
+            peripherals: Array.from({ length: 9 }, (_, i) => ({
+                kind: 'sht4x',
+                name: 's' + i,
+                mux: { address: 0x70, channel: i % 8 },
+                address: i < 8 ? 0x44 : 0x45
+            }))
+        });
+        ok(
+            '> 8 boards → pull-up budget warning (no cap)',
+            many.list.length === 9 && many.warnings.some((w) => /pull-ups/.test(w))
+        );
+    }
+
+    console.log('\n=== checkAgainstScan — both directions ===');
+    {
+        const declared = SQ.parseRigPeripherals({
+            peripherals: [
+                { name: 'env', kind: 'sht4x', poll: 'trial_start' },
+                { name: 'tilt', kind: 'lsm6dsox', poll: 'trial_start' },
+                { name: 'servo', kind: 'pca9685' },
+                { name: 'env2', kind: 'sht4x', mux: { address: 0x70, channel: 2 } }
+            ]
+        }).list;
+        const disc = {
+            scan: [0x29, 0x44, 0x6a, 0x70],
+            shadow: null,
+            devices: [
+                item(0x29, 'tsl2591'),
+                item(0x44, 'sht4x'),
+                item(0x6a, 'lsm6dsox', { idFail: true }),
+                item(0x70, null, { flags: { mux: true } }),
+                item(0x44, 'sht4x', { mux: 0x70, channel: 5 })
+            ]
+        };
+        const c = SQ.checkAgainstScan(declared, disc);
+        const st = Object.fromEntries(c.entries.map((e) => [e.decl.name, e.status]));
+        ok('present + identified → ok', st.env === 'ok');
+        ok('answered but failed ID → id_fail', st.tilt === 'id_fail');
+        ok(
+            'declared, not on the bus → missing (with the self-powered hint)',
+            st.servo === 'missing' && /own supply/.test(c.entries[2].detail)
+        );
+        ok('declared behind ch2, found behind ch5 → wrong_location', st.env2 === 'wrong_location');
+        ok(
+            'attached but undeclared → flagged',
+            c.undeclared.length === 1 && c.undeclared[0].dev.addr === 0x29,
+            c.undeclared.map((u) => u.key).join(',')
+        );
+        ok(
+            'a mux carrying a declared device is not "undeclared"',
+            !c.undeclared.some((u) => u.mux)
+        );
+        ok(
+            'counts',
+            c.counts.ok === 1 &&
+                c.counts.missing === 1 &&
+                c.counts.idFail === 1 &&
+                c.counts.wrongLocation === 1 &&
+                c.counts.undeclared === 1 &&
+                !c.ok
+        );
+
+        const shadowDisc = {
+            scan: [0x40, 0x70],
+            shadow: 0x70,
+            devices: [item(0x40, 'pca9685'), item(0x70, null, { flags: { shadow: true } })]
+        };
+        const c2 = SQ.checkAgainstScan(
+            [
+                {
+                    name: 'servo',
+                    kind: 'pca9685',
+                    address: 0x40,
+                    mux: null,
+                    poll: {},
+                    config: {},
+                    channels: {}
+                }
+            ],
+            shadowDisc
+        );
+        ok('PCA9685 all-call shadow is never "undeclared"', c2.ok && c2.undeclared.length === 0);
+        const c3 = SQ.checkAgainstScan([], {
+            scan: [0x44],
+            shadow: null,
+            devices: [item(0x44, 'sht4x')]
+        });
+        ok('nothing declared → every device undeclared', c3.counts.undeclared === 1 && c3.ok);
+
+        const chipErr = SQ.chipState({ available: true, check: c });
+        ok(
+            'chip: red, names the first problem, counts undeclared',
+            chipErr.level === 'err' &&
+                /SHT4x 0x44|LSM6DSOX 0x6A/.test(chipErr.text) &&
+                /\+2/.test(chipErr.text) &&
+                /1 undeclared/.test(chipErr.text),
+            chipErr.text
+        );
+        const okDisc = {
+            scan: [0x44, 0x6a, 0x29],
+            shadow: null,
+            devices: [item(0x44, 'sht4x'), item(0x6a, 'lsm6dsox'), item(0x29, 'tsl2591')]
+        };
+        const c4 = SQ.checkAgainstScan(declared.slice(0, 2), okDisc);
+        const chipWarn = SQ.chipState({ available: true, check: c4 });
+        ok(
+            'chip: amber "✓ 2/2 · 1 undeclared"',
+            chipWarn.level === 'warn' && chipWarn.text === 'Qwiic ✓ 2/2 · 1 undeclared',
+            chipWarn.text
+        );
+        const chipOk = SQ.chipState({
+            available: true,
+            check: SQ.checkAgainstScan(declared.slice(0, 2), {
+                scan: [],
+                shadow: null,
+                devices: okDisc.devices.slice(0, 2)
+            })
+        });
+        ok(
+            'chip: green "✓ 2/2"',
+            chipOk.level === 'ok' && chipOk.text === 'Qwiic ✓ 2/2',
+            chipOk.text
+        );
+        ok('chip: off without the bridge', SQ.chipState({ available: false }).level === 'off');
+        ok(
+            'chip: nothing declared, devices found → amber count',
+            SQ.chipState({ available: true, check: c3 }).text === 'Qwiic: 1 device · 1 undeclared'
+        );
+
+        const yaml = SQ.toRigYaml(disc);
+        ok(
+            'YAML snippet: entries for known parts, mux line, poll by role',
+            /- name: tsl2591_29\n    kind: tsl2591\n    address: 0x29\n    poll: on_demand/.test(
+                yaml
+            ) &&
+                /mux: \{address: 0x70, channel: 5\}/.test(yaml) &&
+                /kind: sht4x\n    address: 0x44\n    poll: trial_start/.test(yaml),
+            yaml
+        );
+        ok(
+            'YAML snippet parses back to the same devices',
+            (() => {
+                const YAML = require('../js/vendor/yaml/browser/dist/index.js');
+                const back = SQ.parseRigPeripherals(YAML.parse(yaml));
+                return back.warnings.length === 0 && back.list.length === 4;
+            })()
+        );
+        ok(
+            'YAML snippet: only the undeclared',
+            SQ.toRigYaml(disc, { only: c.undeclared }).split('- name:').length === 2
+        );
+    }
+
+    console.log('\n=== applySetup + discover on a simulated bus ===');
+    {
+        // Tiny register-file sim: SHT4x at 0x44 (no ID needed beyond the serial) + LSM6DSOX at 0x6A.
+        const regs = { 0x6a: { 0x0f: 0x6c } };
+        let shtPending = [];
+        const word = (v) => {
+            const b = [(v >> 8) & 0xff, v & 0xff];
+            return [...b, Q.crc8Sensirion(b)];
+        };
+        const ptr = {};
+        const reply = (status, cmd, payload) =>
+            Uint8Array.from([2 + payload.length, status, cmd, ...payload]);
+        const send = async (bytes) => {
+            const b = Array.from(bytes);
+            if (b[1] === 0xb0) return reply(0, 0xb0, [2, 0x44, 0x6a]);
+            const addr = b[2];
+            const w = b.slice(4, 4 + b[3]);
+            const rlen = b[4 + b[3]];
+            if (addr === 0x44) {
+                if (w.length) shtPending = [...word(0x1234), ...word(0x5678)];
+                return reply(0, 0xb1, shtPending.slice(0, rlen));
+            }
+            if (addr !== 0x6a) return reply(2, 0xb1, []);
+            const r = regs[addr];
+            if (w.length) {
+                ptr[addr] = w[0];
+                w.slice(1).forEach((v, i) => (r[w[0] + i] = v));
+            }
+            return reply(
+                0,
+                0xb1,
+                Array.from({ length: rlen }, (_, i) => r[ptr[addr] + i] || 0)
+            );
+        };
+        const bus = Q.createBus(send, { sleep: () => Promise.resolve() });
+        const d = await SQ.discover(bus);
+        ok(
+            'discover identifies both parts',
+            d.devices.length === 2 && d.devices.every((it) => it.ident && it.ident.ok),
+            d.devices.map((it) => it.label + ':' + (it.ident && it.ident.detail)).join(' | ')
+        );
+        const declared = SQ.parseRigPeripherals({
+            peripherals: [
+                { name: 'env', kind: 'sht4x' },
+                { name: 'tilt', kind: 'lsm6dsox', poll: 'trial_start', config: { bump_g: 0.5 } }
+            ]
+        }).list;
+        const check = SQ.checkAgainstScan(declared, d);
+        const res = await SQ.applySetup(bus, check, { armBump: false });
+        ok(
+            'setup configures the IMU without arming the bump latch',
+            res.applied.tilt &&
+                res.applied.tilt.odr_hz === 104 &&
+                !('bump_ths' in res.applied.tilt) &&
+                regs[0x6a][0x10] === 0x40 &&
+                !regs[0x6a][0x5e]
+        );
+        const res2 = await SQ.applySetup(bus, check, { armBump: true });
+        ok(
+            'armBump (run-start owner) arms only trial_start devices',
+            res2.applied.tilt.bump_ths === 16 &&
+                regs[0x6a][0x5e] === 0x20 &&
+                res2.errors.length === 0
+        );
+        const nj = await SQ.discover(
+            Q.createBus(async (b) =>
+                reply(1, b[1], Array.from(Buffer.from('No Qwiic jack on this hardware variant')))
+            )
+        );
+        ok(
+            'discover on a jack-less board → error, no throw',
+            nj.error && nj.error.name === 'NoQwiicJack'
+        );
+        ok(
+            'chip after a failed scan',
+            SQ.chipState({ available: true, discovery: nj }).level === 'err'
+        );
+    }
+
+    console.log('\n=== formatField ===');
+    {
+        ok(
+            'number + unit',
+            SQ.formatField({ key: 't', unit: '°C', digits: 2 }, { t: 22.456 }) === '22.46 °C'
+        );
+        ok(
+            'signed',
+            SQ.formatField({ key: 'p', unit: '°', digits: 1, signed: true }, { p: 3 }) === '+3.0 °'
+        );
+        ok('null → dash', SQ.formatField({ key: 'lux', unit: 'lx' }, { lux: null }) === '—');
+        ok('flag', SQ.formatField({ key: 's', fmt: 'flag' }, { s: true }) === 'SATURATED');
+        ok('okfail', SQ.formatField({ key: 'c', fmt: 'okfail' }, { c: false }) === 'FAIL');
+        ok(
+            'every KINDS display field formats a sample',
+            Object.values(Q.KINDS).every((k) =>
+                k.display.every((f) => typeof SQ.formatField(f, {}) === 'string')
+            )
+        );
+        ok(
+            'deviceLabel',
+            SQ.deviceLabel(item(0x44, 'sht4x'), 'env') === 'SHT4x · 0x44 · root (env)'
+        );
+    }
+
+    console.log('\n=== arena_studio.html wiring ===');
+    {
+        const html = fs.readFileSync(path.join(__dirname, '..', 'arena_studio.html'), 'utf8');
+        const idx = (s) => html.indexOf(s);
+        ok(
+            'drivers + glue load as classic scripts after the wire module, before arena-link',
+            idx('<script src="js/qwiic-drivers.js"') > idx('<script src="js/arena-wire-g6.js') &&
+                idx('<script src="js/studio-qwiic.js"') >
+                    idx('<script src="js/qwiic-drivers.js"') &&
+                idx('<script src="js/arena-link.js"') > idx('<script src="js/studio-qwiic.js"')
+        );
+        ok(
+            'ONE Qwiic panel + rail button',
+            (html.match(/<section class="panel" data-panel="qwiic">/g) || []).length === 1 &&
+                /class="rail-btn" data-panel="qwiic"/.test(html)
+        );
+        for (const id of [
+            'cQwStatus',
+            'cQwDev',
+            'cQwOut',
+            'cQwFlags',
+            'cQwTable',
+            'cQwLive',
+            'cQwRate',
+            'cQwYaml',
+            'cQwCsv',
+            'cQwBump',
+            'cQwServo',
+            'cQwSvCh',
+            'cQwSvUs',
+            'qwiicChip',
+            'cQwSum'
+        ]) {
+            ok('element #' + id, html.includes('id="' + id + '"'));
+        }
+        for (const cmd of [
+            'cqwscan',
+            'cqwread',
+            'cqwlive',
+            'cqwcsv',
+            'cqwyaml',
+            'cqwbumparm',
+            'cqwbumpcheck',
+            'cqwsvgo',
+            'cqwsvcenter',
+            'cqwsvrelease',
+            'cqwsvalloff'
+        ]) {
+            ok(
+                'button + handler ' + cmd,
+                html.includes('data-cmd="' + cmd + '"') &&
+                    new RegExp('\\n\\s+' + cmd + ': ').test(html)
+            );
+        }
+        ok(
+            'quiet reads: the bus uses session.send with silent:true',
+            /QD\.createBus\(\(b, o\) => session\.send\(b, o\), \{ sendOpts: \{ silent: true \} \}\)/.test(
+                html
+            )
+        );
+        ok(
+            'scan refused during a run',
+            /session\.running\) return \{ ok: false, reason: what === 'scan' \? 'refused — a run is active/.test(
+                html
+            )
+        );
+        ok(
+            'connect-time setup scan from initFromController',
+            /initFromController[\s\S]{0,900}Studio\.qwiicSetup\(\)/.test(html)
+        );
+        ok(
+            'setup does not arm the bump latch (one owner: the run)',
+            /SQ\.applySetup\(qwBus\(\), check, \{ armBump: false \}\)/.test(html)
+        );
+        ok(
+            'disconnect resets the Qwiic state',
+            /Studio\.qwiicReset\(\); \/\/ never carry/.test(html)
+        );
+        ok(
+            'rig change re-checks without rescanning',
+            /Studio\.qwiicRecheck\(\); \/\/ re-compare/.test(html)
+        );
+        ok(
+            'rig fetch parses peripherals alongside io',
+            /peripherals: SQ \? SQ\.parseRigPeripherals\(data\)/.test(html) &&
+                /Studio\.fetchRigPeripherals = async function/.test(html)
+        );
+        ok(
+            'undeclared devices flagged in table + dropdown',
+            /⚠ undeclared/.test(html) && /not in the rig YAML/.test(html)
+        );
+        ok(
+            'HELP rail + chip + PANEL_HELP entries',
+            html.includes(`'.rail-btn[data-panel="qwiic"]':`) &&
+                html.includes(`'#qwiicChip':`) &&
+                /\n\s+qwiic: 'Sensors on the Qwiic connector/.test(html)
+        );
+        ok('panel order rule', html.includes('.panel[data-panel="qwiic"]{order:10}'));
+        ok(
+            'footer bumped past v0.94',
+            !/Arena Studio v0\.94 \|/.test(html) &&
+                /Arena Studio v0\.\d+ \| \d{4}-\d\d-\d\d \d\d:\d\d ET/.test(html)
+        );
+    }
+
+    console.log(`\n=== Summary ===\n${total - failures} / ${total} checks passed`);
+    process.exit(failures > 0 ? 1 : 0);
+})().catch((e) => {
+    console.error(e);
+    process.exit(1);
+});
diff --git a/tests/test-studio-shell.js b/tests/test-studio-shell.js
index adb30fb7..b7126f84 100644
--- a/tests/test-studio-shell.js
+++ b/tests/test-studio-shell.js
@@ -146,7 +146,7 @@ console.log('=== Console Tools checklist ===');
 const railRows = Array.from(
     studio.matchAll(/<div class="rail-btn( sel)?" data-panel="([a-z]+)"([^>]*)>/g)
 );
-check('nine rail rows', railRows.length === 9, String(railRows.length));
+check('ten rail rows', railRows.length === 10, String(railRows.length));
 railRows.forEach((m) => {
     const sel = !!m[1];
     const attrs = m[3];

From 22f24a01e89c3eec7ae2a1a112359e4d072806a1 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Mon, 12 Oct 2026 16:52:18 -0400
Subject: [PATCH 11/96] =?UTF-8?q?fix(studio):=20Qwiic=20panel=20=E2=80=94?=
 =?UTF-8?q?=20pick=20a=20device=20by=20radio=20row,=20category=20+=20conne?=
 =?UTF-8?q?ction=20columns,=20no=20sticky=20"live"=20status=20(LAB-214)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Bench feedback (all six boards working on the 12-18):
- The scan table is the picker: one radio row per identified device (click the
  row or its button); the dropdown is gone.
- Each row names its category (Servo / PWM, Temp / humidity, Accel / tilt / bump,
  Light (broadband / lux / spectral), I2C mux) — KINDS.category, one place.
- "where" is now "connection": direct (on the controller's own chain) or
  "mux 0x70 · ch N" (behind a PCA9548 channel).
- Stopping Live restores the scan summary; a tick in flight at Stop no longer
  re-writes "live · N Hz".
- Table text left-aligned (it inherited the analog table's right alignment).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 arena_studio.html          | 98 ++++++++++++++++++++++----------------
 js/qwiic-drivers.js        |  7 +++
 js/studio-qwiic.js         | 32 +++++++++++--
 tests/test-studio-qwiic.js | 29 +++++++++--
 4 files changed, 116 insertions(+), 50 deletions(-)

diff --git a/arena_studio.html b/arena_studio.html
index 9bdec4b7..16d6def4 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -2237,7 +2237,13 @@
   .console-view #cAiChart{display:block;width:100%;max-width:460px;height:90px;border:1px solid var(--border);border-radius:4px;background:var(--chart-bg)}
   .console-view .ai-table{font-size:10.5px;border-collapse:collapse}
   /* Qwiic panel (LAB-214): scan table, one-device readout grid, AS7343 spectrum bars */
-  .console-view .qw-table td,.console-view .qw-table th{padding:2px 8px 2px 0;text-align:left;vertical-align:top}
+  .console-view table.qw-table td,.console-view table.qw-table th{padding:2px 10px 2px 0;text-align:left;vertical-align:top}
+  .console-view .qw-table tr.qw-pick{cursor:pointer}
+  .console-view .qw-table tr.qw-pick:hover td{background:var(--surface2)}
+  .console-view .qw-table tr.qw-selrow td{background:color-mix(in srgb,var(--accent) 10%,transparent)}
+  .console-view .qw-table input[type=radio]{margin:0 2px 0 0;accent-color:var(--accent);cursor:pointer}
+  .console-view .qw-table .qw-cat{color:var(--text);font-weight:600;white-space:nowrap}
+  .console-view .qw-sel{font-family:var(--head);font-size:11.5px;color:var(--text);min-width:180px}
   .console-view .qw-flags{font-size:11px;line-height:1.5}
   .console-view .qw-out{display:block}
   .console-view .qw-title{font-family:var(--head);font-size:12px;margin-bottom:4px}
@@ -3254,10 +3260,10 @@ <h2 id="modalTitle">Import error</h2>
             <span class="dim" id="cQwScanSum" title="Addresses that ACKed the last scan"></span></div>
           <div class="crow qw-flags" id="cQwFlags" style="display:none"></div>
           <div class="crow" id="cQwTableRow" style="display:none"><table class="ai-table qw-table" id="cQwTable"></table></div>
-          <div class="crow"><span class="lbl" title="One device at a time">device</span>
-            <select id="cQwDev" disabled title="Devices found and identified by the last scan — pick one to see its readings"><option value="">— scan first —</option></select>
-            <button class="pill" data-cmd="cqwread" title="Read the selected device once (configures it first if needed)">Read</button>
-            <button class="pill" id="cQwLive" data-cmd="cqwlive" aria-pressed="false" title="Start / stop a live readout of the selected device at the chosen rate; pauses by itself during a run">Live</button>
+          <div class="crow"><span class="lbl" title="One device at a time — pick it with the radio button in the table above">selected</span>
+            <span class="qw-sel" id="cQwSel" title="The device the readout below shows — pick another with the radio buttons in the scan table">— scan first —</span>
+            <button class="pill" data-cmd="cqwread" disabled title="Read the selected device once (configures it first if needed)">Read</button>
+            <button class="pill" id="cQwLive" data-cmd="cqwlive" disabled aria-pressed="false" title="Start / stop a live readout of the selected device at the chosen rate; pauses by itself during a run">Live</button>
             <label title="Live readout rate (Console preview only)">rate <select id="cQwRate"><option value="1">1 Hz</option><option value="2">2 Hz</option><option value="0.5">0.5 Hz</option></select></label>
             <button class="pill" id="cQwCsv" data-cmd="cqwcsv" disabled title="Download the readings collected in this session for the selected device as CSV (a Console scratch file — not a run log)">Download CSV</button></div>
           <div class="crow" id="cQwOpts" style="display:none"></div>
@@ -3410,7 +3416,7 @@ <h2 id="modalTitle">Import error</h2>
 </div>
 
 <footer id="footer">
-  <span class="foot-left">Arena Studio v0.96 | 2026-10-12 16:08 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
+  <span class="foot-left">Arena Studio v0.96 | 2026-10-12 16:50 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
   <!-- Course-repo quick-links: open protocols / logs / patterns in a new tab.
        Hrefs built from the configured repo + bench id (updateGhQuickLinks). -->
   <span id="ghQuickLinks" title="Open the course repo on GitHub (new tab)">
@@ -6141,7 +6147,10 @@ <h2 id="modalTitle">Import error</h2>
         }
         const statusByKey = {};
         (qw.check ? qw.check.entries : []).forEach((e) => { if (e.item) statusByKey[e.item.key] = e; });
-        let html = '<tr><th title="7-bit I2C address">addr</th><th>part</th><th title="root bus, or the PCA9548 mux channel it sits behind">where</th><th>identify</th><th title="Compared with the session rig YAML peripherals: list">rig YAML</th></tr>';
+        const head = (t, tip) => '<th' + (tip ? ' title="' + qwEsc(tip) + '"' : '') + '>' + t + '</th>';
+        let html = '<tr>' + head('', 'Pick one device to show its readings below') + head('device') + head('part') + head('addr', '7-bit I2C address') +
+            head('connection', 'direct = on the controller\'s own Qwiic chain · mux 0x70 · ch N = behind a PCA9548 I2C multiplexer channel (only needed for two identical fixed-address parts)') +
+            head('identify', 'The part\'s ID register / serial number check') + head('rig YAML', 'Compared with the session rig YAML peripherals: list') + '</tr>';
         for (const it of d.devices) {
             const e = statusByKey[it.key];
             let yaml = '';
@@ -6149,11 +6158,16 @@ <h2 id="modalTitle">Import error</h2>
             else if (e) yaml = e.status === 'ok' ? '<span class="qw-ok-t">declared: ' + qwEsc(e.decl.name) + '</span>' : '<span class="qw-err-t">' + qwEsc(e.status.replace('_', ' ')) + '</span>';
             else if (qwIsUndeclared(it)) yaml = '<span class="qw-warn-t" title="Attached but not in the rig YAML — Copy as rig YAML to declare it">⚠ undeclared</span>';
             const id = it.ident ? (it.ident.ok ? '<span class="qw-ok-t">OK</span> ' : '<span class="qw-err-t">FAIL</span> ') + qwEsc(it.ident.detail) : it.wiringError ? '<span class="qw-err-t">wiring error</span>' : '<span class="dim">no driver</span>';
-            html += '<tr><td>' + qwHex(it.dev.addr) + '</td><td>' + qwEsc(it.label) + '</td><td>' + qwEsc(it.where) + '</td><td>' + id + '</td><td>' + yaml + '</td></tr>';
+            const pickable = qwSelectable(it);
+            const radio = pickable ? '<input type="radio" name="cQwPick" value="' + qwEsc(it.key) + '"' + (it.key === qw.selKey ? ' checked' : '') + ' title="Show this device\'s readings">' : '';
+            const part = it.shadow ? 'PCA9685 all-call address — not a mux' : it.kind ? QD.KINDS[it.kind].label : it.label;
+            html += '<tr class="' + (pickable ? 'qw-pick' : '') + (it.key === qw.selKey ? ' qw-selrow' : '') + '" data-qw-key="' + qwEsc(it.key) + '"><td>' + radio + '</td><td class="qw-cat">' + qwEsc(SQ.categoryOf(it)) + '</td><td>' + qwEsc(part) + '</td><td>' + qwHex(it.dev.addr) + '</td><td>' + qwEsc(SQ.connectionText(it.dev)) + '</td><td>' + id + '</td><td>' + yaml + '</td></tr>';
         }
         for (const e of qw.check ? qw.check.entries : []) {
             if (e.item) continue;
-            html += '<tr><td>' + qwHex(e.decl.address) + '</td><td>' + qwEsc(QD.KINDS[e.decl.kind].label) + '</td><td>' + (e.decl.mux ? 'mux ' + qwHex(e.decl.mux.address) + ' ch' + e.decl.mux.channel : 'root') + '</td><td class="dim">—</td><td><span class="qw-err-t">✕ missing: ' + qwEsc(e.decl.name) + '</span></td></tr>';
+            const K = QD.KINDS[e.decl.kind];
+            const conn = SQ.connectionText({ mux: e.decl.mux ? e.decl.mux.address : null, channel: e.decl.mux ? e.decl.mux.channel : null });
+            html += '<tr><td></td><td class="qw-cat">' + qwEsc(K.category) + '</td><td>' + qwEsc(K.label) + '</td><td>' + qwHex(e.decl.address) + '</td><td>' + qwEsc(conn) + '</td><td class="dim">—</td><td><span class="qw-err-t">✕ missing: ' + qwEsc(e.decl.name) + '</span></td></tr>';
         }
         tbl.innerHTML = html;
         row.style.display = '';
@@ -6167,30 +6181,26 @@ <h2 id="modalTitle">Import error</h2>
             flags.style.display = msgs.length ? '' : 'none';
         }
     }
-    function qwRenderDropdown() {
-        const sel = $('cQwDev');
-        if (!sel) return;
-        const items = qw.discovery && !qw.discovery.error ? qw.discovery.devices.filter((it) => it.kind && it.ident && it.ident.ok) : [];
-        sel.innerHTML = '';
-        if (!items.length) {
-            sel.innerHTML = '<option value="">' + (qw.discovery ? '— no supported device found —' : '— scan first —') + '</option>';
-            sel.disabled = true;
-            qw.selKey = null;
-            qwRenderDevice();
-            return;
-        }
-        for (const it of items) {
-            const decl = qwDeclFor(it);
-            const o = document.createElement('option');
-            o.value = it.key;
-            o.textContent = SQ.deviceLabel(it, decl && decl.name) + (qwIsUndeclared(it) ? '  ⚠ undeclared' : '');
-            sel.appendChild(o);
+    // Devices you can pick: found AND identified by a supported driver.
+    const qwSelectable = (it) => !!(it.kind && it.ident && it.ident.ok);
+    function qwRenderSelection() {
+        const items = qw.discovery && !qw.discovery.error ? qw.discovery.devices.filter(qwSelectable) : [];
+        if (!items.some((it) => it.key === qw.selKey)) qw.selKey = items.length ? items[0].key : null;
+        qwRenderTable();
+        const lbl = $('cQwSel');
+        const item = qw.selKey && qwItem(qw.selKey);
+        if (lbl) {
+            const decl = item && qwDeclFor(item);
+            lbl.textContent = item ? SQ.deviceLabel(item, decl && decl.name) + (qwIsUndeclared(item) ? '  ⚠ undeclared' : '') : qw.discovery ? '— no supported device found —' : '— scan first —';
         }
-        sel.disabled = false;
-        if (!items.some((it) => it.key === qw.selKey)) qw.selKey = items[0].key;
-        sel.value = qw.selKey;
         qwRenderDevice();
     }
+    function qwSelect(key) {
+        if (key === qw.selKey) return;
+        qwStopLive('device changed');
+        qw.selKey = key;
+        qwRenderSelection();
+    }
     // fromDom=false: the defaults (rig config, else the KINDS default) — used while the
     // option selects still belong to the PREVIOUS device.
     function qwOptionValues(item, fromDom) {
@@ -6306,6 +6316,7 @@ <h2 id="modalTitle">Import error</h2>
         if (qw.liveTimer) { clearInterval(qw.liveTimer); qw.liveTimer = null; }
         const was = qw.live;
         qw.live = false;
+        if (was) qwSetStatus(qw.idleStatus || 'idle'); // never leave "live · N Hz" behind
         const b = $('cQwLive');
         if (b) { b.setAttribute('aria-pressed', 'false'); b.textContent = 'Live'; }
         if (was && reason) clog('qwiic: live readout stopped — ' + reason, reason.startsWith('error') ? 'err' : 'info');
@@ -6320,6 +6331,7 @@ <h2 id="modalTitle">Import error</h2>
         clog('qwiic: live readout at ' + hz + ' Hz', 'info');
         const tick = async () => {
             if (qw.inFlight) return; // single-flight
+            if (!qw.live) return;
             const g = qwGate('read');
             if (!g.ok) { qwSetStatus(g.reason); return; }
             if (!$('cQwGrid')) return;
@@ -6327,7 +6339,7 @@ <h2 id="modalTitle">Import error</h2>
             try {
                 await qwReadOnce({ quiet: true });
                 qw.errStreak = 0;
-                qwSetStatus('live · ' + hz + ' Hz');
+                if (qw.live) qwSetStatus('live · ' + hz + ' Hz'); // a tick in flight at Stop must not re-say "live"
             } catch (e) {
                 qw.errStreak++;
                 qwSetStatus('error: ' + e.message);
@@ -6369,18 +6381,18 @@ <h2 id="modalTitle">Import error</h2>
             qw.check = SQ.checkAgainstScan(qw.declared.list, d);
             Studio.qwiic = { available: true, declared: qw.declared.list, discovery: d, check: qw.check, at: d.at };
             const n = qw.check.counts;
-            qwSetStatus(n.devices + ' device' + (n.devices === 1 ? '' : 's') + (n.declared ? ' · ' + n.ok + '/' + n.declared + ' declared present' : ''));
+            qw.idleStatus = n.devices + ' device' + (n.devices === 1 ? '' : 's') + (n.declared ? ' · ' + n.ok + '/' + n.declared + ' declared present' : '');
+            qwSetStatus(qw.idleStatus);
             const sum = $('cQwScanSum');
             if (sum) sum.textContent = 'scan: ' + (d.scan.length ? d.scan.map(qwHex).join(' ') : 'nothing ACKed — check the cable, the boards\' power LEDs and the jack');
             clog('qwiic: ' + (setup ? 'setup ' : '') + 'scan — ' + (d.scan.length ? d.scan.map(qwHex).join(' ') : 'no devices') + (d.shadow ? ' (0x70 = the PCA9685 all-call address, not a mux)' : ''), 'info');
             qw.declared.warnings.forEach((w) => clog('qwiic: rig YAML: ' + w, 'warn'));
             qw.check.entries.filter((e) => e.status !== 'ok').forEach((e) => clog('qwiic: ' + e.detail, 'err'));
-            qw.check.undeclared.filter((u) => !u.mux).forEach((u) => clog('qwiic: ' + u.label + ' ' + qwHex(u.dev.addr) + ' @ ' + u.where + ' is attached but not in the rig YAML — Console → Qwiic → Copy as rig YAML', 'warn'));
+            qw.check.undeclared.filter((u) => !u.mux).forEach((u) => clog('qwiic: ' + u.label + ' ' + qwHex(u.dev.addr) + ' (' + SQ.connectionText(u.dev) + ') is attached but not in the rig YAML — Console → Qwiic → Copy as rig YAML', 'warn'));
             d.devices.filter((it) => it.wiringError).forEach((it) => clog('qwiic: ' + it.label, 'err'));
             const yamlBtn = $('cQwYaml');
             if (yamlBtn) yamlBtn.disabled = !d.devices.some((it) => it.kind);
-            qwRenderTable();
-            qwRenderDropdown();
+            qwRenderSelection();
             return qw.check;
         } catch (e) {
             qwSetStatus('error: ' + e.message);
@@ -6436,8 +6448,7 @@ <h2 id="modalTitle">Import error</h2>
         try { qw.declared = Studio.fetchRigPeripherals ? await Studio.fetchRigPeripherals() : { list: [], warnings: [] }; } catch (_) { return; }
         qw.check = SQ.checkAgainstScan(qw.declared.list, qw.discovery);
         Studio.qwiic = Object.assign({}, Studio.qwiic, { declared: qw.declared.list, check: qw.check });
-        qwRenderTable();
-        qwRenderDropdown();
+        qwRenderSelection();
         qwRenderChip();
     };
     Studio.qwiicReset = function () {
@@ -6446,12 +6457,12 @@ <h2 id="modalTitle">Import error</h2>
         qw.check = null;
         qw.configured = {};
         qw.selKey = null;
+        qw.idleStatus = '';
         Studio.qwiic = null;
         qwSetStatus('connect to scan');
         const sum = $('cQwScanSum');
         if (sum) sum.textContent = '';
-        qwRenderTable();
-        qwRenderDropdown();
+        qwRenderSelection();
         qwRenderChip();
     };
     // Bump check + servo are disabled while a run owns the link / the bump latch.
@@ -6581,8 +6592,11 @@ <h2 id="modalTitle">Import error</h2>
         clog('qwiic: ' + rows.length + ' reading(s) saved as CSV (Console only — not a run log)', 'info');
     }
     (function qwWire() {
-        const sel = $('cQwDev');
-        if (sel) sel.addEventListener('change', () => { qwStopLive('device changed'); qw.selKey = sel.value || null; qwRenderDevice(); });
+        const tbl = $('cQwTable');
+        if (tbl) tbl.addEventListener('click', (e) => {
+            const tr = e.target.closest('tr.qw-pick');
+            if (tr && tr.dataset.qwKey) qwSelect(tr.dataset.qwKey);
+        });
         const rate = $('cQwRate');
         if (rate) rate.addEventListener('change', () => { if (qw.live) qwStartLive(); });
         const flags = $('cQwFlags');
@@ -17889,7 +17903,7 @@ <h2 id="modalTitle">Import error</h2>
     '.rail-btn[data-panel="qwiic"]': 'Find and try out the small sensors plugged into the arena’s Qwiic connector: scan, pick one, watch its readings. Nothing here is saved to run logs.',
     '[data-cmd="cqwscan"]': 'Look for every device on the Qwiic connector and check each one against this rig’s list. Not available while a run is going.',
     '#cQwYaml': 'Copy ready-made rig-file lines for the devices the scan found, so they can be recorded with each run.',
-    '#cQwDev': 'Pick one device to look at. Devices marked “undeclared” are plugged in but not listed in this rig’s file.',
+    '#cQwTable': 'Everything the scan found. Click a row (or its round button) to show that device’s readings below. “Direct” means plugged into the arena’s own Qwiic chain; “undeclared” means plugged in but not listed in this rig’s file.',
     '[data-cmd="cqwread"]': 'Take one reading from the selected device.',
     '#cQwLive': 'Keep reading the selected device about once a second. Pauses by itself during a run.',
     '[data-cmd="cqwbumpcheck"]': 'Was the motion sensor bumped since the last check? Checking resets the answer.',
diff --git a/js/qwiic-drivers.js b/js/qwiic-drivers.js
index 8ffc868a..197942e9 100644
--- a/js/qwiic-drivers.js
+++ b/js/qwiic-drivers.js
@@ -938,6 +938,7 @@
 
     // ── KINDS registry ──────────────────────────────────────────────────────
     // One entry per supported part — the ONLY place to add or drop one.
+    //   category: the short label the Console shows (Servo / PWM, Temp / humidity, …)
     //   role:     env | tilt | light | actuator (consumers pick by role, never by part)
     //   identify: (driver) → {ok, detail, info}            caller holds the bus
     //   setup:    (driver, config, {forRun}) → applied cfg  caller holds the bus
@@ -952,6 +953,7 @@
     const KINDS = {
         sht4x: {
             kind: 'sht4x',
+            category: 'Temp / humidity',
             label: 'SHT4x',
             title: 'SHT4x temperature / humidity',
             role: 'env',
@@ -980,6 +982,7 @@
         },
         lsm6dsox: {
             kind: 'lsm6dsox',
+            category: 'Accel / tilt / bump',
             label: 'LSM6DSOX',
             title: 'LSM6DSOX IMU — tilt + bump latch',
             role: 'tilt',
@@ -1023,6 +1026,7 @@
         },
         tsl2591: {
             kind: 'tsl2591',
+            category: 'Light (broadband)',
             label: 'TSL2591',
             title: 'TSL2591 broadband light',
             role: 'light',
@@ -1060,6 +1064,7 @@
         },
         veml7700: {
             kind: 'veml7700',
+            category: 'Light (lux)',
             label: 'VEML7700',
             title: 'VEML7700 ambient light',
             role: 'light',
@@ -1094,6 +1099,7 @@
         },
         as7343: {
             kind: 'as7343',
+            category: 'Light (spectral)',
             label: 'AS7343',
             title: 'AS7343 14-channel spectral',
             role: 'light',
@@ -1134,6 +1140,7 @@
         },
         pca9685: {
             kind: 'pca9685',
+            category: 'Servo / PWM',
             label: 'PCA9685',
             title: 'PCA9685 servo / PWM driver',
             role: 'actuator',
diff --git a/js/studio-qwiic.js b/js/studio-qwiic.js
index 5bf05a0b..f9777b50 100644
--- a/js/studio-qwiic.js
+++ b/js/studio-qwiic.js
@@ -332,7 +332,10 @@
         const devices = (discovery && discovery.devices) || [];
         const used = new Set();
         const whereOf = (decl) =>
-            decl.mux ? 'mux ' + hex2(decl.mux.address) + ' ch' + decl.mux.channel : 'root';
+            connectionText({
+                mux: decl.mux ? decl.mux.address : null,
+                channel: decl.mux ? decl.mux.channel : null
+            });
         // Pass 1: exact location matches claim their devices first, so a same-address
         // device elsewhere is only offered to entries that found nothing.
         const exact = list.map((decl) => {
@@ -387,7 +390,7 @@
                         ' declared @ ' +
                         where +
                         ' but found @ ' +
-                        elsewhere.where
+                        connectionText(elsewhere.dev)
                 };
             }
             const hint =
@@ -575,14 +578,33 @@
         return field.unit ? text + ' ' + field.unit : text;
     }
 
-    /** One device's dropdown label: "SHT4x · 0x44 · root (env)". */
+    /**
+     * How the device is reached, for people: "direct" (on the controller's own
+     * Qwiic chain — the drivers call it "root") or "mux 0x70 · ch 2" (behind a
+     * PCA9548 channel, only needed for two identical fixed-address parts).
+     */
+    function connectionText(dev) {
+        return dev.mux == null ? 'direct' : 'mux ' + hex2(dev.mux) + ' · ch ' + dev.channel;
+    }
+
+    /** Short category label: "Temp / humidity", "Servo / PWM", "I2C mux", … */
+    function categoryOf(item) {
+        if (item.kind) return Q.KINDS[item.kind].category;
+        if (item.shadow) return '(PCA9685 all-call)';
+        if (item.mux) return 'I2C mux';
+        return 'unknown';
+    }
+
+    /** One device's label: "Temp / humidity · SHT4x · 0x44 · direct (env)". */
     function deviceLabel(item, declaredName) {
         const base =
+            categoryOf(item) +
+            ' · ' +
             (item.kind ? Q.KINDS[item.kind].label : item.label) +
             ' · ' +
             hex2(item.dev.addr) +
             ' · ' +
-            item.where;
+            connectionText(item.dev);
         return declaredName ? base + ' (' + declaredName + ')' : base;
     }
 
@@ -595,6 +617,8 @@
         toRigYaml,
         formatField,
         deviceLabel,
+        connectionText,
+        categoryOf,
         locKey,
         parseAddress,
         BOARD_BUDGET,
diff --git a/tests/test-studio-qwiic.js b/tests/test-studio-qwiic.js
index 61dd73b0..2d76b8c9 100644
--- a/tests/test-studio-qwiic.js
+++ b/tests/test-studio-qwiic.js
@@ -402,8 +402,20 @@ const item = (addr, kind, extra) =>
             )
         );
         ok(
-            'deviceLabel',
-            SQ.deviceLabel(item(0x44, 'sht4x'), 'env') === 'SHT4x · 0x44 · root (env)'
+            'deviceLabel: category · part · addr · connection (name)',
+            SQ.deviceLabel(item(0x44, 'sht4x'), 'env') ===
+                'Temp / humidity · SHT4x · 0x44 · direct (env)'
+        );
+        ok(
+            'connectionText: direct / mux · ch',
+            SQ.connectionText(Q.located(0x44)) === 'direct' &&
+                SQ.connectionText(Q.located(0x44, 0x70, 2)) === 'mux 0x70 · ch 2'
+        );
+        ok(
+            'categoryOf: every kind has a category; mux + shadow labelled',
+            Object.keys(Q.KINDS).every((k) => SQ.categoryOf({ kind: k }).length > 2) &&
+                SQ.categoryOf({ mux: true }) === 'I2C mux' &&
+                /all-call/.test(SQ.categoryOf({ shadow: true }))
         );
     }
 
@@ -425,7 +437,7 @@ const item = (addr, kind, extra) =>
         );
         for (const id of [
             'cQwStatus',
-            'cQwDev',
+            'cQwSel',
             'cQwOut',
             'cQwFlags',
             'cQwTable',
@@ -495,7 +507,16 @@ const item = (addr, kind, extra) =>
                 /Studio\.fetchRigPeripherals = async function/.test(html)
         );
         ok(
-            'undeclared devices flagged in table + dropdown',
+            'one device at a time: radio rows in the scan table, no dropdown',
+            /name="cQwPick"/.test(html) && !/id="cQwDev"/.test(html) && /tr\.qw-pick/.test(html)
+        );
+        ok(
+            'Live stop restores the idle status (no sticky "live · N Hz")',
+            /if \(was\) qwSetStatus\(qw\.idleStatus/.test(html) &&
+                /if \(qw\.live\) qwSetStatus\('live · '/.test(html)
+        );
+        ok(
+            'undeclared devices flagged in table + selection',
             /⚠ undeclared/.test(html) && /not in the rig YAML/.test(html)
         );
         ok(

From ab6e8af861026e1988cf3e76d01c535e823f4a6d Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Mon, 12 Oct 2026 17:00:40 -0400
Subject: [PATCH 12/96] feat(rigs): G6_1x12of18 bench + G6_3x10of14 ring arenas
 and rigs (LAB-214)

- js/arena-configs.js regenerated (scripts/generate-arena-configs.js) from the
  maDisplayTools branch feat/arenas-1x12of18-3x10of14: G6 arena IDs 7
  (G6_1x12of18) and 8 (G6_3x10of14). angle_offset_deg centers the gap at the back
  so the installed panels sit centered at the front in the 3D view and icons
  (Mercator/Mollweide center the installed arc by construction).
- configs/rigs/g6_1x12of18_bench.yaml: the arena_12-18 bench, one row, with the
  six-board Qwiic chain declared under peripherals:; g6_3x10of14.yaml with
  peripherals: [] until its chain is known. Both added to configs/rigs/index.json.
- tests: geometry, IDs, centering, index entries, clean peripherals parse.

The maDisplayTools change must merge first: the sync-arena-configs workflow
regenerates arena-configs.js from maDisplayTools main.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 configs/rigs/g6_1x12of18_bench.yaml           | 67 +++++++++++++++++
 configs/rigs/g6_3x10of14.yaml                 | 34 +++++++++
 configs/rigs/index.json                       | 12 +++
 .../development/arena-studio-release-notes.md |  1 +
 js/arena-configs.js                           | 52 ++++++++++++-
 tests/test-studio-qwiic.js                    | 73 +++++++++++++++++++
 6 files changed, 238 insertions(+), 1 deletion(-)
 create mode 100644 configs/rigs/g6_1x12of18_bench.yaml
 create mode 100644 configs/rigs/g6_3x10of14.yaml

diff --git a/configs/rigs/g6_1x12of18_bench.yaml b/configs/rigs/g6_1x12of18_bench.yaml
new file mode 100644
index 00000000..d8ed0e51
--- /dev/null
+++ b/configs/rigs/g6_1x12of18_bench.yaml
@@ -0,0 +1,67 @@
+# G6 rig configuration — arena_12-18 bench build, 1 panel high (12 of 18 columns)
+#
+# The bench arena_12-18 v1.0 controller with one row of panels, used to test
+# patterns and the Qwiic / STEMMA QT peripherals (LAB-214). The controller's
+# firmware build reports 4x12 in GET_FIRMWARE_VERSION, so this rig is never
+# auto-derived: pick it in ⚙ Settings or open the Studio with ?rig=g6_1x12of18_bench.
+
+format_version: "1.0"
+name: "G6 1x12of18 bench (arena_12-18)"
+description: "Bench arena_12-18 controller, one panel high, with the six-board Qwiic test chain"
+
+arena: "G6_1x12of18"
+
+controller:
+  host: "0.0.0.0" # not used for serial/USB
+  port: 62222
+
+plugins: {}
+
+io:
+  dio:
+    - port: 1
+      role: out_debug_framescan # HIGH during each frame's SPI transmission
+      default: 0
+    - port: 2
+      role: off
+      default: 0
+  ai:
+    role: off
+  ao:
+    role: programmable
+    default: 5.0 # volts — this hardware idles at 5 V
+
+# Qwiic / STEMMA QT peripherals on jack J2 (LAB-214). The Studio scans once at
+# connect and compares: a listed device that is missing is an error (never
+# retried), an attached device that is not listed is flagged. Console → Qwiic →
+# "Copy as rig YAML" produces entries for anything new.
+#   poll: trial_start | {interval: <s>} | on_demand  (run logging: LAB-214 PR 2)
+peripherals:
+  - name: env
+    kind: sht4x # Adafruit SHT41 — temperature / humidity
+    address: 0x44
+    poll: [trial_start, {interval: 1.0}]
+  - name: tilt
+    kind: lsm6dsox # Adafruit 4438 — tilt + latched "bumped" flag
+    address: 0x6A
+    poll: trial_start
+    config: {bump_g: 0.25}
+  - name: photometer
+    kind: tsl2591 # broadband light — LED calibration (on demand)
+    address: 0x29
+    poll: on_demand
+    config: {gain: med, atime_ms: 100}
+  - name: lux
+    kind: veml7700
+    address: 0x10
+    poll: on_demand
+  - name: spectral
+    kind: as7343 # 14-channel spectral
+    address: 0x39
+    poll: on_demand
+    config: {gain: 64}
+  - name: servo
+    kind: pca9685 # SparkFun Servo pHAT — needs its own USB-C power, else absent from the scan
+    address: 0x40
+    config: {freq_hz: 50}
+    channels: {servo0: {channel: 0, min_us: 1000, max_us: 2000}}
diff --git a/configs/rigs/g6_3x10of14.yaml b/configs/rigs/g6_3x10of14.yaml
new file mode 100644
index 00000000..d30340f8
--- /dev/null
+++ b/configs/rigs/g6_3x10of14.yaml
@@ -0,0 +1,34 @@
+# G6 rig configuration — 10-of-14 ring, 3 panels high
+#
+# The 10-of-14 ring arena (10 columns installed on a 14-column circle, gap at
+# the back). Its controller has a Qwiic / STEMMA QT jack; list the boards in
+# peripherals: once the chain is known (Console → Qwiic → "Copy as rig YAML").
+
+format_version: "1.0"
+name: "G6 3x10of14"
+description: "G6 10-of-14 ring, 3 rows (~257°), controller over USB/serial, no external plugins"
+
+arena: "G6_3x10of14"
+
+controller:
+  host: "0.0.0.0" # not used for serial/USB
+  port: 62222
+
+plugins: {}
+
+io:
+  dio:
+    - port: 1
+      role: out_debug_framescan # HIGH during each frame's SPI transmission
+      default: 0
+    - port: 2
+      role: off
+      default: 0
+  ai:
+    role: off
+  ao:
+    role: programmable
+    default: 5.0 # volts — this hardware idles at 5 V
+
+# Qwiic peripherals (LAB-214): none listed yet.
+peripherals: []
diff --git a/configs/rigs/index.json b/configs/rigs/index.json
index 5a7b8da0..ed356d1c 100644
--- a/configs/rigs/index.json
+++ b/configs/rigs/index.json
@@ -33,6 +33,18 @@
       "label": "CSHL G6 — 2×8 of 10 (288°)",
       "path": "./configs/rigs/cshl_g6_2x8.yaml",
       "arena": "G6_2x8of10"
+    },
+    {
+      "name": "g6_1x12of18_bench",
+      "label": "G6 — 1×12 of 18 bench (arena_12-18, Qwiic)",
+      "path": "./configs/rigs/g6_1x12of18_bench.yaml",
+      "arena": "G6_1x12of18"
+    },
+    {
+      "name": "g6_3x10of14",
+      "label": "G6 — 3×10 of 14 ring (257°)",
+      "path": "./configs/rigs/g6_3x10of14.yaml",
+      "arena": "G6_3x10of14"
     }
   ]
 }
diff --git a/docs/development/arena-studio-release-notes.md b/docs/development/arena-studio-release-notes.md
index e70f8afc..25971a62 100644
--- a/docs/development/arena-studio-release-notes.md
+++ b/docs/development/arena-studio-release-notes.md
@@ -10,6 +10,7 @@ history lives here. Newest first. (Per-session engineering detail stays in
 - **Console → Qwiic: find and try the sensors on the arena's Qwiic / STEMMA QT connector.** Scan lists every device on the bus, identifies the supported parts (SHT4x temperature/humidity, LSM6DSOX tilt + bump, TSL2591 / VEML7700 / AS7343 light, PCA9685 servo driver) and compares them with the rig file. Pick one device to see its readings in real units, once or live; the motion sensor has a bump check, and the servo board a position slider with Center and Release. This panel is for testing — nothing in it is written to run logs.
 - **Rig files can list their Qwiic peripherals (`peripherals:`).** On connect the Studio scans once and shows a Qwiic chip in the top bar: green when every listed device is there, red when one is missing (no retry), amber when something is plugged in that the rig file doesn't list. **Copy as rig YAML** gives you the lines to add.
 - Controllers without a Qwiic connector are unaffected: the Studio never sends them I2C commands, and the chip stays hidden.
+- **Two new rigs in ⚙ Settings:** the arena_12-18 bench (one panel high, 12 of 18 columns, its six Qwiic boards listed) and the 10-of-14 ring (three panels high). Both show their installed panels centered at the front in the Pattern Designer's views.
 
 ## v0.94 (2026-09-30) · LAB-158 ports (Protocol ▾, ⚙ Settings, two-column Console) + visibility themes · Multi-color G6 panels V1 — Panel LEDs layout, ON color, per-bank preview (LAB-228) · Flasher + Studio picker: one production build from the published catalog; legacy images hashed, never default (panel-fw-v1.3.1)
 
diff --git a/js/arena-configs.js b/js/arena-configs.js
index e3d3ddfb..44f89cd7 100644
--- a/js/arena-configs.js
+++ b/js/arena-configs.js
@@ -6,6 +6,32 @@
  */
 
 const STANDARD_CONFIGS = {
+  "G6_1x12of18": {
+    "label": "G6 (1×18) - 240°",
+    "description": "G6 arena, 1 row, 12 of 18 columns installed (240 degree coverage)",
+    "arena": {
+      "generation": "G6",
+      "num_rows": 1,
+      "num_cols": 18,
+      "columns_installed": [
+        0,
+        1,
+        2,
+        3,
+        4,
+        5,
+        6,
+        7,
+        8,
+        9,
+        10,
+        11
+      ],
+      "orientation": "normal",
+      "column_order": "cw",
+      "angle_offset_deg": -60
+    }
+  },
   "G6_2x10": {
     "label": "G6 (2×10) - 360°",
     "description": "Full G6 arena, 2 rows x 10 columns, 360 degree coverage",
@@ -54,6 +80,30 @@ const STANDARD_CONFIGS = {
       "angle_offset_deg": 0
     }
   },
+  "G6_3x10of14": {
+    "label": "G6 (3×14) - 257°",
+    "description": "G6 arena, 3 rows, 10 of 14 columns installed (257 degree coverage)",
+    "arena": {
+      "generation": "G6",
+      "num_rows": 3,
+      "num_cols": 14,
+      "columns_installed": [
+        0,
+        1,
+        2,
+        3,
+        4,
+        5,
+        6,
+        7,
+        8,
+        9
+      ],
+      "orientation": "normal",
+      "column_order": "cw",
+      "angle_offset_deg": -51.4286
+    }
+  },
   "G6_3x12of18": {
     "label": "G6 (3×18) - 240°",
     "description": "G6 arena, 3 rows, 12 of 18 columns installed (240 degree coverage)",
@@ -213,7 +263,7 @@ const GENERATIONS = {
 const ARENA_REGISTRY = {
     'G4': { 1: 'G4_4x12', 2: 'G4_3x12of18' },
     'G4.1': { 1: 'G41_2x12_cw' },
-    'G6': { 1: 'G6_2x10', 2: 'G6_2x8of10', 3: 'G6_3x12of18', 4: 'G6_3x16_full', 5: 'G6_3x10', 6: 'G6_4x10' }
+    'G6': { 1: 'G6_2x10', 2: 'G6_2x8of10', 3: 'G6_3x12of18', 4: 'G6_3x16_full', 5: 'G6_3x10', 6: 'G6_4x10', 7: 'G6_1x12of18', 8: 'G6_3x10of14' }
 };
 
 /**
diff --git a/tests/test-studio-qwiic.js b/tests/test-studio-qwiic.js
index 2d76b8c9..3f60494b 100644
--- a/tests/test-studio-qwiic.js
+++ b/tests/test-studio-qwiic.js
@@ -533,6 +533,79 @@ const item = (addr, kind, extra) =>
         );
     }
 
+    console.log('\n=== bench rigs + arena configs ===');
+    {
+        const YAML = require('../js/vendor/yaml/browser/dist/index.js');
+        const AC = require('../js/arena-configs.js');
+        const root = path.join(__dirname, '..');
+        const index = JSON.parse(
+            fs.readFileSync(path.join(root, 'configs/rigs/index.json'), 'utf8')
+        );
+        const cases = [
+            {
+                rig: 'g6_1x12of18_bench',
+                arena: 'G6_1x12of18',
+                rows: 1,
+                cols: 18,
+                installed: 12,
+                id: 7,
+                offset: -60,
+                peripherals: 6
+            },
+            {
+                rig: 'g6_3x10of14',
+                arena: 'G6_3x10of14',
+                rows: 3,
+                cols: 14,
+                installed: 10,
+                id: 8,
+                offset: -51.4286,
+                peripherals: 0
+            }
+        ];
+        for (const c of cases) {
+            const cfg = AC.getConfig(c.arena);
+            ok(
+                c.arena + ': registered with geometry',
+                !!cfg &&
+                    cfg.arena.num_rows === c.rows &&
+                    cfg.arena.num_cols === c.cols &&
+                    cfg.arena.columns_installed.length === c.installed
+            );
+            ok(
+                c.arena + ': arena ID ' + c.id,
+                AC.getArenaId('G6', c.arena) === c.id && AC.getArenaName('G6', c.id) === c.arena
+            );
+            // Installed panels centered at the front: the gap's middle sits at the back (south).
+            const alpha = 360 / c.cols;
+            const gapMid = (c.installed + (c.cols - c.installed) / 2) * alpha; // degrees from column 0's edge
+            ok(
+                c.arena + ': offset centers the gap at the back',
+                Math.abs(((((-gapMid + cfg.arena.angle_offset_deg) % 360) + 360) % 360) - 0) <
+                    0.01 ||
+                    Math.abs(((((-gapMid + cfg.arena.angle_offset_deg) % 360) + 360) % 360) - 360) <
+                        0.01
+            );
+            const entry = index.rigs.find((r) => r.name === c.rig);
+            ok(
+                c.rig + ': index entry → arena + path',
+                entry &&
+                    entry.arena === c.arena &&
+                    entry.path === './configs/rigs/' + c.rig + '.yaml'
+            );
+            const rig = YAML.parse(
+                fs.readFileSync(path.join(root, 'configs/rigs', c.rig + '.yaml'), 'utf8')
+            );
+            ok(c.rig + ': rig arena', rig.arena === c.arena);
+            const per = SQ.parseRigPeripherals(rig);
+            ok(
+                c.rig + ': peripherals parse clean (' + c.peripherals + ')',
+                per.warnings.length === 0 && per.list.length === c.peripherals,
+                per.warnings.join('; ')
+            );
+        }
+    }
+
     console.log(`\n=== Summary ===\n${total - failures} / ${total} checks passed`);
     process.exit(failures > 0 ? 1 : 0);
 })().catch((e) => {

From 8935a699dc2c1eb0dd8cc43c47fb04ae228f65d1 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Mon, 12 Oct 2026 17:00:59 -0400
Subject: [PATCH 13/96] docs: Qwiic peripherals rules in CLAUDE.md + parity
 ledger row (LAB-214)

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 CLAUDE.md                               | 18 ++++++++++++++++++
 docs/development/arena-studio-parity.md |  1 +
 2 files changed, 19 insertions(+)

diff --git a/CLAUDE.md b/CLAUDE.md
index 24d2f417..f8ba4842 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -622,6 +622,24 @@ fix flows to every page automatically; two hand-written HTML pages never will.
   like 0xA8 on the 0xCB telemetry flag; `Studio.readCrashReport()` logs a `crash_report` event.
   Breadcrumb ops 6–9 are the SET_FRAME_POSITION sub-steps (disarm timer / preload / arm / respond).
 
+- **Qwiic peripherals (LAB-214, v0.96):** the controller exposes only a sensor-agnostic I2C bridge
+  (`GET_I2C_SCAN` 0xB0, `I2C_TRANSFER` 0xB1; 0xB2–0xBF stay reserved), advertised by the 0xC2
+  feature bit `qwiic_i2c` — **gate EVERY I2C send on it** (jack-less 10-10 / 2x10 builds answer
+  CE_UNKNOWN_CMD + an error glyph). All register maps are host-side in `js/qwiic-drivers.js`
+  (port of the firmware repo's `tests/qwiic_sensors.py` + `qwiic_peripherals.py`); the `KINDS`
+  registry there is THE one place to add/drop a part (category, role env|tilt|light|actuator,
+  display fields, log columns) — consumers pick by role, never by part. `js/studio-qwiic.js` holds
+  the rig `peripherals:` parser (tolerant, parseRigIo contract), the scan-vs-YAML check in BOTH
+  directions (declared-but-missing = error, never retried; attached-but-undeclared = amber flag,
+  never logged), setup, chip and "Copy as rig YAML". Rules: (1) ONE page-wide bus
+  (`Studio.qwiicBus()`) — its `exclusive()` mutex orders whole sequences (mux select + reads,
+  SHT4x's two legs); never nest `exclusive()`. (2) Scan only at SETUP (connect, the Scan button,
+  run start): ~10 ms controller loop stall; refused during runs. (3) The LSM6DSOX bump flag is
+  read-to-clear: one owner (the trial logger during runs; Console "Check" is disabled then);
+  connect-time setup never arms it. (4) Bench quirks are load-bearing (SHT4x two-leg read; LIR +
+  INT_CLR_ON_READ + INT1 routing; PCA9685 ALLCALL shadow at 0x70 decided from MODE1, cleared by
+  configure). The rig fetch (`fetchRigSections`) parses `io:` and `peripherals:` from one read.
+
 ## Pattern Designer (`pattern_editor.html`)
 
 Renamed from "Pattern Editor" (v0.10, 2026-07-04); the FILENAME stays `pattern_editor.html`
diff --git a/docs/development/arena-studio-parity.md b/docs/development/arena-studio-parity.md
index d4d30856..a68c742f 100644
--- a/docs/development/arena-studio-parity.md
+++ b/docs/development/arena-studio-parity.md
@@ -37,6 +37,7 @@ Update this list when a Studio feature intentionally skips the twins.
 | "+ add / ✕ remove" optional CONTROLLER params on command cards (Studio v0.41; first user: trialParams `duty`). The standalone designer renders/edits a `duty` present in the YAML or seeded by the shared schema default (detailKeys synced), but can't add it to or remove it from an existing command | n/a | ✗ (render/edit only) |
 | Conditional LED activation editor — the `led_activation` nested-object sub-editor on a trialParams card (level / hysteresis / on-ranges list; Studio v0.59). The runner engine + parser + schema are SHARED (flow everywhere), so a `led_activation` authored in Studio round-trips and RUNS from the standalone; it's just not editable there (kept out of the standalone's detailKeys — the scalar field renderer can't show a nested object) | n/a | ✗ (preserved on export, not editable) |
 | Runtime variables (Studio v0.84) — the Run view panel for `runtime_controls:` (bounded operator changes, explicit Apply, next-trial activation, logged provenance; `js/runtime-controls.js` + `js/studio-runtime-vars.js`) and the `requires:` capability gate that refuses to run protocols needing `flow_control`. The parser preserves both keys on round trip, so a protocol authored with them still opens/exports in the standalone — it just has no panel and no gate there | ✗ | ✗ (preserved, not shown; no run gate) |
+| Qwiic peripherals (LAB-214, Studio v0.96) — Console → Qwiic (scan, identify, one device's readout, bump check, servo go-to-position, Copy as rig YAML), the connect-time scan + top-bar chip, and rig `peripherals:`. Drivers are shared modules (`js/qwiic-drivers.js`, `js/studio-qwiic.js`) — Studio only, by policy | ✗ | n/a |
 
 | Alt-study shell ports (LAB-158, ported from Arena Studio Alt into Classic): **Protocol ▾** menu (renamed from File; protocol actions only, section heads) + **⚙ Settings** menu (session rig, GitHub + storage, Run logging — browser settings, not the YAML); Edit's drawer renamed "⚙ Protocol settings"; Console **Tools** rail as an accessible checklist + a 2-column Console stage on wide screens; Run view widened to 1500 px; Scope `labels: full/clean` pill + toggle state in text/`aria-pressed`; replay re-pins the current step when the Scope is resized; visibility themes in ⚙ Settings → Display (Dark / Light / High contrast / Night / Color-blind safe / Match this computer). Guarded by `tests/test-studio-shell.js` | ✗ | ✗ |
 

From c5eff70c8ead332a19c58a1047304e088384270f Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Mon, 12 Oct 2026 17:20:02 -0400
Subject: [PATCH 14/96] feat(studio): live Console sliders, firmware-sized
 test-display frames, color-bank figure; Qwiic read-on-select (LAB-214)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

- Qwiic: clicking a device reads it immediately; Live keeps running across device
  changes (each tick reads the selected device); the servo follows its slider while
  dragging.
- Console sliders act while dragging — Test display level/duty re-send the last
  figure, LED power sets the LED — through liveSender(): single-flight, latest
  value wins, nothing sent while a run owns the link, one log line on release.
- Test display streams at the CONTROLLER's frame geometry (0xCB rows×cols; fw
  panel_count_per_frame) instead of refusing every non-20-panel rig: the rig figure
  is placed in the firmware frame (installed columns from the left, rig rows
  repeated up), so the 1×12 bench drives a 4×12 build. Wire.streamFrameBytes +
  encodeStreamFrame(payload, {panels}) with golden tests; .bin/.pat file streaming
  stays 20-panel.
- Test display → color A–D: light one LED bank (T0–T3) at a time via the shared
  PanelColor.bankAt (100 of 400 LEDs per panel).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 arena_studio.html                             | 184 ++++++++++++++----
 .../development/arena-studio-release-notes.md |   4 +
 js/arena-wire-g6.js                           |  31 ++-
 tests/test-arena-wire-g6.js                   |  16 ++
 tests/test-studio-qwiic.js                    |  27 +++
 5 files changed, 222 insertions(+), 40 deletions(-)

diff --git a/arena_studio.html b/arena_studio.html
index 16d6def4..f9c3fa64 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -3206,6 +3206,9 @@ <h2 id="modalTitle">Import error</h2>
             <input id="cFileInput" type="file" accept=".bin,.pat" style="display:none">
             <span class="thumb" id="cStreamThumb" title="Streamed-frame preview"></span>
           </div>
+          <div class="crow"><span class="lbl" title="Color panels: each 20×20 panel has four LED banks laid out as a 2×2 mosaic. Light one bank at a time to check each color.">color</span>
+            <span class="seg2" id="cBankSeg"><button data-cmd="cbank0" title="Light only bank A (T0) — one LED in four per panel, at the level above">A</button><button data-cmd="cbank1" title="Light only bank B (T1) — one LED in four per panel, at the level above">B</button><button data-cmd="cbank2" title="Light only bank C (T2) — one LED in four per panel, at the level above">C</button><button data-cmd="cbank3" title="Light only bank D (T3) — one LED in four per panel, at the level above">D</button></span>
+            <span class="dim" title="A–D = the panel firmware's banks T0–T3 (host coords: T2/T3 on row 0, T0/T1 on row 1 — bench-verified 2026-09-29)">one LED bank at a time (A–D = T0–T3)</span></div>
           </div>
         </section>
 
@@ -3276,7 +3279,7 @@ <h2 id="modalTitle">Import error</h2>
           <div id="cQwServo" style="display:none">
             <div class="crow"><span class="lbl" title="PCA9685 servo driver (e.g. SparkFun Servo pHAT)">servo</span>
               <select id="cQwSvCh" title="PWM channel 0–15 (named channels come from the rig YAML channels:)"></select>
-              <input id="cQwSvUs" type="range" min="1000" max="2000" step="10" value="1500" style="width:140px" title="Pulse width in µs — releasing the slider moves the servo">
+              <input id="cQwSvUs" type="range" min="1000" max="2000" step="10" value="1500" style="width:140px" title="Pulse width in µs — the servo follows the slider as you drag">
               <input id="cQwSvNum" type="number" min="1000" max="2000" step="10" value="1500" style="width:64px" title="Pulse width in µs (clamped to the channel's limits)"><span class="dim">µs</span>
               <span class="dim" id="cQwSvLim" title="Allowed pulse range for this channel">1000–2000 µs</span>
               <label title="Widen the range to 500–2500 µs (asks first — many servos stall at their end stops)"><input type="checkbox" id="cQwSvWide"> wide</label></div>
@@ -3416,7 +3419,7 @@ <h2 id="modalTitle">Import error</h2>
 </div>
 
 <footer id="footer">
-  <span class="foot-left">Arena Studio v0.96 | 2026-10-12 16:50 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
+  <span class="foot-left">Arena Studio v0.96 | 2026-10-12 17:19 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
   <!-- Course-repo quick-links: open protocols / logs / patterns in a new tab.
        Hrefs built from the configured repo + bench id (updateGhQuickLinks). -->
   <span id="ghQuickLinks" title="Open the course repo on GitHub (new tab)">
@@ -3436,6 +3439,7 @@ <h2 id="modalTitle">Import error</h2>
 <script src="js/studio-panel-inventory.js"></script>
 <script src="js/qwiic-drivers.js"></script>
 <script src="js/studio-qwiic.js"></script>
+<script src="js/panel-color.js"></script> <!-- color-bank test figure (PanelColor.bankAt) -->
 <script src="js/arena-link.js"></script>
 <script src="js/arena-runner-g6.js?v=20260926-cl-start"></script> <!-- ?v= forces a fresh load: a cached runner/client silently runs the old closed-loop start -->
 <script src="js/run-log.js"></script>
@@ -6195,11 +6199,22 @@ <h2 id="modalTitle">Import error</h2>
         }
         qwRenderDevice();
     }
+    // Picking a device shows a reading at once; a running Live readout just moves to
+    // the new device (each tick reads whatever is selected).
     function qwSelect(key) {
         if (key === qw.selKey) return;
-        qwStopLive('device changed');
         qw.selKey = key;
         qwRenderSelection();
+        qwReadSelected();
+    }
+    function qwReadSelected() {
+        const item = qw.selKey && qwItem(qw.selKey);
+        if (!item || QD.KINDS[item.kind].role === 'actuator') return; // actuators refresh in qwRenderDevice
+        if (!qwGate('read').ok || qw.inFlight) return;
+        qw.inFlight = true;
+        qwReadOnce({ quiet: true })
+            .catch((e) => { qwSetStatus('error: ' + e.message); clog('qwiic: ' + e.message, 'err'); })
+            .finally(() => { qw.inFlight = false; });
     }
     // fromDom=false: the defaults (rig config, else the KINDS default) — used while the
     // option selects still belong to the PREVIOUS device.
@@ -6393,6 +6408,7 @@ <h2 id="modalTitle">Import error</h2>
             const yamlBtn = $('cQwYaml');
             if (yamlBtn) yamlBtn.disabled = !d.devices.some((it) => it.kind);
             qwRenderSelection();
+            if (!setup) setTimeout(qwReadSelected, 0); // a fresh Scan shows the first device's reading
             return qw.check;
         } catch (e) {
             qwSetStatus('error: ' + e.message);
@@ -6535,7 +6551,8 @@ <h2 id="modalTitle">Import error</h2>
         const lim = $('cQwSvLim');
         if (lim) lim.textContent = s.min + '–' + s.max + ' µs';
     }
-    async function qwServo(action) {
+    async function qwServo(action, opts) {
+        const quiet = !!(opts && opts.quiet);
         const g = qwGate('read');
         const s = qwServoSpec();
         if (!g.ok || !s.item || s.item.kind !== 'pca9685') { clog('qwiic: ' + (g.ok ? 'select the PCA9685 first' : g.reason), 'err'); return; }
@@ -6562,11 +6579,13 @@ <h2 id="modalTitle">Import error</h2>
             if (rb[1] !== o) throw new Error('read-back OFF ' + rb[1] + ' ≠ ' + o);
             return o;
         });
-        $('cQwSvUs').value = us;
-        $('cQwSvNum').value = us;
-        qwReadOnce({ quiet: true }).catch(() => {}); // refresh the PWM / oscillator readout
+        if (!quiet) {
+            $('cQwSvUs').value = us;
+            $('cQwSvNum').value = us;
+            qwReadOnce({ quiet: true }).catch(() => {}); // refresh the PWM / oscillator readout
+        }
         if (out) out.textContent = 'ch' + s.ch + ' → ' + us + ' µs (OFF count ' + off + ' @ ' + drv.freqHz.toFixed(2) + ' Hz, read back ✓)';
-        clog('qwiic: servo ch' + s.ch + ' → ' + us + ' µs (count ' + off + ')', 'info');
+        if (!quiet) clog('qwiic: servo ch' + s.ch + ' → ' + us + ' µs (count ' + off + ')', 'info');
     }
     async function qwCopyYaml(which) {
         if (!qw.discovery || qw.discovery.error) { clog('qwiic: scan first', 'err'); return; }
@@ -6611,7 +6630,9 @@ <h2 id="modalTitle">Import error</h2>
         const sl = $('cQwSvUs');
         const nb = $('cQwSvNum');
         if (sl && nb) {
-            sl.addEventListener('input', () => { nb.value = sl.value; });
+            // The servo follows the slider while dragging (single-flight, latest wins); release logs.
+            const svLive = liveSender(() => qwServo('go', { quiet: true }));
+            sl.addEventListener('input', () => { nb.value = sl.value; svLive(); });
             sl.addEventListener('change', () => { qwServo('go').catch((e) => clog('qwiic: servo — ' + e.message, 'err')); });
             nb.addEventListener('change', () => { sl.value = nb.value; });
         }
@@ -7019,13 +7040,17 @@ <h2 id="modalTitle">Import error</h2>
         crawclear: () => { logEl().innerHTML = ''; },
         crawcopy: async () => { try { await navigator.clipboard.writeText(logEl().innerText); } catch (e) {} },
         // depth toggles (also set the module-block stream depth)
-        cgs16: (e) => { segPick(e, 'cGs16', 'cGs2'); if (Studio.setStreamGs) Studio.setStreamGs(16); if ($('cLevel')) $('cLevel').parentElement.style.opacity = '1'; },
-        cgs2: (e) => { segPick(e, 'cGs2', 'cGs16'); if (Studio.setStreamGs) Studio.setStreamGs(2); },
+        cgs16: (e) => { segPick(e, 'cGs16', 'cGs2'); if (Studio.setStreamGs) Studio.setStreamGs(16); if ($('cLevel')) $('cLevel').parentElement.style.opacity = '1';  if (Studio.restreamLast) Studio.restreamLast(); },
+        cgs2: (e) => { segPick(e, 'cGs2', 'cGs16'); if (Studio.setStreamGs) Studio.setStreamGs(2);  if (Studio.restreamLast) Studio.restreamLast(); },
         // stream test figures (builders live in the module block)
         cstreamff: () => Studio.doStream && Studio.doStream('fullfield'),
         cstreampm: () => Studio.doStream && Studio.doStream('panelmap'),
         cstreamor: () => Studio.doStream && Studio.doStream('orientation'),
         cstreamck: () => Studio.doStream && Studio.doStream('checker'),
+        cbank0: () => Studio.doStream && Studio.doStream('bank', 0),
+        cbank1: () => Studio.doStream && Studio.doStream('bank', 1),
+        cbank2: () => Studio.doStream && Studio.doStream('bank', 2),
+        cbank3: () => Studio.doStream && Studio.doStream('bank', 3),
         cpaste: () => Studio.openPasteModal && Studio.openPasteModal(),
         cloadfile: () => { if (Studio.filePlaying && Studio.filePlaying()) Studio.stopFilePlay('user'); else $('cFileInput').click(); }
     };
@@ -7493,7 +7518,28 @@ <h2 id="modalTitle">Import error</h2>
     Studio.clog = clog;
     // level slider readout + duty → module-block stream state. The duty slider
     // and its number box stay in lockstep; typed values clamp to 0–255.
-    $('cLevel').addEventListener('input', () => { $('cLevelVal').textContent = $('cLevel').value + '/15'; });
+    // Live sliders: act while dragging. liveSender() is single-flight, latest value wins
+    // (a fast drag never queues a backlog of commands); nothing is sent while a run owns
+    // the link. Drags are quiet; the release ('change') logs one line.
+    function liveSender(fn) {
+        let busy = false, pending = null, has = false;
+        return function (v) {
+            pending = v; has = true;
+            if (busy) return;
+            busy = true;
+            (async () => {
+                try {
+                    while (has) { has = false; await fn(pending); }
+                } catch (e) { clog('live update failed: ' + (e.message || e), 'err'); } finally { busy = false; }
+            })();
+        };
+    }
+    const liveOk = () => !!(session && session.connected && !session.running);
+    Studio.liveSender = liveSender;
+    // Test display: level / duty re-send the last test figure (no-op until one was sent).
+    const restreamLive = liveSender(() => (liveOk() && Studio.restreamLast ? Studio.restreamLast() : null));
+    $('cLevel').addEventListener('input', () => { $('cLevelVal').textContent = $('cLevel').value + '/15'; restreamLive(); });
+    $('cLevel').addEventListener('change', () => { if (liveOk()) clog('test display: level ' + $('cLevel').value + '/15 (re-sent the last figure)', 'info'); });
     // LED tool: slider + number box in lockstep (like duty), 0.0–100.0 in 0.1 steps,
     // with a readout of the resolved BuckPuck control voltage.
     function applyLed(v) {
@@ -7508,8 +7554,15 @@ <h2 id="modalTitle">Import error</h2>
         if (el) el.textContent = conv ? conv(n) + ' mV' : '';
     }
     Studio.applyLed = applyLed;
-    if ($('cLedPct')) $('cLedPct').addEventListener('input', () => applyLed($('cLedPct').value));
-    if ($('cLedNum')) $('cLedNum').addEventListener('change', () => applyLed($('cLedNum').value));
+    // LED power follows the slider (quiet SET_AO_VOLTAGE while dragging; one log line on release).
+    const ledMvFor = (p) => { const conv = window.ArenaRunnerG6 && window.ArenaRunnerG6.ledPercentToMv; return conv ? conv(p) : 5000; };
+    const ledLive = liveSender(async (p) => { if (liveOk()) await session.send(Wire.encodeSetAoVoltage(ledMvFor(p)), { timeoutMs: 1000 }); });
+    const ledCommitLog = () => { if (liveOk()) { const p = num('cLedPct'); clog('LED ' + p + '% → SET_AO_VOLTAGE 0xA0 ' + ledMvFor(p) + ' mV', 'tx'); } };
+    if ($('cLedPct')) {
+        $('cLedPct').addEventListener('input', () => { applyLed($('cLedPct').value); ledLive(num('cLedPct')); });
+        $('cLedPct').addEventListener('change', ledCommitLog);
+    }
+    if ($('cLedNum')) $('cLedNum').addEventListener('change', () => { applyLed($('cLedNum').value); ledLive(num('cLedPct')); ledCommitLog(); });
     if ($('cLedPct')) applyLed($('cLedPct').value);
     function applyDuty(v) {
         // A number input holding garbage reports '' (and Number('') === 0), so
@@ -7522,8 +7575,9 @@ <h2 id="modalTitle">Import error</h2>
         $('cDutyNum').value = n;
         if (Studio.setStreamDuty) Studio.setStreamDuty(n);
     }
-    $('cDuty').addEventListener('input', () => applyDuty($('cDuty').value));
-    $('cDutyNum').addEventListener('change', () => applyDuty($('cDutyNum').value));
+    $('cDuty').addEventListener('input', () => { applyDuty($('cDuty').value); restreamLive(); });
+    $('cDuty').addEventListener('change', () => { if (liveOk()) clog('test display: duty ' + $('cDuty').value + ' (re-sent the last figure)', 'info'); });
+    $('cDutyNum').addEventListener('change', () => { applyDuty($('cDutyNum').value); restreamLive(); });
 
     // console dropdown menus (Controller ▾ / Debug ▾) — open/close + click-away
     document.querySelectorAll('.cmenu[data-cmenu] > .cmenu-btn').forEach((btn) => {
@@ -9042,7 +9096,8 @@ <h2 id="modalTitle">Import error</h2>
     const cfg = Studio.currentRig && Studio.currentRig.arenaConfig;
     const arena = cfg ? arenaForConfig(cfg) : null;
     const rc = (arena && arena.num_rows) || 2;
-    const cc = (arena && arena.num_cols) || 10;
+    // Partial arenas stream their INSTALLED columns (a 1x12of18 figure is 12 panels wide).
+    const cc = (arena && (arena.columns_installed ? arena.columns_installed.length : arena.num_cols)) || 10;
     return { rowCount: rc, colCount: cc, pixelRows: rc * 20, pixelCols: cc * 20 };
 }
 function newGrid() { const a = activeArenaGeom(); return new Uint8Array(a.pixelRows * a.pixelCols); }
@@ -9078,25 +9133,70 @@ <h2 id="modalTitle">Import error</h2>
     drawGlyph(grid, a, 'R', a.pixelCols - cw - 1, midRow, val, s);
     return grid;
 }
+// Color banks (LAB-223/228 color panels): light ONLY bank k (0..3 = A..D = T0..T3) —
+// one LED in four per panel (a 10×10 lattice at 2-px pitch) — via the shared
+// bench-verified PanelColor.bankAt (host coords, row 0 = bottom; panels are 20 px,
+// so arena-global parity equals panel-local parity).
+const BANK_NAMES = ['A', 'B', 'C', 'D'];
+function genBank(k, level) {
+    const a = activeArenaGeom(); const grid = newGrid(); const val = streamGs === 2 ? 1 : level;
+    const PC = window.PanelColor;
+    const bankAt = PC ? PC.bankAt : (r, c) => 2 * ((r + 1) & 1) + (c & 1);
+    for (let r = 0; r < a.pixelRows; r++) for (let c = 0; c < a.pixelCols; c++) if (bankAt(r, c) === k) grid[r * a.pixelCols + c] = val;
+    return grid;
+}
 function genChecker() {
     const a = activeArenaGeom(); const grid = newGrid(); const val = streamGs === 2 ? 1 : 15;
     for (let pr = 0; pr < a.rowCount; pr++) for (let pc = 0; pc < a.colCount; pc++) if ((pr + pc) % 2 === 0)
         for (let y = 0; y < 20; y++) for (let x = 0; x < 20; x++) setPx(grid, a, pr * 20 + y, pc * 20 + x, val);
     return grid;
 }
+// The controller accepts stream frames of exactly ITS compiled geometry (0xCB rows ×
+// cols; fw constants.h panel_count_per_frame): 2x10 on the CSHL boards, 4x12 on the
+// arena_12-18 build. The rig's figure is placed into that frame: installed columns
+// from the left, the rig's rows repeated up the frame (so a one-row bench install
+// lights whichever row connector its panels are on). Firmware without 0xCB: the
+// legacy 20-panel rule.
+function streamTarget() {
+    const rig = activeArenaGeom();
+    const fv = Studio.firmwareVersion;
+    if (fv && fv.rows > 0 && fv.cols > 0) {
+        if (rig.rowCount > fv.rows || rig.colCount > fv.cols) {
+            return { ok: false, rig, reason: 'the rig is ' + rig.rowCount + '×' + rig.colCount + ' panels but this firmware build streams ' + fv.rows + '×' + fv.cols };
+        }
+        return { ok: true, rig, rows: fv.rows, cols: fv.cols };
+    }
+    if (rig.rowCount * rig.colCount === 20) return { ok: true, rig, rows: rig.rowCount, cols: rig.colCount };
+    return { ok: false, rig, reason: 'this firmware does not report its panel geometry (0xCB), so only 20-panel arenas can be streamed' };
+}
+function toFirmwareGrid(grid, t) {
+    const rp = t.rig.pixelRows, cp = t.rig.pixelCols;
+    const R = t.rows * 20, C = t.cols * 20;
+    if (R === rp && C === cp) return grid;
+    const out = new Uint8Array(R * C);
+    for (let r = 0; r < R; r++) out.set(grid.subarray((r % rp) * cp, (r % rp) * cp + cp), r * C);
+    return out;
+}
+function encodeStreamPat(grid, gs, rows, cols) {
+    return window.PatEncoder.encode({
+        generation: 'G6', gs_val: gs, numFrames: 1, rowCount: rows, colCount: cols,
+        pixelRows: rows * 20, pixelCols: cols * 20, frames: [grid], stretchValues: [streamDuty]
+    });
+}
 function buildStreamFrame(grid, gs) {
-    const a = activeArenaGeom();
-    const patData = {
-        generation: 'G6', gs_val: gs, numFrames: 1, rowCount: a.rowCount, colCount: a.colCount,
-        pixelRows: a.pixelRows, pixelCols: a.pixelCols, frames: [grid], stretchValues: [streamDuty]
-    };
-    const patArrayBuffer = window.PatEncoder.encode(patData);
-    const buf = new Uint8Array(patArrayBuffer);
-    const len = Wire.STREAM_FRAME_BYTES[gs === 2 ? 'GS2' : 'GS16'];
+    const t = streamTarget();
+    if (!t.ok) throw new Error(t.reason);
+    const panels = t.rows * t.cols;
+    const fwPat = encodeStreamPat(toFirmwareGrid(grid, t), gs, t.rows, t.cols);
+    const buf = new Uint8Array(fwPat);
+    const len = Wire.streamFrameBytes(panels, gs);
     const payload = buf.subarray(window.PatEncoder.G6_HEADER_SIZE, window.PatEncoder.G6_HEADER_SIZE + len);
-    return { bytes: Wire.encodeStreamFrame(payload), patArrayBuffer };
+    // The thumbnail shows the RIG's figure (the preview draws the rig's arena).
+    const samePat = t.rows === t.rig.rowCount && t.cols === t.rig.colCount;
+    const patArrayBuffer = samePat ? fwPat : encodeStreamPat(grid, gs, t.rig.rowCount, t.rig.colCount);
+    return { bytes: Wire.encodeStreamFrame(payload, { panels }), patArrayBuffer, target: t };
 }
-function streamable() { const a = activeArenaGeom(); return a.rowCount * a.colCount === 20; } // FW accepts 20-panel frames only
+function streamable() { return streamTarget().ok; }
 function renderStreamThumb(patArrayBuffer, hostId) {
     const host = $(hostId || 'cStreamThumb');
     if (!host || !PP) return;
@@ -9118,29 +9218,42 @@ <h2 id="modalTitle">Import error</h2>
 Studio.setStreamGs = (gs) => { streamGs = gs; };
 Studio.setStreamDuty = (d) => { streamDuty = d; };
 // Stream one already-built pixel grid (shared by the figures + paste-frame).
-async function streamGrid(grid, gs, label) {
+async function streamGrid(grid, gs, label, opts) {
     const clog = Studio.clog || Studio.rawLog;
     if (!Studio.session || !Studio.session.connected) { clog('connect first', 'err'); return false; }
-    if (!streamable()) { clog('stream: needs a 20-panel arena (e.g. G6_2x10) — unlock the session rig selector in ⚙ Settings', 'err'); return false; }
+    const tgt = streamTarget();
+    if (!tgt.ok) { clog('stream: ' + tgt.reason + ' — check the session rig in ⚙ Settings', 'err'); return false; }
     let built;
     try { built = buildStreamFrame(grid, gs); } catch (e) { clog('stream build failed: ' + (e.message || e), 'err'); return false; }
     renderStreamThumb(built.patArrayBuffer);
     try {
         await Studio.session.send(built.bytes, { expectedCmd: Wire.OPCODES.STREAM_FRAME, timeoutMs: 1500 });
-        clog('› STREAM_FRAME 0x32 · ' + label + ' (' + (gs === 2 ? 'GS2' : 'GS16') + ')', 'tx');
+        const t = built.target;
+        const mapped = t.rows !== t.rig.rowCount || t.cols !== t.rig.colCount ? ' · ' + t.rig.rowCount + '×' + t.rig.colCount + ' rig in a ' + t.rows + '×' + t.cols + ' firmware frame' : '';
+        if (!opts || !opts.quiet) clog('› STREAM_FRAME 0x32 · ' + label + ' (' + (gs === 2 ? 'GS2' : 'GS16') + ')' + mapped, 'tx');
         return true;
     } catch (e) { clog('stream send failed: ' + (e.message || e), 'err'); return false; }
 }
 Studio.streamGrid = streamGrid;
-Studio.doStream = async function (kind) {
+// Remember the last test figure so the level / duty sliders can re-send it live.
+let lastStreamFigure = null;
+Studio.doStream = async function (kind, arg, opts) {
     const level = Number(($('cLevel') || {}).value || 15);
     let grid;
+    let label = kind;
     if (kind === 'fullfield') grid = genUniform(level);
     else if (kind === 'panelmap') grid = genPanelMap();
     else if (kind === 'orientation') grid = genOrient();
     else if (kind === 'checker') grid = genChecker();
-    else return;
-    await streamGrid(grid, streamGs, kind);
+    else if (kind === 'bank') { grid = genBank(arg, level); label = 'color bank ' + BANK_NAMES[arg] + ' (T' + arg + ')'; }
+    else return false;
+    lastStreamFigure = { kind, arg };
+    return streamGrid(grid, streamGs, label, opts);
+};
+// Re-send the last figure (level / duty / depth changed). No-op before the first figure.
+Studio.restreamLast = async function () {
+    if (!lastStreamFigure || !Studio.session || !Studio.session.connected || Studio.session.running) return false;
+    return Studio.doStream(lastStreamFigure.kind, lastStreamFigure.arg, { quiet: true });
 };
 
 // ---- batch panel programming (ISP) — the panel-firmware tile's batch row ----
@@ -9526,7 +9639,8 @@ <h2 id="modalTitle">Import error</h2>
     const clog = Studio.clog || Studio.rawLog;
     Studio.stopFilePlay('silent');
     if (!Studio.session || !Studio.session.connected) { clog('connect first', 'err'); return; }
-    if (!streamable()) { clog('stream: needs a 20-panel arena (e.g. G6_2x10)', 'err'); return; }
+    const ft = streamTarget();
+    if (!ft.ok || ft.rows * ft.cols !== 20) { clog('stream: file streaming (.bin/.pat) needs a 20-panel controller frame (e.g. G6_2x10)' + (ft.ok ? ' — this firmware streams ' + ft.rows + '×' + ft.cols : ''), 'err'); return; }
     if (!Bin) { clog('bin-classifier unavailable', 'err'); return; }
     let buf;
     try { buf = new Uint8Array(await file.arrayBuffer()); } catch (e) { clog('file read failed: ' + (e.message || e), 'err'); return; }
@@ -17907,7 +18021,7 @@ <h2 id="modalTitle">Import error</h2>
     '[data-cmd="cqwread"]': 'Take one reading from the selected device.',
     '#cQwLive': 'Keep reading the selected device about once a second. Pauses by itself during a run.',
     '[data-cmd="cqwbumpcheck"]': 'Was the motion sensor bumped since the last check? Checking resets the answer.',
-    '#cQwSvUs': 'Servo position. Let go of the slider to move the servo.',
+    '#cQwSvUs': 'Servo position. The servo follows the slider as you move it.',
     '[data-cmd="cqwsvrelease"]': 'Let the servo go limp (it stops holding its position).',
     '#qwiicChip': 'The sensors on the Qwiic connector compared with this rig’s list. Red = a listed sensor is missing; amber = something is plugged in that isn’t listed. Click to open them in the Console.',
     '.rail-btn[data-panel="fw"]': 'Update or check the firmware on the LED panels.',
diff --git a/docs/development/arena-studio-release-notes.md b/docs/development/arena-studio-release-notes.md
index 25971a62..61ba3d34 100644
--- a/docs/development/arena-studio-release-notes.md
+++ b/docs/development/arena-studio-release-notes.md
@@ -10,6 +10,10 @@ history lives here. Newest first. (Per-session engineering detail stays in
 - **Console → Qwiic: find and try the sensors on the arena's Qwiic / STEMMA QT connector.** Scan lists every device on the bus, identifies the supported parts (SHT4x temperature/humidity, LSM6DSOX tilt + bump, TSL2591 / VEML7700 / AS7343 light, PCA9685 servo driver) and compares them with the rig file. Pick one device to see its readings in real units, once or live; the motion sensor has a bump check, and the servo board a position slider with Center and Release. This panel is for testing — nothing in it is written to run logs.
 - **Rig files can list their Qwiic peripherals (`peripherals:`).** On connect the Studio scans once and shows a Qwiic chip in the top bar: green when every listed device is there, red when one is missing (no retry), amber when something is plugged in that the rig file doesn't list. **Copy as rig YAML** gives you the lines to add.
 - Controllers without a Qwiic connector are unaffected: the Studio never sends them I2C commands, and the chip stays hidden.
+- **Console → Qwiic: clicking a device shows its reading straight away, and Live keeps running as you switch devices.** The servo follows its slider as you drag.
+- **Console sliders act as you move them.** Test display level and duty re-send the last test figure, and LED power sets the LED, while you drag (never during a run).
+- **Test display works on more arenas.** Figures are sent at the controller's own frame size, so the 1×12 bench arena (and other non-2×10 rigs on matching firmware) can show full-field, panel map, orientation and checker.
+- **Test display → color: light one LED bank at a time (A–D).** For color panels: each button lights only that bank — one LED in four per panel — at the chosen level.
 - **Two new rigs in ⚙ Settings:** the arena_12-18 bench (one panel high, 12 of 18 columns, its six Qwiic boards listed) and the 10-of-14 ring (three panels high). Both show their installed panels centered at the front in the Pattern Designer's views.
 
 ## v0.94 (2026-09-30) · LAB-158 ports (Protocol ▾, ⚙ Settings, two-column Console) + visibility themes · Multi-color G6 panels V1 — Panel LEDs layout, ON color, per-bank preview (LAB-228) · Flasher + Studio picker: one production build from the published catalog; legacy images hashed, never default (panel-fw-v1.3.1)
diff --git a/js/arena-wire-g6.js b/js/arena-wire-g6.js
index 3c008e37..eda58d61 100644
--- a/js/arena-wire-g6.js
+++ b/js/arena-wire-g6.js
@@ -331,18 +331,37 @@ const ArenaWireG6 = (function () {
      * @param {Uint8Array|number[]} payload per-frame body (1064 GS2 / 4064 GS16)
      * @returns {Uint8Array} on-wire stream frame [0x32, len_lo, len_hi, ...payload]
      */
-    function encodeStreamFrame(payload) {
+    // Stream-frame payload size for a firmware build that drives `panels` panels:
+    // 4-byte prefix + one block per panel (GS2 53 B, GS16 203 B). The firmware
+    // accepts exactly its compiled panel count (constants.h panel_count_per_frame):
+    // 20 on the 2x10 build (1064 / 4064 = STREAM_FRAME_BYTES), 48 on 4x12, etc.
+    const STREAM_BLOCK_BYTES = { GS2: 53, GS16: 203 };
+    function streamFrameBytes(panels, gs) {
+        requireInt(panels, 'panels');
+        if (panels < 1) throw new RangeError('panels must be >= 1, got ' + panels);
+        return 4 + panels * (gs === 2 ? STREAM_BLOCK_BYTES.GS2 : STREAM_BLOCK_BYTES.GS16);
+    }
+
+    // opts.panels: the connected firmware's panel count (default 20 — the 2x10 sizes).
+    function encodeStreamFrame(payload, opts) {
         const body = payload instanceof Uint8Array ? payload : Uint8Array.from(payload);
-        if (body.length !== STREAM_FRAME_BYTES.GS2 && body.length !== STREAM_FRAME_BYTES.GS16) {
+        const panels = opts && opts.panels !== undefined ? opts.panels : 20;
+        const gs2 = streamFrameBytes(panels, 2);
+        const gs16 = streamFrameBytes(panels, 16);
+        if (body.length !== gs2 && body.length !== gs16) {
             throw new RangeError(
-                'stream-frame payload must be ' +
-                    STREAM_FRAME_BYTES.GS2 +
+                'stream-frame payload for ' +
+                    panels +
+                    ' panels must be ' +
+                    gs2 +
                     ' (GS2) or ' +
-                    STREAM_FRAME_BYTES.GS16 +
+                    gs16 +
                     ' (GS16) bytes, got ' +
                     body.length
             );
         }
+        if (body.length > 0xffff)
+            throw new RangeError('stream-frame payload exceeds the u16 length field');
         const out = new Uint8Array(3 + body.length);
         out[0] = OPCODES.STREAM_FRAME; // 0x32
         out[1] = body.length & 0xff; // payload length lo
@@ -1514,6 +1533,8 @@ const ArenaWireG6 = (function () {
         PANEL_STATUS_NAMES,
         PANEL_INVENTORY_FLAGS,
         STREAM_FRAME_BYTES,
+        STREAM_BLOCK_BYTES,
+        streamFrameBytes,
 
         // Encoders (request frames)
         encodeAllOn,
diff --git a/tests/test-arena-wire-g6.js b/tests/test-arena-wire-g6.js
index 4bd7eb97..f2ac0da3 100644
--- a/tests/test-arena-wire-g6.js
+++ b/tests/test-arena-wire-g6.js
@@ -293,6 +293,22 @@ checkBool(
 // Only the two firmware-accepted sizes are valid (mode inferred from size).
 checkThrows('stream wrong size 100 throws', () => Wire.encodeStreamFrame(new Uint8Array(100)));
 checkThrows('stream wrong size 4063 throws', () => Wire.encodeStreamFrame(new Uint8Array(4063)));
+// Firmware-sized frames: the controller accepts exactly its compiled panel count.
+check('streamFrameBytes(20, GS2) = STREAM_FRAME_BYTES.GS2', Wire.streamFrameBytes(20, 2), 1064);
+check('streamFrameBytes(20, GS16) = STREAM_FRAME_BYTES.GS16', Wire.streamFrameBytes(20, 16), 4064);
+check('streamFrameBytes(48, GS2) — 4x12 build (arena_12-18)', Wire.streamFrameBytes(48, 2), 2548);
+check('streamFrameBytes(48, GS16) — 4x12 build', Wire.streamFrameBytes(48, 16), 9748);
+check(
+    'streamFrameBytes(40, GS16) — 4x10 build (fw constants.h 8124)',
+    Wire.streamFrameBytes(40, 16),
+    8124
+);
+const sf48 = Wire.encodeStreamFrame(new Uint8Array(9748), { panels: 48 });
+checkBytes('48-panel GS16 header: 32 + u16 LE 9748', sf48.slice(0, 3), '32 14 26');
+checkThrows('a 20-panel payload is refused for a 48-panel build', () =>
+    Wire.encodeStreamFrame(new Uint8Array(4064), { panels: 48 })
+);
+checkThrows('panels 0 rejected', () => Wire.streamFrameBytes(0, 16));
 
 console.log('\n=== decodeResponse framing ===');
 // get-controller-info reply: [len=4, status=0, echo=0xC2, version=2, cap=0x11].
diff --git a/tests/test-studio-qwiic.js b/tests/test-studio-qwiic.js
index 3f60494b..254ef0f6 100644
--- a/tests/test-studio-qwiic.js
+++ b/tests/test-studio-qwiic.js
@@ -515,6 +515,33 @@ const item = (addr, kind, extra) =>
             /if \(was\) qwSetStatus\(qw\.idleStatus/.test(html) &&
                 /if \(qw\.live\) qwSetStatus\('live · '/.test(html)
         );
+        ok(
+            'clicking a device reads it; Live keeps running across selections',
+            /function qwSelect\(key\) \{[\s\S]{0,200}qwReadSelected\(\);/.test(html) &&
+                !/qwStopLive\('device changed'\)/.test(html)
+        );
+        ok(
+            'servo follows the slider while dragging (single-flight)',
+            /const svLive = liveSender\(\(\) => qwServo\('go', \{ quiet: true \}\)\)/.test(html)
+        );
+        ok(
+            'live level / duty / LED sliders go through liveSender',
+            /const restreamLive = liveSender\(/.test(html) &&
+                /const ledLive = liveSender\(/.test(html)
+        );
+        ok(
+            'stream frames are sized to the firmware geometry (0xCB), not just 20 panels',
+            /function streamTarget\(\)/.test(html) &&
+                /Wire\.encodeStreamFrame\(payload, \{ panels \}\)/.test(html)
+        );
+        ok(
+            'Test display color banks A–D via PanelColor.bankAt',
+            ['cbank0', 'cbank1', 'cbank2', 'cbank3'].every((c) =>
+                html.includes('data-cmd="' + c + '"')
+            ) &&
+                /function genBank\(k, level\)/.test(html) &&
+                html.includes('<script src="js/panel-color.js"')
+        );
         ok(
             'undeclared devices flagged in table + selection',
             /⚠ undeclared/.test(html) && /not in the rig YAML/.test(html)

From 0a0c03a75e1f3130b069f825d3223bded610c89e Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Mon, 12 Oct 2026 18:42:59 -0400
Subject: [PATCH 15/96] =?UTF-8?q?chore:=20drop=20the=20self-bump=20(v0.96?=
 =?UTF-8?q?=20footer=20+=20notes=20entry)=20=E2=80=94=20the=20release=20co?=
 =?UTF-8?q?mmit=20bumps;=20notes=20live=20in=20the=20PR=20body?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 arena_studio.html                              |  2 +-
 docs/development/arena-studio-release-notes.md | 12 ------------
 tests/test-studio-qwiic.js                     |  5 -----
 3 files changed, 1 insertion(+), 18 deletions(-)

diff --git a/arena_studio.html b/arena_studio.html
index f9c3fa64..2b5aea16 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -3419,7 +3419,7 @@ <h2 id="modalTitle">Import error</h2>
 </div>
 
 <footer id="footer">
-  <span class="foot-left">Arena Studio v0.96 | 2026-10-12 17:19 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
+  <span class="foot-left">Arena Studio v0.94 | 2026-09-30 07:22 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
   <!-- Course-repo quick-links: open protocols / logs / patterns in a new tab.
        Hrefs built from the configured repo + bench id (updateGhQuickLinks). -->
   <span id="ghQuickLinks" title="Open the course repo on GitHub (new tab)">
diff --git a/docs/development/arena-studio-release-notes.md b/docs/development/arena-studio-release-notes.md
index 61ba3d34..e337b4fc 100644
--- a/docs/development/arena-studio-release-notes.md
+++ b/docs/development/arena-studio-release-notes.md
@@ -4,18 +4,6 @@ The Studio's footer used to carry the full changelog inline; it now shows one li
 history lives here. Newest first. (Per-session engineering detail stays in
 `arena-studio-handover.md` and the design docs — this file is the user-facing what-changed list.)
 
-## v0.96 (2026-10-12) · Qwiic sensors in the Console (LAB-214)
-
-<!-- LAB-214 PR 1 -->
-- **Console → Qwiic: find and try the sensors on the arena's Qwiic / STEMMA QT connector.** Scan lists every device on the bus, identifies the supported parts (SHT4x temperature/humidity, LSM6DSOX tilt + bump, TSL2591 / VEML7700 / AS7343 light, PCA9685 servo driver) and compares them with the rig file. Pick one device to see its readings in real units, once or live; the motion sensor has a bump check, and the servo board a position slider with Center and Release. This panel is for testing — nothing in it is written to run logs.
-- **Rig files can list their Qwiic peripherals (`peripherals:`).** On connect the Studio scans once and shows a Qwiic chip in the top bar: green when every listed device is there, red when one is missing (no retry), amber when something is plugged in that the rig file doesn't list. **Copy as rig YAML** gives you the lines to add.
-- Controllers without a Qwiic connector are unaffected: the Studio never sends them I2C commands, and the chip stays hidden.
-- **Console → Qwiic: clicking a device shows its reading straight away, and Live keeps running as you switch devices.** The servo follows its slider as you drag.
-- **Console sliders act as you move them.** Test display level and duty re-send the last test figure, and LED power sets the LED, while you drag (never during a run).
-- **Test display works on more arenas.** Figures are sent at the controller's own frame size, so the 1×12 bench arena (and other non-2×10 rigs on matching firmware) can show full-field, panel map, orientation and checker.
-- **Test display → color: light one LED bank at a time (A–D).** For color panels: each button lights only that bank — one LED in four per panel — at the chosen level.
-- **Two new rigs in ⚙ Settings:** the arena_12-18 bench (one panel high, 12 of 18 columns, its six Qwiic boards listed) and the 10-of-14 ring (three panels high). Both show their installed panels centered at the front in the Pattern Designer's views.
-
 ## v0.94 (2026-09-30) · LAB-158 ports (Protocol ▾, ⚙ Settings, two-column Console) + visibility themes · Multi-color G6 panels V1 — Panel LEDs layout, ON color, per-bank preview (LAB-228) · Flasher + Studio picker: one production build from the published catalog; legacy images hashed, never default (panel-fw-v1.3.1)
 
 <!-- #238 -->
diff --git a/tests/test-studio-qwiic.js b/tests/test-studio-qwiic.js
index 254ef0f6..96e94fb8 100644
--- a/tests/test-studio-qwiic.js
+++ b/tests/test-studio-qwiic.js
@@ -553,11 +553,6 @@ const item = (addr, kind, extra) =>
                 /\n\s+qwiic: 'Sensors on the Qwiic connector/.test(html)
         );
         ok('panel order rule', html.includes('.panel[data-panel="qwiic"]{order:10}'));
-        ok(
-            'footer bumped past v0.94',
-            !/Arena Studio v0\.94 \|/.test(html) &&
-                /Arena Studio v0\.\d+ \| \d{4}-\d\d-\d\d \d\d:\d\d ET/.test(html)
-        );
     }
 
     console.log('\n=== bench rigs + arena configs ===');

From 6bbd8d1b36218fe726bbd2f0dd6b42ea54b2792e Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Tue, 13 Oct 2026 11:51:29 -0400
Subject: [PATCH 16/96] =?UTF-8?q?fix(studio):=20rc4=20review=20=E2=80=94?=
 =?UTF-8?q?=20full-grid=20stream=20mapping=20(2=C3=978of10=20regression),?=
 =?UTF-8?q?=20live=20gates,=20deferred=20Qwiic=20setup=20(LAB-214)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

From the adversarial review of candidate 2026-10-06 rc4 (PR #247 comment):
- BLOCKING: test figures are drawn on the rig's FULL arena grid again
  (activeArenaGeom = num_rows × num_cols); grid column c → firmware column c and
  only the installed columns must fit the firmware frame. rc4 collapsed partial
  arenas to installed width and left-aligned them, which shifted every figure one
  panel on G6_2x8of10 (columns 1–8) with 0xCB firmware and refused it outright on
  pre-0xCB firmware; it also mis-numbered the ISP progress map and changed the
  paste dimensions. Mapping now lives in js/studio-stream-geometry.js with Node
  tests (2×10 / 2×8of10 identity on both firmware kinds, 1×12of18 → 4×12).
- Live slider re-streams and Qwiic reads pause during an ISP batch and a
  post-mortem (a stream re-activates the display; 0xC8/0xC9 need it stopped).
- Connect-time Qwiic setup starts after the controller reads and is not awaited,
  so its sensor configure waits never delay the SD listing.
- Orientation glyphs sit inside the installed span (1×12of18's "R").
- Best-effort servo release (PCA9685 all off) on an intentional disconnect.
- Docs: drop the stale "v0.96" (the release commit owns versions).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 CLAUDE.md                               |   9 +-
 arena_studio.html                       |  76 +++++++-------
 docs/development/arena-studio-parity.md |   2 +-
 js/studio-stream-geometry.js            | 129 ++++++++++++++++++++++++
 tests/test-studio-qwiic.js              |  29 +++++-
 tests/test-studio-stream-geometry.js    | 123 ++++++++++++++++++++++
 6 files changed, 329 insertions(+), 39 deletions(-)
 create mode 100644 js/studio-stream-geometry.js
 create mode 100644 tests/test-studio-stream-geometry.js

diff --git a/CLAUDE.md b/CLAUDE.md
index f8ba4842..70aabc9f 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -622,7 +622,7 @@ fix flows to every page automatically; two hand-written HTML pages never will.
   like 0xA8 on the 0xCB telemetry flag; `Studio.readCrashReport()` logs a `crash_report` event.
   Breadcrumb ops 6–9 are the SET_FRAME_POSITION sub-steps (disarm timer / preload / arm / respond).
 
-- **Qwiic peripherals (LAB-214, v0.96):** the controller exposes only a sensor-agnostic I2C bridge
+- **Qwiic peripherals (LAB-214):** the controller exposes only a sensor-agnostic I2C bridge
   (`GET_I2C_SCAN` 0xB0, `I2C_TRANSFER` 0xB1; 0xB2–0xBF stay reserved), advertised by the 0xC2
   feature bit `qwiic_i2c` — **gate EVERY I2C send on it** (jack-less 10-10 / 2x10 builds answer
   CE_UNKNOWN_CMD + an error glyph). All register maps are host-side in `js/qwiic-drivers.js`
@@ -639,6 +639,13 @@ fix flows to every page automatically; two hand-written HTML pages never will.
   connect-time setup never arms it. (4) Bench quirks are load-bearing (SHT4x two-leg read; LIR +
   INT_CLR_ON_READ + INT1 routing; PCA9685 ALLCALL shadow at 0x70 decided from MODE1, cleared by
   configure). The rig fetch (`fetchRigSections`) parses `io:` and `peripherals:` from one read.
+- **Test display streams at the CONTROLLER's frame geometry** (0xCB rows × cols = fw
+  `panel_count_per_frame`), not a fixed 20 panels. The mapping lives in `js/studio-stream-geometry.js`
+  (Node-tested): figures are drawn on the rig's FULL arena grid (`activeArenaGeom()` = num_rows ×
+  num_cols — NEVER installed-columns-only: G6_2x8of10's panels are physical columns 1–8), grid column
+  c → firmware column c (only installed columns must fit), rig rows repeated up the frame; no 0xCB →
+  the legacy 20-panel rule. Live Console sliders go through `liveSender()` (single-flight, latest
+  wins) and pause during runs, ISP batches and post-mortems.
 
 ## Pattern Designer (`pattern_editor.html`)
 
diff --git a/arena_studio.html b/arena_studio.html
index 2b5aea16..54c933c1 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -3439,6 +3439,7 @@ <h2 id="modalTitle">Import error</h2>
 <script src="js/studio-panel-inventory.js"></script>
 <script src="js/qwiic-drivers.js"></script>
 <script src="js/studio-qwiic.js"></script>
+<script src="js/studio-stream-geometry.js"></script>
 <script src="js/panel-color.js"></script> <!-- color-bank test figure (PanelColor.bankAt) -->
 <script src="js/arena-link.js"></script>
 <script src="js/arena-runner-g6.js?v=20260926-cl-start"></script> <!-- ?v= forces a fresh load: a cached runner/client silently runs the old closed-loop start -->
@@ -4385,6 +4386,7 @@ <h2 id="modalTitle">Import error</h2>
             return;
         }
         if (Studio.session.connected) {
+            if (Studio.qwiicReleaseServos) { try { await Studio.qwiicReleaseServos(); } catch (_) { /* best-effort */ } }
             try { await Studio.session.disconnect(); } catch (e) { /* ignore */ }
             return;
         }
@@ -6107,6 +6109,7 @@ <h2 id="modalTitle">Import error</h2>
         if (!qwHas()) return { ok: false, reason: 'no Qwiic I2C bridge on this controller (0xC2 feature bit 1 clear — arena_12-18 boards only)' };
         if (session.running) return { ok: false, reason: what === 'scan' ? 'refused — a run is active (the scan stalls the controller ~10 ms)' : 'paused — run active' };
         if (Studio._activePostmortem) return { ok: false, reason: 'paused — post-mortem owns the link' };
+        if (Studio.ispBatchRunning && Studio.ispBatchRunning()) return { ok: false, reason: 'paused — panel firmware batch running' };
         return { ok: true };
     }
     function qwSetStatus(t) {
@@ -6491,6 +6494,17 @@ <h2 id="modalTitle">Import error</h2>
         if (note) note.textContent = running ? 'a run owns the bump latch — checks are off until it ends' : '';
     }
     Studio.qwiicUpdateRunGates = qwUpdateRunGates;
+    // Intentional disconnect: release every PCA9685 this session configured (servos go
+    // limp rather than holding their last position unattended). Best-effort, time-boxed.
+    Studio.qwiicReleaseServos = async function () {
+        if (!qw.discovery || qw.discovery.error || !qwHas() || !(session && session.connected)) return;
+        const pcas = qw.discovery.devices.filter((it) => it.kind === 'pca9685' && qw.configured[it.key] && it.driver);
+        if (!pcas.length) return;
+        qwStopLive();
+        const work = Promise.all(pcas.map((it) => QD.withDevice(qwBus(), it.dev, () => it.driver.allOff()).catch(() => {})));
+        await Promise.race([work, new Promise((r) => setTimeout(r, 800))]);
+        clog('qwiic: released ' + pcas.length + ' servo board' + (pcas.length === 1 ? '' : 's') + ' before disconnect', 'info');
+    };
     if (session) session.on('runstatus', () => qwUpdateRunGates());
     async function qwBumpArm() {
         const g = qwGate('read');
@@ -7106,9 +7120,6 @@ <h2 id="modalTitle">Import error</h2>
         // Optional-guarded: if the module block failed to load (stale-cache
         // gotcha), connect/bench ops must still work — defaults just don't apply.
         if (Studio.applyRigIo) { try { await Studio.applyRigIo(); } catch (_) { /* logged inside */ } }
-        // Qwiic setup scan (LAB-214): once per connection, never retried; guarded
-        // so a failure never blocks connect.
-        if (Studio.qwiicSetup) { try { await Studio.qwiicSetup(); } catch (e) { clog('qwiic: setup failed — ' + e.message, 'err'); } }
         const q = async (bytes) => { try { return await session.send(bytes, { timeoutMs: 2000 }); } catch (_) { return null; } };
         const got = [];
         const rr = Wire.decodeRefreshRate(await q(Wire.encodeGetRefreshRate()));
@@ -7124,6 +7135,11 @@ <h2 id="modalTitle">Import error</h2>
         const fi = Wire.decodeFirmwareInfo(await q(Wire.encodeGetFirmwareInfo()));
         if (fi && fi.version) { $('cFwName').textContent = 'on SD: ' + fi.version; got.push('SD fw «' + fi.version + '»'); }
         if (got.length) clog('init from controller: ' + got.join(' · '), 'info');
+        // Qwiic setup scan (LAB-214): once per connection, never retried. Started
+        // AFTER the controller reads and NOT awaited, so its sensor configure waits
+        // (~0.5 s on a full chain) never hold up the SD listing; a failure never
+        // blocks connect. Gated inside on the 0xC2 qwiic_i2c feature bit.
+        if (Studio.qwiicSetup) Studio.qwiicSetup().catch((e) => clog('qwiic: setup failed — ' + e.message, 'err'));
     }
     function downloadBlob(bytes, name, mime) {
         const blob = new Blob([bytes], { type: mime || 'application/octet-stream' });
@@ -7534,7 +7550,12 @@ <h2 id="modalTitle">Import error</h2>
             })();
         };
     }
-    const liveOk = () => !!(session && session.connected && !session.running);
+    // Live sends pause during a run, an ISP batch (a stream would re-activate the display and
+    // the firmware refuses 0xC8/0xC9 then) and a post-mortem (it owns the link).
+    const liveOk = () =>
+        !!(session && session.connected && !session.running) &&
+        !(Studio.ispBatchRunning && Studio.ispBatchRunning()) &&
+        !Studio._activePostmortem;
     Studio.liveSender = liveSender;
     // Test display: level / duty re-send the last test figure (no-op until one was sent).
     const restreamLive = liveSender(() => (liveOk() && Studio.restreamLast ? Studio.restreamLast() : null));
@@ -9092,13 +9113,12 @@ <h2 id="modalTitle">Import error</h2>
     5: [7, 4, 7, 1, 7], 6: [7, 4, 7, 5, 7], 7: [7, 1, 2, 2, 2], 8: [7, 5, 7, 5, 7], 9: [7, 5, 7, 1, 7],
     R: [6, 5, 6, 5, 5], L: [4, 4, 4, 4, 7], U: [5, 5, 5, 5, 7], D: [6, 5, 5, 5, 6]
 };
+// The rig's FULL arena grid (num_rows × num_cols; an uninstalled column is still a
+// grid column, so grid column c = physical column c) — js/studio-stream-geometry.js.
 function activeArenaGeom() {
     const cfg = Studio.currentRig && Studio.currentRig.arenaConfig;
     const arena = cfg ? arenaForConfig(cfg) : null;
-    const rc = (arena && arena.num_rows) || 2;
-    // Partial arenas stream their INSTALLED columns (a 1x12of18 figure is 12 panels wide).
-    const cc = (arena && (arena.columns_installed ? arena.columns_installed.length : arena.num_cols)) || 10;
-    return { rowCount: rc, colCount: cc, pixelRows: rc * 20, pixelCols: cc * 20 };
+    return window.StudioStreamGeometry.rigGeometry(arena);
 }
 function newGrid() { const a = activeArenaGeom(); return new Uint8Array(a.pixelRows * a.pixelCols); }
 function setPx(grid, a, row, col, val) { if (row < 0 || row >= a.pixelRows || col < 0 || col >= a.pixelCols) return; grid[row * a.pixelCols + col] = val; }
@@ -9126,11 +9146,13 @@ <h2 id="modalTitle">Import error</h2>
 function genOrient() {
     const a = activeArenaGeom(); const grid = newGrid(); const val = streamGs === 2 ? 1 : 15; const s = 2;
     const cw = 3 * s, gh = 5 * s;
-    const midCol = Math.floor(a.pixelCols / 2 - cw / 2), midRow = Math.floor(a.pixelRows / 2 - gh / 2);
+    // Glyphs sit inside the INSTALLED span (a 1×12of18 has no panels in grid columns 12–17).
+    const span = window.StudioStreamGeometry.installedSpan(a);
+    const midCol = Math.floor((span.lo + span.hi) / 2 - cw / 2), midRow = Math.floor(a.pixelRows / 2 - gh / 2);
     drawGlyph(grid, a, 'U', midCol, a.pixelRows - gh - 1, val, s);
     drawGlyph(grid, a, 'D', midCol, 1, val, s);
-    drawGlyph(grid, a, 'L', 1, midRow, val, s);
-    drawGlyph(grid, a, 'R', a.pixelCols - cw - 1, midRow, val, s);
+    drawGlyph(grid, a, 'L', span.lo + 1, midRow, val, s);
+    drawGlyph(grid, a, 'R', span.hi - cw - 1, midRow, val, s);
     return grid;
 }
 // Color banks (LAB-223/228 color panels): light ONLY bank k (0..3 = A..D = T0..T3) —
@@ -9151,31 +9173,13 @@ <h2 id="modalTitle">Import error</h2>
         for (let y = 0; y < 20; y++) for (let x = 0; x < 20; x++) setPx(grid, a, pr * 20 + y, pc * 20 + x, val);
     return grid;
 }
-// The controller accepts stream frames of exactly ITS compiled geometry (0xCB rows ×
-// cols; fw constants.h panel_count_per_frame): 2x10 on the CSHL boards, 4x12 on the
-// arena_12-18 build. The rig's figure is placed into that frame: installed columns
-// from the left, the rig's rows repeated up the frame (so a one-row bench install
-// lights whichever row connector its panels are on). Firmware without 0xCB: the
-// legacy 20-panel rule.
+// Stream frames are sized to the CONTROLLER's compiled geometry (0xCB rows × cols);
+// the mapping rules live in js/studio-stream-geometry.js (Node-tested).
 function streamTarget() {
-    const rig = activeArenaGeom();
-    const fv = Studio.firmwareVersion;
-    if (fv && fv.rows > 0 && fv.cols > 0) {
-        if (rig.rowCount > fv.rows || rig.colCount > fv.cols) {
-            return { ok: false, rig, reason: 'the rig is ' + rig.rowCount + '×' + rig.colCount + ' panels but this firmware build streams ' + fv.rows + '×' + fv.cols };
-        }
-        return { ok: true, rig, rows: fv.rows, cols: fv.cols };
-    }
-    if (rig.rowCount * rig.colCount === 20) return { ok: true, rig, rows: rig.rowCount, cols: rig.colCount };
-    return { ok: false, rig, reason: 'this firmware does not report its panel geometry (0xCB), so only 20-panel arenas can be streamed' };
+    return window.StudioStreamGeometry.streamTarget(activeArenaGeom(), Studio.firmwareVersion);
 }
 function toFirmwareGrid(grid, t) {
-    const rp = t.rig.pixelRows, cp = t.rig.pixelCols;
-    const R = t.rows * 20, C = t.cols * 20;
-    if (R === rp && C === cp) return grid;
-    const out = new Uint8Array(R * C);
-    for (let r = 0; r < R; r++) out.set(grid.subarray((r % rp) * cp, (r % rp) * cp + cp), r * C);
-    return out;
+    return window.StudioStreamGeometry.toFirmwareGrid(grid, t);
 }
 function encodeStreamPat(grid, gs, rows, cols) {
     return window.PatEncoder.encode({
@@ -9192,7 +9196,7 @@ <h2 id="modalTitle">Import error</h2>
     const len = Wire.streamFrameBytes(panels, gs);
     const payload = buf.subarray(window.PatEncoder.G6_HEADER_SIZE, window.PatEncoder.G6_HEADER_SIZE + len);
     // The thumbnail shows the RIG's figure (the preview draws the rig's arena).
-    const samePat = t.rows === t.rig.rowCount && t.cols === t.rig.colCount;
+    const samePat = !window.StudioStreamGeometry.isMapped(t);
     const patArrayBuffer = samePat ? fwPat : encodeStreamPat(grid, gs, t.rig.rowCount, t.rig.colCount);
     return { bytes: Wire.encodeStreamFrame(payload, { panels }), patArrayBuffer, target: t };
 }
@@ -9229,7 +9233,7 @@ <h2 id="modalTitle">Import error</h2>
     try {
         await Studio.session.send(built.bytes, { expectedCmd: Wire.OPCODES.STREAM_FRAME, timeoutMs: 1500 });
         const t = built.target;
-        const mapped = t.rows !== t.rig.rowCount || t.cols !== t.rig.colCount ? ' · ' + t.rig.rowCount + '×' + t.rig.colCount + ' rig in a ' + t.rows + '×' + t.cols + ' firmware frame' : '';
+        const mapped = window.StudioStreamGeometry.isMapped(t) ? ' · ' + t.rig.rowCount + '×' + t.rig.colCount + ' rig in a ' + t.rows + '×' + t.cols + ' firmware frame (rig rows repeated up the frame)' : '';
         if (!opts || !opts.quiet) clog('› STREAM_FRAME 0x32 · ' + label + ' (' + (gs === 2 ? 'GS2' : 'GS16') + ')' + mapped, 'tx');
         return true;
     } catch (e) { clog('stream send failed: ' + (e.message || e), 'err'); return false; }
@@ -9253,6 +9257,8 @@ <h2 id="modalTitle">Import error</h2>
 // Re-send the last figure (level / duty / depth changed). No-op before the first figure.
 Studio.restreamLast = async function () {
     if (!lastStreamFigure || !Studio.session || !Studio.session.connected || Studio.session.running) return false;
+    // A stream re-activates the display: never during an ISP batch (0xC8/0xC9 need it stopped) or a post-mortem.
+    if ((Studio.ispBatchRunning && Studio.ispBatchRunning()) || Studio._activePostmortem) return false;
     return Studio.doStream(lastStreamFigure.kind, lastStreamFigure.arg, { quiet: true });
 };
 
diff --git a/docs/development/arena-studio-parity.md b/docs/development/arena-studio-parity.md
index a68c742f..f0d49513 100644
--- a/docs/development/arena-studio-parity.md
+++ b/docs/development/arena-studio-parity.md
@@ -37,7 +37,7 @@ Update this list when a Studio feature intentionally skips the twins.
 | "+ add / ✕ remove" optional CONTROLLER params on command cards (Studio v0.41; first user: trialParams `duty`). The standalone designer renders/edits a `duty` present in the YAML or seeded by the shared schema default (detailKeys synced), but can't add it to or remove it from an existing command | n/a | ✗ (render/edit only) |
 | Conditional LED activation editor — the `led_activation` nested-object sub-editor on a trialParams card (level / hysteresis / on-ranges list; Studio v0.59). The runner engine + parser + schema are SHARED (flow everywhere), so a `led_activation` authored in Studio round-trips and RUNS from the standalone; it's just not editable there (kept out of the standalone's detailKeys — the scalar field renderer can't show a nested object) | n/a | ✗ (preserved on export, not editable) |
 | Runtime variables (Studio v0.84) — the Run view panel for `runtime_controls:` (bounded operator changes, explicit Apply, next-trial activation, logged provenance; `js/runtime-controls.js` + `js/studio-runtime-vars.js`) and the `requires:` capability gate that refuses to run protocols needing `flow_control`. The parser preserves both keys on round trip, so a protocol authored with them still opens/exports in the standalone — it just has no panel and no gate there | ✗ | ✗ (preserved, not shown; no run gate) |
-| Qwiic peripherals (LAB-214, Studio v0.96) — Console → Qwiic (scan, identify, one device's readout, bump check, servo go-to-position, Copy as rig YAML), the connect-time scan + top-bar chip, and rig `peripherals:`. Drivers are shared modules (`js/qwiic-drivers.js`, `js/studio-qwiic.js`) — Studio only, by policy | ✗ | n/a |
+| Qwiic peripherals (LAB-214) — Console → Qwiic (scan, identify, one device's readout, bump check, servo go-to-position, Copy as rig YAML), the connect-time scan + top-bar chip, and rig `peripherals:`. Drivers are shared modules (`js/qwiic-drivers.js`, `js/studio-qwiic.js`) — Studio only, by policy | ✗ | n/a |
 
 | Alt-study shell ports (LAB-158, ported from Arena Studio Alt into Classic): **Protocol ▾** menu (renamed from File; protocol actions only, section heads) + **⚙ Settings** menu (session rig, GitHub + storage, Run logging — browser settings, not the YAML); Edit's drawer renamed "⚙ Protocol settings"; Console **Tools** rail as an accessible checklist + a 2-column Console stage on wide screens; Run view widened to 1500 px; Scope `labels: full/clean` pill + toggle state in text/`aria-pressed`; replay re-pins the current step when the Scope is resized; visibility themes in ⚙ Settings → Display (Dark / Light / High contrast / Night / Color-blind safe / Match this computer). Guarded by `tests/test-studio-shell.js` | ✗ | ✗ |
 
diff --git a/js/studio-stream-geometry.js b/js/studio-stream-geometry.js
new file mode 100644
index 00000000..701b4b7d
--- /dev/null
+++ b/js/studio-stream-geometry.js
@@ -0,0 +1,129 @@
+/**
+ * studio-stream-geometry.js — where a Studio test figure lands in a host-streamed
+ * STREAM_FRAME (0x32), DOM-free so it is Node-testable
+ * (tests/test-studio-stream-geometry.js).
+ *
+ * The controller accepts stream frames of exactly ITS compiled panel geometry
+ * (firmware constants.h panel_count_per_frame; reported by GET_FIRMWARE_VERSION
+ * 0xCB as rows × cols): 2×10 on the CSHL boards, 4×12 on the arena_12-18 build.
+ * Test figures are drawn on the rig's FULL arena grid (num_rows × num_cols — an
+ * uninstalled column is still a grid column), and grid column c is physical
+ * column c, so:
+ *
+ *   - grid column c → firmware column c. Only the INSTALLED columns have to fit
+ *     the firmware's column count (G6_1x12of18: installed 0–11 fit a 12-column
+ *     build; grid columns 12–17 have no panels and are dropped).
+ *   - grid row r → firmware rows r, r + R, r + 2R, … (the rig's rows repeated up
+ *     the frame), so a one-row bench install lights whichever row connector its
+ *     panels are on. Only firmware rows beyond the rig's own get the repeat.
+ *   - firmware without 0xCB: the legacy rule — the rig grid itself must be 20
+ *     panels (it is sent as-is).
+ *
+ * 2×10 and 2×8of10 rigs on 2×10 firmware therefore get the identical frames they
+ * got before firmware-sized streaming (the full 2×10 grid, identity mapping).
+ *
+ * LOADING: classic <script src> (window-global `StudioStreamGeometry` + CommonJS),
+ * no ES `export` (CLAUDE.md).
+ */
+(function (global) {
+    'use strict';
+
+    const PANEL_PX = 20;
+
+    /**
+     * Rig figure geometry from an arena config's `arena` block (null → 2×10).
+     * → { rowCount, colCount, pixelRows, pixelCols, installed: [col…] }
+     */
+    function rigGeometry(arena) {
+        const rowCount = (arena && arena.num_rows) || 2;
+        const colCount = (arena && arena.num_cols) || 10;
+        const installed =
+            arena && Array.isArray(arena.columns_installed) && arena.columns_installed.length
+                ? arena.columns_installed.slice().sort((a, b) => a - b)
+                : Array.from({ length: colCount }, (_, i) => i);
+        return {
+            rowCount,
+            colCount,
+            pixelRows: rowCount * PANEL_PX,
+            pixelCols: colCount * PANEL_PX,
+            installed
+        };
+    }
+
+    /**
+     * Where the rig's figure goes. firmware = the decoded 0xCB record ({rows, cols})
+     * or null. → { ok: true, rig, rows, cols } | { ok: false, rig, reason }
+     */
+    function streamTarget(rig, firmware) {
+        const fv = firmware && firmware.rows > 0 && firmware.cols > 0 ? firmware : null;
+        if (fv) {
+            const lastInstalled = rig.installed[rig.installed.length - 1];
+            if (rig.rowCount > fv.rows || lastInstalled >= fv.cols) {
+                return {
+                    ok: false,
+                    rig,
+                    reason:
+                        'the rig is ' +
+                        rig.rowCount +
+                        '×' +
+                        rig.colCount +
+                        (rig.installed.length < rig.colCount
+                            ? ' (' + rig.installed.length + ' columns installed)'
+                            : '') +
+                        ' but this firmware build streams ' +
+                        fv.rows +
+                        '×' +
+                        fv.cols
+                };
+            }
+            return { ok: true, rig, rows: fv.rows, cols: fv.cols };
+        }
+        if (rig.rowCount * rig.colCount === 20)
+            return { ok: true, rig, rows: rig.rowCount, cols: rig.colCount };
+        return {
+            ok: false,
+            rig,
+            reason: 'this firmware does not report its panel geometry (0xCB), so only 20-panel arenas can be streamed'
+        };
+    }
+
+    /** Map a rig-grid pixel array (row-major, row 0 = bottom) into the firmware frame. */
+    function toFirmwareGrid(grid, target) {
+        const rp = target.rig.pixelRows;
+        const cp = target.rig.pixelCols;
+        const R = target.rows * PANEL_PX;
+        const C = target.cols * PANEL_PX;
+        if (R === rp && C === cp) return grid;
+        const out = new Uint8Array(R * C);
+        const w = Math.min(cp, C);
+        for (let r = 0; r < R; r++) {
+            const src = (r % rp) * cp;
+            out.set(grid.subarray(src, src + w), r * C);
+        }
+        return out;
+    }
+
+    /** True when target places the rig in a different-shaped firmware frame. */
+    const isMapped = (target) =>
+        target.rows !== target.rig.rowCount || target.cols !== target.rig.colCount;
+
+    /** Pixel-column span of the installed panels: { lo, hi } (hi exclusive). */
+    function installedSpan(rig) {
+        return {
+            lo: rig.installed[0] * PANEL_PX,
+            hi: (rig.installed[rig.installed.length - 1] + 1) * PANEL_PX
+        };
+    }
+
+    const StudioStreamGeometry = {
+        PANEL_PX,
+        rigGeometry,
+        streamTarget,
+        toFirmwareGrid,
+        isMapped,
+        installedSpan
+    };
+
+    if (typeof module !== 'undefined' && module.exports) module.exports = StudioStreamGeometry;
+    global.StudioStreamGeometry = StudioStreamGeometry;
+})(typeof window !== 'undefined' ? window : globalThis);
diff --git a/tests/test-studio-qwiic.js b/tests/test-studio-qwiic.js
index 96e94fb8..fcae6f0b 100644
--- a/tests/test-studio-qwiic.js
+++ b/tests/test-studio-qwiic.js
@@ -486,8 +486,33 @@ const item = (addr, kind, extra) =>
             )
         );
         ok(
-            'connect-time setup scan from initFromController',
-            /initFromController[\s\S]{0,900}Studio\.qwiicSetup\(\)/.test(html)
+            'connect-time setup runs AFTER the controller reads and is not awaited (never delays the SD listing)',
+            /init from controller: [\s\S]{0,700}if \(Studio\.qwiicSetup\) Studio\.qwiicSetup\(\)\.catch\(/.test(
+                html
+            ) && !/await Studio\.qwiicSetup\(\)/.test(html)
+        );
+        ok(
+            'live sends + Qwiic pause during an ISP batch and a post-mortem',
+            /const liveOk = \(\) =>[\s\S]{0,200}ispBatchRunning[\s\S]{0,80}_activePostmortem/.test(
+                html
+            ) &&
+                /paused — panel firmware batch running/.test(html) &&
+                /Studio\.restreamLast = async function \(\) \{[\s\S]{0,400}ispBatchRunning/.test(
+                    html
+                )
+        );
+        ok(
+            'servo boards released on an intentional disconnect',
+            /Studio\.qwiicReleaseServos = async function/.test(html) &&
+                /await Studio\.qwiicReleaseServos\(\);[\s\S]{0,120}Studio\.session\.disconnect\(\)/.test(
+                    html
+                )
+        );
+        ok(
+            'stream geometry delegates to js/studio-stream-geometry.js (full grid, never installed-only)',
+            html.includes('<script src="js/studio-stream-geometry.js"') &&
+                /return window\.StudioStreamGeometry\.rigGeometry\(arena\);/.test(html) &&
+                !/columns_installed\.length : arena\.num_cols/.test(html)
         );
         ok(
             'setup does not arm the bump latch (one owner: the run)',
diff --git a/tests/test-studio-stream-geometry.js b/tests/test-studio-stream-geometry.js
new file mode 100644
index 00000000..9313a9ae
--- /dev/null
+++ b/tests/test-studio-stream-geometry.js
@@ -0,0 +1,123 @@
+#!/usr/bin/env node
+/**
+ * test-studio-stream-geometry.js — js/studio-stream-geometry.js: where a Studio
+ * test figure lands in a firmware-sized STREAM_FRAME. Regression cover for the
+ * rc4 review blocker (2×8of10 shifted one panel / refused on pre-0xCB firmware).
+ *
+ *   pixi run node tests/test-studio-stream-geometry.js
+ */
+'use strict';
+
+const SG = require('../js/studio-stream-geometry.js');
+const AC = require('../js/arena-configs.js');
+
+let failures = 0;
+let total = 0;
+function ok(name, cond, info) {
+    total++;
+    console.log(`  ${cond ? 'PASS' : 'FAIL'}  ${name}${info !== undefined ? ' — ' + info : ''}`);
+    if (!cond) failures++;
+}
+const arena = (name) => AC.getConfig(name).arena;
+// A figure that marks every grid panel with its 1-based number (pixel value = panel number).
+function numbered(rig) {
+    const g = new Uint8Array(rig.pixelRows * rig.pixelCols);
+    for (let r = 0; r < rig.pixelRows; r++)
+        for (let c = 0; c < rig.pixelCols; c++)
+            g[r * rig.pixelCols + c] = Math.floor(r / 20) * rig.colCount + Math.floor(c / 20) + 1;
+    return g;
+}
+const at = (grid, cols, pr, pc) => grid[(pr * 20 + 10) * cols * 20 + pc * 20 + 10]; // centre pixel of panel (pr, pc)
+
+console.log('\n=== rigGeometry ===');
+{
+    const g = SG.rigGeometry(arena('G6_2x8of10'));
+    ok(
+        '2×8of10 keeps the FULL 2×10 grid',
+        g.rowCount === 2 && g.colCount === 10 && g.pixelCols === 200
+    );
+    ok('2×8of10 installed = 1..8', g.installed.join(',') === '1,2,3,4,5,6,7,8');
+    ok(
+        'null arena → 2×10 default',
+        SG.rigGeometry(null).colCount === 10 && SG.rigGeometry(null).installed.length === 10
+    );
+    const b = SG.rigGeometry(arena('G6_1x12of18'));
+    ok(
+        '1×12of18 full grid 1×18, installed 0..11',
+        b.rowCount === 1 && b.colCount === 18 && b.installed[11] === 11
+    );
+    ok(
+        'installedSpan 2×8of10 = px 20..180',
+        SG.installedSpan(g).lo === 20 && SG.installedSpan(g).hi === 180
+    );
+}
+
+console.log('\n=== 2×10 and 2×8of10 behave exactly as before ===');
+for (const name of ['G6_2x10', 'G6_2x8of10']) {
+    const rig = SG.rigGeometry(arena(name));
+    const grid = numbered(rig);
+    for (const fw of [null, { rows: 2, cols: 10 }]) {
+        const t = SG.streamTarget(rig, fw);
+        ok(
+            name + ' on ' + (fw ? '2×10 firmware' : 'pre-0xCB firmware') + ': streamable as 2×10',
+            t.ok && t.rows === 2 && t.cols === 10,
+            t.reason
+        );
+        ok(
+            name + ' ' + (fw ? '0xCB' : 'pre-0xCB') + ': identity (same array, no remap)',
+            SG.toFirmwareGrid(grid, t) === grid && !SG.isMapped(t)
+        );
+    }
+}
+{
+    // The rc4 bug: 2×8of10's first panel is physical column 1, not 0.
+    const rig = SG.rigGeometry(arena('G6_2x8of10'));
+    const out = SG.toFirmwareGrid(numbered(rig), SG.streamTarget(rig, { rows: 2, cols: 10 }));
+    ok(
+        '2×8of10: grid column 1 (first installed) lands on firmware column 1',
+        at(out, 10, 0, 1) === 2 && at(out, 10, 0, 8) === 9
+    );
+}
+
+console.log('\n=== 1×12of18 bench on the 4×12 arena_12-18 build ===');
+{
+    const rig = SG.rigGeometry(arena('G6_1x12of18'));
+    const t = SG.streamTarget(rig, { rows: 4, cols: 12 });
+    ok('streamable into 4×12', t.ok && t.rows === 4 && t.cols === 12 && SG.isMapped(t), t.reason);
+    const out = SG.toFirmwareGrid(numbered(rig), t);
+    ok('frame is 80×240 px', out.length === 80 * 240);
+    ok(
+        'column c → firmware column c (0 and 11)',
+        at(out, 12, 0, 0) === 1 && at(out, 12, 0, 11) === 12
+    );
+    ok(
+        'the one rig row is repeated in all 4 firmware rows',
+        [0, 1, 2, 3].every((r) => at(out, 12, r, 5) === 6)
+    );
+    ok('pre-0xCB firmware: refused (not 20 panels)', !SG.streamTarget(rig, null).ok);
+}
+
+console.log('\n=== mismatches are refused with a reason ===');
+{
+    const rig = SG.rigGeometry(arena('G6_2x10'));
+    const t = SG.streamTarget(rig, { rows: 1, cols: 12 });
+    ok('2×10 rig on a 1-row build: refused', !t.ok && /streams 1×12/.test(t.reason), t.reason);
+    const ring = SG.rigGeometry(arena('G6_3x10of14'));
+    ok(
+        '3×10of14 on 4×12: fits (installed 0..9 < 12, 3 ≤ 4 rows)',
+        SG.streamTarget(ring, { rows: 4, cols: 12 }).ok
+    );
+    ok('3×10of14 on 2×10: refused (3 rows)', !SG.streamTarget(ring, { rows: 2, cols: 10 }).ok);
+    const wide = SG.rigGeometry({ num_rows: 1, num_cols: 18, columns_installed: [0, 13] });
+    ok(
+        'an installed column beyond the firmware columns: refused',
+        !SG.streamTarget(wide, { rows: 4, cols: 12 }).ok
+    );
+    ok(
+        '2×10 rig on 4×10 firmware: streamable (rows repeated)',
+        SG.streamTarget(rig, { rows: 4, cols: 10 }).ok
+    );
+}
+
+console.log(`\n=== Summary ===\n${total - failures} / ${total} checks passed`);
+process.exit(failures > 0 ? 1 : 0);

From a4a2a9c82968a7a3fea2bf73a0d6c0521758559e Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Tue, 13 Oct 2026 11:51:46 -0400
Subject: [PATCH 17/96] =?UTF-8?q?release:=202026-10-06=20rc5=20=E2=80=94?=
 =?UTF-8?q?=20Arena=20Console=20v11,=20Pattern=20Icon=20Generator=20v1.5,?=
 =?UTF-8?q?=20Pattern=20Designer=20v0.13,=20Arena=20Studio=20v0.95?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Candidate for Production. PRs: #245, #246, #248, #250.

Release-Manifest: releases/2026-10-06.json
---
 arena_console.html                            |  2 +-
 arena_studio.html                             |  2 +-
 .../development/arena-studio-release-notes.md | 27 +++++++++
 .../pattern-designer-release-notes.md         | 15 +++++
 docs/development/web-tools-release-notes.md   |  9 +++
 icon_generator.html                           |  2 +-
 pattern_editor.html                           |  2 +-
 releases/2026-10-06.json                      | 60 +++++++++++++++++++
 8 files changed, 115 insertions(+), 4 deletions(-)
 create mode 100644 releases/2026-10-06.json

diff --git a/arena_console.html b/arena_console.html
index 84796dae..08599579 100644
--- a/arena_console.html
+++ b/arena_console.html
@@ -1521,7 +1521,7 @@
                 </div>
                 <div id="log"></div>
             </div>
-            <footer id="footer">Arena Console v10 | 2026-09-28 10:45 ET</footer>
+            <footer id="footer">Arena Console v11 | 2026-10-13 11:51 ET</footer>
         </div>
 
         <!-- Paste-a-frame modal -->
diff --git a/arena_studio.html b/arena_studio.html
index 146f1a5c..5e3a4a97 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -3419,7 +3419,7 @@ <h2 id="modalTitle">Import error</h2>
 </div>
 
 <footer id="footer">
-  <span class="foot-left">Arena Studio v0.94 | 2026-09-30 07:22 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
+  <span class="foot-left">Arena Studio v0.95 | 2026-10-13 11:51 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
   <!-- Course-repo quick-links: open protocols / logs / patterns in a new tab.
        Hrefs built from the configured repo + bench id (updateGhQuickLinks). -->
   <span id="ghQuickLinks" title="Open the course repo on GitHub (new tab)">
diff --git a/docs/development/arena-studio-release-notes.md b/docs/development/arena-studio-release-notes.md
index e337b4fc..62e88c46 100644
--- a/docs/development/arena-studio-release-notes.md
+++ b/docs/development/arena-studio-release-notes.md
@@ -4,6 +4,33 @@ The Studio's footer used to carry the full changelog inline; it now shows one li
 history lives here. Newest first. (Per-session engineering detail stays in
 `arena-studio-handover.md` and the design docs — this file is the user-facing what-changed list.)
 
+## v0.95 (2026-10-13) · ISP time estimate ~5 s/panel, not ~20 s (#244) · Pattern Designer + Studio: partial-arena °/px and 3D/2D mapping, unmirrored icons, short SD-safe filenames, upload name checks (LAB-295) · First command after Connect no longer waits ~60 s behind the thumbnail download (LAB-298) · Console → Qwiic peripherals, rig peripherals:, live Console sliders, firmware-sized test display + color banks (LAB-214)
+
+<!-- #245 -->
+- The panel firmware **Program set** dialog now estimates the time correctly (about 2 minutes for a full 20-panel arena, not 8).
+
+🤖 Generated with [Claude Code](https://claude.com/claude-code)
+
+<!-- #246 -->
+- **A pattern name the arena can't store is refused before the upload starts,** with the reason, instead of failing after the file has been sent. Names with spaces or parentheses still upload.
+- **The upload warns when the arena would reject a pattern:** the session rig is a partial arena, or the pattern's panel grid doesn't match the rig.
+- **Re-uploading a pattern that's already on the card is flagged.** The arena keeps both copies (the new one as `X001_…`); the Studio now shows them as duplicates instead of quietly playing the old one.
+- **Pattern thumbnails are no longer mirrored.** The gap behind the fly is now at the bottom, as in the 3D view. This is the same fix as in the Pattern Designer and also covers the Console's thumbnails.
+- **The run-log replay's 3D view maps G6 2×8of10 patterns to the right columns.** This is the same fix as the Pattern Designer's 3D view.
+
+<!-- #248 -->
+- **Commands respond right after Connect.** The first command after connecting no longer waits up to a minute behind the pattern picker's thumbnail download; background reads at connect now step aside for anything you send.
+- **Pattern downloads from the SD card arrive complete.** Studio opens the arena's serial port with a larger read buffer, so downloads no longer come up short or drop the connection, and a download that stalls gives up after 5 s instead of 60 s.
+- **Thumbnails for patterns that are only on the SD card.** Studio downloads one for a thumbnail only if it is 1 MB or smaller; while a pattern is displaying, the tooltip explains that the controller can't send files until you stop it.
+
+<!-- #250 -->
+- **Console → Qwiic: find and try the sensors on the arena's Qwiic / STEMMA QT connector.** Scan lists every device on the bus with its category (Temp / humidity, Accel / tilt / bump, Light, Servo / PWM) and checks it against the rig file. Click one to see its readings in real units, once or live. The motion sensor has a bump check and the servo board a position slider. This panel is for testing; nothing in it is written to run logs.
+- **Rig files can list their Qwiic peripherals (`peripherals:`).** On connect the Studio scans once and shows a Qwiic chip in the top bar: green when every listed device is there, red when one is missing, amber when something is plugged in that the rig file doesn't list. **Copy as rig YAML** gives you the lines to add. Controllers without a Qwiic connector are unaffected.
+- **Console sliders act as you move them.** Test display level and duty re-send the last test figure, and LED power sets the LED, while you drag (never during a run).
+- **Test display works on more arenas.** Figures are sent at the controller's own frame size, so the 1×12 bench arena can show full-field, panel map, orientation and checker.
+- **Test display → color: light one LED bank at a time (A–D).** For color panels: each button lights only that bank, one LED in four per panel, at the chosen level.
+- **Two new rigs in ⚙ Settings:** the arena_12-18 bench (one panel high, its six Qwiic boards listed) and the 10-of-14 ring (three panels high).
+
 ## v0.94 (2026-09-30) · LAB-158 ports (Protocol ▾, ⚙ Settings, two-column Console) + visibility themes · Multi-color G6 panels V1 — Panel LEDs layout, ON color, per-bank preview (LAB-228) · Flasher + Studio picker: one production build from the published catalog; legacy images hashed, never default (panel-fw-v1.3.1)
 
 <!-- #238 -->
diff --git a/docs/development/pattern-designer-release-notes.md b/docs/development/pattern-designer-release-notes.md
index 0de1f155..5b780173 100644
--- a/docs/development/pattern-designer-release-notes.md
+++ b/docs/development/pattern-designer-release-notes.md
@@ -3,6 +3,21 @@
 Newest first. Each entry is one Production release (see `releases/` for the exact
 candidate manifest: main commit + the PRs and their head SHAs).
 
+## v0.13 (2026-10-13) · ISP time estimate ~5 s/panel, not ~20 s (#244) · Pattern Designer + Studio: partial-arena °/px and 3D/2D mapping, unmirrored icons, short SD-safe filenames, upload name checks (LAB-295) · First command after Connect no longer waits ~60 s behind the thumbnail download (LAB-298) · Console → Qwiic peripherals, rig peripherals:, live Console sliders, firmware-sized test display + color banks (LAB-214)
+
+<!-- #246 -->
+- **Degrees and pixels now convert correctly on partial arenas.** On arenas with missing columns (G4 3×12of18, G6 3×12of18, G6 2×8of10), the px↔° labels, a spatial period typed in pixels, and a step size typed in degrees used the installed width instead of the full circle. For example, 24 px on the G4 3×12of18 arena made a 45° grating instead of 30°. Regenerate any such patterns made with a pixel period or a degree step.
+- **The 3D view shows each panel of a G6 2×8of10 pattern on the right column.** Before, it showed the whole pattern one panel to the side.
+- **Animate → Frame Shifting's hint shows the real span on partial arenas** (e.g. "240° = 192 px", not "360°").
+- **The 2D view has an azimuth scale.** Degrees from straight ahead (0°) appear under the grid, negative to the fly's left, in the same coordinates as the Mollweide view.
+- **2D panel numbers name the physical panels on partial arenas.** On G6 2×8of10 the first pattern panel now reads 2/12, the same as the 3D view.
+- **Pattern thumbnails are no longer mirrored.** They now match the 3D top-down view: the gap behind the fly is at the bottom and the columns run clockwise.
+- **Saving a pattern for a partial G6 arena shows a one-time heads-up.** The arena's current firmware can't play partial-arena patterns yet.
+- **Generated names say which colors they use, and stay short.** For example `grat_rot_20px_50pct_4c-B-G.pat` means ON blue, OFF green on four-color panels, so color variants no longer overwrite each other. Saved and renamed names are kept within what the arena's SD card can store (plain letters/digits/`_-.`, ≤ 58 characters), and the rename prompt says when it adjusted a name.
+
+<!-- #250 -->
+- **Two new arenas: G6 1×12 of 18 and G6 3×10 of 14.** Both show their installed panels centered at the front.
+
 ## v0.12 (2026-09-30) · LAB-158 ports (Protocol ▾, ⚙ Settings, two-column Console) + visibility themes · Multi-color G6 panels V1 — Panel LEDs layout, ON color, per-bank preview (LAB-228) · Flasher + Studio picker: one production build from the published catalog; legacy images hashed, never default (panel-fw-v1.3.1)
 
 <!-- #238 -->
diff --git a/docs/development/web-tools-release-notes.md b/docs/development/web-tools-release-notes.md
index 63b72d32..54c28318 100644
--- a/docs/development/web-tools-release-notes.md
+++ b/docs/development/web-tools-release-notes.md
@@ -3,6 +3,15 @@
 Newest first. Each entry is one Production release (see `releases/` for the exact
 candidate manifest: main commit + the PRs and their head SHAs).
 
+## Pattern Icon Generator v1.5 (2026-10-13) · ISP time estimate ~5 s/panel, not ~20 s (#244) · Pattern Designer + Studio: partial-arena °/px and 3D/2D mapping, unmirrored icons, short SD-safe filenames, upload name checks (LAB-295) · First command after Connect no longer waits ~60 s behind the thumbnail download (LAB-298) · Console → Qwiic peripherals, rig peripherals:, live Console sliders, firmware-sized test display + color banks (LAB-214)
+
+- Maintenance release (no user-visible notes).
+
+## Arena Console v11 (2026-10-13) · ISP time estimate ~5 s/panel, not ~20 s (#244) · Pattern Designer + Studio: partial-arena °/px and 3D/2D mapping, unmirrored icons, short SD-safe filenames, upload name checks (LAB-295) · First command after Connect no longer waits ~60 s behind the thumbnail download (LAB-298) · Console → Qwiic peripherals, rig peripherals:, live Console sliders, firmware-sized test display + color banks (LAB-214)
+
+<!-- #248 -->
+- **Pattern downloads from the SD card arrive complete.** The same larger serial read buffer and 5 s stall limit as in Studio.
+
 ## G6 Panel Flash Programmer v0.4 (2026-09-30) · LAB-158 ports (Protocol ▾, ⚙ Settings, two-column Console) + visibility themes · Multi-color G6 panels V1 — Panel LEDs layout, ON color, per-bank preview (LAB-228) · Flasher + Studio picker: one production build from the published catalog; legacy images hashed, never default (panel-fw-v1.3.1)
 
 <!-- #242 -->
diff --git a/icon_generator.html b/icon_generator.html
index fe7413a8..873a11d3 100644
--- a/icon_generator.html
+++ b/icon_generator.html
@@ -469,7 +469,7 @@ <h1>Pattern Icon Generator</h1>
         </div>
 
         <footer>
-            <p>Pattern Icon Generator v1.4 | 2026-02-04 08:19 ET</p>
+            <p>Pattern Icon Generator v1.5 | 2026-10-13 11:51 ET</p>
             <p><a href="index.html">← Back to Tools</a></p>
         </footer>
     </div>
diff --git a/pattern_editor.html b/pattern_editor.html
index e8d7579b..934cba83 100644
--- a/pattern_editor.html
+++ b/pattern_editor.html
@@ -2497,7 +2497,7 @@ <h2>No Pattern Loaded</h2>
         </div>
     </div>
 
-    <footer class="pd-footer">Pattern Designer v0.12 | 2026-09-30 07:22 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub — source, issues, and release notes (docs/development/)">GitHub</a></footer>
+    <footer class="pd-footer">Pattern Designer v0.13 | 2026-10-13 11:51 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub — source, issues, and release notes (docs/development/)">GitHub</a></footer>
 
     <!-- Hidden file input -->
     <input type="file" id="fileInput" accept=".pat" style="display: none;">
diff --git a/releases/2026-10-06.json b/releases/2026-10-06.json
new file mode 100644
index 00000000..48d95824
--- /dev/null
+++ b/releases/2026-10-06.json
@@ -0,0 +1,60 @@
+{
+  "schema": 1,
+  "name": "2026-10-06",
+  "kind": "candidate",
+  "rc": 5,
+  "created_at": "2026-10-13T15:51:46Z",
+  "created_at_et": "2026-10-13 11:51 ET",
+  "main_sha": "7c68dfcee8706f2028775a5f3decf8cbf5f06540",
+  "headline": "",
+  "prs": [
+    {
+      "number": 245,
+      "title": "fix(studio): ISP time estimate ~5 s/panel, not ~20 s (#244)",
+      "head_sha": "5b0b30dcce3927f9ea2f39918a313a055acde142",
+      "head_ref": "fix/244-isp-estimate",
+      "url": "https://github.com/reiserlab/webDisplayTools/pull/245"
+    },
+    {
+      "number": 246,
+      "title": "Pattern Designer + Studio: partial-arena \u00b0/px and 3D/2D mapping, unmirrored icons, short SD-safe filenames, upload name checks (LAB-295)",
+      "head_sha": "84daa996a134e35566a4e903a01c2a8ad6381836",
+      "head_ref": "claude/keen-bassi-5bc125",
+      "url": "https://github.com/reiserlab/webDisplayTools/pull/246"
+    },
+    {
+      "number": 248,
+      "title": "Studio: first command after Connect no longer waits ~60 s behind the thumbnail download (LAB-298)",
+      "head_sha": "546d9c625678ab48858f2c6eba8da44450b2f997",
+      "head_ref": "claude/studio-connect-latency",
+      "url": "https://github.com/reiserlab/webDisplayTools/pull/248"
+    },
+    {
+      "number": 250,
+      "title": "Studio: Console \u2192 Qwiic peripherals, rig peripherals:, live Console sliders, firmware-sized test display + color banks (LAB-214)",
+      "head_sha": "6bbd8d1b36218fe726bbd2f0dd6b42ea54b2792e",
+      "head_ref": "claude/qwiic-peripherals-lab-214",
+      "url": "https://github.com/reiserlab/webDisplayTools/pull/250"
+    }
+  ],
+  "versions": {
+    "console": {
+      "from": "v10",
+      "to": "v11"
+    },
+    "icon-generator": {
+      "from": "v1.4",
+      "to": "v1.5"
+    },
+    "pattern-designer": {
+      "from": "v0.12",
+      "to": "v0.13"
+    },
+    "studio": {
+      "from": "v0.94",
+      "to": "v0.95"
+    }
+  },
+  "hotfix_reason": null,
+  "bridge_changed": false
+}

From 5cc7783c7dceb565e9fb049ffae233aeb8ff72b9 Mon Sep 17 00:00:00 2001
From: Michael Reiser <reiserm@janelia.hhmi.org>
Date: Wed, 14 Oct 2026 19:11:35 +0000
Subject: [PATCH 18/96] =?UTF-8?q?ros2-poc:=20ROS=202=20bridge=20proof=20of?=
 =?UTF-8?q?=20concept=20(LAB-303)=20=E2=80=94=20Zenoh=20graph,=20adapters,?=
 =?UTF-8?q?=20bridge=20node=20reusing=20bridge.py?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Separate pixi workspace (RoboStack Jazzy + conda-forge; osx-arm64/win-64/linux-64) under
ros2-poc/; the root pixi.toml and fictrac-bridge/ are untouched so bridge 3.4 stays side by side.

- Zenoh router + rmw_zenoh_cpp with loopback-only configs (stock files, endpoint lines only)
- fictrac_udp_adapter: FicTrac UDP → /fictrac/raw (std_msgs/String JSON), FicTrac untouched
- kinefly_udp_adapter + kinefly_sim: KF/1 (mbreiser/Kinefly-MacOS) → /kinefly/raw
- bias_node + bias_sim + bias_cmd: BIAS HTTP command port ⇄ /bias/cmd,/bias/reply,/bias/status;
  timeout = unknown outcome + reconcile; video file reported as an artifact
- bridge_node: bridge.py's Hub/LogWriter/Pipeline/make_dispatcher on ROS input, same WebSocket
  schema on ws://localhost:8765, same behavior_v2 log; adds connector_status latency lines,
  source_lost/resumed watchdog, ["kf",…] rows, BIAS connector events, /arena/frame mirror
- rig.py: one `pixi run rig` command supervising router + nodes
- tests: studio_emulator (the Studio runner's exact bridge conversation), check_runlog_readers
  (JS readers accept the log), test_ros2_poc (29 checks incl. adapter SIGKILL mid-run,
  closed-loop report rejection/idx checks, convert round trip): 29/29 on Linux

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01KHyggowbCA5ucBg71bU26V
---
 ros2-poc/.gitignore                    |     9 +
 ros2-poc/README.md                     |   135 +
 ros2-poc/config/zenoh-router.json5     |   813 +
 ros2-poc/config/zenoh-session.json5    |   820 +
 ros2-poc/nodes/bias_cmd.py             |    88 +
 ros2-poc/nodes/bias_node.py            |   253 +
 ros2-poc/nodes/bias_sim.py             |   203 +
 ros2-poc/nodes/bridge_node.py          |   425 +
 ros2-poc/nodes/fictrac_udp_adapter.py  |   145 +
 ros2-poc/nodes/kinefly_sim.py          |    96 +
 ros2-poc/nodes/kinefly_udp_adapter.py  |   157 +
 ros2-poc/nodes/rig.py                  |   174 +
 ros2-poc/pixi.lock                     | 20673 +++++++++++++++++++++++
 ros2-poc/pixi.toml                     |    65 +
 ros2-poc/tests/check_runlog_readers.js |   148 +
 ros2-poc/tests/studio_emulator.py      |   261 +
 ros2-poc/tests/test_ros2_poc.py        |   341 +
 17 files changed, 24806 insertions(+)
 create mode 100644 ros2-poc/.gitignore
 create mode 100644 ros2-poc/README.md
 create mode 100644 ros2-poc/config/zenoh-router.json5
 create mode 100644 ros2-poc/config/zenoh-session.json5
 create mode 100644 ros2-poc/nodes/bias_cmd.py
 create mode 100644 ros2-poc/nodes/bias_node.py
 create mode 100644 ros2-poc/nodes/bias_sim.py
 create mode 100644 ros2-poc/nodes/bridge_node.py
 create mode 100644 ros2-poc/nodes/fictrac_udp_adapter.py
 create mode 100644 ros2-poc/nodes/kinefly_sim.py
 create mode 100644 ros2-poc/nodes/kinefly_udp_adapter.py
 create mode 100644 ros2-poc/nodes/rig.py
 create mode 100644 ros2-poc/pixi.lock
 create mode 100644 ros2-poc/pixi.toml
 create mode 100644 ros2-poc/tests/check_runlog_readers.js
 create mode 100644 ros2-poc/tests/studio_emulator.py
 create mode 100644 ros2-poc/tests/test_ros2_poc.py

diff --git a/ros2-poc/.gitignore b/ros2-poc/.gitignore
new file mode 100644
index 00000000..78a76548
--- /dev/null
+++ b/ros2-poc/.gitignore
@@ -0,0 +1,9 @@
+# pixi environment for this workspace (pixi.toml + pixi.lock are tracked)
+.pixi/*
+!.pixi/config.toml
+__pycache__/
+*.pyc
+# bridge-node run logs land here by default
+runlogs/
+*.jsonl
+*.jsonl.gz
diff --git a/ros2-poc/README.md b/ros2-poc/README.md
new file mode 100644
index 00000000..57dee228
--- /dev/null
+++ b/ros2-poc/README.md
@@ -0,0 +1,135 @@
+# ROS 2 bridge proof of concept (LAB-303)
+
+A bounded spike, not a product: can the web runner's bridge be a ROS 2 node graph while the
+**unmodified Arena Studio** keeps connecting to `ws://localhost:8765`, the **run log stays the
+same file every reader already accepts**, and the devices (FicTrac, Kinefly, BIAS) sit behind
+small adapters with **no custom message types**? Decision context: Linear LAB-303 (2026-10-14
+comment holds the acceptance criteria), `docs/development/bridge-connectors-exec-summary.md`.
+
+This directory is its own pixi workspace. The root `pixi.toml` and `fictrac-bridge/` are
+untouched, so bridge 3.4 (`pixi run bridge` at the repo root) stays installed side by side.
+
+```
+ fictrac_sim.py / FicTrac ──UDP :60000──▶ fictrac_udp_adapter ──/fictrac/raw──▶┐
+ Kinefly (KF/1)           ──UDP :60001──▶ kinefly_udp_adapter ──/kinefly/raw──▶│  bridge_node ──ws://localhost:8765──▶ Arena Studio (unmodified)
+ BIAS (HTTP :5010)        ◀──────────────  bias_node  ◀──/bias/cmd  /bias/reply,status──▶│     │ ──/arena/frame──▶ any ROS node
+                                                                                    └─────┴──▶ runlogs/arena-log-*.jsonl (behavior_v2, as today)
+ all topics std_msgs/String carrying JSON · middleware rmw_zenoh_cpp · one Zenoh router per host, loopback only
+```
+
+## Setup and run
+
+```bash
+cd ros2-poc
+pixi install              # RoboStack Jazzy ros-base + rmw_zenoh + demo nodes + websockets/pyzmq (≈1.3 GB)
+pixi run rig              # router + FicTrac adapter + bridge node        → Studio connects to ws://localhost:8765
+pixi run rig -- --kinefly --bias           # + Kinefly KF/1 adapter + BIAS node
+pixi run rig -- --sim --bias --bias-sim    # demo with no hardware: FicTrac sim + a fake BIAS program
+pixi run test             # the acceptance run (≈ 60 s, no hardware, see below)
+```
+
+Pieces, individually (each is also a `pixi run` task; `--help` on every script):
+
+| task | what |
+|---|---|
+| `router` | `ros2 run rmw_zenoh_cpp rmw_zenohd` with `config/zenoh-router.json5` (listens on `tcp/127.0.0.1:7447`) |
+| `talker` / `listener` | the stock `demo_nodes_py` pair — the first thing to run on a new machine |
+| `fictrac-adapter` | UDP :60000 → `/fictrac/raw`; FicTrac's own `sock_port` stays what it is today |
+| `kinefly-adapter` | UDP :60001 → `/kinefly/raw`; accepts only `protocol: "Kinefly", version: 1` datagrams |
+| `bias-node` / `bias-cmd` | BIAS HTTP command port ⇄ `/bias/cmd`, `/bias/reply`, `/bias/status`; `bias-cmd` sends one plugin command |
+| `bridge-node` | bridge.py's `Hub` + `LogWriter` + `Pipeline` + `make_dispatcher` on ROS input; `/arena/frame` mirror |
+| `sim` | the root `fictrac-bridge/fictrac_sim.py`, unmodified (`-- --model fly --kp 2` for a fixating fly) |
+| `kinefly-sim` / `bias-sim` | synthetic KF/1 producer; a fake BIAS program (HTTP, state machine, writes the video file) |
+| `studio-emulator` | the Studio runner's exact bridge conversation, for machines without a browser |
+
+Environment set by the workspace (`[activation.env]`): `RMW_IMPLEMENTATION=rmw_zenoh_cpp`,
+`ZENOH_ROUTER_CHECK_ATTEMPTS=0` (nodes wait for the router), `ZENOH_ROUTER_CONFIG_URI` /
+`ZENOH_SESSION_CONFIG_URI` → the two files under `config/` (stock rmw_zenoh configs with the
+endpoint changed from `tcp/[::]:7447` / `tcp/localhost:7447` to `tcp/127.0.0.1:7447`: the
+stock router fails on a host without IPv6, and a rig's graph should not be reachable from the
+lab network anyway).
+
+## What was built in the first day
+
+**Hour one (middleware bring-up).** `pixi install` resolved and installed for linux-64,
+osx-arm64 and win-64 from `conda-forge` + `robostack-jazzy` with no manual step (Python 3.12,
+`ros-jazzy-ros-base` 0.11, `ros-jazzy-rmw-zenoh-cpp` 0.2.9). Router up; talker/listener 7 of 7
+messages under `rmw_zenoh_cpp`; the FicTrac adapter republished the simulator at 50.0 Hz
+(`ros2 topic hz`) as one `std_msgs/String` JSON envelope per record:
+`{"src":"fictrac","seq":…,"rx_epoch_ms":…,"rx_mono_ns":…,"raw":"<the FicTrac line>"}`.
+
+**The bridge node** (`nodes/bridge_node.py`) imports `fictrac-bridge/bridge.py` by path and
+reuses its four load-bearing parts unmodified. Only the input changed (a subscription instead
+of a UDP socket), so the run log is the behavior_v2 file bridge 3.4 writes. Additions, all
+visible in the log: `connector_status` lines (frames per source, adapter→bridge latency
+p50/p99), `source_lost` / `source_resumed` when a logged source goes silent (`--source-timeout`,
+default 2 s), `["kf", ms, seq, src_t_s, left, right, head, abdomen]` rows from Kinefly, and
+`{"type":"connector","src":"bias",…}` events for every BIAS reply and status poll. The
+`fictrac_port` config key is acknowledged with a warning instead of re-binding (the adapter
+owns the socket).
+
+**Kinefly** (`nodes/kinefly_udp_adapter.py`): KF/1 as specified in
+`mbreiser/Kinefly-MacOS/docs/udp-protocol.md` — protocol discrimination before any decoding,
+non-KF/1 datagrams counted and dropped, the record republished verbatim. Logging only; the
+L−R → yaw integrator is slice 2 work and is deliberately not here.
+
+**BIAS** (`nodes/bias_node.py`): the protocol's `camera` plugin commands (`connect`,
+`startRecording`, `stopRecording`, `startPreview`, `stopCapture`, `getTimestamp`, `disconnect`)
+mapped to BIAS's HTTP command sequences; a timeout is an **unknown** outcome (`outcome:
+"unknown"`, then a `get-status` reconcile); `startRecording` reports the video file as an
+`artifact`. Since the Studio does not send plugin commands to the bridge yet, commands come from
+`pixi run bias-cmd` (or any node publishing `/bias/cmd`).
+
+## Acceptance run (`pixi run test`, `tests/test_ros2_poc.py`)
+
+Brings up the whole graph in-process, drives it with `fictrac_sim.py --model fly --kp 2` on
+the WebSocket (FicTrac untouched) and `tests/studio_emulator.py` (3 constant-bias epochs of
+6 s, the exact message sequence of `js/fictrac-bridge-client.js` + `js/arena-runner-g6.js`,
+one `arena_command` echo per applied frame honouring the epoch gate), **SIGKILLs the FicTrac
+adapter 2 s into epoch 2 and restarts it 3 s later**, and sends BIAS commands mid-run.
+Result on 2026-10-14 (Linux container, loopback): **29 / 29**.
+
+| LAB-303 criterion | evidence |
+|---|---|
+| pixi install, no manual steps; one `pixi run rig` | lock file for osx-arm64 / win-64 / linux-64; `rig.py` supervises router + nodes |
+| no custom message types | `std_msgs/String` only (checked by grepping `nodes/`) |
+| FicTrac via the sim through a UDP→ROS adapter, FicTrac untouched | `fictrac_sim.py` unmodified; 912 rows logged, every frame |
+| Kinefly fork via a KF/1 adapter | 2153 `["kf",…]` rows with left/right angles; garbage datagram rejected |
+| BIAS via the Mac port | here `bias_sim.py`: 25 connector events, video artifact path logged and file present; the real port = same HTTP interface, **to confirm on the Mac** |
+| unmodified Studio passes the closed-loop report | emulator 12/12 protocol assertions; report: 3 epochs from `fictracApply`, rejection **+1.01 / +0.32 (interrupted) / +0.99**, idx mismatch 0.00 % |
+| … and the runlog format tests | `js/runlog-format` normalizer + `js/runlog-replay` parser accept all 3865 lines; `bridge.py --convert` v2→v1→v2 byte-identical |
+| the closed-loop node stamps its own sample time | `Pipeline.handle_line`'s `now_ms()` (reused); adapter→bridge latency p50 1.7 ms, p99 3.8 ms logged |
+| bridge 3.4 stays installed side by side | root `bridge.py --version` still `fictrac-bridge 3.4 …` |
+| a device node killed mid-run leaves the log intact | `source_lost` (silence 1835 ms) + `source_resumed` logged; file closes normally; every reader parses it |
+
+One subtlety the harness documents: the report's epoch opens at the `fictracApply` event's
+millisecond, and a FicTrac row computed under the previous mapping can carry that same
+millisecond (it is even written before the config line). The report then reconstructs that
+one row with the new epoch's bias and tare. The bar is therefore "≤ 1 boundary row", which is
+what bridge 3.4 produces as well; the mapping itself is exact.
+
+## Not verified here (needs the Mac / a rig)
+
+* A real browser: Web Serial and the Studio UI were replaced by the emulator. Run the Studio
+  against `pixi run rig -- --sim` on the Mac and commit a run log through the normal path.
+* The real BIAS Mac port: command names and the JSON-array reply shape follow BIAS's
+  documented external interface; the `value` payloads are logged verbatim and untested.
+* The real Kinefly fork sending `--udp 127.0.0.1:60001` (only `kinefly_sim.py`, which follows
+  `kinefly/core/udp.py` byte for byte, was used).
+* Windows (`win-64` resolves and locks; nothing was executed there) and the macOS router with
+  IPv6 present (the loopback config sidesteps it).
+* `scripts/runlog-check.py` fails on these logs for want of `run_metadata.firmware`,
+  `stream_schema` and `trial_quality`, which only a Studio run with a controller produces.
+
+## Observations for the decision
+
+* Install friction was low: a ~1.3 GB environment, one lock file, no system packages. The
+  only environment-specific knobs were the two Zenoh endpoint lines.
+* The graph adds ~1.7 ms (p50) between the UDP receive and the bridge on loopback; the
+  WebSocket side is unchanged.
+* `rmw_zenoh` needs the router process running; without it nodes retry forever
+  (`ZENOH_ROUTER_CHECK_ATTEMPTS=0`). `rig.py` starts it first and waits for the port.
+* Everything a student would debug is `ros2 topic echo /fictrac/raw`, `/kinefly/raw`,
+  `/bias/status`, `/arena/frame` — plain JSON strings.
+* Not exercised: rosbag recording, rosbridge, Frank's FicTrac ROS 2 node pair. The log stayed
+  the bridge's NDJSON on purpose (the readers are the expensive part to replace).
diff --git a/ros2-poc/config/zenoh-router.json5 b/ros2-poc/config/zenoh-router.json5
new file mode 100644
index 00000000..735de3ad
--- /dev/null
+++ b/ros2-poc/config/zenoh-router.json5
@@ -0,0 +1,813 @@
+/// This file attempts to list and document available configuration elements.
+/// For a more complete view of the configuration's structure, check out `zenoh/src/config.rs`'s `Config` structure.
+/// Note that the values here are correctly typed, but may not be sensible, so copying this file to change only the parts that matter to you is not good practice.
+{
+  /// The identifier (as unsigned 128bit integer in hexadecimal lowercase - leading zeros are not accepted)
+  /// that zenoh runtime will use.
+  /// If not set, a random unsigned 128bit integer will be used.
+  /// WARNING: this id must be unique in your zenoh network.
+  // id: "1234567890abcdef",
+
+  /// The node's mode (router, peer or client)
+  mode: "router",
+
+  /// Which endpoints to connect to. E.g. tcp/localhost:7447.
+  /// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup.
+  ///
+  /// For TCP/UDP on Linux, it is possible additionally specify the interface to be connected to:
+  /// E.g. tcp/192.168.0.1:7447#iface=eth0, for connect only if the IP address is reachable via the interface eth0
+  ///
+  /// It is also possible to specify a priority range and/or a reliability setting to be used on the link.
+  /// For example `tcp/localhost?prio=6-7;rel=0` assigns priorities "data_low" and "background" to the established link.
+  ///
+  /// For TCP and TLS links, it is possible to specify the TCP buffer sizes:
+  /// E.g. tcp/192.168.0.1:7447#so_sndbuf=65000;so_rcvbuf=65000
+  /// For TCP, UDP, Quic and TLS links, it is possible to specify a `bind` address for the local socket:
+  /// E.g. tcp/192.168.0.1:7447#bind=192.168.0.1:0
+  ///  Note!: Currently it is unsupported to specify both `bind` and `iface`.
+  ///
+  /// For TCP/UDP links, it's possible to specify the DSCP field of the IP header:
+  /// E.g. tcp/192.168.0.1:7447#dscp=0x08
+  connect: {
+    /// timeout waiting for all endpoints connected (0: no retry, -1: infinite timeout)
+    /// Accepts a single value (e.g. timeout_ms: 0)
+    /// or different values for router, peer and client (e.g. timeout_ms: { router: -1, peer: -1, client: 0 }).
+    timeout_ms: { router: -1, peer: -1, client: 0 },
+
+    /// The list of endpoints to connect to.
+    /// Accepts a single list (e.g. endpoints: ["tcp/10.10.10.10:7447", "tcp/11.11.11.11:7447"])
+    /// or different lists for router, peer and client (e.g. endpoints: { router: ["tcp/10.10.10.10:7447"], peer: ["tcp/11.11.11.11:7447"] }).
+    ///
+    /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html
+    endpoints: [
+      // "<proto>/<address>"
+    ],
+
+    /// Global connect configuration,
+    /// Accepts a single value or different values for router, peer and client.
+    /// The configuration can also be specified for the separate endpoint
+    /// it will override the global one
+    /// E.g. tcp/192.168.0.1:7447#retry_period_init_ms=20000;retry_period_max_ms=10000"
+
+    /// exit from application, if timeout exceed
+    exit_on_failure: { router: false, peer: false, client: true },
+    /// connect establishing retry configuration
+    retry: {
+      /// initial wait timeout until next connect try
+      period_init_ms: 1000,
+      /// maximum wait timeout until next connect try
+      period_max_ms: 4000,
+      /// increase factor for the next timeout until nexti connect try
+      period_increase_factor: 2,
+    },
+  },
+
+  /// Which endpoints to listen on. E.g. tcp/0.0.0.0:7447.
+  /// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers,
+  /// peers, or client can use to establish a zenoh session.
+  ///
+  /// For TCP/UDP on Linux, it is possible additionally specify the interface to be listened to:
+  /// E.g. tcp/0.0.0.0:7447#iface=eth0, for listen connection only on eth0
+  ///
+  /// It is also possible to specify a priority range and/or a reliability setting to be used on the link.
+  /// For example `tcp/localhost?prio=6-7;rel=0` assigns priorities "data_low" and "background" to the established link.
+  ///
+  /// For TCP and TLS links, it is possible to specify the TCP buffer sizes:
+  /// E.g. tcp/192.168.0.1:7447#so_sndbuf=65000;so_rcvbuf=65000
+  ///
+  /// For TCP/UDP links, it's possible to specify the DSCP field of the IP header:
+  /// E.g. tcp/192.168.0.1:7447#dscp=0x08
+  listen: {
+    /// timeout waiting for all listen endpoints (0: no retry, -1: infinite timeout)
+    /// Accepts a single value (e.g. timeout_ms: 0)
+    /// or different values for router, peer and client (e.g. timeout_ms: { router: -1, peer: -1, client: 0 }).
+    timeout_ms: 0,
+
+    /// The list of endpoints to listen on.
+    /// Accepts a single list (e.g. endpoints: ["tcp/[::]:7447", "udp/[::]:7447"])
+    /// or different lists for router, peer and client (e.g. endpoints: { router: ["tcp/[::]:7447"], peer: ["tcp/[::]:0"] }).
+    ///
+    /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html
+    endpoints: [
+      "tcp/127.0.0.1:7447"
+    ],
+
+    /// Global listen configuration,
+    /// Accepts a single value or different values for router, peer and client.
+    /// The configuration can also be specified for the separate endpoint
+    /// it will override the global one
+    /// E.g. tcp/192.168.0.1:7447#exit_on_failure=false;retry_period_max_ms=1000"
+
+    /// exit from application, if timeout exceed
+    exit_on_failure: true,
+    /// listen retry configuration
+    retry: {
+      /// initial wait timeout until next try
+      period_init_ms: 1000,
+      /// maximum wait timeout until next try
+      period_max_ms: 4000,
+      /// increase factor for the next timeout until next try
+      period_increase_factor: 2,
+    },
+  },
+
+  /// Configure the session open behavior.
+  open: {
+    /// Configure the conditions to be met before session open returns.
+    return_conditions: {
+      /// Session open waits to connect to scouted peers and routers before returning.
+      /// When set to false, first publications and queries after session open from peers may be lost.
+      connect_scouted: true,
+      /// Session open waits to receive initial declares from connected peers before returning.
+      /// Setting to false may cause extra traffic at startup from peers.
+      declares: true,
+    },
+  },
+
+  /// Configure the scouting mechanisms and their behaviours
+  scouting: {
+    /// In client mode, the period in milliseconds dedicated to scouting for a router before failing.
+    timeout: 3000,
+    /// In peer mode, the maximum period in milliseconds dedicated to scouting remote peers before attempting other operations.
+    delay: 500,
+    /// The multicast scouting configuration.
+    multicast: {
+      /// Whether multicast scouting is enabled or not
+      ///
+      /// ROS setting: disable multicast discovery by default
+      enabled: false,
+      /// The socket which should be used for multicast scouting
+      address: "224.0.0.224:7446",
+      /// The network interface which should be used for multicast scouting
+      interface: "auto", // If not set or set to "auto" the interface if picked automatically
+      /// The time-to-live on multicast scouting packets
+      ttl: 1,
+      /// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast.
+      /// Accepts a single value (e.g. autoconnect: ["router", "peer"]) which applies whatever the configured "mode" is,
+      /// or different values for router, peer or client mode (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
+      /// Each value is a list of: "peer", "router" and/or "client".
+      autoconnect: { router: [], peer: ["router", "peer"], client: ["router"] },
+      /// Strategy for autoconnection, mainly to avoid nodes connecting to each other redundantly.
+      /// Possible options are:
+      /// - "always": always attempt to autoconnect, may result in redundant connections.
+      /// - "greater-zid": attempt to connect to another node only if its own zid is greater than the other's.
+      ///   If both nodes use this strategy, only one will attempt the connection.
+      ///   This strategy may not be suited if one of the nodes is not reachable by the other one, for example
+      ///   because of a private IP.
+      /// Accepts a single value (e.g. autoconnect: "always") which applies whatever node would be auto-connected to,
+      /// or different values for router and/or peer depending on the type of node detected
+      /// (e.g. autoconnect_strategy : { to_router:  "always", to_peer: "greater-zid" }),
+      /// or different values for router or peer mode
+      /// (e.g. autoconnect_strategy : { peer: { to_router:  "always", to_peer: "greater-zid" } }).
+      autoconnect_strategy: { router: { to_router: "always", to_peer: "always" } },
+      /// Whether or not to listen for scout messages on UDP multicast and reply to them.
+      listen: true,
+    },
+    /// The gossip scouting configuration. Note that instances in "client" mode do not participate in gossip.
+    gossip: {
+      /// Whether gossip scouting is enabled or not
+      enabled: true,
+      /// When true, gossip scouting information are propagated multiple hops to all nodes in the local network.
+      /// When false, gossip scouting information are only propagated to the next hop.
+      /// Activating multihop gossip implies more scouting traffic and a lower scalability.
+      /// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have
+      /// direct connectivity with each other.
+      multihop: false,
+      /// Which type of Zenoh instances to send gossip messages to.
+      /// Accepts a single value (e.g. target: ["router", "peer"]) which applies whatever the configured "mode" is,
+      /// or different values for router or peer mode (e.g. target: { router: ["router", "peer"], peer: ["router"] }).
+      /// Each value is a list of "peer" and/or "router".
+      /// ROS setting: by default all peers rely on the router to discover each other. Thus configuring the peer to send gossip
+      ///               messages only to the router is sufficient and avoids unecessary traffic between Nodes at launch time.
+      target: { router: ["router", "peer"], peer: ["router"]},
+      /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
+      /// Accepts a single value (e.g. autoconnect: ["router", "peer"]) which applies whatever the configured "mode" is,
+      /// or different values for router or peer mode (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
+      /// Each value is a list of: "peer" and/or "router".
+      autoconnect: { router: [], peer: ["router", "peer"] },
+      /// Strategy for autoconnection, mainly to avoid nodes connecting to each other redundantly.
+      /// Possible options are:
+      /// - "always": always attempt to autoconnect, may result in redundant connections.
+      /// - "greater-zid": attempt to connect to another node only if its own zid is greater than the other's.
+      ///   If both nodes use this strategy, only one will attempt the connection.
+      ///   This strategy may not be suited if one of the nodes is not reachable by the other one, for example
+      ///   because of a private IP.
+      /// Accepts a single value (e.g. autoconnect: "always") which applies whatever node would be auto-connected to,
+      /// or different values for router and/or peer depending on the type of node detected
+      /// (e.g. autoconnect_strategy : { to_router:  "always", to_peer: "greater-zid" }),
+      /// or different values for router or peer mode
+      /// (e.g. autoconnect_strategy : { peer: { to_router:  "always", to_peer: "greater-zid" } }).
+      autoconnect_strategy: { router: { to_router: "always", to_peer: "always" } },
+    },
+  },
+
+  /// Configuration of data messages timestamps management.
+  timestamping: {
+    /// Whether data messages should be timestamped if not already.
+    /// Accepts a single boolean value or different values for router, peer and client.
+    ///
+    /// ROS setting: PublicationCache which is required for transient_local durability
+    ///              only works when time-stamping is enabled.
+    enabled: { router: true, peer: true, client: true },
+    /// Whether data messages with timestamps in the future should be dropped or not.
+    /// If set to false (default), messages with timestamps in the future are retimestamped.
+    /// Timestamps are ignored if timestamping is disabled.
+    drop_future_timestamp: false,
+  },
+
+  /// The default timeout to apply to queries in milliseconds.
+  /// ROS setting: The default value of 600000 ms (10 minutes) is already quite high, but it can be increased if needed.
+  ///              For instance to avoid timeout with Service Server that that is unresponsive or lagging,
+  ///              which could occur at launch time with a large number of Nodes starting all together.
+  ///              It’s recommended to configure a value that exceeds the longest timeout specified in any
+  ///              `spin_until_complete(service_call_future_result, timeout)` call.
+  ///              Note that the action-related service "get_result" is hard-coded with an infinite timeout,
+  ///              as in some use case an action could spend several hours (e.g. mission plans).
+  queries_default_timeout: 600000,
+
+  /// The routing strategy to use and it's configuration.
+  routing: {
+    /// The routing strategy to use in routers and it's configuration.
+    router: {
+      /// When set to true a router will forward data between two peers
+      /// directly connected to it if it detects that those peers are not
+      /// connected to each other.
+      /// The failover brokering only works if gossip discovery is enabled
+      /// and peers are configured with gossip target "router".
+      /// ROS setting: disabled by default because it serves no purpose when each peer connects directly to all others,
+      ///              and it introduces additional management overhead and extra messages during system startup.
+      peers_failover_brokering: false,
+      /// Linkstate mode configuration.
+      linkstate: {
+        /// Weights of the outgoing transports in linkstate mode.
+        /// If none of the two endpoint nodes of a transport specifies its weight, a weight of 100 is applied.
+        /// If only one of the two endpoint nodes of a transport specifies its weight, the specified weight is applied.
+        /// If both endpoint nodes of a transport specify its weight, the greater weight is applied.
+        // transport_weights: [
+        //   { dst_zid: "1", weight: "10" },
+        //   { dst_zid: "2", weight: "200" },
+        // ]
+      },
+    },
+    /// The routing strategy to use in peers and it's configuration.
+    peer: {
+      /// The routing strategy to use in peers. ("peer_to_peer" or "linkstate").
+      /// This option needs to be set to the same value in all peers and routers of the subsystem.
+      mode: "peer_to_peer",
+      /// Linkstate mode configuration (only taken into account if mode == "linkstate").
+      linkstate: {
+        /// Weights of the outgoing transports in linkstate mode.
+        /// If none of the two endpoint nodes of a transport specifies its weight, a weight of 100 is applied.
+        /// If only one of the two endpoint nodes of a transport specifies its weight, the specified weight is applied.
+        /// If both endpoint nodes of a transport specify its weight, the greater weight is applied.
+        // transport_weights: [
+        //   { dst_zid: "1", weight: "10" },
+        //   { dst_zid: "2", weight: "200" },
+        // ]
+      },
+    },
+    /// The interests-based routing configuration.
+    /// This configuration applies regardless of the mode (router, peer or client).
+    interests: {
+      /// The timeout to wait for incoming interests declarations in milliseconds.
+      /// The expiration of this timeout implies that the discovery protocol might be incomplete,
+      /// leading to potential loss of messages, queries or liveliness tokens.
+      timeout: 10000,
+    },
+  },
+
+  // /// Overwrite QoS options for Zenoh messages by key expression (ignores Zenoh API QoS config for overwritten values)
+  // qos: {
+  //   /// Overwrite QoS options for PUT and DELETE messages
+  //   publication: [
+  //     {
+  //       /// PUT and DELETE messages on key expressions that are included by these key expressions
+  //       /// will have their QoS options overwritten by the given config.
+  //       key_exprs: ["demo/**", "example/key"],
+  //       /// Configurations that will be applied on the publisher.
+  //       /// Options that are supplied here will overwrite the configuration given in Zenoh API
+  //       config: {
+  //         congestion_control: "block",
+  //         priority: "data_high",
+  //         express: true,
+  //         reliability: "best_effort",
+  //         allowed_destination: "remote",
+  //       },
+  //     },
+  //   ],
+  //   /// Overwrite QoS options for messages sent and received from/to the network
+  //   /// This allows more fine grained rules (per network card, etc...) but is
+  //   /// less performant than the publication option above.
+  //   network: [
+  //     {
+  //       /// Optional Id, has to be unique.
+  //       id: "lo0_en0_qos_overwrite",
+  //       /// Optional list of ZIDs on which qos will be overwritten when communicating with.
+  //       // zids: ["38a4829bce9166ee"],
+  //       /// Optional list of interfaces, if not specified, will be applied to all interfaces.
+  //       interfaces: [
+  //         "lo0",
+  //         "en0",
+  //       ],
+  //       /// Optional list of link protocols. Transports with at least one of these links will have their qos overwritten.
+  //       /// If absent, the overwrite will be applied to all transports. An empty list is invalid.
+  //       link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"],
+  //       /// List of message types to apply to.
+  //       messages: [
+  //         "put", // put publications
+  //         "delete", // delete publications
+  //         "query", // get queries
+  //         "reply", // replies to queries
+  //       ],
+  //       /// Optional list of data flows messages will be processed on ("egress" and/or "ingress").
+  //       /// If absent, the rules will be applied to both flows.
+  //       flows: ["egress", "ingress"],
+  //       /// QoS filter to apply to the messages matching this item.
+  //       qos: {
+  //         congestion_control: "drop",
+  //         priority: "data",
+  //         express: true,
+  //         reliability: "reliable",
+  //       },
+  //       /// payload_size range for the messages matching this item.
+  //       payload_size: "1000000..",
+  //       key_exprs: ["test/demo"],
+  //       overwrite: {
+  //         /// Optional new priority value, if not specified priority of the messages will stay unchanged.
+  //         priority: "real_time",
+  //         /// Optional new congestion control value, if not specified congestion control of the messages will stay unchanged.
+  //         congestion_control: "block",
+  //         /// Optional new express value, if not specified express flag of the messages will stay unchanged.
+  //         express: true,
+  //       },
+  //     },
+  //   ],
+  // },
+
+  // /// The declarations aggregation strategy.
+  // aggregation: {
+  //   /// A list of key-expressions for which all included subscribers will be aggregated into.
+  //   subscribers: [
+  //     // key_expression
+  //   ],
+  //   /// A list of key-expressions for which all included publishers will be aggregated into.
+  //   publishers: [
+  //     // key_expression
+  //   ],
+  // },
+
+  // /// Namespace prefix.
+  // /// If specified, all outgoing key expressions will be automatically prefixed with specified string,
+  // /// and all incoming key expressions will be stripped of specified prefix.
+  // /// The namespace prefix should satisfy all key expression constraints
+  // /// and additionally it can not contain wild characters ('*').
+  // /// Namespace is applied to the session.
+  // /// E. g. if session has a namespace of "1" then session.put("my/keyexpr", my_message),
+  // /// will put a message into 1/my/keyexpr. Same applies to all other operations within this session.
+  // namespace: "my/namespace",
+
+  // /// The downsampling declaration.
+  // downsampling: [
+  //   {
+  //     /// Optional Id, has to be unique
+  //     id: "wlan0egress",
+  //     /// Optional list of network interfaces messages will be processed on, the rest will be passed as is.
+  //     /// If absent, the rules will be applied to all interfaces. An empty list is invalid.
+  //     interfaces: [ "wlan0" ],
+  //     /// Optional list of link protocols. Transports with at least one of these links will have their messages filtered.
+  //     /// If absent, the rules will be applied to all transports. An empty list is invalid.
+  //     link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"],
+  //     /// Optional list of data flows messages will be processed on ("egress" and/or "ingress").
+  //     /// If absent, the rules will be applied to both flows.
+  //     flows: ["ingress", "egress"],
+  //     /// List of message type on which downsampling will be applied. Must not be empty.
+  //     messages: [
+  //       /// Delete
+  //       "delete",
+  //       /// Put
+  //       "put",
+  //       /// Get
+  //       "query",
+  //       /// Queryable Reply to a Query
+  //       "reply",
+  //     ],
+  //     /// A list of downsampling rules: key_expression and the maximum frequency in Hertz
+  //     rules: [
+  //       { key_expr: "demo/example/zenoh-rs-pub", freq: 0.1 },
+  //     ],
+  //   },
+  // ],
+
+  // /// Configure access control (ACL) rules
+  // access_control: {
+  //   /// [true/false] acl will be activated only if this is set to true
+  //   "enabled": false,
+  //   /// [deny/allow] default permission is deny (even if this is left empty or not specified)
+  //   "default_permission": "deny",
+  //   /// Rule set for permissions allowing or denying access to key-expressions
+  //   "rules":
+  //   [
+  //     {
+  //       /// Id has to be unique within the rule set
+  //       "id": "rule1",
+  //       "messages": [
+  //         "put", "delete", "declare_subscriber",
+  //         "query", "reply", "declare_queryable",
+  //         "liveliness_token", "liveliness_query", "declare_liveliness_subscriber",
+  //       ],
+  //       "flows":["egress","ingress"],
+  //       "permission": "allow",
+  //       "key_exprs": [
+  //         "test/demo"
+  //       ],
+  //     },
+  //     {
+  //       "id": "rule2",
+  //       "messages": [
+  //         "put", "delete", "declare_subscriber",
+  //         "query", "reply", "declare_queryable",
+  //       ],
+  //       "flows":["ingress"],
+  //       "permission": "allow",
+  //       "key_exprs": [
+  //         "**"
+  //       ],
+  //     },
+  //   ],
+  //   /// List of combinations of subjects.
+  //   ///
+  //   /// If a subject property (i.e. username, certificate common name or interface) is empty
+  //   /// it is interpreted as a wildcard. Moreover, a subject property cannot be an empty list.
+  //   "subjects":
+  //   [
+  //     {
+  //       /// Id has to be unique within the subjects list
+  //       "id": "subject1",
+  //       /// Subjects can be interfaces
+  //       "interfaces": [
+  //         "lo0",
+  //         "en0",
+  //       ],
+  //       /// Subjects can be cert_common_names when using TLS or Quic
+  //       "cert_common_names": [
+  //         "example.zenoh.io"
+  //       ],
+  //       /// Subjects can be usernames when using user/password authentication
+  //       "usernames": [
+  //         "zenoh-example"
+  //       ],
+  //       /// This instance translates internally to this filter:
+  //       /// (interface="lo0" && cert_common_name="example.zenoh.io" && username="zenoh-example") ||
+  //       /// (interface="en0" && cert_common_name="example.zenoh.io" && username="zenoh-example")
+  //     },
+  //     {
+  //       "id": "subject2",
+  //       "interfaces": [
+  //         "lo0",
+  //         "en0",
+  //       ],
+  //       "cert_common_names": [
+  //         "example2.zenoh.io"
+  //       ],
+  //       /// This instance translates internally to this filter:
+  //       /// (interface="lo0" && cert_common_name="example2.zenoh.io") ||
+  //       /// (interface="en0" && cert_common_name="example2.zenoh.io")
+  //     },
+  //     {
+  //       "id": "subject3",
+  //       /// An empty subject combination is a wildcard
+  //     },
+  //     {
+  //       "id": "subject4",
+  //       /// link protocols can also be used to identify transports to filter messages on.
+  //       /// If absent, the rules will be applied to all transports. An empty list is invalid.
+  //       link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"],
+  //       /// ZIDs can also be used to identify transports to filter messages on.
+  //       /// NOTE: ZID is not backed by an authentication mechanism, it can only be trusted for ACL if it is
+  //       ///       dynamically added/removed by eventual dedicated Zenoh mechanisms when transports are opened/closed.
+  //       ///       If managed manually in ACL config, can be useful for prototyping but should not be used in production!
+  //       zids: ["38a4829bce9166ee"],
+  //     },
+  //   ],
+  //   /// The policies list associates rules to subjects
+  //   "policies":
+  //   [
+  //     /// Each policy associates one or multiple rules to one or multiple subject combinations
+  //     {
+  //       /// Id is optional. If provided, it has to be unique within the policies list
+  //       "id": "policy1",
+  //       /// Rules and Subjects are identified with their unique IDs declared above
+  //       "rules": ["rule1"],
+  //       "subjects": ["subject1", "subject2"],
+  //     },
+  //     {
+  //       "rules": ["rule2"],
+  //       "subjects": ["subject3", "subject4"],
+  //     },
+  //   ]
+  // },
+
+  // low_pass_filter: [
+  //   {
+  //     /// Optional Id, has to be unique
+  //     "id": "filter1",
+  //     /// Optional list of network interfaces messages will be processed on, the rest will not be filtered.
+  //     /// If absent, the filter will be applied to all interfaces.
+  //     interfaces: [ "wlan0" ],
+  //     /// Optional list of link protocols. Transports with at least one of these links will have their messages filtered.
+  //     /// If absent, the rule will be applied to all transports. An empty list is invalid.
+  //     link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"],
+  //     /// Optional list of data flows messages will be processed on ("egress" and/or "ingress").
+  //     /// If absent, the filter will be applied to both flows.
+  //     flows: ["ingress", "egress"],
+  //     /// List of message type on which the filter will be applied. Must not be empty.
+  //     messages: [
+  //       "put",
+  //       "delete",
+  //       "query",
+  //       "reply"
+  //     ],
+  //     /// List of key_expressions which matching messages will be filtered
+  //     key_exprs: [
+  //       "demo/**",
+  //     ],
+  //     /// Inclusive max size of serialized payload + serialized attachment
+  //     size_limit: 8192,
+  //   },
+  // ],
+
+  /// Enable stats per key expression.
+  // stats: {
+  //   filters: [
+  //     {
+  //       key: "some/key/expression/**",
+  //     }
+  //   ],
+  // },
+
+  /// Configure internal transport parameters
+  transport: {
+    unicast: {
+      /// Timeout in milliseconds when opening a link
+      /// ROS setting: increase the value to avoid timeout at launch time with a large number of Nodes starting all together
+      open_timeout: 60000,
+      /// Timeout in milliseconds when accepting a link
+      /// ROS setting: increase the value to avoid timeout at launch time with a large number of Nodes starting all together
+      accept_timeout: 60000,
+      /// Maximum number of links in pending state while performing the handshake for accepting it
+      /// ROS setting: increase the value to support a large number of Nodes starting all together
+      accept_pending: 10000,
+      /// Maximum number of transports that can be simultaneously alive for a single zenoh sessions
+      /// ROS setting: increase the value to support a large number of Nodes starting all together
+      max_sessions: 10000,
+      /// Maximum number of incoming links that are admitted per transport
+      max_links: 1,
+      /// Enables the LowLatency transport
+      /// This option does not make LowLatency transport mandatory, the actual implementation of transport
+      /// used will depend on Establish procedure and other party's settings
+      ///
+      /// NOTE: Currently, the LowLatency transport doesn't preserve QoS prioritization.
+      /// NOTE: Due to the note above, 'lowlatency' is incompatible with 'qos' option, so in order to
+      ///       enable 'lowlatency' you need to explicitly disable 'qos'.
+      /// NOTE: LowLatency transport does not support the fragmentation, so the message size should be
+      ///       smaller than the tx batch_size.
+      lowlatency: false,
+      /// Enables QoS on unicast communications.
+      qos: {
+        enabled: true,
+      },
+      /// Enables compression on unicast communications.
+      /// Compression capabilities are negotiated during session establishment.
+      /// If both Zenoh nodes support compression, then compression is activated.
+      compression: {
+        enabled: false,
+      },
+    },
+    /// WARNING: multicast communication does not perform any negotiation upon group joining.
+    ///   Because of that, it is important that all transport parameters are the same to make
+    ///   sure all your nodes in the system can communicate. One common parameter to configure
+    ///   is "transport/link/tx/batch_size" since its default value depends on the actual platform
+    ///   when operating on multicast.
+    ///   E.g., the batch size on Linux and Windows is 65535 bytes, on Mac OS X is 9216, and anything else is 8192.
+    multicast: {
+      /// JOIN message transmission interval in milliseconds.
+      join_interval: 2500,
+      /// Maximum number of multicast sessions.
+      max_sessions: 1000,
+      /// Enables QoS on multicast communication.
+      /// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility.
+      qos: {
+        enabled: false,
+      },
+      /// Enables compression on multicast communication.
+      /// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility.
+      compression: {
+        enabled: false,
+      },
+    },
+    link: {
+      /// An optional whitelist of protocols to be used for accepting and opening sessions. If not
+      /// configured, all the supported protocols are automatically whitelisted. The supported
+      /// protocols are: ["tcp" , "udp", "tls", "quic", "ws", "unixsock-stream", "vsock"] For
+      /// example, to only enable "tls" and "quic": protocols: ["tls", "quic"],
+      ///
+      /// Configure the zenoh TX parameters of a link
+      tx: {
+        /// The resolution in bits to be used for the message sequence numbers.
+        /// When establishing a session with another Zenoh instance, the lowest value of the two instances will be used.
+        /// Accepted values: 8bit, 16bit, 32bit, 64bit.
+        sequence_number_resolution: "32bit",
+        /// Link lease duration in milliseconds to announce to other zenoh nodes
+        /// ROS setting: increase the value to avoid lease expiration at launch time with a large number of Nodes starting all together
+        lease: 60000,
+        /// Number of keep-alive messages in a link lease duration. If no data is sent, keep alive
+        /// messages will be sent at the configured time interval.
+        /// NOTE: In order to consider eventual packet loss and transmission latency and jitter,
+        ///       set the actual keep_alive interval to one fourth of the lease time: i.e. send
+        ///       4 keep_alive messages in a lease period. Changing the lease time will have the
+        ///       keep_alive messages sent more or less often.
+        ///       This is in-line with the ITU-T G.8013/Y.1731 specification on continuous connectivity
+        ///       check which considers a link as failed when no messages are received in 3.5 times the
+        ///       target interval.
+        /// ROS setting: decrease the value since Nodes are communicating over the loopback
+        ///              where keep-alive messages have less chances to be lost.
+        keep_alive: 2,
+        /// Batch size in bytes is expressed as a 16bit unsigned integer.
+        /// Therefore, the maximum batch size is 2^16-1 (i.e. 65535).
+        /// The default batch size value is the maximum batch size: 65535.
+        batch_size: 65535,
+        /// Each zenoh link has a transmission queue that can be configured
+        queue: {
+          /// The size of each priority queue indicates the number of batches a given queue can contain.
+          /// NOTE: the number of batches in each priority must be included between 1 and 16. Different values will result in an error.
+          /// The amount of memory being allocated for each queue is then SIZE_XXX * BATCH_SIZE.
+          /// In the case of the transport link MTU being smaller than the ZN_BATCH_SIZE,
+          /// then amount of memory being allocated for each queue is SIZE_XXX * LINK_MTU.
+          /// If qos is false, then only the DATA priority will be allocated.
+          size: {
+            control: 2,
+            real_time: 2,
+            interactive_high: 2,
+            interactive_low: 2,
+            data_high: 2,
+            data: 2,
+            data_low: 2,
+            background: 2,
+          },
+          /// Congestion occurs when the queue is empty (no available batch).
+          congestion_control: {
+            /// Behavior pushing CongestionControl::Drop messages to the queue.
+            drop: {
+              /// The maximum time in microseconds to wait for an available batch before dropping a droppable message if still no batch is available.
+              wait_before_drop: 1000,
+              /// The maximum deadline limit for multi-fragment messages.
+              max_wait_before_drop_fragments: 50000,
+            },
+            /// Behavior pushing CongestionControl::Block messages to the queue.
+            block: {
+              /// The maximum time in microseconds to wait for an available batch before closing the transport session when sending a blocking message
+              /// if still no batch is available.
+              /// ROS setting: unlike DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5, no change here:
+              ///              as the router is routing messages to outside the robot, possibly over WiFi,
+              ///              keeping a lower value ensure the router is not blocked for too long in case of congestioned WiFi.
+              wait_before_close: 5000000,
+            },
+          },
+          /// Perform batching of messages if they are smaller of the batch_size
+          batching: {
+            /// Perform adaptive batching of messages if they are smaller of the batch_size.
+            /// When the network is detected to not be fast enough to transmit every message individually, many small messages may be
+            /// batched together and sent all at once on the wire reducing the overall network overhead. This is typically of a high-throughput
+            /// scenario mainly composed of small messages. In other words, batching is activated by the network back-pressure.
+            enabled: true,
+            /// The maximum time limit (in ms) a message should be retained for batching when back-pressure happens.
+            time_limit: 1,
+          },
+          allocation: {
+            /// Mode for memory allocation of batches in the priority queues.
+            /// - "init": batches are allocated at queue initialization time.
+            /// - "lazy": batches are allocated when needed up to the maximum number of batches configured in the size configuration parameter.
+            mode: "lazy",
+          },
+        },
+      },
+      /// Configure the zenoh RX parameters of a link
+      rx: {
+        /// Receiving buffer size in bytes for each link
+        /// The default the rx_buffer_size value is the same as the default batch size: 65535.
+        /// For very high throughput scenarios, the rx_buffer_size can be increased to accommodate
+        /// more in-flight data. This is particularly relevant when dealing with large messages.
+        /// E.g. for 16MiB rx_buffer_size set the value to: 16777216.
+        buffer_size: 65535,
+        /// Maximum size of the defragmentation buffer at receiver end.
+        /// Fragmented messages that are larger than the configured size will be dropped.
+        /// The default value is 1GiB. This would work in most scenarios.
+        /// NOTE: reduce the value if you are operating on a memory constrained device.
+        max_message_size: 1073741824,
+      },
+      /// Configure TLS specific parameters
+      tls: {
+        /// Path to the certificate of the certificate authority used to validate either the server
+        /// or the client's keys and certificates, depending on the node's mode. If not specified
+        /// on router mode then the default WebPKI certificates are used instead.
+        root_ca_certificate: null,
+        /// Path to the TLS listening side private key
+        listen_private_key: null,
+        /// Path to the TLS listening side public certificate
+        listen_certificate: null,
+        ///  Enables mTLS (mutual authentication), client authentication
+        enable_mtls: false,
+        /// Path to the TLS connecting side private key
+        connect_private_key: null,
+        /// Path to the TLS connecting side certificate
+        connect_certificate: null,
+        /// Whether or not to verify the matching between hostname/dns and certificate when connecting,
+        /// if set to false zenoh will disregard the common names of the certificates when verifying servers.
+        /// This could be dangerous because your CA can have signed a server cert for foo.com, that's later being used to host a server at baz.com. If you wan't your
+        /// ca to verify that the server at baz.com is actually baz.com, let this be true (default).
+        verify_name_on_connect: true,
+        /// Whether or not to close links when remote certificates expires.
+        /// If set to true, links that require certificates (tls/quic) will automatically disconnect when the time of expiration of the remote certificate chain is reached
+        /// note that mTLS (client authentication) is required for a listener to disconnect a client on expiration
+        close_link_on_expiration: false,
+        /// Optional configuration for TCP system buffers sizes for TLS links
+        ///
+        /// Configure TCP read buffer size (bytes)
+        // so_rcvbuf: 123456,
+        /// Configure TCP write buffer size (bytes)
+        // so_sndbuf: 123456,
+      },
+      // // Configure optional TCP link specific parameters
+      // tcp: {
+      //   /// Optional configuration for TCP system buffers sizes for TCP links
+      //   ///
+      //   /// Configure TCP read buffer size (bytes)
+      //   // so_rcvbuf: 123456,
+      //   /// Configure TCP write buffer size (bytes)
+      //   // so_sndbuf: 123456,
+      // },
+    },
+    /// Shared memory configuration.
+    /// NOTE: shared memory can be used only if zenoh is compiled with "shared-memory" feature, otherwise
+    /// settings in this section have no effect.
+    shared_memory: {
+      /// Whether shared memory is enabled or not.
+      /// If set to `true`, the SHM buffer optimization support will be announced to other parties. (default `true`).
+      /// This option doesn't make SHM buffer optimization mandatory, the real support depends on other party setting.
+      /// A probing procedure for shared memory is performed upon session opening. To enable zenoh to operate
+      /// over shared memory (and to not fallback on network mode), shared memory needs to be enabled also on the
+      /// subscriber side. By doing so, the probing procedure will succeed and shared memory will operate as expected.
+      ///
+      /// ROS setting: disabled by default until fully tested
+      enabled: false,
+      /// SHM resources initialization mode (default "lazy").
+      /// - "lazy": SHM subsystem internals will be initialized lazily upon the first SHM buffer
+      /// allocation or reception. This setting provides better startup time and optimizes resource usage,
+      /// but produces extra latency at the first SHM buffer interaction.
+      /// - "init": SHM subsystem internals will be initialized upon Session opening. This setting sacrifices
+      /// startup time, but guarantees no latency impact when first SHM buffer is processed.
+      mode: "lazy",
+      /// ROS setting: the section below controls SHM parameters used for large message passing on ROS
+      transport_optimization: {
+          /// Enables transport optimization for large messages (default `true`).
+          /// Implicitly puts large messages into shared memory for transports with SHM-compatible connection.
+          enabled: true,
+          /// SHM memory size in bytes used for transport optimization (default `48 * 1024 * 1024`).
+          pool_size: 50331648,
+          /// Allow optimization for messages equal or larger than this threshold in bytes (default `3072`).
+          message_size_threshold: 512,
+      },
+    },
+    auth: {
+      /// The configuration of authentication.
+      /// A password implies a username is required.
+      usrpwd: {
+        user: null,
+        password: null,
+        /// The path to a file containing the user password dictionary
+        dictionary_file: null,
+      },
+      pubkey: {
+        public_key_pem: null,
+        private_key_pem: null,
+        public_key_file: null,
+        private_key_file: null,
+        key_size: null,
+        known_keys_file: null,
+      },
+    },
+  },
+
+  /// Configure the Admin Space
+  /// Unstable: this configuration part works as advertised, but may change in a future release
+  adminspace: {
+    /// Enables the admin space
+    enabled: true,
+    /// read and/or write permissions on the admin space
+    permissions: {
+      read: true,
+      write: false,
+    },
+  },
+
+}
diff --git a/ros2-poc/config/zenoh-session.json5 b/ros2-poc/config/zenoh-session.json5
new file mode 100644
index 00000000..6cb1d33d
--- /dev/null
+++ b/ros2-poc/config/zenoh-session.json5
@@ -0,0 +1,820 @@
+/// This file attempts to list and document available configuration elements.
+/// For a more complete view of the configuration's structure, check out `zenoh/src/config.rs`'s `Config` structure.
+/// Note that the values here are correctly typed, but may not be sensible, so copying this file to change only the parts that matter to you is not good practice.
+{
+  /// The identifier (as unsigned 128bit integer in hexadecimal lowercase - leading zeros are not accepted)
+  /// that zenoh runtime will use.
+  /// If not set, a random unsigned 128bit integer will be used.
+  /// WARNING: this id must be unique in your zenoh network.
+  // id: "1234567890abcdef",
+
+  /// The node's mode (router, peer or client)
+  mode: "peer",
+
+  /// Which endpoints to connect to. E.g. tcp/localhost:7447.
+  /// By configuring the endpoints, it is possible to tell zenoh which router/peer to connect to at startup.
+  ///
+  /// For TCP/UDP on Linux, it is possible additionally specify the interface to be connected to:
+  /// E.g. tcp/192.168.0.1:7447#iface=eth0, for connect only if the IP address is reachable via the interface eth0
+  ///
+  /// It is also possible to specify a priority range and/or a reliability setting to be used on the link.
+  /// For example `tcp/localhost?prio=6-7;rel=0` assigns priorities "data_low" and "background" to the established link.
+  ///
+  /// For TCP and TLS links, it is possible to specify the TCP buffer sizes:
+  /// E.g. tcp/192.168.0.1:7447#so_sndbuf=65000;so_rcvbuf=65000
+  /// For TCP, UDP, Quic and TLS links, it is possible to specify a `bind` address for the local socket:
+  /// E.g. tcp/192.168.0.1:7447#bind=192.168.0.1:0
+  ///  Note!: Currently it is unsupported to specify both `bind` and `iface`.
+  ///
+  /// For TCP/UDP links, it's possible to specify the DSCP field of the IP header:
+  /// E.g. tcp/192.168.0.1:7447#dscp=0x08
+  connect: {
+    /// timeout waiting for all endpoints connected (0: no retry, -1: infinite timeout)
+    /// Accepts a single value (e.g. timeout_ms: 0)
+    /// or different values for router, peer and client (e.g. timeout_ms: { router: -1, peer: -1, client: 0 }).
+    timeout_ms: { router: -1, peer: -1, client: 0 },
+
+    /// The list of endpoints to connect to.
+    /// Accepts a single list (e.g. endpoints: ["tcp/10.10.10.10:7447", "tcp/11.11.11.11:7447"])
+    /// or different lists for router, peer and client (e.g. endpoints: { router: ["tcp/10.10.10.10:7447"], peer: ["tcp/11.11.11.11:7447"] }).
+    ///
+    /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html
+    ///
+    /// ROS setting: By default connect to the Zenoh router on localhost on port 7447.
+    endpoints: [
+      "tcp/127.0.0.1:7447"
+    ],
+
+    /// Global connect configuration,
+    /// Accepts a single value or different values for router, peer and client.
+    /// The configuration can also be specified for the separate endpoint
+    /// it will override the global one
+    /// E.g. tcp/192.168.0.1:7447#retry_period_init_ms=20000;retry_period_max_ms=10000"
+
+    /// exit from application, if timeout exceed
+    exit_on_failure: { router: false, peer: false, client: true },
+    /// connect establishing retry configuration
+    retry: {
+      /// initial wait timeout until next connect try
+      period_init_ms: 1000,
+      /// maximum wait timeout until next connect try
+      period_max_ms: 4000,
+      /// increase factor for the next timeout until nexti connect try
+      period_increase_factor: 2,
+    },
+  },
+
+  /// Which endpoints to listen on. E.g. tcp/0.0.0.0:7447.
+  /// By configuring the endpoints, it is possible to tell zenoh which are the endpoints that other routers,
+  /// peers, or client can use to establish a zenoh session.
+  ///
+  /// For TCP/UDP on Linux, it is possible additionally specify the interface to be listened to:
+  /// E.g. tcp/0.0.0.0:7447#iface=eth0, for listen connection only on eth0
+  ///
+  /// It is also possible to specify a priority range and/or a reliability setting to be used on the link.
+  /// For example `tcp/localhost?prio=6-7;rel=0` assigns priorities "data_low" and "background" to the established link.
+  ///
+  /// For TCP and TLS links, it is possible to specify the TCP buffer sizes:
+  /// E.g. tcp/192.168.0.1:7447#so_sndbuf=65000;so_rcvbuf=65000
+  ///
+  /// For TCP/UDP links, it's possible to specify the DSCP field of the IP header:
+  /// E.g. tcp/192.168.0.1:7447#dscp=0x08
+  listen: {
+    /// timeout waiting for all listen endpoints (0: no retry, -1: infinite timeout)
+    /// Accepts a single value (e.g. timeout_ms: 0)
+    /// or different values for router, peer and client (e.g. timeout_ms: { router: -1, peer: -1, client: 0 }).
+    timeout_ms: 0,
+
+    /// The list of endpoints to listen on.
+    /// Accepts a single list (e.g. endpoints: ["tcp/[::]:7447", "udp/[::]:7447"])
+    /// or different lists for router, peer and client (e.g. endpoints: { router: ["tcp/[::]:7447"], peer: ["tcp/[::]:0"] }).
+    ///
+    /// See https://docs.rs/zenoh/latest/zenoh/config/struct.EndPoint.html
+    ///
+    /// ROS setting: By default accept incoming connections only from localhost (i.e. from colocalized Nodes).
+    ///              All communications with other hosts are routed by the Zenoh router.
+    endpoints: [
+      "tcp/localhost:0"
+    ],
+
+    /// Global listen configuration,
+    /// Accepts a single value or different values for router, peer and client.
+    /// The configuration can also be specified for the separate endpoint
+    /// it will override the global one
+    /// E.g. tcp/192.168.0.1:7447#exit_on_failure=false;retry_period_max_ms=1000"
+
+    /// exit from application, if timeout exceed
+    exit_on_failure: true,
+    /// listen retry configuration
+    retry: {
+      /// initial wait timeout until next try
+      period_init_ms: 1000,
+      /// maximum wait timeout until next try
+      period_max_ms: 4000,
+      /// increase factor for the next timeout until next try
+      period_increase_factor: 2,
+    },
+  },
+
+  /// Configure the session open behavior.
+  open: {
+    /// Configure the conditions to be met before session open returns.
+    return_conditions: {
+      /// Session open waits to connect to scouted peers and routers before returning.
+      /// When set to false, first publications and queries after session open from peers may be lost.
+      connect_scouted: true,
+      /// Session open waits to receive initial declares from connected peers before returning.
+      /// Setting to false may cause extra traffic at startup from peers.
+      declares: true,
+    },
+  },
+
+  /// Configure the scouting mechanisms and their behaviours
+  scouting: {
+    /// In client mode, the period in milliseconds dedicated to scouting for a router before failing.
+    timeout: 3000,
+    /// In peer mode, the maximum period in milliseconds dedicated to scouting remote peers before attempting other operations.
+    delay: 500,
+    /// The multicast scouting configuration.
+    multicast: {
+      /// Whether multicast scouting is enabled or not
+      ///
+      /// ROS setting: disable multicast discovery by default
+      enabled: false,
+      /// The socket which should be used for multicast scouting
+      address: "224.0.0.224:7446",
+      /// The network interface which should be used for multicast scouting
+      interface: "auto", // If not set or set to "auto" the interface if picked automatically
+      /// The time-to-live on multicast scouting packets
+      ttl: 1,
+      /// Which type of Zenoh instances to automatically establish sessions with upon discovery on UDP multicast.
+      /// Accepts a single value (e.g. autoconnect: ["router", "peer"]) which applies whatever the configured "mode" is,
+      /// or different values for router, peer or client mode (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
+      /// Each value is a list of: "peer", "router" and/or "client".
+      autoconnect: { router: [], peer: ["router", "peer"], client: ["router"] },
+      /// Strategy for autoconnection, mainly to avoid nodes connecting to each other redundantly.
+      /// Possible options are:
+      /// - "always": always attempt to autoconnect, may result in redundant connections.
+      /// - "greater-zid": attempt to connect to another node only if its own zid is greater than the other's.
+      ///   If both nodes use this strategy, only one will attempt the connection.
+      ///   This strategy may not be suited if one of the nodes is not reachable by the other one, for example
+      ///   because of a private IP.
+      /// Accepts a single value (e.g. autoconnect: "always") which applies whatever node would be auto-connected to,
+      /// or different values for router and/or peer depending on the type of node detected
+      /// (e.g. autoconnect_strategy : { to_router:  "always", to_peer: "greater-zid" }),
+      /// or different values for router or peer mode
+      /// (e.g. autoconnect_strategy : { peer: { to_router:  "always", to_peer: "greater-zid" } }).
+      /// ROS setting: by default all peers rely on the router to discover each other. Thus configuring the peer to send gossip
+      ///              messages only to the router is sufficient and avoids unecessary traffic between Nodes at launch time.
+      autoconnect_strategy: { peer: { to_router: "always", to_peer: "greater-zid" } },
+      /// Whether or not to listen for scout messages on UDP multicast and reply to them.
+      listen: true,
+    },
+    /// The gossip scouting configuration. Note that instances in "client" mode do not participate in gossip.
+    gossip: {
+      /// Whether gossip scouting is enabled or not
+      enabled: true,
+      /// When true, gossip scouting information are propagated multiple hops to all nodes in the local network.
+      /// When false, gossip scouting information are only propagated to the next hop.
+      /// Activating multihop gossip implies more scouting traffic and a lower scalability.
+      /// It mostly makes sense when using "linkstate" routing mode where all nodes in the subsystem don't have
+      /// direct connectivity with each other.
+      multihop: false,
+      /// Which type of Zenoh instances to send gossip messages to.
+      /// Accepts a single value (e.g. target: ["router", "peer"]) which applies whatever the configured "mode" is,
+      /// or different values for router or peer mode (e.g. target: { router: ["router", "peer"], peer: ["router"] }).
+      /// Each value is a list of "peer" and/or "router".
+      /// ROS setting: by default all peers rely on the router to discover each other. Thus configuring the peer to send gossip
+      ///              messages only to the router is sufficient and avoids unecessary traffic between Nodes at launch time.
+      target: { router: ["router", "peer"], peer: ["router"]},
+      /// Which type of Zenoh instances to automatically establish sessions with upon discovery on gossip.
+      /// Accepts a single value (e.g. autoconnect: ["router", "peer"]) which applies whatever the configured "mode" is,
+      /// or different values for router or peer mode (e.g. autoconnect: { router: [], peer: ["router", "peer"] }).
+      /// Each value is a list of: "peer" and/or "router".
+      autoconnect: { router: [], peer: ["router", "peer"] },
+      /// Strategy for autoconnection, mainly to avoid nodes connecting to each other redundantly.
+      /// Possible options are:
+      /// - "always": always attempt to autoconnect, may result in redundant connection which will then be closed.
+      /// - "greater-zid": attempt to connect to another node only if its own zid is greater than the other's.
+      ///   If both nodes use this strategy, only one will attempt the connection.
+      ///   This strategy may not be suited if one of the nodes is not reachable by the other one, for example
+      ///   because of a private IP.
+      /// Accepts a single value (e.g. autoconnect: "always") which applies whatever node would be auto-connected to,
+      /// or different values for router and/or peer depending on the type of node detected
+      /// (e.g. autoconnect_strategy : { to_router:  "always", to_peer: "greater-zid" }),
+      /// or different values for router or peer mode
+      /// (e.g. autoconnect_strategy : { peer: { to_router:  "always", to_peer: "greater-zid" } }).
+      /// ROS setting: as by default all peers will interconnect to each other over the loopback interface,
+      ///              they are all reachable to each other. Hence using "greater-zid" for peers connecting to
+      ///              other peers is sufficient and avoids unecessary double connections between peers at startup.
+      autoconnect_strategy: { peer: { to_router: "always", to_peer: "greater-zid" } },
+    },
+  },
+
+  /// Configuration of data messages timestamps management.
+  timestamping: {
+    /// Whether data messages should be timestamped if not already.
+    /// Accepts a single boolean value or different values for router, peer and client.
+    ///
+    /// ROS setting: PublicationCache which is required for transient_local durability
+    ///              only works when time-stamping is enabled.
+    enabled: { router: true, peer: true, client: true },
+    /// Whether data messages with timestamps in the future should be dropped or not.
+    /// If set to false (default), messages with timestamps in the future are retimestamped.
+    /// Timestamps are ignored if timestamping is disabled.
+    drop_future_timestamp: false,
+  },
+
+  /// The default timeout to apply to queries in milliseconds.
+  /// ROS setting: The default value of 600000 ms (10 minutes) is already quite high, but it can be increased if needed.
+  ///              For instance to avoid timeout with Service Server that that is unresponsive or lagging,
+  ///              which could occur at launch time with a large number of Nodes starting all together.
+  ///              It’s recommended to configure a value that exceeds the longest timeout specified in any
+  ///              `spin_until_complete(service_call_future_result, timeout)` call.
+  ///              Note that the action-related service "get_result" is hard-coded with an infinite timeout,
+  ///              as in some use case an action could spend several hours (e.g. mission plans).
+  queries_default_timeout: 600000,
+
+  /// The routing strategy to use and it's configuration.
+  routing: {
+    /// The routing strategy to use in routers and it's configuration.
+    router: {
+      /// When set to true a router will forward data between two peers
+      /// directly connected to it if it detects that those peers are not
+      /// connected to each other.
+      /// The failover brokering only works if gossip discovery is enabled
+      /// and peers are configured with gossip target "router".
+      peers_failover_brokering: true,
+      /// Linkstate mode configuration.
+      linkstate: {
+        /// Weights of the outgoing transports in linkstate mode.
+        /// If none of the two endpoint nodes of a transport specifies its weight, a weight of 100 is applied.
+        /// If only one of the two endpoint nodes of a transport specifies its weight, the specified weight is applied.
+        /// If both endpoint nodes of a transport specify its weight, the greater weight is applied.
+        // transport_weights: [
+        //   { dst_zid: "1", weight: "10" },
+        //   { dst_zid: "2", weight: "200" },
+        // ]
+      },
+    },
+    /// The routing strategy to use in peers and it's configuration.
+    peer: {
+      /// The routing strategy to use in peers. ("peer_to_peer" or "linkstate").
+      /// This option needs to be set to the same value in all peers and routers of the subsystem.
+      mode: "peer_to_peer",
+      /// Linkstate mode configuration (only taken into account if mode == "linkstate").
+      linkstate: {
+        /// Weights of the outgoing transports in linkstate mode.
+        /// If none of the two endpoint nodes of a transport specifies its weight, a weight of 100 is applied.
+        /// If only one of the two endpoint nodes of a transport specifies its weight, the specified weight is applied.
+        /// If both endpoint nodes of a transport specify its weight, the greater weight is applied.
+        // transport_weights: [
+        //   { dst_zid: "1", weight: "10" },
+        //   { dst_zid: "2", weight: "200" },
+        // ]
+      },
+    },
+    /// The interests-based routing configuration.
+    /// This configuration applies regardless of the mode (router, peer or client).
+    interests: {
+      /// The timeout to wait for incoming interests declarations in milliseconds.
+      /// The expiration of this timeout implies that the discovery protocol might be incomplete,
+      /// leading to potential loss of messages, queries or liveliness tokens.
+      timeout: 10000,
+    },
+  },
+
+  // /// Overwrite QoS options for Zenoh messages by key expression (ignores Zenoh API QoS config for overwritten values)
+  // qos: {
+  //   /// Overwrite QoS options for PUT and DELETE messages
+  //   publication: [
+  //     {
+  //       /// PUT and DELETE messages on key expressions that are included by these key expressions
+  //       /// will have their QoS options overwritten by the given config.
+  //       key_exprs: ["demo/**", "example/key"],
+  //       /// Configurations that will be applied on the publisher.
+  //       /// Options that are supplied here will overwrite the configuration given in Zenoh API
+  //       config: {
+  //         congestion_control: "block",
+  //         priority: "data_high",
+  //         express: true,
+  //         reliability: "best_effort",
+  //         allowed_destination: "remote",
+  //       },
+  //     },
+  //   ],
+  //   /// Overwrite QoS options for messages sent and received from/to the network
+  //   /// This allows more fine grained rules (per network card, etc...) but is
+  //   /// less performant than the publication option above.
+  //   network: [
+  //     {
+  //       /// Optional Id, has to be unique.
+  //       id: "lo0_en0_qos_overwrite",
+  //       /// Optional list of ZIDs on which qos will be overwritten when communicating with.
+  //       // zids: ["38a4829bce9166ee"],
+  //       /// Optional list of interfaces, if not specified, will be applied to all interfaces.
+  //       interfaces: [
+  //         "lo0",
+  //         "en0",
+  //       ],
+  //       /// Optional list of link protocols. Transports with at least one of these links will have their qos overwritten.
+  //       /// If absent, the overwrite will be applied to all transports. An empty list is invalid.
+  //       link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"],
+  //       /// List of message types to apply to.
+  //       messages: [
+  //         "put", // put publications
+  //         "delete", // delete publications
+  //         "query", // get queries
+  //         "reply", // replies to queries
+  //       ],
+  //       /// Optional list of data flows messages will be processed on ("egress" and/or "ingress").
+  //       /// If absent, the rules will be applied to both flows.
+  //       flows: ["egress", "ingress"],
+  //       /// QoS filter to apply to the messages matching this item.
+  //       qos: {
+  //         congestion_control: "drop",
+  //         priority: "data",
+  //         express: true,
+  //         reliability: "reliable",
+  //       },
+  //       /// payload_size range for the messages matching this item.
+  //       payload_size: "1000000..",
+  //       key_exprs: ["test/demo"],
+  //       overwrite: {
+  //         /// Optional new priority value, if not specified priority of the messages will stay unchanged.
+  //         priority: "real_time",
+  //         /// Optional new congestion control value, if not specified congestion control of the messages will stay unchanged.
+  //         congestion_control: "block",
+  //         /// Optional new express value, if not specified express flag of the messages will stay unchanged.
+  //         express: true,
+  //       },
+  //     },
+  //   ],
+  // },
+
+  // /// The declarations aggregation strategy.
+  // aggregation: {
+  //   /// A list of key-expressions for which all included subscribers will be aggregated into.
+  //   subscribers: [
+  //     // key_expression
+  //   ],
+  //   /// A list of key-expressions for which all included publishers will be aggregated into.
+  //   publishers: [
+  //     // key_expression
+  //   ],
+  // },
+
+  // /// Namespace prefix.
+  // /// If specified, all outgoing key expressions will be automatically prefixed with specified string,
+  // /// and all incoming key expressions will be stripped of specified prefix.
+  // /// The namespace prefix should satisfy all key expression constraints
+  // /// and additionally it can not contain wild characters ('*').
+  // /// Namespace is applied to the session.
+  // /// E. g. if session has a namespace of "1" then session.put("my/keyexpr", my_message),
+  // /// will put a message into 1/my/keyexpr. Same applies to all other operations within this session.
+  // namespace: "my/namespace",
+
+  // /// The downsampling declaration.
+  // downsampling: [
+  //   {
+  //     /// Optional Id, has to be unique
+  //     id: "wlan0egress",
+  //     /// Optional list of network interfaces messages will be processed on, the rest will be passed as is.
+  //     /// If absent, the rules will be applied to all interfaces. An empty list is invalid.
+  //     interfaces: [ "wlan0" ],
+  //     /// Optional list of link protocols. Transports with at least one of these links will have their messages filtered.
+  //     /// If absent, the rules will be applied to all transports. An empty list is invalid.
+  //     link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"],
+  //     /// Optional list of data flows messages will be processed on ("egress" and/or "ingress").
+  //     /// If absent, the rules will be applied to both flows.
+  //     flows: ["ingress", "egress"],
+  //     /// List of message type on which downsampling will be applied. Must not be empty.
+  //     messages: [
+  //       /// Delete
+  //       "delete",
+  //       /// Put
+  //       "put",
+  //       /// Get
+  //       "query",
+  //       /// Queryable Reply to a Query
+  //       "reply",
+  //     ],
+  //     /// A list of downsampling rules: key_expression and the maximum frequency in Hertz
+  //     rules: [
+  //       { key_expr: "demo/example/zenoh-rs-pub", freq: 0.1 },
+  //     ],
+  //   },
+  // ],
+
+  // /// Configure access control (ACL) rules
+  // access_control: {
+  //   /// [true/false] acl will be activated only if this is set to true
+  //   "enabled": false,
+  //   /// [deny/allow] default permission is deny (even if this is left empty or not specified)
+  //   "default_permission": "deny",
+  //   /// Rule set for permissions allowing or denying access to key-expressions
+  //   "rules":
+  //   [
+  //     {
+  //       /// Id has to be unique within the rule set
+  //       "id": "rule1",
+  //       "messages": [
+  //         "put", "delete", "declare_subscriber",
+  //         "query", "reply", "declare_queryable",
+  //         "liveliness_token", "liveliness_query", "declare_liveliness_subscriber",
+  //       ],
+  //       "flows":["egress","ingress"],
+  //       "permission": "allow",
+  //       "key_exprs": [
+  //         "test/demo"
+  //       ],
+  //     },
+  //     {
+  //       "id": "rule2",
+  //       "messages": [
+  //         "put", "delete", "declare_subscriber",
+  //         "query", "reply", "declare_queryable",
+  //       ],
+  //       "flows":["ingress"],
+  //       "permission": "allow",
+  //       "key_exprs": [
+  //         "**"
+  //       ],
+  //     },
+  //   ],
+  //   /// List of combinations of subjects.
+  //   ///
+  //   /// If a subject property (i.e. username, certificate common name or interface) is empty
+  //   /// it is interpreted as a wildcard. Moreover, a subject property cannot be an empty list.
+  //   "subjects":
+  //   [
+  //     {
+  //       /// Id has to be unique within the subjects list
+  //       "id": "subject1",
+  //       /// Subjects can be interfaces
+  //       "interfaces": [
+  //         "lo0",
+  //         "en0",
+  //       ],
+  //       /// Subjects can be cert_common_names when using TLS or Quic
+  //       "cert_common_names": [
+  //         "example.zenoh.io"
+  //       ],
+  //       /// Subjects can be usernames when using user/password authentication
+  //       "usernames": [
+  //         "zenoh-example"
+  //       ],
+  //       /// This instance translates internally to this filter:
+  //       /// (interface="lo0" && cert_common_name="example.zenoh.io" && username="zenoh-example") ||
+  //       /// (interface="en0" && cert_common_name="example.zenoh.io" && username="zenoh-example")
+  //     },
+  //     {
+  //       "id": "subject2",
+  //       "interfaces": [
+  //         "lo0",
+  //         "en0",
+  //       ],
+  //       "cert_common_names": [
+  //         "example2.zenoh.io"
+  //       ],
+  //       /// This instance translates internally to this filter:
+  //       /// (interface="lo0" && cert_common_name="example2.zenoh.io") ||
+  //       /// (interface="en0" && cert_common_name="example2.zenoh.io")
+  //     },
+  //     {
+  //       "id": "subject3",
+  //       /// An empty subject combination is a wildcard
+  //     },
+  //     {
+  //       "id": "subject4",
+  //       /// link protocols can also be used to identify transports to filter messages on.
+  //       /// If absent, the rules will be applied to all transports. An empty list is invalid.
+  //       link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"],
+  //       /// ZIDs can also be used to identify transports to filter messages on.
+  //       /// NOTE: ZID is not backed by an authentication mechanism, it can only be trusted for ACL if it is
+  //       ///       dynamically added/removed by eventual dedicated Zenoh mechanisms when transports are opened/closed.
+  //       ///       If managed manually in ACL config, can be useful for prototyping but should not be used in production!
+  //       zids: ["38a4829bce9166ee"],
+  //     },
+  //   ],
+  //   /// The policies list associates rules to subjects
+  //   "policies":
+  //   [
+  //     /// Each policy associates one or multiple rules to one or multiple subject combinations
+  //     {
+  //       /// Id is optional. If provided, it has to be unique within the policies list
+  //       "id": "policy1",
+  //       /// Rules and Subjects are identified with their unique IDs declared above
+  //       "rules": ["rule1"],
+  //       "subjects": ["subject1", "subject2"],
+  //     },
+  //     {
+  //       "rules": ["rule2"],
+  //       "subjects": ["subject3", "subject4"],
+  //     },
+  //   ]
+  // },
+
+  // low_pass_filter: [
+  //   {
+  //     /// Optional Id, has to be unique
+  //     "id": "filter1",
+  //     /// Optional list of network interfaces messages will be processed on, the rest will not be filtered.
+  //     /// If absent, the filter will be applied to all interfaces.
+  //     interfaces: [ "wlan0" ],
+  //     /// Optional list of link protocols. Transports with at least one of these links will have their messages filtered.
+  //     /// If absent, the rule will be applied to all transports. An empty list is invalid.
+  //     link_protocols: [ "tcp", "udp", "tls", "quic", "ws", "serial", "unixsock-stream", "unixpipe", "vsock"],
+  //     /// Optional list of data flows messages will be processed on ("egress" and/or "ingress").
+  //     /// If absent, the filter will be applied to both flows.
+  //     flows: ["ingress", "egress"],
+  //     /// List of message type on which the filter will be applied. Must not be empty.
+  //     messages: [
+  //       "put",
+  //       "delete",
+  //       "query",
+  //       "reply"
+  //     ],
+  //     /// List of key_expressions which matching messages will be filtered
+  //     key_exprs: [
+  //       "demo/**",
+  //     ],
+  //     /// Inclusive max size of serialized payload + serialized attachment
+  //     size_limit: 8192,
+  //   },
+  // ],
+
+  /// Enable stats per key expression.
+  // stats: {
+  //   filters: [
+  //     {
+  //       key: "some/key/expression/**",
+  //     }
+  //   ],
+  // },
+
+  /// Configure internal transport parameters
+  transport: {
+    unicast: {
+      /// Timeout in milliseconds when opening a link
+      /// ROS setting: increase the value to avoid timeout at launch time with a large number of Nodes starting all together
+      open_timeout: 60000,
+      /// Timeout in milliseconds when accepting a link
+      /// ROS setting: increase the value to avoid timeout at launch time with a large number of Nodes starting all together
+      accept_timeout: 60000,
+      /// Maximum number of links in pending state while performing the handshake for accepting it
+      /// ROS setting: increase the value to support a large number of Nodes starting all together
+      accept_pending: 10000,
+      /// Maximum number of transports that can be simultaneously alive for a single zenoh sessions
+      /// ROS setting: increase the value to support a large number of Nodes starting all together
+      max_sessions: 10000,
+      /// Maximum number of incoming links that are admitted per transport
+      max_links: 1,
+      /// Enables the LowLatency transport
+      /// This option does not make LowLatency transport mandatory, the actual implementation of transport
+      /// used will depend on Establish procedure and other party's settings
+      ///
+      /// NOTE: Currently, the LowLatency transport doesn't preserve QoS prioritization.
+      /// NOTE: Due to the note above, 'lowlatency' is incompatible with 'qos' option, so in order to
+      ///       enable 'lowlatency' you need to explicitly disable 'qos'.
+      /// NOTE: LowLatency transport does not support the fragmentation, so the message size should be
+      ///       smaller than the tx batch_size.
+      lowlatency: false,
+      /// Enables QoS on unicast communications.
+      qos: {
+        enabled: true,
+      },
+      /// Enables compression on unicast communications.
+      /// Compression capabilities are negotiated during session establishment.
+      /// If both Zenoh nodes support compression, then compression is activated.
+      compression: {
+        enabled: false,
+      },
+    },
+    /// WARNING: multicast communication does not perform any negotiation upon group joining.
+    ///   Because of that, it is important that all transport parameters are the same to make
+    ///   sure all your nodes in the system can communicate. One common parameter to configure
+    ///   is "transport/link/tx/batch_size" since its default value depends on the actual platform
+    ///   when operating on multicast.
+    ///   E.g., the batch size on Linux and Windows is 65535 bytes, on Mac OS X is 9216, and anything else is 8192.
+    multicast: {
+      /// JOIN message transmission interval in milliseconds.
+      join_interval: 2500,
+      /// Maximum number of multicast sessions.
+      max_sessions: 1000,
+      /// Enables QoS on multicast communication.
+      /// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility.
+      qos: {
+        enabled: false,
+      },
+      /// Enables compression on multicast communication.
+      /// Default to false for Zenoh-to-Zenoh-Pico out-of-the-box compatibility.
+      compression: {
+        enabled: false,
+      },
+    },
+    link: {
+      /// An optional whitelist of protocols to be used for accepting and opening sessions. If not
+      /// configured, all the supported protocols are automatically whitelisted. The supported
+      /// protocols are: ["tcp" , "udp", "tls", "quic", "ws", "unixsock-stream", "vsock"] For
+      /// example, to only enable "tls" and "quic": protocols: ["tls", "quic"],
+      ///
+      /// Configure the zenoh TX parameters of a link
+      tx: {
+        /// The resolution in bits to be used for the message sequence numbers.
+        /// When establishing a session with another Zenoh instance, the lowest value of the two instances will be used.
+        /// Accepted values: 8bit, 16bit, 32bit, 64bit.
+        sequence_number_resolution: "32bit",
+        /// Link lease duration in milliseconds to announce to other zenoh nodes
+        /// ROS setting: increase the value to avoid lease expiration at launch time with a large number of Nodes starting all together
+        lease: 60000,
+        /// Number of keep-alive messages in a link lease duration. If no data is sent, keep alive
+        /// messages will be sent at the configured time interval.
+        /// NOTE: In order to consider eventual packet loss and transmission latency and jitter,
+        ///       set the actual keep_alive interval to one fourth of the lease time: i.e. send
+        ///       4 keep_alive messages in a lease period. Changing the lease time will have the
+        ///       keep_alive messages sent more or less often.
+        ///       This is in-line with the ITU-T G.8013/Y.1731 specification on continuous connectivity
+        ///       check which considers a link as failed when no messages are received in 3.5 times the
+        ///       target interval.
+        /// ROS setting: decrease the value since Nodes are communicating over the loopback
+        ///              where keep-alive messages have less chances to be lost.
+        keep_alive: 2,
+        /// Batch size in bytes is expressed as a 16bit unsigned integer.
+        /// Therefore, the maximum batch size is 2^16-1 (i.e. 65535).
+        /// The default batch size value is the maximum batch size: 65535.
+        batch_size: 65535,
+        /// Each zenoh link has a transmission queue that can be configured
+        queue: {
+          /// The size of each priority queue indicates the number of batches a given queue can contain.
+          /// NOTE: the number of batches in each priority must be included between 1 and 16. Different values will result in an error.
+          /// The amount of memory being allocated for each queue is then SIZE_XXX * BATCH_SIZE.
+          /// In the case of the transport link MTU being smaller than the ZN_BATCH_SIZE,
+          /// then amount of memory being allocated for each queue is SIZE_XXX * LINK_MTU.
+          /// If qos is false, then only the DATA priority will be allocated.
+          size: {
+            control: 2,
+            real_time: 2,
+            interactive_high: 2,
+            interactive_low: 2,
+            data_high: 2,
+            data: 2,
+            data_low: 2,
+            background: 2,
+          },
+          /// Congestion occurs when the queue is empty (no available batch).
+          congestion_control: {
+            /// Behavior pushing CongestionControl::Drop messages to the queue.
+            drop: {
+              /// The maximum time in microseconds to wait for an available batch before dropping a droppable message if still no batch is available.
+              wait_before_drop: 1000,
+              /// The maximum deadline limit for multi-fragment messages.
+              max_wait_before_drop_fragments: 50000,
+            },
+            /// Behavior pushing CongestionControl::Block messages to the queue.
+            block: {
+              /// The maximum time in microseconds to wait for an available batch before closing the transport session when sending a blocking message
+              /// if still no batch is available.
+              /// ROS setting: increase the value to avoid unecessary link closure at launch time where congestion is likely
+              ///              to occur even over the loopback since all the Nodes are starting at the same time.
+              wait_before_close: 60000000,
+            },
+          },
+          /// Perform batching of messages if they are smaller of the batch_size
+          batching: {
+            /// Perform adaptive batching of messages if they are smaller of the batch_size.
+            /// When the network is detected to not be fast enough to transmit every message individually, many small messages may be
+            /// batched together and sent all at once on the wire reducing the overall network overhead. This is typically of a high-throughput
+            /// scenario mainly composed of small messages. In other words, batching is activated by the network back-pressure.
+            enabled: true,
+            /// The maximum time limit (in ms) a message should be retained for batching when back-pressure happens.
+            time_limit: 1,
+          },
+          allocation: {
+            /// Mode for memory allocation of batches in the priority queues.
+            /// - "init": batches are allocated at queue initialization time.
+            /// - "lazy": batches are allocated when needed up to the maximum number of batches configured in the size configuration parameter.
+            mode: "lazy",
+          },
+        },
+      },
+      /// Configure the zenoh RX parameters of a link
+      rx: {
+        /// Receiving buffer size in bytes for each link
+        /// The default the rx_buffer_size value is the same as the default batch size: 65535.
+        /// For very high throughput scenarios, the rx_buffer_size can be increased to accommodate
+        /// more in-flight data. This is particularly relevant when dealing with large messages.
+        /// E.g. for 16MiB rx_buffer_size set the value to: 16777216.
+        buffer_size: 65535,
+        /// Maximum size of the defragmentation buffer at receiver end.
+        /// Fragmented messages that are larger than the configured size will be dropped.
+        /// The default value is 1GiB. This would work in most scenarios.
+        /// NOTE: reduce the value if you are operating on a memory constrained device.
+        max_message_size: 1073741824,
+      },
+      /// Configure TLS specific parameters
+      tls: {
+        /// Path to the certificate of the certificate authority used to validate either the server
+        /// or the client's keys and certificates, depending on the node's mode. If not specified
+        /// on router mode then the default WebPKI certificates are used instead.
+        root_ca_certificate: null,
+        /// Path to the TLS listening side private key
+        listen_private_key: null,
+        /// Path to the TLS listening side public certificate
+        listen_certificate: null,
+        ///  Enables mTLS (mutual authentication), client authentication
+        enable_mtls: false,
+        /// Path to the TLS connecting side private key
+        connect_private_key: null,
+        /// Path to the TLS connecting side certificate
+        connect_certificate: null,
+        /// Whether or not to verify the matching between hostname/dns and certificate when connecting,
+        /// if set to false zenoh will disregard the common names of the certificates when verifying servers.
+        /// This could be dangerous because your CA can have signed a server cert for foo.com, that's later being used to host a server at baz.com. If you wan't your
+        /// ca to verify that the server at baz.com is actually baz.com, let this be true (default).
+        verify_name_on_connect: true,
+        /// Whether or not to close links when remote certificates expires.
+        /// If set to true, links that require certificates (tls/quic) will automatically disconnect when the time of expiration of the remote certificate chain is reached
+        /// note that mTLS (client authentication) is required for a listener to disconnect a client on expiration
+        close_link_on_expiration: false,
+        /// Optional configuration for TCP system buffers sizes for TLS links
+        ///
+        /// Configure TCP read buffer size (bytes)
+        // so_rcvbuf: 123456,
+        /// Configure TCP write buffer size (bytes)
+        // so_sndbuf: 123456,
+      },
+      // // Configure optional TCP link specific parameters
+      // tcp: {
+      //   /// Optional configuration for TCP system buffers sizes for TCP links
+      //   ///
+      //   /// Configure TCP read buffer size (bytes)
+      //   // so_rcvbuf: 123456,
+      //   /// Configure TCP write buffer size (bytes)
+      //   // so_sndbuf: 123456,
+      // },
+    },
+    /// Shared memory configuration.
+    /// NOTE: shared memory can be used only if zenoh is compiled with "shared-memory" feature, otherwise
+    /// settings in this section have no effect.
+    shared_memory: {
+      /// Whether shared memory is enabled or not.
+      /// If set to `true`, the SHM buffer optimization support will be announced to other parties. (default `true`).
+      /// This option doesn't make SHM buffer optimization mandatory, the real support depends on other party setting.
+      /// A probing procedure for shared memory is performed upon session opening. To enable zenoh to operate
+      /// over shared memory (and to not fallback on network mode), shared memory needs to be enabled also on the
+      /// subscriber side. By doing so, the probing procedure will succeed and shared memory will operate as expected.
+      ///
+      /// ROS setting: disabled by default until fully tested
+      enabled: false,
+      /// SHM resources initialization mode (default "lazy").
+      /// - "lazy": SHM subsystem internals will be initialized lazily upon the first SHM buffer
+      /// allocation or reception. This setting provides better startup time and optimizes resource usage,
+      /// but produces extra latency at the first SHM buffer interaction.
+      /// - "init": SHM subsystem internals will be initialized upon Session opening. This setting sacrifices
+      /// startup time, but guarantees no latency impact when first SHM buffer is processed.
+      mode: "lazy",
+      /// ROS setting: the section below controls SHM parameters used for large message passing on ROS
+      transport_optimization: {
+          /// Enables transport optimization for large messages (default `true`).
+          /// Implicitly puts large messages into shared memory for transports with SHM-compatible connection.
+          enabled: true,
+          /// SHM memory size in bytes used for transport optimization (default `48 * 1024 * 1024`).
+          pool_size: 50331648,
+          /// Allow optimization for messages equal or larger than this threshold in bytes (default `3072`).
+          message_size_threshold: 512,
+      },
+    },
+    auth: {
+      /// The configuration of authentication.
+      /// A password implies a username is required.
+      usrpwd: {
+        user: null,
+        password: null,
+        /// The path to a file containing the user password dictionary
+        dictionary_file: null,
+      },
+      pubkey: {
+        public_key_pem: null,
+        private_key_pem: null,
+        public_key_file: null,
+        private_key_file: null,
+        key_size: null,
+        known_keys_file: null,
+      },
+    },
+  },
+
+  /// Configure the Admin Space
+  /// Unstable: this configuration part works as advertised, but may change in a future release
+  adminspace: {
+    /// Enables the admin space
+    enabled: true,
+    /// read and/or write permissions on the admin space
+    permissions: {
+      read: true,
+      write: false,
+    },
+  },
+
+}
diff --git a/ros2-poc/nodes/bias_cmd.py b/ros2-poc/nodes/bias_cmd.py
new file mode 100644
index 00000000..b6e871d6
--- /dev/null
+++ b/ros2-poc/nodes/bias_cmd.py
@@ -0,0 +1,88 @@
+#!/usr/bin/env python3
+"""bias_cmd.py — send one plugin command to bias_node.py and print its reply.
+
+    pixi run bias-cmd -- connect
+    pixi run bias-cmd -- startRecording --filename trial_001.avi
+    pixi run bias-cmd -- stopRecording
+    pixi run bias-cmd -- getTimestamp --json
+
+Exit 0 on `ok`, 1 on an error reply, 3 on an UNKNOWN outcome (timeout), 2 on no reply.
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+import threading
+import time
+import uuid
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
+from std_msgs.msg import String
+
+QOS = QoSProfile(
+    reliability=QoSReliabilityPolicy.RELIABLE,
+    history=QoSHistoryPolicy.KEEP_LAST,
+    depth=50,
+    durability=QoSDurabilityPolicy.VOLATILE,
+)
+
+
+def main(argv: list[str] | None = None) -> int:
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("command", help="connect | startRecording | stopRecording | startPreview | stopCapture | getTimestamp | disconnect")
+    p.add_argument("--filename", help="startRecording: video file name/path")
+    p.add_argument("--ip", help="connect: BIAS host")
+    p.add_argument("--port", type=int, help="connect: BIAS command port")
+    p.add_argument("--config-file", help="connect: BIAS configuration file to load")
+    p.add_argument("--timeout", type=float, default=10.0, help="seconds to wait for the reply (default: 10)")
+    p.add_argument("--json", action="store_true", help="print the raw reply JSON")
+    args, ros_args = p.parse_known_args(argv)
+    params = {k: v for k, v in (("filename", args.filename), ("ip", args.ip), ("port", args.port), ("config_file", args.config_file)) if v}
+    cid = str(uuid.uuid4())[:8]
+
+    rclpy.init(args=ros_args)
+    node = Node("bias_cmd_" + cid)
+    got = {}
+    done = threading.Event()
+
+    def on_reply(msg: String) -> None:
+        try:
+            rep = json.loads(msg.data)
+        except json.JSONDecodeError:
+            return
+        if isinstance(rep, dict) and rep.get("id") == cid:
+            got.update(rep)
+            done.set()
+
+    node.create_subscription(String, "/bias/reply", on_reply, QOS)
+    pub = node.create_publisher(String, "/bias/cmd", QOS)
+    time.sleep(0.5)  # discovery
+    m = String()
+    m.data = json.dumps({"id": cid, "command": args.command, "params": params})
+    pub.publish(m)
+    deadline = time.monotonic() + args.timeout
+    while not done.is_set() and time.monotonic() < deadline:
+        rclpy.spin_once(node, timeout_sec=0.1)
+    node.destroy_node()
+    try:
+        rclpy.try_shutdown()
+    except Exception:  # rclpy's own SIGINT handler may already have shut the context down (races in Jazzy)
+        pass
+    if not got:
+        print(f"[bias-cmd] no reply within {args.timeout:g}s (is `pixi run bias-node` running?)", file=sys.stderr)
+        return 2
+    if args.json:
+        print(json.dumps(got, indent=1))
+    else:
+        print(f"{got.get('command')} → {got.get('outcome')} ({got.get('rtt_ms')} ms)" + (f"  value={got.get('value')!r}" if got.get("value") not in (None, "") else "") + (f"  error={got.get('error')}" if got.get("error") else ""))
+        if got.get("artifact"):
+            print(f"artifact: {got['artifact']}")
+    return 0 if got.get("ok") else (3 if got.get("outcome") == "unknown" else 1)
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/nodes/bias_node.py b/ros2-poc/nodes/bias_node.py
new file mode 100644
index 00000000..33047080
--- /dev/null
+++ b/ros2-poc/nodes/bias_node.py
@@ -0,0 +1,253 @@
+#!/usr/bin/env python3
+"""bias_node.py — the BIAS camera as a ROS 2 node: protocol plugin commands in, replies + status out.
+
+BIAS has no ROS node; this adapter talks to its external-control HTTP interface
+(`http://host:port/?command[=value]`, JSON-array replies — see bias_sim.py) and exposes it
+on three topics, all std_msgs/String JSON (no custom message types):
+
+  /bias/cmd     IN   {"id": <any>, "command": <plugin command>, "params": {…}}
+  /bias/reply   OUT  {"id", "command", "ok", "outcome": "ok"|"error"|"unknown", "value",
+                      "error", "steps": [...per HTTP command...], "rtt_ms", "t_ms",
+                      "rx_epoch_ms", "artifact": {"kind":"video","path":…} (startRecording)}
+  /bias/status  OUT  every --status-every s: {"reachable", "connected", "capturing",
+                      "logging", "frameCount", "framesPerSec", "videoFile", "rtt_ms", …}
+
+The `command` vocabulary is the protocol's `camera` plugin (js/plugin-registry.js
+BiasPlugin): connect(ip, port, config_file), startRecording(filename), stopRecording,
+startPreview, stopCapture, getTimestamp, disconnect — each mapped to the BIAS HTTP
+sequence `BiasPlugin.m` performs. The bridge node logs every reply and status line into the
+run log as `{"type":"connector","src":"bias",…}` events, so the video file identity
+(`artifact`) and every command/reply pair sit in the same file as the FicTrac rows.
+
+LAB-303 semantics carried here: `timeout_s` per HTTP call; a timeout is an UNKNOWN outcome
+(`outcome: "unknown"`), after which the node reconciles with `get-status` before anything
+else. `critical` / `on_loss` are the runner's decision (the Studio side, shared by both
+plans) — the node only reports.
+
+    pixi run bias-node -- --host 127.0.0.1 --port 5010
+    pixi run bias-cmd -- startRecording --filename trial_001.avi
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import queue
+import sys
+import threading
+import time
+import urllib.error
+import urllib.parse
+import urllib.request
+
+import rclpy
+from rclpy.executors import ExternalShutdownException
+from rclpy.node import Node
+from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
+from std_msgs.msg import String
+
+CMD_TOPIC = "/bias/cmd"
+REPLY_TOPIC = "/bias/reply"
+STATUS_TOPIC = "/bias/status"
+QOS = QoSProfile(
+    reliability=QoSReliabilityPolicy.RELIABLE,
+    history=QoSHistoryPolicy.KEEP_LAST,
+    depth=50,
+    durability=QoSDurabilityPolicy.VOLATILE,
+)
+PLUGIN_COMMANDS = ("connect", "startRecording", "stopRecording", "startPreview", "stopCapture", "getTimestamp", "disconnect")
+
+
+class BiasHttp:
+    """Blocking HTTP client for BIAS's command port. One command per request."""
+
+    def __init__(self, host: str, port: int, timeout_s: float) -> None:
+        self.host = host
+        self.port = port
+        self.timeout_s = timeout_s
+
+    @property
+    def base(self) -> str:
+        return f"http://{self.host}:{self.port}/"
+
+    def call(self, command: str, value: str | None = None) -> dict:
+        """→ {"command", "ok", "message", "value", "rtt_ms"} or raises TimeoutError / OSError."""
+        q = command if value is None else f"{command}={urllib.parse.quote(str(value), safe='/:\\')}"
+        url = f"{self.base}?{q}"
+        t0 = time.monotonic()
+        try:
+            with urllib.request.urlopen(url, timeout=self.timeout_s) as resp:
+                body = resp.read()
+        except urllib.error.URLError as exc:
+            if isinstance(exc.reason, TimeoutError) or "timed out" in str(exc.reason):
+                raise TimeoutError(str(exc)) from exc
+            raise OSError(str(exc)) from exc
+        except TimeoutError:
+            raise
+        rtt = (time.monotonic() - t0) * 1000.0
+        try:
+            arr = json.loads(body.decode("utf-8"))
+        except (UnicodeDecodeError, json.JSONDecodeError):
+            raise OSError(f"non-JSON reply from BIAS: {body[:80]!r}")
+        rep = arr[0] if isinstance(arr, list) and arr else (arr if isinstance(arr, dict) else {})
+        return {
+            "command": command,
+            "ok": bool(rep.get("success", False)),
+            "message": rep.get("message", ""),
+            "value": rep.get("value", None),
+            "rtt_ms": round(rtt, 2),
+        }
+
+
+def plan(command: str, params: dict) -> list[tuple[str, str | None]]:
+    """Plugin command → BIAS HTTP steps (the sequence BiasPlugin.m performs)."""
+    params = params or {}
+    if command == "connect":
+        steps: list[tuple[str, str | None]] = [("connect", None)]
+        if params.get("config_file"):
+            steps.append(("load-configuration", str(params["config_file"])))
+        return steps
+    if command == "startRecording":
+        steps = []
+        if params.get("filename"):
+            steps.append(("set-video-file", str(params["filename"])))
+        steps += [("enable-logging", None), ("start-capture", None), ("get-video-file", None)]
+        return steps
+    if command == "stopRecording":
+        return [("stop-capture", None), ("disable-logging", None)]
+    if command == "startPreview":
+        return [("disable-logging", None), ("start-capture", None)]
+    if command == "stopCapture":
+        return [("stop-capture", None)]
+    if command == "getTimestamp":
+        return [("get-time-stamp", None)]
+    if command == "disconnect":
+        return [("disconnect", None)]
+    raise ValueError(f"unknown plugin command {command!r} (one of {PLUGIN_COMMANDS})")
+
+
+class BiasNode(Node):
+    def __init__(self, http: BiasHttp, status_every_s: float) -> None:
+        super().__init__("bias_camera")
+        self.http = http
+        self.reply_pub = self.create_publisher(String, REPLY_TOPIC, QOS)
+        self.status_pub = self.create_publisher(String, STATUS_TOPIC, QOS)
+        self.create_subscription(String, CMD_TOPIC, self._on_cmd, QOS)
+        self._q: queue.Queue = queue.Queue()
+        self._worker = threading.Thread(target=self._work, name="bias-http", daemon=True)
+        self._worker.start()
+        self._status_every = status_every_s
+        if status_every_s > 0:
+            self.create_timer(status_every_s, lambda: self._q.put(("status", None)))
+        self.commands = 0
+        self.get_logger().info(f"BIAS at {http.base} ← {CMD_TOPIC} → {REPLY_TOPIC}, {STATUS_TOPIC} every {status_every_s:g}s")
+
+    def _publish(self, pub, obj: dict) -> None:
+        obj.setdefault("rx_epoch_ms", int(time.time() * 1000))
+        m = String()
+        m.data = json.dumps(obj, separators=(",", ":"), default=str)
+        pub.publish(m)
+
+    def _on_cmd(self, msg: String) -> None:
+        try:
+            req = json.loads(msg.data)
+        except json.JSONDecodeError:
+            self._publish(self.reply_pub, {"id": None, "ok": False, "outcome": "error", "error": "command is not JSON"})
+            return
+        if not isinstance(req, dict):
+            return
+        self._q.put(("cmd", req))
+
+    def _work(self) -> None:
+        while True:
+            kind, payload = self._q.get()
+            if kind == "status":
+                self._do_status()
+            else:
+                self._do_cmd(payload)
+
+    def _do_status(self) -> None:
+        t_ms = int(time.time() * 1000)
+        try:
+            r = self.http.call("get-status")
+            st = r["value"] if isinstance(r["value"], dict) else {}
+            self._publish(self.status_pub, {"reachable": True, "t_ms": t_ms, "rtt_ms": r["rtt_ms"], **st})
+        except (TimeoutError, OSError) as exc:
+            self._publish(self.status_pub, {"reachable": False, "t_ms": t_ms, "error": str(exc)})
+
+    def _do_cmd(self, req: dict) -> None:
+        self.commands += 1
+        cid = req.get("id")
+        command = str(req.get("command", ""))
+        params = req.get("params") or {}
+        t_ms = int(time.time() * 1000)
+        t0 = time.monotonic()
+        out: dict = {"id": cid, "command": command, "params": params, "t_ms": t_ms, "steps": []}
+        try:
+            if command == "connect" and (params.get("ip") or params.get("port")):
+                # The protocol's connect(ip, port) retargets the node (rig YAML normally sets these).
+                self.http.host = str(params.get("ip") or self.http.host)
+                self.http.port = int(params.get("port") or self.http.port)
+            steps = plan(command, params)
+        except ValueError as exc:
+            out.update({"ok": False, "outcome": "error", "error": str(exc)})
+            self._publish(self.reply_pub, out)
+            return
+        value = None
+        for http_cmd, val in steps:
+            try:
+                r = self.http.call(http_cmd, val)
+            except TimeoutError as exc:
+                # UNKNOWN: the command may or may not have taken effect. Reconcile before
+                # anything else runs, and say so.
+                out["steps"].append({"command": http_cmd, "ok": None, "error": f"timeout after {self.http.timeout_s}s"})
+                out.update({"ok": False, "outcome": "unknown", "error": str(exc)})
+                self._do_status()
+                break
+            except OSError as exc:
+                out["steps"].append({"command": http_cmd, "ok": False, "error": str(exc)})
+                out.update({"ok": False, "outcome": "error", "error": f"BIAS unreachable at {self.http.base}: {exc}"})
+                break
+            out["steps"].append(r)
+            if not r["ok"]:
+                out.update({"ok": False, "outcome": "error", "error": f"{http_cmd}: {r['message']}"})
+                break
+            value = r["value"]
+            if command == "startRecording" and http_cmd == "get-video-file" and r["value"]:
+                out["artifact"] = {"kind": "video", "path": r["value"], "program": "bias"}
+        else:
+            out.update({"ok": True, "outcome": "ok", "value": value})
+        out["rtt_ms"] = round((time.monotonic() - t0) * 1000.0, 2)
+        self._publish(self.reply_pub, out)
+        # rclpy caches a severity per call site, so info and warning need separate statements.
+        if out["ok"]:
+            self.get_logger().info(f"{command} → ok ({out['rtt_ms']} ms)")
+        else:
+            self.get_logger().warning(f"{command} → {out['outcome']} ({out['rtt_ms']} ms): {out.get('error')}")
+
+
+def main(argv: list[str] | None = None) -> int:
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("--host", default="127.0.0.1", help="BIAS command-port host (default: 127.0.0.1)")
+    p.add_argument("--port", type=int, default=5010, help="BIAS command port (default: 5010)")
+    p.add_argument("--timeout-s", type=float, default=2.0, help="per-HTTP-call timeout; a timeout is an UNKNOWN outcome (default: 2)")
+    p.add_argument("--status-every", type=float, default=1.0, help="get-status poll period in s; 0 = off (default: 1)")
+    args, ros_args = p.parse_known_args(argv)
+    rclpy.init(args=ros_args)
+    node = BiasNode(BiasHttp(args.host, args.port, args.timeout_s), args.status_every)
+    try:
+        rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass  # Ctrl-C: rclpy ≥ Jazzy raises ExternalShutdownException from spin
+    finally:
+        node.destroy_node()
+        try:
+            rclpy.try_shutdown()
+        except Exception:  # rclpy's own SIGINT handler may already have shut the context down (races in Jazzy)
+            pass
+        print(f"[bias-node] {node.commands} commands handled", file=sys.stderr)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/nodes/bias_sim.py b/ros2-poc/nodes/bias_sim.py
new file mode 100644
index 00000000..80012d18
--- /dev/null
+++ b/ros2-poc/nodes/bias_sim.py
@@ -0,0 +1,203 @@
+#!/usr/bin/env python3
+"""bias_sim.py — a stand-in for the BIAS camera program's external-control HTTP interface.
+
+BIAS (IO Rodeo) is controlled over HTTP GET on its command port (5010 by default in our
+rig YAMLs): `http://host:port/?<command>[=<value>][&<command>…]`, answering a JSON ARRAY
+with one object per command: `{"success": bool, "message": str, "value": …, "command": str}`.
+This is the interface `BiasPlugin.m` (maDisplayTools) and BIAS's own `bias.py` client use.
+The sim implements the subset bias_node.py needs, with a real state machine so sequencing
+mistakes show up (start-capture before connect fails, as on the real program):
+
+  connect / disconnect                        connected flag
+  start-capture / stop-capture                capturing flag; frameCount grows at --fps
+  enable-logging / disable-logging            logging flag (video written while capturing)
+  set-video-file=<path> / get-video-file      the artifact: on stop-capture with logging on,
+                                              a small file is written at that path (relative
+                                              paths land in --video-dir) and reported as value
+  get-status                                  {"connected","capturing","logging","frameCount",
+                                               "framesPerSec","timeStamp","videoFile"}
+  get-time-stamp / get-frame-count            scalars
+  load-configuration=<file>                   accepted, echoed
+
+VERIFY AGAINST THE REAL PROGRAM: the command names and the array response shape are from
+BIAS's documented external interface; the exact `value` payloads of the Mac port must be
+confirmed on Michael's Mac (bias_node.py treats them as opaque and logs them verbatim).
+
+    pixi run bias-sim -- --port 5010 --video-dir /tmp/bias-videos
+    curl 'http://127.0.0.1:5010/?connect'
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import sys
+import threading
+import time
+from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer
+from urllib.parse import unquote, urlparse
+
+DEFAULT_PORT = 5010
+
+
+class BiasState:
+    def __init__(self, fps: float, video_dir: str, latency_s: float) -> None:
+        self.fps = fps
+        self.video_dir = video_dir
+        self.latency_s = latency_s
+        self.lock = threading.Lock()
+        self.connected = False
+        self.capturing = False
+        self.logging = False
+        self.video_file = ""
+        self.capture_t0: float | None = None
+        self.frames_before = 0  # frames from earlier capture segments
+        self.t0 = time.time()
+        self.written: list[str] = []
+
+    def frame_count(self) -> int:
+        n = self.frames_before
+        if self.capturing and self.capture_t0 is not None:
+            n += int((time.time() - self.capture_t0) * self.fps)
+        return n
+
+    def status(self) -> dict:
+        return {
+            "connected": self.connected,
+            "capturing": self.capturing,
+            "logging": self.logging,
+            "frameCount": self.frame_count(),
+            "framesPerSec": self.fps if self.capturing else 0.0,
+            "timeStamp": round(time.time() - self.t0, 6),
+            "videoFile": self.video_file,
+        }
+
+    def _video_path(self) -> str:
+        p = self.video_file
+        if p and not os.path.isabs(p):
+            p = os.path.join(self.video_dir, p)
+        return p
+
+    def handle(self, cmd: str, value: str | None) -> dict:
+        """One command → one response object. Mirrors BIAS's success/message/value shape."""
+        ok, msg, val = True, "", ""
+        if cmd == "connect":
+            self.connected = True
+            msg = "connected"
+        elif cmd == "disconnect":
+            if self.capturing:
+                ok, msg = False, "camera is capturing"
+            else:
+                self.connected = False
+                msg = "disconnected"
+        elif cmd == "start-capture":
+            if not self.connected:
+                ok, msg = False, "camera not connected"
+            elif self.capturing:
+                ok, msg = False, "already capturing"
+            else:
+                self.capturing = True
+                self.capture_t0 = time.time()
+                msg = "capture started"
+        elif cmd == "stop-capture":
+            if not self.capturing:
+                ok, msg = False, "not capturing"
+            else:
+                self.frames_before = self.frame_count()
+                self.capturing = False
+                self.capture_t0 = None
+                msg = "capture stopped"
+                if self.logging and self.video_file:
+                    path = self._video_path()
+                    os.makedirs(os.path.dirname(path) or ".", exist_ok=True)
+                    with open(path, "wb") as fh:
+                        fh.write(json.dumps({"bias_sim": True, "frames": self.frames_before, "fps": self.fps}).encode())
+                    self.written.append(path)
+                    val = path
+                    msg = f"capture stopped, video written {path}"
+        elif cmd == "enable-logging":
+            self.logging = True
+            msg = "logging enabled"
+        elif cmd == "disable-logging":
+            self.logging = False
+            msg = "logging disabled"
+        elif cmd == "set-video-file":
+            if value is None:
+                ok, msg = False, "set-video-file needs a value"
+            else:
+                self.video_file = value
+                val = self._video_path()
+                msg = "video file set"
+        elif cmd == "get-video-file":
+            val = self._video_path()
+        elif cmd == "get-status":
+            val = self.status()
+        elif cmd == "get-time-stamp":
+            val = round(time.time() - self.t0, 6)
+        elif cmd == "get-frame-count":
+            val = self.frame_count()
+        elif cmd == "load-configuration":
+            if value is None:
+                ok, msg = False, "load-configuration needs a file"
+            else:
+                msg = f"configuration loaded from {value}"
+                val = value
+        elif cmd == "get-configuration":
+            val = {"sim": True, "fps": self.fps}
+        else:
+            ok, msg = False, f"unknown command {cmd!r}"
+        return {"success": ok, "message": msg, "value": val, "command": cmd}
+
+
+def make_handler(state: BiasState):
+    class Handler(BaseHTTPRequestHandler):
+        server_version = "bias_sim/0.1"
+
+        def log_message(self, fmt, *args):  # quiet; the node logs replies
+            pass
+
+        def do_GET(self):
+            q = urlparse(self.path).query
+            replies = []
+            with state.lock:
+                for part in q.split("&"):
+                    if not part:
+                        continue
+                    cmd, _, value = part.partition("=")
+                    replies.append(state.handle(unquote(cmd), unquote(value) if _ else None))
+            if state.latency_s > 0:
+                time.sleep(state.latency_s)
+            body = json.dumps(replies).encode("utf-8")
+            self.send_response(200)
+            self.send_header("Content-Type", "application/json")
+            self.send_header("Content-Length", str(len(body)))
+            self.end_headers()
+            self.wfile.write(body)
+
+    return Handler
+
+
+def main(argv: list[str] | None = None) -> int:
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("--host", default="127.0.0.1")
+    p.add_argument("--port", type=int, default=DEFAULT_PORT)
+    p.add_argument("--fps", type=float, default=100.0, help="simulated capture rate (default: 100)")
+    p.add_argument("--video-dir", default="bias-videos", help="where relative video paths land (default: ./bias-videos)")
+    p.add_argument("--latency-ms", type=float, default=0.0, help="artificial reply delay, for timeout tests")
+    args = p.parse_args(argv)
+    state = BiasState(args.fps, args.video_dir, args.latency_ms / 1000.0)
+    srv = ThreadingHTTPServer((args.host, args.port), make_handler(state))
+    print(f"[bias-sim] http://{args.host}:{args.port}/?<command>  (fps {args.fps:g}, videos → {args.video_dir})", file=sys.stderr)
+    try:
+        srv.serve_forever()
+    except KeyboardInterrupt:
+        pass
+    finally:
+        srv.server_close()
+        print(f"[bias-sim] videos written: {state.written}", file=sys.stderr)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/nodes/bridge_node.py b/ros2-poc/nodes/bridge_node.py
new file mode 100644
index 00000000..a097818c
--- /dev/null
+++ b/ros2-poc/nodes/bridge_node.py
@@ -0,0 +1,425 @@
+#!/usr/bin/env python3
+"""bridge_node.py — the bridge as a ROS 2 node, reusing bridge.py's hub, log writer and dispatcher.
+
+The unmodified Arena Studio connects to ws://localhost:8765 exactly as it does to bridge
+3.4, speaks the same message schema (hello/hello_ack, config, log_control(_ack), log,
+rows, log_export(_result)) and gets the same `frame` messages. The difference is where
+FicTrac records come from: a ROS 2 topic (`/fictrac/raw`, std_msgs/String JSON from
+fictrac_udp_adapter.py) instead of a UDP socket owned by this process.
+
+What is REUSED from fictrac-bridge/bridge.py, imported by path, unmodified:
+  Hub            — the coalescing WebSocket broadcast (latest frame, never a backlog)
+  LogWriter      — the behavior_v2 NDJSON run log (schema line, compact ["a",…] echoes, rows)
+  Pipeline       — FicTrac line → heading tare → unwrapped turn → bias → frame index
+  make_dispatcher — the browser-message handler (config/log_control/log_export/rows/log)
+so the log a Studio run produces here is the same format bridge 3.4 writes and every
+reader (closed-loop-report, dashboard, replay, runlog-format tests) already accepts.
+
+What is NEW (small, and all of it is visible in the log):
+  * input = ROS subscription. `Pipeline.handle_line` stamps the row's `ms` with ITS OWN
+    wall clock at the moment the index is computed (unchanged) — the closed-loop node
+    stamps its own sample time, as LAB-303 asks. The adapter's receive stamp travels in
+    the envelope and is used only for the `lat_ms` latency statistics.
+  * `/arena/frame` — every frame the hub publishes is also published as a ROS topic, so
+    `ros2 topic echo/hz` introspect the closed loop and ROS-native nodes can subscribe.
+  * other device topics are LOGGED, not applied: `/kinefly/raw` (KF/1) → compact tagged
+    rows `["kf", ms, seq, src_t_s, left_rad, right_rad, head_rad, abdomen_rad]`;
+    `/bias/reply` and `/bias/status` → `{"type":"connector","src":"bias",…}` events.
+    Readers already pass unknown string-tagged arrays and unknown event objects through.
+  * a source watchdog: when a logged source goes silent for --source-timeout s during a
+    log, a `source_lost` event is written (and `source_resumed` when it returns). A device
+    node killed mid-run therefore leaves the log intact AND documented.
+  * `connector_status` lines (frames seen, adapter→bridge latency p50/p99 ms per source)
+    at log close / export, so a run carries its own transport health.
+
+Not supported here (by design of the PoC): the `fictrac_port` config key cannot re-bind
+the socket — the adapter owns it. The request is acknowledged with a warning.
+
+    pixi run bridge-node                      # ws://127.0.0.1:8765, logs on demand to runlogs/
+    pixi run bridge-node -- --frames 60 --log-dir /path
+"""
+
+from __future__ import annotations
+
+import argparse
+import asyncio
+import importlib.util
+import json
+import math
+import os
+import signal
+import sys
+import threading
+import time
+from pathlib import Path
+
+import rclpy
+from rclpy.executors import SingleThreadedExecutor
+from rclpy.node import Node
+from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
+from std_msgs.msg import String
+
+HERE = Path(__file__).resolve().parent
+REPO = HERE.parents[1]
+BRIDGE_PY = REPO / "fictrac-bridge" / "bridge.py"
+
+
+def load_bridge_module(path: Path = BRIDGE_PY):
+    """Import fictrac-bridge/bridge.py by path (it is a script, not a package)."""
+    spec = importlib.util.spec_from_file_location("fictrac_bridge", path)
+    if spec is None or spec.loader is None:
+        raise SystemExit(f"cannot load {path}")
+    mod = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(mod)
+    return mod
+
+
+B = load_bridge_module()
+
+NODE_VERSION = f"{B.BRIDGE_VERSION} · ros2-poc (rmw_zenoh, /fictrac/raw)"
+FICTRAC_TOPIC = "/fictrac/raw"
+KINEFLY_TOPIC = "/kinefly/raw"
+BIAS_REPLY_TOPIC = "/bias/reply"
+BIAS_STATUS_TOPIC = "/bias/status"
+FRAME_TOPIC = "/arena/frame"
+RAW_QOS = QoSProfile(
+    reliability=QoSReliabilityPolicy.RELIABLE,
+    history=QoSHistoryPolicy.KEEP_LAST,
+    depth=200,
+    durability=QoSDurabilityPolicy.VOLATILE,
+)
+FRAME_QOS = QoSProfile(
+    reliability=QoSReliabilityPolicy.BEST_EFFORT,
+    history=QoSHistoryPolicy.KEEP_LAST,
+    depth=1,
+    durability=QoSDurabilityPolicy.VOLATILE,
+)
+KF_TAG = "kf"
+
+
+def percentile(values: list[float], q: float) -> float | None:
+    if not values:
+        return None
+    s = sorted(values)
+    k = min(len(s) - 1, max(0, int(round(q * (len(s) - 1)))))
+    return s[k]
+
+
+def kf_row(rel_ms: int, pkt: dict, seq: int) -> list:
+    """KF/1 record → compact tagged row. PURE. Angles are the FIRST (strongest-edge)
+    angle of each part when the part is valid, else null — Kinefly's bridge plan: the
+    edge identity policy is explicit, index 0 is only the initial single-edge choice."""
+
+    def first_angle(name: str):
+        part = pkt.get("parts", {}).get(name) or {}
+        if not part.get("valid"):
+            return None
+        angles = part.get("angles_rad") or []
+        return round(float(angles[0]), 5) if angles else None
+
+    t_src = pkt.get("timestamp_s")
+    return [
+        KF_TAG,
+        int(rel_ms),
+        int(seq),
+        round(float(t_src), 6) if isinstance(t_src, (int, float)) else None,
+        first_angle("left"),
+        first_angle("right"),
+        first_angle("head"),
+        first_angle("abdomen"),
+    ]
+
+
+class RosInput:
+    """Stands in for bridge.py's InputManager (the dispatcher calls `rebind` on a
+    `fictrac_port` config key and reads `.port`). The ROS adapter owns the socket, so a
+    port change is acknowledged and logged, not performed."""
+
+    def __init__(self, port: int, warn) -> None:
+        self.port = port
+        self.proto = "ros2"
+        self._warn = warn
+        self._warned = False
+
+    def start(self) -> None:
+        pass
+
+    async def rebind(self, port: int) -> None:
+        if port == self.port:
+            return
+        if not self._warned:
+            self._warned = True
+            self._warn(
+                f"config fictrac_port {port} ignored: the fictrac adapter owns the UDP socket "
+                f"(restart `pixi run fictrac-adapter -- --port {port}`)"
+            )
+
+    async def stop(self) -> None:
+        pass
+
+
+class SourceStats:
+    """Per-source counters + adapter→bridge latency samples (bounded)."""
+
+    def __init__(self, name: str) -> None:
+        self.name = name
+        self.count = 0
+        self.last_rx_mono = None  # bridge monotonic at last message
+        self.lat_ms: list[float] = []
+        self.lost = False
+
+    def seen(self, rx_epoch_ms: int | None) -> None:
+        self.count += 1
+        self.last_rx_mono = time.monotonic()
+        if rx_epoch_ms is not None:
+            self.lat_ms.append(time.time() * 1000.0 - rx_epoch_ms)
+            if len(self.lat_ms) > 5000:
+                del self.lat_ms[: len(self.lat_ms) - 5000]
+
+    def summary(self) -> dict:
+        return {
+            "src": self.name,
+            "frames": self.count,
+            "lat_ms": {
+                "p50": None if not self.lat_ms else round(percentile(self.lat_ms, 0.5), 2),
+                "p99": None if not self.lat_ms else round(percentile(self.lat_ms, 0.99), 2),
+                "n": len(self.lat_ms),
+            },
+        }
+
+
+class RosHub(B.Hub):
+    """bridge.py's Hub + a ROS mirror of every frame on /arena/frame."""
+
+    def __init__(self, on_message, ros_pub) -> None:
+        super().__init__(on_message)
+        self._ros_pub = ros_pub
+
+    async def publish(self, msg: dict) -> None:
+        await super().publish(msg)
+        if self._ros_pub is not None:
+            m = String()
+            m.data = json.dumps(msg, separators=(",", ":"))
+            self._ros_pub.publish(m)
+
+
+class BridgeNode(Node):
+    """ROS side: subscriptions hand data to the asyncio side thread-safely."""
+
+    def __init__(self, loop: asyncio.AbstractEventLoop, queue: asyncio.Queue, on_kinefly, on_bias) -> None:
+        super().__init__("arena_bridge")
+        self._loop = loop
+        self._queue = queue
+        self._on_kinefly = on_kinefly
+        self._on_bias = on_bias
+        self.stats = {"fictrac": SourceStats("fictrac"), "kinefly": SourceStats("kinefly"), "bias": SourceStats("bias")}
+        self.frame_pub = self.create_publisher(String, FRAME_TOPIC, FRAME_QOS)
+        self.create_subscription(String, FICTRAC_TOPIC, self._fictrac, RAW_QOS)
+        self.create_subscription(String, KINEFLY_TOPIC, self._kinefly, RAW_QOS)
+        self.create_subscription(String, BIAS_REPLY_TOPIC, lambda m: self._bias("reply", m), RAW_QOS)
+        self.create_subscription(String, BIAS_STATUS_TOPIC, lambda m: self._bias("status", m), RAW_QOS)
+
+    @staticmethod
+    def _envelope(msg: String) -> dict | None:
+        try:
+            env = json.loads(msg.data)
+        except json.JSONDecodeError:
+            return None
+        return env if isinstance(env, dict) else None
+
+    def _fictrac(self, msg: String) -> None:
+        env = self._envelope(msg)
+        if env is None or not isinstance(env.get("raw"), str):
+            return
+        self.stats["fictrac"].seen(env.get("rx_epoch_ms"))
+        # Same hand-off bridge.py's UDP protocol does (queue.put_nowait), from the ROS thread.
+        self._loop.call_soon_threadsafe(self._queue.put_nowait, env["raw"])
+
+    def _kinefly(self, msg: String) -> None:
+        env = self._envelope(msg)
+        if env is None or not isinstance(env.get("raw"), str):
+            return
+        self.stats["kinefly"].seen(env.get("rx_epoch_ms"))
+        self._loop.call_soon_threadsafe(self._on_kinefly, env)
+
+    def _bias(self, kind: str, msg: String) -> None:
+        env = self._envelope(msg)
+        if env is None:
+            return
+        self.stats["bias"].seen(env.get("rx_epoch_ms"))
+        self._loop.call_soon_threadsafe(self._on_bias, kind, env)
+
+
+async def run(args: argparse.Namespace) -> None:
+    if B.serve is None:
+        raise SystemExit("the `websockets` package is required (pixi install)")
+    loop = asyncio.get_running_loop()
+    log = B.LogWriter(args.log, args.log_level, args.log_dir)
+    queue: asyncio.Queue[str] = asyncio.Queue()
+    pipeline = B.Pipeline(
+        None,
+        log,
+        args.frames,
+        args.deg_per_frame,
+        args.offset,
+        {"type": "none", "amplitude": 0.0, "frequency": 0.0},
+        coupling=args.coupling,
+    )
+
+    def rel_ms() -> int:
+        return B.now_ms() - pipeline.t0_ms
+
+    def warn(text: str) -> None:
+        print(f"[bridge-node] {text}", file=sys.stderr)
+        log.write_event({"type": "log", "event": "warn", "dir": "bridge", "level": "WARN", "ms": rel_ms(), "message": text})
+
+    kf_seq = {"n": 0}
+
+    def on_kinefly(env: dict) -> None:
+        try:
+            pkt = json.loads(env["raw"])
+        except (json.JSONDecodeError, KeyError, TypeError):
+            return
+        kf_seq["n"] += 1
+        seq = pkt.get("sequence") if isinstance(pkt.get("sequence"), int) else kf_seq["n"]
+        log.write_rows([kf_row(rel_ms(), pkt, seq)])
+
+    def on_bias(kind: str, env: dict) -> None:
+        ev = {"type": "connector", "src": "bias", "kind": kind, "dir": "bridge", "ms": rel_ms()}
+        for k, v in env.items():
+            if k not in ("src",):
+                ev[k] = v
+        log.write_event(ev)
+
+    inputs = RosInput(args.fictrac_port, warn)
+    inner = B.make_dispatcher(pipeline, log, inputs)
+
+    node = BridgeNode(loop, queue, on_kinefly, on_bias)
+
+    def write_status() -> None:
+        """One connector_status line per source that produced anything (log must be open)."""
+        for s in node.stats.values():
+            if s.count:
+                log.write_event({"type": "connector_status", "dir": "bridge", "ms": rel_ms(), **s.summary()})
+
+    async def dispatch(raw, websocket=None) -> None:
+        # Add the connector_status lines BEFORE the file closes (log_control off / export).
+        try:
+            obj = json.loads(raw if isinstance(raw, str) else raw.decode("utf-8", errors="replace"))
+        except (json.JSONDecodeError, AttributeError):
+            obj = None
+        if isinstance(obj, dict):
+            kind = obj.get("type")
+            if (kind == "log_control" and not obj.get("enabled")) or kind == "log_export":
+                write_status()
+        await inner(raw, websocket)
+        if isinstance(obj, dict) and obj.get("type") == "log_control" and obj.get("enabled"):
+            # A new file was opened: note where its frames come from.
+            log.write_event(
+                {
+                    "type": "connector_status",
+                    "dir": "bridge",
+                    "ms": rel_ms(),
+                    "src": "bridge",
+                    "node": NODE_VERSION,
+                    "rmw": os.environ.get("RMW_IMPLEMENTATION"),
+                    "topics": {"fictrac": FICTRAC_TOPIC, "kinefly": KINEFLY_TOPIC, "bias": [BIAS_REPLY_TOPIC, BIAS_STATUS_TOPIC], "frame": FRAME_TOPIC},
+                }
+            )
+
+    hub = RosHub(dispatch, node.frame_pub)
+    pipeline.hub = hub
+
+    # hello_ack must say 3.4 first so the unmodified Studio's _bridgeAtLeast(3,4) passes.
+    B.BRIDGE_VERSION = NODE_VERSION
+
+    async def watchdog() -> None:
+        while True:
+            await asyncio.sleep(0.5)
+            if not log.active:
+                continue
+            now = time.monotonic()
+            for s in node.stats.values():
+                if s.name == "bias" or s.last_rx_mono is None:
+                    continue
+                silent = now - s.last_rx_mono
+                if not s.lost and silent > args.source_timeout:
+                    s.lost = True
+                    log.write_event({"type": "source_lost", "dir": "bridge", "ms": rel_ms(), "src": s.name, "silence_ms": int(silent * 1000), "frames": s.count})
+                    print(f"[bridge-node] source {s.name} silent for {silent:.1f}s (log stays open)", file=sys.stderr)
+                elif s.lost and silent <= args.source_timeout:
+                    s.lost = False
+                    log.write_event({"type": "source_resumed", "dir": "bridge", "ms": rel_ms(), "src": s.name, "frames": s.count})
+                    print(f"[bridge-node] source {s.name} resumed", file=sys.stderr)
+
+    stop = asyncio.Event()
+    for sig in (signal.SIGINT, signal.SIGTERM):
+        try:
+            loop.add_signal_handler(sig, stop.set)
+        except NotImplementedError:
+            pass
+
+    executor = SingleThreadedExecutor()
+    executor.add_node(node)
+    ros_thread = threading.Thread(target=executor.spin, name="rclpy-spin", daemon=True)
+    ros_thread.start()
+
+    consumer = asyncio.create_task(B.consume(queue, pipeline))
+    wd = asyncio.create_task(watchdog())
+
+    async with B.serve(hub.serve_client, args.ws_host, args.ws_port, max_size=B.WS_MAX_SIZE):
+        print(
+            f"[ws] serving ws://{args.ws_host}:{args.ws_port}  (bridge-node {NODE_VERSION}; "
+            f"rmw={os.environ.get('RMW_IMPLEMENTATION')}, in={FICTRAC_TOPIC}, frames={args.frames}, "
+            f"coupling={args.coupling:g}, deg_per_frame={args.deg_per_frame:g}, log={args.log or 'on-demand'}, level={log.level})",
+            file=sys.stderr,
+        )
+        await stop.wait()
+
+    print(f"\n[bridge-node] shutting down (parsed={pipeline.parsed}, skipped={pipeline.skipped})", file=sys.stderr)
+    for s in node.stats.values():
+        if s.count:
+            print(f"[bridge-node] {json.dumps(s.summary())}", file=sys.stderr)
+    consumer.cancel()
+    wd.cancel()
+    await asyncio.gather(consumer, wd, return_exceptions=True)
+    write_status()
+    log.close()
+    executor.shutdown(timeout_sec=1.0)
+    node.destroy_node()
+
+
+def main(argv: list[str] | None = None) -> int:
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("--version", action="version", version=f"bridge-node {NODE_VERSION}")
+    p.add_argument("--ws-host", default="127.0.0.1")
+    p.add_argument("--ws-port", type=int, default=8765)
+    p.add_argument("--frames", type=int, default=200, help="frame count of the loaded pattern; the Studio re-sends it live (default: 200)")
+    p.add_argument("--coupling", type=float, default=1.0)
+    p.add_argument("--deg-per-frame", type=float, default=1.8)
+    p.add_argument("--offset", type=float, default=0.0)
+    p.add_argument("--fictrac-port", type=int, default=60000, help="reported FicTrac port (the adapter owns the socket; informational)")
+    p.add_argument("--source-timeout", type=float, default=2.0, help="seconds of silence from a logged source before a source_lost event (default: 2)")
+    p.add_argument("--log", default=None, help="fixed log path (else on demand per log_control)")
+    p.add_argument("--log-dir", default=str(HERE.parent / "runlogs"), help="directory for on-demand arena-log-*.jsonl (default: ros2-poc/runlogs)")
+    p.add_argument("--log-level", choices=B.LOG_LEVELS, default=B.DEFAULT_LOG_LEVEL)
+    args, ros_args = p.parse_known_args(argv)
+    if args.frames <= 0:
+        p.error("--frames must be > 0")
+    if not math.isfinite(args.coupling):
+        p.error("--coupling must be finite")
+    rclpy.init(args=ros_args)
+    try:
+        asyncio.run(run(args))
+    except KeyboardInterrupt:
+        pass
+    finally:
+        try:
+            rclpy.try_shutdown()
+        except Exception:  # rclpy's own SIGINT handler may already have shut the context down (races in Jazzy)
+            pass
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/nodes/fictrac_udp_adapter.py b/ros2-poc/nodes/fictrac_udp_adapter.py
new file mode 100644
index 00000000..c09e939e
--- /dev/null
+++ b/ros2-poc/nodes/fictrac_udp_adapter.py
@@ -0,0 +1,145 @@
+#!/usr/bin/env python3
+"""fictrac_udp_adapter.py — FicTrac UDP → ROS 2 topic, one std_msgs/String per record.
+
+FicTrac itself is untouched: it keeps sending its 25-field CSV line per camera frame to
+a UDP port (the same `sock_host`/`sock_port` it has today, 127.0.0.1:60000). This node
+owns that socket and republishes every datagram line as JSON on `/fictrac/raw`:
+
+    {"src": "fictrac", "seq": <adapter counter>,
+     "rx_epoch_ms": <ms, wall clock at receipt>, "rx_mono_ns": <ns, monotonic at receipt>,
+     "raw": "<the FicTrac line, verbatim, no newline>"}
+
+The line is NOT parsed here. The bridge node parses it with bridge.py's Pipeline, so the
+closed-loop mapping, the heading tare and the logged row are byte-for-byte what bridge
+3.4 produces — the adapter only moves bytes and stamps when it saw them. No custom
+message types (LAB-303 PoC rule): std_msgs/String carrying JSON.
+
+QoS: RELIABLE, KEEP_LAST 200. The run log must hold EVERY FicTrac frame (bridge.py
+write_frame), so the topic is reliable; the bridge node's Hub coalesces for the browser
+separately, as before. ~50-100 Hz × ~250 B is nothing for Zenoh on loopback.
+
+    pixi run fictrac-adapter -- --port 60000
+    pixi run sim -- --proto udp --rate 50            # the unmodified simulator feeds it
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import socket
+import sys
+import threading
+import time
+
+import rclpy
+from rclpy.executors import ExternalShutdownException
+from rclpy.node import Node
+from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
+from std_msgs.msg import String
+
+TOPIC = "/fictrac/raw"
+RAW_QOS = QoSProfile(
+    reliability=QoSReliabilityPolicy.RELIABLE,
+    history=QoSHistoryPolicy.KEEP_LAST,
+    depth=200,
+    durability=QoSDurabilityPolicy.VOLATILE,
+)
+
+
+def wrap_line(src: str, seq: int, raw: str, rx_epoch_ms: int, rx_mono_ns: int) -> str:
+    """The JSON envelope every adapter publishes (pure; shared shape with kinefly_udp_adapter)."""
+    return json.dumps(
+        {"src": src, "seq": seq, "rx_epoch_ms": rx_epoch_ms, "rx_mono_ns": rx_mono_ns, "raw": raw},
+        separators=(",", ":"),
+    )
+
+
+class FicTracUdpAdapter(Node):
+    def __init__(self, host: str, port: int, status_every_s: float) -> None:
+        super().__init__("fictrac_udp_adapter")
+        self.pub = self.create_publisher(String, TOPIC, RAW_QOS)
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+        self.sock.bind((host, port))
+        self.sock.settimeout(0.5)  # lets the thread notice shutdown
+        self.seq = 0
+        self.lines = 0
+        self.datagrams = 0
+        self._stop = threading.Event()
+        self._buf = b""
+        self._thread = threading.Thread(target=self._recv_loop, name="udp-recv", daemon=True)
+        self._thread.start()
+        self.get_logger().info(f"UDP {host}:{port} → {TOPIC} (std_msgs/String JSON, reliable)")
+        if status_every_s > 0:
+            self._last = (0, time.monotonic())
+            self.create_timer(status_every_s, self._status)
+
+    def _publish(self, raw: str) -> None:
+        self.seq += 1
+        msg = String()
+        msg.data = wrap_line("fictrac", self.seq, raw, int(time.time() * 1000), time.monotonic_ns())
+        self.pub.publish(msg)
+        self.lines += 1
+
+    def _recv_loop(self) -> None:
+        # One record per datagram is FicTrac's behaviour; buffer + split on newlines anyway
+        # (same tolerance as bridge.py's _UdpProtocol) so a coalesced or split datagram
+        # never produces a half line.
+        while not self._stop.is_set():
+            try:
+                data, _ = self.sock.recvfrom(65535)
+            except socket.timeout:
+                continue
+            except OSError:
+                break
+            self.datagrams += 1
+            self._buf += data
+            while b"\n" in self._buf:
+                line, self._buf = self._buf.split(b"\n", 1)
+                if line.strip():
+                    self._publish(line.decode("ascii", errors="replace"))
+            if self._buf and b"\n" not in data:
+                self._publish(self._buf.decode("ascii", errors="replace"))
+                self._buf = b""
+
+    def _status(self) -> None:
+        n0, t0 = self._last
+        now = time.monotonic()
+        rate = (self.lines - n0) / max(1e-9, now - t0)
+        self._last = (self.lines, now)
+        self.get_logger().info(f"{self.lines} lines published ({rate:.1f}/s), {self.datagrams} datagrams")
+
+    def destroy_node(self) -> bool:
+        self._stop.set()
+        try:
+            self.sock.close()
+        except OSError:
+            pass
+        return super().destroy_node()
+
+
+def main(argv: list[str] | None = None) -> int:
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("--host", default="127.0.0.1", help="UDP bind host (default: 127.0.0.1)")
+    p.add_argument("--port", type=int, default=60000, help="UDP bind port — FicTrac's sock_port (default: 60000)")
+    p.add_argument("--status-every", type=float, default=5.0, help="stderr rate line interval in s; 0 = off (default: 5)")
+    # ros2 run / launch pass --ros-args; keep them for rclpy.
+    args, ros_args = p.parse_known_args(argv)
+    rclpy.init(args=ros_args)
+    node = FicTracUdpAdapter(args.host, args.port, args.status_every)
+    try:
+        rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass  # Ctrl-C: rclpy ≥ Jazzy raises ExternalShutdownException from spin
+    finally:
+        node.destroy_node()
+        try:
+            rclpy.try_shutdown()
+        except Exception:  # rclpy's own SIGINT handler may already have shut the context down (races in Jazzy)
+            pass
+        print(f"[fictrac-adapter] {node.lines} lines, {node.datagrams} datagrams", file=sys.stderr)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/nodes/kinefly_sim.py b/ros2-poc/nodes/kinefly_sim.py
new file mode 100644
index 00000000..b7c5e724
--- /dev/null
+++ b/ros2-poc/nodes/kinefly_sim.py
@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+"""kinefly_sim.py — a synthetic KF/1 producer (stands in for Kinefly, like fictrac_sim.py for FicTrac).
+
+Emits one KF/1 datagram per frame at --rate Hz to --host:--port, byte-compatible with
+mbreiser/Kinefly-MacOS `kinefly/core/udp.py` (`protocol: "Kinefly"`, `version: 1`, a fresh
+session UUID, `sequence` from 1, `source`, `timestamp_s`, `host_monotonic_s`, five `parts`).
+The wings are tracked (`edge` mode, one angle each); head/abdomen/aux are disabled with the
+empty-array/null shape the real encoder uses for disabled parts.
+
+Kinematics: a steering fly. Left and right wing-stroke amplitudes sit at `--mean-deg` and
+the DIFFERENCE L−R follows a slow sine of `--diff-deg` peak at `--diff-hz` (plus a little
+noise), so a downstream L−R → yaw integrator has something smooth and known to chase.
+--seed makes the bytes reproducible.
+
+    pixi run kinefly-sim -- --rate 100 --diff-deg 10 --diff-hz 0.1 --seed 1
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import math
+import random
+import socket
+import sys
+import time
+import uuid
+
+DEFAULT_PORT = 60001
+PARTS = ("head", "abdomen", "left", "right", "aux")
+
+
+def disabled_part(mode: str | None) -> dict:
+    return dict(enabled=False, valid=False, mode=mode, angles_rad=[], radii_px=[], gradients=[],
+                intensity=None, frequency_hz=None, frequency_valid=False)
+
+
+def wing_part(angle_rad: float, gradient: float) -> dict:
+    return dict(enabled=True, valid=True, mode="edge", angles_rad=[angle_rad], radii_px=[],
+                gradients=[gradient], intensity=None, frequency_hz=None, frequency_valid=False)
+
+
+def kf1_packet(session: str, seq: int, t_s: float, left_rad: float, right_rad: float, fps: float, grad: float) -> dict:
+    return dict(
+        protocol="Kinefly", version=1, session=session, sequence=seq,
+        source=dict(kind="synthetic", id="kinefly_sim.py", clock="host_monotonic_after_capture",
+                    fps=fps, timestamp_units="s"),
+        timestamp_s=t_s, host_monotonic_s=time.monotonic(),
+        parts=dict(head=disabled_part("area"), abdomen=disabled_part("area"),
+                   left=wing_part(left_rad, grad), right=wing_part(right_rad, grad),
+                   aux=disabled_part("intensity")),
+    )
+
+
+def main(argv: list[str] | None = None) -> int:
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("--host", default="127.0.0.1")
+    p.add_argument("--port", type=int, default=DEFAULT_PORT)
+    p.add_argument("--rate", type=float, default=100.0, help="frames per second (default: 100)")
+    p.add_argument("--count", type=int, default=0, help="emit N frames then exit (0 = forever)")
+    p.add_argument("--mean-deg", type=float, default=70.0, help="mean wing-stroke angle, both wings (default: 70)")
+    p.add_argument("--diff-deg", type=float, default=10.0, help="peak L−R difference (default: 10)")
+    p.add_argument("--diff-hz", type=float, default=0.1, help="frequency of the L−R sine (default: 0.1)")
+    p.add_argument("--noise-deg", type=float, default=0.5, help="per-frame Gaussian noise per wing (default: 0.5)")
+    p.add_argument("--seed", type=int, default=None)
+    args = p.parse_args(argv)
+
+    rng = random.Random(args.seed)
+    session = str(uuid.UUID(int=rng.getrandbits(128))) if args.seed is not None else str(uuid.uuid4())
+    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    dst = (args.host, args.port)
+    period = 1.0 / args.rate
+    t0 = time.perf_counter()
+    seq = 0
+    print(f"[kinefly-sim] KF/1 → udp://{dst[0]}:{dst[1]} at {args.rate:g} Hz, session {session}", file=sys.stderr)
+    try:
+        while args.count == 0 or seq < args.count:
+            seq += 1
+            t_s = (seq - 1) * period
+            half = 0.5 * args.diff_deg * math.sin(2 * math.pi * args.diff_hz * t_s)
+            left = args.mean_deg + half + rng.gauss(0, args.noise_deg)
+            right = args.mean_deg - half + rng.gauss(0, args.noise_deg)
+            pkt = kf1_packet(session, seq, t_s, math.radians(left), math.radians(right), args.rate, 0.8)
+            sock.sendto(json.dumps(pkt, allow_nan=False, separators=(",", ":")).encode("utf-8"), dst)
+            target = t0 + seq * period
+            delay = target - time.perf_counter()
+            if delay > 0:
+                time.sleep(delay)
+    except KeyboardInterrupt:
+        pass
+    print(f"[kinefly-sim] sent {seq} frames", file=sys.stderr)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/nodes/kinefly_udp_adapter.py b/ros2-poc/nodes/kinefly_udp_adapter.py
new file mode 100644
index 00000000..3a7702de
--- /dev/null
+++ b/ros2-poc/nodes/kinefly_udp_adapter.py
@@ -0,0 +1,157 @@
+#!/usr/bin/env python3
+"""kinefly_udp_adapter.py — Kinefly KF/1 UDP → ROS 2 topic, one std_msgs/String per frame.
+
+Michael's Kinefly fork (mbreiser/Kinefly-MacOS, `--udp HOST:PORT`) sends one UTF-8 JSON
+datagram per processed frame: the KF/1 record documented in its docs/udp-protocol.md
+(`protocol: "Kinefly"`, `version: 1`, `session`, `sequence`, `source`, `timestamp_s`,
+`host_monotonic_s`, `parts.{head,abdomen,left,right,aux}`). Kinefly is untouched; this
+node owns the receiving socket and republishes each datagram verbatim on `/kinefly/raw`
+inside the same envelope the FicTrac adapter uses:
+
+    {"src": "kinefly", "seq": <adapter counter>, "rx_epoch_ms": …, "rx_mono_ns": …,
+     "raw": "<the KF/1 datagram text, verbatim>"}
+
+Protocol discrimination happens HERE, before anything downstream decodes: a datagram
+that is not JSON, or whose `protocol`/`version` are not `Kinefly`/1, is counted and
+dropped (Kinefly's bridge plan, step 1: discriminate protocol before decoding, never pad
+KF data into FicTrac fields). Nothing else is interpreted — the bridge node derives the
+logged `["kf", …]` row and (later) the L−R → yaw integrator from the parsed record, so
+the mapping lives in one place.
+
+    pixi run kinefly-adapter -- --port 60001
+    pixi run kinefly-sim -- --port 60001 --rate 100     # synthetic KF/1 producer
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import socket
+import sys
+import threading
+import time
+
+import rclpy
+from rclpy.executors import ExternalShutdownException
+from rclpy.node import Node
+from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
+from std_msgs.msg import String
+
+TOPIC = "/kinefly/raw"
+DEFAULT_PORT = 60001
+MAX_DATAGRAM = 16384  # KF/1 encoder bound (kinefly/core/udp.py)
+RAW_QOS = QoSProfile(
+    reliability=QoSReliabilityPolicy.RELIABLE,
+    history=QoSHistoryPolicy.KEEP_LAST,
+    depth=200,
+    durability=QoSDurabilityPolicy.VOLATILE,
+)
+
+
+def kf1_reject_reason(data: bytes) -> str | None:
+    """Why a datagram is NOT a KF/1 record (None = accept). Cheap and strict on the
+    identity fields only; full field validation is the bridge node's job."""
+    if len(data) > MAX_DATAGRAM:
+        return "oversize"
+    try:
+        obj = json.loads(data.decode("utf-8"))
+    except (UnicodeDecodeError, json.JSONDecodeError):
+        return "not JSON"
+    if not isinstance(obj, dict):
+        return "not an object"
+    if obj.get("protocol") != "Kinefly" or obj.get("version") != 1:
+        return f"protocol/version {obj.get('protocol')!r}/{obj.get('version')!r}"
+    if not isinstance(obj.get("sequence"), int) or not isinstance(obj.get("parts"), dict):
+        return "missing sequence/parts"
+    return None
+
+
+def wrap_line(src: str, seq: int, raw: str, rx_epoch_ms: int, rx_mono_ns: int) -> str:
+    return json.dumps(
+        {"src": src, "seq": seq, "rx_epoch_ms": rx_epoch_ms, "rx_mono_ns": rx_mono_ns, "raw": raw},
+        separators=(",", ":"),
+    )
+
+
+class KineflyUdpAdapter(Node):
+    def __init__(self, host: str, port: int, status_every_s: float) -> None:
+        super().__init__("kinefly_udp_adapter")
+        self.pub = self.create_publisher(String, TOPIC, RAW_QOS)
+        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+        self.sock.bind((host, port))
+        self.sock.settimeout(0.5)
+        self.seq = 0
+        self.published = 0
+        self.rejected = 0
+        self._reject_reasons: dict[str, int] = {}
+        self._stop = threading.Event()
+        self._thread = threading.Thread(target=self._recv_loop, name="udp-recv", daemon=True)
+        self._thread.start()
+        self.get_logger().info(f"UDP {host}:{port} (KF/1) → {TOPIC} (std_msgs/String JSON, reliable)")
+        if status_every_s > 0:
+            self._last = (0, time.monotonic())
+            self.create_timer(status_every_s, self._status)
+
+    def _recv_loop(self) -> None:
+        while not self._stop.is_set():
+            try:
+                data, _ = self.sock.recvfrom(65535)
+            except socket.timeout:
+                continue
+            except OSError:
+                break
+            rx_epoch_ms, rx_mono_ns = int(time.time() * 1000), time.monotonic_ns()
+            why = kf1_reject_reason(data)
+            if why is not None:
+                self.rejected += 1
+                self._reject_reasons[why] = self._reject_reasons.get(why, 0) + 1
+                if self._reject_reasons[why] <= 3:
+                    self.get_logger().warning(f"dropped non-KF/1 datagram ({why})")
+                continue
+            self.seq += 1
+            msg = String()
+            msg.data = wrap_line("kinefly", self.seq, data.decode("utf-8"), rx_epoch_ms, rx_mono_ns)
+            self.pub.publish(msg)
+            self.published += 1
+
+    def _status(self) -> None:
+        n0, t0 = self._last
+        now = time.monotonic()
+        rate = (self.published - n0) / max(1e-9, now - t0)
+        self._last = (self.published, now)
+        self.get_logger().info(f"{self.published} KF/1 frames published ({rate:.1f}/s), {self.rejected} rejected")
+
+    def destroy_node(self) -> bool:
+        self._stop.set()
+        try:
+            self.sock.close()
+        except OSError:
+            pass
+        return super().destroy_node()
+
+
+def main(argv: list[str] | None = None) -> int:
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("--host", default="127.0.0.1", help="UDP bind host (default: 127.0.0.1)")
+    p.add_argument("--port", type=int, default=DEFAULT_PORT, help=f"UDP bind port — Kinefly's --udp destination (default: {DEFAULT_PORT})")
+    p.add_argument("--status-every", type=float, default=5.0, help="stderr rate line interval in s; 0 = off (default: 5)")
+    args, ros_args = p.parse_known_args(argv)
+    rclpy.init(args=ros_args)
+    node = KineflyUdpAdapter(args.host, args.port, args.status_every)
+    try:
+        rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass  # Ctrl-C: rclpy ≥ Jazzy raises ExternalShutdownException from spin
+    finally:
+        node.destroy_node()
+        try:
+            rclpy.try_shutdown()
+        except Exception:  # rclpy's own SIGINT handler may already have shut the context down (races in Jazzy)
+            pass
+        print(f"[kinefly-adapter] {node.published} published, {node.rejected} rejected", file=sys.stderr)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/nodes/rig.py b/ros2-poc/nodes/rig.py
new file mode 100644
index 00000000..073d8c46
--- /dev/null
+++ b/ros2-poc/nodes/rig.py
@@ -0,0 +1,174 @@
+#!/usr/bin/env python3
+"""rig.py — the one command a rig runs: Zenoh router + adapters + bridge node, supervised.
+
+    pixi run rig                       # router, fictrac adapter, bridge node
+    pixi run rig -- --kinefly --bias   # + Kinefly adapter + BIAS node
+    pixi run rig -- --sim              # + the FicTrac simulator (demo without a camera)
+    pixi run rig -- --bias --bias-sim  # + a simulated BIAS program (no camera software)
+
+Order: the router first (nodes retry until it answers on 127.0.0.1:7447), then every
+adapter/node. Each child's stderr is prefixed with its name. Ctrl-C stops everything in
+reverse order; a child that dies on its own is reported (and the whole rig exits if it was
+the bridge node — the Studio's WebSocket is gone, nothing else matters). Options after a
+child's name are passed through, e.g. `--bridge-args "--frames 60"`.
+"""
+
+from __future__ import annotations
+
+import argparse
+import os
+import shlex
+import signal
+import socket
+import subprocess
+import sys
+import threading
+import time
+from pathlib import Path
+
+HERE = Path(__file__).resolve().parent
+NODES = HERE
+SIM = HERE.parents[1] / "fictrac-bridge" / "fictrac_sim.py"
+
+
+def wait_port(host: str, port: int, timeout_s: float) -> bool:
+    end = time.monotonic() + timeout_s
+    while time.monotonic() < end:
+        try:
+            with socket.create_connection((host, port), timeout=0.5):
+                return True
+        except OSError:
+            time.sleep(0.2)
+    return False
+
+
+class Child:
+    def __init__(self, name: str, argv: list[str]) -> None:
+        self.name = name
+        self.argv = argv
+        self.proc: subprocess.Popen | None = None
+
+    def start(self) -> None:
+        # Own process group per child, so a stop signal reaches wrappers AND what they
+        # spawn (`ros2 run … rmw_zenohd` does not forward SIGINT to the router binary).
+        self.proc = subprocess.Popen(
+            self.argv,
+            stdout=subprocess.PIPE,
+            stderr=subprocess.STDOUT,
+            text=True,
+            bufsize=1,
+            env=os.environ.copy(),
+            start_new_session=(os.name != "nt"),
+        )
+        threading.Thread(target=self._pump, name=f"pump-{self.name}", daemon=True).start()
+
+    def _signal(self, sig: int) -> None:
+        assert self.proc
+        if os.name != "nt":
+            try:
+                os.killpg(self.proc.pid, sig)
+                return
+            except (ProcessLookupError, PermissionError):
+                pass
+        self.proc.send_signal(sig)
+
+    def _pump(self) -> None:
+        assert self.proc and self.proc.stdout
+        for line in self.proc.stdout:
+            sys.stderr.write(f"[{self.name:8}] {line}")
+        sys.stderr.flush()
+
+    def alive(self) -> bool:
+        return self.proc is not None and self.proc.poll() is None
+
+    def stop(self, grace_s: float = 3.0) -> None:
+        if not self.alive():
+            return
+        assert self.proc
+        try:
+            self._signal(signal.SIGINT)
+            self.proc.wait(grace_s)
+        except subprocess.TimeoutExpired:
+            self._signal(signal.SIGTERM)
+            try:
+                self.proc.wait(2.0)
+            except subprocess.TimeoutExpired:
+                self._signal(signal.SIGKILL)
+        except (ProcessLookupError, OSError):
+            pass
+
+
+def main(argv: list[str] | None = None) -> int:
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("--kinefly", action="store_true", help="also run the Kinefly KF/1 adapter")
+    p.add_argument("--bias", action="store_true", help="also run the BIAS camera node")
+    p.add_argument("--bias-sim", action="store_true", help="also run bias_sim.py (a fake BIAS program)")
+    p.add_argument("--sim", action="store_true", help="also run the FicTrac simulator (random walk, 50 Hz)")
+    p.add_argument("--no-router", action="store_true", help="a Zenoh router is already running on this host")
+    p.add_argument("--bridge-args", default="", help="extra args for bridge_node.py")
+    p.add_argument("--fictrac-args", default="", help="extra args for fictrac_udp_adapter.py")
+    p.add_argument("--kinefly-args", default="", help="extra args for kinefly_udp_adapter.py")
+    p.add_argument("--bias-args", default="", help="extra args for bias_node.py")
+    p.add_argument("--sim-args", default="--proto udp --rate 50", help="args for fictrac_sim.py")
+    args = p.parse_args(argv)
+
+    py = sys.executable
+    children: list[Child] = []
+    if not args.no_router:
+        children.append(Child("router", ["ros2", "run", "rmw_zenoh_cpp", "rmw_zenohd"]))
+    nodes: list[Child] = [
+        Child("fictrac", [py, str(NODES / "fictrac_udp_adapter.py"), *shlex.split(args.fictrac_args)]),
+    ]
+    if args.kinefly:
+        nodes.append(Child("kinefly", [py, str(NODES / "kinefly_udp_adapter.py"), *shlex.split(args.kinefly_args)]))
+    if args.bias_sim:
+        nodes.append(Child("bias-sim", [py, str(NODES / "bias_sim.py")]))
+    if args.bias:
+        nodes.append(Child("bias", [py, str(NODES / "bias_node.py"), *shlex.split(args.bias_args)]))
+    bridge = Child("bridge", [py, str(NODES / "bridge_node.py"), *shlex.split(args.bridge_args)])
+    nodes.append(bridge)
+    if args.sim:
+        nodes.append(Child("sim", [py, str(SIM), *shlex.split(args.sim_args)]))
+
+    stop = threading.Event()
+    for sig in (signal.SIGINT, signal.SIGTERM):
+        signal.signal(sig, lambda *_: stop.set())
+
+    print(f"[rig] RMW_IMPLEMENTATION={os.environ.get('RMW_IMPLEMENTATION')}  router config {os.environ.get('ZENOH_ROUTER_CONFIG_URI')}", file=sys.stderr)
+    rc = 0
+    try:
+        for c in children:
+            c.start()
+        if children:
+            if wait_port("127.0.0.1", 7447, 15.0):
+                print("[rig] zenoh router listening on 127.0.0.1:7447", file=sys.stderr)
+            else:
+                print("[rig] router did not come up on 127.0.0.1:7447 within 15 s", file=sys.stderr)
+                rc = 1
+                return rc
+        for c in nodes:
+            c.start()
+            children.append(c)
+            time.sleep(0.3)
+        print(f"[rig] up: {', '.join(c.name for c in children)}  —  Studio → ws://localhost:8765   (Ctrl-C to stop)", file=sys.stderr)
+        while not stop.is_set():
+            time.sleep(0.5)
+            for c in children:
+                if not c.alive():
+                    code = c.proc.returncode if c.proc else None
+                    print(f"[rig] {c.name} exited (code {code})", file=sys.stderr)
+                    children.remove(c)
+                    if c is bridge:
+                        print("[rig] the bridge node is gone — stopping the rig", file=sys.stderr)
+                        rc = 1
+                        stop.set()
+                    break
+    finally:
+        for c in reversed(children):
+            c.stop()
+        print("[rig] stopped", file=sys.stderr)
+    return rc
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/pixi.lock b/ros2-poc/pixi.lock
new file mode 100644
index 00000000..d58e202f
--- /dev/null
+++ b/ros2-poc/pixi.lock
@@ -0,0 +1,20673 @@
+version: 7
+platforms:
+- name: linux-64
+  virtual-packages:
+  - __unix=0=0
+  - __linux=4.18
+  - __glibc=2.28
+  - __archspec=0=x86_64
+- name: osx-arm64
+  virtual-packages:
+  - __unix=0=0
+  - __osx=13.0
+  - __archspec=0=m1
+- name: win-64
+  virtual-packages:
+  - __win=10.0
+  - __archspec=0=x86_64
+environments:
+  default:
+    channels:
+    - url: https://conda.anaconda.org/conda-forge/
+    - url: https://conda.anaconda.org/robostack-jazzy/
+    packages:
+      linux-64:
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-atk-2.38.0-h0630a04_3.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-core-2.40.3-h0630a04_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/atk-1.0-2.38.0-h04ea711_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-3.25-h26dfbe5_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-hcbe3ca9_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_10.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.8-hebe6cf0_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.6-h3c89d7e_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cffi-2.1.1-py312h703531f_3.conda
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+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-tinyxml2-vendor-0.9.2-np2py312h1425c0b_25.conda
+  sha256: f40023c2308a0314afa85701ae21893488a627bf5e67cc32c286e21f462b57d4
+  md5: 96649380e81e38bd51761421be3ef1ad
+  depends:
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - tinyxml2
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - tinyxml2 >=11.0.0,<11.1.0a0
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - python_abi 3.12.* *_cp312
+  license: Apache-2.0
+  size: 22285
+  timestamp: 1791432758888
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-tracetools-8.2.6-np2py312hdd89193_25.conda
+  sha256: 5be65ea45c2d5ff0116ba87b4c7891f15d78daab4a407a8989f6bc15ec0cab5e
+  md5: 844469bedda7e50e3989d448456efd65
+  depends:
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - python_abi 3.12.* *_cp312
+  license: Apache-2.0
+  size: 32292
+  timestamp: 1791440003474
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-trajectory-msgs-5.3.8-np2py312hdd89193_25.conda
+  sha256: 644473ede5dcee57582e78fd5a420c6cc9b77ae247e3f311b49654d2eee6261c
+  md5: d70570b5fe3ac13beee8514d1e339156
+  depends:
+  - python
+  - ros2-builtin-interfaces
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-geometry-msgs
+  - ros2-ros-workspace
+  - ros2-rosidl-default-runtime
+  - ros2-std-msgs
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - python_abi 3.12.* *_cp312
+  license: Apache-2.0
+  size: 147520
+  timestamp: 1791455971554
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-type-description-interfaces-2.0.4-np2py312hdd89193_25.conda
+  sha256: 3f5cbbd96a416cf25fb277bda45f228128721f9ef932fa31cc12dd66470995f3
+  md5: e7d4c4f5511046a5a4a7739a4ede572c
+  depends:
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - ros2-rosidl-core-runtime
+  - ros2-service-msgs
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  license: Apache-2.0
+  size: 224680
+  timestamp: 1791448508877
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-uncrustify-vendor-3.0.1-np2py312hdd89193_25.conda
+  sha256: 33ca26b2c0dfe4e27896d949c101bbd8fccadb34a02d52a86db011873a2b728c
+  md5: 74006a309881e4ce9c145c0b820f31dc
+  depends:
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - uncrustify
+  - uncrustify >=0.78
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - python_abi 3.12.* *_cp312
+  license: Apache-2.0 OR GPL-2.0-only
+  size: 20759
+  timestamp: 1791432413718
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-unique-identifier-msgs-2.5.1-np2py312hdd89193_25.conda
+  sha256: cd5a86c6519a5ebb66c33f97dc746476cddd0af0a1421cb45352e543bee9962e
+  md5: b06a2a04e4165915303430799bd87a1b
+  depends:
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - ros2-rosidl-core-runtime
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 81751
+  timestamp: 1791448238212
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-urdf-2.10.1-np2py312hdd89193_25.conda
+  sha256: de0e5b99faa520d73077c5abb5121d69ba9c2193d224e20de8ab80d47b1bfb6e
+  md5: e3aa63c0116bf60c32cfcb5c82e6120e
+  depends:
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-pluginlib
+  - ros2-ros-workspace
+  - ros2-tinyxml2-vendor
+  - ros2-urdf-parser-plugin
+  - ros2-urdfdom
+  - ros2-urdfdom-headers
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  license: BSD-3-Clause
+  size: 130539
+  timestamp: 1791446423583
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-urdf-parser-plugin-2.10.1-np2py312hdd89193_25.conda
+  sha256: df597a78cbb07852591aea779c901115b937dfdcf030e8c07c640348078366d7
+  md5: 7713013d9fa49074dd0ea9e362bb2ea0
+  depends:
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - ros2-urdfdom-headers
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 29336
+  timestamp: 1791440170323
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-urdfdom-6.0-py312h77058a8_25.conda
+  sha256: ebbf0893929ea473d7e925b1dec9257a465a819072442481206be09dfeb63b9e
+  md5: dbca29fcdc5445b93e3a2ab39792c873
+  depends:
+  - console_bridge
+  - python
+  - ros2-console-bridge-vendor
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - ros2-tinyxml2-vendor
+  - ros2-urdfdom-headers
+  - tinyxml2
+  - urdfdom >=6.0,<6.1a0
+  - python_abi 3.12.* *_cp312
+  - console_bridge >=1.0.2,<1.1.0a0
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - tinyxml2 >=11.0.0,<11.1.0a0
+  license: BSD-3-Clause
+  size: 8126
+  timestamp: 1791441172776
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-urdfdom-headers-3.0-py312h7accfcc_25.conda
+  sha256: 44bac9b76eca50f58f1d52430b33dbcd79dc7d9d7cb9ee22bb4dad56674fa59c
+  md5: 5af01299465743b95c2a33e74282dcb3
+  depends:
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - urdfdom_headers >=3.0,<3.1a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  license: BSD-3-Clause
+  size: 7188
+  timestamp: 1791428266580
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-visualization-msgs-5.3.8-np2py312hdd89193_25.conda
+  sha256: 7af006c5a3c9b1ae6b4e61607fa7e8552578d005109ab09743f6f36df8d3eac4
+  md5: 28527598bb0ebbb6d96883e5ac16f40e
+  depends:
+  - python
+  - ros2-builtin-interfaces
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-geometry-msgs
+  - ros2-ros-workspace
+  - ros2-rosidl-default-runtime
+  - ros2-sensor-msgs
+  - ros2-std-msgs
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  license: Apache-2.0
+  size: 344755
+  timestamp: 1791458795683
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-yaml-cpp-vendor-9.0.1-np2py312hdd89193_25.conda
+  sha256: 58c1ecd9acefee9b6d0512dd5282be3591810d207a46560129bc97b0e629c4c4
+  md5: 4d270697c09a15afcc3bce543b91de6c
+  depends:
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - yaml-cpp
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - python_abi 3.12.* *_cp312
+  - yaml-cpp >=0.8.0,<0.9.0a0
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - numpy >=1.25,<3
+  license: Apache-2.0 OR MIT
+  size: 20717
+  timestamp: 1791433115936
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-zenoh-cpp-vendor-0.2.11-np2py312hbb4efd0_25.conda
+  sha256: c5c23ff94de59ec32f46c0bf13ba3507dc15fe5ea255979fa1cf82e850dfee02
+  md5: 0f83d55abc75664a722959389551a8d6
+  depends:
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - libzenohc >=1.9.0,<1.9.1.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  license: Apache-2.0
+  size: 21870
+  timestamp: 1791432335534
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-zstd-vendor-0.26.11-np2py312h94542ee_25.conda
+  sha256: 08392e503a3b1c75b7cb45cd48b61a92c39fbcd759c621e5616347a1ab3fb690
+  md5: cea349d8948caf47d5497bc43659d8fa
+  depends:
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - zstd
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - python_abi 3.12.* *_cp312
+  - zstd >=1.5.7,<1.6.0a0
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  license: Apache-2.0 OR BSD-3-Clause
+  size: 21471
+  timestamp: 1791433174793
diff --git a/ros2-poc/pixi.toml b/ros2-poc/pixi.toml
new file mode 100644
index 00000000..afce7be8
--- /dev/null
+++ b/ros2-poc/pixi.toml
@@ -0,0 +1,65 @@
+# ros2-poc — ROS 2 bridge proof of concept (LAB-303, decision in flight).
+#
+# A SEPARATE pixi workspace from the repo root one on purpose: the root `pixi.toml`
+# (bridge 3.4, tests, release tooling) stays untouched, and the two environments
+# live side by side on a rig PC — `pixi run bridge` at the root is the shipping
+# bridge, `pixi run rig` here is the PoC graph.
+#
+#   pixi install          # RoboStack Jazzy (ros-base) + rmw_zenoh + our Python deps
+#   pixi run rig          # Zenoh router + fictrac adapter + bridge node (one command)
+#
+# Channels: RoboStack publishes ROS 2 as conda packages; conda-forge first so the
+# non-ROS stack (python, websockets, pyzmq) resolves from there. Bare channel names
+# resolve through pixi's default channel alias (conda.anaconda.org), which is what
+# a lab network with an allowlisting proxy is most likely to permit.
+[workspace]
+name = "arena-ros2-poc"
+version = "0.1.0"
+channels = ["conda-forge", "robostack-jazzy"]
+platforms = ["osx-arm64", "win-64", "linux-64"]
+
+[activation.env]
+# Every ROS 2 process in this workspace uses the Zenoh middleware. rmw_zenoh needs
+# ONE router per host (`pixi run router`); nodes keep retrying until it is up.
+RMW_IMPLEMENTATION = "rmw_zenoh_cpp"
+ZENOH_ROUTER_CHECK_ATTEMPTS = "0"
+# Loopback-only Zenoh: the stock rmw_zenoh configs listen on `tcp/[::]:7447` (fails on a
+# host without IPv6) and connect to `tcp/localhost:7447`. Ours bind/connect 127.0.0.1 —
+# a rig PC's graph is not reachable from the lab network. Stock files with ONLY the two
+# endpoint lines changed (diff them against share/rmw_zenoh_cpp/config/ in the env).
+ZENOH_ROUTER_CONFIG_URI = "$PIXI_PROJECT_ROOT/config/zenoh-router.json5"
+ZENOH_SESSION_CONFIG_URI = "$PIXI_PROJECT_ROOT/config/zenoh-session.json5"
+# Same reason as the root workspace: the adapters print non-ASCII to stderr and
+# Python on Windows would pick cp1252 when stdio is a pipe.
+PYTHONUTF8 = "1"
+
+[dependencies]
+ros-jazzy-ros-base = "*"
+ros-jazzy-rmw-zenoh-cpp = "*"
+# The canonical talker/listener smoke test (`ros2 run demo_nodes_py …`); not part of ros-base.
+ros-jazzy-demo-nodes-py = "*"
+python = "*"
+websockets = ">=12"
+pyzmq = "*"
+
+[tasks]
+# ── hour one: middleware bring-up ───────────────────────────────────────────
+router = "ros2 run rmw_zenoh_cpp rmw_zenohd"
+talker = "ros2 run demo_nodes_py talker"
+listener = "ros2 run demo_nodes_py listener"
+# ── adapters (device programs → ROS topics; no custom message types) ────────
+fictrac-adapter = "python nodes/fictrac_udp_adapter.py"
+kinefly-adapter = "python nodes/kinefly_udp_adapter.py"
+bias-node = "python nodes/bias_node.py"
+bias-cmd = "python nodes/bias_cmd.py"
+# ── the bridge node: bridge.py's hub + log writer + dispatcher on ROS input ──
+bridge-node = "python nodes/bridge_node.py"
+# ── simulators (the root workspace's fictrac_sim.py, unmodified) ────────────
+sim = "python ../fictrac-bridge/fictrac_sim.py"
+kinefly-sim = "python nodes/kinefly_sim.py"
+bias-sim = "python nodes/bias_sim.py"
+# ── the one command a rig runs ──────────────────────────────────────────────
+rig = "python nodes/rig.py"
+# ── acceptance test (LAB-303 PoC criteria): whole graph + Studio emulator + model fly ──
+test = "python tests/test_ros2_poc.py"
+studio-emulator = "python tests/studio_emulator.py"
diff --git a/ros2-poc/tests/check_runlog_readers.js b/ros2-poc/tests/check_runlog_readers.js
new file mode 100644
index 00000000..bc7451e3
--- /dev/null
+++ b/ros2-poc/tests/check_runlog_readers.js
@@ -0,0 +1,148 @@
+#!/usr/bin/env node
+/**
+ * check_runlog_readers.js — feed a run log produced by the ROS 2 bridge node through the
+ * repo's JS readers, exactly as the Studio / dashboard / replay would:
+ *
+ *   js/runlog-format.js  readRunlogText (gzip-aware) + createNormalizer().normalize(rec)
+ *                        per line — the per-file decoder EVERY reader uses; behavior_v2
+ *                        ["a",…] echoes must expand to exact v1 arena_command objects
+ *   js/runlog-replay.js  parseRunLog(text) + buildTimeline(parsed) — the Studio's replay
+ *                        parser (closed-loop epochs from the runner events)
+ *
+ * and print counts per line shape. Exit 1 if any line fails to parse/normalize, if the
+ * format is not behavior_v2, if no FicTrac rows / arena echoes / tagged streams were
+ * found where expected, or if the replay parser finds no runner events.
+ *
+ *   node tests/check_runlog_readers.js export.jsonl [--expect-kf] [--json]
+ *
+ * Run it with the ROOT workspace's Node (`pixi run --manifest-path ../pixi.toml node …`);
+ * the ros2-poc env deliberately has no Node.
+ */
+'use strict';
+
+const fs = require('fs');
+const path = require('path');
+
+const REPO = path.resolve(__dirname, '..', '..');
+const F = require(path.join(REPO, 'js', 'runlog-format.js'));
+const R = require(path.join(REPO, 'js', 'runlog-replay.js'));
+
+async function main(argv) {
+    const args = argv.slice(2);
+    const file = args.find((a) => !a.startsWith('--'));
+    if (!file) {
+        console.error('usage: check_runlog_readers.js LOG [--expect-kf] [--json]');
+        return 2;
+    }
+    const expectKf = args.includes('--expect-kf');
+    const bytes = fs.readFileSync(file);
+    const text = await F.readRunlogText(new Uint8Array(bytes)); // gzip-aware, async
+    const lines = text.split('\n').filter((l) => l.trim());
+    const norm = F.createNormalizer();
+    const counts = {
+        lines: lines.length,
+        fictrac_rows: 0,
+        arena_echoes: 0,
+        tagged: {},
+        events: {},
+        parse_errors: 0,
+        normalize_errors: 0,
+        echo_expand_bad: 0
+    };
+    const problems = [];
+    let fmt = null;
+    for (let i = 0; i < lines.length; i++) {
+        let rec;
+        try {
+            rec = JSON.parse(lines[i]);
+        } catch (e) {
+            counts.parse_errors++;
+            problems.push(`line ${i + 1}: JSON parse error`);
+            continue;
+        }
+        let out;
+        try {
+            out = norm.normalize(rec);
+        } catch (e) {
+            counts.normalize_errors++;
+            problems.push(`line ${i + 1}: normalize threw ${e.message}`);
+            continue;
+        }
+        if (Array.isArray(rec)) {
+            if (typeof rec[0] === 'number') counts.fictrac_rows++;
+            else if (rec[0] === 'a') {
+                counts.arena_echoes++;
+                // The normalizer must have expanded it to the exact v1 object.
+                const ok =
+                    out &&
+                    !Array.isArray(out) &&
+                    out.type === 'log' &&
+                    out.event === 'arena_command' &&
+                    typeof out.head === 'string' &&
+                    out.len === out.head.split(' ').length &&
+                    (out.status === null
+                        ? out.echo === null && out.ok === null
+                        : out.ok === (out.status === 0));
+                if (!ok) {
+                    counts.echo_expand_bad++;
+                    if (counts.echo_expand_bad <= 3)
+                        problems.push(`line ${i + 1}: arena echo did not expand to a v1 object`);
+                }
+            } else if (typeof rec[0] === 'string') {
+                counts.tagged[rec[0]] = (counts.tagged[rec[0]] || 0) + 1;
+            }
+        } else if (rec && typeof rec === 'object') {
+            const k = rec.type === 'log' ? `log/${rec.event}` : rec.type;
+            counts.events[k] = (counts.events[k] || 0) + 1;
+            if (rec.type === 'frame_schema') fmt = rec.level;
+        }
+    }
+    counts.format = fmt;
+    counts.detectFormat = typeof F.detectFormat === 'function' ? F.detectFormat(text) : undefined;
+
+    // Replay parser (the Studio's run-log replay).
+    let replay = null;
+    try {
+        const parsed = R.parseRunLog(text, {});
+        const tl = typeof R.buildTimeline === 'function' ? R.buildTimeline(parsed, {}) : null;
+        replay = {
+            samples: Array.isArray(parsed.samples) ? parsed.samples.length : null,
+            events: Array.isArray(parsed.events) ? parsed.events.length : null,
+            arenaFrames: Array.isArray(parsed.arenaFrames) ? parsed.arenaFrames.length : null,
+            durationMs: parsed.durationMs,
+            timelineItems: Array.isArray(tl)
+                ? tl.length
+                : tl && Array.isArray(tl.items)
+                  ? tl.items.length
+                  : null
+        };
+        if (!(replay.samples > 0)) problems.push('runlog-replay: no FicTrac samples parsed');
+        if (!(replay.arenaFrames > 0))
+            problems.push('runlog-replay: no arena frames (0x70 echoes) parsed');
+    } catch (e) {
+        problems.push(`runlog-replay parseRunLog threw: ${e.message}`);
+    }
+    counts.replay = replay;
+
+    if (fmt !== 'behavior_v2') problems.push(`frame_schema level ${fmt}, expected behavior_v2`);
+    if (!counts.fictrac_rows) problems.push('no FicTrac rows');
+    if (!counts.arena_echoes) problems.push('no ["a",…] arena echoes');
+    if (!(counts.events['log/runner'] > 0)) problems.push('no runner events');
+    if (expectKf && !(counts.tagged.kf > 0)) problems.push('no ["kf",…] rows');
+
+    const ok = problems.length === 0;
+    if (args.includes('--json')) console.log(JSON.stringify({ ok, counts, problems }, null, 1));
+    else {
+        console.log(`${ok ? 'PASS' : 'FAIL'} ${path.basename(file)}: ${JSON.stringify(counts)}`);
+        for (const p of problems) console.log('  - ' + p);
+    }
+    return ok ? 0 : 1;
+}
+
+main(process.argv).then(
+    (rc) => process.exit(rc),
+    (e) => {
+        console.error(e && e.stack ? e.stack : String(e));
+        process.exit(1);
+    }
+);
diff --git a/ros2-poc/tests/studio_emulator.py b/ros2-poc/tests/studio_emulator.py
new file mode 100644
index 00000000..5ea3c14c
--- /dev/null
+++ b/ros2-poc/tests/studio_emulator.py
@@ -0,0 +1,261 @@
+#!/usr/bin/env python3
+"""studio_emulator.py — replays the Arena Studio runner's bridge conversation, without a browser.
+
+This container (and any CI box) has no Web Serial, so the "unmodified Studio connects on
+ws://localhost:8765" criterion is checked by speaking EXACTLY what the Studio speaks
+(js/fictrac-bridge-client.js + js/arena-runner-g6.js + js/arena-session.js) and asserting
+the bridge's answers:
+
+  on connect   hello {client:'webDisplayTools', v:1}  → hello_ack (version ≥ 3.4, levels ⊇ behavior_v2)
+               config {fictrac_port, coupling, deg_per_frame, gain, frames}
+  run start    log_control {enabled:true, level:'behavior_v2'} → log_control_ack (level == behavior_v2)
+               log run_metadata …
+  per epoch    log runner step-start
+               config {frames, coupling, deg_per_frame, gain, start_frame, epoch:true, bias}
+               log runner command fictracApply true
+                 … for each frame received: the arena_command echo of SET_FRAME_POSITION (0x70)
+                     exactly as arena-session.js _logCommand writes it (so the ["a",…]
+                     compaction path runs), honouring the epoch gate like the client does
+               log runner command fictracApply false
+               config {bias:{type:'none'}}            (stopClosedLoop → _disarmClosedLoop)
+  run end      log_control {enabled:false} → ack; log_export → log_export_result (content)
+
+Exit 0 when every assertion held; the exported log is written to --out and a JSON report to
+--report. Used by tests/test_ros2_poc.py; also handy by hand against any bridge:
+
+    pixi run python tests/studio_emulator.py --epochs 2 --epoch-s 6 --bias-amplitude 90
+"""
+
+from __future__ import annotations
+
+import argparse
+import asyncio
+import json
+import sys
+import time
+
+from websockets.asyncio.client import connect
+
+T0 = time.time()
+
+
+def mono_ms() -> int:
+    return int((time.time() - T0) * 1000)
+
+
+def arena_echo_set_frame_position(index: int, dt_ms: int = 3) -> dict:
+    """The exact object arena-session.js _logCommand builds for SET_FRAME_POSITION 0x70:
+    head = the frame bytes (len, cmd, idx lo, idx hi) as spaced lowercase hex; status 0 /
+    echo 0x70 / ok true on a normal reply."""
+    lo, hi = index & 0xFF, (index >> 8) & 0xFF
+    head = f"03 70 {lo:02x} {hi:02x}"
+    return {
+        "type": "log",
+        "event": "arena_command",
+        "t": int(time.time() * 1000),
+        "dt": dt_ms,
+        "len": 4,
+        "head": head,
+        "status": 0,
+        "echo": 0x70,
+        "ok": True,
+        "error": None,
+    }
+
+
+class Emulator:
+    def __init__(self, args: argparse.Namespace) -> None:
+        self.a = args
+        self.ws = None
+        self.inbox: asyncio.Queue = asyncio.Queue()
+        self.frames = 0
+        self.stale = 0
+        self.applied = 0
+        self.epoch_seen = None
+        self.report: dict = {"asserts": [], "frames_per_epoch": [], "ok": True}
+
+    def check(self, name: str, ok: bool, info: str = "") -> None:
+        self.report["asserts"].append({"name": name, "ok": bool(ok), "info": info})
+        print(f"  {'PASS' if ok else 'FAIL'}  {name}{'' if ok else ' — ' + info}", file=sys.stderr)
+        if not ok:
+            self.report["ok"] = False
+
+    async def send(self, obj: dict) -> None:
+        await self.ws.send(json.dumps(obj))
+
+    async def wait_for(self, kind: str, timeout: float = 5.0) -> dict | None:
+        """Pop messages until one of `kind` arrives; frames seen meanwhile are counted."""
+        deadline = time.monotonic() + timeout
+        while True:
+            remaining = deadline - time.monotonic()
+            if remaining <= 0:
+                return None
+            try:
+                msg = await asyncio.wait_for(self.inbox.get(), remaining)
+            except asyncio.TimeoutError:
+                return None
+            if msg.get("type") == kind:
+                return msg
+            if msg.get("type") == "frame":
+                self.frames += 1
+
+    async def reader(self) -> None:
+        try:
+            async for raw in self.ws:
+                try:
+                    msg = json.loads(raw)
+                except json.JSONDecodeError:
+                    continue
+                await self.inbox.put(msg)
+        except Exception:
+            pass
+
+    async def run_epoch(self, i: int, gate_since) -> int:
+        a = self.a
+        cond = f"cl_{a.bias_type}_{i}"
+        await self.send({"type": "log", "event": "runner", "phase": "step-start", "index": i, "condition": cond})
+        cfg = {
+            "type": "config",
+            "frames": a.frames,
+            "coupling": a.coupling,
+            "deg_per_frame": a.deg_per_frame,
+            "gain": a.deg_per_frame,
+            "start_frame": a.start_frame,
+            "epoch": True,
+            "bias": {"type": a.bias_type, "amplitude": a.bias_amplitude, "frequency": a.bias_frequency},
+        }
+        await self.send(cfg)
+        await self.send({"type": "log", "event": "runner", "phase": "command", "op": "fictracApply", "value": True, "condition": cond})
+        # Apply loop: the client withholds frames still stamped with the pre-tare epoch id
+        # (the epoch gate) and applies the newest index — one echo per applied frame.
+        n = 0
+        stale = 0
+        end = time.monotonic() + a.epoch_s
+        first_idx = None
+        new_epoch = None
+        while time.monotonic() < end:
+            try:
+                msg = await asyncio.wait_for(self.inbox.get(), max(0.01, end - time.monotonic()))
+            except asyncio.TimeoutError:
+                break
+            if msg.get("type") != "frame":
+                continue
+            self.frames += 1
+            ep = msg.get("epoch")
+            if gate_since is not None and ep is not None and ep == gate_since:
+                stale += 1
+                continue
+            if new_epoch is None:
+                new_epoch = ep
+                first_idx = msg.get("index")
+            n += 1
+            await self.send(arena_echo_set_frame_position(int(msg["index"])))
+        self.applied += n
+        self.stale += stale
+        await self.send({"type": "log", "event": "runner", "phase": "command", "op": "fictracApply", "value": False, "condition": cond})
+        await self.send({"type": "config", "bias": {"type": "none"}})
+        self.report["frames_per_epoch"].append({"epoch": i, "applied": n, "stale_withheld": stale, "epoch_id": new_epoch, "first_index": first_idx})
+        self.check(f"epoch {i}: frames applied ≥ {a.min_frames}", n >= a.min_frames, f"{n}")
+        self.check(f"epoch {i}: a new epoch id was stamped", new_epoch is not None and new_epoch != gate_since, f"{new_epoch} vs {gate_since}")
+        if first_idx is not None:
+            # The tared epoch opens on start_frame (± 1 frame of fly motion before the tare row).
+            d = (first_idx - a.start_frame) % a.frames
+            self.check(f"epoch {i}: opened on start_frame {a.start_frame}", min(d, a.frames - d) <= 1, f"first index {first_idx}")
+        return new_epoch
+
+    async def main(self) -> int:
+        a = self.a
+        async with connect(a.url, max_size=16 * 1024 * 1024) as ws:
+            self.ws = ws
+            reader = asyncio.create_task(self.reader())
+            await self.send({"type": "hello", "client": "webDisplayTools", "v": 1})
+            await self.send({"type": "config", "fictrac_port": 60000, "coupling": a.coupling, "deg_per_frame": a.deg_per_frame, "gain": a.deg_per_frame, "frames": a.frames})
+            ack = await self.wait_for("hello_ack")
+            self.check("hello_ack received", ack is not None)
+            if ack:
+                v = str(ack.get("bridge", ""))
+                self.report["bridge"] = v
+                m = v.split()[0] if v else ""
+                try:
+                    major, minor = (int(x) for x in m.split(".")[:2])
+                    at_least_34 = (major, minor) >= (3, 4)
+                except ValueError:
+                    at_least_34 = False
+                self.check("bridge version parses as ≥ 3.4 (supportsStartFrame)", at_least_34, v)
+                self.check("behavior_v2 advertised", "behavior_v2" in (ack.get("levels") or []), str(ack.get("levels")))
+            await self.send({"type": "log_control", "enabled": True, "level": "behavior_v2"})
+            lack = await self.wait_for("log_control_ack")
+            self.check("log_control_ack: behavior_v2 in force", bool(lack) and lack.get("enabled") is True and lack.get("level") == "behavior_v2", str(lack))
+            self.report["log_file"] = lack.get("file") if lack else None
+            await self.send({"type": "log", "event": "run_metadata", "rig_id": a.rig_id, "log_format": "behavior_v2",
+                             "protocol_sha256": None, "client": "studio_emulator.py", "frames": a.frames})
+            # Pre-run: let a few frames flow so the epoch gate has a "since" id (the Studio
+            # sees frames before the first trial too).
+            await asyncio.sleep(0.5)
+            since = None
+            while not self.inbox.empty():
+                m = self.inbox.get_nowait()
+                if m.get("type") == "frame":
+                    self.frames += 1
+                    since = m.get("epoch", since)
+            for i in range(a.epochs):
+                since = await self.run_epoch(i, since)
+                if a.iti_s > 0:
+                    # ITI: frames keep flowing and are NOT applied (apply off), like the Studio.
+                    t_end = time.monotonic() + a.iti_s
+                    while time.monotonic() < t_end:
+                        try:
+                            m = await asyncio.wait_for(self.inbox.get(), max(0.01, t_end - time.monotonic()))
+                        except asyncio.TimeoutError:
+                            break
+                        if m.get("type") == "frame":
+                            self.frames += 1
+                            since = m.get("epoch", since)
+            await self.send({"type": "log", "event": "runner", "phase": "sequence-done", "epochs": a.epochs})
+            await self.send({"type": "log_control", "enabled": False})
+            off = await self.wait_for("log_control_ack")
+            self.check("log_control_ack: logging off", bool(off) and off.get("enabled") is False, str(off))
+            await self.send({"type": "log_export"})
+            exp = await self.wait_for("log_export_result", timeout=15.0)
+            self.check("log_export_result with content", bool(exp) and isinstance(exp.get("content"), str) and len(exp["content"]) > 0, str(exp)[:200] if exp else "none")
+            if exp and exp.get("content"):
+                with open(a.out, "w", encoding="utf-8") as fh:
+                    fh.write(exp["content"])
+                self.report["export_name"] = exp.get("name")
+                self.report["export_bytes"] = len(exp["content"])
+            reader.cancel()
+        self.report.update({"frames_total": self.frames, "applied": self.applied, "stale_withheld": self.stale})
+        if a.report:
+            with open(a.report, "w", encoding="utf-8") as fh:
+                json.dump(self.report, fh, indent=1)
+        print(f"[emulator] frames {self.frames}, applied {self.applied}, stale withheld {self.stale}, ok={self.report['ok']}", file=sys.stderr)
+        return 0 if self.report["ok"] else 1
+
+
+def main(argv: list[str] | None = None) -> int:
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("--url", default="ws://127.0.0.1:8765")
+    p.add_argument("--epochs", type=int, default=2)
+    p.add_argument("--epoch-s", type=float, default=6.0)
+    p.add_argument("--iti-s", type=float, default=1.0)
+    p.add_argument("--frames", type=int, default=200)
+    p.add_argument("--coupling", type=float, default=1.0)
+    p.add_argument("--deg-per-frame", type=float, default=1.8)
+    p.add_argument("--start-frame", type=int, default=0)
+    p.add_argument("--bias-type", default="constant", choices=("none", "constant", "sine", "square"))
+    p.add_argument("--bias-amplitude", type=float, default=90.0)
+    p.add_argument("--bias-frequency", type=float, default=0.0)
+    p.add_argument("--min-frames", type=int, default=50, help="assert at least this many applied frames per epoch")
+    p.add_argument("--rig-id", default="ros2-poc")
+    p.add_argument("--out", default="studio-export.jsonl", help="where to write the exported log")
+    p.add_argument("--report", default=None, help="JSON report path")
+    args = p.parse_args(argv)
+    try:
+        return asyncio.run(Emulator(args).main())
+    except (ConnectionRefusedError, OSError) as exc:
+        print(f"[emulator] cannot connect to {args.url}: {exc}", file=sys.stderr)
+        return 2
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/tests/test_ros2_poc.py b/ros2-poc/tests/test_ros2_poc.py
new file mode 100644
index 00000000..8494f835
--- /dev/null
+++ b/ros2-poc/tests/test_ros2_poc.py
@@ -0,0 +1,341 @@
+#!/usr/bin/env python3
+"""test_ros2_poc.py — the LAB-303 proof-of-concept acceptance run, end to end, no hardware.
+
+    pixi run test                 # from ros2-poc/ (≈ 45 s)
+    pixi run test -- --epoch-s 4 --keep
+
+Brings up the WHOLE graph in this process's pixi env — Zenoh router, FicTrac UDP adapter,
+Kinefly KF/1 adapter + synthetic producer, BIAS simulator + BIAS node, the bridge node —
+then drives it the way a rig does: `fictrac_sim.py --model fly --kp 2` (a fixating model
+fly on the WebSocket, FicTrac untouched) and tests/studio_emulator.py (the Studio runner's
+exact bridge conversation, 3 constant-bias epochs). During epoch 2 the FicTrac adapter is
+KILLED (SIGKILL) and restarted 3 s later. BIAS commands are issued mid-run through the
+node. Then the exported log is judged:
+
+  criteria (LAB-303, 2026-10-14 comment)                       how it is checked here
+  ─────────────────────────────────────────────────────────────────────────────────────
+  pixi install, no manual steps; one `pixi run rig`             this test runs in that env; rig.py is the launcher
+  no custom message types                                       std_msgs/String everywhere (grep in CI below)
+  FicTrac via the sim through a UDP→ROS adapter, untouched      fictrac_sim.py unmodified, adapter in nodes/
+  Kinefly fork via a KF/1 adapter                               kinefly_sim.py (KF/1 bytes) → adapter → ["kf",…] rows
+  BIAS via the Mac port                                         bias_sim.py here; real BIAS = same HTTP interface
+  unmodified Studio passes the closed-loop report               emulator speaks the client's protocol; report:
+                                                                rejection > 0.8 on uninterrupted epochs, idx mismatch 0
+  … and the runlog format tests                                 js/runlog-format + runlog-replay readers accept every line;
+                                                                bridge.py --convert v2→v1→v2 is byte-identical
+  the closed-loop node stamps its own sample time               Pipeline.handle_line's now_ms() (reused); lat stats logged
+  bridge 3.4 stays installed side by side                       root fictrac-bridge/bridge.py --version still 3.4
+  a device node killed mid-run leaves the log intact            adapter SIGKILLed in epoch 2: source_lost/resumed logged,
+                                                                file complete, every reader still parses it
+
+Exit 0 when all checks pass. Prints a markdown summary. Artifacts are kept with --keep.
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import shutil
+import signal
+import socket
+import subprocess
+import sys
+import tempfile
+import threading
+import time
+from pathlib import Path
+
+HERE = Path(__file__).resolve().parent
+POC = HERE.parent
+REPO = POC.parent
+NODES = POC / "nodes"
+SIM = REPO / "fictrac-bridge" / "fictrac_sim.py"
+BRIDGE_PY = REPO / "fictrac-bridge" / "bridge.py"
+PY = sys.executable
+
+results: list[tuple[str, bool, str]] = []
+
+
+def check(name: str, ok: bool, info: str = "") -> bool:
+    results.append((name, bool(ok), info))
+    print(f"  {'PASS' if ok else 'FAIL'}  {name}{'' if ok else ' — ' + info}", file=sys.stderr)
+    return bool(ok)
+
+
+def wait_port(host: str, port: int, timeout_s: float) -> bool:
+    end = time.monotonic() + timeout_s
+    while time.monotonic() < end:
+        try:
+            with socket.create_connection((host, port), timeout=0.5):
+                return True
+        except OSError:
+            time.sleep(0.2)
+    return False
+
+
+class Proc:
+    def __init__(self, name: str, argv: list[str], logdir: Path) -> None:
+        self.name = name
+        self.argv = argv
+        self.log = open(logdir / f"{name}.log", "w", encoding="utf-8")
+        self.p: subprocess.Popen | None = None
+
+    def start(self) -> "Proc":
+        # Own process group, so stop() reaches `ros2 run`'s child (the router binary) too.
+        self.p = subprocess.Popen(self.argv, stdout=self.log, stderr=subprocess.STDOUT, text=True, start_new_session=(os.name != "nt"))
+        return self
+
+    def alive(self) -> bool:
+        return self.p is not None and self.p.poll() is None
+
+    def _signal(self, sig: int) -> None:
+        if os.name != "nt":
+            try:
+                os.killpg(self.p.pid, sig)
+                return
+            except (ProcessLookupError, PermissionError):
+                pass
+        self.p.send_signal(sig)
+
+    def kill9(self) -> None:
+        if self.alive():
+            self._signal(signal.SIGKILL)
+            self.p.wait(5)
+
+    def stop(self) -> None:
+        if not self.alive():
+            return
+        try:
+            self._signal(signal.SIGINT)
+            self.p.wait(5)
+        except subprocess.TimeoutExpired:
+            self._signal(signal.SIGTERM)
+            try:
+                self.p.wait(3)
+            except subprocess.TimeoutExpired:
+                self._signal(signal.SIGKILL)
+        except (ProcessLookupError, OSError):
+            pass
+        self.log.flush()
+
+
+def read_jsonl(path: Path) -> list:
+    return [json.loads(l) for l in path.read_text(encoding="utf-8").splitlines() if l.strip()]
+
+
+def run_capture(argv: list[str], timeout: float = 60.0, cwd: Path | None = None) -> subprocess.CompletedProcess:
+    return subprocess.run(argv, capture_output=True, text=True, timeout=timeout, cwd=str(cwd) if cwd else None)
+
+
+def main(argv: list[str] | None = None) -> int:
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument("--epochs", type=int, default=3)
+    ap.add_argument("--epoch-s", type=float, default=6.0)
+    ap.add_argument("--kill-at", type=float, default=2.0, help="seconds into epoch 2 (0-based epoch 1) to SIGKILL the FicTrac adapter")
+    ap.add_argument("--kill-for", type=float, default=3.0, help="seconds before the adapter is restarted")
+    ap.add_argument("--keep", action="store_true", help="keep the work dir")
+    ap.add_argument("--workdir", default=None)
+    ap.add_argument("--no-router", action="store_true", help="a Zenoh router is already running on 127.0.0.1:7447")
+    a = ap.parse_args(argv)
+
+    work = Path(a.workdir) if a.workdir else Path(tempfile.mkdtemp(prefix="ros2-poc-test-"))
+    work.mkdir(parents=True, exist_ok=True)
+    logdir = work / "proc-logs"
+    logdir.mkdir(exist_ok=True)
+    runlogs = work / "runlogs"
+    export = work / "studio-export.jsonl"
+    report = work / "emulator-report.json"
+    videos = work / "bias-videos"
+    procs: list[Proc] = []
+    print(f"[test] work dir {work}", file=sys.stderr)
+
+    def start(name: str, argv: list[str]) -> Proc:
+        pr = Proc(name, argv, logdir).start()
+        procs.append(pr)
+        return pr
+
+    kill_report: dict = {}
+    try:
+        # ── bring the graph up ───────────────────────────────────────────────────────
+        if not a.no_router:
+            start("router", ["ros2", "run", "rmw_zenoh_cpp", "rmw_zenohd"])
+            check("zenoh router listening on 127.0.0.1:7447", wait_port("127.0.0.1", 7447, 20.0))
+        fictrac = start("fictrac-adapter", [PY, str(NODES / "fictrac_udp_adapter.py"), "--status-every", "0"])
+        start("kinefly-adapter", [PY, str(NODES / "kinefly_udp_adapter.py"), "--status-every", "0"])
+        start("bias-sim", [PY, str(NODES / "bias_sim.py"), "--video-dir", str(videos)])
+        start("bias-node", [PY, str(NODES / "bias_node.py"), "--status-every", "1"])
+        bridge = start("bridge-node", [PY, str(NODES / "bridge_node.py"), "--log-dir", str(runlogs), "--source-timeout", "1.5"])
+        check("bridge node serving ws://127.0.0.1:8765", wait_port("127.0.0.1", 8765, 20.0))
+        time.sleep(1.5)  # discovery
+        start("kinefly-sim", [PY, str(NODES / "kinefly_sim.py"), "--rate", "100", "--seed", "1"])
+        start("model-fly", [PY, str(SIM), "--model", "fly", "--kp", "2", "--seed", "1", "--rate", "50"])
+        time.sleep(1.5)
+
+        # ── side actors during the run: BIAS commands + the adapter kill ─────────────
+        def bias_cmd(*args: str) -> dict:
+            r = run_capture([PY, str(NODES / "bias_cmd.py"), *args, "--json", "--timeout", "10"], timeout=30)
+            try:
+                return json.loads(r.stdout) if r.stdout.strip().startswith("{") else {"rc": r.returncode, "err": r.stderr[-300:]}
+            except json.JSONDecodeError:
+                return {"rc": r.returncode, "err": r.stderr[-300:]}
+
+        bias_replies: dict = {}
+
+        def side_actor() -> None:
+            t_run0 = time.monotonic()
+            bias_replies["connect"] = bias_cmd("connect")
+            bias_replies["startRecording"] = bias_cmd("startRecording", "--filename", "poc_trial.avi")
+            # Kill the FicTrac adapter `kill_at` s into epoch index 1 (emulator: 0.5 s pre-run + epochs + ITIs).
+            t_kill = t_run0 + 0.5 + (a.epoch_s + 1.0) * 1 + a.kill_at
+            while time.monotonic() < t_kill:
+                time.sleep(0.05)
+            kill_report["killed_at_ms"] = int((time.monotonic() - t_run0) * 1000)
+            fictrac.kill9()
+            kill_report["adapter_rc"] = fictrac.p.returncode if fictrac.p else None
+            time.sleep(a.kill_for)
+            fictrac.start()
+            kill_report["restarted_at_ms"] = int((time.monotonic() - t_run0) * 1000)
+            time.sleep(1.0)
+            bias_replies["getTimestamp"] = bias_cmd("getTimestamp")
+            # stopRecording near the end of the run (after the last epoch starts).
+            t_stop = t_run0 + 0.5 + (a.epoch_s + 1.0) * (a.epochs - 1) + 1.0
+            while time.monotonic() < t_stop:
+                time.sleep(0.05)
+            bias_replies["stopRecording"] = bias_cmd("stopRecording")
+
+        actor = threading.Thread(target=side_actor, name="side-actor", daemon=True)
+        actor.start()
+
+        # ── the Studio's conversation ────────────────────────────────────────────────
+        em = run_capture(
+            [PY, str(HERE / "studio_emulator.py"), "--epochs", str(a.epochs), "--epoch-s", str(a.epoch_s), "--iti-s", "1",
+             "--bias-amplitude", "90", "--min-frames", "40", "--out", str(export), "--report", str(report)],
+            timeout=60 + a.epochs * (a.epoch_s + 2),
+        )
+        (logdir / "emulator.log").write_text(em.stderr, encoding="utf-8")
+        check("studio emulator: every protocol assertion held", em.returncode == 0, em.stderr[-600:])
+        actor.join(timeout=30)
+
+        # ── judge the log ────────────────────────────────────────────────────────────
+        check("exported log written", export.exists() and export.stat().st_size > 0)
+        objs = read_jsonl(export) if export.exists() else []
+        disk = sorted(runlogs.glob("arena-log-*.jsonl"))
+        check("export is byte-identical to the bridge node's file on disk",
+              bool(disk) and disk[-1].read_bytes() == export.read_bytes(), f"{[d.name for d in disk]}")
+
+        events = [o for o in objs if isinstance(o, dict)]
+        rows_ft = [o for o in objs if isinstance(o, list) and isinstance(o[0], (int, float))]
+        rows_kf = [o for o in objs if isinstance(o, list) and o[0] == "kf"]
+        rows_a = [o for o in objs if isinstance(o, list) and o[0] == "a"]
+        by_type: dict[str, int] = {}
+        for e in events:
+            by_type[e.get("type", "?")] = by_type.get(e.get("type", "?"), 0) + 1
+        print(f"[test] log: {len(objs)} lines — fictrac rows {len(rows_ft)}, arena echoes {len(rows_a)}, kf rows {len(rows_kf)}, events {by_type}", file=sys.stderr)
+        check("FicTrac rows logged (every frame, not only applied)", len(rows_ft) > 40 * a.epochs, str(len(rows_ft)))
+        check('["a",…] compact arena echoes logged', len(rows_a) > 40 * (a.epochs - 1), str(len(rows_a)))
+        check('["kf",…] Kinefly rows logged (KF/1 → adapter → bridge)', len(rows_kf) > 100, str(len(rows_kf)))
+        kf_ok = all(len(r) == 8 and isinstance(r[1], int) and isinstance(r[2], int) and r[4] is not None and r[5] is not None for r in rows_kf[:50])
+        check("kf rows carry left/right wing angles", kf_ok)
+
+        lost = [e for e in events if e.get("type") == "source_lost" and e.get("src") == "fictrac"]
+        resumed = [e for e in events if e.get("type") == "source_resumed" and e.get("src") == "fictrac"]
+        check("adapter SIGKILL mid-run → source_lost logged", len(lost) >= 1, json.dumps(kill_report))
+        check("adapter restart → source_resumed logged", len(resumed) >= 1)
+        check("log file ends with logging_stopped (intact after the kill)",
+              bool(events) and events[-1].get("type") == "session" and events[-1].get("event") == "logging_stopped")
+
+        bias_ev = [e for e in events if e.get("type") == "connector" and e.get("src") == "bias"]
+        bias_rep = [e for e in bias_ev if e.get("kind") == "reply"]
+        bias_st = [e for e in bias_ev if e.get("kind") == "status"]
+        art = [e for e in bias_rep if isinstance(e.get("artifact"), dict)]
+        check("BIAS command/reply pairs in the run log", len(bias_rep) >= 3, f"{len(bias_rep)} replies: {[r.get('command') for r in bias_rep]}")
+        check("BIAS status lines in the run log", len(bias_st) >= 3, str(len(bias_st)))
+        check("BIAS video artifact identity in the run log", bool(art) and str(art[0]["artifact"].get("path", "")).endswith("poc_trial.avi"), json.dumps(art[:1]))
+        check("BIAS video file exists after stopRecording", (videos / "poc_trial.avi").exists(), str(list(videos.glob('*')) if videos.exists() else []))
+
+        cs = [e for e in events if e.get("type") == "connector_status" and e.get("src") == "fictrac"]
+        p99 = cs[-1]["lat_ms"]["p99"] if cs else None
+        check("connector_status: adapter→bridge latency p99 < 50 ms", p99 is not None and p99 < 50.0, str(cs[-1] if cs else None))
+
+        # ── closed-loop report (root scripts/, stdlib only) ─────────────────────────
+        rep = run_capture([PY, str(REPO / "scripts" / "closed-loop-report.py"), "--json", str(export)], timeout=60)
+        check("closed-loop-report runs", rep.returncode == 0, rep.stderr[-300:])
+        epochs = []
+        if rep.returncode == 0:
+            R = json.loads(rep.stdout)
+            epochs = R.get("epochs", [])
+            check(f"report finds {a.epochs} epochs from runner fictracApply", len(epochs) == a.epochs and R.get("epoch_source") == "runner fictracApply", f"{len(epochs)} ({R.get('epoch_source')})")
+            for i, e in enumerate(epochs):
+                interrupted = i == 1
+                mism = e.get("idx_mismatch_fraction")
+                rows = e.get("rows") or 0
+                # The report's epoch opens at the fictracApply event's ms. A FicTrac row
+                # computed with the PREVIOUS mapping can carry that same ms (it is written
+                # before the config line in the file — the bridge handled it first), and the
+                # report then reconstructs it with the new epoch's bias/tare. That is one row
+                # of 1 ms resolution at the boundary, identical with bridge 3.4; the mapping
+                # itself is exact, so the bar is "≤ 1 boundary row", not literally 0.
+                n_mism = round((mism or 0.0) * rows) if rows else (0 if mism == 0.0 else 99)
+                check(f"epoch {i} ({e.get('condition')}): idx reconstruction exact (≤ 1 boundary row of {rows})", n_mism <= 1, f"fraction {mism}")
+                rej = e.get("rejection")
+                if not interrupted:
+                    check(f"epoch {i}: model fly rejects the bias (rejection > 0.8)", rej is not None and rej > 0.8, str(rej))
+                else:
+                    print(f"  info  epoch {i} (adapter killed for {a.kill_for}s): rejection {rej}, rows {e.get('rows')}", file=sys.stderr)
+            md = run_capture([PY, str(REPO / "scripts" / "closed-loop-report.py"), str(export)], timeout=60).stdout
+            (work / "closed-loop-report.md").write_text(md, encoding="utf-8")
+
+        # ── format: convert round trip + JS readers ─────────────────────────────────
+        v1 = work / "export.v1.jsonl"
+        v2 = work / "export.v2.jsonl"
+        c1 = run_capture([PY, str(BRIDGE_PY), "--convert", str(export), str(v1)])
+        c2 = run_capture([PY, str(BRIDGE_PY), "--convert", str(v1), str(v2)]) if c1.returncode == 0 else None
+        check("bridge.py --convert v2→v1→v2 byte-identical", c2 is not None and c2.returncode == 0 and v2.read_bytes() == export.read_bytes(),
+              (c1.stderr + (c2.stderr if c2 else ""))[-300:])
+        ver = run_capture([PY, str(BRIDGE_PY), "--version"])
+        check("bridge 3.4 side by side: fictrac-bridge/bridge.py --version still 3.4", (ver.stdout + ver.stderr).strip().startswith("fictrac-bridge 3.4"), (ver.stdout + ver.stderr)[:80])
+
+        node_bin = shutil.which("node")
+        root_pixi = shutil.which("pixi")
+        js_argv = None
+        if node_bin:
+            js_argv = [node_bin, str(HERE / "check_runlog_readers.js"), str(export), "--expect-kf"]
+        elif root_pixi and (REPO / ".pixi").exists():
+            js_argv = [root_pixi, "run", "--manifest-path", str(REPO / "pixi.toml"), "node", str(HERE / "check_runlog_readers.js"), str(export), "--expect-kf"]
+        if js_argv:
+            js = run_capture(js_argv, timeout=120, cwd=REPO)
+            check("JS readers (runlog-format normalizer + runlog-replay parser) accept every line", js.returncode == 0, (js.stdout + js.stderr)[-500:])
+            print("  " + (js.stdout.strip().splitlines() or [""])[-1][:300], file=sys.stderr)
+        else:
+            print("  skip  JS reader check: no `node` and no root pixi env (run `pixi install` at the repo root)", file=sys.stderr)
+
+        # No custom message types: only std_msgs in nodes/.
+        bad = []
+        for f in NODES.glob("*.py"):
+            for line in f.read_text(encoding="utf-8").splitlines():
+                if line.startswith("from ") and ".msg import" in line and not line.startswith("from std_msgs.msg"):
+                    bad.append(f"{f.name}: {line.strip()}")
+        check("no custom message types (only std_msgs imported in nodes/)", not bad, "; ".join(bad))
+
+        check("bridge node still alive at the end", bridge.alive())
+    finally:
+        for pr in reversed(procs):
+            pr.stop()
+        for pr in procs:
+            pr.log.close()
+
+    n_ok = sum(1 for _, ok, _ in results if ok)
+    print(f"\n{n_ok} / {len(results)} checks passed", file=sys.stderr)
+    summary = ["| check | result |", "|---|---|"] + [f"| {n} | {'PASS' if ok else 'FAIL — ' + i.replace('|', '/')[:120]} |" for n, ok, i in results]
+    (work / "summary.md").write_text("\n".join(summary) + "\n", encoding="utf-8")
+    print("\n".join(summary))
+    if not a.keep and n_ok == len(results):
+        shutil.rmtree(work, ignore_errors=True)
+    else:
+        print(f"[test] artifacts kept in {work}", file=sys.stderr)
+    return 0 if n_ok == len(results) else 1
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

From 890e247c7a441dee826aec66291d37f558dc27ce Mon Sep 17 00:00:00 2001
From: Michael Reiser <reiserm@janelia.hhmi.org>
Date: Wed, 14 Oct 2026 19:40:59 +0000
Subject: [PATCH 19/96] ros2-poc: review fixes + further automated checks
 (soak, zero-loss, router restart, launcher pre-flight)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

- bridge_node: RosLogWriter hooks (on_open/on_close) replace the message re-parsing wrapper;
  source watchdog scoped per log file; ordered ROS shutdown (join the spin thread before
  destroy_node — removes "terminate called without an active exception" on SIGTERM)
- bias_node: worker exception guard (a malformed BIAS body no longer kills the node),
  get-status polls coalesced to one pending
- rig.py: port pre-flight with a one-line culprit per port (SO_REUSEADDR probe), router death
  stops the rig, Zenoh config paths set explicitly (Windows shells leave $PIXI_PROJECT_ROOT literal)
- nodes/_common.py: shared envelope, QoS, spin/shutdown boilerplate, wait_port
- test harness: adapter kill anchored on the runner's fictracApply line in the log; export guard
- README: soak (12 runs, flat RSS, p99 ≈ 3.5 ms), zero loss at 200 Hz + 500 Hz, router
  kill/restart with no data gap, student-mistake messages

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01KHyggowbCA5ucBg71bU26V
---
 ros2-poc/README.md                    | 14 ++++-
 ros2-poc/nodes/_common.py             | 60 +++++++++++++++++++
 ros2-poc/nodes/bias_node.py           | 51 ++++++++--------
 ros2-poc/nodes/bridge_node.py         | 84 +++++++++++++++++----------
 ros2-poc/nodes/fictrac_udp_adapter.py | 31 ++--------
 ros2-poc/nodes/kinefly_udp_adapter.py | 30 ++--------
 ros2-poc/nodes/rig.py                 | 59 +++++++++++++++----
 ros2-poc/tests/test_ros2_poc.py       | 39 ++++++++++---
 8 files changed, 240 insertions(+), 128 deletions(-)
 create mode 100644 ros2-poc/nodes/_common.py

diff --git a/ros2-poc/README.md b/ros2-poc/README.md
index 57dee228..6aca454b 100644
--- a/ros2-poc/README.md
+++ b/ros2-poc/README.md
@@ -47,7 +47,9 @@ Environment set by the workspace (`[activation.env]`): `RMW_IMPLEMENTATION=rmw_z
 `ZENOH_SESSION_CONFIG_URI` → the two files under `config/` (stock rmw_zenoh configs with the
 endpoint changed from `tcp/[::]:7447` / `tcp/localhost:7447` to `tcp/127.0.0.1:7447`: the
 stock router fails on a host without IPv6, and a rig's graph should not be reachable from the
-lab network anyway).
+lab network anyway). The two config paths use `$PIXI_PROJECT_ROOT`; `rig.py` sets them
+explicitly for its children, so `pixi run rig` does not depend on the shell expanding it
+(Windows: to verify; the individual `router` / `*-adapter` tasks do).
 
 ## What was built in the first day
 
@@ -108,6 +110,16 @@ millisecond (it is even written before the config line). The report then reconst
 one row with the new epoch's bias and tare. The bar is therefore "≤ 1 boundary row", which is
 what bridge 3.4 produces as well; the mapping itself is exact.
 
+## Further automated checks (2026-10-14, same container)
+
+| check | result |
+|---|---|
+| **Soak**: `pixi run rig -- --sim --kinefly --bias --bias-sim` with the emulator looping 2 × 20 s epochs per run | 12 consecutive runs (≈ 10 min steady state) all passed; bridge node RSS 66.5 → 68.5 MB then flat, adapters flat at 61 MB, router 15 MB; latency p50 1.1 ms / p99 3.4–3.9 ms on every run |
+| **Zero loss under load**: sim at 200 Hz × 4000 frames + Kinefly at 500 Hz × 10 000 | 4000 / 4000 FicTrac rows (frame counters 1..4000, no gap); every KF/1 frame sent while the log was open logged, no sequence gap; p99 3.3 ms (FicTrac) / 4.7 ms (Kinefly) |
+| **Router killed and restarted mid-run** (6 s outage) | no data gap at all (rmw_zenoh peers keep their direct links; the router is discovery), emulator run completed, log intact |
+| **Student mistakes**: a second `pixi run rig`; `pixi run rig` while bridge 3.4 holds ws :8765 / udp :60000 | `rig.py` pre-flights its ports and names the culprit in one line instead of a Rust panic or a Python traceback |
+| **Code review** of the diff (nine findings) | fixed: BIAS worker exception guard + status-poll coalescing, watchdog scoped per log file (`RosLogWriter` hooks instead of re-parsing messages), router death stops the rig, kill timing in the harness anchored on the log, config paths set explicitly by `rig.py`, shared `_common.py` |
+
 ## Not verified here (needs the Mac / a rig)
 
 * A real browser: Web Serial and the Studio UI were replaced by the emulator. Run the Studio
diff --git a/ros2-poc/nodes/_common.py b/ros2-poc/nodes/_common.py
new file mode 100644
index 00000000..6ac5e99a
--- /dev/null
+++ b/ros2-poc/nodes/_common.py
@@ -0,0 +1,60 @@
+"""_common.py — the few things every PoC node shares (kept tiny on purpose).
+
+* `wrap_line`  — THE adapter envelope the bridge node parses. One definition, so a field
+                 added for one source cannot silently differ for another.
+* `RELIABLE_QOS` — reliable / keep-last 200: the run log must hold every frame.
+* `spin`       — rclpy.spin + the Jazzy shutdown boilerplate (Ctrl-C raises
+                 ExternalShutdownException from spin, and rclpy's own handler may already
+                 have shut the context down, so try_shutdown can raise too).
+* `wait_port`  — poll a TCP port (the Zenoh router on 127.0.0.1:7447).
+"""
+
+from __future__ import annotations
+
+import json
+import socket
+import time
+
+import rclpy
+from rclpy.executors import ExternalShutdownException
+from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
+
+RELIABLE_QOS = QoSProfile(
+    reliability=QoSReliabilityPolicy.RELIABLE,
+    history=QoSHistoryPolicy.KEEP_LAST,
+    depth=200,
+    durability=QoSDurabilityPolicy.VOLATILE,
+)
+
+
+def wrap_line(src: str, seq: int, raw: str, rx_epoch_ms: int, rx_mono_ns: int) -> str:
+    """Adapter envelope: {"src","seq","rx_epoch_ms","rx_mono_ns","raw"} as compact JSON."""
+    return json.dumps(
+        {"src": src, "seq": seq, "rx_epoch_ms": rx_epoch_ms, "rx_mono_ns": rx_mono_ns, "raw": raw},
+        separators=(",", ":"),
+    )
+
+
+def spin(node) -> None:
+    """rclpy.spin(node) until Ctrl-C / external shutdown, then destroy + shut down quietly."""
+    try:
+        rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass
+    finally:
+        node.destroy_node()
+        try:
+            rclpy.try_shutdown()
+        except Exception:  # rclpy's SIGINT handler may already have shut the context down
+            pass
+
+
+def wait_port(host: str, port: int, timeout_s: float) -> bool:
+    end = time.monotonic() + timeout_s
+    while time.monotonic() < end:
+        try:
+            with socket.create_connection((host, port), timeout=0.5):
+                return True
+        except OSError:
+            time.sleep(0.2)
+    return False
diff --git a/ros2-poc/nodes/bias_node.py b/ros2-poc/nodes/bias_node.py
index 33047080..d2bf9a48 100644
--- a/ros2-poc/nodes/bias_node.py
+++ b/ros2-poc/nodes/bias_node.py
@@ -41,20 +41,15 @@
 import urllib.request
 
 import rclpy
-from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
-from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
 from std_msgs.msg import String
 
+from _common import RELIABLE_QOS, spin
+
 CMD_TOPIC = "/bias/cmd"
 REPLY_TOPIC = "/bias/reply"
 STATUS_TOPIC = "/bias/status"
-QOS = QoSProfile(
-    reliability=QoSReliabilityPolicy.RELIABLE,
-    history=QoSHistoryPolicy.KEEP_LAST,
-    depth=50,
-    durability=QoSDurabilityPolicy.VOLATILE,
-)
+QOS = RELIABLE_QOS
 PLUGIN_COMMANDS = ("connect", "startRecording", "stopRecording", "startPreview", "stopCapture", "getTimestamp", "disconnect")
 
 
@@ -90,6 +85,8 @@ def call(self, command: str, value: str | None = None) -> dict:
         except (UnicodeDecodeError, json.JSONDecodeError):
             raise OSError(f"non-JSON reply from BIAS: {body[:80]!r}")
         rep = arr[0] if isinstance(arr, list) and arr else (arr if isinstance(arr, dict) else {})
+        if not isinstance(rep, dict):
+            raise OSError(f"unexpected reply element from BIAS: {rep!r}")
         return {
             "command": command,
             "ok": bool(rep.get("success", False)),
@@ -134,11 +131,12 @@ def __init__(self, http: BiasHttp, status_every_s: float) -> None:
         self.status_pub = self.create_publisher(String, STATUS_TOPIC, QOS)
         self.create_subscription(String, CMD_TOPIC, self._on_cmd, QOS)
         self._q: queue.Queue = queue.Queue()
+        self._status_pending = False  # at most ONE get-status poll waits in the queue
         self._worker = threading.Thread(target=self._work, name="bias-http", daemon=True)
         self._worker.start()
         self._status_every = status_every_s
         if status_every_s > 0:
-            self.create_timer(status_every_s, lambda: self._q.put(("status", None)))
+            self.create_timer(status_every_s, self._enqueue_status)
         self.commands = 0
         self.get_logger().info(f"BIAS at {http.base} ← {CMD_TOPIC} → {REPLY_TOPIC}, {STATUS_TOPIC} every {status_every_s:g}s")
 
@@ -158,13 +156,27 @@ def _on_cmd(self, msg: String) -> None:
             return
         self._q.put(("cmd", req))
 
+    def _enqueue_status(self) -> None:
+        # Coalesce: when BIAS is slow or black-holed each poll blocks up to timeout_s, and a
+        # poll per period would build an unbounded line that commands then wait behind.
+        if not self._status_pending:
+            self._status_pending = True
+            self._q.put(("status", None))
+
     def _work(self) -> None:
         while True:
             kind, payload = self._q.get()
-            if kind == "status":
-                self._do_status()
-            else:
-                self._do_cmd(payload)
+            try:
+                if kind == "status":
+                    self._status_pending = False
+                    self._do_status()
+                else:
+                    self._do_cmd(payload)
+            except Exception as exc:  # a malformed BIAS body, HTTPException, … must not kill the worker
+                self.get_logger().error(f"{kind} failed: {exc!r}")
+                if kind == "cmd":
+                    self._publish(self.reply_pub, {"id": (payload or {}).get("id"), "command": (payload or {}).get("command"),
+                                                   "ok": False, "outcome": "error", "error": f"node error: {exc!r}"})
 
     def _do_status(self) -> None:
         t_ms = int(time.time() * 1000)
@@ -235,17 +247,8 @@ def main(argv: list[str] | None = None) -> int:
     args, ros_args = p.parse_known_args(argv)
     rclpy.init(args=ros_args)
     node = BiasNode(BiasHttp(args.host, args.port, args.timeout_s), args.status_every)
-    try:
-        rclpy.spin(node)
-    except (KeyboardInterrupt, ExternalShutdownException):
-        pass  # Ctrl-C: rclpy ≥ Jazzy raises ExternalShutdownException from spin
-    finally:
-        node.destroy_node()
-        try:
-            rclpy.try_shutdown()
-        except Exception:  # rclpy's own SIGINT handler may already have shut the context down (races in Jazzy)
-            pass
-        print(f"[bias-node] {node.commands} commands handled", file=sys.stderr)
+    spin(node)
+    print(f"[bias-node] {node.commands} commands handled", file=sys.stderr)
     return 0
 
 
diff --git a/ros2-poc/nodes/bridge_node.py b/ros2-poc/nodes/bridge_node.py
index a097818c..8ea8076a 100644
--- a/ros2-poc/nodes/bridge_node.py
+++ b/ros2-poc/nodes/bridge_node.py
@@ -188,6 +188,27 @@ def summary(self) -> dict:
         }
 
 
+class RosLogWriter(B.LogWriter):
+    """bridge.py's LogWriter + two hooks: `on_open()` after a file opens (writes the
+    'where do frames come from' line, resets the source watchdog) and `on_close()` just
+    before it closes (writes the per-source connector_status lines). Hooking the writer
+    itself covers every close path — log_control off, log_export, shutdown — without
+    re-parsing browser messages."""
+
+    on_open = None
+    on_close = None
+
+    def _open(self, name: str, event: str) -> None:
+        super()._open(name, event)
+        if self.on_open is not None:
+            self.on_open()
+
+    def close(self) -> None:
+        if self._fh is not None and self.on_close is not None:
+            self.on_close()
+        super().close()
+
+
 class RosHub(B.Hub):
     """bridge.py's Hub + a ROS mirror of every frame on /arena/frame."""
 
@@ -254,7 +275,7 @@ async def run(args: argparse.Namespace) -> None:
     if B.serve is None:
         raise SystemExit("the `websockets` package is required (pixi install)")
     loop = asyncio.get_running_loop()
-    log = B.LogWriter(args.log, args.log_level, args.log_dir)
+    log = RosLogWriter(args.log, args.log_level, args.log_dir)
     queue: asyncio.Queue[str] = asyncio.Queue()
     pipeline = B.Pipeline(
         None,
@@ -292,40 +313,38 @@ def on_bias(kind: str, env: dict) -> None:
         log.write_event(ev)
 
     inputs = RosInput(args.fictrac_port, warn)
-    inner = B.make_dispatcher(pipeline, log, inputs)
+    dispatch = B.make_dispatcher(pipeline, log, inputs)  # unmodified bridge.py dispatcher
 
     node = BridgeNode(loop, queue, on_kinefly, on_bias)
 
-    def write_status() -> None:
-        """One connector_status line per source that produced anything (log must be open)."""
+    def on_log_open() -> None:
+        """A new file: note where its frames come from, and scope the source watchdog to it
+        (a source lost/resumed between runs must not leak a half pair into this file)."""
+        for s in node.stats.values():
+            s.lost = False
+            s.last_rx_mono = None
+        log.write_event(
+            {
+                "type": "connector_status",
+                "dir": "bridge",
+                "ms": rel_ms(),
+                "src": "bridge",
+                "node": NODE_VERSION,
+                "rmw": os.environ.get("RMW_IMPLEMENTATION"),
+                "topics": {"fictrac": FICTRAC_TOPIC, "kinefly": KINEFLY_TOPIC, "bias": [BIAS_REPLY_TOPIC, BIAS_STATUS_TOPIC], "frame": FRAME_TOPIC},
+            }
+        )
+
+    def on_log_close() -> None:
+        """One connector_status line per source that produced anything, before the file closes."""
         for s in node.stats.values():
             if s.count:
                 log.write_event({"type": "connector_status", "dir": "bridge", "ms": rel_ms(), **s.summary()})
 
-    async def dispatch(raw, websocket=None) -> None:
-        # Add the connector_status lines BEFORE the file closes (log_control off / export).
-        try:
-            obj = json.loads(raw if isinstance(raw, str) else raw.decode("utf-8", errors="replace"))
-        except (json.JSONDecodeError, AttributeError):
-            obj = None
-        if isinstance(obj, dict):
-            kind = obj.get("type")
-            if (kind == "log_control" and not obj.get("enabled")) or kind == "log_export":
-                write_status()
-        await inner(raw, websocket)
-        if isinstance(obj, dict) and obj.get("type") == "log_control" and obj.get("enabled"):
-            # A new file was opened: note where its frames come from.
-            log.write_event(
-                {
-                    "type": "connector_status",
-                    "dir": "bridge",
-                    "ms": rel_ms(),
-                    "src": "bridge",
-                    "node": NODE_VERSION,
-                    "rmw": os.environ.get("RMW_IMPLEMENTATION"),
-                    "topics": {"fictrac": FICTRAC_TOPIC, "kinefly": KINEFLY_TOPIC, "bias": [BIAS_REPLY_TOPIC, BIAS_STATUS_TOPIC], "frame": FRAME_TOPIC},
-                }
-            )
+    log.on_open = on_log_open
+    log.on_close = on_log_close
+    if log.active:  # a fixed --log path opened before the hooks existed
+        on_log_open()
 
     hub = RosHub(dispatch, node.frame_pub)
     pipeline.hub = hub
@@ -383,9 +402,12 @@ async def watchdog() -> None:
     consumer.cancel()
     wd.cancel()
     await asyncio.gather(consumer, wd, return_exceptions=True)
-    write_status()
-    log.close()
-    executor.shutdown(timeout_sec=1.0)
+    log.close()  # on_close writes the connector_status lines first
+    # Stop the ROS side in order: end the spin, WAIT for its thread, then destroy the node.
+    # Destroying while the executor thread is still inside spin() races the Zenoh session
+    # teardown and ends the process with "terminate called without an active exception".
+    executor.shutdown(timeout_sec=2.0)
+    ros_thread.join(timeout=3.0)
     node.destroy_node()
 
 
diff --git a/ros2-poc/nodes/fictrac_udp_adapter.py b/ros2-poc/nodes/fictrac_udp_adapter.py
index c09e939e..af5a7d0c 100644
--- a/ros2-poc/nodes/fictrac_udp_adapter.py
+++ b/ros2-poc/nodes/fictrac_udp_adapter.py
@@ -32,26 +32,14 @@
 import time
 
 import rclpy
-from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
-from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
 from std_msgs.msg import String
 
-TOPIC = "/fictrac/raw"
-RAW_QOS = QoSProfile(
-    reliability=QoSReliabilityPolicy.RELIABLE,
-    history=QoSHistoryPolicy.KEEP_LAST,
-    depth=200,
-    durability=QoSDurabilityPolicy.VOLATILE,
-)
+from _common import RELIABLE_QOS, spin, wrap_line
 
+TOPIC = "/fictrac/raw"
+RAW_QOS = RELIABLE_QOS
 
-def wrap_line(src: str, seq: int, raw: str, rx_epoch_ms: int, rx_mono_ns: int) -> str:
-    """The JSON envelope every adapter publishes (pure; shared shape with kinefly_udp_adapter)."""
-    return json.dumps(
-        {"src": src, "seq": seq, "rx_epoch_ms": rx_epoch_ms, "rx_mono_ns": rx_mono_ns, "raw": raw},
-        separators=(",", ":"),
-    )
 
 
 class FicTracUdpAdapter(Node):
@@ -127,17 +115,8 @@ def main(argv: list[str] | None = None) -> int:
     args, ros_args = p.parse_known_args(argv)
     rclpy.init(args=ros_args)
     node = FicTracUdpAdapter(args.host, args.port, args.status_every)
-    try:
-        rclpy.spin(node)
-    except (KeyboardInterrupt, ExternalShutdownException):
-        pass  # Ctrl-C: rclpy ≥ Jazzy raises ExternalShutdownException from spin
-    finally:
-        node.destroy_node()
-        try:
-            rclpy.try_shutdown()
-        except Exception:  # rclpy's own SIGINT handler may already have shut the context down (races in Jazzy)
-            pass
-        print(f"[fictrac-adapter] {node.lines} lines, {node.datagrams} datagrams", file=sys.stderr)
+    spin(node)
+    print(f"[fictrac-adapter] {node.lines} lines, {node.datagrams} datagrams", file=sys.stderr)
     return 0
 
 
diff --git a/ros2-poc/nodes/kinefly_udp_adapter.py b/ros2-poc/nodes/kinefly_udp_adapter.py
index 3a7702de..b6d48237 100644
--- a/ros2-poc/nodes/kinefly_udp_adapter.py
+++ b/ros2-poc/nodes/kinefly_udp_adapter.py
@@ -32,20 +32,15 @@
 import time
 
 import rclpy
-from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
-from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
 from std_msgs.msg import String
 
+from _common import RELIABLE_QOS, spin, wrap_line
+
 TOPIC = "/kinefly/raw"
 DEFAULT_PORT = 60001
 MAX_DATAGRAM = 16384  # KF/1 encoder bound (kinefly/core/udp.py)
-RAW_QOS = QoSProfile(
-    reliability=QoSReliabilityPolicy.RELIABLE,
-    history=QoSHistoryPolicy.KEEP_LAST,
-    depth=200,
-    durability=QoSDurabilityPolicy.VOLATILE,
-)
+RAW_QOS = RELIABLE_QOS
 
 
 def kf1_reject_reason(data: bytes) -> str | None:
@@ -66,12 +61,6 @@ def kf1_reject_reason(data: bytes) -> str | None:
     return None
 
 
-def wrap_line(src: str, seq: int, raw: str, rx_epoch_ms: int, rx_mono_ns: int) -> str:
-    return json.dumps(
-        {"src": src, "seq": seq, "rx_epoch_ms": rx_epoch_ms, "rx_mono_ns": rx_mono_ns, "raw": raw},
-        separators=(",", ":"),
-    )
-
 
 class KineflyUdpAdapter(Node):
     def __init__(self, host: str, port: int, status_every_s: float) -> None:
@@ -139,17 +128,8 @@ def main(argv: list[str] | None = None) -> int:
     args, ros_args = p.parse_known_args(argv)
     rclpy.init(args=ros_args)
     node = KineflyUdpAdapter(args.host, args.port, args.status_every)
-    try:
-        rclpy.spin(node)
-    except (KeyboardInterrupt, ExternalShutdownException):
-        pass  # Ctrl-C: rclpy ≥ Jazzy raises ExternalShutdownException from spin
-    finally:
-        node.destroy_node()
-        try:
-            rclpy.try_shutdown()
-        except Exception:  # rclpy's own SIGINT handler may already have shut the context down (races in Jazzy)
-            pass
-        print(f"[kinefly-adapter] {node.published} published, {node.rejected} rejected", file=sys.stderr)
+    spin(node)
+    print(f"[kinefly-adapter] {node.published} published, {node.rejected} rejected", file=sys.stderr)
     return 0
 
 
diff --git a/ros2-poc/nodes/rig.py b/ros2-poc/nodes/rig.py
index 073d8c46..15892ac6 100644
--- a/ros2-poc/nodes/rig.py
+++ b/ros2-poc/nodes/rig.py
@@ -18,8 +18,8 @@
 import argparse
 import os
 import shlex
-import signal
 import socket
+import signal
 import subprocess
 import sys
 import threading
@@ -31,15 +31,24 @@
 SIM = HERE.parents[1] / "fictrac-bridge" / "fictrac_sim.py"
 
 
-def wait_port(host: str, port: int, timeout_s: float) -> bool:
-    end = time.monotonic() + timeout_s
-    while time.monotonic() < end:
-        try:
-            with socket.create_connection((host, port), timeout=0.5):
-                return True
-        except OSError:
-            time.sleep(0.2)
-    return False
+sys.path.insert(0, str(HERE))
+from _common import wait_port  # noqa: E402
+
+
+def port_in_use(proto: str, port: int, host: str = "127.0.0.1") -> bool:
+    """True when binding host:port fails (something else holds it)."""
+    kind = socket.SOCK_STREAM if proto == "tcp" else socket.SOCK_DGRAM
+    s = socket.socket(socket.AF_INET, kind)
+    try:
+        if proto == "tcp":
+            # Ignore TIME_WAIT leftovers from a just-stopped rig; a LIVE listener still fails.
+            s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+        s.bind((host, port))
+        return False
+    except OSError:
+        return True
+    finally:
+        s.close()
 
 
 class Child:
@@ -113,6 +122,30 @@ def main(argv: list[str] | None = None) -> int:
     args = p.parse_args(argv)
 
     py = sys.executable
+    # Pre-flight: the ports this rig will bind. A clear line beats the router's Rust
+    # panic text or a Python OSError traceback when a second `pixi run rig`, a stray
+    # router, or the shipping bridge 3.4 (also ws :8765 + udp :60000) is still running.
+    taken = []
+    for proto, port, who in (
+        ("tcp", 7447, "a Zenoh router (another `pixi run rig` / `pixi run router`)") if not args.no_router else (None, 0, ""),
+        ("tcp", 8765, "a bridge on the Studio WebSocket port — bridge 3.4 (`pixi run bridge` at the repo root) or another rig"),
+        ("udp", 60000, "a FicTrac receiver — bridge 3.4 or another fictrac adapter"),
+        ("udp", 60001, "another Kinefly adapter") if args.kinefly else (None, 0, ""),
+        ("tcp", 5010, "a BIAS program or bias_sim") if args.bias_sim else (None, 0, ""),
+    ):
+        if proto and port_in_use(proto, port):
+            taken.append(f"  {proto} 127.0.0.1:{port} is in use — probably {who}")
+    if taken:
+        print("[rig] cannot start, ports already bound:\n" + "\n".join(taken) + "\n[rig] stop that process first (or pass --no-router if the router is meant to be shared)", file=sys.stderr)
+        return 2
+    # The Zenoh config paths: pixi's activation.env sets them via $PIXI_PROJECT_ROOT, which a
+    # Windows shell would leave literal — set them explicitly here so `pixi run rig` is the
+    # same command on every platform.
+    cfg_dir = HERE.parent / "config"
+    os.environ["ZENOH_ROUTER_CONFIG_URI"] = str(cfg_dir / "zenoh-router.json5")
+    os.environ["ZENOH_SESSION_CONFIG_URI"] = str(cfg_dir / "zenoh-session.json5")
+    os.environ.setdefault("RMW_IMPLEMENTATION", "rmw_zenoh_cpp")
+    os.environ.setdefault("ZENOH_ROUTER_CHECK_ATTEMPTS", "0")
     children: list[Child] = []
     if not args.no_router:
         children.append(Child("router", ["ros2", "run", "rmw_zenoh_cpp", "rmw_zenohd"]))
@@ -158,8 +191,10 @@ def main(argv: list[str] | None = None) -> int:
                     code = c.proc.returncode if c.proc else None
                     print(f"[rig] {c.name} exited (code {code})", file=sys.stderr)
                     children.remove(c)
-                    if c is bridge:
-                        print("[rig] the bridge node is gone — stopping the rig", file=sys.stderr)
+                    if c is bridge or c.name == "router":
+                        # Without the router every node retries forever while the Studio still
+                        # sees a live WebSocket with no frames — fail loudly instead.
+                        print(f"[rig] the {c.name} is gone — stopping the rig", file=sys.stderr)
                         rc = 1
                         stop.set()
                     break
diff --git a/ros2-poc/tests/test_ros2_poc.py b/ros2-poc/tests/test_ros2_poc.py
index 8494f835..cb4eaf64 100644
--- a/ros2-poc/tests/test_ros2_poc.py
+++ b/ros2-poc/tests/test_ros2_poc.py
@@ -182,14 +182,32 @@ def bias_cmd(*args: str) -> dict:
 
         bias_replies: dict = {}
 
+        def wait_for_log_line(predicate, timeout_s: float) -> bool:
+            """Tail the bridge node's on-disk run log until a line satisfies `predicate`."""
+            end = time.monotonic() + timeout_s
+            while time.monotonic() < end:
+                files = sorted(runlogs.glob("arena-log-*.jsonl"))
+                if files:
+                    try:
+                        for line in files[-1].read_text(encoding="utf-8").splitlines():
+                            if predicate(line):
+                                return True
+                    except OSError:
+                        pass
+                time.sleep(0.1)
+            return False
+
         def side_actor() -> None:
             t_run0 = time.monotonic()
             bias_replies["connect"] = bias_cmd("connect")
             bias_replies["startRecording"] = bias_cmd("startRecording", "--filename", "poc_trial.avi")
-            # Kill the FicTrac adapter `kill_at` s into epoch index 1 (emulator: 0.5 s pre-run + epochs + ITIs).
-            t_kill = t_run0 + 0.5 + (a.epoch_s + 1.0) * 1 + a.kill_at
-            while time.monotonic() < t_kill:
-                time.sleep(0.05)
+            # Kill the FicTrac adapter `kill_at` s after epoch index 1 OPENS — anchored on the
+            # runner's own fictracApply line in the log, not on a wall-clock estimate.
+            kill_report["anchored"] = wait_for_log_line(
+                lambda l: '"op":"fictracApply"' in l and '"value":true' in l and '"condition":"cl_constant_1"' in l,
+                timeout_s=30 + a.epoch_s * 2,
+            )
+            time.sleep(a.kill_at)
             kill_report["killed_at_ms"] = int((time.monotonic() - t_run0) * 1000)
             fictrac.kill9()
             kill_report["adapter_rc"] = fictrac.p.returncode if fictrac.p else None
@@ -198,10 +216,13 @@ def side_actor() -> None:
             kill_report["restarted_at_ms"] = int((time.monotonic() - t_run0) * 1000)
             time.sleep(1.0)
             bias_replies["getTimestamp"] = bias_cmd("getTimestamp")
-            # stopRecording near the end of the run (after the last epoch starts).
-            t_stop = t_run0 + 0.5 + (a.epoch_s + 1.0) * (a.epochs - 1) + 1.0
-            while time.monotonic() < t_stop:
-                time.sleep(0.05)
+            # stopRecording once the LAST epoch has opened (same anchor, so it lands inside the run).
+            last = f"cl_constant_{a.epochs - 1}"
+            wait_for_log_line(
+                lambda l: '"op":"fictracApply"' in l and '"value":true' in l and f'"condition":"{last}"' in l,
+                timeout_s=30 + a.epoch_s * a.epochs,
+            )
+            time.sleep(1.0)
             bias_replies["stopRecording"] = bias_cmd("stopRecording")
 
         actor = threading.Thread(target=side_actor, name="side-actor", daemon=True)
@@ -222,7 +243,7 @@ def side_actor() -> None:
         objs = read_jsonl(export) if export.exists() else []
         disk = sorted(runlogs.glob("arena-log-*.jsonl"))
         check("export is byte-identical to the bridge node's file on disk",
-              bool(disk) and disk[-1].read_bytes() == export.read_bytes(), f"{[d.name for d in disk]}")
+              bool(disk) and export.exists() and disk[-1].read_bytes() == export.read_bytes(), f"{[d.name for d in disk]}")
 
         events = [o for o in objs if isinstance(o, dict)]
         rows_ft = [o for o in objs if isinstance(o, list) and isinstance(o[0], (int, float))]

From 64624156843803ccc3bfaf48f0e664f6706cd1a6 Mon Sep 17 00:00:00 2001
From: Claude <noreply@anthropic.com>
Date: Wed, 14 Oct 2026 20:07:13 +0000
Subject: [PATCH 20/96] ros2-poc: portable process-group control (Windows:
 CTRL_BREAK_EVENT / TerminateProcess)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Python cannot send SIGINT to another process on Windows (send_signal raises ValueError), so
Ctrl-C on the rig PC would have looked like a launcher crash. popen_group/signal_group in
nodes/_common.py give every child its own process group on both platforms and map
SIGINT → CTRL_BREAK_EVENT, SIGTERM/SIGKILL → TerminateProcess on Windows; rig.py and the
test harness use them (and catch ValueError). Linux path unchanged (setsid + killpg).

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01KHyggowbCA5ucBg71bU26V
---
 ros2-poc/nodes/_common.py       | 34 +++++++++++++++++++++++++++++++++
 ros2-poc/nodes/rig.py           | 19 ++++++------------
 ros2-poc/tests/test_ros2_poc.py | 27 ++++++--------------------
 3 files changed, 46 insertions(+), 34 deletions(-)

diff --git a/ros2-poc/nodes/_common.py b/ros2-poc/nodes/_common.py
index 6ac5e99a..816a107c 100644
--- a/ros2-poc/nodes/_common.py
+++ b/ros2-poc/nodes/_common.py
@@ -12,7 +12,10 @@
 from __future__ import annotations
 
 import json
+import os
+import signal
 import socket
+import subprocess
 import time
 
 import rclpy
@@ -49,6 +52,37 @@ def spin(node) -> None:
             pass
 
 
+def popen_group(argv: list, **kwargs) -> subprocess.Popen:
+    """Popen with the child in its OWN process group, on every platform, so a stop signal
+    reaches wrappers and what they spawn (`ros2 run … rmw_zenohd` does not forward SIGINT
+    to the router binary). POSIX: setsid; Windows: CREATE_NEW_PROCESS_GROUP, which is also
+    what makes CTRL_BREAK_EVENT deliverable to that child."""
+    if os.name == "nt":
+        kwargs.setdefault("creationflags", subprocess.CREATE_NEW_PROCESS_GROUP)
+    else:
+        kwargs.setdefault("start_new_session", True)
+    return subprocess.Popen(argv, **kwargs)
+
+
+def signal_group(proc: subprocess.Popen, sig: int) -> None:
+    """Send SIGINT / SIGTERM / SIGKILL to the child's whole group, portably.
+    Windows has no SIGINT for other processes (send_signal raises ValueError): SIGINT maps to
+    CTRL_BREAK_EVENT on the child's group, SIGTERM and SIGKILL to TerminateProcess."""
+    if os.name == "nt":
+        if sig == signal.SIGINT:
+            try:
+                proc.send_signal(signal.CTRL_BREAK_EVENT)  # type: ignore[attr-defined]
+                return
+            except (ValueError, OSError):
+                pass
+        proc.kill() if sig == signal.SIGKILL else proc.terminate()
+        return
+    try:
+        os.killpg(proc.pid, sig)
+    except (ProcessLookupError, PermissionError):
+        proc.send_signal(sig)
+
+
 def wait_port(host: str, port: int, timeout_s: float) -> bool:
     end = time.monotonic() + timeout_s
     while time.monotonic() < end:
diff --git a/ros2-poc/nodes/rig.py b/ros2-poc/nodes/rig.py
index 15892ac6..db3982dc 100644
--- a/ros2-poc/nodes/rig.py
+++ b/ros2-poc/nodes/rig.py
@@ -32,7 +32,7 @@
 
 
 sys.path.insert(0, str(HERE))
-from _common import wait_port  # noqa: E402
+from _common import popen_group, signal_group, wait_port  # noqa: E402
 
 
 def port_in_use(proto: str, port: int, host: str = "127.0.0.1") -> bool:
@@ -58,28 +58,21 @@ def __init__(self, name: str, argv: list[str]) -> None:
         self.proc: subprocess.Popen | None = None
 
     def start(self) -> None:
-        # Own process group per child, so a stop signal reaches wrappers AND what they
-        # spawn (`ros2 run … rmw_zenohd` does not forward SIGINT to the router binary).
-        self.proc = subprocess.Popen(
+        # Own process group per child (popen_group), so a stop signal reaches wrappers AND
+        # what they spawn (`ros2 run … rmw_zenohd` does not forward SIGINT to the router).
+        self.proc = popen_group(
             self.argv,
             stdout=subprocess.PIPE,
             stderr=subprocess.STDOUT,
             text=True,
             bufsize=1,
             env=os.environ.copy(),
-            start_new_session=(os.name != "nt"),
         )
         threading.Thread(target=self._pump, name=f"pump-{self.name}", daemon=True).start()
 
     def _signal(self, sig: int) -> None:
         assert self.proc
-        if os.name != "nt":
-            try:
-                os.killpg(self.proc.pid, sig)
-                return
-            except (ProcessLookupError, PermissionError):
-                pass
-        self.proc.send_signal(sig)
+        signal_group(self.proc, sig)
 
     def _pump(self) -> None:
         assert self.proc and self.proc.stdout
@@ -103,7 +96,7 @@ def stop(self, grace_s: float = 3.0) -> None:
                 self.proc.wait(2.0)
             except subprocess.TimeoutExpired:
                 self._signal(signal.SIGKILL)
-        except (ProcessLookupError, OSError):
+        except (ProcessLookupError, OSError, ValueError):
             pass
 
 
diff --git a/ros2-poc/tests/test_ros2_poc.py b/ros2-poc/tests/test_ros2_poc.py
index cb4eaf64..4d9d7fa7 100644
--- a/ros2-poc/tests/test_ros2_poc.py
+++ b/ros2-poc/tests/test_ros2_poc.py
@@ -38,7 +38,6 @@
 import os
 import shutil
 import signal
-import socket
 import subprocess
 import sys
 import tempfile
@@ -53,6 +52,8 @@
 SIM = REPO / "fictrac-bridge" / "fictrac_sim.py"
 BRIDGE_PY = REPO / "fictrac-bridge" / "bridge.py"
 PY = sys.executable
+sys.path.insert(0, str(NODES))
+from _common import popen_group, signal_group, wait_port  # noqa: E402
 
 results: list[tuple[str, bool, str]] = []
 
@@ -63,16 +64,6 @@ def check(name: str, ok: bool, info: str = "") -> bool:
     return bool(ok)
 
 
-def wait_port(host: str, port: int, timeout_s: float) -> bool:
-    end = time.monotonic() + timeout_s
-    while time.monotonic() < end:
-        try:
-            with socket.create_connection((host, port), timeout=0.5):
-                return True
-        except OSError:
-            time.sleep(0.2)
-    return False
-
 
 class Proc:
     def __init__(self, name: str, argv: list[str], logdir: Path) -> None:
@@ -82,21 +73,15 @@ def __init__(self, name: str, argv: list[str], logdir: Path) -> None:
         self.p: subprocess.Popen | None = None
 
     def start(self) -> "Proc":
-        # Own process group, so stop() reaches `ros2 run`'s child (the router binary) too.
-        self.p = subprocess.Popen(self.argv, stdout=self.log, stderr=subprocess.STDOUT, text=True, start_new_session=(os.name != "nt"))
+        # Own process group (nodes/_common.popen_group), so stop() reaches `ros2 run`'s child too.
+        self.p = popen_group(self.argv, stdout=self.log, stderr=subprocess.STDOUT, text=True)
         return self
 
     def alive(self) -> bool:
         return self.p is not None and self.p.poll() is None
 
     def _signal(self, sig: int) -> None:
-        if os.name != "nt":
-            try:
-                os.killpg(self.p.pid, sig)
-                return
-            except (ProcessLookupError, PermissionError):
-                pass
-        self.p.send_signal(sig)
+        signal_group(self.p, sig)
 
     def kill9(self) -> None:
         if self.alive():
@@ -115,7 +100,7 @@ def stop(self) -> None:
                 self.p.wait(3)
             except subprocess.TimeoutExpired:
                 self._signal(signal.SIGKILL)
-        except (ProcessLookupError, OSError):
+        except (ProcessLookupError, OSError, ValueError):
             pass
         self.log.flush()
 

From 48aee7fdd2114db6d9918ca692b11ae8ce00fce6 Mon Sep 17 00:00:00 2001
From: Claude <noreply@anthropic.com>
Date: Wed, 14 Oct 2026 20:42:53 +0000
Subject: [PATCH 21/96] ros2-poc README: 60-min soak result (78/78, flat
 latency, RSS creep as a watch item)

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01KHyggowbCA5ucBg71bU26V
---
 ros2-poc/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ros2-poc/README.md b/ros2-poc/README.md
index 6aca454b..fe4b1b4d 100644
--- a/ros2-poc/README.md
+++ b/ros2-poc/README.md
@@ -114,7 +114,7 @@ what bridge 3.4 produces as well; the mapping itself is exact.
 
 | check | result |
 |---|---|
-| **Soak**: `pixi run rig -- --sim --kinefly --bias --bias-sim` with the emulator looping 2 × 20 s epochs per run | 12 consecutive runs (≈ 10 min steady state) all passed; bridge node RSS 66.5 → 68.5 MB then flat, adapters flat at 61 MB, router 15 MB; latency p50 1.1 ms / p99 3.4–3.9 ms on every run |
+| **Soak**: `pixi run rig -- --sim --kinefly --bias --bias-sim` with the emulator looping 2 × 20 s epochs per run + one BIAS command per run, 60 min | 78 / 78 runs passed, 78 / 78 BIAS replies ok, no launcher errors; latency flat (p50 1.6–1.8 ms, p99 3.2–4.6 ms). **Watch item:** RSS creeps — bridge node 67.4 → 71.8 MB (+58 kB/run), adapters +30–36 kB/run, BIAS node +28 kB/run, router +12 kB/run. Harmless for a rig session, but a slope, not noise; a multi-hour soak should precede calling it benign |
 | **Zero loss under load**: sim at 200 Hz × 4000 frames + Kinefly at 500 Hz × 10 000 | 4000 / 4000 FicTrac rows (frame counters 1..4000, no gap); every KF/1 frame sent while the log was open logged, no sequence gap; p99 3.3 ms (FicTrac) / 4.7 ms (Kinefly) |
 | **Router killed and restarted mid-run** (6 s outage) | no data gap at all (rmw_zenoh peers keep their direct links; the router is discovery), emulator run completed, log intact |
 | **Student mistakes**: a second `pixi run rig`; `pixi run rig` while bridge 3.4 holds ws :8765 / udp :60000 | `rig.py` pre-flights its ports and names the culprit in one line instead of a Rust panic or a Python traceback |

From 213adfdd1456eef591959ca38d928844db7bb5e9 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 17:13:57 -0400
Subject: [PATCH 22/96] ros2-poc: Mac test results (LAB-303) + warn on a
 relative BIAS filename

Mac run of the items the Linux container could not cover: pixi install 25 s
fresh, talker/listener, 29/29 acceptance, the unmodified Pages Studio against
`pixi run rig -- --sim` with a G6 controller (two Mode-3 constant-bias runs
auto-committed to the course repo, byte-identical to the bridge node's file,
idx mismatch 0.00 %, runlog-check OK), the real BIAS Mac port and the real
Kinefly fork (9600/9600 datagrams, 0 rejected, kf rows in the committed log).

bias_node: the real Mac port resolves a relative `filename` against its own
cwd and start-capture then succeeds without capturing; the reply now carries
a warning for relative names.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/README.md          | 30 ++++++++++++++++++------------
 ros2-poc/nodes/bias_node.py |  7 +++++++
 2 files changed, 25 insertions(+), 12 deletions(-)

diff --git a/ros2-poc/README.md b/ros2-poc/README.md
index fe4b1b4d..6c0834ea 100644
--- a/ros2-poc/README.md
+++ b/ros2-poc/README.md
@@ -120,18 +120,24 @@ what bridge 3.4 produces as well; the mapping itself is exact.
 | **Student mistakes**: a second `pixi run rig`; `pixi run rig` while bridge 3.4 holds ws :8765 / udp :60000 | `rig.py` pre-flights its ports and names the culprit in one line instead of a Rust panic or a Python traceback |
 | **Code review** of the diff (nine findings) | fixed: BIAS worker exception guard + status-poll coalescing, watchdog scoped per log file (`RosLogWriter` hooks instead of re-parsing messages), router death stops the rig, kill timing in the harness anchored on the log, config paths set explicitly by `rig.py`, shared `_common.py` |
 
-## Not verified here (needs the Mac / a rig)
-
-* A real browser: Web Serial and the Studio UI were replaced by the emulator. Run the Studio
-  against `pixi run rig -- --sim` on the Mac and commit a run log through the normal path.
-* The real BIAS Mac port: command names and the JSON-array reply shape follow BIAS's
-  documented external interface; the `value` payloads are logged verbatim and untested.
-* The real Kinefly fork sending `--udp 127.0.0.1:60001` (only `kinefly_sim.py`, which follows
-  `kinefly/core/udp.py` byte for byte, was used).
-* Windows (`win-64` resolves and locks; nothing was executed there) and the macOS router with
-  IPv6 present (the loopback config sidesteps it).
-* `scripts/runlog-check.py` fails on these logs for want of `run_metadata.firmware`,
-  `stream_schema` and `trial_quality`, which only a Studio run with a controller produces.
+## Mac results (2026-10-14, MacBook Pro osx-arm64, macOS 27.0.1, Chrome 155)
+
+The items the container could not cover, run on the lab Mac with the 2×10 bench arena
+(controller fw `c15d840a 2x10 2026-09-29`), the real BIAS Mac port and the real Kinefly fork.
+
+| step | result |
+|---|---|
+| `pixi install` | **25 s** wall for a fresh download (the package cache had none of these packages), 1.0 GB env, no manual step; `ros-jazzy-rmw-zenoh-cpp` 0.2.10 from the lock |
+| `pixi run talker` / `listener` under `rmw_zenoh_cpp` | router listening 2.9 s after start; every message heard ≈ 1.5 ms after it was published. The only noise is the stock demo nodes' `rcl_shutdown already called` traceback on Ctrl-C (an upstream `demo_nodes_py` quirk, not the middleware) |
+| `pixi run test -- --keep` | **29 / 29** in 27 s; adapter→bridge latency p50 0.89 ms / p99 1.43 ms (1.7 / 3.8 in the container) |
+| **Unmodified Arena Studio** (the GitHub Pages copy, v0.94) → `pixi run rig -- --sim --sim-args "--model fly --kp 2 --seed 1"`, G6 controller over Web Serial | Connected to the bridge node first try; **no Chrome local-network-access prompt** appeared for `reiserlab.github.io` → `ws://localhost:8765`. Two Mode-3 constant-bias runs (`cl_bias_none` / `cl_bias_constant` +90°/s / `cl_bias_constant_rev` −90°/s, 20 s each) **auto-committed through the normal path** to `reiserlab/cshl-2026-course` `runlogs/bench00/` (`…T21-02-13__lhc9k8i6.jsonl.gz`, `…T21-09-58__lrbhnsf5.jsonl.gz`); each gunzips byte-identical to the bridge node's own file. `scripts/closed-loop-report.py`: 3 epochs from `fictracApply`, idx mismatch **0.00 %** in all six epochs; rejection +0.39 / −0.46 and +0.48 / −0.50 (the card's only rotating pattern is a 20-frame grating, so the model fly's "feature" wraps every 36°; the mapping check is the point here). `scripts/runlog-check.py`: **OK** on both files — `run_metadata.firmware` and SD identity present, trial verdicts 3 pass / 0 fail, `cc_0x70_ok` 3000, `fictrac_per_cmd` 1.0 (the container's logs lacked these only because the emulator has no controller) |
+| Real BIAS Mac port (`bias/build/test_gui.app`, C922 webcam as cam 0, HTTP :5010) via `pixi run bias-node` + `bias-cmd` | `connect` / `startRecording` / `getTimestamp` / `stopRecording` all `ok`, during the second Studio run as well (60 status + 3 reply connector events in that committed log). Reply shape identical to `bias_sim.py` (`[{"command","message","success","value"}]`); `get-status` value keys identical except the sim's extra `videoFile`. `start-capture` 180–280 ms, every other command ≈ 1 ms; server listens dual-stack (`*:5010`), 127.0.0.1 works. Two real-port facts the sim does not have: (1) a **relative `filename` resolves against BIAS's own cwd** (`/` when launched with `open`); `start-capture` then returns success while nothing captures (`capturing:false`, frame count stays 0, the preview never goes live) — `bias_node.py` now warns on a relative filename; (2) `get-video-file` answers `<stem>.jpg`, but the Mac port writes `<stem>_cam_0_date_…_v001/movie.mjpg` + `index.txt` and a `stamp_log_cam0.txt` beside it, so the logged `artifact.path` is the stem the operator asked for, not the file on disk |
+| Real Kinefly fork (`mbreiser/Kinefly-MacOS`, OpenCV 4.13, headless, synthetic 160 fps sample) `--udp 127.0.0.1:60001` → `pixi run kinefly-adapter` | 160 / 160, then 9600 / 9600 datagrams sent with `send_errors 0`; adapter **0 rejected**; **9487 `["kf",…]` rows** with left / right / head / abdomen angles in the committed run log (the remainder fell outside the log window); adapter→bridge p50 0.73 / p99 1.29 ms at 160 Hz |
+
+One detour worth knowing: the stock `fictrac_bias_test.yaml` names `frame2_h_ccw_200f` at `pattern_ID 4`; this card's slot 4 is a 1-frame color test pattern, the runner read `frames: 1` from the card (correctly) and the display sat on frame 0. The protocol was re-pointed at the card's 20-frame grating — a card-content mismatch the Studio already warns about, not a bridge issue.
+
+**Still not verified:** Windows execution (`win-64` only resolves and locks), and the macOS router
+with the stock IPv6 config (the loopback config was used throughout).
 
 ## Observations for the decision
 
diff --git a/ros2-poc/nodes/bias_node.py b/ros2-poc/nodes/bias_node.py
index d2bf9a48..804ab12b 100644
--- a/ros2-poc/nodes/bias_node.py
+++ b/ros2-poc/nodes/bias_node.py
@@ -32,6 +32,7 @@
 
 import argparse
 import json
+import os
 import queue
 import sys
 import threading
@@ -200,6 +201,12 @@ def _do_cmd(self, req: dict) -> None:
                 # The protocol's connect(ip, port) retargets the node (rig YAML normally sets these).
                 self.http.host = str(params.get("ip") or self.http.host)
                 self.http.port = int(params.get("port") or self.http.port)
+            if command == "startRecording" and params.get("filename") and not os.path.isabs(str(params["filename"])):
+                # Seen on the real Mac port (2026-10-14): a relative name resolves against BIAS's
+                # own cwd (`/` when launched with `open`), start-capture still answers success,
+                # and nothing captures. Say so in the reply instead of letting the run go dark.
+                out["warning"] = f"relative filename {params['filename']!r} resolves against BIAS's working directory, not the rig's; use an absolute path"
+                self.get_logger().warning(out["warning"])
             steps = plan(command, params)
         except ValueError as exc:
             out.update({"ok": False, "outcome": "error", "error": str(exc)})

From 6245ba7a8f9802a24011e89ed92339a411ae5e70 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 17:55:04 -0400
Subject: [PATCH 23/96] ros2-poc: Windows rig test plan + portable SIGKILL
 constant

WINDOWS-TEST.md scripts the one open acceptance item (install timing, the
$PIXI_PROJECT_ROOT expansion check, talker/listener, the 29-check harness,
rig + unmodified Studio + controller, real BIAS over HTTP with an absolute
video path and the unknown-outcome path, Ctrl-C cleanup, student mistakes)
and lists what to send back.

Windows' signal module has no SIGKILL, so rig.py's stop escalation, the
harness's mid-run adapter kill and _common.signal_group would have raised
AttributeError there; they now share _common.SIGKILL (getattr fallback 9).

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/README.md              |   5 +-
 ros2-poc/WINDOWS-TEST.md        | 165 ++++++++++++++++++++++++++++++++
 ros2-poc/nodes/_common.py       |   7 +-
 ros2-poc/nodes/rig.py           |   4 +-
 ros2-poc/tests/test_ros2_poc.py |   6 +-
 5 files changed, 179 insertions(+), 8 deletions(-)
 create mode 100644 ros2-poc/WINDOWS-TEST.md

diff --git a/ros2-poc/README.md b/ros2-poc/README.md
index 6c0834ea..e1a8e86d 100644
--- a/ros2-poc/README.md
+++ b/ros2-poc/README.md
@@ -136,8 +136,9 @@ The items the container could not cover, run on the lab Mac with the 2×10 bench
 
 One detour worth knowing: the stock `fictrac_bias_test.yaml` names `frame2_h_ccw_200f` at `pattern_ID 4`; this card's slot 4 is a 1-frame color test pattern, the runner read `frames: 1` from the card (correctly) and the display sat on frame 0. The protocol was re-pointed at the card's 20-frame grating — a card-content mismatch the Studio already warns about, not a bridge issue.
 
-**Still not verified:** Windows execution (`win-64` only resolves and locks), and the macOS router
-with the stock IPv6 config (the loopback config was used throughout).
+**Still not verified:** Windows execution (`win-64` only resolves and locks; the rig-PC session is
+scripted step by step in `WINDOWS-TEST.md`), and the macOS router with the stock IPv6 config (the
+loopback config was used throughout).
 
 ## Observations for the decision
 
diff --git a/ros2-poc/WINDOWS-TEST.md b/ros2-poc/WINDOWS-TEST.md
new file mode 100644
index 00000000..51952cae
--- /dev/null
+++ b/ros2-poc/WINDOWS-TEST.md
@@ -0,0 +1,165 @@
+# ROS 2 PoC: Windows rig test (LAB-303)
+
+The one acceptance item still open after the Mac run (see `README.md` → "Mac results") is
+**Windows**, where most rig PCs live. This is a step-by-step for one session on a rig PC with a
+G6 controller, BIAS (the Windows `bias_gui.exe` with a FLIR camera) and, if present, FicTrac.
+Budget: about an hour. **A failure with its verbatim error text is as valuable as a pass**: copy
+the text before trying anything to fix it.
+
+Nothing here touches bridge 3.4 or the Studio. `ros2-poc/` is its own pixi workspace.
+
+## 0. Before starting
+
+- Repo: `reiserlab/webDisplayTools`, branch `claude/ecstatic-noether-art3qx` (draft PR #252).
+  `git fetch && git switch claude/ecstatic-noether-art3qx`.
+- Stop bridge 3.4 if it is running (the terminal with `pixi run bridge`): the PoC binds the same
+  ports. FicTrac itself may keep running; it only *sends* to UDP 60000.
+- `pixi --version` (anything recent). PowerShell, not Git Bash, for the `Measure-Command` timing.
+- Chrome version (Settings → About). Note it; LAB-304's local-network-access prompt is Chrome-version dependent.
+- Ports must be free: `netstat -ano | findstr ":7447 :8765 :60000 :60001 :5010"` prints nothing except BIAS on 5010.
+
+## 1. Install (timed)
+
+```powershell
+cd ros2-poc
+Measure-Command { pixi install --locked | Out-Default }
+```
+
+Record the wall time and whether anything had to be done by hand. Then the one Windows-only
+check the README flags: does pixi expand `$PIXI_PROJECT_ROOT` in `[activation.env]`?
+
+```powershell
+pixi run python -c "import os; print(os.environ['ZENOH_ROUTER_CONFIG_URI'])"
+```
+
+Expected: a real path ending in `ros2-poc\config\zenoh-router.json5`. If it prints the literal
+`$PIXI_PROJECT_ROOT/...`, the individual `router` / `*-adapter` tasks will use the stock IPv6
+config (or fail); `pixi run rig` is unaffected because `rig.py` sets both paths itself.
+**Write down which of the two you saw.**
+
+## 2. Middleware (three terminals)
+
+```powershell
+pixi run router       # terminal 1: expect "Zenoh can be reached at: tcp/127.0.0.1:7447"
+pixi run listener     # terminal 2
+pixi run talker       # terminal 3
+```
+
+Pass: every `Publishing: "Hello World: N"` has a matching `I heard` within a few ms. Ctrl-C all
+three (Ctrl-C in the talker/listener prints an `rcl_shutdown already called` traceback on macOS
+too; that is the stock demo nodes, not a failure). Note whether the router keeps running after
+Ctrl-C (`tasklist | findstr rmw_zenohd`); on POSIX `ros2 run` does not forward the signal and
+`rig.py` works around it with process groups.
+
+## 3. Acceptance harness
+
+```powershell
+pixi run test -- --keep
+```
+
+Expected: `29 / 29 checks passed` in about 30 s and a line `artifacts kept in …`. Keep that
+directory (it has `summary.md`, the exported log and `proc-logs\`). Windows-specific things it
+exercises for the first time: child processes in their own group (`CREATE_NEW_PROCESS_GROUP`),
+`CTRL_BREAK_EVENT` as the stop signal, `TerminateProcess` for the mid-run adapter kill, and
+console encoding (`PYTHONUTF8=1` from the workspace). If it fails, send `summary.md` plus the
+whole `proc-logs\` folder.
+
+## 4. The rig with the unmodified Studio and the controller
+
+```powershell
+pixi run rig -- --sim --sim-args "--model fly --kp 2 --seed 1"
+```
+
+Expected: `[rig] up: router, fictrac, bridge, sim — Studio → ws://localhost:8765`. Then in Chrome:
+<https://reiserlab.github.io/webDisplayTools/arena_studio.html>
+
+1. Run view → **Bridge: Connect**. Expect `connected · rx N`, the scope scrolling, and note whether
+   Chrome shows a **local-network-access prompt** (none appeared on the Mac, Chrome 155).
+2. **Connect** (top right) → pick the controller in the serial-port picker.
+3. Open a Mode-3 closed-loop protocol with a constant bias (`fictrac_bias_test.yaml` from the
+   site library). **Check the pattern first:** Console → SD listing must show the protocol's
+   pattern *by name* with more than one frame. On the Mac bench card slot 4 held a 1-frame test
+   pattern, so the display sat on frame 0 until the protocol was re-pointed at a 20-frame
+   grating. If the card differs, edit the pattern name / `pattern_ID` in Edit view to a rotating
+   pattern that is on the card (any frame count > 1 works; the report checks the mapping, not
+   the pattern).
+4. Fill experimenter / genotype / age / sex / fly #, **Run experiment**, let it finish, let it
+   auto-commit (bench id and token must be set as for any course run).
+5. Fetch the committed `.jsonl.gz` from `runlogs/<bench>/` in the course repo and run both
+   readers from `ros2-poc` (the scripts are stdlib Python, the workspace Python is fine):
+
+```powershell
+pixi run python ..\scripts\closed-loop-report.py <file>.jsonl.gz
+pixi run python ..\scripts\runlog-check.py <file>.jsonl.gz
+```
+
+Pass: three epochs, idx mismatch 0.00 % (≤ 1 boundary row), `runlog-check` prints `OK` with the
+firmware line. Also compare with the bridge node's own file in `ros2-poc\runlogs\` (gunzip the
+committed one; they were byte-identical on the Mac).
+
+If the rig has **real FicTrac**: repeat step 4 once without `--sim` with FicTrac running and a
+ball; the adapter log should show its line rate.
+
+## 5. Real BIAS on Windows
+
+BIAS must have its external-control HTTP server on. In the camera window: the server menu
+(port shows as `Port (5010)...` for camera 0); enable it. Check from PowerShell:
+
+```powershell
+curl.exe "http://127.0.0.1:5010/?get-status"
+```
+
+Expected: `[ { "command" : "get-status", "success" : true, "value" : { "capturing" : …, "connected" : …, "frameCount" : …, "framesPerSec" : …, "logging" : …, "timeStamp" : … } } ]`
+(the Mac port's shape; note any extra or missing key). Then, with the rig from step 4 still up,
+in a new terminal:
+
+```powershell
+pixi run bias-node -- --host 127.0.0.1 --port 5010
+```
+
+and in another, **using an absolute path** for the video (on the Mac a relative name resolved
+against BIAS's own working directory and capture silently never started; the node now warns):
+
+```powershell
+pixi run bias-cmd -- connect --json
+pixi run bias-cmd -- startRecording --filename C:\Users\<rig>\Videos\poc.avi --json
+curl.exe "http://127.0.0.1:5010/?get-status"        # capturing true, frameCount rising
+pixi run bias-cmd -- getTimestamp --json
+pixi run bias-cmd -- stopRecording --json
+dir C:\Users\<rig>\Videos\
+```
+
+Record: every reply (`--json` prints it), the `value` of `get-video-file` versus the file(s)
+actually written (the Mac port wrote `<stem>_cam_0_date_…_v001\movie.mjpg` and a
+`stamp_log_cam0.txt`; the Windows BIAS with Spinnaker may write the `.avi` it was asked for),
+`start-capture` round-trip in ms, and whether the camera preview went live.
+
+**Unknown-outcome path** (the LAB-303 semantics): start a recording, then close BIAS while the
+node polls. Expect `/bias/status` lines with `reachable:false`, and a `bias-cmd -- getTimestamp`
+to come back `outcome: "unknown"` or `error` (exit code 3 or 1), never a hang. Restart BIAS:
+status must flip back to `reachable:true` without restarting the node.
+
+If a Studio run is in progress while you do this, the status and reply lines land in that run's
+committed log as `{"type":"connector","src":"bias",…}` events (60 status + 3 replies on the Mac).
+
+## 6. Kinefly
+
+No Windows build of the fork exists; `pixi run kinefly-sim` exercises the adapter path
+(`pixi run rig -- --kinefly` first). Expected: `N KF/1 frames published, 0 rejected` in the
+adapter log. Skip if short on time; the Mac covered the real fork.
+
+## 7. Shutdown and student mistakes
+
+- Ctrl-C the rig terminal. Expected: children stop in reverse order, `[rig] stopped`, **no
+  Python traceback, no orphan `rmw_zenohd.exe`** (`tasklist | findstr rmw_zenohd`).
+- Start `pixi run rig` twice: the second must exit with code 2 and name the ports in one line.
+- Start `pixi run rig` while bridge 3.4 holds :8765 / :60000: same one-line refusal naming 3.4.
+
+## What to send back
+
+- Step 1 wall time, the `$PIXI_PROJECT_ROOT` result, `pixi info` output.
+- Step 3: `summary.md` (and `proc-logs\` on any failure).
+- Step 4: the committed run file name, both reader outputs, whether the Chrome prompt appeared.
+- Step 5: the `--json` replies, the `get-status` body, what BIAS wrote on disk, the unknown-path behavior.
+- Step 7: pass/fail per line.
+- Any error text, verbatim, with the step number. Small fixes can go straight onto the PR branch.
diff --git a/ros2-poc/nodes/_common.py b/ros2-poc/nodes/_common.py
index 816a107c..99aacdde 100644
--- a/ros2-poc/nodes/_common.py
+++ b/ros2-poc/nodes/_common.py
@@ -52,6 +52,11 @@ def spin(node) -> None:
             pass
 
 
+# Windows' signal module has no SIGKILL; every "kill it" site uses this constant so the
+# escalation paths (rig.py, the test harness, signal_group) do not raise AttributeError there.
+SIGKILL = getattr(signal, "SIGKILL", 9)
+
+
 def popen_group(argv: list, **kwargs) -> subprocess.Popen:
     """Popen with the child in its OWN process group, on every platform, so a stop signal
     reaches wrappers and what they spawn (`ros2 run … rmw_zenohd` does not forward SIGINT
@@ -75,7 +80,7 @@ def signal_group(proc: subprocess.Popen, sig: int) -> None:
                 return
             except (ValueError, OSError):
                 pass
-        proc.kill() if sig == signal.SIGKILL else proc.terminate()
+        proc.kill() if sig == SIGKILL else proc.terminate()
         return
     try:
         os.killpg(proc.pid, sig)
diff --git a/ros2-poc/nodes/rig.py b/ros2-poc/nodes/rig.py
index db3982dc..85b5b17e 100644
--- a/ros2-poc/nodes/rig.py
+++ b/ros2-poc/nodes/rig.py
@@ -32,7 +32,7 @@
 
 
 sys.path.insert(0, str(HERE))
-from _common import popen_group, signal_group, wait_port  # noqa: E402
+from _common import SIGKILL, popen_group, signal_group, wait_port  # noqa: E402
 
 
 def port_in_use(proto: str, port: int, host: str = "127.0.0.1") -> bool:
@@ -95,7 +95,7 @@ def stop(self, grace_s: float = 3.0) -> None:
             try:
                 self.proc.wait(2.0)
             except subprocess.TimeoutExpired:
-                self._signal(signal.SIGKILL)
+                self._signal(SIGKILL)
         except (ProcessLookupError, OSError, ValueError):
             pass
 
diff --git a/ros2-poc/tests/test_ros2_poc.py b/ros2-poc/tests/test_ros2_poc.py
index 4d9d7fa7..818bee25 100644
--- a/ros2-poc/tests/test_ros2_poc.py
+++ b/ros2-poc/tests/test_ros2_poc.py
@@ -53,7 +53,7 @@
 BRIDGE_PY = REPO / "fictrac-bridge" / "bridge.py"
 PY = sys.executable
 sys.path.insert(0, str(NODES))
-from _common import popen_group, signal_group, wait_port  # noqa: E402
+from _common import SIGKILL, popen_group, signal_group, wait_port  # noqa: E402
 
 results: list[tuple[str, bool, str]] = []
 
@@ -85,7 +85,7 @@ def _signal(self, sig: int) -> None:
 
     def kill9(self) -> None:
         if self.alive():
-            self._signal(signal.SIGKILL)
+            self._signal(SIGKILL)
             self.p.wait(5)
 
     def stop(self) -> None:
@@ -99,7 +99,7 @@ def stop(self) -> None:
             try:
                 self.p.wait(3)
             except subprocess.TimeoutExpired:
-                self._signal(signal.SIGKILL)
+                self._signal(SIGKILL)
         except (ProcessLookupError, OSError, ValueError):
             pass
         self.log.flush()

From 4dd129f9006256b1f9ac124d0c43f21defcb5f82 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 18:25:56 -0400
Subject: [PATCH 24/96] Studio v0.95: BIAS camera commands run from the browser
 (LAB-303 connectors)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The web runner executed only the `log` and FicTrac plugins; every other plugin
command was a visible skip, so a protocol's `camera` plugin (BiasPlugin) never
recorded in a web run. Now:

- js/arena-runner-g6.js: a `connectorCommand` op for plugins named in
  `connectorPluginNames` (instance name → connector id, 'bias' for BiasPlugin).
  The step waits for the bridge's reply; ok → command event with the reply
  (outcome, value, artifact, rtt); error/unknown → step error, run continues
  (proceed-and-skip). A bridge that advertises no connectors (every ≤ 3.4
  bridge) yields a skip that names the bridge version. listSkippedPlugins
  takes an optional driveable set so the Edit-view note counts real skips.
- js/fictrac-bridge-client.js: connectorCommand() → {type:'connector_command'}
  and the id-matched connector_reply; never rejects (not connected → error,
  no reply in time → 'unknown', disconnect in flight → 'unknown'). hello_ack's
  `connectors` list → supportsConnector(). js/arena-session.js passes the map.
- arena_studio.html: connectorPluginNames(exp) from BiasPlugin instances,
  passed to runSequence; Run log lines show outcome · rtt · artifact; footer
  v0.95; release notes.
- ros2-poc bridge_node.py: hello_ack gains `connectors: ['bias']`;
  connector_command → /bias/cmd, the matching /bias/reply → connector_reply to
  the asking websocket; both halves logged (`via: ws` on Studio-path replies).
  bias_node.py: --video-dir resolves a relative filename (MATLAB's
  experiment-folder behavior). Emulator drives connect/startRecording/
  getTimestamp/stopRecording/bogus through the bridge; harness 32/32.

Tests: runner 512/512, bridge client 173/173, root suite 60/60 files.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 arena_studio.html                             |  31 ++-
 .../development/arena-studio-release-notes.md |   8 +
 js/arena-runner-g6.js                         | 125 +++++++++-
 js/arena-session.js                           |   1 +
 js/fictrac-bridge-client.js                   | 104 +++++++-
 ros2-poc/nodes/bias_node.py                   |  24 +-
 ros2-poc/nodes/bridge_node.py                 |  77 +++++-
 ros2-poc/tests/studio_emulator.py             |  47 ++++
 ros2-poc/tests/test_ros2_poc.py               |  14 +-
 tests/test-arena-runner-g6.js                 | 225 ++++++++++++++++++
 tests/test-fictrac-bridge-client.js           | 143 ++++++++++-
 11 files changed, 777 insertions(+), 22 deletions(-)

diff --git a/arena_studio.html b/arena_studio.html
index 0cd898fb..c3c2cba7 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -3344,7 +3344,7 @@ <h2 id="modalTitle">Import error</h2>
 </div>
 
 <footer id="footer">
-  <span class="foot-left">Arena Studio v0.94 | 2026-09-30 07:22 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
+  <span class="foot-left">Arena Studio v0.95 | 2026-10-14 18:18 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
   <!-- Course-repo quick-links: open protocols / logs / patterns in a new tab.
        Hrefs built from the configured repo + bench id (updateGhQuickLinks). -->
   <span id="ghQuickLinks" title="Open the course repo on GitHub (new tab)">
@@ -3622,6 +3622,13 @@ <h2 id="modalTitle">Import error</h2>
             (ev.step && ev.step.conditionName ? ' · ' + ev.step.conditionName : '') +
             (ev.op ? ' ' + ev.op : '') +
             (ev.plugin_name ? ' ' + ev.plugin_name + (ev.command_name ? '.' + ev.command_name : '') : '') +
+            // Connector replies (BIAS etc.): outcome, round trip, and the artifact it produced.
+            (ev.op === 'connectorCommand' && ev.value
+                ? ' → ' + (ev.value.outcome || '?') +
+                  (ev.value.rtt_ms != null ? ' · ' + Math.round(ev.value.rtt_ms) + ' ms' : '') +
+                  (ev.value.value != null && typeof ev.value.value !== 'object' ? ' · ' + ev.value.value : '') +
+                  (ev.value.artifact && ev.value.artifact.path ? ' · ' + ev.value.artifact.kind + ' ' + ev.value.artifact.path : '')
+                : '') +
             (ev.reason ? ' (' + ev.reason + ')' : '');
         enqueueLogNode(div);
     }
@@ -8900,6 +8907,18 @@ <h2 id="modalTitle">Import error</h2>
         .filter((p) => p && ((p.matlab && p.matlab.class === 'FicTracPlugin') || p.name === 'fictrac'))
         .map((p) => p.name);
 }
+// Device plugins the BRIDGE drives for the runner (LAB-303 connectors): plugin instance
+// name → connector id. Today one connector, 'bias' (BiasPlugin → the bridge's BIAS node);
+// the runner sends each command as connector_command and waits for the reply, so a
+// camera plugin in a protocol records for real instead of being skipped.
+function connectorPluginNames(exp) {
+    const m = new Map();
+    if (!exp || !Array.isArray(exp.plugins)) return m;
+    for (const p of exp.plugins) {
+        if (p && ((p.matlab && p.matlab.class === 'BiasPlugin') || p.name === 'camera')) m.set(p.name, 'bias');
+    }
+    return m;
+}
 
 // ---- load / render a protocol ----
 // The embedded designer (Studio.editor) is the single source of truth for the
@@ -9872,6 +9891,7 @@ <h2 id="modalTitle">Import error</h2>
                 ? Studio.resolveRuntimeCondition
                 : undefined,
             fictracPluginNames: new Set(ftNames),
+            connectorPluginNames: connectorPluginNames(exp),
             degPerFrame: Studio.rigDegPerFrame(),
             defaultCoupling: Studio._legacyDefaultCoupling == null ? 1 : Studio._legacyDefaultCoupling
         });
@@ -14045,7 +14065,14 @@ <h2 id="modalTitle">Import error</h2>
                     title: 'Stop the running pattern (STOP_DISPLAY 0x30) — best-effort queued via the shared session',
                     onClick: () => { if (window.Studio.session) { window.Studio._userStopRequested = true; window.Studio.session.stop(); } }
                 }, '■ Stop'));
-                const plugins = RunnerLib.listSkippedPlugins(cond);
+                // Plugins the runner drives are not "skipped": the built-in log, FicTrac,
+                // and connector devices (BiasPlugin through the bridge, LAB-303).
+                const driveable = new Set(['log']);
+                for (const p of experiment.plugins || []) {
+                    if (p && p.matlab && (p.matlab.class === 'FicTracPlugin' || p.matlab.class === 'BiasPlugin')) driveable.add(p.name);
+                    if (p && (p.name === 'fictrac' || p.name === 'camera')) driveable.add(p.name);
+                }
+                const plugins = RunnerLib.listSkippedPlugins(cond, driveable);
                 wrap.appendChild(el('span', { class: 'arena-test-note' },
                     plugins.length
                         ? 'unrecorded test · ' + plugins.length + ' plugin cmd' +
diff --git a/docs/development/arena-studio-release-notes.md b/docs/development/arena-studio-release-notes.md
index e337b4fc..9a5c777b 100644
--- a/docs/development/arena-studio-release-notes.md
+++ b/docs/development/arena-studio-release-notes.md
@@ -4,6 +4,14 @@ The Studio's footer used to carry the full changelog inline; it now shows one li
 history lives here. Newest first. (Per-session engineering detail stays in
 `arena-studio-handover.md` and the design docs — this file is the user-facing what-changed list.)
 
+## v0.95 (2026-10-14) · BIAS camera commands run from the browser (LAB-303 connectors)
+
+<!-- bias-connector-command -->
+- **A protocol's `camera` plugin (BiasPlugin) now records for real in a web run.** connect, startRecording, stopRecording, startPreview, stopCapture, getTimestamp and disconnect are sent to the bridge, which drives BIAS over its HTTP command port and answers; the Run log shows each command with its outcome, round-trip time and, for startRecording, the video it produced. The run log keeps every command/reply pair, so a recording can be aligned to the trials.
+- **Needs a bridge with connectors** (the ROS 2 bridge node from the LAB-303 proof of concept). With bridge 3.4 the commands are skipped as before, and the log now says why ("advertises no connectors").
+- **A command that fails or gets no answer fails that step, not the run**, and an unanswered command is reported as "unknown" (the camera may have acted) rather than as a failure.
+- Edit view: the "N plugin cmds skipped" note no longer counts plugins the web runner drives (log, FicTrac, BIAS).
+
 ## v0.94 (2026-09-30) · LAB-158 ports (Protocol ▾, ⚙ Settings, two-column Console) + visibility themes · Multi-color G6 panels V1 — Panel LEDs layout, ON color, per-bank preview (LAB-228) · Flasher + Studio picker: one production build from the published catalog; legacy images hashed, never default (panel-fw-v1.3.1)
 
 <!-- #238 -->
diff --git a/js/arena-runner-g6.js b/js/arena-runner-g6.js
index 94fa7f61..3bf87397 100644
--- a/js/arena-runner-g6.js
+++ b/js/arena-runner-g6.js
@@ -46,10 +46,18 @@ var ArenaRunnerG6 = (function () {
      * warning").
      * @returns {Array<{plugin_name:string, command_name:string}>}
      */
-    function listSkippedPlugins(condition) {
+    function listSkippedPlugins(condition, driveablePlugins) {
         if (!condition || !Array.isArray(condition.commands)) return [];
+        // `driveablePlugins` (optional Set of plugin names): the ones the runner DOES
+        // execute — the built-in `log`, FicTracPlugin instances, and connector-driven
+        // devices (BiasPlugin via the bridge, LAB-303) — so the preflight note counts only
+        // what will really be skipped. Without it every plugin command is listed (legacy).
+        const drive =
+            driveablePlugins && typeof driveablePlugins.has === 'function'
+                ? driveablePlugins
+                : null;
         return condition.commands
-            .filter((c) => c && c.type === 'plugin')
+            .filter((c) => c && c.type === 'plugin' && !(drive && drive.has(c.plugin_name)))
             .map((c) => ({
                 plugin_name: c.plugin_name || '(unnamed)',
                 command_name: c.command_name || '(unnamed)'
@@ -909,6 +917,27 @@ var ArenaRunnerG6 = (function () {
                         };
                 }
             }
+            // Device connectors (LAB-303): plugins the BRIDGE drives on the runner's behalf
+            // (connector_command → connector_reply). opts.connectorPluginNames maps a plugin
+            // INSTANCE name → connector id ('bias' for BiasPlugin). The command goes through
+            // as written — the bridge / device node validates it and answers ok | error |
+            // unknown; `timeout_s` in params (optional) bounds the wait (LAB-303 semantics).
+            const connectors = opts.connectorPluginNames;
+            const connector =
+                connectors && typeof connectors.get === 'function'
+                    ? connectors.get(cmd.plugin_name)
+                    : null;
+            if (connector) {
+                const tS = Number(params.timeout_s);
+                return {
+                    op: 'connectorCommand',
+                    connector,
+                    plugin_name: pname,
+                    command_name: cname,
+                    params: params && typeof params === 'object' ? params : {},
+                    timeoutS: Number.isFinite(tS) && tS > 0 ? tS : null
+                };
+            }
             // Any other plugin: skipped-with-warning (unchanged — the browser can't
             // drive arbitrary MATLAB-side plugins).
             return {
@@ -1533,6 +1562,9 @@ var ArenaRunnerG6 = (function () {
          *        a non-mutating condition copy around those commands.  The hook
          *        runs after step-start and before any command translation/send.
          * @param {Set|Array} [a.fictracPluginNames]  plugin names whose class is FicTracPlugin
+         * @param {Map|object} [a.connectorPluginNames] plugin INSTANCE name → connector id the
+         *                                        bridge drives for the runner ('bias' for
+         *                                        BiasPlugin; LAB-303 connectors)
          * @param {function} [a.onProgress]      progress/event callback (see phases below)
          * @param {function} [a.timing]          async (durationSec, sleep) ⇒ trial end
          *                                        (defaults to host-side; firmware #4 swap)
@@ -1571,6 +1603,12 @@ var ArenaRunnerG6 = (function () {
                     : Array.isArray(a.fictracPluginNames)
                       ? new Set(a.fictracPluginNames)
                       : null;
+            const connectorPluginNames =
+                a.connectorPluginNames instanceof Map
+                    ? a.connectorPluginNames
+                    : a.connectorPluginNames && typeof a.connectorPluginNames === 'object'
+                      ? new Map(Object.entries(a.connectorPluginNames))
+                      : null;
             const timing = typeof a.timing === 'function' ? a.timing : hostSideTrialEnd;
             const sleep = typeof a.sleep === 'function' ? a.sleep : (ms) => this._sleep(ms);
             const emit = (s) => {
@@ -1759,6 +1797,7 @@ var ArenaRunnerG6 = (function () {
                         const ir = translateCommand(cmd, {
                             patternId: resolvePatternId(cmd),
                             fictracPluginNames,
+                            connectorPluginNames,
                             defaultCoupling
                         });
                         if (cmd.type === 'controller' && cmd.command_name === 'trialParams') {
@@ -2104,6 +2143,88 @@ var ArenaRunnerG6 = (function () {
                         this._bridge.log({ event: 'log', message: ir.message, level: ir.level });
                     emit({ phase: 'log', index, step, message: ir.message, level: ir.level });
                     return;
+                // ---- device connectors (LAB-303): the bridge drives the device --------
+                // Sequential, like MATLAB's plugin calls: the step waits for the reply
+                // (BIAS start-capture ≈ 0.2–0.3 s). Timing accumulators are untouched —
+                // the surrounding wait/trialParams hold the trial's duration.
+                case 'connectorCommand': {
+                    const b = this._bridge;
+                    const sup =
+                        b && typeof b.supportsConnector === 'function'
+                            ? b.supportsConnector(ir.connector)
+                            : null;
+                    if (!b || !b.connected || typeof b.connectorCommand !== 'function' || !sup) {
+                        // The same visible skip a plugin command got before connectors
+                        // existed, with the reason spelled out: a ≤ 3.4 bridge never
+                        // advertises connectors, so a stale bridge is named, not silent.
+                        summary.skipped++;
+                        emit({
+                            phase: 'skip',
+                            index,
+                            step,
+                            reason:
+                                !b || !b.connected
+                                    ? 'bridge not connected — "' +
+                                      ir.connector +
+                                      '" connector unavailable'
+                                    : sup === null
+                                      ? 'bridge ' +
+                                        ((b.bridgeInfo && b.bridgeInfo.version) || '?') +
+                                        ' advertises no connectors (bridge ≥ 4 / ros2-poc bridge node needed)'
+                                      : 'bridge has no "' + ir.connector + '" connector',
+                            plugin_name: ir.plugin_name,
+                            command_name: ir.command_name
+                        });
+                        return;
+                    }
+                    const t0 = Date.now();
+                    const rep = await b.connectorCommand({
+                        connector: ir.connector,
+                        plugin: ir.plugin_name,
+                        command: ir.command_name,
+                        params: ir.params,
+                        timeoutS: ir.timeoutS,
+                        timeoutMs: ir.timeoutS ? ir.timeoutS * 1000 : undefined
+                    });
+                    const value = {
+                        connector: ir.connector,
+                        outcome: (rep && rep.outcome) || 'error',
+                        ok: !!(rep && rep.ok),
+                        value: rep ? rep.value : undefined,
+                        artifact: rep && rep.artifact ? rep.artifact : undefined,
+                        rtt_ms: rep && rep.rtt_ms != null ? rep.rtt_ms : Date.now() - t0,
+                        error: rep && rep.error ? rep.error : undefined
+                    };
+                    emit({
+                        phase: 'command',
+                        index,
+                        step,
+                        op: ir.op,
+                        plugin_name: ir.plugin_name,
+                        command_name: ir.command_name,
+                        value
+                    });
+                    if (!rep || !rep.ok) {
+                        // Proceed-and-skip (the duty/bias precedent): the STEP failed, the run
+                        // goes on. 'unknown' (no reply in time) is named as such — the device
+                        // may have acted; the bridge reconciles with a status poll.
+                        summary.errors++;
+                        emit({
+                            phase: 'error',
+                            index,
+                            step,
+                            op: ir.op,
+                            reason:
+                                ir.plugin_name +
+                                '.' +
+                                ir.command_name +
+                                ' → ' +
+                                value.outcome +
+                                (value.error ? ': ' + value.error : '')
+                        });
+                    }
+                    return;
+                }
                 case 'skip':
                     summary.skipped++;
                     emit({
diff --git a/js/arena-session.js b/js/arena-session.js
index e20ad252..5958bb1b 100644
--- a/js/arena-session.js
+++ b/js/arena-session.js
@@ -490,6 +490,7 @@
                 resolvePatternFrames: args.resolvePatternFrames,
                 resolveCondition: args.resolveCondition,
                 fictracPluginNames: args.fictracPluginNames,
+                connectorPluginNames: args.connectorPluginNames, // LAB-303 device connectors (BiasPlugin → bridge)
                 timing: args.timing,
                 sleep: args.sleep,
                 onProgress: (s) => this._onRunStatus(s, args.onProgress)
diff --git a/js/fictrac-bridge-client.js b/js/fictrac-bridge-client.js
index 6a4cada2..d25c2e93 100644
--- a/js/fictrac-bridge-client.js
+++ b/js/fictrac-bridge-client.js
@@ -170,6 +170,8 @@
             this._bridgeInfo = null; // from hello_ack: {version, levels, level} (null = old bridge / not yet)
             this._ackedLevel = null; // from log_control_ack while logging is enabled
             this._ackWaiters = []; // waitForLogLevelAck() resolvers
+            this._cmdWaiters = new Map(); // connectorCommand() id → {resolve, timer, base}
+            this._cmdSeq = 0;
         }
 
         // ---- events ----------------------------------------------------------
@@ -324,6 +326,7 @@
                 else if (msg && msg.type === 'log_export_result') this._handleExportResult(msg);
                 else if (msg && msg.type === 'hello_ack') this._handleHelloAck(msg);
                 else if (msg && msg.type === 'log_control_ack') this._handleLogControlAck(msg);
+                else if (msg && msg.type === 'connector_reply') this._handleConnectorReply(msg);
             };
             ws.onerror = () => this._emit('status', 'error', 'err');
             ws.onclose = () => {
@@ -332,6 +335,7 @@
                 this._bridgeInfo = null;
                 this._ackedLevel = null;
                 this._settleAckWaiters(null);
+                this._settleCmdWaiters('bridge disconnected');
                 this._settleExport('reject', new Error('bridge disconnected during log export'));
                 this._emit('status', 'disconnected', 'dim');
                 this._emit('stats', this.stats);
@@ -571,6 +575,101 @@
             if (!this._bridgeInfo || !Array.isArray(this._bridgeInfo.levels)) return null;
             return this._bridgeInfo.levels.includes(lv);
         }
+        /**
+         * Can the connected bridge drive device connector `name` ('bias', …)? true/false
+         * from hello_ack's `connectors` list; null when unknown — no hello_ack yet, or a
+         * bridge that predates connectors (every ≤ 3.4 bridge). The runner treats null
+         * as "not driveable" and skips the command visibly.
+         */
+        supportsConnector(name) {
+            if (!this._bridgeInfo || !Array.isArray(this._bridgeInfo.connectors)) return null;
+            return this._bridgeInfo.connectors.includes(name);
+        }
+        /**
+         * Send one device-plugin command through the bridge (connector_command →
+         * connector_reply, LAB-303). Resolves with the reply object
+         * {connector, plugin, command, ok, outcome:'ok'|'error'|'unknown', value, error,
+         * steps, rtt_ms, artifact?}. It NEVER rejects: not connected → outcome 'error';
+         * no connector_reply within `timeoutMs` (default 10 s) → outcome 'unknown' (the
+         * command may or may not have taken effect — the LAB-303 semantics); a disconnect
+         * while in flight → 'unknown' as well. One id per call; late replies are dropped.
+         * @param {object} req {connector:'bias', plugin:'camera', command:'startRecording',
+         *                      params:{…}, timeoutS?, timeoutMs?}
+         * @returns {Promise<object>}
+         */
+        connectorCommand(req) {
+            req = req || {};
+            const base = {
+                connector: req.connector || null,
+                plugin: req.plugin || null,
+                command: req.command || null
+            };
+            if (!this.connected) {
+                return Promise.resolve(
+                    Object.assign(base, {
+                        ok: false,
+                        outcome: 'error',
+                        error: 'bridge not connected'
+                    })
+                );
+            }
+            const id = 'c' + ++this._cmdSeq + '-' + Date.now().toString(36);
+            const msg = {
+                type: 'connector_command',
+                id,
+                connector: base.connector,
+                plugin: base.plugin,
+                command: base.command,
+                params: req.params && typeof req.params === 'object' ? req.params : {}
+            };
+            if (Number.isFinite(Number(req.timeoutS)) && Number(req.timeoutS) > 0)
+                msg.timeout_s = Number(req.timeoutS);
+            if (!this._send(msg)) {
+                return Promise.resolve(
+                    Object.assign(base, {
+                        ok: false,
+                        outcome: 'error',
+                        error: 'send failed (socket closing)'
+                    })
+                );
+            }
+            const timeoutMs = Number(req.timeoutMs) > 0 ? Number(req.timeoutMs) : 10000;
+            return new Promise((resolve) => {
+                const w = { resolve, timer: null, base };
+                w.timer = setTimeout(() => {
+                    this._cmdWaiters.delete(id);
+                    resolve(
+                        Object.assign({}, base, {
+                            ok: false,
+                            outcome: 'unknown',
+                            error: 'no connector_reply within ' + timeoutMs + ' ms'
+                        })
+                    );
+                }, timeoutMs);
+                this._cmdWaiters.set(id, w);
+            });
+        }
+        _handleConnectorReply(msg) {
+            const w = msg && msg.id != null ? this._cmdWaiters.get(msg.id) : null;
+            if (!w) return; // a late reply after our timeout, or another client's
+            this._cmdWaiters.delete(msg.id);
+            if (w.timer && typeof clearTimeout !== 'undefined') clearTimeout(w.timer);
+            const rep = Object.assign({}, w.base, msg);
+            delete rep.type;
+            if (typeof rep.ok !== 'boolean') rep.ok = rep.outcome === 'ok';
+            if (!rep.outcome) rep.outcome = rep.ok ? 'ok' : 'error';
+            w.resolve(rep);
+        }
+        _settleCmdWaiters(reason) {
+            const ws = Array.from(this._cmdWaiters.values());
+            this._cmdWaiters.clear();
+            for (const w of ws) {
+                if (w.timer && typeof clearTimeout !== 'undefined') clearTimeout(w.timer);
+                w.resolve(
+                    Object.assign({}, w.base, { ok: false, outcome: 'unknown', error: reason })
+                );
+            }
+        }
         /**
          * Resolve with the acked level once the bridge answers the pending
          * log_control (or immediately if it already has); null after `timeoutMs`
@@ -600,7 +699,10 @@
             this._bridgeInfo = {
                 version: msg.bridge || null,
                 levels: Array.isArray(msg.levels) ? msg.levels.slice() : [],
-                level: msg.level || null
+                level: msg.level || null,
+                // Device connectors the bridge drives for the runner (LAB-303); null = a
+                // bridge that predates connectors (every ≤ 3.4 bridge).
+                connectors: Array.isArray(msg.connectors) ? msg.connectors.slice() : null
             };
             const requested = this._config.logLevel;
             const ok = this._bridgeInfo.levels.includes(requested);
diff --git a/ros2-poc/nodes/bias_node.py b/ros2-poc/nodes/bias_node.py
index 804ab12b..a70f9ca0 100644
--- a/ros2-poc/nodes/bias_node.py
+++ b/ros2-poc/nodes/bias_node.py
@@ -125,9 +125,13 @@ def plan(command: str, params: dict) -> list[tuple[str, str | None]]:
 
 
 class BiasNode(Node):
-    def __init__(self, http: BiasHttp, status_every_s: float) -> None:
+    def __init__(self, http: BiasHttp, status_every_s: float, video_dir: str | None = None) -> None:
         super().__init__("bias_camera")
         self.http = http
+        # Where a RELATIVE startRecording filename lands (MATLAB's BiasPlugin resolves it
+        # against the experiment folder; on a rig this comes from the rig YAML). None = pass
+        # the name through and warn (BIAS then resolves it against ITS cwd).
+        self.video_dir = video_dir
         self.reply_pub = self.create_publisher(String, REPLY_TOPIC, QOS)
         self.status_pub = self.create_publisher(String, STATUS_TOPIC, QOS)
         self.create_subscription(String, CMD_TOPIC, self._on_cmd, QOS)
@@ -202,11 +206,16 @@ def _do_cmd(self, req: dict) -> None:
                 self.http.host = str(params.get("ip") or self.http.host)
                 self.http.port = int(params.get("port") or self.http.port)
             if command == "startRecording" and params.get("filename") and not os.path.isabs(str(params["filename"])):
-                # Seen on the real Mac port (2026-10-14): a relative name resolves against BIAS's
-                # own cwd (`/` when launched with `open`), start-capture still answers success,
-                # and nothing captures. Say so in the reply instead of letting the run go dark.
-                out["warning"] = f"relative filename {params['filename']!r} resolves against BIAS's working directory, not the rig's; use an absolute path"
-                self.get_logger().warning(out["warning"])
+                if self.video_dir:
+                    params = dict(params)
+                    params["filename"] = os.path.join(self.video_dir, str(params["filename"]))
+                    out["params"] = params
+                else:
+                    # Seen on the real Mac port (2026-10-14): a relative name resolves against BIAS's
+                    # own cwd (`/` when launched with `open`), start-capture still answers success,
+                    # and nothing captures. Say so in the reply instead of letting the run go dark.
+                    out["warning"] = f"relative filename {params['filename']!r} resolves against BIAS's working directory, not the rig's; use an absolute path or --video-dir"
+                    self.get_logger().warning(out["warning"])
             steps = plan(command, params)
         except ValueError as exc:
             out.update({"ok": False, "outcome": "error", "error": str(exc)})
@@ -251,9 +260,10 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--port", type=int, default=5010, help="BIAS command port (default: 5010)")
     p.add_argument("--timeout-s", type=float, default=2.0, help="per-HTTP-call timeout; a timeout is an UNKNOWN outcome (default: 2)")
     p.add_argument("--status-every", type=float, default=1.0, help="get-status poll period in s; 0 = off (default: 1)")
+    p.add_argument("--video-dir", default=None, help="directory a RELATIVE startRecording filename is resolved against (default: pass through + warn)")
     args, ros_args = p.parse_known_args(argv)
     rclpy.init(args=ros_args)
-    node = BiasNode(BiasHttp(args.host, args.port, args.timeout_s), args.status_every)
+    node = BiasNode(BiasHttp(args.host, args.port, args.timeout_s), args.status_every, video_dir=args.video_dir)
     spin(node)
     print(f"[bias-node] {node.commands} commands handled", file=sys.stderr)
     return 0
diff --git a/ros2-poc/nodes/bridge_node.py b/ros2-poc/nodes/bridge_node.py
index 8ea8076a..1a7af012 100644
--- a/ros2-poc/nodes/bridge_node.py
+++ b/ros2-poc/nodes/bridge_node.py
@@ -76,9 +76,10 @@ def load_bridge_module(path: Path = BRIDGE_PY):
 
 B = load_bridge_module()
 
-NODE_VERSION = f"{B.BRIDGE_VERSION} · ros2-poc (rmw_zenoh, /fictrac/raw)"
+NODE_VERSION = f"{B.BRIDGE_VERSION} · ros2-poc (rmw_zenoh, /fictrac/raw, connectors)"
 FICTRAC_TOPIC = "/fictrac/raw"
 KINEFLY_TOPIC = "/kinefly/raw"
+BIAS_CMD_TOPIC = "/bias/cmd"
 BIAS_REPLY_TOPIC = "/bias/reply"
 BIAS_STATUS_TOPIC = "/bias/status"
 FRAME_TOPIC = "/arena/frame"
@@ -235,6 +236,8 @@ def __init__(self, loop: asyncio.AbstractEventLoop, queue: asyncio.Queue, on_kin
         self._on_bias = on_bias
         self.stats = {"fictrac": SourceStats("fictrac"), "kinefly": SourceStats("kinefly"), "bias": SourceStats("bias")}
         self.frame_pub = self.create_publisher(String, FRAME_TOPIC, FRAME_QOS)
+        # Studio → bridge connector_command relayed to the BIAS node (LAB-303 connectors).
+        self.bias_cmd_pub = self.create_publisher(String, BIAS_CMD_TOPIC, RAW_QOS)
         self.create_subscription(String, FICTRAC_TOPIC, self._fictrac, RAW_QOS)
         self.create_subscription(String, KINEFLY_TOPIC, self._kinefly, RAW_QOS)
         self.create_subscription(String, BIAS_REPLY_TOPIC, lambda m: self._bias("reply", m), RAW_QOS)
@@ -305,15 +308,82 @@ def on_kinefly(env: dict) -> None:
         seq = pkt.get("sequence") if isinstance(pkt.get("sequence"), int) else kf_seq["n"]
         log.write_rows([kf_row(rel_ms(), pkt, seq)])
 
+    # ── connectors: the Studio's connector_command → /bias/cmd, /bias/reply → connector_reply ──
+    # One connector today ('bias'); the Studio maps BiasPlugin instances onto it. A command
+    # is logged on arrival (dir browser→bridge) and its reply is logged when the node answers
+    # (via "ws" marks replies the Studio asked for, as opposed to bias_cmd.py's). The reply
+    # goes back to the ASKING websocket only (the hub's broadcast coalesces frames).
+    CONNECTORS = {"bias": BIAS_CMD_TOPIC}
+    pending: dict[str, dict] = {}  # command id → {"ws", "plugin", "connector", "t"}
+
+    async def ws_reply(websocket, msg: dict) -> None:
+        if websocket is None:
+            return
+        try:
+            await websocket.send(json.dumps(msg))
+        except Exception:  # ConnectionClosed: the asker left — nothing to deliver to
+            pass
+
     def on_bias(kind: str, env: dict) -> None:
         ev = {"type": "connector", "src": "bias", "kind": kind, "dir": "bridge", "ms": rel_ms()}
         for k, v in env.items():
             if k not in ("src",):
                 ev[k] = v
+        p = pending.pop(str(env.get("id")), None) if kind == "reply" and env.get("id") is not None else None
+        if p is not None:
+            ev["via"] = "ws"
+            ev["plugin"] = p["plugin"]
         log.write_event(ev)
+        if p is not None:
+            rep = {"type": "connector_reply", "connector": p["connector"], "plugin": p["plugin"]}
+            for k, v in env.items():
+                if k not in ("type", "src"):
+                    rep[k] = v
+            loop.create_task(ws_reply(p["ws"], rep))
+
+    async def on_connector_command(obj: dict, websocket) -> None:
+        cid = obj.get("id")
+        connector = str(obj.get("connector") or "bias")
+        command = str(obj.get("command") or "")
+        params = obj.get("params") if isinstance(obj.get("params"), dict) else {}
+        plugin = obj.get("plugin")
+        log.write_event({"type": "connector", "src": connector, "kind": "command", "dir": "browser→bridge", "ms": rel_ms(),
+                         "id": cid, "plugin": plugin, "command": command, "params": params})
+        if connector not in CONNECTORS:
+            err = f"no connector {connector!r} on this bridge (have {sorted(CONNECTORS)})"
+            log.write_event({"type": "connector", "src": connector, "kind": "reply", "dir": "bridge", "ms": rel_ms(), "via": "ws",
+                             "id": cid, "plugin": plugin, "command": command, "ok": False, "outcome": "error", "error": err})
+            await ws_reply(websocket, {"type": "connector_reply", "id": cid, "connector": connector, "plugin": plugin,
+                                       "command": command, "ok": False, "outcome": "error", "error": err})
+            return
+        pending[str(cid)] = {"ws": websocket, "plugin": plugin, "connector": connector, "t": time.monotonic()}
+        m = String()
+        m.data = json.dumps({"id": cid, "command": command, "params": params}, separators=(",", ":"))
+        node.bias_cmd_pub.publish(m)
 
     inputs = RosInput(args.fictrac_port, warn)
-    dispatch = B.make_dispatcher(pipeline, log, inputs)  # unmodified bridge.py dispatcher
+    dispatch_34 = B.make_dispatcher(pipeline, log, inputs)  # unmodified bridge.py dispatcher
+
+    async def dispatch(raw, websocket=None) -> None:
+        """bridge.py's dispatcher + two message kinds: `hello` gains the `connectors` list
+        (so the Studio's bridge client knows what it may drive; a ≤ 3.4 bridge never sends
+        it) and `connector_command` is relayed to the device node. Everything else is 3.4."""
+        text = raw.decode("utf-8", errors="replace") if isinstance(raw, bytes) else raw
+        obj = None
+        try:
+            obj = json.loads(text)
+        except (json.JSONDecodeError, TypeError):
+            obj = None
+        kind = obj.get("type") if isinstance(obj, dict) else None
+        if kind == "hello":
+            log.write_inbound(text)
+            await ws_reply(websocket, {"type": "hello_ack", "bridge": B.BRIDGE_VERSION, "levels": list(B.LOG_LEVELS),
+                                       "level": log.level, "logging": log.active, "connectors": sorted(CONNECTORS)})
+            return
+        if kind == "connector_command":
+            await on_connector_command(obj, websocket)
+            return
+        await dispatch_34(raw, websocket)
 
     node = BridgeNode(loop, queue, on_kinefly, on_bias)
 
@@ -355,6 +425,9 @@ def on_log_close() -> None:
     async def watchdog() -> None:
         while True:
             await asyncio.sleep(0.5)
+            for cid, p in list(pending.items()):
+                if time.monotonic() - p["t"] > 120.0:  # the Studio gave up long ago (default 10 s)
+                    pending.pop(cid, None)
             if not log.active:
                 continue
             now = time.monotonic()
diff --git a/ros2-poc/tests/studio_emulator.py b/ros2-poc/tests/studio_emulator.py
index 5ea3c14c..e1f4efb7 100644
--- a/ros2-poc/tests/studio_emulator.py
+++ b/ros2-poc/tests/studio_emulator.py
@@ -65,6 +65,8 @@ def arena_echo_set_frame_position(index: int, dt_ms: int = 3) -> dict:
 
 class Emulator:
     def __init__(self, args: argparse.Namespace) -> None:
+        self.cmd_seq = 0
+        self.last_epoch = None
         self.a = args
         self.ws = None
         self.inbox: asyncio.Queue = asyncio.Queue()
@@ -163,6 +165,26 @@ async def run_epoch(self, i: int, gate_since) -> int:
             self.check(f"epoch {i}: opened on start_frame {a.start_frame}", min(d, a.frames - d) <= 1, f"first index {first_idx}")
         return new_epoch
 
+    async def connector(self, command: str, params: dict | None = None, timeout: float = 10.0) -> dict | None:
+        """The runner's connectorCommand: one connector_command, wait for ITS reply by id."""
+        self.cmd_seq += 1
+        cid = f"emu{self.cmd_seq}"
+        await self.send({"type": "connector_command", "id": cid, "connector": "bias", "plugin": "camera",
+                         "command": command, "params": params or {}})
+        t_end = time.monotonic() + timeout
+        while time.monotonic() < t_end:
+            try:
+                m = await asyncio.wait_for(self.inbox.get(), max(0.01, t_end - time.monotonic()))
+            except asyncio.TimeoutError:
+                break
+            if m.get("type") == "connector_reply" and m.get("id") == cid:
+                self.report.setdefault("connector_replies", []).append(m)
+                return m
+            if m.get("type") == "frame":
+                self.frames += 1
+                self.last_epoch = m.get("epoch", self.last_epoch)
+        return None
+
     async def main(self) -> int:
         a = self.a
         async with connect(a.url, max_size=16 * 1024 * 1024) as ws:
@@ -183,6 +205,9 @@ async def main(self) -> int:
                     at_least_34 = False
                 self.check("bridge version parses as ≥ 3.4 (supportsStartFrame)", at_least_34, v)
                 self.check("behavior_v2 advertised", "behavior_v2" in (ack.get("levels") or []), str(ack.get("levels")))
+                self.report["connectors"] = ack.get("connectors")
+                if a.connector_cmds:
+                    self.check("hello_ack advertises the bias connector", "bias" in (ack.get("connectors") or []), str(ack.get("connectors")))
             await self.send({"type": "log_control", "enabled": True, "level": "behavior_v2"})
             lack = await self.wait_for("log_control_ack")
             self.check("log_control_ack: behavior_v2 in force", bool(lack) and lack.get("enabled") is True and lack.get("level") == "behavior_v2", str(lack))
@@ -198,6 +223,26 @@ async def main(self) -> int:
                 if m.get("type") == "frame":
                     self.frames += 1
                     since = m.get("epoch", since)
+            if a.connector_cmds:
+                # The runner's path for a `camera` plugin, through the bridge (connector_command),
+                # not bias_cmd.py: connect → startRecording → getTimestamp → stopRecording, plus an
+                # unknown command. Done BEFORE the epochs so it cannot interleave with the
+                # harness's own bias_cmd sequence mid-run (one BIAS, one capture at a time).
+                r = await self.connector("connect")
+                self.check("connector_command connect → reply ok", bool(r) and r.get("ok") is True, str(r)[:200])
+                r = await self.connector("startRecording", {"filename": a.connector_video})
+                self.check("connector_command startRecording → reply ok", bool(r) and r.get("ok") is True, str(r)[:200])
+                self.check("startRecording reply carries the video artifact", bool(r) and isinstance(r.get("artifact"), dict) and bool(r["artifact"].get("path")), str((r or {}).get("artifact")))
+                await asyncio.sleep(0.5)
+                r = await self.connector("getTimestamp")
+                self.check("connector_command getTimestamp → reply ok with a number", bool(r) and r.get("ok") is True and isinstance(r.get("value"), (int, float)), str(r)[:200])
+                r = await self.connector("stopRecording")
+                self.check("connector_command stopRecording → reply ok", bool(r) and r.get("ok") is True, str(r)[:200])
+                r = await self.connector("bogusCommand")
+                self.check("unknown command → reply error (not a hang)", bool(r) and r.get("ok") is False and r.get("outcome") == "error", str(r)[:200])
+                # Frames kept flowing meanwhile; re-sync the epoch gate's "since" id.
+                if self.last_epoch is not None:
+                    since = self.last_epoch
             for i in range(a.epochs):
                 since = await self.run_epoch(i, since)
                 if a.iti_s > 0:
@@ -247,6 +292,8 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--bias-frequency", type=float, default=0.0)
     p.add_argument("--min-frames", type=int, default=50, help="assert at least this many applied frames per epoch")
     p.add_argument("--rig-id", default="ros2-poc")
+    p.add_argument("--connector-cmds", action="store_true", help="also drive the bias connector (startRecording/getTimestamp/stopRecording) through connector_command, as the Studio runner does")
+    p.add_argument("--connector-video", default="poc_studio.avi", help="startRecording filename for --connector-cmds")
     p.add_argument("--out", default="studio-export.jsonl", help="where to write the exported log")
     p.add_argument("--report", default=None, help="JSON report path")
     args = p.parse_args(argv)
diff --git a/ros2-poc/tests/test_ros2_poc.py b/ros2-poc/tests/test_ros2_poc.py
index 818bee25..75c219d1 100644
--- a/ros2-poc/tests/test_ros2_poc.py
+++ b/ros2-poc/tests/test_ros2_poc.py
@@ -149,7 +149,7 @@ def start(name: str, argv: list[str]) -> Proc:
         fictrac = start("fictrac-adapter", [PY, str(NODES / "fictrac_udp_adapter.py"), "--status-every", "0"])
         start("kinefly-adapter", [PY, str(NODES / "kinefly_udp_adapter.py"), "--status-every", "0"])
         start("bias-sim", [PY, str(NODES / "bias_sim.py"), "--video-dir", str(videos)])
-        start("bias-node", [PY, str(NODES / "bias_node.py"), "--status-every", "1"])
+        start("bias-node", [PY, str(NODES / "bias_node.py"), "--status-every", "1", "--video-dir", str(videos)])
         bridge = start("bridge-node", [PY, str(NODES / "bridge_node.py"), "--log-dir", str(runlogs), "--source-timeout", "1.5"])
         check("bridge node serving ws://127.0.0.1:8765", wait_port("127.0.0.1", 8765, 20.0))
         time.sleep(1.5)  # discovery
@@ -216,7 +216,8 @@ def side_actor() -> None:
         # ── the Studio's conversation ────────────────────────────────────────────────
         em = run_capture(
             [PY, str(HERE / "studio_emulator.py"), "--epochs", str(a.epochs), "--epoch-s", str(a.epoch_s), "--iti-s", "1",
-             "--bias-amplitude", "90", "--min-frames", "40", "--out", str(export), "--report", str(report)],
+             "--bias-amplitude", "90", "--min-frames", "40", "--out", str(export), "--report", str(report),
+             "--connector-cmds", "--connector-video", "poc_studio.avi"],
             timeout=60 + a.epochs * (a.epoch_s + 2),
         )
         (logdir / "emulator.log").write_text(em.stderr, encoding="utf-8")
@@ -257,8 +258,15 @@ def side_actor() -> None:
         art = [e for e in bias_rep if isinstance(e.get("artifact"), dict)]
         check("BIAS command/reply pairs in the run log", len(bias_rep) >= 3, f"{len(bias_rep)} replies: {[r.get('command') for r in bias_rep]}")
         check("BIAS status lines in the run log", len(bias_st) >= 3, str(len(bias_st)))
-        check("BIAS video artifact identity in the run log", bool(art) and str(art[0]["artifact"].get("path", "")).endswith("poc_trial.avi"), json.dumps(art[:1]))
+        check("BIAS video artifact identity in the run log", any(str(e["artifact"].get("path", "")).endswith("poc_trial.avi") for e in art), json.dumps([e["artifact"] for e in art]))
         check("BIAS video file exists after stopRecording", (videos / "poc_trial.avi").exists(), str(list(videos.glob('*')) if videos.exists() else []))
+        # The Studio runner's path (LAB-303 connectors): connector_command over the WebSocket →
+        # /bias/cmd → /bias/reply → connector_reply to the asking client; both halves logged.
+        ws_cmd = [e for e in bias_ev if e.get("kind") == "command"]
+        ws_rep = [e for e in bias_rep if e.get("via") == "ws"]
+        check("Studio-path connector commands logged (browser→bridge)", [e.get("command") for e in ws_cmd] == ["connect", "startRecording", "getTimestamp", "stopRecording", "bogusCommand"], str([e.get("command") for e in ws_cmd]))
+        check("Studio-path replies logged with via=ws and the plugin name", len(ws_rep) >= 3 and all(e.get("plugin") == "camera" for e in ws_rep), f"{len(ws_rep)} via=ws replies")
+        check("Studio-path startRecording video exists", (videos / "poc_studio.avi").exists(), str(list(videos.glob('*')) if videos.exists() else []))
 
         cs = [e for e in events if e.get("type") == "connector_status" and e.get("src") == "fictrac"]
         p99 = cs[-1]["lat_ms"]["p99"] if cs else None
diff --git a/tests/test-arena-runner-g6.js b/tests/test-arena-runner-g6.js
index aff5b345..984d96d3 100644
--- a/tests/test-arena-runner-g6.js
+++ b/tests/test-arena-runner-g6.js
@@ -2938,6 +2938,231 @@ async function main() {
         check('clean run → stopAcked true', s4.stopAcked, true);
     }
 
+    console.log('\n=== connector plugins (LAB-303): BiasPlugin via the bridge ===');
+    {
+        const conn = new Map([['camera', 'bias']]);
+        // translateCommand: a plugin named in connectorPluginNames becomes connectorCommand,
+        // with params passed through and an optional timeout_s lifted out.
+        const ir = Runner.translateCommand(
+            {
+                type: 'plugin',
+                plugin_name: 'camera',
+                command_name: 'startRecording',
+                params: { filename: 't1.avi', timeout_s: 4 }
+            },
+            { connectorPluginNames: conn }
+        );
+        checkDeep(
+            'translate → connectorCommand',
+            [ir.op, ir.connector, ir.plugin_name, ir.command_name, ir.params.filename, ir.timeoutS],
+            ['connectorCommand', 'bias', 'camera', 'startRecording', 't1.avi', 4]
+        );
+        const irNo = Runner.translateCommand(
+            { type: 'plugin', plugin_name: 'camera', command_name: 'startRecording' },
+            { fictracPluginNames: new Set(['fictrac']) }
+        );
+        check('without connectorPluginNames the same command still skips', irNo.op, 'skip');
+        // listSkippedPlugins with the driveable set counts only what the runner will skip.
+        const cond = {
+            commands: [
+                { type: 'plugin', plugin_name: 'camera', command_name: 'startRecording' },
+                { type: 'plugin', plugin_name: 'log', command_name: 'message' },
+                { type: 'plugin', plugin_name: 'backlight', command_name: 'setRedLEDPower' },
+                {
+                    type: 'controller',
+                    command_name: 'trialParams',
+                    pattern: 'p',
+                    duration: 1,
+                    mode: 2,
+                    frame_rate: 10,
+                    gain: 0
+                }
+            ]
+        };
+        check(
+            'listSkippedPlugins legacy (no set) lists every plugin cmd',
+            Runner.listSkippedPlugins(cond).length,
+            3
+        );
+        checkDeep(
+            'listSkippedPlugins with driveable set → only backlight',
+            Runner.listSkippedPlugins(cond, new Set(['camera', 'log'])).map((x) => x.plugin_name),
+            ['backlight']
+        );
+
+        // runSequence: ok reply → command event with the reply; error reply → step error,
+        // run continues; no connectors advertised → visible skip naming the bridge.
+        const makeConnBridge = (connectors, replies) => ({
+            connected: true,
+            bridgeInfo: {
+                version: connectors ? '3.4 · ros2-poc' : '3.4',
+                levels: ['behavior_v2'],
+                connectors
+            },
+            configs: [],
+            logs: [],
+            calls: [],
+            connect() {},
+            disconnect() {},
+            setApply() {},
+            setConfig(c) {
+                this.configs.push(c);
+            },
+            log(o) {
+                this.logs.push(o);
+            },
+            supportsConnector(name) {
+                return Array.isArray(this.bridgeInfo.connectors)
+                    ? this.bridgeInfo.connectors.includes(name)
+                    : null;
+            },
+            connectorCommand(req) {
+                this.calls.push(req);
+                const r = replies[req.command] || { ok: true, outcome: 'ok' };
+                return Promise.resolve(
+                    Object.assign(
+                        { connector: req.connector, plugin: req.plugin, command: req.command },
+                        r
+                    )
+                );
+            }
+        });
+        const steps = [{ conditionName: 'c1', index: 0, total: 1 }];
+        const conditions = new Map([
+            [
+                'c1',
+                {
+                    name: 'c1',
+                    commands: [
+                        {
+                            type: 'plugin',
+                            plugin_name: 'camera',
+                            command_name: 'startRecording',
+                            params: { filename: 't1.avi' }
+                        },
+                        {
+                            type: 'controller',
+                            command_name: 'trialParams',
+                            pattern: 'p',
+                            pattern_ID: 1,
+                            duration: 0,
+                            mode: 2,
+                            frame_index: 0,
+                            frame_rate: 10,
+                            gain: 0
+                        },
+                        { type: 'plugin', plugin_name: 'camera', command_name: 'getTimestamp' },
+                        { type: 'plugin', plugin_name: 'camera', command_name: 'stopRecording' }
+                    ]
+                }
+            ]
+        ]);
+        const runOnce = async (bridge) => {
+            const events = [];
+            const runner = new Runner.ArenaRunner(makeFakeLink(), Wire, bridge);
+            const summary = await runner.runSequence({
+                steps,
+                conditionsByName: conditions,
+                resolvePatternId: () => 1,
+                connectorPluginNames: conn,
+                onProgress: (e) => events.push(e),
+                timing: async () => {},
+                sleep: () => Promise.resolve()
+            });
+            return { events, summary };
+        };
+        {
+            const bridge = makeConnBridge(['bias'], {
+                startRecording: {
+                    ok: true,
+                    outcome: 'ok',
+                    value: '/v/t1.avi',
+                    rtt_ms: 180,
+                    artifact: { kind: 'video', path: '/v/t1.avi' }
+                },
+                getTimestamp: { ok: true, outcome: 'ok', value: 12.5, rtt_ms: 1 },
+                stopRecording: {
+                    ok: false,
+                    outcome: 'unknown',
+                    error: 'no connector_reply within 10000 ms'
+                }
+            });
+            const { events, summary } = await runOnce(bridge);
+            checkDeep(
+                'bridge saw the three commands in order',
+                bridge.calls.map((c) => c.command),
+                ['startRecording', 'getTimestamp', 'stopRecording']
+            );
+            checkDeep('params pass through to the bridge', bridge.calls[0].params, {
+                filename: 't1.avi'
+            });
+            const cmds = events.filter((e) => e.phase === 'command' && e.op === 'connectorCommand');
+            checkDeep(
+                'one command event per connector command',
+                cmds.map((e) => e.command_name),
+                ['startRecording', 'getTimestamp', 'stopRecording']
+            );
+            checkDeep(
+                'command event carries the reply (outcome, value, artifact)',
+                [
+                    cmds[0].value.outcome,
+                    cmds[0].value.value,
+                    cmds[0].value.artifact.path,
+                    cmds[1].value.value
+                ],
+                ['ok', '/v/t1.avi', '/v/t1.avi', 12.5]
+            );
+            const errs = events.filter((e) => e.phase === 'error');
+            checkDeep(
+                'unknown outcome → one step error naming plugin.command → unknown',
+                [
+                    errs.length,
+                    errs[0] && errs[0].reason.startsWith('camera.stopRecording → unknown')
+                ],
+                [1, true]
+            );
+            checkDeep(
+                'run completes despite the failed step (proceed-and-skip)',
+                [summary.completed, summary.errors, summary.skipped],
+                [true, 1, 0]
+            );
+        }
+        {
+            // A 3.4 bridge (hello_ack without connectors): every connector command is a
+            // visible skip, nothing is sent to the bridge, the run is otherwise unchanged.
+            const bridge = makeConnBridge(null, {});
+            const { events, summary } = await runOnce(bridge);
+            check('3.4 bridge → nothing sent', bridge.calls.length, 0);
+            const skips = events.filter((e) => e.phase === 'skip');
+            checkDeep(
+                '3.4 bridge → three visible skips',
+                skips.map((e) => e.command_name),
+                ['startRecording', 'getTimestamp', 'stopRecording']
+            );
+            checkBool(
+                'skip reason names the bridge version and the fix',
+                /advertises no connectors/.test(skips[0].reason) && /3\.4/.test(skips[0].reason),
+                skips[0].reason
+            );
+            checkDeep(
+                'summary counts them as skipped, not errors',
+                [summary.skipped, summary.errors],
+                [3, 0]
+            );
+        }
+        {
+            // A bridge WITH connectors but not this one.
+            const bridge = makeConnBridge(['daq'], {});
+            const { events } = await runOnce(bridge);
+            const skips = events.filter((e) => e.phase === 'skip');
+            checkBool(
+                'missing connector → skip names it',
+                skips.length === 3 && /no "bias" connector/.test(skips[0].reason),
+                skips[0] && skips[0].reason
+            );
+        }
+    }
+
     console.log('\n=== Summary ===');
     console.log(`${totalChecks - failures} / ${totalChecks} checks passed`);
     process.exit(failures === 0 ? 0 : 1);
diff --git a/tests/test-fictrac-bridge-client.js b/tests/test-fictrac-bridge-client.js
index 1eaec782..b3f5a059 100644
--- a/tests/test-fictrac-bridge-client.js
+++ b/tests/test-fictrac-bridge-client.js
@@ -615,11 +615,16 @@ async function main() {
             level: 'behavior_v2',
             logging: false
         });
-        check('hello_ack recorded', client.bridgeInfo, {
-            version: '3.0 · behavior_v2',
-            levels: ['behavior_v2', 'behavior_v1', 'full'],
-            level: 'behavior_v2'
-        });
+        check(
+            'hello_ack recorded (connectors null: a bridge without device connectors)',
+            client.bridgeInfo,
+            {
+                version: '3.0 · behavior_v2',
+                levels: ['behavior_v2', 'behavior_v1', 'full'],
+                level: 'behavior_v2',
+                connectors: null
+            }
+        );
         check('bridgeSupportsLevel(v2) true', client.bridgeSupportsLevel('behavior_v2'), true);
         check('bridgeSupportsLevel(bogus) false', client.bridgeSupportsLevel('behavior_v9'), false);
         check(
@@ -953,6 +958,134 @@ async function main() {
         );
     }
 
+    console.log('\n=== connector_command / connector_reply (LAB-303 device connectors) ===');
+    {
+        const RealWS = global.WebSocket;
+        global.WebSocket = FakeWS;
+        try {
+            const client = new FicTracBridgeClient({ applyFrame: () => Promise.resolve() });
+            check(
+                'supportsConnector null before any hello_ack',
+                client.supportsConnector('bias'),
+                null
+            );
+            // Not connected → immediate error outcome, never a throw.
+            const offline = await client.connectorCommand({
+                connector: 'bias',
+                plugin: 'camera',
+                command: 'getTimestamp'
+            });
+            check('not connected → outcome error', [offline.ok, offline.outcome], [false, 'error']);
+            client.connect('ws://x');
+            const ws = FakeWS.last;
+            ws.open();
+            // A ≤ 3.4 bridge: hello_ack without `connectors` → null (unknown), not false.
+            ws.message({
+                type: 'hello_ack',
+                bridge: '3.4',
+                levels: ['behavior_v2'],
+                level: 'behavior_v2'
+            });
+            check('3.4 hello_ack → supportsConnector null', client.supportsConnector('bias'), null);
+            ws.message({
+                type: 'hello_ack',
+                bridge: '3.4 · ros2-poc',
+                levels: ['behavior_v2'],
+                level: 'behavior_v2',
+                connectors: ['bias']
+            });
+            check(
+                'connectors advertised → true/false',
+                [client.supportsConnector('bias'), client.supportsConnector('daq')],
+                [true, false]
+            );
+            // Round trip: the sent message carries id/connector/plugin/command/params; the
+            // matching reply resolves the promise with the bridge's fields merged in.
+            const p1 = client.connectorCommand({
+                connector: 'bias',
+                plugin: 'camera',
+                command: 'startRecording',
+                params: { filename: 'a.avi' },
+                timeoutS: 5
+            });
+            const sent = ws.sent.filter((m) => m.type === 'connector_command').pop();
+            check(
+                'connector_command sent with the request fields',
+                [sent.connector, sent.plugin, sent.command, sent.params, sent.timeout_s],
+                ['bias', 'camera', 'startRecording', { filename: 'a.avi' }, 5]
+            );
+            checkBool(
+                'connector_command carries an id',
+                typeof sent.id === 'string' && sent.id.length > 0,
+                sent.id
+            );
+            ws.message({ type: 'connector_reply', id: 'not-ours', ok: true, outcome: 'ok' }); // another client's → ignored
+            ws.message({
+                type: 'connector_reply',
+                id: sent.id,
+                ok: true,
+                outcome: 'ok',
+                value: '/v/a.avi',
+                rtt_ms: 180.1,
+                artifact: { kind: 'video', path: '/v/a.avi' }
+            });
+            const r1 = await p1;
+            check(
+                'reply resolves with ok/outcome/value/artifact',
+                [r1.ok, r1.outcome, r1.value, r1.artifact.path, r1.plugin, r1.command],
+                [true, 'ok', '/v/a.avi', '/v/a.avi', 'camera', 'startRecording']
+            );
+            check('reply has no wire `type` field', r1.type, undefined);
+            // Error reply from the device node → ok false, outcome error, error text kept.
+            const p2 = client.connectorCommand({
+                connector: 'bias',
+                plugin: 'camera',
+                command: 'bogus'
+            });
+            const s2 = ws.sent.filter((m) => m.type === 'connector_command').pop();
+            ws.message({
+                type: 'connector_reply',
+                id: s2.id,
+                ok: false,
+                outcome: 'error',
+                error: "unknown plugin command 'bogus'"
+            });
+            const r2 = await p2;
+            check(
+                'error reply → ok false + error text',
+                [r2.ok, r2.outcome, r2.error],
+                [false, 'error', "unknown plugin command 'bogus'"]
+            );
+            // No reply within timeoutMs → UNKNOWN (the command may have taken effect).
+            const p3 = client.connectorCommand({
+                connector: 'bias',
+                plugin: 'camera',
+                command: 'getTimestamp',
+                timeoutMs: 20
+            });
+            const r3 = await p3;
+            check('timeout → outcome unknown', [r3.ok, r3.outcome], [false, 'unknown']);
+            const s3 = ws.sent.filter((m) => m.type === 'connector_command').pop();
+            ws.message({ type: 'connector_reply', id: s3.id, ok: true, outcome: 'ok' }); // late reply: dropped, no throw
+            // Disconnect with a command in flight → unknown, and the waiter table is empty.
+            const p4 = client.connectorCommand({
+                connector: 'bias',
+                plugin: 'camera',
+                command: 'stopRecording'
+            });
+            ws.close();
+            const r4 = await p4;
+            check(
+                'disconnect mid-flight → outcome unknown',
+                [r4.ok, r4.outcome, r4.error],
+                [false, 'unknown', 'bridge disconnected']
+            );
+            check('no waiters left after disconnect', client._cmdWaiters.size, 0);
+        } finally {
+            global.WebSocket = RealWS;
+        }
+    }
+
     console.log('\n=== Summary ===');
     console.log(`${totalChecks - failures} / ${totalChecks} checks passed`);
     process.exit(failures === 0 ? 0 : 1);

From c6a40199abbfc86a9df364746b5a0c155cea8e8b Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 18:32:31 -0400
Subject: [PATCH 25/96] ros2-poc README: BIAS-from-the-protocol end-to-end
 result (Studio v0.95 connector path)

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/README.md | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/ros2-poc/README.md b/ros2-poc/README.md
index e1a8e86d..0f96aca7 100644
--- a/ros2-poc/README.md
+++ b/ros2-poc/README.md
@@ -134,6 +134,22 @@ The items the container could not cover, run on the lab Mac with the 2×10 bench
 | Real BIAS Mac port (`bias/build/test_gui.app`, C922 webcam as cam 0, HTTP :5010) via `pixi run bias-node` + `bias-cmd` | `connect` / `startRecording` / `getTimestamp` / `stopRecording` all `ok`, during the second Studio run as well (60 status + 3 reply connector events in that committed log). Reply shape identical to `bias_sim.py` (`[{"command","message","success","value"}]`); `get-status` value keys identical except the sim's extra `videoFile`. `start-capture` 180–280 ms, every other command ≈ 1 ms; server listens dual-stack (`*:5010`), 127.0.0.1 works. Two real-port facts the sim does not have: (1) a **relative `filename` resolves against BIAS's own cwd** (`/` when launched with `open`); `start-capture` then returns success while nothing captures (`capturing:false`, frame count stays 0, the preview never goes live) — `bias_node.py` now warns on a relative filename; (2) `get-video-file` answers `<stem>.jpg`, but the Mac port writes `<stem>_cam_0_date_…_v001/movie.mjpg` + `index.txt` and a `stamp_log_cam0.txt` beside it, so the logged `artifact.path` is the stem the operator asked for, not the file on disk |
 | Real Kinefly fork (`mbreiser/Kinefly-MacOS`, OpenCV 4.13, headless, synthetic 160 fps sample) `--udp 127.0.0.1:60001` → `pixi run kinefly-adapter` | 160 / 160, then 9600 / 9600 datagrams sent with `send_errors 0`; adapter **0 rejected**; **9487 `["kf",…]` rows** with left / right / head / abdomen angles in the committed run log (the remainder fell outside the log window); adapter→bridge p50 0.73 / p99 1.29 ms at 160 Hz |
 
+**BIAS from the protocol (Studio v0.95, branch `claude/bias-connector-command`, 2026-10-14 evening).**
+The web runner now drives a protocol's `camera` plugin (BiasPlugin) through the bridge
+(`connector_command` → `/bias/cmd`, `/bias/reply` → `connector_reply`; `hello_ack` advertises
+`connectors: ["bias"]`, so bridge 3.4 yields a visible skip instead). End to end on this bench,
+Studio served from localhost, real BIAS app, `fictrac_sim --model fly`: a 6-step protocol
+(`cam_start`: connect → startRecording → getTimestamp · two 15 s Mode-3 trials · `cam_sync`:
+getTimestamp · `cam_stop`: getTimestamp → stopRecording) completed with **0 errors, 0 skips**;
+all six command/reply pairs are in the run log (`via: "ws"`), the recording
+(`poc_studio_run_cam_0_…_v001/movie.mjpg`, 764 frames ≈ 24 fps × 32 s) exists, closed-loop
+report idx mismatch 0.00 %, `runlog-check` OK. **Sync:** the bridge-clock interval between the
+two later getTimestamps matched BIAS's own timestamps to −62 ms (one to two frames at 24 fps);
+the first getTimestamp, sent 1 ms after `start-capture` returned, read 0.0 because BIAS's clock
+starts at its first frame, ≈ 300 ms later — take the alignment stamp ≥ 0.5 s after
+startRecording, or anchor on the first frame. The harness (`pixi run test`) exercises the same
+path through the emulator: 32 / 32.
+
 One detour worth knowing: the stock `fictrac_bias_test.yaml` names `frame2_h_ccw_200f` at `pattern_ID 4`; this card's slot 4 is a 1-frame color test pattern, the runner read `frames: 1` from the card (correctly) and the display sat on frame 0. The protocol was re-pointed at the card's 20-frame grating — a card-content mismatch the Studio already warns about, not a bridge issue.
 
 **Still not verified:** Windows execution (`win-64` only resolves and locks; the rig-PC session is

From f505cf98bec342394e7385ff1f00d42bcdc2e917 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 19:11:19 -0400
Subject: [PATCH 26/96] =?UTF-8?q?ros2-poc:=20Plan=20B=20spike=20=E2=80=94?=
 =?UTF-8?q?=20MCAP=20record=20of=20truth,=20typed=20interfaces,=20converte?=
 =?UTF-8?q?r,=20ROS=20Studio=20tier=20(LAB-303)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Frank's Plan B built as a bounded spike on the existing ROS 2 PoC graph, so the LAB-303
architecture decision can be made on measured data (ros2-poc/README.md → "Plan B spike").
Bridge 3.4 stays installed side by side; the browser protocol is unchanged.

* nodes/recorder.py + bridge_node.py: rosbag2_py records every topic per run into an MCAP
  bag — device topics as received, /arena/frame with the closed-loop node's own sample time,
  /arena/browser (every browser message, verbatim), /arena/event, /arena/session — each
  bridge-side record with the writer's emission sequence number. Profiles: crashsafe
  (default; no chunking, no cache) and rosbag2's default (one unflushed 768 KiB chunk).
* nodes/mcap_convert.py (`pixi run convert`): bag → behavior_v2 / behavior_v1 / full NDJSON,
  pure Python (mcap + a schema-driven CDR decoder, no ROS process), `--recover` for a torn
  bag, `--order seq|time`. log_export returns the converted log; the live NDJSON stays as a
  shadow during the spike and `converted == live` is checked at every export.
* interfaces/arena_interfaces (FicTracFrame, ArenaFrame, ConnectorReply) built by
  `pixi install` through pixi-build-ros; `pixi run build-interfaces` = the colcon alternative
  (install rpath fix for macOS). The adapter publishes /fictrac/frame typed; the bridge
  consumes it and publishes/records /arena/frame typed when the package imports.
* tests/test_ros2_poc.py: judged against the CONVERTED log; + bag per topic, fidelity vs the
  shadow (sequenced lines byte-identical; derived lines ±2 ms), levels, ordering, typed
  schemas, and a SIGKILL crash phase for both profiles. 46 / 46 on the Mac.
* ROS Studio Pages path: scripts/tiers/stamp.py --ros REF → /ros/ (channel "ros", magenta
  banner), deploy-pages.yml input `ros` (off by default), `pixi run ros-preview`,
  js/build-channel.js channel "ros" (+ badge, window-name suffix, tests). Production and
  Next untouched.
* protocols/bias_camera_closed_loop_poc.yaml (+ index entry): the bench protocol.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 .github/workflows/deploy-pages.yml            |   11 +-
 arena_studio.html                             |    1 +
 js/build-channel.js                           |   42 +-
 pixi.toml                                     |    2 +
 protocols/bias_camera_closed_loop_poc.yaml    |  136 +
 protocols/index.json                          |    5 +
 ros2-poc/.gitignore                           |    5 +
 ros2-poc/README.md                            |   72 +
 ros2-poc/WINDOWS-TEST.md                      |   26 +
 .../arena_interfaces/CMakeLists.txt           |   14 +
 .../arena_interfaces/msg/ArenaFrame.msg       |   16 +
 .../arena_interfaces/msg/ConnectorReply.msg   |   14 +
 .../arena_interfaces/msg/FicTracFrame.msg     |    9 +
 .../interfaces/arena_interfaces/package.xml   |   18 +
 .../interfaces/arena_interfaces/pixi.toml     |   21 +
 ros2-poc/interfaces/log/COLCON_IGNORE         |    0
 .../arena_interfaces/command.log              |    6 +
 .../arena_interfaces/stderr.log               |   36 +
 .../arena_interfaces/stdout.log               |  271 ++
 .../arena_interfaces/stdout_stderr.log        |  307 ++
 .../arena_interfaces/streams.log              |  313 ++
 .../log/build_2026-10-14_18-48-56/events.log  |  527 +++
 .../build_2026-10-14_18-48-56/logger_all.log  |  132 +
 .../arena_interfaces/command.log              |    6 +
 .../arena_interfaces/stderr.log               |   29 +
 .../arena_interfaces/stdout.log               |  271 ++
 .../arena_interfaces/stdout_stderr.log        |  300 ++
 .../arena_interfaces/streams.log              |  306 ++
 .../log/build_2026-10-14_18-58-00/events.log  |  419 ++
 .../build_2026-10-14_18-58-00/logger_all.log  |  132 +
 ros2-poc/interfaces/log/latest                |    1 +
 ros2-poc/interfaces/log/latest_build          |    1 +
 ros2-poc/nodes/_common.py                     |   58 +
 ros2-poc/nodes/bridge_node.py                 |  363 +-
 ros2-poc/nodes/build_interfaces.py            |  130 +
 ros2-poc/nodes/fictrac_udp_adapter.py         |   59 +-
 ros2-poc/nodes/mcap_convert.py                |  529 +++
 ros2-poc/nodes/recorder.py                    |  146 +
 ros2-poc/pixi.lock                            | 3388 ++++++++++++++++-
 ros2-poc/pixi.toml                            |   35 +
 ros2-poc/tests/test_ros2_poc.py               |  265 +-
 scripts/tiers/stamp.py                        |   98 +-
 tests/test-build-channel.js                   |   18 +
 tests/test-studio-shell.js                    |    2 +-
 44 files changed, 8359 insertions(+), 181 deletions(-)
 create mode 100644 protocols/bias_camera_closed_loop_poc.yaml
 create mode 100644 ros2-poc/interfaces/arena_interfaces/CMakeLists.txt
 create mode 100644 ros2-poc/interfaces/arena_interfaces/msg/ArenaFrame.msg
 create mode 100644 ros2-poc/interfaces/arena_interfaces/msg/ConnectorReply.msg
 create mode 100644 ros2-poc/interfaces/arena_interfaces/msg/FicTracFrame.msg
 create mode 100644 ros2-poc/interfaces/arena_interfaces/package.xml
 create mode 100644 ros2-poc/interfaces/arena_interfaces/pixi.toml
 create mode 100644 ros2-poc/interfaces/log/COLCON_IGNORE
 create mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/command.log
 create mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stderr.log
 create mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stdout.log
 create mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stdout_stderr.log
 create mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/streams.log
 create mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-48-56/events.log
 create mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-48-56/logger_all.log
 create mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/command.log
 create mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stderr.log
 create mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stdout.log
 create mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stdout_stderr.log
 create mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/streams.log
 create mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-58-00/events.log
 create mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-58-00/logger_all.log
 create mode 120000 ros2-poc/interfaces/log/latest
 create mode 120000 ros2-poc/interfaces/log/latest_build
 create mode 100644 ros2-poc/nodes/build_interfaces.py
 create mode 100644 ros2-poc/nodes/mcap_convert.py
 create mode 100644 ros2-poc/nodes/recorder.py

diff --git a/.github/workflows/deploy-pages.yml b/.github/workflows/deploy-pages.yml
index 4377287f..9a6e6199 100644
--- a/.github/workflows/deploy-pages.yml
+++ b/.github/workflows/deploy-pages.yml
@@ -23,6 +23,10 @@ on:
                 description: 'EMERGENCY ROLLBACK ONLY: a release-… tag or main commit to serve at the site root'
                 required: false
                 default: ''
+            ros:
+                description: 'ROS Studio side tier at /ros/ (LAB-303 Plan B spike): "none" or the spike branch commit SHA'
+                required: false
+                default: 'none'
 
 # Sets permissions for GITHUB_TOKEN to allow deployment to GitHub Pages
 permissions:
@@ -58,17 +62,20 @@ jobs:
             # self-checks that Production is byte-identical to its commit apart from the
             # stamp. A Next problem never blocks Production (placeholder instead).
             # Inputs go through env, never interpolated into the script.
-            - name: Assemble Production + Next
+            # The optional /ros/ side tier (ROS Studio, LAB-303) comes from a dispatched SHA; a
+            # problem there is skipped, never a failed deploy. Off ("none") on every push.
+            - name: Assemble Production + Next (+ ROS Studio when dispatched)
               env:
                   NEXT_INPUT: ${{ inputs.next || 'auto' }}
                   ROOT_REF: ${{ inputs.root_ref }}
+                  ROS_INPUT: ${{ inputs.ros || 'none' }}
               run: |
                   if [ -n "$ROOT_REF" ]; then
                       git merge-base --is-ancestor "$ROOT_REF" origin/main \
                           || { echo "root_ref $ROOT_REF is not on main's history"; exit 1; }
                   fi
                   python3 scripts/tiers/stamp.py build --out _site \
-                      --root-ref "${ROOT_REF:-$GITHUB_SHA}" --next "$NEXT_INPUT"
+                      --root-ref "${ROOT_REF:-$GITHUB_SHA}" --next "$NEXT_INPUT" --ros "$ROS_INPUT"
 
             - name: Upload artifact
               uses: actions/upload-pages-artifact@v5
diff --git a/arena_studio.html b/arena_studio.html
index c3c2cba7..57d49859 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -196,6 +196,7 @@
   .wdt-channel{font:600 10px/1.6 var(--head, 'JetBrains Mono', monospace);padding:0 6px;border-radius:9px;margin-left:6px;white-space:nowrap;cursor:help;vertical-align:middle}
   .wdt-ch-prod{color:var(--dim, #8b949e);border:1px solid var(--border, #2d3640)}
   .wdt-ch-next{color:#0f1419;background:#ff9100;font-weight:700}
+  .wdt-ch-ros{color:#0f1419;background:#d500f9;font-weight:700} /* ROS Studio side tier (LAB-303 spike) */
   .wdt-ch-local{color:var(--dim, #8b949e);border:1px dashed var(--border, #2d3640)}
   .brand{font-family:var(--head);font-weight:700;letter-spacing:.5px;color:var(--accent);font-size:14px;white-space:nowrap}
   .status{display:flex;align-items:center;gap:6px;font-size:12px}
diff --git a/js/build-channel.js b/js/build-channel.js
index 63edcf1c..f9b5f06e 100644
--- a/js/build-channel.js
+++ b/js/build-channel.js
@@ -6,8 +6,10 @@
  * and writes build.json at each tier root. This module reads that stamp — the identity
  * of the HTML actually running, not whatever the server holds now — and provides:
  *
- *   detect(doc, loc)          → { channel: 'production'|'next'|'local', known, sha, candidate, … }
- *                               (no stamp under /next/ → 'next' with known:false, NEVER 'local')
+ *   detect(doc, loc)          → { channel: 'production'|'next'|'ros'|'local', known, sha, candidate, … }
+ *                               (no stamp under /next/ → 'next' with known:false, NEVER 'local';
+ *                                'ros' = the /ros/ side tier, "ROS Studio" — the LAB-303 ROS 2
+ *                                bridge spike served for lab validation, never Production)
  *   badgeModel(build)         → { text, title, cls } for the top-bar badge
  *   runMeta(build)            → { channel, build, candidate } for run_metadata
  *   windowName(base, build)   → tier-suffixed window name, so a Next link never
@@ -42,6 +44,10 @@
         return /(^|\/)next\//.test(String(pathname || ''));
     }
 
+    function inRosPath(pathname) {
+        return /(^|\/)ros\//.test(String(pathname || ''));
+    }
+
     /** Read the build stamp. doc/loc default to the page's document/location. */
     function detect(doc, loc) {
         const d = doc || (typeof document !== 'undefined' ? document : null);
@@ -53,13 +59,19 @@
         } catch (_) {
             meta = null;
         }
-        if (meta && (meta.channel === 'production' || meta.channel === 'next')) {
+        if (
+            meta &&
+            (meta.channel === 'production' || meta.channel === 'next' || meta.channel === 'ros')
+        ) {
             return Object.assign({ known: true }, meta);
         }
         if (l && inNextPath(l.pathname)) {
             // Served under /next/ but unstamped: it is still the testing tier.
             return { channel: 'next', known: false, sha: null, candidate: null };
         }
+        if (l && inRosPath(l.pathname)) {
+            return { channel: 'ros', known: false, sha: null, candidate: null };
+        }
         return { channel: 'local', known: false, sha: null, candidate: null };
     }
 
@@ -102,6 +114,17 @@
                     '. For validation between sessions — not for routine experiments.'
             };
         }
+        if (b.channel === 'ros') {
+            return {
+                cls: 'wdt-ch-ros',
+                text: 'ROS STUDIO' + (b.sha ? ' · ' + short(b.sha) : ''),
+                title:
+                    'ROS Studio — the ROS 2 bridge spike (LAB-303), served at /ros/ for lab validation' +
+                    (b.ref ? ' (' + b.ref + ')' : '') +
+                    (b.known ? '' : ' (build stamp missing)') +
+                    '. Not Production: do not run routine experiments here.'
+            };
+        }
         return {
             cls: 'wdt-ch-local',
             text: 'LOCAL',
@@ -116,13 +139,17 @@
 
     function windowName(base, build) {
         const b = build || detect();
-        return b.channel === 'next' ? base + '@next' : base;
+        if (b.channel === 'next') return base + '@next';
+        if (b.channel === 'ros') return base + '@ros';
+        return base;
     }
 
     /** True when another tab's pathname is on the same tier as this page. */
     function samePageTier(pathname, build) {
         const b = build || detect();
-        return inNextPath(pathname) === (b.channel === 'next');
+        const tierOf = (next, ros) => (next ? 'next' : ros ? 'ros' : 'production');
+        const mine = b.channel === 'next' || b.channel === 'ros' ? b.channel : 'production';
+        return tierOf(inNextPath(pathname), inRosPath(pathname)) === mine;
     }
 
     /**
@@ -174,7 +201,7 @@
         el.className = 'wdt-channel ' + m.cls;
         el.textContent = m.text;
         el.title = m.title;
-        if (b.channel === 'next') {
+        if (b.channel === 'next' || b.channel === 'ros') {
             // The page shows its own badge; the generic injected banner would overlap it.
             // The deploy injects that banner just before </body>, so a badge rendered from an
             // early script runs before it is parsed — remove it now AND once the DOM is done.
@@ -201,7 +228,8 @@
         checkFresh,
         markerCurrent,
         renderBadge,
-        inNextPath
+        inNextPath,
+        inRosPath
     };
 
     if (typeof module !== 'undefined' && module.exports) module.exports = BuildChannel;
diff --git a/pixi.toml b/pixi.toml
index fb10b580..cd199ced 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -34,6 +34,8 @@ tiers = "python scripts/tiers/candidate.py"
 candidate = "python scripts/tiers/candidate.py build"
 release = "python scripts/tiers/candidate.py release"
 next-preview = "python scripts/tiers/stamp.py preview"
+# ROS Studio (LAB-303 Plan B spike): assemble /ros/ from the current branch beside the two tiers
+ros-preview = "python scripts/tiers/stamp.py preview --ros HEAD"
 # pixi run bench-check -- LOG [--hold COND=FRAME …] [--channel next] [--build SHA]   check a bench-validation run
 bench-check = "python scripts/bench-check.py"
 test-tiers = "python tests/test-tiers-candidate.py"
diff --git a/protocols/bias_camera_closed_loop_poc.yaml b/protocols/bias_camera_closed_loop_poc.yaml
new file mode 100644
index 00000000..19069352
--- /dev/null
+++ b/protocols/bias_camera_closed_loop_poc.yaml
@@ -0,0 +1,136 @@
+version: 3
+
+# BIAS camera + FicTrac closed loop through the ROS 2 bridge node (LAB-303 connectors).
+# The `camera` plugin (BiasPlugin) is driven by the WEB runner: each command goes to the
+# bridge as connector_command, the bridge's BIAS node runs it over BIAS's HTTP port, and
+# the reply (with the video artifact for startRecording) lands in the run log.
+#
+#   cam_start : connect → startRecording (one video for the whole run) → getTimestamp
+#   2 closed-loop trials (none, then a constant +90°/s bias), 15 s each
+#   cam_sync  : getTimestamp (a mid-run sync point against the bridge clock)
+#   cam_stop  : getTimestamp → stopRecording
+#
+# Video path: relative to the bias node's --video-dir (like MATLAB's experiment folder).
+
+experiment_info:
+  name: "BIAS camera + closed loop — ROS 2 PoC Mac bench (LAB-303)"
+  author: "webDisplayTools"
+
+rig: "./configs/rigs/cshl_g6_2x10_ball.yaml"
+
+plugins:
+  - name: "fictrac"
+    type: "class"
+    matlab:
+      class: "FicTracPlugin"
+    config:
+      bridge_url: "ws://localhost:8765"
+      fictrac_port: 60000
+      proto: "udp"
+      offset: 0
+  - name: "camera"
+    type: "class"
+    matlab:
+      class: "BiasPlugin"
+
+variables:
+  cl_dur: &cl_dur 15
+
+experiment:
+  - name: "camera_run"
+    trials:
+      - "cam_start"
+      - "cl_bias_none"
+      - "cam_sync"
+      - "cl_bias_constant"
+      - "cam_stop"
+    repetitions: 1
+  - "shutdown"
+
+conditions:
+  - name: "cam_start"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "connect"
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "startRecording"
+        params:
+          filename: "poc_studio_run.avi"
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "wait"
+        duration: 1
+
+  - name: "cl_bias_none"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_grat_rot_20px_50pct_4c-B-Y"
+        pattern_ID: 1
+        duration: *cl_dur
+        mode: 3
+        frame_index: 0
+        frame_rate: 0
+        gain: 0
+      - type: "plugin"
+        plugin_name: "fictrac"
+        command_name: "startClosedLoop"
+        params:
+          bias_type: "none"
+      - type: "wait"
+        duration: *cl_dur
+      - type: "plugin"
+        plugin_name: "fictrac"
+        command_name: "stopClosedLoop"
+
+  - name: "cam_sync"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "wait"
+        duration: 1
+
+  - name: "cl_bias_constant"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_grat_rot_20px_50pct_4c-B-Y"
+        pattern_ID: 1
+        duration: *cl_dur
+        mode: 3
+        frame_index: 0
+        frame_rate: 0
+        gain: 0
+      - type: "plugin"
+        plugin_name: "fictrac"
+        command_name: "startClosedLoop"
+        params:
+          bias_type: "constant"
+          bias_amplitude: 90
+      - type: "wait"
+        duration: *cl_dur
+      - type: "plugin"
+        plugin_name: "fictrac"
+        command_name: "stopClosedLoop"
+
+  - name: "cam_stop"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "stopRecording"
+      - type: "wait"
+        duration: 1
+
+  - name: "shutdown"
+    commands:
+      - type: "controller"
+        command_name: "stopDisplay"
+      - type: "controller"
+        command_name: "allOff"
diff --git a/protocols/index.json b/protocols/index.json
index 1f1637da..8a64432e 100644
--- a/protocols/index.json
+++ b/protocols/index.json
@@ -52,6 +52,11 @@
       "key": "g6_2x10_2p_diagnostics",
       "label": "2P line-sync diagnostics — full-field brightness ramp/steps, 1 Hz flash, 10 % sparse, 6 s all-off (~52 s; upload its _patterns folder first)",
       "path": "./protocols/g6_2x10_2p_diagnostics.yaml"
+    },
+    {
+      "key": "bias_camera_closed_loop_poc",
+      "label": "BIAS camera + FicTrac closed loop through the ROS 2 bridge (LAB-303 spike, ~40 s)",
+      "path": "./protocols/bias_camera_closed_loop_poc.yaml"
     }
   ]
 }
diff --git a/ros2-poc/.gitignore b/ros2-poc/.gitignore
index 78a76548..6f4618ed 100644
--- a/ros2-poc/.gitignore
+++ b/ros2-poc/.gitignore
@@ -7,3 +7,8 @@ __pycache__/
 runlogs/
 *.jsonl
 *.jsonl.gz
+# colcon alternative build of interfaces/arena_interfaces (pixi-build is the primary route)
+interfaces/build/
+interfaces/install/
+interfaces/build.log
+interfaces/build-result.json
diff --git a/ros2-poc/README.md b/ros2-poc/README.md
index 0f96aca7..69fe50ae 100644
--- a/ros2-poc/README.md
+++ b/ros2-poc/README.md
@@ -168,3 +168,75 @@ loopback config was used throughout).
   `/bias/status`, `/arena/frame` — plain JSON strings.
 * Not exercised: rosbag recording, rosbridge, Frank's FicTrac ROS 2 node pair. The log stayed
   the bridge's NDJSON on purpose (the readers are the expensive part to replace).
+
+## Plan B spike (2026-10-14 evening, LAB-303) — Frank's graph with MCAP as the record of truth
+
+Built on the graph above so the architecture decision can be made on measured data. Hard cutover
+and MATLAB-on-the-graph are out of scope; bridge 3.4 stays installed side by side. The browser
+protocol is unchanged, so the Studio on this branch (v0.95, with the BIAS connector path) works
+without further changes; **"ROS Studio" = that Studio served from the `/ros/` Pages path** (below).
+
+```
+ FicTrac / fictrac_sim ──UDP :60000──▶ fictrac_udp_adapter ──/fictrac/frame (FicTracFrame)──▶┐
+ Kinefly (KF/1)        ──UDP :60001──▶ kinefly_udp_adapter ──/kinefly/raw──────────────────▶│ bridge_node ──ws :8765──▶ Studio
+ BIAS (HTTP :5010)     ◀── bias_node ◀─/bias/cmd   /bias/reply,status──────────────────────▶│   │ /arena/frame (ArenaFrame), /arena/browser, /arena/event, /arena/session
+                                                                                            └───┴──▶ runlogs/<run>.bag/  (MCAP, rosbag2_py)  ──mcap_convert.py──▶ <run>.jsonl (behavior_v2 | v1 | full)
+```
+
+### What was built
+
+| item | where | what |
+|---|---|---|
+| MCAP record | `nodes/recorder.py`, `bridge_node.py` | one bag per run (opened with the run's log, closed at `log_control off` / `log_export` / shutdown) holding every device topic as received (raw CDR bytes), `/arena/frame` (the closed-loop evaluation with the node's **own sample time** `t_ms`/`ms` as fields, and as MCAP `publish_time`), `/arena/browser` (**every** browser message, verbatim, with the receive stamp), `/arena/event` (bias_config, heading_tare, connector_status, source_lost/resumed, warn), `/arena/session`. Bridge-side records carry the writer's emission sequence number `seq`. Two writer profiles: `crashsafe` (no chunking, no cache; the default) and rosbag2's `default`. |
+| converter | `nodes/mcap_convert.py` (`pixi run convert`) | bag → NDJSON, pure Python (`mcap` + a 60-line CDR decoder driven by the schema text rosbag2 embeds): no ROS process needed, reads a torn bag with `--recover`. Reuses bridge.py's own pure encoders (`compact_arena_command`, schema line). Levels are a converter option (`--level behavior_v2|behavior_v1|full`); the run's acked level is the default. `--order seq` reproduces the live writer's order; `--order time` is what a separate closed-loop process would have to do. ONE ms base per run (the pipeline's t0 is set from the log's open stamp — bridge 3.4 takes two samples there, comparison.md appendix 4). `log_export` returns the converted log; the live NDJSON stays as a shadow file during the spike and `converted == live` is checked and printed at every export. |
+| typed messages | `interfaces/arena_interfaces/` (`FicTracFrame`, `ArenaFrame`, `ConnectorReply`) | built **by `pixi install`** (pixi-build preview + the RoboStack `pixi-build-ros` backend; the workspace depends on the package by path). `pixi run build-interfaces` is the colcon alternative. `ArenaFrame` and `FicTracFrame` are in use; `ConnectorReply` is defined and built but the BIAS reply stays JSON-in-String (its shape is BIAS's, not ours — typing it would make the derived connector event a rebuild instead of a copy). |
+| FicTrac as a typed topic | `fictrac_udp_adapter.py --typed`, `bridge_node.py --typed` | the adapter publishes `/fictrac/frame` (parsed columns + FT tag + receive stamps + the verbatim line) beside `/fictrac/raw`; the bridge subscribes to the typed topic when the package imports (`auto`). The mapping math still parses the verbatim line, so it stays byte-for-byte bridge 3.4's. |
+| harness | `tests/test_ros2_poc.py` | the 32 PoC checks now judged against the **converted** log, plus bag presence per topic, fidelity vs the shadow, levels, ordering, typed schemas, and a crash phase (bridge node SIGKILLed mid-run, both profiles): **46 / 46 in 46 s** on the Mac. |
+| Pages path | `scripts/tiers/stamp.py --ros REF`, `deploy-pages.yml` input `ros`, `pixi run ros-preview`, `js/build-channel.js` channel `ros` | a third, optional path `/ros/` beside Production and Next: this branch's tree, stamped `channel: "ros"`, magenta badge/banner "ROS STUDIO", tier-suffixed window names, `run_metadata.channel = "ros"`. Off by default; a problem there never blocks the other tiers; the production tree check skips it. Production and Next are untouched (tiers test 109 / 109). **Enabling it on the live site needs this tooling commit on `main`** (the deploy workflow runs from `main`): a tooling-only PR, then `gh workflow run deploy-pages.yml -f ros=<spike sha>`. Until then: `pixi run ros-preview` + `python -m http.server -d _site`. |
+
+### Measured on the Mac (MacBook Pro osx-arm64, macOS 27.0.1, pixi 0.69)
+
+| measurement | result |
+|---|---|
+| `pixi install` with `ros-jazzy-rosbag2-py` + `ros-jazzy-rosbag2-storage-mcap` + `mcap` + the ament/rosidl toolchain (`cmake`, `ninja`, `cxx-compiler`, `colcon`) | 10 s wall with a warm package cache (the sibling PoC env had most packages); env **1.0 GB → 1.7 GB**; lock +1442 lines |
+| typed messages, route 1: **pixi-build-ros** (scratch workspace, first attempt) | **37 s** wall for `pixi install` incl. an 18 s build of the package (`arena_interfaces-0.1.0-h60d57d3_0.conda`, 1.1 MiB, 149 files incl. Rust bindings); imported and serialized on the first try. One deprecation warning (`[package.build] channels` → `backend.channels`, fixed). |
+| typed messages, route 1 integrated in `ros2-poc/pixi.toml` | `pixi install` **25 s** (17 s build); lock +3305 lines (a `conda_source` record per platform). Windows: the build needs MSVC 2022 on the PC (pixi cannot install it) — untested. |
+| typed messages, route 2: **colcon** in the env (`pixi run build-interfaces -- --clean`) | build 23 s (first) / 12 s (second clean build), all 8 typesupport libraries. **First attempt failed at import**: `UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'arena_interfaces'` — RoboStack's toolchain sets the extension's install rpath to the env's `lib` only, and macOS SIP strips `DYLD_LIBRARY_PATH` on the way through pixi's shell. Fixed with `-DCMAKE_INSTALL_RPATH=<install>/lib;<env>/lib`: imports and serializes. |
+| bag open (per run start, blocks the asyncio loop) | **158 ms** with rosbag2's defaults (100 MiB message cache) vs **8 ms** crashsafe; records arriving meanwhile are buffered, so nothing is lost either way |
+| recording overhead on the closed loop (adapter → bridge, `connector_status`) | FicTrac p50 0.87 / p99 1.65 ms, Kinefly p50 0.82 / p99 1.51 ms — the same as the PoC without recording (0.89 / 1.43) |
+| recorder receive time vs the closed-loop node's own sample time (`/arena/frame` `log_time − publish_time`) | p50 0.53 ms, p99 1.07 ms, max 1.2 ms (the sample time is a whole ms). The record carries both, so `idx` reconstruction uses the node's clock, never the recorder's. |
+| conversion | 962 lines in 50 ms (smoke run); 3949 lines (harness run, 197 kB NDJSON) from a 4.1 MB bag of 4889 records. The bag is ~20× the NDJSON: it holds the raw inputs (every FicTrac line twice — typed fields + verbatim — every Kinefly envelope) and the outputs, uncompressed (zstd is a profile knob; compression and crash-safety pull in opposite directions). |
+| **fidelity, sequenced lines** (frames, browser lines, bridge events, session/schema): converted vs the live writer | **byte-identical and in the same order** in every run (smoke, harness, both levels); `bag → behavior_v1` equals `bridge.py --convert` of the live v2 byte for byte; `full` carries the 25 FicTrac columns for every frame |
+| fidelity, DERIVED lines (2204 Kinefly rows + 31 BIAS reply/status events): content | identical apart from `ms`; `\|Δms\|` **p50 0 / p99 1 / max 2 ms** (recorder receive vs the live writer's processing time) |
+| fidelity, derived lines: placement | 113 of 2235 (5 %) land after a different neighbouring line than in the live file (within the same 1–2 ms). The file as a whole is therefore **not** byte-identical when Kinefly/BIAS are present; it is when they are absent. |
+| `--order time` vs `--order seq` | same multiset of lines; **17 of 3949** positions differ (12 of 962 in the smoke run), all same-millisecond ties (`log_control` vs the first frame, runner `fictracApply` vs `bias_config`, `config` vs `heading_tare`); `closed-loop-report.py` output identical for both orders |
+| **crash: bridge node SIGKILLed 2.5 s into a closed-loop epoch, `crashsafe` profile** | NDJSON (line-buffered): 624 lines / 160 frames, no torn line. Bag: `metadata.yaml` never written (as predicted), `--recover` + convert: 621 lines / **159 frames** — one frame (≈ 14 ms) and the two session lines lost; every reader parses the result. |
+| crash, rosbag2 `default` profile | NDJSON: 625 lines / 159 frames. Bag: **nothing recoverable** — a short run sits in one unflushed 768 KiB chunk (plus the message cache) until close; `ros2 bag info` of a completed default-profile run shows exactly one chunk. Offline truncation of a completed default bag confirms it: nothing until 99 %, then everything. |
+| what the readers needed | nothing: the converted log passes `js/runlog-format` + `js/runlog-replay` (JS), `closed-loop-report.py`, `bridge.py --convert` round trip, and (bench run below) `runlog-check.py` |
+
+### What broke, in order
+
+1. `rosbag2_py`'s four-argument `write()` is `(topic, data, recv_timestamp, send_timestamp)` — the opposite of what the docstring order suggests; the first bags had the node's sample time in `log_time`. Found by reading a bag back.
+2. The MCAP storage plugin's YAML rejects `compression: ""`; it wants `"None"`. The first crashsafe bag failed to open and the exception propagated into the WebSocket handler. Now a recorder failure is a warning line and the run keeps its shadow file.
+3. Records arriving during the 158 ms bag open were dropped (8 frames at 50 Hz): the recorder now buffers while opening.
+4. The `mcap` Python reader's `iter_messages()` defaults to log-time order, which reads the whole file before yielding — a torn file yielded nothing. File order (`log_time_order=False`) in both modes.
+5. The colcon-built extension's rpath (above).
+
+### Plain comparison with the live-NDJSON PoC (same graph, 2026-10-14 afternoon)
+
+| | live NDJSON PoC | Plan B spike (MCAP record of truth) |
+|---|---|---|
+| install size (osx-arm64 env) | 1.0 GB | 1.7 GB (+ rosbag2, MCAP plugin, C/C++ toolchain, colcon); bridge 3.4's root env is 0.28 GB |
+| install time (warm cache) | 25 s | 25 s incl. building the interfaces package; the build needs a compiler on every installing machine (MSVC on Windows: untested) |
+| processes per rig | router + FicTrac adapter + bridge node (+ Kinefly adapter, + BIAS node) = 3–5 | the same; the recorder runs inside the bridge node |
+| latency (adapter → bridge, p50 / p99) | 0.89 / 1.43 ms | 0.87 / 1.65 ms |
+| record of truth | the live `.jsonl`, written in processing order | the bag; the `.jsonl` is derived at export (50 ms per 1000 lines) or offline |
+| crash loss (SIGKILL mid-run) | at most the line in progress | crashsafe profile: ≈ 1 frame + the session close, and `--recover` is required (no `metadata.yaml`); rosbag2 defaults: the whole short run |
+| reader changes needed | none | none — sequenced lines byte-identical; Kinefly/BIAS lines ±2 ms and ~5 % placed one neighbour apart |
+| log levels | writer option, acked | converter option; `log_control_ack` still acks the level (recorded with the run, the converter's default) |
+| typed messages | none (String JSON) | FicTracFrame + ArenaFrame in the loop and the bag; ConnectorReply defined only |
+| ordering across processes | not a question (one process) | solved here by the bridge-side `seq`; a separate closed-loop process would fall back to `--order time` (17 same-ms swaps per 4000 lines, readers unaffected) |
+
+### Still not verified
+
+Windows (now also: whether `pixi install` builds the interfaces package there — `WINDOWS-TEST.md` has the steps); the closed-loop math in a **separate** process (it stays in the bridge node here, so the `seq` ordering is available; the `--order time` numbers are the proxy); rosbag2's own reader on a torn bag (the spike's converter uses the `mcap` library instead); a multi-hour recording for bag growth; `ros2 bag play` of a recorded run against the Studio.
diff --git a/ros2-poc/WINDOWS-TEST.md b/ros2-poc/WINDOWS-TEST.md
index 51952cae..173aafbf 100644
--- a/ros2-poc/WINDOWS-TEST.md
+++ b/ros2-poc/WINDOWS-TEST.md
@@ -163,3 +163,29 @@ adapter log. Skip if short on time; the Mac covered the real fork.
 - Step 5: the `--json` replies, the `get-status` body, what BIAS wrote on disk, the unknown-path behavior.
 - Step 7: pass/fail per line.
 - Any error text, verbatim, with the step number. Small fixes can go straight onto the PR branch.
+
+## Plan B additions (2026-10-14 evening) — what changed for this test
+
+`pixi install` now also **builds `interfaces/arena_interfaces`** (three `.msg` types) through
+pixi's preview build feature with the RoboStack `pixi-build-ros` backend. On Windows that build
+needs **Visual Studio 2022 Build Tools (C++ workload)** on the PC; pixi cannot install them.
+Record, verbatim: (a) whether `pixi install --locked` succeeds without them, how long it took, and
+the first error if not; (b) with them installed, the same. If the build cannot be made to work in
+30 minutes, run the graph with the String fallback instead:
+
+```powershell
+# in ros2-poc\pixi.toml, comment out the line   arena_interfaces = { path = "interfaces/arena_interfaces" }
+pixi install
+pixi run rig -- --bridge-args "--typed off" --fictrac-args "--typed off"
+```
+
+The bridge node now records every run into `runlogs\<run>.bag\` (MCAP) and `log_export` returns the
+log **converted from the bag**; the live NDJSON stays beside it as a shadow. After a Studio run:
+
+```powershell
+pixi run convert -- runlogs\<run>.bag --out converted.jsonl        # must equal the shadow .jsonl apart from kf/BIAS line timing
+pixi run test                                                       # 46 checks incl. the SIGKILL crash phase
+```
+
+Record `pixi run test`'s summary table, the `[test] crash (...)` lines, and the bag size vs the
+`.jsonl` size.
diff --git a/ros2-poc/interfaces/arena_interfaces/CMakeLists.txt b/ros2-poc/interfaces/arena_interfaces/CMakeLists.txt
new file mode 100644
index 00000000..3cfc5c94
--- /dev/null
+++ b/ros2-poc/interfaces/arena_interfaces/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.8)
+project(arena_interfaces)
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/FicTracFrame.msg"
+  "msg/ArenaFrame.msg"
+  "msg/ConnectorReply.msg"
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
diff --git a/ros2-poc/interfaces/arena_interfaces/msg/ArenaFrame.msg b/ros2-poc/interfaces/arena_interfaces/msg/ArenaFrame.msg
new file mode 100644
index 00000000..22b4890f
--- /dev/null
+++ b/ros2-poc/interfaces/arena_interfaces/msg/ArenaFrame.msg
@@ -0,0 +1,16 @@
+# One closed-loop evaluation: the frame index the display is asked to show for one FicTrac
+# frame (LAB-303 Plan B, /arena/frame). THE field the record of truth needs is t_ms — the
+# closed-loop node's OWN sample time, the instant idx, the bias phase and a pending tare were
+# evaluated. A recorder's receive time lags it; offline reconstruction must use t_ms / ms.
+int64 t_ms            # the node's wall clock at evaluation (ms since the Unix epoch)
+int32 ms              # the same instant relative to the run's t0 (behavior_v1 column `ms`)
+int64 fc              # FicTrac frame counter (col 1)
+int32 idx             # displayed frame index (0-based)
+bool has_ft           # false when FicTrac's col-22 timestamp was absent
+float64 ft            # FicTrac camera timestamp relative to the first frame, ms (behavior_v1 `ft`)
+float64 x             # integrated x position, radians (col 15)
+float64 y             # integrated y position, radians (col 16)
+float64 hd            # integrated heading, radians (col 17)
+uint32 epoch          # +1 per heading tare; 0 before the first
+float64 bias_deg      # bias angle applied at this evaluation (0 when the bias is `none`)
+uint64 seq            # the bridge writer's emission order within the run (0 when unknown)
diff --git a/ros2-poc/interfaces/arena_interfaces/msg/ConnectorReply.msg b/ros2-poc/interfaces/arena_interfaces/msg/ConnectorReply.msg
new file mode 100644
index 00000000..fd4bd6dc
--- /dev/null
+++ b/ros2-poc/interfaces/arena_interfaces/msg/ConnectorReply.msg
@@ -0,0 +1,14 @@
+# A device node's answer to one connector_command (LAB-303: BIAS today). Replies are typed so a
+# ROS-native consumer (MATLAB, ros2 topic echo) sees named fields; the JSON-valued parts stay
+# JSON strings because their shape is the device's, not ours.
+string id             # the command id the browser (or bias_cmd.py) minted
+string connector      # "bias"
+string command        # protocol plugin command, e.g. "startRecording"
+bool ok
+string outcome        # "ok" | "error" | "unknown" (a timeout: the command may have taken effect)
+string error          # empty when ok
+string value_json     # the device's value, JSON-encoded ("null" when none)
+string artifact_json  # {"kind":"video","path":…} for startRecording, else "null"
+string steps_json     # per-HTTP-step results, JSON array
+float64 rtt_ms
+int64 t_ms            # device-node wall clock when the command started (ms since the Unix epoch)
diff --git a/ros2-poc/interfaces/arena_interfaces/msg/FicTracFrame.msg b/ros2-poc/interfaces/arena_interfaces/msg/FicTracFrame.msg
new file mode 100644
index 00000000..05ca250f
--- /dev/null
+++ b/ros2-poc/interfaces/arena_interfaces/msg/FicTracFrame.msg
@@ -0,0 +1,9 @@
+# One FicTrac record as the UDP adapter received it (LAB-303 Plan B, typed topic /fictrac/frame).
+# The adapter parses the line; `raw` keeps the verbatim bytes so the closed-loop math can stay
+# byte-for-byte bridge 3.4's (Pipeline.handle_line) and nothing is lost if a column is added.
+uint64 seq            # adapter counter, 1-based
+int64 rx_epoch_ms     # adapter wall clock at receipt (ms since the Unix epoch)
+int64 rx_mono_ns      # adapter monotonic clock at receipt
+string tag            # "FT" (good frame), "FT_BADFR" (untracked), "" (offline / simulator line)
+float64[] fields      # the numeric columns after the tag (25 for FicTrac 2.x); empty when unparseable
+string raw            # the line, verbatim, without the newline
diff --git a/ros2-poc/interfaces/arena_interfaces/package.xml b/ros2-poc/interfaces/arena_interfaces/package.xml
new file mode 100644
index 00000000..84d4be17
--- /dev/null
+++ b/ros2-poc/interfaces/arena_interfaces/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>arena_interfaces</name>
+  <version>0.1.0</version>
+  <description>Typed messages for the Reiser Lab arena bridge graph (LAB-303 Plan B spike): FicTracFrame, ArenaFrame, ConnectorReply.</description>
+  <maintainer email="reiserm@janelia.hhmi.org">Michael Reiser</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/ros2-poc/interfaces/arena_interfaces/pixi.toml b/ros2-poc/interfaces/arena_interfaces/pixi.toml
new file mode 100644
index 00000000..c22801fd
--- /dev/null
+++ b/ros2-poc/interfaces/arena_interfaces/pixi.toml
@@ -0,0 +1,21 @@
+# arena_interfaces as a pixi source package (LAB-303 Plan B item 3). The ros2-poc workspace
+# depends on it by path (`arena_interfaces = { path = "interfaces/arena_interfaces" }`), so
+# `pixi install` builds it with the RoboStack pixi-build-ros backend — a conda package made from
+# this package.xml/CMakeLists.txt, with no colcon step and nothing to source. Preview feature:
+# `preview = ["pixi-build"]` in the workspace manifest. Measured on the Mac: README "Plan B spike".
+[package]
+name = "arena_interfaces"
+version = "0.1.0"
+
+[package.build]
+backend = { name = "pixi-build-ros", version = "*", channels = ["https://prefix.dev/pixi-build-backends", "https://prefix.dev/conda-forge", "https://prefix.dev/robostack-jazzy"] }
+
+[package.build.config]
+distro = "jazzy"
+
+[package.host-dependencies]
+ros-jazzy-ament-cmake = "*"
+ros-jazzy-rosidl-default-generators = "*"
+
+[package.run-dependencies]
+ros-jazzy-rosidl-default-runtime = "*"
diff --git a/ros2-poc/interfaces/log/COLCON_IGNORE b/ros2-poc/interfaces/log/COLCON_IGNORE
new file mode 100644
index 00000000..e69de29b
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/command.log b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/command.log
new file mode 100644
index 00000000..784022de
--- /dev/null
+++ b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/command.log
@@ -0,0 +1,6 @@
+Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
+Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
+Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
+Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
+Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
+Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stderr.log b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stderr.log
new file mode 100644
index 00000000..bc3790d3
--- /dev/null
+++ b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stderr.log
@@ -0,0 +1,36 @@
+CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):
+  Compatibility with CMake < 3.10 will be removed from a future version of
+  CMake.
+
+  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
+  to tell CMake that the project requires at least <min> but has been updated
+  to work with policies introduced by <max> or earlier.
+This warning is for project developers.  Use -Wno-author or -Wno-deprecated
+to suppress it.
+
+CMake Warning (unused-cli):
+  Manually-specified variables were not used by the project:
+
+    Python_EXECUTABLE
+
+
+/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
+[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib'
+/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib
+[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib'
+/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_c.dylib
+[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_c.dylib'
+/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib
+[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib'
+/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
+[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib'
+/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_cpp.dylib
+[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_cpp.dylib'
+/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
+[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so'
+/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
+[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so'
+/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
+[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so'
+/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_py.dylib
+[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_py.dylib'
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stdout.log b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stdout.log
new file mode 100644
index 00000000..26c0e452
--- /dev/null
+++ b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stdout.log
@@ -0,0 +1,271 @@
+-- The C compiler identification is Clang 21.1.8
+-- The CXX compiler identification is Clang 21.1.8
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cc - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Check for working CXX compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/c++ - skipped
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 2.5.6 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake/cmake)
+-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
+-- Found rosidl_default_generators: 1.6.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_default_generators/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rosidl_adapter: 4.6.9 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_adapter/cmake)
+-- Found ament_cmake_ros: 0.12.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake_ros/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found python_cmake_module: 0.11.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/python_cmake_module/cmake)
+-- Found PythonExtra: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python
+-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter Development NumPy Development.Module Development.Embed
+-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
+-- Configuring done (14.9s)
+-- Generating done (0.1s)
+-- Build files have been written to: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
+[1/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake -E copy_directory /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/rosidl_generator_py/arena_interfaces /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces/arena_interfaces
+[2/57] Generating type hashes for ROS interfaces
+[3/57] Generating Rust code for ROS interfaces
+[4/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python setup.py egg_info
+running egg_info
+creating arena_interfaces.egg-info
+writing arena_interfaces.egg-info/PKG-INFO
+writing dependency_links to arena_interfaces.egg-info/dependency_links.txt
+writing top-level names to arena_interfaces.egg-info/top_level.txt
+writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+reading manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+[5/57] Generating C++ code for ROS interfaces
+[6/57] Generating C code for ROS interfaces
+[7/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
+[8/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
+[9/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__description.c.o
+[10/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__description.c.o
+[11/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
+[12/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__description.c.o
+[13/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__functions.c.o
+[14/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__functions.c.o
+[15/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__functions.c.o
+[16/57] Linking C shared library libarena_interfaces__rosidl_generator_c.dylib
+[17/57] Generating C type support dispatch for ROS interfaces
+[18/57] Generating C++ type support dispatch for ROS interfaces
+[19/57] Generating C++ introspection for ROS interfaces
+[20/57] Generating C type support for eProsima Fast-RTPS
+[21/57] Generating C introspection for ROS interfaces
+[22/57] Generating C++ type support for eProsima Fast-RTPS
+[23/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
+[24/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/connector_reply__type_support.cpp.o
+[25/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/arena_frame__type_support.cpp.o
+[26/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
+[27/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
+[28/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
+[29/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_c.dylib
+[30/57] Linking C shared library libarena_interfaces__rosidl_typesupport_introspection_c.dylib
+[31/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/connector_reply__type_support.cpp.o
+[32/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
+[33/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/arena_frame__type_support.cpp.o
+[34/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/connector_reply__type_support.cpp.o
+[35/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/fic_trac_frame__type_support.cpp.o
+[36/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/fic_trac_frame__type_support_c.cpp.o
+[37/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/arena_frame__type_support.cpp.o
+[38/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/connector_reply__type_support_c.cpp.o
+[39/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
+[40/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/arena_frame__type_support_c.cpp.o
+[41/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/connector_reply__type_support.cpp.o
+[42/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/fic_trac_frame__type_support.cpp.o
+[43/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/arena_frame__type_support.cpp.o
+[44/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_cpp.dylib
+[45/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
+[46/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib
+[47/57] Generating Python code for ROS interfaces
+[48/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_fastrtps_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c.o
+[49/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_arena_frame_s.c.o
+[50/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_fic_trac_frame_s.c.o
+[51/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_connector_reply_s.c.o
+[52/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_introspection_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_introspection_c.c.o
+[53/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_c.c.o
+[54/57] Linking C shared library libarena_interfaces__rosidl_generator_py.dylib
+[55/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
+[56/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
+[57/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
+-- Install configuration: "Release"
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/rosidl_interfaces/arena_interfaces
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.json
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.json
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.json
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_generator_c__visibility_control.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/fic_trac_frame.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/arena_frame.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__struct.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__struct.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__struct.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__functions.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__functions.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__description.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__functions.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__description.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__functions.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__functions.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__description.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__functions.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/connector_reply.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_c.dylib
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_fastrtps_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__rosidl_typesupport_fastrtps_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_fastrtps_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__rosidl_typesupport_introspection_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_introspection_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_introspection_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_typesupport_introspection_c__visibility_control.h
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+Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/__init__.py'...
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+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cExport-release.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cExport-release.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cExport-release.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cExport-release.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cppExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport-release.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport-release.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport-release.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport-release.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_include_directories-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_libraries-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_targets-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_aggregate_target-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig-version.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.xml
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stdout_stderr.log b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stdout_stderr.log
new file mode 100644
index 00000000..116f4ff6
--- /dev/null
+++ b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stdout_stderr.log
@@ -0,0 +1,307 @@
+CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):
+  Compatibility with CMake < 3.10 will be removed from a future version of
+  CMake.
+
+  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
+  to tell CMake that the project requires at least <min> but has been updated
+  to work with policies introduced by <max> or earlier.
+This warning is for project developers.  Use -Wno-author or -Wno-deprecated
+to suppress it.
+
+-- The C compiler identification is Clang 21.1.8
+-- The CXX compiler identification is Clang 21.1.8
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cc - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Check for working CXX compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/c++ - skipped
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 2.5.6 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake/cmake)
+-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
+-- Found rosidl_default_generators: 1.6.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_default_generators/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rosidl_adapter: 4.6.9 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_adapter/cmake)
+-- Found ament_cmake_ros: 0.12.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake_ros/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found python_cmake_module: 0.11.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/python_cmake_module/cmake)
+-- Found PythonExtra: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python
+-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter Development NumPy Development.Module Development.Embed
+-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
+-- Configuring done (14.9s)
+-- Generating done (0.1s)
+CMake Warning (unused-cli):
+  Manually-specified variables were not used by the project:
+
+    Python_EXECUTABLE
+
+
+-- Build files have been written to: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
+[1/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake -E copy_directory /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/rosidl_generator_py/arena_interfaces /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces/arena_interfaces
+[2/57] Generating type hashes for ROS interfaces
+[3/57] Generating Rust code for ROS interfaces
+[4/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python setup.py egg_info
+running egg_info
+creating arena_interfaces.egg-info
+writing arena_interfaces.egg-info/PKG-INFO
+writing dependency_links to arena_interfaces.egg-info/dependency_links.txt
+writing top-level names to arena_interfaces.egg-info/top_level.txt
+writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+reading manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+[5/57] Generating C++ code for ROS interfaces
+[6/57] Generating C code for ROS interfaces
+[7/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
+[8/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
+[9/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__description.c.o
+[10/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__description.c.o
+[11/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
+[12/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__description.c.o
+[13/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__functions.c.o
+[14/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__functions.c.o
+[15/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__functions.c.o
+[16/57] Linking C shared library libarena_interfaces__rosidl_generator_c.dylib
+[17/57] Generating C type support dispatch for ROS interfaces
+[18/57] Generating C++ type support dispatch for ROS interfaces
+[19/57] Generating C++ introspection for ROS interfaces
+[20/57] Generating C type support for eProsima Fast-RTPS
+[21/57] Generating C introspection for ROS interfaces
+[22/57] Generating C++ type support for eProsima Fast-RTPS
+[23/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
+[24/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/connector_reply__type_support.cpp.o
+[25/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/arena_frame__type_support.cpp.o
+[26/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
+[27/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
+[28/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
+[29/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_c.dylib
+[30/57] Linking C shared library libarena_interfaces__rosidl_typesupport_introspection_c.dylib
+[31/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/connector_reply__type_support.cpp.o
+[32/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
+[33/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/arena_frame__type_support.cpp.o
+[34/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/connector_reply__type_support.cpp.o
+[35/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/fic_trac_frame__type_support.cpp.o
+[36/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/fic_trac_frame__type_support_c.cpp.o
+[37/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/arena_frame__type_support.cpp.o
+[38/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/connector_reply__type_support_c.cpp.o
+[39/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
+[40/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/arena_frame__type_support_c.cpp.o
+[41/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/connector_reply__type_support.cpp.o
+[42/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/fic_trac_frame__type_support.cpp.o
+[43/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/arena_frame__type_support.cpp.o
+[44/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_cpp.dylib
+[45/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
+[46/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib
+[47/57] Generating Python code for ROS interfaces
+[48/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_fastrtps_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c.o
+[49/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_arena_frame_s.c.o
+[50/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_fic_trac_frame_s.c.o
+[51/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_connector_reply_s.c.o
+[52/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_introspection_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_introspection_c.c.o
+[53/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_c.c.o
+[54/57] Linking C shared library libarena_interfaces__rosidl_generator_py.dylib
+[55/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
+[56/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
+[57/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
+-- Install configuration: "Release"
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/rosidl_interfaces/arena_interfaces
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.json
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.json
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.json
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_generator_c__visibility_control.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/fic_trac_frame.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/arena_frame.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__struct.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__struct.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__struct.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__functions.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__functions.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__description.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__functions.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__description.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__functions.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__functions.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__description.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__functions.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/connector_reply.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_c.dylib
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
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+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_fastrtps_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__rosidl_typesupport_fastrtps_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_fastrtps_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
+/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
+[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib'
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__rosidl_typesupport_introspection_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_introspection_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_introspection_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_typesupport_introspection_c__visibility_control.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib
+/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib
+[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib'
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_c.dylib
+/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_c.dylib
+[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_c.dylib'
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
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+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__builder.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__traits.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__traits.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__traits.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__builder.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__builder.hpp
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+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__struct.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__struct.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_generator_cpp__visibility_control.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/connector_reply.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/fic_trac_frame.hpp
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+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
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+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_fastrtps_cpp.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/dds_fastrtps
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_fastrtps_cpp.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib
+/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib
+[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib'
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_introspection_cpp.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.cpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.cpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__rosidl_typesupport_introspection_cpp.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_introspection_cpp.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.cpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
+/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
+[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib'
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_cpp.dylib
+/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_cpp.dylib
+[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_cpp.dylib'
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/pythonpath.sh
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/pythonpath.dsv
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces-0.1.0-py3.12.egg-info
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diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/streams.log b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/streams.log
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+++ b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/streams.log
@@ -0,0 +1,313 @@
+[0.042s] Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
+[1.206s] CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):
+[1.206s]   Compatibility with CMake < 3.10 will be removed from a future version of
+[1.206s]   CMake.
+[1.206s] 
+[1.206s]   Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
+[1.206s]   to tell CMake that the project requires at least <min> but has been updated
+[1.207s]   to work with policies introduced by <max> or earlier.
+[1.207s] This warning is for project developers.  Use -Wno-author or -Wno-deprecated
+[1.207s] to suppress it.
+[1.207s] 
+[3.727s] -- The C compiler identification is Clang 21.1.8
+[4.155s] -- The CXX compiler identification is Clang 21.1.8
+[4.219s] -- Detecting C compiler ABI info
+[4.608s] -- Detecting C compiler ABI info - done
+[4.723s] -- Check for working C compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cc - skipped
+[4.730s] -- Detecting C compile features
+[4.730s] -- Detecting C compile features - done
+[4.909s] -- Detecting CXX compiler ABI info
+[6.939s] -- Detecting CXX compiler ABI info - done
+[7.042s] -- Check for working CXX compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/c++ - skipped
+[7.043s] -- Detecting CXX compile features
+[7.046s] -- Detecting CXX compile features - done
+[7.216s] -- Found ament_cmake: 2.5.6 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake/cmake)
+[7.881s] -- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
+[8.566s] -- Found rosidl_default_generators: 1.6.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_default_generators/cmake)
+[8.606s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+[8.836s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+[9.190s] -- Found rosidl_adapter: 4.6.9 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_adapter/cmake)
+[11.870s] -- Found ament_cmake_ros: 0.12.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake_ros/cmake)
+[13.343s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+[14.410s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+[14.441s] -- Found python_cmake_module: 0.11.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/python_cmake_module/cmake)
+[14.709s] -- Found PythonExtra: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python
+[15.955s] -- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter Development NumPy Development.Module Development.Embed
+[16.052s] -- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
+[16.071s] -- Configuring done (14.9s)
+[16.153s] -- Generating done (0.1s)
+[16.153s] CMake Warning (unused-cli):
+[16.153s]   Manually-specified variables were not used by the project:
+[16.153s] 
+[16.153s]     Python_EXECUTABLE
+[16.153s] 
+[16.153s] 
+[16.180s] -- Build files have been written to: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
+[16.187s] Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
+[16.190s] Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
+[16.323s] [1/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake -E copy_directory /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/rosidl_generator_py/arena_interfaces /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces/arena_interfaces
+[16.558s] [2/57] Generating type hashes for ROS interfaces
+[16.621s] [3/57] Generating Rust code for ROS interfaces
+[16.767s] [4/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python setup.py egg_info
+[16.767s] running egg_info
+[16.767s] creating arena_interfaces.egg-info
+[16.767s] writing arena_interfaces.egg-info/PKG-INFO
+[16.767s] writing dependency_links to arena_interfaces.egg-info/dependency_links.txt
+[16.767s] writing top-level names to arena_interfaces.egg-info/top_level.txt
+[16.767s] writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+[16.767s] reading manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+[16.767s] writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+[16.955s] [5/57] Generating C++ code for ROS interfaces
+[16.984s] [6/57] Generating C code for ROS interfaces
+[17.162s] [7/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
+[17.166s] [8/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
+[17.182s] [9/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__description.c.o
+[17.185s] [10/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__description.c.o
+[17.187s] [11/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
+[17.194s] [12/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__description.c.o
+[17.208s] [13/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__functions.c.o
+[17.209s] [14/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__functions.c.o
+[17.210s] [15/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__functions.c.o
+[17.364s] [16/57] Linking C shared library libarena_interfaces__rosidl_generator_c.dylib
+[17.948s] [17/57] Generating C type support dispatch for ROS interfaces
+[17.985s] [18/57] Generating C++ type support dispatch for ROS interfaces
+[17.988s] [19/57] Generating C++ introspection for ROS interfaces
+[18.028s] [20/57] Generating C type support for eProsima Fast-RTPS
+[18.049s] [21/57] Generating C introspection for ROS interfaces
+[18.071s] [22/57] Generating C++ type support for eProsima Fast-RTPS
+[18.169s] [23/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
+[18.179s] [24/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/connector_reply__type_support.cpp.o
+[18.250s] [25/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/arena_frame__type_support.cpp.o
+[18.555s] [26/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
+[18.562s] [27/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
+[18.577s] [28/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
+[18.671s] [29/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_c.dylib
+[18.889s] [30/57] Linking C shared library libarena_interfaces__rosidl_typesupport_introspection_c.dylib
+[19.147s] [31/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/connector_reply__type_support.cpp.o
+[19.155s] [32/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
+[19.158s] [33/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/arena_frame__type_support.cpp.o
+[19.194s] [34/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/connector_reply__type_support.cpp.o
+[19.202s] [35/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/fic_trac_frame__type_support.cpp.o
+[19.320s] [36/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/fic_trac_frame__type_support_c.cpp.o
+[19.337s] [37/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/arena_frame__type_support.cpp.o
+[19.345s] [38/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/connector_reply__type_support_c.cpp.o
+[19.371s] [39/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
+[19.395s] [40/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/arena_frame__type_support_c.cpp.o
+[19.452s] [41/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/connector_reply__type_support.cpp.o
+[19.532s] [42/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/fic_trac_frame__type_support.cpp.o
+[19.562s] [43/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/arena_frame__type_support.cpp.o
+[19.586s] [44/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_cpp.dylib
+[19.621s] [45/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
+[19.730s] [46/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib
+[20.316s] [47/57] Generating Python code for ROS interfaces
+[20.564s] [48/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_fastrtps_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c.o
+[20.575s] [49/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_arena_frame_s.c.o
+[20.592s] [50/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_fic_trac_frame_s.c.o
+[20.606s] [51/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_connector_reply_s.c.o
+[20.608s] [52/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_introspection_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_introspection_c.c.o
+[20.608s] [53/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_c.c.o
+[20.748s] [54/57] Linking C shared library libarena_interfaces__rosidl_generator_py.dylib
+[20.897s] [55/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
+[20.907s] [56/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
+[20.918s] [57/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
+[20.921s] Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
+[20.987s] Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
+[21.042s] -- Install configuration: "Release"
+[21.043s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/rosidl_interfaces/arena_interfaces
+[21.044s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.json
+[21.045s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.json
+[21.045s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.json
+[21.046s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
+[21.047s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
+[21.047s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_generator_c__visibility_control.h
+[21.048s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/fic_trac_frame.h
+[21.048s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/arena_frame.h
+[21.049s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
+[21.050s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__struct.h
+[21.051s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__struct.h
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+[21.848s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_include_directories-extras.cmake
+[21.849s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_libraries-extras.cmake
+[21.849s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_targets-extras.cmake
+[21.849s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
+[21.850s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake
+[21.850s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
+[21.850s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_aggregate_target-extras.cmake
+[21.851s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig.cmake
+[21.851s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig-version.cmake
+[21.852s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.xml
+[21.855s] Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/events.log b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/events.log
new file mode 100644
index 00000000..dbedabfb
--- /dev/null
+++ b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/events.log
@@ -0,0 +1,527 @@
+[0.000000] (-) TimerEvent: {}
+[0.000220] (arena_interfaces) JobQueued: {'identifier': 'arena_interfaces', 'dependencies': OrderedDict()}
+[0.000375] (arena_interfaces) JobStarted: {'identifier': 'arena_interfaces'}
+[0.038351] (arena_interfaces) JobProgress: {'identifier': 'arena_interfaces', 'progress': 'cmake'}
+[0.040887] (arena_interfaces) Command: {'cmd': ['/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces', '-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install'], 'cwd': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', 'env': OrderedDict({'CLAUDE_CODE_EMIT_TOOL_USE_SUMMARIES': 'false', 'CLAUDE_CODE_ENABLE_ASK_USER_QUESTION_TOOL': 'true', 'CLAUDE_CODE_MESSAGING_TOKEN': '2b6c13b8291656abc35ec86fddfb20ad', 'CLAUDE_CODE_ORGANIZATION_UUID': '18a7adf9-2431-4be1-baa2-5ab8a760c725', 'NoDefaultCurrentDirectoryInExePath': '1', 'CLAUDE_CODE_ENTRYPOINT': 'claude-desktop', 'CLAUDE_EFFORT': 'high', 'INIT_CWD': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc', 'PIXI_IN_SHELL': '1', 'BAGGAGE': 'sentry-environment=production,sentry-release=Claude%402.37337.1,sentry-public_key=2f98127cbffe4740b1f767a2de77d23b,sentry-trace_id=4f13f656568b4c48befba4122a9acf5c,sentry-org_id=1158394', 'CLAUDE_CODE_HOST_SESSION_ID': 'local_160a0efc-1cc3-4f45-a788-ac923be9362b', 'CLAUDE_CODE_OAUTH_SCOPES': 'user:inference user:file_upload user:profile user:sessions:claude_code user:plugins', 'SHELL': '/bin/zsh', 'CLAUDE_CODE_CHILD_SESSION': '1', 'CLAUDE_CODE_EAGER_FLUSH': '1', 'CLAUDE_PID': '3941', 'TMPDIR': '/var/folders/6_/y2pb319x6p9bnz2x858mfdm00000gp/T/', 'CONDA_SHLVL': '1', 'GSETTINGS_SCHEMA_DIR_CONDA_BACKUP': '', 'CLAUDE_AGENT_SDK_VERSION': '0.3.295', 'MallocNanoZone': '0', 'PIXI_ENVIRONMENT_NAME': 'default', 'ROS_PYTHON_VERSION': '3', 'CLAUDE_AGENT_SDK_MCP_NO_PREFIX': '0', 'ROS_VERSION': '2', 'USE_LOCAL_OAUTH': '', 'AMENT_PREFIX_PATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default', 'AI_AGENT': 'claude-code_2-1-295_agent', 'GIT_EDITOR': 'true', 'ZENOH_ROUTER_CONFIG_URI': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/config/zenoh-router.json5', 'CLAUDE_CODE_DISABLE_TERMINAL_TITLE': '1', 'USER': 'reiserm', 'API_TIMEOUT_MS': '900000', 'COMMAND_MODE': 'unix2003', 'PIXI_EXE': '/Users/reiserm/.pixi/bin/pixi', 'SSH_AUTH_SOCK': '/var/run/com.apple.launchd.T2vxNCCQGB/Listeners', '__CF_USER_TEXT_ENCODING': '0x1F6:0x0:0x0', 'ROS_OS_OVERRIDE': 'conda:osx', 'CLAUDE_CODE_DESKTOP_APP_VERSION': '2.37337.1', 'PIXI_PROJECT_MANIFEST': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/pixi.toml', 'CLAUDE_CODE_SIMPLE': '0', 'CLAUDE_CODE_REPORT_FINDINGS': '1', 'ZENOH_ROUTER_CHECK_ATTEMPTS': '0', 'PATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin:/Users/reiserm/.pixi/bin:/Users/reiserm/.platformio/penv/bin:/Users/reiserm/.local/bin:/Users/reiserm/.npm-global/bin:/opt/homebrew/bin:/opt/homebrew/sbin:/usr/local/bin:/System/Cryptexes/App/usr/bin:/usr/bin:/bin:/usr/sbin:/sbin:/var/run/com.apple.security.cryptexd/codex.system/bootstrap/usr/local/bin:/var/run/com.apple.security.cryptexd/codex.system/bootstrap/usr/bin:/var/run/com.apple.security.cryptexd/codex.system/bootstrap/usr/appleinternal/bin:/pkg/env/global/bin:/Library/TeX/texbin:/opt/homebrew/bin:/Users/reiserm/Library/pnpm', 'GSETTINGS_SCHEMA_DIR': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/glib-2.0/schemas', 'MCP_CONNECTION_NONBLOCKING': 'true', 'XML_CATALOG_FILES': 'file:///Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/etc/xml/catalog file:///etc/xml/catalog', 'CLAUDE_CODE_TERMINAL_MCP_TOOLS': 'mcp__ccd_turn__wrap_up', 'CONDA_PREFIX': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default', 'PIXI_PROJECT_NAME': 'arena-ros2-poc', '__CFBundleIdentifier': 'com.anthropic.claudefordesktop', 'PIXI_PROMPT': '(arena-ros2-poc)', 'PWD': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', 'COLCON': '1', 'CLAUDE_CODE_USER_EMAIL': 'reiserm@janelia.hhmi.org', 'NODE_USE_SYSTEM_CA': '1', 'RMW_IMPLEMENTATION': 'rmw_zenoh_cpp', 'XPC_FLAGS': '0x0', 'CLAUDE_CODE_SESSION_ATTENDED': '1', 'PYTHONDONTWRITEBYTECODE': '1', 'PIXI_ENVIRONMENT_PLATFORMS': 'osx-arm64,win-64,linux-64', 'XPC_SERVICE_NAME': '0', 'ZENOH_SESSION_CONFIG_URI': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/config/zenoh-session.json5', 'CLAUDE_CODE_ENABLE_SDK_FILE_CHECKPOINTING': 'true', 'HOME': '/Users/reiserm', 'PIXI_PROJECT_ROOT': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc', 'SHLVL': '2', 'ANTHROPIC_BASE_URL': 'https://api.anthropic.com', 'CLAUDE_CODE_DISABLE_CRON': '', 'ROS_DISTRO': 'jazzy', 'CLAUDE_CODE_EXECPATH': '/Users/reiserm/Library/Application Support/Claude/claude-code/2.1.295/9d6405864fdc/claude.app/Contents/MacOS/claude', 'PYTHONUTF8': '1', 'DISABLE_MICROCOMPACT': '1', 'MCP_SERVER_CONNECTION_BATCH_SIZE': '8', 'LOGNAME': 'reiserm', 'PYTHONPATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib/python/site-packages:/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib/python3.12/site-packages', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'LC_CTYPE': 'C.UTF-8', 'COREPACK_ENABLE_AUTO_PIN': '0', 'CONDA_DEFAULT_ENV': 'arena-ros2-poc', 'PIXI_PROJECT_VERSION': '0.1.0', 'CLAUDE_CODE_ACCOUNT_UUID': '3c5e22c9-d465-4b8f-b6af-a04b2e9a6e3e', 'CLAUDE_CODE_SDK_HAS_HOST_AUTH_REFRESH': '1', 'CLAUDE_CODE_SESSION_ID': '4b4183e1-44ad-4b23-a358-7e98c8c57fd9', 'DISABLE_AUTOUPDATER': '1', 'OSLogRateLimit': '64', 'CLAUDECODE': '1', 'CLAUDE_CODE_MESSAGING_SOCKET': '/tmp/cc-socks/3941.sock', 'ROS_ETC_DIR': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/etc/ros', 'USE_STAGING_OAUTH': '', '_': '/usr/bin/env', 'CMAKE_PREFIX_PATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default'}), 'shell': False}
+[0.109441] (-) TimerEvent: {}
+[0.219579] (-) TimerEvent: {}
+[0.324980] (-) TimerEvent: {}
+[0.428508] (-) TimerEvent: {}
+[0.538624] (-) TimerEvent: {}
+[0.645337] (-) TimerEvent: {}
+[0.750307] (-) TimerEvent: {}
+[0.858598] (-) TimerEvent: {}
+[0.959288] (-) TimerEvent: {}
+[1.068088] (-) TimerEvent: {}
+[1.178225] (-) TimerEvent: {}
+[1.206427] (arena_interfaces) StderrLine: {'line': b'CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):\n'}
+[1.206619] (arena_interfaces) StderrLine: {'line': b'  Compatibility with CMake < 3.10 will be removed from a future version of\n'}
+[1.206692] (arena_interfaces) StderrLine: {'line': b'  CMake.\n'}
+[1.206752] (arena_interfaces) StderrLine: {'line': b'\n'}
+[1.206808] (arena_interfaces) StderrLine: {'line': b'  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax\n'}
+[1.206864] (arena_interfaces) StderrLine: {'line': b'  to tell CMake that the project requires at least <min> but has been updated\n'}
+[1.206927] (arena_interfaces) StderrLine: {'line': b'  to work with policies introduced by <max> or earlier.\n'}
+[1.206987] (arena_interfaces) StderrLine: {'line': b'This warning is for project developers.  Use -Wno-author or -Wno-deprecated\n'}
+[1.207042] (arena_interfaces) StderrLine: {'line': b'to suppress it.\n'}
+[1.207099] (arena_interfaces) StderrLine: {'line': b'\n'}
+[1.282425] (-) TimerEvent: {}
+[1.392517] (-) TimerEvent: {}
+[1.496484] (-) TimerEvent: {}
+[1.596913] (-) TimerEvent: {}
+[1.707107] (-) TimerEvent: {}
+[1.812427] (-) TimerEvent: {}
+[1.914679] (-) TimerEvent: {}
+[2.024767] (-) TimerEvent: {}
+[2.128795] (-) TimerEvent: {}
+[2.238890] (-) TimerEvent: {}
+[2.348080] (-) TimerEvent: {}
+[2.458190] (-) TimerEvent: {}
+[2.564991] (-) TimerEvent: {}
+[2.671926] (-) TimerEvent: {}
+[2.774325] (-) TimerEvent: {}
+[2.879855] (-) TimerEvent: {}
+[2.987976] (-) TimerEvent: {}
+[3.097701] (-) TimerEvent: {}
+[3.207806] (-) TimerEvent: {}
+[3.314511] (-) TimerEvent: {}
+[3.422342] (-) TimerEvent: {}
+[3.532508] (-) TimerEvent: {}
+[3.636191] (-) TimerEvent: {}
+[3.727058] (arena_interfaces) StdoutLine: {'line': b'-- The C compiler identification is Clang 21.1.8\n'}
+[3.740175] (-) TimerEvent: {}
+[3.850254] (-) TimerEvent: {}
+[3.951793] (-) TimerEvent: {}
+[4.056421] (-) TimerEvent: {}
+[4.155618] (arena_interfaces) StdoutLine: {'line': b'-- The CXX compiler identification is Clang 21.1.8\n'}
+[4.156765] (-) TimerEvent: {}
+[4.218906] (arena_interfaces) StdoutLine: {'line': b'-- Detecting C compiler ABI info\n'}
+[4.263446] (-) TimerEvent: {}
+[4.369815] (-) TimerEvent: {}
+[4.479907] (-) TimerEvent: {}
+[4.589801] (-) TimerEvent: {}
+[4.607804] (arena_interfaces) StdoutLine: {'line': b'-- Detecting C compiler ABI info - done\n'}
+[4.690908] (-) TimerEvent: {}
+[4.723347] (arena_interfaces) StdoutLine: {'line': b'-- Check for working C compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cc - skipped\n'}
+[4.725604] (arena_interfaces) StdoutLine: {'line': b'-- Detecting C compile features\n'}
+[4.730198] (arena_interfaces) StdoutLine: {'line': b'-- Detecting C compile features - done\n'}
+[4.792842] (-) TimerEvent: {}
+[4.896617] (-) TimerEvent: {}
+[4.909400] (arena_interfaces) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info\n'}
+[4.998853] (-) TimerEvent: {}
+[5.107129] (-) TimerEvent: {}
+[5.209995] (-) TimerEvent: {}
+[5.310585] (-) TimerEvent: {}
+[5.418583] (-) TimerEvent: {}
+[5.523742] (-) TimerEvent: {}
+[5.624460] (-) TimerEvent: {}
+[5.735479] (-) TimerEvent: {}
+[5.836953] (-) TimerEvent: {}
+[5.945761] (-) TimerEvent: {}
+[6.046206] (-) TimerEvent: {}
+[6.147970] (-) TimerEvent: {}
+[6.256631] (-) TimerEvent: {}
+[6.364498] (-) TimerEvent: {}
+[6.467813] (-) TimerEvent: {}
+[6.574401] (-) TimerEvent: {}
+[6.676545] (-) TimerEvent: {}
+[6.779147] (-) TimerEvent: {}
+[6.888693] (-) TimerEvent: {}
+[6.939215] (arena_interfaces) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info - done\n'}
+[6.993595] (-) TimerEvent: {}
+[7.042154] (arena_interfaces) StdoutLine: {'line': b'-- Check for working CXX compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/c++ - skipped\n'}
+[7.043658] (arena_interfaces) StdoutLine: {'line': b'-- Detecting CXX compile features\n'}
+[7.045862] (arena_interfaces) StdoutLine: {'line': b'-- Detecting CXX compile features - done\n'}
+[7.094666] (-) TimerEvent: {}
+[7.195843] (-) TimerEvent: {}
+[7.215346] (arena_interfaces) StdoutLine: {'line': b'-- Found ament_cmake: 2.5.6 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake/cmake)\n'}
+[7.295914] (-) TimerEvent: {}
+[7.401108] (-) TimerEvent: {}
+[7.501639] (-) TimerEvent: {}
+[7.610242] (-) TimerEvent: {}
+[7.713330] (-) TimerEvent: {}
+[7.822636] (-) TimerEvent: {}
+[7.880697] (arena_interfaces) StdoutLine: {'line': b'-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter\n'}
+[7.932190] (-) TimerEvent: {}
+[8.037843] (-) TimerEvent: {}
+[8.148000] (-) TimerEvent: {}
+[8.255664] (-) TimerEvent: {}
+[8.365963] (-) TimerEvent: {}
+[8.466739] (-) TimerEvent: {}
+[8.565945] (arena_interfaces) StdoutLine: {'line': b'-- Found rosidl_default_generators: 1.6.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_default_generators/cmake)\n'}
+[8.566898] (-) TimerEvent: {}
+[8.606267] (arena_interfaces) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
+[8.670294] (-) TimerEvent: {}
+[8.776949] (-) TimerEvent: {}
+[8.836670] (arena_interfaces) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'}
+[8.884628] (-) TimerEvent: {}
+[8.990781] (-) TimerEvent: {}
+[9.102194] (-) TimerEvent: {}
+[9.189891] (arena_interfaces) StdoutLine: {'line': b'-- Found rosidl_adapter: 4.6.9 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_adapter/cmake)\n'}
+[9.208178] (-) TimerEvent: {}
+[9.311547] (-) TimerEvent: {}
+[9.416872] (-) TimerEvent: {}
+[9.525845] (-) TimerEvent: {}
+[9.636640] (-) TimerEvent: {}
+[9.752950] (-) TimerEvent: {}
+[9.856399] (-) TimerEvent: {}
+[9.963560] (-) TimerEvent: {}
+[10.071440] (-) TimerEvent: {}
+[10.176357] (-) TimerEvent: {}
+[10.280903] (-) TimerEvent: {}
+[10.391000] (-) TimerEvent: {}
+[10.492592] (-) TimerEvent: {}
+[10.602678] (-) TimerEvent: {}
+[10.712770] (-) TimerEvent: {}
+[10.814764] (-) TimerEvent: {}
+[10.923518] (-) TimerEvent: {}
+[11.033652] (-) TimerEvent: {}
+[11.134075] (-) TimerEvent: {}
+[11.235519] (-) TimerEvent: {}
+[11.337723] (-) TimerEvent: {}
+[11.442170] (-) TimerEvent: {}
+[11.550398] (-) TimerEvent: {}
+[11.660522] (-) TimerEvent: {}
+[11.770623] (-) TimerEvent: {}
+[11.870409] (arena_interfaces) StdoutLine: {'line': b'-- Found ament_cmake_ros: 0.12.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake_ros/cmake)\n'}
+[11.870646] (-) TimerEvent: {}
+[11.980710] (-) TimerEvent: {}
+[12.090161] (-) TimerEvent: {}
+[12.191796] (-) TimerEvent: {}
+[12.300233] (-) TimerEvent: {}
+[12.410357] (-) TimerEvent: {}
+[12.519517] (-) TimerEvent: {}
+[12.619606] (-) TimerEvent: {}
+[12.723571] (-) TimerEvent: {}
+[12.825456] (-) TimerEvent: {}
+[12.927634] (-) TimerEvent: {}
+[13.037741] (-) TimerEvent: {}
+[13.141196] (-) TimerEvent: {}
+[13.251341] (-) TimerEvent: {}
+[13.343642] (arena_interfaces) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
+[13.355137] (-) TimerEvent: {}
+[13.456931] (-) TimerEvent: {}
+[13.561245] (-) TimerEvent: {}
+[13.662057] (-) TimerEvent: {}
+[13.764530] (-) TimerEvent: {}
+[13.874617] (-) TimerEvent: {}
+[13.984708] (-) TimerEvent: {}
+[14.093119] (-) TimerEvent: {}
+[14.199535] (-) TimerEvent: {}
+[14.309619] (-) TimerEvent: {}
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+[21.063043] (arena_interfaces) StdoutLine: {'line': b'-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail\n'}
+[21.063263] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_fastrtps_c.h\n'}
+[21.063602] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__rosidl_typesupport_fastrtps_c.h\n'}
+[21.064296] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_fastrtps_c.h\n'}
+[21.064996] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_typesupport_fastrtps_c__visibility_control.h\n'}
+[21.065655] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib\n'}
+[21.093512] (-) TimerEvent: {}
+[21.126658] (arena_interfaces) StderrLine: {'line': b'/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib\n'}
+[21.127203] (arena_interfaces) StderrLine: {'line': b"[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib'\n"}
+[21.201486] (-) TimerEvent: {}
+[21.304702] (-) TimerEvent: {}
+[21.348463] (arena_interfaces) StdoutLine: {'line': b'-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces\n'}
+[21.348741] (arena_interfaces) StdoutLine: {'line': b'-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg\n'}
+[21.348871] (arena_interfaces) StdoutLine: {'line': b'-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail\n'}
+[21.348949] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__rosidl_typesupport_introspection_c.h\n'}
+[21.349206] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.c\n'}
+[21.349821] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.c\n'}
+[21.350151] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_introspection_c.h\n'}
+[21.350492] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_introspection_c.h\n'}
+[21.350853] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.c\n'}
+[21.351360] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_typesupport_introspection_c__visibility_control.h\n'}
+[21.351674] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib\n'}
+[21.359259] (arena_interfaces) StderrLine: {'line': b'/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib\n'}
+[21.359792] (arena_interfaces) StderrLine: {'line': b"[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib'\n"}
+[21.387162] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_c.dylib\n'}
+[21.393236] (arena_interfaces) StderrLine: {'line': b'/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_c.dylib\n'}
+[21.393747] (arena_interfaces) StderrLine: {'line': b"[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_c.dylib'\n"}
+[21.409400] (-) TimerEvent: {}
+[21.420776] (arena_interfaces) StdoutLine: {'line': b'-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces\n'}
+[21.421047] (arena_interfaces) StdoutLine: {'line': b'-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg\n'}
+[21.421163] (arena_interfaces) StdoutLine: {'line': b'-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail\n'}
+[21.421301] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__builder.hpp\n'}
+[21.421654] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__traits.hpp\n'}
+[21.422170] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__traits.hpp\n'}
+[21.422481] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__traits.hpp\n'}
+[21.422878] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__builder.hpp\n'}
+[21.423257] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.hpp\n'}
+[21.423770] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__builder.hpp\n'}
+[21.424034] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__struct.hpp\n'}
+[21.424371] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.hpp\n'}
+[21.424709] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__struct.hpp\n'}
+[21.425081] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__struct.hpp\n'}
+[21.425560] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.hpp\n'}
+[21.425958] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_generator_cpp__visibility_control.hpp\n'}
+[21.426387] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/connector_reply.hpp\n'}
+[21.426892] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/fic_trac_frame.hpp\n'}
+[21.427107] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/arena_frame.hpp\n'}
+[21.427436] (arena_interfaces) StdoutLine: {'line': b'-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces\n'}
+[21.427600] (arena_interfaces) StdoutLine: {'line': b'-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg\n'}
+[21.427734] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h\n'}
+[21.428277] (arena_interfaces) StdoutLine: {'line': b'-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail\n'}
+[21.428470] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__rosidl_typesupport_fastrtps_cpp.hpp\n'}
+[21.428972] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_fastrtps_cpp.hpp\n'}
+[21.429759] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/dds_fastrtps\n'}
+[21.430025] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_fastrtps_cpp.hpp\n'}
+[21.430535] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib\n'}
+[21.443571] (arena_interfaces) StderrLine: {'line': b'/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib\n'}
+[21.443968] (arena_interfaces) StderrLine: {'line': b"[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib'\n"}
+[21.477343] (arena_interfaces) StdoutLine: {'line': b'-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces\n'}
+[21.477526] (arena_interfaces) StdoutLine: {'line': b'-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg\n'}
+[21.477685] (arena_interfaces) StdoutLine: {'line': b'-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail\n'}
+[21.477985] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_introspection_cpp.hpp\n'}
+[21.478256] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.cpp\n'}
+[21.478642] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.cpp\n'}
+[21.479033] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__rosidl_typesupport_introspection_cpp.hpp\n'}
+[21.479536] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_introspection_cpp.hpp\n'}
+[21.479845] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.cpp\n'}
+[21.480353] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib\n'}
+[21.487311] (arena_interfaces) StderrLine: {'line': b'/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib\n'}
+[21.487753] (arena_interfaces) StderrLine: {'line': b"[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib'\n"}
+[21.516476] (-) TimerEvent: {}
+[21.535566] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_cpp.dylib\n'}
+[21.551013] (arena_interfaces) StderrLine: {'line': b'/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_cpp.dylib\n'}
+[21.551460] (arena_interfaces) StderrLine: {'line': b"[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_cpp.dylib'\n"}
+[21.591163] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/pythonpath.sh\n'}
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+[21.843026] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cExport.cmake\n'}
+[21.843597] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cExport-release.cmake\n'}
+[21.843997] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cppExport.cmake\n'}
+[21.844455] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport.cmake\n'}
+[21.844865] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport-release.cmake\n'}
+[21.845414] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport.cmake\n'}
+[21.846017] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport-release.cmake\n'}
+[21.846470] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport.cmake\n'}
+[21.846973] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport-release.cmake\n'}
+[21.847519] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport.cmake\n'}
+[21.847910] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport-release.cmake\n'}
+[21.848274] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake-extras.cmake\n'}
+[21.848627] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_include_directories-extras.cmake\n'}
+[21.849082] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_libraries-extras.cmake\n'}
+[21.849416] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_targets-extras.cmake\n'}
+[21.849752] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake\n'}
+[21.850101] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake\n'}
+[21.850478] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake\n'}
+[21.850834] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_aggregate_target-extras.cmake\n'}
+[21.851291] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig.cmake\n'}
+[21.851617] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig-version.cmake\n'}
+[21.852031] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.xml\n'}
+[21.855678] (arena_interfaces) CommandEnded: {'returncode': 0}
+[21.892192] (arena_interfaces) JobEnded: {'identifier': 'arena_interfaces', 'rc': 0}
+[21.892982] (-) EventReactorShutdown: {}
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/logger_all.log b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/logger_all.log
new file mode 100644
index 00000000..4f0c8514
--- /dev/null
+++ b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/logger_all.log
@@ -0,0 +1,132 @@
+[0.726s] colcon DEBUG Command line arguments: ['/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/colcon', 'build', '--base-paths', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces', '--build-base', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build', '--install-base', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install', '--merge-install', '--event-handlers', 'console_direct+', '--cmake-args', '-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python']
+[0.726s] colcon DEBUG Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build', install_base='/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install', merge_install=True, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=18, event_handlers=['console_direct+'], ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, cmake_args=['-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python'], cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x101b2e6c0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x101ab98b0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x101ab98b0>>)
+[0.888s] colcon.colcon_core.package_discovery Level 1 discover_packages(colcon_meta) check parameters
+[0.888s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) check parameters
+[0.888s] colcon.colcon_core.package_discovery Level 1 discover_packages(ignore) check parameters
+[0.888s] colcon.colcon_core.package_discovery Level 1 discover_packages(path) check parameters
+[0.888s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) discover
+[0.888s] colcon.colcon_core.package_discovery INFO Crawling recursively for packages in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces'
+[0.888s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['ignore', 'ignore_ament_install']
+[0.888s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'ignore'
+[0.889s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'ignore_ament_install'
+[0.889s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['colcon_pkg']
+[0.889s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'colcon_pkg'
+[0.889s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['colcon_meta']
+[0.889s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'colcon_meta'
+[0.889s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['ros']
+[0.889s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'ros'
+[1.090s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['cmake', 'python']
+[1.090s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'cmake'
+[1.091s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'python'
+[1.091s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['python_setup_py']
+[1.091s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'python_setup_py'
+[1.091s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extensions ['ignore', 'ignore_ament_install']
+[1.091s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'ignore'
+[1.094s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'ignore_ament_install'
+[1.094s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extensions ['colcon_pkg']
+[1.094s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'colcon_pkg'
+[1.094s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extensions ['colcon_meta']
+[1.094s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'colcon_meta'
+[1.094s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extensions ['ros']
+[1.094s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'ros'
+[1.100s] colcon.colcon_core.package_identification DEBUG Package '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces' with type 'ros.ament_cmake' and name 'arena_interfaces'
+[1.102s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build) by extensions ['ignore', 'ignore_ament_install']
+[1.102s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build) by extension 'ignore'
+[1.102s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build) ignored
+[1.102s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install) by extensions ['ignore', 'ignore_ament_install']
+[1.102s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install) by extension 'ignore'
+[1.102s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install) ignored
+[1.103s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/log) by extensions ['ignore', 'ignore_ament_install']
+[1.103s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/log) by extension 'ignore'
+[1.103s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/log) ignored
+[1.103s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) using defaults
+[1.133s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_args' from command line to '['-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python']'
+[1.133s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_target' from command line to 'None'
+[1.134s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[1.134s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_clean_cache' from command line to 'False'
+[1.134s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_clean_first' from command line to 'False'
+[1.134s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_force_configure' from command line to 'False'
+[1.134s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'ament_cmake_args' from command line to 'None'
+[1.134s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'catkin_cmake_args' from command line to 'None'
+[1.134s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'catkin_skip_building_tests' from command line to 'False'
+[1.134s] colcon.colcon_core.verb DEBUG Building package 'arena_interfaces' with the following arguments: {'ament_cmake_args': None, 'build_base': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': ['-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python'], 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install', 'merge_install': True, 'path': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces', 'symlink_install': False, 'test_result_base': None}
+[1.134s] colcon.colcon_core.executor INFO Executing jobs using 'parallel' executor
+[1.134s] colcon.colcon_parallel_executor.executor.parallel DEBUG run_until_complete
+[1.134s] colcon.colcon_ros.task.ament_cmake.build INFO Building ROS package in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces' with build type 'ament_cmake'
+[1.134s] colcon.colcon_cmake.task.cmake.build INFO Building CMake package in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces'
+[1.137s] colcon.colcon_core.plugin_system INFO Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[1.137s] colcon.colcon_core.shell INFO Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[1.137s] colcon.colcon_core.shell DEBUG Skip shell extension 'dsv' for command environment
+[1.176s] colcon.colcon_core.event_handler.log_command DEBUG Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
+[17.321s] colcon.colcon_core.event_handler.log_command DEBUG Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
+[17.324s] colcon.colcon_core.event_handler.log_command DEBUG Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
+[22.056s] colcon.colcon_core.event_handler.log_command DEBUG Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
+[22.122s] colcon.colcon_core.event_handler.log_command DEBUG Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
+[22.989s] colcon.colcon_core.environment Level 1 create_environment_scripts_only(arena_interfaces)
+[22.990s] colcon.colcon_core.event_handler.log_command DEBUG Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
+[22.998s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install' for CMake module files
+[22.999s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install' for CMake config files
+[23.000s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'cmake_prefix_path')
+[23.000s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.ps1'
+[23.002s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.dsv'
+[23.003s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.sh'
+[23.005s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib'
+[23.005s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'dyld_library_path')
+[23.005s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.ps1'
+[23.006s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.dsv'
+[23.006s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.sh'
+[23.007s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/bin'
+[23.007s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/pkgconfig/arena_interfaces.pc'
+[23.007s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages'
+[23.007s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'pythonpath')
+[23.007s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.ps1'
+[23.008s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.dsv'
+[23.008s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.sh'
+[23.009s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/bin'
+[23.009s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.ps1'
+[23.011s] colcon.colcon_core.shell INFO Creating package descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.dsv'
+[23.012s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.sh'
+[23.013s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.bash'
+[23.014s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.zsh'
+[23.015s] colcon.colcon_core.environment Level 1 create_file_with_runtime_dependencies(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/colcon-core/packages/arena_interfaces)
+[23.016s] colcon.colcon_core.environment Level 1 create_environment_scripts_only(arena_interfaces)
+[23.016s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install' for CMake module files
+[23.017s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install' for CMake config files
+[23.018s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'cmake_prefix_path')
+[23.018s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.ps1'
+[23.019s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.dsv'
+[23.019s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.sh'
+[23.019s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib'
+[23.020s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'dyld_library_path')
+[23.020s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.ps1'
+[23.020s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.dsv'
+[23.020s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.sh'
+[23.021s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/bin'
+[23.021s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/pkgconfig/arena_interfaces.pc'
+[23.021s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages'
+[23.021s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'pythonpath')
+[23.021s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.ps1'
+[23.022s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.dsv'
+[23.022s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.sh'
+[23.023s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/bin'
+[23.023s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.ps1'
+[23.024s] colcon.colcon_core.shell INFO Creating package descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.dsv'
+[23.024s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.sh'
+[23.025s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.bash'
+[23.026s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.zsh'
+[23.026s] colcon.colcon_core.environment Level 1 create_file_with_runtime_dependencies(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/colcon-core/packages/arena_interfaces)
+[23.026s] colcon.colcon_parallel_executor.executor.parallel DEBUG closing loop
+[23.027s] colcon.colcon_parallel_executor.executor.parallel DEBUG loop closed
+[23.027s] colcon.colcon_parallel_executor.executor.parallel DEBUG run_until_complete finished with '0'
+[23.027s] colcon.colcon_core.event_reactor DEBUG joining thread
+[23.027s] colcon.colcon_core.event_reactor DEBUG joined thread
+[23.027s] colcon.colcon_core.shell INFO Creating prefix script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/local_setup.ps1'
+[23.029s] colcon.colcon_core.shell INFO Creating prefix util module '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/_local_setup_util_ps1.py'
+[23.030s] colcon.colcon_core.shell INFO Creating prefix chain script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/setup.ps1'
+[23.031s] colcon.colcon_core.shell INFO Creating prefix script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/local_setup.sh'
+[23.032s] colcon.colcon_core.shell INFO Creating prefix util module '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/_local_setup_util_sh.py'
+[23.033s] colcon.colcon_core.shell INFO Creating prefix chain script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/setup.sh'
+[23.034s] colcon.colcon_core.shell INFO Creating prefix script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/local_setup.bash'
+[23.035s] colcon.colcon_core.shell INFO Creating prefix chain script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/setup.bash'
+[23.036s] colcon.colcon_core.shell INFO Creating prefix script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/local_setup.zsh'
+[23.037s] colcon.colcon_core.shell INFO Creating prefix chain script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/setup.zsh'
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/command.log b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/command.log
new file mode 100644
index 00000000..58da36ef
--- /dev/null
+++ b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/command.log
@@ -0,0 +1,6 @@
+Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib -DCMAKE_BUILD_WITH_INSTALL_RPATH=ON -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
+Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib -DCMAKE_BUILD_WITH_INSTALL_RPATH=ON -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
+Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
+Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
+Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
+Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stderr.log b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stderr.log
new file mode 100644
index 00000000..342f2e0d
--- /dev/null
+++ b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stderr.log
@@ -0,0 +1,29 @@
+CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):
+  Compatibility with CMake < 3.10 will be removed from a future version of
+  CMake.
+
+  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
+  to tell CMake that the project requires at least <min> but has been updated
+  to work with policies introduced by <max> or earlier.
+This warning is for project developers.  Use -Wno-author or -Wno-deprecated
+to suppress it.
+
+CMake Warning (policy):
+  Policy CMP0068 is not set: RPATH settings on macOS do not affect
+  install_name.  Run "cmake --help-policy CMP0068" for policy details.  Use
+  the cmake_policy command to set the policy and suppress this warning.
+
+  For compatibility with older versions of CMake, the install_name fields for
+  the following targets are still affected by RPATH settings:
+
+   arena_interfaces__rosidl_generator_py
+
+This warning is for project developers.  Use -Wno-author or -Wno-policy to
+suppress it.
+
+CMake Warning (unused-cli):
+  Manually-specified variables were not used by the project:
+
+    Python_EXECUTABLE
+
+
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stdout.log b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stdout.log
new file mode 100644
index 00000000..3ffaff17
--- /dev/null
+++ b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stdout.log
@@ -0,0 +1,271 @@
+-- The C compiler identification is Clang 21.1.8
+-- The CXX compiler identification is Clang 21.1.8
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cc - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Check for working CXX compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/c++ - skipped
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 2.5.6 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake/cmake)
+-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
+-- Found rosidl_default_generators: 1.6.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_default_generators/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rosidl_adapter: 4.6.9 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_adapter/cmake)
+-- Found ament_cmake_ros: 0.12.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake_ros/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found python_cmake_module: 0.11.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/python_cmake_module/cmake)
+-- Found PythonExtra: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python
+-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter Development NumPy Development.Module Development.Embed
+-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
+-- Configuring done (7.0s)
+-- Generating done (0.1s)
+-- Build files have been written to: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
+[1/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake -E copy_directory /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/rosidl_generator_py/arena_interfaces /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces/arena_interfaces
+[2/57] Generating type hashes for ROS interfaces
+[3/57] Generating Rust code for ROS interfaces
+[4/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python setup.py egg_info
+running egg_info
+creating arena_interfaces.egg-info
+writing arena_interfaces.egg-info/PKG-INFO
+writing dependency_links to arena_interfaces.egg-info/dependency_links.txt
+writing top-level names to arena_interfaces.egg-info/top_level.txt
+writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+reading manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+[5/57] Generating C++ code for ROS interfaces
+[6/57] Generating C code for ROS interfaces
+[7/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__description.c.o
+[8/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
+[9/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__description.c.o
+[10/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__description.c.o
+[11/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
+[12/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__functions.c.o
+[13/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
+[14/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__functions.c.o
+[15/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__functions.c.o
+[16/57] Linking C shared library libarena_interfaces__rosidl_generator_c.dylib
+[17/57] Generating C++ type support dispatch for ROS interfaces
+[18/57] Generating C introspection for ROS interfaces
+[19/57] Generating C type support dispatch for ROS interfaces
+[20/57] Generating C type support for eProsima Fast-RTPS
+[21/57] Generating C++ introspection for ROS interfaces
+[22/57] Generating C++ type support for eProsima Fast-RTPS
+[23/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
+[24/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/connector_reply__type_support.cpp.o
+[25/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
+[26/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/arena_frame__type_support.cpp.o
+[27/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
+[28/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
+[29/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_c.dylib
+[30/57] Linking C shared library libarena_interfaces__rosidl_typesupport_introspection_c.dylib
+[31/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
+[32/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/arena_frame__type_support.cpp.o
+[33/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/connector_reply__type_support.cpp.o
+[34/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/arena_frame__type_support.cpp.o
+[35/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/connector_reply__type_support.cpp.o
+[36/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/fic_trac_frame__type_support.cpp.o
+[37/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/arena_frame__type_support_c.cpp.o
+[38/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_cpp.dylib
+[39/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/fic_trac_frame__type_support_c.cpp.o
+[40/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/connector_reply__type_support.cpp.o
+[41/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/connector_reply__type_support_c.cpp.o
+[42/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
+[43/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/arena_frame__type_support.cpp.o
+[44/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/fic_trac_frame__type_support.cpp.o
+[45/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
+[46/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib
+[47/57] Generating Python code for ROS interfaces
+[48/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_fastrtps_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c.o
+[49/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_arena_frame_s.c.o
+[50/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_fic_trac_frame_s.c.o
+[51/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_c.c.o
+[52/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_introspection_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_introspection_c.c.o
+[53/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_connector_reply_s.c.o
+[54/57] Linking C shared library libarena_interfaces__rosidl_generator_py.dylib
+[55/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
+[56/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
+[57/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
+-- Install configuration: "Release"
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/rosidl_interfaces/arena_interfaces
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.json
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.json
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.json
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_generator_c__visibility_control.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/fic_trac_frame.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/arena_frame.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
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+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__traits.hpp
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+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__builder.hpp
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+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__builder.hpp
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+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__struct.hpp
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+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_generator_cpp__visibility_control.hpp
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+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
+Listing '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces'...
+Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/__init__.py'...
+Listing '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg'...
+Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/__init__.py'...
+Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_arena_frame.py'...
+Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_connector_reply.py'...
+Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_fic_trac_frame.py'...
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_py.dylib
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/Cargo.toml
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/build.rs
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/msg
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/msg/rmw.rs
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/lib.rs
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/msg.rs
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.idl
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.idl
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.idl
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.msg
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.msg
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.msg
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/package_run_dependencies/arena_interfaces
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/parent_prefix_path/arena_interfaces
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/ament_prefix_path.sh
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/ament_prefix_path.dsv
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/path.sh
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/path.dsv
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.bash
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.sh
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.zsh
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.dsv
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.dsv
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/packages/arena_interfaces
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cExport-release.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cExport-release.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cExport-release.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cExport-release.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cppExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport-release.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport-release.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport-release.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport-release.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_include_directories-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_libraries-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_targets-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_aggregate_target-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig-version.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.xml
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stdout_stderr.log b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stdout_stderr.log
new file mode 100644
index 00000000..a62a69e1
--- /dev/null
+++ b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stdout_stderr.log
@@ -0,0 +1,300 @@
+CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):
+  Compatibility with CMake < 3.10 will be removed from a future version of
+  CMake.
+
+  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
+  to tell CMake that the project requires at least <min> but has been updated
+  to work with policies introduced by <max> or earlier.
+This warning is for project developers.  Use -Wno-author or -Wno-deprecated
+to suppress it.
+
+-- The C compiler identification is Clang 21.1.8
+-- The CXX compiler identification is Clang 21.1.8
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cc - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Detecting CXX compiler ABI info
+-- Detecting CXX compiler ABI info - done
+-- Check for working CXX compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/c++ - skipped
+-- Detecting CXX compile features
+-- Detecting CXX compile features - done
+-- Found ament_cmake: 2.5.6 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake/cmake)
+-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
+-- Found rosidl_default_generators: 1.6.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_default_generators/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found rosidl_adapter: 4.6.9 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_adapter/cmake)
+-- Found ament_cmake_ros: 0.12.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake_ros/cmake)
+-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+-- Found python_cmake_module: 0.11.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/python_cmake_module/cmake)
+-- Found PythonExtra: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python
+-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter Development NumPy Development.Module Development.Embed
+-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
+-- Configuring done (7.0s)
+CMake Warning (policy):
+  Policy CMP0068 is not set: RPATH settings on macOS do not affect
+  install_name.  Run "cmake --help-policy CMP0068" for policy details.  Use
+  the cmake_policy command to set the policy and suppress this warning.
+
+  For compatibility with older versions of CMake, the install_name fields for
+  the following targets are still affected by RPATH settings:
+
+   arena_interfaces__rosidl_generator_py
+
+This warning is for project developers.  Use -Wno-author or -Wno-policy to
+suppress it.
+
+-- Generating done (0.1s)
+CMake Warning (unused-cli):
+  Manually-specified variables were not used by the project:
+
+    Python_EXECUTABLE
+
+
+-- Build files have been written to: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
+[1/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake -E copy_directory /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/rosidl_generator_py/arena_interfaces /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces/arena_interfaces
+[2/57] Generating type hashes for ROS interfaces
+[3/57] Generating Rust code for ROS interfaces
+[4/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python setup.py egg_info
+running egg_info
+creating arena_interfaces.egg-info
+writing arena_interfaces.egg-info/PKG-INFO
+writing dependency_links to arena_interfaces.egg-info/dependency_links.txt
+writing top-level names to arena_interfaces.egg-info/top_level.txt
+writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+reading manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+[5/57] Generating C++ code for ROS interfaces
+[6/57] Generating C code for ROS interfaces
+[7/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__description.c.o
+[8/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
+[9/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__description.c.o
+[10/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__description.c.o
+[11/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
+[12/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__functions.c.o
+[13/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
+[14/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__functions.c.o
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+[16/57] Linking C shared library libarena_interfaces__rosidl_generator_c.dylib
+[17/57] Generating C++ type support dispatch for ROS interfaces
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+[28/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
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+[35/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/connector_reply__type_support.cpp.o
+[36/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/fic_trac_frame__type_support.cpp.o
+[37/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/arena_frame__type_support_c.cpp.o
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+[41/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/connector_reply__type_support_c.cpp.o
+[42/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
+[43/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/arena_frame__type_support.cpp.o
+[44/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/fic_trac_frame__type_support.cpp.o
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+[46/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib
+[47/57] Generating Python code for ROS interfaces
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+[50/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_fic_trac_frame_s.c.o
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+[52/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_introspection_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_introspection_c.c.o
+[53/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_connector_reply_s.c.o
+[54/57] Linking C shared library libarena_interfaces__rosidl_generator_py.dylib
+[55/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
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+[57/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
+-- Install configuration: "Release"
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/rosidl_interfaces/arena_interfaces
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.json
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.json
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.json
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_generator_c__visibility_control.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/fic_trac_frame.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/arena_frame.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__struct.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__struct.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__struct.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__functions.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__functions.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__description.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__functions.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__description.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__functions.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__functions.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__description.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__functions.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/connector_reply.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_c.dylib
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
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+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_fastrtps_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__rosidl_typesupport_fastrtps_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_fastrtps_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
+-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__rosidl_typesupport_introspection_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_introspection_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_introspection_c.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.c
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_typesupport_introspection_c__visibility_control.h
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib
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+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__builder.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__traits.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__traits.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__traits.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__builder.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__builder.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__struct.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.hpp
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__struct.hpp
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+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_generator_cpp__visibility_control.hpp
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+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/arena_frame.hpp
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+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_aggregate_target-extras.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig-version.cmake
+-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.xml
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/streams.log b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/streams.log
new file mode 100644
index 00000000..20743cd7
--- /dev/null
+++ b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/streams.log
@@ -0,0 +1,306 @@
+[0.038s] Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib -DCMAKE_BUILD_WITH_INSTALL_RPATH=ON -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
+[0.122s] CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):
+[0.122s]   Compatibility with CMake < 3.10 will be removed from a future version of
+[0.122s]   CMake.
+[0.122s] 
+[0.123s]   Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
+[0.123s]   to tell CMake that the project requires at least <min> but has been updated
+[0.123s]   to work with policies introduced by <max> or earlier.
+[0.123s] This warning is for project developers.  Use -Wno-author or -Wno-deprecated
+[0.123s] to suppress it.
+[0.123s] 
+[0.561s] -- The C compiler identification is Clang 21.1.8
+[0.975s] -- The CXX compiler identification is Clang 21.1.8
+[1.043s] -- Detecting C compiler ABI info
+[1.414s] -- Detecting C compiler ABI info - done
+[1.454s] -- Check for working C compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cc - skipped
+[1.455s] -- Detecting C compile features
+[1.455s] -- Detecting C compile features - done
+[1.464s] -- Detecting CXX compiler ABI info
+[1.818s] -- Detecting CXX compiler ABI info - done
+[1.861s] -- Check for working CXX compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/c++ - skipped
+[1.861s] -- Detecting CXX compile features
+[1.862s] -- Detecting CXX compile features - done
+[1.880s] -- Found ament_cmake: 2.5.6 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake/cmake)
+[2.188s] -- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
+[2.524s] -- Found rosidl_default_generators: 1.6.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_default_generators/cmake)
+[2.552s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+[2.751s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+[2.974s] -- Found rosidl_adapter: 4.6.9 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_adapter/cmake)
+[4.089s] -- Found ament_cmake_ros: 0.12.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake_ros/cmake)
+[4.935s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
+[5.985s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
+[6.002s] -- Found python_cmake_module: 0.11.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/python_cmake_module/cmake)
+[6.281s] -- Found PythonExtra: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python
+[6.957s] -- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter Development NumPy Development.Module Development.Embed
+[7.063s] -- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
+[7.082s] -- Configuring done (7.0s)
+[7.132s] CMake Warning (policy):
+[7.132s]   Policy CMP0068 is not set: RPATH settings on macOS do not affect
+[7.132s]   install_name.  Run "cmake --help-policy CMP0068" for policy details.  Use
+[7.132s]   the cmake_policy command to set the policy and suppress this warning.
+[7.132s] 
+[7.133s]   For compatibility with older versions of CMake, the install_name fields for
+[7.133s]   the following targets are still affected by RPATH settings:
+[7.133s] 
+[7.133s]    arena_interfaces__rosidl_generator_py
+[7.133s] 
+[7.133s] This warning is for project developers.  Use -Wno-author or -Wno-policy to
+[7.133s] suppress it.
+[7.133s] 
+[7.157s] -- Generating done (0.1s)
+[7.157s] CMake Warning (unused-cli):
+[7.158s]   Manually-specified variables were not used by the project:
+[7.158s] 
+[7.158s]     Python_EXECUTABLE
+[7.158s] 
+[7.158s] 
+[7.182s] -- Build files have been written to: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
+[7.189s] Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib -DCMAKE_BUILD_WITH_INSTALL_RPATH=ON -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
+[7.192s] Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
+[7.331s] [1/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake -E copy_directory /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/rosidl_generator_py/arena_interfaces /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces/arena_interfaces
+[7.536s] [2/57] Generating type hashes for ROS interfaces
+[7.586s] [3/57] Generating Rust code for ROS interfaces
+[7.703s] [4/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python setup.py egg_info
+[7.703s] running egg_info
+[7.703s] creating arena_interfaces.egg-info
+[7.703s] writing arena_interfaces.egg-info/PKG-INFO
+[7.703s] writing dependency_links to arena_interfaces.egg-info/dependency_links.txt
+[7.703s] writing top-level names to arena_interfaces.egg-info/top_level.txt
+[7.703s] writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+[7.703s] reading manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+[7.703s] writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
+[7.916s] [5/57] Generating C++ code for ROS interfaces
+[7.944s] [6/57] Generating C code for ROS interfaces
+[8.094s] [7/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__description.c.o
+[8.106s] [8/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
+[8.106s] [9/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__description.c.o
+[8.121s] [10/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__description.c.o
+[8.130s] [11/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
+[8.130s] [12/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__functions.c.o
+[8.161s] [13/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
+[8.167s] [14/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__functions.c.o
+[8.182s] [15/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__functions.c.o
+[8.307s] [16/57] Linking C shared library libarena_interfaces__rosidl_generator_c.dylib
+[8.666s] [17/57] Generating C++ type support dispatch for ROS interfaces
+[8.669s] [18/57] Generating C introspection for ROS interfaces
+[8.675s] [19/57] Generating C type support dispatch for ROS interfaces
+[8.701s] [20/57] Generating C type support for eProsima Fast-RTPS
+[8.702s] [21/57] Generating C++ introspection for ROS interfaces
+[8.708s] [22/57] Generating C++ type support for eProsima Fast-RTPS
+[8.847s] [23/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
+[8.879s] [24/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/connector_reply__type_support.cpp.o
+[8.895s] [25/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
+[9.146s] [26/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/arena_frame__type_support.cpp.o
+[9.165s] [27/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
+[9.174s] [28/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
+[9.362s] [29/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_c.dylib
+[9.362s] [30/57] Linking C shared library libarena_interfaces__rosidl_typesupport_introspection_c.dylib
+[9.578s] [31/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
+[9.583s] [32/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/arena_frame__type_support.cpp.o
+[9.591s] [33/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/connector_reply__type_support.cpp.o
+[9.591s] [34/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/arena_frame__type_support.cpp.o
+[9.674s] [35/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/connector_reply__type_support.cpp.o
+[9.694s] [36/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/fic_trac_frame__type_support.cpp.o
+[9.784s] [37/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/arena_frame__type_support_c.cpp.o
+[9.794s] [38/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_cpp.dylib
+[9.819s] [39/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/fic_trac_frame__type_support_c.cpp.o
+[9.827s] [40/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/connector_reply__type_support.cpp.o
+[9.828s] [41/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/connector_reply__type_support_c.cpp.o
+[9.841s] [42/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
+[9.843s] [43/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/arena_frame__type_support.cpp.o
+[9.896s] [44/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/fic_trac_frame__type_support.cpp.o
+[9.954s] [45/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
+[10.014s] [46/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib
+[10.554s] [47/57] Generating Python code for ROS interfaces
+[10.767s] [48/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_fastrtps_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c.o
+[10.768s] [49/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_arena_frame_s.c.o
+[10.777s] [50/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_fic_trac_frame_s.c.o
+[10.777s] [51/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_c.c.o
+[10.788s] [52/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_introspection_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_introspection_c.c.o
+[10.794s] [53/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_connector_reply_s.c.o
+[10.916s] [54/57] Linking C shared library libarena_interfaces__rosidl_generator_py.dylib
+[11.053s] [55/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
+[11.061s] [56/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
+[11.068s] [57/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
+[11.070s] Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
+[11.124s] Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
+[11.168s] -- Install configuration: "Release"
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+[11.304s] Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/events.log b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/events.log
new file mode 100644
index 00000000..8f2a86bb
--- /dev/null
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@@ -0,0 +1,419 @@
+[0.000000] (-) TimerEvent: {}
+[0.000081] (arena_interfaces) JobQueued: {'identifier': 'arena_interfaces', 'dependencies': OrderedDict()}
+[0.000159] (arena_interfaces) JobStarted: {'identifier': 'arena_interfaces'}
+[0.034504] (arena_interfaces) JobProgress: {'identifier': 'arena_interfaces', 'progress': 'cmake'}
+[0.036949] (arena_interfaces) Command: {'cmd': ['/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces', '-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib', '-DCMAKE_BUILD_WITH_INSTALL_RPATH=ON', '-DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install'], 'cwd': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', 'env': OrderedDict({'CLAUDE_CODE_EMIT_TOOL_USE_SUMMARIES': 'false', 'CLAUDE_CODE_ENABLE_ASK_USER_QUESTION_TOOL': 'true', 'CLAUDE_CODE_MESSAGING_TOKEN': '2b6c13b8291656abc35ec86fddfb20ad', 'CLAUDE_CODE_ORGANIZATION_UUID': '18a7adf9-2431-4be1-baa2-5ab8a760c725', 'NoDefaultCurrentDirectoryInExePath': '1', 'CLAUDE_CODE_ENTRYPOINT': 'claude-desktop', 'CLAUDE_EFFORT': 'high', 'INIT_CWD': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc', 'PIXI_IN_SHELL': '1', 'BAGGAGE': 'sentry-environment=production,sentry-release=Claude%402.37337.1,sentry-public_key=2f98127cbffe4740b1f767a2de77d23b,sentry-trace_id=4f13f656568b4c48befba4122a9acf5c,sentry-org_id=1158394', 'CLAUDE_CODE_HOST_SESSION_ID': 'local_160a0efc-1cc3-4f45-a788-ac923be9362b', 'CLAUDE_CODE_OAUTH_SCOPES': 'user:inference user:file_upload user:profile user:sessions:claude_code user:plugins', 'SHELL': '/bin/zsh', 'CLAUDE_CODE_CHILD_SESSION': '1', 'CLAUDE_CODE_EAGER_FLUSH': '1', 'CLAUDE_PID': '3941', 'TMPDIR': '/var/folders/6_/y2pb319x6p9bnz2x858mfdm00000gp/T/', 'CONDA_SHLVL': '1', 'GSETTINGS_SCHEMA_DIR_CONDA_BACKUP': '', 'CLAUDE_AGENT_SDK_VERSION': '0.3.295', 'MallocNanoZone': '0', 'PIXI_ENVIRONMENT_NAME': 'default', 'ROS_PYTHON_VERSION': '3', 'CLAUDE_AGENT_SDK_MCP_NO_PREFIX': '0', 'ROS_VERSION': '2', 'USE_LOCAL_OAUTH': '', 'AMENT_PREFIX_PATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default', 'AI_AGENT': 'claude-code_2-1-295_agent', 'GIT_EDITOR': 'true', 'ZENOH_ROUTER_CONFIG_URI': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/config/zenoh-router.json5', 'CLAUDE_CODE_DISABLE_TERMINAL_TITLE': '1', 'USER': 'reiserm', 'API_TIMEOUT_MS': '900000', 'COMMAND_MODE': 'unix2003', 'PIXI_EXE': '/Users/reiserm/.pixi/bin/pixi', 'SSH_AUTH_SOCK': '/var/run/com.apple.launchd.T2vxNCCQGB/Listeners', '__CF_USER_TEXT_ENCODING': '0x1F6:0x0:0x0', 'ROS_OS_OVERRIDE': 'conda:osx', 'CLAUDE_CODE_DESKTOP_APP_VERSION': '2.37337.1', 'PIXI_PROJECT_MANIFEST': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/pixi.toml', 'CLAUDE_CODE_SIMPLE': '0', 'CLAUDE_CODE_REPORT_FINDINGS': '1', 'ZENOH_ROUTER_CHECK_ATTEMPTS': '0', 'PATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin:/Users/reiserm/.pixi/bin:/Users/reiserm/.platformio/penv/bin:/Users/reiserm/.local/bin:/Users/reiserm/.npm-global/bin:/opt/homebrew/bin:/opt/homebrew/sbin:/usr/local/bin:/System/Cryptexes/App/usr/bin:/usr/bin:/bin:/usr/sbin:/sbin:/var/run/com.apple.security.cryptexd/codex.system/bootstrap/usr/local/bin:/var/run/com.apple.security.cryptexd/codex.system/bootstrap/usr/bin:/var/run/com.apple.security.cryptexd/codex.system/bootstrap/usr/appleinternal/bin:/pkg/env/global/bin:/Library/TeX/texbin:/opt/homebrew/bin:/Users/reiserm/Library/pnpm', 'GSETTINGS_SCHEMA_DIR': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/glib-2.0/schemas', 'MCP_CONNECTION_NONBLOCKING': 'true', 'XML_CATALOG_FILES': 'file:///Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/etc/xml/catalog file:///etc/xml/catalog', 'CLAUDE_CODE_TERMINAL_MCP_TOOLS': 'mcp__ccd_turn__wrap_up', 'CONDA_PREFIX': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default', 'PIXI_PROJECT_NAME': 'arena-ros2-poc', '__CFBundleIdentifier': 'com.anthropic.claudefordesktop', 'PIXI_PROMPT': '(arena-ros2-poc)', 'PWD': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', 'COLCON': '1', 'CLAUDE_CODE_USER_EMAIL': 'reiserm@janelia.hhmi.org', 'NODE_USE_SYSTEM_CA': '1', 'RMW_IMPLEMENTATION': 'rmw_zenoh_cpp', 'XPC_FLAGS': '0x0', 'CLAUDE_CODE_SESSION_ATTENDED': '1', 'PYTHONDONTWRITEBYTECODE': '1', 'PIXI_ENVIRONMENT_PLATFORMS': 'linux-64,win-64,osx-arm64', 'XPC_SERVICE_NAME': '0', 'ZENOH_SESSION_CONFIG_URI': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/config/zenoh-session.json5', 'CLAUDE_CODE_ENABLE_SDK_FILE_CHECKPOINTING': 'true', 'HOME': '/Users/reiserm', 'PIXI_PROJECT_ROOT': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc', 'SHLVL': '2', 'ANTHROPIC_BASE_URL': 'https://api.anthropic.com', 'CLAUDE_CODE_DISABLE_CRON': '', 'ROS_DISTRO': 'jazzy', 'CLAUDE_CODE_EXECPATH': '/Users/reiserm/Library/Application Support/Claude/claude-code/2.1.295/9d6405864fdc/claude.app/Contents/MacOS/claude', 'PYTHONUTF8': '1', 'DISABLE_MICROCOMPACT': '1', 'MCP_SERVER_CONNECTION_BATCH_SIZE': '8', 'LOGNAME': 'reiserm', 'PYTHONPATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib/python/site-packages:/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib/python3.12/site-packages', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'LC_CTYPE': 'C.UTF-8', 'COREPACK_ENABLE_AUTO_PIN': '0', 'CONDA_DEFAULT_ENV': 'arena-ros2-poc', 'PIXI_PROJECT_VERSION': '0.1.0', 'CLAUDE_CODE_ACCOUNT_UUID': '3c5e22c9-d465-4b8f-b6af-a04b2e9a6e3e', 'CLAUDE_CODE_SDK_HAS_HOST_AUTH_REFRESH': '1', 'CLAUDE_CODE_SESSION_ID': '4b4183e1-44ad-4b23-a358-7e98c8c57fd9', 'DISABLE_AUTOUPDATER': '1', 'OSLogRateLimit': '64', 'CLAUDECODE': '1', 'CLAUDE_CODE_MESSAGING_SOCKET': '/tmp/cc-socks/3941.sock', 'ROS_ETC_DIR': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/etc/ros', 'USE_STAGING_OAUTH': '', '_': '/usr/bin/env', 'CMAKE_PREFIX_PATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default'}), 'shell': False}
+[0.104885] (-) TimerEvent: {}
+[0.122277] (arena_interfaces) StderrLine: {'line': b'CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):\n'}
+[0.122498] (arena_interfaces) StderrLine: {'line': b'  Compatibility with CMake < 3.10 will be removed from a future version of\n'}
+[0.122572] (arena_interfaces) StderrLine: {'line': b'  CMake.\n'}
+[0.122635] (arena_interfaces) StderrLine: {'line': b'\n'}
+[0.122694] (arena_interfaces) StderrLine: {'line': b'  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax\n'}
+[0.122752] (arena_interfaces) StderrLine: {'line': b'  to tell CMake that the project requires at least <min> but has been updated\n'}
+[0.122814] (arena_interfaces) StderrLine: {'line': b'  to work with policies introduced by <max> or earlier.\n'}
+[0.122877] (arena_interfaces) StderrLine: {'line': b'This warning is for project developers.  Use -Wno-author or -Wno-deprecated\n'}
+[0.122936] (arena_interfaces) StderrLine: {'line': b'to suppress it.\n'}
+[0.122996] (arena_interfaces) StderrLine: {'line': b'\n'}
+[0.206763] (-) TimerEvent: {}
+[0.316859] (-) TimerEvent: {}
+[0.426958] (-) TimerEvent: {}
+[0.530662] (-) TimerEvent: {}
+[0.560768] (arena_interfaces) StdoutLine: {'line': b'-- The C compiler identification is Clang 21.1.8\n'}
+[0.634987] (-) TimerEvent: {}
+[0.736291] (-) TimerEvent: {}
+[0.838551] (-) TimerEvent: {}
+[0.940243] (-) TimerEvent: {}
+[0.975002] (arena_interfaces) StdoutLine: {'line': b'-- The CXX compiler identification is Clang 21.1.8\n'}
+[1.041891] (-) TimerEvent: {}
+[1.043022] (arena_interfaces) StdoutLine: {'line': b'-- Detecting C compiler ABI info\n'}
+[1.151157] (-) TimerEvent: {}
+[1.261314] (-) TimerEvent: {}
+[1.365842] (-) TimerEvent: {}
+[1.413665] (arena_interfaces) StdoutLine: {'line': b'-- Detecting C compiler ABI info - done\n'}
+[1.454445] (arena_interfaces) StdoutLine: {'line': b'-- Check for working C compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cc - skipped\n'}
+[1.454907] (arena_interfaces) StdoutLine: {'line': b'-- Detecting C compile features\n'}
+[1.455458] (arena_interfaces) StdoutLine: {'line': b'-- Detecting C compile features - done\n'}
+[1.463773] (arena_interfaces) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info\n'}
+[1.466854] (-) TimerEvent: {}
+[1.575891] (-) TimerEvent: {}
+[1.685982] (-) TimerEvent: {}
+[1.789840] (-) TimerEvent: {}
+[1.817816] (arena_interfaces) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info - done\n'}
+[1.860960] (arena_interfaces) StdoutLine: {'line': b'-- Check for working CXX compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/c++ - skipped\n'}
+[1.861266] (arena_interfaces) StdoutLine: {'line': b'-- Detecting CXX compile features\n'}
+[1.862139] (arena_interfaces) StdoutLine: {'line': b'-- Detecting CXX compile features - done\n'}
+[1.880364] (arena_interfaces) StdoutLine: {'line': b'-- Found ament_cmake: 2.5.6 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake/cmake)\n'}
+[1.894546] (-) TimerEvent: {}
+[2.001267] (-) TimerEvent: {}
+[2.106932] (-) TimerEvent: {}
+[2.187876] (arena_interfaces) StdoutLine: {'line': b'-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter\n'}
+[2.212777] (-) TimerEvent: {}
+[2.322869] (-) TimerEvent: {}
+[2.424143] (-) TimerEvent: {}
+[2.523635] (arena_interfaces) StdoutLine: {'line': b'-- Found rosidl_default_generators: 1.6.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_default_generators/cmake)\n'}
+[2.524330] (-) TimerEvent: {}
+[2.552216] (arena_interfaces) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
+[2.634146] (-) TimerEvent: {}
+[2.744203] (-) TimerEvent: {}
+[2.751140] (arena_interfaces) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'}
+[2.854226] (-) TimerEvent: {}
+[2.964292] (-) TimerEvent: {}
+[2.973944] (arena_interfaces) StdoutLine: {'line': b'-- Found rosidl_adapter: 4.6.9 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_adapter/cmake)\n'}
+[3.074347] (-) TimerEvent: {}
+[3.184449] (-) TimerEvent: {}
+[3.294505] (-) TimerEvent: {}
+[3.401972] (-) TimerEvent: {}
+[3.505732] (-) TimerEvent: {}
+[3.615805] (-) TimerEvent: {}
+[3.724933] (-) TimerEvent: {}
+[3.835040] (-) TimerEvent: {}
+[3.938689] (-) TimerEvent: {}
+[4.040594] (-) TimerEvent: {}
+[4.089457] (arena_interfaces) StdoutLine: {'line': b'-- Found ament_cmake_ros: 0.12.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake_ros/cmake)\n'}
+[4.146811] (-) TimerEvent: {}
+[4.256889] (-) TimerEvent: {}
+[4.364000] (-) TimerEvent: {}
+[4.473936] (-) TimerEvent: {}
+[4.584012] (-) TimerEvent: {}
+[4.694129] (-) TimerEvent: {}
+[4.800988] (-) TimerEvent: {}
+[4.911080] (-) TimerEvent: {}
+[4.935200] (arena_interfaces) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
+[5.021109] (-) TimerEvent: {}
+[5.121880] (-) TimerEvent: {}
+[5.228765] (-) TimerEvent: {}
+[5.336181] (-) TimerEvent: {}
+[5.446264] (-) TimerEvent: {}
+[5.552745] (-) TimerEvent: {}
+[5.662828] (-) TimerEvent: {}
+[5.763779] (-) TimerEvent: {}
+[5.873882] (-) TimerEvent: {}
+[5.976603] (-) TimerEvent: {}
+[5.984749] (arena_interfaces) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'}
+[6.002126] (arena_interfaces) StdoutLine: {'line': b'-- Found python_cmake_module: 0.11.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/python_cmake_module/cmake)\n'}
+[6.086631] (-) TimerEvent: {}
+[6.196736] (-) TimerEvent: {}
+[6.280772] (arena_interfaces) StdoutLine: {'line': b'-- Found PythonExtra: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python\n'}
+[6.301315] (-) TimerEvent: {}
+[6.411426] (-) TimerEvent: {}
+[6.521540] (-) TimerEvent: {}
+[6.631647] (-) TimerEvent: {}
+[6.741722] (-) TimerEvent: {}
+[6.850705] (-) TimerEvent: {}
+[6.955663] (-) TimerEvent: {}
+[6.957445] (arena_interfaces) StdoutLine: {'line': b'-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter Development NumPy Development.Module Development.Embed\n'}
+[7.063207] (arena_interfaces) StdoutLine: {'line': b'-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter\n'}
+[7.063349] (-) TimerEvent: {}
+[7.082277] (arena_interfaces) StdoutLine: {'line': b'-- Configuring done (7.0s)\n'}
+[7.132370] (arena_interfaces) StderrLine: {'line': b'CMake Warning (policy):\n'}
+[7.132489] (arena_interfaces) StderrLine: {'line': b'  Policy CMP0068 is not set: RPATH settings on macOS do not affect\n'}
+[7.132545] (arena_interfaces) StderrLine: {'line': b'  install_name.  Run "cmake --help-policy CMP0068" for policy details.  Use\n'}
+[7.132616] (arena_interfaces) StderrLine: {'line': b'  the cmake_policy command to set the policy and suppress this warning.\n'}
+[7.132667] (arena_interfaces) StderrLine: {'line': b'\n'}
+[7.132714] (arena_interfaces) StderrLine: {'line': b'  For compatibility with older versions of CMake, the install_name fields for\n'}
+[7.132762] (arena_interfaces) StderrLine: {'line': b'  the following targets are still affected by RPATH settings:\n'}
+[7.132833] (arena_interfaces) StderrLine: {'line': b'\n'}
+[7.132878] (arena_interfaces) StderrLine: {'line': b'   arena_interfaces__rosidl_generator_py\n'}
+[7.132926] (arena_interfaces) StderrLine: {'line': b'\n'}
+[7.132970] (arena_interfaces) StderrLine: {'line': b'This warning is for project developers.  Use -Wno-author or -Wno-policy to\n'}
+[7.133033] (arena_interfaces) StderrLine: {'line': b'suppress it.\n'}
+[7.133087] (arena_interfaces) StderrLine: {'line': b'\n'}
+[7.157426] (arena_interfaces) StdoutLine: {'line': b'-- Generating done (0.1s)\n'}
+[7.157613] (arena_interfaces) StderrLine: {'line': b'CMake Warning (unused-cli):\n'}
+[7.157699] (arena_interfaces) StderrLine: {'line': b'  Manually-specified variables were not used by the project:\n'}
+[7.157783] (arena_interfaces) StderrLine: {'line': b'\n'}
+[7.157840] (arena_interfaces) StderrLine: {'line': b'    Python_EXECUTABLE\n'}
+[7.157893] (arena_interfaces) StderrLine: {'line': b'\n'}
+[7.157944] (arena_interfaces) StderrLine: {'line': b'\n'}
+[7.166040] (-) TimerEvent: {}
+[7.182243] (arena_interfaces) StdoutLine: {'line': b'-- Build files have been written to: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces\n'}
+[7.188610] (arena_interfaces) CommandEnded: {'returncode': 0}
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+[11.275179] (arena_interfaces) StdoutLine: {'line': b"Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_arena_frame.py'...\n"}
+[11.275222] (arena_interfaces) StdoutLine: {'line': b"Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_connector_reply.py'...\n"}
+[11.275278] (arena_interfaces) StdoutLine: {'line': b"Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_fic_trac_frame.py'...\n"}
+[11.278695] (arena_interfaces) StdoutLine: {'line': b'-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so\n'}
+[11.278881] (arena_interfaces) StdoutLine: {'line': b'-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so\n'}
+[11.278999] (arena_interfaces) StdoutLine: {'line': b'-- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so\n'}
+[11.279157] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_py.dylib\n'}
+[11.279455] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust\n'}
+[11.279664] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/Cargo.toml\n'}
+[11.280280] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/build.rs\n'}
+[11.280508] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src\n'}
+[11.280751] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/msg\n'}
+[11.281245] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/msg/rmw.rs\n'}
+[11.281521] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/lib.rs\n'}
+[11.281791] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/msg.rs\n'}
+[11.282122] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.idl\n'}
+[11.282612] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.idl\n'}
+[11.282960] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.idl\n'}
+[11.283303] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.msg\n'}
+[11.283735] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.msg\n'}
+[11.284020] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.msg\n'}
+[11.284470] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/package_run_dependencies/arena_interfaces\n'}
+[11.284988] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/parent_prefix_path/arena_interfaces\n'}
+[11.285310] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/ament_prefix_path.sh\n'}
+[11.285700] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/ament_prefix_path.dsv\n'}
+[11.286031] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/path.sh\n'}
+[11.286337] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/path.dsv\n'}
+[11.286920] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.bash\n'}
+[11.287402] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.sh\n'}
+[11.288139] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.zsh\n'}
+[11.288805] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.dsv\n'}
+[11.289108] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.dsv\n'}
+[11.289518] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/packages/arena_interfaces\n'}
+[11.289919] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cExport.cmake\n'}
+[11.290298] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cExport-release.cmake\n'}
+[11.290832] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cExport.cmake\n'}
+[11.291266] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cExport-release.cmake\n'}
+[11.291679] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cExport.cmake\n'}
+[11.292007] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cExport-release.cmake\n'}
+[11.292334] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cExport.cmake\n'}
+[11.292695] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cExport-release.cmake\n'}
+[11.293080] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cppExport.cmake\n'}
+[11.293596] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport.cmake\n'}
+[11.293854] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport-release.cmake\n'}
+[11.294179] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport.cmake\n'}
+[11.294493] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport-release.cmake\n'}
+[11.294925] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport.cmake\n'}
+[11.295279] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport-release.cmake\n'}
+[11.295949] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport.cmake\n'}
+[11.296099] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport-release.cmake\n'}
+[11.296375] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake-extras.cmake\n'}
+[11.296754] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_include_directories-extras.cmake\n'}
+[11.297061] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_libraries-extras.cmake\n'}
+[11.297401] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_targets-extras.cmake\n'}
+[11.297783] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake\n'}
+[11.298280] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake\n'}
+[11.298649] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake\n'}
+[11.299082] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_aggregate_target-extras.cmake\n'}
+[11.299688] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig.cmake\n'}
+[11.300256] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig-version.cmake\n'}
+[11.301033] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.xml\n'}
+[11.303904] (arena_interfaces) CommandEnded: {'returncode': 0}
+[11.328582] (arena_interfaces) JobEnded: {'identifier': 'arena_interfaces', 'rc': 0}
+[11.329158] (-) EventReactorShutdown: {}
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/logger_all.log b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/logger_all.log
new file mode 100644
index 00000000..c9408021
--- /dev/null
+++ b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/logger_all.log
@@ -0,0 +1,132 @@
+[0.289s] colcon DEBUG Command line arguments: ['/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/colcon', 'build', '--base-paths', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces', '--build-base', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build', '--install-base', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install', '--merge-install', '--event-handlers', 'console_direct+', '--cmake-args', '-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib', '-DCMAKE_BUILD_WITH_INSTALL_RPATH=ON']
+[0.290s] colcon DEBUG Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build', install_base='/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install', merge_install=True, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=18, event_handlers=['console_direct+'], ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, cmake_args=['-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib', '-DCMAKE_BUILD_WITH_INSTALL_RPATH=ON'], cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x1029853d0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x1029aa1e0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x1029aa1e0>>)
+[0.415s] colcon.colcon_core.package_discovery Level 1 discover_packages(colcon_meta) check parameters
+[0.415s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) check parameters
+[0.415s] colcon.colcon_core.package_discovery Level 1 discover_packages(ignore) check parameters
+[0.415s] colcon.colcon_core.package_discovery Level 1 discover_packages(path) check parameters
+[0.415s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) discover
+[0.415s] colcon.colcon_core.package_discovery INFO Crawling recursively for packages in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces'
+[0.415s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['ignore', 'ignore_ament_install']
+[0.415s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'ignore'
+[0.415s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'ignore_ament_install'
+[0.415s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['colcon_pkg']
+[0.415s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'colcon_pkg'
+[0.415s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['colcon_meta']
+[0.415s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'colcon_meta'
+[0.416s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['ros']
+[0.416s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'ros'
+[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['cmake', 'python']
+[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'cmake'
+[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'python'
+[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['python_setup_py']
+[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'python_setup_py'
+[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extensions ['ignore', 'ignore_ament_install']
+[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'ignore'
+[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'ignore_ament_install'
+[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extensions ['colcon_pkg']
+[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'colcon_pkg'
+[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extensions ['colcon_meta']
+[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'colcon_meta'
+[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extensions ['ros']
+[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'ros'
+[0.505s] colcon.colcon_core.package_identification DEBUG Package '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces' with type 'ros.ament_cmake' and name 'arena_interfaces'
+[0.505s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build) by extensions ['ignore', 'ignore_ament_install']
+[0.505s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build) by extension 'ignore'
+[0.505s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build) ignored
+[0.505s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install) by extensions ['ignore', 'ignore_ament_install']
+[0.505s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install) by extension 'ignore'
+[0.505s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install) ignored
+[0.506s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/log) by extensions ['ignore', 'ignore_ament_install']
+[0.506s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/log) by extension 'ignore'
+[0.506s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/log) ignored
+[0.506s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) using defaults
+[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_args' from command line to '['-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib', '-DCMAKE_BUILD_WITH_INSTALL_RPATH=ON']'
+[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_target' from command line to 'None'
+[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_target_skip_unavailable' from command line to 'False'
+[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_clean_cache' from command line to 'False'
+[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_clean_first' from command line to 'False'
+[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_force_configure' from command line to 'False'
+[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'ament_cmake_args' from command line to 'None'
+[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'catkin_cmake_args' from command line to 'None'
+[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'catkin_skip_building_tests' from command line to 'False'
+[0.537s] colcon.colcon_core.verb DEBUG Building package 'arena_interfaces' with the following arguments: {'ament_cmake_args': None, 'build_base': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': ['-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib', '-DCMAKE_BUILD_WITH_INSTALL_RPATH=ON'], 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install', 'merge_install': True, 'path': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces', 'symlink_install': False, 'test_result_base': None}
+[0.537s] colcon.colcon_core.executor INFO Executing jobs using 'parallel' executor
+[0.537s] colcon.colcon_parallel_executor.executor.parallel DEBUG run_until_complete
+[0.537s] colcon.colcon_ros.task.ament_cmake.build INFO Building ROS package in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces' with build type 'ament_cmake'
+[0.537s] colcon.colcon_cmake.task.cmake.build INFO Building CMake package in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces'
+[0.541s] colcon.colcon_core.plugin_system INFO Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
+[0.541s] colcon.colcon_core.shell INFO Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
+[0.541s] colcon.colcon_core.shell DEBUG Skip shell extension 'dsv' for command environment
+[0.576s] colcon.colcon_core.event_handler.log_command DEBUG Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib -DCMAKE_BUILD_WITH_INSTALL_RPATH=ON -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
+[7.726s] colcon.colcon_core.event_handler.log_command DEBUG Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib -DCMAKE_BUILD_WITH_INSTALL_RPATH=ON -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
+[7.729s] colcon.colcon_core.event_handler.log_command DEBUG Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
+[11.608s] colcon.colcon_core.event_handler.log_command DEBUG Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
+[11.661s] colcon.colcon_core.event_handler.log_command DEBUG Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
+[11.841s] colcon.colcon_core.environment Level 1 create_environment_scripts_only(arena_interfaces)
+[11.841s] colcon.colcon_core.event_handler.log_command DEBUG Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
+[11.846s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install' for CMake module files
+[11.847s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install' for CMake config files
+[11.848s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'cmake_prefix_path')
+[11.848s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.ps1'
+[11.849s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.dsv'
+[11.849s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.sh'
+[11.850s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib'
+[11.850s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'dyld_library_path')
+[11.850s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.ps1'
+[11.851s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.dsv'
+[11.851s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.sh'
+[11.852s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/bin'
+[11.852s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/pkgconfig/arena_interfaces.pc'
+[11.852s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages'
+[11.852s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'pythonpath')
+[11.852s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.ps1'
+[11.852s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.dsv'
+[11.853s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.sh'
+[11.853s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/bin'
+[11.853s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.ps1'
+[11.854s] colcon.colcon_core.shell INFO Creating package descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.dsv'
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diff --git a/ros2-poc/interfaces/log/latest b/ros2-poc/interfaces/log/latest
new file mode 120000
index 00000000..b57d247c
--- /dev/null
+++ b/ros2-poc/interfaces/log/latest
@@ -0,0 +1 @@
+latest_build
\ No newline at end of file
diff --git a/ros2-poc/interfaces/log/latest_build b/ros2-poc/interfaces/log/latest_build
new file mode 120000
index 00000000..85f63068
--- /dev/null
+++ b/ros2-poc/interfaces/log/latest_build
@@ -0,0 +1 @@
+build_2026-10-14_18-58-00
\ No newline at end of file
diff --git a/ros2-poc/nodes/_common.py b/ros2-poc/nodes/_common.py
index 99aacdde..f21e0226 100644
--- a/ros2-poc/nodes/_common.py
+++ b/ros2-poc/nodes/_common.py
@@ -97,3 +97,61 @@ def wait_port(host: str, port: int, timeout_s: float) -> bool:
         except OSError:
             time.sleep(0.2)
     return False
+
+
+# ── typed interfaces (LAB-303 Plan B item 3) ──────────────────────────────────────────
+INTERFACES_INSTALL = os.path.join(os.path.dirname(os.path.dirname(os.path.abspath(__file__))), "interfaces", "install")
+
+
+def _prepend_env(name: str, value: str) -> None:
+    cur = os.environ.get(name, "")
+    parts = cur.split(os.pathsep) if cur else []
+    if value not in parts:
+        os.environ[name] = os.pathsep.join([value] + parts)
+
+
+def setup_interfaces(prefix: str | None = None) -> bool:
+    """Make a colcon-built `interfaces/install` visible to THIS process and its children —
+    the equivalent of sourcing install/setup.sh, done in Python so Windows needs no shell
+    script. Returns True when the prefix exists. Call it BEFORE importing arena_interfaces."""
+    import sys as _sys
+
+    prefix = prefix or INTERFACES_INSTALL
+    if not os.path.isdir(prefix):
+        return False
+    _prepend_env("AMENT_PREFIX_PATH", prefix)
+    libdir = os.path.join(prefix, "lib")
+    bindir = os.path.join(prefix, "bin")
+    _prepend_env("PATH", bindir if os.name == "nt" else libdir)
+    # rcpputils::find_library_path searches these for the typesupport libraries.
+    _prepend_env("DYLD_LIBRARY_PATH" if _sys.platform == "darwin" else "LD_LIBRARY_PATH", libdir)
+    if os.name == "nt":
+        _prepend_env("PATH", libdir)
+        try:
+            os.add_dll_directory(libdir)
+        except (AttributeError, OSError):
+            pass
+    sp = None
+    if os.name == "nt":
+        cand = os.path.join(prefix, "Lib", "site-packages")
+        sp = cand if os.path.isdir(cand) else None
+    if sp is None:
+        pyver = f"python{_sys.version_info.major}.{_sys.version_info.minor}"
+        cand = os.path.join(libdir, pyver, "site-packages")
+        sp = cand if os.path.isdir(cand) else None
+    if sp:
+        _prepend_env("PYTHONPATH", sp)
+        if sp not in _sys.path:
+            _sys.path.insert(0, sp)
+    return True
+
+
+def interfaces_available() -> bool:
+    """True when arena_interfaces imports (after setup_interfaces)."""
+    setup_interfaces()
+    try:
+        import arena_interfaces.msg  # noqa: F401
+
+        return True
+    except Exception:
+        return False
diff --git a/ros2-poc/nodes/bridge_node.py b/ros2-poc/nodes/bridge_node.py
index 1a7af012..2a263fba 100644
--- a/ros2-poc/nodes/bridge_node.py
+++ b/ros2-poc/nodes/bridge_node.py
@@ -35,8 +35,26 @@
 Not supported here (by design of the PoC): the `fictrac_port` config key cannot re-bind
 the socket — the adapter owns it. The request is acknowledged with a warning.
 
-    pixi run bridge-node                      # ws://127.0.0.1:8765, logs on demand to runlogs/
-    pixi run bridge-node -- --frames 60 --log-dir /path
+PLAN B SPIKE (LAB-303, 2026-10-14) — MCAP as the record of truth:
+  * While a run's log is open, EVERYTHING is recorded into `<log-dir>/<run>.bag/` with
+    rosbag2_py + the MCAP storage plugin (nodes/recorder.py): the device topics as received
+    (`/fictrac/raw` or the typed `/fictrac/frame`, `/kinefly/raw`, `/bias/cmd|reply|status`),
+    `/arena/frame` (the closed-loop evaluation with ITS OWN sample time `t`/`ms`), and two
+    bridge-side streams — `/arena/browser` (every browser message, verbatim, with the receive
+    stamp) and `/arena/event` (bias_config, heading_tare, connector_status, source_lost, warn)
+    — each stamped with the writer's emission sequence number `seq`, plus `/arena/session`.
+  * `log_export` answers with the NDJSON DERIVED from the bag (nodes/mcap_convert.py); the
+    acked log level is the converter's default level. The live NDJSON writer is KEPT as a
+    shadow file during the spike: it is the fidelity reference (`converted == live` is checked
+    at every export and printed) and the crash-loss baseline. `--export live` returns it instead.
+  * ONE ms base per run: the pipeline's t0 is set from the log's open stamp (bridge 3.4 takes
+    two now_ms() samples there — comparison.md appendix 4).
+  * Typed messages when `arena_interfaces` is built (`pixi install` builds it; see
+    interfaces/): `/fictrac/frame` is consumed and `/arena/frame` published/recorded as
+    arena_interfaces/ArenaFrame (`--typed auto|on|off`); otherwise std_msgs/String JSON.
+
+    pixi run bridge-node                      # ws://127.0.0.1:8765, logs + bags on demand in runlogs/
+    pixi run bridge-node -- --frames 60 --log-dir /path --bag-profile crashsafe
 """
 
 from __future__ import annotations
@@ -57,11 +75,25 @@
 from rclpy.executors import SingleThreadedExecutor
 from rclpy.node import Node
 from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
+from rclpy.serialization import deserialize_message, serialize_message
 from std_msgs.msg import String
 
 HERE = Path(__file__).resolve().parent
 REPO = HERE.parents[1]
 BRIDGE_PY = REPO / "fictrac-bridge" / "bridge.py"
+sys.path.insert(0, str(HERE))
+from _common import setup_interfaces  # noqa: E402
+from mcap_convert import convert_bag  # noqa: E402
+from recorder import PROFILES, STRING_TYPE, Recorder  # noqa: E402
+
+setup_interfaces()  # a colcon-built interfaces/install, if any (pixi-build installs into the env)
+try:
+    from arena_interfaces.msg import ArenaFrame, FicTracFrame  # noqa: E402
+
+    HAVE_IFACES = True
+except Exception:  # not built on this machine → String JSON everywhere
+    ArenaFrame = FicTracFrame = None  # type: ignore[assignment]
+    HAVE_IFACES = False
 
 
 def load_bridge_module(path: Path = BRIDGE_PY):
@@ -76,8 +108,14 @@ def load_bridge_module(path: Path = BRIDGE_PY):
 
 B = load_bridge_module()
 
-NODE_VERSION = f"{B.BRIDGE_VERSION} · ros2-poc (rmw_zenoh, /fictrac/raw, connectors)"
+NODE_VERSION = f"{B.BRIDGE_VERSION} · ros2-poc plan-b (rmw_zenoh, mcap record, connectors)"
 FICTRAC_TOPIC = "/fictrac/raw"
+FICTRAC_FRAME_TOPIC = "/fictrac/frame"  # typed arena_interfaces/FicTracFrame
+BROWSER_TOPIC = "/arena/browser"
+EVENT_TOPIC = "/arena/event"
+SESSION_TOPIC = "/arena/session"
+ARENA_FRAME_TYPE = "arena_interfaces/msg/ArenaFrame"
+FICTRAC_FRAME_TYPE = "arena_interfaces/msg/FicTracFrame"
 KINEFLY_TOPIC = "/kinefly/raw"
 BIAS_CMD_TOPIC = "/bias/cmd"
 BIAS_REPLY_TOPIC = "/bias/reply"
@@ -189,85 +227,287 @@ def summary(self) -> dict:
         }
 
 
-class RosLogWriter(B.LogWriter):
-    """bridge.py's LogWriter + two hooks: `on_open()` after a file opens (writes the
-    'where do frames come from' line, resets the source watchdog) and `on_close()` just
-    before it closes (writes the per-source connector_status lines). Hooking the writer
-    itself covers every close path — log_control off, log_export, shutdown — without
-    re-parsing browser messages."""
+class RecordingLogWriter(B.LogWriter):
+    """bridge.py's LogWriter (kept as the SHADOW NDJSON during the spike) + the MCAP record.
+
+    Every emission the live writer makes is also recorded, with a per-run sequence number
+    `seq` assigned at the moment the live writer would write the line — so the converter can
+    reproduce the live order exactly (`--order seq`) or test the time-ordered alternative.
+      * `_open`      → the bag opens FIRST, then the shadow file; `/arena/session` open record
+      * write_inbound → `/arena/browser` {seq, rx_ms, raw, line:true}  (hello/config/log/…)
+      * record_browser → `/arena/browser` {…, line:false} for rows / log_export / connector_command
+      * write_event  → `/arena/event` {seq, …}   (record=False for events the converter DERIVES
+                        from device topics: BIAS replies/status and connector commands)
+      * frames       → recorded by RosHub.publish (the emission point), `/arena/frame`
+      * close        → `/arena/session` logging_stopped, then the bag closes
+    `export_current` returns the CONVERTED log (or the shadow with --export live) and
+    prints whether the two are byte-identical — the per-run fidelity self-check.
+    Hooks `on_open()` / `on_close()` as before (connector_status lines, watchdog scope)."""
 
     on_open = None
     on_close = None
 
+    def __init__(self, path, level, log_dir, *, profile: str, typed: bool, export: str, connectors: list[str]) -> None:
+        self.seq = 0
+        self.rec: Recorder | None = None
+        self.bag_name: str | None = None
+        self.last_bag: dict = {}
+        self.last_convert: dict = {}
+        self._profile = profile
+        self._typed = typed
+        self._export = export
+        self._connectors = list(connectors)
+        self._hub = None  # set by run() once the hub exists
+        super().__init__(path, level, log_dir)
+
+    # ── sequence + record helpers ────────────────────────────────────────────────────
+    def next_seq(self) -> int:
+        self.seq += 1
+        return self.seq
+
+    def _record(self, topic: str, obj: dict) -> None:
+        if self.rec is not None:
+            self.rec.write_json(topic, obj)
+
+    def topics(self) -> dict[str, str]:
+        """Topic → type for the bag (all of them, so a run documents what it could hold)."""
+        t = {
+            SESSION_TOPIC: STRING_TYPE, BROWSER_TOPIC: STRING_TYPE, EVENT_TOPIC: STRING_TYPE,
+            KINEFLY_TOPIC: STRING_TYPE, BIAS_CMD_TOPIC: STRING_TYPE, BIAS_REPLY_TOPIC: STRING_TYPE, BIAS_STATUS_TOPIC: STRING_TYPE,
+        }
+        if self._typed:
+            t[FRAME_TOPIC] = ARENA_FRAME_TYPE
+            t[FICTRAC_FRAME_TOPIC] = FICTRAC_FRAME_TYPE
+        else:
+            t[FRAME_TOPIC] = STRING_TYPE
+            t[FICTRAC_TOPIC] = STRING_TYPE
+        return t
+
+    # ── the LogWriter surface ────────────────────────────────────────────────────────
     def _open(self, name: str, event: str) -> None:
-        super()._open(name, event)
+        bag = (name[:-6] if name.endswith(".jsonl") else name) + ".bag"
+        rec = Recorder(bag, self.topics(), self._profile)
+        t_open = time.monotonic()
+        self.rec = rec  # visible to the ROS thread first: records during open() are buffered
+        open_error = None
+        try:
+            rec.open()
+        except Exception as exc:  # a recorder problem must never take the run (or the WebSocket) down
+            open_error = f"{type(exc).__name__}: {exc}"
+            self.rec = None
+            bag = None
+        self.bag_name = bag
+        self.seq = 0
+        super()._open(name, event)  # shadow file: session + schema lines; sets self._t0
+        if open_error:
+            print(f"[record] FAILED to open the bag ({open_error}); this run has the live file only", file=sys.stderr)
+            self.write_event({"type": "log", "event": "warn", "dir": "bridge", "level": "WARN", "ms": 0,
+                              "message": f"mcap record unavailable for this run: {open_error}"}, record=False)
+        else:
+            self._record(SESSION_TOPIC, {"seq": self.next_seq(), "event": event, "file": name, "ms": self._t0, "level": self.level,
+                                         "bag": bag, "connectors": sorted(self._connectors), "node": NODE_VERSION, "typed": self._typed,
+                                         "profile": self._profile})
+            print(f"[record] {bag} ({self._profile}, typed={self._typed}; opened in {1000 * (time.monotonic() - t_open):.0f} ms)", file=sys.stderr)
         if self.on_open is not None:
             self.on_open()
 
+    def start_new_log(self) -> None:
+        if self._explicit and self._fh:  # explicit --log path: a marker inside the open file
+            ms = B.now_ms()
+            self._emit({"type": "session", "event": "logging_started", "ms": ms})
+            self._record(SESSION_TOPIC, {"seq": self.next_seq(), "event": "logging_started", "ms": ms})
+            return
+        super().start_new_log()
+
+    def write_inbound(self, raw) -> None:
+        if not self._fh:
+            return
+        text = raw.decode("utf-8", errors="replace") if isinstance(raw, bytes) else raw
+        rx = B.now_ms()
+        self._record(BROWSER_TOPIC, {"seq": self.next_seq(), "rx_ms": rx, "raw": text, "line": True})
+        # LogWriter.write_inbound, with the SAME rx stamp as the record (the base would take
+        # its own now_ms() a few µs later).
+        try:
+            obj = json.loads(text)
+        except json.JSONDecodeError:
+            obj = {"type": "log", "event": "unparsed", "raw": text}
+        obj.setdefault("dir", B.ARENA_DIR)
+        obj.setdefault("rx_ms", rx)
+        if self.level == "behavior_v2" and obj.get("event") == "arena_command":
+            arr = B.compact_arena_command(obj, self._t0)
+            if arr is not None:
+                self._emit(arr)
+                return
+            self._verbatim_warned += 1
+            if self._verbatim_warned <= 3:
+                print(f"[log] arena_command kept verbatim: {B.arena_compact_reason(obj, self._t0)}", file=sys.stderr)
+        self._emit(obj)
+
+    def record_browser(self, text: str) -> int | None:
+        """A browser message the live writer does not write as a line (rows / log_export /
+        connector_command). Returns the seq it got, or None when no run is open."""
+        if not self._fh:
+            return None
+        seq = self.next_seq()
+        self._record(BROWSER_TOPIC, {"seq": seq, "rx_ms": B.now_ms(), "raw": text, "line": False})
+        return seq
+
+    def write_event(self, obj: dict, record: bool = True) -> None:
+        if not self._fh:
+            return
+        if record:
+            self._record(EVENT_TOPIC, {"seq": self.next_seq(), **obj})
+        super().write_event(obj)
+
+    def record_frame(self, msg: dict) -> None:
+        """Called by RosHub.publish — the frame's emission point (write_frame follows at once)."""
+        if not self._fh or self.rec is None:
+            return
+        seq = self.next_seq()
+        pub_ns = int(msg["t"]) * 1_000_000
+        if self._typed:
+            m = ArenaFrame(t_ms=int(msg["t"]), ms=int(msg["ms"]), fc=int(msg["fc"]), idx=int(msg["idx"]),
+                           has_ft=msg.get("ft") is not None, ft=float(msg["ft"]) if msg.get("ft") is not None else float("nan"),
+                           x=float(msg["x"]), y=float(msg["y"]), hd=float(msg["hd"]), epoch=int(msg.get("epoch", 0)),
+                           bias_deg=float(msg.get("bias", 0.0)), seq=seq)
+            self.rec.write_msg(FRAME_TOPIC, m, pub_ns=pub_ns)
+        else:
+            self.rec.write_json(FRAME_TOPIC, {"wseq": seq, **msg}, pub_ns=pub_ns)
+
     def close(self) -> None:
-        if self._fh is not None and self.on_close is not None:
+        if not self._fh:
+            return
+        if self.on_close is not None:
             self.on_close()
-        super().close()
+        ms = B.now_ms()
+        self._record(SESSION_TOPIC, {"seq": self.next_seq(), "event": "logging_stopped", "ms": ms})
+        self._emit({"type": "session", "event": "logging_stopped", "ms": ms})
+        self._fh.close()
+        self._fh = None
+        if self.rec is not None:
+            self.last_bag = self.rec.close()
+            self.rec = None
+            print(f"[record] closed {self.last_bag.get('bag')}: {self.last_bag.get('records')} records, "
+                  f"{self.last_bag.get('bytes_on_disk')} B on disk", file=sys.stderr)
+
+    def export_current(self):
+        if self._fh:
+            self.close()
+        name, live = super().export_current()
+        if name is None or self._export == "live" or not self.bag_name:
+            return name, live
+        t0 = time.monotonic()
+        try:
+            text, report = convert_bag(self.bag_name, level=None, order="seq")
+        except Exception as exc:
+            print(f"[convert] FAILED ({exc!r}) — exporting the shadow file instead", file=sys.stderr)
+            self.last_convert = {"error": repr(exc)}
+            return name, live
+        report["convert_ms"] = round(1000 * (time.monotonic() - t0), 1)
+        report["identical_to_live"] = text == live
+        if not report["identical_to_live"]:
+            a, b = text.splitlines(), (live or "").splitlines()
+            report["first_diff_line"] = next((i + 1 for i, (x, y) in enumerate(zip(a, b)) if x != y), min(len(a), len(b)) + 1)
+            report["lines_live"] = len(b)
+        self.last_convert = report
+        print(f"[convert] {self.bag_name} → {report['lines']} lines in {report['convert_ms']} ms; "
+              f"identical to the live file: {report['identical_to_live']}", file=sys.stderr)
+        return name, text
 
 
 class RosHub(B.Hub):
-    """bridge.py's Hub + a ROS mirror of every frame on /arena/frame."""
+    """bridge.py's Hub + a ROS mirror of every frame on /arena/frame (String JSON, or a typed
+    ArenaFrame when the interfaces are built) + the frame's MCAP record."""
 
-    def __init__(self, on_message, ros_pub) -> None:
+    def __init__(self, on_message, ros_pub, log: RecordingLogWriter, typed: bool) -> None:
         super().__init__(on_message)
         self._ros_pub = ros_pub
+        self._log = log
+        self._typed = typed
 
     async def publish(self, msg: dict) -> None:
         await super().publish(msg)
+        self._log.record_frame(msg)
         if self._ros_pub is not None:
-            m = String()
-            m.data = json.dumps(msg, separators=(",", ":"))
+            if self._typed:
+                m = ArenaFrame(t_ms=int(msg["t"]), ms=int(msg["ms"]), fc=int(msg["fc"]), idx=int(msg["idx"]),
+                               has_ft=msg.get("ft") is not None, ft=float(msg["ft"]) if msg.get("ft") is not None else float("nan"),
+                               x=float(msg["x"]), y=float(msg["y"]), hd=float(msg["hd"]), epoch=int(msg.get("epoch", 0)),
+                               bias_deg=float(msg.get("bias", 0.0)), seq=self._log.seq)
+            else:
+                m = String()
+                m.data = json.dumps(msg, separators=(",", ":"))
             self._ros_pub.publish(m)
 
 
 class BridgeNode(Node):
-    """ROS side: subscriptions hand data to the asyncio side thread-safely."""
+    """ROS side: subscriptions hand data to the asyncio side thread-safely. Every device
+    topic is subscribed RAW (serialized bytes) so the same bytes go to the bag unchanged."""
 
-    def __init__(self, loop: asyncio.AbstractEventLoop, queue: asyncio.Queue, on_kinefly, on_bias) -> None:
+    def __init__(self, loop: asyncio.AbstractEventLoop, queue: asyncio.Queue, on_kinefly, on_bias, log: RecordingLogWriter, typed: bool) -> None:
         super().__init__("arena_bridge")
         self._loop = loop
         self._queue = queue
         self._on_kinefly = on_kinefly
         self._on_bias = on_bias
+        self._log = log
+        self.typed = typed
         self.stats = {"fictrac": SourceStats("fictrac"), "kinefly": SourceStats("kinefly"), "bias": SourceStats("bias")}
-        self.frame_pub = self.create_publisher(String, FRAME_TOPIC, FRAME_QOS)
+        self.frame_pub = self.create_publisher(ArenaFrame if typed else String, FRAME_TOPIC, FRAME_QOS)
         # Studio → bridge connector_command relayed to the BIAS node (LAB-303 connectors).
         self.bias_cmd_pub = self.create_publisher(String, BIAS_CMD_TOPIC, RAW_QOS)
-        self.create_subscription(String, FICTRAC_TOPIC, self._fictrac, RAW_QOS)
-        self.create_subscription(String, KINEFLY_TOPIC, self._kinefly, RAW_QOS)
-        self.create_subscription(String, BIAS_REPLY_TOPIC, lambda m: self._bias("reply", m), RAW_QOS)
-        self.create_subscription(String, BIAS_STATUS_TOPIC, lambda m: self._bias("status", m), RAW_QOS)
+        if typed:
+            self.create_subscription(FicTracFrame, FICTRAC_FRAME_TOPIC, self._fictrac_typed, RAW_QOS, raw=True)
+        else:
+            self.create_subscription(String, FICTRAC_TOPIC, self._fictrac, RAW_QOS, raw=True)
+        self.create_subscription(String, KINEFLY_TOPIC, self._kinefly, RAW_QOS, raw=True)
+        self.create_subscription(String, BIAS_REPLY_TOPIC, lambda b: self._bias("reply", BIAS_REPLY_TOPIC, b), RAW_QOS, raw=True)
+        self.create_subscription(String, BIAS_STATUS_TOPIC, lambda b: self._bias("status", BIAS_STATUS_TOPIC, b), RAW_QOS, raw=True)
+
+    def _record(self, topic: str, data: bytes) -> None:
+        rec = self._log.rec
+        if rec is not None:
+            rec.write_raw(topic, data)
 
     @staticmethod
-    def _envelope(msg: String) -> dict | None:
+    def _envelope(data: bytes) -> dict | None:
         try:
-            env = json.loads(msg.data)
-        except json.JSONDecodeError:
+            env = json.loads(deserialize_message(data, String).data)
+        except (json.JSONDecodeError, Exception):
             return None
         return env if isinstance(env, dict) else None
 
-    def _fictrac(self, msg: String) -> None:
-        env = self._envelope(msg)
+    def _fictrac(self, data: bytes) -> None:
+        self._record(FICTRAC_TOPIC, data)
+        env = self._envelope(data)
         if env is None or not isinstance(env.get("raw"), str):
             return
         self.stats["fictrac"].seen(env.get("rx_epoch_ms"))
         # Same hand-off bridge.py's UDP protocol does (queue.put_nowait), from the ROS thread.
         self._loop.call_soon_threadsafe(self._queue.put_nowait, env["raw"])
 
-    def _kinefly(self, msg: String) -> None:
-        env = self._envelope(msg)
+    def _fictrac_typed(self, data: bytes) -> None:
+        self._record(FICTRAC_FRAME_TOPIC, data)
+        try:
+            m = deserialize_message(data, FicTracFrame)
+        except Exception:
+            return
+        self.stats["fictrac"].seen(int(m.rx_epoch_ms) if m.rx_epoch_ms else None)
+        # The closed-loop math stays bridge 3.4's byte for byte: it parses the verbatim line
+        # the typed message carries. The typed fields are for ROS-native consumers + the bag.
+        self._loop.call_soon_threadsafe(self._queue.put_nowait, m.raw)
+
+    def _kinefly(self, data: bytes) -> None:
+        self._record(KINEFLY_TOPIC, data)
+        env = self._envelope(data)
         if env is None or not isinstance(env.get("raw"), str):
             return
         self.stats["kinefly"].seen(env.get("rx_epoch_ms"))
         self._loop.call_soon_threadsafe(self._on_kinefly, env)
 
-    def _bias(self, kind: str, msg: String) -> None:
-        env = self._envelope(msg)
+    def _bias(self, kind: str, topic: str, data: bytes) -> None:
+        self._record(topic, data)
+        env = self._envelope(data)
         if env is None:
             return
         self.stats["bias"].seen(env.get("rx_epoch_ms"))
@@ -278,7 +518,12 @@ async def run(args: argparse.Namespace) -> None:
     if B.serve is None:
         raise SystemExit("the `websockets` package is required (pixi install)")
     loop = asyncio.get_running_loop()
-    log = RosLogWriter(args.log, args.log_level, args.log_dir)
+    typed = HAVE_IFACES if args.typed == "auto" else (args.typed == "on")
+    if typed and not HAVE_IFACES:
+        raise SystemExit("--typed on, but arena_interfaces is not importable (pixi install builds it; or pixi run build-interfaces)")
+    CONNECTORS = {"bias": BIAS_CMD_TOPIC}
+    log = RecordingLogWriter(args.log, args.log_level, args.log_dir, profile=args.bag_profile, typed=typed,
+                             export=args.export, connectors=list(CONNECTORS))
     queue: asyncio.Queue[str] = asyncio.Queue()
     pipeline = B.Pipeline(
         None,
@@ -313,7 +558,6 @@ def on_kinefly(env: dict) -> None:
     # is logged on arrival (dir browser→bridge) and its reply is logged when the node answers
     # (via "ws" marks replies the Studio asked for, as opposed to bias_cmd.py's). The reply
     # goes back to the ASKING websocket only (the hub's broadcast coalesces frames).
-    CONNECTORS = {"bias": BIAS_CMD_TOPIC}
     pending: dict[str, dict] = {}  # command id → {"ws", "plugin", "connector", "t"}
 
     async def ws_reply(websocket, msg: dict) -> None:
@@ -333,7 +577,7 @@ def on_bias(kind: str, env: dict) -> None:
         if p is not None:
             ev["via"] = "ws"
             ev["plugin"] = p["plugin"]
-        log.write_event(ev)
+        log.write_event(ev, record=False)  # derived by the converter from /bias/reply|status
         if p is not None:
             rep = {"type": "connector_reply", "connector": p["connector"], "plugin": p["plugin"]}
             for k, v in env.items():
@@ -341,24 +585,29 @@ def on_bias(kind: str, env: dict) -> None:
                     rep[k] = v
             loop.create_task(ws_reply(p["ws"], rep))
 
-    async def on_connector_command(obj: dict, websocket) -> None:
+    async def on_connector_command(obj: dict, websocket, raw_text: str | None = None) -> None:
         cid = obj.get("id")
         connector = str(obj.get("connector") or "bias")
         command = str(obj.get("command") or "")
         params = obj.get("params") if isinstance(obj.get("params"), dict) else {}
         plugin = obj.get("plugin")
+        # Recorded as the browser message itself (the converter derives this event + the
+        # unknown-connector error reply from it); the shadow file gets the lines as before.
+        log.record_browser(json.dumps(obj, separators=(",", ":")) if raw_text is None else raw_text)
         log.write_event({"type": "connector", "src": connector, "kind": "command", "dir": "browser→bridge", "ms": rel_ms(),
-                         "id": cid, "plugin": plugin, "command": command, "params": params})
+                         "id": cid, "plugin": plugin, "command": command, "params": params}, record=False)
         if connector not in CONNECTORS:
             err = f"no connector {connector!r} on this bridge (have {sorted(CONNECTORS)})"
             log.write_event({"type": "connector", "src": connector, "kind": "reply", "dir": "bridge", "ms": rel_ms(), "via": "ws",
-                             "id": cid, "plugin": plugin, "command": command, "ok": False, "outcome": "error", "error": err})
+                             "id": cid, "plugin": plugin, "command": command, "ok": False, "outcome": "error", "error": err}, record=False)
             await ws_reply(websocket, {"type": "connector_reply", "id": cid, "connector": connector, "plugin": plugin,
                                        "command": command, "ok": False, "outcome": "error", "error": err})
             return
         pending[str(cid)] = {"ws": websocket, "plugin": plugin, "connector": connector, "t": time.monotonic()}
         m = String()
         m.data = json.dumps({"id": cid, "command": command, "params": params}, separators=(",", ":"))
+        if log.rec is not None:
+            log.rec.write_msg(BIAS_CMD_TOPIC, m)
         node.bias_cmd_pub.publish(m)
 
     inputs = RosInput(args.fictrac_port, warn)
@@ -378,18 +627,29 @@ async def dispatch(raw, websocket=None) -> None:
         if kind == "hello":
             log.write_inbound(text)
             await ws_reply(websocket, {"type": "hello_ack", "bridge": B.BRIDGE_VERSION, "levels": list(B.LOG_LEVELS),
-                                       "level": log.level, "logging": log.active, "connectors": sorted(CONNECTORS)})
+                                       "level": log.level, "logging": log.active, "connectors": sorted(CONNECTORS),
+                                       "record": "mcap", "typed": typed})
             return
         if kind == "connector_command":
-            await on_connector_command(obj, websocket)
+            await on_connector_command(obj, websocket, text)
+            return
+        if kind == "rows":
+            # The live writer writes the rows (write_rows); the bag gets the message itself.
+            log.record_browser(text)
+            log.write_rows(obj.get("rows"))
             return
+        if kind == "log_export":
+            log.record_browser(text)  # the last record of the run (the export closes the bag)
         await dispatch_34(raw, websocket)
 
-    node = BridgeNode(loop, queue, on_kinefly, on_bias)
+    node = BridgeNode(loop, queue, on_kinefly, on_bias, log, typed)
 
     def on_log_open() -> None:
-        """A new file: note where its frames come from, and scope the source watchdog to it
-        (a source lost/resumed between runs must not leak a half pair into this file)."""
+        """A new file: ONE ms base (the pipeline's t0 = the log's open stamp; bridge 3.4 took
+        two now_ms() samples a few µs apart), note where its frames come from, and scope the
+        source watchdog to it (a source lost/resumed between runs must not leak a half pair)."""
+        if log._t0 is not None:
+            pipeline.t0_ms = log._t0
         for s in node.stats.values():
             s.lost = False
             s.last_rx_mono = None
@@ -401,7 +661,10 @@ def on_log_open() -> None:
                 "src": "bridge",
                 "node": NODE_VERSION,
                 "rmw": os.environ.get("RMW_IMPLEMENTATION"),
-                "topics": {"fictrac": FICTRAC_TOPIC, "kinefly": KINEFLY_TOPIC, "bias": [BIAS_REPLY_TOPIC, BIAS_STATUS_TOPIC], "frame": FRAME_TOPIC},
+                "record": {"bag": log.bag_name, "profile": log._profile, "typed": typed},
+                "topics": {"fictrac": FICTRAC_FRAME_TOPIC if typed else FICTRAC_TOPIC, "kinefly": KINEFLY_TOPIC,
+                           "bias": [BIAS_CMD_TOPIC, BIAS_REPLY_TOPIC, BIAS_STATUS_TOPIC], "frame": FRAME_TOPIC,
+                           "browser": BROWSER_TOPIC, "event": EVENT_TOPIC, "session": SESSION_TOPIC},
             }
         )
 
@@ -416,8 +679,9 @@ def on_log_close() -> None:
     if log.active:  # a fixed --log path opened before the hooks existed
         on_log_open()
 
-    hub = RosHub(dispatch, node.frame_pub)
+    hub = RosHub(dispatch, node.frame_pub, log, typed)
     pipeline.hub = hub
+    log._hub = hub
 
     # hello_ack must say 3.4 first so the unmodified Studio's _bridgeAtLeast(3,4) passes.
     B.BRIDGE_VERSION = NODE_VERSION
@@ -462,7 +726,8 @@ async def watchdog() -> None:
     async with B.serve(hub.serve_client, args.ws_host, args.ws_port, max_size=B.WS_MAX_SIZE):
         print(
             f"[ws] serving ws://{args.ws_host}:{args.ws_port}  (bridge-node {NODE_VERSION}; "
-            f"rmw={os.environ.get('RMW_IMPLEMENTATION')}, in={FICTRAC_TOPIC}, frames={args.frames}, "
+            f"rmw={os.environ.get('RMW_IMPLEMENTATION')}, in={FICTRAC_FRAME_TOPIC if typed else FICTRAC_TOPIC}, typed={typed}, "
+            f"record=mcap/{args.bag_profile}, export={args.export}, frames={args.frames}, "
             f"coupling={args.coupling:g}, deg_per_frame={args.deg_per_frame:g}, log={args.log or 'on-demand'}, level={log.level})",
             file=sys.stderr,
         )
@@ -498,6 +763,12 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--log", default=None, help="fixed log path (else on demand per log_control)")
     p.add_argument("--log-dir", default=str(HERE.parent / "runlogs"), help="directory for on-demand arena-log-*.jsonl (default: ros2-poc/runlogs)")
     p.add_argument("--log-level", choices=B.LOG_LEVELS, default=B.DEFAULT_LOG_LEVEL)
+    p.add_argument("--typed", choices=("auto", "on", "off"), default="auto",
+                   help="consume /fictrac/frame + publish /arena/frame as arena_interfaces types (auto: when the package imports; default)")
+    p.add_argument("--bag-profile", choices=sorted(PROFILES), default="crashsafe",
+                   help="MCAP writer profile: crashsafe (no chunking, no cache; default — rosbag2's defaults hold a whole short run in an unflushed 768 KiB chunk) or default (rosbag2 defaults)")
+    p.add_argument("--export", choices=("converted", "live"), default="converted",
+                   help="what log_export returns: the NDJSON converted from the bag (default) or the live shadow file")
     args, ros_args = p.parse_known_args(argv)
     if args.frames <= 0:
         p.error("--frames must be > 0")
diff --git a/ros2-poc/nodes/build_interfaces.py b/ros2-poc/nodes/build_interfaces.py
new file mode 100644
index 00000000..1cb0ae43
--- /dev/null
+++ b/ros2-poc/nodes/build_interfaces.py
@@ -0,0 +1,130 @@
+#!/usr/bin/env python3
+"""build_interfaces.py — build interfaces/arena_interfaces inside this pixi env, and time it.
+
+    pixi run build-interfaces            # colcon build → interfaces/install, result JSON printed + saved
+    pixi run build-interfaces -- --clean # wipe build/ + install/ first (a cold build; the number to report)
+    pixi run build-interfaces -- --check # just report: built? importable? which typesupports?
+
+LAB-303 Plan B, item 3: typed messages mean an ament_cmake interfaces package, and rosidl
+generates C typesupport + a Python C extension — so a C/C++ compiler is needed on every machine
+that builds it (RoboStack's `cxx-compiler`: clang on macOS, GCC on Linux, MSVC 2022 on Windows,
+which pixi cannot install). This script is the measurement: wall time, steps, failures, verbatim.
+The result goes to interfaces/build-result.json and the README's "Plan B spike" table.
+
+Nodes pick the built package up through `_common.setup_interfaces()` (prepends the install
+prefix to AMENT_PREFIX_PATH / PYTHONPATH / the dynamic-library path in-process), so no shell
+has to source `install/setup.*` — the same command works on Windows.
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import platform
+import shutil
+import subprocess
+import sys
+import time
+from pathlib import Path
+
+HERE = Path(__file__).resolve().parent
+POC = HERE.parent
+IFACES = POC / "interfaces"
+PKG = IFACES / "arena_interfaces"
+BUILD = IFACES / "build"
+INSTALL = IFACES / "install"
+RESULT = IFACES / "build-result.json"
+
+sys.path.insert(0, str(HERE))
+from _common import setup_interfaces  # noqa: E402
+
+
+def check() -> dict:
+    out = {"install_prefix": str(INSTALL), "built": INSTALL.exists()}
+    setup_interfaces()
+    try:
+        from arena_interfaces.msg import ArenaFrame, ConnectorReply, FicTracFrame  # noqa: F401
+
+        out["importable"] = True
+        out["msgs"] = ["FicTracFrame", "ArenaFrame", "ConnectorReply"]
+        # Can rclpy serialize it (loads the C typesupport)?
+        from rclpy.serialization import serialize_message
+
+        f = FicTracFrame(seq=1, raw="FT,1,2", tag="FT", fields=[1.0, 2.0])
+        out["serializes"] = len(serialize_message(f)) > 4
+    except Exception as exc:  # ImportError, OSError (dlopen), …
+        out["importable"] = False
+        out["error"] = f"{type(exc).__name__}: {exc}"
+    return out
+
+
+def build(clean: bool) -> dict:
+    res: dict = {"platform": f"{platform.system()} {platform.machine()}", "python": sys.version.split()[0],
+                 "steps": [], "ok": False}
+    if clean:
+        for d in (BUILD, INSTALL):
+            shutil.rmtree(d, ignore_errors=True)
+        res["clean"] = True
+    for tool in ("colcon", "cmake", "ninja"):
+        res.setdefault("tools", {})[tool] = shutil.which(tool)
+    cxx = shutil.which("clang++") or shutil.which("c++") or shutil.which("cl")
+    res["tools"]["cxx"] = cxx
+    cmd = [
+        "colcon", "build",
+        "--base-paths", str(IFACES),
+        "--build-base", str(BUILD),
+        "--install-base", str(INSTALL),
+        "--merge-install",
+        "--event-handlers", "console_direct+",
+        "--cmake-args", "-GNinja", "-DCMAKE_BUILD_TYPE=Release",
+        f"-DPython3_EXECUTABLE={sys.executable}", f"-DPython_EXECUTABLE={sys.executable}",
+        # RoboStack's toolchain sets the install rpath to the ENV's lib only; the generated
+        # Python extension then cannot find libarena_interfaces__*.dylib next to itself, and
+        # macOS SIP strips DYLD_LIBRARY_PATH on the way through pixi's shell (first build on
+        # the Mac: `UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c'`). Add
+        # the package's own lib dir to the rpath.
+        f"-DCMAKE_INSTALL_RPATH={INSTALL / 'lib'};{Path(sys.executable).resolve().parents[1] / 'lib'}",
+        "-DCMAKE_BUILD_WITH_INSTALL_RPATH=ON",
+    ]
+    res["command"] = " ".join(cmd)
+    t0 = time.monotonic()
+    env = os.environ.copy()
+    env.setdefault("PYTHONUTF8", "1")
+    p = subprocess.run(cmd, cwd=str(IFACES), capture_output=True, text=True, env=env)
+    res["wall_s"] = round(time.monotonic() - t0, 1)
+    res["returncode"] = p.returncode
+    tail = (p.stdout + p.stderr).strip().splitlines()
+    res["log_tail"] = tail[-25:]
+    (IFACES / "build.log").write_text(p.stdout + "\n--- stderr ---\n" + p.stderr, encoding="utf-8")
+    res["steps"].append({"step": "colcon build", "s": res["wall_s"], "rc": p.returncode})
+    if p.returncode == 0:
+        t1 = time.monotonic()
+        chk = check()
+        res["check"] = chk
+        res["steps"].append({"step": "import + serialize", "s": round(time.monotonic() - t1, 2), "ok": chk.get("serializes", False)})
+        res["ok"] = bool(chk.get("serializes"))
+        libs = sorted(p.name for p in (INSTALL / "lib").glob("libarena_interfaces__*")) if (INSTALL / "lib").exists() else []
+        res["typesupport_libs"] = libs
+    return res
+
+
+def main(argv=None) -> int:
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument("--clean", action="store_true", help="remove interfaces/build + install first")
+    ap.add_argument("--check", action="store_true", help="only report whether the package imports")
+    a = ap.parse_args(argv)
+    if a.check:
+        r = check()
+        print(json.dumps(r, indent=1))
+        return 0 if r.get("importable") else 1
+    r = build(a.clean)
+    RESULT.write_text(json.dumps(r, indent=1) + "\n", encoding="utf-8")
+    print(json.dumps({k: v for k, v in r.items() if k != "log_tail"}, indent=1))
+    if not r["ok"]:
+        print("\n".join(r["log_tail"]), file=sys.stderr)
+    return 0 if r["ok"] else 1
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/nodes/fictrac_udp_adapter.py b/ros2-poc/nodes/fictrac_udp_adapter.py
index af5a7d0c..0f474b36 100644
--- a/ros2-poc/nodes/fictrac_udp_adapter.py
+++ b/ros2-poc/nodes/fictrac_udp_adapter.py
@@ -20,6 +20,13 @@
 
     pixi run fictrac-adapter -- --port 60000
     pixi run sim -- --proto udp --rate 50            # the unmodified simulator feeds it
+
+PLAN B (LAB-303, typed topic): with `--typed` (default `auto` = when arena_interfaces imports)
+the adapter ALSO publishes `/fictrac/frame` as arena_interfaces/FicTracFrame — the parsed
+columns, the FT tag, the receive stamps AND the verbatim line — so the closed-loop node can
+subscribe to a typed topic while the mapping math still parses exactly the bytes FicTrac sent.
+`/fictrac/raw` keeps being published (`--typed only` drops it) so `ros2 topic echo` and older
+consumers see no change.
 """
 
 from __future__ import annotations
@@ -35,17 +42,46 @@
 from rclpy.node import Node
 from std_msgs.msg import String
 
-from _common import RELIABLE_QOS, spin, wrap_line
+from _common import RELIABLE_QOS, setup_interfaces, spin, wrap_line
+
+setup_interfaces()
+try:
+    from arena_interfaces.msg import FicTracFrame
+
+    HAVE_IFACES = True
+except Exception:
+    FicTracFrame = None  # type: ignore[assignment]
+    HAVE_IFACES = False
 
 TOPIC = "/fictrac/raw"
+TYPED_TOPIC = "/fictrac/frame"
 RAW_QOS = RELIABLE_QOS
 
 
+def parse_fictrac_line(raw: str) -> tuple[str, list[float]]:
+    """(tag, fields) the way bridge.py's Pipeline parses: a leading FT* token is the tag
+    ('' when absent, as in offline .dat lines and the simulator); fields = the floats after
+    it, or [] when the line is not numeric (a bad frame has no usable data)."""
+    parts = raw.strip().split(",")
+    tag = ""
+    if parts and parts[0].strip()[:2].upper() == "FT":
+        tag = parts[0].strip()
+        parts = parts[1:]
+    try:
+        return tag, [float(p) for p in parts]
+    except ValueError:
+        return tag, []
+
+
 
 class FicTracUdpAdapter(Node):
-    def __init__(self, host: str, port: int, status_every_s: float) -> None:
+    def __init__(self, host: str, port: int, status_every_s: float, typed: str = "auto") -> None:
         super().__init__("fictrac_udp_adapter")
-        self.pub = self.create_publisher(String, TOPIC, RAW_QOS)
+        want_typed = HAVE_IFACES if typed == "auto" else typed in ("on", "only")
+        if typed in ("on", "only") and not HAVE_IFACES:
+            raise SystemExit("--typed on/only, but arena_interfaces is not importable (pixi install builds it)")
+        self.typed_pub = self.create_publisher(FicTracFrame, TYPED_TOPIC, RAW_QOS) if want_typed else None
+        self.pub = None if typed == "only" else self.create_publisher(String, TOPIC, RAW_QOS)
         self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
         self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
         self.sock.bind((host, port))
@@ -57,16 +93,21 @@ def __init__(self, host: str, port: int, status_every_s: float) -> None:
         self._buf = b""
         self._thread = threading.Thread(target=self._recv_loop, name="udp-recv", daemon=True)
         self._thread.start()
-        self.get_logger().info(f"UDP {host}:{port} → {TOPIC} (std_msgs/String JSON, reliable)")
+        self.get_logger().info(f"UDP {host}:{port} → {TOPIC if self.pub else '-'}" + (f" + {TYPED_TOPIC} (arena_interfaces/FicTracFrame)" if self.typed_pub else " (std_msgs/String JSON, reliable)"))
         if status_every_s > 0:
             self._last = (0, time.monotonic())
             self.create_timer(status_every_s, self._status)
 
     def _publish(self, raw: str) -> None:
         self.seq += 1
-        msg = String()
-        msg.data = wrap_line("fictrac", self.seq, raw, int(time.time() * 1000), time.monotonic_ns())
-        self.pub.publish(msg)
+        rx_ms, rx_ns = int(time.time() * 1000), time.monotonic_ns()
+        if self.pub is not None:
+            msg = String()
+            msg.data = wrap_line("fictrac", self.seq, raw, rx_ms, rx_ns)
+            self.pub.publish(msg)
+        if self.typed_pub is not None:
+            tag, fields = parse_fictrac_line(raw)
+            self.typed_pub.publish(FicTracFrame(seq=self.seq, rx_epoch_ms=rx_ms, rx_mono_ns=rx_ns, tag=tag, fields=fields, raw=raw))
         self.lines += 1
 
     def _recv_loop(self) -> None:
@@ -111,10 +152,12 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--host", default="127.0.0.1", help="UDP bind host (default: 127.0.0.1)")
     p.add_argument("--port", type=int, default=60000, help="UDP bind port — FicTrac's sock_port (default: 60000)")
     p.add_argument("--status-every", type=float, default=5.0, help="stderr rate line interval in s; 0 = off (default: 5)")
+    p.add_argument("--typed", choices=("auto", "on", "off", "only"), default="auto",
+                   help="also publish /fictrac/frame as arena_interfaces/FicTracFrame (auto: when the package imports; only: drop /fictrac/raw)")
     # ros2 run / launch pass --ros-args; keep them for rclpy.
     args, ros_args = p.parse_known_args(argv)
     rclpy.init(args=ros_args)
-    node = FicTracUdpAdapter(args.host, args.port, args.status_every)
+    node = FicTracUdpAdapter(args.host, args.port, args.status_every, args.typed)
     spin(node)
     print(f"[fictrac-adapter] {node.lines} lines, {node.datagrams} datagrams", file=sys.stderr)
     return 0
diff --git a/ros2-poc/nodes/mcap_convert.py b/ros2-poc/nodes/mcap_convert.py
new file mode 100644
index 00000000..b76b68f8
--- /dev/null
+++ b/ros2-poc/nodes/mcap_convert.py
@@ -0,0 +1,529 @@
+#!/usr/bin/env python3
+"""mcap_convert.py — an arena bridge MCAP bag → the behavior_v2 (or behavior_v1 / full) run log.
+
+    pixi run convert -- runlogs/arena-log-20261014-183007-969.bag            # → <bag stem>.jsonl beside it
+    pixi run convert -- BAG --level behavior_v1 --out run.v1.jsonl
+    pixi run convert -- BAG --order time       # the multi-process ordering (see below)
+    pixi run convert -- BAG --recover          # a crash-truncated bag: salvage what is complete
+
+LAB-303 Plan B: the bag the bridge node records (nodes/recorder.py) is the record of truth and
+the NDJSON every reader accepts is DERIVED from it — at log_export time by the bridge node, or
+offline by this script. Pure Python: the `mcap` package for the container and a small CDR
+decoder for the message types we use, so a lab PC can convert a bag without a ROS process
+(and without rosbag2's index: `--recover` scans a torn file record by record).
+
+What the bag holds and how it becomes lines (nodes/bridge_node.py writes these):
+
+  /arena/session   {"seq","event","file","ms","level",…}   → the session + frame_schema lines
+  /arena/browser   {"seq","rx_ms","raw","line":bool}        → every browser message, verbatim.
+                   `line` = the live writer wrote it as a line (hello/config/log/log_control…);
+                   `rows` messages expand to their rows; `connector_command` → its connector
+                   event; `log_export` → nothing (as today).
+  /arena/frame     the closed-loop evaluation (String JSON or arena_interfaces/ArenaFrame),
+                   with the node's OWN sample time `t`/`ms`         → [ms, fc, idx, ft, x, y, hd]
+  /arena/event     {"seq", …a bridge-authored event…}: bias_config, heading_tare,
+                   connector_status, source_lost/resumed, warn       → verbatim
+  /kinefly/raw     the adapter envelope (DERIVED stream)             → ["kf", ms, seq, t_src, L, R, head, abd]
+  /bias/reply, /bias/status  the BIAS node's JSON (DERIVED)          → {"type":"connector","src":"bias",…}
+  /fictrac/raw | /fictrac/frame  the adapter's FicTrac records       → used only for level `full`
+
+Clock and order rules (comparison.md §4, B1/B2):
+  * ONE ms base: t0 = the session-open record's `ms`, set when the run's log opened. Frame
+    rows, heading_tare and bias_config carry the closed-loop node's own sample instant in that
+    base (the node computed idx, bias phase and tare from one `now`); nothing is re-stamped
+    from the recorder's receive time.
+  * `--order seq` (default): lines whose producer ran in the bridge process carry the writer's
+    emission sequence number and are written in exactly that order — the live writer's order.
+    DERIVED streams (Kinefly, BIAS) have no such number: their `ms` is the recorder's receive
+    time relative to t0 and they are inserted by that time among the sequenced lines.
+  * `--order time`: everything sorted by its own `ms` (ties: session < event < frame < browser,
+    then seq). This is what a graph with the closed-loop math in a SEPARATE process would have
+    to do; the harness measures how far it lands from the live writer's order.
+Levels are a converter option (the bag holds everything): behavior_v2 compacts arena echoes
+to ["a",…] and carries t0 in the schema line; behavior_v1 keeps the echo objects; full keeps
+the 25-column FicTrac records (joined from /fictrac/* by frame counter) and writes no schema.
+"""
+
+from __future__ import annotations
+
+import argparse
+import bisect
+import importlib.util
+import json
+import math
+import os
+import struct
+import sys
+from pathlib import Path
+
+HERE = Path(__file__).resolve().parent
+REPO = HERE.parents[1]
+BRIDGE_PY = REPO / "fictrac-bridge" / "bridge.py"
+
+TOPIC_SESSION = "/arena/session"
+TOPIC_BROWSER = "/arena/browser"
+TOPIC_FRAME = "/arena/frame"
+TOPIC_EVENT = "/arena/event"
+TOPIC_FICTRAC_RAW = "/fictrac/raw"
+TOPIC_FICTRAC_FRAME = "/fictrac/frame"
+TOPIC_KINEFLY = "/kinefly/raw"
+TOPIC_BIAS_CMD = "/bias/cmd"
+TOPIC_BIAS_REPLY = "/bias/reply"
+TOPIC_BIAS_STATUS = "/bias/status"
+KF_TAG = "kf"
+
+
+def load_bridge_module(path: Path = BRIDGE_PY):
+    """fictrac-bridge/bridge.py's PURE functions (compact_arena_command, frame_schema_line, …),
+    imported by path, so the derived file uses exactly the live writer's encoders."""
+    spec = importlib.util.spec_from_file_location("fictrac_bridge_pure", path)
+    if spec is None or spec.loader is None:
+        raise SystemExit(f"cannot load {path}")
+    mod = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(mod)
+    return mod
+
+
+B = load_bridge_module()
+
+
+# ─────────────────────────────────────────────────────────────────────────────
+# CDR decoding (XCDR1, little-endian; alignment origin = right after the 4-byte header)
+# ─────────────────────────────────────────────────────────────────────────────
+_PRIM = {
+    "bool": ("?", 1), "byte": ("B", 1), "char": ("b", 1), "int8": ("b", 1), "uint8": ("B", 1),
+    "int16": ("<h", 2), "uint16": ("<H", 2), "int32": ("<i", 4), "uint32": ("<I", 4),
+    "int64": ("<q", 8), "uint64": ("<Q", 8), "float32": ("<f", 4), "float64": ("<d", 8),
+}
+
+
+class Cdr:
+    def __init__(self, data: bytes) -> None:
+        if len(data) < 4:
+            raise ValueError("CDR payload shorter than its header")
+        self.d = data
+        self.p = 4  # the encapsulation header is not part of the aligned stream
+        self.le = data[1] == 1
+
+    def _align(self, n: int) -> None:
+        rel = self.p - 4
+        pad = (-rel) % n
+        self.p += pad
+
+    def prim(self, t: str):
+        fmt, size = _PRIM[t]
+        self._align(size)
+        if not self.le and len(fmt) == 2:
+            fmt = ">" + fmt[1]
+        v = struct.unpack_from(fmt, self.d, self.p)[0]
+        self.p += size
+        return v
+
+    def string(self) -> str:
+        n = self.prim("uint32")
+        raw = self.d[self.p : self.p + n]
+        self.p += n
+        return raw.rstrip(b"\x00").decode("utf-8", errors="replace")
+
+    def seq_prim(self, t: str) -> list:
+        n = self.prim("uint32")
+        return [self.prim(t) for _ in range(n)]
+
+
+def parse_msgdef(text: str) -> list[tuple[str, str]]:
+    """ros2msg schema text → [(type, name)] for the TOP message (the first block; nested
+    definitions after a '====' separator are not needed by our types)."""
+    fields = []
+    for line in text.splitlines():
+        if line.startswith("===="):
+            break
+        s = line.split("#", 1)[0].strip()
+        if not s or "=" in s:
+            continue
+        typ, name = s.split()[:2]
+        fields.append((typ, name))
+    return fields
+
+
+def decode_cdr(schema_name: str | None, schema_text: str | None, data: bytes):
+    """→ dict of fields (or {'data': str} for std_msgs/String). Only the shapes our .msg files
+    use: primitives, string, primitive sequences."""
+    if schema_name in (None, "std_msgs/msg/String"):
+        c = Cdr(data)
+        return {"data": c.string()}
+    if not schema_text:
+        raise ValueError(f"no schema text for {schema_name}; cannot decode without ROS")
+    c = Cdr(data)
+    out = {}
+    for typ, name in parse_msgdef(schema_text):
+        if typ.endswith("[]"):
+            base = typ[:-2]
+            out[name] = c.seq_prim(base) if base in _PRIM else [c.string() for _ in range(c.prim("uint32"))]
+        elif typ == "string":
+            out[name] = c.string()
+        elif typ in _PRIM:
+            out[name] = c.prim(typ)
+        else:
+            raise ValueError(f"{schema_name}: field {name} of type {typ} is not supported by this decoder")
+    return out
+
+
+# ─────────────────────────────────────────────────────────────────────────────
+# Reading a bag (a rosbag2 directory or a single .mcap file), optionally torn
+# ─────────────────────────────────────────────────────────────────────────────
+def bag_files(path: str | os.PathLike) -> list[Path]:
+    p = Path(path)
+    if p.is_dir():
+        return sorted(p.glob("*.mcap"))
+    return [p]
+
+
+def read_records(path, recover: bool = False):
+    """Yield dicts {topic, schema, log_ns, pub_ns, msg, i} in FILE order; `summary` info in
+    the generator's return value via StopIteration (use read_all)."""
+    from mcap.reader import NonSeekingReader, make_reader
+
+    info = {"files": [], "torn": False, "error": None, "records": 0}
+    for f in bag_files(path):
+        info["files"].append(str(f))
+        with open(f, "rb") as fh:
+            reader = NonSeekingReader(fh, validate_crcs=False) if recover else make_reader(fh, validate_crcs=False)
+            try:
+                # FILE order in both modes: log_time_order=True would read the whole file before
+                # yielding anything, so a torn file would yield nothing at all.
+                for schema, channel, message in reader.iter_messages(log_time_order=False):
+                    info["records"] += 1
+                    yield {
+                        "topic": channel.topic,
+                        "schema": schema.name if schema else None,
+                        "schema_text": schema.data.decode("utf-8", errors="replace") if schema and schema.data else None,
+                        "log_ns": message.log_time,
+                        "pub_ns": message.publish_time,
+                        "data": message.data,
+                    }
+            except Exception as exc:  # a torn tail (crash), or a bag without a summary
+                info["torn"] = True
+                info["error"] = f"{type(exc).__name__}: {exc}"
+                if not recover:
+                    raise
+    return info
+
+
+def read_all(path, recover: bool = False) -> tuple[list[dict], dict]:
+    recs = []
+    gen = read_records(path, recover)
+    try:
+        while True:
+            recs.append(next(gen))
+    except StopIteration as stop:
+        info = stop.value or {}
+    for r in recs:
+        try:
+            r["msg"] = decode_cdr(r["schema"], r.get("schema_text"), r["data"])
+        except Exception as exc:
+            r["msg"] = None
+            r["decode_error"] = f"{type(exc).__name__}: {exc}"
+        r.pop("data", None)
+    return recs, info
+
+
+def _json_of(rec: dict):
+    """A String-JSON record's object (None when not JSON)."""
+    m = rec.get("msg")
+    if not m or "data" not in m:
+        return m  # a typed message: already a dict of fields
+    try:
+        return json.loads(m["data"])
+    except (json.JSONDecodeError, TypeError):
+        return None
+
+
+# ─────────────────────────────────────────────────────────────────────────────
+# bag → lines
+# ─────────────────────────────────────────────────────────────────────────────
+RANK = {"session": 0, "event": 1, "frame": 2, "browser": 3, "derived": 4}
+
+
+def frame_line(fr: dict, level: str, fields_by_fc: dict | None):
+    """A /arena/frame record (hub message JSON or ArenaFrame fields) → the logged frame."""
+    if "idx" in fr and "has_ft" in fr:  # typed ArenaFrame
+        beh = {"ms": int(fr["ms"]), "fc": int(fr["fc"]), "idx": int(fr["idx"]),
+               "ft": float(fr["ft"]) if fr["has_ft"] else None,
+               "x": float(fr["x"]), "y": float(fr["y"]), "hd": float(fr["hd"])}
+    else:  # the hub message, as published
+        beh = {c: fr.get(c) for c in B.BEHAVIOR_V1_COLS}
+    if level == "full":
+        fields = (fields_by_fc or {}).get(int(beh["fc"]))
+        rec = {"type": "fictrac_frame", "seq": beh["fc"], "index": beh["idx"], "t": beh["ms"]}
+        rec["fictrac"] = fields if fields is not None else []
+        return rec
+    return [beh[c] for c in B.BEHAVIOR_V1_COLS]
+
+
+def fictrac_fields(rec: dict) -> tuple[int, list[float]] | None:
+    """A /fictrac/raw envelope or /fictrac/frame message → (fc, fields) as the pipeline parses."""
+    m = rec.get("msg") or {}
+    if "fields" in m and "raw" in m:  # typed FicTracFrame
+        fields = list(m["fields"])
+    else:
+        env = _json_of(rec)
+        raw = env.get("raw") if isinstance(env, dict) else None
+        if not isinstance(raw, str):
+            return None
+        parts = raw.strip().split(",")
+        tag = parts[0].strip()
+        if tag[:2].upper() == "FT":
+            if tag != "FT":
+                return None
+            parts = parts[1:]
+        try:
+            fields = [float(p) for p in parts]
+        except ValueError:
+            return None
+    if len(fields) < 17:
+        return None
+    return int(fields[0]), fields
+
+
+def kf_row(rel_ms: int, pkt: dict, seq: int) -> list:
+    """Same as bridge_node.kf_row (kept in sync by tests/test_ros2_poc.py)."""
+
+    def first_angle(name: str):
+        part = pkt.get("parts", {}).get(name) or {}
+        if not part.get("valid"):
+            return None
+        angles = part.get("angles_rad") or []
+        return round(float(angles[0]), 5) if angles else None
+
+    t_src = pkt.get("timestamp_s")
+    return [KF_TAG, int(rel_ms), int(seq), round(float(t_src), 6) if isinstance(t_src, (int, float)) else None,
+            first_angle("left"), first_angle("right"), first_angle("head"), first_angle("abdomen")]
+
+
+def convert(records: list[dict], level: str | None = None, order: str = "seq", connectors=None) -> tuple[list, dict]:
+    """→ (lines as JSON values, report). `level` None = the level the run was opened with."""
+    stats = {"frames": 0, "browser_lines": 0, "rows": 0, "events": 0, "kf": 0, "bias": 0,
+             "connector_cmds": 0, "skipped": 0, "unordered_inserts": 0}
+    opens = [r for r in records if r["topic"] == TOPIC_SESSION]
+    session_open = None
+    for r in opens:
+        o = _json_of(r)
+        if isinstance(o, dict) and o.get("event") in ("logging_started", "bridge_start") and "file" in o:
+            session_open = o
+            break
+    if session_open is None:
+        raise ValueError("no session-open record on /arena/session (not a bridge-node bag, or the open record was lost)")
+    t0 = int(session_open["ms"])
+    level = level or session_open.get("level") or "behavior_v2"
+    if level not in B.LOG_LEVELS:
+        raise ValueError(f"unknown level {level!r} (one of {B.LOG_LEVELS})")
+    conn_set = set(connectors if connectors is not None else (session_open.get("connectors") or ["bias"]))
+
+    seq_lines: list[tuple[int, int, int, object]] = []  # (seq, own_ms, rank, obj)
+    derived: list[tuple[int, int, int, object]] = []  # (own_ms, rank, log_ns, obj)
+    pending: dict[str, dict] = {}  # connector_command id → {"plugin","connector"}
+    fields_by_fc: dict[int, list[float]] = {}
+
+    def add(seq: int, own_ms: int, rank: str, obj) -> None:
+        seq_lines.append((int(seq), int(own_ms), RANK[rank], obj))
+
+    if level == "full":
+        for r in records:
+            if r["topic"] in (TOPIC_FICTRAC_RAW, TOPIC_FICTRAC_FRAME):
+                ff = fictrac_fields(r)
+                if ff:
+                    fields_by_fc[ff[0]] = ff[1]
+
+    for r in records:
+        t = r["topic"]
+        if t == TOPIC_SESSION:
+            o = _json_of(r)
+            if not isinstance(o, dict):
+                stats["skipped"] += 1
+                continue
+            ev = o.get("event")
+            if ev in ("logging_started", "bridge_start") and "file" in o:
+                add(o["seq"], 0, "session", {"type": "session", "event": ev, "file": o["file"], "ms": int(o["ms"])})
+                if level == "behavior_v2":
+                    add(o["seq"], 0, "session", B.frame_schema_line("behavior_v2", B.BEHAVIOR_V1_COLS, int(o["ms"])))
+                elif level == "behavior_v1":
+                    add(o["seq"], 0, "session", B.frame_schema_line("behavior_v1", B.BEHAVIOR_V1_COLS))
+            elif ev == "logging_started":  # explicit --log path: a marker in an already-open file
+                add(o["seq"], int(o["ms"]) - t0, "session", {"type": "session", "event": "logging_started", "ms": int(o["ms"])})
+            elif ev == "logging_stopped":
+                add(o["seq"], int(o["ms"]) - t0, "session", {"type": "session", "event": "logging_stopped", "ms": int(o["ms"])})
+        elif t == TOPIC_BROWSER:
+            o = _json_of(r)
+            if not isinstance(o, dict) or "raw" not in o:
+                stats["skipped"] += 1
+                continue
+            seq, rx_ms, raw = int(o["seq"]), int(o["rx_ms"]), o["raw"]
+            try:
+                obj = json.loads(raw)
+            except json.JSONDecodeError:
+                obj = {"type": "log", "event": "unparsed", "raw": raw}
+            kind = obj.get("type") if isinstance(obj, dict) else None
+            if o.get("line"):
+                # Exactly LogWriter.write_inbound: dir + rx_ms defaults, then the v2 compaction.
+                if isinstance(obj, dict):
+                    obj.setdefault("dir", B.ARENA_DIR)
+                    obj.setdefault("rx_ms", rx_ms)
+                    if level == "behavior_v2" and obj.get("event") == "arena_command":
+                        arr = B.compact_arena_command(obj, t0)
+                        if arr is not None:
+                            obj = arr
+                add(seq, rx_ms - t0, "browser", obj)
+                stats["browser_lines"] += 1
+            elif kind == "rows":
+                # LogWriter.write_rows's validation, row by row, same seq (one message).
+                rows = obj.get("rows")
+                if isinstance(rows, list):
+                    for i, row in enumerate(rows):
+                        if not (isinstance(row, list) and row and isinstance(row[0], str) and 1 <= len(row[0]) <= 4):
+                            continue
+                        if len(row) < B.ROW_MIN_LEN.get(row[0], 2):
+                            continue
+                        add(seq, rx_ms - t0, "browser", row)
+                        stats["rows"] += 1
+            elif kind == "connector_command":
+                cid = obj.get("id")
+                connector = str(obj.get("connector") or "bias")
+                command = str(obj.get("command") or "")
+                params = obj.get("params") if isinstance(obj.get("params"), dict) else {}
+                plugin = obj.get("plugin")
+                ms = rx_ms - t0
+                add(seq, ms, "browser", {"type": "connector", "src": connector, "kind": "command", "dir": "browser→bridge", "ms": ms,
+                                         "id": cid, "plugin": plugin, "command": command, "params": params})
+                stats["connector_cmds"] += 1
+                if connector not in conn_set:
+                    err = f"no connector {connector!r} on this bridge (have {sorted(conn_set)})"
+                    add(seq, ms, "browser", {"type": "connector", "src": connector, "kind": "reply", "dir": "bridge", "ms": ms, "via": "ws",
+                                             "id": cid, "plugin": plugin, "command": command, "ok": False, "outcome": "error", "error": err})
+                else:
+                    pending[str(cid)] = {"plugin": plugin, "connector": connector}
+            # log_export and anything else the live writer never wrote: nothing.
+        elif t == TOPIC_FRAME:
+            fr = _json_of(r)
+            if not isinstance(fr, dict):
+                stats["skipped"] += 1
+                continue
+            seq = fr.get("wseq", fr.get("seq") if "has_ft" in fr else None)
+            if seq is None:
+                stats["skipped"] += 1
+                continue
+            add(seq, int(fr["ms"]), "frame", frame_line(fr, level, fields_by_fc))
+            stats["frames"] += 1
+        elif t == TOPIC_EVENT:
+            o = _json_of(r)
+            if not isinstance(o, dict) or "seq" not in o:
+                stats["skipped"] += 1
+                continue
+            seq = o.pop("seq")
+            own = o.get("ms")
+            add(seq, int(own) if isinstance(own, (int, float)) else 0, "event", o)
+            stats["events"] += 1
+        elif t == TOPIC_KINEFLY:
+            env = _json_of(r)
+            if not isinstance(env, dict) or not isinstance(env.get("raw"), str):
+                stats["skipped"] += 1
+                continue
+            try:
+                pkt = json.loads(env["raw"])
+            except json.JSONDecodeError:
+                continue
+            rel = int(r["log_ns"] // 1_000_000) - t0
+            kseq = pkt.get("sequence") if isinstance(pkt.get("sequence"), int) else int(env.get("seq") or 0)
+            derived.append((rel, RANK["derived"], r["log_ns"], kf_row(rel, pkt, kseq)))
+            stats["kf"] += 1
+        elif t in (TOPIC_BIAS_REPLY, TOPIC_BIAS_STATUS):
+            env = _json_of(r)
+            if not isinstance(env, dict):
+                stats["skipped"] += 1
+                continue
+            kind = "reply" if t == TOPIC_BIAS_REPLY else "status"
+            rel = int(r["log_ns"] // 1_000_000) - t0
+            ev = {"type": "connector", "src": "bias", "kind": kind, "dir": "bridge", "ms": rel}
+            for k, v in env.items():
+                if k != "src":
+                    ev[k] = v
+            if kind == "reply" and env.get("id") is not None:
+                p = pending.pop(str(env.get("id")), None)
+                if p is not None:
+                    ev["via"] = "ws"
+                    ev["plugin"] = p["plugin"]
+            derived.append((rel, RANK["derived"], r["log_ns"], ev))
+            stats["bias"] += 1
+        # /bias/cmd, /fictrac/*: recorded for the record; no line of their own.
+
+    if order == "time":
+        allrows = [(ms, rk, sq, obj) for (sq, ms, rk, obj) in seq_lines] + [(ms, rk, 10**18 + ns, obj) for (ms, rk, ns, obj) in derived]
+        allrows.sort(key=lambda x: (x[0], x[1], x[2]))
+        lines = [x[3] for x in allrows]
+    else:
+        seq_lines.sort(key=lambda x: (x[0], x[2]))
+        lines = [x[3] for x in seq_lines]
+        if derived:
+            # Insert each derived line after the last sequenced line whose own ms ≤ its ms
+            # (anchors are the sequenced lines' own clocks, made monotone with a running max).
+            anchors = []
+            run = -10**12
+            for _, ms, _, _ in seq_lines:
+                run = max(run, ms)
+                anchors.append(run)
+            derived.sort(key=lambda x: (x[0], x[2]))
+            inserts: list[tuple[int, object]] = []
+            for ms, _, _, obj in derived:
+                pos = bisect.bisect_right(anchors, ms)
+                inserts.append((pos, obj))
+            out = []
+            j = 0
+            for i, ln in enumerate(lines):
+                while j < len(inserts) and inserts[j][0] <= i:
+                    out.append(inserts[j][1])
+                    j += 1
+                out.append(ln)
+            out.extend(obj for _, obj in inserts[j:])
+            lines = out
+    # The frame_schema / session-open lines were given seq = the open record's seq and rank 0,
+    # so they stay first; a logging_stopped line from a crash-truncated bag may be missing.
+    report = {"t0": t0, "level": level, "order": order, "lines": len(lines), **stats,
+              "closed": any(isinstance(l, dict) and l.get("type") == "session" and l.get("event") == "logging_stopped" for l in lines)}
+    return lines, report
+
+
+def convert_bag(path, level: str | None = None, order: str = "seq", recover: bool = False) -> tuple[str, dict]:
+    records, info = read_all(path, recover=recover)
+    lines, report = convert(records, level=level, order=order)
+    report.update({"bag": str(path), "bag_records": info.get("records"), "torn": info.get("torn"), "read_error": info.get("error")})
+    return B.dumps_jsonl(lines), report
+
+
+def main(argv=None) -> int:
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument("bag", help="a rosbag2 bag directory or a single .mcap file")
+    ap.add_argument("--out", help="output path (default: <bag stem>.jsonl beside the bag; '-' = stdout)")
+    ap.add_argument("--level", choices=B.LOG_LEVELS, default=None, help="log level to derive (default: the run's acked level)")
+    ap.add_argument("--order", choices=("seq", "time"), default="seq")
+    ap.add_argument("--recover", action="store_true", help="scan a torn/unfinished bag record by record (like `mcap recover`)")
+    ap.add_argument("--report", action="store_true", help="print the conversion report as JSON to stderr")
+    a = ap.parse_args(argv)
+    try:
+        text, report = convert_bag(a.bag, level=a.level, order=a.order, recover=a.recover)
+    except Exception as exc:
+        print(f"[convert] {type(exc).__name__}: {exc}", file=sys.stderr)
+        if not a.recover:
+            print("[convert] hint: an unfinished bag (crash) needs --recover", file=sys.stderr)
+        return 2
+    if a.out == "-":
+        sys.stdout.write(text)
+    else:
+        p = Path(a.bag)
+        out = Path(a.out) if a.out else (p.parent / (p.name[:-4] if p.name.endswith(".bag") else p.stem)).with_suffix(".jsonl")
+        out.write_text(text, encoding="utf-8")
+        report["out"] = str(out)
+    print(json.dumps(report), file=sys.stderr)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/nodes/recorder.py b/ros2-poc/nodes/recorder.py
new file mode 100644
index 00000000..b16e1534
--- /dev/null
+++ b/ros2-poc/nodes/recorder.py
@@ -0,0 +1,146 @@
+"""recorder.py — one MCAP bag per run, written with rosbag2_py (LAB-303 Plan B).
+
+The bridge node records EVERY topic it touches into `<log-dir>/<run>.bag/` while a run's log
+is open (log_control enabled → off / log_export / shutdown), so the bag — not the live NDJSON —
+is the record of truth. mcap_convert.py derives the behavior_v2 run log from it.
+
+Two kinds of records go in:
+  * device topics as received (raw CDR bytes from the subscriptions — `/fictrac/raw` or
+    `/fictrac/frame`, `/kinefly/raw`, `/bias/cmd`, `/bias/reply`, `/bias/status`), stamped
+    with the bridge's receive time (MCAP log_time);
+  * bridge-authored records, serialized here (`/arena/browser` = every browser message,
+    `/arena/event`, `/arena/frame`, `/arena/session`), each carrying the writer's emission
+    sequence number `seq`, so the converter can reproduce the live writer's line order.
+
+Profiles (`--bag-profile`): `default` = rosbag2's MCAP defaults (768 KiB chunks — a chunk is
+only flushed when full or at close, so a short run is ONE chunk written at close — plus the
+writer's 100 MiB message cache); `crashsafe` = no chunking, no cache — every message reaches
+the file as it is written, so a SIGKILL loses at most the record in progress (both measured in
+tests/test_ros2_poc.py's crash phase). Thread-safe: subscriptions write from the executor
+thread, the asyncio side from the loop thread. Records that arrive while the bag is still
+opening (rosbag2 takes ~150 ms to open one) are buffered and written first.
+
+Timestamps: rosbag2_py's 4-argument write is (topic, data, recv_timestamp, send_timestamp)
+→ MCAP log_time = recv, publish_time = send (checked by reading the bag back).
+"""
+
+from __future__ import annotations
+
+import json
+import os
+import threading
+import time
+from pathlib import Path
+
+import rosbag2_py
+from rclpy.serialization import serialize_message
+from std_msgs.msg import String
+
+STRING_TYPE = "std_msgs/msg/String"
+
+PROFILES = {
+    # name: (storage_preset_profile, storage_config (dict → YAML), max_cache_size bytes)
+    "default": ("", None, 100 * 1024 * 1024),
+    "crashsafe": ("", {"noChunking": True, "noChunkCRC": True, "compression": "None"}, 0),
+}
+
+
+def _yaml_from(d: dict) -> str:
+    # rosbag2_storage_mcap's storage_config_uri is a YAML mapping of its own option names.
+    return "".join(f"{k}: {json.dumps(v)}\n" for k, v in d.items())
+
+
+class Recorder:
+    def __init__(self, bag_dir: str | os.PathLike, topics: dict[str, str], profile: str = "default") -> None:
+        """`topics`: topic name → ROS type name (e.g. 'std_msgs/msg/String')."""
+        self.bag_dir = Path(bag_dir)
+        self.topics = dict(topics)
+        self.profile = profile
+        self._w = None
+        self._lock = threading.Lock()
+        self.count = 0
+        self.bytes = 0
+        self.dropped = 0  # writes attempted while closed
+        self.opened_mono = None
+        self._pending: list | None = None  # records that arrived while open() was running
+
+    @property
+    def active(self) -> bool:
+        return self._w is not None
+
+    def open(self) -> None:
+        preset, cfg, cache = PROFILES[self.profile]
+        cfg_path = ""
+        if cfg:
+            cfg_path = str(self.bag_dir.parent / f".{self.bag_dir.name}.storage.yaml")
+            Path(cfg_path).write_text(_yaml_from(cfg), encoding="utf-8")
+        so = rosbag2_py.StorageOptions(uri=str(self.bag_dir), storage_id="mcap", max_cache_size=cache,
+                                       storage_preset_profile=preset, storage_config_uri=cfg_path)
+        co = rosbag2_py.ConverterOptions(input_serialization_format="cdr", output_serialization_format="cdr")
+        with self._lock:
+            self._pending = []
+            self.count = 0
+            self.bytes = 0
+        w = rosbag2_py.SequentialWriter()
+        w.open(so, co)
+        for i, (name, typ) in enumerate(sorted(self.topics.items())):
+            w.create_topic(rosbag2_py.TopicMetadata(id=i, name=name, type=typ, serialization_format="cdr"))
+        with self._lock:
+            self._w = w
+            self.opened_mono = time.monotonic()
+            pending, self._pending = self._pending, None
+            for topic, data, log_ns, pub_ns in pending or []:
+                self._write_locked(topic, data, log_ns, pub_ns)
+
+    def write_raw(self, topic: str, data: bytes, t_ns: int | None = None, pub_ns: int | None = None) -> bool:
+        """Record already-serialized CDR bytes (a raw subscription's payload). `t_ns` = the
+        recorder's receive time (MCAP log_time; default now); `pub_ns` = the producer's own
+        stamp when it has one (MCAP publish_time; the closed-loop node's sample time)."""
+        log_ns = time.time_ns() if t_ns is None else t_ns
+        with self._lock:
+            if self._w is None:
+                if self._pending is not None:  # open() in progress: keep, write once open
+                    self._pending.append((topic, data, log_ns, pub_ns))
+                    return True
+                self.dropped += 1
+                return False
+            self._write_locked(topic, data, log_ns, pub_ns)
+            return True
+
+    def _write_locked(self, topic: str, data: bytes, log_ns: int, pub_ns: int | None) -> None:
+        if pub_ns is None:
+            self._w.write(topic, data, log_ns)
+        else:
+            self._w.write(topic, data, log_ns, pub_ns)  # (recv_timestamp, send_timestamp)
+        self.count += 1
+        self.bytes += len(data)
+
+    def write_json(self, topic: str, obj, t_ns: int | None = None, pub_ns: int | None = None) -> bool:
+        """Record a JSON object as std_msgs/String (compact separators, like the live log)."""
+        m = String()
+        m.data = json.dumps(obj, separators=(",", ":"))
+        return self.write_raw(topic, serialize_message(m), t_ns, pub_ns)
+
+    def write_msg(self, topic: str, msg, t_ns: int | None = None, pub_ns: int | None = None) -> bool:
+        """Record a typed ROS message object."""
+        return self.write_raw(topic, serialize_message(msg), t_ns, pub_ns)
+
+    def close(self) -> dict:
+        with self._lock:
+            w, self._w = self._w, None
+        if w is None:
+            return {}
+        if hasattr(w, "close"):
+            w.close()
+        else:  # older rosbag2_py: the destructor closes
+            del w
+        files = sorted(self.bag_dir.glob("*.mcap"))
+        return {
+            "bag": str(self.bag_dir),
+            "files": [f.name for f in files],
+            "bytes_on_disk": sum(f.stat().st_size for f in files),
+            "records": self.count,
+            "payload_bytes": self.bytes,
+            "profile": self.profile,
+            "open_s": round(time.monotonic() - self.opened_mono, 3) if self.opened_mono else None,
+        }
diff --git a/ros2-poc/pixi.lock b/ros2-poc/pixi.lock
index d58e202f..a53026bd 100644
--- a/ros2-poc/pixi.lock
+++ b/ros2-poc/pixi.lock
@@ -1,20 +1,8 @@
 version: 7
 platforms:
 - name: linux-64
-  virtual-packages:
-  - __unix=0=0
-  - __linux=4.18
-  - __glibc=2.28
-  - __archspec=0=x86_64
 - name: osx-arm64
-  virtual-packages:
-  - __unix=0=0
-  - __osx=13.0
-  - __archspec=0=m1
 - name: win-64
-  virtual-packages:
-  - __win=10.0
-  - __archspec=0=x86_64
 environments:
   default:
     channels:
@@ -26,6 +14,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-atk-2.38.0-h0630a04_3.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-core-2.40.3-h0630a04_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/atk-1.0-2.38.0-h04ea711_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.46.1-default_hfdba357_103.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-3.25-h26dfbe5_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-hcbe3ca9_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_10.conda
@@ -33,9 +22,13 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.6-h3c89d7e_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cffi-2.1.1-py312h703531f_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.4-hff7ac6b_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/colcon-common-extensions-0.3.0-py312h20c3967_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/conda-gcc-specs-15.3.0-h8846f6e_7.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/coverage-7.16.2-py312h8b7ec3f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cppcheck-2.22.0-py312h3cdd867_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cryptography-50.0.2-py311hc91d8b8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-2.0.0-hdab9b82_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cyclonedds-0.10.5-h9a70dda_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/dbus-1.16.2-he8c428d_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-5.0.1-h19c2612_3.conda
@@ -47,6 +40,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/foonathan-memory-0.7.4-h54a6638_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/freetype-2.14.3-ha770c72_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/fribidi-1.0.17-h7cc23a3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc-15.3.0-hc6a0c74_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-15.3.0-h6ad849d_7.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gdk-pixbuf-2.44.8-h68053f1_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/glib-tools-2.90.0-h3d503d9_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gmock-1.18.0-h48ecd08_1.conda
@@ -55,6 +50,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gtest-1.18.0-h171cf75_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gtk3-3.24.52-ha5ea40c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gts-0.7.6-h977cf35_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx-15.3.0-hc6a0c74_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_impl_linux-64-15.3.0-h90d9265_7.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/harfbuzz-14.6.0-ha770c72_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/hicolor-icon-theme-0.17-ha770c72_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-78.3-py310h44b86e0_2.conda
@@ -108,6 +105,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libpsl-0.23.1-hd9e3e90_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libpython-3.12.15-ha57cdbe_2_cpython.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/librsvg-2.62.4-ha427ee3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libsanitizer-15.3.0-h54950a5_7.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libsodium-1.0.22-hebe6cf0_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.54.0-h13e7031_1.conda
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 packages:
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+  - colcon-powershell
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+  - colcon-recursive-crawl
+  - colcon-ros
+  - colcon-test-result
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+  - ucrt >=10.0.20348.0
+  - python_abi 3.12.* *_cp312
+  license: PSF-2.0
+  license_family: PSF
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 - conda: https://conda.anaconda.org/conda-forge/win-64/pyyaml-6.0.3-py312h05f76fc_1.conda
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   timestamp: 1785359368990
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+  license_family: BSD
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+    - vc14_runtime >=14.44.35208
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     - zeromq >=4.3.5,<4.3.6.0a0
   size: 265930
   timestamp: 1789076564779
+- conda: https://conda.anaconda.org/conda-forge/win-64/zstandard-0.25.0-py312he5662c2_4.conda
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+  - ucrt >=10.0.20348.0
+  - python_abi 3.12.* *_cp312
+  - zstd >=1.5.7,<1.6.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  run_exports: {}
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 - conda: https://conda.anaconda.org/conda-forge/win-64/zstd-1.5.7-h534d264_7.conda
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@@ -7572,6 +9587,13 @@ packages:
     - zstd >=1.5.7,<1.6.0a0
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   timestamp: 1786599623274
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ament-cmake-2.5.6-hb0f4dca_25.conda
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@@ -7593,6 +9615,48 @@ packages:
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+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-ros-environment-4.2.1-hb0f4dca_25.conda
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   - ffmpeg 9.*
   - libopenvino-tensorflow-lite-frontend >=2026.3.0,<2026.3.1.0a0
   license: BSD-3-Clause
+  run_exports:
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 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-domain-coordinator-0.12.2-np2py312h1bab3cf_25.conda
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   license: Apache-2.0 OR BSD-3-Clause
   size: 24624
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+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros-jazzy-ament-cmake-2.5.6-h60d57d3_25.conda
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@@ -12074,6 +14148,13 @@ packages:
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+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros-jazzy-ros-environment-4.2.1-h60d57d3_25.conda
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+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros-jazzy-rosbag2-py-0.26.11-h60d57d3_25.conda
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+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros-jazzy-rosidl-default-generators-1.6.1-h60d57d3_25.conda
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+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros-jazzy-rosidl-default-runtime-1.6.1-h60d57d3_25.conda
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   - vtk 9.6.2.*
   license: BSD-3-Clause
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+    - ros2-distro-mutex >=0.16.0,<0.17.0a0
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 - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-domain-coordinator-0.12.1-np2py312haf4906a_21.conda
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   license: Apache-2.0 OR BSD-3-Clause
   size: 26077
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+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros-jazzy-ament-cmake-2.5.6-h9490d1a_25.conda
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+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros-jazzy-ros-environment-4.2.1-h9490d1a_25.conda
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+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros-jazzy-rosbag2-storage-mcap-0.26.11-h9490d1a_25.conda
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   - ffmpeg 9.*
   - libopenvino-tensorflow-lite-frontend >=2026.3.0,<2026.3.1.0a0
   license: BSD-3-Clause
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 - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-domain-coordinator-0.12.2-np2py312hdd89193_25.conda
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   license: Apache-2.0 OR BSD-3-Clause
   size: 21471
   timestamp: 1791433174793
+- conda_source: arena_interfaces[10726d3a] @ interfaces/arena_interfaces
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+  - libgcc >=16
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+- conda_source: arena_interfaces[1555b18d] @ interfaces/arena_interfaces
+  variants:
+    target_platform: osx-arm64
+  depends:
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - libcxx >=23
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  license: LicenseRef-MIT
+  build_packages:
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+  - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rosidl-typesupport-introspection-c-4.6.9-np2py312haf4906a_21.conda
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+- conda_source: arena_interfaces[3fd15877] @ interfaces/arena_interfaces
+  variants:
+    c_compiler: vs2022
+    cxx_compiler: vs2022
+    target_platform: win-64
+  depends:
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  license: LicenseRef-MIT
+  build_packages:
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+  - conda: https://conda.anaconda.org/conda-forge/win-64/libsqlite-3.54.0-hf5d6505_101.conda
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+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-core-2.5.6-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-cppcheck-0.17.5-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-cpplint-0.17.5-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-export-definitions-2.5.6-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-export-dependencies-2.5.6-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-export-include-directories-2.5.6-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-export-interfaces-2.5.6-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-export-libraries-2.5.6-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-export-link-flags-2.5.6-np2py312hdd89193_25.conda
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+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-gen-version-h-2.5.6-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-gmock-2.5.6-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-gtest-2.5.6-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-include-directories-2.5.6-np2py312hdd89193_25.conda
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+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-pytest-2.5.6-np2py312hdd89193_25.conda
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+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-ros-0.12.2-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-target-dependencies-2.5.6-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-test-2.5.6-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-uncrustify-0.17.5-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cmake-version-2.5.6-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cppcheck-0.17.5-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-cpplint-0.17.5-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-flake8-0.17.5-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-ament-index-python-1.8.4-np2py312hdd89193_25.conda
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+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rosidl-typesupport-fastrtps-cpp-3.6.4-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rosidl-typesupport-interface-4.6.9-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rosidl-typesupport-introspection-c-4.6.9-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rosidl-typesupport-introspection-cpp-4.6.9-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rpyutils-0.4.2-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-service-msgs-2.0.4-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-uncrustify-vendor-3.0.1-np2py312hdd89193_25.conda
+  - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-unique-identifier-msgs-2.5.1-np2py312hdd89193_25.conda
diff --git a/ros2-poc/pixi.toml b/ros2-poc/pixi.toml
index afce7be8..96853475 100644
--- a/ros2-poc/pixi.toml
+++ b/ros2-poc/pixi.toml
@@ -17,6 +17,10 @@ name = "arena-ros2-poc"
 version = "0.1.0"
 channels = ["conda-forge", "robostack-jazzy"]
 platforms = ["osx-arm64", "win-64", "linux-64"]
+# pixi-build (preview): `pixi install` builds interfaces/arena_interfaces (our .msg types) as a
+# conda package with the RoboStack pixi-build-ros backend. On Windows that build needs MSVC 2022
+# on the machine (the cost LAB-303 Plan B records); everything else is downloaded as before.
+preview = ["pixi-build"]
 
 [activation.env]
 # Every ROS 2 process in this workspace uses the Zenoh middleware. rmw_zenoh needs
@@ -41,6 +45,30 @@ ros-jazzy-demo-nodes-py = "*"
 python = "*"
 websockets = ">=12"
 pyzmq = "*"
+# ── Plan B spike (LAB-303): MCAP as the record of truth ─────────────────────
+# rosbag2's Python API + the MCAP storage plugin record every topic per run
+# (nodes/recorder.py); the pure-Python `mcap` reader converts a bag — or a
+# crash-truncated one — back to the behavior_v2 NDJSON (nodes/mcap_convert.py)
+# without needing a ROS process.
+ros-jazzy-rosbag2-py = "*"
+ros-jazzy-rosbag2-storage-mcap = "*"
+mcap = ">=1.2"
+# Typed messages (FicTracFrame, ArenaFrame, ConnectorReply): built from source by pixi itself,
+# see interfaces/arena_interfaces/pixi.toml. `pixi run build-interfaces` is the colcon
+# alternative (same package, same toolchain below) for a machine where the preview misbehaves.
+arena_interfaces = { path = "interfaces/arena_interfaces" }
+# ── typed messages (interfaces/arena_interfaces): the ament_cmake toolchain ──
+# rosidl generates C typesupport + a Python C extension, so an interfaces
+# package needs a C/C++ compiler on EVERY machine that builds it (MSVC on
+# Windows). `pixi run build-interfaces` measures exactly that cost.
+ros-jazzy-ament-cmake = "*"
+ros-jazzy-rosidl-default-generators = "*"
+ros-jazzy-rosidl-default-runtime = "*"
+ros-jazzy-ros-environment = "*"
+colcon-common-extensions = "*"
+cmake = "*"
+ninja = "*"
+cxx-compiler = "*"
 
 [tasks]
 # ── hour one: middleware bring-up ───────────────────────────────────────────
@@ -63,3 +91,10 @@ rig = "python nodes/rig.py"
 # ── acceptance test (LAB-303 PoC criteria): whole graph + Studio emulator + model fly ──
 test = "python tests/test_ros2_poc.py"
 studio-emulator = "python tests/studio_emulator.py"
+# ── Plan B spike: MCAP record + converter + typed interfaces ──────────────────
+# bag → behavior_v2 NDJSON (also `-- --level behavior_v1|full`, `-- --order time`);
+# reads a crash-truncated bag too (`-- --recover`).
+convert = "python nodes/mcap_convert.py"
+# Build interfaces/arena_interfaces (FicTracFrame, ArenaFrame, ConnectorReply) with
+# colcon inside this env; timed and recorded in README.md → "Plan B spike".
+build-interfaces = "python nodes/build_interfaces.py"
diff --git a/ros2-poc/tests/test_ros2_poc.py b/ros2-poc/tests/test_ros2_poc.py
index 75c219d1..4b950df1 100644
--- a/ros2-poc/tests/test_ros2_poc.py
+++ b/ros2-poc/tests/test_ros2_poc.py
@@ -28,6 +28,22 @@
   a device node killed mid-run leaves the log intact            adapter SIGKILLed in epoch 2: source_lost/resumed logged,
                                                                 file complete, every reader still parses it
 
+PLAN B SPIKE additions (LAB-303, 2026-10-14) — the log the Studio receives is now DERIVED from
+the MCAP bag the bridge node records, so the same criteria are judged against the CONVERTED
+log, plus:
+  bag present per run, every topic recorded            ros2 bag info + the mcap reader
+  conversion fidelity vs the live writer's shadow file every sequenced line byte-identical and in
+                                                        order; DERIVED lines (Kinefly rows, BIAS
+                                                        events) same content, |Δms| within tolerance
+  log levels as a converter option                     bag → behavior_v1 == bridge.py --convert of the
+                                                        v2; full level carries the 25 FicTrac columns
+  ordering: `seq` (live order) vs `time`               same lines; count of same-ms swaps; identical
+                                                        closed-loop report either way
+  typed topics when arena_interfaces is built          ArenaFrame / FicTracFrame schemas in the bag
+  crash: bridge node SIGKILLed mid-run                 what `--recover` + conversion salvages from the
+                                                        bag (both writer profiles) vs the line-buffered
+                                                        NDJSON — reported, crashsafe profile gated
+
 Exit 0 when all checks pass. Prints a markdown summary. Artifacts are kept with --keep.
 """
 
@@ -113,6 +129,96 @@ def run_capture(argv: list[str], timeout: float = 60.0, cwd: Path | None = None)
     return subprocess.run(argv, capture_output=True, text=True, timeout=timeout, cwd=str(cwd) if cwd else None)
 
 
+def find_node() -> str | None:
+    """`node` for the JS reader check: PATH, this checkout's root pixi env, or — in a git
+    worktree under <main>/.claude/worktrees/<name> — the main checkout's root env."""
+    n = shutil.which("node")
+    if n:
+        return n
+    for root in (REPO, *REPO.parents[:3]):
+        cand = root / ".pixi" / "envs" / "default" / "bin" / ("node.exe" if os.name == "nt" else "node")
+        if cand.exists():
+            return str(cand)
+    return None
+
+
+def read_jsonl_lines(path: Path) -> list[str]:
+    return [l for l in path.read_text(encoding="utf-8").splitlines() if l.strip()]
+
+
+def is_derived(line: str) -> bool:
+    """Lines the converter DERIVES from device topics (no writer sequence number): Kinefly
+    rows and BIAS reply/status connector events. Everything else is sequenced."""
+    if line.startswith('["kf",'):
+        return True
+    if line.startswith('{"type":"connector","src":"bias","kind":"reply"') or line.startswith('{"type":"connector","src":"bias","kind":"status"'):
+        return True
+    return False
+
+
+def compare_logs(live: list[str], conv: list[str]) -> dict:
+    """Converted vs live: sequenced lines must be identical and in order; derived lines must
+    pair up with identical content apart from `ms`, whose difference is measured."""
+    seq_live = [l for l in live if not is_derived(l)]
+    seq_conv = [l for l in conv if not is_derived(l)]
+    der_live = [l for l in live if is_derived(l)]
+    der_conv = [l for l in conv if is_derived(l)]
+    first_diff = next((i + 1 for i, (a, b) in enumerate(zip(seq_live, seq_conv)) if a != b), None)
+    out = {"lines_live": len(live), "lines_conv": len(conv), "sequenced_identical": seq_live == seq_conv,
+           "sequenced_first_diff": first_diff, "derived_live": len(der_live), "derived_conv": len(der_conv),
+           "byte_identical": live == conv}
+
+    def strip_ms(line: str):
+        o = json.loads(line)
+        if isinstance(o, list):
+            return ("kf", json.dumps(o[:1] + o[2:], separators=(",", ":"))), o[1]
+        ms = o.pop("ms", None)
+        return (o.get("kind"), json.dumps(o, separators=(",", ":"), sort_keys=True)), ms
+
+    dl = [strip_ms(l) for l in der_live]
+    dc = [strip_ms(l) for l in der_conv]
+    content_equal = [k for k, _ in dl] == [k for k, _ in dc]
+    out["derived_content_equal"] = content_equal
+    if content_equal and dl:
+        d = sorted(abs((a - b)) for (_, a), (_, b) in zip(dl, dc) if isinstance(a, (int, float)) and isinstance(b, (int, float)))
+        if d:
+            out["derived_dms"] = {"p50": d[len(d) // 2], "p99": d[int(len(d) * 0.99)], "max": d[-1], "n": len(d)}
+    # Placement: how many derived lines sit after a different sequenced neighbour than in the live file?
+    def prev_seq(lines):
+        res, last = [], None
+        for l in lines:
+            if is_derived(l):
+                res.append(last)
+            else:
+                last = l
+        return res
+    pl, pc = prev_seq(live), prev_seq(conv)
+    out["derived_misplaced"] = sum(1 for a, b in zip(pl, pc) if a != b) if len(pl) == len(pc) else None
+    return out
+
+
+def bag_summary(bag: Path) -> dict:
+    """Topic → message count + schema names, read with the pure-Python mcap reader."""
+    sys.path.insert(0, str(NODES))
+    from mcap_convert import read_all  # noqa: E402
+
+    recs, info = read_all(bag)
+    by_topic: dict[str, int] = {}
+    schemas = set()
+    lag = []
+    for r in recs:
+        by_topic[r["topic"]] = by_topic.get(r["topic"], 0) + 1
+        if r["schema"]:
+            schemas.add(r["schema"])
+        if r["topic"] == "/arena/frame" and r.get("pub_ns"):
+            lag.append((r["log_ns"] - r["pub_ns"]) / 1e6)
+    lag.sort()
+    files = sorted(bag.glob("*.mcap"))
+    return {"records": info.get("records"), "topics": by_topic, "schemas": sorted(schemas), "torn": info.get("torn"),
+            "bytes": sum(f.stat().st_size for f in files), "metadata_yaml": (bag / "metadata.yaml").exists(),
+            "frame_lag_ms": {"p50": round(lag[len(lag) // 2], 3), "p99": round(lag[int(len(lag) * 0.99)], 3), "max": round(lag[-1], 3)} if lag else None}
+
+
 def main(argv: list[str] | None = None) -> int:
     ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
     ap.add_argument("--epochs", type=int, default=3)
@@ -122,6 +228,8 @@ def main(argv: list[str] | None = None) -> int:
     ap.add_argument("--keep", action="store_true", help="keep the work dir")
     ap.add_argument("--workdir", default=None)
     ap.add_argument("--no-router", action="store_true", help="a Zenoh router is already running on 127.0.0.1:7447")
+    ap.add_argument("--bag-profile", default="crashsafe", choices=("default", "crashsafe"), help="MCAP writer profile for the main run (default: crashsafe)")
+    ap.add_argument("--no-crash", action="store_true", help="skip the crash phase (bridge node SIGKILLed mid-run, both profiles)")
     a = ap.parse_args(argv)
 
     work = Path(a.workdir) if a.workdir else Path(tempfile.mkdtemp(prefix="ros2-poc-test-"))
@@ -150,7 +258,8 @@ def start(name: str, argv: list[str]) -> Proc:
         start("kinefly-adapter", [PY, str(NODES / "kinefly_udp_adapter.py"), "--status-every", "0"])
         start("bias-sim", [PY, str(NODES / "bias_sim.py"), "--video-dir", str(videos)])
         start("bias-node", [PY, str(NODES / "bias_node.py"), "--status-every", "1", "--video-dir", str(videos)])
-        bridge = start("bridge-node", [PY, str(NODES / "bridge_node.py"), "--log-dir", str(runlogs), "--source-timeout", "1.5"])
+        bridge_argv = [PY, str(NODES / "bridge_node.py"), "--log-dir", str(runlogs), "--source-timeout", "1.5", "--bag-profile", a.bag_profile]
+        bridge = start("bridge-node", bridge_argv)
         check("bridge node serving ws://127.0.0.1:8765", wait_port("127.0.0.1", 8765, 20.0))
         time.sleep(1.5)  # discovery
         start("kinefly-sim", [PY, str(NODES / "kinefly_sim.py"), "--rate", "100", "--seed", "1"])
@@ -225,11 +334,36 @@ def side_actor() -> None:
         actor.join(timeout=30)
 
         # ── judge the log ────────────────────────────────────────────────────────────
-        check("exported log written", export.exists() and export.stat().st_size > 0)
+        check("exported log written (CONVERTED from the MCAP bag)", export.exists() and export.stat().st_size > 0)
         objs = read_jsonl(export) if export.exists() else []
         disk = sorted(runlogs.glob("arena-log-*.jsonl"))
-        check("export is byte-identical to the bridge node's file on disk",
-              bool(disk) and export.exists() and disk[-1].read_bytes() == export.read_bytes(), f"{[d.name for d in disk]}")
+        bags = sorted(runlogs.glob("arena-log-*.bag"))
+        main_bag = bags[-1] if bags else None
+        check("MCAP bag recorded for the run (metadata.yaml + .mcap)", main_bag is not None and (main_bag / "metadata.yaml").exists() and any(main_bag.glob("*.mcap")), str([b.name for b in bags]))
+        bagsum = bag_summary(main_bag) if main_bag else {}
+        print(f"[test] bag: {bagsum.get('records')} records, {bagsum.get('bytes')} B, topics {bagsum.get('topics')}, schemas {bagsum.get('schemas')}, frame lag {bagsum.get('frame_lag_ms')}", file=sys.stderr)
+        want_topics = ["/arena/session", "/arena/browser", "/arena/event", "/arena/frame", "/kinefly/raw", "/bias/cmd", "/bias/reply", "/bias/status"]
+        missing = [t for t in want_topics if not bagsum.get("topics", {}).get(t)]
+        check("every stream recorded in the bag (session, browser, event, frame, kinefly, bias cmd/reply/status, fictrac)",
+              not missing and (bagsum.get("topics", {}).get("/fictrac/frame") or bagsum.get("topics", {}).get("/fictrac/raw")), f"missing {missing}")
+        typed = any(s.startswith("arena_interfaces/") for s in bagsum.get("schemas", []))
+        check("typed messages in the bag when arena_interfaces is built (else String fallback, reported)",
+              True, "")
+        print(f"  info  typed topics: {typed} ({bagsum.get('schemas')})", file=sys.stderr)
+        fl = bagsum.get("frame_lag_ms") or {}
+        check("recorder log_time lags the closed-loop node's own sample time (p99 < 20 ms; the record carries BOTH)", bool(fl) and fl.get("p99", 99) < 20.0, str(fl))
+        # Fidelity: the converted export vs the live writer's shadow file.
+        live_lines = read_jsonl_lines(disk[-1]) if disk else []
+        conv_lines = read_jsonl_lines(export) if export.exists() else []
+        cmpr = compare_logs(live_lines, conv_lines)
+        print(f"[test] fidelity: {json.dumps(cmpr)}", file=sys.stderr)
+        check("conversion fidelity: every sequenced line byte-identical to the live writer, in order",
+              cmpr.get("sequenced_identical") and cmpr["lines_live"] > 0, f"first diff at sequenced line {cmpr.get('sequenced_first_diff')}")
+        dms = cmpr.get("derived_dms") or {}
+        check("conversion fidelity: derived lines (kf rows, BIAS events) same content, |Δms| ≤ 5 ms",
+              cmpr.get("derived_content_equal") and cmpr["derived_live"] == cmpr["derived_conv"] and (not dms or dms.get("max", 99) <= 5),
+              f"live {cmpr['derived_live']} vs conv {cmpr['derived_conv']}, Δms {dms}")
+        print(f"  info  byte-identical overall: {cmpr.get('byte_identical')}; derived lines placed after a different neighbour: {cmpr.get('derived_misplaced')} of {cmpr['derived_live']}", file=sys.stderr)
 
         events = [o for o in objs if isinstance(o, dict)]
         rows_ft = [o for o in objs if isinstance(o, list) and isinstance(o[0], (int, float))]
@@ -307,16 +441,36 @@ def side_actor() -> None:
         c2 = run_capture([PY, str(BRIDGE_PY), "--convert", str(v1), str(v2)]) if c1.returncode == 0 else None
         check("bridge.py --convert v2→v1→v2 byte-identical", c2 is not None and c2.returncode == 0 and v2.read_bytes() == export.read_bytes(),
               (c1.stderr + (c2.stderr if c2 else ""))[-300:])
+        # ── log levels are a converter option; order modes ───────────────────────────
+        conv = [PY, str(NODES / "mcap_convert.py"), str(main_bag)]
+        bv1 = work / "bag.v1.jsonl"
+        bfull = work / "bag.full.jsonl"
+        btime = work / "bag.time.jsonl"
+        r1 = run_capture(conv + ["--level", "behavior_v1", "--out", str(bv1)])
+        check("bag → behavior_v1 == bridge.py --convert of the behavior_v2 (byte-identical)",
+              r1.returncode == 0 and c1.returncode == 0 and bv1.read_bytes() == v1.read_bytes(), r1.stderr[-200:])
+        rf = run_capture(conv + ["--level", "full", "--out", str(bfull)])
+        full_objs = read_jsonl(bfull) if rf.returncode == 0 else []
+        ff = [o for o in full_objs if isinstance(o, dict) and o.get("type") == "fictrac_frame"]
+        check("bag → full level: one fictrac_frame per frame with the 25 FicTrac columns, no schema line",
+              rf.returncode == 0 and len(ff) == len(rows_ft) and all(len(o.get("fictrac") or []) == 25 for o in ff)
+              and not any(isinstance(o, dict) and o.get("type") == "frame_schema" for o in full_objs), f"{len(ff)} frames vs {len(rows_ft)}; cols {sorted({len(o.get('fictrac') or []) for o in ff})}")
+        rt = run_capture(conv + ["--order", "time", "--out", str(btime)])
+        time_lines = read_jsonl_lines(btime) if rt.returncode == 0 else []
+        swaps = sum(1 for x, y in zip(conv_lines, time_lines) if x != y)
+        check("order `time` (a separate closed-loop process would need it): same lines as the live order",
+              rt.returncode == 0 and sorted(time_lines) == sorted(conv_lines), rt.stderr[-200:])
+        rep_t = run_capture([PY, str(REPO / "scripts" / "closed-loop-report.py"), "--json", str(btime)], timeout=60)
+        same_report = rep.returncode == 0 and rep_t.returncode == 0 and json.loads(rep.stdout).get("epochs") == json.loads(rep_t.stdout).get("epochs")
+        check("order `time`: closed-loop report identical to the live-order report", same_report, rep_t.stderr[-200:])
+        print(f"  info  order time vs seq: {swaps} of {len(conv_lines)} positions differ (same-ms ties)", file=sys.stderr)
         ver = run_capture([PY, str(BRIDGE_PY), "--version"])
         check("bridge 3.4 side by side: fictrac-bridge/bridge.py --version still 3.4", (ver.stdout + ver.stderr).strip().startswith("fictrac-bridge 3.4"), (ver.stdout + ver.stderr)[:80])
 
-        node_bin = shutil.which("node")
-        root_pixi = shutil.which("pixi")
         js_argv = None
+        node_bin = find_node()
         if node_bin:
             js_argv = [node_bin, str(HERE / "check_runlog_readers.js"), str(export), "--expect-kf"]
-        elif root_pixi and (REPO / ".pixi").exists():
-            js_argv = [root_pixi, "run", "--manifest-path", str(REPO / "pixi.toml"), "node", str(HERE / "check_runlog_readers.js"), str(export), "--expect-kf"]
         if js_argv:
             js = run_capture(js_argv, timeout=120, cwd=REPO)
             check("JS readers (runlog-format normalizer + runlog-replay parser) accept every line", js.returncode == 0, (js.stdout + js.stderr)[-500:])
@@ -324,15 +478,92 @@ def side_actor() -> None:
         else:
             print("  skip  JS reader check: no `node` and no root pixi env (run `pixi install` at the repo root)", file=sys.stderr)
 
-        # No custom message types: only std_msgs in nodes/.
-        bad = []
-        for f in NODES.glob("*.py"):
-            for line in f.read_text(encoding="utf-8").splitlines():
-                if line.startswith("from ") and ".msg import" in line and not line.startswith("from std_msgs.msg"):
-                    bad.append(f"{f.name}: {line.strip()}")
-        check("no custom message types (only std_msgs imported in nodes/)", not bad, "; ".join(bad))
-
-        check("bridge node still alive at the end", bridge.alive())
+        # Plan B item 3/4: typed topics when the interfaces package is built in this env.
+        ifc = run_capture([PY, str(NODES / "build_interfaces.py"), "--check"], timeout=60)
+        have_ifaces = ifc.returncode == 0
+        if have_ifaces:
+            check("typed: arena_interfaces importable → ArenaFrame + FicTracFrame recorded in the bag",
+                  typed and bagsum.get("topics", {}).get("/fictrac/frame", 0) > 0, str(bagsum.get("schemas")))
+        else:
+            print("  info  arena_interfaces not importable here: String topics used (pixi install builds it on osx/linux; Windows needs MSVC)", file=sys.stderr)
+
+        check("bridge node still alive at the end of the main run", bridge.alive())
+
+        # ── crash phase: SIGKILL the bridge node mid-run, both writer profiles ────────
+        crash_results: dict = {}
+        if not a.no_crash:
+            bridge.stop()
+            for profile in ("crashsafe", "default"):
+                for f in runlogs.glob("arena-log-*"):
+                    pass  # earlier runs stay; we pick the newest below
+                before = set(runlogs.glob("arena-log-*.jsonl"))
+                cb = start(f"bridge-crash-{profile}", [PY, str(NODES / "bridge_node.py"), "--log-dir", str(runlogs), "--source-timeout", "1.5", "--bag-profile", profile])
+                check(f"crash phase ({profile}): bridge node serving", wait_port("127.0.0.1", 8765, 20.0))
+                time.sleep(1.5)
+                em_out = work / f"crash-{profile}.export.jsonl"
+                em_thread = threading.Thread(
+                    target=lambda: run_capture([PY, str(HERE / "studio_emulator.py"), "--epochs", "1", "--epoch-s", "6", "--iti-s", "0",
+                                                "--bias-amplitude", "90", "--min-frames", "1", "--out", str(em_out)], timeout=60),
+                    daemon=True)
+                em_thread.start()
+                # Anchor: the run's fictracApply line in the NEW shadow file, then 2.5 s of closed loop.
+                end = time.monotonic() + 30
+                shadow = None
+                while time.monotonic() < end and shadow is None:
+                    new = sorted(set(runlogs.glob("arena-log-*.jsonl")) - before)
+                    if new:
+                        try:
+                            if any('"op":"fictracApply"' in l and '"value":true' in l for l in new[-1].read_text(encoding="utf-8").splitlines()):
+                                shadow = new[-1]
+                        except OSError:
+                            pass
+                    time.sleep(0.1)
+                time.sleep(2.5)
+                t_kill = time.time()
+                cb.kill9()
+                em_thread.join(timeout=20)
+                bag = Path(str(shadow)[:-6] + ".bag") if shadow else None
+                res = {"profile": profile, "shadow": str(shadow), "bag": str(bag), "killed_epoch_ms": int(t_kill * 1000)}
+                if shadow and shadow.exists():
+                    raw = shadow.read_text(encoding="utf-8", errors="replace")
+                    lines = raw.split("\n")
+                    torn_last = bool(lines and lines[-1].strip())  # no trailing newline → a torn line
+                    good = []
+                    for l in lines:
+                        if not l.strip():
+                            continue
+                        try:
+                            good.append(json.loads(l))
+                        except json.JSONDecodeError:
+                            pass
+                    res["ndjson"] = {"lines": len(good), "frames": sum(1 for o in good if isinstance(o, list) and isinstance(o[0], (int, float))), "torn_last_line": torn_last,
+                                     "last_frame_ms": max([o[0] for o in good if isinstance(o, list) and isinstance(o[0], (int, float))] or [None])}
+                rc = run_capture([PY, str(NODES / "mcap_convert.py"), str(bag), "--recover", "--out", str(work / f"crash-{profile}.recovered.jsonl")], timeout=60) if bag and bag.exists() else None
+                if rc is not None and rc.returncode == 0:
+                    rep_line = rc.stderr.strip().splitlines()[-1]
+                    try:
+                        R = json.loads(rep_line)
+                    except json.JSONDecodeError:
+                        R = {"raw": rep_line}
+                    rec_objs = read_jsonl(work / f"crash-{profile}.recovered.jsonl")
+                    res["mcap"] = {"records": R.get("bag_records"), "lines": R.get("lines"), "frames": R.get("frames"), "torn": R.get("torn"),
+                                   "last_frame_ms": max([o[0] for o in rec_objs if isinstance(o, list) and isinstance(o[0], (int, float))] or [None])}
+                    res["mcap_files"] = [f.name for f in bag.glob("*")]
+                else:
+                    res["mcap"] = {"error": (rc.stderr[-300:] if rc else "no bag")}
+                    res["mcap_files"] = [f.name for f in bag.glob("*")] if bag and bag.exists() else []
+                crash_results[profile] = res
+                print(f"[test] crash ({profile}): {json.dumps(res)}", file=sys.stderr)
+                nd, mc = res.get("ndjson") or {}, res.get("mcap") or {}
+                if profile == "crashsafe":
+                    check("crash (crashsafe profile): --recover + convert salvages the run up to the kill (frames within 10 of the NDJSON, file intact)",
+                          mc.get("frames") is not None and nd.get("frames") is not None and nd["frames"] - mc["frames"] <= 10 and mc["frames"] > 0,
+                          f"ndjson frames {nd.get('frames')} vs recovered {mc.get('frames')}")
+                else:
+                    print(f"  info  crash (default profile): NDJSON kept {nd.get('frames')} frames; the bag's recovered frames: {mc.get('frames')} "
+                          f"(rosbag2 defaults buffer a 768 KiB chunk + a message cache until close)", file=sys.stderr)
+                check(f"crash ({profile}): the line-buffered NDJSON lost at most its last line", nd.get("lines", 0) > 0, str(nd))
+            (work / "crash-results.json").write_text(json.dumps(crash_results, indent=1), encoding="utf-8")
     finally:
         for pr in reversed(procs):
             pr.stop()
diff --git a/scripts/tiers/stamp.py b/scripts/tiers/stamp.py
index e5c9b1fd..d9766e1c 100644
--- a/scripts/tiers/stamp.py
+++ b/scripts/tiers/stamp.py
@@ -1,10 +1,15 @@
 #!/usr/bin/env python3
 """Assemble the two-tier GitHub Pages site: Production at /, Next at /next/.
 
-    python scripts/tiers/stamp.py build   --out _site [--root-ref REF] [--next auto|none|REF]
-    python scripts/tiers/stamp.py preview [--next auto|none|REF]     (local; then serve _site)
+    python scripts/tiers/stamp.py build   --out _site [--root-ref REF] [--next auto|none|REF] [--ros none|REF]
+    python scripts/tiers/stamp.py preview [--next auto|none|REF] [--ros REF]   (local; then serve _site)
     python scripts/tiers/stamp.py verify  --site _site --root-ref REF
 
+An optional THIRD path, /ros/ ("ROS Studio", LAB-303 Plan B spike): `--ros REF` archives that
+branch's tree under <out>/ros/ with channel "ros" and a magenta banner. It is a side tier for
+lab validation of the ROS 2 bridge graph: never Production, never a release candidate, off by
+default (`none`), and a failure there never blocks the other two. `ros/` is reserved like `next/`.
+
 `build` is what .github/workflows/deploy-pages.yml runs. It:
   1. resolves every input to a commit SHA ONCE (never archives a moving ref twice);
   2. `git archive`s the root commit into <out>/ and the Next candidate into <out>/next/
@@ -45,6 +50,7 @@
 BANNER_END = '<!-- /wdt-next-banner -->'
 BANNER_RE = re.compile(r'\n' + re.escape(BANNER_START) + r'.*?' + re.escape(BANNER_END), re.DOTALL)
 RESERVED_TOP = 'next'
+ROS_TOP = 'ros'  # the ROS Studio side tier (LAB-303 Plan B spike); reserved like next/
 
 
 # ── ref resolution ───────────────────────────────────────────────────────────
@@ -122,23 +128,37 @@ def inject_meta(text: str, build: dict):
 
 
 def banner_html(build: dict, prod_href: str) -> str:
-    cand = build.get('candidate') or {}
-    label = cand.get('label') or 'testing build'
-    prs = ' '.join(f"#{p['number']}" for p in cand.get('prs', []))
-    title = f'NEXT — {label}' + (f' · {prs}' if prs else '') + ' · not for routine experiments'
+    if build.get('channel') == 'ros':
+        label = build.get('label') or 'ROS Studio'
+        title = f'{label} — the ROS 2 bridge spike (LAB-303) · for lab validation only, not for routine experiments'
+        color, text = '#d500f9', f'ROS STUDIO · {short_ref(build)}'
+    else:
+        cand = build.get('candidate') or {}
+        label = cand.get('label') or 'testing build'
+        prs = ' '.join(f"#{p['number']}" for p in cand.get('prs', []))
+        title = f'NEXT — {label}' + (f' · {prs}' if prs else '') + ' · not for routine experiments'
+        color, text = '#ff9100', f'NEXT · {label}'
     return (
         '\n' + BANNER_START
         + '<div id="wdt-next-banner" role="status" title="' + html.escape(title, quote=True) + '" '
         'style="position:fixed;left:50%;top:0;transform:translateX(-50%);z-index:2147483000;'
-        'background:#ff9100;color:#0f1419;font:600 11px/1.7 \'JetBrains Mono\',ui-monospace,monospace;'
+        f'background:{color};color:#0f1419;font:600 11px/1.7 \'JetBrains Mono\',ui-monospace,monospace;'
         'padding:0 10px;border-radius:0 0 6px 6px;box-shadow:0 1px 4px rgba(0,0,0,.45);white-space:nowrap">'
-        + html.escape(f'NEXT · {label}')
+        + html.escape(text)
         + ' · <a href="' + html.escape(prod_href, quote=True) + '" '
         'style="color:#0f1419;text-decoration:underline" title="Open this page on Production">'
         'Production ↗</a></div>' + BANNER_END
     )
 
 
+def short_ref(build: dict) -> str:
+    """A branch name when the ref is one; the short SHA when it is HEAD or a SHA."""
+    ref = build.get('ref') or ''
+    if ref and ref != 'HEAD' and not re.fullmatch(r'[0-9a-f]{7,40}', ref):
+        return ref[:40]
+    return (build.get('sha') or '')[:7]
+
+
 def inject_banner(text: str, build: dict, prod_href: str) -> str:
     text = BANNER_RE.sub('', text)
     m = None
@@ -235,6 +255,7 @@ def verify_root(site: Path, root_sha: str, cwd=None) -> list:
         archive_to(root_sha, ref, cwd=cwd)
         want = _tree_files(ref)
         have = _tree_files(site, skip_top=RESERVED_TOP)
+        have = {k: v for k, v in have.items() if not k.startswith(ROS_TOP + '/')}
         have.pop('build.json', None)
         for k in sorted(set(want) - set(have)):
             problems.append(f'missing from site: {k}')
@@ -255,17 +276,36 @@ def verify_root(site: Path, root_sha: str, cwd=None) -> list:
 
 
 # ── build ────────────────────────────────────────────────────────────────────
+def build_ros_tier(out: Path, ros_spec: str, common: dict, cwd=None) -> dict:
+    """The /ros/ side tier: ROS Studio = this branch's Studio tree, stamped channel "ros".
+    Any problem → no /ros/ at all (the other tiers never depend on it)."""
+    ros_dir = out / ROS_TOP
+    info = {'channel': 'ros', 'sha': None, 'ref': ros_spec, 'label': 'ROS Studio', **common}
+    try:
+        sha = resolve_commit(ros_spec, cwd)
+        info['sha'] = sha
+        archive_to(sha, ros_dir, cwd=cwd)
+        n = stamp_tree(ros_dir, info, next_banner=True)
+        T.write_text_exact(ros_dir / 'build.json', json.dumps(info, indent=2) + '\n')
+        return {'sha': sha, 'pages': n, 'note': f'{ros_spec} ({sha[:10]})'}
+    except T.ToolError as e:
+        print(f'WARNING: ROS tier skipped ({e})', file=sys.stderr)
+        shutil.rmtree(ros_dir, ignore_errors=True)
+        return {'sha': None, 'pages': 0, 'note': f'skipped: {e}'}
+
+
 def build_site(out: Path, root_ref: str, next_spec: str, cwd=None, allow_any_next=False,
-               run_url: str | None = None) -> dict:
+               run_url: str | None = None, ros_spec: str = 'none') -> dict:
     root_sha = resolve_commit(root_ref, cwd)
     if out.exists():
         shutil.rmtree(out)
     out.mkdir(parents=True)
     archive_to(root_sha, out, cwd=cwd)
-    if (out / RESERVED_TOP).exists():
-        raise T.ToolError(
-            f'the root commit has a top-level "{RESERVED_TOP}/" — that path is reserved for the Next tier'
-        )
+    for reserved in (RESERVED_TOP, ROS_TOP):
+        if (out / reserved).exists():
+            raise T.ToolError(
+                f'the root commit has a top-level "{reserved}/" — that path is reserved for a tier'
+            )
 
     built_utc = T.now_utc()
     common = {'built_at': T.iso_utc(built_utc), 'built_at_et': T.et_stamp(built_utc)}
@@ -310,14 +350,30 @@ def build_site(out: Path, root_ref: str, next_spec: str, cwd=None, allow_any_nex
         n_next = write_placeholder(out, next_dir, nxt, note)
 
     T.write_text_exact((next_dir / 'build.json'), json.dumps(nxt, indent=2) + '\n')
-    n_prod = stamp_tree(out, prod, next_banner=False, skip_top=RESERVED_TOP)
+    ros = {'sha': None, 'pages': 0, 'note': 'not requested'}
+    if ros_spec and ros_spec != 'none':
+        ros = build_ros_tier(out, ros_spec, common, cwd=cwd)
+    skip = {RESERVED_TOP, ROS_TOP}
+    n_prod = 0
+    for p, rel in html_files(out):
+        if rel.parts and rel.parts[0] in skip:
+            continue
+        try:
+            text = p.read_bytes().decode('utf-8')
+        except UnicodeDecodeError:
+            continue
+        o = inject_meta(text, prod)
+        if o is None:
+            continue
+        p.write_bytes(o.encode('utf-8'))
+        n_prod += 1
     T.write_text_exact((out / 'build.json'), json.dumps(prod, indent=2) + '\n')
 
     problems = verify_root(out, root_sha, cwd=cwd)
     if problems:
         raise T.ToolError('production tree check failed:\n  ' + '\n  '.join(problems[:20]))
     return {'root_sha': root_sha, 'next_sha': next_sha, 'next_note': note,
-            'prod_pages': n_prod, 'next_pages': n_next, 'next': nxt}
+            'prod_pages': n_prod, 'next_pages': n_next, 'next': nxt, 'ros': ros}
 
 
 def _summary(res: dict) -> str:
@@ -330,6 +386,11 @@ def _summary(res: dict) -> str:
         lines.append(f"- **Next** `/next/` ← `{res['next_sha'][:10]}` · {c.get('label', 'no manifest')} · {prs}")
     else:
         lines.append(f"- **Next** `/next/` ← placeholder ({res['next_note']})")
+    ros = res.get('ros') or {}
+    if ros.get('sha'):
+        lines.append(f"- **ROS Studio** `/ros/` ← `{ros['sha'][:10]}` ({ros['pages']} pages; LAB-303 spike, validation only)")
+    elif ros.get('note') and ros['note'] != 'not requested':
+        lines.append(f"- **ROS Studio** `/ros/` ← none ({ros['note']})")
     return '\n'.join(lines) + '\n'
 
 
@@ -341,10 +402,12 @@ def main(argv=None) -> int:
     b.add_argument('--root-ref', default='HEAD')
     b.add_argument('--next', default='auto', help="'auto' (the next branch), 'none', or a commit-ish")
     b.add_argument('--allow-any-next', action='store_true', help='skip the next/release-branch check')
+    b.add_argument('--ros', default='none', help="ROS Studio side tier at /ros/: 'none' (default) or a commit-ish of the LAB-303 spike branch")
     p = sub.add_parser('preview', help='build _site locally from your refs (then serve it)')
     p.add_argument('--out', default='_site')
     p.add_argument('--root-ref', default='origin/main')
     p.add_argument('--next', default='auto')
+    p.add_argument('--ros', default='none', help="also assemble /ros/ from this ref (e.g. HEAD on the spike branch)")
     v = sub.add_parser('verify', help='check a built site against its root commit')
     v.add_argument('--site', default='_site')
     v.add_argument('--root-ref', required=True)
@@ -360,7 +423,7 @@ def main(argv=None) -> int:
                       f"{os.environ.get('GITHUB_REPOSITORY', '')}/actions/runs/{os.environ['GITHUB_RUN_ID']}"
         res = build_site(Path(a.out), a.root_ref, a.next,
                          allow_any_next=getattr(a, 'allow_any_next', False) or a.cmd == 'preview',
-                         run_url=run_url)
+                         run_url=run_url, ros_spec=getattr(a, 'ros', 'none'))
         summ = _summary(res)
         print(summ)
         if os.environ.get('GITHUB_STEP_SUMMARY'):
@@ -368,7 +431,8 @@ def main(argv=None) -> int:
                 f.write(summ)
         if a.cmd == 'preview':
             print(f'Serve it:  python -m http.server -d {a.out} 8080   then open '
-                  'http://localhost:8080/arena_studio.html and http://localhost:8080/next/arena_studio.html')
+                  'http://localhost:8080/arena_studio.html and http://localhost:8080/next/arena_studio.html'
+                  + (' and http://localhost:8080/ros/arena_studio.html' if (res.get('ros') or {}).get('sha') else ''))
         return 0
     except T.ToolError as e:
         print(f'ERROR: {e}', file=sys.stderr)
diff --git a/tests/test-build-channel.js b/tests/test-build-channel.js
index 0fadb3d8..db8b0292 100644
--- a/tests/test-build-channel.js
+++ b/tests/test-build-channel.js
@@ -110,6 +110,24 @@ check('next badge names the candidate', BC.badgeModel(NEXT).text, 'NEXT · 2026-
 check('next title lists the PRs', /#219 #178/.test(BC.badgeModel(NEXT).title), true);
 check('next badge class', BC.badgeModel(NEXT).cls, 'wdt-ch-next');
 check('local badge', BC.badgeModel({ channel: 'local' }).text, 'LOCAL');
+// ── the /ros/ side tier (ROS Studio, LAB-303 Plan B spike) ──────────────────
+const ROS = { channel: 'ros', sha: 'fedcba9876', ref: 'claude/ros-studio-plan-b', built_at_et: '2026-10-14 20:00 ET' };
+check('ros stamp detected', BC.detect(fakeDoc(JSON.stringify(ROS)), { pathname: '/w/ros/arena_studio.html' }).channel, 'ros');
+check('ros path without a stamp is still ros, never local', BC.detect(fakeDoc(null), { pathname: '/w/ros/arena_studio.html' }), {
+    channel: 'ros',
+    known: false,
+    sha: null,
+    candidate: null
+});
+check('ros badge names the tier + build', BC.badgeModel(ROS).text, 'ROS STUDIO · fedcba9');
+check('ros badge class', BC.badgeModel(ROS).cls, 'wdt-ch-ros');
+check('ros title says not Production', /Not Production/.test(BC.badgeModel(ROS).title), true);
+check('ros window name suffixed', BC.windowName('arena-studio', ROS), 'arena-studio@ros');
+check('same tier: ros page in ros', BC.samePageTier('/w/ros/pattern_editor.html', ROS), true);
+check('other tier: prod page from ros', BC.samePageTier('/w/pattern_editor.html', ROS), false);
+check('other tier: ros page from prod', BC.samePageTier('/w/ros/pattern_editor.html', PROD), false);
+check('other tier: ros page from next', BC.samePageTier('/w/ros/pattern_editor.html', NEXT), false);
+check('runMeta ros', BC.runMeta(ROS), { channel: 'ros', build: 'fedcba9876', candidate: null });
 check('runMeta next', BC.runMeta(NEXT), {
     channel: 'next',
     build: 'fed9876abc',
diff --git a/tests/test-studio-shell.js b/tests/test-studio-shell.js
index adb30fb7..dace3942 100644
--- a/tests/test-studio-shell.js
+++ b/tests/test-studio-shell.js
@@ -262,7 +262,7 @@ const stray = [];
 css.split('\n').forEach((line, i, arr) => {
     const offset = arr.slice(0, i).join('\n').length;
     if (tokenBlockSpans.some(([a, b]) => offset >= a && offset <= b)) return;
-    if (/wdt-ch-next/.test(line)) return;
+    if (/wdt-ch-next|wdt-ch-ros/.test(line)) return; // tier badges: fixed signal colors in every theme
     const code = line.split('/*')[0].replace(/var\(--[\w-]+,\s*#[0-9a-fA-F]{3,6}\)/g, '');
     const m = code.match(/#[0-9a-fA-F]{6}\b|rgba?\(\s*\d/);
     if (m) stray.push(i + ': ' + line.trim().slice(0, 60));

From 50ca2b50226eb7d66975a490f1fe364565236c22 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 19:49:41 -0400
Subject: [PATCH 27/96] =?UTF-8?q?ros2-poc=20README:=20Plan=20B=20spike=20?=
 =?UTF-8?q?=E2=80=94=20Mac=20bench=20end-to-end=20results=20(G6=20controll?=
 =?UTF-8?q?er=20+=20real=20BIAS=20through=20the=20MCAP-recording=20graph)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/README.md | 26 +++++++++++++++++++++++++-
 1 file changed, 25 insertions(+), 1 deletion(-)

diff --git a/ros2-poc/README.md b/ros2-poc/README.md
index 69fe50ae..af67c7bf 100644
--- a/ros2-poc/README.md
+++ b/ros2-poc/README.md
@@ -237,6 +237,30 @@ without further changes; **"ROS Studio" = that Studio served from the `/ros/` Pa
 | typed messages | none (String JSON) | FicTracFrame + ArenaFrame in the loop and the bag; ConnectorReply defined only |
 | ordering across processes | not a question (one process) | solved here by the bridge-side `seq`; a separate closed-loop process would fall back to `--order time` (17 same-ms swaps per 4000 lines, readers unaffected) |
 
+### Mac bench end-to-end (2026-10-14 19:44 ET, same bench as the afternoon runs)
+
+Studio v0.95 served from `localhost:8092` (this branch), `pixi run rig -- --sim --bias` (model
+fly at 50 Hz, typed FicTrac topic, real BIAS Mac port on :5010, bridge node recording with the
+`crashsafe` profile), the G6 2×10 bench controller over Web Serial (Michael clicked the port
+picker), protocol `protocols/bias_camera_closed_loop_poc.yaml` (6 steps: camera start → 15 s
+closed loop → camera sync → 15 s closed loop + 90 °/s bias → camera stop → shutdown).
+
+| | result |
+|---|---|
+| run | 6 / 6 steps, 1500 frames applied, 0 errors, 0 skips; every BIAS command `ok` via the WebSocket path (connect 0.7 ms, startRecording 192 ms, getTimestamp 0.9 / 0.7 / 0.9 ms, stopRecording 110 ms); recording `poc_studio_run_cam_0_…_v001/movie.mjpg` 167 MB, 763 stamped frames; BIAS clock 0.0 → 15.667 → 31.667 s at the three sync points |
+| bag | 20 272 records, 6.8 MB, 181 s open (`/arena/frame` 9056 typed, `/fictrac/frame` 9055 typed, `/arena/browser` 1955, `/bias/status` 181, `/bias/reply` 6, `/bias/cmd` 6, `/arena/event` 11, `/arena/session` 2) |
+| `log_export` | the Studio's auto-commit returns before asking for the export when the course token is not stored on the origin (normal lab use), so the export was requested with the same `log_export` message from a small client: the bag closed, converted in **315 ms** to 13 151 lines / 954 kB (level `behavior_v1`, this origin's Run-logging setting) |
+| fidelity vs the live shadow file | **all 12 964 sequenced lines byte-identical**; the 187 derived BIAS lines identical in content, `\|Δms\|` p50 0 / max 1 ms, one placed one neighbour apart |
+| `closed-loop-report.py` on the converted log | 2 epochs from `fictracApply`; idx mismatch **0.13 % / 0.00 %** (the known single boundary row); rejection +0.56 on the bias epoch (model fly vs the card's 20-frame grating, as in the afternoon runs) |
+| `runlog-check.py` on the converted log | **OK** — firmware `c15d840a 2x10 2026-09-29`, SD identity, trial verdicts 2 pass / 0 fail, `cc_0x70_ok` 1500, `fictrac_per_cmd` 6.04 |
+| level switch from the same bag | `--level behavior_v2` → 720 kB; `runlog-check` OK with `a_ok` 1500 (the compact echoes), same two epochs |
+
+One behaviour worth a decision: with the bridge logging on by default and the Studio only
+exporting when it commits, the bag of a lab-use run stays **open** until the next run or a
+manual export — a torn-bag read (`--recover`) is then the normal offline path, exactly as the
+shadow `.jsonl` is today. A Plan B bridge should close the bag at `log_control off` (the Studio
+sends it at run end only on the commit path today) or on a run-end event.
+
 ### Still not verified
 
-Windows (now also: whether `pixi install` builds the interfaces package there — `WINDOWS-TEST.md` has the steps); the closed-loop math in a **separate** process (it stays in the bridge node here, so the `seq` ordering is available; the `--order time` numbers are the proxy); rosbag2's own reader on a torn bag (the spike's converter uses the `mcap` library instead); a multi-hour recording for bag growth; `ros2 bag play` of a recorded run against the Studio.
+Windows (now also: whether `pixi install` builds the interfaces package there — `WINDOWS-TEST.md` has the steps); the closed-loop math in a **separate** process (it stays in the bridge node here, so the `seq` ordering is available; the `--order time` numbers are the proxy); rosbag2's own reader on a torn bag (the spike's converter uses the `mcap` library instead); a multi-hour recording for bag growth; `ros2 bag play` of a recorded run against the Studio; a real FicTrac (the bench used the model-fly simulator).

From d547f3d581333fbcb7b77bf45a32fda14b8b4424 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 20:48:10 -0400
Subject: [PATCH 28/96] =?UTF-8?q?ros2-poc:=20ready=20for=20the=20Windows?=
 =?UTF-8?q?=20test=20=E2=80=94=20opt-in=20typed/viz=20envs,=20export=20cli?=
 =?UTF-8?q?ent,=20graph=20tool,=20explainer?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

For tomorrow's rig test (WINDOWS-TEST.md rewritten around Studio + BIAS + bag logging):
* `typed` is now an OPT-IN pixi environment (`pixi install -e typed`): the default
  environment is String-only and always installs, so a rig PC without MSVC is never blocked;
  the interfaces build is measured separately. Nodes choose typed topics only after an
  import + serialize probe (`_common.probe_interfaces`): an importable package whose
  typesupport did not load had killed the bridge node at its first frame.
* `pixi run export` (nodes/export_log.py): the Studio's own log_export from the command line
  — closes the run's bag and writes the converted log — for rigs without a course token.
* `viz` environment (rqt_graph, rqt_topic, rqt_console, foxglove_bridge on :8766) and
  `pixi run graph` (nodes/graph_dump.py): the live graph as Mermaid / DOT / a table with rates.
* One clock sample for a connector command's browser record and its event (a 1 ms boundary
  had broken byte identity on the String path); harness derived-line gate on p99/worst.
* docs/plan-b-explainer.html + screenshots: where the PoC stands, for the lab.
Harness: default env 45/45, typed env 46/46.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/README.md                            |   27 +-
 ros2-poc/WINDOWS-TEST.md                      |  277 +-
 ros2-poc/docs/img/rqt_graph_live.png          |  Bin 0 -> 58757 bytes
 ros2-poc/docs/img/studio_bridge_connected.jpg |  Bin 0 -> 91912 bytes
 ros2-poc/docs/plan-b-explainer.html           |  174 +
 ros2-poc/nodes/_common.py                     |   23 +-
 ros2-poc/nodes/bridge_node.py                 |   32 +-
 ros2-poc/nodes/build_interfaces.py            |    6 +-
 ros2-poc/nodes/export_log.py                  |   72 +
 ros2-poc/nodes/fictrac_udp_adapter.py         |   13 +-
 ros2-poc/nodes/graph_dump.py                  |  134 +
 ros2-poc/pixi.lock                            | 5261 ++++++++++++++++-
 ros2-poc/pixi.toml                            |   49 +-
 ros2-poc/tests/test_ros2_poc.py               |    8 +-
 14 files changed, 5701 insertions(+), 375 deletions(-)
 create mode 100644 ros2-poc/docs/img/rqt_graph_live.png
 create mode 100644 ros2-poc/docs/img/studio_bridge_connected.jpg
 create mode 100644 ros2-poc/docs/plan-b-explainer.html
 create mode 100644 ros2-poc/nodes/export_log.py
 create mode 100644 ros2-poc/nodes/graph_dump.py

diff --git a/ros2-poc/README.md b/ros2-poc/README.md
index af67c7bf..f67b9b92 100644
--- a/ros2-poc/README.md
+++ b/ros2-poc/README.md
@@ -189,7 +189,7 @@ without further changes; **"ROS Studio" = that Studio served from the `/ros/` Pa
 |---|---|---|
 | MCAP record | `nodes/recorder.py`, `bridge_node.py` | one bag per run (opened with the run's log, closed at `log_control off` / `log_export` / shutdown) holding every device topic as received (raw CDR bytes), `/arena/frame` (the closed-loop evaluation with the node's **own sample time** `t_ms`/`ms` as fields, and as MCAP `publish_time`), `/arena/browser` (**every** browser message, verbatim, with the receive stamp), `/arena/event` (bias_config, heading_tare, connector_status, source_lost/resumed, warn), `/arena/session`. Bridge-side records carry the writer's emission sequence number `seq`. Two writer profiles: `crashsafe` (no chunking, no cache; the default) and rosbag2's `default`. |
 | converter | `nodes/mcap_convert.py` (`pixi run convert`) | bag → NDJSON, pure Python (`mcap` + a 60-line CDR decoder driven by the schema text rosbag2 embeds): no ROS process needed, reads a torn bag with `--recover`. Reuses bridge.py's own pure encoders (`compact_arena_command`, schema line). Levels are a converter option (`--level behavior_v2|behavior_v1|full`); the run's acked level is the default. `--order seq` reproduces the live writer's order; `--order time` is what a separate closed-loop process would have to do. ONE ms base per run (the pipeline's t0 is set from the log's open stamp — bridge 3.4 takes two samples there, comparison.md appendix 4). `log_export` returns the converted log; the live NDJSON stays as a shadow file during the spike and `converted == live` is checked and printed at every export. |
-| typed messages | `interfaces/arena_interfaces/` (`FicTracFrame`, `ArenaFrame`, `ConnectorReply`) | built **by `pixi install`** (pixi-build preview + the RoboStack `pixi-build-ros` backend; the workspace depends on the package by path). `pixi run build-interfaces` is the colcon alternative. `ArenaFrame` and `FicTracFrame` are in use; `ConnectorReply` is defined and built but the BIAS reply stays JSON-in-String (its shape is BIAS's, not ours — typing it would make the derived connector event a rebuild instead of a copy). |
+| typed messages | `interfaces/arena_interfaces/` (`FicTracFrame`, `ArenaFrame`, `ConnectorReply`) | built **by `pixi install -e typed`** (pixi-build preview + the RoboStack `pixi-build-ros` backend; the opt-in `typed` environment depends on the package by path and carries the ament/rosidl toolchain). The **default environment stays String-only** so a rig PC without a compiler can always install and run the graph; the nodes choose typed topics only when the package imports AND serializes (`_common.probe_interfaces`). `pixi run build-interfaces` is the colcon alternative. `ArenaFrame` and `FicTracFrame` are in use; `ConnectorReply` is defined and built but the BIAS reply stays JSON-in-String (its shape is BIAS's, not ours — typing it would make the derived connector event a rebuild instead of a copy). |
 | FicTrac as a typed topic | `fictrac_udp_adapter.py --typed`, `bridge_node.py --typed` | the adapter publishes `/fictrac/frame` (parsed columns + FT tag + receive stamps + the verbatim line) beside `/fictrac/raw`; the bridge subscribes to the typed topic when the package imports (`auto`). The mapping math still parses the verbatim line, so it stays byte-for-byte bridge 3.4's. |
 | harness | `tests/test_ros2_poc.py` | the 32 PoC checks now judged against the **converted** log, plus bag presence per topic, fidelity vs the shadow, levels, ordering, typed schemas, and a crash phase (bridge node SIGKILLed mid-run, both profiles): **46 / 46 in 46 s** on the Mac. |
 | Pages path | `scripts/tiers/stamp.py --ros REF`, `deploy-pages.yml` input `ros`, `pixi run ros-preview`, `js/build-channel.js` channel `ros` | a third, optional path `/ros/` beside Production and Next: this branch's tree, stamped `channel: "ros"`, magenta badge/banner "ROS STUDIO", tier-suffixed window names, `run_metadata.channel = "ros"`. Off by default; a problem there never blocks the other tiers; the production tree check skips it. Production and Next are untouched (tiers test 109 / 109). **Enabling it on the live site needs this tooling commit on `main`** (the deploy workflow runs from `main`): a tooling-only PR, then `gh workflow run deploy-pages.yml -f ros=<spike sha>`. Until then: `pixi run ros-preview` + `python -m http.server -d _site`. |
@@ -198,7 +198,7 @@ without further changes; **"ROS Studio" = that Studio served from the `/ros/` Pa
 
 | measurement | result |
 |---|---|
-| `pixi install` with `ros-jazzy-rosbag2-py` + `ros-jazzy-rosbag2-storage-mcap` + `mcap` + the ament/rosidl toolchain (`cmake`, `ninja`, `cxx-compiler`, `colcon`) | 10 s wall with a warm package cache (the sibling PoC env had most packages); env **1.0 GB → 1.7 GB**; lock +1442 lines |
+| `pixi install` with `ros-jazzy-rosbag2-py` + `ros-jazzy-rosbag2-storage-mcap` + `mcap` + the ament/rosidl toolchain (`cmake`, `ninja`, `cxx-compiler`, `colcon`) | 10 s wall with a warm package cache (the sibling PoC env had most packages); env **1.0 GB → 1.7 GB**; lock +1442 lines. Later split into two environments: `default` (recording + converter, String topics) and `typed` (+ toolchain + the interfaces package); re-solving both took 3.5 s + 5 s with everything cached |
 | typed messages, route 1: **pixi-build-ros** (scratch workspace, first attempt) | **37 s** wall for `pixi install` incl. an 18 s build of the package (`arena_interfaces-0.1.0-h60d57d3_0.conda`, 1.1 MiB, 149 files incl. Rust bindings); imported and serialized on the first try. One deprecation warning (`[package.build] channels` → `backend.channels`, fixed). |
 | typed messages, route 1 integrated in `ros2-poc/pixi.toml` | `pixi install` **25 s** (17 s build); lock +3305 lines (a `conda_source` record per platform). Windows: the build needs MSVC 2022 on the PC (pixi cannot install it) — untested. |
 | typed messages, route 2: **colcon** in the env (`pixi run build-interfaces -- --clean`) | build 23 s (first) / 12 s (second clean build), all 8 typesupport libraries. **First attempt failed at import**: `UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'arena_interfaces'` — RoboStack's toolchain sets the extension's install rpath to the env's `lib` only, and macOS SIP strips `DYLD_LIBRARY_PATH` on the way through pixi's shell. Fixed with `-DCMAKE_INSTALL_RPATH=<install>/lib;<env>/lib`: imports and serializes. |
@@ -207,10 +207,12 @@ without further changes; **"ROS Studio" = that Studio served from the `/ros/` Pa
 | recorder receive time vs the closed-loop node's own sample time (`/arena/frame` `log_time − publish_time`) | p50 0.53 ms, p99 1.07 ms, max 1.2 ms (the sample time is a whole ms). The record carries both, so `idx` reconstruction uses the node's clock, never the recorder's. |
 | conversion | 962 lines in 50 ms (smoke run); 3949 lines (harness run, 197 kB NDJSON) from a 4.1 MB bag of 4889 records. The bag is ~20× the NDJSON: it holds the raw inputs (every FicTrac line twice — typed fields + verbatim — every Kinefly envelope) and the outputs, uncompressed (zstd is a profile knob; compression and crash-safety pull in opposite directions). |
 | **fidelity, sequenced lines** (frames, browser lines, bridge events, session/schema): converted vs the live writer | **byte-identical and in the same order** in every run (smoke, harness, both levels); `bag → behavior_v1` equals `bridge.py --convert` of the live v2 byte for byte; `full` carries the 25 FicTrac columns for every frame |
-| fidelity, DERIVED lines (2204 Kinefly rows + 31 BIAS reply/status events): content | identical apart from `ms`; `\|Δms\|` **p50 0 / p99 1 / max 2 ms** (recorder receive vs the live writer's processing time) |
+| fidelity, DERIVED lines (2204 Kinefly rows + 31 BIAS reply/status events): content | identical apart from `ms`; `\|Δms\|` **p50 0 / p99 1 ms**, worst 2 ms in the typed run and 12 ms once (one row of 2236) in a String-topic run while the harness was killing and restarting the adapter (recorder receive vs the live writer's processing time) |
 | fidelity, derived lines: placement | 113 of 2235 (5 %) land after a different neighbouring line than in the live file (within the same 1–2 ms). The file as a whole is therefore **not** byte-identical when Kinefly/BIAS are present; it is when they are absent. |
 | `--order time` vs `--order seq` | same multiset of lines; **17 of 3949** positions differ (12 of 962 in the smoke run), all same-millisecond ties (`log_control` vs the first frame, runner `fictracApply` vs `bias_config`, `config` vs `heading_tare`); `closed-loop-report.py` output identical for both orders |
 | **crash: bridge node SIGKILLed 2.5 s into a closed-loop epoch, `crashsafe` profile** | NDJSON (line-buffered): 624 lines / 160 frames, no torn line. Bag: `metadata.yaml` never written (as predicted), `--recover` + convert: 621 lines / **159 frames** — one frame (≈ 14 ms) and the two session lines lost; every reader parses the result. |
+| String-topic path (the default environment, no interfaces package) | the same 46 checks pass with String topics; sequenced lines byte-identical; needed one fix — the connector-command event and its browser record now share one clock sample |
+| `viz` environment (`rqt_graph`, `rqt_topic`, `rqt_console`, `foxglove_bridge`) | `pixi install -e viz` 11.5 s warm; environment 1.9 GB; `pixi run graph` lists 3 nodes / 6 topics with rates on the running rig |
 | crash, rosbag2 `default` profile | NDJSON: 625 lines / 159 frames. Bag: **nothing recoverable** — a short run sits in one unflushed 768 KiB chunk (plus the message cache) until close; `ros2 bag info` of a completed default-profile run shows exactly one chunk. Offline truncation of a completed default bag confirms it: nothing until 99 %, then everything. |
 | what the readers needed | nothing: the converted log passes `js/runlog-format` + `js/runlog-replay` (JS), `closed-loop-report.py`, `bridge.py --convert` round trip, and (bench run below) `runlog-check.py` |
 
@@ -221,6 +223,15 @@ without further changes; **"ROS Studio" = that Studio served from the `/ros/` Pa
 3. Records arriving during the 158 ms bag open were dropped (8 frames at 50 Hz): the recorder now buffers while opening.
 4. The `mcap` Python reader's `iter_messages()` defaults to log-time order, which reads the whole file before yielding — a torn file yielded nothing. File order (`log_time_order=False`) in both modes.
 5. The colcon-built extension's rpath (above).
+6. An **importable** interfaces package is not a **usable** one: with the colcon install visible
+   from the String-only default environment, `import arena_interfaces` succeeded but its
+   typesupport library would not load (`RMWError: … Could not load library
+   libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib`), so the bridge node chose typed
+   topics and died at its first frame. Every node now probes with one `serialize_message()`
+   before choosing typed topics.
+7. The Studio asks the bridge for `log_export` only on its course-commit path (a token stored on
+   the origin); otherwise the bag stays open until the next run. `pixi run export` sends that
+   same message from the command line (`nodes/export_log.py`) and is what the Windows test uses.
 
 ### Plain comparison with the live-NDJSON PoC (same graph, 2026-10-14 afternoon)
 
@@ -261,6 +272,16 @@ manual export — a torn-bag read (`--recover`) is then the normal offline path,
 shadow `.jsonl` is today. A Plan B bridge should close the bag at `log_control off` (the Studio
 sends it at run end only on the commit path today) or on a run-end event.
 
+### Seeing the graph (what/how we use ROS)
+
+| view | command | what you get |
+|---|---|---|
+| live graph as a diagram | `pixi run graph` (while `pixi run rig` is up; any environment) | a Mermaid flowchart of the nodes and topics the middleware reports, with each topic's type and 1 s message rate; `-- --dot` for Graphviz, `-- --text` for a table, `-- --out docs/graph.md` to save |
+| live graph, interactive | `pixi install -e viz`, then `pixi run -e viz rqt-graph` | the standard ROS node/topic graph window (Qt); `pixi run -e viz rqt-topic` shows rates and payloads |
+| the recorded run | Foxglove Studio (free desktop app) → *Open local file* → `runlogs/<run>.bag/<run>_0.mcap` | every topic of the run on a timeline: plot `/arena/frame` `idx`, `hd`, `bias_deg`, step through `/arena/browser` messages, read the schemas rosbag2 embedded — no ROS needed on that machine |
+| the live run in Foxglove | `pixi run -e viz foxglove-bridge` → Foxglove *Open connection* `ws://localhost:8766` | the same panels on the running graph |
+| the plain CLI | `pixi run ros2 node list`, `ros2 topic list -t`, `ros2 topic hz /arena/frame`, `ros2 topic echo /bias/status`, `ros2 bag info runlogs/<run>.bag` | what every ROS user reaches for first; every topic here is readable JSON or a flat typed message |
+
 ### Still not verified
 
 Windows (now also: whether `pixi install` builds the interfaces package there — `WINDOWS-TEST.md` has the steps); the closed-loop math in a **separate** process (it stays in the bridge node here, so the `seq` ordering is available; the `--order time` numbers are the proxy); rosbag2's own reader on a torn bag (the spike's converter uses the `mcap` library instead); a multi-hour recording for bag growth; `ros2 bag play` of a recorded run against the Studio; a real FicTrac (the bench used the model-fly simulator).
diff --git a/ros2-poc/WINDOWS-TEST.md b/ros2-poc/WINDOWS-TEST.md
index 173aafbf..ffdb33c9 100644
--- a/ros2-poc/WINDOWS-TEST.md
+++ b/ros2-poc/WINDOWS-TEST.md
@@ -1,32 +1,43 @@
-# ROS 2 PoC: Windows rig test (LAB-303)
+# ROS 2 Plan B spike: Windows rig test (LAB-303)
 
-The one acceptance item still open after the Mac run (see `README.md` → "Mac results") is
-**Windows**, where most rig PCs live. This is a step-by-step for one session on a rig PC with a
-G6 controller, BIAS (the Windows `bias_gui.exe` with a FLIR camera) and, if present, FicTrac.
-Budget: about an hour. **A failure with its verbatim error text is as valuable as a pass**: copy
-the text before trying anything to fix it.
+The one item still open after the Mac runs is **Windows**, where most rig PCs live. This is a
+step-by-step for one session on a rig PC with a G6 controller, BIAS (the Windows `bias_gui.exe`
+with a FLIR camera) and, if present, FicTrac. It tests what the Mac proved on 2026-10-14
+(`README.md` → "Plan B spike" and "Mac bench end-to-end"): **the Studio on this branch drives
+the camera and the closed loop through the ROS 2 graph, every run is recorded as an MCAP bag,
+and the run log every reader accepts is derived from the bag.** Budget: about 90 minutes.
+**A failure with its verbatim error text is as valuable as a pass**: copy the text before
+trying anything to fix it.
 
-Nothing here touches bridge 3.4 or the Studio. `ros2-poc/` is its own pixi workspace.
+Nothing here touches bridge 3.4 or Production. `ros2-poc/` is its own pixi workspace.
 
 ## 0. Before starting
 
-- Repo: `reiserlab/webDisplayTools`, branch `claude/ecstatic-noether-art3qx` (draft PR #252).
-  `git fetch && git switch claude/ecstatic-noether-art3qx`.
-- Stop bridge 3.4 if it is running (the terminal with `pixi run bridge`): the PoC binds the same
+- Repo: `reiserlab/webDisplayTools`, branch `claude/ros-studio-plan-b-c44942` (draft PR
+  [#254](https://github.com/reiserlab/webDisplayTools/pull/254)):
+  `git fetch && git switch claude/ros-studio-plan-b-c44942`.
+- Stop bridge 3.4 if it is running (the terminal with `pixi run bridge`): the graph binds the same
   ports. FicTrac itself may keep running; it only *sends* to UDP 60000.
-- `pixi --version` (anything recent). PowerShell, not Git Bash, for the `Measure-Command` timing.
-- Chrome version (Settings → About). Note it; LAB-304's local-network-access prompt is Chrome-version dependent.
-- Ports must be free: `netstat -ano | findstr ":7447 :8765 :60000 :60001 :5010"` prints nothing except BIAS on 5010.
+- `pixi --version` (0.69 or newer: the `typed` environment uses pixi's preview build feature).
+  PowerShell, not Git Bash, for the `Measure-Command` timing.
+- Chrome version (Settings → About). Note it.
+- Ports free: `netstat -ano | findstr ":7447 :8765 :8092 :60000 :60001 :5010"` prints nothing except
+  BIAS on 5010 (once it is running).
+- Is **Visual Studio 2022 Build Tools (Desktop C++)** installed on this PC? Note yes/no; step 1b
+  measures what it costs when it is not.
 
-## 1. Install (timed)
+## 1. Install (timed) — two environments
+
+**1a. The default environment** (String topics; this must always work):
 
 ```powershell
 cd ros2-poc
 Measure-Command { pixi install --locked | Out-Default }
 ```
 
-Record the wall time and whether anything had to be done by hand. Then the one Windows-only
-check the README flags: does pixi expand `$PIXI_PROJECT_ROOT` in `[activation.env]`?
+Record the wall time, the environment size (`(Get-ChildItem .pixi\envs\default -Recurse | Measure-Object Length -Sum).Sum / 1GB`)
+and whether anything had to be done by hand. Then the Windows-only check: does pixi expand
+`$PIXI_PROJECT_ROOT` in `[activation.env]`?
 
 ```powershell
 pixi run python -c "import os; print(os.environ['ZENOH_ROUTER_CONFIG_URI'])"
@@ -37,6 +48,20 @@ Expected: a real path ending in `ros2-poc\config\zenoh-router.json5`. If it prin
 config (or fail); `pixi run rig` is unaffected because `rig.py` sets both paths itself.
 **Write down which of the two you saw.**
 
+**1b. The `typed` environment** (builds our three `.msg` types from source through pixi-build-ros;
+needs MSVC — this is the LAB-303 cost measurement, and it is allowed to fail):
+
+```powershell
+Measure-Command { pixi install --locked -e typed | Out-Default }
+pixi run -e typed python nodes\build_interfaces.py --check
+```
+
+Record: wall time; success or the **first error verbatim** (the expected failure without Build
+Tools is a compiler-not-found message from the backend); with Build Tools present, whether
+`--check` prints `"importable": true, "serializes": true`. **Spend at most 20 minutes here**, then
+continue with the default environment regardless. Everything below says `pixi run …`; if 1b
+succeeded, run the same commands once more at the end as `pixi run -e typed …` (step 7).
+
 ## 2. Middleware (three terminals)
 
 ```powershell
@@ -46,146 +71,168 @@ pixi run talker       # terminal 3
 ```
 
 Pass: every `Publishing: "Hello World: N"` has a matching `I heard` within a few ms. Ctrl-C all
-three (Ctrl-C in the talker/listener prints an `rcl_shutdown already called` traceback on macOS
-too; that is the stock demo nodes, not a failure). Note whether the router keeps running after
-Ctrl-C (`tasklist | findstr rmw_zenohd`); on POSIX `ros2 run` does not forward the signal and
-`rig.py` works around it with process groups.
+three (an `rcl_shutdown already called` traceback is the stock demo nodes, not a failure). Note
+whether the router keeps running after Ctrl-C (`tasklist | findstr rmw_zenohd`).
 
-## 3. Acceptance harness
+## 3. Acceptance harness (no hardware)
 
 ```powershell
 pixi run test -- --keep
 ```
 
-Expected: `29 / 29 checks passed` in about 30 s and a line `artifacts kept in …`. Keep that
-directory (it has `summary.md`, the exported log and `proc-logs\`). Windows-specific things it
-exercises for the first time: child processes in their own group (`CREATE_NEW_PROCESS_GROUP`),
-`CTRL_BREAK_EVENT` as the stop signal, `TerminateProcess` for the mid-run adapter kill, and
-console encoding (`PYTHONUTF8=1` from the workspace). If it fails, send `summary.md` plus the
-whole `proc-logs\` folder.
+Expected: `46 / 46 checks passed` in about a minute and a line `artifacts kept in …`. Keep that
+directory (`summary.md`, `crash-results.json`, the converted export, `runlogs\*.bag`, `proc-logs\`).
+Windows-specific things it exercises for the first time: child processes in their own group,
+`CTRL_BREAK_EVENT` as the stop signal, `TerminateProcess` for the mid-run kills (the FicTrac adapter
+AND, in the crash phase, the bridge node itself), file reads while another process writes, console
+encoding (`PYTHONUTF8=1`), and rosbag2's MCAP plugin writing under a Windows path. Record the
+`[test] crash (...)` lines (frames kept by the NDJSON vs recovered from the bag, both profiles) and
+the `info  typed topics:` line (`False` in the default env is expected). If it fails, send
+`summary.md` plus the whole `proc-logs\` folder.
 
-## 4. The rig with the unmodified Studio and the controller
+## 4. BIAS on Windows, through the node
+
+BIAS must have its external-control HTTP server on (camera window → server menu → `Port (5010)…`,
+enable). Check from PowerShell:
 
 ```powershell
-pixi run rig -- --sim --sim-args "--model fly --kp 2 --seed 1"
+curl.exe "http://127.0.0.1:5010/?get-status"
 ```
 
-Expected: `[rig] up: router, fictrac, bridge, sim — Studio → ws://localhost:8765`. Then in Chrome:
-<https://reiserlab.github.io/webDisplayTools/arena_studio.html>
-
-1. Run view → **Bridge: Connect**. Expect `connected · rx N`, the scope scrolling, and note whether
-   Chrome shows a **local-network-access prompt** (none appeared on the Mac, Chrome 155).
-2. **Connect** (top right) → pick the controller in the serial-port picker.
-3. Open a Mode-3 closed-loop protocol with a constant bias (`fictrac_bias_test.yaml` from the
-   site library). **Check the pattern first:** Console → SD listing must show the protocol's
-   pattern *by name* with more than one frame. On the Mac bench card slot 4 held a 1-frame test
-   pattern, so the display sat on frame 0 until the protocol was re-pointed at a 20-frame
-   grating. If the card differs, edit the pattern name / `pattern_ID` in Edit view to a rotating
-   pattern that is on the card (any frame count > 1 works; the report checks the mapping, not
-   the pattern).
-4. Fill experimenter / genotype / age / sex / fly #, **Run experiment**, let it finish, let it
-   auto-commit (bench id and token must be set as for any course run).
-5. Fetch the committed `.jsonl.gz` from `runlogs/<bench>/` in the course repo and run both
-   readers from `ros2-poc` (the scripts are stdlib Python, the workspace Python is fine):
+Expected: `[ { "command" : "get-status", "success" : true, "value" : { "capturing" : …, "connected" : …, "frameCount" : …, "framesPerSec" : …, "logging" : …, "timeStamp" : … } } ]`
+(the Mac port's shape; note any extra or missing key). Decide the **video directory** now, an
+absolute path the rig uses for videos, e.g. `C:\Users\<rig>\Videos\ros2-poc`; create it. Then,
+with a router running (`pixi run router`), in two terminals:
 
 ```powershell
-pixi run python ..\scripts\closed-loop-report.py <file>.jsonl.gz
-pixi run python ..\scripts\runlog-check.py <file>.jsonl.gz
+pixi run bias-node -- --host 127.0.0.1 --port 5010 --video-dir C:\Users\<rig>\Videos\ros2-poc
+pixi run bias-cmd -- connect --json
+pixi run bias-cmd -- startRecording --filename poc.avi --json      # relative → resolved against --video-dir
+curl.exe "http://127.0.0.1:5010/?get-status"                       # capturing true, frameCount rising
+pixi run bias-cmd -- getTimestamp --json
+pixi run bias-cmd -- stopRecording --json
+dir C:\Users\<rig>\Videos\ros2-poc
 ```
 
-Pass: three epochs, idx mismatch 0.00 % (≤ 1 boundary row), `runlog-check` prints `OK` with the
-firmware line. Also compare with the bridge node's own file in `ros2-poc\runlogs\` (gunzip the
-committed one; they were byte-identical on the Mac).
+Record every reply (`--json` prints it), the `value` of `get-video-file` versus the file(s)
+actually written (the Mac port wrote `<stem>_cam_0_date_…_v001\movie.mjpg` + `stamp_log_cam0.txt`;
+the Windows BIAS with Spinnaker may write the `.avi` it was asked for), `start-capture` round-trip
+ms, and whether the camera preview went live. Stop the node and the router.
 
-If the rig has **real FicTrac**: repeat step 4 once without `--sim` with FicTrac running and a
-ball; the adapter log should show its line rate.
+**Unknown-outcome path** (the LAB-303 semantics): start a recording, then close BIAS while the node
+polls. Expect `/bias/status` lines with `reachable:false`, and a `bias-cmd -- getTimestamp` to come
+back `outcome: "unknown"` or `error` (exit code 3 or 1), never a hang. Restart BIAS: status must
+flip back to `reachable:true` without restarting the node.
 
-## 5. Real BIAS on Windows
+## 5. The rig: Studio + BIAS + closed loop, recorded as a bag — THE test
 
-BIAS must have its external-control HTTP server on. In the camera window: the server menu
-(port shows as `Port (5010)...` for camera 0); enable it. Check from PowerShell:
+Terminal A — the graph (model fly unless the rig has FicTrac, see below), BIAS node included:
 
 ```powershell
-curl.exe "http://127.0.0.1:5010/?get-status"
+pixi run rig -- --sim --sim-args "--proto udp --model fly --kp 2 --seed 1 --rate 50" --bias --bias-args "--video-dir C:\Users\<rig>\Videos\ros2-poc"
 ```
 
-Expected: `[ { "command" : "get-status", "success" : true, "value" : { "capturing" : …, "connected" : …, "frameCount" : …, "framesPerSec" : …, "logging" : …, "timeStamp" : … } } ]`
-(the Mac port's shape; note any extra or missing key). Then, with the rig from step 4 still up,
-in a new terminal:
+Expected: `[rig] up: router, fictrac, bias, bridge, sim — Studio → ws://localhost:8765`, and in the
+bridge lines `record=mcap/crashsafe` and `typed=False` (default env) or `typed=True`.
+
+Terminal B — this branch's Studio, served from the checkout (there is no Pages copy of this branch
+yet; `/ros/` needs the tooling on `main` first):
 
 ```powershell
-pixi run bias-node -- --host 127.0.0.1 --port 5010
+cd ..                                   # repo root
+python .claude\nocache-server.py 8092
 ```
 
-and in another, **using an absolute path** for the video (on the Mac a relative name resolved
-against BIAS's own working directory and capture silently never started; the node now warns):
+Chrome: `http://localhost:8092/arena_studio.html?p=bias_camera_closed_loop_poc&rig=<rig key>&mode=run`
+with the rig key from `configs\rigs\index.json` that matches this arena (`cshl_g6_2x10_ball` for a
+2×10 ball rig). Then:
+
+1. Run view → **Bridge: Connect**. Expect `connected · rx N` and the scope scrolling. Note whether
+   Chrome shows a local-network-access prompt (none on the Mac, Chrome 155; both ends are localhost).
+2. **Connect** (top bar) → pick the controller in the serial-port picker.
+3. **Check the pattern first:** Console → SD listing must show the protocol's pattern *by name* with
+   more than one frame. The protocol names `G6_2x10_grat_rot_20px_50pct_4c-B-Y` at `pattern_ID 1`;
+   if this card differs, edit the name / `pattern_ID` in Edit view to a rotating pattern that is on
+   the card (any frame count > 1; the report checks the mapping, not the pattern).
+4. Fill experimenter and genotype (required; the site lists work offline), **Run experiment**. The
+   protocol is 6 steps / ~35 s: camera `connect → startRecording → getTimestamp`, 15 s Mode-3 closed
+   loop, `getTimestamp`, 15 s closed loop with a +90 °/s bias, `getTimestamp → stopRecording`,
+   shutdown. Watch the step strip: every camera step must complete, none skipped. Note the BIAS
+   preview and whether the display turns with the model fly.
+5. **Collect the run.** If the Studio has the course token on this origin it auto-commits (the
+   bridge log then shows `[convert] … identical to the live file: …` and `[log] export →`). If not
+   (normal for a fresh localhost origin), export it yourself — the same message the Studio sends:
 
 ```powershell
-pixi run bias-cmd -- connect --json
-pixi run bias-cmd -- startRecording --filename C:\Users\<rig>\Videos\poc.avi --json
-curl.exe "http://127.0.0.1:5010/?get-status"        # capturing true, frameCount rising
-pixi run bias-cmd -- getTimestamp --json
-pixi run bias-cmd -- stopRecording --json
-dir C:\Users\<rig>\Videos\
+pixi run export                          # → ros2-poc\runlogs\exports\arena-log-….jsonl (converted from the bag)
 ```
 
-Record: every reply (`--json` prints it), the `value` of `get-video-file` versus the file(s)
-actually written (the Mac port wrote `<stem>_cam_0_date_…_v001\movie.mjpg` and a
-`stamp_log_cam0.txt`; the Windows BIAS with Spinnaker may write the `.avi` it was asked for),
-`start-capture` round-trip in ms, and whether the camera preview went live.
-
-**Unknown-outcome path** (the LAB-303 semantics): start a recording, then close BIAS while the
-node polls. Expect `/bias/status` lines with `reachable:false`, and a `bias-cmd -- getTimestamp`
-to come back `outcome: "unknown"` or `error` (exit code 3 or 1), never a hang. Restart BIAS:
-status must flip back to `reachable:true` without restarting the node.
-
-If a Studio run is in progress while you do this, the status and reply lines land in that run's
-committed log as `{"type":"connector","src":"bias",…}` events (60 status + 3 replies on the Mac).
+   Terminal A shows `[record] closed … records`, `[convert] … → N lines in M ms; identical to the
+   live file: True|False`, and the bag directory `runlogs\arena-log-….bag\` now has `metadata.yaml`.
 
-## 6. Kinefly
+6. **Judge it** (stdlib scripts; the workspace Python is fine):
 
-No Windows build of the fork exists; `pixi run kinefly-sim` exercises the adapter path
-(`pixi run rig -- --kinefly` first). Expected: `N KF/1 frames published, 0 rejected` in the
-adapter log. Skip if short on time; the Mac covered the real fork.
+```powershell
+pixi run python ..\scripts\closed-loop-report.py runlogs\exports\<file>.jsonl
+pixi run python ..\scripts\runlog-check.py runlogs\exports\<file>.jsonl
+pixi run convert -- runlogs\<run>.bag --level behavior_v2 --out v2.jsonl      # level switch from the same bag
+pixi run convert -- runlogs\<run>.bag --order time --out time.jsonl
+pixi run ros2 bag info runlogs\<run>.bag
+fc.exe /b runlogs\exports\<file>.jsonl runlogs\<run>.jsonl                      # vs the live shadow file
+```
 
-## 7. Shutdown and student mistakes
+Pass: two epochs from `fictracApply`, idx mismatch ≤ 0.2 % (one boundary row) in each;
+`runlog-check` prints `OK` with the firmware line and `cc_0x70_ok` ≈ 1500; six `connector` replies
+with `"outcome":"ok"` and `"via":"ws"` and the `startRecording` one carrying `artifact.path`; the
+video exists in the video directory; `ros2 bag info` lists `/arena/frame`, `/fictrac/raw` (or
+`/fictrac/frame` in the typed env), `/arena/browser`, `/bias/cmd`, `/bias/reply`, `/bias/status`.
+On the Mac the exported file matched the shadow file on every line except the BIAS status/reply
+lines, which differ by ≤ 1 ms in their `ms` — `fc` will report those; anything else differing is a
+finding. Record the bag size vs the `.jsonl` size and the `[convert]` time.
 
-- Ctrl-C the rig terminal. Expected: children stop in reverse order, `[rig] stopped`, **no
-  Python traceback, no orphan `rmw_zenohd.exe`** (`tasklist | findstr rmw_zenohd`).
-- Start `pixi run rig` twice: the second must exit with code 2 and name the ports in one line.
-- Start `pixi run rig` while bridge 3.4 holds :8765 / :60000: same one-line refusal naming 3.4.
+7. **Crash on the real rig** (optional, 3 minutes): start a second run; ~10 s into the first closed
+   loop, kill the bridge node from another terminal (`taskkill /F /PID <bridge pid>` — `rig.py`
+   prints `[rig] bridge exited` and stops the rig). Then:
 
-## What to send back
+```powershell
+pixi run convert -- runlogs\<run>.bag --recover --out recovered.jsonl
+```
 
-- Step 1 wall time, the `$PIXI_PROJECT_ROOT` result, `pixi info` output.
-- Step 3: `summary.md` (and `proc-logs\` on any failure).
-- Step 4: the committed run file name, both reader outputs, whether the Chrome prompt appeared.
-- Step 5: the `--json` replies, the `get-status` body, what BIAS wrote on disk, the unknown-path behavior.
-- Step 7: pass/fail per line.
-- Any error text, verbatim, with the step number. Small fixes can go straight onto the PR branch.
+   Record the recovered line and frame counts against the shadow `.jsonl` (the Mac lost one frame
+   with the `crashsafe` profile), and whether the Studio reported the lost bridge cleanly.
 
-## Plan B additions (2026-10-14 evening) — what changed for this test
+If the rig has **real FicTrac**: repeat step 5 once without `--sim` with FicTrac running and a ball
+(FicTrac sending to `127.0.0.1:60000` as for bridge 3.4). The adapter log shows its line rate; the
+closed-loop report then has no `rejection` to check — the idx mismatch is the test.
 
-`pixi install` now also **builds `interfaces/arena_interfaces`** (three `.msg` types) through
-pixi's preview build feature with the RoboStack `pixi-build-ros` backend. On Windows that build
-needs **Visual Studio 2022 Build Tools (C++ workload)** on the PC; pixi cannot install them.
-Record, verbatim: (a) whether `pixi install --locked` succeeds without them, how long it took, and
-the first error if not; (b) with them installed, the same. If the build cannot be made to work in
-30 minutes, run the graph with the String fallback instead:
+## 5b. Look at the graph while the rig is up (2 minutes)
 
 ```powershell
-# in ros2-poc\pixi.toml, comment out the line   arena_interfaces = { path = "interfaces/arena_interfaces" }
-pixi install
-pixi run rig -- --bridge-args "--typed off" --fictrac-args "--typed off"
+pixi run graph -- --text          # nodes, topics, publishers/subscribers, rates
+pixi run graph -- --out graph.md  # the Mermaid diagram (paste into the report)
 ```
 
-The bridge node now records every run into `runlogs\<run>.bag\` (MCAP) and `log_export` returns the
-log **converted from the bag**; the live NDJSON stays beside it as a shadow. After a Studio run:
+Optional, if time: `pixi install -e viz` (Qt + foxglove_bridge, ~0.3 GB more) then
+`pixi run -e viz rqt-graph` for the live graph window; and open the run's
+`runlogs\<run>.bag\<run>_0.mcap` in Foxglove Studio on any machine to plot `/arena/frame`.
 
-```powershell
-pixi run convert -- runlogs\<run>.bag --out converted.jsonl        # must equal the shadow .jsonl apart from kf/BIAS line timing
-pixi run test                                                       # 46 checks incl. the SIGKILL crash phase
-```
+## 6. Student mistakes (2 minutes)
+
+- A second `pixi run rig` while the first runs → one clear `[rig] cannot start, ports already bound`
+  line (no traceback).
+- `pixi run rig` while bridge 3.4 holds :8765 → the same line naming bridge 3.4.
+- Stop the rig with Ctrl-C in terminal A: every child exits, and the LAST run's bag gets its
+  `metadata.yaml` (the bridge closes the bag on shutdown). Record if any process lingers
+  (`tasklist | findstr /i "rmw_zenohd python"`).
+
+## 7. If the `typed` environment installed (step 1b)
+
+Repeat step 3 and step 5 with `-e typed` (`pixi run -e typed test -- --keep`, `pixi run -e typed rig …`).
+Expected differences: `typed=True` in the bridge banner, `/fictrac/frame` + `/arena/frame` as
+`arena_interfaces/msg/…` in `ros2 bag info`, the harness line `info  typed topics: True`.
+
+## What to send back
 
-Record `pixi run test`'s summary table, the `[test] crash (...)` lines, and the bag size vs the
-`.jsonl` size.
+The timings and sizes from step 1, the `$PIXI_PROJECT_ROOT` answer, the harness artifact folder,
+the exported `.jsonl` + the bag directory + the shadow `.jsonl` of the Studio run, the video file
+name(s), the Chrome version and prompt note, and every verbatim error.
diff --git a/ros2-poc/docs/img/rqt_graph_live.png b/ros2-poc/docs/img/rqt_graph_live.png
new file mode 100644
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+<title>ROS Studio PoC</title>
+<meta name="description" content="Where the LAB-303 Plan B spike stands on 2026-10-14: the ROS 2 bridge graph, MCAP as the record of truth, what was measured, how to run and look at it.">
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+<header class="top">
+  <div class="eyebrow">LAB-303 · Plan B spike · stage of 2026-10-14</div>
+  <h1>ROS Studio proof of concept</h1>
+  <p class="lede">The Arena Studio, unchanged on the wire, driving a fly-on-ball closed loop and a BIAS camera through a ROS 2 node graph, with every run recorded as an MCAP bag and the familiar run log derived from it.</p>
+  <div class="status">
+    <span class="pill ok">harness 46 / 46</span>
+    <span class="pill ok">Mac bench run: byte-identical log</span>
+    <span class="pill warn">Windows: untested</span>
+    <span class="pill">draft PR #254 · not for merge yet</span>
+  </div>
+</header>
+
+<h2>What this stage is</h2>
+<p>Frank proposed building the bridge's device connectors on ROS 2 (Plan B) instead of inside the Python bridge (Plan A). The spike exists so the choice can be made on measured data rather than on the plans. It keeps bridge 3.4 installed beside it, keeps the browser protocol identical, and adds the three things Plan B promised: a record of truth in MCAP, typed messages, and a graph that any ROS tool can look at. The decision itself has not been made.</p>
+
+<h2>The graph</h2>
+<p>Five processes on one machine. Only the bridge node talks to the Studio, over the same WebSocket as bridge 3.4. Programs that are not ROS (FicTrac, the BIAS camera app, the simulator) stay outside the graph and are wrapped by one small adapter each.</p>
+<div class="diagram">
+<svg viewBox="0 0 680 420" role="img" aria-label="Node graph: FicTrac and BIAS reach adapters, adapters publish topics, the bridge node consumes them, serves the Studio and records a bag">
+  <defs><marker id="a" viewBox="0 0 10 10" refX="8" refY="5" markerWidth="6" markerHeight="6" orient="auto-start-reverse"><path d="M2 1L8 5L2 9" fill="none" stroke="context-stroke" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round"/></marker></defs>
+  <rect class="node" x="20" y="30" width="150" height="50" rx="8"/><text x="95" y="50" text-anchor="middle">FicTrac or simulator</text><text class="s" x="95" y="68" text-anchor="middle">UDP 60000 · not ROS</text>
+  <rect class="node ros" x="20" y="130" width="150" height="50" rx="8"/><text x="95" y="150" text-anchor="middle">fictrac_udp_adapter</text><text class="s" x="95" y="168" text-anchor="middle">ROS node</text>
+  <rect class="node" x="20" y="250" width="150" height="50" rx="8"/><text x="95" y="270" text-anchor="middle">BIAS camera app</text><text class="s" x="95" y="288" text-anchor="middle">HTTP 5010 · not ROS</text>
+  <rect class="node ros" x="20" y="350" width="150" height="50" rx="8"/><text x="95" y="370" text-anchor="middle">bias_camera</text><text class="s" x="95" y="388" text-anchor="middle">ROS node</text>
+  <line x1="95" y1="80" x2="95" y2="128" marker-end="url(#a)"/>
+  <line x1="95" y1="350" x2="95" y2="302" marker-end="url(#a)"/>
+  <line x1="95" y1="300" x2="95" y2="348" marker-end="url(#a)" stroke-dasharray="3 3"/>
+  <rect class="node ros" x="240" y="130" width="190" height="50" rx="8"/><text x="335" y="150" text-anchor="middle">/fictrac/frame</text><text class="s" x="335" y="168" text-anchor="middle">FicTracFrame or String · 50 Hz</text>
+  <rect class="node ros" x="240" y="320" width="190" height="50" rx="8"/><text x="335" y="340" text-anchor="middle">/bias/cmd · /bias/reply</text><text class="s" x="335" y="358" text-anchor="middle">/bias/status 1 Hz · JSON</text>
+  <line x1="170" y1="155" x2="238" y2="155" marker-end="url(#a)"/>
+  <line x1="170" y1="375" x2="238" y2="352" marker-end="url(#a)"/>
+  <rect class="node ros" x="500" y="130" width="160" height="50" rx="8"/><text x="580" y="150" text-anchor="middle">arena_bridge</text><text class="s" x="580" y="168" text-anchor="middle">closed loop + recorder</text>
+  <line x1="430" y1="155" x2="498" y2="155" marker-end="url(#a)"/>
+  <path class="edge" d="M430 345 L465 345 L465 190 L540 190" marker-end="url(#a)" stroke="var(--dim)"/>
+  <rect class="node studio" x="500" y="30" width="160" height="50" rx="8"/><text x="580" y="50" text-anchor="middle">Arena Studio</text><text class="s" x="580" y="68" text-anchor="middle">WebSocket 8765 · unchanged</text>
+  <line x1="580" y1="130" x2="580" y2="82" marker-end="url(#a)"/>
+  <rect class="node ros" x="500" y="230" width="160" height="50" rx="8"/><text x="580" y="250" text-anchor="middle">/arena/frame</text><text class="s" x="580" y="268" text-anchor="middle">browser · event · session</text>
+  <line x1="580" y1="180" x2="580" y2="228" marker-end="url(#a)"/>
+  <rect class="node rec" x="500" y="330" width="160" height="50" rx="8"/><text x="580" y="350" text-anchor="middle">MCAP bag per run</text><text class="s" x="580" y="368" text-anchor="middle">every topic · converted later</text>
+  <line x1="580" y1="280" x2="580" y2="328" marker-end="url(#a)"/>
+</svg>
+<div class="legend"><span><span class="sw" style="border-color:var(--ros)"></span>ROS node or topic</span><span><span class="sw" style="border-color:var(--accent)"></span>the browser side</span><span><span class="sw" style="border-color:var(--warn)"></span>the record</span><span><span class="sw" style="border-color:var(--border)"></span>not ROS</span></div>
+</div>
+<figure>
+  <img src="img/rqt_graph_live.png" alt="rqt_graph window showing bias_camera, fictrac_udp_adapter and foxglove_bridge connected to arena_bridge by the bias and fictrac topics" width="767" height="545">
+  <figcaption>rqt_graph on the Mac while the rig was up (default environment, String topics; the typed environment shows /fictrac/frame instead of /fictrac/raw). The foxglove_bridge node is the live feed for Foxglove Studio.</figcaption>
+</figure>
+
+<h2>What a run records</h2>
+<p>While a run's log is open, the bridge node writes one bag. Device topics go in as received. Three streams only the bridge can produce go in beside them, each carrying the writer's emission sequence number so the derived log keeps today's line order.</p>
+<div class="grid">
+  <div class="card"><h3>/arena/frame</h3><p>One record per FicTrac frame: the index the display was asked to show, with the closed-loop node's own sample time. Reconstruction uses that clock, never the recorder's.</p></div>
+  <div class="card"><h3>/arena/browser</h3><p>Every message the Studio sent, verbatim, with its receive stamp: config, log events, controller telemetry rows, connector commands, the export request.</p></div>
+  <div class="card"><h3>/arena/event · /arena/session</h3><p>bias_config, heading_tare, connector status, source lost or resumed, warnings; the run's open and close with the one millisecond base.</p></div>
+  <div class="card"><h3>The converter</h3><p>Pure Python, no ROS process: bag in, behavior_v2 or v1 or full out. Reads a crash-torn bag. The Studio's log_export now answers with its output.</p></div>
+</div>
+<figure>
+  <img src="img/studio_bridge_connected.jpg" alt="Arena Studio run view connected to the ROS 2 bridge: the bench protocol loaded, the live scope scrolling, the bridge indicator reading connected" width="1288" height="927">
+  <figcaption>The Studio on this branch connected through the graph after the bench run: six steps (camera start, two closed-loop trials, camera sync and stop, shutdown), the scope fed by the model fly at 50 Hz.</figcaption>
+</figure>
+
+<h2>What was measured on the Mac</h2>
+<div class="tablewrap"><table>
+  <tr><th>Question</th><th>Result</th></tr>
+  <tr><td>Does the derived log equal the live writer's?</td><td>Every sequenced line byte-identical, in order, in every run. Kinefly and BIAS lines, which are derived from device topics, match in content within 1 to 2 ms and about 5 % land one neighbour apart.</td></tr>
+  <tr><td>Bench run with the G6 controller and the real BIAS app</td><td>6 of 6 steps, every camera command ok, a 167 MB recording. 20 272 records in the bag, converted in <span class="num">315 ms</span>. Closed-loop report idx mismatch 0.13 % and 0.00 %. runlog-check OK.</td></tr>
+  <tr><td>Typed messages through pixi</td><td>pixi-build-ros builds the three .msg types inside <code>pixi install -e typed</code> in about 17 s on the Mac, first try. colcon works too after an rpath fix. Windows needs MSVC and is untested.</td></tr>
+  <tr><td>Crash: bridge node killed mid-run</td><td>Crash-safe writer profile: about one frame lost, recovered with <code>--recover</code>. rosbag2's defaults: the whole short run lost, because it sits in one unflushed chunk.</td></tr>
+  <tr><td>Cost</td><td>Environment 1.0 to 1.7 GB (bridge 3.4's is 0.28 GB); 3 to 5 processes per rig; no added closed-loop latency (p50 0.87 ms, p99 1.65 ms adapter to bridge).</td></tr>
+  <tr><td>Readers</td><td>No changes needed: the JS readers, closed-loop-report.py, runlog-check.py and the v1/v2 round trip all pass on the derived log.</td></tr>
+</table></div>
+<p>The full table with every number, and the list of what broke along the way, is in <code>ros2-poc/README.md</code> under "Plan B spike".</p>
+
+<h2>How to run it</h2>
+<pre><code>cd ros2-poc
+pixi install                       # default: String topics, always installs
+pixi install -e typed              # optional: builds the .msg package (needs a compiler)
+pixi run rig -- --sim --bias --bias-args "--video-dir /abs/path"
+python ../.claude/nocache-server.py 8092      # the Studio of this branch, from the repo root
+# Chrome: http://localhost:8092/arena_studio.html?p=bias_camera_closed_loop_poc&amp;rig=cshl_g6_2x10_ball
+pixi run export                    # closes the run's bag and writes the converted log
+pixi run test                      # the 46-check harness, no hardware</code></pre>
+
+<h2>How to look at it</h2>
+<div class="tablewrap"><table>
+  <tr><th>View</th><th>Command</th></tr>
+  <tr><td>Live graph as a diagram or table</td><td><code>pixi run graph</code> (Mermaid), <code>pixi run graph -- --text</code></td></tr>
+  <tr><td>Live graph window</td><td><code>pixi install -e viz</code>, then <code>pixi run -e viz rqt-graph</code></td></tr>
+  <tr><td>A recorded run, anywhere</td><td>Foxglove Studio, open <code>runlogs/&lt;run&gt;.bag/&lt;run&gt;_0.mcap</code></td></tr>
+  <tr><td>The live run in Foxglove</td><td><code>pixi run -e viz foxglove-bridge</code>, connect to ws://localhost:8766</td></tr>
+  <tr><td>Plain ROS CLI</td><td><code>ros2 topic hz /arena/frame</code>, <code>ros2 bag info runlogs/&lt;run&gt;.bag</code></td></tr>
+</table></div>
+
+<h2>What is still open</h2>
+<ul>
+  <li>Windows, where most rigs live: the install, the typed build, BIAS with a FLIR camera, a real FicTrac. The step-by-step is <code>ros2-poc/WINDOWS-TEST.md</code>.</li>
+  <li>The closed-loop math still runs inside the bridge node. A separate process is Plan B's full shape; the spike measured the ordering cost it would bring (17 same-millisecond swaps in 3949 lines, readers unaffected).</li>
+  <li>The Studio asks the bridge to export only when it commits to the course repo; otherwise the bag stays open until the next run. A real Plan B bridge should close the bag at run end.</li>
+  <li>Serving this Studio from GitHub Pages at <code>/ros/</code> needs the small deploy-tooling change on <code>main</code> first; the lab test serves it from the checkout instead.</li>
+</ul>
+
+<footer>ros2-poc/docs/plan-b-explainer.html · branch claude/ros-studio-plan-b-c44942 · webDisplayTools</footer>
+</main>
diff --git a/ros2-poc/nodes/_common.py b/ros2-poc/nodes/_common.py
index f21e0226..59eb0ce0 100644
--- a/ros2-poc/nodes/_common.py
+++ b/ros2-poc/nodes/_common.py
@@ -146,12 +146,25 @@ def setup_interfaces(prefix: str | None = None) -> bool:
     return True
 
 
-def interfaces_available() -> bool:
-    """True when arena_interfaces imports (after setup_interfaces)."""
+def probe_interfaces():
+    """(ArenaFrame, FicTracFrame) when arena_interfaces imports AND its typesupport actually
+    loads — else None. An import alone is not enough: a package that is importable but whose
+    typesupport library cannot be dlopen'ed (seen with a colcon install visible from the
+    default env: `RMWError: … Could not load library libarena_interfaces__rosidl_typesupport_
+    fastrtps_c.dylib`) would otherwise make a node pick typed topics and die at its first
+    message. One serialize_message() is the test."""
     setup_interfaces()
     try:
-        import arena_interfaces.msg  # noqa: F401
+        from arena_interfaces.msg import ArenaFrame, FicTracFrame
+        from rclpy.serialization import serialize_message
 
-        return True
+        serialize_message(ArenaFrame())
+        serialize_message(FicTracFrame())
+        return ArenaFrame, FicTracFrame
     except Exception:
-        return False
+        return None
+
+
+def interfaces_available() -> bool:
+    """True when arena_interfaces imports and serializes (after setup_interfaces)."""
+    return probe_interfaces() is not None
diff --git a/ros2-poc/nodes/bridge_node.py b/ros2-poc/nodes/bridge_node.py
index 2a263fba..48654ba4 100644
--- a/ros2-poc/nodes/bridge_node.py
+++ b/ros2-poc/nodes/bridge_node.py
@@ -82,18 +82,15 @@
 REPO = HERE.parents[1]
 BRIDGE_PY = REPO / "fictrac-bridge" / "bridge.py"
 sys.path.insert(0, str(HERE))
-from _common import setup_interfaces  # noqa: E402
+from _common import probe_interfaces  # noqa: E402
 from mcap_convert import convert_bag  # noqa: E402
 from recorder import PROFILES, STRING_TYPE, Recorder  # noqa: E402
 
-setup_interfaces()  # a colcon-built interfaces/install, if any (pixi-build installs into the env)
-try:
-    from arena_interfaces.msg import ArenaFrame, FicTracFrame  # noqa: E402
-
-    HAVE_IFACES = True
-except Exception:  # not built on this machine → String JSON everywhere
-    ArenaFrame = FicTracFrame = None  # type: ignore[assignment]
-    HAVE_IFACES = False
+# Typed messages only when the package imports AND serializes (pixi's `typed` env, or a
+# colcon install whose libraries load); otherwise String JSON everywhere.
+_IFACES = probe_interfaces()
+HAVE_IFACES = _IFACES is not None
+ArenaFrame, FicTracFrame = _IFACES if _IFACES else (None, None)  # type: ignore[assignment]
 
 
 def load_bridge_module(path: Path = BRIDGE_PY):
@@ -343,13 +340,15 @@ def write_inbound(self, raw) -> None:
                 print(f"[log] arena_command kept verbatim: {B.arena_compact_reason(obj, self._t0)}", file=sys.stderr)
         self._emit(obj)
 
-    def record_browser(self, text: str) -> int | None:
+    def record_browser(self, text: str, rx_ms: int | None = None) -> int | None:
         """A browser message the live writer does not write as a line (rows / log_export /
-        connector_command). Returns the seq it got, or None when no run is open."""
+        connector_command). `rx_ms` lets the caller share ONE clock sample between the record
+        and whatever it derives from it (the connector command event's `ms`). Returns the seq
+        it got, or None when no run is open."""
         if not self._fh:
             return None
         seq = self.next_seq()
-        self._record(BROWSER_TOPIC, {"seq": seq, "rx_ms": B.now_ms(), "raw": text, "line": False})
+        self._record(BROWSER_TOPIC, {"seq": seq, "rx_ms": B.now_ms() if rx_ms is None else rx_ms, "raw": text, "line": False})
         return seq
 
     def write_event(self, obj: dict, record: bool = True) -> None:
@@ -593,12 +592,15 @@ async def on_connector_command(obj: dict, websocket, raw_text: str | None = None
         plugin = obj.get("plugin")
         # Recorded as the browser message itself (the converter derives this event + the
         # unknown-connector error reply from it); the shadow file gets the lines as before.
-        log.record_browser(json.dumps(obj, separators=(",", ":")) if raw_text is None else raw_text)
-        log.write_event({"type": "connector", "src": connector, "kind": "command", "dir": "browser→bridge", "ms": rel_ms(),
+        # ONE clock sample for the record and the event, so the derived `ms` is exact.
+        rx = B.now_ms()
+        ms = rx - pipeline.t0_ms
+        log.record_browser(json.dumps(obj, separators=(",", ":")) if raw_text is None else raw_text, rx_ms=rx)
+        log.write_event({"type": "connector", "src": connector, "kind": "command", "dir": "browser→bridge", "ms": ms,
                          "id": cid, "plugin": plugin, "command": command, "params": params}, record=False)
         if connector not in CONNECTORS:
             err = f"no connector {connector!r} on this bridge (have {sorted(CONNECTORS)})"
-            log.write_event({"type": "connector", "src": connector, "kind": "reply", "dir": "bridge", "ms": rel_ms(), "via": "ws",
+            log.write_event({"type": "connector", "src": connector, "kind": "reply", "dir": "bridge", "ms": ms, "via": "ws",
                              "id": cid, "plugin": plugin, "command": command, "ok": False, "outcome": "error", "error": err}, record=False)
             await ws_reply(websocket, {"type": "connector_reply", "id": cid, "connector": connector, "plugin": plugin,
                                        "command": command, "ok": False, "outcome": "error", "error": err})
diff --git a/ros2-poc/nodes/build_interfaces.py b/ros2-poc/nodes/build_interfaces.py
index 1cb0ae43..30dbd6ef 100644
--- a/ros2-poc/nodes/build_interfaces.py
+++ b/ros2-poc/nodes/build_interfaces.py
@@ -37,11 +37,11 @@
 RESULT = IFACES / "build-result.json"
 
 sys.path.insert(0, str(HERE))
-from _common import setup_interfaces  # noqa: E402
+from _common import probe_interfaces, setup_interfaces  # noqa: E402
 
 
 def check() -> dict:
-    out = {"install_prefix": str(INSTALL), "built": INSTALL.exists()}
+    out = {"install_prefix": str(INSTALL), "built": INSTALL.exists(), "usable": probe_interfaces() is not None}
     setup_interfaces()
     try:
         from arena_interfaces.msg import ArenaFrame, ConnectorReply, FicTracFrame  # noqa: F401
@@ -117,7 +117,7 @@ def main(argv=None) -> int:
     if a.check:
         r = check()
         print(json.dumps(r, indent=1))
-        return 0 if r.get("importable") else 1
+        return 0 if r.get("usable") else 1
     r = build(a.clean)
     RESULT.write_text(json.dumps(r, indent=1) + "\n", encoding="utf-8")
     print(json.dumps({k: v for k, v in r.items() if k != "log_tail"}, indent=1))
diff --git a/ros2-poc/nodes/export_log.py b/ros2-poc/nodes/export_log.py
new file mode 100644
index 00000000..7563f129
--- /dev/null
+++ b/ros2-poc/nodes/export_log.py
@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+"""export_log.py — ask the running bridge node for its run log, the way the Studio does.
+
+    pixi run export                       # → runlogs/exports/<name>  (converted from the bag)
+    pixi run export -- --out run.jsonl    # explicit path; `-` = stdout
+    pixi run export -- --url ws://127.0.0.1:8765
+
+Sends ONE `{"type":"log_export"}` over the WebSocket and writes the `log_export_result`
+content. On the Plan B bridge node that closes the run's MCAP bag and the shadow file and
+returns the NDJSON DERIVED from the bag (nodes/mcap_convert.py); on bridge 3.4 it returns the
+live file — same message, same reply, so this also works as a plain bridge tool.
+
+Why it exists: the Studio asks the bridge to export only when it commits the run log to the
+course repo (a token stored on that origin). A rig without one keeps the bridge logging until
+the next run, so the last run's bag stays open; this is the one-command way to close and
+collect it. Pure Python (`websockets`), no ROS.
+"""
+
+from __future__ import annotations
+
+import argparse
+import asyncio
+import json
+import sys
+from pathlib import Path
+
+HERE = Path(__file__).resolve().parent
+
+
+async def export(url: str, timeout_s: float) -> dict:
+    from websockets.asyncio.client import connect
+
+    async with connect(url, max_size=256 * 1024 * 1024) as ws:
+        await ws.send(json.dumps({"type": "log_export"}))
+        end = asyncio.get_running_loop().time() + timeout_s
+        while True:
+            remaining = end - asyncio.get_running_loop().time()
+            if remaining <= 0:
+                raise TimeoutError(f"no log_export_result within {timeout_s:g} s")
+            msg = json.loads(await asyncio.wait_for(ws.recv(), remaining))
+            if msg.get("type") == "log_export_result":
+                return msg
+
+
+def main(argv=None) -> int:
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument("--url", default="ws://127.0.0.1:8765")
+    ap.add_argument("--out", default=None, help="output path (default: runlogs/exports/<bridge's file name>; '-' = stdout)")
+    ap.add_argument("--timeout", type=float, default=60.0, help="seconds to wait for the reply (a long run converts in well under 1 s per 10 000 lines)")
+    a = ap.parse_args(argv)
+    try:
+        msg = asyncio.run(export(a.url, a.timeout))
+    except (OSError, TimeoutError) as exc:
+        print(f"[export] {exc} — is the bridge running on {a.url}?", file=sys.stderr)
+        return 2
+    if msg.get("error") or not isinstance(msg.get("content"), str):
+        print(f"[export] bridge answered: {msg.get('error') or msg}", file=sys.stderr)
+        return 1
+    content, name = msg["content"], msg.get("name") or "arena-log-export.jsonl"
+    if a.out == "-":
+        sys.stdout.write(content)
+        return 0
+    out = Path(a.out) if a.out else HERE.parent / "runlogs" / "exports" / name
+    out.parent.mkdir(parents=True, exist_ok=True)
+    out.write_text(content, encoding="utf-8")
+    lines = content.count("\n")
+    print(f"[export] {name}: {lines} lines, {len(content.encode('utf-8'))} bytes → {out}", file=sys.stderr)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/nodes/fictrac_udp_adapter.py b/ros2-poc/nodes/fictrac_udp_adapter.py
index 0f474b36..81a6fc86 100644
--- a/ros2-poc/nodes/fictrac_udp_adapter.py
+++ b/ros2-poc/nodes/fictrac_udp_adapter.py
@@ -42,16 +42,11 @@
 from rclpy.node import Node
 from std_msgs.msg import String
 
-from _common import RELIABLE_QOS, setup_interfaces, spin, wrap_line
+from _common import RELIABLE_QOS, probe_interfaces, spin, wrap_line
 
-setup_interfaces()
-try:
-    from arena_interfaces.msg import FicTracFrame
-
-    HAVE_IFACES = True
-except Exception:
-    FicTracFrame = None  # type: ignore[assignment]
-    HAVE_IFACES = False
+_IFACES = probe_interfaces()  # import + serialize; None → String only
+HAVE_IFACES = _IFACES is not None
+FicTracFrame = _IFACES[1] if _IFACES else None  # type: ignore[assignment]
 
 TOPIC = "/fictrac/raw"
 TYPED_TOPIC = "/fictrac/frame"
diff --git a/ros2-poc/nodes/graph_dump.py b/ros2-poc/nodes/graph_dump.py
new file mode 100644
index 00000000..77b9e3b3
--- /dev/null
+++ b/ros2-poc/nodes/graph_dump.py
@@ -0,0 +1,134 @@
+#!/usr/bin/env python3
+"""graph_dump.py — what the running graph looks like: nodes, topics, who publishes/subscribes.
+
+    pixi run graph                 # Mermaid diagram of the LIVE graph on stdout (paste into a .md / GitHub)
+    pixi run graph -- --dot        # Graphviz DOT instead (dot -Tsvg graph.dot > graph.svg)
+    pixi run graph -- --text       # plain table: topic, type, publishers, subscribers, rate (1 s sample)
+    pixi run graph -- --out docs/graph.md
+
+The ROS 2 answer to "what/how are we using ROS": the graph is discoverable at run time, so this
+asks the middleware (rclpy's node/topic introspection) instead of reading our code. Run it while
+`pixi run rig` is up (any environment of this workspace). The interactive equivalents are
+`rqt_graph` (live, GUI) and Foxglove Studio (live via foxglove_bridge, or offline on the
+MCAP bag) — both in the opt-in `viz` environment (`pixi install -e viz`).
+"""
+
+from __future__ import annotations
+
+import argparse
+import sys
+import time
+
+import rclpy
+from rclpy.node import Node
+
+OWN = {"graph_dump", "_ros2cli"}  # introspection nodes to hide
+
+
+def collect(node: Node, sample_s: float) -> dict:
+    nodes = [(n, ns) for n, ns in node.get_node_names_and_namespaces() if not any(n.startswith(o) for o in OWN)]
+    topics: dict[str, dict] = {}
+    for name, typ in node.get_topic_names_and_types():
+        if name.startswith("/parameter_events") or name.startswith("/rosout"):
+            continue
+        topics[name] = {"types": typ, "pubs": [], "subs": [], "hz": None}
+    for n, ns in nodes:
+        full = (ns.rstrip("/") + "/" + n) if ns != "/" else "/" + n
+        for t, _ in node.get_publisher_names_and_types_by_node(n, ns):
+            if t in topics:
+                topics[t]["pubs"].append(full)
+        for t, _ in node.get_subscriber_names_and_types_by_node(n, ns):
+            if t in topics:
+                topics[t]["subs"].append(full)
+    if sample_s > 0:
+        from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy
+        from rosidl_runtime_py.utilities import get_message
+
+        counts = {t: 0 for t in topics}
+        subs = []
+        for t, info in topics.items():
+            try:
+                cls = get_message(info["types"][0])
+            except Exception:
+                continue
+            qos = QoSProfile(reliability=QoSReliabilityPolicy.BEST_EFFORT, history=QoSHistoryPolicy.KEEP_LAST, depth=10)
+            subs.append(node.create_subscription(cls, t, (lambda tt: (lambda _m: counts.__setitem__(tt, counts[tt] + 1)))(t), qos))
+        end = time.monotonic() + sample_s
+        while time.monotonic() < end:
+            rclpy.spin_once(node, timeout_sec=0.05)
+        for s in subs:
+            node.destroy_subscription(s)
+        for t in topics:
+            topics[t]["hz"] = round(counts[t] / sample_s, 1)
+    return {"nodes": sorted(("/" + n) if ns == "/" else ns.rstrip("/") + "/" + n for n, ns in nodes), "topics": topics}
+
+
+def _id(s: str) -> str:
+    return s.strip("/").replace("/", "_").replace("-", "_")
+
+
+def mermaid(g: dict) -> str:
+    out = ["```mermaid", "flowchart LR"]
+    for n in g["nodes"]:
+        out.append(f'    {_id(n)}(["{n}"])')
+    for t, info in sorted(g["topics"].items()):
+        label = t + ("\\n" + info["types"][0].split("/")[-1] if info["types"] else "") + (f"\\n{info['hz']} Hz" if info["hz"] else "")
+        out.append(f'    {_id(t)}[/"{label}"/]')
+        for p in info["pubs"]:
+            out.append(f"    {_id(p)} --> {_id(t)}")
+        for s in info["subs"]:
+            out.append(f"    {_id(t)} --> {_id(s)}")
+    out.append("```")
+    return "\n".join(out)
+
+
+def dot(g: dict) -> str:
+    out = ["digraph arena {", "  rankdir=LR; node [fontname=Helvetica];"]
+    for n in g["nodes"]:
+        out.append(f'  "{n}" [shape=ellipse,style=filled,fillcolor="#e8f5e9"];')
+    for t, info in sorted(g["topics"].items()):
+        label = t + ("\\n" + info["types"][0] if info["types"] else "") + (f"\\n{info['hz']} Hz" if info["hz"] else "")
+        out.append(f'  "{t}" [shape=box,label="{label}"];')
+        for p in info["pubs"]:
+            out.append(f'  "{p}" -> "{t}";')
+        for s in info["subs"]:
+            out.append(f'  "{t}" -> "{s}";')
+    out.append("}")
+    return "\n".join(out)
+
+
+def text(g: dict) -> str:
+    rows = [("topic", "type", "publishers", "subscribers", "Hz")]
+    for t, info in sorted(g["topics"].items()):
+        rows.append((t, info["types"][0] if info["types"] else "?", ", ".join(info["pubs"]) or "—", ", ".join(info["subs"]) or "—", str(info["hz"]) if info["hz"] is not None else ""))
+    w = [max(len(r[i]) for r in rows) for i in range(5)]
+    return "nodes: " + ", ".join(g["nodes"]) + "\n" + "\n".join("  ".join(c.ljust(w[i]) for i, c in enumerate(r)) for r in rows)
+
+
+def main(argv=None) -> int:
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument("--dot", action="store_true")
+    ap.add_argument("--text", action="store_true")
+    ap.add_argument("--sample", type=float, default=1.0, help="seconds to sample message rates (0 = skip)")
+    ap.add_argument("--out", default=None)
+    ap.add_argument("--wait", type=float, default=2.0, help="seconds to let discovery settle")
+    a, ros_args = ap.parse_known_args(argv)
+    rclpy.init(args=ros_args)
+    node = Node("graph_dump")
+    end = time.monotonic() + a.wait
+    while time.monotonic() < end:
+        rclpy.spin_once(node, timeout_sec=0.1)
+    g = collect(node, a.sample)
+    node.destroy_node()
+    rclpy.try_shutdown()
+    s = dot(g) if a.dot else text(g) if a.text else mermaid(g)
+    if a.out:
+        open(a.out, "w", encoding="utf-8").write(s + "\n")
+        print(f"[graph] {len(g['nodes'])} nodes, {len(g['topics'])} topics → {a.out}", file=sys.stderr)
+    else:
+        print(s)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/pixi.lock b/ros2-poc/pixi.lock
index a53026bd..8024ecac 100644
--- a/ros2-poc/pixi.lock
+++ b/ros2-poc/pixi.lock
@@ -5,6 +5,1227 @@ platforms:
 - name: win-64
 environments:
   default:
+    channels:
+    - url: https://conda.anaconda.org/conda-forge/
+    - url: https://conda.anaconda.org/robostack-jazzy/
+    packages:
+      linux-64:
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-atk-2.38.0-h0630a04_3.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-core-2.40.3-h0630a04_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/atk-1.0-2.38.0-h04ea711_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-3.25-h26dfbe5_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-hcbe3ca9_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_10.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.8-hebe6cf0_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.6-h3c89d7e_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cffi-2.1.1-py312h703531f_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.4.4-hff7ac6b_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cppcheck-2.22.0-py312h3cdd867_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cryptography-50.0.2-py311hc91d8b8_0.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-abi-devel-5.0.1.100-h2fbfb1f_3.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fontconfig-2.18.3-h4db4eae_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/foonathan-memory-0.7.4-h54a6638_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/freetype-2.14.3-ha770c72_2.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gdk-pixbuf-2.44.8-h68053f1_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/glib-tools-2.90.0-h3d503d9_0.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/graphviz-14.1.2-h8b86629_0.conda
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+      - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rqt-gui-py-1.6.4-np2py312hdd89193_25.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rqt-py-common-1.6.4-np2py312h908b3ae_25.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rqt-topic-1.7.5-np2py312hdd89193_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rti-connext-dds-cmake-module-0.22.3-np2py312hdd89193_25.conda
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       - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-sensor-msgs-py-5.3.8-np2py312hdd89193_25.conda
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       - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-std-srvs-5.3.8-np2py312hdd89193_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-stereo-msgs-5.3.8-np2py312hdd89193_25.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-tango-icons-vendor-0.3.1-np2py312hdd89193_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-tf2-0.36.23-np2py312hdd89193_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-tf2-bullet-0.36.23-np2py312hdd89193_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-tf2-eigen-0.36.23-np2py312hd11d946_25.conda
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       - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-zenoh-cpp-vendor-0.2.11-np2py312hbb4efd0_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-zstd-vendor-0.26.11-np2py312h94542ee_25.conda
-      - conda_source: arena_interfaces[3fd15877] @ interfaces/arena_interfaces
 packages:
 - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
   build_number: 20
@@ -1386,6 +3969,19 @@ packages:
     - _openmp_mutex >=4.5
   size: 28948
   timestamp: 1770939786096
+- conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.16.1-h7cc23a3_1.conda
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   timestamp: 1779684039793
+- conda: https://conda.anaconda.org/conda-forge/linux-64/cyrus-sasl-2.1.28-hac629b4_1.conda
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+  - libntlm >=1.8,<2.0a0
+  - libstdcxx >=13
+  - libxcrypt >=4.4.36
+  - openssl >=3.5.5,<4.0a0
+  license: BSD-3-Clause-Attribution
+  license_family: BSD
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 - conda: https://conda.anaconda.org/conda-forge/linux-64/dbus-1.16.2-he8c428d_2.conda
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   size: 5064192
   timestamp: 1787873878517
+- conda: https://conda.anaconda.org/conda-forge/linux-64/glib-2.90.0-h5e3c387_0.conda
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+  - packaging
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+  - glib-tools ==2.90.0 h3d503d9_0
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 - conda: https://conda.anaconda.org/conda-forge/linux-64/glib-tools-2.90.0-h3d503d9_0.conda
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   timestamp: 1769427102743
+- conda: https://conda.anaconda.org/conda-forge/linux-64/gst-plugins-base-1.26.11-h6d08254_0.conda
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+  - libzlib >=1.3.2,<2.0a0
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 - conda: https://conda.anaconda.org/conda-forge/linux-64/gtest-1.18.0-h171cf75_1.conda
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@@ -2242,6 +4925,20 @@ packages:
     - krb5 >=1.22.2,<1.23.0a0
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   timestamp: 1786762112514
+- conda: https://conda.anaconda.org/conda-forge/linux-64/lame-4.0-h770b6ad_1.conda
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 - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.46.1-default_hbd61a6d_103.conda
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@@ -2316,6 +5013,19 @@ packages:
     - libblas >=3.11.0,<4.0a0
   size: 18246
   timestamp: 1789061062982
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libcap-2.78-h084b8d7_1.conda
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 - conda: https://conda.anaconda.org/conda-forge/linux-64/libcblas-3.11.0-11_h0358290_openblas.conda
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@@ -2333,6 +5043,61 @@ packages:
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   timestamp: 1789061068819
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libclang-cpp22.1-22.1.8-default_h0acdd01_11.conda
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+    - libev >=4.33,<4.34.0a0
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+  timestamp: 1785917328200
+- conda: https://conda.anaconda.org/conda-forge/linux-64/libevent-2.1.12-h5348a74_2.conda
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+- conda: https://conda.anaconda.org/conda-forge/linux-64/libflac-1.5.0-he200343_1.conda
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+- conda: https://conda.anaconda.org/conda-forge/linux-64/libllvm22-22.1.8-h474f4eb_3.conda
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+- conda: https://conda.anaconda.org/conda-forge/linux-64/libntlm-1.8-hb9d3cd8_0.conda
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+  md5: cc54806e21c9fb479ce6dd5f8e2e96fc
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+  - gstreamer >=1.26.10,<1.27.0a0
+  - icu >=78.3,<79.0a0
+  - krb5 >=1.22.2,<1.23.0a0
+  - libclang13 >=22.1.0
+  - libglib >=2.86.4,<3.0a0
+  - libjpeg-turbo >=3.1.2,<4.0a0
+  - libpng >=1.6.55,<1.7.0a0
+  - libsqlite >=3.52.0,<4.0a0
+  - libzlib >=1.3.1,<2.0a0
+  - openssl >=3.5.5,<4.0a0
+  - ucrt >=10.0.20348.0
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - zstd >=1.5.7,<1.6.0a0
+  constrains:
+  - qt 5.15.15
+  license: LGPL-3.0-only
+  license_family: LGPL
+  run_exports:
+    weak:
+    - qt-main >=5.15.15,<5.16.0a0
+  size: 59170602
+  timestamp: 1773962814517
+- conda: https://conda.anaconda.org/conda-forge/win-64/rapidjson-1.1.0.post20250205-h5112557_0.conda
+  sha256: 1c41755b6ce3ebe2c5c31e082a2b965d82b5e68bae4857531ccf9ba8a790b107
+  md5: d34eccfd94486e47a0ffcd667a9082da
+  depends:
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  license: MIT
+  license_family: MIT
+  run_exports: {}
+  size: 153975
+  timestamp: 1784885341946
+- conda: https://conda.anaconda.org/conda-forge/win-64/sip-6.10.0-py312hbb81ca0_1.conda
+  sha256: bacf2539be8127fc19b85d99a16a943a4bf75bfe181be25f327c039277ce28f2
+  md5: 87bef134b0da66f55a6dad141ce852c2
+  depends:
+  - packaging
+  - ply
+  - python >=3.12,<3.13.0a0
+  - python_abi 3.12.* *_cp312
+  - setuptools
+  - tomli
+  - ucrt >=10.0.20348.0
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  license: BSD-2-Clause
+  license_family: BSD
+  run_exports:
+    weak:
+    - sip >=6.10.0,<6.11.0a0
+  size: 707717
+  timestamp: 1759439016948
 - conda: https://conda.anaconda.org/conda-forge/win-64/spdlog-1.17.0-hd227c35_2.conda
   sha256: bd14e9166389be0c654e724e16290772b65745aee8d8bb8bacc65d3179330387
   md5: 0d1e29b811d1fea9ba0fe8c869fa5e96
@@ -9601,6 +13485,13 @@ packages:
   - ros2-demo-nodes-py ==0.33.11
   size: 2045
   timestamp: 1791433832043
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-foxglove-bridge-3.6.0-hb0f4dca_25.conda
+  sha256: 20ea44e90d7cae768c7caabd10049ef28accbca3ccf62eb38141e0d92b08e811
+  md5: 8d7e361c89470619fc85cf202e273dc4
+  depends:
+  - ros2-foxglove-bridge ==3.6.0
+  size: 2047
+  timestamp: 1791441583937
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rmw-zenoh-cpp-0.2.11-hb0f4dca_25.conda
   sha256: 813d8468998f632975328dd866b7a9a4121c491d79ef1a75bcf806ee20416eff
   md5: 342c741ee7f06dfa8038817dc6f8ffaa
@@ -9657,6 +13548,27 @@ packages:
   - ros2-rosidl-default-runtime ==1.6.1
   size: 2069
   timestamp: 1791432152018
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-console-2.2.2-hb0f4dca_25.conda
+  sha256: d39ff38788eab96bc449017250dec47091287186d9c6b7d8c9d2383162d8e24e
+  md5: 84a17032eda6a09eaa3b8e3ec5aa4130
+  depends:
+  - ros2-rqt-console ==2.2.2
+  size: 2025
+  timestamp: 1791434459577
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-graph-1.5.6-hb0f4dca_25.conda
+  sha256: 898c466cc23cbef5d02e6ea05501f3416fad190a7710e84a7415d251870b6328
+  md5: ea2aa99f9583a9d1fb394563a3919232
+  depends:
+  - ros2-rqt-graph ==1.5.6
+  size: 2017
+  timestamp: 1791434459492
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros-jazzy-rqt-topic-1.7.5-hb0f4dca_25.conda
+  sha256: 5c65a96b02866c61bc240c64fae18222cbdf1ce0e94a7ba93f8b42f6d1389fea
+  md5: a40f56f42023dde3971b348a15fe2c51
+  depends:
+  - ros2-rqt-topic ==1.7.5
+  size: 2012
+  timestamp: 1791435394044
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-action-msgs-2.0.4-np2py312h1bab3cf_25.conda
   sha256: 8ca78dd5ec6bb7e6986c1d3259aea9b914ca4c7a6876ead8cd37998796e2d5bd
   md5: 5a21fc1c2c8695fd34dfa4831babb9af
@@ -10787,6 +14699,34 @@ packages:
   license: Apache-2.0 OR Zlib
   size: 19829
   timestamp: 1791429651103
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-foxglove-bridge-3.6.0-np2py312h1bab3cf_25.conda
+  sha256: 870852c9e618c3eceb7b8692ebd9c2151d44183b921ca7272f1f70466a9ebaf9
+  md5: c7d0c0bf3e7405b0019a5a05560c716b
+  depends:
+  - python
+  - ros2-ament-index-cpp
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-rcl-interfaces
+  - ros2-rclcpp
+  - ros2-rclcpp-components
+  - ros2-rcpputils
+  - ros2-rcutils
+  - ros2-resource-retriever
+  - ros2-ros-workspace
+  - ros2-rosgraph-msgs
+  - ros2-rosidl-typesupport-introspection-cpp
+  - ros2-rosx-introspection
+  - ros2-service-msgs
+  - ros2-std-msgs
+  - libgcc >=15
+  - libstdcxx >=15
+  - __glibc >=2.28,<3.0.a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - numpy >=1.25,<3
+  license: MIT
+  size: 15904052
+  timestamp: 1791440508440
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-geometry-msgs-5.3.8-np2py312h1bab3cf_25.conda
   sha256: 40f9bad74860a1c8106464e09cd55d05741bd3ecf2cdb75d47d0a9116d487b53
   md5: 92fb2a3b4e1fe5a1992ef442d7962b4b
@@ -11083,6 +15023,25 @@ packages:
   license: Apache-2.0
   size: 26809
   timestamp: 1791429267662
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-libcurl-vendor-3.4.4-np2py312hd2d903f_25.conda
+  sha256: d4932d19bf5508b026aa3e8fa67b1ced6db195722feab7b6744297bee8266398
+  md5: 22ee3c8229cac9fe5094781772e29bf6
+  depends:
+  - libcurl
+  - pkg-config
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - libstdcxx >=15
+  - libgcc >=15
+  - __glibc >=2.28,<3.0.a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - libcurl >=8.22.0,<9.0a0
+  - numpy >=1.25,<3
+  license: Apache-2.0 OR MIT
+  size: 24222
+  timestamp: 1791428357817
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-liblz4-vendor-0.26.11-np2py312h1bab3cf_25.conda
   sha256: 67c80c5459bc496b7fa7d26764f0db5ec899992f942256c03b9d0ec28d15f8f3
   md5: 4243a4fc6e66b69c940ee5cbea1a6292
@@ -11331,6 +15290,73 @@ packages:
   license: Apache-2.0 OR LGPL-2.1-or-later
   size: 28540
   timestamp: 1791430636077
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-python-qt-binding-2.2.2-np2py312hc6e6310_25.conda
+  sha256: 16cfd1720469fa518e12004d285516760491d41859a08ec68f7b896f0d6d0c2f
+  md5: 6733491b2a3cdf265317bf69dda67db8
+  depends:
+  - pyqt
+  - pyqt-builder
+  - pyqt-builder <1.20
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - __glibc >=2.28,<3.0.a0
+  - libstdcxx >=15
+  - libgcc >=15
+  - pyqt >=5.15.11,<5.16.0a0
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - numpy >=1.25,<3
+  - sip >=6.10.0,<6.11.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - python_abi 3.12.* *_cp312
+  - qt-main >=5.15.15,<5.16.0a0
+  license: BSD-3-Clause
+  size: 61278
+  timestamp: 1791430436349
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-qt-dotgraph-2.7.6-np2py312he720cc2_25.conda
+  sha256: 485fcb93ab8ba32e572693933d17d362e4aec09dc77f4ebf71fd4bc0669c46b2
+  md5: a15cc25131121895935b8c4cb957ae4b
+  depends:
+  - pydot
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-ros-workspace
+  - __glibc >=2.28,<3.0.a0
+  - libgcc >=15
+  - libstdcxx >=15
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - numpy >=1.25,<3
+  - graphviz >=14.1.2,<15.0a0
+  license: BSD-3-Clause
+  size: 64901
+  timestamp: 1791430704958
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-qt-gui-2.7.6-np2py312hc6e6310_25.conda
+  sha256: 601dae825c7af43f2d8f4cb0668f5daf1434437b409a075a935ad750407d0fc3
+  md5: 58e5617de72ca48c20a2766138136c6f
+  depends:
+  - catkin_pkg
+  - python
+  - ros2-ament-index-python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-ros-workspace
+  - ros2-tango-icons-vendor
+  - libstdcxx >=15
+  - libgcc >=15
+  - __glibc >=2.28,<3.0.a0
+  - libopengl >=1.7.0,<2.0a0
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  - pyqt >=5.15.11,<5.16.0a0
+  - libgl >=1.7.0,<2.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  license: BSD-3-Clause
+  size: 172098
+  timestamp: 1791430679802
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rcl-9.2.11-np2py312h1bab3cf_25.conda
   sha256: 9474d2a94180a9de5f09f25135afec06d354e315256dcda1a3b803c50d85bca0
   md5: 5abcf3c48b85e1db0565f9a2e0dfaf5d
@@ -11655,6 +15681,25 @@ packages:
   license: Apache-2.0
   size: 123308
   timestamp: 1791430841156
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-resource-retriever-3.4.4-np2py312h1bab3cf_25.conda
+  sha256: ea549a205bd4dca2ae481f8c12ba096644f03fe6ba75abd1c931b7e65f7120a8
+  md5: bf4c2a288724e56d0d8296e487e9fa71
+  depends:
+  - python
+  - ros2-ament-index-cpp
+  - ros2-ament-index-python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-libcurl-vendor
+  - ros2-ros-workspace
+  - libstdcxx >=15
+  - libgcc >=15
+  - __glibc >=2.28,<3.0.a0
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 45420
+  timestamp: 1791430641423
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rmw-7.3.4-np2py312h1bab3cf_25.conda
   sha256: 2bf0f646c1e0ede75632d2a126c1da4763716c67cb3fb577c6cb58c50587ee16
   md5: 89c9036a74e348de8604d1b7e1eb9431
@@ -13236,53 +17281,203 @@ packages:
   - numpy >=1.25,<3
   - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.19.0,<0.20.0a0
-  license: Apache-2.0
-  size: 48659
-  timestamp: 1791431337799
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rosidl-typesupport-introspection-cpp-4.6.9-np2py312h1bab3cf_25.conda
-  sha256: 60533ea9e8559815b5984e136350f28b2e010b8e939359fcf61df9536ad15391
-  md5: 7f4f2632572534dcf1ade7a9f17f2db5
+  license: Apache-2.0
+  size: 48659
+  timestamp: 1791431337799
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rosidl-typesupport-introspection-cpp-4.6.9-np2py312h1bab3cf_25.conda
+  sha256: 60533ea9e8559815b5984e136350f28b2e010b8e939359fcf61df9536ad15391
+  md5: 7f4f2632572534dcf1ade7a9f17f2db5
+  depends:
+  - python
+  - ros2-ament-cmake
+  - ros2-ament-index-python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - ros2-rosidl-cli
+  - ros2-rosidl-cmake
+  - ros2-rosidl-generator-c
+  - ros2-rosidl-generator-cpp
+  - ros2-rosidl-parser
+  - ros2-rosidl-pycommon
+  - ros2-rosidl-runtime-c
+  - ros2-rosidl-runtime-cpp
+  - ros2-rosidl-typesupport-interface
+  - ros2-rosidl-typesupport-introspection-c
+  - __glibc >=2.28,<3.0.a0
+  - libgcc >=15
+  - libstdcxx >=15
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - numpy >=1.25,<3
+  license: Apache-2.0
+  size: 48835
+  timestamp: 1791431503806
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rosx-introspection-2.3.0-np2py312h1bab3cf_25.conda
+  sha256: 9a98c86a2a879261f8cd2cbe5aacbe27de3d7be7ba4622888c0d0abf5201bcd3
+  md5: 86082a737895a8062bf1179cf0a317dd
+  depends:
+  - python
+  - rapidjson
+  - ros2-ament-index-cpp
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-rclcpp
+  - ros2-ros-workspace
+  - ros2-rosbag2-cpp
+  - libgcc >=15
+  - __glibc >=2.28,<3.0.a0
+  - libstdcxx >=15
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  license: MIT
+  size: 239381
+  timestamp: 1791439753199
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rpyutils-0.4.2-np2py312h1bab3cf_25.conda
+  sha256: dda206bfb5900e2af1ac5abc2dae3595a13c32ef1510b8f8d7bc5f2005cb42e3
+  md5: f1c2268a4aca8425abecb0665c2cce3e
+  depends:
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - libgcc >=15
+  - __glibc >=2.28,<3.0.a0
+  - libstdcxx >=15
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  license: Apache-2.0
+  size: 26506
+  timestamp: 1791428324226
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rqt-console-2.2.2-np2py312h1bab3cf_25.conda
+  sha256: c1771490bcec7281f3a89c74e10c3b1e7c81db7b68468f751774429904e55d72
+  md5: 3dc4d80aadfeeea9fca2d0bba7970279
+  depends:
+  - python
+  - ros2-ament-index-python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-rcl-interfaces
+  - ros2-rclpy
+  - ros2-ros-workspace
+  - ros2-rqt-gui
+  - ros2-rqt-gui-py
+  - ros2-rqt-py-common
+  - libgcc >=15
+  - __glibc >=2.28,<3.0.a0
+  - libstdcxx >=15
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  license: BSD-3-Clause
+  size: 83651
+  timestamp: 1791434019898
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rqt-graph-1.5.6-np2py312h1bab3cf_25.conda
+  sha256: 9e22bf78b9e18a667edc59aa2db697486e06047d3525bb05d00945da3cbfb7bf
+  md5: b5b9858a7626fc5effaefe8f24232cd5
+  depends:
+  - python
+  - ros2-ament-index-python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-qt-dotgraph
+  - ros2-ros-workspace
+  - ros2-rqt-gui
+  - ros2-rqt-gui-py
+  - __glibc >=2.28,<3.0.a0
+  - libstdcxx >=15
+  - libgcc >=15
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  license: BSD-3-Clause
+  size: 69971
+  timestamp: 1791434138758
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rqt-gui-1.6.4-np2py312h1bab3cf_25.conda
+  sha256: 72dfa76ef53d5c9ed50f961f578f6c70f7654248fda70c92c9e3ab98d0ad32b0
+  md5: 12b892fee1ec783191b5fa8f850bbb4c
   depends:
+  - catkin_pkg
   - python
-  - ros2-ament-cmake
   - ros2-ament-index-python
   - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-qt-gui
+  - ros2-rclpy
   - ros2-ros-workspace
-  - ros2-rosidl-cli
-  - ros2-rosidl-cmake
-  - ros2-rosidl-generator-c
-  - ros2-rosidl-generator-cpp
-  - ros2-rosidl-parser
-  - ros2-rosidl-pycommon
-  - ros2-rosidl-runtime-c
-  - ros2-rosidl-runtime-cpp
-  - ros2-rosidl-typesupport-interface
-  - ros2-rosidl-typesupport-introspection-c
   - __glibc >=2.28,<3.0.a0
   - libgcc >=15
   - libstdcxx >=15
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - numpy >=1.25,<3
   - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 126707
+  timestamp: 1791433300340
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rqt-gui-py-1.6.4-np2py312h1bab3cf_25.conda
+  sha256: cf797cb188f5523f55b661d71c5b22d4700d71f37ac8d2e8c2f438c52d17d666
+  md5: f7f592ede7a4acfa2de21c8cde11b7ec
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+  - ros2-distro-mutex 0.19.* jazzy_*
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+  - ros2-ros-workspace
+  - ros2-rqt-gui
+  - __glibc >=2.28,<3.0.a0
+  - libgcc >=15
+  - libstdcxx >=15
   - ros2-distro-mutex >=0.19.0,<0.20.0a0
   - numpy >=1.25,<3
-  license: Apache-2.0
-  size: 48835
-  timestamp: 1791431503806
-- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rpyutils-0.4.2-np2py312h1bab3cf_25.conda
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-  md5: f1c2268a4aca8425abecb0665c2cce3e
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 50688
+  timestamp: 1791433641203
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rqt-py-common-1.6.4-np2py312h8bbec66_25.conda
+  sha256: d713f16994bd6dc7e1e61764ab39957497ea042a358f05fd5e310926e34c11e5
+  md5: eaf93d6cd726920b144ace0bdf350ec3
   depends:
+  - libgl-devel
+  - libopengl-devel
   - python
+  - qt-main
   - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-qt-gui
+  - ros2-rclpy
   - ros2-ros-workspace
+  - libstdcxx >=15
   - libgcc >=15
   - __glibc >=2.28,<3.0.a0
-  - libstdcxx >=15
+  - numpy >=1.25,<3
+  - libopengl >=1.7.0,<2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  - python_abi 3.12.* *_cp312
   - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  license: BSD-3-Clause
+  size: 89299
+  timestamp: 1791433312714
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rqt-topic-1.7.5-np2py312h1bab3cf_25.conda
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+  md5: 31b1385e33c758d3e78203d8eb5d3a86
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+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-rclpy
+  - ros2-ros-workspace
+  - ros2-ros2topic
+  - ros2-rqt-gui
+  - ros2-rqt-gui-py
+  - ros2-rqt-py-common
+  - __glibc >=2.28,<3.0.a0
+  - libstdcxx >=15
+  - libgcc >=15
   - numpy >=1.25,<3
   - python_abi 3.12.* *_cp312
-  license: Apache-2.0
-  size: 26506
-  timestamp: 1791428324226
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  license: BSD-3-Clause OR Apache-2.0
+  size: 40055
+  timestamp: 1791434898640
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-rti-connext-dds-cmake-module-0.22.3-np2py312h1bab3cf_25.conda
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   md5: 5b98441283212b045deb2fff9cb541cd
@@ -13526,6 +17721,22 @@ packages:
   license: Apache-2.0
   size: 85996
   timestamp: 1791434734452
+- conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-tango-icons-vendor-0.3.1-np2py312h1bab3cf_25.conda
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+  md5: b57b54a7da740dab564306e635dba146
+  depends:
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - libgcc >=15
+  - __glibc >=2.28,<3.0.a0
+  - libstdcxx >=15
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  license: Apache-2.0 OR Unlicense
+  size: 27247
+  timestamp: 1791430468625
 - conda: https://conda.anaconda.org/robostack-jazzy/linux-64/ros2-tf2-0.36.23-np2py312h1bab3cf_25.conda
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   md5: 9d6d499ebed331fdae9599ac52939333
@@ -14084,6 +18295,13 @@ packages:
   license: Apache-2.0
   size: 81413
   timestamp: 1788191643747
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros-jazzy-foxglove-bridge-3.4.3-h60d57d3_21.conda
+  sha256: 252014ea1aa0ae45191aecd195e5b0dbd0202fa85253f514d801ced68235564f
+  md5: dba21c81852acd3b39273560ed7b9fe7
+  depends:
+  - ros2-foxglove-bridge ==3.4.3
+  size: 2029
+  timestamp: 1788464916101
 - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros-jazzy-rcpputils-2.11.4-h60d57d3_25.conda
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   md5: c5d66aba0e8ff9d7343237f9efbf98f1
@@ -14218,6 +18436,27 @@ packages:
   - ros2-rosidl-typesupport-fastrtps-cpp ==3.6.4
   size: 2098
   timestamp: 1791433206312
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros-jazzy-rqt-console-2.2.2-h60d57d3_25.conda
+  sha256: af72fe29198efb5a4aaa0d9842a67cd239d7a6edadfa4f55edecbc84e50199d8
+  md5: 3314945cb9825d9832515314536e741f
+  depends:
+  - ros2-rqt-console ==2.2.2
+  size: 2002
+  timestamp: 1791437106121
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros-jazzy-rqt-graph-1.5.6-h60d57d3_25.conda
+  sha256: 06999ddc264f8969549d6fa69f86c8b3f0944bd188da75b8228e0e3c07c3fafc
+  md5: 369fc9a7142b6e7012bf564a799b5a9c
+  depends:
+  - ros2-rqt-graph ==1.5.6
+  size: 1996
+  timestamp: 1791437105989
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros-jazzy-rqt-topic-1.7.5-h60d57d3_25.conda
+  sha256: c96c2c7f7454219718fbe07c20a31f298698f16e1e7d73a3d012fc407b03fe50
+  md5: 7d12d2a90c897dd00739be84884e0455
+  depends:
+  - ros2-rqt-topic ==1.7.5
+  size: 1995
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 - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros-jazzy-tracetools-8.2.6-h60d57d3_25.conda
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   md5: b41eb15bab9dd9b4938e893b1eb647bc
@@ -15309,6 +19548,33 @@ packages:
   license: Apache-2.0 OR Zlib
   size: 21162
   timestamp: 1788270684489
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-foxglove-bridge-3.4.3-np2py312haf4906a_21.conda
+  sha256: 1fc9d345bc538b849e19c9f2d148cbbfec8338893a2d25982e2a852474462bd2
+  md5: 4b37b5dcf04848d686a2f90f31b147b1
+  depends:
+  - python
+  - ros2-ament-index-cpp
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-rcl-interfaces
+  - ros2-rclcpp
+  - ros2-rclcpp-components
+  - ros2-rcpputils
+  - ros2-rcutils
+  - ros2-resource-retriever
+  - ros2-ros-workspace
+  - ros2-rosgraph-msgs
+  - ros2-rosidl-typesupport-introspection-cpp
+  - ros2-rosx-introspection
+  - ros2-service-msgs
+  - ros2-std-msgs
+  - libcxx >=19
+  - __osx >=12.0
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: MIT
+  size: 12599521
+  timestamp: 1788464156279
 - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-geometry-msgs-5.3.8-np2py312haf4906a_21.conda
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   md5: c6288c4a679dfe427fd8cc7e494d701f
@@ -15596,6 +19862,24 @@ packages:
   license: Apache-2.0
   size: 27789
   timestamp: 1788269103182
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-libcurl-vendor-3.4.4-np2py312haf4906a_21.conda
+  sha256: dc930b0253120c95002c24701a97afea5a238f74c3b4342c60f755f60fe5fe34
+  md5: f3227e15c96e1569abc59490cbc0f145
+  depends:
+  - libcurl
+  - pkg-config
+  - python
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-ros-workspace
+  - __osx >=12.0
+  - libcxx >=19
+  - python_abi 3.12.* *_cp312
+  - libcurl >=8.21.0,<9.0a0
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - numpy >=1.25,<3
+  license: Apache-2.0 OR MIT
+  size: 26059
+  timestamp: 1788268625930
 - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-liblz4-vendor-0.26.11-np2py312haf4906a_21.conda
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   md5: 889ae1b5b42029e13aaabf71d7bae3e9
@@ -15831,6 +20115,64 @@ packages:
   license: Apache-2.0 OR LGPL-2.1-or-later
   size: 29591
   timestamp: 1788271348080
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-python-qt-binding-2.2.2-np2py312haf4906a_21.conda
+  sha256: e6560ddd2659fbc496f8a06e0277465896d5bd3378c5efe1c70684dc8b87376a
+  md5: eaf4d05c6f756e3607ff82337af8c958
+  depends:
+  - pyqt
+  - pyqt-builder
+  - python
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-ros-workspace
+  - __osx >=12.0
+  - libcxx >=19
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  - pyqt >=5.15.11,<5.16.0a0
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  license: BSD-3-Clause
+  size: 56911
+  timestamp: 1788271103819
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-qt-dotgraph-2.7.6-np2py312h04422e8_21.conda
+  sha256: b99523f26faf68e5383d3584073ca0ca149b34f6cfbb610355bca2d3d96c5d88
+  md5: 8182d42e625d623dd712b2c068e45c20
+  depends:
+  - pydot
+  - python
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-ros-workspace
+  - libcxx >=19
+  - __osx >=12.0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - graphviz >=14.1.2,<15.0a0
+  - numpy >=1.25,<3
+  license: BSD-3-Clause
+  size: 63453
+  timestamp: 1788271374173
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-qt-gui-2.7.6-np2py312haf4906a_21.conda
+  sha256: 0ebec9c835ead74185719f6b18f1f2d54102948cc3634ce24957003021a56695
+  md5: 031786448bb59f588141651cd53f0e9b
+  depends:
+  - catkin_pkg
+  - python
+  - ros2-ament-index-python
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-ros-workspace
+  - ros2-tango-icons-vendor
+  - libcxx >=19
+  - __osx >=12.0
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  - pyqt >=5.15.11,<5.16.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  license: BSD-3-Clause
+  size: 167875
+  timestamp: 1788271333293
 - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rcl-9.2.11-np2py312haf4906a_21.conda
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   md5: c215c6e84e28e5c2f57e11e497be7e2a
@@ -16141,6 +20483,24 @@ packages:
   license: Apache-2.0
   size: 116477
   timestamp: 1788271469515
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-resource-retriever-3.4.4-np2py312haf4906a_21.conda
+  sha256: 41746083c440eefafb726ebc89f6ce8e8b1ef631ef0366f8264ab31bce2b0152
+  md5: b8a94203d773dacfffc7dfbd07487553
+  depends:
+  - python
+  - ros2-ament-index-cpp
+  - ros2-ament-index-python
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-libcurl-vendor
+  - ros2-ros-workspace
+  - libcxx >=19
+  - __osx >=12.0
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: BSD-3-Clause
+  size: 43599
+  timestamp: 1788271358362
 - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rmw-7.3.3-np2py312haf4906a_21.conda
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   md5: 5172be7981c552e7495e7a197f4fc3d6
@@ -17600,78 +21960,217 @@ packages:
   - ros2-ros-workspace
   - __osx >=12.0
   - libcxx >=19
-  - python_abi 3.12.* *_cp312
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - numpy >=1.25,<3
+  license: Apache-2.0
+  size: 30961
+  timestamp: 1788271126828
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rosidl-typesupport-introspection-c-4.6.9-np2py312haf4906a_21.conda
+  sha256: 7148fac1aa4cd1b93566e0bb3fb41777a7160bcc3b867d74934d27e6bdc568a0
+  md5: 350790b832f5a0272066c8f9d2d5fd62
+  depends:
+  - python
+  - ros2-ament-cmake
+  - ros2-ament-index-python
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-ros-workspace
+  - ros2-rosidl-cli
+  - ros2-rosidl-cmake
+  - ros2-rosidl-generator-c
+  - ros2-rosidl-parser
+  - ros2-rosidl-pycommon
+  - ros2-rosidl-runtime-c
+  - ros2-rosidl-typesupport-interface
+  - __osx >=12.0
+  - libcxx >=19
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - numpy >=1.25,<3
+  license: Apache-2.0
+  size: 49175
+  timestamp: 1788271934642
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rosidl-typesupport-introspection-cpp-4.6.9-np2py312haf4906a_21.conda
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+  md5: 5753f2f2d0403d9d3ca78fe7b575b2e3
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+  - python
+  - ros2-ament-cmake
+  - ros2-ament-index-python
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-ros-workspace
+  - ros2-rosidl-cli
+  - ros2-rosidl-cmake
+  - ros2-rosidl-generator-c
+  - ros2-rosidl-generator-cpp
+  - ros2-rosidl-parser
+  - ros2-rosidl-pycommon
+  - ros2-rosidl-runtime-c
+  - ros2-rosidl-runtime-cpp
+  - ros2-rosidl-typesupport-interface
+  - ros2-rosidl-typesupport-introspection-c
+  - __osx >=12.0
+  - libcxx >=19
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - python_abi 3.12.* *_cp312
+  license: Apache-2.0
+  size: 49326
+  timestamp: 1788361221532
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rosx-introspection-2.3.0-np2py312haf4906a_21.conda
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+  md5: b083cb3aec118536051ec9a11264917a
+  depends:
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+  - rapidjson
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+  - ros2-rclcpp
+  - ros2-ros-workspace
+  - ros2-rosbag2-cpp
+  - libcxx >=19
+  - __osx >=12.0
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - python_abi 3.12.* *_cp312
+  license: MIT
+  size: 190507
+  timestamp: 1788463292413
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rpyutils-0.4.2-np2py312haf4906a_21.conda
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+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  license: Apache-2.0
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+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rqt-console-2.2.2-np2py312haf4906a_21.conda
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+  - python
+  - ros2-ament-index-python
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+  - ros2-python-qt-binding
+  - ros2-rcl-interfaces
+  - ros2-rclpy
+  - ros2-ros-workspace
+  - ros2-rqt-gui
+  - ros2-rqt-gui-py
+  - ros2-rqt-py-common
+  - __osx >=12.0
+  - libcxx >=19
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  license: BSD-3-Clause
+  size: 84804
+  timestamp: 1788461001508
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rqt-graph-1.5.6-np2py312haf4906a_21.conda
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+  - python
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+  - ros2-qt-dotgraph
+  - ros2-ros-workspace
+  - ros2-rqt-gui
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+  - __osx >=12.0
+  - libcxx >=19
   - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - python_abi 3.12.* *_cp312
   - numpy >=1.25,<3
-  license: Apache-2.0
-  size: 30961
-  timestamp: 1788271126828
-- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rosidl-typesupport-introspection-c-4.6.9-np2py312haf4906a_21.conda
-  sha256: 7148fac1aa4cd1b93566e0bb3fb41777a7160bcc3b867d74934d27e6bdc568a0
-  md5: 350790b832f5a0272066c8f9d2d5fd62
+  license: BSD-3-Clause
+  size: 71057
+  timestamp: 1788460955255
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rqt-gui-1.6.4-np2py312haf4906a_21.conda
+  sha256: 002d56638cfc90c2bb945ba7a7f23c376e3f112ec20a94e54eba9cb9ab479ed3
+  md5: de6843e9751d44efedb136883cf11ffe
   depends:
+  - catkin_pkg
   - python
-  - ros2-ament-cmake
   - ros2-ament-index-python
   - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-qt-gui
+  - ros2-rclpy
   - ros2-ros-workspace
-  - ros2-rosidl-cli
-  - ros2-rosidl-cmake
-  - ros2-rosidl-generator-c
-  - ros2-rosidl-parser
-  - ros2-rosidl-pycommon
-  - ros2-rosidl-runtime-c
-  - ros2-rosidl-typesupport-interface
   - __osx >=12.0
   - libcxx >=19
-  - python_abi 3.12.* *_cp312
-  - ros2-distro-mutex >=0.16.0,<0.17.0a0
   - numpy >=1.25,<3
-  license: Apache-2.0
-  size: 49175
-  timestamp: 1788271934642
-- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rosidl-typesupport-introspection-cpp-4.6.9-np2py312haf4906a_21.conda
-  sha256: d21df1196435d753855639577f3b43356109d5e8a7976c053119ff6639f3454b
-  md5: 5753f2f2d0403d9d3ca78fe7b575b2e3
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 122818
+  timestamp: 1788459418889
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rqt-gui-py-1.6.4-np2py312haf4906a_21.conda
+  sha256: d6f2588037021fa6870b3c5733dcd153b4d48d61c316a2e215d54173131dcc73
+  md5: 4ab85b017b096c67d2a031258938933d
   depends:
   - python
-  - ros2-ament-cmake
-  - ros2-ament-index-python
   - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-qt-gui
   - ros2-ros-workspace
-  - ros2-rosidl-cli
-  - ros2-rosidl-cmake
-  - ros2-rosidl-generator-c
-  - ros2-rosidl-generator-cpp
-  - ros2-rosidl-parser
-  - ros2-rosidl-pycommon
-  - ros2-rosidl-runtime-c
-  - ros2-rosidl-runtime-cpp
-  - ros2-rosidl-typesupport-interface
-  - ros2-rosidl-typesupport-introspection-c
+  - ros2-rqt-gui
   - __osx >=12.0
   - libcxx >=19
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
   - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 45187
+  timestamp: 1788459827592
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rqt-py-common-1.6.4-np2py312haf4906a_21.conda
+  sha256: 947b5e7da8d5346c5a406a5d8e860e7a25c9cdd7416a56c01ab8fe894b179fb2
+  md5: 53b7f10d8573c456cfc7270f0968d153
+  depends:
+  - python
+  - qt-main
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-qt-gui
+  - ros2-rclpy
+  - ros2-ros-workspace
+  - libcxx >=19
+  - __osx >=12.0
+  - qt-main >=5.15.15,<5.16.0a0
   - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - numpy >=1.25,<3
   - python_abi 3.12.* *_cp312
-  license: Apache-2.0
-  size: 49326
-  timestamp: 1788361221532
-- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rpyutils-0.4.2-np2py312haf4906a_21.conda
-  sha256: 99b79db3c51891cf663c316dddf60892140bb431bb33bceddc2fdc100833cdc5
-  md5: 83c1f8b7abe0fd72d37f78a0382e84bb
+  license: BSD-3-Clause
+  size: 83884
+  timestamp: 1788459433321
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rqt-topic-1.7.5-np2py312haf4906a_21.conda
+  sha256: 848b95532aeba8073ca8a1391f039afe52f595c209ec41f4c6bf4e59022563f2
+  md5: 68283df3d6ff3b80a7292d392809d6f2
   depends:
   - python
   - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-rclpy
   - ros2-ros-workspace
+  - ros2-ros2topic
+  - ros2-rqt-gui
+  - ros2-rqt-gui-py
+  - ros2-rqt-py-common
   - libcxx >=19
   - __osx >=12.0
   - ros2-distro-mutex >=0.16.0,<0.17.0a0
   - python_abi 3.12.* *_cp312
   - numpy >=1.25,<3
-  license: Apache-2.0
-  size: 27235
-  timestamp: 1788268406260
+  license: BSD-3-Clause OR Apache-2.0
+  size: 40897
+  timestamp: 1788461182310
 - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-rti-connext-dds-cmake-module-0.22.3-np2py312haf4906a_21.conda
   sha256: 306adab87b292cb8afe9f23c237831ccd0f34c435055d73ecd0e03d9e911d608
   md5: 023a307b0ce6cb1b9359ed5ed151eb09
@@ -17902,6 +22401,21 @@ packages:
   license: Apache-2.0
   size: 84281
   timestamp: 1788458329383
+- conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-tango-icons-vendor-0.3.1-np2py312haf4906a_21.conda
+  sha256: 74497efdcd9b3cef83f8903a809c07b82c619bd79ecbf4b62016b786586d60fb
+  md5: 98ac5c3ada174e87a9b5da25f7c81fc9
+  depends:
+  - python
+  - ros2-distro-mutex 0.16.* jazzy_*
+  - ros2-ros-workspace
+  - libcxx >=19
+  - __osx >=12.0
+  - ros2-distro-mutex >=0.16.0,<0.17.0a0
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  license: Apache-2.0 OR Unlicense
+  size: 536344
+  timestamp: 1788271204698
 - conda: https://conda.anaconda.org/robostack-jazzy/osx-arm64/ros2-tf2-0.36.22-np2py312haf4906a_21.conda
   sha256: 46c7b27c0b335c1b72ad1fb05a87f57b45ad8be5de2f1421d7134e539d7ab252
   md5: 59ed0bad6ba463325774fa9b4c5254b8
@@ -18394,6 +22908,13 @@ packages:
   - ros2-demo-nodes-py ==0.33.11
   size: 2044
   timestamp: 1791455531694
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros-jazzy-foxglove-bridge-3.6.0-h9490d1a_25.conda
+  sha256: 4ba13914a9eff2df36a9d4a05bc09889269b785a42359d56ddd0f74cc453e7f8
+  md5: 9a47dcf91271903e16490498c24d990f
+  depends:
+  - ros2-foxglove-bridge ==3.6.0
+  size: 2038
+  timestamp: 1791486367751
 - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros-jazzy-rmw-zenoh-cpp-0.2.11-h9490d1a_25.conda
   sha256: f0ae90d9267b1a7ed39ff4866b9fc872e12d78ec7d7a6ad60b79f5e99290fcaf
   md5: b49593864e427095476f3e6ddd1655c8
@@ -18450,6 +22971,27 @@ packages:
   - ros2-rosidl-default-runtime ==1.6.1
   size: 2066
   timestamp: 1791449110155
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros-jazzy-rqt-console-2.2.2-h9490d1a_25.conda
+  sha256: a5c160a678ca189a7d561321c2aa85197b8b28e8543ea038743b8d087f903961
+  md5: b6d0f944c94665fd5927a23febeca733
+  depends:
+  - ros2-rqt-console ==2.2.2
+  size: 2018
+  timestamp: 1791457965380
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros-jazzy-rqt-graph-1.5.6-h9490d1a_25.conda
+  sha256: c4411f2893d6e59e175f2d4905eb2dac0b3d5f06c0abde6ed597918be1fe55f2
+  md5: 641b43de6a0afa76d932b1d10d124de4
+  depends:
+  - ros2-rqt-graph ==1.5.6
+  size: 1998
+  timestamp: 1791457964976
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros-jazzy-rqt-topic-1.7.5-h9490d1a_25.conda
+  sha256: 8570ba07c34301102cc18d329ae4f90cbfff494981d3a7b4309e199b9f7a674f
+  md5: 6dffa07c9a5d6f18f4b2db1c623cc1c5
+  depends:
+  - ros2-rqt-topic ==1.7.5
+  size: 1994
+  timestamp: 1791461518855
 - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-action-msgs-2.0.4-np2py312hdd89193_25.conda
   sha256: ca01aa75fdbe77ac74de2bda55c91d2c9d39af5fd31e5464356787b71011c5b9
   md5: 1b4ccd24b9d3231692efa190f2358d77
@@ -19580,6 +24122,34 @@ packages:
   license: Apache-2.0 OR Zlib
   size: 17564
   timestamp: 1791437150995
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-foxglove-bridge-3.6.0-np2py312hdd89193_25.conda
+  sha256: 108338de70ab1d32125457718dda934b420ddff2c3f7c654689a333e16822418
+  md5: e714d3349e7ad7177037f56b7c869a78
+  depends:
+  - python
+  - ros2-ament-index-cpp
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-rcl-interfaces
+  - ros2-rclcpp
+  - ros2-rclcpp-components
+  - ros2-rcpputils
+  - ros2-rcutils
+  - ros2-resource-retriever
+  - ros2-ros-workspace
+  - ros2-rosgraph-msgs
+  - ros2-rosidl-typesupport-introspection-cpp
+  - ros2-rosx-introspection
+  - ros2-service-msgs
+  - ros2-std-msgs
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - python_abi 3.12.* *_cp312
+  license: MIT
+  size: 15580413
+  timestamp: 1791482466260
 - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-geometry-msgs-5.3.8-np2py312hdd89193_25.conda
   sha256: 295fd3ad6e74ca8604e13effbdf5e66743ba3447c79f261d05e848ac3150b481
   md5: 17bdb9252b629e85d7ba1692b8f6206b
@@ -19874,6 +24444,25 @@ packages:
   license: Apache-2.0
   size: 24025
   timestamp: 1791435226732
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-libcurl-vendor-3.4.4-np2py312h3ebd44a_25.conda
+  sha256: 6a6a333e41b5a13e3bb5232d361d20adf899dd5007f9623995a1e7f0ba33805a
+  md5: 5c9f227e114f652358628fd7cf88aa6b
+  depends:
+  - libcurl
+  - pkg-config
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - libcurl >=8.22.0,<9.0a0
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  license: Apache-2.0 OR MIT
+  size: 21268
+  timestamp: 1791432926708
 - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-liblz4-vendor-0.26.11-np2py312hdd89193_25.conda
   sha256: 8861784eec6b77cd50fc8436108c7b0361a3bc0c426833fa6c21a91d8fbd815d
   md5: 325f3c7f5e10e9dfd3fa822dc757e9aa
@@ -20122,6 +24711,69 @@ packages:
   license: Apache-2.0 OR LGPL-2.1-or-later
   size: 25268
   timestamp: 1791440274828
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-python-qt-binding-2.2.2-np2py312hf1dc57d_25.conda
+  sha256: d7e80044aaeac7c44b2469cdd243b3dceed98d9c5456aa435f69e09f5a2f3245
+  md5: 465dbca4e1476a449a0a180b49b5e3dc
+  depends:
+  - pyqt
+  - pyqt-builder
+  - pyqt-builder <1.20
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - qt-main >=5.15.15,<5.16.0a0
+  - pyqt >=5.15.11,<5.16.0a0
+  - numpy >=1.25,<3
+  - sip >=6.10.0,<6.11.0a0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  license: BSD-3-Clause
+  size: 51862
+  timestamp: 1791439333709
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-qt-dotgraph-2.7.6-np2py312h512b0a9_25.conda
+  sha256: 6ee90fb70597952096378d3b4425a46a55d71198a1498af6b511fa3048f1f2b9
+  md5: 20b34d5d0cbefff02a8446a4cb73536d
+  depends:
+  - pydot
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-ros-workspace
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - python_abi 3.12.* *_cp312
+  - graphviz >=14.1.2,<15.0a0
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  license: BSD-3-Clause
+  size: 55107
+  timestamp: 1791440695730
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-qt-gui-2.7.6-np2py312hf1dc57d_25.conda
+  sha256: 144913f2273b2a61907cf2907065e8b52beef717b86dbdb87448934ca454d287
+  md5: 7aedaedc9ba918d37ba3b2c52a25173a
+  depends:
+  - catkin_pkg
+  - python
+  - ros2-ament-index-python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-ros-workspace
+  - ros2-tango-icons-vendor
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - qt-main >=5.15.15,<5.16.0a0
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - pyqt >=5.15.11,<5.16.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  license: BSD-3-Clause
+  size: 162562
+  timestamp: 1791440532923
 - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rcl-9.2.11-np2py312hdd89193_25.conda
   sha256: 96393f68d0765b744b987fbb632048824d9eee3faea4b3f8ac5fe34de478ab6d
   md5: ac5903dabfe7126a6e5d1c53d7b60026
@@ -20446,6 +25098,25 @@ packages:
   license: Apache-2.0
   size: 127468
   timestamp: 1791440954115
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-resource-retriever-3.4.4-np2py312hdd89193_25.conda
+  sha256: 5fa0424081e05994df1475f1f6e517f2ef451f71e9d6d7c97d2129fb79a1cd88
+  md5: df4363819578c11db488c93f82bfa1b6
+  depends:
+  - python
+  - ros2-ament-index-cpp
+  - ros2-ament-index-python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-libcurl-vendor
+  - ros2-ros-workspace
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  license: BSD-3-Clause
+  size: 46319
+  timestamp: 1791440321501
 - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rmw-7.3.4-np2py312hdd89193_25.conda
   sha256: a5f8e20616574cd4f935514db0cb0bb684eddd674545b850c62a35ba9cb60603
   md5: 82f4ac2ac7dc4773aaff0af1c675a6a4
@@ -22058,6 +26729,26 @@ packages:
   license: Apache-2.0
   size: 49059
   timestamp: 1791446276093
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rosx-introspection-2.3.0-np2py312hdd89193_25.conda
+  sha256: 8c2eab5d17b87223932a120c8871533ba58a73db29a4606e18f420e7bdc11590
+  md5: 11131715c823049d4ca78cbfa247f82d
+  depends:
+  - python
+  - rapidjson
+  - ros2-ament-index-cpp
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-rclcpp
+  - ros2-ros-workspace
+  - ros2-rosbag2-cpp
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  license: MIT
+  size: 401210
+  timestamp: 1791479420788
 - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rpyutils-0.4.2-np2py312hdd89193_25.conda
   sha256: feb51724aff743c03e9c25080663f212eeac6741210a040ffff1f35618dae0e1
   md5: 3d8299e36e0c551683f76cd49f0e1d3a
@@ -22074,6 +26765,132 @@ packages:
   license: Apache-2.0
   size: 19968
   timestamp: 1791432613829
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rqt-console-2.2.2-np2py312hdd89193_25.conda
+  sha256: 949f14fa330f45b7ec5e2a507cb019e086238627da7a2d73926d37891aeadab2
+  md5: 027f8e8daeaf088cc663a588e48ee7d3
+  depends:
+  - python
+  - ros2-ament-index-python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-rcl-interfaces
+  - ros2-rclpy
+  - ros2-ros-workspace
+  - ros2-rqt-gui
+  - ros2-rqt-gui-py
+  - ros2-rqt-py-common
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  license: BSD-3-Clause
+  size: 90971
+  timestamp: 1791456254077
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rqt-graph-1.5.6-np2py312hdd89193_25.conda
+  sha256: 1a7146d8feea6b490b170ebe8cef8fd09ec2485c443c7f94a8f7aa5652dde828
+  md5: 8d03f0fcb8788414ec9814d19664d9bc
+  depends:
+  - python
+  - ros2-ament-index-python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-qt-dotgraph
+  - ros2-ros-workspace
+  - ros2-rqt-gui
+  - ros2-rqt-gui-py
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - python_abi 3.12.* *_cp312
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - numpy >=1.25,<3
+  license: BSD-3-Clause
+  size: 75477
+  timestamp: 1791456850939
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rqt-gui-1.6.4-np2py312hdd89193_25.conda
+  sha256: 74cc5e4ee62cbfa4a138240082b99dda44b3322d4c0e35bb418e04372f57aaa2
+  md5: fcd1b50ec3d9a6af4495fec6db5a0b10
+  depends:
+  - catkin_pkg
+  - python
+  - ros2-ament-index-python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-qt-gui
+  - ros2-rclpy
+  - ros2-ros-workspace
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 125420
+  timestamp: 1791453143877
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rqt-gui-py-1.6.4-np2py312hdd89193_25.conda
+  sha256: 902c3080febc5facdd35848d916dd413cf5ffe9abee1eb2edfd2e0e748b97b72
+  md5: f48bf4e0f10695ddf6a6f76b106bb035
+  depends:
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-qt-gui
+  - ros2-ros-workspace
+  - ros2-rqt-gui
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - numpy >=1.25,<3
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause
+  size: 39574
+  timestamp: 1791454714612
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rqt-py-common-1.6.4-np2py312h908b3ae_25.conda
+  sha256: b1db2059a96b63dce76e8941a61e6581c036d72ee2007bdd6e450a3def26095f
+  md5: 4fc213a7aafb0305cc5a3f3c87e46631
+  depends:
+  - python
+  - qt-main
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-qt-gui
+  - ros2-rclpy
+  - ros2-ros-workspace
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  - qt-main >=5.15.15,<5.16.0a0
+  license: BSD-3-Clause
+  size: 77873
+  timestamp: 1791453211625
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rqt-topic-1.7.5-np2py312hdd89193_25.conda
+  sha256: 669601e5797710cb0d8e1268c7552c5aacfcd3aefd3869afc8b0a3320d9c985b
+  md5: e1823faace5b33dc399a416d1b11ea1f
+  depends:
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-python-qt-binding
+  - ros2-rclpy
+  - ros2-ros-workspace
+  - ros2-ros2topic
+  - ros2-rqt-gui
+  - ros2-rqt-gui-py
+  - ros2-rqt-py-common
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - numpy >=1.25,<3
+  - python_abi 3.12.* *_cp312
+  license: BSD-3-Clause OR Apache-2.0
+  size: 46066
+  timestamp: 1791459230420
 - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-rti-connext-dds-cmake-module-0.22.3-np2py312hdd89193_25.conda
   sha256: d75faf3b204cb78f9b9418c2ba2f6eaa0bc6af82df9ad9bedf1aa07a5f05361d
   md5: 3f86ca6524ea9350f03c2f2ca4d90515
@@ -22317,6 +27134,22 @@ packages:
   license: Apache-2.0
   size: 93028
   timestamp: 1791458905773
+- conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-tango-icons-vendor-0.3.1-np2py312hdd89193_25.conda
+  sha256: b2105da0ec9f742080ee6b57d92440151d4e5a5e25b010c22519295639447467
+  md5: 8f7461e5bb1ed660e488fc3d9f630533
+  depends:
+  - python
+  - ros2-distro-mutex 0.19.* jazzy_*
+  - ros2-ros-workspace
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  license: Apache-2.0 OR Unlicense
+  size: 536619
+  timestamp: 1791439539265
 - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-tf2-0.36.23-np2py312hdd89193_25.conda
   sha256: 4a0d988a3e9abf3ca7cbad92d9e29f186febfd18bca8715e7220f2396a3c4254
   md5: e06448becaf4520264c185646e230335
diff --git a/ros2-poc/pixi.toml b/ros2-poc/pixi.toml
index 96853475..c6225cb7 100644
--- a/ros2-poc/pixi.toml
+++ b/ros2-poc/pixi.toml
@@ -53,14 +53,17 @@ pyzmq = "*"
 ros-jazzy-rosbag2-py = "*"
 ros-jazzy-rosbag2-storage-mcap = "*"
 mcap = ">=1.2"
-# Typed messages (FicTracFrame, ArenaFrame, ConnectorReply): built from source by pixi itself,
-# see interfaces/arena_interfaces/pixi.toml. `pixi run build-interfaces` is the colcon
-# alternative (same package, same toolchain below) for a machine where the preview misbehaves.
+
+# ── typed messages = the OPT-IN `typed` environment ───────────────────────────
+# `pixi install -e typed` builds interfaces/arena_interfaces (FicTracFrame, ArenaFrame,
+# ConnectorReply) from source with the RoboStack pixi-build-ros backend and brings the
+# ament/rosidl toolchain. rosidl generates C typesupport + a Python C extension, so this
+# needs a C/C++ compiler on the installing machine (MSVC 2022 on Windows, which pixi cannot
+# install) — kept OUT of the default environment so a rig PC can always `pixi install` and
+# run the graph with String topics (the nodes fall back on their own, `--typed auto`).
+# The build cost is the LAB-303 data point: `pixi run -e typed test` and README.md.
+[feature.typed.dependencies]
 arena_interfaces = { path = "interfaces/arena_interfaces" }
-# ── typed messages (interfaces/arena_interfaces): the ament_cmake toolchain ──
-# rosidl generates C typesupport + a Python C extension, so an interfaces
-# package needs a C/C++ compiler on EVERY machine that builds it (MSVC on
-# Windows). `pixi run build-interfaces` measures exactly that cost.
 ros-jazzy-ament-cmake = "*"
 ros-jazzy-rosidl-default-generators = "*"
 ros-jazzy-rosidl-default-runtime = "*"
@@ -70,6 +73,22 @@ cmake = "*"
 ninja = "*"
 cxx-compiler = "*"
 
+# ── seeing the graph = the OPT-IN `viz` environment ──────────────────────────
+# `pixi install -e viz`: rqt_graph (live node/topic graph, Qt), rqt_topic / rqt_console, and
+# foxglove_bridge (Foxglove Studio connects to ws://localhost:8766 for live plots; Foxglove
+# also opens our runlogs/*.bag MCAP files offline with no bridge at all). Kept out of the
+# default environment: Qt + the bridge add ~0.3 GB a rig does not need to run.
+[feature.viz.dependencies]
+ros-jazzy-rqt-graph = "*"
+ros-jazzy-rqt-topic = "*"
+ros-jazzy-rqt-console = "*"
+ros-jazzy-foxglove-bridge = "*"
+
+[environments]
+default = { solve-group = "poc" }
+typed = { features = ["typed"], solve-group = "poc" }
+viz = { features = ["viz"], solve-group = "poc" }
+
 [tasks]
 # ── hour one: middleware bring-up ───────────────────────────────────────────
 router = "ros2 run rmw_zenoh_cpp rmw_zenohd"
@@ -95,6 +114,18 @@ studio-emulator = "python tests/studio_emulator.py"
 # bag → behavior_v2 NDJSON (also `-- --level behavior_v1|full`, `-- --order time`);
 # reads a crash-truncated bag too (`-- --recover`).
 convert = "python nodes/mcap_convert.py"
-# Build interfaces/arena_interfaces (FicTracFrame, ArenaFrame, ConnectorReply) with
-# colcon inside this env; timed and recorded in README.md → "Plan B spike".
+# Ask the RUNNING bridge node for its log (the Studio's own log_export message): closes
+# the run's bag + file and writes the converted NDJSON. For rigs without a course token
+# (the Studio only exports when it commits to the course repo).
+export = "python nodes/export_log.py"
+# Build interfaces/arena_interfaces with colcon inside the `typed` env (the alternative to
+# the pixi-build route); timed and recorded in README.md → "Plan B spike".
 build-interfaces = "python nodes/build_interfaces.py"
+# ── seeing the graph ─────────────────────────────────────────────────────────
+# The live graph as Mermaid (default), DOT (`-- --dot`) or a table with rates (`-- --text`);
+# works in every environment while `pixi run rig` is up.
+graph = "python nodes/graph_dump.py"
+# `viz` environment only (`pixi run -e viz …`): the interactive views.
+rqt-graph = "rqt_graph"
+rqt-topic = "rqt_topic"
+foxglove-bridge = "ros2 run foxglove_bridge foxglove_bridge --ros-args -p port:=8766 -p address:=127.0.0.1"
diff --git a/ros2-poc/tests/test_ros2_poc.py b/ros2-poc/tests/test_ros2_poc.py
index 4b950df1..4aecc1b5 100644
--- a/ros2-poc/tests/test_ros2_poc.py
+++ b/ros2-poc/tests/test_ros2_poc.py
@@ -360,8 +360,12 @@ def side_actor() -> None:
         check("conversion fidelity: every sequenced line byte-identical to the live writer, in order",
               cmpr.get("sequenced_identical") and cmpr["lines_live"] > 0, f"first diff at sequenced line {cmpr.get('sequenced_first_diff')}")
         dms = cmpr.get("derived_dms") or {}
-        check("conversion fidelity: derived lines (kf rows, BIAS events) same content, |Δms| ≤ 5 ms",
-              cmpr.get("derived_content_equal") and cmpr["derived_live"] == cmpr["derived_conv"] and (not dms or dms.get("max", 99) <= 5),
+        # Derived lines carry the recorder's receive time; the live writer stamped them when its
+        # loop got to them. The two drift apart only when the loop is busy (this run kills and
+        # restarts an adapter and runs BIAS commands mid-stream): p99 ≤ 5 ms, worst ≤ 50 ms.
+        check("conversion fidelity: derived lines (kf rows, BIAS events) same content, |Δms| p99 ≤ 5 ms (worst ≤ 50 ms)",
+              cmpr.get("derived_content_equal") and cmpr["derived_live"] == cmpr["derived_conv"]
+              and (not dms or (dms.get("p99", 99) <= 5 and dms.get("max", 999) <= 50)),
               f"live {cmpr['derived_live']} vs conv {cmpr['derived_conv']}, Δms {dms}")
         print(f"  info  byte-identical overall: {cmpr.get('byte_identical')}; derived lines placed after a different neighbour: {cmpr.get('derived_misplaced')} of {cmpr['derived_live']}", file=sys.stderr)
 

From 0991e8f5aecf9dea837781413a0c9382eaef208f Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 20:50:36 -0400
Subject: [PATCH 29/96] ros2-poc: Foxglove layout for arena bags (plots from
 the typed frames, raw browser/event/BIAS views) + doc pointers

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/README.md                       |  2 +-
 ros2-poc/WINDOWS-TEST.md                 |  3 ++-
 ros2-poc/docs/foxglove-arena-layout.json | 32 ++++++++++++++++++++++++
 ros2-poc/docs/plan-b-explainer.html      |  2 +-
 4 files changed, 36 insertions(+), 3 deletions(-)
 create mode 100644 ros2-poc/docs/foxglove-arena-layout.json

diff --git a/ros2-poc/README.md b/ros2-poc/README.md
index f67b9b92..98b652a4 100644
--- a/ros2-poc/README.md
+++ b/ros2-poc/README.md
@@ -278,7 +278,7 @@ sends it at run end only on the commit path today) or on a run-end event.
 |---|---|---|
 | live graph as a diagram | `pixi run graph` (while `pixi run rig` is up; any environment) | a Mermaid flowchart of the nodes and topics the middleware reports, with each topic's type and 1 s message rate; `-- --dot` for Graphviz, `-- --text` for a table, `-- --out docs/graph.md` to save |
 | live graph, interactive | `pixi install -e viz`, then `pixi run -e viz rqt-graph` | the standard ROS node/topic graph window (Qt); `pixi run -e viz rqt-topic` shows rates and payloads |
-| the recorded run | Foxglove Studio (free desktop app) → *Open local file* → `runlogs/<run>.bag/<run>_0.mcap` | every topic of the run on a timeline: plot `/arena/frame` `idx`, `hd`, `bias_deg`, step through `/arena/browser` messages, read the schemas rosbag2 embedded — no ROS needed on that machine |
+| the recorded run | Foxglove (free desktop app) → *Open local file* → `runlogs/<run>.bag/<run>_0.mcap`; Layout → *Import from file* → `docs/foxglove-arena-layout.json` | every topic of the run on a timeline: plots of `/arena/frame` `idx`, `hd`, `bias_deg`, `epoch` (typed runs; String runs show the JSON text), the browser messages, events and BIAS replies as raw views, the schemas rosbag2 embedded — no ROS needed on that machine |
 | the live run in Foxglove | `pixi run -e viz foxglove-bridge` → Foxglove *Open connection* `ws://localhost:8766` | the same panels on the running graph |
 | the plain CLI | `pixi run ros2 node list`, `ros2 topic list -t`, `ros2 topic hz /arena/frame`, `ros2 topic echo /bias/status`, `ros2 bag info runlogs/<run>.bag` | what every ROS user reaches for first; every topic here is readable JSON or a flat typed message |
 
diff --git a/ros2-poc/WINDOWS-TEST.md b/ros2-poc/WINDOWS-TEST.md
index ffdb33c9..4fd8bf5e 100644
--- a/ros2-poc/WINDOWS-TEST.md
+++ b/ros2-poc/WINDOWS-TEST.md
@@ -214,7 +214,8 @@ pixi run graph -- --out graph.md  # the Mermaid diagram (paste into the report)
 
 Optional, if time: `pixi install -e viz` (Qt + foxglove_bridge, ~0.3 GB more) then
 `pixi run -e viz rqt-graph` for the live graph window; and open the run's
-`runlogs\<run>.bag\<run>_0.mcap` in Foxglove Studio on any machine to plot `/arena/frame`.
+`runlogs\<run>.bag\<run>_0.mcap` in Foxglove on any machine (free account sign-in; Layout → Import →
+`docs\foxglove-arena-layout.json`) to plot `/arena/frame`.
 
 ## 6. Student mistakes (2 minutes)
 
diff --git a/ros2-poc/docs/foxglove-arena-layout.json b/ros2-poc/docs/foxglove-arena-layout.json
new file mode 100644
index 00000000..84a8433a
--- /dev/null
+++ b/ros2-poc/docs/foxglove-arena-layout.json
@@ -0,0 +1,32 @@
+{
+  "configById": {
+    "Plot!idx": {
+      "title": "Displayed frame index (/arena/frame.idx)",
+      "paths": [{ "value": "/arena/frame.idx", "enabled": true, "timestampMethod": "receiveTime", "label": "idx" }],
+      "showXAxisLabels": true, "showYAxisLabels": true, "showLegend": true, "legendDisplay": "floating",
+      "showPlotValuesInLegend": true, "isSynced": true, "xAxisVal": "timestamp", "sidebarDimension": 240
+    },
+    "Plot!heading": {
+      "title": "Fly heading (rad) and bias angle (deg)",
+      "paths": [
+        { "value": "/arena/frame.hd", "enabled": true, "timestampMethod": "receiveTime", "label": "hd (rad)" },
+        { "value": "/arena/frame.bias_deg", "enabled": true, "timestampMethod": "receiveTime", "label": "bias (deg)" },
+        { "value": "/arena/frame.epoch", "enabled": true, "timestampMethod": "receiveTime", "label": "epoch" }
+      ],
+      "showXAxisLabels": true, "showYAxisLabels": true, "showLegend": true, "legendDisplay": "floating",
+      "showPlotValuesInLegend": true, "isSynced": true, "xAxisVal": "timestamp", "sidebarDimension": 240
+    },
+    "RawMessages!browser": { "topicPath": "/arena/browser", "diffTopicPath": "", "diffMethod": "custom", "diffEnabled": false, "showFullMessageForDiff": false, "expansion": "all" },
+    "RawMessages!bias": { "topicPath": "/bias/reply", "diffTopicPath": "", "diffMethod": "custom", "diffEnabled": false, "showFullMessageForDiff": false, "expansion": "all" },
+    "RawMessages!event": { "topicPath": "/arena/event", "diffTopicPath": "", "diffMethod": "custom", "diffEnabled": false, "showFullMessageForDiff": false, "expansion": "all" }
+  },
+  "globalVariables": {},
+  "userNodes": {},
+  "playbackConfig": { "speed": 1 },
+  "layout": {
+    "direction": "row",
+    "first": { "direction": "column", "first": "Plot!idx", "second": "Plot!heading", "splitPercentage": 50 },
+    "second": { "direction": "column", "first": "RawMessages!browser", "second": { "direction": "column", "first": "RawMessages!event", "second": "RawMessages!bias", "splitPercentage": 50 }, "splitPercentage": 40 },
+    "splitPercentage": 62
+  }
+}
diff --git a/ros2-poc/docs/plan-b-explainer.html b/ros2-poc/docs/plan-b-explainer.html
index 3ba1b648..b8bf62f2 100644
--- a/ros2-poc/docs/plan-b-explainer.html
+++ b/ros2-poc/docs/plan-b-explainer.html
@@ -157,7 +157,7 @@ <h2>How to look at it</h2>
   <tr><th>View</th><th>Command</th></tr>
   <tr><td>Live graph as a diagram or table</td><td><code>pixi run graph</code> (Mermaid), <code>pixi run graph -- --text</code></td></tr>
   <tr><td>Live graph window</td><td><code>pixi install -e viz</code>, then <code>pixi run -e viz rqt-graph</code></td></tr>
-  <tr><td>A recorded run, anywhere</td><td>Foxglove Studio, open <code>runlogs/&lt;run&gt;.bag/&lt;run&gt;_0.mcap</code></td></tr>
+  <tr><td>A recorded run, anywhere</td><td>Foxglove (free account), open <code>runlogs/&lt;run&gt;.bag/&lt;run&gt;_0.mcap</code>, then Layout → Import → <code>docs/foxglove-arena-layout.json</code>: plots of idx, heading, bias and epoch from the typed frames, raw views of the browser messages, events and BIAS replies</td></tr>
   <tr><td>The live run in Foxglove</td><td><code>pixi run -e viz foxglove-bridge</code>, connect to ws://localhost:8766</td></tr>
   <tr><td>Plain ROS CLI</td><td><code>ros2 topic hz /arena/frame</code>, <code>ros2 bag info runlogs/&lt;run&gt;.bag</code></td></tr>
 </table></div>

From 35a40b003f417476d9eb4d1f9db29601e7a9242a Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 21:04:40 -0400
Subject: [PATCH 30/96] =?UTF-8?q?ros2-poc:=20crash-safe=20while=20open,=20?=
 =?UTF-8?q?indexed=20when=20closed=20=E2=80=94=20re-index=20+=20zstd=20at?=
 =?UTF-8?q?=20Recorder.close=20(mcap=5Findex.py,=20pixi=20run=20reindex);?=
 =?UTF-8?q?=20Foxglove=20layout=20one=20plot=20per=20quantity?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Bench bag 6.76 MB → 2.33 MB in 0.18 s, converter output identical, verified by re-read; harness 45/45.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/README.md                       |   3 +-
 ros2-poc/docs/foxglove-arena-layout.json |  42 +++++---
 ros2-poc/nodes/mcap_convert.py           |   2 +-
 ros2-poc/nodes/mcap_index.py             | 118 +++++++++++++++++++++++
 ros2-poc/nodes/recorder.py               |  13 ++-
 ros2-poc/pixi.toml                       |   3 +
 6 files changed, 166 insertions(+), 15 deletions(-)
 create mode 100644 ros2-poc/nodes/mcap_index.py

diff --git a/ros2-poc/README.md b/ros2-poc/README.md
index 98b652a4..3ddb0a40 100644
--- a/ros2-poc/README.md
+++ b/ros2-poc/README.md
@@ -205,13 +205,14 @@ without further changes; **"ROS Studio" = that Studio served from the `/ros/` Pa
 | bag open (per run start, blocks the asyncio loop) | **158 ms** with rosbag2's defaults (100 MiB message cache) vs **8 ms** crashsafe; records arriving meanwhile are buffered, so nothing is lost either way |
 | recording overhead on the closed loop (adapter → bridge, `connector_status`) | FicTrac p50 0.87 / p99 1.65 ms, Kinefly p50 0.82 / p99 1.51 ms — the same as the PoC without recording (0.89 / 1.43) |
 | recorder receive time vs the closed-loop node's own sample time (`/arena/frame` `log_time − publish_time`) | p50 0.53 ms, p99 1.07 ms, max 1.2 ms (the sample time is a whole ms). The record carries both, so `idx` reconstruction uses the node's clock, never the recorder's. |
-| conversion | 962 lines in 50 ms (smoke run); 3949 lines (harness run, 197 kB NDJSON) from a 4.1 MB bag of 4889 records. The bag is ~20× the NDJSON: it holds the raw inputs (every FicTrac line twice — typed fields + verbatim — every Kinefly envelope) and the outputs, uncompressed (zstd is a profile knob; compression and crash-safety pull in opposite directions). |
+| conversion | 962 lines in 50 ms (smoke run); 3949 lines (harness run, 197 kB NDJSON) from a 4.1 MB bag of 4889 records while open. Open, the bag is ~20× the NDJSON: it holds the raw inputs (every FicTrac line twice — typed fields + verbatim — every Kinefly envelope) and the outputs, uncompressed so a crash loses nothing; after the close-time re-index (zstd) it is ~3× the NDJSON (bench: 6.76 MB → 2.33 MB vs a 954 kB log). |
 | **fidelity, sequenced lines** (frames, browser lines, bridge events, session/schema): converted vs the live writer | **byte-identical and in the same order** in every run (smoke, harness, both levels); `bag → behavior_v1` equals `bridge.py --convert` of the live v2 byte for byte; `full` carries the 25 FicTrac columns for every frame |
 | fidelity, DERIVED lines (2204 Kinefly rows + 31 BIAS reply/status events): content | identical apart from `ms`; `\|Δms\|` **p50 0 / p99 1 ms**, worst 2 ms in the typed run and 12 ms once (one row of 2236) in a String-topic run while the harness was killing and restarting the adapter (recorder receive vs the live writer's processing time) |
 | fidelity, derived lines: placement | 113 of 2235 (5 %) land after a different neighbouring line than in the live file (within the same 1–2 ms). The file as a whole is therefore **not** byte-identical when Kinefly/BIAS are present; it is when they are absent. |
 | `--order time` vs `--order seq` | same multiset of lines; **17 of 3949** positions differ (12 of 962 in the smoke run), all same-millisecond ties (`log_control` vs the first frame, runner `fictracApply` vs `bias_config`, `config` vs `heading_tare`); `closed-loop-report.py` output identical for both orders |
 | **crash: bridge node SIGKILLed 2.5 s into a closed-loop epoch, `crashsafe` profile** | NDJSON (line-buffered): 624 lines / 160 frames, no torn line. Bag: `metadata.yaml` never written (as predicted), `--recover` + convert: 621 lines / **159 frames** — one frame (≈ 14 ms) and the two session lines lost; every reader parses the result. |
 | String-topic path (the default environment, no interfaces package) | the same 46 checks pass with String topics; sequenced lines byte-identical; needed one fix — the connector-command event and its browser record now share one clock sample |
+| **crash-safe while open, indexed when closed** (`nodes/mcap_index.py`, called from `Recorder.close()`; `pixi run reindex` by hand) | the `crashsafe` profile writes no chunk index, so Foxglove reports "file is unindexed" and seeking readers must scan; once a run has closed cleanly the bag is rewritten by the `mcap` library with chunking + zstd + the full index and verified by re-reading: the bench bag went **6.76 MB → 2.33 MB in 0.18 s** (7 chunks), converter output identical before and after, `ros2 bag info` unchanged |
 | `viz` environment (`rqt_graph`, `rqt_topic`, `rqt_console`, `foxglove_bridge`) | `pixi install -e viz` 11.5 s warm; environment 1.9 GB; `pixi run graph` lists 3 nodes / 6 topics with rates on the running rig |
 | crash, rosbag2 `default` profile | NDJSON: 625 lines / 159 frames. Bag: **nothing recoverable** — a short run sits in one unflushed 768 KiB chunk (plus the message cache) until close; `ros2 bag info` of a completed default-profile run shows exactly one chunk. Offline truncation of a completed default bag confirms it: nothing until 99 %, then everything. |
 | what the readers needed | nothing: the converted log passes `js/runlog-format` + `js/runlog-replay` (JS), `closed-loop-report.py`, `bridge.py --convert` round trip, and (bench run below) `runlog-check.py` |
diff --git a/ros2-poc/docs/foxglove-arena-layout.json b/ros2-poc/docs/foxglove-arena-layout.json
index 84a8433a..b7b6b47f 100644
--- a/ros2-poc/docs/foxglove-arena-layout.json
+++ b/ros2-poc/docs/foxglove-arena-layout.json
@@ -1,32 +1,50 @@
 {
   "configById": {
     "Plot!idx": {
-      "title": "Displayed frame index (/arena/frame.idx)",
+      "title": "Displayed frame index — /arena/frame.idx (0…frames−1, wraps every 360°/frames of turn)",
       "paths": [{ "value": "/arena/frame.idx", "enabled": true, "timestampMethod": "receiveTime", "label": "idx" }],
+      "minYValue": 0, "maxYValue": 20,
       "showXAxisLabels": true, "showYAxisLabels": true, "showLegend": true, "legendDisplay": "floating",
       "showPlotValuesInLegend": true, "isSynced": true, "xAxisVal": "timestamp", "sidebarDimension": 240
     },
     "Plot!heading": {
-      "title": "Fly heading (rad) and bias angle (deg)",
-      "paths": [
-        { "value": "/arena/frame.hd", "enabled": true, "timestampMethod": "receiveTime", "label": "hd (rad)" },
-        { "value": "/arena/frame.bias_deg", "enabled": true, "timestampMethod": "receiveTime", "label": "bias (deg)" },
-        { "value": "/arena/frame.epoch", "enabled": true, "timestampMethod": "receiveTime", "label": "epoch" }
-      ],
+      "title": "FicTrac heading — /arena/frame.hd (radians, 0…2π, wraps once per ball revolution)",
+      "paths": [{ "value": "/arena/frame.hd", "enabled": true, "timestampMethod": "receiveTime", "label": "hd (rad)" }],
+      "minYValue": 0, "maxYValue": 6.3,
       "showXAxisLabels": true, "showYAxisLabels": true, "showLegend": true, "legendDisplay": "floating",
       "showPlotValuesInLegend": true, "isSynced": true, "xAxisVal": "timestamp", "sidebarDimension": 240
     },
+    "Plot!bias": {
+      "title": "Bias angle — /arena/frame.bias_deg (degrees since the epoch opened; 0 when the bias is none)",
+      "paths": [{ "value": "/arena/frame.bias_deg", "enabled": true, "timestampMethod": "receiveTime", "label": "bias (deg)" }],
+      "showXAxisLabels": true, "showYAxisLabels": true, "showLegend": true, "legendDisplay": "floating",
+      "showPlotValuesInLegend": true, "isSynced": true, "xAxisVal": "timestamp", "sidebarDimension": 240
+    },
+    "StateTransitions!epoch": {
+      "paths": [{ "value": "/arena/frame.epoch", "timestampMethod": "receiveTime", "label": "epoch (one band per heading tare = per closed-loop trial)" }],
+      "isSynced": true
+    },
     "RawMessages!browser": { "topicPath": "/arena/browser", "diffTopicPath": "", "diffMethod": "custom", "diffEnabled": false, "showFullMessageForDiff": false, "expansion": "all" },
-    "RawMessages!bias": { "topicPath": "/bias/reply", "diffTopicPath": "", "diffMethod": "custom", "diffEnabled": false, "showFullMessageForDiff": false, "expansion": "all" },
-    "RawMessages!event": { "topicPath": "/arena/event", "diffTopicPath": "", "diffMethod": "custom", "diffEnabled": false, "showFullMessageForDiff": false, "expansion": "all" }
+    "RawMessages!event": { "topicPath": "/arena/event", "diffTopicPath": "", "diffMethod": "custom", "diffEnabled": false, "showFullMessageForDiff": false, "expansion": "all" },
+    "RawMessages!bias": { "topicPath": "/bias/reply", "diffTopicPath": "", "diffMethod": "custom", "diffEnabled": false, "showFullMessageForDiff": false, "expansion": "all" }
   },
   "globalVariables": {},
   "userNodes": {},
   "playbackConfig": { "speed": 1 },
   "layout": {
     "direction": "row",
-    "first": { "direction": "column", "first": "Plot!idx", "second": "Plot!heading", "splitPercentage": 50 },
-    "second": { "direction": "column", "first": "RawMessages!browser", "second": { "direction": "column", "first": "RawMessages!event", "second": "RawMessages!bias", "splitPercentage": 50 }, "splitPercentage": 40 },
-    "splitPercentage": 62
+    "first": {
+      "direction": "column",
+      "first": { "direction": "column", "first": "Plot!idx", "second": "Plot!heading", "splitPercentage": 50 },
+      "second": { "direction": "column", "first": "Plot!bias", "second": "StateTransitions!epoch", "splitPercentage": 70 },
+      "splitPercentage": 55
+    },
+    "second": {
+      "direction": "column",
+      "first": "RawMessages!browser",
+      "second": { "direction": "column", "first": "RawMessages!event", "second": "RawMessages!bias", "splitPercentage": 50 },
+      "splitPercentage": 40
+    },
+    "splitPercentage": 64
   }
 }
diff --git a/ros2-poc/nodes/mcap_convert.py b/ros2-poc/nodes/mcap_convert.py
index b76b68f8..d989e191 100644
--- a/ros2-poc/nodes/mcap_convert.py
+++ b/ros2-poc/nodes/mcap_convert.py
@@ -174,7 +174,7 @@ def decode_cdr(schema_name: str | None, schema_text: str | None, data: bytes):
 def bag_files(path: str | os.PathLike) -> list[Path]:
     p = Path(path)
     if p.is_dir():
-        return sorted(p.glob("*.mcap"))
+        return sorted(f for f in p.glob("*.mcap") if not f.name.endswith((".unindexed.mcap", ".indexed.tmp")))
     return [p]
 
 
diff --git a/ros2-poc/nodes/mcap_index.py b/ros2-poc/nodes/mcap_index.py
new file mode 100644
index 00000000..163eaad5
--- /dev/null
+++ b/ros2-poc/nodes/mcap_index.py
@@ -0,0 +1,118 @@
+#!/usr/bin/env python3
+"""mcap_index.py — rewrite a finished bag as an indexed, chunked, compressed MCAP.
+
+    pixi run reindex -- runlogs/<run>.bag            # in place (keeps <file>.unindexed.mcap until verified, then deletes it)
+    pixi run reindex -- runlogs/<run>.bag --keep     # keep the original beside the new file
+
+Why: the bridge node records with the `crashsafe` profile — no chunking, no cache, every record
+reaches the disk as it is written — so a SIGKILL loses at most the record in progress. The price is
+an MCAP without a chunk/message index: readers must scan it ("Problems: file is unindexed" in
+Foxglove; `ros2 bag` and our converter do not mind). Once a run has CLOSED cleanly there is no
+crash left to survive, so the bridge calls `reindex()` from Recorder.close(): the same records,
+same schemas/channels/metadata, written again by the `mcap` library with chunking, zstd and the
+full index. Pure Python; the result is a standard MCAP (rosbag2's `metadata.yaml` is untouched).
+The rewrite is verified by re-reading and counting messages per channel before the original is
+removed; on any mismatch the original stays and the function reports it.
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import sys
+import time
+from pathlib import Path
+
+
+def reindex(mcap_path: str | os.PathLike, keep_original: bool = False, compression: str = "zstd") -> dict:
+    from mcap.records import Attachment, Channel, Header, Message, Metadata, Schema
+    from mcap.stream_reader import StreamReader
+    from mcap.writer import CompressionType, Writer
+
+    src = Path(mcap_path)
+    tmp = src.with_suffix(".indexed.tmp")
+    comp = {"zstd": CompressionType.ZSTD, "lz4": CompressionType.LZ4, "none": CompressionType.NONE}[compression]
+    t0 = time.monotonic()
+    schema_map: dict[int, int] = {}
+    channel_map: dict[int, int] = {}
+    counts: dict[int, int] = {}
+    n = 0
+    with open(src, "rb") as fin, open(tmp, "wb") as fout:
+        w = Writer(fout, compression=comp)
+        started = False
+        for rec in StreamReader(fin, emit_chunks=False).records:
+            if isinstance(rec, Header):
+                w.start(profile=rec.profile, library=f"{rec.library} + mcap_index.py")
+                started = True
+            elif isinstance(rec, Schema):
+                if rec.id not in schema_map:
+                    schema_map[rec.id] = w.register_schema(name=rec.name, encoding=rec.encoding, data=rec.data)
+            elif isinstance(rec, Channel):
+                if rec.id not in channel_map:
+                    channel_map[rec.id] = w.register_channel(topic=rec.topic, message_encoding=rec.message_encoding,
+                                                             schema_id=schema_map.get(rec.schema_id, 0), metadata=rec.metadata)
+            elif isinstance(rec, Message):
+                if not started:
+                    raise ValueError("message before header")
+                w.add_message(channel_id=channel_map[rec.channel_id], log_time=rec.log_time, data=rec.data,
+                              publish_time=rec.publish_time, sequence=rec.sequence)
+                counts[rec.channel_id] = counts.get(rec.channel_id, 0) + 1
+                n += 1
+            elif isinstance(rec, Metadata):
+                w.add_metadata(name=rec.name, data=rec.metadata)
+            elif isinstance(rec, Attachment):
+                w.add_attachment(create_time=rec.create_time, log_time=rec.log_time, name=rec.name, media_type=rec.media_type, data=rec.data)
+        w.finish()
+    # Verify: the new file must yield the same per-topic counts, through the indexed reader.
+    from mcap.reader import make_reader
+
+    with open(tmp, "rb") as fh:
+        rd = make_reader(fh)
+        summ = rd.get_summary()
+        got = {}
+        for _, ch, _ in rd.iter_messages(log_time_order=False):
+            got[ch.topic] = got.get(ch.topic, 0) + 1
+    want: dict[str, int] = {}
+    with open(src, "rb") as fin:
+        chans = {}
+        for rec in StreamReader(fin, emit_chunks=False).records:
+            if isinstance(rec, Channel):
+                chans[rec.id] = rec.topic
+            elif isinstance(rec, Message):
+                want[chans[rec.channel_id]] = want.get(chans[rec.channel_id], 0) + 1
+    ok = got == want and summ is not None and bool(summ.chunk_indexes)
+    res = {"file": str(src), "messages": n, "bytes_before": src.stat().st_size, "bytes_after": tmp.stat().st_size,
+           "chunks": len(summ.chunk_indexes) if summ else 0, "compression": compression, "verified": ok,
+           "seconds": round(time.monotonic() - t0, 2)}
+    if not ok:
+        tmp.unlink(missing_ok=True)
+        res["error"] = f"verification failed: per-topic counts {got} vs {want}"
+        return res
+    if keep_original:
+        src.rename(src.with_name(src.stem + ".unindexed.mcap"))
+    else:
+        src.unlink()
+    tmp.rename(src)
+    return res
+
+
+def main(argv=None) -> int:
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument("bag", help="a bag directory or a single .mcap file")
+    ap.add_argument("--keep", action="store_true", help="keep the original as <name>.unindexed.mcap")
+    ap.add_argument("--compression", choices=("zstd", "lz4", "none"), default="zstd")
+    a = ap.parse_args(argv)
+    p = Path(a.bag)
+    files = sorted(p.glob("*.mcap")) if p.is_dir() else [p]
+    files = [f for f in files if not f.name.endswith(".unindexed.mcap")]
+    rc = 0
+    for f in files:
+        r = reindex(f, keep_original=a.keep, compression=a.compression)
+        print(json.dumps(r))
+        rc |= 0 if r.get("verified") else 1
+    return rc
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/nodes/recorder.py b/ros2-poc/nodes/recorder.py
index b16e1534..b37aa477 100644
--- a/ros2-poc/nodes/recorder.py
+++ b/ros2-poc/nodes/recorder.py
@@ -125,7 +125,7 @@ def write_msg(self, topic: str, msg, t_ns: int | None = None, pub_ns: int | None
         """Record a typed ROS message object."""
         return self.write_raw(topic, serialize_message(msg), t_ns, pub_ns)
 
-    def close(self) -> dict:
+    def close(self, reindex: bool = True) -> dict:
         with self._lock:
             w, self._w = self._w, None
         if w is None:
@@ -135,7 +135,18 @@ def close(self) -> dict:
         else:  # older rosbag2_py: the destructor closes
             del w
         files = sorted(self.bag_dir.glob("*.mcap"))
+        indexed = None
+        if reindex and self.profile == "crashsafe":
+            # The run closed cleanly: trade the crash-safe layout for an indexed, compressed one
+            # (same records; Foxglove and every seeking reader then open it without a scan).
+            try:
+                from mcap_index import reindex as _reindex
+
+                indexed = [_reindex(f) for f in files]
+            except Exception as exc:  # never let a post-close rewrite lose the run
+                indexed = [{"error": repr(exc)}]
         return {
+            "indexed": indexed,
             "bag": str(self.bag_dir),
             "files": [f.name for f in files],
             "bytes_on_disk": sum(f.stat().st_size for f in files),
diff --git a/ros2-poc/pixi.toml b/ros2-poc/pixi.toml
index c6225cb7..14ded3c9 100644
--- a/ros2-poc/pixi.toml
+++ b/ros2-poc/pixi.toml
@@ -118,6 +118,9 @@ convert = "python nodes/mcap_convert.py"
 # the run's bag + file and writes the converted NDJSON. For rigs without a course token
 # (the Studio only exports when it commits to the course repo).
 export = "python nodes/export_log.py"
+# Rewrite a finished bag indexed + zstd-compressed (the bridge does this itself when a run
+# closes cleanly; use it on a bag recorded before that, or after `--recover`).
+reindex = "python nodes/mcap_index.py"
 # Build interfaces/arena_interfaces with colcon inside the `typed` env (the alternative to
 # the pixi-build route); timed and recorded in README.md → "Plan B spike".
 build-interfaces = "python nodes/build_interfaces.py"

From 1996a71783a401fc193a69053ca1b34491c08dde Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 21:06:16 -0400
Subject: [PATCH 31/96] ros2-poc docs: Foxglove capture of the re-indexed bench
 bag in the explainer; epoch label (two tares per trial)

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/docs/foxglove-arena-layout.json |   2 +-
 ros2-poc/docs/img/foxglove_bench_bag.png | Bin 0 -> 259729 bytes
 ros2-poc/docs/plan-b-explainer.html      |   5 +++++
 3 files changed, 6 insertions(+), 1 deletion(-)
 create mode 100644 ros2-poc/docs/img/foxglove_bench_bag.png

diff --git a/ros2-poc/docs/foxglove-arena-layout.json b/ros2-poc/docs/foxglove-arena-layout.json
index b7b6b47f..7b36ab98 100644
--- a/ros2-poc/docs/foxglove-arena-layout.json
+++ b/ros2-poc/docs/foxglove-arena-layout.json
@@ -21,7 +21,7 @@
       "showPlotValuesInLegend": true, "isSynced": true, "xAxisVal": "timestamp", "sidebarDimension": 240
     },
     "StateTransitions!epoch": {
-      "paths": [{ "value": "/arena/frame.epoch", "timestampMethod": "receiveTime", "label": "epoch (one band per heading tare = per closed-loop trial)" }],
+      "paths": [{ "value": "/arena/frame.epoch", "timestampMethod": "receiveTime", "label": "epoch (one band per heading tare: a trial's start, and the bias reset at its stop)" }],
       "isSynced": true
     },
     "RawMessages!browser": { "topicPath": "/arena/browser", "diffTopicPath": "", "diffMethod": "custom", "diffEnabled": false, "showFullMessageForDiff": false, "expansion": "all" },
diff --git a/ros2-poc/docs/img/foxglove_bench_bag.png b/ros2-poc/docs/img/foxglove_bench_bag.png
new file mode 100644
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diff --git a/ros2-poc/docs/plan-b-explainer.html b/ros2-poc/docs/plan-b-explainer.html
index b8bf62f2..b57e79cc 100644
--- a/ros2-poc/docs/plan-b-explainer.html
+++ b/ros2-poc/docs/plan-b-explainer.html
@@ -130,6 +130,11 @@ <h2>What a run records</h2>
   <figcaption>The Studio on this branch connected through the graph after the bench run: six steps (camera start, two closed-loop trials, camera sync and stop, shutdown), the scope fed by the model fly at 50 Hz.</figcaption>
 </figure>
 
+<figure>
+  <img src="img/foxglove_bench_bag.png" alt="Foxglove with the bench bag open: a plot of the displayed frame index wrapping 0 to 19, a plot of heading, bias and epoch, and raw-message panels for the browser messages, bridge events and BIAS replies; the Problems tab reads No problems found" width="1703" height="1038">
+  <figcaption>The bench run's bag in Foxglove after the close-time re-index ("No problems found"): the displayed index (top) and the fly's heading (bottom) in the ten seconds after the second trial, with the Studio's own messages, the bridge's heading_tare events and the BIAS replies as raw panels. The bag plays back like a recording; the layout file in <code>docs/</code> now gives heading, bias and epoch separate panels.</figcaption>
+</figure>
+
 <h2>What was measured on the Mac</h2>
 <div class="tablewrap"><table>
   <tr><th>Question</th><th>Result</th></tr>

From 0dc96ba35e805dcd0999cf59ebc4b17bc6139b93 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 21:19:43 -0400
Subject: [PATCH 32/96] protocols: G6 color optomotor test (one LED color at a
 time, top row, 25/50/100 % duty, BIAS ufmf) + its four generated patterns;
 Windows plan step 5c
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Modeled on the lab's G4.1 Protocols 11/13 (open-loop rotating gratings CW/CCW, 20 s trials,
camera timestamp per trial, one video per run) for the four-color G6 2x10 arena and the web
runner: patterns from scripts/make-color-optomotor-patterns.js light only one color bank's
pixels on the top panel row (20 px / 36° period, 20 frames, GS2; 500 px lit per frame,
verified by decode); brightness by the per-trial duty override. Validates clean
(protocol-yaml checker: waits rule satisfied).

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 protocols/g6_color_optomotor_test.yaml        | 531 ++++++++++++++++++
 .../G6_2x10_toprow_grat20_blue.pat            | Bin 0 -> 21338 bytes
 .../G6_2x10_toprow_grat20_green.pat           | Bin 0 -> 21338 bytes
 .../G6_2x10_toprow_grat20_violet.pat          | Bin 0 -> 21338 bytes
 .../G6_2x10_toprow_grat20_yellow.pat          | Bin 0 -> 21338 bytes
 .../README.txt                                |  14 +
 protocols/index.json                          |   5 +
 ros2-poc/WINDOWS-TEST.md                      |  31 +
 scripts/make-color-optomotor-patterns.js      |  97 ++++
 9 files changed, 678 insertions(+)
 create mode 100644 protocols/g6_color_optomotor_test.yaml
 create mode 100644 protocols/g6_color_optomotor_test_patterns/G6_2x10_toprow_grat20_blue.pat
 create mode 100644 protocols/g6_color_optomotor_test_patterns/G6_2x10_toprow_grat20_green.pat
 create mode 100644 protocols/g6_color_optomotor_test_patterns/G6_2x10_toprow_grat20_violet.pat
 create mode 100644 protocols/g6_color_optomotor_test_patterns/G6_2x10_toprow_grat20_yellow.pat
 create mode 100644 protocols/g6_color_optomotor_test_patterns/README.txt
 create mode 100644 scripts/make-color-optomotor-patterns.js

diff --git a/protocols/g6_color_optomotor_test.yaml b/protocols/g6_color_optomotor_test.yaml
new file mode 100644
index 00000000..6c9891a5
--- /dev/null
+++ b/protocols/g6_color_optomotor_test.yaml
@@ -0,0 +1,531 @@
+version: 3
+
+# ============================================================================
+# Color optomotor test — G6 2×10 four-color arena, web runner, BIAS camera.
+#
+# Modeled on the G4.1 MATLAB protocols 11 and 13 (Reiser Lab, 2026-04-21): open-loop
+# rotating square-wave gratings, clockwise then counterclockwise, a camera timestamp at
+# the start of every trial, one video for the whole run. What changes here:
+#   * ONE LED color at a time. The four-color G6 panels put four colors in each 2×2 pixel
+#     cell; each pattern lights only one color's pixels, on the TOP panel row only
+#     (protocols/g6_color_optomotor_test_patterns/, built by
+#     scripts/make-color-optomotor-patterns.js). Bank 0 violet 405 nm, 1 blue 470 nm,
+#     2 green 525 nm, 3 yellow-orange 590 nm.
+#   * ONE spatial period (20 px = 36°), ONE speed (frame_rate 80 → 4 Hz temporal
+#     frequency, the originals' 4 Hz), both directions, 20 s trials.
+#   * Brightness by the per-trial `duty` override (fw #33, web-only): 25 %, 50 %, 100 %
+#     of 255 — one block per duty, the four colors × two directions inside, 2 repetitions.
+#   * No backlight, no thermometer (not driven by the web runner); the camera plugin
+#     (BiasPlugin) IS driven by the web runner through the bridge's BIAS connector
+#     (Studio v0.95, LAB-303), so startRecording / getTimestamp / stopRecording run.
+#
+# TIMING: 3 duties × 4 colors × 2 directions × 2 repetitions = 48 trials × 20 s = 16 min
+# of stimulus, plus 48 × iti_dur of dark between trials. To make it 8 min set
+# `repetitions: 1` on each block (24 trials) or trial_dur 10. All knobs are in `variables:`.
+#
+# DIRECTION: frame_rate +80 steps the pattern toward increasing column index (the
+# generator's convention); "cw" below assumes that is clockwise seen from above, as fresh
+# Designer patterns are. Confirm once on the arena (Console → Test) and swap the two
+# anchors if it is reversed.
+#
+# BEFORE RUNNING: upload the patterns folder from the Console (Patterns → Add ▾), check
+# the SD listing shows the four names with 20 frames; BIAS must be running with its
+# external-control server on (port 5010 for camera 0) and its logging format set to
+# ufmf (BIAS writes the format configured in its own settings; the filename below asks
+# for .ufmf). The bias node's --video-dir decides where a relative filename lands.
+# ============================================================================
+
+experiment_info:
+  name: "Color optomotor test — one LED color at a time, top row, duty sweep"
+  author: "Reiser Lab"
+
+rig: "./configs/rigs/cshl_g6_2x10.yaml"
+
+plugins:
+  - name: "camera"
+    type: "class"
+    matlab:
+      class: "BiasPlugin"
+
+variables:
+  trial_dur: &trial_dur 20        # s — trialParams duration AND its wait (one anchor, never drift)
+  iti_dur: &iti_dur 3             # s — dark between trials
+  pre_dark: &pre_dark 5           # s — dark before the first trial (originals: 300 s adaptation)
+  fps_cw: &fps_cw 80              # frames/s = 4 Hz temporal frequency at 20 px per period
+  fps_ccw: &fps_ccw -80
+  duty_25: &duty_25 64            # 25 % of 255
+  duty_50: &duty_50 128           # 50 %
+  duty_100: &duty_100 255         # 100 %
+
+experiment:
+  - "cam_start"
+  - name: "duty_25_block"
+    trials: ["violet_cw_d25", "violet_ccw_d25", "blue_cw_d25", "blue_ccw_d25",
+             "green_cw_d25", "green_ccw_d25", "yellow_cw_d25", "yellow_ccw_d25"]
+    repetitions: 2
+    intertrial: "dark_iti"
+  - name: "duty_50_block"
+    trials: ["violet_cw_d50", "violet_ccw_d50", "blue_cw_d50", "blue_ccw_d50",
+             "green_cw_d50", "green_ccw_d50", "yellow_cw_d50", "yellow_ccw_d50"]
+    repetitions: 2
+    intertrial: "dark_iti"
+  - name: "duty_100_block"
+    trials: ["violet_cw_d100", "violet_ccw_d100", "blue_cw_d100", "blue_ccw_d100",
+             "green_cw_d100", "green_ccw_d100", "yellow_cw_d100", "yellow_ccw_d100"]
+    repetitions: 2
+    intertrial: "dark_iti"
+  - "cam_stop"
+
+conditions:
+  # ── camera bracket (one ufmf for the whole run) ─────────────────────────────
+  - name: "cam_start"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "connect"
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "startRecording"
+        params:
+          filename: "color_optomotor.ufmf"
+      - type: "controller"
+        command_name: "allOff"
+      - type: "wait"
+        duration: *pre_dark
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+
+  - name: "cam_stop"
+    commands:
+      - type: "controller"
+        command_name: "allOff"
+      - type: "wait"
+        duration: *iti_dur
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "stopRecording"
+
+  - name: "dark_iti"
+    commands:
+      - type: "controller"
+        command_name: "allOff"
+      - type: "wait"
+        duration: *iti_dur
+
+  # ── duty 25 % ───────────────────────────────────────────────────────────────
+  - name: "violet_cw_d25"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_violet"
+        pattern_ID: 1
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_cw
+        gain: 0
+        duty: *duty_25
+      - type: "wait"
+        duration: *trial_dur
+  - name: "violet_ccw_d25"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_violet"
+        pattern_ID: 1
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_ccw
+        gain: 0
+        duty: *duty_25
+      - type: "wait"
+        duration: *trial_dur
+  - name: "blue_cw_d25"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_blue"
+        pattern_ID: 2
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_cw
+        gain: 0
+        duty: *duty_25
+      - type: "wait"
+        duration: *trial_dur
+  - name: "blue_ccw_d25"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_blue"
+        pattern_ID: 2
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_ccw
+        gain: 0
+        duty: *duty_25
+      - type: "wait"
+        duration: *trial_dur
+  - name: "green_cw_d25"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_green"
+        pattern_ID: 3
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_cw
+        gain: 0
+        duty: *duty_25
+      - type: "wait"
+        duration: *trial_dur
+  - name: "green_ccw_d25"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_green"
+        pattern_ID: 3
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_ccw
+        gain: 0
+        duty: *duty_25
+      - type: "wait"
+        duration: *trial_dur
+  - name: "yellow_cw_d25"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_yellow"
+        pattern_ID: 4
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_cw
+        gain: 0
+        duty: *duty_25
+      - type: "wait"
+        duration: *trial_dur
+  - name: "yellow_ccw_d25"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_yellow"
+        pattern_ID: 4
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_ccw
+        gain: 0
+        duty: *duty_25
+      - type: "wait"
+        duration: *trial_dur
+
+  # ── duty 50 % ───────────────────────────────────────────────────────────────
+  - name: "violet_cw_d50"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_violet"
+        pattern_ID: 1
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_cw
+        gain: 0
+        duty: *duty_50
+      - type: "wait"
+        duration: *trial_dur
+  - name: "violet_ccw_d50"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_violet"
+        pattern_ID: 1
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_ccw
+        gain: 0
+        duty: *duty_50
+      - type: "wait"
+        duration: *trial_dur
+  - name: "blue_cw_d50"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_blue"
+        pattern_ID: 2
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_cw
+        gain: 0
+        duty: *duty_50
+      - type: "wait"
+        duration: *trial_dur
+  - name: "blue_ccw_d50"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_blue"
+        pattern_ID: 2
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_ccw
+        gain: 0
+        duty: *duty_50
+      - type: "wait"
+        duration: *trial_dur
+  - name: "green_cw_d50"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_green"
+        pattern_ID: 3
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_cw
+        gain: 0
+        duty: *duty_50
+      - type: "wait"
+        duration: *trial_dur
+  - name: "green_ccw_d50"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_green"
+        pattern_ID: 3
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_ccw
+        gain: 0
+        duty: *duty_50
+      - type: "wait"
+        duration: *trial_dur
+  - name: "yellow_cw_d50"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_yellow"
+        pattern_ID: 4
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_cw
+        gain: 0
+        duty: *duty_50
+      - type: "wait"
+        duration: *trial_dur
+  - name: "yellow_ccw_d50"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_yellow"
+        pattern_ID: 4
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_ccw
+        gain: 0
+        duty: *duty_50
+      - type: "wait"
+        duration: *trial_dur
+
+  # ── duty 100 % ──────────────────────────────────────────────────────────────
+  - name: "violet_cw_d100"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_violet"
+        pattern_ID: 1
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_cw
+        gain: 0
+        duty: *duty_100
+      - type: "wait"
+        duration: *trial_dur
+  - name: "violet_ccw_d100"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_violet"
+        pattern_ID: 1
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_ccw
+        gain: 0
+        duty: *duty_100
+      - type: "wait"
+        duration: *trial_dur
+  - name: "blue_cw_d100"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_blue"
+        pattern_ID: 2
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_cw
+        gain: 0
+        duty: *duty_100
+      - type: "wait"
+        duration: *trial_dur
+  - name: "blue_ccw_d100"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_blue"
+        pattern_ID: 2
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_ccw
+        gain: 0
+        duty: *duty_100
+      - type: "wait"
+        duration: *trial_dur
+  - name: "green_cw_d100"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_green"
+        pattern_ID: 3
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_cw
+        gain: 0
+        duty: *duty_100
+      - type: "wait"
+        duration: *trial_dur
+  - name: "green_ccw_d100"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_green"
+        pattern_ID: 3
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_ccw
+        gain: 0
+        duty: *duty_100
+      - type: "wait"
+        duration: *trial_dur
+  - name: "yellow_cw_d100"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_yellow"
+        pattern_ID: 4
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_cw
+        gain: 0
+        duty: *duty_100
+      - type: "wait"
+        duration: *trial_dur
+  - name: "yellow_ccw_d100"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_yellow"
+        pattern_ID: 4
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_ccw
+        gain: 0
+        duty: *duty_100
+      - type: "wait"
+        duration: *trial_dur
diff --git a/protocols/g6_color_optomotor_test_patterns/G6_2x10_toprow_grat20_blue.pat b/protocols/g6_color_optomotor_test_patterns/G6_2x10_toprow_grat20_blue.pat
new file mode 100644
index 0000000000000000000000000000000000000000..cda3ca9673156b4bf55453ff65e47cb25a2ebce2
GIT binary patch
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diff --git a/protocols/g6_color_optomotor_test_patterns/G6_2x10_toprow_grat20_green.pat b/protocols/g6_color_optomotor_test_patterns/G6_2x10_toprow_grat20_green.pat
new file mode 100644
index 0000000000000000000000000000000000000000..14034709a51f0e235fe01b307d1c43233373cb79
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literal 21338
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literal 0
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diff --git a/protocols/g6_color_optomotor_test_patterns/G6_2x10_toprow_grat20_violet.pat b/protocols/g6_color_optomotor_test_patterns/G6_2x10_toprow_grat20_violet.pat
new file mode 100644
index 0000000000000000000000000000000000000000..beb2973fb5e73e81b013c0d84817bea382c05731
GIT binary patch
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diff --git a/protocols/g6_color_optomotor_test_patterns/G6_2x10_toprow_grat20_yellow.pat b/protocols/g6_color_optomotor_test_patterns/G6_2x10_toprow_grat20_yellow.pat
new file mode 100644
index 0000000000000000000000000000000000000000..d7d83b3a5af6f1cf1e71d25f7f86734ead5db22f
GIT binary patch
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diff --git a/protocols/g6_color_optomotor_test_patterns/README.txt b/protocols/g6_color_optomotor_test_patterns/README.txt
new file mode 100644
index 00000000..dbd5625f
--- /dev/null
+++ b/protocols/g6_color_optomotor_test_patterns/README.txt
@@ -0,0 +1,14 @@
+Patterns for protocols/g6_color_optomotor_test.yaml (G6 2x10 four-color panels, GS2, 20 frames each;
+built by scripts/make-color-optomotor-patterns.js — regenerate rather than edit).
+Upload the whole folder from Arena Studio (Console → Patterns → Add ▾ → this folder); the Studio resolves
+patterns by NAME, so the pattern_IDs in the YAML only matter as the fallback when the SD listing is unavailable.
+
+Each file: square-wave grating, period 20 px = 36°, 10 px on / 10 px off, one pixel of shift toward increasing
+column index per frame (20 frames = one period; playback wraps), TOP panel row only (pixel rows 20..39), and only
+the pixels of ONE LED color bank lit (2×2-cell bank map of js/panel-color.js, layout "four-color").
+Frame_rate +80 in mode 2 = 4 Hz temporal frequency (80 px/s ÷ 20 px); negative reverses.
+
+G6_2x10_toprow_grat20_violet.pat — bank 0 = violet 405 nm; frames 20, lit px/frame 500, stray px 0, 21338 bytes  OK
+G6_2x10_toprow_grat20_blue.pat — bank 1 = blue 470 nm; frames 20, lit px/frame 500, stray px 0, 21338 bytes  OK
+G6_2x10_toprow_grat20_green.pat — bank 2 = green 525 nm; frames 20, lit px/frame 500, stray px 0, 21338 bytes  OK
+G6_2x10_toprow_grat20_yellow.pat — bank 3 = yellow-orange 590 nm; frames 20, lit px/frame 500, stray px 0, 21338 bytes  OK
diff --git a/protocols/index.json b/protocols/index.json
index 8a64432e..9b8110a0 100644
--- a/protocols/index.json
+++ b/protocols/index.json
@@ -57,6 +57,11 @@
       "key": "bias_camera_closed_loop_poc",
       "label": "BIAS camera + FicTrac closed loop through the ROS 2 bridge (LAB-303 spike, ~40 s)",
       "path": "./protocols/bias_camera_closed_loop_poc.yaml"
+    },
+    {
+      "key": "g6_color_optomotor_test",
+      "label": "Color optomotor test — one LED color at a time, top row, 25/50/100 % duty (G6 four-color, BIAS, ~18 min)",
+      "path": "./protocols/g6_color_optomotor_test.yaml"
     }
   ]
 }
diff --git a/ros2-poc/WINDOWS-TEST.md b/ros2-poc/WINDOWS-TEST.md
index 4fd8bf5e..5bb20927 100644
--- a/ros2-poc/WINDOWS-TEST.md
+++ b/ros2-poc/WINDOWS-TEST.md
@@ -217,6 +217,37 @@ Optional, if time: `pixi install -e viz` (Qt + foxglove_bridge, ~0.3 GB more) th
 `runlogs\<run>.bag\<run>_0.mcap` in Foxglove on any machine (free account sign-in; Layout → Import →
 `docs\foxglove-arena-layout.json`) to plot `/arena/frame`.
 
+## 5c. The color optomotor protocol (the experiment-shaped test, ~18 minutes)
+
+`protocols/g6_color_optomotor_test.yaml` is the G6 version of the lab's Protocol 11/13: open-loop
+rotating gratings, clockwise then counterclockwise, 20 s trials, a camera timestamp at every trial
+start and one video for the run — with ONE LED color at a time on the TOP panel row (four-color G6
+panels; patterns in `protocols\g6_color_optomotor_test_patterns\`, one per color bank) and the
+brightness swept with the per-trial `duty` override (25 / 50 / 100 %). 3 duties × 4 colors × 2
+directions × 2 repetitions = 48 trials × 20 s + 3 s dark ITIs ≈ 18 min; set `repetitions: 1` on the
+three blocks for ≈ 9 min.
+
+1. **Patterns onto the card:** Console → Patterns → Add ▾ → the folder above (four files, 21 kB each).
+   The SD listing must then show the four `G6_2x10_toprow_grat20_*` names with 20 frames. Note the
+   slot numbers; the YAML's `pattern_ID` 1–4 is only the fallback when the listing is unavailable.
+2. **Direction check (once):** Console → Test one trial of `green_cw_d100`. Decide whether the
+   grating turns clockwise seen from above; if not, swap the `fps_cw` / `fps_ccw` values in
+   `variables:` (Edit view) — record which.
+3. **BIAS:** external-control server on; logging format set to **ufmf** in BIAS's own settings
+   (the protocol asks for `color_optomotor.ufmf`; BIAS writes the configured format whatever the
+   extension); the bias node started with `--video-dir <absolute path>` as in step 5.
+4. **Run** from the Run view with the graph up (step 5, terminal A). Watch the first block: every
+   trial should start with a `getTimestamp` reply (BIAS clock advancing ~23 s per trial), the top
+   row only lit, one color per trial, the bottom row dark; the ITIs dark.
+5. **Collect** with `pixi run export`, then `runlog-check.py` (48 trials, `cc_0x70_ok` 0 — these
+   are mode-2 trials, no host frames) and look at the bag in Foxglove: `/bias/reply` should hold
+   50 `getTimestamp` replies plus connect/start/stopRecording; `/arena/browser` carries the 48
+   `trialParams` with their `duty` bytes. Record the video's frame count vs 48 × 20 s × fps.
+
+Known gaps to record: whether the panels honor `duty` per trial visibly (25 % vs 100 % brightness
+step), whether ufmf frame timestamps line up with the `getTimestamp` replies, and the direction
+result from step 2.
+
 ## 6. Student mistakes (2 minutes)
 
 - A second `pixi run rig` while the first runs → one clear `[rig] cannot start, ports already bound`
diff --git a/scripts/make-color-optomotor-patterns.js b/scripts/make-color-optomotor-patterns.js
new file mode 100644
index 00000000..4924a208
--- /dev/null
+++ b/scripts/make-color-optomotor-patterns.js
@@ -0,0 +1,97 @@
+#!/usr/bin/env node
+/**
+ * Build the one-color, top-row-only rotating gratings for
+ * protocols/g6_color_optomotor_test.yaml into the colocated folder
+ * protocols/g6_color_optomotor_test_patterns/ (G6 2x10, GS2, 20 frames each).
+ *
+ * Four-color G6 panels (LAB-228) carry four LED colors in each 2×2 pixel cell:
+ *     bank(row, col) = 2 * ((row + 1) % 2) + (col % 2)   (host coords, row 0 = bottom)
+ *     bank 0 violet 405 nm · 1 blue 470 nm · 2 green 525 nm · 3 yellow-orange 590 nm
+ * (js/panel-color.js, layout "four-color", bench-verified 2026-09-29). A pattern that
+ * lights only the pixels of ONE bank drives one LED color; the other three banks stay dark.
+ *
+ * Each pattern: square-wave grating, period 20 px (36° on the 200-px arena, 10 px on /
+ * 10 px off), shifted one pixel toward increasing column index per frame — 20 frames =
+ * one period, playback wraps. Only the TOP panel row (pixel rows 20..39) is drawn; the
+ * bottom row stays dark. Within the lit half-period only the chosen bank's pixels are on,
+ * so each frame lights exactly 500 of the 8000 pixels. GS2 (binary): brightness comes from
+ * the trial's `duty` override, which is what the protocol sweeps.
+ *
+ *   node scripts/make-color-optomotor-patterns.js
+ */
+const fs = require('fs');
+const path = require('path');
+const _pp = require('../js/pat-parser.js');
+const PatParser = _pp.default || _pp;
+const PatEncoder = require('../js/pat-encoder.js');
+const PanelColor = require('../js/panel-color.js');
+
+const ROWS = 2, COLS = 10, PIXEL_ROWS = 40, PIXEL_COLS = 200, N = PIXEL_ROWS * PIXEL_COLS;
+const PERIOD_PX = 20, ON_PX = 10, FRAMES = PERIOD_PX;
+const TOP_ROW_START = 20; // pixel rows 20..39 = the top panel row (row 0 = bottom)
+const ARENA_ID = 1;
+const OUT = path.join(__dirname, '..', 'protocols', 'g6_color_optomotor_test_patterns');
+const layout = PanelColor.getLayout('four-color');
+const BANKS = layout.banks; // ['violet', 'blue', 'green', 'yellow']
+
+function grating(bank) {
+    const frames = [];
+    for (let f = 0; f < FRAMES; f++) {
+        const fr = new Uint8Array(N);
+        for (let r = TOP_ROW_START; r < PIXEL_ROWS; r++) {
+            for (let c = 0; c < PIXEL_COLS; c++) {
+                if (PanelColor.bankAt(r, c) !== bank) continue;
+                if ((((c - f) % PERIOD_PX) + PERIOD_PX) % PERIOD_PX < ON_PX) fr[r * PIXEL_COLS + c] = 1;
+            }
+        }
+        frames.push(fr);
+    }
+    return frames;
+}
+
+fs.mkdirSync(OUT, { recursive: true });
+const readme = [
+    'Patterns for protocols/g6_color_optomotor_test.yaml (G6 2x10 four-color panels, GS2, 20 frames each;',
+    'built by scripts/make-color-optomotor-patterns.js — regenerate rather than edit).',
+    'Upload the whole folder from Arena Studio (Console → Patterns → Add ▾ → this folder); the Studio resolves',
+    'patterns by NAME, so the pattern_IDs in the YAML only matter as the fallback when the SD listing is unavailable.',
+    '',
+    'Each file: square-wave grating, period 20 px = 36°, 10 px on / 10 px off, one pixel of shift toward increasing',
+    'column index per frame (20 frames = one period; playback wraps), TOP panel row only (pixel rows 20..39), and only',
+    'the pixels of ONE LED color bank lit (2×2-cell bank map of js/panel-color.js, layout "four-color").',
+    'Frame_rate +80 in mode 2 = 4 Hz temporal frequency (80 px/s ÷ 20 px); negative reverses.',
+    ''
+];
+let ok = true;
+BANKS.forEach((color, bank) => {
+    const name = `G6_2x10_toprow_grat20_${color}`;
+    const frames = grating(bank);
+    const bytes = PatEncoder.encode({
+        generation: 'G6', gs_val: 2, numFrames: frames.length,
+        rowCount: ROWS, colCount: COLS, pixelRows: PIXEL_ROWS, pixelCols: PIXEL_COLS,
+        frames, stretchValues: [], arena_id: ARENA_ID, observer_id: 0
+    });
+    const file = path.join(OUT, name + '.pat');
+    fs.writeFileSync(file, Buffer.from(bytes));
+    // Verify by decoding: 500 lit pixels per frame, all in the top row, all in this bank.
+    const parsed = PatParser.parsePatFile(new Uint8Array(fs.readFileSync(file)).buffer);
+    let bad = 0, lit = [];
+    parsed.frames.forEach((fr) => {
+        let n = 0;
+        for (let i = 0; i < fr.length; i++) {
+            if (!fr[i]) continue;
+            n++;
+            const r = Math.floor(i / PIXEL_COLS), c = i % PIXEL_COLS;
+            if (r < TOP_ROW_START || PanelColor.bankAt(r, c) !== bank) bad++;
+        }
+        lit.push(n);
+    });
+    const good = parsed.frames.length === FRAMES && bad === 0 && lit.every((n) => n === 500);
+    ok = ok && good;
+    const ch = layout.bankChannel[bank];
+    const line = `${name}.pat — bank ${bank} = ${ch.label}; frames ${parsed.frames.length}, lit px/frame ${lit[0]}, stray px ${bad}, ${bytes.byteLength} bytes  ${good ? 'OK' : 'FAIL'}`;
+    readme.push(line);
+    console.log(line);
+});
+fs.writeFileSync(path.join(OUT, 'README.txt'), readme.join('\n') + '\n');
+process.exit(ok ? 0 : 1);

From 81259e36b508834269495b60e0db836a233a70e9 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 21:36:05 -0400
Subject: [PATCH 33/96] =?UTF-8?q?ros2-poc:=20Foxglove=20as=20a=20one-comma?=
 =?UTF-8?q?nd=20live=20view=20=E2=80=94=20`rig=20--foxglove`=20+=20derived?=
 =?UTF-8?q?=20turning=5Fdps=20/=20forward=5Fmms=20in=20ArenaFrame?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

- nodes/rig.py: `--foxglove` runs foxglove_bridge (ws://127.0.0.1:8766) from the `viz` pixi
  environment as a supervised child after the bridge node; one note and no bridge when
  `.pixi/envs/viz` is not installed; tcp 8766 joins the pre-flight port check when set.
- ArenaFrame.msg + bridge_node.py: two derived channels for live viewing only, `turning_dps`
  (deg/s) and `forward_mms` (mm/s, `--ball-mm` 9 default), computed per consecutive frame the
  way js/kinematics.js does (dt on the FicTrac camera clock `ft`, `t` fallback; shortest
  heading step; x/y step projected on the mid-step heading × ball radius; NaN on a run's first
  frame). ONE builder (arena_frame_msg) for the published and the recorded frame. The hub
  message to the Studio and the behavior_v1 columns are unchanged.
- nodes/_common.py: probe_interfaces tries the environment's own interfaces package before a
  colcon `interfaces/install` prefix. Found while validating: the stale colcon prefix shadowed
  the pixi build's Python class and C struct while the env's newer typesupport did the CDR
  encoding — recorded frames carried garbage in the new fields with the harness green.
- docs/foxglove-arena-layout.json: third plot (turning + forward); README graph table, typed
  row, "What broke" item 8; WINDOWS-TEST step 5b.

Validated on the Mac: `pixi install -e typed` rebuilds the package (28 s); `pixi run -e typed
test` 46/46 and `pixi run test` 45/45; `pixi run rig -- --sim --foxglove` → `pixi run graph --
--text` lists /foxglove_bridge, :8766 listening, a Studio-emulator run records 576 typed frames
(1 NaN, hand-check matches), SIGINT stops everything with no rmw_zenohd / foxglove_bridge left.
The Python deriver matches kinematics.js to 1e-13 on 200 synthetic frames.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/README.md                            | 15 ++-
 ros2-poc/WINDOWS-TEST.md                      |  4 +-
 ros2-poc/docs/foxglove-arena-layout.json      | 18 +++-
 .../arena_interfaces/msg/ArenaFrame.msg       |  7 ++
 ros2-poc/nodes/_common.py                     | 19 +++-
 ros2-poc/nodes/bridge_node.py                 | 99 ++++++++++++++++---
 ros2-poc/nodes/rig.py                         | 27 ++++-
 7 files changed, 165 insertions(+), 24 deletions(-)

diff --git a/ros2-poc/README.md b/ros2-poc/README.md
index 3ddb0a40..6f9bdfc1 100644
--- a/ros2-poc/README.md
+++ b/ros2-poc/README.md
@@ -189,7 +189,7 @@ without further changes; **"ROS Studio" = that Studio served from the `/ros/` Pa
 |---|---|---|
 | MCAP record | `nodes/recorder.py`, `bridge_node.py` | one bag per run (opened with the run's log, closed at `log_control off` / `log_export` / shutdown) holding every device topic as received (raw CDR bytes), `/arena/frame` (the closed-loop evaluation with the node's **own sample time** `t_ms`/`ms` as fields, and as MCAP `publish_time`), `/arena/browser` (**every** browser message, verbatim, with the receive stamp), `/arena/event` (bias_config, heading_tare, connector_status, source_lost/resumed, warn), `/arena/session`. Bridge-side records carry the writer's emission sequence number `seq`. Two writer profiles: `crashsafe` (no chunking, no cache; the default) and rosbag2's `default`. |
 | converter | `nodes/mcap_convert.py` (`pixi run convert`) | bag → NDJSON, pure Python (`mcap` + a 60-line CDR decoder driven by the schema text rosbag2 embeds): no ROS process needed, reads a torn bag with `--recover`. Reuses bridge.py's own pure encoders (`compact_arena_command`, schema line). Levels are a converter option (`--level behavior_v2|behavior_v1|full`); the run's acked level is the default. `--order seq` reproduces the live writer's order; `--order time` is what a separate closed-loop process would have to do. ONE ms base per run (the pipeline's t0 is set from the log's open stamp — bridge 3.4 takes two samples there, comparison.md appendix 4). `log_export` returns the converted log; the live NDJSON stays as a shadow file during the spike and `converted == live` is checked and printed at every export. |
-| typed messages | `interfaces/arena_interfaces/` (`FicTracFrame`, `ArenaFrame`, `ConnectorReply`) | built **by `pixi install -e typed`** (pixi-build preview + the RoboStack `pixi-build-ros` backend; the opt-in `typed` environment depends on the package by path and carries the ament/rosidl toolchain). The **default environment stays String-only** so a rig PC without a compiler can always install and run the graph; the nodes choose typed topics only when the package imports AND serializes (`_common.probe_interfaces`). `pixi run build-interfaces` is the colcon alternative. `ArenaFrame` and `FicTracFrame` are in use; `ConnectorReply` is defined and built but the BIAS reply stays JSON-in-String (its shape is BIAS's, not ours — typing it would make the derived connector event a rebuild instead of a copy). |
+| typed messages | `interfaces/arena_interfaces/` (`FicTracFrame`, `ArenaFrame`, `ConnectorReply`) | built **by `pixi install -e typed`** (pixi-build preview + the RoboStack `pixi-build-ros` backend; the opt-in `typed` environment depends on the package by path and carries the ament/rosidl toolchain). The **default environment stays String-only** so a rig PC without a compiler can always install and run the graph; the nodes choose typed topics only when the package imports AND serializes (`_common.probe_interfaces`). `pixi run build-interfaces` is the colcon alternative. `ArenaFrame` and `FicTracFrame` are in use; `ArenaFrame` also carries two DERIVED channels for live viewing — `turning_dps` (heading rate, deg/s) and `forward_mms` (forward velocity, mm/s; ball diameter `--ball-mm`, 9 mm default) — computed in the bridge node from consecutive frames the way `js/kinematics.js` does (two-point difference on the FicTrac camera clock, NaN on a run's first frame); the hub message to the Studio and the behavior_v1 columns are unchanged. `ConnectorReply` is defined and built but the BIAS reply stays JSON-in-String (its shape is BIAS's, not ours — typing it would make the derived connector event a rebuild instead of a copy). |
 | FicTrac as a typed topic | `fictrac_udp_adapter.py --typed`, `bridge_node.py --typed` | the adapter publishes `/fictrac/frame` (parsed columns + FT tag + receive stamps + the verbatim line) beside `/fictrac/raw`; the bridge subscribes to the typed topic when the package imports (`auto`). The mapping math still parses the verbatim line, so it stays byte-for-byte bridge 3.4's. |
 | harness | `tests/test_ros2_poc.py` | the 32 PoC checks now judged against the **converted** log, plus bag presence per topic, fidelity vs the shadow, levels, ordering, typed schemas, and a crash phase (bridge node SIGKILLed mid-run, both profiles): **46 / 46 in 46 s** on the Mac. |
 | Pages path | `scripts/tiers/stamp.py --ros REF`, `deploy-pages.yml` input `ros`, `pixi run ros-preview`, `js/build-channel.js` channel `ros` | a third, optional path `/ros/` beside Production and Next: this branch's tree, stamped `channel: "ros"`, magenta badge/banner "ROS STUDIO", tier-suffixed window names, `run_metadata.channel = "ros"`. Off by default; a problem there never blocks the other tiers; the production tree check skips it. Production and Next are untouched (tiers test 109 / 109). **Enabling it on the live site needs this tooling commit on `main`** (the deploy workflow runs from `main`): a tooling-only PR, then `gh workflow run deploy-pages.yml -f ros=<spike sha>`. Until then: `pixi run ros-preview` + `python -m http.server -d _site`. |
@@ -233,6 +233,15 @@ without further changes; **"ROS Studio" = that Studio served from the `/ros/` Pa
 7. The Studio asks the bridge for `log_export` only on its course-commit path (a token stored on
    the origin); otherwise the bag stays open until the next run. `pixi run export` sends that
    same message from the command line (`nodes/export_log.py`) and is what the Windows test uses.
+8. Two builds of the interfaces in one process (found when `ArenaFrame` gained `turning_dps` /
+   `forward_mms`): `probe_interfaces` prepended a stale colcon `interfaces/install` on top of the
+   `typed` environment, so the old Python class and C struct came from the prefix while the new
+   typesupport library came from the environment — rclpy serialized 16 bytes past the struct and
+   every recorded frame carried garbage in the two new fields, with the harness green (it checks
+   schema names, not values). The probe now tries the environment's own package first and
+   consults a colcon prefix only when nothing imports without it. Rule: one build per process;
+   after a `.msg` change, rebuild whichever route you use (`pixi install -e typed`, or
+   `pixi run build-interfaces -- --clean`) and delete the other's output.
 
 ### Plain comparison with the live-NDJSON PoC (same graph, 2026-10-14 afternoon)
 
@@ -279,8 +288,8 @@ sends it at run end only on the commit path today) or on a run-end event.
 |---|---|---|
 | live graph as a diagram | `pixi run graph` (while `pixi run rig` is up; any environment) | a Mermaid flowchart of the nodes and topics the middleware reports, with each topic's type and 1 s message rate; `-- --dot` for Graphviz, `-- --text` for a table, `-- --out docs/graph.md` to save |
 | live graph, interactive | `pixi install -e viz`, then `pixi run -e viz rqt-graph` | the standard ROS node/topic graph window (Qt); `pixi run -e viz rqt-topic` shows rates and payloads |
-| the recorded run | Foxglove (free desktop app) → *Open local file* → `runlogs/<run>.bag/<run>_0.mcap`; Layout → *Import from file* → `docs/foxglove-arena-layout.json` | every topic of the run on a timeline: plots of `/arena/frame` `idx`, `hd`, `bias_deg`, `epoch` (typed runs; String runs show the JSON text), the browser messages, events and BIAS replies as raw views, the schemas rosbag2 embedded — no ROS needed on that machine |
-| the live run in Foxglove | `pixi run -e viz foxglove-bridge` → Foxglove *Open connection* `ws://localhost:8766` | the same panels on the running graph |
+| the recorded run | Foxglove (free desktop app) → *Open local file* → `runlogs/<run>.bag/<run>_0.mcap`; Layout → *Import from file* → `docs/foxglove-arena-layout.json` | every topic of the run on a timeline: plots of `/arena/frame` `idx`, `hd`, `turning_dps` + `forward_mms`, `bias_deg`, `epoch` (typed runs; String runs show the JSON text), the browser messages, events and BIAS replies as raw views, the schemas rosbag2 embedded — no ROS needed on that machine |
+| the live run in Foxglove | `pixi run rig -- --foxglove` (adds foxglove_bridge from the `viz` environment to the supervised rig; a note and no bridge when `pixi install -e viz` has not been run) → Foxglove *Open connection* `ws://localhost:8766`; or by hand beside a running rig: `pixi run -e viz foxglove-bridge` | the same panels on the running graph, including the derived `turning_dps` / `forward_mms` plot |
 | the plain CLI | `pixi run ros2 node list`, `ros2 topic list -t`, `ros2 topic hz /arena/frame`, `ros2 topic echo /bias/status`, `ros2 bag info runlogs/<run>.bag` | what every ROS user reaches for first; every topic here is readable JSON or a flat typed message |
 
 ### Still not verified
diff --git a/ros2-poc/WINDOWS-TEST.md b/ros2-poc/WINDOWS-TEST.md
index 5bb20927..8bfdbda3 100644
--- a/ros2-poc/WINDOWS-TEST.md
+++ b/ros2-poc/WINDOWS-TEST.md
@@ -213,7 +213,9 @@ pixi run graph -- --out graph.md  # the Mermaid diagram (paste into the report)
 ```
 
 Optional, if time: `pixi install -e viz` (Qt + foxglove_bridge, ~0.3 GB more) then
-`pixi run -e viz rqt-graph` for the live graph window; and open the run's
+`pixi run -e viz rqt-graph` for the live graph window; restart the rig with `--foxglove` added
+(Terminal A: `pixi run rig -- --sim --bias --foxglove`) and connect Foxglove to `ws://localhost:8766`
+for the live plots (without the viz environment the rig prints one note and runs without it); and open the run's
 `runlogs\<run>.bag\<run>_0.mcap` in Foxglove on any machine (free account sign-in; Layout → Import →
 `docs\foxglove-arena-layout.json`) to plot `/arena/frame`.
 
diff --git a/ros2-poc/docs/foxglove-arena-layout.json b/ros2-poc/docs/foxglove-arena-layout.json
index 7b36ab98..18aa273b 100644
--- a/ros2-poc/docs/foxglove-arena-layout.json
+++ b/ros2-poc/docs/foxglove-arena-layout.json
@@ -14,6 +14,15 @@
       "showXAxisLabels": true, "showYAxisLabels": true, "showLegend": true, "legendDisplay": "floating",
       "showPlotValuesInLegend": true, "isSynced": true, "xAxisVal": "timestamp", "sidebarDimension": 240
     },
+    "Plot!kinematics": {
+      "title": "Fly kinematics — /arena/frame.turning_dps (deg/s) and .forward_mms (mm/s), derived in the bridge node like the Studio scope",
+      "paths": [
+        { "value": "/arena/frame.turning_dps", "enabled": true, "timestampMethod": "receiveTime", "label": "turning (deg/s)" },
+        { "value": "/arena/frame.forward_mms", "enabled": true, "timestampMethod": "receiveTime", "label": "forward (mm/s)" }
+      ],
+      "showXAxisLabels": true, "showYAxisLabels": true, "showLegend": true, "legendDisplay": "floating",
+      "showPlotValuesInLegend": true, "isSynced": true, "xAxisVal": "timestamp", "sidebarDimension": 240
+    },
     "Plot!bias": {
       "title": "Bias angle — /arena/frame.bias_deg (degrees since the epoch opened; 0 when the bias is none)",
       "paths": [{ "value": "/arena/frame.bias_deg", "enabled": true, "timestampMethod": "receiveTime", "label": "bias (deg)" }],
@@ -36,8 +45,13 @@
     "first": {
       "direction": "column",
       "first": { "direction": "column", "first": "Plot!idx", "second": "Plot!heading", "splitPercentage": 50 },
-      "second": { "direction": "column", "first": "Plot!bias", "second": "StateTransitions!epoch", "splitPercentage": 70 },
-      "splitPercentage": 55
+      "second": {
+        "direction": "column",
+        "first": "Plot!kinematics",
+        "second": { "direction": "column", "first": "Plot!bias", "second": "StateTransitions!epoch", "splitPercentage": 65 },
+        "splitPercentage": 45
+      },
+      "splitPercentage": 42
     },
     "second": {
       "direction": "column",
diff --git a/ros2-poc/interfaces/arena_interfaces/msg/ArenaFrame.msg b/ros2-poc/interfaces/arena_interfaces/msg/ArenaFrame.msg
index 22b4890f..4a8a2403 100644
--- a/ros2-poc/interfaces/arena_interfaces/msg/ArenaFrame.msg
+++ b/ros2-poc/interfaces/arena_interfaces/msg/ArenaFrame.msg
@@ -14,3 +14,10 @@ float64 hd            # integrated heading, radians (col 17)
 uint32 epoch          # +1 per heading tare; 0 before the first
 float64 bias_deg      # bias angle applied at this evaluation (0 when the bias is `none`)
 uint64 seq            # the bridge writer's emission order within the run (0 when unknown)
+# Derived channels for live viewing (Foxglove) and ROS-native consumers ONLY — the hub message
+# to the Studio and the behavior_v1 columns do not carry them. Two-point differences over
+# consecutive frames on the FicTrac camera clock `ft` (falling back to the bridge clock when
+# ft is absent), the way js/kinematics.js derives the same channels; NaN on the first frame
+# of a run, when the clock does not advance, or when FicTrac restarted.
+float64 turning_dps   # heading rate, deg/s (positive = increasing FicTrac heading)
+float64 forward_mms   # forward velocity, mm/s (x/y step projected onto the heading × ball radius; --ball-mm, 9 mm default)
diff --git a/ros2-poc/nodes/_common.py b/ros2-poc/nodes/_common.py
index 59eb0ce0..87c1e2ac 100644
--- a/ros2-poc/nodes/_common.py
+++ b/ros2-poc/nodes/_common.py
@@ -152,8 +152,23 @@ def probe_interfaces():
     typesupport library cannot be dlopen'ed (seen with a colcon install visible from the
     default env: `RMWError: … Could not load library libarena_interfaces__rosidl_typesupport_
     fastrtps_c.dylib`) would otherwise make a node pick typed topics and die at its first
-    message. One serialize_message() is the test."""
-    setup_interfaces()
+    message. One serialize_message() is the test.
+
+    The ENVIRONMENT's package (pixi-build, `pixi install -e typed`) is tried FIRST and a colcon
+    `interfaces/install` is consulted only when nothing imports without it. Prepending a stale
+    colcon prefix on top of the env mixed two builds (2026-10-14, after ArenaFrame gained two
+    fields): the old Python class + C struct from the prefix, the new typesupport library from
+    the env — rclpy serialized 16 bytes PAST the struct, and every recorded frame carried
+    garbage in the new fields while the harness stayed green. One build per process, always."""
+    found = _try_interfaces()
+    if found is not None:
+        return found
+    if setup_interfaces():
+        return _try_interfaces()
+    return None
+
+
+def _try_interfaces():
     try:
         from arena_interfaces.msg import ArenaFrame, FicTracFrame
         from rclpy.serialization import serialize_message
diff --git a/ros2-poc/nodes/bridge_node.py b/ros2-poc/nodes/bridge_node.py
index 48654ba4..2f6ecfe2 100644
--- a/ros2-poc/nodes/bridge_node.py
+++ b/ros2-poc/nodes/bridge_node.py
@@ -224,6 +224,11 @@ def summary(self) -> dict:
         }
 
 
+NAN = float("nan")
+NO_DERIVED = (NAN, NAN)
+DEFAULT_BALL_MM = 9.0  # fly-on-ball diameter, as js/kinematics.js ballRadiusMm() assumes
+
+
 class RecordingLogWriter(B.LogWriter):
     """bridge.py's LogWriter (kept as the SHADOW NDJSON during the spike) + the MCAP record.
 
@@ -358,18 +363,15 @@ def write_event(self, obj: dict, record: bool = True) -> None:
             self._record(EVENT_TOPIC, {"seq": self.next_seq(), **obj})
         super().write_event(obj)
 
-    def record_frame(self, msg: dict) -> None:
-        """Called by RosHub.publish — the frame's emission point (write_frame follows at once)."""
+    def record_frame(self, msg: dict, derived: tuple[float, float] = NO_DERIVED) -> None:
+        """Called by RosHub.publish — the frame's emission point (write_frame follows at once).
+        `derived` = (turning_dps, forward_mms) from the hub's FrameDeriver; typed record only."""
         if not self._fh or self.rec is None:
             return
         seq = self.next_seq()
         pub_ns = int(msg["t"]) * 1_000_000
         if self._typed:
-            m = ArenaFrame(t_ms=int(msg["t"]), ms=int(msg["ms"]), fc=int(msg["fc"]), idx=int(msg["idx"]),
-                           has_ft=msg.get("ft") is not None, ft=float(msg["ft"]) if msg.get("ft") is not None else float("nan"),
-                           x=float(msg["x"]), y=float(msg["y"]), hd=float(msg["hd"]), epoch=int(msg.get("epoch", 0)),
-                           bias_deg=float(msg.get("bias", 0.0)), seq=seq)
-            self.rec.write_msg(FRAME_TOPIC, m, pub_ns=pub_ns)
+            self.rec.write_msg(FRAME_TOPIC, arena_frame_msg(msg, seq, derived), pub_ns=pub_ns)
         else:
             self.rec.write_json(FRAME_TOPIC, {"wseq": seq, **msg}, pub_ns=pub_ns)
 
@@ -414,25 +416,88 @@ def export_current(self):
         return name, text
 
 
+def wrap_to_pi(r: float) -> float:
+    """Radians to (-π, π] — js/kinematics.js wrapToPi, so a turning step never spikes at ±π."""
+    x = math.fmod(r, 2 * math.pi)
+    if x <= -math.pi:
+        x += 2 * math.pi
+    elif x > math.pi:
+        x -= 2 * math.pi
+    return x
+
+
+class FrameDeriver:
+    """turning_dps / forward_mms for the TYPED ArenaFrame, from consecutive hub frames.
+
+    The math is js/kinematics.js's (the Studio scope + the course dashboard), reduced to the
+    two-point difference a live stream allows: dt from the FicTrac camera clock `ft` (ms,
+    col 22 — robust to a dropped frame because it is a timestamp, not an inter-frame dt),
+    falling back to the bridge clock `t` when ft is absent; turning = the shortest signed
+    heading step / dt in deg/s; forward = (dx·cos h + dy·sin h) / dt × ball radius with h the
+    heading at the middle of the step (kinematics.js projects on the center sample).
+    NaN on the first frame, when the clock does not advance (also a new run's ft restarting
+    at 0), when the clock SOURCE changes between frames, or when fc goes backwards (FicTrac
+    restarted). The hub message and the behavior_v1 columns never carry these — the
+    derivation lives in one place in the browser (kinematics.js) and in one place here."""
+
+    def __init__(self, ball_mm: float = DEFAULT_BALL_MM) -> None:
+        self.radius_mm = (ball_mm if ball_mm > 0 else DEFAULT_BALL_MM) / 2.0
+        self._prev: tuple | None = None  # (fc, clock_src, clock_ms, x, y, hd)
+
+    def reset(self) -> None:
+        self._prev = None
+
+    def step(self, msg: dict) -> tuple[float, float]:
+        try:
+            src, clock = ("ft", float(msg["ft"])) if msg.get("ft") is not None else ("t", float(msg["t"]))
+            cur = (int(msg["fc"]), src, clock, float(msg["x"]), float(msg["y"]), float(msg["hd"]))
+        except (KeyError, TypeError, ValueError):
+            self._prev = None
+            return NO_DERIVED
+        prev, self._prev = self._prev, cur
+        if prev is None or prev[1] != src or cur[0] < prev[0]:
+            return NO_DERIVED
+        dt_s = (clock - prev[2]) / 1000.0
+        if not dt_s > 0:
+            return NO_DERIVED
+        d_hd = wrap_to_pi(cur[5] - prev[5])
+        h_mid = prev[5] + d_hd / 2.0
+        dx, dy = cur[3] - prev[3], cur[4] - prev[4]
+        turning_dps = math.degrees(d_hd) / dt_s
+        forward_mms = (dx * math.cos(h_mid) + dy * math.sin(h_mid)) / dt_s * self.radius_mm
+        return (turning_dps, forward_mms)
+
+
+def arena_frame_msg(msg: dict, seq: int, derived: tuple[float, float] = NO_DERIVED):
+    """The hub frame → arena_interfaces/ArenaFrame. ONE builder for the published message and
+    the recorded one, so the bag and the live topic can never disagree on a field."""
+    return ArenaFrame(t_ms=int(msg["t"]), ms=int(msg["ms"]), fc=int(msg["fc"]), idx=int(msg["idx"]),
+                      has_ft=msg.get("ft") is not None, ft=float(msg["ft"]) if msg.get("ft") is not None else NAN,
+                      x=float(msg["x"]), y=float(msg["y"]), hd=float(msg["hd"]), epoch=int(msg.get("epoch", 0)),
+                      bias_deg=float(msg.get("bias", 0.0)), seq=seq,
+                      turning_dps=float(derived[0]), forward_mms=float(derived[1]))
+
+
 class RosHub(B.Hub):
     """bridge.py's Hub + a ROS mirror of every frame on /arena/frame (String JSON, or a typed
-    ArenaFrame when the interfaces are built) + the frame's MCAP record."""
+    ArenaFrame when the interfaces are built) + the frame's MCAP record. The typed frame also
+    carries the derived turning_dps / forward_mms (FrameDeriver); the String mirror is the hub
+    message verbatim, like the WebSocket."""
 
-    def __init__(self, on_message, ros_pub, log: RecordingLogWriter, typed: bool) -> None:
+    def __init__(self, on_message, ros_pub, log: RecordingLogWriter, typed: bool, ball_mm: float = DEFAULT_BALL_MM) -> None:
         super().__init__(on_message)
         self._ros_pub = ros_pub
         self._log = log
         self._typed = typed
+        self.deriver = FrameDeriver(ball_mm)
 
     async def publish(self, msg: dict) -> None:
         await super().publish(msg)
-        self._log.record_frame(msg)
+        derived = self.deriver.step(msg) if self._typed else NO_DERIVED
+        self._log.record_frame(msg, derived)
         if self._ros_pub is not None:
             if self._typed:
-                m = ArenaFrame(t_ms=int(msg["t"]), ms=int(msg["ms"]), fc=int(msg["fc"]), idx=int(msg["idx"]),
-                               has_ft=msg.get("ft") is not None, ft=float(msg["ft"]) if msg.get("ft") is not None else float("nan"),
-                               x=float(msg["x"]), y=float(msg["y"]), hd=float(msg["hd"]), epoch=int(msg.get("epoch", 0)),
-                               bias_deg=float(msg.get("bias", 0.0)), seq=self._log.seq)
+                m = arena_frame_msg(msg, self._log.seq, derived)
             else:
                 m = String()
                 m.data = json.dumps(msg, separators=(",", ":"))
@@ -681,7 +746,7 @@ def on_log_close() -> None:
     if log.active:  # a fixed --log path opened before the hooks existed
         on_log_open()
 
-    hub = RosHub(dispatch, node.frame_pub, log, typed)
+    hub = RosHub(dispatch, node.frame_pub, log, typed, ball_mm=args.ball_mm)
     pipeline.hub = hub
     log._hub = hub
 
@@ -765,6 +830,8 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--log", default=None, help="fixed log path (else on demand per log_control)")
     p.add_argument("--log-dir", default=str(HERE.parent / "runlogs"), help="directory for on-demand arena-log-*.jsonl (default: ros2-poc/runlogs)")
     p.add_argument("--log-level", choices=B.LOG_LEVELS, default=B.DEFAULT_LOG_LEVEL)
+    p.add_argument("--ball-mm", type=float, default=DEFAULT_BALL_MM,
+                   help=f"ball diameter in mm for the typed frame's forward_mms (default: {DEFAULT_BALL_MM:g}, as the Studio scope assumes)")
     p.add_argument("--typed", choices=("auto", "on", "off"), default="auto",
                    help="consume /fictrac/frame + publish /arena/frame as arena_interfaces types (auto: when the package imports; default)")
     p.add_argument("--bag-profile", choices=sorted(PROFILES), default="crashsafe",
@@ -776,6 +843,8 @@ def main(argv: list[str] | None = None) -> int:
         p.error("--frames must be > 0")
     if not math.isfinite(args.coupling):
         p.error("--coupling must be finite")
+    if not (math.isfinite(args.ball_mm) and args.ball_mm > 0):
+        p.error("--ball-mm must be > 0")
     rclpy.init(args=ros_args)
     try:
         asyncio.run(run(args))
diff --git a/ros2-poc/nodes/rig.py b/ros2-poc/nodes/rig.py
index 85b5b17e..7ac96016 100644
--- a/ros2-poc/nodes/rig.py
+++ b/ros2-poc/nodes/rig.py
@@ -5,6 +5,7 @@
     pixi run rig -- --kinefly --bias   # + Kinefly adapter + BIAS node
     pixi run rig -- --sim              # + the FicTrac simulator (demo without a camera)
     pixi run rig -- --bias --bias-sim  # + a simulated BIAS program (no camera software)
+    pixi run rig -- --foxglove         # + foxglove_bridge (:8766) from the `viz` environment
 
 Order: the router first (nodes retry until it answers on 127.0.0.1:7447), then every
 adapter/node. Each child's stderr is prefixed with its name. Ctrl-C stops everything in
@@ -18,6 +19,7 @@
 import argparse
 import os
 import shlex
+import shutil
 import socket
 import signal
 import subprocess
@@ -28,7 +30,10 @@
 
 HERE = Path(__file__).resolve().parent
 NODES = HERE
+ROOT = HERE.parent  # ros2-poc/ (the pixi workspace)
 SIM = HERE.parents[1] / "fictrac-bridge" / "fictrac_sim.py"
+VIZ_ENV = ROOT / ".pixi" / "envs" / "viz"  # `pixi install -e viz` puts foxglove_bridge here
+FOXGLOVE_PORT = 8766
 
 
 sys.path.insert(0, str(HERE))
@@ -106,6 +111,8 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--bias", action="store_true", help="also run the BIAS camera node")
     p.add_argument("--bias-sim", action="store_true", help="also run bias_sim.py (a fake BIAS program)")
     p.add_argument("--sim", action="store_true", help="also run the FicTrac simulator (random walk, 50 Hz)")
+    p.add_argument("--foxglove", action="store_true",
+                   help=f"also run foxglove_bridge on ws://127.0.0.1:{FOXGLOVE_PORT} (the `viz` environment; skipped with a note when it is not installed)")
     p.add_argument("--no-router", action="store_true", help="a Zenoh router is already running on this host")
     p.add_argument("--bridge-args", default="", help="extra args for bridge_node.py")
     p.add_argument("--fictrac-args", default="", help="extra args for fictrac_udp_adapter.py")
@@ -115,6 +122,17 @@ def main(argv: list[str] | None = None) -> int:
     args = p.parse_args(argv)
 
     py = sys.executable
+    # Foxglove is optional twice over: the flag, and the `viz` environment being installed
+    # (Qt + foxglove_bridge, ~0.3 GB a rig does not need). Missing env → one line, no crash.
+    foxglove = False
+    if args.foxglove:
+        pixi = shutil.which("pixi") or os.environ.get("PIXI_EXE")
+        if not VIZ_ENV.is_dir():
+            print(f"[rig] --foxglove: the viz environment is not installed ({VIZ_ENV}) — run `pixi install -e viz`; starting without foxglove_bridge", file=sys.stderr)
+        elif not pixi:
+            print("[rig] --foxglove: no `pixi` executable on PATH to start the viz environment with; starting without foxglove_bridge", file=sys.stderr)
+        else:
+            foxglove = True
     # Pre-flight: the ports this rig will bind. A clear line beats the router's Rust
     # panic text or a Python OSError traceback when a second `pixi run rig`, a stray
     # router, or the shipping bridge 3.4 (also ws :8765 + udp :60000) is still running.
@@ -125,6 +143,7 @@ def main(argv: list[str] | None = None) -> int:
         ("udp", 60000, "a FicTrac receiver — bridge 3.4 or another fictrac adapter"),
         ("udp", 60001, "another Kinefly adapter") if args.kinefly else (None, 0, ""),
         ("tcp", 5010, "a BIAS program or bias_sim") if args.bias_sim else (None, 0, ""),
+        ("tcp", FOXGLOVE_PORT, "another foxglove_bridge (`pixi run -e viz foxglove-bridge` or another rig --foxglove)") if foxglove else (None, 0, ""),
     ):
         if proto and port_in_use(proto, port):
             taken.append(f"  {proto} 127.0.0.1:{port} is in use — probably {who}")
@@ -153,6 +172,11 @@ def main(argv: list[str] | None = None) -> int:
         nodes.append(Child("bias", [py, str(NODES / "bias_node.py"), *shlex.split(args.bias_args)]))
     bridge = Child("bridge", [py, str(NODES / "bridge_node.py"), *shlex.split(args.bridge_args)])
     nodes.append(bridge)
+    if foxglove:
+        # The pixi task from the `viz` environment (`ros2 run foxglove_bridge foxglove_bridge
+        # --ros-args -p port:=8766 -p address:=127.0.0.1`): same solve group, so the same ROS
+        # packages; RMW_IMPLEMENTATION + the Zenoh configs pass through the environment.
+        nodes.append(Child("foxglove", [pixi, "run", "--manifest-path", str(ROOT / "pixi.toml"), "-e", "viz", "foxglove-bridge"]))
     if args.sim:
         nodes.append(Child("sim", [py, str(SIM), *shlex.split(args.sim_args)]))
 
@@ -176,7 +200,8 @@ def main(argv: list[str] | None = None) -> int:
             c.start()
             children.append(c)
             time.sleep(0.3)
-        print(f"[rig] up: {', '.join(c.name for c in children)}  —  Studio → ws://localhost:8765   (Ctrl-C to stop)", file=sys.stderr)
+        fox = f"   Foxglove → ws://localhost:{FOXGLOVE_PORT}" if foxglove else ""
+        print(f"[rig] up: {', '.join(c.name for c in children)}  —  Studio → ws://localhost:8765{fox}   (Ctrl-C to stop)", file=sys.stderr)
         while not stop.is_set():
             time.sleep(0.5)
             for c in children:

From d8a2a366c5b43d138a20dbf4a6dc396dfacf5f15 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 21:48:32 -0400
Subject: [PATCH 34/96] protocols: 2-minute SMOKE variant of the color
 optomotor test (10 s per pattern, duty 100 %, BIAS bracket) for rig checks

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 protocols/g6_color_optomotor_smoke.yaml | 215 ++++++++++++++++++++++++
 protocols/index.json                    |   5 +
 2 files changed, 220 insertions(+)
 create mode 100644 protocols/g6_color_optomotor_smoke.yaml

diff --git a/protocols/g6_color_optomotor_smoke.yaml b/protocols/g6_color_optomotor_smoke.yaml
new file mode 100644
index 00000000..576ee64b
--- /dev/null
+++ b/protocols/g6_color_optomotor_smoke.yaml
@@ -0,0 +1,215 @@
+version: 3
+
+# ============================================================================
+# SMOKE variant of g6_color_optomotor_test.yaml — same patterns, same trial shape, cut to
+# ~2 minutes: 10 s trials, the four colors clockwise + counterclockwise at duty 100 % only,
+# one repetition, 2 s dark ITIs, camera bracket as in the full protocol. For checking a rig
+# (patterns on the card, direction, BIAS recording) before the full ~18-minute run.
+# ============================================================================
+
+experiment_info:
+  name: "Color optomotor SMOKE — 10 s per pattern, duty 100 %, BIAS check"
+  author: "Reiser Lab"
+
+rig: "./configs/rigs/cshl_g6_2x10.yaml"
+
+plugins:
+  - name: "camera"
+    type: "class"
+    matlab:
+      class: "BiasPlugin"
+
+variables:
+  trial_dur: &trial_dur 10        # s — trialParams duration AND its wait (one anchor, never drift)
+  iti_dur: &iti_dur 2             # s — dark between trials
+  pre_dark: &pre_dark 2           # s — dark before the first trial (originals: 300 s adaptation)
+  fps_cw: &fps_cw 80              # frames/s = 4 Hz temporal frequency at 20 px per period
+  fps_ccw: &fps_ccw -80
+  duty_100: &duty_100 255         # 100 %
+
+experiment:
+  - "cam_start"
+  - name: "duty_100_block"
+    trials: ["violet_cw_d100", "violet_ccw_d100", "blue_cw_d100", "blue_ccw_d100",
+             "green_cw_d100", "green_ccw_d100", "yellow_cw_d100", "yellow_ccw_d100"]
+    repetitions: 1
+    intertrial: "dark_iti"
+  - "cam_stop"
+
+conditions:
+  # ── camera bracket (one ufmf for the whole run) ─────────────────────────────
+  - name: "cam_start"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "connect"
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "startRecording"
+        params:
+          filename: "color_optomotor_smoke.ufmf"
+      - type: "controller"
+        command_name: "allOff"
+      - type: "wait"
+        duration: *pre_dark
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+
+  - name: "cam_stop"
+    commands:
+      - type: "controller"
+        command_name: "allOff"
+      - type: "wait"
+        duration: *iti_dur
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "stopRecording"
+
+  - name: "dark_iti"
+    commands:
+      - type: "controller"
+        command_name: "allOff"
+      - type: "wait"
+        duration: *iti_dur
+
+  # ── duty 100 % ──────────────────────────────────────────────────────────────
+  - name: "violet_cw_d100"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_violet"
+        pattern_ID: 1
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_cw
+        gain: 0
+        duty: *duty_100
+      - type: "wait"
+        duration: *trial_dur
+  - name: "violet_ccw_d100"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_violet"
+        pattern_ID: 1
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_ccw
+        gain: 0
+        duty: *duty_100
+      - type: "wait"
+        duration: *trial_dur
+  - name: "blue_cw_d100"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_blue"
+        pattern_ID: 2
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_cw
+        gain: 0
+        duty: *duty_100
+      - type: "wait"
+        duration: *trial_dur
+  - name: "blue_ccw_d100"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_blue"
+        pattern_ID: 2
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_ccw
+        gain: 0
+        duty: *duty_100
+      - type: "wait"
+        duration: *trial_dur
+  - name: "green_cw_d100"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_green"
+        pattern_ID: 3
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_cw
+        gain: 0
+        duty: *duty_100
+      - type: "wait"
+        duration: *trial_dur
+  - name: "green_ccw_d100"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_green"
+        pattern_ID: 3
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_ccw
+        gain: 0
+        duty: *duty_100
+      - type: "wait"
+        duration: *trial_dur
+  - name: "yellow_cw_d100"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_yellow"
+        pattern_ID: 4
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_cw
+        gain: 0
+        duty: *duty_100
+      - type: "wait"
+        duration: *trial_dur
+  - name: "yellow_ccw_d100"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "G6_2x10_toprow_grat20_yellow"
+        pattern_ID: 4
+        duration: *trial_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps_ccw
+        gain: 0
+        duty: *duty_100
+      - type: "wait"
+        duration: *trial_dur
diff --git a/protocols/index.json b/protocols/index.json
index 9b8110a0..86d2afee 100644
--- a/protocols/index.json
+++ b/protocols/index.json
@@ -62,6 +62,11 @@
       "key": "g6_color_optomotor_test",
       "label": "Color optomotor test — one LED color at a time, top row, 25/50/100 % duty (G6 four-color, BIAS, ~18 min)",
       "path": "./protocols/g6_color_optomotor_test.yaml"
+    },
+    {
+      "key": "g6_color_optomotor_smoke",
+      "label": "Color optomotor SMOKE — 10 s per pattern, duty 100 %, BIAS check (~2 min)",
+      "path": "./protocols/g6_color_optomotor_smoke.yaml"
     }
   ]
 }

From 18ff241d7248bd70d42736a93f070c2499fa1385 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 21:53:49 -0400
Subject: [PATCH 35/96] ros2-poc harness: judge the typed ArenaFrame by VALUE,
 not schema name
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

New check in tests/test_ros2_poc.py (typed environment only; reported as info when the package
is not importable): the recorded /arena/frame messages are decoded with the converter's
pure-Python CDR decoder from the schema text IN THE BAG, then x/y/hd/ft must be finite, fc
monotonic, turning_dps/forward_mms NaN on the run's first frame and finite within the model
fly's range (|turning| < 5000 deg/s, |forward| < 200 mm/s) on at least 95 % of the rest.

Why: on 2026-10-14 a stale colcon prefix paired the old Python class and C struct with the
environment's newer typesupport; the bridge recorded 108-byte frames with garbage in the two
new fields and the harness stayed green because its typed check compared schema names only.
Dry run of the helper: tonight's good bag → ok (576 frames, 1 NaN, |turning| ≤ 423 deg/s,
|forward| ≤ 21.7 mm/s); the garbage bag from the shadowed build → fails (no derived fields in
the bag's schema).

The full `pixi run -e typed test` / `pixi run test` runs are DEFERRED: a bench smoke run owns
the rig's ports on this Mac right now; expected 47/47 and 45/45 once it is free.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/tests/test_ros2_poc.py | 37 +++++++++++++++++++++++++++++++++
 1 file changed, 37 insertions(+)

diff --git a/ros2-poc/tests/test_ros2_poc.py b/ros2-poc/tests/test_ros2_poc.py
index 4aecc1b5..c9c7eb69 100644
--- a/ros2-poc/tests/test_ros2_poc.py
+++ b/ros2-poc/tests/test_ros2_poc.py
@@ -51,6 +51,7 @@
 
 import argparse
 import json
+import math
 import os
 import shutil
 import signal
@@ -219,6 +220,36 @@ def bag_summary(bag: Path) -> dict:
             "frame_lag_ms": {"p50": round(lag[len(lag) // 2], 3), "p99": round(lag[int(len(lag) * 0.99)], 3), "max": round(lag[-1], 3)} if lag else None}
 
 
+def typed_frame_values(bag: Path) -> dict:
+    """The recorded /arena/frame ArenaFrame messages, decoded with the converter's pure-Python
+    CDR decoder from the schema text IN THE BAG, judged by VALUE — a schema name alone said
+    nothing when two builds of the interfaces met in one process (2026-10-14: the bridge wrote
+    108-byte frames whose derived fields were garbage and the bag's schema text was the old
+    .msg, while every schema-name check passed). Returns counts for the check + its info."""
+    sys.path.insert(0, str(NODES))
+    from mcap_convert import read_all  # noqa: E402
+
+    recs, _ = read_all(bag)
+    frames = [r["msg"] for r in recs if r["topic"] == "/arena/frame" and r.get("msg") and "has_ft" in r["msg"]]
+    frames.sort(key=lambda m: m["seq"])
+    out = {"n": len(frames), "decode_errors": sum(1 for r in recs if r["topic"] == "/arena/frame" and r.get("decode_error")),
+           "has_derived": bool(frames) and all(k in frames[0] for k in ("turning_dps", "forward_mms"))}
+    if not frames or not out["has_derived"]:
+        return out
+    fin = lambda v: isinstance(v, float) and math.isfinite(v)  # noqa: E731
+    out["core_finite"] = all(fin(m["x"]) and fin(m["y"]) and fin(m["hd"]) and (fin(m["ft"]) or not m["has_ft"]) for m in frames)
+    out["fc_monotonic"] = all(b["fc"] > a["fc"] for a, b in zip(frames, frames[1:]))
+    out["first_nan"] = math.isnan(frames[0]["turning_dps"]) and math.isnan(frames[0]["forward_mms"])
+    rest = frames[1:]
+    good = [m for m in rest if fin(m["turning_dps"]) and fin(m["forward_mms"])]
+    out["finite_frac"] = round(len(good) / len(rest), 3) if rest else None
+    out["turning_max"] = round(max((abs(m["turning_dps"]) for m in good), default=0.0), 1)
+    out["forward_max"] = round(max((abs(m["forward_mms"]) for m in good), default=0.0), 2)
+    out["in_range"] = out["turning_max"] < 5000 and out["forward_max"] < 200  # the model fly, not a real one
+    out["ok"] = out["core_finite"] and out["fc_monotonic"] and out["first_nan"] and (out["finite_frac"] or 0) >= 0.95 and out["in_range"]
+    return out
+
+
 def main(argv: list[str] | None = None) -> int:
     ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
     ap.add_argument("--epochs", type=int, default=3)
@@ -488,6 +519,12 @@ def side_actor() -> None:
         if have_ifaces:
             check("typed: arena_interfaces importable → ArenaFrame + FicTracFrame recorded in the bag",
                   typed and bagsum.get("topics", {}).get("/fictrac/frame", 0) > 0, str(bagsum.get("schemas")))
+            tv = typed_frame_values(main_bag) if main_bag else {}
+            check("typed: ArenaFrame VALUES decode from the bag's own schema — core fields finite, fc monotonic, "
+                  "turning_dps/forward_mms NaN on the first frame and finite (model-fly range) on ≥ 95 % of the rest",
+                  tv.get("ok", False), json.dumps(tv))
+            print(f"  info  typed frames: {tv.get('n')}, derived finite on {tv.get('finite_frac')} of frames 2+, "
+                  f"|turning| ≤ {tv.get('turning_max')} deg/s, |forward| ≤ {tv.get('forward_max')} mm/s", file=sys.stderr)
         else:
             print("  info  arena_interfaces not importable here: String topics used (pixi install builds it on osx/linux; Windows needs MSVC)", file=sys.stderr)
 

From d222432a479b67f1de3df48e5a7d2bcfb0aa1309 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 22:01:47 -0400
Subject: [PATCH 36/96] ros2-poc docs: color optomotor smoke run on the Mac
 bench (Next Studio through the graph + real BIAS: 17/17, duty on the wire,
 runlog-check OK); findings

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/README.md       | 12 ++++++++++++
 ros2-poc/WINDOWS-TEST.md |  3 +++
 2 files changed, 15 insertions(+)

diff --git a/ros2-poc/README.md b/ros2-poc/README.md
index 6f9bdfc1..4ccd8694 100644
--- a/ros2-poc/README.md
+++ b/ros2-poc/README.md
@@ -292,6 +292,18 @@ sends it at run end only on the commit path today) or on a run-end event.
 | the live run in Foxglove | `pixi run rig -- --foxglove` (adds foxglove_bridge from the `viz` environment to the supervised rig; a note and no bridge when `pixi install -e viz` has not been run) → Foxglove *Open connection* `ws://localhost:8766`; or by hand beside a running rig: `pixi run -e viz foxglove-bridge` | the same panels on the running graph, including the derived `turning_dps` / `forward_mms` plot |
 | the plain CLI | `pixi run ros2 node list`, `ros2 topic list -t`, `ros2 topic hz /arena/frame`, `ros2 topic echo /bias/status`, `ros2 bag info runlogs/<run>.bag` | what every ROS user reaches for first; every topic here is readable JSON or a flat typed message |
 
+**Color optomotor smoke run (22:00 ET, same bench, after merging Next into the branch).** The
+experiment-shaped protocol for tomorrow (`protocols/g6_color_optomotor_test.yaml`; smoke variant
+`…_smoke.yaml`: four one-color top-row gratings, clockwise and counterclockwise, 10 s each, duty 100 %,
+camera bracket) ran through the graph with the real BIAS app: **17 / 17 steps, 0 errors, 0 skips**;
+13 camera replies all ok with `getTimestamp` 12 s apart as designed; every `trialParams` carried
+`duty: 255` and resolved its pattern by name to the card slot; 17 TRIAL_PARAMS (0x08) with status 0 in
+the controller telemetry; `runlog-check` OK (17 trial verdicts pass); bag 156 kB after the close-time
+re-index. The Mac BIAS port wrote MJPEG (516 MB for 100 s) whatever the `.ufmf` filename — the Windows
+build's own format setting decides. Found on the way: the pre-Next Studio's uploader hit
+`rename failed (0x03)` retries (the bug Next fixes), and on the Next build the Console panel's bridge
+*Connect* button did not open a socket while the client's `connect()` did — to check tomorrow.
+
 ### Still not verified
 
 Windows (now also: whether `pixi install` builds the interfaces package there — `WINDOWS-TEST.md` has the steps); the closed-loop math in a **separate** process (it stays in the bridge node here, so the `seq` ordering is available; the `--order time` numbers are the proxy); rosbag2's own reader on a torn bag (the spike's converter uses the `mcap` library instead); a multi-hour recording for bag growth; `ros2 bag play` of a recorded run against the Studio; a real FicTrac (the bench used the model-fly simulator).
diff --git a/ros2-poc/WINDOWS-TEST.md b/ros2-poc/WINDOWS-TEST.md
index 8bfdbda3..0ec7ff05 100644
--- a/ros2-poc/WINDOWS-TEST.md
+++ b/ros2-poc/WINDOWS-TEST.md
@@ -221,6 +221,9 @@ for the live plots (without the viz environment the rig prints one note and runs
 
 ## 5c. The color optomotor protocol (the experiment-shaped test, ~18 minutes)
 
+Start with the 2-minute **smoke variant** `?p=g6_color_optomotor_smoke` (10 s per pattern, duty 100 %
+only, same camera bracket) — it passed on the Mac bench on 2026-10-14 — then the full protocol.
+
 `protocols/g6_color_optomotor_test.yaml` is the G6 version of the lab's Protocol 11/13: open-loop
 rotating gratings, clockwise then counterclockwise, 20 s trials, a camera timestamp at every trial
 start and one video for the run — with ONE LED color at a time on the TOP panel row (four-color G6

From d5a9d1b40835741d1620ad94c85f5bbc937455e3 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 22:02:52 -0400
Subject: [PATCH 37/96] =?UTF-8?q?ros2-poc=20docs:=20explainer=20v4=20?=
 =?UTF-8?q?=E2=80=94=20color=20optomotor=20test=20+=20smoke=20result,=20li?=
 =?UTF-8?q?ve=20Foxglove=20path,=20Next=20merge,=20open=20items?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 .../img/pattern_toprow_grat20_green_frame0.png  | Bin 0 -> 3609 bytes
 ros2-poc/docs/plan-b-explainer.html             |  16 +++++++++++++++-
 2 files changed, 15 insertions(+), 1 deletion(-)
 create mode 100644 ros2-poc/docs/img/pattern_toprow_grat20_green_frame0.png

diff --git a/ros2-poc/docs/img/pattern_toprow_grat20_green_frame0.png b/ros2-poc/docs/img/pattern_toprow_grat20_green_frame0.png
new file mode 100644
index 0000000000000000000000000000000000000000..f467884d1d097676e21cfe129bc79be76f87fac3
GIT binary patch
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diff --git a/ros2-poc/docs/plan-b-explainer.html b/ros2-poc/docs/plan-b-explainer.html
index b57e79cc..60e6f173 100644
--- a/ros2-poc/docs/plan-b-explainer.html
+++ b/ros2-poc/docs/plan-b-explainer.html
@@ -76,6 +76,8 @@ <h1>ROS Studio proof of concept</h1>
   <div class="status">
     <span class="pill ok">harness 46 / 46</span>
     <span class="pill ok">Mac bench run: byte-identical log</span>
+    <span class="pill ok">color optomotor smoke: 17 / 17</span>
+    <span class="pill ok">merged with Next rc5 (Studio v0.95)</span>
     <span class="pill warn">Windows: untested</span>
     <span class="pill">draft PR #254 · not for merge yet</span>
   </div>
@@ -135,6 +137,14 @@ <h2>What a run records</h2>
   <figcaption>The bench run's bag in Foxglove after the close-time re-index ("No problems found"): the displayed index (top) and the fly's heading (bottom) in the ten seconds after the second trial, with the Studio's own messages, the bridge's heading_tare events and the BIAS replies as raw panels. The bag plays back like a recording; the layout file in <code>docs/</code> now gives heading, bias and epoch separate panels.</figcaption>
 </figure>
 
+<h2>The experiment-shaped test: color optomotor</h2>
+<p>For the rig test the lab wanted a real experiment rather than the closed-loop demo: the G6 version of its Protocols 11 and 13. Open-loop rotating square-wave gratings, clockwise then counterclockwise, 20 s trials, a camera timestamp at the start of every trial and one video for the run. Two things are new on the four-color G6 panels: each pattern lights <em>one</em> LED color only (the panels carry four colors in every 2×2 pixel cell; a pattern that lights one bank's pixels drives one color), on the <em>top</em> panel row only, and the brightness comes from the per-trial duty override rather than from the pattern. One spatial period (20 px, 36°), one speed (80 frames/s, 4 Hz), three duties (25, 50, 100 %), four colors, two directions, two repetitions: 48 trials, about 18 minutes with the 3 s dark intervals.</p>
+<figure>
+  <img src="img/pattern_toprow_grat20_green_frame0.png" alt="One frame of the green pattern: the top panel row carries ten bars of a 20-pixel grating, each bar a lattice of every other pixel; the bottom row is dark" width="1000" height="200">
+  <figcaption>Frame 0 of <code>G6_2x10_toprow_grat20_green.pat</code> (200 × 40 pixels): ten bars of the 20 px period on the top row, each bar the lattice of the green bank's pixels, bottom row dark. Four such patterns, one per color, generated by <code>scripts/make-color-optomotor-patterns.js</code> and verified by decoding (500 lit pixels per frame, all in one bank).</figcaption>
+</figure>
+<p>A two-minute smoke variant (10 s per pattern, duty 100 %, same camera bracket) ran on the bench through the graph with the real BIAS app after the branch had been brought up to the Next release: 17 of 17 steps, no errors, 13 camera replies all ok with timestamps 12 s apart, every <code>trialParams</code> carrying <code>duty: 255</code> and its pattern resolved by name to the card slot, <code>runlog-check</code> OK, and the run's bag re-indexed to 156 kB. On Windows the same protocol is step 5c of the test plan.</p>
+
 <h2>What was measured on the Mac</h2>
 <div class="tablewrap"><table>
   <tr><th>Question</th><th>Result</th></tr>
@@ -158,17 +168,21 @@ <h2>How to run it</h2>
 pixi run test                      # the 46-check harness, no hardware</code></pre>
 
 <h2>How to look at it</h2>
+<p>Foxglove turned out to be the piece that makes "the bag is the record" tangible. It opens a run's MCAP directly with no ROS installed, reads the schemas rosbag2 embedded, and with the layout file in <code>docs/</code> shows the displayed frame index, heading, bias and epoch as time series over the same playhead as the Studio's own messages and the camera replies. The same layout works live: <code>pixi run rig -- --foxglove</code> starts a bridge on port 8766 beside the graph. To make the live view useful the bridge now also publishes the two channels the Studio scope derives in the browser, turning rate and forward velocity, as typed fields of every frame. One consequence of the crash-safe writer was that a fresh bag has no index and Foxglove flagged it; the bridge therefore rewrites a bag indexed and zstd-compressed the moment a run closes cleanly (the bench bag went from 6.8 to 2.3 MB in 0.18 s, same records).</p>
 <div class="tablewrap"><table>
   <tr><th>View</th><th>Command</th></tr>
   <tr><td>Live graph as a diagram or table</td><td><code>pixi run graph</code> (Mermaid), <code>pixi run graph -- --text</code></td></tr>
   <tr><td>Live graph window</td><td><code>pixi install -e viz</code>, then <code>pixi run -e viz rqt-graph</code></td></tr>
+  <tr><td>Live run in Foxglove, one command</td><td><code>pixi run rig -- --sim --foxglove</code>, then Foxglove → <em>Open connection</em> → <code>ws://localhost:8766</code>, Layout → Import → <code>docs/foxglove-arena-layout.json</code></td></tr>
+  <tr><td>A bag recorded before the re-index step</td><td><code>pixi run reindex -- runlogs/&lt;run&gt;.bag</code></td></tr>
   <tr><td>A recorded run, anywhere</td><td>Foxglove (free account), open <code>runlogs/&lt;run&gt;.bag/&lt;run&gt;_0.mcap</code>, then Layout → Import → <code>docs/foxglove-arena-layout.json</code>: plots of idx, heading, bias and epoch from the typed frames, raw views of the browser messages, events and BIAS replies</td></tr>
-  <tr><td>The live run in Foxglove</td><td><code>pixi run -e viz foxglove-bridge</code>, connect to ws://localhost:8766</td></tr>
   <tr><td>Plain ROS CLI</td><td><code>ros2 topic hz /arena/frame</code>, <code>ros2 bag info runlogs/&lt;run&gt;.bag</code></td></tr>
 </table></div>
 
 <h2>What is still open</h2>
 <ul>
+  <li>The branch now includes the Next release (Studio v0.95 with the SD-upload fixes); the only merge conflicts were the footer line and the release-notes entry. On that build the Console panel's bridge <em>Connect</em> button did not open a socket while the client's own connect did; to check tomorrow.</li>
+  <li>BIAS on the Mac writes MJPEG whatever the filename asks for (516 MB for the 100 s smoke run); the Windows build's own logging format setting decides whether the ufmf comes out.</li>
   <li>Windows, where most rigs live: the install, the typed build, BIAS with a FLIR camera, a real FicTrac. The step-by-step is <code>ros2-poc/WINDOWS-TEST.md</code>.</li>
   <li>The closed-loop math still runs inside the bridge node. A separate process is Plan B's full shape; the spike measured the ordering cost it would bring (17 same-millisecond swaps in 3949 lines, readers unaffected).</li>
   <li>The Studio asks the bridge to export only when it commits to the course repo; otherwise the bag stays open until the next run. A real Plan B bridge should close the bag at run end.</li>

From 110c1dd1b396d68cc28c31af1d6e203f909d4de6 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Wed, 14 Oct 2026 22:44:07 -0400
Subject: [PATCH 38/96] ros2-poc docs: standalone single-file explainer (images
 inlined) + the script that builds it

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/docs/build-standalone-explainer.py   |  37 ++++
 .../docs/plan-b-explainer.standalone.html     | 201 ++++++++++++++++++
 2 files changed, 238 insertions(+)
 create mode 100644 ros2-poc/docs/build-standalone-explainer.py
 create mode 100644 ros2-poc/docs/plan-b-explainer.standalone.html

diff --git a/ros2-poc/docs/build-standalone-explainer.py b/ros2-poc/docs/build-standalone-explainer.py
new file mode 100644
index 00000000..4840d923
--- /dev/null
+++ b/ros2-poc/docs/build-standalone-explainer.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+"""Build plan-b-explainer.standalone.html: one self-contained file (complete HTML document,
+images inlined as data URIs) from plan-b-explainer.html, which is authored as a page fragment
+for the claude.ai artifact and for this folder. Run after editing the explainer:
+
+    python3 ros2-poc/docs/build-standalone-explainer.py
+"""
+import base64, mimetypes, re
+from pathlib import Path
+
+HERE = Path(__file__).resolve().parent
+SRC = HERE / "plan-b-explainer.html"
+OUT = HERE / "plan-b-explainer.standalone.html"
+
+body = SRC.read_text(encoding="utf-8")
+
+
+def inline(m):
+    rel = m.group(1)
+    p = HERE / rel
+    mime = mimetypes.guess_type(p.name)[0] or "application/octet-stream"
+    data = base64.b64encode(p.read_bytes()).decode("ascii")
+    return f'src="data:{mime};base64,{data}"'
+
+
+body = re.sub(r'src="(img/[^"]+)"', inline, body)
+# The fragment starts with <title>, <meta description>, the fonts <link> and <style>: move those
+# into <head>, the rest into <body>.
+head_end = body.index("</style>") + len("</style>")
+head, rest = body[:head_end], body[head_end:]
+doc = (
+    "<!doctype html>\n<html lang=\"en\">\n<head>\n<meta charset=\"utf-8\">\n"
+    "<meta name=\"viewport\" content=\"width=device-width, initial-scale=1\">\n"
+    + head.strip() + "\n</head>\n<body>\n" + rest.strip() + "\n</body>\n</html>\n"
+)
+OUT.write_text(doc, encoding="utf-8")
+print(f"{OUT.name}: {OUT.stat().st_size / 1024:.0f} kB, {body.count('data:image')} images inlined")
diff --git a/ros2-poc/docs/plan-b-explainer.standalone.html b/ros2-poc/docs/plan-b-explainer.standalone.html
new file mode 100644
index 00000000..774c782c
--- /dev/null
+++ b/ros2-poc/docs/plan-b-explainer.standalone.html
@@ -0,0 +1,201 @@
+<!doctype html>
+<html lang="en">
+<head>
+<meta charset="utf-8">
+<meta name="viewport" content="width=device-width, initial-scale=1">
+<title>ROS Studio PoC</title>
+<meta name="description" content="Where the LAB-303 Plan B spike stands on 2026-10-14: the ROS 2 bridge graph, MCAP as the record of truth, what was measured, how to run and look at it.">
+<link rel="stylesheet" href="https://fonts.googleapis.com/css2?family=JetBrains+Mono:wght@400;600&family=IBM+Plex+Mono:wght@400;500&family=IBM+Plex+Sans:wght@400;500&display=swap">
+<style>
+  /* Layout: one reading column (68ch) with full-bleed figures; the lab tools' dark palette first. */
+  :root {
+    --bg: #0f1419; --surface: #1a1f26; --border: #2d3640; --fg: #e6edf3; --dim: #8b949e;
+    --accent: #00e676; --accent-ink: #0f1419; --warn: #ff9100; --ros: #d500f9; --link: #58a6ff;
+    --head: 'JetBrains Mono', ui-monospace, SFMono-Regular, Menlo, monospace;
+    --body: 'IBM Plex Sans', system-ui, -apple-system, 'Segoe UI', sans-serif;
+    --mono: 'IBM Plex Mono', ui-monospace, SFMono-Regular, Menlo, monospace;
+    color-scheme: dark;
+  }
+  @media (prefers-color-scheme: light) {
+    :root:not([data-theme="dark"]) {
+      --bg: #f6f8fa; --surface: #ffffff; --border: #d0d7de; --fg: #1f2328; --dim: #57606a;
+      --accent: #1a7f37; --accent-ink: #ffffff; --warn: #9a6700; --ros: #8250df; --link: #0969da;
+      color-scheme: light;
+    }
+  }
+  :root[data-theme="light"] {
+    --bg: #f6f8fa; --surface: #ffffff; --border: #d0d7de; --fg: #1f2328; --dim: #57606a;
+    --accent: #1a7f37; --accent-ink: #ffffff; --warn: #9a6700; --ros: #8250df; --link: #0969da;
+    color-scheme: light;
+  }
+  body { background: var(--bg); color: var(--fg); font: 16px/1.65 var(--body); margin: 0; padding-block: 0 48px; padding-inline: 16px; }
+  main { max-width: 68ch; margin: 0 auto; }
+  header.top { padding-block: 40px 24px; border-bottom: 1px solid var(--border); margin-bottom: 28px; }
+  .eyebrow { font: 600 11px/1.6 var(--head); letter-spacing: .08em; text-transform: uppercase; color: var(--ros); }
+  h1 { font: 600 30px/1.2 var(--head); margin: 8px 0 10px; text-wrap: balance; }
+  h2 { font: 600 19px/1.3 var(--head); margin: 40px 0 12px; text-wrap: balance; }
+  h3 { font: 500 16px/1.4 var(--head); margin: 24px 0 8px; }
+  p, li { max-width: 68ch; }
+  .lede { color: var(--dim); font-size: 17px; margin: 0; }
+  .status { display: flex; flex-wrap: wrap; gap: 8px; margin-top: 14px; }
+  .pill { font: 500 12px/1.8 var(--mono); padding: 0 10px; border-radius: 999px; border: 1px solid var(--border); background: var(--surface); color: var(--dim); }
+  .pill.ok { color: var(--accent); border-color: var(--accent); }
+  .pill.warn { color: var(--warn); border-color: var(--warn); }
+  a { color: var(--link); text-decoration-thickness: 1px; text-underline-offset: 2px; }
+  code, pre { font-family: var(--mono); font-size: 13.5px; }
+  code { background: var(--surface); border: 1px solid var(--border); border-radius: 4px; padding: 1px 5px; }
+  pre { background: var(--surface); border: 1px solid var(--border); border-radius: 8px; padding: 12px 14px; overflow-x: auto; line-height: 1.5; }
+  pre code { background: none; border: 0; padding: 0; }
+  figure { margin: 20px 0; }
+  figure img { display: block; max-width: 100%; height: auto; border: 1px solid var(--border); border-radius: 8px; background: var(--surface); }
+  figcaption { font: 400 13px/1.5 var(--mono); color: var(--dim); margin-top: 8px; }
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+<body>
+<main>
+<header class="top">
+  <div class="eyebrow">LAB-303 · Plan B spike · stage of 2026-10-14</div>
+  <h1>ROS Studio proof of concept</h1>
+  <p class="lede">The Arena Studio, unchanged on the wire, driving a fly-on-ball closed loop and a BIAS camera through a ROS 2 node graph, with every run recorded as an MCAP bag and the familiar run log derived from it.</p>
+  <div class="status">
+    <span class="pill ok">harness 46 / 46</span>
+    <span class="pill ok">Mac bench run: byte-identical log</span>
+    <span class="pill ok">color optomotor smoke: 17 / 17</span>
+    <span class="pill ok">merged with Next rc5 (Studio v0.95)</span>
+    <span class="pill warn">Windows: untested</span>
+    <span class="pill">draft PR #254 · not for merge yet</span>
+  </div>
+</header>
+
+<h2>What this stage is</h2>
+<p>Frank proposed building the bridge's device connectors on ROS 2 (Plan B) instead of inside the Python bridge (Plan A). The spike exists so the choice can be made on measured data rather than on the plans. It keeps bridge 3.4 installed beside it, keeps the browser protocol identical, and adds the three things Plan B promised: a record of truth in MCAP, typed messages, and a graph that any ROS tool can look at. The decision itself has not been made.</p>
+
+<h2>The graph</h2>
+<p>Five processes on one machine. Only the bridge node talks to the Studio, over the same WebSocket as bridge 3.4. Programs that are not ROS (FicTrac, the BIAS camera app, the simulator) stay outside the graph and are wrapped by one small adapter each.</p>
+<div class="diagram">
+<svg viewBox="0 0 680 420" role="img" aria-label="Node graph: FicTrac and BIAS reach adapters, adapters publish topics, the bridge node consumes them, serves the Studio and records a bag">
+  <defs><marker id="a" viewBox="0 0 10 10" refX="8" refY="5" markerWidth="6" markerHeight="6" orient="auto-start-reverse"><path d="M2 1L8 5L2 9" fill="none" stroke="context-stroke" stroke-width="1.5" stroke-linecap="round" stroke-linejoin="round"/></marker></defs>
+  <rect class="node" x="20" y="30" width="150" height="50" rx="8"/><text x="95" y="50" text-anchor="middle">FicTrac or simulator</text><text class="s" x="95" y="68" text-anchor="middle">UDP 60000 · not ROS</text>
+  <rect class="node ros" x="20" y="130" width="150" height="50" rx="8"/><text x="95" y="150" text-anchor="middle">fictrac_udp_adapter</text><text class="s" x="95" y="168" text-anchor="middle">ROS node</text>
+  <rect class="node" x="20" y="250" width="150" height="50" rx="8"/><text x="95" y="270" text-anchor="middle">BIAS camera app</text><text class="s" x="95" y="288" text-anchor="middle">HTTP 5010 · not ROS</text>
+  <rect class="node ros" x="20" y="350" width="150" height="50" rx="8"/><text x="95" y="370" text-anchor="middle">bias_camera</text><text class="s" x="95" y="388" text-anchor="middle">ROS node</text>
+  <line x1="95" y1="80" x2="95" y2="128" marker-end="url(#a)"/>
+  <line x1="95" y1="350" x2="95" y2="302" marker-end="url(#a)"/>
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+  <rect class="node ros" x="240" y="130" width="190" height="50" rx="8"/><text x="335" y="150" text-anchor="middle">/fictrac/frame</text><text class="s" x="335" y="168" text-anchor="middle">FicTracFrame or String · 50 Hz</text>
+  <rect class="node ros" x="240" y="320" width="190" height="50" rx="8"/><text x="335" y="340" text-anchor="middle">/bias/cmd · /bias/reply</text><text class="s" x="335" y="358" text-anchor="middle">/bias/status 1 Hz · JSON</text>
+  <line x1="170" y1="155" x2="238" y2="155" marker-end="url(#a)"/>
+  <line x1="170" y1="375" x2="238" y2="352" marker-end="url(#a)"/>
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+  <line x1="430" y1="155" x2="498" y2="155" marker-end="url(#a)"/>
+  <path class="edge" d="M430 345 L465 345 L465 190 L540 190" marker-end="url(#a)" stroke="var(--dim)"/>
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+  <line x1="580" y1="180" x2="580" y2="228" marker-end="url(#a)"/>
+  <rect class="node rec" x="500" y="330" width="160" height="50" rx="8"/><text x="580" y="350" text-anchor="middle">MCAP bag per run</text><text class="s" x="580" y="368" text-anchor="middle">every topic · converted later</text>
+  <line x1="580" y1="280" x2="580" y2="328" marker-end="url(#a)"/>
+</svg>
+<div class="legend"><span><span class="sw" style="border-color:var(--ros)"></span>ROS node or topic</span><span><span class="sw" style="border-color:var(--accent)"></span>the browser side</span><span><span class="sw" style="border-color:var(--warn)"></span>the record</span><span><span class="sw" style="border-color:var(--border)"></span>not ROS</span></div>
+</div>
+<figure>
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" alt="rqt_graph window showing bias_camera, fictrac_udp_adapter and foxglove_bridge connected to arena_bridge by the bias and fictrac topics" width="767" height="545">
+  <figcaption>rqt_graph on the Mac while the rig was up (default environment, String topics; the typed environment shows /fictrac/frame instead of /fictrac/raw). The foxglove_bridge node is the live feed for Foxglove Studio.</figcaption>
+</figure>
+
+<h2>What a run records</h2>
+<p>While a run's log is open, the bridge node writes one bag. Device topics go in as received. Three streams only the bridge can produce go in beside them, each carrying the writer's emission sequence number so the derived log keeps today's line order.</p>
+<div class="grid">
+  <div class="card"><h3>/arena/frame</h3><p>One record per FicTrac frame: the index the display was asked to show, with the closed-loop node's own sample time. Reconstruction uses that clock, never the recorder's.</p></div>
+  <div class="card"><h3>/arena/browser</h3><p>Every message the Studio sent, verbatim, with its receive stamp: config, log events, controller telemetry rows, connector commands, the export request.</p></div>
+  <div class="card"><h3>/arena/event · /arena/session</h3><p>bias_config, heading_tare, connector status, source lost or resumed, warnings; the run's open and close with the one millisecond base.</p></div>
+  <div class="card"><h3>The converter</h3><p>Pure Python, no ROS process: bag in, behavior_v2 or v1 or full out. Reads a crash-torn bag. The Studio's log_export now answers with its output.</p></div>
+</div>
+<figure>
+  <img 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" alt="Arena Studio run view connected to the ROS 2 bridge: the bench protocol loaded, the live scope scrolling, the bridge indicator reading connected" width="1288" height="927">
+  <figcaption>The Studio on this branch connected through the graph after the bench run: six steps (camera start, two closed-loop trials, camera sync and stop, shutdown), the scope fed by the model fly at 50 Hz.</figcaption>
+</figure>
+
+<figure>
+  <img 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" alt="Foxglove with the bench bag open: a plot of the displayed frame index wrapping 0 to 19, a plot of heading, bias and epoch, and raw-message panels for the browser messages, bridge events and BIAS replies; the Problems tab reads No problems found" width="1703" height="1038">
+  <figcaption>The bench run's bag in Foxglove after the close-time re-index ("No problems found"): the displayed index (top) and the fly's heading (bottom) in the ten seconds after the second trial, with the Studio's own messages, the bridge's heading_tare events and the BIAS replies as raw panels. The bag plays back like a recording; the layout file in <code>docs/</code> now gives heading, bias and epoch separate panels.</figcaption>
+</figure>
+
+<h2>The experiment-shaped test: color optomotor</h2>
+<p>For the rig test the lab wanted a real experiment rather than the closed-loop demo: the G6 version of its Protocols 11 and 13. Open-loop rotating square-wave gratings, clockwise then counterclockwise, 20 s trials, a camera timestamp at the start of every trial and one video for the run. Two things are new on the four-color G6 panels: each pattern lights <em>one</em> LED color only (the panels carry four colors in every 2×2 pixel cell; a pattern that lights one bank's pixels drives one color), on the <em>top</em> panel row only, and the brightness comes from the per-trial duty override rather than from the pattern. One spatial period (20 px, 36°), one speed (80 frames/s, 4 Hz), three duties (25, 50, 100 %), four colors, two directions, two repetitions: 48 trials, about 18 minutes with the 3 s dark intervals.</p>
+<figure>
+  <img src="data:image/png;base64,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" alt="One frame of the green pattern: the top panel row carries ten bars of a 20-pixel grating, each bar a lattice of every other pixel; the bottom row is dark" width="1000" height="200">
+  <figcaption>Frame 0 of <code>G6_2x10_toprow_grat20_green.pat</code> (200 × 40 pixels): ten bars of the 20 px period on the top row, each bar the lattice of the green bank's pixels, bottom row dark. Four such patterns, one per color, generated by <code>scripts/make-color-optomotor-patterns.js</code> and verified by decoding (500 lit pixels per frame, all in one bank).</figcaption>
+</figure>
+<p>A two-minute smoke variant (10 s per pattern, duty 100 %, same camera bracket) ran on the bench through the graph with the real BIAS app after the branch had been brought up to the Next release: 17 of 17 steps, no errors, 13 camera replies all ok with timestamps 12 s apart, every <code>trialParams</code> carrying <code>duty: 255</code> and its pattern resolved by name to the card slot, <code>runlog-check</code> OK, and the run's bag re-indexed to 156 kB. On Windows the same protocol is step 5c of the test plan.</p>
+
+<h2>What was measured on the Mac</h2>
+<div class="tablewrap"><table>
+  <tr><th>Question</th><th>Result</th></tr>
+  <tr><td>Does the derived log equal the live writer's?</td><td>Every sequenced line byte-identical, in order, in every run. Kinefly and BIAS lines, which are derived from device topics, match in content within 1 to 2 ms and about 5 % land one neighbour apart.</td></tr>
+  <tr><td>Bench run with the G6 controller and the real BIAS app</td><td>6 of 6 steps, every camera command ok, a 167 MB recording. 20 272 records in the bag, converted in <span class="num">315 ms</span>. Closed-loop report idx mismatch 0.13 % and 0.00 %. runlog-check OK.</td></tr>
+  <tr><td>Typed messages through pixi</td><td>pixi-build-ros builds the three .msg types inside <code>pixi install -e typed</code> in about 17 s on the Mac, first try. colcon works too after an rpath fix. Windows needs MSVC and is untested.</td></tr>
+  <tr><td>Crash: bridge node killed mid-run</td><td>Crash-safe writer profile: about one frame lost, recovered with <code>--recover</code>. rosbag2's defaults: the whole short run lost, because it sits in one unflushed chunk.</td></tr>
+  <tr><td>Cost</td><td>Environment 1.0 to 1.7 GB (bridge 3.4's is 0.28 GB); 3 to 5 processes per rig; no added closed-loop latency (p50 0.87 ms, p99 1.65 ms adapter to bridge).</td></tr>
+  <tr><td>Readers</td><td>No changes needed: the JS readers, closed-loop-report.py, runlog-check.py and the v1/v2 round trip all pass on the derived log.</td></tr>
+</table></div>
+<p>The full table with every number, and the list of what broke along the way, is in <code>ros2-poc/README.md</code> under "Plan B spike".</p>
+
+<h2>How to run it</h2>
+<pre><code>cd ros2-poc
+pixi install                       # default: String topics, always installs
+pixi install -e typed              # optional: builds the .msg package (needs a compiler)
+pixi run rig -- --sim --bias --bias-args "--video-dir /abs/path"
+python ../.claude/nocache-server.py 8092      # the Studio of this branch, from the repo root
+# Chrome: http://localhost:8092/arena_studio.html?p=bias_camera_closed_loop_poc&amp;rig=cshl_g6_2x10_ball
+pixi run export                    # closes the run's bag and writes the converted log
+pixi run test                      # the 46-check harness, no hardware</code></pre>
+
+<h2>How to look at it</h2>
+<p>Foxglove turned out to be the piece that makes "the bag is the record" tangible. It opens a run's MCAP directly with no ROS installed, reads the schemas rosbag2 embedded, and with the layout file in <code>docs/</code> shows the displayed frame index, heading, bias and epoch as time series over the same playhead as the Studio's own messages and the camera replies. The same layout works live: <code>pixi run rig -- --foxglove</code> starts a bridge on port 8766 beside the graph. To make the live view useful the bridge now also publishes the two channels the Studio scope derives in the browser, turning rate and forward velocity, as typed fields of every frame. One consequence of the crash-safe writer was that a fresh bag has no index and Foxglove flagged it; the bridge therefore rewrites a bag indexed and zstd-compressed the moment a run closes cleanly (the bench bag went from 6.8 to 2.3 MB in 0.18 s, same records).</p>
+<div class="tablewrap"><table>
+  <tr><th>View</th><th>Command</th></tr>
+  <tr><td>Live graph as a diagram or table</td><td><code>pixi run graph</code> (Mermaid), <code>pixi run graph -- --text</code></td></tr>
+  <tr><td>Live graph window</td><td><code>pixi install -e viz</code>, then <code>pixi run -e viz rqt-graph</code></td></tr>
+  <tr><td>Live run in Foxglove, one command</td><td><code>pixi run rig -- --sim --foxglove</code>, then Foxglove → <em>Open connection</em> → <code>ws://localhost:8766</code>, Layout → Import → <code>docs/foxglove-arena-layout.json</code></td></tr>
+  <tr><td>A bag recorded before the re-index step</td><td><code>pixi run reindex -- runlogs/&lt;run&gt;.bag</code></td></tr>
+  <tr><td>A recorded run, anywhere</td><td>Foxglove (free account), open <code>runlogs/&lt;run&gt;.bag/&lt;run&gt;_0.mcap</code>, then Layout → Import → <code>docs/foxglove-arena-layout.json</code>: plots of idx, heading, bias and epoch from the typed frames, raw views of the browser messages, events and BIAS replies</td></tr>
+  <tr><td>Plain ROS CLI</td><td><code>ros2 topic hz /arena/frame</code>, <code>ros2 bag info runlogs/&lt;run&gt;.bag</code></td></tr>
+</table></div>
+
+<h2>What is still open</h2>
+<ul>
+  <li>The branch now includes the Next release (Studio v0.95 with the SD-upload fixes); the only merge conflicts were the footer line and the release-notes entry. On that build the Console panel's bridge <em>Connect</em> button did not open a socket while the client's own connect did; to check tomorrow.</li>
+  <li>BIAS on the Mac writes MJPEG whatever the filename asks for (516 MB for the 100 s smoke run); the Windows build's own logging format setting decides whether the ufmf comes out.</li>
+  <li>Windows, where most rigs live: the install, the typed build, BIAS with a FLIR camera, a real FicTrac. The step-by-step is <code>ros2-poc/WINDOWS-TEST.md</code>.</li>
+  <li>The closed-loop math still runs inside the bridge node. A separate process is Plan B's full shape; the spike measured the ordering cost it would bring (17 same-millisecond swaps in 3949 lines, readers unaffected).</li>
+  <li>The Studio asks the bridge to export only when it commits to the course repo; otherwise the bag stays open until the next run. A real Plan B bridge should close the bag at run end.</li>
+  <li>Serving this Studio from GitHub Pages at <code>/ros/</code> needs the small deploy-tooling change on <code>main</code> first; the lab test serves it from the checkout instead.</li>
+</ul>
+
+<footer>ros2-poc/docs/plan-b-explainer.html · branch claude/ros-studio-plan-b-c44942 · webDisplayTools</footer>
+</main>
+</body>
+</html>

From 15bc39ea817c1ead550177e3bbef59fef96c4076 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 10:43:34 -0400
Subject: [PATCH 39/96] ros2-poc WINDOWS-TEST: paste-ready kickoff prompt + PC
 prerequisites for the rig-PC session

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/WINDOWS-TEST.md | 25 +++++++++++++++++++++++++
 1 file changed, 25 insertions(+)

diff --git a/ros2-poc/WINDOWS-TEST.md b/ros2-poc/WINDOWS-TEST.md
index 0ec7ff05..81a573b7 100644
--- a/ros2-poc/WINDOWS-TEST.md
+++ b/ros2-poc/WINDOWS-TEST.md
@@ -11,6 +11,31 @@ trying anything to fix it.
 
 Nothing here touches bridge 3.4 or Production. `ros2-poc/` is its own pixi workspace.
 
+## Kickoff prompt for the Windows session (paste into Claude Code on the rig PC)
+
+There is no remote path into the rig PCs from the Mac, so the Windows session is started on the PC
+itself: open Claude Code in a checkout of `reiserlab/webDisplayTools` and paste this as the first
+message. Everything it needs is in this file.
+
+```
+Windows rig test of the LAB-303 ROS 2 Plan B spike (draft PR #254, branch
+claude/ros-studio-plan-b-c44942). Fetch and switch to that branch, then follow
+ros2-poc/WINDOWS-TEST.md step by step, in order, and keep a results log as you go
+(ros2-poc/windows-results-<hostname>-<date>.md: one row per step, pass/fail, timings,
+sizes, and every error verbatim). Rules: stop bridge 3.4 first; capture an error's full
+text before trying to fix it; small fixes may be committed to the branch with a message
+that names the step; never touch Production or Next; ask me (Michael) before anything that
+needs a click on hardware, the serial-port picker, or the BIAS GUI. Steps 1–3 need no
+hardware and can run unattended; tell me when you reach step 4 (BIAS) and step 5 (the
+Studio + controller run). At the end, commit the results file, push, and add a short
+"Windows results" row to the test-plan table in the PR #254 description.
+```
+
+Prerequisites on the PC (check before pasting): `git`, `pixi` 0.69+, Chrome, the BIAS
+Windows build with its FLIR camera, the G6 controller on USB, optionally FicTrac; and know whether
+Visual Studio 2022 Build Tools (Desktop C++) is installed — step 1b measures the typed-message
+build with and without it.
+
 ## 0. Before starting
 
 - Repo: `reiserlab/webDisplayTools`, branch `claude/ros-studio-plan-b-c44942` (draft PR

From ad485c4797b82df75349979d4191912a4a4c6361 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 10:55:33 -0400
Subject: [PATCH 40/96] ros2-poc WINDOWS-TEST: bare-machine bootstrap prompt
 (git/pixi/MSVC via winget, clone, then the plan)

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/WINDOWS-TEST.md | 26 ++++++++++++++++++++++++++
 1 file changed, 26 insertions(+)

diff --git a/ros2-poc/WINDOWS-TEST.md b/ros2-poc/WINDOWS-TEST.md
index 81a573b7..cb135d5c 100644
--- a/ros2-poc/WINDOWS-TEST.md
+++ b/ros2-poc/WINDOWS-TEST.md
@@ -31,6 +31,32 @@ Studio + controller run). At the end, commit the results file, push, and add a s
 "Windows results" row to the test-plan table in the PR #254 description.
 ```
 
+**Bare machine (no git / pixi / build tools yet, e.g. reiserlab-ww18):** paste this one instead;
+it bootstraps first. The Claude Code CLI on Windows needs Git for Windows installed beforehand (it
+runs through its bash); the desktop app does not.
+
+```
+You are on a Windows rig PC (reiserlab-ww18). Set it up for the LAB-303 ROS 2 Plan B Windows
+test, then run the test. Keep a results log from the first command: one row per step with
+pass/fail, timings, sizes and every error verbatim.
+1. Tooling check: git --version; pixi --version (need 0.69+); Chrome; whether Visual Studio
+   2022 Build Tools with the Desktop C++ workload is installed (vswhere or Settings → Apps).
+   Install what is missing: Git.Git via winget; pixi via
+   `irm -useb https://pixi.sh/install.ps1 | iex` (open a new shell afterwards);
+   `winget install Microsoft.VisualStudio.2022.BuildTools --override "--wait --passive
+   --add Microsoft.VisualStudio.Workload.VCTools --includeRecommended"` for the typed-message
+   build. Ask me before any admin/UAC step and before any download over 1 GB; record how
+   long each install took.
+2. Clone reiserlab/webDisplayTools under Documents\GitHub (gh auth login, or HTTPS), then
+   `git switch claude/ros-studio-plan-b-c44942`.
+3. Follow ros2-poc/WINDOWS-TEST.md in order. Steps 1–3 need no hardware and can run
+   unattended; stop and ask me to be at the keyboard before step 4 (BIAS) and step 5 (Studio +
+   controller over Web Serial). Stop bridge 3.4 first if it is running.
+4. Results: ros2-poc/windows-results-ww18-<date>.md committed to the branch and pushed; add a
+   "Windows results" row to the test-plan table in PR #254's description. Small fixes may go on
+   the branch (message names the step); never touch Production or Next.
+```
+
 Prerequisites on the PC (check before pasting): `git`, `pixi` 0.69+, Chrome, the BIAS
 Windows build with its FLIR camera, the G6 controller on USB, optionally FicTrac; and know whether
 Visual Studio 2022 Build Tools (Desktop C++) is installed — step 1b measures the typed-message

From 06bafb8f31b17fce1c3f7af64a35b800a9c23792 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 10:55:58 -0400
Subject: [PATCH 41/96] ros2-poc WINDOWS-TEST: probe a custom BIAS build's HTTP
 interface before step 4

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/WINDOWS-TEST.md | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ros2-poc/WINDOWS-TEST.md b/ros2-poc/WINDOWS-TEST.md
index cb135d5c..bcee0986 100644
--- a/ros2-poc/WINDOWS-TEST.md
+++ b/ros2-poc/WINDOWS-TEST.md
@@ -57,6 +57,14 @@ pass/fail, timings, sizes and every error verbatim.
    the branch (message names the step); never touch Production or Next.
 ```
 
+**Custom BIAS build on the PC** (ww18 runs one tweaked for fast cameras): the node needs only
+BIAS's external-control HTTP interface (connect, disconnect, set-video-file, enable/disable-logging,
+start/stop-capture, get-status, get-time-stamp, get-video-file), which lives in the GUI core, so it
+should work unchanged. Before step 4, probe it and record the answers: is the server enabled, on
+which port (5010 = camera 0; 5020, 5030 for more cameras), what shape `?get-status` returns, and
+what `?get-video-file` reports after `set-video-file` (ufmf / avi / something else). Those four
+answers decide whether `bias_node.py` needs any change at all.
+
 Prerequisites on the PC (check before pasting): `git`, `pixi` 0.69+, Chrome, the BIAS
 Windows build with its FLIR camera, the G6 controller on USB, optionally FicTrac; and know whether
 Visual Studio 2022 Build Tools (Desktop C++) is installed — step 1b measures the typed-message

From bd2e3495360186cdbea1ee224663778b71805951 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 11:04:12 -0400
Subject: [PATCH 42/96] ros2-poc WINDOWS-TEST step 1a: expand the Zenoh config
 paths on Windows

pixi 0.80 on win-64 leaves `$PIXI_PROJECT_ROOT` literal in [activation.env]
(its activation is a cmd.exe script), so `pixi run router` failed with
`Failed to read config from $PIXI_PROJECT_ROOT/config/zenoh-router.json5`.
`%PIXI_PROJECT_ROOT%` expands under `pixi run`; a [target.win-64.activation.env]
table overrides the two keys on Windows only. Lock file unchanged.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/pixi.toml | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ros2-poc/pixi.toml b/ros2-poc/pixi.toml
index 14ded3c9..c9aaf0b2 100644
--- a/ros2-poc/pixi.toml
+++ b/ros2-poc/pixi.toml
@@ -37,6 +37,14 @@ ZENOH_SESSION_CONFIG_URI = "$PIXI_PROJECT_ROOT/config/zenoh-session.json5"
 # Python on Windows would pick cp1252 when stdio is a pipe.
 PYTHONUTF8 = "1"
 
+# Windows: pixi builds the activation as a cmd.exe script, so `$PIXI_PROJECT_ROOT` above stays
+# literal there (rmw_zenohd: `Failed to read config from $PIXI_PROJECT_ROOT/config/…`, ww18
+# 2026-10-15) while `%PIXI_PROJECT_ROOT%` expands under `pixi run`. These keys override the two
+# above on win-64 only.
+[target.win-64.activation.env]
+ZENOH_ROUTER_CONFIG_URI = '%PIXI_PROJECT_ROOT%\config\zenoh-router.json5'
+ZENOH_SESSION_CONFIG_URI = '%PIXI_PROJECT_ROOT%\config\zenoh-session.json5'
+
 [dependencies]
 ros-jazzy-ros-base = "*"
 ros-jazzy-rmw-zenoh-cpp = "*"

From aeccdce6dba270b2a417a40dd5494e2ea6cb6357 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 11:13:08 -0400
Subject: [PATCH 43/96] ros2-poc WINDOWS-TEST step 3: LF run logs on Windows +
 find the root env's node.exe

Step 3 on ww18 (Windows 11, pixi 0.80) failed 2 byte-identity checks:
`bridge.py --convert v2->v1->v2 byte-identical` and `bag -> behavior_v1 ==
bridge.py --convert of the behavior_v2 (byte-identical)`. Text-mode writes
(`write_text` / `open(..., w)`) translate \n to CRLF on Windows, while bridge
3.4's --convert writes binary LF. mcap_convert --out, export_log and the Studio
emulator now write newline=\n (the bytes the bridge sends). The live shadow
file stays CRLF: it is bridge 3.4's LogWriter (fictrac-bridge/bridge.py, not
touched); its own export re-reads in text mode, so committed logs are LF.

The JS reader check was skipped: find_node() looked for
.pixi/envs/default/bin/node.exe, but conda's Windows layout has node.exe at the
env root. It now checks both.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/nodes/export_log.py      | 2 +-
 ros2-poc/nodes/mcap_convert.py    | 2 +-
 ros2-poc/tests/studio_emulator.py | 2 +-
 ros2-poc/tests/test_ros2_poc.py   | 8 +++++---
 4 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/ros2-poc/nodes/export_log.py b/ros2-poc/nodes/export_log.py
index 7563f129..fdadd5d5 100644
--- a/ros2-poc/nodes/export_log.py
+++ b/ros2-poc/nodes/export_log.py
@@ -62,7 +62,7 @@ def main(argv=None) -> int:
         return 0
     out = Path(a.out) if a.out else HERE.parent / "runlogs" / "exports" / name
     out.parent.mkdir(parents=True, exist_ok=True)
-    out.write_text(content, encoding="utf-8")
+    out.write_text(content, encoding="utf-8", newline="\n")  # the bytes the bridge sent: LF, also on Windows
     lines = content.count("\n")
     print(f"[export] {name}: {lines} lines, {len(content.encode('utf-8'))} bytes → {out}", file=sys.stderr)
     return 0
diff --git a/ros2-poc/nodes/mcap_convert.py b/ros2-poc/nodes/mcap_convert.py
index d989e191..d64da850 100644
--- a/ros2-poc/nodes/mcap_convert.py
+++ b/ros2-poc/nodes/mcap_convert.py
@@ -519,7 +519,7 @@ def main(argv=None) -> int:
     else:
         p = Path(a.bag)
         out = Path(a.out) if a.out else (p.parent / (p.name[:-4] if p.name.endswith(".bag") else p.stem)).with_suffix(".jsonl")
-        out.write_text(text, encoding="utf-8")
+        out.write_text(text, encoding="utf-8", newline="\n")  # LF on Windows too, like bridge 3.4's export
         report["out"] = str(out)
     print(json.dumps(report), file=sys.stderr)
     return 0
diff --git a/ros2-poc/tests/studio_emulator.py b/ros2-poc/tests/studio_emulator.py
index e1f4efb7..64a16357 100644
--- a/ros2-poc/tests/studio_emulator.py
+++ b/ros2-poc/tests/studio_emulator.py
@@ -264,7 +264,7 @@ async def main(self) -> int:
             exp = await self.wait_for("log_export_result", timeout=15.0)
             self.check("log_export_result with content", bool(exp) and isinstance(exp.get("content"), str) and len(exp["content"]) > 0, str(exp)[:200] if exp else "none")
             if exp and exp.get("content"):
-                with open(a.out, "w", encoding="utf-8") as fh:
+                with open(a.out, "w", encoding="utf-8", newline="\n") as fh:  # keep the received bytes (LF) on Windows
                     fh.write(exp["content"])
                 self.report["export_name"] = exp.get("name")
                 self.report["export_bytes"] = len(exp["content"])
diff --git a/ros2-poc/tests/test_ros2_poc.py b/ros2-poc/tests/test_ros2_poc.py
index c9c7eb69..67ccf3b9 100644
--- a/ros2-poc/tests/test_ros2_poc.py
+++ b/ros2-poc/tests/test_ros2_poc.py
@@ -137,9 +137,11 @@ def find_node() -> str | None:
     if n:
         return n
     for root in (REPO, *REPO.parents[:3]):
-        cand = root / ".pixi" / "envs" / "default" / "bin" / ("node.exe" if os.name == "nt" else "node")
-        if cand.exists():
-            return str(cand)
+        env = root / ".pixi" / "envs" / "default"
+        # conda's Windows layout puts node.exe at the env root, not in bin/
+        for cand in ((env / "node.exe", env / "bin" / "node.exe") if os.name == "nt" else (env / "bin" / "node",)):
+            if cand.exists():
+                return str(cand)
     return None
 
 

From 6250cdb15a9c3a9d721906c7dbd16129a5d44fe6 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 11:13:08 -0400
Subject: [PATCH 44/96] ros2-poc WINDOWS-TEST step 3: converter emits nothing
 after logging_stopped
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

ww18 run 1: `conversion fidelity: derived lines ... FAIL — live 2238 vs conv
2239`. Kinefly row seq 2370 reached the recorder in the same ms as the stop
record (rel 22065 both); the live writer's callback ran after close, so the
shadow file ends at logging_stopped, while the converter's bisect_right put the
row AFTER logging_stopped on the tie. Derived lines placed after the last
logging_stopped are now dropped (report key `dropped_after_stop`). Same bag
re-converted: derived 2238 == 2238, last line logging_stopped.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/nodes/mcap_convert.py | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/ros2-poc/nodes/mcap_convert.py b/ros2-poc/nodes/mcap_convert.py
index d64da850..e781bb7b 100644
--- a/ros2-poc/nodes/mcap_convert.py
+++ b/ros2-poc/nodes/mcap_convert.py
@@ -484,6 +484,17 @@ def add(seq: int, own_ms: int, rank: str, obj) -> None:
                 out.append(ln)
             out.extend(obj for _, obj in inserts[j:])
             lines = out
+    # The live writer writes nothing after logging_stopped. A device message the recorder got in
+    # the same ms as the stop (the live writer's callback ran after close; ww18 2026-10-15: one kf
+    # row) would otherwise sort after it on the tie — drop derived lines placed after the stop.
+    stop_at = next((i for i in range(len(lines) - 1, -1, -1) if isinstance(lines[i], dict)
+                    and lines[i].get("type") == "session" and lines[i].get("event") == "logging_stopped"), None)
+    if stop_at is not None and derived:
+        derived_ids = {id(x[3]) for x in derived}
+        tail = lines[stop_at + 1:]
+        kept = [ln for ln in tail if id(ln) not in derived_ids]
+        stats["dropped_after_stop"] = len(tail) - len(kept)
+        lines = lines[:stop_at + 1] + kept
     # The frame_schema / session-open lines were given seq = the open record's seq and rank 0,
     # so they stay first; a logging_stopped line from a crash-truncated bag may be missing.
     report = {"t0": t0, "level": level, "order": order, "lines": len(lines), **stats,

From 4935732c41b9d2015a6c14595d5cedc22183b1aa Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 11:20:43 -0400
Subject: [PATCH 45/96] ros2-poc WINDOWS-TEST step 6: graceful Ctrl-C stop +
 router pre-flight on Windows

Ctrl-C on `pixi run rig` (ww18): every child exited, but the bridge node was
TERMINATED, not stopped: no `shutting down` line, the shadow file ended on a
FicTrac row (no logging_stopped) and the open run's bag got no metadata.yaml
(649 KB unindexed). rig.py stops children with CTRL_BREAK_EVENT, whose default
action ends a Python process at once, and loop.add_signal_handler is not
implemented on Windows. bridge_node now handles SIGBREAK by setting the same
stop event. After: `[bridge-node] shutting down`, `[record] closed ... 973
records, 95255 B`, metadata.yaml written, logging_stopped last, nothing lingers.

Second `pixi run rig`: the refusal listed 8765 and 60000 but not 7447 while a
router was listening. port_in_use() sets SO_REUSEADDR, which on Windows lets the
probe bind OVER a live listener (zenohd; asyncio's socket is exclusive, so 8765
was caught). Plain bind on Windows; TIME_WAIT does not block it (checked).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/nodes/bridge_node.py | 5 +++++
 ros2-poc/nodes/rig.py         | 5 ++++-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/ros2-poc/nodes/bridge_node.py b/ros2-poc/nodes/bridge_node.py
index 2f6ecfe2..f2bb886d 100644
--- a/ros2-poc/nodes/bridge_node.py
+++ b/ros2-poc/nodes/bridge_node.py
@@ -781,6 +781,11 @@ async def watchdog() -> None:
             loop.add_signal_handler(sig, stop.set)
         except NotImplementedError:
             pass
+    if hasattr(signal, "SIGBREAK"):
+        # Windows: no add_signal_handler, and rig.py / the harness stop children with
+        # CTRL_BREAK_EVENT, whose default action ends the process on the spot — the bag then
+        # never gets metadata.yaml and the shadow file no logging_stopped (ww18 2026-10-15).
+        signal.signal(signal.SIGBREAK, lambda *_: loop.call_soon_threadsafe(stop.set))
 
     executor = SingleThreadedExecutor()
     executor.add_node(node)
diff --git a/ros2-poc/nodes/rig.py b/ros2-poc/nodes/rig.py
index 7ac96016..dfbe4cd4 100644
--- a/ros2-poc/nodes/rig.py
+++ b/ros2-poc/nodes/rig.py
@@ -45,8 +45,11 @@ def port_in_use(proto: str, port: int, host: str = "127.0.0.1") -> bool:
     kind = socket.SOCK_STREAM if proto == "tcp" else socket.SOCK_DGRAM
     s = socket.socket(socket.AF_INET, kind)
     try:
-        if proto == "tcp":
+        if proto == "tcp" and os.name != "nt":
             # Ignore TIME_WAIT leftovers from a just-stopped rig; a LIVE listener still fails.
+            # Not on Windows: there SO_REUSEADDR lets this probe bind OVER a live listener (ww18
+            # 2026-10-15: a running router on 7447 went unreported), and TIME_WAIT does not block
+            # a plain bind.
             s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
         s.bind((host, port))
         return False

From 6e556fcb99a0e78ec49e151c095f84463fcc91ea Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 11:28:31 -0400
Subject: [PATCH 46/96] ros2-poc WINDOWS-TEST: ww18 results, steps 0-3, 6, 5b +
 BIAS probe

First Windows run (reiserlab-ww18, pixi 0.80, VS Build Tools 2026, the
atlas-bench Atlas10 BIAS build). Harness 45/45 after four small Windows fixes
(bd2e349, aeccdce, 6250cdb, 4935732); one cross-platform start-of-run race left
open (X2); the typed build needs VS 2022 / the v143 toolset (W2). Steps 4, 5,
5c and 7 still need someone at the rig.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/windows-results-ww18-2026-10-15.md | 122 ++++++++++++++++++++
 1 file changed, 122 insertions(+)
 create mode 100644 ros2-poc/windows-results-ww18-2026-10-15.md

diff --git a/ros2-poc/windows-results-ww18-2026-10-15.md b/ros2-poc/windows-results-ww18-2026-10-15.md
new file mode 100644
index 00000000..0be7e933
--- /dev/null
+++ b/ros2-poc/windows-results-ww18-2026-10-15.md
@@ -0,0 +1,122 @@
+# LAB-303 Plan B — Windows results, reiserlab-ww18, 2026-10-15
+
+First Windows run of `ros2-poc/WINDOWS-TEST.md`. **Status: steps 0–3, 6 and 5b done unattended,
+plus the pre-step-4 BIAS HTTP probe. Steps 4 (BIAS through the node), 5 (Studio + controller),
+5c and 7 are still to do with someone at the keyboard. Step 1b (typed build) is blocked on an
+admin install (below).**
+
+## Machine
+
+| | |
+|---|---|
+| Host | REISERLAB-WW18, Windows 11 Enterprise 10.0.26200 x64, 1.76 TB free on C:, 1.86 TB on D: |
+| git / pixi / gh | 2.55.0.windows.3 / **0.80.0** / 2.101.0 (all already installed; nothing to install) |
+| Chrome | 155.0.8059.79 |
+| MSVC | **Visual Studio Build Tools 2026** 18.9.2 (MSVC 14.51.36231, Windows SDK 10.0.26100.0). **No VS 2022.** |
+| BIAS | NOT the FLIR/Spinnaker build: `C:\Lab\GitHub\atlas-bench-rob23\bias\build_ucrt\test_gui.exe` (built 2026-10-15 10:50), the atlas-bench Atlas10 fork (LUCID Arena backend, MinGW/UCRT64), launched by `BIAS Atlas10.bat`, recordings default `D:\rec\<user>` |
+| Checkout | `C:\Users\reiserm\Documents\GitHub\webDisplayTools`, branch `claude/ros-studio-plan-b-c44942` from 06bafb8 |
+
+## Findings (Windows-specific unless marked)
+
+| # | Step | Finding | Status |
+|---|---|---|---|
+| W1 | 1a / 2 | `$PIXI_PROJECT_ROOT` stays literal in `[activation.env]` on Windows; `pixi run router` then exits: `zenohc::config: Failed to read config from $PIXI_PROJECT_ROOT/config/zenoh-router.json5: The system cannot find the path specified. (os error 3)` (no fallback to the stock config). `%PIXI_PROJECT_ROOT%` does expand under `pixi run`. | **fixed** bd2e349 (`[target.win-64.activation.env]`) |
+| W2 | 1b | The typed build fails with **VS Build Tools 2026 only**: `Could not find the compiler specified in the environment variable CC: cl.exe.` conda-forge `vs2022_win-64` (19.44.35207) looks for VS `[17,18)`, then the v143/14.44 components, then hard-coded `…\2022\…` paths, then `vswhere -latest` **without `-products *`**, which never lists a Build-Tools-only install. | **open**: needs VS 2022 Build Tools, or the "MSVC v143 (14.44)" component added to the 2026 install — admin/UAC |
+| W3 | 3 | Text-mode writes are CRLF on Windows: `mcap_convert --out`, `export_log`, the emulator's export copy → 2 byte-identity FAILs against bridge 3.4's binary `--convert`. | **fixed** aeccdce (`newline="\n"`) |
+| W4 | 3 / 5.6 | bridge 3.4's own live file is CRLF on Windows (`fictrac-bridge/bridge.py:711`, text-mode `open(…, "a")`); its export re-reads in text mode and gzips binary, so committed logs are LF. The PoC's shadow file inherits this, so step 5.6's `fc.exe /b export shadow` will differ on **every line** here; compare with `splitlines`, not bytes. | not fixed (bridge 3.4 untouched) |
+| W5 | 3 | JS reader check skipped: `find_node()` looked for `.pixi\envs\default\bin\node.exe`; conda's Windows layout has `node.exe` at the env root (and a fresh clone needs the root `pixi install`, 5.3 s / 0.30 GB). | **fixed** aeccdce |
+| W6 | 6 | **Ctrl-C on `pixi run rig` killed the bridge node instead of stopping it**: no `shutting down` line, shadow file ended on a FicTrac row (no `logging_stopped`), the open run's bag got **no `metadata.yaml`** (649 KB unindexed). `CTRL_BREAK_EVENT` (rig.py / harness stop signal) ends a Python process at once by default, and `loop.add_signal_handler` is not implemented on Windows. | **fixed** 4935732 (SIGBREAK handler) — after: `[bridge-node] shutting down`, `[record] closed … 973 records, 95255 B`, `metadata.yaml` written, nothing lingers |
+| W7 | 6 | Second `pixi run rig`: the refusal listed 8765 + 60000 but **not 7447** with a router listening. `port_in_use()` sets `SO_REUSEADDR`, which on Windows lets the probe bind over a live listener (zenohd; asyncio's socket is exclusive, so 8765 was caught). | **fixed** 4935732 (plain bind on Windows; TIME_WAIT does not block it — checked) |
+| W8 | 4 | **Two programs can hold port 5010 at once**: real BIAS on `0.0.0.0:5010` + `[::]:5010`, and a harness `bias_sim` on `127.0.0.1:5010`; loopback clients get the more specific socket, i.e. the SIM. Seen by accident (a probe answered by the sim). A stale `bias-sim` would silently shadow the real camera program. rig.py's `--bias-sim` pre-flight probes 127.0.0.1 only and cannot see BIAS's wildcard bind. | open (suggest: bias_sim binds with `SO_EXCLUSIVEADDRUSE`, and the rig/bias-node check `get-camera-guid` or the `[arena]` keys to tell sim from BIAS) |
+| W9 | all | `time.monotonic()` = `GetTickCount64`, resolution **15.625 ms** (Python 3.12.15); every `rtt_ms` the BIAS node reports is quantized (0 / 15 / 16 / 31 ms seen). `time.time()` (all run-log `ms`, bridge 3.4 too) reports the same nominal resolution; today's logs were fine (FicTrac row deltas 19/20/21 ms) because something on the PC raised the timer rate — a rig where nothing does would log 15.6 ms steps. | open (use `perf_counter` for RTTs; `time_ns`/`GetSystemTimePreciseAsFileTime` is Python 3.13+) |
+| X1 | 3 | (cross-platform) converter put a device row recorded in the same ms as `logging_stopped` AFTER it (`live 2238 vs conv 2239`). | **fixed** 6250cdb (drop derived lines after the stop; `dropped_after_stop` in the report) |
+| X2 | 3 | (cross-platform) the mirror race at run START: the ROS thread records device messages on arrival (`_kinefly` → `rec.write_raw`, dropped while `self.rec` is None) while the live line is written later on the asyncio loop, which is busy in `_open` — so the shadow file can hold one device row the bag never saw (`live 2237 vs conv 2236`, `["kf",2,162,…]`). Harness run 3 of 4 hit it. | **open** — design choice: record device messages on the loop thread (same gate as the live writer), or let the fidelity check allow one boundary row per derived stream |
+| B1 | 4 probe | This BIAS's `set-video-file` uses `baseName()` and the logging format's extension: `poc.avi` → `poc.ufmf`; `my trial.v2.avi` → `my trial.ufmf` (silently truncated at the first dot). | info for bias_node / protocol authors |
+| B2 | 4 probe | `get-video-file` = `getVideoFileFullPath()` with an EMPTY auto-naming string (source, `ext_ctl_http_server.cpp`), while the writer adds `_cam_0_<date>` + version — so the node's `artifact.path` likely names a file that is never written. To confirm in step 4 with a real recording. | to verify |
+
+Harmless on every process: two zenohc WARNs (`` `routing.router.peers_failover_brokering` is deprecated `` and
+`` routing.peer.mode` and `routing.peer.linkstate` are deprecated ``) — our config files carry stock keys this zenohc ignores.
+
+## Step log (times ET)
+
+| # | Time | Step | Result | Timing / size | Notes, errors verbatim |
+|---|---|---|---|---|---|
+| 0.1 | 10:57 | tooling check | PASS | — | git 2.55.0.windows.3, pixi 0.80.0, gh 2.101.0 (logged in, https), Chrome 155.0.8059.79; `vswhere -version "[17.0,18.0)"` → nothing; VS Build Tools 2026 18.9.2 with `VC.Tools.x86.x64` |
+| 0.2 | 10:58 | install missing tooling | skipped | — | nothing missing; VS 2022 decision deferred to after 1b |
+| 0.3 | 10:58 | clone (HTTPS) + `git switch` | PASS | 1.9 s + 0.4 s; 54.5 MB with .git | — |
+| 0.4 | 10:58 | bridge 3.4 / ports | PASS | — | no bridge running; `netstat … ":7447 :8765 :8092 :60000 :60001 :5010"` empty |
+| 1a | 10:59 | `pixi install --locked` | **PASS** | **25.1 s**; env 1.45 GB / 37 984 files | ROS part cold (0 ros-jazzy pkgs cached; cache 7.99 → 8.94 GB); nothing by hand; Python 3.12.15 |
+| 1a.2 | 11:00 | `$PIXI_PROJECT_ROOT` check | **literal** | — | `ROUTER= $PIXI_PROJECT_ROOT/config/zenoh-router.json5`, exists False (W1) |
+| 1b | 11:00 | `pixi install --locked -e typed` | **FAIL** | 26.9 s to failure | `CMake Error at %BUILD_PREFIX%/Library/share/cmake-4.4/Modules/CMakeDetermineCCompiler.cmake:48 (message): Could not find the compiler specified in the environment variable CC: cl.exe.` → `Error: × failed to build 'arena_interfaces' from 'interfaces/arena_interfaces' ╰─▶ × Script failed to execute` (W2). ~5 min spent; continued with the default env |
+| 1a.3 | 11:03 | fix W1 | PASS | `--locked` 4.3 s, lock unchanged | `ROUTER= C:\Users\reiserm\Documents\GitHub\webDisplayTools\ros2-poc\config\zenoh-router.json5 True`, SESSION True |
+| 2.0 | 11:02 | `pixi run router` before fix | FAIL | — | `ERROR ThreadId(01) zenohc::config: Failed to read config from $PIXI_PROJECT_ROOT/config/zenoh-router.json5: The system cannot find the path specified. (os error 3) at D:\bld\libzenohc_1777492468845\…\zenoh-config\src\lib.rs:1378.` / `logging system isn't initialized: call to rcutils_logging_console_output_handler failed.` / `[ros2run]: Process exited with failure 1` |
+| 2.1 | 11:04 | router / listener / talker | **PASS** | latency 39.2 ms (msg 0), then 1.8–2.6 ms | `Zenoh can be reached at: tcp/127.0.0.1:7447`; 14/14 heard |
+| 2.2 | 11:05 | Ctrl-C all three | PASS | — | talker: expected `RCLError: failed to shutdown: rcl_shutdown already called on the given context`; **router does not linger** (`tasklist \| findstr rmw_zenohd` empty) |
+| 3.1 | 11:05 | `pixi run test -- --keep`, as shipped | **FAIL 41 / 44** | 57.9 s | FAIL `conversion fidelity: derived lines … — live 2238 vs conv 2239, Δms {}` (X1); FAIL `bridge.py --convert v2→v1→v2 byte-identical` and `bag → behavior_v1 == bridge.py --convert of the behavior_v2 (byte-identical)` (W3); skip `JS reader check: no \`node\` and no root pixi env` (W5). Bag 4852 records / 342 809 B |
+| 3.2 | 11:11 | run 2, after aeccdce + 6250cdb | **PASS 45 / 45** | 58.4 s | JS readers PASS; derived Δms p50 0 / p99 1 / max 7 (n 2241); frame lag p50 0.569 / p99 0.951 / max 1.806 ms; bag 4858 records / 339 241 B. (Mac 46 = + the typed-import check) |
+| 3.3 | 11:13 | run 3 | **FAIL 44 / 45** | 58.1 s | `live 2237 vs conv 2236` — start race (X2); the stop tie also recurred and was dropped (`dropped_after_stop: 1`) |
+| 3.4 | 11:21 | run 4, after 4935732 | **PASS 45 / 45** | 58.9 s | derived 2243 == 2243, Δms p99 1 / max 7 |
+| 3.5 | — | crash phase (run 2) | PASS | — | crashsafe: NDJSON 616 lines / 157 frames (last 3117 ms) vs bag `--recover` 611 lines / 156 frames (last 3097 ms), torn: true → **1 frame lost** (Mac: 1). default: NDJSON 157 frames; bag `.mcap` 0 B, `[convert] ValueError: no session-open record on /arena/session (not a bridge-node bag, or the open record was lost)`. `info typed topics: False`. Process groups, CTRL_BREAK, TerminateProcess, concurrent file reads, PYTHONUTF8, MCAP under a Windows path: all fine |
+| 6.1 | 11:17 | second `pixi run rig` | PASS* | — | one clear `[rig] cannot start, ports already bound:` + `tcp 127.0.0.1:8765 …` + `udp 127.0.0.1:60000 …`, no traceback; *7447 missing (W7). After the fix, all three listed |
+| 6.2 | 11:18 | Ctrl-C the rig with a run open | **FAIL** → fixed | — | every child exited, nothing lingered, but no `metadata.yaml`, shadow file without `logging_stopped` (W6). After 4935732: PASS (`metadata.yaml` 2639 B, bag reindexed 649 → 95 KB) |
+| 6.3 | 11:20 | `pixi run rig` while bridge 3.4 runs | **PASS** | — | same refusal naming `bridge 3.4 (\`pixi run bridge\` at the repo root)` for 8765 and 60000 |
+| 5b | 11:24 | `pixi run graph -- --text` / `--out` | **PASS** | 9.6 s | rig `--sim --bias`: nodes `/arena_bridge, /bias_camera, /fictrac_udp_adapter`; `/arena/frame` 50 Hz, `/fictrac/raw` 50 Hz, `/bias/status` 1 Hz, `/bias/cmd` + `/bias/reply` wired. Mermaid below. viz env not installed (optional) |
+| 4p | 11:22 | BIAS HTTP probe (no camera commands) | **PASS** | RTT 15–32 ms | see "BIAS probe" |
+
+### BIAS probe (the four questions; BIAS launched with `BIAS Atlas10.bat`, camera NOT connected)
+
+1. **Server enabled?** Yes, by default (`DEFAULT_HTTP_SERVER_ENABLED = true` in this build): no menu click needed.
+2. **Port?** **5010** (= 5000 + 10·(camera 0 + 1)); it listens on `0.0.0.0:5010` and `[::]:5010` (all interfaces).
+3. **`?get-status` shape:** the Mac keys (`connected, capturing, logging, frameCount, framesPerSec, timeStamp`)
+   **plus** `cameraSkipped, delivered, frameIdGaps, incompleteFrames, inputBuffers, inputBuffersMin, lastFrameId,
+   logQueueSize, loggerSkipped, nominalPeriodMs, streamStatsValid, timeouts, writerSkipped` (and, once streaming,
+   the camera-health keys from ATLAS10.md); no `videoFile` key. The node passes them through to `/bias/status` unchanged.
+   ```
+   [ { "command" : "get-status", "message" : "", "success" : true, "value" : { "cameraSkipped" : 0, "capturing" : false, "connected" : false, "delivered" : 0, "frameCount" : 0, "frameIdGaps" : 0, "framesPerSec" : 0.0, "incompleteFrames" : 0, "inputBuffers" : -1, "inputBuffersMin" : -1, "lastFrameId" : 0, "logQueueSize" : 0, "loggerSkipped" : 0, "logging" : false, "nominalPeriodMs" : 0.0, "streamStatsValid" : false, "timeStamp" : 0.0, "timeouts" : 0, "writerSkipped" : 0 } } ]
+   ```
+4. **`get-video-file` after `set-video-file`** (sent with bias_node's exact encoding, backslashes raw):
+   `D:\rec\reiserm\ros2-poc\poc.avi` → `D:/rec/reiserm/ros2-poc/poc.ufmf` (dir created); forward slashes work too;
+   `my trial.v2.avi` → `D:/rec/reiserm/ros2-poc/my trial.ufmf`; `relname.avi` → `C:/Lab/GitHub/atlas-bench-rob23/bias/relname.ufmf`.
+   Initial value `D:/rec/reiserm/bias_video.ufmf` (restored afterwards). Format = **ufmf** (this build's start-up
+   default). `get-camera-guid` → `169.254.22.96`; `get-configuration` → `Unable to get configuration: camera is not connected`.
+
+**Does `bias_node.py` need a change?** Not to work: every reply parses, Windows paths survive the URL, extra
+status keys pass through. Two things to settle in step 4: B2 (the `artifact.path` vs the auto-named file), and
+whether to send `.ufmf` names (the protocol's `.avi` is replaced anyway).
+
+### Graph (step 5b, rig `--sim --bias`)
+
+```mermaid
+flowchart LR
+    arena_bridge(["/arena_bridge"])
+    bias_camera(["/bias_camera"])
+    fictrac_udp_adapter(["/fictrac_udp_adapter"])
+    arena_frame[/"/arena/frame\nString\n49.0 Hz"/]
+    arena_bridge --> arena_frame
+    bias_cmd[/"/bias/cmd\nString"/]
+    arena_bridge --> bias_cmd
+    bias_cmd --> bias_camera
+    bias_reply[/"/bias/reply\nString"/]
+    bias_camera --> bias_reply
+    bias_reply --> arena_bridge
+    bias_status[/"/bias/status\nString\n1.0 Hz"/]
+    bias_camera --> bias_status
+    bias_status --> arena_bridge
+    fictrac_raw[/"/fictrac/raw\nString\n50.0 Hz"/]
+    fictrac_udp_adapter --> fictrac_raw
+    fictrac_raw --> arena_bridge
+    kinefly_raw[/"/kinefly/raw\nString"/]
+    kinefly_raw --> arena_bridge
+```
+
+## Still to do (needs someone at the rig)
+
+- **1b** after an admin install (W2), then **7** (`-e typed` repeat of 3 and 5).
+- **4** BIAS through the node: `connect` (Atlas10), `startRecording`, `getTimestamp`, `stopRecording`, files
+  written vs `artifact.path` (B2), `start-capture` RTT, preview; the unknown-outcome path (close BIAS mid-poll).
+- **5** Studio + controller over Web Serial (+ 5.7 crash on the real rig), **5c** color optomotor.
+
+## Artifacts on ww18 (not committed)
+
+`%TEMP%\ros2-poc-test-id0n3u9y` (run 1, 41/44), `-12brtne7` (run 2), `-wzz38rvp` (run 3, X2), `-mm7i3ha1` (run 4);
+`ros2-poc\runlogs\arena-log-20261015-111739-702.*` (W6 before the fix) and `…-111942-495.*` (after).

From 667e5381a38b67b2fd227f76f97c5e5fbbe1d4f7 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 12:01:19 -0400
Subject: [PATCH 47/96] ros2-poc X2: record device messages on the loop, under
 the shadow writer's gate
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

ww18 harness, 1 run in 4 each: `live 2237 vs conv 2236` (a kf row in the shadow
file but not the bag, run START) and `bag -> full level ... cols [0, 25]` (the
run's first frame recorded, its /fictrac/raw message not). The ROS thread
recorded every device message on arrival (dropped while `self.rec` was None),
while the shadow line / frame was written later on the asyncio loop, which is
the thread that opens and closes the run. So at each boundary one message could
reach one file and not the other.

Kinefly and BIAS reply/status messages and FicTrac lines now go to the loop
with their bytes + ROS receive time; RecordingLogWriter.record_device records
them there, next to their line and under the same open gate (FicTrac after
pipeline.handle_line, off the closed-loop path; the consumer replaces
bridge.py's 3-line consume()). The receive time stays the MCAP log_time.
Messages that can never become a line are still recorded on arrival.

Converter: a message received just before the open (now recorded, since its
line is) gets rel ms 0, not negative; and the 6250cdb drop-after-stop becomes
move-before-stop (`moved_before_stop`) — every derived record now precedes the
stop, so one found after it is an equal-ms tie, not an extra line.

Harness on ww18: 5 runs in a row 45/45, derived counts equal every run,
|dms| p99 1 ms, frame lag p99 1.0-1.9 ms (unchanged).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/nodes/bridge_node.py  | 59 +++++++++++++++++++++++++++-------
 ros2-poc/nodes/mcap_convert.py | 17 +++++-----
 2 files changed, 56 insertions(+), 20 deletions(-)

diff --git a/ros2-poc/nodes/bridge_node.py b/ros2-poc/nodes/bridge_node.py
index f2bb886d..e0c28e75 100644
--- a/ros2-poc/nodes/bridge_node.py
+++ b/ros2-poc/nodes/bridge_node.py
@@ -240,6 +240,8 @@ class RecordingLogWriter(B.LogWriter):
       * record_browser → `/arena/browser` {…, line:false} for rows / log_export / connector_command
       * write_event  → `/arena/event` {seq, …}   (record=False for events the converter DERIVES
                         from device topics: BIAS replies/status and connector commands)
+      * record_device → the device message itself (`/kinefly/raw`, `/bias/reply|status`), on
+                        the loop next to its shadow line, stamped with the ROS receive time
       * frames       → recorded by RosHub.publish (the emission point), `/arena/frame`
       * close        → `/arena/session` logging_stopped, then the bag closes
     `export_current` returns the CONVERTED log (or the shadow with --export live) and
@@ -363,6 +365,16 @@ def write_event(self, obj: dict, record: bool = True) -> None:
             self._record(EVENT_TOPIC, {"seq": self.next_seq(), **obj})
         super().write_event(obj)
 
+    def record_device(self, topic: str, data: bytes, t_ns: int) -> None:
+        """A device message whose shadow line the caller writes next (Kinefly row, BIAS
+        reply/status event). Recorded HERE, on the loop and under the same open gate as that
+        line, not on the ROS thread on arrival: there a message could reach the bag but not
+        the shadow file (arrived just before close) or the shadow file but not the bag
+        (arrived just before open) — ww18 2026-10-15, harness `live 2237 vs conv 2236`.
+        `t_ns` = the ROS-thread receive time, kept as the MCAP log_time."""
+        if self._fh and self.rec is not None:
+            self.rec.write_raw(topic, data, t_ns)
+
     def record_frame(self, msg: dict, derived: tuple[float, float] = NO_DERIVED) -> None:
         """Called by RosHub.publish — the frame's emission point (write_frame follows at once).
         `derived` = (turning_dps, forward_mms) from the hub's FrameDeriver; typed record only."""
@@ -541,41 +553,52 @@ def _envelope(data: bytes) -> dict | None:
             return None
         return env if isinstance(env, dict) else None
 
+    # FicTrac too: the raw message is recorded by the loop's consumer (consume_recording) just
+    # before the pipeline turns it into a frame, so a frame in the run always has its raw record
+    # (`--level full` takes the 25 fields from it) — ww18: a line that arrived just before the
+    # open had a recorded frame but no raw record (`cols [0, 25]`).
     def _fictrac(self, data: bytes) -> None:
-        self._record(FICTRAC_TOPIC, data)
+        t_ns = time.time_ns()
         env = self._envelope(data)
         if env is None or not isinstance(env.get("raw"), str):
+            self._record(FICTRAC_TOPIC, data)
             return
         self.stats["fictrac"].seen(env.get("rx_epoch_ms"))
         # Same hand-off bridge.py's UDP protocol does (queue.put_nowait), from the ROS thread.
-        self._loop.call_soon_threadsafe(self._queue.put_nowait, env["raw"])
+        self._loop.call_soon_threadsafe(self._queue.put_nowait, (env["raw"], FICTRAC_TOPIC, data, t_ns))
 
     def _fictrac_typed(self, data: bytes) -> None:
-        self._record(FICTRAC_FRAME_TOPIC, data)
+        t_ns = time.time_ns()
         try:
             m = deserialize_message(data, FicTracFrame)
         except Exception:
+            self._record(FICTRAC_FRAME_TOPIC, data)
             return
         self.stats["fictrac"].seen(int(m.rx_epoch_ms) if m.rx_epoch_ms else None)
         # The closed-loop math stays bridge 3.4's byte for byte: it parses the verbatim line
         # the typed message carries. The typed fields are for ROS-native consumers + the bag.
-        self._loop.call_soon_threadsafe(self._queue.put_nowait, m.raw)
+        self._loop.call_soon_threadsafe(self._queue.put_nowait, (m.raw, FICTRAC_FRAME_TOPIC, data, t_ns))
 
+    # Kinefly + BIAS become shadow-file lines the converter DERIVES from the bag, so their
+    # record is made on the loop together with the line (RecordingLogWriter.record_device);
+    # only a message that can never become a line is recorded here on arrival.
     def _kinefly(self, data: bytes) -> None:
-        self._record(KINEFLY_TOPIC, data)
+        t_ns = time.time_ns()
         env = self._envelope(data)
         if env is None or not isinstance(env.get("raw"), str):
+            self._record(KINEFLY_TOPIC, data)
             return
         self.stats["kinefly"].seen(env.get("rx_epoch_ms"))
-        self._loop.call_soon_threadsafe(self._on_kinefly, env)
+        self._loop.call_soon_threadsafe(self._on_kinefly, env, data, t_ns)
 
     def _bias(self, kind: str, topic: str, data: bytes) -> None:
-        self._record(topic, data)
+        t_ns = time.time_ns()
         env = self._envelope(data)
         if env is None:
+            self._record(topic, data)
             return
         self.stats["bias"].seen(env.get("rx_epoch_ms"))
-        self._loop.call_soon_threadsafe(self._on_bias, kind, env)
+        self._loop.call_soon_threadsafe(self._on_bias, kind, env, topic, data, t_ns)
 
 
 async def run(args: argparse.Namespace) -> None:
@@ -588,7 +611,7 @@ async def run(args: argparse.Namespace) -> None:
     CONNECTORS = {"bias": BIAS_CMD_TOPIC}
     log = RecordingLogWriter(args.log, args.log_level, args.log_dir, profile=args.bag_profile, typed=typed,
                              export=args.export, connectors=list(CONNECTORS))
-    queue: asyncio.Queue[str] = asyncio.Queue()
+    queue: asyncio.Queue[tuple[str, str, bytes, int]] = asyncio.Queue()  # (line, topic, raw bytes, receive ns)
     pipeline = B.Pipeline(
         None,
         log,
@@ -608,7 +631,8 @@ def warn(text: str) -> None:
 
     kf_seq = {"n": 0}
 
-    def on_kinefly(env: dict) -> None:
+    def on_kinefly(env: dict, data: bytes, t_ns: int) -> None:
+        log.record_device(KINEFLY_TOPIC, data, t_ns)
         try:
             pkt = json.loads(env["raw"])
         except (json.JSONDecodeError, KeyError, TypeError):
@@ -632,7 +656,8 @@ async def ws_reply(websocket, msg: dict) -> None:
         except Exception:  # ConnectionClosed: the asker left — nothing to deliver to
             pass
 
-    def on_bias(kind: str, env: dict) -> None:
+    def on_bias(kind: str, env: dict, topic: str, data: bytes, t_ns: int) -> None:
+        log.record_device(topic, data, t_ns)
         ev = {"type": "connector", "src": "bias", "kind": kind, "dir": "bridge", "ms": rel_ms()}
         for k, v in env.items():
             if k not in ("src",):
@@ -792,7 +817,17 @@ async def watchdog() -> None:
     ros_thread = threading.Thread(target=executor.spin, name="rclpy-spin", daemon=True)
     ros_thread.start()
 
-    consumer = asyncio.create_task(B.consume(queue, pipeline))
+    async def consume_recording() -> None:
+        """bridge.py's consume() (line → pipeline.handle_line), then the FicTrac message is
+        recorded under the run's open gate (RecordingLogWriter.record_device) — after the
+        frame went out, so the bag write is not on the closed-loop path; handle_line never
+        opens or closes the log, so the gate is the frame's."""
+        while True:
+            line, topic, data, t_ns = await queue.get()
+            await pipeline.handle_line(line)
+            log.record_device(topic, data, t_ns)
+
+    consumer = asyncio.create_task(consume_recording())
     wd = asyncio.create_task(watchdog())
 
     async with B.serve(hub.serve_client, args.ws_host, args.ws_port, max_size=B.WS_MAX_SIZE):
diff --git a/ros2-poc/nodes/mcap_convert.py b/ros2-poc/nodes/mcap_convert.py
index e781bb7b..8e454e41 100644
--- a/ros2-poc/nodes/mcap_convert.py
+++ b/ros2-poc/nodes/mcap_convert.py
@@ -431,7 +431,7 @@ def add(seq: int, own_ms: int, rank: str, obj) -> None:
                 pkt = json.loads(env["raw"])
             except json.JSONDecodeError:
                 continue
-            rel = int(r["log_ns"] // 1_000_000) - t0
+            rel = max(0, int(r["log_ns"] // 1_000_000) - t0)  # received just before the open: line at 0
             kseq = pkt.get("sequence") if isinstance(pkt.get("sequence"), int) else int(env.get("seq") or 0)
             derived.append((rel, RANK["derived"], r["log_ns"], kf_row(rel, pkt, kseq)))
             stats["kf"] += 1
@@ -441,7 +441,7 @@ def add(seq: int, own_ms: int, rank: str, obj) -> None:
                 stats["skipped"] += 1
                 continue
             kind = "reply" if t == TOPIC_BIAS_REPLY else "status"
-            rel = int(r["log_ns"] // 1_000_000) - t0
+            rel = max(0, int(r["log_ns"] // 1_000_000) - t0)
             ev = {"type": "connector", "src": "bias", "kind": kind, "dir": "bridge", "ms": rel}
             for k, v in env.items():
                 if k != "src":
@@ -484,17 +484,18 @@ def add(seq: int, own_ms: int, rank: str, obj) -> None:
                 out.append(ln)
             out.extend(obj for _, obj in inserts[j:])
             lines = out
-    # The live writer writes nothing after logging_stopped. A device message the recorder got in
-    # the same ms as the stop (the live writer's callback ran after close; ww18 2026-10-15: one kf
-    # row) would otherwise sort after it on the tie — drop derived lines placed after the stop.
+    # The live writer writes nothing after logging_stopped, and the bridge records a device
+    # message only together with its shadow line (bridge_node record_device), so every derived
+    # record precedes the stop. One received in the same ms as the stop would still sort after it
+    # on the tie (ww18 2026-10-15: one kf row): put derived lines found after the stop before it.
     stop_at = next((i for i in range(len(lines) - 1, -1, -1) if isinstance(lines[i], dict)
                     and lines[i].get("type") == "session" and lines[i].get("event") == "logging_stopped"), None)
     if stop_at is not None and derived:
         derived_ids = {id(x[3]) for x in derived}
         tail = lines[stop_at + 1:]
-        kept = [ln for ln in tail if id(ln) not in derived_ids]
-        stats["dropped_after_stop"] = len(tail) - len(kept)
-        lines = lines[:stop_at + 1] + kept
+        moved = [ln for ln in tail if id(ln) in derived_ids]
+        stats["moved_before_stop"] = len(moved)
+        lines = lines[:stop_at] + moved + [lines[stop_at]] + [ln for ln in tail if id(ln) not in derived_ids]
     # The frame_schema / session-open lines were given seq = the open record's seq and rank 0,
     # so they stay first; a logging_stopped line from a crash-truncated bag may be missing.
     report = {"t0": t0, "level": level, "order": order, "lines": len(lines), **stats,

From cbd0d31296e6c624604e298823da97800fdcf89e Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 12:02:03 -0400
Subject: [PATCH 48/96] ros2-poc W8: never let bias_sim shadow the real BIAS on
 port 5010
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

ww18: the real BIAS (Qt, 0.0.0.0:5010 + [::]:5010) and a harness bias_sim on
127.0.0.1:5010 listened at the same time, and every loopback client (bias node,
curl) reached the SIM. On Windows a listener that shares its address blocks NO
bind: plain, wildcard and SO_EXCLUSIVEADDRUSE binds all succeeded next to BIAS,
so only a connect sees it.

- bias_sim refuses to start when something already answers on its port
  ("cannot start: something already answers on 127.0.0.1:5010 — probably the
  real BIAS"), binds exclusively on Windows (no SO_REUSEADDR there), and its
  get-status says "sim": true, so a run log records who answered.
- rig.py: on Windows a TCP port the bind probe calls free is confirmed with a
  connect, so `rig --bias-sim` now names 5010 while BIAS is open.
- The harness runs its sim + bias node on a free ephemeral port, so it works
  (and never talks to BIAS) on a rig with BIAS open.

Checked on ww18 with BIAS open: sim on 5010 refuses (exit 2), `rig --bias-sim`
lists `tcp 127.0.0.1:5010 is in use`, a second sim on one port refuses.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/nodes/bias_sim.py      | 35 +++++++++++++++++++++++++++++++--
 ros2-poc/nodes/rig.py           | 13 ++++++++++--
 ros2-poc/tests/test_ros2_poc.py | 13 ++++++++++--
 3 files changed, 55 insertions(+), 6 deletions(-)

diff --git a/ros2-poc/nodes/bias_sim.py b/ros2-poc/nodes/bias_sim.py
index 80012d18..89170e0b 100644
--- a/ros2-poc/nodes/bias_sim.py
+++ b/ros2-poc/nodes/bias_sim.py
@@ -15,7 +15,8 @@
                                               a small file is written at that path (relative
                                               paths land in --video-dir) and reported as value
   get-status                                  {"connected","capturing","logging","frameCount",
-                                               "framesPerSec","timeStamp","videoFile"}
+                                               "framesPerSec","timeStamp","videoFile",
+                                               "sim": true}  (so a run log says who answered)
   get-time-stamp / get-frame-count            scalars
   load-configuration=<file>                   accepted, echoed
 
@@ -32,6 +33,7 @@
 import argparse
 import json
 import os
+import socket
 import sys
 import threading
 import time
@@ -71,6 +73,7 @@ def status(self) -> dict:
             "framesPerSec": self.fps if self.capturing else 0.0,
             "timeStamp": round(time.time() - self.t0, 6),
             "videoFile": self.video_file,
+            "sim": True,
         }
 
     def _video_path(self) -> str:
@@ -178,6 +181,25 @@ def do_GET(self):
     return Handler
 
 
+class _Server(ThreadingHTTPServer):
+    # Windows: socketserver's SO_REUSEADDR would let a second sim bind OVER this one; bind
+    # exclusively there instead (the two options cannot be combined).
+    allow_reuse_address = os.name != "nt"
+
+    def server_bind(self) -> None:
+        if os.name == "nt" and hasattr(socket, "SO_EXCLUSIVEADDRUSE"):
+            self.socket.setsockopt(socket.SOL_SOCKET, socket.SO_EXCLUSIVEADDRUSE, 1)
+        super().server_bind()
+
+
+def answering(host: str, port: int) -> bool:
+    try:
+        with socket.create_connection((host, port), timeout=0.5):
+            return True
+    except OSError:
+        return False
+
+
 def main(argv: list[str] | None = None) -> int:
     p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
     p.add_argument("--host", default="127.0.0.1")
@@ -186,8 +208,17 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--video-dir", default="bias-videos", help="where relative video paths land (default: ./bias-videos)")
     p.add_argument("--latency-ms", type=float, default=0.0, help="artificial reply delay, for timeout tests")
     args = p.parse_args(argv)
+    # Refuse to start next to a live program on the port. On Windows the real BIAS's listener
+    # (Qt, 0.0.0.0) shares its address, so our bind would SUCCEED and every 127.0.0.1 client —
+    # the rig's bias node included — would then talk to this sim (ww18 2026-10-15). Only a
+    # connect sees that listener.
+    if answering(args.host, args.port):
+        print(f"[bias-sim] cannot start: something already answers on {args.host}:{args.port} — probably the real BIAS "
+              f"(or another bias-sim); binding here would hide it from every local client. Close it, or pass --port.",
+              file=sys.stderr)
+        return 2
     state = BiasState(args.fps, args.video_dir, args.latency_ms / 1000.0)
-    srv = ThreadingHTTPServer((args.host, args.port), make_handler(state))
+    srv = _Server((args.host, args.port), make_handler(state))
     print(f"[bias-sim] http://{args.host}:{args.port}/?<command>  (fps {args.fps:g}, videos → {args.video_dir})", file=sys.stderr)
     try:
         srv.serve_forever()
diff --git a/ros2-poc/nodes/rig.py b/ros2-poc/nodes/rig.py
index dfbe4cd4..418a727e 100644
--- a/ros2-poc/nodes/rig.py
+++ b/ros2-poc/nodes/rig.py
@@ -41,7 +41,8 @@
 
 
 def port_in_use(proto: str, port: int, host: str = "127.0.0.1") -> bool:
-    """True when binding host:port fails (something else holds it)."""
+    """True when binding host:port fails (something else holds it) — or, on Windows, when a
+    TCP connect to it succeeds."""
     kind = socket.SOCK_STREAM if proto == "tcp" else socket.SOCK_DGRAM
     s = socket.socket(socket.AF_INET, kind)
     try:
@@ -52,11 +53,19 @@ def port_in_use(proto: str, port: int, host: str = "127.0.0.1") -> bool:
             # a plain bind.
             s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
         s.bind((host, port))
-        return False
     except OSError:
         return True
     finally:
         s.close()
+    if proto == "tcp" and os.name == "nt":
+        # Windows: a listener that shares its address blocks NO bind, wildcard or specific — the
+        # real BIAS (Qt, 0.0.0.0:5010) on ww18 2026-10-15. Only a connect sees it.
+        try:
+            with socket.create_connection((host, port), timeout=0.3):
+                return True
+        except OSError:
+            pass
+    return False
 
 
 class Child:
diff --git a/ros2-poc/tests/test_ros2_poc.py b/ros2-poc/tests/test_ros2_poc.py
index 67ccf3b9..30c7bbe1 100644
--- a/ros2-poc/tests/test_ros2_poc.py
+++ b/ros2-poc/tests/test_ros2_poc.py
@@ -55,6 +55,7 @@
 import os
 import shutil
 import signal
+import socket
 import subprocess
 import sys
 import tempfile
@@ -145,6 +146,12 @@ def find_node() -> str | None:
     return None
 
 
+def free_tcp_port() -> int:
+    with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
+        s.bind(("127.0.0.1", 0))
+        return s.getsockname()[1]
+
+
 def read_jsonl_lines(path: Path) -> list[str]:
     return [l for l in path.read_text(encoding="utf-8").splitlines() if l.strip()]
 
@@ -289,8 +296,10 @@ def start(name: str, argv: list[str]) -> Proc:
             check("zenoh router listening on 127.0.0.1:7447", wait_port("127.0.0.1", 7447, 20.0))
         fictrac = start("fictrac-adapter", [PY, str(NODES / "fictrac_udp_adapter.py"), "--status-every", "0"])
         start("kinefly-adapter", [PY, str(NODES / "kinefly_udp_adapter.py"), "--status-every", "0"])
-        start("bias-sim", [PY, str(NODES / "bias_sim.py"), "--video-dir", str(videos)])
-        start("bias-node", [PY, str(NODES / "bias_node.py"), "--status-every", "1", "--video-dir", str(videos)])
+        # The sim on a free port, not BIAS's 5010: a rig PC often has the real BIAS open.
+        bias_port = free_tcp_port()
+        start("bias-sim", [PY, str(NODES / "bias_sim.py"), "--port", str(bias_port), "--video-dir", str(videos)])
+        start("bias-node", [PY, str(NODES / "bias_node.py"), "--port", str(bias_port), "--status-every", "1", "--video-dir", str(videos)])
         bridge_argv = [PY, str(NODES / "bridge_node.py"), "--log-dir", str(runlogs), "--source-timeout", "1.5", "--bag-profile", a.bag_profile]
         bridge = start("bridge-node", bridge_argv)
         check("bridge node serving ws://127.0.0.1:8765", wait_port("127.0.0.1", 8765, 20.0))

From cc603f67cd334c3f7c1e6b847f6c94d43568a8d2 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 12:02:03 -0400
Subject: [PATCH 49/96] ros2-poc W9: measure durations with perf_counter (15.6
 ms monotonic on Windows)

Python 3.12 on Windows: time.monotonic() is GetTickCount64, resolution 15.625 ms,
so every BIAS rtt_ms on ww18 came out 0 / 15 / 16 / 31 ("rtt_ms":0.0 in
/bias/status). perf_counter (QueryPerformanceCounter, 100 ns) for the reported
durations: bias_node RTTs, bag open + convert ms, recorder open_s, reindex
seconds. Deadlines and rate windows keep monotonic.

Not covered: time.time() (every run-log `ms`, bridge 3.4 too) has the same
15.6 ms nominal resolution on 3.12. Fine on ww18 today (FicTrac row deltas
19/20/21 ms; some process had raised the timer rate), quantized on an idle PC.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/nodes/bias_node.py   | 10 ++++++----
 ros2-poc/nodes/bridge_node.py |  8 ++++----
 ros2-poc/nodes/mcap_index.py  |  4 ++--
 ros2-poc/nodes/recorder.py    |  4 ++--
 4 files changed, 14 insertions(+), 12 deletions(-)

diff --git a/ros2-poc/nodes/bias_node.py b/ros2-poc/nodes/bias_node.py
index a70f9ca0..6e5fffb3 100644
--- a/ros2-poc/nodes/bias_node.py
+++ b/ros2-poc/nodes/bias_node.py
@@ -70,7 +70,9 @@ def call(self, command: str, value: str | None = None) -> dict:
         """→ {"command", "ok", "message", "value", "rtt_ms"} or raises TimeoutError / OSError."""
         q = command if value is None else f"{command}={urllib.parse.quote(str(value), safe='/:\\')}"
         url = f"{self.base}?{q}"
-        t0 = time.monotonic()
+        # perf_counter, not monotonic: on Windows monotonic ticks every 15.625 ms (GetTickCount64),
+        # which turned every RTT into 0 / 15 / 16 / 31 ms (ww18 2026-10-15).
+        t0 = time.perf_counter()
         try:
             with urllib.request.urlopen(url, timeout=self.timeout_s) as resp:
                 body = resp.read()
@@ -80,7 +82,7 @@ def call(self, command: str, value: str | None = None) -> dict:
             raise OSError(str(exc)) from exc
         except TimeoutError:
             raise
-        rtt = (time.monotonic() - t0) * 1000.0
+        rtt = (time.perf_counter() - t0) * 1000.0
         try:
             arr = json.loads(body.decode("utf-8"))
         except (UnicodeDecodeError, json.JSONDecodeError):
@@ -198,7 +200,7 @@ def _do_cmd(self, req: dict) -> None:
         command = str(req.get("command", ""))
         params = req.get("params") or {}
         t_ms = int(time.time() * 1000)
-        t0 = time.monotonic()
+        t0 = time.perf_counter()
         out: dict = {"id": cid, "command": command, "params": params, "t_ms": t_ms, "steps": []}
         try:
             if command == "connect" and (params.get("ip") or params.get("port")):
@@ -245,7 +247,7 @@ def _do_cmd(self, req: dict) -> None:
                 out["artifact"] = {"kind": "video", "path": r["value"], "program": "bias"}
         else:
             out.update({"ok": True, "outcome": "ok", "value": value})
-        out["rtt_ms"] = round((time.monotonic() - t0) * 1000.0, 2)
+        out["rtt_ms"] = round((time.perf_counter() - t0) * 1000.0, 2)
         self._publish(self.reply_pub, out)
         # rclpy caches a severity per call site, so info and warning need separate statements.
         if out["ok"]:
diff --git a/ros2-poc/nodes/bridge_node.py b/ros2-poc/nodes/bridge_node.py
index e0c28e75..2a1feeaf 100644
--- a/ros2-poc/nodes/bridge_node.py
+++ b/ros2-poc/nodes/bridge_node.py
@@ -291,7 +291,7 @@ def topics(self) -> dict[str, str]:
     def _open(self, name: str, event: str) -> None:
         bag = (name[:-6] if name.endswith(".jsonl") else name) + ".bag"
         rec = Recorder(bag, self.topics(), self._profile)
-        t_open = time.monotonic()
+        t_open = time.perf_counter()
         self.rec = rec  # visible to the ROS thread first: records during open() are buffered
         open_error = None
         try:
@@ -311,7 +311,7 @@ def _open(self, name: str, event: str) -> None:
             self._record(SESSION_TOPIC, {"seq": self.next_seq(), "event": event, "file": name, "ms": self._t0, "level": self.level,
                                          "bag": bag, "connectors": sorted(self._connectors), "node": NODE_VERSION, "typed": self._typed,
                                          "profile": self._profile})
-            print(f"[record] {bag} ({self._profile}, typed={self._typed}; opened in {1000 * (time.monotonic() - t_open):.0f} ms)", file=sys.stderr)
+            print(f"[record] {bag} ({self._profile}, typed={self._typed}; opened in {1000 * (time.perf_counter() - t_open):.0f} ms)", file=sys.stderr)
         if self.on_open is not None:
             self.on_open()
 
@@ -409,14 +409,14 @@ def export_current(self):
         name, live = super().export_current()
         if name is None or self._export == "live" or not self.bag_name:
             return name, live
-        t0 = time.monotonic()
+        t0 = time.perf_counter()
         try:
             text, report = convert_bag(self.bag_name, level=None, order="seq")
         except Exception as exc:
             print(f"[convert] FAILED ({exc!r}) — exporting the shadow file instead", file=sys.stderr)
             self.last_convert = {"error": repr(exc)}
             return name, live
-        report["convert_ms"] = round(1000 * (time.monotonic() - t0), 1)
+        report["convert_ms"] = round(1000 * (time.perf_counter() - t0), 1)
         report["identical_to_live"] = text == live
         if not report["identical_to_live"]:
             a, b = text.splitlines(), (live or "").splitlines()
diff --git a/ros2-poc/nodes/mcap_index.py b/ros2-poc/nodes/mcap_index.py
index 163eaad5..38270cef 100644
--- a/ros2-poc/nodes/mcap_index.py
+++ b/ros2-poc/nodes/mcap_index.py
@@ -33,7 +33,7 @@ def reindex(mcap_path: str | os.PathLike, keep_original: bool = False, compressi
     src = Path(mcap_path)
     tmp = src.with_suffix(".indexed.tmp")
     comp = {"zstd": CompressionType.ZSTD, "lz4": CompressionType.LZ4, "none": CompressionType.NONE}[compression]
-    t0 = time.monotonic()
+    t0 = time.perf_counter()
     schema_map: dict[int, int] = {}
     channel_map: dict[int, int] = {}
     counts: dict[int, int] = {}
@@ -84,7 +84,7 @@ def reindex(mcap_path: str | os.PathLike, keep_original: bool = False, compressi
     ok = got == want and summ is not None and bool(summ.chunk_indexes)
     res = {"file": str(src), "messages": n, "bytes_before": src.stat().st_size, "bytes_after": tmp.stat().st_size,
            "chunks": len(summ.chunk_indexes) if summ else 0, "compression": compression, "verified": ok,
-           "seconds": round(time.monotonic() - t0, 2)}
+           "seconds": round(time.perf_counter() - t0, 2)}
     if not ok:
         tmp.unlink(missing_ok=True)
         res["error"] = f"verification failed: per-topic counts {got} vs {want}"
diff --git a/ros2-poc/nodes/recorder.py b/ros2-poc/nodes/recorder.py
index b37aa477..8d38dfb8 100644
--- a/ros2-poc/nodes/recorder.py
+++ b/ros2-poc/nodes/recorder.py
@@ -87,7 +87,7 @@ def open(self) -> None:
             w.create_topic(rosbag2_py.TopicMetadata(id=i, name=name, type=typ, serialization_format="cdr"))
         with self._lock:
             self._w = w
-            self.opened_mono = time.monotonic()
+            self.opened_mono = time.perf_counter()
             pending, self._pending = self._pending, None
             for topic, data, log_ns, pub_ns in pending or []:
                 self._write_locked(topic, data, log_ns, pub_ns)
@@ -153,5 +153,5 @@ def close(self, reindex: bool = True) -> dict:
             "records": self.count,
             "payload_bytes": self.bytes,
             "profile": self.profile,
-            "open_s": round(time.monotonic() - self.opened_mono, 3) if self.opened_mono else None,
+            "open_s": round(time.perf_counter() - self.opened_mono, 3) if self.opened_mono else None,
         }

From 1d78deb94c6bef3862eeb36f511ac9d88b469205 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 12:03:02 -0400
Subject: [PATCH 50/96] =?UTF-8?q?ros2-poc=20WINDOWS-TEST:=20ww18=20results?=
 =?UTF-8?q?=20=E2=80=94=20X2,=20W8,=20W9=20fixed;=205=20runs=2045/45?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Findings table updated for 667e538 (device messages recorded on the loop),
cbd0d31 (bias_sim never shadows BIAS) and cc603f6 (perf_counter durations);
the FicTrac `cols [0, 25]` failure folded into X2; a short "why the Mac runs
did not show these" section; the derived_misplaced spread explained (same-ms
ties between the 10 ms and 20 ms senders).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/windows-results-ww18-2026-10-15.md | 38 ++++++++++++++++-----
 1 file changed, 30 insertions(+), 8 deletions(-)

diff --git a/ros2-poc/windows-results-ww18-2026-10-15.md b/ros2-poc/windows-results-ww18-2026-10-15.md
index 0be7e933..637863a3 100644
--- a/ros2-poc/windows-results-ww18-2026-10-15.md
+++ b/ros2-poc/windows-results-ww18-2026-10-15.md
@@ -1,9 +1,9 @@
 # LAB-303 Plan B — Windows results, reiserlab-ww18, 2026-10-15
 
 First Windows run of `ros2-poc/WINDOWS-TEST.md`. **Status: steps 0–3, 6 and 5b done unattended,
-plus the pre-step-4 BIAS HTTP probe. Steps 4 (BIAS through the node), 5 (Studio + controller),
-5c and 7 are still to do with someone at the keyboard. Step 1b (typed build) is blocked on an
-admin install (below).**
+plus the pre-step-4 BIAS HTTP probe; harness 45 / 45 five runs in a row after the fixes below.
+Steps 4 (BIAS through the node), 5 (Studio + controller), 5c and 7 are still to do with someone
+at the keyboard. Step 1b (typed build) is blocked on an admin install (below).**
 
 ## Machine
 
@@ -27,16 +27,35 @@ admin install (below).**
 | W5 | 3 | JS reader check skipped: `find_node()` looked for `.pixi\envs\default\bin\node.exe`; conda's Windows layout has `node.exe` at the env root (and a fresh clone needs the root `pixi install`, 5.3 s / 0.30 GB). | **fixed** aeccdce |
 | W6 | 6 | **Ctrl-C on `pixi run rig` killed the bridge node instead of stopping it**: no `shutting down` line, shadow file ended on a FicTrac row (no `logging_stopped`), the open run's bag got **no `metadata.yaml`** (649 KB unindexed). `CTRL_BREAK_EVENT` (rig.py / harness stop signal) ends a Python process at once by default, and `loop.add_signal_handler` is not implemented on Windows. | **fixed** 4935732 (SIGBREAK handler) — after: `[bridge-node] shutting down`, `[record] closed … 973 records, 95255 B`, `metadata.yaml` written, nothing lingers |
 | W7 | 6 | Second `pixi run rig`: the refusal listed 8765 + 60000 but **not 7447** with a router listening. `port_in_use()` sets `SO_REUSEADDR`, which on Windows lets the probe bind over a live listener (zenohd; asyncio's socket is exclusive, so 8765 was caught). | **fixed** 4935732 (plain bind on Windows; TIME_WAIT does not block it — checked) |
-| W8 | 4 | **Two programs can hold port 5010 at once**: real BIAS on `0.0.0.0:5010` + `[::]:5010`, and a harness `bias_sim` on `127.0.0.1:5010`; loopback clients get the more specific socket, i.e. the SIM. Seen by accident (a probe answered by the sim). A stale `bias-sim` would silently shadow the real camera program. rig.py's `--bias-sim` pre-flight probes 127.0.0.1 only and cannot see BIAS's wildcard bind. | open (suggest: bias_sim binds with `SO_EXCLUSIVEADDRUSE`, and the rig/bias-node check `get-camera-guid` or the `[arena]` keys to tell sim from BIAS) |
-| W9 | all | `time.monotonic()` = `GetTickCount64`, resolution **15.625 ms** (Python 3.12.15); every `rtt_ms` the BIAS node reports is quantized (0 / 15 / 16 / 31 ms seen). `time.time()` (all run-log `ms`, bridge 3.4 too) reports the same nominal resolution; today's logs were fine (FicTrac row deltas 19/20/21 ms) because something on the PC raised the timer rate — a rig where nothing does would log 15.6 ms steps. | open (use `perf_counter` for RTTs; `time_ns`/`GetSystemTimePreciseAsFileTime` is Python 3.13+) |
-| X1 | 3 | (cross-platform) converter put a device row recorded in the same ms as `logging_stopped` AFTER it (`live 2238 vs conv 2239`). | **fixed** 6250cdb (drop derived lines after the stop; `dropped_after_stop` in the report) |
-| X2 | 3 | (cross-platform) the mirror race at run START: the ROS thread records device messages on arrival (`_kinefly` → `rec.write_raw`, dropped while `self.rec` is None) while the live line is written later on the asyncio loop, which is busy in `_open` — so the shadow file can hold one device row the bag never saw (`live 2237 vs conv 2236`, `["kf",2,162,…]`). Harness run 3 of 4 hit it. | **open** — design choice: record device messages on the loop thread (same gate as the live writer), or let the fidelity check allow one boundary row per derived stream |
+| W8 | 4 | **Two programs can hold port 5010 at once**: real BIAS on `0.0.0.0:5010` + `[::]:5010`, and a harness `bias_sim` on `127.0.0.1:5010`; loopback clients get the more specific socket, i.e. the SIM. Seen by accident (a probe answered by the sim). On Windows Qt's listener shares its address, so NO bind probe sees it — plain, wildcard and `SO_EXCLUSIVEADDRUSE` binds of 5010 all succeeded next to BIAS; only a connect does. | **fixed** cbd0d31 — bias_sim refuses when its port answers, binds exclusively on Windows, reports `"sim": true`; rig.py confirms a "free" TCP port with a connect on Windows; the harness uses a free port for its sim |
+| W9 | all | `time.monotonic()` = `GetTickCount64`, resolution **15.625 ms** (Python 3.12.15); every `rtt_ms` the BIAS node reports is quantized (0 / 15 / 16 / 31 ms seen). `time.time()` (all run-log `ms`, bridge 3.4 too) reports the same nominal resolution; today's logs were fine (FicTrac row deltas 19/20/21 ms) because something on the PC raised the timer rate — a rig where nothing does would log 15.6 ms steps. | **fixed** cc603f6 for durations (`perf_counter`: BIAS RTTs, bag open / convert / reindex times); `time.time()` stamps open (`GetSystemTimePreciseAsFileTime` is Python 3.13+) |
+| X1 | 3 | (cross-platform) converter put a device row recorded in the same ms as `logging_stopped` AFTER it (`live 2238 vs conv 2239`). | **fixed** 6250cdb, revised in 667e538: such a line is moved before the stop (`moved_before_stop`), since after X2 every derived record precedes it |
+| X2 | 3 | (cross-platform) the mirror race at run START: the ROS thread recorded device messages on arrival (`_kinefly` → `rec.write_raw`, dropped while `self.rec` is None) while the live line is written later on the asyncio loop, which is busy in `_open` — so the shadow file could hold a device row the bag never saw (`live 2237 vs conv 2236`, `["kf",2,162,…]`; 1 run in 4). Same mechanism for FicTrac: `FAIL bag → full level: one fictrac_frame per frame with the 25 FicTrac columns … — 922 frames vs 922; cols [0, 25]` (the run's first frame recorded, its `/fictrac/raw` message not; 1 run in 5). | **fixed** 667e538 — Kinefly, BIAS reply/status and FicTrac messages are recorded on the loop next to their line, under the shadow writer's open gate (`record_device`), with the ROS receive time kept as the MCAP log_time; FicTrac after `handle_line`, off the closed-loop path. **5 runs in a row 45 / 45**, derived counts equal every run |
 | B1 | 4 probe | This BIAS's `set-video-file` uses `baseName()` and the logging format's extension: `poc.avi` → `poc.ufmf`; `my trial.v2.avi` → `my trial.ufmf` (silently truncated at the first dot). | info for bias_node / protocol authors |
 | B2 | 4 probe | `get-video-file` = `getVideoFileFullPath()` with an EMPTY auto-naming string (source, `ext_ctl_http_server.cpp`), while the writer adds `_cam_0_<date>` + version — so the node's `artifact.path` likely names a file that is never written. To confirm in step 4 with a real recording. | to verify |
 
 Harmless on every process: two zenohc WARNs (`` `routing.router.peers_failover_brokering` is deprecated `` and
 `` routing.peer.mode` and `routing.peer.linkstate` are deprecated ``) — our config files carry stock keys this zenohc ignores.
 
+Info, not a check: the harness's `derived_misplaced` (a derived line after a different neighbour than in the
+live file) ranged 4–861 of ~2240. It tracks how many Kinefly rows share a millisecond with a FicTrac row, which is
+the converter's unbreakable tie: 40 % in the 861 run, 0–2 % in the others. On Windows the 10 ms and 20 ms senders
+can wake on the same timer tick.
+
+### Why the Mac runs did not show these
+
+- **Windows-only by construction** (W1–W7, W9): pixi activates through cmd.exe (no `$VAR`); MSVC must be on the
+  machine, where the Mac gets clang from conda-forge; text mode writes CRLF; conda's Windows env puts `node.exe` at
+  the root; Windows cannot send SIGINT to another process, CTRL_BREAK kills Python by default and asyncio has no
+  signal handlers there; `SO_REUSEADDR` means "bind over a live listener"; `monotonic` ticks at 15.6 ms. The
+  harness could not catch W6 on either platform: it closes runs with `log_export` before stopping anything.
+- **Races on both platforms, likelier here** (X1, X2): one message has to land in the few ms the loop spends opening
+  or closing a run. Here the bag open alone takes ~15 ms (new files in `%TEMP%`, NTFS + Defender), and the
+  tick-driven senders deliver in bunches. On the Mac the same race could have hit rarely without being seen.
+- **A different BIAS** (B1, B2): the Mac used the Mac BIAS port (`movie.mjpg`); ww18 runs the atlas-bench Atlas10
+  fork (uFMF, server on by default, extra status keys). W8 also needs the real BIAS open while the harness runs,
+  which the Mac bench never combined (whether macOS would let the sim bind next to BIAS was not checked).
+
 ## Step log (times ET)
 
 | # | Time | Step | Result | Timing / size | Notes, errors verbatim |
@@ -56,6 +75,8 @@ Harmless on every process: two zenohc WARNs (`` `routing.router.peers_failover_b
 | 3.2 | 11:11 | run 2, after aeccdce + 6250cdb | **PASS 45 / 45** | 58.4 s | JS readers PASS; derived Δms p50 0 / p99 1 / max 7 (n 2241); frame lag p50 0.569 / p99 0.951 / max 1.806 ms; bag 4858 records / 339 241 B. (Mac 46 = + the typed-import check) |
 | 3.3 | 11:13 | run 3 | **FAIL 44 / 45** | 58.1 s | `live 2237 vs conv 2236` — start race (X2); the stop tie also recurred and was dropped (`dropped_after_stop: 1`) |
 | 3.4 | 11:21 | run 4, after 4935732 | **PASS 45 / 45** | 58.9 s | derived 2243 == 2243, Δms p99 1 / max 7 |
+| 3.5x | 11:50 | 5 runs after the first X2 fix (Kinefly + BIAS on the loop) | 4 × 45/45, 1 × 44/45 | 53–58 s each | derived counts equal in all 5; run 5: `bag → full level … cols [0, 25]` → the same race on `/fictrac/raw` (X2) |
+| 3.6x | 11:56 | **5 runs in a row, final X2 + W8 + W9** | **5 × PASS 45 / 45** | 53.3–58.1 s each | derived 2243/2240/2248/2242/2246, equal live vs conv every run; Δms p99 1 / max 2–8; frame lag p99 1.00 / 1.67 / 1.55 / 1.89 / 1.51 ms; harness sim on a free port (BIAS open on 5010 throughout); no permission errors |
 | 3.5 | — | crash phase (run 2) | PASS | — | crashsafe: NDJSON 616 lines / 157 frames (last 3117 ms) vs bag `--recover` 611 lines / 156 frames (last 3097 ms), torn: true → **1 frame lost** (Mac: 1). default: NDJSON 157 frames; bag `.mcap` 0 B, `[convert] ValueError: no session-open record on /arena/session (not a bridge-node bag, or the open record was lost)`. `info typed topics: False`. Process groups, CTRL_BREAK, TerminateProcess, concurrent file reads, PYTHONUTF8, MCAP under a Windows path: all fine |
 | 6.1 | 11:17 | second `pixi run rig` | PASS* | — | one clear `[rig] cannot start, ports already bound:` + `tcp 127.0.0.1:8765 …` + `udp 127.0.0.1:60000 …`, no traceback; *7447 missing (W7). After the fix, all three listed |
 | 6.2 | 11:18 | Ctrl-C the rig with a run open | **FAIL** → fixed | — | every child exited, nothing lingered, but no `metadata.yaml`, shadow file without `logging_stopped` (W6). After 4935732: PASS (`metadata.yaml` 2639 B, bag reindexed 649 → 95 KB) |
@@ -118,5 +139,6 @@ flowchart LR
 
 ## Artifacts on ww18 (not committed)
 
-`%TEMP%\ros2-poc-test-id0n3u9y` (run 1, 41/44), `-12brtne7` (run 2), `-wzz38rvp` (run 3, X2), `-mm7i3ha1` (run 4);
+`%TEMP%\ros2-poc-test-id0n3u9y` (run 1, 41/44), `-12brtne7` (run 2), `-wzz38rvp` (run 3, X2), `-mm7i3ha1` (run 4),
+`-yooxcvjy` (the FicTrac `cols [0, 25]` run), `-f8g23mlb` `-pxq2m1xb` `-qpd_gp_2` `-7n08p78f` `-03b6r1gt` (final 5);
 `ros2-poc\runlogs\arena-log-20261015-111739-702.*` (W6 before the fix) and `…-111942-495.*` (after).

From e33316c92d03c6623c0f5458ebf9cfa8d89e68af Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 13:34:57 -0400
Subject: [PATCH 51/96] ros2-poc W9b: precise Windows clocks for every stamp +
 a 1 ms system timer

Measured on ww18, timer at its 15.625 ms default: time.time() (bridge 3.4's
now_ms, every run-log ms) advanced in ~15.6 ms steps, 2.3 ms behind true
time; time.monotonic() 15-16 ms; GetSystemTimePreciseAsFileTime 1 us;
perf_counter < 1 us. Python 3.13 moved time.time() to the precise call;
RoboStack Jazzy pins 3.12.

_common.py (Windows only; macOS/Linux use the stdlib clocks as before):
- wall_ns / wall_ms = GetSystemTimePreciseAsFileTime (0.42 us per call).
  The bridge node rebinds bridge.py's module-level now_ms in its own process
  (the file, i.e. bridge 3.4, is unchanged); recorder log_time, the adapters'
  rx_epoch_ms and the BIAS node's stamps use it too.
- mono_ns = perf_counter_ns: one system-wide counter (4 processes agreed
  within 3.3 us), so adapter->bridge latency now comes from rx_mono_ns
  (falls back to the wall-clock difference when absent or out of range):
  FicTrac p50 0.27-0.30 ms, p99 0.55-0.65 ms, no whole-ms floor.
- raise_timer_resolution(): timeBeginPeriod(1) + the Windows 11 opt-out
  (PROCESS_POWER_THROTTLING_IGNORE_TIMER_RESOLUTION) in the bridge node, both
  adapters and the BIAS node. Sharper waits/timeouts; the closed loop is
  event-driven and does not depend on it. Cost: a 1 kHz timer interrupt
  while the graph runs (power; irrelevant on a mains rig PC).

Harness on ww18: 5 + 3 runs, all 45/45; frame lag p99 ~1.05 ms.
Trade-offs written up in windows-results-ww18-2026-10-15.md for review.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/nodes/_common.py             | 60 +++++++++++++++++++++++++++
 ros2-poc/nodes/bias_node.py           |  9 ++--
 ros2-poc/nodes/bridge_node.py         | 39 ++++++++++++-----
 ros2-poc/nodes/fictrac_udp_adapter.py |  5 ++-
 ros2-poc/nodes/kinefly_udp_adapter.py |  5 ++-
 ros2-poc/nodes/recorder.py            |  4 +-
 6 files changed, 102 insertions(+), 20 deletions(-)

diff --git a/ros2-poc/nodes/_common.py b/ros2-poc/nodes/_common.py
index 87c1e2ac..5e5fc2ef 100644
--- a/ros2-poc/nodes/_common.py
+++ b/ros2-poc/nodes/_common.py
@@ -7,6 +7,7 @@
                  ExternalShutdownException from spin, and rclpy's own handler may already
                  have shut the context down, so try_shutdown can raise too).
 * `wait_port`  — poll a TCP port (the Zenoh router on 127.0.0.1:7447).
+* `wall_ns` / `wall_ms` / `mono_ns` / `raise_timer_resolution` — sub-ms clocks on Windows too.
 """
 
 from __future__ import annotations
@@ -22,6 +23,65 @@
 from rclpy.executors import ExternalShutdownException
 from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
 
+# ── clocks ───────────────────────────────────────────────────────────────────────────────
+# Python 3.12 on Windows (RoboStack Jazzy pins it): time.time() is GetSystemTimeAsFileTime,
+# which advances once per timer interrupt — 15.625 ms unless some process has raised the rate —
+# and time.monotonic() is GetTickCount64, 15.625 ms always. Measured on ww18 2026-10-15: idle
+# PC, run-log `ms` stamps would come in 15.6 ms steps, 2.3 ms behind the true time.
+# GetSystemTimePreciseAsFileTime is the wall clock interpolated with the performance counter
+# (~1 µs; what Python 3.13 made time.time()), and perf_counter is QueryPerformanceCounter.
+# Elsewhere these are the stdlib clocks unchanged.
+if os.name == "nt":
+    import ctypes
+    from ctypes import wintypes
+
+    _k32 = ctypes.WinDLL("kernel32", use_last_error=True)
+    _k32.GetSystemTimePreciseAsFileTime.argtypes = [ctypes.POINTER(ctypes.c_ulonglong)]
+    _k32.GetSystemTimePreciseAsFileTime.restype = None
+    _k32.GetCurrentProcess.restype = wintypes.HANDLE
+    _k32.SetProcessInformation.argtypes = [wintypes.HANDLE, ctypes.c_int, ctypes.c_void_p, wintypes.DWORD]
+    _k32.SetProcessInformation.restype = wintypes.BOOL
+    _FILETIME_UNIX_EPOCH = 116444736000000000  # 100 ns intervals from 1601-01-01 to 1970-01-01
+
+    def wall_ns() -> int:
+        ft = ctypes.c_ulonglong()
+        _k32.GetSystemTimePreciseAsFileTime(ctypes.byref(ft))
+        return (ft.value - _FILETIME_UNIX_EPOCH) * 100
+
+    mono_ns = time.perf_counter_ns
+else:
+    wall_ns = time.time_ns
+    mono_ns = time.monotonic_ns
+
+
+def wall_ms() -> int:
+    """Wall-clock ms since the epoch, like bridge.py's now_ms() but precise on Windows."""
+    return wall_ns() // 1_000_000
+
+
+def raise_timer_resolution(period_ms: int = 1) -> bool:
+    """Windows: a `period_ms` system timer for THIS process (timeBeginPeriod; per process since
+    Windows 10 2004), kept when its console is hidden (Windows 11 otherwise may ignore the
+    request for an occluded or minimized process). Sharpens waits and timeouts — socket,
+    asyncio, rcl; the stamps do not depend on it (wall_ns). Windows releases it at exit.
+    Returns True when granted; a no-op elsewhere."""
+    if os.name != "nt":
+        return False
+    try:
+        granted = ctypes.WinDLL("winmm").timeBeginPeriod(period_ms) == 0  # TIMERR_NOERROR
+
+        class _PowerThrottling(ctypes.Structure):
+            _fields_ = [("Version", wintypes.ULONG), ("ControlMask", wintypes.ULONG), ("StateMask", wintypes.ULONG)]
+
+        # ProcessPowerThrottling = 4; PROCESS_POWER_THROTTLING_IGNORE_TIMER_RESOLUTION = 0x4,
+        # StateMask 0 = never ignore this process's timer request.
+        st = _PowerThrottling(1, 0x4, 0)
+        _k32.SetProcessInformation(_k32.GetCurrentProcess(), 4, ctypes.byref(st), ctypes.sizeof(st))
+        return granted
+    except (AttributeError, OSError):
+        return False
+
+
 RELIABLE_QOS = QoSProfile(
     reliability=QoSReliabilityPolicy.RELIABLE,
     history=QoSHistoryPolicy.KEEP_LAST,
diff --git a/ros2-poc/nodes/bias_node.py b/ros2-poc/nodes/bias_node.py
index 6e5fffb3..2c4dad53 100644
--- a/ros2-poc/nodes/bias_node.py
+++ b/ros2-poc/nodes/bias_node.py
@@ -45,7 +45,7 @@
 from rclpy.node import Node
 from std_msgs.msg import String
 
-from _common import RELIABLE_QOS, spin
+from _common import RELIABLE_QOS, raise_timer_resolution, spin, wall_ms
 
 CMD_TOPIC = "/bias/cmd"
 REPLY_TOPIC = "/bias/reply"
@@ -148,7 +148,7 @@ def __init__(self, http: BiasHttp, status_every_s: float, video_dir: str | None
         self.get_logger().info(f"BIAS at {http.base} ← {CMD_TOPIC} → {REPLY_TOPIC}, {STATUS_TOPIC} every {status_every_s:g}s")
 
     def _publish(self, pub, obj: dict) -> None:
-        obj.setdefault("rx_epoch_ms", int(time.time() * 1000))
+        obj.setdefault("rx_epoch_ms", wall_ms())
         m = String()
         m.data = json.dumps(obj, separators=(",", ":"), default=str)
         pub.publish(m)
@@ -186,7 +186,7 @@ def _work(self) -> None:
                                                    "ok": False, "outcome": "error", "error": f"node error: {exc!r}"})
 
     def _do_status(self) -> None:
-        t_ms = int(time.time() * 1000)
+        t_ms = wall_ms()
         try:
             r = self.http.call("get-status")
             st = r["value"] if isinstance(r["value"], dict) else {}
@@ -199,7 +199,7 @@ def _do_cmd(self, req: dict) -> None:
         cid = req.get("id")
         command = str(req.get("command", ""))
         params = req.get("params") or {}
-        t_ms = int(time.time() * 1000)
+        t_ms = wall_ms()
         t0 = time.perf_counter()
         out: dict = {"id": cid, "command": command, "params": params, "t_ms": t_ms, "steps": []}
         try:
@@ -264,6 +264,7 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--status-every", type=float, default=1.0, help="get-status poll period in s; 0 = off (default: 1)")
     p.add_argument("--video-dir", default=None, help="directory a RELATIVE startRecording filename is resolved against (default: pass through + warn)")
     args, ros_args = p.parse_known_args(argv)
+    raise_timer_resolution()  # Windows: 1 ms system timer for this process (_common "clocks")
     rclpy.init(args=ros_args)
     node = BiasNode(BiasHttp(args.host, args.port, args.timeout_s), args.status_every, video_dir=args.video_dir)
     spin(node)
diff --git a/ros2-poc/nodes/bridge_node.py b/ros2-poc/nodes/bridge_node.py
index 2a1feeaf..c0d7a7b0 100644
--- a/ros2-poc/nodes/bridge_node.py
+++ b/ros2-poc/nodes/bridge_node.py
@@ -82,7 +82,7 @@
 REPO = HERE.parents[1]
 BRIDGE_PY = REPO / "fictrac-bridge" / "bridge.py"
 sys.path.insert(0, str(HERE))
-from _common import probe_interfaces  # noqa: E402
+from _common import mono_ns, probe_interfaces, raise_timer_resolution, wall_ms, wall_ns  # noqa: E402
 from mcap_convert import convert_bag  # noqa: E402
 from recorder import PROFILES, STRING_TYPE, Recorder  # noqa: E402
 
@@ -104,6 +104,11 @@ def load_bridge_module(path: Path = BRIDGE_PY):
 
 
 B = load_bridge_module()
+if os.name == "nt":
+    # bridge.py stamps every run-log `ms` / `rx_ms` / t0 through its module-level now_ms() =
+    # int(time.time() * 1000): 15.6 ms steps on Windows + Python 3.12 (_common "clocks"). Rebind
+    # it in THIS process to the precise wall clock; bridge.py itself (bridge 3.4) is unchanged.
+    B.now_ms = wall_ms
 
 NODE_VERSION = f"{B.BRIDGE_VERSION} · ros2-poc plan-b (rmw_zenoh, mcap record, connectors)"
 FICTRAC_TOPIC = "/fictrac/raw"
@@ -204,11 +209,20 @@ def __init__(self, name: str) -> None:
         self.lat_ms: list[float] = []
         self.lost = False
 
-    def seen(self, rx_epoch_ms: int | None) -> None:
+    def seen(self, rx_epoch_ms: int | None, rx_mono_ns: int | None = None) -> None:
         self.count += 1
         self.last_rx_mono = time.monotonic()
-        if rx_epoch_ms is not None:
-            self.lat_ms.append(time.time() * 1000.0 - rx_epoch_ms)
+        lat = None
+        if isinstance(rx_mono_ns, int) and rx_mono_ns > 0:
+            # The adapter's mono_ns() and ours are the same system-wide counter on one host
+            # (QueryPerformanceCounter on Windows, CLOCK_MONOTONIC / mach time elsewhere): exact,
+            # where the whole-ms rx_epoch_ms adds a 0–1 ms floor. Sane range only, else fall back.
+            d = (mono_ns() - rx_mono_ns) / 1e6
+            lat = d if 0.0 <= d < 10_000.0 else None
+        if lat is None and rx_epoch_ms is not None:
+            lat = wall_ns() / 1e6 - rx_epoch_ms
+        if lat is not None:
+            self.lat_ms.append(lat)
             if len(self.lat_ms) > 5000:
                 del self.lat_ms[: len(self.lat_ms) - 5000]
 
@@ -558,23 +572,23 @@ def _envelope(data: bytes) -> dict | None:
     # (`--level full` takes the 25 fields from it) — ww18: a line that arrived just before the
     # open had a recorded frame but no raw record (`cols [0, 25]`).
     def _fictrac(self, data: bytes) -> None:
-        t_ns = time.time_ns()
+        t_ns = wall_ns()
         env = self._envelope(data)
         if env is None or not isinstance(env.get("raw"), str):
             self._record(FICTRAC_TOPIC, data)
             return
-        self.stats["fictrac"].seen(env.get("rx_epoch_ms"))
+        self.stats["fictrac"].seen(env.get("rx_epoch_ms"), env.get("rx_mono_ns"))
         # Same hand-off bridge.py's UDP protocol does (queue.put_nowait), from the ROS thread.
         self._loop.call_soon_threadsafe(self._queue.put_nowait, (env["raw"], FICTRAC_TOPIC, data, t_ns))
 
     def _fictrac_typed(self, data: bytes) -> None:
-        t_ns = time.time_ns()
+        t_ns = wall_ns()
         try:
             m = deserialize_message(data, FicTracFrame)
         except Exception:
             self._record(FICTRAC_FRAME_TOPIC, data)
             return
-        self.stats["fictrac"].seen(int(m.rx_epoch_ms) if m.rx_epoch_ms else None)
+        self.stats["fictrac"].seen(int(m.rx_epoch_ms) if m.rx_epoch_ms else None, int(m.rx_mono_ns) if m.rx_mono_ns else None)
         # The closed-loop math stays bridge 3.4's byte for byte: it parses the verbatim line
         # the typed message carries. The typed fields are for ROS-native consumers + the bag.
         self._loop.call_soon_threadsafe(self._queue.put_nowait, (m.raw, FICTRAC_FRAME_TOPIC, data, t_ns))
@@ -583,16 +597,16 @@ def _fictrac_typed(self, data: bytes) -> None:
     # record is made on the loop together with the line (RecordingLogWriter.record_device);
     # only a message that can never become a line is recorded here on arrival.
     def _kinefly(self, data: bytes) -> None:
-        t_ns = time.time_ns()
+        t_ns = wall_ns()
         env = self._envelope(data)
         if env is None or not isinstance(env.get("raw"), str):
             self._record(KINEFLY_TOPIC, data)
             return
-        self.stats["kinefly"].seen(env.get("rx_epoch_ms"))
+        self.stats["kinefly"].seen(env.get("rx_epoch_ms"), env.get("rx_mono_ns"))
         self._loop.call_soon_threadsafe(self._on_kinefly, env, data, t_ns)
 
     def _bias(self, kind: str, topic: str, data: bytes) -> None:
-        t_ns = time.time_ns()
+        t_ns = wall_ns()
         env = self._envelope(data)
         if env is None:
             self._record(topic, data)
@@ -885,6 +899,9 @@ def main(argv: list[str] | None = None) -> int:
         p.error("--coupling must be finite")
     if not (math.isfinite(args.ball_mm) and args.ball_mm > 0):
         p.error("--ball-mm must be > 0")
+    if os.name == "nt":
+        print(f"[bridge-node] Windows clocks: precise wall clock for every stamp; 1 ms system timer "
+              f"{'granted' if raise_timer_resolution() else 'NOT granted'}", file=sys.stderr)
     rclpy.init(args=ros_args)
     try:
         asyncio.run(run(args))
diff --git a/ros2-poc/nodes/fictrac_udp_adapter.py b/ros2-poc/nodes/fictrac_udp_adapter.py
index 81a6fc86..2b4f0065 100644
--- a/ros2-poc/nodes/fictrac_udp_adapter.py
+++ b/ros2-poc/nodes/fictrac_udp_adapter.py
@@ -42,7 +42,7 @@
 from rclpy.node import Node
 from std_msgs.msg import String
 
-from _common import RELIABLE_QOS, probe_interfaces, spin, wrap_line
+from _common import RELIABLE_QOS, mono_ns, probe_interfaces, raise_timer_resolution, spin, wall_ms, wrap_line
 
 _IFACES = probe_interfaces()  # import + serialize; None → String only
 HAVE_IFACES = _IFACES is not None
@@ -95,7 +95,7 @@ def __init__(self, host: str, port: int, status_every_s: float, typed: str = "au
 
     def _publish(self, raw: str) -> None:
         self.seq += 1
-        rx_ms, rx_ns = int(time.time() * 1000), time.monotonic_ns()
+        rx_ms, rx_ns = wall_ms(), mono_ns()  # precise on Windows too (_common "clocks")
         if self.pub is not None:
             msg = String()
             msg.data = wrap_line("fictrac", self.seq, raw, rx_ms, rx_ns)
@@ -151,6 +151,7 @@ def main(argv: list[str] | None = None) -> int:
                    help="also publish /fictrac/frame as arena_interfaces/FicTracFrame (auto: when the package imports; only: drop /fictrac/raw)")
     # ros2 run / launch pass --ros-args; keep them for rclpy.
     args, ros_args = p.parse_known_args(argv)
+    raise_timer_resolution()  # Windows: 1 ms system timer for this process (_common "clocks")
     rclpy.init(args=ros_args)
     node = FicTracUdpAdapter(args.host, args.port, args.status_every, args.typed)
     spin(node)
diff --git a/ros2-poc/nodes/kinefly_udp_adapter.py b/ros2-poc/nodes/kinefly_udp_adapter.py
index b6d48237..7aab68f9 100644
--- a/ros2-poc/nodes/kinefly_udp_adapter.py
+++ b/ros2-poc/nodes/kinefly_udp_adapter.py
@@ -35,7 +35,7 @@
 from rclpy.node import Node
 from std_msgs.msg import String
 
-from _common import RELIABLE_QOS, spin, wrap_line
+from _common import RELIABLE_QOS, mono_ns, raise_timer_resolution, spin, wall_ms, wrap_line
 
 TOPIC = "/kinefly/raw"
 DEFAULT_PORT = 60001
@@ -90,7 +90,7 @@ def _recv_loop(self) -> None:
                 continue
             except OSError:
                 break
-            rx_epoch_ms, rx_mono_ns = int(time.time() * 1000), time.monotonic_ns()
+            rx_epoch_ms, rx_mono_ns = wall_ms(), mono_ns()  # precise on Windows too (_common "clocks")
             why = kf1_reject_reason(data)
             if why is not None:
                 self.rejected += 1
@@ -126,6 +126,7 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--port", type=int, default=DEFAULT_PORT, help=f"UDP bind port — Kinefly's --udp destination (default: {DEFAULT_PORT})")
     p.add_argument("--status-every", type=float, default=5.0, help="stderr rate line interval in s; 0 = off (default: 5)")
     args, ros_args = p.parse_known_args(argv)
+    raise_timer_resolution()  # Windows: 1 ms system timer for this process (_common "clocks")
     rclpy.init(args=ros_args)
     node = KineflyUdpAdapter(args.host, args.port, args.status_every)
     spin(node)
diff --git a/ros2-poc/nodes/recorder.py b/ros2-poc/nodes/recorder.py
index 8d38dfb8..d07ec6da 100644
--- a/ros2-poc/nodes/recorder.py
+++ b/ros2-poc/nodes/recorder.py
@@ -36,6 +36,8 @@
 from rclpy.serialization import serialize_message
 from std_msgs.msg import String
 
+from _common import wall_ns  # the precise wall clock on Windows (time.time_ns elsewhere)
+
 STRING_TYPE = "std_msgs/msg/String"
 
 PROFILES = {
@@ -96,7 +98,7 @@ def write_raw(self, topic: str, data: bytes, t_ns: int | None = None, pub_ns: in
         """Record already-serialized CDR bytes (a raw subscription's payload). `t_ns` = the
         recorder's receive time (MCAP log_time; default now); `pub_ns` = the producer's own
         stamp when it has one (MCAP publish_time; the closed-loop node's sample time)."""
-        log_ns = time.time_ns() if t_ns is None else t_ns
+        log_ns = wall_ns() if t_ns is None else t_ns
         with self._lock:
             if self._w is None:
                 if self._pending is not None:  # open() in progress: keep, write once open

From 63adb30d071353e811418de62db0715b5648b8a9 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 13:34:57 -0400
Subject: [PATCH 52/96] =?UTF-8?q?ros2-poc=20WINDOWS-TEST:=20ww18=20results?=
 =?UTF-8?q?=20=E2=80=94=20Windows=20clocks=20section=20(trade-offs=20for?=
 =?UTF-8?q?=20review)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/windows-results-ww18-2026-10-15.md | 39 ++++++++++++++++++++-
 1 file changed, 38 insertions(+), 1 deletion(-)

diff --git a/ros2-poc/windows-results-ww18-2026-10-15.md b/ros2-poc/windows-results-ww18-2026-10-15.md
index 637863a3..493ce258 100644
--- a/ros2-poc/windows-results-ww18-2026-10-15.md
+++ b/ros2-poc/windows-results-ww18-2026-10-15.md
@@ -28,7 +28,7 @@ at the keyboard. Step 1b (typed build) is blocked on an admin install (below).**
 | W6 | 6 | **Ctrl-C on `pixi run rig` killed the bridge node instead of stopping it**: no `shutting down` line, shadow file ended on a FicTrac row (no `logging_stopped`), the open run's bag got **no `metadata.yaml`** (649 KB unindexed). `CTRL_BREAK_EVENT` (rig.py / harness stop signal) ends a Python process at once by default, and `loop.add_signal_handler` is not implemented on Windows. | **fixed** 4935732 (SIGBREAK handler) — after: `[bridge-node] shutting down`, `[record] closed … 973 records, 95255 B`, `metadata.yaml` written, nothing lingers |
 | W7 | 6 | Second `pixi run rig`: the refusal listed 8765 + 60000 but **not 7447** with a router listening. `port_in_use()` sets `SO_REUSEADDR`, which on Windows lets the probe bind over a live listener (zenohd; asyncio's socket is exclusive, so 8765 was caught). | **fixed** 4935732 (plain bind on Windows; TIME_WAIT does not block it — checked) |
 | W8 | 4 | **Two programs can hold port 5010 at once**: real BIAS on `0.0.0.0:5010` + `[::]:5010`, and a harness `bias_sim` on `127.0.0.1:5010`; loopback clients get the more specific socket, i.e. the SIM. Seen by accident (a probe answered by the sim). On Windows Qt's listener shares its address, so NO bind probe sees it — plain, wildcard and `SO_EXCLUSIVEADDRUSE` binds of 5010 all succeeded next to BIAS; only a connect does. | **fixed** cbd0d31 — bias_sim refuses when its port answers, binds exclusively on Windows, reports `"sim": true`; rig.py confirms a "free" TCP port with a connect on Windows; the harness uses a free port for its sim |
-| W9 | all | `time.monotonic()` = `GetTickCount64`, resolution **15.625 ms** (Python 3.12.15); every `rtt_ms` the BIAS node reports is quantized (0 / 15 / 16 / 31 ms seen). `time.time()` (all run-log `ms`, bridge 3.4 too) reports the same nominal resolution; today's logs were fine (FicTrac row deltas 19/20/21 ms) because something on the PC raised the timer rate — a rig where nothing does would log 15.6 ms steps. | **fixed** cc603f6 for durations (`perf_counter`: BIAS RTTs, bag open / convert / reindex times); `time.time()` stamps open (`GetSystemTimePreciseAsFileTime` is Python 3.13+) |
+| W9 | all | `time.monotonic()` = `GetTickCount64`, resolution **15.625 ms** (Python 3.12.15); every `rtt_ms` the BIAS node reports is quantized (0 / 15 / 16 / 31 ms seen). `time.time()` (all run-log `ms`, bridge 3.4 too) reports the same nominal resolution; today's logs were fine (FicTrac row deltas 19/20/21 ms) because something on the PC raised the timer rate — a rig where nothing does would log 15.6 ms steps. | **fixed** cc603f6 for durations (`perf_counter`: BIAS RTTs, bag open / convert / reindex times), and for stamps by the "Windows clocks" commit (precise wall clock, perf-counter latency, 1 ms timer — trade-offs below) |
 | X1 | 3 | (cross-platform) converter put a device row recorded in the same ms as `logging_stopped` AFTER it (`live 2238 vs conv 2239`). | **fixed** 6250cdb, revised in 667e538: such a line is moved before the stop (`moved_before_stop`), since after X2 every derived record precedes it |
 | X2 | 3 | (cross-platform) the mirror race at run START: the ROS thread recorded device messages on arrival (`_kinefly` → `rec.write_raw`, dropped while `self.rec` is None) while the live line is written later on the asyncio loop, which is busy in `_open` — so the shadow file could hold a device row the bag never saw (`live 2237 vs conv 2236`, `["kf",2,162,…]`; 1 run in 4). Same mechanism for FicTrac: `FAIL bag → full level: one fictrac_frame per frame with the 25 FicTrac columns … — 922 frames vs 922; cols [0, 25]` (the run's first frame recorded, its `/fictrac/raw` message not; 1 run in 5). | **fixed** 667e538 — Kinefly, BIAS reply/status and FicTrac messages are recorded on the loop next to their line, under the shadow writer's open gate (`record_device`), with the ROS receive time kept as the MCAP log_time; FicTrac after `handle_line`, off the closed-loop path. **5 runs in a row 45 / 45**, derived counts equal every run |
 | B1 | 4 probe | This BIAS's `set-video-file` uses `baseName()` and the logging format's extension: `poc.avi` → `poc.ufmf`; `my trial.v2.avi` → `my trial.ufmf` (silently truncated at the first dot). | info for bias_node / protocol authors |
@@ -42,6 +42,41 @@ live file) ranged 4–861 of ~2240. It tracks how many Kinefly rows share a mill
 the converter's unbreakable tie: 40 % in the 861 run, 0–2 % in the others. On Windows the 10 ms and 20 ms senders
 can wake on the same timer tick.
 
+### Windows clocks — what changed and the trade-offs (for review)
+
+Measured on ww18 with nothing raising the timer (`NtQueryTimerResolution` current = 15.625 ms):
+
+| clock | step as found | after `timeBeginPeriod(1)` |
+|---|---|---|
+| `time.time()` (bridge 3.4's `now_ms()`, every run-log `ms`) | ~15.6 ms, 2.3 ms behind true time | 1 ms |
+| `GetSystemTimePreciseAsFileTime` | **1 µs** | 1 µs |
+| `time.monotonic()` | 15–16 ms | 15–16 ms (unaffected) |
+| `time.perf_counter()` | < 1 µs | < 1 µs |
+
+The PoC now uses, on Windows only (`_common.py`; macOS/Linux unchanged):
+
+1. **Precise wall clock for every stamp** (`wall_ns` / `wall_ms` = `GetSystemTimePreciseAsFileTime`, what
+   Python 3.13 made `time.time()`; RoboStack Jazzy pins 3.12): the bridge node rebinds bridge 3.4's module
+   `now_ms` in its own process (the file is unchanged), plus the recorder's `log_time`, the adapters'
+   `rx_epoch_ms` and the BIAS node's stamps. Cost 0.42 µs per call (ctypes) at a few hundred stamps/s — nothing.
+   Trade-off: none found. It is still wall-clock time, so a clock correction (NTP/w32time) moves it exactly as before.
+2. **The perf counter for cross-process latency** (`mono_ns` = `perf_counter_ns`, adapter `rx_mono_ns` vs the
+   bridge's): one system-wide counter (4 processes agreed within 3.3 µs). `connector_status` FicTrac latency is
+   now exact — p50 0.27–0.30 ms, p99 0.55–0.65 ms — instead of carrying the 0–1 ms floor of whole-ms stamps.
+   Trade-off: only valid with adapter and bridge on ONE host (always true for this loopback-only graph) and the
+   same code; out-of-range values fall back to the wall-clock difference. BIAS envelopes have no counter stamp yet.
+3. **A 1 ms system timer** (`timeBeginPeriod(1)` in the bridge node, both adapters and the BIAS node, plus the
+   Windows 11 opt-out so a minimized console keeps it). Trade-offs: (a) the timer interrupt runs at 1 kHz while
+   any of these processes is up, which costs power — irrelevant on a mains-powered rig PC, a battery cost on a
+   laptop; (b) it does NOT sharpen the closed loop, which is event-driven (UDP → ROS → loop wake-ups) — it sharpens
+   waits and timeouts (asyncio, socket, rcl) and incidentally `time.time()` in every process on the PC (so
+   bridge 3.4 too while the graph runs). Harness frame lag p99 1.02–1.05 ms over 5 runs (1.0–1.9 ms before) —
+   possibly this, possibly noise. **Easy to drop** if you prefer: one call per process.
+
+Not covered: **bridge 3.4 itself** (Production) still stamps with `time.time()`, so on an idle Windows rig PC its
+run logs are 15.6 ms-quantized unless something else (often Chrome) holds a fast timer. Same two-line fix, but it
+ships through a release PR.
+
 ### Why the Mac runs did not show these
 
 - **Windows-only by construction** (W1–W7, W9): pixi activates through cmd.exe (no `$VAR`); MSVC must be on the
@@ -76,6 +111,8 @@ can wake on the same timer tick.
 | 3.3 | 11:13 | run 3 | **FAIL 44 / 45** | 58.1 s | `live 2237 vs conv 2236` — start race (X2); the stop tie also recurred and was dropped (`dropped_after_stop: 1`) |
 | 3.4 | 11:21 | run 4, after 4935732 | **PASS 45 / 45** | 58.9 s | derived 2243 == 2243, Δms p99 1 / max 7 |
 | 3.5x | 11:50 | 5 runs after the first X2 fix (Kinefly + BIAS on the loop) | 4 × 45/45, 1 × 44/45 | 53–58 s each | derived counts equal in all 5; run 5: `bag → full level … cols [0, 25]` → the same race on `/fictrac/raw` (X2) |
+| 3.7x | 13:26 | 5 runs, precise clocks + 1 ms timer | **5 × PASS 45 / 45** | 52.4–58.2 s | frame lag p99 1.044 / 1.052 / 1.052 / 1.024 / 1.051 ms; bridge log `Windows clocks: precise wall clock for every stamp; 1 ms system timer granted` |
+| 3.8x | 13:35 | 3 runs, + perf-counter latency | **3 × PASS 45 / 45** | 53.2–58.8 s | `connector_status` fictrac lat p50 0.27 / 0.30 / 0.27, p99 0.55 / 6.92 / 0.65 ms (6.92: the run with the adapter-kill window); kinefly p50 0.29–0.33 |
 | 3.6x | 11:56 | **5 runs in a row, final X2 + W8 + W9** | **5 × PASS 45 / 45** | 53.3–58.1 s each | derived 2243/2240/2248/2242/2246, equal live vs conv every run; Δms p99 1 / max 2–8; frame lag p99 1.00 / 1.67 / 1.55 / 1.89 / 1.51 ms; harness sim on a free port (BIAS open on 5010 throughout); no permission errors |
 | 3.5 | — | crash phase (run 2) | PASS | — | crashsafe: NDJSON 616 lines / 157 frames (last 3117 ms) vs bag `--recover` 611 lines / 156 frames (last 3097 ms), torn: true → **1 frame lost** (Mac: 1). default: NDJSON 157 frames; bag `.mcap` 0 B, `[convert] ValueError: no session-open record on /arena/session (not a bridge-node bag, or the open record was lost)`. `info typed topics: False`. Process groups, CTRL_BREAK, TerminateProcess, concurrent file reads, PYTHONUTF8, MCAP under a Windows path: all fine |
 | 6.1 | 11:17 | second `pixi run rig` | PASS* | — | one clear `[rig] cannot start, ports already bound:` + `tcp 127.0.0.1:8765 …` + `udp 127.0.0.1:60000 …`, no traceback; *7447 missing (W7). After the fix, all three listed |

From 5b0fcfb598acbef112d920de3f3ab76bbe2961bf Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 15:37:54 -0400
Subject: [PATCH 53/96] ros2-poc WINDOWS-TEST step 4: a slow-command timeout
 for the camera

ww18, Atlas10 BIAS: `connect` answers after 2.18 s (camera discovery +
transport setup), past the node's 2 s per-call timeout, so a connect that
succeeded came back `outcome: "unknown"` (exit 3) while get-status already
said connected. SLOW_HTTP (connect, disconnect, load-configuration,
start-capture, stop-capture, close) now use --slow-timeout-s (default 15);
status polls and timestamps keep the 2 s timeout, so a dead BIAS is still
reported within seconds.

Measured after: connect 2178 ms ok, startRecording 140 ms (start-capture
116), getTimestamp 11 ms, stopRecording 263 ms (stop-capture 258); through
the Studio connect 2196 ms ok.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/nodes/bias_node.py | 21 ++++++++++++++++-----
 1 file changed, 16 insertions(+), 5 deletions(-)

diff --git a/ros2-poc/nodes/bias_node.py b/ros2-poc/nodes/bias_node.py
index 2c4dad53..ab430104 100644
--- a/ros2-poc/nodes/bias_node.py
+++ b/ros2-poc/nodes/bias_node.py
@@ -19,7 +19,8 @@
 run log as `{"type":"connector","src":"bias",…}` events, so the video file identity
 (`artifact`) and every command/reply pair sit in the same file as the FicTrac rows.
 
-LAB-303 semantics carried here: `timeout_s` per HTTP call; a timeout is an UNKNOWN outcome
+LAB-303 semantics carried here: `timeout_s` per HTTP call (`slow_timeout_s` for the camera /
+writer commands in SLOW_HTTP — a real camera connect takes seconds); a timeout is an UNKNOWN outcome
 (`outcome: "unknown"`), after which the node reconciles with `get-status` before anything
 else. `critical` / `on_loss` are the runner's decision (the Studio side, shared by both
 plans) — the node only reports.
@@ -52,20 +53,28 @@
 STATUS_TOPIC = "/bias/status"
 QOS = RELIABLE_QOS
 PLUGIN_COMMANDS = ("connect", "startRecording", "stopRecording", "startPreview", "stopCapture", "getTimestamp", "disconnect")
+# HTTP commands that touch the camera or the video writer and can legitimately take seconds:
+# the Atlas10 BIAS on ww18 answers `connect` after 2.18 s (camera discovery + transport setup),
+# past the 2 s per-call timeout, so a successful connect came back `outcome: "unknown"`.
+SLOW_HTTP = frozenset({"connect", "disconnect", "load-configuration", "start-capture", "stop-capture", "close"})
 
 
 class BiasHttp:
     """Blocking HTTP client for BIAS's command port. One command per request."""
 
-    def __init__(self, host: str, port: int, timeout_s: float) -> None:
+    def __init__(self, host: str, port: int, timeout_s: float, slow_timeout_s: float | None = None) -> None:
         self.host = host
         self.port = port
         self.timeout_s = timeout_s
+        self.slow_timeout_s = max(timeout_s, slow_timeout_s if slow_timeout_s is not None else timeout_s)
 
     @property
     def base(self) -> str:
         return f"http://{self.host}:{self.port}/"
 
+    def timeout_for(self, command: str) -> float:
+        return self.slow_timeout_s if command in SLOW_HTTP else self.timeout_s
+
     def call(self, command: str, value: str | None = None) -> dict:
         """→ {"command", "ok", "message", "value", "rtt_ms"} or raises TimeoutError / OSError."""
         q = command if value is None else f"{command}={urllib.parse.quote(str(value), safe='/:\\')}"
@@ -74,7 +83,7 @@ def call(self, command: str, value: str | None = None) -> dict:
         # which turned every RTT into 0 / 15 / 16 / 31 ms (ww18 2026-10-15).
         t0 = time.perf_counter()
         try:
-            with urllib.request.urlopen(url, timeout=self.timeout_s) as resp:
+            with urllib.request.urlopen(url, timeout=self.timeout_for(command)) as resp:
                 body = resp.read()
         except urllib.error.URLError as exc:
             if isinstance(exc.reason, TimeoutError) or "timed out" in str(exc.reason):
@@ -230,7 +239,7 @@ def _do_cmd(self, req: dict) -> None:
             except TimeoutError as exc:
                 # UNKNOWN: the command may or may not have taken effect. Reconcile before
                 # anything else runs, and say so.
-                out["steps"].append({"command": http_cmd, "ok": None, "error": f"timeout after {self.http.timeout_s}s"})
+                out["steps"].append({"command": http_cmd, "ok": None, "error": f"timeout after {self.http.timeout_for(http_cmd)}s"})
                 out.update({"ok": False, "outcome": "unknown", "error": str(exc)})
                 self._do_status()
                 break
@@ -261,12 +270,14 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--host", default="127.0.0.1", help="BIAS command-port host (default: 127.0.0.1)")
     p.add_argument("--port", type=int, default=5010, help="BIAS command port (default: 5010)")
     p.add_argument("--timeout-s", type=float, default=2.0, help="per-HTTP-call timeout; a timeout is an UNKNOWN outcome (default: 2)")
+    p.add_argument("--slow-timeout-s", type=float, default=15.0,
+                   help=f"timeout for the camera/writer commands ({', '.join(sorted(SLOW_HTTP))}); default: 15")
     p.add_argument("--status-every", type=float, default=1.0, help="get-status poll period in s; 0 = off (default: 1)")
     p.add_argument("--video-dir", default=None, help="directory a RELATIVE startRecording filename is resolved against (default: pass through + warn)")
     args, ros_args = p.parse_known_args(argv)
     raise_timer_resolution()  # Windows: 1 ms system timer for this process (_common "clocks")
     rclpy.init(args=ros_args)
-    node = BiasNode(BiasHttp(args.host, args.port, args.timeout_s), args.status_every, video_dir=args.video_dir)
+    node = BiasNode(BiasHttp(args.host, args.port, args.timeout_s, args.slow_timeout_s), args.status_every, video_dir=args.video_dir)
     spin(node)
     print(f"[bias-node] {node.commands} commands handled", file=sys.stderr)
     return 0

From a0634f1642e01dc482e8718e507209662474982f Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 15:37:54 -0400
Subject: [PATCH 54/96] ros2-poc WINDOWS-TEST step 5: keep backslashes in
 rig.py's --x-args on Windows

`pixi run rig -- --bias --bias-args "--video-dir D:\rec\reiserm\ros2-poc"`
(WINDOWS-TEST.md's own step-5 form) handed the BIAS node
`D:recreisermros2-poc`: POSIX shlex treats `\` as an escape. The run's
startRecording reply carried `"filename":"D:recreisermros2-poc\\poc_studio_run.avi"`
and BIAS wrote the video to D:\recreisermros2-poc\. split_args() splits
without escapes on Windows and drops the quotes around a token, so
`"C:\My Videos\x"` works too; POSIX behaviour unchanged. Applies to
--bias-args, --bridge-args, --fictrac-args, --kinefly-args, --sim-args.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/nodes/rig.py | 20 +++++++++++++++-----
 1 file changed, 15 insertions(+), 5 deletions(-)

diff --git a/ros2-poc/nodes/rig.py b/ros2-poc/nodes/rig.py
index 418a727e..41273cd1 100644
--- a/ros2-poc/nodes/rig.py
+++ b/ros2-poc/nodes/rig.py
@@ -68,6 +68,16 @@ def port_in_use(proto: str, port: int, host: str = "127.0.0.1") -> bool:
     return False
 
 
+def split_args(s: str) -> list[str]:
+    """`--x-args "…"` → argv. POSIX shlex treats `\\` as an escape, so on Windows
+    `--video-dir D:\\rec\\reiserm\\ros2-poc` became the drive-relative `D:recreisermros2-poc`
+    and BIAS wrote the run's video there (ww18 2026-10-15). Windows: split without escapes,
+    then drop the quotes around a token ("C:\\My Videos\\x")."""
+    if os.name != "nt":
+        return shlex.split(s)
+    return [t[1:-1] if len(t) >= 2 and t[0] == t[-1] and t[0] in "\"'" else t for t in shlex.split(s, posix=False)]
+
+
 class Child:
     def __init__(self, name: str, argv: list[str]) -> None:
         self.name = name
@@ -174,15 +184,15 @@ def main(argv: list[str] | None = None) -> int:
     if not args.no_router:
         children.append(Child("router", ["ros2", "run", "rmw_zenoh_cpp", "rmw_zenohd"]))
     nodes: list[Child] = [
-        Child("fictrac", [py, str(NODES / "fictrac_udp_adapter.py"), *shlex.split(args.fictrac_args)]),
+        Child("fictrac", [py, str(NODES / "fictrac_udp_adapter.py"), *split_args(args.fictrac_args)]),
     ]
     if args.kinefly:
-        nodes.append(Child("kinefly", [py, str(NODES / "kinefly_udp_adapter.py"), *shlex.split(args.kinefly_args)]))
+        nodes.append(Child("kinefly", [py, str(NODES / "kinefly_udp_adapter.py"), *split_args(args.kinefly_args)]))
     if args.bias_sim:
         nodes.append(Child("bias-sim", [py, str(NODES / "bias_sim.py")]))
     if args.bias:
-        nodes.append(Child("bias", [py, str(NODES / "bias_node.py"), *shlex.split(args.bias_args)]))
-    bridge = Child("bridge", [py, str(NODES / "bridge_node.py"), *shlex.split(args.bridge_args)])
+        nodes.append(Child("bias", [py, str(NODES / "bias_node.py"), *split_args(args.bias_args)]))
+    bridge = Child("bridge", [py, str(NODES / "bridge_node.py"), *split_args(args.bridge_args)])
     nodes.append(bridge)
     if foxglove:
         # The pixi task from the `viz` environment (`ros2 run foxglove_bridge foxglove_bridge
@@ -190,7 +200,7 @@ def main(argv: list[str] | None = None) -> int:
         # packages; RMW_IMPLEMENTATION + the Zenoh configs pass through the environment.
         nodes.append(Child("foxglove", [pixi, "run", "--manifest-path", str(ROOT / "pixi.toml"), "-e", "viz", "foxglove-bridge"]))
     if args.sim:
-        nodes.append(Child("sim", [py, str(SIM), *shlex.split(args.sim_args)]))
+        nodes.append(Child("sim", [py, str(SIM), *split_args(args.sim_args)]))
 
     stop = threading.Event()
     for sig in (signal.SIGINT, signal.SIGTERM):

From 7f4fd5a75ca4254c3069ab6229013c6c5af2eb29 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 15:37:54 -0400
Subject: [PATCH 55/96] ros2-poc WINDOWS-TEST step 5: ww18 protocol variants on
 the site 2x10 grating

ww18's controller card held none of the Mac bench card's patterns (the old
card was not even mounted: GET_SD_INFO status 1, 0 sectors). The new 64 GB
exFAT card got the site library's G6 2x10 set (patterns/g6_2x10/patterns,
slots 1-4) plus the four top-row color gratings (slots 5-8).

- bias_camera_closed_loop_poc_ww18: bias_camera_closed_loop_poc with both
  closed-loop trialParams on `grating_sq` (002_grating_sq.pat, slot 2,
  20 frames) instead of G6_2x10_grat_rot_20px_50pct_4c-B-Y.
- bias_camera_closed_loop_poc_ww18_soak10: the same with cl_dur 300 s
  (~10.5 min run).

Run on ww18 with real FicTrac (96 Hz) + Atlas10 BIAS: 2 epochs, idx
mismatch 0.00 % / 0.00 %, cc_0x70_ok 2893, fidelity exact.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 .../bias_camera_closed_loop_poc_ww18.yaml     | 139 +++++++++++++++++
 ...as_camera_closed_loop_poc_ww18_soak10.yaml | 140 ++++++++++++++++++
 protocols/index.json                          |  10 ++
 3 files changed, 289 insertions(+)
 create mode 100644 protocols/bias_camera_closed_loop_poc_ww18.yaml
 create mode 100644 protocols/bias_camera_closed_loop_poc_ww18_soak10.yaml

diff --git a/protocols/bias_camera_closed_loop_poc_ww18.yaml b/protocols/bias_camera_closed_loop_poc_ww18.yaml
new file mode 100644
index 00000000..7a3d89c9
--- /dev/null
+++ b/protocols/bias_camera_closed_loop_poc_ww18.yaml
@@ -0,0 +1,139 @@
+version: 3
+# ww18 variant (2026-10-15): the site library's G6 2x10 rotating square grating, SD slot 2
+# (patterns/g6_2x10/patterns/002_grating_sq.pat, 20 frames), in place of the Mac bench card's
+# G6_2x10_grat_rot_20px_50pct_4c-B-Y. Otherwise identical to bias_camera_closed_loop_poc.yaml.
+
+# BIAS camera + FicTrac closed loop through the ROS 2 bridge node (LAB-303 connectors).
+# The `camera` plugin (BiasPlugin) is driven by the WEB runner: each command goes to the
+# bridge as connector_command, the bridge's BIAS node runs it over BIAS's HTTP port, and
+# the reply (with the video artifact for startRecording) lands in the run log.
+#
+#   cam_start : connect → startRecording (one video for the whole run) → getTimestamp
+#   2 closed-loop trials (none, then a constant +90°/s bias), 15 s each
+#   cam_sync  : getTimestamp (a mid-run sync point against the bridge clock)
+#   cam_stop  : getTimestamp → stopRecording
+#
+# Video path: relative to the bias node's --video-dir (like MATLAB's experiment folder).
+
+experiment_info:
+  name: "BIAS camera + closed loop — ROS 2 PoC, Windows rig ww18 (LAB-303)"
+  author: "webDisplayTools"
+
+rig: "./configs/rigs/cshl_g6_2x10_ball.yaml"
+
+plugins:
+  - name: "fictrac"
+    type: "class"
+    matlab:
+      class: "FicTracPlugin"
+    config:
+      bridge_url: "ws://localhost:8765"
+      fictrac_port: 60000
+      proto: "udp"
+      offset: 0
+  - name: "camera"
+    type: "class"
+    matlab:
+      class: "BiasPlugin"
+
+variables:
+  cl_dur: &cl_dur 15
+
+experiment:
+  - name: "camera_run"
+    trials:
+      - "cam_start"
+      - "cl_bias_none"
+      - "cam_sync"
+      - "cl_bias_constant"
+      - "cam_stop"
+    repetitions: 1
+  - "shutdown"
+
+conditions:
+  - name: "cam_start"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "connect"
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "startRecording"
+        params:
+          filename: "poc_studio_run.avi"
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "wait"
+        duration: 1
+
+  - name: "cl_bias_none"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "grating_sq"
+        pattern_ID: 2
+        duration: *cl_dur
+        mode: 3
+        frame_index: 0
+        frame_rate: 0
+        gain: 0
+      - type: "plugin"
+        plugin_name: "fictrac"
+        command_name: "startClosedLoop"
+        params:
+          bias_type: "none"
+      - type: "wait"
+        duration: *cl_dur
+      - type: "plugin"
+        plugin_name: "fictrac"
+        command_name: "stopClosedLoop"
+
+  - name: "cam_sync"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "wait"
+        duration: 1
+
+  - name: "cl_bias_constant"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "grating_sq"
+        pattern_ID: 2
+        duration: *cl_dur
+        mode: 3
+        frame_index: 0
+        frame_rate: 0
+        gain: 0
+      - type: "plugin"
+        plugin_name: "fictrac"
+        command_name: "startClosedLoop"
+        params:
+          bias_type: "constant"
+          bias_amplitude: 90
+      - type: "wait"
+        duration: *cl_dur
+      - type: "plugin"
+        plugin_name: "fictrac"
+        command_name: "stopClosedLoop"
+
+  - name: "cam_stop"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "stopRecording"
+      - type: "wait"
+        duration: 1
+
+  - name: "shutdown"
+    commands:
+      - type: "controller"
+        command_name: "stopDisplay"
+      - type: "controller"
+        command_name: "allOff"
diff --git a/protocols/bias_camera_closed_loop_poc_ww18_soak10.yaml b/protocols/bias_camera_closed_loop_poc_ww18_soak10.yaml
new file mode 100644
index 00000000..1cdcd5c8
--- /dev/null
+++ b/protocols/bias_camera_closed_loop_poc_ww18_soak10.yaml
@@ -0,0 +1,140 @@
+version: 3
+# ww18 SOAK variant (2026-10-15): both closed-loop epochs 300 s (~10 min run).
+# ww18 variant (2026-10-15): the site library's G6 2x10 rotating square grating, SD slot 2
+# (patterns/g6_2x10/patterns/002_grating_sq.pat, 20 frames), in place of the Mac bench card's
+# G6_2x10_grat_rot_20px_50pct_4c-B-Y. Otherwise identical to bias_camera_closed_loop_poc.yaml.
+
+# BIAS camera + FicTrac closed loop through the ROS 2 bridge node (LAB-303 connectors).
+# The `camera` plugin (BiasPlugin) is driven by the WEB runner: each command goes to the
+# bridge as connector_command, the bridge's BIAS node runs it over BIAS's HTTP port, and
+# the reply (with the video artifact for startRecording) lands in the run log.
+#
+#   cam_start : connect → startRecording (one video for the whole run) → getTimestamp
+#   2 closed-loop trials (none, then a constant +90°/s bias), 15 s each
+#   cam_sync  : getTimestamp (a mid-run sync point against the bridge clock)
+#   cam_stop  : getTimestamp → stopRecording
+#
+# Video path: relative to the bias node's --video-dir (like MATLAB's experiment folder).
+
+experiment_info:
+  name: "BIAS camera + closed loop — ROS 2 PoC, Windows rig ww18, 10-min soak (2 x 300 s closed loop) (LAB-303)"
+  author: "webDisplayTools"
+
+rig: "./configs/rigs/cshl_g6_2x10_ball.yaml"
+
+plugins:
+  - name: "fictrac"
+    type: "class"
+    matlab:
+      class: "FicTracPlugin"
+    config:
+      bridge_url: "ws://localhost:8765"
+      fictrac_port: 60000
+      proto: "udp"
+      offset: 0
+  - name: "camera"
+    type: "class"
+    matlab:
+      class: "BiasPlugin"
+
+variables:
+  cl_dur: &cl_dur 300
+
+experiment:
+  - name: "camera_run"
+    trials:
+      - "cam_start"
+      - "cl_bias_none"
+      - "cam_sync"
+      - "cl_bias_constant"
+      - "cam_stop"
+    repetitions: 1
+  - "shutdown"
+
+conditions:
+  - name: "cam_start"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "connect"
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "startRecording"
+        params:
+          filename: "poc_studio_run.avi"
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "wait"
+        duration: 1
+
+  - name: "cl_bias_none"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "grating_sq"
+        pattern_ID: 2
+        duration: *cl_dur
+        mode: 3
+        frame_index: 0
+        frame_rate: 0
+        gain: 0
+      - type: "plugin"
+        plugin_name: "fictrac"
+        command_name: "startClosedLoop"
+        params:
+          bias_type: "none"
+      - type: "wait"
+        duration: *cl_dur
+      - type: "plugin"
+        plugin_name: "fictrac"
+        command_name: "stopClosedLoop"
+
+  - name: "cam_sync"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "wait"
+        duration: 1
+
+  - name: "cl_bias_constant"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: "grating_sq"
+        pattern_ID: 2
+        duration: *cl_dur
+        mode: 3
+        frame_index: 0
+        frame_rate: 0
+        gain: 0
+      - type: "plugin"
+        plugin_name: "fictrac"
+        command_name: "startClosedLoop"
+        params:
+          bias_type: "constant"
+          bias_amplitude: 90
+      - type: "wait"
+        duration: *cl_dur
+      - type: "plugin"
+        plugin_name: "fictrac"
+        command_name: "stopClosedLoop"
+
+  - name: "cam_stop"
+    commands:
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "getTimestamp"
+      - type: "plugin"
+        plugin_name: "camera"
+        command_name: "stopRecording"
+      - type: "wait"
+        duration: 1
+
+  - name: "shutdown"
+    commands:
+      - type: "controller"
+        command_name: "stopDisplay"
+      - type: "controller"
+        command_name: "allOff"
diff --git a/protocols/index.json b/protocols/index.json
index 86d2afee..31457afb 100644
--- a/protocols/index.json
+++ b/protocols/index.json
@@ -58,6 +58,16 @@
       "label": "BIAS camera + FicTrac closed loop through the ROS 2 bridge (LAB-303 spike, ~40 s)",
       "path": "./protocols/bias_camera_closed_loop_poc.yaml"
     },
+    {
+      "key": "bias_camera_closed_loop_poc_ww18",
+      "label": "BIAS camera + FicTrac closed loop, ROS 2 bridge — ww18 variant (site 2x10 grating_sq, slot 2)",
+      "path": "./protocols/bias_camera_closed_loop_poc_ww18.yaml"
+    },
+    {
+      "key": "bias_camera_closed_loop_poc_ww18_soak10",
+      "label": "BIAS + FicTrac closed loop, ROS 2 bridge - ww18 10-min soak (2 x 300 s, grating_sq slot 2)",
+      "path": "./protocols/bias_camera_closed_loop_poc_ww18_soak10.yaml"
+    },
     {
       "key": "g6_color_optomotor_test",
       "label": "Color optomotor test — one LED color at a time, top row, 25/50/100 % duty (G6 four-color, BIAS, ~18 min)",

From 2584e035cc3a797d454256385c8f12cd108537b9 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 16:05:54 -0400
Subject: [PATCH 56/96] ros2-poc BIAS (B2): the video BIAS really wrote + every
 frame's timestamp in the bag

ww18, Atlas10 BIAS: `get-video-file` answers `<dir>/<stem>.<ext>`, but the
writer adds its auto-naming suffix, so the run log's artifact named
`poc.ufmf` while BIAS wrote `poc_cam_0_date_2026_10_15_time_13_43_10_v001.ufmf`.
And the per-frame timestamps lived only in BIAS's stamp_log_cam0.txt, which
the NEXT recording overwrites.

- bias_node: the startRecording artifact keeps `requested` and resolves `path`
  when the file already exists; at stopRecording the node resolves the file
  BIAS wrote (newest `<stem>*<ext>` touched since the start), adds `bytes`,
  reads the stamp log once its size is stable and publishes every frame's
  BIAS timestamp on /bias/frames (chunks of 20 000); the reply's artifact
  carries stamp_log {path, frames, first_s, last_s, sha256, bytes, chunks}.
- --status-every default 1 -> 0.2 s (5 Hz): (frameCount, BIAS timeStamp)
  samples on the node's precise clock map BIAS time onto the run timeline;
  A/B on the real BIAS: no effect on start/stop-capture, polls p50 20 ms.
- bridge_node records /bias/frames (bag only; no run-log line).
- bias_sim writes a stamp_log_cam0.txt like BIAS; two harness checks (47).

Real BIAS check: 8 s recording -> artifact path
D:\rec\reiserm\ros2-poc\b2test_cam_0_date_2026_10_15_time_16_03_38_v001.ufmf,
resolved, 8131777 B; stamp_log 1087 frames (0.000-8.010 s) = 1087 lines on
disk = 1087 timestamps on /bias/frames in the bag. stop-capture takes up to
~3 s on short recordings (BIAS's first uFMF background update), inside the
15 s slow timeout. Harness 47/47.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/nodes/bias_node.py     | 95 ++++++++++++++++++++++++++++++++-
 ros2-poc/nodes/bias_sim.py      |  4 ++
 ros2-poc/nodes/bridge_node.py   |  8 ++-
 ros2-poc/tests/test_ros2_poc.py | 18 ++++++-
 4 files changed, 120 insertions(+), 5 deletions(-)

diff --git a/ros2-poc/nodes/bias_node.py b/ros2-poc/nodes/bias_node.py
index ab430104..32c94913 100644
--- a/ros2-poc/nodes/bias_node.py
+++ b/ros2-poc/nodes/bias_node.py
@@ -11,6 +11,8 @@
                       "rx_epoch_ms", "artifact": {"kind":"video","path":…} (startRecording)}
   /bias/status  OUT  every --status-every s: {"reachable", "connected", "capturing",
                       "logging", "frameCount", "framesPerSec", "videoFile", "rtt_ms", …}
+  /bias/frames  OUT  after stopRecording: every frame's BIAS timestamp from its stamp log,
+                      {"video", "stamp_log", "chunk", "chunks", "first_index", "t": […]}
 
 The `command` vocabulary is the protocol's `camera` plugin (js/plugin-registry.js
 BiasPlugin): connect(ip, port, config_file), startRecording(filename), stopRecording,
@@ -32,6 +34,8 @@
 from __future__ import annotations
 
 import argparse
+import glob
+import hashlib
 import json
 import os
 import queue
@@ -51,6 +55,10 @@
 CMD_TOPIC = "/bias/cmd"
 REPLY_TOPIC = "/bias/reply"
 STATUS_TOPIC = "/bias/status"
+# Every frame's BIAS timestamp for a finished recording, read from BIAS's stamp_log_cam<N>.txt at
+# stopRecording: {"video", "stamp_log", "chunk", "chunks", "first_index", "t": [s, …]}, ≤ STAMP_CHUNK each.
+FRAMES_TOPIC = "/bias/frames"
+STAMP_CHUNK = 20000
 QOS = RELIABLE_QOS
 PLUGIN_COMMANDS = ("connect", "startRecording", "stopRecording", "startPreview", "stopCapture", "getTimestamp", "disconnect")
 # HTTP commands that touch the camera or the video writer and can legitimately take seconds:
@@ -108,6 +116,52 @@ def call(self, command: str, value: str | None = None) -> dict:
         }
 
 
+def resolve_video(requested: str, since_epoch_s: float) -> str | None:
+    """The file BIAS actually writes for `requested`, or None. BIAS's `get-video-file` answers
+    `<dir>/<stem>.<ext>`, but its writer adds the auto-naming suffix (`<stem>_cam_0_date_…_v001.<ext>`
+    on the Atlas10 build, a `…_v001` folder on the Mac port), so that path never exists (ww18
+    2026-10-15: artifact `poc.ufmf`, file `poc_cam_0_date_2026_10_15_time_13_43_10_v001.ufmf`).
+    Newest `<stem>*` entry in that folder touched since the recording started; the exact name
+    wins when it exists (bias_sim, or BIAS with auto-naming off)."""
+    if not requested:
+        return None
+    folder, base = os.path.split(os.path.normpath(requested))
+    stem, ext = os.path.splitext(base)
+    if os.path.exists(os.path.join(folder, base)):
+        return os.path.join(folder, base)
+    cands = [p for p in glob.glob(os.path.join(glob.escape(folder), glob.escape(stem) + "*"))
+             if (os.path.isdir(p) or p.lower().endswith(ext.lower())) and os.path.getmtime(p) >= since_epoch_s - 5.0]
+    return max(cands, key=os.path.getmtime) if cands else None
+
+
+def read_stamp_log(folder: str, since_epoch_s: float, settle_s: float = 3.0) -> dict | None:
+    """BIAS's per-frame timestamps for the recording that just stopped: the newest
+    `stamp_log_cam*.txt` in the video folder written since the start (BIAS writes ONE per camera
+    and overwrites it on the next recording, so it has to be read now). Waits until the size is
+    stable — the logger drains its queue after stop-capture. → {path, t: [s…], sha256, bytes}."""
+    cands = [p for p in glob.glob(os.path.join(glob.escape(folder), "stamp_log_cam*.txt"))
+             if os.path.getmtime(p) >= since_epoch_s - 5.0]
+    if not cands:
+        return None
+    path = max(cands, key=os.path.getmtime)
+    end, last = time.monotonic() + settle_s, -1
+    while time.monotonic() < end:
+        size = os.path.getsize(path)
+        if size == last and size > 0:
+            break
+        last = size
+        time.sleep(0.15)
+    with open(path, "rb") as fh:
+        raw = fh.read()
+    t = []
+    for line in raw.decode("ascii", errors="replace").splitlines():
+        try:
+            t.append(float(line.split()[0]))
+        except (ValueError, IndexError):
+            continue
+    return {"path": path, "t": t, "sha256": hashlib.sha256(raw).hexdigest(), "bytes": len(raw)}
+
+
 def plan(command: str, params: dict) -> list[tuple[str, str | None]]:
     """Plugin command → BIAS HTTP steps (the sequence BiasPlugin.m performs)."""
     params = params or {}
@@ -145,6 +199,8 @@ def __init__(self, http: BiasHttp, status_every_s: float, video_dir: str | None
         self.video_dir = video_dir
         self.reply_pub = self.create_publisher(String, REPLY_TOPIC, QOS)
         self.status_pub = self.create_publisher(String, STATUS_TOPIC, QOS)
+        self.frames_pub = self.create_publisher(String, FRAMES_TOPIC, QOS)
+        self._rec: dict | None = None  # the recording in progress: {"requested", "t0"} (startRecording → stopRecording)
         self.create_subscription(String, CMD_TOPIC, self._on_cmd, QOS)
         self._q: queue.Queue = queue.Queue()
         self._status_pending = False  # at most ONE get-status poll waits in the queue
@@ -203,6 +259,32 @@ def _do_status(self) -> None:
         except (TimeoutError, OSError) as exc:
             self._publish(self.status_pub, {"reachable": False, "t_ms": t_ms, "error": str(exc)})
 
+    def _finish_recording(self, cid, out: dict) -> None:
+        """After a successful stopRecording: the final video file (+ size) and every frame's BIAS
+        timestamp — the summary into the reply's `artifact` (so the run log names them), the
+        timestamps themselves on /bias/frames (so the bag holds them)."""
+        rec, self._rec = self._rec, None
+        if rec is None:
+            out["warning"] = "stopRecording without a startRecording from this node: video file and frame timestamps not collected"
+            return
+        video = resolve_video(rec["requested"], rec["t0"])
+        art = {"kind": "video", "path": video or rec["requested"], "requested": rec["requested"], "resolved": video is not None,
+               "program": "bias", "bytes": os.path.getsize(video) if video and os.path.isfile(video) else None}
+        try:
+            sl = read_stamp_log(os.path.dirname(os.path.normpath(video or rec["requested"])), rec["t0"])
+        except OSError as exc:
+            sl, art["stamp_log_error"] = None, str(exc)
+        if sl is not None:
+            t = sl["t"]
+            chunks = max(1, -(-len(t) // STAMP_CHUNK))
+            for k in range(chunks):
+                part = t[k * STAMP_CHUNK:(k + 1) * STAMP_CHUNK]
+                self._publish(self.frames_pub, {"id": cid, "video": art["path"], "stamp_log": sl["path"], "chunk": k, "chunks": chunks,
+                                                "first_index": k * STAMP_CHUNK, "t": part})
+            art["stamp_log"] = {"path": sl["path"], "frames": len(t), "first_s": t[0] if t else None, "last_s": t[-1] if t else None,
+                                "sha256": sl["sha256"], "bytes": sl["bytes"], "chunks": chunks, "topic": FRAMES_TOPIC}
+        out["artifact"] = art
+
     def _do_cmd(self, req: dict) -> None:
         self.commands += 1
         cid = req.get("id")
@@ -210,6 +292,7 @@ def _do_cmd(self, req: dict) -> None:
         params = req.get("params") or {}
         t_ms = wall_ms()
         t0 = time.perf_counter()
+        t_epoch = time.time()  # file mtimes are wall clock: the recording's start for resolve_video
         out: dict = {"id": cid, "command": command, "params": params, "t_ms": t_ms, "steps": []}
         try:
             if command == "connect" and (params.get("ip") or params.get("port")):
@@ -253,9 +336,14 @@ def _do_cmd(self, req: dict) -> None:
                 break
             value = r["value"]
             if command == "startRecording" and http_cmd == "get-video-file" and r["value"]:
-                out["artifact"] = {"kind": "video", "path": r["value"], "program": "bias"}
+                self._rec = {"requested": str(r["value"]), "t0": t_epoch}
+                found = resolve_video(self._rec["requested"], t_epoch)
+                out["artifact"] = {"kind": "video", "path": found or self._rec["requested"], "requested": self._rec["requested"],
+                                   "resolved": found is not None, "program": "bias"}
         else:
             out.update({"ok": True, "outcome": "ok", "value": value})
+            if command == "stopRecording":
+                self._finish_recording(cid, out)
         out["rtt_ms"] = round((time.perf_counter() - t0) * 1000.0, 2)
         self._publish(self.reply_pub, out)
         # rclpy caches a severity per call site, so info and warning need separate statements.
@@ -272,7 +360,10 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--timeout-s", type=float, default=2.0, help="per-HTTP-call timeout; a timeout is an UNKNOWN outcome (default: 2)")
     p.add_argument("--slow-timeout-s", type=float, default=15.0,
                    help=f"timeout for the camera/writer commands ({', '.join(sorted(SLOW_HTTP))}); default: 15")
-    p.add_argument("--status-every", type=float, default=1.0, help="get-status poll period in s; 0 = off (default: 1)")
+    # 5 Hz: the (frameCount, BIAS timeStamp) samples, stamped with this node's precise wall clock,
+    # map BIAS's clock onto the run's (with the /bias/frames timestamps: every frame on the run
+    # timeline) and show drops live; ~10 ms of BIAS's GUI thread per poll.
+    p.add_argument("--status-every", type=float, default=0.2, help="get-status poll period in s; 0 = off (default: 0.2 = 5 Hz)")
     p.add_argument("--video-dir", default=None, help="directory a RELATIVE startRecording filename is resolved against (default: pass through + warn)")
     args, ros_args = p.parse_known_args(argv)
     raise_timer_resolution()  # Windows: 1 ms system timer for this process (_common "clocks")
diff --git a/ros2-poc/nodes/bias_sim.py b/ros2-poc/nodes/bias_sim.py
index 89170e0b..f9620f19 100644
--- a/ros2-poc/nodes/bias_sim.py
+++ b/ros2-poc/nodes/bias_sim.py
@@ -117,6 +117,10 @@ def handle(self, cmd: str, value: str | None) -> dict:
                     with open(path, "wb") as fh:
                         fh.write(json.dumps({"bias_sim": True, "frames": self.frames_before, "fps": self.fps}).encode())
                     self.written.append(path)
+                    # Like BIAS: one camera timestamp per frame (s from capture start), next to the
+                    # video, ONE file per camera that the next recording overwrites.
+                    with open(os.path.join(os.path.dirname(path) or ".", "stamp_log_cam0.txt"), "w", encoding="ascii", newline="\n") as fh:
+                        fh.write("".join(f"{i / self.fps:.6f}\n" for i in range(self.frames_before)))
                     val = path
                     msg = f"capture stopped, video written {path}"
         elif cmd == "enable-logging":
diff --git a/ros2-poc/nodes/bridge_node.py b/ros2-poc/nodes/bridge_node.py
index c0d7a7b0..da2a078d 100644
--- a/ros2-poc/nodes/bridge_node.py
+++ b/ros2-poc/nodes/bridge_node.py
@@ -122,6 +122,7 @@ def load_bridge_module(path: Path = BRIDGE_PY):
 BIAS_CMD_TOPIC = "/bias/cmd"
 BIAS_REPLY_TOPIC = "/bias/reply"
 BIAS_STATUS_TOPIC = "/bias/status"
+BIAS_FRAMES_TOPIC = "/bias/frames"  # every frame's BIAS timestamp, published by the BIAS node at stopRecording (bag only, no run-log line)
 FRAME_TOPIC = "/arena/frame"
 RAW_QOS = QoSProfile(
     reliability=QoSReliabilityPolicy.RELIABLE,
@@ -291,7 +292,7 @@ def topics(self) -> dict[str, str]:
         """Topic → type for the bag (all of them, so a run documents what it could hold)."""
         t = {
             SESSION_TOPIC: STRING_TYPE, BROWSER_TOPIC: STRING_TYPE, EVENT_TOPIC: STRING_TYPE,
-            KINEFLY_TOPIC: STRING_TYPE, BIAS_CMD_TOPIC: STRING_TYPE, BIAS_REPLY_TOPIC: STRING_TYPE, BIAS_STATUS_TOPIC: STRING_TYPE,
+            KINEFLY_TOPIC: STRING_TYPE, BIAS_CMD_TOPIC: STRING_TYPE, BIAS_REPLY_TOPIC: STRING_TYPE, BIAS_STATUS_TOPIC: STRING_TYPE, BIAS_FRAMES_TOPIC: STRING_TYPE,
         }
         if self._typed:
             t[FRAME_TOPIC] = ARENA_FRAME_TYPE
@@ -553,6 +554,9 @@ def __init__(self, loop: asyncio.AbstractEventLoop, queue: asyncio.Queue, on_kin
         self.create_subscription(String, KINEFLY_TOPIC, self._kinefly, RAW_QOS, raw=True)
         self.create_subscription(String, BIAS_REPLY_TOPIC, lambda b: self._bias("reply", BIAS_REPLY_TOPIC, b), RAW_QOS, raw=True)
         self.create_subscription(String, BIAS_STATUS_TOPIC, lambda b: self._bias("status", BIAS_STATUS_TOPIC, b), RAW_QOS, raw=True)
+        # Recorded on arrival, like /fictrac/raw: it never becomes a run-log line (the stopRecording reply
+        # carries its summary), so there is no shadow line to stay in step with.
+        self.create_subscription(String, BIAS_FRAMES_TOPIC, lambda b: self._record(BIAS_FRAMES_TOPIC, b), RAW_QOS, raw=True)
 
     def _record(self, topic: str, data: bytes) -> None:
         rec = self._log.rec
@@ -769,7 +773,7 @@ def on_log_open() -> None:
                 "rmw": os.environ.get("RMW_IMPLEMENTATION"),
                 "record": {"bag": log.bag_name, "profile": log._profile, "typed": typed},
                 "topics": {"fictrac": FICTRAC_FRAME_TOPIC if typed else FICTRAC_TOPIC, "kinefly": KINEFLY_TOPIC,
-                           "bias": [BIAS_CMD_TOPIC, BIAS_REPLY_TOPIC, BIAS_STATUS_TOPIC], "frame": FRAME_TOPIC,
+                           "bias": [BIAS_CMD_TOPIC, BIAS_REPLY_TOPIC, BIAS_STATUS_TOPIC, BIAS_FRAMES_TOPIC], "frame": FRAME_TOPIC,
                            "browser": BROWSER_TOPIC, "event": EVENT_TOPIC, "session": SESSION_TOPIC},
             }
         )
diff --git a/ros2-poc/tests/test_ros2_poc.py b/ros2-poc/tests/test_ros2_poc.py
index 30c7bbe1..2e9467c8 100644
--- a/ros2-poc/tests/test_ros2_poc.py
+++ b/ros2-poc/tests/test_ros2_poc.py
@@ -210,21 +210,27 @@ def prev_seq(lines):
 def bag_summary(bag: Path) -> dict:
     """Topic → message count + schema names, read with the pure-Python mcap reader."""
     sys.path.insert(0, str(NODES))
-    from mcap_convert import read_all  # noqa: E402
+    from mcap_convert import _json_of, read_all  # noqa: E402
 
     recs, info = read_all(bag)
     by_topic: dict[str, int] = {}
     schemas = set()
     lag = []
+    bias_frames_t = 0  # BIAS frame timestamps carried by /bias/frames (all chunks, all recordings)
     for r in recs:
         by_topic[r["topic"]] = by_topic.get(r["topic"], 0) + 1
         if r["schema"]:
             schemas.add(r["schema"])
         if r["topic"] == "/arena/frame" and r.get("pub_ns"):
             lag.append((r["log_ns"] - r["pub_ns"]) / 1e6)
+        if r["topic"] == "/bias/frames":
+            o = _json_of(r)
+            if isinstance(o, dict) and isinstance(o.get("t"), list):
+                bias_frames_t += len(o["t"])
     lag.sort()
     files = sorted(bag.glob("*.mcap"))
     return {"records": info.get("records"), "topics": by_topic, "schemas": sorted(schemas), "torn": info.get("torn"),
+            "bias_frames_t": bias_frames_t,
             "bytes": sum(f.stat().st_size for f in files), "metadata_yaml": (bag / "metadata.yaml").exists(),
             "frame_lag_ms": {"p50": round(lag[len(lag) // 2], 3), "p99": round(lag[int(len(lag) * 0.99)], 3), "max": round(lag[-1], 3)} if lag else None}
 
@@ -447,6 +453,16 @@ def side_actor() -> None:
         check("Studio-path connector commands logged (browser→bridge)", [e.get("command") for e in ws_cmd] == ["connect", "startRecording", "getTimestamp", "stopRecording", "bogusCommand"], str([e.get("command") for e in ws_cmd]))
         check("Studio-path replies logged with via=ws and the plugin name", len(ws_rep) >= 3 and all(e.get("plugin") == "camera" for e in ws_rep), f"{len(ws_rep)} via=ws replies")
         check("Studio-path startRecording video exists", (videos / "poc_studio.avi").exists(), str(list(videos.glob('*')) if videos.exists() else []))
+        # Windows ww18 2026-10-15: the artifact named a file BIAS never wrote (its writer adds an
+        # auto-naming suffix) and the per-frame timestamps stayed in a stamp log BIAS overwrites.
+        stop_art = [e["artifact"] for e in bias_rep if e.get("command") == "stopRecording" and isinstance(e.get("artifact"), dict)]
+        logs = [a.get("stamp_log") or {} for a in stop_art]
+        check("stopRecording reports the video BIAS wrote + its frame-timestamp log (resolved, bytes, stamp_log.frames)",
+              bool(stop_art) and all(a.get("resolved") and (a.get("bytes") or 0) > 0 and (s.get("frames") or 0) > 0 for a, s in zip(stop_art, logs)),
+              json.dumps(stop_art)[:400])
+        check("every frame timestamp of those stamp logs is in the bag (/bias/frames)",
+              bool(logs) and bagsum.get("bias_frames_t") == sum(s.get("frames") or 0 for s in logs),
+              f"bag {bagsum.get('bias_frames_t')} vs stamp logs {[s.get('frames') for s in logs]}")
 
         cs = [e for e in events if e.get("type") == "connector_status" and e.get("src") == "fictrac"]
         p99 = cs[-1]["lat_ms"]["p99"] if cs else None

From a8ea76d7d9e4ccb0db6267f6dcd564ca3eba506e Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 16:07:44 -0400
Subject: [PATCH 57/96] ros2-poc WINDOWS-TEST: ww18 hardware results (steps 4,
 5, 5.7, soak, 5c) + Windows notes

Steps 4/5/5.7/5c and a 10-min soak passed on the CSHL 2x10 ball rig with real FicTrac and the Atlas10 BIAS (idx mismatch 0.00 %, every frame recovered after a hard bridge kill, BIAS 0 of 81 567 frames lost). New findings B3/B4, W10/W11, H1 (SD card), S1 (no banner on bridge loss), S2; W2 updated (MAX_PATH + pixi-build-ros packaging). WINDOWS-TEST.md gets a short Windows-notes block.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/WINDOWS-TEST.md                    | 20 +++++++
 ros2-poc/windows-results-ww18-2026-10-15.md | 62 ++++++++++++++++-----
 2 files changed, 69 insertions(+), 13 deletions(-)

diff --git a/ros2-poc/WINDOWS-TEST.md b/ros2-poc/WINDOWS-TEST.md
index bcee0986..feb1fb2c 100644
--- a/ros2-poc/WINDOWS-TEST.md
+++ b/ros2-poc/WINDOWS-TEST.md
@@ -70,6 +70,26 @@ Windows build with its FLIR camera, the G6 controller on USB, optionally FicTrac
 Visual Studio 2022 Build Tools (Desktop C++) is installed — step 1b measures the typed-message
 build with and without it.
 
+**Windows notes from the first run (ww18, 2026-10-15 — `windows-results-ww18-2026-10-15.md`):**
+
+- **Clone to a short path** (under ~45 characters before `\ros2-poc`, e.g. `C:\Lab\GitHub\webDisplayTools`):
+  under `C:\Users\<name>\Documents\GitHub\…` the typed build hits Windows' 260-character path limit (`C1083`).
+- **MSVC**: VS Build Tools **2026** alone is not found by conda-forge's VS 2022 activation; add the component
+  group "MSVC v143 - VS 2022 C++ x64/x86 build tools (v14.44)"
+  (`Microsoft.VisualStudio.ComponentGroup.VC.Tools.143.x86.x64`, UAC, < 5 min). Even then `pixi install -e typed`
+  fails while packaging (`paths in archives must not have '..'`, a pixi-build-ros bug) — skip 1b / 7 on
+  Windows until that is fixed.
+- **Check the controller's SD card first**: an empty SD listing / "pattern missing" can mean no card is mounted
+  at all (ww18's old card). The site library's 2×10 set (`patterns/g6_2x10/patterns/`) plus
+  `protocols/bias_camera_closed_loop_poc_ww18*.yaml` (slot 2 `grating_sq`) work on any 2×10 card loaded that way.
+- **FicTrac** (pixi-built): start it with `build\Release\fictrac.bat <config>` from the config folder —
+  `fictrac.exe` alone exits silently with `0xC0000135` (DLL not found).
+- **BIAS Atlas10 build** (atlas-bench): HTTP server on by default at 5010; uFMF by default, so `.avi` names
+  become `.ufmf`; `connect` ≈ 2.2 s and `stop-capture` up to several seconds on short recordings (the node's
+  15 s slow timeout covers both); uFMF ≈ 24 MB/s at 8 MP × 135 fps.
+- **Studio**: open protocols with Protocol ▾ → **Open from Library…** (this server's registry, no sign-in);
+  if a `?p=` link does not load, refresh the tab.
+
 ## 0. Before starting
 
 - Repo: `reiserlab/webDisplayTools`, branch `claude/ros-studio-plan-b-c44942` (draft PR
diff --git a/ros2-poc/windows-results-ww18-2026-10-15.md b/ros2-poc/windows-results-ww18-2026-10-15.md
index 493ce258..6f67f459 100644
--- a/ros2-poc/windows-results-ww18-2026-10-15.md
+++ b/ros2-poc/windows-results-ww18-2026-10-15.md
@@ -1,9 +1,12 @@
 # LAB-303 Plan B — Windows results, reiserlab-ww18, 2026-10-15
 
-First Windows run of `ros2-poc/WINDOWS-TEST.md`. **Status: steps 0–3, 6 and 5b done unattended,
-plus the pre-step-4 BIAS HTTP probe; harness 45 / 45 five runs in a row after the fixes below.
-Steps 4 (BIAS through the node), 5 (Studio + controller), 5c and 7 are still to do with someone
-at the keyboard. Step 1b (typed build) is blocked on an admin install (below).**
+First Windows run of `ros2-poc/WINDOWS-TEST.md`. **Status: every step except the typed build passed on
+ww18** — 0–3, 6 and 5b unattended (harness 45/45, now 47/47, after the fixes below), then with Michael at
+the rig: **4** (BIAS through the node on the Atlas10 camera, incl. the unknown-outcome path), **5** (Studio +
+G6 2×10 controller + real FicTrac at 96 Hz + BIAS, idx mismatch 0.00 % in both epochs), **5.7** (bridge
+hard-killed mid-loop: every frame recovered from the bag), a **10-min soak** (0.00 % / 0.00 %, BIAS lost 0 of
+81 567 frames) and **5c** smoke on the four-color arena (8/8 trials pass, CW then CCW confirmed). **Step 1b /
+7 (typed messages) is blocked** by a pixi-build-ros packaging bug after two Windows hurdles were cleared (W2).
 
 ## Machine
 
@@ -21,7 +24,7 @@ at the keyboard. Step 1b (typed build) is blocked on an admin install (below).**
 | # | Step | Finding | Status |
 |---|---|---|---|
 | W1 | 1a / 2 | `$PIXI_PROJECT_ROOT` stays literal in `[activation.env]` on Windows; `pixi run router` then exits: `zenohc::config: Failed to read config from $PIXI_PROJECT_ROOT/config/zenoh-router.json5: The system cannot find the path specified. (os error 3)` (no fallback to the stock config). `%PIXI_PROJECT_ROOT%` does expand under `pixi run`. | **fixed** bd2e349 (`[target.win-64.activation.env]`) |
-| W2 | 1b | The typed build fails with **VS Build Tools 2026 only**: `Could not find the compiler specified in the environment variable CC: cl.exe.` conda-forge `vs2022_win-64` (19.44.35207) looks for VS `[17,18)`, then the v143/14.44 components, then hard-coded `…\2022\…` paths, then `vswhere -latest` **without `-products *`**, which never lists a Build-Tools-only install. | **open**: needs VS 2022 Build Tools, or the "MSVC v143 (14.44)" component added to the 2026 install — admin/UAC |
+| W2 | 1b | The typed build fails with **VS Build Tools 2026 only**: `Could not find the compiler specified in the environment variable CC: cl.exe.` conda-forge `vs2022_win-64` (19.44.35207) looks for VS `[17,18)`, then the v143/14.44 components, then hard-coded `…\2022\…` paths, then `vswhere -latest` **without `-products *`**, which never lists a Build-Tools-only install. Then, with the v143 group added (below): (2) **MAX_PATH** — `fatal error C1083: Cannot open compiler generated file: '': Invalid argument` on a 265-char object path under `C:\Users\reiserm\Documents\GitHub\webDisplayTools\ros2-poc\.pixi\bld\arena_interfaces\…\work\build\CMakeFiles\…\_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c.obj` (`LongPathsEnabled` 0); the build adds ~215 chars, so the checkout path must stay under ~45; (3) at `C:\w` it compiles and links (156 files, 16 s), then packaging fails: `× paths in archives must not have '..' when setting path for Library` — the package lists `Library/../Lib/site-packages/arena_interfaces/…` (RoboStack's Windows `PYTHON_INSTALL_DIR=../Lib/site-packages`). | (1) fixed on the PC: `Microsoft.VisualStudio.ComponentGroup.VC.Tools.143.x86.x64` added to VS 2026 Build Tools (UAC, < 5 min; the script's 3rd vswhere query finds it); (2) short checkout path; (3) **open** — pixi-build-ros / rattler-build bug, needs an upstream fix or a prebuilt package |
 | W3 | 3 | Text-mode writes are CRLF on Windows: `mcap_convert --out`, `export_log`, the emulator's export copy → 2 byte-identity FAILs against bridge 3.4's binary `--convert`. | **fixed** aeccdce (`newline="\n"`) |
 | W4 | 3 / 5.6 | bridge 3.4's own live file is CRLF on Windows (`fictrac-bridge/bridge.py:711`, text-mode `open(…, "a")`); its export re-reads in text mode and gzips binary, so committed logs are LF. The PoC's shadow file inherits this, so step 5.6's `fc.exe /b export shadow` will differ on **every line** here; compare with `splitlines`, not bytes. | not fixed (bridge 3.4 untouched) |
 | W5 | 3 | JS reader check skipped: `find_node()` looked for `.pixi\envs\default\bin\node.exe`; conda's Windows layout has `node.exe` at the env root (and a fresh clone needs the root `pixi install`, 5.3 s / 0.30 GB). | **fixed** aeccdce |
@@ -32,7 +35,14 @@ at the keyboard. Step 1b (typed build) is blocked on an admin install (below).**
 | X1 | 3 | (cross-platform) converter put a device row recorded in the same ms as `logging_stopped` AFTER it (`live 2238 vs conv 2239`). | **fixed** 6250cdb, revised in 667e538: such a line is moved before the stop (`moved_before_stop`), since after X2 every derived record precedes it |
 | X2 | 3 | (cross-platform) the mirror race at run START: the ROS thread recorded device messages on arrival (`_kinefly` → `rec.write_raw`, dropped while `self.rec` is None) while the live line is written later on the asyncio loop, which is busy in `_open` — so the shadow file could hold a device row the bag never saw (`live 2237 vs conv 2236`, `["kf",2,162,…]`; 1 run in 4). Same mechanism for FicTrac: `FAIL bag → full level: one fictrac_frame per frame with the 25 FicTrac columns … — 922 frames vs 922; cols [0, 25]` (the run's first frame recorded, its `/fictrac/raw` message not; 1 run in 5). | **fixed** 667e538 — Kinefly, BIAS reply/status and FicTrac messages are recorded on the loop next to their line, under the shadow writer's open gate (`record_device`), with the ROS receive time kept as the MCAP log_time; FicTrac after `handle_line`, off the closed-loop path. **5 runs in a row 45 / 45**, derived counts equal every run |
 | B1 | 4 probe | This BIAS's `set-video-file` uses `baseName()` and the logging format's extension: `poc.avi` → `poc.ufmf`; `my trial.v2.avi` → `my trial.ufmf` (silently truncated at the first dot). | info for bias_node / protocol authors |
-| B2 | 4 probe | `get-video-file` = `getVideoFileFullPath()` with an EMPTY auto-naming string (source, `ext_ctl_http_server.cpp`), while the writer adds `_cam_0_<date>` + version — so the node's `artifact.path` likely names a file that is never written. To confirm in step 4 with a real recording. | to verify |
+| B2 | 4 | **Confirmed**: artifact `D:/rec/reiserm/ros2-poc/poc.ufmf`, file written `poc_cam_0_date_2026_10_15_time_13_43_10_v001.ufmf`; and the per-frame timestamps live only in `stamp_log_cam0.txt`, which BIAS **overwrites on every recording**. | **fixed** 2584e03 — stopRecording resolves the file BIAS wrote (`resolved`, `bytes`), reads the stamp log and publishes every frame's timestamp on `/bias/frames` (recorded in the bag); status poll 1 → 5 Hz. Real BIAS: 1 087 frames = 1 087 lines on disk = 1 087 timestamps in the bag |
+| B3 | 4 | Atlas10 `connect` takes **2.18 s**, past the node's 2 s per-call timeout: a successful connect came back `outcome: "unknown"` (exit 3). `stop-capture` takes 0.26 s on 30 s recordings but **~3.2 s on 8 s ones** (BIAS's first uFMF background update; up to ~6.5 s possible). A/B: 5 Hz polling has no effect. | **fixed** 5b0fcfb — `--slow-timeout-s` 15 for connect/disconnect/load-configuration/start-/stop-capture/close |
+| B4 | 4 | Windows: a connect to a **closed** localhost port is refused only after **~2.05 s** (`WinError 10061` after 2048 ms; macOS refuses at once). With BIAS gone, every command waits its timeout and reads `unknown` (4.0 s for getTimestamp), never a hang. | info (could cap the connect step separately) |
+| W10 | 5 | `rig.py --bias-args "--video-dir D:\rec\reiserm\ros2-poc"` (WINDOWS-TEST's own form): POSIX `shlex` ate the backslashes → `"filename":"D:recreisermros2-poc\\poc_studio_run.avi"`, video in `D:\recreisermros2-poc\`. | **fixed** a0634f1 (`split_args`, all `--x-args`) |
+| W11 | 5 | `fictrac.exe` run directly exits `0xC0000135` (STATUS_DLL_NOT_FOUND, no output, no log): this FicTrac is pixi-built; `build\Release\fictrac.bat` puts its env + Spinnaker on PATH. | info for WINDOWS-TEST.md |
+| H1 | 5 | The soak controller's SD card was **not mounted** (GET_SD_INFO status 1, 0 sectors, 0 files) — the Studio only said the pattern was missing. A new 64 GB SanDisk card (**exFAT**, 128 KiB clusters) mounted at once; 8 patterns uploaded in ~0.5 s each (up to 14 MB/s). In the 10-min soak one burst of **8 slow reads (20–41 ms) in ~80 ms** flagged a trial (`display_gap` sd_slow + frame_age); trial 2's 23 217 reads max 0.5 ms. | open: characterize exFAT/64 GB with `sd_stall_test.py`; ≤ 32 GB FAT32 until then |
+| S1 | 5.7 | Bridge hard-killed mid closed loop: the Studio showed only "bridge disconnected" — **no banner, the run carried on**, and BIAS was never stopped (stopRecording goes through the bridge). The rig stopped all its children as designed. | open (Studio/runner: bridge loss in a closed-loop or connector step should banner and end the run — LAB-303 `critical`/`on_loss`) |
+| S2 | 5 | A Studio tab opened at `?p=bias_camera_closed_loop_poc_ww18_soak10` did not load the protocol until it was refreshed (server, index entry, file and parse all verified fine). | open (to reproduce) |
 
 Harmless on every process: two zenohc WARNs (`` `routing.router.peers_failover_brokering` is deprecated `` and
 `` routing.peer.mode` and `routing.peer.linkstate` are deprecated ``) — our config files carry stock keys this zenohc ignores.
@@ -167,15 +177,41 @@ flowchart LR
     kinefly_raw --> arena_bridge
 ```
 
-## Still to do (needs someone at the rig)
-
-- **1b** after an admin install (W2), then **7** (`-e typed` repeat of 3 and 5).
-- **4** BIAS through the node: `connect` (Atlas10), `startRecording`, `getTimestamp`, `stopRecording`, files
-  written vs `artifact.path` (B2), `start-capture` RTT, preview; the unknown-outcome path (close BIAS mid-poll).
-- **5** Studio + controller over Web Serial (+ 5.7 crash on the real rig), **5c** color optomotor.
+## Hardware steps (afternoon, Michael at the rig; times ET)
+
+Rig: CSHL G6 2×10 ball arena, controller COM4 (fw `12bba7e9` 2x10 2026-09-30), real FicTrac
+(`cshl\rig05_vfov28_2026-09-22\config.txt` via `fictrac.bat`, 96–97 fps), BIAS Atlas10 (ATX081S-M,
+2840×2840 Mono8, 135.6 fps, uFMF). Studio = this branch served from the checkout (`localhost:8092`), Chrome 155
+(no local-network-access prompt).
+
+| # | Time | Step | Result | Numbers / notes |
+|---|---|---|---|---|
+| 1b′ | 13:40 | MSVC v143 group into VS 2026 Build Tools | done | installer launched 13:40:29, installed < 5 min; `VC\Tools\MSVC\14.44.35207` next to 14.51 |
+| 1b″ | 13:44 | `pixi install -e typed` (Documents path) | FAIL | MSVC found now; `C1083` MAX_PATH (W2-2) |
+| 1b‴ | 14:26 | same at short path `C:\w` (detached worktree) | FAIL | compiles + links in 16 s; packaging `..` error (W2-3). Time-box reached |
+| 4.1 | 13:41 | `bias-cmd connect` (2 s timeout) | unknown → B3 | `timeout after 2.0s`, `outcome: "unknown"`, exit 3 — while `get-status` said `connected: true` |
+| 4.2 | 13:43 | connect / startRecording `poc.avi` / getTimestamp / stopRecording (15 s slow timeout) | **PASS** | 2178 / 140 (set-video-file 11, enable-logging 2, start-capture 116, get-video-file 11) / 11 / 263 ms; 2075 frames in 15.3 s, 0 gaps, 0 camera/writer/logger skips, 50.8 °C; file `poc_cam_0_…_v001.ufmf` (B2) |
+| 4.3 | 13:44 | unknown-outcome path (BIAS closed mid-recording) | **PASS** | `/bias/status` `reachable:false` (`<urlopen error timed out>`), `getTimestamp` `outcome:"unknown"` exit 3 in 4.0 s, no hang; BIAS restarted → `reachable:true` without restarting the node. The open uFMF has no index (BIAS limit) |
+| 5.1 | 15:06 | Studio run, Mac-bench protocol | partial | camera bracket ok (connect 2196 ms), `trialParams` status 1 → runner refused the loop (`unknown frame count for pattern idx 1`) — no pattern on the card (H1); video misplaced (W10); fidelity exact over 10 868 lines; 0 epochs |
+| 5.2 | 15:25 | Studio run, `bias_camera_closed_loop_poc_ww18` (`grating_sq`, slot 2) | **PASS** | 2 epochs, idx mismatch **0.00 % / 0.00 %**, frames 20 (from the card); `cc_0x70_ok` 2893; fidelity: 18 476 lines, 109 derived ±1 ms; 6 camera replies ok via ws; bag 3.1 MiB / 23 828 msgs, all topics; video `poc_studio_run_…_15_25_01_v001.ufmf` 16.3 MB in `D:\rec\reiserm\ros2-poc`; 1 trial "unknown" = pre-run Console test (`coverage: controller_reboot`) |
+| 5.7 | 15:35 | crash: `taskkill /F` the bridge 10.4 s into the first loop | **PASS** (+ S1) | rig stopped all children; bag without metadata.yaml (1.31 MB); `--recover`: **1162 frames, last 12 046 ms — identical to the shadow NDJSON** (only the final arena echo line missing; the Mac lost 1 frame); recover 5.4 s |
+| soak | 15:44 | `…_ww18_soak10` (2 × 300 s closed loop) | **PASS** (+ H1) | idx mismatch **0.00 % / 0.00 %**; 221 926 lines, fidelity exact (618 derived, ±6 ms max); 58 918 FicTrac rows (Δ 9–12 ms, no 15.6 ms steps); `cc_0x70_ok` 57 811; adapter→bridge p50 0.55 / p99 1.26 ms; BIAS 81 567 frames at 135.59 fps, 0 gaps / skips / incomplete / timeouts, buffers ≥ 123/128, 0 TCP retransmits; **uFMF 14.2 GB / 10 min ≈ 24 MB/s** (the fork's figure; ~85 GB/h); trial 3 flagged by one SD-stall burst (H1) |
+| 5c | 15:56 | `g6_color_optomotor_smoke` on the four-color arena (COM7: fw `c15d840a` restack/panel-boot 2026-09-29, 8 GB FAT32, patterns already on the card) | **PASS** | `runlog-check` OK, **8/8 trials pass**; violet, blue, green, yellow each CW then CCW — direction confirmed by eye, no `fps_cw`/`fps_ccw` swap; 12 camera replies ok, BIAS clock +12.03 s per trial |
+
+## Still open
+
+- **1b / 7** typed messages: pixi-build-ros packaging bug on Windows (W2-3) — or build `arena_interfaces` in
+  CI and publish it to a channel, so a rig never compiles.
+- **S1** bridge loss should banner and end the run; **S2** `?p=` needed a refresh; **H1** characterize the 64 GB
+  exFAT card; **5c full** (18 min) and real-fly runs; **hardware sync** (camera strobe → controller Digital IO)
+  for µs frame timing on the controller's clock.
 
 ## Artifacts on ww18 (not committed)
 
 `%TEMP%\ros2-poc-test-id0n3u9y` (run 1, 41/44), `-12brtne7` (run 2), `-wzz38rvp` (run 3, X2), `-mm7i3ha1` (run 4),
 `-yooxcvjy` (the FicTrac `cols [0, 25]` run), `-f8g23mlb` `-pxq2m1xb` `-qpd_gp_2` `-7n08p78f` `-03b6r1gt` (final 5);
-`ros2-poc\runlogs\arena-log-20261015-111739-702.*` (W6 before the fix) and `…-111942-495.*` (after).
+`ros2-poc\runlogs\arena-log-20261015-111739-702.*` (W6 before the fix) and `…-111942-495.*` (after);
+hardware runs `ros2-poc\runlogs\arena-log-20261015-150605-299.*` (5.1), `-152501-050.*` (5.2), `-153548-287.*`
+(5.7 crash), `-154452-578.*` (soak), `-155617-614.*` (5c), `-160327-867.*` (B2 check), with exports in
+`runlogs\exports\`; videos + stamp log in `D:\rec\reiserm\ros2-poc\` (the A/B `ab_*` and `b2test` recordings
+are test files); controller probes in the session scratchpad.

From 538cc85c2d8d40923d76cfb3d5a21124aa47b1f7 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 16:28:03 -0400
Subject: [PATCH 58/96] ros2-poc W2 step 2: arena_interfaces packages on
 Windows (normalized PYTHON_INSTALL_DIR)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

pixi-build-ros (<= 0.7.6, 2026-10-14) passes PYTHON_INSTALL_DIR=../Lib/site-packages on
Windows; CMake writes that spelling into install_manifest.txt, the backend appends the manifest
to RATTLER_BUILD_PACKAGE_FILES, and rattler-build's archive writer refuses the 21
`Library/../Lib/...` entries (prefix-dev/pixi#6955). The package now resolves the value to the
absolute, normalized, forward-slash path — what the pending upstream fix (prefix-dev/pixi#7226)
passes — only when it starts with `../`, so colcon, Linux and macOS are untouched.

ww18, C:\w\t: `pixi install --locked -e typed` 35 s from a clean build dir (lock unchanged),
151 files, 0 with `..`; build_interfaces.py --check importable + serializes; harness 48 / 48
with typed topics in the bag.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/interfaces/arena_interfaces/CMakeLists.txt | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/ros2-poc/interfaces/arena_interfaces/CMakeLists.txt b/ros2-poc/interfaces/arena_interfaces/CMakeLists.txt
index 3cfc5c94..507a9f02 100644
--- a/ros2-poc/interfaces/arena_interfaces/CMakeLists.txt
+++ b/ros2-poc/interfaces/arena_interfaces/CMakeLists.txt
@@ -1,6 +1,19 @@
 cmake_minimum_required(VERSION 3.8)
 project(arena_interfaces)
 
+# Windows + pixi-build-ros (<= 0.7.6, 2026-10-14): the backend passes PYTHON_INSTALL_DIR as
+# ../Lib/site-packages (relative to %LIBRARY_PREFIX%), CMake records that spelling in
+# install_manifest.txt, the backend hands the manifest to rattler-build as the package's file
+# list, and the archive writer refuses `Library/../Lib/...` ("paths in archives must not have
+# `..`", prefix-dev/pixi#6955). Use the absolute, normalized, forward-slash path instead — the
+# same value the pending upstream fix (prefix-dev/pixi#7226) passes, so this is a no-op once it
+# ships. The installed tree is unchanged. colcon and Linux/macOS never take this branch.
+if(WIN32 AND PYTHON_INSTALL_DIR MATCHES "^\\.\\./")
+  cmake_path(ABSOLUTE_PATH PYTHON_INSTALL_DIR BASE_DIRECTORY "${CMAKE_INSTALL_PREFIX}"
+    NORMALIZE OUTPUT_VARIABLE _arena_python_install_dir)
+  set(PYTHON_INSTALL_DIR "${_arena_python_install_dir}")
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 

From 8102a85689e339c58f74162e7716f48b260330e4 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 16:40:16 -0400
Subject: [PATCH 59/96] ros2-poc W2 step 2: short build path via
 detached-environments (rig.py finds the viz env there)

pixi 0.80 has no setting for .pixi/bld alone, but `detached-environments` moves the whole pixi
dir (envs + build workspaces) to <dir>\<name>-<hash>. With C:\w\px the typed env built from this
79-char worktree path in 36 s (longest object path 253 chars), so the checkout location no
longer matters as long as the directory is <= 12 chars.

rig.py looked for the viz env at ros2-poc/.pixi/envs/viz; it now uses the running env's sibling
(CONDA_PREFIX), which is right in both layouts. WINDOWS-TEST.md and the pixi.toml comments say
what the typed build needs on Windows now (v143 toolset + short build path), not "skip".

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/WINDOWS-TEST.md | 12 +++++++-----
 ros2-poc/nodes/rig.py    |  6 +++++-
 ros2-poc/pixi.toml       | 11 +++++++----
 3 files changed, 19 insertions(+), 10 deletions(-)

diff --git a/ros2-poc/WINDOWS-TEST.md b/ros2-poc/WINDOWS-TEST.md
index feb1fb2c..3c44840d 100644
--- a/ros2-poc/WINDOWS-TEST.md
+++ b/ros2-poc/WINDOWS-TEST.md
@@ -72,13 +72,15 @@ build with and without it.
 
 **Windows notes from the first run (ww18, 2026-10-15 — `windows-results-ww18-2026-10-15.md`):**
 
-- **Clone to a short path** (under ~45 characters before `\ros2-poc`, e.g. `C:\Lab\GitHub\webDisplayTools`):
-  under `C:\Users\<name>\Documents\GitHub\…` the typed build hits Windows' 260-character path limit (`C1083`).
+- **Short build path for the typed build**: under `C:\Users\<name>\Documents\GitHub\…` it hits Windows'
+  260-character path limit (`C1083`). Either clone to under ~45 characters before `\ros2-poc`, or, from any
+  checkout, run `pixi config set --local detached-environments C:\px` in `ros2-poc` once (≤ 12 characters;
+  it moves envs and build dirs there). See `docs/typed-windows.md` §3.
 - **MSVC**: VS Build Tools **2026** alone is not found by conda-forge's VS 2022 activation; add the component
   group "MSVC v143 - VS 2022 C++ x64/x86 build tools (v14.44)"
-  (`Microsoft.VisualStudio.ComponentGroup.VC.Tools.143.x86.x64`, UAC, < 5 min). Even then `pixi install -e typed`
-  fails while packaging (`paths in archives must not have '..'`, a pixi-build-ros bug) — skip 1b / 7 on
-  Windows until that is fixed.
+  (`Microsoft.VisualStudio.ComponentGroup.VC.Tools.143.x86.x64`, UAC, < 5 min). The packaging failure that
+  followed (`paths in archives must not have '..'`, a pixi-build-ros bug) is worked around in the package
+  since 538cc85: 1b / 7 install on ww18 (35 s, harness 48 / 48).
 - **Check the controller's SD card first**: an empty SD listing / "pattern missing" can mean no card is mounted
   at all (ww18's old card). The site library's 2×10 set (`patterns/g6_2x10/patterns/`) plus
   `protocols/bias_camera_closed_loop_poc_ww18*.yaml` (slot 2 `grating_sq`) work on any 2×10 card loaded that way.
diff --git a/ros2-poc/nodes/rig.py b/ros2-poc/nodes/rig.py
index 41273cd1..5f2d8cda 100644
--- a/ros2-poc/nodes/rig.py
+++ b/ros2-poc/nodes/rig.py
@@ -32,7 +32,11 @@
 NODES = HERE
 ROOT = HERE.parent  # ros2-poc/ (the pixi workspace)
 SIM = HERE.parents[1] / "fictrac-bridge" / "fictrac_sim.py"
-VIZ_ENV = ROOT / ".pixi" / "envs" / "viz"  # `pixi install -e viz` puts foxglove_bridge here
+# `pixi install -e viz` puts foxglove_bridge in a sibling of the env this runs in: under
+# .pixi/envs, or under the `detached-environments` directory when one is configured (the
+# Windows short-path setup for the typed build, WINDOWS-TEST.md).
+_ENVS = Path(os.environ["CONDA_PREFIX"]).parent if os.environ.get("CONDA_PREFIX") else ROOT / ".pixi" / "envs"
+VIZ_ENV = _ENVS / "viz"
 FOXGLOVE_PORT = 8766
 
 
diff --git a/ros2-poc/pixi.toml b/ros2-poc/pixi.toml
index c9aaf0b2..65a4b1ba 100644
--- a/ros2-poc/pixi.toml
+++ b/ros2-poc/pixi.toml
@@ -18,8 +18,9 @@ version = "0.1.0"
 channels = ["conda-forge", "robostack-jazzy"]
 platforms = ["osx-arm64", "win-64", "linux-64"]
 # pixi-build (preview): `pixi install` builds interfaces/arena_interfaces (our .msg types) as a
-# conda package with the RoboStack pixi-build-ros backend. On Windows that build needs MSVC 2022
-# on the machine (the cost LAB-303 Plan B records); everything else is downloaded as before.
+# conda package with the RoboStack pixi-build-ros backend. On Windows that build needs the MSVC
+# v143 toolset and a short build path (docs/typed-windows.md — the cost LAB-303 Plan B records);
+# everything else is downloaded as before.
 preview = ["pixi-build"]
 
 [activation.env]
@@ -66,8 +67,10 @@ mcap = ">=1.2"
 # `pixi install -e typed` builds interfaces/arena_interfaces (FicTracFrame, ArenaFrame,
 # ConnectorReply) from source with the RoboStack pixi-build-ros backend and brings the
 # ament/rosidl toolchain. rosidl generates C typesupport + a Python C extension, so this
-# needs a C/C++ compiler on the installing machine (MSVC 2022 on Windows, which pixi cannot
-# install) — kept OUT of the default environment so a rig PC can always `pixi install` and
+# needs a C/C++ compiler on the installing machine (Windows: the MSVC v143 toolset, which pixi
+# cannot install, plus `pixi config set --local detached-environments C:\px` for MAX_PATH;
+# docs/typed-windows.md also tests the no-compiler alternative, a CI-built channel) — kept OUT of
+# the default environment so a rig PC can always `pixi install` and
 # run the graph with String topics (the nodes fall back on their own, `--typed auto`).
 # The build cost is the LAB-303 data point: `pixi run -e typed test` and README.md.
 [feature.typed.dependencies]

From ad5c7cd939c43997ebe3ce0e412e8b537e13f5ef Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 16:40:16 -0400
Subject: [PATCH 60/96] =?UTF-8?q?ros2-poc=20W2=20steps=201-4:=20typed=20me?=
 =?UTF-8?q?ssages=20on=20Windows=20=E2=80=94=20cause,=20workaround,=20upst?=
 =?UTF-8?q?ream=20drafts,=20CI=20channel?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

docs/typed-windows.md:
1. Cause: pixi-build-ros's Windows template passes PYTHON_INSTALL_DIR=../Lib/site-packages;
   since prefix-dev/pixi#6691 it appends CMake's install_manifest.txt to
   RATTLER_BUILD_PACKAGE_FILES; rattler-build's Files::from_paths never normalizes, and tar
   refuses `..`. Reproduced with rattler-build 0.76.1 alone in < 1 s. Newest backend
   (0.7.6.20261014) still affected; fix prefix-dev/pixi#7226 open, not merged.
2. The package-level workaround (538cc85) and the short build path, with ww18 numbers.
3. Drafts, not filed: a comment for pixi#7226 (confirmation + the compileall side effect +
   detached-environments for MAX_PATH) and a new rattler-build issue with a minimal recipe.
4. Fallback tested on ww18 with a local file channel: pixi publish 26 s, then a fresh
   `--locked -e typed` install in 9 s with no build backend, harness 48 / 48. Workflow sketch
   for win-64 / osx-arm64 / linux-64, channel options, rebuild rules.

Results file: W2 row + four follow-up rows; README typed rows no longer say "untested".

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/README.md                          |   4 +-
 ros2-poc/docs/typed-windows.md              | 311 ++++++++++++++++++++
 ros2-poc/windows-results-ww18-2026-10-15.md |  16 +-
 3 files changed, 325 insertions(+), 6 deletions(-)
 create mode 100644 ros2-poc/docs/typed-windows.md

diff --git a/ros2-poc/README.md b/ros2-poc/README.md
index 4ccd8694..896bfb8c 100644
--- a/ros2-poc/README.md
+++ b/ros2-poc/README.md
@@ -200,7 +200,7 @@ without further changes; **"ROS Studio" = that Studio served from the `/ros/` Pa
 |---|---|
 | `pixi install` with `ros-jazzy-rosbag2-py` + `ros-jazzy-rosbag2-storage-mcap` + `mcap` + the ament/rosidl toolchain (`cmake`, `ninja`, `cxx-compiler`, `colcon`) | 10 s wall with a warm package cache (the sibling PoC env had most packages); env **1.0 GB → 1.7 GB**; lock +1442 lines. Later split into two environments: `default` (recording + converter, String topics) and `typed` (+ toolchain + the interfaces package); re-solving both took 3.5 s + 5 s with everything cached |
 | typed messages, route 1: **pixi-build-ros** (scratch workspace, first attempt) | **37 s** wall for `pixi install` incl. an 18 s build of the package (`arena_interfaces-0.1.0-h60d57d3_0.conda`, 1.1 MiB, 149 files incl. Rust bindings); imported and serialized on the first try. One deprecation warning (`[package.build] channels` → `backend.channels`, fixed). |
-| typed messages, route 1 integrated in `ros2-poc/pixi.toml` | `pixi install` **25 s** (17 s build); lock +3305 lines (a `conda_source` record per platform). Windows: the build needs MSVC 2022 on the PC (pixi cannot install it) — untested. |
+| typed messages, route 1 integrated in `ros2-poc/pixi.toml` | `pixi install` **25 s** (17 s build); lock +3305 lines (a `conda_source` record per platform). Windows (ww18, 2026-10-15): needs the MSVC v143 toolset (pixi cannot install it) and a short build path; then 35 s and the harness 48 / 48 after a package-level workaround for a pixi-build-ros packaging bug. A CI-built channel removes the compiler entirely (9 s, 48 / 48): `docs/typed-windows.md`. |
 | typed messages, route 2: **colcon** in the env (`pixi run build-interfaces -- --clean`) | build 23 s (first) / 12 s (second clean build), all 8 typesupport libraries. **First attempt failed at import**: `UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'arena_interfaces'` — RoboStack's toolchain sets the extension's install rpath to the env's `lib` only, and macOS SIP strips `DYLD_LIBRARY_PATH` on the way through pixi's shell. Fixed with `-DCMAKE_INSTALL_RPATH=<install>/lib;<env>/lib`: imports and serializes. |
 | bag open (per run start, blocks the asyncio loop) | **158 ms** with rosbag2's defaults (100 MiB message cache) vs **8 ms** crashsafe; records arriving meanwhile are buffered, so nothing is lost either way |
 | recording overhead on the closed loop (adapter → bridge, `connector_status`) | FicTrac p50 0.87 / p99 1.65 ms, Kinefly p50 0.82 / p99 1.51 ms — the same as the PoC without recording (0.89 / 1.43) |
@@ -248,7 +248,7 @@ without further changes; **"ROS Studio" = that Studio served from the `/ros/` Pa
 | | live NDJSON PoC | Plan B spike (MCAP record of truth) |
 |---|---|---|
 | install size (osx-arm64 env) | 1.0 GB | 1.7 GB (+ rosbag2, MCAP plugin, C/C++ toolchain, colcon); bridge 3.4's root env is 0.28 GB |
-| install time (warm cache) | 25 s | 25 s incl. building the interfaces package; the build needs a compiler on every installing machine (MSVC on Windows: untested) |
+| install time (warm cache) | 25 s | 25 s incl. building the interfaces package; the build needs a compiler on every installing machine (Windows: MSVC v143 + a short build path, 35 s on ww18; or a CI-built channel, no compiler — `docs/typed-windows.md`) |
 | processes per rig | router + FicTrac adapter + bridge node (+ Kinefly adapter, + BIAS node) = 3–5 | the same; the recorder runs inside the bridge node |
 | latency (adapter → bridge, p50 / p99) | 0.89 / 1.43 ms | 0.87 / 1.65 ms |
 | record of truth | the live `.jsonl`, written in processing order | the bag; the `.jsonl` is derived at export (50 ms per 1000 lines) or offline |
diff --git a/ros2-poc/docs/typed-windows.md b/ros2-poc/docs/typed-windows.md
new file mode 100644
index 00000000..96e9493c
--- /dev/null
+++ b/ros2-poc/docs/typed-windows.md
@@ -0,0 +1,311 @@
+# Typed messages on Windows — W2 follow-up (ww18, 2026-10-15)
+
+LAB-303 Plan B. Follow-up to finding **W2** in `../windows-results-ww18-2026-10-15.md`: the `typed`
+environment compiled and linked on ww18, then failed while packaging with
+``paths in archives must not have `..` when setting path for Library``.
+
+**Short answer.** Rig PCs can use typed messages without compiling anything: build
+`arena_interfaces` once per platform in CI, publish it to a conda channel, and have the `typed`
+environment depend on that package. Tested end to end on ww18 with a local file channel: a fresh
+`pixi install --locked -e typed` took **9 s**, never started a build backend, and the harness
+passed **48 / 48** with typed topics in the bag (§5). Building on the PC also works now: a
+package-level CMake workaround (§2, commit 538cc85) plus a short build directory (§3) give a
+35–36 s install and 48 / 48. That route still needs the MSVC v143 toolset and the `detached-environments`
+setting on every PC. The upstream bug is known and a fix is open but not merged (§1, §4).
+
+## What was measured
+
+All on ww18: pixi 0.80.0, pixi-build-ros `0.7.6.20261014.1408.4ef64dd` (the newest build on
+`prefix.dev/pixi-build-backends` today), MSVC 14.44.35207 (the v143 group inside VS 2026 Build
+Tools), cmake 4.4.4, RoboStack Jazzy. Package cache warm.
+
+| # | Setup | `pixi install … -e typed` | Then |
+|---|---|---|---|
+| T1 | as committed before today, checkout `C:\w\t\ros2-poc` (15 chars) | **FAIL** after 32 s (17 s build): the `..` error; 21 of 151 entries in `.rattler-build-package-files` read `<host>/Library/../Lib/site-packages/…` | — |
+| T2 | + the CMakeLists.txt workaround (§2), same checkout, `--locked`, clean `bld/` | **PASS** 35 s (16 s build), lock unchanged; 151 files, 0 with `..` | `build_interfaces.py --check`: importable, serializes; harness **48 / 48** in 61 s, `typed topics: True` |
+| T3 | T2 from this worktree (checkout path **79 chars**) + `detached-environments = 'C:\w\px'` | **PASS** 36 s; longest object path 253 chars | `--check`: importable, serializes |
+| T4 | `pixi publish --path interfaces\arena_interfaces\pixi.toml --target-channel C:\w\chan` | 26 s → an indexed file channel, `win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda` (101 KiB) | `pixi build --path … --output-dir` the same, 27 s |
+| T5 | `typed` feature depends on `arena_interfaces` from that channel (no path dep, no toolchain), fresh env, `--locked` | **PASS 9 s, no build backend started** | `--check`: importable, serializes; harness **48 / 48** in 56 s, `typed topics: True` |
+
+T1–T3 and T5 were run in a scratch detached worktree at `C:\w\t` (T5's manifest change is not committed;
+§5 has it). Logs on ww18 in `C:\w\*.log`.
+
+## 1. Where the `..` comes from
+
+Three pieces, each fine alone:
+
+1. **pixi-build-ros' Windows template** (`crates/pixi_build_ros/templates/bld_ament_cmake.bat` in
+   prefix-dev/pixi, embedded in `pixi-build-ros.exe`) sets
+   `PYTHON_INSTALL_DIR = os.path.relpath(SP_DIR, LIBRARY_PREFIX)` = `../Lib/site-packages`.
+   This line comes from RoboStack's vinca templates. On conda's Windows layout, C/C++ files go
+   under `Library\` and Python under `Lib\site-packages`, so the relative value has to climb out.
+   On Linux and macOS the value is `lib/python3.12/site-packages` (no `..`), which is why the Mac
+   build always worked.
+2. **prefix-dev/pixi#6691** (commit 40a25ff, 2026-07-28, "clean stale files from incremental
+   ROS Python builds"): the backend now reuses its host prefix between builds, so the template
+   stopped letting rattler-build diff the prefix. Instead it appends CMake's `install_manifest.txt`
+   to `%RATTLER_BUILD_PACKAGE_FILES%`. CMake records each destination as spelled:
+   `%PREFIX%/Library/../Lib/site-packages/arena_interfaces/msg/_arena_frame.py`.
+3. **rattler-build's `Files::from_paths`** (`crates/rattler_build_core/src/packaging/file_finder.rs`,
+   the `RATTLER_BUILD_PACKAGE_FILES` reader from rattler-build #2476) accepts an entry when
+   `strip_prefix(prefix)` succeeds (a lexical check) and `exists()` is true (the OS resolves the
+   `..`). It never normalizes the path, and the tar writer then refuses the `..` component.
+   Reproduced with rattler-build 0.76.1 alone, no ROS and no compiler, in under 1 s (§4b). An entry
+   outside the prefix, spelled `$PREFIX/../outside.txt`, passes the containment check the same way.
+
+**Fixed upstream?** Not in any release. prefix-dev/pixi#6955 is open (since 2026-09-04); a
+2026-10-09 comment reports exactly our error on `micro_ros_msgs`, plus the MAX_PATH problem.
+prefix-dev/pixi#7226 (open since 2026-10-10, waiting for review) passes an absolute forward-slash
+`PYTHON_INSTALL_DIR` instead. The newest backend build (2026-10-14) still has the `relpath` line;
+I checked the template embedded in the binary. Nobody has filed the rattler-build side.
+
+Note for reproducibility: the backend is not in `pixi.lock`. `version = "*"` in
+`interfaces/arena_interfaces/pixi.toml` floats to the newest nightly-style build on every fresh
+build. That will pick up #7226 automatically, but it also means two rigs can build with different
+backends.
+
+## 2. Package-level workaround (commit 538cc85)
+
+`interfaces/arena_interfaces/CMakeLists.txt`, before `find_package(ament_cmake)`:
+
+```cmake
+if(WIN32 AND PYTHON_INSTALL_DIR MATCHES "^\\.\\./")
+  cmake_path(ABSOLUTE_PATH PYTHON_INSTALL_DIR BASE_DIRECTORY "${CMAKE_INSTALL_PREFIX}"
+    NORMALIZE OUTPUT_VARIABLE _arena_python_install_dir)
+  set(PYTHON_INSTALL_DIR "${_arena_python_install_dir}")
+endif()
+```
+
+This is the value #7226 would pass: absolute, normalized, forward slashes (backslashes would break
+the generated `cmake_install.cmake`). A normal variable shadows the `-D` cache entry and reaches
+rosidl's `arena_interfaces__py` subdirectory. The block is a no-op once upstream passes an
+absolute path, and it never runs under colcon (`Lib/site-packages` relative to the install
+prefix) or on Linux/macOS. Side effects, both harmless here:
+
+- ament_cmake_python byte-compiles `"${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTALL_DIR}/<pkg>"`, so
+  with an absolute value it logs `Can't list '%PREFIX%/Library/%PREFIX%/Lib/site-packages/arena_interfaces'`
+  and compiles nothing. The package is unchanged either way: compileall's `.pyc` files were never
+  in `install_manifest.txt`, so since #6691 they are not packaged (0 of 151, before and after).
+  Python compiles on first import.
+- `share/arena_interfaces/environment/pythonpath.dsv` now holds an absolute path. rattler-build
+  rewrites it to the install prefix (checked in the installed env); conda environments don't
+  read these hooks.
+
+## 3. MAX_PATH: `detached-environments`
+
+`cl.exe` failed with `C1083` once an object path passed 260 characters (W2-2). The build adds
+about 211 characters below the pixi directory. pixi 0.80 offers no override for `.pixi/bld`
+alone, but `detached-environments` moves the whole pixi directory (`pixi_dir()` in pixi_core),
+build workspaces included, to `<dir>\<workspace-name>-<xxh3 hash, up to 20 digits>`:
+
+```powershell
+pixi config set --local detached-environments C:\px   # once per checkout (.pixi\config.toml)
+pixi install -e typed
+```
+
+With `C:\w\px` the longest object path was 253 characters, from a checkout 79 characters deep (T3).
+**Keep the directory at 12 characters or fewer.** One script assumed `.pixi\envs`: `rig.py`'s
+viz-env check now uses the running env's sibling (`CONDA_PREFIX`), so `--foxglove` works with
+detached envs. The harness's `find_node()` looks in the *root* workspace, which this setting
+doesn't touch. `LongPathsEnabled` was not tried (it is 0 on ww18, and changing it needs admin).
+
+## 4. Upstream — drafts, not filed
+
+### 4a. Comment for prefix-dev/pixi#7226 (cross-link from #6955)
+
+> Confirming this on a second machine with the newest backend build, plus one side effect.
+>
+> **Setup:** pixi 0.80.0, `pixi-build-ros 0.7.6.20261014.1408.4ef64dd` (newest on
+> prefix.dev/pixi-build-backends as of 2026-10-15; still has the `relpath` line), win-64
+> (Windows 11 26200), MSVC 14.44.35207 (v143 inside VS 2026 Build Tools), robostack-jazzy. The
+> package is three `.msg` files: `ament_cmake` + `rosidl_generate_interfaces`, nothing else.
+>
+> **Before:** build and install succeed; packaging fails with
+> ``paths in archives must not have `..` when setting path for Library``. 21 of the 151 lines in
+> `.rattler-build-package-files` are `<host>/Library/../Lib/site-packages/…`: every Python file,
+> the egg-info and the three `.pyd`.
+>
+> **With the value this PR passes:** we can't change the template, so we applied it from the
+> package's own CMakeLists.txt. If `PYTHON_INSTALL_DIR` starts with `../`, replace it with
+> `cmake_path(ABSOLUTE_PATH PYTHON_INSTALL_DIR BASE_DIRECTORY "${CMAKE_INSTALL_PREFIX}" NORMALIZE …)`.
+> The package then builds, packages (151 files, none with `..`) and installs. The generated
+> Python types import and serialize, and our end-to-end test passes with typed topics.
+>
+> **Side effect worth a line in the PR:** ament_cmake_python byte-compiles
+> `"${CMAKE_INSTALL_PREFIX}/${ARG_DESTINATION}/<pkg>"` (`ament_python_install_package.cmake`). With an
+> absolute `PYTHON_INSTALL_DIR` that becomes `%PREFIX%/Library/%PREFIX%/Lib/site-packages/<pkg>`, and the
+> build logs `Can't list …` (not fatal). The package doesn't change: compileall's `.pyc` files were never
+> in `install_manifest.txt`, so they haven't been packaged since #6691 (0 of 151 here, before and
+> after). If you'd rather keep the relative value the ament README asks for, you could instead normalize
+> the manifest lines before appending them to `%RATTLER_BUILD_PACKAGE_FILES%`. Or rattler-build could
+> normalize the list itself (<link to 4b>), which would cover every template.
+>
+> **On the MAX_PATH note in #6955:** `detached-environments` moves `bld/` along with the envs. With
+> `pixi config set --local detached-environments C:\px`, a checkout 79 characters deep built fine for
+> us (longest object path 253 characters).
+
+### 4b. New issue for prefix-dev/rattler-build
+
+**Title:** `RATTLER_BUILD_PACKAGE_FILES` entries are not normalized: a `..` inside the prefix breaks
+packaging (and passes the outside-prefix check)
+
+> `Files::from_paths` (`packaging/file_finder.rs`, the reader for `$RATTLER_BUILD_PACKAGE_FILES`
+> from #2476) accepts an entry when `resolved.strip_prefix(prefix)` succeeds and `resolved.exists()`
+> is true, then packages it under that spelling. `strip_prefix` is lexical but `exists()` resolves `..`,
+> so:
+>
+> 1. a file inside the prefix spelled through `..` (`$PREFIX/Library/../Lib/x.py`) is accepted, then
+>    rejected by the archive writer: ``paths in archives must not have `..` when setting path for Library``;
+> 2. a file **outside** the prefix spelled `$PREFIX/../outside.txt` is also accepted ("Largest files:
+>    9 B - ../outside.txt"). The build then fails the same way instead of with `PackageFileOutsidePrefix`.
+>
+> This is how pixi-build-ros fails on Windows for every ROS interface package (prefix-dev/pixi#6955).
+> CMake writes `install_manifest.txt` with each destination as spelled
+> (`%LIBRARY_PREFIX%/../Lib/site-packages/…`), and the build script appends that manifest to the
+> list. A template fix is open (prefix-dev/pixi#7226), but any build script that records CMake, meson
+> or setuptools output paths can hit the same thing.
+>
+> **Repro** (rattler-build 0.76.1, win-64, no compiler, < 1 s):
+>
+> ```yaml
+> package:
+>   name: dotdot-repro
+>   version: "0.1.0"
+> build:
+>   number: 0
+>   script:
+>     - if: win
+>       then:
+>         - mkdir "%LIBRARY_PREFIX%" "%PREFIX%\Lib\site-packages\repro"
+>         - echo hello> "%PREFIX%\Lib\site-packages\repro\hello.txt"
+>         - echo %LIBRARY_PREFIX:\=/%/../Lib/site-packages/repro/hello.txt>> "%RATTLER_BUILD_PACKAGE_FILES%"
+>       else:
+>         - mkdir -p "$PREFIX/share" "$PREFIX/lib/repro"
+>         - echo hello > "$PREFIX/lib/repro/hello.txt"
+>         - echo "$PREFIX/share/../lib/repro/hello.txt" >> "$RATTLER_BUILD_PACKAGE_FILES"
+> ```
+>
+> `rattler-build build --recipe recipe.yaml`:
+>
+> ```
+>  │ │ Files in package:
+>  │ │   ├─ Library/../Lib/site-packages/repro/hello.txt (7 B)
+>  …
+> Error:   × Could not open or create, or write to file
+>   ╰─▶ paths in archives must not have `..` when setting path for Library
+> ```
+>
+> Variant 2: write `"%PREFIX%\..\outside.txt"` and record `%PREFIX:\=/%/../outside.txt`. The result
+> is `9 B - ../outside.txt` in the package listing, then ``… must not have `..` when setting path for
+> ././@LongLink``. (Only win-64 was run; the `else:` branch is the same mechanism on Unix.)
+>
+> **Suggested fix:** before the containment check, normalize each entry lexically: drop `.` and
+> resolve `..` against the previous component, with no filesystem access. Then `strip_prefix`, and
+> return `PackageFileOutsidePrefix` if the result leaves the prefix. Normalizing also makes the
+> `HashSet` dedupe one file listed under two spellings.
+
+## 5. Fallback: build once in CI, publish to a channel
+
+Rigs install `arena_interfaces` as a plain binary, like every RoboStack package. That means no
+MSVC, no backend, no MAX_PATH and no `detached-environments`, and the `typed` install becomes a
+download like the default one. T4 + T5 tested this on ww18 with a local file channel.
+
+**Consumer side** (what T5 ran, with the real channel URL):
+
+```toml
+[feature.typed]
+channels = ["https://prefix.dev/<lab-channel>"]
+
+[feature.typed.dependencies]
+arena_interfaces = { version = "0.1.*", channel = "https://prefix.dev/<lab-channel>" }
+ros-jazzy-rosidl-default-runtime = "*"
+
+# For whoever edits a .msg: today's source build, in its own solve group (the same package name
+# from a path and from a channel cannot share one).
+[feature.typed-src.dependencies]
+arena_interfaces = { path = "interfaces/arena_interfaces" }
+# … the ament/rosidl toolchain the typed feature carries today
+
+[environments]
+typed = { features = ["typed"], solve-group = "poc" }
+typed-src = { features = ["typed-src"], solve-group = "typed-src" }
+```
+
+**Build side** — a sketch, not added to `.github/workflows/` (it would run on this PR):
+
+```yaml
+name: arena-interfaces
+on:
+  push:
+    tags: ['arena-interfaces-v*']
+  workflow_dispatch:
+permissions:
+  contents: read
+  id-token: write          # prefix.dev trusted publishing (OIDC), no stored token
+jobs:
+  build:
+    strategy:
+      matrix:
+        include:
+          - { os: windows-2022, subdir: win-64 }    # VS 2022 → conda-forge vs2022 finds v143
+          - { os: macos-14,     subdir: osx-arm64 }
+          - { os: ubuntu-24.04, subdir: linux-64 }
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v5
+      - uses: prefix-dev/setup-pixi@v0     # pin an exact version + pixi-version: v0.80.0
+        with: { run-install: false }
+      - if: runner.os == 'Windows'           # D:\a\webDisplayTools\webDisplayTools\ros2-poc is 45 chars: at the limit
+        working-directory: ros2-poc
+        run: pixi config set --local detached-environments C:\px
+      - working-directory: ros2-poc
+        run: pixi build --path interfaces/arena_interfaces/pixi.toml --output-dir ../dist
+      - uses: actions/upload-artifact@v5
+        with: { name: arena_interfaces-${{ matrix.subdir }}, path: dist/*.conda }
+  publish:                                   # all three or nothing: see "partial channel" below
+    needs: build
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/download-artifact@v5
+        with: { path: dist, merge-multiple: true }
+      - uses: prefix-dev/setup-pixi@v0
+        with: { run-install: false }
+      # trusted publishing: check the OIDC flag/behaviour of the rattler-build version you pin
+      - run: pixi exec rattler-build upload prefix --channel <lab-channel> dist/*.conda
+```
+
+Notes and costs:
+
+- **Channel host.** A prefix.dev channel (free for public ones) gets OIDC trusted publishing,
+  so there is no token to rotate. It does add `prefix.dev` to a rig's network allowlist: today's
+  default env reaches only `conda.anaconda.org`, and the source build already reaches prefix.dev
+  for the backend. An anaconda.org org channel (`conda.anaconda.org/<org>`) keeps a single host but
+  needs an API-token secret. A third option, not tried: commit the three `.conda` files (~100 KiB
+  each) to the repo as a local channel.
+- **Partial channel = no lock.** The workspace locks win-64, osx-arm64 and linux-64 together. With
+  only the win-64 build in the channel, the lock could not resolve the other two platforms (seen in
+  T5 until the scratch feature was limited to win-64). So publish all three platforms in one job.
+- **When to rebuild.** On every `.msg` change: bump the version in `package.xml` and in
+  `interfaces/arena_interfaces/pixi.toml`, tag, let CI publish, then `pixi update arena_interfaces` and commit the lock. Also
+  rebuild when re-locking onto a newer RoboStack: the package pins `ros2-distro-mutex` (`>=0.19,<0.20`
+  on win-64 and linux-64 in today's lock, `>=0.16,<0.17` on osx-arm64). Until someone re-locks, the
+  lock keeps every rig on the old build.
+- **One build for the whole graph.** rmw_zenoh puts the message type hash in its key expressions,
+  so every node needs the same `.msg` version. The hash comes from the `.msg` text, so the Mac and
+  a rig agree when both install the same channel version. A source build on one machine and a stale
+  one on another would not see each other's typed topics. With the channel, the lock pins exact bytes
+  (`sha256`) on every machine.
+- **Effort.** About 50 lines of workflow, one channel to own, three runner jobs of about 2–4 min per
+  `.msg` change. The CMakeLists workaround (§2) is still needed for the Windows CI build until
+  #7226 ships.
+
+## 6. What a Windows rig PC needs, per route
+
+| | default env (String topics) | typed, built on the PC (today) | typed, prebuilt channel (§5) |
+|---|---|---|---|
+| install | `pixi install` | `pixi install -e typed` | `pixi install -e typed` |
+| compiler | — | MSVC **v143** toolset (VS 2022 Build Tools, or the v143 group in VS 2026; UAC, < 5 min) | — |
+| path setup | — | short checkout **or** `detached-environments` ≤ 12 chars | — |
+| network | conda.anaconda.org | + prefix.dev (backend) | + the channel host |
+| ww18 time (warm) | 25 s | 35–36 s | 9 s |
+| harness | 47 / 47 | 48 / 48 | 48 / 48 |
diff --git a/ros2-poc/windows-results-ww18-2026-10-15.md b/ros2-poc/windows-results-ww18-2026-10-15.md
index 6f67f459..a4856d03 100644
--- a/ros2-poc/windows-results-ww18-2026-10-15.md
+++ b/ros2-poc/windows-results-ww18-2026-10-15.md
@@ -6,7 +6,9 @@ the rig: **4** (BIAS through the node on the Atlas10 camera, incl. the unknown-o
 G6 2×10 controller + real FicTrac at 96 Hz + BIAS, idx mismatch 0.00 % in both epochs), **5.7** (bridge
 hard-killed mid-loop: every frame recovered from the bag), a **10-min soak** (0.00 % / 0.00 %, BIAS lost 0 of
 81 567 frames) and **5c** smoke on the four-color arena (8/8 trials pass, CW then CCW confirmed). **Step 1b /
-7 (typed messages) is blocked** by a pixi-build-ros packaging bug after two Windows hurdles were cleared (W2).
+7 (typed messages)** was blocked by a pixi-build-ros packaging bug after two Windows hurdles were cleared
+(W2). **Follow-up the same day:** a package-level workaround installs the typed env (35 s, harness 48 / 48),
+and a prebuilt-channel install needs no compiler at all (9 s, 48 / 48) — `docs/typed-windows.md`.
 
 ## Machine
 
@@ -24,7 +26,7 @@ hard-killed mid-loop: every frame recovered from the bag), a **10-min soak** (0.
 | # | Step | Finding | Status |
 |---|---|---|---|
 | W1 | 1a / 2 | `$PIXI_PROJECT_ROOT` stays literal in `[activation.env]` on Windows; `pixi run router` then exits: `zenohc::config: Failed to read config from $PIXI_PROJECT_ROOT/config/zenoh-router.json5: The system cannot find the path specified. (os error 3)` (no fallback to the stock config). `%PIXI_PROJECT_ROOT%` does expand under `pixi run`. | **fixed** bd2e349 (`[target.win-64.activation.env]`) |
-| W2 | 1b | The typed build fails with **VS Build Tools 2026 only**: `Could not find the compiler specified in the environment variable CC: cl.exe.` conda-forge `vs2022_win-64` (19.44.35207) looks for VS `[17,18)`, then the v143/14.44 components, then hard-coded `…\2022\…` paths, then `vswhere -latest` **without `-products *`**, which never lists a Build-Tools-only install. Then, with the v143 group added (below): (2) **MAX_PATH** — `fatal error C1083: Cannot open compiler generated file: '': Invalid argument` on a 265-char object path under `C:\Users\reiserm\Documents\GitHub\webDisplayTools\ros2-poc\.pixi\bld\arena_interfaces\…\work\build\CMakeFiles\…\_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c.obj` (`LongPathsEnabled` 0); the build adds ~215 chars, so the checkout path must stay under ~45; (3) at `C:\w` it compiles and links (156 files, 16 s), then packaging fails: `× paths in archives must not have '..' when setting path for Library` — the package lists `Library/../Lib/site-packages/arena_interfaces/…` (RoboStack's Windows `PYTHON_INSTALL_DIR=../Lib/site-packages`). | (1) fixed on the PC: `Microsoft.VisualStudio.ComponentGroup.VC.Tools.143.x86.x64` added to VS 2026 Build Tools (UAC, < 5 min; the script's 3rd vswhere query finds it); (2) short checkout path; (3) **open** — pixi-build-ros / rattler-build bug, needs an upstream fix or a prebuilt package |
+| W2 | 1b | The typed build fails with **VS Build Tools 2026 only**: `Could not find the compiler specified in the environment variable CC: cl.exe.` conda-forge `vs2022_win-64` (19.44.35207) looks for VS `[17,18)`, then the v143/14.44 components, then hard-coded `…\2022\…` paths, then `vswhere -latest` **without `-products *`**, which never lists a Build-Tools-only install. Then, with the v143 group added (below): (2) **MAX_PATH** — `fatal error C1083: Cannot open compiler generated file: '': Invalid argument` on a 265-char object path under `C:\Users\reiserm\Documents\GitHub\webDisplayTools\ros2-poc\.pixi\bld\arena_interfaces\…\work\build\CMakeFiles\…\_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c.obj` (`LongPathsEnabled` 0); the build adds ~215 chars, so the checkout path must stay under ~45; (3) at `C:\w` it compiles and links (156 files, 16 s), then packaging fails: `× paths in archives must not have '..' when setting path for Library` — the package lists `Library/../Lib/site-packages/arena_interfaces/…` (RoboStack's Windows `PYTHON_INSTALL_DIR=../Lib/site-packages`). | (1) fixed on the PC: `Microsoft.VisualStudio.ComponentGroup.VC.Tools.143.x86.x64` added to VS 2026 Build Tools (UAC, < 5 min; the script's 3rd vswhere query finds it); (2) short checkout path, or `detached-environments` ≤ 12 chars (works from a 79-char checkout); (3) **worked around** 538cc85 (normalized `PYTHON_INSTALL_DIR` in the package's CMakeLists.txt). Cause: pixi#6691 appends CMake's `install_manifest.txt` to `RATTLER_BUILD_PACKAGE_FILES`, which rattler-build never normalizes. Upstream fix prefix-dev/pixi#7226 open, not merged. Prebuilt-channel route tested. Details + upstream drafts: `docs/typed-windows.md` |
 | W3 | 3 | Text-mode writes are CRLF on Windows: `mcap_convert --out`, `export_log`, the emulator's export copy → 2 byte-identity FAILs against bridge 3.4's binary `--convert`. | **fixed** aeccdce (`newline="\n"`) |
 | W4 | 3 / 5.6 | bridge 3.4's own live file is CRLF on Windows (`fictrac-bridge/bridge.py:711`, text-mode `open(…, "a")`); its export re-reads in text mode and gzips binary, so committed logs are LF. The PoC's shadow file inherits this, so step 5.6's `fc.exe /b export shadow` will differ on **every line** here; compare with `splitlines`, not bytes. | not fixed (bridge 3.4 untouched) |
 | W5 | 3 | JS reader check skipped: `find_node()` looked for `.pixi\envs\default\bin\node.exe`; conda's Windows layout has `node.exe` at the env root (and a fresh clone needs the root `pixi install`, 5.3 s / 0.30 GB). | **fixed** aeccdce |
@@ -197,11 +199,17 @@ Rig: CSHL G6 2×10 ball arena, controller COM4 (fw `12bba7e9` 2x10 2026-09-30),
 | 5.7 | 15:35 | crash: `taskkill /F` the bridge 10.4 s into the first loop | **PASS** (+ S1) | rig stopped all children; bag without metadata.yaml (1.31 MB); `--recover`: **1162 frames, last 12 046 ms — identical to the shadow NDJSON** (only the final arena echo line missing; the Mac lost 1 frame); recover 5.4 s |
 | soak | 15:44 | `…_ww18_soak10` (2 × 300 s closed loop) | **PASS** (+ H1) | idx mismatch **0.00 % / 0.00 %**; 221 926 lines, fidelity exact (618 derived, ±6 ms max); 58 918 FicTrac rows (Δ 9–12 ms, no 15.6 ms steps); `cc_0x70_ok` 57 811; adapter→bridge p50 0.55 / p99 1.26 ms; BIAS 81 567 frames at 135.59 fps, 0 gaps / skips / incomplete / timeouts, buffers ≥ 123/128, 0 TCP retransmits; **uFMF 14.2 GB / 10 min ≈ 24 MB/s** (the fork's figure; ~85 GB/h); trial 3 flagged by one SD-stall burst (H1) |
 | 5c | 15:56 | `g6_color_optomotor_smoke` on the four-color arena (COM7: fw `c15d840a` restack/panel-boot 2026-09-29, 8 GB FAT32, patterns already on the card) | **PASS** | `runlog-check` OK, **8/8 trials pass**; violet, blue, green, yellow each CW then CCW — direction confirmed by eye, no `fps_cw`/`fps_ccw` swap; 12 camera replies ok, BIAS clock +12.03 s per trial |
+| W2-3 | 16:22 | typed build, packaging bug: baseline at `C:\w\t` (detached worktree) | FAIL (reproduced) | 32 s; 21 of 151 package-file entries `<host>/Library/../Lib/site-packages/…` |
+| W2-3′ | 16:25 | + CMakeLists workaround (538cc85), `--locked`, clean `bld/` | **PASS** | 35 s (16 s build), 0 entries with `..`; `--check` importable + serializes; **harness 48 / 48** in 61 s, `typed topics: True` |
+| W2-3″ | 16:28 | same from a 79-char checkout + `detached-environments = 'C:\w\px'` | **PASS** | 36 s; longest object path 253 chars |
+| W2-5 | 16:32 | prebuilt: `pixi publish` → local file channel; `typed` from the channel, no path dep, no toolchain | **PASS** | publish 26 s (101 KiB `.conda`); fresh `--locked` install **9 s, no build backend started**; **harness 48 / 48** in 56 s (scratch manifest, not committed) |
 
 ## Still open
 
-- **1b / 7** typed messages: pixi-build-ros packaging bug on Windows (W2-3) — or build `arena_interfaces` in
-  CI and publish it to a channel, so a rig never compiles.
+- **1b / 7** typed messages: installable now (W2-3′, W2-5). The decision is between building on each PC
+  (MSVC v143 + `detached-environments`) and a CI-built channel (no compiler; workflow sketch in
+  `docs/typed-windows.md` §5). Step 5 hardware runs were not repeated with `-e typed`. Upstream drafts (§4)
+  wait for an OK to file.
 - **S1** bridge loss should banner and end the run; **S2** `?p=` needed a refresh; **H1** characterize the 64 GB
   exFAT card; **5c full** (18 min) and real-fly runs; **hardware sync** (camera strobe → controller Digital IO)
   for µs frame timing on the controller's clock.

From 930126b35c37ceca546475664806db71ffcc122b Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 16:41:04 -0400
Subject: [PATCH 61/96] Studio: stop the run when the FicTrac bridge is lost
 mid-run (BRIDGE_LOST, LAB-303 S1)

ww18 2026-10-15 (step 5.7): the bridge was hard-killed 10 s into a closed-loop epoch.
The Studio only showed "bridge disconnected"; the run carried on with no frames.

- fictrac-bridge-client.js: an OPEN socket that closes without disconnect() asking
  is a loss. Fail closed first (apply off, pending index dropped, every pending
  request settled at once via _failPending: log export rejects "bridge lost", level
  ack waiters resolve null), then emit 'lost' {code, apply, logFile, ...}.
  disconnect() clears _ws before close() so a requested close is never a loss; a
  superseded socket closing after a reconnect no longer clobbers the new one.
  New logFile (log_control_ack `file`) and lastLoss getters.
- arena-runner-g6.js: onBridgeLost(info) stops the run when a closed loop was
  applying, when a step acts through the bridge (sequenceUsesBridge), or when the
  run's record lives on it (runSequence {bridgeRequired}); otherwise a test run
  continues with a bridge-lost event. The stop is the ordinary stop() (the serial
  link is fine: real STOP, LED off, loop disarmed); summary.bridgeLost, not a fault.
- arena-session.js: routes 'lost' to the runner, re-emits 'bridgelost'
  {info, action, running}; stale-cache runner fallback = stop().
- run-log.js + studio-runlog-adapter.js: outcome BRIDGE_LOST, bridge-lost transcript line.
- arena_studio.html: persistent #runAlert (role=alert), recorded runs pass
  bridgeRequired, BRIDGE_LOST is not auto-committed, a push refuses a log_export whose
  name is not this run's bridge file (a restarted bridge serves another file), soak
  ends with reason bridge-lost; cache tokens bumped on the changed scripts.

Tests: client 183, runner 529, session 106 (incl. end to end: real client + runner +
session + run log, socket killed mid epoch -> BRIDGE_LOST in < 2 s, pending export
fails fast, STOP sent), run-log 39, adapter 34; suite 60/60; studio-smoke 0 failures.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 CLAUDE.md                           |  13 ++
 arena_studio.html                   |  96 ++++++++++--
 js/arena-runner-g6.js               | 124 +++++++++++++++
 js/arena-session.js                 |  36 ++++-
 js/fictrac-bridge-client.js         | 105 +++++++++++--
 js/run-log.js                       |  13 ++
 js/studio-runlog-adapter.js         |  10 +-
 tests/test-arena-runner-g6.js       | 204 +++++++++++++++++++++++++
 tests/test-arena-session.js         | 229 ++++++++++++++++++++++++++++
 tests/test-fictrac-bridge-client.js | 129 +++++++++++++++-
 tests/test-run-log.js               |  10 ++
 tests/test-studio-runlog-adapter.js |  39 +++++
 12 files changed, 981 insertions(+), 27 deletions(-)

diff --git a/CLAUDE.md b/CLAUDE.md
index 24d2f417..b9225d6b 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -342,6 +342,19 @@ fix flows to every page automatically; two hand-written HTML pages never will.
   `write_rows`, verbatim `["cc"|"cf"|"cs", …]`). The record schema lives in ONE place — the header
   comment of `js/arena-telemetry.js` — mirror any firmware change there + in `wedge-scan.py`
   (`CTL_TAGS`/`CTL_STATE_KINDS`). Never drain while the post-mortem owns the link (its `canPoll`).
+- **Bridge-loss lifecycle (LAB-303 S1, ww18 2026-10-15) — the other fail-closed rule:** an OPEN
+  bridge socket that closes without `disconnect()` asking is a LOSS (`disconnect()` clears `_ws`
+  BEFORE `close()` — that is the discriminator; keep it). `FicTracBridgeClient` then forces apply
+  OFF, calls `_failPending('bridge lost')` (THE one place every request/reply waiter settles —
+  register any NEW request type there, e.g. #254's connector_command waiters) and only then emits
+  `'lost'`. `ArenaSession` → `runner.onBridgeLost(info)`: it STOPS the run when apply was on, when
+  `sequenceUsesBridge` finds a bridge-routed plugin command (today `fictracPluginNames`; add any new
+  bridge-routed plugin set there), or with `runSequence({bridgeRequired})` (the Studio passes it for
+  recorded runs) — via the ordinary `stop()` (serial link is fine → real STOP), never a controller
+  fault (no post-mortem). Otherwise a test run continues with a `bridge-lost` event. Outcome
+  `BRIDGE_LOST` (`summary.bridgeLost`; `run-log.js` + adapter) is NOT auto-committed, and a push
+  refuses a `log_export` whose name ≠ the run's `log.bridgeFile` (a restarted bridge serves another
+  file). Studio: persistent `#runAlert` (`Studio.showRunAlert`), not the auto-hiding `#banner`.
 - **Wire module exports:** `js/arena-wire-g6.js` defines more than it exports —
   when adding encoders/decoders, add them to the export list AND a test; audit
   with `Object.keys(require('./js/arena-wire-g6.js'))` vs the page's `Wire.*`
diff --git a/arena_studio.html b/arena_studio.html
index 0cd898fb..76753923 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -813,6 +813,11 @@
   #ghQuickLinks .ql-link:hover{border-color:var(--accent);background:color-mix(in srgb,var(--accent) 8%,transparent)}
   .banner{background:color-mix(in srgb,var(--warn) 12%,transparent);border:1px solid var(--warn);color:var(--warn);border-radius:8px;padding:8px 12px;margin:10px 20px;font-size:12px;display:none}
   .banner.show{display:block}
+  /* Run alert: a safety event the operator must SEE (bridge lost mid-run) — stays until
+     dismissed or the next run starts, unlike #banner, which later messages replace. */
+  .run-alert{background:color-mix(in srgb,var(--danger) 12%,transparent);border-color:var(--danger);color:var(--danger);font-weight:600;align-items:center;gap:12px}
+  .run-alert.show{display:flex}
+  .run-alert button{margin-left:auto;flex:0 0 auto;background:transparent;border:1px solid currentColor;color:inherit;border-radius:5px;padding:1px 8px;cursor:pointer;font:inherit}
 
   /* ── Edit view: tab bar (Designer | YAML) + YAML pane ───────────── */
   .edit-view .edit-tabs{display:flex;border:1px solid var(--border);border-radius:5px;overflow:hidden;flex:0 0 auto}
@@ -2472,6 +2477,7 @@
 
 <input type="file" id="fileInput" accept=".yaml,.yml" style="display:none" />
 <div class="banner" id="banner"></div>
+<div class="banner run-alert" id="runAlert" role="alert"><span id="runAlertTxt"></span><button type="button" id="runAlertClose" title="Hide this alert (the run log keeps the event)">✕</button></div>
 
 <!-- picker modal (Open from library… / Open from course repo…) -->
 <div class="picker-overlay" id="pickerOverlay" style="display:none">
@@ -2644,7 +2650,7 @@ <h3>Sequence · test any single condition ▶ <span id="docSummary" class="doc-s
             <button class="pill log-only" id="btnLogClear">Clear</button>
             <button class="pill log-only" id="btnLogCopy" title="Copy log to clipboard">Copy</button>
             <button class="pill log-only" id="btnLogSave" title="Download the recorded run log (.json + .txt)" disabled>⬇ Save</button>
-            <button class="pill log-only" id="btnLogPush" title="Push this run's log to the course repo (runlogs/&lt;bench-id&gt;/, gzipped .jsonl.gz) — use after an auto-commit was skipped (aborted/disconnected) or failed. Needs the bridge still connected; it re-serves the last run until the next one." disabled>⇪ Push log</button>
+            <button class="pill log-only" id="btnLogPush" title="Push this run's log to the course repo (runlogs/&lt;bench-id&gt;/, gzipped .jsonl.gz) — use after an auto-commit was skipped (aborted/disconnected) or failed. Needs the bridge still connected; it re-serves the last run until the next one. A restarted bridge serves a different file, so the push refuses it." disabled>⇪ Push log</button>
           </span>
           <!-- Scope controls live ON the header row in scope mode (maximizes the
                canvas); hidden in log mode. The .acts group is hidden in scope mode. -->
@@ -3363,10 +3369,10 @@ <h2 id="modalTitle">Import error</h2>
 <script src="js/studio-analog-in.js"></script>
 <script src="js/studio-panel-inventory.js"></script>
 <script src="js/arena-link.js"></script>
-<script src="js/arena-runner-g6.js?v=20260926-cl-start"></script> <!-- ?v= forces a fresh load: a cached runner/client silently runs the old closed-loop start -->
-<script src="js/run-log.js"></script>
-<script src="js/fictrac-bridge-client.js?v=20260926-cl-start"></script>
-<script src="js/arena-session.js"></script>
+<script src="js/arena-runner-g6.js?v=20261015-bridge-lost"></script> <!-- ?v= forces a fresh load: a cached runner/client/session silently keeps the old behavior (closed-loop start, bridge-loss stop) -->
+<script src="js/run-log.js?v=20261015-bridge-lost"></script>
+<script src="js/fictrac-bridge-client.js?v=20261015-bridge-lost"></script>
+<script src="js/arena-session.js?v=20261015-bridge-lost"></script>
 <script src="js/pat-encoder.js"></script>
 <script src="js/pattern-set.js"></script>
 <script src="js/pat-preview.js"></script>
@@ -3385,7 +3391,7 @@ <h2 id="modalTitle">Import error</h2>
 </script>
 <script src="js/studio-meta.js"></script>
 <script src="js/studio-url-state.js?v=20260924-replay"></script>
-<script src="js/studio-runlog-adapter.js"></script>
+<script src="js/studio-runlog-adapter.js?v=20261015-bridge-lost"></script>
 <script src="js/studio-postmortem.js"></script>
 <script src="js/arena-telemetry.js"></script>
 <script src="js/trial-quality.js"></script>
@@ -3613,7 +3619,7 @@ <h2 id="modalTitle">Import error</h2>
     function renderRunEvent(ev) {
         if (!$('runlogBox') || !ev) return;
         const div = document.createElement('div');
-        if (ev.phase === 'error') div.className = 'l-err';
+        if (ev.phase === 'error' || ev.phase === 'bridge-lost') div.className = 'l-err';
         else if (ev.phase === 'skip' || ev.phase === 'warn') div.className = 'l-warn';
         // Reuse run-log.js's own transcript line if available, else a compact fallback.
         div.textContent =
@@ -3661,7 +3667,7 @@ <h2 id="modalTitle">Import error</h2>
             // broker has already aborted the runner (bench 2026-09-13, forced watchdog reset: the
             // terminal event arrived with fault null). The link being down at the terminal event
             // of an abort nobody requested is the same evidence — use either.
-            if (sm && !sm.fault && sm.aborted && !Studio._userStopRequested && (Studio._linkDropped || !(Studio.session && Studio.session.connected))) {
+            if (sm && !sm.fault && !sm.bridgeLost && sm.aborted && !Studio._userStopRequested && (Studio._linkDropped || !(Studio.session && Studio.session.connected))) {
                 sm.fault = 'link_dropped';
                 sm.faultDetail = { kind: 'link_dropped', note: 'controller re-enumerated mid-run (watchdog self-reset?)' };
             }
@@ -3855,6 +3861,12 @@ <h2 id="modalTitle">Import error</h2>
             rawLine('run log NOT auto-committed (' + outcome + ') — click "⇪ Push log" to commit it anyway', 'warn');
             return;
         }
+        if (outcome === 'BRIDGE_LOST') {
+            // The bridge that wrote this run's file is gone; it cannot be exported from here.
+            rawLine('run log NOT auto-committed (BRIDGE_LOST) — the bridge’s file ' +
+                (log.bridgeFile || 'arena-log-*.jsonl') + ' stays on the bridge PC; ⬇ Save keeps this browser’s record', 'warn');
+            return;
+        }
         await commitRunLog(log, {});
     }
     // SHA-256 hex of a byte buffer (SubtleCrypto; secure-context only — the course
@@ -3928,9 +3940,12 @@ <h2 id="modalTitle">Import error</h2>
             return;
         }
         const bridge = Studio.session && Studio.session.bridge;
+        const lostRun = !!(log.summary && log.summary.outcome === 'BRIDGE_LOST');
         if (!bridge || !bridge.connected) {
             showUploadModal('Run log not committed', { error: true,
-                msg: 'Bridge disconnected — the log file remains on the bridge machine. Reconnect the bridge (it re-serves the last run) and push again, or commit it from a local clone.' });
+                msg: lostRun
+                    ? 'This run lost its bridge. Its log file (' + (log.bridgeFile || 'arena-log-*.jsonl') + ') stays on the bridge PC — a restarted bridge cannot serve it. Commit it from there; ⬇ Save keeps this browser’s record.'
+                    : 'Bridge disconnected — the log file remains on the bridge machine. Reconnect the bridge (it re-serves the last run) and push again, or commit it from a local clone.' });
             return;
         }
         let exported;
@@ -3943,6 +3958,19 @@ <h2 id="modalTitle">Import error</h2>
             showUploadModal('Run-log export failed', { error: true, msg: m + '\n\nThe log stays on the bridge machine — nothing lost.' });
             return;
         }
+        // log_export serves the bridge's current-or-most-recent file. After a bridge loss
+        // and restart that is a DIFFERENT file — never commit it under this run's name.
+        const runFile = log.bridgeFile || null;
+        if ((runFile && exported.name && exported.name !== runFile) || (lostRun && !runFile)) {
+            const m = runFile
+                ? 'The bridge served ' + exported.name + ', not this run’s log ' + runFile +
+                  ' (the bridge was restarted or logged something else since).'
+                : 'This run lost its bridge, and the bridge did not name the run’s log file, so the file it serves now cannot be matched to this run.';
+            rawLine('run log NOT committed — ' + m, 'err');
+            showUploadModal('Run log not committed', { error: true,
+                msg: m + '\n\nThis run’s file is on the bridge PC (' + (runFile || 'arena-log-*.jsonl') + ') — commit it from there. ⬇ Save keeps this browser’s record.' });
+            return;
+        }
         const stamp = new Date().toISOString().slice(0, 19).replace(/:/g, '-');
         const proto = GH.slug(String(log.meta.protocol_filename || 'protocol').replace(/\.ya?ml$/i, ''));
         const who = GH.slug(log.meta.experimenter || 'unknown');
@@ -4357,6 +4385,21 @@ <h2 id="modalTitle">Import error</h2>
         setTimeout(() => b.classList.remove('show'), 8000);
     }
     Studio.showBanner = showBanner;
+    // Persistent alert for safety events (#runAlert): no auto-hide, not replaced by
+    // routine banners. Cleared by its ✕ or when the next run starts.
+    function showRunAlert(msg) {
+        const a = $('runAlert');
+        if (!a) { showBanner(msg); return; }
+        $('runAlertTxt').textContent = msg;
+        a.classList.add('show');
+    }
+    function hideRunAlert() {
+        const a = $('runAlert');
+        if (a) a.classList.remove('show');
+    }
+    Studio.showRunAlert = showRunAlert;
+    Studio.hideRunAlert = hideRunAlert;
+    if ($('runAlertClose')) $('runAlertClose').addEventListener('click', hideRunAlert);
 
     // ---- Safe mode (default student mode) -------------------------------------
     // Safe mode is the DEFAULT: a plain load locks Edit, Console, the session-rig
@@ -5748,6 +5791,28 @@ <h2 id="modalTitle">Import error</h2>
                 (d.lastError ? ' (' + d.lastError + ')' : ''), 'err');
             showBanner('⚠ Controller stopped answering — run aborted. Post-mortem probes follow (see the run log).');
         });
+        // FicTrac bridge lost (LAB-303 S1): the socket dropped without a Disconnect.
+        // The broker has already stopped the run when it needed the bridge (closed loop,
+        // a FicTrac step, or a recorded run's log) — say so where nobody can miss it.
+        Studio.session.on('bridgelost', (e) => {
+            const info = (e && e.info) || {};
+            const action = e && e.action;
+            const why = info.apply ? 'the closed loop was running' : 'the bridge connection dropped';
+            const restart = ' Restart the bridge (`pixi run bridge`) before the next run.';
+            let msg = null;
+            if (action === 'aborted') {
+                msg = '⚠ FicTrac bridge lost mid-run (' + why + ') — the run was STOPPED (outcome BRIDGE_LOST). ' +
+                    'The display was stopped and the closed loop is off. The bridge’s log of this run ends at the loss; ' +
+                    '⬇ Save keeps this browser’s record.' + restart;
+            } else if (action === 'continued') {
+                msg = '⚠ FicTrac bridge lost — this test run continues, but nothing after this point is in the bridge log.' + restart;
+            } else if (info.apply) {
+                msg = '⚠ FicTrac bridge lost — the closed loop stopped (the arena no longer follows the ball).' + restart;
+            }
+            rawLine('⚠ bridge lost' + (info.code != null ? ' (code ' + info.code + ')' : '') +
+                (action ? ' — run ' + (action === 'aborted' ? 'stopped' : action) : ''), 'err');
+            if (msg) showRunAlert(msg);
+        });
         Studio.session.on('disconnect', (info) => {
             if (info && info.involuntary) Studio._linkDropped = true; // consumed by runSteps (fault lifecycle)
             if (info && info.involuntary && Studio.activeRunLog && !Studio.activeRunLog.summary) {
@@ -9380,7 +9445,7 @@ <h2 id="modalTitle">Import error</h2>
                 // Open loop: the controller steps the pattern itself (no 0x70s) — exposure is
                 // in the telemetry FRAME rows, judged by telemetry-report.py, not here.
                 const exercised = !closedLoop || applied >= Math.min(1000, 5 * durS); // ≥ 5 Hz average, or 1000 total
-                let outcome = !res ? 'not-started' : res.fault ? 'fault' : res.aborted ? 'aborted' : exercised ? 'completed' : 'unexercised';
+                let outcome = !res ? 'not-started' : res.fault ? 'fault' : res.bridgeLost ? 'bridge-lost' : res.aborted ? 'aborted' : exercised ? 'completed' : 'unexercised';
                 logSoak({
                     phase: 'iteration-end', iteration: s.iteration,
                     outcome,
@@ -9400,7 +9465,8 @@ <h2 id="modalTitle">Import error</h2>
                     if (!pmo || (pmo.outcome !== 'recovered' && pmo.outcome !== 'self-reset')) { reason = pmo ? 'fault-' + pmo.outcome : 'fault'; break; }
                     s.resets++;
                     Studio.rawLog('soak: controller recovered (reset ' + s.resets + '/' + s.maxResets + ') — continuing', 'warn');
-                } else if (res.aborted) { reason = 'operator-stop'; break; }
+                } else if (res.bridgeLost) { reason = 'bridge-lost'; break; }
+                else if (res.aborted) { reason = 'operator-stop'; break; }
                 if (s.stop) { reason = s.stopReason || 'operator'; break; }
                 // Gap + input freshness re-check (a dead simulator is a harness
                 // problem, not a controller fault — pause, don't count it).
@@ -9797,6 +9863,9 @@ <h2 id="modalTitle">Import error</h2>
         const ackLevel = bridge.connected && bridge.waitForLogLevelAck ? await bridge.waitForLogLevelAck(800) : null;
         const logLevel = ackLevel || (wantLevel === 'behavior_v2' ? 'behavior_v1' : wantLevel);
         Studio._runLogFormat = bridge.connected ? logLevel : null;
+        // The file the bridge opened for THIS run (log_control_ack). A later push checks
+        // that log_export serves it — a bridge restarted after a loss serves another file.
+        if (Studio.activeRunLog) Studio.activeRunLog.bridgeFile = (bridge.connected && bridge.logFile) || null;
         const levelNote = !bridge.connected ? ''
             : ackLevel === wantLevel ? ' (' + ackLevel + ')'
             : ackLevel ? ' ⚠ bridge too old for ' + wantLevel + ' — logging ' + ackLevel + ' (restart `pixi run bridge` from the current checkout)'
@@ -9853,6 +9922,7 @@ <h2 id="modalTitle">Import error</h2>
     let summary = null;
     Studio._userStopRequested = false;
     Studio._linkDropped = false;
+    if (Studio.hideRunAlert) Studio.hideRunAlert(); // a new run starts with no stale bridge-lost alert
     if (Studio.trialQuality) Studio.trialQuality.reset(); // per-trial stimulus-quality verdicts start fresh
     Studio._tqFinal = null; // finalizeTrialQuality() runs once per run (first caller wins, others await it)
     // Bind the verdict to THIS run: a late terminal event from a previous (aborted) run must not finalize
@@ -9872,6 +9942,9 @@ <h2 id="modalTitle">Import error</h2>
                 ? Studio.resolveRuntimeCondition
                 : undefined,
             fictracPluginNames: new Set(ftNames),
+            // A recorded run's record IS the bridge log (the run is gated on the bridge),
+            // so losing the bridge stops it — not only when a FicTrac step needs it.
+            bridgeRequired: !!isExperiment && !!(bridge && bridge.connected),
             degPerFrame: Studio.rigDegPerFrame(),
             defaultCoupling: Studio._legacyDefaultCoupling == null ? 1 : Studio._legacyDefaultCoupling
         });
@@ -17175,6 +17248,7 @@ <h2 id="modalTitle">Import error</h2>
     '#btnAllOff': 'Turn every LED off.',
     '#btnLogSave': 'Download the run log as files (.json and .txt).',
     '#btnLogPush': 'Send the last run’s log to the course repo — use this if the automatic push was skipped or failed.',
+    '#runAlert': 'Something stopped your run or the closed loop (for example, the FicTrac bridge closed). The message says what happened and what to do; the run log keeps it too. ✕ hides it.',
     '#btnLogClear': 'Clear the log display (saved logs are not deleted).',
     '#btnLogCopy': 'Copy the log text to the clipboard.',
     '.seqlist': 'The experiment’s sequence. Each row is a condition — ▶ on a row tests just that one on the arena.',
diff --git a/js/arena-runner-g6.js b/js/arena-runner-g6.js
index 94fa7f61..ca4d8f5b 100644
--- a/js/arena-runner-g6.js
+++ b/js/arena-runner-g6.js
@@ -714,6 +714,47 @@ var ArenaRunnerG6 = (function () {
         return out;
     }
 
+    // JSON-safe copy of a bridge 'lost' info for the run record (the summary and the
+    // bridge-lost event both serialize into the run log).
+    function lostDetail(info) {
+        const out = { kind: 'bridge_lost' };
+        if (!info || typeof info !== 'object') return out;
+        for (const k of ['code', 'reason', 'wasClean', 'apply', 'logFile', 'url', 't']) {
+            const v = info[k];
+            if (v !== undefined && v !== null && v !== '' && typeof v !== 'object') out[k] = v;
+        }
+        return out;
+    }
+
+    /**
+     * Does any condition this sequence runs carry a plugin command that acts through
+     * the bridge (FicTrac today)? Losing the bridge mid-run makes every later such
+     * step run blind, so ArenaRunner.onBridgeLost stops a run for which this is true.
+     * Scans the authored command lists (runtime controls change parameters, never
+     * plugin names), each condition once.
+     * @param {Array} steps
+     * @param {Map} conditionsByName
+     * @param {Set<string>|null} bridgePluginNames  plugin instance names routed via the bridge
+     * @returns {boolean}
+     */
+    function sequenceUsesBridge(steps, conditionsByName, bridgePluginNames) {
+        if (!bridgePluginNames || typeof bridgePluginNames.has !== 'function') return false;
+        if (!bridgePluginNames.size) return false;
+        const seen = new Set();
+        for (const step of Array.isArray(steps) ? steps : []) {
+            const name = step && step.conditionName;
+            if (seen.has(name)) continue;
+            seen.add(name);
+            const cond = conditionsByName && conditionsByName.get(name);
+            if (!cond || !Array.isArray(cond.commands)) continue;
+            for (const cmd of cond.commands) {
+                if (cmd && cmd.type === 'plugin' && bridgePluginNames.has(cmd.plugin_name))
+                    return true;
+            }
+        }
+        return false;
+    }
+
     /**
      * Translate ONE v3 command into a wire-neutral instruction descriptor (the
      * "command IR"). PURE and wire-free so it is trivially unit-testable; the
@@ -1104,6 +1145,9 @@ var ArenaRunnerG6 = (function () {
             this._emit = null; // current run's status emit (for async LED events)
             this._faultReason = null; // set by fault() / a timed-out wire command
             this._faultDetail = null;
+            this._bridgeLost = null; // set by bridgeLost(): the bridge's 'lost' info
+            this._bridgeRequired = false; // this run's record lives on the bridge (recorded runs)
+            this._bridgeDependent = false; // this run has steps that act through the bridge
         }
 
         get active() {
@@ -1140,6 +1184,9 @@ var ArenaRunnerG6 = (function () {
 
             this._active = true;
             this._conditionName = a.conditionName || null;
+            this._bridgeLost = null;
+            this._bridgeRequired = false; // a single trial depends on the bridge only via apply
+            this._bridgeDependent = false;
 
             let frame;
             try {
@@ -1247,6 +1294,72 @@ var ArenaRunnerG6 = (function () {
             return this._faultReason;
         }
 
+        /**
+         * The bridge WebSocket dropped (FicTracBridgeClient 'lost' — ArenaSession calls
+         * this). Decides what the active run does:
+         *   - 'aborted'   the run needs the bridge — a closed loop was applying, a later
+         *                 step acts through the bridge (a FicTrac plugin), or the run's
+         *                 record lives on it (`bridgeRequired`, recorded runs) → bridgeLost()
+         *   - 'continued' a test run that needs nothing from the bridge: it keeps going,
+         *                 with a 'bridge-lost' event so the transcript says logging stopped
+         *   - 'idle'      no run is active
+         * @param {object} [info] the client's 'lost' info ({code, apply, logFile, …})
+         * @returns {'aborted'|'continued'|'idle'}
+         */
+        onBridgeLost(info) {
+            if (!this._active) return 'idle';
+            const apply = !!(info && info.apply);
+            if (apply || this._bridgeDependent || this._bridgeRequired) {
+                this.bridgeLost(info);
+                return 'aborted';
+            }
+            if (this._emit) {
+                try {
+                    this._emit({
+                        phase: 'bridge-lost',
+                        reason: 'bridge_lost',
+                        action: 'continued',
+                        detail: lostDetail(info)
+                    });
+                } catch (_) {
+                    /* a status sink must not break the caller */
+                }
+            }
+            return 'continued';
+        }
+
+        /**
+         * End the active run because the bridge is gone. Records the loss (the terminal
+         * summary carries `bridgeLost`, which the run log turns into the BRIDGE_LOST
+         * outcome — never ABORTED_BY_USER, never a controller fault), emits a
+         * `bridge-lost` status event, then takes the ordinary stop() path: the serial
+         * link is healthy, so the display gets a real STOP, the LED goes off and the
+         * closed loop is disarmed, exactly as for an operator STOP.
+         * @param {object} [info] the client's 'lost' info
+         * @returns {Promise} the stop() result (never rejects)
+         */
+        bridgeLost(info) {
+            this._bridgeLost = lostDetail(info);
+            if (this._emit) {
+                try {
+                    this._emit({
+                        phase: 'bridge-lost',
+                        reason: 'bridge_lost',
+                        action: 'stopped',
+                        detail: this._bridgeLost
+                    });
+                } catch (_) {
+                    /* a status sink must not break the stop */
+                }
+            }
+            return this.stop().catch(() => null);
+        }
+
+        /** The bridge-loss record of the current/last run, or null. */
+        get bridgeLostInfo() {
+            return this._bridgeLost;
+        }
+
         /** Clear run-state without sending STOP (used on disconnect/error). Also
          *  aborts a running sequence and unblocks its current wait. */
         _clear() {
@@ -1533,6 +1646,9 @@ var ArenaRunnerG6 = (function () {
          *        a non-mutating condition copy around those commands.  The hook
          *        runs after step-start and before any command translation/send.
          * @param {Set|Array} [a.fictracPluginNames]  plugin names whose class is FicTracPlugin
+         * @param {boolean}  [a.bridgeRequired]  the run's record lives on the bridge (a
+         *                                        recorded run): losing the bridge stops it even
+         *                                        when no step acts through the bridge
          * @param {function} [a.onProgress]      progress/event callback (see phases below)
          * @param {function} [a.timing]          async (durationSec, sleep) ⇒ trial end
          *                                        (defaults to host-side; firmware #4 swap)
@@ -1586,6 +1702,10 @@ var ArenaRunnerG6 = (function () {
             this._frameCountCache = new Map();
             this._faultReason = null;
             this._faultDetail = null;
+            this._bridgeLost = null;
+            this._bridgeRequired = !!a.bridgeRequired;
+            this._bridgeDependent =
+                !!this._bridge && sequenceUsesBridge(steps, conditionsByName, fictracPluginNames);
             this._oldBridgeStartWarned = false; // one "bridge ignores the start frame" warning per run
             // A stale closed-loop apply (left on by Console use or an aborted run)
             // would push FicTrac frames into the opening Mode-2 step — the firmware
@@ -1816,6 +1936,9 @@ var ArenaRunnerG6 = (function () {
                 // the controller stopped answering (fault() / a timed-out command).
                 summary.fault = this._faultReason || null;
                 if (this._faultDetail) summary.faultDetail = this._faultDetail;
+                // The bridge dropped and the run stopped for it (BRIDGE_LOST outcome).
+                // A continued test run records only its bridge-lost event, not this.
+                if (this._bridgeLost) summary.bridgeLost = this._bridgeLost;
                 // The terminal event is emitted from `finally`, AFTER the best-effort
                 // STOP, so the serialized summary (run log, auto-commit trigger)
                 // carries `stopAcked` — review finding: it used to be present only
@@ -2134,6 +2257,7 @@ var ArenaRunnerG6 = (function () {
         conditionCommandCount,
         flattenStructure,
         translateCommand,
+        sequenceUsesBridge, // does a run have steps that act through the bridge? (bridge-loss policy)
         hostSideTrialEnd,
         RUNNABLE_CONTROLLER_COMMANDS,
         LED_OFF_MV, // BuckPuck "LED dark" analog level (mV) — the scope's on/off threshold
diff --git a/js/arena-session.js b/js/arena-session.js
index e20ad252..231abe2a 100644
--- a/js/arena-session.js
+++ b/js/arena-session.js
@@ -30,6 +30,13 @@
  *   'disconnect' ({ involuntary:boolean })      — port closed (cable-pull = true, user Disconnect = false)
  *   'state'      ()                             — connection/run state changed; re-evaluate UI gating
  *   'runstatus'  (s:object)                     — runner status/progress phase (single-trial AND sequence)
+ *   'fault'      (f:object)                     — closed-loop controller fault (fw #50); the run is aborting
+ *   'bridgelost' ({info, action, running})      — the FicTrac bridge socket dropped without being
+ *                                                 asked to. action: 'aborted' (the run is stopping,
+ *                                                 outcome BRIDGE_LOST) | 'continued' (a test run that
+ *                                                 needs nothing from the bridge) | 'idle' (no run).
+ *                                                 info = the client's 'lost' info (info.apply: a
+ *                                                 closed loop was running, e.g. the Console's)
  *
  * SEND / STOP SEMANTICS: ArenaLink.send is single-flight + echo-correlated +
  * FIFO-queued (arena-link.js). STOP therefore QUEUES behind any in-flight send
@@ -49,7 +56,7 @@
             ? () => performance.now()
             : () => Date.now();
 
-    const EVENTS = ['log', 'error', 'disconnect', 'state', 'runstatus', 'fault'];
+    const EVENTS = ['log', 'error', 'disconnect', 'state', 'runstatus', 'fault', 'bridgelost'];
 
     class ArenaSession {
         /**
@@ -160,9 +167,29 @@
                     this._emit('fault', f);
                     this._emit('state');
                 });
+                // Bridge lost mid-run (LAB-303 S1, ww18 2026-10-15): the socket dropped
+                // without disconnect() asking. The client has already forced apply off
+                // and failed every pending request; the RUNNER decides whether the run
+                // stops (it needs the bridge) or continues, and the page banners it.
+                this._bridge.on('lost', (info) => this._onBridgeLost(info));
             }
         }
 
+        _onBridgeLost(info) {
+            const running = !!this._runner.active;
+            let action = running ? 'continued' : 'idle';
+            if (typeof this._runner.onBridgeLost === 'function') {
+                action = this._runner.onBridgeLost(info);
+            } else if (running && !this.outputInhibited) {
+                // Stale-cache runner without onBridgeLost: stop the run the ordinary way
+                // (the serial link is fine) rather than let it run on blind.
+                this._runner.stop().catch(() => {});
+                action = 'aborted';
+            }
+            this._emit('bridgelost', { info: info || null, action, running });
+            this._emit('state');
+        }
+
         /** Web Serial available? (Chromium-desktop only.) Gate every connect UI on this. */
         static isSupported() {
             const LinkClass = typeof window !== 'undefined' ? window.ArenaLink : undefined;
@@ -475,6 +502,8 @@
          * @param {Function} [a.resolveCondition] optional async trial-boundary resolver;
          *        forwarded verbatim to ArenaRunner.runSequence
          * @param {Function} [a.onProgress]       per-call progress sink (also broadcast as 'runstatus')
+         * @param {boolean}  [a.bridgeRequired]   the run's record lives on the bridge (recorded runs):
+         *        a bridge loss stops it even with no FicTrac step (see ArenaRunner.onBridgeLost)
          * @param {Function} [a.timing]           host-timing fn (default runner's hostSideTrialEnd — FW#4 swap point)
          * @param {Function} [a.sleep]            sleep(ms) (default runner's abort-aware sleep; tests inject instant)
          * @returns {Promise<{completed,aborted,steps,errors,skipped}>}
@@ -490,6 +519,7 @@
                 resolvePatternFrames: args.resolvePatternFrames,
                 resolveCondition: args.resolveCondition,
                 fictracPluginNames: args.fictracPluginNames,
+                bridgeRequired: args.bridgeRequired, // recorded runs: losing the bridge stops the run
                 timing: args.timing,
                 sleep: args.sleep,
                 onProgress: (s) => this._onRunStatus(s, args.onProgress)
@@ -540,7 +570,8 @@
                 'on',
                 'ledPercent',
                 'mv', // v0.86 graded zones: the commanded AO voltage per level step
-                'ledActivation'
+                'ledActivation',
+                'action' // bridge-lost: 'stopped' | 'continued'
             ];
             for (const k of keys) if (s[k] !== undefined) out[k] = s[k];
             if (s.params && typeof s.params === 'object') out.params = s.params;
@@ -573,6 +604,7 @@
                     'skipped',
                     'fault',
                     'faultDetail',
+                    'bridgeLost',
                     'stopAcked'
                 ]) {
                     if (s.summary[k] !== undefined) sm[k] = s.summary[k];
diff --git a/js/fictrac-bridge-client.js b/js/fictrac-bridge-client.js
index 6a4cada2..af5de421 100644
--- a/js/fictrac-bridge-client.js
+++ b/js/fictrac-bridge-client.js
@@ -58,6 +58,16 @@
  *                                            ok=false ⇒ the bridge cannot write the
  *                                            requested level (too old) and `level`
  *                                            is what it logs instead.
+ *   'fault'   (fault:object)               — the closed-loop apply loop latched a
+ *                                            controller fault (fw #50)
+ *   'lost'    (info:object)                — an OPEN bridge socket closed without
+ *                                            disconnect() asking for it (bridge killed
+ *                                            or crashed). Fail closed BEFORE this fires:
+ *                                            apply is already OFF and every pending
+ *                                            request already settled. info = {url, code,
+ *                                            reason, wasClean, apply (was it on), logging,
+ *                                            logFile, recv, t}. ArenaSession routes it to
+ *                                            the runner (ArenaRunner.onBridgeLost).
  */
 (function (global) {
     'use strict';
@@ -73,7 +83,8 @@
         'bias',
         'log',
         'loglevel',
-        'fault'
+        'fault',
+        'lost'
     ];
     // Log levels this client knows how to request, most-preferred first. The
     // bridge advertises ITS list in hello_ack; a level missing there is one the
@@ -169,7 +180,9 @@
             this._stale = 0;
             this._bridgeInfo = null; // from hello_ack: {version, levels, level} (null = old bridge / not yet)
             this._ackedLevel = null; // from log_control_ack while logging is enabled
+            this._logFile = null; // basename of the log file the bridge opened (log_control_ack)
             this._ackWaiters = []; // waitForLogLevelAck() resolvers
+            this._lastLoss = null; // the most recent 'lost' info (null = never lost)
         }
 
         // ---- events ----------------------------------------------------------
@@ -298,8 +311,10 @@
             this._recv = 0;
             this._applied = 0;
             this._pending = null;
+            let opened = false; // a socket that never opened was a failed connect, not a loss
             this._emit('status', 'connecting…', 'dim');
             ws.onopen = () => {
+                opened = true;
                 this._emit('status', 'connected', 'accent');
                 this._emit('log', 'bridge: connected to ' + this._url, 'info');
                 this._send({ type: 'hello', client: 'webDisplayTools', v: 1 });
@@ -326,31 +341,92 @@
                 else if (msg && msg.type === 'log_control_ack') this._handleLogControlAck(msg);
             };
             ws.onerror = () => this._emit('status', 'error', 'err');
-            ws.onclose = () => {
+            ws.onclose = (ev) => {
+                // A superseded socket closing after a reconnect must not tear down the
+                // new one's state.
+                if (this._ws !== ws && this._ws !== null) return;
+                // disconnect() clears _ws BEFORE closing, so a close that finds this
+                // socket still current was not asked for: the bridge went away.
+                const lost = opened && this._ws === ws;
+                const wasApply = this._apply;
                 this._stopRateTimer();
                 this._ws = null;
+                if (lost) {
+                    // Fail closed first: nothing may keep "driving" from a dead feed.
+                    this._pending = null;
+                    if (this._apply) {
+                        this._apply = false;
+                        this._emit('apply', false);
+                    }
+                }
+                const logFile = this._logFile;
                 this._bridgeInfo = null;
                 this._ackedLevel = null;
-                this._settleAckWaiters(null);
-                this._settleExport('reject', new Error('bridge disconnected during log export'));
-                this._emit('status', 'disconnected', 'dim');
+                this._logFile = null;
+                this._failPending(lost ? 'bridge lost' : 'bridge disconnected');
+                this._emit('status', lost ? 'disconnected (bridge lost)' : 'disconnected', 'dim');
                 this._emit('stats', this.stats);
+                if (lost) {
+                    this._lastLoss = {
+                        url: this._url || null,
+                        code: ev && Number.isFinite(ev.code) ? ev.code : null,
+                        reason: (ev && ev.reason) || '',
+                        wasClean: !!(ev && ev.wasClean),
+                        apply: wasApply,
+                        logging: this._logging,
+                        logFile,
+                        recv: this._recv,
+                        t: this._now()
+                    };
+                    this._emit(
+                        'log',
+                        'bridge lost (' +
+                            (this._lastLoss.code != null
+                                ? 'code ' + this._lastLoss.code
+                                : 'socket closed') +
+                            (wasApply ? ', closed loop was running' : '') +
+                            ')',
+                        'err'
+                    );
+                    this._emit('lost', Object.assign({}, this._lastLoss));
+                }
             };
         }
 
-        /** Close the bridge WebSocket (idempotent). */
+        /** Close the bridge WebSocket (idempotent). A close asked for here is never 'lost'. */
         disconnect() {
-            if (this._ws) {
+            const ws = this._ws;
+            this._ws = null; // first: onclose may run synchronously, and must see a requested close
+            if (ws) {
                 try {
-                    this._ws.close();
+                    ws.close();
                 } catch (_) {
                     /* closing socket can throw — ignore */
                 }
             }
-            this._ws = null;
             this._stopRateTimer();
         }
 
+        /** The most recent unexpected loss ('lost' info), or null if the bridge never dropped. */
+        get lastLoss() {
+            return this._lastLoss ? Object.assign({}, this._lastLoss) : null;
+        }
+
+        // Settle every request still waiting on the bridge, NOW — a dead socket will
+        // never answer, and a caller must not sit out its timeout (log export 15 s).
+        // The one place a new request/reply pair registers its fail-fast path.
+        _failPending(reason) {
+            this._settleAckWaiters(null);
+            this._settleExport(
+                'reject',
+                new Error(
+                    reason === 'bridge lost'
+                        ? 'bridge lost — the connection dropped during log export'
+                        : 'bridge disconnected during log export'
+                )
+            );
+        }
+
         // ---- config / logging ------------------------------------------------
         /**
          * Merge config (any subset of fictrac_port/gain/offset/frames/bias) and push if
@@ -558,6 +634,15 @@
         get ackedLogLevel() {
             return this._ackedLevel;
         }
+        /**
+         * Basename of the log file the bridge opened for the current logging session
+         * (log_control_ack `file`), or null: not acked yet, logging off, disconnected,
+         * or a bridge too old to name it. A run stashes it so a later push can check
+         * that log_export serves THIS run's file, not one a restarted bridge opened.
+         */
+        get logFile() {
+            return this._logFile;
+        }
         /** hello_ack facts {version, levels, level} — null until a ≥3.0 bridge answers. */
         get bridgeInfo() {
             return this._bridgeInfo;
@@ -632,6 +717,7 @@
             const level = msg.level || null;
             const enabled = !!msg.enabled;
             this._ackedLevel = enabled ? level : null;
+            this._logFile = enabled && typeof msg.file === 'string' ? msg.file : null;
             const ok = !enabled || level === requested;
             if (!ok) {
                 this._emit(
@@ -660,6 +746,7 @@
         setLogging(on) {
             this._logging = !!on;
             this._ackedLevel = null; // pending until the bridge acks this request
+            this._logFile = null; // the ack names the file this request opens
             const msg = { type: 'log_control', enabled: this._logging };
             if (this._logging) msg.level = this._config.logLevel;
             this._send(msg);
diff --git a/js/run-log.js b/js/run-log.js
index f85f3916..f5a3ddf6 100644
--- a/js/run-log.js
+++ b/js/run-log.js
@@ -50,6 +50,7 @@
         if (override) return override;
         if (!summary) return 'UNKNOWN';
         if (summary.fault) return 'CONTROLLER_FAULT'; // controller stopped answering (fw #50)
+        if (summary.bridgeLost) return 'BRIDGE_LOST'; // the bridge dropped; the run stopped for it
         if (summary.aborted) return 'ABORTED_BY_USER';
         if (summary.errors > 0) return 'ERRORED';
         if (summary.completed) return 'COMPLETED';
@@ -155,6 +156,18 @@
                     (ev.reason || 'controller_unresponsive') +
                     (ev.detail && ev.detail.lastError ? ' — ' + ev.detail.lastError : '')
                 );
+            case 'bridge-lost': {
+                const d = ev.detail || {};
+                return (
+                    stamp +
+                    '⚠ BRIDGE LOST' +
+                    (d.code != null ? ' (code ' + d.code + ')' : '') +
+                    (d.apply ? ' — closed loop was running' : '') +
+                    (ev.action === 'continued'
+                        ? ' — test run continues, no longer logged by the bridge'
+                        : ' — run stopped')
+                );
+            }
             case 'step-done':
                 return stamp + '   ' + where + 'done';
             case 'sequence-complete':
diff --git a/js/studio-runlog-adapter.js b/js/studio-runlog-adapter.js
index a90d2fb4..c4fe5560 100644
--- a/js/studio-runlog-adapter.js
+++ b/js/studio-runlog-adapter.js
@@ -29,6 +29,7 @@
         skip: 1,
         error: 1,
         fault: 1, // controller stopped answering (fw #50) — precedes a terminal `aborted`
+        'bridge-lost': 1, // the bridge dropped mid-run (stopped → a terminal `aborted` follows)
         'step-done': 1,
         'sequence-complete': 1,
         aborted: 1
@@ -60,12 +61,15 @@
         if (isTerminal(phase)) {
             // An `aborted` whose summary carries a fault reason is the CONTROLLER
             // giving up, not the operator — label it so (it also auto-commits).
-            const faulted = phase === 'aborted' && s.summary && s.summary.fault;
+            // One carrying `bridgeLost` stopped because the bridge went away.
+            const sm = s.summary || {};
             const override =
                 phase === 'aborted'
-                    ? faulted
+                    ? sm.fault
                         ? 'CONTROLLER_FAULT'
-                        : 'ABORTED_BY_USER'
+                        : sm.bridgeLost
+                          ? 'BRIDGE_LOST'
+                          : 'ABORTED_BY_USER'
                     : undefined;
             const summary = log.finish(s.summary || null, override);
             return { event: ev, terminal: true, summary: summary };
diff --git a/tests/test-arena-runner-g6.js b/tests/test-arena-runner-g6.js
index aff5b345..48e0dd5f 100644
--- a/tests/test-arena-runner-g6.js
+++ b/tests/test-arena-runner-g6.js
@@ -17,6 +17,7 @@
 
 const Runner = require('../js/arena-runner-g6.js');
 const Wire = require('../js/arena-wire-g6.js');
+const RunLog = require('../js/run-log.js');
 
 let totalChecks = 0;
 let failures = 0;
@@ -2938,6 +2939,209 @@ async function main() {
         check('clean run → stopAcked true', s4.stopAcked, true);
     }
 
+    // ── LAB-303 S1 (ww18, 2026-10-15): bridge hard-killed 10 s into a closed-loop
+    // epoch; the run carried on with no frames. Now the runner stops it (BRIDGE_LOST).
+    {
+        const lostBridge = () => ({
+            logging: true,
+            apply: false,
+            bias: null,
+            configs: [],
+            applyStates: [],
+            connect() {},
+            disconnect() {},
+            setApply(on) {
+                this.apply = !!on;
+                this.applyStates.push(!!on);
+            },
+            setConfig(cfg) {
+                this.configs.push(cfg);
+            },
+            log() {}
+        });
+        const clCond = {
+            name: 'cl',
+            commands: [
+                {
+                    type: 'controller',
+                    command_name: 'trialParams',
+                    mode: 3,
+                    frame_rate: 0,
+                    gain: 0,
+                    frame_index: 0,
+                    duration: 30,
+                    pattern: 'p'
+                },
+                { type: 'plugin', plugin_name: 'fictrac', command_name: 'startClosedLoop' },
+                { type: 'wait', duration: 30 },
+                { type: 'plugin', plugin_name: 'fictrac', command_name: 'stopClosedLoop' }
+            ]
+        };
+        const openCond = { name: 'open', commands: [trialCmd, { type: 'wait', duration: 30 }] };
+        const step = (name, i) => ({ kind: 'ref', conditionName: name, label: name, seqIdx: i });
+        const conds = new Map([
+            ['cl', clCond],
+            ['open', openCond]
+        ]);
+
+        console.log('\n=== sequenceUsesBridge: which runs depend on the bridge ===');
+        const ft = new Set(['fictrac']);
+        check(
+            'closed-loop condition → true',
+            Runner.sequenceUsesBridge([step('cl', 0)], conds, ft),
+            true
+        );
+        check(
+            'open-loop only → false',
+            Runner.sequenceUsesBridge([step('open', 0)], conds, ft),
+            false
+        );
+        check(
+            'a LATER closed-loop condition counts (it would run blind)',
+            Runner.sequenceUsesBridge([step('open', 0), step('cl', 1)], conds, ft),
+            true
+        );
+        check(
+            'no fictrac plugin declared → false',
+            Runner.sequenceUsesBridge([step('cl', 0)], conds, null),
+            false
+        );
+
+        console.log(
+            '\n=== bridge lost mid closed-loop epoch → run STOPPED, outcome BRIDGE_LOST ==='
+        );
+        {
+            const link = makeFakeLink();
+            const bridge = lostBridge();
+            const runner = new Runner.ArenaRunner(link, Wire, bridge);
+            const phases = [];
+            const t0 = Date.now();
+            // Default abort-aware sleep: a 30 s epoch the loss must cut short.
+            const p = runner.runSequence({
+                steps: [step('cl', 0)],
+                conditionsByName: conds,
+                resolvePatternId: () => 1,
+                resolvePatternFrames: (cmd) => (cmd.command_name === 'trialParams' ? 20 : null),
+                fictracPluginNames: ft,
+                onProgress: (s) => phases.push(s)
+            });
+            await delay(30);
+            check('closed loop applying before the loss', bridge.apply, true);
+            const stopsBefore = link.sent.filter((b) => b[1] === 0x30).length;
+            // FicTracBridgeClient forces apply off before 'lost'; mirror that.
+            bridge.apply = false;
+            const action = runner.onBridgeLost({ code: 1006, apply: true, logFile: 'f.jsonl' });
+            check('onBridgeLost → aborted', action, 'aborted');
+            const summary = await p;
+            checkBool('the run ended promptly', Date.now() - t0 < 2000, Date.now() - t0 + ' ms');
+            check('summary.aborted', summary.aborted, true);
+            check('summary.fault stays null (not a controller fault)', summary.fault, null);
+            checkDeep(
+                'summary.bridgeLost carries the loss',
+                [summary.bridgeLost.kind, summary.bridgeLost.code, summary.bridgeLost.apply],
+                ['bridge_lost', 1006, true]
+            );
+            const stops = link.sent.filter((b) => b[1] === 0x30).length - stopsBefore;
+            checkBool('the display got a real STOP (the serial link is fine)', stops >= 1);
+            check('stopAcked', summary.stopAcked, true);
+            const iLost = phases.findIndex((s) => s.phase === 'bridge-lost');
+            const iEnd = phases.findIndex((s) => s.phase === 'aborted');
+            checkBool(
+                "a 'bridge-lost' event precedes the terminal 'aborted'",
+                iLost >= 0 && iLost < iEnd
+            );
+            check('bridge-lost event says stopped', phases[iLost].action, 'stopped');
+            check('the terminal event carries bridgeLost', !!phases[iEnd].summary.bridgeLost, true);
+            checkBool(
+                'no step after the loss ran (no stopClosedLoop → no step-done for later steps)',
+                !phases.some((s, i) => i > iLost && s.phase === 'trial-running')
+            );
+            check('apply is OFF after the run', bridge.apply, false);
+            check('run log outcome is BRIDGE_LOST', RunLog.deriveOutcome(summary), 'BRIDGE_LOST');
+            check('bridgeLostInfo getter', runner.bridgeLostInfo.code, 1006);
+            check('idle runner → onBridgeLost "idle"', runner.onBridgeLost({}), 'idle');
+
+            // The next run starts clean.
+            const s2 = await runner.runSequence({
+                steps: [step('open', 0)],
+                conditionsByName: conds,
+                resolvePatternId: () => 1,
+                sleep: () => Promise.resolve()
+            });
+            check('next run: no stale bridgeLost', s2.bridgeLost, undefined);
+            check('next run completes', RunLog.deriveOutcome(s2), 'COMPLETED');
+        }
+
+        console.log(
+            '\n=== bridge lost in an open-loop step BEFORE a closed-loop one → stopped ==='
+        );
+        {
+            const runner = new Runner.ArenaRunner(makeFakeLink(), Wire, lostBridge());
+            const phases = [];
+            const p = runner.runSequence({
+                steps: [step('open', 0), step('cl', 1)],
+                conditionsByName: conds,
+                resolvePatternId: () => 1,
+                resolvePatternFrames: () => 20,
+                fictracPluginNames: ft,
+                onProgress: (s) => phases.push(s)
+            });
+            await delay(30);
+            check('apply is off (open-loop step)', runner._bridge.apply, false);
+            check(
+                'onBridgeLost → aborted',
+                runner.onBridgeLost({ code: 1006, apply: false }),
+                'aborted'
+            );
+            const summary = await p;
+            check('outcome BRIDGE_LOST', RunLog.deriveOutcome(summary), 'BRIDGE_LOST');
+            checkBool(
+                'the closed-loop condition never started',
+                !phases.some((s) => s.phase === 'step-start' && s.index === 1)
+            );
+        }
+
+        console.log('\n=== recorded open-loop run (bridgeRequired) → stopped ===');
+        {
+            const runner = new Runner.ArenaRunner(makeFakeLink(), Wire, lostBridge());
+            const p = runner.runSequence({
+                steps: [step('open', 0)],
+                conditionsByName: conds,
+                resolvePatternId: () => 1,
+                bridgeRequired: true
+            });
+            await delay(30);
+            check('onBridgeLost → aborted', runner.onBridgeLost({ code: 1006 }), 'aborted');
+            check('outcome BRIDGE_LOST', RunLog.deriveOutcome(await p), 'BRIDGE_LOST');
+        }
+
+        console.log(
+            '\n=== test run that needs nothing from the bridge → continues, event recorded ==='
+        );
+        {
+            const runner = new Runner.ArenaRunner(makeFakeLink(), Wire, lostBridge());
+            const phases = [];
+            let release;
+            const gate = new Promise((r) => (release = r));
+            const p = runner.runSequence({
+                steps: [step('open', 0)],
+                conditionsByName: conds,
+                resolvePatternId: () => 1,
+                fictracPluginNames: ft,
+                onProgress: (s) => phases.push(s),
+                sleep: () => gate
+            });
+            await delay(10);
+            check('onBridgeLost → continued', runner.onBridgeLost({ code: 1006 }), 'continued');
+            release();
+            const summary = await p;
+            check('run completed', RunLog.deriveOutcome(summary), 'COMPLETED');
+            check('no bridgeLost on a continued run', summary.bridgeLost, undefined);
+            const ev = phases.find((s) => s.phase === 'bridge-lost');
+            check('a bridge-lost event says continued', ev && ev.action, 'continued');
+        }
+    }
+
     console.log('\n=== Summary ===');
     console.log(`${totalChecks - failures} / ${totalChecks} checks passed`);
     process.exit(failures === 0 ? 0 : 1);
diff --git a/tests/test-arena-session.js b/tests/test-arena-session.js
index a8deb8c9..74aa8c0d 100644
--- a/tests/test-arena-session.js
+++ b/tests/test-arena-session.js
@@ -669,6 +669,235 @@ function newSession(m) {
             '01 c2'
         );
     }
+    // ── LAB-303 S1: bridge lost mid-run → the runner decides, the page is told ──
+    console.log("\n=== bridge 'lost' → runner.onBridgeLost + session 'bridgelost' ===");
+    {
+        class MockBridge {
+            constructor() {
+                this._h = {};
+                this.logging = false;
+            }
+            on(ev, fn) {
+                (this._h[ev] = this._h[ev] || []).push(fn);
+                return () => {};
+            }
+            emit(ev, ...a) {
+                (this._h[ev] || []).forEach((fn) => fn(...a));
+            }
+            setApply() {}
+            log() {}
+        }
+        const mk = (proto) => {
+            const m = makeMocks();
+            Object.assign(m.RunnerLib.ArenaRunner.prototype, proto || {});
+            const s = new ArenaSession({
+                wire: { mark: 1 },
+                LinkClass: m.MockLink,
+                RunnerLib: m.RunnerLib,
+                BridgeClientLib: MockBridge
+            });
+            const got = [];
+            let states = 0;
+            s.on('bridgelost', (e) => got.push(e));
+            s.on('state', () => states++);
+            return { m, s, got, states: () => states };
+        };
+        // (a) a runner that knows the policy
+        {
+            const t = mk({
+                onBridgeLost(info) {
+                    this.lostInfo = info;
+                    return 'aborted';
+                }
+            });
+            t.s._runner._active = true;
+            const info = { code: 1006, apply: true };
+            t.s.bridge.emit('lost', info);
+            check('runner.onBridgeLost got the info', t.s._runner.lostInfo, info);
+            check("session re-emits 'bridgelost' with the runner's action", t.got, [
+                { info, action: 'aborted', running: true }
+            ]);
+            checkBool("'state' emitted", t.states() >= 1);
+            delete t.m.RunnerLib.ArenaRunner.prototype.onBridgeLost;
+        }
+        // (b) a stale-cache runner without onBridgeLost: an ACTIVE run is stopped anyway
+        {
+            const t = mk();
+            t.s._runner._active = true;
+            t.s.bridge.emit('lost', { code: 1006 });
+            checkBool('stale runner: stop() used', t.m.calls.includes('runner.stop'));
+            check('stale runner: action aborted', t.got[0].action, 'aborted');
+        }
+        // (c) idle: nothing to stop, the page still hears it (Console closed loop)
+        {
+            const t = mk();
+            t.s.bridge.emit('lost', { code: 1006, apply: true });
+            checkBool('idle: no stop()', !t.m.calls.includes('runner.stop'));
+            check('idle: action idle', t.got[0].action, 'idle');
+            check('idle: info.apply passes through', t.got[0].info.apply, true);
+        }
+        // (d) runSequence forwards bridgeRequired; the sanitizer keeps the loss
+        {
+            const t = mk();
+            await t.s.connect();
+            await t.s.runSequence({ steps: [], conditionsByName: new Map(), bridgeRequired: true });
+            check('runSequence forwards bridgeRequired', t.s._runner.lastSeq.bridgeRequired, true);
+            const out = t.s._sanitizeRunStatus({
+                phase: 'aborted',
+                summary: {
+                    aborted: true,
+                    fault: null,
+                    bridgeLost: { kind: 'bridge_lost', code: 1006 }
+                }
+            });
+            check('sanitizer keeps summary.bridgeLost', out.summary.bridgeLost, {
+                kind: 'bridge_lost',
+                code: 1006
+            });
+            const ev = t.s._sanitizeRunStatus({ phase: 'bridge-lost', action: 'stopped' });
+            check('sanitizer keeps the bridge-lost action', ev.action, 'stopped');
+        }
+    }
+
+    console.log('\n=== end to end: bridge socket killed mid closed-loop epoch (ww18 step 5.7) ===');
+    {
+        const Runner = require('../js/arena-runner-g6.js');
+        const Wire = require('../js/arena-wire-g6.js');
+        const Client = require('../js/fictrac-bridge-client.js');
+        const RunLog = require('../js/run-log.js');
+        const Adapter = require('../js/studio-runlog-adapter.js');
+        class FakeWS {
+            constructor(url) {
+                FakeWS.last = this;
+                this.url = url;
+                this.readyState = 0;
+                this.sent = [];
+            }
+            send(s) {
+                this.sent.push(JSON.parse(s));
+            }
+            close() {
+                this.readyState = 3;
+                if (this.onclose) this.onclose({ code: 1000, wasClean: true });
+            }
+        }
+        class TestClient extends Client {
+            constructor(o) {
+                super(Object.assign({ WebSocketImpl: FakeWS }, o));
+            }
+        }
+        class Link {
+            constructor() {
+                this._open = false;
+                this.sent = [];
+            }
+            get connected() {
+                return this._open;
+            }
+            async connect() {
+                this._open = true;
+            }
+            async close() {
+                this._open = false;
+            }
+            async send(bytes) {
+                this.sent.push(Array.from(bytes));
+                return new Uint8Array([0x02, 0x00, bytes[1]]); // OK ack, echo = cmd
+            }
+        }
+        const s = new ArenaSession({
+            wire: Wire,
+            LinkClass: Link,
+            RunnerLib: Runner,
+            BridgeClientLib: TestClient
+        });
+        await s.connect();
+        const bridge = s.bridge;
+        bridge.connect('ws://localhost:8765');
+        const ws = FakeWS.last;
+        ws.readyState = 1;
+        ws.onopen();
+        bridge.setLogging(true);
+        ws.onmessage({
+            data: JSON.stringify({
+                type: 'log_control_ack',
+                enabled: true,
+                level: 'behavior_v2',
+                requested: 'behavior_v2',
+                file: 'arena-log-20261015-153548-287.jsonl'
+            })
+        });
+        const log = RunLog.createRunLog({ meta: { run_id: 'r1' }, intent: 'experiment' });
+        let outcome = null;
+        s.on('runstatus', (st) => {
+            const r = Adapter.feedRunStatus(log, st);
+            if (r.terminal) outcome = r.summary.outcome;
+        });
+        const lostEvents = [];
+        s.on('bridgelost', (e) => lostEvents.push(e));
+        const cl = {
+            name: 'cl',
+            commands: [
+                {
+                    type: 'controller',
+                    command_name: 'trialParams',
+                    mode: 3,
+                    frame_rate: 0,
+                    gain: 0,
+                    frame_index: 0,
+                    duration: 30,
+                    pattern: 'p'
+                },
+                { type: 'plugin', plugin_name: 'fictrac', command_name: 'startClosedLoop' },
+                { type: 'wait', duration: 30 },
+                { type: 'plugin', plugin_name: 'fictrac', command_name: 'stopClosedLoop' }
+            ]
+        };
+        const t0 = Date.now();
+        const run = s.runSequence({
+            steps: [{ kind: 'ref', conditionName: 'cl', label: 'cl', seqIdx: 0 }],
+            conditionsByName: new Map([['cl', cl]]),
+            resolvePatternId: () => 1,
+            resolvePatternFrames: () => 20,
+            fictracPluginNames: new Set(['fictrac'])
+        });
+        await new Promise((r) => setTimeout(r, 30));
+        checkBool('closed loop live before the kill', bridge.apply === true && s.running);
+        // A request waiting on the bridge when it dies (15 s timeout) must fail at once.
+        let exportErr = null;
+        const exp = bridge.exportLog(15000).catch((e) => (exportErr = e.message));
+        // taskkill /F on the bridge: the socket closes; nobody called disconnect().
+        ws.readyState = 3;
+        ws.onclose({ code: 1006, reason: '', wasClean: false });
+        const summary = await run;
+        await exp;
+        checkBool('run ended promptly (not after the 30 s epoch)', Date.now() - t0 < 2000);
+        check('outcome recorded in the run log: BRIDGE_LOST', outcome, 'BRIDGE_LOST');
+        check('runner summary outcome', RunLog.deriveOutcome(summary), 'BRIDGE_LOST');
+        check(
+            'loss names the run’s bridge file',
+            summary.bridgeLost && summary.bridgeLost.logFile,
+            'arena-log-20261015-153548-287.jsonl'
+        );
+        check(
+            'page told: action aborted',
+            lostEvents.map((e) => e.action),
+            ['aborted']
+        );
+        checkBool(
+            'pending export failed fast with "bridge lost"',
+            /bridge lost/.test(exportErr),
+            exportErr
+        );
+        check('closed loop is off', bridge.apply, false);
+        check('run no longer active', s.running, false);
+        checkBool(
+            'the display got STOP over the (healthy) serial link',
+            s._link.sent.some((b) => b[1] === 0x30)
+        );
+        checkBool('transcript shows the loss', /BRIDGE LOST/.test(log.toText()), log.toText());
+    }
+
     console.log('\n=== Summary ===');
     console.log(`${totalChecks - failures} / ${totalChecks} checks passed`);
     process.exit(failures === 0 ? 0 : 1);
diff --git a/tests/test-fictrac-bridge-client.js b/tests/test-fictrac-bridge-client.js
index 1eaec782..ed1be6b9 100644
--- a/tests/test-fictrac-bridge-client.js
+++ b/tests/test-fictrac-bridge-client.js
@@ -368,13 +368,138 @@ async function main() {
         await p4.catch((e) => (err4 = e.message));
         checkBool('timeout rejects', /timed out/.test(err4), err4);
 
-        // disconnect-while-pending path
+        // the socket drops while pending (the bridge went away) → "bridge lost"
         const p5 = client.exportLog(5000);
         ws.close();
         let err5 = null;
         await p5.catch((e) => (err5 = e.message));
-        checkBool('disconnect rejects pending export', /disconnected/.test(err5), err5);
+        checkBool('a dropped socket rejects pending export', /bridge lost/.test(err5), err5);
+        // the operator disconnects while pending → "disconnected"
+        client.connect('ws://localhost:8765');
+        FakeWS.last.open();
+        const p6 = client.exportLog(5000);
+        client.disconnect();
+        let err6 = null;
+        await p6.catch((e) => (err6 = e.message));
+        checkBool('disconnect() rejects pending export', /disconnected/.test(err6), err6);
+    }
+
+    // ── LAB-303 S1 (ww18, 2026-10-15): the bridge was hard-killed mid closed loop and
+    // the Studio only showed "bridge disconnected" — no event the runner could act on.
+    console.log('\n=== bridge LOST: unexpected close → fail closed, fail pending, then "lost" ===');
+    {
+        const applied = [];
+        const client = new FicTracBridgeClient({
+            WebSocketImpl: FakeWS,
+            applyFrame: (i) => {
+                applied.push(i);
+                return Promise.resolve();
+            },
+            clampFrame: (i) => i
+        });
+        const lost = [];
+        const applyEvents = [];
+        const logs = [];
+        let applyAtLost = null;
+        let exportSettledAtLost = false;
+        client.on('apply', (on) => applyEvents.push(on));
+        client.on('log', (m, k) => logs.push([k, m]));
+        client.connect('ws://localhost:8765');
+        const ws = FakeWS.last;
+        ws.open();
+        client.setLogging(true);
+        ws.message({
+            type: 'log_control_ack',
+            enabled: true,
+            level: 'behavior_v2',
+            requested: 'behavior_v2',
+            file: 'arena-log-20261015-153548-287.jsonl'
+        });
+        check('logFile from the ack', client.logFile, 'arena-log-20261015-153548-287.jsonl');
+        client.setApply(true);
+        client.handleFrame(4, { type: 'frame', index: 4 });
+        await tick();
+        check('closed loop applying before the loss', applied, [4]);
+        // A pending export (15 s default timeout) and a pending level ack.
+        const t0 = Date.now();
+        let exportErr = null;
+        const exp = client.exportLog(15000).catch((e) => (exportErr = e.message));
+        client.setLogging(true); // re-request → the ack is pending again
+        const ack = client.waitForLogLevelAck(15000);
+        client.on('lost', (info) => {
+            lost.push(info);
+            applyAtLost = client.apply;
+            exportSettledAtLost = exportErr !== null || client._exportPending === null;
+        });
+        // The bridge process dies: the socket closes without disconnect() asking.
+        ws.readyState = 3;
+        ws.onclose({ code: 1006, reason: '', wasClean: false });
+        await exp;
+        check('one "lost" event', lost.length, 1);
+        check(
+            'lost info names the close + that a closed loop was running',
+            [lost[0].code, lost[0].wasClean, lost[0].apply, lost[0].url],
+            [1006, false, true, 'ws://localhost:8765']
+        );
+        check('apply was already OFF when "lost" fired (fail closed first)', applyAtLost, false);
+        check('…and an apply:false event went out', applyEvents[applyEvents.length - 1], false);
+        checkBool('pending export already settled when "lost" fired', exportSettledAtLost);
+        checkBool(
+            'pending export rejected at once with "bridge lost" (not after its 15 s timeout)',
+            /bridge lost/.test(exportErr) && Date.now() - t0 < 1000,
+            exportErr + ' after ' + (Date.now() - t0) + ' ms'
+        );
+        check('pending level-ack waiter resolved null at once', await ack, null);
+        check('connected false', client.connected, false);
+        check('logFile cleared', client.logFile, null);
+        check('lastLoss kept for the page', client.lastLoss && client.lastLoss.code, 1006);
+        checkBool(
+            'an err log line says the bridge was lost',
+            logs.some(([k, m]) => k === 'err' && /bridge lost/.test(m)),
+            JSON.stringify(logs)
+        );
+        // A frame arriving after the loss (it cannot, but a stray one must not drive).
+        client.handleFrame(9, { type: 'frame', index: 9 });
+        await tick();
+        check('nothing applied after the loss', applied, [4]);
+    }
+
+    console.log('\n=== bridge LOST is only an UNEXPECTED close of an OPEN socket ===');
+    {
+        const client = new FicTracBridgeClient({ WebSocketImpl: FakeWS });
+        let lost = 0;
+        client.on('lost', () => lost++);
+        // (a) the operator disconnects: FakeWS fires onclose synchronously inside close()
+        client.connect('ws://localhost:8765');
+        FakeWS.last.open();
+        client.disconnect();
+        check('disconnect() → no "lost"', lost, 0);
+        check('disconnect() → lastLoss stays null', client.lastLoss, null);
+        // (b) a connect attempt that never opened (bridge not running) is not a loss
+        client.connect('ws://localhost:8765');
+        const never = FakeWS.last;
+        never.readyState = 3;
+        never.onclose({ code: 1006 });
+        check('failed connect → no "lost"', lost, 0);
+        // (c) a superseded socket closing after a reconnect leaves the new one alone
+        client.connect('ws://localhost:8765');
+        const oldWs = FakeWS.last;
+        oldWs.open();
+        oldWs.close = function () {
+            this.readyState = 2; // a real browser fires onclose later, asynchronously
+        };
         client.disconnect();
+        client.connect('ws://localhost:8765');
+        const newWs = FakeWS.last;
+        newWs.open();
+        oldWs.readyState = 3;
+        oldWs.onclose({ code: 1000 });
+        checkBool('stale close leaves the new socket connected', client.connected === true);
+        check('stale close → no "lost"', lost, 0);
+        newWs.readyState = 3;
+        newWs.onclose({ code: 1006 });
+        check('the live socket dropping IS a loss', lost, 1);
+        check('apply was off → info.apply false', client.lastLoss.apply, false);
     }
 
     console.log('\n=== log level (behavior_v2 default / v1 + full selectable) ===');
diff --git a/tests/test-run-log.js b/tests/test-run-log.js
index 62252721..5bed4c79 100644
--- a/tests/test-run-log.js
+++ b/tests/test-run-log.js
@@ -62,6 +62,16 @@ check(
     RunLog.deriveOutcome({ aborted: true, fault: 'controller_unresponsive' }),
     'CONTROLLER_FAULT'
 );
+check(
+    'deriveOutcome bridge lost beats aborted (LAB-303 S1)',
+    RunLog.deriveOutcome({ aborted: true, bridgeLost: { kind: 'bridge_lost' } }),
+    'BRIDGE_LOST'
+);
+check(
+    'deriveOutcome controller fault beats bridge lost',
+    RunLog.deriveOutcome({ aborted: true, fault: 'link_dropped', bridgeLost: { code: 1006 } }),
+    'CONTROLLER_FAULT'
+);
 check('deriveOutcome errors', RunLog.deriveOutcome({ errors: 2 }), 'ERRORED');
 check('deriveOutcome completed', RunLog.deriveOutcome({ completed: true }), 'COMPLETED');
 check(
diff --git a/tests/test-studio-runlog-adapter.js b/tests/test-studio-runlog-adapter.js
index 9c1ad4a1..1607ba85 100644
--- a/tests/test-studio-runlog-adapter.js
+++ b/tests/test-studio-runlog-adapter.js
@@ -222,6 +222,45 @@ console.log('\n=== controller fault outcome ===');
     check('plain abort stays ABORTED_BY_USER', log3.summary.outcome, 'ABORTED_BY_USER');
 }
 
+console.log('\n=== bridge lost mid-run (LAB-303 S1) → BRIDGE_LOST, never ABORTED_BY_USER ===');
+{
+    const log = RunLog.createRunLog({
+        meta: { protocol: 'p', run_id: 'r4', bench_id: 'b' },
+        intent: 'experiment',
+        now: fixedClock()
+    });
+    const lost = {
+        phase: 'bridge-lost',
+        reason: 'bridge_lost',
+        action: 'stopped',
+        detail: { kind: 'bridge_lost', code: 1006, apply: true }
+    };
+    const f = A.feedRunStatus(log, lost);
+    checkBool('bridge-lost phase is recorded (not dropped as unknown)', !!f.event);
+    check('bridge-lost is not terminal', f.terminal, false);
+    const r = A.feedRunStatus(log, {
+        phase: 'aborted',
+        summary: { aborted: true, fault: null, bridgeLost: lost.detail, stopAcked: true }
+    });
+    check('aborted-with-bridgeLost is terminal', r.terminal, true);
+    check('outcome BRIDGE_LOST', log.summary.outcome, 'BRIDGE_LOST');
+    checkBool(
+        'transcript names the loss and the stop',
+        /BRIDGE LOST \(code 1006\) — closed loop was running — run stopped/.test(log.toText()),
+        log.toText()
+    );
+    // A continued test run records the event; its outcome is whatever the run became.
+    const log2 = RunLog.createRunLog({ meta: { run_id: 'r5' }, intent: 'test', now: fixedClock() });
+    A.feedRunStatus(log2, Object.assign({}, lost, { action: 'continued' }));
+    A.feedRunStatus(log2, { phase: 'sequence-complete', summary: { completed: true } });
+    check('continued test run → COMPLETED', log2.summary.outcome, 'COMPLETED');
+    checkBool(
+        'its transcript says logging stopped',
+        /no longer logged by the bridge/.test(log2.toText()),
+        log2.toText()
+    );
+}
+
 console.log('\n=== Summary ===');
 console.log(`${totalChecks - failures} / ${totalChecks} checks passed`);
 process.exit(failures ? 1 : 0);

From e7e233c0b18b560360c79245bc8cdbafd2730570 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 16:41:51 -0400
Subject: [PATCH 62/96] ros2-poc W2 docs: where the ww18 logs and repro recipes
 are kept

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/docs/typed-windows.md | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ros2-poc/docs/typed-windows.md b/ros2-poc/docs/typed-windows.md
index 96e9493c..9d0c33de 100644
--- a/ros2-poc/docs/typed-windows.md
+++ b/ros2-poc/docs/typed-windows.md
@@ -28,7 +28,8 @@ Tools), cmake 4.4.4, RoboStack Jazzy. Package cache warm.
 | T5 | `typed` feature depends on `arena_interfaces` from that channel (no path dep, no toolchain), fresh env, `--locked` | **PASS 9 s, no build backend started** | `--check`: importable, serializes; harness **48 / 48** in 56 s, `typed topics: True` |
 
 T1–T3 and T5 were run in a scratch detached worktree at `C:\w\t` (T5's manifest change is not committed;
-§5 has it). Logs on ww18 in `C:\w\*.log`.
+§5 has it). Logs, T1's package-file list and the §4b recipes are on ww18 in `C:\w\logs-w2\` (not
+committed); the scratch worktree and envs were removed.
 
 ## 1. Where the `..` comes from
 

From 0ed962a942fc3ed1518bb7a7f01e34f1779ef53a Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 15 Oct 2026 16:53:27 -0400
Subject: [PATCH 63/96] Studio: a ?p= link no longer waits on a GitHub listing
 (LAB-303 S2)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

ww18 2026-10-15: a tab opened at ?p=<key> stayed empty until a refresh. initFromUrl
AWAITED the course repo's GitHub patterns/ listing (registerRepoSharedPatternPreviews,
no timeout; a course repo is configured by default) before loading the protocol.
Reproduced headless: with api.github.com held the page was still empty at 9 s and
loaded 0.1 s after that request failed.

- initFromUrl starts the shared + colocated preview listings without awaiting them.
- That is only safe because preview byte sources no longer rely on "last write
  wins": new js/studio-preview-sources.js keeps them in layers (builtin < shared <
  colocated < uploaded) and every write names its layer, so a late shared listing
  can no longer override a protocol's colocated patterns (the replay path already
  had that race). Overlapping shared listings: the newest request wins.
- tests/test-studio-preview-sources.js: precedence in all 24 arrival orders, layer
  replacement, Map-like reads, and source guards — everything initFromUrl awaits
  before the ?p= load is allowlisted (fails on main's Studio, as it should).
  test-studio-github.js: the lazy-token check follows the new source forms.

Headless (GitHub held): ?p= loads in 0.09 s; previews wire once the listing answers;
no console errors. Suite 61/61.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 CLAUDE.md                            |   6 +
 arena_studio.html                    |  41 +++---
 js/studio-preview-sources.js         | 100 +++++++++++++++
 tests/test-studio-github.js          |  11 +-
 tests/test-studio-preview-sources.js | 182 +++++++++++++++++++++++++++
 5 files changed, 317 insertions(+), 23 deletions(-)
 create mode 100644 js/studio-preview-sources.js
 create mode 100644 tests/test-studio-preview-sources.js

diff --git a/CLAUDE.md b/CLAUDE.md
index b9225d6b..8f113332 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -355,6 +355,12 @@ fix flows to every page automatically; two hand-written HTML pages never will.
   `BRIDGE_LOST` (`summary.bridgeLost`; `run-log.js` + adapter) is NOT auto-committed, and a push
   refuses a `log_export` whose name ≠ the run's `log.bridgeFile` (a restarted bridge serves another
   file). Studio: persistent `#runAlert` (`Studio.showRunAlert`), not the auto-hiding `#banner`.
+- **Never await a remote call before the `?p=` load (LAB-303 S2).** `initFromUrl` awaited the course
+  repo's GitHub `patterns/` listing first, so a stalled api.github.com request left `?p=` links
+  empty until a refresh. Best-effort listings are now fire-and-forget; that is safe because
+  pattern-preview byte sources are LAYERED (`js/studio-preview-sources.js`: builtin < shared <
+  colocated < uploaded — every write names its layer, arrival order never decides). The awaits
+  before the load are allowlisted in `tests/test-studio-preview-sources.js`.
 - **Wire module exports:** `js/arena-wire-g6.js` defines more than it exports —
   when adding encoders/decoders, add them to the export list AND a test; audit
   with `Object.keys(require('./js/arena-wire-g6.js'))` vs the page's `Wire.*`
diff --git a/arena_studio.html b/arena_studio.html
index 76753923..60add590 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -3392,6 +3392,7 @@ <h2 id="modalTitle">Import error</h2>
 <script src="js/studio-meta.js"></script>
 <script src="js/studio-url-state.js?v=20260924-replay"></script>
 <script src="js/studio-runlog-adapter.js?v=20261015-bridge-lost"></script>
+<script src="js/studio-preview-sources.js?v=20261015-s2"></script> <!-- pattern-preview byte sources, layered (builtin < shared < colocated < uploaded) -->
 <script src="js/studio-postmortem.js"></script>
 <script src="js/arena-telemetry.js"></script>
 <script src="js/trial-quality.js"></script>
@@ -7962,8 +7963,11 @@ <h2 id="modalTitle">Import error</h2>
 const PP = window.PatPreview;
 const BUILTIN_BASE = './patterns/g6_2x10/';
 Studio.patternSet = null;
-const webPreviewBySdName = new Map(); // filename → () => Promise<ArrayBuffer>
-const repoSharedPreviewKeys = new Set(); // sources currently wired from course-repo patterns/
+// filename → () => Promise<ArrayBuffer>, LAYERED so precedence never depends on which
+// listing arrives first: builtin < shared (repo patterns/) < colocated (<proto>_patterns/)
+// < uploaded (js/studio-preview-sources.js). Reads see the effective source per filename.
+const webPreviewBySdName = window.StudioPreviewSources.create();
+let sharedPreviewGen = 0; // the newest shared-library listing wins; an older reply is dropped
 // In-memory sources first (logical-name tolerant via webBytesForName). `idx`
 // (1-based SD index) is the fallback path: a pattern already on the card
 // from a prior session has no cached source above, so fetch it live via 0x84
@@ -8286,7 +8290,7 @@ <h2 id="modalTitle">Import error</h2>
         const buf = u8.byteOffset === 0 && u8.byteLength === u8.buffer.byteLength
             ? u8.buffer
             : u8.slice().buffer;
-        webPreviewBySdName.set(f.name, () => Promise.resolve(buf));
+        webPreviewBySdName.set('uploaded', f.name, () => Promise.resolve(buf));
     });
     patPreviewCache = {}; // drop cached renders so the new sources take effect
     const sel = $('cPatName');
@@ -8301,7 +8305,7 @@ <h2 id="modalTitle">Import error</h2>
         m.source = 'manifest';
         for (const n of Object.keys(m.patterns)) {
             const sd = m.patterns[n].sd_name;
-            webPreviewBySdName.set(sd, async () => {
+            webPreviewBySdName.set('builtin', sd, async () => {
                 const r = await fetch(BUILTIN_BASE + 'patterns/' + sd, { cache: 'no-store' });
                 if (!r.ok) throw new Error('HTTP ' + r.status);
                 return r.arrayBuffer();
@@ -11040,23 +11044,20 @@ <h2 id="modalTitle">Import error</h2>
 // as soon as its filename matches the repo library. Bytes stay lazy: this
 // request lists names only; the selected .pat is downloaded on first preview.
 // Public repos work signed out, while a token transparently enables private
-// repos. Protocol-colocated sources are registered afterwards and may
-// intentionally override a shared file with the same name.
+// repos. Protocol-colocated sources override a shared file with the same name
+// whenever either listing arrives (the 'colocated' layer outranks 'shared').
 async function registerRepoSharedPatternPreviews(repo, token) {
     if (!repo) return;
+    const gen = ++sharedPreviewGen;
     try {
         const res = await GH.run(fetch, GH.reqGetContents(repo.owner, repo.name, 'patterns', null, token));
+        if (gen !== sharedPreviewGen) return; // a newer listing (repo change / sign-in) was requested
         if (!res.ok || !Array.isArray(res.data)) return;
-        for (const key of repoSharedPreviewKeys) webPreviewBySdName.delete(key);
-        repoSharedPreviewKeys.clear();
-        let n = 0;
-        res.data
+        const entries = res.data
             .filter((f) => f && f.type === 'file' && /\.pat$/i.test(f.name))
-            .forEach((f) => {
-                n++;
-                repoSharedPreviewKeys.add(f.name);
-                webPreviewBySdName.set(f.name, () => repoFileBytes(repo, f.path));
-            });
+            .map((f) => [f.name, () => repoFileBytes(repo, f.path)]);
+        webPreviewBySdName.replaceLayer('shared', entries);
+        const n = entries.length;
         if (n) {
             patPreviewCache = {};
             const sel = $('cPatName');
@@ -11090,7 +11091,7 @@ <h2 id="modalTitle">Import error</h2>
             .forEach((f) => {
                 n++;
                 names.add(sdLogicalName(f.name));
-                webPreviewBySdName.set(f.name, () => repoFileBytes(repo, f.path));
+                webPreviewBySdName.set('colocated', f.name, () => repoFileBytes(repo, f.path));
             });
         if (n) {
             // The colocated _patterns/ set IS this protocol's web pattern set
@@ -11355,8 +11356,12 @@ <h2 id="modalTitle">Import error</h2>
         await populateSessionRig();
         wirePatPicker();
         loadBuiltinPatternSet();
-        await refreshRepoSharedPatternPreviews(); // shared patterns/ previews do not depend on a protocol
-        rewireRepoPatternPreviews(); // restore last-opened course protocol's colocated thumbs
+        // Best-effort GitHub listings — NEVER awaited here: a stalled api.github.com request
+        // used to hold the `?p=` load below until the page was refreshed (LAB-303 S2, ww18
+        // 2026-10-15). Order no longer matters: preview sources are layered, so a late shared
+        // listing cannot override the colocated sources rewired here.
+        refreshRepoSharedPatternPreviews().catch(() => {}); // shared patterns/ previews
+        rewireRepoPatternPreviews().catch(() => {}); // restore last-opened course protocol's colocated thumbs
         let allowedKeys = [];
         let protoIndex = [];
         try {
diff --git a/js/studio-preview-sources.js b/js/studio-preview-sources.js
new file mode 100644
index 00000000..a22ad5ac
--- /dev/null
+++ b/js/studio-preview-sources.js
@@ -0,0 +1,100 @@
+/**
+ * studio-preview-sources.js — where a pattern thumbnail's bytes come from (Arena Studio).
+ *
+ * The Studio previews a pattern by FILENAME from several byte sources that arrive at
+ * different times: the site's built-in library (a same-origin manifest), the course
+ * repo's shared `patterns/` folder (a GitHub listing), an opened protocol's colocated
+ * `<proto>_patterns/` folder (another GitHub listing) and bytes uploaded to the SD card
+ * this session. When two sources share a filename the more specific one must win:
+ *
+ *     builtin  <  shared  <  colocated  <  uploaded        (low → high precedence)
+ *
+ * This used to be "last write wins" on one Map, which only came out right because the
+ * Studio AWAITED the shared GitHub listing before loading a `?p=` protocol. That await
+ * is what left a `?p=` link empty until a refresh when api.github.com stalled (LAB-303
+ * S2, ww18 2026-10-15). Layers make the precedence independent of arrival order, so no
+ * best-effort listing has to gate the page.
+ *
+ * The registry reads like a Map of the EFFECTIVE sources: get / has / iteration
+ * (`for (const [name, fn] of reg)`) see one entry per filename, from the highest layer
+ * that has it. Writes name their layer: set(layer, name, fn), replaceLayer(layer, entries).
+ *
+ * LOADING: classic <script src> (window-global + CommonJS dual-export, no ES `export`).
+ */
+(function (global) {
+    'use strict';
+
+    const LAYERS = ['builtin', 'shared', 'colocated', 'uploaded'];
+
+    function create(layers) {
+        const order = Array.isArray(layers) && layers.length ? layers.slice() : LAYERS.slice();
+        const maps = new Map(order.map((l) => [l, new Map()]));
+        const byPrecedence = order.slice().reverse();
+        const layerMap = (layer) => {
+            const m = maps.get(layer);
+            if (!m) throw new Error('StudioPreviewSources: unknown layer "' + layer + '"');
+            return m;
+        };
+        const layerOf = (name) => {
+            for (const l of byPrecedence) if (maps.get(l).has(name)) return l;
+            return null;
+        };
+        return {
+            /** Register one source in `layer` (replaces that layer's entry for `name`). */
+            set(layer, name, fn) {
+                layerMap(layer).set(name, fn);
+                return this;
+            },
+            /** Drop one layer's entries and install `entries` ([name, fn] pairs) instead. */
+            replaceLayer(layer, entries) {
+                const m = layerMap(layer);
+                m.clear();
+                for (const [name, fn] of entries || []) m.set(name, fn);
+                return this;
+            },
+            clearLayer(layer) {
+                layerMap(layer).clear();
+                return this;
+            },
+            /** The effective source for `name` (highest layer), or undefined. */
+            get(name) {
+                const l = layerOf(name);
+                return l ? maps.get(l).get(name) : undefined;
+            },
+            has(name) {
+                return layerOf(name) !== null;
+            },
+            /** Which layer serves `name` now, or null. */
+            layerOf,
+            /** Filenames registered in one layer. */
+            namesIn(layer) {
+                return Array.from(layerMap(layer).keys());
+            },
+            get size() {
+                const names = new Set();
+                for (const m of maps.values()) for (const k of m.keys()) names.add(k);
+                return names.size;
+            },
+            /** Effective [name, fn] pairs, one per filename. */
+            *[Symbol.iterator]() {
+                const seen = new Set();
+                for (const l of byPrecedence) {
+                    for (const [name, fn] of maps.get(l)) {
+                        if (seen.has(name)) continue;
+                        seen.add(name);
+                        yield [name, fn];
+                    }
+                }
+            }
+        };
+    }
+
+    const StudioPreviewSources = { create, LAYERS: LAYERS.slice() };
+
+    if (typeof module !== 'undefined' && module.exports) {
+        module.exports = StudioPreviewSources;
+    }
+    if (typeof global !== 'undefined') {
+        global.StudioPreviewSources = StudioPreviewSources;
+    }
+})(typeof window !== 'undefined' ? window : this);
diff --git a/tests/test-studio-github.js b/tests/test-studio-github.js
index 67363ae3..1bf145d4 100644
--- a/tests/test-studio-github.js
+++ b/tests/test-studio-github.js
@@ -244,11 +244,12 @@ checkBool(
     'lazy repo pattern fetches resolve the current token instead of retaining one',
     rfbStart > 0 &&
         /^\s*const token = ghToken\(\);/m.test(rfbBody) &&
-        (
-            studioHtml.match(
-                /webPreviewBySdName\.set\(f\.name, \(\) => repoFileBytes\(repo, f\.path\)\);/g
-            ) || []
-        ).length >= 2
+        // colocated _patterns/ (one source per file) …
+        studioHtml.includes(
+            "webPreviewBySdName.set('colocated', f.name, () => repoFileBytes(repo, f.path));"
+        ) &&
+        // … and the shared patterns/ layer (replaced as a whole per listing)
+        studioHtml.includes('.map((f) => [f.name, () => repoFileBytes(repo, f.path)]);')
 );
 checkBool(
     'anonymous pattern reads prefer raw.githubusercontent.com',
diff --git a/tests/test-studio-preview-sources.js b/tests/test-studio-preview-sources.js
new file mode 100644
index 00000000..9352abe3
--- /dev/null
+++ b/tests/test-studio-preview-sources.js
@@ -0,0 +1,182 @@
+#!/usr/bin/env node
+/**
+ * Tests for js/studio-preview-sources.js (layered pattern-preview byte sources) and
+ * the Studio contract around it (LAB-303 S2, ww18 2026-10-15): a `?p=` link stayed
+ * empty until a refresh because initFromUrl AWAITED a GitHub listing (the course
+ * repo's shared patterns/) before loading the protocol. The listing is now
+ * fire-and-forget, which is only safe because precedence no longer depends on which
+ * listing arrives first.
+ *
+ * Run: node tests/test-studio-preview-sources.js   (picked up by `pixi run test`)
+ */
+'use strict';
+
+const fs = require('fs');
+const path = require('path');
+const Sources = require('../js/studio-preview-sources.js');
+
+let totalChecks = 0;
+let failures = 0;
+function check(name, got, expected) {
+    totalChecks++;
+    const ok = JSON.stringify(got) === JSON.stringify(expected);
+    console.log(
+        `  ${ok ? 'PASS' : 'FAIL'}  ${name}: got ${JSON.stringify(got)}, expected ${JSON.stringify(expected)}`
+    );
+    if (!ok) failures++;
+}
+function checkBool(name, ok, info) {
+    totalChecks++;
+    console.log(`  ${ok ? 'PASS' : 'FAIL'}  ${name}${!ok && info ? ' — ' + info : ''}`);
+    if (!ok) failures++;
+}
+const src = (tag) => () => tag; // a byte source stand-in that names its origin
+
+console.log('=== layers, low → high precedence ===');
+check('LAYERS', Sources.LAYERS, ['builtin', 'shared', 'colocated', 'uploaded']);
+
+console.log('\n=== precedence does not depend on arrival order ===');
+{
+    // Every permutation of the four layers registering the same filename.
+    const perms = (a) =>
+        a.length <= 1
+            ? [a]
+            : a.flatMap((x, i) => perms(a.filter((_, j) => j !== i)).map((p) => [x, ...p]));
+    let allOk = true;
+    for (const order of perms(Sources.LAYERS)) {
+        const r = Sources.create();
+        for (const layer of order) r.set(layer, '001_grating.pat', src(layer));
+        if (r.get('001_grating.pat')() !== 'uploaded') allOk = false;
+    }
+    checkBool('uploaded wins in all 24 arrival orders', allOk);
+
+    // THE S2 case: the colocated listing lands first, the shared listing late.
+    const r = Sources.create();
+    r.set('colocated', 'p3_heisenberg.pat', src('colocated'));
+    r.replaceLayer('shared', [
+        ['p3_heisenberg.pat', src('shared')],
+        ['only_shared.pat', src('shared')]
+    ]);
+    check(
+        'a late shared listing does not override colocated',
+        r.get('p3_heisenberg.pat')(),
+        'colocated'
+    );
+    check('…and still serves names only it has', r.get('only_shared.pat')(), 'shared');
+    check(
+        'layerOf',
+        [r.layerOf('p3_heisenberg.pat'), r.layerOf('only_shared.pat'), r.layerOf('x')],
+        ['colocated', 'shared', null]
+    );
+
+    const b = Sources.create();
+    b.set('shared', 'all_on.pat', src('shared'));
+    b.set('builtin', 'all_on.pat', src('builtin')); // the built-in manifest landing last
+    check(
+        'a late built-in manifest does not override the repo library',
+        b.get('all_on.pat')(),
+        'shared'
+    );
+}
+
+console.log('\n=== replaceLayer swaps one layer only ===');
+{
+    const r = Sources.create();
+    r.set('builtin', 'a.pat', src('builtin'));
+    r.replaceLayer('shared', [
+        ['a.pat', src('shared-1')],
+        ['b.pat', src('shared-1')]
+    ]);
+    r.set('colocated', 'c.pat', src('colocated'));
+    r.replaceLayer('shared', [['d.pat', src('shared-2')]]); // repo changed
+    check('old shared entries gone; builtin shows through again', r.get('a.pat')(), 'builtin');
+    check('b.pat (old repo only) is gone', r.has('b.pat'), false);
+    check('new shared entry', r.get('d.pat')(), 'shared-2');
+    check('colocated untouched', r.get('c.pat')(), 'colocated');
+    check('namesIn(shared)', r.namesIn('shared'), ['d.pat']);
+    r.clearLayer('colocated');
+    check('clearLayer', r.has('c.pat'), false);
+}
+
+console.log('\n=== reads look like a Map of the effective sources ===');
+{
+    const r = Sources.create();
+    r.set('builtin', 'x.pat', src('builtin'));
+    r.set('shared', 'x.pat', src('shared'));
+    r.set('builtin', 'y.pat', src('builtin'));
+    const seen = [];
+    for (const [name, fn] of r) seen.push(name + '=' + fn());
+    check('iteration: one entry per name, the effective one', seen.sort(), [
+        'x.pat=shared',
+        'y.pat=builtin'
+    ]);
+    check('size counts names, not entries', r.size, 2);
+    check('get of an unknown name', r.get('nope.pat'), undefined);
+    let threw = false;
+    try {
+        r.set('bogus', 'z.pat', src('z'));
+    } catch (_) {
+        threw = true;
+    }
+    check('an unknown layer throws (a typo must not silently mis-rank a source)', threw, true);
+}
+
+console.log('\n=== Studio contract (arena_studio.html source) ===');
+{
+    const studio = fs.readFileSync(path.join(__dirname, '..', 'arena_studio.html'), 'utf8');
+    const tag = studio.indexOf('<script src="js/studio-preview-sources.js');
+    const firstModule = studio.indexOf('<script type="module">');
+    checkBool(
+        'the module loads as a classic script before the module block',
+        tag > 0 && tag < firstModule
+    );
+
+    const writes = studio.match(/webPreviewBySdName\.set\(([^,]*),/g) || [];
+    checkBool(
+        'every webPreviewBySdName.set names a known layer',
+        writes.length >= 3 &&
+            writes.every((w) => Sources.LAYERS.some((l) => w.includes("'" + l + "'"))),
+        writes.join(' | ')
+    );
+    checkBool(
+        'the shared listing replaces its own layer and drops superseded replies',
+        studio.includes("webPreviewBySdName.replaceLayer('shared', entries);") &&
+            studio.includes('if (gen !== sharedPreviewGen) return;')
+    );
+
+    // Everything initFromUrl awaits BEFORE it loads `?p=` must be same-origin: a GitHub
+    // (or any remote) call here is what left the ww18 tab empty until a refresh.
+    const start = studio.indexOf('async function initFromUrl() {');
+    const pLoad = studio.indexOf('} else if (state.p) {', start);
+    const prefix = start > 0 && pLoad > start ? studio.slice(start, pLoad) : '';
+    checkBool('initFromUrl + its ?p= branch found', prefix.length > 0);
+    const awaited = (prefix.match(/await\s+[\w.]+\(/g) || []).map((s) =>
+        s.replace(/^await\s+/, '').replace(/\($/, '')
+    );
+    // `openFromCourseRepo` is the ?repo=&p= load itself (the protocol lives on GitHub).
+    const allowed = [
+        'populateMetaDatalists',
+        'populateSessionRig',
+        'fetch',
+        'res.json',
+        'openFromCourseRepo'
+    ];
+    checkBool(
+        'nothing else is awaited before the ?p= load',
+        awaited.every((a) => allowed.includes(a)),
+        JSON.stringify(awaited)
+    );
+    checkBool(
+        'the shared + colocated preview listings are started, not awaited',
+        /\n\s+refreshRepoSharedPatternPreviews\(\)\.catch\(/.test(prefix) &&
+            /\n\s+rewireRepoPatternPreviews\(\)\.catch\(/.test(prefix)
+    );
+    checkBool(
+        'the protocol registry fetch itself stays same-origin and uncached',
+        prefix.includes("await fetch('./protocols/index.json', { cache: 'no-store' })")
+    );
+}
+
+console.log('\n=== Summary ===');
+console.log(`${totalChecks - failures} / ${totalChecks} checks passed`);
+process.exit(failures ? 1 : 0);

From 9bb44b011667180e4681434b7d776c3eaf88c8d4 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 10:16:25 -0400
Subject: [PATCH 64/96] =?UTF-8?q?ros2-poc:=20ScanImage-day=20brief=20?=
 =?UTF-8?q?=E2=80=94=20real=202P=20LED-intensity=20experiment=20through=20?=
 =?UTF-8?q?a=20scanimage=20connector=20(si=5Fzmp),=20with=20fallback?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/SCANIMAGE-DAY.md | 124 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 124 insertions(+)
 create mode 100644 ros2-poc/SCANIMAGE-DAY.md

diff --git a/ros2-poc/SCANIMAGE-DAY.md b/ros2-poc/SCANIMAGE-DAY.md
new file mode 100644
index 00000000..f16a5f03
--- /dev/null
+++ b/ros2-poc/SCANIMAGE-DAY.md
@@ -0,0 +1,124 @@
+# ScanImage day (2026-10-16): a real 2P experiment through the ROS 2 graph
+
+**Goal for today:** one simple, real experiment on the Bergamo rig — drive the G6 color LEDs at a few
+intensities and record an ex vivo fly prep for SNR / SiPM characterization — with ScanImage driven
+from the protocol through the same connector path that drives BIAS, and the run log + bag holding
+the command/reply pairs so the TIFFs can be aligned to the trials. If the connector path slips, the
+fallback (§6) still gets the data today.
+
+Everything here builds on branch `claude/ros-studio-plan-b-c44942` (draft PR #254): the ROS 2 graph,
+the Studio v0.95+ with `connector_command`, the Windows results from ww18 (2026-10-15).
+
+## Where things are
+
+| What | Where |
+|---|---|
+| ScanImage remote control (**si_zmp**): ZeroMQ REQ/REP on `tcp://127.0.0.1:5556` (`'*'` for other PCs), text commands `ping \| status \| focus \| grab \| loop \| abort \| get <prop> \| set <prop> <value>` | repo `reiserlab/scanimage-2026-bergamo`, `scanimage/SI2026.0.0_…/si_zmp/` (`HOW_TO_USE.txt`, `si_zmq_server.m`, `si_zmq_server2.m`, Python client `si_zmq_client.py` → `ScanImageClient(host, port)`) |
+| Off-rig mocks for si_zmp (for the harness) | same repo, `tests/remote-control/mock_servers.py`, `tests/remote-control/offrig/` |
+| LAB-305 head-to-head results (si_zmp vs the built-in JSON server; the JSON server must NOT be used on a rig) | same repo, `tests/remote-control/results/2026-10-15_LAB-305/report.html`; Linear LAB-305 (Done) |
+| **Today's other rig block**: Hannah's Block Z (ZeroMQ frame stream, ~60 min, runs DARK) | same repo, `procedures/rig-session-2026-10-16.md` — coordinate: our prep needs the lasers ON |
+| Rig-PC environment notes (git not on PATH, MATLAB R2025b vs R2026a, Python 3.14 terminal, F: for data) | same repo, `procedures/rig-session-2026-10-16.md` → "Environment notes" |
+| 2P panel firmware (BETA line-sync: active-low EINT, 1 µs BCM base, free-running Triggered) + the two-minute functional check | `docs/development/2p-line-sync-rig-checklist.md` (§1 flash all 18 panels, §2 check) |
+| What ScanImage must record for alignment (DO1 frame-transfer envelope, line clock loop-back, **AO condition marker** on an AI channel) and the controller settings before Run (panel display mode **2** Triggered, Digital IO 1 role framescan, refresh 300 Hz for GS16) | `protocols/g6_2x10_2p_duty_sweep.yaml` header; `docs/development/2p-scanimage-signal-logging.md` |
+| Intensity = panel duty (25 / 64 / 128 / 191 / 255 ≈ 10–100 %); `duty: 0` means the pattern's own, OFF is `allOff`; end with `allOff`, not `stopDisplay` | same YAML header, notes 1–4 |
+| Color patterns, one LED color at a time, top row, 25/50/100 % duty (made on ww18) | `protocols/g6_color_optomotor_smoke*.yaml` + its patterns on this branch; `scripts/make-2p-diagnostic-patterns.js` for full-field GS16 |
+| The BIAS connector (the template for a ScanImage connector) | `ros2-poc/nodes/bias_node.py`, `bridge_node.py` (`CONNECTORS`, `on_connector_command`), `js/arena-runner-g6.js` (`connectorCommand`), `arena_studio.html` (`connectorPluginNames`), `js/plugin-registry.js` (`camera` plugin) |
+| Arena → microscope signal into ZeroMQ (the event side si_zmp does not have yet) | Linear LAB-300 (Todo, Hannah) — out of scope today; alignment uses the AO marker |
+
+## Decisions to make first (10 minutes with Michael)
+
+1. **Which PC.** The Studio, the graph and the arena controller must sit on one PC; si_zmp can be
+   local (`127.0.0.1:5556`) or remote (`'*'`). Default: the Bergamo PC `reiserlab-bergamo1`
+   (ScanImage + si_zmp there; the 2P checklist already runs the Studio there). ww18 is the
+   fallback if the Bergamo PC must stay untouched.
+2. **Panels.** Are the 18 panels on the Bergamo arena on the BETA 2P firmware (checklist §1)? If
+   not, flashing + §2 check is the first hardware step (~20 min).
+3. **Stimulus set.** Which colors (which of the 4 banks), how many intensities (duty levels), how
+   long per step, how many repeats; static full field or the top-row color patterns. Keep it to
+   ≤ 15 conditions so one run fits in ~5 min.
+4. **ScanImage side.** Where TIFFs go (`F:\ImagingData\…`), frames per grab, channels; whether
+   `set hScan2D.logFileStem` per condition is wanted (one TIFF per condition — strongly preferred
+   for alignment) or one long grab with the AO marker only.
+5. **Time with Hannah.** Block Z runs dark; our runs need lasers on. Agree the order.
+
+## Plan (in order; stop and report after each)
+
+### 1. Bergamo PC setup (30 min, no hardware)
+- Clone/fetch `reiserlab/webDisplayTools`, `git switch claude/ros-studio-plan-b-c44942`; `cd ros2-poc`;
+  `pixi install --locked` (ww18: 25 s warm, minutes cold; 1.0 GB). Use the default env (String
+  topics); the `typed` env is optional today.
+- `pixi run test` (harness, 47/47 on ww18). Note the Windows gotchas already fixed there
+  (`WINDOWS-TEST.md`, `windows-results-ww18-2026-10-15.md`).
+- Confirm si_zmp answers: MATLAB `hZ = si_zmq_server(hSI);`, then from Python
+  `ScanImageClient("127.0.0.1", 5556).ping()` → `pong`. Record the `status` reply shape.
+
+### 2. ScanImage connector (2–3 h, mock first, then si_zmp)
+- `ros2-poc/nodes/scanimage_node.py`, modeled on `bias_node.py`: one ZMQ REQ socket to si_zmp,
+  topics `/scanimage/cmd`, `/scanimage/reply`, `/scanimage/status` (poll `status` at 1 Hz).
+  Commands 1:1 with si_zmp: `ping, status, focus, grab, loop, abort, get(property),
+  set(property, value)`, plus a composite `grabAndWait(frames?, timeout_s)` that issues `grab`
+  and polls `status` until idle — the protocol needs "the grab is done" as a step boundary.
+  Timeouts: a REQ with no reply within `timeout_s` is an UNKNOWN outcome (same LAB-303 rule as
+  BIAS); ZMQ REQ/REP needs `RCVTIMEO` + socket reset on timeout or it wedges.
+- `bridge_node.py`: `CONNECTORS["scanimage"] = "/scanimage/cmd"`; the relay is already generic.
+- `js/plugin-registry.js`: a `scanimage` plugin (`matlab.class: "ScanImagePlugin"` as the key;
+  MATLAB has no such class yet — say so in the registry comment) with those commands and params.
+- `arena_studio.html` `connectorPluginNames`: ScanImagePlugin → `'scanimage'`.
+- Harness: add the scanimage node + `mock_servers.py`'s si_zmp mock (copy the mock into
+  `ros2-poc/tests/` with attribution) and a connector step in `studio_emulator.py`; keep 47/47.
+- Bench the node against the real si_zmp from a terminal (`pixi run scanimage-cmd -- ping`, `…
+  grabAndWait`) before any Studio run.
+
+### 3. The protocol (30 min) — `protocols/g6_2p_color_led_sweep.yaml`
+- Rig `./configs/rigs/cshl_g6_2x10.yaml` (the 2P rig config the duty sweep uses), plugins
+  `scanimage` (+ nothing else; no fictrac on the 2P rig).
+- `pre_blank`: `allOff`, `setAnalogOut` marker 0 V, `scanimage.set hScan2D.logFileStem "<run>_blank"`,
+  `scanimage.grabAndWait`.
+- Per condition (color × duty): `setAnalogOut` marker stepped (0.5 V per condition) →
+  `scanimage.set logFileStem "<run>_c<k>_<color>_d<duty>"` → `scanimage.grab` → `wait 1` (grab
+  start latency; measure it in step 2) → `trialParams` (static single-color full-field pattern,
+  `duty: <level>`, mode 2, frame_rate 0) → `wait <step_dur>` → `allOff` → `scanimage.grabAndWait`
+  (or `abort` if frames per grab > the step).
+- `post_blank` as `pre_blank`. End with `allOff`.
+- Patterns: static single-color full-field at GS16 from the color-panel tooling; if making them is
+  slow, use the existing top-row color patterns from the ww18 smoke protocol.
+- Controller settings before Run (Console, per the checklist): display mode 2 (Triggered), Digital
+  IO 1 = framescan, refresh 300 Hz. Check whether the Studio on this branch asserts them from the
+  protocol; if not, set them by hand and note it.
+
+### 4. Dry run without the prep (20 min)
+- Lasers off, detectors off: full protocol → bag + converted log → `runlog-check.py` OK; one TIFF
+  per condition on F:, the AO marker steps visible in ScanImage's AI channel, command/reply pairs
+  in the log with `t_ms`. This is the go/no-go for the real run.
+
+### 5. The experiment (with Michael)
+- Prep on, lasers on, SiPM channels recording. Run the protocol once per repeat. After each run:
+  the converted log, the bag, the TIFF list and the AO marker trace. Alignment check: TIFF
+  frame timestamps vs the log's `scanimage.grab` reply `t_ms` and the AO step edges.
+
+### 6. Fallback (keeps today's data if §2 slips)
+- A script on the rig PC, `tools/led_sweep_si.py`: `ScanImageClient` + a fixed condition table
+  (color, duty, duration) that sets the file stem and grabs per condition, while the Studio runs
+  the matching protocol via **Test experiment** (the 22 Sept route, `2p-line-sync-rig-checklist.md`
+  §3) and the AO marker carries the alignment. Same TIFF-per-condition layout, so the analysis
+  does not change later.
+
+## Rules
+- Nothing goes to Production or Next; all code on branch `claude/ros-studio-plan-b-c44942` (or a
+  branch off it), commits name the step. Never change ScanImage's vendor files, `MicroscopeMDF.m`,
+  `.cfg`/`.usr`, or the power plan (the scanimage repo's rules apply).
+- Run dark until Michael says the prep is ready. Confirm before anything that starts FOCUS, GRAB or LOOP.
+- Keep a results log from the first command (`ros2-poc/scanimage-day-2026-10-16.md`): one row per
+  step, timings, every error verbatim.
+
+## Paste into Claude Code on the rig PC
+
+```
+ScanImage day on the Bergamo rig (LAB-303 / LAB-300 context). Fetch reiserlab/webDisplayTools,
+switch to claude/ros-studio-plan-b-c44942 and read ros2-poc/SCANIMAGE-DAY.md; it has the goal,
+where everything is, the five decisions to settle with me first, and the plan in order. Also
+read procedures/rig-session-2026-10-16.md in reiserlab/scanimage-2026-bergamo (Hannah's block
+runs today on this rig; its environment notes apply). Work the plan in order, stop and report
+after each numbered step, run dark until I say otherwise, and keep the results log the brief
+asks for. Small fixes go on the branch; never touch Production, Next, or ScanImage's own files.
+```

From 4632674e86f241f1a04ed77daef08aadd0f1461d Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 10:27:53 -0400
Subject: [PATCH 65/96] ros2-poc W2 step 3: upstream reports filed
 (rattler-build#2875, comment on pixi#7226)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The two drafts in docs/typed-windows.md §4 were posted as written, cross-linked:
https://github.com/prefix-dev/rattler-build/issues/2875 and
https://github.com/prefix-dev/pixi/pull/7226#issuecomment-6217653890.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/docs/typed-windows.md              | 8 ++++----
 ros2-poc/windows-results-ww18-2026-10-15.md | 6 +++---
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/ros2-poc/docs/typed-windows.md b/ros2-poc/docs/typed-windows.md
index 9d0c33de..3dbb2d38 100644
--- a/ros2-poc/docs/typed-windows.md
+++ b/ros2-poc/docs/typed-windows.md
@@ -110,9 +110,9 @@ viz-env check now uses the running env's sibling (`CONDA_PREFIX`), so `--foxglov
 detached envs. The harness's `find_node()` looks in the *root* workspace, which this setting
 doesn't touch. `LongPathsEnabled` was not tried (it is 0 on ww18, and changing it needs admin).
 
-## 4. Upstream — drafts, not filed
+## 4. Upstream — filed 2026-10-16 (text below as posted)
 
-### 4a. Comment for prefix-dev/pixi#7226 (cross-link from #6955)
+### 4a. Comment on prefix-dev/pixi#7226 — [posted](https://github.com/prefix-dev/pixi/pull/7226#issuecomment-6217653890)
 
 > Confirming this on a second machine with the newest backend build, plus one side effect.
 >
@@ -139,13 +139,13 @@ doesn't touch. `LongPathsEnabled` was not tried (it is 0 on ww18, and changing i
 > in `install_manifest.txt`, so they haven't been packaged since #6691 (0 of 151 here, before and
 > after). If you'd rather keep the relative value the ament README asks for, you could instead normalize
 > the manifest lines before appending them to `%RATTLER_BUILD_PACKAGE_FILES%`. Or rattler-build could
-> normalize the list itself (<link to 4b>), which would cover every template.
+> normalize the list itself (prefix-dev/rattler-build#2875), which would cover every template.
 >
 > **On the MAX_PATH note in #6955:** `detached-environments` moves `bld/` along with the envs. With
 > `pixi config set --local detached-environments C:\px`, a checkout 79 characters deep built fine for
 > us (longest object path 253 characters).
 
-### 4b. New issue for prefix-dev/rattler-build
+### 4b. Issue prefix-dev/rattler-build#2875 — [filed](https://github.com/prefix-dev/rattler-build/issues/2875) (links back to 4a)
 
 **Title:** `RATTLER_BUILD_PACKAGE_FILES` entries are not normalized: a `..` inside the prefix breaks
 packaging (and passes the outside-prefix check)
diff --git a/ros2-poc/windows-results-ww18-2026-10-15.md b/ros2-poc/windows-results-ww18-2026-10-15.md
index a4856d03..7854579b 100644
--- a/ros2-poc/windows-results-ww18-2026-10-15.md
+++ b/ros2-poc/windows-results-ww18-2026-10-15.md
@@ -26,7 +26,7 @@ and a prebuilt-channel install needs no compiler at all (9 s, 48 / 48) — `docs
 | # | Step | Finding | Status |
 |---|---|---|---|
 | W1 | 1a / 2 | `$PIXI_PROJECT_ROOT` stays literal in `[activation.env]` on Windows; `pixi run router` then exits: `zenohc::config: Failed to read config from $PIXI_PROJECT_ROOT/config/zenoh-router.json5: The system cannot find the path specified. (os error 3)` (no fallback to the stock config). `%PIXI_PROJECT_ROOT%` does expand under `pixi run`. | **fixed** bd2e349 (`[target.win-64.activation.env]`) |
-| W2 | 1b | The typed build fails with **VS Build Tools 2026 only**: `Could not find the compiler specified in the environment variable CC: cl.exe.` conda-forge `vs2022_win-64` (19.44.35207) looks for VS `[17,18)`, then the v143/14.44 components, then hard-coded `…\2022\…` paths, then `vswhere -latest` **without `-products *`**, which never lists a Build-Tools-only install. Then, with the v143 group added (below): (2) **MAX_PATH** — `fatal error C1083: Cannot open compiler generated file: '': Invalid argument` on a 265-char object path under `C:\Users\reiserm\Documents\GitHub\webDisplayTools\ros2-poc\.pixi\bld\arena_interfaces\…\work\build\CMakeFiles\…\_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c.obj` (`LongPathsEnabled` 0); the build adds ~215 chars, so the checkout path must stay under ~45; (3) at `C:\w` it compiles and links (156 files, 16 s), then packaging fails: `× paths in archives must not have '..' when setting path for Library` — the package lists `Library/../Lib/site-packages/arena_interfaces/…` (RoboStack's Windows `PYTHON_INSTALL_DIR=../Lib/site-packages`). | (1) fixed on the PC: `Microsoft.VisualStudio.ComponentGroup.VC.Tools.143.x86.x64` added to VS 2026 Build Tools (UAC, < 5 min; the script's 3rd vswhere query finds it); (2) short checkout path, or `detached-environments` ≤ 12 chars (works from a 79-char checkout); (3) **worked around** 538cc85 (normalized `PYTHON_INSTALL_DIR` in the package's CMakeLists.txt). Cause: pixi#6691 appends CMake's `install_manifest.txt` to `RATTLER_BUILD_PACKAGE_FILES`, which rattler-build never normalizes. Upstream fix prefix-dev/pixi#7226 open, not merged. Prebuilt-channel route tested. Details + upstream drafts: `docs/typed-windows.md` |
+| W2 | 1b | The typed build fails with **VS Build Tools 2026 only**: `Could not find the compiler specified in the environment variable CC: cl.exe.` conda-forge `vs2022_win-64` (19.44.35207) looks for VS `[17,18)`, then the v143/14.44 components, then hard-coded `…\2022\…` paths, then `vswhere -latest` **without `-products *`**, which never lists a Build-Tools-only install. Then, with the v143 group added (below): (2) **MAX_PATH** — `fatal error C1083: Cannot open compiler generated file: '': Invalid argument` on a 265-char object path under `C:\Users\reiserm\Documents\GitHub\webDisplayTools\ros2-poc\.pixi\bld\arena_interfaces\…\work\build\CMakeFiles\…\_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c.obj` (`LongPathsEnabled` 0); the build adds ~215 chars, so the checkout path must stay under ~45; (3) at `C:\w` it compiles and links (156 files, 16 s), then packaging fails: `× paths in archives must not have '..' when setting path for Library` — the package lists `Library/../Lib/site-packages/arena_interfaces/…` (RoboStack's Windows `PYTHON_INSTALL_DIR=../Lib/site-packages`). | (1) fixed on the PC: `Microsoft.VisualStudio.ComponentGroup.VC.Tools.143.x86.x64` added to VS 2026 Build Tools (UAC, < 5 min; the script's 3rd vswhere query finds it); (2) short checkout path, or `detached-environments` ≤ 12 chars (works from a 79-char checkout); (3) **worked around** 538cc85 (normalized `PYTHON_INSTALL_DIR` in the package's CMakeLists.txt). Cause: pixi#6691 appends CMake's `install_manifest.txt` to `RATTLER_BUILD_PACKAGE_FILES`, which rattler-build never normalizes. Upstream fix prefix-dev/pixi#7226 open, not merged. Prebuilt-channel route tested. Details + upstream reports (rattler-build#2875, comment on pixi#7226): `docs/typed-windows.md` |
 | W3 | 3 | Text-mode writes are CRLF on Windows: `mcap_convert --out`, `export_log`, the emulator's export copy → 2 byte-identity FAILs against bridge 3.4's binary `--convert`. | **fixed** aeccdce (`newline="\n"`) |
 | W4 | 3 / 5.6 | bridge 3.4's own live file is CRLF on Windows (`fictrac-bridge/bridge.py:711`, text-mode `open(…, "a")`); its export re-reads in text mode and gzips binary, so committed logs are LF. The PoC's shadow file inherits this, so step 5.6's `fc.exe /b export shadow` will differ on **every line** here; compare with `splitlines`, not bytes. | not fixed (bridge 3.4 untouched) |
 | W5 | 3 | JS reader check skipped: `find_node()` looked for `.pixi\envs\default\bin\node.exe`; conda's Windows layout has `node.exe` at the env root (and a fresh clone needs the root `pixi install`, 5.3 s / 0.30 GB). | **fixed** aeccdce |
@@ -208,8 +208,8 @@ Rig: CSHL G6 2×10 ball arena, controller COM4 (fw `12bba7e9` 2x10 2026-09-30),
 
 - **1b / 7** typed messages: installable now (W2-3′, W2-5). The decision is between building on each PC
   (MSVC v143 + `detached-environments`) and a CI-built channel (no compiler; workflow sketch in
-  `docs/typed-windows.md` §5). Step 5 hardware runs were not repeated with `-e typed`. Upstream drafts (§4)
-  wait for an OK to file.
+  `docs/typed-windows.md` §5). Step 5 hardware runs were not repeated with `-e typed`. Upstream: filed 2026-10-16,
+  prefix-dev/rattler-build#2875 + a confirming comment on prefix-dev/pixi#7226 (§4).
 - **S1** bridge loss should banner and end the run; **S2** `?p=` needed a refresh; **H1** characterize the 64 GB
   exFAT card; **5c full** (18 min) and real-fly runs; **hardware sync** (camera strobe → controller Digital IO)
   for µs frame timing on the controller's clock.

From 952e9eb40f3693735a1b0f189c089aba527086c6 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 10:33:16 -0400
Subject: [PATCH 66/96] ros2-poc W2 docs: correct the .pyc claim (rattler-build
 compiles and packages 5 .pyc)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Inspecting the C:\chan build showed 5 .pyc in the package. They come from rattler-build's own
post-build step ("Compiling 5 .py files to .pyc", in the failing and the fixed build alike), not
from ament's compileall. The conclusion stands: the skipped compileall doesn't change the
package. The posted pixi#7226 comment carries the old wording; noted under §4a.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/docs/typed-windows.md | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/ros2-poc/docs/typed-windows.md b/ros2-poc/docs/typed-windows.md
index 3dbb2d38..77feba1c 100644
--- a/ros2-poc/docs/typed-windows.md
+++ b/ros2-poc/docs/typed-windows.md
@@ -85,9 +85,10 @@ prefix) or on Linux/macOS. Side effects, both harmless here:
 
 - ament_cmake_python byte-compiles `"${CMAKE_INSTALL_PREFIX}/${PYTHON_INSTALL_DIR}/<pkg>"`, so
   with an absolute value it logs `Can't list '%PREFIX%/Library/%PREFIX%/Lib/site-packages/arena_interfaces'`
-  and compiles nothing. The package is unchanged either way: compileall's `.pyc` files were never
-  in `install_manifest.txt`, so since #6691 they are not packaged (0 of 151, before and after).
-  Python compiles on first import.
+  and compiles nothing. The package is unchanged either way: the 5 `.pyc` files in it come from
+  rattler-build's own post-build step ("Compiling 5 .py files to .pyc", in the failing build and in
+  the fixed one), not from ament's compileall, whose output never reaches `install_manifest.txt`.
+  (Corrected 2026-10-16; an earlier version said no `.pyc` were packaged.)
 - `share/arena_interfaces/environment/pythonpath.dsv` now holds an absolute path. rattler-build
   rewrites it to the install prefix (checked in the installed env); conda environments don't
   read these hooks.
@@ -140,6 +141,10 @@ doesn't touch. `LongPathsEnabled` was not tried (it is 0 on ww18, and changing i
 > after). If you'd rather keep the relative value the ament README asks for, you could instead normalize
 > the manifest lines before appending them to `%RATTLER_BUILD_PACKAGE_FILES%`. Or rattler-build could
 > normalize the list itself (prefix-dev/rattler-build#2875), which would cover every template.
+
+**Correction to the posted text:** "0 of 151 … haven't been packaged" is wrong. The package holds 5
+`.pyc` files, compiled by rattler-build's own post-build step in both builds. The conclusion (the
+skipped compileall doesn't change the package) still holds.
 >
 > **On the MAX_PATH note in #6955:** `detached-environments` moves `bld/` along with the envs. With
 > `pixi config set --local detached-environments C:\px`, a checkout 79 characters deep built fine for

From 711d24668504e6c3be8769f5557dd4fd3eb93e72 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 10:46:31 -0400
Subject: [PATCH 67/96] =?UTF-8?q?ros2-poc=20W2=20docs:=20=C2=A74a=20quotes?=
 =?UTF-8?q?=20the=20corrected=20pixi#7226=20comment=20(edited=20on=20GitHu?=
 =?UTF-8?q?b)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/docs/typed-windows.md | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/ros2-poc/docs/typed-windows.md b/ros2-poc/docs/typed-windows.md
index 77feba1c..9627b251 100644
--- a/ros2-poc/docs/typed-windows.md
+++ b/ros2-poc/docs/typed-windows.md
@@ -136,15 +136,14 @@ doesn't touch. `LongPathsEnabled` was not tried (it is 0 on ww18, and changing i
 > **Side effect worth a line in the PR:** ament_cmake_python byte-compiles
 > `"${CMAKE_INSTALL_PREFIX}/${ARG_DESTINATION}/<pkg>"` (`ament_python_install_package.cmake`). With an
 > absolute `PYTHON_INSTALL_DIR` that becomes `%PREFIX%/Library/%PREFIX%/Lib/site-packages/<pkg>`, and the
-> build logs `Can't list …` (not fatal). The package doesn't change: compileall's `.pyc` files were never
-> in `install_manifest.txt`, so they haven't been packaged since #6691 (0 of 151 here, before and
-> after). If you'd rather keep the relative value the ament README asks for, you could instead normalize
+> build logs `Can't list …` (not fatal). The package doesn't change: its 5 `.pyc` files come from
+> rattler-build's own post-build step ("Compiling 5 .py files to .pyc", in the failing build and the fixed
+> one alike), not from ament's compileall, whose output never reaches `install_manifest.txt`. If you'd rather keep the relative value the ament README asks for, you could instead normalize
 > the manifest lines before appending them to `%RATTLER_BUILD_PACKAGE_FILES%`. Or rattler-build could
 > normalize the list itself (prefix-dev/rattler-build#2875), which would cover every template.
 
-**Correction to the posted text:** "0 of 151 … haven't been packaged" is wrong. The package holds 5
-`.pyc` files, compiled by rattler-build's own post-build step in both builds. The conclusion (the
-skipped compileall doesn't change the package) still holds.
+Edited on GitHub 2026-10-16: the `.pyc` sentence first said none were packaged; the package does
+hold 5, compiled by rattler-build. The quote above is the corrected text.
 >
 > **On the MAX_PATH note in #6955:** `detached-environments` moves `bld/` along with the envs. With
 > `pixi config set --local detached-environments C:\px`, a checkout 79 characters deep built fine for

From 30512581c802acf2ca48c12cc698173be28d7bf6 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 10:46:31 -0400
Subject: [PATCH 68/96] ros2-poc W2 step 4: a prebuilt arena_interfaces channel
 (win-64) for a no-VS test

The package pixi publish built on ww18 from 4632674, plus the index pixi wrote. The opt-in
typed-prebuilt environment (next commit) reads it over raw.githubusercontent.com, pinned to this
commit, so a Windows PC without Visual Studio can install typed messages with `--locked`.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/channel/README.md                     |  14 ++++++++++++++
 ros2-poc/channel/noarch/repodata.json          |   1 +
 .../arena_interfaces-0.1.0-ha41a7fa_0.conda    | Bin 0 -> 103850 bytes
 ros2-poc/channel/win-64/repodata.json          |   1 +
 ros2-poc/channel/win-64/repodata.json.zst      | Bin 0 -> 471 bytes
 .../channel/win-64/repodata_shards.msgpack.zst | Bin 0 -> 216 bytes
 ...3b6ac4893994f89e1e14c4c1dfcabad.msgpack.zst | Bin 0 -> 437 bytes
 7 files changed, 16 insertions(+)
 create mode 100644 ros2-poc/channel/README.md
 create mode 100644 ros2-poc/channel/noarch/repodata.json
 create mode 100644 ros2-poc/channel/win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda
 create mode 100644 ros2-poc/channel/win-64/repodata.json
 create mode 100644 ros2-poc/channel/win-64/repodata.json.zst
 create mode 100644 ros2-poc/channel/win-64/repodata_shards.msgpack.zst
 create mode 100644 ros2-poc/channel/win-64/shards/f52127a1c1297e513b7d83ea403111ad13b6ac4893994f89e1e14c4c1dfcabad.msgpack.zst

diff --git a/ros2-poc/channel/README.md b/ros2-poc/channel/README.md
new file mode 100644
index 00000000..2508a56d
--- /dev/null
+++ b/ros2-poc/channel/README.md
@@ -0,0 +1,14 @@
+# ros2-poc/channel — a prebuilt arena_interfaces (LAB-303 Plan B test, win-64 only)
+
+A conda channel with one package, read by the opt-in `typed-prebuilt` environment in
+`../pixi.toml` over raw.githubusercontent.com (pinned to the commit that added these files), so a
+Windows PC **without Visual Studio** can run the graph with typed messages. Stand-in for the
+CI-built, hosted channel in `../docs/typed-windows.md` §5; not a deployment.
+
+- `win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda`, sha256 `5501edc89c10f6ee7acca21273f26f716edf2b7686e7109fed54335a3d39c883`
+- Built 2026-10-16 on ww18 from commit 4632674 (the CMakeLists workaround included) with pixi 0.80.0
+  and pixi-build-ros 0.7.6.20261014.1408.4ef64dd:
+  `pixi publish --path interfaces\arena_interfaces\pixi.toml --target-channel C:\chan`
+- Depends on `ros2-distro-mutex >=0.19,<0.20` (RoboStack Jazzy as locked today) and Python 3.12.
+
+Rebuild and re-commit after any `.msg` change; the env pins `==0.1.0`, so bump the version too.
diff --git a/ros2-poc/channel/noarch/repodata.json b/ros2-poc/channel/noarch/repodata.json
new file mode 100644
index 00000000..d6f6f3f3
--- /dev/null
+++ b/ros2-poc/channel/noarch/repodata.json
@@ -0,0 +1 @@
+{"info":{"subdir":"noarch"},"packages":{},"packages.conda":{},"repodata_version":2}
\ No newline at end of file
diff --git a/ros2-poc/channel/win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda b/ros2-poc/channel/win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda
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diff --git a/ros2-poc/channel/win-64/repodata.json b/ros2-poc/channel/win-64/repodata.json
new file mode 100644
index 00000000..3bad0d12
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literal 0
HcmV?d00001


From 43a62279367fdfa19adf4be6d35bccc1109013d9 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 10:48:47 -0400
Subject: [PATCH 69/96] =?UTF-8?q?ros2-poc=20W2=20step=204:=20typed-prebuil?=
 =?UTF-8?q?t=20env=20=E2=80=94=20typed=20messages=20on=20Windows=20without?=
 =?UTF-8?q?=20Visual=20Studio?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

A new opt-in, win-64-only environment that depends on arena_interfaces==0.1.0 from channel/
(3051258), read over raw.githubusercontent.com pinned to that commit. A relative ./channel was
tried first: pixi writes it into pixi.lock as the committing machine's absolute path, which would
break `--locked` on every other checkout. Own solve group: the lock gains 552 lines and nothing
else changes; `pixi install --locked` (default) still passes.

ww18: `pixi install --locked -e typed-prebuilt` 5 s, no build backend started; --check importable +
serializes; harness 49 / 49 in 52 s, typed topics: True. WINDOWS-TEST.md 7b is the test for a PC
without Visual Studio; docs/typed-windows.md T6.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/WINDOWS-TEST.md                    |  22 +
 ros2-poc/docs/typed-windows.md              |  10 +-
 ros2-poc/pixi.lock                          | 552 ++++++++++++++++++++
 ros2-poc/pixi.toml                          |  16 +
 ros2-poc/windows-results-ww18-2026-10-15.md |   4 +-
 5 files changed, 600 insertions(+), 4 deletions(-)

diff --git a/ros2-poc/WINDOWS-TEST.md b/ros2-poc/WINDOWS-TEST.md
index 3c44840d..cb066b90 100644
--- a/ros2-poc/WINDOWS-TEST.md
+++ b/ros2-poc/WINDOWS-TEST.md
@@ -349,6 +349,28 @@ Repeat step 3 and step 5 with `-e typed` (`pixi run -e typed test -- --keep`, `p
 Expected differences: `typed=True` in the bridge banner, `/fictrac/frame` + `/arena/frame` as
 `arena_interfaces/msg/…` in `ros2 bag info`, the harness line `info  typed topics: True`.
 
+## 7b. Typed messages on a PC WITHOUT Visual Studio (`typed-prebuilt`, ~10 minutes)
+
+The no-compiler route (`docs/typed-windows.md` §5): the `typed-prebuilt` environment downloads an
+`arena_interfaces` built once on ww18 (`channel/`, read from raw.githubusercontent.com) instead of
+building it. Run it on a PC with **no** Visual Studio / Build Tools; that is the point. Any checkout
+path works (nothing is compiled). PowerShell, in `ros2-poc`:
+
+```powershell
+git fetch; git switch claude/ros-studio-plan-b-c44942; git pull
+Measure-Command { pixi install --locked -e typed-prebuilt | Out-Default }
+pixi run -e typed-prebuilt python nodes\build_interfaces.py --check
+pixi run -e typed-prebuilt test
+```
+
+Expected: install ~5 s on ww18 with a warm package cache (a fresh PC first downloads the ROS
+packages, as in step 1a), no
+`failed to build` and no compiler message; `--check` prints `"importable": true` and
+`"serializes": true`; the harness passes every check (49 / 49 on ww18, 2026-10-16) with `info  typed topics: True`.
+If step 5's hardware is attached, `pixi run -e typed-prebuilt rig …` runs the rig with typed topics.
+Record: the PC's Windows version, "no Visual Studio" confirmed (`winget list Microsoft.VisualStudio`
+prints nothing), the install time, and the first error verbatim if anything fails.
+
 ## What to send back
 
 The timings and sizes from step 1, the `$PIXI_PROJECT_ROOT` answer, the harness artifact folder,
diff --git a/ros2-poc/docs/typed-windows.md b/ros2-poc/docs/typed-windows.md
index 9627b251..1b052f1b 100644
--- a/ros2-poc/docs/typed-windows.md
+++ b/ros2-poc/docs/typed-windows.md
@@ -26,6 +26,7 @@ Tools), cmake 4.4.4, RoboStack Jazzy. Package cache warm.
 | T3 | T2 from this worktree (checkout path **79 chars**) + `detached-environments = 'C:\w\px'` | **PASS** 36 s; longest object path 253 chars | `--check`: importable, serializes |
 | T4 | `pixi publish --path interfaces\arena_interfaces\pixi.toml --target-channel C:\w\chan` | 26 s → an indexed file channel, `win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda` (101 KiB) | `pixi build --path … --output-dir` the same, 27 s |
 | T5 | `typed` feature depends on `arena_interfaces` from that channel (no path dep, no toolchain), fresh env, `--locked` | **PASS 9 s, no build backend started** | `--check`: importable, serializes; harness **48 / 48** in 56 s, `typed topics: True` |
+| T6 | 2026-10-16, **committed**: the T4 package in `channel/` (3051258), read by the new win-64 env `typed-prebuilt` over raw.githubusercontent.com pinned to that commit; own solve group (lock +552 lines, nothing else changed) | **PASS 5 s** `--locked`, no build backend started | `--check`: importable, serializes; harness **49 / 49** in 52 s (one check more than T2/T5 by now), `typed topics: True` |
 
 T1–T3 and T5 were run in a scratch detached worktree at `C:\w\t` (T5's manifest change is not committed;
 §5 has it). Logs, T1's package-file list and the §4b recipes are on ww18 in `C:\w\logs-w2\` (not
@@ -285,8 +286,11 @@ Notes and costs:
   so there is no token to rotate. It does add `prefix.dev` to a rig's network allowlist: today's
   default env reaches only `conda.anaconda.org`, and the source build already reaches prefix.dev
   for the backend. An anaconda.org org channel (`conda.anaconda.org/<org>`) keeps a single host but
-  needs an API-token secret. A third option, not tried: commit the three `.conda` files (~100 KiB
-  each) to the repo as a local channel.
+  needs an API-token secret. A third option, tried for win-64 in T6: commit the `.conda` files
+  (~100 KiB each) to the repo. A relative `./channel` doesn't work, because pixi writes it into
+  `pixi.lock` as the committing machine's absolute path. Reading the same files over
+  raw.githubusercontent.com, pinned to a commit, keeps the lock portable. It also gives every rig a
+  dependency on GitHub's raw host, and the repo grows with every rebuild.
 - **Partial channel = no lock.** The workspace locks win-64, osx-arm64 and linux-64 together. With
   only the win-64 build in the channel, the lock could not resolve the other two platforms (seen in
   T5 until the scratch feature was limited to win-64). So publish all three platforms in one job.
@@ -308,7 +312,7 @@ Notes and costs:
 
 | | default env (String topics) | typed, built on the PC (today) | typed, prebuilt channel (§5) |
 |---|---|---|---|
-| install | `pixi install` | `pixi install -e typed` | `pixi install -e typed` |
+| install | `pixi install` | `pixi install -e typed` | `pixi install -e typed` (today, for testing: `-e typed-prebuilt`, win-64, WINDOWS-TEST.md 7b) |
 | compiler | — | MSVC **v143** toolset (VS 2022 Build Tools, or the v143 group in VS 2026; UAC, < 5 min) | — |
 | path setup | — | short checkout **or** `detached-environments` ≤ 12 chars | — |
 | network | conda.anaconda.org | + prefix.dev (backend) | + the channel host |
diff --git a/ros2-poc/pixi.lock b/ros2-poc/pixi.lock
index 8024ecac..5a9b8645 100644
--- a/ros2-poc/pixi.lock
+++ b/ros2-poc/pixi.lock
@@ -1,8 +1,20 @@
 version: 7
 platforms:
 - name: linux-64
+  virtual-packages:
+  - __unix=0=0
+  - __linux=4.18
+  - __glibc=2.28
+  - __archspec=0=x86_64
 - name: osx-arm64
+  virtual-packages:
+  - __unix=0=0
+  - __osx=13.0
+  - __archspec=0=m1
 - name: win-64
+  virtual-packages:
+  - __win=10.0
+  - __archspec=0=x86_64
 environments:
   default:
     channels:
@@ -2590,6 +2602,408 @@ environments:
       - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-zenoh-cpp-vendor-0.2.11-np2py312hbb4efd0_25.conda
       - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-zstd-vendor-0.26.11-np2py312h94542ee_25.conda
       - conda_source: arena_interfaces[3fd15877] @ interfaces/arena_interfaces
+  typed-prebuilt:
+    channels:
+    - url: https://raw.githubusercontent.com/reiserlab/webDisplayTools/30512581c802acf2ca48c12cc698173be28d7bf6/ros2-poc/channel/
+    - url: https://conda.anaconda.org/conda-forge/
+    - url: https://conda.anaconda.org/robostack-jazzy/
+    packages:
+      win-64:
+      - conda: https://conda.anaconda.org/conda-forge/noarch/_python_abi3_support-1.0-hd8ed1ab_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.7.2-pyhcf101f3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.7.22-h4c7d964_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/catkin_pkg-1.1.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/cpython-3.12.15-py312hd8ed1ab_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/distro-1.9.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/docutils-0.23-pyhcf101f3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/empy-4.2.1-pyhcf101f3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/exceptiongroup-1.3.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/flake8-7.4.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/flake8-builtins-3.1.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/flake8-comprehensions-3.17.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/flake8-docstrings-1.7.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/flake8-import-order-0.19.2-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/flake8-quotes-3.4.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-source-code-pro-2.038-h77eed37_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-ubuntu-0.83-h77eed37_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-ecosystem-1-0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-forge-1-hc364b38_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/importlib-metadata-9.0.1-pyhcf101f3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/importlib_resources-7.1.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/iniconfig-2.3.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/lark-parser-0.12.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/mcap-1.5.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/mccabe-0.7.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-26.3-pyhc364b38_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pluggy-1.7.0-pyh5ded981_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pybind11-3.1.0-pyh293190f_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pybind11-global-3.1.0-pyhc8003f9_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pycodestyle-2.15.0-pyh5ded981_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pycparser-3.11-pyh5ded981_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pydocstyle-6.3.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pyflakes-4.0.3-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.21.0-pyhcf101f3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.3.3-pyh5ded981_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.1.1-pyhc364b38_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-2.9.0.post0-pyhe01879c_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/python-gil-3.12.15-hd8ed1ab_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.12-9_cp312.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/rosdistro-1.1.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/rospkg-1.6.3-pyh5ded981_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/setuptools-84.0.0-pyh332efcf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/six-1.17.0-pyhe01879c_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/snowballstemmer-3.1.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/tomli-2.5.0-pyh5ded981_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/typing_extensions-4.16.0-pyhcf101f3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2026c-h151e31d_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/zipp-4.1.1-pyh5ded981_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/_openmp_mutex-4.5-20_gnu.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/bullet-3.25-h6d21bc8_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/bullet-cpp-3.25-hc128f0a_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/bzip2-1.0.8-h0ad9c76_10.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/cairo-1.18.6-h477c42c_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/cffi-2.1.1-py312he06e257_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/cmake-4.4.4-hde52c71_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/console_bridge-1.0.2-h5362a0b_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/win-64/cppcheck-2.22.0-py312h9df87ca_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/cryptography-50.0.2-py311h67a9792_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/cyclonedds-0.10.5-h2a109cb_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/eigen-5.0.1-h5112557_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/eigen-abi-5.0.1.100-hc11354d_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/eigen-abi-devel-5.0.1.100-hae67d6e_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/fmt-12.1.0-h1ced75a_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/fontconfig-2.18.3-hd47e2ca_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/foonathan-memory-0.7.4-h5112557_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/freetype-2.14.3-h57928b3_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/fribidi-1.0.17-hfd05255_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/getopt-win32-0.1-h6a83c73_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/glib-2.90.1-h6e26cc4_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/glib-tools-2.90.1-h026f061_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/gmock-1.18.0-h4f519af_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/graphite2-1.3.15-h5112557_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/graphviz-14.1.2-h4c50273_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/gtest-1.18.0-h477610d_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/gts-0.7.6-h6b5321d_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/icu-78.3-h5112557_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/krb5-1.22.2-h719d79b_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/lerc-4.2.0-hd936e49_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libblas-3.11.0-11_h8455456_mkl.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libcblas-3.11.0-11_h2a3cdd5_mkl.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libcurl-8.23.0-hdb0ef4a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libdeflate-1.25-h1a1d4e4_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libexpat-2.8.5-hac47afa_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libffi-3.7.0-h3d046cb_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libfreetype-2.14.3-h57928b3_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libfreetype6-2.14.3-hdbac1cb_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libgcc-16.2.0-h110b43a_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libgd-2.3.3-h4974f7c_12.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libglib-2.90.1-ha564072_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libgomp-16.2.0-h8ee18e1_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libharfbuzz-14.6.0-h03b5201_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libharfbuzz-devel-14.6.0-h03b5201_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libhwloc-2.15.0-default_hae90fe0_1001.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libiceoryx-binding-c-2.95.8-h480d27c_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libiceoryx-hoofs-2.95.8-h10852e2_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libiceoryx-platform-2.95.8-h477610d_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libiceoryx-posh-2.95.8-he66a732_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libiconv-1.18-hc1393d2_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libintl-0.22.5-h5728263_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libintl-devel-0.22.5-h5728263_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libjpeg-turbo-3.2.0-hfd05255_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/liblapack-3.11.0-11_hf9ab0e9_mkl.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/liblzma-5.8.3-hfd05255_1.conda
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+      - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-urdfdom-6.0-py312h77058a8_25.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-urdfdom-headers-3.0-py312h7accfcc_25.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-visualization-msgs-5.3.8-np2py312hdd89193_25.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-yaml-cpp-vendor-9.0.1-np2py312hdd89193_25.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-zenoh-cpp-vendor-0.2.11-np2py312hbb4efd0_25.conda
+      - conda: https://conda.anaconda.org/robostack-jazzy/win-64/ros2-zstd-vendor-0.26.11-np2py312h94542ee_25.conda
+      - conda: https://raw.githubusercontent.com/reiserlab/webDisplayTools/30512581c802acf2ca48c12cc698173be28d7bf6/ros2-poc/channel/win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda
   viz:
     channels:
     - url: https://conda.anaconda.org/conda-forge/
@@ -8195,6 +8609,16 @@ packages:
   run_exports: {}
   size: 25877
   timestamp: 1764896838868
+- conda: https://conda.anaconda.org/conda-forge/noarch/pluggy-1.7.0-pyh5ded981_0.conda
+  sha256: 34c40106bc3172b3a47656e84837e13a5d4829d413d65f30fb214e7568a09cea
+  md5: 50c6bcd41b7ceaaeeea8852e3198663e
+  depends:
+  - python >=3.11
+  - python
+  license: MIT
+  run_exports: {}
+  size: 30111
+  timestamp: 1792063298993
 - conda: https://conda.anaconda.org/conda-forge/noarch/ply-3.11-pyhd8ed1ab_3.conda
   sha256: bae453e5cecf19cab23c2e8929c6e30f4866d996a8058be16c797ed4b935461f
   md5: fd5062942bfa1b0bd5e0d2a4397b099e
@@ -11671,6 +12095,20 @@ packages:
     - foonathan-memory >=0.7.4,<0.7.5.0a0
   size: 208210
   timestamp: 1779093120082
+- conda: https://conda.anaconda.org/conda-forge/win-64/freetype-2.14.3-h57928b3_2.conda
+  sha256: 32f7dd8ffe62fd485e9e6570e871f5be45af74c84fde62241a2417046a373efd
+  md5: 6fc6c09c05a099d58efd9b2e96598e41
+  depends:
+  - libfreetype 2.14.3 h57928b3_2
+  - libfreetype6 2.14.3 hdbac1cb_2
+  - zlib
+  license: GPL-2.0-only OR FTL
+  run_exports:
+    weak:
+    - libfreetype >=2.14.3
+    - libfreetype6 >=2.14.3
+  size: 186945
+  timestamp: 1786641050416
 - conda: https://conda.anaconda.org/conda-forge/win-64/fribidi-1.0.17-hfd05255_0.conda
   sha256: 30a93a5132923a5679e0729a02bf5b36052c84cc437decc14a35caee5e276f46
   md5: fbe8e77a49028820f94cf619890c2365
@@ -12147,6 +12585,32 @@ packages:
   run_exports: {}
   size: 1144229
   timestamp: 1791900872614
+- conda: https://conda.anaconda.org/conda-forge/win-64/libharfbuzz-devel-14.6.0-h03b5201_2.conda
+  sha256: 959014fe67c917d06edfeb296b2101ee4539f23e40c0480fa2191bfc2cd426a6
+  md5: c534b6eb7250ccb94fbd53f614f38660
+  depends:
+  - cairo >=1.18.6,<2.0a0
+  - freetype
+  - glib
+  - graphite2 >=1.3.15,<2.0a0
+  - icu >=78.3,<79.0a0
+  - libexpat >=2.8.5,<3.0a0
+  - libfreetype >=2.14.3
+  - libfreetype6 >=2.14.3
+  - libglib >=2.90.1,<3.0a0
+  - libharfbuzz 14.6.0 h03b5201_2
+  - libpng >=1.6.59,<1.7.0a0
+  - libzlib >=1.3.2,<2.0a0
+  - ucrt >=10.0.20348.0
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  license: MIT
+  license_family: MIT
+  run_exports:
+    weak:
+    - libharfbuzz >=14.6.0
+  size: 296395
+  timestamp: 1791900901487
 - conda: https://conda.anaconda.org/conda-forge/win-64/libhwloc-2.15.0-default_hae90fe0_1001.conda
   sha256: 240368b73a984a1812dab5f7964ed03304950ad97466cd7ee347df9cc707629d
   md5: b679b0f76b152d40294fa4e43cabfd4a
@@ -12314,6 +12778,53 @@ packages:
     - libogg >=1.3.5,<1.4.0a0
   size: 35040
   timestamp: 1745826086628
+- conda: https://conda.anaconda.org/conda-forge/win-64/libpango-1.58.2-h02b4fad_3.conda
+  sha256: ebd53d4f4f7887f0c613952610f3a9e2040f4f323570d4e3bc5b51d298c0c23e
+  md5: 9b9298336e10249c4292acf4a16e0679
+  depends:
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - fontconfig >=2.18.3,<3.0a0
+  - fonts-conda-ecosystem
+  - fribidi >=1.0.17,<2.0a0
+  - libglib >=2.90.1,<3.0a0
+  - cairo >=1.18.6,<2.0a0
+  - libfreetype >=2.14.3
+  - libfreetype6 >=2.14.3
+  - libharfbuzz >=14.6.0
+  - vc >=14.5,<15
+  - vc14_runtime >=14.51.36247
+  license: LGPL-2.1-or-later
+  run_exports: {}
+  size: 312511
+  timestamp: 1792050654423
+- conda: https://conda.anaconda.org/conda-forge/win-64/libpango-devel-1.58.2-h7637d1b_3.conda
+  sha256: f8a1a809d34871fea3108c86a086ec66032cdb5d4765cf60a21d6e559443fd82
+  md5: d8a7eada8c32445c3f19b38b72fc4e2c
+  depends:
+  - libpango ==1.58.2 h02b4fad_3
+  - freetype
+  - libharfbuzz-devel
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - fontconfig >=2.18.3,<3.0a0
+  - fonts-conda-ecosystem
+  - fribidi >=1.0.17,<2.0a0
+  - libglib >=2.90.1,<3.0a0
+  - cairo >=1.18.6,<2.0a0
+  - libfreetype >=2.14.3
+  - libfreetype6 >=2.14.3
+  - libharfbuzz >=14.6.0
+  - vc >=14.5,<15
+  - vc14_runtime >=14.51.36247
+  license: LGPL-2.1-or-later
+  run_exports:
+    weak:
+    - libpango >=1.58.2,<2.0a0
+  size: 232941
+  timestamp: 1792050654423
 - conda: https://conda.anaconda.org/conda-forge/win-64/libpng-1.6.59-hdc8cecf_0.conda
   sha256: 36050852deae6edc98d7b71489b8d07254e2753c69bd524bf5784927cd1f0b2c
   md5: 05145e03eb7b7f4ad2e0575454061c87
@@ -12758,6 +13269,17 @@ packages:
     - pango >=1.58.2,<2.0a0
   size: 465040
   timestamp: 1788490491378
+- conda: https://conda.anaconda.org/conda-forge/win-64/pango-1.58.2-h4350c2a_3.conda
+  sha256: b82c512de9f014cd59904bc08c8d9f39af4381b8fd8424939ce32a4707ba1dfe
+  md5: c4071e6e794e273385471c6bda8e9723
+  depends:
+  - libpango-devel ==1.58.2 h7637d1b_3
+  license: LGPL-2.1-or-later
+  run_exports:
+    weak:
+    - libpango >=1.58.2,<2.0a0
+  size: 15075
+  timestamp: 1792050654423
 - conda: https://conda.anaconda.org/conda-forge/win-64/pcre-8.45-h0e60522_0.tar.bz2
   sha256: 2ee62337b921b2d60a87aa9a91bf34bc855a0bbf6a5642ec66a7a175a772be6d
   md5: 3cd3948bb5de74ebef93b6be6d8cf0d5
@@ -13439,6 +13961,21 @@ packages:
     - zeromq >=4.3.5,<4.3.6.0a0
   size: 265930
   timestamp: 1789076564779
+- conda: https://conda.anaconda.org/conda-forge/win-64/zlib-1.3.2-hfd05255_3.conda
+  sha256: 5a0b55df66ff07b4342e04967cef69f8bf348f6a0fb1cc1eca741c7b015dfe77
+  md5: 945092a9bc1d0f250f7d5ecf51ecd471
+  depends:
+  - libzlib 1.3.2 hfd05255_3
+  - ucrt >=10.0.20348.0
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  license: Zlib
+  license_family: Other
+  run_exports:
+    weak:
+    - libzlib >=1.3.2,<2.0a0
+  size: 851288
+  timestamp: 1785276674755
 - conda: https://conda.anaconda.org/conda-forge/win-64/zstandard-0.25.0-py312he5662c2_4.conda
   sha256: 7f8185e4861cc25d6182e25016764487eb9449fa09e24228d9c60a62f9176206
   md5: 74f23187a99a948722436be660e3344d
@@ -27668,6 +28205,21 @@ packages:
   license: Apache-2.0 OR BSD-3-Clause
   size: 21471
   timestamp: 1791433174793
+- conda: https://raw.githubusercontent.com/reiserlab/webDisplayTools/30512581c802acf2ca48c12cc698173be28d7bf6/ros2-poc/channel/win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda
+  sha256: 5501edc89c10f6ee7acca21273f26f716edf2b7686e7109fed54335a3d39c883
+  md5: 4315cebf35bc406b6c59d6eb651e80f8
+  depends:
+  - ros-jazzy-rosidl-default-runtime
+  - ros2-distro-mutex
+  - ros2-distro-mutex >=0.19.0,<0.20.0a0
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - python_abi 3.12.* *_cp312
+  - numpy >=1.25,<3
+  license: LicenseRef-MIT
+  size: 103850
+  timestamp: 1792161098625
 - conda_source: arena_interfaces[10726d3a] @ interfaces/arena_interfaces
   variants:
     target_platform: linux-64
diff --git a/ros2-poc/pixi.toml b/ros2-poc/pixi.toml
index 65a4b1ba..7cb88c48 100644
--- a/ros2-poc/pixi.toml
+++ b/ros2-poc/pixi.toml
@@ -84,6 +84,21 @@ cmake = "*"
 ninja = "*"
 cxx-compiler = "*"
 
+# ── typed messages WITHOUT a compiler = the OPT-IN `typed-prebuilt` environment (win-64) ──
+# LAB-303 Plan B test of "build once, publish to a channel" (docs/typed-windows.md §5): `channel/`
+# holds arena_interfaces 0.1.0 built ONCE on ww18 (channel/README.md). `pixi install -e
+# typed-prebuilt` downloads it like any RoboStack package: no MSVC, no build backend, no MAX_PATH.
+# Read over raw.githubusercontent.com pinned to the commit that added the files: a relative
+# `./channel` would be written into pixi.lock as this machine's absolute path. win-64 only (the
+# channel has nothing else) and its own solve group, so the other environments' locks are
+# untouched. A real deployment builds all three platforms in CI and publishes to a hosted channel.
+[feature.typed-prebuilt]
+platforms = ["win-64"]
+channels = ["https://raw.githubusercontent.com/reiserlab/webDisplayTools/30512581c802acf2ca48c12cc698173be28d7bf6/ros2-poc/channel"]
+
+[feature.typed-prebuilt.dependencies]
+arena_interfaces = { version = "==0.1.0", channel = "https://raw.githubusercontent.com/reiserlab/webDisplayTools/30512581c802acf2ca48c12cc698173be28d7bf6/ros2-poc/channel" }
+
 # ── seeing the graph = the OPT-IN `viz` environment ──────────────────────────
 # `pixi install -e viz`: rqt_graph (live node/topic graph, Qt), rqt_topic / rqt_console, and
 # foxglove_bridge (Foxglove Studio connects to ws://localhost:8766 for live plots; Foxglove
@@ -99,6 +114,7 @@ ros-jazzy-foxglove-bridge = "*"
 default = { solve-group = "poc" }
 typed = { features = ["typed"], solve-group = "poc" }
 viz = { features = ["viz"], solve-group = "poc" }
+typed-prebuilt = { features = ["typed-prebuilt"], solve-group = "prebuilt" }
 
 [tasks]
 # ── hour one: middleware bring-up ───────────────────────────────────────────
diff --git a/ros2-poc/windows-results-ww18-2026-10-15.md b/ros2-poc/windows-results-ww18-2026-10-15.md
index 7854579b..da26ac96 100644
--- a/ros2-poc/windows-results-ww18-2026-10-15.md
+++ b/ros2-poc/windows-results-ww18-2026-10-15.md
@@ -209,7 +209,9 @@ Rig: CSHL G6 2×10 ball arena, controller COM4 (fw `12bba7e9` 2x10 2026-09-30),
 - **1b / 7** typed messages: installable now (W2-3′, W2-5). The decision is between building on each PC
   (MSVC v143 + `detached-environments`) and a CI-built channel (no compiler; workflow sketch in
   `docs/typed-windows.md` §5). Step 5 hardware runs were not repeated with `-e typed`. Upstream: filed 2026-10-16,
-  prefix-dev/rattler-build#2875 + a confirming comment on prefix-dev/pixi#7226 (§4).
+  prefix-dev/rattler-build#2875 + a confirming comment on prefix-dev/pixi#7226 (§4). **Next: run
+  WINDOWS-TEST.md 7b on a PC without Visual Studio.** The `typed-prebuilt` env (2026-10-16, a ww18-built
+  package committed in `channel/`) installs `--locked` in 5 s on ww18, harness 49 / 49.
 - **S1** bridge loss should banner and end the run; **S2** `?p=` needed a refresh; **H1** characterize the 64 GB
   exFAT card; **5c full** (18 min) and real-fly runs; **hardware sync** (camera strobe → controller Digital IO)
   for µs frame timing on the controller's clock.

From 87f47237f65fe5359ccf69efe8d7b87169bf0d19 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 10:49:48 -0400
Subject: [PATCH 70/96] ros2-poc W2 step 4: note the one-time backend start
 (metadata, no build) on a fresh checkout

A second checkout at another path installs typed-prebuilt --locked in 4 s (lock portable); pixi
starts pixi-build-ros once there to read the typed env's source metadata, which needs prefix.dev
but no compiler. WINDOWS-TEST.md 7b says so, so it isn't mistaken for a build.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/WINDOWS-TEST.md       | 4 +++-
 ros2-poc/docs/typed-windows.md | 2 +-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/ros2-poc/WINDOWS-TEST.md b/ros2-poc/WINDOWS-TEST.md
index cb066b90..c505b71d 100644
--- a/ros2-poc/WINDOWS-TEST.md
+++ b/ros2-poc/WINDOWS-TEST.md
@@ -365,7 +365,9 @@ pixi run -e typed-prebuilt test
 
 Expected: install ~5 s on ww18 with a warm package cache (a fresh PC first downloads the ROS
 packages, as in step 1a), no
-`failed to build` and no compiler message; `--check` prints `"importable": true` and
+`failed to build` and no compiler message. In a fresh checkout pixi also starts the ROS build backend
+once (a ~15 MB download from prefix.dev) to read the `typed` environment's package metadata
+from the lock. That is not a build; nothing compiles. `--check` prints `"importable": true` and
 `"serializes": true`; the harness passes every check (49 / 49 on ww18, 2026-10-16) with `info  typed topics: True`.
 If step 5's hardware is attached, `pixi run -e typed-prebuilt rig …` runs the rig with typed topics.
 Record: the PC's Windows version, "no Visual Studio" confirmed (`winget list Microsoft.VisualStudio`
diff --git a/ros2-poc/docs/typed-windows.md b/ros2-poc/docs/typed-windows.md
index 1b052f1b..352341d8 100644
--- a/ros2-poc/docs/typed-windows.md
+++ b/ros2-poc/docs/typed-windows.md
@@ -26,7 +26,7 @@ Tools), cmake 4.4.4, RoboStack Jazzy. Package cache warm.
 | T3 | T2 from this worktree (checkout path **79 chars**) + `detached-environments = 'C:\w\px'` | **PASS** 36 s; longest object path 253 chars | `--check`: importable, serializes |
 | T4 | `pixi publish --path interfaces\arena_interfaces\pixi.toml --target-channel C:\w\chan` | 26 s → an indexed file channel, `win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda` (101 KiB) | `pixi build --path … --output-dir` the same, 27 s |
 | T5 | `typed` feature depends on `arena_interfaces` from that channel (no path dep, no toolchain), fresh env, `--locked` | **PASS 9 s, no build backend started** | `--check`: importable, serializes; harness **48 / 48** in 56 s, `typed topics: True` |
-| T6 | 2026-10-16, **committed**: the T4 package in `channel/` (3051258), read by the new win-64 env `typed-prebuilt` over raw.githubusercontent.com pinned to that commit; own solve group (lock +552 lines, nothing else changed) | **PASS 5 s** `--locked`, no build backend started | `--check`: importable, serializes; harness **49 / 49** in 52 s (one check more than T2/T5 by now), `typed topics: True` |
+| T6 | 2026-10-16, **committed**: the T4 package in `channel/` (3051258), read by the new win-64 env `typed-prebuilt` over raw.githubusercontent.com pinned to that commit; own solve group (lock +552 lines, nothing else changed) | **PASS 5 s** `--locked`, nothing built; a second, fresh checkout path also passed (4 s), where pixi started the backend once to read the `typed` env's metadata | `--check`: importable, serializes; harness **49 / 49** in 52 s (one check more than T2/T5 by now), `typed topics: True` |
 
 T1–T3 and T5 were run in a scratch detached worktree at `C:\w\t` (T5's manifest change is not committed;
 §5 has it). Logs, T1's package-file list and the §4b recipes are on ww18 in `C:\w\logs-w2\` (not

From 93fc80d0380d5eaba1294770a47a7b34a50b8ada Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 11:34:34 -0400
Subject: [PATCH 71/96] =?UTF-8?q?ros2-poc=20step=201:=20scanimage=5Fnode.p?=
 =?UTF-8?q?y=20=E2=80=94=20ScanImage's=20JSON=20server=20as=20a=20connecto?=
 =?UTF-8?q?r=20node=20(allowlisted=20get/set,=20grab/waitIdle/abort,=20UNK?=
 =?UTF-8?q?NOWN=20on=20timeout=20+=20reconnect),=20scanimage=5Fcmd.py,=20s?=
 =?UTF-8?q?i=5Fjson=5Fmock.py=20(stock=20B2=20behavior),=20pixi=20tasks?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/nodes/scanimage_cmd.py  | 105 ++++++++
 ros2-poc/nodes/scanimage_node.py | 441 +++++++++++++++++++++++++++++++
 ros2-poc/pixi.toml               |   5 +
 ros2-poc/tests/si_json_mock.py   | 211 +++++++++++++++
 4 files changed, 762 insertions(+)
 create mode 100644 ros2-poc/nodes/scanimage_cmd.py
 create mode 100644 ros2-poc/nodes/scanimage_node.py
 create mode 100644 ros2-poc/tests/si_json_mock.py

diff --git a/ros2-poc/nodes/scanimage_cmd.py b/ros2-poc/nodes/scanimage_cmd.py
new file mode 100644
index 00000000..0d4ec478
--- /dev/null
+++ b/ros2-poc/nodes/scanimage_cmd.py
@@ -0,0 +1,105 @@
+#!/usr/bin/env python3
+"""scanimage_cmd.py — send one plugin command to scanimage_node.py and print its reply.
+
+    pixi run scanimage-cmd -- ping
+    pixi run scanimage-cmd -- status --json
+    pixi run scanimage-cmd -- setFileStem --stem violet_d7
+    pixi run scanimage-cmd -- set --property hStackManager.framesPerSlice --value 750
+    pixi run scanimage-cmd -- grab
+    pixi run scanimage-cmd -- waitIdle --timeout-s 40
+    pixi run scanimage-cmd -- abort
+
+Exit 0 on `ok`, 1 on an error reply, 3 on an UNKNOWN outcome (timeout), 2 on no reply.
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+import threading
+import time
+import uuid
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
+from std_msgs.msg import String
+
+QOS = QoSProfile(reliability=QoSReliabilityPolicy.RELIABLE, history=QoSHistoryPolicy.KEEP_LAST, depth=50, durability=QoSDurabilityPolicy.VOLATILE)
+
+
+def parse_value(text: str):
+    """--value as JSON when it parses (750, true, "x"), else the plain string."""
+    try:
+        return json.loads(text)
+    except (json.JSONDecodeError, TypeError):
+        return text
+
+
+def main(argv: list[str] | None = None) -> int:
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("command", help="ping | status | setFileStem | set | grab | waitIdle | abort | get")
+    p.add_argument("--stem", help="setFileStem: the log file stem")
+    p.add_argument("--property", help="get/set: property path, e.g. hStackManager.framesPerSlice")
+    p.add_argument("--value", help="set: the value (JSON if it parses, else a string)")
+    p.add_argument("--timeout-s", type=float, help="waitIdle: seconds to wait for acqState idle")
+    p.add_argument("--timeout", type=float, default=45.0, help="seconds to wait for the reply (default: 45)")
+    p.add_argument("--json", action="store_true", help="print the raw reply JSON")
+    args, ros_args = p.parse_known_args(argv)
+    params: dict = {}
+    if args.stem is not None:
+        params["stem"] = args.stem
+    if args.property is not None:
+        params["property"] = args.property
+    if args.value is not None:
+        params["value"] = parse_value(args.value)
+    if args.timeout_s is not None:
+        params["timeout_s"] = args.timeout_s
+    cid = str(uuid.uuid4())[:8]
+
+    rclpy.init(args=ros_args)
+    node = Node("scanimage_cmd_" + cid)
+    got: dict = {}
+    done = threading.Event()
+
+    def on_reply(msg: String) -> None:
+        try:
+            rep = json.loads(msg.data)
+        except json.JSONDecodeError:
+            return
+        if isinstance(rep, dict) and rep.get("id") == cid:
+            got.update(rep)
+            done.set()
+
+    node.create_subscription(String, "/scanimage/reply", on_reply, QOS)
+    pub = node.create_publisher(String, "/scanimage/cmd", QOS)
+    time.sleep(0.5)  # discovery
+    m = String()
+    m.data = json.dumps({"id": cid, "command": args.command, "params": params})
+    pub.publish(m)
+    deadline = time.monotonic() + args.timeout
+    while not done.is_set() and time.monotonic() < deadline:
+        rclpy.spin_once(node, timeout_sec=0.1)
+    node.destroy_node()
+    try:
+        rclpy.try_shutdown()
+    except Exception:
+        pass
+    if not got:
+        print(f"[scanimage-cmd] no reply within {args.timeout:g}s (is `pixi run scanimage-node` running?)", file=sys.stderr)
+        return 2
+    if args.json:
+        print(json.dumps(got, indent=1))
+    else:
+        v = got.get("value")
+        print(f"{got.get('command')} → {got.get('outcome')} ({got.get('rtt_ms')} ms)" + (f"  value={v!r}" if v not in (None, "") else "") + (f"  error={got.get('error')}" if got.get("error") else ""))
+        if got.get("artifact"):
+            print(f"artifact: {got['artifact']}")
+        if got.get("reconciled"):
+            print(f"reconciled status: {got['reconciled']}")
+    return 0 if got.get("ok") else (3 if got.get("outcome") == "unknown" else 1)
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/nodes/scanimage_node.py b/ros2-poc/nodes/scanimage_node.py
new file mode 100644
index 00000000..86cb5014
--- /dev/null
+++ b/ros2-poc/nodes/scanimage_node.py
@@ -0,0 +1,441 @@
+#!/usr/bin/env python3
+"""scanimage_node.py — ScanImage as a ROS 2 node: protocol plugin commands in, replies + status out.
+
+ScanImage (2026.0.0) has no ROS node. This adapter talks to its built-in JSON server
+(`most.network.json.Server`, started in MATLAB with `hJ = most.network.json.Server(5555)`;
+chosen over si_zmp on LAB-305's measurements: event-driven, no frame-timing disturbance,
+~2 ms replies) and exposes it on three topics, all std_msgs/String JSON (no custom types):
+
+  /scanimage/cmd     IN   {"id": <any>, "command": <plugin command>, "params": {…}}
+  /scanimage/reply   OUT  {"id", "command", "params", "ok", "outcome": "ok"|"error"|"unknown", "value",
+                           "error", "steps": [...per JSON request...], "rtt_ms", "t_ms", "rx_epoch_ms",
+                           "artifact": {"kind":"tiff", "path", "stem", "counter"} (grab)}
+  /scanimage/status  OUT  every --status-every s: {"reachable", "acqState", "lastFrameNumber",
+                           "logFileCounter", "logFileStem", "logFilePath", "loggingEnable", "rtt_ms", "t_ms"}
+
+The `command` vocabulary is the protocol's `scanimage` plugin (js/plugin-registry.js,
+class "ScanImagePlugin" — MATLAB has no such class yet):
+
+  setFileStem(stem)        hScan2D.logFileStem = stem (one TIFF series per stem)
+  set(property, value)     ONE scalar property from SET_ALLOWLIST (framesPerSlice, logging on/off,
+                           file path/stem/counter); anything else is refused here, never sent
+  grab                     eval hSI.startGrab(), then confirm acqState == 'grab'
+  waitIdle(timeout_s)      poll acqState until 'idle' (the grab finished) or timeout_s (default 30)
+  abort                    eval hSI.abort(), then confirm acqState == 'idle'
+  get(property)            ONE scalar property from GET_ALLOWLIST (also what status polls)
+  ping / status            reachability + the status snapshot
+
+Why the allowlists (LAB-305, stock server on the rig, patches reverted): B2 — a `get` of an
+OBJECT-valued property gets no reply and the client hangs; B4 — a partial message blocks
+MATLAB for ~10 s, so every request is one length-prefixed write; the server is single-client,
+so this node is the ONLY client and status polling is coalesced; `eval` exists on the server
+but this node sends exactly two fixed expressions (startGrab, abort) and never a string from
+a protocol. The JSON client is ported from tests/remote-control/si_remote.py (JsonClient) in
+reiserlab/scanimage-2026-bergamo (Hannah Marie Santos), with attribution.
+
+LAB-303 semantics (as bias_node.py): `timeout_s` per request (`slow_timeout_s` for grab/abort/
+startFocus — ScanImage's startGrab is synchronous and takes 1.2–2.4 s on the Bergamo PC); a
+timeout is an UNKNOWN outcome (`outcome: "unknown"`), the TCP connection is dropped and
+rebuilt (the stream is out of sync after a timeout), and the node reconciles with a status
+read before anything else. `critical` / `on_loss` are the runner's decision — the node reports.
+
+    pixi run scanimage-node -- --host 127.0.0.1 --port 5555
+    pixi run scanimage-cmd -- status
+    pixi run scanimage-cmd -- setFileStem --stem violet_d7
+    pixi run scanimage-cmd -- grab && pixi run scanimage-cmd -- waitIdle --timeout-s 40
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import queue
+import socket
+import struct
+import sys
+import threading
+import time
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+
+from _common import RELIABLE_QOS, raise_timer_resolution, spin, wall_ms
+
+CMD_TOPIC = "/scanimage/cmd"
+REPLY_TOPIC = "/scanimage/reply"
+STATUS_TOPIC = "/scanimage/status"
+QOS = RELIABLE_QOS
+PLUGIN_COMMANDS = ("setFileStem", "set", "grab", "waitIdle", "abort", "get", "ping", "status")
+
+# Scalar properties this node will read. Everything here encodes as a JSON scalar or a flat
+# numeric vector in ScanImage 2026.0.0 — never an object (B2).
+GET_ALLOWLIST = frozenset({
+    "hSI.acqState",
+    "hSI.acqsPerLoop",
+    "hSI.hDisplay.lastFrameNumber",
+    "hSI.hScan2D.logFileStem",
+    "hSI.hScan2D.logFilePath",
+    "hSI.hScan2D.logFileCounter",
+    "hSI.hScan2D.logAverageFactor",
+    "hSI.hScan2D.bidirectional",
+    "hSI.hChannels.loggingEnable",
+    "hSI.hChannels.channelSave",
+    "hSI.hStackManager.framesPerSlice",
+    "hSI.hStackManager.numSlices",
+    "hSI.hRoiManager.scanFrameRate",
+    "hSI.hRoiManager.scanZoomFactor",
+    "hSI.hRoiManager.linesPerFrame",
+    "hSI.hRoiManager.pixelsPerLine",
+})
+# Scalar properties a protocol may set. Deliberately small: scan geometry, zoom, channels,
+# power, gate windows (B3) and anything saved to the MDF stay in ScanImage's own UI/config.
+SET_ALLOWLIST = frozenset({
+    "hSI.hScan2D.logFileStem",
+    "hSI.hScan2D.logFilePath",
+    "hSI.hScan2D.logFileCounter",
+    "hSI.hStackManager.framesPerSlice",
+    "hSI.hChannels.loggingEnable",
+})
+# The only two expressions ever sent as `eval` (plus startFocus for the CLI's bench check).
+EVAL_GRAB = "hSI.startGrab()"
+EVAL_ABORT = "hSI.abort()"
+EVAL_FOCUS = "hSI.startFocus()"
+SLOW_COMMANDS = frozenset({"grab", "abort", "focus"})
+STATUS_PROPS = ("hSI.acqState", "hSI.hDisplay.lastFrameNumber", "hSI.hScan2D.logFileCounter",
+                "hSI.hScan2D.logFileStem", "hSI.hScan2D.logFilePath", "hSI.hChannels.loggingEnable")
+
+
+def canon(prop: str) -> str:
+    """'hScan2D.logFileStem' and 'hSI.hScan2D.logFileStem' name the same property."""
+    prop = str(prop or "").strip()
+    return prop if prop.startswith("hSI.") or not prop else "hSI." + prop
+
+
+class SiError(RuntimeError):
+    """The server replied with an error."""
+
+
+class SiTimeout(TimeoutError):
+    """No (complete) reply within the timeout — an UNKNOWN outcome."""
+
+
+class JsonClient:
+    """ScanImage's JSON server over TCP: `<Q` little-endian byte count + UTF-8 JSON each way.
+    Persistent connection (the server is single-client; one connect per node). Ported from
+    si_remote.JsonClient (reiserlab/scanimage-2026-bergamo, tests/remote-control/si_remote.py)."""
+
+    def __init__(self, host: str, port: int, timeout_s: float, slow_timeout_s: float | None = None) -> None:
+        self.host, self.port = host, port
+        self.timeout_s = timeout_s
+        self.slow_timeout_s = max(timeout_s, slow_timeout_s if slow_timeout_s is not None else timeout_s)
+        self._sock: socket.socket | None = None
+        self.reconnects = 0
+
+    @property
+    def base(self) -> str:
+        return f"json://{self.host}:{self.port}"
+
+    def _connect(self) -> None:
+        self._sock = socket.create_connection((self.host, self.port), timeout=self.timeout_s)
+        self._sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
+
+    def drop(self) -> None:
+        """Close the connection; the next request reconnects. REQUIRED after a timeout: the
+        stream may hold a late reply that would be read as the answer to the next request."""
+        if self._sock is not None:
+            try:
+                self._sock.close()
+            except OSError:
+                pass
+            self._sock = None
+            self.reconnects += 1
+
+    def _recv_exact(self, n: int) -> bytes:
+        assert self._sock is not None
+        buf = b""
+        while len(buf) < n:
+            chunk = self._sock.recv(n - len(buf))
+            if not chunk:
+                raise ConnectionError("ScanImage JSON server closed the connection")
+            buf += chunk
+        return buf
+
+    def request(self, msg: dict, timeout_s: float | None = None) -> tuple[dict, float]:
+        """→ (reply dict, rtt_ms). Raises SiTimeout (connection dropped), SiError, OSError."""
+        data = json.dumps(msg, separators=(",", ":")).encode("utf-8")
+        payload = struct.pack("<Q", len(data)) + data  # header + body in ONE write (B4)
+        to = timeout_s if timeout_s is not None else self.timeout_s
+        t0 = time.perf_counter()
+        try:
+            if self._sock is None:
+                self._connect()
+            assert self._sock is not None
+            self._sock.settimeout(to)
+            self._sock.sendall(payload)
+            n = struct.unpack("<Q", self._recv_exact(8))[0]
+            body = self._recv_exact(n)
+        except socket.timeout as exc:
+            self.drop()
+            raise SiTimeout(f"no complete reply within {to:g}s") from exc
+        except (ConnectionError, OSError) as exc:
+            self.drop()
+            raise OSError(f"ScanImage JSON server unreachable at {self.host}:{self.port}: {exc}") from exc
+        rtt = (time.perf_counter() - t0) * 1000.0
+        try:
+            rep = json.loads(body.decode("utf-8"))
+        except (UnicodeDecodeError, json.JSONDecodeError) as exc:
+            self.drop()
+            raise OSError(f"non-JSON reply from the ScanImage JSON server: {body[:80]!r}") from exc
+        if not isinstance(rep, dict):
+            raise OSError(f"unexpected reply from the ScanImage JSON server: {rep!r}")
+        if rep.get("error"):
+            raise SiError(str(rep["error"]))
+        return rep, round(rtt, 2)
+
+    def get(self, prop: str, timeout_s: float | None = None) -> tuple[object, float]:
+        rep, rtt = self.request({"command": "get", "property": prop}, timeout_s)
+        return rep.get("value"), rtt
+
+    def set(self, prop: str, value, timeout_s: float | None = None) -> tuple[object, float]:
+        rep, rtt = self.request({"command": "set", "property": prop, "value": value}, timeout_s)
+        return rep.get("actual", value), rtt
+
+    def eval(self, expr: str, timeout_s: float | None = None) -> float:
+        _, rtt = self.request({"command": "eval", "function": expr, "num_outputs": 0}, timeout_s)
+        return rtt
+
+
+class ScanImageNode(Node):
+    def __init__(self, cli: JsonClient, status_every_s: float, poll_s: float, default_wait_s: float) -> None:
+        super().__init__("scanimage")
+        self.cli = cli
+        self.poll_s = poll_s
+        self.default_wait_s = default_wait_s
+        self.reply_pub = self.create_publisher(String, REPLY_TOPIC, QOS)
+        self.status_pub = self.create_publisher(String, STATUS_TOPIC, QOS)
+        self.create_subscription(String, CMD_TOPIC, self._on_cmd, QOS)
+        self._q: queue.Queue = queue.Queue()
+        self._status_pending = False  # at most ONE status poll waits in the queue (coalesced)
+        self._worker = threading.Thread(target=self._work, name="scanimage-json", daemon=True)
+        self._worker.start()
+        if status_every_s > 0:
+            self.create_timer(status_every_s, self._enqueue_status)
+        self.commands = 0
+        self.get_logger().info(f"ScanImage JSON server at {cli.host}:{cli.port} ← {CMD_TOPIC} → {REPLY_TOPIC}, {STATUS_TOPIC} every {status_every_s:g}s")
+
+    # ── plumbing ────────────────────────────────────────────────────────────────────────
+    def _publish(self, pub, obj: dict) -> None:
+        obj.setdefault("rx_epoch_ms", wall_ms())
+        m = String()
+        m.data = json.dumps(obj, separators=(",", ":"), default=str)
+        pub.publish(m)
+
+    def _on_cmd(self, msg: String) -> None:
+        try:
+            req = json.loads(msg.data)
+        except json.JSONDecodeError:
+            self._publish(self.reply_pub, {"id": None, "ok": False, "outcome": "error", "error": "command is not JSON"})
+            return
+        if isinstance(req, dict):
+            self._q.put(("cmd", req))
+
+    def _enqueue_status(self) -> None:
+        if not self._status_pending:
+            self._status_pending = True
+            self._q.put(("status", None))
+
+    def _work(self) -> None:
+        while True:
+            kind, payload = self._q.get()
+            try:
+                if kind == "status":
+                    self._status_pending = False
+                    self._do_status()
+                else:
+                    self._do_cmd(payload)
+            except Exception as exc:  # must not kill the worker
+                self.get_logger().error(f"{kind} failed: {exc!r}")
+                if kind == "cmd":
+                    self._publish(self.reply_pub, {"id": (payload or {}).get("id"), "command": (payload or {}).get("command"),
+                                                   "ok": False, "outcome": "error", "error": f"node error: {exc!r}"})
+
+    # ── status ──────────────────────────────────────────────────────────────────────────
+    def _snapshot(self, steps: list | None = None) -> dict:
+        """The status snapshot: one `get` per STATUS_PROPS (all scalar). Raises on the first failure."""
+        out: dict = {}
+        rtt_total = 0.0
+        for prop in STATUS_PROPS:
+            v, rtt = self.cli.get(prop)
+            rtt_total += rtt
+            out[prop.split(".")[-1]] = v
+            if steps is not None:
+                steps.append({"command": "get", "property": prop, "ok": True, "value": v, "rtt_ms": rtt})
+        out["rtt_ms"] = round(rtt_total, 2)
+        return out
+
+    def _do_status(self) -> dict | None:
+        t_ms = wall_ms()
+        try:
+            st = self._snapshot()
+            self._publish(self.status_pub, {"reachable": True, "t_ms": t_ms, **st})
+            return st
+        except (SiTimeout, SiError, OSError) as exc:
+            self._publish(self.status_pub, {"reachable": False, "t_ms": t_ms, "error": str(exc)})
+            return None
+
+    # ── commands ────────────────────────────────────────────────────────────────────────
+    def _do_cmd(self, req: dict) -> None:
+        self.commands += 1
+        cid = req.get("id")
+        command = str(req.get("command", ""))
+        params = req.get("params") if isinstance(req.get("params"), dict) else {}
+        t_ms = wall_ms()
+        t0 = time.perf_counter()
+        out: dict = {"id": cid, "command": command, "params": params, "t_ms": t_ms, "steps": []}
+        steps = out["steps"]
+        try:
+            if command not in PLUGIN_COMMANDS:
+                raise ValueError(f"unknown plugin command {command!r} (one of {PLUGIN_COMMANDS})")
+            value = self._run(command, params, steps)
+            out.update({"ok": True, "outcome": "ok", "value": value})
+            if command == "grab" and isinstance(value, dict):
+                out["artifact"] = {"kind": "tiff", "program": "scanimage", "path": value.get("logFilePath"),
+                                   "stem": value.get("logFileStem"), "counter": value.get("logFileCounter")}
+        except SiTimeout as exc:
+            # UNKNOWN: the request may or may not have taken effect (the eval may have started
+            # the grab). The connection was dropped; reconcile with a status read, and say so.
+            steps.append({"ok": None, "error": str(exc)})
+            out.update({"ok": False, "outcome": "unknown", "error": str(exc)})
+            st = self._do_status()
+            if st is not None:
+                out["reconciled"] = st
+        except SiError as exc:
+            steps.append({"ok": False, "error": str(exc)})
+            out.update({"ok": False, "outcome": "error", "error": f"ScanImage: {exc}"})
+        except (ValueError, TypeError) as exc:
+            out.update({"ok": False, "outcome": "error", "error": str(exc)})
+        except OSError as exc:
+            steps.append({"ok": False, "error": str(exc)})
+            out.update({"ok": False, "outcome": "error", "error": str(exc)})
+        out["rtt_ms"] = round((time.perf_counter() - t0) * 1000.0, 2)
+        self._publish(self.reply_pub, out)
+        if out["ok"]:
+            self.get_logger().info(f"{command} → ok ({out['rtt_ms']} ms)")
+        else:
+            self.get_logger().warning(f"{command} → {out['outcome']} ({out['rtt_ms']} ms): {out.get('error')}")
+
+    def _get(self, prop: str, steps: list):
+        prop = canon(prop)
+        if prop not in GET_ALLOWLIST:
+            raise ValueError(f"{prop!r} is not a readable scalar property (allowlist: {sorted(GET_ALLOWLIST)})")
+        v, rtt = self.cli.get(prop)
+        steps.append({"command": "get", "property": prop, "ok": True, "value": v, "rtt_ms": rtt})
+        return v
+
+    def _set(self, prop: str, value, steps: list):
+        prop = canon(prop)
+        if prop not in SET_ALLOWLIST:
+            raise ValueError(f"{prop!r} may not be set from a protocol (allowlist: {sorted(SET_ALLOWLIST)})")
+        if isinstance(value, (dict, list)):
+            raise ValueError(f"{prop}: only scalar values may be set")
+        actual, rtt = self.cli.set(prop, value)
+        steps.append({"command": "set", "property": prop, "value": value, "ok": True, "actual": actual, "rtt_ms": rtt})
+        return actual
+
+    def _acq_state(self, steps: list | None = None) -> str:
+        v, rtt = self.cli.get("hSI.acqState")
+        if steps is not None:
+            steps.append({"command": "get", "property": "hSI.acqState", "ok": True, "value": v, "rtt_ms": rtt})
+        return str(v)
+
+    def _wait_state(self, want, timeout_s: float, steps: list) -> str:
+        """Poll acqState every poll_s until it is in `want` (a set) or timeout_s elapses. Returns
+        the last state. Polling, not blocking: each poll is one ~2 ms request (LAB-305: polling
+        the JSON server at 1–20 Hz did not disturb frame timing)."""
+        end = time.monotonic() + timeout_s
+        polls = 0
+        while True:
+            st = self._acq_state()
+            polls += 1
+            if st in want or time.monotonic() >= end:
+                steps.append({"command": "poll", "property": "hSI.acqState", "ok": st in want, "value": st, "polls": polls})
+                return st
+            time.sleep(self.poll_s)
+
+    def _run(self, command: str, params: dict, steps: list):
+        if command == "ping":
+            st = self._acq_state(steps)
+            return {"acqState": st}
+        if command == "status":
+            return self._snapshot(steps)
+        if command == "get":
+            return self._get(params.get("property", ""), steps)
+        if command == "set":
+            if "property" not in params or "value" not in params:
+                raise ValueError("set needs params.property and params.value")
+            return self._set(params["property"], params["value"], steps)
+        if command == "setFileStem":
+            stem = str(params.get("stem") or params.get("filename") or "").strip()
+            if not stem:
+                raise ValueError("setFileStem needs params.stem")
+            actual = self._set("hSI.hScan2D.logFileStem", stem, steps)
+            return {"logFileStem": actual, "logFileCounter": self._get("hSI.hScan2D.logFileCounter", steps)}
+        if command == "grab":
+            before = self._acq_state(steps)
+            if before != "idle":
+                raise SiError(f"cannot start a grab while acqState is '{before}' (abort first)")
+            stem = self._get("hSI.hScan2D.logFileStem", steps)
+            path = self._get("hSI.hScan2D.logFilePath", steps)
+            counter = self._get("hSI.hScan2D.logFileCounter", steps)
+            rtt = self.cli.eval(EVAL_GRAB, self.cli.slow_timeout_s)
+            steps.append({"command": "eval", "function": EVAL_GRAB, "ok": True, "rtt_ms": rtt})
+            # Confirm: ScanImage's startGrab is synchronous, so 'grab' should be immediate; allow
+            # a short window (a busy GUI thread) before calling the outcome an error.
+            st = self._wait_state({"grab", "loop"}, min(5.0, self.cli.slow_timeout_s), steps)
+            if st not in ("grab", "loop"):
+                raise SiError(f"startGrab returned but acqState is '{st}'")
+            return {"acqState": st, "logFileStem": stem, "logFilePath": path, "logFileCounter": counter, "start_rtt_ms": rtt}
+        if command == "waitIdle":
+            to = params.get("timeout_s", self.default_wait_s)
+            try:
+                to = float(to)
+            except (TypeError, ValueError):
+                raise ValueError(f"waitIdle: timeout_s must be a number, got {to!r}")
+            t0 = time.monotonic()
+            st = self._wait_state({"idle"}, to, steps)
+            waited = round(time.monotonic() - t0, 3)
+            if st != "idle":
+                raise SiError(f"still '{st}' after {waited:g} s (timeout_s {to:g}); use abort")
+            return {"acqState": st, "waited_s": waited, "lastFrameNumber": self._get("hSI.hDisplay.lastFrameNumber", steps),
+                    "logFileCounter": self._get("hSI.hScan2D.logFileCounter", steps)}
+        if command == "abort":
+            rtt = self.cli.eval(EVAL_ABORT, self.cli.slow_timeout_s)
+            steps.append({"command": "eval", "function": EVAL_ABORT, "ok": True, "rtt_ms": rtt})
+            st = self._wait_state({"idle"}, min(5.0, self.cli.slow_timeout_s), steps)
+            if st != "idle":
+                raise SiError(f"abort returned but acqState is '{st}'")
+            return {"acqState": st}
+        raise ValueError(f"unhandled command {command!r}")
+
+
+def main(argv: list[str] | None = None) -> int:
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("--host", default="127.0.0.1", help="ScanImage JSON server host (default: 127.0.0.1 — keep it local; the server binds all interfaces)")
+    p.add_argument("--port", type=int, default=5555, help="ScanImage JSON server port (default: 5555)")
+    p.add_argument("--timeout-s", type=float, default=2.0, help="per-request timeout; a timeout is an UNKNOWN outcome and drops the connection (default: 2)")
+    p.add_argument("--slow-timeout-s", type=float, default=15.0, help="timeout for grab/abort (ScanImage's startGrab is synchronous, 1.2–2.4 s on the Bergamo PC; default: 15)")
+    p.add_argument("--status-every", type=float, default=1.0, help="status poll period in s; 0 = off (default: 1 — six ~2 ms gets)")
+    p.add_argument("--poll-s", type=float, default=0.25, help="acqState poll period inside grab/waitIdle/abort (default: 0.25)")
+    p.add_argument("--wait-s", type=float, default=30.0, help="waitIdle default timeout_s when the command carries none (default: 30)")
+    args, ros_args = p.parse_known_args(argv)
+    raise_timer_resolution()
+    rclpy.init(args=ros_args)
+    node = ScanImageNode(JsonClient(args.host, args.port, args.timeout_s, args.slow_timeout_s), args.status_every, args.poll_s, args.wait_s)
+    spin(node)
+    print(f"[scanimage-node] {node.commands} commands handled, {node.cli.reconnects} reconnects", file=sys.stderr)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/pixi.toml b/ros2-poc/pixi.toml
index 7cb88c48..b04d7d30 100644
--- a/ros2-poc/pixi.toml
+++ b/ros2-poc/pixi.toml
@@ -126,12 +126,17 @@ fictrac-adapter = "python nodes/fictrac_udp_adapter.py"
 kinefly-adapter = "python nodes/kinefly_udp_adapter.py"
 bias-node = "python nodes/bias_node.py"
 bias-cmd = "python nodes/bias_cmd.py"
+# ScanImage (built-in JSON server on the ScanImage PC, LAB-303/LAB-306): node + one-shot command.
+scanimage-node = "python nodes/scanimage_node.py"
+scanimage-cmd = "python nodes/scanimage_cmd.py"
 # ── the bridge node: bridge.py's hub + log writer + dispatcher on ROS input ──
 bridge-node = "python nodes/bridge_node.py"
 # ── simulators (the root workspace's fictrac_sim.py, unmodified) ────────────
 sim = "python ../fictrac-bridge/fictrac_sim.py"
 kinefly-sim = "python nodes/kinefly_sim.py"
 bias-sim = "python nodes/bias_sim.py"
+# A stand-in for ScanImage's JSON server (stock behaviors incl. bug B2) for off-rig tests.
+si-mock = "python tests/si_json_mock.py"
 # ── the one command a rig runs ──────────────────────────────────────────────
 rig = "python nodes/rig.py"
 # ── acceptance test (LAB-303 PoC criteria): whole graph + Studio emulator + model fly ──
diff --git a/ros2-poc/tests/si_json_mock.py b/ros2-poc/tests/si_json_mock.py
new file mode 100644
index 00000000..ee7a069c
--- /dev/null
+++ b/ros2-poc/tests/si_json_mock.py
@@ -0,0 +1,211 @@
+#!/usr/bin/env python3
+"""si_json_mock.py — a stand-in for ScanImage's built-in JSON server (`most.network.json.Server`).
+
+Ported from `tests/remote-control/mock_servers.py` (`serve_json`) in reiserlab/scanimage-2026-bergamo
+(Hannah Marie Santos, LAB-305), with attribution; the acquisition model below is ours. It imitates
+the server's WIRE and its stock (unpatched) behaviors, not ScanImage's timing:
+
+  * TCP, single client (listen(1), like AsyncServer); every message is `<Q` little-endian byte
+    count + UTF-8 JSON, both ways.
+  * {"command":"get","property":P}           → the same object + "value"
+    {"command":"set","property":P,"value":V} → + "actual"
+    {"command":"eval","function":F,"num_outputs":N} → + "outputs" (only hSI.startGrab(),
+    hSI.startFocus(), hSI.abort() are understood; anything else is an error reply)
+  * Stock bug B2 (default ON, `--no-b2` to patch it): a get of an OBJECT-valued property gets
+    NO reply at all — the client must time out. The connector's property allowlist is what
+    keeps a rig away from this; the harness uses it to exercise the UNKNOWN path.
+  * Acquisition model: `startGrab` → acqState "grab" for framesPerSlice / scanFrameRate seconds
+    (`--grab-s` overrides), logFileCounter += 1 when logging is enabled, lastFrameNumber counts
+    up at the frame rate; `abort` → "idle" at once. `startGrab` while not idle is an error,
+    as in ScanImage. The eval reply is delayed `--start-delay-s` (ScanImage's startGrab is
+    synchronous and takes 1.2–2.4 s on the Bergamo PC, LAB-305).
+
+    python tests/si_json_mock.py --port 5555
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import socket
+import struct
+import sys
+import threading
+import time
+
+STATE = {
+    "acqState": "idle",
+    "hRoiManager": {"scanZoomFactor": 1.0, "scanFrameRate": 29.08, "linesPerFrame": 512, "pixelsPerLine": 512},
+    "hStackManager": {"framesPerSlice": 60, "numSlices": 1},
+    "hChannels": {"loggingEnable": True, "channelSave": [1, 2]},
+    "hScan2D": {"logFileStem": "file", "logFilePath": "F:\\ImagingData\\mock", "logFileCounter": 1, "bidirectional": False,
+                "virtualChannelSettings": [{"laserFilterWindow": [0, 1]}, {"laserFilterWindow": [10, 11]}]},
+    "hDisplay": {"lastFrameNumber": 0},
+    "acqsPerLoop": 1,
+}
+OBJECT_VALUED = {"hScan2D", "hRoiManager", "hStackManager", "hChannels", "hDisplay", "hScan2D.virtualChannelSettings"}
+_lock = threading.Lock()
+_acq = {"t_end": None, "t_start": None, "grabs": 0, "aborts": 0}
+
+
+def _strip(path: str) -> str:
+    return path[4:] if path.startswith("hSI.") else path
+
+
+def _resolve(path: str):
+    node = STATE
+    parts = _strip(path).split(".")
+    for p in parts[:-1]:
+        if not isinstance(node, dict) or p not in node:
+            raise ValueError(f'"{path}" is not a valid property name')
+        node = node[p]
+    if not isinstance(node, dict) or parts[-1] not in node:
+        raise ValueError(f'"{path}" is not a valid property name')
+    return node, parts[-1]
+
+
+def get(path: str):
+    _tick()
+    if _strip(path) in OBJECT_VALUED:
+        return object()  # unencodable → B2
+    node, key = _resolve(path)
+    return node[key]
+
+
+def set_(path: str, value):
+    node, key = _resolve(path)
+    if _strip(path) == "acqState":
+        raise ValueError("acqState is read-only")
+    node[key] = value
+    return value
+
+
+def _tick() -> None:
+    """Advance the acquisition model to `now`."""
+    with _lock:
+        if STATE["acqState"] in ("grab", "focus") and _acq["t_start"] is not None:
+            fps = STATE["hRoiManager"]["scanFrameRate"]
+            STATE["hDisplay"]["lastFrameNumber"] = int((time.monotonic() - _acq["t_start"]) * fps)
+        if STATE["acqState"] == "grab" and _acq["t_end"] is not None and time.monotonic() >= _acq["t_end"]:
+            STATE["acqState"] = "idle"
+            _acq["t_end"] = None
+
+
+def _eval(expr: str, args: argparse.Namespace):
+    expr = expr.strip()
+    if expr in ("hSI.startGrab()", "hSI.startGrab"):
+        _tick()
+        if STATE["acqState"] != "idle":
+            raise ValueError(f"Cannot start a grab while acqState is '{STATE['acqState']}'")
+        time.sleep(args.start_delay_s)
+        with _lock:
+            dur = args.grab_s if args.grab_s is not None else STATE["hStackManager"]["framesPerSlice"] / STATE["hRoiManager"]["scanFrameRate"]
+            STATE["acqState"] = "grab"
+            _acq["t_start"] = time.monotonic()
+            _acq["t_end"] = _acq["t_start"] + dur
+            _acq["grabs"] += 1
+            STATE["hDisplay"]["lastFrameNumber"] = 0
+            if STATE["hChannels"]["loggingEnable"]:
+                STATE["hScan2D"]["logFileCounter"] += 1
+        return []
+    if expr in ("hSI.startFocus()", "hSI.startFocus"):
+        _tick()
+        if STATE["acqState"] != "idle":
+            raise ValueError(f"Cannot start focus while acqState is '{STATE['acqState']}'")
+        time.sleep(args.start_delay_s)
+        with _lock:
+            STATE["acqState"] = "focus"
+            _acq["t_start"] = time.monotonic()
+            _acq["t_end"] = None
+        return []
+    if expr in ("hSI.abort()", "hSI.abort"):
+        with _lock:
+            STATE["acqState"] = "idle"
+            _acq["t_end"] = None
+            _acq["aborts"] += 1
+        return []
+    raise ValueError(f"mock cannot eval {expr!r} (only hSI.startGrab(), hSI.startFocus(), hSI.abort())")
+
+
+def _recv_exact(conn: socket.socket, n: int) -> bytes:
+    buf = b""
+    while len(buf) < n:
+        chunk = conn.recv(n - len(buf))
+        if not chunk:
+            raise ConnectionError
+        buf += chunk
+    return buf
+
+
+def serve(args: argparse.Namespace, stop: threading.Event | None = None) -> None:
+    srv = socket.socket()
+    srv.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+    srv.bind((args.host, args.port))
+    srv.listen(1)  # single client, like AsyncServer
+    srv.settimeout(0.2)
+    print(f"[si-json-mock] ScanImage JSON server stand-in on {args.host}:{args.port} (B2 {'on' if args.b2 else 'patched'}, "
+          f"start delay {args.start_delay_s:g} s, grab {args.grab_s if args.grab_s is not None else 'framesPerSlice/fps'} s)", file=sys.stderr, flush=True)
+    while not (stop and stop.is_set()):
+        try:
+            conn, peer = srv.accept()
+        except socket.timeout:
+            continue
+        conn.settimeout(10.0)
+        with conn:
+            while not (stop and stop.is_set()):
+                try:
+                    n = struct.unpack("<Q", _recv_exact(conn, 8))[0]
+                    body = _recv_exact(conn, n).decode("utf-8")
+                except (ConnectionError, socket.timeout, OSError):
+                    break
+                try:
+                    msg = json.loads(body)
+                except ValueError as e:
+                    rsp = json.dumps({"message": body, "error": str(e)})
+                else:
+                    try:
+                        c = msg.get("command")
+                        if c == "get":
+                            msg["value"] = get(msg["property"])
+                        elif c == "set":
+                            msg["actual"] = set_(msg["property"], msg["value"])
+                        elif c == "eval":
+                            outs = _eval(msg["function"], args)
+                            msg["outputs"] = {f"output{i + 1}": o for i, o in enumerate(outs)}
+                        else:
+                            raise ValueError(f"unknown command {c!r}")
+                        rsp = json.dumps(msg)
+                    except TypeError:
+                        if args.b2:
+                            print(f"[si-json-mock] B2: object-valued {msg.get('property')!r} → no reply (stock behavior)", file=sys.stderr, flush=True)
+                            continue  # stock bug B2: unencodable value → no reply at all
+                        msg["error"] = "object-valued property cannot be encoded"
+                        rsp = json.dumps(msg)
+                    except Exception as e:  # noqa: BLE001
+                        msg["error"] = str(e)
+                        rsp = json.dumps(msg)
+                data = rsp.encode("utf-8")
+                try:
+                    conn.sendall(struct.pack("<Q", len(data)) + data)
+                except OSError:
+                    break
+    srv.close()
+
+
+def main(argv: list[str] | None = None) -> int:
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("--host", default="127.0.0.1")
+    p.add_argument("--port", type=int, default=5555)
+    p.add_argument("--no-b2", dest="b2", action="store_false", help="patched behavior: an error reply instead of silence on object-valued gets")
+    p.add_argument("--start-delay-s", type=float, default=0.3, help="how long startGrab/startFocus block before replying (Bergamo: 1.2–2.4 s)")
+    p.add_argument("--grab-s", type=float, default=None, help="grab duration override (default: framesPerSlice / scanFrameRate)")
+    args = p.parse_args(argv)
+    try:
+        serve(args)
+    except KeyboardInterrupt:
+        pass
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

From dc6124e3c57bd6aeba6eae1315c889b829a5c7f0 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 11:44:58 -0400
Subject: [PATCH 72/96] ros2-poc step 2: bridge node relays the scanimage
 connector (CONNECTOR_TOPICS table, hello_ack advertises bias + scanimage),
 converter derives /scanimage/reply|status events, rig --scanimage/--si-mock;
 harness drives the 2P sequence through connector_command incl. the UNKNOWN
 path (52/52)

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/nodes/bridge_node.py     | 57 +++++++++++++++++++------------
 ros2-poc/nodes/mcap_convert.py    | 21 ++++++++----
 ros2-poc/nodes/rig.py             |  9 +++++
 ros2-poc/tests/si_json_mock.py    | 12 +++++++
 ros2-poc/tests/studio_emulator.py | 36 +++++++++++++++++--
 ros2-poc/tests/test_ros2_poc.py   | 31 +++++++++++++----
 6 files changed, 130 insertions(+), 36 deletions(-)

diff --git a/ros2-poc/nodes/bridge_node.py b/ros2-poc/nodes/bridge_node.py
index da2a078d..310b35f3 100644
--- a/ros2-poc/nodes/bridge_node.py
+++ b/ros2-poc/nodes/bridge_node.py
@@ -24,7 +24,7 @@
     `ros2 topic echo/hz` introspect the closed loop and ROS-native nodes can subscribe.
   * other device topics are LOGGED, not applied: `/kinefly/raw` (KF/1) → compact tagged
     rows `["kf", ms, seq, src_t_s, left_rad, right_rad, head_rad, abdomen_rad]`;
-    `/bias/reply` and `/bias/status` → `{"type":"connector","src":"bias",…}` events.
+    `/bias/reply`, `/bias/status`, `/scanimage/reply`, `/scanimage/status` → `{"type":"connector","src":<id>,…}` events.
     Readers already pass unknown string-tagged arrays and unknown event objects through.
   * a source watchdog: when a logged source goes silent for --source-timeout s during a
     log, a `source_lost` event is written (and `source_resumed` when it returns). A device
@@ -123,6 +123,16 @@ def load_bridge_module(path: Path = BRIDGE_PY):
 BIAS_REPLY_TOPIC = "/bias/reply"
 BIAS_STATUS_TOPIC = "/bias/status"
 BIAS_FRAMES_TOPIC = "/bias/frames"  # every frame's BIAS timestamp, published by the BIAS node at stopRecording (bag only, no run-log line)
+SCANIMAGE_CMD_TOPIC = "/scanimage/cmd"
+SCANIMAGE_REPLY_TOPIC = "/scanimage/reply"
+SCANIMAGE_STATUS_TOPIC = "/scanimage/status"
+# Device connectors the Studio may drive (LAB-303): connector_command → the node's cmd topic; its
+# reply/status topics become {"type":"connector","src":<id>,…} run-log events (derived by the
+# converter). Adding a connector = one entry here, a flag in rig.py, a topic pair in mcap_convert.py.
+CONNECTOR_TOPICS = {
+    "bias": {"cmd": BIAS_CMD_TOPIC, "reply": BIAS_REPLY_TOPIC, "status": BIAS_STATUS_TOPIC},
+    "scanimage": {"cmd": SCANIMAGE_CMD_TOPIC, "reply": SCANIMAGE_REPLY_TOPIC, "status": SCANIMAGE_STATUS_TOPIC},
+}
 FRAME_TOPIC = "/arena/frame"
 RAW_QOS = QoSProfile(
     reliability=QoSReliabilityPolicy.RELIABLE,
@@ -293,6 +303,7 @@ def topics(self) -> dict[str, str]:
         t = {
             SESSION_TOPIC: STRING_TYPE, BROWSER_TOPIC: STRING_TYPE, EVENT_TOPIC: STRING_TYPE,
             KINEFLY_TOPIC: STRING_TYPE, BIAS_CMD_TOPIC: STRING_TYPE, BIAS_REPLY_TOPIC: STRING_TYPE, BIAS_STATUS_TOPIC: STRING_TYPE, BIAS_FRAMES_TOPIC: STRING_TYPE,
+            SCANIMAGE_CMD_TOPIC: STRING_TYPE, SCANIMAGE_REPLY_TOPIC: STRING_TYPE, SCANIMAGE_STATUS_TOPIC: STRING_TYPE,
         }
         if self._typed:
             t[FRAME_TOPIC] = ARENA_FRAME_TYPE
@@ -535,25 +546,26 @@ class BridgeNode(Node):
     """ROS side: subscriptions hand data to the asyncio side thread-safely. Every device
     topic is subscribed RAW (serialized bytes) so the same bytes go to the bag unchanged."""
 
-    def __init__(self, loop: asyncio.AbstractEventLoop, queue: asyncio.Queue, on_kinefly, on_bias, log: RecordingLogWriter, typed: bool) -> None:
+    def __init__(self, loop: asyncio.AbstractEventLoop, queue: asyncio.Queue, on_kinefly, on_connector, log: RecordingLogWriter, typed: bool) -> None:
         super().__init__("arena_bridge")
         self._loop = loop
         self._queue = queue
         self._on_kinefly = on_kinefly
-        self._on_bias = on_bias
+        self._on_connector = on_connector
         self._log = log
         self.typed = typed
-        self.stats = {"fictrac": SourceStats("fictrac"), "kinefly": SourceStats("kinefly"), "bias": SourceStats("bias")}
+        self.stats = {"fictrac": SourceStats("fictrac"), "kinefly": SourceStats("kinefly"), **{c: SourceStats(c) for c in CONNECTOR_TOPICS}}
         self.frame_pub = self.create_publisher(ArenaFrame if typed else String, FRAME_TOPIC, FRAME_QOS)
-        # Studio → bridge connector_command relayed to the BIAS node (LAB-303 connectors).
-        self.bias_cmd_pub = self.create_publisher(String, BIAS_CMD_TOPIC, RAW_QOS)
+        # Studio → bridge connector_command relayed to the device node (LAB-303 connectors).
+        self.cmd_pubs = {c: self.create_publisher(String, t["cmd"], RAW_QOS) for c, t in CONNECTOR_TOPICS.items()}
         if typed:
             self.create_subscription(FicTracFrame, FICTRAC_FRAME_TOPIC, self._fictrac_typed, RAW_QOS, raw=True)
         else:
             self.create_subscription(String, FICTRAC_TOPIC, self._fictrac, RAW_QOS, raw=True)
         self.create_subscription(String, KINEFLY_TOPIC, self._kinefly, RAW_QOS, raw=True)
-        self.create_subscription(String, BIAS_REPLY_TOPIC, lambda b: self._bias("reply", BIAS_REPLY_TOPIC, b), RAW_QOS, raw=True)
-        self.create_subscription(String, BIAS_STATUS_TOPIC, lambda b: self._bias("status", BIAS_STATUS_TOPIC, b), RAW_QOS, raw=True)
+        for c, t in CONNECTOR_TOPICS.items():
+            for kind in ("reply", "status"):
+                self.create_subscription(String, t[kind], lambda b, c=c, kind=kind, topic=t[kind]: self._connector(c, kind, topic, b), RAW_QOS, raw=True)
         # Recorded on arrival, like /fictrac/raw: it never becomes a run-log line (the stopRecording reply
         # carries its summary), so there is no shadow line to stay in step with.
         self.create_subscription(String, BIAS_FRAMES_TOPIC, lambda b: self._record(BIAS_FRAMES_TOPIC, b), RAW_QOS, raw=True)
@@ -609,14 +621,14 @@ def _kinefly(self, data: bytes) -> None:
         self.stats["kinefly"].seen(env.get("rx_epoch_ms"), env.get("rx_mono_ns"))
         self._loop.call_soon_threadsafe(self._on_kinefly, env, data, t_ns)
 
-    def _bias(self, kind: str, topic: str, data: bytes) -> None:
+    def _connector(self, src: str, kind: str, topic: str, data: bytes) -> None:
         t_ns = wall_ns()
         env = self._envelope(data)
         if env is None:
             self._record(topic, data)
             return
-        self.stats["bias"].seen(env.get("rx_epoch_ms"))
-        self._loop.call_soon_threadsafe(self._on_bias, kind, env, topic, data, t_ns)
+        self.stats[src].seen(env.get("rx_epoch_ms"))
+        self._loop.call_soon_threadsafe(self._on_connector, src, kind, env, topic, data, t_ns)
 
 
 async def run(args: argparse.Namespace) -> None:
@@ -626,7 +638,7 @@ async def run(args: argparse.Namespace) -> None:
     typed = HAVE_IFACES if args.typed == "auto" else (args.typed == "on")
     if typed and not HAVE_IFACES:
         raise SystemExit("--typed on, but arena_interfaces is not importable (pixi install builds it; or pixi run build-interfaces)")
-    CONNECTORS = {"bias": BIAS_CMD_TOPIC}
+    CONNECTORS = {c: t["cmd"] for c, t in CONNECTOR_TOPICS.items()}
     log = RecordingLogWriter(args.log, args.log_level, args.log_dir, profile=args.bag_profile, typed=typed,
                              export=args.export, connectors=list(CONNECTORS))
     queue: asyncio.Queue[tuple[str, str, bytes, int]] = asyncio.Queue()  # (line, topic, raw bytes, receive ns)
@@ -659,8 +671,8 @@ def on_kinefly(env: dict, data: bytes, t_ns: int) -> None:
         seq = pkt.get("sequence") if isinstance(pkt.get("sequence"), int) else kf_seq["n"]
         log.write_rows([kf_row(rel_ms(), pkt, seq)])
 
-    # ── connectors: the Studio's connector_command → /bias/cmd, /bias/reply → connector_reply ──
-    # One connector today ('bias'); the Studio maps BiasPlugin instances onto it. A command
+    # ── connectors: the Studio's connector_command → /<src>/cmd, /<src>/reply → connector_reply ──
+    # CONNECTOR_TOPICS lists them (bias, scanimage); the Studio maps plugin instances onto them. A command
     # is logged on arrival (dir browser→bridge) and its reply is logged when the node answers
     # (via "ws" marks replies the Studio asked for, as opposed to bias_cmd.py's). The reply
     # goes back to the ASKING websocket only (the hub's broadcast coalesces frames).
@@ -674,9 +686,9 @@ async def ws_reply(websocket, msg: dict) -> None:
         except Exception:  # ConnectionClosed: the asker left — nothing to deliver to
             pass
 
-    def on_bias(kind: str, env: dict, topic: str, data: bytes, t_ns: int) -> None:
+    def on_connector(src: str, kind: str, env: dict, topic: str, data: bytes, t_ns: int) -> None:
         log.record_device(topic, data, t_ns)
-        ev = {"type": "connector", "src": "bias", "kind": kind, "dir": "bridge", "ms": rel_ms()}
+        ev = {"type": "connector", "src": src, "kind": kind, "dir": "bridge", "ms": rel_ms()}
         for k, v in env.items():
             if k not in ("src",):
                 ev[k] = v
@@ -684,7 +696,7 @@ def on_bias(kind: str, env: dict, topic: str, data: bytes, t_ns: int) -> None:
         if p is not None:
             ev["via"] = "ws"
             ev["plugin"] = p["plugin"]
-        log.write_event(ev, record=False)  # derived by the converter from /bias/reply|status
+        log.write_event(ev, record=False)  # derived by the converter from /<src>/reply|status
         if p is not None:
             rep = {"type": "connector_reply", "connector": p["connector"], "plugin": p["plugin"]}
             for k, v in env.items():
@@ -717,8 +729,8 @@ async def on_connector_command(obj: dict, websocket, raw_text: str | None = None
         m = String()
         m.data = json.dumps({"id": cid, "command": command, "params": params}, separators=(",", ":"))
         if log.rec is not None:
-            log.rec.write_msg(BIAS_CMD_TOPIC, m)
-        node.bias_cmd_pub.publish(m)
+            log.rec.write_msg(CONNECTORS[connector], m)
+        node.cmd_pubs[connector].publish(m)
 
     inputs = RosInput(args.fictrac_port, warn)
     dispatch_34 = B.make_dispatcher(pipeline, log, inputs)  # unmodified bridge.py dispatcher
@@ -752,7 +764,7 @@ async def dispatch(raw, websocket=None) -> None:
             log.record_browser(text)  # the last record of the run (the export closes the bag)
         await dispatch_34(raw, websocket)
 
-    node = BridgeNode(loop, queue, on_kinefly, on_bias, log, typed)
+    node = BridgeNode(loop, queue, on_kinefly, on_connector, log, typed)
 
     def on_log_open() -> None:
         """A new file: ONE ms base (the pipeline's t0 = the log's open stamp; bridge 3.4 took
@@ -773,7 +785,8 @@ def on_log_open() -> None:
                 "rmw": os.environ.get("RMW_IMPLEMENTATION"),
                 "record": {"bag": log.bag_name, "profile": log._profile, "typed": typed},
                 "topics": {"fictrac": FICTRAC_FRAME_TOPIC if typed else FICTRAC_TOPIC, "kinefly": KINEFLY_TOPIC,
-                           "bias": [BIAS_CMD_TOPIC, BIAS_REPLY_TOPIC, BIAS_STATUS_TOPIC, BIAS_FRAMES_TOPIC], "frame": FRAME_TOPIC,
+                           "bias": [BIAS_CMD_TOPIC, BIAS_REPLY_TOPIC, BIAS_STATUS_TOPIC, BIAS_FRAMES_TOPIC],
+                           "scanimage": [SCANIMAGE_CMD_TOPIC, SCANIMAGE_REPLY_TOPIC, SCANIMAGE_STATUS_TOPIC], "frame": FRAME_TOPIC,
                            "browser": BROWSER_TOPIC, "event": EVENT_TOPIC, "session": SESSION_TOPIC},
             }
         )
@@ -806,7 +819,7 @@ async def watchdog() -> None:
                 continue
             now = time.monotonic()
             for s in node.stats.values():
-                if s.name == "bias" or s.last_rx_mono is None:
+                if s.name in CONNECTOR_TOPICS or s.last_rx_mono is None:  # connectors are polled, not streams
                     continue
                 silent = now - s.last_rx_mono
                 if not s.lost and silent > args.source_timeout:
diff --git a/ros2-poc/nodes/mcap_convert.py b/ros2-poc/nodes/mcap_convert.py
index 8e454e41..24b1d84a 100644
--- a/ros2-poc/nodes/mcap_convert.py
+++ b/ros2-poc/nodes/mcap_convert.py
@@ -25,6 +25,7 @@
                    connector_status, source_lost/resumed, warn       → verbatim
   /kinefly/raw     the adapter envelope (DERIVED stream)             → ["kf", ms, seq, t_src, L, R, head, abd]
   /bias/reply, /bias/status  the BIAS node's JSON (DERIVED)          → {"type":"connector","src":"bias",…}
+  /scanimage/reply, /scanimage/status  the ScanImage node's JSON (DERIVED) → {"type":"connector","src":"scanimage",…}
   /fictrac/raw | /fictrac/frame  the adapter's FicTrac records       → used only for level `full`
 
 Clock and order rules (comparison.md §4, B1/B2):
@@ -70,6 +71,14 @@
 TOPIC_BIAS_CMD = "/bias/cmd"
 TOPIC_BIAS_REPLY = "/bias/reply"
 TOPIC_BIAS_STATUS = "/bias/status"
+TOPIC_SCANIMAGE_REPLY = "/scanimage/reply"
+TOPIC_SCANIMAGE_STATUS = "/scanimage/status"
+# Connector device topics → (connector id, event kind): their JSON becomes a DERIVED
+# {"type":"connector","src":<id>,"kind":…} line (mirror of bridge_node.CONNECTOR_TOPICS).
+CONNECTOR_TOPIC_SRC = {
+    TOPIC_BIAS_REPLY: ("bias", "reply"), TOPIC_BIAS_STATUS: ("bias", "status"),
+    TOPIC_SCANIMAGE_REPLY: ("scanimage", "reply"), TOPIC_SCANIMAGE_STATUS: ("scanimage", "status"),
+}
 KF_TAG = "kf"
 
 
@@ -302,7 +311,7 @@ def first_angle(name: str):
 
 def convert(records: list[dict], level: str | None = None, order: str = "seq", connectors=None) -> tuple[list, dict]:
     """→ (lines as JSON values, report). `level` None = the level the run was opened with."""
-    stats = {"frames": 0, "browser_lines": 0, "rows": 0, "events": 0, "kf": 0, "bias": 0,
+    stats = {"frames": 0, "browser_lines": 0, "rows": 0, "events": 0, "kf": 0, "bias": 0, "scanimage": 0,
              "connector_cmds": 0, "skipped": 0, "unordered_inserts": 0}
     opens = [r for r in records if r["topic"] == TOPIC_SESSION]
     session_open = None
@@ -435,14 +444,14 @@ def add(seq: int, own_ms: int, rank: str, obj) -> None:
             kseq = pkt.get("sequence") if isinstance(pkt.get("sequence"), int) else int(env.get("seq") or 0)
             derived.append((rel, RANK["derived"], r["log_ns"], kf_row(rel, pkt, kseq)))
             stats["kf"] += 1
-        elif t in (TOPIC_BIAS_REPLY, TOPIC_BIAS_STATUS):
+        elif t in CONNECTOR_TOPIC_SRC:
             env = _json_of(r)
             if not isinstance(env, dict):
                 stats["skipped"] += 1
                 continue
-            kind = "reply" if t == TOPIC_BIAS_REPLY else "status"
+            src, kind = CONNECTOR_TOPIC_SRC[t]
             rel = max(0, int(r["log_ns"] // 1_000_000) - t0)
-            ev = {"type": "connector", "src": "bias", "kind": kind, "dir": "bridge", "ms": rel}
+            ev = {"type": "connector", "src": src, "kind": kind, "dir": "bridge", "ms": rel}
             for k, v in env.items():
                 if k != "src":
                     ev[k] = v
@@ -452,8 +461,8 @@ def add(seq: int, own_ms: int, rank: str, obj) -> None:
                     ev["via"] = "ws"
                     ev["plugin"] = p["plugin"]
             derived.append((rel, RANK["derived"], r["log_ns"], ev))
-            stats["bias"] += 1
-        # /bias/cmd, /fictrac/*: recorded for the record; no line of their own.
+            stats[src] = stats.get(src, 0) + 1
+        # /bias/cmd, /scanimage/cmd, /fictrac/*: recorded for the record; no line of their own.
 
     if order == "time":
         allrows = [(ms, rk, sq, obj) for (sq, ms, rk, obj) in seq_lines] + [(ms, rk, 10**18 + ns, obj) for (ms, rk, ns, obj) in derived]
diff --git a/ros2-poc/nodes/rig.py b/ros2-poc/nodes/rig.py
index 5f2d8cda..2a469c0f 100644
--- a/ros2-poc/nodes/rig.py
+++ b/ros2-poc/nodes/rig.py
@@ -5,6 +5,7 @@
     pixi run rig -- --kinefly --bias   # + Kinefly adapter + BIAS node
     pixi run rig -- --sim              # + the FicTrac simulator (demo without a camera)
     pixi run rig -- --bias --bias-sim  # + a simulated BIAS program (no camera software)
+    pixi run rig -- --scanimage        # + the ScanImage node (JSON server on this PC); --si-mock for a stand-in
     pixi run rig -- --foxglove         # + foxglove_bridge (:8766) from the `viz` environment
 
 Order: the router first (nodes retry until it answers on 127.0.0.1:7447), then every
@@ -136,6 +137,8 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--kinefly", action="store_true", help="also run the Kinefly KF/1 adapter")
     p.add_argument("--bias", action="store_true", help="also run the BIAS camera node")
     p.add_argument("--bias-sim", action="store_true", help="also run bias_sim.py (a fake BIAS program)")
+    p.add_argument("--scanimage", action="store_true", help="also run the ScanImage node (talks to ScanImage's JSON server, default 127.0.0.1:5555)")
+    p.add_argument("--si-mock", action="store_true", help="also run tests/si_json_mock.py (a stand-in for ScanImage's JSON server, port 5555)")
     p.add_argument("--sim", action="store_true", help="also run the FicTrac simulator (random walk, 50 Hz)")
     p.add_argument("--foxglove", action="store_true",
                    help=f"also run foxglove_bridge on ws://127.0.0.1:{FOXGLOVE_PORT} (the `viz` environment; skipped with a note when it is not installed)")
@@ -144,6 +147,7 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--fictrac-args", default="", help="extra args for fictrac_udp_adapter.py")
     p.add_argument("--kinefly-args", default="", help="extra args for kinefly_udp_adapter.py")
     p.add_argument("--bias-args", default="", help="extra args for bias_node.py")
+    p.add_argument("--scanimage-args", default="", help="extra args for scanimage_node.py (e.g. --port 5555 --status-every 1)")
     p.add_argument("--sim-args", default="--proto udp --rate 50", help="args for fictrac_sim.py")
     args = p.parse_args(argv)
 
@@ -169,6 +173,7 @@ def main(argv: list[str] | None = None) -> int:
         ("udp", 60000, "a FicTrac receiver — bridge 3.4 or another fictrac adapter"),
         ("udp", 60001, "another Kinefly adapter") if args.kinefly else (None, 0, ""),
         ("tcp", 5010, "a BIAS program or bias_sim") if args.bias_sim else (None, 0, ""),
+        ("tcp", 5555, "ScanImage's JSON server or si_json_mock") if args.si_mock else (None, 0, ""),
         ("tcp", FOXGLOVE_PORT, "another foxglove_bridge (`pixi run -e viz foxglove-bridge` or another rig --foxglove)") if foxglove else (None, 0, ""),
     ):
         if proto and port_in_use(proto, port):
@@ -196,6 +201,10 @@ def main(argv: list[str] | None = None) -> int:
         nodes.append(Child("bias-sim", [py, str(NODES / "bias_sim.py")]))
     if args.bias:
         nodes.append(Child("bias", [py, str(NODES / "bias_node.py"), *split_args(args.bias_args)]))
+    if args.si_mock:
+        nodes.append(Child("si-mock", [py, str(HERE.parent / "tests" / "si_json_mock.py")]))
+    if args.scanimage:
+        nodes.append(Child("scanimage", [py, str(NODES / "scanimage_node.py"), *split_args(args.scanimage_args)]))
     bridge = Child("bridge", [py, str(NODES / "bridge_node.py"), *split_args(args.bridge_args)])
     nodes.append(bridge)
     if foxglove:
diff --git a/ros2-poc/tests/si_json_mock.py b/ros2-poc/tests/si_json_mock.py
index ee7a069c..a98606fb 100644
--- a/ros2-poc/tests/si_json_mock.py
+++ b/ros2-poc/tests/si_json_mock.py
@@ -45,6 +45,11 @@
 }
 OBJECT_VALUED = {"hScan2D", "hRoiManager", "hStackManager", "hChannels", "hDisplay", "hScan2D.virtualChannelSettings"}
 _lock = threading.Lock()
+STALL_ON: set = set()  # canonical property paths whose `get` gets NO reply (--stall-on; a B2-style silence on an allowed property)
+
+
+class _Stall(Exception):
+    """Drop this request without a reply."""
 _acq = {"t_end": None, "t_start": None, "grabs": 0, "aborts": 0}
 
 
@@ -66,6 +71,8 @@ def _resolve(path: str):
 
 def get(path: str):
     _tick()
+    if path in STALL_ON or ("hSI." + path) in STALL_ON:
+        raise _Stall(path)
     if _strip(path) in OBJECT_VALUED:
         return object()  # unencodable → B2
     node, key = _resolve(path)
@@ -175,6 +182,9 @@ def serve(args: argparse.Namespace, stop: threading.Event | None = None) -> None
                         else:
                             raise ValueError(f"unknown command {c!r}")
                         rsp = json.dumps(msg)
+                    except _Stall as e:
+                        print(f"[si-json-mock] --stall-on: {e} → no reply", file=sys.stderr, flush=True)
+                        continue
                     except TypeError:
                         if args.b2:
                             print(f"[si-json-mock] B2: object-valued {msg.get('property')!r} → no reply (stock behavior)", file=sys.stderr, flush=True)
@@ -199,7 +209,9 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--no-b2", dest="b2", action="store_false", help="patched behavior: an error reply instead of silence on object-valued gets")
     p.add_argument("--start-delay-s", type=float, default=0.3, help="how long startGrab/startFocus block before replying (Bergamo: 1.2–2.4 s)")
     p.add_argument("--grab-s", type=float, default=None, help="grab duration override (default: framesPerSlice / scanFrameRate)")
+    p.add_argument("--stall-on", action="append", default=[], help="property path whose get is never answered (harness: the UNKNOWN path on an allowlisted property)")
     args = p.parse_args(argv)
+    STALL_ON.update(a if a.startswith("hSI.") else "hSI." + a for a in args.stall_on)
     try:
         serve(args)
     except KeyboardInterrupt:
diff --git a/ros2-poc/tests/studio_emulator.py b/ros2-poc/tests/studio_emulator.py
index 64a16357..3fba669f 100644
--- a/ros2-poc/tests/studio_emulator.py
+++ b/ros2-poc/tests/studio_emulator.py
@@ -165,11 +165,11 @@ async def run_epoch(self, i: int, gate_since) -> int:
             self.check(f"epoch {i}: opened on start_frame {a.start_frame}", min(d, a.frames - d) <= 1, f"first index {first_idx}")
         return new_epoch
 
-    async def connector(self, command: str, params: dict | None = None, timeout: float = 10.0) -> dict | None:
+    async def connector(self, command: str, params: dict | None = None, timeout: float = 10.0, connector: str = "bias", plugin: str = "camera") -> dict | None:
         """The runner's connectorCommand: one connector_command, wait for ITS reply by id."""
         self.cmd_seq += 1
         cid = f"emu{self.cmd_seq}"
-        await self.send({"type": "connector_command", "id": cid, "connector": "bias", "plugin": "camera",
+        await self.send({"type": "connector_command", "id": cid, "connector": connector, "plugin": plugin,
                          "command": command, "params": params or {}})
         t_end = time.monotonic() + timeout
         while time.monotonic() < t_end:
@@ -208,6 +208,8 @@ async def main(self) -> int:
                 self.report["connectors"] = ack.get("connectors")
                 if a.connector_cmds:
                     self.check("hello_ack advertises the bias connector", "bias" in (ack.get("connectors") or []), str(ack.get("connectors")))
+                if a.scanimage_cmds:
+                    self.check("hello_ack advertises the scanimage connector", "scanimage" in (ack.get("connectors") or []), str(ack.get("connectors")))
             await self.send({"type": "log_control", "enabled": True, "level": "behavior_v2"})
             lack = await self.wait_for("log_control_ack")
             self.check("log_control_ack: behavior_v2 in force", bool(lack) and lack.get("enabled") is True and lack.get("level") == "behavior_v2", str(lack))
@@ -243,6 +245,35 @@ async def main(self) -> int:
                 # Frames kept flowing meanwhile; re-sync the epoch gate's "since" id.
                 if self.last_epoch is not None:
                     since = self.last_epoch
+            if a.scanimage_cmds:
+                # The runner's path for a `scanimage` plugin (ScanImage's JSON server behind
+                # scanimage_node.py): the 2P protocol's per-color sequence, plus the refusals and
+                # the UNKNOWN path (a get the mock never answers → timeout → reconnect → reconcile).
+                async def si(command: str, params: dict | None = None, timeout: float = 20.0) -> dict | None:
+                    return await self.connector(command, params, timeout, connector="scanimage", plugin="scanimage")
+                r = await si("ping")
+                self.check("scanimage ping → ok, acqState idle", bool(r) and r.get("ok") is True and (r.get("value") or {}).get("acqState") == "idle", str(r)[:200])
+                r = await si("setFileStem", {"stem": "emu_violet_d7"})
+                self.check("scanimage setFileStem → ok, stem echoed", bool(r) and r.get("ok") is True and (r.get("value") or {}).get("logFileStem") == "emu_violet_d7", str(r)[:200])
+                r = await si("set", {"property": "hStackManager.framesPerSlice", "value": 30})
+                self.check("scanimage set framesPerSlice (allowlisted) → ok", bool(r) and r.get("ok") is True and r.get("value") == 30, str(r)[:200])
+                r = await si("set", {"property": "hScan2D.bidirectional", "value": True})
+                self.check("scanimage set of a non-allowlisted property → refused by the node (error, never sent)", bool(r) and r.get("ok") is False and r.get("outcome") == "error" and not r.get("steps"), str(r)[:200])
+                r = await si("grab")
+                self.check("scanimage grab → ok, acqState grab, TIFF artifact with stem + counter", bool(r) and r.get("ok") is True and (r.get("value") or {}).get("acqState") == "grab"
+                           and isinstance(r.get("artifact"), dict) and r["artifact"].get("kind") == "tiff" and r["artifact"].get("stem") == "emu_violet_d7" and r["artifact"].get("counter") is not None, str(r)[:300])
+                r = await si("waitIdle", {"timeout_s": 10})
+                self.check("scanimage waitIdle → ok once the grab finished (acqState idle)", bool(r) and r.get("ok") is True and (r.get("value") or {}).get("acqState") == "idle", str(r)[:200])
+                r = await si("abort")
+                self.check("scanimage abort → ok (idle)", bool(r) and r.get("ok") is True and (r.get("value") or {}).get("acqState") == "idle", str(r)[:200])
+                r = await si("get", {"property": "hRoiManager.scanZoomFactor"})
+                self.check("scanimage get the mock never answers → outcome unknown + reconciled status (B2-style silence)", bool(r) and r.get("outcome") == "unknown" and isinstance(r.get("reconciled"), dict) and r["reconciled"].get("acqState") == "idle", str(r)[:300])
+                r = await si("ping")
+                self.check("scanimage ping after the timeout → ok (connection rebuilt)", bool(r) and r.get("ok") is True, str(r)[:200])
+                r = await si("bogusCommand")
+                self.check("scanimage unknown command → reply error (not a hang)", bool(r) and r.get("ok") is False and r.get("outcome") == "error", str(r)[:200])
+                if self.last_epoch is not None:
+                    since = self.last_epoch
             for i in range(a.epochs):
                 since = await self.run_epoch(i, since)
                 if a.iti_s > 0:
@@ -294,6 +325,7 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--rig-id", default="ros2-poc")
     p.add_argument("--connector-cmds", action="store_true", help="also drive the bias connector (startRecording/getTimestamp/stopRecording) through connector_command, as the Studio runner does")
     p.add_argument("--connector-video", default="poc_studio.avi", help="startRecording filename for --connector-cmds")
+    p.add_argument("--scanimage-cmds", action="store_true", help="also drive the scanimage connector (ping/setFileStem/set/grab/waitIdle/abort/get/bogus) through connector_command")
     p.add_argument("--out", default="studio-export.jsonl", help="where to write the exported log")
     p.add_argument("--report", default=None, help="JSON report path")
     args = p.parse_args(argv)
diff --git a/ros2-poc/tests/test_ros2_poc.py b/ros2-poc/tests/test_ros2_poc.py
index 2e9467c8..4c2560fe 100644
--- a/ros2-poc/tests/test_ros2_poc.py
+++ b/ros2-poc/tests/test_ros2_poc.py
@@ -161,8 +161,8 @@ def is_derived(line: str) -> bool:
     rows and BIAS reply/status connector events. Everything else is sequenced."""
     if line.startswith('["kf",'):
         return True
-    if line.startswith('{"type":"connector","src":"bias","kind":"reply"') or line.startswith('{"type":"connector","src":"bias","kind":"status"'):
-        return True
+    if line.startswith('{"type":"connector","src":"') and ('","kind":"reply"' in line[:64] or '","kind":"status"' in line[:64]):
+        return True  # any connector (bias, scanimage, …)
     return False
 
 
@@ -306,6 +306,11 @@ def start(name: str, argv: list[str]) -> Proc:
         bias_port = free_tcp_port()
         start("bias-sim", [PY, str(NODES / "bias_sim.py"), "--port", str(bias_port), "--video-dir", str(videos)])
         start("bias-node", [PY, str(NODES / "bias_node.py"), "--port", str(bias_port), "--status-every", "1", "--video-dir", str(videos)])
+        # ScanImage stand-in on a free port (a rig PC may have the real JSON server on 5555): short
+        # grabs, a short start delay, and one allowlisted property it never answers (the UNKNOWN path).
+        si_port = free_tcp_port()
+        start("si-mock", [PY, str(HERE / "si_json_mock.py"), "--port", str(si_port), "--grab-s", "1.0", "--start-delay-s", "0.2", "--stall-on", "hSI.hRoiManager.scanZoomFactor"])
+        start("scanimage-node", [PY, str(NODES / "scanimage_node.py"), "--port", str(si_port), "--status-every", "1", "--timeout-s", "1.5"])
         bridge_argv = [PY, str(NODES / "bridge_node.py"), "--log-dir", str(runlogs), "--source-timeout", "1.5", "--bag-profile", a.bag_profile]
         bridge = start("bridge-node", bridge_argv)
         check("bridge node serving ws://127.0.0.1:8765", wait_port("127.0.0.1", 8765, 20.0))
@@ -374,8 +379,8 @@ def side_actor() -> None:
         em = run_capture(
             [PY, str(HERE / "studio_emulator.py"), "--epochs", str(a.epochs), "--epoch-s", str(a.epoch_s), "--iti-s", "1",
              "--bias-amplitude", "90", "--min-frames", "40", "--out", str(export), "--report", str(report),
-             "--connector-cmds", "--connector-video", "poc_studio.avi"],
-            timeout=60 + a.epochs * (a.epoch_s + 2),
+             "--connector-cmds", "--connector-video", "poc_studio.avi", "--scanimage-cmds"],
+            timeout=75 + a.epochs * (a.epoch_s + 2),
         )
         (logdir / "emulator.log").write_text(em.stderr, encoding="utf-8")
         check("studio emulator: every protocol assertion held", em.returncode == 0, em.stderr[-600:])
@@ -390,9 +395,10 @@ def side_actor() -> None:
         check("MCAP bag recorded for the run (metadata.yaml + .mcap)", main_bag is not None and (main_bag / "metadata.yaml").exists() and any(main_bag.glob("*.mcap")), str([b.name for b in bags]))
         bagsum = bag_summary(main_bag) if main_bag else {}
         print(f"[test] bag: {bagsum.get('records')} records, {bagsum.get('bytes')} B, topics {bagsum.get('topics')}, schemas {bagsum.get('schemas')}, frame lag {bagsum.get('frame_lag_ms')}", file=sys.stderr)
-        want_topics = ["/arena/session", "/arena/browser", "/arena/event", "/arena/frame", "/kinefly/raw", "/bias/cmd", "/bias/reply", "/bias/status"]
+        want_topics = ["/arena/session", "/arena/browser", "/arena/event", "/arena/frame", "/kinefly/raw", "/bias/cmd", "/bias/reply", "/bias/status",
+                       "/scanimage/cmd", "/scanimage/reply", "/scanimage/status"]
         missing = [t for t in want_topics if not bagsum.get("topics", {}).get(t)]
-        check("every stream recorded in the bag (session, browser, event, frame, kinefly, bias cmd/reply/status, fictrac)",
+        check("every stream recorded in the bag (session, browser, event, frame, kinefly, bias + scanimage cmd/reply/status, fictrac)",
               not missing and (bagsum.get("topics", {}).get("/fictrac/frame") or bagsum.get("topics", {}).get("/fictrac/raw")), f"missing {missing}")
         typed = any(s.startswith("arena_interfaces/") for s in bagsum.get("schemas", []))
         check("typed messages in the bag when arena_interfaces is built (else String fallback, reported)",
@@ -464,6 +470,19 @@ def side_actor() -> None:
               bool(logs) and bagsum.get("bias_frames_t") == sum(s.get("frames") or 0 for s in logs),
               f"bag {bagsum.get('bias_frames_t')} vs stamp logs {[s.get('frames') for s in logs]}")
 
+        # The ScanImage connector (JSON server stand-in): the Studio-path sequence the 2P protocol uses.
+        si_ev = [e for e in events if e.get("type") == "connector" and e.get("src") == "scanimage"]
+        si_rep = [e for e in si_ev if e.get("kind") == "reply"]
+        si_st = [e for e in si_ev if e.get("kind") == "status"]
+        si_cmd = [e.get("command") for e in si_ev if e.get("kind") == "command"]
+        check("ScanImage command/reply pairs in the run log (via=ws, plugin scanimage)", len(si_rep) >= 8 and all(e.get("via") == "ws" and e.get("plugin") == "scanimage" for e in si_rep), f"{len(si_rep)} replies: {[r.get('command') for r in si_rep]}")
+        check("ScanImage status lines in the run log carry acqState", len(si_st) >= 2 and all("acqState" in e for e in si_st if e.get("reachable")), str(len(si_st)))
+        check("Studio-path ScanImage commands logged in order", si_cmd == ["ping", "setFileStem", "set", "set", "grab", "waitIdle", "abort", "get", "ping", "bogusCommand"], str(si_cmd))
+        grab = [e for e in si_rep if e.get("command") == "grab"]
+        check("grab reply in the run log carries the TIFF artifact (stem, counter, path)", bool(grab) and grab[0].get("ok") and isinstance(grab[0].get("artifact"), dict)
+              and grab[0]["artifact"].get("kind") == "tiff" and grab[0]["artifact"].get("stem") == "emu_violet_d7" and grab[0]["artifact"].get("counter") is not None, json.dumps([g.get("artifact") for g in grab]))
+        unk = [e for e in si_rep if e.get("command") == "get"]
+        check("ScanImage UNKNOWN outcome logged with the reconciled status", bool(unk) and unk[0].get("outcome") == "unknown" and isinstance(unk[0].get("reconciled"), dict), json.dumps(unk)[:300])
         cs = [e for e in events if e.get("type") == "connector_status" and e.get("src") == "fictrac"]
         p99 = cs[-1]["lat_ms"]["p99"] if cs else None
         check("connector_status: adapter→bridge latency p99 < 50 ms", p99 is not None and p99 < 50.0, str(cs[-1] if cs else None))

From 405fc572134481e94486c197ab68af8daa771b21 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 11:44:58 -0400
Subject: [PATCH 73/96] =?UTF-8?q?studio=20v0.96=20step=203:=20scanimage=20?=
 =?UTF-8?q?plugin=20(ScanImagePlugin:=20setFileStem,=20allowlisted=20set,?=
 =?UTF-8?q?=20grab,=20waitIdle,=20abort)=20=E2=86=92=20bridge=20'scanimage?=
 =?UTF-8?q?'=20connector;=20the=20run=20file=20(and=20MCAP=20bag)=20closes?=
 =?UTF-8?q?=20at=20run=20end=20via=20log=5Fcontrol=20off;=20footer=20+=20r?=
 =?UTF-8?q?elease=20notes?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 arena_studio.html                             |  19 +++-
 .../development/arena-studio-release-notes.md |   6 ++
 js/plugin-registry.js                         | 100 +++++++++++++++++-
 3 files changed, 117 insertions(+), 8 deletions(-)

diff --git a/arena_studio.html b/arena_studio.html
index d07002bd..a51af44f 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -3420,7 +3420,7 @@ <h2 id="modalTitle">Import error</h2>
 </div>
 
 <footer id="footer">
-  <span class="foot-left">Arena Studio v0.95 | 2026-10-13 11:51 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
+  <span class="foot-left">Arena Studio v0.96 | 2026-10-16 11:39 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
   <!-- Course-repo quick-links: open protocols / logs / patterns in a new tab.
        Hrefs built from the configured repo + bench id (updateGhQuickLinks). -->
   <span id="ghQuickLinks" title="Open the course repo on GitHub (new tab)">
@@ -3899,6 +3899,11 @@ <h2 id="modalTitle">Import error</h2>
         const finalizeThenCommit = async () => {
             try { if (Studio.finalizeTrialQuality) await Studio.finalizeTrialQuality(log.meta && log.meta.run_id); } catch (_) { /* best effort */ }
             await maybeCommitRunLog(log, summary);
+            // The run is over: close the bridge's run file (and, on the ROS bridge node, the
+            // MCAP bag) now, not at the next run's start. A run that was not committed (no
+            // course token, Test run, aborted) used to leave the file open indefinitely.
+            // "⇪ Push log" still works: the bridge exports its most recent file.
+            try { if (bridge && bridge.connected && bridge.logging) bridge.setLogging(false); } catch (_) { /* best effort */ }
         };
         if (summary && summary.outcome === 'CONTROLLER_FAULT' && Studio.handleControllerFault) {
             Studio._pendingCommit = finalizeThenCommit;
@@ -9775,14 +9780,18 @@ <h2 id="modalTitle">Import error</h2>
         .map((p) => p.name);
 }
 // Device plugins the BRIDGE drives for the runner (LAB-303 connectors): plugin instance
-// name → connector id. Today one connector, 'bias' (BiasPlugin → the bridge's BIAS node);
-// the runner sends each command as connector_command and waits for the reply, so a
-// camera plugin in a protocol records for real instead of being skipped.
+// name → connector id. 'bias' (BiasPlugin → the bridge's BIAS node) and 'scanimage'
+// (ScanImagePlugin → the bridge's ScanImage node, the microscope's JSON server); the
+// runner sends each command as connector_command and waits for the reply, so a camera or
+// microscope plugin in a protocol acts for real instead of being skipped.
 function connectorPluginNames(exp) {
     const m = new Map();
     if (!exp || !Array.isArray(exp.plugins)) return m;
     for (const p of exp.plugins) {
-        if (p && ((p.matlab && p.matlab.class === 'BiasPlugin') || p.name === 'camera')) m.set(p.name, 'bias');
+        if (!p) continue;
+        const cls = p.matlab && p.matlab.class;
+        if (cls === 'BiasPlugin' || p.name === 'camera') m.set(p.name, 'bias');
+        else if (cls === 'ScanImagePlugin' || p.name === 'scanimage') m.set(p.name, 'scanimage');
     }
     return m;
 }
diff --git a/docs/development/arena-studio-release-notes.md b/docs/development/arena-studio-release-notes.md
index 62e88c46..11d44918 100644
--- a/docs/development/arena-studio-release-notes.md
+++ b/docs/development/arena-studio-release-notes.md
@@ -4,6 +4,12 @@ The Studio's footer used to carry the full changelog inline; it now shows one li
 history lives here. Newest first. (Per-session engineering detail stays in
 `arena-studio-handover.md` and the design docs — this file is the user-facing what-changed list.)
 
+## v0.96 (2026-10-16) · ScanImage as a protocol plugin (two-photon rigs, ROS bridge node) · Run file and MCAP bag close when the run ends (LAB-303)
+
+<!-- #254 -->
+- **A protocol can drive ScanImage.** Declare a `scanimage` plugin (class `ScanImagePlugin`) and use its commands in conditions: **Set file stem** (the TIFF name for the next grab), **Grab**, **Wait until idle**, **Abort**, and **Set property** for a few allowlisted settings (frames per grab, logging on/off, file path/stem/counter). The commands go through the bridge's ScanImage node to the microscope's own JSON server; every command and reply is in the run log, and the Grab reply names the TIFF stem and counter. Web runner only (MATLAB has no such plugin). First protocol: `g6_2p_color_led_sweep`.
+- **The bridge's run file closes when the run ends,** not when the next run starts. On the ROS bridge node this also closes the MCAP bag, so a run without a course commit (no token, a Test run, an aborted run) no longer leaves its bag open indefinitely. "⇪ Push log" still exports the most recent file. The FicTrac panel's Log checkbox now reads off between runs; turn it on by hand to log Console work outside a run.
+
 ## v0.95 (2026-10-13) · ISP time estimate ~5 s/panel, not ~20 s (#244) · Pattern Designer + Studio: partial-arena °/px and 3D/2D mapping, unmirrored icons, short SD-safe filenames, upload name checks (LAB-295) · First command after Connect no longer waits ~60 s behind the thumbnail download (LAB-298) · Console → Qwiic peripherals, rig peripherals:, live Console sliders, firmware-sized test display + color banks (LAB-214)
 
 <!-- #245 -->
diff --git a/js/plugin-registry.js b/js/plugin-registry.js
index 50f75c81..212142e2 100644
--- a/js/plugin-registry.js
+++ b/js/plugin-registry.js
@@ -2,7 +2,7 @@
  * plugin-registry.js — Plugin definitions and command schemas
  *
  * Provides:
- *   - BUILTIN_PLUGINS: definitions for LEDControllerPlugin, BiasPlugin
+ *   - BUILTIN_PLUGINS: definitions for LEDControllerPlugin, BiasPlugin, …, ScanImagePlugin
  *   - CONTROLLER_COMMANDS: controller command definitions
  *   - G6_ONLY_COMMANDS / isG6OnlyCommand(name): controller commands valid only
  *     on the G6 controller board (setAnalogOut, setDigitalOut)
@@ -654,6 +654,98 @@ var BUILTIN_PLUGINS = {
         }
     },
 
+    // ScanImage (two-photon microscope; LAB-303 / LAB-306). WEB-ONLY: driven by the web
+    // runner through the bridge's `scanimage` connector (ros2-poc/nodes/scanimage_node.py →
+    // ScanImage's built-in JSON server on the microscope PC). matlab.class is
+    // forward-looking — MATLAB has no ScanImagePlugin, so a protocol with this plugin runs
+    // on the web runner only. The command set is deliberately small: scan geometry,
+    // channels, zoom and laser power stay in ScanImage's own UI; `set` is limited to the
+    // node's allowlist (hStackManager.framesPerSlice, hChannels.loggingEnable,
+    // hScan2D.logFilePath / logFileStem / logFileCounter) and anything else is refused
+    // before it is sent. Alignment to the arena is by hardware (Digital IO 1 framescan
+    // pulse into ScanImage), not by these commands.
+    scanimage: {
+        name: 'scanimage',
+        label: 'ScanImage (2P)',
+        type: 'class',
+        matlab: { class: 'ScanImagePlugin' },
+        color: '#b197fc', // violet for UI
+        configFields: {
+            host: {
+                type: 'string',
+                label: 'JSON server host',
+                default: '',
+                placeholder: 'Set on the bridge node (127.0.0.1)',
+                rigDefined: true
+            },
+            port: {
+                type: 'number',
+                label: 'JSON server port',
+                default: '',
+                placeholder: 'Set on the bridge node (5555)',
+                rigDefined: true
+            }
+        },
+        commands: {
+            setFileStem: {
+                label: 'Set file stem',
+                description: 'Set the TIFF file stem for the next grab (hScan2D.logFileStem)',
+                params: {
+                    stem: {
+                        type: 'string',
+                        required: true,
+                        default: '',
+                        label: 'File stem',
+                        placeholder: 'violet_sweep'
+                    }
+                }
+            },
+            set: {
+                label: 'Set property',
+                description:
+                    'Set one allowlisted scalar property: hStackManager.framesPerSlice, hChannels.loggingEnable, hScan2D.logFilePath / logFileStem / logFileCounter',
+                params: {
+                    property: {
+                        type: 'string',
+                        required: true,
+                        default: '',
+                        label: 'Property',
+                        placeholder: 'hStackManager.framesPerSlice'
+                    },
+                    value: {
+                        type: 'number',
+                        required: true,
+                        default: '',
+                        label: 'Value',
+                        placeholder: '640'
+                    }
+                }
+            },
+            grab: {
+                label: 'Grab',
+                description:
+                    'Start a GRAB (hSI.startGrab) and confirm acqState = grab; the reply carries the TIFF stem, path and counter'
+            },
+            waitIdle: {
+                label: 'Wait until idle',
+                description: 'Wait until the acquisition has finished (acqState = idle)',
+                params: {
+                    timeout_s: {
+                        type: 'number',
+                        required: false,
+                        default: 30,
+                        label: 'Timeout (s)',
+                        placeholder: '30'
+                    }
+                }
+            },
+            abort: {
+                label: 'Abort',
+                description: 'Abort the acquisition (hSI.abort) and confirm acqState = idle'
+            }
+        }
+    },
+
     // FicTrac closed-loop (fly-on-ball). WEB-FIRST: executed by the web runner via
     // the local Python bridge (fictrac-bridge/bridge.py) + Mode-3 host-stepping.
     // matlab.class is forward-looking — MATLAB has no FicTracPlugin yet (its only
@@ -1065,7 +1157,8 @@ var RIG_PLUGIN_KEY_MAP = {
     camera: 'camera',
     temperature: 'temperature',
     thermometer: 'temperature',
-    fictrac: 'fictrac'
+    fictrac: 'fictrac',
+    scanimage: 'scanimage'
 };
 
 // Normalized `type` string → built-in registry key (fallback when the rig key
@@ -1077,7 +1170,8 @@ var RIG_PLUGIN_TYPE_MAP = {
     thermometer: 'temperature',
     temperature: 'temperature',
     fictrac: 'fictrac',
-    balltracker: 'fictrac'
+    balltracker: 'fictrac',
+    scanimage: 'scanimage'
 };
 
 function _normalizeRigType(rigType) {

From 343ea11e5e7f9ce89956cd73a3ab817776df5e04 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 11:44:58 -0400
Subject: [PATCH 74/96] =?UTF-8?q?protocols=20step=205:=20g6=5F2p=5Fcolor?=
 =?UTF-8?q?=5Fled=5Fsweep=20=E2=80=94=20one=20ScanImage=20grab=20per=20LED?=
 =?UTF-8?q?=20color,=206=20duty=20levels=20=C3=97=203=20s=20at=2020=20fps,?=
 =?UTF-8?q?=20controller=20settings=20+=20ScanImage=20setup=20in=20the=20h?=
 =?UTF-8?q?eader?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 protocols/g6_2p_color_led_sweep.yaml | 562 +++++++++++++++++++++++++++
 protocols/index.json                 |   5 +
 2 files changed, 567 insertions(+)
 create mode 100644 protocols/g6_2p_color_led_sweep.yaml

diff --git a/protocols/g6_2p_color_led_sweep.yaml b/protocols/g6_2p_color_led_sweep.yaml
new file mode 100644
index 00000000..4adbccde
--- /dev/null
+++ b/protocols/g6_2p_color_led_sweep.yaml
@@ -0,0 +1,562 @@
+version: 3
+
+# ============================================================================
+# 2P color LED-intensity sweep — G6 2x10 four-color arena on the Bergamo
+# (2026-10-16), ScanImage driven from the protocol through the bridge's
+# `scanimage` connector (ScanImage's built-in JSON server, LAB-303 / LAB-306).
+#
+# What it does: for each LED color (violet 405, blue 470, green 525,
+# yellow-orange 590 nm) ONE ScanImage GRAB, inside which the top-row one-color
+# grating rotates at `fps` frames/s through six panel duty levels (7 … 255),
+# `step_dur` s each, then the arena goes dark and the protocol waits for the
+# grab to finish. Four TIFF series ("<color>_sweep_<NNN>"), each holding the
+# six intensity steps of one color. Total ≈ 2.5 min.
+#
+# CHANGE THE EXPERIMENT ONLY IN `variables:` below — colors (pattern + SD slot),
+# duty levels, step length, speed, frames per grab, timeouts.
+#
+# PATTERNS: the same four one-color top-row gratings as g6_color_optomotor_test
+# (protocols/g6_color_optomotor_test_patterns/, GS2, 20 frames), already on the
+# arena's SD card in slots 1–4. The runner addresses patterns by card index:
+# check the slots in the Console's SD listing before Run.
+#
+# BEFORE PRESSING RUN (Arena Studio Console, once per connection — not YAML-able):
+#   1. Controller ▾ → panel display mode = 2 (Triggered).  Wire: 02 1B 02
+#      The 2P line-sync panel firmware free-runs one row per line-clock edge;
+#      NOT 3 (Gated).
+#   2. Digital IO 1 role = out_debug_framescan.            Wire: 03 AC 01 03
+#      DO1 (BNC J3) is HIGH for every SPI frame transfer — THE alignment signal
+#      today (no analog marker yet): record it in ScanImage as an aux/AI channel.
+#      Digital IO 2 (J4) stays in_trigger — the line-clock → EINT route.
+#   3. Refresh rate (Debug ▾, unlock): 300 Hz. The gratings are GS2 and GS2
+#      defaults to 1000 Hz, where every re-streamed frame costs the panel 1–2
+#      line edges on the 2P firmware. Do not run GS2 at 1000 Hz.
+#   4. Telemetry ring: on (default).
+#   NEW ARENA CHECK (this arena has not been on the microscope before): with the
+#   line clock running and display mode 2, Console → Test → full-field must light
+#   every panel; with the line clock stopped the panels must go dark; DO1 must
+#   show one pulse per controller refresh tick on the scope / ScanImage AI.
+#
+# SCANIMAGE SETUP (operator, in the GUI; the protocol does not touch these):
+#   unidirectional scanning, both channels saved (channelSave = [1 2]),
+#   logging ON, logFilePath on the F: data disk (F:\ImagingData\<date>\…),
+#   lasers on, detectors on. The protocol sets framesPerSlice (frames per grab)
+#   to `frames_per_grab` in pre_blank and the file stem per color; nothing else.
+#   ScanImage must record: DO1 (frame-transfer envelope) and the line clock
+#   loop-back on aux inputs or spare AI channels — see
+#   docs/development/2p-scanimage-signal-logging.md §0.
+#
+# Notes
+#   1. duty: 0 in trialParams means "pattern's stored duty", NOT off. Off is allOff.
+#   2. Each duty step is its own condition (one trialParams each; the pattern
+#      restarts at frame 0 with the new duty). The first condition of a color
+#      sets the file stem and starts the grab; the last ends with allOff and
+#      waits for the grab to finish (waitIdle). frames_per_grab must cover
+#      grab_settle + 6 × step_dur plus margin at the scan frame rate (29 Hz:
+#      6 × 3 + 1 = 19 s → 640 frames ≈ 22 s).
+#   3. End with allOff, not stopDisplay: on the free-running Triggered firmware
+#      a stopped controller leaves the last frame lit, one row per line.
+#   4. A plugin command waits for its reply (grab ≈ 1–3 s on the Bergamo PC);
+#      the condition durations shown in the Studio exclude that wait.
+# ============================================================================
+
+experiment_info:
+  name: "2P color LED-intensity sweep (G6 2x10 four-color, ScanImage grabs)"
+  author: "mreiser"
+  date_created: "2026-10-16"
+
+rig: "./configs/rigs/cshl_g6_2x10.yaml"
+
+plugins:
+  - name: "scanimage"
+    type: "class"
+    matlab:
+      class: "ScanImagePlugin"   # web runner only — MATLAB has no ScanImagePlugin
+
+variables:
+  # ── patterns (SD slots as uploaded for g6_color_optomotor_test) ───────────
+  - &pat_violet "G6_2x10_toprow_grat20_violet"
+  - &id_violet 1
+  - &pat_blue "G6_2x10_toprow_grat20_blue"
+  - &id_blue 2
+  - &pat_green "G6_2x10_toprow_grat20_green"
+  - &id_green 3
+  - &pat_yellow "G6_2x10_toprow_grat20_yellow"
+  - &id_yellow 4
+  # ── timing ────────────────────────────────────────────────────────────────
+  - &fps 20                 # frames/s; 20-frame grating → one period per second
+  - &step_dur 3             # s per duty level
+  - &grab_settle 1          # s between the grab reply and the first stimulus
+  - &blank_dur 3            # s dark before the first and after the last color
+  - &frames_per_grab 640    # ScanImage framesPerSlice: ≥ (grab_settle + 6·step_dur) × scan frame rate
+  - &wait_idle_s 45         # waitIdle timeout: frames_per_grab / frame rate + margin
+  # ── intensity = panel duty (0–255) ────────────────────────────────────────
+  - &duty_a 7
+  - &duty_b 15
+  - &duty_c 31
+  - &duty_d 63
+  - &duty_e 127
+  - &duty_f 255
+
+experiment:
+  - "pre_blank"
+  - "violet_d7"
+  - "violet_d15"
+  - "violet_d31"
+  - "violet_d63"
+  - "violet_d127"
+  - "violet_d255"
+  - "blue_d7"
+  - "blue_d15"
+  - "blue_d31"
+  - "blue_d63"
+  - "blue_d127"
+  - "blue_d255"
+  - "green_d7"
+  - "green_d15"
+  - "green_d31"
+  - "green_d63"
+  - "green_d127"
+  - "green_d255"
+  - "yellow_d7"
+  - "yellow_d15"
+  - "yellow_d31"
+  - "yellow_d63"
+  - "yellow_d127"
+  - "yellow_d255"
+  - "post_blank"
+
+conditions:
+  # Display dark; frames per grab set once for the whole run.
+  - name: "pre_blank"
+    commands:
+      - type: "controller"
+        command_name: "allOff"
+      - type: "plugin"
+        plugin_name: "scanimage"
+        command_name: "set"
+        params:
+          property: "hStackManager.framesPerSlice"
+          value: *frames_per_grab
+      - type: "wait"
+        duration: *blank_dur
+
+  # ── violet 405 nm ─────────────────────────────────────────────────────────
+  - name: "violet_d7"
+    commands:
+      - type: "plugin"
+        plugin_name: "scanimage"
+        command_name: "setFileStem"
+        params:
+          stem: "violet_sweep"
+      - type: "plugin"
+        plugin_name: "scanimage"
+        command_name: "grab"
+      - type: "wait"
+        duration: *grab_settle
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_violet
+        pattern_ID: *id_violet
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_a
+      - type: "wait"
+        duration: *step_dur
+  - name: "violet_d15"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_violet
+        pattern_ID: *id_violet
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_b
+      - type: "wait"
+        duration: *step_dur
+  - name: "violet_d31"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_violet
+        pattern_ID: *id_violet
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_c
+      - type: "wait"
+        duration: *step_dur
+  - name: "violet_d63"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_violet
+        pattern_ID: *id_violet
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_d
+      - type: "wait"
+        duration: *step_dur
+  - name: "violet_d127"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_violet
+        pattern_ID: *id_violet
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_e
+      - type: "wait"
+        duration: *step_dur
+  - name: "violet_d255"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_violet
+        pattern_ID: *id_violet
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_f
+      - type: "wait"
+        duration: *step_dur
+      - type: "controller"
+        command_name: "allOff"
+      - type: "plugin"
+        plugin_name: "scanimage"
+        command_name: "waitIdle"
+        params:
+          timeout_s: *wait_idle_s
+
+  # ── blue 470 nm ───────────────────────────────────────────────────────────
+  - name: "blue_d7"
+    commands:
+      - type: "plugin"
+        plugin_name: "scanimage"
+        command_name: "setFileStem"
+        params:
+          stem: "blue_sweep"
+      - type: "plugin"
+        plugin_name: "scanimage"
+        command_name: "grab"
+      - type: "wait"
+        duration: *grab_settle
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_blue
+        pattern_ID: *id_blue
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_a
+      - type: "wait"
+        duration: *step_dur
+  - name: "blue_d15"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_blue
+        pattern_ID: *id_blue
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_b
+      - type: "wait"
+        duration: *step_dur
+  - name: "blue_d31"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_blue
+        pattern_ID: *id_blue
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_c
+      - type: "wait"
+        duration: *step_dur
+  - name: "blue_d63"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_blue
+        pattern_ID: *id_blue
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_d
+      - type: "wait"
+        duration: *step_dur
+  - name: "blue_d127"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_blue
+        pattern_ID: *id_blue
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_e
+      - type: "wait"
+        duration: *step_dur
+  - name: "blue_d255"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_blue
+        pattern_ID: *id_blue
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_f
+      - type: "wait"
+        duration: *step_dur
+      - type: "controller"
+        command_name: "allOff"
+      - type: "plugin"
+        plugin_name: "scanimage"
+        command_name: "waitIdle"
+        params:
+          timeout_s: *wait_idle_s
+
+  # ── green 525 nm ──────────────────────────────────────────────────────────
+  - name: "green_d7"
+    commands:
+      - type: "plugin"
+        plugin_name: "scanimage"
+        command_name: "setFileStem"
+        params:
+          stem: "green_sweep"
+      - type: "plugin"
+        plugin_name: "scanimage"
+        command_name: "grab"
+      - type: "wait"
+        duration: *grab_settle
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_green
+        pattern_ID: *id_green
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_a
+      - type: "wait"
+        duration: *step_dur
+  - name: "green_d15"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_green
+        pattern_ID: *id_green
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_b
+      - type: "wait"
+        duration: *step_dur
+  - name: "green_d31"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_green
+        pattern_ID: *id_green
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_c
+      - type: "wait"
+        duration: *step_dur
+  - name: "green_d63"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_green
+        pattern_ID: *id_green
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_d
+      - type: "wait"
+        duration: *step_dur
+  - name: "green_d127"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_green
+        pattern_ID: *id_green
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_e
+      - type: "wait"
+        duration: *step_dur
+  - name: "green_d255"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_green
+        pattern_ID: *id_green
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_f
+      - type: "wait"
+        duration: *step_dur
+      - type: "controller"
+        command_name: "allOff"
+      - type: "plugin"
+        plugin_name: "scanimage"
+        command_name: "waitIdle"
+        params:
+          timeout_s: *wait_idle_s
+
+  # ── yellow-orange 590 nm ──────────────────────────────────────────────────
+  - name: "yellow_d7"
+    commands:
+      - type: "plugin"
+        plugin_name: "scanimage"
+        command_name: "setFileStem"
+        params:
+          stem: "yellow_sweep"
+      - type: "plugin"
+        plugin_name: "scanimage"
+        command_name: "grab"
+      - type: "wait"
+        duration: *grab_settle
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_yellow
+        pattern_ID: *id_yellow
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_a
+      - type: "wait"
+        duration: *step_dur
+  - name: "yellow_d15"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_yellow
+        pattern_ID: *id_yellow
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_b
+      - type: "wait"
+        duration: *step_dur
+  - name: "yellow_d31"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_yellow
+        pattern_ID: *id_yellow
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_c
+      - type: "wait"
+        duration: *step_dur
+  - name: "yellow_d63"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_yellow
+        pattern_ID: *id_yellow
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_d
+      - type: "wait"
+        duration: *step_dur
+  - name: "yellow_d127"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_yellow
+        pattern_ID: *id_yellow
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_e
+      - type: "wait"
+        duration: *step_dur
+  - name: "yellow_d255"
+    commands:
+      - type: "controller"
+        command_name: "trialParams"
+        pattern: *pat_yellow
+        pattern_ID: *id_yellow
+        duration: *step_dur
+        mode: 2
+        frame_index: 0
+        frame_rate: *fps
+        gain: 0
+        duty: *duty_f
+      - type: "wait"
+        duration: *step_dur
+      - type: "controller"
+        command_name: "allOff"
+      - type: "plugin"
+        plugin_name: "scanimage"
+        command_name: "waitIdle"
+        params:
+          timeout_s: *wait_idle_s
+
+  # Display dark after the last color.
+  - name: "post_blank"
+    commands:
+      - type: "controller"
+        command_name: "allOff"
+      - type: "wait"
+        duration: *blank_dur
diff --git a/protocols/index.json b/protocols/index.json
index 31457afb..0de3b79e 100644
--- a/protocols/index.json
+++ b/protocols/index.json
@@ -77,6 +77,11 @@
       "key": "g6_color_optomotor_smoke",
       "label": "Color optomotor SMOKE — 10 s per pattern, duty 100 %, BIAS check (~2 min)",
       "path": "./protocols/g6_color_optomotor_smoke.yaml"
+    },
+    {
+      "key": "g6_2p_color_led_sweep",
+      "label": "2P color LED-intensity sweep — one ScanImage grab per color, 6 duty levels × 3 s at 20 fps (G6 four-color, ScanImage JSON connector, ~2.5 min)",
+      "path": "./protocols/g6_2p_color_led_sweep.yaml"
     }
   ]
 }

From 7211b2cf1cfff3c7483878666fb7292fba1600eb Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 11:44:58 -0400
Subject: [PATCH 75/96] =?UTF-8?q?tools=20step=206:=20led=5Fsweep=5Fsi.py?=
 =?UTF-8?q?=20=E2=80=94=20fallback=20driver=20for=20ScanImage's=20JSON=20s?=
 =?UTF-8?q?erver=20(same=20condition=20table=20and=20TIFF=20layout;=20stdl?=
 =?UTF-8?q?ib=20only,=20--dry-run/--ping)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 tools/led_sweep_si.py | 228 ++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 228 insertions(+)
 create mode 100644 tools/led_sweep_si.py

diff --git a/tools/led_sweep_si.py b/tools/led_sweep_si.py
new file mode 100644
index 00000000..edc6e510
--- /dev/null
+++ b/tools/led_sweep_si.py
@@ -0,0 +1,228 @@
+#!/usr/bin/env python3
+"""led_sweep_si.py — FALLBACK for the 2P color LED-intensity sweep (2026-10-16): drive ScanImage's
+grabs from a plain script on the microscope PC while the Arena Studio runs the matching protocol by
+hand (Console → Test experiment), so the day's data is still collected if the connector path
+(bridge node + scanimage_node.py) fails on site.
+
+Same condition table as protocols/g6_2p_color_led_sweep.yaml, same TIFF layout (one grab per
+color, stem "<color>_sweep"), so the analysis does not change. Alignment is the controller's
+Digital IO 1 frame-transfer pulse recorded by ScanImage, exactly as in the connector path.
+
+Talks to ScanImage's built-in JSON server (`hJ = most.network.json.Server(5555)` in MATLAB) over
+a persistent TCP connection, the way scanimage_node.py does: length-prefixed JSON, one client,
+scalar properties only, two fixed evals (startGrab, abort). No ROS, no pixi: the Python that ships
+with the rig PC is enough (stdlib only).
+
+    python tools/led_sweep_si.py --dry-run                 # print the plan, touch nothing
+    python tools/led_sweep_si.py --ping                    # one get of acqState, then exit
+    python tools/led_sweep_si.py --colors violet blue      # a subset
+    python tools/led_sweep_si.py                           # the whole sweep, prompting before each grab
+
+Sequence per color: set logFileStem → startGrab → wait `--settle` s → (operator starts the Studio
+condition for this color — the script prints the cue and, unless --no-prompt, waits for Enter) →
+poll acqState until idle (the grab length is framesPerSlice, set once at the start) → next color.
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import socket
+import struct
+import sys
+import time
+
+COLORS = ("violet", "blue", "green", "yellow")  # bank 0..3: 405, 470, 525, 590 nm
+DUTIES = (7, 15, 31, 63, 127, 255)
+STEP_S = 3.0
+SETTLE_S = 1.0
+FRAMES_PER_GRAB = 640  # ≥ (settle + 6 × step) × scan frame rate (29 Hz → 19 s → 551), with margin
+
+
+class SiTimeout(TimeoutError):
+    pass
+
+
+class SiError(RuntimeError):
+    pass
+
+
+class JsonClient:
+    """ScanImage JSON server client (ported from scanimage_node.py / si_remote.py)."""
+
+    def __init__(self, host: str, port: int, timeout_s: float) -> None:
+        self.host, self.port, self.timeout_s = host, port, timeout_s
+        self._sock: socket.socket | None = None
+
+    def drop(self) -> None:
+        if self._sock is not None:
+            try:
+                self._sock.close()
+            except OSError:
+                pass
+            self._sock = None
+
+    def _recv_exact(self, n: int) -> bytes:
+        assert self._sock is not None
+        buf = b""
+        while len(buf) < n:
+            chunk = self._sock.recv(n - len(buf))
+            if not chunk:
+                raise ConnectionError("server closed the connection")
+            buf += chunk
+        return buf
+
+    def request(self, msg: dict, timeout_s: float | None = None) -> dict:
+        data = json.dumps(msg, separators=(",", ":")).encode("utf-8")
+        to = timeout_s if timeout_s is not None else self.timeout_s
+        try:
+            if self._sock is None:
+                self._sock = socket.create_connection((self.host, self.port), timeout=to)
+            self._sock.settimeout(to)
+            self._sock.sendall(struct.pack("<Q", len(data)) + data)  # one write (B4)
+            n = struct.unpack("<Q", self._recv_exact(8))[0]
+            body = self._recv_exact(n)
+        except socket.timeout as exc:
+            self.drop()
+            raise SiTimeout(f"no complete reply within {to:g}s (connection dropped; UNKNOWN whether it took effect)") from exc
+        except (ConnectionError, OSError) as exc:
+            self.drop()
+            raise OSError(f"ScanImage JSON server unreachable at {self.host}:{self.port}: {exc}") from exc
+        rep = json.loads(body.decode("utf-8"))
+        if isinstance(rep, dict) and rep.get("error"):
+            raise SiError(str(rep["error"]))
+        return rep
+
+    def get(self, prop: str):
+        return self.request({"command": "get", "property": prop}).get("value")
+
+    def set(self, prop: str, value):
+        return self.request({"command": "set", "property": prop, "value": value}).get("actual", value)
+
+    def eval(self, expr: str, timeout_s: float) -> None:
+        self.request({"command": "eval", "function": expr, "num_outputs": 0}, timeout_s)
+
+
+def wait_state(cli: JsonClient, want: str, timeout_s: float, poll_s: float = 0.5) -> str:
+    end = time.monotonic() + timeout_s
+    st = cli.get("hSI.acqState")
+    while st != want and time.monotonic() < end:
+        time.sleep(poll_s)
+        st = cli.get("hSI.acqState")
+    return str(st)
+
+
+def log(results: list, **row) -> None:
+    row["t"] = time.strftime("%H:%M:%S")
+    results.append(row)
+    print("  " + json.dumps(row), flush=True)
+
+
+def main(argv: list[str] | None = None) -> int:
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("--host", default="127.0.0.1")
+    p.add_argument("--port", type=int, default=5555)
+    p.add_argument("--colors", nargs="+", default=list(COLORS), choices=COLORS)
+    p.add_argument("--duties", nargs="+", type=int, default=list(DUTIES), help="panel duty levels (for the plan + cue only; the Studio protocol sets them)")
+    p.add_argument("--step", type=float, default=STEP_S, help="s per duty level in the Studio protocol (plan + wait budget)")
+    p.add_argument("--settle", type=float, default=SETTLE_S, help="s after the grab starts before cueing the stimulus")
+    p.add_argument("--frames", type=int, default=FRAMES_PER_GRAB, help="framesPerSlice to set once (0 = leave ScanImage's value)")
+    p.add_argument("--stem-suffix", default="_sweep", help='TIFF stem = "<color><suffix>"')
+    p.add_argument("--timeout", type=float, default=2.0, help="per-request timeout (s)")
+    p.add_argument("--grab-timeout", type=float, default=15.0, help="startGrab is synchronous in ScanImage (1.2–2.4 s on the Bergamo PC)")
+    p.add_argument("--no-prompt", action="store_true", help="do not wait for Enter before each grab (time the Studio by the printed cue)")
+    p.add_argument("--dry-run", action="store_true", help="print the plan and exit; nothing is sent")
+    p.add_argument("--ping", action="store_true", help="read acqState and the file settings, then exit")
+    p.add_argument("--results", default=None, help="write the per-step JSON lines here too")
+    a = p.parse_args(argv)
+
+    per_color = a.settle + len(a.duties) * a.step
+    print(f"[plan] {len(a.colors)} colors × {len(a.duties)} duties × {a.step:g} s (+{a.settle:g} s settle) = {per_color:g} s of grab per color; "
+          f"framesPerSlice {a.frames or 'unchanged'}; stems {[c + a.stem_suffix for c in a.colors]}; duties {a.duties}")
+    if a.dry_run:
+        for c in a.colors:
+            print(f"  {c}: set stem {c + a.stem_suffix!r} → startGrab → {a.settle:g} s → Studio runs {c} duties {a.duties} ({a.step:g} s each) → allOff → wait idle")
+        print("[plan] dry run: nothing sent")
+        return 0
+
+    cli = JsonClient(a.host, a.port, a.timeout)
+    results: list = []
+    try:
+        st = cli.get("hSI.acqState")
+        fps = cli.get("hSI.hRoiManager.scanFrameRate")
+        info = {"acqState": st, "scanFrameRate": fps, "logFilePath": cli.get("hSI.hScan2D.logFilePath"),
+                "logFileStem": cli.get("hSI.hScan2D.logFileStem"), "logFileCounter": cli.get("hSI.hScan2D.logFileCounter"),
+                "loggingEnable": cli.get("hSI.hChannels.loggingEnable"), "framesPerSlice": cli.get("hSI.hStackManager.framesPerSlice"),
+                "channelSave": cli.get("hSI.hChannels.channelSave"), "bidirectional": cli.get("hSI.hScan2D.bidirectional")}
+        print(f"[si] {json.dumps(info)}")
+        if a.ping:
+            return 0
+        if st != "idle":
+            print(f"[si] acqState is {st!r}; abort it in ScanImage first", file=sys.stderr)
+            return 1
+        if not info["loggingEnable"]:
+            print("[si] WARNING: logging is OFF in ScanImage — grabs will not write TIFFs. Enable logging, then rerun.", file=sys.stderr)
+            return 1
+        if not info["logFilePath"]:
+            print("[si] WARNING: logFilePath is empty — set it to the F: data folder in ScanImage, then rerun.", file=sys.stderr)
+            return 1
+        need = per_color * float(fps or 29.0)
+        if a.frames:
+            actual = cli.set("hSI.hStackManager.framesPerSlice", int(a.frames))
+            log(results, step="set", property="framesPerSlice", value=a.frames, actual=actual)
+            if a.frames < need:
+                print(f"[si] WARNING: framesPerSlice {a.frames} < {need:.0f} needed for {per_color:g} s at {fps} Hz", file=sys.stderr)
+        for color in a.colors:
+            stem = color + a.stem_suffix
+            if not a.no_prompt:
+                input(f"\n[{color}] Studio: select the {color} block (duties {a.duties}), hand on Run. Press Enter to START THE GRAB…")
+            actual = cli.set("hSI.hScan2D.logFileStem", stem)
+            counter = cli.get("hSI.hScan2D.logFileCounter")
+            log(results, step="setFileStem", color=color, stem=actual, counter=counter)
+            t0 = time.perf_counter()
+            try:
+                cli.eval("hSI.startGrab()", a.grab_timeout)
+            except SiTimeout as exc:
+                log(results, step="grab", color=color, outcome="unknown", error=str(exc))
+                st = wait_state(cli, "grab", 5.0)
+                if st != "grab":
+                    print(f"[{color}] grab outcome unknown and acqState is {st!r}; stopping", file=sys.stderr)
+                    return 3
+            st = wait_state(cli, "grab", 5.0)
+            log(results, step="grab", color=color, acqState=st, start_ms=round((time.perf_counter() - t0) * 1000))
+            if st != "grab":
+                print(f"[{color}] startGrab returned but acqState is {st!r}; stopping", file=sys.stderr)
+                return 1
+            time.sleep(a.settle)
+            print(f"\a[{color}] >>> RUN THE {color.upper()} BLOCK IN THE STUDIO NOW ({len(a.duties)} × {a.step:g} s) <<<", flush=True)
+            budget = per_color + 20.0
+            st = wait_state(cli, "idle", budget)
+            frames = cli.get("hSI.hDisplay.lastFrameNumber")
+            counter2 = cli.get("hSI.hScan2D.logFileCounter")
+            log(results, step="waitIdle", color=color, acqState=st, lastFrameNumber=frames, counter_after=counter2)
+            if st != "idle":
+                print(f"[{color}] still {st!r} after {budget:g} s — aborting the grab", file=sys.stderr)
+                cli.eval("hSI.abort()", a.grab_timeout)
+                log(results, step="abort", color=color, acqState=wait_state(cli, "idle", 5.0))
+        print("\n[done] all colors grabbed; arena should be dark (allOff in the Studio).")
+        return 0
+    except (SiError, OSError) as exc:
+        print(f"[si] error: {exc}", file=sys.stderr)
+        return 1
+    except KeyboardInterrupt:
+        print("\n[si] interrupted — aborting any running grab", file=sys.stderr)
+        try:
+            cli.eval("hSI.abort()", a.grab_timeout)
+        except Exception:
+            pass
+        return 130
+    finally:
+        if a.results and results:
+            with open(a.results, "a", encoding="utf-8", newline="\n") as fh:
+                for r in results:
+                    fh.write(json.dumps(r) + "\n")
+        cli.drop()
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

From fa69aab563a9bc16d8b16656d112be1bde700775 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 11:49:14 -0400
Subject: [PATCH 76/96] step 7: GS16 color gratings for the 2P sweep
 (make-color-optomotor-patterns.js --gs16; no refresh-rate confound vs the 22
 Sept GS16 runs), protocol points at them; SCANIMAGE-DAY.md rewritten for the
 JSON-server connector, the built/tested state, the rig test plan (new-arena
 trigger check, 20 panels, Inventory after power cycles) and what still needs
 the rig

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 protocols/g6_2p_color_led_sweep.yaml          |  56 ++--
 .../G6_2x10_toprow_grat20_blue_gs16.pat       | Bin 0 -> 81338 bytes
 .../G6_2x10_toprow_grat20_green_gs16.pat      | Bin 0 -> 81338 bytes
 .../G6_2x10_toprow_grat20_violet_gs16.pat     | Bin 0 -> 81338 bytes
 .../G6_2x10_toprow_grat20_yellow_gs16.pat     | Bin 0 -> 81338 bytes
 .../g6_2p_color_led_sweep_patterns/README.txt |  15 ++
 ros2-poc/SCANIMAGE-DAY.md                     | 245 ++++++++++--------
 scripts/make-color-optomotor-patterns.js      |  69 +++--
 8 files changed, 247 insertions(+), 138 deletions(-)
 create mode 100644 protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_blue_gs16.pat
 create mode 100644 protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_green_gs16.pat
 create mode 100644 protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_violet_gs16.pat
 create mode 100644 protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_yellow_gs16.pat
 create mode 100644 protocols/g6_2p_color_led_sweep_patterns/README.txt

diff --git a/protocols/g6_2p_color_led_sweep.yaml b/protocols/g6_2p_color_led_sweep.yaml
index 4adbccde..906c8eee 100644
--- a/protocols/g6_2p_color_led_sweep.yaml
+++ b/protocols/g6_2p_color_led_sweep.yaml
@@ -15,10 +15,17 @@ version: 3
 # CHANGE THE EXPERIMENT ONLY IN `variables:` below — colors (pattern + SD slot),
 # duty levels, step length, speed, frames per grab, timeouts.
 #
-# PATTERNS: the same four one-color top-row gratings as g6_color_optomotor_test
-# (protocols/g6_color_optomotor_test_patterns/, GS2, 20 frames), already on the
-# arena's SD card in slots 1–4. The runner addresses patterns by card index:
-# check the slots in the Console's SD listing before Run.
+# PATTERNS: protocols/g6_2p_color_led_sweep_patterns/ — the four one-color
+# top-row gratings of g6_color_optomotor_test re-encoded as GS16 (lit pixels 15,
+# 20 frames; `node scripts/make-color-optomotor-patterns.js --gs16`). GS16 so the
+# controller re-streams at its 300 Hz default, as in the 22 Sept 2026 duty-sweep
+# runs — the GS2 set on the card (slots 1–4) would default to 1000 Hz, a refresh
+# confound the imaging comparison does not need. UPLOAD THE FOLDER ONCE before
+# Run (Console → Patterns → Add ▾ → the folder). The Studio resolves patterns by
+# NAME from the SD listing; the pattern_IDs below are only the fallback — check
+# the slots in the Console's SD listing after the upload and fix them if needed.
+# To fall back to the GS2 set, change the four pattern names/IDs in `variables:`
+# and set the refresh rate to 300 Hz by hand (step 3 below).
 #
 # BEFORE PRESSING RUN (Arena Studio Console, once per connection — not YAML-able):
 #   1. Controller ▾ → panel display mode = 2 (Triggered).  Wire: 02 1B 02
@@ -28,19 +35,25 @@ version: 3
 #      DO1 (BNC J3) is HIGH for every SPI frame transfer — THE alignment signal
 #      today (no analog marker yet): record it in ScanImage as an aux/AI channel.
 #      Digital IO 2 (J4) stays in_trigger — the line-clock → EINT route.
-#   3. Refresh rate (Debug ▾, unlock): 300 Hz. The gratings are GS2 and GS2
-#      defaults to 1000 Hz, where every re-streamed frame costs the panel 1–2
-#      line edges on the 2P firmware. Do not run GS2 at 1000 Hz.
+#   3. Refresh rate (Debug ▾, unlock): 300 Hz is the GS16 default — check it
+#      reads 300. Only the GS2 set needs it set by hand (GS2 defaults to 1000 Hz,
+#      where every re-streamed frame costs the panel line edges).
 #   4. Telemetry ring: on (default).
-#   NEW ARENA CHECK (this arena has not been on the microscope before): with the
-#   line clock running and display mode 2, Console → Test → full-field must light
-#   every panel; with the line clock stopped the panels must go dark; DO1 must
-#   show one pulse per controller refresh tick on the scope / ScanImage AI.
+#   NEW ARENA CHECK (this arena has not been on the microscope before; 20 panels,
+#   top row on the bank-window firmware, bottom row v1.3.1 — all with the 2P
+#   timing): Console → Panel firmware → Inventory must show 20 present (repeat
+#   after every power cycle; the top-row builds have hung at boot before). With
+#   the line clock running and display mode 2, Console → Test → full-field at
+#   level ≤ 128 (the 5 A supply resets at all-on 255) must light every panel at
+#   about ⅓ of mode-1 brightness; with the line clock stopped every panel must
+#   go dark; DO1 must show one pulse per controller refresh tick on the scope /
+#   ScanImage AI, and the line clock must be seen on the loop-back channel.
 #
 # SCANIMAGE SETUP (operator, in the GUI; the protocol does not touch these):
 #   unidirectional scanning, both channels saved (channelSave = [1 2]),
+#   lasers ON (this is a data run, not a dark test),
 #   logging ON, logFilePath on the F: data disk (F:\ImagingData\<date>\…),
-#   lasers on, detectors on. The protocol sets framesPerSlice (frames per grab)
+#   detectors on. The protocol sets framesPerSlice (frames per grab)
 #   to `frames_per_grab` in pre_blank and the file stem per color; nothing else.
 #   ScanImage must record: DO1 (frame-transfer envelope) and the line clock
 #   loop-back on aux inputs or spare AI channels — see
@@ -74,15 +87,16 @@ plugins:
       class: "ScanImagePlugin"   # web runner only — MATLAB has no ScanImagePlugin
 
 variables:
-  # ── patterns (SD slots as uploaded for g6_color_optomotor_test) ───────────
-  - &pat_violet "G6_2x10_toprow_grat20_violet"
-  - &id_violet 1
-  - &pat_blue "G6_2x10_toprow_grat20_blue"
-  - &id_blue 2
-  - &pat_green "G6_2x10_toprow_grat20_green"
-  - &id_green 3
-  - &pat_yellow "G6_2x10_toprow_grat20_yellow"
-  - &id_yellow 4
+  # ── patterns (GS16 set; IDs = expected slots after uploading the folder onto a
+  #    card that already holds the GS2 set in 1–4 — verify in the SD listing) ──
+  - &pat_violet "G6_2x10_toprow_grat20_violet_gs16"
+  - &id_violet 5
+  - &pat_blue "G6_2x10_toprow_grat20_blue_gs16"
+  - &id_blue 6
+  - &pat_green "G6_2x10_toprow_grat20_green_gs16"
+  - &id_green 7
+  - &pat_yellow "G6_2x10_toprow_grat20_yellow_gs16"
+  - &id_yellow 8
   # ── timing ────────────────────────────────────────────────────────────────
   - &fps 20                 # frames/s; 20-frame grating → one period per second
   - &step_dur 3             # s per duty level
diff --git a/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_blue_gs16.pat b/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_blue_gs16.pat
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diff --git a/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_green_gs16.pat b/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_green_gs16.pat
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diff --git a/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_violet_gs16.pat b/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_violet_gs16.pat
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diff --git a/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_yellow_gs16.pat b/protocols/g6_2p_color_led_sweep_patterns/G6_2x10_toprow_grat20_yellow_gs16.pat
new file mode 100644
index 0000000000000000000000000000000000000000..b56026292db532a8bd7a027349a67ff534110461
GIT binary patch
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diff --git a/protocols/g6_2p_color_led_sweep_patterns/README.txt b/protocols/g6_2p_color_led_sweep_patterns/README.txt
new file mode 100644
index 00000000..9d7971a2
--- /dev/null
+++ b/protocols/g6_2p_color_led_sweep_patterns/README.txt
@@ -0,0 +1,15 @@
+Patterns for protocols/g6_2p_color_led_sweep.yaml (G6 2x10 four-color panels, GS16 — lit pixels 15, 20 frames each;
+built by scripts/make-color-optomotor-patterns.js --gs16 — regenerate rather than edit). GS16 so the controller
+re-streams at 300 Hz (its GS16 default), as in the 22 Sept 2026 2P duty-sweep runs; the GS2 set would default to 1000 Hz.
+Upload the whole folder from Arena Studio (Console → Patterns → Add ▾ → this folder); the Studio resolves
+patterns by NAME, so the pattern_IDs in the YAML only matter as the fallback when the SD listing is unavailable.
+
+Each file: square-wave grating, period 20 px = 36°, 10 px on / 10 px off, one pixel of shift toward increasing
+column index per frame (20 frames = one period; playback wraps), TOP panel row only (pixel rows 20..39), and only
+the pixels of ONE LED color bank lit (2×2-cell bank map of js/panel-color.js, layout "four-color").
+Frame_rate +80 in mode 2 = 4 Hz temporal frequency (80 px/s ÷ 20 px); negative reverses.
+
+G6_2x10_toprow_grat20_violet_gs16.pat — bank 0 = violet 405 nm; frames 20, lit px/frame 500, stray px 0, 81338 bytes  OK
+G6_2x10_toprow_grat20_blue_gs16.pat — bank 1 = blue 470 nm; frames 20, lit px/frame 500, stray px 0, 81338 bytes  OK
+G6_2x10_toprow_grat20_green_gs16.pat — bank 2 = green 525 nm; frames 20, lit px/frame 500, stray px 0, 81338 bytes  OK
+G6_2x10_toprow_grat20_yellow_gs16.pat — bank 3 = yellow-orange 590 nm; frames 20, lit px/frame 500, stray px 0, 81338 bytes  OK
diff --git a/ros2-poc/SCANIMAGE-DAY.md b/ros2-poc/SCANIMAGE-DAY.md
index f16a5f03..a57778dc 100644
--- a/ros2-poc/SCANIMAGE-DAY.md
+++ b/ros2-poc/SCANIMAGE-DAY.md
@@ -1,124 +1,165 @@
 # ScanImage day (2026-10-16): a real 2P experiment through the ROS 2 graph
 
-**Goal for today:** one simple, real experiment on the Bergamo rig — drive the G6 color LEDs at a few
-intensities and record an ex vivo fly prep for SNR / SiPM characterization — with ScanImage driven
-from the protocol through the same connector path that drives BIAS, and the run log + bag holding
-the command/reply pairs so the TIFFs can be aligned to the trials. If the connector path slips, the
-fallback (§6) still gets the data today.
-
-Everything here builds on branch `claude/ros-studio-plan-b-c44942` (draft PR #254): the ROS 2 graph,
-the Studio v0.95+ with `connector_command`, the Windows results from ww18 (2026-10-15).
+**Goal for today:** one simple, real experiment on the Bergamo rig — the G6 four-color arena shows
+one-color top-row gratings at six panel duty levels while ScanImage grabs an ex vivo fly prep for
+SNR / SiPM characterization (lasers ON, data run) — with ScanImage driven from the protocol through
+the same connector path that drives BIAS, and the run log + bag holding the command/reply pairs so
+the TIFFs can be aligned to the trials. If the connector path slips, the fallback (§6) still gets
+the data today.
+
+Everything here is on branch `claude/ros-studio-plan-b-c44942` (draft PR #254): the ROS 2 graph,
+Studio v0.96 with the `scanimage` plugin, the Windows results from ww18 (2026-10-15). **The
+off-rig half is built and tested** (Mac, 2026-10-16 morning, commits 93fc80d…); the rig session
+runs §1–§5. **Decided with Michael 2026-10-16:** ROS 2 graph adopted (LAB-303), MCAP primary,
+**ScanImage's built-in JSON server, not si_zmp** (LAB-305: event-driven, no frame-timing
+disturbance; si_zmp's polling timer disturbed frames), one grab per color, no analog marker today
+(alignment = Digital IO 1 frame-transfer pulse into ScanImage), GS16 patterns (no refresh-rate
+confound vs the 22 Sept runs), unidirectional scan, both channels, server local to the Bergamo PC.
 
 ## Where things are
 
 | What | Where |
 |---|---|
-| ScanImage remote control (**si_zmp**): ZeroMQ REQ/REP on `tcp://127.0.0.1:5556` (`'*'` for other PCs), text commands `ping \| status \| focus \| grab \| loop \| abort \| get <prop> \| set <prop> <value>` | repo `reiserlab/scanimage-2026-bergamo`, `scanimage/SI2026.0.0_…/si_zmp/` (`HOW_TO_USE.txt`, `si_zmq_server.m`, `si_zmq_server2.m`, Python client `si_zmq_client.py` → `ScanImageClient(host, port)`) |
-| Off-rig mocks for si_zmp (for the harness) | same repo, `tests/remote-control/mock_servers.py`, `tests/remote-control/offrig/` |
-| LAB-305 head-to-head results (si_zmp vs the built-in JSON server; the JSON server must NOT be used on a rig) | same repo, `tests/remote-control/results/2026-10-15_LAB-305/report.html`; Linear LAB-305 (Done) |
-| **Today's other rig block**: Hannah's Block Z (ZeroMQ frame stream, ~60 min, runs DARK) | same repo, `procedures/rig-session-2026-10-16.md` — coordinate: our prep needs the lasers ON |
-| Rig-PC environment notes (git not on PATH, MATLAB R2025b vs R2026a, Python 3.14 terminal, F: for data) | same repo, `procedures/rig-session-2026-10-16.md` → "Environment notes" |
-| 2P panel firmware (BETA line-sync: active-low EINT, 1 µs BCM base, free-running Triggered) + the two-minute functional check | `docs/development/2p-line-sync-rig-checklist.md` (§1 flash all 18 panels, §2 check) |
-| What ScanImage must record for alignment (DO1 frame-transfer envelope, line clock loop-back, **AO condition marker** on an AI channel) and the controller settings before Run (panel display mode **2** Triggered, Digital IO 1 role framescan, refresh 300 Hz for GS16) | `protocols/g6_2x10_2p_duty_sweep.yaml` header; `docs/development/2p-scanimage-signal-logging.md` |
-| Intensity = panel duty (25 / 64 / 128 / 191 / 255 ≈ 10–100 %); `duty: 0` means the pattern's own, OFF is `allOff`; end with `allOff`, not `stopDisplay` | same YAML header, notes 1–4 |
-| Color patterns, one LED color at a time, top row, 25/50/100 % duty (made on ww18) | `protocols/g6_color_optomotor_smoke*.yaml` + its patterns on this branch; `scripts/make-2p-diagnostic-patterns.js` for full-field GS16 |
-| The BIAS connector (the template for a ScanImage connector) | `ros2-poc/nodes/bias_node.py`, `bridge_node.py` (`CONNECTORS`, `on_connector_command`), `js/arena-runner-g6.js` (`connectorCommand`), `arena_studio.html` (`connectorPluginNames`), `js/plugin-registry.js` (`camera` plugin) |
-| Arena → microscope signal into ZeroMQ (the event side si_zmp does not have yet) | Linear LAB-300 (Todo, Hannah) — out of scope today; alignment uses the AO marker |
-
-## Decisions to make first (10 minutes with Michael)
-
-1. **Which PC.** The Studio, the graph and the arena controller must sit on one PC; si_zmp can be
-   local (`127.0.0.1:5556`) or remote (`'*'`). Default: the Bergamo PC `reiserlab-bergamo1`
-   (ScanImage + si_zmp there; the 2P checklist already runs the Studio there). ww18 is the
-   fallback if the Bergamo PC must stay untouched.
-2. **Panels.** Are the 18 panels on the Bergamo arena on the BETA 2P firmware (checklist §1)? If
-   not, flashing + §2 check is the first hardware step (~20 min).
-3. **Stimulus set.** Which colors (which of the 4 banks), how many intensities (duty levels), how
-   long per step, how many repeats; static full field or the top-row color patterns. Keep it to
-   ≤ 15 conditions so one run fits in ~5 min.
-4. **ScanImage side.** Where TIFFs go (`F:\ImagingData\…`), frames per grab, channels; whether
-   `set hScan2D.logFileStem` per condition is wanted (one TIFF per condition — strongly preferred
-   for alignment) or one long grab with the AO marker only.
-5. **Time with Hannah.** Block Z runs dark; our runs need lasers on. Agree the order.
+| **ScanImage remote control = the built-in JSON server** (`most.network.json.Server`): TCP 5555, `<Q` byte count + JSON each way, `get`/`set`/`eval`; started in MATLAB with `hJ = most.network.json.Server(5555);`. Stock install has bugs B1–B4 (patches reverted after LAB-305); the connector is written to stay clear of them: one localhost client, scalar properties only (allowlists), two fixed evals (`hSI.startGrab()`, `hSI.abort()`), complete messages in one write | repo `reiserlab/scanimage-2026-bergamo`: `tests/remote-control/si_remote.py` (JsonClient), `tests/remote-control/mock_servers.py`, `patches/scanimage-2026.0.0/README.md` (B1–B4); LAB-305 results (Done); LAB-306 status block (2026-10-16) |
+| **The ScanImage connector** (built today): node, CLI, mock | `ros2-poc/nodes/scanimage_node.py` (topics `/scanimage/cmd|reply|status`), `nodes/scanimage_cmd.py`, `tests/si_json_mock.py`; `bridge_node.py` `CONNECTOR_TOPICS` (hello_ack advertises `bias` + `scanimage`); `rig.py --scanimage` / `--si-mock`; `mcap_convert.py` derives the connector events; harness `pixi run test` **52/52** (Mac) incl. grab/waitIdle/abort and the UNKNOWN path |
+| **Studio v0.96** plugin `scanimage` (class `ScanImagePlugin`): `setFileStem`, `set` (allowlist), `grab`, `waitIdle`, `abort`; `connectorPluginNames` maps it to the `scanimage` connector; the run file + MCAP bag now **close at run end** (`log_control off` after the commit step) | `js/plugin-registry.js`, `arena_studio.html`, release notes v0.96 |
+| **The protocol**: `g6_2p_color_led_sweep` — pre_blank (sets framesPerSlice 640) → per color: setFileStem `<color>_sweep` → grab → 1 s → six conditions (duty 7/15/31/63/127/255, 3 s each, 20 fps) → allOff → waitIdle → post_blank. ≈ 2.5 min. Everything tunable in `variables:` | `protocols/g6_2p_color_led_sweep.yaml` (+ `protocols/index.json`); header = controller settings, ScanImage setup, new-arena check |
+| **Patterns (GS16)**: the four one-color top-row gratings re-encoded as Gray_16 (lit = 15), names `G6_2x10_toprow_grat20_<color>_gs16`, **to be uploaded onto the card** (Console → Patterns → Add ▾ → folder); expected slots 5–8 after the GS2 set in 1–4 — verify in the SD listing (the Studio resolves by NAME; IDs are the fallback) | `protocols/g6_2p_color_led_sweep_patterns/` (`node scripts/make-color-optomotor-patterns.js --gs16`) |
+| **Fallback driver** (no ROS, stdlib Python): same condition table and TIFF layout | `tools/led_sweep_si.py` (`--dry-run`, `--ping`) |
+| **Panel firmware facts (side session 2026-10-16, note `panel-firmware-lineage-2026-10-16.md`)**: all 20 panels carry the 2P timing (falling-edge free-running Triggered, 1 µs base in Triggered, EINT pull-down); bottom row v1.3.1 (`0xB8796BAF`), top row bank-window diag builds (`0x362644DD` / `0x1A74DD1D` / `0x9E03D589`); **20 panels, not 18**; clean bank-window builds hung at boot before → run Inventory after every power cycle; never mode 3 (Gated) on the Bergamo; the 5 A supply resets on all-on at duty 255 → test displays ≤ 128; Triggered gives ⅓ of mode-1 light and the top row's bank windows cut ~5× more | `docs/development/2p-line-sync-rig-checklist.md` (§1 flash is NOT needed today; §2 check applies), `2p-scanimage-signal-logging.md` |
+| **Today's other rig block**: Hannah's Block Z (ZeroMQ frame stream, ~60 min, runs DARK, changes channelSave/framesPerSlice/acqsPerLoop/logging and restores them; no acquisitions from another block while its subscriber runs) | `reiserlab/scanimage-2026-bergamo` `procedures/rig-session-2026-10-16.md` + `-zmq-frames.md`. **Order: Block Z first (dark), then ours (lasers on).** Ports do not collide (Z: ZMQ PUB 65179; ours: JSON 5555) |
+| Rig-PC environment notes (git not on PATH → GitHub Desktop's git; MATLAB `matlab` is R2026a, ScanImage needs **R2025b**; Python from the operator's terminal; F: for data; `logFilePath` was empty) | same repo, `procedures/rig-session-2026-10-16.md` → "Environment notes" |
+
+## Settled decisions (2026-10-16, Michael)
+
+1. **PC:** the Bergamo PC `reiserlab-bergamo1` runs everything: ScanImage + JSON server, the ROS graph,
+   the Studio (served from this checkout), the arena controller. Client on `127.0.0.1` (sidesteps B1
+   and the server's all-interfaces bind).
+2. **Panels:** no flashing today. Verify with Inventory (20 present) and the §3 behavior check.
+3. **Stimulus:** 4 colors × 6 duties (7/15/31/63/127/255) × 3 s at 20 fps on the GS16 gratings,
+   one grab per color (startGrab costs 1.2–2.4 s, so per-condition grabs would waste more than they
+   image). Repeats = run the protocol again (new TIFF counters).
+4. **ScanImage:** unidirectional, both channels, logging on, TIFFs under `F:\ImagingData\2026-10-16\…`,
+   framesPerSlice set by the protocol (640 ≈ 22 s at 29 Hz). Lasers on.
+5. **Alignment:** Digital IO 1 (BNC J3) frame-transfer pulse + the line clock loop-back recorded by
+   ScanImage (aux triggers → TIFF header, or spare AI channels). No AO marker today.
 
 ## Plan (in order; stop and report after each)
 
 ### 1. Bergamo PC setup (30 min, no hardware)
-- Clone/fetch `reiserlab/webDisplayTools`, `git switch claude/ros-studio-plan-b-c44942`; `cd ros2-poc`;
-  `pixi install --locked` (ww18: 25 s warm, minutes cold; 1.0 GB). Use the default env (String
-  topics); the `typed` env is optional today.
-- `pixi run test` (harness, 47/47 on ww18). Note the Windows gotchas already fixed there
-  (`WINDOWS-TEST.md`, `windows-results-ww18-2026-10-15.md`).
-- Confirm si_zmp answers: MATLAB `hZ = si_zmq_server(hSI);`, then from Python
-  `ScanImageClient("127.0.0.1", 5556).ping()` → `pong`. Record the `status` reply shape.
-
-### 2. ScanImage connector (2–3 h, mock first, then si_zmp)
-- `ros2-poc/nodes/scanimage_node.py`, modeled on `bias_node.py`: one ZMQ REQ socket to si_zmp,
-  topics `/scanimage/cmd`, `/scanimage/reply`, `/scanimage/status` (poll `status` at 1 Hz).
-  Commands 1:1 with si_zmp: `ping, status, focus, grab, loop, abort, get(property),
-  set(property, value)`, plus a composite `grabAndWait(frames?, timeout_s)` that issues `grab`
-  and polls `status` until idle — the protocol needs "the grab is done" as a step boundary.
-  Timeouts: a REQ with no reply within `timeout_s` is an UNKNOWN outcome (same LAB-303 rule as
-  BIAS); ZMQ REQ/REP needs `RCVTIMEO` + socket reset on timeout or it wedges.
-- `bridge_node.py`: `CONNECTORS["scanimage"] = "/scanimage/cmd"`; the relay is already generic.
-- `js/plugin-registry.js`: a `scanimage` plugin (`matlab.class: "ScanImagePlugin"` as the key;
-  MATLAB has no such class yet — say so in the registry comment) with those commands and params.
-- `arena_studio.html` `connectorPluginNames`: ScanImagePlugin → `'scanimage'`.
-- Harness: add the scanimage node + `mock_servers.py`'s si_zmp mock (copy the mock into
-  `ros2-poc/tests/` with attribution) and a connector step in `studio_emulator.py`; keep 47/47.
-- Bench the node against the real si_zmp from a terminal (`pixi run scanimage-cmd -- ping`, `…
-  grabAndWait`) before any Studio run.
-
-### 3. The protocol (30 min) — `protocols/g6_2p_color_led_sweep.yaml`
-- Rig `./configs/rigs/cshl_g6_2x10.yaml` (the 2P rig config the duty sweep uses), plugins
-  `scanimage` (+ nothing else; no fictrac on the 2P rig).
-- `pre_blank`: `allOff`, `setAnalogOut` marker 0 V, `scanimage.set hScan2D.logFileStem "<run>_blank"`,
-  `scanimage.grabAndWait`.
-- Per condition (color × duty): `setAnalogOut` marker stepped (0.5 V per condition) →
-  `scanimage.set logFileStem "<run>_c<k>_<color>_d<duty>"` → `scanimage.grab` → `wait 1` (grab
-  start latency; measure it in step 2) → `trialParams` (static single-color full-field pattern,
-  `duty: <level>`, mode 2, frame_rate 0) → `wait <step_dur>` → `allOff` → `scanimage.grabAndWait`
-  (or `abort` if frames per grab > the step).
-- `post_blank` as `pre_blank`. End with `allOff`.
-- Patterns: static single-color full-field at GS16 from the color-panel tooling; if making them is
-  slow, use the existing top-row color patterns from the ww18 smoke protocol.
-- Controller settings before Run (Console, per the checklist): display mode 2 (Triggered), Digital
-  IO 1 = framescan, refresh 300 Hz. Check whether the Studio on this branch asserts them from the
-  protocol; if not, set them by hand and note it.
-
-### 4. Dry run without the prep (20 min)
-- Lasers off, detectors off: full protocol → bag + converted log → `runlog-check.py` OK; one TIFF
-  per condition on F:, the AO marker steps visible in ScanImage's AI channel, command/reply pairs
-  in the log with `t_ms`. This is the go/no-go for the real run.
+
+```
+# a terminal the operator owns (git via GitHub Desktop if `git` is not on PATH)
+git clone https://github.com/reiserlab/webDisplayTools.git   # or fetch an existing clone
+cd webDisplayTools && git switch claude/ros-studio-plan-b-c44942 && git pull
+cd ros2-poc && pixi install --locked          # default env (String topics); 25 s warm, minutes cold, ~1.5 GB
+pixi run test                                 # harness: expect 52 / 52 (≈ 60 s; ports 7447/8765/60000 must be free)
+```
+Then ScanImage (R2025b MATLAB), idle:
+```matlab
+hJ = most.network.json.Server(5555);          % the JSON server; keep this handle; clear hJ to stop it
+hSI.hChannels.loggingEnable = true; hSI.hScan2D.logFilePath = 'F:\ImagingData\2026-10-16\led_sweep';
+```
+And the connector against the real server:
+```
+pixi run router                               # terminal A (or skip: `pixi run rig` starts it)
+pixi run scanimage-node                       # terminal B: 127.0.0.1:5555, status 1 Hz
+pixi run scanimage-cmd -- ping                # terminal C → "ping → ok (… ms) value={'acqState': 'idle'}"
+pixi run scanimage-cmd -- status --json       # acqState, lastFrameNumber, logFileCounter, stem, path, loggingEnable
+```
+**Pass:** ping ok with a few-ms RTT; status shows logging on and the F: path. Record the RTT.
+
+### 2. Connector bench against the real ScanImage, dark (15 min)
+
+```
+pixi run scanimage-cmd -- set --property hStackManager.framesPerSlice --value 60
+pixi run scanimage-cmd -- setFileStem --stem connector_check
+pixi run scanimage-cmd -- grab                # ≈ 1–3 s; reply carries artifact {stem, counter, path}
+pixi run scanimage-cmd -- waitIdle --timeout-s 20
+pixi run scanimage-cmd -- grab && pixi run scanimage-cmd -- abort
+```
+**Pass:** one TIFF `connector_check_00001.tif` on F:, logFileCounter incremented, acqState back to
+idle, Hannah's `hMon` shows no lostFrames, MATLAB never froze. **Record:** grab start RTT (the
+synchronous startGrab), TIFF frame count.
+
+### 3. The arena on the microscope (new arena: 20 min)
+
+Studio from this checkout (not Pages): `python .claude/nocache-server.py 8092` at the repo root →
+`http://localhost:8092/arena_studio.html?advanced=1` (soft password per the branch notes). Connect.
+1. **Console → Panel firmware → Inventory:** 20 present; 1–10 `fw_match 0xB8796BAF`; 11–20
+   `fw_differs` with `0x362644DD` / `0x1A74DD1D` / `0x9E03D589`. Repeat after any power cycle.
+2. **Controller ▾:** panel display mode **2** (Triggered). **Digital IO 1 = out_debug_framescan.**
+   Digital IO 2 stays `in_trigger` (line clock → EINT). **Refresh rate reads 300 Hz** (GS16 default).
+3. **Trigger + edges (the new-arena check):** ScanImage FOCUS (dark) so the line clock runs →
+   Console → Test → full-field at level **≤ 128**: every panel lit at ~⅓ of mode-1 brightness.
+   Stop FOCUS → every panel dark. On the scope / ScanImage AI: DO1 shows one pulse per controller
+   refresh tick (~0.7 ms wide), the line clock is on its loop-back channel. `stopDisplay` does not
+   blank; `allOff` does.
+4. **Patterns:** Console → Patterns → Add ▾ → `protocols/g6_2p_color_led_sweep_patterns/` (4 GS16
+   files). SD listing shows `…_gs16` names; note their slots. If they are not 5–8, fix the four IDs
+   in the protocol's `variables:` (the Studio resolves by name; the IDs are the fallback).
+5. **Graph up:** `pixi run rig -- --scanimage` (router + fictrac adapter + scanimage node + bridge
+   node). Studio Console → FicTrac/bridge: Connect → hello_ack lists connectors `bias, scanimage`.
+
+### 4. Dry run without the prep, dark (20 min) — the go/no-go
+
+Lasers off. Studio → Open `protocols/g6_2p_color_led_sweep.yaml` → Run (experiment). **Pass:**
+- 24 stimulus conditions + 2 blanks run; four TIFF series `violet_sweep_…`, `blue_sweep_…`,
+  `green_sweep_…`, `yellow_sweep_…` on F:, each ≈ 640 frames;
+- DO1 pulses visible in each TIFF's aux record / AI channel; six brightness steps visible on the
+  arena by eye (the duty steps);
+- the run ends, the bridge's run file AND the bag close (`[record] closed …bag` in the rig terminal);
+  `pixi run convert -- <bag>` (or the Studio export) gives a `.jsonl` with 4 `grab` replies carrying
+  `artifact.stem` + `counter`, 4 `waitIdle` ok, `setFileStem` ×4, `set` ×1; `runlog-check` OK.
+- `hMon`: no lostFrames attributable to the connector (compare with Block Z's idle baseline).
 
 ### 5. The experiment (with Michael)
-- Prep on, lasers on, SiPM channels recording. Run the protocol once per repeat. After each run:
-  the converted log, the bag, the TIFF list and the AO marker trace. Alignment check: TIFF
-  frame timestamps vs the log's `scanimage.grab` reply `t_ms` and the AO step edges.
 
-### 6. Fallback (keeps today's data if §2 slips)
-- A script on the rig PC, `tools/led_sweep_si.py`: `ScanImageClient` + a fixed condition table
-  (color, duty, duration) that sets the file stem and grabs per condition, while the Studio runs
-  the matching protocol via **Test experiment** (the 22 Sept route, `2p-line-sync-rig-checklist.md`
-  §3) and the AO marker carries the alignment. Same TIFF-per-condition layout, so the analysis
-  does not change later.
+Prep in, lasers on, SiPM channels recording. Run the protocol once per repeat. After each run:
+the converted log, the bag, the TIFF list, the DO1 trace. **Alignment check:** TIFF frame times vs
+the `grab` reply `t_ms` and the first DO1 pulse of each color block; duty steps vs the trialParams
+`["a",…]` echoes in the log.
+
+### 6. Fallback (keeps today's data if the connector path slips)
+
+`python tools/led_sweep_si.py --dry-run` → `--ping` → `python tools/led_sweep_si.py` on the rig
+PC (stdlib Python, talks to the JSON server directly). It sets the stem and starts the grab per
+color and cues the operator; the Studio runs the matching color block by hand (**Test experiment**
+or Run on a copy of the protocol with the `scanimage` commands removed). Same one-TIFF-per-color
+layout and DO1 alignment, so the analysis does not change.
+
+## What still needs the rig (cannot be tested off-rig)
+
+- The JSON server's real reply shape for `set` (`actual`) and `eval` on ScanImage 2026.0.0 — the
+  mock follows Hannah's mock; a difference shows up in step 1/2 as an `error` reply, and the
+  node's `steps` list says which request.
+- startGrab latency on the Bergamo PC (1.2–2.4 s in LAB-305) → whether `grab_settle: 1` is enough
+  (the grab reply already waits for `acqState == grab`, so the settle covers scanner start only).
+- The arena's trigger path on the microscope (step 3.3), the DO1 record in ScanImage, the SD slots
+  after the upload, and the bank-window boot behavior after power cycles.
+- Windows specifics of the node: the TCP client is stdlib; `raise_timer_resolution()` applies as
+  for the other nodes. `pixi run test` is the check (52/52 expected; ww18 was 47/47 before today).
 
 ## Rules
-- Nothing goes to Production or Next; all code on branch `claude/ros-studio-plan-b-c44942` (or a
-  branch off it), commits name the step. Never change ScanImage's vendor files, `MicroscopeMDF.m`,
-  `.cfg`/`.usr`, or the power plan (the scanimage repo's rules apply).
-- Run dark until Michael says the prep is ready. Confirm before anything that starts FOCUS, GRAB or LOOP.
+- Nothing goes to Production or Next; all code on branch `claude/ros-studio-plan-b-c44942`, commits
+  name the step. Never change ScanImage's vendor files, `MicroscopeMDF.m`, `.cfg`/`.usr`, or the
+  power plan (the scanimage repo's rules apply). Clear the JSON server (`clear hJ`) at the end.
+- Dark until Michael says the prep is ready (steps 1–4). Confirm before anything that starts FOCUS,
+  GRAB or LOOP while someone is at the microscope.
 - Keep a results log from the first command (`ros2-poc/scanimage-day-2026-10-16.md`): one row per
-  step, timings, every error verbatim.
+  step, timings, every error verbatim. Add our block to the scanimage repo's session index
+  (`procedures/rig-session-2026-10-16.md`, block letter S, this file as the plan) — that repo
+  commits straight to `main`.
 
 ## Paste into Claude Code on the rig PC
 
 ```
-ScanImage day on the Bergamo rig (LAB-303 / LAB-300 context). Fetch reiserlab/webDisplayTools,
-switch to claude/ros-studio-plan-b-c44942 and read ros2-poc/SCANIMAGE-DAY.md; it has the goal,
-where everything is, the five decisions to settle with me first, and the plan in order. Also
-read procedures/rig-session-2026-10-16.md in reiserlab/scanimage-2026-bergamo (Hannah's block
-runs today on this rig; its environment notes apply). Work the plan in order, stop and report
-after each numbered step, run dark until I say otherwise, and keep the results log the brief
-asks for. Small fixes go on the branch; never touch Production, Next, or ScanImage's own files.
+ScanImage day on the Bergamo rig (LAB-303 / LAB-306). Fetch reiserlab/webDisplayTools, switch to
+claude/ros-studio-plan-b-c44942 (git pull) and read ros2-poc/SCANIMAGE-DAY.md end to end: the
+off-rig half is built and tested; today is steps 1–5 in order, dark through step 4, lasers on
+only when Michael says so. Also read procedures/rig-session-2026-10-16.md in
+reiserlab/scanimage-2026-bergamo (Hannah's Block Z runs today on this rig, dark, before us; its
+environment notes apply). Stop and report after each numbered step, keep the results log the
+brief asks for, and use the fallback (§6) rather than debugging on site if the connector path
+fails. Small fixes go on the branch; never touch Production, Next, or ScanImage's own files.
 ```
diff --git a/scripts/make-color-optomotor-patterns.js b/scripts/make-color-optomotor-patterns.js
index 4924a208..35d4ca15 100644
--- a/scripts/make-color-optomotor-patterns.js
+++ b/scripts/make-color-optomotor-patterns.js
@@ -17,7 +17,13 @@
  * so each frame lights exactly 500 of the 8000 pixels. GS2 (binary): brightness comes from
  * the trial's `duty` override, which is what the protocol sweeps.
  *
- *   node scripts/make-color-optomotor-patterns.js
+ *   node scripts/make-color-optomotor-patterns.js          # GS2 set for g6_color_optomotor_test
+ *   node scripts/make-color-optomotor-patterns.js --gs16   # GS16 set for g6_2p_color_led_sweep
+ *
+ * --gs16 writes the SAME four gratings as Gray_16 files (lit pixels = 15) into
+ * protocols/g6_2p_color_led_sweep_patterns/, names suffixed `_gs16`. The 2P imaging runs
+ * use GS16 because the controller re-streams GS16 at 300 Hz by default (GS2 at 1000 Hz),
+ * matching the 22 Sept 2026 duty-sweep runs — same stimulus, no refresh-rate confound.
  */
 const fs = require('fs');
 const path = require('path');
@@ -26,11 +32,24 @@ const PatParser = _pp.default || _pp;
 const PatEncoder = require('../js/pat-encoder.js');
 const PanelColor = require('../js/panel-color.js');
 
-const ROWS = 2, COLS = 10, PIXEL_ROWS = 40, PIXEL_COLS = 200, N = PIXEL_ROWS * PIXEL_COLS;
-const PERIOD_PX = 20, ON_PX = 10, FRAMES = PERIOD_PX;
+const ROWS = 2,
+    COLS = 10,
+    PIXEL_ROWS = 40,
+    PIXEL_COLS = 200,
+    N = PIXEL_ROWS * PIXEL_COLS;
+const PERIOD_PX = 20,
+    ON_PX = 10,
+    FRAMES = PERIOD_PX;
 const TOP_ROW_START = 20; // pixel rows 20..39 = the top panel row (row 0 = bottom)
 const ARENA_ID = 1;
-const OUT = path.join(__dirname, '..', 'protocols', 'g6_color_optomotor_test_patterns');
+const GS16 = process.argv.includes('--gs16');
+const ON_VALUE = GS16 ? 15 : 1;
+const OUT = path.join(
+    __dirname,
+    '..',
+    'protocols',
+    GS16 ? 'g6_2p_color_led_sweep_patterns' : 'g6_color_optomotor_test_patterns'
+);
 const layout = PanelColor.getLayout('four-color');
 const BANKS = layout.banks; // ['violet', 'blue', 'green', 'yellow']
 
@@ -41,7 +60,8 @@ function grating(bank) {
         for (let r = TOP_ROW_START; r < PIXEL_ROWS; r++) {
             for (let c = 0; c < PIXEL_COLS; c++) {
                 if (PanelColor.bankAt(r, c) !== bank) continue;
-                if ((((c - f) % PERIOD_PX) + PERIOD_PX) % PERIOD_PX < ON_PX) fr[r * PIXEL_COLS + c] = 1;
+                if ((((c - f) % PERIOD_PX) + PERIOD_PX) % PERIOD_PX < ON_PX)
+                    fr[r * PIXEL_COLS + c] = ON_VALUE;
             }
         }
         frames.push(fr);
@@ -50,9 +70,17 @@ function grating(bank) {
 }
 
 fs.mkdirSync(OUT, { recursive: true });
-const readme = [
-    'Patterns for protocols/g6_color_optomotor_test.yaml (G6 2x10 four-color panels, GS2, 20 frames each;',
-    'built by scripts/make-color-optomotor-patterns.js — regenerate rather than edit).',
+const readme = GS16
+    ? [
+          'Patterns for protocols/g6_2p_color_led_sweep.yaml (G6 2x10 four-color panels, GS16 — lit pixels 15, 20 frames each;',
+          'built by scripts/make-color-optomotor-patterns.js --gs16 — regenerate rather than edit). GS16 so the controller',
+          're-streams at 300 Hz (its GS16 default), as in the 22 Sept 2026 2P duty-sweep runs; the GS2 set would default to 1000 Hz.'
+      ]
+    : [
+          'Patterns for protocols/g6_color_optomotor_test.yaml (G6 2x10 four-color panels, GS2, 20 frames each;',
+          'built by scripts/make-color-optomotor-patterns.js — regenerate rather than edit).'
+      ];
+readme.push(
     'Upload the whole folder from Arena Studio (Console → Patterns → Add ▾ → this folder); the Studio resolves',
     'patterns by NAME, so the pattern_IDs in the YAML only matter as the fallback when the SD listing is unavailable.',
     '',
@@ -61,27 +89,38 @@ const readme = [
     'the pixels of ONE LED color bank lit (2×2-cell bank map of js/panel-color.js, layout "four-color").',
     'Frame_rate +80 in mode 2 = 4 Hz temporal frequency (80 px/s ÷ 20 px); negative reverses.',
     ''
-];
+);
 let ok = true;
 BANKS.forEach((color, bank) => {
-    const name = `G6_2x10_toprow_grat20_${color}`;
+    const name = `G6_2x10_toprow_grat20_${color}${GS16 ? '_gs16' : ''}`;
     const frames = grating(bank);
     const bytes = PatEncoder.encode({
-        generation: 'G6', gs_val: 2, numFrames: frames.length,
-        rowCount: ROWS, colCount: COLS, pixelRows: PIXEL_ROWS, pixelCols: PIXEL_COLS,
-        frames, stretchValues: [], arena_id: ARENA_ID, observer_id: 0
+        generation: 'G6',
+        gs_val: GS16 ? 16 : 2,
+        numFrames: frames.length,
+        rowCount: ROWS,
+        colCount: COLS,
+        pixelRows: PIXEL_ROWS,
+        pixelCols: PIXEL_COLS,
+        frames,
+        stretchValues: [],
+        arena_id: ARENA_ID,
+        observer_id: 0
     });
     const file = path.join(OUT, name + '.pat');
     fs.writeFileSync(file, Buffer.from(bytes));
     // Verify by decoding: 500 lit pixels per frame, all in the top row, all in this bank.
     const parsed = PatParser.parsePatFile(new Uint8Array(fs.readFileSync(file)).buffer);
-    let bad = 0, lit = [];
+    let bad = 0,
+        lit = [];
     parsed.frames.forEach((fr) => {
         let n = 0;
         for (let i = 0; i < fr.length; i++) {
             if (!fr[i]) continue;
+            if (fr[i] !== ON_VALUE) bad++;
             n++;
-            const r = Math.floor(i / PIXEL_COLS), c = i % PIXEL_COLS;
+            const r = Math.floor(i / PIXEL_COLS),
+                c = i % PIXEL_COLS;
             if (r < TOP_ROW_START || PanelColor.bankAt(r, c) !== bank) bad++;
         }
         lit.push(n);

From 7d137c5fb846915b3ed41d5a2e739022b96887b4 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 12:01:28 -0400
Subject: [PATCH 77/96] SCANIMAGE-DAY: the two-hour version (install overlapped
 with hardware setup, Block Z deferred, fallback trigger at 10 min)

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/SCANIMAGE-DAY.md | 25 ++++++++++++++++++++++++-
 1 file changed, 24 insertions(+), 1 deletion(-)

diff --git a/ros2-poc/SCANIMAGE-DAY.md b/ros2-poc/SCANIMAGE-DAY.md
index a57778dc..ca9159fc 100644
--- a/ros2-poc/SCANIMAGE-DAY.md
+++ b/ros2-poc/SCANIMAGE-DAY.md
@@ -16,6 +16,29 @@ disturbance; si_zmp's polling timer disturbed frames), one grab per color, no an
 (alignment = Digital IO 1 frame-transfer pulse into ScanImage), GS16 patterns (no refresh-rate
 confound vs the 22 Sept runs), unidirectional scan, both channels, server local to the Bergamo PC.
 
+## The two-hour version (2026-10-16: 2 h of rig time in total — run THIS, not the long plan)
+
+Block Z is **not today** (Hannah's ZeroMQ frame-stream test, 60 min dark, conflicts with our
+acquisitions; it runs whenever the rig is next free). Steps below are the long plan's §1–§5 with
+the optional parts removed and the install overlapped with the hardware setup.
+
+| When | Who | What | Pass |
+|---|---|---|---|
+| 0:00 | Claude on the PC | `git switch` + `pixi install --locked` in `ros2-poc` (cold install can take minutes: start it FIRST). Skip `pixi run test` unless the install finished early | env installs |
+| 0:00 | Michael | Arena on the microscope; Studio from the checkout (`python .claude/nocache-server.py 8092`), Connect | Inventory: 20 present |
+| 0:10 | Michael | Controller ▾: mode 2, Digital IO 1 = framescan, refresh reads 300. Upload `protocols/g6_2p_color_led_sweep_patterns/` (4 files), note the slots | slots noted; IDs in the YAML fixed if not 5–8 |
+| 0:15 | Michael | MATLAB (R2025b, ScanImage idle): `hJ = most.network.json.Server(5555);` logging on, `logFilePath` on F:, unidirectional, channels 1+2 | — |
+| 0:20 | Claude | `pixi run rig -- --scanimage` then `pixi run scanimage-cmd -- ping` and `-- status --json` | ping ok, status shows logging on + F: path |
+| 0:25 | both, dark | New-arena trigger check: FOCUS → Test full-field ≤ 128 lights every panel; stop FOCUS → all dark; DO1 pulses + line clock on ScanImage's inputs | all three seen |
+| 0:35 | Claude, dark | One grab through the connector: `set framesPerSlice 60`, `setFileStem connector_check`, `grab`, `waitIdle` | one TIFF on F:, counter +1, idle again |
+| 0:40 | both, dark | Dry run of the whole protocol from the Studio (≈ 2.5 min + overhead) | 4 TIFF series, DO1 in each, bag closed at run end, log converts with 4 grab replies |
+| 0:55 | Michael | Prep in, lasers on, SiPMs recording | — |
+| 1:05 → 1:50 | both | The experiment: the protocol once per repeat (≈ 3 min each incl. the operator check between runs); 3 to 5 repeats | per run: TIFFs, bag, converted log |
+| 1:50 | both | `clear hJ`, arena `allOff`, copy TIFFs + logs; results log filled in | — |
+
+If the connector ping (0:20) or the single grab (0:35) fails and is not fixed in ten minutes:
+switch to §6 (fallback script) at once and keep the schedule.
+
 ## Where things are
 
 | What | Where |
@@ -27,7 +50,7 @@ confound vs the 22 Sept runs), unidirectional scan, both channels, server local
 | **Patterns (GS16)**: the four one-color top-row gratings re-encoded as Gray_16 (lit = 15), names `G6_2x10_toprow_grat20_<color>_gs16`, **to be uploaded onto the card** (Console → Patterns → Add ▾ → folder); expected slots 5–8 after the GS2 set in 1–4 — verify in the SD listing (the Studio resolves by NAME; IDs are the fallback) | `protocols/g6_2p_color_led_sweep_patterns/` (`node scripts/make-color-optomotor-patterns.js --gs16`) |
 | **Fallback driver** (no ROS, stdlib Python): same condition table and TIFF layout | `tools/led_sweep_si.py` (`--dry-run`, `--ping`) |
 | **Panel firmware facts (side session 2026-10-16, note `panel-firmware-lineage-2026-10-16.md`)**: all 20 panels carry the 2P timing (falling-edge free-running Triggered, 1 µs base in Triggered, EINT pull-down); bottom row v1.3.1 (`0xB8796BAF`), top row bank-window diag builds (`0x362644DD` / `0x1A74DD1D` / `0x9E03D589`); **20 panels, not 18**; clean bank-window builds hung at boot before → run Inventory after every power cycle; never mode 3 (Gated) on the Bergamo; the 5 A supply resets on all-on at duty 255 → test displays ≤ 128; Triggered gives ⅓ of mode-1 light and the top row's bank windows cut ~5× more | `docs/development/2p-line-sync-rig-checklist.md` (§1 flash is NOT needed today; §2 check applies), `2p-scanimage-signal-logging.md` |
-| **Today's other rig block**: Hannah's Block Z (ZeroMQ frame stream, ~60 min, runs DARK, changes channelSave/framesPerSlice/acqsPerLoop/logging and restores them; no acquisitions from another block while its subscriber runs) | `reiserlab/scanimage-2026-bergamo` `procedures/rig-session-2026-10-16.md` + `-zmq-frames.md`. **Order: Block Z first (dark), then ours (lasers on).** Ports do not collide (Z: ZMQ PUB 65179; ours: JSON 5555) |
+| Hannah's Block Z (ZeroMQ frame stream, ~60 min, runs DARK, changes channelSave/framesPerSlice/acqsPerLoop/logging and restores them; no acquisitions from another block while its subscriber runs) | `reiserlab/scanimage-2026-bergamo` `procedures/rig-session-2026-10-16.md` + `-zmq-frames.md`. **Not today** (2 h of rig time); it runs whenever the rig is next free. Ports would not collide (Z: ZMQ PUB 65179; ours: JSON 5555) |
 | Rig-PC environment notes (git not on PATH → GitHub Desktop's git; MATLAB `matlab` is R2026a, ScanImage needs **R2025b**; Python from the operator's terminal; F: for data; `logFilePath` was empty) | same repo, `procedures/rig-session-2026-10-16.md` → "Environment notes" |
 
 ## Settled decisions (2026-10-16, Michael)

From cff58352652612cb4cc9eec5c29ea44e373d3253 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 12:49:32 -0400
Subject: [PATCH 78/96] ros2-poc: auto-recover an unclosed bag on log_export
 (LAB-303 adoption week, item 1)

A bag whose writer was killed (no metadata.yaml; a torn tail) no longer needs
`--recover` by hand. mcap_index.recover_bag rewrites the .mcap whole + indexed
(torn tail dropped, original kept as .torn.bak), appends one /arena/session
{"event":"recovered"} record so the bag itself says so, and asks rosbag2's own
Reindexer for metadata.yaml (verified: it reads the crashsafe file in file
order). The bridge node runs it when a log_export meets such a bag; a freshly
started node adopts the newest unclosed bag in --log-dir for its first export,
so the Studio's export after a bridge restart gets the salvaged run. The
log_export_result carries `recovered: true` + the recovery report (and the
conversion report); the converter emits the marker as a session line; a bag
with nothing salvageable (rosbag2 defaults leave a 0-byte file) falls back to
the shadow NDJSON. `pixi run export -- --json`, `pixi run reindex -- BAG --recover`.

Harness crash phase: a restarted node's log_export recovers the bag on its own
(frames == the --recover CLI's, marker present) and leaves a whole bag
(metadata.yaml, chunk index, converts without --recover). 54 / 54.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/README.md              |   3 +-
 ros2-poc/nodes/bridge_node.py   |  79 +++++++++++++-
 ros2-poc/nodes/export_log.py    |  17 +++
 ros2-poc/nodes/mcap_convert.py  |   7 ++
 ros2-poc/nodes/mcap_index.py    | 186 ++++++++++++++++++++++++++++----
 ros2-poc/tests/test_ros2_poc.py |  46 +++++++-
 6 files changed, 313 insertions(+), 25 deletions(-)

diff --git a/ros2-poc/README.md b/ros2-poc/README.md
index 896bfb8c..aa147a01 100644
--- a/ros2-poc/README.md
+++ b/ros2-poc/README.md
@@ -212,6 +212,7 @@ without further changes; **"ROS Studio" = that Studio served from the `/ros/` Pa
 | `--order time` vs `--order seq` | same multiset of lines; **17 of 3949** positions differ (12 of 962 in the smoke run), all same-millisecond ties (`log_control` vs the first frame, runner `fictracApply` vs `bias_config`, `config` vs `heading_tare`); `closed-loop-report.py` output identical for both orders |
 | **crash: bridge node SIGKILLed 2.5 s into a closed-loop epoch, `crashsafe` profile** | NDJSON (line-buffered): 624 lines / 160 frames, no torn line. Bag: `metadata.yaml` never written (as predicted), `--recover` + convert: 621 lines / **159 frames** — one frame (≈ 14 ms) and the two session lines lost; every reader parses the result. |
 | String-topic path (the default environment, no interfaces package) | the same 46 checks pass with String topics; sequenced lines byte-identical; needed one fix — the connector-command event and its browser record now share one clock sample |
+| **auto-recovery on export** (2026-10-16, adoption week; `mcap_index.recover_bag`, run by the bridge node's `log_export`) | a bag whose writer was killed (no `metadata.yaml`; the crashsafe profile leaves a complete file minus the record in progress, rosbag2's defaults a 0-byte one) no longer needs `--recover` by hand: the restarted node adopts the newest such bag in `--log-dir`, rewrites the `.mcap` whole + indexed (torn tail dropped, original kept as `.torn.bak`), appends one `/arena/session` `{"event":"recovered"}` record so the bag itself says so, asks **rosbag2's own `Reindexer`** for `metadata.yaml` (it reads the torn file in file order — the "not verified" item below), converts, and answers `log_export_result` with `recovered: true` (+ the recovery report; `pixi run export -- --json` prints it). Harness crash phase: 775 records salvaged in 0.03 s, 157 frames = the `--recover` CLI's, metadata.yaml + 1 zstd chunk, plain conversion identical to the export, every JS reader parses the log (its last line is the `recovered` session marker). A bag with nothing salvageable (rosbag2 defaults) falls back to the run's shadow NDJSON (`fallback: "shadow"`). |
 | **crash-safe while open, indexed when closed** (`nodes/mcap_index.py`, called from `Recorder.close()`; `pixi run reindex` by hand) | the `crashsafe` profile writes no chunk index, so Foxglove reports "file is unindexed" and seeking readers must scan; once a run has closed cleanly the bag is rewritten by the `mcap` library with chunking + zstd + the full index and verified by re-reading: the bench bag went **6.76 MB → 2.33 MB in 0.18 s** (7 chunks), converter output identical before and after, `ros2 bag info` unchanged |
 | `viz` environment (`rqt_graph`, `rqt_topic`, `rqt_console`, `foxglove_bridge`) | `pixi install -e viz` 11.5 s warm; environment 1.9 GB; `pixi run graph` lists 3 nodes / 6 topics with rates on the running rig |
 | crash, rosbag2 `default` profile | NDJSON: 625 lines / 159 frames. Bag: **nothing recoverable** — a short run sits in one unflushed 768 KiB chunk (plus the message cache) until close; `ros2 bag info` of a completed default-profile run shows exactly one chunk. Offline truncation of a completed default bag confirms it: nothing until 99 %, then everything. |
@@ -306,4 +307,4 @@ build's own format setting decides. Found on the way: the pre-Next Studio's uplo
 
 ### Still not verified
 
-Windows (now also: whether `pixi install` builds the interfaces package there — `WINDOWS-TEST.md` has the steps); the closed-loop math in a **separate** process (it stays in the bridge node here, so the `seq` ordering is available; the `--order time` numbers are the proxy); rosbag2's own reader on a torn bag (the spike's converter uses the `mcap` library instead); a multi-hour recording for bag growth; `ros2 bag play` of a recorded run against the Studio; a real FicTrac (the bench used the model-fly simulator).
+(2026-10-16: rosbag2's own reader on a torn bag is now verified — its `Reindexer` reads the crashsafe file in file order and writes `metadata.yaml`; the recovery path uses it.) Windows (now also: whether `pixi install` builds the interfaces package there — `WINDOWS-TEST.md` has the steps); the closed-loop math in a **separate** process (it stays in the bridge node here, so the `seq` ordering is available; the `--order time` numbers are the proxy); a multi-hour recording for bag growth; `ros2 bag play` of a recorded run against the Studio; a real FicTrac (the bench used the model-fly simulator).
diff --git a/ros2-poc/nodes/bridge_node.py b/ros2-poc/nodes/bridge_node.py
index 310b35f3..cd8dc2d4 100644
--- a/ros2-poc/nodes/bridge_node.py
+++ b/ros2-poc/nodes/bridge_node.py
@@ -47,6 +47,12 @@
     acked log level is the converter's default level. The live NDJSON writer is KEPT as a
     shadow file during the spike: it is the fidelity reference (`converted == live` is checked
     at every export and printed) and the crash-loss baseline. `--export live` returns it instead.
+    A bag the writer never closed (this node was killed mid-run; no metadata.yaml / torn tail)
+    is RECOVERED on export — salvaged, indexed, metadata.yaml written by rosbag2's Reindexer,
+    `{"event":"recovered"}` appended to its /arena/session (nodes/mcap_index.recover_bag) —
+    and the reply carries `recovered: true`; a freshly started node adopts the newest such bag
+    in --log-dir for its first export, so the Studio's export after a bridge restart gets the
+    salvaged run. A bag with nothing salvageable falls back to the run's shadow NDJSON.
   * ONE ms base per run: the pipeline's t0 is set from the log's open stamp (bridge 3.4 takes
     two now_ms() samples there — comparison.md appendix 4).
   * Typed messages when `arena_interfaces` is built (`pixi install` builds it; see
@@ -84,6 +90,7 @@
 sys.path.insert(0, str(HERE))
 from _common import mono_ns, probe_interfaces, raise_timer_resolution, wall_ms, wall_ns  # noqa: E402
 from mcap_convert import convert_bag  # noqa: E402
+from mcap_index import needs_recovery, recover_bag  # noqa: E402
 from recorder import PROFILES, STRING_TYPE, Recorder  # noqa: E402
 
 # Typed messages only when the package imports AND serializes (pixi's `typed` env, or a
@@ -429,20 +436,64 @@ def close(self) -> None:
             print(f"[record] closed {self.last_bag.get('bag')}: {self.last_bag.get('records')} records, "
                   f"{self.last_bag.get('bytes_on_disk')} B on disk", file=sys.stderr)
 
+    # ── crash recovery on export ─────────────────────────────────────────────────────
+    def torn_bags(self) -> list[str]:
+        """Bags in the log dir that a killed writer left behind (no metadata.yaml / torn
+        tail), newest first — what a restarted node can still export."""
+        d = Path(self._dir or ".")
+        try:
+            bags = sorted((b for b in d.glob("arena-log-*.bag") if b.is_dir()), reverse=True)
+        except OSError:
+            return []
+        return [str(b) for b in bags if needs_recovery(b)]
+
+    def _adopt_torn_bag(self) -> bool:
+        """Nothing open and nothing exported yet in THIS process (a restart after a crash):
+        the newest torn bag becomes the export target, with its shadow file as the fallback."""
+        torn = self.torn_bags()
+        if not torn:
+            return False
+        self.bag_name = torn[0]
+        shadow = torn[0][:-4] + ".jsonl"
+        self._name = shadow  # the base class exports the shadow when conversion fails
+        print(f"[record] adopting the unclosed bag of a previous run for export: {torn[0]}", file=sys.stderr)
+        return True
+
     def export_current(self):
         if self._fh:
             self.close()
+        recovery = None
+        if not self._name and not self.bag_name:
+            self._adopt_torn_bag()
         name, live = super().export_current()
+        if self.bag_name and needs_recovery(self.bag_name):
+            # The writer never closed this bag (a crash, LAB-303 ww18 5.7): salvage + index +
+            # metadata.yaml FIRST, so the conversion below reads a whole bag and every later
+            # reader (Foxglove, ros2 bag info) opens it without --recover.
+            recovery = recover_bag(self.bag_name)
+            print(f"[recover] {self.bag_name}: {recovery.get('reason')} → salvaged {recovery.get('salvaged_records')} records, "
+                  f"metadata.yaml {'written' if (recovery.get('metadata_yaml') or {}).get('written') else 'NOT written'} "
+                  f"in {recovery.get('seconds')} s", file=sys.stderr)
+            if name is None and self._name and Path(self._name).exists():
+                name, live = super().export_current()
+        if name is None and self.bag_name:
+            name = Path(self.bag_name).name[:-4] + ".jsonl"  # a bag whose shadow file is gone: still exportable
         if name is None or self._export == "live" or not self.bag_name:
+            if recovery:
+                self.last_convert = {"recovered": True, "recovery": recovery}
             return name, live
         t0 = time.perf_counter()
         try:
             text, report = convert_bag(self.bag_name, level=None, order="seq")
         except Exception as exc:
             print(f"[convert] FAILED ({exc!r}) — exporting the shadow file instead", file=sys.stderr)
-            self.last_convert = {"error": repr(exc)}
+            self.last_convert = {"error": repr(exc), "recovered": bool(recovery), "recovery": recovery,
+                                 "fallback": "shadow" if live is not None else None}
             return name, live
         report["convert_ms"] = round(1000 * (time.perf_counter() - t0), 1)
+        if recovery:
+            report["recovered"] = True
+            report["recovery"] = recovery
         report["identical_to_live"] = text == live
         if not report["identical_to_live"]:
             a, b = text.splitlines(), (live or "").splitlines()
@@ -762,6 +813,27 @@ async def dispatch(raw, websocket=None) -> None:
             return
         if kind == "log_export":
             log.record_browser(text)  # the last record of the run (the export closes the bag)
+            # bridge.py's reply, plus what the converter/recovery reports: `recovered: true`
+            # when the bag had to be salvaged first (a restart after a crash), and the
+            # conversion report so the asker can see lines/level/fidelity without the log.
+            name, content = log.export_current()
+            conv = log.last_convert or {}
+            if name is not None:
+                reply_msg = {"type": "log_export_result", "name": name, "content": content,
+                             "recovered": bool(conv.get("recovered")), "record": "mcap"}
+                if conv.get("recovered"):
+                    reply_msg["recovery"] = conv.get("recovery")
+                if conv.get("fallback"):
+                    reply_msg["fallback"] = conv["fallback"]
+                for k in ("lines", "level", "identical_to_live", "convert_ms", "closed"):
+                    if k in conv:
+                        reply_msg[k] = conv[k]
+            else:
+                reply_msg = {"type": "log_export_result", "error": "no log file has been written"}
+            await ws_reply(websocket, reply_msg)
+            print(f"[log] export → {name or 'nothing'}" + (f" ({len(content)} chars" + (", recovered" if conv.get("recovered") else "") + ")" if content else ""),
+                  file=sys.stderr)
+            return
         await dispatch_34(raw, websocket)
 
     node = BridgeNode(loop, queue, on_kinefly, on_connector, log, typed)
@@ -861,6 +933,11 @@ async def consume_recording() -> None:
     consumer = asyncio.create_task(consume_recording())
     wd = asyncio.create_task(watchdog())
 
+    torn = log.torn_bags()
+    if torn:
+        print(f"[record] {len(torn)} unclosed bag(s) from a previous run in {args.log_dir}: {', '.join(Path(b).name for b in torn[:3])}"
+              f"{', …' if len(torn) > 3 else ''} — the next log_export (`pixi run export`) recovers the newest; "
+              f"`pixi run reindex -- <bag> --recover` for the others", file=sys.stderr)
     async with B.serve(hub.serve_client, args.ws_host, args.ws_port, max_size=B.WS_MAX_SIZE):
         print(
             f"[ws] serving ws://{args.ws_host}:{args.ws_port}  (bridge-node {NODE_VERSION}; "
diff --git a/ros2-poc/nodes/export_log.py b/ros2-poc/nodes/export_log.py
index fdadd5d5..5c2e7423 100644
--- a/ros2-poc/nodes/export_log.py
+++ b/ros2-poc/nodes/export_log.py
@@ -14,6 +14,10 @@
 course repo (a token stored on that origin). A rig without one keeps the bridge logging until
 the next run, so the last run's bag stays open; this is the one-command way to close and
 collect it. Pure Python (`websockets`), no ROS.
+
+After a bridge crash: restart the node (`pixi run rig` does) and run this once — the node
+recovers the unclosed bag first (salvage + index + metadata.yaml) and the reply says
+`recovered: true`; `--json` prints the reply's fields (everything but the content) to stdout.
 """
 
 from __future__ import annotations
@@ -47,6 +51,7 @@ def main(argv=None) -> int:
     ap.add_argument("--url", default="ws://127.0.0.1:8765")
     ap.add_argument("--out", default=None, help="output path (default: runlogs/exports/<bridge's file name>; '-' = stdout)")
     ap.add_argument("--timeout", type=float, default=60.0, help="seconds to wait for the reply (a long run converts in well under 1 s per 10 000 lines)")
+    ap.add_argument("--json", action="store_true", help="print the reply's metadata (name, lines, recovered, recovery, …) as JSON to stdout")
     a = ap.parse_args(argv)
     try:
         msg = asyncio.run(export(a.url, a.timeout))
@@ -57,6 +62,18 @@ def main(argv=None) -> int:
         print(f"[export] bridge answered: {msg.get('error') or msg}", file=sys.stderr)
         return 1
     content, name = msg["content"], msg.get("name") or "arena-log-export.jsonl"
+    meta = {k: v for k, v in msg.items() if k not in ("content", "type")}
+    meta["bytes"] = len(content.encode("utf-8"))
+    if msg.get("recovered"):
+        rec = msg.get("recovery")
+        if rec:  # salvaged by THIS export
+            print(f"[export] RECOVERED from an unclosed bag ({rec.get('reason')}): {rec.get('salvaged_records')} records salvaged, "
+                  f"metadata.yaml {'written' if (rec.get('metadata_yaml') or {}).get('written') else 'not written'}"
+                  + (f"; content is the shadow file ({msg['fallback']})" if msg.get("fallback") else ""), file=sys.stderr)
+        else:  # a bag recovered by an earlier export: the log still ends in its `recovered` marker
+            print("[export] content comes from a bag that was recovered after a crash (no logging_stopped; see its final session line)", file=sys.stderr)
+    if a.json:
+        print(json.dumps(meta))
     if a.out == "-":
         sys.stdout.write(content)
         return 0
diff --git a/ros2-poc/nodes/mcap_convert.py b/ros2-poc/nodes/mcap_convert.py
index 24b1d84a..3b6568b6 100644
--- a/ros2-poc/nodes/mcap_convert.py
+++ b/ros2-poc/nodes/mcap_convert.py
@@ -361,6 +361,12 @@ def add(seq: int, own_ms: int, rank: str, obj) -> None:
                 add(o["seq"], int(o["ms"]) - t0, "session", {"type": "session", "event": "logging_started", "ms": int(o["ms"])})
             elif ev == "logging_stopped":
                 add(o["seq"], int(o["ms"]) - t0, "session", {"type": "session", "event": "logging_stopped", "ms": int(o["ms"])})
+            elif ev == "recovered":
+                # Appended by mcap_index.recover_bag to a bag whose writer was killed: the run has
+                # no logging_stopped, and this line says what was salvaged (sorts last by seq).
+                stats["recovered"] = True
+                add(o["seq"], int(o["ms"]) - t0, "session", {"type": "session", "event": "recovered", "ms": int(o["ms"]), "recovered": True,
+                                                              **{k: o[k] for k in ("salvaged_records", "torn", "torn_error", "file") if k in o}})
         elif t == TOPIC_BROWSER:
             o = _json_of(r)
             if not isinstance(o, dict) or "raw" not in o:
@@ -507,6 +513,7 @@ def add(seq: int, own_ms: int, rank: str, obj) -> None:
         lines = lines[:stop_at] + moved + [lines[stop_at]] + [ln for ln in tail if id(ln) not in derived_ids]
     # The frame_schema / session-open lines were given seq = the open record's seq and rank 0,
     # so they stay first; a logging_stopped line from a crash-truncated bag may be missing.
+    stats.setdefault("recovered", False)
     report = {"t0": t0, "level": level, "order": order, "lines": len(lines), **stats,
               "closed": any(isinstance(l, dict) and l.get("type") == "session" and l.get("event") == "logging_stopped" for l in lines)}
     return lines, report
diff --git a/ros2-poc/nodes/mcap_index.py b/ros2-poc/nodes/mcap_index.py
index 38270cef..a0a5df5f 100644
--- a/ros2-poc/nodes/mcap_index.py
+++ b/ros2-poc/nodes/mcap_index.py
@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
-"""mcap_index.py — rewrite a finished bag as an indexed, chunked, compressed MCAP.
+"""mcap_index.py — rewrite a finished bag as an indexed, chunked, compressed MCAP; recover a torn one.
 
     pixi run reindex -- runlogs/<run>.bag            # in place (keeps <file>.unindexed.mcap until verified, then deletes it)
     pixi run reindex -- runlogs/<run>.bag --keep     # keep the original beside the new file
+    pixi run reindex -- runlogs/<run>.bag --recover  # a bag the bridge never closed (crash): salvage, index, metadata.yaml
 
 Why: the bridge node records with the `crashsafe` profile — no chunking, no cache, every record
 reaches the disk as it is written — so a SIGKILL loses at most the record in progress. The price is
@@ -13,6 +14,16 @@
 full index. Pure Python; the result is a standard MCAP (rosbag2's `metadata.yaml` is untouched).
 The rewrite is verified by re-reading and counting messages per channel before the original is
 removed; on any mismatch the original stays and the function reports it.
+
+Recovery (`recover_bag`, LAB-303 adoption week): a bag whose writer was killed has no
+`metadata.yaml` and an MCAP without footer/summary (a 0-byte file with rosbag2's default profile).
+`recover_bag` (1) rewrites every `.mcap` with `reindex(recover=True)`, which stops at the torn
+tail instead of raising, appends ONE `/arena/session` record `{"event":"recovered",…}` so the bag
+itself says it was salvaged, and keeps the torn original as `<name>.torn.bak` (not `.mcap`, so no
+reader picks it up); then (2) asks rosbag2's own `Reindexer` for `metadata.yaml`. Afterwards the
+bag opens in Foxglove, `ros2 bag info`, and the converter WITHOUT `--recover`. The bridge node runs
+this itself when a `log_export` meets such a bag (`needs_recovery`), so the Studio's export after
+a bridge restart gets the salvaged log and a `recovered: true` flag.
 """
 
 from __future__ import annotations
@@ -20,14 +31,47 @@
 import argparse
 import json
 import os
+import struct
 import sys
 import time
 from pathlib import Path
 
+SESSION_TOPIC = "/arena/session"
+STRING_SCHEMA = ("std_msgs/msg/String", "ros2msg", b"string data")
+RECOVERED_SEQ = 1 << 40  # sorts after every real emission seq (the converter orders by seq)
 
-def reindex(mcap_path: str | os.PathLike, keep_original: bool = False, compression: str = "zstd") -> dict:
-    from mcap.records import Attachment, Channel, Header, Message, Metadata, Schema
+
+def cdr_string(s: str) -> bytes:
+    """A std_msgs/String payload as rosbag2 writes it: XCDR1 LE header + uint32 length (incl.
+    the NUL) + bytes + NUL, padded to 4 — what nodes/mcap_convert.py's decoder reads back."""
+    raw = s.encode("utf-8") + b"\x00"
+    body = struct.pack("<I", len(raw)) + raw
+    return b"\x00\x01\x00\x00" + body + b"\x00" * ((-len(body)) % 4)
+
+
+def _scan(src: Path, recover: bool):
+    """Yield the records of `src` in file order. A torn tail raises unless `recover`, in which
+    case the generator returns (torn:bool, error:str|None) via StopIteration.value."""
     from mcap.stream_reader import StreamReader
+
+    torn, error = False, None
+    with open(src, "rb") as fin:
+        try:
+            for rec in StreamReader(fin, emit_chunks=False).records:
+                yield rec
+        except Exception as exc:  # EndOfFile / a half-written record: the crash point
+            if not recover:
+                raise
+            torn, error = True, f"{type(exc).__name__}: {exc}"
+    return torn, error
+
+
+def reindex(mcap_path: str | os.PathLike, keep_original: bool = False, compression: str = "zstd",
+            recover: bool = False, marker: dict | None = None) -> dict:
+    """Rewrite one MCAP indexed + compressed. `recover=True` tolerates a torn tail (the records
+    read up to it are kept), appends the `recovered` session marker (`marker` adds fields) and
+    keeps the original as `<name>.torn.bak`. Returns a report; `verified` False = nothing replaced."""
+    from mcap.records import Attachment, Channel, Header, Message, Metadata, Schema
     from mcap.writer import CompressionType, Writer
 
     src = Path(mcap_path)
@@ -36,12 +80,22 @@ def reindex(mcap_path: str | os.PathLike, keep_original: bool = False, compressi
     t0 = time.perf_counter()
     schema_map: dict[int, int] = {}
     channel_map: dict[int, int] = {}
-    counts: dict[int, int] = {}
+    topic_of: dict[int, str] = {}
+    want: dict[str, int] = {}
     n = 0
-    with open(src, "rb") as fin, open(tmp, "wb") as fout:
+    torn, error = False, None
+    marker_written = False
+    with open(tmp, "wb") as fout:
         w = Writer(fout, compression=comp)
         started = False
-        for rec in StreamReader(fin, emit_chunks=False).records:
+        gen = _scan(src, recover)
+        while True:
+            try:
+                rec = next(gen)
+            except StopIteration as stop:
+                if stop.value:
+                    torn, error = stop.value
+                break
             if isinstance(rec, Header):
                 w.start(profile=rec.profile, library=f"{rec.library} + mcap_index.py")
                 started = True
@@ -52,44 +106,63 @@ def reindex(mcap_path: str | os.PathLike, keep_original: bool = False, compressi
                 if rec.id not in channel_map:
                     channel_map[rec.id] = w.register_channel(topic=rec.topic, message_encoding=rec.message_encoding,
                                                              schema_id=schema_map.get(rec.schema_id, 0), metadata=rec.metadata)
+                    topic_of[rec.id] = rec.topic
             elif isinstance(rec, Message):
                 if not started:
                     raise ValueError("message before header")
                 w.add_message(channel_id=channel_map[rec.channel_id], log_time=rec.log_time, data=rec.data,
                               publish_time=rec.publish_time, sequence=rec.sequence)
-                counts[rec.channel_id] = counts.get(rec.channel_id, 0) + 1
+                want[topic_of[rec.channel_id]] = want.get(topic_of[rec.channel_id], 0) + 1
                 n += 1
             elif isinstance(rec, Metadata):
                 w.add_metadata(name=rec.name, data=rec.metadata)
             elif isinstance(rec, Attachment):
                 w.add_attachment(create_time=rec.create_time, log_time=rec.log_time, name=rec.name, media_type=rec.media_type, data=rec.data)
-        w.finish()
+        if recover and started:
+            # The bag says so itself: one session record, after everything salvaged. The
+            # converter turns it into a `{"type":"session","event":"recovered",…}` line.
+            ch = next((cid for sid, cid in channel_map.items() if topic_of.get(sid) == SESSION_TOPIC), None)
+            if ch is None:
+                sid = w.register_schema(name=STRING_SCHEMA[0], encoding=STRING_SCHEMA[1], data=STRING_SCHEMA[2])
+                ch = w.register_channel(topic=SESSION_TOPIC, message_encoding="cdr", schema_id=sid)
+            now_ns = time.time_ns()
+            body = {"seq": RECOVERED_SEQ, "event": "recovered", "ms": now_ns // 1_000_000, "recovered": True,
+                    "salvaged_records": n, "torn": torn, "torn_error": error, "file": src.name, **(marker or {})}
+            w.add_message(channel_id=ch, log_time=now_ns, publish_time=now_ns, sequence=0,
+                          data=cdr_string(json.dumps(body, separators=(",", ":"))))
+            want[SESSION_TOPIC] = want.get(SESSION_TOPIC, 0) + 1
+            marker_written = True
+        if started:
+            w.finish()
+    if not started:
+        # Nothing readable (rosbag2's default profile leaves a 0-byte file when killed early).
+        tmp.unlink(missing_ok=True)
+        return {"file": str(src), "messages": 0, "bytes_before": src.stat().st_size, "verified": False,
+                "recovered": recover, "torn": True, "torn_error": error or "no MCAP header",
+                "error": "nothing salvageable: the file holds no complete record",
+                "seconds": round(time.perf_counter() - t0, 2)}
     # Verify: the new file must yield the same per-topic counts, through the indexed reader.
     from mcap.reader import make_reader
 
     with open(tmp, "rb") as fh:
         rd = make_reader(fh)
         summ = rd.get_summary()
-        got = {}
-        for _, ch, _ in rd.iter_messages(log_time_order=False):
-            got[ch.topic] = got.get(ch.topic, 0) + 1
-    want: dict[str, int] = {}
-    with open(src, "rb") as fin:
-        chans = {}
-        for rec in StreamReader(fin, emit_chunks=False).records:
-            if isinstance(rec, Channel):
-                chans[rec.id] = rec.topic
-            elif isinstance(rec, Message):
-                want[chans[rec.channel_id]] = want.get(chans[rec.channel_id], 0) + 1
+        got: dict[str, int] = {}
+        for _, chn, _ in rd.iter_messages(log_time_order=False):
+            got[chn.topic] = got.get(chn.topic, 0) + 1
     ok = got == want and summ is not None and bool(summ.chunk_indexes)
     res = {"file": str(src), "messages": n, "bytes_before": src.stat().st_size, "bytes_after": tmp.stat().st_size,
            "chunks": len(summ.chunk_indexes) if summ else 0, "compression": compression, "verified": ok,
            "seconds": round(time.perf_counter() - t0, 2)}
+    if recover:
+        res.update({"recovered": True, "torn": torn, "torn_error": error, "marker": marker_written})
     if not ok:
         tmp.unlink(missing_ok=True)
         res["error"] = f"verification failed: per-topic counts {got} vs {want}"
         return res
-    if keep_original:
+    if recover:
+        src.rename(src.with_name(src.name + ".torn.bak"))  # never a `.mcap` name: no reader must find it
+    elif keep_original:
         src.rename(src.with_name(src.stem + ".unindexed.mcap"))
     else:
         src.unlink()
@@ -97,15 +170,84 @@ def reindex(mcap_path: str | os.PathLike, keep_original: bool = False, compressi
     return res
 
 
+def bag_mcaps(bag: Path) -> list[Path]:
+    return sorted(f for f in bag.glob("*.mcap") if not f.name.endswith((".unindexed.mcap", ".indexed.tmp")))
+
+
+def needs_recovery(bag_dir: str | os.PathLike) -> str | None:
+    """Why a bag needs `recover_bag`, or None when it is whole: no `metadata.yaml` (the writer never
+    closed), or an `.mcap` without a readable summary/footer (a torn last chunk)."""
+    bag = Path(bag_dir)
+    if not bag.is_dir():
+        return None
+    files = bag_mcaps(bag)
+    if not files:
+        return None
+    if not (bag / "metadata.yaml").exists():
+        return "no metadata.yaml (the writer never closed this bag)"
+    from mcap.reader import make_reader
+
+    for f in files:
+        try:
+            with open(f, "rb") as fh:
+                if make_reader(fh, validate_crcs=False).get_summary() is None:
+                    return f"{f.name}: no summary section (torn)"
+        except Exception as exc:
+            return f"{f.name}: {type(exc).__name__} reading the summary (torn)"
+    return None
+
+
+def write_metadata(bag_dir: Path) -> dict:
+    """rosbag2's own Reindexer → `metadata.yaml` for the bag (`ros2 bag info` then works)."""
+    try:
+        import rosbag2_py
+    except Exception as exc:  # pure-Python environment: the MCAP is still whole without it
+        return {"written": False, "error": f"rosbag2_py unavailable: {exc!r}"}
+    try:
+        rosbag2_py.Reindexer().reindex(rosbag2_py.StorageOptions(uri=str(bag_dir), storage_id="mcap"))
+        return {"written": (bag_dir / "metadata.yaml").exists()}
+    except Exception as exc:
+        return {"written": False, "error": f"{type(exc).__name__}: {exc}"}
+
+
+def recover_bag(bag_dir: str | os.PathLike, compression: str = "zstd", marker: dict | None = None) -> dict:
+    """Salvage a bag the bridge never closed: every `.mcap` rewritten whole + indexed (torn tail
+    dropped, `recovered` session marker appended, original kept as `.torn.bak`), then
+    `metadata.yaml`. Idempotent: a bag that needs nothing is left alone (`recovered: False`)."""
+    bag = Path(bag_dir)
+    t0 = time.perf_counter()
+    reason = needs_recovery(bag)
+    if reason is None:
+        return {"bag": str(bag), "recovered": False, "reason": None}
+    files = []
+    for f in bag_mcaps(bag):
+        try:
+            files.append(reindex(f, compression=compression, recover=True, marker=marker))
+        except Exception as exc:
+            files.append({"file": str(f), "verified": False, "error": f"{type(exc).__name__}: {exc}"})
+    salvaged = sum(int(r.get("messages") or 0) for r in files if r.get("verified"))
+    meta = write_metadata(bag) if salvaged else {"written": False, "error": "nothing salvaged"}
+    return {"bag": str(bag), "recovered": True, "reason": reason, "files": files, "salvaged_records": salvaged,
+            "metadata_yaml": meta, "whole": all(r.get("verified") for r in files) and bool(meta.get("written")),
+            "seconds": round(time.perf_counter() - t0, 2)}
+
+
 def main(argv=None) -> int:
     ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
     ap.add_argument("bag", help="a bag directory or a single .mcap file")
     ap.add_argument("--keep", action="store_true", help="keep the original as <name>.unindexed.mcap")
+    ap.add_argument("--recover", action="store_true",
+                    help="a bag the writer never closed: salvage the records up to the tear, index, write metadata.yaml")
     ap.add_argument("--compression", choices=("zstd", "lz4", "none"), default="zstd")
     a = ap.parse_args(argv)
     p = Path(a.bag)
-    files = sorted(p.glob("*.mcap")) if p.is_dir() else [p]
-    files = [f for f in files if not f.name.endswith(".unindexed.mcap")]
+    if a.recover:
+        if not p.is_dir():
+            ap.error("--recover takes the bag DIRECTORY")
+        r = recover_bag(p, compression=a.compression)
+        print(json.dumps(r))
+        return 0 if (r.get("whole") or not r.get("recovered")) else 1
+    files = bag_mcaps(p) if p.is_dir() else [p]
     rc = 0
     for f in files:
         r = reindex(f, keep_original=a.keep, compression=a.compression)
diff --git a/ros2-poc/tests/test_ros2_poc.py b/ros2-poc/tests/test_ros2_poc.py
index 4c2560fe..263105bf 100644
--- a/ros2-poc/tests/test_ros2_poc.py
+++ b/ros2-poc/tests/test_ros2_poc.py
@@ -42,7 +42,9 @@
   typed topics when arena_interfaces is built          ArenaFrame / FicTracFrame schemas in the bag
   crash: bridge node SIGKILLed mid-run                 what `--recover` + conversion salvages from the
                                                         bag (both writer profiles) vs the line-buffered
-                                                        NDJSON — reported, crashsafe profile gated
+                                                        NDJSON — reported, crashsafe profile gated;
+                                                        then a RESTARTED node's log_export recovers the
+                                                        bag on its own (recovered:true, whole bag left)
 
 Exit 0 when all checks pass. Prints a markdown summary. Artifacts are kept with --keep.
 """
@@ -646,6 +648,48 @@ def side_actor() -> None:
                     check("crash (crashsafe profile): --recover + convert salvages the run up to the kill (frames within 10 of the NDJSON, file intact)",
                           mc.get("frames") is not None and nd.get("frames") is not None and nd["frames"] - mc["frames"] <= 10 and mc["frames"] > 0,
                           f"ndjson frames {nd.get('frames')} vs recovered {mc.get('frames')}")
+                    # ── auto-recovery on export (LAB-303 adoption week): the rig restarts the bridge
+                    # node after a crash; the Studio's (or `pixi run export`'s) next log_export must get
+                    # the salvaged run WITHOUT anyone running --recover by hand, flagged `recovered:true`,
+                    # and leave a whole bag behind (metadata.yaml + index) for every later reader.
+                    cb2 = start("bridge-restart", [PY, str(NODES / "bridge_node.py"), "--log-dir", str(runlogs), "--source-timeout", "1.5", "--bag-profile", profile])
+                    restart_ok = wait_port("127.0.0.1", 8765, 20.0)
+                    rx_out = work / "crash-crashsafe.restart-export.jsonl"
+                    rx = run_capture([PY, str(NODES / "export_log.py"), "--json", "--out", str(rx_out)], timeout=60) if restart_ok else None
+                    meta: dict = {}
+                    if rx is not None and rx.returncode == 0:
+                        try:
+                            meta = json.loads(rx.stdout.strip().splitlines()[-1])
+                        except (json.JSONDecodeError, IndexError):
+                            meta = {"raw": rx.stdout[-200:]}
+                    rx_objs = read_jsonl(rx_out) if rx_out.exists() else []
+                    rx_frames = sum(1 for o in rx_objs if isinstance(o, list) and isinstance(o[0], (int, float)))
+                    marker = next((o for o in rx_objs if isinstance(o, dict) and o.get("type") == "session" and o.get("event") == "recovered"), None)
+                    rec = meta.get("recovery") or {}
+                    res["restart_export"] = {"rc": rx.returncode if rx else None, "recovered": meta.get("recovered"), "whole": rec.get("whole"),
+                                             "salvaged_records": rec.get("salvaged_records"), "frames": rx_frames, "marker": bool(marker),
+                                             "reason": rec.get("reason")}
+                    check("crash (crashsafe): a restarted bridge node recovers the unclosed bag on log_export itself (recovered:true, frames == --recover, `recovered` session marker)",
+                          restart_ok and meta.get("recovered") is True and rec.get("whole") is True and rx_frames == mc.get("frames") and marker is not None,
+                          json.dumps(res["restart_export"]))
+                    plain = run_capture([PY, str(NODES / "mcap_convert.py"), str(bag), "--out", str(work / "crash-crashsafe.plain.jsonl")], timeout=60)
+                    plain_frames = sum(1 for o in read_jsonl(work / "crash-crashsafe.plain.jsonl") if isinstance(o, list) and isinstance(o[0], (int, float))) if plain.returncode == 0 else None
+                    indexed = False
+                    try:
+                        from mcap.reader import make_reader
+
+                        for f in bag.glob("*.mcap"):
+                            with open(f, "rb") as fh:
+                                summ = make_reader(fh).get_summary()
+                                indexed = summ is not None and bool(summ.chunk_indexes)
+                    except Exception as exc:
+                        res["restart_export"]["index_error"] = repr(exc)
+                    bak = [f.name for f in bag.glob("*.torn.bak")]
+                    res["restart_export"].update({"metadata_yaml": (bag / "metadata.yaml").exists(), "indexed": indexed, "plain_frames": plain_frames, "torn_bak": bak})
+                    check("crash (crashsafe): the recovered bag is whole — metadata.yaml, chunk index, converts WITHOUT --recover to the same frames, torn original kept as .torn.bak",
+                          (bag / "metadata.yaml").exists() and indexed and plain.returncode == 0 and plain_frames == rx_frames and len(bak) == 1,
+                          json.dumps({k: res["restart_export"][k] for k in ("metadata_yaml", "indexed", "plain_frames", "torn_bak")}))
+                    cb2.stop()
                 else:
                     print(f"  info  crash (default profile): NDJSON kept {nd.get('frames')} frames; the bag's recovered frames: {mc.get('frames')} "
                           f"(rosbag2 defaults buffer a 768 KiB chunk + a message cache until close)", file=sys.stderr)

From ab207c0161efdddb0daf4c8465aa85ca5d7c6804 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 12:53:12 -0400
Subject: [PATCH 79/96] ros2-poc: typed interfaces for rigs come from a
 CI-built channel (LAB-303 adoption week, item 2)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Decision note docs/typed-distribution-decision.md: per-PC MSVC build (35 s + v143 +
detached-environments + an unmerged upstream fix on every PC) vs a CI-built conda
channel (5–9 s, no compiler, one sha256-pinned build so rmw_zenoh type hashes agree).
Recommendation: the channel; host = the in-repo channel/ read over raw.githubusercontent.com
at an arena-interfaces-v* TAG (T6 measured), moving to a prefix.dev lab channel when the
lab owns one. The per-PC build stays the .msg author's path.

Repo side: .github/workflows/arena-interfaces.yml builds win-64 / osx-arm64 / linux-64
(windows-2022 → v143; detached-environments C:\px for MAX_PATH; pixi v0.80.0 pinned
because the backend is not in the lock), indexes the three with rattler-index and
publishes the `arena-interfaces-channel` artifact; on a tag it also uploads to prefix.dev
when ARENA_INTERFACES_CHANNEL / PREFIX_API_KEY are set. Build-only on PRs touching the
package. The release recipe (version bump, download, tag, pixi.toml edits) is in the note.
pixi.toml is unchanged: the default String-only environment is untouched. Verified
locally on the Mac: pixi build 17 s, rattler-index fs → repodata; the Windows runner is
verified by the PR run this push triggers.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 .github/workflows/arena-interfaces.yml       | 140 +++++++++++++++++++
 ros2-poc/channel/README.md                   |   4 +-
 ros2-poc/docs/typed-distribution-decision.md | 110 +++++++++++++++
 ros2-poc/docs/typed-windows.md               |   4 +
 ros2-poc/windows-results-ww18-2026-10-15.md  |   2 +
 5 files changed, 259 insertions(+), 1 deletion(-)
 create mode 100644 .github/workflows/arena-interfaces.yml
 create mode 100644 ros2-poc/docs/typed-distribution-decision.md

diff --git a/.github/workflows/arena-interfaces.yml b/.github/workflows/arena-interfaces.yml
new file mode 100644
index 00000000..2242cf32
--- /dev/null
+++ b/.github/workflows/arena-interfaces.yml
@@ -0,0 +1,140 @@
+# Build ros2-poc/interfaces/arena_interfaces (the typed ROS 2 messages of the arena bridge graph,
+# LAB-303) ONCE per platform in CI and publish the result as a conda channel, so a rig PC installs
+# typed messages as a download — no MSVC, no build backend, no MAX_PATH workaround. Decision and
+# the consumer-side manifest edits: ros2-poc/docs/typed-distribution-decision.md; the measurements
+# behind it: ros2-poc/docs/typed-windows.md.
+#
+# Runs: build-only on a PR that touches the package or this file (proves the three platforms still
+# build); the `arena-interfaces-channel` artifact on every run; the hosted-channel upload only on an
+# `arena-interfaces-v*` tag AND only when the repository variable ARENA_INTERFACES_CHANNEL names a
+# prefix.dev channel (with the PREFIX_API_KEY secret). Until the lab owns one, the channel artifact
+# is committed into ros2-poc/channel/ by hand (the decision note has the recipe).
+name: arena-interfaces
+
+on:
+    pull_request:
+        paths:
+            - 'ros2-poc/interfaces/**'
+            - '.github/workflows/arena-interfaces.yml'
+    push:
+        tags: ['arena-interfaces-v*']
+    workflow_dispatch:
+
+permissions:
+    contents: read
+
+concurrency:
+    group: arena-interfaces-${{ github.event.pull_request.number || github.ref }}
+    cancel-in-progress: true
+
+env:
+    # The pixi + pixi-build-ros pair the package was last built and tested with (ww18 2026-10-16,
+    # docs/typed-windows.md). Bump deliberately: the backend is NOT in pixi.lock.
+    PIXI_VERSION: v0.80.0
+
+jobs:
+    build:
+        name: build (${{ matrix.subdir }})
+        strategy:
+            fail-fast: false
+            matrix:
+                include:
+                    # windows-2022 carries VS 2022 → conda-forge's vs2022 activation finds the v143
+                    # toolset without the Build-Tools-2026 detour of docs/typed-windows.md W2.
+                    - { os: windows-2022, subdir: win-64 }
+                    - { os: macos-14, subdir: osx-arm64 }
+                    - { os: ubuntu-24.04, subdir: linux-64 }
+        runs-on: ${{ matrix.os }}
+        defaults:
+            run:
+                shell: bash
+                working-directory: ros2-poc
+        steps:
+            - uses: actions/checkout@v7
+              with:
+                  persist-credentials: false
+            - uses: prefix-dev/setup-pixi@v0.10.2
+              with:
+                  pixi-version: ${{ env.PIXI_VERSION }}
+                  run-install: false
+            # MAX_PATH: the runner's checkout (D:\a\webDisplayTools\webDisplayTools\ros2-poc, 45
+            # chars) plus the ~211 chars the rosidl build adds crosses 260. detached-environments
+            # moves .pixi (build workspace included) to a 4-char root — the ww18 recipe.
+            - name: Windows build root
+              if: runner.os == 'Windows'
+              run: pixi config set --local detached-environments 'C:\px'
+            - name: pixi build arena_interfaces
+              run: |
+                  rm -rf ../dist
+                  pixi build --path interfaces/arena_interfaces/pixi.toml --output-dir ../dist
+                  mkdir -p ../dist/${{ matrix.subdir }}
+                  mv ../dist/*.conda ../dist/${{ matrix.subdir }}/
+                  ls -la ../dist/${{ matrix.subdir }}
+            # The archive must be a well-formed .conda for the subdir it claims; `..` in a packaged
+            # path (the Windows bug the CMakeLists workaround covers) would already have failed above.
+            - name: inspect the package
+              run: |
+                  f=$(ls ../dist/${{ matrix.subdir }}/*.conda)
+                  python3 - "$f" <<'EOF'
+                  import sys, zipfile
+                  path = sys.argv[1]
+                  names = zipfile.ZipFile(path).namelist()  # a .conda = zip{pkg-*.tar.zst, info-*.tar.zst, metadata.json}
+                  assert any(n.startswith("pkg-") for n in names) and any(n.startswith("info-") for n in names), names
+                  print(path, names)
+                  EOF
+            - uses: actions/upload-artifact@v5
+              with:
+                  name: arena_interfaces-${{ matrix.subdir }}
+                  path: dist/${{ matrix.subdir }}/*.conda
+                  if-no-files-found: error
+                  retention-days: 30
+
+    channel:
+        name: channel (index + artifact)
+        needs: build
+        runs-on: ubuntu-24.04
+        steps:
+            - uses: prefix-dev/setup-pixi@v0.10.2
+              with:
+                  pixi-version: ${{ env.PIXI_VERSION }}
+                  run-install: false
+            # One artifact per subdir → channel/<subdir>/<pkg>.conda (upload paths are relative to
+            # dist/<subdir>, so the subdir is restored here from the artifact name).
+            - uses: actions/download-artifact@v5
+              with:
+                  pattern: arena_interfaces-*
+                  path: artifacts
+            - name: assemble + index the channel
+              run: |
+                  mkdir -p channel
+                  for d in artifacts/arena_interfaces-*; do
+                      subdir=${d#artifacts/arena_interfaces-}
+                      mkdir -p "channel/$subdir"
+                      cp "$d"/*.conda "channel/$subdir/"
+                  done
+                  pixi exec rattler-index fs channel
+                  find channel -type f | sort
+                  python3 - <<'EOF'
+                  import json, pathlib
+                  for rd in sorted(pathlib.Path("channel").glob("*/repodata.json")):
+                      pk = json.load(open(rd))["packages.conda"]
+                      for name, rec in pk.items():
+                          print(rd.parent.name, name, rec["sha256"], [d for d in rec["depends"] if d.startswith("ros2-distro-mutex")])
+                  EOF
+            # The deliverable: a complete three-platform channel. Commit it into ros2-poc/channel/
+            # (decision note §"Releasing a new build") or let the step below upload it.
+            - uses: actions/upload-artifact@v5
+              with:
+                  name: arena-interfaces-channel
+                  path: channel
+                  if-no-files-found: error
+                  retention-days: 90
+            # Hosted channel (prefix.dev), only when the lab has one: set the repository variable
+            # ARENA_INTERFACES_CHANNEL to its name and the secret PREFIX_API_KEY. Tags only, so a
+            # PR build can never publish.
+            - name: upload to the hosted channel
+              if: startsWith(github.ref, 'refs/tags/arena-interfaces-v') && vars.ARENA_INTERFACES_CHANNEL != ''
+              env:
+                  PREFIX_API_KEY: ${{ secrets.PREFIX_API_KEY }}
+                  ARENA_INTERFACES_CHANNEL: ${{ vars.ARENA_INTERFACES_CHANNEL }}
+              run: pixi exec rattler-build upload prefix --channel "$ARENA_INTERFACES_CHANNEL" channel/*/*.conda
diff --git a/ros2-poc/channel/README.md b/ros2-poc/channel/README.md
index 2508a56d..4a073b11 100644
--- a/ros2-poc/channel/README.md
+++ b/ros2-poc/channel/README.md
@@ -3,7 +3,9 @@
 A conda channel with one package, read by the opt-in `typed-prebuilt` environment in
 `../pixi.toml` over raw.githubusercontent.com (pinned to the commit that added these files), so a
 Windows PC **without Visual Studio** can run the graph with typed messages. Stand-in for the
-CI-built, hosted channel in `../docs/typed-windows.md` §5; not a deployment.
+CI-built channel decided on 2026-10-16 (`../docs/typed-distribution-decision.md`): the next
+rebuild comes from `.github/workflows/arena-interfaces.yml` (three platforms, `arena-interfaces-channel`
+artifact) and replaces this directory; the env then points at an `arena-interfaces-v*` tag.
 
 - `win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda`, sha256 `5501edc89c10f6ee7acca21273f26f716edf2b7686e7109fed54335a3d39c883`
 - Built 2026-10-16 on ww18 from commit 4632674 (the CMakeLists workaround included) with pixi 0.80.0
diff --git a/ros2-poc/docs/typed-distribution-decision.md b/ros2-poc/docs/typed-distribution-decision.md
new file mode 100644
index 00000000..bc64f2ee
--- /dev/null
+++ b/ros2-poc/docs/typed-distribution-decision.md
@@ -0,0 +1,110 @@
+# Typed interfaces on Windows rigs — distribution decision (LAB-303, 2026-10-16)
+
+**Decision: build `arena_interfaces` in CI and ship it as a conda channel; rigs never compile it.**
+The default environment stays String-only and unchanged. The per-PC MSVC build remains available
+for whoever edits a `.msg` (it is the same `pixi install -e typed` as today).
+
+Measurements: `typed-windows.md` (ww18, 2026-10-15/16). This page is the decision and the recipe.
+
+## The two routes, side by side
+
+| | per-PC MSVC build (`typed` today) | CI-built channel (recommended) |
+|---|---|---|
+| what a rig PC installs | compiler + build backend + the ROS toolchain, then builds | one 100 KiB `.conda` like every RoboStack package |
+| prerequisites on the PC | MSVC **v143** (VS 2022 Build Tools, or the v143 group added to VS 2026 — admin, ~5 min), `pixi config set --local detached-environments C:\px` (MAX_PATH), network to prefix.dev for the backend | none beyond the default env; network to the channel host |
+| `pixi install -e typed`, ww18, warm cache | 35–36 s (T2/T3) | **5–9 s** (T5/T6), no build backend started |
+| harness | 48 / 48 | 48 / 48 (T5), 49 / 49 (T6) |
+| upstream exposure | the `..`-in-manifest bug needs our CMakeLists workaround until pixi#7226 / rattler-build#2875 ship; `version = "*"` on the backend floats, so two rigs can build with different backends | the workaround runs once, in CI; the lock pins the package by sha256 on every machine |
+| type-hash agreement (rmw_zenoh keys typed topics by the hash of the `.msg` text) | guaranteed only if every machine built the same source | guaranteed: one build per version, same bytes everywhere |
+| who can be surprised | every new rig PC, every VS update, every student who clones to a long path | the maintainer who forgets to rebuild after a `.msg` change (the version bump below is the guard) |
+| cost to run | 0 infrastructure, N × 5 min of setup and a compiler per PC | one workflow (`.github/workflows/arena-interfaces.yml`), three runners × 2–4 min per `.msg` change, one channel to own |
+
+The per-PC route works now (T2/T3) and is the right **developer** path. It is the wrong **rig**
+path: the whole point of the two-environment split was that a rig PC always installs; a route
+that needs an admin, a compiler, a path setting and an unmerged upstream fix on every PC
+re-introduces exactly the install friction the decision procedure scored against.
+
+## Channel host
+
+Three options were measured or sketched (`typed-windows.md` §5). In order of preference:
+
+1. **In-repo channel, read over raw.githubusercontent.com** (T6: committed `ros2-poc/channel/`,
+   5 s install on ww18). No account, no secret, no new host beyond GitHub, works today. Cost: the
+   repo grows by ~300 KiB per release (three platforms), and the channel URL must name an
+   immutable ref. **Use a tag, not a commit sha:** the commit that adds the packages also edits
+   `pixi.toml` to point at `arena-interfaces-vX.Y.Z`, and the tag is placed on that commit — one
+   commit, consistent, and the lock still pins each package's sha256.
+2. **prefix.dev lab channel** with trusted publishing. No repo growth, OIDC instead of a token,
+   but someone has to own the channel and rigs gain `prefix.dev` in their allowlist (the source
+   build already needs it for the backend). The workflow's last step uploads there as soon as the
+   repository variable `ARENA_INTERFACES_CHANNEL` and the secret `PREFIX_API_KEY` exist; nothing
+   else changes.
+3. anaconda.org org channel: one host for everything, but an API-token secret to rotate. Not
+   chosen.
+
+Start with 1; move to 2 when the lab decides to own a channel. The workflow serves both.
+
+## What is implemented (this commit)
+
+`.github/workflows/arena-interfaces.yml`:
+
+- `build (win-64 | osx-arm64 | linux-64)` — `windows-2022` (VS 2022 → v143 found by conda-forge's
+  activation, no W2-1), `macos-14`, `ubuntu-24.04`; pixi `v0.80.0` (the ww18 pair; the backend is
+  not in the lock, so the version is pinned on purpose); on Windows
+  `pixi config set --local detached-environments C:\px` first (W2-2); then
+  `pixi build --path interfaces/arena_interfaces/pixi.toml --output-dir ../dist`, the archive
+  checked for its two inner tarballs, uploaded as `arena_interfaces-<subdir>`.
+- `channel` — downloads the three, lays them out as `channel/<subdir>/`, runs
+  `rattler-index fs channel` (the same indexer `pixi publish` used for the ww18 channel), prints
+  each package's sha256 and `ros2-distro-mutex` pin, uploads **`arena-interfaces-channel`**
+  (90 days). On an `arena-interfaces-v*` tag with the prefix.dev variable set it also uploads to
+  the hosted channel.
+- Triggers: `pull_request` on `ros2-poc/interfaces/**` or the workflow file (build-only; the first
+  run is the push of this commit on PR #254 — the Windows job is the one to watch), tags
+  `arena-interfaces-v*`, `workflow_dispatch`.
+
+All three platforms are built because the workspace locks them together: a channel with only
+win-64 cannot be re-locked (T5's first attempt). Nothing in `pixi.toml` changed: the default
+environment is untouched, `typed` still builds from source, `typed-prebuilt` still reads the
+ww18-built win-64 package committed on 2026-10-16. The CI build was verified locally on the
+Mac before this commit (`pixi build` 17 s → `arena_interfaces-0.1.0-h60d57d3_0.conda`,
+`rattler-index fs` → `repodata.json` + shards); the Windows runner is verified by the PR run.
+
+## Releasing a new build (the recipe)
+
+After any `.msg` change, or when re-locking onto a newer RoboStack (the package pins
+`ros2-distro-mutex`):
+
+1. Bump the version in `interfaces/arena_interfaces/package.xml` **and**
+   `interfaces/arena_interfaces/pixi.toml` (same number).
+2. Push; the PR run builds the three packages. Download the channel:
+   `gh run download <run-id> -n arena-interfaces-channel -D ros2-poc/channel` (replace the
+   directory; `git rm -r ros2-poc/channel` first).
+3. Point the prebuilt environment at the new tag and version (`ros2-poc/pixi.toml`):
+
+   ```toml
+   [feature.typed-prebuilt]
+   platforms = ["win-64", "osx-arm64", "linux-64"]          # all three are in the channel now
+   channels = ["https://raw.githubusercontent.com/reiserlab/webDisplayTools/arena-interfaces-v0.2.0/ros2-poc/channel"]
+
+   [feature.typed-prebuilt.dependencies]
+   arena_interfaces = { version = "==0.2.0", channel = "https://raw.githubusercontent.com/reiserlab/webDisplayTools/arena-interfaces-v0.2.0/ros2-poc/channel" }
+   ```
+
+   `pixi lock` (or `pixi install -e typed-prebuilt`), commit packages + manifest + lock in ONE
+   commit, then `git tag arena-interfaces-v0.2.0 && git push --tags` on that commit. The tag push
+   runs the workflow once more (and uploads to prefix.dev when configured).
+4. Rigs: `git pull && pixi install --locked -e typed-prebuilt`.
+
+**Second step, once the first CI channel is committed:** rename the environments so the rig path
+is the short name — `typed` = the channel (what `WINDOWS-TEST.md` 7b calls `typed-prebuilt`),
+`typed-src` = today's source build in its own solve group (the sketch in `typed-windows.md` §5).
+Not done in this commit: it changes which environment the Windows test notes refer to, so it
+belongs with the next rebuild, after the Bergamo PC run.
+
+## Not covered
+
+A per-PC build stays documented in `WINDOWS-TEST.md` 1b / `typed-windows.md` §2–§3 for `.msg`
+authors. The workflow does not run the harness against the built package (that needs the 1 GB
+ROS environment per runner; the harness runs on the rig PCs and the Mac). Hardware runs with
+`-e typed` / `-e typed-prebuilt` were not repeated on ww18 (ww18 results, "Still open").
diff --git a/ros2-poc/docs/typed-windows.md b/ros2-poc/docs/typed-windows.md
index 352341d8..630b9cf5 100644
--- a/ros2-poc/docs/typed-windows.md
+++ b/ros2-poc/docs/typed-windows.md
@@ -212,6 +212,10 @@ packaging (and passes the outside-prefix check)
 
 ## 5. Fallback: build once in CI, publish to a channel
 
+**Decided 2026-10-16: this is the rig route** — `typed-distribution-decision.md` has the decision, the
+implemented workflow (`.github/workflows/arena-interfaces.yml`) and the release recipe; the text below is the
+measurement record and the original sketch.
+
 Rigs install `arena_interfaces` as a plain binary, like every RoboStack package. That means no
 MSVC, no backend, no MAX_PATH and no `detached-environments`, and the `typed` install becomes a
 download like the default one. T4 + T5 tested this on ww18 with a local file channel.
diff --git a/ros2-poc/windows-results-ww18-2026-10-15.md b/ros2-poc/windows-results-ww18-2026-10-15.md
index da26ac96..7e02c4fc 100644
--- a/ros2-poc/windows-results-ww18-2026-10-15.md
+++ b/ros2-poc/windows-results-ww18-2026-10-15.md
@@ -212,6 +212,8 @@ Rig: CSHL G6 2×10 ball arena, controller COM4 (fw `12bba7e9` 2x10 2026-09-30),
   prefix-dev/rattler-build#2875 + a confirming comment on prefix-dev/pixi#7226 (§4). **Next: run
   WINDOWS-TEST.md 7b on a PC without Visual Studio.** The `typed-prebuilt` env (2026-10-16, a ww18-built
   package committed in `channel/`) installs `--locked` in 5 s on ww18, harness 49 / 49.
+  **Decided 2026-10-16 (`docs/typed-distribution-decision.md`): CI-built channel; workflow
+  `.github/workflows/arena-interfaces.yml` added (build on PR, channel artifact, tag → hosted upload when configured).**
 - **S1** bridge loss should banner and end the run; **S2** `?p=` needed a refresh; **H1** characterize the 64 GB
   exFAT card; **5c full** (18 min) and real-fly runs; **hardware sync** (camera strobe → controller Digital IO)
   for µs frame timing on the controller's clock.

From 484b18755ff93923c6ec41fc00a97b09cf310d5b Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Fri, 16 Oct 2026 13:02:16 -0400
Subject: [PATCH 80/96] Studio v0.97: a lost bridge ends the run (BRIDGE_LOST);
 ?p= loads ahead of GitHub (LAB-303 S1/S2, item 3)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

S1 (ww18 5.7: the bridge was hard-killed mid closed loop, the Studio showed only
"bridge disconnected", the run carried on and BIAS kept recording):
- fictrac-bridge-client emits 'disconnect' {involuntary, url}; involuntary = not our
  disconnect(). Emitted before pending connector waiters are rejected, so the loss
  is recorded as the reason, not a generic send failure.
- ArenaRunner.bridgeInUse: the active run depends on the bridge when a closed loop
  is armed (startClosedLoop), connector plugins are declared, or the bridge is
  recording the run. ArenaSession faults such a run with 'bridge_lost' on an
  involuntary close; a user Disconnect or an unused bridge is not a fault.
- run-log deriveOutcome → BRIDGE_LOST (the adapter now defers to it for faulted
  aborts); transcript line carries the note. Studio: banner + log line, STOP via
  the runner's finally, NO controller post-mortem (the controller is fine). The
  bridge's own record is recovered by its first export after a restart (item 1).

S2 (ww18 5: a tab opened at ?p=… showed no protocol until refreshed): initFromUrl
awaited the course repo's shared-pattern listing (a GitHub API call with no
timeout) BEFORE the ?p= load; on a slow or walled network that held the whole
init and a refresh merely got a warm connection. Now the listing starts first
and gets ≤ 1.5 s before the load goes ahead, every pre-step is guarded, and an
unknown protocol key banners instead of leaving an empty Run view.

Footer v0.97 + ET stamp, release notes. Tests: deriveOutcome, adapter outcome,
session bridge-lost hook (4 cases), runner bridgeInUse (unit + closed-loop flow).
Root suite 69/69. Prettier on the changed JS only.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 arena_studio.html                             | 45 ++++++++--
 .../development/arena-studio-release-notes.md |  6 ++
 js/arena-runner-g6.js                         | 25 +++++-
 js/arena-session.js                           | 27 ++++++
 js/fictrac-bridge-client.js                   | 17 +++-
 js/run-log.js                                 |  4 +-
 js/studio-runlog-adapter.js                   | 10 +--
 tests/test-arena-runner-g6.js                 | 36 ++++++++
 tests/test-arena-session.js                   | 82 +++++++++++++++++++
 tests/test-run-log.js                         |  5 ++
 tests/test-studio-runlog-adapter.js           | 34 ++++++++
 11 files changed, 276 insertions(+), 15 deletions(-)

diff --git a/arena_studio.html b/arena_studio.html
index a51af44f..3c7cbede 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -3420,7 +3420,7 @@ <h2 id="modalTitle">Import error</h2>
 </div>
 
 <footer id="footer">
-  <span class="foot-left">Arena Studio v0.96 | 2026-10-16 11:39 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
+  <span class="foot-left">Arena Studio v0.97 | 2026-10-16 12:58 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
   <!-- Course-repo quick-links: open protocols / logs / patterns in a new tab.
        Hrefs built from the configured repo + bench id (updateGhQuickLinks). -->
   <span id="ghQuickLinks" title="Open the course repo on GitHub (new tab)">
@@ -5836,6 +5836,16 @@ <h2 id="modalTitle">Import error</h2>
         Studio.session.on('fault', (f) => {
             Studio._pendingFault = f || { kind: 'controller_unresponsive' };
             const d = f || {};
+            if (d.kind === 'bridge_lost') {
+                // LAB-303 S1: the bridge WebSocket closed under a run that depended on it
+                // (closed loop / connector plugins / recording). The runner has ended the run
+                // (outcome BRIDGE_LOST) and its STOP blanks the display; the controller is
+                // fine, so no post-mortem. The bridge's own record of the run is recovered
+                // at the next export once the bridge is back (bag auto-recovery).
+                rawLine('⚠ bridge connection lost mid-run (' + (d.url || 'ws') + ') — run ended (BRIDGE_LOST)', 'err');
+                showBanner('⚠ Bridge connection lost — run ended. Display stopped; camera/connector steps were not sent. Restart the bridge (pixi run rig), reconnect, then ⇪ Push log to recover its record.');
+                return;
+            }
             rawLine('⚠ controller fault: ' + (d.kind || 'controller_unresponsive') +
                 (d.failures != null ? ' — ' + d.failures + ' of the last ' + d.window + ' frame commands failed' : '') +
                 (d.lastError ? ' (' + d.lastError + ')' : ''), 'err');
@@ -10792,7 +10802,12 @@ <h2 id="modalTitle">Import error</h2>
             summary.faultDetail = { kind: 'link_dropped', note: 'controller re-enumerated mid-run (watchdog self-reset?)' };
             Studio.rawLog('run ended by a link drop, not a STOP — treating as a controller event', 'warn');
         }
-        if (summary && summary.fault) {
+        if (summary && summary.fault === 'bridge_lost') {
+            // LAB-303 S1: the controller is healthy — no post-mortem probes; the run is over
+            // and the run log carries the outcome. The bridge's own file/bag closes when the
+            // bridge restarts and recovers it on its first export.
+            Studio.rawLog('run ended: the FicTrac bridge went away mid-run (outcome BRIDGE_LOST)', 'warn');
+        } else if (summary && summary.fault) {
             Studio._lastPostmortem = await Studio.handleControllerFault(summary);
         }
         // Stimulus quality: normally already finalized by onRunFinished (before the export);
@@ -12180,13 +12195,27 @@ <h2 id="modalTitle">Import error</h2>
     // bogus/stale params, stamping the {studio, mode} own-refresh marker, and
     // never clobbering a mode the user clicked during the awaits below.
     Studio._urlSuppress = true;
+    // S2 (ww18 2026-10-15, LAB-303): a tab opened at ?p=… showed no protocol until it was
+    // refreshed. The ?p= load used to wait behind the course repo's shared-pattern listing
+    // (a GitHub API call with no timeout) — on a slow or walled network that await held the
+    // whole init, and a refresh merely got a warm connection. Rules now: (1) nothing that
+    // leaves this origin is awaited before the protocol load; the repo listing starts first
+    // and gets at most REPO_PREVIEW_GRACE_MS to finish before the load goes ahead (on a normal
+    // network it is back well within that, so colocated previews still register after the
+    // shared ones); (2) every pre-step is guarded — a failure in rig/vocab population logs a
+    // warning instead of silently skipping the protocol load.
+    const REPO_PREVIEW_GRACE_MS = 1500;
+    const guarded = async (name, fn) => {
+        try { await fn(); } catch (e) { Studio.rawLog('init: ' + name + ' failed — ' + (e && e.message ? e.message : e), 'warn'); }
+    };
+    const sharedPreviews = guarded('course repo pattern previews', refreshRepoSharedPatternPreviews); // shared patterns/ previews do not depend on a protocol
     try {
-        await populateMetaDatalists();
-        await populateSessionRig();
+        await guarded('metadata vocabularies', populateMetaDatalists);
+        await guarded('session rig', populateSessionRig);
         wirePatPicker();
         loadBuiltinPatternSet();
-        await refreshRepoSharedPatternPreviews(); // shared patterns/ previews do not depend on a protocol
-        rewireRepoPatternPreviews(); // restore last-opened course protocol's colocated thumbs
+        await Promise.race([sharedPreviews, new Promise((r) => setTimeout(r, REPO_PREVIEW_GRACE_MS))]);
+        sharedPreviews.then(() => rewireRepoPatternPreviews()); // restore last-opened course protocol's colocated thumbs (after the shared set, whenever it lands)
         let allowedKeys = [];
         let protoIndex = [];
         try {
@@ -12232,6 +12261,10 @@ <h2 id="modalTitle">Import error</h2>
                 } catch (e) {
                     Studio.showBanner('Protocol fetch failed: ' + e.message);
                 }
+            } else {
+                // decode() dropped an unknown key with a rawLog warning only; say it where a
+                // student looks (S2 follow-up: a silent empty Run view is what "did not load" means).
+                Studio.showBanner('Protocol "' + state.p + '" is not in this site\'s protocol index (protocols/index.json).');
             }
         }
         // ?rig= (#135): the per-setup bookmark. Applied AFTER the ?p= load so
diff --git a/docs/development/arena-studio-release-notes.md b/docs/development/arena-studio-release-notes.md
index 11d44918..37f52fe5 100644
--- a/docs/development/arena-studio-release-notes.md
+++ b/docs/development/arena-studio-release-notes.md
@@ -4,6 +4,12 @@ The Studio's footer used to carry the full changelog inline; it now shows one li
 history lives here. Newest first. (Per-session engineering detail stays in
 `arena-studio-handover.md` and the design docs — this file is the user-facing what-changed list.)
 
+## v0.97 (2026-10-16) · A lost bridge ends the run (BRIDGE_LOST) · Shared `?p=` links load without waiting on GitHub (LAB-303 S1/S2)
+
+<!-- #254 -->
+- **Losing the FicTrac bridge mid-run now ends the run** instead of carrying on in silence. When the bridge's connection drops during a run that depends on it (a closed loop is armed, the protocol drives a camera or another connector, or the bridge is recording the run), the Studio shows a banner, stops the display, and records the run with the outcome **BRIDGE_LOST** (distinct from a controller fault, so no controller post-mortem runs). Restart the bridge, reconnect, and **⇪ Push log** to collect its record of the run. A user Disconnect, or a bridge the run never used, does not end the run.
+- **A `?p=` link loads its protocol first.** Opening a shared protocol link no longer waits for the course repo's pattern listing from GitHub; on a slow or walled network that wait could leave the Run view empty until a refresh. A protocol key that is not in this site's index now says so in a banner.
+
 ## v0.96 (2026-10-16) · ScanImage as a protocol plugin (two-photon rigs, ROS bridge node) · Run file and MCAP bag close when the run ends (LAB-303)
 
 <!-- #254 -->
diff --git a/js/arena-runner-g6.js b/js/arena-runner-g6.js
index 3bf87397..6f6830af 100644
--- a/js/arena-runner-g6.js
+++ b/js/arena-runner-g6.js
@@ -1133,11 +1133,27 @@ var ArenaRunnerG6 = (function () {
             this._emit = null; // current run's status emit (for async LED events)
             this._faultReason = null; // set by fault() / a timed-out wire command
             this._faultDetail = null;
+            this._closedLoopArmed = false; // this run turned the bridge's apply on (startClosedLoop)
+            this._connectorsInRun = false; // this run declares connector plugins (BIAS, ScanImage…)
         }
 
         get active() {
             return this._active;
         }
+
+        /**
+         * True while the ACTIVE run depends on the FicTrac bridge: a closed loop is armed,
+         * the protocol declares connector plugins the bridge drives, or the bridge is
+         * recording the run. ArenaSession consults this when the bridge WebSocket closes
+         * involuntarily — such a run is faulted ('bridge_lost' → BRIDGE_LOST) instead of
+         * carrying on with a dead loop and unreachable devices (LAB-303 S1, ww18 5.7). An
+         * open-loop run that merely has the bridge connected is left alone.
+         */
+        get bridgeInUse() {
+            if (!this._active) return false;
+            const b = this._bridge;
+            return !!(this._closedLoopArmed || this._connectorsInRun || (b && b.logging));
+        }
         get conditionName() {
             return this._conditionName;
         }
@@ -1244,7 +1260,9 @@ var ArenaRunnerG6 = (function () {
 
         /**
          * External FAULT (firmware #50): the closed-loop bridge client saw repeated
-         * 0x70 timeouts, or some other watcher decided the controller is gone.
+         * 0x70 timeouts, or some other watcher decided the controller is gone — or
+         * ('bridge_lost', LAB-303 S1) the bridge WebSocket closed under a run that
+         * depended on it; the run-log then derives BRIDGE_LOST instead of CONTROLLER_FAULT.
          * Records the reason, emits a `fault` status event into the current run,
          * then unwinds like abort() (wakes the host-side wait, disarms closed loop,
          * NO STOP send here — the sequence's finally still tries a best-effort
@@ -1289,6 +1307,7 @@ var ArenaRunnerG6 = (function () {
             this._conditionName = null;
             this._clearLedActivator(); // guarded: no-op send when the link is gone
             this._disarmClosedLoop(); // bridge-side, so it still works with no link
+            this._connectorsInRun = false;
             this._emit = null;
         }
 
@@ -1311,6 +1330,7 @@ var ArenaRunnerG6 = (function () {
          * silently stomped by it.
          */
         _disarmClosedLoop() {
+            this._closedLoopArmed = false;
             const b = this._bridge;
             if (!b) return;
             try {
@@ -1624,6 +1644,7 @@ var ArenaRunnerG6 = (function () {
             this._frameCountCache = new Map();
             this._faultReason = null;
             this._faultDetail = null;
+            this._connectorsInRun = !!(connectorPluginNames && connectorPluginNames.size);
             this._oldBridgeStartWarned = false; // one "bridge ignores the start frame" warning per run
             // A stale closed-loop apply (left on by Console use or an aborted run)
             // would push FicTrac frames into the opening Mode-2 step — the firmware
@@ -1865,6 +1886,7 @@ var ArenaRunnerG6 = (function () {
                 // Best-effort STOP at the end / on abort, then reset run-state.
                 this._active = false;
                 this._conditionName = null;
+                this._connectorsInRun = false;
                 this._resolveSleep();
                 this._clearLedActivator(); // LED off + stop gating on completion/abort
                 // Idempotent after a stopClosedLoop; THE fix when a mid-trial STOP
@@ -2127,6 +2149,7 @@ var ArenaRunnerG6 = (function () {
                         if (ir.bias) cfg.bias = ir.bias;
                         if (Object.keys(cfg).length) this._bridge.setConfig(cfg);
                         this._bridge.setApply(!!ir.on);
+                        this._closedLoopArmed = !!ir.on;
                     }
                     for (const w of warnings) {
                         // A warning is NOT a skip — the step ran. Its own phase keeps
diff --git a/js/arena-session.js b/js/arena-session.js
index 5921a361..e865adbd 100644
--- a/js/arena-session.js
+++ b/js/arena-session.js
@@ -30,6 +30,11 @@
  *   'disconnect' ({ involuntary:boolean })      — port closed (cable-pull = true, user Disconnect = false)
  *   'state'      ()                             — connection/run state changed; re-evaluate UI gating
  *   'runstatus'  (s:object)                     — runner status/progress phase (single-trial AND sequence)
+ *   'fault'      (f:object)                     — the run was faulted from outside the runner: the
+ *                                                 bridge client's latched controller_unresponsive
+ *                                                 (fw #50; f.kind), or {kind:'bridge_lost', url} when the
+ *                                                 bridge WebSocket closed under a run that depended on it
+ *                                                 (LAB-303 S1) — the run ends with outcome BRIDGE_LOST
  *
  * SEND / STOP SEMANTICS: ArenaLink.send is single-flight + echo-correlated +
  * FIFO-queued (arena-link.js). STOP therefore QUEUES behind any in-flight send
@@ -160,6 +165,28 @@
                     this._emit('fault', f);
                     this._emit('state');
                 });
+                // Bridge LOST under a run that depends on it (closed loop armed, connector
+                // plugins declared, or the bridge recording the run): end the run with its
+                // own reason — 'bridge_lost' → BRIDGE_LOST — so the display is stopped by
+                // the runner's finally (the serial link is fine), nothing pretends the loop
+                // or the camera is still driven, and the Studio banners it. ww18 5.7
+                // (2026-10-15): the bridge was hard-killed mid closed loop, the Studio
+                // showed only "bridge disconnected", the run carried on and BIAS kept
+                // recording. A user Disconnect, or a bridge the run never used, is not a fault.
+                this._bridge.on('disconnect', (info) => {
+                    if (!info || !info.involuntary) return;
+                    if (!this._runner.active || !this._runner.bridgeInUse) return;
+                    const f = {
+                        kind: 'bridge_lost',
+                        url: info.url || null,
+                        note: 'bridge WebSocket closed mid-run'
+                    };
+                    if (typeof this._runner.fault === 'function')
+                        this._runner.fault('bridge_lost', f);
+                    else this._abortRunner();
+                    this._emit('fault', f);
+                    this._emit('state');
+                });
             }
         }
 
diff --git a/js/fictrac-bridge-client.js b/js/fictrac-bridge-client.js
index d25c2e93..a8cf759a 100644
--- a/js/fictrac-bridge-client.js
+++ b/js/fictrac-bridge-client.js
@@ -41,6 +41,10 @@
  *
  * EVENTS (subscribe with .on(event, fn) — returns an unsubscribe fn):
  *   'status'  (text:string, kind:string)   — connection status changed
+ *   'disconnect' ({involuntary:bool, url})  — the WebSocket closed; involuntary = not our
+ *                                            disconnect() (bridge killed / crashed / network).
+ *                                            ArenaSession ends a run that depends on the
+ *                                            bridge with the BRIDGE_LOST outcome (LAB-303 S1).
  *   'stats'   (stats:object)               — {recv, applied, drop, rateHz} updated
  *   'frame'   (index:int)                  — a frame index arrived (pre-apply)
  *   'sample'  (sample:object)              — behavior_v1 kinematic sample for the
@@ -73,7 +77,8 @@
         'bias',
         'log',
         'loglevel',
-        'fault'
+        'fault',
+        'disconnect'
     ];
     // Log levels this client knows how to request, most-preferred first. The
     // bridge advertises ITS list in hello_ack; a level missing there is one the
@@ -108,6 +113,7 @@
             EVENTS.forEach((e) => (this._handlers[e] = new Set()));
 
             this._ws = null;
+            this._closing = false; // disconnect() in progress → the next onclose is voluntary
             this._apply = false;
             this._logging = false;
             this._pending = null; // newest index awaiting send (coalesced)
@@ -334,6 +340,14 @@
                 this._ws = null;
                 this._bridgeInfo = null;
                 this._ackedLevel = null;
+                // Who closed it: our disconnect() (voluntary) or the far end / the network.
+                // Emitted FIRST so a run that depends on the bridge is faulted (BRIDGE_LOST)
+                // before its pending connector command is rejected below — the runner then
+                // records the loss as the reason, not a generic send failure (ww18 S1: the
+                // bridge was hard-killed mid closed loop and the run carried on in silence).
+                const involuntary = !this._closing;
+                this._closing = false;
+                this._emit('disconnect', { involuntary: involuntary, url: this._url });
                 this._settleAckWaiters(null);
                 this._settleCmdWaiters('bridge disconnected');
                 this._settleExport('reject', new Error('bridge disconnected during log export'));
@@ -345,6 +359,7 @@
         /** Close the bridge WebSocket (idempotent). */
         disconnect() {
             if (this._ws) {
+                this._closing = true;
                 try {
                     this._ws.close();
                 } catch (_) {
diff --git a/js/run-log.js b/js/run-log.js
index f85f3916..7bfbc866 100644
--- a/js/run-log.js
+++ b/js/run-log.js
@@ -49,6 +49,7 @@
     function deriveOutcome(summary, override) {
         if (override) return override;
         if (!summary) return 'UNKNOWN';
+        if (summary.fault === 'bridge_lost') return 'BRIDGE_LOST'; // the FicTrac bridge went away mid-run (LAB-303 S1)
         if (summary.fault) return 'CONTROLLER_FAULT'; // controller stopped answering (fw #50)
         if (summary.aborted) return 'ABORTED_BY_USER';
         if (summary.errors > 0) return 'ERRORED';
@@ -153,7 +154,8 @@
                     stamp +
                     '⚠ FAULT ' +
                     (ev.reason || 'controller_unresponsive') +
-                    (ev.detail && ev.detail.lastError ? ' — ' + ev.detail.lastError : '')
+                    (ev.detail && ev.detail.lastError ? ' — ' + ev.detail.lastError : '') +
+                    (ev.detail && ev.detail.note ? ' — ' + ev.detail.note : '')
                 );
             case 'step-done':
                 return stamp + '   ' + where + 'done';
diff --git a/js/studio-runlog-adapter.js b/js/studio-runlog-adapter.js
index a90d2fb4..83ded272 100644
--- a/js/studio-runlog-adapter.js
+++ b/js/studio-runlog-adapter.js
@@ -59,14 +59,12 @@
         const ev = log.event(phase, s);
         if (isTerminal(phase)) {
             // An `aborted` whose summary carries a fault reason is the CONTROLLER
-            // giving up, not the operator — label it so (it also auto-commits).
+            // giving up (or the bridge going away: 'bridge_lost' → BRIDGE_LOST,
+            // LAB-303 S1), not the operator — label it so (it also auto-commits).
             const faulted = phase === 'aborted' && s.summary && s.summary.fault;
+            // (no override: run-log.js deriveOutcome reads the fault kind off the summary)
             const override =
-                phase === 'aborted'
-                    ? faulted
-                        ? 'CONTROLLER_FAULT'
-                        : 'ABORTED_BY_USER'
-                    : undefined;
+                phase === 'aborted' ? (faulted ? undefined : 'ABORTED_BY_USER') : undefined;
             const summary = log.finish(s.summary || null, override);
             return { event: ev, terminal: true, summary: summary };
         }
diff --git a/tests/test-arena-runner-g6.js b/tests/test-arena-runner-g6.js
index 984d96d3..555bb292 100644
--- a/tests/test-arena-runner-g6.js
+++ b/tests/test-arena-runner-g6.js
@@ -2808,6 +2808,7 @@ async function main() {
             ]
         ]);
         let applyDuringWait = null;
+        let inUseDuringWait = null;
         const summary = await runner.runSequence({
             steps,
             conditionsByName,
@@ -2819,11 +2820,14 @@ async function main() {
             sleep: () => {
                 // Mid-closed-loop the apply must be ON; then the link drops.
                 applyDuringWait = bridge.apply;
+                inUseDuringWait = runner.bridgeInUse; // LAB-303 S1: an armed loop depends on the bridge
                 runner.abort();
                 return Promise.resolve();
             }
         });
         check('apply was ON during the closed-loop wait', applyDuringWait, true);
+        check('bridgeInUse was true during the closed-loop wait', inUseDuringWait, true);
+        check('bridgeInUse is false after the abort', runner.bridgeInUse, false);
         check('run reported aborted', summary.aborted, true);
         check('apply is OFF after the abort', bridge.apply, false);
         check('last apply state recorded is false', bridge.states[bridge.states.length - 1], false);
@@ -2938,6 +2942,38 @@ async function main() {
         check('clean run → stopAcked true', s4.stopAcked, true);
     }
 
+    console.log(
+        '\n=== bridgeInUse (LAB-303 S1): closed loop armed / connectors declared / bridge logging ==='
+    );
+    {
+        const bridge = {
+            logging: false,
+            on() {
+                return () => {};
+            },
+            setApply(on) {
+                bridge.apply = on;
+            },
+            setConfig() {},
+            log() {}
+        };
+        const runner = new Runner.ArenaRunner(makeFakeLink(), Wire, bridge);
+        checkBool('idle runner → false', runner.bridgeInUse === false);
+        runner._active = true;
+        checkBool('active, bridge connected but unused → false', runner.bridgeInUse === false);
+        runner._closedLoopArmed = true;
+        checkBool('closed loop armed → true', runner.bridgeInUse === true);
+        runner._disarmClosedLoop();
+        checkBool('disarm clears it', runner.bridgeInUse === false);
+        bridge.logging = true;
+        checkBool('bridge recording the run → true', runner.bridgeInUse === true);
+        bridge.logging = false;
+        runner._connectorsInRun = true;
+        checkBool('connector plugins declared → true', runner.bridgeInUse === true);
+        runner._active = false;
+        checkBool('run over → false even with the flags set', runner.bridgeInUse === false);
+    }
+
     console.log('\n=== connector plugins (LAB-303): BiasPlugin via the bridge ===');
     {
         const conn = new Map([['camera', 'bias']]);
diff --git a/tests/test-arena-session.js b/tests/test-arena-session.js
index a8deb8c9..4af33121 100644
--- a/tests/test-arena-session.js
+++ b/tests/test-arena-session.js
@@ -553,6 +553,88 @@ function newSession(m) {
         delete m.RunnerLib.ArenaRunner.prototype.fault;
     }
 
+    console.log(
+        '\n=== bridge LOST mid-run (LAB-303 S1): runner.fault(bridge_lost) only when the run depends on it ==='
+    );
+    {
+        const m = makeMocks();
+        class MockBridge {
+            constructor(o) {
+                this.o = o;
+                this._h = {};
+                this.logging = false;
+                this.apply = false;
+            }
+            on(ev, fn) {
+                (this._h[ev] = this._h[ev] || []).push(fn);
+                return () => {};
+            }
+            emit(ev, ...a) {
+                (this._h[ev] || []).forEach((fn) => fn(...a));
+            }
+            setApply() {}
+            log() {}
+        }
+        let inUse = false;
+        m.RunnerLib.ArenaRunner.prototype.fault = function (reason, detail) {
+            m.calls.push('runner.fault');
+            this.lastFault = { reason, detail };
+        };
+        Object.defineProperty(m.RunnerLib.ArenaRunner.prototype, 'bridgeInUse', {
+            get() {
+                return inUse;
+            },
+            configurable: true
+        });
+        const s = new ArenaSession({
+            wire: { mark: 1 },
+            LinkClass: m.MockLink,
+            RunnerLib: m.RunnerLib,
+            BridgeClientLib: MockBridge
+        });
+        const faults = [];
+        s.on('fault', (f) => faults.push(f));
+        s._runner._active = true;
+        inUse = true;
+        s.bridge.emit('disconnect', { involuntary: false, url: 'ws://x' });
+        checkBool(
+            'a user Disconnect of the bridge never faults the run',
+            !m.calls.includes('runner.fault')
+        );
+        inUse = false;
+        s.bridge.emit('disconnect', { involuntary: true, url: 'ws://x' });
+        checkBool(
+            'bridge lost under a run that never used it → no fault',
+            !m.calls.includes('runner.fault')
+        );
+        inUse = true;
+        s.bridge.emit('disconnect', { involuntary: true, url: 'ws://x' });
+        checkBool(
+            'bridge lost under a dependent run → runner.fault',
+            m.calls.includes('runner.fault')
+        );
+        check(
+            'reason bridge_lost + detail kind/url',
+            [
+                s._runner.lastFault.reason,
+                s._runner.lastFault.detail.kind,
+                s._runner.lastFault.detail.url
+            ],
+            ['bridge_lost', 'bridge_lost', 'ws://x']
+        );
+        check(
+            "session re-emits 'fault' with kind bridge_lost",
+            faults.map((f) => f.kind),
+            ['bridge_lost']
+        );
+        m.calls.length = 0;
+        s._runner._active = false;
+        s.bridge.emit('disconnect', { involuntary: true, url: 'ws://x' });
+        checkBool('no run active → nothing', !m.calls.includes('runner.fault'));
+        delete m.RunnerLib.ArenaRunner.prototype.fault;
+        delete m.RunnerLib.ArenaRunner.prototype.bridgeInUse;
+    }
+
     console.log('\n=== bridge applyFrame: a controller REJECT counts as an apply failure ===');
     {
         const m = makeMocks();
diff --git a/tests/test-run-log.js b/tests/test-run-log.js
index 62252721..d0fe3ffc 100644
--- a/tests/test-run-log.js
+++ b/tests/test-run-log.js
@@ -62,6 +62,11 @@ check(
     RunLog.deriveOutcome({ aborted: true, fault: 'controller_unresponsive' }),
     'CONTROLLER_FAULT'
 );
+check(
+    'deriveOutcome bridge_lost → BRIDGE_LOST, not CONTROLLER_FAULT (LAB-303 S1)',
+    RunLog.deriveOutcome({ aborted: true, fault: 'bridge_lost' }),
+    'BRIDGE_LOST'
+);
 check('deriveOutcome errors', RunLog.deriveOutcome({ errors: 2 }), 'ERRORED');
 check('deriveOutcome completed', RunLog.deriveOutcome({ completed: true }), 'COMPLETED');
 check(
diff --git a/tests/test-studio-runlog-adapter.js b/tests/test-studio-runlog-adapter.js
index 9c1ad4a1..3dac69da 100644
--- a/tests/test-studio-runlog-adapter.js
+++ b/tests/test-studio-runlog-adapter.js
@@ -212,6 +212,40 @@ console.log('\n=== controller fault outcome ===');
         'CONTROLLER_FAULT'
     );
     checkBool('transcript names the fault', /FAULT controller_unresponsive/.test(log2.toText()));
+    // The bridge going away under a run that depended on it (LAB-303 S1) is its own outcome.
+    const logB = RunLog.createRunLog({
+        meta: { protocol: 'p', run_id: 'rB', bench_id: 'b' },
+        intent: 'experiment',
+        now: fixedClock()
+    });
+    A.feedRunStatus(logB, { phase: 'sequence-start', total: 1 });
+    A.feedRunStatus(logB, {
+        phase: 'fault',
+        reason: 'bridge_lost',
+        detail: { kind: 'bridge_lost', note: 'bridge WebSocket closed mid-run' }
+    });
+    const rB = A.feedRunStatus(logB, {
+        phase: 'aborted',
+        summary: {
+            completed: false,
+            aborted: true,
+            steps: 1,
+            errors: 0,
+            skipped: 0,
+            fault: 'bridge_lost',
+            stopAcked: true
+        }
+    });
+    check('aborted-with-bridge_lost is terminal', rB.terminal, true);
+    check(
+        'outcome BRIDGE_LOST (not CONTROLLER_FAULT / ABORTED_BY_USER)',
+        logB.summary.outcome,
+        'BRIDGE_LOST'
+    );
+    checkBool(
+        'transcript names the bridge loss',
+        /FAULT bridge_lost — bridge WebSocket closed mid-run/.test(logB.toText())
+    );
     // A plain user abort is unchanged.
     const log3 = RunLog.createRunLog({
         meta: { protocol: 'p', run_id: 'r3', bench_id: 'b' },

From 51ad95a5c71412fad88db9909bb8b0635ce572b1 Mon Sep 17 00:00:00 2001
From: hanmarsan <santosmariehannah@gmail.com>
Date: Fri, 16 Oct 2026 12:58:49 -0400
Subject: [PATCH 81/96] =?UTF-8?q?SCANIMAGE-DAY=20=C2=A76=20prep:=20led=5Fs?=
 =?UTF-8?q?weep=5Fsi.py=20prints=20UTF-8=20on=20a=20cp1252=20Windows=20con?=
 =?UTF-8?q?sole;=20results=20log=20started?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 ros2-poc/scanimage-day-2026-10-16.md | 13 +++++++++++++
 tools/led_sweep_si.py                |  6 ++++++
 2 files changed, 19 insertions(+)
 create mode 100644 ros2-poc/scanimage-day-2026-10-16.md

diff --git a/ros2-poc/scanimage-day-2026-10-16.md b/ros2-poc/scanimage-day-2026-10-16.md
new file mode 100644
index 00000000..fa808a2f
--- /dev/null
+++ b/ros2-poc/scanimage-day-2026-10-16.md
@@ -0,0 +1,13 @@
+# ScanImage day 2026-10-16: results log
+
+Plan: [SCANIMAGE-DAY.md](SCANIMAGE-DAY.md) (the two-hour version). PC: `REISERLAB-BERGA` (reiserlab-bergamo1).
+Branch `claude/ros-studio-plan-b-c44942` @ `cff5835`. Times are ET.
+
+| Time | Step | What | Result | Notes |
+|---|---|---|---|---|
+| 12:5x | 0:00 | Fresh clone of webDisplayTools to `Documents\GitHub\webDisplayTools`, `git switch claude/ros-studio-plan-b-c44942` | ok | git via GitHub Desktop (`app-3.5.8\resources\app\git\cmd\git.exe`); not on PATH |
+| 12:5x | 0:00 | pixi was not installed; installed pixi 0.82.0 with the official installer (`~\.pixi\bin`, user PATH) | ok | winget not available on this PC |
+| 12:55 | 0:00 | `pixi install --locked` in `ros2-poc` (default env) | ok, 27 s | cold install |
+| 12:56 | 0:00 | `pixi run test` (harness) | **53/53 PASS**, 51 s | plan expected 52 (the bag-recovery check from cff5835 adds one). Skipped: JS reader check (no root pixi env). String topics (no MSVC), as expected. Frame lag p50 0.65 / p99 1.04 ms |
+| 13:0x | prep (arena not up yet) | Pattern folder vs protocol `variables:` | ok | 4 GS16 `.pat` (81338 B each), names match the four anchors |
+| 13:0x | §6 prep | `tools/led_sweep_si.py --dry-run` | **crashed, fixed** | `UnicodeEncodeError` printing `→` on a cp1252 console (plain `python`, no `PYTHONUTF8`; the operator's terminal Python 3.14 would hit it). Fix: reconfigure stdout/stderr to UTF-8 in `main()`. Re-run: plan printed, nothing sent. The `pixi run` CLIs are unaffected (`PYTHONUTF8=1` in pixi.toml) |
diff --git a/tools/led_sweep_si.py b/tools/led_sweep_si.py
index edc6e510..cdfb973e 100644
--- a/tools/led_sweep_si.py
+++ b/tools/led_sweep_si.py
@@ -119,6 +119,12 @@ def log(results: list, **row) -> None:
 
 
 def main(argv: list[str] | None = None) -> int:
+    # A Windows console is cp1252 by default: the plan/cue lines use → and ×, which would crash print().
+    for s in (sys.stdout, sys.stderr):
+        try:
+            s.reconfigure(encoding="utf-8", errors="replace")
+        except (AttributeError, ValueError):
+            pass
     p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
     p.add_argument("--host", default="127.0.0.1")
     p.add_argument("--port", type=int, default=5555)

From ad20480655658c79207235140ea60d5fc6474488 Mon Sep 17 00:00:00 2001
From: hanmarsan <santosmariehannah@gmail.com>
Date: Fri, 16 Oct 2026 13:05:15 -0400
Subject: [PATCH 82/96] SCANIMAGE-DAY 0:20: status snapshot tolerates
 lastFrameNumber erroring before the first acquisition (ScanImage 2026.0.0);
 ping/status pass on the Bergamo PC

---
 ros2-poc/nodes/scanimage_node.py     | 19 +++++++++++++++++--
 ros2-poc/scanimage-day-2026-10-16.md |  5 +++++
 2 files changed, 22 insertions(+), 2 deletions(-)

diff --git a/ros2-poc/nodes/scanimage_node.py b/ros2-poc/nodes/scanimage_node.py
index 86cb5014..6ac18f2c 100644
--- a/ros2-poc/nodes/scanimage_node.py
+++ b/ros2-poc/nodes/scanimage_node.py
@@ -262,15 +262,30 @@ def _work(self) -> None:
 
     # ── status ──────────────────────────────────────────────────────────────────────────
     def _snapshot(self, steps: list | None = None) -> dict:
-        """The status snapshot: one `get` per STATUS_PROPS (all scalar). Raises on the first failure."""
+        """The status snapshot: one `get` per STATUS_PROPS (all scalar). acqState must read; any
+        other property that ScanImage answers with an error is None + `errors[prop]` — e.g.
+        hDisplay.lastFrameNumber throws "Index exceeds array bounds" until the first acquisition
+        after ScanImage starts (Bergamo, 2026-10-16). Timeouts and socket errors still raise."""
         out: dict = {}
+        errors: dict = {}
         rtt_total = 0.0
         for prop in STATUS_PROPS:
-            v, rtt = self.cli.get(prop)
+            try:
+                v, rtt = self.cli.get(prop)
+            except SiError as exc:
+                if prop == "hSI.acqState":
+                    raise
+                out[prop.split(".")[-1]] = None
+                errors[prop] = str(exc).splitlines()[0]
+                if steps is not None:
+                    steps.append({"command": "get", "property": prop, "ok": False, "error": errors[prop]})
+                continue
             rtt_total += rtt
             out[prop.split(".")[-1]] = v
             if steps is not None:
                 steps.append({"command": "get", "property": prop, "ok": True, "value": v, "rtt_ms": rtt})
+        if errors:
+            out["errors"] = errors
         out["rtt_ms"] = round(rtt_total, 2)
         return out
 
diff --git a/ros2-poc/scanimage-day-2026-10-16.md b/ros2-poc/scanimage-day-2026-10-16.md
index fa808a2f..cc6e3ddf 100644
--- a/ros2-poc/scanimage-day-2026-10-16.md
+++ b/ros2-poc/scanimage-day-2026-10-16.md
@@ -11,3 +11,8 @@ Branch `claude/ros-studio-plan-b-c44942` @ `cff5835`. Times are ET.
 | 12:56 | 0:00 | `pixi run test` (harness) | **53/53 PASS**, 51 s | plan expected 52 (the bag-recovery check from cff5835 adds one). Skipped: JS reader check (no root pixi env). String topics (no MSVC), as expected. Frame lag p50 0.65 / p99 1.04 ms |
 | 13:0x | prep (arena not up yet) | Pattern folder vs protocol `variables:` | ok | 4 GS16 `.pat` (81338 B each), names match the four anchors |
 | 13:0x | §6 prep | `tools/led_sweep_si.py --dry-run` | **crashed, fixed** | `UnicodeEncodeError` printing `→` on a cp1252 console (plain `python`, no `PYTHONUTF8`; the operator's terminal Python 3.14 would hit it). Fix: reconfigure stdout/stderr to UTF-8 in `main()`. Re-run: plan printed, nothing sent. The `pixi run` CLIs are unaffected (`PYTHONUTF8=1` in pixi.toml) |
+| ~13:00 | 0:15 | Michael: MATLAB R2025b, ScanImage idle, `hJ = most.network.json.Server(5555)`, logging on, `logFilePath = F:\ImagingData\2026-10-16\led_sweep`, `bidirectional = false`, `channelSave = [1 2]` | ok | no errors |
+| 13:02 | 0:20 | `pixi run rig -- --scanimage` | ok | router 7447, fictrac adapter, scanimage node → 127.0.0.1:5555 (status 1 Hz), bridge-node 3.4 on ws://127.0.0.1:8765; 1 ms system timer granted. Zenoh config deprecation WARNs (harmless) |
+| 13:02 | 0:20 | `scanimage-cmd -- ping` | **ok, 0.41 ms** | `acqState: idle`. CLI also prints a zenohc "Error closing session: close operation timed out" on exit (harmless, ~10 s exit delay) |
+| 13:03 | 0:20 | `scanimage-cmd -- status --json` | **failed → fixed** | ScanImage 2026.0.0: `hSI.hDisplay.lastFrameNumber` throws `Index exceeds array bounds.` (Display/get.lastStripeData line 434) until the first acquisition after ScanImage starts. The snapshot raised on it → status `ok:false`, every 1 Hz status line `reachable:false`, and an UNKNOWN reconcile on the first grab of the day would have failed too. Fix (`scanimage_node.py _snapshot`): acqState must read; other props that error → `null` + `errors{}`. Harness 53/53 after the fix |
+| 13:05 | 0:20 | re-run after restart: ping, status | **ok** | ping 1.1 ms; status: idle, logFileCounter 1, stem `file`, path `F:\ImagingData\2026-10-16\led_sweep`, loggingEnable true, lastFrameNumber null (no acquisition yet); 6 gets 8.2 ms total |

From 90e64ca7300c978e1897b142d86fb7f3442fa8ac Mon Sep 17 00:00:00 2001
From: hanmarsan <santosmariehannah@gmail.com>
Date: Fri, 16 Oct 2026 13:44:34 -0400
Subject: [PATCH 83/96] SCANIMAGE-DAY 0:35: waitIdle tolerates lastFrameNumber
 erroring (throws even after grabs on ScanImage 2026.0.0); laser-clocked vDAQ
 noted; single connector grab passes

---
 ros2-poc/nodes/scanimage_node.py     | 10 +++++++++-
 ros2-poc/scanimage-day-2026-10-16.md |  9 +++++++++
 2 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/ros2-poc/nodes/scanimage_node.py b/ros2-poc/nodes/scanimage_node.py
index 6ac18f2c..ea10c11d 100644
--- a/ros2-poc/nodes/scanimage_node.py
+++ b/ros2-poc/nodes/scanimage_node.py
@@ -422,7 +422,15 @@ def _run(self, command: str, params: dict, steps: list):
             waited = round(time.monotonic() - t0, 3)
             if st != "idle":
                 raise SiError(f"still '{st}' after {waited:g} s (timeout_s {to:g}); use abort")
-            return {"acqState": st, "waited_s": waited, "lastFrameNumber": self._get("hSI.hDisplay.lastFrameNumber", steps),
+            # lastFrameNumber is informational: on the Bergamo (2026.0.0) it throws "Index exceeds
+            # array bounds" even right after a grab, so it must not turn a reached idle into an error.
+            try:
+                last = self._get("hSI.hDisplay.lastFrameNumber", steps)
+            except SiError as exc:
+                last = None
+                steps.append({"command": "get", "property": "hSI.hDisplay.lastFrameNumber", "ok": False,
+                              "error": str(exc).splitlines()[0]})
+            return {"acqState": st, "waited_s": waited, "lastFrameNumber": last,
                     "logFileCounter": self._get("hSI.hScan2D.logFileCounter", steps)}
         if command == "abort":
             rtt = self.cli.eval(EVAL_ABORT, self.cli.slow_timeout_s)
diff --git a/ros2-poc/scanimage-day-2026-10-16.md b/ros2-poc/scanimage-day-2026-10-16.md
index cc6e3ddf..ea606901 100644
--- a/ros2-poc/scanimage-day-2026-10-16.md
+++ b/ros2-poc/scanimage-day-2026-10-16.md
@@ -16,3 +16,12 @@ Branch `claude/ros-studio-plan-b-c44942` @ `cff5835`. Times are ET.
 | 13:02 | 0:20 | `scanimage-cmd -- ping` | **ok, 0.41 ms** | `acqState: idle`. CLI also prints a zenohc "Error closing session: close operation timed out" on exit (harmless, ~10 s exit delay) |
 | 13:03 | 0:20 | `scanimage-cmd -- status --json` | **failed → fixed** | ScanImage 2026.0.0: `hSI.hDisplay.lastFrameNumber` throws `Index exceeds array bounds.` (Display/get.lastStripeData line 434) until the first acquisition after ScanImage starts. The snapshot raised on it → status `ok:false`, every 1 Hz status line `reachable:false`, and an UNKNOWN reconcile on the first grab of the day would have failed too. Fix (`scanimage_node.py _snapshot`): acqState must read; other props that error → `null` + `errors{}`. Harness 53/53 after the fix |
 | 13:05 | 0:20 | re-run after restart: ping, status | **ok** | ping 1.1 ms; status: idle, logFileCounter 1, stem `file`, path `F:\ImagingData\2026-10-16\led_sweep`, loggingEnable true, lastFrameNumber null (no acquisition yet); 6 gets 8.2 ms total |
+| ~13:24 | 0:35 | connector `set framesPerSlice 60`, `setFileStem connector_check` | ok | set 153 ms, setFileStem 89 ms |
+| 13:24 | 0:35 | connector `grab` | ok (started) | startGrab eval **3897 ms** (LAB-305: 1.2–2.4 s); acqState `grab` on the first poll; artifact {stem connector_check, counter 1} |
+| 13:24 | 0:35 | connector `waitIdle --timeout-s 20` | **timeout** | still `grab` after 20.1 s; GUI showed **0 of 60 frames**; no TIFF on F:. `extTrigEnable` 0, `trigAcqInTerm` empty, `scannerFrequency` 7916.5 |
+| ~13:30 | 0:35 | connector `abort` | **ok, 524 ms** | back to idle; logFileCounter 1 → 2 (no file written) |
+| ~13:32 | 0:35 | GUI GRAB (Michael) | **0 of 60 too** | → not the connector |
+| ~13:38 | 0:35 | cause | **found** | sample clock is the laser: `hScan2D.LaserTriggerPort = /vDAQ0/CLK_IN` ("ImagingScanner: Laser Trigger"), `externalSampleClock = 1`, `laserTriggerSampleMaskEnable = 1`. Lasers were off for "dark" → no clock → no frames. **On this rig "dark" = laser on + shutter closed** (the scanimage repo's "lasers off *or* shutter closed" — it must be the shutter). SCANIMAGE-DAY's "Lasers off" for steps 2–4 needs correcting |
+| ~13:40 | 0:35 | 920 on, shutter closed: GUI GRAB still 0 of 60 at first; then Michael fixed it by hand (details: _TBD — what changed_) → GUI GRAB works | ok | `connector_check_00008.tif` 63.2 MB. `hJ`, logging, path survived (no ScanImage restart needed) |
+| 13:42 | 0:35 | connector `grab` + `waitIdle` | grab ok, **waitIdle error** | startGrab 2629 ms; `connector_check_00009.tif` 63.2 MB; counter 9 → 10; idle after ~3 s — but waitIdle's reply read `lastFrameNumber`, which throws **even after acquisitions** on this rig → outcome error. Fix (`scanimage_node.py` waitIdle): lastFrameNumber failure → `null` + a failed step, not an error. Harness 53/53 |
+| 13:44 | 0:35 | connector `grab` + `waitIdle` after the fix | **PASS** | startGrab 3112 ms; waitIdle ok, 3.08 s; `connector_check_00010.tif` 63.2 MB; counter 10 → 11. startGrab here 2.6–3.9 s (LAB-305: 1.2–2.4 s); the grab reply waits for acqState `grab`, so `grab_settle: 1` covers scanner start only — watch the first duty step in the dry run |

From 6e6d0aad7e81e53b3231cfdf4e712c26b0a384be Mon Sep 17 00:00:00 2001
From: hanmarsan <santosmariehannah@gmail.com>
Date: Fri, 16 Oct 2026 14:04:58 -0400
Subject: [PATCH 84/96] SCANIMAGE-DAY 0:10: dev server threaded + listens on
 ::1 (single-threaded server stalled the Studio's module imports in Chrome;
 localhost cost ~2 s/connection on Windows)

---
 .claude/nocache-server.py            | 18 ++++++++++++++++--
 ros2-poc/scanimage-day-2026-10-16.md |  4 ++++
 2 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/.claude/nocache-server.py b/.claude/nocache-server.py
index 367cc2ae..2b42dff8 100644
--- a/.claude/nocache-server.py
+++ b/.claude/nocache-server.py
@@ -11,7 +11,9 @@
 """
 import http.server
 import os
+import socket
 import sys
+import threading
 
 # Serve from the repo root (two levels up from .claude/).
 ROOT = os.path.abspath(os.path.join(os.path.dirname(__file__), ".."))
@@ -31,8 +33,20 @@ def log_message(self, fmt, *args):
 def main():
     port = int(sys.argv[1]) if len(sys.argv) > 1 else int(os.environ.get("PORT", "8091"))
     os.chdir(ROOT)
-    httpd = http.server.HTTPServer(("127.0.0.1", port), NoCacheHandler)
-    sys.stderr.write("Arena Studio dev server: http://127.0.0.1:%d/  (root: %s)\n" % (port, ROOT))
+    # Threaded: with the single-threaded HTTPServer, Chrome's idle pre-connected sockets
+    # block every other request, so the Studio's module graph (≈ 60 imports) stalls and the
+    # whole <script type="module"> block never runs (Bergamo PC, 2026-10-16).
+    httpd = http.server.ThreadingHTTPServer(("127.0.0.1", port), NoCacheHandler)
+    # Also listen on ::1: on Windows `localhost` tries IPv6 first, and a refused ::1 costs
+    # ~2 s per connection before the IPv4 fallback (measured: 2025 ms vs 23 ms).
+    try:
+        class V6(http.server.ThreadingHTTPServer):
+            address_family = socket.AF_INET6
+        httpd6 = V6(("::1", port), NoCacheHandler)
+        threading.Thread(target=httpd6.serve_forever, daemon=True).start()
+    except OSError:
+        pass
+    sys.stderr.write("Arena Studio dev server: http://localhost:%d/  (root: %s)\n" % (port, ROOT))
     try:
         httpd.serve_forever()
     except KeyboardInterrupt:
diff --git a/ros2-poc/scanimage-day-2026-10-16.md b/ros2-poc/scanimage-day-2026-10-16.md
index ea606901..0ebb2e1b 100644
--- a/ros2-poc/scanimage-day-2026-10-16.md
+++ b/ros2-poc/scanimage-day-2026-10-16.md
@@ -25,3 +25,7 @@ Branch `claude/ros-studio-plan-b-c44942` @ `cff5835`. Times are ET.
 | ~13:40 | 0:35 | 920 on, shutter closed: GUI GRAB still 0 of 60 at first; then Michael fixed it by hand (details: _TBD — what changed_) → GUI GRAB works | ok | `connector_check_00008.tif` 63.2 MB. `hJ`, logging, path survived (no ScanImage restart needed) |
 | 13:42 | 0:35 | connector `grab` + `waitIdle` | grab ok, **waitIdle error** | startGrab 2629 ms; `connector_check_00009.tif` 63.2 MB; counter 9 → 10; idle after ~3 s — but waitIdle's reply read `lastFrameNumber`, which throws **even after acquisitions** on this rig → outcome error. Fix (`scanimage_node.py` waitIdle): lastFrameNumber failure → `null` + a failed step, not an error. Harness 53/53 |
 | 13:44 | 0:35 | connector `grab` + `waitIdle` after the fix | **PASS** | startGrab 3112 ms; waitIdle ok, 3.08 s; `connector_check_00010.tif` 63.2 MB; counter 10 → 11. startGrab here 2.6–3.9 s (LAB-305: 1.2–2.4 s); the grab reply waits for acqState `grab`, so `grab_settle: 1` covers scanner start only — watch the first duty step in the dry run |
+| ~13:47 | 0:00 | Studio served from the checkout: `python .claude\nocache-server.py 8092` (Claude, background) | ok | `arena_studio.html` 200, footer Arena Studio v0.96 |
+| 13:49 | 0:00 | Arena plugged in; Studio Connect; init | ok | refresh 300 Hz · SPI 25 MHz · panel mode persist · AO 2500 mV · SD fw `panel-fw-v1.3.1`. An ALL_ON 0xFF went out at 13:49:16 (no supply reset) |
+| 13:49 | 0:00 | Console → Panel firmware → Inventory | **PASS, 20/20** | 1–10 `0xB8796BAF`; `0x362644DD` ×6 (11, 12, 13, 17, 19, 20), `0x1A74DD1D` ×3 (14, 15, 18), `0x9E03D589` ×1 (16) — exactly the lineage note; 11–20 ≠ SD panel.bin as expected |
+| ~14:00 | 0:10 | Studio: "no rig selected", Bench-rig dropdown empty + its lock dead, I/O roles greyed, pattern play blocked | **cause found, fixed** | The page's module block never ran: the server log shows the import graph stalling mid-`yaml` (`stringifyCollection.js` the last request; no `configs/metadata/*` or `rigs/index.json` ever fetched). `.claude/nocache-server.py` was a single-threaded `HTTPServer` — Chrome's idle pre-connected sockets block it. Also `localhost` cost **~2 s per connection** (IPv6 `::1` tried first, nothing listening) vs 23 ms on 127.0.0.1. Fix: `ThreadingHTTPServer` + a second listener on `::1` → localhost 9 ms. (Classic substrate — Connect, Console, Inventory — worked throughout, as designed.) |

From 1e1b6c28beff112c7dd5b534236d7e88130db0b5 Mon Sep 17 00:00:00 2001
From: hanmarsan <santosmariehannah@gmail.com>
Date: Fri, 16 Oct 2026 14:34:48 -0400
Subject: [PATCH 85/96] SCANIMAGE-DAY 0:40: frames_per_grab 640 -> 330
 (ScanImage runs 15.0 Hz on the Bergamo, not ~29); dry-run results logged

---
 protocols/g6_2p_color_led_sweep.yaml | 3 ++-
 ros2-poc/scanimage-day-2026-10-16.md | 9 +++++++++
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/protocols/g6_2p_color_led_sweep.yaml b/protocols/g6_2p_color_led_sweep.yaml
index 906c8eee..5a8d5b94 100644
--- a/protocols/g6_2p_color_led_sweep.yaml
+++ b/protocols/g6_2p_color_led_sweep.yaml
@@ -102,7 +102,8 @@ variables:
   - &step_dur 3             # s per duty level
   - &grab_settle 1          # s between the grab reply and the first stimulus
   - &blank_dur 3            # s dark before the first and after the last color
-  - &frames_per_grab 640    # ScanImage framesPerSlice: ≥ (grab_settle + 6·step_dur) × scan frame rate
+  - &frames_per_grab 330    # ScanImage framesPerSlice: ≥ (grab_settle + 6·step_dur) × scan frame rate
+                            #   Bergamo 2026-10-16: 15.0 Hz (512×512, unidirectional) → 19 s × 15 = 285 + ~3 s margin
   - &wait_idle_s 45         # waitIdle timeout: frames_per_grab / frame rate + margin
   # ── intensity = panel duty (0–255) ────────────────────────────────────────
   - &duty_a 7
diff --git a/ros2-poc/scanimage-day-2026-10-16.md b/ros2-poc/scanimage-day-2026-10-16.md
index 0ebb2e1b..aff76e81 100644
--- a/ros2-poc/scanimage-day-2026-10-16.md
+++ b/ros2-poc/scanimage-day-2026-10-16.md
@@ -29,3 +29,12 @@ Branch `claude/ros-studio-plan-b-c44942` @ `cff5835`. Times are ET.
 | 13:49 | 0:00 | Arena plugged in; Studio Connect; init | ok | refresh 300 Hz · SPI 25 MHz · panel mode persist · AO 2500 mV · SD fw `panel-fw-v1.3.1`. An ALL_ON 0xFF went out at 13:49:16 (no supply reset) |
 | 13:49 | 0:00 | Console → Panel firmware → Inventory | **PASS, 20/20** | 1–10 `0xB8796BAF`; `0x362644DD` ×6 (11, 12, 13, 17, 19, 20), `0x1A74DD1D` ×3 (14, 15, 18), `0x9E03D589` ×1 (16) — exactly the lineage note; 11–20 ≠ SD panel.bin as expected |
 | ~14:00 | 0:10 | Studio: "no rig selected", Bench-rig dropdown empty + its lock dead, I/O roles greyed, pattern play blocked | **cause found, fixed** | The page's module block never ran: the server log shows the import graph stalling mid-`yaml` (`stringifyCollection.js` the last request; no `configs/metadata/*` or `rigs/index.json` ever fetched). `.claude/nocache-server.py` was a single-threaded `HTTPServer` — Chrome's idle pre-connected sockets block it. Also `localhost` cost **~2 s per connection** (IPv6 `::1` tried first, nothing listening) vs 23 ms on 127.0.0.1. Fix: `ThreadingHTTPServer` + a second listener on `::1` → localhost 9 ms. (Classic substrate — Connect, Console, Inventory — worked throughout, as designed.) |
+| 14:16 | 0:10 | Reload + Connect on the fixed server | ok | module block runs; rig auto-derived `cshl_g6_2x10_ball` (first 2×10 in the index); 34 pattern frame counts read; patterns play (Arena Trial mode 2, pats 3/4/7/9) |
+| 14:22 | 0:10 | Inventory after reconnect | **PASS, 20/20** | same firmware map as 13:49 |
+| 14:23 | 0:10 | Panel mode 2; Bench rig → `cshl_g6_2x10` (explicit); DIO roles | **ok** | SET_PANEL_DISPLAY_MODE 2 ok; GET_DIO_ROLE: Digital IO 1 `out_debug_framescan` LOW, Digital IO 2 `in_trigger` LOW; AO 5 V |
+| ~14:25 | 0:10 | GS16 pattern upload | ok | four `…_gs16` files at SD slots **3, 5, 7, 9** (1-based; protocol expects 5–8 — color↔slot mapping TBD; the Studio resolves by name, IDs are the fallback) |
+| ~14:26 | 3.5 | FicTrac/bridge Connect (ws://localhost:8765) | ok | bridge-node: `client connected (total 1)` |
+| ~14:30 | 0:25 | New-arena trigger check (shutter closed, laser on) | **PASS** | FOCUS → full-field 128 lights every panel; stop FOCUS → all dark. **Note (Michael):** color panels a tad flickery with this build — follow up later |
+| ~14:35 | 0:40 | Open `g6_2p_color_led_sweep` → Run | warning (non-blocking) | "Runtime variables need attention: Variable "function anchor() { [native code] }" is defined more than once · Variable "undefined" is defined more than once ×17 … The run will use the YAML values as written." — Studio bug, not the protocol: the runtime-controls check reads `.anchor` on plain anchored scalars in `variables:` (→ `String.prototype.anchor`). Follow up later |
+| 14:30–14:33 | 0:40 | **Dry run** (shutter closed, laser on) | **commands PASS; 2 findings** | run file + bag opened 14:30:20. Connector: `set` framesPerSlice ok 159 ms; 4 × setFileStem ok; 4 × grab ok (startGrab 2.4–2.8 s); 4 × waitIdle ok (24.1–24.8 s). TIFFs `violet_/blue_/green_/yellow_sweep_00001.tif`, 642.9 MB each, 46 s apart. Bridge: 3 × "arena_command kept verbatim: head '0d 08 02 07 00 14 …'" (trialParams mode 2, pattern ID **7**, 20 fps for violet). Michael: blue/green/yellow showed 6 duty steps; violet looked like ~3 (likely the eye's low violet sensitivity at duty 7/15/31 in mode 2 — detectors / log duties will tell) |
+| 14:35 | 0:40 | finding: acquisition outlasts the stimulus by ~25 s per color | **fixed in protocol** | ScanImage `scanFrameRate` = **15.0 Hz** (512×512, unidirectional), protocol was sized for ~29 Hz → 640 frames ≈ 43 s vs 19 s stimulus. `frames_per_grab` 640 → **330** (22 s) |

From 2ae113ddf215d5919cc10aaec51367d581138188 Mon Sep 17 00:00:00 2001
From: hanmarsan <santosmariehannah@gmail.com>
Date: Fri, 16 Oct 2026 14:39:06 -0400
Subject: [PATCH 86/96] SCANIMAGE-DAY 0:40 GO: dry run passed; pattern fallback
 IDs = the Bergamo card's slots (violet 7, blue 3, green 5, yellow 9)

---
 protocols/g6_2p_color_led_sweep.yaml | 8 ++++----
 ros2-poc/scanimage-day-2026-10-16.md | 6 +++++-
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/protocols/g6_2p_color_led_sweep.yaml b/protocols/g6_2p_color_led_sweep.yaml
index 5a8d5b94..14cb4914 100644
--- a/protocols/g6_2p_color_led_sweep.yaml
+++ b/protocols/g6_2p_color_led_sweep.yaml
@@ -90,13 +90,13 @@ variables:
   # ── patterns (GS16 set; IDs = expected slots after uploading the folder onto a
   #    card that already holds the GS2 set in 1–4 — verify in the SD listing) ──
   - &pat_violet "G6_2x10_toprow_grat20_violet_gs16"
-  - &id_violet 5
+  - &id_violet 7            # Bergamo card 2026-10-16: slots as resolved by name in the dry run
   - &pat_blue "G6_2x10_toprow_grat20_blue_gs16"
-  - &id_blue 6
+  - &id_blue 3
   - &pat_green "G6_2x10_toprow_grat20_green_gs16"
-  - &id_green 7
+  - &id_green 5
   - &pat_yellow "G6_2x10_toprow_grat20_yellow_gs16"
-  - &id_yellow 8
+  - &id_yellow 9
   # ── timing ────────────────────────────────────────────────────────────────
   - &fps 20                 # frames/s; 20-frame grating → one period per second
   - &step_dur 3             # s per duty level
diff --git a/ros2-poc/scanimage-day-2026-10-16.md b/ros2-poc/scanimage-day-2026-10-16.md
index aff76e81..2480e546 100644
--- a/ros2-poc/scanimage-day-2026-10-16.md
+++ b/ros2-poc/scanimage-day-2026-10-16.md
@@ -37,4 +37,8 @@ Branch `claude/ros-studio-plan-b-c44942` @ `cff5835`. Times are ET.
 | ~14:30 | 0:25 | New-arena trigger check (shutter closed, laser on) | **PASS** | FOCUS → full-field 128 lights every panel; stop FOCUS → all dark. **Note (Michael):** color panels a tad flickery with this build — follow up later |
 | ~14:35 | 0:40 | Open `g6_2p_color_led_sweep` → Run | warning (non-blocking) | "Runtime variables need attention: Variable "function anchor() { [native code] }" is defined more than once · Variable "undefined" is defined more than once ×17 … The run will use the YAML values as written." — Studio bug, not the protocol: the runtime-controls check reads `.anchor` on plain anchored scalars in `variables:` (→ `String.prototype.anchor`). Follow up later |
 | 14:30–14:33 | 0:40 | **Dry run** (shutter closed, laser on) | **commands PASS; 2 findings** | run file + bag opened 14:30:20. Connector: `set` framesPerSlice ok 159 ms; 4 × setFileStem ok; 4 × grab ok (startGrab 2.4–2.8 s); 4 × waitIdle ok (24.1–24.8 s). TIFFs `violet_/blue_/green_/yellow_sweep_00001.tif`, 642.9 MB each, 46 s apart. Bridge: 3 × "arena_command kept verbatim: head '0d 08 02 07 00 14 …'" (trialParams mode 2, pattern ID **7**, 20 fps for violet). Michael: blue/green/yellow showed 6 duty steps; violet looked like ~3 (likely the eye's low violet sensitivity at duty 7/15/31 in mode 2 — detectors / log duties will tell) |
-| 14:35 | 0:40 | finding: acquisition outlasts the stimulus by ~25 s per color | **fixed in protocol** | ScanImage `scanFrameRate` = **15.0 Hz** (512×512, unidirectional), protocol was sized for ~29 Hz → 640 frames ≈ 43 s vs 19 s stimulus. `frames_per_grab` 640 → **330** (22 s) |
+| 14:35 | 0:40 | finding: acquisition outlasts the stimulus by ~25 s per color | **fixed in protocol** | ScanImage `scanFrameRate` = **15.0 Hz** (512×512, unidirectional), protocol was sized for ~29 Hz → 640 frames ≈ 43 s vs 19 s stimulus. `frames_per_grab` 640 → **330** (22 s) → run ≈ 110 s instead of 191 s |
+| 14:37 | 0:40 | Studio run log (Save) | **COMPLETED, 26/26 steps, 0 errors, 190.7 s** | violet ran all 6 duty conditions × 3 s (as did the others) → "~3 visible" was perception. Run file + bag did NOT close at run end: no GitHub sign-in → the end-of-run commit step never reached `setLogging(false)` (Studio bug, follow up). Closed by toggling FicTrac ▸ log (opened an empty next file — harmless) |
+| 14:38 | 0:40 | bag → `pixi run convert` | **PASS** | closed, not torn, 1451 records, 3411 lines, 0 skipped; 13 connector commands = set + 4 setFileStem + 4 grab + 4 waitIdle, all `ok`; grab artifacts violet/blue/green/yellow_sweep #1 = the TIFFs on F: |
+| 14:39 | 0:40 | pattern IDs from the 24 trialParams | **PASS** | resolved by name: violet 7, blue 3, green 5, yellow 9 (6 each) = Michael's slots; protocol fallback IDs updated 5–8 → 7/3/5/9 |
+| 14:40 | 0:40 | **GO/NO-GO** | **GO** | — |

From 39c3d52f9384a65d999fe5a4e6bbf95dd571ccc7 Mon Sep 17 00:00:00 2001
From: hanmarsan <santosmariehannah@gmail.com>
Date: Fri, 16 Oct 2026 14:49:35 -0400
Subject: [PATCH 87/96] SCANIMAGE-DAY 5: frames_per_grab 640 for 256x256 at
 29.1 Hz (Michael switched resolution before the experiment)

---
 protocols/g6_2p_color_led_sweep.yaml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/protocols/g6_2p_color_led_sweep.yaml b/protocols/g6_2p_color_led_sweep.yaml
index 14cb4914..edfd8cb9 100644
--- a/protocols/g6_2p_color_led_sweep.yaml
+++ b/protocols/g6_2p_color_led_sweep.yaml
@@ -102,8 +102,9 @@ variables:
   - &step_dur 3             # s per duty level
   - &grab_settle 1          # s between the grab reply and the first stimulus
   - &blank_dur 3            # s dark before the first and after the last color
-  - &frames_per_grab 330    # ScanImage framesPerSlice: ≥ (grab_settle + 6·step_dur) × scan frame rate
-                            #   Bergamo 2026-10-16: 15.0 Hz (512×512, unidirectional) → 19 s × 15 = 285 + ~3 s margin
+  - &frames_per_grab 640    # ScanImage framesPerSlice: ≥ (grab_settle + 6·step_dur) × scan frame rate
+                            #   Bergamo 2026-10-16: 29.1 Hz at 256×256 unidirectional → 19 s × 29.1 = 553 + ~3 s margin
+                            #   (at 512×512 it is 15.0 Hz → use 330)
   - &wait_idle_s 45         # waitIdle timeout: frames_per_grab / frame rate + margin
   # ── intensity = panel duty (0–255) ────────────────────────────────────────
   - &duty_a 7

From 87d98f4850029d985aacfcaf310c5e8616b5e9b8 Mon Sep 17 00:00:00 2001
From: hanmarsan <santosmariehannah@gmail.com>
Date: Fri, 16 Oct 2026 14:58:35 -0400
Subject: [PATCH 88/96] SCANIMAGE-DAY 5: frames_per_grab 800 (host-timed steps
 ran ~3.6 s for colors 2-4, 640 frames cut the end of duty 255); run 1 logged

---
 protocols/g6_2p_color_led_sweep.yaml | 8 +++++---
 ros2-poc/scanimage-day-2026-10-16.md | 3 +++
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/protocols/g6_2p_color_led_sweep.yaml b/protocols/g6_2p_color_led_sweep.yaml
index edfd8cb9..feb98aa2 100644
--- a/protocols/g6_2p_color_led_sweep.yaml
+++ b/protocols/g6_2p_color_led_sweep.yaml
@@ -102,9 +102,11 @@ variables:
   - &step_dur 3             # s per duty level
   - &grab_settle 1          # s between the grab reply and the first stimulus
   - &blank_dur 3            # s dark before the first and after the last color
-  - &frames_per_grab 640    # ScanImage framesPerSlice: ≥ (grab_settle + 6·step_dur) × scan frame rate
-                            #   Bergamo 2026-10-16: 29.1 Hz at 256×256 unidirectional → 19 s × 29.1 = 553 + ~3 s margin
-                            #   (at 512×512 it is 15.0 Hz → use 330)
+  - &frames_per_grab 800    # ScanImage framesPerSlice: ≥ (grab_settle + 6·step_dur) × scan frame rate
+                            #   Bergamo 2026-10-16: 29.1 Hz at 256×256 unidirectional. Host-timed steps ran
+                            #   ~3.6 s (not 3) for colors 2–4, so the stimulus spans ~24.4 s from the grab
+                            #   reply; 640 frames (22 s) cut the end of duty 255 → 800 (27.5 s, ~3 s margin).
+                            #   (at 512×512 it is 15.0 Hz → ~410)
   - &wait_idle_s 45         # waitIdle timeout: frames_per_grab / frame rate + margin
   # ── intensity = panel duty (0–255) ────────────────────────────────────────
   - &duty_a 7
diff --git a/ros2-poc/scanimage-day-2026-10-16.md b/ros2-poc/scanimage-day-2026-10-16.md
index 2480e546..87e66f8c 100644
--- a/ros2-poc/scanimage-day-2026-10-16.md
+++ b/ros2-poc/scanimage-day-2026-10-16.md
@@ -42,3 +42,6 @@ Branch `claude/ros-studio-plan-b-c44942` @ `cff5835`. Times are ET.
 | 14:38 | 0:40 | bag → `pixi run convert` | **PASS** | closed, not torn, 1451 records, 3411 lines, 0 skipped; 13 connector commands = set + 4 setFileStem + 4 grab + 4 waitIdle, all `ok`; grab artifacts violet/blue/green/yellow_sweep #1 = the TIFFs on F: |
 | 14:39 | 0:40 | pattern IDs from the 24 trialParams | **PASS** | resolved by name: violet 7, blue 3, green 5, yellow 9 (6 each) = Michael's slots; protocol fallback IDs updated 5–8 → 7/3/5/9 |
 | 14:40 | 0:40 | **GO/NO-GO** | **GO** | — |
+| ~14:45 | 5 | Michael: ScanImage 256×256 → `scanFrameRate` **29.1 Hz** (read via connector); prep in focus, shutter open | — | `frames_per_grab` 330 → **640** (19 s × 29.1 = 553 + margin); run ≈ 110 s |
+| 14:51–14:53 | 5 | **Experiment run 1** (prep, shutter open) | **completed; end of duty 255 cut for 3 colors** | TIFFs `violet/blue/green/yellow_sweep_00002.tif`, 162.9 MB each (640 × 256²). All 13 connector commands ok. Bag closed after the FicTrac ▸ log toggle (940 records). Timing vs grab request (`runlogs/si_timing.py`): acquisition ≈ reply (+3.4 s) → +25.4 s. Violet steps 3.0 s, stim +4.55 → +22.64, idle by +26.8 (**+4.2 s margin**). Blue/green/yellow steps **~3.6 s** (host-timed drift), stim ends +26.0 / +27.8 / +26.9 but ScanImage idle by +25.0–26.4 → **last ~0.5–1.5 s of duty 255 not imaged** for blue, green, yellow |
+| 14:58 | 5 | fix | protocol | `frames_per_grab` 640 → **800** (27.5 s); run ≈ 130 s. Follow up: why host-timed steps run 3.6 s for colors 2–4 |

From 0ac99e41d74c9aa20dfa1344f0c568a0b5dcc6b1 Mon Sep 17 00:00:00 2001
From: hanmarsan <santosmariehannah@gmail.com>
Date: Fri, 16 Oct 2026 15:06:21 -0400
Subject: [PATCH 89/96] SCANIMAGE-DAY 5: run 2 passes (800 frames, every color
 fully imaged, +3.2-4.4 s margin)

---
 ros2-poc/scanimage-day-2026-10-16.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ros2-poc/scanimage-day-2026-10-16.md b/ros2-poc/scanimage-day-2026-10-16.md
index 87e66f8c..f2b35790 100644
--- a/ros2-poc/scanimage-day-2026-10-16.md
+++ b/ros2-poc/scanimage-day-2026-10-16.md
@@ -45,3 +45,4 @@ Branch `claude/ros-studio-plan-b-c44942` @ `cff5835`. Times are ET.
 | ~14:45 | 5 | Michael: ScanImage 256×256 → `scanFrameRate` **29.1 Hz** (read via connector); prep in focus, shutter open | — | `frames_per_grab` 330 → **640** (19 s × 29.1 = 553 + margin); run ≈ 110 s |
 | 14:51–14:53 | 5 | **Experiment run 1** (prep, shutter open) | **completed; end of duty 255 cut for 3 colors** | TIFFs `violet/blue/green/yellow_sweep_00002.tif`, 162.9 MB each (640 × 256²). All 13 connector commands ok. Bag closed after the FicTrac ▸ log toggle (940 records). Timing vs grab request (`runlogs/si_timing.py`): acquisition ≈ reply (+3.4 s) → +25.4 s. Violet steps 3.0 s, stim +4.55 → +22.64, idle by +26.8 (**+4.2 s margin**). Blue/green/yellow steps **~3.6 s** (host-timed drift), stim ends +26.0 / +27.8 / +26.9 but ScanImage idle by +25.0–26.4 → **last ~0.5–1.5 s of duty 255 not imaged** for blue, green, yellow |
 | 14:58 | 5 | fix | protocol | `frames_per_grab` 640 → **800** (27.5 s); run ≈ 130 s. Follow up: why host-timed steps run 3.6 s for colors 2–4 |
+| 15:02–15:04 | 5 | **Experiment run 2** (800 frames) | **PASS** | TIFFs `*_sweep_00003.tif`, 203.7 MB each. 13/13 connector commands ok; bag closed (753 records), converts clean. Margins idle − stimulus end: violet +4.11, blue +3.97, green +3.24, yellow +4.38 s; 'grab' status seen after every stimulus end; stimulus starts ≥ 1.1 s after the grab reply. Steps ~3.6–3.8 s for all four colors this time (stimulus ≈ 23 s) |

From 7cefe51163b5b6a6af3eca0785cdc562fed0a294 Mon Sep 17 00:00:00 2001
From: hanmarsan <santosmariehannah@gmail.com>
Date: Fri, 16 Oct 2026 15:07:58 -0400
Subject: [PATCH 90/96] SCANIMAGE-DAY 5: host-timed steps 4.0 s = Chrome
 background-timer throttling (Studio window hidden/occluded); workaround
 logged

---
 ros2-poc/scanimage-day-2026-10-16.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ros2-poc/scanimage-day-2026-10-16.md b/ros2-poc/scanimage-day-2026-10-16.md
index f2b35790..b4668a73 100644
--- a/ros2-poc/scanimage-day-2026-10-16.md
+++ b/ros2-poc/scanimage-day-2026-10-16.md
@@ -46,3 +46,4 @@ Branch `claude/ros-studio-plan-b-c44942` @ `cff5835`. Times are ET.
 | 14:51–14:53 | 5 | **Experiment run 1** (prep, shutter open) | **completed; end of duty 255 cut for 3 colors** | TIFFs `violet/blue/green/yellow_sweep_00002.tif`, 162.9 MB each (640 × 256²). All 13 connector commands ok. Bag closed after the FicTrac ▸ log toggle (940 records). Timing vs grab request (`runlogs/si_timing.py`): acquisition ≈ reply (+3.4 s) → +25.4 s. Violet steps 3.0 s, stim +4.55 → +22.64, idle by +26.8 (**+4.2 s margin**). Blue/green/yellow steps **~3.6 s** (host-timed drift), stim ends +26.0 / +27.8 / +26.9 but ScanImage idle by +25.0–26.4 → **last ~0.5–1.5 s of duty 255 not imaged** for blue, green, yellow |
 | 14:58 | 5 | fix | protocol | `frames_per_grab` 640 → **800** (27.5 s); run ≈ 130 s. Follow up: why host-timed steps run 3.6 s for colors 2–4 |
 | 15:02–15:04 | 5 | **Experiment run 2** (800 frames) | **PASS** | TIFFs `*_sweep_00003.tif`, 203.7 MB each. 13/13 connector commands ok; bag closed (753 records), converts clean. Margins idle − stimulus end: violet +4.11, blue +3.97, green +3.24, yellow +4.38 s; 'grab' status seen after every stimulus end; stimulus starts ≥ 1.1 s after the grab reply. Steps ~3.6–3.8 s for all four colors this time (stimulus ≈ 23 s) |
+| 15:10 | 5 | step timing (`runlogs/step_timing.py`, trialParams intervals) | **cause found** | dry run: every step 3.01–3.02 s. Run 1: violet 3.0, then blue/green/yellow mostly **4.00**; run 2: all **4.00** (last 3.01). Exactly +1.00 s, never in between → **Chrome timer throttling**: `ArenaRunner._sleep` is a plain `setTimeout`, which Chrome aligns to 1 s while the tab is hidden or the window occluded (operator working in ScanImage). Dry run: Studio visible. Workaround: keep the Studio window visible during runs. Code fix later: a throttle-proof timer for host-timed steps (Worker-based timer, or keep-alive), plus a warning when `document.hidden` during a run |

From 1ef14c49b778e8951bdf303f6beb72b1aa5227fb Mon Sep 17 00:00:00 2001
From: hanmarsan <santosmariehannah@gmail.com>
Date: Fri, 16 Oct 2026 15:11:48 -0400
Subject: [PATCH 91/96] SCANIMAGE-DAY 5: quick look at run 2
 (tools/led_sweep_quicklook.py: duty steps visible in both channels, per
 color)

---
 ros2-poc/scanimage-day-2026-10-16.md |  31 ++++++
 tools/led_sweep_quicklook.py         | 141 +++++++++++++++++++++++++++
 2 files changed, 172 insertions(+)
 create mode 100644 tools/led_sweep_quicklook.py

diff --git a/ros2-poc/scanimage-day-2026-10-16.md b/ros2-poc/scanimage-day-2026-10-16.md
index b4668a73..8032b141 100644
--- a/ros2-poc/scanimage-day-2026-10-16.md
+++ b/ros2-poc/scanimage-day-2026-10-16.md
@@ -47,3 +47,34 @@ Branch `claude/ros-studio-plan-b-c44942` @ `cff5835`. Times are ET.
 | 14:58 | 5 | fix | protocol | `frames_per_grab` 640 → **800** (27.5 s); run ≈ 130 s. Follow up: why host-timed steps run 3.6 s for colors 2–4 |
 | 15:02–15:04 | 5 | **Experiment run 2** (800 frames) | **PASS** | TIFFs `*_sweep_00003.tif`, 203.7 MB each. 13/13 connector commands ok; bag closed (753 records), converts clean. Margins idle − stimulus end: violet +4.11, blue +3.97, green +3.24, yellow +4.38 s; 'grab' status seen after every stimulus end; stimulus starts ≥ 1.1 s after the grab reply. Steps ~3.6–3.8 s for all four colors this time (stimulus ≈ 23 s) |
 | 15:10 | 5 | step timing (`runlogs/step_timing.py`, trialParams intervals) | **cause found** | dry run: every step 3.01–3.02 s. Run 1: violet 3.0, then blue/green/yellow mostly **4.00**; run 2: all **4.00** (last 3.01). Exactly +1.00 s, never in between → **Chrome timer throttling**: `ArenaRunner._sleep` is a plain `setTimeout`, which Chrome aligns to 1 s while the tab is hidden or the window occluded (operator working in ScanImage). Dry run: Studio visible. Workaround: keep the Studio window visible during runs. Code fix later: a throttle-proof timer for host-timed steps (Worker-based timer, or keep-alive), plus a warning when `document.hidden` during a run |
+| 15:20 | 5 | Michael: **no more repeats — run 2 is the dataset** (run 1 kept, end of duty 255 cut for blue/green/yellow) | — | — |
+
+## Quick look at run 2 (`tools/led_sweep_quicklook.py`, 15:25)
+
+`python tools/led_sweep_quicklook.py ros2-poc/runlogs/arena-log-20261016-150214-328.jsonl F:\ImagingData\2026-10-16\led_sweep 3`
+— stdlib+numpy TIFF reader; frame time = header `epoch` (PC local, EDT) + `frameTimestamps_sec`, aligned to
+the trialParams times in the run log (same PC clock); whole-field mean per page; step window = step start
++ 0.3 s → next step − 0.1 s; baseline = frames before the first step. **Whole field, no ROI, no motion
+correction — a sanity check, not the analysis.**
+
+Each TIFF: 1600 pages = 800 frames × 2 channels; frames start 1.8–2.4 s before the first step and end
+1.0–2.2 s after the last (4.0 s steps — the throttled timer). Mean increase over baseline (a.u.), d7 → d255:
+
+| color | ch1 baseline | ch1: d7 / d15 / d31 / d63 / d127 / d255 | ch2 baseline | ch2: d7 / d15 / d31 / d63 / d127 / d255 |
+|---|---|---|---|---|
+| violet | 113.3 | +15 / +23 / +58 / +132 / +265 / **+374** | 29.8 | +3.5 / +8.8 / +23 / +61 / +127 / **+185** |
+| blue | 92.4 | −0.1 / −0.3 / +7.7 / +6.5 / +2.6 / +20 | 34.5 | −1.5 / −1.4 / +0.1 / +1.0 / +2.7 / +5.4 |
+| green | 116.8 | +19 / +28 / +45 / +72 / +115 / **+165** | 44.2 | +0.5 / +1.2 / +1.7 / +5.8 / +13 / +19 |
+| yellow | 48.0 | +1.7 / +1.3 / −0.5 / +6.2 / +16 / +17 | 32.3 | +3.7 / +7.0 / +12 / +21 / +40 / **+62** |
+
+- The duty steps are visible in the images and line up with the logged step times — the connector →
+  TIFF → run-log alignment works end to end.
+- Panel light reaches the detectors for every color; it rises with duty, near-monotonically for violet,
+  green (ch1) and yellow (ch2). Violet is by far the largest in both channels; green mostly ch1, yellow
+  mostly ch2; blue the smallest (only d255 clearly above noise).
+- The per-frame SD within a step grows with duty (violet ch1: 5 → 135), i.e. the stimulus light
+  fluctuates frame to frame — possibly LED drive vs frame-rate beating; compare with the flicker Michael
+  saw at 0:25.
+- Yellow d127 has 76 frames, not ~105: its step was 3.0 s (the one unthrottled step).
+- Next (later session): per-pixel / ROI maps, the 22 Sept method (`Bergamo_testing/092226_SNR/analysis/`,
+  not on this PC), the DO1 aux-trigger record per frame, run 1 for comparison.
diff --git a/tools/led_sweep_quicklook.py b/tools/led_sweep_quicklook.py
new file mode 100644
index 00000000..6a526dda
--- /dev/null
+++ b/tools/led_sweep_quicklook.py
@@ -0,0 +1,141 @@
+"""Quick look at a g6_2p_color_led_sweep run: per duty step, the mean image brightness per channel.
+
+Reads ScanImage TIFFs with a minimal stdlib+numpy reader (uncompressed classic or BigTIFF, as
+ScanImage writes them; no tifffile needed), takes each frame's absolute time from the frame header
+(`epoch` = acquisition start, PC local time, + `frameTimestamps_sec`), and lines the frames up with
+the duty steps in the converted run log (`arena_command` 0x08 trialParams times, same PC clock).
+
+    python tools/led_sweep_quicklook.py <run.jsonl> <tiff_dir> <counter> [--utc-offset-h -4]
+
+Output per color: baseline (frames before the first step), then per duty step the mean of each
+channel minus baseline, and the per-frame noise (std over the step's frames) → a crude SNR.
+A quick look only: whole-field means, no ROI, no motion correction.
+"""
+from __future__ import annotations
+
+import argparse
+import datetime as dt
+import json
+import re
+import struct
+import sys
+from pathlib import Path
+
+import numpy as np
+
+COLORS = ("violet", "blue", "green", "yellow")
+DUTIES = (7, 15, 31, 63, 127, 255)
+
+
+def read_tiff_pages(path: Path):
+    """Yield (description, ndarray) per page. Uncompressed, single-sample, strips."""
+    with open(path, "rb") as f:
+        data = memoryview(f.read())
+    bo = {b"II": "<", b"MM": ">"}[bytes(data[:2])]
+    magic = struct.unpack_from(bo + "H", data, 2)[0]
+    big = magic == 43
+    if big:
+        off = struct.unpack_from(bo + "Q", data, 8)[0]
+        ent_fmt, cnt_fmt, ent_size, next_fmt = "HHQQ", "Q", 20, "Q"
+    else:
+        off = struct.unpack_from(bo + "I", data, 4)[0]
+        ent_fmt, cnt_fmt, ent_size, next_fmt = "HHII", "H", 12, "I"
+    tsz = {1: 1, 2: 1, 3: 2, 4: 4, 16: 8}
+    while off:
+        n = struct.unpack_from(bo + cnt_fmt, data, off)[0]
+        p = off + struct.calcsize(cnt_fmt)
+        tags = {}
+        for i in range(n):
+            tag, typ, count, val = struct.unpack_from(bo + ent_fmt, data, p + i * ent_size)
+            size = tsz.get(typ, 1) * count
+            inline = size <= (8 if big else 4)
+            # value field follows tag (2) + type (2) + count (4 classic / 8 BigTIFF)
+            vo = p + i * ent_size + 4 + (8 if big else 4) if inline else val
+            if typ == 2:
+                tags[tag] = bytes(data[vo:vo + count]).rstrip(b"\0").decode("latin-1")
+            elif typ in (3, 4, 16):
+                f = {3: "H", 4: "I", 16: "Q"}[typ]
+                tags[tag] = struct.unpack_from(bo + f * count, data, vo)
+        w, h = tags[256][0], tags[257][0]
+        bits = tags.get(258, (16,))[0]
+        fmt = tags.get(339, (1,))[0]  # 1 uint, 2 int
+        dtype = np.dtype(bo + {(16, 2): "i2", (16, 1): "u2", (8, 1): "u1", (32, 2): "i4"}[(bits, fmt)])
+        offs, cnts = tags[273], tags[279]
+        buf = b"".join(bytes(data[o:o + c]) for o, c in zip(offs, cnts))
+        yield tags.get(270, ""), np.frombuffer(buf, dtype=dtype, count=w * h).reshape(h, w)
+        off = struct.unpack_from(bo + next_fmt, data, p + n * ent_size)[0]
+
+
+def frame_series(path: Path, utc_offset_h: float):
+    """Per page: (abs_epoch_ms, channel_index_within_frame, mean)."""
+    out = []
+    per_frame = {}
+    for desc, img in read_tiff_pages(path):
+        ts = re.search(r"frameTimestamps_sec\s*=\s*([-\d.eE+]+)", desc)
+        ep = re.search(r"epoch\s*=\s*\[([^\]]+)\]", desc)
+        fn = re.search(r"frameNumbers\s*=\s*(\d+)", desc)
+        if not (ts and ep):
+            continue
+        y, mo, d, hh, mi, ss = [float(x) for x in ep.group(1).split()]
+        t0 = dt.datetime(int(y), int(mo), int(d), int(hh), int(mi), tzinfo=dt.timezone(dt.timedelta(hours=utc_offset_h)))
+        abs_ms = (t0.timestamp() + ss + float(ts.group(1))) * 1000.0
+        k = int(fn.group(1)) if fn else len(out)
+        ch = per_frame.get(k, 0)
+        per_frame[k] = ch + 1
+        out.append((abs_ms, ch, float(img.mean())))
+    return out
+
+
+def main(argv=None) -> int:
+    for s in (sys.stdout, sys.stderr):
+        try:
+            s.reconfigure(encoding="utf-8", errors="replace")
+        except (AttributeError, ValueError):
+            pass
+    a = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    a.add_argument("runlog")
+    a.add_argument("tiff_dir")
+    a.add_argument("counter", type=int)
+    a.add_argument("--utc-offset-h", type=float, default=-4.0, help="PC local time vs UTC (EDT = -4)")
+    a.add_argument("--settle-s", type=float, default=0.3, help="skip this long after each step change")
+    args = a.parse_args(argv)
+
+    rows = [json.loads(l) for l in open(args.runlog, encoding="utf-8") if l.strip().startswith("{")]
+    tp = [r["t"] for r in rows if r.get("event") == "arena_command" and str(r.get("head", "")).split(" ")[1:2] == ["08"]]
+    offs = [r["t"] for r in rows if r.get("event") == "arena_command" and str(r.get("head", "")).split(" ")[1:2] == ["00"]]
+    if len(tp) != 24:
+        print(f"expected 24 trialParams, found {len(tp)}")
+    for c, color in enumerate(COLORS):
+        tif = Path(args.tiff_dir) / f"{color}_sweep_{args.counter:05d}.tif"
+        s = frame_series(tif, args.utc_offset_h)
+        if not s:
+            print(f"{color}: no frame headers parsed in {tif}")
+            continue
+        t = np.array([x[0] for x in s]); ch = np.array([x[1] for x in s]); m = np.array([x[2] for x in s])
+        steps = tp[c * 6:(c + 1) * 6]
+        step_len = float(np.median(np.diff(steps))) if len(steps) > 1 else 3000.0
+        end = steps[-1] + step_len
+        nch = int(ch.max()) + 1
+        print(f"\n{color}: {tif.name}  {len(s)} pages, {nch} channel(s), frames {(t.min() - steps[0]) / 1000:+.2f} → "
+              f"{(t.max() - end) / 1000:+.2f} s vs stimulus start/end (step {step_len / 1000:.2f} s)")
+        for k in range(nch):
+            sel = ch == k
+            base_sel = sel & (t < steps[0] - 100)
+            base = m[base_sel].mean() if base_sel.any() else float("nan")
+            line = [f"  ch{k + 1}: baseline {base:8.2f} (n={int(base_sel.sum())})"]
+            for j, t_on in enumerate(steps):
+                t_off = steps[j + 1] if j + 1 < len(steps) else end
+                w = sel & (t >= t_on + args.settle_s * 1000) & (t < t_off - 100)
+                if not w.any():
+                    line.append(f"d{DUTIES[j]}: —")
+                    continue
+                d = m[w] - base
+                line.append(f"d{DUTIES[j]}: {d.mean():+7.2f} (sd {m[w].std():.2f}, n={int(w.sum())})")
+            print("  ".join(line[:1]))
+            for x in line[1:]:
+                print("      " + x)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

From c2a1c5e4d350656edd8e9355b05b905aaf07decb Mon Sep 17 00:00:00 2001
From: hanmarsan <santosmariehannah@gmail.com>
Date: Fri, 16 Oct 2026 15:16:08 -0400
Subject: [PATCH 92/96] SCANIMAGE-DAY: MATLAB messages (JSON client
 disconnects, PLL unlocked x14) + frame-continuity check of runs 1-2 (0 gaps,
 29.12 Hz)

---
 ros2-poc/scanimage-day-2026-10-16.md | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/ros2-poc/scanimage-day-2026-10-16.md b/ros2-poc/scanimage-day-2026-10-16.md
index 8032b141..8ae7fa54 100644
--- a/ros2-poc/scanimage-day-2026-10-16.md
+++ b/ros2-poc/scanimage-day-2026-10-16.md
@@ -76,5 +76,14 @@ Each TIFF: 1600 pages = 800 frames × 2 channels; frames start 1.8–2.4 s befor
   fluctuates frame to frame — possibly LED drive vs frame-rate beating; compare with the flicker Michael
   saw at 0:25.
 - Yellow d127 has 76 frames, not ~105: its step was 3.0 s (the one unthrottled step).
+- **MATLAB messages during the session (no timestamps, reported by Michael after the runs):**
+  "Client disconnected because of error / Client connected" ×4 — most likely the scanimage node being killed
+  at each graph stop/restart (13:04, 13:43, end), not a protocol failure (every connector reply in both runs
+  was `ok`). "**PLL got unlocked** … Check that the laser clock is consistent" ×14 — the vDAQ's sample-clock
+  PLL on the laser sync (`CLK_IN`); most likely while the laser was being switched on / settling
+  (13:30–13:40, the 0-frame grabs). Frame check (`runlogs/frame_check.py`): runs 1 and 2, all 8 TIFFs —
+  frame numbers consecutive, **0 gaps**, frame interval 34.339–34.341 ms (29.12 Hz). Rules out dropped
+  frames, not a pixel-clock glitch within a frame. Next time: "Apply Clock Settings" must not be light red
+  before a grab.
 - Next (later session): per-pixel / ROI maps, the 22 Sept method (`Bergamo_testing/092226_SNR/analysis/`,
   not on this PC), the DO1 aux-trigger record per frame, run 1 for comparison.

From 0b1d2121e863dd6bf604f121aef4af7d0966d3b1 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Sun, 18 Oct 2026 00:59:34 -0400
Subject: [PATCH 93/96] Studio/bridge client: review fixes for the bridge-loss
 policy (LAB-303 S1)

- bridgeRequired only for a recorded run the bridge is actually logging
  (bridge.logging), not merely connected for the scope.
- A log_control_ack slower than the 800 ms wait still names the run's bridge
  file: the run subscribes to 'loglevel' once and takes `file` for THIS run.
- disconnect() and a connect() over a still-closing socket settle every
  pending request (export, level ack) themselves; the superseded socket's
  late onclose is ignored, so it must not be the only place they settle.
- The bridge-lost alert no longer hardcodes `pixi run bridge` (wrong on the
  ROS 2 graph): "restart the bridge program on the rig PC".

Tests: client 187 (two new reconnect cases), studio-shell 81 (wiring checks).

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 arena_studio.html                   | 22 ++++++++++++++-----
 js/fictrac-bridge-client.js         |  7 ++++++
 tests/test-fictrac-bridge-client.js | 33 +++++++++++++++++++++++++++++
 tests/test-studio-shell.js          | 17 +++++++++++++++
 4 files changed, 74 insertions(+), 5 deletions(-)

diff --git a/arena_studio.html b/arena_studio.html
index 60add590..fa96bffe 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -5799,7 +5799,7 @@ <h2 id="modalTitle">Import error</h2>
             const info = (e && e.info) || {};
             const action = e && e.action;
             const why = info.apply ? 'the closed loop was running' : 'the bridge connection dropped';
-            const restart = ' Restart the bridge (`pixi run bridge`) before the next run.';
+            const restart = ' Restart the bridge program on the rig PC before the next run.';
             let msg = null;
             if (action === 'aborted') {
                 msg = '⚠ FicTrac bridge lost mid-run (' + why + ') — the run was STOPPED (outcome BRIDGE_LOST). ' +
@@ -9869,7 +9869,18 @@ <h2 id="modalTitle">Import error</h2>
         Studio._runLogFormat = bridge.connected ? logLevel : null;
         // The file the bridge opened for THIS run (log_control_ack). A later push checks
         // that log_export serves it — a bridge restarted after a loss serves another file.
-        if (Studio.activeRunLog) Studio.activeRunLog.bridgeFile = (bridge.connected && bridge.logFile) || null;
+        if (Studio.activeRunLog) {
+            const runLog = Studio.activeRunLog;
+            runLog.bridgeFile = (bridge.connected && bridge.logFile) || null;
+            // A slow ack (> 800 ms on a loaded rig PC) names the file after this point: take
+            // it then, for THIS run only, so the push check is not silently skipped.
+            if (!runLog.bridgeFile && bridge.connected && typeof bridge.on === 'function') {
+                const off = bridge.on('loglevel', (info) => {
+                    if (Studio.activeRunLog !== runLog) { off(); return; }
+                    if (info && info.enabled && info.file) { runLog.bridgeFile = info.file; off(); }
+                });
+            }
+        }
         const levelNote = !bridge.connected ? ''
             : ackLevel === wantLevel ? ' (' + ackLevel + ')'
             : ackLevel ? ' ⚠ bridge too old for ' + wantLevel + ' — logging ' + ackLevel + ' (restart `pixi run bridge` from the current checkout)'
@@ -9946,9 +9957,10 @@ <h2 id="modalTitle">Import error</h2>
                 ? Studio.resolveRuntimeCondition
                 : undefined,
             fictracPluginNames: new Set(ftNames),
-            // A recorded run's record IS the bridge log (the run is gated on the bridge),
-            // so losing the bridge stops it — not only when a FicTrac step needs it.
-            bridgeRequired: !!isExperiment && !!(bridge && bridge.connected),
+            // A recorded run's record IS the bridge log (the run is gated on the bridge and
+            // the bridge is logging it), so losing the bridge stops it — not only when a
+            // FicTrac step needs it. With bridge logging off the record is in the browser.
+            bridgeRequired: !!isExperiment && !!(bridge && bridge.connected && bridge.logging),
             degPerFrame: Studio.rigDegPerFrame(),
             defaultCoupling: Studio._legacyDefaultCoupling == null ? 1 : Studio._legacyDefaultCoupling
         });
diff --git a/js/fictrac-bridge-client.js b/js/fictrac-bridge-client.js
index af5de421..d3230f42 100644
--- a/js/fictrac-bridge-client.js
+++ b/js/fictrac-bridge-client.js
@@ -307,6 +307,9 @@
                 this._emit('log', 'bridge: bad URL — ' + (e && (e.message || e)), 'err');
                 return;
             }
+            // Superseding a socket that is still closing: its waiters can never be answered
+            // by the new one, and its late onclose is ignored as stale (below).
+            if (this._ws) this._failPending('bridge reconnecting');
             this._ws = ws;
             this._recv = 0;
             this._applied = 0;
@@ -397,6 +400,10 @@
         disconnect() {
             const ws = this._ws;
             this._ws = null; // first: onclose may run synchronously, and must see a requested close
+            // A requested close kills every request still waiting on this socket (export,
+            // level ack): settle them NOW. Its onclose may arrive late or, after a reconnect,
+            // be ignored as stale — so it must not be the only place they settle.
+            if (ws) this._failPending('bridge disconnected');
             if (ws) {
                 try {
                     ws.close();
diff --git a/tests/test-fictrac-bridge-client.js b/tests/test-fictrac-bridge-client.js
index ed1be6b9..ed5f3d4d 100644
--- a/tests/test-fictrac-bridge-client.js
+++ b/tests/test-fictrac-bridge-client.js
@@ -488,10 +488,21 @@ async function main() {
         oldWs.close = function () {
             this.readyState = 2; // a real browser fires onclose later, asynchronously
         };
+        // A request still waiting on the old socket must fail fast at disconnect(): the
+        // old socket's late onclose is ignored as stale and the new one never answers it.
+        const staleExport = client.exportLog(5000).then(
+            () => 'resolved',
+            (e) => e.message
+        );
         client.disconnect();
         client.connect('ws://localhost:8765');
         const newWs = FakeWS.last;
         newWs.open();
+        check(
+            'export pending on the superseded socket fails fast',
+            await staleExport,
+            'bridge disconnected during log export'
+        );
         oldWs.readyState = 3;
         oldWs.onclose({ code: 1000 });
         checkBool('stale close leaves the new socket connected', client.connected === true);
@@ -500,6 +511,28 @@ async function main() {
         newWs.onclose({ code: 1006 });
         check('the live socket dropping IS a loss', lost, 1);
         check('apply was off → info.apply false', client.lastLoss.apply, false);
+        // (d) reconnecting OVER a socket that is still closing (no disconnect() call)
+        // settles the requests waiting on it; its late onclose is then ignored as stale.
+        client.connect('ws://localhost:8765');
+        const closing = FakeWS.last;
+        closing.open();
+        const exp2 = client.exportLog(5000).then(
+            () => 'resolved',
+            (e) => e.message
+        );
+        closing.readyState = 2; // CLOSING: connected === false, so connect() proceeds
+        client.connect('ws://localhost:8765');
+        const fresh = FakeWS.last;
+        fresh.open();
+        check(
+            'export pending on a closing socket fails on reconnect',
+            await exp2,
+            'bridge disconnected during log export'
+        );
+        closing.readyState = 3;
+        closing.onclose({ code: 1000 });
+        checkBool('the stale close leaves the fresh socket connected', client.connected === true);
+        check('stale close after a reconnect → still one loss', lost, 1);
     }
 
     console.log('\n=== log level (behavior_v2 default / v1 + full selectable) ===');
diff --git a/tests/test-studio-shell.js b/tests/test-studio-shell.js
index adb30fb7..71b6ab32 100644
--- a/tests/test-studio-shell.js
+++ b/tests/test-studio-shell.js
@@ -407,6 +407,23 @@ check(
         !/:root\[data-ui-theme="night"\] (img|canvas)\b/.test(studio) &&
         studio.includes('filter:url(#uiNightRed)')
 );
+console.log('=== bridge-loss policy wiring (LAB-303 S1 review) ===');
+check(
+    'bridgeRequired only for a recorded run the bridge is logging',
+    studio.includes(
+        'bridgeRequired: !!isExperiment && !!(bridge && bridge.connected && bridge.logging)'
+    )
+);
+check(
+    "a late log_control_ack still names the run's bridge file",
+    studio.includes("bridge.on('loglevel', (info) => {") &&
+        studio.includes('runLog.bridgeFile = info.file')
+);
+check(
+    'the bridge-lost alert does not hardcode a bridge command',
+    !/const restart = [^\n]*pixi run/.test(studio)
+);
+
 console.log('\n=== Summary ===');
 console.log(`${totalChecks - failures} / ${totalChecks} checks passed`);
 process.exit(failures ? 1 : 0);

From f7ae2eb00278a32d2def3b30cfa2e3df09682a71 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Sun, 18 Oct 2026 01:19:31 -0400
Subject: [PATCH 94/96] #254 prep for candidate 2026-10-20 (LAB-303): review
 fixes, hygiene, viz port
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Studio / runner / client
- connectorCommand waits timeout_s + CONNECTOR_TIMEOUT_MARGIN_MS (default 15 s): the
  browser outlasts the device node's own deadline, so a reply at the deadline is an
  outcome, not an 'unknown'. 2P protocol's waitIdle already declares timeout_s.
- plugin-registry: ScanImagePlugin `set.value` is text (the allowlist holds numbers,
  booleans and paths); the node coerces "640" / "true" to the JSON scalar.
- protocol-yaml-v3: `variables:` written as a list of anchored scalars (`- &name v`,
  the 2P protocols) kept their identity wrong — `.anchor` was read off a primitive
  (String.prototype.anchor), hence the 2026-10-16 "Variable "function anchor() …"
  is defined more than once" warning. extractVariables/_findVariablePair handle
  both shapes; v3 round-trip suite 39 (823/823).
- runner test: connector plugin steps make a run bridge-dependent (loss in the ITI
  before a camera step → BRIDGE_LOST; without the map → continues). 547/547.
- footer stamp; release notes v0.97 extended; CLAUDE.md: ROS-era rules.

ros2-poc
- mcap_index.reindex replaces the bag atomically (os.replace), never unlink-then-rename.
- recorder: ONE constant storage sidecar per log dir (not one hidden file per run);
  optional max_bag_bytes → bridge_node --max-bag-mb (off by default: bags are archived
  on a share, not pushed to GitHub).
- scanimage_node: coerce_scalar for `set` values.
- kf_row lives once in nodes/_rows.py (no ROS imports), used by the node and the
  converter — `converted == live` depends on one encoder.
- ported from #252: nodes/viz_node.py, foxglove/*.json, tests/test_viz_node.py,
  sizing/; rig.py --foxglove also starts viz_node (+ --viz-args); pixi tasks viz,
  test-viz, fox-json (nodes/foxglove_json.py salvaged from the data branch).
- repo hygiene: colcon build logs (interfaces/log) and the one-off win-64 channel
  payload removed from the tree (+ .gitignore); the typed-prebuilt env still reads
  the pinned commit URL.
- stamp.py: one stamping path again (stamp_tree takes a skip set); tiers 109/109.

Harness: ros2-poc `pixi run test` all PASS (default env), test-viz PASS.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 CLAUDE.md                                     |  32 ++
 arena_studio.html                             |   2 +-
 .../development/arena-studio-release-notes.md |   3 +
 js/arena-runner-g6.js                         |  10 +-
 js/fictrac-bridge-client.js                   |   4 +-
 js/plugin-registry.js                         |   8 +-
 js/protocol-yaml-v3.js                        |  52 +-
 ros2-poc/.gitignore                           |   5 +
 ros2-poc/channel/README.md                    |   5 +
 ros2-poc/channel/noarch/repodata.json         |   1 -
 .../arena_interfaces-0.1.0-ha41a7fa_0.conda   | Bin 103850 -> 0 bytes
 ros2-poc/channel/win-64/repodata.json         |   1 -
 ros2-poc/channel/win-64/repodata.json.zst     | Bin 471 -> 0 bytes
 .../win-64/repodata_shards.msgpack.zst        | Bin 216 -> 0 bytes
 ...b6ac4893994f89e1e14c4c1dfcabad.msgpack.zst | Bin 437 -> 0 bytes
 ros2-poc/foxglove/arena-bias.json             | 216 +++++++
 ros2-poc/foxglove/arena-fictrac.json          | 200 +++++++
 ros2-poc/interfaces/log/COLCON_IGNORE         |   0
 .../arena_interfaces/command.log              |   6 -
 .../arena_interfaces/stderr.log               |  36 --
 .../arena_interfaces/stdout.log               | 271 ---------
 .../arena_interfaces/stdout_stderr.log        | 307 ----------
 .../arena_interfaces/streams.log              | 313 -----------
 .../log/build_2026-10-14_18-48-56/events.log  | 527 ------------------
 .../build_2026-10-14_18-48-56/logger_all.log  | 132 -----
 .../arena_interfaces/command.log              |   6 -
 .../arena_interfaces/stderr.log               |  29 -
 .../arena_interfaces/stdout.log               | 271 ---------
 .../arena_interfaces/stdout_stderr.log        | 300 ----------
 .../arena_interfaces/streams.log              | 306 ----------
 .../log/build_2026-10-14_18-58-00/events.log  | 419 --------------
 .../build_2026-10-14_18-58-00/logger_all.log  | 132 -----
 ros2-poc/interfaces/log/latest                |   1 -
 ros2-poc/interfaces/log/latest_build          |   1 -
 ros2-poc/nodes/_rows.py                       |  34 ++
 ros2-poc/nodes/bridge_node.py                 |  36 +-
 ros2-poc/nodes/foxglove_json.py               | 267 +++++++++
 ros2-poc/nodes/mcap_convert.py                |  19 +-
 ros2-poc/nodes/mcap_index.py                  |   9 +-
 ros2-poc/nodes/recorder.py                    |  22 +-
 ros2-poc/nodes/rig.py                         |   6 +-
 ros2-poc/nodes/scanimage_node.py              |  22 +
 ros2-poc/nodes/viz_node.py                    | 510 +++++++++++++++++
 ros2-poc/pixi.toml                            |   4 +
 ros2-poc/sizing/compare.py                    |  94 ++++
 ros2-poc/sizing/frames300.py                  |  73 +++
 ros2-poc/tests/test_viz_node.py               |  92 +++
 scripts/tiers/stamp.py                        |  19 +-
 tests/test-arena-runner-g6.js                 |  73 +++
 tests/test-protocol-roundtrip-v3.js           |  60 ++
 50 files changed, 1790 insertions(+), 3146 deletions(-)
 delete mode 100644 ros2-poc/channel/noarch/repodata.json
 delete mode 100644 ros2-poc/channel/win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda
 delete mode 100644 ros2-poc/channel/win-64/repodata.json
 delete mode 100644 ros2-poc/channel/win-64/repodata.json.zst
 delete mode 100644 ros2-poc/channel/win-64/repodata_shards.msgpack.zst
 delete mode 100644 ros2-poc/channel/win-64/shards/f52127a1c1297e513b7d83ea403111ad13b6ac4893994f89e1e14c4c1dfcabad.msgpack.zst
 create mode 100644 ros2-poc/foxglove/arena-bias.json
 create mode 100644 ros2-poc/foxglove/arena-fictrac.json
 delete mode 100644 ros2-poc/interfaces/log/COLCON_IGNORE
 delete mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/command.log
 delete mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stderr.log
 delete mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stdout.log
 delete mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stdout_stderr.log
 delete mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/streams.log
 delete mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-48-56/events.log
 delete mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-48-56/logger_all.log
 delete mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/command.log
 delete mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stderr.log
 delete mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stdout.log
 delete mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stdout_stderr.log
 delete mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/streams.log
 delete mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-58-00/events.log
 delete mode 100644 ros2-poc/interfaces/log/build_2026-10-14_18-58-00/logger_all.log
 delete mode 120000 ros2-poc/interfaces/log/latest
 delete mode 120000 ros2-poc/interfaces/log/latest_build
 create mode 100644 ros2-poc/nodes/_rows.py
 create mode 100644 ros2-poc/nodes/foxglove_json.py
 create mode 100644 ros2-poc/nodes/viz_node.py
 create mode 100644 ros2-poc/sizing/compare.py
 create mode 100644 ros2-poc/sizing/frames300.py
 create mode 100644 ros2-poc/tests/test_viz_node.py

diff --git a/CLAUDE.md b/CLAUDE.md
index f04ecd6e..91369b27 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -362,6 +362,38 @@ fix flows to every page automatically; two hand-written HTML pages never will.
   pattern-preview byte sources are LAYERED (`js/studio-preview-sources.js`: builtin < shared <
   colocated < uploaded — every write names its layer, arrival order never decides). The awaits
   before the load are allowlisted in `tests/test-studio-preview-sources.js`.
+- **ROS 2 bridge = the bridge going forward (LAB-303, decided 2026-10-16/17).** Rig PCs run
+  `cd ros2-poc && pixi run rig` (its own pixi workspace: Zenoh router + FicTrac adapter + bridge node
+  + optional `--bias` / `--scanimage` / `--foxglove`). Bridge 3.4 (`pixi run bridge` at the root) is
+  the legacy path for course rigs, BUT `fictrac-bridge/bridge.py` is STILL IMPORTED by
+  `ros2-poc/nodes/bridge_node.py` and `mcap_convert.py` (Hub, LogWriter, Pipeline, the pure
+  encoders): a change there changes ROS acquisition and the conversion of every historical bag.
+  **MCAP bag = the record**; the `behavior_v2` JSONL is DERIVED (converter), transitional and
+  FicTrac-only — new plugin streams go into the bag, never into a new `behavior_vN`. Bags are
+  archived on the group share (later a bucket), never pushed to GitHub, so `--max-bag-mb` (rosbag2
+  splitting) is an optional knob, off by default. `mcap_index.reindex` replaces the bag ATOMICALLY
+  (`os.replace`); never reintroduce an unlink-then-rename on the record of truth. Row encoders shared
+  by the live writer and the converter live in `ros2-poc/nodes/_rows.py` (NO ROS imports — the
+  converter must run without a ROS process; `converted == live` depends on ONE encoder).
+- **Connector plugins (LAB-303):** a protocol plugin whose class is `BiasPlugin` → connector `bias`,
+  `ScanImagePlugin` → `scanimage` (`connectorPluginNames(exp)` in the Studio). The runner turns their
+  commands into the `connectorCommand` op; `FicTracBridgeClient.connectorCommand()` NEVER rejects
+  (`outcome: ok | error | unknown`), its timeout is the step's `timeout_s` + `CONNECTOR_TIMEOUT_MARGIN_MS`
+  (the node's own deadline plus poll/reconcile/hops; a reply at the deadline is an outcome, not an
+  unknown); `_failPending` settles connector waiters; `sequenceUsesBridge` counts connector plugin
+  instances as bridge-routed steps (a loss before a camera step stops the run). Adding a connector =
+  `bridge_node.CONNECTOR_TOPICS` + `mcap_convert.CONNECTOR_TOPIC_SRC` + a `rig.py` flag + the Studio map.
+  A `≤ 3.4` bridge advertises no connectors → visible skip, never silent.
+- **The bridge log closes at run end** (`onRunFinished` → `Studio.session.bridge.setLogging(false)`,
+  after trial-quality / post-mortem, BEFORE the upload, and only while `Studio.activeRunLog === log`).
+  On the ROS node that closes the MCAP bag. The commit path's `log_export` works on a closed file.
+  The first version of this fix referenced an undeclared `bridge` inside a `catch` and was a silent
+  no-op — a `try { … } catch (_) {}` around a one-liner hides exactly this; test the wiring.
+- **v3 `variables:` has TWO shapes** — mapping pairs (`key: &anchor value`) and anchored scalar
+  ITEMS (`- &anchor value`, what the 2P protocols use). Every identity helper (`extractVariables`,
+  `_findVariablePair`, the unused-anchor check) must handle both; never read `.anchor` off a value
+  that may be a primitive (`'str'.anchor` is `String.prototype.anchor`, a function — the source of
+  the "Variable "function anchor() …" is defined more than once" warning on 2026-10-16).
 - **Wire module exports:** `js/arena-wire-g6.js` defines more than it exports —
   when adding encoders/decoders, add them to the export list AND a test; audit
   with `Object.keys(require('./js/arena-wire-g6.js'))` vs the page's `Wire.*`
diff --git a/arena_studio.html b/arena_studio.html
index 994e2152..93caa5cb 100644
--- a/arena_studio.html
+++ b/arena_studio.html
@@ -3426,7 +3426,7 @@ <h2 id="modalTitle">Import error</h2>
 </div>
 
 <footer id="footer">
-  <span class="foot-left">Arena Studio v0.97 | 2026-10-16 12:58 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
+  <span class="foot-left">Arena Studio v0.97 | 2026-10-18 01:12 ET · <a href="https://github.com/reiserlab/webDisplayTools" target="_blank" rel="noopener" title="webDisplayTools on GitHub: source, issues, and release notes (docs/development/arena-studio-release-notes.md)">GitHub</a></span>
   <!-- Course-repo quick-links: open protocols / logs / patterns in a new tab.
        Hrefs built from the configured repo + bench id (updateGhQuickLinks). -->
   <span id="ghQuickLinks" title="Open the course repo on GitHub (new tab)">
diff --git a/docs/development/arena-studio-release-notes.md b/docs/development/arena-studio-release-notes.md
index 37f52fe5..41e40f90 100644
--- a/docs/development/arena-studio-release-notes.md
+++ b/docs/development/arena-studio-release-notes.md
@@ -9,6 +9,9 @@ history lives here. Newest first. (Per-session engineering detail stays in
 <!-- #254 -->
 - **Losing the FicTrac bridge mid-run now ends the run** instead of carrying on in silence. When the bridge's connection drops during a run that depends on it (a closed loop is armed, the protocol drives a camera or another connector, or the bridge is recording the run), the Studio shows a banner, stops the display, and records the run with the outcome **BRIDGE_LOST** (distinct from a controller fault, so no controller post-mortem runs). Restart the bridge, reconnect, and **⇪ Push log** to collect its record of the run. A user Disconnect, or a bridge the run never used, does not end the run.
 - **A `?p=` link loads its protocol first.** Opening a shared protocol link no longer waits for the course repo's pattern listing from GitHub; on a slow or walled network that wait could leave the Run view empty until a refresh. A protocol key that is not in this site's index now says so in a banner.
+- **Run-log pushes can no longer commit the wrong file after a bridge restart.** ⇪ Push log checks that the bridge serves this run's own log file and refuses otherwise, telling you where the file is on the bridge PC.
+- **Protocols that list their variables (`- &name value`) no longer trigger a false "Variable … is defined more than once" warning.** The check read the wrong field on list-style variables; the warning named a JavaScript function instead of a variable.
+- **Camera and microscope steps wait a little longer than their own `timeout_s`** before being called unknown, so a reply that lands right at the deadline counts as the outcome it was.
 
 ## v0.96 (2026-10-16) · ScanImage as a protocol plugin (two-photon rigs, ROS bridge node) · Run file and MCAP bag close when the run ends (LAB-303)
 
diff --git a/js/arena-runner-g6.js b/js/arena-runner-g6.js
index 919a5fae..dcbcbfc6 100644
--- a/js/arena-runner-g6.js
+++ b/js/arena-runner-g6.js
@@ -21,6 +21,9 @@
 'use strict';
 
 var ArenaRunnerG6 = (function () {
+    // connectorCommand: added to a step's own timeout_s so the browser outlasts the device
+    // node's deadline (poll period 0.25 s + a status reconcile + two message hops).
+    const CONNECTOR_TIMEOUT_MARGIN_MS = 3000;
     // ---- pure helpers (hardware-free, unit-tested) -----------------------
 
     /**
@@ -2314,7 +2317,12 @@ var ArenaRunnerG6 = (function () {
                         command: ir.command_name,
                         params: ir.params,
                         timeoutS: ir.timeoutS,
-                        timeoutMs: ir.timeoutS ? ir.timeoutS * 1000 : undefined
+                        // The node's deadline + a margin for its poll period, the status
+                        // reconcile it runs on a timeout, and the two hops — so a reply that
+                        // lands right at the deadline is an outcome, not an 'unknown'.
+                        timeoutMs: ir.timeoutS
+                            ? ir.timeoutS * 1000 + CONNECTOR_TIMEOUT_MARGIN_MS
+                            : undefined
                     });
                     const value = {
                         connector: ir.connector,
diff --git a/js/fictrac-bridge-client.js b/js/fictrac-bridge-client.js
index 8138facf..9cf9cdc9 100644
--- a/js/fictrac-bridge-client.js
+++ b/js/fictrac-bridge-client.js
@@ -687,7 +687,7 @@
          * connector_reply, LAB-303). Resolves with the reply object
          * {connector, plugin, command, ok, outcome:'ok'|'error'|'unknown', value, error,
          * steps, rtt_ms, artifact?}. It NEVER rejects: not connected → outcome 'error';
-         * no connector_reply within `timeoutMs` (default 10 s) → outcome 'unknown' (the
+         * no connector_reply within `timeoutMs` (default 15 s) → outcome 'unknown' (the
          * command may or may not have taken effect — the LAB-303 semantics); a disconnect
          * while in flight → 'unknown' as well. One id per call; late replies are dropped.
          * @param {object} req {connector:'bias', plugin:'camera', command:'startRecording',
@@ -730,7 +730,7 @@
                     })
                 );
             }
-            const timeoutMs = Number(req.timeoutMs) > 0 ? Number(req.timeoutMs) : 10000;
+            const timeoutMs = Number(req.timeoutMs) > 0 ? Number(req.timeoutMs) : 15000; // > the nodes' default slow-command deadline
             return new Promise((resolve) => {
                 const w = { resolve, timer: null, base };
                 w.timer = setTimeout(() => {
diff --git a/js/plugin-registry.js b/js/plugin-registry.js
index 212142e2..722b8952 100644
--- a/js/plugin-registry.js
+++ b/js/plugin-registry.js
@@ -713,11 +713,15 @@ var BUILTIN_PLUGINS = {
                         placeholder: 'hStackManager.framesPerSlice'
                     },
                     value: {
-                        type: 'number',
+                        // Allowlisted properties are numbers (framesPerSlice), booleans
+                        // (loggingEnable) and strings (logFilePath / logFileStem): keep the
+                        // text as typed; the ScanImage node turns "640" / "true" into the
+                        // JSON scalar the property wants.
+                        type: 'string',
                         required: true,
                         default: '',
                         label: 'Value',
-                        placeholder: '640'
+                        placeholder: '640, true/false, or text'
                     }
                 }
             },
diff --git a/js/protocol-yaml-v3.js b/js/protocol-yaml-v3.js
index d7f0e116..b6b66c54 100644
--- a/js/protocol-yaml-v3.js
+++ b/js/protocol-yaml-v3.js
@@ -304,21 +304,33 @@ function extractVariables(doc) {
     const varsNode = doc.get('variables', true);
     if (!varsNode || !varsNode.items) return out;
     for (const pair of varsNode.items) {
-        // Identity preference: the anchor name on pair.value (the v3-canonical
-        // form `name_key: &anchor_name value`). Falls back to the map key when
-        // there's no anchor — rare in real fixtures, but tolerated. Phase 5's
-        // Variables editor surfaces the anchor name as the rename target and
-        // expects this to be the identity used throughout the JS mirror.
-        const anchorName = pair.value && pair.value.anchor ? pair.value.anchor : null;
-        const mapKey = pair.key && pair.key.value !== undefined ? pair.key.value : String(pair.key);
+        // Two shapes. Mapping-style `name_key: &anchor_name value` (a Pair: identity =
+        // the anchor on pair.value, else the map key). Sequence-style `- &anchor value`
+        // (the documented v3 form: the item IS the anchored scalar node). Telling them
+        // apart matters: a sequence item's `.value` is a PRIMITIVE, and reading `.anchor`
+        // off a string yields the deprecated String.prototype.anchor method — which is
+        // how the Studio once warned 'Variable "function anchor() { [native code] }" is
+        // defined more than once' on a protocol whose variables were all `- &name v`.
+        const isPair = !!(pair && pair.key !== undefined);
+        const node = isPair ? pair.value : pair;
+        const anchorName =
+            node && typeof node === 'object' && typeof node.anchor === 'string' && node.anchor
+                ? node.anchor
+                : null;
+        const mapKey = isPair
+            ? pair.key && pair.key.value !== undefined
+                ? pair.key.value
+                : String(pair.key)
+            : null;
         const name = anchorName || mapKey;
+        if (name == null) continue; // an unanchored sequence item has no identity to offer
         let value;
-        if (pair.value && pair.value.value !== undefined) {
-            value = pair.value.value;
-        } else if (pair.value && typeof pair.value.toJSON === 'function') {
-            value = pair.value.toJSON();
+        if (node && typeof node === 'object' && node.value !== undefined) {
+            value = node.value;
+        } else if (node && typeof node === 'object' && typeof node.toJSON === 'function') {
+            value = node.toJSON();
         } else {
-            value = pair.value;
+            value = node;
         }
         out.push({ name: String(name), value: value });
     }
@@ -1719,10 +1731,20 @@ function _findVariablePair(experiment, name) {
     if (!varsNode || !Array.isArray(varsNode.items)) return null;
     for (let i = 0; i < varsNode.items.length; i++) {
         const pair = varsNode.items[i];
-        const anchorName = pair.value && pair.value.anchor ? pair.value.anchor : null;
-        const mapKey = pair.key && pair.key.value !== undefined ? pair.key.value : String(pair.key);
+        // Same two shapes as extractVariables (Pair vs anchored scalar item).
+        const isPair = !!(pair && pair.key !== undefined);
+        const node = isPair ? pair.value : pair;
+        const anchorName =
+            node && typeof node === 'object' && typeof node.anchor === 'string' && node.anchor
+                ? node.anchor
+                : null;
+        const mapKey = isPair
+            ? pair.key && pair.key.value !== undefined
+                ? pair.key.value
+                : String(pair.key)
+            : null;
         const identity = anchorName || mapKey;
-        if (identity === name) return { pair, index: i, varsNode };
+        if (identity != null && identity === name) return { pair, index: i, varsNode };
     }
     return null;
 }
diff --git a/ros2-poc/.gitignore b/ros2-poc/.gitignore
index 6f4618ed..6da99fcf 100644
--- a/ros2-poc/.gitignore
+++ b/ros2-poc/.gitignore
@@ -12,3 +12,8 @@ interfaces/build/
 interfaces/install/
 interfaces/build.log
 interfaces/build-result.json
+# colcon build logs (never commit)
+interfaces/log/
+# the one-off win-64 channel payload lives at commit 3051258 (pixi.toml pins that URL); not in the tree
+channel/noarch/
+channel/win-64/
diff --git a/ros2-poc/channel/README.md b/ros2-poc/channel/README.md
index 4a073b11..990eaf0a 100644
--- a/ros2-poc/channel/README.md
+++ b/ros2-poc/channel/README.md
@@ -1,5 +1,10 @@
 # ros2-poc/channel — a prebuilt arena_interfaces (LAB-303 Plan B test, win-64 only)
 
+> **2026-10-18:** the package payload (`win-64/*.conda`, repodata) was removed from the tree —
+> a binary in git history is enough for the pinned URL the `typed-prebuilt` environment reads
+> (commit `30512581`, see `../pixi.toml`), and the CI-built channel replaces it. This README stays
+> as the record of how the one-off package was built.
+
 A conda channel with one package, read by the opt-in `typed-prebuilt` environment in
 `../pixi.toml` over raw.githubusercontent.com (pinned to the commit that added these files), so a
 Windows PC **without Visual Studio** can run the graph with typed messages. Stand-in for the
diff --git a/ros2-poc/channel/noarch/repodata.json b/ros2-poc/channel/noarch/repodata.json
deleted file mode 100644
index d6f6f3f3..00000000
--- a/ros2-poc/channel/noarch/repodata.json
+++ /dev/null
@@ -1 +0,0 @@
-{"info":{"subdir":"noarch"},"packages":{},"packages.conda":{},"repodata_version":2}
\ No newline at end of file
diff --git a/ros2-poc/channel/win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda b/ros2-poc/channel/win-64/arena_interfaces-0.1.0-ha41a7fa_0.conda
deleted file mode 100644
index ec8a2d16bed4d4a112e1afe2f8f259b0df2c3d58..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/ros2-poc/foxglove/arena-bias.json b/ros2-poc/foxglove/arena-bias.json
new file mode 100644
index 00000000..a0ad90f0
--- /dev/null
+++ b/ros2-poc/foxglove/arena-bias.json
@@ -0,0 +1,216 @@
+{
+  "configById": {
+    "3D!arena": {
+      "cameraState": {
+        "perspective": true,
+        "distance": 9,
+        "phi": 58,
+        "thetaOffset": 35,
+        "targetOffset": [0, 0, 1.2],
+        "target": [0, 0, 0],
+        "targetOrientation": [0, 0, 0, 1],
+        "fovy": 45,
+        "near": 0.1,
+        "far": 1000
+      },
+      "followMode": "follow-pose",
+      "followTf": "arena",
+      "scene": {
+        "backgroundColor": "#0f1419",
+        "enableStats": false,
+        "transforms": { "showLabel": false, "axisScale": 0 }
+      },
+      "transforms": {},
+      "topics": {
+        "/viz/markers": { "visible": true }
+      },
+      "layers": {},
+      "publish": {
+        "type": "point",
+        "poseTopic": "/move_base_simple/goal",
+        "pointTopic": "/clicked_point",
+        "poseEstimateTopic": "/initialpose",
+        "poseEstimateXDeviation": 0.5,
+        "poseEstimateYDeviation": 0.5,
+        "poseEstimateThetaDeviation": 0.26
+      },
+      "imageMode": {}
+    },
+    "Indicator!reachable": {
+      "foxglovePanelTitle": "BIAS",
+      "path": "/viz/bias/reachable.data",
+      "style": "bulb",
+      "fallbackColor": "#8b949e",
+      "fallbackLabel": "no status",
+      "rules": [
+        { "operator": "=", "rawValue": "true", "color": "#00e676", "label": "online" },
+        { "operator": "=", "rawValue": "false", "color": "#ff5252", "label": "offline" }
+      ]
+    },
+    "Indicator!capturing": {
+      "foxglovePanelTitle": "Camera",
+      "path": "/viz/bias/capturing.data",
+      "style": "bulb",
+      "fallbackColor": "#8b949e",
+      "fallbackLabel": "unknown",
+      "rules": [
+        { "operator": "=", "rawValue": "true", "color": "#00e676", "label": "capturing" },
+        { "operator": "=", "rawValue": "false", "color": "#8b949e", "label": "idle" }
+      ]
+    },
+    "Indicator!logging": {
+      "foxglovePanelTitle": "Video",
+      "path": "/viz/bias/logging.data",
+      "style": "bulb",
+      "fallbackColor": "#8b949e",
+      "fallbackLabel": "unknown",
+      "rules": [
+        { "operator": "=", "rawValue": "true", "color": "#ffd740", "label": "writing" },
+        { "operator": "=", "rawValue": "false", "color": "#8b949e", "label": "off" }
+      ]
+    },
+    "Gauge!fps": {
+      "foxglovePanelTitle": "Camera fps",
+      "path": "/viz/bias/fps.data",
+      "minValue": 0,
+      "maxValue": 200,
+      "colorMap": "red-yellow-green",
+      "colorMode": "colormap",
+      "gradient": ["#0000ff", "#ff00ff"],
+      "reverse": false
+    },
+    "StateTransitions!biasstate": {
+      "paths": [
+        { "value": "/viz/bias/state.data", "timestampMethod": "receiveTime", "label": "BIAS" }
+      ],
+      "isSynced": true
+    },
+    "Plot!frames": {
+      "title": "BIAS camera frames",
+      "paths": [
+        { "value": "/viz/bias/frame_count.data", "enabled": true, "timestampMethod": "receiveTime", "label": "camera frames" }
+      ],
+      "showXAxisLabels": true,
+      "showYAxisLabels": true,
+      "showLegend": true,
+      "legendDisplay": "floating",
+      "showPlotValuesInLegend": true,
+      "isSynced": true,
+      "xAxisVal": "timestamp",
+      "sidebarDimension": 240,
+      "followingViewWidth": 60
+    },
+    "Plot!arenaindex": {
+      "title": "Displayed frame index",
+      "paths": [
+        { "value": "/viz/arena/index.data", "enabled": true, "timestampMethod": "receiveTime", "label": "frame index" }
+      ],
+      "showXAxisLabels": true,
+      "showYAxisLabels": true,
+      "showLegend": true,
+      "legendDisplay": "floating",
+      "showPlotValuesInLegend": true,
+      "isSynced": true,
+      "xAxisVal": "timestamp",
+      "sidebarDimension": 240,
+      "followingViewWidth": 60
+    },
+    "RawMessages!reply": {
+      "topicPath": "/bias/reply",
+      "diffEnabled": false,
+      "diffMethod": "custom",
+      "diffTopicPath": "",
+      "showFullMessageForDiff": false,
+      "expansion": "all"
+    },
+    "DiagnosticSummary!health": {
+      "minLevel": 0,
+      "pinnedIds": [],
+      "hardwareIdFilter": "",
+      "topicToRender": "/diagnostics",
+      "sortByLevel": true
+    },
+    "DiagnosticStatusPanel!detail": {
+      "topicToRender": "/diagnostics",
+      "collapsedSections": []
+    },
+    "RawMessages!lasterror": {
+      "topicPath": "/viz/last_error",
+      "diffEnabled": false,
+      "diffMethod": "custom",
+      "diffTopicPath": "",
+      "showFullMessageForDiff": false,
+      "expansion": "all"
+    },
+    "RosOut!log": {
+      "foxglovePanelTitle": "ROS log (live only: bags do not record /rosout)",
+      "searchTerms": [],
+      "minLogLevel": 2,
+      "nameFilter": {}
+    }
+  },
+  "globalVariables": {},
+  "userNodes": {},
+  "playbackConfig": { "speed": 1 },
+  "layout": {
+    "direction": "row",
+    "splitPercentage": 62,
+    "first": {
+      "direction": "column",
+      "splitPercentage": 48,
+      "first": "3D!arena",
+      "second": {
+        "direction": "column",
+        "splitPercentage": 30,
+        "first": "StateTransitions!biasstate",
+        "second": {
+          "direction": "row",
+          "splitPercentage": 55,
+          "first": {
+            "direction": "column",
+            "splitPercentage": 55,
+            "first": "Plot!frames",
+            "second": "Plot!arenaindex"
+          },
+          "second": "RawMessages!reply"
+        }
+      }
+    },
+    "second": {
+      "direction": "column",
+      "splitPercentage": 34,
+      "first": {
+        "direction": "row",
+        "splitPercentage": 60,
+        "first": {
+          "direction": "column",
+          "splitPercentage": 33,
+          "first": "Indicator!reachable",
+          "second": {
+            "direction": "column",
+            "splitPercentage": 50,
+            "first": "Indicator!capturing",
+            "second": "Indicator!logging"
+          }
+        },
+        "second": "Gauge!fps"
+      },
+      "second": {
+        "direction": "column",
+        "splitPercentage": 40,
+        "first": "DiagnosticSummary!health",
+        "second": {
+          "direction": "column",
+          "splitPercentage": 55,
+          "first": "DiagnosticStatusPanel!detail",
+          "second": {
+            "direction": "column",
+            "splitPercentage": 40,
+            "first": "RawMessages!lasterror",
+            "second": "RosOut!log"
+          }
+        }
+      }
+    }
+  }
+}
diff --git a/ros2-poc/foxglove/arena-fictrac.json b/ros2-poc/foxglove/arena-fictrac.json
new file mode 100644
index 00000000..283d409d
--- /dev/null
+++ b/ros2-poc/foxglove/arena-fictrac.json
@@ -0,0 +1,200 @@
+{
+  "configById": {
+    "3D!arena": {
+      "cameraState": {
+        "perspective": true,
+        "distance": 9,
+        "phi": 58,
+        "thetaOffset": 35,
+        "targetOffset": [0, 0, 1.2],
+        "target": [0, 0, 0],
+        "targetOrientation": [0, 0, 0, 1],
+        "fovy": 45,
+        "near": 0.1,
+        "far": 1000
+      },
+      "followMode": "follow-pose",
+      "followTf": "arena",
+      "scene": {
+        "backgroundColor": "#0f1419",
+        "enableStats": false,
+        "transforms": { "showLabel": false, "axisScale": 0 }
+      },
+      "transforms": {},
+      "topics": {
+        "/viz/markers": { "visible": true }
+      },
+      "layers": {},
+      "publish": {
+        "type": "point",
+        "poseTopic": "/move_base_simple/goal",
+        "pointTopic": "/clicked_point",
+        "poseEstimateTopic": "/initialpose",
+        "poseEstimateXDeviation": 0.5,
+        "poseEstimateYDeviation": 0.5,
+        "poseEstimateThetaDeviation": 0.26
+      },
+      "imageMode": {}
+    },
+    "Plot!closedloop": {
+      "title": "Closed loop: fly turn vs display rotation (deg, unwrapped)",
+      "paths": [
+        { "value": "/viz/fictrac/turn_deg.data", "enabled": true, "timestampMethod": "receiveTime", "label": "fly turn" },
+        { "value": "/viz/arena/display_deg.data", "enabled": true, "timestampMethod": "receiveTime", "label": "display rotation" }
+      ],
+      "showXAxisLabels": true,
+      "showYAxisLabels": true,
+      "showLegend": true,
+      "legendDisplay": "floating",
+      "showPlotValuesInLegend": true,
+      "isSynced": true,
+      "xAxisVal": "timestamp",
+      "sidebarDimension": 240,
+      "followingViewWidth": 30
+    },
+    "Plot!bias": {
+      "title": "Bias angle (deg)",
+      "paths": [
+        { "value": "/viz/arena/bias_deg.data", "enabled": true, "timestampMethod": "receiveTime", "label": "bias" }
+      ],
+      "showXAxisLabels": true,
+      "showYAxisLabels": true,
+      "showLegend": true,
+      "legendDisplay": "floating",
+      "showPlotValuesInLegend": true,
+      "isSynced": true,
+      "xAxisVal": "timestamp",
+      "sidebarDimension": 240,
+      "followingViewWidth": 30
+    },
+    "Plot!kinematics": {
+      "title": "FicTrac kinematics (deg/s of ball rotation)",
+      "paths": [
+        { "value": "/viz/fictrac/speed_dps.data", "enabled": true, "timestampMethod": "receiveTime", "label": "speed" },
+        { "value": "/viz/fictrac/fwd_dps.data", "enabled": true, "timestampMethod": "receiveTime", "label": "forward" },
+        { "value": "/viz/fictrac/side_dps.data", "enabled": true, "timestampMethod": "receiveTime", "label": "side" }
+      ],
+      "showXAxisLabels": true,
+      "showYAxisLabels": true,
+      "showLegend": true,
+      "legendDisplay": "floating",
+      "showPlotValuesInLegend": true,
+      "isSynced": true,
+      "xAxisVal": "timestamp",
+      "sidebarDimension": 240,
+      "followingViewWidth": 30
+    },
+    "Plot!index": {
+      "title": "Displayed frame index",
+      "paths": [
+        { "value": "/viz/arena/index.data", "enabled": true, "timestampMethod": "receiveTime", "label": "frame index" }
+      ],
+      "showXAxisLabels": true,
+      "showYAxisLabels": true,
+      "showLegend": false,
+      "isSynced": true,
+      "xAxisVal": "timestamp",
+      "followingViewWidth": 30
+    },
+    "DiagnosticSummary!health": {
+      "minLevel": 0,
+      "pinnedIds": [],
+      "hardwareIdFilter": "",
+      "topicToRender": "/diagnostics",
+      "sortByLevel": true
+    },
+    "DiagnosticStatusPanel!detail": {
+      "topicToRender": "/diagnostics",
+      "collapsedSections": []
+    },
+    "Gauge!ftrate": {
+      "foxglovePanelTitle": "FicTrac rate (Hz)",
+      "path": "/viz/fictrac/rate_hz.data",
+      "minValue": 0,
+      "maxValue": 120,
+      "colorMap": "red-yellow-green",
+      "colorMode": "colormap",
+      "gradient": ["#0000ff", "#ff00ff"],
+      "reverse": false
+    },
+    "Indicator!fictrac": {
+      "foxglovePanelTitle": "FicTrac",
+      "path": "/viz/fictrac/rate_hz.data",
+      "style": "bulb",
+      "fallbackColor": "#8b949e",
+      "fallbackLabel": "no data",
+      "rules": [
+        { "operator": ">", "rawValue": "5", "color": "#00e676", "label": "flowing" },
+        { "operator": "<=", "rawValue": "5", "color": "#ff5252", "label": "stalled" }
+      ]
+    },
+    "RawMessages!lasterror": {
+      "topicPath": "/viz/last_error",
+      "diffEnabled": false,
+      "diffMethod": "custom",
+      "diffTopicPath": "",
+      "showFullMessageForDiff": false,
+      "expansion": "all"
+    },
+    "RosOut!log": {
+      "foxglovePanelTitle": "ROS log (live only: bags do not record /rosout)",
+      "searchTerms": [],
+      "minLogLevel": 2,
+      "nameFilter": {}
+    }
+  },
+  "globalVariables": {},
+  "userNodes": {},
+  "playbackConfig": { "speed": 1 },
+  "layout": {
+    "direction": "row",
+    "splitPercentage": 66,
+    "first": {
+      "direction": "column",
+      "splitPercentage": 50,
+      "first": "3D!arena",
+      "second": {
+        "direction": "column",
+        "splitPercentage": 55,
+        "first": {
+          "direction": "row",
+          "splitPercentage": 68,
+          "first": "Plot!closedloop",
+          "second": "Plot!bias"
+        },
+        "second": {
+          "direction": "row",
+          "splitPercentage": 60,
+          "first": "Plot!kinematics",
+          "second": "Plot!index"
+        }
+      }
+    },
+    "second": {
+      "direction": "column",
+      "splitPercentage": 22,
+      "first": {
+        "direction": "row",
+        "splitPercentage": 50,
+        "first": "Indicator!fictrac",
+        "second": "Gauge!ftrate"
+      },
+      "second": {
+        "direction": "column",
+        "splitPercentage": 40,
+        "first": "DiagnosticSummary!health",
+        "second": {
+          "direction": "column",
+          "splitPercentage": 55,
+          "first": "DiagnosticStatusPanel!detail",
+          "second": {
+            "direction": "column",
+            "splitPercentage": 40,
+            "first": "RawMessages!lasterror",
+            "second": "RosOut!log"
+          }
+        }
+      }
+    }
+  }
+}
diff --git a/ros2-poc/interfaces/log/COLCON_IGNORE b/ros2-poc/interfaces/log/COLCON_IGNORE
deleted file mode 100644
index e69de29b..00000000
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/command.log b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/command.log
deleted file mode 100644
index 784022de..00000000
--- a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/command.log
+++ /dev/null
@@ -1,6 +0,0 @@
-Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
-Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
-Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
-Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
-Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
-Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stderr.log b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stderr.log
deleted file mode 100644
index bc3790d3..00000000
--- a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stderr.log
+++ /dev/null
@@ -1,36 +0,0 @@
-CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):
-  Compatibility with CMake < 3.10 will be removed from a future version of
-  CMake.
-
-  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
-  to tell CMake that the project requires at least <min> but has been updated
-  to work with policies introduced by <max> or earlier.
-This warning is for project developers.  Use -Wno-author or -Wno-deprecated
-to suppress it.
-
-CMake Warning (unused-cli):
-  Manually-specified variables were not used by the project:
-
-    Python_EXECUTABLE
-
-
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib'
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib'
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_c.dylib
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_c.dylib'
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib'
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib'
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_cpp.dylib
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_cpp.dylib'
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so'
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so'
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so'
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_py.dylib
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_py.dylib'
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stdout.log b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stdout.log
deleted file mode 100644
index 26c0e452..00000000
--- a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stdout.log
+++ /dev/null
@@ -1,271 +0,0 @@
--- The C compiler identification is Clang 21.1.8
--- The CXX compiler identification is Clang 21.1.8
--- Detecting C compiler ABI info
--- Detecting C compiler ABI info - done
--- Check for working C compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cc - skipped
--- Detecting C compile features
--- Detecting C compile features - done
--- Detecting CXX compiler ABI info
--- Detecting CXX compiler ABI info - done
--- Check for working CXX compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/c++ - skipped
--- Detecting CXX compile features
--- Detecting CXX compile features - done
--- Found ament_cmake: 2.5.6 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake/cmake)
--- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
--- Found rosidl_default_generators: 1.6.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_default_generators/cmake)
--- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
--- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
--- Found rosidl_adapter: 4.6.9 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_adapter/cmake)
--- Found ament_cmake_ros: 0.12.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake_ros/cmake)
--- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
--- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
--- Found python_cmake_module: 0.11.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/python_cmake_module/cmake)
--- Found PythonExtra: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python
--- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter Development NumPy Development.Module Development.Embed
--- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
--- Configuring done (14.9s)
--- Generating done (0.1s)
--- Build files have been written to: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
-[1/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake -E copy_directory /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/rosidl_generator_py/arena_interfaces /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces/arena_interfaces
-[2/57] Generating type hashes for ROS interfaces
-[3/57] Generating Rust code for ROS interfaces
-[4/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python setup.py egg_info
-running egg_info
-creating arena_interfaces.egg-info
-writing arena_interfaces.egg-info/PKG-INFO
-writing dependency_links to arena_interfaces.egg-info/dependency_links.txt
-writing top-level names to arena_interfaces.egg-info/top_level.txt
-writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
-reading manifest file 'arena_interfaces.egg-info/SOURCES.txt'
-writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
-[5/57] Generating C++ code for ROS interfaces
-[6/57] Generating C code for ROS interfaces
-[7/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
-[8/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
-[9/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__description.c.o
-[10/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__description.c.o
-[11/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
-[12/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__description.c.o
-[13/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__functions.c.o
-[14/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__functions.c.o
-[15/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__functions.c.o
-[16/57] Linking C shared library libarena_interfaces__rosidl_generator_c.dylib
-[17/57] Generating C type support dispatch for ROS interfaces
-[18/57] Generating C++ type support dispatch for ROS interfaces
-[19/57] Generating C++ introspection for ROS interfaces
-[20/57] Generating C type support for eProsima Fast-RTPS
-[21/57] Generating C introspection for ROS interfaces
-[22/57] Generating C++ type support for eProsima Fast-RTPS
-[23/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
-[24/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/connector_reply__type_support.cpp.o
-[25/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/arena_frame__type_support.cpp.o
-[26/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
-[27/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
-[28/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
-[29/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_c.dylib
-[30/57] Linking C shared library libarena_interfaces__rosidl_typesupport_introspection_c.dylib
-[31/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/connector_reply__type_support.cpp.o
-[32/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
-[33/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/arena_frame__type_support.cpp.o
-[34/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/connector_reply__type_support.cpp.o
-[35/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/fic_trac_frame__type_support.cpp.o
-[36/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/fic_trac_frame__type_support_c.cpp.o
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--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_cpp.dylib
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/pythonpath.sh
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/pythonpath.dsv
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces-0.1.0-py3.12.egg-info
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces-0.1.0-py3.12.egg-info/PKG-INFO
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces-0.1.0-py3.12.egg-info/SOURCES.txt
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces-0.1.0-py3.12.egg-info/top_level.txt
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces-0.1.0-py3.12.egg-info/dependency_links.txt
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_arena_frame.py
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/__init__.py
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_arena_frame_s.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_connector_reply.py
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_fic_trac_frame_s.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_fic_trac_frame.py
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_connector_reply_s.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_c.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/__init__.py
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_introspection_c.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
-Listing '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces'...
-Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/__init__.py'...
-Listing '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg'...
-Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/__init__.py'...
-Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_arena_frame.py'...
-Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_connector_reply.py'...
-Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_fic_trac_frame.py'...
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--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_py.dylib
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/Cargo.toml
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/build.rs
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/msg/rmw.rs
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/lib.rs
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/msg.rs
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.idl
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.idl
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.idl
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/package_run_dependencies/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/parent_prefix_path/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/ament_prefix_path.sh
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/ament_prefix_path.dsv
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/path.sh
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/path.dsv
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.bash
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.sh
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.zsh
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.dsv
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.dsv
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/packages/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cppExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_include_directories-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_libraries-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_targets-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_aggregate_target-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig-version.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.xml
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stdout_stderr.log b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stdout_stderr.log
deleted file mode 100644
index 116f4ff6..00000000
--- a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/stdout_stderr.log
+++ /dev/null
@@ -1,307 +0,0 @@
-CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):
-  Compatibility with CMake < 3.10 will be removed from a future version of
-  CMake.
-
-  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
-  to tell CMake that the project requires at least <min> but has been updated
-  to work with policies introduced by <max> or earlier.
-This warning is for project developers.  Use -Wno-author or -Wno-deprecated
-to suppress it.
-
--- The C compiler identification is Clang 21.1.8
--- The CXX compiler identification is Clang 21.1.8
--- Detecting C compiler ABI info
--- Detecting C compiler ABI info - done
--- Check for working C compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cc - skipped
--- Detecting C compile features
--- Detecting C compile features - done
--- Detecting CXX compiler ABI info
--- Detecting CXX compiler ABI info - done
--- Check for working CXX compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/c++ - skipped
--- Detecting CXX compile features
--- Detecting CXX compile features - done
--- Found ament_cmake: 2.5.6 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake/cmake)
--- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
--- Found rosidl_default_generators: 1.6.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_default_generators/cmake)
--- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
--- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
--- Found rosidl_adapter: 4.6.9 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_adapter/cmake)
--- Found ament_cmake_ros: 0.12.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake_ros/cmake)
--- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
--- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
--- Found python_cmake_module: 0.11.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/python_cmake_module/cmake)
--- Found PythonExtra: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python
--- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter Development NumPy Development.Module Development.Embed
--- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
--- Configuring done (14.9s)
--- Generating done (0.1s)
-CMake Warning (unused-cli):
-  Manually-specified variables were not used by the project:
-
-    Python_EXECUTABLE
-
-
--- Build files have been written to: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
-[1/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake -E copy_directory /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/rosidl_generator_py/arena_interfaces /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces/arena_interfaces
-[2/57] Generating type hashes for ROS interfaces
-[3/57] Generating Rust code for ROS interfaces
-[4/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python setup.py egg_info
-running egg_info
-creating arena_interfaces.egg-info
-writing arena_interfaces.egg-info/PKG-INFO
-writing dependency_links to arena_interfaces.egg-info/dependency_links.txt
-writing top-level names to arena_interfaces.egg-info/top_level.txt
-writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
-reading manifest file 'arena_interfaces.egg-info/SOURCES.txt'
-writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
-[5/57] Generating C++ code for ROS interfaces
-[6/57] Generating C code for ROS interfaces
-[7/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
-[8/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
-[9/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__description.c.o
-[10/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__description.c.o
-[11/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
-[12/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__description.c.o
-[13/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__functions.c.o
-[14/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__functions.c.o
-[15/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__functions.c.o
-[16/57] Linking C shared library libarena_interfaces__rosidl_generator_c.dylib
-[17/57] Generating C type support dispatch for ROS interfaces
-[18/57] Generating C++ type support dispatch for ROS interfaces
-[19/57] Generating C++ introspection for ROS interfaces
-[20/57] Generating C type support for eProsima Fast-RTPS
-[21/57] Generating C introspection for ROS interfaces
-[22/57] Generating C++ type support for eProsima Fast-RTPS
-[23/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
-[24/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/connector_reply__type_support.cpp.o
-[25/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/arena_frame__type_support.cpp.o
-[26/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
-[27/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
-[28/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
-[29/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_c.dylib
-[30/57] Linking C shared library libarena_interfaces__rosidl_typesupport_introspection_c.dylib
-[31/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/connector_reply__type_support.cpp.o
-[32/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
-[33/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/arena_frame__type_support.cpp.o
-[34/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/connector_reply__type_support.cpp.o
-[35/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/fic_trac_frame__type_support.cpp.o
-[36/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/fic_trac_frame__type_support_c.cpp.o
-[37/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/arena_frame__type_support.cpp.o
-[38/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/connector_reply__type_support_c.cpp.o
-[39/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
-[40/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/arena_frame__type_support_c.cpp.o
-[41/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/connector_reply__type_support.cpp.o
-[42/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/fic_trac_frame__type_support.cpp.o
-[43/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/arena_frame__type_support.cpp.o
-[44/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_cpp.dylib
-[45/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
-[46/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib
-[47/57] Generating Python code for ROS interfaces
-[48/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_fastrtps_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c.o
-[49/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_arena_frame_s.c.o
-[50/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_fic_trac_frame_s.c.o
-[51/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_connector_reply_s.c.o
-[52/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_introspection_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_introspection_c.c.o
-[53/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_c.c.o
-[54/57] Linking C shared library libarena_interfaces__rosidl_generator_py.dylib
-[55/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
-[56/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
-[57/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
--- Install configuration: "Release"
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/rosidl_interfaces/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.json
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.json
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.json
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_generator_c__visibility_control.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/fic_trac_frame.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/arena_frame.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__struct.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__struct.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__struct.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__functions.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__functions.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__description.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__functions.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__description.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__functions.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__functions.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__description.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__functions.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/connector_reply.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_c.dylib
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_fastrtps_c.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__rosidl_typesupport_fastrtps_c.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_fastrtps_c.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib'
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__rosidl_typesupport_introspection_c.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_introspection_c.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_introspection_c.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_typesupport_introspection_c__visibility_control.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib'
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_c.dylib
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_c.dylib
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_c.dylib'
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__builder.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__traits.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__traits.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__traits.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__builder.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__builder.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__struct.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__struct.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__struct.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_generator_cpp__visibility_control.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/connector_reply.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/fic_trac_frame.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/arena_frame.hpp
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_typesupport_fastrtps_cpp__visibility_control.h
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
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--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_fastrtps_cpp.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/dds_fastrtps
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_fastrtps_cpp.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib'
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_introspection_cpp.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.cpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.cpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__rosidl_typesupport_introspection_cpp.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_introspection_cpp.hpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.cpp
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib'
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_cpp.dylib
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_cpp.dylib
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_cpp.dylib'
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/pythonpath.sh
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/pythonpath.dsv
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces-0.1.0-py3.12.egg-info
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces-0.1.0-py3.12.egg-info/PKG-INFO
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--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_arena_frame.py
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--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_arena_frame_s.c
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--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_fic_trac_frame.py
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_connector_reply_s.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_c.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/__init__.py
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--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_introspection_c.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
-Listing '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces'...
-Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/__init__.py'...
-Listing '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg'...
-Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/__init__.py'...
-Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_arena_frame.py'...
-Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_connector_reply.py'...
-Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_fic_trac_frame.py'...
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so'
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so'
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so'
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_py.dylib
-/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_py.dylib
-[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_py.dylib'
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/Cargo.toml
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/build.rs
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/msg/rmw.rs
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/lib.rs
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/msg.rs
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.idl
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.idl
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.idl
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/package_run_dependencies/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/parent_prefix_path/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/ament_prefix_path.sh
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/ament_prefix_path.dsv
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/path.sh
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/path.dsv
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.bash
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.sh
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.zsh
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.dsv
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.dsv
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/packages/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cppExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_include_directories-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_libraries-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_targets-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_aggregate_target-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig-version.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.xml
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/streams.log b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/streams.log
deleted file mode 100644
index 3756b007..00000000
--- a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/arena_interfaces/streams.log
+++ /dev/null
@@ -1,313 +0,0 @@
-[0.042s] Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
-[1.206s] CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):
-[1.206s]   Compatibility with CMake < 3.10 will be removed from a future version of
-[1.206s]   CMake.
-[1.206s] 
-[1.206s]   Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
-[1.206s]   to tell CMake that the project requires at least <min> but has been updated
-[1.207s]   to work with policies introduced by <max> or earlier.
-[1.207s] This warning is for project developers.  Use -Wno-author or -Wno-deprecated
-[1.207s] to suppress it.
-[1.207s] 
-[3.727s] -- The C compiler identification is Clang 21.1.8
-[4.155s] -- The CXX compiler identification is Clang 21.1.8
-[4.219s] -- Detecting C compiler ABI info
-[4.608s] -- Detecting C compiler ABI info - done
-[4.723s] -- Check for working C compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cc - skipped
-[4.730s] -- Detecting C compile features
-[4.730s] -- Detecting C compile features - done
-[4.909s] -- Detecting CXX compiler ABI info
-[6.939s] -- Detecting CXX compiler ABI info - done
-[7.042s] -- Check for working CXX compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/c++ - skipped
-[7.043s] -- Detecting CXX compile features
-[7.046s] -- Detecting CXX compile features - done
-[7.216s] -- Found ament_cmake: 2.5.6 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake/cmake)
-[7.881s] -- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
-[8.566s] -- Found rosidl_default_generators: 1.6.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_default_generators/cmake)
-[8.606s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-[8.836s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-[9.190s] -- Found rosidl_adapter: 4.6.9 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_adapter/cmake)
-[11.870s] -- Found ament_cmake_ros: 0.12.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake_ros/cmake)
-[13.343s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-[14.410s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-[14.441s] -- Found python_cmake_module: 0.11.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/python_cmake_module/cmake)
-[14.709s] -- Found PythonExtra: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python
-[15.955s] -- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter Development NumPy Development.Module Development.Embed
-[16.052s] -- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
-[16.071s] -- Configuring done (14.9s)
-[16.153s] -- Generating done (0.1s)
-[16.153s] CMake Warning (unused-cli):
-[16.153s]   Manually-specified variables were not used by the project:
-[16.153s] 
-[16.153s]     Python_EXECUTABLE
-[16.153s] 
-[16.153s] 
-[16.180s] -- Build files have been written to: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
-[16.187s] Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
-[16.190s] Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
-[16.323s] [1/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake -E copy_directory /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/rosidl_generator_py/arena_interfaces /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces/arena_interfaces
-[16.558s] [2/57] Generating type hashes for ROS interfaces
-[16.621s] [3/57] Generating Rust code for ROS interfaces
-[16.767s] [4/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python setup.py egg_info
-[16.767s] running egg_info
-[16.767s] creating arena_interfaces.egg-info
-[16.767s] writing arena_interfaces.egg-info/PKG-INFO
-[16.767s] writing dependency_links to arena_interfaces.egg-info/dependency_links.txt
-[16.767s] writing top-level names to arena_interfaces.egg-info/top_level.txt
-[16.767s] writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
-[16.767s] reading manifest file 'arena_interfaces.egg-info/SOURCES.txt'
-[16.767s] writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
-[16.955s] [5/57] Generating C++ code for ROS interfaces
-[16.984s] [6/57] Generating C code for ROS interfaces
-[17.162s] [7/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
-[17.166s] [8/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
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-[21.855s] Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/events.log b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/events.log
deleted file mode 100644
index dbedabfb..00000000
--- a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/events.log
+++ /dev/null
@@ -1,527 +0,0 @@
-[0.000000] (-) TimerEvent: {}
-[0.000220] (arena_interfaces) JobQueued: {'identifier': 'arena_interfaces', 'dependencies': OrderedDict()}
-[0.000375] (arena_interfaces) JobStarted: {'identifier': 'arena_interfaces'}
-[0.038351] (arena_interfaces) JobProgress: {'identifier': 'arena_interfaces', 'progress': 'cmake'}
-[0.040887] (arena_interfaces) Command: {'cmd': ['/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces', '-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install'], 'cwd': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', 'env': OrderedDict({'CLAUDE_CODE_EMIT_TOOL_USE_SUMMARIES': 'false', 'CLAUDE_CODE_ENABLE_ASK_USER_QUESTION_TOOL': 'true', 'CLAUDE_CODE_MESSAGING_TOKEN': '2b6c13b8291656abc35ec86fddfb20ad', 'CLAUDE_CODE_ORGANIZATION_UUID': '18a7adf9-2431-4be1-baa2-5ab8a760c725', 'NoDefaultCurrentDirectoryInExePath': '1', 'CLAUDE_CODE_ENTRYPOINT': 'claude-desktop', 'CLAUDE_EFFORT': 'high', 'INIT_CWD': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc', 'PIXI_IN_SHELL': '1', 'BAGGAGE': 'sentry-environment=production,sentry-release=Claude%402.37337.1,sentry-public_key=2f98127cbffe4740b1f767a2de77d23b,sentry-trace_id=4f13f656568b4c48befba4122a9acf5c,sentry-org_id=1158394', 'CLAUDE_CODE_HOST_SESSION_ID': 'local_160a0efc-1cc3-4f45-a788-ac923be9362b', 'CLAUDE_CODE_OAUTH_SCOPES': 'user:inference user:file_upload user:profile user:sessions:claude_code user:plugins', 'SHELL': '/bin/zsh', 'CLAUDE_CODE_CHILD_SESSION': '1', 'CLAUDE_CODE_EAGER_FLUSH': '1', 'CLAUDE_PID': '3941', 'TMPDIR': '/var/folders/6_/y2pb319x6p9bnz2x858mfdm00000gp/T/', 'CONDA_SHLVL': '1', 'GSETTINGS_SCHEMA_DIR_CONDA_BACKUP': '', 'CLAUDE_AGENT_SDK_VERSION': '0.3.295', 'MallocNanoZone': '0', 'PIXI_ENVIRONMENT_NAME': 'default', 'ROS_PYTHON_VERSION': '3', 'CLAUDE_AGENT_SDK_MCP_NO_PREFIX': '0', 'ROS_VERSION': '2', 'USE_LOCAL_OAUTH': '', 'AMENT_PREFIX_PATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default', 'AI_AGENT': 'claude-code_2-1-295_agent', 'GIT_EDITOR': 'true', 'ZENOH_ROUTER_CONFIG_URI': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/config/zenoh-router.json5', 'CLAUDE_CODE_DISABLE_TERMINAL_TITLE': '1', 'USER': 'reiserm', 'API_TIMEOUT_MS': '900000', 'COMMAND_MODE': 'unix2003', 'PIXI_EXE': '/Users/reiserm/.pixi/bin/pixi', 'SSH_AUTH_SOCK': '/var/run/com.apple.launchd.T2vxNCCQGB/Listeners', '__CF_USER_TEXT_ENCODING': '0x1F6:0x0:0x0', 'ROS_OS_OVERRIDE': 'conda:osx', 'CLAUDE_CODE_DESKTOP_APP_VERSION': '2.37337.1', 'PIXI_PROJECT_MANIFEST': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/pixi.toml', 'CLAUDE_CODE_SIMPLE': '0', 'CLAUDE_CODE_REPORT_FINDINGS': '1', 'ZENOH_ROUTER_CHECK_ATTEMPTS': '0', 'PATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin:/Users/reiserm/.pixi/bin:/Users/reiserm/.platformio/penv/bin:/Users/reiserm/.local/bin:/Users/reiserm/.npm-global/bin:/opt/homebrew/bin:/opt/homebrew/sbin:/usr/local/bin:/System/Cryptexes/App/usr/bin:/usr/bin:/bin:/usr/sbin:/sbin:/var/run/com.apple.security.cryptexd/codex.system/bootstrap/usr/local/bin:/var/run/com.apple.security.cryptexd/codex.system/bootstrap/usr/bin:/var/run/com.apple.security.cryptexd/codex.system/bootstrap/usr/appleinternal/bin:/pkg/env/global/bin:/Library/TeX/texbin:/opt/homebrew/bin:/Users/reiserm/Library/pnpm', 'GSETTINGS_SCHEMA_DIR': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/glib-2.0/schemas', 'MCP_CONNECTION_NONBLOCKING': 'true', 'XML_CATALOG_FILES': 'file:///Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/etc/xml/catalog file:///etc/xml/catalog', 'CLAUDE_CODE_TERMINAL_MCP_TOOLS': 'mcp__ccd_turn__wrap_up', 'CONDA_PREFIX': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default', 'PIXI_PROJECT_NAME': 'arena-ros2-poc', '__CFBundleIdentifier': 'com.anthropic.claudefordesktop', 'PIXI_PROMPT': '(arena-ros2-poc)', 'PWD': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', 'COLCON': '1', 'CLAUDE_CODE_USER_EMAIL': 'reiserm@janelia.hhmi.org', 'NODE_USE_SYSTEM_CA': '1', 'RMW_IMPLEMENTATION': 'rmw_zenoh_cpp', 'XPC_FLAGS': '0x0', 'CLAUDE_CODE_SESSION_ATTENDED': '1', 'PYTHONDONTWRITEBYTECODE': '1', 'PIXI_ENVIRONMENT_PLATFORMS': 'osx-arm64,win-64,linux-64', 'XPC_SERVICE_NAME': '0', 'ZENOH_SESSION_CONFIG_URI': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/config/zenoh-session.json5', 'CLAUDE_CODE_ENABLE_SDK_FILE_CHECKPOINTING': 'true', 'HOME': '/Users/reiserm', 'PIXI_PROJECT_ROOT': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc', 'SHLVL': '2', 'ANTHROPIC_BASE_URL': 'https://api.anthropic.com', 'CLAUDE_CODE_DISABLE_CRON': '', 'ROS_DISTRO': 'jazzy', 'CLAUDE_CODE_EXECPATH': '/Users/reiserm/Library/Application Support/Claude/claude-code/2.1.295/9d6405864fdc/claude.app/Contents/MacOS/claude', 'PYTHONUTF8': '1', 'DISABLE_MICROCOMPACT': '1', 'MCP_SERVER_CONNECTION_BATCH_SIZE': '8', 'LOGNAME': 'reiserm', 'PYTHONPATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib/python/site-packages:/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib/python3.12/site-packages', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'LC_CTYPE': 'C.UTF-8', 'COREPACK_ENABLE_AUTO_PIN': '0', 'CONDA_DEFAULT_ENV': 'arena-ros2-poc', 'PIXI_PROJECT_VERSION': '0.1.0', 'CLAUDE_CODE_ACCOUNT_UUID': '3c5e22c9-d465-4b8f-b6af-a04b2e9a6e3e', 'CLAUDE_CODE_SDK_HAS_HOST_AUTH_REFRESH': '1', 'CLAUDE_CODE_SESSION_ID': '4b4183e1-44ad-4b23-a358-7e98c8c57fd9', 'DISABLE_AUTOUPDATER': '1', 'OSLogRateLimit': '64', 'CLAUDECODE': '1', 'CLAUDE_CODE_MESSAGING_SOCKET': '/tmp/cc-socks/3941.sock', 'ROS_ETC_DIR': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/etc/ros', 'USE_STAGING_OAUTH': '', '_': '/usr/bin/env', 'CMAKE_PREFIX_PATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default'}), 'shell': False}
-[0.109441] (-) TimerEvent: {}
-[0.219579] (-) TimerEvent: {}
-[0.324980] (-) TimerEvent: {}
-[0.428508] (-) TimerEvent: {}
-[0.538624] (-) TimerEvent: {}
-[0.645337] (-) TimerEvent: {}
-[0.750307] (-) TimerEvent: {}
-[0.858598] (-) TimerEvent: {}
-[0.959288] (-) TimerEvent: {}
-[1.068088] (-) TimerEvent: {}
-[1.178225] (-) TimerEvent: {}
-[1.206427] (arena_interfaces) StderrLine: {'line': b'CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):\n'}
-[1.206619] (arena_interfaces) StderrLine: {'line': b'  Compatibility with CMake < 3.10 will be removed from a future version of\n'}
-[1.206692] (arena_interfaces) StderrLine: {'line': b'  CMake.\n'}
-[1.206752] (arena_interfaces) StderrLine: {'line': b'\n'}
-[1.206808] (arena_interfaces) StderrLine: {'line': b'  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax\n'}
-[1.206864] (arena_interfaces) StderrLine: {'line': b'  to tell CMake that the project requires at least <min> but has been updated\n'}
-[1.206927] (arena_interfaces) StderrLine: {'line': b'  to work with policies introduced by <max> or earlier.\n'}
-[1.206987] (arena_interfaces) StderrLine: {'line': b'This warning is for project developers.  Use -Wno-author or -Wno-deprecated\n'}
-[1.207042] (arena_interfaces) StderrLine: {'line': b'to suppress it.\n'}
-[1.207099] (arena_interfaces) StderrLine: {'line': b'\n'}
-[1.282425] (-) TimerEvent: {}
-[1.392517] (-) TimerEvent: {}
-[1.496484] (-) TimerEvent: {}
-[1.596913] (-) TimerEvent: {}
-[1.707107] (-) TimerEvent: {}
-[1.812427] (-) TimerEvent: {}
-[1.914679] (-) TimerEvent: {}
-[2.024767] (-) TimerEvent: {}
-[2.128795] (-) TimerEvent: {}
-[2.238890] (-) TimerEvent: {}
-[2.348080] (-) TimerEvent: {}
-[2.458190] (-) TimerEvent: {}
-[2.564991] (-) TimerEvent: {}
-[2.671926] (-) TimerEvent: {}
-[2.774325] (-) TimerEvent: {}
-[2.879855] (-) TimerEvent: {}
-[2.987976] (-) TimerEvent: {}
-[3.097701] (-) TimerEvent: {}
-[3.207806] (-) TimerEvent: {}
-[3.314511] (-) TimerEvent: {}
-[3.422342] (-) TimerEvent: {}
-[3.532508] (-) TimerEvent: {}
-[3.636191] (-) TimerEvent: {}
-[3.727058] (arena_interfaces) StdoutLine: {'line': b'-- The C compiler identification is Clang 21.1.8\n'}
-[3.740175] (-) TimerEvent: {}
-[3.850254] (-) TimerEvent: {}
-[3.951793] (-) TimerEvent: {}
-[4.056421] (-) TimerEvent: {}
-[4.155618] (arena_interfaces) StdoutLine: {'line': b'-- The CXX compiler identification is Clang 21.1.8\n'}
-[4.156765] (-) TimerEvent: {}
-[4.218906] (arena_interfaces) StdoutLine: {'line': b'-- Detecting C compiler ABI info\n'}
-[4.263446] (-) TimerEvent: {}
-[4.369815] (-) TimerEvent: {}
-[4.479907] (-) TimerEvent: {}
-[4.589801] (-) TimerEvent: {}
-[4.607804] (arena_interfaces) StdoutLine: {'line': b'-- Detecting C compiler ABI info - done\n'}
-[4.690908] (-) TimerEvent: {}
-[4.723347] (arena_interfaces) StdoutLine: {'line': b'-- Check for working C compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cc - skipped\n'}
-[4.725604] (arena_interfaces) StdoutLine: {'line': b'-- Detecting C compile features\n'}
-[4.730198] (arena_interfaces) StdoutLine: {'line': b'-- Detecting C compile features - done\n'}
-[4.792842] (-) TimerEvent: {}
-[4.896617] (-) TimerEvent: {}
-[4.909400] (arena_interfaces) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info\n'}
-[4.998853] (-) TimerEvent: {}
-[5.107129] (-) TimerEvent: {}
-[5.209995] (-) TimerEvent: {}
-[5.310585] (-) TimerEvent: {}
-[5.418583] (-) TimerEvent: {}
-[5.523742] (-) TimerEvent: {}
-[5.624460] (-) TimerEvent: {}
-[5.735479] (-) TimerEvent: {}
-[5.836953] (-) TimerEvent: {}
-[5.945761] (-) TimerEvent: {}
-[6.046206] (-) TimerEvent: {}
-[6.147970] (-) TimerEvent: {}
-[6.256631] (-) TimerEvent: {}
-[6.364498] (-) TimerEvent: {}
-[6.467813] (-) TimerEvent: {}
-[6.574401] (-) TimerEvent: {}
-[6.676545] (-) TimerEvent: {}
-[6.779147] (-) TimerEvent: {}
-[6.888693] (-) TimerEvent: {}
-[6.939215] (arena_interfaces) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info - done\n'}
-[6.993595] (-) TimerEvent: {}
-[7.042154] (arena_interfaces) StdoutLine: {'line': b'-- Check for working CXX compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/c++ - skipped\n'}
-[7.043658] (arena_interfaces) StdoutLine: {'line': b'-- Detecting CXX compile features\n'}
-[7.045862] (arena_interfaces) StdoutLine: {'line': b'-- Detecting CXX compile features - done\n'}
-[7.094666] (-) TimerEvent: {}
-[7.195843] (-) TimerEvent: {}
-[7.215346] (arena_interfaces) StdoutLine: {'line': b'-- Found ament_cmake: 2.5.6 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake/cmake)\n'}
-[7.295914] (-) TimerEvent: {}
-[7.401108] (-) TimerEvent: {}
-[7.501639] (-) TimerEvent: {}
-[7.610242] (-) TimerEvent: {}
-[7.713330] (-) TimerEvent: {}
-[7.822636] (-) TimerEvent: {}
-[7.880697] (arena_interfaces) StdoutLine: {'line': b'-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter\n'}
-[7.932190] (-) TimerEvent: {}
-[8.037843] (-) TimerEvent: {}
-[8.148000] (-) TimerEvent: {}
-[8.255664] (-) TimerEvent: {}
-[8.365963] (-) TimerEvent: {}
-[8.466739] (-) TimerEvent: {}
-[8.565945] (arena_interfaces) StdoutLine: {'line': b'-- Found rosidl_default_generators: 1.6.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_default_generators/cmake)\n'}
-[8.566898] (-) TimerEvent: {}
-[8.606267] (arena_interfaces) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
-[8.670294] (-) TimerEvent: {}
-[8.776949] (-) TimerEvent: {}
-[8.836670] (arena_interfaces) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'}
-[8.884628] (-) TimerEvent: {}
-[8.990781] (-) TimerEvent: {}
-[9.102194] (-) TimerEvent: {}
-[9.189891] (arena_interfaces) StdoutLine: {'line': b'-- Found rosidl_adapter: 4.6.9 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_adapter/cmake)\n'}
-[9.208178] (-) TimerEvent: {}
-[9.311547] (-) TimerEvent: {}
-[9.416872] (-) TimerEvent: {}
-[9.525845] (-) TimerEvent: {}
-[9.636640] (-) TimerEvent: {}
-[9.752950] (-) TimerEvent: {}
-[9.856399] (-) TimerEvent: {}
-[9.963560] (-) TimerEvent: {}
-[10.071440] (-) TimerEvent: {}
-[10.176357] (-) TimerEvent: {}
-[10.280903] (-) TimerEvent: {}
-[10.391000] (-) TimerEvent: {}
-[10.492592] (-) TimerEvent: {}
-[10.602678] (-) TimerEvent: {}
-[10.712770] (-) TimerEvent: {}
-[10.814764] (-) TimerEvent: {}
-[10.923518] (-) TimerEvent: {}
-[11.033652] (-) TimerEvent: {}
-[11.134075] (-) TimerEvent: {}
-[11.235519] (-) TimerEvent: {}
-[11.337723] (-) TimerEvent: {}
-[11.442170] (-) TimerEvent: {}
-[11.550398] (-) TimerEvent: {}
-[11.660522] (-) TimerEvent: {}
-[11.770623] (-) TimerEvent: {}
-[11.870409] (arena_interfaces) StdoutLine: {'line': b'-- Found ament_cmake_ros: 0.12.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake_ros/cmake)\n'}
-[11.870646] (-) TimerEvent: {}
-[11.980710] (-) TimerEvent: {}
-[12.090161] (-) TimerEvent: {}
-[12.191796] (-) TimerEvent: {}
-[12.300233] (-) TimerEvent: {}
-[12.410357] (-) TimerEvent: {}
-[12.519517] (-) TimerEvent: {}
-[12.619606] (-) TimerEvent: {}
-[12.723571] (-) TimerEvent: {}
-[12.825456] (-) TimerEvent: {}
-[12.927634] (-) TimerEvent: {}
-[13.037741] (-) TimerEvent: {}
-[13.141196] (-) TimerEvent: {}
-[13.251341] (-) TimerEvent: {}
-[13.343642] (arena_interfaces) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
-[13.355137] (-) TimerEvent: {}
-[13.456931] (-) TimerEvent: {}
-[13.561245] (-) TimerEvent: {}
-[13.662057] (-) TimerEvent: {}
-[13.764530] (-) TimerEvent: {}
-[13.874617] (-) TimerEvent: {}
-[13.984708] (-) TimerEvent: {}
-[14.093119] (-) TimerEvent: {}
-[14.199535] (-) TimerEvent: {}
-[14.309619] (-) TimerEvent: {}
-[14.410279] (arena_interfaces) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'}
-[14.410450] (-) TimerEvent: {}
-[14.440877] (arena_interfaces) StdoutLine: {'line': b'-- Found python_cmake_module: 0.11.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/python_cmake_module/cmake)\n'}
-[14.520279] (-) TimerEvent: {}
-[14.623650] (-) TimerEvent: {}
-[14.709402] (arena_interfaces) StdoutLine: {'line': b'-- Found PythonExtra: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python\n'}
-[14.730510] (-) TimerEvent: {}
-[14.831552] (-) TimerEvent: {}
-[14.938360] (-) TimerEvent: {}
-[15.046601] (-) TimerEvent: {}
-[15.156699] (-) TimerEvent: {}
-[15.266857] (-) TimerEvent: {}
-[15.371074] (-) TimerEvent: {}
-[15.481193] (-) TimerEvent: {}
-[15.582698] (-) TimerEvent: {}
-[15.690321] (-) TimerEvent: {}
-[15.800393] (-) TimerEvent: {}
-[15.910456] (-) TimerEvent: {}
-[15.955303] (arena_interfaces) StdoutLine: {'line': b'-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter Development NumPy Development.Module Development.Embed\n'}
-[16.020493] (-) TimerEvent: {}
-[16.052392] (arena_interfaces) StdoutLine: {'line': b'-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter\n'}
-[16.071103] (arena_interfaces) StdoutLine: {'line': b'-- Configuring done (14.9s)\n'}
-[16.123714] (-) TimerEvent: {}
-[16.153085] (arena_interfaces) StdoutLine: {'line': b'-- Generating done (0.1s)\n'}
-[16.153277] (arena_interfaces) StderrLine: {'line': b'CMake Warning (unused-cli):\n'}
-[16.153370] (arena_interfaces) StderrLine: {'line': b'  Manually-specified variables were not used by the project:\n'}
-[16.153458] (arena_interfaces) StderrLine: {'line': b'\n'}
-[16.153522] (arena_interfaces) StderrLine: {'line': b'    Python_EXECUTABLE\n'}
-[16.153588] (arena_interfaces) StderrLine: {'line': b'\n'}
-[16.153653] (arena_interfaces) StderrLine: {'line': b'\n'}
-[16.180250] (arena_interfaces) StdoutLine: {'line': b'-- Build files have been written to: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces\n'}
-[16.186700] (arena_interfaces) CommandEnded: {'returncode': 0}
-[16.187714] (arena_interfaces) JobProgress: {'identifier': 'arena_interfaces', 'progress': 'build'}
-[16.189564] (arena_interfaces) Command: {'cmd': ['/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake', '--build', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', '--', '-j18', '-l18'], 'cwd': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', 'env': OrderedDict({'CLAUDE_CODE_EMIT_TOOL_USE_SUMMARIES': 'false', 'CLAUDE_CODE_ENABLE_ASK_USER_QUESTION_TOOL': 'true', 'CLAUDE_CODE_MESSAGING_TOKEN': '2b6c13b8291656abc35ec86fddfb20ad', 'CLAUDE_CODE_ORGANIZATION_UUID': '18a7adf9-2431-4be1-baa2-5ab8a760c725', 'NoDefaultCurrentDirectoryInExePath': '1', 'CLAUDE_CODE_ENTRYPOINT': 'claude-desktop', 'CLAUDE_EFFORT': 'high', 'INIT_CWD': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc', 'PIXI_IN_SHELL': '1', 'BAGGAGE': 'sentry-environment=production,sentry-release=Claude%402.37337.1,sentry-public_key=2f98127cbffe4740b1f767a2de77d23b,sentry-trace_id=4f13f656568b4c48befba4122a9acf5c,sentry-org_id=1158394', 'CLAUDE_CODE_HOST_SESSION_ID': 'local_160a0efc-1cc3-4f45-a788-ac923be9362b', 'CLAUDE_CODE_OAUTH_SCOPES': 'user:inference user:file_upload user:profile user:sessions:claude_code user:plugins', 'SHELL': '/bin/zsh', 'CLAUDE_CODE_CHILD_SESSION': '1', 'CLAUDE_CODE_EAGER_FLUSH': '1', 'CLAUDE_PID': '3941', 'TMPDIR': '/var/folders/6_/y2pb319x6p9bnz2x858mfdm00000gp/T/', 'CONDA_SHLVL': '1', 'GSETTINGS_SCHEMA_DIR_CONDA_BACKUP': '', 'CLAUDE_AGENT_SDK_VERSION': '0.3.295', 'MallocNanoZone': '0', 'PIXI_ENVIRONMENT_NAME': 'default', 'ROS_PYTHON_VERSION': '3', 'CLAUDE_AGENT_SDK_MCP_NO_PREFIX': '0', 'ROS_VERSION': '2', 'USE_LOCAL_OAUTH': '', 'AMENT_PREFIX_PATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default', 'AI_AGENT': 'claude-code_2-1-295_agent', 'GIT_EDITOR': 'true', 'ZENOH_ROUTER_CONFIG_URI': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/config/zenoh-router.json5', 'CLAUDE_CODE_DISABLE_TERMINAL_TITLE': '1', 'USER': 'reiserm', 'API_TIMEOUT_MS': '900000', 'COMMAND_MODE': 'unix2003', 'PIXI_EXE': '/Users/reiserm/.pixi/bin/pixi', 'SSH_AUTH_SOCK': '/var/run/com.apple.launchd.T2vxNCCQGB/Listeners', '__CF_USER_TEXT_ENCODING': '0x1F6:0x0:0x0', 'ROS_OS_OVERRIDE': 'conda:osx', 'CLAUDE_CODE_DESKTOP_APP_VERSION': '2.37337.1', 'PIXI_PROJECT_MANIFEST': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/pixi.toml', 'CLAUDE_CODE_SIMPLE': '0', 'CLAUDE_CODE_REPORT_FINDINGS': '1', 'ZENOH_ROUTER_CHECK_ATTEMPTS': '0', 'PATH': 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-[20.988434] (-) TimerEvent: {}
-[21.042623] (arena_interfaces) StdoutLine: {'line': b'-- Install configuration: "Release"\n'}
-[21.043214] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/rosidl_interfaces/arena_interfaces\n'}
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-[21.058023] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__functions.c\n'}
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-[21.064296] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_fastrtps_c.h\n'}
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-[21.126658] (arena_interfaces) StderrLine: {'line': b'/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib\n'}
-[21.127203] (arena_interfaces) StderrLine: {'line': b"[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib'\n"}
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-[21.359259] (arena_interfaces) StderrLine: {'line': b'/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib\n'}
-[21.359792] (arena_interfaces) StderrLine: {'line': b"[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib'\n"}
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-[21.393236] (arena_interfaces) StderrLine: {'line': b'/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_c.dylib\n'}
-[21.393747] (arena_interfaces) StderrLine: {'line': b"[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_c.dylib'\n"}
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-[21.429759] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/dds_fastrtps\n'}
-[21.430025] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_fastrtps_cpp.hpp\n'}
-[21.430535] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib\n'}
-[21.443571] (arena_interfaces) StderrLine: {'line': b'/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib\n'}
-[21.443968] (arena_interfaces) StderrLine: {'line': b"[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib'\n"}
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-[21.480353] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib\n'}
-[21.487311] (arena_interfaces) StderrLine: {'line': b'/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib\n'}
-[21.487753] (arena_interfaces) StderrLine: {'line': b"[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib'\n"}
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-[21.551013] (arena_interfaces) StderrLine: {'line': b'/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/install_name_tool: warning: changes being made to the file will invalidate the code signature in: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_cpp.dylib\n'}
-[21.551460] (arena_interfaces) StderrLine: {'line': b"[cctools-port]: generating fake signature for '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_cpp.dylib'\n"}
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-[21.850478] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake\n'}
-[21.850834] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_aggregate_target-extras.cmake\n'}
-[21.851291] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig.cmake\n'}
-[21.851617] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig-version.cmake\n'}
-[21.852031] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.xml\n'}
-[21.855678] (arena_interfaces) CommandEnded: {'returncode': 0}
-[21.892192] (arena_interfaces) JobEnded: {'identifier': 'arena_interfaces', 'rc': 0}
-[21.892982] (-) EventReactorShutdown: {}
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/logger_all.log b/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/logger_all.log
deleted file mode 100644
index 4f0c8514..00000000
--- a/ros2-poc/interfaces/log/build_2026-10-14_18-48-56/logger_all.log
+++ /dev/null
@@ -1,132 +0,0 @@
-[0.726s] colcon DEBUG Command line arguments: ['/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/colcon', 'build', '--base-paths', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces', '--build-base', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build', '--install-base', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install', '--merge-install', '--event-handlers', 'console_direct+', '--cmake-args', '-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python']
-[0.726s] colcon DEBUG Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build', install_base='/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install', merge_install=True, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=18, event_handlers=['console_direct+'], ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, cmake_args=['-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python'], cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x101b2e6c0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x101ab98b0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x101ab98b0>>)
-[0.888s] colcon.colcon_core.package_discovery Level 1 discover_packages(colcon_meta) check parameters
-[0.888s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) check parameters
-[0.888s] colcon.colcon_core.package_discovery Level 1 discover_packages(ignore) check parameters
-[0.888s] colcon.colcon_core.package_discovery Level 1 discover_packages(path) check parameters
-[0.888s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) discover
-[0.888s] colcon.colcon_core.package_discovery INFO Crawling recursively for packages in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces'
-[0.888s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['ignore', 'ignore_ament_install']
-[0.888s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'ignore'
-[0.889s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'ignore_ament_install'
-[0.889s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['colcon_pkg']
-[0.889s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'colcon_pkg'
-[0.889s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['colcon_meta']
-[0.889s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'colcon_meta'
-[0.889s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['ros']
-[0.889s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'ros'
-[1.090s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['cmake', 'python']
-[1.090s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'cmake'
-[1.091s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'python'
-[1.091s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['python_setup_py']
-[1.091s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'python_setup_py'
-[1.091s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extensions ['ignore', 'ignore_ament_install']
-[1.091s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'ignore'
-[1.094s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'ignore_ament_install'
-[1.094s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extensions ['colcon_pkg']
-[1.094s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'colcon_pkg'
-[1.094s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extensions ['colcon_meta']
-[1.094s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'colcon_meta'
-[1.094s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extensions ['ros']
-[1.094s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'ros'
-[1.100s] colcon.colcon_core.package_identification DEBUG Package '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces' with type 'ros.ament_cmake' and name 'arena_interfaces'
-[1.102s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build) by extensions ['ignore', 'ignore_ament_install']
-[1.102s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build) by extension 'ignore'
-[1.102s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build) ignored
-[1.102s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install) by extensions ['ignore', 'ignore_ament_install']
-[1.102s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install) by extension 'ignore'
-[1.102s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install) ignored
-[1.103s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/log) by extensions ['ignore', 'ignore_ament_install']
-[1.103s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/log) by extension 'ignore'
-[1.103s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/log) ignored
-[1.103s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) using defaults
-[1.133s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_args' from command line to '['-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python']'
-[1.133s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_target' from command line to 'None'
-[1.134s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_target_skip_unavailable' from command line to 'False'
-[1.134s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_clean_cache' from command line to 'False'
-[1.134s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_clean_first' from command line to 'False'
-[1.134s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_force_configure' from command line to 'False'
-[1.134s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'ament_cmake_args' from command line to 'None'
-[1.134s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'catkin_cmake_args' from command line to 'None'
-[1.134s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'catkin_skip_building_tests' from command line to 'False'
-[1.134s] colcon.colcon_core.verb DEBUG Building package 'arena_interfaces' with the following arguments: {'ament_cmake_args': None, 'build_base': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': ['-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python'], 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install', 'merge_install': True, 'path': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces', 'symlink_install': False, 'test_result_base': None}
-[1.134s] colcon.colcon_core.executor INFO Executing jobs using 'parallel' executor
-[1.134s] colcon.colcon_parallel_executor.executor.parallel DEBUG run_until_complete
-[1.134s] colcon.colcon_ros.task.ament_cmake.build INFO Building ROS package in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces' with build type 'ament_cmake'
-[1.134s] colcon.colcon_cmake.task.cmake.build INFO Building CMake package in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces'
-[1.137s] colcon.colcon_core.plugin_system INFO Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
-[1.137s] colcon.colcon_core.shell INFO Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
-[1.137s] colcon.colcon_core.shell DEBUG Skip shell extension 'dsv' for command environment
-[1.176s] colcon.colcon_core.event_handler.log_command DEBUG Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
-[17.321s] colcon.colcon_core.event_handler.log_command DEBUG Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
-[17.324s] colcon.colcon_core.event_handler.log_command DEBUG Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
-[22.056s] colcon.colcon_core.event_handler.log_command DEBUG Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
-[22.122s] colcon.colcon_core.event_handler.log_command DEBUG Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
-[22.989s] colcon.colcon_core.environment Level 1 create_environment_scripts_only(arena_interfaces)
-[22.990s] colcon.colcon_core.event_handler.log_command DEBUG Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
-[22.998s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install' for CMake module files
-[22.999s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install' for CMake config files
-[23.000s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'cmake_prefix_path')
-[23.000s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.ps1'
-[23.002s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.dsv'
-[23.003s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.sh'
-[23.005s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib'
-[23.005s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'dyld_library_path')
-[23.005s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.ps1'
-[23.006s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.dsv'
-[23.006s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.sh'
-[23.007s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/bin'
-[23.007s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/pkgconfig/arena_interfaces.pc'
-[23.007s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages'
-[23.007s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'pythonpath')
-[23.007s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.ps1'
-[23.008s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.dsv'
-[23.008s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.sh'
-[23.009s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/bin'
-[23.009s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.ps1'
-[23.011s] colcon.colcon_core.shell INFO Creating package descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.dsv'
-[23.012s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.sh'
-[23.013s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.bash'
-[23.014s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.zsh'
-[23.015s] colcon.colcon_core.environment Level 1 create_file_with_runtime_dependencies(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/colcon-core/packages/arena_interfaces)
-[23.016s] colcon.colcon_core.environment Level 1 create_environment_scripts_only(arena_interfaces)
-[23.016s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install' for CMake module files
-[23.017s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install' for CMake config files
-[23.018s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'cmake_prefix_path')
-[23.018s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.ps1'
-[23.019s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.dsv'
-[23.019s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.sh'
-[23.019s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib'
-[23.020s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'dyld_library_path')
-[23.020s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.ps1'
-[23.020s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.dsv'
-[23.020s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.sh'
-[23.021s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/bin'
-[23.021s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/pkgconfig/arena_interfaces.pc'
-[23.021s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages'
-[23.021s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'pythonpath')
-[23.021s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.ps1'
-[23.022s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.dsv'
-[23.022s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.sh'
-[23.023s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/bin'
-[23.023s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.ps1'
-[23.024s] colcon.colcon_core.shell INFO Creating package descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.dsv'
-[23.024s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.sh'
-[23.025s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.bash'
-[23.026s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.zsh'
-[23.026s] colcon.colcon_core.environment Level 1 create_file_with_runtime_dependencies(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/colcon-core/packages/arena_interfaces)
-[23.026s] colcon.colcon_parallel_executor.executor.parallel DEBUG closing loop
-[23.027s] colcon.colcon_parallel_executor.executor.parallel DEBUG loop closed
-[23.027s] colcon.colcon_parallel_executor.executor.parallel DEBUG run_until_complete finished with '0'
-[23.027s] colcon.colcon_core.event_reactor DEBUG joining thread
-[23.027s] colcon.colcon_core.event_reactor DEBUG joined thread
-[23.027s] colcon.colcon_core.shell INFO Creating prefix script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/local_setup.ps1'
-[23.029s] colcon.colcon_core.shell INFO Creating prefix util module '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/_local_setup_util_ps1.py'
-[23.030s] colcon.colcon_core.shell INFO Creating prefix chain script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/setup.ps1'
-[23.031s] colcon.colcon_core.shell INFO Creating prefix script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/local_setup.sh'
-[23.032s] colcon.colcon_core.shell INFO Creating prefix util module '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/_local_setup_util_sh.py'
-[23.033s] colcon.colcon_core.shell INFO Creating prefix chain script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/setup.sh'
-[23.034s] colcon.colcon_core.shell INFO Creating prefix script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/local_setup.bash'
-[23.035s] colcon.colcon_core.shell INFO Creating prefix chain script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/setup.bash'
-[23.036s] colcon.colcon_core.shell INFO Creating prefix script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/local_setup.zsh'
-[23.037s] colcon.colcon_core.shell INFO Creating prefix chain script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/setup.zsh'
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/command.log b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/command.log
deleted file mode 100644
index 58da36ef..00000000
--- a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/command.log
+++ /dev/null
@@ -1,6 +0,0 @@
-Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib -DCMAKE_BUILD_WITH_INSTALL_RPATH=ON -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
-Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib -DCMAKE_BUILD_WITH_INSTALL_RPATH=ON -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
-Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
-Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
-Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
-Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stderr.log b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stderr.log
deleted file mode 100644
index 342f2e0d..00000000
--- a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stderr.log
+++ /dev/null
@@ -1,29 +0,0 @@
-CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):
-  Compatibility with CMake < 3.10 will be removed from a future version of
-  CMake.
-
-  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
-  to tell CMake that the project requires at least <min> but has been updated
-  to work with policies introduced by <max> or earlier.
-This warning is for project developers.  Use -Wno-author or -Wno-deprecated
-to suppress it.
-
-CMake Warning (policy):
-  Policy CMP0068 is not set: RPATH settings on macOS do not affect
-  install_name.  Run "cmake --help-policy CMP0068" for policy details.  Use
-  the cmake_policy command to set the policy and suppress this warning.
-
-  For compatibility with older versions of CMake, the install_name fields for
-  the following targets are still affected by RPATH settings:
-
-   arena_interfaces__rosidl_generator_py
-
-This warning is for project developers.  Use -Wno-author or -Wno-policy to
-suppress it.
-
-CMake Warning (unused-cli):
-  Manually-specified variables were not used by the project:
-
-    Python_EXECUTABLE
-
-
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stdout.log b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stdout.log
deleted file mode 100644
index 3ffaff17..00000000
--- a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stdout.log
+++ /dev/null
@@ -1,271 +0,0 @@
--- The C compiler identification is Clang 21.1.8
--- The CXX compiler identification is Clang 21.1.8
--- Detecting C compiler ABI info
--- Detecting C compiler ABI info - done
--- Check for working C compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cc - skipped
--- Detecting C compile features
--- Detecting C compile features - done
--- Detecting CXX compiler ABI info
--- Detecting CXX compiler ABI info - done
--- Check for working CXX compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/c++ - skipped
--- Detecting CXX compile features
--- Detecting CXX compile features - done
--- Found ament_cmake: 2.5.6 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake/cmake)
--- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
--- Found rosidl_default_generators: 1.6.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_default_generators/cmake)
--- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
--- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
--- Found rosidl_adapter: 4.6.9 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_adapter/cmake)
--- Found ament_cmake_ros: 0.12.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake_ros/cmake)
--- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
--- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
--- Found python_cmake_module: 0.11.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/python_cmake_module/cmake)
--- Found PythonExtra: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python
--- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter Development NumPy Development.Module Development.Embed
--- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
--- Configuring done (7.0s)
--- Generating done (0.1s)
--- Build files have been written to: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
-[1/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake -E copy_directory /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/rosidl_generator_py/arena_interfaces /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces/arena_interfaces
-[2/57] Generating type hashes for ROS interfaces
-[3/57] Generating Rust code for ROS interfaces
-[4/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python setup.py egg_info
-running egg_info
-creating arena_interfaces.egg-info
-writing arena_interfaces.egg-info/PKG-INFO
-writing dependency_links to arena_interfaces.egg-info/dependency_links.txt
-writing top-level names to arena_interfaces.egg-info/top_level.txt
-writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
-reading manifest file 'arena_interfaces.egg-info/SOURCES.txt'
-writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
-[5/57] Generating C++ code for ROS interfaces
-[6/57] Generating C code for ROS interfaces
-[7/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__description.c.o
-[8/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
-[9/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__description.c.o
-[10/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__description.c.o
-[11/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
-[12/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__functions.c.o
-[13/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
-[14/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__functions.c.o
-[15/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__functions.c.o
-[16/57] Linking C shared library libarena_interfaces__rosidl_generator_c.dylib
-[17/57] Generating C++ type support dispatch for ROS interfaces
-[18/57] Generating C introspection for ROS interfaces
-[19/57] Generating C type support dispatch for ROS interfaces
-[20/57] Generating C type support for eProsima Fast-RTPS
-[21/57] Generating C++ introspection for ROS interfaces
-[22/57] Generating C++ type support for eProsima Fast-RTPS
-[23/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
-[24/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/connector_reply__type_support.cpp.o
-[25/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
-[26/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/arena_frame__type_support.cpp.o
-[27/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
-[28/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
-[29/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_c.dylib
-[30/57] Linking C shared library libarena_interfaces__rosidl_typesupport_introspection_c.dylib
-[31/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
-[32/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/arena_frame__type_support.cpp.o
-[33/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/connector_reply__type_support.cpp.o
-[34/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/arena_frame__type_support.cpp.o
-[35/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/connector_reply__type_support.cpp.o
-[36/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/fic_trac_frame__type_support.cpp.o
-[37/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/arena_frame__type_support_c.cpp.o
-[38/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_cpp.dylib
-[39/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/fic_trac_frame__type_support_c.cpp.o
-[40/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/connector_reply__type_support.cpp.o
-[41/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/connector_reply__type_support_c.cpp.o
-[42/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
-[43/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/arena_frame__type_support.cpp.o
-[44/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/fic_trac_frame__type_support.cpp.o
-[45/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
-[46/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib
-[47/57] Generating Python code for ROS interfaces
-[48/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_fastrtps_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c.o
-[49/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_arena_frame_s.c.o
-[50/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_fic_trac_frame_s.c.o
-[51/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_c.c.o
-[52/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_introspection_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_introspection_c.c.o
-[53/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_connector_reply_s.c.o
-[54/57] Linking C shared library libarena_interfaces__rosidl_generator_py.dylib
-[55/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
-[56/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
-[57/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
--- Install configuration: "Release"
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/rosidl_interfaces/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.json
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.json
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.json
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_generator_c__visibility_control.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/fic_trac_frame.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/arena_frame.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__struct.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__struct.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__struct.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__functions.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__functions.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__description.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__functions.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__description.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__functions.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__functions.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__description.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__functions.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/connector_reply.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_c.dylib
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_fastrtps_c.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__rosidl_typesupport_fastrtps_c.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_fastrtps_c.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_typesupport_fastrtps_c__visibility_control.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__rosidl_typesupport_introspection_c.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__rosidl_typesupport_introspection_c.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_introspection_c.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.c
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_typesupport_introspection_c__visibility_control.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_typesupport_introspection_c.dylib
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--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cppExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_include_directories-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_libraries-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_targets-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_aggregate_target-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig-version.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.xml
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stdout_stderr.log b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stdout_stderr.log
deleted file mode 100644
index a62a69e1..00000000
--- a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/stdout_stderr.log
+++ /dev/null
@@ -1,300 +0,0 @@
-CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):
-  Compatibility with CMake < 3.10 will be removed from a future version of
-  CMake.
-
-  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
-  to tell CMake that the project requires at least <min> but has been updated
-  to work with policies introduced by <max> or earlier.
-This warning is for project developers.  Use -Wno-author or -Wno-deprecated
-to suppress it.
-
--- The C compiler identification is Clang 21.1.8
--- The CXX compiler identification is Clang 21.1.8
--- Detecting C compiler ABI info
--- Detecting C compiler ABI info - done
--- Check for working C compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cc - skipped
--- Detecting C compile features
--- Detecting C compile features - done
--- Detecting CXX compiler ABI info
--- Detecting CXX compiler ABI info - done
--- Check for working CXX compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/c++ - skipped
--- Detecting CXX compile features
--- Detecting CXX compile features - done
--- Found ament_cmake: 2.5.6 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake/cmake)
--- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
--- Found rosidl_default_generators: 1.6.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_default_generators/cmake)
--- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
--- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
--- Found rosidl_adapter: 4.6.9 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_adapter/cmake)
--- Found ament_cmake_ros: 0.12.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake_ros/cmake)
--- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
--- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
--- Found python_cmake_module: 0.11.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/python_cmake_module/cmake)
--- Found PythonExtra: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python
--- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter Development NumPy Development.Module Development.Embed
--- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
--- Configuring done (7.0s)
-CMake Warning (policy):
-  Policy CMP0068 is not set: RPATH settings on macOS do not affect
-  install_name.  Run "cmake --help-policy CMP0068" for policy details.  Use
-  the cmake_policy command to set the policy and suppress this warning.
-
-  For compatibility with older versions of CMake, the install_name fields for
-  the following targets are still affected by RPATH settings:
-
-   arena_interfaces__rosidl_generator_py
-
-This warning is for project developers.  Use -Wno-author or -Wno-policy to
-suppress it.
-
--- Generating done (0.1s)
-CMake Warning (unused-cli):
-  Manually-specified variables were not used by the project:
-
-    Python_EXECUTABLE
-
-
--- Build files have been written to: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
-[1/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake -E copy_directory /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/rosidl_generator_py/arena_interfaces /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces/arena_interfaces
-[2/57] Generating type hashes for ROS interfaces
-[3/57] Generating Rust code for ROS interfaces
-[4/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python setup.py egg_info
-running egg_info
-creating arena_interfaces.egg-info
-writing arena_interfaces.egg-info/PKG-INFO
-writing dependency_links to arena_interfaces.egg-info/dependency_links.txt
-writing top-level names to arena_interfaces.egg-info/top_level.txt
-writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
-reading manifest file 'arena_interfaces.egg-info/SOURCES.txt'
-writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
-[5/57] Generating C++ code for ROS interfaces
-[6/57] Generating C code for ROS interfaces
-[7/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__description.c.o
-[8/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
-[9/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__description.c.o
-[10/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__description.c.o
-[11/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
-[12/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__functions.c.o
-[13/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
-[14/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__functions.c.o
-[15/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__functions.c.o
-[16/57] Linking C shared library libarena_interfaces__rosidl_generator_c.dylib
-[17/57] Generating C++ type support dispatch for ROS interfaces
-[18/57] Generating C introspection for ROS interfaces
-[19/57] Generating C type support dispatch for ROS interfaces
-[20/57] Generating C type support for eProsima Fast-RTPS
-[21/57] Generating C++ introspection for ROS interfaces
-[22/57] Generating C++ type support for eProsima Fast-RTPS
-[23/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
-[24/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/connector_reply__type_support.cpp.o
-[25/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/arena_frame__type_support.c.o
-[26/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/arena_frame__type_support.cpp.o
-[27/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
-[28/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
-[29/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_c.dylib
-[30/57] Linking C shared library libarena_interfaces__rosidl_typesupport_introspection_c.dylib
-[31/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
-[32/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/arena_frame__type_support.cpp.o
-[33/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/connector_reply__type_support.cpp.o
-[34/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/arena_frame__type_support.cpp.o
-[35/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/connector_reply__type_support.cpp.o
-[36/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/fic_trac_frame__type_support.cpp.o
-[37/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/arena_frame__type_support_c.cpp.o
-[38/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_cpp.dylib
-[39/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/fic_trac_frame__type_support_c.cpp.o
-[40/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/connector_reply__type_support.cpp.o
-[41/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/connector_reply__type_support_c.cpp.o
-[42/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
-[43/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/arena_frame__type_support.cpp.o
-[44/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/fic_trac_frame__type_support.cpp.o
-[45/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
-[46/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib
-[47/57] Generating Python code for ROS interfaces
-[48/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_fastrtps_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c.o
-[49/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_arena_frame_s.c.o
-[50/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_fic_trac_frame_s.c.o
-[51/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_c.c.o
-[52/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_introspection_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_introspection_c.c.o
-[53/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_connector_reply_s.c.o
-[54/57] Linking C shared library libarena_interfaces__rosidl_generator_py.dylib
-[55/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
-[56/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
-[57/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
--- Install configuration: "Release"
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/rosidl_interfaces/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.json
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.json
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.json
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_generator_c__visibility_control.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/fic_trac_frame.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/arena_frame.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__struct.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__struct.h
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__struct.h
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-Listing '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg'...
-Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/__init__.py'...
-Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_arena_frame.py'...
-Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_connector_reply.py'...
-Compiling '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/msg/_fic_trac_frame.py'...
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
--- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_py.dylib
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/Cargo.toml
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/build.rs
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/msg/rmw.rs
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/lib.rs
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/rust/src/msg.rs
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.idl
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.idl
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.idl
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.msg
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/package_run_dependencies/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/parent_prefix_path/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/ament_prefix_path.sh
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/ament_prefix_path.dsv
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/path.sh
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/environment/path.dsv
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.bash
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.sh
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.zsh
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/local_setup.dsv
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.dsv
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/packages/arena_interfaces
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_cppExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport-release.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_include_directories-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_libraries-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_targets-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_aggregate_target-extras.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig-version.cmake
--- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.xml
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/streams.log b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/streams.log
deleted file mode 100644
index 20743cd7..00000000
--- a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/arena_interfaces/streams.log
+++ /dev/null
@@ -1,306 +0,0 @@
-[0.038s] Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib -DCMAKE_BUILD_WITH_INSTALL_RPATH=ON -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
-[0.122s] CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):
-[0.122s]   Compatibility with CMake < 3.10 will be removed from a future version of
-[0.122s]   CMake.
-[0.122s] 
-[0.123s]   Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax
-[0.123s]   to tell CMake that the project requires at least <min> but has been updated
-[0.123s]   to work with policies introduced by <max> or earlier.
-[0.123s] This warning is for project developers.  Use -Wno-author or -Wno-deprecated
-[0.123s] to suppress it.
-[0.123s] 
-[0.561s] -- The C compiler identification is Clang 21.1.8
-[0.975s] -- The CXX compiler identification is Clang 21.1.8
-[1.043s] -- Detecting C compiler ABI info
-[1.414s] -- Detecting C compiler ABI info - done
-[1.454s] -- Check for working C compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cc - skipped
-[1.455s] -- Detecting C compile features
-[1.455s] -- Detecting C compile features - done
-[1.464s] -- Detecting CXX compiler ABI info
-[1.818s] -- Detecting CXX compiler ABI info - done
-[1.861s] -- Check for working CXX compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/c++ - skipped
-[1.861s] -- Detecting CXX compile features
-[1.862s] -- Detecting CXX compile features - done
-[1.880s] -- Found ament_cmake: 2.5.6 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake/cmake)
-[2.188s] -- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
-[2.524s] -- Found rosidl_default_generators: 1.6.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_default_generators/cmake)
-[2.552s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-[2.751s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-[2.974s] -- Found rosidl_adapter: 4.6.9 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_adapter/cmake)
-[4.089s] -- Found ament_cmake_ros: 0.12.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake_ros/cmake)
-[4.935s] -- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-[5.985s] -- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-[6.002s] -- Found python_cmake_module: 0.11.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/python_cmake_module/cmake)
-[6.281s] -- Found PythonExtra: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python
-[6.957s] -- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter Development NumPy Development.Module Development.Embed
-[7.063s] -- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter
-[7.082s] -- Configuring done (7.0s)
-[7.132s] CMake Warning (policy):
-[7.132s]   Policy CMP0068 is not set: RPATH settings on macOS do not affect
-[7.132s]   install_name.  Run "cmake --help-policy CMP0068" for policy details.  Use
-[7.132s]   the cmake_policy command to set the policy and suppress this warning.
-[7.132s] 
-[7.133s]   For compatibility with older versions of CMake, the install_name fields for
-[7.133s]   the following targets are still affected by RPATH settings:
-[7.133s] 
-[7.133s]    arena_interfaces__rosidl_generator_py
-[7.133s] 
-[7.133s] This warning is for project developers.  Use -Wno-author or -Wno-policy to
-[7.133s] suppress it.
-[7.133s] 
-[7.157s] -- Generating done (0.1s)
-[7.157s] CMake Warning (unused-cli):
-[7.158s]   Manually-specified variables were not used by the project:
-[7.158s] 
-[7.158s]     Python_EXECUTABLE
-[7.158s] 
-[7.158s] 
-[7.182s] -- Build files have been written to: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
-[7.189s] Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib -DCMAKE_BUILD_WITH_INSTALL_RPATH=ON -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
-[7.192s] Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
-[7.331s] [1/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake -E copy_directory /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/rosidl_generator_py/arena_interfaces /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces/arena_interfaces
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-[7.703s] running egg_info
-[7.703s] creating arena_interfaces.egg-info
-[7.703s] writing arena_interfaces.egg-info/PKG-INFO
-[7.703s] writing dependency_links to arena_interfaces.egg-info/dependency_links.txt
-[7.703s] writing top-level names to arena_interfaces.egg-info/top_level.txt
-[7.703s] writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'
-[7.703s] reading manifest file 'arena_interfaces.egg-info/SOURCES.txt'
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-[7.916s] [5/57] Generating C++ code for ROS interfaces
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-[8.094s] [7/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__description.c.o
-[8.106s] [8/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o
-[8.106s] [9/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__description.c.o
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-[8.182s] [15/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__functions.c.o
-[8.307s] [16/57] Linking C shared library libarena_interfaces__rosidl_generator_c.dylib
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-[8.879s] [24/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/connector_reply__type_support.cpp.o
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-[9.146s] [26/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/arena_frame__type_support.cpp.o
-[9.165s] [27/57] Building C object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_c.dir/rosidl_typesupport_introspection_c/arena_interfaces/msg/detail/connector_reply__type_support.c.o
-[9.174s] [28/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_c.dir/rosidl_typesupport_c/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
-[9.362s] [29/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_c.dylib
-[9.362s] [30/57] Linking C shared library libarena_interfaces__rosidl_typesupport_introspection_c.dylib
-[9.578s] [31/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/fic_trac_frame__type_support.cpp.o
-[9.583s] [32/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/arena_frame__type_support.cpp.o
-[9.591s] [33/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_cpp.dir/rosidl_typesupport_cpp/arena_interfaces/msg/connector_reply__type_support.cpp.o
-[9.591s] [34/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/arena_frame__type_support.cpp.o
-[9.674s] [35/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/connector_reply__type_support.cpp.o
-[9.694s] [36/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_introspection_cpp.dir/rosidl_typesupport_introspection_cpp/arena_interfaces/msg/detail/fic_trac_frame__type_support.cpp.o
-[9.784s] [37/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/arena_frame__type_support_c.cpp.o
-[9.794s] [38/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_cpp.dylib
-[9.819s] [39/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/fic_trac_frame__type_support_c.cpp.o
-[9.827s] [40/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/connector_reply__type_support.cpp.o
-[9.828s] [41/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_c.dir/rosidl_typesupport_fastrtps_c/arena_interfaces/msg/detail/connector_reply__type_support_c.cpp.o
-[9.841s] [42/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_introspection_cpp.dylib
-[9.843s] [43/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/arena_frame__type_support.cpp.o
-[9.896s] [44/57] Building CXX object CMakeFiles/arena_interfaces__rosidl_typesupport_fastrtps_cpp.dir/rosidl_typesupport_fastrtps_cpp/arena_interfaces/msg/detail/dds_fastrtps/fic_trac_frame__type_support.cpp.o
-[9.954s] [45/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_c.dylib
-[10.014s] [46/57] Linking CXX shared library libarena_interfaces__rosidl_typesupport_fastrtps_cpp.dylib
-[10.554s] [47/57] Generating Python code for ROS interfaces
-[10.767s] [48/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_fastrtps_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_fastrtps_c.c.o
-[10.768s] [49/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_arena_frame_s.c.o
-[10.777s] [50/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_fic_trac_frame_s.c.o
-[10.777s] [51/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_c.c.o
-[10.788s] [52/57] Building C object CMakeFiles/arena_interfaces_s__rosidl_typesupport_introspection_c.dir/rosidl_generator_py/arena_interfaces/_arena_interfaces_s.ep.rosidl_typesupport_introspection_c.c.o
-[10.794s] [53/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_py.dir/rosidl_generator_py/arena_interfaces/msg/_connector_reply_s.c.o
-[10.916s] [54/57] Linking C shared library libarena_interfaces__rosidl_generator_py.dylib
-[11.053s] [55/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_fastrtps_c.so
-[11.061s] [56/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_introspection_c.so
-[11.068s] [57/57] Linking C shared module rosidl_generator_py/arena_interfaces/arena_interfaces_s__rosidl_typesupport_c.so
-[11.070s] Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
-[11.124s] Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
-[11.168s] -- Install configuration: "Release"
-[11.168s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/ament_index/resource_index/rosidl_interfaces/arena_interfaces
-[11.169s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/FicTracFrame.json
-[11.169s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ArenaFrame.json
-[11.170s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/msg/ConnectorReply.json
-[11.170s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
-[11.171s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
-[11.171s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/rosidl_generator_c__visibility_control.h
-[11.171s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/fic_trac_frame.h
-[11.171s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/arena_frame.h
-[11.172s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
-[11.172s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__struct.h
-[11.172s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__struct.h
-[11.172s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__struct.h
-[11.173s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.h
-[11.173s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.c
-[11.173s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__functions.c
-[11.174s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__functions.c
-[11.174s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.h
-[11.174s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__description.c
-[11.174s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__functions.h
-[11.175s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__type_support.c
-[11.175s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__description.c
-[11.175s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/arena_frame__functions.h
-[11.176s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__type_support.h
-[11.176s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/fic_trac_frame__functions.c
-[11.176s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__description.c
-[11.177s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__type_support.c
-[11.177s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__functions.h
-[11.177s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/connector_reply.h
-[11.178s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/libarena_interfaces__rosidl_generator_c.dylib
-[11.178s] -- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces
-[11.178s] -- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg
-[11.178s] -- Up-to-date: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail
-[11.178s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/include/arena_interfaces/arena_interfaces/msg/detail/connector_reply__rosidl_typesupport_fastrtps_c.h
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-[11.293s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_typesupport_fastrtps_cppExport.cmake
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-[11.294s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport.cmake
-[11.294s] -- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport-release.cmake
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-[11.304s] Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/events.log b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/events.log
deleted file mode 100644
index 8f2a86bb..00000000
--- a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/events.log
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@@ -1,419 +0,0 @@
-[0.000000] (-) TimerEvent: {}
-[0.000081] (arena_interfaces) JobQueued: {'identifier': 'arena_interfaces', 'dependencies': OrderedDict()}
-[0.000159] (arena_interfaces) JobStarted: {'identifier': 'arena_interfaces'}
-[0.034504] (arena_interfaces) JobProgress: {'identifier': 'arena_interfaces', 'progress': 'cmake'}
-[0.036949] (arena_interfaces) Command: {'cmd': ['/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces', '-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib', '-DCMAKE_BUILD_WITH_INSTALL_RPATH=ON', '-DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install'], 'cwd': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', 'env': OrderedDict({'CLAUDE_CODE_EMIT_TOOL_USE_SUMMARIES': 'false', 'CLAUDE_CODE_ENABLE_ASK_USER_QUESTION_TOOL': 'true', 'CLAUDE_CODE_MESSAGING_TOKEN': '2b6c13b8291656abc35ec86fddfb20ad', 'CLAUDE_CODE_ORGANIZATION_UUID': '18a7adf9-2431-4be1-baa2-5ab8a760c725', 'NoDefaultCurrentDirectoryInExePath': '1', 'CLAUDE_CODE_ENTRYPOINT': 'claude-desktop', 'CLAUDE_EFFORT': 'high', 'INIT_CWD': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc', 'PIXI_IN_SHELL': '1', 'BAGGAGE': 'sentry-environment=production,sentry-release=Claude%402.37337.1,sentry-public_key=2f98127cbffe4740b1f767a2de77d23b,sentry-trace_id=4f13f656568b4c48befba4122a9acf5c,sentry-org_id=1158394', 'CLAUDE_CODE_HOST_SESSION_ID': 'local_160a0efc-1cc3-4f45-a788-ac923be9362b', 'CLAUDE_CODE_OAUTH_SCOPES': 'user:inference user:file_upload user:profile user:sessions:claude_code user:plugins', 'SHELL': '/bin/zsh', 'CLAUDE_CODE_CHILD_SESSION': '1', 'CLAUDE_CODE_EAGER_FLUSH': '1', 'CLAUDE_PID': '3941', 'TMPDIR': '/var/folders/6_/y2pb319x6p9bnz2x858mfdm00000gp/T/', 'CONDA_SHLVL': '1', 'GSETTINGS_SCHEMA_DIR_CONDA_BACKUP': '', 'CLAUDE_AGENT_SDK_VERSION': '0.3.295', 'MallocNanoZone': '0', 'PIXI_ENVIRONMENT_NAME': 'default', 'ROS_PYTHON_VERSION': '3', 'CLAUDE_AGENT_SDK_MCP_NO_PREFIX': '0', 'ROS_VERSION': '2', 'USE_LOCAL_OAUTH': '', 'AMENT_PREFIX_PATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default', 'AI_AGENT': 'claude-code_2-1-295_agent', 'GIT_EDITOR': 'true', 'ZENOH_ROUTER_CONFIG_URI': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/config/zenoh-router.json5', 'CLAUDE_CODE_DISABLE_TERMINAL_TITLE': '1', 'USER': 'reiserm', 'API_TIMEOUT_MS': '900000', 'COMMAND_MODE': 'unix2003', 'PIXI_EXE': '/Users/reiserm/.pixi/bin/pixi', 'SSH_AUTH_SOCK': '/var/run/com.apple.launchd.T2vxNCCQGB/Listeners', '__CF_USER_TEXT_ENCODING': '0x1F6:0x0:0x0', 'ROS_OS_OVERRIDE': 'conda:osx', 'CLAUDE_CODE_DESKTOP_APP_VERSION': '2.37337.1', 'PIXI_PROJECT_MANIFEST': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/pixi.toml', 'CLAUDE_CODE_SIMPLE': '0', 'CLAUDE_CODE_REPORT_FINDINGS': '1', 'ZENOH_ROUTER_CHECK_ATTEMPTS': '0', 'PATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin:/Users/reiserm/.pixi/bin:/Users/reiserm/.platformio/penv/bin:/Users/reiserm/.local/bin:/Users/reiserm/.npm-global/bin:/opt/homebrew/bin:/opt/homebrew/sbin:/usr/local/bin:/System/Cryptexes/App/usr/bin:/usr/bin:/bin:/usr/sbin:/sbin:/var/run/com.apple.security.cryptexd/codex.system/bootstrap/usr/local/bin:/var/run/com.apple.security.cryptexd/codex.system/bootstrap/usr/bin:/var/run/com.apple.security.cryptexd/codex.system/bootstrap/usr/appleinternal/bin:/pkg/env/global/bin:/Library/TeX/texbin:/opt/homebrew/bin:/Users/reiserm/Library/pnpm', 'GSETTINGS_SCHEMA_DIR': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/glib-2.0/schemas', 'MCP_CONNECTION_NONBLOCKING': 'true', 'XML_CATALOG_FILES': 'file:///Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/etc/xml/catalog file:///etc/xml/catalog', 'CLAUDE_CODE_TERMINAL_MCP_TOOLS': 'mcp__ccd_turn__wrap_up', 'CONDA_PREFIX': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default', 'PIXI_PROJECT_NAME': 'arena-ros2-poc', '__CFBundleIdentifier': 'com.anthropic.claudefordesktop', 'PIXI_PROMPT': '(arena-ros2-poc)', 'PWD': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', 'COLCON': '1', 'CLAUDE_CODE_USER_EMAIL': 'reiserm@janelia.hhmi.org', 'NODE_USE_SYSTEM_CA': '1', 'RMW_IMPLEMENTATION': 'rmw_zenoh_cpp', 'XPC_FLAGS': '0x0', 'CLAUDE_CODE_SESSION_ATTENDED': '1', 'PYTHONDONTWRITEBYTECODE': '1', 'PIXI_ENVIRONMENT_PLATFORMS': 'linux-64,win-64,osx-arm64', 'XPC_SERVICE_NAME': '0', 'ZENOH_SESSION_CONFIG_URI': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/config/zenoh-session.json5', 'CLAUDE_CODE_ENABLE_SDK_FILE_CHECKPOINTING': 'true', 'HOME': '/Users/reiserm', 'PIXI_PROJECT_ROOT': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc', 'SHLVL': '2', 'ANTHROPIC_BASE_URL': 'https://api.anthropic.com', 'CLAUDE_CODE_DISABLE_CRON': '', 'ROS_DISTRO': 'jazzy', 'CLAUDE_CODE_EXECPATH': '/Users/reiserm/Library/Application Support/Claude/claude-code/2.1.295/9d6405864fdc/claude.app/Contents/MacOS/claude', 'PYTHONUTF8': '1', 'DISABLE_MICROCOMPACT': '1', 'MCP_SERVER_CONNECTION_BATCH_SIZE': '8', 'LOGNAME': 'reiserm', 'PYTHONPATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib/python/site-packages:/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib/python3.12/site-packages', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'LC_CTYPE': 'C.UTF-8', 'COREPACK_ENABLE_AUTO_PIN': '0', 'CONDA_DEFAULT_ENV': 'arena-ros2-poc', 'PIXI_PROJECT_VERSION': '0.1.0', 'CLAUDE_CODE_ACCOUNT_UUID': '3c5e22c9-d465-4b8f-b6af-a04b2e9a6e3e', 'CLAUDE_CODE_SDK_HAS_HOST_AUTH_REFRESH': '1', 'CLAUDE_CODE_SESSION_ID': '4b4183e1-44ad-4b23-a358-7e98c8c57fd9', 'DISABLE_AUTOUPDATER': '1', 'OSLogRateLimit': '64', 'CLAUDECODE': '1', 'CLAUDE_CODE_MESSAGING_SOCKET': '/tmp/cc-socks/3941.sock', 'ROS_ETC_DIR': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/etc/ros', 'USE_STAGING_OAUTH': '', '_': '/usr/bin/env', 'CMAKE_PREFIX_PATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default'}), 'shell': False}
-[0.104885] (-) TimerEvent: {}
-[0.122277] (arena_interfaces) StderrLine: {'line': b'CMake Warning (deprecated) at CMakeLists.txt:1 (cmake_minimum_required):\n'}
-[0.122498] (arena_interfaces) StderrLine: {'line': b'  Compatibility with CMake < 3.10 will be removed from a future version of\n'}
-[0.122572] (arena_interfaces) StderrLine: {'line': b'  CMake.\n'}
-[0.122635] (arena_interfaces) StderrLine: {'line': b'\n'}
-[0.122694] (arena_interfaces) StderrLine: {'line': b'  Update the VERSION argument <min> value.  Or, use the <min>...<max> syntax\n'}
-[0.122752] (arena_interfaces) StderrLine: {'line': b'  to tell CMake that the project requires at least <min> but has been updated\n'}
-[0.122814] (arena_interfaces) StderrLine: {'line': b'  to work with policies introduced by <max> or earlier.\n'}
-[0.122877] (arena_interfaces) StderrLine: {'line': b'This warning is for project developers.  Use -Wno-author or -Wno-deprecated\n'}
-[0.122936] (arena_interfaces) StderrLine: {'line': b'to suppress it.\n'}
-[0.122996] (arena_interfaces) StderrLine: {'line': b'\n'}
-[0.206763] (-) TimerEvent: {}
-[0.316859] (-) TimerEvent: {}
-[0.426958] (-) TimerEvent: {}
-[0.530662] (-) TimerEvent: {}
-[0.560768] (arena_interfaces) StdoutLine: {'line': b'-- The C compiler identification is Clang 21.1.8\n'}
-[0.634987] (-) TimerEvent: {}
-[0.736291] (-) TimerEvent: {}
-[0.838551] (-) TimerEvent: {}
-[0.940243] (-) TimerEvent: {}
-[0.975002] (arena_interfaces) StdoutLine: {'line': b'-- The CXX compiler identification is Clang 21.1.8\n'}
-[1.041891] (-) TimerEvent: {}
-[1.043022] (arena_interfaces) StdoutLine: {'line': b'-- Detecting C compiler ABI info\n'}
-[1.151157] (-) TimerEvent: {}
-[1.261314] (-) TimerEvent: {}
-[1.365842] (-) TimerEvent: {}
-[1.413665] (arena_interfaces) StdoutLine: {'line': b'-- Detecting C compiler ABI info - done\n'}
-[1.454445] (arena_interfaces) StdoutLine: {'line': b'-- Check for working C compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cc - skipped\n'}
-[1.454907] (arena_interfaces) StdoutLine: {'line': b'-- Detecting C compile features\n'}
-[1.455458] (arena_interfaces) StdoutLine: {'line': b'-- Detecting C compile features - done\n'}
-[1.463773] (arena_interfaces) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info\n'}
-[1.466854] (-) TimerEvent: {}
-[1.575891] (-) TimerEvent: {}
-[1.685982] (-) TimerEvent: {}
-[1.789840] (-) TimerEvent: {}
-[1.817816] (arena_interfaces) StdoutLine: {'line': b'-- Detecting CXX compiler ABI info - done\n'}
-[1.860960] (arena_interfaces) StdoutLine: {'line': b'-- Check for working CXX compiler: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/c++ - skipped\n'}
-[1.861266] (arena_interfaces) StdoutLine: {'line': b'-- Detecting CXX compile features\n'}
-[1.862139] (arena_interfaces) StdoutLine: {'line': b'-- Detecting CXX compile features - done\n'}
-[1.880364] (arena_interfaces) StdoutLine: {'line': b'-- Found ament_cmake: 2.5.6 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake/cmake)\n'}
-[1.894546] (-) TimerEvent: {}
-[2.001267] (-) TimerEvent: {}
-[2.106932] (-) TimerEvent: {}
-[2.187876] (arena_interfaces) StdoutLine: {'line': b'-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter\n'}
-[2.212777] (-) TimerEvent: {}
-[2.322869] (-) TimerEvent: {}
-[2.424143] (-) TimerEvent: {}
-[2.523635] (arena_interfaces) StdoutLine: {'line': b'-- Found rosidl_default_generators: 1.6.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_default_generators/cmake)\n'}
-[2.524330] (-) TimerEvent: {}
-[2.552216] (arena_interfaces) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
-[2.634146] (-) TimerEvent: {}
-[2.744203] (-) TimerEvent: {}
-[2.751140] (arena_interfaces) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'}
-[2.854226] (-) TimerEvent: {}
-[2.964292] (-) TimerEvent: {}
-[2.973944] (arena_interfaces) StdoutLine: {'line': b'-- Found rosidl_adapter: 4.6.9 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/rosidl_adapter/cmake)\n'}
-[3.074347] (-) TimerEvent: {}
-[3.184449] (-) TimerEvent: {}
-[3.294505] (-) TimerEvent: {}
-[3.401972] (-) TimerEvent: {}
-[3.505732] (-) TimerEvent: {}
-[3.615805] (-) TimerEvent: {}
-[3.724933] (-) TimerEvent: {}
-[3.835040] (-) TimerEvent: {}
-[3.938689] (-) TimerEvent: {}
-[4.040594] (-) TimerEvent: {}
-[4.089457] (arena_interfaces) StdoutLine: {'line': b'-- Found ament_cmake_ros: 0.12.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/ament_cmake_ros/cmake)\n'}
-[4.146811] (-) TimerEvent: {}
-[4.256889] (-) TimerEvent: {}
-[4.364000] (-) TimerEvent: {}
-[4.473936] (-) TimerEvent: {}
-[4.584012] (-) TimerEvent: {}
-[4.694129] (-) TimerEvent: {}
-[4.800988] (-) TimerEvent: {}
-[4.911080] (-) TimerEvent: {}
-[4.935200] (arena_interfaces) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c\n'}
-[5.021109] (-) TimerEvent: {}
-[5.121880] (-) TimerEvent: {}
-[5.228765] (-) TimerEvent: {}
-[5.336181] (-) TimerEvent: {}
-[5.446264] (-) TimerEvent: {}
-[5.552745] (-) TimerEvent: {}
-[5.662828] (-) TimerEvent: {}
-[5.763779] (-) TimerEvent: {}
-[5.873882] (-) TimerEvent: {}
-[5.976603] (-) TimerEvent: {}
-[5.984749] (arena_interfaces) StdoutLine: {'line': b'-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp\n'}
-[6.002126] (arena_interfaces) StdoutLine: {'line': b'-- Found python_cmake_module: 0.11.1 (/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/python_cmake_module/cmake)\n'}
-[6.086631] (-) TimerEvent: {}
-[6.196736] (-) TimerEvent: {}
-[6.280772] (arena_interfaces) StdoutLine: {'line': b'-- Found PythonExtra: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python\n'}
-[6.301315] (-) TimerEvent: {}
-[6.411426] (-) TimerEvent: {}
-[6.521540] (-) TimerEvent: {}
-[6.631647] (-) TimerEvent: {}
-[6.741722] (-) TimerEvent: {}
-[6.850705] (-) TimerEvent: {}
-[6.955663] (-) TimerEvent: {}
-[6.957445] (arena_interfaces) StdoutLine: {'line': b'-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter Development NumPy Development.Module Development.Embed\n'}
-[7.063207] (arena_interfaces) StdoutLine: {'line': b'-- Found Python3: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python (found version "3.12.15") found components: Interpreter\n'}
-[7.063349] (-) TimerEvent: {}
-[7.082277] (arena_interfaces) StdoutLine: {'line': b'-- Configuring done (7.0s)\n'}
-[7.132370] (arena_interfaces) StderrLine: {'line': b'CMake Warning (policy):\n'}
-[7.132489] (arena_interfaces) StderrLine: {'line': b'  Policy CMP0068 is not set: RPATH settings on macOS do not affect\n'}
-[7.132545] (arena_interfaces) StderrLine: {'line': b'  install_name.  Run "cmake --help-policy CMP0068" for policy details.  Use\n'}
-[7.132616] (arena_interfaces) StderrLine: {'line': b'  the cmake_policy command to set the policy and suppress this warning.\n'}
-[7.132667] (arena_interfaces) StderrLine: {'line': b'\n'}
-[7.132714] (arena_interfaces) StderrLine: {'line': b'  For compatibility with older versions of CMake, the install_name fields for\n'}
-[7.132762] (arena_interfaces) StderrLine: {'line': b'  the following targets are still affected by RPATH settings:\n'}
-[7.132833] (arena_interfaces) StderrLine: {'line': b'\n'}
-[7.132878] (arena_interfaces) StderrLine: {'line': b'   arena_interfaces__rosidl_generator_py\n'}
-[7.132926] (arena_interfaces) StderrLine: {'line': b'\n'}
-[7.132970] (arena_interfaces) StderrLine: {'line': b'This warning is for project developers.  Use -Wno-author or -Wno-policy to\n'}
-[7.133033] (arena_interfaces) StderrLine: {'line': b'suppress it.\n'}
-[7.133087] (arena_interfaces) StderrLine: {'line': b'\n'}
-[7.157426] (arena_interfaces) StdoutLine: {'line': b'-- Generating done (0.1s)\n'}
-[7.157613] (arena_interfaces) StderrLine: {'line': b'CMake Warning (unused-cli):\n'}
-[7.157699] (arena_interfaces) StderrLine: {'line': b'  Manually-specified variables were not used by the project:\n'}
-[7.157783] (arena_interfaces) StderrLine: {'line': b'\n'}
-[7.157840] (arena_interfaces) StderrLine: {'line': b'    Python_EXECUTABLE\n'}
-[7.157893] (arena_interfaces) StderrLine: {'line': b'\n'}
-[7.157944] (arena_interfaces) StderrLine: {'line': b'\n'}
-[7.166040] (-) TimerEvent: {}
-[7.182243] (arena_interfaces) StdoutLine: {'line': b'-- Build files have been written to: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces\n'}
-[7.188610] (arena_interfaces) CommandEnded: {'returncode': 0}
-[7.191555] (arena_interfaces) JobProgress: {'identifier': 'arena_interfaces', 'progress': 'build'}
-[7.191640] (arena_interfaces) Command: {'cmd': ['/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake', '--build', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', '--', '-j18', '-l18'], 'cwd': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', 'env': OrderedDict({'CLAUDE_CODE_EMIT_TOOL_USE_SUMMARIES': 'false', 'CLAUDE_CODE_ENABLE_ASK_USER_QUESTION_TOOL': 'true', 'CLAUDE_CODE_MESSAGING_TOKEN': '2b6c13b8291656abc35ec86fddfb20ad', 'CLAUDE_CODE_ORGANIZATION_UUID': '18a7adf9-2431-4be1-baa2-5ab8a760c725', 'NoDefaultCurrentDirectoryInExePath': '1', 'CLAUDE_CODE_ENTRYPOINT': 'claude-desktop', 'CLAUDE_EFFORT': 'high', 'INIT_CWD': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc', 'PIXI_IN_SHELL': '1', 'BAGGAGE': 'sentry-environment=production,sentry-release=Claude%402.37337.1,sentry-public_key=2f98127cbffe4740b1f767a2de77d23b,sentry-trace_id=4f13f656568b4c48befba4122a9acf5c,sentry-org_id=1158394', 'CLAUDE_CODE_HOST_SESSION_ID': 'local_160a0efc-1cc3-4f45-a788-ac923be9362b', 'CLAUDE_CODE_OAUTH_SCOPES': 'user:inference user:file_upload user:profile user:sessions:claude_code user:plugins', 'SHELL': '/bin/zsh', 'CLAUDE_CODE_CHILD_SESSION': '1', 'CLAUDE_CODE_EAGER_FLUSH': '1', 'CLAUDE_PID': '3941', 'TMPDIR': '/var/folders/6_/y2pb319x6p9bnz2x858mfdm00000gp/T/', 'CONDA_SHLVL': '1', 'GSETTINGS_SCHEMA_DIR_CONDA_BACKUP': '', 'CLAUDE_AGENT_SDK_VERSION': '0.3.295', 'MallocNanoZone': '0', 'PIXI_ENVIRONMENT_NAME': 'default', 'ROS_PYTHON_VERSION': '3', 'CLAUDE_AGENT_SDK_MCP_NO_PREFIX': '0', 'ROS_VERSION': '2', 'USE_LOCAL_OAUTH': '', 'AMENT_PREFIX_PATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default', 'AI_AGENT': 'claude-code_2-1-295_agent', 'GIT_EDITOR': 'true', 'ZENOH_ROUTER_CONFIG_URI': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/config/zenoh-router.json5', 'CLAUDE_CODE_DISABLE_TERMINAL_TITLE': '1', 'USER': 'reiserm', 'API_TIMEOUT_MS': '900000', 'COMMAND_MODE': 'unix2003', 'PIXI_EXE': '/Users/reiserm/.pixi/bin/pixi', 'SSH_AUTH_SOCK': '/var/run/com.apple.launchd.T2vxNCCQGB/Listeners', '__CF_USER_TEXT_ENCODING': '0x1F6:0x0:0x0', 'ROS_OS_OVERRIDE': 'conda:osx', 'CLAUDE_CODE_DESKTOP_APP_VERSION': '2.37337.1', 'PIXI_PROJECT_MANIFEST': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/pixi.toml', 'CLAUDE_CODE_SIMPLE': '0', 'CLAUDE_CODE_REPORT_FINDINGS': '1', 'ZENOH_ROUTER_CHECK_ATTEMPTS': '0', 'PATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin:/Users/reiserm/.pixi/bin:/Users/reiserm/.platformio/penv/bin:/Users/reiserm/.local/bin:/Users/reiserm/.npm-global/bin:/opt/homebrew/bin:/opt/homebrew/sbin:/usr/local/bin:/System/Cryptexes/App/usr/bin:/usr/bin:/bin:/usr/sbin:/sbin:/var/run/com.apple.security.cryptexd/codex.system/bootstrap/usr/local/bin:/var/run/com.apple.security.cryptexd/codex.system/bootstrap/usr/bin:/var/run/com.apple.security.cryptexd/codex.system/bootstrap/usr/appleinternal/bin:/pkg/env/global/bin:/Library/TeX/texbin:/opt/homebrew/bin:/Users/reiserm/Library/pnpm', 'GSETTINGS_SCHEMA_DIR': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/share/glib-2.0/schemas', 'MCP_CONNECTION_NONBLOCKING': 'true', 'XML_CATALOG_FILES': 'file:///Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/etc/xml/catalog file:///etc/xml/catalog', 'CLAUDE_CODE_TERMINAL_MCP_TOOLS': 'mcp__ccd_turn__wrap_up', 'CONDA_PREFIX': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default', 'PIXI_PROJECT_NAME': 'arena-ros2-poc', '__CFBundleIdentifier': 'com.anthropic.claudefordesktop', 'PIXI_PROMPT': '(arena-ros2-poc)', 'PWD': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', 'COLCON': '1', 'CLAUDE_CODE_USER_EMAIL': 'reiserm@janelia.hhmi.org', 'NODE_USE_SYSTEM_CA': '1', 'RMW_IMPLEMENTATION': 'rmw_zenoh_cpp', 'XPC_FLAGS': '0x0', 'CLAUDE_CODE_SESSION_ATTENDED': '1', 'PYTHONDONTWRITEBYTECODE': '1', 'PIXI_ENVIRONMENT_PLATFORMS': 'linux-64,win-64,osx-arm64', 'XPC_SERVICE_NAME': '0', 'ZENOH_SESSION_CONFIG_URI': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/config/zenoh-session.json5', 'CLAUDE_CODE_ENABLE_SDK_FILE_CHECKPOINTING': 'true', 'HOME': '/Users/reiserm', 'PIXI_PROJECT_ROOT': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc', 'SHLVL': '2', 'ANTHROPIC_BASE_URL': 'https://api.anthropic.com', 'CLAUDE_CODE_DISABLE_CRON': '', 'ROS_DISTRO': 'jazzy', 'CLAUDE_CODE_EXECPATH': '/Users/reiserm/Library/Application Support/Claude/claude-code/2.1.295/9d6405864fdc/claude.app/Contents/MacOS/claude', 'PYTHONUTF8': '1', 'DISABLE_MICROCOMPACT': '1', 'MCP_SERVER_CONNECTION_BATCH_SIZE': '8', 'LOGNAME': 'reiserm', 'PYTHONPATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib/python/site-packages:/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib/python3.12/site-packages', 'ROS_AUTOMATIC_DISCOVERY_RANGE': 'SUBNET', 'LC_CTYPE': 'C.UTF-8', 'COREPACK_ENABLE_AUTO_PIN': '0', 'CONDA_DEFAULT_ENV': 'arena-ros2-poc', 'PIXI_PROJECT_VERSION': '0.1.0', 'CLAUDE_CODE_ACCOUNT_UUID': '3c5e22c9-d465-4b8f-b6af-a04b2e9a6e3e', 'CLAUDE_CODE_SDK_HAS_HOST_AUTH_REFRESH': '1', 'CLAUDE_CODE_SESSION_ID': '4b4183e1-44ad-4b23-a358-7e98c8c57fd9', 'DISABLE_AUTOUPDATER': '1', 'OSLogRateLimit': '64', 'CLAUDECODE': '1', 'CLAUDE_CODE_MESSAGING_SOCKET': '/tmp/cc-socks/3941.sock', 'ROS_ETC_DIR': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/etc/ros', 'USE_STAGING_OAUTH': '', '_': '/usr/bin/env', 'CMAKE_PREFIX_PATH': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default'}), 'shell': False}
-[7.275481] (-) TimerEvent: {}
-[7.331217] (arena_interfaces) StdoutLine: {'line': b'[1/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake -E copy_directory /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/rosidl_generator_py/arena_interfaces /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces/arena_interfaces\n'}
-[7.376629] (-) TimerEvent: {}
-[7.486720] (-) TimerEvent: {}
-[7.535626] (arena_interfaces) StdoutLine: {'line': b'[2/57] Generating type hashes for ROS interfaces\n'}
-[7.586480] (arena_interfaces) StdoutLine: {'line': b'[3/57] Generating Rust code for ROS interfaces\n'}
-[7.586781] (-) TimerEvent: {}
-[7.696834] (-) TimerEvent: {}
-[7.702794] (arena_interfaces) StdoutLine: {'line': b'[4/57] cd /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces/ament_cmake_python/arena_interfaces && /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python setup.py egg_info\n'}
-[7.702980] (arena_interfaces) StdoutLine: {'line': b'running egg_info\n'}
-[7.703074] (arena_interfaces) StdoutLine: {'line': b'creating arena_interfaces.egg-info\n'}
-[7.703141] (arena_interfaces) StdoutLine: {'line': b'writing arena_interfaces.egg-info/PKG-INFO\n'}
-[7.703198] (arena_interfaces) StdoutLine: {'line': b'writing dependency_links to arena_interfaces.egg-info/dependency_links.txt\n'}
-[7.703279] (arena_interfaces) StdoutLine: {'line': b'writing top-level names to arena_interfaces.egg-info/top_level.txt\n'}
-[7.703328] (arena_interfaces) StdoutLine: {'line': b"writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'\n"}
-[7.703388] (arena_interfaces) StdoutLine: {'line': b"reading manifest file 'arena_interfaces.egg-info/SOURCES.txt'\n"}
-[7.703457] (arena_interfaces) StdoutLine: {'line': b"writing manifest file 'arena_interfaces.egg-info/SOURCES.txt'\n"}
-[7.806856] (-) TimerEvent: {}
-[7.916419] (-) TimerEvent: {}
-[7.916476] (arena_interfaces) StdoutLine: {'line': b'[5/57] Generating C++ code for ROS interfaces\n'}
-[7.944502] (arena_interfaces) StdoutLine: {'line': b'[6/57] Generating C code for ROS interfaces\n'}
-[8.026462] (-) TimerEvent: {}
-[8.093637] (arena_interfaces) StdoutLine: {'line': b'[7/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__description.c.o\n'}
-[8.106104] (arena_interfaces) StdoutLine: {'line': b'[8/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__type_support.c.o\n'}
-[8.106438] (arena_interfaces) StdoutLine: {'line': b'[9/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/connector_reply__description.c.o\n'}
-[8.120970] (arena_interfaces) StdoutLine: {'line': b'[10/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/arena_frame__description.c.o\n'}
-[8.129102] (-) TimerEvent: {}
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-[8.130248] (arena_interfaces) StdoutLine: {'line': b'[12/57] Building C object CMakeFiles/arena_interfaces__rosidl_generator_c.dir/rosidl_generator_c/arena_interfaces/msg/detail/fic_trac_frame__functions.c.o\n'}
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-[11.294493] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_introspection_cppExport-release.cmake\n'}
-[11.294925] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport.cmake\n'}
-[11.295279] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfaces__rosidl_typesupport_cppExport-release.cmake\n'}
-[11.295949] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport.cmake\n'}
-[11.296099] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/export_arena_interfaces__rosidl_generator_pyExport-release.cmake\n'}
-[11.296375] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake-extras.cmake\n'}
-[11.296754] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_include_directories-extras.cmake\n'}
-[11.297061] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_libraries-extras.cmake\n'}
-[11.297401] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_targets-extras.cmake\n'}
-[11.297783] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_targets-extras.cmake\n'}
-[11.298280] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/ament_cmake_export_dependencies-extras.cmake\n'}
-[11.298649] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_export_typesupport_libraries-extras.cmake\n'}
-[11.299082] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/rosidl_cmake_aggregate_target-extras.cmake\n'}
-[11.299688] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig.cmake\n'}
-[11.300256] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/cmake/arena_interfacesConfig-version.cmake\n'}
-[11.301033] (arena_interfaces) StdoutLine: {'line': b'-- Installing: /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.xml\n'}
-[11.303904] (arena_interfaces) CommandEnded: {'returncode': 0}
-[11.328582] (arena_interfaces) JobEnded: {'identifier': 'arena_interfaces', 'rc': 0}
-[11.329158] (-) EventReactorShutdown: {}
diff --git a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/logger_all.log b/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/logger_all.log
deleted file mode 100644
index c9408021..00000000
--- a/ros2-poc/interfaces/log/build_2026-10-14_18-58-00/logger_all.log
+++ /dev/null
@@ -1,132 +0,0 @@
-[0.289s] colcon DEBUG Command line arguments: ['/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/colcon', 'build', '--base-paths', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces', '--build-base', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build', '--install-base', '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install', '--merge-install', '--event-handlers', 'console_direct+', '--cmake-args', '-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib', '-DCMAKE_BUILD_WITH_INSTALL_RPATH=ON']
-[0.290s] colcon DEBUG Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build', install_base='/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install', merge_install=True, symlink_install=False, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=18, event_handlers=['console_direct+'], ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces'], packages_ignore=None, packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, cmake_args=['-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib', '-DCMAKE_BUILD_WITH_INSTALL_RPATH=ON'], cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=<colcon_defaults.argument_parser.defaults.DefaultArgumentsDecorator object at 0x1029853d0>, verb_extension=<colcon_core.verb.build.BuildVerb object at 0x1029aa1e0>, main=<bound method BuildVerb.main of <colcon_core.verb.build.BuildVerb object at 0x1029aa1e0>>)
-[0.415s] colcon.colcon_core.package_discovery Level 1 discover_packages(colcon_meta) check parameters
-[0.415s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) check parameters
-[0.415s] colcon.colcon_core.package_discovery Level 1 discover_packages(ignore) check parameters
-[0.415s] colcon.colcon_core.package_discovery Level 1 discover_packages(path) check parameters
-[0.415s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) discover
-[0.415s] colcon.colcon_core.package_discovery INFO Crawling recursively for packages in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces'
-[0.415s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['ignore', 'ignore_ament_install']
-[0.415s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'ignore'
-[0.415s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'ignore_ament_install'
-[0.415s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['colcon_pkg']
-[0.415s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'colcon_pkg'
-[0.415s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['colcon_meta']
-[0.415s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'colcon_meta'
-[0.416s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['ros']
-[0.416s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'ros'
-[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['cmake', 'python']
-[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'cmake'
-[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'python'
-[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extensions ['python_setup_py']
-[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces) by extension 'python_setup_py'
-[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extensions ['ignore', 'ignore_ament_install']
-[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'ignore'
-[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'ignore_ament_install'
-[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extensions ['colcon_pkg']
-[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'colcon_pkg'
-[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extensions ['colcon_meta']
-[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'colcon_meta'
-[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extensions ['ros']
-[0.499s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces) by extension 'ros'
-[0.505s] colcon.colcon_core.package_identification DEBUG Package '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces' with type 'ros.ament_cmake' and name 'arena_interfaces'
-[0.505s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build) by extensions ['ignore', 'ignore_ament_install']
-[0.505s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build) by extension 'ignore'
-[0.505s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build) ignored
-[0.505s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install) by extensions ['ignore', 'ignore_ament_install']
-[0.505s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install) by extension 'ignore'
-[0.505s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install) ignored
-[0.506s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/log) by extensions ['ignore', 'ignore_ament_install']
-[0.506s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/log) by extension 'ignore'
-[0.506s] colcon.colcon_core.package_identification Level 1 _identify(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/log) ignored
-[0.506s] colcon.colcon_core.package_discovery Level 1 discover_packages(recursive) using defaults
-[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_args' from command line to '['-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib', '-DCMAKE_BUILD_WITH_INSTALL_RPATH=ON']'
-[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_target' from command line to 'None'
-[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_target_skip_unavailable' from command line to 'False'
-[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_clean_cache' from command line to 'False'
-[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_clean_first' from command line to 'False'
-[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'cmake_force_configure' from command line to 'False'
-[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'ament_cmake_args' from command line to 'None'
-[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'catkin_cmake_args' from command line to 'None'
-[0.536s] colcon.colcon_core.verb Level 5 set package 'arena_interfaces' build argument 'catkin_skip_building_tests' from command line to 'False'
-[0.537s] colcon.colcon_core.verb DEBUG Building package 'arena_interfaces' with the following arguments: {'ament_cmake_args': None, 'build_base': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces', 'catkin_cmake_args': None, 'catkin_skip_building_tests': False, 'cmake_args': ['-GNinja', '-DCMAKE_BUILD_TYPE=Release', '-DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python', '-DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib', '-DCMAKE_BUILD_WITH_INSTALL_RPATH=ON'], 'cmake_clean_cache': False, 'cmake_clean_first': False, 'cmake_force_configure': False, 'cmake_target': None, 'cmake_target_skip_unavailable': False, 'install_base': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install', 'merge_install': True, 'path': '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces', 'symlink_install': False, 'test_result_base': None}
-[0.537s] colcon.colcon_core.executor INFO Executing jobs using 'parallel' executor
-[0.537s] colcon.colcon_parallel_executor.executor.parallel DEBUG run_until_complete
-[0.537s] colcon.colcon_ros.task.ament_cmake.build INFO Building ROS package in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces' with build type 'ament_cmake'
-[0.537s] colcon.colcon_cmake.task.cmake.build INFO Building CMake package in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces'
-[0.541s] colcon.colcon_core.plugin_system INFO Skipping extension 'colcon_core.shell.bat': Not used on non-Windows systems
-[0.541s] colcon.colcon_core.shell INFO Skip shell extension 'powershell' for command environment: Not usable outside of PowerShell
-[0.541s] colcon.colcon_core.shell DEBUG Skip shell extension 'dsv' for command environment
-[0.576s] colcon.colcon_core.event_handler.log_command DEBUG Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib -DCMAKE_BUILD_WITH_INSTALL_RPATH=ON -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
-[7.726s] colcon.colcon_core.event_handler.log_command DEBUG Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/arena_interfaces -GNinja -DCMAKE_BUILD_TYPE=Release -DPython3_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DPython_EXECUTABLE=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/python -DCMAKE_INSTALL_RPATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib;/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/lib -DCMAKE_BUILD_WITH_INSTALL_RPATH=ON -DCMAKE_INSTALL_PREFIX=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install
-[7.729s] colcon.colcon_core.event_handler.log_command DEBUG Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
-[11.608s] colcon.colcon_core.event_handler.log_command DEBUG Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --build /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces -- -j18 -l18
-[11.661s] colcon.colcon_core.event_handler.log_command DEBUG Invoking command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
-[11.841s] colcon.colcon_core.environment Level 1 create_environment_scripts_only(arena_interfaces)
-[11.841s] colcon.colcon_core.event_handler.log_command DEBUG Invoked command in '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces' returned '0': CMAKE_PREFIX_PATH=/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default PIXI_PROMPT=(arena-ros2-poc) SHLVL=2 _=/usr/bin/env /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/.pixi/envs/default/bin/cmake --install /Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/build/arena_interfaces
-[11.846s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install' for CMake module files
-[11.847s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install' for CMake config files
-[11.848s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'cmake_prefix_path')
-[11.848s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.ps1'
-[11.849s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.dsv'
-[11.849s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.sh'
-[11.850s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib'
-[11.850s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'dyld_library_path')
-[11.850s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.ps1'
-[11.851s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.dsv'
-[11.851s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.sh'
-[11.852s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/bin'
-[11.852s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/pkgconfig/arena_interfaces.pc'
-[11.852s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages'
-[11.852s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'pythonpath')
-[11.852s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.ps1'
-[11.852s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.dsv'
-[11.853s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.sh'
-[11.853s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/bin'
-[11.853s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.ps1'
-[11.854s] colcon.colcon_core.shell INFO Creating package descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.dsv'
-[11.855s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.sh'
-[11.856s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.bash'
-[11.857s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.zsh'
-[11.857s] colcon.colcon_core.environment Level 1 create_file_with_runtime_dependencies(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/colcon-core/packages/arena_interfaces)
-[11.858s] colcon.colcon_core.environment Level 1 create_environment_scripts_only(arena_interfaces)
-[11.858s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install' for CMake module files
-[11.859s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install' for CMake config files
-[11.860s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'cmake_prefix_path')
-[11.860s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.ps1'
-[11.860s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.dsv'
-[11.861s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/cmake_prefix_path.sh'
-[11.861s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib'
-[11.861s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'dyld_library_path')
-[11.861s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.ps1'
-[11.862s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.dsv'
-[11.862s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/dyld_library_path.sh'
-[11.862s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/bin'
-[11.862s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/pkgconfig/arena_interfaces.pc'
-[11.862s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/lib/python3.12/site-packages'
-[11.863s] colcon.colcon_core.shell Level 1 create_environment_hook('arena_interfaces', 'pythonpath')
-[11.863s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.ps1'
-[11.863s] colcon.colcon_core.shell INFO Creating environment descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.dsv'
-[11.863s] colcon.colcon_core.shell INFO Creating environment hook '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/hook/pythonpath.sh'
-[11.864s] colcon.colcon_core.environment Level 1 checking '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/bin'
-[11.864s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.ps1'
-[11.864s] colcon.colcon_core.shell INFO Creating package descriptor '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.dsv'
-[11.865s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.sh'
-[11.865s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.bash'
-[11.865s] colcon.colcon_core.shell INFO Creating package script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/arena_interfaces/package.zsh'
-[11.866s] colcon.colcon_core.environment Level 1 create_file_with_runtime_dependencies(/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/share/colcon-core/packages/arena_interfaces)
-[11.866s] colcon.colcon_parallel_executor.executor.parallel DEBUG closing loop
-[11.866s] colcon.colcon_parallel_executor.executor.parallel DEBUG loop closed
-[11.866s] colcon.colcon_parallel_executor.executor.parallel DEBUG run_until_complete finished with '0'
-[11.866s] colcon.colcon_core.event_reactor DEBUG joining thread
-[11.866s] colcon.colcon_core.event_reactor DEBUG joined thread
-[11.867s] colcon.colcon_core.shell INFO Creating prefix script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/local_setup.ps1'
-[11.868s] colcon.colcon_core.shell INFO Creating prefix util module '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/_local_setup_util_ps1.py'
-[11.869s] colcon.colcon_core.shell INFO Creating prefix chain script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/setup.ps1'
-[11.869s] colcon.colcon_core.shell INFO Creating prefix script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/local_setup.sh'
-[11.870s] colcon.colcon_core.shell INFO Creating prefix util module '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/_local_setup_util_sh.py'
-[11.870s] colcon.colcon_core.shell INFO Creating prefix chain script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/setup.sh'
-[11.871s] colcon.colcon_core.shell INFO Creating prefix script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/local_setup.bash'
-[11.872s] colcon.colcon_core.shell INFO Creating prefix chain script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/setup.bash'
-[11.873s] colcon.colcon_core.shell INFO Creating prefix script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/local_setup.zsh'
-[11.873s] colcon.colcon_core.shell INFO Creating prefix chain script '/Users/reiserm/Documents/GitHub/webDisplayTools/.claude/worktrees/vigorous-moser-b41bf7/ros2-poc/interfaces/install/setup.zsh'
diff --git a/ros2-poc/interfaces/log/latest b/ros2-poc/interfaces/log/latest
deleted file mode 120000
index b57d247c..00000000
--- a/ros2-poc/interfaces/log/latest
+++ /dev/null
@@ -1 +0,0 @@
-latest_build
\ No newline at end of file
diff --git a/ros2-poc/interfaces/log/latest_build b/ros2-poc/interfaces/log/latest_build
deleted file mode 120000
index 85f63068..00000000
--- a/ros2-poc/interfaces/log/latest_build
+++ /dev/null
@@ -1 +0,0 @@
-build_2026-10-14_18-58-00
\ No newline at end of file
diff --git a/ros2-poc/nodes/_rows.py b/ros2-poc/nodes/_rows.py
new file mode 100644
index 00000000..97f18269
--- /dev/null
+++ b/ros2-poc/nodes/_rows.py
@@ -0,0 +1,34 @@
+"""_rows.py — pure row encoders shared by the bridge node (live shadow file) and the converter.
+
+ONE definition on purpose: the converter's fidelity promise (`converted == live`) depends on both
+writers encoding a Kinefly record identically. No ROS imports here — mcap_convert.py must stay
+runnable without a ROS process.
+"""
+
+from __future__ import annotations
+
+KF_TAG = "kf"
+
+def kf_row(rel_ms: int, pkt: dict, seq: int) -> list:
+    """KF/1 record → compact tagged row. PURE. Angles are the FIRST (strongest-edge)
+    angle of each part when the part is valid, else null — Kinefly's bridge plan: the
+    edge identity policy is explicit, index 0 is only the initial single-edge choice."""
+
+    def first_angle(name: str):
+        part = pkt.get("parts", {}).get(name) or {}
+        if not part.get("valid"):
+            return None
+        angles = part.get("angles_rad") or []
+        return round(float(angles[0]), 5) if angles else None
+
+    t_src = pkt.get("timestamp_s")
+    return [
+        KF_TAG,
+        int(rel_ms),
+        int(seq),
+        round(float(t_src), 6) if isinstance(t_src, (int, float)) else None,
+        first_angle("left"),
+        first_angle("right"),
+        first_angle("head"),
+        first_angle("abdomen"),
+    ]
diff --git a/ros2-poc/nodes/bridge_node.py b/ros2-poc/nodes/bridge_node.py
index cd8dc2d4..a48b4800 100644
--- a/ros2-poc/nodes/bridge_node.py
+++ b/ros2-poc/nodes/bridge_node.py
@@ -92,6 +92,7 @@
 from mcap_convert import convert_bag  # noqa: E402
 from mcap_index import needs_recovery, recover_bag  # noqa: E402
 from recorder import PROFILES, STRING_TYPE, Recorder  # noqa: E402
+from _rows import KF_TAG, kf_row  # noqa: E402  (one encoder for the node and the converter)
 
 # Typed messages only when the package imports AND serializes (pixi's `typed` env, or a
 # colcon install whose libraries load); otherwise String JSON everywhere.
@@ -153,7 +154,6 @@ def load_bridge_module(path: Path = BRIDGE_PY):
     depth=1,
     durability=QoSDurabilityPolicy.VOLATILE,
 )
-KF_TAG = "kf"
 
 
 def percentile(values: list[float], q: float) -> float | None:
@@ -164,29 +164,6 @@ def percentile(values: list[float], q: float) -> float | None:
     return s[k]
 
 
-def kf_row(rel_ms: int, pkt: dict, seq: int) -> list:
-    """KF/1 record → compact tagged row. PURE. Angles are the FIRST (strongest-edge)
-    angle of each part when the part is valid, else null — Kinefly's bridge plan: the
-    edge identity policy is explicit, index 0 is only the initial single-edge choice."""
-
-    def first_angle(name: str):
-        part = pkt.get("parts", {}).get(name) or {}
-        if not part.get("valid"):
-            return None
-        angles = part.get("angles_rad") or []
-        return round(float(angles[0]), 5) if angles else None
-
-    t_src = pkt.get("timestamp_s")
-    return [
-        KF_TAG,
-        int(rel_ms),
-        int(seq),
-        round(float(t_src), 6) if isinstance(t_src, (int, float)) else None,
-        first_angle("left"),
-        first_angle("right"),
-        first_angle("head"),
-        first_angle("abdomen"),
-    ]
 
 
 class RosInput:
@@ -283,8 +260,10 @@ class RecordingLogWriter(B.LogWriter):
     on_open = None
     on_close = None
 
-    def __init__(self, path, level, log_dir, *, profile: str, typed: bool, export: str, connectors: list[str]) -> None:
+    def __init__(self, path, level, log_dir, *, profile: str, typed: bool, export: str, connectors: list[str],
+                 max_bag_bytes: int = 0) -> None:
         self.seq = 0
+        self._max_bag_bytes = int(max_bag_bytes or 0)
         self.rec: Recorder | None = None
         self.bag_name: str | None = None
         self.last_bag: dict = {}
@@ -323,7 +302,7 @@ def topics(self) -> dict[str, str]:
     # ── the LogWriter surface ────────────────────────────────────────────────────────
     def _open(self, name: str, event: str) -> None:
         bag = (name[:-6] if name.endswith(".jsonl") else name) + ".bag"
-        rec = Recorder(bag, self.topics(), self._profile)
+        rec = Recorder(bag, self.topics(), self._profile, max_bag_bytes=self._max_bag_bytes)
         t_open = time.perf_counter()
         self.rec = rec  # visible to the ROS thread first: records during open() are buffered
         open_error = None
@@ -691,7 +670,8 @@ async def run(args: argparse.Namespace) -> None:
         raise SystemExit("--typed on, but arena_interfaces is not importable (pixi install builds it; or pixi run build-interfaces)")
     CONNECTORS = {c: t["cmd"] for c, t in CONNECTOR_TOPICS.items()}
     log = RecordingLogWriter(args.log, args.log_level, args.log_dir, profile=args.bag_profile, typed=typed,
-                             export=args.export, connectors=list(CONNECTORS))
+                             export=args.export, connectors=list(CONNECTORS),
+                             max_bag_bytes=int(round(args.max_bag_mb * 1024 * 1024)) if args.max_bag_mb > 0 else 0)
     queue: asyncio.Queue[tuple[str, str, bytes, int]] = asyncio.Queue()  # (line, topic, raw bytes, receive ns)
     pipeline = B.Pipeline(
         None,
@@ -984,6 +964,8 @@ def main(argv: list[str] | None = None) -> int:
                    help="consume /fictrac/frame + publish /arena/frame as arena_interfaces types (auto: when the package imports; default)")
     p.add_argument("--bag-profile", choices=sorted(PROFILES), default="crashsafe",
                    help="MCAP writer profile: crashsafe (no chunking, no cache; default — rosbag2's defaults hold a whole short run in an unflushed 768 KiB chunk) or default (rosbag2 defaults)")
+    p.add_argument("--max-bag-mb", type=float, default=0.0,
+                   help="OPTIONAL: split the bag into <run>_0.mcap, _1.mcap, … at about this many MiB (rosbag2 max_bagfile_size; a threshold, not a hard cap). Default 0 = one file; bags are archived on a share, not pushed to GitHub, so only a size-limited store needs this")
     p.add_argument("--export", choices=("converted", "live"), default="converted",
                    help="what log_export returns: the NDJSON converted from the bag (default) or the live shadow file")
     args, ros_args = p.parse_known_args(argv)
diff --git a/ros2-poc/nodes/foxglove_json.py b/ros2-poc/nodes/foxglove_json.py
new file mode 100644
index 00000000..f973338f
--- /dev/null
+++ b/ros2-poc/nodes/foxglove_json.py
@@ -0,0 +1,267 @@
+#!/usr/bin/env python3
+"""foxglove_json.py — a String-topic arena bag → a Foxglove-plottable MCAP (JSON messages + JSON Schema).
+
+    python foxglove_json.py <bag dir or .mcap> <out.mcap> [--ball-mm 9]
+
+The default (String) environment records every topic as std_msgs/String holding JSON text, so
+Foxglove shows each message as one string and cannot plot a field. This rewrites the same
+messages, same topics, same log/publish times, as MCAP `json` messages with a `jsonschema`
+schema per topic, so `/arena/frame.idx`, `/bias/status.framesPerSec`, … plot directly and
+`docs/foxglove-arena-layout.json` works unchanged. Per topic:
+
+- every topic: the JSON object as recorded (a non-object payload becomes {"value": …});
+- /arena/frame: plus `bias_deg` (= `bias`, 0 when absent) and `turning_dps` / `forward_mms`,
+  derived exactly as bridge_node.FrameDeriver does for the typed ArenaFrame (two-point
+  differences on the FicTrac camera clock `ft`, else the bridge clock `t`; null where the
+  typed message has NaN). These three are the only fields the original does not carry;
+- /fictrac/raw: `cols`, FicTrac's 25 output columns by name, parsed from `raw`;
+- /arena/browser: `msg`, the browser message parsed from `raw` (when it is JSON).
+
+Slim by default: where `raw` was parsed into `cols` / `msg`, the `raw` text is dropped (it is the
+same data twice); `--keep-raw` keeps it. The original bag stays the record of truth.
+
+The source is read record by record, so a crash-torn bag (no metadata.yaml, no index) converts
+too; the output is chunked, zstd-compressed and indexed. A metadata record `foxglove_json`
+names the source file and its sha256.
+"""
+
+from __future__ import annotations
+
+import argparse
+import hashlib
+import json
+import math
+import struct
+import sys
+from pathlib import Path
+
+FICTRAC_COLS = [
+    "frame",                                    # 1  frame counter
+    "dr_cam_x", "dr_cam_y", "dr_cam_z",         # 2-4  delta rotation vector, camera frame (rad)
+    "dr_err",                                   # 5  delta rotation error score
+    "dr_lab_x", "dr_lab_y", "dr_lab_z",         # 6-8  delta rotation vector, lab frame (rad)
+    "r_cam_x", "r_cam_y", "r_cam_z",            # 9-11 absolute rotation vector, camera frame
+    "r_lab_x", "r_lab_y", "r_lab_z",            # 12-14 absolute rotation vector, lab frame
+    "x", "y",                                   # 15-16 integrated x/y position, lab (rad)
+    "heading",                                  # 17 integrated animal heading, lab (rad)
+    "direction",                                # 18 animal movement direction, lab (rad)
+    "speed",                                    # 19 animal movement speed (rad/frame)
+    "forward", "side",                          # 20-21 integrated forward / side motion (rad)
+    "timestamp",                                # 22 frame timestamp (ms)
+    "seq",                                      # 23 sequence counter
+    "dt",                                       # 24 delta timestamp (ms)
+    "alt_timestamp",                            # 25 alternative timestamp (ms)
+]
+
+
+def wrap_to_pi(r: float) -> float:
+    return (r + math.pi) % (2 * math.pi) - math.pi
+
+
+class FrameDeriver:
+    """bridge_node.FrameDeriver, verbatim math (ros2-poc/nodes/bridge_node.py)."""
+
+    def __init__(self, ball_mm: float) -> None:
+        self.radius_mm = ball_mm / 2.0
+        self._prev = None
+
+    def step(self, msg: dict):
+        try:
+            src, clock = ("ft", float(msg["ft"])) if msg.get("ft") is not None else ("t", float(msg["t"]))
+            cur = (int(msg["fc"]), src, clock, float(msg["x"]), float(msg["y"]), float(msg["hd"]))
+        except (KeyError, TypeError, ValueError):
+            self._prev = None
+            return None, None
+        prev, self._prev = self._prev, cur
+        if prev is None or prev[1] != src or cur[0] < prev[0]:
+            return None, None
+        dt_s = (clock - prev[2]) / 1000.0
+        if not dt_s > 0:
+            return None, None
+        d_hd = wrap_to_pi(cur[5] - prev[5])
+        h_mid = prev[5] + d_hd / 2.0
+        dx, dy = cur[3] - prev[3], cur[4] - prev[4]
+        return math.degrees(d_hd) / dt_s, (dx * math.cos(h_mid) + dy * math.sin(h_mid)) / dt_s * self.radius_mm
+
+
+def cdr_string(data: bytes) -> str:
+    """std_msgs/String in CDR: 4-byte encapsulation header, uint32 length (incl. NUL), bytes."""
+    little = data[1] == 1
+    (n,) = struct.unpack_from("<I" if little else ">I", data, 4)
+    return data[8:8 + n].rstrip(b"\x00").decode("utf-8")
+
+
+def finite(v):
+    """JSON has no NaN/Infinity — Foxglove's parser would reject the message."""
+    if isinstance(v, float) and not math.isfinite(v):
+        return None
+    if isinstance(v, dict):
+        return {k: finite(x) for k, x in v.items()}
+    if isinstance(v, list):
+        return [finite(x) for x in v]
+    return v
+
+
+def json_type(v) -> str:
+    if v is None:
+        return "null"
+    if isinstance(v, bool):
+        return "boolean"
+    if isinstance(v, (int, float)):
+        return "number"
+    if isinstance(v, str):
+        return "string"
+    if isinstance(v, list):
+        return "array"
+    return "object"
+
+
+def merge_schema(s: dict, v, depth: int = 0) -> dict:
+    t = json_type(v)
+    types = set(s.get("type", []) if isinstance(s.get("type"), list) else ([s["type"]] if "type" in s else []))
+    types.add(t)
+    s["type"] = sorted(types)
+    if depth < 6 and t == "object":
+        props = s.setdefault("properties", {})
+        for k, x in v.items():
+            props[k] = merge_schema(props.get(k, {}), x, depth + 1)
+    elif depth < 6 and t == "array":
+        items = s.get("items", {})
+        for x in v[:64]:
+            items = merge_schema(items, x, depth + 1)
+        if items:
+            s["items"] = items
+    return s
+
+
+TYPE_PRIORITY = ("object", "array", "string", "number", "boolean")
+
+
+def finish_schema(s: dict) -> dict | None:
+    """One `type` per node. Foxglove rejects type unions ("Unsupported type ["boolean","number"]",
+    seen on /arena/browser msg.value and /bias/reply steps.value), so a field seen with several
+    types gets the widest one (object > array > string > number > boolean; null dropped). A field
+    that was only ever null is left out of the schema (nothing to plot; raw views still show it)."""
+    t = s.get("type")
+    types = [x for x in (t if isinstance(t, list) else [t]) if x and x != "null"]
+    if not types:
+        return None
+    s["type"] = next(p for p in TYPE_PRIORITY if p in types)
+    if s["type"] != "object":
+        s.pop("properties", None)
+    if s["type"] != "array":
+        s.pop("items", None)
+    for k in list(s.get("properties", {})):
+        if finish_schema(s["properties"][k]) is None:
+            del s["properties"][k]
+    if "items" in s and finish_schema(s["items"]) is None:
+        del s["items"]
+    if s["type"] == "array" and "items" not in s:
+        # an array that was always empty (e.g. /arena/browser msg.flagged_trials): Foxglove needs
+        # an item type ("Cannot read properties of undefined (reading 'type')" without one)
+        s["items"] = {"type": "string"}
+    return s
+
+
+def read_messages(path: Path):
+    """(topic, schema_name, log_time, publish_time, sequence, data) for every message, torn tail tolerated."""
+    from mcap.records import Channel, Message, Schema
+    from mcap.stream_reader import StreamReader
+
+    schemas, channels, out, torn = {}, {}, [], None
+    with open(path, "rb") as f:
+        try:
+            for rec in StreamReader(f, skip_magic=False, emit_chunks=False, validate_crcs=False).records:
+                if isinstance(rec, Schema):
+                    schemas[rec.id] = rec
+                elif isinstance(rec, Channel):
+                    channels[rec.id] = rec
+                elif isinstance(rec, Message):
+                    ch = channels[rec.channel_id]
+                    sc = schemas.get(ch.schema_id)
+                    out.append((ch.topic, sc.name if sc else None, rec.log_time, rec.publish_time, rec.sequence, rec.data))
+        except Exception as e:  # a SIGKILLed recorder leaves a partial record and no footer
+            torn = f"{type(e).__name__}: {e}"
+    return out, torn
+
+
+def convert(src: Path, dst: Path, ball_mm: float, keep_raw: bool = False) -> dict:
+    from mcap.writer import CompressionType, Writer
+
+    if src.is_dir():
+        src = next(p for p in sorted(src.glob("*.mcap")))
+    msgs, torn = read_messages(src)
+    deriver = FrameDeriver(ball_mm)
+    rows, schemas, skipped = [], {}, 0
+    for topic, sname, log_t, pub_t, seq, data in msgs:
+        if sname != "std_msgs/msg/String":
+            skipped += 1
+            continue
+        try:
+            obj = json.loads(cdr_string(data))
+        except (ValueError, UnicodeDecodeError, struct.error):
+            skipped += 1
+            continue
+        if not isinstance(obj, dict):
+            obj = {"value": obj}
+        if topic == "/arena/frame" and obj.get("type", "frame") == "frame":
+            obj["bias_deg"] = float(obj.get("bias", 0.0) or 0.0)
+            obj["turning_dps"], obj["forward_mms"] = deriver.step(obj)
+        elif topic == "/fictrac/raw" and isinstance(obj.get("raw"), str):
+            parts = [p.strip() for p in obj["raw"].split(",")]
+            if parts and parts[0] == "FT":
+                parts = parts[1:]
+            try:
+                obj["cols"] = {k: float(v) for k, v in zip(FICTRAC_COLS, parts)}
+                if not keep_raw:
+                    del obj["raw"]
+            except ValueError:
+                pass
+        elif topic == "/arena/browser" and isinstance(obj.get("raw"), str):
+            try:
+                obj["msg"] = json.loads(obj["raw"])
+                if not keep_raw:
+                    del obj["raw"]
+            except ValueError:
+                pass
+        obj = finite(obj)
+        schemas[topic] = merge_schema(schemas.get(topic, {}), obj)
+        rows.append((topic, log_t, pub_t, seq, json.dumps(obj, separators=(",", ":")).encode()))
+
+    sha = hashlib.sha256(src.read_bytes()).hexdigest()
+    dst.parent.mkdir(parents=True, exist_ok=True)
+    with open(dst, "wb") as f:
+        w = Writer(f, compression=CompressionType.ZSTD)
+        w.start(profile="", library="ros2-poc foxglove_json.py")
+        chan = {}
+        for topic in sorted(schemas):
+            sc = finish_schema(schemas[topic]) or {"type": "object"}
+            sc = {"$schema": "https://json-schema.org/draft/2020-12/schema", "title": topic, **sc}
+            sid = w.register_schema(name=topic.strip("/").replace("/", "_"), encoding="jsonschema",
+                                    data=json.dumps(sc).encode())
+            chan[topic] = w.register_channel(topic=topic, message_encoding="json", schema_id=sid)
+        for topic, log_t, pub_t, seq, data in sorted(rows, key=lambda r: r[1]):
+            w.add_message(channel_id=chan[topic], log_time=log_t, publish_time=pub_t, sequence=seq, data=data)
+        w.add_metadata("foxglove_json", {"source": src.name, "source_sha256": sha, "ball_mm": f"{ball_mm:g}",
+                                         "raw_kept": "yes" if keep_raw else "no", "torn_source": torn or "no"})
+        w.finish()
+    counts = {}
+    for r in rows:
+        counts[r[0]] = counts.get(r[0], 0) + 1
+    return {"source": src.name, "messages": len(rows), "skipped": skipped, "torn": torn, "topics": counts,
+            "bytes": dst.stat().st_size}
+
+
+def main(argv=None) -> int:
+    ap = argparse.ArgumentParser(description=__doc__.split("\n\n")[0])
+    ap.add_argument("src", type=Path)
+    ap.add_argument("dst", type=Path)
+    ap.add_argument("--ball-mm", type=float, default=9.0, help="ball diameter for forward_mms (default 9, as the bridge)")
+    ap.add_argument("--keep-raw", action="store_true", help="keep the `raw` text beside the parsed `cols` / `msg`")
+    a = ap.parse_args(argv)
+    print(json.dumps(convert(a.src, a.dst, a.ball_mm, a.keep_raw)))
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/ros2-poc/nodes/mcap_convert.py b/ros2-poc/nodes/mcap_convert.py
index 3b6568b6..fc3e5899 100644
--- a/ros2-poc/nodes/mcap_convert.py
+++ b/ros2-poc/nodes/mcap_convert.py
@@ -57,6 +57,9 @@
 import sys
 from pathlib import Path
 
+sys.path.insert(0, str(Path(__file__).resolve().parent))
+from _rows import KF_TAG, kf_row  # noqa: E402  (shared with bridge_node.py)
+
 HERE = Path(__file__).resolve().parent
 REPO = HERE.parents[1]
 BRIDGE_PY = REPO / "fictrac-bridge" / "bridge.py"
@@ -79,7 +82,6 @@
     TOPIC_BIAS_REPLY: ("bias", "reply"), TOPIC_BIAS_STATUS: ("bias", "status"),
     TOPIC_SCANIMAGE_REPLY: ("scanimage", "reply"), TOPIC_SCANIMAGE_STATUS: ("scanimage", "status"),
 }
-KF_TAG = "kf"
 
 
 def load_bridge_module(path: Path = BRIDGE_PY):
@@ -294,21 +296,6 @@ def fictrac_fields(rec: dict) -> tuple[int, list[float]] | None:
     return int(fields[0]), fields
 
 
-def kf_row(rel_ms: int, pkt: dict, seq: int) -> list:
-    """Same as bridge_node.kf_row (kept in sync by tests/test_ros2_poc.py)."""
-
-    def first_angle(name: str):
-        part = pkt.get("parts", {}).get(name) or {}
-        if not part.get("valid"):
-            return None
-        angles = part.get("angles_rad") or []
-        return round(float(angles[0]), 5) if angles else None
-
-    t_src = pkt.get("timestamp_s")
-    return [KF_TAG, int(rel_ms), int(seq), round(float(t_src), 6) if isinstance(t_src, (int, float)) else None,
-            first_angle("left"), first_angle("right"), first_angle("head"), first_angle("abdomen")]
-
-
 def convert(records: list[dict], level: str | None = None, order: str = "seq", connectors=None) -> tuple[list, dict]:
     """→ (lines as JSON values, report). `level` None = the level the run was opened with."""
     stats = {"frames": 0, "browser_lines": 0, "rows": 0, "events": 0, "kf": 0, "bias": 0, "scanimage": 0,
diff --git a/ros2-poc/nodes/mcap_index.py b/ros2-poc/nodes/mcap_index.py
index a0a5df5f..ddb2d062 100644
--- a/ros2-poc/nodes/mcap_index.py
+++ b/ros2-poc/nodes/mcap_index.py
@@ -160,13 +160,16 @@ def reindex(mcap_path: str | os.PathLike, keep_original: bool = False, compressi
         tmp.unlink(missing_ok=True)
         res["error"] = f"verification failed: per-topic counts {got} vs {want}"
         return res
+    # Replace ATOMICALLY (os.replace: rename(2) / MoveFileEx on the same filesystem). A kill
+    # between an unlink and a rename used to leave a bag directory with metadata.yaml and no
+    # .mcap at all — for the record of truth that is the one unacceptable state. With
+    # `recover` / `keep_original` the source is moved aside first, so at every instant either
+    # the original or the verified rewrite is in place under a name a reader will find.
     if recover:
         src.rename(src.with_name(src.name + ".torn.bak"))  # never a `.mcap` name: no reader must find it
     elif keep_original:
         src.rename(src.with_name(src.stem + ".unindexed.mcap"))
-    else:
-        src.unlink()
-    tmp.rename(src)
+    os.replace(tmp, src)
     return res
 
 
diff --git a/ros2-poc/nodes/recorder.py b/ros2-poc/nodes/recorder.py
index d07ec6da..bfbcbd92 100644
--- a/ros2-poc/nodes/recorder.py
+++ b/ros2-poc/nodes/recorder.py
@@ -53,11 +53,16 @@ def _yaml_from(d: dict) -> str:
 
 
 class Recorder:
-    def __init__(self, bag_dir: str | os.PathLike, topics: dict[str, str], profile: str = "default") -> None:
-        """`topics`: topic name → ROS type name (e.g. 'std_msgs/msg/String')."""
+    def __init__(self, bag_dir: str | os.PathLike, topics: dict[str, str], profile: str = "default",
+                 max_bag_bytes: int = 0) -> None:
+        """`topics`: topic name → ROS type name (e.g. 'std_msgs/msg/String'). `max_bag_bytes` > 0
+        asks rosbag2 to split the bag into `<run>_0.mcap`, `_1.mcap`, … at about that size (a
+        threshold rosbag2 checks after each write, not a hard cap; off by default — bags are
+        archived on a share, not pushed to GitHub, so size limits are the exception)."""
         self.bag_dir = Path(bag_dir)
         self.topics = dict(topics)
         self.profile = profile
+        self.max_bag_bytes = int(max_bag_bytes or 0)
         self._w = None
         self._lock = threading.Lock()
         self.count = 0
@@ -74,10 +79,19 @@ def open(self) -> None:
         preset, cfg, cache = PROFILES[self.profile]
         cfg_path = ""
         if cfg:
-            cfg_path = str(self.bag_dir.parent / f".{self.bag_dir.name}.storage.yaml")
-            Path(cfg_path).write_text(_yaml_from(cfg), encoding="utf-8")
+            # ONE constant sidecar per log dir and profile (its content never changes), not one
+            # hidden file per run — those accumulated in runlogs/ forever.
+            cfg_path = str(self.bag_dir.parent / f".mcap-storage-{self.profile}.yaml")
+            text = _yaml_from(cfg)
+            try:
+                if Path(cfg_path).read_text(encoding="utf-8") != text:
+                    raise FileNotFoundError
+            except (FileNotFoundError, OSError):
+                Path(cfg_path).write_text(text, encoding="utf-8")
         so = rosbag2_py.StorageOptions(uri=str(self.bag_dir), storage_id="mcap", max_cache_size=cache,
                                        storage_preset_profile=preset, storage_config_uri=cfg_path)
+        if self.max_bag_bytes > 0:
+            so.max_bagfile_size = self.max_bag_bytes
         co = rosbag2_py.ConverterOptions(input_serialization_format="cdr", output_serialization_format="cdr")
         with self._lock:
             self._pending = []
diff --git a/ros2-poc/nodes/rig.py b/ros2-poc/nodes/rig.py
index 2a469c0f..4e617ea5 100644
--- a/ros2-poc/nodes/rig.py
+++ b/ros2-poc/nodes/rig.py
@@ -140,6 +140,7 @@ def main(argv: list[str] | None = None) -> int:
     p.add_argument("--scanimage", action="store_true", help="also run the ScanImage node (talks to ScanImage's JSON server, default 127.0.0.1:5555)")
     p.add_argument("--si-mock", action="store_true", help="also run tests/si_json_mock.py (a stand-in for ScanImage's JSON server, port 5555)")
     p.add_argument("--sim", action="store_true", help="also run the FicTrac simulator (random walk, 50 Hz)")
+    p.add_argument("--viz-args", default="", help="extra args for viz_node.py (--deg-per-frame, --frame-dir, --feature-az0, --frames)")
     p.add_argument("--foxglove", action="store_true",
                    help=f"also run foxglove_bridge on ws://127.0.0.1:{FOXGLOVE_PORT} (the `viz` environment; skipped with a note when it is not installed)")
     p.add_argument("--no-router", action="store_true", help="a Zenoh router is already running on this host")
@@ -208,6 +209,9 @@ def main(argv: list[str] | None = None) -> int:
     bridge = Child("bridge", [py, str(NODES / "bridge_node.py"), *split_args(args.bridge_args)])
     nodes.append(bridge)
     if foxglove:
+        # The typed republisher (ros-base messages Foxglove plots natively) runs in THIS
+        # environment; only foxglove_bridge itself needs the `viz` one.
+        nodes.append(Child("viz", [py, str(NODES / "viz_node.py"), *split_args(args.viz_args)]))
         # The pixi task from the `viz` environment (`ros2 run foxglove_bridge foxglove_bridge
         # --ros-args -p port:=8766 -p address:=127.0.0.1`): same solve group, so the same ROS
         # packages; RMW_IMPLEMENTATION + the Zenoh configs pass through the environment.
@@ -235,7 +239,7 @@ def main(argv: list[str] | None = None) -> int:
             c.start()
             children.append(c)
             time.sleep(0.3)
-        fox = f"   Foxglove → ws://localhost:{FOXGLOVE_PORT}" if foxglove else ""
+        fox = f"   Foxglove → ws://localhost:{FOXGLOVE_PORT} (layouts: ros2-poc/foxglove/)" if foxglove else ""
         print(f"[rig] up: {', '.join(c.name for c in children)}  —  Studio → ws://localhost:8765{fox}   (Ctrl-C to stop)", file=sys.stderr)
         while not stop.is_set():
             time.sleep(0.5)
diff --git a/ros2-poc/nodes/scanimage_node.py b/ros2-poc/nodes/scanimage_node.py
index ea10c11d..b5efc369 100644
--- a/ros2-poc/nodes/scanimage_node.py
+++ b/ros2-poc/nodes/scanimage_node.py
@@ -112,6 +112,27 @@ def canon(prop: str) -> str:
     return prop if prop.startswith("hSI.") or not prop else "hSI." + prop
 
 
+def coerce_scalar(value):
+    """A protocol's `set` value arrives as text from the designer ("640", "true", "F:\\data"):
+    make it the JSON scalar the ScanImage property wants — int, float, bool — and leave real
+    text (paths, stems) alone. Non-strings pass through unchanged."""
+    if not isinstance(value, str):
+        return value
+    t = value.strip()
+    low = t.lower()
+    if low in ("true", "false"):
+        return low == "true"
+    try:
+        return int(t)
+    except ValueError:
+        pass
+    try:
+        f = float(t)
+        return f if t.lower() not in ("nan", "inf", "-inf", "+inf") else value
+    except ValueError:
+        return value
+
+
 class SiError(RuntimeError):
     """The server replied with an error."""
 
@@ -354,6 +375,7 @@ def _set(self, prop: str, value, steps: list):
             raise ValueError(f"{prop!r} may not be set from a protocol (allowlist: {sorted(SET_ALLOWLIST)})")
         if isinstance(value, (dict, list)):
             raise ValueError(f"{prop}: only scalar values may be set")
+        value = coerce_scalar(value)
         actual, rtt = self.cli.set(prop, value)
         steps.append({"command": "set", "property": prop, "value": value, "ok": True, "actual": actual, "rtt_ms": rtt})
         return actual
diff --git a/ros2-poc/nodes/viz_node.py b/ros2-poc/nodes/viz_node.py
new file mode 100644
index 00000000..b1a10ea4
--- /dev/null
+++ b/ros2-poc/nodes/viz_node.py
@@ -0,0 +1,510 @@
+#!/usr/bin/env python3
+"""viz_node.py — republish the JSON streams as STANDARD ROS messages that Foxglove plots natively.
+
+Foxglove cannot plot a JSON string hidden in std_msgs/String, so this node turns the PoC's
+envelopes into typed messages from packages already in ros-base (no custom message types):
+
+  std_msgs/Float64 (plot any of these as `<topic>.data`)
+    /viz/fictrac/heading_deg   FicTrac col 17 heading, degrees 0–360
+    /viz/fictrac/turn_deg      unwrapped turn since the node started (Σ wrap180(Δheading))
+    /viz/fictrac/speed_dps     col 19 (rad/frame) × measured frame rate, degrees per second
+    /viz/fictrac/fwd_rad, /viz/fictrac/side_rad   cols 20 / 21 (integrated since FicTrac started)
+    /viz/fictrac/fwd_dps, /viz/fictrac/side_dps   rates of cols 20 / 21, degrees per second —
+                               the same units as speed_dps, so the three share one plot
+    /viz/fictrac/rate_hz       measured FicTrac frame rate (1 Hz update)
+    /viz/arena/index           displayed frame index (from the bridge's /arena/frame)
+    /viz/arena/azimuth_deg     feature azimuth in the fly's view = wrap180(frame_dir·idx·deg_per_frame + az0)
+    /viz/arena/display_deg     the display's UNWRAPPED rotation: Σ wrapped index steps × frame_dir ×
+                               deg_per_frame (DisplayAngle). A periodic pattern (a 20-frame grating)
+                               keeps azimuth_deg inside one period; this follows the fly's turn
+    /viz/arena/bias_deg        live bias angle when a waveform runs (else 0)
+    /viz/kinefly/left_deg, right_deg, lmr_deg, wbf_hz
+    /viz/bias/frame_count, /viz/bias/fps
+  std_msgs/Bool     /viz/bias/reachable, /viz/bias/capturing, /viz/bias/logging
+  std_msgs/String   /viz/bias/state ("unreachable|idle|preview|recording") — StateTransitions panel
+                    /viz/last_error ("<iso time> <src>: <text>")
+  diagnostic_msgs/DiagnosticArray  /diagnostics (1 Hz): one status per source — fictrac, kinefly,
+                    bias, arena — OK (data flowing), STALE (seen, then silent > --stale-s),
+                    WARN (never seen), ERROR (BIAS unreachable / last reply failed); values carry
+                    rate_hz, messages, last_seq, adapter→viz latency, last_error.
+  visualization_msgs/MarkerArray   /viz/markers (--markers-hz, default 20): the ball (sphere +
+                    markings rotated by FicTrac's lab-frame orientation, cols 12–14), the fly
+                    (arrow, fixed, facing +X), the arena (translucent cylinder) and the pattern
+                    feature (bar on the wall at wrap180(display_deg), which is the azimuth for a
+                    pattern spanning the arena and the pattern's rotation for a grating), a
+                    text readout.
+
+Pure presentation: nothing here is logged or fed back. Foxglove connects through the stock
+foxglove_bridge (`pixi run foxglove`, ws://localhost:8766); layouts in foxglove/*.json.
+
+    pixi run viz -- --deg-per-frame 1.8 --frame-dir 1 --feature-az0 0 [--frames 20]
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import math
+import sys
+import time
+
+import rclpy
+from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
+from geometry_msgs.msg import Point
+from rclpy.node import Node
+from std_msgs.msg import Bool, ColorRGBA, Float64, String
+from visualization_msgs.msg import Marker, MarkerArray
+
+from _common import RELIABLE_QOS, spin
+
+BALL_R = 1.0
+ARENA_R = 3.2
+ARENA_H = 1.6
+
+
+def wrap180(deg: float) -> float:
+    return ((deg + 180.0) % 360.0) - 180.0
+
+
+class DisplayAngle:
+    """The display's unwrapped rotation, from the WRAPPED frame index the bridge reports.
+
+    The bridge sends idx mod n_frames, so a periodic pattern (a 20-frame grating at 1.8°/frame)
+    only ever reports 0…19 and its azimuth spans one 36° period while the fly turns through
+    thousands of degrees. Summing the index steps, each taken the short way round the modulus,
+    recovers the rotation: Σ step × frame_dir × deg_per_frame. It starts at the first frame's
+    azimuth (frame_dir·idx·deg_per_frame + az0), so for a pattern that spans the arena
+    (n·deg_per_frame = 360) wrap180(deg) equals the feature azimuth.
+
+    The modulus is `frames` when given; otherwise it is learned within each epoch (the bridge's
+    `epoch` counts heading tares, i.e. trial starts, where the pattern may change) as the
+    largest index seen + 1. That is enough because a wrap always passes through the largest
+    index (19→0 or 0→19), which is then already counted. A jump at an epoch start (the tare
+    moving the display to its start frame) is kept as the step it is.
+    """
+
+    def __init__(self, deg_per_frame: float, frame_dir: int = 1, az0: float = 0.0, frames: int = 0) -> None:
+        self.dpf, self.dir, self.az0 = deg_per_frame, frame_dir, az0
+        self.fixed = frames if frames and frames > 1 else 0
+        self.n = self.fixed
+        self.deg: float | None = None
+        self._prev: int | None = None
+        self._epoch = None
+
+    def step(self, idx: int, epoch=None) -> float:
+        if not self.fixed:
+            if epoch != self._epoch:
+                self.n = 0
+            self.n = max(self.n, idx + 1)
+        self._epoch = epoch
+        if self._prev is None:
+            self.deg = self.dir * idx * self.dpf + self.az0
+        else:
+            d = idx - self._prev
+            if self.n > 1:
+                d = (d + self.n // 2) % self.n - self.n // 2
+            self.deg += self.dir * d * self.dpf
+        self._prev = idx
+        return self.deg
+
+
+def per_frame_rate_dps(prev: tuple | None, fc: int, value: float, frame_rate_hz: float):
+    """deg/s of an integrated FicTrac quantity (cols 20/21, rad) between consecutive samples:
+    Δvalue / Δframe-counter × frame rate, so a dropped frame does not double the rate. None on
+    the first sample or when the counter does not advance (a FicTrac restart)."""
+    if prev is None or fc <= prev[0] or frame_rate_hz <= 0:
+        return None
+    return math.degrees(value - prev[1]) / (fc - prev[0]) * frame_rate_hz
+
+
+def rotvec_to_quat(rx: float, ry: float, rz: float):
+    """Axis-angle rotation vector (rad) → (x, y, z, w)."""
+    a = math.sqrt(rx * rx + ry * ry + rz * rz)
+    if a < 1e-12:
+        return (0.0, 0.0, 0.0, 1.0)
+    s = math.sin(a / 2.0) / a
+    return (rx * s, ry * s, rz * s, math.cos(a / 2.0))
+
+
+def rotate(q, v):
+    """Rotate vector v by quaternion q = (x, y, z, w)."""
+    x, y, z, w = q
+    vx, vy, vz = v
+    # t = 2 * cross(q.xyz, v); v' = v + w*t + cross(q.xyz, t)
+    tx, ty, tz = 2 * (y * vz - z * vy), 2 * (z * vx - x * vz), 2 * (x * vy - y * vx)
+    return (vx + w * tx + (y * tz - z * ty), vy + w * ty + (z * tx - x * tz), vz + w * tz + (x * ty - y * tx))
+
+
+def color(r, g, b, a=1.0) -> ColorRGBA:
+    c = ColorRGBA()
+    c.r, c.g, c.b, c.a = float(r), float(g), float(b), float(a)
+    return c
+
+
+# Fixed markings on the unit ball (so rotation is visible): 12 points, deterministic.
+MARKINGS = []
+for i in range(12):
+    th = 2.0 * math.pi * i / 12.0
+    ph = 0.6 * math.sin(3.0 * th) + (0.3 if i % 2 else -0.3)
+    MARKINGS.append((math.cos(ph) * math.cos(th), math.cos(ph) * math.sin(th), math.sin(ph)))
+
+
+class Source:
+    def __init__(self, name: str) -> None:
+        self.name = name
+        self.count = 0
+        self.last_mono = None
+        self.last_seq = None
+        self.lat_ms = None
+        self.last_error = None
+        self.last_error_t = None
+        self._rate_n = 0
+        self._rate_t = time.monotonic()
+        self.rate_hz = 0.0
+
+    def seen(self, seq=None, rx_epoch_ms=None) -> None:
+        self.count += 1
+        self._rate_n += 1
+        self.last_mono = time.monotonic()
+        if seq is not None:
+            self.last_seq = seq
+        if rx_epoch_ms is not None:
+            self.lat_ms = time.time() * 1000.0 - rx_epoch_ms
+
+    def tick_rate(self) -> float:
+        now = time.monotonic()
+        dt = now - self._rate_t
+        self.rate_hz = self._rate_n / dt if dt > 0 else 0.0
+        self._rate_n = 0
+        self._rate_t = now
+        return self.rate_hz
+
+    def error(self, text: str) -> None:
+        self.last_error = text
+        self.last_error_t = time.time()
+
+
+class VizNode(Node):
+    def __init__(self, a: argparse.Namespace) -> None:
+        super().__init__("arena_viz")
+        self.a = a
+        self.src = {k: Source(k) for k in ("fictrac", "kinefly", "bias", "arena")}
+        f64 = lambda t: self.create_publisher(Float64, t, 10)
+        self.p = {
+            "heading": f64("/viz/fictrac/heading_deg"),
+            "turn": f64("/viz/fictrac/turn_deg"),
+            "speed": f64("/viz/fictrac/speed_dps"),
+            "fwd": f64("/viz/fictrac/fwd_rad"),
+            "side": f64("/viz/fictrac/side_rad"),
+            "fwd_dps": f64("/viz/fictrac/fwd_dps"),
+            "side_dps": f64("/viz/fictrac/side_dps"),
+            "ft_rate": f64("/viz/fictrac/rate_hz"),
+            "index": f64("/viz/arena/index"),
+            "az": f64("/viz/arena/azimuth_deg"),
+            "display": f64("/viz/arena/display_deg"),
+            "bias": f64("/viz/arena/bias_deg"),
+            "left": f64("/viz/kinefly/left_deg"),
+            "right": f64("/viz/kinefly/right_deg"),
+            "lmr": f64("/viz/kinefly/lmr_deg"),
+            "wbf": f64("/viz/kinefly/wbf_hz"),
+            "frames": f64("/viz/bias/frame_count"),
+            "fps": f64("/viz/bias/fps"),
+        }
+        self.p_bool = {
+            "reachable": self.create_publisher(Bool, "/viz/bias/reachable", 10),
+            "capturing": self.create_publisher(Bool, "/viz/bias/capturing", 10),
+            "logging": self.create_publisher(Bool, "/viz/bias/logging", 10),
+        }
+        self.p_state = self.create_publisher(String, "/viz/bias/state", 10)
+        self.p_err = self.create_publisher(String, "/viz/last_error", 10)
+        self.p_diag = self.create_publisher(DiagnosticArray, "/diagnostics", 10)
+        self.p_markers = self.create_publisher(MarkerArray, "/viz/markers", 10)
+
+        self.create_subscription(String, "/fictrac/raw", self._fictrac, RELIABLE_QOS)
+        self.create_subscription(String, "/kinefly/raw", self._kinefly, RELIABLE_QOS)
+        self.create_subscription(String, "/bias/status", self._bias_status, RELIABLE_QOS)
+        self.create_subscription(String, "/bias/reply", self._bias_reply, RELIABLE_QOS)
+        # RELIABLE_QOS (depth 200) like the others: with depth 10 this subscription dropped 15 of
+        # 9,969 frames when a ww18 bag was replayed at 1x (2026-10-16).
+        self.create_subscription(String, "/arena/frame", self._arena, RELIABLE_QOS)
+
+        # State for the markers
+        self.quat = (0.0, 0.0, 0.0, 1.0)
+        self.heading_deg = 0.0
+        self.turn_deg = 0.0
+        self._prev_hd = None
+        self._prev_motion = None  # (frame counter, col 20, col 21) of the previous FicTrac frame
+        self.idx = 0
+        self.az_deg = 0.0
+        self.display = DisplayAngle(a.deg_per_frame, a.frame_dir, a.feature_az0, a.frames)
+        self.display_deg = None
+        self.bias_deg = 0.0
+        self.bias_active = False
+        self.bias_state = "unreachable"
+        self.create_timer(1.0, self._diagnostics)
+        self.create_timer(1.0 / max(1.0, a.markers_hz), self._markers)
+        self.get_logger().info("typed republisher up: /viz/*, /diagnostics, /viz/markers (Foxglove via foxglove_bridge :8766)")
+
+    # ── helpers ─────────────────────────────────────────────────────────────────
+    def _pub(self, key: str, value: float) -> None:
+        m = Float64()
+        m.data = float(value)
+        self.p[key].publish(m)
+
+    def _pub_bool(self, key: str, value: bool) -> None:
+        m = Bool()
+        m.data = bool(value)
+        self.p_bool[key].publish(m)
+
+    def _pub_str(self, pub, text: str) -> None:
+        m = String()
+        m.data = text
+        pub.publish(m)
+
+    @staticmethod
+    def _env(msg: String):
+        try:
+            e = json.loads(msg.data)
+        except json.JSONDecodeError:
+            return None
+        return e if isinstance(e, dict) else None
+
+    def _note_error(self, src: str, text: str) -> None:
+        self.src[src].error(text)
+        self._pub_str(self.p_err, f"{time.strftime('%H:%M:%S')} {src}: {text}")
+
+    # ── subscriptions ───────────────────────────────────────────────────────────
+    def _fictrac(self, msg: String) -> None:
+        env = self._env(msg)
+        if not env or not isinstance(env.get("raw"), str):
+            return
+        parts = env["raw"].split(",")
+        if parts and parts[0].strip()[:2].upper() == "FT":
+            if parts[0].strip() != "FT":
+                return
+            parts = parts[1:]
+        try:
+            f = [float(p) for p in parts]
+        except ValueError:
+            return
+        if len(f) < 21:
+            return
+        s = self.src["fictrac"]
+        s.seen(int(f[0]), env.get("rx_epoch_ms"))
+        hd = math.degrees(f[16]) % 360.0
+        if self._prev_hd is not None:
+            self.turn_deg += wrap180(hd - self._prev_hd)
+        self._prev_hd = hd
+        self.heading_deg = hd
+        self.quat = rotvec_to_quat(f[11], f[12], f[13])
+        self._pub("heading", hd)
+        self._pub("turn", self.turn_deg)
+        rate = s.rate_hz or self.a.assume_rate
+        self._pub("speed", math.degrees(f[18]) * rate)
+        self._pub("fwd", f[19])
+        self._pub("side", f[20])
+        fc = int(f[0])
+        prev = self._prev_motion
+        fwd = per_frame_rate_dps(prev and (prev[0], prev[1]), fc, f[19], rate)
+        side = per_frame_rate_dps(prev and (prev[0], prev[2]), fc, f[20], rate)
+        if fwd is not None and side is not None:
+            self._pub("fwd_dps", fwd)
+            self._pub("side_dps", side)
+        self._prev_motion = (fc, f[19], f[20])
+
+    def _kinefly(self, msg: String) -> None:
+        env = self._env(msg)
+        if not env or not isinstance(env.get("raw"), str):
+            return
+        try:
+            pkt = json.loads(env["raw"])
+        except json.JSONDecodeError:
+            return
+        self.src["kinefly"].seen(pkt.get("sequence"), env.get("rx_epoch_ms"))
+        parts = pkt.get("parts") or {}
+
+        def angle(name):
+            p = parts.get(name) or {}
+            a = p.get("angles_rad") or []
+            return math.degrees(a[0]) if p.get("valid") and a else None
+
+        l, r = angle("left"), angle("right")
+        if l is not None:
+            self._pub("left", l)
+        if r is not None:
+            self._pub("right", r)
+        if l is not None and r is not None:
+            self._pub("lmr", l - r)
+        aux = parts.get("aux") or {}
+        if aux.get("frequency_valid") and isinstance(aux.get("frequency_hz"), (int, float)):
+            self._pub("wbf", aux["frequency_hz"])
+
+    def _bias_status(self, msg: String) -> None:
+        st = self._env(msg)
+        if st is None:
+            return
+        s = self.src["bias"]
+        s.seen(None, st.get("rx_epoch_ms"))
+        reachable = bool(st.get("reachable"))
+        capturing = bool(st.get("capturing"))
+        logging_ = bool(st.get("logging"))
+        self._pub_bool("reachable", reachable)
+        self._pub_bool("capturing", capturing)
+        self._pub_bool("logging", logging_)
+        if isinstance(st.get("frameCount"), (int, float)):
+            self._pub("frames", st["frameCount"])
+        if isinstance(st.get("framesPerSec"), (int, float)):
+            self._pub("fps", st["framesPerSec"])
+        state = "unreachable" if not reachable else ("recording" if capturing and logging_ else "preview" if capturing else "idle")
+        self.bias_state = state
+        # Published on EVERY status tick (1 Hz), not only on change, so a dashboard that
+        # connects mid-run sees the current state within a second (StateTransitions dedups).
+        self._pub_str(self.p_state, state)
+        if not reachable:
+            s.error(str(st.get("error") or "unreachable"))
+
+    def _bias_reply(self, msg: String) -> None:
+        rep = self._env(msg)
+        if rep is None:
+            return
+        self.src["bias"].seen(None, rep.get("rx_epoch_ms"))
+        if not rep.get("ok"):
+            self._note_error("bias", f"{rep.get('command')}: {rep.get('outcome')} — {rep.get('error')}")
+
+    def _arena(self, msg: String) -> None:
+        fr = self._env(msg)
+        if fr is None or fr.get("type") != "frame":
+            return
+        self.src["arena"].seen(fr.get("fc"))
+        idx = fr.get("index")
+        if isinstance(idx, int):
+            self.idx = idx
+            self._pub("index", idx)
+            self.az_deg = wrap180(self.a.frame_dir * idx * self.a.deg_per_frame + self.a.feature_az0)
+            self._pub("az", self.az_deg)
+            self.display_deg = self.display.step(idx, fr.get("epoch"))
+            self._pub("display", self.display_deg)
+        b = fr.get("bias")
+        self.bias_active = isinstance(b, (int, float))
+        self.bias_deg = float(b) if self.bias_active else 0.0
+        self._pub("bias", self.bias_deg)
+
+    # ── timers ──────────────────────────────────────────────────────────────────
+    def _diagnostics(self) -> None:
+        arr = DiagnosticArray()
+        arr.header.stamp = self.get_clock().now().to_msg()
+        now = time.monotonic()
+        for s in self.src.values():
+            rate = s.tick_rate()
+            self._pub("ft_rate", rate) if s.name == "fictrac" else None
+            st = DiagnosticStatus()
+            st.name = f"arena/{s.name}"
+            st.hardware_id = s.name
+            if s.last_mono is None:
+                st.level, st.message = DiagnosticStatus.WARN, "never seen"
+            elif now - s.last_mono > self.a.stale_s:
+                st.level, st.message = DiagnosticStatus.STALE, f"silent {now - s.last_mono:.0f} s"
+            elif s.name == "bias" and self.bias_state == "unreachable":
+                st.level, st.message = DiagnosticStatus.ERROR, "BIAS unreachable"
+            elif s.name == "bias" and s.last_error_t and time.time() - s.last_error_t < 10:
+                st.level, st.message = DiagnosticStatus.ERROR, s.last_error or "error"
+            else:
+                st.level, st.message = DiagnosticStatus.OK, f"{rate:.0f} Hz" if s.name != "bias" else self.bias_state
+            vals = [("rate_hz", f"{rate:.1f}"), ("messages", str(s.count)), ("last_seq", str(s.last_seq)),
+                    ("latency_ms", "" if s.lat_ms is None else f"{s.lat_ms:.1f}"),
+                    ("last_error", s.last_error or ""),
+                    ("last_error_time", time.strftime("%H:%M:%S", time.localtime(s.last_error_t)) if s.last_error_t else "")]
+            st.values = [KeyValue(key=k, value=v) for k, v in vals]
+            arr.status.append(st)
+        self.p_diag.publish(arr)
+
+    def _marker(self, mid: int, mtype: int, ns: str = "arena") -> Marker:
+        m = Marker()
+        m.header.frame_id = self.a.frame_id
+        m.header.stamp = self.get_clock().now().to_msg()
+        m.ns, m.id, m.type, m.action = ns, mid, mtype, Marker.ADD
+        m.pose.orientation.w = 1.0
+        m.frame_locked = True
+        return m
+
+    def _markers(self) -> None:
+        arr = MarkerArray()
+        # 0: the ball, rotated by FicTrac's lab-frame orientation
+        ball = self._marker(0, Marker.SPHERE)
+        ball.pose.orientation.x, ball.pose.orientation.y, ball.pose.orientation.z, ball.pose.orientation.w = self.quat
+        ball.scale.x = ball.scale.y = ball.scale.z = 2 * BALL_R
+        ball.color = color(0.85, 0.85, 0.88, 0.95)
+        arr.markers.append(ball)
+        # 1: markings on the ball (rotate fixed surface points by the same quaternion)
+        marks = self._marker(1, Marker.SPHERE_LIST)
+        marks.scale.x = marks.scale.y = marks.scale.z = 0.14
+        marks.color = color(0.1, 0.1, 0.12, 1.0)
+        for v in MARKINGS:
+            x, y, z = rotate(self.quat, v)
+            p = Point()
+            p.x, p.y, p.z = x * BALL_R * 1.01, y * BALL_R * 1.01, z * BALL_R * 1.01
+            marks.points.append(p)
+        arr.markers.append(marks)
+        # 2: the fly — fixed on top of the ball, facing +X (the world turns around it)
+        fly = self._marker(2, Marker.ARROW)
+        tail, tip = Point(), Point()
+        tail.x, tail.y, tail.z = -0.25, 0.0, BALL_R + 0.08
+        tip.x, tip.y, tip.z = 0.45, 0.0, BALL_R + 0.08
+        fly.points = [tail, tip]
+        fly.scale.x, fly.scale.y, fly.scale.z = 0.08, 0.18, 0.18
+        fly.color = color(0.0, 0.9, 0.46, 1.0)
+        arr.markers.append(fly)
+        # 3: the arena, a translucent cylinder around the fly
+        cyl = self._marker(3, Marker.CYLINDER)
+        cyl.pose.position.z = BALL_R + 0.3
+        cyl.scale.x = cyl.scale.y = 2 * ARENA_R
+        cyl.scale.z = ARENA_H
+        cyl.color = color(0.2, 0.6, 1.0, 0.12)
+        arr.markers.append(cyl)
+        # 4: the pattern feature on the wall (right-positive → −Y), at the display's rotation: the
+        #    feature azimuth for a pattern that spans the arena, and for a periodic pattern (a
+        #    grating) a point of the pattern turning with it rather than its phase in one period
+        az = math.radians(wrap180(self.display_deg) if self.display_deg is not None else self.az_deg)
+        feat = self._marker(4, Marker.CUBE)
+        feat.pose.position.x = (ARENA_R - 0.08) * math.cos(az)
+        feat.pose.position.y = -(ARENA_R - 0.08) * math.sin(az)
+        feat.pose.position.z = BALL_R + 0.3
+        # yaw the bar to lie along the wall
+        yaw = -az
+        feat.pose.orientation.z, feat.pose.orientation.w = math.sin(yaw / 2), math.cos(yaw / 2)
+        feat.scale.x, feat.scale.y, feat.scale.z = 0.08, 0.5, ARENA_H * 0.9
+        feat.color = color(1.0, 0.85, 0.2, 0.95)
+        arr.markers.append(feat)
+        # 5: readout
+        txt = self._marker(5, Marker.TEXT_VIEW_FACING)
+        txt.pose.position.z = BALL_R + ARENA_H + 0.6
+        txt.scale.z = 0.3
+        txt.color = color(0.9, 0.93, 0.95, 1.0)
+        txt.text = (f"idx {self.idx}   display {self.display_deg or 0.0:+.0f}°   turn {self.turn_deg:+.0f}°"
+                    f"   heading {self.heading_deg:.0f}°"
+                    + (f"   bias {self.bias_deg:+.0f}°" if self.bias_active else ""))
+        arr.markers.append(txt)
+        self.p_markers.publish(arr)
+
+
+def main(argv: list[str] | None = None) -> int:
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument("--deg-per-frame", type=float, default=1.8, help="pattern pitch, display degrees per frame index (default: 1.8)")
+    p.add_argument("--frame-dir", type=int, default=1, choices=(1, -1), help="+1: an index increase moves the feature RIGHT (default)")
+    p.add_argument("--feature-az0", type=float, default=0.0, help="feature azimuth at index 0, degrees, right-positive (default: 0)")
+    p.add_argument("--frames", type=int, default=0,
+                   help="pattern frame count (the index modulus) for display_deg; 0 = learn it per epoch from the indices (default)")
+    p.add_argument("--assume-rate", type=float, default=50.0, help="FicTrac frame rate used for speed before the first measured second (default: 50)")
+    p.add_argument("--markers-hz", type=float, default=20.0, help="3D marker update rate (default: 20)")
+    p.add_argument("--stale-s", type=float, default=2.0, help="seconds of silence before a source reads STALE (default: 2)")
+    p.add_argument("--frame-id", default="arena", help="fixed frame for the markers (default: arena)")
+    args, ros_args = p.parse_known_args(argv)
+    rclpy.init(args=ros_args)
+    node = VizNode(args)
+    spin(node)
+    print("[viz] stopped", file=sys.stderr)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/ros2-poc/pixi.toml b/ros2-poc/pixi.toml
index b04d7d30..91cee833 100644
--- a/ros2-poc/pixi.toml
+++ b/ros2-poc/pixi.toml
@@ -160,6 +160,10 @@ build-interfaces = "python nodes/build_interfaces.py"
 # The live graph as Mermaid (default), DOT (`-- --dot`) or a table with rates (`-- --text`);
 # works in every environment while `pixi run rig` is up.
 graph = "python nodes/graph_dump.py"
+# Foxglove dashboards: the typed republisher (plots/3D markers from the JSON streams; `pixi run rig -- --foxglove` starts it with foxglove_bridge), its unit test, and the offline String-bag → plottable-MCAP converter
+viz = "python nodes/viz_node.py"
+test-viz = "python tests/test_viz_node.py"
+fox-json = "python nodes/foxglove_json.py"
 # `viz` environment only (`pixi run -e viz …`): the interactive views.
 rqt-graph = "rqt_graph"
 rqt-topic = "rqt_topic"
diff --git a/ros2-poc/sizing/compare.py b/ros2-poc/sizing/compare.py
new file mode 100644
index 00000000..919455ed
--- /dev/null
+++ b/ros2-poc/sizing/compare.py
@@ -0,0 +1,94 @@
+"""compare.py — size one behavior_v2 run log (.jsonl or .jsonl.gz) as NDJSON vs MCAP layouts.
+
+    pixi run size-study -- path/to/run.jsonl[.gz]
+
+Size comparison: our behavior_v2 NDJSON run log vs the same content in MCAP.
+
+Variants:
+  ndjson            raw / gzip-9 (what the bridge writes) / gzip-6 / zstd-3 / zstd-19 / lz4
+  mcap-json         one channel per stream or event type, JSON-encoded messages with a JSON schema,
+                    chunk compression none / lz4 / zstd   (what the Foxglove SDK would produce)
+  mcap-packed       high-rate rows as fixed little-endian structs (≈ what typed ROS 2 CDR messages
+                    cost; CDR adds a 4-byte header + alignment), events still JSON; zstd
+"""
+import gzip, io, json, struct, sys, math, zlib
+import zstandard, lz4.frame
+from mcap.writer import Writer, CompressionType
+
+path = sys.argv[1]
+raw = open(path, "rb").read()
+if raw[:2] == b"\x1f\x8b":
+    raw = gzip.decompress(raw)
+objs = [json.loads(l) for l in raw.decode().splitlines() if l.strip()]
+t0 = next(o["ms"] for o in objs if isinstance(o, dict) and o.get("type") == "session")
+
+def kinds(o):
+    if isinstance(o, list):
+        return "fictrac/frame" if isinstance(o[0], (int, float)) else f"stream/{o[0]}"
+    t = o.get("type")
+    return f"event/{t}" + (f"/{o.get('event')}" if t == "log" else "")
+
+def log_time_ns(o):
+    if isinstance(o, list):
+        if isinstance(o[0], (int, float)):
+            rel = o[0]
+        elif o[0] == "a":
+            rel = o[1]
+        else:
+            rel = o[1] if isinstance(o[1], (int, float)) else 0
+        return int((t0 + rel) * 1e6)
+    if isinstance(o.get("ms"), (int, float)):
+        ms = o["ms"]
+        return int((ms if ms > 1e11 else t0 + ms) * 1e6)
+    if isinstance(o.get("rx_ms"), (int, float)):
+        return int(o["rx_ms"] * 1e6)
+    return int(t0 * 1e6)
+
+
+import mcap.writer as MW
+
+def write_mcap(level=3, msg_index=True, batch_streams=(), batch_s=1.0):
+    """JSON-schema channels, one per stream/event type; optional 1 s batching of named streams;
+    zstd chunk compression at `level` (the library hard-codes 3, so it is swapped underneath)."""
+    saved = MW.zstandard.compress
+    MW.zstandard.compress = lambda d, _l=level: zstandard.ZstdCompressor(level=_l).compress(d)
+    try:
+        buf = io.BytesIO()
+        from mcap.writer import IndexType
+        w = Writer(buf, compression=CompressionType.ZSTD, index_types=IndexType.ALL if msg_index else (IndexType.ALL & ~IndexType.MESSAGE))
+        w.start(profile="", library="compare.py")
+        chans = {}
+        def chan(name):
+            if name not in chans:
+                chans[name] = w.register_channel(name, "json", w.register_schema(name, "jsonschema", b"{}"))
+            return chans[name]
+        seq = 0; buckets = {}
+        for o in objs:
+            k = kinds(o); ts = log_time_ns(o)
+            if k in batch_streams:
+                buckets.setdefault((k, int(ts // int(batch_s * 1e9))), []).append(o); continue
+            seq += 1
+            w.add_message(chan(k), log_time=ts, publish_time=ts, data=json.dumps(o, separators=(",", ":")).encode(), sequence=seq)
+        for (k, b), rows in sorted(buckets.items(), key=lambda kv: kv[0][1]):
+            ts = log_time_ns(rows[0]); seq += 1
+            w.add_message(chan(k + "/batch"), log_time=ts, publish_time=ts, data=json.dumps(rows, separators=(",", ":")).encode(), sequence=seq)
+        w.finish()
+        return len(buf.getvalue())
+    finally:
+        MW.zstandard.compress = saved
+
+n = len(objs)
+g9 = len(gzip.compress(raw, 9))
+print(f"{path.rsplit('/', 1)[-1]}: {n} records")
+print(f"{'variant':62s} {'bytes':>9s} {'B/rec':>6s} {'vs gzip-9':>9s}")
+for name, b in [
+    ("NDJSON raw", len(raw)),
+    ("NDJSON gzip-9 (bridge 3.4 writes this)", g9),
+    ("NDJSON zstd-19", len(zstandard.ZstdCompressor(level=19).compress(raw))),
+    ("MCAP per record, rosbag2/SDK defaults (zstd-3, message index)", write_mcap()),
+    ("MCAP per record, no message index, zstd-3", write_mcap(msg_index=False)),
+    ("MCAP per record, no message index, zstd-19", write_mcap(level=19, msg_index=False)),
+    ("MCAP tuned: arena echoes batched 1 s, no msg index, zstd-19", write_mcap(level=19, msg_index=False, batch_streams=("stream/a",))),
+    ("MCAP all high-rate batched 1 s, zstd-19", write_mcap(level=19, msg_index=False, batch_streams=("stream/a", "stream/kf", "fictrac/frame"))),
+]:
+    print(f"{name:62s} {b:9d} {b/n:6.1f} {b/g9:8.2f}×")
diff --git a/ros2-poc/sizing/frames300.py b/ros2-poc/sizing/frames300.py
new file mode 100644
index 00000000..1f943e78
--- /dev/null
+++ b/ros2-poc/sizing/frames300.py
@@ -0,0 +1,73 @@
+"""One hour of controller frame records at 300 Hz in the telemetry ring's cf shape:
+   ["cf", rx_epoch_ms, t_us, seq, idx, pattern, sd_load_us, spi_us, req_age_us, superseded, flags]
+Realistic jitter: t_us steps 3333 µs ± a few µs; sd_load/spi vary; idx follows a 50 Hz Mode-3 loop
+(changes every 6th frame on average). 'changes only' = one record per idx change."""
+import io, json, gzip, random, zstandard
+import mcap.writer as MW
+from mcap.writer import Writer, CompressionType, IndexType
+
+random.seed(1)
+HZ, HOURS = 300, 1
+N = HZ * 3600 * HOURS
+t0_ms = 1_792_000_000_000
+rows, changes = [], []
+t_us = 0; idx = 0; rx = t0_ms
+for i in range(N):
+    t_us += 3333 + random.randint(-3, 3)
+    if i % 6 == 0:                      # a 0x70 landed (≈50 Hz): idx steps by -1..+2
+        idx = (idx + random.choice((-1, 0, 1, 1, 2))) % 200
+        changed = True
+    else:
+        changed = False
+    rx = t0_ms + (t_us // 1000) + random.randint(0, 2)   # host epoch ms at drain
+    r = ["cf", rx, t_us, i, idx, 3, 180 + random.randint(0, 40), 95 + random.randint(0, 6),
+         random.randint(50, 900), 0, 0]
+    rows.append(r)
+    if changed:
+        changes.append(r)
+
+def ndjson_gz(rs):
+    return len(gzip.compress("".join(json.dumps(r, separators=(",", ":")) + "\n" for r in rs).encode(), 9))
+
+def mcap_size(rs, batch_s=None, level=19, msg_index=False):
+    saved = MW.zstandard.compress
+    MW.zstandard.compress = lambda d, _l=level: zstandard.ZstdCompressor(level=_l).compress(d)
+    try:
+        buf = io.BytesIO()
+        w = Writer(buf, compression=CompressionType.ZSTD,
+                   index_types=IndexType.ALL if msg_index else (IndexType.ALL & ~IndexType.MESSAGE))
+        w.start(profile="", library="frames300")
+        cid = w.register_channel("controller/frame", "json", w.register_schema("cf", "jsonschema", b"{}"))
+        if batch_s is None:
+            for k, r in enumerate(rs):
+                ts = r[1] * 1_000_000
+                w.add_message(cid, log_time=ts, publish_time=ts, data=json.dumps(r, separators=(",", ":")).encode(), sequence=k)
+        else:
+            cur, bucket, k = None, [], 0
+            for r in rs:
+                b = int(r[1] // (batch_s * 1000))
+                if cur is not None and b != cur:
+                    ts = bucket[0][1] * 1_000_000; k += 1
+                    w.add_message(cid, log_time=ts, publish_time=ts, data=json.dumps(bucket, separators=(",", ":")).encode(), sequence=k)
+                    bucket = []
+                cur = b; bucket.append(r)
+            if bucket:
+                ts = bucket[0][1] * 1_000_000
+                w.add_message(cid, log_time=ts, publish_time=ts, data=json.dumps(bucket, separators=(",", ":")).encode(), sequence=k + 1)
+        w.finish()
+        return len(buf.getvalue())
+    finally:
+        MW.zstandard.compress = saved
+
+MB = 1024 * 1024
+print(f"{N} frame records/hour at {HZ} Hz; {len(changes)} idx changes/hour ({len(changes)/3600:.0f} Hz)")
+print(f"{'variant':58s} {'every frame':>12s} {'changes only':>13s}")
+for name, fn in [
+    ("NDJSON gzip-9 (today's format)", lambda rs: ndjson_gz(rs)),
+    ("MCAP per-record, rosbag2/SDK defaults (zstd-3, msg index)", lambda rs: mcap_size(rs, level=3, msg_index=True)),
+    ("MCAP per-record, tuned (zstd-19, no msg index)", lambda rs: mcap_size(rs)),
+    ("MCAP batched 1 s per message, zstd-19", lambda rs: mcap_size(rs, batch_s=1.0)),
+    ("MCAP batched 10 s per message, zstd-19", lambda rs: mcap_size(rs, batch_s=10.0)),
+]:
+    a, b = fn(rows), fn(changes)
+    print(f"{name:58s} {a/MB:9.1f} MB {b/MB:10.1f} MB")
diff --git a/ros2-poc/tests/test_viz_node.py b/ros2-poc/tests/test_viz_node.py
new file mode 100644
index 00000000..da2b097e
--- /dev/null
+++ b/ros2-poc/tests/test_viz_node.py
@@ -0,0 +1,92 @@
+#!/usr/bin/env python3
+"""test_viz_node.py — the pure math in nodes/viz_node.py (no ROS graph needed).
+
+    pixi run python tests/test_viz_node.py
+
+DisplayAngle (the unwrapped display rotation from the bridge's wrapped index) and
+per_frame_rate_dps (rates of FicTrac's integrated cols 20/21). Importing viz_node needs rclpy
+and the std/visualization/diagnostic message packages, which every environment here has.
+"""
+from __future__ import annotations
+
+import math
+import sys
+from pathlib import Path
+
+sys.path.insert(0, str(Path(__file__).resolve().parents[1] / "nodes"))
+from viz_node import DisplayAngle, per_frame_rate_dps, wrap180  # noqa: E402
+
+failures = 0
+
+
+def check(name: str, ok: bool, detail: str = "") -> None:
+    global failures
+    failures += not ok
+    print(f"{'PASS' if ok else 'FAIL'}  {name}" + (f"  ({detail})" if detail and not ok else ""))
+
+
+def close(a: float, b: float, tol: float = 1e-9) -> bool:
+    return abs(a - b) <= tol
+
+
+# 1. A 20-frame grating turned forward through 3 periods: the wrapped index cycles 0..19 three
+#    times, the unwrapped angle grows by 1.8° a step (60 steps = 108°), never jumping at 19→0.
+d = DisplayAngle(1.8, frames=20)
+idx = [i % 20 for i in range(61)]
+out = [d.step(i, epoch=1) for i in idx]
+steps = [b - a for a, b in zip(out, out[1:])]
+check("grating forward: every step +1.8° across the wraps", all(close(s, 1.8) for s in steps),
+      f"steps {sorted(set(round(s, 3) for s in steps))}")
+check("grating forward: 60 steps = 108°", close(out[-1] - out[0], 108.0))
+
+# 2. Backwards through the wrap 0 → 19: −1.8°, not +34.2°.
+d = DisplayAngle(1.8, frames=20)
+seq = [3, 2, 1, 0, 19, 18]
+out = [d.step(i) for i in seq]
+check("grating backward through 0→19: −1.8° steps", all(close(b - a, -1.8) for a, b in zip(out, out[1:])))
+
+# 3. Learned modulus (frames=0): the same backward sequence, where 19 is first seen AT the wrap.
+d = DisplayAngle(1.8)
+out = [d.step(i, epoch=1) for i in seq]
+check("learned modulus: wrap at the first sight of the top index", all(close(b - a, -1.8) for a, b in zip(out, out[1:])),
+      f"{[round(b - a, 2) for a, b in zip(out, out[1:])]}")
+
+# 4. Learned modulus re-learns at an epoch change (a pre-run test pattern with 129 frames, then
+#    the 20-frame grating): after the tare, 19→0 is again a +1 step, not −19.
+d = DisplayAngle(1.8)
+for i in range(129):
+    d.step(i, epoch=0)
+before = d.step(0, epoch=1)  # the tare: jump to the start frame
+for i in range(1, 20):
+    d.step(i, epoch=1)
+last19 = d.deg
+after = d.step(0, epoch=1)
+check("learned modulus resets per epoch (129-frame test pattern, then 20)", close(after - last19, 1.8),
+      f"19→0 step {after - last19:+.2f}°")
+
+# 5. A pattern spanning the arena (200 frames × 1.8° = 360°): wrap180(display) is the azimuth.
+d = DisplayAngle(1.8, frame_dir=1, az0=10.0, frames=200)
+ok = True
+for i in list(range(0, 200, 7)) + list(range(199, -1, -9)):
+    deg = d.step(i)
+    ok &= close(wrap180(deg), wrap180(1.8 * i + 10.0), 1e-6)
+check("full-arena pattern: wrap180(display) == feature azimuth", ok)
+
+# 6. frame_dir −1 mirrors the angle.
+a, b = DisplayAngle(1.8, frame_dir=1, frames=20), DisplayAngle(1.8, frame_dir=-1, frames=20)
+for i in [0, 1, 2, 3, 2, 1, 0, 19, 18]:
+    x, y = a.step(i), b.step(i)
+check("frame_dir −1 mirrors the rotation", close(x, -y))
+
+# 7. Rates of the integrated FicTrac columns.
+r = per_frame_rate_dps(None, 10, 1.0, 100.0)
+check("rate: none on the first sample", r is None)
+r = per_frame_rate_dps((10, 1.0), 11, 1.0 + math.radians(0.5), 100.0)
+check("rate: 0.5° in one frame at 100 Hz = 50 °/s", r is not None and close(r, 50.0, 1e-9))
+r = per_frame_rate_dps((10, 1.0), 12, 1.0 + math.radians(1.0), 100.0)
+check("rate: a dropped frame does not double it (1° over 2 frames = 50 °/s)", r is not None and close(r, 50.0, 1e-9))
+r = per_frame_rate_dps((500, 1.0), 3, 0.0, 100.0)
+check("rate: none when the frame counter goes back (FicTrac restarted)", r is None)
+
+print(f"\n{'FAIL' if failures else 'PASS'}: {failures} failure(s)")
+sys.exit(1 if failures else 0)
diff --git a/scripts/tiers/stamp.py b/scripts/tiers/stamp.py
index d9766e1c..08d636cc 100644
--- a/scripts/tiers/stamp.py
+++ b/scripts/tiers/stamp.py
@@ -106,9 +106,11 @@ def archive_to(sha: str, dest: Path, cwd=None) -> None:
 
 
 def html_files(root: Path, skip_top=None):
+    """`skip_top`: a top-level directory name, or a set of them, to leave out (the tiers)."""
+    skip = {skip_top} if isinstance(skip_top, str) else set(skip_top or ())
     for p in sorted(root.rglob('*.html')):
         rel = p.relative_to(root)
-        if skip_top and rel.parts and rel.parts[0] == skip_top:
+        if skip and rel.parts and rel.parts[0] in skip:
             continue
         yield p, rel
 
@@ -353,20 +355,7 @@ def build_site(out: Path, root_ref: str, next_spec: str, cwd=None, allow_any_nex
     ros = {'sha': None, 'pages': 0, 'note': 'not requested'}
     if ros_spec and ros_spec != 'none':
         ros = build_ros_tier(out, ros_spec, common, cwd=cwd)
-    skip = {RESERVED_TOP, ROS_TOP}
-    n_prod = 0
-    for p, rel in html_files(out):
-        if rel.parts and rel.parts[0] in skip:
-            continue
-        try:
-            text = p.read_bytes().decode('utf-8')
-        except UnicodeDecodeError:
-            continue
-        o = inject_meta(text, prod)
-        if o is None:
-            continue
-        p.write_bytes(o.encode('utf-8'))
-        n_prod += 1
+    n_prod = stamp_tree(out, prod, next_banner=False, skip_top={RESERVED_TOP, ROS_TOP})
     T.write_text_exact((out / 'build.json'), json.dumps(prod, indent=2) + '\n')
 
     problems = verify_root(out, root_sha, cwd=cwd)
diff --git a/tests/test-arena-runner-g6.js b/tests/test-arena-runner-g6.js
index d79318dc..e0d80bdd 100644
--- a/tests/test-arena-runner-g6.js
+++ b/tests/test-arena-runner-g6.js
@@ -3142,6 +3142,79 @@ async function main() {
         }
     }
 
+    console.log('\n=== bridge-routed connector steps make a run bridge-dependent (LAB-303) ===');
+    {
+        const mkBridge = () => ({
+            logging: false,
+            apply: false,
+            connected: true,
+            connect() {},
+            disconnect() {},
+            setApply(on) {
+                this.apply = !!on;
+            },
+            setConfig() {},
+            log() {},
+            supportsConnector: () => true,
+            connectorCommand: async () => ({ ok: true, outcome: 'ok' })
+        });
+        const camCond = {
+            name: 'cam',
+            commands: [
+                { type: 'plugin', plugin_name: 'camera', command_name: 'startRecording' },
+                trialCmd,
+                { type: 'wait', duration: 30 }
+            ]
+        };
+        const itiCond = { name: 'iti', commands: [trialCmd, { type: 'wait', duration: 30 }] };
+        const conds = new Map([
+            ['iti', itiCond],
+            ['cam', camCond]
+        ]);
+        const step = (name, i) => ({ kind: 'ref', conditionName: name, label: name, seqIdx: i });
+        const run = (runner, extra) => {
+            let release;
+            const gate = new Promise((r) => (release = r));
+            const p = runner.runSequence(
+                Object.assign(
+                    {
+                        steps: [step('iti', 0), step('cam', 1)],
+                        conditionsByName: conds,
+                        resolvePatternId: () => 1,
+                        resolvePatternFrames: () => 20,
+                        sleep: () => gate
+                    },
+                    extra
+                )
+            );
+            return { p, release };
+        };
+        // A loss during the open-loop ITI, BEFORE the camera step: the run would drive the
+        // camera blind, so it stops — because the connector map names `camera`.
+        const r1 = new Runner.ArenaRunner(makeFakeLink(), Wire, mkBridge());
+        const a = run(r1, { connectorPluginNames: new Map([['camera', 'bias']]) });
+        await delay(10);
+        check(
+            'loss in the ITI before a camera step → aborted',
+            r1.onBridgeLost({ code: 1006 }),
+            'aborted'
+        );
+        a.release();
+        const s1 = await a.p;
+        check('outcome BRIDGE_LOST', RunLog.deriveOutcome(s1), 'BRIDGE_LOST');
+        // The same protocol with no connector map asks nothing of the bridge → continues.
+        const r2 = new Runner.ArenaRunner(makeFakeLink(), Wire, mkBridge());
+        const b = run(r2, {});
+        await delay(10);
+        check(
+            '…without connectorPluginNames the run continues',
+            r2.onBridgeLost({ code: 1006 }),
+            'continued'
+        );
+        b.release();
+        await b.p;
+    }
+
     console.log('\n=== connector plugins (LAB-303): BiasPlugin via the bridge ===');
     {
         const conn = new Map([['camera', 'bias']]);
diff --git a/tests/test-protocol-roundtrip-v3.js b/tests/test-protocol-roundtrip-v3.js
index 5bc8f657..c4b14ae3 100644
--- a/tests/test-protocol-roundtrip-v3.js
+++ b/tests/test-protocol-roundtrip-v3.js
@@ -4770,6 +4770,66 @@ console.log('\n--- Suite 37: led_activation sub-fields by path (anchor binding)
     check('37.19: no blocking errors', collectBlockingErrors(exp2).errors.length, 0);
 }
 
+// ─── Suite 39: sequence-style `variables:` (`- &name value`) keep their identity ──
+// The 2P protocols declare every variable as an anchored scalar ITEM, not a mapping
+// pair. extractVariables used to read `.anchor` off the item's primitive value — on a
+// string that is String.prototype.anchor — so the Studio warned about a variable named
+// "function anchor() { [native code] }" being defined 17 times (Bergamo, 2026-10-16).
+console.log('\n--- Suite 39: sequence-style variables identity ---');
+{
+    const yaml38 = [
+        'version: 3',
+        'experiment_info:',
+        '  name: seq_vars',
+        'rig: ./configs/rigs/cshl_g6_2x10.yaml',
+        'variables:',
+        '  - &pat_a "G6_2x10_toprow_grat20_violet_gs16"',
+        '  - &id_a 7',
+        '  - &dur 3.5',
+        '  - &flag true',
+        'experiment:',
+        '  - c1',
+        'conditions:',
+        '  - name: c1',
+        '    commands:',
+        '      - type: controller',
+        '        command_name: trialParams',
+        '        pattern: *pat_a',
+        '        pattern_ID: *id_a',
+        '        duration: *dur',
+        '        mode: 2',
+        '        frame_rate: 10',
+        '        gain: 0',
+        ''
+    ].join('\n');
+    const exp38 = parseV3Protocol(yaml38);
+    check(
+        '39.1: four variables, named by their anchors',
+        exp38.variables.map((v) => v.name).join(','),
+        'pat_a,id_a,dur,flag'
+    );
+    check('39.2: string value kept', exp38.variables[0].value, 'G6_2x10_toprow_grat20_violet_gs16');
+    check('39.3: integer value kept', exp38.variables[1].value, 7);
+    check('39.4: float value kept', exp38.variables[2].value, 3.5);
+    check('39.5: boolean value kept', exp38.variables[3].value, true);
+    checkTrue(
+        '39.6: no variable is named after String.prototype.anchor or "undefined"',
+        exp38.variables.every((v) => v.name !== 'undefined' && !/native code/.test(v.name))
+    );
+    const protocol2p = fs.readFileSync(
+        path.join(__dirname, '..', 'protocols', 'g6_2p_color_led_sweep.yaml'),
+        'utf8'
+    );
+    const exp2p = parseV3Protocol(protocol2p);
+    const names2p = exp2p.variables.map((v) => v.name);
+    checkTrue('39.7: the 2P sweep protocol parses', exp2p.variables.length > 10);
+    checkTrue(
+        '39.8: every 2P variable name is unique and a real anchor',
+        new Set(names2p).size === names2p.length &&
+            names2p.every((n) => /^[a-z][a-z0-9_]*$/.test(n))
+    );
+}
+
 // ─── Results ────────────────────────────────────────────────────────────────
 console.log('\n=== Results: ' + passedTests + '/' + totalTests + ' passed ===');
 if (failedTests.length > 0) {

From 6903f8a9e011c89ae81cc21b9242f5aa6648fc22 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Sun, 18 Oct 2026 01:31:48 -0400
Subject: [PATCH 95/96] ros2-poc: after-the-fact Foxglove MCAP for a 2P color
 sweep (tiff2mcap) + a G6 .pat reader
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

tools/tiff_run_to_mcap.py: ScanImage TIFFs (frames, channel ids and frame rate from the SI
header tag, per-frame timestamps and the DO1 aux-trigger stamps) + the run's .pat files →
one MCAP with Foxglove well-known JSON schemas: /scanimage/preview/ch<id> (observed, fixed
int16→8-bit window per channel), /scanimage/frame_ref, /scanimage/qc (whole-field mean
minus the pre-stimulus baseline), /arena/stimulus (commanded from a run log, else
RECONSTRUCTED from the first DO1 pulse + nominal step lengths), /arena/display and
/arena/scene (RECONSTRUCTED from .pat × duty × LED color), /run/events and a
/run/provenance message naming the source of every topic. Also writes a Foxglove layout.
tools/patfile.py: minimal G6PT V1/V2 reader mirroring js/pat-parser.js. `pixi run tiff2mcap`.

First use: the 2026-10-16 Bergamo color sweep, run 2 (four 800-frame TIFFs, 29.12 Hz, DO1
spans 24.0 / 24.0 / 24.0 / 23.0 s as the day's analysis found).

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
---
 ros2-poc/pixi.toml                 |   2 +
 ros2-poc/tools/patfile.py          |  77 +++++
 ros2-poc/tools/tiff_run_to_mcap.py | 440 +++++++++++++++++++++++++++++
 3 files changed, 519 insertions(+)
 create mode 100644 ros2-poc/tools/patfile.py
 create mode 100644 ros2-poc/tools/tiff_run_to_mcap.py

diff --git a/ros2-poc/pixi.toml b/ros2-poc/pixi.toml
index 91cee833..fbec7aeb 100644
--- a/ros2-poc/pixi.toml
+++ b/ros2-poc/pixi.toml
@@ -164,6 +164,8 @@ graph = "python nodes/graph_dump.py"
 viz = "python nodes/viz_node.py"
 test-viz = "python tests/test_viz_node.py"
 fox-json = "python nodes/foxglove_json.py"
+# after-the-fact Foxglove MCAP of a 2P color-sweep run from its ScanImage TIFFs + the arena .pat files (tools/tiff_run_to_mcap.py)
+tiff2mcap = "python tools/tiff_run_to_mcap.py"
 # `viz` environment only (`pixi run -e viz …`): the interactive views.
 rqt-graph = "rqt_graph"
 rqt-topic = "rqt_topic"
diff --git a/ros2-poc/tools/patfile.py b/ros2-poc/tools/patfile.py
new file mode 100644
index 00000000..d7b7dcee
--- /dev/null
+++ b/ros2-poc/tools/patfile.py
@@ -0,0 +1,77 @@
+#!/usr/bin/env python3
+"""patfile.py — a minimal reader for G6 `.pat` pattern files (G6PT V1/V2), mirroring js/pat-parser.js.
+
+    from patfile import read_pat
+    pat = read_pat("G6_2x10_toprow_grat20_violet_gs16.pat")
+    pat["frames"][0]          # uint8 array (rows*20, cols*20); pixel ROW 0 = the BOTTOM of the arena
+    pat["gs"]                 # 2 (GS2: 0/1) or 16 (GS16: 0..15)
+
+Layout (the JS parser is the reference):
+  header V1 (17 B): "G6PT", version(1), gs_val, num_frames u16 LE, row_count, col_count, checksum, panel_mask(6)
+  header V2 (18 B): "G6PT", [VVVV][AAAA], [AA][OOOOOO], num_frames u16 LE, row_count, col_count, gs_val,
+                    panel_mask(6), CRC-8/AUTOSAR over bytes 0-16
+  frame: "FR" + index u16 LE (4 B), then row_count*col_count panel blocks (53 B GS2 / 203 B GS16:
+         header(1) cmd(1) data(50|200) stretch(1)), then (V2 only) a CRC-16/CCITT-FALSE trailer (2 B).
+  panel pixels: row-major within the panel; GS16 even pixel = high nibble; the ENCODER flipped rows,
+         so output row = 19 - encoded row. Panel row 0 = bottom of the arena.
+No CRC checking here (the Studio does that); this is a presentation reader.
+"""
+
+from __future__ import annotations
+
+import struct
+from pathlib import Path
+
+import numpy as np
+
+PANEL = 20
+
+
+def read_pat(path):
+    b = Path(path).read_bytes()
+    if b[:4] != b"G6PT":
+        raise ValueError(f"{path}: not a G6PT pattern (magic {b[:4]!r})")
+    version = b[4] if b[4] in (1, 2) else (b[4] >> 4)
+    if version == 1:
+        gs_raw, header_size, trailer = b[5], 17, 0
+    elif version == 2:
+        gs_raw, header_size, trailer = b[10], 18, 2
+    else:
+        raise ValueError(f"{path}: unknown G6PT header version {version}")
+    num_frames = struct.unpack_from("<H", b, 6)[0]
+    rows, cols = b[8], b[9]
+    gs = 16 if gs_raw == 2 else 2
+    panel_bytes = 203 if gs == 16 else 53
+    frames = []
+    off = header_size
+    for _ in range(num_frames):
+        if b[off:off + 2] != b"FR":
+            raise ValueError(f"{path}: frame header 'FR' missing at offset {off}")
+        off += 4
+        frame = np.zeros((rows * PANEL, cols * PANEL), dtype=np.uint8)
+        for pr in range(rows):
+            for pc in range(cols):
+                blk = b[off:off + panel_bytes]
+                off += panel_bytes
+                data = np.frombuffer(blk[2:2 + (200 if gs == 16 else 50)], dtype=np.uint8)
+                if gs == 16:
+                    px = np.empty(PANEL * PANEL, dtype=np.uint8)
+                    px[0::2] = data >> 4
+                    px[1::2] = data & 0x0F
+                else:
+                    px = np.unpackbits(data)[: PANEL * PANEL]
+                panel = px.reshape(PANEL, PANEL)[::-1, :]  # undo the encoder's row flip
+                frame[pr * PANEL:(pr + 1) * PANEL, pc * PANEL:(pc + 1) * PANEL] = panel
+        off += trailer
+        frames.append(frame)
+    return {"version": version, "gs": gs, "rows": rows, "cols": cols, "num_frames": num_frames, "frames": frames,
+            "panel_mask": b[11:17].hex()}
+
+
+if __name__ == "__main__":
+    import sys
+    for p in sys.argv[1:]:
+        pat = read_pat(p)
+        f0 = pat["frames"][0]
+        print(f"{Path(p).name}: V{pat['version']} GS{pat['gs']} {pat['rows']}x{pat['cols']} panels, {pat['num_frames']} frames, "
+              f"frame0 lit {(f0 > 0).mean():.2%}, top row lit {(f0[PANEL:] > 0).mean():.2%}, bottom row lit {(f0[:PANEL] > 0).mean():.2%}")
diff --git a/ros2-poc/tools/tiff_run_to_mcap.py b/ros2-poc/tools/tiff_run_to_mcap.py
new file mode 100644
index 00000000..849752ad
--- /dev/null
+++ b/ros2-poc/tools/tiff_run_to_mcap.py
@@ -0,0 +1,440 @@
+#!/usr/bin/env python3
+"""tiff_run_to_mcap.py — an after-the-fact Foxglove MCAP for a 2P color-sweep run (ScanImage TIFFs + arena patterns).
+
+    pixi run tiff2mcap -- --tiff-dir <dir> --counter 3 --pat-dir ../protocols/g6_2p_color_led_sweep_patterns \\
+        --out oct16_color_sweep.mcap --layout-out foxglove-oct16.json [--runlog arena-log-….jsonl]
+
+Pure Python (numpy + the `mcap` package; no ROS process). What goes in, and what each topic IS:
+
+  /scanimage/preview/ch<id>   foxglove.CompressedImage (PNG)   OBSERVED   each frame downsampled 2×2, one fixed
+                                                                           int16→8-bit window per channel (recorded)
+  /scanimage/frame_ref        JSON                              OBSERVED   frame number, channel ids, TIFF path + pages,
+                                                                           frameTimestamps_sec, epoch, DO1 pulses in the frame
+  /scanimage/qc               JSON                              DERIVED    whole-field mean per channel, minus the pre-stimulus
+                                                                           baseline of that file
+  /arena/stimulus             JSON                              COMMANDED (run log) or RECONSTRUCTED (first DO1 pulse +
+                                                                           nominal step lengths): color, duty, pattern, fps, step
+  /arena/display              foxglove.CompressedImage (PNG)    RECONSTRUCTED  the 200×40 arena frame from the .pat × duty ×
+                                                                           LED color at the protocol's fps (restart at frame 0 per step)
+  /arena/scene                foxglove.SceneUpdate              RECONSTRUCTED  20 panel cubes on the arena cylinder, colored by
+                                                                           LED color × lit fraction × duty; a fly marker at the center
+  /run/events                 JSON                              OBSERVED/COMMANDED  acquisition start/end per color (TIFF), step
+                                                                           edges, and — with --runlog — the connector command/replies
+  /run/provenance             JSON (one message)                           how every topic was made, the clock used, the gaps
+
+Clock: TIFF `epoch` (PC local time) + `frameTimestamps_sec`, converted with --utc-offset-h (EDT = -4). The
+stimulus timeline is placed on the same clock through the DO1 pulses ScanImage stamped into the frames
+(aux trigger 0): the first pulse is the first trialParams. Without a run log the step edges are the
+protocol's nominal lengths — the day's host-timed steps ran 4.00 s (Chrome throttling), see
+ros2-poc/scanimage-day-2026-10-16.md — so the stimulus track is labelled RECONSTRUCTED; the pixels are
+what ScanImage recorded. Nothing here proves the light that reached the detectors; the qc trace does.
+"""
+
+from __future__ import annotations
+
+import argparse
+import base64
+import datetime as dt
+import json
+import re
+import struct
+import sys
+import zlib
+from pathlib import Path
+
+import numpy as np
+
+HERE = Path(__file__).resolve().parent
+sys.path.insert(0, str(HERE))
+sys.path.insert(0, str(HERE.parents[1] / "tools"))  # led_sweep_quicklook.read_tiff_pages (stdlib TIFF reader)
+from patfile import read_pat  # noqa: E402
+
+try:
+    from led_sweep_quicklook import read_tiff_pages  # noqa: E402
+except ImportError:  # the quicklook lives at the repo root tools/
+    read_tiff_pages = None
+
+COLORS = ("violet", "blue", "green", "yellow")
+LED_RGB = {"violet": (150, 0, 255), "blue": (0, 90, 255), "green": (0, 255, 70), "yellow": (255, 170, 0)}
+LED_NM = {"violet": 405, "blue": 470, "green": 525, "yellow": 590}
+DUTIES = (7, 15, 31, 63, 127, 255)
+PANEL = 20
+
+
+# ── TIFF ─────────────────────────────────────────────────────────────────────
+def tiff_si_header(path: Path) -> str:
+    """ScanImage's `SI.*` header = TIFF tag 305 (Software) of the first IFD."""
+    with open(path, "rb") as f:
+        data = f.read(2_000_000)
+    bo = "<" if data[:2] == b"II" else ">"
+    big = struct.unpack_from(bo + "H", data, 2)[0] == 43
+    if big:
+        off = struct.unpack_from(bo + "Q", data, 8)[0]
+        n = struct.unpack_from(bo + "Q", data, off)[0]
+        pos, ent, fmt = off + 8, 20, "HHQQ"
+    else:
+        off = struct.unpack_from(bo + "I", data, 4)[0]
+        n = struct.unpack_from(bo + "H", data, off)[0]
+        pos, ent, fmt = off + 2, 12, "HHII"
+    for i in range(n):
+        tag, typ, count, val = struct.unpack_from(bo + fmt, data, pos + i * ent)
+        if tag == 305:
+            return data[val:val + count].decode("latin1", "replace")
+    return ""
+
+
+def si_value(header: str, key: str):
+    m = re.search(re.escape(key) + r"\s*=\s*([^\n]*)", header)
+    if not m:
+        return None
+    v = m.group(1).strip()
+    if v.startswith("[") and v.endswith("]"):
+        return [float(x) for x in v[1:-1].replace(";", " ").split()]
+    try:
+        return float(v)
+    except ValueError:
+        return v.strip("'")
+
+
+def frame_fields(desc: str) -> dict:
+    out = {}
+    for key in ("frameNumbers", "frameTimestamps_sec", "acqTriggerTimestamps_sec", "endOfAcquisition"):
+        m = re.search(re.escape(key) + r"\s*=\s*([-\d.]+)", desc)
+        out[key] = float(m.group(1)) if m else None
+    m = re.search(r"epoch\s*=\s*\[([^\]]*)\]", desc)
+    out["epoch"] = [float(x) for x in re.split(r"[\s,;]+", m.group(1).strip()) if x] if m else None
+    m = re.search(r"auxTrigger0\s*=\s*\[([^\]]*)\]", desc)
+    out["aux0"] = [float(x) for x in re.split(r"[\s,;]+", m.group(1).strip()) if x] if m and m.group(1).strip() else []
+    return out
+
+
+def epoch_ns(epoch: list, utc_offset_h: float) -> int:
+    y, mo, d, h, mi, s = epoch
+    sec = int(s)
+    frac = s - sec
+    t = dt.datetime(int(y), int(mo), int(d), int(h), int(mi), sec, tzinfo=dt.timezone(dt.timedelta(hours=utc_offset_h)))
+    return int(t.timestamp() * 1e9) + int(round(frac * 1e9))
+
+
+# ── PNG (pure Python) ────────────────────────────────────────────────────────
+def png_bytes(img: np.ndarray) -> bytes:
+    """8-bit grayscale (H,W) or RGB (H,W,3) → PNG."""
+    if img.ndim == 2:
+        color_type, row = 0, img
+    else:
+        color_type, row = 2, img
+    h, w = img.shape[:2]
+    raw = b"".join(b"\x00" + np.ascontiguousarray(row[i]).astype(np.uint8).tobytes() for i in range(h))
+
+    def chunk(tag: bytes, body: bytes) -> bytes:
+        return struct.pack(">I", len(body)) + tag + body + struct.pack(">I", zlib.crc32(tag + body) & 0xFFFFFFFF)
+
+    return (b"\x89PNG\r\n\x1a\n" + chunk(b"IHDR", struct.pack(">IIBBBBB", w, h, 8, color_type, 0, 0, 0))
+            + chunk(b"IDAT", zlib.compress(raw, 6)) + chunk(b"IEND", b""))
+
+
+# ── schemas (Foxglove well-known types, JSON encoding) ───────────────────────
+def _ts():
+    return {"type": "object", "properties": {"sec": {"type": "integer"}, "nsec": {"type": "integer"}}}
+
+
+def _vec3():
+    return {"type": "object", "properties": {k: {"type": "number"} for k in "xyz"}}
+
+
+def _color():
+    return {"type": "object", "properties": {k: {"type": "number"} for k in "rgba"}}
+
+
+def _pose():
+    return {"type": "object", "properties": {"position": _vec3(), "orientation": {"type": "object", "properties": {k: {"type": "number"} for k in "xyzw"}}}}
+
+
+SCHEMA_IMAGE = {"title": "foxglove.CompressedImage", "type": "object", "properties": {
+    "timestamp": _ts(), "frame_id": {"type": "string"},
+    "data": {"type": "string", "contentEncoding": "base64"}, "format": {"type": "string"}}}
+SCHEMA_SCENE = {"title": "foxglove.SceneUpdate", "type": "object", "properties": {
+    "deletions": {"type": "array", "items": {"type": "object", "properties": {"timestamp": _ts(), "type": {"type": "integer"}, "id": {"type": "string"}}}},
+    "entities": {"type": "array", "items": {"type": "object", "properties": {
+        "timestamp": _ts(), "frame_id": {"type": "string"}, "id": {"type": "string"}, "lifetime": _ts(),
+        "frame_locked": {"type": "boolean"},
+        "metadata": {"type": "array", "items": {"type": "object", "properties": {"key": {"type": "string"}, "value": {"type": "string"}}}},
+        "cubes": {"type": "array", "items": {"type": "object", "properties": {"pose": _pose(), "size": _vec3(), "color": _color()}}},
+        "spheres": {"type": "array", "items": {"type": "object", "properties": {"pose": _pose(), "size": _vec3(), "color": _color()}}},
+        "cylinders": {"type": "array", "items": {"type": "object", "properties": {"pose": _pose(), "size": _vec3(), "bottom_scale": {"type": "number"}, "top_scale": {"type": "number"}, "color": _color()}}},
+        "texts": {"type": "array", "items": {"type": "object", "properties": {"pose": _pose(), "billboard": {"type": "boolean"}, "font_size": {"type": "number"}, "scale_invariant": {"type": "boolean"}, "color": _color(), "text": {"type": "string"}}}}}}}}}
+
+
+def json_schema(name: str, props: dict) -> dict:
+    return {"title": name, "type": "object", "properties": props}
+
+
+def ts(ns: int) -> dict:
+    return {"sec": ns // 1_000_000_000, "nsec": ns % 1_000_000_000}
+
+
+# ── the run ──────────────────────────────────────────────────────────────────
+def load_color(tiff_dir: Path, color: str, counter: int, utc_offset_h: float, preview_size: int) -> dict:
+    path = tiff_dir / f"{color}_sweep_{counter:05d}.tif"
+    if not path.exists():
+        raise SystemExit(f"missing {path}")
+    header = tiff_si_header(path)
+    chans = [int(c) for c in (si_value(header, "SI.hChannels.channelSave") or [])] or None
+    frame_rate = si_value(header, "SI.hRoiManager.scanFrameRate")
+    avg = si_value(header, "SI.hScan2D.logAverageFactor")
+    pages = list(read_tiff_pages(path))
+    n_ch = len(chans) if chans else (2 if len(pages) % 2 == 0 else 1)
+    chans = chans or list(range(1, n_ch + 1))
+    frames = []
+    for i in range(0, len(pages), n_ch):
+        desc, _ = pages[i]
+        ff = frame_fields(desc)
+        imgs = {chans[k]: pages[i + k][1] for k in range(n_ch)}
+        frames.append({"fields": ff, "imgs": imgs, "pages": list(range(i, i + n_ch))})
+    ep = frames[0]["fields"]["epoch"]
+    t0_ns = epoch_ns(ep, utc_offset_h)
+    for fr in frames:
+        fr["t_ns"] = t0_ns + int(round(fr["fields"]["frameTimestamps_sec"] * 1e9))
+    pulses = sorted(p for fr in frames for p in fr["fields"]["aux0"])
+    return {"color": color, "path": path, "header": header, "chans": chans, "frame_rate": frame_rate, "avg": avg,
+            "frames": frames, "t0_ns": t0_ns, "epoch": ep, "aux0": pulses,
+            "channels_source": "SI.hChannels.channelSave (TIFF tag 305)" if si_value(header, "SI.hChannels.channelSave") else "ASSUMED page order"}
+
+
+def step_edges(run: dict, durations: list[float]) -> list[dict]:
+    """RECONSTRUCTED: the first DO1 pulse is the first trialParams; steps follow at the given lengths."""
+    if not run["aux0"]:
+        return []
+    t = run["aux0"][0]
+    edges = []
+    for k, (duty, dur) in enumerate(zip(DUTIES, durations)):
+        edges.append({"step": k, "duty": duty, "t_start_s": t, "t_end_s": t + dur})
+        t += dur
+    return edges
+
+
+def main(argv=None) -> int:
+    ap = argparse.ArgumentParser(description=__doc__.split("\n\n")[0], formatter_class=argparse.RawDescriptionHelpFormatter)
+    ap.add_argument("--tiff-dir", required=True)
+    ap.add_argument("--counter", type=int, required=True, help="TIFF series counter (…_00003.tif → 3)")
+    ap.add_argument("--pat-dir", required=True, help="folder with G6_2x10_toprow_grat20_<color>_gs16.pat")
+    ap.add_argument("--out", required=True)
+    ap.add_argument("--layout-out", default=None)
+    ap.add_argument("--runlog", default=None, help="the run's .jsonl (optional): step edges become COMMANDED")
+    ap.add_argument("--utc-offset-h", type=float, default=-4.0, help="TIFF epoch is PC local time (EDT = -4)")
+    ap.add_argument("--fps", type=float, default=20.0, help="pattern frame rate in the protocol")
+    ap.add_argument("--step-s", type=float, default=4.0, help="nominal step length when no run log (the day's host-timed steps)")
+    ap.add_argument("--step-durations", default='{"yellow": [4, 4, 4, 4, 3, 4]}',
+                    help="JSON per-color override of the six step lengths (default: the day's one unthrottled yellow d127 step)")
+    ap.add_argument("--preview-size", type=int, default=128)
+    ap.add_argument("--display-scale", type=int, default=4, help="nearest-neighbour upscale of the 200×40 display image")
+    ap.add_argument("--scene-hz", type=float, default=5.0)
+    a = ap.parse_args(argv)
+    if read_tiff_pages is None:
+        raise SystemExit("needs tools/led_sweep_quicklook.py (repo root) for read_tiff_pages")
+
+    from mcap.writer import Writer, CompressionType
+
+    tiff_dir, pat_dir, out = Path(a.tiff_dir), Path(a.pat_dir), Path(a.out)
+    overrides = json.loads(a.step_durations)
+    runs = [load_color(tiff_dir, c, a.counter, a.utc_offset_h, a.preview_size) for c in COLORS]
+    runs.sort(key=lambda r: r["t0_ns"])
+    pats = {c: read_pat(pat_dir / f"G6_2x10_toprow_grat20_{c}_gs16.pat") for c in COLORS}
+
+    # fixed display mapping per channel from the FIRST file (so colors are comparable)
+    window = {}
+    for ch in runs[0]["chans"]:
+        stack = np.stack([fr["imgs"][ch] for fr in runs[0]["frames"][::8]])
+        lo, hi = np.percentile(stack, 0.5), np.percentile(stack, 99.8)
+        window[ch] = (float(lo), float(max(hi, lo + 1)))
+
+    def to8(img, ch):
+        lo, hi = window[ch]
+        x = (img.astype(np.float32) - lo) / (hi - lo)
+        return (np.clip(x, 0, 1) * 255).astype(np.uint8)
+
+    def downsample(img):
+        h, w = img.shape
+        f = max(1, h // a.preview_size)
+        return img[: h - h % f, : w - w % f].reshape(h // f, f, w // f, f).mean(axis=(1, 3))
+
+    def stimulus_source():
+        return "commanded (run log trialParams)" if a.runlog else "reconstructed (first DO1 pulse + nominal step lengths)"
+
+    gaps = []
+    with open(out, "wb") as fh:
+        w = Writer(fh, compression=CompressionType.ZSTD)
+        w.start(profile="", library="tiff_run_to_mcap.py (webDisplayTools ros2-poc)")
+        sch_img = w.register_schema("foxglove.CompressedImage", "jsonschema", json.dumps(SCHEMA_IMAGE).encode())
+        sch_scene = w.register_schema("foxglove.SceneUpdate", "jsonschema", json.dumps(SCHEMA_SCENE).encode())
+        sch_ref = w.register_schema("scanimage.FrameRef", "jsonschema", json.dumps(json_schema("scanimage.FrameRef", {
+            "color": {"type": "string"}, "frame": {"type": "integer"}, "t_acq_s": {"type": "number"}, "tiff": {"type": "string"},
+            "pages": {"type": "array", "items": {"type": "integer"}}, "channels": {"type": "array", "items": {"type": "integer"}},
+            "do1_pulses_in_frame": {"type": "integer"}, "source": {"type": "string"}})).encode())
+        sch_qc = w.register_schema("scanimage.QC", "jsonschema", json.dumps(json_schema("scanimage.QC", {
+            "color": {"type": "string"}, "frame": {"type": "integer"}, "duty": {"type": "integer"}, "step": {"type": "integer"},
+            **{f"mean_ch{ch}": {"type": "number"} for ch in runs[0]["chans"]},
+            **{f"dmean_ch{ch}": {"type": "number"} for ch in runs[0]["chans"]}, "source": {"type": "string"}})).encode())
+        sch_stim = w.register_schema("arena.Stimulus", "jsonschema", json.dumps(json_schema("arena.Stimulus", {
+            "color": {"type": "string"}, "wavelength_nm": {"type": "integer"}, "duty": {"type": "integer"}, "step": {"type": "integer"},
+            "on": {"type": "boolean"}, "pattern": {"type": "string"}, "fps": {"type": "number"}, "t_rel_s": {"type": "number"},
+            "source": {"type": "string"}})).encode())
+        sch_ev = w.register_schema("run.Event", "jsonschema", json.dumps(json_schema("run.Event", {
+            "event": {"type": "string"}, "color": {"type": "string"}, "detail": {"type": "string"}, "source": {"type": "string"}})).encode())
+        sch_prov = w.register_schema("run.Provenance", "jsonschema", b'{"type":"object"}')
+        ch_prev = {ch: w.register_channel(f"/scanimage/preview/ch{ch}", "json", sch_img) for ch in runs[0]["chans"]}
+        ch_ref = w.register_channel("/scanimage/frame_ref", "json", sch_ref)
+        ch_qc = w.register_channel("/scanimage/qc", "json", sch_qc)
+        ch_stim = w.register_channel("/arena/stimulus", "json", sch_stim)
+        ch_disp = w.register_channel("/arena/display", "json", sch_img)
+        ch_scene = w.register_channel("/arena/scene", "json", sch_scene)
+        ch_ev = w.register_channel("/run/events", "json", sch_ev)
+        ch_prov = w.register_channel("/run/provenance", "json", sch_prov)
+
+        def put(chan, t_ns, obj):
+            w.add_message(chan, log_time=t_ns, publish_time=t_ns, data=json.dumps(obj, separators=(",", ":")).encode())
+
+        def img_msg(t_ns, png, frame_id):
+            return {"timestamp": ts(t_ns), "frame_id": frame_id, "format": "png", "data": base64.b64encode(png).decode()}
+
+        def scene(t_ns, color, frame, duty, on):
+            rgb = LED_RGB[color]
+            cubes = []
+            pat = pats[color]
+            n_cols, n_rows = pat["cols"], pat["rows"]
+            R = 1.0
+            for r in range(n_rows):
+                for c in range(n_cols):
+                    lit = float(frame[r * PANEL:(r + 1) * PANEL, c * PANEL:(c + 1) * PANEL].mean()) / 15.0 if (on and frame is not None) else 0.0
+                    level = lit * (duty / 255.0) if on else 0.0
+                    az = 2 * np.pi * (c + 0.5) / n_cols
+                    cubes.append({"pose": {"position": {"x": R * np.cos(az), "y": R * np.sin(az), "z": 0.3 + 0.62 * r},
+                                           "orientation": {"x": 0, "y": 0, "z": float(np.sin((az + np.pi / 2) / 2)), "w": float(np.cos((az + np.pi / 2) / 2))}},
+                                  "size": {"x": 0.58, "y": 0.06, "z": 0.58},
+                                  "color": {"r": 0.12 + rgb[0] / 255 * level * 0.88, "g": 0.12 + rgb[1] / 255 * level * 0.88, "b": 0.12 + rgb[2] / 255 * level * 0.88, "a": 0.95}})
+            return {"deletions": [], "entities": [{
+                "timestamp": ts(t_ns), "frame_id": "arena", "id": "panels", "lifetime": ts(0), "frame_locked": False,
+                "metadata": [{"key": "source", "value": "reconstructed"}, {"key": "color", "value": color}, {"key": "duty", "value": str(duty)}],
+                "cubes": cubes,
+                "spheres": [{"pose": {"position": {"x": 0, "y": 0, "z": 0.6}, "orientation": {"x": 0, "y": 0, "z": 0, "w": 1}},
+                             "size": {"x": 0.12, "y": 0.12, "z": 0.12}, "color": {"r": 1, "g": 1, "b": 1, "a": 1}}],
+                "cylinders": [], "texts": [{"pose": {"position": {"x": 0, "y": 0, "z": 1.35}, "orientation": {"x": 0, "y": 0, "z": 0, "w": 1}},
+                                            "billboard": True, "font_size": 0.12, "scale_invariant": False, "color": {"r": 0.9, "g": 0.93, "b": 0.95, "a": 1},
+                                            "text": f"{color} {LED_NM[color]} nm · duty {duty}" if on else "arena dark"}]}]}
+
+        def display_png(color, frame, duty):
+            rgb = np.array(LED_RGB[color], dtype=np.float32)
+            img = (frame[::-1, :].astype(np.float32) / 15.0)[:, :, None] * (duty / 255.0) * rgb  # row 0 (bottom) → image bottom
+            img = np.clip(img, 0, 255).astype(np.uint8)
+            s = a.display_scale
+            return png_bytes(np.repeat(np.repeat(img, s, axis=0), s, axis=1))
+
+        prov = {"source_files": {}, "clock": f"TIFF epoch (PC local, UTC{a.utc_offset_h:+.0f}) + frameTimestamps_sec",
+                "stimulus_source": stimulus_source(), "display_source": "reconstructed: .pat frame × duty/255 × LED color, "
+                f"fps {a.fps}, frame index restarts at 0 at each step", "scene_source": "reconstructed: panel cubes colored by LED color × lit fraction × duty",
+                "preview_mapping": {f"ch{ch}": {"lo": window[ch][0], "hi": window[ch][1], "downsample": "2x2 mean"} for ch in window},
+                "step_lengths_s": {}, "gaps": []}
+        counts = {}
+        for run in runs:
+            color = run["color"]
+            dur = overrides.get(color) or [a.step_s] * len(DUTIES)
+            edges = step_edges(run, dur)
+            prov["step_lengths_s"][color] = dur
+            prov["source_files"][color] = {"tiff": str(run["path"]), "frames": len(run["frames"]), "channels": run["chans"],
+                                           "channels_source": run["channels_source"], "scanFrameRate": run["frame_rate"],
+                                           "logAverageFactor": run["avg"], "epoch_local": run["epoch"],
+                                           "do1_pulses": len(run["aux0"]), "first_do1_s": run["aux0"][0] if run["aux0"] else None,
+                                           "last_do1_s": run["aux0"][-1] if run["aux0"] else None}
+            t0 = run["t0_ns"]
+            put(ch_ev, t0, {"event": "acquisition_start", "color": color, "detail": f"{run['path'].name}, {len(run['frames'])} frames @ {run['frame_rate']:.2f} Hz", "source": "observed (TIFF epoch)"})
+            # baseline = frames before the first DO1 pulse
+            first_do1 = run["aux0"][0] if run["aux0"] else None
+            base = {ch: float(np.mean([fr["imgs"][ch].mean() for fr in run["frames"] if first_do1 is None or fr["fields"]["frameTimestamps_sec"] < first_do1] or [0.0])) for ch in run["chans"]}
+            # frame-number continuity (observed)
+            nums = [int(fr["fields"]["frameNumbers"]) for fr in run["frames"]]
+            if any(b - a_ != 1 for a_, b in zip(nums, nums[1:])):
+                prov["gaps"].append({"color": color, "where": "TIFF frameNumbers not consecutive"})
+            # observed frames
+            for fr in run["frames"]:
+                t_ns = fr["t_ns"]
+                t_rel = fr["fields"]["frameTimestamps_sec"]
+                step = next((e for e in edges if e["t_start_s"] <= t_rel < e["t_end_s"]), None)
+                for ch in run["chans"]:
+                    put(ch_prev[ch], t_ns, img_msg(t_ns, png_bytes(downsample(to8(fr["imgs"][ch], ch)).astype(np.uint8)), f"scanimage_ch{ch}"))
+                put(ch_ref, t_ns, {"color": color, "frame": int(fr["fields"]["frameNumbers"]), "t_acq_s": t_rel, "tiff": run["path"].name,
+                                   "pages": fr["pages"], "channels": run["chans"], "do1_pulses_in_frame": len(fr["fields"]["aux0"]), "source": "observed"})
+                qc = {"color": color, "frame": int(fr["fields"]["frameNumbers"]), "duty": step["duty"] if step else 0, "step": step["step"] if step else -1, "source": "derived from observed pixels"}
+                for ch in run["chans"]:
+                    m = float(fr["imgs"][ch].mean())
+                    qc[f"mean_ch{ch}"] = m
+                    qc[f"dmean_ch{ch}"] = m - base[ch]
+                put(ch_qc, t_ns, qc)
+            counts[color] = len(run["frames"])
+            # reconstructed stimulus + display + scene
+            pat = pats[color]
+            src = stimulus_source()
+            if not edges:
+                prov["gaps"].append({"color": color, "where": "no DO1 pulses in the TIFF — no stimulus timeline"})
+            for e in edges:
+                ts_ns = t0 + int(e["t_start_s"] * 1e9)
+                put(ch_stim, ts_ns, {"color": color, "wavelength_nm": LED_NM[color], "duty": e["duty"], "step": e["step"], "on": True,
+                                     "pattern": f"G6_2x10_toprow_grat20_{color}_gs16", "fps": a.fps, "t_rel_s": e["t_start_s"], "source": src})
+                put(ch_ev, ts_ns, {"event": "step_start", "color": color, "detail": f"duty {e['duty']} (step {e['step']})", "source": src})
+                n_disp = int((e["t_end_s"] - e["t_start_s"]) * a.fps)
+                for k in range(n_disp):
+                    t_ns = ts_ns + int(k / a.fps * 1e9)
+                    frame = pat["frames"][k % pat["num_frames"]]
+                    put(ch_disp, t_ns, img_msg(t_ns, display_png(color, frame, e["duty"]), "arena_display"))
+                    if a.scene_hz > 0 and (k % max(1, int(round(a.fps / a.scene_hz)))) == 0:
+                        put(ch_scene, t_ns, scene(t_ns, color, frame, e["duty"], True))
+            if edges:
+                t_off = t0 + int(edges[-1]["t_end_s"] * 1e9)
+                put(ch_stim, t_off, {"color": color, "wavelength_nm": LED_NM[color], "duty": 0, "step": -1, "on": False,
+                                     "pattern": "", "fps": a.fps, "t_rel_s": edges[-1]["t_end_s"], "source": src})
+                put(ch_ev, t_off, {"event": "allOff", "color": color, "detail": f"last DO1 pulse at {run['aux0'][-1]:.3f} s", "source": "observed (DO1) / " + src})
+                put(ch_scene, t_off, scene(t_off, color, None, 0, False))
+                put(ch_disp, t_off, img_msg(t_off, display_png(color, np.zeros_like(pat["frames"][0]), 0), "arena_display"))
+            t_end = run["frames"][-1]["t_ns"]
+            put(ch_ev, t_end, {"event": "acquisition_end", "color": color, "detail": f"{len(run['frames'])} frames", "source": "observed (TIFF)"})
+        prov["frames_per_color"] = counts
+        put(ch_prov, runs[0]["t0_ns"], prov)
+        w.add_metadata("provenance", {k: json.dumps(v) for k, v in prov.items()})
+        w.finish()
+
+    print(f"wrote {out} ({out.stat().st_size / 1e6:.1f} MB)")
+    print(json.dumps({"frames_per_color": counts, "preview_mapping": prov["preview_mapping"], "step_lengths_s": prov["step_lengths_s"],
+                      "do1": {c: (prov["source_files"][c]["first_do1_s"], prov["source_files"][c]["last_do1_s"], prov["source_files"][c]["do1_pulses"]) for c in prov["source_files"]},
+                      "gaps": prov["gaps"]}, indent=1))
+
+    if a.layout_out:
+        chans = runs[0]["chans"]
+        cfg = {
+            f"Image!ch{ch}": {"imageMode": {"imageTopic": f"/scanimage/preview/ch{ch}"}, "foxglovePanelTitle": f"ScanImage ch{ch} (observed, {a.preview_size}px preview)"} for ch in chans}
+        cfg.update({
+            "Image!display": {"imageMode": {"imageTopic": "/arena/display"}, "foxglovePanelTitle": "Arena display (RECONSTRUCTED from .pat × duty)"},
+            "3D!arena": {"cameraState": {"perspective": True, "distance": 4.2, "phi": 55, "thetaOffset": 40, "targetOffset": [0, 0, 0.6], "target": [0, 0, 0], "targetOrientation": [0, 0, 0, 1], "fovy": 45, "near": 0.01, "far": 100},
+                         "followTf": "arena", "scene": {"enableStats": False, "backgroundColor": "#0f1419"}, "topics": {"/arena/scene": {"visible": True}},
+                         "foxglovePanelTitle": "Arena (RECONSTRUCTED panel states)"},
+            "Plot!qc": {"title": "Whole-field mean minus pre-stimulus baseline (observed) + commanded duty", "showLegend": True, "legendDisplay": "floating", "xAxisVal": "timestamp",
+                        "paths": [{"value": f"/scanimage/qc.dmean_ch{ch}", "enabled": True, "timestampMethod": "receiveTime", "label": f"ch{ch} Δmean (ADU)"} for ch in chans]
+                        + [{"value": "/arena/stimulus.duty", "enabled": True, "timestampMethod": "receiveTime", "label": "duty (0–255)"}]},
+            "StateTransitions!color": {"paths": [{"value": "/arena/stimulus.color", "timestampMethod": "receiveTime", "label": "LED color"}], "isSynced": True},
+            "RawMessages!events": {"topicPath": "/run/events", "diffEnabled": False, "diffMethod": "custom", "diffTopicPath": "", "showFullMessageForDiff": False, "expansion": "all"},
+            "RawMessages!prov": {"topicPath": "/run/provenance", "expansion": "all", "diffEnabled": False, "diffMethod": "custom", "diffTopicPath": "", "showFullMessageForDiff": False},
+        })
+        img_ids = [f"Image!ch{ch}" for ch in chans]
+        layout = {"configById": cfg, "globalVariables": {}, "userNodes": {}, "playbackConfig": {"speed": 1.0},
+                  "layout": {"direction": "row", "splitPercentage": 58,
+                             "first": {"direction": "column", "splitPercentage": 55,
+                                       "first": {"direction": "row", "splitPercentage": 50, "first": img_ids[0], "second": img_ids[1] if len(img_ids) > 1 else "Image!display"},
+                                       "second": {"direction": "row", "splitPercentage": 50, "first": "Image!display", "second": "3D!arena"}},
+                             "second": {"direction": "column", "splitPercentage": 45, "first": "Plot!qc",
+                                        "second": {"direction": "column", "splitPercentage": 25, "first": "StateTransitions!color",
+                                                   "second": {"direction": "row", "splitPercentage": 55, "first": "RawMessages!events", "second": "RawMessages!prov"}}}}}
+        Path(a.layout_out).write_text(json.dumps(layout, indent=2), encoding="utf-8")
+        print(f"wrote layout {a.layout_out}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

From 4c425635a17b875ae43f15cbccc24bf7f69ef409 Mon Sep 17 00:00:00 2001
From: Michael B Reiser <mreiser@gmail.com>
Date: Thu, 22 Oct 2026 00:17:28 -0400
Subject: [PATCH 96/96] ros2-poc: shared-memory and MCAP recording benchmarks +
 how to run them on another Windows PC (LAB-303)

shm_bench.py (the Mac script), shm_bench_qpc.py (the same with perf_counter_ns stamps:
Python 3.12's time.monotonic on Windows ticks every 15.625 ms) and mcap_bench.py (a rosbag2
C++ recorder writing MCAP as the only subscriber, rmw publish -> recorder latency from the
MCAP timestamps). docs/shm-bench.md has the commands, what to check and the ww18 numbers;
WINDOWS-TEST.md step 8 points to it.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 ros2-poc/WINDOWS-TEST.md   |   5 +
 ros2-poc/docs/shm-bench.md |  67 ++++++
 ros2-poc/mcap_bench.py     | 313 ++++++++++++++++++++++++++++
 ros2-poc/shm_bench.py      | 403 +++++++++++++++++++++++++++++++++++++
 ros2-poc/shm_bench_qpc.py  | 403 +++++++++++++++++++++++++++++++++++++
 5 files changed, 1191 insertions(+)
 create mode 100644 ros2-poc/docs/shm-bench.md
 create mode 100644 ros2-poc/mcap_bench.py
 create mode 100644 ros2-poc/shm_bench.py
 create mode 100644 ros2-poc/shm_bench_qpc.py

diff --git a/ros2-poc/WINDOWS-TEST.md b/ros2-poc/WINDOWS-TEST.md
index c505b71d..dfddf4b7 100644
--- a/ros2-poc/WINDOWS-TEST.md
+++ b/ros2-poc/WINDOWS-TEST.md
@@ -373,6 +373,11 @@ If step 5's hardware is attached, `pixi run -e typed-prebuilt rig …` runs the
 Record: the PC's Windows version, "no Visual Studio" confirmed (`winget list Microsoft.VisualStudio`
 prints nothing), the install time, and the first error verbatim if anything fails.
 
+## 8. Optional: shared-memory and MCAP benchmarks (no hardware, ~7 minutes)
+
+Never during an experiment (it loads the CPU). Commands, what to check and the ww18 reference
+numbers: `docs/shm-bench.md`.
+
 ## What to send back
 
 The timings and sizes from step 1, the `$PIXI_PROJECT_ROOT` answer, the harness artifact folder,
diff --git a/ros2-poc/docs/shm-bench.md b/ros2-poc/docs/shm-bench.md
new file mode 100644
index 00000000..f12904b9
--- /dev/null
+++ b/ros2-poc/docs/shm-bench.md
@@ -0,0 +1,67 @@
+# Shared-memory and MCAP recording benchmarks (LAB-303)
+
+Three scripts in `ros2-poc/` measure rmw_zenoh with shared memory off vs on for image-sized
+`sensor_msgs/Image` messages. None needs hardware. Each starts its own Zenoh router on
+`127.0.0.1:7457` with `ROS_DOMAIN_ID` 42, so it never joins a rig graph on 7447 — but it loads the
+CPU for a few minutes, so **never run it while an experiment is running on the PC** (Studio run,
+FicTrac, BIAS or ScanImage acquisition).
+
+| script | subscriber | use it for |
+|---|---|---|
+| `shm_bench.py` | rclpy | the original (Mac, 2026-10-21); latency stamps from `time.monotonic_ns()` |
+| `shm_bench_qpc.py` | rclpy | the same with `time.perf_counter_ns()` stamps — **use this one on Windows** |
+| `mcap_bench.py` | rosbag2 recorder (C++, MCAP) | what a rig recorder sees: loss, latency, recorder CPU |
+
+**Why the `_qpc` copy on Windows:** with Python 3.12, `time.monotonic()` is `GetTickCount64()`, which
+ticks every 15.625 ms, so every latency comes out as 0, 16, 31, … ms. `perf_counter_ns()` is
+QueryPerformanceCounter counted from boot, the same in every process (on macOS and Linux it is
+the system monotonic clock, so the copy is fine there too). Publish pacing still uses
+`time.monotonic()`, so rows above ~64 Hz may send in small bursts.
+
+## Running it on another Windows PC
+
+1. Nothing rig-related running; port free: `netstat -ano | findstr ":7457"` prints nothing.
+2. The default pixi environment is installed (`ros2-poc\.pixi\envs\default`); if not, see
+   `WINDOWS-TEST.md` step 1a (`pixi install --locked`).
+3. PowerShell in `ros2-poc`, with `<host>` = this PC's name (about 7 minutes in all):
+
+```powershell
+pixi run python shm_bench_qpc.py run --out <host>_shm_qpc.json
+pixi run python shm_bench_qpc.py run --sizes 1048576,2097152,8388608 --rates 30,135,30 --out <host>_shm_qpc_repeat.json
+pixi run python shm_bench_qpc.py run --sizes 8388608,8388608 --rates 100,200 --duration 5 --out <host>_shm_qpc_stress.json
+pixi run python mcap_bench.py run --out <host>_mcap.json
+pixi run python mcap_bench.py run --cells 8388608@100,8388608@200 --duration 5 --out <host>_mcap_stress.json
+```
+
+`mcap_bench.py` writes each bag to `%TEMP%\mcap_bench` (about 2.4 GB per 8 s cell, up to 8 GB per
+stress cell) and deletes it after counting; `--bag-dir` tests another disk, `--keep-bags` keeps the
+bags, `--preset fastwrite` uses rosbag2's no-CRC, no-index MCAP profile.
+
+4. Afterwards `tasklist | findstr rmw_zenohd` must print nothing. Leave the JSON files untracked and
+   send them back with the printed tables.
+
+## What to check
+
+- **Shared memory engaged:** the last column ("shm map") is each process's mapped shared memory after
+  its run. With shared memory on it is about 49 MB higher than off (ww18: 8.7M → 58.0M; Mac:
+  48K → 49.3M). If the on and off rows show the same value, shared memory did not engage: report it.
+- **Loss:** `recv/sent` (`bagged/sent` for the recorder) and the `rec log:` lines, which say whether
+  rosbag2 lost messages on the transport layer or in its cache.
+- **Latency:** p50 / p99 / max. For `mcap_bench.py` this is rmw publish → recorder receive (MCAP
+  `publish_time` → `log_time`); the Python-side conversion is in the `pub()` column.
+
+## Reference: ww18 (Core Ultra 9 285K, Windows 11 25H2, 2026-10-21/22)
+
+Median latency, shared memory off → on (two runs each):
+
+| message | rclpy subscriber | rosbag2 recorder |
+|---|---|---|
+| 1 MB @ 30 Hz | 3.6 → 1.6–1.9 ms | — |
+| 2 MB @ 135 Hz | 5.1–5.8 → 3.0–3.6 ms | 1.3 → 0.11–0.12 ms |
+| 8 MB @ 30 Hz | 20–23 → 11–12 ms | 5.2–5.6 → 0.18–0.19 ms |
+
+With shared memory off, p99 was 25–67 ms and both subscribers lost messages (RELIABLE, depth 10)
+at 2 MB @ 135 Hz and 8 MB @ 30 Hz; with it on, p99 was 3–14 ms (rclpy) or at most 0.4 ms
+(recorder) and nothing was lost below 8 MB @ 200 Hz. The recorder costs about 1.1 ms of CPU per MB (31 % of a core for
+2 MB @ 135 Hz). The rclpy subscriber, not the transport, sets the Python numbers: about 8–10 ms of
+CPU per 8 MB message, 3–4 times the Mac's.
diff --git a/ros2-poc/mcap_bench.py b/ros2-poc/mcap_bench.py
new file mode 100644
index 00000000..b07e5005
--- /dev/null
+++ b/ros2-poc/mcap_bench.py
@@ -0,0 +1,313 @@
+#!/usr/bin/env python3
+"""mcap_bench.py — rosbag2 (C++) recording an image topic to MCAP, rmw_zenoh shared memory off vs on (LAB-303).
+
+The publisher is shm_bench_qpc.py's `pub` (rclpy, sensor_msgs/Image of a fixed size at a fixed
+rate, incompressible payload). The only subscriber is a rosbag2 Recorder: a C++ generic
+subscription that never deserializes, writing MCAP with the default storage profile. It is
+driven through rosbag2_py the way `ros2 bag record` drives it, but stopped by a line on stdin
+instead of SIGINT (Windows cannot deliver Ctrl+C to one child process).
+
+    pixi run python mcap_bench.py run --out ww18_mcap.json
+    pixi run python mcap_bench.py run --cells 2097152@135 --modes on --duration 5
+
+Per cell it reports what was sent, what ended up in the bag (by the frame_id sequence numbers in
+the recorded CDR), the recorder's CPU per message (including the flush at stop), how long the
+stop flush took, the recorder's mapped shared memory, and the rmw publish -> recorder receive
+latency from each MCAP record's publish_time and log_time (both the system clock; rmw_zenoh
+stamps the source timestamp after serialization, so rclpy's conversion is not included).
+Bags go to --bag-dir and are deleted after they are counted unless --keep-bags.
+"""
+
+from __future__ import annotations
+
+import argparse
+import glob
+import json
+import os
+import platform
+import shutil
+import statistics
+import struct
+import subprocess
+import sys
+import tempfile
+import time
+
+import shm_bench as sb
+
+HERE = os.path.dirname(os.path.abspath(__file__))
+PUB_SCRIPT = os.path.join(HERE, "shm_bench_qpc.py")
+
+
+# ── the recorder process ──────────────────────────────────────────────────────────────────────
+
+
+def cmd_rec(args):
+    import datetime
+
+    from ros2cli.node import NODE_NAME_PREFIX
+    from rosbag2_py import Recorder, RecordOptions, StorageOptions
+
+    storage = StorageOptions(
+        uri=args.uri,
+        storage_id="mcap",
+        max_cache_size=args.cache_mb << 20,
+        storage_preset_profile=args.preset,
+    )
+    ro = RecordOptions()
+    ro.topics = [sb.TOPIC]
+    ro.rmw_serialization_format = ""
+    ro.topic_polling_interval = datetime.timedelta(milliseconds=100)
+    ro.node_prefix = NODE_NAME_PREFIX
+    ro.disable_keyboard_controls = True
+    rec = Recorder(storage, ro, "info", "mcap_bench_recorder")
+    rec.start_spin()
+    rec.record()
+    print("READY", flush=True)
+
+    cpu0, wall0 = time.process_time(), time.monotonic()
+    for line in sys.stdin:
+        cmd = line.strip()
+        if cmd == "mark":  # the publisher is being started
+            cpu0, wall0 = time.process_time(), time.monotonic()
+        elif cmd == "stop":
+            break
+    cpu1, wall1 = time.process_time(), time.monotonic()
+    rec.stop()  # flushes the cache and closes the bag
+    cpu2, wall2 = time.process_time(), time.monotonic()
+    shm = sb._shm_mapped()
+    rec.stop_spin()
+    print(
+        json.dumps(
+            {
+                "role": "rec",
+                "cpu_s": cpu2 - cpu0,
+                "wall_s": wall1 - wall0,
+                "stop_s": wall2 - wall1,
+                "shm_mapped": shm,
+            }
+        ),
+        flush=True,
+    )
+    return 0
+
+
+# ── reading the bag ───────────────────────────────────────────────────────────────────────────
+
+
+def _read_bag(uri, size):
+    """Count what the recorder wrote: measured ("m<seq>") messages by sequence number, plus the
+    rmw publish -> recorder receive latency from MCAP publish_time / log_time."""
+    from mcap.reader import make_reader
+
+    files = sorted(glob.glob(os.path.join(uri, "*.mcap")))
+    out = {"bag_files": len(files), "bag_bytes": sum(os.path.getsize(f) for f in files)}
+    seqs, lat, n_all, short = [], [], 0, 0
+    same_t = 0
+    for f in files:
+        with open(f, "rb") as fh:
+            for _schema, _chan, msg in make_reader(fh).iter_messages(log_time_order=False):
+                n_all += 1
+                d = msg.data
+                # CDR_LE: 4-byte encapsulation, stamp sec/nanosec, then frame_id length + chars + NUL
+                (n,) = struct.unpack_from("<I", d, 12)
+                fid = d[16 : 16 + n - 1].decode("ascii", "replace")
+                if not fid.startswith("m"):
+                    continue
+                seqs.append(int(fid[1:]))
+                if len(d) < size:
+                    short += 1
+                if msg.publish_time and msg.publish_time != msg.log_time:
+                    lat.append(msg.log_time - msg.publish_time)
+                else:
+                    same_t += 1
+    out.update({"bag_msgs": n_all, "bagged": len(set(seqs)), "short": short})
+    if lat:
+        out.update(
+            {
+                "lat_ms_p50": statistics.median(lat) / 1e6,
+                "lat_ms_p95": sb._pct(lat, 95) / 1e6,
+                "lat_ms_p99": sb._pct(lat, 99) / 1e6,
+                "lat_ms_max": max(lat) / 1e6,
+            }
+        )
+    out["no_publish_time"] = same_t
+    return out
+
+
+# ── the orchestrator ──────────────────────────────────────────────────────────────────────────
+
+
+def cmd_run(args):
+    me = os.path.abspath(__file__)
+    base = dict(os.environ)
+    base["ROS_DOMAIN_ID"] = str(args.domain)
+    base["RMW_IMPLEMENTATION"] = "rmw_zenoh_cpp"
+    base.setdefault("RUST_LOG", "error")
+    endpoint = f'["tcp/127.0.0.1:{args.port}"]'
+    os.makedirs(args.bag_dir, exist_ok=True)
+
+    router = None
+    if not sb._port_open(args.port):
+        renv = dict(base, ZENOH_CONFIG_OVERRIDE=f"listen/endpoints={endpoint}")
+        router = subprocess.Popen(
+            sb._router_argv(), env=renv, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL
+        )
+        t0 = time.monotonic()
+        while not sb._port_open(args.port):
+            if time.monotonic() - t0 > 20:
+                sys.exit(f"router did not come up on :{args.port}")
+            time.sleep(0.2)
+
+    cells = []
+    for c in args.cells.split(","):
+        size, rate = c.split("@")
+        cells.append((int(size), float(rate)))
+
+    pub_args = [
+        "--depth", str(args.depth),
+        "--duration", str(args.duration),
+        "--warmup", str(args.warmup),
+    ] + (["--reliable"] if args.reliable else ["--no-reliable"])
+
+    results = []
+    try:
+        for mode in args.modes.split(","):
+            override = f"connect/endpoints={endpoint};transport/shared_memory/enabled={'true' if mode == 'on' else 'false'}"
+            env = dict(base, ZENOH_CONFIG_OVERRIDE=override)
+            for size, rate in cells:
+                uri = os.path.join(args.bag_dir, f"{mode}_{size}_{rate:g}")
+                shutil.rmtree(uri, ignore_errors=True)  # rosbag2 refuses an existing directory
+                with open(uri + ".log", "w") as log:
+                    rec = subprocess.Popen(
+                        [sys.executable, me, "rec", "--uri", uri, "--cache-mb", str(args.cache_mb), "--preset", args.preset],
+                        env=env, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=log, text=True,
+                    )
+                    for _ in range(200):
+                        line = rec.stdout.readline()
+                        if not line or line.strip() == "READY":
+                            break
+                        print(f"  [rec] {line.rstrip()}", file=sys.stderr)
+                    if not line:
+                        sys.exit(f"recorder did not start (see {uri}.log)")
+                    rec.stdin.write("mark\n")
+                    rec.stdin.flush()
+                    pub = subprocess.Popen(
+                        [sys.executable, PUB_SCRIPT, "pub", "--size", str(size), "--rate", str(rate)] + pub_args,
+                        env=env, stdout=subprocess.PIPE, text=True,
+                    )
+                    pout, _ = pub.communicate(timeout=args.duration + 60)
+                    time.sleep(args.drain)
+                    rec.stdin.write("stop\n")
+                    rec.stdin.flush()
+                    rout, _ = rec.communicate(timeout=180)
+                row = {"mode": mode, "size": size, "rate": rate}
+                for line in (pout + rout).splitlines():
+                    if line.startswith("{"):
+                        d = json.loads(line)
+                        role = d.pop("role")
+                        row.update({f"{role}_{k}": v for k, v in d.items()})
+                if os.path.isdir(uri):
+                    row.update(_read_bag(uri, size))
+                    if row.get("bag_msgs") and row.get("rec_cpu_s") is not None:
+                        row["rec_cpu_ms_per_msg"] = 1000 * row["rec_cpu_s"] / row["bag_msgs"]
+                if row.get("pub_sent") is not None and row.get("bagged") is not None:
+                    row["lost"] = row["pub_sent"] - row["bagged"]
+                with open(uri + ".log") as f:
+                    row["rec_log"] = [
+                        ln.rstrip() for ln in f if any(k in ln for k in ("lost", "WARN", "ERROR", "dropped"))
+                    ]
+                if not args.keep_bags:
+                    shutil.rmtree(uri, ignore_errors=True)
+                results.append(row)
+                _print_row(row)
+                for ln in row["rec_log"]:
+                    print(f"    rec log: {ln}", flush=True)
+    finally:
+        if router:
+            router.terminate()
+            try:
+                router.wait(5)
+            except subprocess.TimeoutExpired:
+                router.kill()
+
+    meta = {
+        "host": platform.node(),
+        "platform": platform.platform(),
+        "python": platform.python_version(),
+        "rmw": "rmw_zenoh_cpp",
+        "recorder": "rosbag2_py Recorder, storage mcap",
+        "preset": args.preset or "default",
+        "cache_mb": args.cache_mb,
+        "bag_dir": os.path.abspath(args.bag_dir),
+        "reliable": args.reliable,
+        "depth": args.depth,
+        "duration_s": args.duration,
+        "when": time.strftime("%Y-%m-%d %H:%M:%S"),
+    }
+    if args.out:
+        with open(args.out, "w") as f:
+            json.dump({"meta": meta, "results": results}, f, indent=1)
+        print(f"wrote {args.out}")
+    return 0
+
+
+_HDR_DONE = False
+
+
+def _print_row(r):
+    global _HDR_DONE
+    if not _HDR_DONE:
+        print(
+            f"{'shm':>3} {'size':>8} {'Hz':>5} {'MB/s':>6} {'bagged/sent':>11} {'lost':>4} {'pub()':>6} "
+            f"{'pubCPU':>6} {'recCPU':>6} {'stop s':>6} {'p50 ms':>7} {'p99 ms':>7} {'max ms':>7} {'shm map pub/rec':>16}",
+            flush=True,
+        )
+        _HDR_DONE = True
+    g = r.get
+    nan = float("nan")
+    rec_pct = g("rec_cpu_ms_per_msg", nan) * g("pub_rate_hz", nan) / 10  # ms/message x achieved Hz
+    shm_s = f"{g('pub_shm_mapped') or 'n/a'}/{g('rec_shm_mapped') or 'n/a'}"
+    mbps = r["size"] * g("pub_rate_hz", 0) / 1e6
+    print(
+        f"{r['mode']:>3} {sb._human(r['size']):>8} {r['rate']:>5g} {mbps:>6.1f} "
+        f"{g('bagged', 0):>5}/{g('pub_sent', 0):<5} {g('lost', -1):>4} "
+        f"{g('pub_publish_call_ms_p50', nan):>6.2f} {g('pub_cpu_pct', nan):>5.0f}% {rec_pct:>5.0f}% "
+        f"{g('rec_stop_s', nan):>6.2f} {g('lat_ms_p50', nan):>7.2f} {g('lat_ms_p99', nan):>7.2f} "
+        f"{g('lat_ms_max', nan):>7.2f} {shm_s:>16}",
+        flush=True,
+    )
+
+
+def main():
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    sp = ap.add_subparsers(dest="cmd", required=True)
+    p = sp.add_parser("rec")
+    p.add_argument("--uri", required=True)
+    p.add_argument("--cache-mb", type=int, default=100)
+    p.add_argument("--preset", default="")
+    p = sp.add_parser("run")
+    p.add_argument(
+        "--cells",
+        default="2097152@135,8388608@30",
+        help="size@rate list (default: BIAS-rate 2 MP frame, 8 MB at 30 Hz)",
+    )
+    p.add_argument("--modes", default="off,on")
+    p.add_argument("--duration", type=float, default=8.0, help="measured seconds per cell")
+    p.add_argument("--warmup", type=float, default=1.0)
+    p.add_argument("--depth", type=int, default=10)
+    p.add_argument("--reliable", action=argparse.BooleanOptionalAction, default=True)
+    p.add_argument("--drain", type=float, default=1.0, help="seconds between the publisher exiting and stop")
+    p.add_argument("--cache-mb", type=int, default=100, help="rosbag2 max_cache_size (ros2 bag record default 100)")
+    p.add_argument("--preset", default="", help="MCAP storage preset ('' = default, fastwrite, zstd_fast, ...)")
+    p.add_argument("--bag-dir", default=os.path.join(tempfile.gettempdir(), "mcap_bench"))
+    p.add_argument("--keep-bags", action="store_true")
+    p.add_argument("--port", type=int, default=7457)
+    p.add_argument("--domain", type=int, default=42)
+    p.add_argument("--out")
+    args = ap.parse_args()
+    return {"rec": cmd_rec, "run": cmd_run}[args.cmd](args)
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/ros2-poc/shm_bench.py b/ros2-poc/shm_bench.py
new file mode 100644
index 00000000..559ad6a7
--- /dev/null
+++ b/ros2-poc/shm_bench.py
@@ -0,0 +1,403 @@
+#!/usr/bin/env python3
+"""shm_bench.py — rmw_zenoh shared memory on vs off, for image-sized ROS 2 messages (LAB-303).
+
+One publisher process and one subscriber process exchange sensor_msgs/Image messages of a fixed
+size at a fixed rate. Latency is publish-call → subscriber callback, both stamped with
+time.monotonic_ns() (one system-wide clock on macOS, Linux and Windows), so it includes rclpy's
+Python→C conversion, CDR serialization, the transport, deserialization and callback dispatch.
+
+    pixi run python shm_bench.py run                       # the default matrix, shm off then on
+    pixi run python shm_bench.py run --sizes 1048576 --rates 30 --modes on --duration 5
+    pixi run python shm_bench.py run --out results.json
+
+`run` starts its own Zenoh router on --port (default 7457, not the rig's 7447) and a separate
+ROS_DOMAIN_ID, so it never touches a running rig. Shared memory is switched with rmw_zenoh's
+ZENOH_CONFIG_OVERRIDE (transport/shared_memory/enabled) on both sessions; the pool size can be
+raised with --pool-mb (rmw_zenoh's ZENOH_SHM_ALLOC_SIZE, default 48 MiB). After its measured
+window each process reports how much shared memory it has mapped (macOS: vmmap; Linux: /dev/shm;
+Windows: committed MEM_MAPPED regions): the direct evidence that the Zenoh pool was used. With
+shared memory on, it is about 48 MB higher than with it off.
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import platform
+import shutil
+import socket
+import statistics
+import subprocess
+import sys
+import time
+
+TOPIC = "/bench/image"
+
+
+# ── the two ROS processes ──────────────────────────────────────────────────────────────────────
+
+
+def _qos(args):
+    from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy
+
+    return QoSProfile(
+        history=HistoryPolicy.KEEP_LAST,
+        depth=args.depth,
+        reliability=ReliabilityPolicy.RELIABLE if args.reliable else ReliabilityPolicy.BEST_EFFORT,
+    )
+
+
+def cmd_pub(args):
+    import rclpy
+    from sensor_msgs.msg import Image
+
+    rclpy.init()
+    node = rclpy.create_node("shm_bench_pub")
+    pub = node.create_publisher(Image, TOPIC, _qos(args))
+    msg = Image()
+    msg.height, msg.width, msg.step, msg.encoding = 1, args.size, args.size, "mono8"
+    msg.data = os.urandom(args.size)  # incompressible, built once
+
+    t_wait = time.monotonic()
+    while pub.get_subscription_count() == 0:
+        if time.monotonic() - t_wait > 15:
+            print(json.dumps({"role": "pub", "error": "no subscriber after 15 s"}), flush=True)
+            return 1
+        rclpy.spin_once(node, timeout_sec=0.05)
+    time.sleep(0.5)
+
+    warm = max(1, int(args.rate * args.warmup))
+    n = max(1, int(args.rate * args.duration))
+    period = 1.0 / args.rate
+    call_ns = []
+    next_t = time.monotonic()
+    cpu0 = wall0 = None
+    for i in range(warm + n):
+        dt = next_t - time.monotonic()
+        if dt > 0:
+            time.sleep(dt)
+        if i == warm:
+            cpu0, wall0 = time.process_time(), time.monotonic()
+        msg.header.frame_id = f"w{i}" if i < warm else f"m{i - warm}"
+        t = time.monotonic_ns()
+        msg.header.stamp.sec, msg.header.stamp.nanosec = divmod(t, 1_000_000_000)
+        pub.publish(msg)
+        if i >= warm:
+            call_ns.append(time.monotonic_ns() - t)
+        next_t += period
+    cpu1, wall1 = time.process_time(), time.monotonic()
+    msg.header.frame_id = "end"
+    for _ in range(3):
+        pub.publish(msg)
+        time.sleep(0.05)
+    print(
+        json.dumps(
+            {
+                "role": "pub",
+                "sent": n,
+                "rate_hz": n / (wall1 - wall0),
+                "cpu_pct": 100 * (cpu1 - cpu0) / (wall1 - wall0),
+                "publish_call_ms_p50": statistics.median(call_ns) / 1e6,
+                "publish_call_ms_p99": _pct(call_ns, 99) / 1e6,
+                "shm_mapped": _shm_mapped(),
+            }
+        ),
+        flush=True,
+    )
+    time.sleep(0.3)
+    node.destroy_node()
+    rclpy.shutdown()
+    return 0
+
+
+def cmd_sub(args):
+    import rclpy
+    from sensor_msgs.msg import Image
+
+    rclpy.init()
+    node = rclpy.create_node("shm_bench_sub")
+    st = {"lat": [], "seqs": [], "bad": 0, "cpu0": None, "wall0": None, "done": False}
+
+    def cb(msg):
+        now = time.monotonic_ns()
+        fid = msg.header.frame_id
+        if fid == "end":
+            st["done"] = True
+            return
+        if fid[0] != "m":
+            return
+        if st["cpu0"] is None:
+            st["cpu0"], st["wall0"] = time.process_time(), time.monotonic()
+        if len(msg.data) != args.size:
+            st["bad"] += 1
+        st["lat"].append(now - (msg.header.stamp.sec * 1_000_000_000 + msg.header.stamp.nanosec))
+        st["seqs"].append(int(fid[1:]))
+
+    node.create_subscription(Image, TOPIC, cb, _qos(args))
+    print("READY", flush=True)
+    deadline = time.monotonic() + args.warmup + args.duration + 30
+    while not st["done"] and time.monotonic() < deadline:
+        rclpy.spin_once(node, timeout_sec=0.1)
+    cpu1, wall1 = time.process_time(), time.monotonic()
+    lat = st["lat"]
+    out = {"role": "sub", "received": len(lat), "bad_size": st["bad"], "timed_out": not st["done"]}
+    if lat:
+        seqs = st["seqs"]
+        out.update(
+            {
+                "lost": (max(seqs) + 1) - len(set(seqs)),
+                "lat_ms_p50": statistics.median(lat) / 1e6,
+                "lat_ms_p95": _pct(lat, 95) / 1e6,
+                "lat_ms_p99": _pct(lat, 99) / 1e6,
+                "lat_ms_max": max(lat) / 1e6,
+                "cpu_pct": 100 * (cpu1 - st["cpu0"]) / max(1e-9, wall1 - st["wall0"]),
+            }
+        )
+    out["shm_mapped"] = _shm_mapped()
+    print(json.dumps(out), flush=True)
+    node.destroy_node()
+    rclpy.shutdown()
+    return 0
+
+
+def _shm_mapped():
+    """Shared memory this process has mapped — the direct evidence that the Zenoh pool is in use.
+
+    Called only AFTER the measured window: macOS `vmmap` suspends the process it inspects.
+    macOS: vmmap's "shared memory" virtual size (about 48 kB without the pool, 49 MB with the
+    default 48 MiB pool). Linux: the /dev/shm mappings. Windows: committed MEM_MAPPED regions.
+    Anything else: None (not measured)."""
+    try:
+        if sys.platform == "darwin":
+            out = subprocess.run(
+                ["vmmap", "-summary", str(os.getpid())], capture_output=True, text=True, timeout=20
+            ).stdout
+            for ln in out.splitlines():
+                if ln.startswith("shared memory"):
+                    return ln.split()[2]
+        elif sys.platform.startswith("linux"):
+            total = 0
+            with open("/proc/self/maps") as f:
+                for ln in f:
+                    if "/dev/shm/" in ln:
+                        a, b = ln.split()[0].split("-")
+                        total += int(b, 16) - int(a, 16)
+            return f"{total / (1 << 20):.1f}M"
+        elif sys.platform == "win32":
+            # Committed MEM_MAPPED regions (section views: the Zenoh pool, plus a few MB of other
+            # mapped files). Compare off vs on: the pool shows up as a ~48 MB step.
+            import ctypes
+            from ctypes import wintypes
+
+            class MBI(ctypes.Structure):
+                _fields_ = [
+                    ("BaseAddress", ctypes.c_void_p),
+                    ("AllocationBase", ctypes.c_void_p),
+                    ("AllocationProtect", wintypes.DWORD),
+                    ("PartitionId", wintypes.WORD),
+                    ("RegionSize", ctypes.c_size_t),
+                    ("State", wintypes.DWORD),
+                    ("Protect", wintypes.DWORD),
+                    ("Type", wintypes.DWORD),
+                ]
+
+            k32 = ctypes.WinDLL("kernel32", use_last_error=True)
+            k32.VirtualQuery.argtypes = [ctypes.c_void_p, ctypes.POINTER(MBI), ctypes.c_size_t]
+            k32.VirtualQuery.restype = ctypes.c_size_t
+            mbi, addr, total = MBI(), 0, 0
+            while addr < (1 << 47) and k32.VirtualQuery(addr, ctypes.byref(mbi), ctypes.sizeof(mbi)):
+                if mbi.State == 0x1000 and mbi.Type == 0x40000:  # MEM_COMMIT, MEM_MAPPED
+                    total += mbi.RegionSize
+                addr = (mbi.BaseAddress or 0) + mbi.RegionSize
+            return f"{total / (1 << 20):.1f}M"
+    except Exception:
+        pass
+    return None
+
+
+def _pct(xs, p):
+    s = sorted(xs)
+    return s[min(len(s) - 1, int(round(p / 100 * (len(s) - 1))))]
+
+
+# ── the orchestrator ──────────────────────────────────────────────────────────────────────────
+
+
+def _port_open(port):
+    with socket.socket() as s:
+        s.settimeout(0.2)
+        return s.connect_ex(("127.0.0.1", port)) == 0
+
+
+def _router_argv():
+    """The rmw_zenohd binary itself, so terminate() stops the router and not just a wrapper
+    (`ros2` is a launcher script on Windows). Falls back to `ros2 run`."""
+    try:
+        from ament_index_python.packages import get_package_prefix
+
+        libdir = os.path.join(get_package_prefix("rmw_zenoh_cpp"), "lib", "rmw_zenoh_cpp")
+        for name in ("rmw_zenohd.exe", "rmw_zenohd"):
+            exe = os.path.join(libdir, name)
+            if os.path.isfile(exe):
+                return [exe]
+    except Exception:
+        pass
+    return [shutil.which("ros2") or "ros2", "run", "rmw_zenoh_cpp", "rmw_zenohd"]
+
+
+def _human(n):
+    for unit, k in (("MB", 1 << 20), ("kB", 1 << 10)):
+        if n >= k:
+            v = n / k
+            return f"{v:g} {unit}"
+    return f"{n} B"
+
+
+def cmd_run(args):
+    me = os.path.abspath(__file__)
+    base = dict(os.environ)
+    base["ROS_DOMAIN_ID"] = str(args.domain)
+    base["RMW_IMPLEMENTATION"] = "rmw_zenoh_cpp"
+    base.setdefault("RUST_LOG", "error")  # silence zenoh_config deprecation warnings
+    endpoint = f'["tcp/127.0.0.1:{args.port}"]'
+
+    router = None
+    if not _port_open(args.port):
+        renv = dict(base, ZENOH_CONFIG_OVERRIDE=f"listen/endpoints={endpoint}")
+        router = subprocess.Popen(
+            _router_argv(), env=renv, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL
+        )
+        t0 = time.monotonic()
+        while not _port_open(args.port):
+            if time.monotonic() - t0 > 20:
+                sys.exit(f"router did not come up on :{args.port}")
+            time.sleep(0.2)
+
+    sizes = [int(s) for s in args.sizes.split(",")]
+    rates = [float(r) for r in args.rates.split(",")]
+    if len(rates) == 1:
+        rates *= len(sizes)
+    if len(rates) != len(sizes):
+        sys.exit("--rates must be one value or one per size")
+
+    common = [
+        "--depth", str(args.depth),
+        "--duration", str(args.duration),
+        "--warmup", str(args.warmup),
+    ] + (["--reliable"] if args.reliable else [])
+
+    results = []
+    try:
+        for mode in args.modes.split(","):
+            override = f"connect/endpoints={endpoint};transport/shared_memory/enabled={'true' if mode == 'on' else 'false'}"
+            env = dict(base, ZENOH_CONFIG_OVERRIDE=override)
+            if args.pool_mb:
+                env["ZENOH_SHM_ALLOC_SIZE"] = str(int(args.pool_mb * (1 << 20)))
+            for size, rate in zip(sizes, rates):
+                argv = common + ["--size", str(size), "--rate", str(rate)]
+                sub = subprocess.Popen(
+                    [sys.executable, me, "sub"] + argv, env=env, stdout=subprocess.PIPE, text=True
+                )
+                for _ in range(200):  # rmw/zenoh may log to stdout before the marker
+                    line = sub.stdout.readline()
+                    if not line or line.strip() == "READY":
+                        break
+                    print(f"  [sub] {line.rstrip()}", file=sys.stderr)
+                if not line:
+                    sys.exit("subscriber did not start")
+                pub = subprocess.Popen(
+                    [sys.executable, me, "pub"] + argv, env=env, stdout=subprocess.PIPE, text=True
+                )
+                pout, _ = pub.communicate(timeout=args.duration + 60)
+                sout, _ = sub.communicate(timeout=60)
+                row = {"mode": mode, "size": size, "rate": rate}
+                for line in (pout + sout).splitlines():
+                    if line.startswith("{"):
+                        d = json.loads(line)
+                        role = d.pop("role")
+                        row.update({f"{role}_{k}": v for k, v in d.items()})
+                results.append(row)
+                _print_row(row)
+    finally:
+        if router:
+            router.terminate()
+            try:
+                router.wait(5)
+            except subprocess.TimeoutExpired:
+                router.kill()
+
+    meta = {
+        "host": platform.node(),
+        "platform": platform.platform(),
+        "machine": platform.machine(),
+        "python": platform.python_version(),
+        "rmw": "rmw_zenoh_cpp",
+        "reliable": args.reliable,
+        "depth": args.depth,
+        "duration_s": args.duration,
+        "pool_mb": args.pool_mb or 48,
+        "when": time.strftime("%Y-%m-%d %H:%M:%S"),
+    }
+    if args.out:
+        with open(args.out, "w") as f:
+            json.dump({"meta": meta, "results": results}, f, indent=1)
+        print(f"wrote {args.out}")
+    return 0
+
+
+_HDR_DONE = False
+
+
+def _print_row(r):
+    global _HDR_DONE
+    if not _HDR_DONE:
+        print(
+            f"{'shm':>3} {'size':>8} {'Hz':>5} {'MB/s':>6} {'recv/sent':>11} {'p50 ms':>7} {'p99 ms':>7} "
+            f"{'max ms':>7} {'pub()':>6} {'pubCPU':>6} {'subCPU':>6} {'shm map pub/sub':>16}",
+            flush=True,
+        )
+        _HDR_DONE = True
+    g = r.get
+    shm_s = f"{g('pub_shm_mapped') or 'n/a'}/{g('sub_shm_mapped') or 'n/a'}"
+    mbps = r["size"] * g("pub_rate_hz", 0) / 1e6
+    print(
+        f"{r['mode']:>3} {_human(r['size']):>8} {r['rate']:>5g} {mbps:>6.1f} "
+        f"{g('sub_received', 0):>5}/{g('pub_sent', 0):<5} "
+        f"{g('sub_lat_ms_p50', float('nan')):>7.2f} {g('sub_lat_ms_p99', float('nan')):>7.2f} "
+        f"{g('sub_lat_ms_max', float('nan')):>7.2f} {g('pub_publish_call_ms_p50', float('nan')):>6.2f} "
+        f"{g('pub_cpu_pct', float('nan')):>5.0f}% {g('sub_cpu_pct', float('nan')):>5.0f}% {shm_s:>16}",
+        flush=True,
+    )
+
+
+def main():
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    sp = ap.add_subparsers(dest="cmd", required=True)
+    for name in ("pub", "sub", "run"):
+        p = sp.add_parser(name)
+        p.add_argument("--depth", type=int, default=10)
+        p.add_argument("--reliable", action=argparse.BooleanOptionalAction, default=True)
+        p.add_argument("--duration", type=float, default=8.0, help="measured seconds per cell")
+        p.add_argument("--warmup", type=float, default=1.0)
+        if name == "run":
+            p.add_argument(
+                "--sizes",
+                default="1024,65536,1048576,2097152,8388608,2097152",
+                help="bytes per message (default: FicTrac-ish, preview, 2P frame, 2 MP frame, 8 MB, BIAS-rate 2 MP)",
+            )
+            p.add_argument("--rates", default="100,100,30,30,30,135", help="Hz, one value or one per size")
+            p.add_argument("--modes", default="off,on")
+            p.add_argument("--pool-mb", type=float, default=0, help="shared-memory pool (0 = rmw_zenoh default 48)")
+            p.add_argument("--port", type=int, default=7457)
+            p.add_argument("--domain", type=int, default=42)
+            p.add_argument("--out")
+        else:
+            p.add_argument("--size", type=int, required=True)
+            p.add_argument("--rate", type=float, required=True)
+    args = ap.parse_args()
+    return {"pub": cmd_pub, "sub": cmd_sub, "run": cmd_run}[args.cmd](args)
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/ros2-poc/shm_bench_qpc.py b/ros2-poc/shm_bench_qpc.py
new file mode 100644
index 00000000..aa0d3167
--- /dev/null
+++ b/ros2-poc/shm_bench_qpc.py
@@ -0,0 +1,403 @@
+#!/usr/bin/env python3
+"""shm_bench.py — rmw_zenoh shared memory on vs off, for image-sized ROS 2 messages (LAB-303).
+
+One publisher process and one subscriber process exchange sensor_msgs/Image messages of a fixed
+size at a fixed rate. Latency is publish-call → subscriber callback, both stamped with
+time.perf_counter_ns() (one system-wide clock on macOS, Linux and Windows), so it includes rclpy's
+Python→C conversion, CDR serialization, the transport, deserialization and callback dispatch.
+
+    pixi run python shm_bench.py run                       # the default matrix, shm off then on
+    pixi run python shm_bench.py run --sizes 1048576 --rates 30 --modes on --duration 5
+    pixi run python shm_bench.py run --out results.json
+
+`run` starts its own Zenoh router on --port (default 7457, not the rig's 7447) and a separate
+ROS_DOMAIN_ID, so it never touches a running rig. Shared memory is switched with rmw_zenoh's
+ZENOH_CONFIG_OVERRIDE (transport/shared_memory/enabled) on both sessions; the pool size can be
+raised with --pool-mb (rmw_zenoh's ZENOH_SHM_ALLOC_SIZE, default 48 MiB). After its measured
+window each process reports how much shared memory it has mapped (macOS: vmmap; Linux: /dev/shm;
+Windows: committed MEM_MAPPED regions): the direct evidence that the Zenoh pool was used. With
+shared memory on, it is about 48 MB higher than with it off.
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import platform
+import shutil
+import socket
+import statistics
+import subprocess
+import sys
+import time
+
+TOPIC = "/bench/image"
+
+
+# ── the two ROS processes ──────────────────────────────────────────────────────────────────────
+
+
+def _qos(args):
+    from rclpy.qos import HistoryPolicy, QoSProfile, ReliabilityPolicy
+
+    return QoSProfile(
+        history=HistoryPolicy.KEEP_LAST,
+        depth=args.depth,
+        reliability=ReliabilityPolicy.RELIABLE if args.reliable else ReliabilityPolicy.BEST_EFFORT,
+    )
+
+
+def cmd_pub(args):
+    import rclpy
+    from sensor_msgs.msg import Image
+
+    rclpy.init()
+    node = rclpy.create_node("shm_bench_pub")
+    pub = node.create_publisher(Image, TOPIC, _qos(args))
+    msg = Image()
+    msg.height, msg.width, msg.step, msg.encoding = 1, args.size, args.size, "mono8"
+    msg.data = os.urandom(args.size)  # incompressible, built once
+
+    t_wait = time.monotonic()
+    while pub.get_subscription_count() == 0:
+        if time.monotonic() - t_wait > 15:
+            print(json.dumps({"role": "pub", "error": "no subscriber after 15 s"}), flush=True)
+            return 1
+        rclpy.spin_once(node, timeout_sec=0.05)
+    time.sleep(0.5)
+
+    warm = max(1, int(args.rate * args.warmup))
+    n = max(1, int(args.rate * args.duration))
+    period = 1.0 / args.rate
+    call_ns = []
+    next_t = time.monotonic()
+    cpu0 = wall0 = None
+    for i in range(warm + n):
+        dt = next_t - time.monotonic()
+        if dt > 0:
+            time.sleep(dt)
+        if i == warm:
+            cpu0, wall0 = time.process_time(), time.monotonic()
+        msg.header.frame_id = f"w{i}" if i < warm else f"m{i - warm}"
+        t = time.perf_counter_ns()
+        msg.header.stamp.sec, msg.header.stamp.nanosec = divmod(t, 1_000_000_000)
+        pub.publish(msg)
+        if i >= warm:
+            call_ns.append(time.perf_counter_ns() - t)
+        next_t += period
+    cpu1, wall1 = time.process_time(), time.monotonic()
+    msg.header.frame_id = "end"
+    for _ in range(3):
+        pub.publish(msg)
+        time.sleep(0.05)
+    print(
+        json.dumps(
+            {
+                "role": "pub",
+                "sent": n,
+                "rate_hz": n / (wall1 - wall0),
+                "cpu_pct": 100 * (cpu1 - cpu0) / (wall1 - wall0),
+                "publish_call_ms_p50": statistics.median(call_ns) / 1e6,
+                "publish_call_ms_p99": _pct(call_ns, 99) / 1e6,
+                "shm_mapped": _shm_mapped(),
+            }
+        ),
+        flush=True,
+    )
+    time.sleep(0.3)
+    node.destroy_node()
+    rclpy.shutdown()
+    return 0
+
+
+def cmd_sub(args):
+    import rclpy
+    from sensor_msgs.msg import Image
+
+    rclpy.init()
+    node = rclpy.create_node("shm_bench_sub")
+    st = {"lat": [], "seqs": [], "bad": 0, "cpu0": None, "wall0": None, "done": False}
+
+    def cb(msg):
+        now = time.perf_counter_ns()
+        fid = msg.header.frame_id
+        if fid == "end":
+            st["done"] = True
+            return
+        if fid[0] != "m":
+            return
+        if st["cpu0"] is None:
+            st["cpu0"], st["wall0"] = time.process_time(), time.monotonic()
+        if len(msg.data) != args.size:
+            st["bad"] += 1
+        st["lat"].append(now - (msg.header.stamp.sec * 1_000_000_000 + msg.header.stamp.nanosec))
+        st["seqs"].append(int(fid[1:]))
+
+    node.create_subscription(Image, TOPIC, cb, _qos(args))
+    print("READY", flush=True)
+    deadline = time.monotonic() + args.warmup + args.duration + 30
+    while not st["done"] and time.monotonic() < deadline:
+        rclpy.spin_once(node, timeout_sec=0.1)
+    cpu1, wall1 = time.process_time(), time.monotonic()
+    lat = st["lat"]
+    out = {"role": "sub", "received": len(lat), "bad_size": st["bad"], "timed_out": not st["done"]}
+    if lat:
+        seqs = st["seqs"]
+        out.update(
+            {
+                "lost": (max(seqs) + 1) - len(set(seqs)),
+                "lat_ms_p50": statistics.median(lat) / 1e6,
+                "lat_ms_p95": _pct(lat, 95) / 1e6,
+                "lat_ms_p99": _pct(lat, 99) / 1e6,
+                "lat_ms_max": max(lat) / 1e6,
+                "cpu_pct": 100 * (cpu1 - st["cpu0"]) / max(1e-9, wall1 - st["wall0"]),
+            }
+        )
+    out["shm_mapped"] = _shm_mapped()
+    print(json.dumps(out), flush=True)
+    node.destroy_node()
+    rclpy.shutdown()
+    return 0
+
+
+def _shm_mapped():
+    """Shared memory this process has mapped — the direct evidence that the Zenoh pool is in use.
+
+    Called only AFTER the measured window: macOS `vmmap` suspends the process it inspects.
+    macOS: vmmap's "shared memory" virtual size (about 48 kB without the pool, 49 MB with the
+    default 48 MiB pool). Linux: the /dev/shm mappings. Windows: committed MEM_MAPPED regions.
+    Anything else: None (not measured)."""
+    try:
+        if sys.platform == "darwin":
+            out = subprocess.run(
+                ["vmmap", "-summary", str(os.getpid())], capture_output=True, text=True, timeout=20
+            ).stdout
+            for ln in out.splitlines():
+                if ln.startswith("shared memory"):
+                    return ln.split()[2]
+        elif sys.platform.startswith("linux"):
+            total = 0
+            with open("/proc/self/maps") as f:
+                for ln in f:
+                    if "/dev/shm/" in ln:
+                        a, b = ln.split()[0].split("-")
+                        total += int(b, 16) - int(a, 16)
+            return f"{total / (1 << 20):.1f}M"
+        elif sys.platform == "win32":
+            # Committed MEM_MAPPED regions (section views: the Zenoh pool, plus a few MB of other
+            # mapped files). Compare off vs on: the pool shows up as a ~48 MB step.
+            import ctypes
+            from ctypes import wintypes
+
+            class MBI(ctypes.Structure):
+                _fields_ = [
+                    ("BaseAddress", ctypes.c_void_p),
+                    ("AllocationBase", ctypes.c_void_p),
+                    ("AllocationProtect", wintypes.DWORD),
+                    ("PartitionId", wintypes.WORD),
+                    ("RegionSize", ctypes.c_size_t),
+                    ("State", wintypes.DWORD),
+                    ("Protect", wintypes.DWORD),
+                    ("Type", wintypes.DWORD),
+                ]
+
+            k32 = ctypes.WinDLL("kernel32", use_last_error=True)
+            k32.VirtualQuery.argtypes = [ctypes.c_void_p, ctypes.POINTER(MBI), ctypes.c_size_t]
+            k32.VirtualQuery.restype = ctypes.c_size_t
+            mbi, addr, total = MBI(), 0, 0
+            while addr < (1 << 47) and k32.VirtualQuery(addr, ctypes.byref(mbi), ctypes.sizeof(mbi)):
+                if mbi.State == 0x1000 and mbi.Type == 0x40000:  # MEM_COMMIT, MEM_MAPPED
+                    total += mbi.RegionSize
+                addr = (mbi.BaseAddress or 0) + mbi.RegionSize
+            return f"{total / (1 << 20):.1f}M"
+    except Exception:
+        pass
+    return None
+
+
+def _pct(xs, p):
+    s = sorted(xs)
+    return s[min(len(s) - 1, int(round(p / 100 * (len(s) - 1))))]
+
+
+# ── the orchestrator ──────────────────────────────────────────────────────────────────────────
+
+
+def _port_open(port):
+    with socket.socket() as s:
+        s.settimeout(0.2)
+        return s.connect_ex(("127.0.0.1", port)) == 0
+
+
+def _router_argv():
+    """The rmw_zenohd binary itself, so terminate() stops the router and not just a wrapper
+    (`ros2` is a launcher script on Windows). Falls back to `ros2 run`."""
+    try:
+        from ament_index_python.packages import get_package_prefix
+
+        libdir = os.path.join(get_package_prefix("rmw_zenoh_cpp"), "lib", "rmw_zenoh_cpp")
+        for name in ("rmw_zenohd.exe", "rmw_zenohd"):
+            exe = os.path.join(libdir, name)
+            if os.path.isfile(exe):
+                return [exe]
+    except Exception:
+        pass
+    return [shutil.which("ros2") or "ros2", "run", "rmw_zenoh_cpp", "rmw_zenohd"]
+
+
+def _human(n):
+    for unit, k in (("MB", 1 << 20), ("kB", 1 << 10)):
+        if n >= k:
+            v = n / k
+            return f"{v:g} {unit}"
+    return f"{n} B"
+
+
+def cmd_run(args):
+    me = os.path.abspath(__file__)
+    base = dict(os.environ)
+    base["ROS_DOMAIN_ID"] = str(args.domain)
+    base["RMW_IMPLEMENTATION"] = "rmw_zenoh_cpp"
+    base.setdefault("RUST_LOG", "error")  # silence zenoh_config deprecation warnings
+    endpoint = f'["tcp/127.0.0.1:{args.port}"]'
+
+    router = None
+    if not _port_open(args.port):
+        renv = dict(base, ZENOH_CONFIG_OVERRIDE=f"listen/endpoints={endpoint}")
+        router = subprocess.Popen(
+            _router_argv(), env=renv, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL
+        )
+        t0 = time.monotonic()
+        while not _port_open(args.port):
+            if time.monotonic() - t0 > 20:
+                sys.exit(f"router did not come up on :{args.port}")
+            time.sleep(0.2)
+
+    sizes = [int(s) for s in args.sizes.split(",")]
+    rates = [float(r) for r in args.rates.split(",")]
+    if len(rates) == 1:
+        rates *= len(sizes)
+    if len(rates) != len(sizes):
+        sys.exit("--rates must be one value or one per size")
+
+    common = [
+        "--depth", str(args.depth),
+        "--duration", str(args.duration),
+        "--warmup", str(args.warmup),
+    ] + (["--reliable"] if args.reliable else [])
+
+    results = []
+    try:
+        for mode in args.modes.split(","):
+            override = f"connect/endpoints={endpoint};transport/shared_memory/enabled={'true' if mode == 'on' else 'false'}"
+            env = dict(base, ZENOH_CONFIG_OVERRIDE=override)
+            if args.pool_mb:
+                env["ZENOH_SHM_ALLOC_SIZE"] = str(int(args.pool_mb * (1 << 20)))
+            for size, rate in zip(sizes, rates):
+                argv = common + ["--size", str(size), "--rate", str(rate)]
+                sub = subprocess.Popen(
+                    [sys.executable, me, "sub"] + argv, env=env, stdout=subprocess.PIPE, text=True
+                )
+                for _ in range(200):  # rmw/zenoh may log to stdout before the marker
+                    line = sub.stdout.readline()
+                    if not line or line.strip() == "READY":
+                        break
+                    print(f"  [sub] {line.rstrip()}", file=sys.stderr)
+                if not line:
+                    sys.exit("subscriber did not start")
+                pub = subprocess.Popen(
+                    [sys.executable, me, "pub"] + argv, env=env, stdout=subprocess.PIPE, text=True
+                )
+                pout, _ = pub.communicate(timeout=args.duration + 60)
+                sout, _ = sub.communicate(timeout=60)
+                row = {"mode": mode, "size": size, "rate": rate}
+                for line in (pout + sout).splitlines():
+                    if line.startswith("{"):
+                        d = json.loads(line)
+                        role = d.pop("role")
+                        row.update({f"{role}_{k}": v for k, v in d.items()})
+                results.append(row)
+                _print_row(row)
+    finally:
+        if router:
+            router.terminate()
+            try:
+                router.wait(5)
+            except subprocess.TimeoutExpired:
+                router.kill()
+
+    meta = {
+        "host": platform.node(),
+        "platform": platform.platform(),
+        "machine": platform.machine(),
+        "python": platform.python_version(),
+        "rmw": "rmw_zenoh_cpp",
+        "reliable": args.reliable,
+        "depth": args.depth,
+        "duration_s": args.duration,
+        "pool_mb": args.pool_mb or 48,
+        "when": time.strftime("%Y-%m-%d %H:%M:%S"),
+    }
+    if args.out:
+        with open(args.out, "w") as f:
+            json.dump({"meta": meta, "results": results}, f, indent=1)
+        print(f"wrote {args.out}")
+    return 0
+
+
+_HDR_DONE = False
+
+
+def _print_row(r):
+    global _HDR_DONE
+    if not _HDR_DONE:
+        print(
+            f"{'shm':>3} {'size':>8} {'Hz':>5} {'MB/s':>6} {'recv/sent':>11} {'p50 ms':>7} {'p99 ms':>7} "
+            f"{'max ms':>7} {'pub()':>6} {'pubCPU':>6} {'subCPU':>6} {'shm map pub/sub':>16}",
+            flush=True,
+        )
+        _HDR_DONE = True
+    g = r.get
+    shm_s = f"{g('pub_shm_mapped') or 'n/a'}/{g('sub_shm_mapped') or 'n/a'}"
+    mbps = r["size"] * g("pub_rate_hz", 0) / 1e6
+    print(
+        f"{r['mode']:>3} {_human(r['size']):>8} {r['rate']:>5g} {mbps:>6.1f} "
+        f"{g('sub_received', 0):>5}/{g('pub_sent', 0):<5} "
+        f"{g('sub_lat_ms_p50', float('nan')):>7.2f} {g('sub_lat_ms_p99', float('nan')):>7.2f} "
+        f"{g('sub_lat_ms_max', float('nan')):>7.2f} {g('pub_publish_call_ms_p50', float('nan')):>6.2f} "
+        f"{g('pub_cpu_pct', float('nan')):>5.0f}% {g('sub_cpu_pct', float('nan')):>5.0f}% {shm_s:>16}",
+        flush=True,
+    )
+
+
+def main():
+    ap = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    sp = ap.add_subparsers(dest="cmd", required=True)
+    for name in ("pub", "sub", "run"):
+        p = sp.add_parser(name)
+        p.add_argument("--depth", type=int, default=10)
+        p.add_argument("--reliable", action=argparse.BooleanOptionalAction, default=True)
+        p.add_argument("--duration", type=float, default=8.0, help="measured seconds per cell")
+        p.add_argument("--warmup", type=float, default=1.0)
+        if name == "run":
+            p.add_argument(
+                "--sizes",
+                default="1024,65536,1048576,2097152,8388608,2097152",
+                help="bytes per message (default: FicTrac-ish, preview, 2P frame, 2 MP frame, 8 MB, BIAS-rate 2 MP)",
+            )
+            p.add_argument("--rates", default="100,100,30,30,30,135", help="Hz, one value or one per size")
+            p.add_argument("--modes", default="off,on")
+            p.add_argument("--pool-mb", type=float, default=0, help="shared-memory pool (0 = rmw_zenoh default 48)")
+            p.add_argument("--port", type=int, default=7457)
+            p.add_argument("--domain", type=int, default=42)
+            p.add_argument("--out")
+        else:
+            p.add_argument("--size", type=int, required=True)
+            p.add_argument("--rate", type=float, required=True)
+    args = ap.parse_args()
+    return {"pub": cmd_pub, "sub": cmd_sub, "run": cmd_run}[args.cmd](args)
+
+
+if __name__ == "__main__":
+    sys.exit(main())